+ python -m lidar_slam --no-model /working/61c8a180-d15f-4b3a-a76e-886bcfc1aec6 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/61c8a180-d15f-4b3a-a76e-886bcfc1aec6 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 0.026502481 Adjusted end_distance from 9.223372036854776e+18 to 208.076502481 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.026502481 meters Centerline goodness : 0.182568 Centerline is valid? [0, False] SLAMing on 0.056502481 meters Centerline goodness : 0.181251 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.00 [[ 9.99985887e-01 5.23330207e-03 -9.15693983e-04 4.56586799e-02] [-5.26312130e-03 9.99325733e-01 -3.63370305e-02 1.29531627e-02] [ 7.24913903e-04 3.63413371e-02 9.99339173e-01 -1.41108859e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.08650248099999999 meters Centerline goodness : 0.180239 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.01 [[ 0.999994 0.00271546 0.00215202 0.05805278] [-0.00259498 0.99853023 -0.05413538 0.01675132] [-0.00229586 0.05412947 0.99853129 -0.00528895] [ 0. 0. 0. 1. ]] SLAMing on 0.11650248099999999 meters Centerline goodness : 0.172433 Centerline is valid? [False, False] Translation: X:0.11, Y:0.02, Z:-0.01 [[ 0.99997081 -0.00361761 -0.00672978 0.10979747] [ 0.00304285 0.9964999 -0.08353854 0.0200814 ] [ 0.00700844 0.08351562 0.99648182 -0.00740396] [ 0. 0. 0. 1. ]] SLAMing on 0.146502481 meters Centerline goodness : 0.171391 Centerline is valid? [False, False] Translation: X:0.13, Y:0.02, Z:-0.01 [[ 0.99990604 -0.00895301 -0.01038035 0.12612625] [ 0.00806075 0.99651495 -0.08302393 0.02228142] [ 0.01108749 0.08293246 0.99649349 -0.00984623] [ 0. 0. 0. 1. ]] SLAMing on 0.176502481 meters Centerline goodness : 0.169284 Centerline is valid? [False, False] Translation: X:0.15, Y:0.02, Z:-0.01 [[ 0.99985253 -0.01202685 -0.01225893 0.1461082 ] [ 0.01107331 0.99711552 -0.07508674 0.02411733] [ 0.01312663 0.07493992 0.99710165 -0.01029882] [ 0. 0. 0. 1. ]] SLAMing on 0.206502481 meters Centerline goodness : 0.171505 Centerline is valid? [False, False] Translation: X:0.19, Y:0.03, Z:-0.01 [[ 0.99987761 -0.00595568 -0.0144673 0.18789575] [ 0.00502776 0.99797871 -0.06334992 0.02656068] [ 0.01481535 0.06326943 0.99788651 -0.01110471] [ 0. 0. 0. 1. ]] SLAMing on 0.236502481 meters Centerline goodness : 0.169470 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:-0.01 [[ 0.99985824 -0.00339396 -0.01649171 0.19672933] [ 0.00239238 0.99817279 -0.06037674 0.02750687] [ 0.0166665 0.06032873 0.99803941 -0.01486202] [ 0. 0. 0. 1. ]] SLAMing on 0.266502481 meters Centerline goodness : 0.164044 Centerline is valid? [False, False] Translation: X:0.24, Y:0.03, Z:-0.02 [[ 0.9996884 0.00306199 -0.02477362 0.24369219] [-0.00493744 0.99709557 -0.07600036 0.02657442] [ 0.02446895 0.07609899 0.99679999 -0.01818745] [ 0. 0. 0. 1. ]] SLAMing on 0.29650248100000004 meters Centerline goodness : 0.155568 Centerline is valid? [False, False] Translation: X:0.29, Y:0.02, Z:-0.02 [[ 0.99927749 0.0026397 -0.0379149 0.28934219] [-0.00602432 0.99597451 -0.08943423 0.02433966] [ 0.0375262 0.08959803 0.99527081 -0.021063 ] [ 0. 0. 0. 1. ]] SLAMing on 0.326502481 meters Centerline goodness : 0.149194 Centerline is valid? [False, False] Translation: X:0.30, Y:0.03, Z:-0.03 [[ 0.99916989 -0.00242508 -0.04066506 0.30083671] [-0.00139019 0.99561531 -0.09353191 0.02573606] [ 0.04071358 0.0935108 0.99478547 -0.02629189] [ 0. 0. 0. 1. ]] SLAMing on 0.356502481 meters Centerline goodness : 0.179313 Centerline is valid? [False, False] Translation: X:0.32, Y:0.03, Z:-0.03 [[ 0.99895704 -0.00760373 -0.04502244 0.31749728] [ 0.0034011 0.99568867 -0.0926958 0.02531655] [ 0.04553317 0.092446 0.99467606 -0.02750711] [ 0. 0. 0. 1. ]] SLAMing on 0.386502481 meters Centerline goodness : 0.132020 Centerline is valid? [False, False] Translation: X:0.35, Y:0.02, Z:-0.03 [[ 0.99904343 -0.01480968 -0.04114478 0.35274483] [ 0.01140642 0.9965875 -0.08175119 0.02328344] [ 0.04221509 0.08120368 0.99580312 -0.02990067] [ 0. 0. 0. 1. ]] SLAMing on 0.41650248100000004 meters Centerline goodness : 0.132505 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:-0.03 [[ 0.99922465 -0.01577732 -0.03607191 0.3914559 ] [ 0.01317676 0.99737302 -0.07122807 0.02103449] [ 0.03710093 0.07069753 0.99680759 -0.02580014] [ 0. 0. 0. 1. ]] SLAMing on 0.446502481 meters Centerline goodness : 0.137894 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.02 [[ 0.99927491 -0.01662147 -0.03425462 0.4046494 ] [ 0.01451305 0.99803795 -0.06090667 0.01950275] [ 0.03519977 0.06036537 0.99755551 -0.02386503] [ 0. 0. 0. 1. ]] SLAMing on 0.476502481 meters Centerline goodness : 0.476223 Centerline is valid? [False, False] Translation: X:0.42, Y:0.02, Z:-0.02 [[ 0.99940763 -0.01660383 -0.03014457 0.4154264 ] [ 0.01501597 0.99852596 -0.05215773 0.01753274] [ 0.03096615 0.05167418 0.99818379 -0.0243224 ] [ 0. 0. 0. 1. ]] SLAMing on 0.506502481 meters Centerline goodness : 0.597650 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:-0.02 [[ 0.99953769 -0.01200855 -0.0279322 0.44336651] [ 0.01072105 0.99889332 -0.04579522 0.01374476] [ 0.02845122 0.04547459 0.99856026 -0.02088111] [ 0. 0. 0. 1. ]] SLAMing on 0.536502481 meters Centerline goodness : 0.569623 Centerline is valid? [False, False] Translation: X:0.46, Y:0.01, Z:-0.02 [[ 0.99973046 -0.00582523 -0.02247388 0.45987443] [ 0.004842 0.99903912 -0.04355897 0.01273886] [ 0.02270602 0.04343841 0.99879805 -0.019811 ] [ 0. 0. 0. 1. ]] SLAMing on 0.566502481 meters Centerline goodness : 0.248959 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:-0.03 [[ 0.99980174 -0.00374046 -0.01955757 0.48221178] [ 0.00310538 0.99947007 -0.03240263 0.01073224] [ 0.01966841 0.03233547 0.99928353 -0.0251994 ] [ 0. 0. 0. 1. ]] SLAMing on 0.5965024809999999 meters Centerline goodness : 0.143651 Centerline is valid? [False, False] Translation: X:0.49, Y:0.01, Z:-0.03 [[ 0.99973583 -0.0030531 -0.02278047 0.49279166] [ 0.00241066 0.99960009 -0.0281754 0.01022761] [ 0.02285738 0.02811304 0.99934338 -0.02541222] [ 0. 0. 0. 1. ]] SLAMing on 0.6265024809999999 meters Centerline goodness : 0.126689 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:-0.03 [[ 0.99978663 -0.0085513 -0.01880344 0.51453487] [ 0.00810503 0.99968666 -0.0236833 0.0058763 ] [ 0.01900007 0.02352584 0.99954266 -0.03111505] [ 0. 0. 0. 1. ]] SLAMing on 0.656502481 meters Centerline goodness : 0.121805 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.00, Z:-0.03 [[ 9.99830710e-01 -1.25935479e-02 -1.34146960e-02 5.27090366e-01] [ 1.23380164e-02 9.99744037e-01 -1.89640266e-02 -1.03970499e-04] [ 1.36500867e-02 1.87953054e-02 9.99730169e-01 -3.46302404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6865024809999999 meters Centerline goodness : 0.110932 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.00, Z:-0.03 [[ 0.99967668 -0.01966776 -0.01611539 0.53989869] [ 0.01935879 0.99962997 -0.01910929 -0.00453094] [ 0.01648526 0.01879114 0.99968752 -0.03412532] [ 0. 0. 0. 1. ]] SLAMing on 0.7165024809999999 meters SLAMing on 0.7465024809999999 meters SLAMing on 0.776502481 meters SLAMing on 0.806502481 meters Centerline goodness : 0.191878 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.03 [[ 0.99371102 -0.10692675 -0.03324269 0.6700337 ] [ 0.10672019 0.99425745 -0.00793222 -0.12855679] [ 0.03389995 0.00433467 0.99941583 -0.03394541] [ 0. 0. 0. 1. ]] SLAMing on 0.8365024809999999 meters Centerline goodness : 0.682745 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.03 [[ 9.93517787e-01 -1.07940867e-01 -3.56535507e-02 7.16970139e-01] [ 1.07863842e-01 9.94157294e-01 -4.08246928e-03 -1.79746743e-01] [ 3.58859027e-02 2.10276876e-04 9.99355871e-01 -3.14732761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8665024809999999 meters Centerline goodness : 0.333048 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.20, Z:-0.03 [[ 9.94021982e-01 -1.04342145e-01 -3.21405555e-02 7.36227719e-01] [ 1.04393209e-01 9.94536098e-01 -8.97813724e-05 -2.04914744e-01] [ 3.19743106e-02 -3.26601106e-03 9.99483355e-01 -2.88185967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.896502481 meters Centerline goodness : 0.269657 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.24, Z:-0.02 [[ 9.95602464e-01 -8.80582662e-02 -3.19605191e-02 7.71298054e-01] [ 8.80795897e-02 9.96113163e-01 -7.42839541e-04 -2.41247958e-01] [ 3.19017070e-02 -2.07549654e-03 9.99488856e-01 -2.42267149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9265024809999999 meters Centerline goodness : 0.567521 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.26, Z:-0.02 [[ 9.97615717e-01 -6.21180524e-02 -3.00704034e-02 7.98058066e-01] [ 6.20717527e-02 9.98068629e-01 -2.47164288e-03 -2.57266993e-01] [ 3.01658599e-02 5.99227141e-04 9.99544727e-01 -1.86495802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9565024809999999 meters Centerline goodness : 0.457957 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.26, Z:-0.02 [[ 0.99840258 -0.0503071 -0.02571915 0.8042866 ] [ 0.05016247 0.99872159 -0.00623822 -0.25757464] [ 0.0260001 0.00493812 0.99964974 -0.02057491] [ 0. 0. 0. 1. ]] SLAMing on 0.9865024809999999 meters Centerline goodness : 0.092085 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.26, Z:-0.02 [[ 0.99902943 -0.03989841 -0.01866303 0.80974987] [ 0.0397396 0.99917128 -0.00880431 -0.25703994] [ 0.01899884 0.0080541 0.99978707 -0.02277549] [ 0. 0. 0. 1. ]] SLAMing on 1.016502481 meters Centerline goodness : 0.163306 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.26, Z:-0.02 [[ 0.99933121 -0.03415846 -0.01305085 0.8260321 ] [ 0.03403445 0.99937446 -0.00960929 -0.25516864] [ 0.01337092 0.00915868 0.99986866 -0.02316685] [ 0. 0. 0. 1. ]] SLAMing on 1.046502481 meters Centerline goodness : 0.154017 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.25, Z:-0.02 [[ 0.99919575 -0.03688097 -0.01573685 0.83449972] [ 0.03672724 0.99927581 -0.00994838 -0.2537213 ] [ 0.01609236 0.00936241 0.99982668 -0.02258344] [ 0. 0. 0. 1. ]] SLAMing on 1.0765024810000001 meters Centerline goodness : 0.148775 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.26, Z:-0.02 [[ 0.99909632 -0.03904562 -0.01679243 0.86938731] [ 0.03893865 0.99921947 -0.00665075 -0.25800712] [ 0.01703901 0.00599087 0.99983688 -0.01805415] [ 0. 0. 0. 1. ]] SLAMing on 1.1065024810000001 meters Centerline goodness : 0.144215 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.26, Z:-0.02 [[ 0.99933298 -0.03424688 -0.01267882 0.88770558] [ 0.03418839 0.99940387 -0.00480157 -0.26272513] [ 0.0128357 0.0043649 0.99990809 -0.01658095] [ 0. 0. 0. 1. ]] SLAMing on 1.136502481 meters SLAMing on 1.166502481 meters SLAMing on 1.196502481 meters SLAMing on 1.226502481 meters SLAMing on 1.256502481 meters SLAMing on 1.286502481 meters SLAMing on 1.3165024810000001 meters SLAMing on 1.346502481 meters SLAMing on 1.376502481 meters SLAMing on 1.406502481 meters Centerline goodness : 0.605410 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.27, Z:0.00 [[ 0.99909741 -0.03869572 -0.01752159 1.02903408] [ 0.03895941 0.99912871 0.01496638 -0.26817087] [ 0.01692718 -0.01563551 0.99973447 0.00242788] [ 0. 0. 0. 1. ]] SLAMing on 1.436502481 meters SLAMing on 1.466502481 meters SLAMing on 1.496502481 meters Centerline goodness : 0.532363 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.28, Z:0.00 [[ 0.99861015 -0.05043342 -0.01530476 1.10418991] [ 0.0506022 0.99865997 0.01084845 -0.282027 ] [ 0.01473712 -0.01160783 0.99982402 0.00473322] [ 0. 0. 0. 1. ]] SLAMing on 1.526502481 meters Centerline goodness : 0.213404 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.29, Z:0.00 [[ 0.99875623 -0.04614316 -0.01888901 1.12677476] [ 0.04629322 0.99889909 0.00758523 -0.28589272] [ 0.01851821 -0.00845023 0.99979281 0.00395752] [ 0. 0. 0. 1. ]] SLAMing on 1.556502481 meters SLAMing on 1.5865024810000001 meters Centerline goodness : 0.530288 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.29, Z:0.01 [[ 0.99893896 -0.04165959 -0.01963227 1.17269669] [ 0.04173836 0.99912202 0.00361942 -0.29083738] [ 0.01946425 -0.004435 0.99980072 0.00565455] [ 0. 0. 0. 1. ]] SLAMing on 1.616502481 meters Centerline goodness : 0.501072 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.29, Z:0.00 [[ 9.99301548e-01 -3.25534969e-02 -1.83489986e-02 1.18526065e+00] [ 3.25397469e-02 9.99469893e-01 -1.04750017e-03 -2.93140067e-01] [ 1.83733714e-02 4.49696771e-04 9.99831094e-01 2.04078494e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.646502481 meters Centerline goodness : 0.251541 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.29, Z:-0.00 [[ 9.99572390e-01 -2.66556048e-02 -1.20214896e-02 1.20067288e+00] [ 2.66265148e-02 9.99642139e-01 -2.57345429e-03 -2.94257351e-01] [ 1.20857845e-02 2.25226348e-03 9.99924428e-01 -5.44450980e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.676502481 meters Centerline goodness : 0.258231 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.29, Z:-0.00 [[ 9.99518581e-01 -2.77492124e-02 -1.38776061e-02 1.20575907e+00] [ 2.77085961e-02 9.99611204e-01 -3.11055130e-03 -2.92959923e-01] [ 1.39585259e-02 2.72452484e-03 9.99898863e-01 -8.77113581e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.706502481 meters Centerline goodness : 0.188058 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.30, Z:-0.00 [[ 0.99972365 -0.02163426 -0.00919701 1.22514829] [ 0.02160663 0.99976176 -0.00309363 -0.29507874] [ 0.00926175 0.00289406 0.99995292 -0.00482009] [ 0. 0. 0. 1. ]] SLAMing on 1.736502481 meters Centerline goodness : 0.262112 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.29, Z:-0.01 [[ 0.99968244 -0.02267133 -0.0110018 1.23001923] [ 0.02263113 0.99973679 -0.00376495 -0.29327689] [ 0.01108426 0.00351477 0.99993239 -0.00520226] [ 0. 0. 0. 1. ]] SLAMing on 1.766502481 meters Centerline goodness : 0.324947 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.30, Z:-0.01 [[ 0.99984594 -0.01685211 -0.0049088 1.24661404] [ 0.01682854 0.99984684 -0.0048054 -0.29510792] [ 0.00498903 0.00472205 0.99997641 -0.00837418] [ 0. 0. 0. 1. ]] SLAMing on 1.796502481 meters SLAMing on 1.826502481 meters Centerline goodness : 0.532978 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.30, Z:-0.00 [[ 0.99980169 -0.01595331 -0.01191903 1.28267908] [ 0.01591809 0.99986867 -0.00304333 -0.2966806 ] [ 0.01196602 0.002853 0.99992433 -0.00478323] [ 0. 0. 0. 1. ]] SLAMing on 1.856502481 meters Centerline goodness : 0.642863 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.30, Z:-0.01 [[ 0.99993934 -0.01045122 -0.00347783 1.29342075] [ 0.01043153 0.99992973 -0.00563236 -0.29831062] [ 0.00353645 0.00559574 0.99997809 -0.00884497] [ 0. 0. 0. 1. ]] SLAMing on 1.886502481 meters Centerline goodness : 0.645258 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.30, Z:0.00 [[ 9.99846867e-01 -1.02804092e-02 -1.41617849e-02 1.31317924e+00] [ 1.01883200e-02 9.99926583e-01 -6.55953021e-03 -2.95561557e-01] [ 1.42281798e-02 6.41424093e-03 9.99878201e-01 1.08701532e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.916502481 meters Centerline goodness : 0.648211 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.29, Z:0.00 [[ 0.99979531 -0.01164271 -0.0165466 1.31836848] [ 0.01152893 0.99990935 -0.00695532 -0.29397276] [ 0.01662608 0.00676313 0.9998389 0.00285426] [ 0. 0. 0. 1. ]] SLAMing on 1.946502481 meters Centerline goodness : 0.655385 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.30, Z:0.01 [[ 0.99987982 -0.01042487 -0.01147434 1.33698794] [ 0.01031202 0.99989831 -0.0098508 -0.2958204 ] [ 0.01157587 0.00973129 0.99988564 0.00538974] [ 0. 0. 0. 1. ]] SLAMing on 1.976502481 meters Centerline goodness : 0.655958 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.30, Z:0.00 [[ 0.99997454 -0.0063385 -0.00327838 1.34755848] [ 0.00629714 0.99990233 -0.01247707 -0.29770346] [ 0.00335715 0.0124561 0.99991678 0.00499709] [ 0. 0. 0. 1. ]] SLAMing on 2.006502481 meters Centerline goodness : 0.660091 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.30, Z:0.01 [[ 9.99956689e-01 -9.21887719e-03 1.27781419e-03 1.36328601e+00] [ 9.22573751e-03 9.99942475e-01 -5.47111141e-03 -2.99832570e-01] [-1.22730318e-03 5.48266322e-03 9.99984217e-01 1.01385278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.036502481 meters Centerline goodness : 0.662286 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.30, Z:0.01 [[ 9.99950885e-01 -9.85559704e-03 -1.04595614e-03 1.36678339e+00] [ 9.84980516e-03 9.99936881e-01 -5.40517106e-03 -2.97672644e-01] [ 1.09916131e-03 5.39460312e-03 9.99984845e-01 1.36365004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.066502481 meters Centerline goodness : 0.663618 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.30, Z:0.02 [[ 9.99953262e-01 -8.39672901e-03 -4.79259548e-03 1.37507144e+00] [ 8.40015587e-03 9.99964476e-01 6.95350313e-04 -2.98165387e-01] [ 4.78658656e-03 -7.35576362e-04 9.99988274e-01 2.18648022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.096502481 meters Centerline goodness : 0.666043 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.30, Z:0.02 [[ 9.99927603e-01 -9.61222481e-03 -7.23840577e-03 1.38026662e+00] [ 9.61548177e-03 9.99953684e-01 4.15287870e-04 -2.95876365e-01] [ 7.23407867e-03 -4.84858563e-04 9.99973716e-01 2.37880669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.126502481 meters Centerline goodness : 0.668605 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.30, Z:0.02 [[ 0.99998116 -0.0058668 -0.00180466 1.39832805] [ 0.00586382 0.99998144 -0.00165558 -0.29581733] [ 0.00181434 0.00164497 0.999997 0.02316334] [ 0. 0. 0. 1. ]] SLAMing on 2.156502481 meters Centerline goodness : 0.670442 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.29, Z:0.02 [[ 0.99996698 -0.00696683 -0.00418339 1.40353708] [ 0.00695798 0.99997353 -0.00212633 -0.29349943] [ 0.00419809 0.00209715 0.99998899 0.02439693] [ 0. 0. 0. 1. ]] SLAMing on 2.186502481 meters Centerline goodness : 0.673778 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.29, Z:0.02 [[ 9.99996736e-01 -2.50888101e-03 4.82575025e-04 1.42156746e+00] [ 2.51084620e-03 9.99988378e-01 -4.11574294e-03 -2.92694552e-01] [-4.72243508e-04 4.11694118e-03 9.99991414e-01 2.35006140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.216502481 meters Centerline goodness : 0.676203 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.29, Z:0.03 [[ 0.99999396 -0.00309956 -0.00157474 1.42503049] [ 0.00309284 0.99998618 -0.00425175 -0.29107606] [ 0.00158789 0.00424685 0.99998972 0.02578527] [ 0. 0. 0. 1. ]] SLAMing on 2.246502481 meters Centerline goodness : 0.676738 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.29, Z:0.03 [[ 9.99995442e-01 4.28659819e-05 3.01903266e-03 1.44282508e+00] [-2.51461955e-05 9.99982776e-01 -5.86915239e-03 -2.91824633e-01] [-3.01923225e-03 5.86904972e-03 9.99978219e-01 2.83916617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.276502481 meters Centerline goodness : 0.678921 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.29, Z:0.03 [[ 0.99997074 0.002467 0.00724114 1.46326506] [-0.0024179 0.99997408 -0.00678123 -0.292242 ] [-0.00725768 0.00676352 0.99995079 0.031059 ] [ 0. 0. 0. 1. ]] SLAMing on 2.306502481 meters Centerline goodness : 0.679541 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.29, Z:0.03 [[ 0.99998486 0.00161693 0.00525918 1.46699031] [-0.00158172 0.99997636 -0.00669145 -0.29149813] [-0.00526987 0.00668303 0.99996378 0.03323903] [ 0. 0. 0. 1. ]] SLAMing on 2.336502481 meters Centerline goodness : 0.680462 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.29, Z:0.04 [[ 9.99997235e-01 2.34105748e-03 2.24160955e-04 1.49647163e+00] [-2.33934838e-03 9.99970303e-01 -7.34312839e-03 -2.93827855e-01] [-2.41344983e-04 7.34258369e-03 9.99973014e-01 3.87748728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.366502481 meters Centerline goodness : 0.147707 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.29, Z:0.04 [[ 0.99999724 0.00174663 -0.00156979 1.49928811] [-0.00175812 0.99997147 -0.00734573 -0.29292513] [ 0.00155691 0.00734847 0.99997179 0.04112008] [ 0. 0. 0. 1. ]] SLAMing on 2.396502481 meters Centerline goodness : 0.679116 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.29, Z:0.04 [[ 9.99993676e-01 9.47079824e-04 -3.42793179e-03 1.50258187e+00] [-9.72840403e-04 9.99971243e-01 -7.52105454e-03 -2.91092087e-01] [ 3.42071017e-03 7.52434180e-03 9.99965841e-01 4.32309318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.426502481 meters Centerline goodness : 0.677644 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.29, Z:0.05 [[ 9.99995912e-01 -2.78273502e-03 -6.57261608e-04 1.51750317e+00] [ 2.78175651e-03 9.99995028e-01 -1.48501414e-03 -2.90142840e-01] [ 6.61390741e-04 1.48317973e-03 9.99998681e-01 4.60447375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.456502481 meters Centerline goodness : 0.268678 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.29, Z:0.05 [[ 0.99999251 -0.00325385 -0.00209787 1.5200515 ] [ 0.00325005 0.99999307 -0.00181407 -0.28847291] [ 0.00210376 0.00180723 0.99999615 0.04727648] [ 0. 0. 0. 1. ]] SLAMing on 2.486502481 meters Centerline goodness : 0.385848 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.29, Z:0.05 [[ 9.99987332e-01 -3.80766539e-03 -3.29213706e-03 1.52232404e+00] [ 3.80383340e-03 9.99992082e-01 -1.16946240e-03 -2.85704962e-01] [ 3.29656391e-03 1.15692484e-03 9.99993897e-01 5.08054710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.516502481 meters Centerline goodness : 0.260484 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.28, Z:0.05 [[ 9.99977803e-01 -4.54911668e-03 -4.86806917e-03 1.52588952e+00] [ 4.54174689e-03 9.99988525e-01 -1.52388905e-03 -2.82655224e-01] [ 4.87494565e-03 1.50174569e-03 9.99986990e-01 5.16684152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.546502481 meters Centerline goodness : 0.686371 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.28, Z:0.05 [[ 0.99996882 -0.00505828 -0.00606444 1.52804675] [ 0.00504791 0.99998577 -0.00172333 -0.28220692] [ 0.00607307 0.00169267 0.99998013 0.05259594] [ 0. 0. 0. 1. ]] SLAMing on 2.576502481 meters Centerline goodness : 0.275425 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.29, Z:0.06 [[ 9.99953339e-01 -6.28771578e-03 -7.33376359e-03 1.52971709e+00] [ 6.28086520e-03 9.99979817e-01 -9.56774111e-04 -2.85170157e-01] [ 7.33963150e-03 9.10667087e-04 9.99972650e-01 5.68529460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.606502481 meters Centerline goodness : 0.693031 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.29, Z:0.06 [[ 9.99958758e-01 -9.76400628e-04 -9.02928613e-03 1.53952689e+00] [ 9.05056499e-04 9.99968368e-01 -7.90212745e-03 -2.88123343e-01] [ 9.03671616e-03 7.89362954e-03 9.99928012e-01 5.75549036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.636502481 meters Centerline goodness : 0.685913 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.29, Z:0.06 [[ 9.99945641e-01 -1.51642870e-03 -1.03157771e-02 1.54160848e+00] [ 1.43772147e-03 9.99969835e-01 -7.63293337e-03 -2.89168447e-01] [ 1.03270407e-02 7.61768724e-03 9.99917658e-01 5.92229237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6665024809999998 meters Centerline goodness : 0.537170 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.29, Z:0.06 [[ 0.99995699 -0.00595555 -0.00710943 1.5516776 ] [ 0.00593147 0.99997661 -0.00340399 -0.28995009] [ 0.00712954 0.00336167 0.99996893 0.06144327] [ 0. 0. 0. 1. ]] SLAMing on 2.696502481 meters Centerline goodness : 0.690439 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.29, Z:0.06 [[ 0.99997118 -0.00167732 -0.00740469 1.57347784] [ 0.00163092 0.99997903 -0.00626758 -0.29030622] [ 0.00741505 0.00625532 0.99995294 0.05910412] [ 0. 0. 0. 1. ]] SLAMing on 2.726502481 meters Centerline goodness : 0.712235 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.29, Z:0.06 [[ 0.9999742 0.00253737 -0.00671989 1.59329876] [-0.00259923 0.99995419 -0.00921215 -0.29162807] [ 0.0066962 0.00922938 0.99993499 0.05717123] [ 0. 0. 0. 1. ]] SLAMing on 2.756502481 meters Centerline goodness : 0.687145 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.29, Z:0.06 [[ 0.99997004 0.0070052 -0.00329398 1.6108133 ] [-0.00704334 0.99990657 -0.01171482 -0.2931685 ] [ 0.0032116 0.01173767 0.99992595 0.05602703] [ 0. 0. 0. 1. ]] SLAMing on 2.786502481 meters Centerline goodness : 0.670441 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.29, Z:0.05 [[ 0.99993436 0.01125688 -0.00213565 1.63015229] [-0.01128791 0.99982189 -0.01512502 -0.2946448 ] [ 0.00196501 0.01514813 0.99988333 0.05388672] [ 0. 0. 0. 1. ]] SLAMing on 2.816502481 meters Centerline goodness : 0.685047 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.30, Z:0.05 [[ 9.99860357e-01 1.66984226e-02 6.54775946e-04 1.64725808e+00] [-1.66842308e-02 9.99704286e-01 -1.76911702e-02 -2.95185775e-01] [-9.49996955e-04 1.76777753e-02 9.99843285e-01 5.34458379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.846502481 meters Centerline goodness : 0.646162 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.29, Z:0.05 [[ 9.99854331e-01 1.70675562e-02 1.21304333e-04 1.64731674e+00] [-1.70627635e-02 9.99698898e-01 -1.76345100e-02 -2.93295964e-01] [-4.22245800e-04 1.76298714e-02 9.99844493e-01 5.49993157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.876502481 meters Centerline goodness : 0.652240 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.29, Z:0.06 [[ 9.99903093e-01 1.38975055e-02 8.14326953e-04 1.66142826e+00] [-1.38862863e-02 9.99825952e-01 -1.24593906e-02 -2.93449123e-01] [-9.87339670e-04 1.24468752e-02 9.99922047e-01 5.68319481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.906502481 meters Centerline goodness : 0.648812 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.30, Z:0.06 [[ 0.99996387 0.0075939 0.00382016 1.67398036] [-0.00755815 0.9999283 -0.00928806 -0.29613171] [-0.00389042 0.00925886 0.99994957 0.05719009] [ 0. 0. 0. 1. ]] SLAMing on 2.9365024809999998 meters Centerline goodness : 0.642494 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.30, Z:0.06 [[ 0.99996899 0.00722741 0.00312891 1.67487599] [-0.00720011 0.99993667 -0.00864954 -0.29894463] [-0.00319123 0.00862674 0.9999577 0.05880355] [ 0. 0. 0. 1. ]] SLAMing on 2.966502481 meters Centerline goodness : 0.602497 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.30, Z:0.06 [[ 0.99997253 0.00699999 0.00243568 1.67528182] [-0.00698091 0.99994556 -0.00775476 -0.30217619] [-0.00248983 0.00773754 0.99996697 0.06135707] [ 0. 0. 0. 1. ]] SLAMing on 2.996502481 meters Centerline goodness : 0.698453 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.31, Z:0.07 [[ 0.99997171 0.00538922 0.00524648 1.66871421] [-0.00534322 0.9999475 -0.00874349 -0.3059286 ] [-0.00529332 0.00871521 0.99994801 0.06648584] [ 0. 0. 0. 1. ]] SLAMing on 3.026502481 meters Centerline goodness : 0.525552 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.31, Z:0.07 [[ 0.99991798 0.00999434 0.00800947 1.68512972] [-0.00990118 0.99988385 -0.01158718 -0.31014003] [-0.00812434 0.01150693 0.99990079 0.06612524] [ 0. 0. 0. 1. ]] SLAMing on 3.056502481 meters Centerline goodness : 0.694841 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.32, Z:0.06 [[ 0.99983709 0.01451533 0.01072806 1.70260701] [-0.01436751 0.99980251 -0.0137299 -0.31861519] [-0.01092524 0.01357353 0.99984819 0.06485864] [ 0. 0. 0. 1. ]] SLAMing on 3.086502481 meters Centerline goodness : 0.578586 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.33, Z:0.06 [[ 0.99989235 0.00706429 0.01286032 1.71507263] [-0.00689753 0.99989215 -0.01296552 -0.33007095] [-0.01295052 0.01287542 0.99983324 0.06374763] [ 0. 0. 0. 1. ]] SLAMing on 3.116502481 meters Centerline goodness : 0.549392 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.34, Z:0.06 [[ 0.9999097 0.0037118 0.01291547 1.71482156] [-0.00351388 0.99987657 -0.01531329 -0.33624949] [-0.01297072 0.01526652 0.99979933 0.06443644] [ 0. 0. 0. 1. ]] SLAMing on 3.146502481 meters Centerline goodness : 0.549392 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.34, Z:0.06 [[ 0.9999097 0.0037118 0.01291547 1.71482156] [-0.00351388 0.99987657 -0.01531329 -0.33624949] [-0.01297072 0.01526652 0.99979933 0.06443644] [ 0. 0. 0. 1. ]] SLAMing on 3.176502481 meters Centerline goodness : 0.668920 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.35, Z:0.07 [[ 0.99989201 -0.00226402 0.01452047 1.71075128] [ 0.0025513 0.99980078 -0.0197962 -0.350221 ] [-0.01447275 0.01983111 0.99969859 0.06707584] [ 0. 0. 0. 1. ]] SLAMing on 3.206502481 meters Centerline goodness : 0.687562 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.36, Z:0.07 [[ 0.99987674 -0.00555929 0.01468359 1.70995194] [ 0.00588939 0.99972873 -0.02253422 -0.35522418] [-0.01455433 0.02261792 0.99963824 0.06800297] [ 0. 0. 0. 1. ]] SLAMing on 3.236502481 meters Centerline goodness : 0.693366 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.37, Z:0.07 [[ 0.99992312 -0.00233308 0.01217857 1.73173065] [ 0.00261281 0.99973197 -0.02300372 -0.3655571 ] [-0.01212164 0.02303378 0.9996612 0.0694841 ] [ 0. 0. 0. 1. ]] SLAMing on 3.266502481 meters Centerline goodness : 0.680622 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.38, Z:0.07 [[ 0.99994551 0.00219104 0.01020668 1.75497498] [-0.00198119 0.99978739 -0.02052461 -0.37771433] [-0.01024948 0.02050327 0.99973725 0.07147248] [ 0. 0. 0. 1. ]] SLAMing on 3.296502481 meters Centerline goodness : 0.673702 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.38, Z:0.07 [[ 0.99988599 0.00767918 0.01300128 1.77098279] [-0.00737284 0.99969787 -0.02344801 -0.38242078] [-0.01317742 0.02334948 0.99964051 0.06922769] [ 0. 0. 0. 1. ]] SLAMing on 3.326502481 meters Centerline goodness : 0.680182 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.39, Z:0.07 [[ 0.99978483 0.01158554 0.01720652 1.78572638] [-0.01111636 0.99957045 -0.02711723 -0.38936017] [-0.0175133 0.02692012 0.99948416 0.06810183] [ 0. 0. 0. 1. ]] SLAMing on 3.356502481 meters Centerline goodness : 0.678043 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.40, Z:0.07 [[ 0.99967954 0.00867737 0.02378047 1.794973 ] [-0.00814165 0.99971296 -0.02253265 -0.39745145] [-0.02396917 0.02233182 0.99946324 0.06907589] [ 0. 0. 0. 1. ]] SLAMing on 3.386502481 meters Centerline goodness : 0.677455 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.40, Z:0.07 [[ 0.9995198 0.01395271 0.02766766 1.80971769] [-0.01326202 0.99959967 -0.02499231 -0.40080394] [-0.02800529 0.02461338 0.9993047 0.06869841] [ 0. 0. 0. 1. ]] SLAMing on 3.4165024809999998 meters Centerline goodness : 0.675903 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.41, Z:0.07 [[ 0.99945547 0.00654873 0.03234003 1.81963433] [-0.00583877 0.99974094 -0.02199893 -0.40616217] [-0.03247571 0.02179812 0.99923479 0.0714952 ] [ 0. 0. 0. 1. ]] SLAMing on 3.446502481 meters Centerline goodness : 0.674413 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.41, Z:0.07 [[ 0.99944165 0.00521446 0.03300306 1.81994862] [-0.00450491 0.99975789 -0.02153746 -0.4122155 ] [-0.03310738 0.02137676 0.99922317 0.07139659] [ 0. 0. 0. 1. ]] SLAMing on 3.476502481 meters Centerline goodness : 0.672542 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.42, Z:0.07 [[ 0.99929879 -0.00511715 0.03709102 1.83453793] [ 0.00578822 0.99982109 -0.01800785 -0.42466079] [-0.03699224 0.01820991 0.99914963 0.07320353] [ 0. 0. 0. 1. ]] SLAMing on 3.506502481 meters Centerline goodness : 0.671166 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.43, Z:0.07 [[ 0.99926168 -0.00640845 0.03788166 1.83441109] [ 0.00706891 0.99982489 -0.01732665 -0.43138839] [-0.03776399 0.01758164 0.99913201 0.07372973] [ 0. 0. 0. 1. ]] SLAMing on 3.536502481 meters Centerline goodness : 0.668067 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.44, Z:0.08 [[ 0.99915566 -0.00969604 0.03992429 1.83155797] [ 0.01043092 0.99977923 -0.01823972 -0.43833586] [-0.03973863 0.01864076 0.99903622 0.07661062] [ 0. 0. 0. 1. ]] SLAMing on 3.566502481 meters Centerline goodness : 0.669083 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.44, Z:0.08 [[ 0.99915661 -0.0091562 0.04002793 1.83051516] [ 0.00985202 0.99980317 -0.01722076 -0.44017239] [-0.03986237 0.01760059 0.99905015 0.07849644] [ 0. 0. 0. 1. ]] SLAMing on 3.596502481 meters Centerline goodness : 0.668555 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.44, Z:0.08 [[ 9.99028139e-01 -8.01652330e-04 4.40696626e-02 1.84310061e+00] [ 1.65044114e-03 9.99813779e-01 -1.92271519e-02 -4.41013762e-01] [-4.40460424e-02 1.92812002e-02 9.98843422e-01 7.69690528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6265024809999997 meters Centerline goodness : 0.668059 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.44, Z:0.08 [[ 0.99905217 0.0028496 0.04343558 1.84364492] [-0.00219497 0.9998834 -0.01511158 -0.44159563] [-0.04347358 0.01500192 0.99894194 0.07839977] [ 0. 0. 0. 1. ]] SLAMing on 3.656502481 meters Centerline goodness : 0.668836 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.44, Z:0.08 [[ 0.99904611 0.00302328 0.04356287 1.84341368] [-0.00234944 0.99987694 -0.015511 -0.43989517] [-0.0436044 0.01539386 0.99893027 0.0780781 ] [ 0. 0. 0. 1. ]] SLAMing on 3.6865024809999998 meters Centerline goodness : 0.670955 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.44, Z:0.08 [[ 0.99903295 0.0061362 0.04353758 1.84368925] [-0.00564303 0.99991862 -0.01144136 -0.44165496] [-0.04360424 0.01118461 0.99898627 0.07939367] [ 0. 0. 0. 1. ]] SLAMing on 3.716502481 meters Centerline goodness : 0.669300 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.44, Z:0.08 [[ 0.99899951 0.00631358 0.04427331 1.84255533] [-0.00580025 0.99991457 -0.01171357 -0.43956682] [-0.04434349 0.01144505 0.99895078 0.07943518] [ 0. 0. 0. 1. ]] SLAMing on 3.746502481 meters Centerline goodness : 0.670219 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.44, Z:0.08 [[ 0.99899055 0.00638901 0.04446416 1.84225294] [-0.005859 0.99991035 -0.01204014 -0.43771817] [-0.0445371 0.01176747 0.99893842 0.07926935] [ 0. 0. 0. 1. ]] SLAMing on 3.776502481 meters Centerline goodness : 0.672177 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.44, Z:0.08 [[ 0.9987966 0.0121669 0.04751118 1.85933302] [-0.01146372 0.9998211 -0.01504491 -0.43943547] [-0.04768573 0.01448215 0.9987574 0.07579167] [ 0. 0. 0. 1. ]] SLAMing on 3.806502481 meters Centerline goodness : 0.669784 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.44, Z:0.08 [[ 0.99880875 0.01195609 0.047309 1.85997255] [-0.01124719 0.99982087 -0.01522238 -0.43877786] [-0.04748253 0.01467215 0.99876431 0.07563737] [ 0. 0. 0. 1. ]] SLAMing on 3.836502481 meters Centerline goodness : 0.674306 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.44, Z:0.08 [[ 0.99879727 0.01197484 0.04754593 1.85974594] [-0.01127749 0.99982527 -0.01490817 -0.43897639] [-0.04771614 0.01435404 0.99875779 0.07609087] [ 0. 0. 0. 1. ]] SLAMing on 3.866502481 meters Centerline goodness : 0.673784 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.44, Z:0.08 [[ 0.99881552 0.01175063 0.04721732 1.86051836] [-0.01106191 0.99982897 -0.01482112 -0.43916748] [-0.04738341 0.01428125 0.99877468 0.0763328 ] [ 0. 0. 0. 1. ]] SLAMing on 3.8965024809999997 meters Centerline goodness : 0.673396 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.44, Z:0.08 [[ 0.99883258 0.01482399 0.04597517 1.86310861] [-0.01433373 0.99983703 -0.01097499 -0.44019901] [-0.04613037 0.01030318 0.99888229 0.07663661] [ 0. 0. 0. 1. ]] SLAMing on 3.926502481 meters Centerline goodness : 0.672389 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.44, Z:0.08 [[ 0.9988272 0.01804991 0.0449269 1.86547377] [-0.0177494 0.99981741 -0.00707886 -0.44141411] [-0.04504647 0.00627313 0.9989652 0.07653705] [ 0. 0. 0. 1. ]] SLAMing on 3.956502481 meters Centerline goodness : 0.676987 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.44, Z:0.08 [[ 0.99885181 0.01782428 0.04446746 1.86677438] [-0.01750824 0.99981869 -0.00748668 -0.44060449] [-0.04459284 0.00669953 0.99898278 0.07575791] [ 0. 0. 0. 1. ]] SLAMing on 3.986502481 meters Centerline goodness : 0.675559 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.44, Z:0.08 [[ 0.99888161 0.01748536 0.04392941 1.868083 ] [-0.01716255 0.99982295 -0.00771486 -0.44029638] [-0.04405653 0.00695229 0.99900485 0.07553073] [ 0. 0. 0. 1. ]] SLAMing on 4.016502481 meters Centerline goodness : 0.677981 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.44, Z:0.08 [[ 0.99890767 0.01849165 0.04291298 1.89952689] [-0.01822243 0.9998118 -0.0066564 -0.4420994 ] [-0.04302799 0.00586715 0.99905664 0.07505584] [ 0. 0. 0. 1. ]] SLAMing on 4.046502480999999 meters Centerline goodness : 0.678625 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.44, Z:0.07 [[ 0.99893903 0.01802856 0.04237675 1.90128405] [-0.01775579 0.9998192 -0.00680437 -0.44238226] [-0.04249176 0.00604472 0.99907853 0.07427095] [ 0. 0. 0. 1. ]] SLAMing on 4.0765024809999995 meters Centerline goodness : 0.678157 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.44, Z:0.07 [[ 0.99897346 0.01754401 0.04176404 1.90362247] [-0.01727841 0.99982819 -0.00671211 -0.4427323 ] [-0.04187462 0.0059836 0.99910496 0.07314137] [ 0. 0. 0. 1. ]] SLAMing on 4.106502481 meters Centerline goodness : 0.679851 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.44, Z:0.07 [[ 0.99898256 0.01730899 0.04164424 1.90460203] [-0.01703505 0.99983092 -0.00692415 -0.44210649] [-0.04175705 0.00620769 0.99910851 0.07226513] [ 0. 0. 0. 1. ]] SLAMing on 4.136502480999999 meters Centerline goodness : 0.679984 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.44, Z:0.07 [[ 0.99896832 0.01771971 0.0418128 1.90445758] [-0.0174406 0.99982318 -0.00703058 -0.43997962] [-0.04192999 0.00629408 0.99910073 0.0719479 ] [ 0. 0. 0. 1. ]] SLAMing on 4.166502480999999 meters Centerline goodness : 0.680105 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.44, Z:0.07 [[ 0.99873093 0.02370629 0.04443574 1.92124846] [-0.02328279 0.99967866 -0.01002408 -0.44126693] [-0.04465909 0.00897677 0.99896195 0.06845682] [ 0. 0. 0. 1. ]] SLAMing on 4.196502481 meters Centerline goodness : 0.683229 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.44, Z:0.06 [[ 0.99834221 0.03537992 0.04539926 1.95453085] [-0.03464842 0.99925835 -0.0168 -0.44059768] [-0.04595997 0.01519913 0.99882765 0.06430152] [ 0. 0. 0. 1. ]] SLAMing on 4.226502481 meters Centerline goodness : 0.684468 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.44, Z:0.06 [[ 0.99797604 0.04132669 0.04833152 1.97067466] [-0.0403717 0.99897294 -0.02057166 -0.44054504] [-0.04913204 0.0185788 0.99861948 0.06106845] [ 0. 0. 0. 1. ]] SLAMing on 4.256502480999999 meters Centerline goodness : 0.685910 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.44, Z:0.06 [[ 0.99799717 0.04281696 0.04656572 1.97371958] [-0.04180136 0.99887099 -0.02256977 -0.43728992] [-0.04747951 0.02057805 0.99866022 0.06179231] [ 0. 0. 0. 1. ]] SLAMing on 4.286502480999999 meters Centerline goodness : 0.685544 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.43, Z:0.06 [[ 0.99802634 0.04384537 0.04495568 1.97662995] [-0.04281021 0.99880121 -0.02373662 -0.43495307] [-0.04594253 0.02176521 0.99870694 0.06213058] [ 0. 0. 0. 1. ]] SLAMing on 4.316502481 meters Centerline goodness : 0.685299 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.43, Z:0.06 [[ 0.99807865 0.04379858 0.04382576 1.97837527] [-0.04273104 0.99877362 -0.02500638 -0.43330974] [-0.04486725 0.02308562 0.99872618 0.06279404] [ 0. 0. 0. 1. ]] SLAMing on 4.346502481 meters Centerline goodness : 0.685199 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.43, Z:0.06 [[ 0.99812459 0.04365867 0.04290959 1.97946586] [-0.04257414 0.99875827 -0.02587205 -0.43205404] [-0.04398584 0.02399669 0.99874391 0.06405612] [ 0. 0. 0. 1. ]] SLAMing on 4.376502480999999 meters Centerline goodness : 0.688304 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.43, Z:0.06 [[ 0.99818422 0.04301023 0.04217079 1.98062478] [-0.041886 0.99875235 -0.02719012 -0.42984249] [-0.04328763 0.02537438 0.99874037 0.06458853] [ 0. 0. 0. 1. ]] SLAMing on 4.4065024809999995 meters Centerline goodness : 0.685992 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.43, Z:0.07 [[ 0.99820825 0.0428034 0.04181105 1.98116283] [-0.04167759 0.99875432 -0.027437 -0.42856589] [-0.04293337 0.02564526 0.99874874 0.06506676] [ 0. 0. 0. 1. ]] SLAMing on 4.436502481 meters Centerline goodness : 0.686755 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.43, Z:0.07 [[ 0.9982901 0.04214662 0.04050352 1.98281701] [-0.04104906 0.99877701 -0.02755814 -0.42930658] [-0.04161547 0.02584838 0.99879929 0.06623109] [ 0. 0. 0. 1. ]] SLAMing on 4.466502480999999 meters Centerline goodness : 0.683504 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.43, Z:0.07 [[ 0.99833916 0.04183121 0.03961144 1.98408098] [-0.04074609 0.99878226 -0.02781659 -0.42923224] [-0.0407268 0.02615638 0.9988279 0.06695434] [ 0. 0. 0. 1. ]] SLAMing on 4.496502480999999 meters Centerline goodness : 0.683210 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.43, Z:0.07 [[ 0.99838659 0.04186327 0.0383625 1.98656749] [-0.04084716 0.99880326 -0.02689903 -0.42997559] [-0.03944267 0.02528863 0.99890178 0.06654792] [ 0. 0. 0. 1. ]] SLAMing on 4.526502481 meters Centerline goodness : 0.682333 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.43, Z:0.07 [[ 0.99849197 0.0401232 0.03746875 1.98838938] [-0.03920028 0.99891733 -0.02505005 -0.43282639] [-0.03843327 0.02354349 0.99898378 0.06591173] [ 0. 0. 0. 1. ]] SLAMing on 4.556502481 meters Centerline goodness : 0.682890 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.43, Z:0.07 [[ 0.99850289 0.03961573 0.03771698 1.98810799] [-0.03873241 0.99896449 -0.02386944 -0.43325901] [-0.03862353 0.02237283 0.99900334 0.06576728] [ 0. 0. 0. 1. ]] SLAMing on 4.586502480999999 meters Centerline goodness : 0.681954 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.43, Z:0.07 [[ 0.99854096 0.03934379 0.03698676 1.9893871 ] [-0.03845647 0.99896225 -0.02440348 -0.4316047 ] [-0.0379085 0.0229455 0.99901774 0.06604379] [ 0. 0. 0. 1. ]] SLAMing on 4.6165024809999995 meters Centerline goodness : 0.683691 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.43, Z:0.07 [[ 0.99853558 0.03976063 0.03668497 1.99049356] [-0.03886574 0.99893681 -0.02479313 -0.42918599] [-0.03763176 0.02333104 0.99901928 0.06534896] [ 0. 0. 0. 1. ]] SLAMing on 4.646502481 meters Centerline goodness : 0.684319 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.43, Z:0.07 [[ 0.99855402 0.04008438 0.03582057 1.9922562 ] [-0.03920792 0.99892216 -0.02484471 -0.42879671] [-0.03677784 0.02340433 0.99904936 0.06530835] [ 0. 0. 0. 1. ]] SLAMing on 4.676502480999999 meters Centerline goodness : 0.684416 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.43, Z:0.07 [[ 0.99855623 0.04055427 0.03522502 1.99315208] [-0.03962705 0.99885951 -0.02663409 -0.4257434 ] [-0.03626498 0.02519977 0.99902444 0.06615643] [ 0. 0. 0. 1. ]] SLAMing on 4.706502480999999 meters Centerline goodness : 0.685973 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.42, Z:0.07 [[ 0.99856769 0.04082663 0.03457975 1.99389006] [-0.03982346 0.99877944 -0.02921864 -0.42246099] [-0.03573044 0.02779971 0.99897473 0.06740316] [ 0. 0. 0. 1. ]] SLAMing on 4.736502481 meters Centerline goodness : 0.685218 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.42, Z:0.07 [[ 0.99859535 0.04075552 0.03385733 1.99499579] [-0.03974864 0.99876231 -0.02989815 -0.4220365 ] [-0.03503394 0.02851037 0.99897937 0.06795023] [ 0. 0. 0. 1. ]] SLAMing on 4.766502481 meters Centerline goodness : 0.685785 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.42, Z:0.07 [[ 0.99863876 0.04015093 0.03329467 1.9959016 ] [-0.03914781 0.99877538 -0.03025218 -0.42146684] [-0.03446855 0.02890758 0.99898762 0.06836326] [ 0. 0. 0. 1. ]] SLAMing on 4.796502480999999 meters Centerline goodness : 0.687030 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.42, Z:0.07 [[ 0.99867891 0.03925423 0.03315933 1.99581043] [-0.03823097 0.99878954 -0.03094902 -0.42123805] [-0.03433407 0.02964042 0.99897078 0.06906702] [ 0. 0. 0. 1. ]] SLAMing on 4.8265024809999995 meters Centerline goodness : 0.686747 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.42, Z:0.07 [[ 0.99880721 0.03561268 0.03340508 1.99500578] [-0.03444631 0.99879823 -0.03486461 -0.42044771] [-0.03460656 0.03367235 0.9988336 0.06956756] [ 0. 0. 0. 1. ]] SLAMing on 4.856502481 meters Centerline goodness : 0.685162 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.42, Z:0.07 [[ 0.99885354 0.0349638 0.03269753 1.99654464] [-0.03385081 0.99884858 -0.03399464 -0.4215131 ] [-0.03384847 0.03284883 0.998887 0.06923208] [ 0. 0. 0. 1. ]] SLAMing on 4.886502480999999 meters Centerline goodness : 0.684865 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.42, Z:0.07 [[ 0.99887047 0.03400383 0.03318936 1.99592716] [-0.03297115 0.99896978 -0.03118156 -0.42442954] [-0.03421546 0.03005205 0.99896255 0.06881569] [ 0. 0. 0. 1. ]] SLAMing on 4.916502480999999 meters Centerline goodness : 0.686204 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.43, Z:0.07 [[ 0.99891603 0.03313521 0.03269272 1.99663511] [-0.03213259 0.99901106 -0.0307311 -0.42608256] [-0.03367867 0.02964728 0.99899289 0.06919034] [ 0. 0. 0. 1. ]] SLAMing on 4.946502481 meters Centerline goodness : 0.687491 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.43, Z:0.07 [[ 0.99892539 0.0333082 0.03222763 1.99751415] [-0.03235409 0.99903547 -0.02968738 -0.42673283] [-0.03318538 0.02861278 0.99903956 0.0693821 ] [ 0. 0. 0. 1. ]] SLAMing on 4.976502481 meters Centerline goodness : 0.689652 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.43, Z:0.07 [[ 0.99894211 0.03336663 0.03164378 1.99911472] [-0.03245236 0.99905308 -0.02897897 -0.42707346] [-0.03258075 0.0279214 0.99907902 0.06867806] [ 0. 0. 0. 1. ]] SLAMing on 5.006502480999999 meters Centerline goodness : 0.688821 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.43, Z:0.07 [[ 0.99896591 0.03314745 0.03111854 2.00074055] [-0.03228654 0.99909273 -0.02777213 -0.4291032 ] [-0.03201088 0.0267387 0.99912979 0.06760885] [ 0. 0. 0. 1. ]] SLAMing on 5.036502480999999 meters Centerline goodness : 0.689535 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.43, Z:0.07 [[ 0.99898947 0.03282372 0.03070238 2.00109783] [-0.03198411 0.99911138 -0.02744936 -0.42945095] [-0.03157609 0.02643964 0.99915159 0.06846301] [ 0. 0. 0. 1. ]] SLAMing on 5.066502481 meters Centerline goodness : 0.689535 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.43, Z:0.07 [[ 0.99898947 0.03282372 0.03070238 2.00109783] [-0.03198411 0.99911138 -0.02744936 -0.42945095] [-0.03157609 0.02643964 0.99915159 0.06846301] [ 0. 0. 0. 1. ]] SLAMing on 5.096502480999999 meters Centerline goodness : 0.694213 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.43, Z:0.07 [[ 0.99898962 0.03346157 0.030001 2.00288465] [-0.0326248 0.9990765 -0.02796006 -0.42737648] [-0.03090889 0.02695303 0.99915873 0.06789561] [ 0. 0. 0. 1. ]] SLAMing on 5.126502480999999 meters Centerline goodness : 0.696307 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.43, Z:0.07 [[ 0.9989069 0.03730383 0.02816793 2.0075305 ] [-0.03662022 0.99903115 -0.02440719 -0.42850119] [-0.02905112 0.023349 0.99930519 0.06634757] [ 0. 0. 0. 1. ]] SLAMing on 5.1565024809999995 meters Centerline goodness : 0.697728 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.43, Z:0.07 [[ 0.99892281 0.03792273 0.02674124 2.01082828] [-0.03724761 0.99898554 -0.02530834 -0.42729482] [-0.02767387 0.02428503 0.99932197 0.0655627 ] [ 0. 0. 0. 1. ]] SLAMing on 5.186502481 meters Centerline goodness : 0.699127 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.42, Z:0.07 [[ 0.99890221 0.03883011 0.02620309 2.01169275] [-0.038114 0.9989005 -0.02729673 -0.42364789] [-0.02723422 0.02626805 0.99928389 0.06630509] [ 0. 0. 0. 1. ]] SLAMing on 5.216502480999999 meters Centerline goodness : 0.701936 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.42, Z:0.07 [[ 0.99888457 0.03974715 0.0254909 2.01285834] [-0.03893667 0.9987438 -0.03153974 -0.41694547] [-0.0267125 0.03051203 0.99917739 0.06736599] [ 0. 0. 0. 1. ]] SLAMing on 5.246502480999999 meters Centerline goodness : 0.704492 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.42, Z:0.07 [[ 0.99888214 0.04047396 0.02442002 2.01510249] [-0.03966845 0.99868048 -0.03261456 -0.41515632] [-0.02570784 0.0316094 0.99916963 0.06738292] [ 0. 0. 0. 1. ]] SLAMing on 5.276502481 meters Centerline goodness : 0.706296 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.41, Z:0.07 [[ 0.99874446 0.04435669 0.02328066 2.0179699 ] [-0.0436369 0.99857977 -0.03056558 -0.41331076] [-0.02460338 0.0295113 0.99926161 0.06696715] [ 0. 0. 0. 1. ]] SLAMing on 5.306502480999999 meters Centerline goodness : 0.707366 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.41, Z:0.07 [[ 0.9987135 0.04556677 0.02224869 2.02005549] [-0.04482663 0.99845934 -0.03270346 -0.40931644] [-0.0237046 0.03166405 0.99921743 0.06736452] [ 0. 0. 0. 1. ]] SLAMing on 5.336502480999999 meters Centerline goodness : 0.707872 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.41, Z:0.07 [[ 0.99871917 0.04563789 0.02184519 2.02100535] [-0.04488846 0.99842518 -0.03364801 -0.40711723] [-0.02334642 0.03262431 0.99919498 0.06735472] [ 0. 0. 0. 1. ]] SLAMing on 5.3665024809999995 meters Centerline goodness : 0.705906 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.41, Z:0.07 [[ 0.99873242 0.04524594 0.02205342 2.02106586] [-0.04450741 0.99846711 -0.03290164 -0.40677836] [-0.02350828 0.0318784 0.99921526 0.06656268] [ 0. 0. 0. 1. ]] SLAMing on 5.396502481 meters Centerline goodness : 0.706033 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.41, Z:0.07 [[ 0.99874054 0.04523041 0.02171505 2.02216749] [-0.04452185 0.9984934 -0.03207392 -0.40738962] [-0.02313305 0.03106673 0.99924958 0.06582767] [ 0. 0. 0. 1. ]] SLAMing on 5.426502480999999 meters Centerline goodness : 0.706446 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.41, Z:0.06 [[ 0.99874195 0.04536754 0.02136115 2.02380584] [-0.04469292 0.99851763 -0.0310658 -0.40745567] [-0.02273886 0.03007203 0.99928906 0.06427353] [ 0. 0. 0. 1. ]] SLAMing on 5.456502480999999 meters Centerline goodness : 0.707481 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.41, Z:0.06 [[ 0.9986161 0.04814644 0.02116125 2.02536609] [-0.04758395 0.99852025 -0.02632642 -0.40948455] [-0.02239746 0.02528305 0.9994294 0.06253341] [ 0. 0. 0. 1. ]] SLAMing on 5.486502481 meters Centerline goodness : 0.709014 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.41, Z:0.06 [[ 0.99860571 0.04896321 0.01972925 2.02828478] [-0.04842069 0.99845941 -0.02709703 -0.40871138] [-0.02102561 0.02610395 0.9994381 0.06244025] [ 0. 0. 0. 1. ]] SLAMing on 5.516502481 meters Centerline goodness : 0.709184 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.41, Z:0.06 [[ 0.99858149 0.04980292 0.01883304 2.03011567] [-0.04928057 0.99841314 -0.02725113 -0.40809657] [-0.02016034 0.02628437 0.9994512 0.06243538] [ 0. 0. 0. 1. ]] SLAMing on 5.546502480999999 meters Centerline goodness : 0.707551 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.41, Z:0.06 [[ 0.99857396 0.05031346 0.0178493 2.03237452] [-0.04980837 0.99837473 -0.02769528 -0.4069494 ] [-0.01921373 0.02676674 0.99945704 0.06197534] [ 0. 0. 0. 1. ]] SLAMing on 5.5765024809999995 meters Centerline goodness : 0.709727 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.41, Z:0.06 [[ 0.99850744 0.0519537 0.01684377 2.0351038 ] [-0.05149547 0.99831933 -0.02658426 -0.40791522] [-0.01819662 0.02567721 0.99950466 0.06073773] [ 0. 0. 0. 1. ]] SLAMing on 5.606502481 meters Centerline goodness : 0.709835 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.41, Z:0.06 [[ 0.99852149 0.05212229 0.01543079 2.03792991] [-0.05169907 0.99830677 -0.02666098 -0.40949227] [-0.01679429 0.0258238 0.99952543 0.06045587] [ 0. 0. 0. 1. ]] SLAMing on 5.636502480999999 meters Centerline goodness : 0.708585 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.41, Z:0.06 [[ 0.99855554 0.05165755 0.01477607 2.0391131 ] [-0.05127361 0.99836465 -0.02527929 -0.41231572] [-0.01605777 0.02448516 0.99957122 0.06034382] [ 0. 0. 0. 1. ]] SLAMing on 5.666502480999999 meters Centerline goodness : 0.710569 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.41, Z:0.06 [[ 0.99859419 0.05101035 0.01440791 2.03967949] [-0.05064366 0.99840976 -0.02476209 -0.41363943] [-0.01564813 0.02399761 0.99958954 0.06039301] [ 0. 0. 0. 1. ]] SLAMing on 5.696502481 meters Centerline goodness : 0.708633 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.42, Z:0.06 [[ 0.99864087 0.05021303 0.01396659 2.04034402] [-0.0498656 0.99846268 -0.02420124 -0.41521067] [-0.01516034 0.0234719 0.99960954 0.0603665 ] [ 0. 0. 0. 1. ]] SLAMing on 5.726502481 meters Centerline goodness : 0.710636 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.42, Z:0.06 [[ 0.99870396 0.04913701 0.01326455 2.04159843] [-0.0488259 0.99854614 -0.02283941 -0.41804651] [-0.01436752 0.02216216 0.99965115 0.06012188] [ 0. 0. 0. 1. ]] SLAMing on 5.756502480999999 meters Centerline goodness : 0.707907 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.42, Z:0.06 [[ 0.99874219 0.04845281 0.01289854 2.04160799] [-0.04815061 0.99858005 -0.0227905 -0.41894342] [-0.01398449 0.02214076 0.99965705 0.06119021] [ 0. 0. 0. 1. ]] SLAMing on 5.786502480999999 meters Centerline goodness : 0.709056 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.42, Z:0.06 [[ 0.9988969 0.04551315 0.01155546 2.04234921] [-0.04516308 0.99856045 -0.02893665 -0.41739384] [-0.01285582 0.02838285 0.99951445 0.06408555] [ 0. 0. 0. 1. ]] SLAMing on 5.816502481 meters Centerline goodness : 0.709671 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.42, Z:0.07 [[ 0.99891017 0.04537293 0.01094378 2.04270085] [-0.04502877 0.9985389 -0.02987442 -0.41698191] [-0.01228328 0.02934908 0.99949375 0.06551652] [ 0. 0. 0. 1. ]] SLAMing on 5.846502480999999 meters Centerline goodness : 0.708920 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.42, Z:0.07 [[ 0.99892097 0.04538676 0.0098454 2.04366434] [-0.04506415 0.99850827 -0.03082946 -0.4172343 ] [-0.01122996 0.03035252 0.99947617 0.06742327] [ 0. 0. 0. 1. ]] SLAMing on 5.876502480999999 meters Centerline goodness : 0.708324 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.42, Z:0.07 [[ 0.99893483 0.04517496 0.00940334 2.04433748] [-0.04486611 0.99851789 -0.03080659 -0.4172059 ] [-0.01078109 0.03035188 0.99948113 0.06790105] [ 0. 0. 0. 1. ]] SLAMing on 5.9065024809999995 meters Centerline goodness : 0.711399 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.42, Z:0.07 [[ 0.99876462 0.04872885 0.00973309 2.04513201] [-0.04847551 0.99851747 -0.02475858 -0.41919553] [-0.01092512 0.02425618 0.99964608 0.06603616] [ 0. 0. 0. 1. ]] SLAMing on 5.936502481 meters Centerline goodness : 0.709719 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.42, Z:0.06 [[ 0.99876454 0.04879283 0.00941603 2.04644624] [-0.04854571 0.99851064 -0.02489623 -0.41809918] [-0.01061676 0.02440836 0.9996457 0.06496926] [ 0. 0. 0. 1. ]] SLAMing on 5.966502480999999 meters Centerline goodness : 0.710744 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.42, Z:0.07 [[ 0.99891308 0.04570514 0.0091487 2.04632323] [-0.04544079 0.99859466 -0.0272734 -0.41635958] [-0.01038238 0.02682803 0.99958615 0.06586556] [ 0. 0. 0. 1. ]] SLAMing on 5.996502480999999 meters Centerline goodness : 0.710367 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.41, Z:0.07 [[ 0.99908486 0.04175599 0.00926763 2.0445834 ] [-0.04143868 0.99862424 -0.03213207 -0.41475951] [-0.01059659 0.03171863 0.99944066 0.06824157] [ 0. 0. 0. 1. ]] SLAMing on 6.026502481 meters Centerline goodness : 0.708361 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.42, Z:0.07 [[ 0.99909766 0.04147162 0.00916305 2.04448908] [-0.0411617 0.99864771 -0.03175622 -0.41539502] [-0.01046764 0.03135039 0.99945364 0.06878659] [ 0. 0. 0. 1. ]] SLAMing on 6.056502480999999 meters Centerline goodness : 0.710042 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.42, Z:0.07 [[ 0.99908913 0.04180021 0.00858204 2.04570503] [-0.04151047 0.99864003 -0.03154332 -0.41606488] [-0.00988888 0.03115835 0.99946554 0.06874805] [ 0. 0. 0. 1. ]] SLAMing on 6.086502480999999 meters Centerline goodness : 0.710368 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.42, Z:0.07 [[ 0.99908487 0.04206249 0.00775659 2.04739494] [-0.04179793 0.99862651 -0.03159155 -0.41573166] [-0.00907475 0.03123843 0.99947076 0.06871284] [ 0. 0. 0. 1. ]] SLAMing on 6.1165024809999995 meters Centerline goodness : 0.711599 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.42, Z:0.07 [[ 0.99907562 0.04243653 0.00685859 2.04891659] [-0.04219752 0.99860063 -0.03187706 -0.41530718] [-0.00820174 0.03155817 0.99946827 0.06925231] [ 0. 0. 0. 1. ]] SLAMing on 6.146502481 meters Centerline goodness : 0.711732 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.42, Z:0.07 [[ 0.99905488 0.04309105 0.00570095 2.05141449] [-0.04289143 0.99858514 -0.03143313 -0.41642859] [-0.00704737 0.0311589 0.9994896 0.06879765] [ 0. 0. 0. 1. ]] SLAMing on 6.176502480999999 meters Centerline goodness : 0.712010 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.42, Z:0.07 [[ 0.99895825 0.04527393 0.0057167 2.05228452] [-0.04510622 0.99862599 -0.02667504 -0.41817835] [-0.00691653 0.02638939 0.99962781 0.06762388] [ 0. 0. 0. 1. ]] SLAMing on 6.206502480999999 meters Centerline goodness : 0.714032 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.42, Z:0.07 [[ 0.99897111 0.04501124 0.00554173 2.05262279] [-0.0448492 0.99864139 -0.0265317 -0.41857569] [-0.00672842 0.02625586 0.99963261 0.06772014] [ 0. 0. 0. 1. ]] SLAMing on 6.236502481 meters Centerline goodness : 0.713206 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.42, Z:0.07 [[ 0.99896834 0.045111 0.00522132 2.05216037] [-0.04494883 0.99860091 -0.02785375 -0.4168019 ] [-0.00647053 0.02759032 0.99959837 0.06985295] [ 0. 0. 0. 1. ]] SLAMing on 6.266502481 meters Centerline goodness : 0.713680 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.42, Z:0.07 [[ 0.99896776 0.04519868 0.00452741 2.05359376] [-0.04505086 0.99857303 -0.02867604 -0.4150902 ] [-0.00581707 0.02844247 0.9995785 0.06988776] [ 0. 0. 0. 1. ]] SLAMing on 6.296502480999999 meters Centerline goodness : 0.712529 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.42, Z:0.07 [[ 0.99891674 0.04635588 0.00406033 2.05433981] [-0.04622327 0.99853207 -0.02823316 -0.41616042] [-0.00536314 0.02801489 0.99959312 0.07036032] [ 0. 0. 0. 1. ]] SLAMing on 6.3265024809999995 meters Centerline goodness : 0.712029 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.42, Z:0.08 [[ 0.999129 0.04163579 0.00277502 2.03499661] [-0.04155559 0.99883619 -0.02448251 -0.41551249] [-0.00379114 0.02434586 0.99969641 0.07558891] [ 0. 