+ python -m lidar_slam --no-model /working/8413e641-da62-4ee8-950b-0970645c0faa Lidar SLAM 0.0.14 ===================================================== The recording path: /working/8413e641-da62-4ee8-950b-0970645c0faa 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 0.02327356 Adjusted end_distance from 9.223372036854776e+18 to 85.24327356 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.02327356 meters Centerline goodness : 0.141005 Centerline is valid? [0, False] SLAMing on 0.05327356 meters Centerline goodness : 0.129768 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:0.00 [[ 9.99992125e-01 -3.87625705e-03 -8.51223719e-04 2.26288248e-03] [ 3.87249077e-03 9.99982899e-01 -4.38249685e-03 1.38498319e-03] [ 8.68196846e-04 4.37916598e-03 9.99990035e-01 1.07429868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.08327356 meters Centerline goodness : 0.135660 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:0.00 [[ 9.99992324e-01 -3.79500758e-03 -9.74662263e-04 3.05684449e-03] [ 3.79085509e-03 9.99983879e-01 -4.22752518e-03 2.36845402e-04] [ 9.90690040e-04 4.22379792e-03 9.99990589e-01 9.81242354e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11327356 meters Centerline goodness : 0.132019 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:0.00 [[ 9.99992448e-01 -3.57560616e-03 -1.52291568e-03 5.84377412e-03] [ 3.56993642e-03 9.99986747e-01 -3.70953465e-03 -1.64767648e-03] [ 1.53615933e-03 3.70406992e-03 9.99991960e-01 2.22316732e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.14327356 meters Centerline goodness : 0.132727 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 9.99992688e-01 -3.41576135e-03 -1.71931161e-03 7.60340519e-03] [ 3.40979778e-03 9.99988202e-01 -3.45964069e-03 -2.35538769e-03] [ 1.73110863e-03 3.45375289e-03 9.99992537e-01 -6.97453070e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17327356 meters Centerline goodness : 0.135622 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 0.99999315 -0.00312469 -0.00198341 0.00946564] [ 0.00311856 0.99999037 -0.00308773 -0.00322124] [ 0.00199304 0.00308153 0.99999327 -0.00158214] [ 0. 0. 0. 1. ]] SLAMing on 0.20327356 meters Centerline goodness : 0.132518 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 0.9999934 -0.00280075 -0.00231338 0.01171449] [ 0.00279482 0.99999281 -0.00256279 -0.00418774] [ 0.00232055 0.00255631 0.99999404 -0.00268406] [ 0. 0. 0. 1. ]] SLAMing on 0.23327356 meters Centerline goodness : 0.136101 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 0.99999084 -0.00300436 -0.00304727 0.0149227 ] [ 0.00299763 0.99999306 -0.00221204 -0.00476143] [ 0.0030539 0.00220289 0.99999291 -0.00321534] [ 0. 0. 0. 1. ]] SLAMing on 0.26327356 meters Centerline goodness : 0.137626 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.00 [[ 0.99999006 -0.00322762 -0.00307759 0.01584297] [ 0.00322018 0.99999189 -0.00241934 -0.00490842] [ 0.00308537 0.00240941 0.99999234 -0.00325038] [ 0. 0. 0. 1. ]] SLAMing on 0.29327356000000004 meters Centerline goodness : 0.137389 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.00 [[ 0.99998865 -0.00347733 -0.0032568 0.01711059] [ 0.00346965 0.99999119 -0.00236231 -0.00511816] [ 0.00326499 0.00235098 0.99999191 -0.00349404] [ 0. 0. 0. 1. ]] SLAMing on 0.32327355999999996 meters Centerline goodness : 0.142483 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.00 [[ 0.99998066 -0.00470862 -0.00406351 0.01908218] [ 0.00469869 0.99998596 -0.00244881 -0.00580617] [ 0.00407498 0.00242967 0.99998875 -0.00253743] [ 0. 0. 0. 1. ]] SLAMing on 0.35327356 meters Centerline goodness : 0.149672 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.00 [[ 0.99997797 -0.00506696 -0.00428695 0.01998685] [ 0.00505691 0.99998445 -0.00235216 -0.00674808] [ 0.0042988 0.00233043 0.99998804 -0.00222481] [ 0. 0. 0. 1. ]] SLAMing on 0.38327356 meters Centerline goodness : 0.157433 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.00 [[ 0.99997477 -0.00550934 -0.00448431 0.02098115] [ 0.00549971 0.99998255 -0.00215816 -0.0081413 ] [ 0.00449612 0.00213345 0.99998762 -0.00223061] [ 0. 0. 0. 1. ]] SLAMing on 0.41327356000000004 meters Centerline goodness : 0.182075 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.00 [[ 0.9999346 -0.00977601 -0.00593578 0.0258193 ] [ 0.0097415 0.99993564 -0.00581583 -0.00842191] [ 0.00599225 0.00575762 0.99996547 -0.00200189] [ 0. 0. 0. 1. ]] SLAMing on 0.44327355999999996 meters Centerline goodness : 0.262950 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.00 [[ 0.99993153 -0.00993481 -0.00618405 0.02776702] [ 0.00990214 0.99993698 -0.00529022 -0.01040219] [ 0.00623622 0.00522862 0.99996688 -0.00303506] [ 0. 0. 0. 1. ]] SLAMing on 0.47327356 meters Centerline goodness : 0.311287 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.00 [[ 0.99987468 -0.01371482 -0.00790751 0.03435556] [ 0.01364965 0.9998729 -0.00823804 -0.01100168] [ 0.00801949 0.00812907 0.9999348 -0.00425931] [ 0. 0. 0. 1. ]] SLAMing on 0.50327356 meters Centerline goodness : 0.323049 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.01 [[ 0.9998689 -0.01397707 -0.00817442 0.03608751] [ 0.01391587 0.99987507 -0.00749598 -0.01270967] [ 0.00827817 0.00738124 0.99993849 -0.00533367] [ 0. 0. 0. 1. ]] SLAMing on 0.53327356 meters Centerline goodness : 0.334426 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.01 [[ 0.99986303 -0.01412294 -0.00862948 0.0382995 ] [ 0.01406424 0.9998778 -0.00682561 -0.01414168] [ 0.00872483 0.00670331 0.99993947 -0.00611463] [ 0. 0. 0. 1. ]] SLAMing on 0.5632735600000001 meters Centerline goodness : 0.355841 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.01 [[ 0.99978027 -0.01836598 -0.01010504 0.0429094 ] [ 0.0182619 0.99978022 -0.01029669 -0.01303618] [ 0.01029193 0.01010989 0.99989593 -0.00557824] [ 0. 0. 0. 1. ]] SLAMing on 0.59327356 meters Centerline goodness : 0.241768 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.01 [[ 0.99977134 -0.01870925 -0.01035499 0.0444585 ] [ 0.01860625 0.99977733 -0.00995519 -0.01414776] [ 0.01053894 0.00976025 0.99989683 -0.00590517] [ 0. 0. 0. 1. ]] SLAMing on 0.62327356 meters Centerline goodness : 0.239752 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:-0.01 [[ 0.99976126 -0.01911144 -0.01059119 0.04612422] [ 0.01901049 0.99977366 -0.0095514 -0.01529525] [ 0.01077134 0.00934778 0.99989829 -0.00646251] [ 0. 0. 0. 1. ]] SLAMing on 0.65327356 meters Centerline goodness : 0.243385 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:-0.01 [[ 0.99975247 -0.01943409 -0.01083114 0.04751524] [ 0.01933383 0.99976996 -0.00928638 -0.01625325] [ 0.01100912 0.00907467 0.99989822 -0.00659159] [ 0. 0. 0. 1. ]] SLAMing on 0.68327356 meters Centerline goodness : 0.291705 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:-0.01 [[ 0.99965309 -0.02333166 -0.01221984 0.0525009 ] [ 0.02317202 0.99964636 -0.01304623 -0.01523818] [ 0.01251991 0.01275854 0.99984022 -0.00592596] [ 0. 0. 0. 1. ]] SLAMing on 0.71327356 meters Centerline goodness : 0.334618 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:-0.01 [[ 0.9996462 -0.02343698 -0.01257732 0.05447201] [ 0.02327979 0.99965082 -0.01250169 -0.01656359] [ 0.01286593 0.01220447 0.99984275 -0.00656581] [ 0. 0. 0. 1. ]] SLAMing on 0.74327356 meters Centerline goodness : 0.340957 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.02, Z:-0.01 [[ 0.99963838 -0.02356744 -0.01294901 0.05648656] [ 0.02341217 0.9996537 -0.01201434 -0.01771393] [ 0.01322767 0.01170683 0.99984398 -0.00724626] [ 0. 0. 0. 1. ]] SLAMing on 0.77327356 meters Centerline goodness : 0.362183 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.02, Z:-0.01 [[ 0.99952967 -0.02710232 -0.01434905 0.06211175] [ 0.02688558 0.99952464 -0.01508826 -0.01759433] [ 0.01475116 0.01469538 0.9997832 -0.00779544] [ 0. 0. 0. 1. ]] SLAMing on 0.80327356 meters Centerline goodness : 0.371034 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.02, Z:-0.01 [[ 0.99952065 -0.02718741 -0.01480947 0.06457428] [ 0.0269727 0.99953086 -0.01450975 -0.01927504] [ 0.015197 0.01410335 0.99978505 -0.00876211] [ 0. 0. 0. 1. ]] SLAMing on 0.83327356 meters Centerline goodness : 0.371034 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.02, Z:-0.01 [[ 0.99952065 -0.02718741 -0.01480947 0.06457428] [ 0.0269727 0.99953086 -0.01450975 -0.01927504] [ 0.015197 0.01410335 0.99978505 -0.00876211] [ 0. 0. 0. 1. ]] SLAMing on 0.86327356 meters Centerline goodness : 0.375481 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.02, Z:-0.01 [[ 0.99951112 -0.02735328 -0.01514356 0.066549 ] [ 0.0271413 0.99953314 -0.01403067 -0.02073428] [ 0.01552027 0.01361279 0.99978688 -0.00949634] [ 0. 0. 0. 1. ]] SLAMing on 0.89327356 meters Centerline goodness : 0.379483 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.02, Z:-0.01 [[ 0.99950122 -0.02756042 -0.0154188 0.0681894 ] [ 0.02735263 0.99953429 -0.01352914 -0.0221011 ] [ 0.01578448 0.01310064 0.99978959 -0.01013087] [ 0. 0. 0. 1. ]] SLAMing on 0.9232735599999999 meters Centerline goodness : 0.104546 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.03, Z:-0.01 [[ 0.99954978 -0.02818337 -0.01029211 0.09672747] [ 0.02806345 0.99953866 -0.01161523 -0.02692638] [ 0.01061472 0.01132117 0.99987957 -0.01256509] [ 0. 0. 0. 1. ]] SLAMing on 0.95327356 meters Centerline goodness : 0.395091 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.03, Z:-0.01 [[ 0.99954121 -0.02843409 -0.01043402 0.0980866 ] [ 0.02831744 0.99953665 -0.01116248 -0.02796758] [ 0.01074658 0.0108619 0.99988326 -0.01309275] [ 0. 0. 0. 1. ]] SLAMing on 0.98327356 meters Centerline goodness : 0.413848 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.03, Z:-0.01 [[ 0.99953315 -0.02856826 -0.01083196 0.10012223] [ 0.02845377 0.99953912 -0.01057988 -0.02935174] [ 0.01112922 0.01026673 0.99988536 -0.01377471] [ 0. 0. 0. 1. ]] SLAMing on 1.01327356 meters Centerline goodness : 0.109324 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.03, Z:-0.01 [[ 0.99952491 -0.02873119 -0.01115709 0.10204055] [ 0.02861862 0.99953916 -0.01012126 -0.03081737] [ 0.01144274 0.00979715 0.99988653 -0.01448999] [ 0. 0. 0. 1. ]] SLAMing on 1.04327356 meters Centerline goodness : 0.257447 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.03, Z:-0.02 [[ 0.9994107 -0.03197883 -0.01247404 0.1082866 ] [ 0.03181255 0.99940525 -0.01330838 -0.0309636 ] [ 0.01289221 0.01290371 0.99983363 -0.01522216] [ 0. 0. 0. 1. ]] SLAMing on 1.07327356 meters Centerline goodness : 0.417398 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.03, Z:-0.02 [[ 0.99940478 -0.03206438 -0.01272655 0.11009498] [ 0.03190121 0.99940875 -0.01282398 -0.03211359] [ 0.01313022 0.01241035 0.99983678 -0.01604175] [ 0. 0. 0. 1. ]] SLAMing on 1.10327356 meters Centerline goodness : 0.123646 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.03, Z:-0.02 [[ 0.99939834 -0.0321164 -0.01309523 0.11223599] [ 0.031955 0.99941297 -0.01235319 -0.03321436] [ 0.01348428 0.0119273 0.99983794 -0.01694889] [ 0. 0. 0. 1. ]] SLAMing on 1.13327356 meters Centerline goodness : 0.418152 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:-0.02 [[ 0.99926163 -0.03565768 -0.01430812 0.13831368] [ 0.03550206 0.99930921 -0.0109866 -0.03514324] [ 0.01468999 0.01047052 0.99983727 -0.01762055] [ 0. 0. 0. 1. ]] SLAMing on 1.16327356 meters Centerline goodness : 0.376809 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:-0.02 [[ 0.99925448 -0.03568252 -0.01473931 0.14052757] [ 0.03552887 0.99931287 -0.0105584 -0.03615687] [ 0.01510593 0.01002686 0.99983562 -0.01834762] [ 0. 0. 0. 1. ]] SLAMing on 1.19327356 meters Centerline goodness : 0.417503 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:-0.02 [[ 0.99924823 -0.0356824 -0.01515742 0.14265042] [ 0.03553071 0.99931692 -0.01016167 -0.03695679] [ 0.01550966 0.00961547 0.99983348 -0.01905355] [ 0. 0. 0. 1. ]] SLAMing on 1.22327356 meters Centerline goodness : 0.414791 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:-0.02 [[ 0.99924125 -0.03572971 -0.01550187 0.14477352] [ 0.03558266 0.99932004 -0.00966061 -0.03786933] [ 0.0158365 0.00910169 0.99983317 -0.01998391] [ 0. 0. 0. 1. ]] SLAMing on 1.25327356 meters Centerline goodness : 0.193113 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.04, Z:-0.02 [[ 0.99912856 -0.03821574 -0.01678333 0.15168825] [ 0.03800884 0.99919948 -0.012479 -0.03808701] [ 0.01724679 0.01183021 0.99978127 -0.02111945] [ 0. 0. 0. 1. ]] SLAMing on 1.28327356 meters Centerline goodness : 0.856536 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.04, Z:-0.02 [[ 0.99912053 -0.03819039 -0.01731068 0.1540904 ] [ 0.03798365 0.99920487 -0.01211869 -0.03918431] [ 0.01775973 0.0114505 0.99977671 -0.02189919] [ 0. 0. 0. 1. ]] SLAMing on 1.31327356 meters Centerline goodness : 0.120431 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.04, Z:-0.02 [[ 0.99911589 -0.03817881 -0.01760162 0.15609357] [ 0.03797746 0.99921086 -0.01163509 -0.04004629] [ 0.01803194 0.01095634 0.99977738 -0.02294039] [ 0. 0. 0. 1. ]] SLAMing on 1.3432735599999999 meters Centerline goodness : 0.125658 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:-0.02 [[ 0.99896078 -0.04192651 -0.01787514 0.17885882] [ 0.0417671 0.99908502 -0.00920007 -0.04169062] [ 0.01824451 0.00844391 0.9997979 -0.02389721] [ 0. 0. 0. 1. ]] SLAMing on 1.37327356 meters Centerline goodness : 0.126802 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.05, Z:-0.03 [[ 9.98950188e-01 -4.40784692e-02 -1.24744281e-02 1.91285044e-01] [ 4.40758975e-02 9.99028070e-01 -4.81138331e-04 -4.52773643e-02] [ 1.24835117e-02 -6.91883900e-05 9.99922076e-01 -2.82936683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.40327356 meters SLAMing on 1.43327356 meters SLAMing on 1.46327356 meters SLAMing on 1.49327356 meters Centerline goodness : 0.131382 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.05, Z:-0.03 [[ 0.99869799 -0.05045523 -0.00752348 0.25217973] [ 0.05042175 0.99871754 -0.00457447 -0.04757934] [ 0.00774464 0.00418917 0.99996123 -0.02816689] [ 0. 0. 0. 1. ]] SLAMing on 1.52327356 meters Centerline goodness : 0.130321 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.05, Z:-0.03 [[ 0.99856697 -0.05282731 -0.00856095 0.2567931 ] [ 0.05275838 0.99857456 -0.00808679 -0.04632008] [ 0.00897595 0.00762354 0.99993065 -0.02901347] [ 0. 0. 0. 1. ]] SLAMing on 1.55327356 meters Centerline goodness : 0.129035 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.05, Z:-0.03 [[ 0.99842758 -0.05534174 -0.0089254 0.26218709] [ 0.05524498 0.99841501 -0.01074501 -0.04649133] [ 0.0095059 0.01023503 0.99990244 -0.03084279] [ 0. 0. 0. 1. ]] SLAMing on 1.58327356 meters Centerline goodness : 0.128531 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.05, Z:-0.03 [[ 0.9982937 -0.05756088 -0.00982011 0.26651339] [ 0.05742207 0.99825355 -0.01387623 -0.04531979] [ 0.01060169 0.01328866 0.9998555 -0.03190814] [ 0. 0. 0. 1. ]] SLAMing on 1.6132735599999999 meters Centerline goodness : 0.127419 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.05, Z:-0.04 [[ 0.9981873 -0.05999725 -0.00473794 0.27864361] [ 0.05997517 0.99818893 -0.00467305 -0.04880321] [ 0.00500973 0.00438042 0.99997786 -0.03691492] [ 0. 0. 0. 1. ]] SLAMing on 1.64327356 meters Centerline goodness : 0.887396 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.05, Z:-0.04 [[ 0.99809999 -0.06142741 -0.00480468 0.28054727] [ 0.06140422 0.99810128 -0.00483356 -0.04912439] [ 0.00509247 0.00452935 0.99997678 -0.03730513] [ 0. 0. 0. 1. ]] SLAMing on 1.67327356 meters Centerline goodness : 0.886116 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.05, Z:-0.04 [[ 0.99792674 -0.06410368 -0.00573873 0.28431651] [ 0.06405357 0.99791003 -0.00852757 -0.04753716] [ 0.00627338 0.00814231 0.99994717 -0.03750257] [ 0. 0. 0. 1. ]] SLAMing on 1.70327356 meters Centerline goodness : 0.887952 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.05, Z:-0.04 [[ 0.99789596 -0.06452854 -0.00630167 0.28604108] [ 0.06447419 0.99788337 -0.00847697 -0.0480544 ] [ 0.00683534 0.00805283 0.99994421 -0.03796546] [ 0. 0. 0. 1. ]] SLAMing on 1.73327356 meters Centerline goodness : 0.887656 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.05, Z:-0.04 [[ 0.99747665 -0.07062828 -0.00720959 0.30627171] [ 0.07058085 0.997484 -0.00663431 -0.04870764] [ 0.00766002 0.00610871 0.999952 -0.03921872] [ 0. 0. 0. 1. ]] SLAMing on 1.76327356 meters Centerline goodness : 0.886334 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.05, Z:-0.04 [[ 0.99726338 -0.07389569 -0.00227703 0.31838864] [ 0.07389966 0.99726422 0.00170805 -0.05210468] [ 0.00214459 -0.00187165 0.99999595 -0.04391254] [ 0. 0. 0. 1. ]] SLAMing on 1.79327356 meters Centerline goodness : 0.260514 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.05, Z:-0.04 [[ 0.99720376 -0.07467911 -0.00277408 0.31972314] [ 0.07468317 0.99720635 0.00138895 -0.05248542] [ 0.0026626 -0.00159224 0.99999519 -0.0440773 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8232735599999998 meters Centerline goodness : 0.780827 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.05, Z:-0.04 [[ 0.99687323 -0.0789615 -0.00297368 0.32275295] [ 0.07895297 0.99687417 -0.00288564 -0.0516379 ] [ 0.00319224 0.00264184 0.99999142 -0.04371373] [ 0. 0. 0. 1. ]] SLAMing on 1.8532735599999999 meters Centerline goodness : 0.886765 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.05, Z:-0.04 [[ 0.99682841 -0.07949942 -0.00360024 0.32447934] [ 0.07948929 0.99683158 -0.0028742 -0.05207783] [ 0.00381733 0.0025789 0.99998939 -0.04427896] [ 0. 0. 0. 1. ]] SLAMing on 1.88327356 meters Centerline goodness : 0.811366 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.05, Z:-0.04 [[ 0.99660022 -0.08224831 -0.00481858 0.32894629] [ 0.0822153 0.99659215 -0.00668818 -0.05088071] [ 0.00535225 0.00626928 0.99996602 -0.04454988] [ 0. 0. 0. 1. ]] SLAMing on 1.91327356 meters Centerline goodness : 0.698682 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.05, Z:-0.05 [[ 0.99656231 -0.08267074 -0.00539524 0.33068698] [ 0.08263444 0.99655783 -0.00663646 -0.05131201] [ 0.00592531 0.00616782 0.99996342 -0.04518127] [ 0. 0. 0. 1. ]] SLAMing on 1.94327356 meters Centerline goodness : 0.687582 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.05, Z:-0.05 [[ 0.99631056 -0.08563157 -0.00570093 0.33530052] [ 0.0855718 0.9962817 -0.0100116 -0.05058429] [ 0.00653704 0.00948682 0.99993363 -0.04617245] [ 0. 0. 0. 1. ]] SLAMing on 1.97327356 meters Centerline goodness : 0.660404 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.05, Z:-0.05 [[ 0.99610501 -0.08791775 -0.00672876 0.33976986] [ 0.08781922 0.99604145 -0.01375561 -0.04870577] [ 0.00791149 0.01311111 0.99988275 -0.04664171] [ 0. 0. 0. 1. ]] SLAMing on 2.00327356 meters Centerline goodness : 0.657616 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.05, Z:-0.05 [[ 0.99610537 -0.08783158 -0.00772648 0.34249189] [ 0.08772026 0.99605055 -0.01372807 -0.04840596] [ 0.00890172 0.01299684 0.99987591 -0.04723605] [ 0. 0. 0. 1. ]] SLAMing on 2.0332735599999996 meters Centerline goodness : 0.656564 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.05, Z:-0.05 [[ 0.99599572 -0.08905319 -0.00787806 0.34790487] [ 0.08891381 0.99590169 -0.01655789 -0.04617339] [ 0.00932031 0.01579112 0.99983187 -0.04839186] [ 0. 0. 0. 1. ]] SLAMing on 2.06327356 meters Centerline goodness : 0.785850 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.05, Z:-0.05 [[ 0.9960002 -0.08890246 -0.00894133 0.35057576] [ 0.08874488 0.99591439 -0.01669979 -0.04528141] [ 0.01038945 0.0158395 0.99982057 -0.04870147] [ 0. 0. 0. 1. ]] SLAMing on 2.0932735599999996 meters Centerline goodness : 0.647933 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.04, Z:-0.05 [[ 0.99602467 -0.08849537 -0.01016986 0.35390489] [ 0.08831917 0.9959533 -0.01663591 -0.04462804] [ 0.0116009 0.01567159 0.99980989 -0.04930648] [ 0. 0. 0. 1. ]] SLAMing on 2.12327356 meters Centerline goodness : 0.693488 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.04, Z:-0.05 [[ 0.99605011 -0.08816225 -0.01056379 0.35717763] [ 0.08798164 0.99598558 -0.0164908 -0.04319521] [ 0.01197525 0.01549625 0.99980821 -0.05012399] [ 0. 0. 0. 1. ]] SLAMing on 2.1532735599999997 meters Centerline goodness : 0.678852 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.04, Z:-0.05 [[ 0.99607768 -0.08769748 -0.01176476 0.36051419] [ 0.08750105 0.9960313 -0.01628568 -0.04247505] [ 0.01314628 0.01519238 0.99979816 -0.05103713] [ 0. 0. 0. 1. ]] SLAMing on 2.18327356 meters Centerline goodness : 0.644789 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.04, Z:-0.05 [[ 0.9960992 -0.08726699 -0.01307111 0.36398127] [ 0.0870492 0.99606908 -0.01639574 -0.04137328] [ 0.01445054 0.01519395 0.99978014 -0.05159688] [ 0. 0. 0. 1. ]] SLAMing on 2.2132735599999998 meters Centerline goodness : 0.805114 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.04, Z:-0.05 [[ 0.99615895 -0.08646851 -0.01380352 0.36815907] [ 0.08624308 0.99614292 -0.01616859 -0.03939965] [ 0.01514835 0.01491602 0.99977399 -0.05286343] [ 0. 0. 0. 1. ]] SLAMing on 2.2432735599999996 meters Centerline goodness : 0.864061 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.04, Z:-0.05 [[ 0.99619461 -0.08583925 -0.01509742 0.37173921] [ 0.08559402 0.99619835 -0.01620231 -0.03811052] [ 0.01643082 0.0148484 0.99975475 -0.0535181 ] [ 0. 0. 0. 1. ]] SLAMing on 2.27327356 meters Centerline goodness : 0.861196 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.03, Z:-0.05 [[ 0.99617001 -0.08585966 -0.01653582 0.38029235] [ 0.08551161 0.99612176 -0.02071719 -0.03364784] [ 0.01825046 0.01922384 0.99964862 -0.05273155] [ 0. 0. 0. 1. ]] SLAMing on 2.3032735599999996 meters Centerline goodness : 0.850972 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.03, Z:-0.05 [[ 0.99642594 -0.08264087 -0.01748826 0.38146077] [ 0.08234742 0.99646066 -0.01688379 -0.03385994] [ 0.01882166 0.01538333 0.99970451 -0.05333465] [ 0. 0. 0. 1. ]] SLAMing on 2.33327356 meters Centerline goodness : 0.860998 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.03, Z:-0.05 [[ 0.99644982 -0.08207534 -0.01874548 0.38467621] [ 0.08175634 0.99650402 -0.01719403 -0.03195404] [ 0.02009115 0.01560042 0.99967643 -0.05343748] [ 0. 0. 0. 1. ]] SLAMing on 2.3632735599999997 meters Centerline goodness : 0.856343 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.03, Z:-0.05 [[ 0.99647536 -0.08146888 -0.01999212 0.38794214] [ 0.08112475 0.996551 -0.01746071 -0.03009599] [ 0.02134567 0.01577731 0.99964766 -0.05369438] [ 0. 0. 0. 1. ]] SLAMing on 2.39327356 meters Centerline goodness : 0.861459 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.03, Z:-0.05 [[ 0.99654762 -0.08036076 -0.02085649 0.39219723] [ 0.0800013 0.99664054 -0.01753371 -0.02709418] [ 0.02219545 0.01580463 0.99962872 -0.05465432] [ 0. 0. 0. 1. ]] SLAMing on 2.4232735599999997 meters Centerline goodness : 0.763794 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.03, Z:-0.06 [[ 0.99657007 -0.07977079 -0.02201627 0.39547676] [ 0.07939142 0.99668814 -0.0175998 -0.02568814] [ 0.0233473 0.01579153 0.99960269 -0.05531799] [ 0. 0. 0. 1. ]] SLAMing on 2.4532735599999995 meters Centerline goodness : 0.851329 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.02, Z:-0.06 [[ 0.99659191 -0.07919623 -0.02307654 0.39844438] [ 0.07879846 0.99673403 -0.01766574 -0.02424446] [ 0.02440024 0.01578713 0.99957761 -0.05585273] [ 0. 0. 0. 1. ]] SLAMing on 2.4832735599999998 meters Centerline goodness : 0.773846 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.02, Z:-0.06 [[ 0.99661196 -0.07886708 -0.02333631 0.40090332] [ 0.0784623 0.99675848 -0.0177819 -0.02200308] [ 0.02466307 0.01589063 0.99956952 -0.05668345] [ 0. 0. 0. 1. ]] SLAMing on 2.5132735599999996 meters Centerline goodness : 0.857572 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.02, Z:-0.06 [[ 0.99660258 -0.07868807 -0.02432038 0.40318626] [ 0.07826281 0.99677078 -0.01797065 -0.0210418 ] [ 0.02565592 0.01600622 0.99954268 -0.05678886] [ 0. 0. 0. 1. ]] SLAMing on 2.54327356 meters Centerline goodness : 0.853659 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.02, Z:-0.06 [[ 0.99659929 -0.0784377 -0.02524623 0.40535442] [ 0.07799758 0.99679156 -0.01797145 -0.02026264] [ 0.02657487 0.01594119 0.99951971 -0.05709126] [ 0. 0. 0. 1. ]] SLAMing on 2.5732735599999996 meters Centerline goodness : 0.807245 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.02, Z:-0.06 [[ 0.99659702 -0.07815202 -0.02620399 0.40762377] [ 0.07769636 0.99681493 -0.01797956 -0.01965198] [ 0.02752567 0.01588242 0.99949492 -0.05729563] [ 0. 0. 0. 1. ]] SLAMing on 2.60327356 meters Centerline goodness : 0.770274 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.02, Z:-0.06 [[ 0.9965965 -0.07800453 -0.02665928 0.40984322] [ 0.0775414 0.99682687 -0.01798693 -0.0185041 ] [ 0.02797775 0.01585852 0.99948274 -0.05766135] [ 0. 0. 0. 1. ]] SLAMing on 2.6332735599999997 meters Centerline goodness : 0.802749 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.02, Z:-0.06 [[ 0.99659152 -0.07773236 -0.02762289 0.41214513] [ 0.07725391 0.99684919 -0.01798711 -0.01771384] [ 0.02893403 0.01579182 0.99945657 -0.05794964] [ 0. 0. 0. 1. ]] SLAMing on 2.6632735599999995 meters Centerline goodness : 0.846603 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.02, Z:-0.06 [[ 0.9965887 -0.07746484 -0.0284635 0.41424545] [ 0.07697674 0.99687285 -0.01786324 -0.01726062] [ 0.02975826 0.01561128 0.99943521 -0.05841916] [ 0. 0. 0. 1. ]] SLAMing on 2.6932735599999997 meters Centerline goodness : 0.848850 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.02, Z:-0.06 [[ 0.99658917 -0.07711643 -0.02937838 0.4166853 ] [ 0.07662 0.99690385 -0.01766631 -0.0170904 ] [ 0.03064978 0.01535508 0.99941223 -0.05907176] [ 0. 0. 0. 1. ]] SLAMing on 2.7232735599999995 meters Centerline goodness : 0.848850 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.02, Z:-0.06 [[ 0.99658917 -0.07711643 -0.02937838 0.4166853 ] [ 0.07662 0.99690385 -0.01766631 -0.0170904 ] [ 0.03064978 0.01535508 0.99941223 -0.05907176] [ 0. 0. 0. 1. ]] SLAMing on 2.75327356 meters Centerline goodness : 0.848539 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.01, Z:-0.06 [[ 0.99636645 -0.07934689 -0.03095111 0.42228582] [ 0.07870187 0.99666565 -0.02153126 -0.01481311] [ 0.03255635 0.01901711 0.99928896 -0.05953461] [ 0. 0. 0. 1. ]] SLAMing on 2.7832735599999996 meters Centerline goodness : 0.850527 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.02, Z:-0.06 [[ 0.99656803 -0.07647219 -0.03168869 0.42311617] [ 0.07594145 0.99695644 -0.01762837 -0.01609225] [ 0.03294032 0.01516139 0.99934232 -0.06066087] [ 0. 0. 0. 1. ]] SLAMing on 2.81327356 meters Centerline goodness : 0.805909 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.02, Z:-0.06 [[ 0.99657661 -0.07585302 -0.03288431 0.42656035] [ 0.07530883 0.99700695 -0.01748463 -0.01509403] [ 0.03411215 0.01494829 0.99930621 -0.06114535] [ 0. 0. 0. 1. ]] SLAMing on 2.8432735599999996 meters Centerline goodness : 0.807291 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.01, Z:-0.06 [[ 0.99657458 -0.07556981 -0.03359022 0.42834067] [ 0.07501278 0.99702818 -0.01754678 -0.01448016] [ 0.0348164 0.01496698 0.99928165 -0.0612535 ] [ 0. 0. 0. 1. ]] SLAMing on 2.87327356 meters Centerline goodness : 0.811714 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.02, Z:-0.06 [[ 0.99678026 -0.07255039 -0.03414037 0.42856419] [ 0.07212789 0.9973047 -0.01344992 -0.015943 ] [ 0.03502415 0.01094414 0.99932654 -0.06215849] [ 0. 0. 0. 1. ]] SLAMing on 2.9032735599999997 meters Centerline goodness : 0.810743 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.02, Z:-0.06 [[ 0.9967836 -0.07215749 -0.0348676 0.43041228] [ 0.07173155 0.99733506 -0.01331785 -0.01566223] [ 0.03573566 0.01077391 0.9993032 -0.06237447] [ 0. 0. 0. 1. ]] SLAMing on 2.9332735599999995 meters Centerline goodness : 0.813122 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.02, Z:-0.06 [[ 0.99677764 -0.07187054 -0.0356224 0.43218464] [ 0.07143796 0.99735673 -0.01327264 -0.01530904] [ 0.03648215 0.01068508 0.99927718 -0.06245819] [ 0. 0. 0. 1. ]] SLAMing on 2.9632735599999998 meters Centerline goodness : 0.815330 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.01, Z:-0.06 [[ 0.99677825 -0.07150297 -0.03633799 0.43422855] [ 0.07106736 0.99738493 -0.01314291 -0.0147283 ] [ 0.03718272 0.01051812 0.99925313 -0.06278009] [ 0. 0. 0. 1. ]] SLAMing on 2.9932735599999996 meters Centerline goodness : 0.816951 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.02, Z:-0.06 [[ 0.99679282 -0.07091835 -0.03707648 0.43645522] [ 0.0704923 0.99743177 -0.01267637 -0.01500702] [ 0.03788025 0.0100221 0.99923203 -0.06348756] [ 0. 0. 0. 1. ]] SLAMing on 3.02327356 meters Centerline goodness : 0.815718 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.02, Z:-0.06 [[ 0.99679505 -0.07038071 -0.03802878 0.43939706] [ 0.06997222 0.99747713 -0.0119695 -0.01583997] [ 0.03877526 0.00927018 0.99920496 -0.06464147] [ 0. 0. 0. 1. ]] SLAMing on 3.0532735599999996 meters Centerline goodness : 0.832773 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.02, Z:-0.07 [[ 0.99679054 -0.07019023 -0.0384961 0.44058669] [ 0.06978956 0.99749363 -0.0116566 -0.01626322] [ 0.03921779 0.00893256 0.99919076 -0.06501584] [ 0. 0. 0. 1. ]] SLAMing on 3.08327356 meters Centerline goodness : 0.834844 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.02, Z:-0.07 [[ 0.99679417 -0.06995835 -0.03882278 0.44153176] [ 0.06957568 0.99751466 -0.01112358 -0.01705204] [ 0.03950448 0.0083868 0.9991842 -0.06560095] [ 0. 0. 0. 1. ]] SLAMing on 3.1132735599999997 meters Centerline goodness : 0.831006 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.02, Z:-0.07 [[ 0.99678807 -0.06989423 -0.03909393 0.44247039] [ 0.06953209 0.99752393 -0.01054935 -0.01839334] [ 0.03973447 0.00779719 0.99917985 -0.06629077] [ 0. 0. 0. 1. ]] SLAMing on 3.14327356 meters Centerline goodness : 0.832549 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.02, Z:-0.07 [[ 0.99679571 -0.06959475 -0.03943197 0.44361439] [ 0.06924503 0.99754786 -0.01016805 -0.01934158] [ 0.04004292 0.007405 0.99917052 -0.06676294] [ 0. 0. 0. 1. ]] SLAMing on 3.1732735599999997 meters Centerline goodness : 0.830757 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.02, Z:-0.07 [[ 0.99680143 -0.06922178 -0.03994071 0.44510335] [ 0.06888325 0.99757667 -0.00979224 -0.02018916] [ 0.04052176 0.00700967 0.99915407 -0.06715657] [ 0. 0. 0. 1. ]] SLAMing on 3.2032735599999995 meters Centerline goodness : 0.828070 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.02, Z:-0.07 [[ 0.9967957 -0.06900623 -0.04045335 0.44620596] [ 0.0686717 0.99759309 -0.00960318 -0.02089613] [ 0.04101866 0.00679441 0.99913528 -0.06703739] [ 0. 0. 0. 1. ]] SLAMing on 3.2332735599999998 meters Centerline goodness : 0.829192 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.02, Z:-0.07 [[ 0.99679894 -0.06872636 -0.04084803 0.44734502] [ 0.06840365 0.99761487 -0.00924769 -0.02152814] [ 0.04138616 0.00642393 0.99912257 -0.06739891] [ 0. 0. 0. 1. ]] SLAMing on 3.2632735599999996 meters Centerline goodness : 0.828522 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.02, Z:-0.07 [[ 0.9968033 -0.06853155 -0.04106846 0.44784243] [ 0.0682232 0.9976307 -0.00886482 -0.02248909] [ 0.04157867 0.00603466 0.99911701 -0.06756802] [ 0. 0. 0. 1. ]] SLAMing on 3.29327356 meters Centerline goodness : 0.828219 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.02, Z:-0.07 [[ 0.99681387 -0.06816913 -0.04141361 0.44878843] [ 0.067883 0.99765895 -0.00827801 -0.02453584] [ 0.04188096 0.00544035 0.9991078 -0.06771324] [ 0. 0. 0. 1. ]] SLAMing on 3.3232735599999996 meters Centerline goodness : 0.829468 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.03, Z:-0.07 [[ 0.99682371 -0.06777011 -0.04182945 0.45000681] [ 0.06750671 0.99768927 -0.00767938 -0.02574158] [ 0.04225322 0.00483122 0.99909525 -0.06819374] [ 0. 0. 0. 1. ]] SLAMing on 3.35327356 meters Centerline goodness : 0.827397 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.03, Z:-0.07 [[ 0.99682546 -0.06754081 -0.0421573 0.45078429] [ 0.06728395 0.9977058 -0.00748411 -0.02648123] [ 0.04256606 0.00462384 0.99908295 -0.06812025] [ 0. 0. 0. 1. ]] SLAMing on 3.3832735599999997 meters Centerline goodness : 0.826641 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.03, Z:-0.07 [[ 0.99683855 -0.06713551 -0.04249384 0.45182696] [ 0.06689564 0.99773512 -0.00704346 -0.02725497] [ 0.04287046 0.00417854 0.9990719 -0.06845075] [ 0. 0. 0. 1. ]] SLAMing on 3.4132735599999995 meters Centerline goodness : 0.826528 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.03, Z:-0.07 [[ 0.99686962 -0.06628572 -0.04309481 0.45395772] [ 0.06608425 0.9977955 -0.00608443 -0.02921074] [ 0.04340312 0.00321749 0.99905246 -0.06939536] [ 0. 0. 0. 1. ]] SLAMing on 3.4432735599999997 meters Centerline goodness : 0.824833 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:-0.07 [[ 0.99688096 -0.06589881 -0.04342469 0.45503247] [ 0.06571356 0.99782235 -0.00568142 -0.03016832] [ 0.04370452 0.0028101 0.99904055 -0.06976074] [ 0. 0. 0. 1. ]] SLAMing on 3.4732735599999995 meters Centerline goodness : 0.823909 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:-0.07 [[ 0.99690086 -0.06539556 -0.04372744 0.45632793] [ 0.06523751 0.99785707 -0.00503335 -0.03140123] [ 0.04396289 0.00216508 0.99903082 -0.07053 ] [ 0. 0. 0. 1. ]] SLAMing on 3.50327356 meters Centerline goodness : 0.821928 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:-0.07 [[ 0.99691628 -0.06502455 -0.04392888 0.45712896] [ 0.06488213 0.99788205 -0.00466164 -0.03225962] [ 0.04413897 0.00179707 0.99902378 -0.07088565] [ 0. 0. 0. 1. ]] SLAMing on 3.5332735599999996 meters Centerline goodness : 0.820353 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:-0.07 [[ 0.99695453 -0.06421203 -0.04425471 0.45865851] [ 0.06409839 0.99793563 -0.00398363 -0.03366362] [ 0.04441915 0.00113484 0.99901234 -0.07154758] [ 0. 0. 0. 1. ]] SLAMing on 3.56327356 meters Centerline goodness : 0.822341 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:-0.07 [[ 0.99696125 -0.06394527 -0.044489 0.4591929 ] [ 0.06383697 0.99795291 -0.00385228 -0.03401814] [ 0.04464427 0.00100053 0.99900245 -0.07140029] [ 0. 0. 0. 1. ]] SLAMing on 3.5932735599999996 meters Centerline goodness : 0.819222 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:-0.07 [[ 9.96972978e-01 -6.35585433e-02 -4.47793806e-02 4.60008264e-01] [ 6.34594661e-02 9.97977807e-01 -3.63209132e-03 -3.45286725e-02] [ 4.49196785e-02 7.79421316e-04 9.98990298e-01 -7.13780469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6232735599999994 meters Centerline goodness : 0.818784 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:-0.07 [[ 9.96996765e-01 -6.29904237e-02 -4.50517071e-02 4.60637586e-01] [ 6.29092178e-02 9.98014061e-01 -3.21945254e-03 -3.58424422e-02] [ 4.51650318e-02 3.75616116e-04 9.98979469e-01 -7.10835187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6532735599999997 meters Centerline goodness : 0.822033 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:-0.07 [[ 9.97005113e-01 -6.27260975e-02 -4.52354088e-02 4.61024908e-01] [ 6.26514061e-02 9.98030754e-01 -3.06844078e-03 -3.65261239e-02] [ 4.53388004e-02 2.25189183e-04 9.98971642e-01 -7.08402485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6832735599999995 meters Centerline goodness : 0.820046 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:-0.07 [[ 9.97036137e-01 -6.20841753e-02 -4.54367361e-02 4.61895397e-01] [ 6.20398995e-02 9.98070820e-01 -2.38533805e-03 -3.84794725e-02] [ 4.54971722e-02 -4.40622309e-04 9.98964370e-01 -7.11299162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7132735599999998 meters Centerline goodness : 0.818417 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:-0.07 [[ 0.99705752 -0.06153314 -0.04571628 0.46299662] [ 0.06151618 0.9981045 -0.00177913 -0.03996533] [ 0.04573911 -0.00103839 0.99895288 -0.07159034] [ 0. 0. 0. 1. ]] SLAMing on 3.7432735599999996 meters Centerline goodness : 0.815382 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:-0.07 [[ 0.99707026 -0.06113064 -0.04597768 0.46394359] [ 0.0611333 0.9981287 -0.00134976 -0.04124249] [ 0.04597416 -0.00146496 0.99894156 -0.07190409] [ 0. 0. 0. 1. ]] SLAMing on 3.77327356 meters Centerline goodness : 0.815597 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.04, Z:-0.07 [[ 9.97113142e-01 -6.01698961e-02 -4.63137657e-02 4.65618940e-01] [ 6.02251530e-02 9.98184797e-01 -2.02618107e-04 -4.38876230e-02] [ 4.62418883e-02 -2.58722045e-03 9.98926921e-01 -7.29429468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8032735599999996 meters Centerline goodness : 0.814731 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.05, Z:-0.07 [[ 9.97136882e-01 -5.96660243e-02 -4.64543286e-02 4.66461888e-01] [ 5.97478315e-02 9.98213433e-01 3.73256826e-04 -4.51115926e-02] [ 4.63490640e-02 -3.14773354e-03 9.98920345e-01 -7.35043182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.83327356 meters Centerline goodness : 0.813338 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.05, Z:-0.07 [[ 9.97158942e-01 -5.89962622e-02 -4.68346632e-02 4.67809049e-01] [ 5.91027716e-02 9.98251505e-01 8.91427610e-04 -4.61714153e-02] [ 4.67001821e-02 -3.65695341e-03 9.98902257e-01 -7.38572799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8632735599999997 meters Centerline goodness : 0.812816 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.05, Z:-0.07 [[ 0.99720805 -0.05775297 -0.04733604 0.46971774] [ 0.05789986 0.99832089 0.00173672 -0.04735148] [ 0.04715626 -0.00447262 0.99887751 -0.07433767] [ 0. 0. 0. 1. ]] SLAMing on 3.8932735599999995 meters Centerline goodness : 0.811967 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.05, Z:-0.07 [[ 0.99722275 -0.05730828 -0.04756617 0.4703944 ] [ 0.05746737 0.99834542 0.0019828 -0.04779009] [ 0.04737383 -0.0047108 0.99886612 -0.07430073] [ 0. 0. 0. 1. ]] SLAMing on 3.9232735599999997 meters Centerline goodness : 0.813745 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.05, Z:-0.07 [[ 0.9972302 -0.05690264 -0.04789599 0.47113281] [ 0.05707126 0.99836777 0.00215921 -0.04839572] [ 0.04769495 -0.00488672 0.99884999 -0.07404372] [ 0. 0. 0. 1. ]] SLAMing on 3.9532735599999995 meters Centerline goodness : 0.811827 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.05, Z:-0.07 [[ 0.9972438 -0.05648052 -0.048112 0.47170977] [ 0.05666424 0.99839025 0.00246238 -0.04922669] [ 0.04789547 -0.00518183 0.99883891 -0.07398185] [ 0. 0. 0. 1. ]] SLAMing on 3.9832735599999998 meters Centerline goodness : 0.811129 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.05, Z:-0.07 [[ 0.99726215 -0.05597519 -0.04832174 0.47208584] [ 0.05617904 0.99841659 0.00286969 -0.05099427] [ 0.0480846 -0.0055765 0.9988277 -0.07356284] [ 0. 0. 0. 1. ]] SLAMing on 4.01327356 meters Centerline goodness : 0.811494 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.05, Z:-0.07 [[ 0.99727313 -0.05558764 -0.04854183 0.47266956] [ 0.05580792 0.99843642 0.00319347 -0.05209622] [ 0.04828842 -0.00589378 0.99881605 -0.07351822] [ 0. 0. 0. 1. ]] SLAMing on 4.043273559999999 meters Centerline goodness : 0.814589 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.05, Z:-0.07 [[ 0.99728043 -0.05525345 -0.04877303 0.47335521] [ 0.05548893 0.99845322 0.00348637 -0.0529595 ] [ 0.04850495 -0.00618325 0.9988038 -0.0735837 ] [ 0. 0. 0. 1. ]] SLAMing on 4.07327356 meters Centerline goodness : 0.811552 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.05, Z:-0.07 [[ 0.99730551 -0.05450399 -0.04910232 0.47439393] [ 0.0547708 0.99849052 0.0041037 -0.05462807] [ 0.04880453 -0.00678202 0.99878532 -0.07363079] [ 0. 0. 0. 1. ]] SLAMing on 4.10327356 meters Centerline goodness : 0.812997 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.06, Z:-0.07 [[ 0.99731512 -0.05415837 -0.04928913 0.47491248] [ 0.05444042 0.99850734 0.00439688 -0.05551452] [ 0.04897743 -0.0070684 0.99877487 -0.07359317] [ 0. 0. 0. 1. ]] SLAMing on 4.133273559999999 meters Centerline goodness : 0.812697 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.07 [[ 0.99732008 -0.05379786 -0.04958276 0.47568441] [ 0.05409805 0.99852442 0.00473136 -0.05662025] [ 0.04925506 -0.00740101 0.99875881 -0.07359186] [ 0. 0. 0. 1. ]] SLAMing on 4.1632735599999995 meters Centerline goodness : 0.811764 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.07 [[ 0.99734384 -0.05321415 -0.04973445 0.47659786] [ 0.05355395 0.99854968 0.00552389 -0.05948103] [ 0.04936837 -0.00817269 0.9987472 -0.07410071] [ 0. 0. 0. 1. ]] SLAMing on 4.19327356 meters Centerline goodness : 0.811033 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.07 [[ 0.99735632 -0.05290506 -0.04981388 0.47716536] [ 0.05326665 0.99856255 0.00595849 -0.06090438] [ 0.04942705 -0.00859615 0.99874074 -0.07447193] [ 0. 0. 0. 1. ]] SLAMing on 4.22327356 meters Centerline goodness : 0.812018 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.07 [[ 0.99737033 -0.0525782 -0.04987942 0.47768389] [ 0.05296236 0.99857593 0.00641077 -0.06219502] [ 0.04947132 -0.00903564 0.99873467 -0.07485003] [ 0. 0. 0. 1. ]] SLAMing on 4.253273559999999 meters Centerline goodness : 0.810825 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.07 [[ 0.99738367 -0.05212973 -0.05008303 0.47822101] [ 0.05254336 0.99859427 0.0069773 -0.06402241] [ 0.0496489 -0.00959057 0.99872069 -0.07487358] [ 0. 0. 0. 1. ]] SLAMing on 4.28327356 meters Centerline goodness : 0.811299 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.07 [[ 0.99738979 -0.05186778 -0.0502328 0.47860194] [ 0.05229514 0.9986055 0.00723014 -0.06504314] [ 0.04978774 -0.00983819 0.99871137 -0.07476689] [ 0. 0. 0. 1. ]] SLAMing on 4.31327356 meters Centerline goodness : 0.809474 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.07 [[ 0.99740468 -0.05156825 -0.05024553 0.47871207] [ 0.05202136 0.99861589 0.00775141 -0.06692533] [ 0.04977626 -0.01034514 0.99870682 -0.07482595] [ 0. 0. 0. 1. ]] SLAMing on 4.34327356 meters Centerline goodness : 0.808450 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.07 [[ 0.99740077 -0.05141614 -0.05047856 0.47908244] [ 0.05187591 0.99862277 0.00783984 -0.06800722] [ 0.05000594 -0.01043808 0.99869437 -0.07442407] [ 0. 0. 0. 1. ]] SLAMing on 4.3732735599999994 meters Centerline goodness : 0.809114 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.07 [[ 0.99740482 -0.05139438 -0.05042065 0.47886964] [ 0.05186037 0.99862249 0.00797694 -0.06897327] [ 0.04994123 -0.01057107 0.99869621 -0.07423766] [ 0. 0. 0. 1. ]] SLAMing on 4.40327356 meters Centerline goodness : 0.810487 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.07 [[ 0.99740294 -0.0513696 -0.05048305 0.47888201] [ 0.05184201 0.99862251 0.00809239 -0.06984109] [ 0.04999781 -0.01068851 0.99869213 -0.07405839] [ 0. 0. 0. 1. ]] SLAMing on 4.43327356 meters Centerline goodness : 0.808581 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.07 [[ 0.99740447 -0.05139219 -0.05042984 0.47865916] [ 0.05186784 0.99862055 0.0081682 -0.07066863] [ 0.04994049 -0.01076269 0.9986942 -0.0738679 ] [ 0. 0. 0. 1. ]] SLAMing on 4.463273559999999 meters Centerline goodness : 0.811656 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.07 [[ 0.99740363 -0.05137561 -0.05046332 0.47853402] [ 0.05186222 0.99861909 0.00838039 -0.07247719] [ 0.04996309 -0.01097577 0.99869075 -0.073521 ] [ 0. 0. 0. 1. ]] SLAMing on 4.4932735599999996 meters Centerline goodness : 0.810763 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.07 [[ 0.9974028 -0.05137851 -0.05047684 0.47852573] [ 0.0518752 0.99861673 0.00857863 -0.07359863] [ 0.04996626 -0.01117485 0.99868839 -0.07348981] [ 0. 0. 0. 1. ]] SLAMing on 4.52327356 meters Centerline goodness : 0.808690 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.07 [[ 0.99740201 -0.05146048 -0.05040892 0.47845014] [ 0.05196529 0.99861052 0.00875458 -0.07479256] [ 0.04988836 -0.01135135 0.99869029 -0.07358998] [ 0. 0. 0. 1. ]] SLAMing on 4.55327356 meters Centerline goodness : 0.809409 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.07 [[ 0.99739714 -0.05142175 -0.05054453 0.47881164] [ 0.05193969 0.99860979 0.0089869 -0.07609311] [ 0.05001214 -0.01158878 0.99868137 -0.07363258] [ 0. 0. 0. 1. ]] SLAMing on 4.583273559999999 meters Centerline goodness : 0.810271 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.07 [[ 0.99739179 -0.05158668 -0.05048207 0.47875002] [ 0.05212803 0.99859555 0.00946548 -0.07832925] [ 0.04992288 -0.01207233 0.99868011 -0.07401555] [ 0. 0. 0. 1. ]] SLAMing on 4.61327356 meters Centerline goodness : 0.810271 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.07 [[ 0.99739179 -0.05158668 -0.05048207 0.47875002] [ 0.05212803 0.99859555 0.00946548 -0.07832925] [ 0.04992288 -0.01207233 0.99868011 -0.07401555] [ 0. 0. 0. 1. ]] SLAMing on 4.64327356 meters Centerline goodness : 0.807975 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.07 [[ 0.99739107 -0.0516859 -0.0503946 0.47869715] [ 0.05223741 0.9985877 0.0096879 -0.07936967] [ 0.0498227 -0.01229511 0.9986824 -0.07429045] [ 0. 0. 0. 1. ]] SLAMing on 4.673273559999999 meters Centerline goodness : 0.809531 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.07 [[ 0.99738758 -0.05179559 -0.05035102 0.47852671] [ 0.05235715 0.99857937 0.00989781 -0.08097407] [ 0.04976682 -0.01250819 0.99868254 -0.07418433] [ 0. 0. 0. 1. ]] SLAMing on 4.7032735599999995 meters Centerline goodness : 0.809017 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.07 [[ 0.99738368 -0.05189066 -0.05033043 0.47839616] [ 0.05244984 0.99857495 0.00985295 -0.08129736] [ 0.04974743 -0.012467 0.99868402 -0.07405056] [ 0. 0. 0. 1. ]] SLAMing on 4.73327356 meters Centerline goodness : 0.810698 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.07 [[ 0.99737784 -0.05202021 -0.05031237 0.47795813] [ 0.0525707 0.99857029 0.00967986 -0.08156935] [ 0.04973689 -0.01229943 0.99868662 -0.07347255] [ 0. 0. 0. 1. ]] SLAMing on 4.76327356 meters Centerline goodness : 0.809230 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.07 [[ 0.99737256 -0.05209362 -0.05034115 0.47776136] [ 0.05263584 0.99856854 0.0095049 -0.08142479] [ 0.04977395 -0.01212968 0.99868685 -0.07307678] [ 0. 0. 0. 1. ]] SLAMing on 4.793273559999999 meters Centerline goodness : 0.810307 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.07 [[ 0.99736791 -0.05218897 -0.05033454 0.47749725] [ 0.05272295 0.99856551 0.00933891 -0.08134604] [ 0.04977495 -0.01196811 0.99868875 -0.07269811] [ 0. 0. 0. 1. ]] SLAMing on 4.82327356 meters Centerline goodness : 0.812252 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.07 [[ 0.9973663 -0.05206979 -0.05048953 0.4776616 ] [ 0.05260224 0.99857248 0.00927415 -0.08160804] [ 0.04993455 -0.01190559 0.99868153 -0.07227231] [ 0. 0. 0. 1. ]] SLAMing on 4.85327356 meters Centerline goodness : 0.812472 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.07 [[ 0.9973615 -0.05198418 -0.05067228 0.47812113] [ 0.05251739 0.99857719 0.00924777 -0.08166057] [ 0.05011944 -0.01188454 0.99867252 -0.07225206] [ 0. 0. 0. 1. ]] SLAMing on 4.883273559999999 meters Centerline goodness : 0.810011 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.07 [[ 0.99735923 -0.05195311 -0.05074881 0.47840022] [ 0.05248541 0.9985792 0.00921235 -0.08165579] [ 0.0501981 -0.0118516 0.99866896 -0.07230985] [ 0. 0. 0. 1. ]] SLAMing on 4.9132735599999995 meters Centerline goodness : 0.811180 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.07 [[ 0.99735788 -0.05180577 -0.05092556 0.47895108] [ 0.05234183 0.9985864 0.00924873 -0.0816951 ] [ 0.05037444 -0.01188983 0.99865963 -0.07239903] [ 0. 0. 0. 1. ]] SLAMing on 4.94327356 meters Centerline goodness : 0.811092 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.07 [[ 0.9973682 -0.05151966 -0.05101374 0.47952381] [ 0.05206985 0.99859812 0.0095147 -0.08176185] [ 0.05045204 -0.01214594 0.99865263 -0.07286515] [ 0. 0. 0. 1. ]] SLAMing on 4.97327356 meters Centerline goodness : 0.815285 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.07 [[ 0.99736035 -0.05164012 -0.05104539 0.47956351] [ 0.05218121 0.9985941 0.00932412 -0.08136188] [ 0.05049213 -0.01196312 0.99865281 -0.07274603] [ 0. 0. 0. 1. ]] SLAMing on 5.003273559999999 meters Centerline goodness : 0.811082 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.07 [[ 0.99736105 -0.05160813 -0.05106409 0.47956209] [ 0.05214988 0.99859565 0.0093334 -0.08139169] [ 0.0505107 -0.01197176 0.99865176 -0.07264151] [ 0. 0. 0. 1. ]] SLAMing on 5.03327356 meters Centerline goodness : 0.810226 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.07 [[ 0.99736349 -0.05160127 -0.05102336 0.47985716] [ 0.05215508 0.99859303 0.00958209 -0.08198736] [ 0.05045712 -0.01221796 0.99865149 -0.07325198] [ 0. 0. 0. 1. ]] SLAMing on 5.06327356 meters Centerline goodness : 0.806979 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.07 [[ 0.99735967 -0.05176551 -0.05093148 0.47968204] [ 0.05231963 0.99858418 0.00960637 -0.08247974] [ 0.05036209 -0.01224572 0.99865595 -0.07335255] [ 0. 0. 0. 1. ]] SLAMing on 5.093273559999999 meters Centerline goodness : 0.807537 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.07 [[ 0.9973548 -0.05198693 -0.05080124 0.47943921] [ 0.05254066 0.9985724 0.00962511 -0.08317754] [ 0.05022833 -0.01226878 0.9986624 -0.07345098] [ 0. 0. 0. 1. ]] SLAMing on 5.1232735599999994 meters Centerline goodness : 0.808278 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.07 [[ 0.99733437 -0.05264968 -0.05051897 0.47834966] [ 0.05319783 0.99853816 0.00956691 -0.08436045] [ 0.04994143 -0.01222891 0.99867728 -0.07322121] [ 0. 0. 0. 1. ]] SLAMing on 5.15327356 meters Centerline goodness : 0.808551 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.07 [[ 0.99732433 -0.05298354 -0.05036783 0.47766545] [ 0.05352297 0.99852218 0.00942108 -0.08487097] [ 0.04979423 -0.01209171 0.9986863 -0.07282654] [ 0. 0. 0. 1. ]] SLAMing on 5.18327356 meters Centerline goodness : 0.808430 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.07 [[ 0.99731602 -0.05326022 -0.05024055 0.4770778 ] [ 0.05379396 0.99850846 0.00933093 -0.08544887] [ 0.04966865 -0.01200853 0.99869356 -0.07246946] [ 0. 0. 0. 1. ]] SLAMing on 5.213273559999999 meters Centerline goodness : 0.807295 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.07 [[ 0.99728437 -0.05405337 -0.05002119 0.47548818] [ 0.0545615 0.99847121 0.00884814 -0.08613171] [ 0.04946645 -0.01155335 0.99870896 -0.07124515] [ 0. 0. 0. 1. ]] SLAMing on 5.2432735599999996 meters Centerline goodness : 0.810351 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.09, Z:-0.07 [[ 0.99726802 -0.05454256 -0.04981574 0.47447247] [ 0.05504004 0.99844652 0.00866893 -0.08655858] [ 0.04926553 -0.01138711 0.9987208 -0.07074685] [ 0. 0. 0. 1. ]] SLAMing on 5.27327356 meters Centerline goodness : 0.807088 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.09, Z:-0.07 [[ 0.99725527 -0.05497602 -0.049594 0.47349624] [ 0.05546532 0.99842406 0.00854335 -0.08734316] [ 0.04904616 -0.01127065 0.99873292 -0.07022502] [ 0. 0. 0. 1. ]] SLAMing on 5.303273559999999 meters Centerline goodness : 0.808185 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.09, Z:-0.07 [[ 0.9972156 -0.05585402 -0.04941019 0.47223386] [ 0.05633243 0.99837721 0.00834236 -0.08930838] [ 0.04886406 -0.01110253 0.99874373 -0.06946936] [ 0. 0. 0. 1. ]] SLAMing on 5.333273559999999 meters Centerline goodness : 0.807665 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.09, Z:-0.07 [[ 0.99720918 -0.05594694 -0.04943472 0.4723819 ] [ 0.05643691 0.99836938 0.00857081 -0.09073413] [ 0.0488746 -0.01133683 0.99874058 -0.06962126] [ 0. 0. 0. 1. ]] SLAMing on 5.36327356 meters Centerline goodness : 0.807517 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.09, Z:-0.07 [[ 0.99720403 -0.05605785 -0.04941296 0.47257933] [ 0.05655722 0.99836088 0.00876539 -0.09204076] [ 0.04884059 -0.01153554 0.99873997 -0.06994144] [ 0. 0. 0. 1. ]] SLAMing on 5.39327356 meters Centerline goodness : 0.802862 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.09, Z:-0.07 [[ 0.99720196 -0.05607152 -0.04943921 0.47300948] [ 0.05660618 0.99835157 0.00948045 -0.09492024] [ 0.04882613 -0.01225249 0.99873214 -0.07070179] [ 0. 0. 0. 1. ]] SLAMing on 5.423273559999999 meters Centerline goodness : 0.805537 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.10, Z:-0.07 [[ 0.99720104 -0.05607015 -0.04945939 0.47315351] [ 0.05661927 0.99834803 0.00977096 -0.09605154] [ 0.04882983 -0.01254397 0.99872834 -0.07090339] [ 0. 0. 0. 1. ]] SLAMing on 5.4532735599999995 meters Centerline goodness : 0.803866 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.10, Z:-0.07 [[ 0.9971988 -0.0559577 -0.04963158 0.47371382] [ 0.05651294 0.99835323 0.00985426 -0.09681292] [ 0.04899843 -0.01263149 0.99871898 -0.07094122] [ 0. 0. 0. 1. ]] SLAMing on 5.48327356 meters Centerline goodness : 0.805027 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.10, Z:-0.07 [[ 0.99721052 -0.05570273 -0.04968291 0.47386494] [ 0.05627847 0.99836234 0.01026468 -0.09816545] [ 0.04902978 -0.01303213 0.99871229 -0.07094331] [ 0. 0. 0. 1. ]] SLAMing on 5.51327356 meters Centerline goodness : 0.803923 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.10, Z:-0.07 [[ 0.99721959 -0.0555082 -0.04971846 0.47407301] [ 0.05609759 0.99836968 0.01053759 -0.09910284] [ 0.04905248 -0.01329738 0.99870768 -0.07101818] [ 0. 0. 0. 1. ]] SLAMing on 5.543273559999999 meters Centerline goodness : 0.803872 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.10, Z:-0.07 [[ 0.99721548 -0.05561796 -0.04967825 0.47373657] [ 0.05620594 0.9983638 0.0105172 -0.09977334] [ 0.04901202 -0.01328012 0.9987099 -0.07064581] [ 0. 0. 0. 1. ]] SLAMing on 5.57327356 meters Centerline goodness : 0.804997 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.10, Z:-0.07 [[ 0.99720241 -0.05586534 -0.04966307 0.4728952 ] [ 0.05644957 0.99835088 0.01043913 -0.10146658] [ 0.04899798 -0.01321339 0.99871147 -0.06951449] [ 0. 0. 0. 1. ]] SLAMing on 5.60327356 meters Centerline goodness : 0.804248 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.10, Z:-0.07 [[ 0.9971995 -0.05593466 -0.04964341 0.47260661] [ 0.0565197 0.9983467 0.01045942 -0.10216438] [ 0.04897629 -0.01323596 0.99871224 -0.06914923] [ 0. 0. 0. 1. ]] SLAMing on 5.633273559999999 meters Centerline goodness : 0.803247 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.10, Z:-0.07 [[ 0.99719994 -0.0557708 -0.04981858 0.47292706] [ 0.05636663 0.99835349 0.01063526 -0.10333964] [ 0.04914342 -0.01341358 0.99870166 -0.06892344] [ 0. 0. 0. 1. ]] SLAMing on 5.6632735599999995 meters Centerline goodness : 0.806259 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.10, Z:-0.07 [[ 0.99720498 -0.05546521 -0.05005841 0.47361746] [ 0.05607325 0.99836798 0.01082409 -0.10385391] [ 0.04937635 -0.01360077 0.99868764 -0.06896101] [ 0. 0. 0. 1. ]] SLAMing on 5.69327356 meters Centerline goodness : 0.804015 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.10, Z:-0.07 [[ 0.99721119 -0.05518411 -0.05024502 0.47414151] [ 0.05580417 0.9983809 0.01102178 -0.10412374] [ 0.04955544 -0.01379492 0.9986761 -0.0690347 ] [ 0. 0. 0. 1. ]] SLAMing on 5.72327356 meters Centerline goodness : 0.806252 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.10, Z:-0.07 [[ 0.99720906 -0.05507874 -0.05040265 0.47458084] [ 0.05569742 0.99838762 0.0109525 -0.10411547] [ 0.04971814 -0.01372923 0.99866892 -0.06898668] [ 0. 0. 0. 1. ]] SLAMing on 5.753273559999999 meters Centerline goodness : 0.804272 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.07 [[ 0.99721013 -0.05483786 -0.05064347 0.47522618] [ 0.05546134 0.99840037 0.01098802 -0.10428056] [ 0.0499599 -0.01376612 0.99865635 -0.06890684] [ 0. 0. 0. 1. ]] SLAMing on 5.78327356 meters Centerline goodness : 0.801468 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.07 [[ 0.99723303 -0.05428229 -0.0507909 0.47603035] [ 0.05492375 0.99842639 0.01131917 -0.10465146] [ 0.05009655 -0.01407748 0.99864516 -0.06923928] [ 0. 0. 0. 1. ]] SLAMing on 5.81327356 meters Centerline goodness : 0.802161 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.07 [[ 0.99724048 -0.05398263 -0.05096369 0.47659165] [ 0.05463159 0.99844119 0.01142684 -0.10484112] [ 0.0502674 -0.01417953 0.99863513 -0.06923335] [ 0. 0. 0. 1. ]] SLAMing on 5.843273559999999 meters Centerline goodness : 0.803108 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.07 [[ 0.99725937 -0.05345349 -0.05115148 0.4774724 ] [ 0.05412012 0.99846546 0.01173636 -0.10515468] [ 0.05044564 -0.01447252 0.99862194 -0.0695595 ] [ 0. 0. 0. 1. ]] SLAMing on 5.8732735599999994 meters Centerline goodness : 0.801934 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.07 [[ 0.99726345 -0.0531674 -0.05136966 0.47811666] [ 0.05384219 0.99847924 0.01184176 -0.10514665] [ 0.05066195 -0.01457521 0.9986095 -0.06961072] [ 0. 0. 0. 1. ]] SLAMing on 5.90327356 meters Centerline goodness : 0.804132 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.07 [[ 0.99726581 -0.05293319 -0.05156538 0.47866398] [ 0.05360651 0.99849286 0.01176236 -0.10482545] [ 0.05086505 -0.01449444 0.99860035 -0.0695052 ] [ 0. 0. 0. 1. ]] SLAMing on 5.93327356 meters Centerline goodness : 0.804541 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.07 [[ 0.99727143 -0.05258877 -0.0518084 0.47937755] [ 0.05326536 0.99851108 0.01176565 -0.10451911] [ 0.05111252 -0.01449314 0.99858773 -0.06946192] [ 0. 0. 0. 1. ]] SLAMing on 5.963273559999999 meters Centerline goodness : 0.802125 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.07 [[ 0.99727613 -0.05237283 -0.05193664 0.47967421] [ 0.05304763 0.99852344 0.01169957 -0.10416409] [ 0.05124722 -0.01442281 0.99858185 -0.06928212] [ 0. 0. 0. 1. ]] SLAMing on 5.9932735599999996 meters Centerline goodness : 0.801835 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.07 [[ 0.99727882 -0.05193387 -0.05232421 0.48043927] [ 0.05259924 0.9985504 0.01141966 -0.10343009] [ 0.0516553 -0.0141408 0.99856485 -0.0686206 ] [ 0. 0. 0. 1. ]] SLAMing on 6.02327356 meters Centerline goodness : 0.802462 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.07 [[ 0.99728017 -0.05171478 -0.0525152 0.48075169] [ 0.05237552 0.99856371 0.01128363 -0.10279044] [ 0.05185624 -0.01400346 0.99855637 -0.06829692] [ 0. 0. 0. 1. ]] SLAMing on 6.053273559999999 meters Centerline goodness : 0.801635 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.07 [[ 0.99728634 -0.05143599 -0.05267161 0.48124701] [ 0.05209216 0.99857991 0.01116073 -0.10212077] [ 0.05202275 -0.01387422 0.99854952 -0.06818806] [ 0. 0. 0. 1. ]] SLAMing on 6.083273559999999 meters Centerline goodness : 0.805644 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.07 [[ 0.99730048 -0.0507609 -0.05305736 0.48232188] [ 0.05141117 0.9986174 0.01096285 -0.10073003] [ 0.05242752 -0.01366099 0.99853129 -0.06789165] [ 0. 0. 0. 1. ]] SLAMing on 6.11327356 meters Centerline goodness : 0.803204 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.07 [[ 0.99730187 -0.05045878 -0.05331884 0.48305947] [ 0.0511064 0.99863425 0.0108524 -0.09993399] [ 0.05269842 -0.01354805 0.99851857 -0.06785161] [ 0. 0. 0. 1. ]] SLAMing on 6.14327356 meters Centerline goodness : 0.803600 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.07 [[ 0.99730943 -0.05001617 -0.05359367 0.48410654] [ 0.05066226 0.99865783 0.01076447 -0.09912023] [ 0.05298334 -0.01345068 0.9985048 -0.06800204] [ 0. 0. 0. 1. ]] SLAMing on 6.173273559999999 meters Centerline goodness : 0.803123 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.07 [[ 0.99750932 -0.04576679 -0.05367089 0.48436846] [ 0.04663176 0.99879989 0.01497554 -0.09964427] [ 0.0529211 -0.01744101 0.99844638 -0.06877523] [ 0. 0. 0. 1. ]] SLAMing on 6.2032735599999995 meters Centerline goodness : 0.798565 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.10, Z:-0.07 [[ 0.99751324 -0.0453716 -0.05393291 0.48522146] [ 0.04622955 0.99882168 0.01476751 -0.09837031] [ 0.05319933 -0.01722408 0.99843536 -0.06874709] [ 0. 0. 0. 1. ]] SLAMing on 6.23327356 meters Centerline goodness : 0.802319 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.10, Z:-0.07 [[ 0.99752133 -0.04489623 -0.05418039 0.48601788] [ 0.04574408 0.9988478 0.01451067 -0.0967796 ] [ 0.05346649 -0.01695313 0.99842572 -0.06861532] [ 0. 0. 0. 1. ]] SLAMing on 6.26327356 meters Centerline goodness : 0.804512 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.10, Z:-0.07 [[ 0.99769868 -0.04064082 -0.05427402 0.48591371] [ 0.04168133 0.99896557 0.01817871 -0.09544775] [ 0.05347908 -0.02039908 0.99836059 -0.06857105] [ 0. 0. 0. 1. ]] SLAMing on 6.293273559999999 meters Centerline goodness : 0.803086 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.09, Z:-0.07 [[ 0.99770317 -0.04029619 -0.05444821 0.48633859] [ 0.04131736 0.9989882 0.01776082 -0.09367593] [ 0.05367743 -0.01996968 0.99835863 -0.06813173] [ 0. 0. 0. 1. ]] SLAMing on 6.32327356 meters Centerline goodness : 0.801687 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.09, Z:-0.07 [[ 0.99770401 -0.04007004 -0.05459938 0.4867042 ] [ 0.04106932 0.99900645 0.0173041 -0.09181569] [ 0.05385176 -0.01950673 0.99835839 -0.06777934] [ 0. 0. 0. 1. ]] SLAMing on 6.35327356 meters Centerline goodness : 0.803994 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.09, Z:-0.07 [[ 0.99773498 -0.03896258 -0.05483458 0.48782336] [ 0.03995316 0.99905547 0.01708569 -0.08935864] [ 0.05411709 -0.0192378 0.99834926 -0.06753989] [ 0. 0. 0. 1. ]] SLAMing on 6.383273559999999 meters Centerline goodness : 0.801109 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.09, Z:-0.07 [[ 0.99773194 -0.03872589 -0.05505705 0.48848053] [ 0.03970161 0.99907135 0.0167396 -0.08796408] [ 0.05435766 -0.01888749 0.99834288 -0.06741746] [ 0. 0. 0. 1. ]] SLAMing on 6.4132735599999995 meters Centerline goodness : 0.803932 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.09, Z:-0.07 [[ 0.9977308 -0.03856129 -0.05519307 0.48891125] [ 0.03951787 0.99908516 0.01634579 -0.08689763] [ 0.05451226 -0.01848981 0.9983419 -0.06716429] [ 0. 0. 0. 1. ]] SLAMing on 6.44327356 meters Centerline goodness : 0.800529 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.09, Z:-0.07 [[ 0.99773305 -0.03810709 -0.05546724 0.48974782] [ 0.03904966 0.99910901 0.01600951 -0.08513122] [ 0.05480774 -0.0181392 0.99833215 -0.06695576] [ 0. 0. 0. 1. ]] SLAMing on 6.47327356 meters Centerline goodness : 0.802026 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.08, Z:-0.07 [[ 0.99772515 -0.03795645 -0.05571197 0.49043823] [ 0.03888767 0.99911982 0.01572672 -0.08388587] [ 0.05506601 -0.01785745 0.99832302 -0.06691308] [ 0. 0. 0. 1. ]] SLAMing on 6.503273559999999 meters Centerline goodness : 0.801590 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.08, Z:-0.07 [[ 0.99772794 -0.03761247 -0.05589511 0.49118885] [ 0.03853285 0.99913742 0.01548034 -0.08241618] [ 0.05526465 -0.01759897 0.99831663 -0.0669615 ] [ 0. 0. 0. 1. ]] SLAMing on 6.53327356 meters Centerline goodness : 0.801590 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.08, Z:-0.07 [[ 0.99772794 -0.03761247 -0.05589511 0.49118885] [ 0.03853285 0.99913742 0.01548034 -0.08241618] [ 0.05526465 -0.01759897 0.99831663 -0.0669615 ] [ 0. 0. 0. 1. ]] SLAMing on 6.56327356 meters Centerline goodness : 0.801255 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.08, Z:-0.07 [[ 0.99772562 -0.03719235 -0.05621675 0.49209273] [ 0.03809581 0.99916022 0.01508535 -0.08076651] [ 0.05560848 -0.01719266 0.99830462 -0.06665289] [ 0. 0. 0. 1. ]] SLAMing on 6.593273559999999 meters Centerline goodness : 0.799263 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.08, Z:-0.07 [[ 0.99786902 -0.03289948 -0.05634753 0.49252705] [ 0.03401905 0.99924007 0.0190262 -0.08007423] [ 0.05567876 -0.02090254 0.99822991 -0.06720951] [ 0. 0. 0. 1. ]] SLAMing on 6.6232735599999994 meters Centerline goodness : 0.800870 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.08, Z:-0.07 [[ 0.99786607 -0.03256051 -0.0565962 0.49340364] [ 0.03365817 0.99926123 0.01855057 -0.07812964] [ 0.05595037 -0.02041591 0.9982248 -0.06707778] [ 0. 0. 0. 1. ]] SLAMing on 6.65327356 meters Centerline goodness : 0.801229 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.08, Z:-0.07 [[ 0.99786012 -0.03245536 -0.05676119 0.49374454] [ 0.03351974 0.99927773 0.01790114 -0.07608641] [ 0.05613921 -0.01976546 0.99822729 -0.06659867] [ 0. 0. 0. 1. ]] SLAMing on 6.68327356 meters Centerline goodness : 0.799973 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.07, Z:-0.07 [[ 0.99789093 -0.0313671 -0.05683121 0.4947789 ] [ 0.03241704 0.99931862 0.01764768 -0.07288932] [ 0.05623893 -0.01945276 0.99822782 -0.06667403] [ 0. 0. 0. 1. ]] SLAMing on 6.713273559999999 meters Centerline goodness : 0.800855 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.07, Z:-0.07 [[ 0.99788142 -0.03141956 -0.05696917 0.49502437] [ 0.03242794 0.99933181 0.01686307 -0.0708984 ] [ 0.05640128 -0.01867474 0.99823351 -0.06611796] [ 0. 0. 0. 1. ]] SLAMing on 6.7432735599999996 meters Centerline goodness : 0.800565 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.07, Z:-0.07 [[ 0.99786927 -0.03152257 -0.05712488 0.49521079] [ 0.03249514 0.99934097 0.01617697 -0.06902104] [ 0.05657729 -0.01799878 0.99823597 -0.06560189] [ 0. 0. 0. 1. ]] SLAMing on 6.77327356 meters Centerline goodness : 0.800238 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.07, Z:-0.07 [[ 0.99786855 -0.03138914 -0.05721081 0.49535804] [ 0.03231593 0.99935987 0.01534688 -0.06589784] [ 0.05669246 -0.01716299 0.99824416 -0.06500252] [ 0. 0. 0. 1. ]] SLAMing on 6.803273559999999 meters Centerline goodness : 0.801169 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.06, Z:-0.06 [[ 0.99785202 -0.03158004 -0.05739377 0.4955998 ] [ 0.03246869 0.99936586 0.01461723 -0.06419131] [ 0.05689576 -0.01644933 0.99824461 -0.06446542] [ 0. 0. 0. 1. ]] SLAMing on 6.833273559999999 meters Centerline goodness : 0.801488 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.06, Z:-0.06 [[ 0.99783669 -0.03166924 -0.05761072 0.49606795] [ 0.03253357 0.9993708 0.01412722 -0.06289791] [ 0.05712708 -0.01597094 0.99823916 -0.06423401] [ 0. 0. 0. 1. ]] SLAMing on 6.86327356 meters Centerline goodness : 0.802593 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.06, Z:-0.06 [[ 0.9978322 -0.03181075 -0.05761054 0.4963114 ] [ 0.03265418 0.99937201 0.01375814 -0.06176406] [ 0.0571367 -0.01560954 0.99824433 -0.06440728] [ 0. 0. 0. 1. ]] SLAMing on 6.89327356 meters Centerline goodness : 0.798352 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.06, Z:-0.06 [[ 0.99782923 -0.03171015 -0.05771741 0.49708913] [ 0.03252794 0.99938253 0.01328477 -0.05918799] [ 0.05726051 -0.01513336 0.99824457 -0.06484215] [ 0. 0. 0. 1. ]] SLAMing on 6.923273559999999 meters Centerline goodness : 0.800071 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.06, Z:-0.06 [[ 0.99781964 -0.03177086 -0.05784962 0.49754717] [ 0.03256725 0.9993866 0.01287605 -0.05766443] [ 0.05740505 -0.01473197 0.99824227 -0.0649044 ] [ 0. 0. 0. 1. ]] SLAMing on 6.9532735599999995 meters Centerline goodness : 0.798138 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.06, Z:-0.06 [[ 0.99780679 -0.03183363 -0.05803643 0.49805461] [ 0.03260096 0.99939248 0.01232267 -0.0559453 ] [ 0.0576089 -0.01418769 0.99823841 -0.06472618] [ 0. 0. 0. 1. ]] SLAMing on 6.98327356 meters Centerline goodness : 0.798454 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.05, Z:-0.06 [[ 0.99779696 -0.03200937 -0.05810874 0.4980811 ] [ 0.03273646 0.99939666 0.01160382 -0.05366339] [ 0.05770225 -0.01348053 0.99824282 -0.06430374] [ 0. 0. 0. 1. ]] SLAMing on 7.013273559999999 meters Centerline goodness : 0.802719 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.05, Z:-0.06 [[ 0.99778305 -0.03240316 -0.05812929 0.49758892] [ 0.03303718 0.9994043 0.00997908 -0.04904225] [ 0.0577713 -0.01187739 0.99825919 -0.06288225] [ 0. 0. 0. 1. ]] SLAMing on 7.043273559999999 meters Centerline goodness : 0.802223 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.05, Z:-0.06 [[ 0.99776773 -0.03304339 -0.05803181 0.49675079] [ 0.03362089 0.9993941 0.0090033 -0.04712813] [ 0.05769915 -0.01093429 0.99827414 -0.06197226] [ 0. 0. 0. 1. ]] SLAMing on 7.07327356 meters Centerline goodness : 0.801239 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.05, Z:-0.06 [[ 0.99775574 -0.03385022 -0.05777228 0.49540181] [ 0.0343725 0.99937651 0.00807041 -0.04540719] [ 0.05746308 -0.01003807 0.99829717 -0.06103928] [ 0. 0. 0. 1. ]] SLAMing on 7.10327356 meters Centerline goodness : 0.801193 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.04, Z:-0.06 [[ 0.99774088 -0.03515884 -0.05724507 0.49326553] [ 0.0356006 0.99934354 0.00671528 -0.04296511] [ 0.05697139 -0.00873807 0.99833757 -0.05995353] [ 0. 0. 0. 1. ]] SLAMing on 7.133273559999999 meters Centerline goodness : 0.801100 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.04, Z:-0.06 [[ 0.99773202 -0.03571919 -0.05705219 0.4925518 ] [ 0.0361256 0.99932859 0.00610772 -0.04170503] [ 0.05679573 -0.00815491 0.99835251 -0.05966494] [ 0. 0. 0. 1. ]] SLAMing on 7.1632735599999995 meters Centerline goodness : 0.801644 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.04, Z:-0.06 [[ 0.99772352 -0.03605496 -0.05698959 0.49246993] [ 0.03643917 0.99931952 0.00571678 -0.04067261] [ 0.05674469 -0.00778041 0.9983584 -0.05974495] [ 0. 0. 0. 1. ]] SLAMing on 7.19327356 meters Centerline goodness : 0.801253 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.04, Z:-0.06 [[ 0.9977037 -0.03670999 -0.05691846 0.4928009 ] [ 0.03706885 0.99929886 0.00526151 -0.03864138] [ 0.0566854 -0.00735933 0.99836497 -0.0607379 ] [ 0. 0. 0. 1. ]] SLAMing on 7.223273559999999 meters Centerline goodness : 0.801919 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.04, Z:-0.06 [[ 0.99768993 -0.03703005 -0.05695247 0.49306508] [ 0.03737227 0.99928913 0.00495521 -0.03747757] [ 0.05672849 -0.0070722 0.99836459 -0.06111931] [ 0. 0. 0. 1. ]] SLAMing on 7.253273559999999 meters Centerline goodness : 0.801296 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.04, Z:-0.06 [[ 0.99768034 -0.0374481 -0.05684703 0.49302485] [ 0.03777128 0.99927573 0.00462092 -0.03644023] [ 0.05663281 -0.00675739 0.99837221 -0.06150646] [ 0. 0. 0. 1. ]] SLAMing on 7.28327356 meters Centerline goodness : 0.800022 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.04, Z:-0.06 [[ 0.99767617 -0.03803427 -0.05653008 0.4923217 ] [ 0.03833578 0.99925584 0.00425843 -0.03528559] [ 0.05632605 -0.00641566 0.99839181 -0.06178608] [ 0. 0. 0. 1. ]] SLAMing on 7.31327356 meters Centerline goodness : 0.799923 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.03, Z:-0.06 [[ 0.99766263 -0.03864926 -0.05635168 0.49171151] [ 0.038924 0.999235 0.00378559 -0.03406363] [ 0.05616227 -0.00597017 0.9984038 -0.0617419 ] [ 0. 0. 0. 1. ]] SLAMing on 7.343273559999999 meters Centerline goodness : 0.799906 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.03, Z:-0.06 [[ 0.99763514 -0.04033856 -0.05565005 0.48883835] [ 0.0405378 0.99917499 0.00245563 -0.03115019] [ 0.05550509 -0.00470576 0.99844732 -0.06072016] [ 0. 0. 0. 1. ]] SLAMing on 7.3732735599999994 meters Centerline goodness : 0.800792 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.03, Z:-0.06 [[ 0.99762 -0.04121802 -0.0552757 0.48744628] [ 0.0413795 0.99914192 0.00177943 -0.02982265] [ 0.05515492 -0.00406248 0.99846954 -0.06031723] [ 0. 0. 0. 1. ]] SLAMing on 7.40327356 meters Centerline goodness : 0.801269 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.03, Z:-0.06 [[ 0.99760936 -0.04201154 -0.05486893 0.48613568] [ 0.04214197 0.99911089 0.00122189 -0.02880257] [ 0.05476881 -0.00353126 0.99849282 -0.06007989] [ 0. 0. 0. 1. ]] SLAMing on 7.43327356 meters Centerline goodness : 0.802308 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.03, Z:-0.06 [[ 9.97565500e-01 -4.37058885e-02 -5.43402997e-02 4.84118444e-01] [ 4.37819084e-02 9.99041091e-01 2.08736942e-04 -2.72293239e-02] [ 5.42790692e-02 -2.58735080e-03 9.98522453e-01 -5.98504118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.463273559999999 meters Centerline goodness : 0.801657 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.03, Z:-0.06 [[ 9.97546571e-01 -4.45898142e-02 -5.39683842e-02 4.82872825e-01] [ 4.46379685e-02 9.99003180e-01 -3.13402739e-04 -2.63054538e-02] [ 5.39285620e-02 -2.09640521e-03 9.98542596e-01 -5.97418901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4932735599999996 meters Centerline goodness : 0.802717 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.03, Z:-0.06 [[ 9.97523904e-01 -4.54581709e-02 -5.36620445e-02 4.81610093e-01] [ 4.54783627e-02 9.98964966e-01 -8.45406041e-04 -2.53051528e-02] [ 5.36449331e-02 -1.59714919e-03 9.98558797e-01 -5.94231266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.52327356 meters Centerline goodness : 0.802652 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.02, Z:-0.06 [[ 9.97475719e-01 -4.73138708e-02 -5.29489128e-02 4.78891430e-01] [ 4.72835105e-02 9.98879839e-01 -1.82663002e-03 -2.33075587e-02] [ 5.29760264e-02 -6.81591376e-04 9.98595552e-01 -5.90422218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.553273559999999 meters Centerline goodness : 0.802288 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.02, Z:-0.06 [[ 9.97452999e-01 -4.80217289e-02 -5.27392411e-02 4.78112021e-01] [ 4.79818140e-02 9.98846160e-01 -2.02345002e-03 -2.29102325e-02] [ 5.27755580e-02 -5.12228160e-04 9.98606268e-01 -5.91915996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.583273559999999 meters Centerline goodness : 0.801410 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.02, Z:-0.06 [[ 9.97429242e-01 -4.87882425e-02 -5.24844197e-02 4.77208606e-01] [ 4.87367157e-02 9.98809099e-01 -2.26191202e-03 -2.27043134e-02] [ 5.25322706e-02 -3.01821049e-04 9.98619181e-01 -5.92728141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.61327356 meters Centerline goodness : 0.799430 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.02, Z:-0.06 [[ 9.97402250e-01 -4.97669569e-02 -5.20768822e-02 4.75795379e-01] [ 4.96965032e-02 9.98760856e-01 -2.64770646e-03 -2.23303922e-02] [ 5.21441197e-02 5.27894338e-05 9.98639569e-01 -5.92232137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.64327356 meters Centerline goodness : 0.802668 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.02, Z:-0.06 [[ 9.97378643e-01 -5.05046248e-02 -5.18181900e-02 4.74921304e-01] [ 5.04277412e-02 9.98723813e-01 -2.79089899e-03 -2.23587388e-02] [ 5.18930136e-02 1.70508773e-04 9.98652635e-01 -5.94133583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.673273559999999 meters Centerline goodness : 0.800738 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.02, Z:-0.06 [[ 9.97315618e-01 -5.24706130e-02 -5.10724227e-02 4.72441702e-01] [ 5.23690555e-02 9.98622262e-01 -3.32557908e-03 -2.19320239e-02] [ 5.11765534e-02 6.42037419e-04 9.98689415e-01 -5.98355982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7032735599999995 meters Centerline goodness : 0.800375 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.02, Z:-0.06 [[ 9.97296593e-01 -5.31490994e-02 -5.07412839e-02 4.71509278e-01] [ 5.30453472e-02 9.98586350e-01 -3.39016056e-03 -2.18827506e-02] [ 5.08497374e-02 6.89406556e-04 9.98706077e-01 -6.01092374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.73327356 meters Centerline goodness : 0.798271 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.02, Z:-0.06 [[ 9.97266266e-01 -5.41147392e-02 -5.03149143e-02 4.70663553e-01] [ 5.40059619e-02 9.98534409e-01 -3.51993347e-03 -2.10225820e-02] [ 5.04316535e-02 7.93005563e-04 9.98727200e-01 -6.10954222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.763273559999999 meters Centerline goodness : 0.800565 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.02, Z:-0.06 [[ 0.9972492 -0.05473457 -0.04998167 0.46977578] [ 0.05461407 0.9985004 -0.00377445 -0.02033641] [ 0.05011331 0.00103437 0.998743 -0.06129079] [ 0. 0. 0. 1. ]] SLAMing on 7.793273559999999 meters Centerline goodness : 0.802607 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.02, Z:-0.06 [[ 0.99723502 -0.05522538 -0.049724 0.46911647] [ 0.05509314 0.9984731 -0.00402707 -0.01964769] [ 0.04987048 0.00127649 0.99875488 -0.06141646] [ 0. 0. 0. 1. ]] SLAMing on 7.82327356 meters Centerline goodness : 0.801932 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.02, Z:-0.06 [[ 0.99721523 -0.05592596 -0.04933636 0.4676874 ] [ 0.05577072 0.99843338 -0.00451865 -0.01853946] [ 0.04951177 0.00175454 0.998772 -0.06099408] [ 0. 0. 0. 1. ]] SLAMing on 7.85327356 meters Centerline goodness : 0.805741 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.02, Z:-0.06 [[ 0.99718295 -0.05671842 -0.04908339 0.46642819] [ 0.0565197 0.99838673 -0.00542827 -0.01616879] [ 0.04931209 0.0026388 0.99877993 -0.06024765] [ 0. 0. 0. 1. ]] SLAMing on 7.883273559999999 meters Centerline goodness : 0.802585 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.02, Z:-0.06 [[ 0.9971714 -0.05702854 -0.04895851 0.46584069] [ 0.05681156 0.99836799 -0.00581336 -0.01504395] [ 0.04921013 0.00301551 0.9987839 -0.05991033] [ 0. 0. 0. 1. ]] SLAMing on 7.9132735599999995 meters Centerline goodness : 0.802678 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.01, Z:-0.06 [[ 0.99715773 -0.05733675 -0.04887696 0.46550815] [ 0.05710488 0.99834938 -0.00612848 -0.01410378] [ 0.04914767 0.00331995 0.99878601 -0.05983016] [ 0. 0. 0. 1. ]] SLAMing on 7.94327356 meters Centerline goodness : 0.804842 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.01, Z:-0.06 [[ 0.99713253 -0.05794355 -0.04867507 0.46478224] [ 0.05769948 0.99831345 -0.00640568 -0.01313203] [ 0.04896415 0.00357879 0.99879413 -0.05996699] [ 0. 0. 0. 1. ]] SLAMing on 7.973273559999999 meters Centerline goodness : 0.804297 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.01, Z:-0.06 [[ 0.99711488 -0.05834541 -0.04855646 0.46429945] [ 0.05809429 0.99828949 -0.0065682 -0.01270257] [ 0.04885663 0.0037284 0.99879884 -0.05998042] [ 0. 0. 0. 1. ]] SLAMing on 8.00327356 meters Centerline goodness : 0.803221 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.01, Z:-0.06 [[ 0.99710296 -0.05851205 -0.04860072 0.46436044] [ 0.05825964 0.99827968 -0.00659516 -0.0122637 ] [ 0.04890301 0.00374459 0.99879651 -0.06013074] [ 0. 0. 0. 1. ]] SLAMing on 8.03327356 meters Centerline goodness : 0.803782 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.01, Z:-0.06 [[ 0.9970967 -0.05859607 -0.04862783 0.4646125 ] [ 0.05833515 0.99827411 -0.00676886 -0.01098121] [ 0.04894054 0.00391249 0.99879403 -0.06042479] [ 0. 0. 0. 1. ]] SLAMing on 8.063273559999999 meters Centerline goodness : 0.802290 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.01, Z:-0.06 [[ 0.99709401 -0.05853758 -0.04875328 0.46498384] [ 0.0582735 0.99827735 -0.00682171 -0.01039316] [ 0.04906862 0.00396086 0.99878756 -0.06049418] [ 0. 0. 0. 1. ]] SLAMing on 8.09327356 meters Centerline goodness : 0.802388 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.01, Z:-0.06 [[ 0.9970884 -0.05861102 -0.04877975 0.46499983] [ 0.05833555 0.99827212 -0.00705303 -0.00949906] [ 0.04910885 0.0041869 0.99878466 -0.06038361] [ 0. 0. 0. 1. ]] SLAMing on 8.12327356 meters Centerline goodness : 0.802889 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.01, Z:-0.06 [[ 0.99709918 -0.05823539 -0.04900881 0.46594955] [ 0.05794846 0.9982932 -0.0072565 -0.00780892] [ 0.04934775 0.00439546 0.99877199 -0.06052143] [ 0. 0. 0. 1. ]] SLAMing on 8.153273559999999 meters Centerline goodness : 0.804003 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.01, Z:-0.06 [[ 0.99709206 -0.05816698 -0.04923444 0.46633076] [ 0.05785906 0.99829539 -0.00765767 -0.00671717] [ 0.04959593 0.00478675 0.99875789 -0.05999468] [ 0. 0. 0. 1. ]] SLAMing on 8.18327356 meters Centerline goodness : 0.802455 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.01, Z:-0.06 [[ 0.99708084 -0.05832384 -0.04927597 0.46608731] [ 0.05799182 0.99828386 -0.00814207 -0.00540634] [ 0.04966629 0.0052607 0.99875201 -0.05937715] [ 0. 0. 0. 1. ]] SLAMing on 8.21327356 meters Centerline goodness : 0.804745 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.00, Z:-0.06 [[ 0.99707484 -0.0583552 -0.04936021 0.46605019] [ 0.05800591 0.99828022 -0.00848063 -0.00415902] [ 0.04977021 0.00559263 0.99874504 -0.05892264] [ 0. 0. 0. 1. ]] SLAMing on 8.243273559999999 meters Centerline goodness : 0.805552 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.00, Z:-0.06 [[ 0.99706043 -0.05863355 -0.04932154 0.46558097] [ 0.05827181 0.99826248 -0.00874173 -0.00380413] [ 0.0497484 0.00584198 0.9987447 -0.05852577] [ 0. 0. 0. 1. ]] SLAMing on 8.27327356 meters Centerline goodness : 0.805956 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.00, Z:-0.06 [[ 0.99705861 -0.05872992 -0.04924352 0.46539896] [ 0.05838197 0.99825834 -0.00847596 -0.00438617] [ 0.04965554 0.00557609 0.99875084 -0.05882526] [ 0. 0. 0. 1. ]] SLAMing on 8.30327356 meters Centerline goodness : 0.804872 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.00, Z:-0.06 [[ 0.99704812 -0.05898568 -0.04915012 0.46486446] [ 0.05863798 0.99824323 -0.00848751 -0.00480144] [ 0.04956441 0.00558039 0.99875534 -0.05862271] [ 0. 0. 0. 1. ]] SLAMing on 8.33327356 meters Centerline goodness : 0.804111 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.01, Z:-0.06 [[ 0.99704557 -0.05899813 -0.04918696 0.46485863] [ 0.05866887 0.99824454 -0.00811232 -0.00572761] [ 0.04957923 0.00520261 0.99875664 -0.05887346] [ 0. 0. 0. 1. ]] SLAMing on 8.36327356 meters Centerline goodness : 0.804903 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.01, Z:-0.06 [[ 0.99704506 -0.05906726 -0.04911426 0.46476358] [ 0.05875138 0.99824177 -0.0078519 -0.00661595] [ 0.0494917 0.00494317 0.9987623 -0.05918575] [ 0. 0. 0. 1. ]] SLAMing on 8.393273559999999 meters Centerline goodness : 0.807479 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.01, Z:-0.06 [[ 0.99704932 -0.05905049 -0.04904788 0.46477062] [ 0.05875402 0.99824457 -0.00746563 -0.00788512] [ 0.04940263 0.00456184 0.99876853 -0.05956095] [ 0. 0. 0. 1. ]] SLAMing on 8.42327356 meters Centerline goodness : 0.807479 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.01, Z:-0.06 [[ 0.99704932 -0.05905049 -0.04904788 0.46477062] [ 0.05875402 0.99824457 -0.00746563 -0.00788512] [ 0.04940263 0.00456184 0.99876853 -0.05956095] [ 0. 0. 0. 1. ]] SLAMing on 8.45327356 meters Centerline goodness : 0.806361 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.01, Z:-0.06 [[ 0.99704505 -0.05920661 -0.04894631 0.46444646] [ 0.05892161 0.99823631 -0.00724646 -0.00896789] [ 0.04928902 0.00434105 0.99877512 -0.05968473] [ 0. 0. 0. 1. ]] SLAMing on 8.483273559999999 meters Centerline goodness : 0.804244 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.01, Z:-0.06 [[ 0.99704443 -0.05937987 -0.04874871 0.46415971] [ 0.05912974 0.99822876 -0.00655831 -0.01124504] [ 0.04905179 0.00365642 0.99878954 -0.06044702] [ 0. 0. 0. 1. ]] SLAMing on 8.51327356 meters Centerline goodness : 0.803958 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.01, Z:-0.06 [[ 0.99704443 -0.05947445 -0.04863323 0.46387038] [ 0.05923551 0.9982239 -0.00634099 -0.01223411] [ 0.04892398 0.00344144 0.99879658 -0.06058188] [ 0. 0. 0. 1. ]] SLAMing on 8.54327356 meters Centerline goodness : 0.802845 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.01, Z:-0.06 [[ 0.99704791 -0.05954749 -0.04847233 0.46358118] [ 0.05932216 0.9982204 -0.00607541 -0.01309093] [ 0.04874784 0.003182 0.99880605 -0.06085297] [ 0. 0. 0. 1. ]] SLAMing on 8.573273559999999 meters Centerline goodness : 0.801280 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.02, Z:-0.06 [[ 0.9970292 -0.06019872 -0.04805095 0.46196638] [ 0.05999007 0.99818227 -0.0057739 -0.01551646] [ 0.04831118 0.00287417 0.9988282 -0.06068559] [ 0. 0. 0. 1. ]] SLAMing on 8.60327356 meters Centerline goodness : 0.802615 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.02, Z:-0.06 [[ 0.99702532 -0.06040106 -0.04787711 0.46141863] [ 0.06021164 0.99817108 -0.00539018 -0.017255 ] [ 0.04811512 0.00249138 0.99883869 -0.06084417] [ 0. 0. 0. 1. ]] SLAMing on 8.63327356 meters Centerline goodness : 0.802001 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.02, Z:-0.06 [[ 0.99701775 -0.06073081 -0.04761705 0.46057834] [ 0.0605582 0.99815184 -0.00506059 -0.01893403] [ 0.04783638 0.00216189 0.99885285 -0.06095773] [ 0. 0. 0. 1. ]] SLAMing on 8.66327356 meters Centerline goodness : 0.803780 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.02, Z:-0.06 [[ 0.99698331 -0.06162558 -0.04718651 0.45879517] [ 0.06147212 0.99809775 -0.00469783 -0.02171182] [ 0.04738625 0.001783 0.99887505 -0.06085038] [ 0. 0. 0. 1. ]] SLAMing on 8.69327356 meters Centerline goodness : 0.805957 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.02, Z:-0.06 [[ 0.99697413 -0.061926 -0.04698683 0.45817294] [ 0.06179016 0.99807973 -0.00433928 -0.02326718] [ 0.04716532 0.00142282 0.99888608 -0.06106172] [ 0. 0. 0. 1. ]] SLAMing on 8.723273559999999 meters Centerline goodness : 0.805059 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.02, Z:-0.06 [[ 0.99695996 -0.06234132 -0.04673755 0.45722036] [ 0.06221363 0.99805409 -0.00418329 -0.02461238] [ 0.04690739 0.00126287 0.99889844 -0.06093832] [ 0. 0. 0. 1. ]] SLAMing on 8.75327356 meters Centerline goodness : 0.806490 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:-0.06 [[ 9.96951059e-01 -6.26066946e-02 -4.65724011e-02 4.56631999e-01] [ 6.24924166e-02 9.98037791e-01 -3.90716974e-03 -2.63001444e-02] [ 4.67256313e-02 9.84835123e-04 9.98907276e-01 -6.09768707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.78327356 meters Centerline goodness : 0.805683 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:-0.06 [[ 9.96925109e-01 -6.31902948e-02 -4.63391065e-02 4.55623346e-01] [ 6.30932730e-02 9.98001304e-01 -3.55484927e-03 -2.97778632e-02] [ 4.64711207e-02 6.20232602e-04 9.98919441e-01 -6.08560455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.813273559999999 meters Centerline goodness : 0.802885 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:-0.06 [[ 9.96931490e-01 -6.31686590e-02 -4.62312189e-02 4.55472970e-01] [ 6.30915716e-02 9.98002846e-01 -3.12617749e-03 -3.13839982e-02] [ 4.63363645e-02 1.99784523e-04 9.98925874e-01 -6.11509730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.84327356 meters Centerline goodness : 0.805424 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:-0.06 [[ 9.96936373e-01 -6.30741045e-02 -4.62549994e-02 4.55641539e-01] [ 6.30143342e-02 9.98008831e-01 -2.75065348e-03 -3.27675862e-02] [ 4.63363930e-02 -1.72501486e-04 9.98925878e-01 -6.13779839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.87327356 meters Centerline goodness : 0.805061 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:-0.06 [[ 9.96942764e-01 -6.30004525e-02 -4.62176259e-02 4.55526497e-01] [ 6.29565188e-02 9.98013368e-01 -2.40704431e-03 -3.39693354e-02] [ 4.62774534e-02 -5.10015431e-04 9.98928495e-01 -6.14436614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.903273559999999 meters Centerline goodness : 0.805152 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:-0.06 [[ 0.99695217 -0.06278357 -0.04630971 0.45572788] [ 0.0627757 0.99802634 -0.0016258 -0.03663187] [ 0.04632039 -0.00128628 0.99892581 -0.06168892] [ 0. 0. 0. 1. ]] SLAMing on 8.93327356 meters Centerline goodness : 0.804710 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:-0.06 [[ 0.99695604 -0.06272849 -0.04630103 0.45566099] [ 0.06273874 0.99802922 -0.00123312 -0.03805389] [ 0.04628713 -0.00167551 0.99892677 -0.06179214] [ 0. 0. 0. 1. ]] SLAMing on 8.96327356 meters Centerline goodness : 0.804652 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:-0.06 [[ 9.96959902e-01 -6.26804066e-02 -4.62830398e-02 4.55571563e-01] [ 6.27054722e-02 9.98031659e-01 -9.11538381e-04 -3.94156520e-02] [ 4.62490746e-02 -1.99343265e-03 9.98927950e-01 -6.18155922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.993273559999999 meters Centerline goodness : 0.804952 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:-0.06 [[ 9.96972665e-01 -6.24247730e-02 -4.63535617e-02 4.55606934e-01] [ 6.24806053e-02 9.98046148e-01 -2.44828626e-04 -4.22530991e-02] [ 4.62782771e-02 -2.65211114e-03 9.98925066e-01 -6.17602437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.02327356 meters Centerline goodness : 0.805781 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:-0.06 [[ 9.96984668e-01 -6.21705272e-02 -4.64370150e-02 4.56011516e-01] [ 6.22451250e-02 9.98060879e-01 1.60740075e-04 -4.36539591e-02] [ 4.63369747e-02 -3.05073319e-03 9.98921207e-01 -6.19701727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.05327356 meters Centerline goodness : 0.803976 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.05, Z:-0.06 [[ 9.97010982e-01 -6.16143581e-02 -4.66130023e-02 4.56621003e-01] [ 6.17208167e-02 9.98093094e-01 8.46689811e-04 -4.61885832e-02] [ 4.64719474e-02 -3.72115161e-03 9.98912664e-01 -6.20606321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.08327356 meters Centerline goodness : 0.805497 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.05, Z:-0.06 [[ 0.99701932 -0.06147983 -0.04661237 0.45674917] [ 0.06159726 0.9981005 0.00108582 -0.04734748] [ 0.04645707 -0.00395378 0.99891246 -0.06209676] [ 0. 0. 0. 1. ]] SLAMing on 9.11327356 meters Centerline goodness : 0.805283 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.05, Z:-0.06 [[ 0.99703772 -0.06106955 -0.04675792 0.45708769] [ 0.0612197 0.99812272 0.00178451 -0.05043222] [ 0.04656117 -0.00464173 0.99890466 -0.06197238] [ 0. 0. 0. 1. ]] SLAMing on 9.143273559999999 meters Centerline goodness : 0.805283 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.05, Z:-0.06 [[ 0.99703772 -0.06106955 -0.04675792 0.45708769] [ 0.0612197 0.99812272 0.00178451 -0.05043222] [ 0.04656117 -0.00464173 0.99890466 -0.06197238] [ 0. 0. 0. 1. ]] SLAMing on 9.17327356 meters Centerline goodness : 0.805274 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.05, Z:-0.06 [[ 0.9970398 -0.06105169 -0.0467369 0.45688573] [ 0.06120994 0.99812299 0.00196106 -0.05171388] [ 0.04652944 -0.00481602 0.99890531 -0.06173353] [ 0. 0. 0. 1. ]] SLAMing on 9.20327356 meters Centerline goodness : 0.805958 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.05, Z:-0.06 [[ 0.99705206 -0.06067347 -0.04696724 0.45697748] [ 0.06085771 0.99814332 0.00250143 -0.05442263] [ 0.04672826 -0.00535238 0.9988933 -0.0611077 ] [ 0. 0. 0. 1. ]] SLAMing on 9.233273559999999 meters Centerline goodness : 0.804322 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.06, Z:-0.06 [[ 0.99706092 -0.06029633 -0.04726394 0.45753642] [ 0.06049366 0.99816478 0.00275442 -0.05564757] [ 0.04701112 -0.00560549 0.99887864 -0.06075415] [ 0. 0. 0. 1. ]] SLAMing on 9.26327356 meters Centerline goodness : 0.804825 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.06, Z:-0.06 [[ 0.99707991 -0.05976451 -0.04753801 0.45836808] [ 0.05998074 0.99819461 0.00313394 -0.05659048] [ 0.04726489 -0.00597615 0.99886451 -0.0608056 ] [ 0. 0. 0. 1. ]] SLAMing on 9.29327356 meters Centerline goodness : 0.807114 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.06, Z:-0.06 [[ 0.99712496 -0.05849931 -0.04816274 0.46015656] [ 0.05875376 0.99826495 0.00388339 -0.05848497] [ 0.047852 -0.00670197 0.99883195 -0.06067793] [ 0. 0. 0. 1. ]] SLAMing on 9.323273559999999 meters Centerline goodness : 0.804468 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.06, Z:-0.06 [[ 0.99714464 -0.05774221 -0.04866625 0.46157999] [ 0.05801766 0.99830644 0.00426542 -0.05931355] [ 0.04833754 -0.00707674 0.99880599 -0.06066125] [ 0. 0. 0. 1. ]] SLAMing on 9.35327356 meters Centerline goodness : 0.806689 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.06, Z:-0.06 [[ 0.99716562 -0.05697001 -0.04914422 0.46297729] [ 0.05726599 0.9983482 0.00463471 -0.05989815] [ 0.04879901 -0.00743587 0.99878094 -0.06069803] [ 0. 0. 0. 1. ]] SLAMing on 9.38327356 meters Centerline goodness : 0.803015 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.06, Z:-0.06 [[ 0.99719407 -0.05605347 -0.04961854 0.46449164] [ 0.05637473 0.99839667 0.00509785 -0.06045498] [ 0.04925323 -0.00788078 0.99875523 -0.06082003] [ 0. 0. 0. 1. ]] SLAMing on 9.413273559999999 meters Centerline goodness : 0.803268 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.06, Z:-0.06 [[ 0.99744324 -0.05123109 -0.04982334 0.46515416] [ 0.05179066 0.99860785 0.01000482 -0.06316549] [ 0.04924142 -0.01255962 0.99870793 -0.0616387 ] [ 0. 0. 0. 1. ]] SLAMing on 9.44327356 meters Centerline goodness : 0.801910 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.06, Z:-0.06 [[ 0.99746185 -0.05054904 -0.05014629 0.46613877] [ 0.05112082 0.99864054 0.01018513 -0.06344923] [ 0.04956327 -0.0127228 0.99868995 -0.06146569] [ 0. 0. 0. 1. ]] SLAMing on 9.473273559999999 meters Centerline goodness : 0.804948 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.06, Z:-0.06 [[ 0.99747344 -0.05002778 -0.05043769 0.46684853] [ 0.05060834 0.99866547 0.0102991 -0.06387867] [ 0.04985514 -0.01282565 0.9986741 -0.06112299] [ 0. 0. 0. 1. ]] SLAMing on 9.50327356 meters Centerline goodness : 0.803579 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.06, Z:-0.06 [[ 0.99748702 -0.04948954 -0.05069935 0.4676182 ] [ 0.05009053 0.99868788 0.01065205 -0.06454339] [ 0.05010566 -0.01316484 0.99865715 -0.06117416] [ 0. 0. 0. 1. ]] SLAMing on 9.53327356 meters Centerline goodness : 0.804781 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.07, Z:-0.06 [[ 0.99751477 -0.04830392 -0.05129351 0.46912865] [ 0.04894359 0.99873776 0.01128798 -0.06662675] [ 0.05068351 -0.01377042 0.99861983 -0.06075402] [ 0. 0. 0. 1. ]] SLAMing on 9.563273559999999 meters Centerline goodness : 0.803317 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.07, Z:-0.06 [[ 0.99752664 -0.04775963 -0.05157144 0.46992894] [ 0.04842037 0.99875923 0.01163901 -0.06769686] [ 0.05095158 -0.01410733 0.99860148 -0.06070032] [ 0. 0. 0. 1. ]] SLAMing on 9.59327356 meters Centerline goodness : 0.804601 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.07, Z:-0.06 [[ 0.99752869 -0.04733507 -0.05192202 0.47063283] [ 0.04800641 0.99877781 0.01175907 -0.0683865 ] [ 0.05130195 -0.0142226 0.99858191 -0.0602562 ] [ 0. 0. 0. 1. ]] SLAMing on 9.62327356 meters Centerline goodness : 0.802955 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.07, Z:-0.06 [[ 0.99755482 -0.0460484 -0.05257296 0.47234282] [ 0.04676224 0.99882872 0.01242897 -0.06977664] [ 0.05193905 -0.01485701 0.99853974 -0.05988475] [ 0. 0. 0. 1. ]] SLAMing on 9.653273559999999 meters Centerline goodness : 0.804674 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.07, Z:-0.06 [[ 0.99756352 -0.04517773 -0.05316013 0.47401681] [ 0.04591025 0.99886561 0.0126392 -0.07002116] [ 0.05252881 -0.015049 0.99850601 -0.05974132] [ 0. 0. 0. 1. ]] SLAMing on 9.68327356 meters Centerline goodness : 0.802282 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.06 [[ 0.99758154 -0.04430267 -0.05355702 0.47540308] [ 0.04505786 0.9989001 0.01297594 -0.07029906] [ 0.05292324 -0.01535772 0.99848048 -0.05987358] [ 0. 0. 0. 1. ]] SLAMing on 9.71327356 meters Centerline goodness : 0.803461 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.06 [[ 0.99758936 -0.04346893 -0.0540918 0.47691089] [ 0.04424416 0.99893331 0.01321724 -0.07056201] [ 0.05345956 -0.01557863 0.99844849 -0.05979446] [ 0. 0. 0. 1. ]] SLAMing on 9.743273559999999 meters Centerline goodness : 0.803802 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.06 [[ 0.99762733 -0.04178131 -0.05471768 0.47896727] [ 0.04260244 0.99899504 0.0139266 -0.07171727] [ 0.05408082 -0.01622466 0.99840474 -0.05959658] [ 0. 0. 0. 1. ]] SLAMing on 9.77327356 meters Centerline goodness : 0.804312 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.06 [[ 0.99762458 -0.04157149 -0.05492734 0.47910596] [ 0.04238965 0.99900564 0.01381466 -0.07208702] [ 0.05429843 -0.0161102 0.99839478 -0.05885148] [ 0. 0. 0. 1. ]] SLAMing on 9.80327356 meters Centerline goodness : 0.802426 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.06 [[ 0.99762393 -0.04139211 -0.05507436 0.47916746] [ 0.04221474 0.99901245 0.01385772 -0.0730053 ] [ 0.05444637 -0.01614974 0.99838609 -0.05827122] [ 0. 0. 0. 1. ]] SLAMing on 9.83327356 meters Centerline goodness : 0.804100 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.06 [[ 0.99762839 -0.04103392 -0.05526131 0.4793749 ] [ 0.04188789 0.99901877 0.01438437 -0.07594805] [ 0.05461684 -0.01666504 0.99836831 -0.05779445] [ 0. 0. 0. 1. ]] SLAMing on 9.86327356 meters Centerline goodness : 0.802610 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.06 [[ 0.99762441 -0.04101486 -0.0553472 0.47939415] [ 0.04188265 0.9990157 0.0146109 -0.07766044] [ 0.05469346 -0.01689428 0.99836026 -0.0575604 ] [ 0. 0. 0. 1. ]] SLAMing on 9.893273559999999 meters Centerline goodness : 0.804032 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.06 [[ 0.99762106 -0.04090402 -0.05548943 0.47947752] [ 0.04179175 0.99901475 0.0149328 -0.07966827] [ 0.05482395 -0.01721628 0.9983476 -0.05723532] [ 0. 0. 0. 1. ]] SLAMing on 9.92327356 meters Centerline goodness : 0.803528 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.06 [[ 0.99761867 -0.04086045 -0.05556443 0.47943108] [ 0.04176815 0.99901058 0.0152736 -0.0817793 ] [ 0.05488537 -0.01755805 0.99833827 -0.05696481] [ 0. 0. 0. 1. ]] SLAMing on 9.95327356 meters Centerline goodness : 0.803463 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.06 [[ 0.9974472 -0.04418726 -0.05609421 0.48087095] [ 0.04491836 0.9989205 0.01183963 -0.08407328] [ 0.0555105 -0.01432907 0.99835528 -0.05624073] [ 0. 0. 0. 1. ]] SLAMing on 9.983273559999999 meters Centerline goodness : 0.803426 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.06 [[ 0.99744181 -0.04433176 -0.0560761 0.48057205] [ 0.04508452 0.99890831 0.01223018 -0.08639609] [ 0.0554727 -0.01472705 0.99835159 -0.05609234] [ 0. 0. 0. 1. ]] SLAMing on 10.01327356 meters Centerline goodness : 0.802952 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.06 [[ 0.99744032 -0.04444257 -0.05601491 0.48032759] [ 0.04521536 0.99889774 0.01260444 -0.08874385] [ 0.05539299 -0.01510492 0.99835037 -0.05601394] [ 0. 0. 0. 1. ]] SLAMing on 10.04327356 meters Centerline goodness : 0.801140 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.06 [[ 0.99743907 -0.04438898 -0.05607958 0.48051396] [ 0.0451893 0.99889276 0.01308393 -0.09107874] [ 0.05543671 -0.01558462 0.99834057 -0.05612131] [ 0. 0. 0. 1. ]] SLAMing on 10.073273559999999 meters Centerline goodness : 0.800905 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.06 [[ 0.99743568 -0.04441593 -0.05611856 0.48041482] [ 0.04525297 0.99888116 0.0137334 -0.09474918] [ 0.05544579 -0.01623772 0.99832966 -0.05601377] [ 0. 0. 0. 1. ]] SLAMing on 10.10327356 meters Centerline goodness : 0.801279 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.06 [[ 0.99743556 -0.04437485 -0.05615307 0.48025933] [ 0.04522029 0.99888067 0.01387537 -0.09616488] [ 0.0554745 -0.01637905 0.99832575 -0.055591 ] [ 0. 0. 0. 1. ]] SLAMing on 10.13327356 meters Centerline goodness : 0.802569 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.05 [[ 0.99743398 -0.04426865 -0.05626497 0.47984892] [ 0.04512504 0.99888266 0.01404168 -0.0981863 ] [ 0.0555805 -0.01654461 0.99831713 -0.0545933 ] [ 0. 0. 0. 1. ]] SLAMing on 10.163273559999999 meters Centerline goodness : 0.802015 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.05 [[ 0.99743158 -0.04433079 -0.05625862 0.47943397] [ 0.04518953 0.99887914 0.01408426 -0.09916313] [ 0.0555712 -0.01659039 0.99831688 -0.05407578] [ 0. 0. 0. 1. ]] SLAMing on 10.19327356 meters Centerline goodness : 0.800577 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.05 [[ 0.99743395 -0.04430441 -0.05623739 0.47916161] [ 0.04516808 0.99887876 0.01418001 -0.10031948] [ 0.0555461 -0.01668376 0.99831672 -0.05366547] [ 0. 0. 0. 1. ]] SLAMing on 10.223273559999999 meters Centerline goodness : 0.802034 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.05 [[ 0.99742527 -0.04440589 -0.0563112 0.47894244] [ 0.04526902 0.99887468 0.01414533 -0.1014022 ] [ 0.0556197 -0.01665806 0.99831306 -0.05309802] [ 0. 0. 0. 1. ]] SLAMing on 10.25327356 meters Centerline goodness : 0.803985 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.05 [[ 0.99742223 -0.04433111 -0.05642374 0.47884498] [ 0.04522006 0.9988707 0.0145762 -0.10383066] [ 0.05571384 -0.01709011 0.9983005 -0.0526929 ] [ 0. 0. 0. 1. ]] SLAMing on 10.28327356 meters Centerline goodness : 0.803495 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.05 [[ 0.99741859 -0.04425549 -0.05654733 0.47905679] [ 0.04516066 0.99886965 0.01483037 -0.10505234] [ 0.05582709 -0.0173458 0.99828977 -0.05261161] [ 0. 0. 0. 1. ]] SLAMing on 10.313273559999999 meters Centerline goodness : 0.800777 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.05 [[ 0.99741662 -0.04417631 -0.05664401 0.47940805] [ 0.04509696 0.99886881 0.01507865 -0.10618434] [ 0.05591381 -0.01759417 0.99828057 -0.05276405] [ 0. 0. 0. 1. ]] SLAMing on 10.34327356 meters Centerline goodness : 0.800777 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.05 [[ 0.99741662 -0.04417631 -0.05664401 0.47940805] [ 0.04509696 0.99886881 0.01507865 -0.10618434] [ 0.05591381 -0.01759417 0.99828057 -0.05276405] [ 0. 0. 0. 1. ]] SLAMing on 10.37327356 meters Centerline goodness : 0.802490 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.05 [[ 0.99741418 -0.04423801 -0.05663877 0.47937563] [ 0.04516909 0.99886272 0.01526493 -0.10744196] [ 0.05589907 -0.01778378 0.99827803 -0.05273324] [ 0. 0. 0. 1. ]] SLAMing on 10.403273559999999 meters Centerline goodness : 0.800471 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.05 [[ 0.99729059 -0.04644835 -0.05704411 0.48193836] [ 0.04722705 0.99880748 0.01237861 -0.10842154] [ 0.05640112 -0.01503909 0.99829492 -0.05331531] [ 0. 0. 0. 1. ]] SLAMing on 10.43327356 meters Centerline goodness : 0.801503 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.05 [[ 0.99729525 -0.04634607 -0.05704585 0.48213515] [ 0.04713799 0.99880873 0.01261505 -0.10943546] [ 0.05639323 -0.01526996 0.99829186 -0.05350402] [ 0. 0. 0. 1. ]] SLAMing on 10.46327356 meters Centerline goodness : 0.801857 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.05 [[ 0.99729122 -0.04635089 -0.05711232 0.48207776] [ 0.04714554 0.99880799 0.01264516 -0.11031641] [ 0.05645812 -0.01530349 0.99828768 -0.05316764] [ 0. 0. 0. 1. ]] SLAMing on 10.493273559999999 meters Centerline goodness : 0.803956 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.05 [[ 0.99729192 -0.04650933 -0.05697108 0.48106691] [ 0.04730312 0.9988003 0.01266407 -0.11154608] [ 0.05631373 -0.01532469 0.99829551 -0.05225625] [ 0. 0. 0. 1. ]] SLAMing on 10.52327356 meters Centerline goodness : 0.803759 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.05 [[ 0.99728323 -0.04677789 -0.05690324 0.48042391] [ 0.04755658 0.99879148 0.01240738 -0.11181247] [ 0.05625408 -0.0150798 0.9983026 -0.05159828] [ 0. 0. 0. 1. ]] SLAMing on 10.55327356 meters Centerline goodness : 0.799892 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.05 [[ 0.99727628 -0.04694595 -0.05688663 0.48002782] [ 0.04771319 0.99878652 0.01220406 -0.11222862] [ 0.05624467 -0.01488506 0.99830605 -0.0510115 ] [ 0. 0. 0. 1. ]] SLAMing on 10.583273559999999 meters Centerline goodness : 0.802624 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.05 [[ 0.99727191 -0.04698683 -0.05692956 0.47974101] [ 0.04774734 0.99878649 0.01207234 -0.11294744] [ 0.05629323 -0.01475764 0.99830521 -0.05036352] [ 0. 0. 0. 1. ]] SLAMing on 10.61327356 meters Centerline goodness : 0.802356 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.05 [[ 0.99726689 -0.0470177 -0.05699199 0.47982515] [ 0.04777163 0.99878693 0.01193859 -0.11311691] [ 0.05636153 -0.01462856 0.99830325 -0.05017797] [ 0. 0. 0. 1. ]] SLAMing on 10.643273559999999 meters Centerline goodness : 0.803346 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.05 [[ 0.99727006 -0.0470743 -0.05688972 0.47965556] [ 0.04782451 0.99878489 0.01189753 -0.11333938] [ 0.05626052 -0.01458577 0.99830958 -0.05011926] [ 0. 0. 0. 1. ]] SLAMing on 10.67327356 meters Centerline goodness : 0.800901 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.05 [[ 0.99726022 -0.04720733 -0.05695185 0.47980836] [ 0.04794453 0.99878209 0.0116474 -0.11315334] [ 0.05633264 -0.01434602 0.99830898 -0.04998267] [ 0. 0. 0. 