0. 0. 1. ]] SLAMing on 6.356502481 meters Centerline goodness : 0.710796 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.41, Z:0.08 [[ 9.99113056e-01 4.20630730e-02 1.94917873e-03 2.03601196e+00] [-4.20013944e-02 9.98805351e-01 -2.49750429e-02 -4.14851935e-01] [-2.99737719e-03 2.48710232e-02 9.99686175e-01 7.66494164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.386502480999999 meters Centerline goodness : 0.711878 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.42, Z:0.08 [[ 9.98965436e-01 4.54636179e-02 1.05710912e-03 2.03868098e+00] [-4.54327283e-02 9.98759998e-01 -2.03551730e-02 -4.16303598e-01] [-1.98121811e-03 2.02860869e-02 9.99792253e-01 7.52968035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.416502480999999 meters Centerline goodness : 0.713663 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.42, Z:0.07 [[ 9.98804234e-01 4.88741405e-02 1.19227653e-03 2.03904313e+00] [-4.88494030e-02 9.98682337e-01 -1.57265580e-02 -4.16808147e-01] [-1.95932752e-03 1.56495107e-02 9.99875619e-01 7.48655727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.446502481 meters Centerline goodness : 0.713822 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.42, Z:0.07 [[ 9.98806973e-01 4.88325445e-02 1.14253112e-04 2.04147836e+00] [-4.88239977e-02 9.98670805e-01 -1.65178998e-02 -4.16518559e-01] [-9.20712325e-04 1.64926152e-02 9.99863564e-01 7.42881986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.476502481 meters Centerline goodness : 0.712861 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.41, Z:0.07 [[ 9.98960292e-01 4.55745900e-02 -1.13678865e-03 2.04394154e+00] [-4.55886061e-02 9.98712134e-01 -2.22654879e-02 -4.13507338e-01] [ 1.20584135e-04 2.22941629e-02 9.99751447e-01 7.40128628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.506502480999999 meters Centerline goodness : 0.713810 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.41, Z:0.07 [[ 9.98952989e-01 4.57289697e-02 -1.33653395e-03 2.04402922e+00] [-4.57476873e-02 9.98682750e-01 -2.32360508e-02 -4.11537998e-01] [ 2.72212731e-04 2.32728658e-02 9.99729113e-01 7.48246170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.536502480999999 meters Centerline goodness : 0.716652 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.41, Z:0.07 [[ 9.98770870e-01 4.95285117e-02 -1.91745351e-03 2.04581021e+00] [-4.95577023e-02 9.98555109e-01 -2.07780742e-02 -4.09952123e-01] [ 8.85575911e-04 2.08475598e-02 9.99782274e-01 7.46035879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.566502481 meters Centerline goodness : 0.718403 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.41, Z:0.08 [[ 9.98584747e-01 5.31215783e-02 -2.56936630e-03 2.04719904e+00] [-5.31608351e-02 9.98406146e-01 -1.89497502e-02 -4.07822190e-01] [ 1.55863046e-03 1.90595212e-02 9.99817136e-01 7.52596049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.596502480999999 meters Centerline goodness : 0.720502 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.41, Z:0.08 [[ 0.99858929 0.05299559 -0.00329994 2.04866564] [-0.05305106 0.99839265 -0.01994239 -0.40706497] [ 0.00223777 0.02008932 0.99979568 0.07523937] [ 0. 0. 0. 1. ]] SLAMing on 6.626502480999999 meters Centerline goodness : 0.721993 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.41, Z:0.07 [[ 0.99866458 0.05156217 -0.00322327 2.04860225] [-0.05161628 0.99846883 -0.01989352 -0.40743491] [ 0.00219259 0.02003333 0.99979691 0.07491355] [ 0. 0. 0. 1. ]] SLAMing on 6.6565024809999995 meters Centerline goodness : 0.718943 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.41, Z:0.08 [[ 0.99872063 0.05047014 -0.00314073 2.04828214] [-0.0505236 0.99851718 -0.02026831 -0.4075709 ] [ 0.00211312 0.02040106 0.99978964 0.07504046] [ 0. 0. 0. 1. ]] SLAMing on 6.686502481 meters Centerline goodness : 0.718628 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.41, Z:0.07 [[ 0.99879473 0.04897865 -0.00319077 2.04836316] [-0.04903272 0.99859803 -0.01994422 -0.40867643] [ 0.00220945 0.02007663 0.999796 0.07479787] [ 0. 0. 0. 1. ]] SLAMing on 6.716502480999999 meters Centerline goodness : 0.718416 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.41, Z:0.07 [[ 0.99881103 0.04862796 -0.00344311 2.04951346] [-0.04868506 0.99863156 -0.01909898 -0.40839957] [ 0.00250966 0.0192439 0.99981167 0.07373439] [ 0. 0. 0. 1. ]] SLAMing on 6.746502480999999 meters Centerline goodness : 0.719423 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.41, Z:0.07 [[ 0.99884543 0.04791495 -0.00345949 2.05113055] [-0.04796435 0.99872114 -0.01598432 -0.40853041] [ 0.00268917 0.0161318 0.99986626 0.07122156] [ 0. 0. 0. 1. ]] SLAMing on 6.776502481 meters Centerline goodness : 0.719912 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.41, Z:0.07 [[ 0.99886045 0.04752516 -0.00437716 2.05316247] [-0.04758957 0.99873845 -0.01602331 -0.409233 ] [ 0.00361013 0.01621336 0.99986204 0.07058187] [ 0. 0. 0. 1. ]] SLAMing on 6.806502480999999 meters Centerline goodness : 0.720384 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.41, Z:0.07 [[ 0.99888652 0.04692431 -0.00488215 2.05468792] [-0.04699206 0.99878508 -0.01483625 -0.41020013] [ 0.00418004 0.01504915 0.99987802 0.06957392] [ 0. 0. 0. 1. ]] SLAMing on 6.836502480999999 meters Centerline goodness : 0.720247 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.41, Z:0.07 [[ 0.99888116 0.04699256 -0.00530268 2.05581977] [-0.04706697 0.99878046 -0.01490965 -0.40859067] [ 0.00459557 0.01514255 0.99987478 0.06922111] [ 0. 0. 0. 1. ]] SLAMing on 6.8665024809999995 meters Centerline goodness : 0.722309 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.41, Z:0.07 [[ 0.99881864 0.04806213 -0.00716568 2.05982033] [-0.04816956 0.99871638 -0.0156615 -0.40836012] [ 0.00640376 0.01598817 0.99985167 0.06872727] [ 0. 0. 0. 1. ]] SLAMing on 6.896502481 meters Centerline goodness : 0.721340 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.07 [[ 0.99890248 0.04606611 -0.00847061 2.06168331] [-0.04623916 0.99869865 -0.0215162 -0.40483092] [ 0.00746842 0.02188426 0.99973262 0.06989034] [ 0. 0. 0. 1. ]] SLAMing on 6.926502480999999 meters Centerline goodness : 0.718665 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.07 [[ 0.9988643 0.04672419 -0.00932537 2.06222394] [-0.04692834 0.99863279 -0.02302795 -0.40397459] [ 0.00823666 0.02343942 0.99969133 0.07192031] [ 0. 0. 0. 1. ]] SLAMing on 6.956502480999999 meters Centerline goodness : 0.718665 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.07 [[ 0.9988643 0.04672419 -0.00932537 2.06222394] [-0.04692834 0.99863279 -0.02302795 -0.40397459] [ 0.00823666 0.02343942 0.99969133 0.07192031] [ 0. 0. 0. 1. ]] SLAMing on 6.986502481 meters Centerline goodness : 0.718846 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.07 [[ 0.99885881 0.04669013 -0.01005502 2.0632504 ] [-0.04692306 0.99860215 -0.02433064 -0.40292943] [ 0.00890496 0.02477469 0.9996534 0.07275018] [ 0. 0. 0. 1. ]] SLAMing on 7.016502480999999 meters Centerline goodness : 0.717151 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.40, Z:0.08 [[ 0.99921215 0.03871861 -0.0087153 2.05212079] [-0.03888215 0.99905447 -0.01945105 -0.39961948] [ 0.00795394 0.01977459 0.99977282 0.07609946] [ 0. 0. 0. 1. ]] SLAMing on 7.046502480999999 meters Centerline goodness : 0.716899 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.40, Z:0.08 [[ 0.9991851 0.03921303 -0.00956384 2.05299474] [-0.0393965 0.99902714 -0.01981642 -0.39923883] [ 0.00877748 0.02017705 0.99975789 0.07735587] [ 0. 0. 0. 1. ]] SLAMing on 7.0765024809999995 meters Centerline goodness : 0.719006 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99913962 0.040169 -0.01031811 2.05517983] [-0.0403682 0.99898701 -0.01988356 -0.3974805 ] [ 0.00950895 0.02028298 0.99974906 0.07632966] [ 0. 0. 0. 1. ]] SLAMing on 7.106502481 meters Centerline goodness : 0.718909 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99910912 0.04073887 -0.01101441 2.05642475] [-0.04095239 0.99896271 -0.01990977 -0.39691974] [ 0.01019189 0.0203431 0.99974111 0.07661162] [ 0. 0. 0. 1. ]] SLAMing on 7.136502480999999 meters Centerline goodness : 0.716023 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99907055 0.04131379 -0.01229649 2.05871631] [-0.04156215 0.99892193 -0.0206778 -0.39697175] [ 0.01142895 0.02116965 0.99971057 0.07695132] [ 0. 0. 0. 1. ]] SLAMing on 7.166502480999999 meters Centerline goodness : 0.717813 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99907339 0.04125086 -0.01227699 2.05848967] [-0.04149802 0.99892602 -0.02060888 -0.39637316] [ 0.01141367 0.02109925 0.99971223 0.0773492 ] [ 0. 0. 0. 1. ]] SLAMing on 7.196502481 meters Centerline goodness : 0.717679 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99908711 0.04098401 -0.01205221 2.05789606] [-0.04121862 0.99895178 -0.01990885 -0.39652539] [ 0.01122363 0.02038745 0.99972915 0.077625 ] [ 0. 0. 0. 1. ]] SLAMing on 7.226502480999999 meters Centerline goodness : 0.717962 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99909731 0.04056854 -0.01260002 2.05894904] [-0.04082771 0.99894462 -0.02104147 -0.39527917] [ 0.0117331 0.02153691 0.9996992 0.07770643] [ 0. 0. 0. 1. ]] SLAMing on 7.256502480999999 meters Centerline goodness : 0.716665 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.39, Z:0.08 [[ 0.99922582 0.03702965 -0.01328809 2.05913337] [-0.0373671 0.9989603 -0.02611547 -0.39376177] [ 0.01230723 0.02659179 0.99957061 0.07930442] [ 0. 0. 0. 1. ]] SLAMing on 7.286502480999999 meters Centerline goodness : 0.717467 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99925646 0.03619628 -0.01328023 2.05836916] [-0.03652518 0.99900934 -0.02542156 -0.39532781] [ 0.01234691 0.02588772 0.99958861 0.08023513] [ 0. 0. 0. 1. ]] SLAMing on 7.316502481 meters Centerline goodness : 0.719277 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99938724 0.03257914 -0.01279638 2.05681125] [-0.03289012 0.99914891 -0.02489388 -0.39746437] [ 0.01197447 0.0252995 0.9996082 0.08073694] [ 0. 0. 0. 1. ]] SLAMing on 7.346502480999999 meters Centerline goodness : 0.718554 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99941028 0.03163115 -0.01336273 2.05751258] [-0.03195278 0.999187 -0.02458355 -0.39832218] [ 0.01257426 0.02499603 0.99960847 0.08112575] [ 0. 0. 0. 1. ]] SLAMing on 7.376502480999999 meters Centerline goodness : 0.714821 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99942558 0.0312216 -0.01318013 2.05750564] [-0.03151164 0.99925226 -0.02240396 -0.40103869] [ 0.01247079 0.02280642 0.99966212 0.08030394] [ 0. 0. 0. 1. ]] SLAMing on 7.4065024809999995 meters Centerline goodness : 0.716381 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99941898 0.03113231 -0.01387343 2.05876312] [-0.03141996 0.99928517 -0.02102215 -0.40310978] [ 0.01320905 0.02144584 0.99968275 0.08021873] [ 0. 0. 0. 1. ]] SLAMing on 7.436502481 meters Centerline goodness : 0.714972 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99941981 0.03095722 -0.01420205 2.05911811] [-0.03125914 0.99927891 -0.02155304 -0.40177814] [ 0.01352459 0.02198448 0.99966683 0.08079727] [ 0. 0. 0. 1. ]] SLAMing on 7.466502480999999 meters Centerline goodness : 0.716245 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99941112 0.031322 -0.01401203 2.05847784] [-0.03161527 0.99927478 -0.02122222 -0.40179977] [ 0.01333715 0.02165272 0.99967659 0.0815307 ] [ 0. 0. 0. 1. ]] SLAMing on 7.496502480999999 meters Centerline goodness : 0.715303 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99940281 0.03144387 -0.0143283 2.05897091] [-0.03174526 0.99926866 -0.02131618 -0.40112695] [ 0.01364756 0.0217583 0.99967011 0.081763 ] [ 0. 0. 0. 1. ]] SLAMing on 7.526502481 meters Centerline goodness : 0.716701 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99937876 0.03195734 -0.01486006 2.05982599] [-0.03227727 0.99924091 -0.02181242 -0.40031765] [ 0.01415171 0.02227851 0.99965164 0.08221065] [ 0. 0. 0. 1. ]] SLAMing on 7.556502480999999 meters Centerline goodness : 0.718006 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99936171 0.03234538 -0.01516382 2.06009581] [-0.03268605 0.99920595 -0.0227834 -0.39791283] [ 0.01441484 0.02326451 0.99962542 0.0829345 ] [ 0. 0. 0. 1. ]] SLAMing on 7.586502480999999 meters Centerline goodness : 0.716810 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99933771 0.03264309 -0.01608022 2.06207368] [-0.03300635 0.99919348 -0.02286841 -0.39819144] [ 0.01532076 0.02338401 0.99960915 0.08275727] [ 0. 0. 0. 1. ]] SLAMing on 7.6165024809999995 meters Centerline goodness : 0.718262 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.08 [[ 0.99921308 0.03630395 -0.0159766 2.061716 ] [-0.03661112 0.99914178 -0.01937345 -0.39836306] [ 0.01525956 0.01994312 0.99968466 0.08351685] [ 0. 0. 0. 1. ]] SLAMing on 7.646502481 meters Centerline goodness : 0.716360 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.09 [[ 0.99916864 0.03703354 -0.01704518 2.0626669 ] [-0.03740153 0.99906247 -0.02180156 -0.39553911] [ 0.01622181 0.02242095 0.999617 0.08564866] [ 0. 0. 0. 1. ]] SLAMing on 7.676502480999999 meters Centerline goodness : 0.715589 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.39, Z:0.09 [[ 0.99917251 0.03662898 -0.01768061 2.06321053] [-0.03703387 0.99904598 -0.02314365 -0.39475608] [ 0.01681601 0.02377928 0.99957579 0.08687167] [ 0. 0. 0. 1. ]] SLAMing on 7.706502480999999 meters Centerline goodness : 0.715187 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.09 [[ 0.99917358 0.03621103 -0.01846396 2.0642835 ] [-0.0366388 0.99905501 -0.02338123 -0.39572654] [ 0.01759985 0.0240384 0.9995561 0.0874738 ] [ 0. 0. 0. 1. ]] SLAMing on 7.736502481 meters Centerline goodness : 0.713239 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.09 [[ 0.99917066 0.03619016 -0.01866201 2.06463472] [-0.03662068 0.99905831 -0.02326829 -0.39554417] [ 0.01780236 0.02393241 0.99955506 0.08754349] [ 0. 0. 0. 1. ]] SLAMing on 7.766502480999999 meters Centerline goodness : 0.716272 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.39, Z:0.09 [[ 0.99912952 0.03693797 -0.0193854 2.06598913] [-0.03739694 0.99901528 -0.0238732 -0.39352707] [ 0.01848448 0.02457737 0.99952703 0.0877275 ] [ 0. 0. 0. 1. ]] SLAMing on 7.796502480999999 meters Centerline goodness : 0.715730 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.39, Z:0.09 [[ 0.99909221 0.03757249 -0.02007642 2.06776474] [-0.03802846 0.99901574 -0.02283402 -0.39495387] [ 0.01919873 0.02357676 0.99953767 0.0869942 ] [ 0. 0. 0. 1. ]] SLAMing on 7.8265024809999995 meters Centerline goodness : 0.718915 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.40, Z:0.09 [[ 0.99897771 0.04069223 -0.01968948 2.06758526] [-0.04102767 0.99901435 -0.01694299 -0.39632788] [ 0.01898062 0.01773349 0.99966257 0.08634091] [ 0. 0. 0. 1. ]] SLAMing on 7.856502481 meters Centerline goodness : 0.720810 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.40, Z:0.09 [[ 0.99897121 0.04045145 -0.02049866 2.06950934] [-0.0407951 0.99902908 -0.0166332 -0.39759703] [ 0.01980592 0.01745234 0.99965151 0.08563885] [ 0. 0. 0. 1. ]] SLAMing on 7.886502480999999 meters Centerline goodness : 0.719744 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.40, Z:0.09 [[ 0.99899327 0.03957265 -0.02112928 2.07010395] [-0.03994169 0.99905156 -0.01733897 -0.39730573] [ 0.02042309 0.01816545 0.99962639 0.08650279] [ 0. 0. 0. 1. ]] SLAMing on 7.916502480999999 meters Centerline goodness : 0.719831 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.40, Z:0.09 [[ 0.99899752 0.03907667 -0.02183963 2.07156554] [-0.03945085 0.99907735 -0.01697302 -0.39978491] [ 0.02115623 0.0178176 0.9996174 0.08615708] [ 0. 0. 0. 1. ]] SLAMing on 7.946502481 meters Centerline goodness : 0.719552 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.40, Z:0.09 [[ 0.99904687 0.0376721 -0.0220493 2.07154953] [-0.03803625 0.99914283 -0.01633548 -0.40057434] [ 0.021415 0.01715859 0.99962342 0.08669859] [ 0. 0. 0. 1. ]] SLAMing on 7.976502480999999 meters Centerline goodness : 0.722788 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.40, Z:0.09 [[ 0.99906861 0.03717229 -0.02191189 2.07148374] [-0.03752637 0.99916793 -0.01597566 -0.40127277] [ 0.02129981 0.01678305 0.99963226 0.08638338] [ 0. 0. 0. 1. ]] SLAMing on 8.006502481 meters Centerline goodness : 0.720541 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.40, Z:0.09 [[ 0.99911062 0.03600281 -0.02194903 2.07070706] [-0.03640613 0.99917022 -0.01826093 -0.39765128] [ 0.02127337 0.01904377 0.99959231 0.08787845] [ 0. 0. 0. 1. ]] SLAMing on 8.036502481 meters Centerline goodness : 0.722359 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.40, Z:0.09 [[ 0.99910422 0.03603037 -0.02219371 2.07070345] [-0.03643064 0.99917581 -0.01790295 -0.39930642] [ 0.02153036 0.01869545 0.99959338 0.08860561] [ 0. 0. 0. 1. ]] SLAMing on 8.066502480999999 meters Centerline goodness : 0.721633 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.40, Z:0.09 [[ 0.99915071 0.03353365 -0.02394478 2.07284864] [-0.03410406 0.99913428 -0.02382448 -0.39740235] [ 0.02312513 0.02462086 0.99942936 0.0904941 ] [ 0. 0. 0. 1. ]] SLAMing on 8.096502481 meters Centerline goodness : 0.721365 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.40, Z:0.09 [[ 0.99912801 0.03385466 -0.02443517 2.07340265] [-0.03442363 0.9991368 -0.02325242 -0.3990897 ] [ 0.02362688 0.02407329 0.99943096 0.09105629] [ 0. 0. 0. 1. ]] SLAMing on 8.126502481 meters Centerline goodness : 0.721476 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.40, Z:0.09 [[ 0.99911158 0.03396605 -0.024947 2.07449675] [-0.03453719 0.99914258 -0.02283189 -0.40061242] [ 0.0241501 0.0236732 0.99942801 0.09081539] [ 0. 0. 0. 1. ]] SLAMing on 8.156502480999999 meters Centerline goodness : 0.721265 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.40, Z:0.09 [[ 0.99900936 0.03718295 -0.02444862 2.07407803] [-0.03760657 0.99914628 -0.01710165 -0.40299614] [ 0.02379185 0.01800413 0.9995548 0.09023826] [ 0. 0. 0. 1. ]] SLAMing on 8.186502481 meters Centerline goodness : 0.721320 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.09 [[ 0.99905486 0.03527521 -0.02539756 2.05664016] [-0.03550819 0.9993308 -0.00878143 -0.40196665] [ 0.0250708 0.00967495 0.99963886 0.09318455] [ 0. 0. 0. 1. ]] SLAMing on 8.216502481 meters Centerline goodness : 0.723474 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.40, Z:0.09 [[ 0.99914964 0.032123 -0.02584776 2.05672288] [-0.03247753 0.99938243 -0.01341532 -0.40131077] [ 0.02540086 0.01424339 0.99957587 0.09433935] [ 0. 0. 0. 1. ]] SLAMing on 8.246502480999998 meters Centerline goodness : 0.720425 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.40, Z:0.10 [[ 0.99935387 0.02433216 -0.02645357 2.03775043] [-0.02464919 0.9996274 -0.01172521 -0.40075298] [ 0.02615841 0.01236969 0.99958128 0.09913706] [ 0. 0. 0. 1. ]] SLAMing on 8.276502481 meters Centerline goodness : 0.719144 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.40, Z:0.10 [[ 0.99937184 0.02417916 -0.02590936 2.03638414] [-0.02448594 0.99963299 -0.01158957 -0.39979992] [ 0.02561963 0.01221671 0.99959711 0.09969053] [ 0. 0. 0. 1. ]] SLAMing on 8.306502480999999 meters Centerline goodness : 0.721559 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.40, Z:0.10 [[ 0.99939251 0.02411582 -0.02516027 2.03518508] [-0.02443056 0.99962613 -0.01227755 -0.39756574] [ 0.02485478 0.01288477 0.99960803 0.09943907] [ 0. 0. 0. 1. ]] SLAMing on 8.336502481 meters Centerline goodness : 0.720744 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.40, Z:0.10 [[ 0.99934897 0.02543244 -0.02558977 2.03662753] [-0.02576132 0.99958864 -0.01260538 -0.39687749] [ 0.02525866 0.0132564 0.99959305 0.09867536] [ 0. 0. 0. 1. ]] SLAMing on 8.366502481 meters Centerline goodness : 0.719726 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.39, Z:0.10 [[ 0.99931167 0.02628291 -0.02617986 2.03786178] [-0.02666046 0.999544 -0.01417816 -0.39397149] [ 0.02579528 0.01486637 0.9995567 0.09885713] [ 0. 0. 0. 1. ]] SLAMing on 8.396502480999999 meters Centerline goodness : 0.722541 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.39, Z:0.10 [[ 0.999258 0.02757532 -0.02688946 2.03956995] [-0.02798367 0.99949687 -0.01493032 -0.39338489] [ 0.02646422 0.01567171 0.99952691 0.0986386 ] [ 0. 0. 0. 1. ]] SLAMing on 8.426502481 meters Centerline goodness : 0.723989 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.39, Z:0.10 [[ 0.9991441 0.03040554 -0.02804598 2.04184865] [-0.03088231 0.99938308 -0.01672576 -0.39199282] [ 0.02752012 0.01757757 0.99946669 0.0991545 ] [ 0. 0. 0. 1. ]] SLAMing on 8.456502481 meters Centerline goodness : 0.724260 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.39, Z:0.10 [[ 0.99909655 0.03159299 -0.02842467 2.04264905] [-0.03209444 0.99933404 -0.01736139 -0.39086901] [ 0.02785724 0.01825798 0.99944516 0.09938423] [ 0. 0. 0. 1. ]] SLAMing on 8.486502480999999 meters Centerline goodness : 0.725375 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.39, Z:0.10 [[ 0.99904033 0.03293246 -0.02887673 2.04356686] [-0.03347617 0.99926732 -0.01855176 -0.38865054] [ 0.02824461 0.01950064 0.99941081 0.09964545] [ 0. 0. 0. 1. ]] SLAMing on 8.516502481 meters Centerline goodness : 0.726345 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.38, Z:0.10 [[ 0.99923304 0.02821937 -0.02714769 2.00160303] [-0.02864538 0.99947049 -0.0154333 -0.38456922] [ 0.02669779 0.01619912 0.99951229 0.09835404] [ 0. 0. 0. 1. ]] SLAMing on 8.546502481 meters Centerline goodness : 0.724933 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.39, Z:0.10 [[ 0.99927126 0.02772883 -0.02623101 1.99995249] [-0.02812318 0.9994951 -0.0147861 -0.38515233] [ 0.02580777 0.01551302 0.99954655 0.09815632] [ 0. 0. 0. 1. ]] SLAMing on 8.576502480999999 meters Centerline goodness : 0.722668 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.38, Z:0.10 [[ 0.99932131 0.02374773 -0.02815962 1.98233038] [-0.02400757 0.99967193 -0.00892577 -0.3845412 ] [ 0.02793842 0.00959576 0.99956359 0.10198517] [ 0. 0. 0. 1. ]] SLAMing on 8.606502481 meters Centerline goodness : 0.720540 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.38, Z:0.10 [[ 0.9995034 0.01615167 -0.02705686 1.97101096] [-0.01625939 0.99986071 -0.00376627 -0.38091185] [ 0.02699226 0.00420433 0.9996268 0.10428976] [ 0. 0. 0. 1. ]] SLAMing on 8.636502480999999 meters Centerline goodness : 0.719115 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.38, Z:0.11 [[ 9.99651541e-01 1.07767416e-02 -2.40968541e-02 1.95462906e+00] [-1.07604510e-02 9.99941780e-01 8.05613280e-04 -3.76706337e-01] [ 2.41041330e-02 -5.46039539e-04 9.99709304e-01 1.05747464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.666502481 meters Centerline goodness : 0.720496 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.37, Z:0.11 [[ 0.99965269 0.00787418 -0.0251494 1.93411711] [-0.0077342 0.99995408 0.00565836 -0.37361745] [ 0.0251928 -0.00546189 0.99966769 0.10805079] [ 0. 0. 0. 1. ]] SLAMing on 8.696502481 meters Centerline goodness : 0.719280 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.37, Z:0.11 [[ 0.99966676 0.00340768 -0.02558837 1.91658748] [-0.00314542 0.99994219 0.01028247 -0.37118812] [ 0.02562193 -0.01019856 0.99961968 0.1100945 ] [ 0. 0. 0. 1. ]] SLAMing on 8.726502480999999 meters Centerline goodness : 0.719080 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.37, Z:0.11 [[ 0.99966222 0.00314201 -0.02579875 1.91703532] [-0.00288058 0.99994419 0.01016442 -0.37146667] [ 0.02582924 -0.01008667 0.99961548 0.11012746] [ 0. 0. 0. 1. ]] SLAMing on 8.756502481 meters Centerline goodness : 0.717276 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.37, Z:0.11 [[ 9.99649314e-01 -3.27935726e-04 -2.64790843e-02 1.89544436e+00] [ 6.76506220e-04 9.99913226e-01 1.31561086e-02 -3.68788006e-01] [ 2.64724722e-02 -1.31694082e-02 9.99562792e-01 1.11949739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.786502481 meters Centerline goodness : 0.715697 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.37, Z:0.11 [[ 0.99959295 -0.00387876 -0.02826471 1.87612058] [ 0.00436625 0.99984243 0.01720589 -0.36596676] [ 0.02819352 -0.01732229 0.99945238 0.11398012] [ 0. 0. 0. 1. ]] SLAMing on 8.816502480999999 meters Centerline goodness : 0.713689 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.37, Z:0.11 [[ 0.99947429 -0.00185381 -0.03236834 1.84546118] [ 0.00246498 0.99981925 0.01885194 -0.36665742] [ 0.03232754 -0.01892181 0.9992982 0.11321403] [ 0. 0. 0. 1. ]] SLAMing on 8.846502481 meters Centerline goodness : 0.715238 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.36, Z:0.11 [[ 0.99934467 -0.00530986 -0.03580555 1.82864101] [ 0.00613779 0.99971541 0.02305273 -0.36448364] [ 0.03567295 -0.02325739 0.99909286 0.114158 ] [ 0. 0. 0. 1. ]] SLAMing on 8.876502481 meters Centerline goodness : 0.715238 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.36, Z:0.11 [[ 0.99934396 -0.00536078 -0.03581785 1.82864711] [ 0.00618915 0.999715 0.02305655 -0.36430486] [ 0.03568404 -0.02326311 0.99909233 0.11418173] [ 0. 0. 0. 1. ]] SLAMing on 8.906502480999999 meters Centerline goodness : 0.714768 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.36, Z:0.12 [[ 0.999206 -0.00884937 -0.0388466 1.81097484] [ 0.00990948 0.99958137 0.02718246 -0.36206507] [ 0.03858979 -0.02754583 0.9988754 0.11555743] [ 0. 0. 0. 1. ]] SLAMing on 8.936502481 meters Centerline goodness : 0.712425 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.36, Z:0.12 [[ 0.99919523 -0.0095341 -0.03896142 1.81083315] [ 0.01056994 0.9995938 0.02646724 -0.36194491] [ 0.03869325 -0.02685776 0.99889013 0.11611661] [ 0. 0. 0. 1. ]] SLAMing on 8.966502481 meters Centerline goodness : 0.712055 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.36, Z:0.12 [[ 0.99914641 -0.01201747 -0.03952242 1.81126077] [ 0.01287561 0.99968528 0.02153056 -0.35984973] [ 0.03925124 -0.02202106 0.99898669 0.11744297] [ 0. 0. 0. 1. ]] SLAMing on 8.996502480999998 meters Centerline goodness : 0.710545 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.36, Z:0.12 [[ 0.99910681 -0.01192127 -0.04053976 1.81248547] [ 0.01274213 0.99971777 0.02005041 -0.35939464] [ 0.04028929 -0.02054906 0.99897673 0.11891294] [ 0. 0. 0. 1. ]] SLAMing on 9.026502481 meters Centerline goodness : 0.711630 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.36, Z:0.12 [[ 0.99911318 -0.0115501 -0.04049008 1.81204243] [ 0.01232796 0.9997432 0.0190145 -0.3577643 ] [ 0.04026006 -0.01949679 0.998999 0.11958797] [ 0. 0. 0. 1. ]] SLAMing on 9.056502480999999 meters Centerline goodness : 0.711179 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.36, Z:0.12 [[ 0.999093 -0.0109154 -0.04115872 1.81384497] [ 0.0116819 0.99976193 0.01842873 -0.35735472] [ 0.04094776 -0.01889283 0.99898265 0.11902697] [ 0. 0. 0. 1. ]] SLAMing on 9.086502481 meters Centerline goodness : 0.711351 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.36, Z:0.12 [[ 0.99923824 -0.00540282 -0.03864907 1.83049776] [ 0.00593935 0.9998874 0.01378085 -0.35677821] [ 0.03857026 -0.01399991 0.99915781 0.11523791] [ 0. 0. 0. 1. ]] SLAMing on 9.116502481 meters Centerline goodness : 0.712016 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.36, Z:0.11 [[ 0.99939699 -0.00209578 -0.03465912 1.84467322] [ 0.00233624 0.99997347 0.00689896 -0.35613249] [ 0.03464374 -0.00697577 0.99937538 0.11195033] [ 0. 0. 0. 1. ]] SLAMing on 9.146502480999999 meters Centerline goodness : 0.711187 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.36, Z:0.11 [[ 9.99501922e-01 1.25714382e-03 -3.15329629e-02 1.86219134e+00] [-1.21005452e-03 9.99998124e-01 1.51237437e-03 -3.57236704e-01] [ 3.15348051e-02 -1.47346448e-03 9.99501568e-01 1.08792336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.176502481 meters Centerline goodness : 0.712019 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.36, Z:0.10 [[ 0.99959567 0.0034542 -0.02822333 1.87820795] [-0.00361884 0.99997672 -0.00578464 -0.35724467] [ 0.02820269 0.00588444 0.9995849 0.10475719] [ 0. 0. 0. 1. ]] SLAMing on 9.206502481 meters Centerline goodness : 0.709607 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.36, Z:0.10 [[ 0.9997011 0.00462658 -0.02400631 1.89362381] [-0.00494804 0.99989866 -0.01334835 -0.35955577] [ 0.02394212 0.01346315 0.99962269 0.10173169] [ 0. 0. 0. 1. ]] SLAMing on 9.236502480999999 meters Centerline goodness : 0.710012 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.36, Z:0.10 [[ 0.9997814 0.00575334 -0.02010108 1.91113818] [-0.00614286 0.99979351 -0.01937033 -0.36256499] [ 0.01998549 0.01948957 0.99961029 0.0993895 ] [ 0. 0. 0. 1. ]] SLAMing on 9.266502481 meters Centerline goodness : 0.708868 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.36, Z:0.10 [[ 0.99977008 0.00538776 -0.02075458 1.91260025] [-0.0057813 0.99980374 -0.01894862 -0.3645956 ] [ 0.02064841 0.01906425 0.99960502 0.09971247] [ 0. 0. 0. 1. ]] SLAMing on 9.296502481 meters Centerline goodness : 0.708875 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.36, Z:0.10 [[ 0.99976956 0.00530898 -0.02079992 1.9130089 ] [-0.00569709 0.99980995 -0.01864435 -0.36498837] [ 0.02069699 0.01875856 0.9996098 0.09977576] [ 0. 0. 0. 1. ]] SLAMing on 9.326502480999999 meters Centerline goodness : 0.709120 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.37, Z:0.10 [[ 0.99975505 0.00502543 -0.02155415 1.91440786] [-0.00541515 0.99982222 -0.01806087 -0.36798258] [ 0.02145955 0.01817317 0.99960453 0.10039848] [ 0. 0. 0. 1. ]] SLAMing on 9.356502481 meters Centerline goodness : 0.710498 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.37, Z:0.10 [[ 0.99975147 0.00849339 -0.02061193 1.91221484] [-0.0087627 0.99987696 -0.01301076 -0.3696925 ] [ 0.02049888 0.01318815 0.99970289 0.10112177] [ 0. 0. 0. 1. ]] SLAMing on 9.386502480999999 meters Centerline goodness : 0.709373 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.37, Z:0.10 [[ 0.99972266 0.00957412 -0.0215162 1.91493904] [-0.00984676 0.99987212 -0.01260133 -0.37081179] [ 0.0213928 0.0128097 0.99968908 0.09961087] [ 0. 0. 0. 1. ]] SLAMing on 9.416502480999998 meters Centerline goodness : 0.709909 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.37, Z:0.10 [[ 0.99970242 0.01051167 -0.0220133 1.91566866] [-0.01080367 0.99985467 -0.01318782 -0.37076046] [ 0.02187147 0.01342172 0.99967069 0.10020711] [ 0. 0. 0. 1. ]] SLAMing on 9.446502481 meters Centerline goodness : 0.710688 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.37, Z:0.10 [[ 0.99970756 0.01073287 -0.02167004 1.91458198] [-0.01103582 0.99984236 -0.01390948 -0.36961673] [ 0.02151733 0.01414456 0.99966841 0.10106906] [ 0. 0. 0. 1. ]] SLAMing on 9.476502480999999 meters Centerline goodness : 0.709952 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.37, Z:0.11 [[ 0.99970786 0.00825382 -0.02271708 1.89292669] [-0.00844861 0.99992825 -0.00849227 -0.36950549] [ 0.02264536 0.00868171 0.99970586 0.10577544] [ 0. 0. 0. 1. ]] SLAMing on 9.506502481 meters Centerline goodness : 0.710583 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.37, Z:0.11 [[ 0.99963966 0.00888276 -0.02533093 1.85736262] [-0.00909949 0.99992287 -0.00845358 -0.36950603] [ 0.02525389 0.00868103 0.99964338 0.10688992] [ 0. 0. 0. 1. ]] SLAMing on 9.536502481 meters Centerline goodness : 0.709538 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.37, Z:0.11 [[ 0.99965567 0.01149219 -0.02358955 1.85451921] [-0.01154916 0.99993071 -0.00227991 -0.37240783] [ 0.02356171 0.00255157 0.99971913 0.10619181] [ 0. 0. 0. 1. ]] SLAMing on 9.566502480999999 meters Centerline goodness : 0.706253 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.37, Z:0.11 [[ 9.99659689e-01 1.19032789e-02 -2.32124440e-02 1.85362385e+00] [-1.19443048e-02 9.99927336e-01 -1.62955764e-03 -3.72873250e-01] [ 2.31913602e-02 1.90625959e-03 9.99729227e-01 1.06656935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.596502481 meters Centerline goodness : 0.707567 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.37, Z:0.11 [[ 0.99965999 0.00902251 -0.02446434 1.83363162] [-0.00892453 0.99995172 0.00411146 -0.37265679] [ 0.02450025 -0.00389172 0.99969225 0.10996988] [ 0. 0. 0. 1. ]] SLAMing on 9.626502481 meters Centerline goodness : 0.704898 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.37, Z:0.11 [[ 0.99965774 0.00928126 -0.02445947 1.83430864] [-0.00917681 0.9999483 0.00437905 -0.37307554] [ 0.02449885 -0.00415309 0.99969123 0.10895161] [ 0. 0. 0. 1. ]] SLAMing on 9.656502480999999 meters Centerline goodness : 0.704221 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.37, Z:0.11 [[ 0.99959085 0.0073024 -0.02765512 1.81859145] [-0.00701716 0.99992133 0.01039722 -0.37084832] [ 0.02772887 -0.01019891 0.99956345 0.10909702] [ 0. 0. 0. 1. ]] SLAMing on 9.686502481 meters Centerline goodness : 0.704097 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.37, Z:0.11 [[ 0.99959429 0.00750225 -0.0274766 1.81828365] [-0.00721531 0.99991855 0.0105273 -0.37033375] [ 0.02755334 -0.01032478 0.99956701 0.10897631] [ 0. 0. 0. 1. ]] SLAMing on 9.716502481 meters Centerline goodness : 0.702837 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.37, Z:0.11 [[ 0.99961052 0.00823453 -0.02666447 1.81570594] [-0.00795486 0.99991241 0.01057758 -0.36897977] [ 0.02674923 -0.01036135 0.99958848 0.10972383] [ 0. 0. 0. 1. ]] SLAMing on 9.746502480999998 meters Centerline goodness : 0.704218 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.36, Z:0.11 [[ 0.99970627 0.00765416 -0.02299556 1.78957782] [-0.00733476 0.99987591 0.01394178 -0.36497769] [ 0.02309942 -0.01376902 0.99963835 0.10905999] [ 0. 0. 0. 1. ]] SLAMing on 9.776502481 meters Centerline goodness : 0.699907 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.36, Z:0.11 [[ 0.99978363 0.00649364 -0.01976175 1.76488804] [-0.00614583 0.99982604 0.01761032 -0.36265728] [ 0.01987266 -0.01748506 0.99964961 0.10873578] [ 0. 0. 0. 1. ]] SLAMing on 9.806502480999999 meters Centerline goodness : 0.699594 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.36, Z:0.11 [[ 0.99984739 0.00480731 -0.0167956 1.72197782] [-0.00444573 0.99975897 0.0214998 -0.35970583] [ 0.01689491 -0.02142185 0.99962776 0.10672628] [ 0. 0. 0. 1. ]] SLAMing on 9.836502481 meters Centerline goodness : 0.701195 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.36, Z:0.11 [[ 0.99982326 0.00411264 -0.01834506 1.694384 ] [-0.00369617 0.99973598 0.0226783 -0.35863062] [ 0.01843348 -0.02260648 0.99957449 0.10577841] [ 0. 0. 0. 1. ]] SLAMing on 9.866502481 meters Centerline goodness : 0.699866 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.36, Z:0.11 [[ 0.99978709 0.00539074 -0.01991768 1.66119865] [-0.00491588 0.99970433 0.02381372 -0.35739342] [ 0.02004016 -0.02371074 0.99951798 0.10537519] [ 0. 0. 0. 1. ]] SLAMing on 9.896502480999999 meters Centerline goodness : 0.697053 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.36, Z:0.11 [[ 9.99764055e-01 1.92620238e-03 -2.16361799e-02 1.64120828e+00] [-1.34397908e-03 9.99637439e-01 2.68920874e-02 -3.56176242e-01] [ 2.16801351e-02 -2.68566638e-02 9.99404168e-01 1.05302428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.926502481 meters Centerline goodness : 0.697920 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.35, Z:0.10 [[ 9.99834983e-01 -4.33377343e-04 -1.81609197e-02 1.59616478e+00] [ 9.82808752e-04 9.99541714e-01 3.02555074e-02 -3.54958627e-01] [ 1.81394847e-02 -3.02683634e-02 9.99377199e-01 1.02783917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.956502481 meters Centerline goodness : 0.696074 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.35, Z:0.10 [[ 0.99986773 -0.00276238 -0.01602757 1.56824799] [ 0.0032476 0.99953475 0.03032732 -0.35288312] [ 0.01593633 -0.03037536 0.99941151 0.10092994] [ 0. 0. 0. 1. ]] SLAMing on 9.986502480999999 meters Centerline goodness : 0.694187 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.35, Z:0.10 [[ 9.99843394e-01 3.45127170e-04 -1.76937510e-02 1.53068727e+00] [ 2.24908950e-04 9.99481269e-01 3.22046959e-02 -3.52052494e-01] [ 1.76956874e-02 -3.22036319e-02 9.99324666e-01 1.01969425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.016502481 meters Centerline goodness : 0.693282 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.35, Z:0.10 [[ 9.99863284e-01 -8.48207589e-04 -1.65134656e-02 1.50696617e+00] [ 1.44752148e-03 9.99339367e-01 3.63143851e-02 -3.50336164e-01] [ 1.64717541e-02 -3.63333240e-02 9.99203969e-01 1.01249977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.046502481 meters Centerline goodness : 0.694185 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.35, Z:0.10 [[ 9.99839970e-01 9.35734951e-04 -1.78650361e-02 1.47097827e+00] [-2.66640428e-04 9.99299649e-01 3.74184440e-02 -3.50558120e-01] [ 1.78875380e-02 -3.74076924e-02 9.99139980e-01 1.01849560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.076502480999999 meters Centerline goodness : 0.693384 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.35, Z:0.10 [[ 0.9998811 0.00309233 -0.01510722 1.43760382] [-0.00248453 0.99919311 0.04008692 -0.34922883] [ 0.01521899 -0.04004462 0.99908198 0.1009139 ] [ 0. 0. 0. 1. ]] SLAMing on 10.106502481 meters Centerline goodness : 0.691513 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.35, Z:0.10 [[ 9.99906713e-01 1.86632671e-03 -1.35307993e-02 1.38802670e+00] [-1.24711695e-03 9.98957730e-01 4.56278207e-02 -3.47578512e-01] [ 1.36018530e-02 -4.56066897e-02 9.98866868e-01 1.01049394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.136502480999999 meters Centerline goodness : 0.692651 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.35, Z:0.10 [[ 9.99889726e-01 -5.39303132e-04 -1.48406237e-02 1.36762473e+00] [ 1.27935414e-03 9.98753281e-01 4.99023698e-02 -3.45531970e-01] [ 1.47952091e-02 -4.99158533e-02 9.98643835e-01 1.02024716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.166502480999998 meters Centerline goodness : 0.694104 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.34, Z:0.10 [[ 9.99875544e-01 6.39945085e-04 -1.57634708e-02 1.33214445e+00] [ 1.53300619e-04 9.98735691e-01 5.02692298e-02 -3.42789371e-01] [ 1.57757105e-02 -5.02653901e-02 9.98611295e-01 1.02510906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.196502481 meters Centerline goodness : 0.695995 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.34, Z:0.10 [[ 0.99985205 -0.00331829 -0.01687784 1.31399077] [ 0.00424522 0.99846717 0.05518419 -0.33995869] [ 0.01666886 -0.05524767 0.99833353 0.10456126] [ 0. 0. 0. 1. ]] SLAMing on 10.226502480999999 meters Centerline goodness : 0.695618 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.34, Z:0.11 [[ 0.99984269 -0.00374297 -0.01733717 1.31485879] [ 0.00469896 0.99845137 0.05543264 -0.34029634] [ 0.01710284 -0.05550539 0.9983119 0.10514664] [ 0. 0. 0. 1. ]] SLAMing on 10.256502481 meters Centerline goodness : 0.695950 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.34, Z:0.11 [[ 0.99986605 -0.0051292 -0.01554285 1.25962229] [ 0.00605256 0.99818272 0.05995515 -0.33943911] [ 0.01520708 -0.06004119 0.99808006 0.10735609] [ 0. 0. 0. 1. ]] SLAMing on 10.286502481 meters Centerline goodness : 0.693617 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.34, Z:0.11 [[ 0.9998329 -0.00365313 -0.0179114 1.22415356] [ 0.00472958 0.99816125 0.0604297 -0.33936748] [ 0.01765771 -0.06050432 0.99801174 0.10855087] [ 0. 0. 0. 1. ]] SLAMing on 10.316502480999999 meters Centerline goodness : 0.696884 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.34, Z:0.11 [[ 0.99977666 -0.00313004 -0.02090039 1.18991006] [ 0.00438558 0.99817069 0.06029952 -0.33930364] [ 0.02067341 -0.06037771 0.99796149 0.10915929] [ 0. 0. 0. 1. ]] SLAMing on 10.346502481 meters Centerline goodness : 0.696147 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.34, Z:0.11 [[ 0.99971363 -0.00297267 -0.02374491 1.15686292] [ 0.00439727 0.9981784 0.06017091 -0.3382099 ] [ 0.02352279 -0.06025809 0.99790563 0.10897967] [ 0. 0. 0. 1. ]] SLAMing on 10.376502481 meters Centerline goodness : 0.695292 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.34, Z:0.11 [[ 0.99961645 -0.00368274 -0.0274479 1.12601559] [ 0.00531387 0.99820864 0.05959256 -0.33737682] [ 0.02717926 -0.05971556 0.99784535 0.10845116] [ 0. 0. 0. 1. ]] SLAMing on 10.406502480999999 meters Centerline goodness : 0.695293 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.33, Z:0.11 [[ 0.99961662 -0.00376882 -0.02743014 1.12679964] [ 0.0053833 0.99824203 0.05902431 -0.33461546] [ 0.02715947 -0.05914935 0.99787961 0.10699643] [ 0. 0. 0. 1. ]] SLAMing on 10.436502481 meters Centerline goodness : 0.697849 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.33, Z:0.11 [[ 0.99960699 -0.00423831 -0.02771088 1.12836159] [ 0.00584632 0.99828742 0.05820702 -0.33269129] [ 0.02741672 -0.05834615 0.99791986 0.10542802] [ 0. 0. 0. 1. ]] SLAMing on 10.466502481 meters Centerline goodness : 0.698365 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.33, Z:0.10 [[ 0.99960918 -0.00423956 -0.02763192 1.12865538] [ 0.0058234 0.99832891 0.05749324 -0.3300058 ] [ 0.027342 -0.05763168 0.99796343 0.10419664] [ 0. 0. 0. 1. ]] SLAMing on 10.496502480999998 meters Centerline goodness : 0.700078 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.33, Z:0.10 [[ 0.99961459 -0.00431301 -0.02742376 1.1279909 ] [ 0.00587634 0.99834637 0.05718395 -0.32827864] [ 0.02713178 -0.05732306 0.99798694 0.10445273] [ 0. 0. 0. 1. ]] SLAMing on 10.526502481 meters Centerline goodness : 0.699219 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.33, Z:0.10 [[ 0.99961489 -0.00718483 -0.02680393 1.12632658] [ 0.00861897 0.99851568 0.05377873 -0.32510449] [ 0.02637776 -0.05398905 0.99819307 0.1043418 ] [ 0. 0. 0. 1. ]] SLAMing on 10.556502480999999 meters Centerline goodness : 0.696261 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.32, Z:0.10 [[ 0.99959235 -0.01095725 -0.02636429 1.12556782] [ 0.01220288 0.99879387 0.04755931 -0.32120982] [ 0.02581137 -0.04786164 0.99852042 0.10448384] [ 0. 0. 0. 1. ]] SLAMing on 10.586502480999998 meters Centerline goodness : 0.697659 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.32, Z:0.10 [[ 0.99953734 -0.01511556 -0.02639362 1.12553614] [ 0.0162274 0.99896756 0.04243212 -0.31973037] [ 0.02572498 -0.04284079 0.99875067 0.10484136] [ 0. 0. 0. 1. ]] SLAMing on 10.616502481 meters Centerline goodness : 0.696445 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.32, Z:0.10 [[ 0.9994766 -0.01859112 -0.02647443 1.12601495] [ 0.01957157 0.99911359 0.03726916 -0.31819336] [ 0.02575808 -0.0377678 0.99895451 0.10469001] [ 0. 0. 0. 1. ]] SLAMing on 10.646502480999999 meters Centerline goodness : 0.698013 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.31, Z:0.10 [[ 0.99940674 -0.02177087 -0.02668713 1.1268657 ] [ 0.02261832 0.99923589 0.03187552 -0.31485283] [ 0.02597278 -0.03246022 0.9991355 0.10420648] [ 0. 0. 0. 1. ]] SLAMing on 10.676502481 meters Centerline goodness : 0.697534 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.31, Z:0.10 [[ 0.99941008 -0.02134791 -0.02690276 1.1277274 ] [ 0.02218987 0.99926066 0.03139645 -0.31295242] [ 0.02621262 -0.03197489 0.99914489 0.10348763] [ 0. 0. 0. 1. ]] SLAMing on 10.706502481 meters Centerline goodness : 0.697513 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.31, Z:0.10 [[ 0.99942675 -0.02136462 -0.02626245 1.12749298] [ 0.02217804 0.99927076 0.03108174 -0.31159049] [ 0.02557925 -0.03164637 0.99917176 0.10185843] [ 0. 0. 0. 1. ]] SLAMing on 10.736502480999999 meters Centerline goodness : 0.697746 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.31, Z:0.10 [[ 0.99942475 -0.02203819 -0.02577781 1.12701509] [ 0.02281693 0.99927991 0.03031591 -0.30993828] [ 0.02509114 -0.03088664 0.99920791 0.10108085] [ 0. 0. 0. 1. ]] SLAMing on 10.766502481 meters Centerline goodness : 0.697746 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.31, Z:0.10 [[ 0.99942475 -0.02203819 -0.02577781 1.12701509] [ 0.02281693 0.99927991 0.03031591 -0.30993828] [ 0.02509114 -0.03088664 0.99920791 0.10108085] [ 0. 0. 0. 1. ]] SLAMing on 10.796502481 meters Centerline goodness : 0.698750 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.31, Z:0.10 [[ 0.99941732 -0.02189543 -0.02618402 1.12805445] [ 0.02265815 0.99931686 0.02919626 -0.30971586] [ 0.02552687 -0.02977253 0.99923069 0.10093965] [ 0. 0. 0. 1. ]] SLAMing on 10.826502480999999 meters Centerline goodness : 0.702074 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.31, Z:0.10 [[ 0.99942345 -0.02196606 -0.02588947 1.12696838] [ 0.02268261 0.99935844 0.02771642 -0.30778309] [ 0.02526404 -0.02828768 0.99928051 0.1019841 ] [ 0. 0. 0. 1. ]] SLAMing on 10.856502481 meters Centerline goodness : 0.701709 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.30, Z:0.10 [[ 0.99935504 -0.02470068 -0.02606504 1.12726325] [ 0.025266 0.99944767 0.02158672 -0.30477199] [ 0.02551743 -0.02223135 0.99942715 0.10279598] [ 0. 0. 0. 1. ]] SLAMing on 10.886502480999999 meters Centerline goodness : 0.703731 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.30, Z:0.10 [[ 0.99937243 -0.02420502 -0.02586225 1.12726448] [ 0.02476344 0.99946223 0.02149454 -0.30366417] [ 0.02532806 -0.02212149 0.9994344 0.10216547] [ 0. 0. 0. 1. ]] SLAMing on 10.916502480999998 meters Centerline goodness : 0.703864 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.30, Z:0.10 [[ 0.99936264 -0.02442116 -0.02603697 1.12796503] [ 0.0249599 0.99947678 0.02057117 -0.30191997] [ 0.02552098 -0.02120794 0.9994493 0.10159144] [ 0. 0. 0. 1. ]] SLAMing on 10.946502481 meters Centerline goodness : 0.704747 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.30, Z:0.10 [[ 0.99937489 -0.02412332 -0.02584378 1.1276331 ] [ 0.02467837 0.99946684 0.02137766 -0.30270932] [ 0.0253143 -0.02200208 0.99943739 0.1015527 ] [ 0. 0. 0. 1. ]] SLAMing on 10.976502480999999 meters Centerline goodness : 0.705776 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.30, Z:0.10 [[ 0.99937155 -0.02404004 -0.0260495 1.1283087 ] [ 0.02460524 0.99946391 0.02159805 -0.30303669] [ 0.02551631 -0.02222543 0.99942731 0.10110583] [ 0. 0. 0. 1. ]] SLAMing on 11.006502481 meters Centerline goodness : 0.703351 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.30, Z:0.10 [[ 0.99936664 -0.02403769 -0.02623931 1.12961025] [ 0.02460203 0.99946823 0.0214007 -0.30216591] [ 0.02571093 -0.02203268 0.99942659 0.09959429] [ 0. 0. 0. 1. ]] SLAMing on 11.036502481 meters Centerline goodness : 0.703324 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.30, Z:0.10 [[ 0.99937773 -0.02359435 -0.02621956 1.13006936] [ 0.02415961 0.99947785 0.02145543 -0.30134246] [ 0.02569964 -0.02207553 0.99942593 0.09880224] [ 0. 0. 0. 1. ]] SLAMing on 11.066502480999999 meters Centerline goodness : 0.704756 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.30, Z:0.10 [[ 0.99944276 -0.01951947 -0.027077 1.13224531] [ 0.02021342 0.99946798 0.02559619 -0.30192368] [ 0.02656297 -0.02612924 0.99930559 0.09755343] [ 0. 0. 0. 1. ]] SLAMing on 11.096502481 meters Centerline goodness : 0.705359 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.30, Z:0.10 [[ 0.9994408 -0.01944619 -0.02720181 1.1327598 ] [ 0.02010859 0.99950261 0.02429374 -0.29974291] [ 0.02671586 -0.02482715 0.99933472 0.09721295] [ 0. 0. 0. 1. ]] SLAMing on 11.126502481 meters Centerline goodness : 0.706340 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.30, Z:0.10 [[ 0.99942132 -0.01852776 -0.02852621 1.13567995] [ 0.01920118 0.99953903 0.02351668 -0.30241684] [ 0.02807734 -0.0240508 0.99931638 0.09702583] [ 0. 0. 0. 1. ]] SLAMing on 11.156502480999999 meters Centerline goodness : 0.707466 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.30, Z:0.10 [[ 0.99940881 -0.01859622 -0.02891733 1.13624567] [ 0.0192681 0.99954672 0.02313216 -0.30289819] [ 0.02847405 -0.02367566 0.99931411 0.09742292] [ 0. 0. 0. 1. ]] SLAMing on 11.186502481 meters Centerline goodness : 0.705169 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.30, Z:0.10 [[ 0.9993227 -0.02179602 -0.02964931 1.13763467] [ 0.02232726 0.99959392 0.01770566 -0.30132611] [ 0.02925135 -0.01835565 0.99940354 0.09787993] [ 0. 0. 0. 1. ]] SLAMing on 11.216502481 meters Centerline goodness : 0.708541 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.30, Z:0.10 [[ 0.99932752 -0.02232692 -0.0290863 1.13629337] [ 0.02281762 0.999601 0.01664929 -0.29973944] [ 0.02870296 -0.01730177 0.99943824 0.09838055] [ 0. 0. 0. 1. ]] SLAMing on 11.246502480999998 meters Centerline goodness : 0.707837 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.30, Z:0.10 [[ 0.99940938 -0.0191787 -0.02851426 1.13515217] [ 0.01981247 0.99955916 0.02211228 -0.30189124] [ 0.02807761 -0.02266416 0.99934878 0.09799689] [ 0. 0. 0. 1. ]] SLAMing on 11.276502481 meters Centerline goodness : 0.709663 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.30, Z:0.10 [[ 0.99946838 -0.01577825 -0.02853074 1.13600324] [ 0.01656254 0.99948554 0.02746509 -0.30344369] [ 0.02808271 -0.02792303 0.99921553 0.09627802] [ 0. 0. 0. 1. ]] SLAMing on 11.306502480999999 meters Centerline goodness : 0.709043 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.30, Z:0.10 [[ 0.99946625 -0.01554674 -0.02873164 1.13686253] [ 0.0163127 0.99951252 0.02661979 -0.30227831] [ 0.02830378 -0.02707427 0.99923265 0.09565826] [ 0. 0. 0. 1. ]] SLAMing on 11.336502480999998 meters Centerline goodness : 0.709778 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.30, Z:0.10 [[ 0.99946001 -0.015225 -0.02911862 1.13807624] [ 0.01598205 0.9995356 0.02594533 -0.30153768] [ 0.02871008 -0.02639669 0.99923918 0.09511848] [ 0. 0. 0. 1. ]] SLAMing on 11.366502481 meters Centerline goodness : 0.710371 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.30, Z:0.09 [[ 0.99946782 -0.01506393 -0.02893364 1.13830693] [ 0.01579492 0.99955754 0.02520408 -0.30020171] [ 0.02854116 -0.02564767 0.99926353 0.09431786] [ 0. 0. 0. 1. ]] SLAMing on 11.396502480999999 meters Centerline goodness : 0.710018 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.30, Z:0.09 [[ 0.99946199 -0.01576055 -0.02876332 1.13775307] [ 0.01645539 0.99957453 0.0240826 -0.29872025] [ 0.02837153 -0.02454296 0.9992961 0.09474379] [ 0. 0. 0. 1. ]] SLAMing on 11.426502481 meters Centerline goodness : 0.708399 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.30, Z:0.10 [[ 0.99946776 -0.01564568 -0.02862539 1.13672172] [ 0.01627185 0.99963049 0.0217741 -0.29635612] [ 0.02827414 -0.0222283 0.99935303 0.09644134] [ 0. 0. 0. 1. ]] SLAMing on 11.456502481 meters Centerline goodness : 0.711271 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.30, Z:0.10 [[ 0.99947236 -0.01483548 -0.02889481 1.13706396] [ 0.01543426 0.99966843 0.02061106 -0.29504537] [ 0.02857945 -0.02104615 0.99936994 0.09699016] [ 0. 0. 0. 1. ]] SLAMing on 11.486502480999999 meters Centerline goodness : 0.711785 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.29, Z:0.10 [[ 0.99947891 -0.01356344 -0.02929073 1.13790058] [ 0.01413735 0.99971037 0.01947592 -0.29244822] [ 0.02901809 -0.01987986 0.99938118 0.09713053] [ 0. 0. 0. 1. ]] SLAMing on 11.516502481 meters Centerline goodness : 0.710840 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.29, Z:0.10 [[ 0.99948265 -0.0134224 -0.02922793 1.13815269] [ 0.01397543 0.99972559 0.01879999 -0.29085278] [ 0.02896757 -0.01919874 0.99939596 0.09661121] [ 0. 0. 0. 1. ]] SLAMing on 11.546502481 meters Centerline goodness : 0.710456 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.29, Z:0.10 [[ 0.99948859 -0.01356822 -0.02895632 1.13825656] [ 0.01413252 0.99971244 0.0193731 -0.29164069] [ 0.02868514 -0.01977241 0.99939292 0.09556582] [ 0. 0. 0. 1. ]] SLAMing on 11.576502480999999 meters Centerline goodness : 0.711260 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.29, Z:0.10 [[ 0.9994983 -0.01360178 -0.02860323 1.13760242] [ 0.01414934 0.99971881 0.01902875 -0.29059748] [ 0.02833636 -0.01942392 0.99940971 0.09553004] [ 0. 0. 0. 1. ]] SLAMing on 11.606502481 meters Centerline goodness : 0.710828 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.29, Z:0.10 [[ 0.99950653 -0.01362756 -0.02830154 1.1370756 ] [ 0.01411363 0.99975508 0.01704637 -0.28673096] [ 0.02806231 -0.01743739 0.99945407 0.09554937] [ 0. 0. 0. 1. ]] SLAMing on 11.636502480999999 meters Centerline goodness : 0.708918 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.29, Z:0.09 [[ 0.99951612 -0.01391417 -0.02781928 1.13671655] [ 0.01437821 0.99975964 0.01655058 -0.28598377] [ 0.02758231 -0.01694257 0.99947595 0.09473737] [ 0. 0. 0. 1. ]] SLAMing on 11.666502480999998 meters Centerline goodness : 0.709970 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.28, Z:0.09 [[ 0.9995154 -0.01412734 -0.02773786 1.13672899] [ 0.01456986 0.99976874 0.01581697 -0.28498476] [ 0.02750799 -0.01621345 0.99949009 0.09446206] [ 0. 0. 0. 1. ]] SLAMing on 11.696502481 meters Centerline goodness : 0.711153 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.28, Z:0.09 [[ 0.99963266 -0.01096406 -0.02478589 1.15333842] [ 0.01119488 0.99989508 0.00919285 -0.28382914] [ 0.0246825 -0.00946695 0.99965051 0.09056675] [ 0. 0. 0. 1. ]] SLAMing on 11.726502480999999 meters Centerline goodness : 0.710746 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.28, Z:0.09 [[ 0.99971585 -0.00855439 -0.02224955 1.17021381] [ 0.00859902 0.9999612 0.00191081 -0.28261596] [ 0.02223234 -0.00210159 0.99975062 0.08640162] [ 0. 0. 0. 1. ]] SLAMing on 11.756502481 meters Centerline goodness : 0.710069 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.28, Z:0.08 [[ 0.9997493 -0.00496989 -0.02183184 1.19044056] [ 0.00490579 0.9999835 -0.00298838 -0.28156809] [ 0.02184634 0.00288053 0.99975719 0.08271474] [ 0. 0. 0. 1. ]] SLAMing on 11.786502481 meters Centerline goodness : 0.708863 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.28, Z:0.08 [[ 0.99979663 -0.00201161 -0.02006599 1.20697981] [ 0.0018076 0.99994655 -0.01017978 -0.28205974] [ 0.02008539 0.01014144 0.99974683 0.07879313] [ 0. 0. 0. 1. ]] SLAMing on 11.816502480999999 meters Centerline goodness : 0.709995 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.28, Z:0.07 [[ 9.99847797e-01 7.85154484e-04 -1.74289173e-02 1.22449983e+00] [-1.07503859e-03 9.99861147e-01 -1.66292314e-02 -2.81910748e-01] [ 1.74134408e-02 1.66454372e-02 9.99709809e-01 7.45872994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.846502481 meters Centerline goodness : 0.709990 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.28, Z:0.07 [[ 9.99909978e-01 -1.19188207e-04 -1.34172477e-02 1.25199120e+00] [-1.44656083e-04 9.99806676e-01 -1.96618733e-02 -2.81352762e-01] [ 1.34169973e-02 1.96620442e-02 9.99716654e-01 7.26729450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.876502481 meters Centerline goodness : 0.708424 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.28, Z:0.07 [[ 9.99902613e-01 -3.18286899e-04 -1.39521826e-02 1.25256695e+00] [ 4.67575628e-05 9.99810685e-01 -1.94574312e-02 -2.81508164e-01] [ 1.39557343e-02 1.94548839e-02 9.99713331e-01 7.37659575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.906502480999999 meters Centerline goodness : 0.709277 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.28, Z:0.07 [[ 0.99994061 -0.00246767 -0.01061535 1.28371952] [ 0.00224341 0.99977514 -0.02108631 -0.28089916] [ 0.010665 0.02106124 0.9997213 0.07322832] [ 0. 0. 0. 1. ]] SLAMing on 11.936502481 meters Centerline goodness : 0.709153 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.28, Z:0.07 [[ 0.99996114 -0.00420297 -0.00774958 1.31518396] [ 0.00401885 0.99971286 -0.02362304 -0.28025606] [ 0.00784664 0.02359098 0.9996909 0.07049569] [ 0. 0. 0. 1. ]] SLAMing on 11.966502481 meters Centerline goodness : 0.710246 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.28, Z:0.07 [[ 0.99994903 -0.00518856 -0.00866064 1.31785682] [ 0.00498008 0.99970141 -0.02392271 -0.28174676] [ 0.00878218 0.02387836 0.9996763 0.069855 ] [ 0. 0. 0. 1. ]] SLAMing on 11.996502480999998 meters Centerline goodness : 0.710064 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.28, Z:0.07 [[ 0.99997006 -0.00246745 -0.00733415 1.33698074] [ 0.00225419 0.99957847 -0.02894489 -0.2839629 ] [ 0.00740248 0.02892749 0.9995541 0.06764485] [ 0. 0. 0. 1. ]] SLAMing on 12.026502481 meters Centerline goodness : 0.713212 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.28, Z:0.07 [[ 9.99992406e-01 -7.55228607e-04 -3.82341813e-03 1.36581506e+00] [ 6.49783928e-04 9.99621450e-01 -2.75051586e-02 -2.84576739e-01] [ 3.84274346e-03 2.75024653e-02 9.99614349e-01 6.79352359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.056502480999999 meters Centerline goodness : 0.711501 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.29, Z:0.07 [[ 9.99999150e-01 -9.97057952e-04 -8.39889900e-04 1.39687030e+00] [ 9.73464889e-04 9.99617534e-01 -2.76376113e-02 -2.85182499e-01] [ 8.67124971e-04 2.76367702e-02 9.99617655e-01 6.69818355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.086502480999998 meters Centerline goodness : 0.712142 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.29, Z:0.06 [[ 9.99990654e-01 4.18237804e-03 1.09572207e-03 1.41523917e+00] [-4.14658098e-03 9.99515270e-01 -3.08549897e-02 -2.86607358e-01] [-1.22423817e-03 3.08501578e-02 9.99523271e-01 6.43781897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.116502481 meters Centerline goodness : 0.712147 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.29, Z:0.06 [[ 0.99994939 0.00953553 0.00320913 1.43336906] [-0.00942337 0.99940042 -0.03331674 -0.28766851] [-0.0035249 0.03328482 0.99943969 0.06213682] [ 0. 0. 0. 1. ]] SLAMing on 12.146502480999999 meters Centerline goodness : 0.711703 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.29, Z:0.06 [[ 0.99993773 0.00925289 0.00623935 1.46487444] [-0.00903772 0.99939199 -0.03367438 -0.28808236] [-0.00654714 0.03361589 0.99941338 0.06117427] [ 0. 0. 0. 1. ]] SLAMing on 12.176502481 meters Centerline goodness : 0.712807 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.29, Z:0.07 [[ 0.99997036 0.00640126 0.00427809 1.44626902] [-0.00628133 0.99960257 -0.02748173 -0.28894885] [-0.00445231 0.02745404 0.99961315 0.06603113] [ 0. 0. 0. 1. ]] SLAMing on 12.206502481 meters Centerline goodness : 0.710761 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.29, Z:0.07 [[ 0.99999558 0.00244139 0.00169516 1.42714976] [-0.0024013 0.99972654 -0.0232612 -0.2891509 ] [-0.00175149 0.02325702 0.99972798 0.07055111] [ 0. 0. 0. 1. ]] SLAMing on 12.236502480999999 meters Centerline goodness : 0.712331 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.29, Z:0.07 [[ 9.99996195e-01 -9.40639303e-04 2.59326445e-03 1.38186632e+00] [ 9.88229644e-04 9.99830001e-01 -1.84117311e-02 -2.87552158e-01] [-2.57550480e-03 1.84142238e-02 9.99827127e-01 7.17379200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.266502481 meters Centerline goodness : 0.710093 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.29, Z:0.07 [[ 0.99999622 0.00143997 0.00234209 1.38202446] [-0.00140848 0.99990933 -0.01339179 -0.29037438] [-0.00236116 0.01338844 0.99990758 0.07196136] [ 0. 0. 0. 1. ]] SLAMing on 12.296502481 meters Centerline goodness : 0.710948 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.29, Z:0.08 [[ 9.99999126e-01 3.05226568e-04 -1.28678462e-03 1.36612930e+00] [-3.11511117e-04 9.99988012e-01 -4.88654893e-03 -2.90705325e-01] [ 1.28527769e-03 4.88694551e-03 9.99987233e-01 7.56167439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.326502480999999 meters Centerline goodness : 0.712498 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.29, Z:0.08 [[ 0.99998921 -0.00180298 -0.00428165 1.35046705] [ 0.00181499 0.99999443 0.00280174 -0.29106989] [ 0.00427657 -0.00280948 0.99998691 0.07909053] [ 0. 0. 0. 1. ]] SLAMing on 12.356502481 meters Centerline goodness : 0.710268 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.29, Z:0.08 [[ 0.99997416 0.00204483 -0.00689215 1.31602312] [-0.00199906 0.99997595 0.0066407 -0.29365999] [ 0.00690556 -0.00662675 0.9999542 0.08193146] [ 0. 0. 0. 1. ]] SLAMing on 12.386502480999999 meters Centerline goodness : 0.709688 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.29, Z:0.09 [[ 9.99951030e-01 -8.22237748e-04 -9.86211894e-03 1.29712158e+00] [ 9.37050088e-04 9.99931781e-01 1.16427864e-02 -2.93276047e-01] [ 9.85187302e-03 -1.16514576e-02 9.99883585e-01 8.55897907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.416502480999998 meters Centerline goodness : 0.708428 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.29, Z:0.09 [[ 0.99992371 -0.00422864 -0.01160599 1.27786987] [ 0.00442141 0.99985186 0.01663448 -0.29261623] [ 0.01153393 -0.01668452 0.99979428 0.08921568] [ 0. 0. 0. 1. ]] SLAMing on 12.446502481 meters Centerline goodness : 0.707277 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.29, Z:0.09 [[ 0.99985788 -0.00821859 -0.01471959 1.26089471] [ 0.00853405 0.99973246 0.02149829 -0.29240709] [ 0.01453897 -0.02162085 0.99966052 0.09228087] [ 0. 0. 0. 1. ]] SLAMing on 12.476502480999999 meters Centerline goodness : 0.708710 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.30, Z:0.10 [[ 0.99982813 -0.00532439 -0.01775819 1.22799652] [ 0.00577561 0.99965927 0.02545566 -0.29521065] [ 0.0176166 -0.02555384 0.99951821 0.09512901] [ 0. 0. 0. 1. ]] SLAMing on 12.506502481 meters Centerline goodness : 0.710953 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.30, Z:0.10 [[ 0.99978241 -0.00463474 -0.02033859 1.19375039] [ 0.00518131 0.9996246 0.02690362 -0.29570772] [ 0.02020626 -0.02700315 0.99943111 0.09782232] [ 0. 0. 0. 1. ]] SLAMing on 12.536502481 meters Centerline goodness : 0.709687 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.29, Z:0.10 [[ 0.99973369 -0.00691744 -0.02201603 1.17454928] [ 0.00762553 0.99945097 0.03224296 -0.29322301] [ 0.02178091 -0.03240226 0.99923755 0.0995396 ] [ 0. 0. 0. 1. ]] SLAMing on 12.566502480999999 meters Centerline goodness : 0.710120 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.29, Z:0.10 [[ 0.99970346 -0.00309521 -0.02415403 1.14205376] [ 0.00396425 0.99934341 0.03601445 -0.29351501] [ 0.0240267 -0.03609952 0.99905933 0.10011169] [ 0. 0. 0. 1. ]] SLAMing on 12.596502481 meters Centerline goodness : 0.711950 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.29, Z:0.10 [[ 0.99961618 -0.0042705 -0.0273727 1.12394881] [ 0.00539263 0.99914243 0.04105267 -0.2901818 ] [ 0.02717391 -0.04118452 0.99878196 0.1005561 ] [ 0. 0. 0. 1. ]] SLAMing on 12.626502481 meters Centerline goodness : 0.712671 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.29, Z:0.10 [[ 0.99956681 -0.0020212 -0.02936152 1.09222765] [ 0.00328067 0.99907353 0.04291053 -0.28872989] [ 0.02924759 -0.04298827 0.99864738 0.10001849] [ 0. 0. 0. 1. ]] SLAMing on 12.656502480999999 meters Centerline goodness : 0.716059 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.29, Z:0.10 [[ 9.99522278e-01 1.92484675e-03 -3.08465655e-02 1.05456057e+00] [-5.64746386e-04 9.99029581e-01 4.40406324e-02 -2.87025270e-01] [ 3.09014029e-02 -4.40021727e-02 9.98553410e-01 9.98357725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.686502481 meters Centerline goodness : 0.716059 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.28, Z:0.10 [[ 0.99942777 -0.00303148 -0.03368883 1.03916911] [ 0.00462517 0.99886862 0.04732962 -0.28425561] [ 0.03350723 -0.04745835 0.99831106 0.10071627] [ 0. 0. 0. 1. ]] SLAMing on 12.716502481 meters Centerline goodness : 0.715244 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.28, Z:0.10 [[ 9.99347658e-01 -6.54560224e-04 -3.61085931e-02 1.00566026e+00] [ 2.41322328e-03 9.98811375e-01 4.86827840e-02 -2.82910508e-01] [ 3.60338077e-02 -4.87381642e-02 9.98161388e-01 9.97899696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.746502480999998 meters Centerline goodness : 0.716214 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.28, Z:0.10 [[ 9.99212501e-01 3.14206435e-04 -3.96771823e-02 9.74354236e-01] [ 1.62486555e-03 9.98805807e-01 4.88295053e-02 -2.80799836e-01] [ 3.96451426e-02 -4.88555222e-02 9.98018738e-01 9.80569480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.776502481 meters Centerline goodness : 0.716037 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.28, Z:0.09 [[ 9.99317488e-01 -6.84568749e-04 -3.69335727e-02 9.27681800e-01] [ 2.52638208e-03 9.98753786e-01 4.98446813e-02 -2.78063197e-01] [ 3.68534235e-02 -4.99039700e-02 9.98073854e-01 9.35031152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.806502480999999 meters Centerline goodness : 0.718210 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.27, Z:0.09 [[ 0.99931596 -0.00135066 -0.0369566 0.92751531] [ 0.00310817 0.9988645 0.04754006 -0.27471503] [ 0.03685043 -0.04762241 0.99818543 0.09387954] [ 0. 0. 0. 1. ]] SLAMing on 12.836502480999998 meters Centerline goodness : 0.719219 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.28, Z:0.09 [[ 0.99926722 0.00547213 -0.03788247 0.95794944] [-0.00395917 0.99919589 0.03989862 -0.277282 ] [ 0.03807033 -0.0397194 0.99848536 0.09410286] [ 0. 0. 0. 1. ]] SLAMing on 12.866502481 meters Centerline goodness : 0.718161 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.27, Z:0.09 [[ 0.99925007 0.0061258 -0.03823317 0.95853375] [-0.00469107 0.99928549 0.03750329 -0.27404364] [ 0.03843559 -0.03729581 0.99856483 0.09450045] [ 0. 0. 0. 1. ]] SLAMing on 12.896502480999999 meters Centerline goodness : 0.719456 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.27, Z:0.10 [[ 0.99922954 0.00594925 -0.03879337 0.9592782 ] [-0.00455219 0.99934134 0.03600222 -0.27218115] [ 0.038982 -0.03579789 0.99859848 0.09510927] [ 0. 0. 0. 1. ]] SLAMing on 12.926502481 meters Centerline goodness : 0.718834 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.27, Z:0.10 [[ 0.9991406 0.01125671 -0.03989158 0.99720078] [-0.01003714 0.99948004 0.03064168 -0.27383026] [ 0.04021576 -0.03021495 0.99873407 0.09659232] [ 0. 0. 0. 1. ]] SLAMing on 12.956502481 meters Centerline goodness : 0.720934 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.27, Z:0.10 [[ 0.99911626 0.01186552 -0.04032247 0.99861039] [-0.01068891 0.99951435 0.02927143 -0.27113272] [ 0.04065021 -0.02881456 0.99875787 0.09585378] [ 0. 0. 0. 1. ]] SLAMing on 12.986502480999999 meters Centerline goodness : 0.719823 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.27, Z:0.10 [[ 0.99909939 0.01147999 -0.04084862 0.99965343] [-0.01033192 0.99954872 0.0282064 -0.26961074] [ 0.04115399 -0.02775895 0.99876713 0.09587578] [ 0. 0. 0. 1. ]] SLAMing on 13.016502481 meters Centerline goodness : 0.719591 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.27, Z:0.09 [[ 0.9991143 0.01086405 -0.04065211 0.99994583] [-0.0097473 0.99957238 0.02756913 -0.26791984] [ 0.04093424 -0.02714847 0.99879295 0.09479113] [ 0. 0. 0. 1. ]] SLAMing on 13.046502481 meters Centerline goodness : 0.720446 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.27, Z:0.09 [[ 0.99910524 0.01049999 -0.04096907 1.00132761] [-0.009396 0.99959 0.02704713 -0.26690859] [ 0.04123627 -0.02663798 0.99879427 0.09361823] [ 0. 0. 0. 1. ]] SLAMing on 13.076502480999999 meters Centerline goodness : 0.721482 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.27, Z:0.09 [[ 0.99911601 0.01009169 -0.04080877 1.00201006] [-0.00897066 0.99957988 0.02756074 -0.26704558] [ 0.04106976 -0.0271703 0.99878679 0.09199171] [ 0. 0. 0. 1. ]] SLAMing on 13.106502481 meters Centerline goodness : 0.720617 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.27, Z:0.09 [[ 0.99917348 0.01233153 -0.03873354 1.02051799] [-0.01148418 0.9996915 0.02202323 -0.26773758] [ 0.03899317 -0.02156021 0.99900685 0.0897838 ] [ 0. 0. 0. 1. ]] SLAMing on 13.136502480999999 meters Centerline goodness : 0.722586 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.27, Z:0.09 [[ 0.99917011 0.009542 -0.03959858 1.02182445] [-0.00890991 0.99983055 0.0161084 -0.26585847] [ 0.03974558 -0.01574221 0.99908582 0.09077969] [ 0. 0. 0. 1. ]] SLAMing on 13.166502480999998 meters Centerline goodness : 0.723428 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.27, Z:0.09 [[ 0.99913923 0.00976128 -0.04031774 1.02324784] [-0.00913091 0.99983364 0.01578977 -0.26660828] [ 0.04046517 -0.01540804 0.99906214 0.09086634] [ 0. 0. 0. 1. ]] SLAMing on 13.196502481 meters Centerline goodness : 0.722812 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.27, Z:0.09 [[ 0.99911357 0.00976105 -0.04094866 1.02460153] [-0.0091607 0.99984817 0.01482322 -0.26520258] [ 0.04108713 -0.01443496 0.99905129 0.0907859 ] [ 0. 0. 0. 1. ]] SLAMing on 13.226502480999999 meters Centerline goodness : 0.726169 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.26, Z:0.09 [[ 0.99909582 0.01062136 -0.04116701 1.02549188] [-0.01002005 0.99984048 0.01478556 -0.26495259] [ 0.04131748 -0.01435969 0.99904287 0.09020762] [ 0. 0. 0. 1. ]] SLAMing on 13.256502480999998 meters Centerline goodness : 0.725975 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.26, Z:0.09 [[ 0.99908521 0.01086148 -0.04136141 1.02605964] [-0.01028089 0.99984598 0.01422394 -0.26424868] [ 0.04150954 -0.01378569 0.999043 0.09006135] [ 0. 0. 0. 1. ]] SLAMing on 13.286502481 meters Centerline goodness : 0.725842 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.26, Z:0.09 [[ 0.99905582 0.01021302 -0.04222763 1.02740336] [-0.00984093 0.99991098 0.00901006 -0.26256956] [ 0.04231589 -0.00858599 0.99906739 0.09111597] [ 0. 0. 0. 1. ]] SLAMing on 13.316502480999999 meters Centerline goodness : 0.725274 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.26, Z:0.09 [[ 0.99902782 0.01018996 -0.04289033 1.02813206] [-0.0098373 0.99991612 0.00842539 -0.26283281] [ 0.04297258 -0.00799527 0.99904426 0.09208431] [ 0. 0. 0. 1. ]] SLAMing on 13.346502481 meters Centerline goodness : 0.726408 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.26, Z:0.09 [[ 0.99904053 0.00639527 -0.04332571 1.00766439] [-0.00591388 0.99991945 0.01123011 -0.26144656] [ 0.04339404 -0.01096311 0.99899788 0.09282947] [ 0. 0. 0. 1. ]] SLAMing on 13.376502481 meters Centerline goodness : 0.726352 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.26, Z:0.09 [[ 0.99904266 0.00924595 -0.04275825 1.00758808] [-0.0085168 0.99981573 0.01720361 -0.26287196] [ 0.04290944 -0.01682298 0.99893732 0.0909245 ] [ 0. 0. 0. 1. ]] SLAMing on 13.406502480999999 meters Centerline goodness : 0.726709 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.26, Z:0.09 [[ 0.99904268 0.00888342 -0.04283459 1.00875157] [-0.00815655 0.99982027 0.01711416 -0.26224002] [ 0.04297892 -0.01674839 0.99893559 0.08932794] [ 0. 0. 0. 1. ]] SLAMing on 13.436502481 meters Centerline goodness : 0.728730 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.26, Z:0.09 [[ 0.99911785 0.00276698 -0.04190308 0.96740621] [-0.00188416 0.99977574 0.02109313 -0.25887918] [ 0.04195205 -0.02099557 0.998899 0.08807454] [ 0. 0. 0. 1. ]] SLAMing on 13.466502481 meters Centerline goodness : 0.726845 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.26, Z:0.09 [[ 0.99914241 -0.00130496 -0.04138537 0.96583491] [ 0.00195521 0.99987522 0.01567546 -0.25670302] [ 0.04135975 -0.01574294 0.99902029 0.08919697] [ 0. 0. 0. 1. ]] SLAMing on 13.496502480999998 meters Centerline goodness : 0.728132 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.26, Z:0.09 [[ 9.99268220e-01 1.59563469e-04 -3.82491678e-02 9.82311040e-01] [ 1.61431546e-04 9.99964799e-01 8.38897378e-03 -2.56162939e-01] [ 3.82491600e-02 -8.38900952e-03 9.99233019e-01 8.68582619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.526502481 meters Centerline goodness : 0.726391 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.25, Z:0.09 [[ 9.99287947e-01 3.42748022e-04 -3.77290490e-02 9.80838006e-01] [-5.37736347e-05 9.99970661e-01 7.65994981e-03 -2.54616743e-01] [ 3.77305675e-02 -7.65246669e-03 9.99258647e-01 8.76721448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.556502480999999 meters Centerline goodness : 0.727333 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.25, Z:0.09 [[ 9.99295407e-01 4.48651807e-04 -3.75298356e-02 9.80766778e-01] [-1.82855173e-04 9.99974881e-01 7.08540815e-03 -2.53332751e-01] [ 3.75320718e-02 -7.07355329e-03 9.99270388e-01 8.73331686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.586502480999998 meters Centerline goodness : 0.725064 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.25, Z:0.09 [[ 0.99921847 -0.00181951 -0.0394859 0.96201082] [ 0.00229251 0.99992612 0.01193717 -0.25103509] [ 0.03946126 -0.01201837 0.99914882 0.08848801] [ 0. 0. 0. 1. ]] SLAMing on 13.616502481 meters Centerline goodness : 0.727361 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.25, Z:0.09 [[ 0.99907017 -0.00130155 -0.04309421 0.93595702] [ 0.00188518 0.99990702 0.01350525 -0.25183468] [ 0.04307262 -0.01357394 0.99897973 0.08705563] [ 0. 0. 0. 1. ]] SLAMing on 13.646502480999999 meters Centerline goodness : 0.727678 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.25, Z:0.09 [[ 0.9991246 -0.00256173 -0.04175484 0.88887356] [ 0.00333356 0.99982468 0.0184256 -0.2498978 ] [ 0.04170032 -0.01854866 0.99895797 0.08515967] [ 0. 0. 0. 1. ]] SLAMing on 13.676502481 meters Centerline goodness : 0.727745 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.25, Z:0.09 [[ 0.99913233 -0.00332277 -0.04151571 0.88806972] [ 0.00402812 0.99984877 0.01691783 -0.24767012] [ 0.04145322 -0.01707038 0.99899461 0.0857635 ] [ 0. 0. 0. 1. ]] SLAMing on 13.706502481 meters Centerline goodness : 0.728191 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.25, Z:0.09 [[ 0.99909862 -0.00578282 -0.04205367 0.83503205] [ 0.0065628 0.99980856 0.01843288 -0.24678153] [ 0.04193903 -0.01869226 0.9989453 0.08531884] [ 0. 0. 0. 1. ]] SLAMing on 13.736502480999999 meters Centerline goodness : 0.728193 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.24, Z:0.09 [[ 0.99910119 -0.00864513 -0.04149777 0.78905133] [ 0.00962597 0.99967762 0.0234946 -0.24416869] [ 0.04128128 -0.02387294 0.99886232 0.08556842] [ 0. 0. 0. 1. ]] SLAMing on 13.766502481 meters Centerline goodness : 0.726325 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.24, Z:0.09 [[ 0.99910869 -0.00865901 -0.04131411 0.78871761] [ 0.00960574 0.99969453 0.02277222 -0.24304623] [ 0.04110431 -0.02314877 0.99888667 0.08566523] [ 0. 0. 0. 1. ]] SLAMing on 13.796502481 meters Centerline goodness : 0.727818 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.24, Z:0.09 [[ 0.99910224 -0.00841697 -0.04151956 0.78903386] [ 0.0093259 0.99972001 0.02174682 -0.24204433] [ 0.04132489 -0.0221145 0.998901 0.08604589] [ 0. 0. 0. 1. ]] SLAMing on 13.826502480999999 meters Centerline goodness : 0.727980 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.24, Z:0.09 [[ 0.99898618 -0.00515803 -0.04472154 0.75650931] [ 0.00622669 0.99969759 0.02378966 -0.24308698] [ 0.04458531 -0.02404401 0.99871619 0.08508313] [ 0. 0. 0. 1. ]] SLAMing on 13.856502481 meters Centerline goodness : 0.730006 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:0.08 [[ 0.99902508 -0.00482337 -0.04388198 0.71402532] [ 0.00618278 0.99950348 0.03089595 -0.23980885] [ 0.04371117 -0.03113714 0.99855887 0.08132539] [ 0. 0. 0. 1. ]] SLAMing on 13.886502480999999 meters Centerline goodness : 0.728869 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.24, Z:0.08 [[ 0.99903304 -0.00485412 -0.04369685 0.71422712] [ 0.00614 0.99955059 0.02934135 -0.23648355] [ 0.04353478 -0.02958127 0.99861387 0.08061335] [ 0. 0. 0. 1. ]] SLAMing on 13.916502480999998 meters Centerline goodness : 0.730994 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.23, Z:0.08 [[ 0.99911387 -0.00485134 -0.04180834 0.74825177] [ 0.00609578 0.99954058 0.02968946 -0.23449902] [ 0.0416451 -0.02991801 0.99868443 0.07931313] [ 0. 0. 0. 1. ]] SLAMing on 13.946502481 meters Centerline goodness : 0.731506 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.24, Z:0.08 [[ 0.99918875 -0.00177664 -0.04023281 0.76760831] [ 0.00282158 0.99965977 0.02593037 -0.23518774] [ 0.04017305 -0.02602285 0.99885381 0.07824627] [ 0. 0. 0. 1. ]] SLAMing on 13.976502480999999 meters Centerline goodness : 0.730285 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.24, Z:0.08 [[ 9.99164355e-01 1.56281801e-03 -4.08429891e-02 7.99507885e-01] [-9.02469808e-04 9.99868665e-01 1.61814085e-02 -2.37798215e-01] [ 4.08629136e-02 -1.61310271e-02 9.99034540e-01 7.91931961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.006502480999998 meters Centerline goodness : 0.730582 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.24, Z:0.08 [[ 0.9993005 0.00246143 -0.03731567 0.81524365] [-0.00215684 0.99996405 0.00820043 -0.23715362] [ 0.03733451 -0.00811421 0.99926988 0.07699858] [ 0. 0. 0. 1. ]] SLAMing on 14.036502481 meters Centerline goodness : 0.730551 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:0.08 [[ 0.99925725 0.00612219 -0.0380456 0.84960927] [-0.0062336 0.99997662 -0.00281029 -0.23991442] [ 0.03802751 0.00304536 0.99927205 0.07736311] [ 0. 0. 0. 1. ]] SLAMing on 14.066502480999999 meters Centerline goodness : 0.730253 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:0.08 [[ 0.99925645 0.00636509 -0.03802673 0.84929032] [-0.00649384 0.99997359 -0.00326317 -0.23979433] [ 0.03800496 0.00350768 0.99927139 0.07795258] [ 0. 0. 0. 1. ]] SLAMing on 14.096502481 meters Centerline goodness : 0.729810 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:0.08 [[ 0.99924097 0.00663114 -0.03838624 0.85017489] [-0.0067512 0.99997271 -0.00299884 -0.24001614] [ 0.0383653 0.00325572 0.99925848 0.07764544] [ 0. 0. 0. 1. ]] SLAMing on 14.126502481 meters Centerline goodness : 0.729354 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.24, Z:0.08 [[ 0.99923727 0.00680862 -0.03845163 0.85072151] [-0.00690216 0.99997353 -0.00230043 -0.24059862] [ 0.03843495 0.00256408 0.99925781 0.07691257] [ 0. 0. 0. 1. ]] SLAMing on 14.156502480999999 meters Centerline goodness : 0.731807 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.24, Z:0.08 [[ 0.99924644 0.00440395 -0.03856368 0.88809167] [-0.00446157 0.99998906 -0.00140804 -0.24343104] [ 0.03855706 0.00157903 0.99925515 0.0764471 ] [ 0. 0. 0. 1. ]] SLAMing on 14.186502481 meters Centerline goodness : 0.732464 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.24, Z:0.07 [[ 0.99932654 0.01079488 -0.03507033 0.90664929] [-0.01086131 0.99993956 -0.00170428 -0.2443986 ] [ 0.03504981 0.00208404 0.99938339 0.07483729] [ 0. 0. 0. 1. ]] SLAMing on 14.216502481 meters Centerline goodness : 0.732410 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.24, Z:0.07 [[ 0.99938426 0.01468166 -0.03186779 0.92305522] [-0.01490044 0.99986694 -0.00663857 -0.2441535 ] [ 0.03176608 0.00710933 0.99947005 0.07222861] [ 0. 0. 0. 1. ]] SLAMing on 14.246502480999998 meters Centerline goodness : 0.731314 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.25, Z:0.07 [[ 0.99938385 0.01829978 -0.0299507 0.94100556] [-0.0186295 0.99976848 -0.01076721 -0.24565282] [ 0.02974673 0.01131855 0.99949338 0.07093988] [ 0. 0. 0. 1. ]] SLAMing on 14.276502481 meters Centerline goodness : 0.731719 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.25, Z:0.07 [[ 0.99937855 0.018744 -0.02985241 0.94103673] [-0.01905559 0.99976652 -0.01018776 -0.24595968] [ 0.02965448 0.01075028 0.9995024 0.07077415] [ 0. 0. 0. 1. ]] SLAMing on 14.306502480999999 meters Centerline goodness : 0.732222 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.25, Z:0.07 [[ 0.99940558 0.01832801 -0.02919884 0.93953882] [-0.01863327 0.99977418 -0.01021692 -0.24579845] [ 0.02900499 0.01075492 0.99952141 0.07109352] [ 0. 0. 0. 1. ]] SLAMing on 14.336502480999998 meters Centerline goodness : 0.733604 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.25, Z:0.07 [[ 0.99940881 0.01806105 -0.02925454 0.93984814] [-0.01834069 0.99978836 -0.0093191 -0.24805061] [ 0.02908004 0.00985014 0.99952855 0.07064022] [ 0. 0. 0. 1. ]] SLAMing on 14.366502481 meters Centerline goodness : 0.732004 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.25, Z:0.07 [[ 0.99943609 0.01666885 -0.02914893 0.94009188] [-0.01686438 0.99983682 -0.00647471 -0.25360024] [ 0.02903625 0.00696264 0.99955411 0.06933259] [ 0. 0. 0. 1. ]] SLAMing on 14.396502480999999 meters Centerline goodness : 0.732878 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.26, Z:0.07 [[ 0.99945836 0.01573329 -0.0289042 0.939656 ] [-0.01589813 0.99985859 -0.00548203 -0.25564914] [ 0.02881386 0.00593858 0.99956715 0.06901274] [ 0. 0. 0. 1. ]] SLAMing on 14.426502480999998 meters Centerline goodness : 0.731895 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.26, Z:0.07 [[ 0.99951402 0.01424841 -0.0277257 0.93728 ] [-0.0143775 0.99988668 -0.00446187 -0.25758698] [ 0.02765899 0.00485833 0.99960561 0.06883926] [ 0. 0. 0. 1. ]] SLAMing on 14.456502481 meters Centerline goodness : 0.730984 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.26, Z:0.07 [[ 0.99951424 0.01423134 -0.02772623 0.93674685] [-0.01435759 0.99988742 -0.00435958 -0.25624406] [ 0.02766107 0.00475554 0.99960605 0.06995043] [ 0. 0. 0. 1. ]] SLAMing on 14.486502480999999 meters Centerline goodness : 0.732242 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.26, Z:0.07 [[ 0.99953623 0.0178111 -0.02469996 0.95359377] [-0.01803875 0.99979656 -0.00902499 -0.25672377] [ 0.02453419 0.00946636 0.99965417 0.06759106] [ 0. 0. 0. 1. ]] SLAMing on 14.516502481 meters Centerline goodness : 0.731564 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.25, Z:0.07 [[ 0.99953542 0.01780816 -0.02473472 0.95364117] [-0.01804293 0.99979395 -0.00930079 -0.25477062] [ 0.02456399 0.00974275 0.99965078 0.06768501] [ 0. 0. 0. 1. ]] SLAMing on 14.546502481 meters Centerline goodness : 0.730102 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.25, Z:0.07 [[ 0.99953164 0.01751547 -0.02509384 0.95479833] [-0.01776221 0.99979573 -0.00964388 -0.25379031] [ 0.0249198 0.01008508 0.99963858 0.06718228] [ 0. 0. 0. 1. ]] SLAMing on 14.576502480999999 meters Centerline goodness : 0.730102 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.25, Z:0.07 [[ 0.99953164 0.01751547 -0.02509384 0.95479833] [-0.01776221 0.99979573 -0.00964388 -0.25379031] [ 0.0249198 0.01008508 0.99963858 0.06718228] [ 0. 0. 0. 1. ]] SLAMing on 14.606502481 meters Centerline goodness : 0.730455 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.25, Z:0.07 [[ 0.99952631 0.01730342 -0.02545077 0.95626583] [-0.01756189 0.99979609 -0.00996747 -0.25279382] [ 0.02527311 0.01040971 0.99962638 0.06618516] [ 0. 0. 0. 1. ]] SLAMing on 14.636502480999999 meters Centerline goodness : 0.730255 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.25, Z:0.07 [[ 0.99952105 0.01697879 -0.02587261 0.95725082] [-0.017249 0.99979862 -0.01025676 -0.25207968] [ 0.02569325 0.01069813 0.99961263 0.06608523] [ 0. 0. 0. 1. ]] SLAMing on 14.666502480999998 meters Centerline goodness : 0.733110 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.25, Z:0.07 [[ 0.99951844 0.01618295 -0.02647639 0.95882401] [-0.01648206 0.99980235 -0.01111804 -0.2508427 ] [ 0.02629123 0.01154907 0.99958761 0.06562652] [ 0. 0. 0. 1. ]] SLAMing on 14.696502481 meters Centerline goodness : 0.733650 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.25, Z:0.06 [[ 0.99951562 0.01577103 -0.02682896 0.96000966] [-0.01608805 0.9998028 -0.01164181 -0.25010492] [ 0.02664007 0.01206779 0.99957225 0.06495128] [ 0. 0. 0. 1. ]] SLAMing on 14.726502480999999 meters Centerline goodness : 0.734246 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.25, Z:0.06 [[ 0.99950667 0.01517715 -0.02749672 0.96202069] [-0.01552386 0.99980211 -0.01244008 -0.24784512] [ 0.02730248 0.0128608 0.99954448 0.06407026] [ 0. 0. 0. 1. ]] SLAMing on 14.756502480999998 meters Centerline goodness : 0.733436 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.25, Z:0.06 [[ 0.99949943 0.01456709 -0.02808359 0.96384401] [-0.01494133 0.99980173 -0.01316249 -0.24603649] [ 0.02788628 0.01357551 0.99951891 0.06329706] [ 0. 0. 0. 1. ]] SLAMing on 14.786502481 meters Centerline goodness : 0.735214 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.25, Z:0.06 [[ 0.99949211 0.01422845 -0.02851449 0.96473108] [-0.01461601 0.99980299 -0.01342983 -0.24535406] [ 0.02831778 0.01383978 0.99950316 0.06341766] [ 0. 0. 0. 1. ]] SLAMing on 14.816502480999999 meters Centerline goodness : 0.733640 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.25, Z:0.06 [[ 0.99951427 0.01777313 -0.02559957 0.98227616] [-0.01823188 0.99967533 -0.01779964 -0.24554411] [ 0.0252749 0.01825772 0.9995138 0.06170044] [ 0. 0. 0. 1. ]] SLAMing on 14.846502481 meters Centerline goodness : 0.735319 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.24, Z:0.06 [[ 0.99950885 0.01755968 -0.02595592 0.98309158] [-0.01803112 0.99967463 -0.01804209 -0.24461941] [ 0.02563066 0.01850124 0.99950026 0.06165677] [ 0. 0. 0. 1. ]] SLAMing on 14.876502481 meters Centerline goodness : 0.735739 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.25, Z:0.06 [[ 0.99942838 0.02095828 -0.02652648 0.98452379] [-0.02134157 0.99967069 -0.01424969 -0.2450505 ] [ 0.0262191 0.01480767 0.99954654 0.06183615] [ 0. 0. 0. 1. ]] SLAMing on 14.906502480999999 meters Centerline goodness : 0.734598 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.24, Z:0.06 [[ 0.99941849 0.02073428 -0.0270696 0.98597055] [-0.02113443 0.99967031 -0.01458094 -0.24418398] [ 0.02675835 0.01514456 0.9995272 0.06129645] [ 0. 0. 0. 1. ]] SLAMing on 14.936502481 meters Centerline goodness : 0.736546 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.25, Z:0.06 [[ 0.99934487 0.02400342 -0.02708637 0.98655637] [-0.02428182 0.99965517 -0.00999657 -0.24624481] [ 0.02683708 0.01064773 0.99958311 0.06047791] [ 0. 0. 0. 1. ]] SLAMing on 14.966502481 meters Centerline goodness : 0.736017 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.25, Z:0.06 [[ 0.99934946 0.02404229 -0.02688181 0.98632955] [-0.02432276 0.99965257 -0.01015549 -0.24517612] [ 0.0266283 0.01080272 0.99958703 0.06027108] [ 0. 0. 0. 1. ]] SLAMing on 14.996502480999998 meters Centerline goodness : 0.735434 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.24, Z:0.06 [[ 0.9993392 0.02440211 -0.02693893 0.98674572] [-0.02468094 0.99964469 -0.01006662 -0.24486949] [ 0.02668371 0.01072484 0.99958639 0.05999437] [ 0. 0. 0. 1. ]] SLAMing on 15.026502481 meters Centerline goodness : 0.736510 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.24, Z:0.06 [[ 0.99932028 0.02461792 -0.02743969 0.98777033] [-0.02491437 0.99963429 -0.01051461 -0.24496375] [ 0.02717081 0.01119111 0.99956816 0.06002105] [ 0. 0. 0. 1. ]] SLAMing on 15.056502480999999 meters Centerline goodness : 0.735198 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.24, Z:0.06 [[ 0.99931758 0.02461668 -0.02753881 0.98801743] [-0.02494366 0.99962163 -0.01159388 -0.24268949] [ 0.02724298 0.01227289 0.9995535 0.06013749] [ 0. 0. 0. 1. ]] SLAMing on 15.086502480999998 meters Centerline goodness : 0.735972 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.24, Z:0.06 [[ 0.99931373 0.02484244 -0.02747567 0.98806314] [-0.02517062 0.99961512 -0.0116637 -0.24170875] [ 0.02717534 0.01234728 0.99955442 0.06004315] [ 0. 0. 0. 1. ]] SLAMing on 15.116502481 meters Centerline goodness : 0.737629 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.24, Z:0.06 [[ 0.99931726 0.02509145 -0.02711904 0.9877231 ] [-0.02543743 0.9995984 -0.01248874 -0.23974844] [ 0.02679479 0.01317005 0.9995542 0.05978879] [ 0. 0. 0. 1. ]] SLAMing on 15.146502480999999 meters Centerline goodness : 0.736992 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.24, Z:0.06 [[ 0.99929492 0.02559273 -0.02747119 0.98801116] [-0.02595958 0.9995774 -0.01308127 -0.23893275] [ 0.02712479 0.01378519 0.999537 0.06057573] [ 0. 0. 0. 1. ]] SLAMing on 15.176502480999998 meters Centerline goodness : 0.738565 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.24, Z:0.06 [[ 0.99930263 0.02561007 -0.02717327 0.98706021] [-0.02599849 0.9995634 -0.01403844 -0.23694413] [ 0.02680188 0.01473511 0.99953216 0.06144752] [ 0. 0. 0. 1. ]] SLAMing on 15.206502481 meters Centerline goodness : 0.738895 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.24, Z:0.06 [[ 0.99931394 0.02538829 -0.02696451 0.98647737] [-0.0257827 0.99956412 -0.01438162 -0.23606087] [ 0.02658763 0.01506697 0.99953293 0.06181094] [ 0. 0. 0. 1. ]] SLAMing on 15.236502480999999 meters Centerline goodness : 0.737338 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.23, Z:0.06 [[ 0.99936471 0.02422925 -0.02613654 0.98494153] [-0.02461431 0.99959167 -0.01451299 -0.23446617] [ 0.02577422 0.0151471 0.99955303 0.06157262] [ 0. 0. 0. 1. ]] SLAMing on 15.266502481 meters Centerline goodness : 0.737219 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.23, Z:0.06 [[ 0.99936195 0.02381122 -0.02662173 0.98626954] [-0.02421113 0.99959728 -0.0148018 -0.23413308] [ 0.02625856 0.0154369 0.99953599 0.06116738] [ 0. 0. 0. 1. ]] SLAMing on 15.296502481 meters Centerline goodness : 0.738159 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.23, Z:0.06 [[ 0.99935961 0.02310788 -0.02732031 0.98788669] [-0.02352778 0.99960839 -0.01514932 -0.23397525] [ 0.02695954 0.01578241 0.99951193 0.06112624] [ 0. 0. 0. 1. ]] SLAMing on 15.326502480999999 meters Centerline goodness : 0.736739 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.23, Z:0.06 [[ 0.99934925 0.02268203 -0.02804626 0.98943066] [-0.02312127 0.99961347 -0.01543743 -0.233613 ] [ 0.02768527 0.01607585 0.99948742 0.06102736] [ 0. 0. 0. 1. ]] SLAMing on 15.356502481 meters Centerline goodness : 0.736605 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.23, Z:0.06 [[ 0.99934371 0.0220344 -0.02875119 0.99116722] [-0.02249273 0.99962346 -0.01571651 -0.23396247] [ 0.02839406 0.01635289 0.99946304 0.06074477] [ 0. 0. 0. 1. ]] SLAMing on 15.386502480999999 meters Centerline goodness : 0.736701 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.24, Z:0.06 [[ 0.99934557 0.02045477 -0.02983358 0.99362111] [-0.02096151 0.99963958 -0.01677276 -0.2364669 ] [ 0.02947974 0.01738714 0.99941414 0.0603801 ] [ 0. 0. 0. 1. ]] SLAMing on 15.416502480999998 meters Centerline goodness : 0.736270 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:0.06 [[ 0.99933489 0.02009714 -0.03042824 0.99501907] [-0.0206146 0.99964652 -0.01678899 -0.23712219] [ 0.03008008 0.01740509 0.99939594 0.06015817] [ 0. 0. 0. 1. ]] SLAMing on 15.446502481 meters Centerline goodness : 0.737975 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:0.06 [[ 0.99933266 0.02051616 -0.03022115 0.99547646] [-0.02100882 0.99965004 -0.0160757 -0.23759046] [ 0.02988076 0.01669989 0.99941396 0.0594023 ] [ 0. 0. 0. 1. ]] SLAMing on 15.476502480999999 meters Centerline goodness : 0.736097 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:0.06 [[ 0.99932339 0.0204227 -0.03058887 0.99627007] [-0.02091715 0.99965426 -0.01593243 -0.23841477] [ 0.03025291 0.01656149 0.99940506 0.05941702] [ 0. 0. 0. 1. ]] SLAMing on 15.506502480999998 meters Centerline goodness : 0.735455 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:0.06 [[ 0.9993047 0.02033957 -0.03124774 0.9967815 ] [-0.02083154 0.99966284 -0.01550016 -0.24127769] [ 0.03092194 0.01614032 0.99939148 0.06048067] [ 0. 0. 0. 1. ]] SLAMing on 15.536502481 meters Centerline goodness : 0.736994 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:0.06 [[ 0.99930047 0.0206153 -0.03120221 0.99647913] [-0.02109562 0.99966276 -0.01514384 -0.24185212] [ 0.0308795 0.01579147 0.99939836 0.0607978 ] [ 0. 0. 0. 1. ]] SLAMing on 15.566502480999999 meters Centerline goodness : 0.734447 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:0.06 [[ 0.99929142 0.02114752 -0.03113569 0.99584078] [-0.02161121 0.99965937 -0.01463226 -0.24225117] [ 0.03081564 0.01529477 0.99940806 0.06160141] [ 0. 0. 0. 1. ]] SLAMing on 15.596502481 meters Centerline goodness : 0.735753 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:0.06 [[ 0.99927012 0.02125591 -0.03173964 0.99675613] [-0.02173553 0.99965356 -0.01484328 -0.24190931] [ 0.03141314 0.01552232 0.99938595 0.06166596] [ 0. 0. 0. 1. ]] SLAMing on 15.626502481 meters Centerline goodness : 0.734899 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:0.06 [[ 0.99925489 0.02114893 -0.0322859 0.99787637] [-0.02164557 0.9996515 -0.01511139 -0.24120206] [ 0.03195506 0.01579897 0.99936443 0.06149735] [ 0. 0. 0. 1. ]] SLAMing on 15.656502480999999 meters Centerline goodness : 0.735399 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:0.06 [[ 0.9992396 0.0209271 -0.03289806 0.99898277] [-0.0214379 0.99965384 -0.01525172 -0.24110343] [ 0.0325675 0.01594539 0.99934234 0.06170208] [ 0. 0. 0. 1. ]] SLAMing on 15.686502481 meters Centerline goodness : 0.735929 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:0.06 [[ 0.99922841 0.02057507 -0.03345529 1.00004869] [-0.02109903 0.99965902 -0.0153844 -0.2414559 ] [ 0.03312735 0.0160784 0.9993218 0.06182153] [ 0. 0. 0. 1. ]] SLAMing on 15.716502481 meters Centerline goodness : 0.734464 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:0.06 [[ 0.99921693 0.02014576 -0.03405413 1.00124796] [-0.02068495 0.99966502 -0.01555587 -0.24165779] [ 0.03372934 0.0162481 0.99929892 0.06198931] [ 0. 0. 0. 1. ]] SLAMing on 15.746502480999998 meters Centerline goodness : 0.734542 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:0.06 [[ 0.99920927 0.01980868 -0.0344738 1.00233352] [-0.02036439 0.99966708 -0.01584387 -0.24134949] [ 0.03414848 0.01653338 0.99928001 0.06170845] [ 0. 0. 0. 1. ]] SLAMing on 15.776502481 meters Centerline goodness : 0.734431 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:0.06 [[ 0.99919361 0.01958881 -0.03504876 1.00355897] [-0.02015937 0.99966874 -0.01600016 -0.24076697] [ 0.03472373 0.01669382 0.99925751 0.06166452] [ 0. 0. 0. 1. ]] SLAMing on 15.806502480999999 meters Centerline goodness : 0.732617 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:0.06 [[ 0.99918253 0.01927171 -0.03553702 1.00465291] [-0.01986281 0.99966892 -0.01635612 -0.23991548] [ 0.03521004 0.01704862 0.99923451 0.06152667] [ 0. 0. 0. 1. ]] SLAMing on 15.836502480999998 meters Centerline goodness : 0.732969 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.24, Z:0.06 [[ 0.99916095 0.01896804 -0.03629885 1.00661992] [-0.01958137 0.99967018 -0.01661638 -0.23907682] [ 0.0359717 0.01731322 0.99920283 0.06099529] [ 0. 0. 0. 1. ]] SLAMing on 15.866502481 meters Centerline goodness : 0.730560 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.24, Z:0.06 [[ 0.99914472 0.01844787 -0.03700688 1.00864062] [-0.0190917 0.99967115 -0.01712031 -0.23859654] [ 0.03667887 0.01781219 0.99916835 0.06015562] [ 0. 0. 0. 1. ]] SLAMing on 15.896502480999999 meters Centerline goodness : 0.733439 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.24, Z:0.06 [[ 0.99910803 0.01748076 -0.03843927 1.0124989 ] [-0.01817916 0.99967459 -0.01789523 -0.23854827] [ 0.03811394 0.01857806 0.99910069 0.05871382] [ 0. 0. 0. 1. ]] SLAMing on 15.926502480999998 meters Centerline goodness : 0.732416 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.24, Z:0.06 [[ 0.99908416 0.01692824 -0.03929725 1.01455794] [-0.01765686 0.99967719 -0.0182689 -0.23884452] [ 0.03897531 0.01894603 0.99906055 0.05821528] [ 0. 0. 0. 1. ]] SLAMing on 15.956502481 meters Centerline goodness : 0.734609 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.24, Z:0.06 [[ 0.99906427 0.01655445 -0.03995658 1.01606215] [-0.01730581 0.99967848 -0.01853241 -0.23875664] [ 0.03963694 0.01920655 0.99902954 0.05799256] [ 0. 0. 0. 1. ]] SLAMing on 15.986502480999999 meters Centerline goodness : 0.735207 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.24, Z:0.06 [[ 0.99904897 0.0163762 -0.04041018 1.01712432] [-0.01713872 0.99968018 -0.01859594 -0.23837922] [ 0.04009272 0.01927083 0.99901011 0.05789688] [ 0. 0. 0. 1. ]] SLAMing on 16.016502481 meters Centerline goodness : 0.734495 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.24, Z:0.06 [[ 0.99902958 0.01647486 -0.0408469 1.01807813] [-0.01724495 0.99967877 -0.01857316 -0.237851 ] [ 0.04052779 0.01925953 0.99899278 0.05777781] [ 0. 0. 0. 1. ]] SLAMing on 16.046502481 meters Centerline goodness : 0.735213 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.24, Z:0.06 [[ 0.99900547 0.01635624 -0.04147946 1.0192542 ] [-0.01714114 0.99967935 -0.01863797 -0.23752135] [ 0.04116131 0.01933044 0.99896551 0.05790582] [ 0. 0. 0. 1. ]] SLAMing on 16.076502481000002 meters Centerline goodness : 0.734648 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.24, Z:0.06 [[ 0.99915512 0.0167919 -0.03751109 1.0453965 ] [-0.01757446 0.99963269 -0.02063079 -0.23913643] [ 0.03715088 0.02127259 0.99908322 0.05688812] [ 0. 0. 0. 1. ]] SLAMing on 16.106502481 meters Centerline goodness : 0.734635 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.24, Z:0.06 [[ 0.99913333 0.01655663 -0.03818979 1.04636469] [-0.01734979 0.99963865 -0.02053183 -0.23999318] [ 0.03783606 0.02117662 0.99905955 0.05755346] [ 0. 0. 0. 1. ]] SLAMing on 16.136502481 meters Centerline goodness : 0.732560 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.24, Z:0.06 [[ 0.99910822 0.01621544 -0.03898494 1.04804138] [-0.01702699 0.99964329 -0.02057597 -0.24065364] [ 0.03863738 0.02122142 0.99902793 0.05753923] [ 0. 0. 0. 1. ]] SLAMing on 16.166502481000002 meters Centerline goodness : 0.734508 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.24, Z:0.06 [[ 0.99908756 0.01617489 -0.03952749 1.04951683] [-0.01699508 0.99964534 -0.02050252 -0.24045702] [ 0.03918185 0.02115558 0.99900812 0.05710628] [ 0. 0. 0. 1. ]] SLAMing on 16.196502481 meters Centerline goodness : 0.733023 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.24, Z:0.06 [[ 0.99906566 0.01604675 -0.04012873 1.05103852] [-0.01687426 0.99965013 -0.02036834 -0.24094117] [ 0.03978785 0.02102645 0.99898689 0.05690709] [ 0. 0. 0. 1. ]] SLAMing on 16.226502481 meters Centerline goodness : 0.733604 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.24, Z:0.06 [[ 0.99904595 0.01599962 -0.04063495 1.05156712] [-0.01682882 0.99965539 -0.0201467 -0.24184787] [ 0.0402986 0.02081132 0.99897093 0.05765375] [ 0. 0. 0. 1. ]] SLAMing on 16.256502481000002 meters Centerline goodness : 0.733332 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.24, Z:0.06 [[ 0.99907319 0.019384 -0.03843194 1.06932777] [-0.02031453 0.99950622 -0.02397151 -0.24447648] [ 0.0379483 0.02473002 0.99897365 0.05742551] [ 0. 0. 0. 1. ]] SLAMing on 16.286502481 meters Centerline goodness : 0.734347 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.24, Z:0.06 [[ 0.99904547 0.01938175 -0.03914704 1.07074913] [-0.02032546 0.9995088 -0.0238544 -0.24462679] [ 0.03866548 0.02462731 0.99894869 0.05753858] [ 0. 0. 0. 1. ]] SLAMing on 16.316502481 meters Centerline goodness : 0.733326 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.24, Z:0.06 [[ 0.99903426 0.01948052 -0.03938345 1.07163315] [-0.02042951 0.99950705 -0.02383905 -0.24427592] [ 0.03889964 0.02462061 0.99893976 0.05703105] [ 0. 0. 0. 1. ]] SLAMing on 16.346502481 meters Centerline goodness : 0.733317 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.25, Z:0.06 [[ 0.99893269 0.02301476 -0.04004756 1.0730701 ] [-0.02381242 0.99952515 -0.01955619 -0.246023 ] [ 0.03957846 0.02048895 0.99900638 0.05766262] [ 0. 0. 0. 1. ]] SLAMing on 16.376502481 meters Centerline goodness : 0.734677 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.25, Z:0.06 [[ 0.99891693 0.02282131 -0.04054829 1.07398883] [-0.02362655 0.99953081 -0.01949196 -0.24633996] [ 0.04008444 0.02042886 0.99898744 0.05795167] [ 0. 0. 0. 1. ]] SLAMing on 16.406502481 meters Centerline goodness : 0.734665 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.25, Z:0.06 [[ 0.99889732 0.02223524 -0.0413489 1.07498606] [-0.02305125 0.99954674 -0.01936377 -0.24841153] [ 0.0408996 0.02029556 0.99895711 0.05904012] [ 0. 0. 0. 1. ]] SLAMing on 16.436502481 meters Centerline goodness : 0.732086 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.06 [[ 0.99887371 0.02190597 -0.04208849 1.07606194] [-0.02273047 0.99955701 -0.019212 -0.24925208] [ 0.04164899 0.02014706 0.99892916 0.05982558] [ 0. 0. 0. 1. ]] SLAMing on 16.466502481 meters Centerline goodness : 0.731487 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.06 [[ 0.99885988 0.02160067 -0.04257172 1.07680759] [-0.02242866 0.99956658 -0.01906864 -0.2498247 ] [ 0.04214138 0.02000173 0.99891143 0.06045594] [ 0. 0. 0. 1. ]] SLAMing on 16.496502481 meters Centerline goodness : 0.731487 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.06 [[ 0.99885988 0.02160067 -0.04257172 1.07680759] [-0.02242866 0.99956658 -0.01906864 -0.2498247 ] [ 0.04214138 0.02000173 0.99891143 0.06045594] [ 0. 0. 0. 1. ]] SLAMing on 16.526502481 meters Centerline goodness : 0.732649 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.06 [[ 0.99883389 0.02194722 -0.04300209 1.07736893] [-0.02278641 0.99955745 -0.0191231 -0.24947994] [ 0.04256336 0.02008066 0.99889195 0.06087533] [ 0. 0. 0. 1. ]] SLAMing on 16.556502481000003 meters Centerline goodness : 0.730642 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.06 [[ 0.99872864 0.02560943 -0.04341966 1.07844046] [-0.02624326 0.99955627 -0.0140911 -0.2513568 ] [ 0.04303953 0.01521265 0.99895754 0.06038141] [ 0. 0. 0. 1. ]] SLAMing on 16.586502481 meters Centerline goodness : 0.730395 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.06 [[ 0.99868009 0.02633206 -0.04409878 1.08034799] [-0.02697917 0.99953593 -0.01414362 -0.25098158] [ 0.04370589 0.0153147 0.99892705 0.05970261] [ 0. 0. 0. 1. ]] SLAMing on 16.616502481 meters Centerline goodness : 0.730884 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.06 [[ 0.99852286 0.03074846 -0.04479544 1.08192723] [-0.03118651 0.99947204 -0.00911296 -0.25382436] [ 0.04449158 0.01049651 0.99895461 0.05945611] [ 0. 0. 0. 1. ]] SLAMing on 16.646502481000002 meters Centerline goodness : 0.731439 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.06 [[ 0.99849782 0.03093568 -0.04522261 1.08248916] [-0.03143162 0.99945287 -0.01029675 -0.25281879] [ 0.04487933 0.0117027 0.99892387 0.06005409] [ 0. 0. 0. 1. ]] SLAMing on 16.676502481 meters Centerline goodness : 0.728649 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.06 [[ 0.99841752 0.03213364 -0.04615073 1.08245682] [-0.03270975 0.99939544 -0.0117825 -0.25250019] [ 0.04574421 0.01327343 0.998865 0.06320615] [ 0. 0. 0. 1. ]] SLAMing on 16.706502481 meters Centerline goodness : 0.727941 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.07 [[ 0.99832026 0.03564168 -0.0456763 1.08030407] [-0.0360561 0.99931545 -0.00828127 -0.25216331] [ 0.04534987 0.00991427 0.99892197 0.06535144] [ 0. 0. 0. 1. ]] SLAMing on 16.736502481000002 meters Centerline goodness : 0.727299 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.07 [[ 0.9982019 0.03894674 -0.0455645 1.07983712] [-0.03918442 0.99922259 -0.00433452 -0.25213372] [ 0.04536026 0.00611214 0.998952 0.06588021] [ 0. 0. 0. 1. ]] SLAMing on 16.766502481 meters Centerline goodness : 0.725269 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.07 [[ 0.99810025 0.04016862 -0.04671589 1.08149081] [-0.04050697 0.99915928 -0.00631827 -0.24998754] [ 0.04642282 0.00819858 0.99888823 0.0672929 ] [ 0. 0. 0. 1. ]] SLAMing on 16.796502481 meters Centerline goodness : 0.724163 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.07 [[ 0.99803387 0.04039432 -0.04792375 1.08330164] [-0.04079389 0.99914026 -0.00738871 -0.24989011] [ 0.04758408 0.00932918 0.99882367 0.06821791] [ 0. 0. 0. 1. ]] SLAMing on 16.826502481000002 meters Centerline goodness : 0.723978 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.25, Z:0.07 [[ 0.99796132 0.041057 -0.04886234 1.08537758] [-0.04143972 0.99911756 -0.00684508 -0.25054159] [ 0.04853819 0.00885597 0.99878207 0.06777526] [ 0. 0. 0. 1. ]] SLAMing on 16.856502481 meters Centerline goodness : 0.723306 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.25, Z:0.07 [[ 0.99794929 0.0412823 -0.0489182 1.08576909] [-0.04163275 0.99911395 -0.00616651 -0.25144538] [ 0.04862029 0.00819046 0.99878375 0.0672922 ] [ 0. 0. 0. 1. ]] SLAMing on 16.886502481 meters Centerline goodness : 0.723392 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.25, Z:0.07 [[ 0.99791457 0.0412357 -0.04966004 1.08699984] [-0.04156925 0.99911935 -0.0057023 -0.25320017] [ 0.04938117 0.00775474 0.9987499 0.06742619] [ 0. 0. 0. 1. ]] SLAMing on 16.916502481000002 meters Centerline goodness : 0.721984 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.25, Z:0.07 [[ 0.99791985 0.04110668 -0.04966094 1.08621099] [-0.04145964 0.99912157 -0.00609794 -0.25358525] [ 0.04936665 0.00814418 0.99874752 0.06856141] [ 0. 0. 0. 1. ]] SLAMing on 16.946502481 meters Centerline goodness : 0.721389 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.07 [[ 0.99793131 0.04115577 -0.04938923 1.08411273] [-0.04156926 0.99910841 -0.00737388 -0.25099041] [ 0.04904172 0.0094117 0.99875239 0.07109856] [ 0. 0. 0. 1. ]] SLAMing on 16.976502481 meters Centerline goodness : 0.719607 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.07 [[ 0.99782948 0.04402767 -0.04896834 1.08360106] [-0.04423358 0.99901632 -0.00312864 -0.2509471 ] [ 0.04878243 0.0052879 0.99879543 0.07073905] [ 0. 0. 0. 1. ]] SLAMing on 17.006502481000002 meters Centerline goodness : 0.718433 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.07 [[ 0.99780323 0.04496786 -0.04864775 1.08324827] [-0.04509021 0.99898191 -0.00142005 -0.24927383] [ 0.04853437 0.00361047 0.99881499 0.07052958] [ 0. 0. 0. 1. ]] SLAMing on 17.036502481 meters Centerline goodness : 0.717222 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.07 [[ 0.99776658 0.04509215 -0.04928039 1.08467266] [-0.0452187 0.99897605 -0.00145555 -0.25001047] [ 0.04916429 0.0036807 0.99878392 0.07024645] [ 0. 0. 0. 1. ]] SLAMing on 17.066502481 meters Centerline goodness : 0.717368 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.25, Z:0.07 [[ 0.99776229 0.04324618 -0.05099198 1.08773658] [-0.04355861 0.9990382 -0.00503123 -0.25219021] [ 0.05072536 0.00724111 0.99868639 0.07039932] [ 0. 0. 0. 1. ]] SLAMing on 17.096502481 meters Centerline goodness : 0.716279 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.25, Z:0.07 [[ 0.99773966 0.04361962 -0.05111644 1.08800211] [-0.04390192 0.9990261 -0.00441238 -0.25402932] [ 0.05087419 0.00664652 0.99868295 0.07029906] [ 0. 0. 0. 1. ]] SLAMing on 17.126502481 meters Centerline goodness : 0.715695 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.25, Z:0.07 [[ 0.9977149 0.04395774 -0.05130988 1.08834256] [-0.04425038 0.99900997 -0.00458075 -0.25369316] [ 0.05105772 0.00684076 0.99867228 0.07042069] [ 0. 0. 0. 1. ]] SLAMing on 17.156502481 meters Centerline goodness : 0.714641 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.25, Z:0.07 [[ 0.99775493 0.04432253 -0.05020579 1.08612181] [-0.04467287 0.99898438 -0.00587699 -0.25135155] [ 0.04989432 0.00810663 0.9987216 0.07110114] [ 0. 0. 0. 1. ]] SLAMing on 17.186502481 meters Centerline goodness : 0.712222 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.25, Z:0.07 [[ 0.9977542 0.04425249 -0.05028193 1.08574663] [-0.04468417 0.99897306 -0.00749309 -0.24973834] [ 0.04989871 0.00972307 0.99870695 0.07222091] [ 0. 0. 0. 1. ]] SLAMing on 17.216502481 meters Centerline goodness : 0.711580 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.07 [[ 0.99767854 0.04587697 -0.05032723 1.08495804] [-0.04639176 0.9988818 -0.00910825 -0.24747908] [ 0.0498531 0.01142188 0.99869125 0.07422148] [ 0. 0. 0. 1. ]] SLAMing on 17.246502481 meters Centerline goodness : 0.711232 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.25, Z:0.07 [[ 0.99763475 0.04664269 -0.05049133 1.08521263] [-0.04719509 0.99883758 -0.00980338 -0.2465179 ] [ 0.04997539 0.01216313 0.99867638 0.07465761] [ 0. 0. 0. 1. ]] SLAMing on 17.276502481 meters Centerline goodness : 0.708735 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.24, Z:0.08 [[ 0.99762641 0.04663456 -0.05066333 1.08483903] [-0.04726832 0.99881736 -0.01138341 -0.24488485] [ 0.05007256 0.01375116 0.99865091 0.07606363] [ 0. 0. 0. 1. ]] SLAMing on 17.306502481000003 meters Centerline goodness : 0.709270 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.24, Z:0.08 [[ 0.99766647 0.04641385 -0.05007372 1.08350118] [-0.04708165 0.99881605 -0.01223976 -0.24325874] [ 0.04944634 0.01456875 0.99867052 0.07653738] [ 0. 0. 0. 1. ]] SLAMing on 17.336502481 meters Centerline goodness : 0.707912 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.24, Z:0.08 [[ 0.99778551 0.04578342 -0.04824884 1.07985818] [-0.04645269 0.99883794 -0.01284201 -0.24078754] [ 0.04760482 0.01505486 0.99875279 0.07697692] [ 0. 0. 0. 1. ]] SLAMing on 17.366502481 meters Centerline goodness : 0.705315 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.24, Z:0.08 [[ 0.99778899 0.04578985 -0.04817067 1.07938433] [-0.04645995 0.99883706 -0.01288398 -0.24087643] [ 0.0475247 0.0150935 0.99875602 0.07748237] [ 0. 0. 0. 1. ]] SLAMing on 17.396502481000002 meters Centerline goodness : 0.705247 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.24, Z:0.08 [[ 0.99784453 0.04528466 -0.0474931 1.07833119] [-0.04592008 0.99886848 -0.0123739 -0.24180908] [ 0.04687901 0.01452812 0.99879492 0.0770422 ] [ 0. 0. 0. 1. ]] SLAMing on 17.426502481 meters Centerline goodness : 0.704329 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.24, Z:0.08 [[ 0.99791387 0.04408231 -0.04716628 1.07812051] [-0.04472731 0.99891841 -0.01270767 -0.24157753] [ 0.04655508 0.01479078 0.99880622 0.07627508] [ 0. 0. 0. 1. ]] SLAMing on 17.456502481 meters Centerline goodness : 0.704466 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.24, Z:0.07 [[ 0.99801861 0.04245918 -0.04643357 1.07785122] [-0.04300018 0.99901761 -0.01071454 -0.24419546] [ 0.04593302 0.01268996 0.99886392 0.07396608] [ 0. 0. 0. 1. ]] SLAMing on 17.486502481000002 meters Centerline goodness : 0.704064 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.07 [[ 0.99814781 0.04050426 -0.04539115 1.07618574] [-0.04093494 0.99912481 -0.00859871 -0.24703118] [ 0.04500314 0.01044087 0.99893228 0.07264742] [ 0. 0. 0. 1. ]] SLAMing on 17.516502481 meters Centerline goodness : 0.703116 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.25, Z:0.07 [[ 0.9982202 0.03928668 -0.0448663 1.07488377] [-0.0397016 0.99917632 -0.00839424 -0.24754797] [ 0.04449957 0.01016056 0.99895773 0.07282493] [ 0. 0. 0. 1. ]] SLAMing on 17.546502481 meters Centerline goodness : 0.702237 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.25, Z:0.07 [[ 0.99827744 0.03828732 -0.04445491 1.07380012] [-0.0386977 0.99921559 -0.00840741 -0.24781345] [ 0.04409815 0.01011323 0.99897601 0.0731036 ] [ 0. 0. 0. 1. ]] SLAMing on 17.576502481000002 meters Centerline goodness : 0.701004 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.25, Z:0.07 [[ 0.99829931 0.03780762 -0.04437417 1.07250319] [-0.03824085 0.99922843 -0.00895491 -0.24793501] [ 0.04400137 0.01063659 0.99897485 0.07487227] [ 0. 0. 0. 1. ]] SLAMing on 17.606502481 meters Centerline goodness : 0.699168 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.25, Z:0.08 [[ 0.99819405 0.04091184 -0.04398705 1.07178016] [-0.04119537 0.99913565 -0.00555817 -0.24698796] [ 0.04372163 0.00736019 0.99901664 0.07526224] [ 0. 0. 0. 1. ]] SLAMing on 17.636502481 meters Centerline goodness : 0.699845 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.25, Z:0.08 [[ 0.99816039 0.04138766 -0.04430454 1.07255793] [-0.04171179 0.99910908 -0.00641647 -0.24522883] [ 0.0439995 0.00825269 0.99899747 0.0752513 ] [ 0. 0. 0. 1. ]] SLAMing on 17.666502481000002 meters Centerline goodness : 0.700383 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.24, Z:0.08 [[ 0.99813868 0.04204232 -0.04417716 1.0726421 ] [-0.0423866 0.99907756 -0.00688509 -0.24424426] [ 0.04384694 0.0087448 0.99899999 0.07514685] [ 0. 0. 0. 1. ]] SLAMing on 17.696502481 meters Centerline goodness : 0.700042 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.24, Z:0.08 [[ 0.99814045 0.0419635 -0.04421202 1.07258925] [-0.04235794 0.99907029 -0.00802252 -0.24272186] [ 0.04383427 0.00988033 0.99898996 0.07554376] [ 0. 0. 0. 1. ]] SLAMing on 17.726502481 meters Centerline goodness : 0.700294 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.24, Z:0.08 [[ 0.99817152 0.04205626 -0.04341523 1.07057961] [-0.04247003 0.99906028 -0.00865218 -0.24052566] [ 0.04301056 0.0104802 0.99901965 0.07652194] [ 0. 0. 0. 1. ]] SLAMing on 17.756502481000002 meters Centerline goodness : 0.700265 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.24, Z:0.08 [[ 0.99818731 0.04181294 -0.04328711 1.07001215] [-0.04225142 0.99906406 -0.00926423 -0.24035867] [ 0.04285923 0.01107638 0.99901972 0.07721778] [ 0. 0. 0. 1. ]] SLAMing on 17.786502481 meters Centerline goodness : 0.698787 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.24, Z:0.08 [[ 0.99818168 0.04153287 -0.04368482 1.06976663] [-0.04205209 0.99905449 -0.01103415 -0.23958896] [ 0.04318523 0.01285112 0.99898443 0.07903192] [ 0. 0. 0. 1. ]] SLAMing on 17.816502481 meters Centerline goodness : 0.699348 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.24, Z:0.08 [[ 0.99817164 0.04241367 -0.04306339 1.06816054] [-0.04299865 0.99899378 -0.01274945 -0.23596862] [ 0.04247931 0.01457781 0.99899099 0.08044564] [ 0. 0. 0. 1. ]] SLAMing on 17.846502481 meters Centerline goodness : 0.699250 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.23, Z:0.08 [[ 0.99815525 0.04312438 -0.04273611 1.0674055 ] [-0.04375032 0.99894689 -0.01382078 -0.23376184] [ 0.04209509 0.01566501 0.9989908 0.08112902] [ 0. 0. 0. 1. ]] SLAMing on 17.876502481 meters Centerline goodness : 0.696236 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.23, Z:0.08 [[ 0.99808284 0.04442936 -0.04308916 1.06821836] [-0.04515938 0.99884975 -0.01611882 -0.22973136] [ 0.04232345 0.0180338 0.99894119 0.08184662] [ 0. 0. 0. 1. ]] SLAMing on 17.906502481 meters Centerline goodness : 0.696613 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.23, Z:0.08 [[ 0.99803317 0.04536823 -0.04326093 1.06913501] [-0.0461176 0.9988 -0.01648391 -0.22869751] [ 0.04246117 0.01844658 0.99892781 0.08133998] [ 0. 0. 0. 1. ]] SLAMing on 17.936502481 meters Centerline goodness : 0.698543 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.23, Z:0.08 [[ 0.99795629 0.0465128 -0.04381562 1.07133784] [-0.04721338 0.99877081 -0.01509198 -0.23075647] [ 0.0430598 0.01712982 0.99892563 0.07963286] [ 0. 0. 0. 1. ]] SLAMing on 17.966502481 meters Centerline goodness : 0.697915 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.23, Z:0.08 [[ 0.99796033 0.04650459 -0.04373217 1.07159025] [-0.04716384 0.99878672 -0.0141652 -0.23278989] [ 0.04302037 0.01619888 0.99894286 0.07888212] [ 0. 0. 0. 1. ]] SLAMing on 17.996502481 meters Centerline goodness : 0.699147 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.24, Z:0.08 [[ 0.99802351 0.04524997 -0.04360645 1.072101 ] [-0.04581189 0.99887832 -0.01197366 -0.2364865 ] [ 0.04301573 0.01394769 0.99897703 0.07708116] [ 0. 0. 0. 1. ]] SLAMing on 18.026502481 meters Centerline goodness : 0.695997 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.24, Z:0.08 [[ 0.99802733 0.04476303 -0.04401948 1.07322928] [-0.04528486 0.99891433 -0.0109293 -0.23852218] [ 0.04348246 0.01290116 0.99897089 0.0761816 ] [ 0. 0. 0. 1. ]] SLAMing on 18.056502481 meters Centerline goodness : 0.699711 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.07 [[ 0.99800895 0.04464251 -0.04455546 1.07502452] [-0.04504007 0.99895348 -0.00795867 -0.24512864] [ 0.04415354 0.0099496 0.99897521 0.07436702] [ 0. 0. 0. 1. ]] SLAMing on 18.086502481 meters Centerline goodness : 0.700741 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.07 [[ 0.99809165 0.04150901 -0.04571725 1.07716386] [-0.04211623 0.99903577 -0.0123996 -0.24507795] [ 0.04515847 0.01430137 0.99887746 0.07429032] [ 0. 0. 0. 1. ]] SLAMing on 18.116502481 meters Centerline goodness : 0.700107 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.08 [[ 0.99821345 0.03795772 -0.04614235 1.0770228 ] [-0.03873026 0.99912216 -0.01596512 -0.24728967] [ 0.04549584 0.0177237 0.99880729 0.07530334] [ 0. 0. 0. 1. ]] SLAMing on 18.146502481000002 meters Centerline goodness : 0.700536 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:0.08 [[ 0.99822923 0.03798207 -0.04577946 1.07560958] [-0.03869926 0.99914006 -0.01488285 -0.2497132 ] [ 0.04517481 0.01662813 0.9988407 0.07620192] [ 0. 0. 0. 1. ]] SLAMing on 18.176502481 meters Centerline goodness : 0.699909 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.25, Z:0.08 [[ 0.9982539 0.03757888 -0.04557392 1.07390688] [-0.0382599 0.99916744 -0.01416368 -0.25221678] [ 0.04500372 0.01588261 0.99886055 0.07811482] [ 0. 0. 0. 1. ]] SLAMing on 18.206502481 meters Centerline goodness : 0.696053 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.25, Z:0.08 [[ 0.99829123 0.03709472 -0.04515096 1.07224356] [-0.03773165 0.9991989 -0.01333699 -0.25394655] [ 0.04462006 0.01501782 0.99889114 0.07921987] [ 0. 0. 0. 1. ]] SLAMing on 18.236502481000002 meters Centerline goodness : 0.699465 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.26, Z:0.08 [[ 0.99831802 0.03697888 -0.04465073 1.07129028] [-0.03758208 0.99921225 -0.01274597 -0.25517563] [ 0.04414423 0.0144026 0.99892134 0.07912821] [ 0. 0. 0. 1. ]] SLAMing on 18.266502481 meters Centerline goodness : 0.701140 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.26, Z:0.08 [[ 0.99831959 0.0357318 -0.0456205 1.07334151] [-0.03646086 0.99921872 -0.01524972 -0.25740524] [ 0.04503996 0.01688746 0.99884244 0.07866925] [ 0. 0. 0. 