1. ]] SLAMing on 10.70327356 meters Centerline goodness : 0.802223 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.05 [[ 0.99725624 -0.04738798 -0.05687152 0.47971184] [ 0.04811248 0.99877644 0.01143761 -0.11271708] [ 0.05625993 -0.01414246 0.99831599 -0.05004886] [ 0. 0. 0. 1. ]] SLAMing on 10.733273559999999 meters Centerline goodness : 0.803647 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.05 [[ 0.99725764 -0.04752531 -0.05673218 0.47964855] [ 0.04823293 0.99877367 0.01116882 -0.11209388] [ 0.0561318 -0.01387455 0.99832696 -0.05020098] [ 0. 0. 0. 1. ]] SLAMing on 10.76327356 meters Centerline goodness : 0.801059 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.05 [[ 0.99724478 -0.04781876 -0.05671173 0.47944341] [ 0.04850297 0.99876519 0.01074942 -0.11164702] [ 0.05612768 -0.01347049 0.99833272 -0.0499029 ] [ 0. 0. 0. 1. ]] SLAMing on 10.79327356 meters Centerline goodness : 0.801936 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.05 [[ 0.99723642 -0.04798666 -0.05671686 0.47921017] [ 0.048655 0.99876086 0.0104614 -0.11096124] [ 0.05614457 -0.01319205 0.99833549 -0.04959132] [ 0. 0. 0. 1. ]] SLAMing on 10.823273559999999 meters Centerline goodness : 0.804241 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.05 [[ 0.99722818 -0.04812584 -0.05674377 0.47936415] [ 0.04877222 0.99875925 0.01006112 -0.11011535] [ 0.05618917 -0.01280075 0.99833808 -0.04947475] [ 0. 0. 0. 1. ]] SLAMing on 10.85327356 meters Centerline goodness : 0.804525 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.05 [[ 0.99722604 -0.04827778 -0.05665223 0.47913755] [ 0.04889098 0.99875906 0.00948737 -0.10828787] [ 0.0561239 -0.01223084 0.99834889 -0.04924756] [ 0. 0. 0. 1. ]] SLAMing on 10.88327356 meters Centerline goodness : 0.805048 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.05 [[ 0.99721457 -0.04853159 -0.05663737 0.4790256 ] [ 0.04911385 0.99875323 0.00893343 -0.10719087] [ 0.0561332 -0.01169022 0.99835485 -0.04898014] [ 0. 0. 0. 1. ]] SLAMing on 10.913273559999999 meters Centerline goodness : 0.803670 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.05 [[ 0.99720383 -0.0487507 -0.05663824 0.47872051] [ 0.04930382 0.99874843 0.00840901 -0.10600851] [ 0.0561574 -0.01117798 0.99835935 -0.04848007] [ 0. 0. 0. 1. ]] SLAMing on 10.94327356 meters Centerline goodness : 0.805746 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.05 [[ 0.99719445 -0.04897811 -0.05660725 0.47845262] [ 0.04949819 0.99874359 0.00782148 -0.10454971] [ 0.05615305 -0.01060149 0.99836589 -0.04804627] [ 0. 0. 0. 1. ]] SLAMing on 10.973273559999999 meters Centerline goodness : 0.806220 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.05 [[ 0.99718345 -0.04919652 -0.05661163 0.4780965 ] [ 0.04966697 0.99874177 0.0069325 -0.1017319 ] [ 0.05619934 -0.0097247 0.99837221 -0.0473604 ] [ 0. 0. 0. 1. ]] SLAMing on 11.00327356 meters Centerline goodness : 0.804054 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.05 [[ 0.99718002 -0.04939116 -0.05650237 0.47780186] [ 0.04984351 0.99873507 0.006624 -0.10067868] [ 0.05610373 -0.0094216 0.99838049 -0.04730223] [ 0. 0. 0. 1. ]] SLAMing on 11.03327356 meters Centerline goodness : 0.805315 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.05 [[ 0.99717041 -0.04957518 -0.05651084 0.47790548] [ 0.05001169 0.99872854 0.00633565 -0.09985482] [ 0.05612489 -0.00914392 0.99838188 -0.04738497] [ 0. 0. 0. 1. ]] SLAMing on 11.063273559999999 meters Centerline goodness : 0.805380 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.05 [[ 0.99715467 -0.05020936 -0.05622794 0.47729777] [ 0.0506124 0.99870172 0.00576623 -0.0983874 ] [ 0.05586542 -0.00859566 0.99840131 -0.04751862] [ 0. 0. 0. 1. ]] SLAMing on 11.09327356 meters Centerline goodness : 0.805231 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.05 [[ 0.99714154 -0.05061472 -0.05609721 0.47682669] [ 0.05099703 0.99868418 0.00540388 -0.09786759] [ 0.05574988 -0.00824923 0.99841069 -0.04733787] [ 0. 0. 0. 1. ]] SLAMing on 11.12327356 meters Centerline goodness : 0.806135 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.05 [[ 0.9971323 -0.05098697 -0.05592418 0.47641765] [ 0.05135287 0.99866742 0.00512444 -0.09755943] [ 0.05558838 -0.00798161 0.99842187 -0.04731569] [ 0. 0. 0. 1. ]] SLAMing on 11.153273559999999 meters Centerline goodness : 0.806454 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.05 [[ 0.99712589 -0.05137567 -0.05568207 0.47597652] [ 0.05172656 0.99864937 0.00487775 -0.09716777] [ 0.05535627 -0.00774398 0.99843664 -0.04745589] [ 0. 0. 0. 1. ]] SLAMing on 11.18327356 meters Centerline goodness : 0.804502 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.05 [[ 9.96930671e-01 -5.49130125e-02 -5.58014185e-02 4.77238468e-01] [ 5.50443169e-02 9.98483578e-01 8.17660074e-04 -9.45416103e-02] [ 5.56718998e-02 -3.88670137e-03 9.98441552e-01 -4.77088326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.21327356 meters Centerline goodness : 0.804576 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.05 [[ 9.96910351e-01 -5.54198642e-02 -5.56631888e-02 4.76667890e-01] [ 5.55299042e-02 9.98456931e-01 4.30962901e-04 -9.40744039e-02] [ 5.55534128e-02 -3.52060292e-03 9.98449510e-01 -4.74582544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.243273559999999 meters Centerline goodness : 0.804734 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.05 [[ 9.96891732e-01 -5.59860123e-02 -5.54296105e-02 4.75966076e-01] [ 5.60812248e-02 9.98426196e-01 1.62512489e-04 -9.36679514e-02] [ 5.53332767e-02 -3.27056780e-03 9.98462584e-01 -4.74679207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.27327356 meters Centerline goodness : 0.804546 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.05 [[ 9.96881513e-01 -5.62363690e-02 -5.53599131e-02 4.75932305e-01] [ 5.63286149e-02 9.98412278e-01 1.06097438e-04 -9.35509657e-02] [ 5.52660504e-02 -3.22411380e-03 9.98466459e-01 -4.77386057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.30327356 meters Centerline goodness : 0.803969 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.05 [[ 9.96849205e-01 -5.70475979e-02 -5.51111113e-02 4.75060117e-01] [ 5.71083086e-02 9.98367876e-01 -4.73900071e-04 -9.25331724e-02] [ 5.50481980e-02 -2.67489544e-03 9.98480115e-01 -4.76168397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.333273559999999 meters Centerline goodness : 0.806479 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.09, Z:-0.05 [[ 9.96840776e-01 -5.73222887e-02 -5.49783833e-02 4.74726722e-01] [ 5.73677169e-02 9.98352833e-01 -7.52838618e-04 -9.17388367e-02] [ 5.49309791e-02 -2.40352410e-03 9.98487261e-01 -4.76081184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.36327356 meters Centerline goodness : 0.804698 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.09, Z:-0.05 [[ 0.99682289 -0.05786176 -0.05473707 0.47418211] [ 0.05787808 0.99832283 -0.00128825 -0.08978582] [ 0.05471981 -0.00188392 0.99849997 -0.04776659] [ 0. 0. 0. 1. ]] SLAMing on 11.393273559999999 meters Centerline goodness : 0.806936 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.09, Z:-0.05 [[ 0.99681028 -0.0581338 -0.05467841 0.47404275] [ 0.05813196 0.99830758 -0.00162546 -0.08859535] [ 0.05468036 -0.00155829 0.99850269 -0.04778309] [ 0. 0. 0. 1. ]] SLAMing on 11.42327356 meters Centerline goodness : 0.807250 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.09, Z:-0.05 [[ 0.99680223 -0.05829906 -0.05464916 0.47412503] [ 0.05828094 0.99829836 -0.00192647 -0.08737965] [ 0.05466848 -0.00126469 0.99850376 -0.04796165] [ 0. 0. 0. 1. ]] SLAMing on 11.45327356 meters Centerline goodness : 0.805484 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.09, Z:-0.05 [[ 9.96794048e-01 -5.84177936e-02 -5.46716320e-02 4.74237548e-01] [ 5.83814290e-02 9.98291784e-01 -2.26337594e-03 -8.62038686e-02] [ 5.47104625e-02 -9.35688339e-04 9.98501823e-01 -4.79231114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.483273559999999 meters Centerline goodness : 0.805699 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.08, Z:-0.05 [[ 9.96785874e-01 -5.85989447e-02 -5.46267781e-02 4.74278816e-01] [ 5.85458882e-02 9.98281404e-01 -2.57240992e-03 -8.49104301e-02] [ 5.46836372e-02 -6.34031374e-04 9.98503529e-01 -4.80898219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.51327356 meters Centerline goodness : 0.804259 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.08, Z:-0.05 [[ 9.96767594e-01 -5.91899084e-02 -5.43223541e-02 4.73579756e-01] [ 5.91064845e-02 9.98246737e-01 -3.14243665e-03 -8.30996587e-02] [ 5.44131133e-02 -7.85243654e-05 9.98518506e-01 -4.82010271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.54327356 meters Centerline goodness : 0.803177 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.08, Z:-0.05 [[ 9.96760055e-01 -5.94029030e-02 -5.42281188e-02 4.73398953e-01] [ 5.93133587e-02 9.98234088e-01 -3.26059628e-03 -8.26036053e-02] [ 5.43260456e-02 3.35802648e-05 9.98523249e-01 -4.83655047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.573273559999999 meters Centerline goodness : 0.802719 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.08, Z:-0.05 [[ 9.96752884e-01 -5.95912888e-02 -5.41531850e-02 4.73372757e-01] [ 5.94918465e-02 9.98222837e-01 -3.44791876e-03 -8.17117953e-02] [ 5.42624119e-02 2.15049990e-04 9.98526687e-01 -4.85809447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.60327356 meters Centerline goodness : 0.804643 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.08, Z:-0.05 [[ 9.96745989e-01 -5.98041437e-02 -5.40453296e-02 4.73243828e-01] [ 5.96837368e-02 9.98209949e-01 -3.84058933e-03 -7.94175182e-02] [ 5.41782688e-02 6.02464783e-04 9.98531097e-01 -4.88080114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.63327356 meters Centerline goodness : 0.804696 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.08, Z:-0.05 [[ 9.96735153e-01 -6.00657338e-02 -5.39549959e-02 4.72862211e-01] [ 5.99265315e-02 9.98193973e-01 -4.19558706e-03 -7.82054831e-02] [ 5.41095627e-02 9.48553353e-04 9.98534554e-01 -4.86117348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.663273559999999 meters Centerline goodness : 0.805997 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.08, Z:-0.05 [[ 0.99672002 -0.06036663 -0.05389878 0.47247875] [ 0.06020634 0.99817538 -0.00459416 -0.0771072 ] [ 0.05407777 0.00133404 0.99853584 -0.04830569] [ 0. 0. 0. 1. ]] SLAMing on 11.69327356 meters Centerline goodness : 0.805182 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.08, Z:-0.05 [[ 0.99671225 -0.06051189 -0.05387946 0.4724705 ] [ 0.06032566 0.99816583 -0.00507755 -0.07522761] [ 0.05408789 0.00181054 0.99853454 -0.04826542] [ 0. 0. 0. 1. ]] SLAMing on 11.723273559999999 meters Centerline goodness : 0.804936 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.07, Z:-0.05 [[ 0.9967116 -0.06047454 -0.05393353 0.47281091] [ 0.06027982 0.99816781 -0.00523132 -0.07428962] [ 0.05415108 0.00196301 0.99853082 -0.04846447] [ 0. 0. 0. 1. ]] SLAMing on 11.75327356 meters Centerline goodness : 0.803331 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.07, Z:-0.05 [[ 0.9967129 -0.06038816 -0.05400616 0.4732173 ] [ 0.06019237 0.99817301 -0.00524604 -0.07345567] [ 0.05422429 0.00197804 0.99852682 -0.04875684] [ 0. 0. 0. 1. ]] SLAMing on 11.78327356 meters Centerline goodness : 0.804762 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.07, Z:-0.05 [[ 0.99670687 -0.06059356 -0.05388722 0.47299337] [ 0.06038476 0.99816004 -0.00549607 -0.0724606 ] [ 0.0541211 0.002224 0.9985319 -0.04886163] [ 0. 0. 0. 1. ]] SLAMing on 11.813273559999999 meters Centerline goodness : 0.803607 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.07, Z:-0.05 [[ 0.99669386 -0.06086597 -0.05382093 0.47286374] [ 0.06064567 0.99814298 -0.00571833 -0.07142537] [ 0.05406904 0.00243541 0.99853423 -0.04901166] [ 0. 0. 0. 1. ]] SLAMing on 11.84327356 meters Centerline goodness : 0.804227 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.07, Z:-0.05 [[ 0.99668859 -0.06089252 -0.05388834 0.47327732] [ 0.06067413 0.99814146 -0.00568086 -0.07107564] [ 0.05413411 0.00239242 0.99853081 -0.04943589] [ 0. 0. 0. 1. ]] SLAMing on 11.87327356 meters Centerline goodness : 0.804161 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.07, Z:-0.05 [[ 0.99668775 -0.06085734 -0.05394366 0.47370268] [ 0.06063586 0.99814348 -0.00573458 -0.0704608 ] [ 0.0541925 0.00244466 0.99852751 -0.04977849] [ 0. 0. 0. 1. ]] SLAMing on 11.903273559999999 meters Centerline goodness : 0.804318 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.07, Z:-0.05 [[ 0.99668498 -0.06084469 -0.05400894 0.47411325] [ 0.06061336 0.99814381 -0.00591261 -0.06963846] [ 0.05426844 0.00261934 0.99852295 -0.05000148] [ 0. 0. 0. 1. ]] SLAMing on 11.93327356 meters Centerline goodness : 0.801938 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.07, Z:-0.05 [[ 0.99668148 -0.06092866 -0.05397886 0.47405387] [ 0.06067664 0.99813761 -0.00629705 -0.06801927] [ 0.054262 0.00300089 0.99852222 -0.04994782] [ 0. 0. 0. 1. ]] SLAMing on 11.96327356 meters Centerline goodness : 0.801490 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.07, Z:-0.05 [[ 0.9966733 -0.0610147 -0.05403274 0.47400241] [ 0.06074004 0.99813105 -0.00671234 -0.0669669 ] [ 0.0543413 0.00340806 0.9985166 -0.04951776] [ 0. 0. 0. 1. ]] SLAMing on 11.993273559999999 meters Centerline goodness : 0.804244 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.07, Z:-0.05 [[ 0.99667421 -0.06090607 -0.0541385 0.47421983] [ 0.06062163 0.99813709 -0.00688237 -0.06607222] [ 0.05445682 0.00357752 0.99850972 -0.04936068] [ 0. 0. 0. 1. ]] SLAMing on 12.02327356 meters Centerline goodness : 0.804501 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.06, Z:-0.05 [[ 0.99667913 -0.06058355 -0.05440903 0.47467862] [ 0.06027375 0.99815506 -0.0073185 -0.06435038] [ 0.05475203 0.00401476 0.99849191 -0.04871566] [ 0. 0. 0. 1. ]] SLAMing on 12.05327356 meters Centerline goodness : 0.803839 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.06, Z:-0.05 [[ 0.99667928 -0.06058809 -0.05440124 0.47453373] [ 0.06026597 0.99815385 -0.00754374 -0.06356574] [ 0.05475787 0.00424015 0.99849066 -0.04845131] [ 0. 0. 0. 1. ]] SLAMing on 12.083273559999999 meters Centerline goodness : 0.802524 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.05 [[ 0.99668396 -0.0601075 -0.05484689 0.47578457] [ 0.05978504 0.99818308 -0.00750265 -0.06282576] [ 0.0551982 0.00419874 0.99846659 -0.04850116] [ 0. 0. 0. 1. ]] SLAMing on 12.11327356 meters Centerline goodness : 0.801590 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.06, Z:-0.05 [[ 9.96901733e-01 -5.65190880e-02 -5.47040056e-02 4.74851750e-01] [ 5.64070186e-02 9.98401396e-01 -3.59172652e-03 -6.31193596e-02] [ 5.48195567e-02 4.94908524e-04 9.98496155e-01 -4.88266339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.143273559999999 meters Centerline goodness : 0.802268 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.05 [[ 9.96907487e-01 -5.60679595e-02 -5.50622103e-02 4.75885651e-01] [ 5.59509503e-02 9.98426790e-01 -3.66551870e-03 -6.22434677e-02] [ 5.51811040e-02 5.73400046e-04 9.98476197e-01 -4.88051472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.17327356 meters Centerline goodness : 0.802205 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.05 [[ 9.96915693e-01 -5.56130031e-02 -5.53741393e-02 4.76944280e-01] [ 5.54928679e-02 9.98452206e-01 -3.70596805e-03 -6.11397995e-02] [ 5.54945316e-02 6.21667914e-04 9.98458798e-01 -4.90055751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.20327356 meters Centerline goodness : 0.801587 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.05 [[ 9.97146486e-01 -5.13114950e-02 -5.53716148e-02 4.77280234e-01] [ 5.14238211e-02 9.98676737e-01 6.04751163e-04 -6.18561276e-02] [ 5.52673129e-02 -3.45044551e-03 9.98465632e-01 -5.01361373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.233273559999999 meters Centerline goodness : 0.801587 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.05 [[ 9.97146486e-01 -5.13114950e-02 -5.53716148e-02 4.77280234e-01] [ 5.14238211e-02 9.98676737e-01 6.04751163e-04 -6.18561276e-02] [ 5.52673129e-02 -3.45044551e-03 9.98465632e-01 -5.01361373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.26327356 meters Centerline goodness : 0.799670 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.05 [[ 9.97154408e-01 -5.07747617e-02 -5.57226100e-02 4.78521742e-01] [ 5.08863566e-02 9.98704279e-01 5.84735335e-04 -6.10680482e-02] [ 5.56207192e-02 -3.41859202e-03 9.98446117e-01 -5.03256651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.29327356 meters Centerline goodness : 0.800125 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.05 [[ 0.99735921 -0.04661035 -0.05569633 0.47856525] [ 0.04694701 0.99888608 0.00475087 -0.06126581] [ 0.05541285 -0.0073531 0.99843645 -0.05116028] [ 0. 0. 0. 1. ]] SLAMing on 12.323273559999999 meters Centerline goodness : 0.804543 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.05 [[ 0.99735519 -0.04625514 -0.0560632 0.47949475] [ 0.04658212 0.99890415 0.00453902 -0.06005543] [ 0.05579182 -0.00713856 0.9984169 -0.05099134] [ 0. 0. 0. 1. ]] SLAMing on 12.35327356 meters Centerline goodness : 0.802861 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.05 [[ 0.99735311 -0.04588797 -0.05640089 0.48038337] [ 0.04620653 0.99892241 0.00435647 -0.05894861] [ 0.0561402 -0.00695103 0.9983987 -0.05083129] [ 0. 0. 0. 1. ]] SLAMing on 12.38327356 meters Centerline goodness : 0.800455 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.05 [[ 0.99735796 -0.04555854 -0.05658196 0.48097067] [ 0.04587194 0.99893828 0.00425176 -0.05811597] [ 0.05632818 -0.00683605 0.9983889 -0.05073883] [ 0. 0. 0. 1. ]] SLAMing on 12.413273559999999 meters Centerline goodness : 0.802491 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.05 [[ 0.99735177 -0.04541 -0.05680999 0.4812854 ] [ 0.0457068 0.99894715 0.00393544 -0.05716657] [ 0.05657147 -0.00652162 0.99837725 -0.05021232] [ 0. 0. 0. 1. ]] SLAMing on 12.44327356 meters Centerline goodness : 0.803236 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.05 [[ 0.99735877 -0.04513935 -0.05690267 0.48137067] [ 0.04541674 0.99896168 0.00359036 -0.05613938] [ 0.05668152 -0.00616521 0.99837327 -0.04956638] [ 0. 0. 0. 1. ]] SLAMing on 12.473273559999999 meters Centerline goodness : 0.804004 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.05 [[ 0.99735574 -0.0450786 -0.05700386 0.48158418] [ 0.04534628 0.99896551 0.00341035 -0.05561731] [ 0.05679115 -0.00598624 0.99836813 -0.0494107 ] [ 0. 0. 0. 1. ]] SLAMing on 12.50327356 meters Centerline goodness : 0.804110 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.05 [[ 0.9973511 -0.04482061 -0.05728787 0.48214592] [ 0.04507573 0.99897855 0.00316835 -0.05524194] [ 0.05708735 -0.00574225 0.99835267 -0.04894092] [ 0. 0. 0. 1. ]] SLAMing on 12.53327356 meters Centerline goodness : 0.803957 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.05 [[ 0.99734872 -0.0445286 -0.05755641 0.48314779] [ 0.04479022 0.99899109 0.0032627 -0.05542531] [ 0.05735305 -0.00583201 0.99833692 -0.04917648] [ 0. 0. 0. 1. ]] SLAMing on 12.563273559999999 meters Centerline goodness : 0.803935 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.05 [[ 0.99735007 -0.04459624 -0.05748057 0.48313485] [ 0.04486502 0.99898729 0.00339333 -0.056101 ] [ 0.05727102 -0.00596321 0.99834086 -0.04940724] [ 0. 0. 0. 1. ]] SLAMing on 12.59327356 meters Centerline goodness : 0.805237 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.05 [[ 0.99734693 -0.04461579 -0.05751979 0.48329094] [ 0.04489035 0.99898583 0.0034894 -0.05667572] [ 0.05730577 -0.00606223 0.99833827 -0.04949429] [ 0. 0. 0. 1. ]] SLAMing on 12.62327356 meters Centerline goodness : 0.805305 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.05 [[ 0.99734249 -0.04468032 -0.05754676 0.48340037] [ 0.04496261 0.99898211 0.00361934 -0.057527 ] [ 0.05732647 -0.00619717 0.99833625 -0.04957402] [ 0. 0. 0. 1. ]] SLAMing on 12.653273559999999 meters Centerline goodness : 0.803451 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.05 [[ 0.99734098 -0.04484992 -0.05744091 0.48320512] [ 0.04513701 0.99897392 0.00370974 -0.05833467] [ 0.05721559 -0.00629259 0.99834202 -0.049679 ] [ 0. 0. 0. 1. ]] SLAMing on 12.68327356 meters Centerline goodness : 0.802205 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.05 [[ 0.99733796 -0.04518993 -0.05722649 0.48280414] [ 0.04550086 0.99895571 0.00414138 -0.06068175] [ 0.05697958 -0.00673421 0.99835263 -0.05014554] [ 0. 0. 0. 1. ]] SLAMing on 12.71327356 meters Centerline goodness : 0.802833 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.05 [[ 0.99733469 -0.04528871 -0.0572053 0.4828686 ] [ 0.04560598 0.99895046 0.00425216 -0.06173367] [ 0.05695269 -0.00684973 0.99835338 -0.05028196] [ 0. 0. 0. 1. ]] SLAMing on 12.743273559999999 meters Centerline goodness : 0.803080 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.05 [[ 0.99733222 -0.04544938 -0.05712082 0.48261973] [ 0.04576613 0.99894315 0.00424883 -0.06232213] [ 0.05686735 -0.00685169 0.99835823 -0.05021584] [ 0. 0. 0. 1. ]] SLAMing on 12.77327356 meters Centerline goodness : 0.803780 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.05 [[ 0.99732936 -0.04559216 -0.05705698 0.48213858] [ 0.04590913 0.99893655 0.00425636 -0.06294201] [ 0.05680225 -0.00686443 0.99836185 -0.04982105] [ 0. 0. 0. 1. ]] SLAMing on 12.80327356 meters Centerline goodness : 0.803829 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.05 [[ 0.99732328 -0.04554253 -0.05720268 0.48226326] [ 0.04584997 0.99894003 0.00407314 -0.06293919] [ 0.05695654 -0.00668498 0.99835428 -0.04931963] [ 0. 0. 0. 1. ]] SLAMing on 12.833273559999999 meters Centerline goodness : 0.806252 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.05 [[ 0.99732785 -0.04526011 -0.057347 0.4828165 ] [ 0.04557216 0.99895245 0.00414481 -0.06280334] [ 0.05709934 -0.00674716 0.9983457 -0.04941835] [ 0. 0. 0. 1. ]] SLAMing on 12.86327356 meters Centerline goodness : 0.804632 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.05 [[ 0.99733629 -0.04484416 -0.05752665 0.4833224 ] [ 0.04516464 0.99897038 0.0042823 -0.06317231] [ 0.05727539 -0.00686906 0.99833479 -0.04928134] [ 0. 0. 0. 1. ]] SLAMing on 12.893273559999999 meters Centerline goodness : 0.805666 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.05 [[ 0.99733451 -0.04481218 -0.05758256 0.48357697] [ 0.04512641 0.99897259 0.00416771 -0.06326097] [ 0.05733663 -0.00675509 0.99833205 -0.04924426] [ 0. 0. 0. 1. ]] SLAMing on 12.92327356 meters Centerline goodness : 0.804509 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.05 [[ 0.99733108 -0.04476105 -0.05768158 0.48375991] [ 0.04507513 0.99897496 0.00415488 -0.06348221] [ 0.05743648 -0.0067438 0.99832639 -0.04911872] [ 0. 0. 0. 1. ]] SLAMing on 12.95327356 meters Centerline goodness : 0.805043 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.05 [[ 0.99733476 -0.0445871 -0.0577527 0.48404256] [ 0.04492039 0.9989805 0.00448517 -0.0646219 ] [ 0.05749384 -0.00706749 0.99832084 -0.04924867] [ 0. 0. 0. 1. ]] SLAMing on 12.983273559999999 meters Centerline goodness : 0.805497 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.05 [[ 0.99733006 -0.04448508 -0.05791228 0.48443656] [ 0.04482059 0.99898489 0.00450688 -0.06511221] [ 0.057653 -0.00709051 0.9983115 -0.04911228] [ 0. 0. 0. 1. ]] SLAMing on 13.01327356 meters Centerline goodness : 0.804120 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.05 [[ 0.99732793 -0.04438623 -0.05802462 0.48481734] [ 0.04472666 0.99898876 0.0045809 -0.06548135] [ 0.05776261 -0.00716391 0.99830464 -0.04920697] [ 0. 0. 0. 1. ]] SLAMing on 13.04327356 meters Centerline goodness : 0.803223 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.07, Z:-0.05 [[ 0.99734273 -0.04363869 -0.05833649 0.48589507] [ 0.04399889 0.99901955 0.00490368 -0.06590715] [ 0.05806531 -0.00745739 0.99828493 -0.04925408] [ 0. 0. 0. 1. ]] SLAMing on 13.073273559999999 meters Centerline goodness : 0.804505 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.07, Z:-0.05 [[ 0.99734525 -0.0432777 -0.05856192 0.48652359] [ 0.04363827 0.99903542 0.00489178 -0.0656812 ] [ 0.05829372 -0.00743434 0.99827179 -0.04913082] [ 0. 0. 0. 1. ]] SLAMing on 13.10327356 meters Centerline goodness : 0.805272 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.07, Z:-0.05 [[ 0.99734207 -0.04284048 -0.05893623 0.48751012] [ 0.04320172 0.99905451 0.0048683 -0.06521826] [ 0.05867194 -0.0074015 0.99824988 -0.04898422] [ 0. 0. 0. 1. ]] SLAMing on 13.13327356 meters Centerline goodness : 0.802982 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.07, Z:-0.05 [[ 0.99734941 -0.04220275 -0.05927128 0.48866134] [ 0.04257742 0.9990803 0.00507218 -0.06506797] [ 0.0590027 -0.00758235 0.99822903 -0.04913953] [ 0. 0. 0. 1. ]] SLAMing on 13.163273559999999 meters Centerline goodness : 0.800740 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.07, Z:-0.05 [[ 0.99739046 -0.04058419 -0.0597092 0.49087844] [ 0.0409982 0.99914282 0.00572467 -0.0652028 ] [ 0.05942568 -0.00815771 0.9981994 -0.04973861] [ 0. 0. 0. 1. ]] SLAMing on 13.19327356 meters Centerline goodness : 0.803349 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.07, Z:-0.05 [[ 0.99739928 -0.03999584 -0.05995833 0.49190092] [ 0.04042319 0.99916505 0.00593094 -0.06535069] [ 0.05967106 -0.00833922 0.99818326 -0.04996849] [ 0. 0. 0. 1. ]] SLAMing on 13.223273559999999 meters Centerline goodness : 0.802095 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.07, Z:-0.05 [[ 0.99745104 -0.03799258 -0.06039853 0.49445237] [ 0.03847462 0.99923618 0.00683783 -0.06561578] [ 0.06009261 -0.00914421 0.99815092 -0.05076306] [ 0. 0. 0. 1. ]] SLAMing on 13.253273559999998 meters Centerline goodness : 0.800678 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.07, Z:-0.05 [[ 0.99745962 -0.03738046 -0.06063831 0.49524606] [ 0.03787057 0.99925846 0.00695306 -0.06536284] [ 0.06033344 -0.0092318 0.99813559 -0.0506842 ] [ 0. 0. 0. 1. ]] SLAMing on 13.28327356 meters Centerline goodness : 0.799978 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.07, Z:-0.05 [[ 0.99745802 -0.03692091 -0.06094541 0.49602021] [ 0.03741308 0.99927569 0.00695398 -0.06522223] [ 0.06064452 -0.00921646 0.99811688 -0.05037923] [ 0. 0. 0. 1. ]] SLAMing on 13.313273559999999 meters Centerline goodness : 0.800172 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.07, Z:-0.05 [[ 0.99744952 -0.03655632 -0.06130327 0.49659147] [ 0.03704404 0.99929024 0.00683798 -0.06506578] [ 0.06100979 -0.00909146 0.99809576 -0.04974352] [ 0. 0. 0. 1. ]] SLAMing on 13.34327356 meters Centerline goodness : 0.800920 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.07, Z:-0.05 [[ 0.99746891 -0.03529276 -0.06172685 0.49807747] [ 0.03581164 0.99933175 0.00731972 -0.06578395] [ 0.06142727 -0.00951173 0.99806624 -0.04956217] [ 0. 0. 0. 1. ]] SLAMing on 13.37327356 meters Centerline goodness : 0.801740 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.07, Z:-0.05 [[ 0.99747401 -0.0349561 -0.06183576 0.49856625] [ 0.03548469 0.9993423 0.00747042 -0.06626352] [ 0.06153396 -0.00964577 0.99805838 -0.04961635] [ 0. 0. 0. 1. ]] SLAMing on 13.403273559999999 meters Centerline goodness : 0.800295 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.07, Z:-0.05 [[ 0.99747145 -0.03467291 -0.06203621 0.49916696] [ 0.03520772 0.99935151 0.00754831 -0.06699342] [ 0.06173426 -0.00971338 0.99804536 -0.04950712] [ 0. 0. 0. 1. ]] SLAMing on 13.43327356 meters Centerline goodness : 0.799458 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.07, Z:-0.05 [[ 0.99746677 -0.03442517 -0.06224912 0.49966325] [ 0.03496555 0.99935953 0.00761219 -0.06780675] [ 0.0619472 -0.00976948 0.99803161 -0.0492593 ] [ 0. 0. 0. 1. ]] SLAMing on 13.46327356 meters Centerline goodness : 0.801021 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.07, Z:-0.05 [[ 0.99747479 -0.03384809 -0.0624368 0.50021645] [ 0.03441747 0.99937499 0.00806607 -0.06985746] [ 0.06212475 -0.01019461 0.99801633 -0.04904488] [ 0. 0. 0. 1. ]] SLAMing on 13.493273559999999 meters Centerline goodness : 0.800096 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.07, Z:-0.05 [[ 0.9974746 -0.03358624 -0.06258107 0.50067378] [ 0.03416962 0.99938179 0.00827489 -0.07085479] [ 0.06226445 -0.01039237 0.99800558 -0.04901965] [ 0. 0. 0. 1. ]] SLAMing on 13.52327356 meters Centerline goodness : 0.799053 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.07, Z:-0.05 [[ 0.99747387 -0.03343721 -0.06267239 0.50093948] [ 0.03403622 0.99938433 0.00851439 -0.07208375] [ 0.0623491 -0.01062601 0.99799783 -0.04902505] [ 0. 0. 0. 1. ]] SLAMing on 13.55327356 meters Centerline goodness : 0.796793 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.07, Z:-0.05 [[ 0.99747504 -0.03301619 -0.06287664 0.50170936] [ 0.03366168 0.99939062 0.00923421 -0.07495407] [ 0.06253345 -0.01132742 0.99797859 -0.04933108] [ 0. 0. 0. 1. ]] SLAMing on 13.583273559999999 meters Centerline goodness : 0.799457 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.08, Z:-0.05 [[ 0.9974696 -0.03319309 -0.06286981 0.50133919] [ 0.03385157 0.99938231 0.00943734 -0.07671309] [ 0.06251773 -0.0115417 0.99797712 -0.04899767] [ 0. 0. 0. 1. ]] SLAMing on 13.61327356 meters Centerline goodness : 0.797947 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.08, Z:-0.05 [[ 0.9973155 -0.0367885 -0.06331198 0.50250367] [ 0.03720358 0.99929317 0.0053895 -0.07628975] [ 0.06306896 -0.00773046 0.99797923 -0.04822013] [ 0. 0. 0. 1. ]] SLAMing on 13.643273559999999 meters Centerline goodness : 0.798554 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.08, Z:-0.05 [[ 0.9973047 -0.03729777 -0.06318393 0.5017677 ] [ 0.03772129 0.99927304 0.005523 -0.07846917] [ 0.062932 -0.0078915 0.99798662 -0.04790839] [ 0. 0. 0. 1. ]] SLAMing on 13.67327356 meters Centerline goodness : 0.794298 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.08, Z:-0.05 [[ 0.99714574 -0.04128305 -0.06321461 0.50210615] [ 0.04149819 0.99913639 0.00209357 -0.08064161] [ 0.06307359 -0.00471089 0.99799776 -0.0477297 ] [ 0. 0. 0. 1. ]] SLAMing on 13.70327356 meters Centerline goodness : 0.796658 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.08, Z:-0.05 [[ 0.99697141 -0.04497622 -0.06344404 0.50309465] [ 0.04495853 0.9989874 -0.00170708 -0.0808531 ] [ 0.06345657 -0.00115045 0.99798394 -0.04746969] [ 0. 0. 0. 1. ]] SLAMing on 13.733273559999999 meters Centerline goodness : 0.793908 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.08, Z:-0.05 [[ 0.99677263 -0.04919117 -0.06343929 0.50319395] [ 0.0489682 0.99878749 -0.00506577 -0.0838121 ] [ 0.06361157 0.00194291 0.99797284 -0.0472381 ] [ 0. 0. 0. 1. ]] SLAMing on 13.76327356 meters Centerline goodness : 0.794240 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.09, Z:-0.05 [[ 0.99674685 -0.05009096 -0.06313966 0.50193302] [ 0.04987405 0.99874296 -0.00500787 -0.08627501] [ 0.06331114 0.00184255 0.99799214 -0.04697872] [ 0. 0. 0. 1. ]] SLAMing on 13.79327356 meters Centerline goodness : 0.795087 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.09, Z:-0.05 [[ 0.99670924 -0.05094273 -0.06305177 0.50111343] [ 0.05073408 0.99870014 -0.00490686 -0.0887057 ] [ 0.06321978 0.00169184 0.9979982 -0.04674467] [ 0. 0. 0. 1. ]] SLAMing on 13.823273559999999 meters Centerline goodness : 0.794552 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.09, Z:-0.05 [[ 0.9964745 -0.05561413 -0.06281436 0.5003126 ] [ 0.05518398 0.99843948 -0.00856355 -0.09112399] [ 0.06319259 0.00506701 0.99798849 -0.04608875] [ 0. 0. 0. 1. ]] SLAMing on 13.85327356 meters Centerline goodness : 0.792961 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.09, Z:-0.05 [[ 0.99644462 -0.05619384 -0.06277238 0.49987163] [ 0.05579051 0.99840914 -0.00816104 -0.09337056] [ 0.06313112 0.00462992 0.9979945 -0.04623249] [ 0. 0. 0. 1. ]] SLAMing on 13.88327356 meters Centerline goodness : 0.792163 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.10, Z:-0.05 [[ 0.99640879 -0.05679724 -0.06279811 0.49949968] [ 0.05641474 0.99837657 -0.00784883 -0.09547113] [ 0.06314195 0.00427791 0.99799539 -0.04622132] [ 0. 0. 0. 1. ]] SLAMing on 13.913273559999999 meters Centerline goodness : 0.792926 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.10, Z:-0.05 [[ 0.99616184 -0.06106594 -0.06270994 0.49976058] [ 0.06047218 0.99810564 -0.01132486 -0.09722592] [ 0.06328271 0.00748919 0.99796754 -0.04632772] [ 0. 0. 0. 1. ]] SLAMing on 13.94327356 meters Centerline goodness : 0.791086 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.10, Z:-0.05 [[ 0.99615054 -0.06145598 -0.06250815 0.49933586] [ 0.06088443 0.9980841 -0.01100943 -0.09908425] [ 0.06306498 0.00716128 0.99798373 -0.04662573] [ 0. 0. 0. 1. ]] SLAMing on 13.973273559999999 meters Centerline goodness : 0.792763 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.10, Z:-0.05 [[ 0.99614892 -0.0615454 -0.06244591 0.49960002] [ 0.06101917 0.99808344 -0.01030121 -0.10109871] [ 0.06296022 0.00645115 0.99799519 -0.04751527] [ 0. 0. 0. 1. ]] SLAMing on 14.003273559999998 meters Centerline goodness : 0.790139 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.10, Z:-0.05 [[ 0.99611999 -0.0623243 -0.06213405 0.49853452] [ 0.06182321 0.99803745 -0.00995679 -0.10340596] [ 0.06263266 0.00607683 0.99801815 -0.04764617] [ 0. 0. 0. 1. ]] SLAMing on 14.03327356 meters Centerline goodness : 0.791276 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.10, Z:-0.05 [[ 0.99611212 -0.06260541 -0.06197751 0.49803744] [ 0.06211137 0.99802044 -0.00986799 -0.10408988] [ 0.06247261 0.00598012 0.99802876 -0.04763953] [ 0. 0. 0. 1. ]] SLAMing on 14.063273559999999 meters Centerline goodness : 0.791949 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.11, Z:-0.05 [[ 0.99610146 -0.06261927 -0.06213454 0.49843672] [ 0.06214634 0.99802167 -0.00951683 -0.10514369] [ 0.06260755 0.00561829 0.99802241 -0.04791815] [ 0. 0. 0. 1. ]] SLAMing on 14.09327356 meters Centerline goodness : 0.795622 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.11, Z:-0.05 [[ 9.95975010e-01 -6.79302184e-02 -5.84744772e-02 5.15516638e-01] [ 6.77904152e-02 9.97689998e-01 -4.37353175e-03 -1.05942598e-01] [ 5.86364960e-02 3.91919237e-04 9.98279324e-01 -5.17243445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.12327356 meters Centerline goodness : 0.792557 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.09, Z:-0.01 [[ 0.99734339 -0.06208059 -0.03810731 0.63698983] [ 0.05918295 0.99557735 -0.07295974 -0.08907173] [ 0.04246816 0.07051062 0.9966066 -0.01228838] [ 0. 0. 0. 1. ]] SLAMing on 14.153273559999999 meters Centerline goodness : 0.792557 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.09, Z:-0.01 [[ 0.99734339 -0.06208059 -0.03810731 0.63698983] [ 0.05918295 0.99557735 -0.07295974 -0.08907173] [ 0.04246816 0.07051062 0.9966066 -0.01228838] [ 0. 0. 0. 1. ]] SLAMing on 14.18327356 meters Centerline goodness : 0.792247 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.09, Z:-0.02 [[ 0.99729635 -0.06513079 -0.0340291 0.64348592] [ 0.06298229 0.9961613 -0.06079391 -0.09275243] [ 0.03785803 0.05848632 0.99757011 -0.0164325 ] [ 0. 0. 0. 1. ]] SLAMing on 14.21327356 meters Centerline goodness : 0.791608 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.10, Z:-0.02 [[ 0.99731685 -0.06663207 -0.03031938 0.6515932 ] [ 0.06513681 0.99672664 -0.04788741 -0.09587675] [ 0.03341097 0.04578401 0.99839247 -0.02085804] [ 0. 0. 0. 1. ]] SLAMing on 14.243273559999999 meters Centerline goodness : 0.792012 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:-0.03 [[ 0.99734269 -0.06788523 -0.02644147 0.65980393] [ 0.0669523 0.99715256 -0.03470106 -0.09885321] [ 0.02872187 0.03283854 0.99904789 -0.02555578] [ 0. 0. 0. 1. ]] SLAMing on 14.27327356 meters Centerline goodness : 0.792046 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:-0.03 [[ 0.99751931 -0.06517198 -0.02660543 0.65902643] [ 0.06435159 0.99745778 -0.03060799 -0.10117569] [ 0.02853258 0.02881996 0.99917731 -0.02604057] [ 0. 0. 0. 1. ]] SLAMing on 14.30327356 meters Centerline goodness : 0.790151 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.03 [[ 0.99752006 -0.0666968 -0.02247799 0.66894082] [ 0.06627792 0.99762234 -0.01889212 -0.10365603] [ 0.02368459 0.01735547 0.99956882 -0.03118704] [ 0. 0. 0. 1. ]] SLAMing on 14.333273559999999 meters Centerline goodness : 0.791401 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.03 [[ 0.99771971 -0.0636278 -0.02251418 0.66839303] [ 0.06330704 0.99788606 -0.01468446 -0.10589178] [ 0.02340093 0.01322566 0.99963867 -0.03195646] [ 0. 0. 0. 1. ]] SLAMing on 14.36327356 meters Centerline goodness : 0.791074 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.03 [[ 0.99773131 -0.0633533 -0.02277246 0.6692875 ] [ 0.06303484 0.99790684 -0.01444115 -0.1059888 ] [ 0.02363969 0.01297293 0.99963637 -0.03238971] [ 0. 0. 0. 1. ]] SLAMing on 14.393273559999999 meters Centerline goodness : 0.791808 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.03 [[ 0.99788019 -0.06107036 -0.02248398 0.66713118] [ 0.06083555 0.99808737 -0.01098387 -0.107271 ] [ 0.02311177 0.00959276 0.99968686 -0.03211463] [ 0. 0. 0. 1. ]] SLAMing on 14.423273559999998 meters Centerline goodness : 0.794638 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.03 [[ 0.99802964 -0.05860535 -0.02241081 0.66569114] [ 0.0584518 0.99826246 -0.00744698 -0.10886419] [ 0.0228083 0.00612235 0.99972111 -0.03194875] [ 0. 0. 0. 1. ]] SLAMing on 14.45327356 meters Centerline goodness : 0.793800 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.03 [[ 0.99802458 -0.05867661 -0.02244997 0.66560813] [ 0.05851875 0.99825718 -0.00762564 -0.10816728] [ 0.02285829 0.00629683 0.99971888 -0.03170427] [ 0. 0. 0. 1. ]] SLAMing on 14.483273559999999 meters Centerline goodness : 0.792754 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.03 [[ 0.99802716 -0.05857079 -0.02261078 0.6658796 ] [ 0.05841304 0.99826375 -0.00757591 -0.10798122] [ 0.02301525 0.0062402 0.99971564 -0.03164426] [ 0. 0. 0. 1. ]] SLAMing on 14.51327356 meters Centerline goodness : 0.791467 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.03 [[ 0.99803149 -0.0584671 -0.02268791 0.66630726] [ 0.05831285 0.99827091 -0.00740238 -0.10790804] [ 0.02308147 0.00606482 0.99971519 -0.03204981] [ 0. 0. 0. 1. ]] SLAMing on 14.54327356 meters Centerline goodness : 0.794179 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.03 [[ 0.99803819 -0.05830425 -0.02281213 0.6668357 ] [ 0.05815724 0.9982825 -0.00705593 -0.10829731] [ 0.02318434 0.00571539 0.99971487 -0.03248177] [ 0. 0. 0. 1. ]] SLAMing on 14.573273559999999 meters Centerline goodness : 0.791758 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.03 [[ 0.99802305 -0.05861871 -0.02266819 0.66652128] [ 0.05847414 0.99826446 -0.00698915 -0.10874618] [ 0.02303854 0.00564983 0.99971861 -0.03269163] [ 0. 0. 0. 1. ]] SLAMing on 14.60327356 meters Centerline goodness : 0.792655 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.03 [[ 0.99802406 -0.05862437 -0.02260864 0.66661103] [ 0.0584857 0.99826544 -0.00674735 -0.10904456] [ 0.02296498 0.00541174 0.99972162 -0.03311793] [ 0. 0. 0. 1. ]] SLAMing on 14.63327356 meters Centerline goodness : 0.791365 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.03 [[ 0.99803484 -0.05838007 -0.02276444 0.66743764] [ 0.05825126 0.99828219 -0.00628134 -0.10952099] [ 0.02309204 0.00494294 0.99972112 -0.03393544] [ 0. 0. 0. 1. ]] SLAMing on 14.663273559999999 meters Centerline goodness : 0.790329 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.03 [[ 0.99803419 -0.05839385 -0.02275775 0.66791785] [ 0.05827126 0.99828267 -0.00601371 -0.10956743] [ 0.02306983 0.00467577 0.99972292 -0.03482327] [ 0. 0. 0. 1. ]] SLAMing on 14.69327356 meters Centerline goodness : 0.791523 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.04 [[ 0.99803797 -0.05830017 -0.02283218 0.66831413] [ 0.05818147 0.998289 -0.00582977 -0.10954762] [ 0.02313299 0.00448992 0.99972231 -0.03520095] [ 0. 0. 0. 1. ]] SLAMing on 14.723273559999999 meters Centerline goodness : 0.791315 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.04 [[ 0.99803543 -0.05837915 -0.02274114 0.66837802] [ 0.05826462 0.99828509 -0.00566732 -0.10939534] [ 0.02303299 0.00433118 0.99972532 -0.03573619] [ 0. 0. 0. 1. ]] SLAMing on 14.753273559999998 meters Centerline goodness : 0.791204 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.04 [[ 0.998021 -0.05869055 -0.02257238 0.66789687] [ 0.05857745 0.99826693 -0.0056402 -0.10936975] [ 0.02286429 0.00430681 0.9997293 -0.03582852] [ 0. 0. 0. 1. ]] SLAMing on 14.78327356 meters Centerline goodness : 0.793300 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.04 [[ 0.99801854 -0.05869493 -0.02266947 0.66810184] [ 0.05858515 0.99826739 -0.00547746 -0.10979516] [ 0.0229517 0.00413851 0.99972801 -0.03591891] [ 0. 0. 0. 1. ]] SLAMing on 14.813273559999999 meters Centerline goodness : 0.792510 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.04 [[ 0.99801156 -0.05885611 -0.02255869 0.66784794] [ 0.05874855 0.9982582 -0.00540189 -0.11018188] [ 0.02283733 0.00406586 0.99973093 -0.03599036] [ 0. 0. 0. 1. ]] SLAMing on 14.84327356 meters Centerline goodness : 0.790870 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.04 [[ 0.99798499 -0.05935645 -0.02242278 0.66693812] [ 0.0592451 0.99822777 -0.00559866 -0.11048367] [ 0.02271536 0.00425894 0.9997329 -0.03538751] [ 0. 0. 0. 1. ]] SLAMing on 14.87327356 meters Centerline goodness : 0.793390 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.04 [[ 0.99798591 -0.05934446 -0.02241317 0.66699239] [ 0.05923685 0.99822916 -0.00543542 -0.11061519] [ 0.02269604 0.00409679 0.99973402 -0.03558464] [ 0. 0. 0. 1. ]] SLAMing on 14.903273559999999 meters Centerline goodness : 0.796530 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.04 [[ 0.99798874 -0.05926531 -0.02249642 0.66719063] [ 0.05915925 0.99823421 -0.00535189 -0.11041709] [ 0.02277388 0.00401025 0.9997326 -0.03564531] [ 0. 0. 0. 1. ]] SLAMing on 14.93327356 meters Centerline goodness : 0.795202 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.04 [[ 0.99799133 -0.05917744 -0.0226129 0.66757249] [ 0.0590713 0.99823952 -0.00533398 -0.10999623] [ 0.02288874 0.00398749 0.99973007 -0.03579435] [ 0. 0. 0. 1. ]] SLAMing on 14.96327356 meters Centerline goodness : 0.792563 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.04 [[ 0.99800868 -0.05880653 -0.02281363 0.66854698] [ 0.05870706 0.9982627 -0.00500607 -0.11003033] [ 0.02306839 0.00365678 0.9997272 -0.03646827] [ 0. 0. 0. 1. ]] SLAMing on 14.993273559999999 meters Centerline goodness : 0.794118 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.04 [[ 0.99801309 -0.05870618 -0.0228792 0.66889226] [ 0.0586101 0.99826918 -0.00484843 -0.11013149] [ 0.02312423 0.00349785 0.99972648 -0.03677995] [ 0. 0. 0. 1. ]] SLAMing on 15.02327356 meters Centerline goodness : 0.795111 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.04 [[ 0.99802619 -0.05843067 -0.02301268 0.66955212] [ 0.05834243 0.99828654 -0.004488 -0.11042442] [ 0.02323549 0.00313653 0.9997251 -0.03728907] [ 0. 0. 0. 1. ]] SLAMing on 15.05327356 meters Centerline goodness : 0.795606 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.04 [[ 0.99803539 -0.05824135 -0.02309356 0.66995695] [ 0.0581559 0.99829801 -0.00435517 -0.11037445] [ 0.0233079 0.00300358 0.99972382 -0.03755359] [ 0. 0. 0. 1. ]] SLAMing on 15.083273559999999 meters Centerline goodness : 0.794559 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.04 [[ 0.9980499 -0.0578618 -0.02341803 0.67087177] [ 0.05778262 0.998321 -0.00404419 -0.11061608] [ 0.02361272 0.00268315 0.99971758 -0.03781247] [ 0. 0. 0. 1. ]] SLAMing on 15.11327356 meters Centerline goodness : 0.793754 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.04 [[ 0.99805453 -0.05776124 -0.02346895 0.67098015] [ 0.05768031 0.99832664 -0.00411134 -0.11039858] [ 0.02366715 0.00274965 0.99971611 -0.03769034] [ 0. 0. 0. 1. ]] SLAMing on 15.143273559999999 meters Centerline goodness : 0.793259 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.04 [[ 0.99807043 -0.05744 -0.02358102 0.67142851] [ 0.05736412 0.99834578 -0.00388215 -0.11052079] [ 0.02376501 0.00252195 0.99971439 -0.03788296] [ 0. 0. 0. 1. ]] SLAMing on 15.173273559999998 meters Centerline goodness : 0.793076 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.04 [[ 0.99808499 -0.05717048 -0.02361972 0.67188531] [ 0.05710325 0.9983621 -0.00351154 -0.11074541] [ 0.02378179 0.00215605 0.99971485 -0.03841827] [ 0. 0. 0. 1. ]] SLAMing on 15.20327356 meters Centerline goodness : 0.794058 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.04 [[ 0.99809706 -0.05687435 -0.02382386 0.67252869] [ 0.05681215 0.9983795 -0.00328002 -0.11085714] [ 0.0239718 0.00192029 0.99971079 -0.03865807] [ 0. 0. 0. 1. ]] SLAMing on 15.233273559999999 meters Centerline goodness : 0.793812 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.04 [[ 0.9981278 -0.0561965 -0.02414233 0.673552 ] [ 0.05613465 0.99841797 -0.00323269 -0.11021681] [ 0.0242858 0.00187142 0.9997033 -0.0386737 ] [ 0. 0. 0. 1. ]] SLAMing on 15.26327356 meters Centerline goodness : 0.794898 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.04 [[ 0.99815177 -0.05565938 -0.0243944 0.67442108] [ 0.05560069 0.99844834 -0.00307833 -0.10990181] [ 0.02452788 0.0017163 0.99969767 -0.03885598] [ 0. 0. 0. 1. ]] SLAMing on 15.29327356 meters Centerline goodness : 0.794525 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.04 [[ 0.99816699 -0.05529034 -0.02460978 0.67491543] [ 0.05522893 0.99846869 -0.00316841 -0.10919981] [ 0.02474728 0.00180343 0.99969211 -0.03862802] [ 0. 0. 0. 1. ]] SLAMing on 15.323273559999999 meters Centerline goodness : 0.795378 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.04 [[ 9.98364961e-01 -5.16538356e-02 -2.44803150e-02 6.73743851e-01] [ 5.16875731e-02 9.98663025e-01 7.46977536e-04 -1.10130849e-01] [ 2.44090012e-02 -2.01108427e-03 9.99700033e-01 -3.82865483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.35327356 meters Centerline goodness : 0.795776 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.04 [[ 9.98375553e-01 -5.13116616e-02 -2.47662805e-02 6.74317485e-01] [ 5.13437419e-02 9.98680822e-01 6.60749830e-04 -1.09518704e-01] [ 2.46997052e-02 -1.93126999e-03 9.99693050e-01 -3.80111419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.38327356 meters Centerline goodness : 0.795878 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.04 [[ 0.9985707 -0.04731202 -0.02486222 0.67406755] [ 0.04744381 0.99886267 0.00473759 -0.11066108] [ 0.0246098 -0.00591038 0.99967966 -0.03802598] [ 0. 0. 0. 1. ]] SLAMing on 15.413273559999999 meters Centerline goodness : 0.796301 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.04 [[ 0.99858648 -0.04685163 -0.02509929 0.67488874] [ 0.04698662 0.99888391 0.00481528 -0.11028909] [ 0.02484568 -0.00598781 0.99967337 -0.03818704] [ 0. 0. 0. 1. ]] SLAMing on 15.44327356 meters Centerline goodness : 0.795681 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.04 [[ 0.99859524 -0.04648332 -0.02543335 0.67584218] [ 0.04662054 0.998901 0.00482878 -0.10991516] [ 0.02518094 -0.00600772 0.99966486 -0.03830959] [ 0. 0. 0. 1. ]] SLAMing on 15.473273559999999 meters Centerline goodness : 0.794990 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.04 [[ 0.99863447 -0.04541445 -0.02582114 0.67764743] [ 0.04556384 0.99894776 0.0052265 -0.10941148] [ 0.02555661 -0.00639588 0.99965292 -0.03903535] [ 0. 0. 0. 1. ]] SLAMing on 15.503273559999998 meters Centerline goodness : 0.796154 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.04 [[ 0.99864337 -0.04510424 -0.02601981 0.67823536] [ 0.04525636 0.99896142 0.005287 -0.10911709] [ 0.02575432 -0.00645739 0.99964745 -0.03913077] [ 0. 0. 0. 1. ]] SLAMing on 15.53327356 meters Centerline goodness : 0.793576 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.04 [[ 0.9986536 -0.04478098 -0.02618506 0.67888006] [ 0.04493738 0.99897513 0.0054151 -0.10897458] [ 0.02591573 -0.0065845 0.99964245 -0.03934411] [ 0. 0. 0. 1. ]] SLAMing on 15.563273559999999 meters Centerline goodness : 0.794637 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.04 [[ 0.99866051 -0.04455172 -0.0263121 0.67929136] [ 0.04471086 0.99898488 0.00549094 -0.10907801] [ 0.02604076 -0.00666002 0.9996387 -0.03937469] [ 0. 0. 0. 1. ]] SLAMing on 15.59327356 meters Centerline goodness : 0.792860 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.04 [[ 0.99867434 -0.04423728 -0.02631792 0.67945657] [ 0.04440104 0.9989977 0.00567038 -0.10944878] [ 0.0260407 -0.0068314 0.99963754 -0.03939936] [ 0. 0. 0. 1. ]] SLAMing on 15.62327356 meters Centerline goodness : 0.792416 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.04 [[ 0.99867419 -0.04421329 -0.02636364 0.67946673] [ 0.04437845 0.99899846 0.00571252 -0.10990241] [ 0.02608466 -0.00687493 0.9996361 -0.03921869] [ 0. 0. 0. 1. ]] SLAMing on 15.653273559999999 meters Centerline goodness : 0.793463 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.04 [[ 0.99867114 -0.04434813 -0.02625273 0.67909229] [ 0.04451149 0.99899278 0.0056711 -0.11023594] [ 0.02597478 -0.00683211 0.99963925 -0.03900483] [ 0. 0. 0. 1. ]] SLAMing on 15.68327356 meters Centerline goodness : 0.795941 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.04 [[ 0.99866632 -0.04446489 -0.0262383 0.67864388] [ 0.04462727 0.99898781 0.00563553 -0.11088789] [ 0.02596116 -0.00679896 0.99963983 -0.03841025] [ 0. 0. 0. 1. ]] SLAMing on 15.71327356 meters Centerline goodness : 0.792173 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.04 [[ 0.99866576 -0.04449321 -0.02621181 0.67874524] [ 0.04465867 0.99898569 0.00576109 -0.1115287 ] [ 0.0259289 -0.00692399 0.99963981 -0.03860329] [ 0. 0. 0. 1. ]] SLAMing on 15.743273559999999 meters Centerline goodness : 0.792159 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.04 [[ 0.99866055 -0.0446331 -0.02617253 0.67870013] [ 0.04480158 0.99897856 0.0058863 -0.11224653] [ 0.02588308 -0.00705098 0.99964011 -0.03876496] [ 0. 0. 0. 1. ]] SLAMing on 15.77327356 meters Centerline goodness : 0.794168 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.04 [[ 0.99865014 -0.04484533 -0.0262068 0.67880297] [ 0.04501829 0.99896786 0.0060471 -0.11317915] [ 0.02590856 -0.00721873 0.99963825 -0.03901355] [ 0. 0. 0. 1. ]] SLAMing on 15.80327356 meters Centerline goodness : 0.792805 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.04 [[ 0.99863685 -0.04519969 -0.02610436 0.67863517] [ 0.04537987 0.99894961 0.00635169 -0.11484071] [ 0.02578985 -0.00752764 0.99963904 -0.03938331] [ 0. 0. 0. 1. ]] SLAMing on 15.833273559999999 meters Centerline goodness : 0.793154 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.04 [[ 0.9986275 -0.04545958 -0.02601058 0.67848379] [ 0.04563851 0.99893798 0.00632712 -0.11542088] [ 0.02569533 -0.00750552 0.99964164 -0.03952446] [ 0. 0. 0. 1. ]] SLAMing on 15.86327356 meters Centerline goodness : 0.793294 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.04 [[ 0.99860725 -0.04598604 -0.02586214 0.67787698] [ 0.04616283 0.99891418 0.00628064 -0.11638452] [ 0.02554523 -0.00746576 0.99964579 -0.03938848] [ 0. 0. 0. 1. ]] SLAMing on 15.893273559999999 meters Centerline goodness : 0.792336 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.04 [[ 0.99860068 -0.04616094 -0.02580407 0.67778833] [ 0.04633921 0.99890556 0.0063536 -0.1170875 ] [ 0.02548254 -0.00754045 0.99964683 -0.03948832] [ 0. 0. 0. 1. ]] SLAMing on 15.923273559999998 meters Centerline goodness : 0.790273 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.04 [[ 0.99859065 -0.04640569 -0.02575331 0.6777212 ] [ 0.0465819 0.9988947 0.00628493 -0.11739369] [ 0.02543319 -0.00747571 0.99964857 -0.03958191] [ 0. 0. 0. 1. ]] SLAMing on 15.95327356 meters Centerline goodness : 0.791137 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.04 [[ 0.99846393 -0.04877103 -0.02628996 0.6805464 ] [ 0.04886719 0.9988007 0.0030276 -0.11617664] [ 0.02611077 -0.00430767 0.99964977 -0.04044933] [ 0. 0. 0. 1. ]] SLAMing on 15.983273559999999 meters Centerline goodness : 0.789375 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.04 [[ 0.99845342 -0.04902166 -0.02622309 0.68027373] [ 0.04911754 0.99878843 0.00302457 -0.11666655] [ 0.02604304 -0.0043079 0.99965154 -0.040385 ] [ 0. 0. 0. 1. ]] SLAMing on 16.013273560000002 meters Centerline goodness : 0.792508 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.04 [[ 0.99845579 -0.04892863 -0.02630617 0.68060858] [ 0.04902851 0.99879237 0.00316463 -0.11670617] [ 0.02611956 -0.00444949 0.99964892 -0.04057638] [ 0. 0. 0. 1. ]] SLAMing on 16.04327356 meters Centerline goodness : 0.792508 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.04 [[ 0.99845579 -0.04892863 -0.02630617 0.68060858] [ 0.04902851 0.99879237 0.00316463 -0.11670617] [ 0.02611956 -0.00444949 0.99964892 -0.04057638] [ 0. 0. 0. 1. ]] SLAMing on 16.07327356 meters Centerline goodness : 0.790044 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.04 [[ 0.99843608 -0.04937197 -0.02622602 0.67972076] [ 0.04945868 0.99877261 0.00266778 -0.1157303 ] [ 0.02606211 -0.00396071 0.99965248 -0.03967865] [ 0. 0. 0. 1. ]] SLAMing on 16.103273559999998 meters Centerline goodness : 0.791781 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.04 [[ 0.99842807 -0.04952505 -0.0262422 0.67946802] [ 0.0496069 0.99876575 0.00247685 -0.11534947] [ 0.02608714 -0.00377475 0.99965255 -0.03928906] [ 0. 0. 0. 1. ]] SLAMing on 16.13327356 meters Centerline goodness : 0.793390 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.04 [[ 0.99842553 -0.04959775 -0.02620175 0.67945546] [ 0.0496779 0.99876237 0.00241636 -0.11502207] [ 0.02604948 -0.00371421 0.99965375 -0.03939695] [ 0. 0. 0. 1. ]] SLAMing on 16.16327356 meters Centerline goodness : 0.792108 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.04 [[ 0.99842506 -0.04955006 -0.02630963 0.67970158] [ 0.04962936 0.99876489 0.00236912 -0.11490649] [ 0.02615975 -0.00367112 0.99965103 -0.03932596] [ 0. 0. 0. 1. ]] SLAMing on 16.193273559999998 meters Centerline goodness : 0.791784 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.04 [[ 0.99842525 -0.04957498 -0.02625526 0.67976066] [ 0.04965033 0.99876418 0.00222566 -0.11441873] [ 0.02611247 -0.00352573 0.99965279 -0.03948273] [ 0. 0. 0. 1. ]] SLAMing on 16.22327356 meters Centerline goodness : 0.792228 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.04 [[ 0.99842273 -0.04956375 -0.02637211 0.68005435] [ 0.04963845 0.99876486 0.00218515 -0.1141345 ] [ 0.02623123 -0.00349078 0.99964981 -0.03954389] [ 0. 0. 0. 1. ]] SLAMing on 16.25327356 meters Centerline goodness : 0.792022 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.04 [[ 0.99842071 -0.04956095 -0.0264536 0.68039858] [ 0.049636 0.99876498 0.00218742 -0.1136699 ] [ 0.02631252 -0.00349701 0.99964765 -0.0398275 ] [ 0. 0. 0. 1. ]] SLAMing on 16.283273559999998 meters Centerline goodness : 0.791177 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.04 [[ 0.99842739 -0.04934317 -0.02660819 0.68139677] [ 0.04942319 0.99877514 0.00235788 -0.11298024] [ 0.02645925 -0.00366923 0.99964316 -0.04073345] [ 0. 0. 0. 1. ]] SLAMing on 16.31327356 meters Centerline goodness : 0.789080 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.04 [[ 0.99842934 -0.04927763 -0.02665652 0.68169679] [ 0.04935942 0.99877815 0.00241861 -0.11293965] [ 0.02650477 -0.00373056 0.99964173 -0.04097611] [ 0. 0. 0. 1. ]] SLAMing on 16.34327356 meters Centerline goodness : 0.789903 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.04 [[ 0.99842729 -0.04932285 -0.02664962 0.68178552] [ 0.04940462 0.99877592 0.00241835 -0.11294755] [ 0.02649772 -0.00373116 0.99964191 -0.04110187] [ 0. 0. 0. 1. ]] SLAMing on 16.373273559999998 meters Centerline goodness : 0.792842 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.04 [[ 0.99842719 -0.04932793 -0.02664405 0.68166389] [ 0.04940643 0.99877612 0.00229561 -0.11262274] [ 0.0264982 -0.00360839 0.99964235 -0.04090515] [ 0. 0. 0. 1. ]] SLAMing on 16.40327356 meters Centerline goodness : 0.791835 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.04 [[ 0.99843141 -0.04923023 -0.02666651 0.68162226] [ 0.04930625 0.99878128 0.00220031 -0.11222238] [ 0.02652569 -0.00351168 0.99964196 -0.04063866] [ 0. 0. 0. 1. ]] SLAMing on 16.43327356 meters Centerline goodness : 0.793168 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.04 [[ 0.99843406 -0.0491498 -0.02671547 0.68165126] [ 0.04921985 0.99878602 0.00197069 -0.11135324] [ 0.02658618 -0.00328254 0.99964114 -0.04040139] [ 0. 0. 0. 1. ]] SLAMing on 16.463273559999998 meters Centerline goodness : 0.793729 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.04 [[ 0.99845836 -0.04851999 -0.02695763 0.68223424] [ 0.0485846 0.99881754 0.00174642 -0.10987971] [ 0.02684102 -0.00305345 0.99963505 -0.03992996] [ 0. 0. 0. 1. ]] SLAMing on 16.49327356 meters Centerline goodness : 0.796636 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.04 [[ 0.99846234 -0.04834561 -0.02712296 0.68259947] [ 0.04840468 0.99882664 0.00152503 -0.10906584] [ 0.0270174 -0.00283556 0.99963094 -0.03969577] [ 0. 0. 0. 1. ]] SLAMing on 16.52327356 meters Centerline goodness : 0.793921 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.04 [[ 0.9984752 -0.04796246 -0.02732917 0.68325643] [ 0.04802228 0.99884508 0.00153622 -0.10865911] [ 0.02722393 -0.00284628 0.99962531 -0.03972894] [ 0. 0. 0. 1. ]] SLAMing on 16.55327356 meters Centerline goodness : 0.793854 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.04 [[ 0.99852149 -0.04674578 -0.02774284 0.68497682] [ 0.0468166 0.99890168 0.00190826 -0.10818631] [ 0.02762316 -0.00320426 0.99961327 -0.04018317] [ 0. 0. 0. 1. ]] SLAMing on 16.58327356 meters Centerline goodness : 0.793987 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.11, Z:-0.04 [[ 0.99854591 -0.0459563 -0.02817959 0.68644715] [ 0.04603338 0.99893771 0.0020926 -0.10760027] [ 0.02805349 -0.00338675 0.99960069 -0.04051033] [ 0. 0. 0. 1. ]] SLAMing on 16.61327356 meters Centerline goodness : 0.794097 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.11, Z:-0.04 [[ 0.99857184 -0.04519821 -0.02848511 0.68759226] [ 0.04527921 0.99897194 0.00220481 -0.10669039] [ 0.02835617 -0.00349145 0.99959179 -0.0407363 ] [ 0. 0. 0. 1. ]] SLAMing on 16.64327356 meters Centerline goodness : 0.795157 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.11, Z:-0.04 [[ 0.99859883 -0.04440145 -0.02879027 0.68865057] [ 0.04448601 0.99900735 0.0023028 -0.10575372] [ 0.02865944 -0.00358034 0.99958282 -0.04080171] [ 0. 0. 0. 1. ]] SLAMing on 16.67327356 meters Centerline goodness : 0.795065 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.11, Z:-0.04 [[ 0.9987941 -0.03959522 -0.02902691 0.68938765] [ 0.03979941 0.99918661 0.00649068 -0.10555507] [ 0.0287463 -0.0076381 0.99955756 -0.04119928] [ 0. 0. 0. 1. ]] SLAMing on 16.70327356 meters Centerline goodness : 0.794651 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.10, Z:-0.04 [[ 0.99881701 -0.03872765 -0.02940665 0.69074756] [ 0.03893206 0.9992213 0.00641053 -0.10464894] [ 0.02913549 -0.00754781 0.99954697 -0.04115863] [ 0. 0. 0. 1. ]] SLAMing on 16.73327356 meters Centerline goodness : 0.795837 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.10, Z:-0.04 [[ 0.99884258 -0.03782954 -0.02970581 0.69191428] [ 0.03803982 0.99925479 0.00654571 -0.10426716] [ 0.02943605 -0.00766814 0.99953725 -0.04124875] [ 0. 0. 0. 1. ]] SLAMing on 16.76327356 meters Centerline goodness : 0.794303 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.11, Z:-0.04 [[ 0.99900793 -0.03292035 -0.0299901 0.69292285] [ 0.03326631 0.99938476 0.01111079 -0.10569403] [ 0.02960588 -0.01209743 0.99948844 -0.04190846] [ 0. 0. 0. 1. ]] SLAMing on 16.79327356 meters Centerline goodness : 0.795148 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.11, Z:-0.04 [[ 0.99901994 -0.03203737 -0.03054135 0.69469272] [ 0.03239354 0.999412 0.01123908 -0.1051718 ] [ 0.03016332 -0.0122174 0.99947031 -0.04214077] [ 0. 0. 0. 1. ]] SLAMing on 16.82327356 meters Centerline goodness : 0.793562 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.11, Z:-0.04 [[ 0.99915148 -0.0274488 -0.03070638 0.69494189] [ 0.02794069 0.99948618 0.01570639 -0.10667747] [ 0.03025948 -0.01655102 0.99940504 -0.04226454] [ 0. 0. 0. 1. ]] SLAMing on 16.853273559999998 meters Centerline goodness : 0.794048 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.11, Z:-0.04 [[ 0.99915616 -0.02708602 -0.03087574 0.69538007] [ 0.02757896 0.99949707 0.01565298 -0.10652032] [ 0.03043623 -0.01649129 0.99940066 -0.04203642] [ 0. 0. 0. 1. ]] SLAMing on 16.88327356 meters Centerline goodness : 0.794386 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.11, Z:-0.04 [[ 0.99915781 -0.0268166 -0.03105692 0.69568652] [ 0.02731631 0.99950229 0.01577924 -0.10718238] [ 0.03061832 -0.01661431 0.99939306 -0.04172564] [ 0. 0. 0. 1. ]] SLAMing on 16.91327356 meters Centerline goodness : 0.792509 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.11, Z:-0.04 [[ 0.99915922 -0.0264974 -0.03128492 0.69594133] [ 0.02701315 0.99950413 0.01617951 -0.10935511] [ 0.03084069 -0.01701101 0.99937955 -0.04124468] [ 0. 0. 0. 1. ]] SLAMing on 16.943273559999998 meters Centerline goodness : 0.794797 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.11, Z:-0.04 [[ 0.99905986 -0.02955594 -0.03171513 0.69757694] [ 0.02995407 0.9994774 0.01215231 -0.10853237] [ 0.03133939 -0.01309088 0.99942307 -0.04091263] [ 0. 0. 0. 1. ]] SLAMing on 16.97327356 meters Centerline goodness : 0.794042 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.11, Z:-0.04 [[ 0.99905742 -0.02965053 -0.03170362 0.69749245] [ 0.03005679 0.99947108 0.01241557 -0.11030217] [ 0.03131872 -0.01335677 0.9994202 -0.04087441] [ 0. 0. 0. 1. ]] SLAMing on 17.00327356 meters Centerline goodness : 0.791899 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.11, Z:-0.04 [[ 0.99905326 -0.02978826 -0.03170567 0.6974824 ] [ 0.0302043 0.99946275 0.01272456 -0.11217764] [ 0.03130959 -0.01367016 0.99941625 -0.04096978] [ 0. 0. 0. 1. ]] SLAMing on 17.033273559999998 meters Centerline goodness : 0.792335 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.11, Z:-0.04 [[ 0.99892969 -0.03352794 -0.03186472 0.69816123] [ 0.03383402 0.9993859 0.00911545 -0.11377279] [ 0.03153953 -0.0101838 0.99945062 -0.04078902] [ 0. 0. 0. 1. ]] SLAMing on 17.06327356 meters Centerline goodness : 0.790281 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.11, Z:-0.04 [[ 0.99879814 -0.0370657 -0.03206893 0.69910552] [ 0.03725188 0.99929223 0.00522776 -0.11364901] [ 0.03185246 -0.00641611 0.99947199 -0.04057748] [ 0. 0. 0. 1. ]] SLAMing on 17.09327356 meters Centerline goodness : 0.789542 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.11, Z:-0.04 [[ 0.99865372 -0.0405637 -0.03233164 0.70025317] [ 0.04063024 0.99917326 0.00140367 -0.11351982] [ 0.03224797 -0.00271543 0.99947621 -0.04050125] [ 0. 0. 0. 1. ]] SLAMing on 17.123273559999998 meters Centerline goodness : 0.788383 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.04 [[ 9.98487906e-01 -4.44573164e-02 -3.23334068e-02 7.00508624e-01] [ 4.44176020e-02 9.99011156e-01 -1.94587122e-03 -1.15799606e-01] [ 3.23879423e-02 5.06756483e-04 9.99475245e-01 -4.03507243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.15327356 meters Centerline goodness : 0.788725 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.04 [[ 0.99832086 -0.04787072 -0.03261683 0.70166767] [ 0.0477136 0.99884548 -0.00557912 -0.11594235] [ 0.03284625 0.00401348 0.99945236 -0.04018225] [ 0. 0. 0. 1. ]] SLAMing on 17.18327356 meters Centerline goodness : 0.787576 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.04 [[ 0.99829376 -0.04844329 -0.03260101 0.70112437] [ 0.04829617 0.99881907 -0.00528584 -0.11822865] [ 0.03281858 0.00370232 0.99945447 -0.039963 ] [ 0. 0. 0. 1. ]] SLAMing on 17.213273559999998 meters Centerline goodness : 0.787631 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.04 [[ 0.99808255 -0.05271725 -0.03243626 0.70068496] [ 0.05245863 0.99858456 -0.00877364 -0.12048451] [ 0.03285287 0.00705525 0.9994353 -0.03944889] [ 0. 0. 0. 1. ]] SLAMing on 17.24327356 meters Centerline goodness : 0.787759 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.04 [[ 0.99805761 -0.05311162 -0.03256014 0.70069294] [ 0.05287154 0.99856773 -0.00819105 -0.12312275] [ 0.03294855 0.00645364 0.99943621 -0.03964786] [ 0. 0. 0. 1. ]] SLAMing on 17.27327356 meters Centerline goodness : 0.788276 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.04 [[ 0.99802701 -0.05382343 -0.03232843 0.69975691] [ 0.05359381 0.99853134 -0.00792836 -0.12543002] [ 0.03270768 0.00618012 0.99944585 -0.03951692] [ 0. 0. 0. 1. ]] SLAMing on 17.30327356 meters Centerline goodness : 0.786431 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.04 [[ 0.99778735 -0.05817778 -0.03218305 0.69952563] [ 0.05783852 0.99826115 -0.01137468 -0.12794143] [ 0.03278885 0.00948809 0.99941726 -0.03920515] [ 0. 0. 0. 1. ]] SLAMing on 17.33327356 meters Centerline goodness : 0.784118 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.04 [[ 0.99776265 -0.05857259 -0.03223274 0.69950339] [ 0.05825265 0.99824369 -0.01077798 -0.13037767] [ 0.03280742 0.00887622 0.99942228 -0.03955265] [ 0. 0. 0. 1. ]] SLAMing on 17.36327356 meters Centerline goodness : 0.785509 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.04 [[ 0.99774827 -0.05881801 -0.03223103 0.69958795] [ 0.05851988 0.99823498 -0.01011711 -0.13274335] [ 0.03276921 0.00820817 0.99942924 -0.04008115] [ 0. 0. 0. 1. ]] SLAMing on 17.39327356 meters Centerline goodness : 0.785197 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.04 [[ 0.99773533 -0.05899942 -0.03229996 0.69984592] [ 0.05872102 0.99822921 -0.00950159 -0.13484839] [ 0.03280335 0.00758339 0.99943306 -0.0406324 ] [ 0. 0. 0. 1. ]] SLAMing on 17.42327356 meters Centerline goodness : 0.784256 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.04 [[ 0.99769542 -0.05969705 -0.0322506 0.69964215] [ 0.05944246 0.99819297 -0.00879707 -0.13809073] [ 0.03271748 0.00685974 0.9994411 -0.04130542] [ 0. 0. 0. 1. ]] SLAMing on 17.45327356 meters Centerline goodness : 0.783386 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.04 [[ 0.99769934 -0.05968419 -0.03215301 0.69975426] [ 0.05944659 0.99819701 -0.00829634 -0.13943982] [ 0.0325902 0.00636587 0.99944853 -0.04188544] [ 0. 0. 0. 1. ]] SLAMing on 17.48327356 meters Centerline goodness : 0.782402 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.04 [[ 0.99769074 -0.0598998 -0.03201876 0.69960151] [ 0.05967798 0.99818689 -0.00784007 -0.14085113] [ 0.03243033 0.00591115 0.99945652 -0.04239115] [ 0. 0. 0. 1. ]] SLAMing on 17.51327356 meters Centerline goodness : 0.783827 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.04 [[ 0.99768887 -0.05989802 -0.03208045 0.69986915] [ 0.05968616 0.99818885 -0.00752237 -0.14167311] [ 0.03247292 0.00559023 0.99945698 -0.04272278] [ 0. 0. 0. 1. ]] SLAMing on 17.54327356 meters Centerline goodness : 0.783045 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.04 [[ 0.99768634 -0.05997182 -0.03202116 0.69964872] [ 0.05976616 0.9981854 -0.00734232 -0.14228288] [ 0.03240338 0.00541155 0.99946022 -0.0426928 ] [ 0. 0. 0. 1. ]] SLAMing on 17.57327356 meters Centerline goodness : 0.784328 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.04 [[ 0.99767076 -0.06021149 -0.03205673 0.69943934] [ 0.06001032 0.99817178 -0.00720182 -0.14317995] [ 0.03243176 0.00526131 0.9994601 -0.04249998] [ 0. 0. 0. 1. ]] SLAMing on 17.603273559999998 meters Centerline goodness : 0.784746 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.04 [[ 0.9976729 -0.0601277 -0.03214707 0.69974916] [ 0.05993385 0.99817808 -0.00696096 -0.14356794] [ 0.03250705 0.00501806 0.99945891 -0.04268704] [ 0. 0. 0. 1. ]] SLAMing on 17.63327356 meters Centerline goodness : 0.783052 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.04 [[ 0.99767532 -0.06003919 -0.0322375 0.70012369] [ 0.05985348 0.99818471 -0.00669606 -0.14400592] [ 0.03258101 0.00475096 0.99945781 -0.04303136] [ 0. 0. 0. 1. ]] SLAMing on 17.66327356 meters Centerline goodness : 0.785704 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.04 [[ 0.99767632 -0.06000933 -0.03226217 0.70033236] [ 0.05982836 0.99818721 -0.00654675 -0.14416331] [ 0.03259655 0.00460135 0.999458 -0.04330244] [ 0. 0. 0. 1. ]] SLAMing on 17.693273559999998 meters Centerline goodness : 0.784894 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.04 [[ 0.99767815 -0.05986334 -0.03247595 0.70117486] [ 0.05968739 0.99819685 -0.00636124 -0.1440313 ] [ 0.03279819 0.00440806 0.99945227 -0.04386585] [ 0. 0. 0. 1. ]] SLAMing on 17.72327356 meters Centerline goodness : 0.783810 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.04 [[ 0.99767718 -0.05984065 -0.03254742 0.70153356] [ 0.05966749 0.99819864 -0.00626659 -0.14393051] [ 0.03286378 0.00431001 0.99945055 -0.04420753] [ 0. 0. 0. 1. ]] SLAMing on 17.75327356 meters Centerline goodness : 0.783407 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.04 [[ 0.99768543 -0.05962272 -0.03269441 0.70225313] [ 0.05946026 0.99821312 -0.00591962 -0.14422761] [ 0.03298893 0.0039619 0.99944786 -0.04481839] [ 0. 0. 0. 1. ]] SLAMing on 17.783273559999998 meters Centerline goodness : 0.782690 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.05 [[ 0.99768934 -0.05953375 -0.03273717 0.70268145] [ 0.05937742 0.99821917 -0.00572786 -0.14440885] [ 0.03301987 0.00377077 0.99944758 -0.04530951] [ 0. 0. 0. 1. ]] SLAMing on 17.81327356 meters Centerline goodness : 0.784404 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.05 [[ 0.9976907 -0.05949819 -0.03276022 0.70288998] [ 0.05934702 0.99822188 -0.00556853 -0.14428994] [ 0.03303328 0.00361145 0.99944773 -0.04564689] [ 0. 0. 0. 1. ]] SLAMing on 17.84327356 meters Centerline goodness : 0.783307 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.05 [[ 0.99768911 -0.0594482 -0.03289902 0.70315097] [ 0.05929946 0.9982252 -0.00547957 -0.14429712] [ 0.03316638 0.00351602 0.99944366 -0.0456218 ] [ 0. 0. 0. 1. ]] SLAMing on 17.873273559999998 meters Centerline goodness : 0.784096 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.05 [[ 0.99767316 -0.05974035 -0.0328536 0.70272851] [ 0.05959156 0.99820774 -0.00549039 -0.14433797] [ 0.03312272 0.00351982 0.99944509 -0.04536247] [ 0. 0. 0. 1. ]] SLAMing on 17.90327356 meters Centerline goodness : 0.783021 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.05 [[ 0.9976643 -0.05994243 -0.03275444 0.70246285] [ 0.0597936 0.99819558 -0.00550533 -0.14463034] [ 0.03302534 0.00353397 0.99944827 -0.04535185] [ 0. 0. 0. 1. ]] SLAMing on 17.93327356 meters Centerline goodness : 0.784489 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.05 [[ 0.9976592 -0.05997307 -0.03285354 0.7027463 ] [ 0.05982975 0.99819437 -0.00532921 -0.14505451] [ 0.03311382 0.00335111 0.99944597 -0.04552947] [ 0. 0. 0. 1. ]] SLAMing on 17.963273559999998 meters Centerline goodness : 0.784489 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.05 [[ 0.9976592 -0.05997307 -0.03285354 0.7027463 ] [ 0.05982975 0.99819437 -0.00532921 -0.14505451] [ 0.03311382 0.00335111 0.99944597 -0.04552947] [ 0. 0. 0. 1. ]] SLAMing on 17.99327356 meters Centerline goodness : 0.783043 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.05 [[ 0.99763295 -0.06045679 -0.03276382 0.70233834] [ 0.06031112 0.99816493 -0.00541716 -0.1457461 ] [ 0.0330312 0.00342832 0.99944844 -0.0454496 ] [ 0. 0. 0. 1. ]] SLAMing on 18.02327356 meters Centerline goodness : 0.782677 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.05 [[ 0.99762956 -0.06053808 -0.03271714 0.70242715] [ 0.06039703 0.99816045 -0.00528323 -0.14618905] [ 0.03297679 0.00329469 0.99945069 -0.04578815] [ 0. 0. 0. 1. ]] SLAMing on 18.053273559999997 meters Centerline goodness : 0.781358 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.05 [[ 0.99763762 -0.06031331 -0.032886 0.70348481] [ 0.06018561 0.99817537 -0.00486014 -0.14652209] [ 0.03311912 0.00286939 0.99944729 -0.04682134] [ 0. 0. 0. 1. ]] SLAMing on 18.08327356 meters Centerline goodness : 0.781962 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.05 [[ 0.99764384 -0.06008603 -0.03311253 0.70451766] [ 0.05996531 0.99818973 -0.00462796 -0.14639481] [ 0.03333067 0.00263145 0.99944091 -0.04755034] [ 0. 0. 0. 1. ]] SLAMing on 18.11327356 meters Centerline goodness : 0.782535 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.05 [[ 0.99763943 -0.06018217 -0.0330707 0.70484557] [ 0.06005682 0.99818355 -0.00477177 -0.14533743] [ 0.0332978 0.00277439 0.99944162 -0.04814921] [ 0. 0. 0. 1. ]] SLAMing on 18.14327356 meters Centerline goodness : 0.782452 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.05 [[ 0.99764229 -0.06008421 -0.03316238 0.70530717] [ 0.05996098 0.99818966 -0.00469888 -0.1450493 ] [ 0.03338467 0.00269935 0.99943893 -0.04848713] [ 0. 0. 0. 1. ]] SLAMing on 18.17327356 meters Centerline goodness : 0.781994 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.05 [[ 0.99763857 -0.06017417 -0.03311136 0.70512374] [ 0.06004828 0.99818401 -0.00478434 -0.14446421] [ 0.03333912 0.00278476 0.99944022 -0.04847796] [ 0. 0. 0. 1. ]] SLAMing on 18.20327356 meters Centerline goodness : 0.781726 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.05 [[ 0.99762437 -0.06046427 -0.03301046 0.70450286] [ 0.06032625 0.99816537 -0.00516187 -0.14369561] [ 0.033262 0.00315821 0.99944168 -0.04792344] [ 0. 0. 0. 1. ]] SLAMing on 18.23327356 meters Centerline goodness : 0.782632 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.05 [[ 0.9976143 -0.06068784 -0.03290418 0.70404566] [ 0.0605438 0.99815116 -0.00535726 -0.14325232] [ 0.03316847 0.00335233 0.99944415 -0.04767818] [ 0. 0. 0. 1. ]] SLAMing on 18.26327356 meters Centerline goodness : 0.783236 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.05 [[ 0.9976067 -0.06084657 -0.03284147 0.70378807] [ 0.06069624 0.99814082 -0.00555618 -0.14278749] [ 0.03311849 0.00354952 0.99944513 -0.04749775] [ 0. 0. 0. 1. ]] SLAMing on 18.29327356 meters Centerline goodness : 0.783984 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.05 [[ 0.99759785 -0.06096495 -0.0328908 0.70407214] [ 0.06081012 0.99813314 -0.00568818 -0.14210899] [ 0.03317618 0.00367443 0.99944276 -0.04780563] [ 0. 0. 0. 1. ]] SLAMing on 18.32327356 meters Centerline goodness : 0.782030 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.05 [[ 0.99760057 -0.06089866 -0.03293105 0.70448083] [ 0.06074711 0.99813757 -0.00558402 -0.14187689] [ 0.03320978 0.00357015 0.99944203 -0.04830441] [ 0. 0. 0. 1. ]] SLAMing on 18.353273559999998 meters Centerline goodness : 0.781007 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.05 [[ 0.99759735 -0.06095456 -0.03292535 0.70481258] [ 0.06080084 0.99813392 -0.00565081 -0.14130337] [ 0.03320835 0.00363534 0.99944184 -0.04877661] [ 0. 0. 0. 1. ]] SLAMing on 18.38327356 meters Centerline goodness : 0.781250 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.05 [[ 0.99760653 -0.06071104 -0.03309641 0.70587263] [ 0.06055751 0.99814887 -0.00562238 -0.1400935 ] [ 0.03337649 0.00360468 0.99943635 -0.04972416] [ 0. 0. 0. 1. ]] SLAMing on 18.41327356 meters Centerline goodness : 0.780203 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.05 [[ 0.99761256 -0.06057057 -0.03317206 0.70644305] [ 0.06042057 0.99815782 -0.00550694 -0.13972026] [ 0.03344451 0.00348952 0.99943448 -0.05027985] [ 0. 0. 0. 1. ]] SLAMing on 18.443273559999998 meters Centerline goodness : 0.779047 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.05 [[ 0.99761098 -0.06052125 -0.03330945 0.7069401 ] [ 0.06037064 0.99816082 -0.00550975 -0.13913974] [ 0.03358165 0.00348567 0.9994299 -0.05059726] [ 0. 0. 0. 1. ]] SLAMing on 18.47327356 meters Centerline goodness : 0.780800 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.05 [[ 0.99759991 -0.06071241 -0.03329308 0.70675891] [ 0.060554 0.99814838 -0.00574659 -0.1382801 ] [ 0.03358032 0.00371677 0.99942911 -0.0504678 ] [ 0. 0. 0. 1. ]] SLAMing on 18.50327356 meters Centerline goodness : 0.779325 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.05 [[ 0.9975957 -0.06081629 -0.03322959 0.7066081 ] [ 0.06065811 0.99814205 -0.00574874 -0.13819221] [ 0.03351746 0.00371928 0.99943121 -0.05052366] [ 0. 0. 0. 1. ]] SLAMing on 18.533273559999998 meters Centerline goodness : 0.834746 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.05 [[ 0.99758035 -0.06118108 -0.03301989 0.70617718] [ 0.06102346 0.99811971 -0.00576103 -0.1383991 ] [ 0.03331027 0.0037321 0.99943809 -0.05073646] [ 0. 0. 0. 1. ]] SLAMing on 18.56327356 meters Centerline goodness : 0.780250 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.05 [[ 0.99757541 -0.06128172 -0.03298275 0.70627814] [ 0.06112638 0.99811377 -0.0056984 -0.13840775] [ 0.03326974 0.00366847 0.99943968 -0.05105708] [ 0. 0. 0. 1. ]] SLAMing on 18.59327356 meters Centerline goodness : 0.780301 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.05 [[ 0.99757934 -0.06112881 -0.03314701 0.7069326 ] [ 0.06098155 0.99812409 -0.00543664 -0.13866163] [ 0.03341716 0.00340212 0.9994357 -0.05149809] [ 0. 0. 0. 1. ]] SLAMing on 18.623273559999998 meters Centerline goodness : 0.779690 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.05 [[ 0.99756404 -0.06149662 -0.03292643 0.70636261] [ 0.0613463 0.99810107 -0.00555715 -0.13844509] [ 0.03320565 0.0035237 0.99944233 -0.05156172] [ 0. 0. 0. 1. ]] SLAMing on 18.65327356 meters Centerline goodness : 0.779957 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.05 [[ 0.99756504 -0.06139107 -0.03309282 0.70689837] [ 0.0612508 0.99810867 -0.00523702 -0.13895753] [ 0.03335173 0.00319731 0.99943856 -0.05193964] [ 0. 0. 0. 1. ]] SLAMing on 18.68327356 meters Centerline goodness : 0.780732 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.05 [[ 0.99755334 -0.06164049 -0.03298147 0.7065616 ] [ 0.06149879 0.99809311 -0.00529478 -0.13917509] [ 0.03324495 0.0032535 0.99944194 -0.05190163] [ 0. 0. 0. 1. ]] SLAMing on 18.713273559999998 meters Centerline goodness : 0.781727 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.05 [[ 0.99755149 -0.06162955 -0.03305796 0.70692255] [ 0.06149409 0.99809442 -0.00509984 -0.13942385] [ 0.03330926 0.00305448 0.99944043 -0.05226317] [ 0. 0. 0. 1. ]] SLAMing on 18.74327356 meters Centerline goodness : 0.834119 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.05 [[ 0.99754008 -0.06186335 -0.03296521 0.70668289] [ 0.06172818 0.99807995 -0.00510321 -0.13954555] [ 0.03321762 0.00305577 0.99944347 -0.05232225] [ 0. 0. 0. 1. ]] SLAMing on 18.77327356 meters Centerline goodness : 0.833675 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.05 [[ 0.99753951 -0.06181413 -0.03307473 0.70694968] [ 0.06168068 0.9980832 -0.00504098 -0.13946256] [ 0.03332293 0.0029885 0.99944017 -0.0524135 ] [ 0. 0. 0. 1. ]] SLAMing on 18.803273559999997 meters Centerline goodness : 0.835050 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.05 [[ 0.99753926 -0.06175643 -0.03318976 0.70713997] [ 0.06162129 0.99808667 -0.00508045 -0.13919816] [ 0.03344001 0.00302275 0.99943616 -0.05231263] [ 0. 0. 0. 1. ]] SLAMing on 18.83327356 meters Centerline goodness : 0.780673 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.05 [[ 0.99755143 -0.06146052 -0.03337281 0.70778431] [ 0.06132559 0.99810503 -0.00505268 -0.138473 ] [ 0.03362011 0.0029937 0.9994302 -0.05255537] [ 0. 0. 0. 1. ]] SLAMing on 18.86327356 meters Centerline goodness : 0.782083 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.05 [[ 0.99756069 -0.06117137 -0.03362639 0.70855459] [ 0.06103491 0.99812275 -0.00507071 -0.13779384] [ 0.03387344 0.00300596 0.99942161 -0.05273161] [ 0. 0. 0. 1. ]] SLAMing on 18.89327356 meters Centerline goodness : 0.781672 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.05 [[ 0.99757293 -0.06083297 -0.03387637 0.70952549] [ 0.06069765 0.99814363 -0.00500956 -0.13700327] [ 0.03411822 0.00294119 0.99941348 -0.05321156] [ 0. 0. 0. 1. ]] SLAMing on 18.92327356 meters Centerline goodness : 0.781265 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.05 [[ 9.97783568e-01 -5.73005439e-02 -3.38319190e-02 7.08686592e-01] [ 5.72938467e-02 9.98356675e-01 -1.16817656e-03 -1.37427333e-01] [ 3.38432594e-02 -7.72773413e-04 9.99426854e-01 -5.32263541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.95327356 meters Centerline goodness : 0.779919 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.05 [[ 9.97794839e-01 -5.69762373e-02 -3.40465637e-02 7.09335218e-01] [ 5.69692984e-02 9.98375240e-01 -1.17464695e-03 -1.36688920e-01] [ 3.40581732e-02 -7.67552187e-04 9.99419557e-01 -5.33098553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.98327356 meters Centerline goodness : 0.781323 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.05 [[ 9.97802063e-01 -5.67175692e-02 -3.42660104e-02 7.09836440e-01] [ 5.67081033e-02 9.98390020e-01 -1.24883507e-03 -1.35993996e-01] [ 3.42816736e-02 -6.97070241e-04 9.99411968e-01 -5.32171743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.01327356 meters Centerline goodness : 0.783548 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.05 [[ 9.97813356e-01 -5.64324177e-02 -3.44076927e-02 7.09956744e-01] [ 5.64124704e-02 9.98406344e-01 -1.55103233e-03 -1.34780244e-01] [ 3.44403872e-02 -3.93382169e-04 9.99406676e-01 -5.26580622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.04327356 meters Centerline goodness : 0.783177 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.05 [[ 9.97824774e-01 -5.61697074e-02 -3.45062905e-02 7.10439055e-01] [ 5.61518253e-02 9.98421133e-01 -1.48785929e-03 -1.34274744e-01] [ 3.45353823e-02 -4.52968340e-04 9.99403373e-01 -5.29013479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.07327356 meters Centerline goodness : 0.782547 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.05 [[ 9.97846641e-01 -5.55652610e-02 -3.48508585e-02 7.11728979e-01] [ 5.55554357e-02 9.98454821e-01 -1.25098042e-03 -1.33676476e-01] [ 3.48665188e-02 -6.87868024e-04 9.99391741e-01 -5.34487264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.103273559999998 meters Centerline goodness : 0.783075 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.05 [[ 9.97848755e-01 -5.54778114e-02 -3.49295532e-02 7.12145941e-01] [ 5.54654151e-02 9.98459730e-01 -1.32452899e-03 -1.33103171e-01] [ 3.49492342e-02 -6.15702566e-04 9.99388899e-01 -5.36984986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.13327356 meters Centerline goodness : 0.784055 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.05 [[ 9.97855381e-01 -5.53058626e-02 -3.50128552e-02 7.12776951e-01] [ 5.52993822e-02 9.98469151e-01 -1.15419545e-03 -1.33124763e-01] [ 3.50230896e-02 -7.84469120e-04 9.99386196e-01 -5.42679390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.16327356 meters Centerline goodness : 0.781900 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.05 [[ 9.97863238e-01 -5.50894726e-02 -3.51298873e-02 7.13545823e-01] [ 5.50906667e-02 9.98480919e-01 -9.34708934e-04 -1.33214066e-01] [ 3.51280148e-02 -1.00261723e-03 9.99382318e-01 -5.48926707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.193273559999998 meters Centerline goodness : 0.781703 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97872016e-01 -5.49852607e-02 -3.50437075e-02 7.13792029e-01] [ 5.49942332e-02 9.98486421e-01 -7.08537933e-04 -1.33504703e-01] [ 3.50296252e-02 -1.22017165e-03 9.99385529e-01 -5.54829853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.22327356 meters Centerline goodness : 0.783877 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97876403e-01 -5.48980274e-02 -3.50555441e-02 7.14136129e-01] [ 5.49149094e-02 9.98490922e-01 -4.81800856e-04 -1.33860965e-01] [ 3.50290925e-02 -1.44429432e-03 9.99385249e-01 -5.59512861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.25327356 meters Centerline goodness : 0.783422 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97872596e-01 -5.49844074e-02 -3.50285284e-02 7.14048446e-01] [ 5.50024720e-02 9.98486118e-01 -4.48431849e-04 -1.34128332e-01] [ 3.50001561e-02 -1.47917780e-03 9.99386212e-01 -5.59425027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.283273559999998 meters Centerline goodness : 0.783601 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97864029e-01 -5.52634250e-02 -3.48329406e-02 7.13339116e-01] [ 5.52757866e-02 9.98470939e-01 -6.08755181e-04 -1.33994017e-01] [ 3.48133209e-02 -1.31796330e-03 9.99392964e-01 -5.55893505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.31327356 meters Centerline goodness : 0.783204 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97861370e-01 -5.53532252e-02 -3.47664538e-02 7.13151103e-01] [ 5.53656479e-02 9.98465962e-01 -6.06043625e-04 -1.33892241e-01] [ 3.47466672e-02 -1.32011972e-03 9.99395280e-01 -5.55875867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.34327356 meters Centerline goodness : 0.784960 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97854088e-01 -5.54648412e-02 -3.47975625e-02 7.13221832e-01] [ 5.54749943e-02 9.98459849e-01 -6.74390140e-04 -1.33779584e-01] [ 3.47813740e-02 -1.25745163e-03 9.99394154e-01 -5.56020433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.373273559999998 meters Centerline goodness : 0.784191 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97847082e-01 -5.55019922e-02 -3.49389479e-02 7.13642480e-01] [ 5.55115771e-02 9.98457801e-01 -6.96412819e-04 -1.33715510e-01] [ 3.49237174e-02 -1.24460260e-03 9.99389206e-01 -5.57529579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.40327356 meters Centerline goodness : 0.781137 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97843953e-01 -5.55447309e-02 -3.49603788e-02 7.13739515e-01] [ 5.55539938e-02 9.98455434e-01 -7.07133264e-04 -1.33665353e-01] [ 3.49456578e-02 -1.23658002e-03 9.99388449e-01 -5.58455822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.43327356 meters Centerline goodness : 0.782497 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97842917e-01 -5.55509580e-02 -3.49800627e-02 7.13977829e-01] [ 5.55583024e-02 9.98455153e-01 -7.62770785e-04 -1.33302837e-01] [ 3.49683965e-02 -1.18230748e-03 9.99387719e-01 -5.60980287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.463273559999998 meters Centerline goodness : 0.835646 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97844874e-01 -5.55052392e-02 -3.49967840e-02 7.14338008e-01] [ 5.55037053e-02 9.98457964e-01 -1.01609987e-03 -1.31950094e-01] [ 3.49992165e-02 -9.28541142e-04 9.99386908e-01 -5.64088392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.49327356 meters Centerline goodness : 0.784750 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97846034e-01 -5.54309195e-02 -3.50814225e-02 7.14710796e-01] [ 5.54257474e-02 9.98462183e-01 -1.12066909e-03 -1.31181182e-01] [ 3.50895934e-02 -8.26158857e-04 9.99383829e-01 -5.66043325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.52327356 meters Centerline goodness : 0.782373 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.13, Z:-0.06 [[ 9.97853207e-01 -5.51768091e-02 -3.52774322e-02 7.15547919e-01] [ 5.51742815e-02 9.98476191e-01 -1.04589512e-03 -1.30590416e-01] [ 3.52813853e-02 -9.02757178e-04 9.99377010e-01 -5.70534121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.553273559999997 meters Centerline goodness : 0.785579 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.13, Z:-0.06 [[ 9.97848126e-01 -5.52689425e-02 -3.52769329e-02 7.15480348e-01] [ 5.52546046e-02 9.98471341e-01 -1.38196609e-03 -1.29353742e-01] [ 3.52993863e-02 -5.70220700e-04 9.99376620e-01 -5.69067750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.58327356 meters Centerline goodness : 0.784468 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.13, Z:-0.06 [[ 9.97844445e-01 -5.53136325e-02 -3.53109732e-02 7.15536833e-01] [ 5.52955710e-02 9.98468920e-01 -1.48861959e-03 -1.29030050e-01] [ 3.53392503e-02 -4.67129634e-04 9.99375264e-01 -5.68604519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.61327356 meters Centerline goodness : 0.787521 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.13, Z:-0.06 [[ 9.97847106e-01 -5.52077955e-02 -3.54012960e-02 7.15742090e-01] [ 5.51921835e-02 9.98474742e-01 -1.41884044e-03 -1.28917510e-01] [ 3.54256309e-02 -5.38088997e-04 9.99372170e-01 -5.68786296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.64327356 meters Centerline goodness : 0.788405 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.13, Z:-0.06 [[ 9.97834282e-01 -5.54873151e-02 -3.53256807e-02 7.15306557e-01] [ 5.54676159e-02 9.98459302e-01 -1.53817712e-03 -1.28680704e-01] [ 3.53566038e-02 -4.24585429e-04 9.99374670e-01 -5.66259696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.67327356 meters Centerline goodness : 0.787675 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.13, Z:-0.06 [[ 9.97828167e-01 -5.56233932e-02 -3.52843903e-02 7.15131938e-01] [ 5.56038467e-02 9.98451728e-01 -1.53576958e-03 -1.28716083e-01] [ 3.53151851e-02 -4.29513686e-04 9.99376132e-01 -5.65965694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.70327356 meters Centerline goodness : 0.785121 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.13, Z:-0.06 [[ 9.97814892e-01 -5.58639382e-02 -3.52797625e-02 7.15086229e-01] [ 5.58435223e-02 9.98438307e-01 -1.56457148e-03 -1.28912158e-01] [ 3.53120695e-02 -4.08993487e-04 9.99376251e-01 -5.66276201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.73327356 meters Centerline goodness : 0.787679 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.13, Z:-0.06 [[ 9.97805709e-01 -5.60549481e-02 -3.52364881e-02 7.15015057e-01] [ 5.60363769e-02 9.98427578e-01 -1.51517141e-03 -1.29304580e-01] [ 3.52660143e-02 -4.62678439e-04 9.99377854e-01 -5.68052771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.76327356 meters Centerline goodness : 0.786289 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97793647e-01 -5.63172278e-02 -3.51597387e-02 7.14918202e-01] [ 5.62991468e-02 9.98412811e-01 -1.50486505e-03 -1.29615871e-01] [ 3.51886834e-02 -4.77918506e-04 9.99380572e-01 -5.70369160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.79327356 meters Centerline goodness : 0.788905 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.13, Z:-0.06 [[ 9.97782666e-01 -5.64855145e-02 -3.52013985e-02 7.15093245e-01] [ 5.64701825e-02 9.98403261e-01 -1.43041576e-03 -1.30026782e-01] [ 3.52259888e-02 -5.60585352e-04 9.99379215e-01 -5.73059699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.82327356 meters Centerline goodness : 0.786456 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97765348e-01 -5.69008912e-02 -3.50228323e-02 7.14655823e-01] [ 5.68819982e-02 9.98379726e-01 -1.53641087e-03 -1.30133057e-01] [ 3.50535089e-02 -4.59191157e-04 9.99385331e-01 -5.74329547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.853273559999998 meters Centerline goodness : 0.786456 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97765348e-01 -5.69008912e-02 -3.50228323e-02 7.14655823e-01] [ 5.68819982e-02 9.98379726e-01 -1.53641087e-03 -1.30133057e-01] [ 3.50535089e-02 -4.59191157e-04 9.99385331e-01 -5.74329547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.88327356 meters Centerline goodness : 0.789286 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97760230e-01 -5.70120937e-02 -3.49877728e-02 7.14621767e-01] [ 5.69911792e-02 9.98373407e-01 -1.59559075e-03 -1.29835767e-01] [ 3.50218299e-02 -4.01977439e-04 9.99386467e-01 -5.75111230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.91327356 meters Centerline goodness : 0.789162 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97756442e-01 -5.70825911e-02 -3.49808464e-02 7.14786520e-01] [ 5.70581183e-02 9.98369414e-01 -1.69829773e-03 -1.29220080e-01] [ 3.50207503e-02 -3.01453771e-04 9.99386540e-01 -5.77323835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.943273559999998 meters Centerline goodness : 0.788613 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97751212e-01 -5.71459119e-02 -3.50266024e-02 7.14951245e-01] [ 5.71157473e-02 9.98365827e-01 -1.86199870e-03 -1.28531106e-01] [ 3.50757685e-02 -1.42759117e-04 9.99384646e-01 -5.78082098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.97327356 meters Centerline goodness : 0.790406 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97730675e-01 -5.75545239e-02 -3.49424766e-02 7.14430638e-01] [ 5.75151358e-02 9.98342358e-01 -2.13218445e-03 -1.27890198e-01] [ 3.50072713e-02 1.17624548e-04 9.99387051e-01 -5.75349689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.00327356 meters Centerline goodness : 0.791550 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97716576e-01 -5.78922363e-02 -3.47868357e-02 7.13787544e-01] [ 5.78466213e-02 9.98322793e-01 -2.31714393e-03 -1.27680284e-01] [ 3.48626356e-02 2.99551997e-04 9.99392069e-01 -5.72479726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.033273559999998 meters Centerline goodness : 0.791341 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97708836e-01 -5.80900149e-02 -3.46789435e-02 7.13487276e-01] [ 5.80447767e-02 9.98311306e-01 -2.31068312e-03 -1.27860781e-01] [ 3.47546090e-02 2.92457437e-04 9.99395833e-01 -5.72706950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.06327356 meters Centerline goodness : 0.793689 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97677756e-01 -5.86761336e-02 -3.45862277e-02 7.12660462e-01] [ 5.86156986e-02 9.98276808e-01 -2.75961596e-03 -1.27617705e-01] [ 3.46885525e-02 7.25911563e-04 9.99397907e-01 -5.65998284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.09327356 meters Centerline goodness : 0.794967 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97666839e-01 -5.88931387e-02 -3.45322498e-02 7.12423544e-01] [ 5.88277770e-02 9.98263915e-01 -2.90664090e-03 -1.27256978e-01] [ 3.46434801e-02 8.68403749e-04 9.99399357e-01 -5.65045419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.123273559999998 meters Centerline goodness : 0.793278 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 0.99764624 -0.05927328 -0.03447694 0.71189449] [ 0.05919463 0.99824101 -0.00329841 -0.12633544] [ 0.03461181 0.0012498 0.99940005 -0.05599632] [ 0. 0. 0. 1. ]] SLAMing on 20.15327356 meters Centerline goodness : 0.793007 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 0.99764244 -0.05931439 -0.03451629 0.71197951] [ 0.05923598 0.99823858 -0.00329075 -0.1260566 ] [ 0.03465068 0.00123838 0.99939872 -0.05604386] [ 0. 0. 0. 1. ]] SLAMing on 20.18327356 meters Centerline goodness : 0.793290 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 0.99763129 -0.05949452 -0.03452853 0.71187871] [ 0.05941292 0.99822775 -0.00338566 -0.12591432] [ 0.03466877 0.0013262 0.99939798 -0.05592485] [ 0. 0. 0. 1. ]] SLAMing on 20.213273559999998 meters Centerline goodness : 0.793709 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 0.99762672 -0.05959117 -0.03449382 0.7119908 ] [ 0.05951182 0.99822207 -0.00332324 -0.12601772] [ 0.03463053 0.00126256 0.99939939 -0.05616297] [ 0. 0. 0. 1. ]] SLAMing on 20.24327356 meters Centerline goodness : 0.794167 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 0.99762927 -0.05947876 -0.03461384 0.71247542] [ 0.05940566 0.99822899 -0.00313751 -0.1262114 ] [ 0.03473915 0.00107381 0.99939584 -0.05646603] [ 0. 0. 0. 1. ]] SLAMing on 20.27327356 meters Centerline goodness : 0.792710 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 0.99762542 -0.05955016 -0.03460194 0.71245496] [ 0.05947568 0.99822469 -0.00317877 -0.12599417] [ 0.0347298 0.00111324 0.99939612 -0.05648805] [ 0. 0. 0. 1. ]] SLAMing on 20.303273559999997 meters Centerline goodness : 0.794154 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 0.99762781 -0.05937936 -0.03482587 0.71306173] [ 0.05930725 0.99823496 -0.00310085 -0.12576787] [ 0.03494853 0.00102807 0.99938858 -0.05652503] [ 0. 0. 0. 1. ]] SLAMing on 20.33327356 meters Centerline goodness : 0.793949 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 0.99762123 -0.05954736 -0.03472749 0.71274291] [ 0.05947194 0.99822484 -0.00320177 -0.12548724] [ 0.0348565 0.00112884 0.99939169 -0.05642388] [ 0. 0. 0. 1. ]] SLAMing on 20.36327356 meters Centerline goodness : 0.793879 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 0.99761708 -0.05961622 -0.03472863 0.71278492] [ 0.0595404 0.99822072 -0.00321424 -0.12544348] [ 0.03485846 0.00113883 0.99939161 -0.05646145] [ 0. 0. 0. 1. ]] SLAMing on 20.39327356 meters Centerline goodness : 0.792190 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97619982e-01 -5.95726829e-02 -3.47198226e-02 7.13021441e-01] [ 5.95064139e-02 9.98223594e-01 -2.93982042e-03 -1.26067785e-01] [ 3.48332791e-02 8.66771464e-04 9.99392761e-01 -5.68079666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.42327356 meters Centerline goodness : 0.790168 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97616957e-01 -5.96509373e-02 -3.46723716e-02 7.13042395e-01] [ 5.95868097e-02 9.98218970e-01 -2.88083612e-03 -1.26271507e-01] [ 3.47824637e-02 8.07954953e-04 9.99394580e-01 -5.70008333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.45327356 meters Centerline goodness : 0.789488 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97594689e-01 -6.01340682e-02 -3.44779779e-02 7.12497953e-01] [ 6.00749919e-02 9.98190085e-01 -2.74777788e-03 -1.27040796e-01] [ 3.45808107e-02 6.69904375e-04 9.99401680e-01 -5.71721557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.48327356 meters Centerline goodness : 0.792334 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97585168e-01 -6.03647002e-02 -3.43501923e-02 7.12184312e-01] [ 6.03074286e-02 9.98176194e-01 -2.70189014e-03 -1.27675145e-01] [ 3.44506430e-02 6.23793764e-04 9.99406206e-01 -5.71817237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.51327356 meters Centerline goodness : 0.790673 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97579856e-01 -6.04983845e-02 -3.42691852e-02 7.12078315e-01] [ 6.04472571e-02 9.98168194e-01 -2.52696923e-03 -1.28307959e-01] [ 3.43592883e-02 4.49375351e-04 9.99409444e-01 -5.74052409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.54327356 meters Centerline goodness : 0.790461 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97570694e-01 -6.06952510e-02 -3.41876615e-02 7.11795988e-01] [ 6.06461729e-02 9.98156267e-01 -2.47166246e-03 -1.29047938e-01] [ 3.42746468e-02 3.92307204e-04 9.99412375e-01 -5.73185744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.57327356 meters Centerline goodness : 0.793217 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97547166e-01 -6.12186068e-02 -3.39401491e-02 7.10963618e-01] [ 6.11775989e-02 9.98124369e-01 -2.24639261e-03 -1.30572502e-01] [ 3.40140109e-02 1.64505753e-04 9.99421343e-01 -5.72777796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.603273559999998 meters Centerline goodness : 0.791579 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97534582e-01 -6.14900649e-02 -3.38190754e-02 7.10460583e-01] [ 6.14485566e-02 9.98107679e-01 -2.26634585e-03 -1.31016514e-01] [ 3.38944366e-02 1.82624989e-04 9.99425402e-01 -5.70472506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.63327356 meters Centerline goodness : 0.792116 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97521764e-01 -6.17979097e-02 -3.36355160e-02 7.09834676e-01] [ 6.17634637e-02 9.98088682e-01 -2.06314527e-03 -1.32199479e-01] [ 3.36987259e-02 -1.94136640e-05 9.99432036e-01 -5.68884186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.66327356 meters Centerline goodness : 0.791566 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97520858e-01 -6.18426182e-02 -3.35801933e-02 7.09739703e-01] [ 6.18112086e-02 9.98085908e-01 -1.97365918e-03 -1.32495336e-01] [ 3.36379740e-02 -1.06866140e-04 9.99434078e-01 -5.69374946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.693273559999998 meters Centerline goodness : 0.792531 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97529693e-01 -6.16056960e-02 -3.37527847e-02 7.10497496e-01] [ 6.15816450e-02 9.98100511e-01 -1.75266149e-03 -1.32865838e-01] [ 3.37966455e-02 -3.30220127e-04 9.99428676e-01 -5.73245148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.72327356 meters Centerline goodness : 0.790844 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97530473e-01 -6.17226676e-02 -3.35152014e-02 7.09877897e-01] [ 6.17023467e-02 9.98093246e-01 -1.64124148e-03 -1.33284575e-01] [ 3.35525979e-02 -4.30778183e-04 9.99436860e-01 -5.72346142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.75327356 meters Centerline goodness : 0.791277 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97529684e-01 -6.17972389e-02 -3.34010663e-02 7.09660132e-01] [ 6.17831226e-02 9.98088537e-01 -1.45555456e-03 -1.33899963e-01] [ 3.34271706e-02 -6.11663297e-04 9.99440969e-01 -5.73395386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.783273559999998 meters Centerline goodness : 0.790337 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.06 [[ 9.97524497e-01 -6.19339611e-02 -3.33025932e-02 7.09412907e-01] [ 6.19253973e-02 9.98079948e-01 -1.28950807e-03 -1.34754458e-01] [ 3.33185148e-02 -7.75960422e-04 9.99444483e-01 -5.73546148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.81327356 meters Centerline goodness : 0.790362 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.06 [[ 9.97524381e-01 -6.20471837e-02 -3.30946471e-02 7.09022500e-01] [ 6.20487747e-02 9.98072637e-01 -9.79935168e-04 -1.35836892e-01] [ 3.30916639e-02 -1.07597308e-03 9.99451742e-01 -5.75781883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.84327356 meters Centerline goodness : 0.792007 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.06 [[ 9.97484018e-01 -6.28557158e-02 -3.27840303e-02 7.07674468e-01] [ 6.28608878e-02 9.98021916e-01 -8.73931186e-04 -1.38077920e-01] [ 3.27741123e-02 -1.18910086e-03 9.99462077e-01 -5.70761285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.873273559999998 meters Centerline goodness : 0.790063 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.06 [[ 9.97473808e-01 -6.30884003e-02 -3.26474418e-02 7.07189600e-01] [ 6.30974736e-02 9.98007085e-01 -7.53298428e-04 -1.39147896e-01] [ 3.26299026e-02 -1.30857565e-03 9.99466646e-01 -5.69145703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.90327356 meters Centerline goodness : 0.788545 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.06 [[ 9.97458247e-01 -6.34341684e-02 -3.24523099e-02 7.06421926e-01] [ 6.34499829e-02 9.97984872e-01 -5.43313651e-04 -1.40742471e-01] [ 3.24213790e-02 -1.51716583e-03 9.99473137e-01 -5.65800669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.93327356 meters Centerline goodness : 0.789874 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.06 [[ 9.97454752e-01 -6.35139116e-02 -3.24037093e-02 7.06252958e-01] [ 6.35350434e-02 9.97979537e-01 -3.78139269e-04 -1.41388355e-01] [ 3.23622559e-02 -1.68159427e-03 9.99474790e-01 -5.65796068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.963273559999998 meters Centerline goodness : 0.789489 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.06 [[ 9.97452543e-01 -6.35286495e-02 -3.24427834e-02 7.06419111e-01] [ 6.35534469e-02 9.97978401e-01 -2.67322730e-04 -1.41837750e-01] [ 3.23941798e-02 -1.79520898e-03 9.99473559e-01 -5.66960415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.99327356 meters Centerline goodness : 0.791050 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.06 [[ 9.97456052e-01 -6.34773803e-02 -3.24352636e-02 7.06555437e-01] [ 6.35092061e-02 9.97981251e-01 -4.91255938e-05 -1.42512263e-01] [ 3.23729033e-02 -2.01093722e-03 9.99473837e-01 -5.68927698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.02327356 meters Centerline goodness : 0.789340 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.06 [[ 9.97456415e-01 -6.34900094e-02 -3.23993626e-02 7.06510053e-01] [ 6.35333807e-02 9.97979666e-01 3.09873368e-04 -1.44285560e-01] [ 3.23142312e-02 -2.36752622e-03 9.99474955e-01 -5.69479735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.053273559999997 meters Centerline goodness : 0.790671 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.06 [[ 9.97453808e-01 -6.36059122e-02 -3.22519689e-02 7.06236143e-01] [ 6.36547032e-02 9.97971864e-01 4.87266295e-04 -1.45199569e-01] [ 3.21555645e-02 -2.53901513e-03 9.99479651e-01 -5.70565587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.08327356 meters Centerline goodness : 0.791660 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.06 [[ 9.97443030e-01 -6.39459339e-02 -3.19111321e-02 7.05076869e-01] [ 6.39991932e-02 9.97949739e-01 6.49340030e-04 -1.47020435e-01] [ 3.18041833e-02 -2.68996640e-03 9.99490499e-01 -5.65471215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.11327356 meters Centerline goodness : 0.789952 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.06 [[ 9.97435665e-01 -6.40962106e-02 -3.18397553e-02 7.04572170e-01] [ 6.41463264e-02 9.97940350e-01 5.53989712e-04 -1.47409568e-01] [ 3.17386679e-02 -2.59497243e-03 9.99492833e-01 -5.60472222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.143273559999997 meters Centerline goodness : 0.789491 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.06 [[ 9.97443548e-01 -6.39689101e-02 -3.18488046e-02 7.04443312e-01] [ 6.40242313e-02 9.97948085e-01 7.19180719e-04 -1.48071391e-01] [ 3.17374484e-02 -2.75643740e-03 9.99492439e-01 -5.57614132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.17327356 meters Centerline goodness : 0.792322 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.06 [[ 0.99746375 -0.06354426 -0.03206532 0.70502922] [ 0.06361264 0.99797404 0.00111569 -0.14925932] [ 0.03192946 -0.00315262 0.99948515 -0.05567545] [ 0. 0. 0. 1. ]] SLAMing on 21.20327356 meters Centerline goodness : 0.831705 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.06 [[ 0.99747611 -0.06327421 -0.03221477 0.70555516] [ 0.06335257 0.9979902 0.00141653 -0.14994077] [ 0.0320604 -0.00345384 0.99947997 -0.05590758] [ 0. 0. 0. 1. ]] SLAMing on 21.23327356 meters Centerline goodness : 0.834538 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.06 [[ 0.99749358 -0.06289947 -0.03240689 0.70626268] [ 0.06299328 0.99801218 0.00188098 -0.1509714 ] [ 0.03222416 -0.00391768 0.99947299 -0.05625636] [ 0. 0. 0. 1. ]] SLAMing on 21.26327356 meters Centerline goodness : 0.835202 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.06 [[ 0.99751702 -0.06248059 -0.03249576 0.70698201] [ 0.06259894 0.99803528 0.00263641 -0.15314202] [ 0.03226719 -0.00466406 0.9994684 -0.05687445] [ 0. 0. 0. 1. ]] SLAMing on 21.29327356 meters Centerline goodness : 0.836923 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.06 [[ 0.99753028 -0.06224879 -0.03253358 0.70744363] [ 0.06237912 0.998048 0.00300561 -0.15391568] [ 0.03228298 -0.0050276 0.99946612 -0.05735536] [ 0. 0. 0. 1. ]] SLAMing on 21.32327356 meters Centerline goodness : 0.837276 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.06 [[ 0.9975575 -0.06172404 -0.03269839 0.70803373] [ 0.06187519 0.99807729 0.00362998 -0.15564939] [ 0.03241146 -0.00564434 0.99945867 -0.05752718] [ 0. 0. 0. 1. ]] SLAMing on 21.353273559999998 meters Centerline goodness : 0.835970 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.06 [[ 0.9975686 -0.06160217 -0.03258938 0.70794504] [ 0.06175734 0.99808405 0.00377546 -0.15616107] [ 0.03229436 -0.00577891 0.99946169 -0.05760718] [ 0. 0. 0. 1. ]] SLAMing on 21.38327356 meters Centerline goodness : 0.793237 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.06 [[ 0.99757507 -0.06148374 -0.03261497 0.70799053] [ 0.06164235 0.99809076 0.00387929 -0.15659268] [ 0.03231418 -0.00588035 0.99946046 -0.05751524] [ 0. 0. 0. 1. ]] SLAMing on 21.41327356 meters Centerline goodness : 0.793772 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.06 [[ 0.99758112 -0.06143562 -0.03252023 0.70779387] [ 0.06159791 0.99809298 0.00401133 -0.15712724] [ 0.03221178 -0.00600481 0.99946303 -0.05747146] [ 0. 0. 0. 1. ]] SLAMing on 21.443273559999998 meters Centerline goodness : 0.836319 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.06 [[ 0.99759501 -0.06129144 -0.03236599 0.70747345] [ 0.06146505 0.99809956 0.0043955 -0.15867289] [ 0.03203508 -0.00637431 0.99946642 -0.05745161] [ 0. 0. 0. 1. ]] SLAMing on 21.47327356 meters Centerline goodness : 0.791934 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.06 [[ 0.99759727 -0.06125421 -0.03236667 0.70747163] [ 0.06143465 0.99810047 0.00460893 -0.15958818] [ 0.03202287 -0.00658629 0.99946544 -0.05746106] [ 0. 0. 0. 1. ]] SLAMing on 21.50327356 meters Centerline goodness : 0.840227 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.06 [[ 0.99760099 -0.06123087 -0.03229623 0.70734118] [ 0.06141982 0.99810004 0.00489042 -0.16065244] [ 0.03193542 -0.00686232 0.99946638 -0.05751441] [ 0. 0. 0. 1. ]] SLAMing on 21.533273559999998 meters Centerline goodness : 0.840753 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.06 [[ 0.9975971 -0.06143777 -0.03202217 0.70664278] [ 0.06163026 0.99808623 0.0050584 -0.16203347] [ 0.03165011 -0.00701978 0.99947436 -0.05739609] [ 0. 0. 0. 1. ]] SLAMing on 21.56327356 meters Centerline goodness : 0.839854 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.06 [[ 0.99759187 -0.06158215 -0.03190777 0.70629844] [ 0.06177539 0.99807702 0.00510516 -0.16257372] [ 0.03153203 -0.00706398 0.99947778 -0.05728438] [ 0. 0. 0. 1. ]] SLAMing on 21.59327356 meters Centerline goodness : 0.796175 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.06 [[ 0.99758733 -0.06171561 -0.03179146 0.70587525] [ 0.06191102 0.99806813 0.00519839 -0.16324496] [ 0.03140922 -0.00715409 0.99948101 -0.05709936] [ 0. 0. 0. 1. ]] SLAMing on 21.623273559999998 meters Centerline goodness : 0.794376 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.06 [[ 0.99757646 -0.0620268 -0.03152587 0.70529467] [ 0.06222429 0.99804801 0.00532139 -0.1648569 ] [ 0.03113427 -0.00727017 0.99948877 -0.0570828 ] [ 0. 0. 0. 1. ]] SLAMing on 21.65327356 meters Centerline goodness : 0.795079 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.06 [[ 0.99757401 -0.06215568 -0.03134901 0.70497979] [ 0.06235655 0.99803895 0.00547026 -0.16571926] [ 0.03094752 -0.00741181 0.99949353 -0.05719766] [ 0. 0. 0. 1. ]] SLAMing on 21.68327356 meters Centerline goodness : 0.795271 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.06 [[ 0.99757298 -0.06219274 -0.03130846 0.70503081] [ 0.06239868 0.99803535 0.00564308 -0.16640749] [ 0.03089599 -0.00758299 0.99949384 -0.05741619] [ 0. 0. 0. 1. ]] SLAMing on 21.713273559999998 meters Centerline goodness : 0.842533 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.06 [[ 0.99757 -0.06229238 -0.0312051 0.70513059] [ 0.0625027 0.99802789 0.00580948 -0.16746317] [ 0.03078168 -0.00774576 0.99949612 -0.05784214] [ 0. 0. 0. 1. ]] SLAMing on 21.74327356 meters Centerline goodness : 0.840436 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.06 [[ 0.99756871 -0.06233977 -0.03115172 0.70519638] [ 0.0625522 0.99802431 0.00589085 -0.16797373] [ 0.03072294 -0.00782514 0.99949731 -0.05806388] [ 0. 0. 0. 1. ]] SLAMing on 21.77327356 meters Centerline goodness : 0.840436 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.06 [[ 0.99756871 -0.06233977 -0.03115172 0.70519638] [ 0.0625522 0.99802431 0.00589085 -0.16797373] [ 0.03072294 -0.00782514 0.99949731 -0.05806388] [ 0. 0. 0. 1. ]] SLAMing on 21.803273559999997 meters Centerline goodness : 0.793000 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.06 [[ 0.99755687 -0.06266586 -0.0308752 0.70462149] [ 0.06287518 0.99800422 0.00585483 -0.16849013] [ 0.03044668 -0.00778181 0.9995061 -0.05816539] [ 0. 0. 0. 1. ]] SLAMing on 21.83327356 meters Centerline goodness : 0.841761 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.06 [[ 0.99755092 -0.06288704 -0.03061678 0.70405773] [ 0.06309259 0.99799086 0.00579352 -0.16876904] [ 0.03019093 -0.00771103 0.99951441 -0.05812434] [ 0. 0. 0. 1. ]] SLAMing on 21.86327356 meters Centerline goodness : 0.793873 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.06 [[ 0.99754408 -0.06307127 -0.03046005 0.70383942] [ 0.06327388 0.99797973 0.00573309 -0.16897742] [ 0.03003692 -0.00764633 0.99951954 -0.05821232] [ 0. 0. 0. 1. ]] SLAMing on 21.893273559999997 meters Centerline goodness : 0.792789 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.06 [[ 0.99753658 -0.06324835 -0.03033831 0.70361789] [ 0.06344954 0.99796869 0.0057145 -0.16927288] [ 0.02991525 -0.00762537 0.99952335 -0.05828831] [ 0. 0. 0. 1. ]] SLAMing on 21.92327356 meters Centerline goodness : 0.791853 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.06 [[ 0.99752412 -0.063517 -0.03018635 0.70314405] [ 0.06371691 0.9979517 0.00570637 -0.16972022] [ 0.02976206 -0.00761562 0.999528 -0.05819466] [ 0. 0. 0. 1. ]] SLAMing on 21.95327356 meters Centerline goodness : 0.791002 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.06 [[ 0.9975173 -0.06366133 -0.0301078 0.70299614] [ 0.06385928 0.99794287 0.00565853 -0.16982084] [ 0.02968564 -0.00756714 0.99953064 -0.05822993] [ 0. 0. 0. 1. ]] SLAMing on 21.98327356 meters Centerline goodness : 0.790305 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.06 [[ 0.9974922 -0.06421028 -0.02977157 0.70203545] [ 0.06440205 0.99790873 0.00552679 -0.17034224] [ 0.02935443 -0.00743028 0.99954145 -0.05806316] [ 0. 0. 0. 1. ]] SLAMing on 22.01327356 meters Centerline goodness : 0.790692 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.06 [[ 0.99748293 -0.06440346 -0.02966464 0.70186868] [ 0.06459545 0.99789605 0.00555891 -0.17085778] [ 0.02924421 -0.00746112 0.99954445 -0.05818237] [ 0. 0. 0. 1. ]] SLAMing on 22.04327356 meters Centerline goodness : 0.789905 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.06 [[ 0.99747473 -0.06453202 -0.02966118 0.70199375] [ 0.06472672 0.99788703 0.00565044 -0.17157498] [ 0.02923387 -0.00755604 0.99954404 -0.05837228] [ 0. 0. 0. 1. ]] SLAMing on 22.07327356 meters Centerline goodness : 0.789665 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.06 [[ 0.997442 -0.06520653 -0.02928435 0.70100566] [ 0.06539423 0.99784436 0.00549719 -0.17268705] [ 0.02886277 -0.00739816 0.99955601 -0.05824035] [ 0. 0. 0. 1. ]] SLAMing on 22.103273559999998 meters Centerline goodness : 0.791382 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.06 [[ 0.99743776 -0.06528209 -0.02926016 0.70126297] [ 0.06547474 0.99783809 0.00567418 -0.17340659] [ 0.02882648 -0.00757544 0.99955572 -0.05866933] [ 0. 0. 0. 1. ]] SLAMing on 22.13327356 meters Centerline goodness : 0.790752 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.06 [[ 0.99743321 -0.06538826 -0.02917825 0.7012765 ] [ 0.06558573 0.99782972 0.00586176 -0.17411642] [ 0.02873163 -0.00776039 0.99955704 -0.05899355] [ 0. 0. 0. 1. ]] SLAMing on 22.16327356 meters Centerline goodness : 0.790872 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.06 [[ 0.99742632 -0.065543 -0.02906625 0.70108912] [ 0.06573848 0.99781991 0.00582049 -0.17427845] [ 0.02862139 -0.00771628 0.99956054 -0.05906068] [ 0. 0. 0. 1. ]] SLAMing on 22.193273559999998 meters Centerline goodness : 0.789086 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.06 [[ 0.99741352 -0.06576981 -0.0289931 0.70081418] [ 0.06596198 0.99780574 0.00572119 -0.17452948] [ 0.0285532 -0.00761883 0.99956324 -0.05891039] [ 0. 0. 0. 1. ]] SLAMing on 22.22327356 meters Centerline goodness : 0.790892 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.06 [[ 0.99741158 -0.06582739 -0.02892909 0.70080894] [ 0.0660187 0.99780206 0.0057073 -0.17463494] [ 0.02848981 -0.00760239 0.99956517 -0.05903196] [ 0. 0. 0. 1. ]] SLAMing on 22.25327356 meters Centerline goodness : 0.790092 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.06 [[ 0.99741148 -0.06589103 -0.0287873 0.70059933] [ 0.06608328 0.99779738 0.00577769 -0.17489307] [ 0.0283432 -0.00766509 0.99956886 -0.05917013] [ 0. 0. 0. 1. ]] SLAMing on 22.283273559999998 meters Centerline goodness : 0.833228 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99738482 -0.0663747 -0.02859933 0.69997519] [ 0.06655861 0.99776721 0.00552617 -0.17543889] [ 0.02816867 -0.00741525 0.99957568 -0.05891227] [ 0. 0. 0. 1. ]] SLAMing on 22.31327356 meters Centerline goodness : 0.832901 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99737254 -0.06660361 -0.02849533 0.69967999] [ 0.06678478 0.9977525 0.00545292 -0.17586025] [ 0.0280681 -0.00734165 0.99957905 -0.05880943] [ 0. 0. 0. 1. ]] SLAMing on 22.34327356 meters Centerline goodness : 0.832273 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99736708 -0.06670628 -0.02844615 0.69963806] [ 0.0668899 0.99774492 0.00555193 -0.1764734 ] [ 0.02801165 -0.00744008 0.99957991 -0.05892269] [ 0. 0. 0. 1. ]] SLAMing on 22.373273559999998 meters Centerline goodness : 0.830928 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99736149 -0.06683181 -0.02834708 0.69933598] [ 0.0670172 0.99773588 0.00563997 -0.17723289] [ 0.02790597 -0.00752483 0.99958223 -0.05883028] [ 0. 0. 0. 1. ]] SLAMing on 22.40327356 meters Centerline goodness : 0.831644 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.9973584 -0.06691594 -0.02825734 0.69916743] [ 0.06710111 0.99773015 0.00565518 -0.17751127] [ 0.02781478 -0.00753634 0.99958468 -0.05883266] [ 0. 0. 0. 1. ]] SLAMing on 22.43327356 meters Centerline goodness : 0.788749 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99735387 -0.06694364 -0.02835133 0.69930794] [ 0.06713034 0.99772802 0.00568417 -0.17775811] [ 0.0279064 -0.00757236 0.99958186 -0.05875565] [ 0. 0. 0. 1. ]] SLAMing on 22.463273559999998 meters Centerline goodness : 0.829670 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99735356 -0.0669595 -0.02832478 0.6993661 ] [ 0.06714797 0.99772643 0.00575496 -0.17801824] [ 0.02787503 -0.00764168 0.99958221 -0.05888964] [ 0. 0. 0. 1. ]] SLAMing on 22.49327356 meters Centerline goodness : 0.788104 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99735695 -0.0669259 -0.02828496 0.69940397] [ 0.06711715 0.99772786 0.00586588 -0.17843143] [ 0.02782811 -0.00774878 0.99958269 -0.05897575] [ 0. 0. 0. 1. ]] SLAMing on 22.52327356 meters Centerline goodness : 0.827794 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99735676 -0.06690894 -0.02833185 0.69947075] [ 0.06709986 0.99772917 0.00584143 -0.17844479] [ 0.02787667 -0.00772706 0.9995815 -0.05890362] [ 0. 0. 0. 1. ]] SLAMing on 22.553273559999997 meters Centerline goodness : 0.789112 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99736363 -0.06681731 -0.02830603 0.69958348] [ 0.0670128 0.99773399 0.0060141 -0.17903041] [ 0.02784004 -0.00789511 0.99958121 -0.05905047] [ 0. 0. 0. 1. ]] SLAMing on 22.58327356 meters Centerline goodness : 0.789078 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99736078 -0.06689071 -0.02823309 0.6994755 ] [ 0.06708619 0.99772894 0.00603302 -0.17935633] [ 0.02776542 -0.00791115 0.99958316 -0.05910341] [ 0. 0. 0. 1. ]] SLAMing on 22.61327356 meters Centerline goodness : 0.789590 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99735343 -0.06706524 -0.02807834 0.69908945] [ 0.06725968 0.99771724 0.00603759 -0.17984353] [ 0.02760933 -0.00791016 0.99958749 -0.05903701] [ 0. 0. 0. 1. ]] SLAMing on 22.643273559999997 meters Centerline goodness : 0.790840 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99730752 -0.06788103 -0.02774662 0.69780768] [ 0.06806312 0.9976649 0.00567048 -0.18105785] [ 0.02729691 -0.00754373 0.9995989 -0.05830144] [ 0. 0. 0. 1. ]] SLAMing on 22.67327356 meters Centerline goodness : 0.789426 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99728417 -0.06831441 -0.02752143 0.69700935] [ 0.06848934 0.99763689 0.00546347 -0.1816272 ] [ 0.02708316 -0.00733356 0.99960628 -0.0578718 ] [ 0. 0. 0. 1. ]] SLAMing on 22.70327356 meters Centerline goodness : 0.789114 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99726639 -0.06859786 -0.02746058 0.69664264] [ 0.06877072 0.99761788 0.00539991 -0.18235063] [ 0.02702474 -0.00727363 0.9996083 -0.05755277] [ 0. 0. 0. 1. ]] SLAMing on 22.73327356 meters Centerline goodness : 0.787152 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99723687 -0.06912905 -0.02719944 0.69575566] [ 0.06929726 0.99758203 0.00528998 -0.18327109] [ 0.02676799 -0.00716021 0.99961603 -0.05717417] [ 0. 0. 0. 1. ]] SLAMing on 22.76327356 meters Centerline goodness : 0.790007 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99723227 -0.06920028 -0.02718694 0.69580476] [ 0.06937037 0.99757656 0.00536269 -0.18367492] [ 0.02674995 -0.00723382 0.99961598 -0.05728402] [ 0. 0. 0. 1. ]] SLAMing on 22.79327356 meters Centerline goodness : 0.789209 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99722508 -0.06928378 -0.02723762 0.69597022] [ 0.06945617 0.99757021 0.00543366 -0.18426721] [ 0.02679498 -0.00731041 0.99961422 -0.05732616] [ 0. 0. 0. 1. ]] SLAMing on 22.82327356 meters Centerline goodness : 0.789476 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99722829 -0.06921674 -0.02729052 0.6964371 ] [ 0.06939166 0.99757425 0.00551435 -0.1845509 ] [ 0.02684264 -0.0073928 0.99961233 -0.05767396] [ 0. 0. 0. 1. ]] SLAMing on 22.853273559999998 meters Centerline goodness : 0.786773 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99722864 -0.06924043 -0.0272178 0.69641995] [ 0.06941549 0.99757246 0.00553946 -0.18470123] [ 0.02676817 -0.00741344 0.99961418 -0.05781154] [ 0. 0. 0. 1. ]] SLAMing on 22.88327356 meters Centerline goodness : 0.786771 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99724258 -0.06898478 -0.02735581 0.69726912] [ 0.06916526 0.9975889 0.00570579 -0.18499282] [ 0.02689624 -0.00758213 0.99960948 -0.0583726 ] [ 0. 0. 0. 1. ]] SLAMing on 22.91327356 meters Centerline goodness : 0.829128 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99724766 -0.06889222 -0.02740371 0.69753956] [ 0.0690742 0.99759496 0.00574902 -0.18495032] [ 0.02694174 -0.00762608 0.99960792 -0.05855232] [ 0. 0. 0. 1. ]] SLAMing on 22.943273559999998 meters Centerline goodness : 0.832469 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99724833 -0.0688847 -0.02739827 0.69758085] [ 0.06906545 0.99759582 0.00570519 -0.18477673] [ 0.0269394 -0.00758177 0.99960832 -0.05859256] [ 0. 0. 0. 1. ]] SLAMing on 22.97327356 meters Centerline goodness : 0.788252 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.9972473 -0.06890152 -0.02739336 0.69752847] [ 0.06908091 0.99759503 0.0056559 -0.18479299] [ 0.02693778 -0.00753269 0.99960873 -0.05846041] [ 0. 0. 0. 1. ]] SLAMing on 23.00327356 meters Centerline goodness : 0.787337 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99723801 -0.06905191 -0.02735312 0.69724358] [ 0.06922704 0.99758573 0.00550728 -0.18479906] [ 0.02690679 -0.00738564 0.99961066 -0.05815829] [ 0. 0. 0. 1. ]] SLAMing on 23.033273559999998 meters Centerline goodness : 0.786903 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99721304 -0.06947305 -0.02719662 0.69640814] [ 0.06964247 0.99755777 0.0053313 -0.18564494] [ 0.02675982 -0.00721048 0.99961589 -0.05749853] [ 0. 0. 0. 1. ]] SLAMing on 23.06327356 meters Centerline goodness : 0.842187 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99719842 -0.06972199 -0.02709535 0.6960032 ] [ 0.0698875 0.99754128 0.00520888 -0.18611455] [ 0.02666555 -0.00708791 0.99961928 -0.05722883] [ 0. 0. 0. 1. ]] SLAMing on 23.09327356 meters Centerline goodness : 0.787983 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99719674 -0.06973446 -0.02712485 0.69613165] [ 0.06990322 0.99753958 0.0053226 -0.18679459] [ 0.02668694 -0.0072038 0.99961788 -0.05726564] [ 0. 0. 0. 1. ]] SLAMing on 23.123273559999998 meters Centerline goodness : 0.840623 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99718976 -0.06986591 -0.02704341 0.69595168] [ 0.07003371 0.99753051 0.00530712 -0.18727468] [ 0.02660584 -0.00718615 0.99962017 -0.05721982] [ 0. 0. 0. 1. ]] SLAMing on 23.15327356 meters Centerline goodness : 0.841897 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99719859 -0.06970124 -0.02714225 0.69652406] [ 0.0698737 0.99754092 0.00545695 -0.18747914] [ 0.02669515 -0.00733819 0.99961669 -0.05757242] [ 0. 0. 0. 1. ]] SLAMing on 23.18327356 meters Centerline goodness : 0.840864 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99720109 -0.06961503 -0.02727131 0.69692607] [ 0.06978992 0.99754648 0.00551317 -0.18739792] [ 0.0268206 -0.00740101 0.99961287 -0.05773477] [ 0. 0. 0. 1. ]] SLAMing on 23.213273559999998 meters Centerline goodness : 0.839767 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99720951 -0.06947415 -0.02732275 0.69735668] [ 0.06965364 0.99755511 0.00567207 -0.18752333] [ 0.02686189 -0.00755937 0.99961057 -0.0581161 ] [ 0. 0. 0. 1. ]] SLAMing on 23.24327356 meters Centerline goodness : 0.839430 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99722055 -0.06933269 -0.0272791 0.69749928] [ 0.06951545 0.99756397 0.00580802 -0.18761374] [ 0.02680996 -0.00768819 0.99961098 -0.0583857 ] [ 0. 0. 0. 1. ]] SLAMing on 23.27327356 meters Centerline goodness : 0.840626 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99724437 -0.06890211 -0.02749837 0.69813252] [ 0.06908964 0.99759285 0.00592744 -0.1875064 ] [ 0.02702376 -0.00781096 0.99960427 -0.058419 ] [ 0. 0. 0. 1. ]] SLAMing on 23.303273559999997 meters Centerline goodness : 0.840879 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99724743 -0.06884459 -0.02753164 0.69814467] [ 0.06903061 0.99759731 0.00586298 -0.18724874] [ 0.02706186 -0.00774737 0.99960374 -0.05827904] [ 0. 0. 0. 1. ]] SLAMing on 23.33327356 meters Centerline goodness : 0.839439 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99724694 -0.06880632 -0.02764486 0.6982035 ] [ 0.0689913 0.99760044 0.00579285 -0.18704531] [ 0.02717994 -0.00768416 0.99960102 -0.05798886] [ 0. 0. 0. 1. ]] SLAMing on 23.36327356 meters Centerline goodness : 0.841141 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99725483 -0.06868907 -0.02765177 0.69797224] [ 0.06887245 0.997609 0.00573385 -0.18684985] [ 0.0271918 -0.00762255 0.99960117 -0.05753996] [ 0. 0. 0. 1. ]] SLAMing on 23.393273559999997 meters Centerline goodness : 0.839691 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99725303 -0.06870483 -0.02767733 0.69789856] [ 0.0688856 0.99760868 0.00563076 -0.18679002] [ 0.02722429 -0.00752186 0.99960105 -0.05729601] [ 0. 0. 0. 1. ]] SLAMing on 23.42327356 meters Centerline goodness : 0.839732 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99726121 -0.06854704 -0.02777393 0.69831767] [ 0.06873144 0.99761869 0.00573873 -0.18709335] [ 0.02731442 -0.00763195 0.99959776 -0.05746876] [ 0. 0. 0. 1. ]] SLAMing on 23.45327356 meters Centerline goodness : 0.838205 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99728036 -0.06823169 -0.02786258 0.6989171 ] [ 0.06842554 0.9976378 0.00606284 -0.18765424] [ 0.02738308 -0.00795286 0.99959338 -0.05793845] [ 0. 0. 0. 1. ]] SLAMing on 23.48327356 meters Centerline goodness : 0.839318 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99728812 -0.0680985 -0.02791045 0.69934901] [ 0.06829873 0.99764513 0.00628345 -0.1881381 ] [ 0.02741683 -0.00817266 0.99959068 -0.05830756] [ 0. 0. 0. 1. ]] SLAMing on 23.51327356 meters Centerline goodness : 0.838969 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99729308 -0.06804773 -0.02785704 0.69940736] [ 0.06825079 0.99764765 0.0064035 -0.18853689] [ 0.02735577 -0.00828743 0.99959141 -0.05849915] [ 0. 0. 0. 1. ]] SLAMing on 23.54327356 meters Centerline goodness : 0.839704 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99729998 -0.0680008 -0.02772436 0.69911762] [ 0.06820971 0.99764878 0.00665919 -0.18979632] [ 0.02720635 -0.00853228 0.99959342 -0.05841399] [ 0. 0. 0. 1. ]] SLAMing on 23.57327356 meters Centerline goodness : 0.838953 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99729702 -0.06809499 -0.02759944 0.69876771] [ 0.06830291 0.99764239 0.00666113 -0.19044165] [ 0.02708078 -0.00852825 0.99959687 -0.05823273] [ 0. 0. 0. 1. ]] SLAMing on 23.603273559999998 meters Centerline goodness : 0.840865 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99729661 -0.06808661 -0.02763488 0.69870573] [ 0.06829792 0.99764197 0.00677476 -0.19110206] [ 0.02710845 -0.00864385 0.99959513 -0.05802277] [ 0. 0. 0. 1. ]] SLAMing on 23.63327356 meters Centerline goodness : 0.839008 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99729658 -0.06809321 -0.02761978 0.69856417] [ 0.06830552 0.99764116 0.00681654 -0.19155063] [ 0.02709047 -0.00868469 0.99959526 -0.05780401] [ 0. 0. 0. 1. ]] SLAMing on 23.66327356 meters Centerline goodness : 0.839008 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99729658 -0.06809321 -0.02761978 0.69856417] [ 0.06830552 0.99764116 0.00681654 -0.19155063] [ 0.02709047 -0.00868469 0.99959526 -0.05780401] [ 0. 0. 0. 1. ]] SLAMing on 23.693273559999998 meters Centerline goodness : 0.839733 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99730162 -0.06801278 -0.02763586 0.69837528] [ 0.06822952 0.99764526 0.00697615 -0.19219567] [ 0.02709632 -0.0088429 0.99959371 -0.05744678] [ 0. 0. 0. 1. ]] SLAMing on 23.72327356 meters Centerline goodness : 0.839740 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99731087 -0.06783076 -0.02774936 0.69876871] [ 0.06805435 0.99765568 0.00719307 -0.19290736] [ 0.0271964 -0.00906219 0.99958903 -0.05758377] [ 0. 0. 0. 1. ]] SLAMing on 23.75327356 meters Centerline goodness : 0.837653 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.9973214 -0.0676786 -0.02774216 0.6990265 ] [ 0.06790884 0.99766377 0.00744208 -0.19363764] [ 0.02717368 -0.00930609 0.99958741 -0.05788647] [ 0. 0. 0. 1. ]] SLAMing on 23.783273559999998 meters Centerline goodness : 0.839420 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.06 [[ 0.99733398 -0.06746151 -0.02781878 0.6994618 ] [ 0.06770162 0.99767527 0.00778061 -0.19508776] [ 0.02722922 -0.00964324 0.9995827 -0.05811835] [ 0. 0. 0. 1. ]] SLAMing on 23.81327356 meters Centerline goodness : 0.839408 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.06 [[ 0.99733657 -0.06742853 -0.0278058 0.6994567 ] [ 0.06767183 0.99767634 0.00790269 -0.19568995] [ 0.02720833 -0.00976331 0.99958211 -0.05808893] [ 0. 0. 0. 1. ]] SLAMing on 23.84327356 meters Centerline goodness : 0.837361 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.06 [[ 0.99733536 -0.06741858 -0.02787317 0.69968099] [ 0.06766556 0.99767588 0.00801366 -0.19621066] [ 0.02726812 -0.00987836 0.99957935 -0.05817023] [ 0. 0. 0. 1. ]] SLAMing on 23.873273559999998 meters Centerline goodness : 0.836834 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.06 [[ 0.99733476 -0.06742623 -0.02787618 0.69975742] [ 0.06767439 0.99767494 0.00805575 -0.19672312] [ 0.0272682 -0.00992078 0.99957892 -0.05818075] [ 0. 0. 0. 1. ]] SLAMing on 23.90327356 meters Centerline goodness : 0.837668 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.06 [[ 0.99734397 -0.06733822 -0.02775902 0.69968783] [ 0.06759344 0.99767793 0.00835946 -0.1978571 ] [ 0.02713165 -0.01021358 0.99957969 -0.05836503] [ 0. 0. 0. 1. ]] SLAMing on 23.93327356 meters Centerline goodness : 0.835057 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.06 [[ 0.9973448 -0.06735044 -0.02769945 0.6996961 ] [ 0.06760897 0.99767565 0.00850417 -0.19832412] [ 0.0270623 -0.01035432 0.99958012 -0.05856974] [ 0. 0. 0. 1. ]] SLAMing on 23.963273559999998 meters Centerline goodness : 0.834392 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.06 [[ 0.99734124 -0.06743658 -0.02761801 0.69954375] [ 0.06769414 0.99766992 0.00849868 -0.19856659] [ 0.02698054 -0.01034566 0.99958242 -0.0585807 ] [ 0. 0. 0. 1. ]] SLAMing on 23.99327356 meters Centerline goodness : 0.834893 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.06 [[ 0.99734214 -0.06743094 -0.02759924 0.69939116] [ 0.06769157 0.99766906 0.00861949 -0.199313 ] [ 0.02695369 -0.01046481 0.99958191 -0.05839436] [ 0. 0. 0. 1. ]] SLAMing on 24.02327356 meters Centerline goodness : 0.836022 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.06 [[ 0.99734631 -0.06737663 -0.02758131 0.69962935] [ 0.06763867 0.99767213 0.00867914 -0.19962943] [ 0.02693233 -0.01052167 0.99958188 -0.05862935] [ 0. 0. 0. 1. ]] SLAMing on 24.053273559999997 meters Centerline goodness : 0.835865 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.06 [[ 0.99734892 -0.06735908 -0.02752972 0.69951771] [ 0.0676222 0.99767272 0.00873997 -0.20014658] [ 0.02687694 -0.01057842 0.99958278 -0.05855606] [ 0. 0. 0. 1. ]] SLAMing on 24.08327356 meters Centerline goodness : 0.834049 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.06 [[ 0.99734106 -0.06749551 -0.02748024 0.69945331] [ 0.06775685 0.997664 0.00869166 -0.20043892] [ 0.0268294 -0.01053052 0.99958456 -0.05858933] [ 0. 0. 0. 1. ]] SLAMing on 24.11327356 meters Centerline goodness : 0.836797 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.06 [[ 0.99733286 -0.06763974 -0.02742319 0.69929652] [ 0.06790055 0.99765423 0.00869265 -0.20105281] [ 0.0267709 -0.01053152 0.99958612 -0.05851959] [ 0. 0. 0. 1. ]] SLAMing on 24.143273559999997 meters Centerline goodness : 0.833779 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.06 [[ 0.99732163 -0.0678278 -0.02736699 0.69925531] [ 0.06808677 0.99764196 0.00864336 -0.20132731] [ 0.0267162 -0.01048354 0.99958809 -0.05863336] [ 0. 0. 0. 1. ]] SLAMing on 24.17327356 meters Centerline goodness : 0.834690 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.06 [[ 0.9973094 -0.06803888 -0.02728867 0.69929638] [ 0.06829913 0.99762678 0.00871979 -0.20205418] [ 0.02663063 -0.01056012 0.99958956 -0.05894853] [ 0. 0. 0. 1. ]] SLAMing on 24.20327356 meters Centerline goodness : 0.835650 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.06 [[ 0.99730025 -0.06822992 -0.02714574 0.69910612] [ 0.06848455 0.99761543 0.00856257 -0.20194393] [ 0.02649678 -0.01039852 0.99959481 -0.0590572 ] [ 0. 0. 0. 1. ]] SLAMing on 24.23327356 meters Centerline goodness : 0.837655 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.06 [[ 0.9973101 -0.0681162 -0.02706914 0.69917284] [ 0.06836627 0.99762474 0.00842166 -0.20136846] [ 0.0264312 -0.01024962 0.99959809 -0.05916156] [ 0. 0. 0. 1. ]] SLAMing on 24.26327356 meters Centerline goodness : 0.836531 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.06 [[ 0.99731661 -0.06798621 -0.02715611 0.69947438] [ 0.0682331 0.99763513 0.00826981 -0.20048885] [ 0.02652966 -0.01010056 0.999597 -0.05925687] [ 0. 0. 0. 1. ]] SLAMing on 24.29327356 meters Centerline goodness : 0.838028 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.06 [[ 0.99731988 -0.06792194 -0.02719692 0.69957858] [ 0.06816264 0.99764197 0.00802219 -0.19955224] [ 0.02658791 -0.0098545 0.99959791 -0.05916339] [ 0. 0. 0. 1. ]] SLAMing on 24.32327356 meters Centerline goodness : 0.839708 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.06 [[ 0.99754686 -0.06457872 -0.02701573 0.69818588] [ 0.06490473 0.9978267 0.01136862 -0.19900965] [ 0.02622284 -0.01309418 0.99957036 -0.05867279] [ 0. 0. 0. 1. ]] SLAMing on 24.353273559999998 meters Centerline goodness : 0.839950 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.06 [[ 0.99755144 -0.06446046 -0.02712873 0.69831966] [ 0.06478072 0.99783784 0.01109562 -0.19776754] [ 0.02635484 -0.01282587 0.99957037 -0.05847365] [ 0. 0. 0. 1. ]] SLAMing on 24.38327356 meters Centerline goodness : 0.837459 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.06 [[ 0.99755203 -0.06445225 -0.02712657 0.69833304] [ 0.06476285 0.99784299 0.01073062 -0.19651372] [ 0.02637645 -0.01246115 0.99957441 -0.05834547] [ 0. 0. 0. 1. ]] SLAMing on 24.41327356 meters Centerline goodness : 0.840263 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99759984 -0.06385731 -0.02677318 0.69783105] [ 0.06414094 0.99789203 0.00987136 -0.19467707] [ 0.02608639 -0.01156492 0.99959279 -0.0588765 ] [ 0. 0. 0. 1. ]] SLAMing on 24.443273559999998 meters Centerline goodness : 0.839874 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.06 [[ 0.99771108 -0.06174051 -0.0275809 0.6995185 ] [ 0.06213117 0.99797617 0.01353828 -0.19592243] [ 0.02668922 -0.01522093 0.99952789 -0.05948009] [ 0. 0. 0. 1. ]] SLAMing on 24.47327356 meters Centerline goodness : 0.841309 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.06 [[ 0.99770012 -0.06181569 -0.02780821 0.70005635] [ 0.0622003 0.9979766 0.0131844 -0.19551783] [ 0.02693694 -0.01488376 0.99952633 -0.05963753] [ 0. 0. 0. 1. ]] SLAMing on 24.50327356 meters Centerline goodness : 0.841978 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.06 [[ 0.99769338 -0.06186151 -0.02794776 0.70049638] [ 0.06224237 0.99797681 0.01296859 -0.19516532] [ 0.02708895 -0.01467821 0.99952526 -0.05986382] [ 0. 0. 0. 1. ]] SLAMing on 24.533273559999998 meters Centerline goodness : 0.844605 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99772482 -0.06133457 -0.02798656 0.7008233 ] [ 0.06171302 0.99801102 0.01286465 -0.19451978] [ 0.02714185 -0.01456251 0.99952551 -0.0603554 ] [ 0. 0. 0. 1. ]] SLAMing on 24.56327356 meters Centerline goodness : 0.844243 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99774855 -0.06096086 -0.02795702 0.70079259] [ 0.0613373 0.99803489 0.01281021 -0.19410338] [ 0.02712116 -0.01449617 0.99952704 -0.06048269] [ 0. 0. 0. 1. ]] SLAMing on 24.59327356 meters Centerline goodness : 0.844115 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99776621 -0.06060649 -0.02809706 0.70114984] [ 0.06099001 0.99805372 0.01299941 -0.19381024] [ 0.02725453 -0.01468401 0.99952067 -0.06060557] [ 0. 0. 0. 1. ]] SLAMing on 24.623273559999998 meters Centerline goodness : 0.846750 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.9977691 -0.06041574 -0.0284034 0.7015815 ] [ 0.06081757 0.99805757 0.01350233 -0.19385307] [ 0.02753247 -0.01519963 0.99950534 -0.06035014] [ 0. 0. 0. 1. ]] SLAMing on 24.65327356 meters Centerline goodness : 0.848457 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99775235 -0.06047028 -0.02887206 0.7026711 ] [ 0.06089325 0.99804608 0.01400156 -0.19436954] [ 0.02796897 -0.01572821 0.99948505 -0.06046094] [ 0. 0. 0. 1. ]] SLAMing on 24.68327356 meters Centerline goodness : 0.844243 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.06 [[ 0.99772964 -0.06059371 -0.02939317 0.70385908] [ 0.06103944 0.99802986 0.01451121 -0.19503612] [ 0.02845597 -0.01627241 0.99946259 -0.06054576] [ 0. 0. 0. 1. ]] SLAMing on 24.713273559999998 meters Centerline goodness : 0.846454 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.06 [[ 0.99765966 -0.06159569 -0.0296845 0.70441703] [ 0.06204119 0.99797075 0.01432736 -0.19537745] [ 0.02874176 -0.01613549 0.99945663 -0.06034807] [ 0. 0. 0. 1. ]] SLAMing on 24.74327356 meters Centerline goodness : 0.844777 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.06 [[ 0.99763924 -0.06193976 -0.02965502 0.70424268] [ 0.06237702 0.99795371 0.01405348 -0.19549802] [ 0.02872386 -0.0158701 0.99946139 -0.06020555] [ 0. 0. 0. 1. ]] SLAMing on 24.77327356 meters Centerline goodness : 0.847046 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.06 [[ 0.99762543 -0.06218835 -0.02959922 0.7041379 ] [ 0.06261946 0.99794113 0.01386709 -0.19552915] [ 0.02867591 -0.01568764 0.99946565 -0.06022414] [ 0. 0. 0. 1. ]] SLAMing on 24.803273559999997 meters Centerline goodness : 0.845166 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.06 [[ 0.99760894 -0.06244622 -0.02961186 0.7040863 ] [ 0.06286936 0.99792938 0.01357945 -0.19533522] [ 0.02870256 -0.01540866 0.99946923 -0.06008623] [ 0. 0. 0. 1. ]] SLAMing on 24.83327356 meters Centerline goodness : 0.847338 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.06 [[ 0.99760328 -0.06251553 -0.02965652 0.70411533] [ 0.06293514 0.99792722 0.01343224 -0.1950112 ] [ 0.02875532 -0.01526648 0.99946989 -0.06000658] [ 0. 0. 0. 1. ]] SLAMing on 24.86327356 meters Centerline goodness : 0.845212 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99760282 -0.06249613 -0.02971282 0.70418404] [ 0.06291384 0.99792985 0.01333666 -0.19436896] [ 0.02881782 -0.01517403 0.9994695 -0.0599291 ] [ 0. 0. 0. 1. ]] SLAMing on 24.893273559999997 meters Centerline goodness : 0.845507 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99759379 -0.06262086 -0.02975334 0.70431564] [ 0.06303125 0.99792609 0.0130607 -0.1938366 ] [ 0.02887377 -0.01490466 0.99947194 -0.05990111] [ 0. 0. 0. 1. ]] SLAMing on 24.92327356 meters Centerline goodness : 0.844295 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99758516 -0.06277428 -0.02971941 0.70418861] [ 0.06317716 0.99792004 0.01281597 -0.19336176] [ 0.02885308 -0.01466261 0.99947612 -0.05977507] [ 0. 0. 0. 1. ]] SLAMing on 24.95327356 meters Centerline goodness : 0.790056 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99757338 -0.06299483 -0.02964789 0.70407334] [ 0.06338961 0.99790971 0.01256865 -0.19304701] [ 0.02879416 -0.01441752 0.99948138 -0.05976634] [ 0. 0. 0. 1. ]] SLAMing on 24.98327356 meters Centerline goodness : 0.847495 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.9975698 -0.06311031 -0.02952258 0.70398266] [ 0.06350259 0.99790285 0.01254309 -0.19332516] [ 0.02866907 -0.01438737 0.99948541 -0.05996113] [ 0. 0. 0. 1. ]] SLAMing on 25.01327356 meters Centerline goodness : 0.849250 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99756195 -0.06323657 -0.02951766 0.70402502] [ 0.06362501 0.99789671 0.01241041 -0.19344333] [ 0.02867079 -0.01425821 0.99948721 -0.05994897] [ 0. 0. 0. 1. ]] SLAMing on 25.04327356 meters Centerline goodness : 0.846915 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99754694 -0.06354209 -0.02936832 0.70364873] [ 0.06391949 0.99788176 0.01209481 -0.19307868] [ 0.02853758 -0.01394235 0.99949548 -0.05981591] [ 0. 0. 0. 1. ]] SLAMing on 25.07327356 meters Centerline goodness : 0.847351 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99753381 -0.06374584 -0.02937299 0.70351415] [ 0.06411665 0.99787194 0.01185948 -0.19282385] [ 0.02855449 -0.01371353 0.99949816 -0.05960578] [ 0. 0. 0. 1. ]] SLAMing on 25.103273559999998 meters Centerline goodness : 0.844366 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99752982 -0.06386106 -0.02925794 0.70354766] [ 0.06423126 0.99786418 0.0118919 -0.1933247 ] [ 0.02843602 -0.0137418 0.99950115 -0.05992992] [ 0. 0. 0. 1. ]] SLAMing on 25.13327356 meters Centerline goodness : 0.786279 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99752862 -0.06393292 -0.02914174 0.70359107] [ 0.06430321 0.99785885 0.01195071 -0.19376897] [ 0.0283153 -0.01379508 0.99950385 -0.06024389] [ 0. 0. 0. 1. ]] SLAMing on 25.16327356 meters Centerline goodness : 0.787529 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99751915 -0.0641261 -0.02904105 0.70352287] [ 0.06449106 0.99784841 0.01180885 -0.19390916] [ 0.02822131 -0.01365244 0.99950846 -0.06035501] [ 0. 0. 0. 1. ]] SLAMing on 25.193273559999998 meters Centerline goodness : 0.844439 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99751237 -0.06423914 -0.02902404 0.70352857] [ 0.06460114 0.99784245 0.01171075 -0.1938502 ] [ 0.02820913 -0.01355661 0.99951011 -0.06039928] [ 0. 0. 0. 1. ]] SLAMing on 25.22327356 meters Centerline goodness : 0.845175 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99750687 -0.06432811 -0.02901615 0.70360856] [ 0.06468427 0.99783944 0.0115066 -0.19346032] [ 0.02821326 -0.0133548 0.99951271 -0.06040229] [ 0. 0. 0. 1. ]] SLAMing on 25.25327356 meters Centerline goodness : 0.845129 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.9974975 -0.06451649 -0.02891991 0.70346418] [ 0.06486207 0.99783167 0.01117415 -0.19297902] [ 0.02813629 -0.01302199 0.99951927 -0.06034306] [ 0. 0. 0. 1. ]] SLAMing on 25.283273559999998 meters Centerline goodness : 0.844771 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99749439 -0.06452573 -0.02900629 0.70384768] [ 0.06487036 0.99783196 0.01110057 -0.19283638] [ 0.02822713 -0.0129544 0.99951759 -0.06056553] [ 0. 0. 0. 1. ]] SLAMing on 25.31327356 meters Centerline goodness : 0.843997 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99749321 -0.06456612 -0.02895705 0.70385814] [ 0.06490794 0.99783037 0.01102329 -0.19285024] [ 0.02818249 -0.0128752 0.99951987 -0.06064269] [ 0. 0. 0. 1. ]] SLAMing on 25.34327356 meters Centerline goodness : 0.842934 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99751032 -0.06428076 -0.02900259 0.70432957] [ 0.06462495 0.997848 0.01108968 -0.1925026 ] [ 0.02822732 -0.01293636 0.99951782 -0.06098767] [ 0. 0. 0. 1. ]] SLAMing on 25.373273559999998 meters Centerline goodness : 0.842889 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99751608 -0.06413937 -0.02911709 0.7046753 ] [ 0.06448335 0.99785781 0.01103143 -0.19191727] [ 0.02834717 -0.0128816 0.99951513 -0.06107665] [ 0. 0. 0. 1. ]] SLAMing on 25.40327356 meters Centerline goodness : 0.841034 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99751664 -0.06409683 -0.02919152 0.70485681] [ 0.06443475 0.99786364 0.0107854 -0.19101088] [ 0.02843784 -0.01263956 0.99951565 -0.06103531] [ 0. 0. 0. 1. ]] SLAMing on 25.43327356 meters Centerline goodness : 0.842885 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99752467 -0.0639066 -0.02933404 0.70532818] [ 0.06424166 0.99787781 0.01062455 -0.19030387] [ 0.02859281 -0.01248272 0.9995132 -0.06106277] [ 0. 0. 0. 1. ]] SLAMing on 25.463273559999998 meters Centerline goodness : 0.841219 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99755533 -0.06332537 -0.02955103 0.7059394 ] [ 0.0636635 0.99791465 0.01064433 -0.18929039] [ 0.02881535 -0.01249963 0.9995066 -0.06107969] [ 0. 0. 0. 1. ]] SLAMing on 25.49327356 meters Centerline goodness : 0.840335 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99755909 -0.0632045 -0.02968244 0.70624075] [ 0.06354306 0.99792276 0.01060401 -0.18886306] [ 0.02895056 -0.01246424 0.99950313 -0.06107531] [ 0. 0. 0. 1. ]] SLAMing on 25.52327356 meters Centerline goodness : 0.839519 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99756608 -0.06302954 -0.02981928 0.70663506] [ 0.06337168 0.99793295 0.01067039 -0.18871602] [ 0.02908509 -0.01253411 0.99949835 -0.0611678 ] [ 0. 0. 0. 1. ]] SLAMing on 25.553273559999997 meters Centerline goodness : 0.839386 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.9975754 -0.06289305 -0.02979579 0.70684591] [ 0.06323432 0.99794186 0.01065226 -0.18847959] [ 0.02906452 -0.01251055 0.99949924 -0.06137898] [ 0. 0. 0. 1. ]] SLAMing on 25.58327356 meters Centerline goodness : 0.839386 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.9975754 -0.06289305 -0.02979579 0.70684591] [ 0.06323432 0.99794186 0.01065226 -0.18847959] [ 0.02906452 -0.01251055 0.99949924 -0.06137898] [ 0. 0. 0. 1. ]] SLAMing on 25.61327356 meters Centerline goodness : 0.838493 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99757429 -0.06294638 -0.02972015 0.70684949] [ 0.06328611 0.9979388 0.01063123 -0.18863303] [ 0.0289897 -0.01248632 0.99950172 -0.06150578] [ 0. 0. 0. 1. ]] SLAMing on 25.643273559999997 meters Centerline goodness : 0.837452 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99756745 -0.06304399 -0.02974275 0.70689072] [ 0.06337866 0.99793488 0.01044569 -0.18843827] [ 0.02902279 -0.01230533 0.999503 -0.06143575] [ 0. 0. 0. 1. ]] SLAMing on 25.67327356 meters Centerline goodness : 0.840043 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99756717 -0.06304395 -0.02975223 0.70702342] [ 0.06337527 0.99793634 0.01032669 -0.18817783] [ 0.02903979 -0.01218712 0.99950396 -0.0614993 ] [ 0. 0. 0. 1. ]] SLAMing on 25.70327356 meters Centerline goodness : 0.839581 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99757062 -0.06298516 -0.02976122 0.70722277] [ 0.0633163 0.99794018 0.01031747 -0.18788846] [ 0.02905007 -0.01217677 0.99950379 -0.06170365] [ 0. 0. 0. 1. ]] SLAMing on 25.733273559999997 meters Centerline goodness : 0.837564 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99758601 -0.06265305 -0.02994583 0.7078648 ] [ 0.06298273 0.99796255 0.01019476 -0.18682806] [ 0.02924608 -0.01205622 0.99949953 -0.061842 ] [ 0. 0. 0. 1. ]] SLAMing on 25.76327356 meters Centerline goodness : 0.836181 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99759238 -0.06249455 -0.03006456 0.70834586] [ 0.06282123 0.99797423 0.01004614 -0.18579353] [ 0.02937582 -0.01191065 0.99949747 -0.06203578] [ 0. 0. 0. 1. ]] SLAMing on 25.79327356 meters Centerline goodness : 0.836181 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99759238 -0.06249455 -0.03006456 0.70834586] [ 0.06282123 0.99797423 0.01004614 -0.18579353] [ 0.02937582 -0.01191065 0.99949747 -0.06203578] [ 0. 0. 0. 1. ]] SLAMing on 25.82327356 meters Centerline goodness : 0.835986 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99758287 -0.06266419 -0.03002694 0.70827505] [ 0.06298236 0.99796682 0.00976949 -0.18536409] [ 0.02935369 -0.01163705 0.99950135 -0.06197716] [ 0. 0. 0. 1. ]] SLAMing on 25.853273559999998 meters Centerline goodness : 0.836260 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99757718 -0.06284873 -0.02982974 0.70784208] [ 0.06315855 0.99795772 0.00955919 -0.18512149] [ 0.02916804 -0.01142003 0.99950928 -0.06187628] [ 0. 0. 0. 1. ]] SLAMing on 25.88327356 meters Centerline goodness : 0.837208 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99757088 -0.06294782 -0.02983149 0.70791449] [ 0.06325493 0.99795252 0.00946469 -0.18515251] [ 0.02917463 -0.01132869 0.99951013 -0.06193118] [ 0. 0. 0. 1. ]] SLAMing on 25.91327356 meters Centerline goodness : 0.834792 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99754432 -0.0634602 -0.02963317 0.70719467] [ 0.06375386 0.99792442 0.00907158 -0.18527769] [ 0.02899598 -0.01093853 0.99951968 -0.06147409] [ 0. 0. 0. 1. ]] SLAMing on 25.943273559999998 meters Centerline goodness : 0.836894 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99753031 -0.06374162 -0.02950059 0.70660657] [ 0.0640301 0.99790794 0.00893859 -0.18561655] [ 0.02886912 -0.01080544 0.9995248 -0.06109901] [ 0. 0. 0. 1. ]] SLAMing on 25.97327356 meters Centerline goodness : 0.835474 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99751481 -0.06399116 -0.02948445 0.70655186] [ 0.06427712 0.99789281 0.0088543 -0.18605847] [ 0.02885572 -0.01072747 0.99952602 -0.0610377 ] [ 0. 0. 0. 1. ]] SLAMing on 26.00327356 meters Centerline goodness : 0.837611 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.9974949 -0.06437844 -0.02931452 0.706301 ] [ 0.06466156 0.99786833 0.00881375 -0.18717544] [ 0.02868461 -0.0106872 0.99953138 -0.06117685] [ 0. 0. 0. 1. ]] SLAMing on 26.033273559999998 meters Centerline goodness : 0.836873 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99748529 -0.06459202 -0.02917121 0.70607519] [ 0.06487351 0.99785463 0.00880763 -0.18760946] [ 0.02853972 -0.01067792 0.99953563 -0.06128511] [ 0. 0. 0. 1. ]] SLAMing on 26.06327356 meters Centerline goodness : 0.834437 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99747518 -0.06476189 -0.02914042 0.70605207] [ 0.0650421 0.99784396 0.00877219 -0.1880745 ] [ 0.02850949 -0.0106454 0.99953684 -0.06134118] [ 0. 0. 0. 1. ]] SLAMing on 26.09327356 meters Centerline goodness : 0.836442 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99746443 -0.06496806 -0.02904943 0.7059084 ] [ 0.06524757 0.99783049 0.00877869 -0.18868671] [ 0.02841607 -0.01065184 0.99953943 -0.06138432] [ 0. 0. 0. 1. ]] SLAMing on 26.123273559999998 meters Centerline goodness : 0.836929 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.9974573 -0.06509909 -0.02900082 0.70563511] [ 0.06537663 0.99782251 0.00872587 -0.1887989 ] [ 0.02836962 -0.01059966 0.9995413 -0.0611785 ] [ 0. 0. 0. 1. ]] SLAMing on 26.15327356 meters Centerline goodness : 0.834718 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99744889 -0.06524099 -0.02897106 0.70559895] [ 0.06551366 0.99781493 0.00856355 -0.18869045] [ 0.02834907 -0.01043971 0.99954357 -0.06115301] [ 0. 0. 0. 1. ]] SLAMing on 26.18327356 meters Centerline goodness : 0.837135 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99744547 -0.06526304 -0.02903915 0.70564587] [ 0.06553377 0.99781441 0.0084698 -0.1886537 ] [ 0.02842292 -0.01035121 0.99954239 -0.06099658] [ 0. 0. 0. 1. ]] SLAMing on 26.213273559999998 meters Centerline goodness : 0.834379 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99747039 -0.06482978 -0.02915335 0.70626805] [ 0.0651034 0.99784202 0.00853524 -0.18819222] [ 0.0285371 -0.01041164 0.99953851 -0.06122136] [ 0. 0. 0. 1. ]] SLAMing on 26.24327356 meters Centerline goodness : 0.835933 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99747694 -0.0646545 -0.02931811 0.70665893] [ 0.06492655 0.99785449 0.00842328 -0.18749492] [ 0.0287106 -0.01030555 0.99953464 -0.06117485] [ 0. 0. 0. 1. ]] SLAMing on 26.27327356 meters Centerline goodness : 0.835857 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99750987 -0.06408244 -0.02945319 0.7073337 ] [ 0.06435462 0.99789185 0.00838722 -0.18617486] [ 0.02885363 -0.01026178 0.99953097 -0.06139406] [ 0. 0. 0. 1. ]] SLAMing on 26.303273559999997 meters Centerline goodness : 0.835857 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99750987 -0.06408244 -0.02945319 0.7073337 ] [ 0.06435462 0.99789185 0.00838722 -0.18617486] [ 0.02885363 -0.01026178 0.99953097 -0.06139406] [ 0. 0. 0. 1. ]] SLAMing on 26.33327356 meters Centerline goodness : 0.833817 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99753061 -0.06366988 -0.02964515 0.70807341] [ 0.06394589 0.99791754 0.00845635 -0.18557075] [ 0.029045 -0.01033115 0.99952471 -0.06168624] [ 0. 0. 0. 1. ]] SLAMing on 26.36327356 meters Centerline goodness : 0.833577 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99753332 -0.06353529 -0.02984192 0.7087856 ] [ 0.0638128 0.9979262 0.00843977 -0.18548773] [ 0.02924381 -0.01032325 0.999519 -0.06196317] [ 0. 0. 0. 1. ]] SLAMing on 26.393273559999997 meters Centerline goodness : 0.833173 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99754074 -0.06341504 -0.0298496 0.70903038] [ 0.06369347 0.99793356 0.00847035 -0.18511706] [ 0.02925077 -0.01035074 0.99951851 -0.06223587] [ 0. 0. 0. 1. ]] SLAMing on 26.42327356 meters Centerline goodness : 0.833345 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99753475 -0.06349782 -0.02987381 0.70915972] [ 0.06377367 0.99792927 0.00837234 -0.18501212] [ 0.02928032 -0.01025686 0.99951861 -0.06227306] [ 0. 0. 0. 1. ]] SLAMing on 26.45327356 meters Centerline goodness : 0.833192 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99753288 -0.06352643 -0.02987562 0.70926311] [ 0.06380136 0.99792777 0.00834005 -0.18498193] [ 0.0292839 -0.01022558 0.99951883 -0.06235717] [ 0. 0. 0. 1. ]] SLAMing on 26.483273559999997 meters Centerline goodness : 0.833947 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99752514 -0.06363069 -0.02991208 0.70937966] [ 0.06389963 0.99792328 0.00812169 -0.18463569] [ 0.02933317 -0.01001296 0.99951954 -0.06232365] [ 0. 0. 0. 1. ]] SLAMing on 26.51327356 meters Centerline goodness : 0.837642 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99752506 -0.06368929 -0.02978958 0.7092683 ] [ 0.06395312 0.99792093 0.00798813 -0.18467298] [ 0.02921889 -0.00987349 0.99952427 -0.06234149] [ 0. 0. 0. 1. ]] SLAMing on 26.54327356 meters Centerline goodness : 0.834771 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99751463 -0.06387358 -0.02974436 0.70896452] [ 0.06413165 0.99791094 0.00780335 -0.18461805] [ 0.02918379 -0.00969152 0.99952708 -0.06204848] [ 0. 0. 0. 1. ]] SLAMing on 26.57327356 meters Centerline goodness : 0.835137 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.997499 -0.06418098 -0.02960643 0.70839998] [ 0.06442939 0.99789399 0.007513 -0.18427376] [ 0.02906189 -0.00940173 0.9995334 -0.06170469] [ 0. 0. 0. 1. ]] SLAMing on 26.603273559999998 meters Centerline goodness : 0.834170 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99748204 -0.06453751 -0.02940237 0.70780855] [ 0.06477688 0.99787335 0.0072617 -0.18406648] [ 0.02887119 -0.00914801 0.99954128 -0.06147515] [ 0. 0. 0. 1. ]] SLAMing on 26.63327356 meters Centerline goodness : 0.832146 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99747194 -0.06472236 -0.02933833 0.70761401] [ 0.06495721 0.99786263 0.00712286 -0.18410437] [ 0.02881461 -0.00901059 0.99954416 -0.06136501] [ 0. 0. 0. 1. ]] SLAMing on 26.66327356 meters Centerline goodness : 0.838088 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.9974667 -0.06483824 -0.02926054 0.70768669] [ 0.06507246 0.99785511 0.00712371 -0.18438744] [ 0.02873589 -0.00900972 0.99954643 -0.06162822] [ 0. 0. 0. 1. ]] SLAMing on 26.693273559999998 meters Centerline goodness : 0.838280 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99746313 -0.06493112 -0.02917615 0.70771867] [ 0.06516279 0.99784967 0.00705989 -0.18451095] [ 0.028655 -0.00894318 0.99954935 -0.06181611] [ 0. 0. 0. 1. ]] SLAMing on 26.72327356 meters Centerline goodness : 0.838204 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99745751 -0.06498515 -0.0292481 0.70839607] [ 0.06521464 0.99784698 0.00696104 -0.18406533] [ 0.02873277 -0.00885074 0.99954794 -0.06246856] [ 0. 0. 0. 1. ]] SLAMing on 26.75327356 meters Centerline goodness : 0.837493 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99744778 -0.06516092 -0.02918856 0.70829997] [ 0.06538549 0.99783687 0.00680534 -0.18368378] [ 0.02868198 -0.00869648 0.99955076 -0.06254337] [ 0. 0. 0. 1. ]] SLAMing on 26.783273559999998 meters Centerline goodness : 0.835547 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99743821 -0.06534383 -0.02910685 0.70820525] [ 0.0655637 0.99782614 0.00666347 -0.18343838] [ 0.02860816 -0.00855476 0.9995541 -0.0626406 ] [ 0. 0. 0. 1. ]] SLAMing on 26.81327356 meters Centerline goodness : 0.833999 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99742767 -0.06556408 -0.02897242 0.7080405 ] [ 0.06577476 0.99781411 0.0063783 -0.18264812] [ 0.0284909 -0.00826755 0.99955986 -0.06276409] [ 0. 0. 0. 1. ]] SLAMing on 26.84327356 meters Centerline goodness : 0.834349 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99741932 -0.0656991 -0.02895378 0.7081378 ] [ 0.06590345 0.99780699 0.00615985 -0.18210032] [ 0.02848559 -0.00805211 0.99956177 -0.06287824] [ 0. 0. 0. 1. ]] SLAMing on 26.873273559999998 meters Centerline goodness : 0.835465 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99740462 -0.06593967 -0.02891328 0.7078596 ] [ 0.06613268 0.99779416 0.0057699 -0.18097013] [ 0.02846904 -0.00766703 0.99956527 -0.06263281] [ 0. 0. 0. 1. ]] SLAMing on 26.90327356 meters Centerline goodness : 0.834023 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99739094 -0.06610767 -0.02900141 0.70811184] [ 0.06629291 0.9977852 0.00547196 -0.18036631] [ 0.02857544 -0.00738027 0.99956439 -0.0626418 ] [ 0. 0. 0. 1. ]] SLAMing on 26.93327356 meters Centerline goodness : 0.835366 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99738013 -0.06629437 -0.02894712 0.7078232 ] [ 0.06647314 0.99777437 0.00525655 -0.17975867] [ 0.02853421 -0.00716698 0.99956712 -0.06246426] [ 0. 0. 0. 1. ]] SLAMing on 26.963273559999998 meters Centerline goodness : 0.833798 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99737297 -0.06644465 -0.02884895 0.70777839] [ 0.06661469 0.99776638 0.00497257 -0.17894209] [ 0.02845411 -0.00688127 0.99957141 -0.06258475] [ 0. 0. 0. 1. ]] SLAMing on 26.99327356 meters Centerline goodness : 0.832070 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99736687 -0.06652837 -0.02886697 0.70786953] [ 0.06668908 0.99776302 0.00463974 -0.17769137] [ 0.02849372 -0.00655264 0.99957249 -0.06260015] [ 0. 0. 0. 1. ]] SLAMing on 27.02327356 meters Centerline goodness : 0.835718 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99735953 -0.06673807 -0.02863565 0.70764365] [ 0.06689525 0.99774956 0.00456536 -0.17745458] [ 0.02826652 -0.00646889 0.99957949 -0.06298 ] [ 0. 0. 0. 1. ]] SLAMing on 27.053273559999997 meters Centerline goodness : 0.833306 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99731659 -0.06747055 -0.02841372 0.70685371] [ 0.06761485 0.99770288 0.00414785 -0.17722823] [ 0.02806859 -0.00605791 0.99958764 -0.06272351] [ 0. 0. 0. 1. ]] SLAMing on 27.08327356 meters Centerline goodness : 0.833595 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99730594 -0.06767292 -0.02830601 0.70694929] [ 0.06781514 0.99768951 0.00409367 -0.17724496] [ 0.02796358 -0.00600222 0.99959092 -0.06312398] [ 0. 0. 0. 1. ]] SLAMing on 27.11327356 meters Centerline goodness : 0.832939 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99730367 -0.06772076 -0.02827163 0.70728965] [ 0.06786391 0.99768602 0.00413386 -0.17718661] [ 0.02792626 -0.00604134 0.99959173 -0.06366576] [ 0. 0. 0. 1. ]] SLAMing on 27.143273559999997 meters Centerline goodness : 0.830587 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99730544 -0.06767075 -0.02832883 0.70786476] [ 0.06781615 0.99768898 0.00420244 -0.17700481] [ 0.02797898 -0.00611227 0.99958982 -0.06423949] [ 0. 0. 0. 1. ]] SLAMing on 27.17327356 meters Centerline goodness : 0.828907 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99730375 -0.06769848 -0.02832217 0.70811769] [ 0.0678431 0.99768726 0.00417585 -0.17674953] [ 0.02797397 -0.00608605 0.99959012 -0.06456002] [ 0. 0. 0. 1. ]] SLAMing on 27.20327356 meters Centerline goodness : 0.828255 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99727591 -0.06823418 -0.02801536 0.70720778] [ 0.06836734 0.9976529 0.00382177 -0.1763653 ] [ 0.02768883 -0.00572669 0.99960019 -0.0643091 ] [ 0. 0. 0. 1. ]] SLAMing on 27.233273559999997 meters Centerline goodness : 0.831016 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99726451 -0.06845253 -0.02788826 0.70676182] [ 0.0685832 0.99763833 0.00375511 -0.17654909] [ 0.02756535 -0.00565751 0.99960399 -0.06411258] [ 0. 0. 0. 1. ]] SLAMing on 27.26327356 meters Centerline goodness : 0.828203 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99722139 -0.06916443 -0.02767276 0.70576118] [ 0.0692833 0.99759137 0.00335901 -0.17685682] [ 0.02737379 -0.00526693 0.99961139 -0.0634763 ] [ 0. 0. 0. 1. ]] SLAMing on 27.29327356 meters Centerline goodness : 0.831242 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99720531 -0.06945583 -0.02752202 0.70546358] [ 0.06957506 0.99757093 0.00339744 -0.17758494] [ 0.02721919 -0.0053028 0.99961542 -0.0635524 ] [ 0. 0. 0. 1. ]] SLAMing on 27.32327356 meters Centerline goodness : 0.828491 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99714628 -0.07041046 -0.02723349 0.70454278] [ 0.07052144 0.99750534 0.00313529 -0.17874907] [ 0.02694479 -0.00504689 0.99962418 -0.06338645] [ 0. 0. 0. 1. ]] SLAMing on 27.353273559999998 meters Centerline goodness : 0.781900 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99712914 -0.0707116 -0.0270803 0.70417774] [ 0.07082084 0.99748425 0.00309504 -0.17919067] [ 0.02679332 -0.00500401 0.99962847 -0.06337734] [ 0. 0. 0. 1. ]] SLAMing on 27.38327356 meters Centerline goodness : 0.828965 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99711716 -0.07091995 -0.02697635 0.70402684] [ 0.07102829 0.99746955 0.003078 -0.179456 ] [ 0.02668979 -0.00498521 0.99963133 -0.06347716] [ 0. 0. 0. 1. ]] SLAMing on 27.41327356 meters Centerline goodness : 0.829917 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99710513 -0.07110782 -0.02692658 0.70390128] [ 0.07121357 0.99745662 0.00298758 -0.17952938] [ 0.02664566 -0.00489647 0.99963295 -0.06345087] [ 0. 0. 0. 1. ]] SLAMing on 27.443273559999998 meters Centerline goodness : 0.828731 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99710476 -0.07112166 -0.02690381 0.70407956] [ 0.07122855 0.9974554 0.00303495 -0.17952607] [ 0.0266195 -0.00494248 0.99963342 -0.06375071] [ 0. 0. 0. 1. ]] SLAMing on 27.47327356 meters Centerline goodness : 0.828731 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99710476 -0.07112166 -0.02690381 0.70407956] [ 0.07122855 0.9974554 0.00303495 -0.17952607] [ 0.0266195 -0.00494248 0.99963342 -0.06375071] [ 0. 0. 0. 1. ]] SLAMing on 27.50327356 meters Centerline goodness : 0.828414 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99710863 -0.0710506 -0.0269478 0.70427928] [ 0.07116108 0.99745982 0.00316221 -0.17987065] [ 0.02665467 -0.0050707 0.99963184 -0.06386459] [ 0. 0. 0. 1. ]] SLAMing on 27.533273559999998 meters Centerline goodness : 0.828315 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99710154 -0.07120229 -0.02680951 0.70400156] [ 0.07131293 0.99744888 0.00319258 -0.18035055] [ 0.0265138 -0.00509519 0.99963546 -0.06387822] [ 0. 0. 0. 1. ]] SLAMing on 27.56327356 meters Centerline goodness : 0.828003 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99709278 -0.0713316 -0.0267917 0.70398648] [ 0.07144256 0.99743956 0.00320625 -0.18071468] [ 0.0264944 -0.005111 0.9996359 -0.06393117] [ 0. 0. 0. 1. ]] SLAMing on 27.59327356 meters Centerline goodness : 0.830640 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99709508 -0.07132351 -0.02672763 0.70401193] [ 0.07143939 0.99743913 0.00340453 -0.18147995] [ 0.02641636 -0.00530404 0.99963696 -0.06413515] [ 0. 0. 0. 1. ]] SLAMing on 27.623273559999998 meters Centerline goodness : 0.829922 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99708512 -0.07152779 -0.02655261 0.70367232] [ 0.07164438 0.99742422 0.00346485 -0.18239687] [ 0.02623638 -0.00535709 0.99964141 -0.06419233] [ 0. 0. 0. 1. ]] SLAMing on 27.65327356 meters Centerline goodness : 0.830560 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99708759 -0.07147383 -0.02660515 0.7039931 ] [ 0.07159526 0.99742713 0.00363846 -0.18277002] [ 0.02627664 -0.00553266 0.9996394 -0.06447349] [ 0. 0. 0. 1. ]] SLAMing on 27.68327356 meters Centerline goodness : 0.827830 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99708535 -0.07149935 -0.02662038 0.70395309] [ 0.07162082 0.9974253 0.0036369 -0.18292326] [ 0.02629181 -0.00553288 0.999639 -0.06436694] [ 0. 0. 0. 1. ]] SLAMing on 27.713273559999998 meters Centerline goodness : 0.828036 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99708324 -0.07156544 -0.02652159 0.70386883] [ 0.07168804 0.99742024 0.00369984 -0.18336723] [ 0.02618839 -0.00559033 0.99964139 -0.06451931] [ 0. 0. 0. 1. ]] SLAMing on 27.74327356 meters Centerline goodness : 0.827055 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.06 [[ 0.99708285 -0.07159488 -0.02645674 0.70371415] [ 0.07172323 0.99741682 0.00393361 -0.1848104 ] [ 0.02610677 -0.0058197 0.99964222 -0.06449071] [ 0. 0. 0. 1. ]] SLAMing on 27.77327356 meters Centerline goodness : 0.828918 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99708034 -0.07161604 -0.02649424 0.70380053] [ 0.07174547 0.99741509 0.00396588 -0.18529755] [ 0.02614174 -0.00585515 0.9996411 -0.0644802 ] [ 0. 0. 0. 1. ]] SLAMing on 27.803273559999997 meters Centerline goodness : 0.826927 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.9971103 -0.07112445 -0.0266902 0.70454559] [ 0.07126403 0.99744816 0.00431422 -0.18555225] [ 0.02631525 -0.0062038 0.99963444 -0.06481977] [ 0. 0. 0. 1. ]] SLAMing on 27.83327356 meters Centerline goodness : 0.827481 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.997122 -0.0708953 -0.02686201 0.70499814] [ 0.07103707 0.99746415 0.00435947 -0.18515457] [ 0.02648482 -0.00625512 0.99962965 -0.06490577] [ 0. 0. 0. 1. ]] SLAMing on 27.86327356 meters Centerline goodness : 0.828772 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99714268 -0.07050723 -0.02711451 0.70574922] [ 0.07065541 0.99749043 0.00454497 -0.18479973] [ 0.02672601 -0.00644777 0.999622 -0.06516354] [ 0. 0. 0. 1. ]] SLAMing on 27.893273559999997 meters Centerline goodness : 0.828917 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99718109 -0.06986386 -0.0273663 0.70658061] [ 0.070019 0.99753434 0.00475098 -0.18418824] [ 0.0269669 -0.00665375 0.99961418 -0.06535762] [ 0. 0. 0. 1. ]] SLAMing on 27.92327356 meters Centerline goodness : 0.828309 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99719843 -0.06954857 -0.02753709 0.70718564] [ 0.06970828 0.99755547 0.00488194 -0.18395832] [ 0.02713025 -0.00678782 0.99960886 -0.06557955] [ 0. 0. 0. 1. ]] SLAMing on 27.95327356 meters Centerline goodness : 0.829517 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99722879 -0.06905598 -0.02767692 0.70775854] [ 0.06921813 0.9975893 0.00494296 -0.18334494] [ 0.02726886 -0.00684501 0.9996047 -0.06576418] [ 0. 0. 0. 1. ]] SLAMing on 27.983273559999997 meters Centerline goodness : 0.829321 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.9972394 -0.06883889 -0.02783511 0.70832004] [ 0.0690024 0.99760418 0.00495573 -0.18294962] [ 0.02742727 -0.00686274 0.99960024 -0.06598699] [ 0. 0. 0. 1. ]] SLAMing on 28.01327356 meters Centerline goodness : 0.830156 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99724096 -0.06883132 -0.02779771 0.70836579] [ 0.06899023 0.9976058 0.00479719 -0.1824605 ] [ 0.02740096 -0.00670173 0.99960206 -0.06603405] [ 0. 0. 0. 1. ]] SLAMing on 28.04327356 meters Centerline goodness : 0.827323 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99723474 -0.06892361 -0.02779219 0.70808676] [ 0.0690793 0.99760019 0.00468006 -0.1823608 ] [ 0.02740293 -0.00658698 0.99960277 -0.06567034] [ 0. 0. 0. 1. ]] SLAMing on 28.07327356 meters Centerline goodness : 0.827642 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99720306 -0.0694582 -0.02759735 0.70694888] [ 0.06960715 0.99756445 0.00447269 -0.18287447] [ 0.02721947 -0.00638116 0.99960911 -0.0648115 ] [ 0. 0. 0. 1. ]] SLAMing on 28.103273559999998 meters Centerline goodness : 0.829244 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99719095 -0.06965848 -0.0275301 0.70668971] [ 0.06980989 0.99754982 0.004576 -0.18383293] [ 0.02714389 -0.00648501 0.9996105 -0.06467788] [ 0. 0. 0. 1. ]] SLAMing on 28.13327356 meters Centerline goodness : 0.827888 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99718149 -0.06982099 -0.027461 0.70661259] [ 0.06997849 0.99753688 0.00481574 -0.18504788] [ 0.02705712 -0.00672385 0.99961128 -0.0648509 ] [ 0. 0. 0. 1. ]] SLAMing on 28.16327356 meters Centerline goodness : 0.775247 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99714869 -0.07035211 -0.02729597 0.70610749] [ 0.07051319 0.9974984 0.00498309 -0.18748949] [ 0.02687711 -0.00689361 0.99961498 -0.06478861] [ 0. 0. 0. 1. ]] SLAMing on 28.193273559999998 meters Centerline goodness : 0.775937 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99713446 -0.07060386 -0.02716563 0.70587912] [ 0.07076748 0.99747976 0.00510866 -0.18861802] [ 0.02673648 -0.00701646 0.99961789 -0.06488124] [ 0. 0. 0. 1. ]] SLAMing on 28.22327356 meters Centerline goodness : 0.776211 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99709395 -0.07125177 -0.0269599 0.70496019] [ 0.07141233 0.99743415 0.00503929 -0.19007886] [ 0.02653167 -0.00694992 0.99962381 -0.06441396] [ 0. 0. 0. 1. ]] SLAMing on 28.25327356 meters Centerline goodness : 0.775274 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99708758 -0.0713588 -0.02691256 0.70479406] [ 0.07152045 0.99742614 0.00509147 -0.19055265] [ 0.02647997 -0.00700144 0.99962483 -0.06435512] [ 0. 0. 0. 1. ]] SLAMing on 28.283273559999998 meters Centerline goodness : 0.828280 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99708946 -0.07132786 -0.02692494 0.70477679] [ 0.0714918 0.99742777 0.0051745 -0.19095537] [ 0.02648659 -0.00708435 0.99962407 -0.06428831] [ 0. 0. 0. 1. ]] SLAMing on 28.31327356 meters Centerline goodness : 0.827088 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.06 [[ 0.99709982 -0.07115852 -0.02698904 0.70493569] [ 0.07132854 0.99743832 0.00538869 -0.1915466 ] [ 0.02653645 -0.00729815 0.99962121 -0.06426054] [ 0. 0. 0. 1. ]] SLAMing on 28.34327356 meters Centerline goodness : 0.830318 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99710432 -0.07105817 -0.02708719 0.70533488] [ 0.07123123 0.99744479 0.00547736 -0.19197125] [ 0.02662876 -0.00739096 0.99961807 -0.06439803] [ 0. 0. 0. 1. ]] SLAMing on 28.373273559999998 meters Centerline goodness : 0.830394 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99711387 -0.07090295 -0.02714229 0.70528544] [ 0.07108163 0.99745436 0.00567472 -0.19261729] [ 0.02667084 -0.00758766 0.99961547 -0.06413118] [ 0. 0. 0. 1. ]] SLAMing on 28.40327356 meters Centerline goodness : 0.832134 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99712189 -0.07074013 -0.02727226 0.70562421] [ 0.07092319 0.9974649 0.00580323 -0.19263192] [ 0.0267926 -0.00772076 0.9996112 -0.06420378] [ 0. 0. 0. 1. ]] SLAMing on 28.43327356 meters Centerline goodness : 0.831386 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99713074 -0.07054808 -0.02744556 0.70608994] [ 0.0707346 0.99747782 0.00588408 -0.19251323] [ 0.02696122 -0.00780855 0.99960598 -0.06431393] [ 0. 0. 0. 1. ]] SLAMing on 28.463273559999998 meters Centerline goodness : 0.829093 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99714501 -0.07028837 -0.02759312 0.70668381] [ 0.07047806 0.99749551 0.00596201 -0.19225763] [ 0.02710495 -0.00788969 0.99960146 -0.06457759] [ 0. 0. 0. 1. ]] SLAMing on 28.49327356 meters Centerline goodness : 0.774090 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99718862 -0.06952711 -0.02794332 0.70775295] [ 0.06972677 0.99754664 0.00623452 -0.19181932] [ 0.0274413 -0.00816539 0.99959007 -0.06482786] [ 0. 0. 0. 1. ]] SLAMing on 28.52327356 meters Centerline goodness : 0.831025 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99720061 -0.06930832 -0.02805878 0.70806376] [ 0.06950687 0.99756244 0.00616274 -0.19122976] [ 0.02756326 -0.00809577 0.99958728 -0.06478712] [ 0. 0. 0. 1. ]] SLAMing on 28.553273559999997 meters Centerline goodness : 0.831067 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99725146 -0.06849491 -0.02824855 0.7086741 ] [ 0.06869515 0.99761857 0.00617862 -0.19009821] [ 0.02775807 -0.00810218 0.99958183 -0.06464122] [ 0. 0. 0. 1. ]] SLAMing on 28.58327356 meters Centerline goodness : 0.773378 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99726536 -0.06820001 -0.02847047 0.70918133] [ 0.06840154 0.99763883 0.00616436 -0.18947644] [ 0.02798283 -0.00809492 0.99957563 -0.06461423] [ 0. 0. 0. 1. ]] SLAMing on 28.61327356 meters Centerline goodness : 0.831349 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99728471 -0.06787255 -0.02857504 0.70968939] [ 0.0680743 0.99766132 0.00614663 -0.18882395] [ 0.02809102 -0.00807517 0.99957275 -0.06479048] [ 0. 0. 0. 1. ]] SLAMing on 28.643273559999997 meters Centerline goodness : 0.829739 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99732418 -0.06721552 -0.02874987 0.71032453] [ 0.06741784 0.99770603 0.00612552 -0.18747485] [ 0.02827219 -0.00804738 0.99956787 -0.06483368] [ 0. 0. 0. 1. ]] SLAMing on 28.67327356 meters Centerline goodness : 0.832661 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99732978 -0.06706168 -0.02891435 0.71058067] [ 0.06726139 0.99771741 0.00598968 -0.18668827] [ 0.02844667 -0.00791851 0.99956395 -0.06463047] [ 0. 0. 0. 1. ]] SLAMing on 28.70327356 meters Centerline goodness : 0.832510 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99734924 -0.06667329 -0.02914038 0.71118694] [ 0.06687517 0.99774326 0.00600793 -0.18589861] [ 0.02867405 -0.00794078 0.99955727 -0.06466757] [ 0. 0. 0. 1. ]] SLAMing on 28.733273559999997 meters Centerline goodness : 0.831371 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99734961 -0.06665909 -0.02916021 0.71119668] [ 0.06686078 0.9977443 0.00599594 -0.18561979] [ 0.02869475 -0.00792973 0.99955677 -0.06465292] [ 0. 0. 0. 1. ]] SLAMing on 28.76327356 meters Centerline goodness : 0.830964 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99735053 -0.06663391 -0.0291865 0.71127331] [ 0.06683599 0.99774592 0.00600266 -0.18563962] [ 0.02872073 -0.00793747 0.99955596 -0.06464205] [ 0. 0. 0. 1. ]] SLAMing on 28.79327356 meters Centerline goodness : 0.831395 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99735072 -0.06659892 -0.0292595 0.71157444] [ 0.06680196 0.99774812 0.00601641 -0.18573571] [ 0.02879292 -0.00795506 0.99955374 -0.06478332] [ 0. 0. 0. 1. ]] SLAMing on 28.823273559999997 meters Centerline goodness : 0.832306 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99734423 -0.06667517 -0.02930718 0.71189019] [ 0.06687799 0.99774315 0.00599461 -0.18622877] [ 0.02884134 -0.0079387 0.99955248 -0.06498723] [ 0. 0. 0. 1. ]] SLAMing on 28.853273559999998 meters Centerline goodness : 0.830379 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.07 [[ 0.99733773 -0.06678173 -0.02928578 0.71192526] [ 0.06698496 0.99773587 0.00601309 -0.18665303] [ 0.02881791 -0.00795879 0.99955299 -0.06507004] [ 0. 0. 0. 1. ]] SLAMing on 28.88327356 meters Centerline goodness : 0.830406 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.07 [[ 0.99733475 -0.06685148 -0.02922785 0.71182445] [ 0.06705512 0.99773098 0.00604253 -0.18711088] [ 0.02875758 -0.00798631 0.99955451 -0.06503337] [ 0. 0. 0. 1. ]] SLAMing on 28.91327356 meters Centerline goodness : 0.828651 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.07 [[ 0.99733467 -0.06685097 -0.02923178 0.71211066] [ 0.06705824 0.99773 0.00616737 -0.18759922] [ 0.02875313 -0.00811116 0.99955363 -0.06533356] [ 0. 0. 0. 1. ]] SLAMing on 28.943273559999998 meters Centerline goodness : 0.827564 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.07 [[ 0.99733487 -0.0668296 -0.02927392 0.71229863] [ 0.06703986 0.99773066 0.00626011 -0.18780603] [ 0.02878913 -0.00820595 0.99955182 -0.06547784] [ 0. 0. 0. 1. ]] SLAMing on 28.97327356 meters Centerline goodness : 0.830092 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.07 [[ 0.99733609 -0.06683099 -0.02922925 0.71249866] [ 0.06704054 0.99773069 0.00624756 -0.18781313] [ 0.02874539 -0.00819046 0.99955321 -0.06576552] [ 0. 0. 0. 1. ]] SLAMing on 29.00327356 meters Centerline goodness : 0.829337 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.07 [[ 0.99732844 -0.06698635 -0.02913429 0.71226602] [ 0.06719464 0.99772044 0.00622893 -0.18798244] [ 0.02865063 -0.00816996 0.9995561 -0.06571757] [ 0. 0. 0. 1. ]] SLAMing on 29.033273559999998 meters Centerline goodness : 0.829114 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.07 [[ 0.99729283 -0.06762947 -0.02886642 0.71134543] [ 0.06782711 0.99767951 0.00592204 -0.18849217] [ 0.02839893 -0.00786393 0.99956574 -0.06531529] [ 0. 0. 0. 1. ]] SLAMing on 29.06327356 meters Centerline goodness : 0.829885 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.07 [[ 0.99727712 -0.06792521 -0.02871422 0.7108799 ] [ 0.06811714 0.99766071 0.00575872 -0.18858162] [ 0.02825588 -0.00769897 0.99957107 -0.06515413] [ 0. 0. 0. 1. ]] SLAMing on 29.09327356 meters Centerline goodness : 0.829759 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99725613 -0.06836707 -0.02839275 0.70997329] [ 0.06854623 0.99763341 0.0053843 -0.18836427] [ 0.02795744 -0.00731574 0.99958234 -0.06483543] [ 0. 0. 0. 1. ]] SLAMing on 29.123273559999998 meters Centerline goodness : 0.828472 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99724858 -0.06848475 -0.02837444 0.70993274] [ 0.06865897 0.99762658 0.00521091 -0.1877579 ] [ 0.02795022 -0.00714473 0.99958378 -0.06484025] [ 0. 0. 0. 1. ]] SLAMing on 29.15327356 meters Centerline goodness : 0.830244 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.07 [[ 0.99724273 -0.06857299 -0.0283668 0.71011828] [ 0.06874477 0.99762112 0.00512441 -0.18757259] [ 0.02794792 -0.00706035 0.99958445 -0.06505635] [ 0. 0. 0. 1. ]] SLAMing on 29.18327356 meters Centerline goodness : 0.829271 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99722564 -0.06889931 -0.02817628 0.70963363] [ 0.06906045 0.997601 0.0047855 -0.18669483] [ 0.02777897 -0.00671809 0.99959151 -0.06499448] [ 0. 0. 0. 1. ]] SLAMing on 29.213273559999998 meters Centerline goodness : 0.829446 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.07 [[ 0.99723136 -0.06879779 -0.02822196 0.710067 ] [ 0.06896152 0.99760744 0.00486873 -0.18653431] [ 0.02781948 -0.00680148 0.99958982 -0.0653851 ] [ 0. 0. 0. 1. ]] SLAMing on 29.24327356 meters Centerline goodness : 0.830326 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.07 [[ 0.99723991 -0.06866345 -0.02824705 0.7100981 ] [ 0.06882292 0.99761777 0.00471133 -0.1856431 ] [ 0.02785627 -0.00664237 0.99958987 -0.06527188] [ 0. 0. 0. 1. ]] SLAMing on 29.27327356 meters Centerline goodness : 0.831362 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99724428 -0.0685712 -0.02831667 0.71038637] [ 0.06872705 0.99762505 0.00456683 -0.18481104] [ 0.02793626 -0.00650036 0.99958857 -0.06540735] [ 0. 0. 0. 1. ]] SLAMing on 29.303273559999997 meters Centerline goodness : 0.831329 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99725764 -0.06832805 -0.02843357 0.71082612] [ 0.068482 0.99764232 0.00447513 -0.18396925] [ 0.02806075 -0.00641005 0.99958567 -0.06551098] [ 0. 0. 0. 1. ]] SLAMing on 29.33327356 meters Centerline goodness : 0.832940 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99726824 -0.06811146 -0.0285813 0.71135032] [ 0.06826268 0.99765791 0.00434782 -0.18292309] [ 0.02821823 -0.00628698 0.99958202 -0.06567738] [ 0. 0. 0. 1. ]] SLAMing on 29.36327356 meters Centerline goodness : 0.834231 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99728651 -0.06776781 -0.02876014 0.7121398 ] [ 0.06791786 0.99768177 0.00427178 -0.18160955] [ 0.02840398 -0.00621352 0.99957721 -0.06604004] [ 0. 0. 0. 1. ]] SLAMing on 29.393273559999997 meters Centerline goodness : 0.834231 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99728651 -0.06776781 -0.02876014 0.7121398 ] [ 0.06791786 0.99768177 0.00427178 -0.18160955] [ 0.02840398 -0.00621352 0.99957721 -0.06604004] [ 0. 0. 0. 1. ]] SLAMing on 29.42327356 meters Centerline goodness : 0.833275 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99729457 -0.06759907 -0.0288774 0.71252581] [ 0.06775214 0.99769268 0.00435422 -0.18150174] [ 0.02851643 -0.00629894 0.99957348 -0.06617782] [ 0. 0. 0. 1. ]] SLAMing on 29.45327356 meters Centerline goodness : 0.831998 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99730084 -0.06748444 -0.0289289 0.71285618] [ 0.06764021 0.9976999 0.00443926 -0.18180586] [ 0.02856278 -0.00638404 0.99957161 -0.06634385] [ 0. 0. 0. 1. ]] SLAMing on 29.483273559999997 meters Centerline goodness : 0.833991 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99729426 -0.0676098 -0.02886313 0.71267097] [ 0.06776563 0.99769132 0.00445421 -0.18204401] [ 0.02849534 -0.00639808 0.99957345 -0.06634383] [ 0. 0. 0. 1. ]] SLAMing on 29.51327356 meters Centerline goodness : 0.833206 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99728776 -0.06772778 -0.02881099 0.71248388] [ 0.06788239 0.99768353 0.0044214 -0.18234483] [ 0.0284448 -0.00636517 0.9995751 -0.06623728] [ 0. 0. 0. 1. ]] SLAMing on 29.54327356 meters Centerline goodness : 0.832232 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99727856 -0.0678404 -0.0288645 0.71240988] [ 0.06799137 0.99767673 0.00428048 -0.18243315] [ 0.02850706 -0.00623137 0.99957417 -0.06594481] [ 0. 0. 0. 1. ]] SLAMing on 29.573273559999997 meters Centerline goodness : 0.831437 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99725853 -0.06819855 -0.02871206 0.7118531 ] [ 0.0683434 0.99765346 0.00409304 -0.18246021] [ 0.02836555 -0.0060441 0.99957934 -0.06568896] [ 0. 0. 0. 1. ]] SLAMing on 29.603273559999998 meters Centerline goodness : 0.831495 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99725807 -0.06818759 -0.02875406 0.71202934] [ 0.06833435 0.99765384 0.00415131 -0.1827145 ] [ 0.02840353 -0.00610482 0.9995779 -0.06576267] [ 0. 0. 0. 1. ]] SLAMing on 29.63327356 meters Centerline goodness : 0.830221 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99725775 -0.06821514 -0.02869957 0.71201903] [ 0.0683625 0.99765177 0.00418416 -0.18291828] [ 0.02834676 -0.00613466 0.99957933 -0.06587006] [ 0. 0. 0. 1. ]] SLAMing on 29.66327356 meters Centerline goodness : 0.829614 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99726366 -0.06806161 -0.02885845 0.7126473 ] [ 0.06821199 0.99766176 0.00425773 -0.18319169] [ 0.02850119 -0.00621458 0.99957444 -0.06616207] [ 0. 0. 0. 1. ]] SLAMing on 29.693273559999998 meters Centerline goodness : 0.828128 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99726774 -0.06796965 -0.02893396 0.71299693] [ 0.06812055 0.997668 0.00426094 -0.18308112] [ 0.02857687 -0.0062203 0.99957224 -0.06631743] [ 0. 0. 0. 1. ]] SLAMing on 29.72327356 meters Centerline goodness : 0.827374 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.9972659 -0.06800335 -0.02891814 0.71304034] [ 0.06815366 0.99766581 0.0042431 -0.18303209] [ 0.0285621 -0.00620238 0.99957278 -0.06636763] [ 0. 0. 0. 1. ]] SLAMing on 29.75327356 meters Centerline goodness : 0.826918 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99725575 -0.06815638 -0.02890807 0.71258116] [ 0.06829668 0.99765746 0.00389293 -0.18238304] [ 0.02857502 -0.00585657 0.99957449 -0.06566842] [ 0. 0. 0. 1. ]] SLAMing on 29.783273559999998 meters Centerline goodness : 0.825345 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.9972523 -0.06820289 -0.02891726 0.71256701] [ 0.06834034 0.99765486 0.00379092 -0.18233854] [ 0.02859089 -0.00575672 0.99957462 -0.06553701] [ 0. 0. 0. 1. ]] SLAMing on 29.81327356 meters Centerline goodness : 0.825602 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99724645 -0.06824887 -0.02901043 0.7126105 ] [ 0.06838483 0.99765208 0.00371923 -0.18244715] [ 0.02868849 -0.00569287 0.99957219 -0.065318 ] [ 0. 0. 0. 1. ]] SLAMing on 29.84327356 meters Centerline goodness : 0.824230 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99724503 -0.06829491 -0.02895096 0.7125324 ] [ 0.0684288 0.99764929 0.0036585 -0.18262368] [ 0.02863305 -0.0056295 0.99957414 -0.06525263] [ 0. 0. 0. 1. ]] SLAMing on 29.873273559999998 meters Centerline goodness : 0.824173 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99724408 -0.06828012 -0.02901848 0.71272682] [ 0.0684113 0.99765088 0.00355078 -0.18247638] [ 0.02870786 -0.00552618 0.99957257 -0.06521871] [ 0. 0. 0. 1. ]] SLAMing on 29.90327356 meters Centerline goodness : 0.822960 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99724125 -0.06832325 -0.02901411 0.71280933] [ 0.06845199 0.99764839 0.00346617 -0.18229515] [ 0.02870906 -0.00544268 0.99957299 -0.06525754] [ 0. 0. 0. 1. ]] SLAMing on 29.93327356 meters Centerline goodness : 0.823921 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99725318 -0.06814804 -0.02901633 0.71306972] [ 0.06827741 0.99766027 0.00349037 -0.18178125] [ 0.02871058 -0.00546194 0.99957284 -0.06544746] [ 0. 0. 0. 1. ]] SLAMing on 29.963273559999998 meters Centerline goodness : 0.825051 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99725185 -0.06818037 -0.02898585 0.71292571] [ 0.0683068 0.99765859 0.00339331 -0.18139729] [ 0.02868663 -0.00536392 0.99957406 -0.06533702] [ 0. 0. 0. 1. ]] SLAMing on 29.99327356 meters Centerline goodness : 0.834726 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99726299 -0.0679621 -0.0291151 0.7132084 ] [ 0.0680861 0.99767403 0.00328783 -0.18082497] [ 0.02882393 -0.00526117 0.99957066 -0.06521653] [ 0. 0. 0. 1. ]] SLAMing on 30.02327356 meters Centerline goodness : 0.827450 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99726734 -0.06787476 -0.02916955 0.71339733] [ 0.06800068 0.99767967 0.00334559 -0.18069723] [ 0.02887479 -0.00532 0.99956888 -0.06530621] [ 0. 0. 0. 1. ]] SLAMing on 30.053273559999997 meters Centerline goodness : 0.829360 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99726527 -0.06785702 -0.02928133 0.71355788] [ 0.06798023 0.99768143 0.00323171 -0.18025026] [ 0.02899414 -0.00521342 0.99956599 -0.06516547] [ 0. 0. 0. 1. ]] SLAMing on 30.08327356 meters Centerline goodness : 0.835994 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99727425 -0.0677025 -0.02933344 0.71375946] [ 0.06782098 0.99769281 0.00306221 -0.17916115] [ 0.02905844 -0.00504328 0.99956499 -0.06518 ] [ 0. 0. 0. 1. ]] SLAMing on 30.11327356 meters Centerline goodness : 0.836329 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99727715 -0.06759015 -0.02949341 0.71413565] [ 0.06770799 0.99770063 0.00301413 -0.17879779] [ 0.02922187 -0.00500286 0.99956043 -0.06518759] [ 0. 0. 0. 1. ]] SLAMing on 30.143273559999997 meters Centerline goodness : 0.839370 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99728649 -0.06740875 -0.0295924 0.71458448] [ 0.06752671 0.99771294 0.00300382 -0.17838685] [ 0.02932224 -0.00499394 0.99955754 -0.0654014 ] [ 0. 0. 0. 1. ]] SLAMing on 30.17327356 meters Centerline goodness : 0.836804 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99729116 -0.06730292 -0.02967574 0.71493452] [ 0.06741914 0.99772043 0.00293187 -0.17774116] [ 0.02941077 -0.00492464 0.99955528 -0.06559147] [ 0. 0. 0. 1. ]] SLAMing on 30.20327356 meters Centerline goodness : 0.838674 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.07 [[ 0.99730506 -0.06707623 -0.02972189 0.71513987] [ 0.06718394 0.99773712 0.00263935 -0.17632181] [ 0.02947759 -0.00462907 0.99955472 -0.0654816 ] [ 0. 0. 0. 1. ]] SLAMing on 30.233273559999997 meters Centerline goodness : 0.841094 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.07 [[ 0.99730951 -0.06695738 -0.02984034 0.71534744] [ 0.06706203 0.99774563 0.00251892 -0.17551158] [ 0.02960441 -0.00451329 0.9995515 -0.06535004] [ 0. 0. 0. 1. ]] SLAMing on 30.26327356 meters Centerline goodness : 0.840030 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.06 [[ 0.99729976 -0.06705925 -0.02993721 0.71522459] [ 0.06715313 0.99774039 0.00214026 -0.17451518] [ 0.02972604 -0.00414486 0.99954949 -0.06484668] [ 0. 0. 0. 1. ]] SLAMing on 30.29327356 meters Centerline goodness : 0.836878 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.06 [[ 0.99729288 -0.06720499 -0.0298397 0.71483541] [ 0.06728845 0.99773194 0.00180026 -0.17325024] [ 0.02965104 -0.00380326 0.99955308 -0.06454759] [ 0. 0. 0. 1. ]] SLAMing on 30.323273559999997 meters Centerline goodness : 0.838871 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.06 [[ 0.99729107 -0.06720686 -0.02989569 0.71496775] [ 0.06728936 0.99773195 0.00176104 -0.17308005] [ 0.02970953 -0.00376793 0.99955147 -0.06455141] [ 0. 0. 0. 1. ]] SLAMing on 30.353273559999998 meters Centerline goodness : 0.838724 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.06 [[ 0.99729079 -0.06715924 -0.0300118 0.71539126] [ 0.06724315 0.997735 0.00179426 -0.17296724] [ 0.02982332 -0.00380749 0.99954793 -0.06477196] [ 0. 0. 0. 1. ]] SLAMing on 30.38327356 meters Centerline goodness : 0.836888 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.07 [[ 0.99728321 -0.06732247 -0.02989787 0.71557577] [ 0.06740582 0.99772404 0.0017875 -0.17290179] [ 0.02970948 -0.00379793 0.99955136 -0.06537811] [ 0. 0. 0. 1. ]] SLAMing on 30.41327356 meters Centerline goodness : 0.840728 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.07 [[ 0.99727998 -0.06735364 -0.02993552 0.7158367 ] [ 0.06743749 0.99772188 0.00179927 -0.17281477] [ 0.02974613 -0.00381315 0.99955021 -0.06564757] [ 0. 0. 0. 1. ]] SLAMing on 30.443273559999998 meters Centerline goodness : 0.837928 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.07 [[ 0.99727986 -0.0673696 -0.02990363 0.71605036] [ 0.06745415 0.9977207 0.00182677 -0.17262687] [ 0.02971241 -0.00383893 0.99955112 -0.0659962 ] [ 0. 0. 0. 1. ]] SLAMing on 30.47327356 meters Centerline goodness : 0.838480 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.07 [[ 0.99727556 -0.067464 -0.0298341 0.71603959] [ 0.06754693 0.99771451 0.00177982 -0.17235053] [ 0.02964584 -0.00379018 0.99955328 -0.06617916] [ 0. 0. 0. 1. ]] SLAMing on 30.50327356 meters Centerline goodness : 0.839588 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.07 [[ 0.99724974 -0.06793546 -0.02962651 0.71529923] [ 0.06800576 0.99768399 0.00137041 -0.17161666] [ 0.0294648 -0.00338142 0.9995601 -0.06584194] [ 0. 0. 0. 1. ]] SLAMing on 30.533273559999998 meters Centerline goodness : 0.840968 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.07 [[ 0.99723501 -0.06823696 -0.02942869 0.7147175 ] [ 0.0683026 0.99766389 0.00123002 -0.17157062] [ 0.029276 -0.00323668 0.99956613 -0.06567203] [ 0. 0. 0. 1. ]] SLAMing on 30.56327356 meters Centerline goodness : 0.839854 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.07 [[ 0.99722036 -0.06845055 -0.02942906 0.7146341 ] [ 0.06851657 0.99764921 0.00123975 -0.17182939] [ 0.02927502 -0.00325269 0.9995661 -0.06566514] [ 0. 0. 0. 1. ]] SLAMing on 30.59327356 meters Centerline goodness : 0.840954 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.06 [[ 9.97145401e-01 -6.97324417e-02 -2.89557467e-02 7.12803236e-01] [ 6.97801014e-02 9.97562194e-01 6.37510845e-04 -1.72550909e-01] [ 2.88407030e-02 -2.65622595e-03 9.99580491e-01 -6.48497661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.623273559999998 meters Centerline goodness : 0.842586 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.06 [[ 9.97116094e-01 -7.02544616e-02 -2.87020048e-02 7.12055143e-01] [ 7.02970833e-02 9.97525986e-01 4.77389440e-04 -1.73087225e-01] [ 2.85974569e-02 -2.49367992e-03 9.99587899e-01 -6.46747948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.65327356 meters Centerline goodness : 0.839889 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.06 [[ 9.97097526e-01 -7.06083113e-02 -2.84778805e-02 7.11585931e-01] [ 7.06508875e-02 9.97500983e-01 4.90388814e-04 -1.73753639e-01] [ 2.83720883e-02 -2.50095300e-03 9.99594303e-01 -6.47866859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.68327356 meters Centerline goodness : 0.840400 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.06 [[ 9.97049477e-01 -7.14150197e-02 -2.81466789e-02 7.10777478e-01] [ 7.14519926e-02 9.97443992e-01 3.08722605e-04 -1.74377516e-01] [ 2.80526884e-02 -2.31894801e-03 9.99603756e-01 -6.49089596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.713273559999998 meters Centerline goodness : 0.839990 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.07 [[ 9.97036346e-01 -7.16286600e-02 -2.80688544e-02 7.10704972e-01] [ 7.16659586e-02 9.97428637e-01 3.23802325e-04 -1.74622420e-01] [ 2.79734856e-02 -2.33442404e-03 9.99605940e-01 -6.51060242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.74327356 meters Centerline goodness : 0.838865 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.07 [[ 9.97020879e-01 -7.18600271e-02 -2.80268243e-02 7.10598257e-01] [ 7.18964889e-02 9.97412055e-01 2.94119842e-04 -1.74812702e-01] [ 2.79331570e-02 -2.30827389e-03 9.99607128e-01 -6.51510263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.77327356 meters Centerline goodness : 0.840843 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 9.96995877e-01 -7.22895914e-02 -2.78107221e-02 7.10084309e-01] [ 7.23288092e-02 9.97380759e-01 4.05491954e-04 -1.75578683e-01] [ 2.77085663e-02 -2.41579022e-03 9.99613125e-01 -6.52985999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.803273559999997 meters Centerline goodness : 0.841096 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 9.96978190e-01 -7.25958316e-02 -2.76465821e-02 7.09604557e-01] [ 7.26334147e-02 9.97358642e-01 3.56296395e-04 -1.75898060e-01] [ 2.75476920e-02 -2.36328540e-03 9.99617697e-01 -6.51710707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.83327356 meters Centerline goodness : 0.840120 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 9.96956902e-01 -7.29570838e-02 -2.74626823e-02 7.08947448e-01] [ 7.29896378e-02 9.97332682e-01 1.83490271e-04 -1.76065166e-01] [ 2.73760437e-02 -2.18742313e-03 9.99622813e-01 -6.48728303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.86327356 meters Centerline goodness : 0.837541 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 9.96923914e-01 -7.34769941e-02 -2.72734666e-02 7.08043101e-01] [ 7.35020641e-02 9.97295061e-01 -8.35212848e-05 -1.76590524e-01] [ 2.72058304e-02 -1.92139172e-03 9.99628006e-01 -6.42305193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.893273559999997 meters Centerline goodness : 0.838716 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 9.96910111e-01 -7.36875134e-02 -2.72099573e-02 7.07697333e-01] [ 7.37081269e-02 9.97279826e-01 -2.46001203e-04 -1.76685231e-01] [ 2.71540687e-02 -1.76035390e-03 9.99629710e-01 -6.39560047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.92327356 meters Centerline goodness : 0.841496 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 9.96906987e-01 -7.37395496e-02 -2.71834241e-02 7.07590799e-01] [ 7.37600957e-02 9.97275983e-01 -2.47471706e-04 -1.76876111e-01] [ 2.71276244e-02 -1.75834569e-03 9.99630432e-01 -6.38751907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.95327356 meters Centerline goodness : 0.843228 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 9.96913619e-01 -7.35994205e-02 -2.73196181e-02 7.07884066e-01] [ 7.36194307e-02 9.97286370e-01 -2.74008630e-04 -1.76734104e-01] [ 2.72656496e-02 -1.73809179e-03 9.99626712e-01 -6.37509255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.983273559999997 meters Centerline goodness : 0.842674 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 9.96925571e-01 -7.33619554e-02 -2.75214387e-02 7.08505801e-01] [ 7.33868373e-02 9.97303545e-01 -1.06228583e-04 -1.76731702e-01] [ 2.74550215e-02 -1.91380935e-03 9.99621208e-01 -6.39474861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.01327356 meters Centerline goodness : 0.837699 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 9.96937932e-01 -7.30980869e-02 -2.77746044e-02 7.09190967e-01] [ 7.31266451e-02 9.97322663e-01 1.25217130e-05 -1.76706580e-01] [ 2.76993271e-02 -2.04354701e-03 9.99614211e-01 -6.40665908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.04327356 meters Centerline goodness : 0.844197 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 9.96953461e-01 -7.28317716e-02 -2.79164748e-02 7.09626696e-01] [ 7.28617444e-02 9.97342049e-01 5.65937687e-05 -1.76408145e-01] [ 2.78381524e-02 -2.09046441e-03 9.99610258e-01 -6.41247459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.073273559999997 meters Centerline goodness : 0.844887 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 9.97000665e-01 -7.20612967e-02 -2.82284252e-02 7.10598084e-01] [ 7.20985415e-02 9.97397468e-01 3.02492473e-04 -1.75864885e-01] [ 2.81331618e-02 -2.33681348e-03 9.99601453e-01 -6.42540143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.103273559999998 meters Centerline goodness : 0.845432 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 9.97012206e-01 -7.18501798e-02 -2.83586460e-02 7.10825979e-01] [ 7.18871303e-02 9.97412733e-01 2.84292458e-04 -1.75555537e-01] [ 2.82648481e-02 -2.32206473e-03 9.99597772e-01 -6.40381397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.13327356 meters Centerline goodness : 0.846698 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 9.97047705e-01 -7.13120678e-02 -2.84686326e-02 7.11463555e-01] [ 7.13574295e-02 9.97450641e-01 5.79356886e-04 -1.75576457e-01] [ 2.83547407e-02 -2.60909489e-03 9.99594518e-01 -6.43738917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.16327356 meters Centerline goodness : 0.845182 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 9.97055614e-01 -7.11743118e-02 -2.85363053e-02 7.11705934e-01] [ 7.12227109e-02 9.97460205e-01 6.81941905e-04 -1.75847238e-01] [ 2.84152922e-02 -2.71236703e-03 9.99592524e-01 -6.44395466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.193273559999998 meters Centerline goodness : 0.846843 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 9.97053200e-01 -7.12389928e-02 -2.84591168e-02 7.11627695e-01] [ 7.12890063e-02 9.97455424e-01 7.45353048e-04 -1.76279878e-01] [ 2.83336022e-02 -2.77197880e-03 9.99594679e-01 -6.45235688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.22327356 meters Centerline goodness : 0.845900 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 9.97045967e-01 -7.14191584e-02 -2.82602926e-02 7.10945200e-01] [ 7.14717288e-02 9.97442261e-01 8.53216213e-04 -1.77666744e-01] [ 2.81270741e-02 -2.87050775e-03 9.99600234e-01 -6.41306876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.25327356 meters Centerline goodness : 0.845551 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99704621 -0.07147717 -0.02810451 0.71071427] [ 0.0715344 0.9974376 0.00103488 -0.1784797 ] [ 0.02795853 -0.00304226 0.99960445 -0.06425844] [ 0. 0. 0. 1. ]] SLAMing on 31.283273559999998 meters Centerline goodness : 0.845551 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99704621 -0.07147717 -0.02810451 0.71071427] [ 0.0715344 0.9974376 0.00103488 -0.1784797 ] [ 0.02795853 -0.00304226 0.99960445 -0.06425844] [ 0. 0. 0. 1. ]] SLAMing on 31.31327356 meters Centerline goodness : 0.844825 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99704025 -0.07158472 -0.0280421 0.7105636 ] [ 0.07164579 0.99742944 0.00117768 -0.17931689] [ 0.02788571 -0.0031833 0.99960605 -0.06427007] [ 0. 0. 0. 1. ]] SLAMing on 31.34327356 meters Centerline goodness : 0.843799 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99703234 -0.07175704 -0.02788249 0.71033843] [ 0.07182721 0.99741593 0.00152216 -0.18098411] [ 0.02770122 -0.00352037 0.99961005 -0.06451066] [ 0. 0. 0. 1. ]] SLAMing on 31.373273559999998 meters Centerline goodness : 0.843251 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99702293 -0.07193891 -0.02775012 0.71025515] [ 0.07201778 0.99740163 0.00185183 -0.18278741] [ 0.02754479 -0.00384482 0.99961318 -0.06485251] [ 0. 0. 0. 1. ]] SLAMing on 31.40327356 meters Centerline goodness : 0.846188 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.07 [[ 0.99702433 -0.07195596 -0.02765562 0.71020369] [ 0.07203957 0.99739969 0.00203762 -0.18352037] [ 0.02743709 -0.00402386 0.99961543 -0.06503763] [ 0. 0. 0. 1. ]] SLAMing on 31.43327356 meters Centerline goodness : 0.846553 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99701393 -0.07214982 -0.02752505 0.70951917] [ 0.07223124 0.99738596 0.00197389 -0.18408512] [ 0.02731068 -0.00395616 0.99961917 -0.06448581] [ 0. 0. 0. 1. ]] SLAMing on 31.463273559999998 meters Centerline goodness : 0.846553 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99701393 -0.07214982 -0.02752505 0.70951917] [ 0.07223124 0.99738596 0.00197389 -0.18408512] [ 0.02731068 -0.00395616 0.99961917 -0.06448581] [ 0. 0. 0. 1. ]] SLAMing on 31.49327356 meters Centerline goodness : 0.846108 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.06 [[ 0.99701085 -0.07219843 -0.02750899 0.70929866] [ 0.07228075 0.9973823 0.00200862 -0.1843938 ] [ 0.02729196 -0.00399099 0.99961954 -0.06424582] [ 0. 0. 0. 1. ]] SLAMing on 31.52327356 meters Centerline goodness : 0.845452 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99701513 -0.07210389 -0.02760167 0.70931813] [ 0.07218919 0.99738874 0.00210523 -0.18521032] [ 0.0273778 -0.00409149 0.99961678 -0.06388223] [ 0. 0. 0. 1. ]] SLAMing on 31.553273559999997 meters Centerline goodness : 0.845908 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99702572 -0.0719017 -0.02774618 0.70978784] [ 0.07199238 0.99740257 0.00228199 -0.18569395] [ 0.02751004 -0.00427272 0.9996124 -0.0639972 ] [ 0. 0. 0. 1. ]] SLAMing on 31.58327356 meters Centerline goodness : 0.849117 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99704421 -0.07160901 -0.02783879 0.71003029] [ 0.07170973 0.99742206 0.00263525 -0.18656889] [ 0.02757832 -0.00462378 0.99960895 -0.06403844] [ 0. 0. 0. 1. ]] SLAMing on 31.61327356 meters Centerline goodness : 0.847561 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99704718 -0.07155625 -0.02786788 0.71014483] [ 0.07165965 0.99742541 0.00272838 -0.18696573] [ 0.0276009 -0.00471732 0.99960789 -0.06405576] [ 0. 0. 0. 1. ]] SLAMing on 31.643273559999997 meters Centerline goodness : 0.847178 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99705295 -0.07146164 -0.02790426 0.71021464] [ 0.07157016 0.99743133 0.00290837 -0.1876382 ] [ 0.02762475 -0.00489691 0.99960637 -0.06403358] [ 0. 0. 0. 1. ]] SLAMing on 31.67327356 meters Centerline goodness : 0.848191 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99705862 -0.07136203 -0.02795668 0.71032477] [ 0.07147749 0.99743723 0.00315146 -0.18853163] [ 0.02766014 -0.00514046 0.99960417 -0.0640079 ] [ 0. 0. 0. 1. ]] SLAMing on 31.70327356 meters Centerline goodness : 0.846261 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99706752 -0.07124846 -0.02792879 0.71042124] [ 0.07137831 0.99744253 0.00367882 -0.19062043] [ 0.02759525 -0.00566154 0.99960315 -0.06419567] [ 0. 0. 0. 1. ]] SLAMing on 31.733273559999997 meters Centerline goodness : 0.847700 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99707442 -0.07117361 -0.02787342 0.71043766] [ 0.07130918 0.99744664 0.00389934 -0.19158483] [ 0.02752472 -0.00587556 0.99960386 -0.06429791] [ 0. 0. 0. 1. ]] SLAMing on 31.76327356 meters Centerline goodness : 0.845441 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99708106 -0.07110538 -0.02780986 0.71037252] [ 0.07124828 0.99744985 0.00418043 -0.19247272] [ 0.02744169 -0.00614963 0.99960449 -0.06437996] [ 0. 0. 0. 1. ]] SLAMing on 31.79327356 meters Centerline goodness : 0.843195 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.9970785 -0.07116004 -0.02776156 0.71015069] [ 0.07130612 0.99744518 0.00430686 -0.1930957 ] [ 0.02738415 -0.00627385 0.9996053 -0.06423389] [ 0. 0. 0. 1. ]] SLAMing on 31.823273559999997 meters Centerline goodness : 0.842947 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.06 [[ 0.99707843 -0.07118614 -0.02769729 0.70995189] [ 0.07133686 0.99744217 0.00449092 -0.19388763] [ 0.02730675 -0.00645364 0.99960627 -0.06413483] [ 0. 0. 0. 1. ]] SLAMing on 31.853273559999998 meters Centerline goodness : 0.849574 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.20, Z:-0.06 [[ 0.99707487 -0.07123697 -0.02769465 0.70973385] [ 0.0713958 0.99743657 0.00478779 -0.19585516] [ 0.02728259 -0.00675107 0.99960496 -0.063791 ] [ 0. 0. 0. 1. ]] SLAMing on 31.88327356 meters Centerline goodness : 0.843504 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.20, Z:-0.06 [[ 0.99707008 -0.07133341 -0.02761876 0.70949207] [ 0.07149618 0.99742859 0.00495023 -0.1969715 ] [ 0.02719463 -0.00691036 0.99960627 -0.0636575 ] [ 0. 0. 0. 1. ]] SLAMing on 31.91327356 meters Centerline goodness : 0.845524 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.20, Z:-0.06 [[ 0.99705924 -0.07151753 -0.02753376 0.70890067] [ 0.07168565 0.99741389 0.00516692 -0.19886024] [ 0.02709303 -0.0071255 0.99960752 -0.06309846] [ 0. 0. 0. 1. ]] SLAMing on 31.943273559999998 meters Centerline goodness : 0.847125 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.20, Z:-0.06 [[ 0.99704633 -0.071724 -0.02746421 0.70833085] [ 0.07189075 0.99739931 0.00513195 -0.1995846 ] [ 0.0270247 -0.00709121 0.99960961 -0.06254093] [ 0. 0. 0. 1. ]] SLAMing on 31.97327356 meters Centerline goodness : 0.850552 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.20, Z:-0.06 [[ 0.99704993 -0.07168643 -0.02743174 0.70825723] [ 0.07186359 0.99739916 0.00552648 -0.20129412] [ 0.02696422 -0.00748152 0.9996084 -0.0625254 ] [ 0. 0. 0. 1. ]] SLAMing on 32.003273560000004 meters Centerline goodness : 0.850547 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.20, Z:-0.06 [[ 0.99705101 -0.0716373 -0.02752052 0.70860146] [ 0.07182166 0.99740081 0.00576884 -0.20232041] [ 0.02703572 -0.0077284 0.99960459 -0.06269802] [ 0. 0. 0. 1. ]] SLAMing on 32.03327356 meters Centerline goodness : 0.849899 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.20, Z:-0.06 [[ 0.99705747 -0.07155155 -0.02750964 0.70877867] [ 0.07174553 0.99740414 0.00612912 -0.20365306] [ 0.02699968 -0.00808478 0.99960275 -0.06292418] [ 0. 0. 0. 1. ]] SLAMing on 32.06327356 meters Centerline goodness : 0.851382 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.21, Z:-0.06 [[ 0.99705105 -0.07168463 -0.02739566 0.70848545] [ 0.07188972 0.99739092 0.00657477 -0.20607612] [ 0.02685287 -0.00852485 0.99960305 -0.06288943] [ 0. 0. 0. 1. ]] SLAMing on 32.09327356 meters Centerline goodness : 0.852876 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.21, Z:-0.06 [[ 0.99703804 -0.07190727 -0.02728547 0.70792422] [ 0.07211263 0.99737454 0.00661716 -0.20703199] [ 0.02673801 -0.00856519 0.99960578 -0.06246296] [ 0. 0. 0. 1. ]] SLAMing on 32.12327356 meters Centerline goodness : 0.852668 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.21, Z:-0.06 [[ 0.9970319 -0.07202357 -0.02720291 0.70776107] [ 0.07223363 0.99736443 0.00681884 -0.20829917] [ 0.0266401 -0.00876356 0.99960668 -0.06239999] [ 0. 0. 0. 1. ]] SLAMing on 32.153273559999995 meters Centerline goodness : 0.852769 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.21, Z:-0.06 [[ 0.99700446 -0.07249098 -0.02696592 0.70676937] [ 0.07270168 0.99732975 0.00691562 -0.21033305] [ 0.0263926 -0.00885538 0.99961243 -0.06177239] [ 0. 0. 0. 1. ]] SLAMing on 32.183273559999996 meters Centerline goodness : 0.851911 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.21, Z:-0.06 [[ 0.99699622 -0.07264106 -0.02686671 0.70639636] [ 0.07285369 0.99731793 0.00702092 -0.21141921] [ 0.02628464 -0.00895717 0.99961437 -0.0615066 ] [ 0. 0. 0. 1. ]] SLAMing on 32.21327356 meters Centerline goodness : 0.852880 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.21, Z:-0.06 [[ 0.99698472 -0.07285525 -0.02671301 0.70582654] [ 0.073069 0.99730152 0.00711362 -0.2125975 ] [ 0.02612266 -0.00904406 0.99961783 -0.06118822] [ 0. 0. 0. 