1. ]] SLAMing on 18.296502481 meters Centerline goodness : 0.700174 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.26, Z:0.08 [[ 0.99828858 0.03625441 -0.04588609 1.07414391] [-0.0369483 0.99921393 -0.01436499 -0.25918495] [ 0.04532922 0.01603582 0.99884339 0.07819144] [ 0. 0. 0. 1. ]] SLAMing on 18.326502481000002 meters Centerline goodness : 0.701666 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.26, Z:0.08 [[ 0.99829783 0.03650109 -0.04548742 1.07330685] [-0.03716176 0.99921447 -0.01376379 -0.2609501 ] [ 0.04494929 0.01543075 0.99887009 0.07833268] [ 0. 0. 0. 1. ]] SLAMing on 18.356502481 meters Centerline goodness : 0.701155 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.26, Z:0.08 [[ 0.99832874 0.03636127 -0.04491754 1.07218595] [-0.03701682 0.99921867 -0.01384968 -0.26120195] [ 0.04437885 0.01548924 0.99889469 0.07852045] [ 0. 0. 0. 1. ]] SLAMing on 18.386502481 meters Centerline goodness : 0.701155 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.26, Z:0.08 [[ 0.99832874 0.03636127 -0.04491754 1.07218595] [-0.03701682 0.99921867 -0.01384968 -0.26120195] [ 0.04437885 0.01548924 0.99889469 0.07852045] [ 0. 0. 0. 1. ]] SLAMing on 18.416502481000002 meters Centerline goodness : 0.704067 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.26, Z:0.08 [[ 0.99833574 0.03627978 -0.04482784 1.07145629] [-0.03693681 0.9992207 -0.01391621 -0.26286391] [ 0.04428802 0.01554885 0.99889779 0.07943661] [ 0. 0. 0. 1. ]] SLAMing on 18.446502481 meters Centerline goodness : 0.703317 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.26, Z:0.08 [[ 0.9983264 0.03626078 -0.04505058 1.07143394] [-0.03693785 0.99921541 -0.01428845 -0.26351463] [ 0.04449712 0.01592861 0.99888252 0.08021308] [ 0. 0. 0. 1. ]] SLAMing on 18.476502481 meters Centerline goodness : 0.703830 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.27, Z:0.08 [[ 0.99826533 0.03773188 -0.04519545 1.07148703] [-0.03838103 0.99917087 -0.01358209 -0.26552984] [ 0.0446455 0.01529318 0.99888583 0.08073326] [ 0. 0. 0. 1. ]] SLAMing on 18.506502481000002 meters Centerline goodness : 0.704823 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.27, Z:0.08 [[ 0.99815115 0.03940235 -0.04627884 1.07437949] [-0.04003615 0.99911562 -0.01284875 -0.26632464] [ 0.04573164 0.01467782 0.99884592 0.07964426] [ 0. 0. 0. 1. ]] SLAMing on 18.536502481 meters Centerline goodness : 0.705583 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.27, Z:0.08 [[ 0.99808423 0.04018933 -0.04703913 1.07645428] [-0.04081831 0.99908855 -0.0124877 -0.26705747] [ 0.04649439 0.01438383 0.99881499 0.07882844] [ 0. 0. 0. 1. ]] SLAMing on 18.566502481 meters Centerline goodness : 0.706073 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.27, Z:0.08 [[ 0.99801025 0.04100607 -0.04789625 1.07896552] [-0.04154849 0.99908252 -0.01038427 -0.27117051] [ 0.04742649 0.01235362 0.99879834 0.07736405] [ 0. 0. 0. 1. ]] SLAMing on 18.596502481 meters Centerline goodness : 0.705946 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.27, Z:0.08 [[ 0.99802359 0.04080462 -0.04779016 1.07886053] [-0.04131698 0.9990982 -0.00978227 -0.27259316] [ 0.0473479 0.01173748 0.9988095 0.07712516] [ 0. 0. 0. 1. ]] SLAMing on 18.626502481 meters Centerline goodness : 0.707197 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.27, Z:0.08 [[ 0.99813172 0.03747827 -0.04825405 1.07929957] [-0.03817934 0.99917713 -0.01368964 -0.27346873] [ 0.04770128 0.01550637 0.99874128 0.07749951] [ 0. 0. 0. 1. ]] SLAMing on 18.656502481 meters Centerline goodness : 0.704294 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.28, Z:0.08 [[ 0.99815118 0.03672831 -0.04842777 1.07914878] [-0.03740455 0.99921392 -0.01313207 -0.27543545] [ 0.04790738 0.01491921 0.99874036 0.0779729 ] [ 0. 0. 0. 1. ]] SLAMing on 18.686502481 meters Centerline goodness : 0.703560 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.28, Z:0.08 [[ 0.99820948 0.03527017 -0.04830992 1.07852631] [-0.03587408 0.99928793 -0.01169086 -0.27841468] [ 0.04786318 0.013403 0.99876397 0.07806657] [ 0. 0. 0. 1. ]] SLAMing on 18.716502481 meters Centerline goodness : 0.706331 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.28, Z:0.08 [[ 0.99822986 0.03524027 -0.04790891 1.07761386] [-0.0358087 0.99929748 -0.01105851 -0.27953212] [ 0.04748555 0.01275449 0.99879049 0.07820995] [ 0. 0. 0. 1. ]] SLAMing on 18.746502481 meters Centerline goodness : 0.705624 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.28, Z:0.08 [[ 0.99832082 0.03177012 -0.04843764 1.05937936] [-0.03208404 0.99946882 -0.00571698 -0.27795449] [ 0.04823029 0.00726146 0.99880985 0.08075911] [ 0. 0. 0. 1. ]] SLAMing on 18.776502481 meters Centerline goodness : 0.704607 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.28, Z:0.08 [[ 0.99831518 0.03218003 -0.04828298 1.05917994] [-0.03247808 0.99945785 -0.00540109 -0.27805471] [ 0.048083 0.00696012 0.99881909 0.08058914] [ 0. 0. 0. 1. ]] SLAMing on 18.806502481 meters Centerline goodness : 0.708425 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.28, Z:0.08 [[ 0.99803255 0.0358165 -0.05146076 1.026079 ] [-0.03598841 0.99934928 -0.00241759 -0.27709814] [ 0.05134068 0.00426482 0.99867209 0.08036693] [ 0. 0. 0. 1. ]] SLAMing on 18.836502481 meters Centerline goodness : 0.708305 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.27, Z:0.08 [[ 9.98202759e-01 3.22186161e-02 -5.05293209e-02 9.85369195e-01] [-3.21686825e-02 9.99480831e-01 1.80135963e-03 -2.72723141e-01] [ 5.05611249e-02 -1.72660474e-04 9.98720953e-01 7.87724434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.866502481 meters Centerline goodness : 0.708481 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.27, Z:0.08 [[ 0.99801053 0.03303783 -0.05369811 0.95299686] [-0.0329325 0.99945353 0.00284551 -0.27184317] [ 0.05376277 -0.00107143 0.99855316 0.07888693] [ 0. 0. 0. 1. ]] SLAMing on 18.896502481000002 meters Centerline goodness : 0.709626 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.27, Z:0.08 [[ 0.99800698 0.02940203 -0.05583529 0.93455283] [-0.02908455 0.99955588 0.00649028 -0.27036106] [ 0.05600132 -0.0048534 0.9984189 0.07978195] [ 0. 0. 0. 1. ]] SLAMing on 18.926502481 meters Centerline goodness : 0.710745 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.27, Z:0.08 [[ 0.99812096 0.02620541 -0.05538793 0.89079269] [-0.02556747 0.99959871 0.01219524 -0.26808522] [ 0.05568528 -0.01075619 0.99839043 0.07953293] [ 0. 0. 0. 1. ]] SLAMing on 18.956502481 meters Centerline goodness : 0.709743 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.27, Z:0.08 [[ 0.99794345 0.0278626 -0.05772815 0.85598433] [-0.02706924 0.99952868 0.01447984 -0.26872879] [ 0.05810438 -0.0128874 0.99822733 0.08123289] [ 0. 0. 0. 1. ]] SLAMing on 18.986502481000002 meters Centerline goodness : 0.710408 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.27, Z:0.08 [[ 0.99794677 0.02438634 -0.05922456 0.83785589] [-0.02328114 0.99954303 0.01928005 -0.2672576 ] [ 0.05966767 -0.01786165 0.99805848 0.08285368] [ 0. 0. 0. 1. ]] SLAMing on 19.016502481 meters Centerline goodness : 0.709707 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.27, Z:0.08 [[ 0.99809197 0.02229624 -0.05757857 0.79558641] [-0.02076894 0.99941995 0.02698899 -0.26646811] [ 0.05814693 -0.02574165 0.9979761 0.08278729] [ 0. 0. 0. 1. ]] SLAMing on 19.046502481 meters Centerline goodness : 0.709643 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.26, Z:0.08 [[ 0.99821319 0.02035864 -0.05617792 0.75113364] [-0.01851201 0.99927734 0.03319804 -0.26470225] [ 0.05681319 -0.03209875 0.99786869 0.08265054] [ 0. 0. 0. 1. ]] SLAMing on 19.076502481000002 meters Centerline goodness : 0.709754 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.26, Z:0.08 [[ 0.9983536 0.01654988 -0.05491979 0.70711735] [-0.01451871 0.99920313 0.03717933 -0.26380711] [ 0.05549134 -0.03632075 0.99779833 0.08305854] [ 0. 0. 0. 1. ]] SLAMing on 19.106502481 meters Centerline goodness : 0.710057 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.26, Z:0.08 [[ 0.99836054 0.01453952 -0.05536088 0.65453236] [-0.0122541 0.99906749 0.04140026 -0.26194166] [ 0.05591119 -0.04065398 0.99760773 0.08314933] [ 0. 0. 0. 1. ]] SLAMing on 19.136502481 meters Centerline goodness : 0.708896 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.26, Z:0.08 [[ 0.99830459 0.01151495 -0.05705563 0.59902754] [-0.0089367 0.9989362 0.04523935 -0.26088868] [ 0.05751586 -0.04465277 0.9973455 0.0836493 ] [ 0. 0. 0. 1. ]] SLAMing on 19.166502481000002 meters Centerline goodness : 0.708686 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.26, Z:0.08 [[ 0.99825294 0.00637746 -0.05874001 0.54634234] [-0.00364375 0.99891028 0.04652932 -0.25998287] [ 0.05897274 -0.046234 0.99718836 0.08198588] [ 0. 0. 0. 1. ]] SLAMing on 19.196502481 meters Centerline goodness : 0.709829 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.26, Z:0.08 [[ 9.98113919e-01 1.76615162e-04 -6.13887060e-02 5.28900562e-01] [ 2.77548825e-03 9.98843474e-01 4.80001054e-02 -2.58885099e-01] [ 6.13261859e-02 -4.80799569e-02 9.96959085e-01 8.24298666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.226502481 meters Centerline goodness : 0.709727 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.26, Z:0.08 [[ 0.9980208 -0.00215736 -0.06284768 0.49477467] [ 0.00497984 0.99898411 0.04478791 -0.25874222] [ 0.06268721 -0.04501224 0.99701766 0.07977921] [ 0. 0. 0. 1. ]] SLAMing on 19.256502481000002 meters Centerline goodness : 0.710920 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.26, Z:0.08 [[ 0.99786993 -0.00659594 -0.06490073 0.47711389] [ 0.00974979 0.9987805 0.04839893 -0.25764567] [ 0.06450235 -0.04892861 0.99671733 0.08081985] [ 0. 0. 0. 1. ]] SLAMing on 19.286502481 meters Centerline goodness : 0.709845 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.26, Z:0.08 [[ 0.99775915 -0.00967286 -0.06620514 0.45743529] [ 0.01311691 0.99857208 0.0517856 -0.2564043 ] [ 0.06560969 -0.05253797 0.9964613 0.08052544] [ 0. 0. 0. 1. ]] SLAMing on 19.316502481 meters Centerline goodness : 0.710812 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.26, Z:0.08 [[ 0.99775975 -0.00956035 -0.06621246 0.45738901] [ 0.01301305 0.99856686 0.05191233 -0.25605472] [ 0.06562127 -0.05265766 0.99645422 0.08056971] [ 0. 0. 0. 1. ]] SLAMing on 19.346502481 meters Centerline goodness : 0.710904 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.26, Z:0.08 [[ 0.99777231 -0.00893424 -0.06611053 0.45705116] [ 0.01241496 0.99854753 0.05242794 -0.25614208] [ 0.0655461 -0.05313191 0.996434 0.08059329] [ 0. 0. 0. 1. ]] SLAMing on 19.376502481 meters Centerline goodness : 0.711463 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.26, Z:0.08 [[ 0.9975621 -0.0049468 -0.06960875 0.41519159] [ 0.00853229 0.9986465 0.05130664 -0.25820208] [ 0.06926074 -0.05177548 0.99625411 0.07810177] [ 0. 0. 0. 1. ]] SLAMing on 19.406502481 meters Centerline goodness : 0.710950 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.26, Z:0.08 [[ 0.99740303 -0.00897286 -0.07146113 0.39729567] [ 0.01295684 0.99837553 0.05548344 -0.25723095] [ 0.0708472 -0.05626526 0.99589904 0.07887754] [ 0. 0. 0. 1. ]] SLAMing on 19.436502481 meters Centerline goodness : 0.712065 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.26, Z:0.08 [[ 0.99743069 -0.00866389 -0.07111222 0.39629584] [ 0.01267324 0.99834334 0.05612461 -0.2581514 ] [ 0.07050815 -0.05688163 0.99588809 0.07949061] [ 0. 0. 0. 1. ]] SLAMing on 19.466502481 meters Centerline goodness : 0.711201 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.26, Z:0.08 [[ 0.99735192 -0.0079021 -0.07229592 0.36020768] [ 0.01206502 0.99828252 0.05732753 -0.25981744] [ 0.07171875 -0.05804797 0.99573433 0.07981308] [ 0. 0. 0. 1. ]] SLAMing on 19.496502481 meters Centerline goodness : 0.713159 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.26, Z:0.08 [[ 0.99734211 -0.0079906 -0.07242148 0.36056535] [ 0.01219186 0.99825627 0.05775627 -0.26062314] [ 0.07183369 -0.05848571 0.99570043 0.08011986] [ 0. 0. 0. 1. ]] SLAMing on 19.526502481 meters Centerline goodness : 0.709992 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.26, Z:0.08 [[ 0.99710438 -0.00752866 -0.07567154 0.32545668] [ 0.01189116 0.99828237 0.05736639 -0.26160327] [ 0.07510967 -0.0581001 0.99548125 0.07918328] [ 0. 0. 0. 1. ]] SLAMing on 19.556502481 meters Centerline goodness : 0.709798 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.26, Z:0.08 [[ 0.99695435 -0.00941671 -0.07741669 0.29734606] [ 0.01380385 0.99831673 0.05633077 -0.26135069] [ 0.07675593 -0.05722786 0.9954062 0.07502335] [ 0. 0. 0. 1. ]] SLAMing on 19.586502481 meters Centerline goodness : 0.710554 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.26, Z:0.07 [[ 0.99694778 -0.00950056 -0.07749106 0.29817737] [ 0.01390762 0.99830392 0.05653199 -0.26191196] [ 0.07682254 -0.05743716 0.995389 0.07440595] [ 0. 0. 0. 1. ]] SLAMing on 19.616502481 meters Centerline goodness : 0.712475 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.26, Z:0.07 [[ 0.99671199 -0.0069679 -0.08072581 0.25436685] [ 0.01143204 0.99842253 0.05497046 -0.26235162] [ 0.08021544 -0.05571258 0.99521937 0.07294257] [ 0. 0. 0. 1. ]] SLAMing on 19.646502481000002 meters Centerline goodness : 0.711530 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.26, Z:0.07 [[ 0.99674512 -0.00838748 -0.08017988 0.22340058] [ 0.01272014 0.99847719 0.05367968 -0.26008783] [ 0.07960755 -0.05452486 0.99533395 0.0686963 ] [ 0. 0. 0. 1. ]] SLAMing on 19.676502481 meters Centerline goodness : 0.712372 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.26, Z:0.07 [[ 0.99678346 -0.01164687 -0.07929116 0.22159135] [ 0.01562137 0.99864247 0.04969101 -0.25808387] [ 0.07860477 -0.05076982 0.99561223 0.06786585] [ 0. 0. 0. 1. ]] SLAMing on 19.706502481 meters Centerline goodness : 0.710707 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.26, Z:0.07 [[ 0.99679325 -0.01143574 -0.0791987 0.22073556] [ 0.01542283 0.99863436 0.04991553 -0.25806568] [ 0.07851972 -0.05097693 0.99560836 0.06863601] [ 0. 0. 0. 1. ]] SLAMing on 19.736502481000002 meters Centerline goodness : 0.710508 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.26, Z:0.07 [[ 0.99680538 -0.01147711 -0.0790399 0.21984412] [ 0.01544522 0.99864092 0.04977699 -0.2571817 ] [ 0.07836118 -0.05083876 0.99562792 0.06922837] [ 0. 0. 0. 1. ]] SLAMing on 19.766502481 meters Centerline goodness : 0.713138 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.26, Z:0.07 [[ 0.99680407 -0.01147628 -0.07905661 0.22008722] [ 0.0154545 0.99863491 0.04989458 -0.25648762] [ 0.07837609 -0.0509569 0.9956207 0.06912717] [ 0. 0. 0. 1. ]] SLAMing on 19.796502481 meters Centerline goodness : 0.712923 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.25, Z:0.06 [[ 0.99665587 -0.0121477 -0.08080533 0.19294081] [ 0.01623832 0.99860917 0.05016024 -0.2547861 ] [ 0.08008362 -0.05130464 0.99546695 0.06453016] [ 0. 0. 0. 1. ]] SLAMing on 19.826502481000002 meters Centerline goodness : 0.713703 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.25, Z:0.06 [[ 0.99663315 -0.01165571 -0.08115731 0.19385375] [ 0.0157561 0.99862151 0.05006828 -0.25441509] [ 0.08046185 -0.05117843 0.99544295 0.06419669] [ 0. 0. 0. 1. ]] SLAMing on 19.856502481 meters Centerline goodness : 0.714878 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.25, Z:0.06 [[ 0.99662502 -0.01144709 -0.0812867 0.19507022] [ 0.01554727 0.99862877 0.04998856 -0.25390594] [ 0.08060302 -0.05108363 0.99543639 0.06282045] [ 0. 0. 0. 1. ]] SLAMing on 19.886502481 meters Centerline goodness : 0.714643 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.25, Z:0.06 [[ 0.99660057 -0.01191748 -0.08151857 0.19561613] [ 0.0160377 0.9986166 0.05007681 -0.2545126 ] [ 0.08080901 -0.05121395 0.995413 0.06274005] [ 0. 0. 0. 1. ]] SLAMing on 19.916502481000002 meters Centerline goodness : 0.715119 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.25, Z:0.06 [[ 0.99660364 -0.01614504 -0.08074978 0.194656 ] [ 0.01989988 0.9987472 0.04591315 -0.2542482 ] [ 0.07990735 -0.04736412 0.99567638 0.0622327 ] [ 0. 0. 0. 1. ]] SLAMing on 19.946502481 meters Centerline goodness : 0.712142 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.25, Z:0.06 [[ 0.99656759 -0.02004438 -0.0803197 0.1942595 ] [ 0.02334917 0.99890994 0.0404196 -0.25160703] [ 0.07942196 -0.04215626 0.9959493 0.06184036] [ 0. 0. 0. 1. ]] SLAMing on 19.976502481 meters Centerline goodness : 0.716739 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.25, Z:0.06 [[ 0.99664297 -0.02069301 -0.07921229 0.19261421] [ 0.02403385 0.99885117 0.04145743 -0.25249261] [ 0.0782634 -0.04322203 0.99599533 0.06102579] [ 0. 0. 0. 1. ]] SLAMing on 20.006502481000002 meters Centerline goodness : 0.714265 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.25, Z:0.06 [[ 0.99668923 -0.02084313 -0.07858838 0.19190354] [ 0.02412613 0.9988654 0.04105912 -0.2513533 ] [ 0.07764341 -0.04281921 0.99606125 0.06027593] [ 0. 0. 0. 1. ]] SLAMing on 20.036502481 meters Centerline goodness : 0.715405 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.25, Z:0.06 [[ 0.99709199 -0.01488009 -0.07474058 0.20844921] [ 0.01783434 0.99907942 0.03901609 -0.2526552 ] [ 0.07409122 -0.04023558 0.99643946 0.0590066 ] [ 0. 0. 0. 1. ]] SLAMing on 20.066502481 meters Centerline goodness : 0.718380 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.25, Z:0.06 [[ 0.99711603 -0.01433583 -0.07452594 0.20804534] [ 0.0171008 0.99918382 0.03659595 -0.24923347] [ 0.07394048 -0.03776486 0.99654735 0.0592439 ] [ 0. 0. 0. 1. ]] SLAMing on 20.096502481 meters Centerline goodness : 0.716572 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.25, Z:0.06 [[ 0.99706328 -0.01386949 -0.07531572 0.2098728 ] [ 0.01655079 0.99924695 0.03509419 -0.24751479] [ 0.07477227 -0.03623766 0.99654199 0.05914608] [ 0. 0. 0. 1. ]] SLAMing on 20.126502481 meters Centerline goodness : 0.718051 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.25, Z:0.06 [[ 0.99703925 -0.00915765 -0.07634699 0.21252076] [ 0.01188398 0.99930496 0.03533226 -0.247651 ] [ 0.07597037 -0.03613496 0.9964551 0.05874352] [ 0. 0. 0. 1. ]] SLAMing on 20.156502481 meters Centerline goodness : 0.717600 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.25, Z:0.06 [[ 0.9970534 -0.00886205 -0.07619694 0.2128064 ] [ 0.01147391 0.99935907 0.03390861 -0.24515376] [ 0.0758476 -0.03468298 0.99651605 0.05807219] [ 0. 0. 0. 1. ]] SLAMing on 20.186502481 meters Centerline goodness : 0.718338 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.24, Z:0.06 [[ 0.99710163 -0.00530701 -0.07589579 0.21260313] [ 0.00808448 0.99930694 0.03633557 -0.2427222 ] [ 0.07565035 -0.03684384 0.99645349 0.05750183] [ 0. 0. 0. 1. ]] SLAMing on 20.216502481 meters Centerline goodness : 0.718812 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.24, Z:0.05 [[ 0.99713919 -0.00413313 -0.07547413 0.18056823] [ 0.00686477 0.99932931 0.03596953 -0.23974599] [ 0.07527484 -0.03638474 0.9964988 0.05287764] [ 0. 0. 0. 1. ]] SLAMing on 20.246502481 meters Centerline goodness : 0.719054 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.24, Z:0.05 [[ 0.99708053 -0.00267697 -0.07631027 0.14771633] [ 0.00537237 0.99936802 0.03513822 -0.23665344] [ 0.07616798 -0.0354456 0.99646478 0.04853539] [ 0. 0. 0. 1. ]] SLAMing on 20.276502481 meters Centerline goodness : 0.718767 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.23, Z:0.04 [[ 0.99703347 -0.00378303 -0.07687615 0.09418527] [ 0.00666292 0.99928415 0.03723956 -0.23387726] [ 0.07668024 -0.0376413 0.99634496 0.04454803] [ 0. 0. 0. 1. ]] SLAMing on 20.306502481 meters Centerline goodness : 0.718767 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.23, Z:0.04 [[ 0.99722781 -0.01047691 -0.07366772 0.0890949 ] [ 0.01356141 0.99904664 0.04149568 -0.23119907] [ 0.07316274 -0.04237969 0.99641918 0.04146827] [ 0. 0. 0. 1. ]] SLAMing on 20.336502481 meters Centerline goodness : 0.718764 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.23, Z:0.04 [[ 0.99710849 -0.00725061 -0.07564453 0.11154048] [ 0.01016759 0.99921654 0.03824812 -0.23341847] [ 0.07530795 -0.03890665 0.99640102 0.04074074] [ 0. 0. 0. 1. ]] SLAMing on 20.366502481 meters Centerline goodness : 0.718317 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.23, Z:0.04 [[ 0.99730857 -0.00417849 -0.07319943 0.1278046 ] [ 0.00650961 0.99947824 0.03163651 -0.23397699] [ 0.07302904 -0.03202786 0.99681542 0.03722835] [ 0. 0. 0. 1. ]] SLAMing on 20.396502481000002 meters Centerline goodness : 0.720121 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.24, Z:0.03 [[ 0.99741195 -0.00265518 -0.07184952 0.14620613] [ 0.00444512 0.99968344 0.02476397 -0.23606965] [ 0.07176103 -0.02501926 0.99710801 0.03434502] [ 0. 0. 0. 1. ]] SLAMing on 20.426502481 meters Centerline goodness : 0.716938 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.24, Z:0.03 [[ 0.99764702 -0.00322017 -0.068484 0.16195638] [ 0.00425673 0.99987851 0.01499518 -0.23843639] [ 0.0684274 -0.01525141 0.99753952 0.03071044] [ 0. 0. 0. 1. ]] SLAMing on 20.456502481 meters Centerline goodness : 0.717582 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.24, Z:0.03 [[ 9.97904162e-01 -8.19841159e-04 -6.47040314e-02 1.76058542e-01] [ 1.32989576e-03 9.99968381e-01 7.84021129e-03 -2.40088917e-01] [ 6.46955577e-02 -7.90982910e-03 9.97873699e-01 2.78150661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.486502481000002 meters Centerline goodness : 0.715821 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.24, Z:0.03 [[ 0.99809998 -0.00183793 -0.06158772 0.20172005] [ 0.00205598 0.99999184 0.00347729 -0.24206027] [ 0.06158082 -0.00359731 0.99809562 0.02649949] [ 0. 0. 0. 1. ]] SLAMing on 20.516502481 meters Centerline goodness : 0.715285 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.24, Z:0.02 [[ 0.99824701 0.00138944 -0.0591691 0.21887035] [-0.00151132 0.99999683 -0.00201506 -0.24296935] [ 0.05916612 0.00210095 0.99824594 0.02347192] [ 0. 0. 0. 1. ]] SLAMing on 20.546502481 meters Centerline goodness : 0.714870 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.24, Z:0.02 [[ 0.9980112 -0.0013348 -0.06302271 0.20360345] [ 0.00156471 0.9999923 0.00359875 -0.24196085] [ 0.06301742 -0.0036902 0.9980056 0.02401409] [ 0. 0. 0. 1. ]] SLAMing on 20.576502481000002 meters Centerline goodness : 0.714997 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.24, Z:0.02 [[ 0.99779728 -0.00510119 -0.06614053 0.18679037] [ 0.00560887 0.9999562 0.00749236 -0.24058504] [ 0.06609942 -0.00784683 0.99778219 0.02463596] [ 0. 0. 0. 1. ]] SLAMing on 20.606502481 meters Centerline goodness : 0.715272 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.24, Z:0.02 [[ 0.99780989 -0.00201263 -0.06611636 0.20626358] [ 0.00212073 0.99999653 0.00156487 -0.24260477] [ 0.06611298 -0.00170166 0.99781069 0.02156555] [ 0. 0. 0. 1. ]] SLAMing on 20.636502481 meters Centerline goodness : 0.714298 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.24, Z:0.02 [[ 0.99782731 -0.00235652 -0.06584145 0.20607733] [ 0.0024596 0.99999587 0.00148467 -0.2421532 ] [ 0.06583768 -0.00164339 0.99782899 0.02102524] [ 0. 0. 0. 1. ]] SLAMing on 20.666502481000002 meters Centerline goodness : 0.714572 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.24, Z:0.02 [[ 0.99770645 -0.00228655 -0.06765062 0.17195662] [ 0.00248236 0.99999297 0.00281054 -0.24015037] [ 0.06764372 -0.00297203 0.99770511 0.02212678] [ 0. 0. 0. 1. ]] SLAMing on 20.696502481 meters Centerline goodness : 0.714377 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.24, Z:0.02 [[ 0.99770702 -0.00740285 -0.06727485 0.14937773] [ 0.00763668 0.99996566 0.00321926 -0.23509085] [ 0.0672487 -0.00372564 0.99772929 0.02246488] [ 0. 0. 0. 1. ]] SLAMing on 20.726502481 meters Centerline goodness : 0.714843 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.23, Z:0.02 [[ 0.99768284 -0.00760354 -0.06761013 0.14947562] [ 0.00775758 0.99996788 0.00201604 -0.23399862] [ 0.06759262 -0.00253586 0.99770978 0.02345854] [ 0. 0. 0. 1. ]] SLAMing on 20.756502481000002 meters Centerline goodness : 0.717039 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.23, Z:0.02 [[ 0.99792911 -0.01057344 -0.06344835 0.12543779] [ 0.01070748 0.9999411 0.00177289 -0.22853804] [ 0.06342587 -0.00244859 0.99798355 0.02215498] [ 0. 0. 0. 1. ]] SLAMing on 20.786502481 meters Centerline goodness : 0.714286 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.23, Z:0.02 [[ 0.99792708 -0.01060903 -0.06347432 0.12515309] [ 0.01074014 0.99994084 0.00172466 -0.22725298] [ 0.06345227 -0.00240281 0.99798198 0.02268002] [ 0. 0. 0. 1. ]] SLAMing on 20.816502481 meters Centerline goodness : 0.717089 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.22, Z:0.02 [[ 0.99793072 -0.01075649 -0.06339218 0.12527531] [ 0.01086418 0.99994007 0.00135431 -0.22435403] [ 0.06337382 -0.00204021 0.99798777 0.02237454] [ 0. 0. 0. 1. ]] SLAMing on 20.846502481 meters Centerline goodness : 0.717573 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.23, Z:0.02 [[ 0.99800763 -0.00821966 -0.06255562 0.1234405 ] [ 0.00865212 0.99994049 0.00664545 -0.22594958] [ 0.06249727 -0.00717344 0.99801935 0.022143 ] [ 0. 0. 0. 1. ]] SLAMing on 20.876502481 meters Centerline goodness : 0.716595 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.22, Z:0.02 [[ 0.9980429 -0.00908575 -0.06186935 0.12227071] [ 0.00950518 0.99993377 0.00648825 -0.22473643] [ 0.0618063 -0.00706363 0.99806317 0.02174445] [ 0. 0. 0. 1. ]] SLAMing on 20.906502481 meters Centerline goodness : 0.716499 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.22, Z:0.02 [[ 0.99808692 -0.0104955 -0.06092899 0.12070219] [ 0.01097548 0.99991128 0.00754844 -0.22482641] [ 0.06084436 -0.00820272 0.99811356 0.02098762] [ 0. 0. 0. 1. ]] SLAMing on 20.936502481 meters Centerline goodness : 0.715894 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.23, Z:0.02 [[ 0.99819799 -0.00742313 -0.05954558 0.13856781] [ 0.00753724 0.99997016 0.00169205 -0.22562498] [ 0.05953125 -0.00213781 0.99822415 0.01745939] [ 0. 0. 0. 1. ]] SLAMing on 20.966502481 meters Centerline goodness : 0.716360 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.23, Z:0.01 [[ 0.99838861 -0.00337628 -0.05664606 0.1543424 ] [ 0.00315456 0.99998701 -0.00400319 -0.22570508] [ 0.05665884 0.00381805 0.9983863 0.01365968] [ 0. 0. 0. 1. ]] SLAMing on 20.996502481 meters Centerline goodness : 0.715889 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.22, Z:0.01 [[ 9.98486218e-01 -1.52656247e-04 -5.50022641e-02 1.73244603e-01] [-3.88465813e-04 9.99951635e-01 -9.82735226e-03 -2.24630338e-01] [ 5.50011041e-02 9.83384229e-03 9.98437867e-01 9.66855371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.026502481 meters Centerline goodness : 0.716337 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.23, Z:0.01 [[ 0.99864631 0.0040299 -0.05185849 0.18824887] [-0.00483651 0.99986913 -0.01543803 -0.2250613 ] [ 0.05178949 0.01566795 0.99853511 0.00649962] [ 0. 0. 0. 1. ]] SLAMing on 21.056502481 meters Centerline goodness : 0.717123 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.22, Z:0.00 [[ 0.99878422 0.00818304 -0.04861186 0.20317081] [-0.00923477 0.99972727 -0.02145023 -0.22380835] [ 0.04842308 0.02187307 0.99858739 0.00360984] [ 0. 0. 0. 1. ]] SLAMing on 21.086502481 meters Centerline goodness : 0.718450 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.22, Z:0.00 [[ 0.99883492 0.01382033 -0.04623635 0.22003614] [-0.01500532 0.99956523 -0.02538081 -0.22306991] [ 0.04586548 0.02604503 0.99860804 0.00137369] [ 0. 0. 0. 1. ]] SLAMing on 21.116502481 meters Centerline goodness : 0.717776 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.22, Z:0.00 [[ 0.998748 0.01768759 -0.04679288 0.22125267] [-0.01869861 0.99959916 -0.02125757 -0.22327399] [ 0.04639813 0.02210592 0.9986784 0.00177277] [ 0. 0. 0. 1. ]] SLAMing on 21.146502481 meters Centerline goodness : 0.717380 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.22, Z:0.00 [[ 0.99865022 0.02149343 -0.047284 0.22254514] [-0.02233184 0.99960135 -0.01727507 -0.22313852] [ 0.04689385 0.01830769 0.99873209 0.00190298] [ 0. 0. 0. 1. ]] SLAMing on 21.176502481 meters Centerline goodness : 0.718098 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.22, Z:0.00 [[ 0.99852708 0.02495067 -0.04817818 0.22504534] [-0.02565717 0.99957133 -0.01410189 -0.22117629] [ 0.04780568 0.01531723 0.99873921 0.00129823] [ 0. 0. 0. 1. ]] SLAMing on 21.206502481 meters Centerline goodness : 0.718328 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.22, Z:0.00 [[ 0.99838844 0.02833457 -0.0491699 0.22729761] [-0.02887005 0.99953098 -0.01021437 -0.22181331] [ 0.04885742 0.01161744 0.9987382 0.00168873] [ 0. 0. 0. 1. ]] SLAMing on 21.236502481000002 meters Centerline goodness : 0.720157 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.22, Z:0.00 [[ 0.99824312 0.03138623 -0.05025509 0.22976449] [-0.03178502 0.99946911 -0.0071556 -0.2200495 ] [ 0.05000382 0.00874039 0.99871078 0.0018662 ] [ 0. 0. 0. 1. ]] SLAMing on 21.266502481 meters Centerline goodness : 0.722126 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.22, Z:0.00 [[ 0.99821976 0.03074564 -0.05110784 0.23164739] [-0.03119716 0.99948075 -0.00806016 -0.21809974] [ 0.05083349 0.00964023 0.99866061 0.00150753] [ 0. 0. 0. 1. ]] SLAMing on 21.296502481 meters Centerline goodness : 0.721243 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.21, Z:0.00 [[ 9.98192983e-01 2.95634882e-02 -5.23141279e-02 2.34642801e-01] [-3.01303625e-02 9.99495145e-01 -1.00805172e-02 -2.13300049e-01] [ 5.19897016e-02 1.16385451e-02 9.98579799e-01 3.56382471e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.326502481000002 meters Centerline goodness : 0.720242 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.21, Z:-0.00 [[ 9.98193672e-01 2.90261863e-02 -5.26010741e-02 2.35645834e-01] [-2.96717066e-02 9.99493164e-01 -1.15327487e-02 -2.08519063e-01] [ 5.22396622e-02 1.30726804e-02 9.98549009e-01 -5.47302027e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.356502481 meters Centerline goodness : 0.721152 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.21, Z:-0.00 [[ 0.99819011 0.02860549 -0.05289831 0.2369127 ] [-0.029308 0.99949161 -0.0125527 -0.20529911] [ 0.05251234 0.01408032 0.99852101 -0.00159676] [ 0. 0. 0. 1. ]] SLAMing on 21.386502481 meters Centerline goodness : 0.721893 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.20, Z:-0.00 [[ 0.998068 0.03170738 -0.05343139 0.23835987] [-0.03225293 0.99943573 -0.009379 -0.2030324 ] [ 0.05310386 0.0110842 0.99852748 -0.00123006] [ 0. 0. 0. 1. ]] SLAMing on 21.416502481000002 meters Centerline goodness : 0.721606 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.20, Z:-0.00 [[ 0.99805525 0.03126459 -0.05392808 0.23939944] [-0.03184749 0.99944288 -0.00998332 -0.20144149] [ 0.05358591 0.01168138 0.99849492 -0.00129367] [ 0. 0. 0. 1. ]] SLAMing on 21.446502481 meters Centerline goodness : 0.721353 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.20, Z:-0.00 [[ 0.99804216 0.03031634 -0.0547062 0.24179033] [-0.03098174 0.99945544 -0.01135623 -0.19755939] [ 0.05433213 0.01302889 0.99843791 -0.00236197] [ 0. 0. 0. 1. ]] SLAMing on 21.476502481 meters Centerline goodness : 0.722061 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.20, Z:-0.00 [[ 0.99803712 0.02973357 -0.05511636 0.24313847] [-0.03044516 0.999463 -0.01211612 -0.19554761] [ 0.05472651 0.01377037 0.99840642 -0.00297353] [ 0. 0. 0. 1. ]] SLAMing on 21.506502481000002 meters Centerline goodness : 0.719819 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.19, Z:-0.00 [[ 0.99803044 0.02866521 -0.05579922 0.24484517] [-0.0294379 0.99948109 -0.01307518 -0.19314073] [ 0.05539546 0.01469204 0.99835639 -0.00309922] [ 0. 0. 0. 1. ]] SLAMing on 21.536502481 meters Centerline goodness : 0.720589 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.19, Z:-0.00 [[ 0.99802211 0.02740294 -0.05657689 0.2474119 ] [-0.02825788 0.99949742 -0.01436673 -0.18991883] [ 0.05615476 0.01593706 0.99829487 -0.0041335 ] [ 0. 0. 0. 1. ]] SLAMing on 21.566502481 meters Centerline goodness : 0.720376 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.19, Z:-0.00 [[ 0.99801795 0.02678212 -0.05694629 0.24872859] [-0.02768554 0.9995021 -0.01513505 -0.18818156] [ 0.05651259 0.01668164 0.99826252 -0.00482359] [ 0. 0. 0. 1. ]] SLAMing on 21.596502481 meters Centerline goodness : 0.719517 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.18, Z:-0.00 [[ 0.99811402 0.02402898 -0.0564891 0.24690966] [-0.02508627 0.99952173 -0.01808272 -0.18392225] [ 0.05602757 0.01946572 0.99823945 -0.00346213] [ 0. 0. 0. 1. ]] SLAMing on 21.626502481 meters Centerline goodness : 0.720043 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.18, Z:-0.00 [[ 0.99809553 0.02371296 -0.05694739 0.24686307] [-0.02478906 0.99952584 -0.01826485 -0.18328128] [ 0.05648727 0.01964174 0.99821009 -0.00208666] [ 0. 0. 0. 1. ]] SLAMing on 21.656502481 meters Centerline goodness : 0.718686 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.18, Z:-0.00 [[ 0.99810287 0.02347843 -0.05691593 0.24642184] [-0.02459455 0.99951714 -0.01898942 -0.17967997] [ 0.05644261 0.02035322 0.99819837 -0.00154024] [ 0. 0. 0. 1. ]] SLAMing on 21.686502481 meters Centerline goodness : 0.717868 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.18, Z:-0.00 [[ 0.99809665 0.02318227 -0.05714599 0.24727963] [-0.02433826 0.99951131 -0.01961632 -0.1774657 ] [ 0.05666331 0.02096982 0.9981731 -0.00204425] [ 0. 0. 0. 1. ]] SLAMing on 21.716502481 meters Centerline goodness : 0.717193 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.18, Z:-0.00 [[ 0.99798583 0.02667173 -0.0575578 0.24862206] [-0.02764168 0.99948788 -0.01612183 -0.17593924] [ 0.05709832 0.01768035 0.99821199 -0.0021282 ] [ 0. 0. 0. 1. ]] SLAMing on 21.746502481 meters Centerline goodness : 0.718006 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.17, Z:-0.00 [[ 0.99797003 0.02621012 -0.05804176 0.24999059] [-0.02722945 0.99948733 -0.0168412 -0.17394972] [ 0.0575706 0.01838746 0.99817209 -0.0026713 ] [ 0. 0. 0. 1. ]] SLAMing on 21.776502481 meters Centerline goodness : 0.717448 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.17, Z:-0.00 [[ 0.99794069 0.02508939 -0.05903303 0.2534168 ] [-0.02621738 0.9994867 -0.01841137 -0.17094778] [ 0.05854079 0.01992115 0.99808623 -0.00474832] [ 0. 0. 0. 1. ]] SLAMing on 21.806502481 meters Centerline goodness : 0.717909 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.17, Z:-0.01 [[ 0.99790931 0.02391324 -0.06004304 0.25588808] [-0.02513407 0.99949075 -0.0196602 -0.16878981] [ 0.05954232 0.02112823 0.99800216 -0.00530134] [ 0. 0. 0. 1. ]] SLAMing on 21.836502481 meters Centerline goodness : 0.717200 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.17, Z:-0.00 [[ 0.99790332 0.02366841 -0.06023922 0.25594385] [-0.02491298 0.99948967 -0.01999383 -0.16764921] [ 0.05973525 0.02145265 0.99798371 -0.00482093] [ 0. 0. 0. 1. ]] SLAMing on 21.866502481 meters Centerline goodness : 0.717445 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.16, Z:-0.00 [[ 0.99793472 0.02344058 -0.05980659 0.25449228] [-0.02471616 0.99948062 -0.02067846 -0.1638674 ] [ 0.05929081 0.02211395 0.99799578 -0.00385374] [ 0. 0. 0. 1. ]] SLAMing on 21.896502481 meters Centerline goodness : 0.718161 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.16, Z:-0.00 [[ 0.99793579 0.02320369 -0.05988105 0.25469079] [-0.02451872 0.999472 -0.02132012 -0.16125268] [ 0.05935473 0.02274432 0.99797781 -0.00389056] [ 0. 0. 0. 1. ]] SLAMing on 21.926502481 meters Centerline goodness : 0.715956 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.16, Z:-0.00 [[ 0.99782729 0.02668307 -0.06023881 0.25506716] [-0.02783054 0.9994453 -0.01829059 -0.1585071 ] [ 0.05971735 0.01992733 0.9980164 -0.00304114] [ 0. 0. 0. 1. ]] SLAMing on 21.956502481 meters Centerline goodness : 0.717937 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.15, Z:-0.00 [[ 0.99779221 0.02770591 -0.06035801 0.25479171] [-0.02885747 0.99941617 -0.01829126 -0.15249977] [ 0.05981599 0.01999266 0.99800919 -0.00253175] [ 0. 0. 0. 1. ]] SLAMing on 21.986502481000002 meters Centerline goodness : 0.716148 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.15, Z:-0.00 [[ 0.99778304 0.02742361 -0.06063791 0.2557108 ] [-0.02864399 0.9994024 -0.01934868 -0.14918353] [ 0.06007107 0.0210427 0.99797228 -0.00316395] [ 0. 0. 0. 1. ]] SLAMing on 22.016502481 meters Centerline goodness : 0.615842 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.15, Z:-0.00 [[ 0.99776667 0.02710882 -0.0610474 0.25679167] [-0.02839588 0.99939031 -0.0203148 -0.14639214] [ 0.06045947 0.02200293 0.99792812 -0.00370092] [ 0. 0. 0. 1. ]] SLAMing on 22.046502481 meters Centerline goodness : 0.713451 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.14, Z:-0.00 [[ 0.99763362 0.0305227 -0.06160776 0.25774644] [-0.03164812 0.99934804 -0.01737499 -0.14407091] [ 0.06103727 0.01928365 0.99794919 -0.00323578] [ 0. 0. 0. 1. ]] SLAMing on 22.076502481000002 meters Centerline goodness : 0.657400 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.14, Z:-0.00 [[ 0.99763811 0.03047517 -0.0615587 0.25783054] [-0.03163833 0.99933712 -0.01800947 -0.14157368] [ 0.06096905 0.01991455 0.99794097 -0.00354349] [ 0. 0. 0. 1. ]] SLAMing on 22.106502481 meters Centerline goodness : 0.714465 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.14, Z:-0.00 [[ 0.99762134 0.03073214 -0.06170255 0.25726053] [-0.03192647 0.99931965 -0.01846445 -0.13725593] [ 0.06109312 0.02039047 0.99792377 -0.00250181] [ 0. 0. 0. 1. ]] SLAMing on 22.136502481 meters Centerline goodness : 0.605071 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.14, Z:-0.00 [[ 0.99759729 0.03038614 -0.06226016 0.25813894] [-0.03163213 0.99931658 -0.01912553 -0.13529262] [ 0.06163646 0.021049 0.99787669 -0.00226064] [ 0. 0. 0. 1. ]] SLAMing on 22.166502481000002 meters Centerline goodness : 0.715291 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.13, Z:-0.00 [[ 0.99758129 0.03003871 -0.06268372 0.25909459] [-0.03133667 0.99931222 -0.01982698 -0.13316455] [ 0.06204503 0.02174332 0.99783648 -0.00243898] [ 0. 0. 0. 1. ]] SLAMing on 22.196502481 meters Centerline goodness : 0.715291 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.13, Z:-0.00 [[ 0.99758129 0.03003871 -0.06268372 0.25909459] [-0.03133667 0.99931222 -0.01982698 -0.13316455] [ 0.06204503 0.02174332 0.99783648 -0.00243898] [ 0. 0. 0. 1. ]] SLAMing on 22.226502481 meters Centerline goodness : 0.532870 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.13, Z:-0.00 [[ 0.99757396 0.02966773 -0.0629763 0.26027259] [-0.03103105 0.99930236 -0.02078133 -0.12918514] [ 0.06231584 0.02268513 0.99779864 -0.00309815] [ 0. 0. 0. 1. ]] SLAMing on 22.256502481000002 meters Centerline goodness : 0.717100 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.13, Z:-0.00 [[ 0.99755209 0.02892804 -0.06366309 0.26194084] [-0.03037722 0.99929825 -0.02191407 -0.12615461] [ 0.06298448 0.02379433 0.99773082 -0.00342461] [ 0. 0. 0. 1. ]] SLAMing on 22.286502481 meters Centerline goodness : 0.716868 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.12, Z:-0.00 [[ 0.99753285 0.0284952 -0.06415787 0.26307554] [-0.02999532 0.99929584 -0.02254105 -0.12467184] [ 0.06347038 0.02440987 0.99768516 -0.00362225] [ 0. 0. 0. 1. ]] SLAMing on 22.316502481 meters Centerline goodness : 0.556687 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.12, Z:-0.00 [[ 0.99749819 0.02759752 -0.06508257 0.26571279] [-0.02919859 0.99929075 -0.02377901 -0.12193431] [ 0.06438017 0.02561984 0.99759652 -0.0046916 ] [ 0. 0. 0. 1. ]] SLAMing on 22.346502481 meters Centerline goodness : 0.568164 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.12, Z:-0.01 [[ 0.99748301 0.02705314 -0.06554216 0.26739901] [-0.02871068 0.99928793 -0.02448101 -0.12061386] [ 0.0648332 0.02630115 0.99754945 -0.00566676] [ 0. 0. 0. 1. ]] SLAMing on 22.376502481 meters Centerline goodness : 0.610361 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.12, Z:-0.01 [[ 0.99747342 0.02639559 -0.06595496 0.26942191] [-0.02812849 0.99927939 -0.02548488 -0.11831394] [ 0.06523475 0.0272757 0.9974971 -0.00715829] [ 0. 0. 0. 1. ]] SLAMing on 22.406502481 meters Centerline goodness : 0.535274 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.12, Z:-0.01 [[ 0.99746933 0.02638732 -0.0660201 0.26936364] [-0.02816767 0.99926025 -0.02618282 -0.11545406] [ 0.06528037 0.0279762 0.99747471 -0.0070258 ] [ 0. 0. 0. 1. ]] SLAMing on 22.436502481 meters Centerline goodness : 0.720520 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.11, Z:-0.01 [[ 0.99748178 0.02677663 -0.06567431 0.26830761] [-0.02855808 0.99924508 -0.02633832 -0.11336927] [ 0.06491948 0.02814753 0.99749345 -0.00654937] [ 0. 0. 0. 1. ]] SLAMing on 22.466502481 meters Centerline goodness : 0.591561 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.11, Z:-0.01 [[ 0.99737112 0.03056521 -0.0657009 0.26754299] [-0.03210365 0.99923151 -0.02248873 -0.11350367] [ 0.06496304 0.02453885 0.99758591 -0.00504508] [ 0. 0. 0. 1. ]] SLAMing on 22.496502481 meters Centerline goodness : 0.600377 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.11, Z:-0.00 [[ 0.99734092 0.03093633 -0.0659851 0.26685953] [-0.03252001 0.99920496 -0.02306283 -0.11035248] [ 0.06521916 0.02514734 0.99755405 -0.00369231] [ 0. 0. 0. 1. ]] SLAMing on 22.526502481 meters Centerline goodness : 0.564095 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.11, Z:-0.00 [[ 0.99732943 0.03092247 -0.06616499 0.26717435] [-0.03254914 0.99919029 -0.02364976 -0.10813346] [ 0.06538011 0.02574022 0.99752839 -0.00368958] [ 0. 0. 0. 1. ]] SLAMing on 22.556502481 meters Centerline goodness : 0.721415 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.11, Z:-0.00 [[ 0.99718896 0.03458714 -0.06646731 0.26804116] [-0.03602557 0.99913924 -0.02056548 -0.10522736] [ 0.0656988 0.02290219 0.99757664 -0.00356437] [ 0. 0. 0. 1. ]] SLAMing on 22.586502481 meters Centerline goodness : 0.702533 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:-0.00 [[ 0.99718898 0.03427596 -0.06662809 0.26873476] [-0.0357659 0.9991332 -0.02129893 -0.10294339] [ 0.0658403 0.02362207 0.99755053 -0.00401112] [ 0. 0. 0. 1. ]] SLAMing on 22.616502481 meters Centerline goodness : 0.578644 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:-0.00 [[ 0.99717894 0.0336837 -0.06707889 0.26955488] [-0.03525113 0.99912917 -0.02232171 -0.10001661] [ 0.06626859 0.02462334 0.99749795 -0.00389309] [ 0. 0. 0. 1. ]] SLAMing on 22.646502481 meters Centerline goodness : 0.578036 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:-0.00 [[ 0.99718422 0.03313375 -0.06727396 0.27015877] [-0.0347573 0.9991286 -0.02310783 -0.0978562 ] [ 0.06644969 0.02538103 0.99746691 -0.00405577] [ 0. 0. 0. 1. ]] SLAMing on 22.676502481 meters Centerline goodness : 0.690991 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:-0.00 [[ 0.99717497 0.03276565 -0.06759057 0.27119818] [-0.03442819 0.99912895 -0.02358051 -0.09678531] [ 0.06675906 0.02584092 0.99743445 -0.00456071] [ 0. 0. 0. 1. ]] SLAMing on 22.706502481 meters Centerline goodness : 0.721242 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:-0.00 [[ 0.99716115 0.03214502 -0.06809072 0.27240472] [-0.03387796 0.99912685 -0.02445026 -0.09461136] [ 0.06724531 0.02668763 0.99737949 -0.00476255] [ 0. 0. 0. 1. ]] SLAMing on 22.736502481000002 meters Centerline goodness : 0.594262 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:-0.00 [[ 0.99714825 0.0318548 -0.06841525 0.27273208] [-0.03361566 0.99912852 -0.02474247 -0.09408793] [ 0.06756747 0.02697173 0.99735007 -0.00433811] [ 0. 0. 0. 1. ]] SLAMing on 22.766502481 meters Centerline goodness : 0.722059 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:-0.00 [[ 0.99714338 0.03145126 -0.06867242 0.27274446] [-0.03325588 0.99912672 -0.02529525 -0.09259766] [ 0.06781688 0.02750675 0.99731853 -0.00367191] [ 0. 0. 0. 1. ]] SLAMing on 22.796502481 meters Centerline goodness : 0.589621 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:-0.00 [[ 0.9971333 0.0312031 -0.06893151 0.2730413 ] [-0.03304427 0.99912256 -0.02573296 -0.09121938] [ 0.06806808 0.02793698 0.99728946 -0.00335526] [ 0. 0. 0. 1. ]] SLAMing on 22.826502481000002 meters Centerline goodness : 0.627755 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:-0.00 [[ 0.99711612 0.03092894 -0.06930248 0.27357145] [-0.03282054 0.99911453 -0.02632427 -0.08906155] [ 0.06842694 0.02852289 0.99724831 -0.00304254] [ 0. 0. 0. 1. ]] SLAMing on 22.856502481 meters Centerline goodness : 0.721317 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:-0.00 [[ 0.99710136 0.03089668 -0.06952888 0.27423339] [-0.0328172 0.99910598 -0.02665096 -0.08768543] [ 0.06864329 0.02885545 0.99722388 -0.00332901] [ 0. 0. 0. 1. ]] SLAMing on 22.886502481 meters Centerline goodness : 0.234652 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:-0.00 [[ 0.99707614 0.03276769 -0.06903227 0.27350408] [-0.03455559 0.99909338 -0.02486614 -0.08580877] [ 0.06815487 0.02717889 0.99730448 -0.00317302] [ 0. 0. 0. 1. ]] SLAMing on 22.916502481000002 meters Centerline goodness : 0.438755 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.08, Z:-0.00 [[ 0.99705908 0.03255599 -0.06937791 0.27426874] [-0.03437865 0.99909009 -0.02524104 -0.08490561] [ 0.06849303 0.02755193 0.99727107 -0.00328379] [ 0. 0. 0. 1. ]] SLAMing on 22.946502481 meters Centerline goodness : 0.694307 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.08, Z:-0.00 [[ 0.99691644 0.0359662 -0.06974273 0.27530918] [-0.03758018 0.99905209 -0.02196912 -0.08347937] [ 0.06888647 0.02452232 0.99732307 -0.00312583] [ 0. 0. 0. 1. ]] SLAMing on 22.976502481 meters Centerline goodness : 0.243641 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.08, Z:-0.00 [[ 0.99691246 0.03560934 -0.0699823 0.27624237] [-0.03728653 0.99904432 -0.02280715 -0.0807412 ] [ 0.06910327 0.02534613 0.99728748 -0.00366153] [ 0. 0. 0. 1. ]] SLAMing on 23.006502481000002 meters Centerline goodness : 0.449769 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.08, Z:-0.00 [[ 0.99691726 0.03505186 -0.07019508 0.27692054] [-0.03682722 0.99902958 -0.02415908 -0.07683214] [ 0.06928014 0.0266697 0.99724069 -0.00396123] [ 0. 0. 0. 1. ]] SLAMing on 23.036502481 meters Centerline goodness : 0.427230 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.08, Z:-0.00 [[ 0.99690798 0.03459306 -0.07055359 0.27739649] [-0.03642747 0.99902651 -0.02488113 -0.07522729] [ 0.06962419 0.02737429 0.99719763 -0.00368543] [ 0. 0. 0. 1. ]] SLAMing on 23.066502481 meters Centerline goodness : 0.564423 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.07, Z:-0.00 [[ 0.99692623 0.0345042 -0.0703389 0.2760747 ] [-0.03638467 0.99900913 -0.02563039 -0.06990696] [ 0.06938485 0.02811087 0.99719382 -0.00232988] [ 0. 0. 0. 1. ]] SLAMing on 23.096502481 meters Centerline goodness : 0.697192 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.07, Z:-0.00 [[ 0.99693742 0.03437827 -0.07024184 0.27569377] [-0.03631288 0.99899029 -0.02645316 -0.06675631] [ 0.0692615 0.02892283 0.99717918 -0.00207102] [ 0. 0. 0. 1. ]] SLAMing on 23.126502481 meters Centerline goodness : 0.208016 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.06, Z:0.00 [[ 9.96931992e-01 3.50967751e-02 -6.99629844e-02 2.73394356e-01] [-3.70219297e-02 9.98965348e-01 -2.64123083e-02 -6.25348199e-02] [ 6.89636102e-02 2.89214399e-02 9.97199865e-01 2.17974887e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.156502481 meters Centerline goodness : 0.645055 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.06, Z:0.00 [[ 9.96927330e-01 3.49868371e-02 -7.00843810e-02 2.73071901e-01] [-3.69482535e-02 9.98955383e-01 -2.68880801e-02 -6.07135039e-02] [ 6.90704408e-02 2.93949574e-02 9.97178625e-01 9.13019385e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.186502481 meters Centerline goodness : 0.440673 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.06, Z:0.00 [[ 0.99678306 0.03863926 -0.07021783 0.27310232] [-0.04037039 0.99891066 -0.02340359 -0.05864072] [ 0.06923705 0.02616302 0.9972571 0.00184606] [ 0. 0. 0. 1. ]] SLAMing on 23.216502481 meters Centerline goodness : 0.682817 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.06, Z:0.00 [[ 0.99676767 0.03822388 -0.07066215 0.27454065] [-0.04001641 0.99890767 -0.02412801 -0.05670721] [ 0.0696627 0.02687767 0.99720845 0.00112173] [ 0. 0. 0. 1. ]] SLAMing on 23.246502481 meters Centerline goodness : 0.727017 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.05, Z:-0.00 [[ 9.96713495e-01 3.75267737e-02 -7.17910163e-02 2.77973853e-01] [-3.94300420e-02 9.98902498e-01 -2.52798618e-02 -5.49361929e-02] [ 7.07635538e-02 2.80275022e-02 9.97099282e-01 -7.36485891e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.276502481 meters Centerline goodness : 0.728218 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.05, Z:-0.00 [[ 0.99668501 0.03686879 -0.07252364 0.28078494] [-0.03885588 0.99890177 -0.0261814 -0.05339556] [ 0.07147872 0.02891258 0.997023 -0.00250266] [ 0. 0. 0. 1. ]] SLAMing on 23.306502481 meters Centerline goodness : 0.697179 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.05, Z:-0.00 [[ 0.99651084 0.03968523 -0.07342503 0.28475484] [-0.04150865 0.9988623 -0.02347625 -0.05138705] [ 0.07240983 0.02644211 0.99702439 -0.0047074 ] [ 0. 0. 0. 1. ]] SLAMing on 23.336502481 meters Centerline goodness : 0.728741 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.05, Z:-0.00 [[ 0.99651255 0.03955292 -0.07347317 0.28501082] [-0.0413999 0.99885946 -0.02378701 -0.05014636] [ 0.07244853 0.02674584 0.99701348 -0.00486041] [ 0. 0. 0. 1. ]] SLAMing on 23.366502481 meters Centerline goodness : 0.728348 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.05, Z:-0.00 [[ 0.99650525 0.0393573 -0.07367695 0.28505289] [-0.04122834 0.9988603 -0.02404835 -0.04966902] [ 0.0726465 0.02700189 0.99699217 -0.00438063] [ 0. 0. 0. 1. ]] SLAMing on 23.396502481 meters Centerline goodness : 0.697456 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.05, Z:-0.00 [[ 0.99653595 0.03769596 -0.07412898 0.28359201] [-0.03971692 0.99887317 -0.02597982 -0.04827714] [ 0.07306612 0.028834 0.9969102 -0.00195814] [ 0. 0. 0. 1. ]] SLAMing on 23.426502481 meters Centerline goodness : 0.701584 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.05, Z:-0.00 [[ 9.96509757e-01 3.82334035e-02 -7.42058682e-02 2.82604643e-01] [-4.02730576e-02 9.98845493e-01 -2.61870400e-02 -4.60836315e-02] [ 7.31189773e-02 2.90841381e-02 9.96899056e-01 -5.91143192e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.456502481 meters Centerline goodness : 0.701417 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.04, Z:-0.00 [[ 9.96481761e-01 3.83684418e-02 -7.45114946e-02 2.83369939e-01] [-4.04469052e-02 9.98827868e-01 -2.65883055e-02 -4.43755625e-02] [ 7.34040054e-02 2.95085208e-02 9.96865637e-01 -8.80751308e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.486502481000002 meters Centerline goodness : 0.709979 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.05, Z:-0.00 [[ 0.99626455 0.04235092 -0.07525517 0.28582071] [-0.04418311 0.9987621 -0.02284996 -0.04507301] [ 0.07419429 0.02608962 0.99690247 -0.00181703] [ 0. 0. 0. 1. ]] SLAMing on 23.516502481 meters Centerline goodness : 0.729521 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.05, Z:-0.00 [[ 0.99623057 0.0424114 -0.07566984 0.28664474] [-0.04425592 0.99875848 -0.02286717 -0.0453418 ] [ 0.07460607 0.02612981 0.99687069 -0.00188912] [ 0. 0. 0. 1. ]] SLAMing on 23.546502481 meters Centerline goodness : 0.729427 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.05, Z:-0.00 [[ 0.99620831 0.04251783 -0.07590282 0.28663584] [-0.04435307 0.99875893 -0.02265834 -0.046165 ] [ 0.07484523 0.02593895 0.99685774 -0.00132285] [ 0. 0. 0. 1. ]] SLAMing on 23.576502481000002 meters Centerline goodness : 0.726096 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.05, Z:0.00 [[ 9.96165129e-01 4.31214424e-02 -7.61286810e-02 2.85506177e-01] [-4.48851059e-02 9.98758416e-01 -2.16091211e-02 -4.90649922e-02] [ 7.51023444e-02 2.49432968e-02 9.96863817e-01 6.09662346e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.606502481 meters Centerline goodness : 0.693899 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.05, Z:0.00 [[ 0.99614874 0.04346913 -0.07614544 0.2840681 ] [-0.04517329 0.99876256 -0.02080201 -0.05115236] [ 0.07514697 0.02416164 0.99687971 0.00251578] [ 0. 0. 0. 1. ]] SLAMing on 23.636502481 meters Centerline goodness : 0.690772 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.05, Z:0.00 [[ 0.9961252 0.04334166 -0.0765251 0.28491634] [-0.04504707 0.99877036 -0.02070108 -0.05160204] [ 0.07553378 0.0240681 0.99685273 0.0024156 ] [ 0. 0. 0. 1. ]] SLAMing on 23.666502481000002 meters Centerline goodness : 0.714645 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.05, Z:0.00 [[ 9.96093332e-01 4.25783035e-02 -7.73638323e-02 2.88138211e-01] [-4.43083167e-02 9.98801679e-01 -2.07841023e-02 -5.29356195e-02] [ 7.63861738e-02 2.41307669e-02 9.96786265e-01 6.34184723e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.696502481 meters Centerline goodness : 0.482870 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.05, Z:0.00 [[ 9.96059882e-01 4.20612360e-02 -7.80740896e-02 2.89821446e-01] [-4.37969472e-02 9.98826947e-01 -2.06532807e-02 -5.46968010e-02] [ 7.71138020e-02 2.39913111e-02 9.96733605e-01 3.46035798e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.726502481 meters Centerline goodness : 0.696364 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.06, Z:0.00 [[ 0.99622155 0.03750467 -0.07833272 0.28923671] [-0.03948811 0.99893353 -0.02392661 -0.05868836] [ 0.07735182 0.02692942 0.99664011 0.00141906] [ 0. 0. 0. 1. ]] SLAMing on 23.756502481000002 meters Centerline goodness : 0.186306 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.06, Z:0.00 [[ 0.99633908 0.03323115 -0.07876625 0.28937971] [-0.0355075 0.99898607 -0.02767755 -0.06011764] [ 0.07776663 0.03037302 0.99650882 0.00189627] [ 0. 0. 0. 1. ]] SLAMing on 23.786502481 meters Centerline goodness : 0.640751 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.06, Z:0.00 [[ 0.99646538 0.02918903 -0.0787702 0.28869849] [-0.03169781 0.99902317 -0.03078889 -0.06270597] [ 0.07779456 0.03317691 0.99641723 0.0025909 ] [ 0. 0. 0. 1. ]] SLAMing on 23.816502481 meters Centerline goodness : 0.546051 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.06, Z:0.00 [[ 0.99646272 0.02931526 -0.07875693 0.28855086] [-0.03179124 0.99903301 -0.03037034 -0.06347435] [ 0.07779046 0.03276669 0.99643113 0.0028613 ] [ 0. 0. 0. 1. ]] SLAMing on 23.846502481 meters Centerline goodness : 0.703054 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:0.00 [[ 0.99633512 0.03344699 -0.07872495 0.28886231] [-0.03557309 0.99903501 -0.02576066 -0.06513239] [ 0.07778736 0.02846674 0.99656348 0.00304265] [ 0. 0. 0. 1. ]] SLAMing on 23.876502481 meters Centerline goodness : 0.710585 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.06, Z:0.00 [[ 0.99630813 0.03369 -0.07896265 0.28970454] [-0.03581974 0.99902745 -0.02571171 -0.06446322] [ 0.07801963 0.02844521 0.99654594 0.0025571 ] [ 0. 0. 0. 1. ]] SLAMing on 23.906502481 meters Centerline goodness : 0.142141 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:0.00 [[ 0.99627907 0.03403933 -0.0791791 0.29018649] [-0.03615753 0.99902139 -0.02547348 -0.06514244] [ 0.07823451 0.02824161 0.99653488 0.00243416] [ 0. 0. 0. 1. ]] SLAMing on 23.936502481 meters Centerline goodness : 0.141810 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:0.00 [[ 0.99625653 0.03399419 -0.07948164 0.29032123] [-0.03610623 0.99902796 -0.02528795 -0.06647358] [ 0.07854474 0.02806306 0.99651552 0.00296799] [ 0. 0. 0. 1. ]] SLAMing on 23.966502481 meters Centerline goodness : 0.710529 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:0.00 [[ 0.99638512 0.0304516 -0.07930567 0.28914767] [-0.03282037 0.99904801 -0.02873835 -0.06711332] [ 0.07835505 0.0312373 0.99643601 0.00362622] [ 0. 0. 0. 1. ]] SLAMing on 23.996502481 meters Centerline goodness : 0.535973 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:0.00 [[ 0.99638689 0.03020758 -0.07937679 0.28988705] [-0.03254313 0.9990697 -0.02829627 -0.06919358] [ 0.07844818 0.0307772 0.996443 0.00314477] [ 0. 0. 0. 1. ]] SLAMing on 24.026502481 meters Centerline goodness : 0.693979 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:0.00 [[ 0.99636097 0.03013835 -0.07972766 0.29076384] [-0.03246504 0.99907921 -0.02804921 -0.0704539 ] [ 0.07880889 0.0305355 0.99642197 0.0029609 ] [ 0. 0. 0. 1. ]] SLAMing on 24.056502481 meters Centerline goodness : 0.677617 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:0.00 [[ 0.99632966 0.03047411 -0.07999086 0.29112174] [-0.03274851 0.99909135 -0.02727668 -0.07331006] [ 0.07908695 0.02979614 0.99642232 0.00317644] [ 0. 0. 0. 1. ]] SLAMing on 24.086502481 meters Centerline goodness : 0.710919 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:0.00 [[ 0.99630646 0.03057219 -0.08024205 0.29156184] [-0.03283695 0.9990944 -0.02705776 -0.07419535] [ 0.07934216 0.02959272 0.99640809 0.00329309] [ 0. 0. 0. 1. ]] SLAMing on 24.116502481 meters Centerline goodness : 0.710919 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:0.00 [[ 0.99630646 0.03057219 -0.08024205 0.29156184] [-0.03283695 0.9990944 -0.02705776 -0.07419535] [ 0.07934216 0.02959272 0.99640809 0.00329309] [ 0. 0. 0. 1. ]] SLAMing on 24.146502481 meters Centerline goodness : 0.711645 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.07, Z:0.00 [[ 0.99628057 0.03076068 -0.08049099 0.29196327] [-0.0330149 0.99909477 -0.02682626 -0.07486674] [ 0.07959293 0.02938388 0.99639428 0.00338607] [ 0. 0. 0. 1. ]] SLAMing on 24.176502481 meters Centerline goodness : 0.712081 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.08, Z:0.00 [[ 0.9961368 0.03296811 -0.0813915 0.29398235] [-0.03510405 0.99907211 -0.0249525 -0.07673398] [ 0.08049334 0.02771328 0.99636981 0.00283754] [ 0. 0. 0. 1. ]] SLAMing on 24.206502481 meters Centerline goodness : 0.550550 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.08, Z:0.00 [[ 0.99611121 0.03328631 -0.08157499 0.29430422] [-0.03542442 0.999062 -0.02490439 -0.0763112 ] [ 0.0806695 0.02769729 0.99635601 0.00281323] [ 0. 0. 0. 1. ]] SLAMing on 24.236502481000002 meters Centerline goodness : 0.364765 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.08, Z:0.00 [[ 0.99609342 0.03424987 -0.08139318 0.29324585] [-0.03633292 0.99904547 -0.02425025 -0.07681918] [ 0.08048492 0.02711277 0.99638701 0.00360781] [ 0. 0. 0. 1. ]] SLAMing on 24.266502481 meters Centerline goodness : 0.199567 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.08, Z:0.00 [[ 0.99605526 0.03433174 -0.08182447 0.2941073 ] [-0.03639806 0.99905163 -0.02389615 -0.07883263] [ 0.08092647 0.02678014 0.99636024 0.00356373] [ 0. 0. 0. 