1. ]] SLAMing on 32.24327356 meters Centerline goodness : 0.852971 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.21, Z:-0.06 [[ 0.99693956 -0.07353226 -0.02654271 0.70483729] [ 0.07374353 0.99725218 0.00706905 -0.21488573] [ 0.02594998 -0.00900476 0.99962269 -0.06043875] [ 0. 0. 0. 1. ]] SLAMing on 32.27327356 meters Centerline goodness : 0.854085 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.06 [[ 0.9969336 -0.07365892 -0.02641524 0.70464221] [ 0.07387515 0.99724075 0.00730384 -0.21634252] [ 0.02580436 -0.00923288 0.99962437 -0.06050978] [ 0. 0. 0. 1. ]] SLAMing on 32.30327356 meters Centerline goodness : 0.853537 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.06 [[ 0.99692598 -0.07379214 -0.02633097 0.70451931] [ 0.07401387 0.99722866 0.00754676 -0.21782033] [ 0.0257011 -0.00947242 0.99962479 -0.06055594] [ 0. 0. 0. 1. ]] SLAMing on 32.33327356 meters Centerline goodness : 0.855650 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.06 [[ 0.99691666 -0.07388667 -0.02641861 0.70461167] [ 0.07412034 0.9972174 0.0079766 -0.22031606] [ 0.02575573 -0.00991017 0.99961914 -0.06039976] [ 0. 0. 0. 1. ]] SLAMing on 32.363273559999996 meters Centerline goodness : 0.856259 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.06 [[ 0.99691613 -0.07388356 -0.02644719 0.70464737] [ 0.07412147 0.99721608 0.00812984 -0.2211053 ] [ 0.02577291 -0.01006507 0.99961715 -0.06031277] [ 0. 0. 0. 1. ]] SLAMing on 32.39327356 meters Centerline goodness : 0.853966 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.06 [[ 0.99693065 -0.07365936 -0.02652513 0.70497442] [ 0.07391107 0.99722744 0.00863611 -0.22226884] [ 0.02581546 -0.0105701 0.99961084 -0.06038831] [ 0. 0. 0. 1. ]] SLAMing on 32.42327356 meters Centerline goodness : 0.854105 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.06 [[ 0.99693268 -0.07363029 -0.0265293 0.70494905] [ 0.07389994 0.99722201 0.00933021 -0.22395049] [ 0.02576862 -0.0112621 0.99960449 -0.06008178] [ 0. 0. 0. 1. ]] SLAMing on 32.45327356 meters Centerline goodness : 0.852205 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.23, Z:-0.06 [[ 0.99695352 -0.07330831 -0.02663792 0.70542525] [ 0.07359266 0.99723969 0.00985452 -0.22528302] [ 0.02584197 -0.01178485 0.99959657 -0.06025542] [ 0. 0. 0. 1. ]] SLAMing on 32.48327356 meters Centerline goodness : 0.851716 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.23, Z:-0.06 [[ 0.99697877 -0.0728685 -0.02689829 0.70623032] [ 0.07318277 0.9972591 0.01088877 -0.22652367] [ 0.02603112 -0.01282437 0.99957887 -0.06055178] [ 0. 0. 0. 1. ]] SLAMing on 32.51327356 meters Centerline goodness : 0.852737 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.23, Z:-0.06 [[ 0.99699482 -0.07265611 -0.02687783 0.70634489] [ 0.07297433 0.99727257 0.01105301 -0.22733889] [ 0.02600145 -0.01298119 0.99957762 -0.06061531] [ 0. 0. 0. 1. ]] SLAMing on 32.543273559999996 meters Centerline goodness : 0.852095 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.23, Z:-0.06 [[ 0.99701753 -0.07240746 -0.02670598 0.70607053] [ 0.07273796 0.99728342 0.01161753 -0.22894479] [ 0.02579223 -0.01352542 0.99957582 -0.06050159] [ 0. 0. 0. 1. ]] SLAMing on 32.57327356 meters Centerline goodness : 0.854176 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.23, Z:-0.06 [[ 0.99705431 -0.07189824 -0.0267087 0.70628943] [ 0.07224263 0.99731296 0.01216002 -0.23025685] [ 0.02576265 -0.0140537 0.9995693 -0.06060155] [ 0. 0. 0. 1. ]] SLAMing on 32.60327356 meters Centerline goodness : 0.856325 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.23, Z:-0.06 [[ 0.9970779 -0.07152238 -0.0268369 0.70678444] [ 0.07188386 0.99733146 0.01275447 -0.2311281 ] [ 0.02585305 -0.01464634 0.99955845 -0.0608143 ] [ 0. 0. 0. 1. ]] SLAMing on 32.63327356 meters Centerline goodness : 0.854992 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.23, Z:-0.06 [[ 0.99714638 -0.07059551 -0.02674634 0.70659536] [ 0.07098094 0.99738297 0.01374494 -0.23265107] [ 0.02570602 -0.01560419 0.99954775 -0.06066512] [ 0. 0. 0. 1. ]] SLAMing on 32.66327356 meters Centerline goodness : 0.852996 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.23, Z:-0.06 [[ 0.99719574 -0.06991615 -0.02669045 0.70668073] [ 0.0703112 0.99742459 0.01416032 -0.23308089] [ 0.02563167 -0.01599725 0.99954345 -0.0609309 ] [ 0. 0. 0. 1. ]] SLAMing on 32.69327356 meters Centerline goodness : 0.853994 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.23, Z:-0.06 [[ 0.99724184 -0.06939273 -0.02633169 0.70617076] [ 0.06977798 0.99746424 0.01400444 -0.23313345] [ 0.02529311 -0.01580319 0.99955516 -0.061169 ] [ 0. 0. 0. 1. ]] SLAMing on 32.723273559999996 meters Centerline goodness : 0.852935 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:-0.06 [[ 0.99746399 -0.06586837 -0.02696209 0.70723385] [ 0.06638696 0.99761659 0.01881232 -0.23575699] [ 0.02565869 -0.02055455 0.99945942 -0.06144769] [ 0. 0. 0. 1. ]] SLAMing on 32.75327356 meters Centerline goodness : 0.852182 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:-0.06 [[ 0.99748194 -0.06554879 -0.02707647 0.7075731 ] [ 0.06607354 0.99763457 0.01896192 -0.23580097] [ 0.02576949 -0.02070321 0.99945351 -0.06161541] [ 0. 0. 0. 1. ]] SLAMing on 32.78327356 meters Centerline goodness : 0.851574 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:-0.06 [[ 0.99757928 -0.06430906 -0.02645597 0.70714366] [ 0.06481033 0.99772523 0.01854682 -0.23552273] [ 0.02520306 -0.02021654 0.99947791 -0.06288828] [ 0. 0. 0. 1. ]] SLAMing on 32.81327356 meters Centerline goodness : 0.848972 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:-0.06 [[ 0.99761745 -0.06363117 -0.02665512 0.70787076] [ 0.06414692 0.9977603 0.01896198 -0.23587442] [ 0.02538885 -0.02062665 0.99946483 -0.06336609] [ 0. 0. 0. 1. ]] SLAMing on 32.84327356 meters Centerline goodness : 0.850803 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:-0.06 [[ 0.9976634 -0.06296006 -0.02652864 0.70785424] [ 0.0634794 0.99779823 0.01921085 -0.23633229] [ 0.02526071 -0.02084998 0.99946344 -0.06366302] [ 0. 0. 0. 1. ]] SLAMing on 32.87327356 meters Centerline goodness : 0.849691 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:-0.06 [[ 0.99783921 -0.06009138 -0.02656964 0.70691711] [ 0.0607099 0.99788768 0.02311918 -0.23850026] [ 0.02512425 -0.02468226 0.99937959 -0.06256597] [ 0. 0. 0. 1. ]] SLAMing on 32.903273559999995 meters Centerline goodness : 0.840998 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:-0.06 [[ 0.99784774 -0.05996865 -0.02652622 0.70662348] [ 0.06058066 0.99790052 0.02290292 -0.23833229] [ 0.02509707 -0.0244606 0.99938572 -0.06220059] [ 0. 0. 0. 1. ]] SLAMing on 32.933273559999996 meters Centerline goodness : 0.847993 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:-0.06 [[ 0.99787387 -0.05940481 -0.02681057 0.70724631] [ 0.06004939 0.99790892 0.02391341 -0.23932796] [ 0.02533394 -0.02547252 0.99935446 -0.06219385] [ 0. 0. 0. 1. ]] SLAMing on 32.96327356 meters Centerline goodness : 0.848416 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:-0.06 [[ 0.99786998 -0.05948103 -0.02678619 0.70737979] [ 0.06011948 0.9979099 0.02369555 -0.23958776] [ 0.02532077 -0.02525545 0.99936031 -0.06229918] [ 0. 0. 0. 1. ]] SLAMing on 32.99327356 meters Centerline goodness : 0.842929 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:-0.06 [[ 0.99788397 -0.05910684 -0.02709159 0.70850813] [ 0.05976382 0.99792114 0.02411812 -0.24003326] [ 0.02560972 -0.02568618 0.99934196 -0.06306212] [ 0. 0. 0. 1. ]] SLAMing on 33.02327356 meters Centerline goodness : 0.847081 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:-0.06 [[ 0.99787392 -0.05930898 -0.02702014 0.708577 ] [ 0.05995584 0.99791741 0.02379363 -0.24013055] [ 0.02555269 -0.02536306 0.99935168 -0.06328177] [ 0. 0. 0. 1. ]] SLAMing on 33.05327356 meters Centerline goodness : 0.848092 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:-0.06 [[ 0.9978772 -0.05917809 -0.02718528 0.70916077] [ 0.05983434 0.99791986 0.02399575 -0.24065348] [ 0.0257087 -0.02557142 0.99934237 -0.06355839] [ 0. 0. 0. 1. ]] SLAMing on 33.08327356 meters Centerline goodness : 0.845892 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:-0.06 [[ 0.99786811 -0.05916531 -0.02754446 0.71009285] [ 0.05983442 0.99791647 0.02413619 -0.24109322] [ 0.02605905 -0.02573285 0.99932915 -0.06377599] [ 0. 0. 0. 1. ]] SLAMing on 33.113273559999996 meters Centerline goodness : 0.847638 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:-0.06 [[ 0.99785651 -0.05936802 -0.02752859 0.71004402] [ 0.06002984 0.99791109 0.02387194 -0.24106909] [ 0.02605386 -0.02547331 0.99933593 -0.06371073] [ 0. 0. 0. 1. ]] SLAMing on 33.14327356 meters Centerline goodness : 0.846687 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:-0.06 [[ 0.99786004 -0.05936095 -0.0274157 0.70956445] [ 0.06000855 0.99792273 0.02343509 -0.24042815] [ 0.02596763 -0.02503012 0.99934938 -0.06338368] [ 0. 0. 0. 1. ]] SLAMing on 33.17327356 meters Centerline goodness : 0.846228 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:-0.06 [[ 0.99788351 -0.05887664 -0.02760512 0.70994519] [ 0.05953409 0.99794651 0.02363172 -0.24000132] [ 0.02615707 -0.02522515 0.99933953 -0.06349925] [ 0. 0. 0. 1. ]] SLAMing on 33.20327356 meters Centerline goodness : 0.846228 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:-0.06 [[ 0.99788351 -0.05887664 -0.02760512 0.70994519] [ 0.05953409 0.99794651 0.02363172 -0.24000132] [ 0.02615707 -0.02522515 0.99933953 -0.06349925] [ 0. 0. 0. 1. ]] SLAMing on 33.23327356 meters Centerline goodness : 0.846885 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:-0.06 [[ 0.99791589 -0.0584559 -0.0273272 0.70904119] [ 0.05908901 0.99798855 0.02296386 -0.23857654] [ 0.02592986 -0.02453074 0.99936274 -0.06314411] [ 0. 0. 0. 1. ]] SLAMing on 33.26327356 meters Centerline goodness : 0.846191 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:-0.06 [[ 0.99794489 -0.05784085 -0.02757588 0.7095377 ] [ 0.05848897 0.99801597 0.02330579 -0.23835902] [ 0.02617314 -0.02487078 0.99934799 -0.06323552] [ 0. 0. 0. 1. ]] SLAMing on 33.293273559999996 meters Centerline goodness : 0.846015 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:-0.06 [[ 0.99796594 -0.05759273 -0.02733238 0.70884781] [ 0.05821525 0.99804925 0.02255407 -0.23715315] [ 0.02598012 -0.02409936 0.99937193 -0.06308613] [ 0. 0. 0. 1. ]] SLAMing on 33.32327356 meters Centerline goodness : 0.846235 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:-0.06 [[ 0.99797896 -0.05718599 -0.0277084 0.70986203] [ 0.05782674 0.99806389 0.02290294 -0.23723916] [ 0.02634502 -0.02445894 0.99935364 -0.06349714] [ 0. 0. 0. 1. ]] SLAMing on 33.35327356 meters Centerline goodness : 0.845917 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:-0.06 [[ 0.99797489 -0.05724371 -0.02773571 0.7099806 ] [ 0.05787905 0.99806612 0.02267223 -0.23701042] [ 0.02638423 -0.02423164 0.99935814 -0.06360852] [ 0. 0. 0. 1. ]] SLAMing on 33.38327356 meters Centerline goodness : 0.844895 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:-0.06 [[ 0.99794453 -0.05776399 -0.02774954 0.70974383] [ 0.05838649 0.99804782 0.0221714 -0.23658237] [ 0.02641466 -0.02374603 0.999369 -0.06316939] [ 0. 0. 0. 1. ]] SLAMing on 33.41327356 meters Centerline goodness : 0.846873 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:-0.06 [[ 0.99792612 -0.05777355 -0.02838444 0.71106253] [ 0.05842878 0.99803065 0.02282343 -0.2369453 ] [ 0.02700995 -0.02443456 0.99933649 -0.06315147] [ 0. 0. 0. 1. ]] SLAMing on 33.44327356 meters Centerline goodness : 0.849133 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:-0.06 [[ 0.99788279 -0.05837782 -0.02866993 0.71130123] [ 0.05903685 0.99799757 0.02270453 -0.23681807] [ 0.02728708 -0.02434905 0.99933105 -0.06254905] [ 0. 0. 0. 1. ]] SLAMing on 33.473273559999996 meters Centerline goodness : 0.846144 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:-0.06 [[ 0.99786945 -0.05836117 -0.02916382 0.712332 ] [ 0.05904697 0.99798477 0.02323456 -0.23704833] [ 0.02774906 -0.0249071 0.99930457 -0.06256042] [ 0. 0. 0. 1. ]] SLAMing on 33.50327356 meters Centerline goodness : 0.846882 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:-0.06 [[ 0.99780417 -0.05938241 -0.02933551 0.71234461] [ 0.06005784 0.99793663 0.02270554 -0.23651192] [ 0.02792667 -0.02441751 0.99931171 -0.06190618] [ 0. 0. 0. 1. ]] SLAMing on 33.53327356 meters Centerline goodness : 0.850835 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:-0.06 [[ 0.9977617 -0.05978036 -0.0299649 0.71352998] [ 0.06047985 0.99790424 0.02300707 -0.23681033] [ 0.02852673 -0.02476785 0.99928613 -0.06168508] [ 0. 0. 0. 1. ]] SLAMing on 33.56327356 meters Centerline goodness : 0.851373 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:-0.06 [[ 0.99773331 -0.0600778 -0.0303135 0.7142331 ] [ 0.06079399 0.99787872 0.02328425 -0.23732447] [ 0.02885033 -0.02507435 0.9992692 -0.06156837] [ 0. 0. 0. 1. ]] SLAMing on 33.59327356 meters Centerline goodness : 0.853639 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:-0.06 [[ 0.9976505 -0.06111062 -0.03096712 0.71498826] [ 0.06184132 0.997816 0.02321371 -0.23724622] [ 0.02948089 -0.02507421 0.9992508 -0.06065802] [ 0. 0. 0. 1. ]] SLAMing on 33.62327356 meters Centerline goodness : 0.853642 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.24, Z:-0.06 [[ 0.99761954 -0.06144636 -0.03129857 0.71547278] [ 0.06218416 0.99779568 0.02317124 -0.23705522] [ 0.02980579 -0.02506236 0.99924146 -0.06037126] [ 0. 0. 0. 1. ]] SLAMing on 33.653273559999995 meters Centerline goodness : 0.853517 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.24, Z:-0.06 [[ 0.99760943 -0.06153771 -0.03144084 0.71558237] [ 0.06227654 0.9977919 0.02308585 -0.23665666] [ 0.02995077 -0.02498869 0.99923897 -0.06004728] [ 0. 0. 0. 1. ]] SLAMing on 33.683273559999996 meters Centerline goodness : 0.853924 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.24, Z:-0.06 [[ 0.99762278 -0.06116226 -0.03174855 0.71605394] [ 0.0619178 0.99780724 0.02338583 -0.23591812] [ 0.0302486 -0.02529604 0.99922226 -0.05993839] [ 0. 0. 0. 1. ]] SLAMing on 33.71327356 meters Centerline goodness : 0.852082 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.23, Z:-0.06 [[ 0.99761378 -0.06132595 -0.0317154 0.71580159] [ 0.06206295 0.99781179 0.02279962 -0.23493297] [ 0.0302478 -0.02471357 0.99923686 -0.05977466] [ 0. 0. 0. 1. ]] SLAMing on 33.74327356 meters Centerline goodness : 0.854570 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.23, Z:-0.06 [[ 0.99758528 -0.06171369 -0.03185966 0.71597009] [ 0.06242819 0.99780827 0.02194018 -0.2333934 ] [ 0.03043582 -0.02387614 0.99925152 -0.05968941] [ 0. 0. 0. 1. ]] SLAMing on 33.77327356 meters Centerline goodness : 0.854921 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.23, Z:-0.06 [[ 0.99756563 -0.0617958 -0.0323125 0.71717534] [ 0.0625264 0.99779837 0.02211041 -0.23329615] [ 0.03087503 -0.02407697 0.99923322 -0.06011808] [ 0. 0. 0. 1. ]] SLAMing on 33.80327356 meters Centerline goodness : 0.852824 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.23, Z:-0.06 [[ 0.99753643 -0.06206688 -0.03269215 0.71815605] [ 0.0628054 0.99778176 0.02206878 -0.23346768] [ 0.03124989 -0.02406765 0.99922179 -0.06033367] [ 0. 0. 0. 1. ]] SLAMing on 33.83327356 meters Centerline goodness : 0.852349 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.23, Z:-0.06 [[ 0.9975149 -0.06228294 -0.03293717 0.7190341 ] [ 0.06302503 0.99776959 0.02199287 -0.23352949] [ 0.03149393 -0.02401408 0.99921542 -0.06079871] [ 0. 0. 0. 1. ]] SLAMing on 33.863273559999996 meters Centerline goodness : 0.851097 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.23, Z:-0.06 [[ 0.99746553 -0.06268405 -0.03366339 0.72057051] [ 0.06346011 0.99773067 0.02250154 -0.23361662] [ 0.03217651 -0.02458079 0.99917989 -0.06086791] [ 0. 0. 0. 1. ]] SLAMing on 33.89327356 meters Centerline goodness : 0.848824 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.23, Z:-0.06 [[ 0.9974371 -0.0631134 -0.03370346 0.72051663] [ 0.063879 0.99771196 0.02214291 -0.2332554 ] [ 0.03222884 -0.02423911 0.99918655 -0.06060017] [ 0. 0. 0. 1. ]] SLAMing on 33.92327356 meters Centerline goodness : 0.851777 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.23, Z:-0.06 [[ 0.99742378 -0.06311744 -0.03408809 0.72080686] [ 0.06390431 0.99770216 0.02250855 -0.2333515 ] [ 0.03258908 -0.02462894 0.99916534 -0.05980569] [ 0. 0. 0. 1. ]] SLAMing on 33.95327356 meters Centerline goodness : 0.850725 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.23, Z:-0.06 [[ 0.99740793 -0.0630937 -0.03459197 0.7213978 ] [ 0.06391749 0.99768434 0.02324883 -0.23347597] [ 0.03304502 -0.0253996 0.99913107 -0.05913837] [ 0. 0. 0. 1. ]] SLAMing on 33.98327356 meters Centerline goodness : 0.848165 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.23, Z:-0.06 [[ 0.99738241 -0.06340369 -0.03476051 0.72136482] [ 0.06422481 0.99766953 0.02303675 -0.23307811] [ 0.03321888 -0.02520893 0.99913013 -0.05856477] [ 0. 0. 0. 1. ]] SLAMing on 34.01327356 meters Centerline goodness : 0.853559 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.23, Z:-0.06 [[ 0.99734885 -0.0638139 -0.03497224 0.72142062] [ 0.06462339 0.99765546 0.02252576 -0.23185754] [ 0.03345279 -0.02472606 0.99913439 -0.0580488 ] [ 0. 0. 0. 1. ]] SLAMing on 34.043273559999996 meters Centerline goodness : 0.851968 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.23, Z:-0.06 [[ 0.99745532 -0.06149892 -0.03606606 0.72321591] [ 0.06248993 0.99767963 0.02702523 -0.23375649] [ 0.03432035 -0.02921022 0.99898392 -0.05802052] [ 0. 0. 0. 1. ]] SLAMing on 34.07327356 meters Centerline goodness : 0.853163 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.23, Z:-0.06 [[ 0.99740778 -0.0619399 -0.03662199 0.72457956] [ 0.06294735 0.99765083 0.02702697 -0.23352089] [ 0.03486191 -0.02926217 0.99896365 -0.05834538] [ 0. 0. 0. 1. ]] SLAMing on 34.10327356 meters Centerline goodness : 0.853163 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.23, Z:-0.06 [[ 0.99740778 -0.0619399 -0.03662199 0.72457956] [ 0.06294735 0.99765083 0.02702697 -0.23352089] [ 0.03486191 -0.02926217 0.99896365 -0.05834538] [ 0. 0. 0. 1. ]] SLAMing on 34.13327356 meters Centerline goodness : 0.851389 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.23, Z:-0.06 [[ 0.99734082 -0.06289518 -0.03681687 0.72489588] [ 0.06388239 0.99761133 0.0262806 -0.23260382] [ 0.035076 -0.02856267 0.9989764 -0.05821106] [ 0. 0. 0. 1. ]] SLAMing on 34.16327356 meters Centerline goodness : 0.853465 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.23, Z:-0.06 [[ 0.99730416 -0.06332699 -0.0370688 0.72529866] [ 0.06430329 0.99759774 0.02576501 -0.23194947] [ 0.03534813 -0.0280792 0.99898051 -0.05799302] [ 0. 0. 0. 1. ]] SLAMing on 34.19327356 meters Centerline goodness : 0.851534 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.23, Z:-0.06 [[ 0.9972993 -0.06328879 -0.03726437 0.72581767] [ 0.06427219 0.99759857 0.02581047 -0.23162137] [ 0.03554137 -0.02813583 0.99897206 -0.05821038] [ 0. 0. 0. 1. ]] SLAMing on 34.223273559999996 meters Centerline goodness : 0.852686 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.23, Z:-0.06 [[ 0.99726977 -0.06372882 -0.0373048 0.72561909] [ 0.06468293 0.99759385 0.02495263 -0.22991375] [ 0.03562484 -0.02729749 0.99899235 -0.05785487] [ 0. 0. 0. 1. ]] SLAMing on 34.25327356 meters Centerline goodness : 0.852847 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.23, Z:-0.06 [[ 0.99726929 -0.06361691 -0.03750796 0.72590497] [ 0.06458116 0.9975972 0.02508171 -0.22946681] [ 0.03582222 -0.02743552 0.99898151 -0.05770618] [ 0. 0. 0. 1. ]] SLAMing on 34.28327356 meters Centerline goodness : 0.852366 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.23, Z:-0.06 [[ 0.99725753 -0.06387169 -0.03738762 0.72524598] [ 0.06480962 0.99759843 0.02443537 -0.22843557] [ 0.0357371 -0.02679143 0.99900204 -0.05710238] [ 0. 0. 0. 1. ]] SLAMing on 34.31327356 meters Centerline goodness : 0.850299 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.23, Z:-0.06 [[ 0.99741015 -0.0609342 -0.03821006 0.7259813 ] [ 0.06205572 0.9976546 0.0288857 -0.22948406] [ 0.03636032 -0.03118204 0.99885214 -0.0564775 ] [ 0. 0. 0. 1. ]] SLAMing on 34.34327356 meters Centerline goodness : 0.850812 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.23, Z:-0.06 [[ 0.99738053 -0.06137329 -0.03828053 0.72574753] [ 0.06247505 0.99764577 0.02828036 -0.22813426] [ 0.03645475 -0.03059785 0.99886677 -0.05602467] [ 0. 0. 0. 1. ]] SLAMing on 34.37327356 meters Centerline goodness : 0.850244 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.23, Z:-0.06 [[ 0.99736951 -0.0614501 -0.03844397 0.72587394] [ 0.06254833 0.99764776 0.02804721 -0.22734853] [ 0.03663003 -0.03037804 0.99886707 -0.05573757] [ 0. 0. 0. 1. ]] SLAMing on 34.403273559999995 meters Centerline goodness : 0.849422 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.23, Z:-0.06 [[ 0.99745963 -0.0591719 -0.03966068 0.72757102] [ 0.06046848 0.99764639 0.03233021 -0.22816923] [ 0.03765429 -0.0346463 0.99869004 -0.05530686] [ 0. 0. 0. 1. ]] SLAMing on 34.433273559999996 meters Centerline goodness : 0.850208 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.23, Z:-0.06 [[ 0.99744116 -0.05956932 -0.03953006 0.72716249] [ 0.06083653 0.99764528 0.03166725 -0.22709059] [ 0.03755058 -0.03399109 0.99871646 -0.05513162] [ 0. 0. 0. 1. ]] SLAMing on 34.46327356 meters Centerline goodness : 0.848415 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.22, Z:-0.05 [[ 0.99739666 -0.06015075 -0.03977178 0.72718801] [ 0.06138672 0.99764423 0.03062119 -0.22482923] [ 0.0378362 -0.03298293 0.99873948 -0.05469402] [ 0. 0. 0. 1. ]] SLAMing on 34.49327356 meters Centerline goodness : 0.848143 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.22, Z:-0.05 [[ 0.99738633 -0.06034562 -0.03973558 0.72688577] [ 0.06155856 0.99765122 0.03004322 -0.22377709] [ 0.03782927 -0.03241076 0.99875847 -0.05442674] [ 0. 0. 0. 1. ]] SLAMing on 34.52327356 meters Centerline goodness : 0.845979 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.22, Z:-0.05 [[ 0.99737587 -0.06044742 -0.0398431 0.72716082] [ 0.06164696 0.99765907 0.02959796 -0.22258102] [ 0.03796071 -0.0319765 0.99876748 -0.05439584] [ 0. 0. 0. 1. ]] SLAMing on 34.55327356 meters Centerline goodness : 0.847335 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.22, Z:-0.05 [[ 0.99737144 -0.06047086 -0.03991849 0.72752951] [ 0.0616423 0.9976828 0.02879682 -0.21985557] [ 0.03808463 -0.03118179 0.99878789 -0.05444018] [ 0. 0. 0. 1. ]] SLAMing on 34.58327356 meters Centerline goodness : 0.846755 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.22, Z:-0.05 [[ 0.99735323 -0.06069116 -0.04003894 0.72776292] [ 0.06184417 0.99768693 0.02821515 -0.21819118] [ 0.03823391 -0.03061665 0.99879967 -0.05437363] [ 0. 0. 0. 1. ]] SLAMing on 34.613273559999996 meters Centerline goodness : 0.844750 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.22, Z:-0.05 [[ 0.99733701 -0.0609374 -0.040069 0.72773832] [ 0.06206823 0.99768994 0.02761006 -0.21683575] [ 0.03829396 -0.03002355 0.99881538 -0.05413921] [ 0. 0. 0. 1. ]] SLAMing on 34.64327356 meters Centerline goodness : 0.847390 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.22, Z:-0.05 [[ 0.99732269 -0.06116299 -0.04008156 0.72764915] [ 0.06227657 0.99768963 0.02714832 -0.21582276] [ 0.03832848 -0.02957178 0.99882753 -0.05389843] [ 0. 0. 0. 1. ]] SLAMing on 34.67327356 meters Centerline goodness : 0.846732 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.21, Z:-0.05 [[ 0.99729005 -0.06182004 -0.03988527 0.72675032] [ 0.06289185 0.99767636 0.02620093 -0.21430878] [ 0.03817285 -0.02863839 0.99886069 -0.05317197] [ 0. 0. 0. 1. ]] SLAMing on 34.70327356 meters Centerline goodness : 0.848819 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.21, Z:-0.05 [[ 0.99726519 -0.06228208 -0.039788 0.72621672] [ 0.06332972 0.99766336 0.02563512 -0.21358735] [ 0.03809842 -0.02808478 0.99887925 -0.05270652] [ 0. 0. 0. 1. ]] SLAMing on 34.73327356 meters Centerline goodness : 0.848441 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.21, Z:-0.05 [[ 0.99724626 -0.06264372 -0.03969465 0.72582958] [ 0.06366873 0.99765524 0.0251059 -0.21297717] [ 0.03802885 -0.02756407 0.99889641 -0.05233734] [ 0. 0. 0. 1. ]] SLAMing on 34.76327356 meters Centerline goodness : 0.847050 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.21, Z:-0.05 [[ 0.99722496 -0.06305821 -0.03957333 0.72556371] [ 0.06405577 0.99764636 0.02446638 -0.21172049] [ 0.03793739 -0.02693339 0.99891709 -0.05224512] [ 0. 0. 0. 1. ]] SLAMing on 34.793273559999996 meters Centerline goodness : 0.851683 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.21, Z:-0.05 [[ 0.99720425 -0.06339625 -0.039555 0.72544034] [ 0.06437255 0.99763932 0.02391568 -0.21074187] [ 0.03794545 -0.02639507 0.99893115 -0.05207014] [ 0. 0. 0. 1. ]] SLAMing on 34.82327356 meters Centerline goodness : 0.853314 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.21, Z:-0.05 [[ 0.99719508 -0.06352715 -0.03957608 0.72560034] [ 0.06449382 0.99763791 0.02364637 -0.21021157] [ 0.03798041 -0.02613246 0.99893673 -0.05211352] [ 0. 0. 0. 1. ]] SLAMing on 34.85327356 meters Centerline goodness : 0.852459 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.21, Z:-0.05 [[ 0.99717927 -0.06379051 -0.03955102 0.72554869] [ 0.06473712 0.9976342 0.02313259 -0.20923923] [ 0.03798181 -0.02562775 0.99894975 -0.05198977] [ 0. 0. 0. 1. ]] SLAMing on 34.88327356 meters Centerline goodness : 0.851536 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.21, Z:-0.05 [[ 0.99715539 -0.06421753 -0.03946191 0.72511839] [ 0.0651358 0.99762404 0.02244103 -0.20801627] [ 0.03792704 -0.02494758 0.99896905 -0.05160977] [ 0. 0. 0. 1. ]] SLAMing on 34.91327356 meters Centerline goodness : 0.850389 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.21, Z:-0.05 [[ 0.99714151 -0.06447272 -0.03939632 0.72492436] [ 0.0653781 0.9976149 0.02214101 -0.20744242] [ 0.03787487 -0.02465338 0.99897833 -0.0515083 ] [ 0. 0. 0. 1. ]] SLAMing on 34.94327356 meters Centerline goodness : 0.849997 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.21, Z:-0.05 [[ 0.99712951 -0.06472216 -0.039291 0.72462791] [ 0.06561369 0.99760606 0.02184016 -0.2069488 ] [ 0.0377834 -0.02435549 0.9989891 -0.05138818] [ 0. 0. 0. 1. ]] SLAMing on 34.973273559999996 meters Centerline goodness : 0.851984 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.21, Z:-0.05 [[ 0.9971102 -0.06511087 -0.03913856 0.72426387] [ 0.06597728 0.99759446 0.02126719 -0.20591161] [ 0.03765968 -0.02378798 0.99900745 -0.05118578] [ 0. 0. 0. 1. ]] SLAMing on 35.00327356 meters Centerline goodness : 0.852838 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.21, Z:-0.05 [[ 0.99709509 -0.06542539 -0.03899863 0.72383185] [ 0.06627273 0.9975838 0.02084442 -0.20508093] [ 0.03754065 -0.02336842 0.99902183 -0.05099151] [ 0. 0. 0. 1. ]] SLAMing on 35.03327356 meters Centerline goodness : 0.851437 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99707874 -0.06563616 -0.03906254 0.72375443] [ 0.06646983 0.99757908 0.02043888 -0.20431839] [ 0.03762644 -0.02297566 0.99902771 -0.05065617] [ 0. 0. 0. 1. ]] SLAMing on 35.06327356 meters Centerline goodness : 0.851614 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99706802 -0.06580892 -0.03904558 0.72368124] [ 0.06662793 0.99757626 0.0200578 -0.20369878] [ 0.03763097 -0.02260052 0.9990361 -0.05049156] [ 0. 0. 0. 1. ]] SLAMing on 35.09327356 meters Centerline goodness : 0.851614 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99706802 -0.06580892 -0.03904558 0.72368124] [ 0.06662793 0.99757626 0.0200578 -0.20369878] [ 0.03763097 -0.02260052 0.9990361 -0.05049156] [ 0. 0. 0. 1. ]] SLAMing on 35.12327356 meters Centerline goodness : 0.851977 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99705581 -0.06602712 -0.03898889 0.72374332] [ 0.06682821 0.99757172 0.01961239 -0.20257967] [ 0.03759927 -0.0221602 0.99904716 -0.05066666] [ 0. 0. 0. 1. ]] SLAMing on 35.153273559999995 meters Centerline goodness : 0.850711 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99704233 -0.06625639 -0.03894449 0.72379891] [ 0.06704753 0.99756173 0.01937069 -0.20237641] [ 0.0375661 -0.02192453 0.9990536 -0.05081486] [ 0. 0. 0. 1. ]] SLAMing on 35.183273559999996 meters Centerline goodness : 0.849228 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99702936 -0.06648747 -0.03888273 0.72386625] [ 0.06727073 0.99755012 0.01919373 -0.20232567] [ 0.03751133 -0.02175238 0.99905942 -0.05105071] [ 0. 0. 0. 1. ]] SLAMing on 35.21327356 meters Centerline goodness : 0.849611 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99700674 -0.06690153 -0.03875235 0.72353002] [ 0.06766743 0.99753079 0.01880003 -0.20207263] [ 0.03739891 -0.02136603 0.99907198 -0.05093541] [ 0. 0. 0. 1. ]] SLAMing on 35.24327356 meters Centerline goodness : 0.846940 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99696828 -0.06766637 -0.03841231 0.72231135] [ 0.06840022 0.99749337 0.01812153 -0.20149595] [ 0.03708981 -0.020694 0.99909765 -0.05031579] [ 0. 0. 0. 1. ]] SLAMing on 35.27327356 meters Centerline goodness : 0.844906 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99694111 -0.06812478 -0.03830705 0.7216862 ] [ 0.06883897 0.99747176 0.01764333 -0.20103184] [ 0.03700825 -0.02022638 0.99911025 -0.04976243] [ 0. 0. 0. 1. ]] SLAMing on 35.30327356 meters Centerline goodness : 0.843463 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99692107 -0.0684096 -0.03832113 0.72139702] [ 0.0691097 0.9974599 0.01725117 -0.20057125] [ 0.03704364 -0.01984641 0.99911655 -0.04928648] [ 0. 0. 0. 1. ]] SLAMing on 35.333273559999995 meters Centerline goodness : 0.842989 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99689932 -0.06885446 -0.03808941 0.72075493] [ 0.06953374 0.99743805 0.01680484 -0.19991918] [ 0.03683474 -0.01940123 0.99913302 -0.0490319 ] [ 0. 0. 0. 1. ]] SLAMing on 35.363273559999996 meters Centerline goodness : 0.841154 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99687928 -0.06914651 -0.03808479 0.72073856] [ 0.06981504 0.9974233 0.01651105 -0.19956616] [ 0.03684498 -0.01911841 0.9991381 -0.04901962] [ 0. 0. 0. 1. ]] SLAMing on 35.39327356 meters Centerline goodness : 0.841258 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99686333 -0.06939388 -0.03805256 0.72080286] [ 0.07005271 0.99741074 0.01626113 -0.19944085] [ 0.03682561 -0.01887581 0.99914342 -0.04913616] [ 0. 0. 0. 1. ]] SLAMing on 35.42327356 meters Centerline goodness : 0.838838 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99684852 -0.06965857 -0.03795667 0.72069561] [ 0.07030614 0.99739713 0.01600024 -0.19940469] [ 0.03674332 -0.0186184 0.99915128 -0.04915664] [ 0. 0. 0. 1. ]] SLAMing on 35.45327356 meters Centerline goodness : 0.838947 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99681098 -0.07029102 -0.03777615 0.72025394] [ 0.07092128 0.99735977 0.01560982 -0.19953233] [ 0.03657919 -0.01823917 0.9991643 -0.04915087] [ 0. 0. 0. 1. ]] SLAMing on 35.48327356 meters Centerline goodness : 0.838162 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99678578 -0.07065827 -0.0377559 0.72006659] [ 0.07127829 0.99733859 0.01533447 -0.19955048] [ 0.03657191 -0.01797636 0.99916933 -0.04897465] [ 0. 0. 0. 1. ]] SLAMing on 35.51327356 meters Centerline goodness : 0.838059 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99676887 -0.07093773 -0.03767833 0.71975801] [ 0.07155012 0.9973218 0.01515947 -0.199636 ] [ 0.03650204 -0.01780638 0.99917493 -0.04877728] [ 0. 0. 0. 1. ]] SLAMing on 35.543273559999996 meters Centerline goodness : 0.835932 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99674027 -0.07141644 -0.03753029 0.71911641] [ 0.07201095 0.99729502 0.01473347 -0.19947283] [ 0.03637656 -0.01738804 0.99918687 -0.04830727] [ 0. 0. 0. 1. ]] SLAMing on 35.57327356 meters Centerline goodness : 0.837733 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99672251 -0.07167678 -0.03750579 0.71866989] [ 0.07225777 0.99728247 0.01436979 -0.19915953] [ 0.03637389 -0.01703278 0.99919309 -0.04772518] [ 0. 0. 0. 1. ]] SLAMing on 35.60327356 meters Centerline goodness : 0.836993 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99670607 -0.07191989 -0.03747718 0.71833654] [ 0.07248403 0.99727248 0.01391633 -0.19862456] [ 0.03637409 -0.01658698 0.99920058 -0.04723237] [ 0. 0. 0. 1. ]] SLAMing on 35.63327356 meters Centerline goodness : 0.836126 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99670352 -0.07195297 -0.0374816 0.71812577] [ 0.07250485 0.99727564 0.01357723 -0.1979651 ] [ 0.03640256 -0.01625007 0.99920508 -0.04673051] [ 0. 0. 0. 1. ]] SLAMing on 35.66327356 meters Centerline goodness : 0.837067 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99670694 -0.07188438 -0.03752226 0.71836989] [ 0.07243062 0.99728336 0.01340561 -0.19734934] [ 0.03645667 -0.01607923 0.99920587 -0.04678178] [ 0. 0. 0. 1. ]] SLAMing on 35.69327356 meters Centerline goodness : 0.839224 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99672196 -0.07159559 -0.03767512 0.71905442] [ 0.0721501 0.99730148 0.01356885 -0.19722432] [ 0.03660198 -0.01624264 0.99919791 -0.04715018] [ 0. 0. 0. 1. ]] SLAMing on 35.723273559999996 meters Centerline goodness : 0.834382 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99672449 -0.07155136 -0.03769209 0.71929648] [ 0.07210392 0.99730564 0.01350837 -0.19682766] [ 0.03662399 -0.01618187 0.99919809 -0.04737312] [ 0. 0. 0. 1. ]] SLAMing on 35.75327356 meters Centerline goodness : 0.838750 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99675056 -0.07111763 -0.0378233 0.72021371] [ 0.07167901 0.9973337 0.0136974 -0.19638875] [ 0.03674833 -0.01636403 0.99919056 -0.04809838] [ 0. 0. 0. 1. ]] SLAMing on 35.78327356 meters Centerline goodness : 0.836844 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99675198 -0.07110534 -0.03780896 0.72032273] [ 0.07166358 0.99733588 0.0136188 -0.19600209] [ 0.03673986 -0.01628409 0.99919218 -0.04821925] [ 0. 0. 0. 1. ]] SLAMing on 35.81327356 meters Centerline goodness : 0.837556 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99674552 -0.07114187 -0.03791047 0.72063997] [ 0.07169696 0.99733526 0.01348785 -0.19590351] [ 0.0368499 -0.01616202 0.99919011 -0.04827765] [ 0. 0. 0. 1. ]] SLAMing on 35.84327356 meters Centerline goodness : 0.837399 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99672582 -0.07151119 -0.03773317 0.71996466] [ 0.07205536 0.99731245 0.01326253 -0.19634092] [ 0.03668334 -0.01593799 0.99919984 -0.04787806] [ 0. 0. 0. 1. ]] SLAMing on 35.87327356 meters Centerline goodness : 0.837981 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.9967091 -0.07181982 -0.03758835 0.71932867] [ 0.0723548 0.99729332 0.01306939 -0.19670022] [ 0.03654797 -0.01574608 0.99920784 -0.0474232 ] [ 0. 0. 0. 1. ]] SLAMing on 35.903273559999995 meters Centerline goodness : 0.840806 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99668269 -0.07225421 -0.0374559 0.71863777] [ 0.0727758 0.99726679 0.01275259 -0.19694838] [ 0.0364321 -0.01543617 0.99921691 -0.04686975] [ 0. 0. 0. 1. ]] SLAMing on 35.933273559999996 meters Centerline goodness : 0.840452 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99665046 -0.07277685 -0.03730134 0.717786 ] [ 0.07328911 0.99723173 0.01255287 -0.19775775] [ 0.03628452 -0.01524461 0.99922522 -0.04623438] [ 0. 0. 0. 1. ]] SLAMing on 35.96327356 meters Centerline goodness : 0.840397 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99663952 -0.07297923 -0.03719798 0.71750473] [ 0.07348764 0.99721795 0.01248691 -0.19813604] [ 0.03618321 -0.01517854 0.9992299 -0.04611804] [ 0. 0. 0. 1. ]] SLAMing on 35.99327356 meters Centerline goodness : 0.840791 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99663557 -0.0730607 -0.03714386 0.71762265] [ 0.07356709 0.99721253 0.01245234 -0.19835029] [ 0.03613055 -0.01514301 0.99923234 -0.04631306] [ 0. 0. 0. 1. ]] SLAMing on 36.02327356 meters Centerline goodness : 0.841295 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99663591 -0.0730285 -0.03719824 0.71795505] [ 0.07353795 0.99721389 0.01251479 -0.19862014] [ 0.03618066 -0.01520817 0.99922954 -0.04653804] [ 0. 0. 0. 1. ]] SLAMing on 36.05327356 meters Centerline goodness : 0.843575 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99663778 -0.07298759 -0.03722823 0.71832089] [ 0.07350086 0.99721545 0.01260807 -0.19893485] [ 0.03620433 -0.01530199 0.99922725 -0.04687934] [ 0. 0. 0. 1. ]] SLAMing on 36.083273559999995 meters Centerline goodness : 0.842542 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99666614 -0.07254547 -0.037333 0.71922573] [ 0.07307497 0.99724149 0.01301775 -0.19965954] [ 0.03628564 -0.01570246 0.99921809 -0.04764401] [ 0. 0. 0. 1. ]] SLAMing on 36.113273559999996 meters Centerline goodness : 0.839232 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99666494 -0.07252746 -0.0374 0.71944013] [ 0.07305167 0.99724545 0.01284379 -0.1994567 ] [ 0.03636545 -0.01553309 0.99921783 -0.04760639] [ 0. 0. 0. 1. ]] SLAMing on 36.14327356 meters Centerline goodness : 0.843733 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99667566 -0.07234597 -0.03746589 0.71971194] [ 0.07287055 0.9972589 0.01282871 -0.19925271] [ 0.03643509 -0.01551623 0.99921556 -0.04763076] [ 0. 0. 0. 1. ]] SLAMing on 36.17327356 meters Centerline goodness : 0.846953 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99671949 -0.07172574 -0.03749243 0.71982213] [ 0.07225072 0.99730387 0.01283844 -0.19825347] [ 0.0364705 -0.01550518 0.99921444 -0.04735901] [ 0. 0. 0. 1. ]] SLAMing on 36.20327356 meters Centerline goodness : 0.847287 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99672098 -0.07163468 -0.03762673 0.7198195 ] [ 0.0721549 0.99731318 0.01265305 -0.19750414] [ 0.03661924 -0.01532652 0.99921175 -0.04693928] [ 0. 0. 0. 1. ]] SLAMing on 36.23327356 meters Centerline goodness : 0.848682 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99672626 -0.07152144 -0.0377022 0.72005527] [ 0.07203691 0.99732371 0.01249404 -0.19692926] [ 0.0367077 -0.01516909 0.99921091 -0.04685266] [ 0. 0. 0. 1. ]] SLAMing on 36.26327356 meters Centerline goodness : 0.848984 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99672378 -0.07150637 -0.03779609 0.71993872] [ 0.07201567 0.9973278 0.01228796 -0.19651178] [ 0.03681642 -0.01496962 0.99920992 -0.04635664] [ 0. 0. 0. 1. ]] SLAMing on 36.293273559999996 meters Centerline goodness : 0.851132 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.9967358 -0.0713253 -0.03782136 0.71987382] [ 0.0718338 0.99734127 0.01225922 -0.1964852 ] [ 0.03684641 -0.01493606 0.99920932 -0.04604233] [ 0. 0. 0. 1. ]] SLAMing on 36.32327356 meters Centerline goodness : 0.849852 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99674318 -0.07120856 -0.03784676 0.72009893] [ 0.07171927 0.99734889 0.01231046 -0.19664173] [ 0.03686982 -0.01498471 0.99920772 -0.04617287] [ 0. 0. 0. 1. ]] SLAMing on 36.35327356 meters Centerline goodness : 0.848929 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99674053 -0.07123795 -0.03786107 0.72023562] [ 0.07174711 0.99734748 0.01226211 -0.19665586] [ 0.03688711 -0.01493857 0.99920778 -0.04630279] [ 0. 0. 0. 1. ]] SLAMing on 36.38327356 meters Centerline goodness : 0.850131 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.9967469 -0.07105497 -0.03803699 0.72111727] [ 0.07157032 0.99735895 0.01236141 -0.19666201] [ 0.03705819 -0.01504352 0.99919987 -0.04688514] [ 0. 0. 0. 1. ]] SLAMing on 36.41327356 meters Centerline goodness : 0.850694 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99674766 -0.07101327 -0.03809477 0.72127978] [ 0.07152975 0.99736177 0.01236877 -0.19657835] [ 0.03711592 -0.01505345 0.99919758 -0.04693803] [ 0. 0. 0. 1. ]] SLAMing on 36.44327356 meters Centerline goodness : 0.850628 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.9967471 -0.0710548 -0.03803203 0.721425 ] [ 0.07156869 0.99735954 0.01232391 -0.19666667] [ 0.03705593 -0.01500572 0.99920052 -0.04716374] [ 0. 0. 0. 1. ]] SLAMing on 36.473273559999996 meters Centerline goodness : 0.850530 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.9967458 -0.07106998 -0.03803758 0.72158596] [ 0.07158255 0.99735901 0.01228566 -0.19679433] [ 0.03706398 -0.01496851 0.99920078 -0.0472904 ] [ 0. 0. 0. 1. ]] SLAMing on 36.50327356 meters Centerline goodness : 0.851299 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99674881 -0.07104489 -0.03800568 0.72182334] [ 0.07155732 0.99736071 0.01229507 -0.19718656] [ 0.03703187 -0.01497468 0.99920188 -0.04755699] [ 0. 0. 0. 1. ]] SLAMing on 36.53327356 meters Centerline goodness : 0.849759 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99674879 -0.07105719 -0.03798312 0.72165164] [ 0.07156642 0.997361 0.0122178 -0.19704143] [ 0.03701472 -0.01489639 0.99920369 -0.04735662] [ 0. 0. 0. 1. ]] SLAMing on 36.56327356 meters Centerline goodness : 0.850045 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99674216 -0.07113126 -0.03801853 0.7214884 ] [ 0.07163303 0.99735885 0.01200113 -0.19648507] [ 0.03706446 -0.01468542 0.99920497 -0.0470185 ] [ 0. 0. 0. 1. ]] SLAMing on 36.59327356 meters Centerline goodness : 0.851895 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99673039 -0.07128022 -0.03804811 0.72129148] [ 0.07177045 0.99735283 0.01167644 -0.19585095] [ 0.03711509 -0.014369 0.99920769 -0.04657624] [ 0. 0. 0. 1. ]] SLAMing on 36.62327356 meters Centerline goodness : 0.853405 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99670911 -0.07161121 -0.03798404 0.72068216] [ 0.07208306 0.99733575 0.01120005 -0.1952005 ] [ 0.03708079 -0.0139012 0.99921558 -0.04586755] [ 0. 0. 0. 1. ]] SLAMing on 36.653273559999995 meters Centerline goodness : 0.853309 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.20, Z:-0.05 [[ 0.99669304 -0.07183633 -0.03798053 0.7204778 ] [ 0.07229695 0.99732365 0.01089479 -0.19503974] [ 0.03709624 -0.01360464 0.99921909 -0.04553458] [ 0. 0. 0. 1. ]] SLAMing on 36.683273559999996 meters Centerline goodness : 0.852427 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.05 [[ 0.99668645 -0.07190092 -0.03803121 0.72068182] [ 0.07235507 0.99732153 0.01070136 -0.19483272] [ 0.03715991 -0.01341765 0.99921925 -0.04555669] [ 0. 0. 0. 1. ]] SLAMing on 36.71327356 meters Centerline goodness : 0.851321 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.05 [[ 0.99669279 -0.07181647 -0.03802458 0.72106431] [ 0.07226439 0.99732984 0.01053759 -0.19418839] [ 0.03716627 -0.01325056 0.99922124 -0.0458908 ] [ 0. 0. 0. 1. ]] SLAMing on 36.74327356 meters Centerline goodness : 0.852037 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.05 [[ 0.99669538 -0.07175244 -0.03807754 0.7213992 ] [ 0.07219705 0.99733584 0.01043111 -0.19360399] [ 0.03722764 -0.01314572 0.99922034 -0.04613395] [ 0. 0. 0. 1. ]] SLAMing on 36.77327356 meters Centerline goodness : 0.851374 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.05 [[ 0.99669887 -0.07162892 -0.03821861 0.72189483] [ 0.07207016 0.99734645 0.01029336 -0.19297056] [ 0.03737989 -0.01301381 0.99921639 -0.04623094] [ 0. 0. 0. 1. ]] SLAMing on 36.80327356 meters Centerline goodness : 0.851583 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.05 [[ 0.99670054 -0.07157602 -0.03827423 0.72211197] [ 0.07201414 0.99735154 0.01019168 -0.19229929] [ 0.03744338 -0.01291434 0.9992153 -0.04631858] [ 0. 0. 0. 1. ]] SLAMing on 36.833273559999995 meters Centerline goodness : 0.851350 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.05 [[ 0.9967141 -0.07139671 -0.03825576 0.72240397] [ 0.07183708 0.9973636 0.01026116 -0.1918926 ] [ 0.03742229 -0.01297562 0.99921529 -0.04667958] [ 0. 0. 0. 1. ]] SLAMing on 36.863273559999996 meters Centerline goodness : 0.849702 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.05 [[ 0.99670833 -0.07152165 -0.03817273 0.72245438] [ 0.07195554 0.99735655 0.0101146 -0.19172631] [ 0.03734841 -0.01282805 0.99921996 -0.04688016] [ 0. 0. 0. 1. ]] SLAMing on 36.89327356 meters Centerline goodness : 0.852827 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.05 [[ 0.9967022 -0.07165315 -0.03808613 0.72253904] [ 0.0720813 0.99734875 0.00998824 -0.19166732] [ 0.03726947 -0.0127006 0.99922454 -0.0471241 ] [ 0. 0. 0. 1. ]] SLAMing on 36.92327356 meters Centerline goodness : 0.851315 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.05 [[ 0.99669045 -0.07183694 -0.03804724 0.72254125] [ 0.0722567 0.99733818 0.00977311 -0.19144348] [ 0.03724389 -0.01248994 0.99922815 -0.04714465] [ 0. 0. 0. 1. ]] SLAMing on 36.95327356 meters Centerline goodness : 0.851595 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.05 [[ 0.99667501 -0.07215629 -0.037847 0.72200179] [ 0.07256045 0.99731958 0.00941439 -0.19063217] [ 0.03706624 -0.01212929 0.9992392 -0.04698897] [ 0. 0. 0. 1. ]] SLAMing on 36.98327356 meters Centerline goodness : 0.852812 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.05 [[ 0.99666383 -0.07238315 -0.03770787 0.72169298] [ 0.07277448 0.99730682 0.00910909 -0.18994427] [ 0.03694697 -0.01182287 0.99924729 -0.04693999] [ 0. 0. 0. 1. ]] SLAMing on 37.01327356 meters Centerline goodness : 0.852005 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.05 [[ 0.99664365 -0.07275265 -0.03752983 0.72131522] [ 0.07312574 0.99728509 0.00866459 -0.18892055] [ 0.03679757 -0.01137991 0.99925794 -0.04689658] [ 0. 0. 0. 1. ]] SLAMing on 37.043273559999996 meters Centerline goodness : 0.852005 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.05 [[ 0.99664365 -0.07275265 -0.03752983 0.72131522] [ 0.07312574 0.99728509 0.00866459 -0.18892055] [ 0.03679757 -0.01137991 0.99925794 -0.04689658] [ 0. 0. 0. 1. ]] SLAMing on 37.07327356 meters Centerline goodness : 0.851040 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.05 [[ 0.99663584 -0.07289523 -0.03746053 0.72138787] [ 0.07326343 0.99727597 0.00855026 -0.18856346] [ 0.03673521 -0.01126598 0.99926153 -0.04720578] [ 0. 0. 0. 1. ]] SLAMing on 37.10327356 meters Centerline goodness : 0.852767 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.05 [[ 0.9966232 -0.07305254 -0.03749023 0.7215698 ] [ 0.07341276 0.99726692 0.0083215 -0.18817453] [ 0.03677986 -0.01104566 0.99926235 -0.04728266] [ 0. 0. 0. 1. ]] SLAMing on 37.13327356 meters Centerline goodness : 0.852708 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.05 [[ 0.99661104 -0.07329884 -0.03733244 0.72159969] [ 0.07364782 0.99725176 0.00805815 -0.18729698] [ 0.03663919 -0.01078029 0.99927041 -0.04775016] [ 0. 0. 0. 1. ]] SLAMing on 37.16327356 meters Centerline goodness : 0.852341 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.05 [[ 0.99659957 -0.07348556 -0.03727156 0.72168703] [ 0.07382559 0.99724044 0.0078284 -0.18668342] [ 0.03659343 -0.01055338 0.99927451 -0.04797371] [ 0. 0. 0. 1. ]] SLAMing on 37.19327356 meters Centerline goodness : 0.851341 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.05 [[ 0.99659241 -0.07363227 -0.03717326 0.72165889] [ 0.07396674 0.99723096 0.00770233 -0.18622396] [ 0.03650319 -0.01042567 0.99927915 -0.04820094] [ 0. 0. 0. 1. ]] SLAMing on 37.223273559999996 meters Centerline goodness : 0.848849 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.05 [[ 0.99658046 -0.07388249 -0.03699689 0.72161772] [ 0.07420949 0.99721415 0.00754277 -0.18556538] [ 0.03633655 -0.0102625 0.99928691 -0.04869932] [ 0. 0. 0. 1. ]] SLAMing on 37.25327356 meters Centerline goodness : 0.848917 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.05 [[ 0.99657313 -0.07405324 -0.03685267 0.72168291] [ 0.07437304 0.99720317 0.00738203 -0.18527099] [ 0.03620293 -0.01009758 0.99929344 -0.04912573] [ 0. 0. 0. 1. ]] SLAMing on 37.28327356 meters Centerline goodness : 0.846796 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.05 [[ 0.99656838 -0.07417386 -0.0367383 0.72182149] [ 0.07448912 0.99719521 0.00728633 -0.18508621] [ 0.0360948 -0.00999793 0.99929836 -0.04956156] [ 0. 0. 0. 1. ]] SLAMing on 37.31327356 meters Centerline goodness : 0.846083 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.05 [[ 0.99654639 -0.07453676 -0.03660014 0.72161997] [ 0.07483985 0.99717114 0.00698023 -0.18430674] [ 0.03597632 -0.00969527 0.99930561 -0.04976053] [ 0. 0. 0. 1. ]] SLAMing on 37.34327356 meters Centerline goodness : 0.846067 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.05 [[ 0.99653611 -0.07471815 -0.03651009 0.72145888] [ 0.07501196 0.99715983 0.00674311 -0.18361221] [ 0.03590256 -0.00945845 0.99931053 -0.04978668] [ 0. 0. 0. 1. ]] SLAMing on 37.37327356 meters Centerline goodness : 0.845550 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.05 [[ 0.99652422 -0.07488134 -0.03650027 0.72148039] [ 0.07516499 0.99715019 0.00645985 -0.18265476] [ 0.03591253 -0.00918094 0.99931276 -0.0498502 ] [ 0. 0. 0. 1. ]] SLAMing on 37.403273559999995 meters Centerline goodness : 0.845298 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.05 [[ 0.99652059 -0.07496064 -0.03643639 0.721302 ] [ 0.07523889 0.99714548 0.00632438 -0.18219863] [ 0.03585831 -0.00904381 0.99931596 -0.0497782 ] [ 0. 0. 0. 1. ]] SLAMing on 37.433273559999996 meters Centerline goodness : 0.843868 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.05 [[ 0.99649744 -0.07537585 -0.03621223 0.72056551] [ 0.07563878 0.99711756 0.00594458 -0.18144628] [ 0.03565978 -0.00866281 0.99932644 -0.04954361] [ 0. 0. 0. 1. ]] SLAMing on 37.46327356 meters Centerline goodness : 0.844089 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.05 [[ 0.99648995 -0.07549006 -0.03618046 0.720551 ] [ 0.07574902 0.99710982 0.00583894 -0.18118447] [ 0.03563511 -0.00855908 0.99932821 -0.04959908] [ 0. 0. 0. 1. ]] SLAMing on 37.49327356 meters Centerline goodness : 0.843309 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.05 [[ 0.99648428 -0.07563225 -0.03603933 0.72036806] [ 0.07588759 0.99709969 0.00576853 -0.181077 ] [ 0.03549852 -0.00848319 0.99933372 -0.04973986] [ 0. 0. 0. 1. ]] SLAMing on 37.52327356 meters Centerline goodness : 0.844153 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.05 [[ 0.99646158 -0.07602397 -0.03584233 0.72002902] [ 0.07627299 0.99707108 0.00563033 -0.18067244] [ 0.03530931 -0.00834421 0.9993416 -0.04997367] [ 0. 0. 0. 1. ]] SLAMing on 37.55327356 meters Centerline goodness : 0.843229 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.05 [[ 0.99644709 -0.07626277 -0.03573768 0.71994192] [ 0.07650683 0.99705383 0.00551 -0.18043185] [ 0.03521218 -0.0082246 0.99934602 -0.0501694 ] [ 0. 0. 0. 1. ]] SLAMing on 37.583273559999995 meters Centerline goodness : 0.841883 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.05 [[ 0.99643288 -0.07650577 -0.03561449 0.71986298] [ 0.07674584 0.99703595 0.00542132 -0.1804362 ] [ 0.03509416 -0.00813525 0.9993509 -0.05041077] [ 0. 0. 0. 1. ]] SLAMing on 37.613273559999996 meters Centerline goodness : 0.841220 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.05 [[ 0.99641843 -0.07679136 -0.03540325 0.71959011] [ 0.07702729 0.99701465 0.005347 -0.18044817] [ 0.03488695 -0.00805487 0.9993588 -0.0507086 ] [ 0. 0. 0. 1. ]] SLAMing on 37.64327356 meters Centerline goodness : 0.837861 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.05 [[ 0.9963846 -0.07736829 -0.0350982 0.71893583] [ 0.07758997 0.99697283 0.00499654 -0.18041252] [ 0.03460538 -0.00770175 0.99937138 -0.0507641 ] [ 0. 0. 0. 1. ]] SLAMing on 37.67327356 meters Centerline goodness : 0.839933 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.05 [[ 0.99637512 -0.07750621 -0.03506303 0.71889092] [ 0.07772657 0.99696236 0.00496389 -0.18040042] [ 0.03457179 -0.00767123 0.99937278 -0.05087869] [ 0. 0. 0. 1. ]] SLAMing on 37.70327356 meters Centerline goodness : 0.838045 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.05 [[ 0.99636055 -0.07775486 -0.03492608 0.71862588] [ 0.07796725 0.99694456 0.00475885 -0.17995445] [ 0.03444934 -0.00746462 0.99937857 -0.05093301] [ 0. 0. 0. 1. ]] SLAMing on 37.73327356 meters Centerline goodness : 0.838860 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.05 [[ 0.99635697 -0.0777625 -0.03501119 0.71888484] [ 0.07797236 0.9969446 0.00466707 -0.17940863] [ 0.03454129 -0.00737997 0.99937602 -0.05102498] [ 0. 0. 0. 1. ]] SLAMing on 37.76327356 meters Centerline goodness : 0.839134 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.05 [[ 0.99635962 -0.07772431 -0.03502064 0.71893789] [ 0.07792588 0.99694933 0.00442613 -0.17822441] [ 0.03456979 -0.00713903 0.99937679 -0.05099302] [ 0. 0. 0. 1. ]] SLAMing on 37.793273559999996 meters Centerline goodness : 0.838553 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.05 [[ 0.99636803 -0.07760436 -0.03504725 0.71912228] [ 0.07780534 0.99695884 0.00440545 -0.17771752] [ 0.03459878 -0.00711631 0.99937595 -0.05110729] [ 0. 0. 0. 1. ]] SLAMing on 37.82327356 meters Centerline goodness : 0.840024 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.05 [[ 0.99636346 -0.07764129 -0.03509536 0.71919815] [ 0.07783633 0.9969572 0.00422384 -0.17697961] [ 0.03466063 -0.00694018 0.99937504 -0.05106789] [ 0. 0. 0. 1. ]] SLAMing on 37.85327356 meters Centerline goodness : 0.839300 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.05 [[ 0.99636709 -0.07757085 -0.03514816 0.7194398 ] [ 0.07775884 0.99696413 0.00401152 -0.17559067] [ 0.03473028 -0.00673003 0.99937406 -0.05121374] [ 0. 0. 0. 1. ]] SLAMing on 37.88327356 meters Centerline goodness : 0.838667 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99636712 -0.0775309 -0.03523524 0.71975343] [ 0.07771825 0.99696743 0.00397681 -0.17499313] [ 0.03482006 -0.00670079 0.99937113 -0.05141607] [ 0. 0. 0. 1. ]] SLAMing on 37.91327356 meters Centerline goodness : 0.838154 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99636361 -0.07756895 -0.03525068 0.71999679] [ 0.07775211 0.99696528 0.00385309 -0.17438846] [ 0.03484482 -0.00657989 0.99937107 -0.05166794] [ 0. 0. 0. 1. ]] SLAMing on 37.94327356 meters Centerline goodness : 0.838034 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99636357 -0.07758611 -0.03521417 0.72015053] [ 0.0777671 0.99696432 0.00379715 -0.1739644 ] [ 0.03481267 -0.00652184 0.99937258 -0.05197765] [ 0. 0. 0. 1. ]] SLAMing on 37.973273559999996 meters Centerline goodness : 0.837455 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99635361 -0.07768928 -0.03526842 0.72028991] [ 0.0778655 0.9969572 0.00364889 -0.17368531] [ 0.03487763 -0.00638178 0.99937121 -0.052001 ] [ 0. 0. 0. 1. ]] SLAMing on 38.00327356 meters Centerline goodness : 0.837664 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.9963456 -0.07778659 -0.03528019 0.72044267] [ 0.07796016 0.99695009 0.00356887 -0.17359212] [ 0.03489498 -0.00630628 0.99937109 -0.05213866] [ 0. 0. 0. 1. ]] SLAMing on 38.03327356 meters Centerline goodness : 0.834250 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99633948 -0.07788012 -0.03524665 0.72022518] [ 0.07804996 0.99694342 0.00346644 -0.17350893] [ 0.03486895 -0.00620475 0.99937263 -0.05190761] [ 0. 0. 0. 1. ]] SLAMing on 38.06327356 meters Centerline goodness : 0.836270 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99633244 -0.07801983 -0.0351364 0.71995039] [ 0.07818735 0.99693283 0.00341697 -0.1734341 ] [ 0.03476204 -0.00615166 0.99937668 -0.05186289] [ 0. 0. 0. 1. ]] SLAMing on 38.09327356 meters Centerline goodness : 0.836406 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.996308 -0.07836245 -0.03506709 0.71961605] [ 0.07852339 0.99690703 0.00323389 -0.17335896] [ 0.03470522 -0.00597554 0.99937973 -0.05169248] [ 0. 0. 0. 1. ]] SLAMing on 38.12327356 meters Centerline goodness : 0.834932 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99630704 -0.07834397 -0.03513546 0.71982148] [ 0.07850725 0.99690811 0.00328998 -0.17369146] [ 0.03476907 -0.00603622 0.99937714 -0.05171496] [ 0. 0. 0. 1. ]] SLAMing on 38.153273559999995 meters Centerline goodness : 0.836958 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99630176 -0.07842564 -0.03510297 0.7198024 ] [ 0.07859191 0.99690114 0.00338027 -0.17396692] [ 0.03472909 -0.00612658 0.99937798 -0.05186602] [ 0. 0. 0. 1. ]] SLAMing on 38.183273559999996 meters Centerline goodness : 0.837375 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99629037 -0.0786429 -0.03493984 0.71954597] [ 0.07880775 0.99688416 0.00336401 -0.17424302] [ 0.03456642 -0.00610506 0.99938376 -0.05201415] [ 0. 0. 0. 1. ]] SLAMing on 38.21327356 meters Centerline goodness : 0.837536 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.9962857 -0.07872021 -0.03489889 0.71951426] [ 0.07888669 0.99687773 0.0034172 -0.17446076] [ 0.03452092 -0.00615757 0.99938501 -0.05208373] [ 0. 0. 0. 1. ]] SLAMing on 38.24327356 meters Centerline goodness : 0.838758 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99627983 -0.07880701 -0.03487043 0.7193782 ] [ 0.07897362 0.99687082 0.00342446 -0.17467379] [ 0.03449144 -0.00616556 0.99938597 -0.05199356] [ 0. 0. 0. 1. ]] SLAMing on 38.27327356 meters Centerline goodness : 0.836902 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.9962676 -0.07899163 -0.03480214 0.71908088] [ 0.07915159 0.99685732 0.00324085 -0.17452649] [ 0.03443677 -0.0059834 0.99938897 -0.05176048] [ 0. 0. 0. 1. ]] SLAMing on 38.30327356 meters Centerline goodness : 0.836834 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.9962694 -0.07895586 -0.03483173 0.71925634] [ 0.07911419 0.99686046 0.00318863 -0.17421795] [ 0.03447061 -0.00593242 0.9993881 -0.0518736 ] [ 0. 0. 0. 1. ]] SLAMing on 38.333273559999995 meters Centerline goodness : 0.839273 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99627093 -0.07889248 -0.03493164 0.71951228] [ 0.07904998 0.99686568 0.00314868 -0.17389515] [ 0.03457374 -0.00589829 0.99938474 -0.05190767] [ 0. 0. 0. 1. ]] SLAMing on 38.363273559999996 meters Centerline goodness : 0.837470 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99627449 -0.07879898 -0.03504084 0.71974002] [ 0.0789534 0.99687366 0.00304287 -0.1734634 ] [ 0.03469151 -0.00579812 0.99938125 -0.05182004] [ 0. 0. 0. 1. ]] SLAMing on 38.39327356 meters Centerline goodness : 0.836248 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99629401 -0.07846731 -0.03522971 0.72034409] [ 0.07862419 0.99689954 0.00308798 -0.17271736] [ 0.03487818 -0.00584644 0.99937447 -0.05200467] [ 0. 0. 0. 1. ]] SLAMing on 38.42327356 meters Centerline goodness : 0.836042 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99629519 -0.07844471 -0.0352466 0.72039083] [ 0.07859911 0.99690175 0.00301421 -0.17247702] [ 0.03490094 -0.00577339 0.9993741 -0.05191791] [ 0. 0. 0. 1. ]] SLAMing on 38.45327356 meters Centerline goodness : 0.839623 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99628988 -0.07847283 -0.03533407 0.72048325] [ 0.07862382 0.99690013 0.00290207 -0.17236504] [ 0.03499681 -0.00566941 0.99937134 -0.05171122] [ 0. 0. 0. 1. ]] SLAMing on 38.48327356 meters Centerline goodness : 0.836871 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99628832 -0.07845954 -0.0354075 0.72068457] [ 0.07861002 0.9969013 0.00287583 -0.1725117 ] [ 0.03507214 -0.00564854 0.99936882 -0.05168087] [ 0. 0. 0. 1. ]] SLAMing on 38.51327356 meters Centerline goodness : 0.840212 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99629494 -0.07838144 -0.03539416 0.72075747] [ 0.07853703 0.99690661 0.00302493 -0.17292126] [ 0.03504757 -0.00579348 0.99936885 -0.05182161] [ 0. 0. 0. 1. ]] SLAMing on 38.543273559999996 meters Centerline goodness : 0.841050 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99629856 -0.07836097 -0.03533746 0.72082693] [ 0.0785192 0.99690775 0.00311041 -0.17292765] [ 0.03498445 -0.00587357 0.9993706 -0.05206818] [ 0. 0. 0. 1. ]] SLAMing on 38.57327356 meters Centerline goodness : 0.845298 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99630555 -0.07826572 -0.03535155 0.72092302] [ 0.07842292 0.99691542 0.00308034 -0.1725107 ] [ 0.03500142 -0.00584133 0.99937019 -0.052144 ] [ 0. 0. 0. 1. ]] SLAMing on 38.60327356 meters Centerline goodness : 0.847529 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99630309 -0.07826722 -0.03541746 0.72105771] [ 0.07842122 0.99691587 0.00297786 -0.17203138] [ 0.03507516 -0.00574433 0.99936817 -0.05210803] [ 0. 0. 0. 1. ]] SLAMing on 38.63327356 meters Centerline goodness : 0.847882 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.9963058 -0.07824218 -0.03539639 0.721172 ] [ 0.07839682 0.99691772 0.00300003 -0.17179737] [ 0.03505256 -0.00576391 0.99936885 -0.05233318] [ 0. 0. 0. 1. ]] SLAMing on 38.66327356 meters Centerline goodness : 0.852459 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99630905 -0.07824614 -0.03529619 0.72119931] [ 0.07840221 0.99691712 0.00305742 -0.17180343] [ 0.03494814 -0.00581344 0.99937222 -0.05264184] [ 0. 0. 0. 1. ]] SLAMing on 38.69327356 meters Centerline goodness : 0.849947 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99630119 -0.07836162 -0.03526182 0.7214075 ] [ 0.07851879 0.99690784 0.00309265 -0.1720592 ] [ 0.03491044 -0.00584992 0.99937332 -0.05299594] [ 0. 0. 0. 1. ]] SLAMing on 38.723273559999996 meters Centerline goodness : 0.850787 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99628969 -0.07858378 -0.03509189 0.72096587] [ 0.07873693 0.99689091 0.00300167 -0.17207012] [ 0.03474691 -0.00575356 0.99937958 -0.05293574] [ 0. 0. 0. 1. ]] SLAMing on 38.75327356 meters Centerline goodness : 0.851730 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99627542 -0.07877867 -0.03506003 0.7209198 ] [ 0.07892847 0.99687604 0.0029074 -0.17224173] [ 0.03472147 -0.0056638 0.99938098 -0.05291665] [ 0. 0. 0. 1. ]] SLAMing on 38.78327356 meters Centerline goodness : 0.852695 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99625391 -0.07917954 -0.03476707 0.72015834] [ 0.07932228 0.99684525 0.00274353 -0.17216039] [ 0.03444016 -0.00549106 0.99939168 -0.05283521] [ 0. 0. 0. 1. ]] SLAMing on 38.81327356 meters Centerline goodness : 0.852657 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99625287 -0.07920301 -0.03474323 0.72026925] [ 0.07934869 0.9968429 0.0028321 -0.17225748] [ 0.03440923 -0.00557831 0.99939226 -0.05305176] [ 0. 0. 0. 1. ]] SLAMing on 38.84327356 meters Centerline goodness : 0.852090 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99623931 -0.07941088 -0.03465746 0.72000934] [ 0.07954924 0.99682747 0.00262948 -0.17190131] [ 0.0343387 -0.00537657 0.99939579 -0.05295376] [ 0. 0. 0. 1. ]] SLAMing on 38.87327356 meters Centerline goodness : 0.854038 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99623588 -0.07947808 -0.03460223 0.72019282] [ 0.07961619 0.99682212 0.00262995 -0.17205184] [ 0.03428324 -0.00537495 0.9993977 -0.05328552] [ 0. 0. 0. 1. ]] SLAMing on 38.903273559999995 meters Centerline goodness : 0.854038 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99623588 -0.07947808 -0.03460223 0.72019282] [ 0.07961619 0.99682212 0.00262995 -0.17205184] [ 0.03428324 -0.00537495 0.9993977 -0.05328552] [ 0. 0. 0. 1. ]] SLAMing on 38.933273559999996 meters Centerline goodness : 0.850176 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.9962242 -0.07968827 -0.03445458 0.72010759] [ 0.07982161 0.996806 0.00251002 -0.17192541] [ 0.03414451 -0.00525076 0.99940311 -0.05355381] [ 0. 0. 0. 1. ]] SLAMing on 38.96327356 meters Centerline goodness : 0.850917 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99621828 -0.07977192 -0.03443218 0.72019991] [ 0.07990247 0.99679972 0.0024301 -0.17163537] [ 0.03412814 -0.00517212 0.99940408 -0.05373927] [ 0. 0. 0. 1. ]] SLAMing on 38.99327356 meters Centerline goodness : 0.851180 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99621676 -0.07977665 -0.03446518 0.72030698] [ 0.07990573 0.99679958 0.00238191 -0.17129641] [ 0.03416486 -0.00512686 0.99940306 -0.05379787] [ 0. 0. 0. 1. ]] SLAMing on 39.02327356 meters Centerline goodness : 0.850837 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99624252 -0.07944741 -0.03448128 0.72062201] [ 0.07957099 0.99682672 0.0022244 -0.16976925] [ 0.03419514 -0.00495975 0.99940287 -0.05391858] [ 0. 0. 0. 1. ]] SLAMing on 39.05327356 meters Centerline goodness : 0.849951 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99624487 -0.07937683 -0.03457583 0.72073714] [ 0.07949505 0.99683314 0.00205576 -0.16882399] [ 0.03430315 -0.00479665 0.99939996 -0.05379705] [ 0. 0. 0. 1. ]] SLAMing on 39.083273559999995 meters Centerline goodness : 0.848467 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99626834 -0.07902439 -0.03470645 0.72104262] [ 0.07913696 0.99686198 0.00187963 -0.16735467] [ 0.034449 -0.00461918 0.99939578 -0.05360372] [ 0. 0. 0. 1. ]] SLAMing on 39.113273559999996 meters Centerline goodness : 0.847460 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99628766 -0.07871778 -0.03484828 0.72145622] [ 0.07883224 0.99688605 0.00192066 -0.16689597] [ 0.03458857 -0.00466069 0.99939077 -0.05363643] [ 0. 0. 0. 1. ]] SLAMing on 39.14327356 meters Centerline goodness : 0.845832 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99629804 -0.07853733 -0.03495867 0.72176961] [ 0.07864876 0.99690072 0.00182168 -0.16633306] [ 0.03470726 -0.0045644 0.9993871 -0.05362538] [ 0. 0. 0. 1. ]] SLAMing on 39.17327356 meters Centerline goodness : 0.846871 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99631506 -0.07833028 -0.03493807 0.72204807] [ 0.07844425 0.99691669 0.00190129 -0.16608112] [ 0.03468142 -0.00463497 0.99938767 -0.05393554] [ 0. 0. 0. 1. ]] SLAMing on 39.20327356 meters Centerline goodness : 0.846174 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99634022 -0.07791854 -0.03514079 0.72283035] [ 0.0780413 0.99694784 0.0021333 -0.16602489] [ 0.03486731 -0.00486792 0.99938009 -0.05430751] [ 0. 0. 0. 1. ]] SLAMing on 39.23327356 meters Centerline goodness : 0.844971 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99634602 -0.07781377 -0.03520843 0.72309492] [ 0.07793734 0.99695594 0.00214864 -0.16601178] [ 0.03493406 -0.00488483 0.99937768 -0.05435922] [ 0. 0. 0. 1. ]] SLAMing on 39.26327356 meters Centerline goodness : 0.842968 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99634239 -0.07787201 -0.03518217 0.72306408] [ 0.0779935 0.99695167 0.00209199 -0.16609961] [ 0.03491202 -0.00482832 0.99937873 -0.05435053] [ 0. 0. 0. 1. ]] SLAMing on 39.293273559999996 meters Centerline goodness : 0.844593 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99634648 -0.0778105 -0.0352024 0.72324815] [ 0.07793661 0.99695584 0.00222237 -0.16648094] [ 0.03492231 -0.0049578 0.99937773 -0.05448916] [ 0. 0. 0. 1. ]] SLAMing on 39.32327356 meters Centerline goodness : 0.842043 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99632909 -0.07806543 -0.03513024 0.72308934] [ 0.07819925 0.99693474 0.00244921 -0.16763564] [ 0.03483136 -0.00518737 0.99937974 -0.05466699] [ 0. 0. 0. 1. ]] SLAMing on 39.35327356 meters Centerline goodness : 0.841955 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99631321 -0.07836511 -0.03491276 0.72257628] [ 0.07849734 0.99691136 0.00243091 -0.1683175 ] [ 0.03461443 -0.00516251 0.99938741 -0.05460366] [ 0. 0. 0. 1. ]] SLAMing on 39.38327356 meters Centerline goodness : 0.838531 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.9962634 -0.07913194 -0.03460312 0.72139145] [ 0.07925594 0.99685182 0.00222445 -0.16982165] [ 0.03431816 -0.00495864 0.99939866 -0.05402549] [ 0. 0. 0. 1. ]] SLAMing on 39.41327356 meters Centerline goodness : 0.840364 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99624866 -0.07938282 -0.03445241 0.72105341] [ 0.07950857 0.99683154 0.00229324 -0.17075817] [ 0.0341612 -0.0050239 0.99940371 -0.05400887] [ 0. 0. 0. 1. ]] SLAMing on 39.44327356 meters Centerline goodness : 0.838886 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99623088 -0.07967044 -0.03430236 0.72046296] [ 0.07979413 0.99680883 0.00224986 -0.17150772] [ 0.03401364 -0.0049785 0.99940897 -0.05365883] [ 0. 0. 0. 1. ]] SLAMing on 39.473273559999996 meters Centerline goodness : 0.841977 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99621333 -0.07995104 -0.03415892 0.71992358] [ 0.08007442 0.99678633 0.00225695 -0.1722851 ] [ 0.0338687 -0.00498366 0.99941387 -0.05339458] [ 0. 0. 0. 1. ]] SLAMing on 39.50327356 meters Centerline goodness : 0.839024 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99618399 -0.080409 -0.0339389 0.71911585] [ 0.08053497 0.99674899 0.00235888 -0.17377999] [ 0.03363888 -0.00508315 0.99942113 -0.05309113] [ 0. 0. 0. 1. ]] SLAMing on 39.53327356 meters Centerline goodness : 0.837061 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.05 [[ 0.99618253 -0.08045316 -0.03387713 0.71899332] [ 0.08058281 0.99674484 0.00247704 -0.17465885] [ 0.03356756 -0.0051975 0.99942294 -0.05301221] [ 0. 0. 0. 1. ]] SLAMing on 39.56327356 meters Centerline goodness : 0.839572 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.05 [[ 0.99619044 -0.08041205 -0.03374166 0.71894183] [ 0.08054863 0.99674701 0.00270602 -0.17539706] [ 0.0334143 -0.00541355 0.99942692 -0.05329072] [ 0. 0. 0. 1. ]] SLAMing on 39.59327356 meters Centerline goodness : 0.837053 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.05 [[ 0.99620663 -0.08014547 -0.03389759 0.71955876] [ 0.08029604 0.99676623 0.00310196 -0.17661512] [ 0.03353936 -0.00581204 0.9994205 -0.05361672] [ 0. 0. 0. 1. ]] SLAMing on 39.62327356 meters Centerline goodness : 0.840337 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.05 [[ 0.99622597 -0.07985114 -0.03402368 0.7201709 ] [ 0.08001298 0.99678796 0.00341978 -0.17729626] [ 0.03364132 -0.00612921 0.99941518 -0.05395078] [ 0. 0. 0. 1. ]] SLAMing on 39.653273559999995 meters Centerline goodness : 0.840194 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.05 [[ 0.99623771 -0.07969751 -0.03404012 0.72027479] [ 0.0798643 0.99679937 0.00356629 -0.17770777] [ 0.03364695 -0.00627146 0.9994141 -0.05397573] [ 0. 0. 0. 1. ]] SLAMing on 39.683273559999996 meters Centerline goodness : 0.836977 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.05 [[ 0.99625306 -0.07943374 -0.03420713 0.72045207] [ 0.07961463 0.99681787 0.00395659 -0.1790309 ] [ 0.03378399 -0.00666516 0.99940693 -0.05370708] [ 0. 0. 0. 1. ]] SLAMing on 39.71327356 meters Centerline goodness : 0.839135 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.05 [[ 0.99626527 -0.07929939 -0.03416316 0.72053807] [ 0.07949021 0.99682654 0.00426203 -0.18008015] [ 0.03371677 -0.00696175 0.99940718 -0.05386134] [ 0. 0. 0. 1. ]] SLAMing on 39.74327356 meters Centerline goodness : 0.838824 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.05 [[ 0.99627866 -0.07914288 -0.03413554 0.72076964] [ 0.07934407 0.99683678 0.0045779 -0.1813847 ] [ 0.03366525 -0.00726931 0.99940673 -0.05407447] [ 0. 0. 0. 1. ]] SLAMing on 39.77327356 meters Centerline goodness : 0.843175 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.05 [[ 0.99629535 -0.07895159 -0.03409129 0.72076403] [ 0.07917397 0.99684714 0.00522107 -0.18394338] [ 0.0335716 -0.00790088 0.99940509 -0.05415232] [ 0. 0. 0. 1. ]] SLAMing on 39.80327356 meters Centerline goodness : 0.841462 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.05 [[ 0.9963079 -0.07882044 -0.03402808 0.72080371] [ 0.07905182 0.9968553 0.00550661 -0.18499497] [ 0.03348704 -0.00817627 0.99940571 -0.05427831] [ 0. 0. 0. 1. ]] SLAMing on 39.833273559999995 meters Centerline goodness : 0.845505 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.05 [[ 0.99631791 -0.07868536 -0.0340475 0.72092175] [ 0.07892631 0.99686364 0.00578972 -0.18599709] [ 0.03348515 -0.00845565 0.99940345 -0.05433744] [ 0. 0. 0. 1. ]] SLAMing on 39.863273559999996 meters Centerline goodness : 0.845935 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.05 [[ 0.99634488 -0.07830983 -0.03412398 0.7210219 ] [ 0.07856837 0.99688882 0.00630059 -0.18778809] [ 0.03352441 -0.00895863 0.99939775 -0.0541191 ] [ 0. 0. 0. 1. ]] SLAMing on 39.89327356 meters Centerline goodness : 0.845797 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.05 [[ 0.99636032 -0.07801934 -0.03433796 0.72161261] [ 0.07828849 0.99690914 0.00656273 -0.18859536] [ 0.03371981 -0.00922712 0.99938873 -0.05417841] [ 0. 0. 0. 1. ]] SLAMing on 39.92327356 meters Centerline goodness : 0.846662 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.05 [[ 0.99637844 -0.07777867 -0.03435823 0.72176649] [ 0.07805466 0.99692614 0.00676377 -0.18918804] [ 0.03372654 -0.00942109 0.99938669 -0.05418818] [ 0. 0. 0. 1. ]] SLAMing on 39.95327356 meters Centerline goodness : 0.849725 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.05 [[ 0.99639782 -0.07750121 -0.03442315 0.72205216] [ 0.0777868 0.9969452 0.00703417 -0.18976054] [ 0.03377283 -0.0096865 0.99938259 -0.05429379] [ 0. 0. 0. 1. ]] SLAMing on 39.98327356 meters Centerline goodness : 0.850869 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.05 [[ 0.99643853 -0.07689687 -0.03459956 0.72265473] [ 0.07720584 0.99698558 0.00768228 -0.1913386 ] [ 0.03390452 -0.0103262 0.99937173 -0.05443632] [ 0. 0. 0. 1. ]] SLAMing on 40.01327356 meters Centerline goodness : 0.847311 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.05 [[ 0.99644644 -0.07675746 -0.03468112 0.72292057] [ 0.0770712 0.99699508 0.00779976 -0.19193034] [ 0.03397821 -0.01044496 0.99936799 -0.05440821] [ 0. 0. 0. 1. ]] SLAMing on 40.043273559999996 meters Centerline goodness : 0.847776 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.05 [[ 0.99646588 -0.07643648 -0.0348313 0.72323728] [ 0.07676176 0.99701658 0.00809716 -0.19265026] [ 0.03410847 -0.01074226 0.9993604 -0.05433353] [ 0. 0. 0. 1. ]] SLAMing on 40.07327356 meters Centerline goodness : 0.846779 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.05 [[ 0.99652713 -0.07546326 -0.03519894 0.72431809] [ 0.07581696 0.99708272 0.00882256 -0.19398879] [ 0.03443048 -0.0114606 0.99934138 -0.05446397] [ 0. 0. 0. 1. ]] SLAMing on 40.10327356 meters Centerline goodness : 0.846411 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.05 [[ 0.9965554 -0.07501636 -0.03535352 0.72484436] [ 0.07538409 0.99711227 0.00918426 -0.1944872 ] [ 0.03456246 -0.01181772 0.99933267 -0.05463185] [ 0. 0. 0. 1. ]] SLAMing on 40.13327356 meters Centerline goodness : 0.845489 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.19, Z:-0.05 [[ 0.9965776 -0.07460512 -0.0355972 0.72542674] [ 0.07498435 0.99714005 0.00943803 -0.19479617] [ 0.03479127 -0.01207496 0.99932165 -0.05459061] [ 0. 0. 0. 1. ]] SLAMing on 40.16327356 meters Centerline goodness : 0.845850 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.05 [[ 0.99660145 -0.07417171 -0.03583432 0.7260604 ] [ 0.07456429 0.9971686 0.00974423 -0.19506257] [ 0.03501012 -0.01238307 0.99931024 -0.05469935] [ 0. 0. 0. 1. ]] SLAMing on 40.19327356 meters Centerline goodness : 0.843733 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.05 [[ 0.99665474 -0.07332426 -0.03609551 0.72693513] [ 0.07373797 0.99722482 0.01026511 -0.1954842 ] [ 0.03524265 -0.01289238 0.99929562 -0.05485435] [ 0. 0. 0. 1. ]] SLAMing on 40.223273559999996 meters Centerline goodness : 0.843781 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.06 [[ 0.99671337 -0.07254953 -0.03604206 0.72708658] [ 0.07297382 0.99727755 0.01059781 -0.19564674] [ 0.03517507 -0.01319311 0.99929408 -0.0552984 ] [ 0. 0. 0. 1. ]] SLAMing on 40.25327356 meters Centerline goodness : 0.845767 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.06 [[ 0.99673415 -0.07216096 -0.03624675 0.72756151] [ 0.07259588 0.99730266 0.01082779 -0.19597964] [ 0.03536763 -0.01342379 0.99928421 -0.055276 ] [ 0. 0. 0. 1. ]] SLAMing on 40.28327356 meters Centerline goodness : 0.842450 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.06 [[ 0.99682682 -0.07106871 -0.03585421 0.72730485] [ 0.07150389 0.99737963 0.01100327 -0.19677814] [ 0.03497827 -0.01353207 0.99929645 -0.05592499] [ 0. 0. 0. 1. ]] SLAMing on 40.31327356 meters Centerline goodness : 0.844109 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.06 [[ 0.99686299 -0.07046039 -0.03604871 0.72815679] [ 0.07092225 0.99741327 0.01169642 -0.19746405] [ 0.03513133 -0.01421638 0.99928158 -0.05658695] [ 0. 0. 0. 1. ]] SLAMing on 40.34327356 meters Centerline goodness : 0.841545 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.06 [[ 0.99687666 -0.07008449 -0.03640177 0.72910213] [ 0.07056847 0.99743253 0.0121837 -0.1978734 ] [ 0.03545442 -0.01471447 0.99926296 -0.05694624] [ 0. 0. 0. 1. ]] SLAMing on 40.37327356 meters Centerline goodness : 0.841319 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.06 [[ 0.99691861 -0.06936866 -0.03662346 0.73001893] [ 0.06987363 0.99747511 0.01269153 -0.19791679] [ 0.0356506 -0.01521144 0.99924854 -0.05773998] [ 0. 0. 0. 1. ]] SLAMing on 40.403273559999995 meters Centerline goodness : 0.841572 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.06 [[ 0.99694191 -0.06894297 -0.03679264 0.73083396] [ 0.06945212 0.99750389 0.01274294 -0.19804677] [ 0.03582227 -0.01525929 0.99924167 -0.05844062] [ 0. 0. 0. 1. ]] SLAMing on 40.433273559999996 meters Centerline goodness : 0.841973 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.06 [[ 0.99697099 -0.06836469 -0.03708253 0.7315518 ] [ 0.06890407 0.9975324 0.01346652 -0.19885085] [ 0.0360704 -0.01598087 0.99922147 -0.05866454] [ 0. 0. 0. 1. ]] SLAMing on 40.46327356 meters Centerline goodness : 0.843246 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.06 [[ 0.9969782 -0.0681803 -0.03722794 0.73213476] [ 0.06873106 0.99754089 0.01371901 -0.19935097] [ 0.03620103 -0.01623627 0.99921262 -0.05894382] [ 0. 0. 0. 1. ]] SLAMing on 40.49327356 meters Centerline goodness : 0.841757 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.06 [[ 0.99697961 -0.0679305 -0.03764431 0.73326939] [ 0.06850448 0.99755015 0.01417181 -0.19958576] [ 0.03658939 -0.01670781 0.99919071 -0.05937519] [ 0. 0. 0. 1. ]] SLAMing on 40.52327356 meters Centerline goodness : 0.839944 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.06 [[ 0.99700304 -0.06753477 -0.03773572 0.73353675] [ 0.06812528 0.99757013 0.0145868 -0.20055369] [ 0.03665891 -0.01711384 0.99918129 -0.05937053] [ 0. 0. 0. 1. ]] SLAMing on 40.55327356 meters Centerline goodness : 0.840586 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.06 [[ 0.99697329 -0.06761855 -0.03836651 0.73487414] [ 0.06826288 0.99754322 0.01573885 -0.20168098] [ 0.03720802 -0.01831022 0.99913978 -0.05934937] [ 0. 0. 0. 1. ]] SLAMing on 40.583273559999995 meters Centerline goodness : 0.839773 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.20, Z:-0.06 [[ 0.99693943 -0.06803543 -0.03850903 0.73510594] [ 0.06867774 0.99751679 0.01560845 -0.2020559 ] [ 0.03735148 -0.01820539 0.99913634 -0.05911154] [ 0. 0. 0. 1. ]] SLAMing on 40.613273559999996 meters Centerline goodness : 0.838705 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.20, Z:-0.06 [[ 0.99692934 -0.06796701 -0.0388893 0.73622735] [ 0.0686314 0.99751361 0.0160105 -0.20289781] [ 0.03770442 -0.01863037 0.99911525 -0.05942077] [ 0. 0. 0. 1. ]] SLAMing on 40.64327356 meters Centerline goodness : 0.842967 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.20, Z:-0.06 [[ 0.99692294 -0.0678678 -0.03922513 0.73694193] [ 0.06855337 0.99751258 0.0164038 -0.20360329] [ 0.03801427 -0.01904234 0.99909574 -0.05938005] [ 0. 0. 0. 1. ]] SLAMing on 40.67327356 meters Centerline goodness : 0.841424 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.20, Z:-0.06 [[ 0.99685342 -0.06839606 -0.04006533 0.73875745] [ 0.0691248 0.99746157 0.0170934 -0.20412531] [ 0.0387945 -0.01980912 0.99905084 -0.05953112] [ 0. 0. 0. 1. ]] SLAMing on 40.70327356 meters Centerline goodness : 0.840779 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.20, Z:-0.06 [[ 0.99682132 -0.06851328 -0.04065944 0.74022341] [ 0.06927427 0.9974422 0.01761048 -0.20453264] [ 0.03934888 -0.02037116 0.99901786 -0.05976877] [ 0. 0. 0. 1. ]] SLAMing on 40.73327356 meters Centerline goodness : 0.841326 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.20, Z:-0.06 [[ 0.99677369 -0.06915258 -0.04074477 0.7404014 ] [ 0.06990249 0.99740423 0.01727555 -0.20447795] [ 0.03944435 -0.02006797 0.99902023 -0.05963457] [ 0. 0. 0. 1. ]] SLAMing on 40.76327356 meters Centerline goodness : 0.839686 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.20, Z:-0.06 [[ 0.99671884 -0.06985349 -0.04089064 0.74055621] [ 0.07059814 0.99735899 0.01705738 -0.20493206] [ 0.03959113 -0.01988821 0.99901802 -0.05917773] [ 0. 0. 0. 1. ]] SLAMing on 40.793273559999996 meters Centerline goodness : 0.840389 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.21, Z:-0.06 [[ 0.996708 -0.0698213 -0.0412085 0.74123349] [ 0.07058609 0.99735386 0.01740376 -0.20537932] [ 0.0398843 -0.02025522 0.99899898 -0.05910045] [ 0. 0. 0. 1. ]] SLAMing on 40.82327356 meters Centerline goodness : 0.840389 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.21, Z:-0.06 [[ 0.996708 -0.0698213 -0.0412085 0.74123349] [ 0.07058609 0.99735386 0.01740376 -0.20537932] [ 0.0398843 -0.02025522 0.99899898 -0.05910045] [ 0. 0. 0. 1. ]] SLAMing on 40.85327356 meters Centerline goodness : 0.840259 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.21, Z:-0.06 [[ 0.99670927 -0.06955161 -0.04163184 0.74212906] [ 0.07035073 0.99735906 0.01804633 -0.20559598] [ 0.04026674 -0.02091578 0.99897003 -0.05914506] [ 0. 0. 0. 1. ]] SLAMing on 40.88327356 meters Centerline goodness : 0.840528 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.20, Z:-0.06 [[ 0.99670994 -0.06948403 -0.04172835 0.74220528] [ 0.0702624 0.99737531 0.01748404 -0.20448186] [ 0.04040397 -0.02035845 0.998976 -0.05906237] [ 0. 0. 0. 1. ]] SLAMing on 40.91327356 meters Centerline goodness : 0.842117 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.20, Z:-0.06 [[ 0.99671012 -0.06924511 -0.04211946 0.74331387] [ 0.07003877 0.99738781 0.01766702 -0.20398807] [ 0.04078608 -0.02055889 0.99895637 -0.059533 ] [ 0. 0. 0. 1. ]] SLAMing on 40.94327356 meters Centerline goodness : 0.841822 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.20, Z:-0.06 [[ 0.99668259 -0.06968917 -0.04203843 0.74315839] [ 0.07044966 0.99737239 0.0168869 -0.20299414] [ 0.04075113 -0.01979247 0.99897327 -0.05954039] [ 0. 0. 0. 1. ]] SLAMing on 40.973273559999996 meters Centerline goodness : 0.842351 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.20, Z:-0.06 [[ 0.99668736 -0.06941251 -0.04238182 0.74429515] [ 0.07018597 0.99738835 0.01704129 -0.20312435] [ 0.04108826 -0.01995944 0.99895614 -0.06013809] [ 0. 0. 0. 1. ]] SLAMing on 41.00327356 meters Centerline goodness : 0.842648 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.06 [[ 0.99669295 -0.06907889 -0.04279337 0.74543619] [ 0.06988639 0.99739848 0.01766847 -0.20322154] [ 0.04146152 -0.02060071 0.9989277 -0.06050434] [ 0. 0. 0. 1. ]] SLAMing on 41.03327356 meters Centerline goodness : 0.841365 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.06 [[ 0.99666593 -0.06943295 -0.04284949 0.74532546] [ 0.07022323 0.99738265 0.01722026 -0.20240492] [ 0.04154169 -0.02017188 0.99893312 -0.06024116] [ 0. 0. 0. 1. ]] SLAMing on 41.06327356 meters Centerline goodness : 0.844104 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.06 [[ 0.99675727 -0.06732692 -0.04406841 0.74729955] [ 0.0683074 0.99744047 0.02113297 -0.20306931] [ 0.0425328 -0.02407464 0.99880497 -0.06017996] [ 0. 0. 0. 1. ]] SLAMing on 41.09327356 meters Centerline goodness : 0.846345 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.06 [[ 0.99676183 -0.06742744 -0.04381083 0.74690656] [ 0.06837158 0.99745092 0.02042011 -0.20205917] [ 0.04232227 -0.02334941 0.99883113 -0.06036336] [ 0. 0. 0. 1. ]] SLAMing on 41.12327356 meters Centerline goodness : 0.842925 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.06 [[ 0.99676295 -0.06717245 -0.04417556 0.74773267] [ 0.06812808 0.99746608 0.02049338 -0.20140844] [ 0.04268703 -0.02343664 0.99881357 -0.06059874] [ 0. 0. 0. 1. ]] SLAMing on 41.153273559999995 meters Centerline goodness : 0.843731 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.06 [[ 0.99677309 -0.06715203 -0.04397735 0.74707783] [ 0.06805327 0.9974945 0.01932561 -0.19919672] [ 0.04256941 -0.02225605 0.99884559 -0.06045487] [ 0. 0. 0. 1. ]] SLAMing on 41.183273559999996 meters Centerline goodness : 0.843919 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.06 [[ 0.99681239 -0.06662192 -0.04389276 0.74681792] [ 0.06751949 0.99753141 0.01929267 -0.198461 ] [ 0.04249909 -0.02219479 0.99884995 -0.06043162] [ 0. 0. 0. 1. ]] SLAMing on 41.21327356 meters Centerline goodness : 0.845932 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.06 [[ 0.99683813 -0.06614893 -0.04402342 0.74707781] [ 0.06705415 0.99756048 0.01941188 -0.19781475] [ 0.04263195 -0.02230245 0.99884189 -0.06048208] [ 0. 0. 0. 1. ]] SLAMing on 41.24327356 meters Centerline goodness : 0.845173 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.06 [[ 0.99689278 -0.06545759 -0.04381889 0.74632588] [ 0.06633787 0.99761736 0.01894433 -0.19587866] [ 0.04247444 -0.02179232 0.99885986 -0.06027808] [ 0. 0. 0. 1. ]] SLAMing on 41.27327356 meters Centerline goodness : 0.847422 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.06 [[ 0.99691204 -0.06506502 -0.04396503 0.7468118 ] [ 0.06595522 0.9976396 0.01910855 -0.195437 ] [ 0.04261795 -0.02194927 0.99885031 -0.06058767] [ 0. 0. 0. 1. ]] SLAMing on 41.30327356 meters Centerline goodness : 0.845947 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.06 [[ 0.99690663 -0.06519275 -0.04389857 0.74669849] [ 0.06606691 0.99763874 0.01876436 -0.19466469] [ 0.04257162 -0.02160655 0.99885976 -0.06051507] [ 0. 0. 0. 1. ]] SLAMing on 41.333273559999995 meters Centerline goodness : 0.848344 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.06 [[ 0.99689628 -0.06540729 -0.04381422 0.74663135] [ 0.06626905 0.99763005 0.01851189 -0.19430579] [ 0.04249957 -0.02135796 0.99886817 -0.06061001] [ 0. 0. 0. 1. ]] SLAMing on 41.363273559999996 meters Centerline goodness : 0.846614 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.06 [[ 0.99687112 -0.06590406 -0.04364196 0.7463824 ] [ 0.066746 0.9976054 0.01812286 -0.19401907] [ 0.04234309 -0.02097908 0.99888285 -0.06075739] [ 0. 0. 0. 1. ]] SLAMing on 41.39327356 meters Centerline goodness : 0.849145 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.06 [[ 0.99685071 -0.06623285 -0.04361042 0.74630811] [ 0.0670594 0.99759074 0.01776945 -0.19382831] [ 0.04232843 -0.02063798 0.99889057 -0.0606916 ] [ 0. 0. 0. 1. ]] SLAMing on 41.42327356 meters Centerline goodness : 0.846290 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.06 [[ 0.99684484 -0.06610011 -0.04394475 0.74744991] [ 0.06695635 0.99758798 0.01830505 -0.19382268] [ 0.04262879 -0.02118968 0.99886625 -0.06135736] [ 0. 0. 0. 1. ]] SLAMing on 41.45327356 meters Centerline goodness : 0.846309 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.06 [[ 0.99683498 -0.06622304 -0.04398337 0.74755548] [ 0.06704961 0.99759458 0.01758964 -0.1918224 ] [ 0.04271273 -0.02048304 0.9988774 -0.0611432 ] [ 0. 0. 0. 1. ]] SLAMing on 41.48327356 meters Centerline goodness : 0.845728 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.06 [[ 0.99681265 -0.0664541 -0.04414064 0.74763367] [ 0.06725275 0.99759351 0.01686015 -0.19005325] [ 0.04291399 -0.01977499 0.99888305 -0.06068314] [ 0. 0. 0. 1. ]] SLAMing on 41.51327356 meters Centerline goodness : 0.845675 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.06 [[ 0.99680955 -0.06645591 -0.04420791 0.74759405] [ 0.06723433 0.99760309 0.01635908 -0.18835375] [ 0.04301479 -0.01927918 0.9988884 -0.06029067] [ 0. 0. 0. 1. ]] SLAMing on 41.543273559999996 meters Centerline goodness : 0.846210 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.06 [[ 0.99680978 -0.06639638 -0.04429202 0.74755706] [ 0.06715385 0.99761693 0.01583715 -0.18659195] [ 0.04313494 -0.01876101 0.99889309 -0.05983968] [ 0. 0. 0. 1. ]] SLAMing on 41.57327356 meters Centerline goodness : 0.844533 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.18, Z:-0.06 [[ 0.99685528 -0.06575588 -0.04422341 0.74763676] [ 0.0664763 0.99767494 0.0150205 -0.18300343] [ 0.0431329 -0.01791307 0.99890874 -0.05934381] [ 0. 0. 0. 1. ]] SLAMing on 41.60327356 meters Centerline goodness : 0.844557 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.18, Z:-0.06 [[ 0.99686913 -0.0654095 -0.04442454 0.74823244] [ 0.06611801 0.99770397 0.01466937 -0.18122641] [ 0.04336303 -0.01756071 0.99890504 -0.05929437] [ 0. 0. 0. 1. ]] SLAMing on 41.63327356 meters Centerline goodness : 0.841925 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.18, Z:-0.06 [[ 0.99691688 -0.06460424 -0.04453124 0.74919798] [ 0.06529528 0.99776437 0.01424061 -0.17809209] [ 0.04351168 -0.01710439 0.99890649 -0.05963394] [ 0. 0. 0. 1. ]] SLAMing on 41.66327356 meters Centerline goodness : 0.842941 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.18, Z:-0.06 [[ 0.99692223 -0.06441784 -0.04468108 0.74987759] [ 0.06509472 0.99778281 0.01386164 -0.17661234] [ 0.04368908 -0.01672748 0.99890513 -0.05982942] [ 0. 0. 0. 1. ]] SLAMing on 41.69327356 meters Centerline goodness : 0.842178 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.18, Z:-0.06 [[ 0.99693064 -0.06419897 -0.04480828 0.75058641] [ 0.06486558 0.99780155 0.01358359 -0.17523091] [ 0.04383772 -0.01644841 0.99890325 -0.06015287] [ 0. 0. 0. 1. ]] SLAMing on 41.723273559999996 meters Centerline goodness : 0.842260 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.17, Z:-0.06 [[ 0.99695867 -0.06371924 -0.04486952 0.75119185] [ 0.06437313 0.99783752 0.01328086 -0.17264821] [ 0.04392624 -0.01612886 0.99890457 -0.06050984] [ 0. 0. 0. 1. ]] SLAMing on 41.75327356 meters Centerline goodness : 0.840800 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.17, Z:-0.06 [[ 0.99694922 -0.06383011 -0.04492191 0.75136202] [ 0.06446457 0.99783767 0.01281803 -0.17147454] [ 0.0440066 -0.0156748 0.99890826 -0.06040562] [ 0. 0. 0. 1. ]] SLAMing on 41.78327356 meters Centerline goodness : 0.839328 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.17, Z:-0.06 [[ 0.99693969 -0.06401613 -0.04486867 0.75117152] [ 0.06463261 0.99783177 0.01242489 -0.17034507] [ 0.04397599 -0.01528684 0.99891562 -0.06028521] [ 0. 0. 0. 1. ]] SLAMing on 41.81327356 meters Centerline goodness : 0.839126 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.17, Z:-0.06 [[ 0.99693636 -0.06406257 -0.04487625 0.75126212] [ 0.06467077 0.99783167 0.01223342 -0.16984793] [ 0.04399524 -0.01509812 0.99891765 -0.06027729] [ 0. 0. 0. 1. ]] SLAMing on 41.84327356 meters Centerline goodness : 0.838844 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.17, Z:-0.06 [[ 0.99691899 -0.06435346 -0.04484589 0.75104956] [ 0.0649363 0.99782127 0.01166183 -0.1687341 ] [ 0.04399771 -0.01453803 0.99892585 -0.05997847] [ 0. 0. 0. 1. ]] SLAMing on 41.87327356 meters Centerline goodness : 0.838678 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.17, Z:-0.06 [[ 0.99690793 -0.0645553 -0.04480175 0.75108126] [ 0.06512633 0.99781186 0.01140386 -0.16834704] [ 0.04396753 -0.01428638 0.99893081 -0.0600401 ] [ 0. 0. 0. 1. ]] SLAMing on 41.903273559999995 meters Centerline goodness : 0.840833 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.17, Z:-0.06 [[ 0.99690286 -0.06466835 -0.04475143 0.75123185] [ 0.06522396 0.99780928 0.01106718 -0.16747518] [ 0.04393769 -0.01395177 0.99893685 -0.06024561] [ 0. 0. 0. 1. ]] SLAMing on 41.933273559999996 meters Centerline goodness : 0.842309 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.17, Z:-0.06 [[ 0.99690522 -0.06459606 -0.04480333 0.75145791] [ 0.06514489 0.9978163 0.01089823 -0.16667817] [ 0.04400151 -0.01378321 0.99893638 -0.06028962] [ 0. 0. 0. 1. ]] SLAMing on 41.96327356 meters Centerline goodness : 0.843025 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.17, Z:-0.06 [[ 0.99690453 -0.06446356 -0.04500907 0.75201014] [ 0.06500217 0.99782876 0.01060596 -0.16568339] [ 0.04422764 -0.01349881 0.99893028 -0.06022091] [ 0. 0. 0. 1. ]] SLAMing on 41.99327356 meters Centerline goodness : 0.844459 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.16, Z:-0.06 [[ 0.99690855 -0.0643544 -0.04507605 0.75231225] [ 0.06487935 0.99784017 0.01027966 -0.16446115] [ 0.04431716 -0.01317239 0.99893067 -0.0602014 ] [ 0. 0. 0. 1. ]] SLAMing on 42.02327356 meters Centerline goodness : 0.842447 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.16, Z:-0.06 [[ 0.99691833 -0.06407708 -0.04525452 0.75282801] [ 0.06458965 0.99786225 0.00995501 -0.16310118] [ 0.04451988 -0.01284731 0.99892589 -0.06005976] [ 0. 0. 0. 1. ]] SLAMing on 42.05327356 meters Centerline goodness : 0.843325 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.16, Z:-0.06 [[ 0.99699026 -0.06297829 -0.04521237 0.7534869 ] [ 0.06347616 0.9979366 0.00966038 -0.16057038] [ 0.04451068 -0.01250121 0.99893069 -0.06003466] [ 0. 0. 0. 1. ]] SLAMing on 42.083273559999995 meters Centerline goodness : 0.842479 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.16, Z:-0.06 [[ 0.9970154 -0.06244983 -0.04539068 0.75412087] [ 0.06294116 0.99797225 0.00947575 -0.15911498] [ 0.04470688 -0.01230441 0.99892437 -0.05999715] [ 0. 0. 0. 1. ]] SLAMing on 42.113273559999996 meters Centerline goodness : 0.843593 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.16, Z:-0.06 [[ 0.99703405 -0.0619622 -0.0456486 0.75492523] [ 0.06244186 0.9980066 0.0091564 -0.15743474] [ 0.04499026 -0.01197963 0.99891559 -0.05991693] [ 0. 0. 0. 1. ]] SLAMing on 42.14327356 meters Centerline goodness : 0.842906 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.16, Z:-0.06 [[ 0.99730169 -0.05700899 -0.04625262 0.75663462] [ 0.05767675 0.99824761 0.01323235 -0.15625617] [ 0.04541721 -0.01586434 0.99884213 -0.06081827] [ 0. 0. 0. 1. ]] SLAMing on 42.17327356 meters Centerline goodness : 0.841478 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.15, Z:-0.06 [[ 0.99734282 -0.05601332 -0.04658115 0.75816781] [ 0.05668871 0.99830323 0.01330593 -0.15466722] [ 0.0457568 -0.0159112 0.99882589 -0.0613628 ] [ 0. 0. 0. 1. ]] SLAMing on 42.20327356 meters Centerline goodness : 0.840138 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.15, Z:-0.06 [[ 0.99759132 -0.05109521 -0.04691299 0.75930534] [ 0.05196067 0.99849724 0.01741721 -0.15381806] [ 0.04595256 -0.01981289 0.99874712 -0.06216837] [ 0. 0. 0. 1. ]] SLAMing on 42.23327356 meters Centerline goodness : 0.838725 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.15, Z:-0.06 [[ 0.99762403 -0.05024328 -0.04713701 0.7603912 ] [ 0.05111647 0.99853927 0.01750502 -0.15265508] [ 0.04618865 -0.01987291 0.99873504 -0.0624838 ] [ 0. 0. 0. 1. ]] SLAMing on 42.263273559999995 meters Centerline goodness : 0.838330 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.15, Z:-0.06 [[ 0.99764462 -0.04962384 -0.04735696 0.76120175] [ 0.0504961 0.99857262 0.01740318 -0.15149891] [ 0.04642575 -0.01975353 0.99872641 -0.06249937] [ 0. 0. 0. 1. ]] SLAMing on 42.293273559999996 meters Centerline goodness : 0.838921 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.15, Z:-0.06 [[ 0.99768617 -0.04864087 -0.04750119 0.7619518 ] [ 0.04950061 0.99862781 0.01709319 -0.14983565] [ 0.04660458 -0.01940498 0.99872492 -0.06209223] [ 0. 0. 0. 1. ]] SLAMing on 42.32327356 meters Centerline goodness : 0.837167 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.15, Z:-0.06 [[ 0.99768868 -0.04838442 -0.04771008 0.76229873] [ 0.04923897 0.99864402 0.01690101 -0.14915293] [ 0.04682764 -0.01921114 0.99871823 -0.06173512] [ 0. 0. 0. 1. ]] SLAMing on 42.35327356 meters Centerline goodness : 0.837496 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.15, Z:-0.06 [[ 0.99768607 -0.04831514 -0.04783473 0.76250891] [ 0.04915729 0.99865329 0.01658791 -0.14846111] [ 0.04696886 -0.01890095 0.99871752 -0.06140111] [ 0. 0. 0. 1. ]] SLAMing on 42.38327356 meters Centerline goodness : 0.834665 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.15, Z:-0.06 [[ 0.99769226 -0.04796876 -0.04805369 0.7631562 ] [ 0.04881825 0.99866869 0.01666236 -0.1487584 ] [ 0.04719044 -0.0189698 0.99870577 -0.06135458] [ 0. 0. 0. 1. ]] SLAMing on 42.41327356 meters Centerline goodness : 0.837374 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.15, Z:-0.06 [[ 0.99754888 -0.05080482 -0.04811552 0.76454317] [ 0.05148306 0.99858974 0.01296253 -0.14723276] [ 0.0473891 -0.01540789 0.99875766 -0.06157911] [ 0. 0. 0. 1. ]] SLAMing on 42.44327356 meters Centerline goodness : 0.837852 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.15, Z:-0.06 [[ 0.99753918 -0.05092686 -0.04818745 0.76469433] [ 0.05160457 0.99858395 0.01292524 -0.14793492] [ 0.04746097 -0.01538013 0.99875468 -0.06146762] [ 0. 0. 0. 1. ]] SLAMing on 42.473273559999996 meters Centerline goodness : 0.838840 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:-0.06 [[ 0.99753043 -0.05096774 -0.04832524 0.76502445] [ 0.05165553 0.99857915 0.01309133 -0.14891366] [ 0.04758934 -0.01555527 0.99874586 -0.06153384] [ 0. 0. 0. 1. ]] SLAMing on 42.50327356 meters Centerline goodness : 0.838266 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:-0.06 [[ 0.99732925 -0.05466503 -0.04843654 0.7659722 ] [ 0.05518339 0.99843171 0.00942916 -0.14908794] [ 0.04784514 -0.01207687 0.99878175 -0.06160355] [ 0. 0. 0. 1. ]] SLAMing on 42.53327356 meters Centerline goodness : 0.838608 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:-0.06 [[ 0.99730472 -0.05521615 -0.04831639 0.76526522] [ 0.055728 0.99840258 0.0093104 -0.15035057] [ 0.04772513 -0.01197788 0.99878869 -0.06112366] [ 0. 0. 0. 1. ]] SLAMing on 42.56327356 meters Centerline goodness : 0.837762 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:-0.06 [[ 0.99709904 -0.05874373 -0.04840125 0.76615478] [ 0.05907747 0.99823829 0.00549254 -0.14991375] [ 0.04799333 -0.00833603 0.99881287 -0.06096322] [ 0. 0. 0. 1. ]] SLAMing on 42.59327356 meters Centerline goodness : 0.837479 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:-0.06 [[ 0.99684664 -0.06306953 -0.04815601 0.76550814] [ 0.06321486 0.99799881 0.00149949 -0.15071422] [ 0.04796507 -0.00453894 0.9988387 -0.06000876] [ 0. 0. 0. 1. ]] SLAMing on 42.62327356 meters Centerline goodness : 0.840325 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:-0.06 [[ 0.99681531 -0.06362304 -0.04807645 0.7650466 ] [ 0.06377339 0.99796313 0.00159832 -0.15225259] [ 0.04787683 -0.00465923 0.99884238 -0.05989705] [ 0. 0. 0. 1. ]] SLAMing on 42.653273559999995 meters Centerline goodness : 0.842120 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:-0.06 [[ 0.99654598 -0.06772792 -0.04805252 0.76544811] [ 0.06770953 0.99770305 -0.00201226 -0.1534344 ] [ 0.04807843 -0.0012483 0.99884278 -0.05974554] [ 0. 0. 0. 1. ]] SLAMing on 42.683273559999996 meters Centerline goodness : 0.839729 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:-0.06 [[ 0.99651359 -0.06813519 -0.04814843 0.76561383] [ 0.06812443 0.99767509 -0.00186625 -0.15490649] [ 0.04816365 -0.00142034 0.99883845 -0.05988948] [ 0. 0. 0. 1. ]] SLAMing on 42.71327356 meters Centerline goodness : 0.839729 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:-0.06 [[ 0.99651359 -0.06813519 -0.04814843 0.76561383] [ 0.06812443 0.99767509 -0.00186625 -0.15490649] [ 0.04816365 -0.00142034 0.99883845 -0.05988948] [ 0. 0. 0. 1. ]] SLAMing on 42.74327356 meters Centerline goodness : 0.840412 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.16, Z:-0.06 [[ 0.99649363 -0.06844996 -0.04811491 0.76559119] [ 0.06845006 0.99765318 -0.00164756 -0.15636438] [ 0.04811477 -0.00165169 0.99884045 -0.06008637] [ 0. 0. 0. 1. ]] SLAMing on 42.77327356 meters Centerline goodness : 0.838883 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.16, Z:-0.06 [[ 0.99643085 -0.0693061 -0.04818938 0.76560286] [ 0.06931341 0.99759377 -0.0015213 -0.15859859] [ 0.04817886 -0.0018243 0.99883706 -0.06034235] [ 0. 0. 0. 1. ]] SLAMing on 42.80327356 meters Centerline goodness : 0.840296 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.16, Z:-0.06 [[ 0.9964195 -0.06952356 -0.0481108 0.7655272 ] [ 0.06954177 0.9975782 -0.00129724 -0.15972388] [ 0.04808448 -0.00205312 0.99884116 -0.06057534] [ 0. 0. 0. 1. ]] SLAMing on 42.833273559999995 meters Centerline goodness : 0.837467 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.16, Z:-0.06 [[ 0.99640483 -0.06983488 -0.04796363 0.76527746] [ 0.06986095 0.99755609 -0.00113448 -0.16076763] [ 0.04792564 -0.00222039 0.99884844 -0.0607737 ] [ 0. 0. 0. 1. ]] SLAMing on 42.863273559999996 meters Centerline goodness : 0.840262 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.16, Z:-0.06 [[ 9.96393632e-01 -6.99949299e-02 -4.79628989e-02 7.65254467e-01] [ 7.00306864e-02 9.97544398e-01 -9.36562372e-04 -1.61755122e-01] [ 4.79106757e-02 -2.42568995e-03 9.98848679e-01 -6.08493568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.89327356 meters Centerline goodness : 0.840233 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.16, Z:-0.06 [[ 0.99635718 -0.0707178 -0.04765873 0.76419811] [ 0.07074906 0.99749361 -0.00103259 -0.16286898] [ 0.0476123 -0.00234298 0.99886314 -0.06049913] [ 0. 0. 0. 1. ]] SLAMing on 42.92327356 meters Centerline goodness : 0.840119 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.16, Z:-0.06 [[ 9.96352655e-01 -7.08542128e-02 -4.75506882e-02 7.64107837e-01] [ 7.08910321e-02 9.97483647e-01 -9.13772965e-04 -1.63494017e-01] [ 4.74957786e-02 -2.46047725e-03 9.98868408e-01 -6.06764562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.95327356 meters Centerline goodness : 0.838336 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.16, Z:-0.06 [[ 9.96345280e-01 -7.09898314e-02 -4.75029047e-02 7.64101376e-01] [ 7.10291771e-02 9.97473866e-01 -8.61341282e-04 -1.64031372e-01] [ 4.74440525e-02 -2.51589891e-03 9.98870728e-01 -6.07955033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.98327356 meters Centerline goodness : 0.838015 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.16, Z:-0.06 [[ 9.96337088e-01 -7.10823354e-02 -4.75363875e-02 7.64620283e-01] [ 7.11354358e-02 9.97466500e-01 -5.75880578e-04 -1.64944217e-01] [ 4.74568890e-02 -2.80775046e-03 9.98869341e-01 -6.14969596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.013273559999995 meters Centerline goodness : 0.837934 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.17, Z:-0.06 [[ 9.96335423e-01 -7.10350955e-02 -4.76417940e-02 7.65144864e-01] [ 7.10917249e-02 9.97469654e-01 -5.06872738e-04 -1.65080197e-01] [ 4.75572495e-02 -2.88192205e-03 9.98864356e-01 -6.18316613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.043273559999996 meters Centerline goodness : 0.837418 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.16, Z:-0.06 [[ 9.96330093e-01 -7.11011958e-02 -4.76546435e-02 7.65313560e-01] [ 7.11533931e-02 9.97465203e-01 -6.02289713e-04 -1.64800721e-01] [ 4.75766722e-02 -2.79071022e-03 9.98863690e-01 -6.19472597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.07327356 meters Centerline goodness : 0.838034 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.16, Z:-0.06 [[ 9.96329208e-01 -7.10116193e-02 -4.78064727e-02 7.65900351e-01] [ 7.10584692e-02 9.97471891e-01 -7.20946221e-04 -1.63927541e-01] [ 4.77368083e-02 -2.67875499e-03 9.98856357e-01 -6.22141059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.10327356 meters Centerline goodness : 0.836823 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.16, Z:-0.06 [[ 9.96334495e-01 -7.08875914e-02 -4.78803010e-02 7.66246998e-01] [ 7.09370285e-02 9.97480572e-01 -6.68056228e-04 -1.63783497e-01] [ 4.78070270e-02 -2.73087882e-03 9.98852857e-01 -6.23683065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.13327356 meters Centerline goodness : 0.838941 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.16, Z:-0.06 [[ 9.96338969e-01 -7.09041226e-02 -4.77625920e-02 7.65869289e-01] [ 7.09414460e-02 9.97480062e-01 -9.15390736e-04 -1.63060934e-01] [ 4.77071382e-02 -2.47630788e-03 9.98858297e-01 -6.20556795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.16327356 meters Centerline goodness : 0.838308 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.16, Z:-0.06 [[ 9.96344023e-01 -7.08303078e-02 -4.77666681e-02 7.66026062e-01] [ 7.08653796e-02 9.97485426e-01 -9.60968441e-04 -1.62646293e-01] [ 4.77146210e-02 -2.42754791e-03 9.98858059e-01 -6.21569796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.19327356 meters Centerline goodness : 0.838708 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.16, Z:-0.06 [[ 0.99634148 -0.07086207 -0.04777267 0.76598881] [ 0.07088779 0.99748362 -0.00115789 -0.16196925] [ 0.0477345 -0.00223285 0.99885756 -0.06199577] [ 0. 0. 0. 1. ]] SLAMing on 43.223273559999996 meters Centerline goodness : 0.837883 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.16, Z:-0.06 [[ 0.99635575 -0.07064341 -0.04779885 0.76632311] [ 0.07067355 0.99749893 -0.00106131 -0.16148863] [ 0.04775428 -0.00232068 0.99885642 -0.06225934] [ 0. 0. 0. 1. ]] SLAMing on 43.25327356 meters Centerline goodness : 0.840555 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.16, Z:-0.06 [[ 0.99636484 -0.07044013 -0.04790927 0.76671456] [ 0.07045874 0.99751384 -0.00130236 -0.15996305] [ 0.0478819 -0.002078 0.99885084 -0.06229357] [ 0. 0. 0. 1. ]] SLAMing on 43.28327356 meters Centerline goodness : 0.839737 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.16, Z:-0.06 [[ 0.99637173 -0.07028097 -0.04799964 0.76725713] [ 0.07030198 0.99752497 -0.00125245 -0.15948798] [ 0.04796886 -0.00212656 0.99884657 -0.06267677] [ 0. 0. 0. 1. ]] SLAMing on 43.31327356 meters Centerline goodness : 0.839893 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.16, Z:-0.06 [[ 0.99637899 -0.07015913 -0.04802713 0.76757469] [ 0.07017613 0.99753372 -0.00133407 -0.15882586] [ 0.04800228 -0.00204112 0.99884514 -0.06288342] [ 0. 0. 0. 1. ]] SLAMing on 43.34327356 meters Centerline goodness : 0.840184 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.16, Z:-0.06 [[ 0.99639963 -0.06986942 -0.04802118 0.76777072] [ 0.06987575 0.9975545 -0.00154897 -0.15747922] [ 0.04801197 -0.00181212 0.99884512 -0.0628681 ] [ 0. 0. 0. 1. ]] SLAMing on 43.37327356 meters Centerline goodness : 0.840353 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.16, Z:-0.06 [[ 0.99641026 -0.06969889 -0.04804853 0.7681346 ] [ 0.06970119 0.99756658 -0.00162958 -0.15644088] [ 0.04804518 -0.0017253 0.99884367 -0.06316316] [ 0. 0. 0. 1. ]] SLAMing on 43.403273559999995 meters Centerline goodness : 0.839443 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.16, Z:-0.06 [[ 0.99640918 -0.06970263 -0.04806548 0.76820211] [ 0.06968891 0.99756684 -0.00196303 -0.15512928] [ 0.04808536 -0.00139365 0.99884226 -0.06308325] [ 0. 0. 0. 1. ]] SLAMing on 43.433273559999996 meters Centerline goodness : 0.835628 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:-0.06 [[ 0.99644962 -0.06909604 -0.04810287 0.76889687] [ 0.06907836 0.99760917 -0.00203174 -0.15336846] [ 0.04812825 -0.00129834 0.99884032 -0.06350761] [ 0. 0. 0. 1. ]] SLAMing on 43.46327356 meters Centerline goodness : 0.838870 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:-0.06 [[ 0.99645928 -0.06874356 -0.04840689 0.77011483] [ 0.06872907 0.99763343 -0.00196573 -0.15255127] [ 0.04842746 -0.00136819 0.99882577 -0.06409578] [ 0. 0. 0. 1. ]] SLAMing on 43.49327356 meters Centerline goodness : 0.837629 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:-0.06 [[ 0.99648039 -0.06830384 -0.04859439 0.77109451] [ 0.06829822 0.99766337 -0.00177796 -0.15208505] [ 0.04860229 -0.00154721 0.99881701 -0.06466551] [ 0. 0. 0. 1. ]] SLAMing on 43.52327356 meters Centerline goodness : 0.839290 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:-0.07 [[ 0.99651732 -0.06776443 -0.04859229 0.77192521] [ 0.06775283 0.99770035 -0.00188764 -0.15032201] [ 0.04860846 -0.0014112 0.99881691 -0.06533058] [ 0. 0. 0. 1. ]] SLAMing on 43.55327356 meters Centerline goodness : 0.839275 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:-0.07 [[ 0.99652078 -0.0676617 -0.04866454 0.77217266] [ 0.06764442 0.99770748 -0.00200388 -0.14941313] [ 0.04868856 -0.00129497 0.99881317 -0.06538657] [ 0. 0. 0. 1. ]] SLAMing on 43.583273559999995 meters Centerline goodness : 0.840017 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:-0.07 [[ 0.99653098 -0.06745356 -0.04874441 0.77239694] [ 0.06742771 0.99772179 -0.00217621 -0.14822716] [ 0.04878015 -0.00111806 0.99880891 -0.06531543] [ 0. 0. 0. 1. ]] SLAMing on 43.613273559999996 meters Centerline goodness : 0.839834 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:-0.07 [[ 9.96526051e-01 -6.74652236e-02 -4.88290199e-02 7.72534713e-01] [ 6.74311012e-02 9.97721171e-01 -2.34763925e-03 -1.47617060e-01] [ 4.88761309e-02 -9.53110908e-04 9.98804393e-01 -6.51929394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.64327356 meters Centerline goodness : 0.839902 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:-0.07 [[ 9.96523420e-01 -6.74529926e-02 -4.88995637e-02 7.72687469e-01] [ 6.74145039e-02 9.97722076e-01 -2.43781135e-03 -1.47250569e-01] [ 4.89526119e-02 -8.67203715e-04 9.98800726e-01 -6.51245688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.67327356 meters Centerline goodness : 0.841071 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:-0.07 [[ 9.96525921e-01 -6.73812747e-02 -4.89474446e-02 7.72998552e-01] [ 6.73439576e-02 9.97726901e-01 -2.41301793e-03 -1.47074085e-01] [ 4.89987744e-02 -8.91679715e-04 9.98798441e-01 -6.53244474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.70327356 meters Centerline goodness : 0.839262 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:-0.07 [[ 9.96527406e-01 -6.72647299e-02 -4.90773436e-02 7.73600412e-01] [ 6.72296891e-02 9.97734719e-01 -2.36623910e-03 -1.47114751e-01] [ 4.91253340e-02 -9.41432438e-04 9.98792178e-01 -6.56124979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.73327356 meters Centerline goodness : 0.839692 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:-0.07 [[ 0.99653715 -0.06712478 -0.049071 0.77397776] [ 0.06709801 0.99774398 -0.00219456 -0.14706819] [ 0.0491076 -0.00110561 0.99879288 -0.06607397] [ 0. 0. 0. 1. ]] SLAMing on 43.763273559999995 meters Centerline goodness : 0.837071 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:-0.07 [[ 0.99653441 -0.06707785 -0.04919077 0.77456847] [ 0.06705571 0.99774702 -0.00210208 -0.14707145] [ 0.04922095 -0.00120372 0.99878719 -0.06646849] [ 0. 0. 0. 1. ]] SLAMing on 43.793273559999996 meters Centerline goodness : 0.839391 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:-0.07 [[ 0.99652775 -0.06709691 -0.04929961 0.77483818] [ 0.06707944 0.99774561 -0.00201059 -0.14732803] [ 0.04932337 -0.00130338 0.99878201 -0.06659897] [ 0. 0. 0. 1. ]] SLAMing on 43.82327356 meters Centerline goodness : 0.839292 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.15, Z:-0.07 [[ 0.996524 -0.06700053 -0.04950608 0.7754977 ] [ 0.06699083 0.99775186 -0.00185704 -0.14769605] [ 0.0495192 -0.00146587 0.9987721 -0.06685299] [ 0. 0. 0. 1. ]] SLAMing on 43.85327356 meters Centerline goodness : 0.837294 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.15, Z:-0.07 [[ 0.99652065 -0.06710858 -0.04942706 0.77534626] [ 0.06709769 0.99774464 -0.00188149 -0.14784513] [ 0.04944184 -0.0014415 0.99877596 -0.06686332] [ 0. 0. 0. 1. ]] SLAMing on 43.88327356 meters Centerline goodness : 0.836065 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.15, Z:-0.07 [[ 0.99652133 -0.06709393 -0.04943323 0.77522506] [ 0.06707691 0.99774579 -0.00200503 -0.14739651] [ 0.04945632 -0.00131777 0.99877542 -0.06658613] [ 0. 0. 0. 1. ]] SLAMing on 43.91327356 meters Centerline goodness : 0.835897 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.15, Z:-0.07 [[ 0.99652628 -0.06698038 -0.04948749 0.77547261] [ 0.06696548 0.99775337 -0.00196078 -0.14722375] [ 0.04950765 -0.00135999 0.99877282 -0.06670079] [ 0. 0. 0. 1. ]] SLAMing on 43.94327356 meters Centerline goodness : 0.837461 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.15, Z:-0.07 [[ 0.99653114 -0.06678467 -0.04965365 0.77592928] [ 0.06677688 0.99776628 -0.00181754 -0.14715701] [ 0.04966412 -0.00150448 0.99876484 -0.06684386] [ 0. 0. 0. 1. ]] SLAMing on 43.973273559999996 meters Centerline goodness : 0.835559 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.15, Z:-0.07 [[ 0.99655656 -0.06636316 -0.04970872 0.77660637] [ 0.06636104 0.99779424 -0.00169489 -0.14661283] [ 0.04971155 -0.00160967 0.99876232 -0.06733367] [ 0. 0. 0. 1. ]] SLAMing on 44.00327356 meters Centerline goodness : 0.836080 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.15, Z:-0.07 [[ 0.99656041 -0.06618243 -0.04987223 0.77707415] [ 0.06617641 0.99780636 -0.00177372 -0.14614446] [ 0.04988021 -0.00153274 0.99875403 -0.06734415] [ 0. 0. 0. 1. ]] SLAMing on 44.03327356 meters Centerline goodness : 0.834948 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.15, Z:-0.07 [[ 0.9965726 -0.06590002 -0.05000249 0.77764771] [ 0.0658964 0.99782498 -0.00172267 -0.14566208] [ 0.05000726 -0.00157822 0.99874761 -0.06758713] [ 0. 0. 0. 1. ]] SLAMing on 44.06327356 meters Centerline goodness : 0.834278 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.14, Z:-0.07 [[ 0.9966083 -0.06514069 -0.0502851 0.77859995] [ 0.06513968 0.99787477 -0.00166076 -0.14460928] [ 0.05028642 -0.00162043 0.99873352 -0.06765391] [ 0. 0. 0. 1. ]] SLAMing on 44.09327356 meters Centerline goodness : 0.835806 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.14, Z:-0.07 [[ 0.9966249 -0.0647405 -0.0504726 0.77940931] [ 0.06474451 0.99790066 -0.00155723 -0.14420342] [ 0.05046745 -0.00171585 0.99872423 -0.06792987] [ 0. 0. 0. 1. ]] SLAMing on 44.12327356 meters Centerline goodness : 0.833102 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.14, Z:-0.07 [[ 0.99664392 -0.06430499 -0.05065332 0.7800771 ] [ 0.06431341 0.99792867 -0.00146533 -0.14374223] [ 0.05064263 -0.00179727 0.99871522 -0.06806672] [ 0. 0. 0. 1. ]] SLAMing on 44.153273559999995 meters Centerline goodness : 0.832148 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.14, Z:-0.07 [[ 0.99669541 -0.06308038 -0.05117731 0.78218451] [ 0.06310663 0.99800618 -0.00110433 -0.14320477] [ 0.05114493 -0.00212895 0.99868897 -0.0686812 ] [ 0. 0. 0. 1. ]] SLAMing on 44.183273559999996 meters Centerline goodness : 0.832243 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.14, Z:-0.07 [[ 0.99671163 -0.06264164 -0.05139997 0.78287241] [ 0.06266829 0.99803381 -0.00109453 -0.14272661] [ 0.05136747 -0.00213022 0.99867755 -0.0686559 ] [ 0. 0. 0. 1. ]] SLAMing on 44.21327356 meters Centerline goodness : 0.831361 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.14, Z:-0.07 [[ 0.99672553 -0.06216967 -0.05170257 0.78374159] [ 0.06219574 0.99806336 -0.00110623 -0.14201929] [ 0.05167122 -0.00211307 0.99866191 -0.06868184] [ 0. 0. 0. 1. ]] SLAMing on 44.24327356 meters Centerline goodness : 0.829483 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.14, Z:-0.07 [[ 0.9969763 -0.05785801 -0.05187211 0.78336853] [ 0.0580827 0.99830775 0.00283343 -0.1425112 ] [ 0.0516204 -0.00583773 0.99864972 -0.06827938] [ 0. 0. 0. 1. ]] SLAMing on 44.27327356 meters Centerline goodness : 0.829139 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.14, Z:-0.07 [[ 0.99700417 -0.05711996 -0.0521536 0.78417455] [ 0.05734683 0.99835021 0.00286274 -0.14183489] [ 0.05190404 -0.00584501 0.99863497 -0.06806384] [ 0. 0. 0. 1. ]] SLAMing on 44.30327356 meters Centerline goodness : 0.832932 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.14, Z:-0.07 [[ 0.9970323 -0.05627184 -0.05253643 0.78531267] [ 0.05650373 0.99839806 0.00293807 -0.14107137] [ 0.05228694 -0.00589786 0.99861469 -0.06800008] [ 0. 0. 0. 1. ]] SLAMing on 44.333273559999995 meters Centerline goodness : 0.832737 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.14, Z:-0.07 [[ 0.99719745 -0.05321624 -0.05258582 0.78728177] [ 0.05350946 0.99855858 0.00418293 -0.14043561] [ 0.05228742 -0.00698505 0.99860765 -0.06857395] [ 0. 0. 0. 1. ]] SLAMing on 44.363273559999996 meters Centerline goodness : 0.831558 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.14, Z:-0.07 [[ 0.99723552 -0.05218608 -0.0528955 0.78856995] [ 0.05248862 0.99861207 0.00434582 -0.13980164] [ 0.0525953 -0.00711022 0.9985906 -0.06868438] [ 0. 0. 0. 1. ]] SLAMing on 44.39327356 meters Centerline goodness : 0.831033 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.14, Z:-0.07 [[ 0.99726455 -0.0508852 -0.0536107 0.79095909] [ 0.05120869 0.99867702 0.00467689 -0.1390913 ] [ 0.05330179 -0.00740943 0.99855096 -0.06915066] [ 0. 0. 0. 1. ]] SLAMing on 44.42327356 meters Centerline goodness : 0.787345 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.14, Z:-0.06 [[ 0.99762043 -0.04350073 -0.05348982 0.80886869] [ 0.0433268 0.99905123 -0.00440755 -0.1368504 ] [ 0.0536308 0.00207952 0.99855867 -0.06216421] [ 0. 0. 0. 1. ]] SLAMing on 44.45327356 meters Centerline goodness : 0.831099 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.14, Z:-0.06 [[ 0.99764658 -0.04249438 -0.0538101 0.81034286] [ 0.04230647 0.99909397 -0.00462676 -0.13617576] [ 0.05395796 0.00233935 0.99854047 -0.06168688] [ 0. 0. 0. 1. ]] SLAMing on 44.48327356 meters Centerline goodness : 0.830461 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.14, Z:-0.06 [[ 0.99766747 -0.04151495 -0.05418603 0.81172915] [ 0.04133387 0.99913544 -0.00445885 -0.13614412] [ 0.05432429 0.00220873 0.9985209 -0.06161276] [ 0. 0. 0. 1. ]] SLAMing on 44.513273559999995 meters Centerline goodness : 0.831896 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.14, Z:-0.06 [[ 0.99768955 -0.04074834 -0.05436113 0.81256449] [ 0.0405691 0.99916706 -0.00439713 -0.13603051] [ 0.05449502 0.00218159 0.99851166 -0.06147415] [ 0. 0. 0. 1. ]] SLAMing on 44.543273559999996 meters Centerline goodness : 0.831809 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.14, Z:-0.07 [[ 0.99825862 -0.03329151 -0.04869716 0.80616594] [ 0.03310056 0.99944087 -0.00472259 -0.13955065] [ 0.04882715 0.00310246 0.99880243 -0.06565945] [ 0. 0. 0. 1. ]] SLAMing on 44.57327356 meters Centerline goodness : 0.829371 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.14, Z:-0.07 [[ 0.99827753 -0.03219076 -0.04904815 0.80733182] [ 0.03202031 0.99947815 -0.00425719 -0.13980111] [ 0.04915959 0.00267932 0.99878734 -0.06581801] [ 0. 0. 0. 1. ]] SLAMing on 44.60327356 meters Centerline goodness : 0.832661 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.14, Z:-0.07 [[ 0.99828644 -0.03137507 -0.04939418 0.8082039 ] [ 0.03121777 0.99950479 -0.00395297 -0.1400349 ] [ 0.04949374 0.00240422 0.99877154 -0.06569505] [ 0. 0. 0. 1. ]] SLAMing on 44.63327356 meters Centerline goodness : 0.832661 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.14, Z:-0.07 [[ 0.99828644 -0.03137507 -0.04939418 0.8082039 ] [ 0.03121777 0.99950479 -0.00395297 -0.1400349 ] [ 0.04949374 0.00240422 0.99877154 -0.06569505] [ 0. 0. 0. 1. ]] SLAMing on 44.66327356 meters Centerline goodness : 0.833397 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.14, Z:-0.07 [[ 0.99848485 -0.02783296 -0.04746924 0.8051629 ] [ 0.02767004 0.99960876 -0.00408591 -0.14163407] [ 0.0475644 0.00276625 0.99886434 -0.06710769] [ 0. 0. 0. 1. ]] SLAMing on 44.69327356 meters Centerline goodness : 0.832507 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.14, Z:-0.07 [[ 0.99892785 -0.03292439 -0.03254449 0.80146489] [ 0.03262382 0.9994204 -0.00972406 -0.13805124] [ 0.03284578 0.00865191 0.99942298 -0.07146079] [ 0. 0. 0. 1. ]] SLAMing on 44.723273559999996 meters Centerline goodness : 0.809335 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.03 [[ 0.99837427 -0.05051144 0.02640849 0.74157348] [ 0.05239788 0.99569655 -0.07643845 -0.12964866] [-0.02243383 0.07769793 0.99672451 -0.03137617] [ 0. 0. 0. 1. ]] SLAMing on 44.75327356 meters Centerline goodness : 0.786657 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.14, Z:-0.07 [[ 0.9936966 -0.10001377 0.05063903 0.87904182] [ 0.09606993 0.99253735 0.07510106 -0.13875269] [-0.05777227 -0.06976278 0.99588931 -0.06592259] [ 0. 0. 0. 1. ]] SLAMing on 44.78327356 meters Centerline goodness : 0.833235 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.14, Z:-0.07 [[ 0.99369841 -0.099756 0.05110988 0.87872189] [ 0.09576366 0.99254639 0.07537225 -0.14086662] [-0.05824776 -0.07000282 0.99584477 -0.06628958] [ 0. 0. 0. 1. ]] SLAMing on 44.81327356 meters Centerline goodness : 0.831638 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.14, Z:-0.07 [[ 0.99346966 -0.10130265 0.05249578 0.87723288] [ 0.09734299 0.99255721 0.07317467 -0.1446631 ] [-0.05951785 -0.06758672 0.99593657 -0.06606624] [ 0. 0. 0. 1. ]] SLAMing on 44.84327356 meters Centerline goodness : 0.828983 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.15, Z:-0.06 [[ 0.99437384 -0.096956 0.04266383 0.87581576] [ 0.09379698 0.99307892 0.07068509 -0.15015639] [-0.0492219 -0.06628566 0.99658588 -0.0592401 ] [ 0. 0. 0. 1. ]] SLAMing on 44.87327356 meters Centerline goodness : 0.832115 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.15, Z:-0.06 [[ 0.99412069 -0.09916828 0.04347076 0.87501639] [ 0.09609285 0.99305392 0.06789757 -0.15197497] [-0.04990209 -0.06332115 0.99674481 -0.05885034] [ 0. 0. 0. 1. ]] SLAMing on 44.903273559999995 meters Centerline goodness : 0.827786 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.16, Z:-0.05 [[ 0.99499035 -0.09530282 0.03019245 0.87638047] [ 0.09301635 0.99321802 0.06975614 -0.15841152] [-0.03663564 -0.0665983 0.99710706 -0.05398124] [ 0. 0. 0. 1. ]] SLAMing on 44.933273559999996 meters Centerline goodness : 0.827795 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.17, Z:-0.05 [[ 0.99550349 -0.09313839 0.0172637 0.87750025] [ 0.09168328 0.99321394 0.07155594 -0.16817563] [-0.02381115 -0.0696514 0.99728718 -0.04868934] [ 0. 0. 0. 1. ]] SLAMing on 44.96327356 meters Centerline goodness : 0.764418 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.17, Z:-0.05 [[ 0.99522646 -0.09596122 0.01776899 0.87695294] [ 0.09453065 0.99313837 0.06884865 -0.16999298] [-0.02425387 -0.06684028 0.99746886 -0.04779049] [ 0. 0. 0. 1. ]] SLAMing on 44.99327356 meters Centerline goodness : 0.826494 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.18, Z:-0.04 [[ 0.99574709 -0.09200296 0.00481633 0.87779656] [ 0.09143149 0.99327814 0.07098467 -0.17630241] [-0.01131475 -0.07024241 0.99746578 -0.04299248] [ 0. 0. 0. 1. ]] SLAMing on 45.02327356 meters Centerline goodness : 0.824906 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.18, Z:-0.04 [[ 0.99549268 -0.09467582 0.00555056 0.87702156] [ 0.09408031 0.99322776 0.06817261 -0.17793604] [-0.01196727 -0.06734314 0.9976581 -0.04249118] [ 0. 0. 0. 1. ]] SLAMing on 45.05327356 meters Centerline goodness : 0.821287 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.19, Z:-0.04 [[ 9.95703495e-01 -9.23133377e-02 -7.26616908e-03 8.77975996e-01] [ 9.25960548e-02 9.93214335e-01 7.03651531e-02 -1.87165928e-01] [ 7.21221158e-04 -7.07356475e-02 9.97494836e-01 -3.74601038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.083273559999995 meters Centerline goodness : 0.823356 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.19, Z:-0.04 [[ 9.95479016e-01 -9.47618687e-02 -6.45892380e-03 8.77209250e-01] [ 9.49817316e-02 9.93182138e-01 6.75848512e-02 -1.88809428e-01] [ 1.04209573e-05 -6.78927809e-02 9.97692623e-01 -3.72950309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.113273559999996 meters Centerline goodness : 0.818096 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.19, Z:-0.04 [[ 9.95179022e-01 -9.79098780e-02 -5.68946976e-03 8.77221146e-01] [ 9.80718591e-02 9.93003274e-01 6.57754441e-02 -1.93742134e-01] [-7.90403606e-04 -6.60163190e-02 9.97818230e-01 -3.71348737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.14327356 meters Centerline goodness : 0.815685 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.20, Z:-0.04 [[ 0.99496994 -0.1000624 -0.00472661 0.8763065 ] [ 0.10016107 0.99297659 0.06297031 -0.1956069 ] [-0.00160755 -0.06312699 0.99800421 -0.03721358] [ 0. 0. 0. 1. ]] SLAMing on 45.17327356 meters Centerline goodness : 0.817979 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.20, Z:-0.04 [[ 0.99490845 -0.10067774 -0.00460167 0.87659834] [ 0.10076598 0.99286933 0.06369234 -0.19834775] [-0.00184354 -0.06383174 0.99795897 -0.03718443] [ 0. 0. 0. 1. ]] SLAMing on 45.20327356 meters Centerline goodness : 0.815647 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.20, Z:-0.04 [[ 0.99469419 -0.10281864 -0.00343437 0.87553269] [ 0.10283383 0.99277695 0.06179917 -0.20260422] [-0.00294454 -0.06182445 0.9980827 -0.03685172] [ 0. 0. 0. 1. ]] SLAMing on 45.23327356 meters Centerline goodness : 0.817847 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.20, Z:-0.04 [[ 0.9945389 -0.10434293 -0.00222177 0.87400561] [ 0.1042919 0.99279687 0.05897094 -0.20403656] [-0.00394743 -0.05888061 0.99825723 -0.03686897] [ 0. 0. 0. 1. ]] SLAMing on 45.263273559999995 meters Centerline goodness : 0.813244 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.21, Z:-0.03 [[ 0.994999 -0.09878503 -0.01478173 0.87423019] [ 0.09951796 0.99310118 0.06201798 -0.21040458] [ 0.0085533 -0.06317887 0.99796557 -0.03270061] [ 0. 0. 0. 1. ]] SLAMing on 45.293273559999996 meters Centerline goodness : 0.814575 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.22, Z:-0.03 [[ 0.99492954 -0.09971147 -0.01314672 0.87231689] [ 0.10032798 0.99312096 0.06037434 -0.21529766] [ 0.00703627 -0.0613872 0.99808923 -0.03264528] [ 0. 0. 0. 1. ]] SLAMing on 45.32327356 meters Centerline goodness : 0.812253 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.22, Z:-0.03 [[ 0.99496261 -0.09942256 -0.01282798 0.8722046 ] [ 0.10002397 0.99311591 0.060959 -0.21783268] [ 0.00667897 -0.06193503 0.99805784 -0.03277366] [ 0. 0. 0. 1. ]] SLAMing on 45.35327356 meters Centerline goodness : 0.810380 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.22, Z:-0.03 [[ 0.99498433 -0.09923981 -0.01255564 0.87218448] [ 0.09982946 0.99308948 0.06170382 -0.22043121] [ 0.0063454 -0.06264776 0.99801553 -0.0328829 ] [ 0. 0. 0. 1. ]] SLAMing on 45.38327356 meters Centerline goodness : 0.812205 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.23, Z:-0.03 [[ 0.99497654 -0.09954019 -0.01065087 0.87059175] [ 0.10000009 0.99320659 0.05950331 -0.22505123] [ 0.00465554 -0.06026949 0.99817129 -0.03432215] [ 0. 0. 0. 1. ]] SLAMing on 45.41327356 meters Centerline goodness : 0.812220 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.23, Z:-0.03 [[ 0.99504517 -0.09890305 -0.01016323 0.87041538] [ 0.09933764 0.99323061 0.0602079 -0.22789855] [ 0.00413969 -0.06091917 0.99813412 -0.03492801] [ 0. 0. 0. 1. ]] SLAMing on 45.44327356 meters Centerline goodness : 0.816910 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.23, Z:-0.04 [[ 0.9951213 -0.09818179 -0.00969171 0.87011494] [ 0.09859187 0.99325711 0.06099138 -0.23097319] [ 0.00363811 -0.06164935 0.99809124 -0.0352238 ] [ 0. 0. 0. 1. ]] SLAMing on 45.473273559999996 meters Centerline goodness : 0.807582 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.23, Z:-0.04 [[ 0.99521358 -0.0972995 -0.00909626 0.86950213] [ 0.09767702 0.9932975 0.06180023 -0.23373321] [ 0.00302216 -0.06239292 0.99804709 -0.03555537] [ 0. 0. 0. 1. ]] SLAMing on 45.50327356 meters Centerline goodness : 0.804473 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.24, Z:-0.04 [[ 0.99538121 -0.09553683 -0.00943218 0.87068155] [ 0.09594665 0.99331634 0.06416296 -0.2397101 ] [ 0.00323921 -0.06477159 0.99789486 -0.03556193] [ 0. 0. 0. 1. ]] SLAMing on 45.53327356 meters Centerline goodness : 0.810707 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.24, Z:-0.04 [[ 0.99548345 -0.09452527 -0.00881345 0.8701977 ] [ 0.09489948 0.99335925 0.06504983 -0.24283675] [ 0.00260607 -0.06559242 0.99784309 -0.03600947] [ 0. 0. 0. 1. ]] SLAMing on 45.56327356 meters Centerline goodness : 0.824397 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.25, Z:-0.04 [[ 0.99554184 -0.09388968 -0.00901012 0.87075869] [ 0.09428097 0.99335162 0.06605796 -0.2460949 ] [ 0.00274806 -0.06661294 0.99777511 -0.03582394] [ 0. 0. 0. 1. ]] SLAMing on 45.59327356 meters Centerline goodness : 0.817276 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.25, Z:-0.04 [[ 0.99566188 -0.09258216 -0.00927147 0.87168338] [ 0.09299992 0.99333374 0.06811095 -0.25356183] [ 0.00290381 -0.06867772 0.99763467 -0.03531402] [ 0. 0. 0. 1. ]] SLAMing on 45.62327356 meters Centerline goodness : 0.823687 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.26, Z:-0.03 [[ 0.99570249 -0.09212858 -0.00942724 0.87188038] [ 0.09256105 0.99330804 0.06907664 -0.25710133] [ 0.00300022 -0.06965237 0.99756681 -0.03471746] [ 0. 0. 0. 1. ]] SLAMing on 45.653273559999995 meters Centerline goodness : 0.823432 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.26, Z:-0.03 [[ 0.99564286 -0.09287363 -0.00835368 0.87083341] [ 0.09322553 0.99338562 0.06703738 -0.25980166] [ 0.00207243 -0.06752406 0.99771549 -0.03498108] [ 0. 0. 0. 1. ]] SLAMing on 45.683273559999996 meters Centerline goodness : 0.814131 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.27, Z:-0.03 [[ 0.99547613 -0.09462212 -0.00859773 0.87185748] [ 0.09498411 0.99329124 0.06595848 -0.26701598] [ 0.00229892 -0.06647674 0.99778533 -0.03386048] [ 0. 0. 0. 1. ]] SLAMing on 45.71327356 meters Centerline goodness : 0.817002 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.27, Z:-0.03 [[ 0.99532292 -0.09630684 -0.00756865 0.87103608] [ 0.09659456 0.9932514 0.06419623 -0.27078714] [ 0.00133503 -0.06462707 0.99790859 -0.03385633] [ 0. 0. 0. 1. ]] SLAMing on 45.74327356 meters Centerline goodness : 0.819660 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.28, Z:-0.03 [[ 9.95203080e-01 -9.76003351e-02 -6.70846893e-03 8.70704608e-01] [ 9.78293692e-02 9.93193760e-01 6.32105226e-02 -2.75167367e-01] [ 4.93441290e-04 -6.35635921e-02 9.97977668e-01 -3.39983263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.77327356 meters Centerline goodness : 0.806299 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.28, Z:-0.03 [[ 9.95027212e-01 -9.94201110e-02 -6.04058193e-03 8.70722005e-01] [ 9.96033025e-02 9.93090120e-01 6.20580066e-02 -2.79754986e-01] [-1.70971672e-04 -6.23510672e-02 9.98054265e-01 -3.39486325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.80327356 meters Centerline goodness : 0.780946 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.28, Z:-0.03 [[ 9.94808292e-01 -1.01629713e-01 -5.27861276e-03 8.70685501e-01] [ 1.01762908e-01 9.92983994e-01 6.02253991e-02 -2.83802534e-01] [-8.79112039e-04 -6.04498934e-02 9.98170846e-01 -3.41090950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.833273559999995 meters Centerline goodness : 0.779547 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.30, Z:-0.03 [[ 0.99504553 -0.09812839 -0.01597533 0.86970472] [ 0.0989601 0.9930122 0.06429356 -0.29966367] [ 0.00955467 -0.06555594 0.99780315 -0.03073512] [ 0. 0. 0. 1. ]] SLAMing on 45.863273559999996 meters Centerline goodness : 0.776264 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.30, Z:-0.03 [[ 0.99477516 -0.10093367 -0.01532233 0.86973137] [ 0.10169948 0.99286051 0.06233153 -0.30381698] [ 0.00892159 -0.06356413 0.99793788 -0.03059298] [ 0. 0. 0. 1. ]] SLAMing on 45.89327356 meters Centerline goodness : 0.780287 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.31, Z:-0.03 [[ 0.99454608 -0.10321763 -0.01497397 0.87046524] [ 0.10394814 0.99269178 0.06130101 -0.30884018] [ 0.0085372 -0.06252319 0.998007 -0.03050125] [ 0. 0. 0. 1. ]] SLAMing on 45.92327356 meters Centerline goodness : 0.781811 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.32, Z:-0.03 [[ 0.99410481 -0.10751584 -0.01399898 0.87152775] [ 0.10816186 0.99236839 0.05921137 -0.31970396] [ 0.00752599 -0.06037646 0.9981473 -0.03035214] [ 0. 0. 0. 1. ]] SLAMing on 45.95327356 meters Centerline goodness : 0.778196 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.32, Z:-0.03 [[ 0.9938184 -0.11015779 -0.01379319 0.87231733] [ 0.11077934 0.99214033 0.05818501 -0.32496004] [ 0.00727525 -0.05935333 0.99821053 -0.02975686] [ 0. 0. 0. 1. ]] SLAMing on 45.98327356 meters Centerline goodness : 0.782033 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.34, Z:-0.03 [[ 0.99389015 -0.10770334 -0.02413207 0.87082316] [ 0.10904662 0.99198558 0.0638235 -0.34252098] [ 0.01706466 -0.06606507 0.99766939 -0.02529265] [ 0. 0. 0. 1. ]] SLAMing on 46.013273559999995 meters Centerline goodness : 0.789083 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.35, Z:-0.03 [[ 0.99359001 -0.11046065 -0.02402783 0.87197927] [ 0.11176594 0.99177995 0.06229699 -0.34708497] [ 0.01694895 -0.06458316 0.99776838 -0.02509036] [ 0. 0. 0. 1. ]] SLAMing on 46.043273559999996 meters Centerline goodness : 0.843120 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.35, Z:-0.02 [[ 0.99325498 -0.11347767 -0.02381931 0.87260701] [ 0.11474016 0.99152901 0.06086801 -0.35150041] [ 0.01671038 -0.06319049 0.99786158 -0.02434232] [ 0. 0. 0. 1. ]] SLAMing on 46.07327356 meters Centerline goodness : 0.782769 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.36, Z:-0.02 [[ 0.99256392 -0.11941143 -0.02361712 0.87456191] [ 0.12059152 0.99104999 0.05725041 -0.35980044] [ 0.01656939 -0.05967272 0.99808047 -0.02339454] [ 0. 0. 0. 1. ]] SLAMing on 46.10327356 meters Centerline goodness : 0.782835 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.37, Z:-0.02 [[ 0.99248264 -0.11975493 -0.0252381 0.87728132] [ 0.12112258 0.99067757 0.06234795 -0.36700489] [ 0.01753635 -0.06493616 0.99773532 -0.02070998] [ 0. 0. 0. 1. ]] SLAMing on 46.13327356 meters Centerline goodness : 0.815180 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.37, Z:-0.02 [[ 0.99210995 -0.12283292 -0.02509834 0.87799922] [ 0.12415608 0.99040869 0.06062923 -0.3711033 ] [ 0.01741035 -0.06326697 0.99784476 -0.01989396] [ 0. 0. 0. 1. ]] SLAMing on 46.16327356 meters Centerline goodness : 0.817640 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.38, Z:-0.02 [[ 0.99140509 -0.12845717 -0.02479305 0.8797591 ] [ 0.12968948 0.98991519 0.05699618 -0.3788187 ] [ 0.01722145 -0.0597217 0.9980665 -0.0189765 ] [ 0. 0. 0. 1. ]] SLAMing on 46.19327356 meters Centerline goodness : 0.791431 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.38, Z:-0.02 [[ 0.99096612 -0.13185723 -0.02449116 0.88039988] [ 0.13302367 0.98961483 0.05447197 -0.38167948] [ 0.0170543 -0.05723778 0.9982149 -0.0186731 ] [ 0. 0. 0. 1. ]] SLAMing on 46.223273559999996 meters Centerline goodness : 0.820037 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.38, Z:-0.02 [[ 0.99057924 -0.13475198 -0.02438607 0.88159676] [ 0.13587732 0.98932653 0.05263434 -0.38480746] [ 0.01703321 -0.055452 0.99831606 -0.01861094] [ 0. 0. 0. 1. ]] SLAMing on 46.25327356 meters Centerline goodness : 0.820639 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.39, Z:-0.02 [[ 0.99011507 -0.13818321 -0.02403243 0.88227514] [ 0.13923783 0.98900407 0.04983741 -0.38695152] [ 0.01688148 -0.052691 0.99846816 -0.01859494] [ 0. 0. 0. 1. ]] SLAMing on 46.28327356 meters Centerline goodness : 0.824288 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.39, Z:-0.02 [[ 0.98964653 -0.14147682 -0.02416719 0.8842736 ] [ 0.14252013 0.98857988 0.04896773 -0.39363721] [ 0.0169634 -0.05190506 0.99850794 -0.01817534] [ 0. 0. 0. 1. ]] SLAMing on 46.31327356 meters Centerline goodness : 0.844535 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.40, Z:-0.02 [[ 0.98917169 -0.14485001 -0.02361855 0.88443532] [ 0.14580997 0.98824898 0.04586292 -0.39526307] [ 0.01669776 -0.04881012 0.99866849 -0.01801723] [ 0. 0. 0. 1. ]] SLAMing on 46.34327356 meters Centerline goodness : 0.852066 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.40, Z:-0.02 [[ 0.98891553 -0.14661997 -0.02342353 0.88391943] [ 0.14756087 0.98801113 0.0453849 -0.3986231 ] [ 0.01648838 -0.04833823 0.99869492 -0.01649604] [ 0. 0. 0. 1. ]] SLAMing on 46.37327356 meters Centerline goodness : 0.848033 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.40, Z:-0.02 [[ 0.98843898 -0.14981984 -0.02328942 0.88523932] [ 0.15072486 0.98760649 0.04376564 -0.4039299 ] [ 0.01644382 -0.04676996 0.99877033 -0.01604637] [ 0. 0. 0. 1. ]] SLAMing on 46.403273559999995 meters Centerline goodness : 0.852778 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.41, Z:-0.01 [[ 0.98811402 -0.14982651 -0.03439027 0.88648769] [ 0.15163601 0.98673272 0.0580092 -0.41258043] [ 0.02524268 -0.06253451 0.99772353 -0.00872465] [ 0. 0. 0. 1. ]] SLAMing on 46.433273559999996 meters Centerline goodness : 0.850146 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.41, Z:-0.01 [[ 0.9875963 -0.15330336 -0.03393559 0.88694271] [ 0.15499374 0.98640746 0.05456431 -0.41343091] [ 0.02510943 -0.05914732 0.99793342 -0.00880113] [ 0. 0. 0. 1. ]] SLAMing on 46.46327356 meters Centerline goodness : 0.851846 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.42, Z:-0.01 [[ 0.98705352 -0.15682486 -0.03363486 0.88776846] [ 0.15844162 0.98597229 0.05248703 -0.41743035] [ 0.02493177 -0.05713667 0.99805501 -0.00820305] [ 0. 0. 0. 1. ]] SLAMing on 46.49327356 meters Centerline goodness : 0.852427 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.42, Z:-0.01 [[ 0.98653442 -0.16017365 -0.03307921 0.88782631] [ 0.16167519 0.98561521 0.04923196 -0.41799877] [ 0.02471771 -0.05391711 0.99823944 -0.00807803] [ 0. 0. 0. 1. ]] SLAMing on 46.52327356 meters Centerline goodness : 0.852427 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.42, Z:-0.01 [[ 0.98653442 -0.16017365 -0.03307921 0.88782631] [ 0.16167519 0.98561521 0.04923196 -0.41799877] [ 0.02471771 -0.05391711 0.99823944 -0.00807803] [ 0. 0. 0. 1. ]] SLAMing on 46.55327356 meters Centerline goodness : 0.855723 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.42, Z:-0.01 [[ 0.98602336 -0.16339151 -0.03257532 0.88795727] [ 0.16478745 0.98524955 0.04613476 -0.41863107] [ 0.02455679 -0.05085795 0.99840394 -0.00791688] [ 0. 0. 0. 1. ]] SLAMing on 46.583273559999995 meters Centerline goodness : 0.850890 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.42, Z:-0.01 [[ 0.98545493 -0.16678293 -0.03258878 0.8896898 ] [ 0.16812175 0.98478843 0.0438957 -0.42163464] [ 0.024772 -0.04873612 0.99850445 -0.00789531] [ 0. 0. 0. 1. ]] SLAMing on 46.613273559999996 meters Centerline goodness : 0.847728 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.42, Z:-0.01 [[ 0.9848703 -0.17030701 -0.03203154 0.88985964] [ 0.17153014 0.98435159 0.04036532 -0.42174087] [ 0.0246558 -0.04524898 0.99867143 -0.00788953] [ 0. 0. 0. 1. ]] SLAMing on 46.64327356 meters Centerline goodness : 0.857574 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.42, Z:-0.01 [[ 0.9842658 -0.17389064 -0.03135106 0.88979973] [ 0.17499547 0.98388038 0.03682375 -0.42201315] [ 0.02444239 -0.04173065 0.99882988 -0.0077843 ] [ 0. 0. 0. 1. ]] SLAMing on 46.67327356 meters Centerline goodness : 0.849240 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.42, Z:-0.01 [[ 0.98359929 -0.17766074 -0.03113038 0.89061801] [ 0.17869915 0.98329761 0.03453149 -0.42496336] [ 0.02447553 -0.03952812 0.99891865 -0.00692354] [ 0. 0. 0. 1. ]] SLAMing on 46.70327356 meters Centerline goodness : 0.851544 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.42, Z:-0.01 [[ 0.98290832 -0.18156855 -0.03039898 0.89029381] [ 0.18248316 0.98273187 0.03062636 -0.42480508] [ 0.02431326 -0.0356502 0.99906853 -0.00653293] [ 0. 0. 0. 1. ]] SLAMing on 46.73327356 meters Centerline goodness : 0.804561 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.43, Z:-0.01 [[ 0.9828347 -0.18187874 -0.0309204 0.89097723] [ 0.18284344 0.98262432 0.03190166 -0.42713028] [ 0.0245809 -0.03700765 0.99901262 -0.00544985] [ 0. 0. 0. 1. ]] SLAMing on 46.763273559999995 meters Centerline goodness : 0.807464 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.43, Z:-0.01 [[ 0.98209231 -0.18591627 -0.03049309 0.8916057 ] [ 0.18679101 0.98197481 0.02888918 -0.4291987 ] [ 0.02457248 -0.03406767 0.9991174 -0.00505218] [ 0. 0. 0. 1. ]] SLAMing on 46.793273559999996 meters Centerline goodness : 0.806214 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.43, Z:-0.00 [[ 0.98200742 -0.18630786 -0.03083502 0.89217135] [ 0.18721434 0.98187004 0.02969885 -0.43126495] [ 0.02474285 -0.03493725 0.99908317 -0.00438183] [ 0. 0. 0. 1. ]] SLAMing on 46.82327356 meters Centerline goodness : 0.808117 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.43, Z:-0.00 [[ 0.98170685 -0.1879293 -0.03056527 0.89121491] [ 0.18880329 0.98159346 0.02876817 -0.43242179] [ 0.02459629 -0.03401273 0.99911869 -0.00307442] [ 0. 0. 0. 1. ]] SLAMing on 46.85327356 meters Centerline goodness : 0.805298 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.43, Z:-0.00 [[ 0.98164489 -0.18824377 -0.03062014 0.89144379] [ 0.18912722 0.98152197 0.02907779 -0.4338037 ] [ 0.02458062 -0.03433516 0.99910805 -0.00286517] [ 0. 0. 0. 1. ]] SLAMing on 46.88327356 meters Centerline goodness : 0.809033 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.43, Z:-0.00 [[ 0.98138097 -0.18969739 -0.03010479 0.88991293] [ 0.19054105 0.98127496 0.02817025 -0.43487009] [ 0.02419725 -0.03338195 0.99914971 -0.00147672] [ 0. 0. 0. 1. ]] SLAMing on 46.91327356 meters Centerline goodness : 0.808331 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.44, Z:-0.00 [[ 0.98136834 -0.18976599 -0.03008407 0.88962124] [ 0.19061125 0.9812586 0.02826517 -0.43521732] [ 0.02415648 -0.0334729 0.99914765 -0.00106558] [ 0. 0. 0. 1. ]] SLAMing on 46.94327356 meters Centerline goodness : 0.809224 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.44, Z:-0.00 [[ 9.81372751e-01 -1.89724663e-01 -3.02005927e-02 8.89726709e-01] [ 1.90574252e-01 9.81265276e-01 2.82827111e-02 -4.35415334e-01] [ 2.42688652e-02 -3.35113374e-02 9.99143640e-01 -8.15408998e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.973273559999996 meters Centerline goodness : 0.808621 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.43, Z:-0.00 [[ 9.81406975e-01 -1.89562130e-01 -3.01089339e-02 8.89296796e-01] [ 1.90405000e-01 9.81302482e-01 2.81313981e-02 -4.34756491e-01] [ 2.42133238e-02 -3.33412418e-02 9.99150678e-01 -6.57515505e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.00327356 meters Centerline goodness : 0.857973 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.43, Z:-0.00 [[ 9.81452896e-01 -1.89303091e-01 -3.02415620e-02 8.89569929e-01] [ 1.90151587e-01 9.81350238e-01 2.81795047e-02 -4.34406906e-01] [ 2.43430967e-02 -3.34073376e-02 9.99145316e-01 -8.07241124e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.03327356 meters Centerline goodness : 0.805237 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.43, Z:-0.00 [[ 0.98145423 -0.18929959 -0.03022025 0.88961267] [ 0.1901369 0.98136533 0.02774967 -0.43346164] [ 0.0244041 -0.03298101 0.99915799 -0.00106471] [ 0. 0. 0. 1. ]] SLAMing on 47.06327356 meters Centerline goodness : 0.804838 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.43, Z:-0.00 [[ 0.98148525 -0.18913867 -0.03022024 0.88957516] [ 0.18997174 0.98140222 0.02757589 -0.43257035] [ 0.02444254 -0.03280632 0.9991628 -0.00122777] [ 0. 0. 0. 1. ]] SLAMing on 47.09327356 meters Centerline goodness : 0.804456 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.43, Z:-0.00 [[ 0.98151041 -0.18905087 -0.02995131 0.88918747] [ 0.18985826 0.98144346 0.0268809 -0.43060259] [ 0.02431366 -0.03207039 0.99918984 -0.00176878] [ 0. 0. 0. 1. ]] SLAMing on 47.12327356 meters Centerline goodness : 0.805630 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.43, Z:-0.00 [[ 0.98146529 -0.1893053 -0.02982242 0.88908037] [ 0.19009385 0.98141425 0.0262753 -0.42939252] [ 0.0242941 -0.03145736 0.9992098 -0.00211752] [ 0. 0. 0. 1. ]] SLAMing on 47.153273559999995 meters Centerline goodness : 0.864030 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.43, Z:-0.00 [[ 0.9814236 -0.18954336 -0.02968236 0.88885337] [ 0.19031476 0.98138536 0.02575009 -0.42827235] [ 0.02424907 -0.03092074 0.99922765 -0.00230264] [ 0. 0. 0. 1. ]] SLAMing on 47.183273559999996 meters Centerline goodness : 0.805095 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.43, Z:-0.00 [[ 0.98137672 -0.18982585 -0.02942593 0.88834485] [ 0.19057825 0.98134619 0.02528994 -0.4270932 ] [ 0.02407634 -0.0304269 0.99924698 -0.00242983] [ 0. 0. 0. 1. ]] SLAMing on 47.21327356 meters Centerline goodness : 0.803287 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.43, Z:-0.00 [[ 0.98131454 -0.1901654 -0.0293068 0.88809047] [ 0.19090472 0.98129279 0.02489689 -0.42649782] [ 0.02402402 -0.03002648 0.99926035 -0.00237027] [ 0. 0. 0. 1. ]] SLAMing on 47.24327356 meters Centerline goodness : 0.857070 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.43, Z:-0.00 [[ 0.98127211 -0.19037396 -0.02937358 0.88791034] [ 0.19111177 0.98125617 0.02475128 -0.4258922 ] [ 0.02411101 -0.02990137 0.99926201 -0.0019865 ] [ 0. 0. 0. 1. ]] SLAMing on 47.27327356 meters Centerline goodness : 0.862508 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.42, Z:-0.00 [[ 0.98117568 -0.1908966 -0.0292022 0.88706032] [ 0.19161305 0.98117523 0.0240752 -0.42466641] [ 0.0240566 -0.02921752 0.99928355 -0.00135481] [ 0. 0. 0. 1. ]] SLAMing on 47.30327356 meters Centerline goodness : 0.859615 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.42, Z:-0.00 [[ 0.98110692 -0.19127069 -0.02906419 0.88661522] [ 0.19197089 0.98111764 0.02356603 -0.42371356] [ 0.0240079 -0.02870027 0.99929971 -0.00117365] [ 0. 0. 0. 1. ]] SLAMing on 47.333273559999995 meters Centerline goodness : 0.854935 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.42, Z:-0.00 [[ 0.98106722 -0.19149212 -0.02894612 0.88621762] [ 0.19218125 0.98108411 0.02324497 -0.42288165] [ 0.02394735 -0.02836778 0.99931066 -0.00104117] [ 0. 0. 0. 1. ]] SLAMing on 47.363273559999996 meters Centerline goodness : 0.849208 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.42, Z:-0.00 [[ 0.98099432 -0.19188809 -0.02879428 0.88561212] [ 0.19255003 0.98103404 0.02228683 -0.42032487] [ 0.02397159 -0.02740759 0.99933687 -0.0010283 ] [ 0. 0. 0. 1. ]] SLAMing on 47.39327356 meters Centerline goodness : 0.854274 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.42, Z:-0.00 [[ 0.9809079 -0.19234933 -0.0286606 0.88539083] [ 0.19298821 0.98096603 0.02147533 -0.41882242] [ 0.02398431 -0.02659648 0.99935848 -0.00122265] [ 0. 0. 0. 1. ]] SLAMing on 47.42327356 meters Centerline goodness : 0.854892 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.42, Z:-0.00 [[ 0.98088037 -0.19247765 -0.02874103 0.88563273] [ 0.19311065 0.98094917 0.02114255 -0.41764206] [ 0.02412402 -0.02628851 0.99936327 -0.00151637] [ 0. 0. 0. 1. ]] SLAMing on 47.45327356 meters Centerline goodness : 0.855040 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.42, Z:0.00 [[ 0.98085721 -0.19063524 -0.03971569 0.88083144] [ 0.19150116 0.98130375 0.01924219 -0.41789769] [ 0.03530492 -0.02647945 0.99902573 0.0023218 ] [ 0. 0. 0. 1. ]] SLAMing on 47.48327356 meters Centerline goodness : 0.853096 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.42, Z:0.00 [[ 0.98073684 -0.19126221 -0.03967375 0.88098774] [ 0.1920996 0.98120183 0.01845853 -0.41664805] [ 0.03539754 -0.02572427 0.99904218 0.00196796] [ 0. 0. 0. 1. ]] SLAMing on 47.513273559999995 meters Centerline goodness : 0.852833 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.42, Z:0.00 [[ 0.98065615 -0.19164034 -0.03984349 0.88142668] [ 0.19246719 0.98113767 0.01803492 -0.41580687] [ 0.03563573 -0.02535462 0.99904316 0.0017477 ] [ 0. 0. 0. 1. ]] SLAMing on 47.543273559999996 meters Centerline goodness : 0.852910 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.41, Z:0.00 [[ 0.98050706 -0.19240296 -0.03983717 0.88152275] [ 0.19319897 0.98100942 0.01716588 -0.41410872] [ 0.03577787 -0.02452777 0.99905872 0.00147047] [ 0. 0. 0. 1. ]] SLAMing on 47.57327356 meters Centerline goodness : 0.848811 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.41, Z:0.00 [[ 0.9804244 -0.19280177 -0.0399434 0.88148721] [ 0.19358992 0.98093751 0.01686868 -0.41339619] [ 0.03592967 -0.0242711 0.99905954 0.00174978] [ 0. 0. 0. 1. ]] SLAMing on 47.60327356 meters Centerline goodness : 0.847927 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.41, Z:0.00 [[ 0.98036426 -0.19308044 -0.04007324 0.88144373] [ 0.19386162 0.9808887 0.01658409 -0.41255825] [ 0.03610533 -0.02402711 0.99905911 0.0020336 ] [ 0. 0. 0. 1. ]] SLAMing on 47.63327356 meters Centerline goodness : 0.851138 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.41, Z:0.00 [[ 0.98032862 -0.19323453 -0.04020223 0.88123072] [ 0.19401565 0.98085975 0.01649461 -0.41184051] [ 0.03624542 -0.02397 0.99905541 0.00250878] [ 0. 0. 0. 1. ]] SLAMing on 47.66327356 meters Centerline goodness : 0.849937 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.41, Z:0.00 [[ 0.98017143 -0.19402806 -0.04021281 0.88062654] [ 0.19477528 0.98072473 0.01554351 -0.40954939] [ 0.03642183 -0.02306776 0.99907023 0.00312281] [ 0. 0. 0. 1. ]] SLAMing on 47.69327356 meters Centerline goodness : 0.849910 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.41, Z:0.00 [[ 0.98008561 -0.19443104 -0.04035809 0.88061254] [ 0.19516666 0.9806534 0.01512905 -0.4087915 ] [ 0.03663574 -0.02270431 0.99907074 0.0035088 ] [ 0. 0. 0. 1. ]] SLAMing on 47.723273559999996 meters Centerline goodness : 0.849058 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.41, Z:0.00 [[ 0.98000413 -0.19481376 -0.04049079 0.88083152] [ 0.19553786 0.98058556 0.01472801 -0.40796741] [ 0.03683547 -0.02235099 0.99907136 0.00353552] [ 0. 0. 0. 1. ]] SLAMing on 47.75327356 meters Centerline goodness : 0.849937 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.41, Z:0.00 [[ 0.97991413 -0.19521853 -0.04071874 0.88129913] [ 0.19593304 0.98051263 0.0143258 -0.40723107] [ 0.03712857 -0.0220162 0.99906794 0.00348876] [ 0. 0. 0. 1. ]] SLAMing on 47.78327356 meters Centerline goodness : 0.850473 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.41, Z:0.00 [[ 0.97978375 -0.19586965 -0.04072943 0.8815294 ] [ 0.19654775 0.98040362 0.01333118 -0.40507249] [ 0.03732011 -0.02106695 0.99908127 0.00300641] [ 0. 0. 0. 1. ]] SLAMing on 47.81327356 meters Centerline goodness : 0.852174 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.41, Z:0.01 [[ 0.98008338 -0.19196199 -0.05086423 0.87405059] [ 0.1930154 0.98105476 0.0166319 -0.40896365] [ 0.0467079 -0.02611823 0.99856708 0.00568837] [ 0. 0. 0. 1. ]] SLAMing on 47.84327356 meters Centerline goodness : 0.849872 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.41, Z:0.01 [[ 0.98003156 -0.19217829 -0.05104548 0.87443544] [ 0.19320757 0.98102723 0.01601274 -0.40715021] [ 0.0469997 -0.02555536 0.99856795 0.00536974] [ 0. 0. 0. 1. ]] SLAMing on 47.87327356 meters Centerline goodness : 0.847041 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.40, Z:0.00 [[ 0.98050329 -0.18948174 -0.05205731 0.86612576] [ 0.19009534 0.98174029 0.00705475 -0.40408583] [ 0.04977001 -0.01681306 0.99861918 0.00491195] [ 0. 0. 0. 1. ]] SLAMing on 47.903273559999995 meters Centerline goodness : 0.847035 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.40, Z:0.00 [[ 0.98045951 -0.18969831 -0.05209327 0.86627351] [ 0.190283 0.98170804 0.00645811 -0.40252552] [ 0.04991529 -0.01624438 0.99862134 0.00461528] [ 0. 0. 0. 1. ]] SLAMing on 47.933273559999996 meters Centerline goodness : 0.849176 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.40, Z:0.01 [[ 0.98097048 -0.18671149 -0.05325156 0.86706026] [ 0.18752121 0.98220343 0.01059324 -0.40391227] [ 0.05032598 -0.02037745 0.99852494 0.00502044] [ 0. 0. 0. 1. ]] SLAMing on 47.96327356 meters Centerline goodness : 0.846830 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.41, Z:0.01 [[ 0.9811418 -0.18265001 -0.06324347 0.85998286] [ 0.18381208 0.98287514 0.0130221 -0.40681763] [ 0.05978195 -0.02440145 0.99791317 0.00849702] [ 0. 0. 0. 1. ]] SLAMing on 47.99327356 meters Centerline goodness : 0.847581 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.41, Z:0.01 [[ 0.9811286 -0.18269749 -0.06331105 0.85985356] [ 0.18384677 0.98287183 0.0127798 -0.40586872] [ 0.05989181 -0.02417816 0.99791201 0.00865474] [ 0. 0. 0. 1. ]] SLAMing on 48.02327356 meters Centerline goodness : 0.846236 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.40, Z:0.01 [[ 0.98112067 -0.18270626 -0.06340866 0.85964257] [ 0.18384832 0.98287361 0.01262014 -0.4048901 ] [ 0.06001692 -0.02403946 0.99790785 0.00897265] [ 0. 0. 0. 1. ]] SLAMing on 48.05327356 meters Centerline goodness : 0.845177 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.40, Z:0.01 [[ 0.98112068 -0.18270441 -0.06341386 0.85923343] [ 0.18382795 0.98288134 0.01231045 -0.40366502] [ 0.06007913 -0.02373528 0.99791139 0.00928317] [ 0. 0. 0. 1. ]] SLAMing on 48.083273559999995 meters Centerline goodness : 0.844967 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.40, Z:0.01 [[ 0.98113936 -0.1827107 -0.063106 0.85777657] [ 0.18375484 0.98290933 0.01110917 -0.40001714] [ 0.05999771 -0.02249568 0.997945 0.0096483 ] [ 0. 0. 0. 1. ]] SLAMing on 48.113273559999996 meters Centerline goodness : 0.846017 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.40, Z:0.01 [[ 0.98115243 -0.182641 -0.06310448 0.85786626] [ 0.18364328 0.98293776 0.01041627 -0.39797527] [ 0.06012534 -0.02180866 0.99795257 0.00916716] [ 0. 0. 0. 1. ]] SLAMing on 48.14327356 meters Centerline goodness : 0.844941 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.40, Z:0.01 [[ 0.98150291 -0.1766021 -0.07391709 0.85143641] [ 0.17818961 0.98387548 0.01541116 -0.40270294] [ 0.07000357 -0.02829735 0.99714531 0.01204677] [ 0. 0. 0. 1. ]] SLAMing on 48.17327356 meters Centerline goodness : 0.844217 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.40, Z:0.01 [[ 0.9821295 -0.17382167 -0.07216417 0.84801432] [ 0.17527538 0.98441592 0.01427719 -0.39980463] [ 0.06855788 -0.02667066 0.99729058 0.01031613] [ 0. 0. 0. 1. ]] SLAMing on 48.20327356 meters Centerline goodness : 0.844811 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.40, Z:0.01 [[ 0.98269539 -0.17026396 -0.07293807 0.84812411] [ 0.17197839 0.98493878 0.01786173 -0.39975739] [ 0.06879832 -0.03009641 0.99717651 0.01048523] [ 0. 0. 0. 1. ]] SLAMing on 48.23327356 meters Centerline goodness : 0.842750 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.40, Z:0.01 [[ 0.98326291 -0.16663414 -0.07366894 0.84797813] [ 0.16860428 0.98545274 0.02134237 -0.3995361 ] [ 0.06904089 -0.03340606 0.99705436 0.01085553] [ 0. 0. 0. 1. ]] SLAMing on 48.263273559999995 meters Centerline goodness : 0.842932 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.40, Z:0.01 [[ 0.9840382 -0.16201377 -0.07362313 0.84621352] [ 0.16413275 0.98615434 0.02366532 -0.39576123] [ 0.06876966 -0.03537155 0.99700531 0.01045188] [ 0. 0. 0. 1. ]] SLAMing on 48.293273559999996 meters Centerline goodness : 0.845200 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.39, Z:0.01 [[ 0.98462081 -0.15823618 -0.07404845 0.84566479] [ 0.16057717 0.98666019 0.02677013 -0.39460779] [ 0.06882466 -0.03824892 0.99689527 0.01040561] [ 0. 0. 0. 1. ]] SLAMing on 48.32327356 meters Centerline goodness : 0.846466 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.39, Z:0.01 [[ 0.98520882 -0.15429422 -0.07454439 0.84516921] [ 0.15687657 0.98715969 0.03009139 -0.39370752] [ 0.06894429 -0.04134057 0.99676358 0.01051142] [ 0. 0. 0. 1. ]] SLAMing on 48.35327356 meters Centerline goodness : 0.847207 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.39, Z:0.01 [[ 0.98596003 -0.14959058 -0.07419886 0.84303331] [ 0.15226383 0.98782968 0.03175301 -0.38883226] [ 0.06854589 -0.042605 0.99673782 0.00972968] [ 0. 0. 0. 1. ]] SLAMing on 48.38327356 meters Centerline goodness : 0.846980 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.39, Z:0.01 [[ 0.98619277 -0.14828207 -0.07373096 0.84178545] [ 0.15088242 0.98806504 0.03101575 -0.38578185] [ 0.06825191 -0.04171221 0.99679575 0.00915735] [ 0. 0. 0. 1. ]] SLAMing on 48.41327356 meters Centerline goodness : 0.847831 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.39, Z:0.01 [[ 0.98674011 -0.14435216 -0.07420514 0.84123244] [ 0.14719812 0.98850851 0.03440395 -0.38503229] [ 0.06838613 -0.04487061 0.99664937 0.00942226] [ 0. 0. 0. 1. ]] SLAMing on 48.44327356 meters Centerline goodness : 0.828498 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.38, Z:0.01 [[ 0.98739386 -0.13985942 -0.07411281 0.83942057] [ 0.14287078 0.98904969 0.03699522 -0.38232832] [ 0.06812712 -0.04711741 0.99656342 0.00940442] [ 0. 0. 0. 1. ]] SLAMing on 48.473273559999996 meters Centerline goodness : 0.828498 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.38, Z:0.01 [[ 0.98739386 -0.13985942 -0.07411281 0.83942057] [ 0.14287078 0.98904969 0.03699522 -0.38232832] [ 0.06812712 -0.04711741 0.99656342 0.00940442] [ 0. 0. 0. 1. ]] SLAMing on 48.50327356 meters Centerline goodness : 0.826402 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.38, Z:0.01 [[ 0.98751551 -0.13916573 -0.07379714 0.83859723] [ 0.14214167 0.98916531 0.03671141 -0.38092821] [ 0.0678886 -0.04674273 0.99659734 0.00919179] [ 0. 0. 0. 1. ]] SLAMing on 48.53327356 meters Centerline goodness : 0.828544 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.38, Z:0.01 [[ 0.98757352 -0.13895983 -0.07340777 0.83762863] [ 0.14188213 0.98922162 0.03619463 -0.37993334] [ 0.06758695 -0.04616011 0.996645 0.00920187] [ 0. 0. 0. 1. ]] SLAMing on 48.56327356 meters Centerline goodness : 0.791245 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.38, Z:0.01 [[ 0.98763934 -0.13858276 -0.0732349 0.83734749] [ 0.14149704 0.98927644 0.03620384 -0.37952489] [ 0.06743234 -0.04611886 0.99665738 0.00897815] [ 0. 0. 0. 1. ]] SLAMing on 48.59327356 meters Centerline goodness : 0.845093 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.38, Z:0.01 [[ 0.9876842 -0.13844603 -0.07288766 0.83691904] [ 0.14131846 0.98931577 0.03582459 -0.37896853] [ 0.06714914 -0.04568375 0.99669654 0.00855773] [ 0. 0. 0. 1. ]] SLAMing on 48.62327356 meters Centerline goodness : 0.845251 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.38, Z:0.01 [[ 0.98763591 -0.13873354 -0.07299525 0.83726228] [ 0.14158322 0.98929293 0.03540734 -0.37841186] [ 0.0673015 -0.04530446 0.99670357 0.00839113] [ 0. 0. 0. 1. ]] SLAMing on 48.653273559999995 meters Centerline goodness : 0.847357 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.38, Z:0.01 [[ 0.98765001 -0.13841759 -0.0734032 0.83825457] [ 0.14133791 0.98929999 0.03618186 -0.37931757] [ 0.06760958 -0.04610966 0.9966458 0.0082882 ] [ 0. 0. 0. 1. ]] SLAMing on 48.683273559999996 meters Centerline goodness : 0.848762 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.38, Z:0.01 [[ 0.98756435 -0.13887865 -0.07368433 0.83926314] [ 0.14183633 0.98921594 0.03652786 -0.38086375] [ 0.06781678 -0.04652473 0.99661243 0.00820143] [ 0. 0. 0. 1. ]] SLAMing on 48.71327356 meters Centerline goodness : 0.850286 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.38, Z:0.01 [[ 0.98751852 -0.139077 -0.07392397 0.8397533 ] [ 0.14206942 0.98916989 0.03686758 -0.38209718] [ 0.06799593 -0.04690976 0.99658217 0.00849987] [ 0. 0. 0. 1. ]] SLAMing on 48.74327356 meters Centerline goodness : 0.851216 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.38, Z:0.01 [[ 0.98750401 -0.13889728 -0.07445389 0.84071635] [ 0.1419969 0.9891348 0.03806879 -0.3837594 ] [ 0.06835728 -0.04816531 0.99649756 0.00891152] [ 0. 0. 0. 1. ]] SLAMing on 48.77327356 meters Centerline goodness : 0.849689 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.39, Z:0.01 [[ 0.98742729 -0.13925535 -0.07480175 0.84160809] [ 0.14243068 0.9890395 0.03891489 -0.38636525] [ 0.06856278 -0.04907968 0.99643882 0.00933386] [ 0. 0. 0. 1. ]] SLAMing on 48.80327356 meters Centerline goodness : 0.849260 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.39, Z:0.01 [[ 0.98739348 -0.13944401 -0.07489651 0.84184085] [ 0.14263731 0.98900229 0.03910336 -0.38734511] [ 0.06862009 -0.04929343 0.99642433 0.00955312] [ 0. 0. 0. 1. ]] SLAMing on 48.833273559999995 meters Centerline goodness : 0.853107 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.39, Z:0.01 [[ 0.98709672 -0.14194713 -0.07410186 0.84149786] [ 0.14491523 0.98877731 0.03631825 -0.38847184] [ 0.06811497 -0.04658811 0.99658913 0.00931864] [ 0. 0. 0. 1. ]] SLAMing on 48.863273559999996 meters Centerline goodness : 0.851013 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.39, Z:0.01 [[ 0.9870961 -0.14191514 -0.07417135 0.84165289] [ 0.14490853 0.98876637 0.03664119 -0.38948054] [ 0.06813819 -0.04691644 0.99657214 0.00950009] [ 0. 0. 0. 1. ]] SLAMing on 48.89327356 meters Centerline goodness : 0.848802 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.39, Z:0.01 [[ 0.98712075 -0.14167129 -0.07430926 0.84193518] [ 0.14470736 0.98877589 0.03717548 -0.3905394 ] [ 0.06820851 -0.04744978 0.99654208 0.00964654] [ 0. 0. 0. 1. ]] SLAMing on 48.92327356 meters Centerline goodness : 0.850701 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.39, Z:0.01 [[ 0.98718922 -0.1412024 -0.07429212 0.84266026] [ 0.14428131 0.98881351 0.03782521 -0.39235147] [ 0.06812005 -0.0480596 0.99651891 0.00897548] [ 0. 0. 0. 1. ]] SLAMing on 48.95327356 meters Centerline goodness : 0.851780 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.39, Z:0.01 [[ 0.98723025 -0.14089193 -0.07433642 0.84310426] [ 0.14401176 0.98883066 0.03839981 -0.39355593] [ 0.06809591 -0.04861478 0.99649363 0.00869178] [ 0. 0. 0. 1. ]] SLAMing on 48.98327356 meters Centerline goodness : 0.844741 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.39, Z:0.01 [[ 0.98724522 -0.14075243 -0.07440185 0.84352661] [ 0.14389378 0.98883727 0.03867097 -0.39456504] [ 0.06812829 -0.0488837 0.99647826 0.00854234] [ 0. 0. 0. 1. ]] SLAMing on 49.013273559999995 meters Centerline goodness : 0.856289 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.40, Z:0.01 [[ 0.98729315 -0.1404219 -0.07439041 0.84397569] [ 0.14358716 0.98886746 0.03903688 -0.39564736] [ 0.06808062 -0.04922235 0.99646485 0.0081186 ] [ 0. 0. 0. 1. ]] SLAMing on 49.043273559999996 meters Centerline goodness : 0.850626 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.40, Z:0.01 [[ 0.98743456 -0.13926427 -0.07468902 0.84440732] [ 0.14256171 0.98894561 0.04077678 -0.39783801] [ 0.06818463 -0.0509122 0.99637282 0.00855761] [ 0. 0. 0. 1. ]] SLAMing on 49.07327356 meters Centerline goodness : 0.798211 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.40, Z:0.01 [[ 0.98748989 -0.13891715 -0.07460394 0.84445126] [ 0.14222271 0.98898656 0.04096682 -0.39844168] [ 0.0680913 -0.0510647 0.9963714 0.00840178] [ 0. 0. 0. 1. ]] SLAMing on 49.10327356 meters Centerline goodness : 0.797997 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.40, Z:0.01 [[ 0.98754275 -0.138492 -0.07469458 0.8446503 ] [ 0.14183271 0.9890236 0.04142215 -0.39936748] [ 0.06813807 -0.05150028 0.99634579 0.00851018] [ 0. 0. 0. 1. ]] SLAMing on 49.13327356 meters Centerline goodness : 0.853817 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.40, Z:0.01 [[ 0.98767122 -0.13760131 -0.07464205 0.84449915] [ 0.1410117 0.98909521 0.04250147 -0.40184208] [ 0.06797984 -0.05250288 0.99630427 0.00893162] [ 0. 0. 0. 1. ]] SLAMing on 49.16327356 meters Centerline goodness : 0.856530 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.40, Z:0.01 [[ 0.98775499 -0.13679838 -0.07500857 0.84524518] [ 0.14032579 0.98912973 0.04394372 -0.40369697] [ 0.06818178 -0.05393126 0.99621417 0.00928256] [ 0. 0. 0. 1. ]] SLAMing on 49.19327356 meters Centerline goodness : 0.850600 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.41, Z:0.01 [[ 0.98779567 -0.13646276 -0.07508409 0.84520442] [ 0.14003658 0.98914277 0.04456829 -0.40526257] [ 0.06818697 -0.05453888 0.99618073 0.00979688] [ 0. 0. 0. 1. ]] SLAMing on 49.223273559999996 meters Centerline goodness : 0.802552 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.41, Z:0.01 [[ 0.98790175 -0.13556502 -0.07531439 0.84557302] [ 0.13926665 0.98917357 0.04626509 -0.40841056] [ 0.06822708 -0.05619415 0.99608598 0.01043119] [ 0. 0. 0. 1. ]] SLAMing on 49.25327356 meters Centerline goodness : 0.856441 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.41, Z:0.01 [[ 0.98790224 -0.13542442 -0.07556056 0.84603415] [ 0.13918334 0.98915543 0.04689923 -0.40993414] [ 0.06838983 -0.05684862 0.99603768 0.01081651] [ 0. 0. 0. 1. ]] SLAMing on 49.28327356 meters Centerline goodness : 0.846218 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.41, Z:0.01 [[ 0.98755788 -0.13823164 -0.07497636 0.84596517] [ 0.14174158 0.98893932 0.04368459 -0.41008283] [ 0.06810848 -0.05376832 0.99622799 0.01061555] [ 0. 0. 0. 1. ]] SLAMing on 49.31327356 meters Centerline goodness : 0.853942 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.43, Z:0.04 [[ 0.9850556 -0.13980056 -0.10060455 0.88876937] [ 0.15042541 0.98279507 0.10717298 -0.42523129] [ 0.08389081 -0.12070482 0.98913734 0.03687903] [ 0. 0. 0. 1. ]] SLAMing on 49.34327356 meters Centerline goodness : 0.831189 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.43, Z:0.04 [[ 0.98468715 -0.14294199 -0.09979377 0.88835468] [ 0.15319045 0.98271416 0.10394981 -0.42621124] [ 0.08320996 -0.11764549 0.98956336 0.03680029] [ 0. 0. 0. 1. ]] SLAMing on 49.37327356 meters Centerline goodness : 0.833724 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.43, Z:0.04 [[ 0.98429203 -0.14617923 -0.09899912 0.88795957] [ 0.15605846 0.98259886 0.1007236 -0.42720316] [ 0.08255273 -0.11459108 0.98997673 0.03685365] [ 0. 0. 0. 1. ]] SLAMing on 49.403273559999995 meters Centerline goodness : 0.859441 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.43, Z:0.04 [[ 0.9839317 -0.14890092 -0.09852375 0.88823627] [ 0.15860633 0.98233129 0.09934419 -0.43193526] [ 0.08199052 -0.11337438 0.99016352 0.03783771] [ 0. 0. 0. 1. ]] SLAMing on 49.433273559999996 meters Centerline goodness : 0.827431 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.43, Z:0.04 [[ 0.98351094 -0.15214826 -0.09776059 0.88781211] [ 0.16149959 0.98217736 0.09615365 -0.4329345 ] [ 0.08138862 -0.11035646 0.99055406 0.03806049] [ 0. 0. 0. 1. ]] SLAMing on 49.46327356 meters Centerline goodness : 0.826950 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.43, Z:0.04 [[ 0.98307415 -0.15528718 -0.09721685 0.8877726 ] [ 0.16435066 0.98196842 0.09341774 -0.43422648] [ 0.0809573 -0.10781422 0.99086932 0.0384946 ] [ 0. 0. 0. 1. ]] SLAMing on 49.49327356 meters Centerline goodness : 0.809651 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.44, Z:0.04 [[ 0.98261745 -0.15834918 -0.09689424 0.88847407] [ 0.16723857 0.9816381 0.09174908 -0.43959604] [ 0.08058669 -0.1063587 0.99105682 0.03959723] [ 0. 0. 0. 1. ]] SLAMing on 49.52327356 meters Centerline goodness : 0.809185 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.44, Z:0.04 [[ 0.98213141 -0.16149987 -0.09662135 0.88906672] [ 0.1701628 0.98135669 0.08935134 -0.44135318] [ 0.08038978 -0.10419612 0.9913025 0.04024712] [ 0. 0. 0. 1. ]] SLAMing on 49.55327356 meters Centerline goodness : 0.810156 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.44, Z:0.04 [[ 0.98166546 -0.1646847 -0.09597846 0.88940574] [ 0.17305267 0.98110201 0.08655418 -0.44340933] [ 0.07991051 -0.10157658 0.99161308 0.04019242] [ 0. 0. 0. 1. ]] SLAMing on 49.583273559999995 meters Centerline goodness : 0.810191 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.45, Z:0.04 [[ 0.98120169 -0.16778088 -0.09535629 0.88960688] [ 0.1758727 0.98082949 0.08391849 -0.44547544] [ 0.07944835 -0.09911153 0.99189962 0.04035592] [ 0. 0. 0. 1. ]] SLAMing on 49.613273559999996 meters Centerline goodness : 0.810477 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.45, Z:0.04 [[ 0.98077841 -0.17039206 -0.09508027 0.890502 ] [ 0.17837941 0.98045774 0.0829663 -0.45199754] [ 0.07908539 -0.09833192 0.99200622 0.04160071] [ 0. 0. 0. 1. ]] SLAMing on 49.64327356 meters Centerline goodness : 0.810386 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.45, Z:0.04 [[ 0.98026828 -0.17371651 -0.09432217 0.89007606] [ 0.18140367 0.98013876 0.08012943 -0.4541123 ] [ 0.07852901 -0.09565872 0.99231175 0.04228612] [ 0. 0. 0. 1. ]] SLAMing on 49.67327356 meters Centerline goodness : 0.812357 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.46, Z:0.04 [[ 0.98037485 -0.17544214 -0.08991773 0.88355051] [ 0.18231078 0.98038659 0.07486593 -0.45812704] [ 0.0750195 -0.08978964 0.99313136 0.04084651] [ 0. 0. 0. 1. ]] SLAMing on 49.70327356 meters Centerline goodness : 0.814608 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.47, Z:0.04 [[ 0.97992156 -0.17797338 -0.08988444 0.88444925] [ 0.18480973 0.97994822 0.07447718 -0.4658719 ] [ 0.07482714 -0.08959331 0.9931636 0.04306512] [ 0. 0. 0. 1. ]] SLAMing on 49.73327356 meters Centerline goodness : 0.814145 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.47, Z:0.04 [[ 0.97937479 -0.18120296 -0.08938967 0.8850292 ] [ 0.18780264 0.97957087 0.07191021 -0.46849382] [ 0.07453317 -0.08721466 0.99339741 0.04342235] [ 0. 0. 0. 1. ]] SLAMing on 49.763273559999995 meters Centerline goodness : 0.814739 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.47, Z:0.04 [[ 0.97884912 -0.18443416 -0.08853499 0.88511371] [ 0.19076815 0.97918362 0.06933222 -0.47128385] [ 0.07390478 -0.08475544 0.99365718 0.04348687] [ 0. 0. 0. 1. ]] SLAMing on 49.793273559999996 meters Centerline goodness : 0.814688 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.48, Z:0.04 [[ 0.97843484 -0.18666179 -0.08844569 0.8877079 ] [ 0.19296841 0.97877192 0.06905588 -0.47857719] [ 0.07367807 -0.08463391 0.99368438 0.04377771] [ 0. 0. 0. 1. ]] SLAMing on 49.82327356 meters Centerline goodness : 0.814135 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.48, Z:0.04 [[ 0.97787689 -0.18978758 -0.08796282 0.88861684] [ 0.19585773 0.97838233 0.066391 -0.48093739] [ 0.07346108 -0.08215042 0.99390884 0.04359623] [ 0. 0. 0. 1. ]] SLAMing on 49.85327356 meters Centerline goodness : 0.813665 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.49, Z:0.04 [[ 0.97811479 -0.1907381 -0.08312897 0.88171996] [ 0.19605344 0.97867857 0.06124791 -0.48577332] [ 0.06967424 -0.07620521 0.99465485 0.04113003] [ 0. 0. 0. 1. ]] SLAMing on 49.88327356 meters Centerline goodness : 0.814758 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.49, Z:0.04 [[ 0.97763313 -0.19323755 -0.08302238 0.88396447] [ 0.19846482 0.97826459 0.06008415 -0.49344038] [ 0.06960734 -0.07521728 0.99473473 0.04134486] [ 0. 0. 0. 1. ]] SLAMing on 49.91327356 meters Centerline goodness : 0.814800 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.50, Z:0.04 [[ 0.97706222 -0.19633212 -0.08248108 0.88442561] [ 0.20133776 0.97783532 0.05745608 -0.4961309 ] [ 0.06937244 -0.07274472 0.99493501 0.04162256] [ 0. 0. 0. 1. ]] SLAMing on 49.94327356 meters Centerline goodness : 0.814061 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.50, Z:0.04 [[ 0.9764832 -0.19941551 -0.08193903 0.88471995] [ 0.2042036 0.97739044 0.05485266 -0.49871946] [ 0.06914795 -0.07029494 0.99512672 0.04207683] [ 0. 0. 0. 1. ]] SLAMing on 49.973273559999996 meters Centerline goodness : 0.813956 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.51, Z:0.04 [[ 0.97591504 -0.20228335 -0.08167786 0.8857578 ] [ 0.20695398 0.97689314 0.0533839 -0.50569579] [ 0.06899187 -0.06900171 0.99522806 0.04315651] [ 0. 0. 0. 1. ]] SLAMing on 50.00327356 meters Centerline goodness : 0.811322 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.51, Z:0.04 [[ 0.97542911 -0.20494548 -0.0808419 0.88488144] [ 0.20942202 0.97647555 0.05136061 -0.50919286] [ 0.06841401 -0.06702871 0.99540277 0.04429872] [ 0. 0. 0. 1. ]] SLAMing on 50.03327356 meters Centerline goodness : 0.813756 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.51, Z:0.04 [[ 0.97479958 -0.2081196 -0.08032437 0.8853409 ] [ 0.21238937 0.97596611 0.04879459 -0.51207178] [ 0.06823875 -0.06462499 0.99557375 0.04475346] [ 0. 0. 0. 1. ]] SLAMing on 50.06327356 meters Centerline goodness : 0.815366 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.51, Z:0.05 [[ 0.97416255 -0.21128689 -0.07978206 0.8859652 ] [ 0.21534925 0.97544309 0.0462113 -0.51498957] [ 0.06805902 -0.06219833 0.9957406 0.04501813] [ 0. 0. 0. 1. ]] SLAMing on 50.09327356 meters Centerline goodness : 0.811274 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.52, Z:0.05 [[ 0.97351786 -0.21432995 -0.07953391 0.88818764] [ 0.21827478 0.97486514 0.04465517 -0.52197482] [ 0.06796389 -0.06083285 0.99583145 0.0450062 ] [ 0. 0. 0. 1. ]] SLAMing on 50.12327356 meters Centerline goodness : 0.811772 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.52, Z:0.04 [[ 0.97285031 -0.21756845 -0.07890657 0.88888408] [ 0.2212932 0.97430644 0.04190806 -0.52422195] [ 0.06776131 -0.05823175 0.99600074 0.04490378] [ 0. 0. 0. 1. ]] SLAMing on 50.153273559999995 meters Centerline goodness : 0.814312 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.53, Z:0.04 [[ 0.97219846 -0.22056431 -0.07862275 0.89073053] [ 0.22416017 0.97372342 0.04018598 -0.52988714] [ 0.06769322 -0.05669284 0.99609415 0.04488611] [ 0. 0. 0. 1. ]] SLAMing on 50.183273559999996 meters Centerline goodness : 0.814202 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.53, Z:0.05 [[ 0.97155518 -0.22361646 -0.07795009 0.89077505] [ 0.22699971 0.97317136 0.03753186 -0.53173539] [ 0.06746605 -0.05415892 0.99625054 0.04525051] [ 0. 0. 0. 1. ]] SLAMing on 50.21327356 meters Centerline goodness : 0.813663 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.54, Z:0.05 [[ 0.97094747 -0.22637214 -0.0775671 0.89130937] [ 0.22962892 0.97261603 0.03589728 -0.53696128] [ 0.06731686 -0.05266602 0.99634067 0.04626154] [ 0. 0. 0. 1. ]] SLAMing on 50.24327356 meters Centerline goodness : 0.813605 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.54, Z:0.05 [[ 0.97025084 -0.22957767 -0.07685961 0.89137939] [ 0.23260944 0.97200957 0.03301888 -0.53843788] [ 0.06712788 -0.04991486 0.99649503 0.04656911] [ 0. 0. 0. 1. ]] SLAMing on 50.27327356 meters Centerline goodness : 0.815228 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.54, Z:0.05 [[ 0.96954053 -0.23270408 -0.07641966 0.89220445] [ 0.23551659 0.97140725 0.02999812 -0.53941923] [ 0.06725392 -0.04708249 0.99662438 0.04653459] [ 0. 0. 0. 1. ]] SLAMing on 50.30327356 meters Centerline goodness : 0.814736 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.54, Z:0.05 [[ 0.96881186 -0.23588786 -0.07589798 0.89306098] [ 0.23846593 0.97078136 0.02678712 -0.54041153] [ 0.06736158 -0.04405077 0.99675571 0.04662864] [ 0. 0. 0. 1. ]] SLAMing on 50.333273559999995 meters Centerline goodness : 0.814736 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.54, Z:0.05 [[ 0.96880315 -0.2359536 -0.07580469 0.89303749] [ 0.23854084 0.97075755 0.02698229 -0.54087212] [ 0.06722141 -0.04422304 0.99675755 0.04666976] [ 0. 0. 0. 1. ]] SLAMing on 50.363273559999996 meters Centerline goodness : 0.814036 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.54, Z:0.05 [[ 0.96811552 -0.23896698 -0.07514734 0.89366645] [ 0.24137877 0.97011639 0.02470809 -0.54421794] [ 0.06699725 -0.04205926 0.99686628 0.04678856] [ 0. 0. 0. 1. ]] SLAMing on 50.39327356 meters Centerline goodness : 0.813159 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.54, Z:0.05 [[ 0.96732749 -0.24236866 -0.07439737 0.89411072] [ 0.24453611 0.96940361 0.02141802 -0.54477532] [ 0.06693002 -0.03891108 0.99699865 0.04663552] [ 0. 0. 0. 1. ]] SLAMing on 50.42327356 meters Centerline goodness : 0.814825 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.55, Z:0.05 [[ 0.96672824 -0.24500246 -0.07355471 0.89331656] [ 0.24698321 0.96883304 0.0190221 -0.54608275] [ 0.06660177 -0.03655598 0.99710976 0.04730979] [ 0. 0. 0. 1. ]] SLAMing on 50.45327356 meters Centerline goodness : 0.815990 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.55, Z:0.05 [[ 0.96594202 -0.2483631 -0.07260702 0.89330493] [ 0.25010551 0.96808907 0.01583624 -0.54679183] [ 0.06635692 -0.03345631 0.99723489 0.04728024] [ 0. 0. 0. 1. ]] SLAMing on 50.48327356 meters Centerline goodness : 0.813398 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.55, Z:0.05 [[ 0.96504797 -0.25199487 -0.07197923 0.89436625] [ 0.25355381 0.96723038 0.01326077 -0.55007925] [ 0.06627885 -0.03104789 0.99731797 0.04720991] [ 0. 0. 0. 1. ]] SLAMing on 50.513273559999995 meters Centerline goodness : 0.813643 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.55, Z:0.05 [[ 0.9644585 -0.25446486 -0.07118596 0.89319751] [ 0.25586304 0.96664917 0.01111222 -0.55147269] [ 0.06598418 -0.02893113 0.99740116 0.04830689] [ 0. 0. 0. 1. ]] SLAMing on 50.543273559999996 meters Centerline goodness : 0.815837 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.55, Z:0.05 [[ 0.96350224 -0.25826952 -0.07042929 0.893386 ] [ 0.25946088 0.96571907 0.00816901 -0.55405952] [ 0.0659051 -0.02614451 0.99748332 0.04901467] [ 0. 0. 0. 1. ]] SLAMing on 50.57327356 meters Centerline goodness : 0.814850 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.56, Z:0.05 [[ 0.96291501 -0.26067402 -0.06959693 0.89193859] [ 0.2617174 0.9651249 0.00615871 -0.55560373] [ 0.06556431 -0.02414504 0.99755618 0.05032895] [ 0. 0. 0. 1. ]] SLAMing on 50.60327356 meters Centerline goodness : 0.817318 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.56, Z:0.05 [[ 0.96283658 -0.26092413 -0.06974467 0.89232707] [ 0.26200753 0.96504255 0.00670368 -0.55802818] [ 0.06555742 -0.02472817 0.99754235 0.05077793] [ 0. 0. 0. 1. ]] SLAMing on 50.63327356 meters Centerline goodness : 0.817437 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.56, Z:0.05 [[ 0.96180911 -0.26491316 -0.0688785 0.89260744] [ 0.26578097 0.96402676 0.00358867 -0.5604325 ] [ 0.06545003 -0.02175821 0.9976186 0.05127554] [ 0. 0. 0. 1. ]] SLAMing on 50.66327356 meters Centerline goodness : 0.816854 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.56, Z:0.05 [[ 0.96169882 -0.26527399 -0.06902968 0.89321202] [ 0.26616912 0.96391829 0.00394143 -0.56240319] [ 0.06549341 -0.02216404 0.99760682 0.05141635] [ 0. 0. 0. 1. ]] SLAMing on 50.693273559999994 meters Centerline goodness : 0.817633 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.56, Z:0.05 [[ 0.96160341 -0.26560107 -0.06910104 0.89368237] [ 0.26651496 0.96382167 0.00419136 -0.56401176] [ 0.06548785 -0.02244689 0.99760086 0.05149365] [ 0. 0. 0. 1. ]] SLAMing on 50.723273559999996 meters Centerline goodness : 0.818145 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.56, Z:0.05 [[ 9.60566359e-01 -2.69550145e-01 -6.82274896e-02 8.94224000e-01] [ 2.70217511e-01 9.62799131e-01 5.74623109e-04 -5.64137801e-01] [ 6.55344780e-02 -1.89882260e-02 9.97669624e-01 5.12151326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.75327356 meters Centerline goodness : 0.819161 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.56, Z:0.05 [[ 9.60501539e-01 -2.69742949e-01 -6.83778914e-02 8.94859552e-01] [ 2.70423114e-01 9.62741306e-01 7.18624997e-04 -5.64980223e-01] [ 6.56363765e-02 -1.91812027e-02 9.97659234e-01 5.10562459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.78327356 meters Centerline goodness : 0.817862 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.57, Z:0.05 [[ 9.60458439e-01 -2.69862867e-01 -6.85100016e-02 8.95455252e-01] [ 2.70553689e-01 9.62704524e-01 8.37406641e-04 -5.65634274e-01] [ 6.57289035e-02 -1.93399279e-02 9.97650078e-01 5.08390120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.81327356 meters Centerline goodness : 0.819390 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.57, Z:0.05 [[ 9.60378350e-01 -2.70146853e-01 -6.85135213e-02 8.95603731e-01] [ 2.70837349e-01 9.62624774e-01 8.21335345e-04 -5.65895083e-01] [ 6.57309319e-02 -1.93448132e-02 9.97649850e-01 5.07976726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.84327356 meters Centerline goodness : 0.821260 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.57, Z:0.05 [[ 9.60382991e-01 -2.70113452e-01 -6.85801262e-02 8.95346364e-01] [ 2.70810379e-01 9.62632291e-01 9.00421908e-04 -5.65942190e-01] [ 6.57742279e-02 -1.94369599e-02 9.97645205e-01 5.12014597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.87327356 meters Centerline goodness : 0.818124 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.57, Z:0.05 [[ 9.60389411e-01 -2.70086753e-01 -6.85953687e-02 8.95049914e-01] [ 2.70783411e-01 9.62639884e-01 8.92780979e-04 -5.65745230e-01] [ 6.57915095e-02 -1.94319053e-02 9.97644164e-01 5.15261566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.903273559999995 meters Centerline goodness : 0.821331 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.57, Z:0.05 [[ 9.60386997e-01 -2.70098558e-01 -6.85826892e-02 8.94680627e-01] [ 2.70793735e-01 9.62636998e-01 8.73644352e-04 -5.65375522e-01] [ 6.57842639e-02 -1.94107992e-02 9.97645053e-01 5.18098459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.933273559999996 meters Centerline goodness : 0.819206 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.56, Z:0.05 [[ 9.60398608e-01 -2.70107966e-01 -6.83827423e-02 8.93680588e-01] [ 2.70771512e-01 9.62643540e-01 4.51786259e-04 -5.63610337e-01] [ 6.57061740e-02 -1.89499934e-02 9.97659058e-01 5.21478478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.96327356 meters Centerline goodness : 0.820273 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.56, Z:0.05 [[ 9.60428404e-01 -2.70005484e-01 -6.83689866e-02 8.93364684e-01] [ 2.70661098e-01 9.62674636e-01 3.38975776e-04 -5.62719537e-01] [ 6.57255640e-02 -1.88303870e-02 9.97660046e-01 5.22148099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.99327356 meters Centerline goodness : 0.821416 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.56, Z:0.05 [[ 9.60429424e-01 -2.70008019e-01 -6.83446442e-02 8.93175076e-01] [ 2.70642533e-01 9.62679915e-01 2.56757529e-05 -5.61444488e-01] [ 6.57870836e-02 -1.85216274e-02 9.97661771e-01 5.21016855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.02327356 meters Centerline goodness : 0.820620 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.56, Z:0.05 [[ 9.60755818e-01 -2.68871194e-01 -6.82388362e-02 8.91156345e-01] [ 2.69548888e-01 9.62986412e-01 7.52590403e-04 -5.59608864e-01] [ 6.55107222e-02 -1.91167580e-02 9.97668730e-01 5.29357609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.05327356 meters Centerline goodness : 0.818240 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.56, Z:0.05 [[ 9.60761933e-01 -2.68852984e-01 -6.82244920e-02 8.90798632e-01] [ 2.69501408e-01 9.62999945e-01 3.11991365e-04 -5.57770613e-01] [ 6.56163022e-02 -1.86863461e-02 9.97669946e-01 5.29340175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.083273559999995 meters Centerline goodness : 0.820984 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.56, Z:0.05 [[ 9.60770996e-01 -2.68846078e-01 -6.81239995e-02 8.90339247e-01] [ 2.69466194e-01 9.63009845e-01 -8.97877042e-05 -5.55999873e-01] [ 6.56282213e-02 -1.82708494e-02 9.97676858e-01 5.28458745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.113273559999996 meters Centerline goodness : 0.820512 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.55, Z:0.05 [[ 9.60749977e-01 -2.68931095e-01 -6.80848563e-02 8.89916950e-01] [ 2.69516662e-01 9.62995535e-01 -6.06846310e-04 -5.54041055e-01] [ 6.57286125e-02 -1.77669756e-02 9.97679349e-01 5.28819430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.14327356 meters Centerline goodness : 0.819894 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.55, Z:0.05 [[ 0.96070032 -0.26918082 -0.06779812 0.8889727 ] [ 0.26969951 0.96294328 -0.00155542 -0.55065396] [ 0.06570443 -0.01679082 0.99769785 0.05271218] [ 0. 0. 0. 1. ]] SLAMing on 51.17327356 meters Centerline goodness : 0.819528 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.55, Z:0.05 [[ 0.96065416 -0.26935594 -0.06775667 0.88869468] [ 0.26983963 0.96290303 -0.00208219 -0.54895507] [ 0.06580395 -0.01628317 0.9976997 0.0526842 ] [ 0. 0. 0. 1. ]] SLAMing on 51.20327356 meters Centerline goodness : 0.820775 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.55, Z:0.05 [[ 0.96083446 -0.26879033 -0.06744557 0.88607549] [ 0.26927343 0.9630617 -0.0019939 -0.54646069] [ 0.06549019 -0.01624549 0.99772096 0.05400538] [ 0. 0. 0. 1. ]] SLAMing on 51.23327356 meters Centerline goodness : 0.821606 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.54, Z:0.05 [[ 0.96080052 -0.26892955 -0.06737404 0.88543078] [ 0.26938039 0.96303068 -0.00247262 -0.54461742] [ 0.06554823 -0.01577355 0.99772472 0.05425382] [ 0. 0. 0. 1. ]] SLAMing on 51.263273559999995 meters Centerline goodness : 0.821841 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.54, Z:0.05 [[ 0.96075236 -0.26913192 -0.06725259 0.88472922] [ 0.2695464 0.96298272 -0.00300422 -0.54272502] [ 0.06557161 -0.01524138 0.99773146 0.05445999] [ 0. 0. 0. 1. ]] SLAMing on 51.293273559999996 meters Centerline goodness : 0.820462 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.54, Z:0.06 [[ 0.96100552 -0.26825421 -0.0671422 0.88218628] [ 0.26870455 0.96321965 -0.00240042 -0.54092383] [ 0.06531661 -0.0157346 0.99774053 0.05601555] [ 0. 0. 0. 1. ]] SLAMing on 51.32327356 meters Centerline goodness : 0.822057 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.54, Z:0.06 [[ 0.96098248 -0.26834194 -0.06712131 0.88188815] [ 0.26876895 0.96320074 -0.00275469 -0.53960992] [ 0.06539049 -0.01539291 0.99774102 0.05605389] [ 0. 0. 0. 1. ]] SLAMing on 51.35327356 meters Centerline goodness : 0.821929 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.54, Z:0.06 [[ 0.96095088 -0.26845533 -0.06712034 0.88175874] [ 0.26886113 0.96317402 -0.003082 -0.53845334] [ 0.06547595 -0.0150844 0.99774013 0.056115 ] [ 0. 0. 0. 1. ]] SLAMing on 51.38327356 meters Centerline goodness : 0.821701 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.54, Z:0.06 [[ 9.61715387e-01 -2.65482067e-01 -6.79910828e-02 8.81898668e-01] [ 2.66099623e-01 9.63945533e-01 2.71937222e-05 -5.37856810e-01] [ 6.55324811e-02 -1.81185541e-02 9.97685928e-01 5.58545508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.41327356 meters Centerline goodness : 0.820725 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.54, Z:0.06 [[ 9.61698464e-01 -2.65543425e-01 -6.79908301e-02 8.81790375e-01] [ 2.66134052e-01 9.63935952e-01 -3.84541968e-04 -5.36294974e-01] [ 6.56409181e-02 -1.77248617e-02 9.97685872e-01 5.57128372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.443273559999994 meters Centerline goodness : 0.822780 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.53, Z:0.06 [[ 9.61657764e-01 -2.65697947e-01 -6.79628216e-02 8.81611616e-01] [ 2.66257904e-01 9.63901452e-01 -8.48355128e-04 -5.34695348e-01] [ 6.57348686e-02 -1.72798111e-02 9.97687494e-01 5.56144594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.473273559999996 meters Centerline goodness : 0.821292 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.53, Z:0.06 [[ 9.62109791e-01 -2.64031518e-01 -6.80595834e-02 8.79343495e-01] [ 2.64684309e-01 9.64334932e-01 5.95792590e-04 -5.33588595e-01] [ 6.54749257e-02 -1.85875217e-02 9.97681080e-01 5.70216474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.50327356 meters Centerline goodness : 0.823114 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.53, Z:0.06 [[ 9.62127974e-01 -2.63973432e-01 -6.80278482e-02 8.78984560e-01] [ 2.64612866e-01 9.64354638e-01 4.03327425e-04 -5.32601965e-01] [ 6.54965032e-02 -1.83890965e-02 9.97683341e-01 5.71403299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.53327356 meters Centerline goodness : 0.821732 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.53, Z:0.06 [[ 0.96243767 -0.26284521 -0.06801565 0.87646211] [ 0.26354247 0.96464688 0.0013289 -0.53193967] [ 0.06526179 -0.019204 0.99768337 0.05902073] [ 0. 0. 0. 1. ]] SLAMing on 51.56327356 meters Centerline goodness : 0.821304 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.53, Z:0.06 [[ 0.96244709 -0.26281234 -0.0680094 0.87611283] [ 0.2635001 0.96465864 0.00118672 -0.53119198] [ 0.06529397 -0.01906264 0.99768397 0.05925203] [ 0. 0. 0. 1. ]] SLAMing on 51.59327356 meters Centerline goodness : 0.821749 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.53, Z:0.06 [[ 0.96244215 -0.26282492 -0.06803061 0.87575459] [ 0.26350245 0.96465818 0.00102385 -0.53043055] [ 0.06535719 -0.01891163 0.99768271 0.05955633] [ 0. 0. 0. 1. ]] SLAMing on 51.62327356 meters Centerline goodness : 0.824007 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.53, Z:0.06 [[ 9.62442673e-01 -2.62821593e-01 -6.80361027e-02 8.75474487e-01] [ 2.63491559e-01 9.64661275e-01 9.06982088e-04 -5.29725463e-01] [ 6.53934191e-02 -1.87998570e-02 9.97682448e-01 5.97198056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.653273559999995 meters Centerline goodness : 0.822156 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.53, Z:0.06 [[ 9.62499666e-01 -2.62608173e-01 -6.80539523e-02 8.75281051e-01] [ 2.63268217e-01 9.64722380e-01 7.58066172e-04 -5.28510947e-01] [ 6.54540965e-02 -1.86460811e-02 9.97681354e-01 5.96904006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.683273559999996 meters Centerline goodness : 0.822417 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.53, Z:0.06 [[ 9.62498081e-01 -2.62589350e-01 -6.81489335e-02 8.75626235e-01] [ 2.63241648e-01 9.64729733e-01 6.13769047e-04 -5.27782861e-01] [ 6.55841332e-02 -1.85303891e-02 9.97674970e-01 5.93798868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.71327356 meters Centerline goodness : 0.820866 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.53, Z:0.06 [[ 9.62508782e-01 -2.62529127e-01 -6.82297777e-02 8.75863070e-01] [ 2.63175214e-01 9.64747925e-01 4.98673924e-04 -5.27063296e-01] [ 6.56936200e-02 -1.84363644e-02 9.97669509e-01 5.91355571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.74327356 meters Centerline goodness : 0.821795 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.53, Z:0.06 [[ 9.62528799e-01 -2.62459413e-01 -6.82155882e-02 8.75803601e-01] [ 2.63083032e-01 9.64773181e-01 1.64064052e-04 -5.25411267e-01] [ 6.57695099e-02 -1.81042801e-02 9.97670590e-01 5.88667782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.77327356 meters Centerline goodness : 0.821464 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.52, Z:0.06 [[ 9.62542272e-01 -2.62421632e-01 -6.81708258e-02 8.75292970e-01] [ 2.63038176e-01 9.64785423e-01 7.03782312e-05 -5.24785515e-01] [ 6.57517503e-02 -1.79992717e-02 9.97673661e-01 5.91926198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.80327356 meters Centerline goodness : 0.822475 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.52, Z:0.06 [[ 9.62586850e-01 -2.62269041e-01 -6.81286015e-02 8.74317748e-01] [ 2.62890049e-01 9.64825786e-01 1.55163209e-04 -5.24632367e-01] [ 6.56915371e-02 -1.80596895e-02 9.97676536e-01 6.01024711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.833273559999995 meters Centerline goodness : 0.822296 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.52, Z:0.06 [[ 9.62590757e-01 -2.62232993e-01 -6.82121127e-02 8.74044527e-01] [ 2.62855277e-01 9.64835261e-01 1.52781947e-04 -5.24461280e-01] [ 6.57733870e-02 -1.80769803e-02 9.97670830e-01 6.05365819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.863273559999996 meters Centerline goodness : 0.823827 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.52, Z:0.06 [[ 9.62624535e-01 -2.62086252e-01 -6.82993551e-02 8.73842505e-01] [ 2.62712856e-01 9.64874041e-01 1.99419808e-04 -5.24217069e-01] [ 6.58480096e-02 -1.81350851e-02 9.97664853e-01 6.08528824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.89327356 meters Centerline goodness : 0.821071 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.52, Z:0.06 [[ 9.62673628e-01 -2.61873079e-01 -6.84249706e-02 8.73760304e-01] [ 2.62494923e-01 9.64933368e-01 1.00367855e-04 -5.23235947e-01] [ 6.59992537e-02 -1.80578289e-02 9.97656260e-01 6.09492664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.92327356 meters Centerline goodness : 0.821780 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.52, Z:0.06 [[ 9.62703910e-01 -2.61734427e-01 -6.85293477e-02 8.74063543e-01] [ 2.62358169e-01 9.64970559e-01 1.05337536e-04 -5.22668725e-01] [ 6.61012325e-02 -1.80806430e-02 9.97649095e-01 6.06690829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.95327356 meters Centerline goodness : 0.823197 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.52, Z:0.06 [[ 9.62749375e-01 -2.61529677e-01 -6.86721791e-02 8.74313171e-01] [ 2.62154837e-01 9.65025820e-01 9.48631045e-05 -5.22028354e-01] [ 6.62456164e-02 -1.80940733e-02 9.97639275e-01 6.05080668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.98327356 meters Centerline goodness : 0.821522 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.52, Z:0.06 [[ 0.96342833 -0.25889579 -0.06912905 0.87310824] [ 0.25969313 0.96568755 0.00265126 -0.52192303] [ 0.06607066 -0.02050664 0.9976042 0.06121507] [ 0. 0. 0. 1. ]] SLAMing on 52.013273559999995 meters Centerline goodness : 0.822808 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.52, Z:0.06 [[ 0.96350942 -0.25862623 -0.06900775 0.87286332] [ 0.25941679 0.96576197 0.00259598 -0.52106501] [ 0.06597367 -0.02040302 0.99761275 0.06119753] [ 0. 0. 0. 1. ]] SLAMing on 52.043273559999996 meters Centerline goodness : 0.820283 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.52, Z:0.06 [[ 0.96362894 -0.25816562 -0.06906355 0.87250293] [ 0.25895856 0.96588485 0.00263094 -0.52004206] [ 0.06602822 -0.02041985 0.99760879 0.0614049 ] [ 0. 0. 0. 1. ]] SLAMing on 52.07327356 meters Centerline goodness : 0.823818 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.52, Z:0.06 [[ 0.96403726 -0.2566664 -0.06895304 0.87040185] [ 0.25753047 0.96626272 0.00379673 -0.52010772] [ 0.06565226 -0.0214177 0.99761268 0.06278383] [ 0. 0. 0. 1. ]] SLAMing on 52.10327356 meters Centerline goodness : 0.823394 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.52, Z:0.06 [[ 0.96414418 -0.25626247 -0.06896051 0.87002159] [ 0.25711995 0.96637238 0.00370843 -0.51888261] [ 0.0656912 -0.02130658 0.9976125 0.06299333] [ 0. 0. 0. 1. ]] SLAMing on 52.13327356 meters Centerline goodness : 0.823454 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.52, Z:0.06 [[ 0.96449259 -0.25512551 -0.06830093 0.86734722] [ 0.25598499 0.96667251 0.00399421 -0.51768906] [ 0.0650056 -0.0213364 0.99765677 0.06461649] [ 0. 0. 0. 1. ]] SLAMing on 52.16327356 meters Centerline goodness : 0.825061 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.52, Z:0.06 [[ 0.96448546 -0.25524213 -0.06796515 0.86692584] [ 0.25607 0.96665149 0.00361375 -0.5171147 ] [ 0.06477623 -0.02088925 0.99768115 0.06494831] [ 0. 0. 0. 1. ]] SLAMing on 52.193273559999994 meters Centerline goodness : 0.823463 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.52, Z:0.07 [[ 0.96445682 -0.25544031 -0.06762609 0.86666246] [ 0.25622978 0.96661085 0.00312293 -0.51639379] [ 0.06457039 -0.02033975 0.99770585 0.0650758 ] [ 0. 0. 0. 1. ]] SLAMing on 52.223273559999996 meters Centerline goodness : 0.825816 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.51, Z:0.07 [[ 0.96373589 -0.25847404 -0.06636488 0.86639317] [ 0.25896823 0.9658851 -0.00119417 -0.51418261] [ 0.06440951 -0.01603553 0.99779471 0.06544157] [ 0. 0. 0. 1. ]] SLAMing on 52.25327356 meters Centerline goodness : 0.825816 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.51, Z:0.07 [[ 0.96371901 -0.25856738 -0.06624635 0.86635958] [ 0.25906489 0.96585927 -0.00111615 -0.51446469] [ 0.06427326 -0.01608645 0.99780267 0.06551384] [ 0. 0. 0. 1. ]] SLAMing on 52.28327356 meters Centerline goodness : 0.824072 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.51, Z:0.07 [[ 9.63739714e-01 -2.58429360e-01 -6.64833056e-02 8.67059041e-01] [ 2.58939790e-01 9.65892977e-01 -9.70835647e-04 -5.14174911e-01] [ 6.44666503e-02 -1.62795403e-02 9.97787065e-01 6.50596902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.31327356 meters Centerline goodness : 0.824306 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.51, Z:0.06 [[ 9.63757768e-01 -2.58347542e-01 -6.65395476e-02 8.67420108e-01] [ 2.58871019e-01 9.65911583e-01 -7.80407510e-04 -5.14130123e-01] [ 6.44729361e-02 -1.64730367e-02 9.97783483e-01 6.47257126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.34327356 meters Centerline goodness : 0.823106 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.51, Z:0.06 [[ 0.96380023 -0.25829229 -0.06613783 0.86708821] [ 0.25879397 0.96593201 -0.00101447 -0.51363947] [ 0.06414668 -0.01613833 0.99780998 0.06474612] [ 0. 0. 0. 1. ]] SLAMing on 52.37327356 meters Centerline goodness : 0.823145 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.51, Z:0.07 [[ 9.63844907e-01 -2.58106017e-01 -6.62138958e-02 8.67025921e-01] [ 2.58621961e-01 9.65978277e-01 -8.05657701e-04 -5.13884491e-01] [ 6.41691301e-02 -1.63478385e-02 9.97805127e-01 6.50301585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.403273559999995 meters Centerline goodness : 0.822094 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.51, Z:0.07 [[ 9.63893203e-01 -2.58026522e-01 -6.58194986e-02 8.66279311e-01] [ 2.58524013e-01 9.66004324e-01 -9.90539863e-04 -5.14132622e-01] [ 6.38375058e-02 -1.60611463e-02 9.97831054e-01 6.58668878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.433273559999996 meters Centerline goodness : 0.823004 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.51, Z:0.07 [[ 9.63946302e-01 -2.57771913e-01 -6.60391306e-02 8.66466992e-01] [ 2.58291358e-01 9.66066815e-01 -6.94928173e-04 -5.14683807e-01] [ 6.39773455e-02 -1.63874632e-02 9.97816792e-01 6.61369941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.46327356 meters Centerline goodness : 0.822450 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.52, Z:0.07 [[ 9.63916741e-01 -2.57830692e-01 -6.62408522e-02 8.67229473e-01] [ 2.58361809e-01 9.66048060e-01 -5.67116266e-04 -5.15342533e-01] [ 6.41380667e-02 -1.65674535e-02 9.97803502e-01 6.60086677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.49327356 meters Centerline goodness : 0.820758 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.52, Z:0.07 [[ 9.64006541e-01 -2.57436240e-01 -6.64678144e-02 8.67628763e-01] [ 2.58017392e-01 9.66140258e-01 1.64566479e-04 -5.16988449e-01] [ 6.41748660e-02 -1.73084953e-02 9.97788556e-01 6.61849756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.52327356 meters Centerline goodness : 0.822768 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.52, Z:0.07 [[ 0.96329046 -0.26029069 -0.06572858 0.86809859] [ 0.26065164 0.9654277 -0.00317377 -0.51633584] [ 0.06428229 -0.014075 0.99783249 0.06622531] [ 0. 0. 0. 1. ]] SLAMing on 52.55327356 meters Centerline goodness : 0.821706 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.52, Z:0.07 [[ 0.96320135 -0.26057515 -0.06590715 0.86878132] [ 0.26094716 0.96534826 -0.00305134 -0.51723723] [ 0.06441846 -0.01425923 0.99782109 0.06614272] [ 0. 0. 0. 1. ]] SLAMing on 52.583273559999995 meters Centerline goodness : 0.822683 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.52, Z:0.07 [[ 0.96322947 -0.26040735 -0.06615896 0.86933191] [ 0.26081068 0.96538642 -0.0026176 -0.51849668] [ 0.0645506 -0.01473361 0.99780566 0.0662234 ] [ 0. 0. 0. 1. ]] SLAMing on 52.613273559999996 meters Centerline goodness : 0.822895 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.52, Z:0.07 [[ 0.96260834 -0.2628101 -0.0656966 0.87097554] [ 0.26306841 0.96476503 -0.00484276 -0.51962781] [ 0.06465451 -0.01262102 0.99782789 0.06534623] [ 0. 0. 0. 1. ]] SLAMing on 52.64327356 meters Centerline goodness : 0.822549 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.52, Z:0.07 [[ 0.96263385 -0.26267851 -0.06584891 0.87121715] [ 0.26297873 0.96479239 -0.00422175 -0.52127985] [ 0.06463948 -0.01325287 0.99782067 0.06557758] [ 0. 0. 0. 1. ]] SLAMing on 52.67327356 meters Centerline goodness : 0.822527 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.52, Z:0.07 [[ 0.96227875 -0.26411014 -0.0653104 0.86944211] [ 0.264356 0.96441218 -0.00500486 -0.52353926] [ 0.06430798 -0.01244912 0.99785245 0.06759437] [ 0. 0. 0. 1. ]] SLAMing on 52.70327356 meters Centerline goodness : 0.823673 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.53, Z:0.07 [[ 0.9622699 -0.26409503 -0.06550156 0.86974687] [ 0.26437649 0.9644091 -0.00449009 -0.52509885] [ 0.06435611 -0.01299639 0.99784236 0.06789286] [ 0. 0. 0. 1. ]] SLAMing on 52.73327356 meters Centerline goodness : 0.821888 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.53, Z:0.07 [[ 0.96223707 -0.26416001 -0.06572142 0.87019063] [ 0.2644792 0.96438329 -0.00395306 -0.52677084] [ 0.06442488 -0.01357816 0.99783018 0.06809402] [ 0. 0. 0. 1. ]] SLAMing on 52.763273559999995 meters Centerline goodness : 0.822719 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.53, Z:0.07 [[ 0.96209744 -0.26462406 -0.06589853 0.8707991 ] [ 0.26498341 0.96424703 -0.00338545 -0.52949018] [ 0.06443833 -0.01420488 0.99782059 0.06839249] [ 0. 0. 0. 1. ]] SLAMing on 52.793273559999996 meters Centerline goodness : 0.824192 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.53, Z:0.07 [[ 0.96205428 -0.26471349 -0.06616898 0.87147533] [ 0.26510681 0.96421462 -0.00292407 -0.53112272] [ 0.06457514 -0.01472873 0.99780415 0.06849951] [ 0. 0. 0. 1. ]] SLAMing on 52.82327356 meters Centerline goodness : 0.820487 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.53, Z:0.07 [[ 0.96100954 -0.26868364 -0.06534344 0.87242832] [ 0.26885117 0.96316059 -0.00638103 -0.53208333] [ 0.0646507 -0.01143543 0.99784243 0.06805693] [ 0. 0. 0. 1. ]] SLAMing on 52.85327356 meters Centerline goodness : 0.821549 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.53, Z:0.07 [[ 0.96090263 -0.26901808 -0.06553943 0.87334001] [ 0.26920766 0.96306291 -0.00608761 -0.53376023] [ 0.06475627 -0.01179411 0.99783141 0.06785204] [ 0. 0. 0. 1. ]] SLAMing on 52.88327356 meters Centerline goodness : 0.824655 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.54, Z:0.07 [[ 0.96079913 -0.26934371 -0.06571906 0.87401364] [ 0.26955295 0.96296793 -0.00582962 -0.5352786 ] [ 0.06485552 -0.01211367 0.99782114 0.06785924] [ 0. 0. 0. 1. ]] SLAMing on 52.91327356 meters Centerline goodness : 0.820981 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.54, Z:0.07 [[ 0.96071071 -0.26963677 -0.06580992 0.8743719 ] [ 0.26986475 0.96288214 -0.00556863 -0.53657253] [ 0.0648687 -0.01240994 0.99781664 0.06796673] [ 0. 0. 0. 1. ]] SLAMing on 52.943273559999994 meters Centerline goodness : 0.823549 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.54, Z:0.07 [[ 0.96037726 -0.27087869 -0.06557637 0.87442294] [ 0.27109096 0.9625362 -0.00580927 -0.53798171] [ 0.06469323 -0.01219807 0.99783064 0.06814103] [ 0. 0. 0. 1. ]] SLAMing on 52.973273559999996 meters Centerline goodness : 0.822230 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.54, Z:0.07 [[ 0.9603243 -0.27102769 -0.06573602 0.87464774] [ 0.27125775 0.96249062 -0.00557075 -0.53899094] [ 0.06478013 -0.01248168 0.9978215 0.06845288] [ 0. 0. 0. 1. ]] SLAMing on 53.00327356 meters Centerline goodness : 0.824667 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.54, Z:0.07 [[ 0.96025562 -0.27124459 -0.0658447 0.87473695] [ 0.27148548 0.9624272 -0.00543275 -0.53984597] [ 0.06484433 -0.01265905 0.99781509 0.0687847 ] [ 0. 0. 0. 1. ]] SLAMing on 53.03327356 meters Centerline goodness : 0.824461 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.54, Z:0.07 [[ 0.9599208 -0.27247115 -0.06566229 0.87483451] [ 0.27269172 0.96208426 -0.00575284 -0.5416998 ] [ 0.06474013 -0.01238329 0.99782532 0.0691962 ] [ 0. 0. 0. 1. ]] SLAMing on 53.06327356 meters Centerline goodness : 0.822923 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.54, Z:0.07 [[ 0.95987169 -0.27261141 -0.0657979 0.87522125] [ 0.27284862 0.9620411 -0.00552777 -0.54273052] [ 0.06480722 -0.01264691 0.99781766 0.06928312] [ 0. 0. 0. 1. ]] SLAMing on 53.09327356 meters Centerline goodness : 0.823960 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.54, Z:0.07 [[ 0.95965676 -0.27337423 -0.06576799 0.87561588] [ 0.27360414 0.96182573 -0.00566093 -0.54372595] [ 0.0648049 -0.01256185 0.99781888 0.0692265 ] [ 0. 0. 0. 1. ]] SLAMing on 53.12327356 meters Centerline goodness : 0.823665 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.54, Z:0.07 [[ 0.95963563 -0.2734157 -0.06590387 0.87591276] [ 0.27365384 0.96181216 -0.00556229 -0.54402757] [ 0.06490796 -0.01269708 0.99781047 0.06926127] [ 0. 0. 0. 1. ]] SLAMing on 53.153273559999995 meters Centerline goodness : 0.823843 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.54, Z:0.07 [[ 0.95963731 -0.27338315 -0.06601424 0.87610017] [ 0.27362935 0.96181972 -0.00545893 -0.54411022] [ 0.06498618 -0.01282484 0.99780375 0.06928184] [ 0. 0. 0. 1. ]] SLAMing on 53.183273559999996 meters Centerline goodness : 0.823974 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.54, Z:0.07 [[ 0.95961687 -0.27344999 -0.06603453 0.8760552 ] [ 0.27369254 0.96180139 -0.00552136 -0.54378788] [ 0.06502192 -0.01277477 0.99780206 0.06932015] [ 0. 0. 0. 1. ]] SLAMing on 53.21327356 meters Centerline goodness : 0.821338 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.54, Z:0.07 [[ 0.95961158 -0.27348259 -0.06597651 0.87558757] [ 0.27370537 0.96179601 -0.00581447 -0.54245984] [ 0.0650461 -0.0124785 0.99780424 0.06941817] [ 0. 0. 0. 1. ]] SLAMing on 53.24327356 meters Centerline goodness : 0.821968 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.54, Z:0.07 [[ 0.95965348 -0.27335174 -0.06590917 0.8752084 ] [ 0.27356427 0.9618353 -0.00595439 -0.54152472] [ 0.06502141 -0.01231624 0.99780786 0.06945954] [ 0. 0. 0. 1. ]] SLAMing on 53.27327356 meters Centerline goodness : 0.821288 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.54, Z:0.07 [[ 0.95969867 -0.27317779 -0.06597241 0.87508312] [ 0.27338322 0.96188605 -0.00606907 -0.54063209] [ 0.06511588 -0.01221127 0.99780299 0.06949475] [ 0. 0. 0. 1. ]] SLAMing on 53.30327356 meters Centerline goodness : 0.822251 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.54, Z:0.07 [[ 0.96058396 -0.26981474 -0.06692137 0.87495771] [ 0.27023071 0.96279114 -0.00292815 -0.53969253] [ 0.06522136 -0.01527148 0.99775396 0.06948635] [ 0. 0. 0. 1. ]] SLAMing on 53.333273559999995 meters Centerline goodness : 0.822063 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.54, Z:0.07 [[ 0.96065548 -0.26959266 -0.06678962 0.87461273] [ 0.26999247 0.96285732 -0.00313708 -0.53815719] [ 0.0651546 -0.01501904 0.99776215 0.06919247] [ 0. 0. 0. 1. ]] SLAMing on 53.363273559999996 meters Centerline goodness : 0.819069 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.54, Z:0.07 [[ 0.96072112 -0.26935362 -0.06680986 0.87430852] [ 0.26973468 0.96292861 -0.00342014 -0.53636812] [ 0.06525435 -0.01473513 0.99775986 0.06916269] [ 0. 0. 0. 1. ]] SLAMing on 53.39327356 meters Centerline goodness : 0.819986 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.53, Z:0.07 [[ 9.61722082e-01 -2.65555684e-01 -6.76078136e-02 8.73554875e-01] [ 2.66149797e-01 9.63931654e-01 -2.27671564e-04 -5.34664889e-01] [ 6.52297710e-02 -1.77748491e-02 9.97711948e-01 6.92822901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.42327356 meters Centerline goodness : 0.818901 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.53, Z:0.07 [[ 0.96219803 -0.26379873 -0.06771401 0.87145454] [ 0.26448397 0.96438933 0.00120024 -0.5341167 ] [ 0.06498605 -0.01906414 0.99770405 0.07066433] [ 0. 0. 0. 1. ]] SLAMing on 53.45327356 meters Centerline goodness : 0.820611 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.53, Z:0.07 [[ 0.96264073 -0.26216321 -0.06777369 0.86937569] [ 0.26292599 0.96481294 0.0024317 -0.53346247] [ 0.06475143 -0.02016032 0.99769776 0.07200739] [ 0. 0. 0. 1. ]] SLAMing on 53.48327356 meters Centerline goodness : 0.817316 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.53, Z:0.07 [[ 0.96360391 -0.2583792 -0.06861259 0.86854664] [ 0.25935839 0.96576483 0.00561444 -0.53163265] [ 0.06481297 -0.02320535 0.99762758 0.0723757 ] [ 0. 0. 0. 1. ]] SLAMing on 53.513273559999995 meters Centerline goodness : 0.818200 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.53, Z:0.07 [[ 0.9636471 -0.25824171 -0.06852354 0.8679669 ] [ 0.25919442 0.96581093 0.00524318 -0.52984533] [ 0.06482677 -0.0228135 0.99763572 0.07250672] [ 0. 0. 0. 1. ]] SLAMing on 53.543273559999996 meters Centerline goodness : 0.817197 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.53, Z:0.07 [[ 0.96373598 -0.25802497 -0.06808871 0.86660578] [ 0.25892713 0.9658858 0.00462246 -0.52702323] [ 0.0645732 -0.02208485 0.99766856 0.07285967] [ 0. 0. 0. 1. ]] SLAMing on 53.57327356 meters Centerline goodness : 0.819906 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.53, Z:0.07 [[ 0.96371832 -0.25810138 -0.06804909 0.86632668] [ 0.25897922 0.96587351 0.00425775 -0.52569514] [ 0.06462789 -0.02172657 0.99767289 0.07291177] [ 0. 0. 0. 1. ]] SLAMing on 53.60327356 meters Centerline goodness : 0.819492 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.52, Z:0.07 [[ 0.96368935 -0.25824726 -0.06790568 0.86586864] [ 0.25910798 0.96583993 0.00403622 -0.52483515] [ 0.06454367 -0.02148457 0.99768358 0.07300339] [ 0. 0. 0. 1. ]] SLAMing on 53.63327356 meters Centerline goodness : 0.818514 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.52, Z:0.07 [[ 0.96361595 -0.2585262 -0.06788591 0.86563169] [ 0.25936445 0.96577249 0.00368602 -0.52392699] [ 0.06460941 -0.0211591 0.99768628 0.0731758 ] [ 0. 0. 0. 1. ]] SLAMing on 53.66327356 meters Centerline goodness : 0.817054 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.52, Z:0.07 [[ 0.96335359 -0.25957979 -0.06758845 0.86503641] [ 0.26035628 0.96550858 0.00279093 -0.52226411] [ 0.06453276 -0.02028573 0.99770938 0.07318891] [ 0. 