1. ]] SLAMing on 24.296502481 meters Centerline goodness : 0.571272 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.08, Z:0.00 [[ 0.99601826 0.03415673 -0.08234654 0.29535257] [-0.03621406 0.99906487 -0.02362054 -0.08081494] [ 0.08146274 0.02650859 0.9963238 0.00330019] [ 0. 0. 0. 1. ]] SLAMing on 24.326502481000002 meters Centerline goodness : 0.562531 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.08, Z:0.00 [[ 0.99597231 0.03386404 -0.08302034 0.29681813] [-0.03590848 0.99908442 -0.02325719 -0.08325649] [ 0.08215674 0.02614465 0.99627643 0.00315349] [ 0. 0. 0. 1. ]] SLAMing on 24.356502481 meters Centerline goodness : 0.557306 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:0.00 [[ 0.99609732 0.03010589 -0.08296848 0.29707107] [-0.03238464 0.99913051 -0.02625739 -0.08545957] [ 0.08210584 0.02884182 0.99620619 0.00258303] [ 0. 0. 0. 1. ]] SLAMing on 24.386502481 meters Centerline goodness : 0.148465 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:0.00 [[ 0.99613369 0.03020736 -0.08249352 0.29515927] [-0.03238052 0.99915955 -0.02513357 -0.08832371] [ 0.08166497 0.02770758 0.99627462 0.00438012] [ 0. 0. 0. 1. ]] SLAMing on 24.416502481000002 meters Centerline goodness : 0.567263 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.09, Z:0.01 [[ 0.99612659 0.03040151 -0.08250803 0.29430156] [-0.03253561 0.99916668 -0.02464509 -0.08965658] [ 0.08169003 0.02723407 0.99628562 0.00553726] [ 0. 0. 0. 1. ]] SLAMing on 24.446502481 meters Centerline goodness : 0.546045 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.09, Z:0.01 [[ 0.99610292 0.03027214 -0.08284057 0.29476874] [-0.03241363 0.99917105 -0.02462876 -0.09036087] [ 0.08202634 0.02721794 0.99625843 0.00571214] [ 0. 0. 0. 1. ]] SLAMing on 24.476502481 meters Centerline goodness : 0.217899 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:0.01 [[ 0.99607961 0.03010424 -0.08318135 0.29596485] [-0.03227914 0.99916803 -0.02492618 -0.08971372] [ 0.08236176 0.02751348 0.99622264 0.00506326] [ 0. 0. 0. 1. ]] SLAMing on 24.506502481000002 meters Centerline goodness : 0.173965 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:0.00 [[ 0.99606176 0.03003579 -0.08341953 0.29673407] [-0.03223418 0.99916431 -0.02513249 -0.08936433] [ 0.08259495 0.02772247 0.99619754 0.00469618] [ 0. 0. 0. 1. ]] SLAMing on 24.536502481 meters Centerline goodness : 0.583351 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:0.00 [[ 0.99597871 0.02991065 -0.08444982 0.29994089] [-0.03217377 0.99915527 -0.02556565 -0.08892929] [ 0.0836138 0.02817991 0.99609971 0.00301671] [ 0. 0. 0. 1. ]] SLAMing on 24.566502481 meters Centerline goodness : 0.714184 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:0.00 [[ 0.99596766 0.0299131 -0.08457914 0.30075177] [-0.03220101 0.99914793 -0.02581675 -0.08822673] [ 0.08373481 0.02843618 0.99608226 0.00229482] [ 0. 0. 0. 1. ]] SLAMing on 24.596502481 meters Centerline goodness : 0.600019 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:0.00 [[ 0.99594215 0.0302502 -0.08475939 0.30072318] [-0.03254907 0.99913521 -0.02587275 -0.0873987 ] [ 0.08390344 0.0285266 0.99606548 0.00268049] [ 0. 0. 0. 1. ]] SLAMing on 24.626502481 meters Centerline goodness : 0.569324 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:0.00 [[ 0.99595673 0.03082318 -0.08438087 0.29878374] [-0.03309313 0.99912345 -0.02563564 -0.08645232] [ 0.08351673 0.02832442 0.99610375 0.00422948] [ 0. 0. 0. 1. ]] SLAMing on 24.656502481 meters Centerline goodness : 0.586142 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:0.00 [[ 0.9959523 0.03067989 -0.08448531 0.299034 ] [-0.03296854 0.9991226 -0.02582837 -0.085824 ] [ 0.08361877 0.02850918 0.99608992 0.00423417] [ 0. 0. 0. 1. ]] SLAMing on 24.686502481 meters Centerline goodness : 0.585412 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:0.00 [[ 0.9959157 0.03016055 -0.08510147 0.30110651] [-0.03246171 0.99914026 -0.02578701 -0.08652701] [ 0.08425055 0.02844423 0.99603854 0.0034373 ] [ 0. 0. 0. 1. ]] SLAMing on 24.716502481 meters Centerline goodness : 0.715190 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:0.00 [[ 0.99587849 0.02969373 -0.08569901 0.30283144] [-0.0320078 0.99915572 -0.02575549 -0.08757687] [ 0.08486188 0.02839238 0.99598812 0.00288283] [ 0. 0. 0. 1. ]] SLAMing on 24.746502481 meters Centerline goodness : 0.243253 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:0.00 [[ 0.99596061 0.02506892 -0.08622077 0.3046615 ] [-0.02771563 0.99917638 -0.02963793 -0.08863476] [ 0.08540677 0.03190788 0.99583511 0.00179554] [ 0. 0. 0. 1. ]] SLAMing on 24.776502481 meters Centerline goodness : 0.708133 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.09, Z:0.00 [[ 0.99592808 0.02464168 -0.08671825 0.30536578] [-0.02728282 0.9991952 -0.02940412 -0.0903696 ] [ 0.08592389 0.0316503 0.99579885 0.00231217] [ 0. 0. 0. 1. ]] SLAMing on 24.806502481 meters Centerline goodness : 0.567057 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.09, Z:0.00 [[ 0.99592693 0.02410118 -0.08688319 0.30552223] [-0.02672757 0.99921638 -0.02919338 -0.09152802] [ 0.08611151 0.03139665 0.99579067 0.00294786] [ 0. 0. 0. 1. ]] SLAMing on 24.836502481 meters Centerline goodness : 0.708677 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.09, Z:0.00 [[ 0.99591946 0.02392569 -0.08701714 0.30568576] [-0.02657127 0.9992153 -0.02937266 -0.09084642] [ 0.08624609 0.03156496 0.9957737 0.00318254] [ 0. 0. 0. 1. ]] SLAMing on 24.866502481 meters Centerline goodness : 0.143900 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:0.00 [[ 0.99592437 0.0244061 -0.08682738 0.30452835] [-0.02706203 0.99919707 -0.02954409 -0.088585 ] [ 0.08603661 0.0317734 0.99578519 0.00406257] [ 0. 0. 0. 1. ]] SLAMing on 24.896502481 meters Centerline goodness : 0.216929 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.09, Z:0.00 [[ 0.99588867 0.02439896 -0.08723793 0.3052124 ] [-0.02710796 0.99918212 -0.03000418 -0.08706829] [ 0.08643451 0.03224567 0.99573555 0.00411488] [ 0. 0. 0. 1. ]] SLAMing on 24.926502481 meters Centerline goodness : 0.143158 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.09, Z:0.00 [[ 0.99575501 0.02813851 -0.08763669 0.30570936] [-0.03059147 0.99917332 -0.02677381 -0.08590304] [ 0.08681087 0.02934109 0.99579264 0.00466742] [ 0. 0. 0. 1. ]] SLAMing on 24.956502481 meters Centerline goodness : 0.264575 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.08, Z:0.00 [[ 0.99573789 0.02820408 -0.0878099 0.30619172] [-0.03068387 0.99916387 -0.0270196 -0.08477695] [ 0.08697442 0.02959879 0.99577074 0.00444865] [ 0. 0. 0. 1. ]] SLAMing on 24.986502481000002 meters Centerline goodness : 0.712322 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.08, Z:0.00 [[ 0.99573365 0.02822281 -0.08785195 0.30620754] [-0.03071945 0.99915795 -0.02719741 -0.08381244] [ 0.08701039 0.02978014 0.99576219 0.00453962] [ 0. 0. 0. 1. ]] SLAMing on 25.016502481 meters Centerline goodness : 0.463643 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.08, Z:0.01 [[ 0.99576327 0.02840737 -0.08745584 0.30481605] [-0.03087432 0.99915893 -0.02698547 -0.08314042] [ 0.0866157 0.02957128 0.99580282 0.0054859 ] [ 0. 0. 0. 1. ]] SLAMing on 25.046502481 meters Centerline goodness : 0.572376 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.08, Z:0.01 [[ 0.99575387 0.0281717 -0.08763896 0.30488977] [-0.03061877 0.99917435 -0.02670406 -0.08375992] [ 0.0868143 0.02927407 0.99579431 0.0061003 ] [ 0. 0. 0. 1. ]] SLAMing on 25.076502481000002 meters Centerline goodness : 0.490565 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.08, Z:0.01 [[ 0.9957303 0.02776768 -0.0880348 0.30567819] [-0.03021903 0.99918835 -0.02663553 -0.08471922] [ 0.08722374 0.02918213 0.99576123 0.00621931] [ 0. 0. 0. 1. ]] SLAMing on 25.106502481 meters Centerline goodness : 0.241962 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.09, Z:0.01 [[ 0.99578638 0.02266618 -0.08885796 0.30729411] [-0.0254835 0.99920371 -0.03070064 -0.08619673] [ 0.08809134 0.03283569 0.99557106 0.00610566] [ 0. 0. 0. 1. ]] SLAMing on 25.136502481 meters Centerline goodness : 0.680103 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.09, Z:0.01 [[ 0.99574175 0.02180273 -0.08957119 0.30884916] [-0.02464851 0.99922195 -0.03078877 -0.08806418] [ 0.08883022 0.03286546 0.99550442 0.00607526] [ 0. 0. 0. 1. ]] SLAMing on 25.166502481000002 meters Centerline goodness : 0.262043 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.09, Z:0.01 [[ 0.99573081 0.02078988 -0.08993295 0.30948196] [-0.02364952 0.99924422 -0.03084949 -0.08901448] [ 0.08922363 0.03284466 0.99546993 0.00663673] [ 0. 0. 0. 1. ]] SLAMing on 25.196502481 meters Centerline goodness : 0.230646 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.09, Z:0.01 [[ 0.9957165 0.02050567 -0.09015632 0.31021144] [-0.02339287 0.99924296 -0.03108514 -0.0882756 ] [ 0.08945065 0.033061 0.99544239 0.00640947] [ 0. 0. 0. 1. ]] SLAMing on 25.226502481 meters Centerline goodness : 0.376537 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.09, Z:0.01 [[ 0.99558634 0.02398281 -0.09073398 0.311431 ] [-0.02657129 0.99927055 -0.02742853 -0.08806946] [ 0.09000998 0.02971839 0.99549737 0.00687214] [ 0. 0. 0. 1. ]] SLAMing on 25.256502481000002 meters Centerline goodness : 0.595484 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.09, Z:0.01 [[ 0.99544072 0.02779826 -0.09124162 0.31259138] [-0.03010233 0.99925928 -0.02397388 -0.08698401] [ 0.0905076 0.02661116 0.99554017 0.00706478] [ 0. 0. 0. 1. ]] SLAMing on 25.286502481 meters Centerline goodness : 0.712935 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.09, Z:0.01 [[ 0.99528959 0.0299788 -0.09219497 0.31550228] [-0.03214067 0.99924001 -0.02205396 -0.08688469] [ 0.09146375 0.02491329 0.99549672 0.00608757] [ 0. 0. 0. 1. ]] SLAMing on 25.316502481 meters Centerline goodness : 0.165931 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.09, Z:0.01 [[ 0.99512387 0.03373741 -0.09268371 0.31679314] [-0.03560056 0.99919443 -0.01852261 -0.0864133 ] [ 0.09198414 0.02173188 0.9955233 0.00609154] [ 0. 0. 0. 1. ]] SLAMing on 25.346502481 meters Centerline goodness : 0.169782 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.08, Z:0.01 [[ 0.99496112 0.03761427 -0.09293832 0.31782146] [-0.03923607 0.99910686 -0.01568456 -0.08294155] [ 0.09226535 0.01925206 0.99554832 0.00583888] [ 0. 0. 0. 1. ]] SLAMing on 25.376502481 meters Centerline goodness : 0.357892 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.08, Z:0.01 [[ 0.99494841 0.03739657 -0.09316199 0.31835521] [-0.0390896 0.99910088 -0.01641433 -0.0808614 ] [ 0.09246439 0.01997307 0.99551565 0.00569419] [ 0. 0. 0. 1. ]] SLAMing on 25.406502481 meters Centerline goodness : 0.365113 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.08, Z:0.01 [[ 0.99493135 0.03704504 -0.09348413 0.31921669] [-0.0388329 0.99909459 -0.01737808 -0.07793173] [ 0.09275572 0.02092025 0.9954691 0.0053811 ] [ 0. 0. 0. 1. ]] SLAMing on 25.436502481 meters Centerline goodness : 0.689793 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.07, Z:0.00 [[ 0.99490226 0.03609235 -0.09416384 0.32187168] [-0.03801477 0.99910216 -0.01870184 -0.07438288] [ 0.0934043 0.02218612 0.99538104 0.00398613] [ 0. 0. 0. 1. ]] SLAMing on 25.466502481 meters Centerline goodness : 0.691159 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.07, Z:0.00 [[ 0.99489918 0.03560162 -0.09438297 0.32283841] [-0.03760136 0.99910266 -0.01949386 -0.0724293 ] [ 0.09360426 0.02294335 0.99534509 0.00340731] [ 0. 0. 0. 1. ]] SLAMing on 25.496502481 meters Centerline goodness : 0.496015 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.07, Z:0.00 [[ 0.99488853 0.0352329 -0.09463331 0.32377778] [-0.03734119 0.99909022 -0.0206003 -0.06895585] [ 0.09382141 0.02402872 0.99529903 0.00286501] [ 0. 0. 0. 1. ]] SLAMing on 25.526502481 meters Centerline goodness : 0.476277 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.07, Z:0.00 [[ 0.99485499 0.03467664 -0.09518972 0.32533692] [-0.03689414 0.99908496 -0.02163474 -0.06650854] [ 0.0943524 0.02503537 0.99522402 0.00225215] [ 0. 0. 0. 1. ]] SLAMing on 25.556502481 meters Centerline goodness : 0.167736 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.06, Z:0.00 [[ 0.99482666 0.03416314 -0.09567024 0.32662787] [-0.03647202 0.99908159 -0.02248946 -0.06459272] [ 0.09481407 0.0258624 0.995159 0.00183644] [ 0. 0. 0. 1. ]] SLAMing on 25.586502481 meters Centerline goodness : 0.715549 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.06, Z:0.00 [[ 0.99478188 0.03338478 -0.09640785 0.32860935] [-0.03581895 0.99907891 -0.023629 -0.06217665] [ 0.09553021 0.02695893 0.9950614 0.00119379] [ 0. 0. 0. 1. ]] SLAMing on 25.616502481 meters Centerline goodness : 0.714614 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.06, Z:0.00 [[ 0.9947957 0.0333568 -0.09627485 0.32861493] [-0.0358242 0.99906953 -0.02401456 -0.05982893] [ 0.09538422 0.02733855 0.99506505 0.00100716] [ 0. 0. 0. 1. ]] SLAMing on 25.646502481 meters Centerline goodness : 0.597886 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.06, Z:0.00 [[ 9.94780467e-01 3.33250733e-02 -9.64430464e-02 3.29056120e-01] [-3.58343133e-02 9.99059747e-01 -2.44033732e-02 -5.79336786e-02] [ 9.55391213e-02 2.77319693e-02 9.95039303e-01 8.87523056e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.676502481 meters Centerline goodness : 0.682653 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.06, Z:0.00 [[ 0.9946323 0.03736672 -0.09648996 0.32875921] [-0.03952062 0.99900828 -0.02050805 -0.05724993] [ 0.09562795 0.02421131 0.99512266 0.00198798] [ 0. 0. 0. 1. ]] SLAMing on 25.706502481 meters Centerline goodness : 0.691196 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.06, Z:0.00 [[ 0.99461953 0.03726258 -0.09666177 0.32887792] [-0.03945827 0.99900255 -0.02090327 -0.05592769] [ 0.09578645 0.0246049 0.99509776 0.00228006] [ 0. 0. 0. 1. ]] SLAMing on 25.736502481 meters Centerline goodness : 0.717361 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.05, Z:0.00 [[ 0.99459367 0.03711235 -0.0969851 0.32938283] [-0.03938767 0.9989894 -0.02165165 -0.05309534] [ 0.09608355 0.02535462 0.9950503 0.00245726] [ 0. 0. 0. 1. ]] SLAMing on 25.766502481 meters Centerline goodness : 0.674236 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.05, Z:0.00 [[ 0.99457371 0.03678748 -0.09731298 0.33006242] [-0.03913086 0.99898562 -0.02228237 -0.05129636] [ 0.09639455 0.0259694 0.99500436 0.00244904] [ 0. 0. 0. 1. ]] SLAMing on 25.796502481 meters Centerline goodness : 0.154874 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.05, Z:0.00 [[ 0.99456307 0.03652343 -0.09752092 0.33009944] [-0.03895331 0.99897331 -0.02312935 -0.04833595] [ 0.09657604 0.02680236 0.99496467 0.00300703] [ 0. 0. 0. 1. ]] SLAMing on 25.826502481000002 meters Centerline goodness : 0.687927 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.05, Z:0.00 [[ 0.99453837 0.03622953 -0.09788178 0.33028883] [-0.03870424 0.99897428 -0.02350269 -0.0476261 ] [ 0.09692989 0.02716277 0.99492049 0.00364536] [ 0. 0. 0. 1. ]] SLAMing on 25.856502481 meters Centerline goodness : 0.574051 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.05, Z:0.01 [[ 0.99464167 0.03354021 -0.09779059 0.32854192] [-0.0362599 0.99899974 -0.02616765 -0.04500517] [ 0.0968151 0.02957331 0.99486293 0.0054376 ] [ 0. 0. 0. 1. ]] SLAMing on 25.886502481 meters Centerline goodness : 0.720332 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.04, Z:0.01 [[ 0.9946474 0.03340567 -0.09777841 0.32828361] [-0.03613556 0.99900123 -0.02628228 -0.04455163] [ 0.09680278 0.02967488 0.99486111 0.00578346] [ 0. 0. 0. 1. ]] SLAMing on 25.916502481000002 meters Centerline goodness : 0.200065 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.04, Z:0.00 [[ 0.99462786 0.03299412 -0.09811626 0.32978179] [-0.03576295 0.99900634 -0.02659587 -0.04413212] [ 0.09714126 0.02996193 0.99481951 0.00488198] [ 0. 0. 0. 1. ]] SLAMing on 25.946502481 meters Centerline goodness : 0.141752 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.04, Z:0.00 [[ 0.99458884 0.03253518 -0.09866357 0.331919 ] [-0.03535227 0.99901175 -0.02693949 -0.04416131] [ 0.09768959 0.0302817 0.99475613 0.00367868] [ 0. 0. 0. 1. ]] SLAMing on 25.976502481 meters Centerline goodness : 0.646544 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.05, Z:0.00 [[ 0.9945293 0.03209936 -0.0994037 0.33525627] [-0.03494167 0.99902496 -0.02698549 -0.04546179] [ 0.09844056 0.0303112 0.9946812 0.00148382] [ 0. 0. 0. 1. ]] SLAMing on 26.006502481000002 meters Centerline goodness : 0.144369 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.05, Z:0.00 [[ 0.99451242 0.03217763 -0.09954722 0.33590842] [-0.03499591 0.99903086 -0.02669513 -0.04651167] [ 0.09859176 0.03003238 0.99467468 0.00107182] [ 0. 0. 0. 1. ]] SLAMing on 26.036502481 meters Centerline goodness : 0.144369 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.05, Z:0.00 [[ 0.99451242 0.03217763 -0.09954722 0.33590842] [-0.03499591 0.99903086 -0.02669513 -0.04651167] [ 0.09859176 0.03003238 0.99467468 0.00107182] [ 0. 0. 0. 1. ]] SLAMing on 26.066502481 meters Centerline goodness : 0.136484 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.05, Z:0.00 [[ 9.94461051e-01 3.21916707e-02 -1.00054556e-01 3.37515881e-01] [-3.49833390e-02 9.99042493e-01 -2.62728777e-02 -4.82959561e-02] [ 9.91129849e-02 2.96275961e-02 9.94635019e-01 4.22309174e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.096502481 meters Centerline goodness : 0.188216 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.05, Z:-0.00 [[ 0.9943729 0.03216182 -0.1009364 0.34071906] [-0.03497784 0.99904318 -0.02625387 -0.04870731] [ 0.09999545 0.02963667 0.99454642 -0.00133761] [ 0. 0. 0. 1. ]] SLAMing on 26.126502481 meters Centerline goodness : 0.513746 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.05, Z:-0.00 [[ 0.99432585 0.03178646 -0.10151713 0.34304277] [-0.03466705 0.99904118 -0.02673806 -0.04802731] [ 0.10056988 0.03010564 0.99447441 -0.00271882] [ 0. 0. 0. 1. ]] SLAMing on 26.156502481 meters Centerline goodness : 0.163439 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.05, Z:-0.00 [[ 0.99426541 0.0320404 -0.10202795 0.34480449] [-0.03495049 0.99902794 -0.02686331 -0.04699872] [ 0.10106806 0.03027519 0.99441875 -0.00368586] [ 0. 0. 0. 1. ]] SLAMing on 26.186502481 meters Centerline goodness : 0.133470 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.05, Z:-0.00 [[ 0.99423745 0.03191966 -0.1023378 0.34522805] [-0.03485203 0.99902784 -0.02699461 -0.04713125] [ 0.10137665 0.03040574 0.99438336 -0.0034433 ] [ 0. 0. 0. 1. ]] SLAMing on 26.216502481 meters Centerline goodness : 0.141498 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.05, Z:-0.00 [[ 0.99415431 0.03162152 -0.10323412 0.34522297] [-0.03459822 0.99903186 -0.0271719 -0.04889338] [ 0.10227496 0.03058478 0.99428588 -0.00164651] [ 0. 0. 0. 1. ]] SLAMing on 26.246502481 meters Centerline goodness : 0.585801 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.05, Z:-0.00 [[ 0.994109 0.03152127 -0.10370012 0.34568935] [-0.03450612 0.99903656 -0.02711615 -0.04985668] [ 0.10274547 0.0305347 0.9942389 -0.00117583] [ 0. 0. 0. 1. ]] SLAMing on 26.276502481 meters Centerline goodness : 0.440637 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.05, Z:0.00 [[ 9.94089188e-01 3.20858287e-02 -1.03716857e-01 3.44502000e-01] [-3.50228646e-02 9.99031882e-01 -2.66213738e-02 -5.00022766e-02] [ 1.02762278e-01 3.00964813e-02 9.94250530e-01 2.90081303e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.306502481 meters Centerline goodness : 0.711731 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.05, Z:0.00 [[ 9.94082079e-01 3.22790875e-02 -1.03725020e-01 3.44039672e-01] [-3.52002155e-02 9.99030048e-01 -2.64557678e-02 -4.98445219e-02] [ 1.02770444e-01 2.99503477e-02 9.94254099e-01 9.12126808e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.336502481 meters Centerline goodness : 0.709925 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.05, Z:0.00 [[ 0.99405612 0.03247183 -0.10391347 0.34376912] [-0.03535432 0.9990361 -0.02601828 -0.0509225 ] [ 0.10296845 0.02953742 0.99424597 0.00172733] [ 0. 0. 0. 1. ]] SLAMing on 26.366502481 meters Centerline goodness : 0.709906 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.05, Z:0.00 [[ 0.99401149 0.03092485 -0.10480844 0.34570819] [-0.03394718 0.99905408 -0.02717614 -0.05423617] [ 0.10386888 0.03057135 0.99412104 0.001338 ] [ 0. 0. 0. 1. ]] SLAMing on 26.396502481 meters Centerline goodness : 0.719779 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.06, Z:-0.00 [[ 9.93994863e-01 2.92609130e-02 -1.05441985e-01 3.48719915e-01] [-3.24095501e-02 9.99074721e-01 -2.82723040e-02 -5.65803116e-02] [ 1.04517149e-01 3.15198522e-02 9.94023473e-01 -5.35902769e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.426502481 meters Centerline goodness : 0.572835 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.06, Z:-0.00 [[ 0.99393377 0.02877825 -0.1061484 0.350804 ] [-0.0319546 0.99908732 -0.02834495 -0.05766779] [ 0.1052358 0.03156493 0.99394622 -0.00127088] [ 0. 0. 0. 1. ]] SLAMing on 26.456502481 meters Centerline goodness : 0.564267 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.06, Z:-0.00 [[ 0.99386409 0.02806071 -0.10698959 0.35332584] [-0.03124115 0.99911491 -0.02816703 -0.05974737] [ 0.10610451 0.03133668 0.99386108 -0.00206965] [ 0. 0. 0. 1. ]] SLAMing on 26.486502481 meters Centerline goodness : 0.479656 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.06, Z:-0.00 [[ 0.99388015 0.02787059 -0.10689006 0.35321232] [-0.03103454 0.9991246 -0.02805144 -0.06022689] [ 0.10601468 0.03119705 0.99387506 -0.00199431] [ 0. 0. 0. 1. ]] SLAMing on 26.516502481 meters Centerline goodness : 0.547768 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.06, Z:-0.00 [[ 9.93939347e-01 2.80119821e-02 -1.06301006e-01 3.51098591e-01] [-3.11007838e-02 9.99137565e-01 -2.75112085e-02 -6.04540224e-02] [ 1.05438685e-01 3.06505172e-02 9.93953334e-01 -3.91454017e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.546502481 meters Centerline goodness : 0.551568 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.06, Z:0.00 [[ 9.93924974e-01 2.79396847e-02 -1.06454309e-01 3.50597953e-01] [-3.10377813e-02 9.99138248e-01 -2.75575353e-02 -6.02345201e-02] [ 1.05592623e-01 3.06942281e-02 9.93935643e-01 6.17900497e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.576502481000002 meters Centerline goodness : 0.576747 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.06, Z:0.00 [[ 0.99391212 0.02770906 -0.10663447 0.35016095] [-0.03086498 0.99912962 -0.02805976 -0.05966093] [ 0.10576415 0.0311802 0.99390228 0.00157279] [ 0. 0. 0. 1. ]] SLAMing on 26.606502481 meters Centerline goodness : 0.581714 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.06, Z:0.00 [[ 0.99387304 0.02761447 -0.10702256 0.3513823 ] [-0.0308115 0.99912351 -0.02833474 -0.05911674] [ 0.10614631 0.03145866 0.99385276 0.00101221] [ 0. 0. 0. 1. ]] SLAMing on 26.636502481 meters Centerline goodness : 0.542559 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.06, Z:-0.00 [[ 0.99372105 0.02923508 -0.10799897 0.35576542] [-0.0323259 0.99911318 -0.02697957 -0.05954435] [ 0.10711444 0.03030133 0.99378485 -0.00163004] [ 0. 0. 0. 1. ]] SLAMing on 26.666502481000002 meters Centerline goodness : 0.529717 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.06, Z:-0.00 [[ 0.9937115 0.02940121 -0.10804179 0.35649961] [-0.03247018 0.9991145 -0.02675651 -0.05976888] [ 0.10715944 0.03009639 0.99378623 -0.00235988] [ 0. 0. 0. 1. ]] SLAMing on 26.696502481 meters Centerline goodness : 0.707125 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.06, Z:-0.00 [[ 0.99372446 0.02956542 -0.10787762 0.35712542] [-0.03254863 0.99913197 -0.02599807 -0.06139546] [ 0.10701534 0.02934619 0.99382419 -0.00314478] [ 0. 0. 0. 1. ]] SLAMing on 26.726502481 meters Centerline goodness : 0.549068 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.06, Z:-0.00 [[ 0.99373267 0.02962819 -0.10778472 0.35684658] [-0.03254868 0.99914639 -0.02543761 -0.06317488] [ 0.10693904 0.02878643 0.99384877 -0.00289427] [ 0. 0. 0. 1. ]] SLAMing on 26.756502481000002 meters Centerline goodness : 0.559160 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:-0.00 [[ 0.99383578 0.02567439 -0.10784836 0.35646613] [-0.02891391 0.99917319 -0.02858196 -0.06534018] [ 0.10702536 0.03152409 0.99375641 -0.0024409 ] [ 0. 0. 0. 1. ]] SLAMing on 26.786502481 meters Centerline goodness : 0.552130 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:-0.00 [[ 0.9937991 0.02549482 -0.10822829 0.3564618 ] [-0.02870295 0.99919045 -0.0281884 -0.06768258] [ 0.10742202 0.03112008 0.99372635 -0.00153512] [ 0. 0. 0. 1. ]] SLAMing on 26.816502481 meters Centerline goodness : 0.158758 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:-0.00 [[ 9.93834170e-01 2.13775558e-02 -1.08796337e-01 3.56704184e-01] [-2.49653068e-02 9.99184890e-01 -3.17220620e-02 -6.93453346e-02] [ 1.08029516e-01 3.42426031e-02 9.93557783e-01 -8.09010063e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.846502481 meters Centerline goodness : 0.518792 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:-0.00 [[ 9.93820326e-01 2.16524010e-02 -1.08868422e-01 3.56960834e-01] [-2.51993154e-02 9.99192008e-01 -3.13101424e-02 -6.97556088e-02] [ 1.08102518e-01 3.38600656e-02 9.93562953e-01 -8.16954866e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.876502481 meters Centerline goodness : 0.703110 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:-0.00 [[ 9.93727526e-01 2.57427132e-02 -1.08825163e-01 3.57099696e-01] [-2.88476076e-02 9.99217659e-01 -2.70533761e-02 -7.09136804e-02] [ 1.08043597e-01 3.00230301e-02 9.93692708e-01 -6.00833379e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.906502481 meters Centerline goodness : 0.606723 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:-0.00 [[ 0.99369372 0.02576402 -0.10912842 0.35819703] [-0.02889047 0.99921338 -0.02716546 -0.07026783] [ 0.10834268 0.03014692 0.99365639 -0.00114091] [ 0. 0. 0. 1. ]] SLAMing on 26.936502481 meters Centerline goodness : 0.516120 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:-0.00 [[ 9.93637237e-01 2.56621741e-02 -1.09665371e-01 3.59004188e-01] [-2.88089789e-02 9.99214605e-01 -2.72069029e-02 -7.14955184e-02] [ 1.08881052e-01 3.01931392e-02 9.93596141e-01 -9.40759244e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.966502481 meters Centerline goodness : 0.706943 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:-0.00 [[ 9.93597942e-01 2.56133625e-02 -1.10032202e-01 3.59541864e-01] [-2.87728802e-02 9.99215205e-01 -2.72230612e-02 -7.19551238e-02] [ 1.09248575e-01 3.02147209e-02 9.93555142e-01 -7.23453048e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.996502481 meters Centerline goodness : 0.517101 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:-0.00 [[ 9.93590272e-01 2.54096425e-02 -1.10148637e-01 3.59552924e-01] [-2.86134632e-02 9.99209341e-01 -2.76036691e-02 -7.09425082e-02] [ 1.09360148e-01 3.05784711e-02 9.93531738e-01 -4.10836551e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.026502481 meters Centerline goodness : 0.138621 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:-0.00 [[ 9.93584207e-01 2.53243769e-02 -1.10222949e-01 3.59461542e-01] [-2.85389919e-02 9.99209216e-01 -2.76851680e-02 -7.04808562e-02] [ 1.09434677e-01 3.06531976e-02 9.93521229e-01 -4.88531070e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.056502481 meters Centerline goodness : 0.704996 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:0.00 [[ 9.93571546e-01 2.48475600e-02 -1.10445379e-01 3.59781251e-01] [-2.81200396e-02 9.99207503e-01 -2.81714176e-02 -6.86494425e-02] [ 1.09657860e-01 3.10960474e-02 9.93482858e-01 3.18371467e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.086502481 meters Centerline goodness : 0.609208 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:0.00 [[ 9.93530269e-01 2.43440033e-02 -1.10927789e-01 3.61051066e-01] [-2.76936185e-02 9.99202757e-01 -2.87561214e-02 -6.71158167e-02] [ 1.10139313e-01 3.16420689e-02 9.93412357e-01 6.68472030e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.116502481 meters Centerline goodness : 0.165757 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.07, Z:-0.00 [[ 9.93489118e-01 2.36696811e-02 -1.11441097e-01 3.62834233e-01] [-2.71248238e-02 9.99193994e-01 -2.95906464e-02 -6.53792486e-02] [ 1.10650873e-01 3.24208053e-02 9.93330396e-01 -7.55955872e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.146502481 meters Centerline goodness : 0.653382 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.06, Z:-0.00 [[ 0.9934624 0.02344306 -0.11172687 0.36385619] [-0.02694835 0.99918754 -0.02996732 -0.06453564] [ 0.11093357 0.03278226 0.993287 -0.00131651] [ 0. 0. 0. 1. ]] SLAMing on 27.176502481 meters Centerline goodness : 0.460926 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.06, Z:-0.00 [[ 0.99340021 0.0269934 -0.11147812 0.36352691] [-0.03017992 0.99917985 -0.02699615 -0.06202157] [ 0.11065797 0.03018238 0.99340014 -0.00102135] [ 0. 0. 0. 1. ]] SLAMing on 27.206502481 meters Centerline goodness : 0.160541 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.06, Z:0.00 [[ 9.93435916e-01 2.93531703e-02 -1.10559812e-01 3.61151553e-01] [-3.23010346e-02 9.99166307e-01 -2.49666583e-02 -5.93546675e-02] [ 1.09734789e-01 2.83739713e-02 9.93555833e-01 9.79669154e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.236502481 meters Centerline goodness : 0.157604 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.05, Z:0.00 [[ 0.99344965 0.03058444 -0.11010171 0.35930733] [-0.03345958 0.99914314 -0.02436087 -0.05487573] [ 0.1092623 0.02788525 0.99362174 0.00148931] [ 0. 0. 0. 1. ]] SLAMing on 27.266502481 meters Centerline goodness : 0.679445 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.05, Z:0.00 [[ 0.99343817 0.03016882 -0.11031977 0.35899263] [-0.03313212 0.99913508 -0.02512681 -0.05326592] [ 0.1094663 0.02861706 0.99357848 0.00237019] [ 0. 0. 0. 1. ]] SLAMing on 27.296502481 meters Centerline goodness : 0.505325 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.05, Z:0.00 [[ 0.99342759 0.02991961 -0.11048279 0.35929515] [-0.03293194 0.99913119 -0.02554136 -0.05254029] [ 0.10962262 0.0290119 0.99354979 0.00238619] [ 0. 0. 0. 1. ]] SLAMing on 27.326502481000002 meters Centerline goodness : 0.546501 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.05, Z:0.00 [[ 0.99340197 0.02997098 -0.11069898 0.36043449] [-0.03302225 0.9991207 -0.02583346 -0.05048789] [ 0.10982739 0.02931854 0.99351818 0.00166171] [ 0. 0. 0. 1. ]] SLAMing on 27.356502481 meters Centerline goodness : 0.672141 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.05, Z:0.00 [[ 0.99338779 0.03023269 -0.11075508 0.36111394] [-0.03328222 0.99911322 -0.02578904 -0.0493817 ] [ 0.1098772 0.0293047 0.99351308 0.00110119] [ 0. 0. 0. 1. ]] SLAMing on 27.386502481 meters Centerline goodness : 0.675275 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.05, Z:0.00 [[ 9.93345772e-01 3.03440158e-02 -1.11100939e-01 3.62166624e-01] [-3.33658827e-02 9.99119338e-01 -2.54414184e-02 -5.08244009e-02] [ 1.10231102e-01 2.89791063e-02 9.93483425e-01 7.08916499e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.416502481000002 meters Centerline goodness : 0.518782 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.05, Z:0.00 [[ 9.93273184e-01 3.00513164e-02 -1.11827101e-01 3.63638057e-01] [-3.30867359e-02 9.99129996e-01 -2.53873695e-02 -5.27550603e-02] [ 1.10966887e-01 2.89165871e-02 9.93403332e-01 5.78320528e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.446502481 meters Centerline goodness : 0.712102 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.05, Z:0.00 [[ 9.93295148e-01 2.63712045e-02 -1.12558027e-01 3.64746531e-01] [-2.98020533e-02 9.99137726e-01 -2.89074857e-02 -5.39685188e-02] [ 1.11698646e-01 3.20681256e-02 9.93224571e-01 4.69205429e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.476502481 meters Centerline goodness : 0.471329 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.05, Z:0.00 [[ 9.93290168e-01 2.67020898e-02 -1.12523959e-01 3.64612515e-01] [-3.00927552e-02 9.99139503e-01 -2.85425886e-02 -5.45935387e-02] [ 1.11664986e-01 3.17372285e-02 9.93238984e-01 5.47690985e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.506502481000002 meters Centerline goodness : 0.698858 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.06, Z:0.00 [[ 9.93165166e-01 3.13902395e-02 -1.12417105e-01 3.64441328e-01] [-3.42775830e-02 9.99127883e-01 -2.38436832e-02 -5.59381043e-02] [ 1.11570605e-01 2.75341022e-02 9.93374991e-01 9.63569703e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.536502481 meters Centerline goodness : 0.520883 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.06, Z:0.00 [[ 0.99317262 0.03207995 -0.11215627 0.36377066] [-0.03491422 0.99911637 -0.02339813 -0.05547333] [ 0.11130656 0.02715423 0.99341507 0.00120436] [ 0. 0. 0. 1. ]] SLAMing on 27.566502481 meters Centerline goodness : 0.162885 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.06, Z:0.00 [[ 0.99308388 0.03314736 -0.11263067 0.36430697] [-0.03595458 0.99908908 -0.02298438 -0.05550005] [ 0.1117662 0.02687501 0.99337105 0.00146996] [ 0. 0. 0. 1. ]] SLAMing on 27.596502481 meters Centerline goodness : 0.709589 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.06, Z:0.00 [[ 0.99302079 0.03321793 -0.11316486 0.36501594] [-0.03605587 0.99908222 -0.02312359 -0.05599767] [ 0.11229288 0.02704246 0.99330711 0.00177556] [ 0. 0. 0. 1. ]] SLAMing on 27.626502481 meters Centerline goodness : 0.710499 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.06, Z:0.00 [[ 0.99295953 0.03341797 -0.1136425 0.36529165] [-0.03628886 0.99906997 -0.02328775 -0.05659928] [ 0.11275858 0.02724775 0.99324874 0.00231193] [ 0. 0. 0. 1. ]] SLAMing on 27.656502481 meters Centerline goodness : 0.710876 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.06, Z:0.00 [[ 0.99295446 0.0335139 -0.11365855 0.3655139 ] [-0.03636399 0.9990717 -0.02309545 -0.05728179] [ 0.11277902 0.02706581 0.9932514 0.00213626] [ 0. 0. 0. 1. ]] SLAMing on 27.686502481 meters Centerline goodness : 0.164942 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.06, Z:0.00 [[ 0.99295059 0.03355709 -0.11367959 0.36583388] [-0.03636716 0.99907984 -0.02273563 -0.05851816] [ 0.11281204 0.02670956 0.99325729 0.00190577] [ 0. 0. 0. 1. ]] SLAMing on 27.716502481 meters Centerline goodness : 0.165055 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.06, Z:0.00 [[ 0.99295976 0.03367241 -0.11356529 0.36570828] [-0.03641893 0.99909007 -0.02219658 -0.06017408] [ 0.11271454 0.02617624 0.99328256 0.00186565] [ 0. 0. 0. 1. ]] SLAMing on 27.746502481 meters Centerline goodness : 0.268555 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.06, Z:0.00 [[ 0.99308247 0.02975607 -0.11358606 0.36569088] [-0.0328316 0.99914057 -0.02530238 -0.06229917] [ 0.11273555 0.02885656 0.99320592 0.00174495] [ 0. 0. 0. 1. ]] SLAMing on 27.776502481 meters Centerline goodness : 0.709580 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.06, Z:0.00 [[ 0.99305689 0.02941235 -0.11389874 0.36583948] [-0.03246529 0.9991591 -0.02504209 -0.06457445] [ 0.11306642 0.02856598 0.99317671 0.00234576] [ 0. 0. 0. 1. ]] SLAMing on 27.806502481 meters Centerline goodness : 0.547163 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.07, Z:0.00 [[ 0.993025 0.02867439 -0.11436403 0.36793631] [-0.03175664 0.99917738 -0.02522068 -0.06566337] [ 0.11354676 0.02867658 0.99311872 0.00116172] [ 0. 0. 0. 1. ]] SLAMing on 27.836502481 meters Centerline goodness : 0.285188 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.07, Z:-0.00 [[ 0.99285468 0.03051412 -0.11536236 0.37332471] [-0.03341125 0.99917091 -0.0232632 -0.06555258] [ 0.11455686 0.02695138 0.99305103 -0.00205595] [ 0. 0. 0. 1. ]] SLAMing on 27.866502481 meters Centerline goodness : 0.718178 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.07, Z:-0.00 [[ 0.99285334 0.03059998 -0.11535118 0.37315596] [-0.03348298 0.99917141 -0.02313857 -0.06593758] [ 0.11454756 0.02683551 0.99305524 -0.00184816] [ 0. 0. 0. 1. ]] SLAMing on 27.896502481 meters Centerline goodness : 0.308042 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.07, Z:-0.00 [[ 9.92845987e-01 3.03607364e-02 -1.15477582e-01 3.72512879e-01] [-3.32683676e-02 9.99173998e-01 -2.33353250e-02 -6.61548106e-02] [ 1.14673720e-01 2.70101344e-02 9.93035946e-01 -7.73671460e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.926502481 meters Centerline goodness : 0.308042 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.07, Z:-0.00 [[ 9.92845987e-01 3.03607364e-02 -1.15477582e-01 3.72512879e-01] [-3.32683676e-02 9.99173998e-01 -2.33353250e-02 -6.61548106e-02] [ 1.14673720e-01 2.70101344e-02 9.93035946e-01 -7.73671460e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.956502481 meters Centerline goodness : 0.314971 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.07, Z:-0.00 [[ 9.93526736e-01 3.36879045e-02 -1.08488478e-01 3.79625831e-01] [-3.70667026e-02 9.98883770e-01 -2.92792295e-02 -6.70933692e-02] [ 1.07381024e-01 3.31110075e-02 9.93666431e-01 -1.30228635e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.986502481 meters Centerline goodness : 0.378892 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.07, Z:0.00 [[ 9.93496051e-01 3.37737721e-02 -1.08742490e-01 3.79466916e-01] [-3.71616594e-02 9.98880212e-01 -2.92802674e-02 -6.72338501e-02] [ 1.07631817e-01 3.31308814e-02 9.93638635e-01 6.13500939e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.016502481 meters Centerline goodness : 0.621897 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.07, Z:0.00 [[ 9.93315779e-01 3.81936202e-02 -1.08926633e-01 3.80357701e-01] [-4.11592825e-02 9.98837067e-01 -2.51082869e-02 -6.81961275e-02] [ 1.07840982e-01 2.94237996e-02 9.93732641e-01 3.44859660e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.046502481 meters Centerline goodness : 0.376359 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.07, Z:-0.00 [[ 0.9930967 0.04046098 -0.11009933 0.38443931] [-0.04322595 0.99880415 -0.02284264 -0.07061739] [ 0.10904343 0.0274441 0.99365807 -0.00150269] [ 0. 0. 0. 1. ]] SLAMing on 28.076502481000002 meters Centerline goodness : 0.397370 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.07, Z:-0.00 [[ 0.99304707 0.04037364 -0.11057794 0.38555602] [-0.04312972 0.99881279 -0.02264585 -0.07249227] [ 0.10953236 0.02725759 0.99360942 -0.00173357] [ 0. 0. 0. 1. ]] SLAMing on 28.106502481 meters Centerline goodness : 0.562979 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.08, Z:-0.00 [[ 0.99300655 0.03721118 -0.11204164 0.3894076 ] [-0.04026774 0.99887257 -0.02514161 -0.07616992] [ 0.11097977 0.02947745 0.99338541 -0.00328216] [ 0. 0. 0. 1. ]] SLAMing on 28.136502481 meters Centerline goodness : 0.293080 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.08, Z:-0.00 [[ 0.9929493 0.03700337 -0.1126163 0.390871 ] [-0.04004902 0.99888735 -0.02490271 -0.07778012] [ 0.11156952 0.0292373 0.99332644 -0.00363241] [ 0. 0. 0. 1. ]] SLAMing on 28.166502481000002 meters Centerline goodness : 0.548000 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.08, Z:-0.00 [[ 0.99290318 0.03702274 -0.11301592 0.39103667] [-0.03996572 0.99891551 -0.02388608 -0.08094169] [ 0.11200903 0.02823333 0.99330602 -0.00264692] [ 0. 0. 0. 1. ]] SLAMing on 28.196502481 meters Centerline goodness : 0.526433 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.08, Z:-0.00 [[ 0.99286369 0.03679722 -0.11343573 0.39115683] [-0.03969913 0.99893696 -0.02342936 -0.08366219] [ 0.11245301 0.02776546 0.99326905 -0.00176777] [ 0. 0. 0. 1. ]] SLAMing on 28.226502481 meters Centerline goodness : 0.371442 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:0.00 [[ 9.92944727e-01 3.25534684e-02 -1.14022109e-01 3.90356904e-01] [-3.57847945e-02 9.99010551e-01 -2.64077265e-02 -8.81869983e-02] [ 1.13049627e-01 3.03016705e-02 9.93127177e-01 8.91758373e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.256502481000002 meters Centerline goodness : 0.524271 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:0.00 [[ 0.99305593 0.02877362 -0.11407011 0.38842542] [-0.03229281 0.99905404 -0.02912393 -0.09156501] [ 0.1131242 0.03260534 0.99304572 0.00222576] [ 0. 0. 0. 1. ]] SLAMing on 28.286502481 meters Centerline goodness : 0.333967 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:0.00 [[ 0.9930213 0.02874465 -0.11437851 0.38865978] [-0.03221564 0.99907125 -0.02861433 -0.09366717] [ 0.11344977 0.03209942 0.99302506 0.00276522] [ 0. 0. 0. 1. ]] SLAMing on 28.316502481 meters Centerline goodness : 0.660894 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.10, Z:0.00 [[ 0.99297252 0.02893328 -0.11475383 0.39033126] [-0.03233507 0.99908777 -0.0278941 -0.09505405] [ 0.11384208 0.03140864 0.99300226 0.00200519] [ 0. 0. 0. 1. ]] SLAMing on 28.346502481 meters Centerline goodness : 0.407390 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.10, Z:0.00 [[ 0.99296504 0.02926418 -0.11473463 0.39121329] [-0.03261724 0.99909071 -0.02745654 -0.09531504] [ 0.11382681 0.03100571 0.99301667 0.0011282 ] [ 0. 0. 0. 1. ]] SLAMing on 28.376502481 meters Centerline goodness : 0.707256 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.10, Z:0.00 [[ 9.92925095e-01 2.91715560e-02 -1.15103330e-01 3.92308333e-01] [-3.25251146e-02 9.99096226e-01 -2.73650725e-02 -9.57032617e-02] [ 1.14201021e-01 3.09152162e-02 9.92976523e-01 8.68315341e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.406502481 meters Centerline goodness : 0.245394 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.10, Z:-0.00 [[ 9.93643941e-01 2.61896012e-02 -1.09479786e-01 4.01671967e-01] [-2.91566017e-02 9.99247285e-01 -2.55882194e-02 -1.00161104e-01] [ 1.08727234e-01 2.86176376e-02 9.93659609e-01 -2.30765954e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.436502481 meters Centerline goodness : 0.470881 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.10, Z:-0.00 [[ 9.93795343e-01 3.13058834e-02 -1.06727490e-01 4.10500979e-01] [-3.50114877e-02 9.98841109e-01 -3.30247635e-02 -1.02861599e-01] [ 1.05569935e-01 3.65565444e-02 9.93739708e-01 -9.29611139e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.466502481 meters Centerline goodness : 0.443878 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.10, Z:-0.00 [[ 9.93741578e-01 3.17066395e-02 -1.07109130e-01 4.11252993e-01] [-3.54158587e-02 9.98830738e-01 -3.29070471e-02 -1.02161014e-01] [ 1.05940519e-01 3.64944627e-02 9.93702551e-01 -9.74673972e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.496502481 meters Centerline goodness : 0.436781 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.10, Z:-0.00 [[ 0.99336319 0.03896671 -0.10821818 0.41569032] [-0.04202912 0.99877379 -0.02616238 -0.10285999] [ 0.10706602 0.03053706 0.99378285 -0.00273704] [ 0. 0. 0. 1. ]] SLAMing on 28.526502481 meters Centerline goodness : 0.706085 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.10, Z:-0.00 [[ 0.99310942 0.0427514 -0.10911461 0.41843938] [-0.04546189 0.99871324 -0.02247401 -0.1041534 ] [ 0.10801341 0.02727971 0.99377509 -0.00345353] [ 0. 0. 0. 1. ]] SLAMing on 28.556502481 meters Centerline goodness : 0.247261 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.11, Z:-0.00 [[ 0.99297024 0.04238687 -0.11051451 0.42185357] [-0.04520845 0.99870929 -0.02315068 -0.1062139 ] [ 0.10939058 0.02798412 0.99360485 -0.00462949] [ 0. 0. 0. 1. ]] SLAMing on 28.586502481 meters Centerline goodness : 0.323903 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.11, Z:-0.00 [[ 0.9929166 0.04218978 -0.11107051 0.42306669] [-0.04502238 0.99871844 -0.02311828 -0.10797057] [ 0.10995281 0.02795518 0.9935436 -0.00483141] [ 0. 0. 0. 1. ]] SLAMing on 28.616502481 meters Centerline goodness : 0.242380 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.11, Z:-0.01 [[ 0.99288568 0.0423036 -0.11130337 0.42395519] [-0.04509951 0.99872406 -0.02272199 -0.1096895 ] [ 0.11020013 0.02758006 0.99352668 -0.00525566] [ 0. 0. 0. 1. ]] SLAMing on 28.646502481 meters Centerline goodness : 0.473539 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.11, Z:-0.01 [[ 0.99285028 0.04223342 -0.11164526 0.42520462] [-0.04502313 0.99873063 -0.02258417 -0.11030597] [ 0.11054974 0.02744931 0.99349147 -0.00579584] [ 0. 0. 0. 1. ]] SLAMing on 28.676502481 meters Centerline goodness : 0.404654 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.11, Z:-0.01 [[ 0.99277906 0.04233728 -0.11223767 0.42679166] [-0.04504424 0.99874946 -0.0216919 -0.1130471 ] [ 0.11117894 0.02659092 0.9934446 -0.00596934] [ 0. 0. 0. 1. ]] SLAMing on 28.706502481 meters Centerline goodness : 0.706247 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.12, Z:-0.01 [[ 0.99272691 0.04218651 -0.11275455 0.4276775 ] [-0.04485667 0.99876742 -0.02124894 -0.11532913] [ 0.11171915 0.02615219 0.99339564 -0.00569076] [ 0. 0. 0. 1. ]] SLAMing on 28.736502481 meters Centerline goodness : 0.704754 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.12, Z:-0.01 [[ 0.992845 0.03834049 -0.11308766 0.4277986 ] [-0.04131782 0.99885532 -0.02410157 -0.11854304] [ 0.11203414 0.02860166 0.99329265 -0.00526259] [ 0. 0. 0. 1. ]] SLAMing on 28.766502481 meters Centerline goodness : 0.528790 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.12, Z:-0.00 [[ 0.99281921 0.03807966 -0.11340178 0.42820045] [-0.04102012 0.99887698 -0.02370919 -0.1210089 ] [ 0.11237159 0.02819069 0.99326628 -0.00491035] [ 0. 0. 0. 1. ]] SLAMing on 28.796502481 meters Centerline goodness : 0.703535 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.12, Z:-0.01 [[ 0.99294054 0.03393549 -0.11365504 0.42915165] [-0.03721717 0.99894569 -0.0268772 -0.12299114] [ 0.11262312 0.03091738 0.99315666 -0.00543078] [ 0. 0. 0. 1. ]] SLAMing on 28.826502481 meters Centerline goodness : 0.704340 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.12, Z:-0.01 [[ 0.99287846 0.03337031 -0.11436251 0.43081432] [-0.03667655 0.99896431 -0.02692849 -0.12434413] [ 0.11334545 0.03093114 0.99307405 -0.00562193] [ 0. 0. 0. 1. ]] SLAMing on 28.856502481 meters Centerline goodness : 0.705398 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.13, Z:-0.01 [[ 0.9929749 0.02903131 -0.11470845 0.43184891] [-0.03275429 0.99899166 -0.03070522 -0.1251565 ] [ 0.11370137 0.03424671 0.99292455 -0.00621462] [ 0. 0. 0. 1. ]] SLAMing on 28.886502481 meters Centerline goodness : 0.704993 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.13, Z:-0.01 [[ 0.99292528 0.02858178 -0.11524958 0.43292615] [-0.03231981 0.99900608 -0.03069676 -0.12653642] [ 0.11425766 0.03420443 0.99286215 -0.00613097] [ 0. 0. 0. 1. ]] SLAMing on 28.916502481000002 meters Centerline goodness : 0.702136 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.13, Z:-0.01 [[ 0.99291291 0.02760542 -0.11559367 0.43505536] [-0.03138276 0.99902702 -0.03098601 -0.12811073] [ 0.11462581 0.03439406 0.99281316 -0.00737709] [ 0. 0. 0. 1. ]] SLAMing on 28.946502481 meters Centerline goodness : 0.703229 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.13, Z:-0.01 [[ 0.99288298 0.02749683 -0.11587625 0.43711954] [-0.03126271 0.9990363 -0.03080769 -0.12857174] [ 0.11491747 0.03421104 0.99278577 -0.00879759] [ 0. 0. 0. 1. ]] SLAMing on 28.976502481 meters Centerline goodness : 0.702653 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.13, Z:-0.01 [[ 0.99283533 0.02727895 -0.11633512 0.4385778 ] [-0.03107052 0.99903934 -0.03090353 -0.1287372 ] [ 0.11538035 0.03429671 0.99272912 -0.0093122 ] [ 0. 0. 0. 1. ]] SLAMing on 29.006502481000002 meters Centerline goodness : 0.700624 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.13, Z:-0.01 [[ 0.99277349 0.02692892 -0.11694288 0.44034642] [-0.03075302 0.99904555 -0.03101997 -0.12940153] [ 0.11599593 0.03439215 0.99265408 -0.00983763] [ 0. 0. 0. 1. ]] SLAMing on 29.036502481 meters Centerline goodness : 0.702978 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.13, Z:-0.01 [[ 0.99275546 0.02710273 -0.11705573 0.44025496] [-0.03088672 0.99905334 -0.03063396 -0.13040595] [ 0.11611466 0.0340275 0.99265277 -0.00939392] [ 0. 0. 0. 1. ]] SLAMing on 29.066502481 meters Centerline goodness : 0.702131 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.13, Z:-0.01 [[ 0.99344503 0.02396531 -0.11177043 0.45028283] [-0.02723596 0.99924163 -0.02782754 -0.13481935] [ 0.11101877 0.03068931 0.99334435 -0.00982746] [ 0. 0. 0. 1. ]] SLAMing on 29.096502481 meters Centerline goodness : 0.702466 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.14, Z:-0.01 [[ 0.99339725 0.02383802 -0.11222143 0.45113475] [-0.02709468 0.9992522 -0.02758459 -0.13615115] [ 0.11147995 0.03044306 0.99330028 -0.00969421] [ 0. 0. 0. 1. ]] SLAMing on 29.126502481 meters Centerline goodness : 0.704020 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.14, Z:-0.01 [[ 0.99329387 0.02356842 -0.11318933 0.45353105] [-0.02679069 0.99927552 -0.02703151 -0.13914233] [ 0.11247023 0.02988265 0.99320566 -0.01002504] [ 0. 0. 0. 1. ]] SLAMing on 29.156502481 meters Centerline goodness : 0.703341 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.14, Z:-0.01 [[ 0.99319212 0.02375073 -0.11404082 0.45568753] [-0.02692065 0.99929057 -0.02633702 -0.14161462] [ 0.11333439 0.02922777 0.99312691 -0.01042495] [ 0. 0. 0. 1. ]] SLAMing on 29.186502481 meters Centerline goodness : 0.702935 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.14, Z:-0.01 [[ 0.99312659 0.02375843 -0.11460856 0.45678116] [-0.02693942 0.99929139 -0.02628648 -0.14205308] [ 0.11390282 0.02919329 0.99306289 -0.01039144] [ 0. 0. 0. 1. ]] SLAMing on 29.216502481 meters Centerline goodness : 0.703081 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.14, Z:-0.01 [[ 0.9930654 0.02441353 -0.11500044 0.45723432] [-0.02755949 0.99928598 -0.02584587 -0.14270842] [ 0.11428734 0.02883599 0.99302915 -0.01019074] [ 0. 0. 0. 1. ]] SLAMing on 29.246502481 meters Centerline goodness : 0.703474 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.15, Z:-0.01 [[ 0.99318683 0.02854551 -0.11298266 0.47537663] [-0.0319564 0.99908302 -0.02849411 -0.14528552] [ 0.11206567 0.0319105 0.9931883 -0.01038987] [ 0. 0. 0. 1. ]] SLAMing on 29.276502481 meters Centerline goodness : 0.705409 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.15, Z:-0.01 [[ 0.993133 0.02914305 -0.11330285 0.4767404 ] [-0.03250846 0.99908004 -0.02796912 -0.14648002] [ 0.11238351 0.03146036 0.99316675 -0.01135717] [ 0. 0. 0. 1. ]] SLAMing on 29.306502481 meters Centerline goodness : 0.705760 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.15, Z:-0.01 [[ 0.9930924 0.02907968 -0.11367435 0.47760179] [-0.03244938 0.99908373 -0.02790598 -0.14721066] [ 0.1127587 0.03140188 0.99312607 -0.0114254 ] [ 0. 0. 0. 1. ]] SLAMing on 29.336502481 meters Centerline goodness : 0.706601 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.15, Z:-0.01 [[ 0.99389073 0.02682118 -0.10706003 0.48644455] [-0.02967214 0.99924384 -0.02512576 -0.15084314] [ 0.10630518 0.02814896 0.99393503 -0.01195251] [ 0. 0. 0. 1. ]] SLAMing on 29.366502481 meters Centerline goodness : 0.703816 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.15, Z:-0.01 [[ 0.99386988 0.0268061 -0.10725718 0.48618399] [-0.02964291 0.99924931 -0.02494215 -0.15140077] [ 0.10650807 0.02796867 0.9939184 -0.01104021] [ 0. 0. 0. 1. ]] SLAMing on 29.396502481 meters Centerline goodness : 0.703645 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.15, Z:-0.01 [[ 0.99385928 0.02666021 -0.10739166 0.48632897] [-0.02946026 0.9992639 -0.02457148 -0.15236398] [ 0.10665753 0.02758438 0.99391311 -0.01046886] [ 0. 0. 0. 1. ]] SLAMing on 29.426502481 meters Centerline goodness : 0.703421 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.15, Z:-0.01 [[ 0.99380052 0.02613835 -0.10806159 0.4884118 ] [-0.02897399 0.9992736 -0.02475442 -0.15293358] [ 0.10733606 0.02773193 0.99383596 -0.01118073] [ 0. 0. 0. 1. ]] SLAMing on 29.456502481 meters Centerline goodness : 0.704622 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.16, Z:-0.01 [[ 0.99368163 0.0247262 -0.10947796 0.49326882] [-0.027671 0.99929277 -0.02546132 -0.15566615] [ 0.10877097 0.02832981 0.99366307 -0.01334615] [ 0. 0. 0. 1. ]] SLAMing on 29.486502481 meters Centerline goodness : 0.703067 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.16, Z:-0.01 [[ 0.99358837 0.02418354 -0.11044142 0.49557639] [-0.02714347 0.9993094 -0.02537626 -0.15783635] [ 0.10975146 0.02821132 0.99355862 -0.01359617] [ 0. 0. 0. 1. ]] SLAMing on 29.516502481 meters Centerline goodness : 0.707634 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.16, Z:-0.02 [[ 0.99350357 0.02368499 -0.11130895 0.49853554] [-0.0266756 0.99931998 -0.0254555 -0.16123536] [ 0.11063035 0.02825937 0.99345978 -0.01514146] [ 0. 0. 0. 1. ]] SLAMing on 29.546502481 meters Centerline goodness : 0.707411 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.16, Z:-0.02 [[ 0.99344212 0.02371041 -0.1118507 0.50014933] [-0.02669808 0.9993236 -0.02528926 -0.16190932] [ 0.11117542 0.02810961 0.99340318 -0.01572306] [ 0. 0. 0. 1. ]] SLAMing on 29.576502481 meters Centerline goodness : 0.708948 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.16, Z:-0.01 [[ 0.99330733 0.02792065 -0.11207582 0.50027182] [-0.03042776 0.99932215 -0.02072169 -0.16440353] [ 0.11142129 0.02399322 0.99348358 -0.01464049] [ 0. 0. 0. 1. ]] SLAMing on 29.606502481 meters Centerline goodness : 0.709472 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.16, Z:-0.01 [[ 0.99324848 0.02869764 -0.11240064 0.50027263] [-0.03117317 0.99930725 -0.02032853 -0.16463859] [ 0.11173939 0.02369516 0.99345501 -0.01412402] [ 0. 0. 0. 1. ]] SLAMing on 29.636502481 meters Centerline goodness : 0.707584 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.17, Z:-0.01 [[ 0.99319206 0.02868892 -0.11290032 0.5006845 ] [-0.03117448 0.99930756 -0.02031161 -0.16520934] [ 0.11223942 0.02369294 0.99339869 -0.01348383] [ 0. 0. 0. 1. ]] SLAMing on 29.666502481000002 meters Centerline goodness : 0.709952 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.01 [[ 0.99349777 0.03200438 -0.10926066 0.51379561] [-0.03503196 0.99905044 -0.02590313 -0.16789539] [ 0.1083279 0.02956231 0.99367557 -0.0131951 ] [ 0. 0. 0. 1. ]] SLAMing on 29.696502481 meters Centerline goodness : 0.709970 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.01 [[ 0.99336108 0.03314996 -0.11015831 0.51488956] [-0.03621633 0.99900694 -0.02595215 -0.16850584] [ 0.10918861 0.02976938 0.99357518 -0.01208609] [ 0. 0. 0. 1. ]] SLAMing on 29.726502481 meters Centerline goodness : 0.708968 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.01 [[ 0.99310639 0.03785266 -0.11093638 0.51627168] [-0.0405584 0.99892974 -0.0222349 -0.16875439] [ 0.109976 0.02658103 0.99357875 -0.0113898 ] [ 0. 0. 0. 1. ]] SLAMing on 29.756502481000002 meters Centerline goodness : 0.706348 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.01 [[ 0.99296685 0.03874414 -0.11187369 0.51812186] [-0.04155867 0.99887278 -0.02293578 -0.1677257 ] [ 0.11085895 0.02742379 0.99345771 -0.01103501] [ 0. 0. 0. 1. ]] SLAMing on 29.786502481 meters Centerline goodness : 0.708912 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.01 [[ 0.99269943 0.04111266 -0.11339132 0.52012155] [-0.04395658 0.99877564 -0.02269445 -0.1701507 ] [ 0.11231946 0.02751306 0.99329118 -0.00926422] [ 0. 0. 0. 1. ]] SLAMing on 29.816502481 meters Centerline goodness : 0.708912 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.01 [[ 0.99269943 0.04111266 -0.11339132 0.52012155] [-0.04395658 0.99877564 -0.02269445 -0.1701507 ] [ 0.11231946 0.02751306 0.99329118 -0.00926422] [ 0. 0. 0. 1. ]] SLAMing on 29.846502481 meters Centerline goodness : 0.710251 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.01 [[ 0.99252603 0.04103564 -0.11492677 0.52252257] [-0.04425663 0.99869174 -0.02561546 -0.17214565] [ 0.11372527 0.03051028 0.99304365 -0.00816191] [ 0. 0. 0. 1. ]] SLAMing on 29.876502481 meters Centerline goodness : 0.709672 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.01 [[ 0.99243963 0.04153887 -0.1154907 0.52377715] [-0.04466665 0.99869836 -0.0246267 -0.17402125] [ 0.11431741 0.02959909 0.99300323 -0.00851335] [ 0. 0. 0. 1. ]] SLAMing on 29.906502481 meters Centerline goodness : 0.710432 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.18, Z:-0.01 [[ 0.99237047 0.04182432 -0.11598095 0.52577902] [-0.044669 0.99875877 -0.02203638 -0.17744475] [ 0.11491533 0.027049 0.99300696 -0.01035314] [ 0. 0. 0. 1. ]] SLAMing on 29.936502481 meters Centerline goodness : 0.707560 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.18, Z:-0.01 [[ 0.99237545 0.04182452 -0.11593826 0.52564964] [-0.04450627 0.9987959 -0.02063828 -0.1791044 ] [ 0.11493547 0.02564091 0.99304198 -0.01060668] [ 0. 0. 0. 1. ]] SLAMing on 29.966502481 meters Centerline goodness : 0.707665 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.01 [[ 0.99320335 0.04282926 -0.10822552 0.53417493] [-0.04498281 0.99883385 -0.01753525 -0.18710584] [ 0.10734829 0.02228436 0.99397171 -0.01151676] [ 0. 0. 0. 1. ]] SLAMing on 29.996502481 meters Centerline goodness : 0.708191 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.01 [[ 0.99327762 0.03914182 -0.10893801 0.53439915] [-0.04179768 0.99887936 -0.02220294 -0.18678681] [ 0.10794687 0.02660704 0.99380055 -0.01016013] [ 0. 0. 0. 1. ]] SLAMing on 30.026502481 meters Centerline goodness : 0.704820 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.19, Z:-0.01 [[ 0.99395035 0.03949793 -0.10248226 0.54400588] [-0.04195335 0.9988792 -0.02191488 -0.19232682] [ 0.1015018 0.02608177 0.9944934 -0.00965345] [ 0. 0. 0. 1. ]] SLAMing on 30.056502481 meters Centerline goodness : 0.704130 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.19, Z:-0.01 [[ 0.99392497 0.03962775 -0.10267807 0.54373462] [-0.04207419 0.99887728 -0.02177026 -0.19235282] [ 0.10170009 0.02595811 0.99447638 -0.00884616] [ 0. 0. 0. 1. ]] SLAMing on 30.086502481 meters Centerline goodness : 0.702108 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.19, Z:-0.01 [[ 0.99380799 0.04215423 -0.10280422 0.54451871] [-0.04415994 0.99887447 -0.01731165 -0.19342296] [ 0.10195875 0.02174429 0.99455095 -0.00964665] [ 0. 0. 0. 1. ]] SLAMing on 30.116502481 meters Centerline goodness : 0.703208 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.19, Z:-0.01 [[ 0.99377176 0.04245717 -0.10302951 0.54574663] [-0.04446217 0.99886228 -0.01724148 -0.19282988] [ 0.10218027 0.02171501 0.99452886 -0.01059229] [ 0. 0. 0. 1. ]] SLAMing on 30.146502481 meters Centerline goodness : 0.702998 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.19, Z:-0.01 [[ 0.99367402 0.04240297 -0.10399001 0.54881432] [-0.04454032 0.99883965 -0.01831706 -0.19161038] [ 0.10309265 0.02283293 0.99440966 -0.01191833] [ 0. 0. 0. 1. ]] SLAMing on 30.176502481 meters Centerline goodness : 0.703342 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.19, Z:-0.01 [[ 0.99363219 0.0424658 -0.10436343 0.54921566] [-0.04467386 0.99882262 -0.01891072 -0.19120694] [ 0.10343749 0.02345262 0.99435942 -0.01125933] [ 0. 