0. 0. 1. ]] SLAMing on 53.693273559999994 meters Centerline goodness : 0.817379 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.52, Z:0.07 [[ 0.96320581 -0.26014276 -0.06753005 0.86506528] [ 0.26089372 0.96536456 0.00239516 -0.5217168 ] [ 0.06456803 -0.0199252 0.99771437 0.0731139 ] [ 0. 0. 0. 1. ]] SLAMing on 53.723273559999996 meters Centerline goodness : 0.819769 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.52, Z:0.07 [[ 0.96304298 -0.2607355 -0.06756642 0.86532559] [ 0.26146426 0.96521104 0.00202077 -0.52132848] [ 0.06468897 -0.01961229 0.99771273 0.07301036] [ 0. 0. 0. 1. ]] SLAMing on 53.75327356 meters Centerline goodness : 0.815759 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.52, Z:0.07 [[ 0.96181339 -0.26554703 -0.06633085 0.86480343] [ 0.26595468 0.96398156 -0.00276903 -0.51877138] [ 0.06467703 -0.01497771 0.99779384 0.0729486 ] [ 0. 0. 0. 1. ]] SLAMing on 53.78327356 meters Centerline goodness : 0.816324 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.52, Z:0.07 [[ 0.96164043 -0.26618648 -0.06627549 0.86482096] [ 0.2665697 0.96381048 -0.00315532 -0.51849031] [ 0.06471692 -0.01463275 0.99779637 0.07298089] [ 0. 0. 0. 1. ]] SLAMing on 53.81327356 meters Centerline goodness : 0.817186 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.52, Z:0.07 [[ 0.96089379 -0.26915092 -0.06512219 0.8624471 ] [ 0.26936578 0.96302152 -0.00562366 -0.51654571] [ 0.06422768 -0.01213794 0.99786145 0.07393328] [ 0. 0. 0. 1. ]] SLAMing on 53.84327356 meters Centerline goodness : 0.816699 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.52, Z:0.07 [[ 0.96073171 -0.2697491 -0.06503844 0.86230291] [ 0.26993614 0.96285915 -0.00606068 -0.51582767] [ 0.06425772 -0.01173353 0.99786435 0.07396722] [ 0. 0. 0. 1. ]] SLAMing on 53.87327356 meters Centerline goodness : 0.817339 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.52, Z:0.07 [[ 0.96057783 -0.27031602 -0.0649576 0.86212325] [ 0.27047468 0.9627051 -0.00650629 -0.51507805] [ 0.06429377 -0.01131959 0.99786681 0.07403874] [ 0. 0. 0. 1. ]] SLAMing on 53.903273559999995 meters Centerline goodness : 0.817924 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.51, Z:0.07 [[ 0.9603724 -0.27109698 -0.06474009 0.8618577 ] [ 0.2712135 0.96249266 -0.00715001 -0.51418839] [ 0.06425021 -0.01069171 0.99787654 0.07397709] [ 0. 0. 0. 1. ]] SLAMing on 53.933273559999996 meters Centerline goodness : 0.816791 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.51, Z:0.07 [[ 0.95996945 -0.27265147 -0.0641859 0.86117894] [ 0.27269008 0.96206588 -0.00832791 -0.51250905] [ 0.06402168 -0.00950832 0.99790321 0.07377916] [ 0. 0. 0. 1. ]] SLAMing on 53.96327356 meters Centerline goodness : 0.818398 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.51, Z:0.07 [[ 0.95982242 -0.27320043 -0.06405032 0.86093075] [ 0.27320632 0.96191487 -0.00883695 -0.5113137 ] [ 0.06402522 -0.00901705 0.99790754 0.07372313] [ 0. 0. 0. 1. ]] SLAMing on 53.99327356 meters Centerline goodness : 0.817125 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.51, Z:0.07 [[ 0.95967427 -0.27374651 -0.06393864 0.86065824] [ 0.27371485 0.9617647 -0.00942509 -0.50991517] [ 0.06407402 -0.00845594 0.99790932 0.07371266] [ 0. 0. 0. 1. ]] SLAMing on 54.02327356 meters Centerline goodness : 0.815446 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.51, Z:0.07 [[ 0.95939135 -0.27483153 -0.0635285 0.85969347] [ 0.27471169 0.96146615 -0.01078563 -0.50629286] [ 0.06404473 -0.00710438 0.99792174 0.07362262] [ 0. 0. 0. 1. ]] SLAMing on 54.05327356 meters Centerline goodness : 0.816802 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.50, Z:0.07 [[ 0.95927371 -0.27527573 -0.06338159 0.85935713] [ 0.27511456 0.96134352 -0.01142868 -0.50441398] [ 0.06407752 -0.00647397 0.99792392 0.0734795 ] [ 0. 0. 0. 1. ]] SLAMing on 54.083273559999995 meters Centerline goodness : 0.815537 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.50, Z:0.07 [[ 0.95904618 -0.27611573 -0.06317066 0.85913192] [ 0.27587015 0.96111034 -0.01275074 -0.50042107] [ 0.06423466 -0.00519835 0.99792128 0.07285276] [ 0. 0. 0. 1. ]] SLAMing on 54.113273559999996 meters Centerline goodness : 0.816889 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.50, Z:0.07 [[ 0.95892215 -0.27656364 -0.06309402 0.85896188] [ 0.27627027 0.96098514 -0.01350149 -0.4983495 ] [ 0.06436643 -0.00448412 0.99791626 0.07268556] [ 0. 0. 0. 1. ]] SLAMing on 54.14327356 meters Centerline goodness : 0.816889 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.50, Z:0.07 [[ 0.95892215 -0.27656364 -0.06309402 0.85896188] [ 0.27627027 0.96098514 -0.01350149 -0.4983495 ] [ 0.06436643 -0.00448412 0.99791626 0.07268556] [ 0. 0. 0. 1. ]] SLAMing on 54.17327356 meters Centerline goodness : 0.816336 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.50, Z:0.07 [[ 0.95945876 -0.27464926 -0.06329825 0.85730264] [ 0.27447737 0.96152399 -0.01156641 -0.49576969] [ 0.06403949 -0.00627644 0.99792763 0.07294297] [ 0. 0. 0. 1. ]] SLAMing on 54.20327356 meters Centerline goodness : 0.815491 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.49, Z:0.07 [[ 0.95935986 -0.27503069 -0.06314086 0.85691597] [ 0.27480786 0.96141974 -0.01235824 -0.49319255] [ 0.06410376 -0.00549561 0.99792811 0.07274192] [ 0. 0. 0. 1. ]] SLAMing on 54.23327356 meters Centerline goodness : 0.816029 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.49, Z:0.07 [[ 0.9601203 -0.27218989 -0.06388798 0.85664775] [ 0.27216039 0.96220665 -0.00933207 -0.4924813 ] [ 0.06401353 -0.00842787 0.99791344 0.0726335 ] [ 0. 0. 0. 1. ]] SLAMing on 54.263273559999995 meters Centerline goodness : 0.815454 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.49, Z:0.07 [[ 0.96064018 -0.27031085 -0.06405068 0.85470504] [ 0.27040361 0.96271876 -0.00738093 -0.49100112] [ 0.06365794 -0.01022912 0.99791935 0.07342806] [ 0. 0. 0. 1. ]] SLAMing on 54.293273559999996 meters Centerline goodness : 0.815038 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.49, Z:0.07 [[ 0.96123382 -0.26815367 -0.06421179 0.85244419] [ 0.26834359 0.96330575 -0.00580941 -0.48674368] [ 0.0634134 -0.01164662 0.99791938 0.07397992] [ 0. 0. 0. 1. ]] SLAMing on 54.32327356 meters Centerline goodness : 0.813662 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.49, Z:0.08 [[ 0.96158884 -0.26688646 -0.06417577 0.85008092] [ 0.26713875 0.96364624 -0.00477589 -0.48518263] [ 0.06311736 -0.0125514 0.99792718 0.07529922] [ 0. 0. 0. 1. ]] SLAMing on 54.35327356 meters Centerline goodness : 0.813667 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.48, Z:0.08 [[ 0.96147941 -0.26733578 -0.06394469 0.84916522] [ 0.26751747 0.96353518 -0.00586278 -0.48191095] [ 0.06318029 -0.01146938 0.99793622 0.07549837] [ 0. 0. 0. 1. ]] SLAMing on 54.38327356 meters Centerline goodness : 0.813880 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.48, Z:0.08 [[ 0.96210083 -0.2650258 -0.064213 0.84703829] [ 0.26530778 0.9641544 -0.00425082 -0.47694571] [ 0.06303783 -0.0129465 0.99792716 0.07599806] [ 0. 0. 0. 1. ]] SLAMing on 54.41327356 meters Centerline goodness : 0.813486 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.47, Z:0.08 [[ 0.96262827 -0.26307173 -0.06434337 0.84465128] [ 0.2634636 0.96466618 -0.00246947 -0.47493206] [ 0.06271952 -0.01457496 0.99792476 0.07717453] [ 0. 0. 0. 1. ]] SLAMing on 54.443273559999994 meters Centerline goodness : 0.813062 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.47, Z:0.08 [[ 9.63251734e-01 -2.60630648e-01 -6.49443015e-02 8.43695442e-01] [ 2.61176613e-01 9.65291028e-01 -8.62454459e-05 -4.73012756e-01] [ 6.27126298e-02 -1.68788566e-02 9.97888887e-01 7.75569001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.473273559999996 meters Centerline goodness : 0.811547 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.47, Z:0.08 [[ 0.96382848 -0.25846086 -0.06505881 0.84091164] [ 0.25908499 0.96585378 0.0012004 -0.46791717] [ 0.06252704 -0.01801274 0.99788071 0.07858958] [ 0. 0. 0. 1. ]] SLAMing on 54.50327356 meters Centerline goodness : 0.810543 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.46, Z:0.08 [[ 9.63746782e-01 -2.58807214e-01 -6.48919599e-02 8.40276958e-01] [ 2.59360999e-01 9.65780441e-01 1.13768035e-04 -4.64561447e-01] [ 6.26419417e-02 -1.69400871e-02 9.97892289e-01 7.85864201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.53327356 meters Centerline goodness : 0.812636 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.46, Z:0.08 [[ 9.64025735e-01 -2.57779881e-01 -6.48376102e-02 8.38268711e-01] [ 2.58371824e-01 9.66045239e-01 7.72085435e-04 -4.62698361e-01] [ 6.24370366e-02 -1.74965218e-02 9.97895530e-01 7.96215422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.56327356 meters Centerline goodness : 0.810526 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.46, Z:0.08 [[ 0.9647157 -0.25506059 -0.06532768 0.83722798] [ 0.2557808 0.96673084 0.00276774 -0.45815354] [ 0.06244834 -0.01937965 0.99786003 0.07926554] [ 0. 0. 0. 1. ]] SLAMing on 54.59327356 meters Centerline goodness : 0.809585 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.46, Z:0.08 [[ 0.96521042 -0.25315086 -0.06544839 0.835096 ] [ 0.2539776 0.96719964 0.00449821 -0.45610138] [ 0.06216293 -0.02096414 0.99784582 0.08015414] [ 0. 0. 0. 1. ]] SLAMing on 54.62327356 meters Centerline goodness : 0.811470 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.45, Z:0.08 [[ 0.96548236 -0.2523236 -0.06462667 0.83223055] [ 0.25313741 0.96741942 0.00459501 -0.45330308] [ 0.06136167 -0.02079583 0.99789893 0.08082891] [ 0. 0. 0. 1. ]] SLAMing on 54.653273559999995 meters Centerline goodness : 0.806863 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.45, Z:0.08 [[ 0.96623151 -0.24932631 -0.06506202 0.83074732] [ 0.25026322 0.96815575 0.00654005 -0.44805803] [ 0.06135956 -0.02260183 0.99785979 0.08074158] [ 0. 0. 0. 1. ]] SLAMing on 54.683273559999996 meters Centerline goodness : 0.805975 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.45, Z:0.08 [[ 0.96705987 -0.24579113 -0.06619607 0.83029585] [ 0.2469692 0.96897053 0.01011604 -0.44700904] [ 0.06165561 -0.02613121 0.99775535 0.08144508] [ 0. 0. 0. 1. ]] SLAMing on 54.71327356 meters Centerline goodness : 0.860901 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.44, Z:0.08 [[ 0.96777184 -0.24286764 -0.06658055 0.82850364] [ 0.24416602 0.96965935 0.01198725 -0.44242304] [ 0.06164914 -0.02785763 0.99770904 0.08177673] [ 0. 0. 0. 1. ]] SLAMing on 54.74327356 meters Centerline goodness : 0.861500 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.44, Z:0.08 [[ 0.96837664 -0.24033927 -0.06696063 0.82669579] [ 0.24178991 0.97022245 0.01435395 -0.44096742] [ 0.06151689 -0.03009043 0.99765236 0.08276315] [ 0. 0. 0. 1. ]] SLAMing on 54.77327356 meters Centerline goodness : 0.861079 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.44, Z:0.08 [[ 0.96909051 -0.2371727 -0.06791685 0.82596255] [ 0.23885025 0.97089635 0.01763035 -0.43988204] [ 0.06175878 -0.03330736 0.9975352 0.08364293] [ 0. 0. 0. 1. ]] SLAMing on 54.80327356 meters Centerline goodness : 0.851571 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.44, Z:0.08 [[ 0.9698238 -0.23401899 -0.06838787 0.82427056] [ 0.23582059 0.97160165 0.01946519 -0.43503945] [ 0.06189054 -0.03500507 0.9974689 0.0839154 ] [ 0. 0. 0. 1. ]] SLAMing on 54.833273559999995 meters Centerline goodness : 0.856716 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.43, Z:0.08 [[ 0.97087246 -0.22984718 -0.06765304 0.81470936] [ 0.23119604 0.97282394 0.01272716 -0.43341423] [ 0.06288919 -0.02799756 0.99762773 0.08348036] [ 0. 0. 0. 1. ]] SLAMing on 54.863273559999996 meters Centerline goodness : 0.856120 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.43, Z:0.08 [[ 0.97197674 -0.22619323 -0.06401436 0.80631485] [ 0.22718641 0.9738134 0.00859053 -0.43215232] [ 0.06039492 -0.02289298 0.997912 0.08110114] [ 0. 0. 0. 1. ]] SLAMing on 54.89327356 meters Centerline goodness : 0.854736 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.43, Z:0.08 [[ 0.97273136 -0.22179612 -0.06782463 0.7967386 ] [ 0.2224753 0.97493503 0.00253448 -0.43105043] [ 0.06556247 -0.01755468 0.99769404 0.08362567] [ 0. 0. 0. 1. ]] SLAMing on 54.92327356 meters Centerline goodness : 0.855048 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.43, Z:0.09 [[ 0.97347161 -0.21667968 -0.07350466 0.78723505] [ 0.21705343 0.97615523 -0.00296116 -0.42673004] [ 0.07239358 -0.01307183 0.99729048 0.08620374] [ 0. 0. 0. 1. ]] SLAMing on 54.95327356 meters Centerline goodness : 0.849062 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.43, Z:0.09 [[ 0.97382921 -0.21098366 -0.08451375 0.78010637] [ 0.21183026 0.97730588 0.00107577 -0.42973044] [ 0.08236882 -0.01895018 0.99642173 0.08883962] [ 0. 0. 0. 1. ]] SLAMing on 54.98327356 meters Centerline goodness : 0.851451 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.43, Z:0.09 [[ 0.97461338 -0.20481234 -0.09044701 0.77133658] [ 0.20529897 0.97869117 -0.00399016 -0.42540209] [ 0.08933693 -0.01467981 0.99589328 0.09082587] [ 0. 0. 0. 1. ]] SLAMing on 55.013273559999995 meters Centerline goodness : 0.848459 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.42, Z:0.09 [[ 0.97565728 -0.20103668 -0.08761924 0.76428516] [ 0.20113987 0.97953194 -0.00774115 -0.42392872] [ 0.0873821 -0.01007101 0.99612396 0.08847452] [ 0. 0. 0. 1. ]] SLAMing on 55.043273559999996 meters Centerline goodness : 0.852594 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.42, Z:0.09 [[ 0.97666379 -0.19427172 -0.09157696 0.75406912] [ 0.19396422 0.98093109 -0.01233213 -0.42059924] [ 0.09222647 -0.00571831 0.99572164 0.09070352] [ 0. 0. 0. 1. ]] SLAMing on 55.07327356 meters Centerline goodness : 0.851080 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.43, Z:0.09 [[ 0.97720921 -0.18589133 -0.10250161 0.74714618] [ 0.18642758 0.98245882 -0.004408 -0.42634176] [ 0.10152302 -0.01480159 0.99472307 0.09402607] [ 0. 0. 0. 1. ]] SLAMing on 55.10327356 meters Centerline goodness : 0.850855 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.43, Z:0.09 [[ 9.77822992e-01 -1.82074464e-01 -1.03494374e-01 7.47054313e-01] [ 1.82977591e-01 9.83116775e-01 -7.80375272e-04 -4.25589382e-01] [ 1.01889142e-01 -1.81740824e-02 9.94629733e-01 9.46802234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.13327356 meters Centerline goodness : 0.854960 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.43, Z:0.10 [[ 0.97843646 -0.17821114 -0.10441691 0.74686532] [ 0.1794966 0.98375411 0.00296958 -0.42518048] [ 0.10219135 -0.02164802 0.99452918 0.09535295] [ 0. 0. 0. 1. ]] SLAMing on 55.16327356 meters Centerline goodness : 0.850952 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.42, Z:0.10 [[ 0.9790356 -0.17444859 -0.10515219 0.74567977] [ 0.1760281 0.9843677 0.00586028 -0.42227618] [ 0.1024861 -0.02424717 0.99443887 0.09637314] [ 0. 0. 0. 1. ]] SLAMing on 55.193273559999994 meters Centerline goodness : 0.853763 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.42, Z:0.10 [[ 0.97910146 -0.17405143 -0.1051971 0.74556834] [ 0.17559322 0.98444742 0.00550491 -0.42051493] [ 0.10260288 -0.02386176 0.99443615 0.09618548] [ 0. 0. 0. 1. ]] SLAMing on 55.223273559999996 meters Centerline goodness : 0.852825 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.42, Z:0.10 [[ 0.97956511 -0.17060811 -0.10651327 0.74624412] [ 0.17261988 0.98493882 0.00989418 -0.42141025] [ 0.10322103 -0.0280783 0.99426205 0.09722261] [ 0. 0. 0. 1. ]] SLAMing on 55.25327356 meters Centerline goodness : 0.850932 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.42, Z:0.10 [[ 0.97997692 -0.16749129 -0.10766572 0.74703206] [ 0.16986028 0.98538033 0.01315674 -0.42053115] [ 0.10388804 -0.03118143 0.99410009 0.09752249] [ 0. 0. 0. 1. ]] SLAMing on 55.28327356 meters Centerline goodness : 0.852240 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.42, Z:0.10 [[ 0.97991836 -0.16768583 -0.10789564 0.74762933] [ 0.17000956 0.98536128 0.0126452 -0.41921485] [ 0.10419576 -0.03073456 0.9940818 0.09718603] [ 0. 0. 0. 1. ]] SLAMing on 55.31327356 meters Centerline goodness : 0.839739 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.42, Z:0.10 [[ 0.97917081 -0.16355486 -0.12030934 0.74479096] [ 0.16666982 0.98587914 0.01623232 -0.42244939] [ 0.11595559 -0.03594615 0.99260374 0.10033214] [ 0. 0. 0. 1. ]] SLAMing on 55.34327356 meters Centerline goodness : 0.851022 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.42, Z:0.10 [[ 0.97907963 -0.16375842 -0.12077356 0.74594427] [ 0.16689718 0.98583991 0.01627871 -0.42206649] [ 0.11639762 -0.03609492 0.9925466 0.10005165] [ 0. 0. 0. 1. ]] SLAMing on 55.37327356 meters Centerline goodness : 0.853829 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.42, Z:0.10 [[ 0.97901116 -0.16387726 -0.1211668 0.7467009 ] [ 0.16705391 0.98581017 0.01647134 -0.4221299 ] [ 0.11674818 -0.03636701 0.99249549 0.10017019] [ 0. 0. 0. 1. ]] SLAMing on 55.403273559999995 meters Centerline goodness : 0.851689 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.42, Z:0.10 [[ 0.97892886 -0.1640675 -0.12157364 0.7475161 ] [ 0.16728769 0.98576665 0.01670164 -0.42230363] [ 0.11710304 -0.03668749 0.99244189 0.1002949 ] [ 0. 0. 0. 1. ]] SLAMing on 55.433273559999996 meters Centerline goodness : 0.850724 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.42, Z:0.10 [[ 0.97871338 -0.16478087 -0.12234123 0.74805386] [ 0.16810535 0.98561728 0.01729652 -0.42242617] [ 0.11773149 -0.03749455 0.99233737 0.10174432] [ 0. 0. 0. 1. ]] SLAMing on 55.46327356 meters Centerline goodness : 0.853132 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.42, Z:0.10 [[ 0.97862066 -0.16493104 -0.12287943 0.74857822] [ 0.16832263 0.98557341 0.01767875 -0.42245617] [ 0.11819093 -0.03798418 0.99226413 0.10247168] [ 0. 0. 0. 1. ]] SLAMing on 55.49327356 meters Centerline goodness : 0.849983 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.42, Z:0.10 [[ 0.97851021 -0.16527117 -0.12330129 0.74912858] [ 0.1686695 0.9855159 0.01757858 -0.42151951] [ 0.11861015 -0.03799799 0.99221358 0.10276545] [ 0. 0. 0. 1. ]] SLAMing on 55.52327356 meters Centerline goodness : 0.853787 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.42, Z:0.10 [[ 0.97851845 -0.16515684 -0.12338903 0.74929179] [ 0.16856594 0.9855324 0.01764714 -0.42126407] [ 0.11868934 -0.03806724 0.99220145 0.10271817] [ 0. 0. 0. 1. ]] SLAMing on 55.55327356 meters Centerline goodness : 0.852208 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.42, Z:0.10 [[ 0.97883335 -0.16243916 -0.12449414 0.75044595] [ 0.16631758 0.98584107 0.02135038 -0.42281643] [ 0.1192633 -0.04160403 0.99199061 0.10323642] [ 0. 0. 0. 1. ]] SLAMing on 55.583273559999995 meters Centerline goodness : 0.854050 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.42, Z:0.10 [[ 0.97922437 -0.15913882 -0.12567608 0.75150992] [ 0.16355162 0.98620399 0.02554504 -0.42396305] [ 0.11987704 -0.04556885 0.99174239 0.10370565] [ 0. 0. 0. 1. ]] SLAMing on 55.613273559999996 meters Centerline goodness : 0.854154 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.42, Z:0.10 [[ 0.979265 -0.15887626 -0.12569166 0.75160943] [ 0.16329052 0.9862467 0.02556649 -0.42368504] [ 0.11990108 -0.04556063 0.99173987 0.10352032] [ 0. 0. 0. 1. ]] SLAMing on 55.64327356 meters Centerline goodness : 0.851278 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.42, Z:0.10 [[ 0.97928485 -0.15860238 -0.12588271 0.75174417] [ 0.16304359 0.98628324 0.02573227 -0.42335551] [ 0.12007481 -0.04572359 0.99171135 0.1037084 ] [ 0. 0. 0. 1. ]] SLAMing on 55.67327356 meters Centerline goodness : 0.856004 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.42, Z:0.10 [[ 0.97928653 -0.1585161 -0.1259783 0.75148736] [ 0.16296703 0.98629463 0.02578097 -0.42265991] [ 0.12016502 -0.04577726 0.99169794 0.1040908 ] [ 0. 0. 0. 1. ]] SLAMing on 55.70327356 meters Centerline goodness : 0.857093 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.42, Z:0.10 [[ 0.97925623 -0.15845749 -0.1262872 0.75194546] [ 0.16297144 0.98628325 0.02618503 -0.42293595] [ 0.12040574 -0.04622306 0.99164807 0.1043566 ] [ 0. 0. 0. 1. ]] SLAMing on 55.73327356 meters Centerline goodness : 0.855763 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.42, Z:0.10 [[ 0.97905597 -0.1591967 -0.12690868 0.7534056 ] [ 0.16375532 0.9861512 0.02626779 -0.42326502] [ 0.1209694 -0.04649961 0.99156653 0.10444022] [ 0. 0. 0. 1. ]] SLAMing on 55.763273559999995 meters Centerline goodness : 0.854006 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.42, Z:0.10 [[ 0.97894097 -0.15959535 -0.12729455 0.75415818] [ 0.16421877 0.98606457 0.02662453 -0.42390627] [ 0.12127149 -0.046968 0.99150756 0.10476483] [ 0. 0. 0. 1. ]] SLAMing on 55.793273559999996 meters Centerline goodness : 0.854217 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.43, Z:0.11 [[ 0.9786405 -0.16086135 -0.12800937 0.75571704] [ 0.16555934 0.98583351 0.02687747 -0.42502734] [ 0.12187238 -0.04749652 0.9914087 0.10527252] [ 0. 0. 0. 1. ]] SLAMing on 55.82327356 meters Centerline goodness : 0.847995 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.43, Z:0.11 [[ 0.97849621 -0.16125237 -0.12861899 0.75706611] [ 0.16604234 0.98573899 0.02736026 -0.4256548 ] [ 0.12237284 -0.04812811 0.99131659 0.10540814] [ 0. 0. 0. 1. ]] SLAMing on 55.85327356 meters Centerline goodness : 0.854753 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.43, Z:0.11 [[ 0.97830369 -0.16183438 -0.1293504 0.75855267] [ 0.16670429 0.98561832 0.02768051 -0.42614798] [ 0.12301047 -0.04864321 0.99121252 0.10575409] [ 0. 0. 0. 1. ]] SLAMing on 55.88327356 meters Centerline goodness : 0.854377 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.43, Z:0.11 [[ 0.97794176 -0.16320775 -0.13035775 0.76048475] [ 0.16816353 0.98536464 0.02788473 -0.42662265] [ 0.12389891 -0.04919106 0.99107482 0.10645245] [ 0. 0. 0. 1. ]] SLAMing on 55.91327356 meters Centerline goodness : 0.854148 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.43, Z:0.11 [[ 0.97778206 -0.16355415 -0.13111937 0.76178479] [ 0.16863258 0.98526583 0.0285358 -0.42743296] [ 0.12452029 -0.05001279 0.99095581 0.10707952] [ 0. 0. 0. 1. ]] SLAMing on 55.943273559999994 meters Centerline goodness : 0.855130 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.43, Z:0.11 [[ 0.97762366 -0.16396498 -0.13178571 0.76301617] [ 0.16912719 0.98517028 0.02890535 -0.42783039] [ 0.1250919 -0.0505471 0.9908567 0.10749173] [ 0. 0. 0. 1. ]] SLAMing on 55.973273559999996 meters Centerline goodness : 0.856074 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.43, Z:0.11 [[ 0.97734235 -0.16498896 -0.13259174 0.76425687] [ 0.17024279 0.98496832 0.02923707 -0.42807491] [ 0.12577487 -0.05114742 0.99073943 0.10838861] [ 0. 0. 0. 1. ]] SLAMing on 56.00327356 meters Centerline goodness : 0.854674 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.43, Z:0.11 [[ 0.97722915 -0.16525451 -0.13309449 0.76515235] [ 0.17055666 0.98490933 0.02939439 -0.42782681] [ 0.12622845 -0.05142521 0.99066736 0.10864148] [ 0. 0. 0. 1. ]] SLAMing on 56.03327356 meters Centerline goodness : 0.853593 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.43, Z:0.11 [[ 0.97711825 -0.16557148 -0.13351408 0.76599378] [ 0.17088466 0.98485561 0.0292892 -0.42708547] [ 0.12664263 -0.05143452 0.99061402 0.10868956] [ 0. 0. 0. 1. ]] SLAMing on 56.06327356 meters Centerline goodness : 0.853593 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.43, Z:0.11 [[ 0.97711825 -0.16557148 -0.13351408 0.76599378] [ 0.17088466 0.98485561 0.0292892 -0.42708547] [ 0.12664263 -0.05143452 0.99061402 0.10868956] [ 0. 0. 0. 1. ]] SLAMing on 56.09327356 meters Centerline goodness : 0.854766 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.43, Z:0.11 [[ 0.97698315 -0.16601739 -0.13394829 0.76633965] [ 0.17134118 0.98477992 0.02916689 -0.42608401] [ 0.12706737 -0.05144641 0.99055901 0.10923489] [ 0. 0. 0. 1. ]] SLAMing on 56.12327356 meters Centerline goodness : 0.853888 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.43, Z:0.11 [[ 0.97692058 -0.1661327 -0.13426134 0.76679172] [ 0.17147356 0.98475694 0.02916493 -0.4255477 ] [ 0.12736954 -0.05151409 0.99051668 0.10942495] [ 0. 0. 0. 1. ]] SLAMing on 56.153273559999995 meters Centerline goodness : 0.852325 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.43, Z:0.11 [[ 0.97688522 -0.16613805 -0.13451178 0.7672453 ] [ 0.17150947 0.98474668 0.02929981 -0.42505551] [ 0.12759221 -0.0516926 0.99047872 0.1094088 ] [ 0. 0. 0. 1. ]] SLAMing on 56.183273559999996 meters Centerline goodness : 0.853563 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.42, Z:0.11 [[ 0.97671858 -0.16687152 -0.13481365 0.76728629] [ 0.17215969 0.98465708 0.02848636 -0.42251962] [ 0.12799165 -0.05103263 0.99046141 0.10979931] [ 0. 0. 0. 1. ]] SLAMing on 56.21327356 meters Centerline goodness : 0.852996 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.42, Z:0.11 [[ 0.97658478 -0.1672478 -0.13531572 0.7681625 ] [ 0.17253333 0.98459875 0.02824099 -0.42127563] [ 0.12850845 -0.0509262 0.99039997 0.10988917] [ 0. 0. 0. 1. ]] SLAMing on 56.24327356 meters Centerline goodness : 0.855619 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.42, Z:0.11 [[ 0.97635687 -0.16815832 -0.1358309 0.76861799] [ 0.17336734 0.98447626 0.02739078 -0.41847676] [ 0.12911631 -0.05029182 0.99035333 0.11032816] [ 0. 0. 0. 1. ]] SLAMing on 56.27327356 meters Centerline goodness : 0.851191 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.42, Z:0.11 [[ 0.97621 -0.16876091 -0.1361389 0.76906695] [ 0.1739204 0.98439353 0.02685264 -0.4171117 ] [ 0.12948258 -0.04989115 0.99032577 0.11047464] [ 0. 0. 0. 1. ]] SLAMing on 56.30327356 meters Centerline goodness : 0.854116 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.42, Z:0.11 [[ 0.97603703 -0.16922901 -0.13679642 0.77026484] [ 0.17439451 0.98431614 0.02661365 -0.41574902] [ 0.13014712 -0.04983245 0.99024161 0.11057825] [ 0. 0. 0. 1. ]] SLAMing on 56.333273559999995 meters Centerline goodness : 0.857678 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.41, Z:0.11 [[ 0.97585698 -0.16995948 -0.13717478 0.77110258] [ 0.17506361 0.98421495 0.02595508 -0.41406933] [ 0.13059816 -0.04934276 0.99020675 0.1104197 ] [ 0. 0. 0. 1. ]] SLAMing on 56.363273559999996 meters Centerline goodness : 0.855893 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.41, Z:0.11 [[ 0.97548113 -0.17151306 -0.13791242 0.77250866] [ 0.17647081 0.98400165 0.0244707 -0.41020274] [ 0.13150901 -0.04820822 0.99014209 0.11028245] [ 0. 0. 0. 1. ]] SLAMing on 56.39327356 meters Centerline goodness : 0.848511 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.41, Z:0.11 [[ 0.97528924 -0.17222805 -0.13837772 0.77348909] [ 0.17710769 0.9839069 0.02366614 -0.40801655] [ 0.13207482 -0.04758909 0.99009672 0.11007208] [ 0. 0. 0. 1. ]] SLAMing on 56.42327356 meters Centerline goodness : 0.856044 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.40, Z:0.11 [[ 0.97494717 -0.17368907 -0.13896084 0.77423691] [ 0.17838589 0.98371476 0.02199407 -0.40358559] [ 0.1328777 -0.04623171 0.99005361 0.110121 ] [ 0. 0. 0. 1. ]] SLAMing on 56.45327356 meters Centerline goodness : 0.851308 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.40, Z:0.11 [[ 0.97507223 -0.17159141 -0.1406788 0.77620306] [ 0.17680521 0.98391944 0.02534659 -0.4032389 ] [ 0.13406735 -0.0495875 0.98973078 0.11091896] [ 0. 0. 0. 1. ]] SLAMing on 56.48327356 meters Centerline goodness : 0.851945 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.40, Z:0.11 [[ 0.97522003 -0.16953639 -0.1421383 0.77773955] [ 0.17523318 0.98411505 0.02847643 -0.40268398] [ 0.13505265 -0.05267813 0.98943711 0.11155622] [ 0. 0. 0. 1. ]] SLAMing on 56.513273559999995 meters Centerline goodness : 0.851501 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.40, Z:0.11 [[ 0.97495844 -0.1707308 -0.14250272 0.77778337] [ 0.17619236 0.98399801 0.02653603 -0.39717814] [ 0.13569188 -0.05097942 0.98943864 0.11160054] [ 0. 0. 0. 1. ]] SLAMing on 56.543273559999996 meters Centerline goodness : 0.856045 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.40, Z:0.11 [[ 0.97513613 -0.16831635 -0.14414972 0.77918804] [ 0.17433876 0.98422473 0.03012773 -0.39668265] [ 0.13680473 -0.05450952 0.98909715 0.1127325 ] [ 0. 0. 0. 1. ]] SLAMing on 56.57327356 meters Centerline goodness : 0.855202 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.39, Z:0.11 [[ 0.97478521 -0.16977696 -0.14480876 0.77916045] [ 0.17559295 0.98405657 0.02828055 -0.39088254] [ 0.13769863 -0.05299486 0.98905542 0.11354835] [ 0. 0. 0. 1. ]] SLAMing on 56.60327356 meters Centerline goodness : 0.855050 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.39, Z:0.11 [[ 0.97484574 -0.16798476 -0.14648172 0.7805589 ] [ 0.17432169 0.98418603 0.03146128 -0.39003061] [ 0.13888024 -0.05620483 0.98871295 0.11488055] [ 0. 0. 0. 1. ]] SLAMing on 56.63327356 meters Centerline goodness : 0.855381 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.38, Z:0.12 [[ 0.97444394 -0.16972569 -0.14714687 0.78063917] [ 0.17586432 0.98396728 0.02966688 -0.38467726] [ 0.13975247 -0.0547866 0.98866965 0.11577347] [ 0. 0. 0. 1. ]] SLAMing on 56.66327356 meters Centerline goodness : 0.854126 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.38, Z:0.12 [[ 0.9742059 -0.17065128 -0.14765163 0.78111126] [ 0.17671068 0.98384008 0.02884509 -0.38210182] [ 0.14034314 -0.05419267 0.98861871 0.11618693] [ 0. 0. 0. 1. ]] SLAMing on 56.693273559999994 meters Centerline goodness : 0.850955 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.38, Z:0.12 [[ 0.97398178 -0.17142544 -0.14823227 0.78200577] [ 0.17741502 0.98373557 0.02807552 -0.37955058] [ 0.1410085 -0.05364368 0.98855397 0.11629157] [ 0. 0. 0. 1. ]] SLAMing on 56.723273559999996 meters Centerline goodness : 0.851044 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.38, Z:0.12 [[ 0.97375553 -0.17231384 -0.14868795 0.78278307] [ 0.17819269 0.98362334 0.02706473 -0.37655746] [ 0.14158931 -0.05284954 0.98851373 0.11615218] [ 0. 0. 0. 1. ]] SLAMing on 56.75327356 meters Centerline goodness : 0.849772 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.37, Z:0.12 [[ 0.97355055 -0.17178516 -0.15062926 0.78481318] [ 0.17796718 0.98362459 0.02846681 -0.37179942] [ 0.14327247 -0.05452094 0.98818038 0.11689967] [ 0. 0. 0. 1. ]] SLAMing on 56.78327356 meters Centerline goodness : 0.852303 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.37, Z:0.12 [[ 0.9733279 -0.17251758 -0.1512299 0.78582506] [ 0.17859312 0.98353995 0.02745313 -0.36855126] [ 0.1440045 -0.05372952 0.98811732 0.11676515] [ 0. 0. 0. 1. ]] SLAMing on 56.81327356 meters Centerline goodness : 0.855585 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.36, Z:0.12 [[ 0.97328777 -0.17129503 -0.15286899 0.7872184 ] [ 0.17766157 0.98366708 0.02890418 -0.3631837 ] [ 0.14542105 -0.05529103 0.98782368 0.1172112 ] [ 0. 0. 0. 1. ]] SLAMing on 56.84327356 meters Centerline goodness : 0.855019 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.36, Z:0.12 [[ 0.97351473 -0.16876096 -0.1542362 0.78834382] [ 0.17564136 0.98393307 0.03202854 -0.36145298] [ 0.14635293 -0.05827051 0.98751474 0.11773477] [ 0. 0. 0. 1. ]] SLAMing on 56.87327356 meters Centerline goodness : 0.853565 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.36, Z:0.12 [[ 0.97337163 -0.16949278 -0.15433687 0.78752588] [ 0.17618082 0.98388087 0.03063889 -0.35742589] [ 0.14665602 -0.05701422 0.98754311 0.11824341] [ 0. 0. 0. 1. ]] SLAMing on 56.903273559999995 meters Centerline goodness : 0.856870 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.35, Z:0.12 [[ 0.97360247 -0.16712001 -0.15546426 0.78642758] [ 0.17415212 0.9841766 0.03267204 -0.35201771] [ 0.14754413 -0.05888401 0.98730107 0.11984795] [ 0. 0. 0. 1. ]] SLAMing on 56.933273559999996 meters Centerline goodness : 0.852380 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.35, Z:0.12 [[ 0.97350272 -0.16729678 -0.15589818 0.78631565] [ 0.17421404 0.98419683 0.03171865 -0.34808001] [ 0.14812806 -0.05803784 0.98726374 0.12019256] [ 0. 0. 0. 1. ]] SLAMing on 56.96327356 meters Centerline goodness : 0.853713 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.34, Z:0.12 [[ 0.97342744 -0.16773353 -0.15589897 0.78557074] [ 0.17442174 0.98420901 0.03016097 -0.34383502] [ 0.14837817 -0.05655169 0.98731243 0.12025699] [ 0. 0. 0. 1. ]] SLAMing on 56.99327356 meters Centerline goodness : 0.847896 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.34, Z:0.12 [[ 0.97372107 -0.16529434 -0.15666864 0.78508035] [ 0.17213206 0.98458486 0.0310356 -0.33680386] [ 0.14912356 -0.05718771 0.98716348 0.11998842] [ 0. 0. 0. 1. ]] SLAMing on 57.02327356 meters Centerline goodness : 0.852292 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.33, Z:0.12 [[ 0.97366998 -0.16556781 -0.15669736 0.78472416] [ 0.17212526 0.98464365 0.02915111 -0.33168144] [ 0.14946458 -0.05535514 0.98721636 0.11935671] [ 0. 0. 0. 1. ]] SLAMing on 57.05327356 meters Centerline goodness : 0.854369 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.32, Z:0.12 [[ 0.97402433 -0.16297621 -0.15721121 0.78418945] [ 0.16953494 0.98509264 0.02916138 -0.32353039] [ 0.150115 -0.05505669 0.98713436 0.11838318] [ 0. 0. 0. 1. ]] SLAMing on 57.083273559999995 meters Centerline goodness : 0.854830 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.32, Z:0.12 [[ 0.97420884 -0.1607933 -0.15831186 0.78480738] [ 0.16763883 0.98536748 0.03079198 -0.31958992] [ 0.15104422 -0.05653703 0.98690892 0.1185289 ] [ 0. 0. 0. 1. ]] SLAMing on 57.113273559999996 meters Centerline goodness : 0.855646 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.31, Z:0.11 [[ 0.97521986 -0.16503025 -0.14734736 0.78675544] [ 0.17085206 0.98490778 0.02768115 -0.31012732] [ 0.14055533 -0.05216981 0.98869738 0.11473167] [ 0. 0. 0. 1. ]] SLAMing on 57.14327356 meters Centerline goodness : 0.823347 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.30, Z:0.12 [[ 0.97557787 -0.16224059 -0.14807369 0.78530837] [ 0.16816196 0.985353 0.02830231 -0.30180713] [ 0.14131307 -0.05251147 0.98857127 0.11507494] [ 0. 0. 0. 1. ]] SLAMing on 57.17327356 meters Centerline goodness : 0.851368 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.29, Z:0.11 [[ 0.97656296 -0.16639505 -0.13651913 0.78730422] [ 0.17144837 0.98484867 0.02604899 -0.29329047] [ 0.13011626 -0.04884447 0.99029489 0.11100551] [ 0. 0. 0. 1. ]] SLAMing on 57.20327356 meters Centerline goodness : 0.851647 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.29, Z:0.11 [[ 0.97686001 -0.16357257 -0.13779888 0.78824804] [ 0.16903306 0.98518885 0.02882296 -0.29065823] [ 0.13104327 -0.05144856 0.99004076 0.1112814 ] [ 0. 0. 0. 1. ]] SLAMing on 57.23327356 meters Centerline goodness : 0.849814 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.28, Z:0.11 [[ 0.97701428 -0.16186043 -0.13872381 0.7872125 ] [ 0.16740448 0.98545589 0.0291965 -0.28338155] [ 0.13198044 -0.05174838 0.98990064 0.11229557] [ 0. 0. 0. 1. ]] SLAMing on 57.263273559999995 meters Centerline goodness : 0.848936 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.28, Z:0.11 [[ 0.97691451 -0.16239952 -0.13879636 0.78654582] [ 0.16773612 0.98544609 0.02757912 -0.27907254] [ 0.1322975 -0.05022361 0.98993685 0.1124267 ] [ 0. 0. 0. 1. ]] SLAMing on 57.293273559999996 meters Centerline goodness : 0.849750 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.27, Z:0.11 [[ 0.97702418 -0.16035622 -0.14039102 0.78763051] [ 0.16595089 0.985707 0.02901738 -0.27269094] [ 0.1337313 -0.0516487 0.98967083 0.11267488] [ 0. 0. 0. 1. ]] SLAMing on 57.32327356 meters Centerline goodness : 0.846511 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.27, Z:0.11 [[ 0.97690574 -0.16056589 -0.14097435 0.7884071 ] [ 0.16607692 0.98571061 0.02816109 -0.26851784] [ 0.13443821 -0.05092332 0.98961264 0.1123712 ] [ 0. 0. 0. 1. ]] SLAMing on 57.35327356 meters Centerline goodness : 0.848509 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.26, Z:0.11 [[ 0.97679569 -0.16117275 -0.14104441 0.78798406] [ 0.16646278 0.9856924 0.02646952 -0.26428284] [ 0.13476024 -0.04933396 0.98964935 0.11235158] [ 0. 0. 0. 1. ]] SLAMing on 57.38327356 meters Centerline goodness : 0.843989 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.26, Z:0.11 [[ 0.97688907 -0.15911778 -0.14272097 0.78914876] [ 0.16470805 0.98593992 0.02817329 -0.25817738] [ 0.13623143 -0.05102948 0.98936191 0.1127455 ] [ 0. 0. 0. 1. ]] SLAMing on 57.41327356 meters Centerline goodness : 0.844321 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.25, Z:0.11 [[ 0.97685336 -0.15959633 -0.14243077 0.7877857 ] [ 0.16495185 0.98594437 0.02654388 -0.25435213] [ 0.13619251 -0.04942369 0.98944878 0.11296187] [ 0. 0. 0. 1. ]] SLAMing on 57.443273559999994 meters Centerline goodness : 0.848989 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.24, Z:0.11 [[ 0.97746446 -0.16452993 -0.13226158 0.79102777] [ 0.16904216 0.98532704 0.02356628 -0.24318324] [ 0.12644356 -0.04539298 0.99093466 0.10928607] [ 0. 0. 0. 1. ]] SLAMing on 57.473273559999996 meters Centerline goodness : 0.843798 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.24, Z:0.11 [[ 0.9773201 -0.16483465 -0.13294719 0.79176859] [ 0.16928378 0.9853034 0.02280831 -0.2393979 ] [ 0.12723371 -0.04479682 0.99086065 0.10937803] [ 0. 0. 0. 1. ]] SLAMing on 57.50327356 meters Centerline goodness : 0.851246 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:0.11 [[ 0.97774584 -0.16993268 -0.12302826 0.79474518] [ 0.17356585 0.9846319 0.0193626 -0.22793783] [ 0.11784721 -0.04028521 0.99221426 0.10676953] [ 0. 0. 0. 1. ]] SLAMing on 57.53327356 meters Centerline goodness : 0.852139 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.23, Z:0.11 [[ 0.9778621 -0.16843468 -0.12415909 0.79540216] [ 0.17238588 0.98478999 0.02172079 -0.22593521] [ 0.11861209 -0.04264321 0.99202456 0.10738106] [ 0. 0. 0. 1. ]] SLAMing on 57.56327356 meters Centerline goodness : 0.851628 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.22, Z:0.11 [[ 0.97775998 -0.16861077 -0.12472302 0.79587387] [ 0.17250422 0.98478433 0.02102643 -0.22279993] [ 0.11927999 -0.04207405 0.99196878 0.10765104] [ 0. 0. 0. 1. ]] SLAMing on 57.59327356 meters Centerline goodness : 0.851188 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.22, Z:0.11 [[ 0.97790444 -0.16712366 -0.12558896 0.79546764] [ 0.17118817 0.9849877 0.02222265 -0.21777641] [ 0.11998965 -0.04323098 0.99183344 0.10821629] [ 0. 0. 0. 1. ]] SLAMing on 57.623273559999994 meters Centerline goodness : 0.851065 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.22, Z:0.11 [[ 0.97804541 -0.16505088 -0.12722183 0.79743976] [ 0.16955889 0.98519312 0.02538322 -0.21643597] [ 0.12114854 -0.04639753 0.99154944 0.1084195 ] [ 0. 0. 0. 1. ]] SLAMing on 57.653273559999995 meters Centerline goodness : 0.851386 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.21, Z:0.11 [[ 0.97788717 -0.16590078 -0.12733269 0.79697004] [ 0.17025126 0.98510831 0.02400243 -0.21316869] [ 0.12145447 -0.04515022 0.9915696 0.10884358] [ 0. 0. 0. 1. ]] SLAMing on 57.683273559999996 meters Centerline goodness : 0.853143 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.21, Z:0.11 [[ 0.97773667 -0.1663702 -0.12787476 0.79773417] [ 0.17058374 0.9850826 0.02265959 -0.20799903] [ 0.12219732 -0.04396846 0.99153144 0.10842751] [ 0. 0. 0. 1. ]] SLAMing on 57.71327356 meters Centerline goodness : 0.854329 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.21, Z:0.11 [[ 0.97758164 -0.16679892 -0.12850002 0.79853069] [ 0.17100105 0.9850181 0.02231539 -0.20537772] [ 0.12285266 -0.04378876 0.9914584 0.10848134] [ 0. 0. 0. 1. ]] SLAMing on 57.74327356 meters Centerline goodness : 0.853386 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.20, Z:0.11 [[ 0.97742998 -0.16718103 -0.12915549 0.79938822] [ 0.17135701 0.98496673 0.0218475 -0.20295252] [ 0.12356138 -0.0434861 0.99138365 0.10866384] [ 0. 0. 0. 1. ]] SLAMing on 57.77327356 meters Centerline goodness : 0.851177 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.20, Z:0.11 [[ 0.97727381 -0.16842715 -0.12871754 0.79782125] [ 0.17235489 0.98483329 0.01992936 -0.19734718] [ 0.12340867 -0.04166154 0.99148102 0.10904378] [ 0. 0. 0. 1. ]] SLAMing on 57.80327356 meters Centerline goodness : 0.854474 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.19, Z:0.11 [[ 0.97717685 -0.16912069 -0.12854416 0.79695161] [ 0.17290824 0.98475815 0.01881806 -0.19439417] [ 0.12340238 -0.04061492 0.99152523 0.10947905] [ 0. 0. 0. 1. ]] SLAMing on 57.833273559999995 meters Centerline goodness : 0.854188 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.19, Z:0.11 [[ 0.97706529 -0.16991095 -0.12834987 0.79602202] [ 0.17355351 0.98466596 0.01766716 -0.19125988] [ 0.1233799 -0.03953754 0.99157157 0.10986984] [ 0. 0. 0. 1. ]] SLAMing on 57.863273559999996 meters Centerline goodness : 0.852659 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.19, Z:0.11 [[ 0.97692133 -0.17110567 -0.12785761 0.79453604] [ 0.17449484 0.98453276 0.01570955 -0.18541744] [ 0.12319201 -0.03765749 0.99166811 0.11007558] [ 0. 0. 0. 1. ]] SLAMing on 57.89327356 meters Centerline goodness : 0.852535 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.18, Z:0.11 [[ 0.97685243 -0.17157224 -0.12775871 0.79435643] [ 0.17485596 0.98448185 0.01486175 -0.18276864] [ 0.12322627 -0.03685711 0.99169392 0.10993728] [ 0. 0. 0. 1. ]] SLAMing on 57.92327356 meters Centerline goodness : 0.853213 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.18, Z:0.11 [[ 0.97672274 -0.17254698 -0.12743715 0.79356328] [ 0.17561491 0.984371 0.01315805 -0.17740283] [ 0.12317505 -0.03523163 0.99175936 0.10979884] [ 0. 0. 0. 1. ]] SLAMing on 57.95327356 meters Centerline goodness : 0.853213 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.18, Z:0.11 [[ 0.97672274 -0.17254698 -0.12743715 0.79356328] [ 0.17561491 0.984371 0.01315805 -0.17740283] [ 0.12317505 -0.03523163 0.99175936 0.10979884] [ 0. 0. 0. 1. ]] SLAMing on 57.98327356 meters Centerline goodness : 0.853767 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.17, Z:0.11 [[ 0.97664056 -0.17316691 -0.12722595 0.79291601] [ 0.17611566 0.98429364 0.01221925 -0.17466292] [ 0.12311172 -0.0343403 0.99179849 0.10986423] [ 0. 0. 0. 1. ]] SLAMing on 58.013273559999995 meters Centerline goodness : 0.853303 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.17, Z:0.11 [[ 0.97657376 -0.17365407 -0.12707464 0.79258488] [ 0.17650013 0.98423456 0.01140327 -0.17187421] [ 0.12309103 -0.03356483 0.99182761 0.10969618] [ 0. 0. 0. 1. ]] SLAMing on 58.043273559999996 meters Centerline goodness : 0.800785 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.17, Z:0.11 [[ 0.9764744 -0.17438648 -0.12683495 0.79179098] [ 0.17710009 0.98413838 0.01035429 -0.16887871] [ 0.1230175 -0.03257318 0.99186979 0.10983725] [ 0. 0. 0. 1. ]] SLAMing on 58.07327356 meters Centerline goodness : 0.852191 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.16, Z:0.11 [[ 0.97635107 -0.17553216 -0.12620239 0.78992361] [ 0.17802301 0.98398832 0.00864775 -0.16339934] [ 0.12266372 -0.03091017 0.99196682 0.11002347] [ 0. 0. 0. 1. ]] SLAMing on 58.10327356 meters Centerline goodness : 0.850372 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.16, Z:0.11 [[ 0.97626321 -0.17616495 -0.12600023 0.78903826] [ 0.17853742 0.98390299 0.00770076 -0.16083888] [ 0.1226154 -0.03001372 0.99200032 0.11042588] [ 0. 0. 0. 1. ]] SLAMing on 58.13327356 meters Centerline goodness : 0.850835 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.16, Z:0.11 [[ 0.97608728 -0.17759701 -0.12535124 0.78657791] [ 0.1797213 0.98370074 0.00575474 -0.15574929] [ 0.12228608 -0.02814541 0.99209574 0.11133912] [ 0. 0. 0. 1. ]] SLAMing on 58.16327356 meters Centerline goodness : 0.852020 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.15, Z:0.11 [[ 0.9759884 -0.17824242 -0.12520497 0.78587761] [ 0.18025037 0.98360903 0.0048035 -0.15311817] [ 0.12229655 -0.0272564 0.99211927 0.11166117] [ 0. 0. 0. 1. ]] SLAMing on 58.193273559999994 meters Centerline goodness : 0.852832 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.15, Z:0.11 [[ 0.97589907 -0.17885119 -0.12503304 0.78523185] [ 0.1807497 0.98352134 0.00391497 -0.1505808 ] [ 0.12227246 -0.0264203 0.99214485 0.11181882] [ 0. 0. 0. 1. ]] SLAMing on 58.223273559999996 meters Centerline goodness : 0.802243 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.15, Z:0.11 [[ 0.97577286 -0.17975011 -0.12472859 0.78425207] [ 0.1814626 0.98339489 0.00241275 -0.14574983] [ 0.12222376 -0.02498787 0.99218797 0.11192637] [ 0. 0. 0. 1. ]] SLAMing on 58.25327356 meters Centerline goodness : 0.805556 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.14, Z:0.11 [[ 0.97569992 -0.18018072 -0.12467787 0.78408227] [ 0.18180663 0.98333284 0.00169312 -0.14327164] [ 0.12229477 -0.02431924 0.99219583 0.11183935] [ 0. 0. 0. 1. ]] SLAMing on 58.28327356 meters Centerline goodness : 0.804299 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.14, Z:0.11 [[ 0.97564086 -0.18057831 -0.12456478 0.78387604] [ 0.18213185 0.9832735 0.00110312 -0.14117299] [ 0.12228204 -0.02376346 0.99221086 0.11163122] [ 0. 0. 0. 1. ]] SLAMing on 58.31327356 meters Centerline goodness : 0.804975 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.14, Z:0.11 [[ 9.75499081e-01 -1.81661732e-01 -1.24098985e-01 7.82568995e-01] [ 1.83062770e-01 9.83101220e-01 -1.15282794e-04 -1.37325556e-01] [ 1.22022806e-01 -2.26054458e-02 9.92269837e-01 1.11541778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.34327356 meters Centerline goodness : 0.806656 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.14, Z:0.11 [[ 9.75398353e-01 -1.82397164e-01 -1.23811663e-01 7.81672993e-01] [ 1.83698635e-01 9.82982180e-01 -9.19273377e-04 -1.35249603e-01] [ 1.21872332e-01 -2.18473758e-02 9.92305309e-01 1.11696364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.373273559999994 meters Centerline goodness : 0.805280 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.13, Z:0.11 [[ 0.97531341 -0.18307747 -0.12347625 0.78063879] [ 0.18429934 0.98286894 -0.00155126 -0.13364546] [ 0.12164498 -0.02124362 0.99234631 0.11183691] [ 0. 0. 0. 1. ]] SLAMing on 58.403273559999995 meters Centerline goodness : 0.806935 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.13, Z:0.11 [[ 0.97508963 -0.18488377 -0.12254876 0.77772401] [ 0.18590205 0.98256316 -0.00317278 -0.13006976] [ 0.12099849 -0.01968832 0.99245742 0.11238672] [ 0. 0. 0. 1. ]] SLAMing on 58.433273559999996 meters Centerline goodness : 0.808236 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.13, Z:0.11 [[ 0.97499824 -0.185653 -0.12211219 0.77647549] [ 0.186582 0.98243171 -0.00388394 -0.12844117] [ 0.12068795 -0.0189971 0.9925087 0.11255404] [ 0. 0. 0. 1. ]] SLAMing on 58.46327356 meters Centerline goodness : 0.806291 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.13, Z:0.11 [[ 0.97482241 -0.1870521 -0.12137867 0.7742872 ] [ 0.18781699 0.98219022 -0.00521119 -0.12520516] [ 0.1201917 -0.01771699 0.9925926 0.11284185] [ 0. 0. 0. 1. ]] SLAMing on 58.49327356 meters Centerline goodness : 0.810070 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.12, Z:0.11 [[ 0.97473303 -0.1876926 -0.12110742 0.77332723] [ 0.18837285 0.9820798 -0.00591101 -0.12358925] [ 0.1200466 -0.01705169 0.99262181 0.11315868] [ 0. 0. 0. 1. ]] SLAMing on 58.52327356 meters Centerline goodness : 0.810396 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.12, Z:0.11 [[ 0.97464074 -0.18832593 -0.12086672 0.77239334] [ 0.18891081 0.98197135 -0.00670571 -0.1217712 ] [ 0.11995052 -0.01629737 0.99264609 0.1135769 ] [ 0. 0. 0. 1. ]] SLAMing on 58.55327356 meters Centerline goodness : 0.811172 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.12, Z:0.11 [[ 0.97448728 -0.18945916 -0.12033188 0.77053832] [ 0.18988776 0.98177321 -0.00800049 -0.11860865] [ 0.11965438 -0.01505318 0.99270148 0.11415618] [ 0. 0. 0. 1. ]] SLAMing on 58.583273559999995 meters Centerline goodness : 0.813124 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.12, Z:0.11 [[ 0.97441724 -0.18986467 -0.12025994 0.77012083] [ 0.19022991 0.9817024 -0.00854236 -0.11725703] [ 0.11968137 -0.01455321 0.99270568 0.11442351] [ 0. 0. 0. 1. ]] SLAMing on 58.613273559999996 meters Centerline goodness : 0.813129 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.12, Z:0.11 [[ 0.97436113 -0.19024002 -0.12012127 0.76955014] [ 0.19054017 0.98163732 -0.0090889 -0.11567418] [ 0.1196446 -0.01403206 0.99271762 0.11468592] [ 0. 0. 0. 1. ]] SLAMing on 58.64327356 meters Centerline goodness : 0.813207 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.11, Z:0.11 [[ 0.9743235 -0.19053027 -0.11996641 0.76915454] [ 0.19072742 0.98159267 -0.00994365 -0.11244933] [ 0.11965271 -0.01319255 0.99272815 0.11478622] [ 0. 0. 0. 1. ]] SLAMing on 58.67327356 meters Centerline goodness : 0.817937 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.11, Z:0.11 [[ 0.97430431 -0.19057403 -0.12005272 0.76927353] [ 0.19071365 0.98159027 -0.01043278 -0.11056908] [ 0.1198308 -0.01273098 0.9927127 0.11494799] [ 0. 0. 0. 1. ]] SLAMing on 58.70327356 meters Centerline goodness : 0.815896 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.11, Z:0.11 [[ 0.97497561 -0.18705638 -0.12013526 0.7678632 ] [ 0.18756431 0.98222618 -0.00716732 -0.10872557] [ 0.11934068 -0.01554513 0.99273166 0.11448222] [ 0. 0. 0. 1. ]] SLAMing on 58.73327356 meters Centerline goodness : 0.817480 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.11, Z:0.11 [[ 0.97500146 -0.18685558 -0.12023784 0.7682026 ] [ 0.18732279 0.98226973 -0.00750665 -0.10691233] [ 0.11950865 -0.01520429 0.99271673 0.11445351] [ 0. 0. 0. 1. ]] SLAMing on 58.763273559999995 meters Centerline goodness : 0.815132 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.11, Z:0.11 [[ 0.97502296 -0.1865989 -0.12046196 0.76880661] [ 0.1870198 0.98232435 -0.00790328 -0.10507957] [ 0.11980746 -0.0148229 0.99268648 0.11456585] [ 0. 0. 0. 1. ]] SLAMing on 58.793273559999996 meters Centerline goodness : 0.816689 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.10, Z:0.11 [[ 0.97503969 -0.18640149 -0.12063204 0.76923348] [ 0.18678019 0.98236699 -0.00826131 -0.10327816] [ 0.12004485 -0.01447657 0.99266291 0.11462565] [ 0. 0. 0. 1. ]] SLAMing on 58.82327356 meters Centerline goodness : 0.816623 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.10, Z:0.11 [[ 0.9757271 -0.18260501 -0.12088024 0.76805274] [ 0.18337852 0.98303071 -0.0047894 -0.10213321] [ 0.11970355 -0.01749369 0.99265554 0.11446113] [ 0. 0. 0. 1. ]] SLAMing on 58.85327356 meters Centerline goodness : 0.818600 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.10, Z:0.11 [[ 0.97573099 -0.18245747 -0.12107153 0.76824834] [ 0.18317968 0.98306552 -0.00523289 -0.10027081] [ 0.11997603 -0.01707195 0.99262999 0.11487013] [ 0. 0. 0. 1. ]] SLAMing on 58.88327356 meters Centerline goodness : 0.816957 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.10, Z:0.12 [[ 0.97574968 -0.18219394 -0.12131749 0.76870625] [ 0.1828651 0.98312165 -0.00567313 -0.09845648] [ 0.12030346 -0.01664918 0.99259754 0.11524326] [ 0. 0. 0. 1. ]] SLAMing on 58.91327356 meters Centerline goodness : 0.818386 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.10, Z:0.12 [[ 0.97645011 -0.17810318 -0.12175565 0.7680427 ] [ 0.17917455 0.98381488 -0.00218099 -0.09701876] [ 0.12017346 -0.01968588 0.99255771 0.11514243] [ 0. 0. 0. 1. ]] SLAMing on 58.943273559999994 meters Centerline goodness : 0.818019 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.10, Z:0.12 [[ 0.97655445 -0.17718023 -0.12226434 0.7695801 ] [ 0.17825025 0.98398269 -0.00221816 -0.09536038] [ 0.12069901 -0.01962749 0.99249509 0.11511046] [ 0. 0. 0. 1. ]] SLAMing on 58.973273559999996 meters Centerline goodness : 0.818040 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:0.11 [[ 0.97737079 -0.17205208 -0.12306263 0.77084674] [ 0.17359318 0.98481575 0.00183079 -0.09360046] [ 0.12087902 -0.0231522 0.99239722 0.11402337] [ 0. 0. 0. 1. ]] SLAMing on 59.00327356 meters Centerline goodness : 0.818891 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:0.11 [[ 0.97804176 -0.16784579 -0.1235399 0.77064172] [ 0.16983817 0.98545548 0.00570076 -0.0935307 ] [ 0.12078622 -0.02655738 0.99232323 0.11361567] [ 0. 0. 0. 1. ]] SLAMing on 59.03327356 meters Centerline goodness : 0.820946 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:0.11 [[ 0.97871504 -0.16351452 -0.12401561 0.77068081] [ 0.16596891 0.98608373 0.00965413 -0.09345037] [ 0.12071119 -0.03003138 0.9922333 0.11303472] [ 0. 0. 0. 1. ]] SLAMing on 59.06327356 meters Centerline goodness : 0.819835 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:0.11 [[ 0.97955087 -0.15781506 -0.12479787 0.77212461] [ 0.16074594 0.98690059 0.01371054 -0.09119511] [ 0.12099936 -0.03349093 0.99208745 0.11227681] [ 0. 0. 0. 1. ]] SLAMing on 59.09327356 meters Centerline goodness : 0.821363 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:0.11 [[ 0.98020322 -0.15330134 -0.12530098 0.77245805] [ 0.1567097 0.98748513 0.01775375 -0.09125861] [ 0.12101118 -0.03703817 0.99195991 0.11161722] [ 0. 0. 0. 1. ]] SLAMing on 59.123273559999994 meters Centerline goodness : 0.818598 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:0.11 [[ 0.98083234 -0.14876045 -0.12585011 0.7726441 ] [ 0.1526566 0.98803776 0.02184809 -0.09166435] [ 0.12109453 -0.04064117 0.99180866 0.11124721] [ 0. 0. 0. 1. ]] SLAMing on 59.153273559999995 meters Centerline goodness : 0.817307 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:0.11 [[ 0.98156509 -0.14319061 -0.12659549 0.77393047] [ 0.14756746 0.98871413 0.02584997 -0.08979719] [ 0.12146528 -0.0440548 0.99161755 0.1107372 ] [ 0. 0. 0. 1. ]] SLAMing on 59.183273559999996 meters Centerline goodness : 0.817595 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:0.11 [[ 0.98212779 -0.13906289 -0.1268326 0.77321574] [ 0.14388387 0.98915087 0.02963093 -0.08987478] [ 0.12133602 -0.04735053 0.99148147 0.11064755] [ 0. 0. 0. 1. ]] SLAMing on 59.21327356 meters Centerline goodness : 0.816216 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:0.11 [[ 0.98275641 -0.13391299 -0.12750353 0.77387314] [ 0.13921314 0.9896934 0.03356613 -0.08868382] [ 0.12169447 -0.05073749 0.99126998 0.11056293] [ 0. 0. 0. 1. ]] SLAMing on 59.24327356 meters Centerline goodness : 0.815927 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.09, Z:0.11 [[ 0.98280643 -0.13318922 -0.12787553 0.77500717] [ 0.13848287 0.98980148 0.03339941 -0.08728789] [ 0.12212295 -0.05053372 0.99122769 0.11074038] [ 0. 0. 0. 1. ]] SLAMing on 59.27327356 meters Centerline goodness : 0.816770 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.09, Z:0.11 [[ 0.98284391 -0.13247886 -0.12832457 0.7762857 ] [ 0.137773 0.9899053 0.03325807 -0.08611789] [ 0.12262318 -0.05036715 0.99117441 0.11093137] [ 0. 0. 0. 1. ]] SLAMing on 59.30327356 meters Centerline goodness : 0.814713 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.09, Z:0.11 [[ 0.98287345 -0.1317661 -0.1288312 0.7776514 ] [ 0.13706783 0.99000675 0.03315197 -0.08501069] [ 0.12317545 -0.0502428 0.99111224 0.11110721] [ 0. 0. 0. 1. ]] SLAMing on 59.333273559999995 meters Centerline goodness : 0.816558 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.09, Z:0.11 [[ 0.98343253 -0.12697265 -0.12937698 0.77820193] [ 0.13280819 0.99043256 0.03748768 -0.08608618] [ 0.12337927 -0.05404893 0.99088661 0.11066567] [ 0. 0. 0. 1. ]] SLAMing on 59.363273559999996 meters Centerline goodness : 0.812443 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.09, Z:0.11 [[ 0.98345645 -0.1263255 -0.12982787 0.77957467] [ 0.13217948 0.99051718 0.03747407 -0.08536936] [ 0.12386281 -0.0540147 0.99082815 0.11067803] [ 0. 0. 0. 1. ]] SLAMing on 59.39327356 meters Centerline goodness : 0.813510 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.09, Z:0.11 [[ 0.98361994 -0.12446657 -0.13038364 0.7822024 ] [ 0.13043212 0.99072004 0.03822656 -0.08528607] [ 0.12441575 -0.05460662 0.99072642 0.11004406] [ 0. 0. 0. 1. ]] SLAMing on 59.42327356 meters Centerline goodness : 0.813058 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.09, Z:0.11 [[ 0.98365291 -0.1239394 -0.13063683 0.78315582] [ 0.12993793 0.99077799 0.03840715 -0.08530975] [ 0.12467193 -0.05475399 0.99068608 0.10988564] [ 0. 0. 0. 1. ]] SLAMing on 59.45327356 meters Centerline goodness : 0.812134 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.09, Z:0.11 [[ 0.98365658 -0.12363578 -0.13089666 0.78382567] [ 0.12963381 0.99082174 0.03830602 -0.08523091] [ 0.12495926 -0.0546486 0.9906557 0.11019647] [ 0. 0. 0. 1. ]] SLAMing on 59.48327356 meters Centerline goodness : 0.812841 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.09, Z:0.11 [[ 0.98369614 -0.12315587 -0.13105167 0.78420642] [ 0.12919813 0.99086662 0.03861578 -0.08610784] [ 0.12509897 -0.05491782 0.99062318 0.11045319] [ 0. 0. 0. 1. ]] SLAMing on 59.513273559999995 meters Centerline goodness : 0.810245 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.09, Z:0.11 [[ 0.98367384 -0.12328852 -0.13109433 0.78395084] [ 0.12931408 0.99085767 0.03845706 -0.08674228] [ 0.12515451 -0.05478155 0.99062371 0.11108173] [ 0. 0. 0. 1. ]] SLAMing on 59.543273559999996 meters Centerline goodness : 0.811372 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.09, Z:0.11 [[ 0.98364049 -0.12365794 -0.1309966 0.7831073 ] [ 0.12968263 0.99080893 0.03847192 -0.0890031 ] [ 0.12503524 -0.05483052 0.99063606 0.11199783] [ 0. 0. 0. 1. ]] SLAMing on 59.57327356 meters Centerline goodness : 0.809254 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.09, Z:0.11 [[ 0.9836287 -0.12388224 -0.13087312 0.78276686] [ 0.12990475 0.99077888 0.03849633 -0.09022691] [ 0.12489731 -0.05486714 0.99065143 0.11218118] [ 0. 0. 0. 1. ]] SLAMing on 59.60327356 meters Centerline goodness : 0.808270 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.09, Z:0.11 [[ 0.98360694 -0.1239865 -0.13093792 0.78266803] [ 0.13002336 0.99076025 0.03857541 -0.09159627] [ 0.12494525 -0.05496803 0.99063979 0.11262457] [ 0. 0. 0. 1. ]] SLAMing on 59.63327356 meters Centerline goodness : 0.810593 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.09, Z:0.11 [[ 0.98357979 -0.1240534 -0.13107843 0.7828676 ] [ 0.13014483 0.99072997 0.03894155 -0.09409392] [ 0.1250325 -0.0553613 0.99060688 0.11287881] [ 0. 0. 0. 1. ]] SLAMing on 59.66327356 meters Centerline goodness : 0.807949 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.10, Z:0.11 [[ 0.98357915 -0.12402433 -0.13111069 0.78312542] [ 0.13013856 0.99072418 0.03910945 -0.09522915] [ 0.12504401 -0.05552979 0.990596 0.11283892] [ 0. 0. 0. 1. ]] SLAMing on 59.693273559999994 meters Centerline goodness : 0.806922 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.10, Z:0.11 [[ 0.98360544 -0.12336143 -0.13153818 0.78437425] [ 0.12956979 0.99077523 0.03970028 -0.09745272] [ 0.12542728 -0.05609278 0.99051582 0.11298803] [ 0. 0. 0. 1. ]] SLAMing on 59.723273559999996 meters Centerline goodness : 0.809337 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.10, Z:0.11 [[ 0.98360914 -0.12296394 -0.13188224 0.7851314 ] [ 0.12919871 0.99082063 0.03977662 -0.09793134] [ 0.12578055 -0.05616366 0.99046701 0.11338118] [ 0. 0. 0. 1. ]] SLAMing on 59.75327356 meters Centerline goodness : 0.805841 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.10, Z:0.11 [[ 0.98364337 -0.12226004 -0.1322808 0.7862798 ] [ 0.12854294 0.99089626 0.04001632 -0.09840259] [ 0.12618415 -0.05636555 0.9904042 0.11360548] [ 0. 0. 0. 1. ]] SLAMing on 59.78327356 meters Centerline goodness : 0.808877 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.10, Z:0.11 [[ 0.98367934 -0.12139701 -0.13280708 0.78770035] [ 0.12773692 0.99098997 0.04027608 -0.0985339 ] [ 0.12672109 -0.05658311 0.99032324 0.11384025] [ 0. 0. 0. 1. ]] SLAMing on 59.81327356 meters Centerline goodness : 0.809557 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.10, Z:0.11 [[ 0.98427338 -0.11552258 -0.13364296 0.78927164] [ 0.12250487 0.99143664 0.0452322 -0.10101079] [ 0.12727319 -0.06089277 0.98999677 0.11373905] [ 0. 0. 0. 1. ]] SLAMing on 59.84327356 meters Centerline goodness : 0.807472 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.10, Z:0.11 [[ 0.98435117 -0.11413674 -0.13425936 0.79127751] [ 0.12120221 0.99157717 0.04565903 -0.1010812 ] [ 0.12791714 -0.06121705 0.98989377 0.11382667] [ 0. 0. 0. 1. ]] SLAMing on 59.873273559999994 meters Centerline goodness : 0.807472 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.10, Z:0.11 [[ 0.98435117 -0.11413674 -0.13425936 0.79127751] [ 0.12120221 0.99157717 0.04565903 -0.1010812 ] [ 0.12791714 -0.06121705 0.98989377 0.11382667] [ 0. 0. 0. 1. ]] SLAMing on 59.903273559999995 meters Centerline goodness : 0.809497 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.10, Z:0.11 [[ 0.98501948 -0.10805006 -0.1343942 0.79223942] [ 0.1157235 0.9919899 0.05063709 -0.10461313] [ 0.12784635 -0.06543109 0.98963331 0.11353858] [ 0. 0. 0. 1. ]] SLAMing on 59.933273559999996 meters Centerline goodness : 0.809309 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.11, Z:0.11 [[ 0.98506487 -0.10701588 -0.13488812 0.79354955] [ 0.11475926 0.99208437 0.0509795 -0.10539584] [ 0.12836478 -0.06569777 0.98954853 0.11402174] [ 0. 0. 0. 1. ]] SLAMing on 59.96327356 meters Centerline goodness : 0.808501 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.11, Z:0.11 [[ 0.98511129 -0.10623419 -0.13516669 0.79442794] [ 0.11402528 0.99215526 0.05124617 -0.10625143] [ 0.12866225 -0.0658956 0.98949674 0.11440147] [ 0. 0. 0. 1. ]] SLAMing on 59.99327356 meters Centerline goodness : 0.806627 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.11, Z:0.11 [[ 0.98520144 -0.10476575 -0.13565494 0.7959691 ] [ 0.11272955 0.99224309 0.05239933 -0.10994978] [ 0.12911302 -0.06691622 0.98936952 0.11486493] [ 0. 0. 0. 1. ]] SLAMing on 60.02327356 meters Centerline goodness : 0.806340 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.11, Z:0.12 [[ 0.98519879 -0.10433405 -0.1360064 0.7967436 ] [ 0.11238243 0.99225663 0.05288639 -0.11237258] [ 0.1294354 -0.06738834 0.98929535 0.11530283] [ 0. 0. 0. 1. ]] SLAMing on 60.05327356 meters Centerline goodness : 0.805399 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.12, Z:0.12 [[ 0.98484176 -0.10696721 -0.1365457 0.7994739 ] [ 0.11474466 0.99211583 0.05039682 -0.11631173] [ 0.13007835 -0.06530078 0.98935102 0.11569305] [ 0. 0. 0. 1. ]] SLAMing on 60.083273559999995 meters Centerline goodness : 0.804010 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.12, Z:0.12 [[ 0.98466777 -0.10876627 -0.13637915 0.79963442] [ 0.11631052 0.99202294 0.04860411 -0.118868 ] [ 0.13000476 -0.06372123 0.98946368 0.11655195] [ 0. 0. 0. 1. ]] SLAMing on 60.113273559999996 meters Centerline goodness : 0.805014 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.12, Z:0.12 [[ 0.98422305 -0.1124622 -0.13659154 0.80106931] [ 0.11955616 0.99181313 0.04486691 -0.11980329] [ 0.13042745 -0.06048941 0.98961089 0.11730857] [ 0. 0. 0. 1. ]] SLAMing on 60.14327356 meters Centerline goodness : 0.802760 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.13, Z:0.12 [[ 0.98375519 -0.11656978 -0.1365182 0.80155379] [ 0.12330449 0.99148257 0.04193237 -0.12563471] [ 0.13046737 -0.0580845 0.98974969 0.11847594] [ 0. 0. 0. 1. ]] SLAMing on 60.17327356 meters Centerline goodness : 0.800818 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.13, Z:0.12 [[ 0.9832935 -0.12035456 -0.13656013 0.80254686] [ 0.12665938 0.99120165 0.03842777 -0.12765547] [ 0.13073367 -0.0550824 0.98988617 0.11926985] [ 0. 0. 0. 1. ]] SLAMing on 60.20327356 meters Centerline goodness : 0.800000 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.13, Z:0.12 [[ 0.98281101 -0.12432672 -0.13647487 0.80330373] [ 0.13019533 0.99087332 0.03491756 -0.12966844] [ 0.13088812 -0.05208576 0.99002797 0.11991983] [ 0. 0. 0. 1. ]] SLAMing on 60.23327356 meters Centerline goodness : 0.798779 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.14, Z:0.12 [[ 0.98207803 -0.13043284 -0.13605153 0.80242885] [ 0.13569682 0.99029238 0.0301226 -0.13594645] [ 0.13080182 -0.0480445 0.99024371 0.1223982 ] [ 0. 0. 0. 1. ]] SLAMing on 60.263273559999995 meters Centerline goodness : 0.797410 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.14, Z:0.12 [[ 0.98154535 -0.13464971 -0.13578724 0.80262416] [ 0.13945324 0.989875 0.02646269 -0.13809217] [ 0.1308492 -0.0449103 0.99038455 0.12335317] [ 0. 0. 0. 1. ]] SLAMing on 60.293273559999996 meters Centerline goodness : 0.796568 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.14, Z:0.13 [[ 0.98063893 -0.14167283 -0.1351891 0.80139456] [ 0.1457745 0.98909729 0.0208888 -0.14386194] [ 0.1307558 -0.0401915 0.9905996 0.12593521] [ 0. 0. 0. 1. ]] SLAMing on 60.32327356 meters Centerline goodness : 0.850463 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.15, Z:0.13 [[ 0.98005273 -0.14587112 -0.13497504 0.80194603] [ 0.1495365 0.98860357 0.01737315 -0.14605454] [ 0.13090257 -0.03721029 0.99069668 0.12656498] [ 0. 0. 0. 1. ]] SLAMing on 60.35327356 meters Centerline goodness : 0.848159 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.15, Z:0.13 [[ 0.97948523 -0.14979211 -0.13479985 0.8029631 ] [ 0.15304941 0.9881183 0.01407503 -0.14848439] [ 0.13108987 -0.03441732 0.99077288 0.12693297] [ 0. 0. 0. 1. ]] SLAMing on 60.38327356 meters Centerline goodness : 0.849400 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.15, Z:0.13 [[ 0.97872029 -0.1549158 -0.13456478 0.80304923] [ 0.15775528 0.98742096 0.01063561 -0.15453721] [ 0.13122446 -0.03163759 0.99084772 0.12820875] [ 0. 0. 0. 1. ]] SLAMing on 60.41327356 meters Centerline goodness : 0.848376 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.16, Z:0.13 [[ 0.97810941 -0.158908 -0.13435113 0.80382948] [ 0.16131677 0.98687666 0.00716669 -0.15611601] [ 0.13144915 -0.0286829 0.99090787 0.12865477] [ 0. 0. 0. 1. ]] SLAMing on 60.443273559999994 meters Centerline goodness : 0.848750 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.16, Z:0.13 [[ 0.97742737 -0.1635422 -0.13375234 0.80341966] [ 0.16553809 0.98619583 0.00386398 -0.16081392] [ 0.13127408 -0.02591787 0.99100726 0.129769 ] [ 0. 0. 0. 1. ]] SLAMing on 60.473273559999996 meters Centerline goodness : 0.847718 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.16, Z:0.13 [[ 0.97731646 -0.16423205 -0.1337175 0.80285403] [ 0.16624678 0.9860762 0.00396655 -0.16393105] [ 0.1312042 -0.02610668 0.99101155 0.13048713] [ 0. 0. 0. 1. ]] SLAMing on 60.50327356 meters Centerline goodness : 0.847417 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.17, Z:0.13 [[ 0.97726041 -0.16468379 -0.1335715 0.80238588] [ 0.16672995 0.98599364 0.00420307 -0.16654684] [ 0.13100847 -0.02637786 0.99103027 0.13081728] [ 0. 0. 0. 1. ]] SLAMing on 60.53327356 meters Centerline goodness : 0.847572 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.17, Z:0.13 [[ 0.97685483 -0.16768269 -0.13280498 0.80242446] [ 0.16949075 0.98552898 0.00234715 -0.16957658] [ 0.13048958 -0.02480204 0.99113941 0.13075875] [ 0. 0. 0. 1. ]] SLAMing on 60.56327356 meters Centerline goodness : 0.849265 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.17, Z:0.13 [[ 9.76661949e-01 -1.69581286e-01 -1.31809046e-01 8.01370894e-01] [ 1.71045381e-01 9.85263128e-01 -2.17539272e-04 -1.70716181e-01] [ 1.29903484e-01 -2.23328661e-02 9.91275102e-01 1.30809666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.59327356 meters Centerline goodness : 0.850354 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.17, Z:0.13 [[ 0.97646043 -0.171556 -0.13074238 0.80085879] [ 0.17272352 0.98496732 -0.00244274 -0.17328645] [ 0.12919603 -0.02019705 0.99141337 0.13039501] [ 0. 0. 0. 1. ]] SLAMing on 60.623273559999994 meters Centerline goodness : 0.852167 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.17, Z:0.13 [[ 0.97640654 -0.17189374 -0.13070121 0.80110221] [ 0.17308111 0.98490487 -0.00230648 -0.17453201] [ 0.12912473 -0.02036984 0.99141912 0.13041865] [ 0. 0. 0. 1. ]] SLAMing on 60.653273559999995 meters Centerline goodness : 0.847900 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.18, Z:0.13 [[ 0.97635927 -0.17206782 -0.13082527 0.8018054 ] [ 0.17331643 0.98486442 -0.00186792 -0.17597562] [ 0.12916656 -0.0208504 0.99140368 0.13027844] [ 0. 0. 0. 1. ]] SLAMing on 60.683273559999996 meters Centerline goodness : 0.850901 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.18, Z:0.13 [[ 0.97614302 -0.17326713 -0.13085605 0.80205611] [ 0.1745212 0.98465156 -0.0019112 -0.17727879] [ 0.12917876 -0.02097155 0.99139954 0.1307243 ] [ 0. 0. 0. 1. ]] SLAMing on 60.71327356 meters Centerline goodness : 0.850008 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.18, Z:0.13 [[ 0.97608645 -0.17364867 -0.13077228 0.80217772] [ 0.17491155 0.9845824 -0.00185536 -0.17796713] [ 0.12907826 -0.02106259 0.9914107 0.13069977] [ 0. 0. 0. 1. ]] SLAMing on 60.74327356 meters Centerline goodness : 0.848639 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.18, Z:0.13 [[ 0.97601104 -0.17385757 -0.13105721 0.80289291] [ 0.17516328 0.98453812 -0.00158795 -0.17862224] [ 0.12930689 -0.02140656 0.99137354 0.13081099] [ 0. 0. 0. 1. ]] SLAMing on 60.77327356 meters Centerline goodness : 0.847976 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.18, Z:0.13 [[ 0.97586893 -0.17461493 -0.13110858 0.80343727] [ 0.17593561 0.98440048 -0.00153253 -0.17953084] [ 0.12933096 -0.02157112 0.99136683 0.13080186] [ 0. 0. 0. 1. ]] SLAMing on 60.80327356 meters Centerline goodness : 0.850265 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.18, Z:0.13 [[ 0.975783 -0.17494699 -0.13130529 0.80428099] [ 0.17629619 0.98433621 -0.00136963 -0.18008783] [ 0.12948817 -0.02181216 0.99134103 0.1305515 ] [ 0. 0. 0. 1. ]] SLAMing on 60.833273559999995 meters Centerline goodness : 0.850068 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.18, Z:0.13 [[ 0.97555426 -0.17598619 -0.13161593 0.80560161] [ 0.17733525 0.98414937 -0.00149331 -0.18018465] [ 0.12979254 -0.02188334 0.99129966 0.13019909] [ 0. 0. 0. 1. ]] SLAMing on 60.863273559999996 meters Centerline goodness : 0.843225 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.18, Z:0.13 [[ 0.97540931 -0.17646328 -0.13205072 0.80698506] [ 0.17782551 0.98406089 -0.00149904 -0.17987863] [ 0.13021047 -0.02201981 0.99124183 0.12981542] [ 0. 0. 0. 1. ]] SLAMing on 60.89327356 meters Centerline goodness : 0.847478 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.18, Z:0.13 [[ 0.97535085 -0.17659468 -0.13230659 0.80792393] [ 0.17798885 0.98403163 -0.0013089 -0.18004499] [ 0.13042502 -0.02227246 0.99120798 0.1294766 ] [ 0. 0. 0. 1. ]] SLAMing on 60.92327356 meters Centerline goodness : 0.849536 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.18, Z:0.13 [[ 0.97524496 -0.17693297 -0.13263477 0.80881802] [ 0.17835754 0.98396506 -0.00115786 -0.18004584] [ 0.13071284 -0.02252721 0.9911643 0.12939824] [ 0. 0. 0. 1. ]] SLAMing on 60.95327356 meters Centerline goodness : 0.850152 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.18, Z:0.13 [[ 9.75114293e-01 -1.77365453e-01 -1.33017336e-01 8.09166097e-01] [ 1.78892125e-01 9.83868577e-01 -4.81353855e-04 -1.80643683e-01] [ 1.30956952e-01 -2.33263788e-02 9.91113594e-01 1.30069475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.98327356 meters Centerline goodness : 0.851478 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.18, Z:0.13 [[ 9.74929010e-01 -1.77897083e-01 -1.33663956e-01 8.09460906e-01] [ 1.79558492e-01 9.83747225e-01 3.81716711e-04 -1.81035047e-01] [ 1.31423639e-01 -2.43726451e-02 9.91026640e-01 1.31410250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.013273559999995 meters Centerline goodness : 0.850776 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.18, Z:0.13 [[ 9.74849793e-01 -1.78147978e-01 -1.33907356e-01 8.09921748e-01] [ 1.79853455e-01 9.83693200e-01 6.50817194e-04 -1.80630958e-01] [ 1.31607814e-01 -2.47181496e-02 9.90993641e-01 1.31436564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.043273559999996 meters Centerline goodness : 0.851883 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.18, Z:0.13 [[ 0.97472826 -0.17838502 -0.13447527 0.81109407] [ 0.18016876 0.98363508 0.00111407 -0.1806031 ] [ 0.13207586 -0.02531416 0.99091632 0.13148296] [ 0. 0. 0. 1. ]] SLAMing on 61.07327356 meters Centerline goodness : 0.851547 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.18, Z:0.13 [[ 0.97455261 -0.17892432 -0.13503073 0.81229486] [ 0.18077067 0.98352422 0.00143763 -0.18030302] [ 0.13254876 -0.02581064 0.99084037 0.13151224] [ 0. 0. 0. 1. ]] SLAMing on 61.10327356 meters Centerline goodness : 0.851020 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.18, Z:0.13 [[ 9.74108244e-01 -1.80906102e-01 -1.35595396e-01 8.13772905e-01] [ 1.82716094e-01 9.83165288e-01 9.19308502e-04 -1.79374251e-01] [ 1.33146378e-01 -2.56709671e-02 9.90763869e-01 1.31555264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.13327356 meters Centerline goodness : 0.851814 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.18, Z:0.13 [[ 9.73452505e-01 -1.83360036e-01 -1.37001159e-01 8.16901621e-01] [ 1.85212390e-01 9.82698199e-01 7.87494408e-04 -1.78607261e-01] [ 1.34486398e-01 -2.61409006e-02 9.90570574e-01 1.31759722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.16327356 meters Centerline goodness : 0.851953 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.18, Z:0.13 [[ 0.97309763 -0.18461744 -0.13783106 0.81888593] [ 0.18653385 0.98244802 0.00100564 -0.17826991] [ 0.13522619 -0.02668875 0.99045524 0.13170349] [ 0. 0. 0. 1. ]] SLAMing on 61.193273559999994 meters Centerline goodness : 0.852044 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.18, Z:0.13 [[ 0.9727166 -0.18581577 -0.13890617 0.82122779] [ 0.18779123 0.98220831 0.00113642 -0.17772302] [ 0.13622363 -0.02719078 0.99030489 0.13181103] [ 0. 0. 0. 1. ]] SLAMing on 61.223273559999996 meters Centerline goodness : 0.851095 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.18, Z:0.13 [[ 0.9723638 -0.18691626 -0.13989622 0.82310314] [ 0.18895658 0.98198455 0.00132712 -0.17715858] [ 0.13712787 -0.02772476 0.99016528 0.13222655] [ 0. 0. 0. 1. ]] SLAMing on 61.25327356 meters Centerline goodness : 0.851764 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.18, Z:0.13 [[ 0.97182646 -0.18881381 -0.14107685 0.8248426 ] [ 0.19089298 0.98161009 0.00122846 -0.17564734] [ 0.13825051 -0.02812443 0.98999789 0.1332236 ] [ 0. 0. 0. 1. ]] SLAMing on 61.28327356 meters Centerline goodness : 0.853323 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.17, Z:0.13 [[ 0.97164982 -0.18935551 -0.14156663 0.82552188] [ 0.19145316 0.98150099 0.00122065 -0.17473788] [ 0.13871665 -0.02828943 0.98992798 0.13355495] [ 0. 0. 0. 1. ]] SLAMing on 61.31327356 meters Centerline goodness : 0.853691 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.17, Z:0.13 [[ 0.97135694 -0.19031604 -0.14228669 0.82577052] [ 0.19242492 0.9813111 0.00108264 -0.1727107 ] [ 0.13942147 -0.02843113 0.9898249 0.13468611] [ 0. 0. 0. 1. ]] SLAMing on 61.34327356 meters Centerline goodness : 0.852204 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.17, Z:0.14 [[ 0.97119619 -0.19060439 -0.14299625 0.82666938] [ 0.19277676 0.98124169 0.00136419 -0.17160137] [ 0.14005387 -0.02889125 0.98972229 0.13512162] [ 0. 0. 0. 1. ]] SLAMing on 61.373273559999994 meters Centerline goodness : 0.850870 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.17, Z:0.14 [[ 9.70961725e-01 -1.91335511e-01 -1.43610759e-01 8.27214515e-01] [ 1.93475095e-01 9.81104725e-01 9.52139324e-04 -1.68831985e-01] [ 1.40715017e-01 -2.87095961e-02 9.89633792e-01 1.35564102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.403273559999995 meters Centerline goodness : 0.851977 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.17, Z:0.14 [[ 0.97120575 -0.18904629 -0.1449858 0.8288082 ] [ 0.19174617 0.98143306 0.00475013 -0.16941363] [ 0.14139586 -0.03241382 0.98942233 0.13572355] [ 0. 0. 0. 1. ]] SLAMing on 61.433273559999996 meters Centerline goodness : 0.851690 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.17, Z:0.14 [[ 0.9711041 -0.18914228 -0.14554044 0.82961733] [ 0.19185468 0.98141208 0.00470212 -0.16800951] [ 0.14194577 -0.03248886 0.98934113 0.13589517] [ 0. 0. 0. 1. ]] SLAMing on 61.46327356 meters Centerline goodness : 0.850657 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.16, Z:0.14 [[ 0.97088254 -0.1898161 -0.14614012 0.83070256] [ 0.19243753 0.98130154 0.00388264 -0.16492889] [ 0.14267053 -0.03189243 0.98925628 0.13567957] [ 0. 0. 0. 1. ]] SLAMing on 61.49327356 meters Centerline goodness : 0.852096 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.16, Z:0.14 [[ 0.97080347 -0.18998398 -0.14644695 0.83166158] [ 0.192558 0.98127945 0.00347293 -0.16332004] [ 0.14304558 -0.03157107 0.98921243 0.13509208] [ 0. 0. 0. 1. ]] SLAMing on 61.52327356 meters Centerline goodness : 0.853054 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.16, Z:0.13 [[ 0.97077291 -0.19018213 -0.1463923 0.83177411] [ 0.19263087 0.98126784 0.00260416 -0.15952443] [ 0.14315479 -0.03072773 0.98922319 0.13467504] [ 0. 0. 0. 1. ]] SLAMing on 61.55327356 meters Centerline goodness : 0.850416 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.16, Z:0.13 [[ 0.97075175 -0.1903519 -0.146312 0.83174995] [ 0.19271083 0.98125358 0.00198813 -0.15706582] [ 0.14319072 -0.03012589 0.9892365 0.13448221] [ 0. 0. 0. 1. ]] SLAMing on 61.583273559999995 meters Centerline goodness : 0.853082 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.15, Z:0.13 [[ 0.97072122 -0.19037125 -0.14648923 0.83205069] [ 0.19265035 0.98126647 0.00139851 -0.15457817] [ 0.14347873 -0.02957876 0.98921128 0.13451292] [ 0. 0. 0. 1. ]] SLAMing on 61.613273559999996 meters Centerline goodness : 0.850066 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.15, Z:0.13 [[ 0.97131555 -0.18721326 -0.14661956 0.8300976 ] [ 0.18982493 0.9818102 0.0039014 -0.15148752] [ 0.14322218 -0.03162154 0.98918526 0.13486511] [ 0. 0. 0. 1. ]] SLAMing on 61.64327356 meters Centerline goodness : 0.849797 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.15, Z:0.14 [[ 0.9712649 -0.18746093 -0.14663866 0.82963407] [ 0.18995521 0.98178796 0.00306838 -0.14880822] [ 0.14339287 -0.03083499 0.98918537 0.13537011] [ 0. 0. 0. 1. ]] SLAMing on 61.67327356 meters Centerline goodness : 0.850326 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.15, Z:0.14 [[ 0.97123376 -0.18762365 -0.1466368 0.82926897] [ 0.19000437 0.98178061 0.00227365 -0.14619295] [ 0.14353858 -0.03006988 0.98918779 0.13583689] [ 0. 0. 0. 1. ]] SLAMing on 61.70327356 meters Centerline goodness : 0.851150 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.14, Z:0.14 [[ 0.97180086 -0.1846571 -0.14664528 0.82699245] [ 0.18736293 0.98227934 0.0047366 -0.14323595] [ 0.14317198 -0.03207892 0.9891778 0.13625003] [ 0. 0. 0. 1. ]] SLAMing on 61.73327356 meters Centerline goodness : 0.850494 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.14, Z:0.14 [[ 0.97176011 -0.18486095 -0.14665849 0.82685737] [ 0.18748037 0.9822597 0.00412177 -0.14098638] [ 0.14329477 -0.03150096 0.9891786 0.13636488] [ 0. 0. 0. 1. ]] SLAMing on 61.763273559999995 meters Centerline goodness : 0.850494 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.14, Z:0.14 [[ 0.97176011 -0.18486095 -0.14665849 0.82685737] [ 0.18748037 0.9822597 0.00412177 -0.14098638] [ 0.14329477 -0.03150096 0.9891786 0.13636488] [ 0. 0. 0. 1. ]] SLAMing on 61.793273559999996 meters Centerline goodness : 0.850932 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.14, Z:0.14 [[ 0.9716915 -0.18531582 -0.14653898 0.82670312] [ 0.18780057 0.98220202 0.00318441 -0.13732126] [ 0.14334076 -0.03061437 0.98919977 0.13599999] [ 0. 0. 0. 1. ]] SLAMing on 61.82327356 meters Centerline goodness : 0.848274 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.14, Z:0.14 [[ 0.97162715 -0.18568251 -0.14650146 0.82673474] [ 0.18810488 0.98214514 0.00273464 -0.13592321] [ 0.14337792 -0.03021469 0.98920667 0.13576484] [ 0. 0. 0. 1. ]] SLAMing on 61.85327356 meters Centerline goodness : 0.847581 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.13, Z:0.14 [[ 0.97155057 -0.18616352 -0.14639891 0.82658677] [ 0.18851056 0.9820687 0.00220069 -0.1345562 ] [ 0.1433641 -0.02973582 0.98922319 0.13556757] [ 0. 0. 0. 1. ]] SLAMing on 61.88327356 meters Centerline goodness : 0.847516 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.13, Z:0.14 [[ 0.97144188 -0.18710518 -0.14591892 0.82573037] [ 0.18932789 0.98191296 0.00137092 -0.1321281 ] [ 0.14302317 -0.02895829 0.9892956 0.13503722] [ 0. 0. 0. 1. ]] SLAMing on 61.91327356 meters Centerline goodness : 0.799439 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:0.14 [[ 9.71353940e-01 -1.87765303e-01 -1.45656154e-01 8.24881009e-01] [ 1.89900831e-01 9.81802974e-01 7.71600768e-04 -1.30916921e-01] [ 1.42860765e-01 -2.84097221e-02 9.89334973e-01 1.35225082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.943273559999994 meters Centerline goodness : 0.797607 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:0.14 [[ 9.71160062e-01 -1.89358809e-01 -1.44884009e-01 8.22214111e-01] [ 1.91284796e-01 9.81534363e-01 -6.48961954e-04 -1.28449685e-01] [ 1.42331520e-01 -2.70838622e-02 9.89448434e-01 1.36066764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.973273559999996 meters Centerline goodness : 0.849707 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:0.14 [[ 0.97107277 -0.19005429 -0.14455808 0.821183 ] [ 0.19190334 0.98141313 -0.00117372 -0.12779356] [ 0.14209427 -0.02660141 0.98949562 0.13633172] [ 0. 0. 0. 1. ]] SLAMing on 62.00327356 meters Centerline goodness : 0.850970 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:0.14 [[ 0.97094904 -0.19097083 -0.14418078 0.81982959] [ 0.19272236 0.98125158 -0.00185071 -0.12703264] [ 0.14183105 -0.02598992 0.98954963 0.13678651] [ 0. 0. 0. 1. ]] SLAMing on 62.03327356 meters Centerline goodness : 0.801521 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:0.14 [[ 0.97072543 -0.19273532 -0.14333609 0.81727927] [ 0.19434056 0.98092998 -0.00285017 -0.12606653] [ 0.141152 -0.02508929 0.98966997 0.13711149] [ 0. 0. 0. 1. ]] SLAMing on 62.06327356 meters Centerline goodness : 0.856405 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:0.14 [[ 0.97061259 -0.19353687 -0.14301987 0.81621835] [ 0.19507951 0.98078191 -0.00329209 -0.12575097] [ 0.14090844 -0.02470491 0.98971434 0.13733307] [ 0. 0. 0. 1. ]] SLAMing on 62.09327356 meters Centerline goodness : 0.847292 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.13, Z:0.14 [[ 0.97050364 -0.19441175 -0.14257192 0.81494557] [ 0.19587684 0.98062105 -0.00382312 -0.12528529] [ 0.14055229 -0.02421618 0.98977706 0.13753401] [ 0. 0. 0. 1. ]] SLAMing on 62.123273559999994 meters Centerline goodness : 0.799459 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.12, Z:0.14 [[ 0.97028136 -0.19600617 -0.14190019 0.8128296 ] [ 0.19734219 0.98032323 -0.0047354 -0.12410702] [ 0.14003622 -0.02340822 0.98986964 0.1377719 ] [ 0. 0. 0. 1. ]] SLAMing on 62.153273559999995 meters Centerline goodness : 0.803457 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.12, Z:0.14 [[ 0.97019417 -0.19662035 -0.14164643 0.81229877] [ 0.19790168 0.98020848 -0.00512457 -0.12339765] [ 0.13985063 -0.02306024 0.98990405 0.13762298] [ 0. 0. 0. 1. ]] SLAMing on 62.183273559999996 meters Centerline goodness : 0.801576 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.12, Z:0.14 [[ 0.97004072 -0.19775842 -0.14111203 0.81131393] [ 0.19895327 0.97999221 -0.00573266 -0.12230739] [ 0.13942237 -0.02251379 0.98997704 0.13707216] [ 0. 0. 0. 1. ]] SLAMing on 62.21327356 meters Centerline goodness : 0.852050 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.12, Z:0.14 [[ 0.96997351 -0.19819167 -0.14096616 0.81118282] [ 0.19934841 0.97991024 -0.00601116 -0.12176849] [ 0.13932555 -0.02227072 0.98999617 0.13678386] [ 0. 0. 0. 1. ]] SLAMing on 62.24327356 meters Centerline goodness : 0.849979 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.12, Z:0.14 [[ 0.96989164 -0.19871954 -0.14078619 0.81068461] [ 0.199817 0.97981206 -0.00644211 -0.1207941 ] [ 0.13922418 -0.02188333 0.99001906 0.13677447] [ 0. 0. 0. 1. ]] SLAMing on 62.27327356 meters Centerline goodness : 0.804346 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.12, Z:0.14 [[ 0.96973235 -0.19984192 -0.14029391 0.80897708] [ 0.20078361 0.97960648 -0.00755612 -0.11844592] [ 0.13894285 -0.02084131 0.99008107 0.13729523] [ 0. 0. 0. 1. ]] SLAMing on 62.30327356 meters Centerline goodness : 0.802370 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.12, Z:0.14 [[ 0.96967156 -0.20023273 -0.14015679 0.80824892] [ 0.20109785 0.97953759 -0.00810966 -0.1171611 ] [ 0.13891266 -0.02032153 0.99009611 0.13776263] [ 0. 0. 0. 1. ]] SLAMing on 62.333273559999995 meters Centerline goodness : 0.801807 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.11, Z:0.14 [[ 0.96956869 -0.20097243 -0.13980928 0.806629 ] [ 0.2016652 0.97940996 -0.00934222 -0.11407355] [ 0.13880813 -0.01913675 0.99013438 0.13876366] [ 0. 0. 0. 1. ]] SLAMing on 62.363273559999996 meters Centerline goodness : 0.803476 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.11, Z:0.14 [[ 0.96952855 -0.20119737 -0.13976414 0.80616811] [ 0.20182104 0.97937293 -0.00984512 -0.11267374] [ 0.13886203 -0.01866222 0.99013588 0.13917209] [ 0. 0. 0. 1. ]] SLAMing on 62.39327356 meters Centerline goodness : 0.801754 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.11, Z:0.14 [[ 0.96951412 -0.20129915 -0.13971766 0.80575722] [ 0.20183548 0.97936349 -0.01046891 -0.11040424] [ 0.13894176 -0.01805022 0.99013604 0.13960495] [ 0. 0. 0. 1. ]] SLAMing on 62.42327356 meters Centerline goodness : 0.804340 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.11, Z:0.14 [[ 0.96948936 -0.20145919 -0.1396588 0.80554012] [ 0.20194989 0.97933633 -0.010798 -0.10923029] [ 0.13894829 -0.01773554 0.99014081 0.13965179] [ 0. 0. 0. 1. ]] SLAMing on 62.45327356 meters Centerline goodness : 0.801942 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.11, Z:0.14 [[ 0.9694704 -0.20151682 -0.13970724 0.80569849] [ 0.2019682 0.97932931 -0.01108846 -0.1082019 ] [ 0.1390539 -0.01746649 0.99013077 0.13964854] [ 0. 0. 0. 1. ]] SLAMing on 62.48327356 meters Centerline goodness : 0.804933 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.11, Z:0.14 [[ 0.96948761 -0.20131536 -0.13987815 0.80650824] [ 0.20173864 0.97937426 -0.01129533 -0.10628576] [ 0.13926698 -0.01726815 0.9901043 0.13917364] [ 0. 0. 0. 1. ]] SLAMing on 62.513273559999995 meters Centerline goodness : 0.803652 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.11, Z:0.14 [[ 0.96946759 -0.20140448 -0.13988865 0.80670428] [ 0.20180425 0.97935871 -0.0114702 -0.10544576] [ 0.13931132 -0.01711013 0.9901008 0.13894629] [ 0. 0. 0. 1. ]] SLAMing on 62.543273559999996 meters Centerline goodness : 0.802530 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.10, Z:0.14 [[ 0.96944182 -0.20158805 -0.13980277 0.80652017] [ 0.20195558 0.97932477 -0.0117021 -0.10459497] [ 0.13927132 -0.01688944 0.99011022 0.1388871 ] [ 0. 0. 0. 1. ]] SLAMing on 62.57327356 meters Centerline goodness : 0.801685 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.10, Z:0.14 [[ 0.96936798 -0.2021812 -0.13945784 0.80544705] [ 0.20246312 0.97921248 -0.01231261 -0.10304776] [ 0.13904823 -0.01629962 0.99015146 0.13914262] [ 0. 0. 0. 1. ]] SLAMing on 62.60327356 meters Centerline goodness : 0.804551 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.10, Z:0.14 [[ 0.96930633 -0.20262849 -0.13923697 0.80456808] [ 0.20284557 0.97912732 -0.01278107 -0.10217763] [ 0.13892053 -0.01585483 0.99017661 0.13955527] [ 0. 0. 0. 1. ]] SLAMing on 62.63327356 meters Centerline goodness : 0.806581 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.10, Z:0.14 [[ 0.96920862 -0.20333792 -0.13888245 0.80324287] [ 0.20344307 0.97899245 -0.01359069 -0.10051545] [ 0.13872837 -0.01508246 0.99021561 0.14016679] [ 0. 0. 0. 1. ]] SLAMing on 62.66327356 meters Centerline goodness : 0.805615 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.10, Z:0.14 [[ 0.96915664 -0.20369844 -0.13871678 0.80273047] [ 0.20375325 0.97892277 -0.01395813 -0.09934479] [ 0.13863626 -0.01473638 0.99023372 0.14020157] [ 0. 0. 0. 1. ]] SLAMing on 62.693273559999994 meters Centerline goodness : 0.801779 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.10, Z:0.14 [[ 0.96909671 -0.20398595 -0.13871302 0.80245628] [ 0.20397521 0.97886946 -0.01444651 -0.09817055] [ 0.13872883 -0.01429395 0.99022724 0.14053161] [ 0. 0. 0. 1. ]] SLAMing on 62.723273559999996 meters Centerline goodness : 0.804475 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.10, Z:0.14 [[ 0.96902162 -0.20448342 -0.13850496 0.80168414] [ 0.20436344 0.97877643 -0.01524107 -0.09557363] [ 0.13868193 -0.01353643 0.99024446 0.14076704] [ 0. 0. 0. 1. ]] SLAMing on 62.75327356 meters Centerline goodness : 0.804664 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:0.14 [[ 0.96899581 -0.20460229 -0.13851004 0.80162511] [ 0.20443991 0.97875555 -0.01555276 -0.09439826] [ 0.13874961 -0.01324642 0.9902389 0.14083073] [ 0. 0. 0. 1. ]] SLAMing on 62.78327356 meters Centerline goodness : 0.805674 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:0.14 [[ 0.96895653 -0.20480577 -0.13848409 0.80135969] [ 0.20458054 0.97871874 -0.01601335 -0.09291628] [ 0.1388166 -0.01281491 0.99023519 0.1410791 ] [ 0. 0. 0. 1. ]] SLAMing on 62.81327356 meters Centerline goodness : 0.805098 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:0.14 [[ 0.96893392 -0.20505709 -0.13827023 0.80078054] [ 0.20472973 0.97867537 -0.01674069 -0.08995288] [ 0.13875446 -0.01208741 0.99025305 0.14114098] [ 0. 0. 0. 1. ]] SLAMing on 62.84327356 meters Centerline goodness : 0.804267 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:0.14 [[ 0.96890826 -0.20517519 -0.13827484 0.80059336] [ 0.20479814 0.97865478 -0.01710411 -0.08865117] [ 0.13883267 -0.01174611 0.99024619 0.14136224] [ 0. 0. 0. 1. ]] SLAMing on 62.873273559999994 meters Centerline goodness : 0.806467 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:0.14 [[ 0.96887827 -0.20538143 -0.13817871 0.80051935] [ 0.20493565 0.97861718 -0.01760113 -0.08660692] [ 0.13883901 -0.01126439 0.9902509 0.14115718] [ 0. 0. 0. 1. ]] SLAMing on 62.903273559999995 meters Centerline goodness : 0.807756 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:0.14 [[ 0.96887268 -0.20542782 -0.13814899 0.80075892] [ 0.20497459 0.97860805 -0.01765509 -0.08593033] [ 0.13882056 -0.01121149 0.99025409 0.14076646] [ 0. 0. 0. 1. ]] SLAMing on 62.933273559999996 meters Centerline goodness : 0.806024 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:0.14 [[ 0.96884014 -0.20561757 -0.13809488 0.80068845] [ 0.20512953 0.9785709 -0.0179127 -0.08513208] [ 0.1388188 -0.01097279 0.99025701 0.14071205] [ 0. 0. 0. 1. ]] SLAMing on 62.96327356 meters Centerline goodness : 0.807456 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.08, Z:0.14 [[ 0.9687607 -0.2060949 -0.13794059 0.80007609] [ 0.20554296 0.97847528 -0.01839072 -0.08376933] [ 0.13876169 -0.01053651 0.99026975 0.14086496] [ 0. 0. 0. 1. ]] SLAMing on 62.99327356 meters Centerline goodness : 0.809491 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.08, Z:0.14 [[ 0.96869523 -0.20662339 -0.13760934 0.79900479] [ 0.20602741 0.97836718 -0.018718 -0.08314461] [ 0.13850004 -0.01021926 0.9903097 0.14103652] [ 0. 0. 0. 1. ]] SLAMing on 63.02327356 meters Centerline goodness : 0.806539 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.08, Z:0.14 [[ 0.96864744 -0.20703024 -0.13733398 0.79822476] [ 0.20639539 0.97828409 -0.01900493 -0.08264303] [ 0.13828624 -0.00993602 0.99034246 0.14116309] [ 0. 0. 0. 1. ]] SLAMing on 63.05327356 meters Centerline goodness : 0.806000 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.08, Z:0.14 [[ 0.96850254 -0.20806743 -0.13678733 0.79634002] [ 0.20733836 0.97807059 -0.01971606 -0.08182503] [ 0.13788994 -0.00926621 0.99040421 0.1416929 ] [ 0. 0. 0. 1. ]] SLAMing on 63.083273559999995 meters Centerline goodness : 0.809794 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.08, Z:0.14 [[ 0.96840091 -0.20875395 -0.13646047 0.79530083] [ 0.20797061 0.97792785 -0.02013312 -0.08168259] [ 0.13765136 -0.00888283 0.99044091 0.14198026] [ 0. 0. 0. 1. ]] SLAMing on 63.113273559999996 meters Centerline goodness : 0.809608 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.08, Z:0.14 [[ 0.96829453 -0.20949313 -0.13608205 0.79422567] [ 0.2086708 0.97777228 -0.02044191 -0.08178637] [ 0.1373397 -0.00860256 0.99048665 0.14206713] [ 0. 0. 0. 1. ]] SLAMing on 63.14327356 meters Centerline goodness : 0.811123 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.08, Z:0.14 [[ 0.9681002 -0.21073353 -0.13554845 0.79287556] [ 0.2098876 0.97750708 -0.0206664 -0.08270143] [ 0.13685468 -0.00844279 0.99055516 0.14171582] [ 0. 0. 0. 1. ]] SLAMing on 63.17327356 meters Centerline goodness : 0.807844 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.08, Z:0.14 [[ 0.96802886 -0.21125779 -0.13524156 0.79218949] [ 0.21040347 0.97739451 -0.02074494 -0.08315054] [ 0.13656689 -0.00837359 0.99059546 0.14158093] [ 0. 0. 0. 1. ]] SLAMing on 63.20327356 meters Centerline goodness : 0.809797 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.08, Z:0.14 [[ 0.96785256 -0.21246501 -0.1346107 0.79028886] [ 0.21155411 0.97713628 -0.02120246 -0.08311461] [ 0.13603778 -0.00795659 0.9906717 0.14173796] [ 0. 0. 0. 1. ]] SLAMing on 63.23327356 meters Centerline goodness : 0.808315 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.08, Z:0.14 [[ 0.96780114 -0.21273957 -0.13454678 0.78999053] [ 0.21180331 0.97707793 -0.02140259 -0.08287593] [ 0.13601587 -0.007784 0.99067608 0.14187466] [ 0. 0. 0. 1. ]] SLAMing on 63.263273559999995 meters Centerline goodness : 0.808274 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.08, Z:0.14 [[ 0.96776596 -0.21294566 -0.1344738 0.78970398] [ 0.21198752 0.97703425 -0.02157217 -0.08251034] [ 0.13597921 -0.00762996 0.99068231 0.14197266] [ 0. 0. 0. 1. ]] SLAMing on 63.293273559999996 meters Centerline goodness : 0.808451 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.08, Z:0.14 [[ 0.96770646 -0.21337489 -0.13422129 0.78867465] [ 0.21235398 0.9769441 -0.02204581 -0.08169545] [ 0.13583072 -0.00716856 0.99070613 0.14256042] [ 0. 0. 0. 1. ]] SLAMing on 63.32327356 meters Centerline goodness : 0.808945 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.08, Z:0.14 [[ 0.96768622 -0.21351184 -0.13414947 0.7883551 ] [ 0.21247781 0.97691488 -0.02214729 -0.08146452] [ 0.13578132 -0.00707216 0.99071359 0.14268834] [ 0. 0. 0. 1. ]] SLAMing on 63.35327356 meters Centerline goodness : 0.810868 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.08, Z:0.14 [[ 0.96763123 -0.21386823 -0.13397827 0.78768089] [ 0.21280202 0.97683859 -0.02239811 -0.08115043] [ 0.13566539 -0.00683774 0.99073112 0.14294103] [ 0. 0. 0. 1. ]] SLAMing on 63.38327356 meters Centerline goodness : 0.808962 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.08, Z:0.14 [[ 0.96761669 -0.21394365 -0.13396289 0.78771183] [ 0.21288251 0.97682179 -0.02236552 -0.08141591] [ 0.13564283 -0.0068771 0.99073393 0.14287734] [ 0. 0. 0. 1. ]] SLAMing on 63.41327356 meters Centerline goodness : 0.808802 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.08, Z:0.14 [[ 0.96760043 -0.21402522 -0.13395004 0.78782773] [ 0.21299619 0.97680224 -0.02213598 -0.08248672] [ 0.13558036 -0.00711207 0.99074083 0.14267557] [ 0. 0. 0. 1. ]] SLAMing on 63.443273559999994 meters Centerline goodness : 0.806709 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.08, Z:0.14 [[ 0.96757967 -0.21413309 -0.13392761 0.78769864] [ 0.21311147 0.97677818 -0.02208806 -0.08310715] [ 0.13554735 -0.00716955 0.99074493 0.14280123] [ 0. 0. 0. 1. ]] SLAMing on 63.473273559999996 meters Centerline goodness : 0.807500 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.08, Z:0.14 [[ 0.96756406 -0.21422588 -0.13389196 0.78761788] [ 0.21321519 0.97675725 -0.0220127 -0.08371123] [ 0.13549563 -0.0072491 0.99075142 0.14285518] [ 0. 0. 0. 1. ]] SLAMing on 63.50327356 meters Centerline goodness : 0.807103 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.08, Z:0.14 [[ 0.96755955 -0.21428496 -0.13383002 0.78738607] [ 0.21329335 0.9767433 -0.02187388 -0.08455376] [ 0.13540482 -0.00738077 0.99076287 0.14299411] [ 0. 0. 0. 1. ]] SLAMing on 63.53327356 meters Centerline goodness : 0.804955 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.08, Z:0.14 [[ 0.96754804 -0.21427036 -0.13393656 0.78749053] [ 0.21327369 0.97674666 -0.02191574 -0.08484323] [ 0.13551798 -0.00736062 0.99074755 0.14329658] [ 0. 0. 0. 1. ]] SLAMing on 63.56327356 meters Centerline goodness : 0.807784 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.09, Z:0.14 [[ 0.96757877 -0.21404237 -0.13407904 0.78804575] [ 0.21307293 0.97679509 -0.02170877 -0.08518501] [ 0.13561435 -0.00756367 0.99073283 0.14310046] [ 0. 0. 0. 1. ]] SLAMing on 63.59327356 meters Centerline goodness : 0.805873 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.09, Z:0.14 [[ 0.96765292 -0.21350813 -0.13439536 0.78905488] [ 0.21258391 0.97690933 -0.02135967 -0.08627778] [ 0.13585255 -0.00790154 0.99069756 0.14311448] [ 0. 0. 0. 1. ]] SLAMing on 63.623273559999994 meters Centerline goodness : 0.804026 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.09, Z:0.14 [[ 0.96768311 -0.21325907 -0.13457325 0.78972246] [ 0.21236502 0.97696187 -0.02113303 -0.08686999] [ 0.13597974 -0.00812857 0.99067827 0.14292798] [ 0. 0. 0. 1. ]] SLAMing on 63.653273559999995 meters Centerline goodness : 0.806037 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.09, Z:0.14 [[ 0.9677219 -0.21295131 -0.13478151 0.79023125] [ 0.21209976 0.97702632 -0.02081482 -0.08794068] [ 0.13611763 -0.00844417 0.9906567 0.14303159] [ 0. 0. 0. 1. ]] SLAMing on 63.683273559999996 meters Centerline goodness : 0.806037 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.09, Z:0.14 [[ 0.9677219 -0.21295131 -0.13478151 0.79023125] [ 0.21209976 0.97702632 -0.02081482 -0.08794068] [ 0.13611763 -0.00844417 0.9906567 0.14303159] [ 0. 0. 0. 1. ]] SLAMing on 63.71327356 meters Centerline goodness : 0.803317 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.09, Z:0.14 [[ 0.96772095 -0.21287245 -0.13491288 0.79049467] [ 0.21201484 0.97704376 -0.02086161 -0.08816738] [ 0.13625665 -0.00841532 0.99063783 0.14330236] [ 0. 0. 0. 1. ]] SLAMing on 63.74327356 meters Centerline goodness : 0.807114 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.09, Z:0.14 [[ 0.96775533 -0.21263371 -0.13504268 0.79088922] [ 0.21179101 0.97709479 -0.0207447 -0.08836089] [ 0.13636052 -0.00852503 0.9906226 0.14336324] [ 0. 0. 0. 1. ]] SLAMing on 63.77327356 meters Centerline goodness : 0.804352 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.09, Z:0.14 [[ 0.96777941 -0.21237153 -0.13528244 0.79144924] [ 0.21153128 0.9771515 -0.02072366 -0.08835218] [ 0.13659255 -0.00856054 0.99059032 0.14353952] [ 0. 0. 0. 1. ]] SLAMing on 63.80327356 meters Centerline goodness : 0.806553 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.09, Z:0.14 [[ 0.96793169 -0.21126381 -0.13592591 0.79333612] [ 0.21047131 0.97738838 -0.02034157 -0.08849493] [ 0.13714985 -0.00891925 0.99051015 0.14355102] [ 0. 0. 0. 1. ]] SLAMing on 63.833273559999995 meters Centerline goodness : 0.807003 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.09, Z:0.14 [[ 0.96801486 -0.21059111 -0.13637676 0.79466962] [ 0.20981539 0.97753228 -0.02020278 -0.0882915 ] [ 0.13756721 -0.00905736 0.99045102 0.14356312] [ 0. 0. 0. 1. ]] SLAMing on 63.863273559999996 meters Centerline goodness : 0.805787 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:0.14 [[ 0.96896275 -0.20549508 -0.13741528 0.79574739] [ 0.2052951 0.97857287 -0.01578139 -0.08942484] [ 0.13771386 -0.01291911 0.9903878 0.1430858 ] [ 0. 0. 0. 1. ]] SLAMing on 63.89327356 meters Centerline goodness : 0.807651 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:0.14 [[ 0.96978033 -0.20112867 -0.13810636 0.79571375] [ 0.20147978 0.97942423 -0.01157918 -0.09079683] [ 0.13759362 -0.01659638 0.99034971 0.14277756] [ 0. 0. 0. 1. ]] SLAMing on 63.92327356 meters Centerline goodness : 0.806949 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:0.14 [[ 0.97061186 -0.19660553 -0.13877641 0.7957621 ] [ 0.19752058 0.98027167 -0.0072852 -0.0919866 ] [ 0.13747089 -0.02034009 0.99029694 0.14233397] [ 0. 0. 0. 1. ]] SLAMing on 63.95327356 meters Centerline goodness : 0.809005 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:0.14 [[ 0.97166623 -0.19046959 -0.13995024 0.79737938] [ 0.19197781 0.98139536 -0.00276971 -0.09154397] [ 0.13787406 -0.02417611 0.99015466 0.14214412] [ 0. 0. 0. 1. ]] SLAMing on 63.98327356 meters Centerline goodness : 0.809567 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:0.14 [[ 0.97248301 -0.18575614 -0.14061098 0.79755173] [ 0.18782287 0.98220184 0.00145455 -0.09221044] [ 0.13783817 -0.02782448 0.99006385 0.1417792 ] [ 0. 0. 0. 1. ]] SLAMing on 64.01327356 meters Centerline goodness : 0.807832 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:0.14 [[ 0.97326911 -0.18094246 -0.14144635 0.79815236] [ 0.18356644 0.98299125 0.00561832 -0.09287048] [ 0.13802394 -0.03143294 0.98992998 0.14155024] [ 0. 0. 0. 1. ]] SLAMing on 64.04327356 meters Centerline goodness : 0.810295 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:0.14 [[ 0.97531055 -0.17178616 -0.13877622 0.79606039] [ 0.175068 0.98448676 0.01170567 -0.09443082] [ 0.13461248 -0.03571194 0.99025458 0.13789413] [ 0. 0. 0. 1. ]] SLAMing on 64.07327356 meters Centerline goodness : 0.808134 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:0.14 [[ 0.9760425 -0.16696187 -0.13951619 0.79665652] [ 0.17079231 0.98517935 0.01586314 -0.09498089] [ 0.13479993 -0.03931139 0.99009272 0.13759502] [ 0. 0. 0. 1. ]] SLAMing on 64.10327356 meters Centerline goodness : 0.807728 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.10, Z:0.14 [[ 0.97726494 -0.1593793 -0.13982658 0.79825482] [ 0.16393695 0.98623363 0.02163114 -0.09511571] [ 0.13445412 -0.0440621 0.98993971 0.13606176] [ 0. 0. 0. 1. ]] SLAMing on 64.13327356 meters Centerline goodness : 0.805528 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.10, Z:0.14 [[ 0.97796328 -0.15438737 -0.14054313 0.79915604] [ 0.15953436 0.98684849 0.02605472 -0.09614285] [ 0.13467226 -0.04790202 0.98973167 0.13547285] [ 0. 0. 0. 1. ]] SLAMing on 64.16327356000001 meters Centerline goodness : 0.805904 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.10, Z:0.14 [[ 0.97859126 -0.14976616 -0.14117101 0.79954253] [ 0.15546349 0.98738085 0.03016893 -0.09703834] [ 0.13487126 -0.05146999 0.98952543 0.13526832] [ 0. 0. 0. 1. ]] SLAMing on 64.19327356000001 meters Centerline goodness : 0.806709 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.10, Z:0.13 [[ 0.97932301 -0.14401546 -0.1420774 0.8011098 ] [ 0.15032063 0.98803044 0.03463457 -0.09711856] [ 0.13538888 -0.0552756 0.98924944 0.13485034] [ 0. 0. 0. 1. ]] SLAMing on 64.22327356000001 meters Centerline goodness : 0.807122 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.10, Z:0.13 [[ 0.97939486 -0.14303707 -0.14256962 0.80267783] [ 0.14936934 0.98817264 0.03469351 -0.09587202] [ 0.13592094 -0.05527417 0.98917656 0.13482791] [ 0. 0. 0. 1. ]] SLAMing on 64.25327356000001 meters Centerline goodness : 0.805539 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:0.14 [[ 0.97943462 -0.14228969 -0.14304358 0.80399382] [ 0.14862525 0.98828907 0.03457245 -0.09477537] [ 0.13644911 -0.05512135 0.98911237 0.13508061] [ 0. 0. 0. 1. ]] SLAMing on 64.28327356 meters Centerline goodness : 0.805208 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.10, Z:0.14 [[ 0.9800253 -0.1375253 -0.14365654 0.80435816] [ 0.14442318 0.98875909 0.03869632 -0.09556733] [ 0.13671999 -0.05867071 0.98887077 0.13504709] [ 0. 0. 0. 1. ]] SLAMing on 64.31327356 meters Centerline goodness : 0.804089 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:0.14 [[ 0.98003291 -0.13723314 -0.14388385 0.80490029] [ 0.14410891 0.98881427 0.03845732 -0.09469874] [ 0.13699678 -0.05842439 0.98884704 0.13535724] [ 0. 0. 0. 1. ]] SLAMing on 64.34327356 meters Centerline goodness : 0.803207 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.09, Z:0.14 [[ 0.98007138 -0.13665901 -0.144168 0.80565579] [ 0.14354015 0.98889879 0.03841118 -0.09424089] [ 0.13731833 -0.05833959 0.98880745 0.13569549] [ 0. 0. 0. 1. ]] SLAMing on 64.37327356 meters Centerline goodness : 0.803136 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.09, Z:0.14 [[ 0.98004691 -0.13672517 -0.14427159 0.80573727] [ 0.14358031 0.98890208 0.0381755 -0.09410652] [ 0.13745092 -0.05812834 0.98880147 0.13607999] [ 0. 0. 0. 1. ]] SLAMing on 64.40327356 meters Centerline goodness : 0.806785 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.09, Z:0.14 [[ 0.98002278 -0.13686402 -0.14430384 0.80569529] [ 0.14369107 0.98889465 0.0379506 -0.09434117] [ 0.13750722 -0.05792762 0.98880542 0.136469 ] [ 0. 0. 0. 1. ]] SLAMing on 64.43327356 meters Centerline goodness : 0.805927 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.10, Z:0.14 [[ 0.9799763 -0.13715692 -0.14434134 0.80558388] [ 0.14395459 0.98886574 0.03770443 -0.09504848] [ 0.13756278 -0.05772805 0.98880936 0.13694592] [ 0. 0. 0. 1. ]] SLAMing on 64.46327356 meters Centerline goodness : 0.804261 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.10, Z:0.14 [[ 0.97993892 -0.13730682 -0.14445262 0.80569103] [ 0.14409354 0.98885066 0.03756887 -0.09523989] [ 0.13768361 -0.05762989 0.98879827 0.13720966] [ 0. 0. 0. 1. ]] SLAMing on 64.49327356 meters Centerline goodness : 0.806660 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.10, Z:0.14 [[ 0.979908 -0.13750776 -0.14447124 0.80562252] [ 0.14429345 0.98882259 0.03754055 -0.09599193] [ 0.1376943 -0.05763254 0.98879663 0.1374108 ] [ 0. 0. 0. 1. ]] SLAMing on 64.52327356 meters Centerline goodness : 0.809180 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.09, Z:0.15 [[ 0.97920552 -0.14159733 -0.14528161 0.84316589] [ 0.14689079 0.98880236 0.0263247 -0.08712136] [ 0.13992729 -0.04711782 0.98904007 0.14698759] [ 0. 0. 0. 1. ]] SLAMing on 64.55327356000001 meters Centerline goodness : 0.804513 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:0.18 [[ 0.98041063 -0.14303541 -0.13541 0.92728351] [ 0.14242919 0.98970306 -0.01420496 -0.06693648] [ 0.1360475 -0.00535965 0.99068782 0.18069229] [ 0. 0. 0. 1. ]] SLAMing on 64.58327356000001 meters Centerline goodness : 0.805825 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:0.18 [[ 0.9803934 -0.14299898 -0.13557316 0.92759676] [ 0.14239509 0.98970815 -0.01419195 -0.06720195] [ 0.13620729 -0.00539126 0.99066569 0.18082483] [ 0. 0. 0. 1. ]] SLAMing on 64.61327356000001 meters Centerline goodness : 0.806774 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:0.18 [[ 0.98037888 -0.14312644 -0.13554363 0.92746562] [ 0.14252695 0.98968952 -0.01416762 -0.06796835] [ 0.13617387 -0.00542898 0.99067008 0.180918 ] [ 0. 0. 0. 1. ]] SLAMing on 64.64327356000001 meters Centerline goodness : 0.804927 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:0.18 [[ 0.98037597 -0.14308086 -0.13561278 0.92751053] [ 0.14247298 0.98969642 -0.01422827 -0.06800764] [ 0.13625128 -0.0053721 0.99065975 0.18119868] [ 0. 0. 0. 1. ]] SLAMing on 64.67327356 meters Centerline goodness : 0.806685 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:0.18 [[ 0.98040859 -0.14273828 -0.13573795 0.92776755] [ 0.14211248 0.98974664 -0.01433966 -0.06745678] [ 0.136393 -0.00523133 0.990641 0.18158042] [ 0. 0. 0. 1. ]] SLAMing on 64.70327356 meters Centerline goodness : 0.807181 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:0.18 [[ 0.98041559 -0.14249663 -0.13594112 0.92840001] [ 0.14185781 0.98978193 -0.01442519 -0.06667995] [ 0.13660761 -0.00514163 0.99061189 0.1815476 ] [ 0. 0. 0. 1. ]] SLAMing on 64.73327356 meters Centerline goodness : 0.805560 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:0.18 [[ 0.9804245 -0.14207783 -0.13631463 0.92939932] [ 0.14143445 0.98984225 -0.01444335 -0.06607354] [ 0.13698207 -0.00511897 0.9905603 0.18160046] [ 0. 0. 0. 1. ]] SLAMing on 64.76327356 meters Centerline goodness : 0.802990 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:0.18 [[ 0.98049774 -0.141166 -0.13673456 0.931034 ] [ 0.14054926 0.9899718 -0.01420368 -0.06544234] [ 0.13736844 -0.00529127 0.99050589 0.1812692 ] [ 0. 0. 0. 1. ]] SLAMing on 64.79327356 meters Centerline goodness : 0.802182 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:0.18 [[ 0.98049723 -0.14088106 -0.13703178 0.9317491 ] [ 0.14025796 0.99001257 -0.01424113 -0.06506458] [ 0.13766949 -0.00525641 0.99046428 0.18141867] [ 0. 0. 0. 1. ]] SLAMing on 64.82327356 meters Centerline goodness : 0.804621 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.06, Z:0.18 [[ 0.98054073 -0.14034539 -0.13726998 0.93242054] [ 0.13970488 0.99008938 -0.01433787 -0.06401464] [ 0.1379218 -0.00511842 0.9904299 0.18165471] [ 0. 0. 0. 1. ]] SLAMing on 64.85327356 meters Centerline goodness : 0.805640 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.06, Z:0.18 [[ 0.98053477 -0.14014249 -0.1375196 0.93289965] [ 0.13948921 0.99011852 -0.01442458 -0.06330092] [ 0.1381822 -0.0050387 0.99039401 0.18184461] [ 0. 0. 0. 1. ]] SLAMing on 64.88327356 meters Centerline goodness : 0.806224 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.06, Z:0.18 [[ 0.98053953 -0.14012963 -0.13749876 0.93275115] [ 0.13946071 0.99012092 -0.014535 -0.06300198] [ 0.13817718 -0.00492353 0.99039529 0.18209649] [ 0. 0. 0. 1. ]] SLAMing on 64.91327356000001 meters Centerline goodness : 0.807174 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.06, Z:0.18 [[ 0.98051884 -0.14035974 -0.13741161 0.93244201] [ 0.1396738 0.99008889 -0.01467002 -0.06312033] [ 0.13810879 -0.00480857 0.99040539 0.18224158] [ 0. 0. 0. 1. ]] SLAMing on 64.94327356000001 meters Centerline goodness : 0.805214 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.06, Z:0.18 [[ 0.98048794 -0.14074367 -0.13723926 0.93175209] [ 0.14004354 0.99003484 -0.0147927 -0.06365667] [ 0.13795362 -0.00471541 0.99042746 0.18251354] [ 0. 0. 0. 1. ]] SLAMing on 64.97327356000001 meters Centerline goodness : 0.802599 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:0.18 [[ 0.98038703 -0.14185816 -0.13681204 0.92999909] [ 0.141121 0.98987685 -0.01512233 -0.06515683] [ 0.13757229 -0.00448132 0.99048159 0.18311458] [ 0. 0. 0. 1. ]] SLAMing on 65.00327356000001 meters Centerline goodness : 0.802856 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:0.18 [[ 0.98033994 -0.14244889 -0.1365354 0.92912044] [ 0.14170555 0.98979217 -0.01519882 -0.06595281] [ 0.13730673 -0.00444781 0.99051859 0.18321067] [ 0. 0. 0. 1. ]] SLAMing on 65.03327356 meters Centerline goodness : 0.805926 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:0.18 [[ 0.98017537 -0.14391027 -0.13618395 0.927452 ] [ 0.143154 0.98958088 -0.01538231 -0.06728699] [ 0.13697871 -0.00441791 0.99056414 0.18338321] [ 0. 0. 0. 1. ]] SLAMing on 65.06327356 meters Centerline goodness : 0.806628 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:0.18 [[ 0.98010714 -0.1445797 -0.13596581 0.92663549] [ 0.14382273 0.98948322 -0.01542666 -0.0682166 ] [ 0.13676627 -0.00443519 0.99059342 0.18345512] [ 0. 0. 0. 1. ]] SLAMing on 65.09327356 meters Centerline goodness : 0.804002 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:0.18 [[ 0.98004674 -0.14519405 -0.1357464 0.92581049] [ 0.14444424 0.98939294 -0.01541006 -0.06940601] [ 0.13654398 -0.00450521 0.99062377 0.18355516] [ 0. 0. 0. 1. ]] SLAMing on 65.12327356 meters Centerline goodness : 0.804731 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:0.18 [[ 0.97941577 -0.14979433 -0.13530119 0.92590211] [ 0.14853611 0.98871658 -0.01940509 -0.06964343] [ 0.1366813 -0.00109146 0.99061447 0.18387552] [ 0. 0. 0. 1. ]] SLAMing on 65.15327356 meters Centerline goodness : 0.804731 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.07, Z:0.18 [[ 0.97936089 -0.15046071 -0.13495858 0.92485226] [ 0.14921413 0.98861529 -0.01936357 -0.0707914 ] [ 0.13633557 -0.0011738 0.99066202 0.18385382] [ 0. 0. 0. 1. ]] SLAMing on 65.18327356 meters Centerline goodness : 0.801108 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.07, Z:0.18 [[ 0.97929341 -0.15113776 -0.13469147 0.92383049] [ 0.1498918 0.988512 -0.01940308 -0.07181226] [ 0.13607667 -0.00118784 0.9906976 0.18402254] [ 0. 0. 0. 1. ]] SLAMing on 65.21327356 meters Centerline goodness : 0.804020 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.07, Z:0.18 [[ 9.79128325e-01 -1.52689693e-01 -1.34140156e-01 9.21397374e-01] [ 1.51383730e-01 9.88273874e-01 -1.99428509e-02 -7.27349301e-02] [ 1.35612279e-01 -7.80026879e-04 9.90761677e-01 1.84838181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.24327356 meters Centerline goodness : 0.801963 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.07, Z:0.18 [[ 9.79073388e-01 -1.53254252e-01 -1.33897107e-01 9.20547491e-01] [ 1.51928627e-01 9.88186584e-01 -2.01238071e-02 -7.30094441e-02] [ 1.35399384e-01 -6.40119716e-04 9.90790895e-01 1.84995839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.27327356 meters Centerline goodness : 0.803646 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.07, Z:0.18 [[ 9.78974216e-01 -1.54122187e-01 -1.33625730e-01 9.19660042e-01] [ 1.52781854e-01 9.88051641e-01 -2.02893860e-02 -7.37397567e-02] [ 1.35156167e-01 -5.52801145e-04 9.90824154e-01 1.84947827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.30327356000001 meters Centerline goodness : 0.801006 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.07, Z:0.18 [[ 9.78929388e-01 -1.54545923e-01 -1.33464644e-01 9.19280935e-01] [ 1.53205812e-01 9.87985447e-01 -2.03158761e-02 -7.41249658e-02] [ 1.35000862e-01 -5.59750969e-04 9.90845323e-01 1.84743293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.33327356000001 meters Centerline goodness : 0.800614 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.07, Z:0.18 [[ 9.78890052e-01 -1.54897160e-01 -1.33345926e-01 9.19135102e-01] [ 1.53555564e-01 9.87930444e-01 -2.03501223e-02 -7.41410317e-02] [ 1.34888676e-01 -5.55476481e-04 9.90860604e-01 1.84418208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36327356000001 meters Centerline goodness : 0.798937 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.07, Z:0.18 [[ 9.78793783e-01 -1.55891350e-01 -1.32893256e-01 9.17927799e-01] [ 1.54512076e-01 9.87774169e-01 -2.06932246e-02 -7.38451410e-02] [ 1.34494420e-01 -2.79213250e-04 9.90914312e-01 1.84178580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39327356000001 meters Centerline goodness : 0.800399 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.07, Z:0.18 [[ 9.78745094e-01 -1.56384055e-01 -1.32672784e-01 9.17384333e-01] [ 1.54977041e-01 9.87696321e-01 -2.09307193e-02 -7.32807923e-02] [ 1.34313651e-01 -7.53965547e-05 9.90938867e-01 1.84012088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42327356 meters Centerline goodness : 0.801197 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.07, Z:0.18 [[ 9.78635578e-01 -1.57418953e-01 -1.32256109e-01 9.15747052e-01] [ 1.55919335e-01 9.87531727e-01 -2.16852106e-02 -7.23760582e-02] [ 1.34020767e-01 6.00633964e-04 9.90978341e-01 1.84562077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.45327356 meters Centerline goodness : 0.798801 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.07, Z:0.18 [[ 9.78576832e-01 -1.57994543e-01 -1.32004197e-01 9.14925957e-01] [ 1.56451079e-01 9.87439552e-01 -2.20497469e-02 -7.17864335e-02] [ 1.33829904e-01 9.25172542e-04 9.91003885e-01 1.84683279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48327356 meters Centerline goodness : 0.800846 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.07, Z:0.18 [[ 0.97852924 -0.15840897 -0.13186021 0.91435067] [ 0.15683095 0.98737289 -0.02233463 -0.07146744] [ 0.13373321 0.00117533 0.99101667 0.18488854] [ 0. 0. 0. 1. ]] SLAMing on 65.51327356 meters Centerline goodness : 0.800521 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.07, Z:0.19 [[ 0.97838888 -0.15978716 -0.13123742 0.91216781] [ 0.15811664 0.98714972 -0.02312062 -0.07064043] [ 0.13324536 0.00187014 0.99108132 0.18533411] [ 0. 0. 0. 1. ]] SLAMing on 65.54327356 meters Centerline goodness : 0.802220 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.07, Z:0.19 [[ 0.97831137 -0.16051798 -0.13092306 0.91104092] [ 0.15880003 0.98703041 -0.0235272 -0.07015184] [ 0.13300158 0.00222634 0.99111333 0.18554618] [ 0. 0. 0. 1. ]] SLAMing on 65.57327356 meters Centerline goodness : 0.799584 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.07, Z:0.19 [[ 0.97817738 -0.16182995 -0.13030764 0.90908183] [ 0.16003459 0.98681463 -0.02420383 -0.06920614] [ 0.13250639 0.00282191 0.99117813 0.18565514] [ 0. 0. 0. 1. ]] SLAMing on 65.60327356 meters Centerline goodness : 0.799584 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.07, Z:0.19 [[ 0.97817738 -0.16182995 -0.13030764 0.90908183] [ 0.16003459 0.98681463 -0.02420383 -0.06920614] [ 0.13250639 0.00282191 0.99117813 0.18565514] [ 0. 0. 0. 1. ]] SLAMing on 65.63327356 meters Centerline goodness : 0.801643 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.07, Z:0.19 [[ 0.9781097 -0.16246495 -0.13002519 0.90809633] [ 0.16061926 0.98670911 -0.02462896 -0.06850381] [ 0.13229838 0.00320528 0.99120475 0.18588775] [ 0. 0. 0. 1. ]] SLAMing on 65.66327356000001 meters Centerline goodness : 0.802387 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.07, Z:0.19 [[ 0.97805026 -0.16296321 -0.12984868 0.90756199] [ 0.16107011 0.98662573 -0.02502174 -0.0674772 ] [ 0.13218967 0.00355778 0.99121805 0.18590203] [ 0. 0. 0. 1. ]] SLAMing on 65.69327356000001 meters Centerline goodness : 0.800913 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.06, Z:0.19 [[ 0.97798119 -0.16359163 -0.12957842 0.90691223] [ 0.16161778 0.98651933 -0.02567675 -0.06487827] [ 0.13203212 0.0041692 0.99123667 0.18570031] [ 0. 0. 0. 1. ]] SLAMing on 65.72327356000001 meters Centerline goodness : 0.801977 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.06, Z:0.19 [[ 0.97794694 -0.16387464 -0.12947929 0.9065765 ] [ 0.16184086 0.98647037 -0.02614861 -0.063309 ] [ 0.13201258 0.00461692 0.99123729 0.18582544] [ 0. 0. 0. 1. ]] SLAMing on 65.75327356000001 meters Centerline goodness : 0.801489 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.06, Z:0.19 [[ 0.97790446 -0.16426747 -0.12930223 0.90605868] [ 0.16212833 0.98640098 -0.0269723 -0.06023935] [ 0.13197452 0.00541278 0.99123833 0.1859895 ] [ 0. 0. 0. 1. ]] SLAMing on 65.78327356 meters Centerline goodness : 0.802677 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.06, Z:0.19 [[ 0.97788096 -0.16449348 -0.12919259 0.90568823] [ 0.16230012 0.98636097 -0.02739906 -0.05878525] [ 0.1319375 0.00582505 0.99124092 0.18615704] [ 0. 0. 0. 1. ]] SLAMing on 65.81327356 meters Centerline goodness : 0.802401 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.06, Z:0.19 [[ 0.97783827 -0.16472848 -0.12921631 0.90544736] [ 0.16246959 0.98631887 -0.02790536 -0.05729696] [ 0.13204529 0.00629321 0.99122371 0.18654665] [ 0. 0. 0. 1. ]] SLAMing on 65.84327356 meters Centerline goodness : 0.801085 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.05, Z:0.19 [[ 0.97778153 -0.16527795 -0.12894371 0.90449308] [ 0.16291556 0.98622156 -0.02873234 -0.05469444] [ 0.13191589 0.00708702 0.99123558 0.18691039] [ 0. 0. 0. 1. ]] SLAMing on 65.87327356 meters Centerline goodness : 0.805432 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.05, Z:0.19 [[ 0.97773154 -0.16564897 -0.12884662 0.90405537] [ 0.16324028 0.9861568 -0.0291097 -0.05368732] [ 0.13188496 0.00742852 0.99123719 0.18706674] [ 0. 0. 0. 1. ]] SLAMing on 65.90327356 meters Centerline goodness : 0.802119 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.05, Z:0.19 [[ 0.9776984 -0.1659827 -0.12866849 0.90360408] [ 0.1635423 0.98609874 -0.02938008 -0.05291818] [ 0.13175642 0.00768212 0.99125236 0.18703579] [ 0. 0. 0. 1. ]] SLAMing on 65.93327356 meters Centerline goodness : 0.801013 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.05, Z:0.19 [[ 0.97763113 -0.16649518 -0.12851743 0.9032214 ] [ 0.16401731 0.98601013 -0.02970423 -0.05185079] [ 0.1316651 0.0079607 0.99126229 0.18682351] [ 0. 0. 0. 1. ]] SLAMing on 65.96327356 meters Centerline goodness : 0.803501 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.05, Z:0.19 [[ 0.97759294 -0.16684084 -0.12835956 0.90288625] [ 0.16433859 0.98595011 -0.02991989 -0.0511935 ] [ 0.13154799 0.00815505 0.99127626 0.18665315] [ 0. 0. 0. 1. ]] SLAMing on 65.99327356 meters Centerline goodness : 0.802580 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.05, Z:0.19 [[ 0.97752904 -0.16741754 -0.12809503 0.90216663] [ 0.16485701 0.98584846 -0.03041344 -0.04950775] [ 0.13137404 0.00861265 0.99129546 0.1865411 ] [ 0. 0. 0. 1. ]] SLAMing on 66.02327356 meters Centerline goodness : 0.801776 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.05, Z:0.19 [[ 0.97749253 -0.1677213 -0.12797625 0.9017516 ] [ 0.16512838 0.98579462 -0.03068533 -0.0486732 ] [ 0.13130488 0.00886217 0.99130242 0.18662419] [ 0. 0. 0. 1. ]] SLAMing on 66.05327356000001 meters Centerline goodness : 0.802109 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.05, Z:0.19 [[ 0.97744963 -0.16804151 -0.12788381 0.90122354] [ 0.16541003 0.98573744 -0.03100343 -0.04785025] [ 0.13126972 0.00915103 0.99130445 0.18689571] [ 0. 0. 0. 1. ]] SLAMing on 66.08327356000001 meters Centerline goodness : 0.802029 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.05, Z:0.19 [[ 0.97738528 -0.16854711 -0.12771013 0.9002748 ] [ 0.16584151 0.98564573 -0.03160823 -0.04647761] [ 0.13120442 0.00971378 0.99130774 0.18749259] [ 0. 0. 0. 1. ]] SLAMing on 66.11327356000001 meters Centerline goodness : 0.802109 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.05, Z:0.19 [[ 0.977352 -0.16872816 -0.1277258 0.90010385] [ 0.16599602 0.98561294 -0.03181906 -0.04600817] [ 0.13125698 0.00989645 0.99129898 0.1876941 ] [ 0. 0. 0. 1. ]] SLAMing on 66.14327356000001 meters Centerline goodness : 0.803739 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.05, Z:0.19 [[ 0.97730958 -0.16920968 -0.12741299 0.89908656] [ 0.16644315 0.98552731 -0.03213395 -0.04557363] [ 0.13100635 0.0101978 0.99132908 0.18791204] [ 0. 0. 0. 1. ]] SLAMing on 66.17327356 meters Centerline goodness : 0.804899 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.05, Z:0.19 [[ 0.97728201 -0.16946189 -0.12728924 0.89865471] [ 0.16667789 0.98548248 -0.03229194 -0.04550688] [ 0.13091357 0.01034203 0.99133984 0.18808177] [ 0. 0. 0. 1. ]] SLAMing on 66.20327356 meters Centerline goodness : 0.803072 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.05, Z:0.19 [[ 0.97725894 -0.16961693 -0.12725984 0.89858525] [ 0.16683138 0.98545572 -0.03231589 -0.04569237] [ 0.13089026 0.01035006 0.99134284 0.18801516] [ 0. 0. 0. 1. ]] SLAMing on 66.23327356 meters Centerline goodness : 0.803424 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.05, Z:0.19 [[ 0.97723876 -0.1698033 -0.12716624 0.89843889] [ 0.16702653 0.98542421 -0.03226867 -0.04598402] [ 0.13079202 0.01029406 0.99135638 0.18784156] [ 0. 0. 0. 1. ]] SLAMing on 66.26327356 meters Centerline goodness : 0.803469 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.05, Z:0.19 [[ 0.97723471 -0.16979732 -0.12720535 0.89869256] [ 0.16702784 0.98542591 -0.03220995 -0.04585156] [ 0.13082061 0.01022984 0.99135328 0.1876028 ] [ 0. 0. 0. 1. ]] SLAMing on 66.29327356 meters Centerline goodness : 0.804771 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.05, Z:0.19 [[ 0.97723111 -0.16969483 -0.12736963 0.899199 ] [ 0.16693361 0.98544455 -0.03212798 -0.0454899 ] [ 0.13096766 0.01013419 0.99133484 0.18738053] [ 0. 0. 0. 1. ]] SLAMing on 66.32327356 meters Centerline goodness : 0.805522 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.05, Z:0.19 [[ 0.97722439 -0.16962524 -0.12751381 0.89957062] [ 0.16685745 0.98545634 -0.03216198 -0.04528344] [ 0.13111478 0.01015284 0.9913152 0.18739416] [ 0. 0. 0. 1. ]] SLAMing on 66.35327356 meters Centerline goodness : 0.803144 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.05, Z:0.19 [[ 0.97722806 -0.16950383 -0.12764704 0.89999663] [ 0.16674356 0.98547806 -0.03208704 -0.04521777] [ 0.13123223 0.01007203 0.99130049 0.18723832] [ 0. 0. 0. 1. ]] SLAMing on 66.38327356 meters Centerline goodness : 0.801713 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.04, Z:0.19 [[ 0.97725006 -0.16925924 -0.1278031 0.90045123] [ 0.16647872 0.98551875 -0.0322122 -0.04472458] [ 0.13140457 0.01020288 0.99127632 0.18741022] [ 0. 0. 0. 1. ]] SLAMing on 66.41327356000001 meters Centerline goodness : 0.803859 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.04, Z:0.19 [[ 0.97724679 -0.16915821 -0.12796174 0.90074088] [ 0.16635789 0.98553489 -0.0323425 -0.04415791] [ 0.13158176 0.01031916 0.99125161 0.18759853] [ 0. 0. 0. 1. ]] SLAMing on 66.44327356000001 meters Centerline goodness : 0.800355 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.05, Z:0.19 [[ 0.97759912 -0.16710805 -0.12796431 0.89920194] [ 0.16457686 0.98590242 -0.03018058 -0.04522164] [ 0.13120374 0.00844454 0.99131946 0.18812255] [ 0. 0. 0. 1. ]] SLAMing on 66.47327356000001 meters Centerline goodness : 0.802911 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.04, Z:0.19 [[ 0.97758359 -0.16718174 -0.1279867 0.89906973] [ 0.16462646 0.98588846 -0.03036581 -0.04476449] [ 0.13125722 0.00861512 0.99131091 0.18839697] [ 0. 0. 0. 1. ]] SLAMing on 66.50327356000001 meters Centerline goodness : 0.803988 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.04, Z:0.19 [[ 0.97756623 -0.16724769 -0.12803314 0.8989762 ] [ 0.16467286 0.98587611 -0.03051454 -0.04448801] [ 0.1313283 0.0087464 0.99130035 0.18866549] [ 0. 0. 0. 1. ]] SLAMing on 66.53327356 meters Centerline goodness : 0.801284 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.04, Z:0.19 [[ 0.97756018 -0.16730126 -0.12800929 0.89875424] [ 0.16470338 0.98586546 -0.03069366 -0.04439736] [ 0.13133503 0.00892133 0.9912979 0.18903561] [ 0. 0. 0. 1. ]] SLAMing on 66.56327356 meters Centerline goodness : 0.802506 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.04, Z:0.19 [[ 0.97756818 -0.16730989 -0.12793689 0.89870038] [ 0.16473296 0.98586526 -0.03054091 -0.04469319] [ 0.13123833 0.0087804 0.99131196 0.18880849] [ 0. 0. 0. 1. ]] SLAMing on 66.59327356 meters Centerline goodness : 0.804065 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.05, Z:0.19 [[ 0.97754799 -0.16745148 -0.12790597 0.89861817] [ 0.16488256 0.98584178 -0.03049149 -0.04525455] [ 0.13120089 0.00871743 0.99131747 0.18879173] [ 0. 0. 0. 1. ]] SLAMing on 66.62327356 meters Centerline goodness : 0.806055 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.05, Z:0.19 [[ 0.97753379 -0.16757364 -0.12785446 0.89848701] [ 0.16500893 0.98582127 -0.03047105 -0.04556013] [ 0.13114779 0.00868935 0.99132475 0.18876763] [ 0. 0. 0. 1. ]] SLAMing on 66.65327356 meters Centerline goodness : 0.805644 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.05, Z:0.19 [[ 0.97751995 -0.16764695 -0.12786421 0.89846312] [ 0.1650901 0.98580939 -0.03041563 -0.04598321] [ 0.13114882 0.00862277 0.99132519 0.18878106] [ 0. 0. 0. 1. ]] SLAMing on 66.68327356 meters Centerline goodness : 0.806427 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.05, Z:0.19 [[ 0.97749066 -0.16785865 -0.12781036 0.89820605] [ 0.16531101 0.98577399 -0.0303631 -0.04683532] [ 0.13108884 0.00855119 0.99133375 0.18887318] [ 0. 0. 0. 1. ]] SLAMing on 66.71327356 meters Centerline goodness : 0.806731 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.05, Z:0.19 [[ 0.97747771 -0.16796736 -0.12776656 0.89811056] [ 0.16544131 0.98575684 -0.03020966 -0.04744164] [ 0.131021 0.0083914 0.99134408 0.18875875] [ 0. 0. 0. 1. ]] SLAMing on 66.74327356 meters Centerline goodness : 0.805537 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.05, Z:0.19 [[ 0.97740087 -0.168651 -0.12745347 0.89714529] [ 0.16613594 0.9856406 -0.03019029 -0.04858067] [ 0.13071493 0.00833341 0.99138497 0.18873569] [ 0. 0. 0. 1. ]] SLAMing on 66.77327356 meters Centerline goodness : 0.805355 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.05, Z:0.19 [[ 0.97736817 -0.16897605 -0.12727353 0.89667968] [ 0.16647757 0.98558582 -0.03009677 -0.04932651] [ 0.13052462 0.00822744 0.99141093 0.1885864 ] [ 0. 0. 0. 1. ]] SLAMing on 66.80327356000001 meters Centerline goodness : 0.806730 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.05, Z:0.19 [[ 0.97726555 -0.16995444 -0.12675777 0.89501785] [ 0.16748121 0.98541873 -0.02999947 -0.05099197] [ 0.13000803 0.0080879 0.99147995 0.18850276] [ 0. 0. 0. 1. ]] SLAMing on 66.83327356000001 meters Centerline goodness : 0.804518 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.05, Z:0.19 [[ 0.97722038 -0.17042414 -0.12647502 0.89409697] [ 0.16794979 0.98533726 -0.03005575 -0.05182923] [ 0.12974278 0.00812963 0.99151436 0.1886646 ] [ 0. 0. 0. 1. ]] SLAMing on 66.86327356000001 meters Centerline goodness : 0.806210 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.05, Z:0.19 [[ 0.97710077 -0.17155776 -0.12586511 0.8921557 ] [ 0.16908792 0.98514027 -0.03013169 -0.05323248] [ 0.12916411 0.00815942 0.99158966 0.18868315] [ 0. 0. 0. 1. ]] SLAMing on 66.89327356000001 meters Centerline goodness : 0.804087 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.05, Z:0.19 [[ 0.97706477 -0.17193004 -0.1256364 0.89151741] [ 0.16947374 0.98507599 -0.03006562 -0.0541275 ] [ 0.12893059 0.00808399 0.99162067 0.18865352] [ 0. 0. 0. 1. ]] SLAMing on 66.92327356 meters Centerline goodness : 0.807061 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.05, Z:0.19 [[ 0.97702427 -0.17228828 -0.12546042 0.89094228] [ 0.16983539 0.98501348 -0.03007313 -0.05489107] [ 0.12876145 0.00807456 0.99164272 0.18872221] [ 0. 0. 0. 1. ]] SLAMing on 66.95327356 meters Centerline goodness : 0.806478 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.06, Z:0.19 [[ 0.97689747 -0.17331138 -0.12503801 0.88916054] [ 0.17085387 0.98483345 -0.0301999 -0.05632159] [ 0.1283756 0.00813898 0.99169222 0.18917048] [ 0. 0. 0. 1. ]] SLAMing on 66.98327356 meters Centerline goodness : 0.806427 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.06, Z:0.19 [[ 0.97686407 -0.17364822 -0.12483141 0.88846016] [ 0.17120217 0.98477462 -0.03014558 -0.05700686] [ 0.12816553 0.00807673 0.9917199 0.18925137] [ 0. 0. 0. 1. ]] SLAMing on 67.01327356 meters Centerline goodness : 0.806291 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.06, Z:0.19 [[ 0.97681832 -0.17396355 -0.12475037 0.88804085] [ 0.17155062 0.98472105 -0.02991394 -0.05853145] [ 0.12804825 0.00781948 0.99173711 0.18929203] [ 0. 0. 0. 1. ]] SLAMing on 67.04327356 meters Centerline goodness : 0.804056 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.06, Z:0.19 [[ 0.97679821 -0.17409378 -0.12472611 0.88791623] [ 0.17168665 0.98469841 -0.02987873 -0.05906245] [ 0.1280193 0.00777169 0.99174123 0.18935855] [ 0. 0. 0. 1. ]] SLAMing on 67.07327356 meters Centerline goodness : 0.807312 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.06, Z:0.19 [[ 0.97677391 -0.17427899 -0.12465782 0.88768905] [ 0.171895 0.98466701 -0.02971516 -0.06028393] [ 0.12792517 0.00759694 0.99175473 0.18936709] [ 0. 0. 0. 1. ]] SLAMing on 67.10327356 meters Centerline goodness : 0.807845 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.06, Z:0.19 [[ 0.97676749 -0.1742243 -0.12478451 0.8880041 ] [ 0.17185578 0.9846778 -0.02958426 -0.06092188] [ 0.12802683 0.00745201 0.99174271 0.18939317] [ 0. 0. 0. 1. ]] SLAMing on 67.13327356 meters Centerline goodness : 0.805907 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.06, Z:0.19 [[ 0.97676912 -0.17426803 -0.12471063 0.88788443] [ 0.17190837 0.98467046 -0.02952265 -0.06134516] [ 0.12794373 0.00739801 0.99175384 0.18937262] [ 0. 0. 0. 1. ]] SLAMing on 67.16327356000001 meters Centerline goodness : 0.805958 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.06, Z:0.19 [[ 0.97675292 -0.17420242 -0.12492899 0.88791341] [ 0.17183621 0.98468204 -0.02955659 -0.06186555] [ 0.12816416 0.00740216 0.99172534 0.1900526 ] [ 0. 0. 0. 1. ]] SLAMing on 67.19327356000001 meters Centerline goodness : 0.807931 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.06, Z:0.19 [[ 0.97674163 -0.17419008 -0.12503441 0.88792036] [ 0.17181494 0.98468389 -0.02961875 -0.06198988] [ 0.12827866 0.00744709 0.9917102 0.1904122 ] [ 0. 0. 0. 1. ]] SLAMing on 67.22327356000001 meters Centerline goodness : 0.808003 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.06, Z:0.19 [[ 0.97676266 -0.17399065 -0.12514773 0.88789943] [ 0.17163578 0.9847204 -0.02944304 -0.06311087] [ 0.12835833 0.00727904 0.99170114 0.19094392] [ 0. 0. 0. 1. ]] SLAMing on 67.25327356000001 meters Centerline goodness : 0.807002 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.06, Z:0.19 [[ 0.9767654 -0.17394794 -0.12518577 0.88796513] [ 0.17161109 0.984729 -0.02929892 -0.06382981] [ 0.12837054 0.0071349 0.99170061 0.19100797] [ 0. 0. 0. 1. ]] SLAMing on 67.28327356 meters Centerline goodness : 0.808680 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.07, Z:0.19 [[ 0.97676936 -0.17378377 -0.12538267 0.88831996] [ 0.17149382 0.98476076 -0.02891572 -0.06595996] [ 0.12849701 0.00674163 0.99168698 0.19128485] [ 0. 0. 0. 1. ]] SLAMing on 67.31327356 meters Centerline goodness : 0.807861 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.07, Z:0.19 [[ 0.97677776 -0.17366756 -0.12547825 0.88856204] [ 0.17141961 0.9847835 -0.02857933 -0.06726058] [ 0.12853222 0.00640622 0.99168464 0.19125307] [ 0. 0. 0. 1. ]] SLAMing on 67.34327356 meters Centerline goodness : 0.806304 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.07, Z:0.19 [[ 0.97681285 -0.17334086 -0.12565671 0.88920702] [ 0.17117268 0.98484494 -0.02793482 -0.06953567] [ 0.12859462 0.0057781 0.99168041 0.19102867] [ 0. 0. 0. 1. ]] SLAMing on 67.37327356 meters Centerline goodness : 0.806815 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.07, Z:0.19 [[ 0.97682491 -0.17317758 -0.12578797 0.88947255] [ 0.17104271 0.98487523 -0.02766185 -0.07079422] [ 0.12867587 0.00550567 0.99167142 0.19117985] [ 0. 0. 0. 1. ]] SLAMing on 67.40327356 meters Centerline goodness : 0.809854 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.07, Z:0.19 [[ 0.97683083 -0.17308255 -0.12587283 0.88961795] [ 0.17098482 0.98489354 -0.02736601 -0.07222828] [ 0.12870791 0.00520962 0.99166886 0.19128294] [ 0. 0. 0. 1. ]] SLAMing on 67.43327356 meters Centerline goodness : 0.808594 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.08, Z:0.19 [[ 0.97682518 -0.17311011 -0.12587878 0.88929535] [ 0.1710713 0.984891 -0.02691343 -0.07542525] [ 0.12863586 0.00475547 0.99168049 0.19181526] [ 0. 0. 0. 1. ]] SLAMing on 67.46327356 meters Centerline goodness : 0.808831 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.08, Z:0.19 [[ 0.97682032 -0.17323013 -0.12575127 0.8889122 ] [ 0.17126936 0.98487252 -0.02632346 -0.07926929] [ 0.12840899 0.00417595 0.99171251 0.19198477] [ 0. 0. 0. 1. ]] SLAMing on 67.49327356 meters Centerline goodness : 0.808506 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.08, Z:0.19 [[ 0.97686601 -0.17289247 -0.12586102 0.88947107] [ 0.17101321 0.9849343 -0.02566907 -0.08140914] [ 0.12840283 0.00355134 0.99171574 0.19167618] [ 0. 0. 0. 1. ]] SLAMing on 67.52327356 meters Centerline goodness : 0.808506 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.08, Z:0.19 [[ 0.97686601 -0.17289247 -0.12586102 0.88947107] [ 0.17101321 0.9849343 -0.02566907 -0.08140914] [ 0.12840283 0.00355134 0.99171574 0.19167618] [ 0. 0. 0. 1. ]] SLAMing on 67.55327356000001 meters Centerline goodness : 0.805203 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.08, Z:0.19 [[ 0.97689875 -0.17261182 -0.12599205 0.88997056] [ 0.17079597 0.98498518 -0.02515802 -0.08327988] [ 0.12844287 0.0030579 0.9917122 0.19156082] [ 0. 0. 0. 1. ]] SLAMing on 67.58327356000001 meters Centerline goodness : 0.804776 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.09, Z:0.19 [[ 0.97695246 -0.17216123 -0.12619194 0.89064484] [ 0.17045116 0.98506624 -0.02430851 -0.08607596] [ 0.1284924 0.0022387 0.99170797 0.19132368] [ 0. 0. 0. 1. ]] SLAMing on 67.61327356000001 meters Centerline goodness : 0.806297 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.09, Z:0.19 [[ 0.97697531 -0.17183342 -0.12646155 0.89123736] [ 0.17016691 0.98512423 -0.0239472 -0.08748126] [ 0.12869527 0.00187625 0.99168241 0.19147825] [ 0. 0. 0. 1. ]] SLAMing on 67.64327356000001 meters Centerline goodness : 0.804786 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.09, Z:0.19 [[ 0.97706469 -0.17093587 -0.12698631 0.89262092] [ 0.16937021 0.98528158 -0.02310729 -0.09018497] [ 0.12906714 0.00106962 0.99163528 0.19160713] [ 0. 0. 0. 1. ]] SLAMing on 67.67327356 meters Centerline goodness : 0.803818 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.09, Z:0.19 [[ 9.77106024e-01 -1.70524243e-01 -1.27221463e-01 8.93315150e-01] [ 1.69001037e-01 9.85353209e-01 -2.27530678e-02 -9.12429711e-02] [ 1.29238027e-01 7.31600393e-04 9.91613330e-01 1.91592714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70327356 meters Centerline goodness : 0.804990 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.09, Z:0.19 [[ 9.77161199e-01 -1.70079803e-01 -1.27392513e-01 8.93947962e-01] [ 1.68611251e-01 9.85430242e-01 -2.23043623e-02 -9.23556073e-02] [ 1.29329956e-01 3.15146452e-04 9.91601565e-01 1.91438883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.73327356 meters Centerline goodness : 0.802326 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.09, Z:0.19 [[ 9.77258377e-01 -1.69085817e-01 -1.27968947e-01 8.95630670e-01] [ 1.67703316e-01 9.85601263e-01 -2.15812103e-02 -9.40708347e-02] [ 1.29775432e-01 -3.70398113e-04 9.91543342e-01 1.91347646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76327356 meters Centerline goodness : 0.803182 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.09, Z:0.19 [[ 9.77295169e-01 -1.68749875e-01 -1.28131310e-01 8.96183945e-01] [ 1.67402081e-01 9.85658700e-01 -2.12948561e-02 -9.48884265e-02] [ 1.29887244e-01 -6.38087857e-04 9.91528566e-01 1.91306896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.79327356 meters Centerline goodness : 0.802660 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.10, Z:0.19 [[ 0.97740375 -0.16770242 -0.12867717 0.89792423] [ 0.16645107 0.98583669 -0.02049547 -0.09662688] [ 0.13029181 -0.0013861 0.99147472 0.19104904] [ 0. 0. 0. 1. ]] SLAMing on 67.82327356 meters Centerline goodness : 0.803699 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.10, Z:0.19 [[ 0.97745283 -0.16711403 -0.1290692 0.899117 ] [ 0.16590624 0.98593604 -0.02013047 -0.09732414] [ 0.13061806 -0.0017368 0.99143124 0.19091617] [ 0. 0. 0. 1. ]] SLAMing on 67.85327356 meters Centerline goodness : 0.802348 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.10, Z:0.19 [[ 0.97760253 -0.16574995 -0.12969293 0.9010387 ] [ 0.16462105 0.98616505 -0.01945253 -0.09817375] [ 0.13112289 -0.00233335 0.99136338 0.19082733] [ 0. 0. 0. 1. ]] SLAMing on 67.88327356 meters Centerline goodness : 0.802931 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.10, Z:0.19 [[ 0.97763897 -0.16522573 -0.13008653 0.90182146] [ 0.1641072 0.98625277 -0.01934666 -0.09797946] [ 0.13149477 -0.00243409 0.99131388 0.19116183] [ 0. 0. 0. 1. ]] SLAMing on 67.91327356000001 meters Centerline goodness : 0.804131 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.10, Z:0.19 [[ 0.97827287 -0.16112137 -0.13046875 0.90065087] [ 0.16051503 0.98691604 -0.01522026 -0.09992659] [ 0.13121401 -0.00605262 0.99133559 0.19163377] [ 0. 0. 0. 1. ]] SLAMing on 67.94327356000001 meters Centerline goodness : 0.803151 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.10, Z:0.19 [[ 0.9783107 -0.16063359 -0.13078621 0.90144442] [ 0.1600485 0.98699453 -0.01504218 -0.09986358] [ 0.13150155 -0.00621621 0.99129648 0.19172528] [ 0. 0. 0. 1. ]] SLAMing on 67.97327356000001 meters Centerline goodness : 0.805314 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.10, Z:0.19 [[ 0.97843312 -0.15946348 -0.13130126 0.90312934] [ 0.15893304 0.98718173 -0.01457781 -0.10030829] [ 0.13194284 -0.0066047 0.99123532 0.19169679] [ 0. 0. 0. 1. ]] SLAMing on 68.00327356000001 meters Centerline goodness : 0.803951 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.10, Z:0.19 [[ 0.97846334 -0.1590408 -0.13158843 0.9038583 ] [ 0.158521 0.98724936 -0.01448406 -0.10032474] [ 0.13221415 -0.00668741 0.99119862 0.19183442] [ 0. 0. 0. 1. ]] SLAMing on 68.03327356 meters Centerline goodness : 0.807359 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.10, Z:0.19 [[ 0.97848069 -0.1587044 -0.13186528 0.90459758] [ 0.1581798 0.98730369 -0.01451146 -0.09988623] [ 0.13249411 -0.00665924 0.99116142 0.19191659] [ 0. 0. 0. 1. ]] SLAMing on 68.06327356 meters Centerline goodness : 0.809949 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.10, Z:0.19 [[ 0.97909473 -0.15431396 -0.13251682 0.9044134 ] [ 0.15428509 0.98797006 -0.0105485 -0.10079713] [ 0.13255043 -0.01011739 0.99112462 0.19221138] [ 0. 0. 0. 1. ]] SLAMing on 68.09327356 meters Centerline goodness : 0.808095 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.10, Z:0.19 [[ 0.97914765 -0.15375236 -0.13277838 0.90523368] [ 0.15370925 0.98805887 -0.01063678 -0.09975197] [ 0.13282828 -0.00999429 0.99108867 0.19230939] [ 0. 0. 0. 1. ]] SLAMing on 68.12327356 meters Centerline goodness : 0.811796 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.10, Z:0.19 [[ 0.9798001 -0.14895576 -0.13343142 0.90575878] [ 0.14944318 0.98874953 -0.00641147 -0.10034133] [ 0.13288528 -0.01365846 0.99103731 0.19190112] [ 0. 0. 0. 1. ]] SLAMing on 68.15327356 meters Centerline goodness : 0.812328 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.10, Z:0.19 [[ 0.97986257 -0.14819917 -0.13381458 0.90702421] [ 0.14868653 0.98886367 -0.00639996 -0.09926913] [ 0.13327285 -0.01362534 0.99098572 0.19186647] [ 0. 0. 0. 1. ]] SLAMing on 68.18327356 meters Centerline goodness : 0.811210 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.10, Z:0.19 [[ 0.98045783 -0.14384204 -0.13420846 0.90634672] [ 0.1448114 0.98945596 -0.00256239 -0.09954052] [ 0.13316194 -0.0169226 0.99094981 0.19220235] [ 0. 0. 0. 1. ]] SLAMing on 68.21327356 meters Centerline goodness : 0.811871 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.10, Z:0.19 [[ 0.98047383 -0.14342909 -0.13453316 0.90699718] [ 0.14436688 0.98952024 -0.00281005 -0.09826429] [ 0.13352632 -0.01666696 0.99090511 0.19261421] [ 0. 0. 0. 1. ]] SLAMing on 68.24327356 meters Centerline goodness : 0.812168 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.10, Z:0.19 [[ 0.98103784 -0.13906213 -0.13500548 0.90676728] [ 0.14051616 0.99007759 0.00125459 -0.09930648] [ 0.13349143 -0.02020125 0.99084406 0.1926197 ] [ 0. 0. 0. 1. ]] SLAMing on 68.27327356 meters Centerline goodness : 0.810937 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.10, Z:0.19 [[ 0.98104508 -0.13875251 -0.13527117 0.90750308] [ 0.14020785 0.99012131 0.0012449 -0.09912833] [ 0.13376214 -0.02018738 0.99080783 0.19270211] [ 0. 0. 0. 1. ]] SLAMing on 68.30327356000001 meters Centerline goodness : 0.814040 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.10, Z:0.19 [[ 0.98107871 -0.13846283 -0.13532411 0.90799968] [ 0.13994628 0.99015801 0.00146486 -0.09980408] [ 0.13378942 -0.02037525 0.9908003 0.19249006] [ 0. 0. 0. 1. ]] SLAMing on 68.33327356000001 meters Centerline goodness : 0.812343 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.10, Z:0.19 [[ 0.98107433 -0.13850575 -0.13531189 0.90791412] [ 0.13998431 0.99015269 0.00142762 -0.10030114] [ 0.1337817 -0.02034214 0.99080203 0.19273747] [ 0. 0. 0. 1. ]] SLAMing on 68.36327356000001 meters Centerline goodness : 0.812584 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.10, Z:0.19 [[ 0.98105934 -0.13873229 -0.13518845 0.90735116] [ 0.14019593 0.9901229 0.00132047 -0.10079418] [ 0.13366999 -0.02024833 0.99081902 0.19313486] [ 0. 0. 0. 1. ]] SLAMing on 68.39327356000001 meters Centerline goodness : 0.813558 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.10, Z:0.19 [[ 9.81014918e-01 -1.39218437e-01 -1.35010953e-01 9.06308131e-01] [ 1.40639643e-01 9.90060348e-01 9.99427222e-04 -1.01300082e-01] [ 1.33529853e-01 -1.99683453e-02 9.90843602e-01 1.93940946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42327356 meters Centerline goodness : 0.812563 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.10, Z:0.19 [[ 9.81008284e-01 -1.39400464e-01 -1.34871260e-01 9.05718820e-01] [ 1.40815443e-01 9.90035396e-01 9.61818645e-04 -1.02053638e-01] [ 1.33393244e-01 -1.99355083e-02 9.90862664e-01 1.94341923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.45327356 meters Centerline goodness : 0.813704 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.10, Z:0.19 [[ 0.98101761 -0.13932178 -0.13488474 0.90594333] [ 0.14075182 0.99004432 0.0010771 -0.10252925] [ 0.13339181 -0.02004193 0.99086071 0.19424029] [ 0. 0. 0. 1. ]] SLAMing on 68.48327356 meters Centerline goodness : 0.813230 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.10, Z:0.19 [[ 0.98102118 -0.13919902 -0.13498545 0.90632892] [ 0.14063908 0.99006027 0.00114452 -0.10288432] [ 0.13348442 -0.02010702 0.99084692 0.19422957] [ 0. 0. 0. 1. ]] SLAMing on 68.51327356 meters Centerline goodness : 0.812140 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.10, Z:0.19 [[ 0.98105276 -0.13885688 -0.13510826 0.90712587] [ 0.1403421 0.99010196 0.00148431 -0.10332558] [ 0.13356485 -0.02041757 0.99082973 0.19372366] [ 0. 0. 0. 1. ]] SLAMing on 68.54327356 meters Centerline goodness : 0.813904 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.10, Z:0.19 [[ 0.9810693 -0.13853385 -0.13531966 0.90785984] [ 0.14003823 0.99014478 0.0016157 -0.10328838] [ 0.13376222 -0.02053503 0.99080068 0.19358888] [ 0. 0. 0. 1. ]] SLAMing on 68.57327356 meters Centerline goodness : 0.812994 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.10, Z:0.19 [[ 0.98111681 -0.1378642 -0.13565864 0.90892017] [ 0.13937287 0.99023861 0.0016409 -0.10253278] [ 0.1341082 -0.02051705 0.99075428 0.1936529 ] [ 0. 0. 0. 1. ]] SLAMing on 68.60327356 meters Centerline goodness : 0.814634 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.10, Z:0.19 [[ 0.98112753 -0.1374957 -0.13595477 0.90962844] [ 0.13899069 0.99029252 0.0015198 -0.10189469] [ 0.13442603 -0.02038756 0.99071388 0.1938716 ] [ 0. 0. 0. 1. ]] SLAMing on 68.63327356 meters Centerline goodness : 0.814030 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.10, Z:0.19 [[ 0.98168066 -0.13324658 -0.13619262 0.90891925] [ 0.13523251 0.99079921 0.00539332 -0.10286012] [ 0.1342209 -0.02371219 0.9906677 0.19399505] [ 0. 0. 0. 1. ]] SLAMing on 68.66327356000001 meters Centerline goodness : 0.811737 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.10, Z:0.19 [[ 0.98168913 -0.13301218 -0.13636061 0.90902938] [ 0.13496113 0.99083773 0.00510694 -0.10194754] [ 0.13443195 -0.02341681 0.9906461 0.19454221] [ 0. 0. 0. 1. ]] SLAMing on 68.69327356000001 meters Centerline goodness : 0.813155 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.10, Z:0.20 [[ 0.98218575 -0.12912713 -0.13651867 0.90743278] [ 0.13153969 0.99127217 0.00876278 -0.10305014] [ 0.13419565 -0.0265643 0.99059874 0.19540112] [ 0. 0. 0. 1. ]] SLAMing on 68.72327356000001 meters Centerline goodness : 0.815461 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.10, Z:0.20 [[ 0.98217552 -0.12908672 -0.13663043 0.90721893] [ 0.13146483 0.99128449 0.00848915 -0.10272104] [ 0.13434379 -0.02629993 0.99058572 0.19615424] [ 0. 0. 0. 1. ]] SLAMing on 68.75327356000001 meters Centerline goodness : 0.816267 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.10, Z:0.20 [[ 0.98217433 -0.12904869 -0.13667485 0.90712328] [ 0.13142134 0.99129065 0.00844268 -0.10281046] [ 0.13439498 -0.02625418 0.99057999 0.19648223] [ 0. 0. 0. 1. ]] SLAMing on 68.78327356 meters Centerline goodness : 0.815846 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.10, Z:0.20 [[ 0.98213376 -0.12932894 -0.13670151 0.90662214] [ 0.13169904 0.99125416 0.00839948 -0.10422062] [ 0.13441965 -0.02625287 0.99057667 0.1972033 ] [ 0. 0. 0. 1. ]] SLAMing on 68.81327356 meters Centerline goodness : 0.813075 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.11, Z:0.20 [[ 0.98209969 -0.12962651 -0.13666441 0.90648018] [ 0.13202185 0.99120974 0.00857256 -0.10573458] [ 0.13435186 -0.0264618 0.99058031 0.19719851] [ 0. 0. 0. 1. ]] SLAMing on 68.84327356 meters Centerline goodness : 0.813232 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.11, Z:0.20 [[ 0.98155008 -0.13394783 -0.13644566 0.90733309] [ 0.13588745 0.99071187 0.004959 -0.10729773] [ 0.13451409 -0.02340876 0.99063514 0.19720266] [ 0. 0. 0. 1. ]] SLAMing on 68.87327356 meters Centerline goodness : 0.809791 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.11, Z:0.20 [[ 0.98147728 -0.13461855 -0.13630921 0.90692785] [ 0.13657108 0.99061749 0.00503209 -0.10903181] [ 0.13435287 -0.02355478 0.99065356 0.19711815] [ 0. 0. 0. 1. ]] SLAMing on 68.90327356 meters Centerline goodness : 0.810404 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.11, Z:0.20 [[ 0.98140562 -0.13529517 -0.13615516 0.90650398] [ 0.13727055 0.99052004 0.00518168 -0.11096097] [ 0.13416336 -0.02377542 0.99067397 0.19697893] [ 0. 0. 0. 1. ]] SLAMing on 68.93327356 meters Centerline goodness : 0.808826 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.11, Z:0.20 [[ 9.80765405e-01 -1.40531978e-01 -1.35462110e-01 9.05698726e-01] [ 1.41970031e-01 9.89870485e-01 9.65866440e-04 -1.12078291e-01] [ 1.33954210e-01 -2.01788485e-02 9.90782057e-01 1.97592145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96327356 meters Centerline goodness : 0.806341 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.11, Z:0.20 [[ 0.980106 -0.145813 -0.13465067 0.90450385] [ 0.14672316 0.98917244 -0.00319315 -0.11323675] [ 0.13365833 -0.01662674 0.99088799 0.19826229] [ 0. 0. 0. 1. ]] SLAMing on 68.99327356 meters Centerline goodness : 0.806004 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.11, Z:0.20 [[ 0.97997228 -0.14712478 -0.13419622 0.90262519] [ 0.14797657 0.98898409 -0.00365979 -0.11464033] [ 0.13325637 -0.01627141 0.99094802 0.19898602] [ 0. 0. 0. 1. ]] SLAMing on 69.02327356 meters Centerline goodness : 0.809524 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:0.20 [[ 0.97982676 -0.14834617 -0.13391388 0.90110056] [ 0.14914571 0.98880674 -0.00409767 -0.11596708] [ 0.13302282 -0.01595768 0.9909845 0.19971937] [ 0. 0. 0. 1. ]] SLAMing on 69.05327356000001 meters Centerline goodness : 0.808862 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:0.20 [[ 0.97970842 -0.14949692 -0.13349935 0.89929223] [ 0.15023583 0.98863959 -0.00457885 -0.11705415] [ 0.13266726 -0.01557045 0.99103832 0.20055333] [ 0. 0. 0. 1. ]] SLAMing on 69.08327356000001 meters Centerline goodness : 0.809148 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:0.20 [[ 0.97946473 -0.1514735 -0.13305869 0.89674975] [ 0.15211072 0.98834858 -0.00542268 -0.11859852] [ 0.13232976 -0.01492833 0.99109333 0.20188112] [ 0. 0. 0. 1. ]] SLAMing on 69.11327356000001 meters Centerline goodness : 0.808589 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.12, Z:0.20 [[ 0.97934962 -0.15260277 -0.1326149 0.89480538] [ 0.15318369 0.98818029 -0.00587161 -0.11950499] [ 0.13194345 -0.01456408 0.99115025 0.20274497] [ 0. 0. 0. 1. ]] SLAMing on 69.14327356000001 meters Centerline goodness : 0.808690 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.12, Z:0.20 [[ 0.9793226 -0.15285665 -0.13252201 0.89452509] [ 0.15342944 0.98814175 -0.00593953 -0.11992665] [ 0.13185843 -0.01451606 0.99116227 0.20284021] [ 0. 0. 0. 1. ]] SLAMing on 69.17327356 meters Centerline goodness : 0.809437 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.12, Z:0.20 [[ 0.97932326 -0.15295688 -0.13240144 0.89445153] [ 0.15353771 0.98812534 -0.00587246 -0.12034123] [ 0.13172746 -0.01457758 0.99117878 0.20265137] [ 0. 0. 0. 1. ]] SLAMing on 69.20327356 meters Centerline goodness : 0.848048 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.12, Z:0.20 [[ 0.97932027 -0.15283363 -0.13256582 0.8949995 ] [ 0.15342564 0.98814318 -0.00579837 -0.12044904] [ 0.13188019 -0.01466054 0.99115724 0.20251428] [ 0. 0. 0. 1. ]] SLAMing on 69.23327356 meters Centerline goodness : 0.808184 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:0.20 [[ 0.97932325 -0.15265032 -0.13275487 0.8956215 ] [ 0.15324544 0.98817123 -0.00578385 -0.1202359 ] [ 0.13206745 -0.01467982 0.99113203 0.20239638] [ 0. 0. 0. 1. ]] SLAMing on 69.26327356 meters Centerline goodness : 0.807680 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:0.20 [[ 0.97931905 -0.15243855 -0.13302888 0.89631536] [ 0.15303791 0.98820348 -0.00576839 -0.11976947] [ 0.13233893 -0.01470937 0.99109538 0.20232816] [ 0. 0. 0. 1. ]] SLAMing on 69.29327356 meters Centerline goodness : 0.807842 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:0.20 [[ 0.97933496 -0.15205893 -0.13334587 0.89723652] [ 0.15265597 0.9882624 -0.00579548 -0.11893136] [ 0.13266197 -0.01468032 0.99105262 0.20224174] [ 0. 0. 0. 1. ]] SLAMing on 69.32327356 meters Centerline goodness : 0.808465 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:0.20 [[ 0.97934343 -0.15199445 -0.13335715 0.89730186] [ 0.15257524 0.98827416 -0.00591365 -0.11845426] [ 0.13269226 -0.0145555 0.9910504 0.2023227 ] [ 0. 0. 0. 1. ]] SLAMing on 69.35327356 meters Centerline goodness : 0.806520 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:0.20 [[ 0.9793741 -0.15165943 -0.13351323 0.89754699] [ 0.1522204 0.98832802 -0.00605592 -0.11774188] [ 0.1328733 -0.01439243 0.99102853 0.20270808] [ 0. 0. 0. 1. ]] SLAMing on 69.38327356 meters Centerline goodness : 0.806346 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:0.20 [[ 0.979381 -0.15148683 -0.13365848 0.89773191] [ 0.15203196 0.98835627 -0.00617806 -0.11726094] [ 0.13303809 -0.01426968 0.9910082 0.20301276] [ 0. 0. 0. 1. ]] SLAMing on 69.41327356000001 meters Centerline goodness : 0.806346 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:0.20 [[ 0.979381 -0.15148683 -0.13365848 0.89773191] [ 0.15203196 0.98835627 -0.00617806 -0.11726094] [ 0.13303809 -0.01426968 0.9910082 0.20301276] [ 0. 0. 0. 1. ]] SLAMing on 69.44327356000001 meters Centerline goodness : 0.807558 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:0.20 [[ 0.97936815 -0.15151836 -0.13371692 0.89759069] [ 0.1520146 0.98835654 -0.00655042 -0.11628326] [ 0.1331525 -0.01391165 0.99099792 0.20346656] [ 0. 0. 0. 1. ]] SLAMing on 69.47327356000001 meters Centerline goodness : 0.806740 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.11, Z:0.20 [[ 0.97938704 -0.15132831 -0.13379371 0.89737012] [ 0.15175733 0.98839267 -0.00704541 -0.11454942] [ 0.1333069 -0.013404 0.99098416 0.20420995] [ 0. 0. 0. 1. ]] SLAMing on 69.50327356000001 meters Centerline goodness : 0.808446 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.11, Z:0.20 [[ 0.97937979 -0.15123711 -0.13394988 0.89757918] [ 0.15162424 0.98841076 -0.00736595 -0.11359232] [ 0.1335115 -0.01309598 0.99096073 0.20455118] [ 0. 0. 0. 1. ]] SLAMing on 69.53327356 meters Centerline goodness : 0.806321 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.11, Z:0.20 [[ 0.97944927 -0.15066301 -0.13408872 0.8983913 ] [ 0.15101627 0.98850213 -0.00759146 -0.11193921] [ 0.13369074 -0.01281412 0.99094025 0.20442318] [ 0. 0. 0. 1. ]] SLAMing on 69.56327356 meters Centerline goodness : 0.808389 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.11, Z:0.20 [[ 0.97945732 -0.15048455 -0.13423024 0.89887564] [ 0.15080729 0.98853226 -0.00781883 -0.11089392] [ 0.13386754 -0.01258469 0.99091932 0.20441481] [ 0. 0. 0. 1. ]] SLAMing on 69.59327356 meters Centerline goodness : 0.804727 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.11, Z:0.20 [[ 0.97945859 -0.15025003 -0.13448344 0.89954298] [ 0.15053711 0.98857126 -0.0080902 -0.10952378] [ 0.13416202 -0.01232073 0.99088281 0.20446997] [ 0. 0. 0. 1. ]] SLAMing on 69.62327356 meters Centerline goodness : 0.806571 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.11, Z:0.20 [[ 0.98001325 -0.14634365 -0.13475001 0.89893704] [ 0.14708156 0.98911405 -0.00451716 -0.10852599] [ 0.13394418 -0.01539237 0.99086933 0.20406829] [ 0. 0. 0. 1. ]] SLAMing on 69.65327356 meters Centerline goodness : 0.806213 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.11, Z:0.20 [[ 0.98002498 -0.14605173 -0.13498121 0.89953866] [ 0.14673151 0.98916396 -0.00495298 -0.10653019] [ 0.13424194 -0.01495195 0.99083578 0.20427141] [ 0. 0. 0. 1. ]] SLAMing on 69.68327356 meters Centerline goodness : 0.812433 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.10, Z:0.20 [[ 0.98054979 -0.14219071 -0.13529194 0.8988881 ] [ 0.14327496 0.98968139 -0.00173898 -0.10459985] [ 0.13414319 -0.01767879 0.99080425 0.2041957 ] [ 0. 0. 0. 1. ]] SLAMing on 69.71327356 meters Centerline goodness : 0.808890 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.10, Z:0.20 [[ 0.98057414 -0.14184416 -0.13547909 0.89949265] [ 0.14287789 0.98973807 -0.00211248 -0.10258406] [ 0.13438846 -0.01728552 0.99077795 0.20427113] [ 0. 0. 0. 1. ]] SLAMing on 69.74327356 meters Centerline goodness : 0.809815 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.10, Z:0.20 [[ 9.81110487e-01 -1.38043523e-01 -1.35521949e-01 8.98103388e-01] [ 1.39447088e-01 9.90229139e-01 8.72785596e-04 -1.00038144e-01] [ 1.34077300e-01 -1.97544402e-02 9.90773960e-01 2.04446648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.77327356 meters Centerline goodness : 0.810120 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.10, Z:0.20 [[ 9.81117579e-01 -1.37819918e-01 -1.35698069e-01 8.98404795e-01] [ 1.39143170e-01 9.90272238e-01 2.69502084e-04 -9.76496382e-02] [ 1.34340888e-01 -1.91458727e-02 9.90750201e-01 2.04855768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.80327356000001 meters Centerline goodness : 0.810170 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.10, Z:0.21 [[ 0.9816208 -0.13427481 -0.13561295 0.89643058] [ 0.13594927 0.99071089 0.00312005 -0.09520252] [ 0.13393428 -0.02149919 0.99075698 0.20534601] [ 0. 0. 0. 1. ]] SLAMing on 69.83327356000001 meters Centerline goodness : 0.811715 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.09, Z:0.21 [[ 0.98159849 -0.13428134 -0.13576788 0.89653214] [ 0.13587095 0.99072347 0.00246781 -0.09303346] [ 0.13417704 -0.02086931 0.9907376 0.20583306] [ 0. 0. 0. 1. ]] SLAMing on 69.86327356000001 meters Centerline goodness : 0.813584 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.09, Z:0.21 [[ 0.9816443 -0.13383201 -0.13588035 0.8970761 ] [ 0.13534076 0.99079732 0.00188462 -0.08954471] [ 0.13437767 -0.02024017 0.99072346 0.20585627] [ 0. 0. 0. 1. ]] SLAMing on 69.89327356 meters Centerline goodness : 0.814202 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.09, Z:0.21 [[ 0.98161871 -0.13391543 -0.13598297 0.89718211] [ 0.13536688 0.99079449 0.00144132 -0.08784246] [ 0.13453816 -0.01982242 0.99071013 0.20603417] [ 0. 0. 0. 1. ]] SLAMing on 69.92327356 meters Centerline goodness : 0.816252 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.08, Z:0.21 [[ 9.81586986e-01 -1.34140594e-01 -1.35990037e-01 8.97300790e-01] [ 1.35498049e-01 9.90777342e-01 7.32856101e-04 -8.48313654e-02] [ 1.34637542e-01 -1.91457467e-02 9.90709934e-01 2.05944404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.95327356 meters Centerline goodness : 0.817564 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.08, Z:0.21 [[ 9.81550716e-01 -1.34361141e-01 -1.36034094e-01 8.97376849e-01] [ 1.35665211e-01 9.90754687e-01 3.18712082e-04 -8.35655191e-02] [ 1.34733594e-01 -1.87679262e-02 9.90704105e-01 2.06003222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98327356 meters Centerline goodness : 0.816471 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.08, Z:0.21 [[ 9.81516481e-01 -1.34675103e-01 -1.35970638e-01 8.97168774e-01] [ 1.35918628e-01 9.90719994e-01 -1.39324288e-04 -8.22144514e-02] [ 1.34727593e-01 -1.83441934e-02 9.90712858e-01 2.06059691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.01327356 meters Centerline goodness : 0.815580 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.08, Z:0.21 [[ 9.81460378e-01 -1.35303760e-01 -1.35751311e-01 8.96472816e-01] [ 1.36448765e-01 9.90646740e-01 -8.77868869e-04 -8.00538727e-02] [ 1.34600372e-01 -1.76615052e-02 9.90742555e-01 2.06150845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04327356 meters Centerline goodness : 0.815761 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.08, Z:0.21 [[ 0.98141838 -0.13563172 -0.13572766 0.89620878] [ 0.13671551 0.99060944 -0.00134792 -0.07888994] [ 0.13463592 -0.0172332 0.99074527 0.20638129] [ 0. 0. 0. 1. ]] SLAMing on 70.07327356 meters Centerline goodness : 0.819332 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.08, Z:0.21 [[ 0.98139414 -0.1358861 -0.13564845 0.89599607] [ 0.13691221 0.99058159 -0.00177983 -0.07755516] [ 0.13461271 -0.01682521 0.99075543 0.2064312 ] [ 0. 0. 0. 1. ]] SLAMing on 70.10327356 meters Centerline goodness : 0.816733 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.07, Z:0.21 [[ 0.98136853 -0.13611818 -0.13560107 0.89567534] [ 0.13702399 0.99056412 -0.00267516 -0.07472511] [ 0.13468569 -0.01595528 0.99075991 0.20690587] [ 0. 0. 0. 1. ]] SLAMing on 70.13327356 meters Centerline goodness : 0.814742 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.07, Z:0.21 [[ 0.98134422 -0.1362459 -0.13564872 0.89558179] [ 0.13708972 0.99055364 -0.00314544 -0.07321273] [ 0.13479589 -0.01550929 0.990752 0.20720264] [ 0. 0. 0. 1. ]] SLAMing on 70.16327356000001 meters Centerline goodness : 0.818743 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.07, Z:0.21 [[ 0.98132933 -0.13625358 -0.1357487 0.89544572] [ 0.13698189 0.99056545 -0.00400553 -0.07048896] [ 0.13501375 -0.01466437 0.9907352 0.20802209] [ 0. 0. 0. 1. ]] SLAMing on 70.19327356000001 meters Centerline goodness : 0.820051 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.07, Z:0.21 [[ 0.98131556 -0.13623045 -0.13587137 0.89562836] [ 0.13691169 0.99057365 -0.00436243 -0.06923394] [ 0.13518489 -0.01432146 0.99071688 0.2082871 ] [ 0. 0. 0. 1. ]] SLAMing on 70.22327356000001 meters Centerline goodness : 0.816134 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.07, Z:0.21 [[ 0.98130558 -0.13622973 -0.13594421 0.89567363] [ 0.13685953 0.99057909 -0.0047468 -0.0678887 ] [ 0.13531015 -0.0139472 0.99070512 0.20855905] [ 0. 0. 0. 1. ]] SLAMing on 70.25327356000001 meters Centerline goodness : 0.816301 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.07, Z:0.21 [[ 0.98130824 -0.13598912 -0.13616572 0.89629045] [ 0.13657587 0.99061665 -0.00506784 -0.06629373] [ 0.1355772 -0.01362383 0.99067311 0.20865381] [ 0. 0. 0. 1. ]] SLAMing on 70.28327356 meters Centerline goodness : 0.815146 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.07, Z:0.21 [[ 0.98129946 -0.13598367 -0.13623443 0.89662951] [ 0.13654903 0.9906195 -0.00523062 -0.06554809] [ 0.13566776 -0.01346987 0.99066282 0.20850735] [ 0. 0. 0. 1. ]] SLAMing on 70.31327356 meters Centerline goodness : 0.817066 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.06, Z:0.21 [[ 0.98130258 -0.13578315 -0.13641182 0.89717148] [ 0.1363258 0.99064934 -0.00540002 -0.06482076] [ 0.13586951 -0.01329739 0.9906375 0.20859437] [ 0. 0. 0. 1. ]] SLAMing on 70.34327356 meters Centerline goodness : 0.815739 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.06, Z:0.21 [[ 0.98130743 -0.13563035 -0.13652885 0.89751628] [ 0.13616213 0.99067141 -0.00548012 -0.06442546] [ 0.1359985 -0.01321238 0.99062094 0.2086717 ] [ 0. 0. 0. 1. ]] SLAMing on 70.37327356 meters Centerline goodness : 0.819732 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.06, Z:0.21 [[ 0.9812996 -0.13559164 -0.13662355 0.89770527] [ 0.13610308 0.99067866 -0.00563486 -0.06389186] [ 0.13611408 -0.0130654 0.99060701 0.2088095 ] [ 0. 0. 0. 1. ]] SLAMing on 70.40327356 meters Centerline goodness : 0.815749 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.06, Z:0.21 [[ 0.98128465 -0.13560726 -0.1367154 0.89756049] [ 0.13605093 0.99068283 -0.00613754 -0.06280897] [ 0.1362739 -0.01257759 0.99059135 0.20955419] [ 0. 0. 0. 1. ]] SLAMing on 70.43327356 meters Centerline goodness : 0.816466 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.06, Z:0.21 [[ 0.98127764 -0.13581785 -0.13655664 0.89698755] [ 0.13622245 0.99065746 -0.00642165 -0.06263584] [ 0.13615302 -0.01230066 0.99061145 0.20998271] [ 0. 0. 0. 1. ]] SLAMing on 70.46327356 meters Centerline goodness : 0.815156 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.06, Z:0.21 [[ 0.98126946 -0.13604203 -0.13639213 0.89652103] [ 0.13643313 0.99062782 -0.00652064 -0.0630103 ] [ 0.13600093 -0.0122099 0.99063347 0.21013191] [ 0. 0. 0. 1. ]] SLAMing on 70.49327356 meters Centerline goodness : 0.815226 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.06, Z:0.21 [[ 0.98123822 -0.13655557 -0.13610341 0.89554624] [ 0.13691944 0.99055933 -0.00672876 -0.06339075] [ 0.13573735 -0.01203269 0.99067179 0.21042928] [ 0. 0. 0. 1. ]] SLAMing on 70.52327356 meters Centerline goodness : 0.817572 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.06, Z:0.21 [[ 0.98114795 -0.13774945 -0.13554997 0.89359166] [ 0.13807001 0.99039717 -0.00707895 -0.06438941] [ 0.13522343 -0.01176989 0.99074522 0.21084116] [ 0. 0. 0. 1. ]] SLAMing on 70.55327356000001 meters Centerline goodness : 0.820183 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.07, Z:0.21 [[ 0.98111179 -0.13841447 -0.13513358 0.8923664 ] [ 0.13871646 0.99030579 -0.00722468 -0.0650556 ] [ 0.13482357 -0.01165704 0.99080105 0.21099208] [ 0. 0. 0. 1. ]] SLAMing on 70.58327356000001 meters Centerline goodness : 0.820094 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.07, Z:0.21 [[ 0.98105931 -0.13915843 -0.13475003 0.89107873] [ 0.13943719 0.99020317 -0.00741348 -0.06577422] [ 0.13446155 -0.0115161 0.99085189 0.2112851 ] [ 0. 0. 0. 1. ]] SLAMing on 70.61327356000001 meters Centerline goodness : 0.817529 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.07, Z:0.21 [[ 0.98044813 -0.14390227 -0.13421473 0.89069126] [ 0.14363983 0.98956101 -0.01168778 -0.0657314 ] [ 0.13449556 -0.00781932 0.99088334 0.21200591] [ 0. 0. 0. 1. ]] SLAMing on 70.64327356 meters Centerline goodness : 0.819210 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.07, Z:0.21 [[ 0.98039899 -0.14455606 -0.1338707 0.88978693] [ 0.14429438 0.98946556 -0.01170662 -0.06704351] [ 0.13415271 -0.00783964 0.99092966 0.21198388] [ 0. 0. 0. 1. ]] SLAMing on 70.67327356 meters Centerline goodness : 0.819557 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.07, Z:0.21 [[ 0.97977813 -0.14908363 -0.13344992 0.89001904] [ 0.14830894 0.98881512 -0.01578338 -0.06723787] [ 0.13431034 -0.0043276 0.99092987 0.21237372] [ 0. 0. 0. 1. ]] SLAMing on 70.70327356 meters Centerline goodness : 0.819230 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.07, Z:0.21 [[ 0.97974176 -0.14959278 -0.13314687 0.88930959] [ 0.14882966 0.98873785 -0.01572258 -0.0680951 ] [ 0.13399934 -0.00441214 0.9909716 0.21217688] [ 0. 0. 0. 1. ]] SLAMing on 70.73327356 meters Centerline goodness : 0.818778 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.07, Z:0.21 [[ 0.97971747 -0.15005077 -0.13280979 0.88846813] [ 0.14929977 0.98866808 -0.01565257 -0.06905559] [ 0.13365349 -0.00449337 0.99101794 0.21211924] [ 0. 0. 0. 1. ]] SLAMing on 70.76327356 meters Centerline goodness : 0.818388 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.07, Z:0.21 [[ 0.9795766 -0.15148422 -0.13222034 0.88617636] [ 0.15068121 0.98845102 -0.01611664 -0.07015537] [ 0.13313475 -0.00413563 0.99108932 0.21276411] [ 0. 0. 0. 1. ]] SLAMing on 70.79327356 meters Centerline goodness : 0.817027 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.07, Z:0.21 [[ 0.9795398 -0.15209595 -0.13179002 0.8850638 ] [ 0.15128067 0.9883575 -0.016236 -0.07076068] [ 0.13272509 -0.00403348 0.99114468 0.21279127] [ 0. 0. 0. 1. ]] SLAMing on 70.82327356 meters Centerline goodness : 0.819089 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.07, Z:0.21 [[ 0.97945377 -0.15310874 -0.13125555 0.88353471] [ 0.15230012 0.9882009 -0.01623757 -0.0724691 ] [ 0.13219297 -0.00408628 0.99121558 0.21273627] [ 0. 0. 0. 1. ]] SLAMing on 70.85327356 meters Centerline goodness : 0.816559 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.07, Z:0.21 [[ 0.97942361 -0.15358743 -0.13092093 0.8827423 ] [ 0.15277814 0.98812667 -0.01626415 -0.0732383 ] [ 0.13186443 -0.00407237 0.99125939 0.21265853] [ 0. 0. 0. 1. ]] SLAMing on 70.88327356 meters Centerline goodness : 0.816007 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.07, Z:0.21 [[ 0.97939945 -0.15396219 -0.13066129 0.88217832] [ 0.15316265 0.98806807 -0.01620757 -0.07403264] [ 0.1315976 -0.00413874 0.99129458 0.21250092] [ 0. 0. 0. 1. ]] SLAMing on 70.91327356000001 meters Centerline goodness : 0.816020 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.08, Z:0.21 [[ 0.97930052 -0.15508052 -0.13007889 0.88057998] [ 0.15425565 0.98789393 -0.01645513 -0.07504201] [ 0.13105602 -0.00395088 0.99136709 0.21247447] [ 0. 0. 0. 1. ]] SLAMing on 70.94327356000001 meters Centerline goodness : 0.815999 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.08, Z:0.21 [[ 0.97927415 -0.15538834 -0.12990996 0.88017491] [ 0.15456292 0.98784558 -0.01647462 -0.07564821] [ 0.13089094 -0.00394609 0.99138892 0.21243877] [ 0. 0. 0. 1. ]] SLAMing on 70.97327356000001 meters Centerline goodness : 0.814722 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.08, Z:0.21 [[ 0.97920214 -0.15634543 -0.12930305 0.87856557] [ 0.15549742 0.98769527 -0.01669129 -0.07644065] [ 0.13032162 -0.00376214 0.99146464 0.212456 ] [ 0. 0. 0. 1. ]] SLAMing on 71.00327356000001 meters Centerline goodness : 0.814934 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.08, Z:0.21 [[ 0.97916157 -0.15679779 -0.1290623 0.87790783] [ 0.15593214 0.98762407 -0.01684854 -0.07655198] [ 0.13010685 -0.00362752 0.99149334 0.21247391] [ 0. 0. 0. 1. ]] SLAMing on 71.03327356 meters Centerline goodness : 0.812492 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.08, Z:0.21 [[ 0.97913329 -0.1572911 -0.12867599 0.87706763] [ 0.15641253 0.98754604 -0.0169689 -0.07663088] [ 0.12974252 -0.00351172 0.9915415 0.21229626] [ 0. 0. 0. 1. ]] SLAMing on 71.06327356 meters Centerline goodness : 0.813766 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.08, Z:0.21 [[ 0.9790417 -0.15829118 -0.12814541 0.87569737] [ 0.15739068 0.98738682 -0.01718818 -0.0769468 ] [ 0.12924983 -0.00334095 0.99160643 0.21205992] [ 0. 0. 0. 1. ]] SLAMing on 71.09327356 meters Centerline goodness : 0.812744 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.08, Z:0.21 [[ 0.97900173 -0.15879124 -0.12783171 0.87496618] [ 0.15787888 0.98730686 -0.01730384 -0.07727575] [ 0.12895682 -0.00324143 0.99164491 0.21197937] [ 0. 0. 0. 1. ]] SLAMing on 71.12327356 meters Centerline goodness : 0.811857 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.08, Z:0.21 [[ 0.9788641 -0.16023151 -0.12708631 0.87263068] [ 0.15924573 0.98707585 -0.0179463 -0.07755157] [ 0.12831939 -0.00267096 0.9917293 0.21233634] [ 0. 0. 0. 1. ]] SLAMing on 71.15327356 meters Centerline goodness : 0.811624 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.08, Z:0.21 [[ 0.97882256 -0.1607692 -0.12672671 0.87167199] [ 0.15976309 0.98698887 -0.01813103 -0.07752219] [ 0.12799277 -0.00249919 0.99177195 0.21231572] [ 0. 0. 0. 1. ]] SLAMing on 71.18327356 meters Centerline goodness : 0.813712 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.08, Z:0.21 [[ 0.97872241 -0.16184632 -0.12612777 0.86961536] [ 0.16075544 0.98681428 -0.01884838 -0.07677146] [ 0.12751523 -0.00182839 0.99183493 0.21289187] [ 0. 0. 0. 1. ]] SLAMing on 71.21327356 meters Centerline goodness : 0.813760 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.08, Z:0.21 [[ 0.97868337 -0.16227846 -0.1258752 0.8687943 ] [ 0.16115354 0.98674378 -0.0191378 -0.07637946] [ 0.12731223 -0.00155539 0.99186147 0.21310519] [ 0. 0. 0. 1. ]] SLAMing on 71.24327356 meters Centerline goodness : 0.815833 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.08, Z:0.21 [[ 0.97864166 -0.16284363 -0.12546892 0.86787932] [ 0.16168977 0.98665103 -0.01939517 -0.07603399] [ 0.12695241 -0.00130612 0.99190795 0.21292507] [ 0. 0. 0. 1. ]] SLAMing on 71.27327356 meters Centerline goodness : 0.811243 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.08, Z:0.21 [[ 0.97863691 -0.16298822 -0.12531814 0.86768608] [ 0.16184283 0.98662708 -0.0193366 -0.07616484] [ 0.1267939 -0.00135833 0.99192815 0.21264957] [ 0. 0. 0. 1. ]] SLAMing on 71.30327356000001 meters Centerline goodness : 0.814402 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.08, Z:0.21 [[ 0.9786303 -0.16317363 -0.12512831 0.8674538 ] [ 0.16201845 0.98659656 -0.01942307 -0.07616393] [ 0.12662049 -0.00126509 0.99195043 0.2124677 ] [ 0. 0. 0. 1. ]] SLAMing on 71.33327356000001 meters Centerline goodness : 0.814402 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.08, Z:0.21 [[ 0.9786303 -0.16317363 -0.12512831 0.8674538 ] [ 0.16201845 0.98659656 -0.01942307 -0.07616393] [ 0.12662049 -0.00126509 0.99195043 0.2124677 ] [ 0. 0. 0. 1. ]] SLAMing on 71.36327356000001 meters Centerline goodness : 0.814538 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.08, Z:0.21 [[ 0.97861991 -0.16332386 -0.12501358 0.86765707] [ 0.16216672 0.98657173 -0.0194469 -0.07559919] [ 0.126511 -0.00124192 0.99196443 0.21183477] [ 0. 0. 0. 1. ]] SLAMing on 71.39327356 meters Centerline goodness : 0.816917 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.07, Z:0.21 [[ 0.97862807 -0.16318913 -0.12512561 0.86822877] [ 0.16202976 0.98659403 -0.01945681 -0.07496731] [ 0.12662332 -0.00123309 0.99195011 0.21152674] [ 0. 0. 0. 1. ]] SLAMing on 71.42327356 meters Centerline goodness : 0.817296 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.07, Z:0.21 [[ 9.78623752e-01 -1.63224171e-01 -1.25113636e-01 8.68254802e-01] [ 1.62018504e-01 9.86588622e-01 -1.98216052e-02 -7.33338690e-02] [ 1.26671055e-01 -8.72830630e-04 9.91944395e-01 2.11559156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.45327356 meters Centerline goodness : 0.819506 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.07, Z:0.21 [[ 9.78607125e-01 -1.63352270e-01 -1.25076497e-01 8.68048326e-01] [ 1.62112791e-01 9.86567616e-01 -2.00943211e-02 -7.25783890e-02] [ 1.26678874e-01 -6.12054140e-04 9.91943591e-01 2.11721018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48327356 meters Centerline goodness : 0.816144 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.07, Z:0.21 [[ 9.78593733e-01 -1.63433169e-01 -1.25075596e-01 8.68023250e-01] [ 1.62141220e-01 9.86554386e-01 -2.05102147e-02 -7.12342958e-02] [ 1.26745927e-01 -2.08742185e-04 9.91935193e-01 2.11895388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.51327356 meters Centerline goodness : 0.816148 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.07, Z:0.21 [[ 9.78593607e-01 -1.63337764e-01 -1.25201147e-01 8.68557527e-01] [ 1.62028567e-01 9.86570204e-01 -2.06391998e-02 -7.03201781e-02] [ 1.26890882e-01 -8.87735327e-05 9.91916678e-01 2.11698787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54327356 meters Centerline goodness : 0.816884 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.07, Z:0.21 [[ 9.78592900e-01 -1.63314849e-01 -1.25236563e-01 8.68829262e-01] [ 1.61984803e-01 9.86573999e-01 -2.08006755e-02 -6.92826661e-02] [ 1.26952196e-01 6.89732850e-05 9.91908834e-01 2.11487019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.57327356 meters Centerline goodness : 0.818370 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.07, Z:0.21 [[ 9.78617266e-01 -1.62980445e-01 -1.25481554e-01 8.69940366e-01] [ 1.61617150e-01 9.86629251e-01 -2.10384763e-02 -6.70443638e-02] [ 1.27232632e-01 3.08645087e-04 9.91872856e-01 2.10995862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60327356 meters Centerline goodness : 0.817592 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.07, Z:0.21 [[ 9.78611499e-01 -1.62945560e-01 -1.25571806e-01 8.70197227e-01] [ 1.61541202e-01 9.86634870e-01 -2.13558578e-02 -6.58168554e-02] [ 1.27373365e-01 6.14067512e-04 9.91854651e-01 2.11090149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.63327356 meters Centerline goodness : 0.816153 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.06, Z:0.21 [[ 9.78596256e-01 -1.62951435e-01 -1.25682922e-01 8.70328147e-01] [ 1.61508004e-01 9.86633683e-01 -2.16596377e-02 -6.46048585e-02] [ 1.27532474e-01 8.97242451e-04 9.91833990e-01 2.11275185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.66327356000001 meters Centerline goodness : 0.821169 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.06, Z:0.21 [[ 0.97910923 -0.15997618 -0.12550992 0.86782799] [ 0.15892572 0.98711899 -0.01840397 -0.0644712 ] [ 0.12683742 -0.00192725 0.99192165 0.21149604] [ 0. 0. 0. 1. ]] SLAMing on 71.69327356000001 meters Centerline goodness : 0.821562 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.06, Z:0.21 [[ 0.97908872 -0.16021149 -0.12536966 0.86723045] [ 0.15911433 0.98708148 -0.01878244 -0.06329849] [ 0.12675924 -0.00155843 0.99193229 0.21180547] [ 0. 0. 0. 1. ]] SLAMing on 71.72327356000001 meters Centerline goodness : 0.821265 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.06, Z:0.21 [[ 9.79043961e-01 -1.60588316e-01 -1.25237036e-01 8.66611040e-01] [ 1.59415542e-01 9.87020995e-01 -1.93969455e-02 -6.13062836e-02] [ 1.26726507e-01 -9.74267642e-04 9.91937217e-01 2.12120190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.75327356000001 meters Centerline goodness : 0.818819 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.06, Z:0.21 [[ 9.79026054e-01 -1.60761220e-01 -1.25155164e-01 8.66439701e-01] [ 1.59562263e-01 9.86993029e-01 -1.96123841e-02 -6.06749897e-02] [ 1.26680185e-01 -7.69006056e-04 9.91943315e-01 2.12109302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78327356 meters Centerline goodness : 0.819876 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.06, Z:0.21 [[ 9.78978856e-01 -1.61096231e-01 -1.25093583e-01 8.66332630e-01] [ 1.59850491e-01 9.86938615e-01 -1.99997507e-02 -5.96349622e-02] [ 1.26681572e-01 -4.16937587e-04 9.91943348e-01 2.12029469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.81327356 meters Centerline goodness : 0.818810 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.06, Z:0.21 [[ 9.78957312e-01 -1.61262624e-01 -1.25047781e-01 8.66313291e-01] [ 1.60002058e-01 9.86911482e-01 -2.01263117e-02 -5.90999901e-02] [ 1.26656713e-01 -3.05102363e-04 9.91946563e-01 2.11863502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84327356 meters Centerline goodness : 0.819434 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.06, Z:0.21 [[ 9.78890283e-01 -1.61926202e-01 -1.24714551e-01 8.65317483e-01] [ 1.60622095e-01 9.86802869e-01 -2.05094993e-02 -5.80256332e-02] [ 1.26389702e-01 4.46370817e-05 9.91980666e-01 2.11827366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.87327356 meters Centerline goodness : 0.820176 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:0.21 [[ 9.78839790e-01 -1.62390388e-01 -1.24507142e-01 8.64723792e-01] [ 1.61068621e-01 9.86726572e-01 -2.06778168e-02 -5.76739327e-02] [ 1.26212384e-01 1.86076313e-04 9.92003226e-01 2.11720352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90327356 meters Centerline goodness : 0.821089 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:0.21 [[ 9.78795399e-01 -1.62846592e-01 -1.24260025e-01 8.64171195e-01] [ 1.61509591e-01 9.86651350e-01 -2.08270162e-02 -5.75623119e-02] [ 1.25992930e-01 3.16201903e-04 9.92031089e-01 2.11569719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93327356 meters Centerline goodness : 0.819199 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:0.21 [[ 9.78761058e-01 -1.63248950e-01 -1.24002309e-01 8.63668930e-01] [ 1.61904938e-01 9.86584832e-01 -2.09083981e-02 -5.77845954e-02] [ 1.25752071e-01 3.87739734e-04 9.92061624e-01 2.11340936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96327356 meters Centerline goodness : 0.819288 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:0.21 [[ 9.78623505e-01 -1.64700036e-01 -1.23166286e-01 8.61514515e-01] [ 1.63332542e-01 9.86343508e-01 -2.11888110e-02 -5.87253012e-02] [ 1.24974065e-01 6.18805873e-04 9.92159816e-01 2.10993356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.99327356 meters Centerline goodness : 0.819815 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:0.21 [[ 9.78557171e-01 -1.65429518e-01 -1.22714863e-01 8.60212329e-01] [ 1.64041612e-01 9.86221283e-01 -2.13993332e-02 -5.92723808e-02] [ 1.24564091e-01 8.10127042e-04 9.92211233e-01 2.11112654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.02327356 meters Centerline goodness : 0.817960 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:0.21 [[ 0.97836441 -0.16716212 -0.1219012 0.85719322] [ 0.16568864 0.98592825 -0.02219819 -0.05936481] [ 0.12389654 0.00152028 0.99229398 0.21191819] [ 0. 0. 0. 1. ]] SLAMing on 72.05327356000001 meters Centerline goodness : 0.821330 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:0.21 [[ 0.97829666 -0.16776632 -0.12161462 0.85608315] [ 0.1662632 0.9858252 -0.02247698 -0.05930537] [ 0.12366163 0.00176912 0.99232287 0.21225265] [ 0. 0. 0. 1. ]] SLAMing on 72.08327356000001 meters Centerline goodness : 0.819603 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:0.21 [[ 0.97826736 -0.16807878 -0.12141867 0.85552199] [ 0.16657855 0.98577199 -0.02247593 -0.05940135] [ 0.12346885 0.00176173 0.99234688 0.21217007] [ 0. 0. 0. 1. ]] SLAMing on 72.11327356000001 meters Centerline goodness : 0.823140 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:0.21 [[ 0.97822466 -0.16849512 -0.12118544 0.85521023] [ 0.16699537 0.98570089 -0.02250109 -0.059204 ] [ 0.12324392 0.00177371 0.99237482 0.21162405] [ 0. 0. 0. 1. ]] SLAMing on 72.14327356 meters Centerline goodness : 0.819933 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:0.21 [[ 0.97822249 -0.16849143 -0.12120808 0.85552061] [ 0.16699758 0.98570161 -0.02245297 -0.05924649] [ 0.12325813 0.00172254 0.99237315 0.21134478] [ 0. 0. 0. 1. ]] SLAMing on 72.17327356 meters Centerline goodness : 0.820527 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:0.21 [[ 0.97821329 -0.16846613 -0.12131741 0.85598629] [ 0.16697445 0.985706 -0.02243247 -0.05890866] [ 0.12336241 0.00168683 0.99236025 0.2110655 ] [ 0. 0. 0. 1. ]] SLAMing on 72.20327356 meters Centerline goodness : 0.821944 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:0.21 [[ 0.97821831 -0.16840848 -0.12135699 0.85638407] [ 0.16693072 0.98571604 -0.02231644 -0.05876197] [ 0.12338181 0.00157214 0.99235803 0.21064757] [ 0. 0. 0. 1. ]] SLAMing on 72.23327356 meters Centerline goodness : 0.817999 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:0.21 [[ 0.97817207 -0.16872361 -0.12129198 0.8560833 ] [ 0.1672275 0.98566192 -0.02248431 -0.05821488] [ 0.12334652 0.00171016 0.99236219 0.21060331] [ 0. 0. 0. 1. ]] SLAMing on 72.26327356 meters Centerline goodness : 0.820539 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:0.21 [[ 0.97815987 -0.16883824 -0.12123085 0.85597014] [ 0.16732505 0.98564204 -0.02262968 -0.05786941] [ 0.12331098 0.00185049 0.99236635 0.21065355] [ 0. 0. 0. 1. ]] SLAMing on 72.29327356 meters Centerline goodness : 0.820114 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:0.21 [[ 0.97814112 -0.16903525 -0.12110752 0.85571799] [ 0.16752024 0.98560822 -0.02265836 -0.05757258] [ 0.12319463 0.00187511 0.99238076 0.21046021] [ 0. 0. 0. 1. ]] SLAMing on 72.32327356 meters Centerline goodness : 0.819862 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:0.21 [[ 0.97814543 -0.16901831 -0.12109638 0.85582612] [ 0.16751024 0.98561123 -0.02260156 -0.05746759] [ 0.12317403 0.00182273 0.99238341 0.21025599] [ 0. 0. 0. 1. ]] SLAMing on 72.35327356 meters Centerline goodness : 0.818615 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:0.21 [[ 0.97814482 -0.16904385 -0.12106561 0.85586243] [ 0.16753734 0.98560686 -0.02259102 -0.05723647] [ 0.12314197 0.00181428 0.99238741 0.21007262] [ 0. 0. 0. 1. ]] SLAMing on 72.38327356 meters Centerline goodness : 0.820310 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:0.21 [[ 0.97813055 -0.16909493 -0.12110955 0.85583632] [ 0.16756083 0.98559769 -0.02281578 -0.0565424 ] [ 0.12322333 0.0020236 0.9923769 0.21027857] [ 0. 0. 0. 1. ]] SLAMing on 72.41327356000001 meters Centerline goodness : 0.819138 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:0.21 [[ 0.97811838 -0.16919239 -0.12107178 0.85557583] [ 0.16763657 0.98558059 -0.02299726 -0.05619983] [ 0.12321696 0.00219798 0.99237732 0.21055426] [ 0. 0. 0. 1. ]] SLAMing on 72.44327356000001 meters Centerline goodness : 0.818883 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:0.21 [[ 0.97810309 -0.16926804 -0.12108953 0.85549386] [ 0.16769491 0.9855673 -0.02314107 -0.05598332] [ 0.12325892 0.00232825 0.99237181 0.21078185] [ 0. 0. 0. 1. ]] SLAMing on 72.47327356000001 meters Centerline goodness : 0.818994 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:0.21 [[ 0.97808883 -0.16941626 -0.12099742 0.8551585 ] [ 0.16783608 0.98554168 -0.02320867 -0.05596258] [ 0.12317992 0.0023924 0.99238147 0.21089545] [ 0. 0. 0. 1. ]] SLAMing on 72.50327356000001 meters Centerline goodness : 0.819149 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.06, Z:0.21 [[ 0.97805906 -0.1696816 -0.12086619 0.85457935] [ 0.16808544 0.9854957 -0.0233564 -0.05632604] [ 0.12307627 0.00252809 0.992394 0.21124646] [ 0. 0. 0. 1. ]] SLAMing on 72.53327356 meters Centerline goodness : 0.821022 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.06, Z:0.21 [[ 0.97800727 -0.16998876 -0.12085363 0.85434904] [ 0.16838085 0.98544256 -0.02347024 -0.05679337] [ 0.12308399 0.00260463 0.99239284 0.21145614] [ 0. 0. 0. 1. ]] SLAMing on 72.56327356 meters Centerline goodness : 0.822449 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.06, Z:0.21 [[ 0.97798586 -0.17008797 -0.12088733 0.85446527] [ 0.16848953 0.98542567 -0.02339927 -0.05712656] [ 0.12310541 0.00251591 0.99239041 0.21137055] [ 0. 0. 0. 1. ]] SLAMing on 72.59327356 meters Centerline goodness : 0.815528 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.06, Z:0.21 [[ 0.97798213 -0.17010807 -0.12088917 0.85464288] [ 0.16852761 0.98542256 -0.02325551 -0.0576329 ] [ 0.12308286 0.00237031 0.99239357 0.21116888] [ 0. 0. 0. 1. ]] SLAMing on 72.62327356 meters Centerline goodness : 0.819578 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.06, Z:0.21 [[ 0.97798293 -0.17012032 -0.1208655 0.85479725] [ 0.16857185 0.98542102 -0.02299874 -0.05835891] [ 0.12301596 0.00211785 0.99240243 0.21083208] [ 0. 0. 0. 1. ]] SLAMing on 72.65327356 meters Centerline goodness : 0.817870 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.06, Z:0.21 [[ 0.97796326 -0.1703163 -0.12074855 0.85489396] [ 0.16880772 0.98538779 -0.02269058 -0.05939323] [ 0.12284872 0.00180727 0.99242376 0.21016848] [ 0. 0. 0. 1. ]] SLAMing on 72.68327356 meters Centerline goodness : 0.817215 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:0.21 [[ 0.97797595 -0.17020394 -0.12080426 0.85530422] [ 0.16872641 0.98540763 -0.02243208 -0.05994784] [ 0.12285946 0.00155517 0.99242286 0.2098213 ] [ 0. 0. 0. 1. ]] SLAMing on 72.71327356 meters Centerline goodness : 0.817020 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.06, Z:0.21 [[ 0.97795597 -0.17049009 -0.12056224 0.85474226] [ 0.16901866 0.9853582 -0.0224034 -0.06070496] [ 0.12261655 0.00153227 0.99245294 0.20980886] [ 0. 0. 0. 1. ]] SLAMing on 72.74327356 meters Centerline goodness : 0.816917 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.06, Z:0.21 [[ 0.97794922 -0.17050341 -0.12059813 0.85472339] [ 0.16903574 0.98535595 -0.02237337 -0.06127632] [ 0.12264682 0.00149463 0.99244925 0.20998351] [ 0. 0. 0. 1. ]] SLAMing on 72.77327356 meters Centerline goodness : 0.815978 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.06, Z:0.21 [[ 0.97794631 -0.17064657 -0.12041912 0.8542946 ] [ 0.16918876 0.98533125 -0.02230436 -0.06182565] [ 0.12245889 0.00143891 0.99247254 0.20998624] [ 0. 0. 0. 1. ]] SLAMing on 72.80327356000001 meters Centerline goodness : 0.817312 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.06, Z:0.21 [[ 0.97791142 -0.17106158 -0.12011327 0.85299891] [ 0.16961669 0.9852594 -0.02222838 -0.06351992] [ 0.12214515 0.00136417 0.99251131 0.21058286] [ 0. 0. 0. 1. ]] SLAMing on 72.83327356000001 meters Centerline goodness : 0.817808 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.06, Z:0.21 [[ 0.97789116 -0.17127318 -0.11997655 0.85235398] [ 0.16982188 0.98522254 -0.0222951 -0.06416783] [ 0.12202215 0.00142753 0.99252635 0.21102755] [ 0. 0. 0. 1. ]] SLAMing on 72.86327356000001 meters Centerline goodness : 0.817154 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.07, Z:0.21 [[ 0.97784132 -0.17167374 -0.11981017 0.8513782 ] [ 0.17023674 0.98515298 -0.02220496 -0.06586672] [ 0.12184336 0.00131684 0.99254847 0.2116268 ] [ 0. 0. 0. 1. ]] SLAMing on 72.89327356 meters Centerline goodness : 0.817805 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.07, Z:0.21 [[ 0.97784496 -0.17173473 -0.11969302 0.85109508] [ 0.17032357 0.98514259 -0.02199915 -0.06709055] [ 0.12169271 0.00112521 0.99256719 0.21168048] [ 0. 0. 0. 1. ]] SLAMing on 72.92327356 meters Centerline goodness : 0.816750 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.07, Z:0.21 [[ 9.77866772e-01 -1.71564289e-01 -1.19759220e-01 8.51496074e-01] [ 1.70204228e-01 9.85172670e-01 -2.15715261e-02 -6.86473459e-02] [ 1.21684414e-01 7.10552891e-04 9.92568586e-01 2.11446982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.95327356 meters Centerline goodness : 0.815622 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.07, Z:0.21 [[ 9.77916831e-01 -1.71069536e-01 -1.20057846e-01 8.52869876e-01] [ 1.69824479e-01 9.85258928e-01 -2.06031668e-02 -7.16796906e-02] [ 1.21812639e-01 -2.40577485e-04 9.92553083e-01 2.10668656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98327356 meters Centerline goodness : 0.818339 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.07, Z:0.21 [[ 9.77949228e-01 -1.70717721e-01 -1.20294503e-01 8.53757701e-01] [ 1.69516851e-01 9.85319786e-01 -2.02226543e-02 -7.30238361e-02] [ 1.21980919e-01 -6.15216254e-04 9.92532255e-01 2.10490180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.01327356 meters Centerline goodness : 0.815680 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.08, Z:0.21 [[ 0.97802875 -0.17015879 -0.12043987 0.8546648 ] [ 0.16906106 0.98541561 -0.01935028 -0.07537254] [ 0.12197594 -0.00143657 0.99253202 0.20988981] [ 0. 0. 0. 1. ]] SLAMing on 73.04327356 meters Centerline goodness : 0.815479 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.08, Z:0.21 [[ 0.97805519 -0.16988954 -0.12060511 0.85516585] [ 0.16882074 0.98546168 -0.01910056 -0.07629904] [ 0.1220967 -0.00167925 0.99251679 0.20994353] [ 0. 0. 0. 1. ]] SLAMing on 73.07327356 meters Centerline goodness : 0.814817 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.08, Z:0.21 [[ 0.97807984 -0.16964893 -0.12074381 0.85539786] [ 0.16860775 0.98550271 -0.01886341 -0.07715598] [ 0.12219351 -0.00190842 0.99250446 0.21014617] [ 0. 0. 0. 1. ]] SLAMing on 73.10327356 meters Centerline goodness : 0.813953 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.08, Z:0.21 [[ 0.97812537 -0.16919996 -0.12100465 0.85579444] [ 0.16821223 0.98557894 -0.01840652 -0.07918159] [ 0.12237402 -0.00235057 0.99248127 0.21060849] [ 0. 0. 0. 1. ]] SLAMing on 73.13327356 meters Centerline goodness : 0.811888 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.08, Z:0.21 [[ 0.97814449 -0.16909166 -0.12100152 0.85577737] [ 0.16814167 0.98559678 -0.01809349 -0.08054018] [ 0.12231817 -0.00264735 0.99248741 0.21069261] [ 0. 0. 0. 1. ]] SLAMing on 73.16327356000001 meters Centerline goodness : 0.812410 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.08, Z:0.21 [[ 0.97819639 -0.16879032 -0.12100265 0.85604093] [ 0.16793206 0.98564623 -0.01733027 -0.08359019] [ 0.12219099 -0.00336782 0.99250089 0.21054663] [ 0. 0. 0. 1. ]] SLAMing on 73.19327356000001 meters Centerline goodness : 0.810866 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.09, Z:0.21 [[ 0.97822242 -0.1685293 -0.12115597 0.85647208] [ 0.1677095 0.98568976 -0.01700627 -0.08512381] [ 0.12228825 -0.00368309 0.99248779 0.21066943] [ 0. 0. 0. 1. ]] SLAMing on 73.22327356000001 meters Centerline goodness : 0.810866 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.09, Z:0.21 [[ 0.97822242 -0.1685293 -0.12115597 0.85647208] [ 0.1677095 0.98568976 -0.01700627 -0.08512381] [ 0.12228825 -0.00368309 0.99248779 0.21066943] [ 0. 0. 0. 1. ]] SLAMing on 73.25327356000001 meters Centerline goodness : 0.811190 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.09, Z:0.21 [[ 0.97825249 -0.16823733 -0.12131889 0.85696261] [ 0.16745506 0.98573845 -0.01668884 -0.08632124] [ 0.12239638 -0.00398956 0.99247328 0.21071071] [ 0. 0. 0. 1. ]] SLAMing on 73.28327356 meters Centerline goodness : 0.811310 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.09, Z:0.21 [[ 0.97836642 -0.1671818 -0.1218581 0.85878774] [ 0.16649923 0.98591442 -0.01583558 -0.08834146] [ 0.12278908 -0.00479628 0.9924212 0.21040016] [ 0. 0. 0. 1. ]] SLAMing on 73.31327356 meters Centerline goodness : 0.809992 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.09, Z:0.21 [[ 0.97841601 -0.16656496 -0.12230381 0.86008284] [ 0.16593703 0.98601649 -0.01537442 -0.08926104] [ 0.12315441 -0.00525215 0.99237362 0.21024926] [ 0. 0. 0. 1. ]] SLAMing on 73.34327356 meters Centerline goodness : 0.810100 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.09, Z:0.21 [[ 0.97847487 -0.16601888 -0.12257517 0.86107725] [ 0.1654417 0.98610635 -0.01494365 -0.09001906] [ 0.12335308 -0.00565706 0.99234672 0.20998706] [ 0. 0. 0. 1. ]] SLAMing on 73.37327356 meters Centerline goodness : 0.808667 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.09, Z:0.21 [[ 0.97858154 -0.16503913 -0.12304578 0.86274304] [ 0.16454769 0.98626667 -0.01421636 -0.09157543] [ 0.12370221 -0.00633503 0.99229916 0.20965855] [ 0. 0. 0. 1. ]] SLAMing on 73.40327356 meters Centerline goodness : 0.810134 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.09, Z:0.21 [[ 0.97862319 -0.16463299 -0.1232584 0.86349854] [ 0.16417729 0.98633269 -0.01391549 -0.09229308] [ 0.12386474 -0.00661821 0.99227704 0.2095452 ] [ 0. 0. 0. 1. ]] SLAMing on 73.43327356 meters Centerline goodness : 0.808747 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.09, Z:0.21 [[ 0.97864522 -0.16429431 -0.1235351 0.86409216] [ 0.16386161 0.98638785 -0.01372506 -0.09301378] [ 0.12410847 -0.0068107 0.99224528 0.20980223] [ 0. 0. 0. 1. ]] SLAMing on 73.46327356 meters Centerline goodness : 0.806875 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.09, Z:0.21 [[ 0.97868968 -0.16394112 -0.12365197 0.86431967] [ 0.16355417 0.98644411 -0.01334369 -0.09452995] [ 0.12416333 -0.00716446 0.99223593 0.21005007] [ 0. 0. 0. 1. ]] SLAMing on 73.49327356 meters Centerline goodness : 0.808340 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.10, Z:0.21 [[ 0.97870011 -0.16380746 -0.1237466 0.86445156] [ 0.16344382 0.98646494 -0.01315452 -0.09537087] [ 0.12422649 -0.00735128 0.99222666 0.21024694] [ 0. 0. 0. 1. ]] SLAMing on 73.52327356 meters Centerline goodness : 0.807063 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.10, Z:0.21 [[ 0.97871107 -0.16377031 -0.12370902 0.86407748] [ 0.16343729 0.98646931 -0.01290526 -0.09729762] [ 0.12414865 -0.00758815 0.99223462 0.21075087] [ 0. 0. 0. 1. ]] SLAMing on 73.55327356000001 meters Centerline goodness : 0.806486 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.10, Z:0.21 [[ 0.97871282 -0.16376529 -0.12370185 0.86397869] [ 0.16345685 0.98646863 -0.01270807 -0.09842191] [ 0.12410913 -0.00778237 0.99223806 0.21092177] [ 0. 0. 0. 1. ]] SLAMing on 73.58327356000001 meters Centerline goodness : 0.806298 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.10, Z:0.21 [[ 0.97873344 -0.16362468 -0.12372475 0.86410373] [ 0.163372 0.98648842 -0.01225473 -0.10075786] [ 0.12405821 -0.00821904 0.9922409 0.21101223] [ 0. 0. 0. 1. ]] SLAMing on 73.61327356000001 meters Centerline goodness : 0.807855 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.10, Z:0.21 [[ 0.97874989 -0.16350179 -0.12375707 0.86436062] [ 0.16328078 0.98650671 -0.01199582 -0.10178621] [ 0.12404852 -0.00846625 0.99224003 0.21093178] [ 0. 0. 0. 1. ]] SLAMing on 73.64327356 meters Centerline goodness : 0.808857 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.10, Z:0.21 [[ 0.97876087 -0.16335116 -0.12386914 0.86480704] [ 0.16315642 0.98652984 -0.01178399 -0.10262948] [ 0.12412553 -0.00867634 0.99222859 0.21085271] [ 0. 0. 0. 1. ]] SLAMing on 73.67327356 meters Centerline goodness : 0.808207 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.10, Z:0.21 [[ 0.9788101 -0.16303026 -0.12390289 0.86524853] [ 0.16291109 0.98657762 -0.01116185 -0.1045999 ] [ 0.12405953 -0.00925982 0.99223157 0.21055941] [ 0. 0. 0. 1. ]] SLAMing on 73.70327356 meters Centerline goodness : 0.806070 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.11, Z:0.21 [[ 0.97881751 -0.16291552 -0.1239952 0.86562401] [ 0.16282643 0.98659429 -0.0109211 -0.10562225] [ 0.12411217 -0.00949994 0.99222272 0.21048269] [ 0. 0. 0. 1. ]] SLAMing on 73.73327356 meters Centerline goodness : 0.806193 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.11, Z:0.21 [[ 0.97883576 -0.16274899 -0.1240698 0.86609361] [ 0.16270272 0.98661847 -0.01057404 -0.10687356] [ 0.12413047 -0.00983625 0.99221715 0.21028117] [ 0. 0. 0. 1. ]] SLAMing on 73.76327356 meters Centerline goodness : 0.806188 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.11, Z:0.21 [[ 0.97884727 -0.16273699 -0.12399474 0.8661539 ] [ 0.1627307 0.98661731 -0.01024748 -0.10803811] [ 0.12400301 -0.01014703 0.99222996 0.21002645] [ 0. 0. 0. 1. ]] SLAMing on 73.79327356 meters Centerline goodness : 0.805135 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.11, Z:0.21 [[ 0.97880996 -0.16301997 -0.1239175 0.86598432] [ 0.16305845 0.98656673 -0.00990049 -0.11055728] [ 0.12386686 -0.0105151 0.99224313 0.21004198] [ 0. 0. 0. 1. ]] SLAMing on 73.82327356 meters Centerline goodness : 0.807825 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.11, Z:0.21 [[ 0.97874265 -0.1636088 -0.12367289 0.86502969] [ 0.16366768 0.98646732 -0.00975306 -0.11293721] [ 0.12359495 -0.01069552 0.99227511 0.21044039] [ 0. 0. 0. 1. ]] SLAMing on 73.85327356 meters Centerline goodness : 0.803766 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.11, Z:0.21 [[ 0.97871111 -0.16392044 -0.12350976 0.864394 ] [ 0.1639817 0.9864153 -0.00973948 -0.11406812] [ 0.12342841 -0.0107212 0.99229556 0.21079292] [ 0. 0. 0. 1. ]] SLAMing on 73.88327356 meters Centerline goodness : 0.803170 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.12, Z:0.21 [[ 0.97867074 -0.16423311 -0.1234142 0.86379821] [ 0.16429953 0.98636271 -0.00970935 -0.11526515] [ 0.12332576 -0.01077463 0.99230775 0.21124313] [ 0. 0. 0. 1. ]] SLAMing on 73.91327356000001 meters Centerline goodness : 0.850441 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.12, Z:0.21 [[ 0.97855535 -0.16517428 -0.12307266 0.86222194] [ 0.16521745 0.98620721 -0.00992621 -0.11725202] [ 0.1230147 -0.0106204 0.99234802 0.21208351] [ 0. 0. 0. 1. ]] SLAMing on 73.94327356000001 meters Centerline goodness : 0.805318 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.12, Z:0.21 [[ 0.9785202 -0.16545133 -0.12297996 0.86177702] [ 0.16549937 0.98616024 -0.0098963 -0.11844782] [ 0.1229153 -0.01066938 0.99235981 0.21243558] [ 0. 0. 0. 1. ]] SLAMing on 73.97327356000001 meters Centerline goodness : 0.847771 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.12, Z:0.21 [[ 0.97851411 -0.16561527 -0.12280761 0.86139742] [ 0.1656817 0.98613115 -0.00974287 -0.1196276 ] [ 0.12271798 -0.01081344 0.99238267 0.21247819] [ 0. 0. 0. 1. ]] SLAMing on 74.00327356000001 meters Centerline goodness : 0.851290 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.12, Z:0.21 [[ 0.97849936 -0.165693 -0.12282035 0.86145097] [ 0.16581122 0.98611338 -0.00932996 -0.12176792] [ 0.1226607 -0.01123563 0.99238506 0.21247151] [ 0. 0. 0. 1. ]] SLAMing on 74.03327356 meters Centerline goodness : 0.850877 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.12, Z:0.21 [[ 0.9785073 -0.16555473 -0.12294344 0.86188136] [ 0.16570802 0.98613334 -0.00904913 -0.12268728] [ 0.12273675 -0.01151807 0.99237242 0.21234299] [ 0. 0. 0. 1. ]] SLAMing on 74.06327356 meters Centerline goodness : 0.847415 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.12, Z:0.21 [[ 0.978522 -0.16545371 -0.12296243 0.86213367] [ 0.16563645 0.98614756 -0.00880647 -0.12359624] [ 0.12271617 -0.01174973 0.99237225 0.21220487] [ 0. 0. 0. 1. ]] SLAMing on 74.09327356 meters Centerline goodness : 0.848361 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.13, Z:0.21 [[ 0.97853862 -0.1652603 -0.12309019 0.86242461] [ 0.16549015 0.98617545 -0.00842591 -0.12529654] [ 0.12278099 -0.01212514 0.99235972 0.21232453] [ 0. 0. 0. 1. ]] SLAMing on 74.12327356 meters Centerline goodness : 0.848648 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.13, Z:0.21 [[ 0.97855041 -0.16506447 -0.12325913 0.86294011] [ 0.16531438 0.98620626 -0.00826849 -0.12595317] [ 0.12292376 -0.01228537 0.99234007 0.21232174] [ 0. 0. 0. 1. ]] SLAMing on 74.15327356 meters Centerline goodness : 0.800294 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.13, Z:0.21 [[ 0.97855884 -0.16492255 -0.12338212 0.86328887] [ 0.1651827 0.98622898 -0.00818928 -0.12620195] [ 0.12303362 -0.0123669 0.99232544 0.21234 ] [ 0. 0. 0. 1. ]] SLAMing on 74.18327356 meters Centerline goodness : 0.846542 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.13, Z:0.21 [[ 0.97862089 -0.16430609 -0.12371198 0.86409922] [ 0.16459246 0.98632944 -0.00797268 -0.12643186] [ 0.12333073 -0.01255983 0.99228614 0.21253195] [ 0. 0. 0. 1. ]] SLAMing on 74.21327356 meters Centerline goodness : 0.847768 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.13, Z:0.21 [[ 0.97864087 -0.16411945 -0.1238017 0.86423482] [ 0.16440685 0.98636048 -0.00796172 -0.12647818] [ 0.12341978 -0.01256218 0.99227504 0.21276912] [ 0. 0. 0. 1. ]] SLAMing on 74.24327356 meters Centerline goodness : 0.849692 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.13, Z:0.21 [[ 0.97867574 -0.16371669 -0.12405905 0.86471973] [ 0.16402327 0.98642556 -0.00780872 -0.12697726] [ 0.12365344 -0.01270637 0.99224411 0.21313492] [ 0. 0. 0. 1. ]] SLAMing on 74.27327356 meters Centerline goodness : 0.848799 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.13, Z:0.21 [[ 0.97868905 -0.16360799 -0.12409741 0.86489957] [ 0.16392905 0.98644216 -0.00768953 -0.127664 ] [ 0.12367298 -0.01281751 0.99224025 0.21318858] [ 0. 0. 0. 1. ]] SLAMing on 74.30327356000001 meters Centerline goodness : 0.846120 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.13, Z:0.21 [[ 0.97870216 -0.16350381 -0.12413134 0.86498489] [ 0.16384725 0.98645716 -0.00750693 -0.1285236 ] [ 0.12367766 -0.01299153 0.9922374 0.21331129] [ 0. 0. 0. 1. ]] SLAMing on 74.33327356000001 meters Centerline goodness : 0.844702 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.13, Z:0.21 [[ 0.97871498 -0.16343333 -0.12412303 0.86496824] [ 0.16382254 0.98646403 -0.00713423 -0.13044487] [ 0.12360887 -0.01335177 0.99224119 0.21345007] [ 0. 0. 0. 1. ]] SLAMing on 74.36327356000001 meters Centerline goodness : 0.844425 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.13, Z:0.21 [[ 0.97871973 -0.16329401 -0.12426886 0.86536923] [ 0.16371522 0.98648362 -0.00688464 -0.13139028] [ 0.12371342 -0.01360657 0.9922247 0.2134314 ] [ 0. 0. 0. 1. ]] SLAMing on 74.39327356 meters Centerline goodness : 0.840724 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.13, Z:0.21 [[ 0.97874371 -0.16309521 -0.12434111 0.8657456 ] [ 0.16358123 0.98650937 -0.00636035 -0.1334642 ] [ 0.12370101 -0.01411472 0.99221915 0.21331631] [ 0. 0. 0. 1. ]] SLAMing on 74.42327356 meters Centerline goodness : 0.845932 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.13, Z:0.21 [[ 0.97873574 -0.16311939 -0.12437206 0.86579272] [ 0.16361431 0.9865043 -0.00629407 -0.134304 ] [ 0.12372026 -0.01418882 0.99221569 0.21350928] [ 0. 0. 0. 1. ]] SLAMing on 74.45327356 meters Centerline goodness : 0.845463 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.14, Z:0.21 [[ 0.97873975 -0.16307078 -0.12440429 0.86582005] [ 0.16358575 0.98651005 -0.00613398 -0.13519196] [ 0.12372635 -0.0143472 0.99221265 0.2136465 ] [ 0. 0. 0. 1. ]] SLAMing on 74.48327356 meters Centerline goodness : 0.844856 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.14, Z:0.21 [[ 0.97877505 -0.16273447 -0.12456682 0.86603521] [ 0.16329226 0.98656076 -0.00578843 -0.13671773] [ 0.12383471 -0.01467522 0.99219434 0.21403913] [ 0. 0. 0. 1. ]] SLAMing on 74.51327356 meters Centerline goodness : 0.842493 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.14, Z:0.21 [[ 0.9787843 -0.16270134 -0.12453743 0.86578519] [ 0.16326289 0.98656583 -0.00575274 -0.13737646] [ 0.12380035 -0.01470165 0.99219823 0.2144295 ] [ 0. 0. 0. 1. ]] SLAMing on 74.54327356 meters Centerline goodness : 0.845509 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.14, Z:0.21 [[ 0.97879106 -0.16256476 -0.12466261 0.86587618] [ 0.16314657 0.98658597 -0.00559679 -0.13820548] [ 0.12390022 -0.01486019 0.99218341 0.21475241] [ 0. 0. 0. 1. ]] SLAMing on 74.57327356 meters Centerline goodness : 0.848099 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.14, Z:0.22 [[ 0.97881705 -0.16230229 -0.12480047 0.86608569] [ 0.1629371 0.9866229 -0.00517258 -0.14012565] [ 0.12397053 -0.01527162 0.99216838 0.21507854] [ 0. 0. 0. 1. ]] SLAMing on 74.60327356 meters Centerline goodness : 0.846226 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.14, Z:0.21 [[ 0.9788336 -0.16217314 -0.12483851 0.86638772] [ 0.16283928 0.98664035 -0.00491839 -0.1412464 ] [ 0.12396834 -0.01551433 0.99216488 0.21499486] [ 0. 0. 0. 1. ]] SLAMing on 74.63327356 meters Centerline goodness : 0.846752 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.14, Z:0.21 [[ 0.97886774 -0.16180285 -0.12505117 0.86707913] [ 0.16255138 0.98669087 -0.00426301 -0.14387941] [ 0.12407661 -0.01615432 0.99214114 0.21495546] [ 0. 0. 0. 1. ]] SLAMing on 74.66327356000001 meters Centerline goodness : 0.845620 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.15, Z:0.21 [[ 0.97889061 -0.16162718 -0.12509926 0.86741992] [ 0.16241678 0.98671442 -0.0039298 -0.14513245] [ 0.1240724 -0.01647137 0.99213645 0.21481299] [ 0. 0. 0. 1. ]] SLAMing on 74.69327356000001 meters Centerline goodness : 0.845037 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.15, Z:0.21 [[ 0.97890443 -0.16142465 -0.12525252 0.86782787] [ 0.16224661 0.98674338 -0.00367881 -0.1461897 ] [ 0.12418595 -0.01672059 0.99211807 0.21487916] [ 0. 0. 0. 1. ]] SLAMing on 74.72327356000001 meters Centerline goodness : 0.846644 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.15, Z:0.22 [[ 0.97891618 -0.16130563 -0.12531407 0.86787616] [ 0.16214468 0.98676063 -0.00354304 -0.14698498] [ 0.12422651 -0.01685067 0.9921108 0.21515764] [ 0. 0. 0. 1. ]] SLAMing on 74.75327356000001 meters Centerline goodness : 0.844671 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.15, Z:0.22 [[ 0.97901127 -0.16052449 -0.125574 0.86853004] [ 0.16144319 0.98687777 -0.00289353 -0.14866685] [ 0.12439067 -0.01744027 0.99208004 0.21535872] [ 0. 0. 0. 1. ]] SLAMing on 74.78327356 meters Centerline goodness : 0.846338 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.15, Z:0.22 [[ 0.97904139 -0.16016834 -0.12579375 0.86905165] [ 0.161112 0.98693243 -0.00270291 -0.14912912] [ 0.12458285 -0.01762062 0.99205273 0.21547015] [ 0. 0. 0. 1. ]] SLAMing on 74.81327356 meters Centerline goodness : 0.843672 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.15, Z:0.22 [[ 0.97915065 -0.15908033 -0.1263228 0.87042617] [ 0.16010337 0.98709807 -0.0020785 -0.15029605] [ 0.12502364 -0.01818954 0.99198701 0.21563958] [ 0. 0. 0. 1. ]] SLAMing on 74.84327356 meters Centerline goodness : 0.844087 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.15, Z:0.22 [[ 0.97918641 -0.15865557 -0.12657958 0.8711197 ] [ 0.15971021 0.98716223 -0.00183857 -0.15059715] [ 0.12524628 -0.01841575 0.99195475 0.21563104] [ 0. 0. 0. 1. ]] SLAMing on 74.87327356 meters Centerline goodness : 0.845798 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.15, Z:0.22 [[ 0.97921855 -0.15829395 -0.12678347 0.87165365] [ 0.15937399 0.98721691 -0.00164451 -0.15091125] [ 0.1254231 -0.01859565 0.99192905 0.21566158] [ 0. 0. 0. 1. ]] SLAMing on 74.90327356 meters Centerline goodness : 0.847001 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.15, Z:0.22 [[ 0.97931563 -0.15742287 -0.12711784 0.87245579] [ 0.15857637 0.98734615 -0.00105838 -0.152049 ] [ 0.12567592 -0.0191214 0.99188706 0.21585892] [ 0. 