0. 0. 1. ]] SLAMing on 30.206502481 meters Centerline goodness : 0.704645 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.19, Z:-0.01 [[ 0.99364674 0.04214577 -0.1043546 0.54885879] [-0.04460764 0.99877599 -0.02136996 -0.18668404] [ 0.10332622 0.02588921 0.99431054 -0.01028559] [ 0. 0. 0. 1. ]] SLAMing on 30.236502481 meters Centerline goodness : 0.705305 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.19, Z:-0.01 [[ 0.99363814 0.04501271 -0.10323321 0.54680339] [-0.04703579 0.99874431 -0.01724616 -0.18629345] [ 0.10232728 0.0219921 0.99450765 -0.01033479] [ 0. 0. 0. 1. ]] SLAMing on 30.266502481 meters Centerline goodness : 0.703057 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.01 [[ 0.99373996 0.04692399 -0.10138558 0.54408484] [-0.04850431 0.99873605 -0.01317732 -0.1848937 ] [ 0.1006391 0.01801247 0.99475993 -0.01137371] [ 0. 0. 0. 1. ]] SLAMing on 30.296502481 meters Centerline goodness : 0.701879 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.01 [[ 0.99382825 0.04605832 -0.10091598 0.54334652] [-0.04765276 0.99877347 -0.0134451 -0.1832089 ] [ 0.10017294 0.01817105 0.9948041 -0.01167461] [ 0. 0. 0. 1. ]] SLAMing on 30.326502481 meters Centerline goodness : 0.702829 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.01 [[ 0.99385592 0.04529647 -0.10098829 0.5437534 ] [-0.04691289 0.9988052 -0.01368782 -0.18283734] [ 0.10024762 0.01834138 0.99479345 -0.01208392] [ 0. 0. 0. 1. ]] SLAMing on 30.356502481 meters Centerline goodness : 0.705472 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.01 [[ 0.99386405 0.0444413 -0.1012878 0.54465419] [-0.0460315 0.9988499 -0.01341594 -0.1827756 ] [ 0.10057509 0.01799605 0.9947667 -0.01278776] [ 0. 0. 0. 1. ]] SLAMing on 30.386502481 meters Centerline goodness : 0.700964 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.01 [[ 0.99385478 0.04443553 -0.10138126 0.54534533] [-0.04602834 0.99884992 -0.01342522 -0.18196576] [ 0.10066811 0.01800913 0.99475706 -0.01346277] [ 0. 0. 0. 1. ]] SLAMing on 30.416502481000002 meters Centerline goodness : 0.702992 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.02 [[ 0.99385907 0.04665688 -0.10033584 0.54436005] [-0.04775715 0.99882203 -0.0085907 -0.18150325] [ 0.09981683 0.0133297 0.99491654 -0.01502196] [ 0. 0. 0. 1. ]] SLAMing on 30.446502481 meters Centerline goodness : 0.703689 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.02 [[ 0.99385614 0.04657143 -0.1004046 0.54490645] [-0.0476696 0.99882644 -0.00856491 -0.18111522] [ 0.09988789 0.01329854 0.99490982 -0.01559753] [ 0. 0. 0. 1. ]] SLAMing on 30.476502481 meters Centerline goodness : 0.704430 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.02 [[ 0.99380855 0.04620065 -0.10104489 0.54646691] [-0.04726997 0.99884839 -0.00821278 -0.18216969] [ 0.10054909 0.01293832 0.99484797 -0.01629607] [ 0. 0. 0. 1. ]] SLAMing on 30.506502481000002 meters Centerline goodness : 0.703607 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.02 [[ 0.99392911 0.04470885 -0.10052883 0.54477116] [-0.04587127 0.99890425 -0.00928025 -0.18090767] [ 0.10000377 0.0138353 0.99489086 -0.01546564] [ 0. 0. 0. 1. ]] SLAMing on 30.536502481 meters Centerline goodness : 0.701815 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.01 [[ 0.99399337 0.04342544 -0.10045601 0.54417937] [-0.04475373 0.99893742 -0.01100603 -0.1781699 ] [ 0.09987133 0.0154357 0.99488062 -0.01482022] [ 0. 0. 0. 1. ]] SLAMing on 30.566502481 meters Centerline goodness : 0.702194 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.02 [[ 0.99471977 0.04795962 -0.09073292 0.54994077] [-0.04856674 0.99880983 -0.004494 -0.17874079] [ 0.09040941 0.00887687 0.99586512 -0.01658787] [ 0. 0. 0. 1. ]] SLAMing on 30.596502481 meters Centerline goodness : 0.700241 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.02 [[ 9.94650064e-01 5.10585297e-02 -8.98013148e-02 5.48422288e-01] [-5.13242059e-02 9.98681833e-01 -6.50309779e-04 -1.78283851e-01] [ 8.96497378e-02 5.25581183e-03 9.95959488e-01 -1.66931858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.626502481 meters Centerline goodness : 0.704006 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.02 [[ 0.99446656 0.05154161 -0.09154085 0.55150579] [-0.05201111 0.99864272 -0.00274917 -0.17708321] [ 0.09127491 0.0074951 0.99579753 -0.0158502 ] [ 0. 0. 0. 1. ]] SLAMing on 30.656502481 meters Centerline goodness : 0.705109 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.02 [[ 0.9943138 0.05187325 -0.09300125 0.55402756] [-0.05248474 0.99861315 -0.00413964 -0.17700061] [ 0.09265754 0.00899724 0.99565739 -0.01508451] [ 0. 0. 0. 1. ]] SLAMing on 30.686502481 meters Centerline goodness : 0.704799 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.01 [[ 0.99404712 0.05598325 -0.09346766 0.55523516] [-0.05643134 0.99840415 -0.00215589 -0.1748634 ] [ 0.09319781 0.00741756 0.99561998 -0.01453991] [ 0. 0. 0. 1. ]] SLAMing on 30.716502481 meters Centerline goodness : 0.705920 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.01 [[ 9.93901077e-01 5.90835476e-02 -9.31116747e-02 5.54984290e-01] [-5.93218684e-02 9.98238885e-01 2.08628602e-04 -1.72173547e-01] [ 9.29600209e-02 5.31620232e-03 9.95655650e-01 -1.44474610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.746502481 meters Centerline goodness : 0.704433 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.17, Z:-0.02 [[ 0.99391399 0.06629353 -0.08797815 0.56685617] [-0.0664127 0.997791 0.00157518 -0.16861122] [ 0.08788824 0.00427727 0.99612116 -0.01611193] [ 0. 0. 0. 1. ]] SLAMing on 30.776502481 meters Centerline goodness : 0.704195 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.17, Z:-0.02 [[ 0.99354904 0.07115203 -0.0883046 0.56879603] [-0.07100992 0.99746428 0.00475366 -0.16714333] [ 0.08841892 0.00154751 0.99608218 -0.01682002] [ 0. 0. 0. 1. ]] SLAMing on 30.806502481 meters Centerline goodness : 0.705430 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.17, Z:-0.02 [[ 0.99339966 0.071556 -0.08964854 0.5719813 ] [-0.0714927 0.99743342 0.00392106 -0.16705877] [ 0.08969902 0.00251404 0.99596574 -0.01724338] [ 0. 0. 0. 1. ]] SLAMing on 30.836502481 meters Centerline goodness : 0.707268 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.17, Z:-0.02 [[ 0.99320508 0.07217723 -0.09129137 0.57558438] [-0.07214937 0.99738731 0.00360965 -0.16842606] [ 0.09131339 0.00300149 0.99581768 -0.01752791] [ 0. 0. 0. 1. ]] SLAMing on 30.866502481 meters Centerline goodness : 0.706170 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.17, Z:-0.02 [[ 0.99295467 0.07380271 -0.09270481 0.57873628] [-0.07372817 0.99726939 0.00423344 -0.17021309] [ 0.09276411 0.00263134 0.99568464 -0.01787338] [ 0. 0. 0. 1. ]] SLAMing on 30.896502481 meters Centerline goodness : 0.706427 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.17, Z:-0.02 [[ 0.99287523 0.07443562 -0.09304901 0.57991261] [-0.07446548 0.9972186 0.0031559 -0.16701516] [ 0.09302512 0.00379552 0.99565653 -0.01800093] [ 0. 0. 0. 1. ]] SLAMing on 30.926502481 meters Centerline goodness : 0.705953 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.17, Z:-0.02 [[ 0.99287942 0.07449701 -0.09295513 0.57939506] [-0.07457707 0.99721182 0.00261692 -0.16575025] [ 0.0928909 0.00433403 0.99566686 -0.01746893] [ 0. 0. 0. 1. ]] SLAMing on 30.956502481 meters Centerline goodness : 0.704157 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.16, Z:-0.02 [[ 0.99304671 0.07141549 -0.09358451 0.57968457] [-0.07202079 0.99739831 -0.00310222 -0.1630923 ] [ 0.09311949 0.00982068 0.99560651 -0.01623203] [ 0. 0. 0. 1. ]] SLAMing on 30.986502481 meters Centerline goodness : 0.704227 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.16, Z:-0.01 [[ 0.99310621 0.0686346 -0.09502282 0.5802307 ] [-0.06980216 0.99752013 -0.00901427 -0.16207352] [ 0.09416849 0.01558492 0.99543428 -0.01317569] [ 0. 0. 0. 1. ]] SLAMing on 31.016502481 meters Centerline goodness : 0.703355 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.16, Z:-0.01 [[ 0.993103 0.06893959 -0.09483542 0.57856333] [-0.07016924 0.99748805 -0.009689 -0.16250648] [ 0.09392925 0.0162767 0.99544581 -0.01124912] [ 0. 0. 0. 1. ]] SLAMing on 31.046502481 meters Centerline goodness : 0.705153 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.16, Z:-0.01 [[ 0.99303609 0.06933409 -0.09524763 0.57932949] [-0.07061502 0.9974521 -0.01014024 -0.16196898] [ 0.09430188 0.01679553 0.99540196 -0.01098656] [ 0. 0. 0. 1. ]] SLAMing on 31.076502481 meters Centerline goodness : 0.706959 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.16, Z:-0.01 [[ 0.99279695 0.07128027 -0.09629819 0.58262559] [-0.07247689 0.99732965 -0.00898159 -0.16347585] [ 0.09540083 0.01589629 0.99531201 -0.01235893] [ 0. 0. 0. 1. ]] SLAMing on 31.106502481 meters Centerline goodness : 0.705952 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.16, Z:-0.01 [[ 0.99269966 0.07154213 -0.09710362 0.58506579] [-0.07273094 0.99731318 -0.00875431 -0.16459293] [ 0.09621642 0.01575283 0.99523578 -0.0133881 ] [ 0. 0. 0. 1. ]] SLAMing on 31.136502481 meters Centerline goodness : 0.708491 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.01 [[ 0.99277899 0.06887151 -0.09821708 0.58666044] [-0.07035112 0.99745393 -0.01167775 -0.16751412] [ 0.09716275 0.0185031 0.9950965 -0.01320564] [ 0. 0. 0. 1. ]] SLAMing on 31.166502481000002 meters Centerline goodness : 0.708103 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.01 [[ 0.99347383 0.07025357 -0.08985652 0.59407711] [-0.07134162 0.99741178 -0.00895084 -0.17327566] [ 0.08899512 0.01530293 0.9959145 -0.0143985 ] [ 0. 0. 0. 1. ]] SLAMing on 31.196502481 meters Centerline goodness : 0.708057 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.01 [[ 0.99353081 0.06991279 -0.08949154 0.59286024] [-0.07103768 0.99742893 -0.00944315 -0.17267801] [ 0.08860125 0.01573933 0.99594282 -0.01367512] [ 0. 0. 0. 1. ]] SLAMing on 31.226502481 meters Centerline goodness : 0.709130 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.01 [[ 0.99350716 0.07046643 -0.08931967 0.59263596] [-0.07161634 0.99738478 -0.00973132 -0.17177718] [ 0.08840035 0.01606488 0.99595547 -0.013484 ] [ 0. 0. 0. 1. ]] SLAMing on 31.256502481000002 meters Centerline goodness : 0.709865 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.01 [[ 0.99337139 0.07150248 -0.09000373 0.59452661] [-0.07267258 0.99730783 -0.00978704 -0.17157053] [ 0.08906163 0.01626297 0.99589334 -0.01384198] [ 0. 0. 0. 1. ]] SLAMing on 31.286502481 meters Centerline goodness : 0.711936 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99304505 0.07392278 -0.0916349 0.59891622] [-0.07510425 0.99713036 -0.00950789 -0.1734317 ] [ 0.09066909 0.01632394 0.99574728 -0.01486979] [ 0. 0. 0. 1. ]] SLAMing on 31.316502481 meters Centerline goodness : 0.713487 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99285968 0.07499573 -0.09276473 0.60136104] [-0.07621652 0.99704427 -0.00968309 -0.17432967] [ 0.09176435 0.01668416 0.99564097 -0.01489118] [ 0. 0. 0. 1. ]] SLAMing on 31.346502481 meters Centerline goodness : 0.716683 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99264952 0.07662941 -0.09367429 0.60329979] [-0.07791498 0.99690845 -0.01013903 -0.17357798] [ 0.09260775 0.01736313 0.99555127 -0.01456907] [ 0. 0. 0. 1. ]] SLAMing on 31.376502481 meters Centerline goodness : 0.714827 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99262521 0.0769132 -0.09369924 0.60321595] [-0.07826934 0.99687288 -0.01087987 -0.1717066 ] [ 0.09256943 0.01813341 0.9955411 -0.01408152] [ 0. 0. 0. 1. ]] SLAMing on 31.406502481 meters Centerline goodness : 0.716268 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99264511 0.07641893 -0.09389262 0.6025217 ] [-0.07791911 0.99688242 -0.01241145 -0.17005249] [ 0.09265143 0.01963619 0.99550496 -0.01249712] [ 0. 0. 0. 1. ]] SLAMing on 31.436502481 meters Centerline goodness : 0.715217 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.9927865 0.07313823 -0.09500406 0.603079 ] [-0.07513136 0.99701885 -0.01756985 -0.17033794] [ 0.09343581 0.02458089 0.99532182 -0.01079125] [ 0. 0. 0. 1. ]] SLAMing on 31.466502481 meters Centerline goodness : 0.714574 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99272873 0.07331528 -0.09547009 0.6038304 ] [-0.07529736 0.99701066 -0.01732195 -0.17164562] [ 0.09391473 0.02438464 0.99528157 -0.01066497] [ 0. 0. 0. 1. ]] SLAMing on 31.496502481 meters Centerline goodness : 0.713137 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99268694 0.07304525 -0.09610949 0.60493537] [-0.07498791 0.99704369 -0.01675393 -0.17272926] [ 0.09460157 0.02383846 0.99522976 -0.01068882] [ 0. 0. 0. 1. ]] SLAMing on 31.526502481 meters Centerline goodness : 0.712496 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99272896 0.07275024 -0.09589902 0.60389869] [-0.07466451 0.99707184 -0.01652166 -0.1721513 ] [ 0.09441626 0.02356179 0.99525394 -0.00996181] [ 0. 0. 0. 1. ]] SLAMing on 31.556502481 meters Centerline goodness : 0.708592 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99299119 0.07115769 -0.09436673 0.60005183] [-0.07287201 0.99723085 -0.0148423 -0.17049013] [ 0.09304928 0.02161496 0.99542686 -0.00928049] [ 0. 0. 0. 1. ]] SLAMing on 31.586502481 meters Centerline goodness : 0.709102 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99313561 0.06984104 -0.09382904 0.59826476] [-0.07153126 0.99732901 -0.01476886 -0.17105467] [ 0.09254695 0.02137919 0.99547878 -0.00859639] [ 0. 0. 0. 1. ]] SLAMing on 31.616502481 meters Centerline goodness : 0.708145 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99323723 0.0687756 -0.09353993 0.59687362] [-0.07039322 0.99741965 -0.01410122 -0.17342528] [ 0.09232875 0.02059044 0.99551566 -0.00797112] [ 0. 0. 0. 1. ]] SLAMing on 31.646502481 meters Centerline goodness : 0.706131 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99351297 0.06434075 -0.09376699 0.59667355] [-0.0663234 0.99763254 -0.01818052 -0.17413912] [ 0.09237525 0.02428153 0.99542816 -0.00769337] [ 0. 0. 0. 1. ]] SLAMing on 31.676502481 meters Centerline goodness : 0.708087 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99350242 0.06373421 -0.09429149 0.59815141] [-0.06585395 0.99763795 -0.01953935 -0.17245088] [ 0.09282344 0.02562186 0.99535287 -0.00809254] [ 0. 0. 0. 1. ]] SLAMing on 31.706502481 meters Centerline goodness : 0.706511 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99340001 0.0668151 -0.09323177 0.59636183] [-0.06852744 0.99753215 -0.01528396 -0.17293844] [ 0.09198049 0.02157202 0.99552712 -0.00805631] [ 0. 0. 0. 1. ]] SLAMing on 31.736502481 meters Centerline goodness : 0.706511 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99340001 0.0668151 -0.09323177 0.59636183] [-0.06852744 0.99753215 -0.01528396 -0.17293844] [ 0.09198049 0.02157202 0.99552712 -0.00805631] [ 0. 0. 0. 1. ]] SLAMing on 31.766502481 meters Centerline goodness : 0.706484 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99328341 0.06984657 -0.09224706 0.59528187] [-0.07132428 0.99737084 -0.01281658 -0.16937336] [ 0.09110934 0.01930995 0.99565366 -0.0082405 ] [ 0. 0. 0. 1. ]] SLAMing on 31.796502481 meters Centerline goodness : 0.706160 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.01 [[ 0.99308215 0.07337546 -0.09167271 0.59462297] [-0.07448432 0.99718398 -0.00872901 -0.16978795] [ 0.09077406 0.0154968 0.99575093 -0.00831944] [ 0. 0. 0. 1. ]] SLAMing on 31.826502481 meters Centerline goodness : 0.704967 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99287968 0.07421426 -0.09317824 0.59716162] [-0.07554798 0.99708298 -0.0108639 -0.1677303 ] [ 0.09210018 0.01782598 0.99559017 -0.00726864] [ 0. 0. 0. 1. ]] SLAMing on 31.856502481 meters Centerline goodness : 0.702354 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.01 [[ 0.99283668 0.07443581 -0.09345931 0.59732747] [-0.07594515 0.9970312 -0.01269335 -0.16526427] [ 0.092237 0.0197002 0.99554218 -0.00616585] [ 0. 0. 0. 1. ]] SLAMing on 31.886502481 meters Centerline goodness : 0.701014 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.16, Z:-0.01 [[ 0.99283621 0.07549448 -0.09261128 0.59638397] [-0.07674605 0.99700029 -0.01002293 -0.16408339] [ 0.09157679 0.01705868 0.99565189 -0.00687436] [ 0. 0. 0. 1. ]] SLAMing on 31.916502481000002 meters Centerline goodness : 0.700840 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.16, Z:-0.01 [[ 0.99287363 0.07514475 -0.09249444 0.59686943] [-0.07643858 0.99701878 -0.01052088 -0.16173208] [ 0.09142811 0.01751605 0.99565762 -0.00766962] [ 0. 0. 0. 1. ]] SLAMing on 31.946502481 meters Centerline goodness : 0.702451 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.16, Z:-0.01 [[ 0.99296069 0.07626817 -0.09062143 0.59510463] [-0.07706849 0.99701139 -0.00536016 -0.16190495] [ 0.08994179 0.01230649 0.99587099 -0.01015874] [ 0. 0. 0. 1. ]] SLAMing on 31.976502481 meters Centerline goodness : 0.700571 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.16, Z:-0.01 [[ 0.9931217 0.07493367 -0.08996793 0.59380687] [-0.07575908 0.99710934 -0.00579011 -0.16085614] [ 0.08927399 0.01256617 0.99592783 -0.01031972] [ 0. 0. 0. 1. ]] SLAMing on 32.006502481 meters Centerline goodness : 0.698659 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.16, Z:-0.01 [[ 0.99360334 0.07103862 -0.0877833 0.58861562] [-0.07202341 0.99737006 -0.00809838 -0.15738114] [ 0.08697714 0.01436903 0.99610668 -0.00925727] [ 0. 0. 0. 1. ]] SLAMing on 32.036502481 meters Centerline goodness : 0.698205 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.01 [[ 0.99373347 0.07007089 -0.08708541 0.58705168] [-0.07115127 0.99742161 -0.00936067 -0.15485188] [ 0.08620496 0.01549825 0.99615687 -0.00877743] [ 0. 0. 0. 1. ]] SLAMing on 32.066502481 meters Centerline goodness : 0.698516 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.15, Z:-0.01 [[ 0.9937191 0.0723917 -0.08533344 0.58468096] [-0.0732986 0.99728155 -0.00753885 -0.1500104 ] [ 0.08455571 0.01374632 0.99632393 -0.00907812] [ 0. 0. 0. 1. ]] SLAMing on 32.096502481 meters Centerline goodness : 0.697433 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.01 [[ 0.99348176 0.07591806 -0.085032 0.58567686] [-0.07656932 0.99705447 -0.0044193 -0.14823575] [ 0.08444604 0.01090134 0.99636842 -0.01031022] [ 0. 0. 0. 1. ]] SLAMing on 32.126502481 meters Centerline goodness : 0.700209 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.01 [[ 0.99296162 0.08178139 -0.08566809 0.58963706] [-0.08231683 0.99660247 -0.00273045 -0.14500311] [ 0.08515373 0.00976316 0.99631999 -0.01210597] [ 0. 0. 0. 1. ]] SLAMing on 32.156502481 meters Centerline goodness : 0.697783 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.14, Z:-0.01 [[ 0.99273765 0.08332854 -0.08676585 0.5921615 ] [-0.08405358 0.99645001 -0.00473035 -0.14234586] [ 0.08606366 0.01198898 0.9962175 -0.01155783] [ 0. 0. 0. 1. ]] SLAMing on 32.186502481 meters Centerline goodness : 0.698727 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.14, Z:-0.01 [[ 0.99219363 0.08943411 -0.08690995 0.59333695] [-0.0901229 0.99592251 -0.00402633 -0.13710755] [ 0.08619548 0.01182748 0.99620804 -0.01021497] [ 0. 0. 0. 1. ]] SLAMing on 32.216502481 meters Centerline goodness : 0.700138 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.13, Z:-0.01 [[ 0.99205047 0.09082982 -0.08709652 0.5941746 ] [-0.09174371 0.99576118 -0.00653971 -0.13219948] [ 0.08613333 0.01447828 0.99617841 -0.00947296] [ 0. 0. 0. 1. ]] SLAMing on 32.246502481 meters Centerline goodness : 0.699206 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.13, Z:-0.01 [[ 0.99145501 0.09716225 -0.08704281 0.59496809] [-0.09802766 0.99516729 -0.00571357 -0.12682429] [ 0.08606702 0.01419735 0.99618819 -0.00796169] [ 0. 0. 0. 1. ]] SLAMing on 32.276502481 meters Centerline goodness : 0.699649 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.12, Z:-0.01 [[ 0.9906399 0.10403956 -0.08836486 0.59870477] [-0.10486738 0.9944748 -0.00476533 -0.12306734] [ 0.08738085 0.01398732 0.99607678 -0.00675852] [ 0. 0. 0. 1. ]] SLAMing on 32.306502481 meters Centerline goodness : 0.702047 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.12, Z:-0.01 [[ 0.99038174 0.10532233 -0.08972857 0.60182447] [-0.10637228 0.99430182 -0.0069875 -0.12040274] [ 0.08848134 0.01646493 0.99594174 -0.00628698] [ 0. 0. 0. 1. ]] SLAMing on 32.336502481000004 meters Centerline goodness : 0.703231 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.12, Z:-0.01 [[ 0.98994834 0.10816651 -0.09111687 0.60532424] [-0.10950116 0.99393872 -0.00976335 -0.11655759] [ 0.08950852 0.01964262 0.99579234 -0.00552327] [ 0. 0. 0. 1. ]] SLAMing on 32.366502481 meters Centerline goodness : 0.702294 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.11, Z:-0.01 [[ 0.98987551 0.10836461 -0.09167103 0.60679085] [-0.10987303 0.99387845 -0.01155619 -0.11368422] [ 0.08985758 0.02151136 0.99572229 -0.00529491] [ 0. 0. 0. 1. ]] SLAMing on 32.396502481 meters Centerline goodness : 0.704576 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.11, Z:-0.01 [[ 0.98989574 0.10846434 -0.09133409 0.60660195] [-0.11009278 0.9938367 -0.01296915 -0.11053858] [ 0.08936448 0.02289333 0.99573585 -0.00503305] [ 0. 0. 0. 1. ]] SLAMing on 32.426502481 meters Centerline goodness : 0.705456 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.11, Z:-0.00 [[ 0.9899184 0.10811878 -0.09149799 0.60686739] [-0.10978752 0.99386487 -0.01339086 -0.11030399] [ 0.08948884 0.02330119 0.99571522 -0.00495088] [ 0. 0. 0. 1. ]] SLAMing on 32.456502481 meters Centerline goodness : 0.703016 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.11, Z:-0.00 [[ 0.99032469 0.10405322 -0.09181465 0.60691639] [-0.10610392 0.99419695 -0.01773067 -0.10956613] [ 0.08943691 0.02730101 0.99561825 -0.00489977] [ 0. 0. 0. 1. ]] SLAMing on 32.486502481 meters Centerline goodness : 0.703166 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.11, Z:-0.01 [[ 0.99086169 0.09933848 -0.0912413 0.60521404] [-0.10166858 0.99459148 -0.02124359 -0.10999107] [ 0.08863751 0.03032583 0.9956022 -0.00505597] [ 0. 0. 0. 1. ]] SLAMing on 32.516502481 meters Centerline goodness : 0.703592 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.11, Z:-0.00 [[ 0.99120416 0.09545138 -0.09166977 0.60529148] [-0.098182 0.99483542 -0.02574447 -0.10900822] [ 0.08873899 0.03451835 0.99545662 -0.00463991] [ 0. 0. 0. 1. ]] SLAMing on 32.546502481 meters Centerline goodness : 0.702355 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.11, Z:-0.00 [[ 0.99159542 0.09134672 -0.09162042 0.60401567] [-0.09442468 0.9950849 -0.02983328 -0.10886833] [ 0.08844492 0.03823377 0.99534701 -0.00371016] [ 0. 0. 0. 1. ]] SLAMing on 32.576502481 meters Centerline goodness : 0.703533 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.11, Z:-0.00 [[ 0.99164202 0.09110043 -0.09136095 0.60325064] [-0.09413139 0.99512483 -0.02942549 -0.10913323] [ 0.08823488 0.03777949 0.995383 -0.0035027 ] [ 0. 0. 0. 1. ]] SLAMing on 32.606502481 meters Centerline goodness : 0.704942 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.11, Z:-0.00 [[ 0.99173401 0.09078918 -0.09066965 0.60242892] [-0.09372354 0.99518627 -0.02863888 -0.10909858] [ 0.08763309 0.03690003 0.99546915 -0.00430041] [ 0. 0. 0. 1. ]] SLAMing on 32.636502481 meters Centerline goodness : 0.704544 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.11, Z:-0.00 [[ 0.99171402 0.09085056 -0.09082665 0.60244586] [-0.09379869 0.99517667 -0.02872642 -0.10972484] [ 0.08777875 0.03700781 0.99545232 -0.00386406] [ 0. 0. 0. 1. ]] SLAMing on 32.666502481 meters Centerline goodness : 0.705394 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.11, Z:-0.00 [[ 0.99172776 0.08895513 -0.09253668 0.60427059] [-0.09249075 0.99511083 -0.03463959 -0.10867432] [ 0.08900288 0.04291183 0.99510656 -0.00128436] [ 0. 0. 0. 1. ]] SLAMing on 32.696502481 meters Centerline goodness : 0.705608 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.11, Z:-0.00 [[ 0.99140302 0.09274064 -0.09229967 0.60402563] [-0.09588759 0.99493224 -0.03025569 -0.11042157] [ 0.08902599 0.03884598 0.9952715 -0.00106429] [ 0. 0. 0. 1. ]] SLAMing on 32.726502481 meters Centerline goodness : 0.706228 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.11, Z:-0.00 [[ 0.99115159 0.09431853 -0.0933945 0.60717337] [-0.09752197 0.99477075 -0.03034157 -0.11057284] [ 0.09004435 0.03918111 0.99516675 -0.00187849] [ 0. 0. 0. 1. ]] SLAMing on 32.756502481 meters Centerline goodness : 0.706185 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.11, Z:-0.00 [[ 0.99097496 0.09547597 -0.09409021 0.60937738] [-0.09863695 0.99468533 -0.02952697 -0.11245788] [ 0.09077103 0.03854126 0.99512572 -0.00293245] [ 0. 0. 0. 1. ]] SLAMing on 32.786502481 meters Centerline goodness : 0.703427 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.11, Z:-0.00 [[ 0.9909184 0.09578847 -0.09436783 0.61018233] [-0.09895383 0.99465632 -0.02944391 -0.11272214] [ 0.09104317 0.03851457 0.99510189 -0.00320212] [ 0. 0. 0. 1. ]] SLAMing on 32.816502481 meters Centerline goodness : 0.705724 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.11, Z:-0.00 [[ 0.99090118 0.09594305 -0.09439162 0.61028346] [-0.09907427 0.99465578 -0.02905449 -0.11383836] [ 0.0910996 0.03814191 0.99511108 -0.00333021] [ 0. 0. 0. 1. ]] SLAMing on 32.846502481 meters Centerline goodness : 0.707674 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.12, Z:-0.00 [[ 0.9911693 0.09273798 -0.09477916 0.6107036 ] [-0.09615172 0.99484897 -0.03209941 -0.11590242] [ 0.09131411 0.04092913 0.99498067 -0.0037417 ] [ 0. 0. 0. 1. ]] SLAMing on 32.876502481 meters Centerline goodness : 0.706563 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.12, Z:-0.00 [[ 0.99127348 0.0918498 -0.09455419 0.61051308] [-0.09510964 0.99499769 -0.03055743 -0.11926622] [ 0.0912745 0.03928378 0.99505063 -0.00481619] [ 0. 0. 0. 1. ]] SLAMing on 32.906502481 meters Centerline goodness : 0.707319 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.12, Z:-0.01 [[ 0.99131732 0.09153324 -0.09440142 0.61013786] [-0.09467492 0.99507558 -0.02934704 -0.12194471] [ 0.09125032 0.03802968 0.99510156 -0.00522256] [ 0. 0. 0. 1. ]] SLAMing on 32.936502481 meters Centerline goodness : 0.706805 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.12, Z:-0.01 [[ 0.99135953 0.09121946 -0.09426183 0.60977536] [-0.09423766 0.99515391 -0.02807067 -0.12495947] [ 0.09124444 0.03671114 0.99515162 -0.00566014] [ 0. 0. 0. 1. ]] SLAMing on 32.966502481 meters Centerline goodness : 0.707088 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.01 [[ 0.99162377 0.08800953 -0.09453372 0.60970652] [-0.09122573 0.99537073 -0.03024842 -0.12772322] [ 0.09143394 0.03861896 0.99506201 -0.00583826] [ 0. 0. 0. 1. ]] SLAMing on 32.996502481 meters Centerline goodness : 0.704053 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.01 [[ 0.99164519 0.0882281 -0.09410432 0.60918128] [-0.09124166 0.99542918 -0.02820842 -0.13032928] [ 0.09118541 0.03655898 0.99516263 -0.00661354] [ 0. 0. 0. 1. ]] SLAMing on 33.026502481 meters Centerline goodness : 0.706558 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.01 [[ 0.99164728 0.08833607 -0.09398094 0.60908449] [-0.09126243 0.99545257 -0.02730093 -0.13235789] [ 0.09114191 0.03564982 0.9951996 -0.00702264] [ 0. 0. 0. 1. ]] SLAMing on 33.056502481 meters Centerline goodness : 0.702401 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.14, Z:-0.01 [[ 0.99183238 0.08500229 -0.09509545 0.60996302] [-0.08830195 0.99561006 -0.03103828 -0.13537863] [ 0.09203966 0.03918189 0.99498416 -0.00619839] [ 0. 0. 0. 1. ]] SLAMing on 33.086502481000004 meters Centerline goodness : 0.703568 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.14, Z:-0.01 [[ 0.99188821 0.08470244 -0.09478013 0.60867959] [-0.08791565 0.99566856 -0.03024841 -0.13753325] [ 0.09180748 0.0383357 0.99503857 -0.00566096] [ 0. 0. 0. 1. ]] SLAMing on 33.116502481 meters Centerline goodness : 0.703090 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.14, Z:-0.01 [[ 0.99216399 0.08245635 -0.09386991 0.606529 ] [-0.08559374 0.99588151 -0.02989538 -0.13952671] [ 0.09101824 0.03769579 0.99513552 -0.00581885] [ 0. 0. 0. 1. ]] SLAMing on 33.146502481 meters Centerline goodness : 0.701346 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.14, Z:-0.01 [[ 0.99231699 0.08141876 -0.09315571 0.60598429] [-0.08423606 0.99608765 -0.02671489 -0.14361318] [ 0.09061616 0.03435671 0.99529309 -0.00795232] [ 0. 0. 0. 1. ]] SLAMing on 33.176502481 meters Centerline goodness : 0.700636 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.15, Z:-0.01 [[ 0.99233336 0.08097297 -0.09336963 0.60705756] [-0.08362224 0.99618855 -0.02481316 -0.14706218] [ 0.09100457 0.0324307 0.99532227 -0.00947567] [ 0. 0. 0. 1. ]] SLAMing on 33.206502481 meters Centerline goodness : 0.699908 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.15, Z:-0.01 [[ 0.99232765 0.08032589 -0.09398712 0.60824179] [-0.0828485 0.99629098 -0.02324678 -0.15168222] [ 0.09177121 0.03085512 0.99530197 -0.01026966] [ 0. 0. 0. 1. ]] SLAMing on 33.236502481 meters Centerline goodness : 0.698574 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.16, Z:-0.01 [[ 0.99265325 0.07296786 -0.09651538 0.61062528] [-0.07615523 0.99665179 -0.02975884 -0.15666571] [ 0.09402078 0.03689036 0.99488652 -0.00889283] [ 0. 0. 0. 1. ]] SLAMing on 33.266502481 meters Centerline goodness : 0.699765 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.01 [[ 0.9932279 0.07446682 -0.08917976 0.61895431] [-0.0771124 0.99666771 -0.02659249 -0.16390604] [ 0.08690233 0.03328927 0.99566049 -0.01005188] [ 0. 0. 0. 1. ]] SLAMing on 33.296502481 meters Centerline goodness : 0.696344 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.01 [[ 0.99335125 0.07386223 -0.08830437 0.6162595 ] [-0.07633492 0.99676987 -0.02495625 -0.16629998] [ 0.08617581 0.03153103 0.99578086 -0.0090719 ] [ 0. 0. 0. 1. ]] SLAMing on 33.326502481 meters Centerline goodness : 0.694688 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.01 [[ 0.99328905 0.07454635 -0.08842905 0.61605232] [-0.07697829 0.99673384 -0.02441312 -0.16706857] [ 0.08632032 0.0310564 0.99578326 -0.00838633] [ 0. 0. 0. 1. ]] SLAMing on 33.356502481 meters Centerline goodness : 0.693614 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.01 [[ 0.99309894 0.07626323 -0.08909776 0.61735204] [-0.07874287 0.99659015 -0.02465021 -0.16703402] [ 0.08691404 0.03149591 0.99571781 -0.00790278] [ 0. 0. 0. 1. ]] SLAMing on 33.386502481 meters Centerline goodness : 0.693596 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.01 [[ 0.99288713 0.07793625 -0.09000601 0.61909094] [-0.08043321 0.99646006 -0.02445104 -0.16765461] [ 0.08778177 0.03151659 0.99564103 -0.00752502] [ 0. 0. 0. 1. ]] SLAMing on 33.416502481 meters Centerline goodness : 0.697034 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.01 [[ 0.99259609 0.08034112 -0.091095 0.62120107] [-0.08290611 0.99625058 -0.02472582 -0.16780915] [ 0.08876695 0.03209508 0.9955352 -0.0068712 ] [ 0. 0. 0. 1. ]] SLAMing on 33.446502481 meters Centerline goodness : 0.696506 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.01 [[ 0.9924825 0.08102352 -0.09172605 0.62239225] [-0.08363299 0.99618385 -0.02496511 -0.16750315] [ 0.08935324 0.03244875 0.99547128 -0.0066093 ] [ 0. 0. 0. 1. ]] SLAMing on 33.476502481 meters Centerline goodness : 0.697185 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.01 [[ 0.99249319 0.08121272 -0.09144267 0.62200991] [-0.08375237 0.99619074 -0.02428082 -0.16723911] [ 0.08912243 0.03175709 0.99551428 -0.00678963] [ 0. 0. 0. 1. ]] SLAMing on 33.506502481 meters Centerline goodness : 0.697462 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.01 [[ 0.99257655 0.08068697 -0.09100219 0.62072966] [-0.08316579 0.996252 -0.02377809 -0.16835676] [ 0.08874254 0.03116984 0.99556677 -0.00637734] [ 0. 0. 0. 1. ]] SLAMing on 33.536502481 meters Centerline goodness : 0.699885 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.00 [[ 0.99297504 0.07601768 -0.09067462 0.618299 ] [-0.07878567 0.99651652 -0.02734314 -0.17072686] [ 0.08828019 0.03429491 0.99550513 -0.00485608] [ 0. 0. 0. 1. ]] SLAMing on 33.566502481 meters Centerline goodness : 0.700246 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.01 [[ 0.9930855 0.07484818 -0.09043745 0.61852329] [-0.07752107 0.9966409 -0.02640819 -0.17218439] [ 0.08815706 0.0332364 0.99555194 -0.00627358] [ 0. 0. 0. 1. ]] SLAMing on 33.596502481 meters Centerline goodness : 0.698309 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.01 [[ 0.99294545 0.07742393 -0.08980459 0.61888786] [-0.07962816 0.99659871 -0.02122198 -0.1736892 ] [ 0.08785605 0.02822324 0.99573328 -0.00825313] [ 0. 0. 0. 1. ]] SLAMing on 33.626502481 meters Centerline goodness : 0.702855 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.01 [[ 0.99285186 0.08047633 -0.08814051 0.61825498] [-0.08208997 0.99651454 -0.01483248 -0.17494344] [ 0.08663964 0.02196191 0.99599761 -0.01136728] [ 0. 0. 0. 1. ]] SLAMing on 33.656502481 meters Centerline goodness : 0.702855 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.01 [[ 0.99285186 0.08047633 -0.08814051 0.61825498] [-0.08208997 0.99651454 -0.01483248 -0.17494344] [ 0.08663964 0.02196191 0.99599761 -0.01136728] [ 0. 0. 0. 1. ]] SLAMing on 33.686502481 meters Centerline goodness : 0.701922 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.01 [[ 0.99289164 0.08032196 -0.08783268 0.61823065] [-0.08194445 0.99652372 -0.01501971 -0.17451514] [ 0.08632094 0.02211034 0.996022 -0.01210324] [ 0. 0. 0. 1. ]] SLAMing on 33.716502481 meters Centerline goodness : 0.703118 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.01 [[ 0.99294561 0.07972219 -0.08776899 0.61763147] [-0.08135635 0.99656923 -0.01519608 -0.17571864] [ 0.08625641 0.02222944 0.99602494 -0.01158214] [ 0. 0. 0. 1. ]] SLAMing on 33.746502481 meters Centerline goodness : 0.700370 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.01 [[ 0.99306137 0.07926455 -0.08686914 0.61577181] [-0.0809721 0.99658297 -0.0163068 -0.17285324] [ 0.08527976 0.02322763 0.99608626 -0.01099733] [ 0. 0. 0. 1. ]] SLAMing on 33.776502481 meters Centerline goodness : 0.702398 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.17, Z:-0.01 [[ 0.99290049 0.08207438 -0.08609542 0.61464349] [-0.08344723 0.99643425 -0.01246381 -0.17267289] [ 0.08476547 0.01955975 0.99620893 -0.01099385] [ 0. 0. 0. 1. ]] SLAMing on 33.806502481 meters Centerline goodness : 0.702124 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.17, Z:-0.01 [[ 0.99288712 0.08237545 -0.08596193 0.61439401] [-0.08384516 0.99638567 -0.01362303 -0.17020504] [ 0.08452903 0.02073363 0.99620528 -0.01049813] [ 0. 0. 0. 1. ]] SLAMing on 33.836502481000004 meters Centerline goodness : 0.703853 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.17, Z:-0.01 [[ 0.99286988 0.08242864 -0.08610994 0.61483552] [-0.08396009 0.99636635 -0.0143111 -0.16930858] [ 0.08461741 0.02143886 0.99618285 -0.0105142 ] [ 0. 0. 0. 1. ]] SLAMing on 33.866502481 meters Centerline goodness : 0.706175 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.01 [[ 0.99282282 0.08274364 -0.08635007 0.61604569] [-0.08432528 0.99632797 -0.01482635 -0.1682085 ] [ 0.08480621 0.02200143 0.99615453 -0.01126465] [ 0. 0. 0. 1. ]] SLAMing on 33.896502481 meters Centerline goodness : 0.707229 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.01 [[ 0.9927948 0.08282715 -0.08659187 0.61682834] [-0.08442786 0.99631693 -0.01498347 -0.1678002 ] [ 0.08503191 0.02218628 0.99613119 -0.0115981 ] [ 0. 0. 0. 1. ]] SLAMing on 33.926502481 meters Centerline goodness : 0.707506 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.01 [[ 0.99293729 0.08158317 -0.08613783 0.61613974] [-0.08324926 0.99640151 -0.01592446 -0.16563379] [ 0.0845287 0.0229829 0.99615595 -0.01188793] [ 0. 0. 0. 1. ]] SLAMing on 33.956502481 meters Centerline goodness : 0.707879 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.16, Z:-0.01 [[ 0.99304075 0.0810173 -0.08547673 0.61460995] [-0.08268491 0.99644492 -0.01614723 -0.16451788] [ 0.08386464 0.0231025 0.99620931 -0.01155468] [ 0. 0. 0. 1. ]] SLAMing on 33.986502481 meters Centerline goodness : 0.707235 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.16, Z:-0.01 [[ 0.99338741 0.07876313 -0.08353331 0.60984307] [-0.08040414 0.99662641 -0.01646107 -0.16291184] [ 0.08195498 0.02306864 0.99636902 -0.01042469] [ 0. 0. 0. 1. ]] SLAMing on 34.016502481 meters Centerline goodness : 0.706497 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.16, Z:-0.01 [[ 0.99357255 0.07739592 -0.08260424 0.60731995] [-0.07907712 0.99671883 -0.01727376 -0.16148576] [ 0.08099628 0.02369484 0.99643272 -0.00947344] [ 0. 0. 0. 1. ]] SLAMing on 34.046502481 meters Centerline goodness : 0.705767 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.16, Z:-0.01 [[ 0.99359215 0.07738007 -0.08238305 0.60717116] [-0.07907169 0.99671588 -0.01746793 -0.16059712] [ 0.08076082 0.02387016 0.99644764 -0.00974828] [ 0. 0. 0. 1. ]] SLAMing on 34.076502481 meters Centerline goodness : 0.708540 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.16, Z:-0.01 [[ 0.99344519 0.08018539 -0.0814675 0.60715236] [-0.08149614 0.99659032 -0.01288822 -0.16133289] [ 0.08015627 0.01944303 0.99659267 -0.01179868] [ 0. 0. 0. 1. ]] SLAMing on 34.106502481 meters Centerline goodness : 0.707340 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.16, Z:-0.01 [[ 0.99342961 0.08043661 -0.08140979 0.60805429] [-0.08177516 0.99656288 -0.0132382 -0.15979996] [ 0.08006514 0.01980852 0.99659279 -0.01286472] [ 0. 0. 0. 1. ]] SLAMing on 34.136502481 meters Centerline goodness : 0.707675 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.16, Z:-0.01 [[ 0.99334145 0.08298508 -0.07991393 0.60631371] [-0.08410518 0.99639892 -0.01074793 -0.1568729 ] [ 0.07873424 0.01739754 0.99674382 -0.01351063] [ 0. 0. 0. 1. ]] SLAMing on 34.166502481 meters Centerline goodness : 0.707781 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.15, Z:-0.01 [[ 0.99335276 0.08288247 -0.07987986 0.60555887] [-0.08413152 0.99637758 -0.01239411 -0.15487772] [ 0.07856324 0.01903214 0.99672744 -0.01216846] [ 0. 0. 0. 1. ]] SLAMing on 34.196502481 meters Centerline goodness : 0.708569 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.15, Z:-0.01 [[ 0.99331639 0.08343634 -0.07975536 0.60393055] [-0.08496794 0.9962552 -0.01600093 -0.15087386] [ 0.07812163 0.02267064 0.99668604 -0.00908123] [ 0. 0. 0. 1. ]] SLAMing on 34.226502481 meters Centerline goodness : 0.706875 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.15, Z:-0.01 [[ 0.99320586 0.08434982 -0.08017003 0.60475455] [-0.08603762 0.99613232 -0.01783075 -0.14808451] [ 0.07835594 0.02460724 0.99662171 -0.00825041] [ 0. 0. 0. 1. ]] SLAMing on 34.256502481 meters Centerline goodness : 0.709051 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.15, Z:-0.01 [[ 0.99255718 0.09247563 -0.07923702 0.60598179] [-0.09363008 0.99554659 -0.01097226 -0.14535935] [ 0.07786948 0.01830956 0.99679542 -0.01009516] [ 0. 0. 0. 1. ]] SLAMing on 34.286502481 meters Centerline goodness : 0.711157 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.14, Z:-0.01 [[ 0.99205397 0.09790332 -0.07901808 0.60950051] [-0.09873136 0.99509202 -0.00663179 -0.14232033] [ 0.07798098 0.01438066 0.99685112 -0.01358553] [ 0. 0. 0. 1. ]] SLAMing on 34.316502481 meters Centerline goodness : 0.712080 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.14, Z:-0.01 [[ 0.99193163 0.09852413 -0.07977866 0.61158333] [-0.09943283 0.99501609 -0.00748924 -0.14119502] [ 0.07864318 0.01536143 0.99678447 -0.01395611] [ 0. 0. 0. 1. ]] SLAMing on 34.346502481 meters Centerline goodness : 0.710883 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.14, Z:-0.01 [[ 0.99210428 0.09579494 -0.08094703 0.61254734] [-0.09724908 0.99515866 -0.01420765 -0.13752954] [ 0.07919412 0.02196749 0.99661714 -0.01198933] [ 0. 0. 0. 1. ]] SLAMing on 34.376502481 meters Centerline goodness : 0.711416 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.14, Z:-0.01 [[ 0.99218419 0.09489102 -0.08103228 0.61191857] [-0.09646453 0.99521227 -0.01572062 -0.13587898] [ 0.07915257 0.02341449 0.99658749 -0.01086936] [ 0. 0. 0. 1. ]] SLAMing on 34.406502481 meters Centerline goodness : 0.708826 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.01 [[ 0.99228927 0.09377041 -0.08105012 0.61144847] [-0.09545727 0.99528516 -0.01718602 -0.13391536] [ 0.07905644 0.02479033 0.99656185 -0.0101673 ] [ 0. 0. 0. 1. ]] SLAMing on 34.436502481 meters Centerline goodness : 0.708885 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.01 [[ 0.99231768 0.09501734 -0.07922962 0.60872321] [-0.09637184 0.99525463 -0.01344237 -0.13247231] [ 0.07757639 0.02097461 0.99676575 -0.01077481] [ 0. 0. 0. 1. ]] SLAMing on 34.466502481 meters Centerline goodness : 0.709298 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.01 [[ 0.99241686 0.09416682 -0.07900247 0.60999145] [-0.09556137 0.99532434 -0.01405256 -0.13011238] [ 0.0773098 0.02149558 0.99677537 -0.01284823] [ 0. 0. 0. 1. ]] SLAMing on 34.496502481 meters Centerline goodness : 0.709844 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.01 [[ 0.99241095 0.09390512 -0.07938718 0.61116211] [-0.09532272 0.9953444 -0.01425128 -0.13045147] [ 0.07767932 0.02171053 0.99674198 -0.01347419] [ 0. 0. 0. 1. ]] SLAMing on 34.526502481 meters Centerline goodness : 0.709626 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.01 [[ 0.9924269 0.09350046 -0.07966502 0.61208529] [-0.09496915 0.99536956 -0.0148425 -0.12947392] [ 0.07790836 0.02229581 0.99671118 -0.01392511] [ 0. 0. 0. 1. ]] SLAMing on 34.556502481 meters Centerline goodness : 0.708645 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.01 [[ 0.99249578 0.09301743 -0.07937183 0.61174936] [-0.09453222 0.99540055 -0.01553738 -0.12758923] [ 0.07756152 0.02292398 0.99672399 -0.0140596 ] [ 0. 0. 0. 1. ]] SLAMing on 34.586502481000004 meters Centerline goodness : 0.708456 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.12, Z:-0.01 [[ 0.99269941 0.09156319 -0.07851154 0.61012176] [-0.09313398 0.99551558 -0.01657667 -0.12457193] [ 0.07664165 0.02376774 0.99677538 -0.01385379] [ 0. 0. 0. 1. ]] SLAMing on 34.616502481 meters Centerline goodness : 0.707078 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.12, Z:-0.01 [[ 0.99285402 0.09046343 -0.07782842 0.60847605] [-0.09207118 0.99560186 -0.01731602 -0.12284677] [ 0.07591965 0.02435803 0.99681638 -0.01346595] [ 0. 0. 0. 1. ]] SLAMing on 34.646502481 meters Centerline goodness : 0.706620 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.12, Z:-0.01 [[ 0.9932049 0.08786694 -0.0763114 0.6050958 ] [-0.08952757 0.9958104 -0.01861337 -0.11999295] [ 0.07435618 0.02531886 0.99691028 -0.0128953 ] [ 0. 0. 0. 1. ]] SLAMing on 34.676502481 meters Centerline goodness : 0.705787 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.12, Z:-0.01 [[ 0.9934046 0.08594959 -0.07589447 0.60399278] [-0.08768198 0.9959519 -0.01979093 -0.11887155] [ 0.07388622 0.02631498 0.99691943 -0.0127796 ] [ 0. 0. 0. 1. ]] SLAMing on 34.706502481 meters Centerline goodness : 0.705763 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.12, Z:-0.01 [[ 0.99363318 0.08344112 -0.07570134 0.60319624] [-0.08521973 0.99614979 -0.02057162 -0.11882354] [ 0.07369335 0.0268919 0.99691831 -0.0127874 ] [ 0. 0. 0. 1. ]] SLAMing on 34.736502481 meters Centerline goodness : 0.704439 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.12, Z:-0.01 [[ 0.99369343 0.08282768 -0.07558397 0.60345507] [-0.08463075 0.99619176 -0.02096704 -0.11753937] [ 0.07355948 0.02723154 0.99691898 -0.01344675] [ 0. 0. 0. 1. ]] SLAMing on 34.766502481 meters Centerline goodness : 0.705709 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.11, Z:-0.02 [[ 0.99350522 0.08550011 -0.07508075 0.60441575] [-0.08704037 0.99605138 -0.01748205 -0.11476492] [ 0.07328957 0.02390356 0.9970242 -0.01519844] [ 0. 0. 0. 1. ]] SLAMing on 34.796502481 meters Centerline goodness : 0.705081 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.11, Z:-0.02 [[ 0.99324311 0.08835263 -0.07524581 0.60581293] [-0.08974846 0.99584588 -0.01536875 -0.11203681] [ 0.07357536 0.0220181 0.99704657 -0.01561486] [ 0. 0. 0. 1. ]] SLAMing on 34.826502481 meters Centerline goodness : 0.705846 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.11, Z:-0.02 [[ 0.99324682 0.08822378 -0.07534803 0.60607234] [-0.08973491 0.99582222 -0.01690442 -0.10946521] [ 0.07354187 0.02355161 0.997014 -0.01516517] [ 0. 0. 0. 1. ]] SLAMing on 34.856502481 meters Centerline goodness : 0.704040 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.10, Z:-0.01 [[ 0.9933238 0.08771303 -0.07492836 0.60542825] [-0.08940486 0.99580397 -0.01952518 -0.10449559] [ 0.07290134 0.02609379 0.99699775 -0.01443508] [ 0. 0. 0. 1. ]] SLAMing on 34.886502481 meters Centerline goodness : 0.704017 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.10, Z:-0.01 [[ 0.99321067 0.0895993 -0.0741925 0.60418586] [-0.09112183 0.99568789 -0.01739046 -0.10186729] [ 0.0723144 0.02403295 0.9970923 -0.01391379] [ 0. 0. 0. 1. ]] SLAMing on 34.916502481 meters Centerline goodness : 0.706357 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.10, Z:-0.01 [[ 0.99320068 0.0896961 -0.07420924 0.60428635] [-0.0912732 0.99566076 -0.01813415 -0.0998825 ] [ 0.07226066 0.02478417 0.9970778 -0.01364955] [ 0. 0. 0. 1. ]] SLAMing on 34.946502481 meters Centerline goodness : 0.703881 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.10, Z:-0.01 [[ 0.99321971 0.08953427 -0.07414999 0.60440558] [-0.09118141 0.99565058 -0.01912775 -0.09720444] [ 0.07211489 0.02575916 0.99706364 -0.01360397] [ 0. 0. 0. 1. ]] SLAMing on 34.976502481 meters Centerline goodness : 0.703511 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.09, Z:-0.01 [[ 0.99307769 0.09150699 -0.07364213 0.60465803] [-0.09298145 0.99552539 -0.01684196 -0.09374762] [ 0.07177145 0.02357273 0.99714251 -0.01438867] [ 0. 0. 0. 1. ]] SLAMing on 35.006502481 meters Centerline goodness : 0.702908 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.09, Z:-0.01 [[ 0.99290473 0.09365102 -0.07327807 0.60489252] [-0.09499575 0.99536347 -0.01507854 -0.09075322] [ 0.07152619 0.02193266 0.99719755 -0.01465704] [ 0. 0. 0. 1. ]] SLAMing on 35.036502481 meters Centerline goodness : 0.220506 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.01 [[ 0.99286271 0.09380988 -0.07364333 0.60579229] [-0.09528316 0.99530934 -0.01674611 -0.08767647] [ 0.07172694 0.02364355 0.99714404 -0.01414504] [ 0. 0. 0. 1. ]] SLAMing on 35.066502481 meters Centerline goodness : 0.267793 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.01 [[ 0.99257965 0.09696496 -0.07337196 0.60604214] [-0.0983357 0.99503571 -0.01529773 -0.08372922] [ 0.07152437 0.0223993 0.99718731 -0.01365529] [ 0. 0. 0. 1. ]] SLAMing on 35.096502481 meters Centerline goodness : 0.262587 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.01 [[ 0.99249469 0.09753964 -0.07375843 0.60732825] [-0.09900771 0.99494973 -0.01650776 -0.08131791] [ 0.07177577 0.02368652 0.9971395 -0.01356424] [ 0. 0. 0. 1. ]] SLAMing on 35.126502481 meters Centerline goodness : 0.385771 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.01 [[ 0.99244656 0.09778786 -0.07407677 0.60842229] [-0.09936544 0.99488981 -0.01791043 -0.07835153] [ 0.0719468 0.02513582 0.9970917 -0.01344244] [ 0. 0. 0. 1. ]] SLAMing on 35.156502481 meters Centerline goodness : 0.418947 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.07, Z:-0.01 [[ 0.99232961 0.10032415 -0.07222882 0.60666029] [-0.10165053 0.9947083 -0.01491883 -0.07165834] [ 0.07034989 0.0221465 0.9972765 -0.01430931] [ 0. 0. 0. 1. ]] SLAMing on 35.186502481 meters Centerline goodness : 0.511239 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.07, Z:-0.02 [[ 0.99211517 0.10289441 -0.07155574 0.60689236] [-0.10406092 0.99448907 -0.01275996 -0.06796604] [ 0.06984847 0.02010551 0.99735498 -0.01502491] [ 0. 0. 0. 1. ]] SLAMing on 35.216502481 meters Centerline goodness : 0.668736 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.07, Z:-0.01 [[ 0.99209389 0.10270074 -0.07212675 0.60818641] [-0.10398842 0.9944754 -0.01432093 -0.06633322] [ 0.07025751 0.02170805 0.99729266 -0.01479749] [ 0. 0. 0. 1. ]] SLAMing on 35.246502481 meters Centerline goodness : 0.467996 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.06, Z:-0.01 [[ 0.992105 0.10281941 -0.07180411 0.60828669] [-0.10426151 0.99441099 -0.01662318 -0.06078807] [ 0.06969361 0.02397834 0.99728022 -0.01432176] [ 0. 0. 0. 1. ]] SLAMing on 35.276502481 meters Centerline goodness : 0.523895 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.06, Z:-0.01 [[ 0.99207847 0.10298749 -0.07192977 0.60906624] [-0.10455689 0.99434877 -0.01839513 -0.05696479] [ 0.06962881 0.02577016 0.99724005 -0.0140316 ] [ 0. 0. 0. 1. ]] SLAMing on 35.306502481 meters Centerline goodness : 0.613875 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.05, Z:-0.01 [[ 0.99192898 0.10417625 -0.07227874 0.61085662] [-0.10591401 0.99416124 -0.02063113 -0.05178675] [ 0.06970744 0.02811994 0.99717107 -0.01385776] [ 0. 0. 0. 1. ]] SLAMing on 35.336502481 meters Centerline goodness : 0.462689 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.05, Z:-0.01 [[ 0.99185728 0.10456766 -0.07269621 0.61199807] [-0.10639653 0.99408593 -0.02174715 -0.04992202] [ 0.06999223 0.0293047 0.99711701 -0.01359321] [ 0. 0. 0. 1. ]] SLAMing on 35.366502481 meters Centerline goodness : 0.712178 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.05, Z:-0.01 [[ 0.991697 0.10544558 -0.07360899 0.61430935] [-0.1074461 0.99392702 -0.0237576 -0.04756948] [ 0.07065683 0.03146934 0.99700416 -0.01313441] [ 0. 0. 0. 1. ]] SLAMing on 35.396502481 meters Centerline goodness : 0.629132 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.01 [[ 0.99151177 0.10652566 -0.07454324 0.61669469] [-0.10868242 0.99374968 -0.02548927 -0.04577193] [ 0.07136206 0.03337445 0.99689197 -0.01272574] [ 0. 0. 0. 1. ]] SLAMing on 35.426502481 meters Centerline goodness : 0.677478 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:-0.01 [[ 0.9914811 0.10650511 -0.07497932 0.61771992] [-0.1087626 0.99370948 -0.02668643 -0.0439515 ] [ 0.07166542 0.03461403 0.99682794 -0.01248914] [ 0. 0. 0. 1. ]] SLAMing on 35.456502481 meters Centerline goodness : 0.713119 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:-0.01 [[ 0.99148207 0.10657313 -0.07486969 0.61803821] [-0.10888468 0.99367418 -0.02749104 -0.04136798] [ 0.07146627 0.03540904 0.99681431 -0.01252574] [ 0. 0. 0. 1. ]] SLAMing on 35.486502481 meters Centerline goodness : 0.433330 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:-0.01 [[ 0.99150288 0.10622676 -0.07508604 0.61882042] [-0.10858289 0.99369258 -0.02801456 -0.04063122] [ 0.07163654 0.03592958 0.99678346 -0.01290608] [ 0. 0. 0. 1. ]] SLAMing on 35.516502481 meters Centerline goodness : 0.698125 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:-0.01 [[ 0.99171316 0.10462205 -0.07456028 0.61822167] [-0.10697947 0.99385704 -0.02834735 -0.04023686] [ 0.07113651 0.03608886 0.99681352 -0.01381212] [ 0. 0. 0. 1. ]] SLAMing on 35.546502481 meters Centerline goodness : 0.698125 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:-0.01 [[ 0.99171316 0.10462205 -0.07456028 0.61822167] [-0.10697947 0.99385704 -0.02834735 -0.04023686] [ 0.07113651 0.03608886 0.99681352 -0.01381212] [ 0. 0. 0. 1. ]] SLAMing on 35.576502481 meters Centerline goodness : 0.275266 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:-0.01 [[ 0.9918168 0.10377625 -0.07436344 0.61805037] [-0.10611907 0.99395154 -0.02826806 -0.04085329] [ 0.0709801 0.03592811 0.99683047 -0.01443757] [ 0. 0. 0. 1. ]] SLAMing on 35.606502481 meters Centerline goodness : 0.711434 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:-0.02 [[ 0.99217008 0.10006042 -0.07474255 0.61888452] [-0.10259318 0.99424511 -0.03084313 -0.04257576] [ 0.07122624 0.03826971 0.99672577 -0.01578319] [ 0. 0. 0. 1. ]] SLAMing on 35.636502481 meters Centerline goodness : 0.283771 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:-0.02 [[ 0.99226694 0.09923393 -0.07455828 0.61907167] [-0.10171673 0.99435289 -0.03026623 -0.04372251] [ 0.0711338 0.037616 0.99675725 -0.017058 ] [ 0. 0. 0. 1. ]] SLAMing on 35.666502481 meters Centerline goodness : 0.698969 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.02 [[ 0.99245771 0.09795219 -0.07370937 0.61751307] [-0.10026069 0.99455892 -0.02829042 -0.04655533] [ 0.0705372 0.0354672 0.99687842 -0.01833937] [ 0. 0. 0. 1. ]] SLAMing on 35.696502481 meters Centerline goodness : 0.249500 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.02 [[ 0.99275898 0.09447183 -0.07419361 0.61832897] [-0.09705315 0.99476511 -0.03198535 -0.04597877] [ 0.0707835 0.03895447 0.99673078 -0.01873404] [ 0. 0. 0. 1. ]] SLAMing on 35.726502481 meters Centerline goodness : 0.495633 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.02 [[ 0.99291423 0.09330753 -0.07358697 0.61688877] [-0.09576985 0.99493099 -0.03066705 -0.04845848] [ 0.07035249 0.03749717 0.99681718 -0.01929422] [ 0. 0. 0. 1. ]] SLAMing on 35.756502481 meters Centerline goodness : 0.570239 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.02 [[ 0.99296962 0.0929513 -0.07328978 0.61623542] [-0.09536278 0.99498699 -0.03011348 -0.04980853] [ 0.07012329 0.03689089 0.99685595 -0.01949313] [ 0. 0. 0. 1. ]] SLAMing on 35.786502481 meters Centerline goodness : 0.544506 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.02 [[ 0.99299014 0.09263321 -0.07341434 0.61652349] [-0.09504905 0.99501685 -0.03011892 -0.0510119 ] [ 0.07025849 0.03688576 0.99684662 -0.01962245] [ 0. 0. 0. 1. ]] SLAMing on 35.816502481 meters Centerline goodness : 0.714734 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.02 [[ 0.99298714 0.09214593 -0.07406525 0.61861292] [-0.09462471 0.9950402 -0.03067855 -0.05064094] [ 0.070871 0.03747181 0.9967814 -0.02074648] [ 0. 0. 0. 1. ]] SLAMing on 35.846502481 meters Centerline goodness : 0.670562 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.02 [[ 0.99297474 0.09182965 -0.0746222 0.62005047] [-0.09435887 0.9950524 -0.03109876 -0.05046567] [ 0.07139721 0.03792155 0.99672684 -0.02130583] [ 0. 0. 0. 1. ]] SLAMing on 35.876502481 meters Centerline goodness : 0.161813 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.02 [[ 0.9929613 0.09139283 -0.07533394 0.62213265] [-0.09398811 0.99507012 -0.03164945 -0.0504496 ] [ 0.07207002 0.03850717 0.99665596 -0.02242872] [ 0. 0. 0. 1. ]] SLAMing on 35.906502481 meters Centerline goodness : 0.558686 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.02 [[ 0.99296189 0.09117279 -0.07559243 0.62298562] [-0.09379343 0.99508153 -0.03186754 -0.05017034] [ 0.07231518 0.03873332 0.99662944 -0.02281928] [ 0. 0. 0. 1. ]] SLAMing on 35.936502481 meters Centerline goodness : 0.406375 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.02 [[ 0.99296211 0.09118548 -0.07557419 0.62288964] [-0.09380284 0.99508179 -0.03183163 -0.04956591] [ 0.07229992 0.03869667 0.99663197 -0.02246445] [ 0. 0. 0. 1. ]] SLAMing on 35.966502481 meters Centerline goodness : 0.528552 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.02 [[ 0.99296539 0.09101788 -0.07573293 0.62307916] [-0.09365444 0.99508986 -0.03201572 -0.04933441] [ 0.07244706 0.03888323 0.99661403 -0.02223546] [ 0. 0. 0. 1. ]] SLAMing on 35.996502481 meters Centerline goodness : 0.716754 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.02 [[ 0.99323011 0.0875471 -0.0763509 0.62300315] [-0.09047436 0.99525669 -0.03575617 -0.04812927] [ 0.0728584 0.04242191 0.99643968 -0.02146245] [ 0. 0. 0. 1. ]] SLAMing on 36.026502481 meters Centerline goodness : 0.715542 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.02 [[ 0.99323206 0.08721186 -0.07670831 0.62379657] [-0.09017406 0.99527394 -0.03603365 -0.04820487] [ 0.07320322 0.04270687 0.99640223 -0.02159445] [ 0. 0. 0. 1. ]] SLAMing on 36.056502481 meters Centerline goodness : 0.488672 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.05, Z:-0.02 [[ 0.99321955 0.08680315 -0.07733142 0.62564295] [-0.08982364 0.99528971 -0.03647055 -0.04776922] [ 0.07380141 0.04316945 0.99633817 -0.02242178] [ 0. 0. 0. 1. ]] SLAMing on 36.086502481 meters Centerline goodness : 0.522861 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.05, Z:-0.02 [[ 0.99322833 0.08601495 -0.07809557 0.62846601] [-0.08912348 0.9953247 -0.03722571 -0.04744905] [ 0.07452848 0.04393378 0.99625064 -0.02418277] [ 0. 0. 0. 1. ]] SLAMing on 36.116502481 meters Centerline goodness : 0.717793 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.05, Z:-0.03 [[ 0.99323752 0.08531198 -0.07874698 0.63038988] [-0.08849777 0.99535554 -0.03788787 -0.04712118] [ 0.07514896 0.04460058 0.99617439 -0.02505666] [ 0. 0. 0. 1. ]] SLAMing on 36.146502481 meters Centerline goodness : 0.715318 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.05, Z:-0.03 [[ 0.99324856 0.0845449 -0.07943208 0.63221674] [-0.08781178 0.99539006 -0.03857093 -0.04666707] [ 0.07580492 0.04528559 0.99609379 -0.02571646] [ 0. 0. 0. 1. ]] SLAMing on 36.176502481 meters Centerline goodness : 0.700130 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.05, Z:-0.03 [[ 0.99325691 0.08405298 -0.0798487 0.63343244] [-0.08737528 0.99540936 -0.0390611 -0.04590227] [ 0.07619894 0.04577451 0.99604137 -0.0261695 ] [ 0. 0. 0. 1. ]] SLAMing on 36.206502481 meters Centerline goodness : 0.701257 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.03 [[ 0.99327466 0.08343462 -0.08027529 0.63513255] [-0.08682569 0.99543149 -0.03971722 -0.04430978] [ 0.07659476 0.04642006 0.99598113 -0.02707864] [ 0. 0. 0. 1. ]] SLAMing on 36.236502481 meters Centerline goodness : 0.339173 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.03 [[ 0.99326804 0.08291743 -0.08089064 0.63691814] [-0.08637696 0.99544936 -0.04024413 -0.04346885] [ 0.07718559 0.0469603 0.99591019 -0.02778233] [ 0. 0. 0. 1. ]] SLAMing on 36.266502481 meters Centerline goodness : 0.699915 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.03 [[ 0.99327609 0.08218453 -0.08153719 0.63942516] [-0.08573125 0.99547476 -0.04098962 -0.04221991] [ 0.0777995 0.0477043 0.99582706 -0.02922816] [ 0. 0. 0. 1. ]] SLAMing on 36.296502481 meters Centerline goodness : 0.698833 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.03 [[ 0.99327296 0.08170944 -0.08205115 0.64049279] [-0.0853207 0.99548847 -0.04150997 -0.04137173] [ 0.07828922 0.0482314 0.99576329 -0.02930026] [ 0. 0. 0. 1. ]] SLAMing on 36.326502481 meters Centerline goodness : 0.559798 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.03 [[ 0.99327859 0.08106553 -0.08261972 0.64140933] [-0.08476015 0.99550597 -0.04223236 -0.04024165] [ 0.07882483 0.04895135 0.9956859 -0.02902191] [ 0. 0. 0. 1. ]] SLAMing on 36.356502481 meters Centerline goodness : 0.588401 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.03 [[ 0.99328382 0.08006648 -0.08352613 0.64371857] [-0.08389427 0.99553058 -0.043366 -0.03816967] [ 0.07968066 0.05008211 0.99556154 -0.02966424] [ 0. 