0. 0. 1. ]] SLAMing on 74.93327356 meters Centerline goodness : 0.848415 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.15, Z:0.22 [[ 9.79344508e-01 -1.57103961e-01 -1.27289748e-01 8.72902752e-01] [ 1.58281718e-01 9.87393607e-01 -8.72939388e-04 -1.52479404e-01] [ 1.25822225e-01 -1.92927315e-02 9.91865191e-01 2.15956255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96327356 meters Centerline goodness : 0.847333 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.15, Z:0.22 [[ 9.79457514e-01 -1.56082694e-01 -1.27676042e-01 8.74177734e-01] [ 1.57341718e-01 9.87544192e-01 -2.27374657e-04 -1.53257789e-01] [ 1.26121223e-01 -1.98660639e-02 9.91815899e-01 2.15739073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.99327356 meters Centerline goodness : 0.846943 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.15, Z:0.22 [[ 9.79498802e-01 -1.55683763e-01 -1.27846251e-01 8.74792450e-01] [ 1.56964603e-01 9.87604227e-01 -5.71132693e-05 -1.53098978e-01] [ 1.26270389e-01 -2.00113936e-02 9.91793997e-01 2.15586889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.02327356 meters Centerline goodness : 0.847327 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.15, Z:0.22 [[ 9.79547937e-01 -1.55126228e-01 -1.28147151e-01 8.75736468e-01] [ 1.56424778e-01 9.87689872e-01 6.99470239e-05 -1.52701661e-01] [ 1.26558792e-01 -2.01139060e-02 9.91755163e-01 2.15494252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.05327356000001 meters Centerline goodness : 0.847679 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.15, Z:0.22 [[ 9.79583869e-01 -1.54643832e-01 -1.28455164e-01 8.76502424e-01] [ 1.55952460e-01 9.87764553e-01 1.30927444e-04 -1.52221309e-01] [ 1.26863211e-01 -2.01611533e-02 9.91715309e-01 2.15546116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.08327356000001 meters Centerline goodness : 0.845402 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.15, Z:0.22 [[ 0.9801656 -0.1504819 -0.1289597 0.87607566] [ 0.1522607 0.98833231 0.00399025 -0.15328264] [ 0.12685457 -0.0235466 0.99164181 0.21579094] [ 0. 0. 0. 1. ]] SLAMing on 75.11327356000001 meters Centerline goodness : 0.848446 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.15, Z:0.22 [[ 0.98019157 -0.15015516 -0.12914303 0.87658346] [ 0.15192874 0.98838361 0.00393648 -0.15272909] [ 0.12705177 -0.02347905 0.99161816 0.21586002] [ 0. 0. 0. 1. ]] SLAMing on 75.14327356 meters Centerline goodness : 0.848446 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.15, Z:0.22 [[ 0.98019157 -0.15015516 -0.12914303 0.87658346] [ 0.15192874 0.98838361 0.00393648 -0.15272909] [ 0.12705177 -0.02347905 0.99161816 0.21586002] [ 0. 0. 0. 1. ]] SLAMing on 75.17327356 meters Centerline goodness : 0.848454 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.15, Z:0.22 [[ 0.98027969 -0.14933877 -0.12942045 0.87741934] [ 0.1511217 0.98850703 0.00401102 -0.15174254] [ 0.12733403 -0.02349016 0.9915817 0.21591087] [ 0. 0. 0. 1. ]] SLAMing on 75.20327356 meters Centerline goodness : 0.847393 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.15, Z:0.22 [[ 0.98029426 -0.14910722 -0.12957702 0.87785265] [ 0.1508764 0.98854498 0.00389019 -0.15086977] [ 0.12751266 -0.02336365 0.99156173 0.21590111] [ 0. 0. 0. 1. ]] SLAMing on 75.23327356 meters Centerline goodness : 0.849109 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.15, Z:0.22 [[ 0.98030271 -0.14893861 -0.12970689 0.87811303] [ 0.15068598 0.98857472 0.00370783 -0.14997681] [ 0.12767272 -0.02317981 0.99154545 0.2160448 ] [ 0. 0. 0. 1. ]] SLAMing on 75.26327356 meters Centerline goodness : 0.847610 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.15, Z:0.22 [[ 0.98037462 -0.14826014 -0.12994051 0.87882921] [ 0.15000267 0.98867877 0.00367213 -0.14850462] [ 0.12792499 -0.02309148 0.99151499 0.21605345] [ 0. 0. 0. 1. ]] SLAMing on 75.29327356 meters Centerline goodness : 0.846279 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.15, Z:0.22 [[ 0.98038676 -0.14811776 -0.13001125 0.87895551] [ 0.14984088 0.98870386 0.0035183 -0.14780112] [ 0.1280215 -0.02293029 0.99150628 0.21623721] [ 0. 0. 0. 1. ]] SLAMing on 75.32327356 meters Centerline goodness : 0.845652 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.15, Z:0.22 [[ 0.98037144 -0.14812244 -0.13012142 0.87900081] [ 0.1498146 0.98870874 0.00325855 -0.1471262 ] [ 0.12816952 -0.02268868 0.99149271 0.21656949] [ 0. 0. 0. 1. ]] SLAMing on 75.35327356 meters Centerline goodness : 0.848200 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.15, Z:0.22 [[ 0.98038035 -0.14802571 -0.13016431 0.87911708] [ 0.14969589 0.98872727 0.0030873 -0.14637771] [ 0.12824001 -0.02251179 0.99148763 0.21663255] [ 0. 0. 0. 1. ]] SLAMing on 75.38327356 meters Centerline goodness : 0.848506 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.14, Z:0.22 [[ 0.9804162 -0.14772191 -0.13023942 0.87930624] [ 0.14934889 0.98878071 0.00276032 -0.14457569] [ 0.12837047 -0.02215738 0.99147873 0.21677905] [ 0. 0. 0. 1. ]] SLAMing on 75.41327356000001 meters Centerline goodness : 0.850479 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.14, Z:0.22 [[ 0.98041516 -0.14762402 -0.13035821 0.87963893] [ 0.14922549 0.98879991 0.00254922 -0.14346737] [ 0.12852186 -0.02195206 0.99146368 0.216735 ] [ 0. 0. 0. 1. ]] SLAMing on 75.44327356000001 meters Centerline goodness : 0.847387 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.14, Z:0.22 [[ 0.98040121 -0.14769226 -0.13038579 0.87968554] [ 0.14924767 0.98879743 0.00218483 -0.142307 ] [ 0.12860246 -0.02160178 0.99146093 0.21687447] [ 0. 0. 0. 1. ]] SLAMing on 75.47327356000001 meters Centerline goodness : 0.849592 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.14, Z:0.22 [[ 0.98040425 -0.14774174 -0.1303069 0.87950763] [ 0.14922433 0.98880202 0.00163333 -0.14014612] [ 0.12860642 -0.02104628 0.99147236 0.21698675] [ 0. 0. 0. 1. ]] SLAMing on 75.50327356000001 meters Centerline goodness : 0.850553 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.14, Z:0.22 [[ 0.98037975 -0.14790915 -0.13030128 0.87950054] [ 0.14934655 0.98878409 0.00127493 -0.13904296] [ 0.12865126 -0.02070997 0.99147363 0.21703905] [ 0. 0. 0. 1. ]] SLAMing on 75.53327356 meters Centerline goodness : 0.847499 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.14, Z:0.22 [[ 9.80324454e-01 -1.48442461e-01 -1.30110727e-01 8.78761041e-01] [ 1.49783259e-01 9.88718716e-01 5.25336376e-04 -1.36969796e-01] [ 1.28564929e-01 -2.00034088e-02 9.91499331e-01 2.17331429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56327356 meters Centerline goodness : 0.847295 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.14, Z:0.22 [[ 9.80275184e-01 -1.48874045e-01 -1.29988776e-01 8.78253390e-01] [ 1.50154701e-01 9.88662512e-01 5.18491312e-05 -1.36026547e-01] [ 1.28507311e-01 -1.95692522e-02 9.91515464e-01 2.17584350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.59327356 meters Centerline goodness : 0.848043 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.13, Z:0.22 [[ 9.80204213e-01 -1.49455780e-01 -1.29856344e-01 8.77567044e-01] [ 1.50661172e-01 9.88585308e-01 -5.47321288e-04 -1.34850328e-01] [ 1.28455874e-01 -1.90278223e-02 9.91532667e-01 2.17965423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62327356 meters Centerline goodness : 0.847804 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.13, Z:0.22 [[ 0.98013177 -0.15018131 -0.12956574 0.87673357] [ 0.15129736 0.98848751 -0.00124264 -0.13296907] [ 0.12826074 -0.01838501 0.99157006 0.21797637] [ 0. 0. 0. 1. ]] SLAMing on 75.65327356 meters Centerline goodness : 0.848220 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.13, Z:0.22 [[ 0.98008505 -0.15058929 -0.12944557 0.87635587] [ 0.15164546 0.98843346 -0.00171541 -0.1319011 ] [ 0.12820665 -0.01794859 0.99158505 0.2181222 ] [ 0. 0. 0. 1. ]] SLAMing on 75.68327356 meters Centerline goodness : 0.848998 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.13, Z:0.22 [[ 0.98005022 -0.15080144 -0.12946233 0.87642652] [ 0.15182572 0.9884053 -0.00197824 -0.13091695] [ 0.12825958 -0.01771694 0.99158237 0.21801864] [ 0. 0. 0. 1. ]] SLAMing on 75.71327356 meters Centerline goodness : 0.849232 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.13, Z:0.22 [[ 0.98001274 -0.1510618 -0.12944249 0.87646562] [ 0.15204787 0.98837048 -0.00228809 -0.12981181] [ 0.12828278 -0.0174391 0.99158429 0.21787049] [ 0. 0. 0. 1. ]] SLAMing on 75.74327356 meters Centerline goodness : 0.848123 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.13, Z:0.22 [[ 0.97997191 -0.15148457 -0.12925739 0.87641063] [ 0.15241331 0.98831306 -0.00273415 -0.1281274 ] [ 0.12816095 -0.01702116 0.99160731 0.21735916] [ 0. 0. 0. 1. ]] SLAMing on 75.77327356 meters Centerline goodness : 0.847420 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.13, Z:0.22 [[ 0.97994186 -0.15166583 -0.12927268 0.8764947 ] [ 0.15256075 0.98828951 -0.00300985 -0.12730226] [ 0.12821532 -0.01677245 0.99160452 0.21731734] [ 0. 0. 0. 1. ]] SLAMing on 75.80327356000001 meters Centerline goodness : 0.847242 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.13, Z:0.22 [[ 0.97987986 -0.1523236 -0.12896893 0.87548511] [ 0.15311371 0.98820117 -0.00382513 -0.12524852] [ 0.12802991 -0.01599874 0.99164126 0.21765475] [ 0. 0. 0. 1. ]] SLAMing on 75.83327356000001 meters Centerline goodness : 0.846388 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.12, Z:0.22 [[ 0.97983918 -0.15261699 -0.12893117 0.87506168] [ 0.15334952 0.98816272 -0.0042856 -0.12415769] [ 0.12805903 -0.01557233 0.99164428 0.21803228] [ 0. 0. 0. 1. ]] SLAMing on 75.86327356000001 meters Centerline goodness : 0.847933 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.12, Z:0.22 [[ 0.97980841 -0.1528632 -0.12887326 0.87472598] [ 0.15353728 0.98813145 -0.0047475 -0.1227121 ] [ 0.12806944 -0.01513521 0.99164971 0.21827817] [ 0. 0. 0. 1. ]] SLAMing on 75.89327356 meters Centerline goodness : 0.847280 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.12, Z:0.22 [[ 0.97980895 -0.15279638 -0.12894838 0.87472029] [ 0.15338501 0.98815168 -0.00541297 -0.11963299] [ 0.12824764 -0.01447507 0.99163653 0.21858299] [ 0. 0. 0. 1. ]] SLAMing on 75.92327356 meters Centerline goodness : 0.850102 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.12, Z:0.22 [[ 0.97981359 -0.15262004 -0.12912182 0.87520273] [ 0.15317182 0.9881831 -0.00570556 -0.11799267] [ 0.12846678 -0.01418744 0.99161232 0.21856732] [ 0. 0. 0. 1. ]] SLAMing on 75.95327356 meters Centerline goodness : 0.798800 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.12, Z:0.22 [[ 0.97980813 -0.15242702 -0.12939096 0.87577068] [ 0.1529224 0.98821902 -0.00615705 -0.11618685] [ 0.12880511 -0.01375405 0.99157454 0.21880932] [ 0. 0. 0. 1. ]] SLAMing on 75.98327356 meters Centerline goodness : 0.800208 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.11, Z:0.22 [[ 0.98039284 -0.14837247 -0.12967452 0.87517314] [ 0.14928052 0.98879108 -0.00274395 -0.11470397] [ 0.12862813 -0.01666773 0.99155282 0.21862591] [ 0. 0. 0. 1. ]] SLAMing on 76.01327356 meters Centerline goodness : 0.848590 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.11, Z:0.22 [[ 0.98045707 -0.14775939 -0.12988877 0.87606144] [ 0.14863583 0.98888753 -0.00297456 -0.11264447] [ 0.12888491 -0.0163897 0.99152411 0.21853456] [ 0. 0. 0. 1. ]] SLAMing on 76.04327356 meters Centerline goodness : 0.799317 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.11, Z:0.22 [[ 0.98053894 -0.14692407 -0.13021789 0.87723341] [ 0.14778968 0.98901413 -0.00304448 -0.11081727] [ 0.12923464 -0.01625963 0.99148073 0.21841847] [ 0. 0. 0. 1. ]] SLAMing on 76.07327356 meters Centerline goodness : 0.802830 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.11, Z:0.22 [[ 9.81191802e-01 -1.41978404e-01 -1.30785249e-01 8.77597953e-01] [ 1.43306284e-01 9.89678103e-01 7.49575016e-04 -1.08865958e-01] [ 1.29328874e-01 -1.94778249e-02 9.91410438e-01 2.18121353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10327356 meters Centerline goodness : 0.803220 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.11, Z:0.22 [[ 0.98172944 -0.1378714 -0.13114413 0.87713862] [ 0.13965309 0.99019053 0.00444241 -0.10876714] [ 0.1292452 -0.02267593 0.99135336 0.21811325] [ 0. 0. 0. 1. ]] SLAMing on 76.13327356 meters Centerline goodness : 0.802025 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.11, Z:0.22 [[ 0.98239857 -0.13244941 -0.13172017 0.87781404] [ 0.13471221 0.99084934 0.00837892 -0.10667599] [ 0.12940506 -0.02597575 0.99125153 0.21783252] [ 0. 0. 0. 1. ]] SLAMing on 76.16327356000001 meters Centerline goodness : 0.803663 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.11, Z:0.22 [[ 0.98292859 -0.12796894 -0.13219429 0.87784986] [ 0.13072501 0.99134176 0.01234843 -0.10698344] [ 0.12946951 -0.02941872 0.9911469 0.21770751] [ 0. 0. 0. 1. ]] SLAMing on 76.19327356000001 meters Centerline goodness : 0.802906 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.11, Z:0.22 [[ 0.98343798 -0.12364883 -0.13251679 0.8775133 ] [ 0.12688284 0.99178522 0.01621177 -0.10737683] [ 0.12942362 -0.03275738 0.99104817 0.21768761] [ 0. 0. 0. 1. ]] SLAMing on 76.22327356000001 meters Centerline goodness : 0.802656 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.11, Z:0.22 [[ 0.98404852 -0.11802889 -0.1331078 0.87852357] [ 0.12179958 0.99234254 0.02052183 -0.10657675] [ 0.12966636 -0.03640695 0.99088908 0.21722715] [ 0. 0. 0. 1. ]] SLAMing on 76.25327356000001 meters Centerline goodness : 0.802695 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.11, Z:0.22 [[ 0.98413168 -0.11694459 -0.1334496 0.87985021] [ 0.12073278 0.99247068 0.02062857 -0.10522399] [ 0.13003242 -0.03641297 0.99084089 0.21714988] [ 0. 0. 0. 1. ]] SLAMing on 76.28327356 meters Centerline goodness : 0.804628 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.10, Z:0.22 [[ 0.98417747 -0.11625338 -0.13371558 0.88061065] [ 0.12000713 0.99256472 0.02033655 -0.10361862] [ 0.13035718 -0.0360616 0.99081107 0.21754558] [ 0. 0. 0. 1. ]] SLAMing on 76.31327356 meters Centerline goodness : 0.803084 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.10, Z:0.22 [[ 0.98467122 -0.11154242 -0.13409279 0.88052923] [ 0.11579437 0.99297555 0.02431517 -0.10359677] [ 0.13043869 -0.03946964 0.99067043 0.21759283] [ 0. 0. 0. 1. ]] SLAMing on 76.34327356 meters Centerline goodness : 0.804340 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.10, Z:0.22 [[ 0.98469584 -0.11107842 -0.134297 0.88109168] [ 0.11532268 0.99303266 0.02422443 -0.10288044] [ 0.13067049 -0.03934119 0.99064499 0.21784152] [ 0. 0. 0. 1. ]] SLAMing on 76.37327356 meters Centerline goodness : 0.801658 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.10, Z:0.22 [[ 0.98477546 -0.10994644 -0.13464424 0.88278899] [ 0.11424329 0.99314844 0.02458958 -0.10275096] [ 0.13101818 -0.03959742 0.99058886 0.21743663] [ 0. 0. 0. 1. ]] SLAMing on 76.40327356 meters Centerline goodness : 0.805588 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.10, Z:0.22 [[ 0.98476427 -0.10968873 -0.13493594 0.88355202] [ 0.11399134 0.9931781 0.02456095 -0.10303493] [ 0.13132136 -0.03956828 0.99054987 0.21765032] [ 0. 0. 0. 1. ]] SLAMing on 76.43327356 meters Centerline goodness : 0.804798 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.10, Z:0.22 [[ 0.98476005 -0.10948099 -0.13513534 0.8842035 ] [ 0.11379903 0.99319844 0.02463003 -0.10343996] [ 0.13151968 -0.03963294 0.99052098 0.21764445] [ 0. 0. 0. 1. ]] SLAMing on 76.46327356 meters Centerline goodness : 0.802195 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.10, Z:0.22 [[ 0.98475228 -0.10933738 -0.13530814 0.88462575] [ 0.11368058 0.99320837 0.02477608 -0.10448254] [ 0.13168023 -0.03978021 0.99049374 0.21780723] [ 0. 0. 0. 1. ]] SLAMing on 76.49327356 meters Centerline goodness : 0.801672 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.10, Z:0.22 [[ 0.98473612 -0.10959618 -0.1352163 0.88420056] [ 0.11391135 0.99318689 0.0245764 -0.10496508] [ 0.13160157 -0.03960394 0.99051126 0.21820745] [ 0. 0. 0. 1. ]] SLAMing on 76.52327356 meters Centerline goodness : 0.802246 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.11, Z:0.22 [[ 0.98472223 -0.10978212 -0.1351666 0.88390847] [ 0.11409652 0.99316571 0.02457367 -0.10597534] [ 0.13154508 -0.03962028 0.99051811 0.2185039 ] [ 0. 0. 0. 1. ]] SLAMing on 76.55327356000001 meters Centerline goodness : 0.800950 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.11, Z:0.22 [[ 0.98464452 -0.1106044 -0.13506237 0.88282696] [ 0.11490939 0.99307426 0.02448144 -0.10886129] [ 0.13141921 -0.03962545 0.99053461 0.21943322] [ 0. 0. 0. 1. ]] SLAMing on 76.58327356000001 meters Centerline goodness : 0.798762 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.11, Z:0.22 [[ 0.98459762 -0.11111649 -0.1349839 0.88214321] [ 0.11542354 0.99301448 0.02448786 -0.11085643] [ 0.13131996 -0.039691 0.99054515 0.21998576] [ 0. 0. 0. 1. ]] SLAMing on 76.61327356000001 meters Centerline goodness : 0.798937 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.11, Z:0.22 [[ 0.98411124 -0.11594008 -0.13447292 0.88115514] [ 0.11972663 0.9925974 0.02039449 -0.11269009] [ 0.13111293 -0.03617044 0.99070737 0.22128283] [ 0. 0. 0. 1. ]] SLAMing on 76.64327356 meters Centerline goodness : 0.798644 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.11, Z:0.22 [[ 0.98362776 -0.12004925 -0.13440462 0.88184404] [ 0.12335352 0.99222557 0.01650246 -0.11298293] [ 0.1313786 -0.03281156 0.99078911 0.22190411] [ 0. 0. 0. 1. ]] SLAMing on 76.67327356 meters Centerline goodness : 0.797825 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.11, Z:0.22 [[ 0.98312865 -0.12432788 -0.13416649 0.88226583] [ 0.12714317 0.99180447 0.0125899 -0.11339735] [ 0.13150165 -0.02943584 0.99087883 0.22234952] [ 0. 0. 0. 1. ]] SLAMing on 76.70327356 meters Centerline goodness : 0.798249 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.11, Z:0.22 [[ 0.98260802 -0.12856036 -0.13399146 0.8828429 ] [ 0.13090385 0.99135608 0.00879218 -0.11419493] [ 0.13170292 -0.02617927 0.99094348 0.22281863] [ 0. 0. 0. 1. ]] SLAMing on 76.73327356 meters Centerline goodness : 0.843407 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.12, Z:0.22 [[ 0.98186949 -0.13447867 -0.13359566 0.88227368] [ 0.1363243 0.99065301 0.00472301 -0.11822162] [ 0.1317118 -0.02284972 0.99102467 0.22359324] [ 0. 0. 0. 1. ]] SLAMing on 76.76327356 meters Centerline goodness : 0.844148 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.12, Z:0.22 [[ 9.81306430e-01 -1.38840416e-01 -1.33270514e-01 8.82679703e-01] [ 1.40212520e-01 9.90121004e-01 9.20196550e-04 -1.19165540e-01] [ 1.31826175e-01 -1.95891894e-02 9.91079272e-01 2.23957831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.79327356 meters Centerline goodness : 0.841481 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.12, Z:0.22 [[ 0.98072948 -0.14313768 -0.13297104 0.8832385 ] [ 0.14404291 0.98956738 -0.00283711 -0.11982682] [ 0.1319899 -0.0163711 0.99111586 0.2241633 ] [ 0. 0. 0. 1. ]] SLAMing on 76.82327356 meters Centerline goodness : 0.840614 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.12, Z:0.22 [[ 0.98005237 -0.14853315 -0.13204266 0.88193769] [ 0.14895187 0.98882137 -0.00675626 -0.12210037] [ 0.13157013 -0.01304651 0.99122101 0.22470959] [ 0. 0. 0. 1. ]] SLAMing on 76.85327356 meters Centerline goodness : 0.840986 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.12, Z:0.23 [[ 0.97992551 -0.14962114 -0.13175548 0.88072975] [ 0.15000578 0.98865993 -0.007058 -0.12364507] [ 0.13131739 -0.01284777 0.99125712 0.22519439] [ 0. 0. 0. 1. ]] SLAMing on 76.88327356 meters Centerline goodness : 0.839867 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.12, Z:0.23 [[ 0.97926823 -0.15437905 -0.13115202 0.88028221] [ 0.15424568 0.98796862 -0.01123707 -0.12385313] [ 0.13130884 -0.00922553 0.99129858 0.22585006] [ 0. 0. 0. 1. ]] SLAMing on 76.91327356000001 meters Centerline goodness : 0.849436 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.12, Z:0.23 [[ 0.97922349 -0.15493408 -0.13083116 0.87940909] [ 0.15478889 0.98788247 -0.01134095 -0.12461861] [ 0.13100291 -0.00914588 0.9913398 0.22597219] [ 0. 0. 0. 1. ]] SLAMing on 76.94327356000001 meters Centerline goodness : 0.845908 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.12, Z:0.23 [[ 0.97918244 -0.15550711 -0.13045797 0.87832134] [ 0.15532974 0.9877946 -0.01159705 -0.12489749] [ 0.13066911 -0.00890837 0.99138601 0.22623554] [ 0. 0. 0. 1. ]] SLAMing on 76.97327356000001 meters Centerline goodness : 0.838546 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.12, Z:0.23 [[ 0.97913462 -0.15599814 -0.1302305 0.87768853] [ 0.1557928 0.98771895 -0.01182669 -0.12488772] [ 0.13047608 -0.00870905 0.99141321 0.22628217] [ 0. 0. 0. 1. ]] SLAMing on 77.00327356000001 meters Centerline goodness : 0.846822 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.12, Z:0.23 [[ 0.97906148 -0.15674179 -0.12988702 0.87659215] [ 0.15647216 0.98760525 -0.01234267 -0.1243341 ] [ 0.13021171 -0.00823947 0.99145198 0.22659959] [ 0. 0. 0. 1. ]] SLAMing on 77.03327356 meters Centerline goodness : 0.846822 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.12, Z:0.23 [[ 0.97906148 -0.15674179 -0.12988702 0.87659215] [ 0.15647216 0.98760525 -0.01234267 -0.1243341 ] [ 0.13021171 -0.00823947 0.99145198 0.22659959] [ 0. 0. 0. 1. ]] SLAMing on 77.06327356 meters Centerline goodness : 0.848065 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.12, Z:0.23 [[ 0.97904262 -0.15693882 -0.12979122 0.8762811 ] [ 0.15664499 0.98757544 -0.01253402 -0.12378847] [ 0.1301457 -0.0080598 0.99146212 0.22667204] [ 0. 0. 0. 1. ]] SLAMing on 77.09327356 meters Centerline goodness : 0.849260 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.12, Z:0.23 [[ 0.97900078 -0.15720603 -0.12978339 0.87609951] [ 0.15686799 0.98753548 -0.01288798 -0.12280711] [ 0.13019177 -0.00774152 0.99145861 0.22681765] [ 0. 0. 0. 1. ]] SLAMing on 77.12327356 meters Centerline goodness : 0.848530 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.12, Z:0.23 [[ 0.97899251 -0.15735483 -0.1296654 0.87584309] [ 0.1569351 0.98751646 -0.01351321 -0.12005443] [ 0.13017309 -0.00711972 0.99146572 0.22678996] [ 0. 0. 0. 1. ]] SLAMing on 77.15327356 meters Centerline goodness : 0.847944 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.12, Z:0.23 [[ 0.97896916 -0.15746888 -0.12970323 0.87592501] [ 0.15698289 0.9875017 -0.0140273 -0.11813615] [ 0.13029102 -0.0066289 0.99145363 0.22684745] [ 0. 0. 0. 1. ]] SLAMing on 77.18327356 meters Centerline goodness : 0.847516 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.12, Z:0.23 [[ 0.97895809 -0.15756804 -0.12966642 0.87588775] [ 0.15702198 0.98748882 -0.01448901 -0.11604726] [ 0.13032714 -0.00617634 0.99145181 0.22678181] [ 0. 0. 0. 1. ]] SLAMing on 77.21327356 meters Centerline goodness : 0.845637 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.11, Z:0.23 [[ 0.97946936 -0.1545229 -0.12946986 0.87384728] [ 0.15434167 0.98795068 -0.01149354 -0.11413017] [ 0.12968585 -0.00872502 0.99151674 0.22655665] [ 0. 0. 0. 1. ]] SLAMing on 77.24327356 meters Centerline goodness : 0.845559 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.11, Z:0.23 [[ 0.97943376 -0.15483064 -0.12937149 0.87349338] [ 0.15456062 0.98790815 -0.01218632 -0.11190399] [ 0.12969396 -0.00806004 0.99152131 0.22676198] [ 0. 0. 0. 1. ]] SLAMing on 77.27327356 meters Centerline goodness : 0.847049 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.11, Z:0.23 [[ 0.97940651 -0.15514215 -0.12920447 0.87306947] [ 0.15480569 0.98786324 -0.01270487 -0.11003241] [ 0.12960741 -0.00755836 0.99153658 0.22674144] [ 0. 0. 0. 1. ]] SLAMing on 77.30327356000001 meters Centerline goodness : 0.796953 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.11, Z:0.23 [[ 0.97935092 -0.15566648 -0.12899507 0.87257628] [ 0.15519199 0.98778816 -0.01378417 -0.10590706] [ 0.12956554 -0.00651946 0.99154943 0.22667068] [ 0. 0. 0. 1. ]] SLAMing on 77.33327356000001 meters Centerline goodness : 0.797475 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.10, Z:0.23 [[ 0.97932238 -0.15588387 -0.12894922 0.87248107] [ 0.15534309 0.98775702 -0.01430351 -0.1037999 ] [ 0.12960019 -0.00602362 0.99154804 0.22662738] [ 0. 0. 0. 1. ]] SLAMing on 77.36327356000001 meters Centerline goodness : 0.850005 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.10, Z:0.23 [[ 0.97927184 -0.15630198 -0.12882685 0.8720253 ] [ 0.15567403 0.9876947 -0.01499256 -0.10152052] [ 0.12958497 -0.00537321 0.99155376 0.2267754 ] [ 0. 0. 0. 1. ]] SLAMing on 77.39327356 meters Centerline goodness : 0.797613 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.10, Z:0.23 [[ 0.97923376 -0.15672819 -0.12859826 0.87153617] [ 0.15598026 0.98763171 -0.01593024 -0.09691485] [ 0.12950444 -0.00445936 0.99156881 0.22650645] [ 0. 0. 0. 1. ]] SLAMing on 77.42327356 meters Centerline goodness : 0.797251 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.09, Z:0.23 [[ 0.97917805 -0.15717049 -0.12848261 0.87105665] [ 0.15633363 0.98756419 -0.01663638 -0.09466014] [ 0.12949957 -0.00379618 0.99157221 0.22671366] [ 0. 0. 0. 1. ]] SLAMing on 77.45327356 meters Centerline goodness : 0.797753 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.09, Z:0.23 [[ 0.97912559 -0.15756788 -0.12839562 0.87072742] [ 0.15664233 0.98750318 -0.01733915 -0.09231767] [ 0.12952317 -0.00313499 0.99157144 0.22685472] [ 0. 0. 0. 1. ]] SLAMing on 77.48327356 meters Centerline goodness : 0.800875 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.09, Z:0.23 [[ 0.97951762 -0.1554578 -0.12797693 0.86745759] [ 0.15482839 0.98782881 -0.01491331 -0.08972393] [ 0.12873769 -0.00520662 0.99166501 0.22706867] [ 0. 0. 0. 1. ]] SLAMing on 77.51327356 meters Centerline goodness : 0.800773 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.09, Z:0.23 [[ 0.97947039 -0.15594435 -0.12774632 0.86677152] [ 0.15522015 0.98775567 -0.01566679 -0.0872931 ] [ 0.1286253 -0.00448364 0.99168313 0.22719005] [ 0. 0. 0. 1. ]] SLAMing on 77.54327356 meters Centerline goodness : 0.798855 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.08, Z:0.23 [[ 0.97941096 -0.15638921 -0.12765808 0.8664014 ] [ 0.1555641 0.98768847 -0.01647084 -0.08476417] [ 0.12866228 -0.00372729 0.99168146 0.22740781] [ 0. 0. 0. 1. ]] SLAMing on 77.57327356 meters Centerline goodness : 0.800803 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.08, Z:0.23 [[ 0.97936038 -0.15692192 -0.12739211 0.86599554] [ 0.15596598 0.98760726 -0.01750756 -0.08003829] [ 0.12856069 -0.00272262 0.99169791 0.22700486] [ 0. 0. 0. 1. ]] SLAMing on 77.60327356 meters Centerline goodness : 0.803526 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.08, Z:0.23 [[ 0.9793219 -0.15724153 -0.1272938 0.86596664] [ 0.15622041 0.98755766 -0.01802927 -0.07777451] [ 0.12854492 -0.00222943 0.99170118 0.22668072] [ 0. 0. 0. 1. ]] SLAMing on 77.63327356 meters Centerline goodness : 0.802199 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.08, Z:0.23 [[ 0.97929009 -0.15750562 -0.12721204 0.86612464] [ 0.15642189 0.98751653 -0.01852811 -0.07525642] [ 0.12854227 -0.00175435 0.99170248 0.22616912] [ 0. 0. 0. 1. ]] SLAMing on 77.66327356000001 meters Centerline goodness : 0.801308 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.07, Z:0.23 [[ 9.79244911e-01 -1.57924621e-01 -1.27040227e-01 8.66092678e-01] [ 1.56735636e-01 9.87450715e-01 -1.93655656e-02 -7.04797499e-02] [ 1.28504262e-01 -9.48099236e-04 9.91708503e-01 2.25396297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.69327356000001 meters Centerline goodness : 0.801478 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.07, Z:0.23 [[ 9.79195083e-01 -1.58380383e-01 -1.26856785e-01 8.65578922e-01] [ 1.57103149e-01 9.87378134e-01 -2.00753629e-02 -6.78524349e-02] [ 1.28435159e-01 -2.71903723e-04 9.91717871e-01 2.25426249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.72327356000001 meters Centerline goodness : 0.803350 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.07, Z:0.23 [[ 9.79124512e-01 -1.58990300e-01 -1.26638362e-01 8.64866381e-01] [ 1.57602919e-01 9.87279981e-01 -2.09656807e-02 -6.50064294e-02] [ 1.28360860e-01 5.69436308e-04 9.91727364e-01 2.25643160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75327356000001 meters Centerline goodness : 0.804951 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:0.23 [[ 0.97899305 -0.16020984 -0.12611667 0.86303819] [ 0.15863721 0.98708095 -0.02248196 -0.05991481] [ 0.12808919 0.00200289 0.99176063 0.22605532] [ 0. 0. 0. 1. ]] SLAMing on 77.78327356 meters Centerline goodness : 0.806983 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:0.23 [[ 0.97890642 -0.1609728 -0.12581726 0.86192718] [ 0.15928427 0.98695458 -0.02343437 -0.05715275] [ 0.12794822 0.00289935 0.99177661 0.22646466] [ 0. 0. 0. 1. ]] SLAMing on 77.81327356 meters Centerline goodness : 0.805776 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.05, Z:0.23 [[ 0.97881092 -0.16171342 -0.12561033 0.86090763] [ 0.15990884 0.98683051 -0.02438665 -0.05453034] [ 0.12789975 0.00378371 0.99177988 0.22696333] [ 0. 0. 0. 1. ]] SLAMing on 77.84327356 meters Centerline goodness : 0.808256 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.05, Z:0.23 [[ 0.97865797 -0.16315081 -0.12494156 0.85842395] [ 0.16114782 0.98658662 -0.02604258 -0.04970644] [ 0.12751454 0.00535272 0.99182226 0.22773345] [ 0. 0. 0. 1. ]] SLAMing on 77.87327356 meters Centerline goodness : 0.809490 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.05, Z:0.23 [[ 0.97857193 -0.16390615 -0.12462643 0.85720572] [ 0.16179351 0.98645635 -0.02695802 -0.04700226] [ 0.12735711 0.00621661 0.99183745 0.22816319] [ 0. 0. 0. 1. ]] SLAMing on 77.90327356 meters Centerline goodness : 0.808494 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.04, Z:0.23 [[ 0.97848865 -0.16446257 -0.12454725 0.85648845] [ 0.16224568 0.98635846 -0.02780868 -0.04458553] [ 0.12742172 0.00700322 0.99182391 0.22876793] [ 0. 0. 0. 1. ]] SLAMing on 77.93327356 meters Centerline goodness : 0.808589 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.04, Z:0.23 [[ 0.97842689 -0.16500456 -0.12431536 0.85574579] [ 0.16270136 0.98626285 -0.02852811 -0.04188973] [ 0.12731489 0.00768639 0.99183257 0.22881588] [ 0. 0. 0. 1. ]] SLAMing on 77.96327356 meters Centerline goodness : 0.808132 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.04, Z:0.23 [[ 0.97888105 -0.1626482 -0.12384451 0.85322026] [ 0.16071172 0.98667097 -0.02553684 -0.03935651] [ 0.1263473 0.00509426 0.99197299 0.22765141] [ 0. 0. 0. 1. ]] SLAMing on 77.99327356 meters Centerline goodness : 0.809797 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.04, Z:0.23 [[ 0.97883798 -0.16293403 -0.12380916 0.85332186] [ 0.16092758 0.98662091 -0.02610543 -0.0370378 ] [ 0.12640617 0.00562868 0.9919626 0.22742223] [ 0. 0. 0. 1. ]] SLAMing on 78.02327356 meters Centerline goodness : 0.811581 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.03, Z:0.23 [[ 0.97880802 -0.16320599 -0.12368778 0.85331344] [ 0.16114511 0.9865734 -0.02655528 -0.03483195] [ 0.12636106 0.00606084 0.9919658 0.22700536] [ 0. 0. 0. 1. ]] SLAMing on 78.05327356000001 meters Centerline goodness : 0.808348 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.03, Z:0.23 [[ 0.9787704 -0.16358909 -0.12347922 0.85323053] [ 0.16144025 0.98650536 -0.0272805 -0.03062519] [ 0.1262757 0.00676683 0.9919721 0.22626721] [ 0. 0. 0. 1. ]] SLAMing on 78.08327356000001 meters Centerline goodness : 0.808434 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.03, Z:0.23 [[ 0.97872253 -0.16389771 -0.12344937 0.85316948] [ 0.16166665 0.98644962 -0.02794702 -0.02799596] [ 0.12635704 0.00739473 0.99195727 0.22629569] [ 0. 0. 0. 1. ]] SLAMing on 78.11327356000001 meters Centerline goodness : 0.810638 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.02, Z:0.23 [[ 0.97921338 -0.16130208 -0.12297475 0.8500719 ] [ 0.15941745 0.98689265 -0.02507943 -0.02482906] [ 0.12540824 0.00495379 0.99209286 0.22592443] [ 0. 0. 0. 1. ]] SLAMing on 78.14327356 meters Centerline goodness : 0.809026 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.02, Z:0.23 [[ 0.97916002 -0.16163073 -0.12296816 0.84967785] [ 0.15965032 0.98683493 -0.02585741 -0.02210413] [ 0.12552863 0.00568664 0.9920737 0.22640061] [ 0. 0. 0. 1. ]] SLAMing on 78.17327356 meters Centerline goodness : 0.807898 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.02, Z:0.23 [[ 0.97911029 -0.16197144 -0.12291581 0.8492911 ] [ 0.15988737 0.98677411 -0.02669995 -0.01948135] [ 0.12561477 0.00648951 0.99205787 0.22688266] [ 0. 0. 0. 1. ]] SLAMing on 78.20327356 meters Centerline goodness : 0.807580 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.02, Z:0.23 [[ 0.97958882 -0.15940777 -0.12245372 0.84646501] [ 0.15767471 0.98720478 -0.02377819 -0.01710556] [ 0.12467732 0.003985 0.99218934 0.22634603] [ 0. 0. 0. 1. ]] SLAMing on 78.23327356 meters Centerline goodness : 0.807293 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.01, Z:0.23 [[ 0.97955342 -0.15965735 -0.1224117 0.84630133] [ 0.15784626 0.9871618 -0.02441586 -0.01480094] [ 0.12473833 0.00459441 0.99217904 0.22649335] [ 0. 0. 0. 1. ]] SLAMing on 78.26327356 meters Centerline goodness : 0.806175 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.01, Z:0.23 [[ 0.97953764 -0.15976481 -0.1223978 0.84639327] [ 0.15789691 0.98714224 -0.02487483 -0.01255592] [ 0.12479816 0.0050396 0.99216935 0.22635484] [ 0. 0. 0. 1. ]] SLAMing on 78.29327356 meters Centerline goodness : 0.808569 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.01, Z:0.23 [[ 0.98008105 -0.15661855 -0.12211376 0.84474235] [ 0.15515002 0.98765687 -0.02150281 -0.01036544] [ 0.12397424 0.00212854 0.99228315 0.22503788] [ 0. 0. 0. 1. ]] SLAMing on 78.32327356 meters Centerline goodness : 0.807513 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.01, Z:0.23 [[ 0.98005619 -0.15674974 -0.12214494 0.84488372] [ 0.15520892 0.98763469 -0.02208862 -0.00792396] [ 0.12409696 0.0026901 0.99226645 0.22509709] [ 0. 0. 0. 1. ]] SLAMing on 78.35327356 meters Centerline goodness : 0.806126 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.01, Z:0.23 [[ 0.98003123 -0.15686444 -0.12219796 0.84495253] [ 0.15525242 0.98761483 -0.02266339 -0.00551943] [ 0.1242396 0.0032393 0.99224696 0.22529782] [ 0. 0. 0. 1. ]] SLAMing on 78.38327356 meters Centerline goodness : 0.805091 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.00, Z:0.23 [[ 0.98000332 -0.15704724 -0.122187 0.84493193] [ 0.1553534 0.98758347 -0.02332828 -0.00320911] [ 0.1243335 0.00387962 0.9922329 0.22553434] [ 0. 0. 0. 1. ]] SLAMing on 78.41327356000001 meters Centerline goodness : 0.807062 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.00, Z:0.22 [[ 9.80510580e-01 -1.53949340e-01 -1.22059837e-01 8.43375616e-01] [ 1.52670659e-01 9.88078422e-01 -1.98167108e-02 -2.00928936e-03] [ 1.23655461e-01 7.95538853e-04 9.92324893e-01 2.24474837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.44327356000001 meters Centerline goodness : 0.804333 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.00, Z:0.22 [[ 9.80477727e-01 -1.54244590e-01 -1.21950950e-01 8.43081739e-01] [ 1.52907466e-01 9.88031890e-01 -2.03049568e-02 -3.05653462e-04] [ 1.23623358e-01 1.26134704e-03 9.92328411e-01 2.24527506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.47327356000001 meters Centerline goodness : 0.806399 Centerline is valid? [False, False] Translation: X:0.84, Y:0.00, Z:0.22 [[ 0.98044681 -0.15454018 -0.12182526 0.842791 ] [ 0.15316207 0.98798522 -0.02065382 0.00124079] [ 0.1235534 0.00159097 0.99233665 0.22439661] [ 0. 0. 0. 1. ]] SLAMing on 78.50327356000001 meters Centerline goodness : 0.801791 Centerline is valid? [False, False] Translation: X:0.84, Y:0.00, Z:0.23 [[ 0.98035992 -0.15529993 -0.12155805 0.84147574] [ 0.15377942 0.9878636 -0.02184935 0.00426179] [ 0.12347598 0.0027271 0.99234381 0.22534543] [ 0. 0. 0. 1. ]] SLAMing on 78.53327356 meters Centerline goodness : 0.804898 Centerline is valid? [False, False] Translation: X:0.84, Y:0.00, Z:0.23 [[ 9.80867469e-01 -1.52085988e-01 -1.21527200e-01 8.39541843e-01] [ 1.50985883e-01 9.88367171e-01 -1.82646876e-02 4.00609545e-03] [ 1.22891297e-01 -4.33653648e-04 9.92420043e-01 2.25187535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56327356 meters Centerline goodness : 0.807867 Centerline is valid? [False, False] Translation: X:0.84, Y:0.00, Z:0.23 [[ 0.98140114 -0.1486341 -0.12148954 0.83768396] [ 0.14796883 0.98888528 -0.01453037 0.00358337] [ 0.12229893 -0.00371655 0.99248635 0.22504727] [ 0. 0. 0. 1. ]] SLAMing on 78.59327356 meters Centerline goodness : 0.806287 Centerline is valid? [False, False] Translation: X:0.84, Y:0.00, Z:0.23 [[ 0.98193868 -0.14515362 -0.12135427 0.83542424] [ 0.14486928 0.9893873 -0.01121009 0.00473045] [ 0.12169356 -0.00657288 0.99254596 0.22535605] [ 0. 0. 0. 1. ]] SLAMing on 78.62327356 meters Centerline goodness : 0.806803 Centerline is valid? [False, False] Translation: X:0.84, Y:0.01, Z:0.23 [[ 0.98194019 -0.14481206 -0.12174943 0.83633544] [ 0.1444818 0.98943965 -0.01158363 0.00616518] [ 0.12214116 -0.00621614 0.99249327 0.22582609] [ 0. 0. 0. 1. ]] SLAMing on 78.65327356 meters Centerline goodness : 0.807497 Centerline is valid? [False, False] Translation: X:0.84, Y:0.01, Z:0.23 [[ 0.98194938 -0.14454414 -0.12199348 0.83697002] [ 0.14418702 0.98948013 -0.01179738 0.00712496] [ 0.12241536 -0.00600545 0.99246079 0.22604966] [ 0. 0. 0. 1. ]] SLAMing on 78.68327356 meters Centerline goodness : 0.807535 Centerline is valid? [False, False] Translation: X:0.84, Y:0.01, Z:0.23 [[ 0.98198988 -0.14393649 -0.12238527 0.83825077] [ 0.14357756 0.98956879 -0.01179347 0.00810816] [ 0.12280615 -0.00599071 0.9924126 0.22602291] [ 0. 0. 0. 1. ]] SLAMing on 78.71327356 meters Centerline goodness : 0.806075 Centerline is valid? [False, False] Translation: X:0.84, Y:0.01, Z:0.23 [[ 0.98255052 -0.13986396 -0.12260726 0.83763988] [ 0.13999168 0.9901234 -0.00761521 0.00672966] [ 0.12246141 -0.00968167 0.99242605 0.22552244] [ 0. 0. 0. 1. ]] SLAMing on 78.74327356 meters Centerline goodness : 0.806778 Centerline is valid? [False, False] Translation: X:0.84, Y:0.01, Z:0.23 [[ 0.98257395 -0.13938127 -0.12296867 0.83873845] [ 0.13952838 0.99018999 -0.00745703 0.00681825] [ 0.12280171 -0.00983054 0.99238254 0.2254972 ] [ 0. 0. 0. 1. ]] SLAMing on 78.77327356 meters Centerline goodness : 0.805891 Centerline is valid? [False, False] Translation: X:0.84, Y:0.01, Z:0.22 [[ 0.9825943 -0.13906728 -0.12316141 0.83965698] [ 0.13927287 0.99022944 -0.00698099 0.00551433] [ 0.12292888 -0.01029356 0.9923621 0.22495785] [ 0. 0. 0. 1. ]] SLAMing on 78.80327356000001 meters Centerline goodness : 0.805246 Centerline is valid? [False, False] Translation: X:0.84, Y:0.00, Z:0.22 [[ 0.98260502 -0.13912095 -0.1230152 0.83966552] [ 0.13935457 0.99021957 -0.00674539 0.00438331] [ 0.12275049 -0.01051467 0.99238186 0.22456327] [ 0. 0. 0. 1. ]] SLAMing on 78.83327356000001 meters Centerline goodness : 0.804505 Centerline is valid? [False, False] Translation: X:0.84, Y:0.00, Z:0.22 [[ 0.98259527 -0.13931038 -0.12287864 0.83948603] [ 0.13956185 0.99019135 -0.00660092 0.00330227] [ 0.12259295 -0.01066314 0.99239975 0.22435119] [ 0. 0. 0. 1. ]] SLAMing on 78.86327356000001 meters Centerline goodness : 0.807954 Centerline is valid? [False, False] Translation: X:0.84, Y:0.00, Z:0.23 [[ 0.9824947 -0.14037579 -0.12246962 0.83752721] [ 0.14059669 0.99004305 -0.00687986 0.00154806] [ 0.12221596 -0.0104594 0.99244842 0.22513674] [ 0. 0. 0. 1. ]] SLAMing on 78.89327356 meters Centerline goodness : 0.805203 Centerline is valid? [False, False] Translation: X:0.84, Y:0.00, Z:0.23 [[ 9.82445581e-01 -1.41017525e-01 -1.22125915e-01 8.36154063e-01] [ 1.41221506e-01 9.89953077e-01 -7.02789740e-03 5.32447813e-04] [ 1.21889982e-01 -1.03422788e-02 9.92489733e-01 2.25596523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92327356 meters Centerline goodness : 0.805203 Centerline is valid? [False, False] Translation: X:0.84, Y:0.00, Z:0.23 [[ 9.82445581e-01 -1.41017525e-01 -1.22125915e-01 8.36154063e-01] [ 1.41221506e-01 9.89953077e-01 -7.02789740e-03 5.32447813e-04] [ 1.21889982e-01 -1.03422788e-02 9.92489733e-01 2.25596523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.95327356 meters Centerline goodness : 0.804888 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.00, Z:0.23 [[ 9.82399337e-01 -1.41562000e-01 -1.21867728e-01 8.34876666e-01] [ 1.41755077e-01 9.89876094e-01 -7.12859932e-03 -6.80077156e-04] [ 1.21643089e-01 -1.02722379e-02 9.92520750e-01 2.26216417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98327356 meters Centerline goodness : 0.806084 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.00, Z:0.23 [[ 0.98234216 -0.14212332 -0.12167511 0.83375374] [ 0.14230086 0.98979672 -0.00727398 -0.00170842] [ 0.12146742 -0.01016894 0.99254333 0.22685735] [ 0. 0. 0. 1. ]] SLAMing on 79.01327356 meters Centerline goodness : 0.807697 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.00, Z:0.23 [[ 0.98230679 -0.14251811 -0.12149877 0.83291689] [ 0.14269527 0.98973985 -0.00728663 -0.00269561] [ 0.12129065 -0.0101796 0.99256484 0.22719385] [ 0. 0. 0. 1. ]] SLAMing on 79.04327356 meters Centerline goodness : 0.806604 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.01, Z:0.23 [[ 0.98225888 -0.14286848 -0.12147462 0.83264951] [ 0.14310206 0.98968427 -0.00684438 -0.00582035] [ 0.12119937 -0.01066031 0.99257094 0.22720575] [ 0. 0. 0. 1. ]] SLAMing on 79.07327356 meters Centerline goodness : 0.805586 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.01, Z:0.23 [[ 0.98226118 -0.1428632 -0.12146225 0.83296684] [ 0.14315219 0.98968006 -0.00638895 -0.00761897] [ 0.12112151 -0.01111197 0.99257549 0.22670697] [ 0. 0. 0. 1. ]] SLAMing on 79.10327356 meters Centerline goodness : 0.806532 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.01, Z:0.23 [[ 0.98224575 -0.14296439 -0.12146796 0.83318976] [ 0.14333572 0.98965759 -0.00572081 -0.01102757] [ 0.12102956 -0.01179146 0.99257887 0.22627541] [ 0. 0. 0. 1. ]] SLAMing on 79.13327356 meters Centerline goodness : 0.804220 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.01, Z:0.23 [[ 0.98224512 -0.14299396 -0.12143827 0.83313485] [ 0.1433887 0.98965101 -0.00552765 -0.01239356] [ 0.12097193 -0.01198337 0.99258359 0.22634086] [ 0. 0. 0. 1. ]] SLAMing on 79.16327356000001 meters Centerline goodness : 0.805440 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.01, Z:0.23 [[ 0.98225311 -0.14281329 -0.12158616 0.83351426] [ 0.14324828 0.98967312 -0.00520128 -0.01392736] [ 0.12107336 -0.01230803 0.99256725 0.22642584] [ 0. 0. 0. 1. ]] SLAMing on 79.19327356000001 meters Centerline goodness : 0.804327 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.02, Z:0.23 [[ 0.98224243 -0.14300008 -0.12145278 0.8324653 ] [ 0.14344506 0.98964505 -0.00511721 -0.0162707 ] [ 0.12092691 -0.01239546 0.99258402 0.22747058] [ 0. 0. 0. 1. ]] SLAMing on 79.22327356000001 meters Centerline goodness : 0.806026 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.02, Z:0.23 [[ 0.98224517 -0.14301077 -0.12141807 0.8320517 ] [ 0.14346579 0.98964248 -0.00503185 -0.01746479] [ 0.12088009 -0.01247682 0.9925887 0.22800443] [ 0. 0. 0. 1. ]] SLAMing on 79.25327356000001 meters Centerline goodness : 0.803919 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.02, Z:0.23 [[ 0.98225596 -0.14285486 -0.1215143 0.83220018] [ 0.14333093 0.98966289 -0.00485949 -0.0187511 ] [ 0.12095239 -0.0126435 0.99257779 0.2283285 ] [ 0. 0. 0. 1. ]] SLAMing on 79.28327356 meters Centerline goodness : 0.805950 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.02, Z:0.23 [[ 0.98230348 -0.14229121 -0.12179115 0.83302526] [ 0.14284497 0.98973609 -0.00421736 -0.02152903] [ 0.12114119 -0.01325452 0.99254679 0.22850203] [ 0. 0. 0. 1. ]] SLAMing on 79.31327356 meters Centerline goodness : 0.804107 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.02, Z:0.23 [[ 0.98233635 -0.14175498 -0.1221508 0.83411259] [ 0.14235782 0.98980788 -0.00382255 -0.02271458] [ 0.12144769 -0.0136341 0.99250419 0.22851497] [ 0. 0. 0. 1. ]] SLAMing on 79.34327356 meters Centerline goodness : 0.805713 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.02, Z:0.23 [[ 0.98237232 -0.14128944 -0.12240064 0.83501152] [ 0.14193768 0.98986958 -0.00345149 -0.02382748] [ 0.12164833 -0.01398262 0.99247477 0.22845059] [ 0. 0. 0. 1. ]] SLAMing on 79.37327356 meters Centerline goodness : 0.803062 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.03, Z:0.23 [[ 0.98245955 -0.14013129 -0.12303033 0.83711867] [ 0.14089146 0.99002178 -0.00254303 -0.02611659] [ 0.12215907 -0.0148355 0.99239965 0.22817918] [ 0. 0. 0. 1. ]] SLAMing on 79.40327356 meters Centerline goodness : 0.805890 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.03, Z:0.23 [[ 0.98249575 -0.13961472 -0.12332819 0.83797279] [ 0.1404287 0.99008854 -0.0021109 -0.02731826] [ 0.12240054 -0.01524486 0.99236369 0.22820446] [ 0. 0. 0. 1. ]] SLAMing on 79.43327356 meters Centerline goodness : 0.805420 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.03, Z:0.23 [[ 0.98251411 -0.13936744 -0.12346146 0.83821602] [ 0.14020352 0.99012082 -0.0019331 -0.02852947] [ 0.12251117 -0.01541043 0.99234749 0.22854712] [ 0. 0. 0. 1. ]] SLAMing on 79.46327356 meters Centerline goodness : 0.803893 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.03, Z:0.23 [[ 0.98254203 -0.13905556 -0.12359089 0.83857781] [ 0.13993687 0.99015919 -0.00156394 -0.03002819] [ 0.12259213 -0.01575828 0.99233202 0.22870568] [ 0. 0. 0. 1. ]] SLAMing on 79.49327356 meters Centerline goodness : 0.802140 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.03, Z:0.23 [[ 9.82585332e-01 -1.38523604e-01 -1.23843755e-01 8.39272918e-01] [ 1.39485434e-01 9.90223702e-01 -9.12559592e-04 -3.31743033e-02] [ 1.22759433e-01 -1.63777323e-02 9.92301311e-01 2.28969445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.52327356 meters Centerline goodness : 0.800841 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.03, Z:0.23 [[ 9.82621848e-01 -1.38216355e-01 -1.23897309e-01 8.39814359e-01] [ 1.39237148e-01 9.90258975e-01 -4.23918014e-04 -3.49189790e-02] [ 1.22749014e-01 -1.68345568e-02 9.92294955e-01 2.28659798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.55327356000001 meters Centerline goodness : 0.802010 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.04, Z:0.23 [[ 9.82652854e-01 -1.37884075e-01 -1.24021571e-01 8.40372896e-01] [ 1.38949602e-01 9.90299452e-01 -5.88634517e-05 -3.66478696e-02] [ 1.22826610e-01 -1.71749056e-02 9.92279520e-01 2.28677378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58327356000001 meters Centerline goodness : 0.799880 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.04, Z:0.23 [[ 9.82716391e-01 -1.36976156e-01 -1.24523204e-01 8.42075306e-01] [ 1.38164254e-01 9.90408907e-01 9.14463554e-04 -3.98746111e-02] [ 1.23203631e-01 -1.81033139e-02 9.92216275e-01 2.28426876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.61327356000001 meters Centerline goodness : 0.802369 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.04, Z:0.23 [[ 0.98274138 -0.13656023 -0.12478255 0.84277045] [ 0.13778449 0.99046151 0.00119295 -0.0411026 ] [ 0.12342941 -0.01836546 0.9921834 0.22864507] [ 0. 0. 0. 1. ]] SLAMing on 79.64327356 meters Centerline goodness : 0.801079 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.04, Z:0.23 [[ 0.98276017 -0.13616379 -0.12506746 0.84337019] [ 0.13741188 0.99051305 0.00136651 -0.04202885] [ 0.12369488 -0.0185287 0.9921473 0.22905396] [ 0. 0. 0. 1. ]] SLAMing on 79.67327356 meters Centerline goodness : 0.801282 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.04, Z:0.23 [[ 0.98282238 -0.13545485 -0.12534814 0.84382402] [ 0.13675523 0.99060326 0.00178767 -0.04353533] [ 0.12392812 -0.01889897 0.99211121 0.22973028] [ 0. 0. 0. 1. ]] SLAMing on 79.70327356 meters Centerline goodness : 0.803667 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.04, Z:0.23 [[ 0.98284778 -0.13508838 -0.1255443 0.84421342] [ 0.13640687 0.99065103 0.00192554 -0.04441533] [ 0.12411048 -0.01901762 0.99208615 0.23020315] [ 0. 0. 0. 1. ]] SLAMing on 79.73327356 meters Centerline goodness : 0.803094 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.05, Z:0.23 [[ 0.98290216 -0.13447403 -0.12577791 0.84468049] [ 0.13585474 0.9907258 0.00242507 -0.04672107] [ 0.12428531 -0.01947113 0.99205546 0.23077983] [ 0. 0. 0. 1. ]] SLAMing on 79.76327356 meters Centerline goodness : 0.802005 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.05, Z:0.23 [[ 0.98293265 -0.13407105 -0.12596967 0.84544463] [ 0.13551011 0.99077176 0.00288564 -0.04816355] [ 0.12442032 -0.01990656 0.9920299 0.23055457] [ 0. 0. 0. 1. ]] SLAMing on 79.79327356 meters Centerline goodness : 0.804461 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.05, Z:0.23 [[ 0.98295483 -0.13375714 -0.1261302 0.84608755] [ 0.1352406 0.99080751 0.00323333 -0.04959672] [ 0.12453827 -0.02023614 0.99200843 0.23043854] [ 0. 0. 0. 1. ]] SLAMing on 79.82327356 meters Centerline goodness : 0.799806 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.05, Z:0.23 [[ 0.98302644 -0.13288529 -0.12649315 0.84784826] [ 0.13449038 0.99090602 0.00419599 -0.05219548] [ 0.12478524 -0.02113688 0.99195861 0.22963207] [ 0. 0. 0. 1. ]] SLAMing on 79.85327356 meters Centerline goodness : 0.802381 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.05, Z:0.23 [[ 0.98304161 -0.13253177 -0.12674589 0.84872819] [ 0.1341746 0.9909476 0.00447486 -0.05318399] [ 0.12500548 -0.02140506 0.99192513 0.22952586] [ 0. 0. 0. 1. ]] SLAMing on 79.88327356 meters Centerline goodness : 0.802649 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.05, Z:0.23 [[ 0.98305728 -0.13220626 -0.12696415 0.84946634] [ 0.13388288 0.99098589 0.00472575 -0.05400655] [ 0.12519491 -0.02164401 0.99189605 0.22947607] [ 0. 0. 0. 1. ]] SLAMing on 79.91327356000001 meters Centerline goodness : 0.801274 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.06, Z:0.23 [[ 0.98309362 -0.13178195 -0.12712377 0.85002814] [ 0.13349122 0.99103747 0.00498348 -0.0550709 ] [ 0.12532769 -0.02186913 0.99187434 0.22961936] [ 0. 0. 0. 1. ]] SLAMing on 79.94327356000001 meters Centerline goodness : 0.802164 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.06, Z:0.23 [[ 0.98310244 -0.13173254 -0.1271068 0.84992281] [ 0.13343921 0.99104454 0.00496906 -0.05539561] [ 0.12531391 -0.02184613 0.99187659 0.22990252] [ 0. 0. 0. 1. ]] SLAMing on 79.97327356000001 meters Centerline goodness : 0.801765 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.06, Z:0.23 [[ 0.98309164 -0.13156627 -0.12736229 0.85030409] [ 0.13325924 0.99106946 0.00482669 -0.05550609] [ 0.12558985 -0.02171728 0.99184452 0.23045328] [ 0. 0. 0. 1. ]] SLAMing on 80.00327356000001 meters Centerline goodness : 0.801918 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.06, Z:0.23 [[ 0.98309119 -0.1313854 -0.12755233 0.85062258] [ 0.13307158 0.99109504 0.00475155 -0.05550204] [ 0.1257922 -0.0216448 0.99182046 0.23083967] [ 0. 0. 0. 1. ]] SLAMing on 80.03327356 meters Centerline goodness : 0.802539 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.06, Z:0.23 [[ 0.98309852 -0.13103679 -0.12785405 0.85108337] [ 0.13270421 0.99114513 0.00457426 -0.05506081] [ 0.12612252 -0.02146372 0.99178245 0.23150999] [ 0. 0. 0. 1. ]] SLAMing on 80.06327356 meters Centerline goodness : 0.802060 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.05, Z:0.23 [[ 0.9831041 -0.13094126 -0.12790902 0.85118829] [ 0.13258717 0.99116157 0.00440189 -0.05472976] [ 0.12620212 -0.02128661 0.99177614 0.23178567] [ 0. 0. 0. 1. ]] SLAMing on 80.09327356 meters Centerline goodness : 0.802704 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.05, Z:0.23 [[ 0.98311219 -0.13080437 -0.12798688 0.85129521] [ 0.13242826 0.99118359 0.0042246 -0.05463144] [ 0.1263059 -0.02110234 0.99176686 0.23222448] [ 0. 0. 0. 1. ]] SLAMing on 80.12327356 meters Centerline goodness : 0.803059 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.05, Z:0.23 [[ 0.98310849 -0.13081803 -0.12800136 0.85141362] [ 0.13242987 0.99118379 0.00412664 -0.05455847] [ 0.12633304 -0.02100814 0.99176541 0.23223708] [ 0. 0. 0. 1. ]] SLAMing on 80.15327356 meters Centerline goodness : 0.801508 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.05, Z:0.23 [[ 0.98310412 -0.13084944 -0.12800279 0.8513618 ] [ 0.13244967 0.99118153 0.00403327 -0.05461982] [ 0.12634624 -0.02091905 0.99176561 0.23239764] [ 0. 0. 0. 1. ]] SLAMing on 80.18327356 meters Centerline goodness : 0.802318 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.05, Z:0.23 [[ 0.98308528 -0.13114916 -0.12784067 0.85083666] [ 0.13271732 0.99114669 0.00378905 -0.05439183] [ 0.12621192 -0.02069163 0.99178748 0.232582 ] [ 0. 0. 0. 1. ]] SLAMing on 80.21327356 meters Centerline goodness : 0.801787 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.05, Z:0.23 [[ 0.98304728 -0.13153476 -0.12773663 0.85018154] [ 0.13305748 0.99110241 0.00342403 -0.05426669] [ 0.1261497 -0.02036229 0.99180221 0.233111 ] [ 0. 0. 0. 1. ]] SLAMing on 80.24327356 meters Centerline goodness : 0.802477 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.05, Z:0.23 [[ 0.98301055 -0.13194431 -0.12759684 0.84958541] [ 0.13342521 0.99105406 0.00309128 -0.05411092] [ 0.12604749 -0.0200634 0.9918213 0.23341562] [ 0. 0. 0. 1. ]] SLAMing on 80.27327356 meters Centerline goodness : 0.802404 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.05, Z:0.23 [[ 0.98296483 -0.13252991 -0.12734194 0.84853706] [ 0.13396743 0.99098191 0.00275265 -0.05459722] [ 0.12582875 -0.01976543 0.99185506 0.23392883] [ 0. 0. 0. 1. ]] SLAMing on 80.30327356000001 meters Centerline goodness : 0.804807 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.05, Z:0.23 [[ 0.98292548 -0.13292404 -0.12723482 0.84804496] [ 0.13432883 0.99093369 0.0024861 -0.05484657] [ 0.12575081 -0.01953495 0.99186951 0.23424512] [ 0. 0. 0. 1. ]] SLAMing on 80.33327356000001 meters Centerline goodness : 0.803870 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.06, Z:0.23 [[ 0.98289644 -0.13325849 -0.12710927 0.8474808 ] [ 0.13464429 0.99089125 0.00233436 -0.05515448] [ 0.12564039 -0.01940897 0.99188597 0.23452015] [ 0. 0. 0. 1. ]] SLAMing on 80.36327356000001 meters Centerline goodness : 0.803653 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.06, Z:0.23 [[ 0.9828739 -0.1335433 -0.12698457 0.84716418] [ 0.13491568 0.99085457 0.00222955 -0.05546277] [ 0.1255255 -0.01932357 0.99190219 0.2345553 ] [ 0. 0. 0. 1. ]] SLAMing on 80.39327356 meters Centerline goodness : 0.804817 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.06, Z:0.23 [[ 0.98280583 -0.1341748 -0.1268457 0.84631009] [ 0.13552189 0.99077231 0.00201051 -0.05620464] [ 0.12540544 -0.01916631 0.99192042 0.23499405] [ 0. 0. 0. 1. ]] SLAMing on 80.42327356 meters Centerline goodness : 0.804266 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.06, Z:0.24 [[ 0.98277573 -0.13450889 -0.12672498 0.84584852] [ 0.13583549 0.99072969 0.00184553 -0.05648855] [ 0.12530196 -0.01902749 0.99193617 0.23516956] [ 0. 0. 0. 1. ]] SLAMing on 80.45327356 meters Centerline goodness : 0.803054 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.06, Z:0.24 [[ 0.98274174 -0.13485949 -0.12661594 0.84541764] [ 0.13616174 0.99068525 0.00164687 -0.05655665] [ 0.12521445 -0.0188587 0.99195045 0.23530863] [ 0. 0. 0. 1. ]] SLAMing on 80.48327356 meters Centerline goodness : 0.802224 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.06, Z:0.24 [[ 0.98267071 -0.13572236 -0.1262447 0.84410347] [ 0.13698506 0.99057222 0.00133401 -0.05743145] [ 0.12487344 -0.01860453 0.99199823 0.23565319] [ 0. 0. 0. 1. ]] SLAMing on 80.51327356 meters Centerline goodness : 0.803763 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.06, Z:0.24 [[ 0.98263923 -0.13628791 -0.12587988 0.84304032] [ 0.137524 0.99049778 0.0011408 -0.0580757 ] [ 0.12452826 -0.0184325 0.99204484 0.23584838] [ 0. 0. 0. 1. ]] SLAMing on 80.54327356 meters Centerline goodness : 0.803991 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.06, Z:0.24 [[ 9.82506728e-01 -1.37580365e-01 -1.25507660e-01 8.41613394e-01] [ 1.38785165e-01 9.90322135e-01 8.64314416e-04 -5.95779897e-02] [ 1.24174101e-01 -1.82677961e-02 9.92092274e-01 2.35979593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.57327356 meters Centerline goodness : 0.803679 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.06, Z:0.24 [[ 9.82458536e-01 -1.38207084e-01 -1.25195954e-01 8.40621554e-01] [ 1.39398143e-01 9.90236123e-01 7.60796288e-04 -6.05658258e-02] [ 1.23868408e-01 -1.81995342e-02 9.92131742e-01 2.36132707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60327356 meters Centerline goodness : 0.803601 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.06, Z:0.24 [[ 9.82409818e-01 -1.38764988e-01 -1.24960901e-01 8.39670453e-01] [ 1.39940985e-01 9.90159639e-01 6.39461453e-04 -6.14992041e-02] [ 1.23642506e-01 -1.81153649e-02 9.92161461e-01 2.36446741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.63327356 meters Centerline goodness : 0.804063 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.06, Z:0.24 [[ 9.82338910e-01 -1.39465863e-01 -1.24737882e-01 8.38565973e-01] [ 1.40605846e-01 9.90065594e-01 3.38638710e-04 -6.21123621e-02] [ 1.23451457e-01 -1.78715334e-02 9.92189672e-01 2.36976173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.66327356000001 meters Centerline goodness : 0.803968 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.06, Z:0.24 [[ 9.82230097e-01 -1.40508509e-01 -1.24424255e-01 8.37033229e-01] [ 1.41599942e-01 9.89923962e-01 -7.24574599e-05 -6.31200221e-02] [ 1.23180732e-01 -1.75472974e-02 9.92229106e-01 2.37663189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.69327356000001 meters Centerline goodness : 0.801823 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.06, Z:0.24 [[ 9.82191934e-01 -1.40955841e-01 -1.24219386e-01 8.36448839e-01] [ 1.42031487e-01 9.89862120e-01 -1.98573315e-04 -6.34824791e-02] [ 1.22988055e-01 -1.74480270e-02 9.92254758e-01 2.37680526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72327356000001 meters Centerline goodness : 0.804753 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.06, Z:0.24 [[ 9.82165784e-01 -1.41186411e-01 -1.24164286e-01 8.36305455e-01] [ 1.42257903e-01 9.89829598e-01 -2.38751511e-04 -6.39386436e-02] [ 1.22935193e-01 -1.74288573e-02 9.92261646e-01 2.37698047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.75327356000001 meters Centerline goodness : 0.804660 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.06, Z:0.24 [[ 9.82138281e-01 -1.41493299e-01 -1.24032424e-01 8.36175960e-01] [ 1.42573783e-01 9.89784163e-01 -1.66544818e-04 -6.47707304e-02] [ 1.22788894e-01 -1.75202019e-02 9.92278152e-01 2.37374096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78327356 meters Centerline goodness : 0.802431 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.06, Z:0.24 [[ 9.82120027e-01 -1.41657732e-01 -1.23989268e-01 8.36073709e-01] [ 1.42717598e-01 9.89763393e-01 -3.37335613e-04 -6.47084784e-02] [ 1.22767825e-01 -1.73641465e-02 9.92283502e-01 2.37459202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.81327356 meters Centerline goodness : 0.802431 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.06, Z:0.24 [[ 9.82120027e-01 -1.41657732e-01 -1.23989268e-01 8.36073709e-01] [ 1.42717598e-01 9.89763393e-01 -3.37335613e-04 -6.47084784e-02] [ 1.22767825e-01 -1.73641465e-02 9.92283502e-01 2.37459202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84327356 meters Centerline goodness : 0.802468 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.06, Z:0.24 [[ 9.82115948e-01 -1.41644671e-01 -1.24036494e-01 8.36155045e-01] [ 1.42670644e-01 9.89770027e-01 -6.17041169e-04 -6.40742266e-02] [ 1.22855004e-01 -1.70903604e-02 9.92277465e-01 2.37742676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.87327356 meters Centerline goodness : 0.802498 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.06, Z:0.24 [[ 9.82101280e-01 -1.41688432e-01 -1.24102634e-01 8.36110966e-01] [ 1.42678952e-01 9.89768599e-01 -9.15202460e-04 -6.34217239e-02] [ 1.22962564e-01 -1.68080124e-02 9.92268965e-01 2.38112030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90327356 meters Centerline goodness : 0.804348 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.06, Z:0.24 [[ 0.982093 -0.1418117 -0.12402735 0.83575162] [ 0.14276957 0.98975526 -0.00117617 -0.06278315] [ 0.12292352 -0.01655222 0.9922781 0.23838851] [ 0. 0. 0. 1. ]] SLAMing on 80.93327356 meters Centerline goodness : 0.802380 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.06, Z:0.24 [[ 0.98206988 -0.14199485 -0.12400083 0.83500818] [ 0.14287677 0.98973885 -0.00179718 -0.06175203] [ 0.12298363 -0.01595188 0.99228049 0.23949751] [ 0. 0. 0. 1. ]] SLAMing on 80.96327356 meters Centerline goodness : 0.805211 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.06, Z:0.24 [[ 0.98204709 -0.14219842 -0.12394805 0.83458035] [ 0.14303826 0.98971484 -0.00214263 -0.06122425] [ 0.1229779 -0.01562515 0.9922864 0.23995889] [ 0. 0. 0. 1. ]] SLAMing on 80.99327356 meters Centerline goodness : 0.806109 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.06, Z:0.24 [[ 0.98202418 -0.14236241 -0.12394131 0.83431487] [ 0.14316557 0.98969572 -0.00244811 -0.0605151 ] [ 0.1230127 -0.01534002 0.99228653 0.24029751] [ 0. 0. 0. 1. ]] SLAMing on 81.02327356 meters Centerline goodness : 0.805008 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.06, Z:0.24 [[ 0.98201371 -0.14219382 -0.12421749 0.83493112] [ 0.14298595 0.98972141 -0.00256085 -0.06016675] [ 0.12330484 -0.01524657 0.99225171 0.24050598] [ 0. 0. 0. 1. ]] SLAMing on 81.05327356000001 meters Centerline goodness : 0.804279 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.06, Z:0.24 [[ 0.98204024 -0.14163739 -0.12464273 0.83636961] [ 0.14242634 0.98980198 -0.00260398 -0.05898182] [ 0.12374044 -0.01519519 0.99219827 0.24026757] [ 0. 0. 0. 1. ]] SLAMing on 81.08327356000001 meters Centerline goodness : 0.804200 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.06, Z:0.24 [[ 0.9820389 -0.14146713 -0.12484653 0.83704279] [ 0.14224654 0.98982759 -0.00269479 -0.05814595] [ 0.12395776 -0.0151126 0.99217241 0.2400911 ] [ 0. 0. 0. 1. ]] SLAMing on 81.11327356000001 meters Centerline goodness : 0.807525 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.06, Z:0.24 [[ 0.98207315 -0.14093376 -0.12517985 0.83836711] [ 0.1416936 0.98990644 -0.00285797 -0.05646962] [ 0.12431913 -0.01493045 0.99212995 0.23980071] [ 0. 0. 0. 1. ]] SLAMing on 81.14327356 meters Centerline goodness : 0.806586 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.06, Z:0.24 [[ 0.98207475 -0.14070072 -0.12542923 0.83912356] [ 0.1414396 0.98994222 -0.00304015 -0.05558903] [ 0.12459544 -0.01475501 0.99209791 0.23984778] [ 0. 0. 0. 1. ]] SLAMing on 81.17327356 meters Centerline goodness : 0.805674 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.05, Z:0.24 [[ 0.982058 -0.14077687 -0.12547497 0.83916409] [ 0.14146949 0.98993671 -0.0034186 -0.05451638] [ 0.12469354 -0.01439362 0.9920909 0.24007573] [ 0. 0. 0. 1. ]] SLAMing on 81.20327356 meters Centerline goodness : 0.805332 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.05, Z:0.24 [[ 0.98206804 -0.1406866 -0.12549761 0.83922935] [ 0.14132354 0.98995594 -0.00385824 -0.05278279] [ 0.1247799 -0.01394672 0.99208642 0.24033007] [ 0. 0. 0. 1. ]] SLAMing on 81.23327356 meters Centerline goodness : 0.805191 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.05, Z:0.24 [[ 0.98203016 -0.14101419 -0.1254263 0.83870906] [ 0.1415908 0.98991571 -0.00435095 -0.05158565] [ 0.12477501 -0.01348644 0.9920934 0.24073584] [ 0. 0. 0. 1. ]] SLAMing on 81.26327356 meters Centerline goodness : 0.808776 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.05, Z:0.24 [[ 0.98197896 -0.14154133 -0.12523328 0.83756878] [ 0.14201385 0.98985105 -0.00519205 -0.04978588] [ 0.12469718 -0.01268638 0.99211374 0.241685 ] [ 0. 0. 0. 1. ]] SLAMing on 81.29327356 meters Centerline goodness : 0.806708 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.05, Z:0.24 [[ 0.98194562 -0.14195771 -0.12502323 0.8368325 ] [ 0.14238563 0.98979569 -0.00555245 -0.04891049] [ 0.12453566 -0.01234931 0.99213828 0.24189857] [ 0. 0. 0. 1. ]] SLAMing on 81.32327356 meters Centerline goodness : 0.806122 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.05, Z:0.24 [[ 0.98191212 -0.14236725 -0.12482047 0.83609729] [ 0.14275379 0.98974072 -0.00588831 -0.04828526] [ 0.12437821 -0.0120368 0.99216187 0.24213318] [ 0. 0. 0. 1. ]] SLAMing on 81.35327356 meters Centerline goodness : 0.807874 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.05, Z:0.24 [[ 0.9818679 -0.14283095 -0.12463847 0.83547112] [ 0.1431709 0.98967811 -0.00627213 -0.04779525] [ 0.12424782 -0.0116862 0.9921824 0.24234506] [ 0. 0. 0. 1. ]] SLAMing on 81.38327356 meters Centerline goodness : 0.808914 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.05, Z:0.24 [[ 0.9818099 -0.14347601 -0.12435418 0.8343943 ] [ 0.1437679 0.98958895 -0.00667065 -0.04754311] [ 0.1240166 -0.01132882 0.99221547 0.24269866] [ 0. 0. 0. 1. ]] SLAMing on 81.41327356000001 meters Centerline goodness : 0.805410 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.05, Z:0.24 [[ 0.98166772 -0.14496923 -0.12374335 0.83221618] [ 0.14517207 0.98937857 -0.00742435 -0.04740861] [ 0.12350532 -0.01067584 0.99228648 0.24314149] [ 0. 0. 0. 1. ]] SLAMing on 81.44327356000001 meters Centerline goodness : 0.803552 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.05, Z:0.24 [[ 0.98159283 -0.14569589 -0.1234837 0.83132405] [ 0.14586014 0.9892748 -0.00775811 -0.0473948 ] [ 0.12328964 -0.01039604 0.99231627 0.24322634] [ 0. 0. 0. 1. ]] SLAMing on 81.47327356000001 meters Centerline goodness : 0.806899 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.05, Z:0.24 [[ 0.98152991 -0.1463208 -0.12324474 0.83052642] [ 0.14645174 0.9891851 -0.0080457 -0.04738336] [ 0.12308911 -0.01015232 0.99234369 0.24334652] [ 0. 0. 0. 1. ]] SLAMing on 81.50327356000001 meters Centerline goodness : 0.807005 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.05, Z:0.24 [[ 0.98143901 -0.14720063 -0.12292051 0.82969272] [ 0.14729649 0.98905707 -0.00835742 -0.04713393] [ 0.12280562 -0.00990346 0.99238133 0.24298863] [ 0. 0. 0. 1. ]] SLAMing on 81.53327356 meters Centerline goodness : 0.806718 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.05, Z:0.24 [[ 0.98140734 -0.14737956 -0.12295891 0.82976516] [ 0.14745154 0.9890322 -0.00856465 -0.04663031] [ 0.12287257 -0.00972507 0.9923748 0.243008 ] [ 0. 0. 0. 1. ]] SLAMing on 81.56327356 meters Centerline goodness : 0.806172 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.04, Z:0.24 [[ 0.98139736 -0.14742724 -0.12298144 0.82970618] [ 0.14743164 0.98903025 -0.00911502 -0.04478836] [ 0.12297617 -0.0091859 0.99236711 0.24336084] [ 0. 0. 0. 1. ]] SLAMing on 81.59327356 meters Centerline goodness : 0.806650 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.04, Z:0.24 [[ 0.9813881 -0.14735347 -0.12314365 0.82991592] [ 0.14731218 0.98904451 -0.00949068 -0.04347377] [ 0.12319304 -0.00882652 0.99234347 0.24376229] [ 0. 0. 0. 1. ]] SLAMing on 81.62327356 meters Centerline goodness : 0.812597 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.04, Z:0.24 [[ 0.98138345 -0.14728974 -0.12325688 0.82990036] [ 0.14718209 0.98905857 -0.01002879 -0.04186838] [ 0.12338541 -0.00829912 0.99232412 0.24442657] [ 0. 0. 0. 1. ]] SLAMing on 81.65327356 meters Centerline goodness : 0.809482 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.04, Z:0.24 [[ 0.9819274 -0.14372791 -0.12312945 0.82775028] [ 0.14399915 0.98955485 -0.00674038 -0.04079567] [ 0.12281213 -0.01111197 0.99236773 0.24484164] [ 0. 0. 0. 1. ]] SLAMing on 81.68327356 meters Centerline goodness : 0.809833 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.04, Z:0.25 [[ 0.98192639 -0.14352494 -0.12337404 0.82806633] [ 0.14373168 0.98958999 -0.00726989 -0.03898128] [ 0.12313313 -0.01059426 0.99233361 0.24549942] [ 0. 0. 0. 1. ]] SLAMing on 81.71327356 meters Centerline goodness : 0.806666 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.04, Z:0.25 [[ 0.98193719 -0.14328156 -0.1235708 0.82863561] [ 0.14343411 0.98962986 -0.00770754 -0.03719773] [ 0.1233937 -0.01015594 0.99230583 0.2457689 ] [ 0. 0. 0. 1. ]] SLAMing on 81.74327356 meters Centerline goodness : 0.811443 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.04, Z:0.25 [[ 0.98248907 -0.13915577 -0.12389877 0.82848437] [ 0.13974461 0.99017963 -0.00396822 -0.03663245] [ 0.12323424 -0.01341546 0.99228693 0.24521657] [ 0. 0. 0. 1. ]] SLAMing on 81.77327356 meters Centerline goodness : 0.809960 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.04, Z:0.25 [[ 0.9825017 -0.13880581 -0.12419078 0.82949675] [ 0.13936998 0.99023157 -0.00417628 -0.03526456] [ 0.12355732 -0.01320526 0.99224957 0.24510973] [ 0. 0. 0. 1. ]] SLAMing on 81.80327356000001 meters Centerline goodness : 0.805975 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.03, Z:0.25 [[ 0.98250529 -0.13848007 -0.12452559 0.8305534 ] [ 0.13901239 0.99028066 -0.00444669 -0.03379059] [ 0.12393106 -0.0129417 0.99220643 0.24504564] [ 0. 0. 0. 1. ]] SLAMing on 81.83327356000001 meters Centerline goodness : 0.808034 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.03, Z:0.24 [[ 0.98252826 -0.13810481 -0.1247609 0.83147139] [ 0.13860831 0.99033623 -0.00467787 -0.03225898] [ 0.12420127 -0.01269676 0.99217581 0.24493726] [ 0. 0. 0. 1. ]] SLAMing on 81.86327356000001 meters Centerline goodness : 0.808913 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.03, Z:0.24 [[ 9.83073448e-01 -1.33837016e-01 -1.25116941e-01 8.31587988e-01] [ 1.34795503e-01 9.90873106e-01 -8.12191878e-04 -3.15230487e-02] [ 1.24083713e-01 -1.60667568e-02 9.92141669e-01 2.44169423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.89327356 meters Centerline goodness : 0.808315 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.03, Z:0.24 [[ 0.98305676 -0.13369214 -0.12540263 0.83206073] [ 0.13458658 0.99090092 -0.00135101 -0.02952984] [ 0.1244422 -0.01554939 0.99210501 0.24469827] [ 0. 0. 0. 1. ]] SLAMing on 81.92327356 meters Centerline goodness : 0.809147 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.03, Z:0.25 [[ 0.98304112 -0.13362644 -0.12559507 0.83226584] [ 0.13444757 0.99091878 -0.00195438 -0.02752076] [ 0.12471567 -0.01496472 0.99207966 0.24531971] [ 0. 0. 0. 1. ]] SLAMing on 81.95327356 meters Centerline goodness : 0.810024 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.03, Z:0.25 [[ 0.9835317 -0.12995403 -0.12560794 0.83066642] [ 0.13118329 0.99135695 0.00152934 -0.02735845] [ 0.12432356 -0.01798182 0.99207878 0.24559684] [ 0. 0. 0. 1. ]] SLAMing on 81.98327356 meters Centerline goodness : 0.810496 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.03, Z:0.25 [[ 9.83504453e-01 -1.30064840e-01 -1.25706516e-01 8.30499938e-01] [ 1.31221656e-01 9.91352617e-01 9.30452290e-04 -2.62166946e-02] [ 1.24498464e-01 -1.74105212e-02 9.92067037e-01 2.46397068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.01327356 meters Centerline goodness : 0.806856 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.03, Z:0.25 [[ 9.83491104e-01 -1.30174654e-01 -1.25697289e-01 8.30141473e-01] [ 1.31280149e-01 9.91345175e-01 5.15873622e-04 -2.55714503e-02] [ 1.24542247e-01 -1.70089159e-02 9.92068508e-01 2.47082783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04327356 meters Centerline goodness : 0.808933 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.02, Z:0.25 [[ 9.83456533e-01 -1.30636166e-01 -1.25488800e-01 8.28904289e-01] [ 1.31649340e-01 9.91296324e-01 -2.21112297e-04 -2.45710443e-02] [ 1.24425472e-01 -1.63030634e-02 9.92095012e-01 2.48226166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.07327356 meters Centerline goodness : 0.808056 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.02, Z:0.25 [[ 9.83433490e-01 -1.30780282e-01 -1.25519276e-01 8.28692913e-01] [ 1.31768938e-01 9.91280365e-01 -4.29727453e-04 -2.45426156e-02] [ 1.24480994e-01 -1.61169334e-02 9.92091088e-01 2.48642698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10327356 meters Centerline goodness : 0.809526 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.03, Z:0.25 [[ 9.83413305e-01 -1.30805008e-01 -1.25651586e-01 8.29266549e-01] [ 1.31807020e-01 9.91275336e-01 -3.42221956e-04 -2.53100995e-02] [ 1.24600082e-01 -1.62252155e-02 9.92074373e-01 2.48452540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.13327356 meters Centerline goodness : 0.811283 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.03, Z:0.25 [[ 9.83405839e-01 -1.30876287e-01 -1.25635796e-01 8.29595225e-01] [ 1.31900475e-01 9.91262950e-01 -1.68084782e-04 -2.60045654e-02] [ 1.24560108e-01 -1.64061256e-02 9.92076418e-01 2.48008239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.16327356000001 meters Centerline goodness : 0.813426 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.03, Z:0.25 [[ 9.83394231e-01 -1.30939740e-01 -1.25660538e-01 8.29949188e-01] [ 1.31987811e-01 9.91251339e-01 1.47978983e-05 -2.67188977e-02] [ 1.24559239e-01 -1.66002115e-02 9.92073298e-01 2.47614806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.19327356000001 meters Centerline goodness : 0.809584 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.03, Z:0.25 [[ 9.83389641e-01 -1.30981623e-01 -1.25652808e-01 8.30260859e-01] [ 1.32048860e-01 9.91243195e-01 1.65839373e-04 -2.75296571e-02] [ 1.24530769e-01 -1.67553948e-02 9.92074263e-01 2.47313228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.22327356000001 meters Centerline goodness : 0.810879 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.03, Z:0.25 [[ 9.83372731e-01 -1.31128595e-01 -1.25631857e-01 8.30472832e-01] [ 1.32211996e-01 9.91221421e-01 2.88137695e-04 -2.86092397e-02] [ 1.24491204e-01 -1.68933852e-02 9.92076889e-01 2.47091361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.25327356000001 meters Centerline goodness : 0.811689 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.03, Z:0.25 [[ 9.83364882e-01 -1.31216913e-01 -1.25601079e-01 8.30397332e-01] [ 1.32296440e-01 9.91210163e-01 2.55850098e-04 -2.88813583e-02] [ 1.24463494e-01 -1.68681696e-02 9.92080795e-01 2.47157424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28327356 meters Centerline goodness : 0.810196 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.03, Z:0.25 [[ 9.83354460e-01 -1.31293004e-01 -1.25603155e-01 8.30215742e-01] [ 1.32346194e-01 9.91203553e-01 4.08320563e-05 -2.88090241e-02] [ 1.24492933e-01 -1.66632520e-02 9.92080564e-01 2.47601258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.31327356 meters Centerline goodness : 0.812921 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.03, Z:0.25 [[ 9.83336192e-01 -1.31431904e-01 -1.25600905e-01 8.29384742e-01] [ 1.32413220e-01 9.91194455e-01 -5.40300991e-04 -2.82905733e-02] [ 1.24565933e-01 -1.60999227e-02 9.92080703e-01 2.48974346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34327356 meters Centerline goodness : 0.812638 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.03, Z:0.25 [[ 9.83314888e-01 -1.31578922e-01 -1.25613764e-01 8.28898946e-01] [ 1.32520169e-01 9.91179927e-01 -8.70372492e-04 -2.81232115e-02] [ 1.24620364e-01 -1.57905070e-02 9.92078840e-01 2.49766178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.37327356 meters Centerline goodness : 0.812340 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.03, Z:0.25 [[ 0.9833137 -0.13161519 -0.12558508 0.82861732] [ 0.13253402 0.9911779 -0.00104754 -0.02813911] [ 0.12461503 -0.01561424 0.9920823 0.25020273] [ 0. 0. 0. 1. ]] SLAMing on 82.40327356 meters Centerline goodness : 0.814624 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.03, Z:0.25 [[ 0.9833082 -0.13162767 -0.12561502 0.82841051] [ 0.13253171 0.99117808 -0.00116981 -0.02833869] [ 0.12466083 -0.01549769 0.99207837 0.25069171] [ 0. 0. 0. 1. ]] SLAMing on 82.43327356 meters Centerline goodness : 0.814636 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.03, Z:0.25 [[ 0.98332339 -0.13125855 -0.12588209 0.82902623] [ 0.13216887 0.99122657 -0.00112978 -0.02901206] [ 0.12492596 -0.01552675 0.99204457 0.25112089] [ 0. 0. 0. 1. ]] SLAMing on 82.46327356 meters Centerline goodness : 0.814680 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.03, Z:0.25 [[ 9.83352108e-01 -1.30849885e-01 -1.26083061e-01 8.29907492e-01] [ 1.31791091e-01 9.91277119e-01 -8.83939741e-04 -2.94493277e-02] [ 1.25098917e-01 -1.57474002e-02 9.92019294e-01 2.50897426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.49327356 meters Centerline goodness : 0.813456 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.03, Z:0.25 [[ 9.83384740e-01 -1.30255208e-01 -1.26443794e-01 8.30998190e-01] [ 1.31253440e-01 9.91348748e-01 -4.40565594e-04 -3.04934409e-02] [ 1.25407283e-01 -1.61629375e-02 9.91973675e-01 2.50813763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.52327356 meters Centerline goodness : 0.815903 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.03, Z:0.25 [[ 9.83406368e-01 -1.30126825e-01 -1.26407772e-01 8.31102153e-01] [ 1.31148989e-01 9.91362641e-01 -2.38289522e-04 -3.11368180e-02] [ 1.25346951e-01 -1.63439161e-02 9.91978336e-01 2.50697720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.55327356000001 meters Centerline goodness : 0.811320 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.03, Z:0.25 [[ 9.83411867e-01 -1.29901282e-01 -1.26596831e-01 8.31603987e-01] [ 1.30942440e-01 9.91389968e-01 -9.85690249e-05 -3.19121268e-02] [ 1.25519632e-01 -1.64799640e-02 9.91954249e-01 2.50853939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58327356000001 meters Centerline goodness : 0.812136 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.03, Z:0.25 [[ 9.83437016e-01 -1.29524858e-01 -1.26787015e-01 8.32183591e-01] [ 1.30640322e-01 9.91429710e-01 4.86923628e-04 -3.39976009e-02] [ 1.25637344e-01 -1.70423551e-02 9.91929844e-01 2.50800683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.61327356000001 meters Centerline goodness : 0.811077 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.04, Z:0.25 [[ 9.83453828e-01 -1.29410184e-01 -1.26773702e-01 8.32326579e-01] [ 1.30553360e-01 9.91441027e-01 7.14942306e-04 -3.52579329e-02] [ 1.25596129e-01 -1.72538455e-02 9.91931408e-01 2.50783845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64327356 meters Centerline goodness : 0.811854 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.04, Z:0.25 [[ 9.83448218e-01 -1.29491804e-01 -1.26733878e-01 8.32065677e-01] [ 1.30654096e-01 9.91427636e-01 8.66262080e-04 -3.67387682e-02] [ 1.25535295e-01 -1.74102242e-02 9.91936376e-01 2.51069254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.67327356 meters Centerline goodness : 0.812257 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.04, Z:0.25 [[ 0.9834531 -0.12948078 -0.12670726 0.83196961] [ 0.13068214 0.99142362 0.00117952 -0.03847902] [ 0.12546784 -0.01771837 0.99193945 0.25119341] [ 0. 0. 0. 1. ]] SLAMing on 82.70327356 meters Centerline goodness : 0.810032 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.04, Z:0.25 [[ 0.98340967 -0.13000334 -0.12650908 0.83084144] [ 0.13122529 0.99135167 0.00133743 -0.04199454] [ 0.12524111 -0.01791643 0.99196455 0.25208636] [ 0. 0. 0. 1. ]] SLAMing on 82.73327356 meters Centerline goodness : 0.810032 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.04, Z:0.25 [[ 0.98340967 -0.13000334 -0.12650908 0.83084144] [ 0.13122529 0.99135167 0.00133743 -0.04199454] [ 0.12524111 -0.01791643 0.99196455 0.25208636] [ 0. 0. 0. 1. ]] SLAMing on 82.76327356 meters Centerline goodness : 0.812058 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.04, Z:0.25 [[ 0.98339389 -0.13021989 -0.12640903 0.83028992] [ 0.13145668 0.99132085 0.00145564 -0.04382458] [ 0.12512236 -0.01804878 0.99197714 0.25257549] [ 0. 0. 0. 1. ]] SLAMing on 82.79327356 meters Centerline goodness : 0.811051 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.05, Z:0.25 [[ 0.98334041 -0.13085548 -0.12616847 0.8290585 ] [ 0.13211681 0.99123279 0.00164504 -0.04743051] [ 0.12484706 -0.01828661 0.99200746 0.25335384] [ 0. 0. 0. 1. ]] SLAMing on 82.82327356 meters Centerline goodness : 0.809424 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.05, Z:0.25 [[ 0.98332114 -0.13114914 -0.12601368 0.8284171 ] [ 0.13242634 0.99119126 0.00177544 -0.0493802 ] [ 0.12467081 -0.01843336 0.99202692 0.25372836] [ 0. 0. 0. 1. ]] SLAMing on 82.85327356 meters Centerline goodness : 0.811631 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.05, Z:0.25 [[ 0.98331132 -0.13139277 -0.12583636 0.82784469] [ 0.13269606 0.99115477 0.00199439 -0.05155452] [ 0.12446126 -0.01865909 0.99204901 0.25398182] [ 0. 0. 0. 1. ]] SLAMing on 82.88327356 meters Centerline goodness : 0.812352 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.05, Z:0.25 [[ 0.98282584 -0.13502471 -0.12578433 0.82911642] [ 0.13594688 0.99071532 -0.0012636 -0.05395604] [ 0.12478708 -0.01585808 0.99205681 0.25428063] [ 0. 0. 0. 1. ]] SLAMing on 82.91327356000001 meters Centerline goodness : 0.811966 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.06, Z:0.25 [[ 9.82807928e-01 -1.35081488e-01 -1.25863289e-01 8.29185742e-01] [ 1.36067320e-01 9.90699293e-01 -7.71430164e-04 -5.67028562e-02] [ 1.24796877e-01 -1.63677126e-02 9.92047296e-01 2.54405097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.94327356000001 meters Centerline goodness : 0.811606 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.06, Z:0.26 [[ 0.98228586 -0.13883749 -0.12585168 0.83029973] [ 0.13944205 0.99022201 -0.00403634 -0.05958484] [ 0.1251815 -0.01358417 0.99204086 0.25500717] [ 0. 0. 0. 1. ]] SLAMing on 82.97327356000001 meters Centerline goodness : 0.813471 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.06, Z:0.26 [[ 0.98225559 -0.1392444 -0.12563817 0.82956106] [ 0.13989048 0.99016003 -0.00370927 -0.06248924] [ 0.12491839 -0.01393214 0.9920692 0.25525536] [ 0. 0. 0. 1. ]] SLAMing on 83.00327356000001 meters Centerline goodness : 0.809953 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.07, Z:0.26 [[ 0.98222585 -0.13954295 -0.12553946 0.82915121] [ 0.14023993 0.99011201 -0.00331259 -0.06547049] [ 0.12476037 -0.01435193 0.9920831 0.25548204] [ 0. 0. 0. 1. ]] SLAMing on 83.03327356 meters Centerline goodness : 0.811132 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.07, Z:0.26 [[ 0.98218316 -0.13992865 -0.12544407 0.82864241] [ 0.14066751 0.99005237 -0.00299289 -0.06845879] [ 0.12461499 -0.01470634 0.99209618 0.25581097] [ 0. 0. 0. 1. ]] SLAMing on 83.06327356 meters Centerline goodness : 0.812442 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.07, Z:0.26 [[ 0.98167895 -0.14341204 -0.12545689 0.82995844] [ 0.14380265 0.98958829 -0.00598482 -0.07234834] [ 0.12500896 -0.01216586 0.99208102 0.25638045] [ 0. 0. 0. 1. ]] SLAMing on 83.09327356 meters Centerline goodness : 0.811943 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.08, Z:0.26 [[ 0.98167121 -0.14354851 -0.12536132 0.82959821] [ 0.14398054 0.98956436 -0.00565513 -0.07508499] [ 0.12486488 -0.01249811 0.99209504 0.2567194 ] [ 0. 0. 0. 1. ]] SLAMing on 83.12327356 meters Centerline goodness : 0.813358 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.08, Z:0.26 [[ 0.98168435 -0.14343632 -0.12538682 0.82962687] [ 0.1439246 0.98957498 -0.00520359 -0.07756596] [ 0.12482604 -0.01293796 0.99209428 0.2569114 ] [ 0. 0. 0. 1. ]] SLAMing on 83.15327356 meters Centerline goodness : 0.812792 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.08, Z:0.26 [[ 0.98171902 -0.1431059 -0.12549292 0.82956743] [ 0.14369234 0.98961257 -0.00441371 -0.08191983] [ 0.124821 -0.01369935 0.9920847 0.25761688] [ 0. 0. 0. 1. ]] SLAMing on 83.18327356 meters Centerline goodness : 0.811264 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.08, Z:0.26 [[ 0.98174558 -0.14281801 -0.12561302 0.82981179] [ 0.14345721 0.98964848 -0.00398959 -0.08401312] [ 0.12488252 -0.01410333 0.99207129 0.2578862 ] [ 0. 0. 0. 1. ]] SLAMing on 83.21327356 meters Centerline goodness : 0.812524 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.09, Z:0.26 [[ 0.98177854 -0.14238835 -0.12584301 0.83035921] [ 0.14308892 0.98970364 -0.00350149 -0.08600829] [ 0.12504585 -0.01456905 0.99204399 0.25812794] [ 0. 0. 0. 1. ]] SLAMing on 83.24327356 meters Centerline goodness : 0.814972 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.09, Z:0.26 [[ 0.98187238 -0.14126208 -0.12637898 0.83178791] [ 0.14210413 0.98984887 -0.00237375 -0.08985124] [ 0.12543142 -0.01562826 0.99197919 0.25836627] [ 0. 0. 0. 1. ]] SLAMing on 83.27327356 meters Centerline goodness : 0.816110 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.09, Z:0.26 [[ 0.98193116 -0.14061187 -0.1266471 0.83275934] [ 0.14153255 0.98993206 -0.00174481 -0.09155975] [ 0.12561737 -0.01621141 0.9919463 0.25817347] [ 0. 0. 0. 1. ]] SLAMing on 83.30327356000001 meters Centerline goodness : 0.814580 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.09, Z:0.26 [[ 0.98198916 -0.1398456 -0.12704522 0.83405309] [ 0.14084874 0.99003052 -0.00109784 -0.09322091] [ 0.12593218 -0.01681609 0.99189632 0.25800847] [ 0. 0. 0. 1. ]] SLAMing on 83.33327356000001 meters Centerline goodness : 0.816966 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.10, Z:0.26 [[ 9.82138292e-01 -1.38277950e-01 -1.27607147e-01 8.36236660e-01] [ 1.39436006e-01 9.90231074e-01 1.43546617e-04 -9.59267507e-02] [ 1.26340713e-01 -1.79340136e-02 9.91824781e-01 2.57504678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36327356000001 meters Centerline goodness : 0.816796 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.10, Z:0.26 [[ 9.82191866e-01 -1.37617285e-01 -1.27908640e-01 8.37279738e-01] [ 1.38838433e-01 9.90314840e-01 6.37483971e-04 -9.70004718e-02] [ 1.26582096e-01 -1.83847667e-02 9.91785750e-01 2.57335692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.39327356 meters Centerline goodness : 0.815637 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.10, Z:0.26 [[ 0.98224634 -0.13703019 -0.12812046 0.83811268] [ 0.13830424 0.99038923 0.00105841 -0.09818003] [ 0.12674409 -0.01875922 0.99175805 0.25724263] [ 0. 0. 0. 1. ]] SLAMing on 83.42327356 meters Centerline goodness : 0.820672 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.10, Z:0.26 [[ 0.98236442 -0.13583495 -0.12848737 0.83957922] [ 0.13723008 0.99053713 0.00202655 -0.10047056] [ 0.12699624 -0.01962315 0.99170907 0.25693859] [ 0. 0. 0. 1. ]] SLAMing on 83.45327356 meters Centerline goodness : 0.821001 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.10, Z:0.26 [[ 0.98241426 -0.13539188 -0.12857395 0.84005812] [ 0.13682964 0.99059175 0.00237464 -0.10148855] [ 0.12704278 -0.01992561 0.99169708 0.25686574] [ 0. 0. 0. 1. ]] SLAMing on 83.48327356 meters Centerline goodness : 0.865997 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.10, Z:0.26 [[ 0.98245191 -0.13494088 -0.12876025 0.84064767] [ 0.13642357 0.99064685 0.00272473 -0.10255586] [ 0.12718826 -0.02024285 0.99167201 0.25688004] [ 0. 0. 0. 1. ]] SLAMing on 83.51327356 meters Centerline goodness : 0.865605 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.10, Z:0.26 [[ 0.98247263 -0.13463791 -0.12891925 0.84112563] [ 0.13615204 0.99068352 0.00296384 -0.10349754] [ 0.12731913 -0.02046451 0.99165067 0.25692816] [ 0. 0. 0. 1. ]] SLAMing on 83.54327356 meters Centerline goodness : 0.867204 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.11, Z:0.26 [[ 0.98251546 -0.13419692 -0.12905254 0.84153045] [ 0.1357849 0.990732 0.00354572 -0.10582178] [ 0.12738066 -0.02100711 0.99163142 0.25703822] [ 0. 0. 0. 1. ]] SLAMing on 83.57327356 meters Centerline goodness : 0.867527 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.11, Z:0.26 [[ 0.9825138 -0.1342166 -0.12904471 0.84139357] [ 0.13582325 0.99072621 0.00369104 -0.10701072] [ 0.12735258 -0.02115377 0.99163191 0.25729885] [ 0. 0. 0. 1. ]] SLAMing on 83.60327356 meters Centerline goodness : 0.872558 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.11, Z:0.26 [[ 0.98250269 -0.13439266 -0.12894599 0.8409546 ] [ 0.13601114 0.99070007 0.00378832 -0.10840016] [ 0.12723768 -0.02126012 0.99164438 0.25762469] [ 0. 0. 0. 1. ]] SLAMing on 83.63327356 meters Centerline goodness : 0.882208 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.11, Z:0.26 [[ 0.982287 -0.13636574 -0.12851708 0.84040385] [ 0.13780396 0.9904568 0.0023239 -0.11136692] [ 0.12697372 -0.0199929 0.99170457 0.25815653] [ 0. 0. 0. 1. ]] SLAMing on 83.66327356000001 meters Centerline goodness : 0.882129 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.11, Z:0.26 [[ 0.98224841 -0.1367202 -0.12843541 0.8402461 ] [ 0.13818293 0.99040355 0.00250546 -0.11328941] [ 0.12686034 -0.02020856 0.99171471 0.25812986] [ 0. 0. 0. 1. ]] SLAMing on 83.69327356000001 meters Centerline goodness : 0.882824 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.12, Z:0.26 [[ 0.98218992 -0.13728261 -0.12828268 0.83981923] [ 0.13876313 0.9903221 0.00263282 -0.11525018] [ 0.12667973 -0.02038684 0.99173415 0.2581552 ] [ 0. 0. 0. 1. ]] SLAMing on 83.72327356000001 meters Centerline goodness : 0.884880 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.12, Z:0.26 [[ 9.81627404e-01 -1.41513200e-01 -1.27990833e-01 8.40530189e-01] [ 1.42578109e-01 9.89783188e-01 -8.50118311e-04 -1.17131347e-01] [ 1.26803478e-01 -1.74141915e-02 9.91774987e-01 2.58214107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.75327356000001 meters Centerline goodness : 0.886772 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.12, Z:0.26 [[ 9.81573195e-01 -1.42081485e-01 -1.27776813e-01 8.39943058e-01] [ 1.43152207e-01 9.89700352e-01 -8.11777010e-04 -1.18972745e-01] [ 1.26576096e-01 -1.74947143e-02 9.91802615e-01 2.58322895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78327356 meters Centerline goodness : 0.890449 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.12, Z:0.26 [[ 9.81522173e-01 -1.42533769e-01 -1.27664985e-01 8.39635605e-01] [ 1.43622373e-01 9.89632328e-01 -6.85250346e-04 -1.20662964e-01] [ 1.26439068e-01 -1.76629597e-02 9.91817111e-01 2.58316001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.81327356 meters Centerline goodness : 0.902915 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.12, Z:0.26 [[ 0.9814126 -0.14356559 -0.12735083 0.83823769] [ 0.14460976 0.9894882 -0.00105705 -0.12268669] [ 0.1261639 -0.01737877 0.99185717 0.25917874] [ 0. 0. 0. 1. ]] SLAMing on 83.84327356 meters Centerline goodness : 0.898634 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.12, Z:0.26 [[ 0.98136805 -0.14408506 -0.12710725 0.83726879] [ 0.14507926 0.98941897 -0.00145024 -0.12294271] [ 0.12597128 -0.01701741 0.99188792 0.25978987] [ 0. 0. 0. 1. ]] SLAMing on 83.87327356 meters Centerline goodness : 0.901379 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.12, Z:0.26 [[ 0.9813188 -0.14452744 -0.12698513 0.83661628] [ 0.1454683 0.98936112 -0.00188247 -0.12282136] [ 0.12590622 -0.01662501 0.99190283 0.26035231] [ 0. 0. 0. 1. ]] SLAMing on 83.90327356 meters Centerline goodness : 0.904553 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.12, Z:0.26 [[ 0.98124144 -0.1451057 -0.12692348 0.83579482] [ 0.14598327 0.98928412 -0.00241037 -0.12293197] [ 0.12591314 -0.01616355 0.99190958 0.2612886 ] [ 0. 0. 0. 1. ]] SLAMing on 83.93327356 meters Centerline goodness : 0.917799 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.12, Z:0.26 [[ 0.98122248 -0.14531636 -0.12682902 0.83549184] [ 0.1461751 0.98925542 -0.00256013 -0.12326519] [ 0.12583832 -0.01602719 0.99192129 0.26150774] [ 0. 0. 0. 1. ]] SLAMing on 83.96327356 meters Centerline goodness : 0.916665 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.12, Z:0.26 [[ 0.98119162 -0.14559049 -0.12675338 0.83519646] [ 0.14642844 0.98921749 -0.0027321 -0.12347323] [ 0.12578442 -0.01587959 0.9919305 0.26170396] [ 0. 0. 0. 1. ]] SLAMing on 83.99327356 meters Centerline goodness : 0.929427 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.12, Z:0.26 [[ 0.98115912 -0.14588754 -0.12666338 0.83481482] [ 0.14671104 0.98917528 -0.00285384 -0.12399194] [ 0.12570862 -0.01578285 0.99194165 0.26193063] [ 0. 0. 0. 1. ]] SLAMing on 84.02327356 meters Centerline goodness : 0.932775 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.12, Z:0.26 [[ 0.98114848 -0.1455591 -0.12712281 0.83598544] [ 0.14650401 0.98920818 -0.00193563 -0.12488829] [ 0.12603268 -0.01672486 0.9918851 0.2617276 ] [ 0. 0. 0. 1. ]] SLAMing on 84.05327356000001 meters Centerline goodness : 0.933423 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.13, Z:0.26 [[ 0.98114454 -0.14524418 -0.12751283 0.83701418] [ 0.14629871 0.98923984 -0.00110689 -0.12558992] [ 0.12630154 -0.01756894 0.9918363 0.26150308] [ 0. 0. 0. 1. ]] SLAMing on 84.08327356000001 meters Centerline goodness : 0.933920 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.13, Z:0.26 [[ 0.98111886 -0.14542898 -0.12749981 0.8370865 ] [ 0.14645743 0.98921609 -0.00132186 -0.12565767] [ 0.1263171 -0.01737639 0.99183771 0.26148274] [ 0. 0. 0. 1. ]] SLAMing on 84.11327356000001 meters Centerline goodness : 0.941829 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.13, Z:0.26 [[ 0.98124935 -0.14502801 -0.12695114 0.8362282 ] [ 0.14597408 0.98928665 -0.00186928 -0.12588641] [ 0.12586216 -0.01669734 0.99190721 0.26122583] [ 0. 0. 0. 1. ]] SLAMing on 84.14327356 meters Centerline goodness : 0.865625 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.13, Z:0.26 [[ 0.98130291 -0.14429868 -0.12736756 0.83723854] [ 0.14532958 0.98938256 -0.00121118 -0.1259644 ] [ 0.12619002 -0.01732174 0.99185485 0.26091499] [ 0. 0. 0. 1. ]] SLAMing on 84.17327356 meters Centerline goodness : 0.946042 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.13, Z:0.26 [[ 9.81435333e-01 -1.43609234e-01 -1.27126220e-01 8.36823065e-01] [ 1.44686913e-01 9.89477191e-01 -7.64688845e-04 -1.26237073e-01] [ 1.25898311e-01 -1.76430077e-02 9.91886253e-01 2.60629042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20327356 meters Centerline goodness : 0.896802 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.13, Z:0.26 [[ 9.81618747e-01 -1.42785561e-01 -1.26636961e-01 8.36101453e-01] [ 1.43860377e-01 9.89597772e-01 -6.65123343e-04 -1.26156576e-01] [ 1.25414624e-01 -1.75651434e-02 9.91948909e-01 2.60095610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.23327356 meters Centerline goodness : 0.900428 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.13, Z:0.26 [[ 0.98195607 -0.13940938 -0.12777832 0.83732557] [ 0.14103609 0.98999744 0.00372764 -0.12787779] [ 0.12598054 -0.02168174 0.99179575 0.26049071] [ 0. 0. 0. 1. ]] SLAMing on 84.26327356 meters Centerline goodness : 0.905367 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.12, Z:0.26 [[ 0.98274888 -0.14446714 -0.11547241 0.83839321] [ 0.14574078 0.98931934 0.00261921 -0.12374521] [ 0.1138607 -0.01940307 0.99330723 0.25518979] [ 0. 0. 0. 1. ]] SLAMing on 84.29327356 meters Centerline goodness : 0.905365 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.12, Z:0.26 [[ 0.9829023 -0.14344743 -0.11543783 0.8377713 ] [ 0.1448115 0.98945316 0.00347412 -0.12421414] [ 0.11372197 -0.02013145 0.99330863 0.25553585] [ 0. 0. 0. 1. ]] SLAMing on 84.32327356 meters Centerline goodness : 0.916188 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.12, Z:0.26 [[ 0.98295996 -0.14327703 -0.11515823 0.83718366] [ 0.14460218 0.98948472 0.00319314 -0.12418099] [ 0.11348981 -0.01979086 0.99334203 0.25558312] [ 0. 0. 0. 1. ]] SLAMing on 84.35327356 meters Centerline goodness : 0.913055 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.12, Z:0.26 [[ 0.98298885 -0.14323791 -0.11496009 0.83694349] [ 0.14451536 0.98949856 0.00281211 -0.12410862] [ 0.11335004 -0.01937777 0.99336613 0.25543094] [ 0. 0. 0. 1. ]] SLAMing on 84.38327356 meters Centerline goodness : 0.918980 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.12, Z:0.25 [[ 0.98305762 -0.14262622 -0.11513246 0.83761899] [ 0.14397801 0.98957481 0.00346873 -0.12458896] [ 0.11343745 -0.0199865 0.99334409 0.25494023] [ 0. 0. 0. 1. ]] SLAMing on 84.41327356000001 meters Centerline goodness : 0.968044 Centerline is valid? [False, True] Translation: X:0.84, Y:-0.12, Z:0.25 [[ 0.98325417 -0.14150922 -0.11483194 0.83765015] [ 0.14283771 0.98974034 0.00338225 -0.1247075 ] [ 0.11317519 -0.01972794 0.99337918 0.25395154] [ 0. 0. 0. 1. ]] SLAMing on 84.44327356000001 meters Centerline goodness : 0.964976 Centerline is valid? [True, True] Translation: X:0.87, Y:-0.13, Z:0.25 [[ 0.98409297 -0.1379583 -0.1119309 0.87167349] [ 0.13916507 0.99026464 0.00300317 -0.12741456] [ 0.1104269 -0.01853227 0.99371145 0.25239933] [ 0. 0. 0. 1. ]] SLAMing on 84.47327356000001 meters Centerline goodness : 0.965138 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.12, Z:0.26 [[ 0.98378759 -0.14155779 -0.11010615 0.89738395] [ 0.14263284 0.98977383 0.00190931 -0.11799725] [ 0.10870991 -0.01758311 0.993918 0.25914153] [ 0. 0. 0. 1. ]] SLAMing on 84.50327356 meters Centerline goodness : 0.969178 Centerline is valid? [True, True] Translation: X:0.93, Y:-0.10, Z:0.27 [[ 0.98467302 -0.13914746 -0.10515241 0.93048526] [ 0.13536188 0.98989057 -0.04235344 -0.10397904] [ 0.10998275 0.02747066 0.9935538 0.27119627] [ 0. 0. 0. 1. ]] SLAMing on 84.53327356 meters Centerline goodness : 0.971393 Centerline is valid? [True, True] Translation: X:0.96, Y:-0.11, Z:0.27 [[ 0.98555136 -0.13812535 -0.09803016 0.95959217] [ 0.13504219 0.99013184 -0.03745061 -0.10621392] [ 0.10223566 0.02367129 0.99447853 0.2688932 ] [ 0. 0. 0. 1. ]] SLAMing on 84.56327356 meters Centerline goodness : 0.972946 Centerline is valid? [True, True] Translation: X:1.00, Y:-0.13, Z:0.24 [[ 0.9849004 -0.1345219 -0.10897279 0.99569552] [ 0.13870889 0.98982365 0.0317646 -0.13040721] [ 0.10359081 -0.04640046 0.99353709 0.24277253] [ 0. 0. 0. 1. ]] SLAMing on 84.59327356 meters Centerline goodness : 0.974524 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.10, Z:0.27 [[ 0.98543984 -0.13882903 -0.09815708 1.01983182] [ 0.13521297 0.98989986 -0.04261125 -0.09914981] [ 0.10308135 0.02871871 0.99425825 0.27375943] [ 0. 0. 0. 1. ]] SLAMing on 84.62327356 meters Centerline goodness : 0.974524 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.11, Z:0.26 [[ 0.98550278 -0.13636321 -0.1009423 1.05190115] [ 0.13639798 0.9906322 -0.00658986 -0.11035981] [ 0.10089531 -0.007274 0.99487046 0.25952477] [ 0. 0. 0. 1. ]] SLAMing on 84.65327356 meters Centerline goodness : 0.974782 Centerline is valid? [True, True] Translation: X:1.09, Y:-0.12, Z:0.25 [[ 0.98505329 -0.13746466 -0.10379535 1.08524594] [ 0.14012582 0.98995592 0.01876241 -0.1187614 ] [ 0.10017365 -0.03302638 0.99442169 0.25285999] [ 0. 0. 0. 1. ]] SLAMing on 84.68327356 meters Centerline goodness : 0.976964 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.11, Z:0.27 [[ 0.98496695 -0.14022123 -0.10088665 1.11475373] [ 0.14035598 0.99008414 -0.00579672 -0.10672825] [ 0.1006991 -0.00845046 0.99488104 0.26506528] [ 0. 0. 0. 1. ]] SLAMing on 84.71327356 meters Centerline goodness : 0.978797 Centerline is valid? [True, True] Translation: X:1.15, Y:-0.10, Z:0.27 [[ 0.98490843 -0.14226042 -0.09857669 1.14547666] [ 0.14197924 0.98982015 -0.00989765 -0.10347712] [ 0.09898124 -0.00424756 0.99508023 0.26766755] [ 0. 0. 0. 1. ]] SLAMing on 84.74327356 meters Centerline goodness : 0.977707 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.11, Z:0.27 [[ 0.98500564 -0.14142098 -0.09881298 1.17711921] [ 0.1415335 0.98991585 -0.00590579 -0.1061792 ] [ 0.09865174 -0.00816811 0.9950885 0.26621878] [ 0. 0. 0. 1. ]] SLAMing on 84.77327356 meters Centerline goodness : 0.979723 Centerline is valid? [True, True] Translation: X:1.21, Y:-0.10, Z:0.27 [[ 0.98512529 -0.14572279 -0.09106613 1.20834431] [ 0.14379966 0.98922827 -0.02736931 -0.09580732] [ 0.09407352 0.01386692 0.99546867 0.27102789] [ 0. 0. 0. 1. ]] SLAMing on 84.80327356000001 meters Centerline goodness : 0.971294 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.08, Z:0.27 [[ 0.98438825 -0.15307411 -0.08687973 1.22987563] [ 0.15000558 0.98784084 -0.04085095 -0.08195578] [ 0.09207656 0.02718076 0.99538089 0.27379642] [ 0. 0. 0. 1. ]] SLAMing on 84.83327356000001 meters Centerline goodness : 0.976584 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.09, Z:0.26 [[ 0.98445051 -0.15055668 -0.09049796 1.2647568 ] [ 0.1503832 0.98858887 -0.00877197 -0.0949355 ] [ 0.09078595 -0.00497381 0.99585801 0.26346605] [ 0. 0. 0. 1. ]] SLAMing on 84.86327356000001 meters Centerline goodness : 0.977038 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.09, Z:0.27 [[ 0.98435255 -0.15271129 -0.08791659 1.29683691] [ 0.15227914 0.98826896 -0.01164136 -0.09299906] [ 0.088663 -0.00192866 0.99605981 0.26503788] [ 0. 0. 0. 1. ]] SLAMing on 84.89327356 meters Centerline goodness : 0.977172 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.09, Z:0.27 [[ 0.98436755 -0.15247359 -0.08816083 1.32750421] [ 0.15236064 0.98829219 -0.0080487 -0.09319423] [ 0.08835588 -0.00550937 0.99607374 0.26552275] [ 0. 0. 0. 1. ]] SLAMing on 84.92327356 meters Centerline goodness : 0.978804 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.11, Z:0.25 [[ 0.98410482 -0.14936343 -0.09606386 1.35922943] [ 0.15319374 0.98761881 0.03377516 -0.10966668] [ 0.0898297 -0.04795468 0.99480198 0.25290058] [ 0. 0. 0. 1. ]] SLAMing on 84.95327356 meters Centerline goodness : 0.979357 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.09, Z:0.27 [[ 9.83725119e-01 -1.54735827e-01 -9.13329869e-02 1.38765813e+00] [ 1.54145997e-01 9.87955575e-01 -1.35201212e-02 -8.76044180e-02] [ 9.23249808e-02 -7.78531511e-04 9.95728624e-01 2.74733159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98327356 meters Centerline goodness : 0.980150 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.09, Z:0.27 [[ 0.98393407 -0.1534763 -0.09120734 1.41838219] [ 0.15354976 0.98812113 -0.00625321 -0.08985576] [ 0.09108362 -0.00785212 0.99581229 0.27374489] [ 0. 0. 0. 1. ]] SLAMing on 85.01327356 meters Centerline goodness : 0.980447 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.09, Z:0.27 [[ 0.98430565 -0.15282401 -0.08824519 1.45049246] [ 0.15310785 0.98820299 -0.00358345 -0.09051302] [ 0.0877518 -0.00998382 0.99609234 0.27290942] [ 0. 0. 0. 1. ]] SLAMing on 85.04327356 meters Centerline goodness : 0.982340 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.09, Z:0.28 [[ 9.84499158e-01 -1.53003614e-01 -8.57397296e-02 1.48348179e+00] [ 1.52481397e-01 9.88225432e-01 -1.26458951e-02 -8.70353290e-02] [ 8.66650490e-02 -6.23840752e-04 9.96237311e-01 2.77248098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.07327356 meters Centerline goodness : 0.983169 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.08, Z:0.28 [[ 0.98470583 -0.1529084 -0.0835072 1.5156203 ] [ 0.15210653 0.98823589 -0.01591943 -0.08425913] [ 0.08495903 0.00297396 0.99638001 0.27901848] [ 0. 0. 0. 1. ]] SLAMing on 85.10327356 meters Centerline goodness : 0.982767 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.07, Z:0.29 [[ 0.9845136 -0.15738976 -0.07721032 1.54378593] [ 0.15500719 0.98725811 -0.03597488 -0.07062013] [ 0.08188859 0.02344961 0.99636558 0.28691467] [ 0. 0. 0. 1. ]] SLAMing on 85.13327356 meters Centerline goodness : 0.982262 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.10, Z:0.27 [[ 0.98413107 -0.15512214 -0.08615776 1.5803809 ] [ 0.15765345 0.98721827 0.02335542 -0.09547315] [ 0.08143357 -0.03656787 0.99600771 0.26610089] [ 0. 0. 0. 1. ]] SLAMing on 85.16327356000001 meters Centerline goodness : 0.982322 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.08, Z:0.28 [[ 9.83826983e-01 -1.59023960e-01 -8.24369352e-02 1.60966571e+00] [ 1.58551462e-01 9.87274237e-01 -1.22888088e-02 -7.83872084e-02] [ 8.33420774e-02 -9.80434932e-04 9.96520515e-01 2.81700200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.19327356000001 meters Centerline goodness : 0.982928 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.08, Z:0.28 [[ 9.83824009e-01 -1.59370416e-01 -8.18009111e-02 1.64230129e+00] [ 1.58952022e-01 9.87217644e-01 -1.16437756e-02 -7.78159310e-02] [ 8.26109761e-02 -1.54699419e-03 9.96580671e-01 2.82134565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22327356000001 meters Centerline goodness : 0.982933 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.08, Z:0.28 [[ 0.98346586 -0.16124555 -0.08243047 1.67280597] [ 0.16085648 0.98691216 -0.01138337 -0.0761843 ] [ 0.08318715 -0.00206432 0.9965318 0.28342715] [ 0. 0. 0. 1. ]] Total time of SLAM: 6402.74 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%| | 0/2838 [00:00