0. 0. 1. ]] SLAMing on 36.386502481 meters Centerline goodness : 0.705902 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.04, Z:-0.03 [[ 0.99328358 0.07956585 -0.084006 0.64508659] [-0.08345975 0.99554367 -0.04390075 -0.0370425 ] [ 0.08013864 0.05061702 0.99549772 -0.03009981] [ 0. 0. 0. 1. ]] SLAMing on 36.416502481 meters Centerline goodness : 0.697007 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.04, Z:-0.03 [[ 0.99328439 0.07913377 -0.08440366 0.64577404] [-0.08308575 0.99555369 -0.04438034 -0.03603033] [ 0.08051639 0.05109504 0.99544282 -0.02992615] [ 0. 0. 0. 1. ]] SLAMing on 36.446502481 meters Centerline goodness : 0.693162 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.03, Z:-0.03 [[ 0.99400645 0.07322703 -0.08117253 0.65237071] [-0.07688114 0.99611946 -0.04284057 -0.03363571] [ 0.07772045 0.04882444 0.99577894 -0.02621944] [ 0. 0. 0. 1. ]] SLAMing on 36.476502481 meters Centerline goodness : 0.156879 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.03, Z:-0.03 [[ 0.99404411 0.07287533 -0.08102769 0.65163177] [-0.07658526 0.99610675 -0.04365815 -0.03056627] [ 0.07753062 0.04960365 0.99575523 -0.02514027] [ 0. 0. 0. 1. ]] SLAMing on 36.506502481 meters Centerline goodness : 0.705814 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.03, Z:-0.03 [[ 0.99402851 0.07255513 -0.08150501 0.65277219] [-0.07632877 0.99610362 -0.0441758 -0.02925178] [ 0.07798225 0.05013318 0.99569344 -0.02536369] [ 0. 0. 0. 1. ]] SLAMing on 36.536502481 meters Centerline goodness : 0.672170 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.03, Z:-0.03 [[ 0.99376346 0.07556582 -0.08199997 0.65494506] [-0.07915828 0.9959988 -0.04147725 -0.02791686] [ 0.07853761 0.04770955 0.99576887 -0.02610036] [ 0. 0. 0. 1. ]] SLAMing on 36.566502481 meters Centerline goodness : 0.158539 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.03, Z:-0.03 [[ 0.9934743 0.07894698 -0.08231756 0.65681833] [-0.08230715 0.99587259 -0.0382532 -0.0273751 ] [ 0.07895783 0.0447789 0.99587173 -0.02685651] [ 0. 0. 0. 1. ]] SLAMing on 36.596502481 meters Centerline goodness : 0.695401 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.02, Z:-0.03 [[ 0.99314018 0.08268009 -0.08268359 0.65932749] [-0.08582562 0.99568691 -0.03523541 -0.02434743] [ 0.07941371 0.04209008 0.99595275 -0.02808891] [ 0. 0. 0. 1. ]] SLAMing on 36.626502481 meters Centerline goodness : 0.694622 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.02, Z:-0.03 [[ 0.99311433 0.08236337 -0.08330787 0.66116288] [-0.08559322 0.99568081 -0.03596572 -0.02225633] [ 0.07998579 0.04284866 0.99587462 -0.02877719] [ 0. 0. 0. 1. ]] SLAMing on 36.656502481 meters Centerline goodness : 0.550136 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.02, Z:-0.03 [[ 0.9930617 0.08198032 -0.08430715 0.66290213] [-0.08534194 0.99566193 -0.03706841 -0.02035233] [ 0.08090254 0.04400615 0.99575009 -0.02869891] [ 0. 0. 0. 1. ]] SLAMing on 36.686502481 meters Centerline goodness : 0.562650 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.02, Z:-0.03 [[ 0.99303263 0.08176424 -0.08485751 0.66364203] [-0.08519331 0.99565466 -0.03760174 -0.01957898] [ 0.0814143 0.04456905 0.99568334 -0.02836225] [ 0. 0. 0. 1. ]] SLAMing on 36.716502481 meters Centerline goodness : 0.684672 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.02, Z:-0.03 [[ 0.99293561 0.08266241 -0.08512224 0.66290946] [-0.08612866 0.99556359 -0.03788119 -0.01650573] [ 0.08161326 0.04494505 0.99565015 -0.02670648] [ 0. 0. 0. 1. ]] SLAMing on 36.746502481 meters Centerline goodness : 0.515600 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.01, Z:-0.03 [[ 0.99253669 0.08746299 -0.08497731 0.66313675] [-0.09063748 0.9952952 -0.03423893 -0.01337425] [ 0.08158287 0.04168552 0.99579443 -0.02622205] [ 0. 0. 0. 1. ]] SLAMing on 36.776502481 meters Centerline goodness : 0.699229 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.01, Z:-0.03 [[ 0.9921616 0.09154481 -0.08505824 0.66423229] [-0.09442179 0.99506706 -0.03043153 -0.01301436] [ 0.08185281 0.03822435 0.99591115 -0.02646803] [ 0. 0. 0. 1. ]] SLAMing on 36.806502481 meters Centerline goodness : 0.692556 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.03 [[ 0.99173127 0.09474352 -0.08656073 0.66834705] [-0.09767136 0.9947595 -0.03022995 -0.01297177] [ 0.08324302 0.03843449 0.99578782 -0.02669508] [ 0. 0. 0. 1. ]] SLAMing on 36.836502481 meters Centerline goodness : 0.702784 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.03 [[ 0.99156887 0.09562796 -0.08744404 0.67032458] [-0.09859567 0.99466728 -0.03026385 -0.01404036] [ 0.08408365 0.03863029 0.99570962 -0.02673277] [ 0. 0. 0. 1. ]] SLAMing on 36.866502481 meters Centerline goodness : 0.700113 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.03 [[ 0.99138486 0.09667002 -0.08837973 0.67190875] [-0.09972035 0.99453975 -0.03076575 -0.01477294] [ 0.08492303 0.03931395 0.99561162 -0.02593869] [ 0. 0. 0. 1. ]] SLAMing on 36.896502481 meters Centerline goodness : 0.700241 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.03 [[ 0.99137873 0.09656578 -0.08856217 0.6724246 ] [-0.09969338 0.99451664 -0.03158936 -0.01280249] [ 0.0850261 0.04014608 0.99556961 -0.02576431] [ 0. 0. 0. 1. ]] SLAMing on 36.926502481 meters Centerline goodness : 0.698468 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.03 [[ 0.99140258 0.09694477 -0.08787856 0.67176804] [-0.09994741 0.99452738 -0.0304271 -0.01045892] [ 0.08444788 0.03894874 0.99566639 -0.02632259] [ 0. 0. 0. 1. ]] SLAMing on 36.956502481 meters Centerline goodness : 0.691387 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.03 [[ 0.99149476 0.09588106 -0.08800544 0.67129811] [-0.09888247 0.99463485 -0.03039371 -0.01209979] [ 0.0846191 0.0388374 0.9956562 -0.026041 ] [ 0. 0. 0. 1. ]] SLAMing on 36.986502481 meters Centerline goodness : 0.688566 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.03 [[ 0.99156801 0.095059 -0.08807192 0.67071261] [-0.09807366 0.99471015 -0.03054952 -0.01310824] [ 0.08470203 0.03892947 0.99564555 -0.02560251] [ 0. 0. 0. 1. ]] SLAMing on 37.016502481 meters Centerline goodness : 0.145979 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.03 [[ 0.99194445 0.09067182 -0.08845807 0.67090006] [-0.09405467 0.99495701 -0.0348464 -0.01202766] [ 0.08485239 0.04288559 0.99547019 -0.02565486] [ 0. 0. 0. 1. ]] SLAMing on 37.046502481 meters Centerline goodness : 0.696511 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.03 [[ 0.99230791 0.08616478 -0.08888551 0.67110604] [-0.08990485 0.99518797 -0.03896178 -0.01210752] [ 0.08510066 0.04665332 0.99527953 -0.02567567] [ 0. 0. 0. 1. ]] SLAMing on 37.076502481 meters Centerline goodness : 0.142410 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.03 [[ 0.99230659 0.08575077 -0.08929971 0.67221348] [-0.08952872 0.99521291 -0.03919017 -0.01235013] [ 0.08551164 0.04688355 0.99523349 -0.02608168] [ 0. 0. 0. 1. ]] SLAMing on 37.106502481 meters Centerline goodness : 0.144318 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.03 [[ 0.99232609 0.08511428 -0.08969112 0.67425133] [-0.08894425 0.99524909 -0.03960025 -0.01220062] [ 0.08589445 0.04727387 0.99518206 -0.02750731] [ 0. 0. 0. 1. ]] SLAMing on 37.136502481 meters Centerline goodness : 0.696987 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:-0.03 [[ 0.99231849 0.08478684 -0.09008439 0.67518786] [-0.08863834 0.99527465 -0.03964369 -0.01284391] [ 0.08629745 0.0473241 0.9951448 -0.02777338] [ 0. 0. 0. 1. ]] SLAMing on 37.166502481 meters Centerline goodness : 0.506659 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.03 [[ 0.99264925 0.08076645 -0.09013458 0.67463856] [-0.08491629 0.99545153 -0.0431911 -0.01365956] [ 0.08623622 0.0505275 0.99499261 -0.02773781] [ 0. 0. 0. 1. ]] SLAMing on 37.196502481 meters Centerline goodness : 0.155749 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.03 [[ 0.99297574 0.07632853 -0.0904054 0.67453259] [-0.08081352 0.9956191 -0.04702957 -0.01416023] [ 0.08641965 0.05400521 0.99479399 -0.0275983 ] [ 0. 0. 0. 1. ]] SLAMing on 37.226502481 meters Centerline goodness : 0.685537 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.02, Z:-0.03 [[ 0.99296381 0.07603725 -0.09078106 0.67524724] [-0.08053504 0.99564538 -0.0469508 -0.01500682] [ 0.08681573 0.0539315 0.9947635 -0.027644 ] [ 0. 0. 0. 1. ]] SLAMing on 37.256502481 meters Centerline goodness : 0.684876 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:-0.03 [[ 0.99296523 0.07538865 -0.09130504 0.67698568] [-0.07995152 0.99567172 -0.04738762 -0.01473321] [ 0.08733736 0.05435424 0.99469483 -0.02850569] [ 0. 0. 0. 1. ]] SLAMing on 37.286502481 meters Centerline goodness : 0.695057 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:-0.03 [[ 0.99296508 0.07447639 -0.09205225 0.68040123] [-0.07913881 0.99570356 -0.04807769 -0.0133438 ] [ 0.0880761 0.05502438 0.99459284 -0.0306311 ] [ 0. 0. 0. 1. ]] SLAMing on 37.316502481 meters Centerline goodness : 0.195895 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:-0.03 [[ 0.99298628 0.07381133 -0.09235871 0.68168399] [-0.07855136 0.99571589 -0.04878057 -0.01194219] [ 0.08836247 0.05569334 0.9945302 -0.03131696] [ 0. 0. 0. 1. ]] SLAMing on 37.346502481 meters Centerline goodness : 0.538219 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:-0.03 [[ 0.9930618 0.07268729 -0.09243823 0.68165208] [-0.07753002 0.99573948 -0.04991978 -0.01012549] [ 0.08841587 0.05674017 0.99446628 -0.03079456] [ 0. 0. 0. 1. ]] SLAMing on 37.376502481 meters Centerline goodness : 0.186899 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:-0.03 [[ 0.99312824 0.0717167 -0.09248255 0.68113727] [-0.07668821 0.99573098 -0.05136852 -0.00629492] [ 0.08840376 0.05810785 0.99438838 -0.02964203] [ 0. 0. 0. 1. ]] SLAMing on 37.406502481 meters Centerline goodness : 0.698015 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.00, Z:-0.03 [[ 0.99315358 0.07128451 -0.0925445 0.68131353] [-0.07633309 0.99571468 -0.05220675 -0.00374352] [ 0.08842638 0.05891353 0.99433896 -0.02944461] [ 0. 0. 0. 1. ]] SLAMing on 37.436502481 meters Centerline goodness : 0.698015 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.00, Z:-0.03 [[ 0.99315358 0.07128451 -0.0925445 0.68131353] [-0.07633309 0.99571468 -0.05220675 -0.00374352] [ 0.08842638 0.05891353 0.99433896 -0.02944461] [ 0. 0. 0. 1. ]] SLAMing on 37.466502481 meters Centerline goodness : 0.694998 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.00, Z:-0.03 [[ 9.93035396e-01 7.36118020e-02 -9.19891512e-02 6.80366794e-01] [-7.84699003e-02 9.95643862e-01 -5.03564792e-02 -2.79216901e-05] [ 8.78816025e-02 5.72241458e-02 9.94485908e-01 -2.84762365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.496502481 meters Centerline goodness : 0.696432 Centerline is valid? [False, False] Translation: X:0.68, Y:0.00, Z:-0.03 [[ 9.92788495e-01 7.68933659e-02 -9.19696378e-02 6.81182545e-01] [-8.14746080e-02 9.95560188e-01 -4.71359874e-02 8.46913726e-04] [ 8.79368651e-02 5.42892562e-02 9.94645557e-01 -2.86431451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.526502481 meters Centerline goodness : 0.694321 Centerline is valid? [False, False] Translation: X:0.68, Y:0.00, Z:-0.03 [[ 0.992544 0.07999794 -0.09196047 0.68241585] [-0.0843652 0.99543531 -0.04462127 0.00430355] [ 0.08797109 0.05204683 0.99476239 -0.02899257] [ 0. 0. 0. 1. ]] SLAMing on 37.556502481 meters Centerline goodness : 0.696693 Centerline is valid? [False, False] Translation: X:0.68, Y:0.00, Z:-0.03 [[ 0.99237164 0.08302094 -0.09113759 0.68110814] [-0.08703318 0.99536286 -0.04096341 0.00435089] [ 0.08731415 0.04858292 0.99499545 -0.0289647 ] [ 0. 0. 0. 1. ]] SLAMing on 37.586502481 meters Centerline goodness : 0.696101 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:-0.03 [[ 0.99231408 0.08333829 -0.09147403 0.68227179] [-0.08749904 0.99525962 -0.04245248 0.00740167] [ 0.08750249 0.05013008 0.99490215 -0.02871538] [ 0. 0. 0. 1. ]] SLAMing on 37.616502481 meters Centerline goodness : 0.695969 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:-0.03 [[ 0.99207328 0.08650686 -0.09114366 0.6841854 ] [-0.09039679 0.99512437 -0.03944497 0.00956193] [ 0.08728702 0.0473714 0.99505624 -0.03092199] [ 0. 0. 0. 1. ]] SLAMing on 37.646502481 meters Centerline goodness : 0.696477 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:-0.03 [[ 0.99193436 0.08731629 -0.0918808 0.68618787] [-0.09129766 0.99501787 -0.04005204 0.01090804] [ 0.08792584 0.0481175 0.9949642 -0.03097003] [ 0. 0. 0. 1. ]] SLAMing on 37.676502481 meters Centerline goodness : 0.695613 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:-0.03 [[ 0.99160192 0.09108453 -0.09181092 0.68666639] [-0.09477649 0.9948226 -0.03667975 0.01091667] [ 0.08799462 0.04507322 0.99510067 -0.03092305] [ 0. 0. 0. 1. ]] SLAMing on 37.706502481 meters Centerline goodness : 0.696854 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:-0.03 [[ 0.99114444 0.09538877 -0.09237791 0.68800316] [-0.09898012 0.99447024 -0.03509825 0.01380123] [ 0.0885191 0.04393102 0.99510524 -0.02933066] [ 0. 0. 0. 1. ]] SLAMing on 37.736502481 meters Centerline goodness : 0.695307 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.03 [[ 0.99104096 0.09606899 -0.0927823 0.68877513] [-0.09977879 0.99435098 -0.03619848 0.01597202] [ 0.08878062 0.04513188 0.9950282 -0.02840786] [ 0. 0. 0. 1. ]] SLAMing on 37.766502481 meters Centerline goodness : 0.697961 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.03 [[ 0.99059144 0.10034801 -0.09305307 0.69013099] [-0.10381498 0.99404284 -0.03318547 0.01665562] [ 0.08916864 0.04253354 0.99510796 -0.02813137] [ 0. 0. 0. 1. ]] SLAMing on 37.796502481 meters Centerline goodness : 0.698251 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.03 [[ 0.99011587 0.10466355 -0.09336011 0.69286289] [-0.10782941 0.99373098 -0.02952226 0.01721717] [ 0.08968493 0.03929743 0.99519462 -0.02960049] [ 0. 0. 0. 1. ]] SLAMing on 37.826502481 meters Centerline goodness : 0.698179 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.03 [[ 0.99003322 0.105062 -0.09378805 0.69431605] [-0.10829291 0.99366514 -0.03003719 0.01832229] [ 0.09003815 0.03989439 0.99513897 -0.02989903] [ 0. 0. 0. 1. ]] SLAMing on 37.856502481 meters Centerline goodness : 0.698172 Centerline is valid? [False, False] Translation: X:0.70, Y:0.02, Z:-0.03 [[ 0.98999513 0.10498449 -0.09427567 0.69532106] [-0.10830504 0.99364015 -0.03081028 0.01895433] [ 0.09044149 0.04071255 0.99506926 -0.02968939] [ 0. 0. 0. 1. ]] SLAMing on 37.886502481 meters Centerline goodness : 0.697974 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.03 [[ 0.99016354 0.10412272 -0.09345917 0.69252902] [-0.10743828 0.9937233 -0.03116118 0.01872151] [ 0.08962797 0.04089575 0.99513535 -0.02833588] [ 0. 0. 0. 1. ]] SLAMing on 37.916502481 meters Centerline goodness : 0.699630 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.03 [[ 0.99031546 0.10310027 -0.09298179 0.69141078] [-0.10641213 0.99382682 -0.03137997 0.01920478] [ 0.08917252 0.04097046 0.99517319 -0.02844989] [ 0. 0. 0. 1. ]] SLAMing on 37.946502481 meters Centerline goodness : 0.699812 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.03 [[ 0.99061545 0.10122612 -0.09183847 0.68923742] [-0.10435815 0.99408855 -0.02995554 0.01728743] [ 0.08826329 0.03925852 0.99532324 -0.02989674] [ 0. 0. 0. 1. ]] SLAMing on 37.976502481 meters Centerline goodness : 0.699516 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.03 [[ 0.9910171 0.09658005 -0.09250625 0.6899593 ] [-0.10000841 0.99443385 -0.03316074 0.01596811] [ 0.08878868 0.04211427 0.99515977 -0.03075876] [ 0. 0. 0. 1. ]] SLAMing on 38.006502481 meters Centerline goodness : 0.698801 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.03 [[ 0.99113204 0.09571695 -0.09217132 0.68938366] [-0.09915324 0.99451003 -0.03344304 0.01627315] [ 0.08846424 0.04228555 0.9951814 -0.03109404] [ 0. 0. 0. 1. ]] SLAMing on 38.036502481 meters Centerline goodness : 0.697969 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.03 [[ 0.99125343 0.09481933 -0.09179291 0.68822825] [-0.0983459 0.99454784 -0.03467974 0.018563 ] [ 0.08800413 0.04340387 0.99517404 -0.0303058 ] [ 0. 0. 0. 1. ]] SLAMing on 38.066502481 meters Centerline goodness : 0.697368 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.03 [[ 0.9912582 0.09467945 -0.09188574 0.68819539] [-0.098272 0.99453031 -0.03538461 0.01946814] [ 0.08803296 0.04410508 0.99514066 -0.0297871 ] [ 0. 0. 0. 1. ]] SLAMing on 38.096502481 meters Centerline goodness : 0.694489 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.03 [[ 0.99118178 0.09520695 -0.09216463 0.68856855] [-0.09884418 0.99446131 -0.03572864 0.01954268] [ 0.08825255 0.04452352 0.99510258 -0.02916392] [ 0. 0. 0. 1. ]] SLAMing on 38.126502481 meters Centerline goodness : 0.696698 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.03 [[ 0.99104588 0.09617386 -0.09262103 0.68948853] [-0.09982832 0.99436562 -0.03565567 0.01915857] [ 0.08867003 0.0445826 0.99506282 -0.02881086] [ 0. 0. 0. 1. ]] SLAMing on 38.156502481 meters Centerline goodness : 0.378886 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.03 [[ 0.99073632 0.09822819 -0.09376973 0.69157776] [-0.10199054 0.99412649 -0.03620024 0.01926145] [ 0.08966309 0.04542852 0.99493557 -0.02753418] [ 0. 0. 0. 1. ]] SLAMing on 38.186502481 meters Centerline goodness : 0.698058 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.03 [[ 0.99060322 0.09917922 -0.09417401 0.69196815] [-0.10299335 0.99401098 -0.03653138 0.01939864] [ 0.08998685 0.0458874 0.99488528 -0.02643688] [ 0. 0. 0. 1. ]] SLAMing on 38.216502481 meters Centerline goodness : 0.693944 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.02 [[ 0.99040043 0.10097138 -0.09440212 0.69182707] [-0.10480758 0.99381917 -0.03659007 0.01921244] [ 0.09012409 0.04613287 0.9948615 -0.02473231] [ 0. 0. 0. 1. ]] SLAMing on 38.246502481 meters Centerline goodness : 0.693429 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.02 [[ 0.99027957 0.10173059 -0.09485391 0.69315235] [-0.10557069 0.99374638 -0.03637264 0.0189098 ] [ 0.09056052 0.04603288 0.9948265 -0.02499191] [ 0. 0. 0. 1. ]] SLAMing on 38.276502481 meters Centerline goodness : 0.626836 Centerline is valid? [False, False] Translation: X:0.70, Y:0.02, Z:-0.03 [[ 0.98992728 0.10417814 -0.0958692 0.69648534] [-0.10786448 0.99358081 -0.03409429 0.0158069 ] [ 0.09170192 0.04409175 0.99480987 -0.02657525] [ 0. 0. 0. 1. ]] SLAMing on 38.306502481 meters Centerline goodness : 0.583524 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:-0.03 [[ 0.98980479 0.10462086 -0.09664864 0.69818186] [-0.10831905 0.99354038 -0.0338304 0.01427606] [ 0.09248496 0.04395438 0.99474346 -0.02683434] [ 0. 0. 0. 1. ]] SLAMing on 38.336502481 meters Centerline goodness : 0.662441 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:-0.03 [[ 0.98969983 0.10527604 -0.09701134 0.69778537] [-0.10893778 0.99349263 -0.03324075 0.01061378] [ 0.0928806 0.04346657 0.99472803 -0.02567898] [ 0. 0. 0. 1. ]] SLAMing on 38.366502481 meters Centerline goodness : 0.657247 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:-0.02 [[ 0.98991679 0.10290296 -0.09734333 0.69714109] [-0.10689633 0.99359168 -0.03672521 0.01046578] [ 0.09294039 0.04676055 0.99457304 -0.02431317] [ 0. 0. 0. 1. ]] SLAMing on 38.396502481 meters Centerline goodness : 0.697176 Centerline is valid? [False, False] Translation: X:0.70, Y:0.01, Z:-0.02 [[ 0.99019765 0.09978758 -0.09772949 0.6966884 ] [-0.10401384 0.99380554 -0.03913668 0.007225 ] [ 0.09321875 0.04891827 0.99444319 -0.02390908] [ 0. 0. 0. 1. ]] SLAMing on 38.426502481 meters Centerline goodness : 0.694235 Centerline is valid? [False, False] Translation: X:0.70, Y:0.00, Z:-0.03 [[ 9.90236033e-01 9.95460000e-02 -9.75868518e-02 6.96691474e-01] [-1.03447453e-01 9.93991961e-01 -3.57576025e-02 5.88987949e-04] [ 9.34410198e-02 4.55035777e-02 9.94584436e-01 -2.60101188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.456502481 meters Centerline goodness : 0.152016 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.00, Z:-0.03 [[ 0.99027933 0.09933104 -0.09736629 0.69655548] [-0.10308065 0.99408296 -0.03425565 -0.00199252] [ 0.09338752 0.04395924 0.99465891 -0.02717728] [ 0. 0. 0. 1. ]] SLAMing on 38.486502481 meters Centerline goodness : 0.412433 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.01, Z:-0.03 [[ 0.99041702 0.09858776 -0.0967191 0.695909 ] [-0.10203192 0.99428786 -0.03132302 -0.00722036] [ 0.09307856 0.04089129 0.99481872 -0.02955561] [ 0. 0. 0. 1. ]] SLAMing on 38.516502481 meters Centerline goodness : 0.558469 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.03 [[ 0.99050926 0.09815192 -0.09621644 0.69486987] [-0.10141726 0.99440221 -0.02964413 -0.01044927] [ 0.09276821 0.03912079 0.9949189 -0.03040543] [ 0. 0. 0. 1. ]] SLAMing on 38.546502481 meters Centerline goodness : 0.417880 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.03 [[ 0.99089418 0.09431255 -0.09609303 0.69328377] [-0.0977219 0.99471818 -0.03140344 -0.01485103] [ 0.09262375 0.04050788 0.99487685 -0.03034956] [ 0. 0. 0. 1. ]] SLAMing on 38.576502481 meters Centerline goodness : 0.698975 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.02, Z:-0.03 [[ 0.99097459 0.09392363 -0.09564363 0.69198119] [-0.09720426 0.99480527 -0.03022911 -0.01739133] [ 0.09230756 0.03925325 0.99495653 -0.03052244] [ 0. 0. 0. 1. ]] SLAMing on 38.606502481 meters Centerline goodness : 0.359440 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.02, Z:-0.03 [[ 0.99102953 0.09343125 -0.0955566 0.69105259] [-0.09651081 0.99493463 -0.02812022 -0.02250853] [ 0.09244526 0.03709022 0.99502673 -0.03083671] [ 0. 0. 0. 1. ]] SLAMing on 38.636502481 meters Centerline goodness : 0.495908 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.02, Z:-0.03 [[ 0.99105362 0.09322304 -0.09551015 0.6910304 ] [-0.09625094 0.9949746 -0.02759172 -0.02406768] [ 0.09245799 0.03653781 0.99504598 -0.03129029] [ 0. 0. 0. 1. ]] SLAMing on 38.666502481 meters Centerline goodness : 0.342159 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.03, Z:-0.03 [[ 0.99100003 0.09388337 -0.09541939 0.69078769] [-0.0967804 0.99496111 -0.02619051 -0.02648162] [ 0.09247973 0.03518952 0.99509256 -0.0314442 ] [ 0. 0. 0. 1. ]] SLAMing on 38.696502481 meters Centerline goodness : 0.350825 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.03, Z:-0.03 [[ 0.99094603 0.09450195 -0.09536951 0.69052059] [-0.09725605 0.99495421 -0.0246451 -0.03001978] [ 0.09255929 0.03369723 0.99513681 -0.03155679] [ 0. 0. 0. 1. ]] SLAMing on 38.726502481 meters Centerline goodness : 0.142836 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.03, Z:-0.03 [[ 0.99087068 0.09505285 -0.09560461 0.69065491] [-0.09774726 0.99492436 -0.0238953 -0.03210814] [ 0.09284804 0.03302224 0.99513254 -0.03130756] [ 0. 0. 0. 1. ]] SLAMing on 38.756502481 meters Centerline goodness : 0.158828 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.03, Z:-0.03 [[ 0.99087116 0.0953798 -0.09527354 0.68979576] [-0.09798168 0.9949223 -0.0230046 -0.03420772] [ 0.09259559 0.03212965 0.99518528 -0.03112542] [ 0. 0. 0. 1. ]] SLAMing on 38.786502481 meters Centerline goodness : 0.684480 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.04, Z:-0.03 [[ 0.99080211 0.09608925 -0.09527867 0.6898323 ] [-0.09862919 0.99487423 -0.02230602 -0.03520259] [ 0.09264692 0.03149811 0.99520069 -0.03108788] [ 0. 0. 0. 1. ]] SLAMing on 38.816502481 meters Centerline goodness : 0.687282 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.04, Z:-0.03 [[ 0.99060755 0.09766986 -0.09569372 0.69118165] [-0.10015298 0.99474001 -0.02148712 -0.03630338] [ 0.09309172 0.03086931 0.99517889 -0.0313593 ] [ 0. 0. 0. 1. ]] SLAMing on 38.846502481 meters Centerline goodness : 0.378302 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.04, Z:-0.03 [[ 0.99057042 0.09761975 -0.09612823 0.69234474] [-0.10012308 0.99474144 -0.02156029 -0.03648082] [ 0.09351803 0.03098164 0.99513543 -0.03177865] [ 0. 0. 0. 1. ]] SLAMing on 38.876502481 meters Centerline goodness : 0.698065 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.04, Z:-0.03 [[ 0.99027501 0.09963145 -0.09710292 0.69474896] [-0.10209016 0.99456022 -0.02067766 -0.03855193] [ 0.09451456 0.03038983 0.99505952 -0.03195031] [ 0. 0. 0. 1. ]] SLAMing on 38.906502481 meters Centerline goodness : 0.686409 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.04, Z:-0.03 [[ 0.99009345 0.10069752 -0.09785174 0.69668722] [-0.10317372 0.99445061 -0.02057109 -0.03874366] [ 0.09523727 0.03046303 0.99498838 -0.03215835] [ 0. 0. 0. 1. ]] SLAMing on 38.936502481 meters Centerline goodness : 0.670297 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.04, Z:-0.03 [[ 0.98990782 0.10210689 -0.09826844 0.69811877] [-0.10460186 0.99430147 -0.02056784 -0.03801079] [ 0.09560834 0.03063933 0.99494737 -0.03228052] [ 0. 0. 0. 1. ]] SLAMing on 38.966502481 meters Centerline goodness : 0.331775 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.04, Z:-0.03 [[ 0.98985685 0.10241285 -0.09846332 0.69823339] [-0.1049525 0.99425643 -0.02095518 -0.0375352 ] [ 0.09575171 0.0310766 0.99492002 -0.03169719] [ 0. 0. 0. 1. ]] SLAMing on 38.996502481 meters Centerline goodness : 0.416425 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.04, Z:-0.03 [[ 0.98975892 0.10263383 -0.09921477 0.69908247] [-0.10533531 0.9941851 -0.02237109 -0.03708532] [ 0.09634181 0.0325928 0.99481454 -0.03035494] [ 0. 0. 0. 1. ]] SLAMing on 39.026502481 meters Centerline goodness : 0.703783 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.04, Z:-0.03 [[ 0.9896869 0.10292059 -0.09963527 0.6991668 ] [-0.10567573 0.99413998 -0.02276713 -0.03776367] [ 0.0967082 0.03306136 0.99476353 -0.02927172] [ 0. 0. 0. 1. ]] SLAMing on 39.056502481 meters Centerline goodness : 0.703115 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.04, Z:-0.03 [[ 0.9896925 0.10266026 -0.09984798 0.69910693] [-0.10552381 0.99413146 -0.02381945 -0.03722936] [ 0.0968167 0.03411027 0.99471756 -0.02838127] [ 0. 0. 0. 1. ]] SLAMing on 39.086502481 meters Centerline goodness : 0.704135 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.03 [[ 0.98982723 0.10210541 -0.09907846 0.69888286] [-0.10488667 0.99421197 -0.02326698 -0.03494658] [ 0.09612931 0.0334223 0.99480757 -0.0299616 ] [ 0. 0. 0. 1. ]] SLAMing on 39.116502481 meters Centerline goodness : 0.239532 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.03 [[ 0.98990364 0.10165817 -0.09877447 0.69850429] [-0.10441454 0.99426473 -0.02313556 -0.03429192] [ 0.09585605 0.03321546 0.99484087 -0.03041259] [ 0. 0. 0. 1. ]] SLAMing on 39.146502481 meters Centerline goodness : 0.490234 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.03 [[ 0.99018107 0.10001936 -0.09766053 0.69679567] [-0.10266942 0.99446136 -0.02248523 -0.0345972 ] [ 0.09487066 0.0322912 0.99496575 -0.03178183] [ 0. 0. 0. 1. ]] SLAMing on 39.176502481 meters Centerline goodness : 0.698320 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.04, Z:-0.03 [[ 0.99064262 0.09529549 -0.09770348 0.69636887] [-0.09827491 0.99481597 -0.02613867 -0.03516256] [ 0.09470609 0.03549588 0.99487225 -0.03233728] [ 0. 0. 0. 1. ]] SLAMing on 39.206502481 meters Centerline goodness : 0.685148 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.03 [[ 0.99102939 0.0906262 -0.09822244 0.69692771] [-0.09404127 0.99509466 -0.03070589 -0.03405721] [ 0.09495786 0.03966741 0.99469066 -0.03265865] [ 0. 0. 0. 1. ]] SLAMing on 39.236502481 meters Centerline goodness : 0.703449 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.03 [[ 0.99138024 0.08669465 -0.09823062 0.69640003] [-0.09047427 0.99529441 -0.03469076 -0.0318924 ] [ 0.09476089 0.04327908 0.99455884 -0.0324793 ] [ 0. 0. 0. 1. ]] SLAMing on 39.266502481 meters Centerline goodness : 0.702507 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.03 [[ 0.99138392 0.0865108 -0.09835552 0.69701878] [-0.09031535 0.99530143 -0.0349026 -0.03094845] [ 0.09487394 0.04348489 0.99453909 -0.03278787] [ 0. 0. 0. 1. ]] SLAMing on 39.296502481 meters Centerline goodness : 0.540391 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.03 [[ 0.99138069 0.08657659 -0.09833017 0.69723461] [-0.09037716 0.99529698 -0.03486975 -0.03105875] [ 0.09484882 0.04345599 0.99454275 -0.03304518] [ 0. 0. 0. 1. ]] SLAMing on 39.326502481 meters Centerline goodness : 0.704320 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.03 [[ 0.99137747 0.08634754 -0.09856376 0.69759688] [-0.09016893 0.99531165 -0.0349899 -0.03176295] [ 0.09508037 0.04357559 0.99451541 -0.03304296] [ 0. 0. 0. 1. ]] SLAMing on 39.356502481 meters Centerline goodness : 0.704320 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.03 [[ 0.99137747 0.08634754 -0.09856376 0.69759688] [-0.09016893 0.99531165 -0.0349899 -0.03176295] [ 0.09508037 0.04357559 0.99451541 -0.03304296] [ 0. 0. 0. 1. ]] SLAMing on 39.386502481 meters Centerline goodness : 0.623459 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.03 [[ 0.99134924 0.08640644 -0.0987958 0.69795723] [-0.09022339 0.99531216 -0.03483456 -0.03272953] [ 0.09532273 0.0434469 0.99449783 -0.03301405] [ 0. 0. 0. 1. ]] SLAMing on 39.416502481 meters Centerline goodness : 0.703872 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.03 [[ 0.99131924 0.08641194 -0.09909154 0.6989534 ] [-0.09024417 0.99530944 -0.03485839 -0.03263961] [ 0.09561457 0.04349823 0.99446758 -0.0335339 ] [ 0. 0. 0. 1. ]] SLAMing on 39.446502481 meters Centerline goodness : 0.157435 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.03 [[ 0.99124732 0.08702157 -0.09927737 0.69982308] [-0.09080166 0.99528135 -0.03420675 -0.03370147] [ 0.09583219 0.04292189 0.99447167 -0.03408749] [ 0. 0. 0. 1. ]] SLAMing on 39.476502481 meters Centerline goodness : 0.511525 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.03 [[ 0.99120989 0.08702746 -0.09964529 0.7006122 ] [-0.0908053 0.99528747 -0.03401841 -0.03493531] [ 0.09621518 0.0427677 0.99444133 -0.0343211 ] [ 0. 0. 0. 1. ]] SLAMing on 39.506502481 meters Centerline goodness : 0.691972 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.04, Z:-0.03 [[ 0.99141339 0.08380014 -0.10038436 0.70117128] [-0.08789675 0.99543852 -0.03709864 -0.03699898] [ 0.09681759 0.04560355 0.99425684 -0.0344487 ] [ 0. 0. 0. 1. ]] SLAMing on 39.536502481 meters Centerline goodness : 0.705962 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.04, Z:-0.03 [[ 0.99138074 0.08372412 -0.10076952 0.70197471] [-0.0878229 0.99545085 -0.03694256 -0.03835401] [ 0.09721812 0.04547402 0.99422369 -0.03463035] [ 0. 0. 0. 1. ]] SLAMing on 39.566502481 meters Centerline goodness : 0.518150 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.04, Z:-0.04 [[ 0.99132475 0.08387088 -0.1011974 0.70331252] [-0.08796481 0.99544777 -0.03668694 -0.03938623] [ 0.09765976 0.04527048 0.9941897 -0.03538293] [ 0. 0. 0. 1. ]] SLAMing on 39.596502481 meters Centerline goodness : 0.709715 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.04, Z:-0.04 [[ 0.99128778 0.08379499 -0.10162157 0.70475198] [-0.08791596 0.99544911 -0.03676748 -0.03928157] [ 0.09807817 0.04538131 0.99414346 -0.03614556] [ 0. 0. 0. 1. ]] SLAMing on 39.626502481 meters Centerline goodness : 0.141178 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.04, Z:-0.04 [[ 0.9912367 0.08366094 -0.10222841 0.70690793] [-0.0878083 0.99545894 -0.03675863 -0.04006215] [ 0.09868892 0.04541301 0.99408156 -0.03742716] [ 0. 0. 0. 1. ]] SLAMing on 39.656502481 meters Centerline goodness : 0.452522 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.04, Z:-0.04 [[ 0.99151827 0.07941166 -0.1028849 0.70791591] [-0.08395418 0.99564242 -0.04059386 -0.04084381] [ 0.09921294 0.04888717 0.9938646 -0.03800224] [ 0. 0. 0. 1. ]] SLAMing on 39.686502481 meters Centerline goodness : 0.501454 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.04, Z:-0.04 [[ 0.99179384 0.07517281 -0.10341196 0.70837847] [-0.08013478 0.99578172 -0.04468982 -0.04013772] [ 0.09961627 0.05260999 0.99363413 -0.03804263] [ 0. 0. 0. 1. ]] SLAMing on 39.716502481 meters Centerline goodness : 0.708059 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.04, Z:-0.04 [[ 0.992085 0.0710515 -0.10353277 0.70766562] [-0.07637395 0.99590481 -0.04838 -0.04026899] [ 0.09967131 0.05590428 0.99344871 -0.03752312] [ 0. 0. 0. 1. ]] SLAMing on 39.746502481 meters Centerline goodness : 0.611200 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.04, Z:-0.04 [[ 0.9920699 0.07086625 -0.10380409 0.70825505] [-0.07619137 0.99592455 -0.04826139 -0.04082832] [ 0.09996094 0.05578765 0.99342617 -0.03759071] [ 0. 0. 0. 1. ]] SLAMing on 39.776502481 meters Centerline goodness : 0.517774 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.04, Z:-0.04 [[ 0.99205515 0.07064898 -0.10409273 0.70915019] [-0.07595165 0.99596098 -0.04788614 -0.04216157] [ 0.10028919 0.05541171 0.99341412 -0.03791163] [ 0. 0. 0. 1. ]] SLAMing on 39.806502481 meters Centerline goodness : 0.649311 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.04, Z:-0.04 [[ 0.99202594 0.07039765 -0.10454044 0.71034419] [-0.0757254 0.99597773 -0.04789597 -0.04286899] [ 0.10074819 0.05543041 0.99336664 -0.03834019] [ 0. 0. 0. 1. ]] SLAMing on 39.836502481 meters Centerline goodness : 0.711025 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.04, Z:-0.04 [[ 0.99201177 0.07007135 -0.10489351 0.71142403] [-0.07541051 0.99600495 -0.04782669 -0.04444584] [ 0.10112317 0.05535471 0.99333275 -0.03889844] [ 0. 0. 0. 1. ]] SLAMing on 39.866502481 meters Centerline goodness : 0.673291 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.04 [[ 0.99200475 0.06989797 -0.10507547 0.71204373] [-0.07523322 0.99602466 -0.04769532 -0.0459952 ] [ 0.10132395 0.05521915 0.99331984 -0.03932446] [ 0. 0. 0. 1. ]] SLAMing on 39.896502481 meters Centerline goodness : 0.712413 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.04 [[ 0.99196474 0.07012748 -0.10530003 0.71250867] [-0.07544627 0.99602252 -0.04740255 -0.04627288] [ 0.10155698 0.05496615 0.99331007 -0.03933991] [ 0. 0. 0. 1. ]] SLAMing on 39.926502481 meters Centerline goodness : 0.710188 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.04 [[ 0.99189147 0.07071981 -0.10559361 0.71348725] [-0.07600299 0.99600529 -0.04687229 -0.04634318] [ 0.101857 0.05451765 0.99330407 -0.03978354] [ 0. 0. 0. 1. ]] SLAMing on 39.956502481 meters Centerline goodness : 0.709703 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.04 [[ 0.99185242 0.07074155 -0.10594528 0.71453835] [-0.07604749 0.99600039 -0.04690413 -0.0459938 ] [ 0.10220347 0.05457885 0.99326512 -0.04018029] [ 0. 0. 0. 1. ]] SLAMing on 39.986502481 meters Centerline goodness : 0.646494 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.05, Z:-0.04 [[ 0.99178422 0.07087098 -0.1064958 0.71586686] [-0.07619552 0.99599469 -0.04678484 -0.04614412] [ 0.10275357 0.05451497 0.99321187 -0.04052426] [ 0. 0. 0. 1. ]] SLAMing on 40.016502481 meters Centerline goodness : 0.697578 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.05, Z:-0.04 [[ 0.99175062 0.0706887 -0.106929 0.71668795] [-0.07605507 0.99599694 -0.04696519 -0.04620299] [ 0.10318105 0.05471025 0.99315681 -0.04057675] [ 0. 0. 0. 1. ]] SLAMing on 40.046502481 meters Centerline goodness : 0.696243 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.05, Z:-0.04 [[ 0.99171354 0.07060512 -0.10732741 0.71715254] [-0.07601969 0.99598762 -0.04721936 -0.04613433] [ 0.10356284 0.05498708 0.99310179 -0.04038842] [ 0. 0. 0. 1. ]] SLAMing on 40.076502481 meters Centerline goodness : 0.710743 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.05, Z:-0.04 [[ 0.99167867 0.07057481 -0.10766895 0.71789095] [-0.07602989 0.99597701 -0.0474262 -0.04514888] [ 0.1038887 0.05521761 0.99305496 -0.04042036] [ 0. 0. 0. 1. ]] SLAMing on 40.106502481 meters Centerline goodness : 0.710943 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.04, Z:-0.04 [[ 0.99166602 0.07050915 -0.10782843 0.71839899] [-0.07598842 0.99597309 -0.04757481 -0.0443703 ] [ 0.10403976 0.05537204 0.99303055 -0.0405564 ] [ 0. 0. 0. 1. ]] SLAMing on 40.136502481 meters Centerline goodness : 0.709445 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.04, Z:-0.04 [[ 0.99162106 0.07071386 -0.10810746 0.71907596] [-0.0762131 0.99595436 -0.04760757 -0.04280079] [ 0.10430358 0.05544788 0.99299864 -0.04051617] [ 0. 0. 0. 1. ]] SLAMing on 40.166502481 meters Centerline goodness : 0.702627 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.04, Z:-0.04 [[ 0.99159237 0.07050658 -0.10850528 0.71986434] [-0.07606761 0.99594709 -0.04799067 -0.04173199] [ 0.10468186 0.05584092 0.99293681 -0.04048387] [ 0. 0. 0. 1. ]] SLAMing on 40.196502481 meters Centerline goodness : 0.707686 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.04, Z:-0.04 [[ 0.99157896 0.07022721 -0.10880856 0.7202167 ] [-0.07587488 0.99592933 -0.04865977 -0.0396754 ] [ 0.10494839 0.05650585 0.99287105 -0.04007911] [ 0. 0. 0. 1. ]] SLAMing on 40.226502481 meters Centerline goodness : 0.708098 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.04, Z:-0.04 [[ 0.99156525 0.0700583 -0.10904212 0.72100895] [-0.07578221 0.99590686 -0.04926042 -0.03734749] [ 0.10514469 0.05710838 0.99281581 -0.04029758] [ 0. 0. 0. 1. ]] SLAMing on 40.256502481 meters Centerline goodness : 0.705990 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.04, Z:-0.04 [[ 0.99155393 0.0697973 -0.10931213 0.72181999] [-0.07559218 0.99589483 -0.04979272 -0.03585095] [ 0.10538799 0.05763531 0.99275956 -0.04053602] [ 0. 0. 0. 1. ]] SLAMing on 40.286502481 meters Centerline goodness : 0.705011 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.03, Z:-0.04 [[ 0.99151793 0.06997 -0.10952802 0.72220521] [-0.07582585 0.99585457 -0.05024057 -0.03332493] [ 0.10555865 0.05811948 0.9927132 -0.04035017] [ 0. 0. 0. 1. ]] SLAMing on 40.316502481 meters Centerline goodness : 0.610273 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.03, Z:-0.04 [[ 0.99149567 0.07002365 -0.10969513 0.722537 ] [-0.07592642 0.99582939 -0.05058656 -0.03140791] [ 0.10569538 0.05848512 0.99267718 -0.04024892] [ 0. 0. 0. 1. ]] SLAMing on 40.346502481 meters Centerline goodness : 0.704210 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.03, Z:-0.04 [[ 0.99118595 0.07358048 -0.11016498 0.72443074] [-0.07919519 0.99572758 -0.04748374 -0.03004696] [ 0.10620044 0.05578975 0.99277841 -0.04069484] [ 0. 0. 0. 1. ]] SLAMing on 40.376502481 meters Centerline goodness : 0.705277 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.04 [[ 0.99111807 0.07312525 -0.11107508 0.72704957] [-0.07887566 0.99571442 -0.04828473 -0.02912723] [ 0.10706822 0.05661699 0.99263836 -0.04179967] [ 0. 0. 0. 1. ]] SLAMing on 40.406502481 meters Centerline goodness : 0.706887 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.04 [[ 0.99107451 0.07292357 -0.11159509 0.72823573] [-0.07873088 0.99571331 -0.04854338 -0.02911524] [ 0.10757676 0.05689609 0.99256742 -0.04210329] [ 0. 0. 0. 1. ]] SLAMing on 40.436502481 meters Centerline goodness : 0.705520 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.04 [[ 0.9910431 0.07299235 -0.11182887 0.7286614 ] [-0.07881291 0.99570706 -0.04853842 -0.02909695] [ 0.10780586 0.05691722 0.99254135 -0.04210612] [ 0. 0. 0. 1. ]] SLAMing on 40.466502481 meters Centerline goodness : 0.706265 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.04 [[ 0.99075763 0.07738929 -0.11140112 0.72784918] [-0.08275311 0.99558267 -0.04435176 -0.02971518] [ 0.10747667 0.05316064 0.99278533 -0.04133479] [ 0. 0. 0. 1. ]] SLAMing on 40.496502481 meters Centerline goodness : 0.702342 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.04 [[ 0.99069799 0.07760292 -0.11178229 0.72885543] [-0.08300389 0.99555539 -0.04449524 -0.02857508] [ 0.1078325 0.05335971 0.99273606 -0.04159738] [ 0. 0. 0. 1. ]] SLAMing on 40.526502481 meters Centerline goodness : 0.702646 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.04 [[ 0.99031146 0.08112276 -0.11270448 0.73200594] [-0.08626935 0.99540479 -0.04155596 -0.02822905] [ 0.10881545 0.05087628 0.99275919 -0.04266468] [ 0. 0. 0. 1. ]] SLAMing on 40.556502481 meters Centerline goodness : 0.451401 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.04 [[ 0.99025886 0.08081399 -0.11338645 0.73369272] [-0.08605697 0.99539922 -0.04212582 -0.02751801] [ 0.10946043 0.05147316 0.99265751 -0.04317173] [ 0. 0. 0. 1. ]] SLAMing on 40.586502481 meters Centerline goodness : 0.382786 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.04 [[ 0.99016452 0.08050475 -0.11442552 0.73574724] [-0.08587627 0.99538571 -0.04280829 -0.02692777] [ 0.11045126 0.05221368 0.99250907 -0.04348385] [ 0. 0. 0. 1. ]] SLAMing on 40.616502481 meters Centerline goodness : 0.696165 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.04 [[ 0.99014187 0.08031431 -0.11475492 0.73635342] [-0.08572062 0.99539203 -0.04297294 -0.02697859] [ 0.11077479 0.05238617 0.99246392 -0.04349947] [ 0. 0. 0. 1. ]] SLAMing on 40.646502481 meters Centerline goodness : 0.688777 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.04 [[ 0.99013055 0.08047538 -0.11473973 0.73616135] [-0.08584702 0.99539453 -0.04266175 -0.02633099] [ 0.11077808 0.05209077 0.9924791 -0.04302345] [ 0. 0. 0. 1. ]] SLAMing on 40.676502481 meters Centerline goodness : 0.698318 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.04 [[ 0.99011075 0.08015731 -0.11513255 0.73706068] [-0.08557984 0.9954053 -0.04294628 -0.02542163] [ 0.1111611 0.0523746 0.99242134 -0.04302861] [ 0. 0. 0. 1. ]] SLAMing on 40.706502481 meters Centerline goodness : 0.369661 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.02, Z:-0.04 [[ 0.99039336 0.07600745 -0.11551562 0.73699476] [-0.08187193 0.995539 -0.04689437 -0.02474791] [ 0.11143599 0.05590136 0.99219809 -0.04273594] [ 0. 0. 0. 1. ]] SLAMing on 40.736502481 meters Centerline goodness : 0.479760 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.02, Z:-0.04 [[ 0.99065032 0.07188105 -0.11595286 0.73692675] [-0.07818951 0.99564332 -0.05080144 -0.02432886] [ 0.11179603 0.05939276 0.99195471 -0.04233678] [ 0. 0. 0. 1. ]] SLAMing on 40.766502481 meters Centerline goodness : 0.685370 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.02, Z:-0.04 [[ 0.99096944 0.06766961 -0.1157601 0.73584673] [-0.07434324 0.9957514 -0.05433452 -0.02460294] [ 0.11159148 0.06244983 0.99178998 -0.04196493] [ 0. 0. 0. 1. ]] SLAMing on 40.796502481 meters Centerline goodness : 0.484153 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.04 [[ 0.99147165 0.06043389 -0.11546305 0.73735719] [-0.06598505 0.99681112 -0.04487267 -0.02555472] [ 0.11238302 0.05210882 0.9922977 -0.04216195] [ 0. 0. 0. 1. ]] SLAMing on 40.826502481 meters Centerline goodness : 0.694990 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.04 [[ 0.99147116 0.06010936 -0.11563656 0.73782469] [-0.06566519 0.99683333 -0.04484853 -0.02609795] [ 0.11257456 0.05205932 0.99227859 -0.04220577] [ 0. 0. 0. 1. ]] SLAMing on 40.856502481 meters Centerline goodness : 0.696297 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.04 [[ 0.99170427 0.05620099 -0.11560313 0.73607476] [-0.06213633 0.99689374 -0.04839366 -0.02677993] [ 0.11252427 0.05517535 0.99211591 -0.04078246] [ 0. 0. 0. 1. ]] SLAMing on 40.886502481 meters Centerline goodness : 0.156970 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.04 [[ 0.99164862 0.05592913 -0.11621082 0.73650113] [-0.06191252 0.99690106 -0.04852955 -0.02775769] [ 0.11313647 0.05531916 0.99203827 -0.04003298] [ 0. 0. 0. 1. ]] SLAMing on 40.916502481 meters Centerline goodness : 0.607423 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.04 [[ 0.99138492 0.05974403 -0.11656157 0.7375091 ] [-0.06540267 0.99682844 -0.04533809 -0.02722258] [ 0.11348321 0.05257093 0.9921481 -0.04005126] [ 0. 0. 0. 1. ]] SLAMing on 40.946502481 meters Centerline goodness : 0.517792 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.04 [[ 0.99108404 0.06362801 -0.11706369 0.73941848] [-0.06895719 0.99673312 -0.04204742 -0.02595057] [ 0.11400587 0.04974491 0.9922339 -0.04049167] [ 0. 0. 0. 1. ]] SLAMing on 40.976502481 meters Centerline goodness : 0.695487 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.04 [[ 0.99078468 0.06781996 -0.11724406 0.74070293] [-0.07277292 0.99660561 -0.03848849 -0.02503088] [ 0.1142358 0.046666 0.99235703 -0.04092355] [ 0. 0. 0. 1. ]] SLAMing on 41.006502481 meters Centerline goodness : 0.704366 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.02, Z:-0.04 [[ 0.99040944 0.07241655 -0.11766469 0.74240169] [-0.07702249 0.99641221 -0.03507483 -0.02355277] [ 0.11470254 0.04380127 0.99243376 -0.04141341] [ 0. 0. 0. 1. ]] SLAMing on 41.036502481 meters Centerline goodness : 0.156179 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.02, Z:-0.04 [[ 0.99035437 0.07248323 -0.11808642 0.74355417] [-0.07715448 0.99638791 -0.0354729 -0.02230925] [ 0.11508869 0.04424164 0.99236952 -0.04179292] [ 0. 0. 0. 1. ]] SLAMing on 41.066502481 meters Centerline goodness : 0.539391 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.02, Z:-0.04 [[ 0.99002258 0.07667382 -0.11822191 0.74391997] [-0.08094273 0.99621345 -0.03173389 -0.02252563] [ 0.1153411 0.04098647 0.99247999 -0.04128916] [ 0. 0. 0. 1. ]] SLAMing on 41.096502481 meters Centerline goodness : 0.706034 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.02, Z:-0.04 [[ 0.98997101 0.07689466 -0.11850996 0.74409609] [-0.08117985 0.99619336 -0.03175887 -0.02220017] [ 0.11561675 0.04106098 0.99244484 -0.04087322] [ 0. 0. 0. 1. ]] SLAMing on 41.126502481 meters Centerline goodness : 0.673889 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.02, Z:-0.04 [[ 0.98993667 0.07680921 -0.11885173 0.74459066] [-0.08110896 0.9961989 -0.03176625 -0.02243236] [ 0.11596002 0.04108652 0.99240373 -0.04067546] [ 0. 0. 0. 1. ]] SLAMing on 41.156502481 meters Centerline goodness : 0.413310 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.02, Z:-0.04 [[ 0.98990575 0.07649807 -0.11930909 0.74481886] [-0.08078804 0.99623224 -0.03153743 -0.02421899] [ 0.11644701 0.04085783 0.99235615 -0.03996562] [ 0. 0. 0. 1. ]] SLAMing on 41.186502481 meters Centerline goodness : 0.574525 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.03, Z:-0.04 [[ 0.9898912 0.07620474 -0.11961713 0.74536324] [-0.08049058 0.99626035 -0.03140985 -0.02547084] [ 0.11677623 0.04072039 0.99232311 -0.03992588] [ 0. 0. 0. 1. ]] SLAMing on 41.216502481 meters Centerline goodness : 0.705829 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.03, Z:-0.04 [[ 0.99016217 0.07241492 -0.11972871 0.74511188] [-0.07705966 0.9964251 -0.03462418 -0.02619825] [ 0.11679339 0.04350981 0.9922027 -0.03992387] [ 0. 0. 0. 1. ]] SLAMing on 41.246502481 meters Centerline goodness : 0.705829 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.03, Z:-0.04 [[ 0.99016217 0.07241492 -0.11972871 0.74511188] [-0.07705966 0.9964251 -0.03462418 -0.02619825] [ 0.11679339 0.04350981 0.9922027 -0.03992387] [ 0. 0. 0. 1. ]] SLAMing on 41.276502481 meters Centerline goodness : 0.505738 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.03, Z:-0.04 [[ 0.99014563 0.07209711 -0.12005681 0.74567005] [-0.07675069 0.99645 -0.03459362 -0.02721865] [ 0.1171365 0.04346717 0.99216412 -0.03987337] [ 0. 0. 0. 1. ]] SLAMing on 41.306502481 meters Centerline goodness : 0.319665 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.03, Z:-0.04 [[ 0.99039075 0.06771118 -0.12058755 0.74647687] [-0.07281494 0.99660487 -0.03842812 -0.02792629] [ 0.11757612 0.04683943 0.99195863 -0.04026956] [ 0. 0. 0. 1. ]] SLAMing on 41.336502481 meters Centerline goodness : 0.690197 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.03, Z:-0.04 [[ 0.99038424 0.0673126 -0.12086387 0.74700531] [-0.07243018 0.99663187 -0.03845501 -0.02887961] [ 0.11786828 0.04683943 0.99192396 -0.04029283] [ 0. 0. 0. 1. ]] SLAMing on 41.366502481 meters Centerline goodness : 0.467541 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.03, Z:-0.04 [[ 0.99039253 0.06688697 -0.1210321 0.74798562] [-0.07203482 0.9966524 -0.03866486 -0.02845223] [ 0.11804076 0.04701192 0.99189529 -0.04088068] [ 0. 0. 0. 1. ]] SLAMing on 41.396502481 meters Centerline goodness : 0.339676 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.03, Z:-0.04 [[ 0.99036123 0.06668067 -0.12140147 0.74928624] [-0.07188704 0.9966493 -0.0390184 -0.02722963] [ 0.11839292 0.04736951 0.9918363 -0.04141806] [ 0. 0. 0. 1. ]] SLAMing on 41.426502481 meters Centerline goodness : 0.374047 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.02, Z:-0.04 [[ 0.99027315 0.06645714 -0.12223969 0.75079327] [-0.07182324 0.99661402 -0.0400239 -0.02446866] [ 0.11916592 0.04841425 0.99169327 -0.04131206] [ 0. 0. 0. 1. ]] SLAMing on 41.456502481 meters Centerline goodness : 0.320923 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.02, Z:-0.04 [[ 0.99022434 0.06624918 -0.12274688 0.75106635] [-0.0717107 0.99659804 -0.04061919 -0.02333516] [ 0.11963832 0.04902437 0.99160642 -0.04053349] [ 0. 0. 0. 1. ]] SLAMing on 41.486502481 meters Centerline goodness : 0.600929 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.02, Z:-0.04 [[ 0.99019943 0.06643944 -0.12284498 0.74973219] [-0.07202187 0.99653638 -0.04157027 -0.0198115 ] [ 0.11965759 0.05001039 0.99155485 -0.03867857] [ 0. 0. 0. 1. ]] SLAMing on 41.516502481 meters Centerline goodness : 0.143082 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.02, Z:-0.04 [[ 0.99016429 0.06650513 -0.1230924 0.75017895] [-0.07216518 0.99650357 -0.04210483 -0.01733025] [ 0.11986183 0.05057369 0.99150161 -0.03849912] [ 0. 0. 0. 1. ]] SLAMing on 41.546502481 meters Centerline goodness : 0.707916 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.01, Z:-0.04 [[ 0.98982274 0.07046662 -0.12363416 0.75205227] [-0.07580922 0.99635745 -0.03904867 -0.01477235] [ 0.12043219 0.04802387 0.99155927 -0.03871698] [ 0. 0. 0. 1. ]] SLAMing on 41.576502481 meters Centerline goodness : 0.560686 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.01, Z:-0.04 [[ 0.98976641 0.070234 -0.12421612 0.75389173] [-0.07568349 0.99634108 -0.03970465 -0.01273853] [ 0.120973 0.04869944 0.99146049 -0.03940389] [ 0. 0. 0. 1. ]] SLAMing on 41.606502481 meters Centerline goodness : 0.242086 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.01, Z:-0.04 [[ 0.98950034 0.07178619 -0.1254425 0.75862482] [-0.07714991 0.99627857 -0.03843049 -0.01233167] [ 0.1222169 0.04770486 0.99135628 -0.04156978] [ 0. 0. 0. 1. ]] SLAMing on 41.636502481 meters Centerline goodness : 0.134666 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.01, Z:-0.04 [[ 0.98949159 0.07091347 -0.12600662 0.7605328 ] [-0.07638192 0.99631154 -0.039104 -0.0117042 ] [ 0.12276885 0.0483177 0.9912584 -0.04238895] [ 0. 0. 0. 1. ]] SLAMing on 41.666502481 meters Centerline goodness : 0.147492 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.01, Z:-0.04 [[ 0.98947601 0.07056925 -0.12632185 0.76121074] [-0.07606375 0.99633178 -0.03920835 -0.01166714] [ 0.12309157 0.04840424 0.99121415 -0.04237637] [ 0. 0. 0. 1. ]] SLAMing on 41.696502481 meters Centerline goodness : 0.702282 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.01, Z:-0.04 [[ 0.98945571 0.07013651 -0.12672122 0.76219876] [-0.07567178 0.99635398 -0.0394021 -0.01162759] [ 0.12349567 0.04857586 0.99115549 -0.04256498] [ 0. 0. 0. 1. ]] SLAMing on 41.726502481 meters Centerline goodness : 0.633417 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.01, Z:-0.04 [[ 0.98949872 0.06732634 -0.12790402 0.76569616] [-0.07316467 0.99645586 -0.04150478 -0.01233081] [ 0.12465635 0.05042698 0.99091771 -0.04385192] [ 0. 0. 0. 1. ]] SLAMing on 41.756502481 meters Centerline goodness : 0.481718 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.01, Z:-0.04 [[ 0.98949242 0.06673843 -0.12826039 0.76642313] [-0.07260885 0.99649057 -0.04164722 -0.01335901] [ 0.1250308 0.05052245 0.99086567 -0.04392746] [ 0. 0. 0. 1. ]] SLAMing on 41.786502481 meters Centerline goodness : 0.495974 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.01, Z:-0.04 [[ 0.98970233 0.06204882 -0.12899319 0.76748529] [-0.06844546 0.99660495 -0.04575797 -0.01253871] [ 0.12571602 0.05411577 0.9905892 -0.04394063] [ 0. 0. 0. 1. ]] SLAMing on 41.816502481 meters Centerline goodness : 0.327485 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.01, Z:-0.04 [[ 0.98977072 0.06136809 -0.12879392 0.76658258] [-0.06781295 0.99662491 -0.04626232 -0.01159944] [ 0.1255202 0.05452298 0.9905917 -0.04313525] [ 0. 0. 0. 1. ]] SLAMing on 41.846502481 meters Centerline goodness : 0.596917 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.01, Z:-0.04 [[ 0.98975144 0.06102241 -0.129106 0.76693303] [-0.06754072 0.99662189 -0.04672324 -0.01017414] [ 0.1258187 0.0549643 0.99052944 -0.04268796] [ 0. 0. 0. 1. ]] SLAMing on 41.876502481 meters Centerline goodness : 0.562161 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.01, Z:-0.04 [[ 0.98949147 0.06464054 -0.12933768 0.76759795] [-0.07080837 0.99653367 -0.04366705 -0.00732603] [ 0.12606669 0.05236636 0.99063866 -0.04202438] [ 0. 0. 0. 1. ]] SLAMing on 41.906502481 meters Centerline goodness : 0.697935 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.00, Z:-0.04 [[ 0.98946082 0.06466423 -0.12956011 0.76815285] [-0.07090303 0.99650657 -0.04412963 -0.0049933 ] [ 0.12625389 0.05285074 0.99058909 -0.04197168] [ 0. 0. 0. 1. ]] SLAMing on 41.936502481 meters Centerline goodness : 0.697363 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.00, Z:-0.04 [[ 0.98946475 0.06445475 -0.12963444 0.76745224] [-0.07081952 0.99646915 -0.04509794 -0.00123933] [ 0.12626994 0.05380347 0.99053576 -0.04068696] [ 0. 0. 0. 1. ]] SLAMing on 41.966502481 meters Centerline goodness : 0.167783 Centerline is valid? [False, False] Translation: X:0.77, Y:0.00, Z:-0.04 [[ 0.98946501 0.06409929 -0.12980864 0.76763621] [-0.07056795 0.99645236 -0.04585695 0.00100371] [ 0.12640872 0.05453418 0.9904781 -0.04033233] [ 0. 0. 0. 1. ]] SLAMing on 41.996502481 meters Centerline goodness : 0.510891 Centerline is valid? [False, False] Translation: X:0.77, Y:0.00, Z:-0.04 [[ 0.98938976 0.06393764 -0.13046029 0.76914837] [-0.07058169 0.99640041 -0.04695157 0.00459798] [ 0.12698871 0.05566151 0.99034119 -0.04046118] [ 0. 0. 0. 1. ]] SLAMing on 42.026502481 meters Centerline goodness : 0.612241 Centerline is valid? [False, False] Translation: X:0.77, Y:0.01, Z:-0.04 [[ 0.98909249 0.06754105 -0.1308979 0.77080623] [-0.07385074 0.99630002 -0.04395836 0.0060079 ] [ 0.12744459 0.05314579 0.99042082 -0.04070363] [ 0. 0. 0. 1. ]] SLAMing on 42.056502481 meters Centerline goodness : 0.546458 Centerline is valid? [False, False] Translation: X:0.77, Y:0.01, Z:-0.04 [[ 0.98905067 0.06742457 -0.1312734 0.77171551] [-0.07380596 0.99628539 -0.04436334 0.0077092 ] [ 0.12779459 0.05356635 0.99035306 -0.04075221] [ 0. 0. 0. 1. ]] SLAMing on 42.086502481 meters Centerline goodness : 0.506676 Centerline is valid? [False, False] Translation: X:0.77, Y:0.01, Z:-0.04 [[ 0.9889816 0.06743102 -0.13178942 0.77310496] [-0.07389664 0.99625931 -0.04479598 0.00999011] [ 0.1282758 0.05404119 0.99026505 -0.04097048] [ 0. 0. 0. 1. ]] SLAMing on 42.116502481 meters Centerline goodness : 0.680602 Centerline is valid? [False, False] Translation: X:0.77, Y:0.01, Z:-0.04 [[ 0.98895714 0.066974 -0.13220535 0.77449751] [-0.07352448 0.9962641 -0.045299 0.01072035] [ 0.12867759 0.0545191 0.99018672 -0.04154858] [ 0. 0. 0. 1. ]] SLAMing on 42.146502481 meters Centerline goodness : 0.655855 Centerline is valid? [False, False] Translation: X:0.77, Y:0.01, Z:-0.04 [[ 0.98897346 0.06653541 -0.13230469 0.7749076 ] [-0.07311576 0.9962845 -0.04551129 0.01009018] [ 0.128785 0.05468302 0.99016372 -0.04177484] [ 0. 0. 0. 1. ]] SLAMing on 42.176502481 meters Centerline goodness : 0.669098 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.04 [[ 0.98892689 0.06626303 -0.13278861 0.77582876] [-0.07286213 0.99630524 -0.04546413 0.00908624] [ 0.1292854 0.05463596 0.9901011 -0.04179926] [ 0. 0. 0. 1. ]] SLAMing on 42.206502481 meters Centerline goodness : 0.686478 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.04 [[ 0.98890694 0.06572131 -0.13320577 0.77694021] [-0.07235607 0.99633635 -0.04559032 0.0083325 ] [ 0.12972149 0.05472283 0.99003926 -0.04206379] [ 0. 0. 0. 1. ]] SLAMing on 42.236502481 meters Centerline goodness : 0.696763 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.04 [[ 0.98888586 0.06562061 -0.13341172 0.77752049] [-0.07227252 0.99634017 -0.04563941 0.0086571 ] [ 0.12992857 0.05477417 0.99000927 -0.04217115] [ 0. 0. 0. 1. ]] SLAMing on 42.266502480999996 meters Centerline goodness : 0.544803 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.04 [[ 0.9888773 0.06577179 -0.13340077 0.7773528 ] [-0.07240664 0.99633656 -0.04550528 0.00908857] [ 0.1299191 0.05465824 0.99001692 -0.04186457] [ 0. 0. 0. 1. ]] SLAMing on 42.296502481 meters Centerline goodness : 0.649321 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.04 [[ 0.98884148 0.06551413 -0.13379246 0.77793152] [-0.07218753 0.99634596 -0.0456475 0.00895113] [ 0.13031302 0.05479628 0.98995752 -0.04167314] [ 0. 0. 0. 1. ]] SLAMing on 42.326502481 meters Centerline goodness : 0.685946 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.04 [[ 0.98883169 0.06494296 -0.13414282 0.77862741] [-0.07169056 0.99636126 -0.04609455 0.00955574] [ 0.13066119 0.05519653 0.98988939 -0.04155703] [ 0. 0. 0. 1. ]] SLAMing on 42.356502481 meters Centerline goodness : 0.685608 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.04 [[ 0.98881463 0.06448891 -0.1344872 0.77947796] [-0.07129427 0.99637501 -0.04641095 0.00966658] [ 0.13100669 0.05548 0.98982787 -0.04169005] [ 0. 0. 0. 1. ]] SLAMing on 42.386502481 meters Centerline goodness : 0.662676 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.04 [[ 0.98905919 0.05972526 -0.13488815 0.78013905] [-0.06707158 0.99646491 -0.05058736 0.0097376 ] [ 0.13138996 0.05908106 0.98956865 -0.0420104 ] [ 0. 0. 0. 1. ]] SLAMing on 42.416502481 meters Centerline goodness : 0.559139 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.04 [[ 0.98920479 0.05862522 -0.13430176 0.77942744] [-0.06596523 0.99652448 -0.05086788 0.00864779] [ 0.13085285 0.059178 0.98963402 -0.0422298 ] [ 0. 0. 0. 1. ]] SLAMing on 42.446502481 meters Centerline goodness : 0.702463 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.04 [[ 0.98921137 0.0581789 -0.13444729 0.7801779 ] [-0.06555932 0.99653776 -0.05113193 0.00914888] [ 0.131007 0.05939456 0.98960065 -0.04256959] [ 0. 0. 0. 1. ]] SLAMing on 42.476502481 meters Centerline goodness : 0.706481 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.04 [[ 0.98905217 0.06107071 -0.13433608 0.78122806] [-0.06809071 0.99650955 -0.04829468 0.01030848] [ 0.13091779 0.056913 0.98975827 -0.04304878] [ 0. 0. 0. 1. ]] SLAMing on 42.506502481 meters Centerline goodness : 0.699830 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.04 [[ 0.98900576 0.06065444 -0.13486529 0.78273067] [-0.06779594 0.9964951 -0.04900234 0.01197738] [ 0.13142039 0.05760692 0.98965152 -0.04346986] [ 0. 0. 0. 1. ]] SLAMing on 42.536502481 meters Centerline goodness : 0.704277 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.04 [[ 0.98895258 0.06038514 -0.13537515 0.78402892] [-0.06768538 0.99645384 -0.04998428 0.01483153] [ 0.13187678 0.058595 0.98953279 -0.04371117] [ 0. 0. 0. 1. ]] SLAMing on 42.566502481 meters Centerline goodness : 0.191667 Centerline is valid? [False, False] Translation: X:0.78, Y:0.02, Z:-0.04 [[ 0.98891965 0.06023456 -0.1356824 0.78461246] [-0.0676117 0.99643632 -0.05043129 0.0162875 ] [ 0.13216117 0.05904621 0.98946802 -0.04359623] [ 0. 0. 0. 1. ]] SLAMing on 42.596502481 meters Centerline goodness : 0.173340 Centerline is valid? [False, False] Translation: X:0.78, Y:0.02, Z:-0.04 [[ 0.98874128 0.06377267 -0.13536514 0.78370524] [-0.07075381 0.996367 -0.0473994 0.01799612] [ 0.13185057 0.05644335 0.98966134 -0.04245899] [ 0. 0. 0. 1. ]] SLAMing on 42.626502481 meters Centerline goodness : 0.183659 Centerline is valid? [False, False] Translation: X:0.78, Y:0.02, Z:-0.04 [[ 0.98871419 0.06364343 -0.1356236 0.78420164] [-0.07069226 0.9963521 -0.04780273 0.01949952] [ 0.13208653 0.05685077 0.98960656 -0.04231742] [ 0. 0. 0. 1. ]] SLAMing on 42.656502481 meters Centerline goodness : 0.528420 Centerline is valid? [False, False] Translation: X:0.78, Y:0.02, Z:-0.04 [[ 0.98867312 0.06361962 -0.13593385 0.78481496] [-0.07074979 0.99632511 -0.04827777 0.0212341 ] [ 0.1323629 0.05734822 0.98954093 -0.04220206] [ 0. 0. 0. 1. ]] SLAMing on 42.686502481 meters Centerline goodness : 0.690046 Centerline is valid? [False, False] Translation: X:0.79, Y:0.02, Z:-0.04 [[ 0.98862479 0.06330063 -0.13643336 0.78601992] [-0.07051279 0.99632187 -0.04868956 0.0219157 ] [ 0.13284946 0.057756 0.989452 -0.04242746] [ 0. 0. 0. 1. ]] SLAMing on 42.716502481 meters Centerline goodness : 0.587810 Centerline is valid? [False, False] Translation: X:0.79, Y:0.02, Z:-0.04 [[ 0.98852389 0.06345385 -0.13709169 0.78772756] [-0.07074501 0.99629122 -0.04897906 0.02356196] [ 0.13347534 0.05811553 0.98934671 -0.04290145] [ 0. 0. 0. 1. ]] SLAMing on 42.746502481 meters Centerline goodness : 0.681684 Centerline is valid? [False, False] Translation: X:0.79, Y:0.02, Z:-0.04 [[ 0.98829209 0.06570584 -0.13770071 0.79054028] [-0.07276823 0.99624591 -0.04689223 0.02361601] [ 0.13410268 0.05636346 0.98936325 -0.04405876] [ 0. 0. 0. 1. ]] SLAMing on 42.776502481 meters Centerline goodness : 0.658927 Centerline is valid? [False, False] Translation: X:0.79, Y:0.02, Z:-0.05 [[ 0.98799037 0.06891606 -0.13829537 0.79337293] [-0.07564935 0.99616186 -0.04403093 0.02397387] [ 0.13473014 0.05396409 0.98941178 -0.04520927] [ 0. 0. 0. 1. ]] SLAMing on 42.806502481 meters Centerline goodness : 0.689513 Centerline is valid? [False, False] Translation: X:0.80, Y:0.02, Z:-0.05 [[ 0.98794271 0.06805651 -0.13905935 0.79534153] [-0.07493667 0.99617924 -0.0448489 0.02361975] [ 0.13547578 0.05472879 0.98926795 -0.04579957] [ 0. 0. 0. 1. ]] SLAMing on 42.836502481 meters Centerline goodness : 0.691372 Centerline is valid? [False, False] Translation: X:0.80, Y:0.02, Z:-0.05 [[ 0.9879078 0.06783664 -0.13941438 0.7958827 ] [-0.07476228 0.9961833 -0.04504926 0.02359503] [ 0.13582629 0.05492746 0.98920887 -0.0456725 ] [ 0. 0. 0. 1. ]] SLAMing on 42.866502481 meters Centerline goodness : 0.692649 Centerline is valid? [False, False] Translation: X:0.80, Y:0.02, Z:-0.05 [[ 0.98789078 0.06770262 -0.1396 0.79633564] [-0.07467883 0.99617593 -0.04534962 0.02455373] [ 0.13599587 0.05522564 0.98916897 -0.04568224] [ 0. 0. 0. 1. ]] SLAMing on 42.896502481 meters Centerline goodness : 0.707949 Centerline is valid? [False, False] Translation: X:0.80, Y:0.02, Z:-0.04 [[ 0.98738642 0.06987099 -0.14207784 0.80091938] [-0.07643956 0.99621826 -0.04130575 0.0249715 ] [ 0.13865446 0.0516451 0.98899329 -0.04308161] [ 0. 0. 0. 1. ]] SLAMing on 42.926502481 meters Centerline goodness : 0.707671 Centerline is valid? [False, False] Translation: X:0.80, Y:0.03, Z:-0.04 [[ 0.98735174 0.06962743 -0.14243796 0.80195861] [-0.07626269 0.99621704 -0.04166072 0.02588199] [ 0.13899839 0.05199649 0.9889266 -0.04334123] [ 0. 0. 0. 1. ]] SLAMing on 42.956502481 meters Centerline goodness : 0.626861 Centerline is valid? [False, False] Translation: X:0.80, Y:0.03, Z:-0.04 [[ 0.98735944 0.06792675 -0.1432037 0.80448841] [-0.07479683 0.99626506 -0.04314345 0.02503971] [ 0.13973825 0.05330928 0.98875242 -0.0445695 ] [ 0. 0. 0. 1. ]] SLAMing on 42.986502481 meters Centerline goodness : 0.631124 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.05 [[ 0.98734175 0.06643251 -0.14402425 0.8069241 ] [-0.07349846 0.99631081 -0.0443028 0.02383071] [ 0.14054977 0.05432756 0.98858195 -0.04555259] [ 0. 0. 0. 1. ]] SLAMing on 43.016502480999996 meters Centerline goodness : 0.536029 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.05 [[ 0.98754517 0.06245805 -0.14440753 0.80728023] [-0.07001515 0.99639758 -0.04785121 0.02330604] [ 0.14089862 0.05736594 0.98836063 -0.04570815] [ 0. 0. 0. 1. ]] SLAMing on 43.046502481 meters Centerline goodness : 0.655598 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.05 [[ 0.98751334 0.06254453 -0.14458763 0.80728997] [-0.07007871 0.9964046 -0.04761132 0.02303458] [ 0.14108995 0.05714933 0.98834588 -0.04530086] [ 0. 0. 0. 1. ]] SLAMing on 43.076502481 meters Centerline goodness : 0.692369 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.04 [[ 0.98729795 0.06684009 -0.14413592 0.80644699] [-0.07374816 0.99634409 -0.04312378 0.02150043] [ 0.14072658 0.05320578 0.98861781 -0.04449977] [ 0. 0. 0. 1. ]] SLAMing on 43.106502481 meters Centerline goodness : 0.703143 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.04 [[ 0.98723883 0.06738216 -0.14428837 0.80600659] [-0.07423612 0.99632821 -0.04265094 0.02072564] [ 0.14088466 0.05281807 0.98861609 -0.04368678] [ 0. 0. 0. 1. ]] SLAMing on 43.136502481 meters Centerline goodness : 0.706696 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.04 [[ 0.98719056 0.06718025 -0.14471216 0.8065518 ] [-0.0740714 0.99633561 -0.04276427 0.020064 ] [ 0.14130896 0.05293552 0.98854924 -0.04339246] [ 0. 0. 0. 1. ]] SLAMing on 43.166502481 meters Centerline goodness : 0.652308 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.04 [[ 0.98715176 0.0672442 -0.14494698 0.80672944] [-0.07414623 0.99633076 -0.04274749 0.01956601] [ 0.14154061 0.05294553 0.98851557 -0.04313154] [ 0. 0. 0. 1. ]] SLAMing on 43.196502481 meters Centerline goodness : 0.652308 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.04 [[ 0.98715176 0.0672442 -0.14494698 0.80672944] [-0.07414623 0.99633076 -0.04274749 0.01956601] [ 0.14154061 0.05294553 0.98851557 -0.04313154] [ 0. 0. 0. 1. ]] SLAMing on 43.226502481 meters Centerline goodness : 0.519399 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.04 [[ 0.98710587 0.06709167 -0.14532964 0.80786495] [-0.07404328 0.99632934 -0.0429586 0.02002802] [ 0.14191402 0.05316537 0.98845023 -0.0434812 ] [ 0. 0. 0. 1. ]] SLAMing on 43.256502481 meters Centerline goodness : 0.608273 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.04 [[ 0.98705079 0.06709867 -0.14570008 0.80906318] [-0.07403386 0.99634097 -0.04270432 0.01906931] [ 0.14230156 0.05293807 0.98840671 -0.04397 ] [ 0. 0. 0. 1. ]] SLAMing on 43.286502481 meters Centerline goodness : 0.704669 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.04 [[ 0.986964 0.06680866 -0.14641951 0.81074821] [-0.07377981 0.99635987 -0.04270298 0.01813917] [ 0.1430336 0.0529491 0.98830045 -0.04429423] [ 0. 0. 0. 1. ]] SLAMing on 43.316502481 meters Centerline goodness : 0.638815 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.04 [[ 0.98691299 0.06682833 -0.14675395 0.81123114] [-0.07374247 0.99638474 -0.04218403 0.01582756] [ 0.14340431 0.05245397 0.98827313 -0.04421729] [ 0. 0. 0. 1. ]] SLAMing on 43.346502481 meters Centerline goodness : 0.221513 Centerline is valid? [False, False] Translation: X:0.81, Y:0.01, Z:-0.04 [[ 0.98684801 0.06683956 -0.14718521 0.81186421] [-0.07375036 0.99639187 -0.04200155 0.01491211] [ 0.14384679 0.05230411 0.98821677 -0.04402494] [ 0. 0. 0. 1. ]] SLAMing on 43.376502481 meters Centerline goodness : 0.219443 Centerline is valid? [False, False] Translation: X:0.81, Y:0.01, Z:-0.04 [[ 0.98675178 0.06673575 -0.14787582 0.81316669] [-0.07365004 0.99640861 -0.04177983 0.01341678] [ 0.14455653 0.05211738 0.98812306 -0.04401637] [ 0. 0. 0. 1. ]] SLAMing on 43.406502481 meters Centerline goodness : 0.638870 Centerline is valid? [False, False] Translation: X:0.81, Y:0.01, Z:-0.04 [[ 0.98666713 0.06651018 -0.14854078 0.81448375] [-0.07345266 0.99642461 -0.04174578 0.01243252] [ 0.14523317 0.0520999 0.98802476 -0.04406841] [ 0. 0. 0. 1. ]] SLAMing on 43.436502481 meters Centerline goodness : 0.701994 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.04 [[ 0.98663069 0.06649173 -0.14879088 0.8151399 ] [-0.07338544 0.99644708 -0.04132535 0.01067959] [ 0.14551444 0.05169195 0.9880048 -0.04426612] [ 0. 0. 0. 1. ]] SLAMing on 43.466502481 meters Centerline goodness : 0.702307 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.04 [[ 0.98657478 0.06647676 -0.14916786 0.8157304 ] [-0.07336366 0.99645614 -0.04114531 0.01045367] [ 0.14590402 0.05153643 0.98795547 -0.04402441] [ 0. 0. 0. 1. ]] SLAMing on 43.496502481 meters Centerline goodness : 0.701486 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.04 [[ 0.98654045 0.06635098 -0.14945062 0.8158198 ] [-0.07317644 0.99649072 -0.04063804 0.00911483] [ 0.14622978 0.05102733 0.98793373 -0.04338444] [ 0. 0. 0. 1. ]] SLAMing on 43.526502481 meters Centerline goodness : 0.700529 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.04 [[ 0.98648216 0.06603662 -0.14997373 0.81647808] [-0.07285513 0.99652276 -0.04042907 0.00749649] [ 0.14678244 0.05080891 0.98786303 -0.0430192 ] [ 0. 0. 0. 1. ]] SLAMing on 43.556502481 meters Centerline goodness : 0.702006 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.04 [[ 0.98667516 0.0612224 -0.15074462 0.81777624] [-0.06859672 0.9966644 -0.0442105 0.00611786] [ 0.14753512 0.05396199 0.98758366 -0.04336468] [ 0. 0. 0. 1. ]] SLAMing on 43.586502481 meters Centerline goodness : 0.497878 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.04 [[ 0.98658696 0.06042566 -0.1516407 0.82027623] [-0.06788288 0.99670096 -0.04448711 0.00522498] [ 0.14845227 0.05418421 0.98743405 -0.04417395] [ 0. 0. 0. 1. ]] SLAMing on 43.616502481 meters Centerline goodness : 0.350572 Centerline is valid? [False, False] Translation: X:0.82, Y:0.00, Z:-0.05 [[ 0.98656592 0.06004954 -0.15192674 0.82197287] [-0.06752279 0.99672423 -0.04451392 0.00489771] [ 0.14875602 0.05417444 0.98738887 -0.04529459] [ 0. 0. 0. 1. ]] SLAMing on 43.646502481 meters Centerline goodness : 0.699488 Centerline is valid? [False, False] Translation: X:0.82, Y:0.00, Z:-0.04 [[ 0.98653077 0.05986776 -0.15222643 0.82221999] [-0.06736076 0.99673371 -0.04454715 0.00495946] [ 0.14906228 0.05420122 0.98734121 -0.04484144] [ 0. 0. 0. 1. ]] SLAMing on 43.676502481 meters Centerline goodness : 0.160430 Centerline is valid? [False, False] Translation: X:0.82, Y:0.00, Z:-0.04 [[ 0.98653997 0.05996576 -0.15212821 0.82061213] [-0.06742335 0.99673863 -0.0443418 0.00495546] [ 0.14897308 0.05400195 0.98736559 -0.04309022] [ 0. 0. 0. 1. ]] SLAMing on 43.706502481 meters Centerline goodness : 0.195219 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.04 [[ 0.98652536 0.06003894 -0.1521941 0.82049175] [-0.06750534 0.99673178 -0.04437102 0.00551834] [ 0.14903271 0.05404705 0.98735413 -0.04274327] [ 0. 0. 0. 1. ]] SLAMing on 43.736502481 meters Centerline goodness : 0.211762 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.04 [[ 0.98650923 0.06017368 -0.15224544 0.82093249] [-0.06768005 0.99670937 -0.04460775 0.00708577] [ 0.14906024 0.05430994 0.98733554 -0.0429464 ] [ 0. 0. 0. 1. ]] SLAMing on 43.766502480999996 meters Centerline goodness : 0.685676 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.04 [[ 0.98642567 0.06002637 -0.15284383 0.82249109] [-0.06765969 0.99668244 -0.04523586 0.00873455] [ 0.14962141 0.05496318 0.98721451 -0.04332787] [ 0. 0. 0. 1. ]] SLAMing on 43.796502481 meters Centerline goodness : 0.686998 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.04 [[ 0.98640608 0.0601251 -0.15293145 0.82267173] [-0.06779368 0.99666454 -0.04542917 0.00971632] [ 0.14968992 0.05517939 0.98719206 -0.04325508] [ 0. 0. 0. 1. ]] SLAMing on 43.826502481 meters Centerline goodness : 0.685898 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.04 [[ 0.98634412 0.06059755 -0.15314439 0.82258363] [-0.06830657 0.99662246 -0.04558382 0.01154215] [ 0.14986487 0.0554221 0.98715192 -0.04258643] [ 0. 0. 0. 1. ]] SLAMing on 43.856502481 meters Centerline goodness : 0.682550 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.04 [[ 0.98629394 0.06076726 -0.15340013 0.82294507] [-0.06851962 0.99659968 -0.04576173 0.01284254] [ 0.15009771 0.05564543 0.98710398 -0.04232829] [ 0. 0. 0. 1. ]] SLAMing on 43.886502481 meters Centerline goodness : 0.685732 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.04 [[ 0.98596088 0.06514067 -0.15374601 0.82382702] [-0.07242312 0.99647891 -0.0422454 0.0143577 ] [ 0.15045276 0.05278707 0.98720691 -0.04189923] [ 0. 0. 0. 1. ]] SLAMing on 43.916502481 meters Centerline goodness : 0.144134 Centerline is valid? [False, False] Translation: X:0.82, Y:0.02, Z:-0.04 [[ 0.98589582 0.06515375 -0.15415715 0.82471042] [-0.07250859 0.99645876 -0.04257276 0.01571601] [ 0.15083747 0.05315003 0.98712873 -0.04187544] [ 0. 0. 0. 1. ]] SLAMing on 43.946502481 meters Centerline goodness : 0.646570 Centerline is valid? [False, False] Translation: X:0.83, Y:0.02, Z:-0.04 [[ 0.98582533 0.06525586 -0.1545642 0.82520513] [-0.07267712 0.99643441 -0.04285439 0.01645849] [ 0.15121659 0.05348023 0.98705289 -0.04157866] [ 0. 0. 0. 1. ]] SLAMing on 43.976502481 meters Centerline goodness : 0.682938 Centerline is valid? [False, False] Translation: X:0.83, Y:0.02, Z:-0.04 [[ 0.98575132 0.06486039 -0.15520139 0.82700165] [-0.07237363 0.99643927 -0.04325322 0.01654755] [ 0.15184334 0.05386941 0.9869355 -0.04216434] [ 0. 0. 0. 1. ]] SLAMing on 44.006502481 meters Centerline goodness : 0.143428 Centerline is valid? [False, False] Translation: X:0.83, Y:0.02, Z:-0.04 [[ 0.9857182 0.06438535 -0.15560899 0.82949365] [-0.07200952 0.99643912 -0.04386002 0.01763607] [ 0.15223095 0.05443895 0.98684454 -0.0438664 ] [ 0. 0. 0. 1. ]] SLAMing on 44.036502481 meters Centerline goodness : 0.393039 Centerline is valid? [False, False] Translation: X:0.83, Y:0.02, Z:-0.04 [[ 0.98568297 0.06402787 -0.15597922 0.83073813] [-0.07173365 0.99644047 -0.04427945 0.01872481] [ 0.15258889 0.05483446 0.98676735 -0.04429138] [ 0. 0. 0. 1. ]] SLAMing on 44.066502481 meters Centerline goodness : 0.153066 Centerline is valid? [False, False] Translation: X:0.83, Y:0.02, Z:-0.04 [[ 0.98565841 0.06380034 -0.15622748 0.83076458] [-0.07155473 0.99644265 -0.0445193 0.02010676] [ 0.15283137 0.05505964 0.98671729 -0.04355753] [ 0. 0. 0. 1. ]] SLAMing on 44.096502481 meters Centerline goodness : 0.577262 Centerline is valid? [False, False] Translation: X:0.83, Y:0.02, Z:-0.04 [[ 0.98564583 0.06328552 -0.15651592 0.83129944] [-0.07111223 0.99645648 -0.04491688 0.02061814] [ 0.15311871 0.05540233 0.98665356 -0.04342349] [ 0. 0. 0. 1. ]] SLAMing on 44.126502481 meters Centerline goodness : 0.159789 Centerline is valid? [False, False] Translation: X:0.83, Y:0.02, Z:-0.04 [[ 0.98567065 0.0622321 -0.15678178 0.83188906] [-0.07016769 0.99649266 -0.04559459 0.02152974] [ 0.15339445 0.05594226 0.98658026 -0.04324625] [ 0. 0. 0. 1. ]] SLAMing on 44.156502481 meters Centerline goodness : 0.238204 Centerline is valid? [False, False] Translation: X:0.83, Y:0.02, Z:-0.04 [[ 0.98590975 0.05740167 -0.15712099 0.83225964] [-0.06597247 0.99657371 -0.04988451 0.0233139 ] [ 0.15371919 0.05954729 0.98631868 -0.04314703] [ 0. 0. 0. 1. ]] SLAMing on 44.186502481 meters Centerline goodness : 0.152044 Centerline is valid? [False, False] Translation: X:0.83, Y:0.02, Z:-0.04 [[ 0.98588528 0.05656456 -0.1575775 0.83324807] [-0.06523818 0.99659499 -0.05042224 0.0235591 ] [ 0.15418884 0.05999062 0.9862185 -0.04315282] [ 0. 0. 0. 1. ]] SLAMing on 44.216502481 meters Centerline goodness : 0.151996 Centerline is valid? [False, False] Translation: X:0.83, Y:0.02, Z:-0.04 [[ 0.98584014 0.05572809 -0.15815691 0.83462764] [-0.06453022 0.99660799 -0.05107223 0.02413807] [ 0.15477428 0.06055495 0.9860923 -0.04332479] [ 0. 0. 0. 1. ]] SLAMing on 44.246502481 meters Centerline goodness : 0.297587 Centerline is valid? [False, False] Translation: X:0.84, Y:0.03, Z:-0.04 [[ 0.98581742 0.05439482 -0.15876151 0.83647793] [-0.06342485 0.99661144 -0.05237303 0.02649545] [ 0.15537472 0.06169967 0.9859269 -0.04374497] [ 0. 0. 0. 1. ]] SLAMing on 44.276502481 meters Centerline goodness : 0.522300 Centerline is valid? [False, False] Translation: X:0.84, Y:0.03, Z:-0.04 [[ 0.98563643 0.05754218 -0.15877573 0.83757738] [-0.06618816 0.99656812 -0.04971015 0.02915859] [ 0.1553704 0.05950521 0.98606246 -0.04400603] [ 0. 0. 0. 1. ]] SLAMing on 44.306502481 meters Centerline goodness : 0.685150 Centerline is valid? [False, False] Translation: X:0.84, Y:0.03, Z:-0.04 [[ 0.98560213 0.05744355 -0.15902417 0.8384458 ] [-0.06616664 0.99654955 -0.05010962 0.03132308] [ 0.15559699 0.05991025 0.9860022 -0.04417871] [ 0. 0. 0. 1. ]] SLAMing on 44.336502481 meters Centerline goodness : 0.548126 Centerline is valid? [False, False] Translation: X:0.84, Y:0.03, Z:-0.04 [[ 0.98553745 0.05710347 -0.15954666 0.83993145] [-0.06594849 0.99653411 -0.0507008 0.03341496] [ 0.1560985 0.0604894 0.98588757 -0.04446392] [ 0. 0. 0. 1. ]] SLAMing on 44.366502481 meters Centerline goodness : 0.419470 Centerline is valid? [False, False] Translation: X:0.84, Y:0.04, Z:-0.04 [[ 0.98552402 0.05642065 -0.15987218 0.84068156] [-0.06545756 0.99650833 -0.05183109 0.03649045] [ 0.15638961 0.06154562 0.98577605 -0.04430696] [ 0. 0. 0. 1. ]] SLAMing on 44.396502481 meters Centerline goodness : 0.697483 Centerline is valid? [False, False] Translation: X:0.84, Y:0.04, Z:-0.04 [[ 0.9855055 0.05594326 -0.16015386 0.84082169] [-0.06506551 0.99651005 -0.05228966 0.03721715] [ 0.15666968 0.06195224 0.98570611 -0.04376298] [ 0. 0. 0. 1. ]] SLAMing on 44.426502481 meters Centerline goodness : 0.446651 Centerline is valid? [False, False] Translation: X:0.84, Y:0.04, Z:-0.04 [[ 0.98549091 0.05508714 -0.16053997 0.84138105] [-0.0643613 0.9965103 -0.05314918 0.03877398] [ 0.1570519 0.0627106 0.98559732 -0.04339212] [ 0. 0. 0. 1. ]] SLAMing on 44.456502481 meters Centerline goodness : 0.638405 Centerline is valid? [False, False] Translation: X:0.84, Y:0.04, Z:-0.04 [[ 0.98544972 0.05469633 -0.16092598 0.84313149] [-0.06407825 0.99649924 -0.05369577 0.04056367] [ 0.15742565 0.06322633 0.98550474 -0.04420012] [ 0. 0. 0. 1. ]] SLAMing on 44.486502481 meters Centerline goodness : 0.693215 Centerline is valid? [False, False] Translation: X:0.85, Y:0.04, Z:-0.05 [[ 0.98515396 0.05722762 -0.16185389 0.84756109] [-0.06633957 0.99646919 -0.05146077 0.04291598] [ 0.15833744 0.0614341 0.98547202 -0.04607487] [ 0. 0. 0. 1. ]] SLAMing on 44.516502480999996 meters Centerline goodness : 0.552105 Centerline is valid? [False, False] Translation: X:0.85, Y:0.05, Z:-0.05 [[ 0.98510927 0.05647479 -0.16238944 0.84902088] [-0.06578595 0.99644954 -0.05254076 0.045457 ] [ 0.15884566 0.06244134 0.98532692 -0.04628958] [ 0. 0. 0. 1. ]] SLAMing on 44.546502481 meters Centerline goodness : 0.520749 Centerline is valid? [False, False] Translation: X:0.85, Y:0.05, Z:-0.05 [[ 0.98509058 0.05594997 -0.16268421 0.84934483] [-0.06537474 0.99644351 -0.05316469 0.04641642] [ 0.15913106 0.06300747 0.98524482 -0.04594403] [ 0. 0. 0. 1. ]] SLAMing on 44.576502481 meters Centerline goodness : 0.695281 Centerline is valid? [False, False] Translation: X:0.85, Y:0.05, Z:-0.05 [[ 0.98508577 0.05548294 -0.16287315 0.84957375] [-0.06509265 0.9964026 -0.05426611 0.05011053] [ 0.15927639 0.06405861 0.98515355 -0.04545695] [ 0. 0. 0. 1. ]] SLAMing on 44.606502481 meters Centerline goodness : 0.695687 Centerline is valid? [False, False] Translation: X:0.85, Y:0.05, Z:-0.05 [[ 0.98483267 0.05906647 -0.16314341 0.85098403] [-0.06822348 0.99636036 -0.05110364 0.05147759] [ 0.15953112 0.06145875 0.98527795 -0.04569656] [ 0. 0. 0. 1. ]] SLAMing on 44.636502481 meters Centerline goodness : 0.693810 Centerline is valid? [False, False] Translation: X:0.85, Y:0.05, Z:-0.05 [[ 0.98456082 0.06274188 -0.1634119 0.852502 ] [-0.0714305 0.99629752 -0.04784288 0.05281387] [ 0.15980512 0.05877682 0.98539718 -0.04599389] [ 0. 0. 0. 1. ]] SLAMing on 44.666502481 meters Centerline goodness : 0.695463 Centerline is valid? [False, False] Translation: X:0.85, Y:0.06, Z:-0.05 [[ 0.98430871 0.06601366 -0.16364159 0.85389901] [-0.07435328 0.99619952 -0.04536629 0.05641804] [ 0.16002488 0.05682172 0.98547619 -0.04608736] [ 0. 0. 0. 1. ]] SLAMing on 44.696502481 meters Centerline goodness : 0.695602 Centerline is valid? [False, False] Translation: X:0.85, Y:0.06, Z:-0.05 [[ 0.98432737 0.06494292 -0.16395745 0.85427716] [-0.07356673 0.99617843 -0.04707936 0.06075737] [ 0.1602734 0.05840332 0.98534334 -0.04546857] [ 0. 0. 0. 1. ]] SLAMing on 44.726502481 meters Centerline goodness : 0.701597 Centerline is valid? [False, False] Translation: X:0.86, Y:0.06, Z:-0.05 [[ 0.98431471 0.06402449 -0.16439406 0.85505197] [-0.07283164 0.99618317 -0.04811082 0.06285512] [ 0.16068633 0.05932928 0.98522076 -0.04516374] [ 0. 0. 0. 1. ]] SLAMing on 44.756502481 meters Centerline goodness : 0.601416 Centerline is valid? [False, False] Translation: X:0.86, Y:0.07, Z:-0.04 [[ 0.9843396 0.06251131 -0.16482681 0.85574984] [-0.07163362 0.99617758 -0.0499885 0.06750503] [ 0.16107193 0.0610128 0.98505496 -0.0445527 ] [ 0. 0. 0. 1. ]] SLAMing on 44.786502481 meters Centerline goodness : 0.688636 Centerline is valid? [False, False] Translation: X:0.86, Y:0.07, Z:-0.04 [[ 0.98430915 0.06200209 -0.16520063 0.85638793] [-0.07127077 0.99616378 -0.05077608 0.07027369] [ 0.16141866 0.06175333 0.98495205 -0.0441366 ] [ 0. 0. 0. 1. ]] SLAMing on 44.816502481 meters Centerline goodness : 0.691633 Centerline is valid? [False, False] Translation: X:0.87, Y:0.08, Z:-0.04 [[ 0.98447251 0.05879942 -0.16539803 0.86768719] [-0.06725021 0.99667695 -0.04596165 0.07539461] [ 0.16214589 0.05637103 0.98515533 -0.03926693] [ 0. 0. 0. 1. ]] SLAMing on 44.846502481 meters Centerline goodness : 0.692834 Centerline is valid? [False, False] Translation: X:0.87, Y:0.08, Z:-0.04 [[ 0.98444342 0.05826209 -0.16576093 0.86854903] [-0.06686172 0.99666515 -0.04677696 0.07789294] [ 0.16248282 0.05713234 0.98505595 -0.03913822] [ 0. 0. 0. 1. ]] SLAMing on 44.876502481 meters Centerline goodness : 0.694092 Centerline is valid? [False, False] Translation: X:0.87, Y:0.08, Z:-0.04 [[ 0.98437434 0.05671586 -0.16670474 0.87136851] [-0.06566913 0.99665278 -0.0486908 0.08194102] [ 0.16338521 0.05887733 0.98480391 -0.03983255] [ 0. 0. 0. 1. ]] SLAMing on 44.906502481 meters Centerline goodness : 0.691603 Centerline is valid? [False, False] Translation: X:0.87, Y:0.08, Z:-0.04 [[ 0.98434337 0.0560801 -0.16710224 0.87248253] [-0.06518117 0.99664582 -0.04948259 0.08396639] [ 0.16376676 0.05959978 0.98469707 -0.03993374] [ 0. 0. 0. 1. ]] SLAMing on 44.936502481 meters Centerline goodness : 0.691069 Centerline is valid? [False, False] Translation: X:0.87, Y:0.09, Z:-0.04 [[ 0.98429191 0.05513496 -0.16771871 0.87377534] [-0.06448382 0.99662431 -0.05081161 0.08807069] [ 0.16435105 0.0608286 0.98452456 -0.03961303] [ 0. 0. 0. 1. ]] SLAMing on 44.966502481 meters Centerline goodness : 0.690433 Centerline is valid? [False, False] Translation: X:0.88, Y:0.09, Z:-0.04 [[ 0.98423358 0.05462602 -0.16822678 0.87507832] [-0.06411846 0.99661165 -0.05151747 0.09012118] [ 0.16484258 0.06149166 0.98440119 -0.03968712] [ 0. 0. 0. 1. ]] SLAMing on 44.996502481 meters Centerline goodness : 0.690971 Centerline is valid? [False, False] Translation: X:0.88, Y:0.09, Z:-0.04 [[ 0.98400453 0.05682488 -0.16883725 0.87806403] [-0.06607626 0.99657671 -0.04968682 0.09241654] [ 0.16543582 0.06004819 0.98439078 -0.0406896 ] [ 0. 0. 0. 1. ]] SLAMing on 45.026502481 meters Centerline goodness : 0.689364 Centerline is valid? [False, False] Translation: X:0.88, Y:0.09, Z:-0.04 [[ 0.98392498 0.05634527 -0.16946044 0.87971577] [-0.06574507 0.99656408 -0.05037484 0.09431217] [ 0.1660398 0.06070625 0.98424872 -0.04093588] [ 0. 0. 0. 1. ]] SLAMing on 45.056502481 meters Centerline goodness : 0.688124 Centerline is valid? [False, False] Translation: X:0.88, Y:0.10, Z:-0.04 [[ 0.9836721 0.05982921 -0.16973412 0.88039968] [-0.06881439 0.99649553 -0.04755238 0.09627381] [ 0.16629428 0.0584561 0.98434196 -0.04039814] [ 0. 0. 0. 1. ]] SLAMing on 45.086502481 meters Centerline goodness : 0.688124 Centerline is valid? [False, False] Translation: X:0.88, Y:0.10, Z:-0.04 [[ 0.9836721 0.05982921 -0.16973412 0.88039968] [-0.06881439 0.99649553 -0.04755238 0.09627381] [ 0.16629428 0.0584561 0.98434196 -0.04039814] [ 0. 0. 0. 1. ]] SLAMing on 45.116502481 meters Centerline goodness : 0.684913 Centerline is valid? [False, False] Translation: X:0.88, Y:0.10, Z:-0.04 [[ 0.98363355 0.05961981 -0.17003096 0.88088635] [-0.06872919 0.99647045 -0.04819688 0.09863696] [ 0.16655734 0.05909416 0.98425938 -0.04004233] [ 0. 0. 0. 1. ]] SLAMing on 45.146502481 meters Centerline goodness : 0.686898 Centerline is valid? [False, False] Translation: X:0.88, Y:0.10, Z:-0.04 [[ 0.98341305 0.06299621 -0.17008896 0.88144817] [-0.07182849 0.99634285 -0.04627728 0.10210148] [ 0.16655163 0.05772691 0.98434148 -0.03941223] [ 0. 0. 0. 1. ]] SLAMing on 45.176502481 meters Centerline goodness : 0.686424 Centerline is valid? [False, False] Translation: X:0.88, Y:0.11, Z:-0.04 [[ 0.9831423 0.06622674 -0.17042663 0.88371605] [-0.07480004 0.99621057 -0.04437863 0.10541987] [ 0.16684175 0.05637843 0.98437051 -0.03998426] [ 0. 0. 0. 1. ]] SLAMing on 45.206502481 meters Centerline goodness : 0.685172 Centerline is valid? [False, False] Translation: X:0.88, Y:0.11, Z:-0.04 [[ 0.98291671 0.06988048 -0.1702688 0.88394567] [-0.0779789 0.99609752 -0.04134044 0.10679958] [ 0.16671544 0.05391159 0.98453009 -0.03994449] [ 0. 0. 0. 1. ]] SLAMing on 45.236502481 meters Centerline goodness : 0.683150 Centerline is valid? [False, False] Translation: X:0.88, Y:0.11, Z:-0.04 [[ 0.98275656 0.07261167 -0.17005024 0.88377104] [-0.08052922 0.99594425 -0.04012602 0.11198509] [ 0.16644694 0.05312812 0.98461811 -0.03900886] [ 0. 0. 0. 1. ]] SLAMing on 45.266502480999996 meters Centerline goodness : 0.683348 Centerline is valid? [False, False] Translation: X:0.88, Y:0.11, Z:-0.04 [[ 0.98279362 0.07212052 -0.17004506 0.88333821] [-0.08025867 0.99591095 -0.04147191 0.11478179] [ 0.16635876 0.05440592 0.98456323 -0.03801242] [ 0. 0. 0. 1. ]] SLAMing on 45.296502481 meters Centerline goodness : 0.683414 Centerline is valid? [False, False] Translation: X:0.88, Y:0.12, Z:-0.04 [[ 0.98287675 0.07139616 -0.16987021 0.88235048] [-0.07976221 0.99588873 -0.04293745 0.11762289] [ 0.16610626 0.05575144 0.98453059 -0.03683157] [ 0. 0. 0. 1. ]] SLAMing on 45.326502481 meters Centerline goodness : 0.679895 Centerline is valid? [False, False] Translation: X:0.90, Y:0.12, Z:-0.03 [[ 0.98357927 0.07048077 -0.16614534 0.89737582] [-0.07889798 0.99588406 -0.04460999 0.12147876] [ 0.16231735 0.05698599 0.98509171 -0.03380588] [ 0. 0. 0. 1. ]] SLAMing on 45.356502481 meters Centerline goodness : 0.680523 Centerline is valid? [False, False] Translation: X:0.90, Y:0.13, Z:-0.03 [[ 0.98365121 0.07242383 -0.16487902 0.8960784 ] [-0.08048531 0.99583903 -0.0427404 0.12679353] [ 0.16109754 0.05531198 0.98538732 -0.03455124] [ 0. 0. 0. 1. ]] SLAMing on 45.386502481 meters Centerline goodness : 0.680532 Centerline is valid? [False, False] Translation: X:0.90, Y:0.13, Z:-0.04 [[ 0.98355759 0.07515661 -0.16421311 0.89570545] [-0.08272428 0.9957801 -0.0397327 0.12847113] [ 0.16053397 0.05266381 0.98562435 -0.03535391] [ 0. 0. 0. 1. ]] SLAMing on 45.416502481 meters Centerline goodness : 0.681741 Centerline is valid? [False, False] Translation: X:0.90, Y:0.13, Z:-0.04 [[ 0.9836805 0.07342739 -0.16425919 0.89733127] [-0.08131201 0.99581201 -0.04179468 0.13347605] [ 0.16050241 0.05446885 0.98553139 -0.03653448] [ 0. 0. 0. 1. ]] SLAMing on 45.446502481 meters Centerline goodness : 0.682532 Centerline is valid? [False, False] Translation: X:0.90, Y:0.14, Z:-0.04 [[ 0.98374146 0.07256961 -0.16427533 0.8977233 ] [-0.08064099 0.99581523 -0.04300072 0.13609438] [ 0.16046733 0.05554891 0.98547682 -0.0366316 ] [ 0. 0. 0. 1. ]] SLAMing on 45.476502481 meters Centerline goodness : 0.681791 Centerline is valid? [False, False] Translation: X:0.90, Y:0.14, Z:-0.04 [[ 0.9838995 0.07078111 -0.16410912 0.89752644] [-0.07925015 0.9958095 -0.04563839 0.1414612 ] [ 0.16019109 0.05790926 0.98538588 -0.03610853] [ 0. 0. 0. 1. ]] SLAMing on 45.506502481 meters Centerline goodness : 0.679526 Centerline is valid? [False, False] Translation: X:0.90, Y:0.14, Z:-0.04 [[ 0.98378846 0.07373144 -0.1634746 0.89648808] [-0.08175976 0.99572706 -0.04292975 0.14346754] [ 0.15961081 0.05559944 0.98561305 -0.03590193] [ 0. 0. 0. 1. ]] SLAMing on 45.536502481 meters Centerline goodness : 0.680161 Centerline is valid? [False, False] Translation: X:0.90, Y:0.15, Z:-0.04 [[ 0.98352941 0.07978501 -0.16218585 0.89511647] [-0.08702198 0.99548111 -0.03800704 0.14983159] [ 0.15842056 0.05149477 0.986028 -0.03563125] [ 0. 0. 0. 1. ]] SLAMing on 45.566502481 meters Centerline goodness : 0.679033 Centerline is valid? [False, False] Translation: X:0.89, Y:0.15, Z:-0.04 [[ 0.98337027 0.08319063 -0.16143803 0.89453953] [-0.08996503 0.99532608 -0.03510405 0.15269421] [ 0.15776315 0.04904405 0.98625832 -0.03574422] [ 0. 0. 0. 1. ]] SLAMing on 45.596502481 meters Centerline goodness : 0.680107 Centerline is valid? [False, False] Translation: X:0.89, Y:0.16, Z:-0.04 [[ 0.98321013 0.08615385 -0.16085817 0.89385952] [-0.09263588 0.99514548 -0.03322758 0.1564459 ] [ 0.1572146 0.04757093 0.98641805 -0.03511827] [ 0. 0. 0. 1. ]] SLAMing on 45.626502481 meters Centerline goodness : 0.679438 Centerline is valid? [False, False] Translation: X:0.89, Y:0.16, Z:-0.03 [[ 0.98316507 0.08588156 -0.16127868 0.89439204] [-0.09251418 0.99512858 -0.03406221 0.15738052] [ 0.1575677 0.04840934 0.98632092 -0.03445136] [ 0. 0. 0. 1. ]] SLAMing on 45.656502481 meters Centerline goodness : 0.677723 Centerline is valid? [False, False] Translation: X:0.89, Y:0.16, Z:-0.03 [[ 0.98305653 0.08792318 -0.16083961 0.89469937] [-0.09429471 0.9950168 -0.03240489 0.16033013] [ 0.15718897 0.04702216 0.98644845 -0.03491832] [ 0. 0. 0. 1. ]] SLAMing on 45.686502481 meters Centerline goodness : 0.676748 Centerline is valid? [False, False] Translation: X:0.89, Y:0.16, Z:-0.04 [[ 0.98282711 0.09147799 -0.1602581 0.89476744] [-0.09731567 0.99483247 -0.02894835 0.16169584] [ 0.15678182 0.04404685 0.98665056 -0.03561893] [ 0. 0. 0. 1. ]] SLAMing on 45.716502481 meters Centerline goodness : 0.678874 Centerline is valid? [False, False] Translation: X:0.90, Y:0.16, Z:-0.04 [[ 0.98259312 0.09383839 -0.16032817 0.89725077] [-0.09939629 0.9946819 -0.02698694 0.1648685 ] [ 0.15694312 0.0424532 0.98669478 -0.03711441] [ 0. 0. 0. 1. ]] SLAMing on 45.746502481 meters Centerline goodness : 0.679002 Centerline is valid? [False, False] Translation: X:0.90, Y:0.17, Z:-0.04 [[ 0.98260046 0.09325757 -0.16062182 0.89775082] [-0.09909368 0.9946642 -0.02869805 0.16882282] [ 0.15708846 0.04411532 0.98659873 -0.03623318] [ 0. 0. 0. 1. ]] SLAMing on 45.776502481 meters Centerline goodness : 0.680345 Centerline is valid? [False, False] Translation: X:0.90, Y:0.17, Z:-0.04 [[ 0.98242028 0.09643864 -0.1598436 0.89681674] [-0.10183355 0.99446447 -0.02589118 0.17114902] [ 0.15646187 0.04171346 0.98680275 -0.03612015] [ 0. 0. 0. 1. ]] SLAMing on 45.806502481 meters Centerline goodness : 0.681362 Centerline is valid? [False, False] Translation: X:0.90, Y:0.18, Z:-0.04 [[ 0.98242049 0.09631789 -0.15991513 0.89747636] [-0.10189246 0.99442856 -0.02701418 0.17511196] [ 0.15642222 0.04283343 0.98676106 -0.03583733] [ 0. 0. 0. 1. ]] SLAMing on 45.836502481 meters Centerline goodness : 0.681469 Centerline is valid? [False, False] Translation: X:0.90, Y:0.18, Z:-0.03 [[ 0.98218907 0.09901242 -0.15969088 0.89741541] [-0.10445916 0.99418766 -0.02606105 0.18033659] [ 0.15618234 0.04227805 0.98682301 -0.03462696] [ 0. 0. 0. 1. ]] SLAMing on 45.866502481 meters Centerline goodness : 0.682184 Centerline is valid? [False, False] Translation: X:0.90, Y:0.19, Z:-0.03 [[ 0.98225708 0.09827784 -0.15972634 0.89692777] [-0.10414697 0.99414547 -0.02877819 0.18581373] [ 0.15596296 0.04490259 0.98674177 -0.03270834] [ 0. 0. 0. 1. ]] SLAMing on 45.896502481 meters Centerline goodness : 0.683204 Centerline is valid? [False, False] Translation: X:0.90, Y:0.19, Z:-0.03 [[ 0.98226335 0.09802894 -0.15984069 0.89740664] [-0.10408659 0.994117 -0.02995613 0.18878956] [ 0.15596378 0.04606208 0.98668819 -0.03225124] [ 0. 0. 0. 1. ]] SLAMing on 45.926502481 meters Centerline goodness : 0.681496 Centerline is valid? [False, False] Translation: X:0.90, Y:0.19, Z:-0.03 [[ 0.98224732 0.09777796 -0.16009269 0.89799963] [-0.10403562 0.99408522 -0.03116369 0.1918794 ] [ 0.15609865 0.04726579 0.98660993 -0.03158875] [ 0. 0. 0. 1. ]] SLAMing on 45.956502481 meters Centerline goodness : 0.684350 Centerline is valid? [False, False] Translation: X:0.90, Y:0.20, Z:-0.03 [[ 0.98191155 0.10098297 -0.16016289 0.89926708] [-0.10703786 0.99381375 -0.02961638 0.19683823] [ 0.15618133 0.04622416 0.9866462 -0.0310831 ] [ 0. 0. 0. 1. ]] SLAMing on 45.986502481 meters Centerline goodness : 0.683591 Centerline is valid? [False, False] Translation: X:0.90, Y:0.20, Z:-0.03 [[ 0.9814923 0.10414217 -0.16070865 0.90173717] [-0.11002823 0.99352983 -0.02814724 0.20113501] [ 0.15673752 0.04530878 0.98660046 -0.03082462] [ 0. 0. 0. 1. ]] SLAMing on 46.016502480999996 meters Centerline goodness : 0.686219 Centerline is valid? [False, False] Translation: X:0.90, Y:0.20, Z:-0.03 [[ 0.98136333 0.10417956 -0.16147023 0.90339301] [-0.11025898 0.99347581 -0.02913383 0.20331192] [ 0.15738161 0.04639442 0.98644746 -0.03024907] [ 0. 0. 0. 1. ]] SLAMing on 46.046502481 meters Centerline goodness : 0.685289 Centerline is valid? [False, False] Translation: X:0.91, Y:0.21, Z:-0.03 [[ 0.98128326 0.10405171 -0.16203828 0.90516627] [-0.11042303 0.99340737 -0.03079853 0.20784084] [ 0.15776538 0.04811484 0.98630373 -0.02963325] [ 0. 0. 0. 1. ]] SLAMing on 46.076502481 meters Centerline goodness : 0.684541 Centerline is valid? [False, False] Translation: X:0.91, Y:0.21, Z:-0.03 [[ 0.98128072 0.10392285 -0.16213633 0.90545836] [-0.11041979 0.99338373 -0.03156316 0.21016504] [ 0.15778346 0.04887537 0.98626344 -0.02919614] [ 0. 0. 0. 1. ]] SLAMing on 46.106502481 meters Centerline goodness : 0.684196 Centerline is valid? [False, False] Translation: X:0.91, Y:0.21, Z:-0.03 [[ 0.98137014 0.10323345 -0.16203551 0.90541411] [-0.10994241 0.99339084 -0.03297446 0.21430745] [ 0.15756052 0.05017473 0.98623384 -0.02864606] [ 0. 0. 0. 1. ]] SLAMing on 46.136502481 meters Centerline goodness : 0.684480 Centerline is valid? [False, False] Translation: X:0.91, Y:0.22, Z:-0.03 [[ 0.98139922 0.10261183 -0.16225409 0.90607952] [-0.10941908 0.9934288 -0.03356617 0.21536075] [ 0.1577436 0.05069551 0.98617794 -0.0287958 ] [ 0. 0. 0. 1. ]] SLAMing on 46.166502481 meters Centerline goodness : 0.681635 Centerline is valid? [False, False] Translation: X:0.91, Y:0.22, Z:-0.03 [[ 0.98161541 0.09849089 -0.16349538 0.90831467] [-0.10595009 0.99366308 -0.0375269 0.21606073] [ 0.15876327 0.05415934 0.9858301 -0.02897932] [ 0. 0. 0. 1. ]] SLAMing on 46.196502481 meters Centerline goodness : 0.682696 Centerline is valid? [False, False] Translation: X:0.91, Y:0.22, Z:-0.03 [[ 0.98171883 0.09686501 -0.16384539 0.90898822] [-0.10457012 0.99375041 -0.03905396 0.2193707 ] [ 0.15903846 0.05547334 0.98571267 -0.02872172] [ 0. 0. 0. 1. ]] SLAMing on 46.226502481 meters Centerline goodness : 0.681504 Centerline is valid? [False, False] Translation: X:0.91, Y:0.22, Z:-0.03 [[ 0.98178142 0.09620512 -0.16385916 0.90929331] [-0.10400521 0.99378458 -0.03968786 0.22168981] [ 0.15902254 0.05600701 0.98568507 -0.02877571] [ 0. 0. 0. 1. ]] SLAMing on 46.256502481 meters Centerline goodness : 0.681312 Centerline is valid? [False, False] Translation: X:0.91, Y:0.22, Z:-0.03 [[ 0.98182335 0.09546053 -0.16404327 0.90978776] [-0.10340416 0.99381178 -0.04056748 0.22414351] [ 0.15915554 0.05679286 0.98561863 -0.02859364] [ 0. 0. 0. 1. ]] SLAMing on 46.286502481 meters Centerline goodness : 0.679426 Centerline is valid? [False, False] Translation: X:0.91, Y:0.23, Z:-0.03 [[ 0.98208757 0.09300624 -0.16387142 0.9090281 ] [-0.10132307 0.99391829 -0.04312845 0.22824079] [ 0.15886359 0.05895987 0.98553848 -0.02783533] [ 0. 0. 0. 1. ]] SLAMing on 46.316502481 meters Centerline goodness : 0.677609 Centerline is valid? [False, False] Translation: X:0.91, Y:0.23, Z:-0.03 [[ 0.98220008 0.09186517 -0.16384079 0.90881103] [-0.10036809 0.9939601 -0.0443799 0.23006432] [ 0.15877424 0.06003433 0.98548801 -0.02742965] [ 0. 0. 0. 1. ]] SLAMing on 46.346502481 meters Centerline goodness : 0.675433 Centerline is valid? [False, False] Translation: X:0.91, Y:0.24, Z:-0.03 [[ 0.98327714 0.08423209 -0.16146525 0.90927129] [-0.09168267 0.99501448 -0.03924882 0.23535537] [ 0.15735425 0.05339604 0.98609761 -0.02562699] [ 0. 0. 0. 1. ]] SLAMing on 46.376502481 meters Centerline goodness : 0.673626 Centerline is valid? [False, False] Translation: X:0.91, Y:0.24, Z:-0.02 [[ 0.98321211 0.08610646 -0.16087148 0.90866287] [-0.09336918 0.99490109 -0.03813165 0.24259909] [ 0.15676783 0.05251194 0.98623848 -0.02478703] [ 0. 0. 0. 1. ]] SLAMing on 46.406502481 meters Centerline goodness : 0.672720 Centerline is valid? [False, False] Translation: X:0.91, Y:0.24, Z:-0.02 [[ 0.98298066 0.08927231 -0.16055986 0.90873528] [-0.09613609 0.99473545 -0.03548575 0.24486027] [ 0.15654669 0.0503174 0.986388 -0.02458418] [ 0. 0. 0. 1. ]] SLAMing on 46.436502481 meters Centerline goodness : 0.673042 Centerline is valid? [False, False] Translation: X:0.91, Y:0.25, Z:-0.03 [[ 0.9827646 0.09163908 -0.16054909 0.91056641] [-0.09833042 0.99456516 -0.03422396 0.25124733] [ 0.15654028 0.04942095 0.98643434 -0.02507713] [ 0. 0. 0. 1. ]] SLAMing on 46.466502481 meters Centerline goodness : 0.671805 Centerline is valid? [False, False] Translation: X:0.91, Y:0.25, Z:-0.03 [[ 0.98274731 0.09113734 -0.16094008 0.91194199] [-0.09800458 0.99456173 -0.03524304 0.25492638] [ 0.15685289 0.05040787 0.98633474 -0.02516175] [ 0. 0. 0. 1. ]] SLAMing on 46.496502481 meters Centerline goodness : 0.672091 Centerline is valid? [False, False] Translation: X:0.91, Y:0.26, Z:-0.03 [[ 0.98274121 0.09070248 -0.16122277 0.91295132] [-0.09773524 0.99455301 -0.03622336 0.25829035] [ 0.15705905 0.05135534 0.98625305 -0.02515728] [ 0. 0. 0. 1. ]] SLAMing on 46.526502481 meters Centerline goodness : 0.672525 Centerline is valid? [False, False] Translation: X:0.91, Y:0.26, Z:-0.02 [[ 0.9825297 0.09373342 -0.1607776 0.91320978] [-0.10051701 0.99433447 -0.03457312 0.26444273] [ 0.15662605 0.05013 0.98638495 -0.02493753] [ 0. 0. 0. 1. ]] SLAMing on 46.556502481 meters Centerline goodness : 0.675429 Centerline is valid? [False, False] Translation: X:0.91, Y:0.27, Z:-0.02 [[ 0.98219606 0.09758354 -0.16052525 0.91386227] [-0.1039244 0.994084 -0.03157073 0.26754605] [ 0.1564948 0.04769114 0.9865267 -0.02494888] [ 0. 0. 0. 1. ]] SLAMing on 46.586502481 meters Centerline goodness : 0.676278 Centerline is valid? [False, False] Translation: X:0.92, Y:0.27, Z:-0.02 [[ 0.98148342 0.10522295 -0.16005755 0.91542545] [-0.11075606 0.99350681 -0.02602516 0.27459931] [ 0.15627982 0.04327061 0.98676455 -0.02499685] [ 0. 0. 0. 1. ]] SLAMing on 46.616502481 meters Centerline goodness : 0.680023 Centerline is valid? [False, False] Translation: X:0.91, Y:0.28, Z:-0.02 [[ 0.98097408 0.11105411 -0.1592383 0.91489691] [-0.11606259 0.99298757 -0.02247599 0.28212473] [ 0.1556256 0.04052998 0.98698429 -0.02386227] [ 0. 0. 0. 1. ]] SLAMing on 46.646502481 meters Centerline goodness : 0.679395 Centerline is valid? [False, False] Translation: X:0.91, Y:0.29, Z:-0.02 [[ 0.98066436 0.11409323 -0.15899729 0.9147198 ] [-0.11879762 0.99270947 -0.02037241 0.28529927] [ 0.15551376 0.038867 0.98706881 -0.02311401] [ 0. 0. 0. 1. ]] SLAMing on 46.676502481 meters Centerline goodness : 0.679581 Centerline is valid? [False, False] Translation: X:0.92, Y:0.29, Z:-0.02 [[ 0.98034919 0.11706749 -0.15877869 0.91546194] [-0.12160506 0.99239409 -0.01913567 0.29169147] [ 0.15533087 0.03806793 0.98712874 -0.02272322] [ 0. 0. 0. 1. ]] SLAMing on 46.706502481 meters Centerline goodness : 0.680449 Centerline is valid? [False, False] Translation: X:0.92, Y:0.29, Z:-0.02 [[ 0.97995596 0.12076611 -0.15843565 0.91594865] [-0.12486073 0.99204344 -0.01611249 0.2935333 ] [ 0.1552292 0.03557192 0.98723783 -0.02283463] [ 0. 0. 0. 1. ]] SLAMing on 46.736502481 meters Centerline goodness : 0.682969 Centerline is valid? [False, False] Translation: X:0.92, Y:0.30, Z:-0.02 [[ 0.97943131 0.12539762 -0.15808143 0.91798743] [-0.12897645 0.99156829 -0.0125459 0.29957691] [ 0.1551753 0.03267663 0.98734637 -0.02348031] [ 0. 0. 0. 1. ]] SLAMing on 46.766502480999996 meters Centerline goodness : 0.683164 Centerline is valid? [False, False] Translation: X:0.92, Y:0.30, Z:-0.02 [[ 0.97901524 0.12901374 -0.15774858 0.91834793] [-0.13213365 0.99118726 -0.0094079 0.30098835] [ 0.15514463 0.03005437 0.98743449 -0.02342744] [ 0. 0. 0. 1. ]] SLAMing on 46.796502481 meters Centerline goodness : 0.685877 Centerline is valid? [False, False] Translation: X:0.92, Y:0.30, Z:-0.02 [[ 0.9786883 0.1318231 -0.15745439 0.91913517] [-0.13466516 0.99086298 -0.00747258 0.30490887] [ 0.15503067 0.02851695 0.98749799 -0.02345896] [ 0. 0. 0. 1. ]] SLAMing on 46.826502481 meters Centerline goodness : 0.300677 Centerline is valid? [False, False] Translation: X:0.92, Y:0.31, Z:-0.02 [[ 0.97869903 0.13145046 -0.15769904 0.91986457] [-0.13441432 0.99089103 -0.00823143 0.3076938 ] [ 0.15518054 0.0292531 0.98745291 -0.02329818] [ 0. 0. 0. 1. ]] SLAMing on 46.856502481 meters Centerline goodness : 0.340188 Centerline is valid? [False, False] Translation: X:0.92, Y:0.31, Z:-0.02 [[ 0.9788458 0.13040742 -0.15765409 0.91992022] [-0.1336102 0.99098507 -0.00984419 0.31300761] [ 0.15494909 0.03070014 0.98744533 -0.02269981] [ 0. 0. 0. 1. ]] SLAMing on 46.886502481 meters Centerline goodness : 0.300192 Centerline is valid? [False, False] Translation: X:0.92, Y:0.32, Z:-0.02 [[ 0.97889382 0.12967299 -0.15796143 0.92033241] [-0.13301763 0.99105544 -0.01074319 0.31545097] [ 0.15515543 0.0315281 0.98738684 -0.02220157] [ 0. 0. 0. 1. ]] SLAMing on 46.916502481 meters Centerline goodness : 0.263492 Centerline is valid? [False, False] Translation: X:0.92, Y:0.32, Z:-0.02 [[ 0.97902421 0.12825435 -0.15831116 0.9206754 ] [-0.1318894 0.99118399 -0.01262861 0.32038424] [ 0.15529581 0.03324328 0.98730851 -0.02131674] [ 0. 0. 0. 1. ]] SLAMing on 46.946502481 meters Centerline goodness : 0.319886 Centerline is valid? [False, False] Translation: X:0.92, Y:0.32, Z:-0.02 [[ 0.97902787 0.12778924 -0.15866422 0.92153348] [-0.13153732 0.99122191 -0.01330611 0.32303741] [ 0.15557107 0.03389731 0.98724294 -0.02105706] [ 0. 0. 0. 1. ]] SLAMing on 46.976502481 meters Centerline goodness : 0.319886 Centerline is valid? [False, False] Translation: X:0.92, Y:0.32, Z:-0.02 [[ 0.97902542 0.12778497 -0.15868279 0.92154234] [-0.13153055 0.99122307 -0.01328655 0.32304468] [ 0.15559222 0.03387951 0.98724021 -0.02103186] [ 0. 0. 0. 1. ]] SLAMing on 47.006502481 meters Centerline goodness : 0.689954 Centerline is valid? [False, False] Translation: X:0.92, Y:0.33, Z:-0.02 [[ 0.97867956 0.13052039 -0.15858985 0.92317076] [-0.1340042 0.99091485 -0.01142936 0.32819746] [ 0.15565728 0.03243739 0.98727839 -0.02128416] [ 0. 0. 0. 1. ]] SLAMing on 47.036502481 meters Centerline goodness : 0.311908 Centerline is valid? [False, False] Translation: X:0.93, Y:0.33, Z:-0.02 [[ 0.9784487 0.13204423 -0.15875285 0.92569181] [-0.13544747 0.99072606 -0.01076355 0.33372425] [ 0.15585932 0.03203425 0.98725968 -0.02194375] [ 0. 0. 0. 1. ]] SLAMing on 47.066502481 meters Centerline goodness : 0.258879 Centerline is valid? [False, False] Translation: X:0.93, Y:0.34, Z:-0.02 [[ 0.97846461 0.13157564 -0.15904358 0.9268251 ] [-0.13511762 0.99076145 -0.01161782 0.33666307] [ 0.15604563 0.03285722 0.9872032 -0.02202573] [ 0. 0. 0. 1. ]] SLAMing on 47.096502481 meters Centerline goodness : 0.703185 Centerline is valid? [False, False] Translation: X:0.93, Y:0.34, Z:-0.02 [[ 0.97823812 0.13365513 -0.15870252 0.927789 ] [-0.13705436 0.99050659 -0.01062059 0.34207193] [ 0.15577639 0.03214034 0.98726932 -0.02211645] [ 0. 0. 0. 1. ]] SLAMing on 47.126502481 meters Centerline goodness : 0.692935 Centerline is valid? [False, False] Translation: X:0.93, Y:0.34, Z:-0.02 [[ 0.97783979 0.13706087 -0.15825192 0.92764484] [-0.14006639 0.99011025 -0.00794377 0.34463554] [ 0.15559807 0.02993351 0.98736681 -0.02160081] [ 0. 0. 0. 1. ]] SLAMing on 47.156502481 meters Centerline goodness : 0.699081 Centerline is valid? [False, False] Translation: X:0.93, Y:0.35, Z:-0.02 [[ 0.9770351 0.14385188 -0.15719112 0.9274453 ] [-0.14612605 0.98926159 -0.00294636 0.35150509] [ 0.15507929 0.02584842 0.98756381 -0.02066541] [ 0. 0. 0. 1. ]] SLAMing on 47.186502481 meters Centerline goodness : 0.692650 Centerline is valid? [False, False] Translation: X:0.93, Y:0.35, Z:-0.02 [[ 9.76560063e-01 1.47465356e-01 -1.56794172e-01 9.27881058e-01] [-1.49319645e-01 9.88788977e-01 -4.77276924e-05 3.53917454e-01] [ 1.55029311e-01 2.34590592e-02 9.87631300e-01 -2.04552708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.216502481 meters Centerline goodness : 0.693707 Centerline is valid? [False, False] Translation: X:0.93, Y:0.36, Z:-0.02 [[ 0.97618162 0.15031029 -0.15644893 0.92831904] [-0.15192666 0.9883904 0.00164425 0.35915483] [ 0.15487976 0.02216368 0.98768468 -0.01979917] [ 0. 0. 0. 1. ]] SLAMing on 47.246502481 meters Centerline goodness : 0.694665 Centerline is valid? [False, False] Translation: X:0.93, Y:0.36, Z:-0.02 [[ 0.97597065 0.15179934 -0.15632741 0.92846717] [-0.15324216 0.98818455 0.0028524 0.36204059] [ 0.15491332 0.02117209 0.98770117 -0.019245 ] [ 0. 0. 0. 1. ]] SLAMing on 47.276502481 meters Centerline goodness : 0.693070 Centerline is valid? [False, False] Translation: X:0.93, Y:0.37, Z:-0.02 [[ 0.97558867 0.15454668 -0.15601946 0.92898531] [-0.15571781 0.9877901 0.0047632 0.36716291] [ 0.15485061 0.01964808 0.9877425 -0.01871752] [ 0. 0. 0. 1. ]] SLAMing on 47.306502481 meters Centerline goodness : 0.692593 Centerline is valid? [False, False] Translation: X:0.90, Y:0.38, Z:-0.02 [[ 0.97598286 0.1517219 -0.15632631 0.90014176] [-0.15257466 0.9882699 0.0066011 0.37754571] [ 0.15549412 0.01740887 0.98768341 -0.02369333] [ 0. 0. 0. 1. ]] SLAMing on 47.336502481 meters Centerline goodness : 0.694303 Centerline is valid? [False, False] Translation: X:0.90, Y:0.38, Z:-0.02 [[ 0.97620114 0.15014626 -0.1564846 0.9007579 ] [-0.15130564 0.98847658 0.00454563 0.38371591] [ 0.15536387 0.01923955 0.98766994 -0.02320376] [ 0. 0. 0. 1. ]] SLAMing on 47.366502481 meters Centerline goodness : 0.695498 Centerline is valid? [False, False] Translation: X:0.90, Y:0.39, Z:-0.02 [[ 0.97640454 0.14988478 -0.15546295 0.89931887] [-0.15108343 0.98851232 0.00414511 0.38763691] [ 0.15429833 0.01944057 0.98783303 -0.02307751] [ 0. 0. 0. 1. ]] SLAMing on 47.396502481 meters Centerline goodness : 0.695321 Centerline is valid? [False, False] Translation: X:0.90, Y:0.40, Z:-0.02 [[ 0.97663378 0.15015032 -0.15375739 0.89723797] [-0.15131959 0.98847623 0.00413771 0.39537838] [ 0.1526068 0.01922548 0.98809997 -0.0231773 ] [ 0. 0. 0. 1. ]] SLAMing on 47.426502481 meters Centerline goodness : 0.695520 Centerline is valid? [False, False] Translation: X:0.90, Y:0.40, Z:-0.02 [[ 0.97672337 0.14939829 -0.15392078 0.89781884] [-0.15070081 0.98857412 0.00323724 0.39927515] [ 0.15264574 0.0200341 0.98807789 -0.02272716] [ 0. 0. 0. 1. ]] SLAMing on 47.456502481 meters Centerline goodness : 0.697299 Centerline is valid? [False, False] Translation: X:0.90, Y:0.41, Z:-0.02 [[ 0.97693036 0.14777044 -0.15417839 0.89861446] [-0.14936617 0.98878116 0.00124714 0.40672777] [ 0.15263298 0.02181067 0.98804224 -0.02198661] [ 0. 0. 0. 1. ]] SLAMing on 47.486502481 meters Centerline goodness : 0.696515 Centerline is valid? [False, False] Translation: X:0.87, Y:0.42, Z:-0.03 [[ 0.97716664 0.14492317 -0.15537899 0.87213331] [-0.14634098 0.98923145 0.00233646 0.42133538] [ 0.15404439 0.0204552 0.98785217 -0.0274927 ] [ 0. 0. 0. 1. ]] SLAMing on 47.516502480999996 meters Centerline goodness : 0.698558 Centerline is valid? [False, False] Translation: X:0.85, Y:0.43, Z:-0.03 [[ 0.97751521 0.14262927 -0.15530904 0.84559323] [-0.14385328 0.98959323 0.00338805 0.4319565 ] [ 0.15417601 0.01902985 0.98786012 -0.03345129] [ 0. 0. 0. 1. ]] SLAMing on 47.546502481 meters Centerline goodness : 0.698759 Centerline is valid? [False, False] Translation: X:0.85, Y:0.44, Z:-0.03 [[ 0.97762525 0.14106052 -0.15604742 0.84833219] [-0.14259941 0.98977957 0.00134595 0.43981362] [ 0.15464241 0.02093644 0.98774865 -0.03362058] [ 0. 0. 0. 1. ]] SLAMing on 47.576502481 meters Centerline goodness : 0.699231 Centerline is valid? [False, False] Translation: X:0.85, Y:0.44, Z:-0.03 [[ 9.77651707e-01 1.40467575e-01 -1.56416114e-01 8.49834796e-01] [-1.42138862e-01 9.89846599e-01 5.05387361e-04 4.43812533e-01] [ 1.54898949e-01 2.17387156e-02 9.87691118e-01 -3.36926766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.606502481 meters Centerline goodness : 0.701432 Centerline is valid? [False, False] Translation: X:0.85, Y:0.45, Z:-0.03 [[ 0.97781423 0.13891241 -0.15678861 0.85140312] [-0.14090612 0.99002164 -0.00161824 0.45133608] [ 0.15499932 0.02367481 0.98763086 -0.03346587] [ 0. 0. 0. 1. ]] SLAMing on 47.636502481 meters Centerline goodness : 0.703141 Centerline is valid? [False, False] Translation: X:0.85, Y:0.46, Z:-0.03 [[ 0.97790044 0.13815054 -0.15692408 0.85200428] [-0.14038427 0.99009197 -0.0031869 0.45788229] [ 0.154929 0.02514615 0.98760553 -0.03274127] [ 0. 0. 0. 1. ]] SLAMing on 47.666502481 meters Centerline goodness : 0.703671 Centerline is valid? [False, False] Translation: X:0.85, Y:0.46, Z:-0.03 [[ 9.77558384e-01 1.40996571e-01 -1.56523394e-01 8.51865400e-01] [-1.42865733e-01 9.89741832e-01 -6.98877138e-04 4.60345550e-01] [ 1.54819211e-01 2.30450225e-02 9.87674004e-01 -3.21670377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.696502481 meters Centerline goodness : 0.705139 Centerline is valid? [False, False] Translation: X:0.85, Y:0.46, Z:-0.03 [[ 0.97713769 0.14429308 -0.1561456 0.85245837] [-0.14572837 0.98932202 0.00227763 0.46246506] [ 0.15480693 0.02052929 0.98773142 -0.0321968 ] [ 0. 0. 0. 1. ]] SLAMing on 47.726502481 meters Centerline goodness : 0.707681 Centerline is valid? [False, False] Translation: X:0.86, Y:0.47, Z:-0.03 [[ 0.97679242 0.14604457 -0.15667662 0.85614954] [-0.14730474 0.9890846 0.00360151 0.46748726] [ 0.15549241 0.01956128 0.98764339 -0.03324004] [ 0. 0. 0. 1. ]] SLAMing on 47.756502481 meters Centerline goodness : 0.707510 Centerline is valid? [False, False] Translation: X:0.86, Y:0.47, Z:-0.03 [[ 0.97678157 0.14585826 -0.15691758 0.85745713] [-0.14715986 0.98910703 0.00335454 0.4698541 ] [ 0.15569757 0.01981532 0.98760601 -0.03349576] [ 0. 0. 0. 1. ]] SLAMing on 47.786502481 meters Centerline goodness : 0.708274 Centerline is valid? [False, False] Translation: X:0.86, Y:0.47, Z:-0.03 [[ 0.97684448 0.14517676 -0.15715778 0.85827911] [-0.14669059 0.98918043 0.00198603 0.47486192] [ 0.15574572 0.02111353 0.98757151 -0.03297595] [ 0. 0. 0. 1. ]] SLAMing on 47.816502481 meters Centerline goodness : 0.708511 Centerline is valid? [False, False] Translation: X:0.86, Y:0.48, Z:-0.03 [[ 0.97645172 0.14852066 -0.15647255 0.85803112] [-0.14960364 0.98873391 0.0048998 0.47673576] [ 0.15543744 0.01862444 0.98767015 -0.03275926] [ 0. 0. 0. 1. ]] SLAMing on 47.846502481 meters Centerline goodness : 0.712667 Centerline is valid? [False, False] Translation: X:0.86, Y:0.48, Z:-0.03 [[ 0.97594958 0.15220766 -0.15606165 0.85871403] [-0.15294176 0.98820776 0.00736467 0.48190553] [ 0.15534229 0.0166808 0.98771986 -0.03227106] [ 0. 0. 0. 1. ]] SLAMing on 47.876502481 meters Centerline goodness : 0.713841 Centerline is valid? [False, False] Translation: X:0.86, Y:0.48, Z:-0.03 [[ 0.97590745 0.15230008 -0.15623486 0.85970478] [-0.15306967 0.98818942 0.00716547 0.4844335 ] [ 0.15548093 0.01692198 0.98769394 -0.03222794] [ 0. 0. 0. 1. ]] SLAMing on 47.906502481 meters Centerline goodness : 0.713665 Centerline is valid? [False, False] Translation: X:0.86, Y:0.49, Z:-0.03 [[ 0.9759485 0.15181318 -0.15645216 0.86084861] [-0.1527871 0.98824179 0.00585345 0.48873107] [ 0.1555012 0.01819121 0.98766819 -0.03224881] [ 0. 0. 0. 1. ]] SLAMing on 47.936502481 meters Centerline goodness : 0.716601 Centerline is valid? [False, False] Translation: X:0.87, Y:0.49, Z:-0.03 [[ 0.97561167 0.15302855 -0.15736626 0.86544993] [-0.15391214 0.9880623 0.00662955 0.49236625] [ 0.15650218 0.01775271 0.98751806 -0.03374567] [ 0. 0. 0. 1. ]] SLAMing on 47.966502481 meters Centerline goodness : 0.717514 Centerline is valid? [False, False] Translation: X:0.87, Y:0.49, Z:-0.03 [[ 0.97540664 0.15366439 -0.15801628 0.86847044] [-0.1544875 0.98796898 0.00713546 0.49406625] [ 0.15721165 0.01745157 0.98741073 -0.03471538] [ 0. 0. 0. 1. ]] SLAMing on 47.996502481 meters Centerline goodness : 0.718260 Centerline is valid? [False, False] Translation: X:0.87, Y:0.50, Z:-0.04 [[ 0.97509103 0.15486287 -0.15879225 0.87211443] [-0.15562034 0.98778669 0.00773014 0.49838056] [ 0.15804998 0.01717372 0.98728176 -0.03545245] [ 0. 0. 0. 1. ]] SLAMing on 48.026502481 meters Centerline goodness : 0.381751 Centerline is valid? [False, False] Translation: X:0.87, Y:0.50, Z:-0.04 [[ 0.97502412 0.15484961 -0.15921543 0.87331495] [-0.15569312 0.98777894 0.00723948 0.50099883] [ 0.15839068 0.01773008 0.98721732 -0.03522983] [ 0. 0. 0. 1. ]] SLAMing on 48.056502481 meters Centerline goodness : 0.717214 Centerline is valid? [False, False] Translation: X:0.87, Y:0.51, Z:-0.03 [[ 0.97502857 0.15472752 -0.15930688 0.8740716 ] [-0.15579187 0.9877725 0.00586326 0.50754009] [ 0.15826616 0.01910187 0.9872117 -0.03440873] [ 0. 0. 0. 1. ]] SLAMing on 48.086502481 meters Centerline goodness : 0.716839 Centerline is valid? [False, False] Translation: X:0.88, Y:0.51, Z:-0.03 [[ 0.97494911 0.15474923 -0.15977144 0.875612 ] [-0.15589887 0.98775831 0.00539124 0.51058553] [ 0.15864986 0.019652 0.98713931 -0.0343439 ] [ 0. 0. 0. 1. ]] SLAMing on 48.116502481 meters Centerline goodness : 0.718650 Centerline is valid? [False, False] Translation: X:0.88, Y:0.52, Z:-0.04 [[ 0.9747646 0.15526702 -0.16039368 0.87907911] [-0.1564516 0.98767143 0.00529521 0.51532136] [ 0.15923843 0.01993226 0.98703892 -0.03537703] [ 0. 0. 0. 1. ]] SLAMing on 48.146502481 meters Centerline goodness : 0.661649 Centerline is valid? [False, False] Translation: X:0.88, Y:0.52, Z:-0.04 [[ 0.97465942 0.15532291 -0.16097765 0.88094264] [-0.15653704 0.98765845 0.00519127 0.51694838] [ 0.15979726 0.02013924 0.9869444 -0.03569409] [ 0. 0. 0. 1. ]] SLAMing on 48.176502481 meters Centerline goodness : 0.398098 Centerline is valid? [False, False] Translation: X:0.89, Y:0.52, Z:-0.03 [[ 0.97533276 0.14936459 -0.16253068 0.89286425] [-0.14999481 0.98865061 0.00845711 0.51941296] [ 0.16194924 0.01613027 0.98666725 -0.03350081] [ 0. 0. 0. 1. ]] SLAMing on 48.206502481 meters Centerline goodness : 0.652898 Centerline is valid? [False, False] Translation: X:0.91, Y:0.52, Z:-0.03 [[ 0.97692805 0.14293198 -0.15868849 0.9051875 ] [-0.14294595 0.989665 0.01138628 0.51909396] [ 0.15867591 0.0115603 0.98726304 -0.03450992] [ 0. 0. 0. 1. ]] SLAMing on 48.236502481 meters Centerline goodness : 0.604827 Centerline is valid? [False, False] Translation: X:0.91, Y:0.52, Z:-0.03 [[ 0.97774014 0.13704691 -0.15887848 0.91390148] [-0.13628513 0.99054471 0.01573311 0.51978085] [ 0.15953241 0.00626988 0.98717278 -0.03159686] [ 0. 0. 0. 1. ]] SLAMing on 48.266502480999996 meters Centerline goodness : 0.721027 Centerline is valid? [False, False] Translation: X:0.92, Y:0.52, Z:-0.03 [[ 9.78885914e-01 1.30885394e-01 -1.57007580e-01 9.23266064e-01] [-1.29301025e-01 9.91397416e-01 2.03078676e-02 5.22086838e-01] [ 1.58314913e-01 4.22155528e-04 9.87388581e-01 -2.94685152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.296502481 meters Centerline goodness : 0.573703 Centerline is valid? [False, False] Translation: X:0.93, Y:0.52, Z:-0.03 [[ 0.97997823 0.12328222 -0.15634627 0.93379396] [-0.12114073 0.99236443 0.02318963 0.52295297] [ 0.15801135 -0.00378543 0.98743004 -0.02819372] [ 0. 0. 0. 1. ]] SLAMing on 48.326502481 meters Centerline goodness : 0.576862 Centerline is valid? [False, False] Translation: X:0.95, Y:0.53, Z:-0.03 [[ 0.98106117 0.11359987 -0.15688865 0.94551755] [-0.11121408 0.99350828 0.02393161 0.52502575] [ 0.1585888 -0.00603015 0.9873263 -0.02702573] [ 0. 0. 0. 1. ]] SLAMing on 48.356502481 meters Centerline goodness : 0.581294 Centerline is valid? [False, False] Translation: X:0.95, Y:0.53, Z:-0.03 [[ 0.98106995 0.11297293 -0.15728595 0.94646178] [-0.11067356 0.99358295 0.02332997 0.52657668] [ 0.1589123 -0.00548094 0.98727749 -0.02700146] [ 0. 0. 0. 1. ]] SLAMing on 48.386502481 meters Centerline goodness : 0.655085 Centerline is valid? [False, False] Translation: X:0.95, Y:0.53, Z:-0.03 [[ 0.98084502 0.11359191 -0.15824007 0.94987305] [-0.11122439 0.99351107 0.02376729 0.53158868] [ 0.15991303 -0.00571187 0.98711458 -0.02757623] [ 0. 0. 0. 1. ]] SLAMing on 48.416502481 meters Centerline goodness : 0.594295 Centerline is valid? [False, False] Translation: X:0.95, Y:0.54, Z:-0.03 [[ 0.9806041 0.11457578 -0.15902201 0.95260193] [-0.11208854 0.99339483 0.02455325 0.53525276] [ 0.16078485 -0.00625247 0.98696967 -0.02783513] [ 0. 0. 0. 1. ]] SLAMing on 48.446502481 meters Centerline goodness : 0.583240 Centerline is valid? [False, False] Translation: X:0.95, Y:0.54, Z:-0.03 [[ 0.9801804 0.11782117 -0.15926255 0.95379164] [-0.11507068 0.993006 0.02641618 0.54168613] [ 0.16126105 -0.00756618 0.98688278 -0.02702137] [ 0. 0. 0. 1. ]] SLAMing on 48.476502481 meters Centerline goodness : 0.582935 Centerline is valid? [False, False] Translation: X:0.96, Y:0.55, Z:-0.03 [[ 0.97993754 0.11898342 -0.1598917 0.95617253] [-0.1161316 0.99286413 0.02709744 0.5456811 ] [ 0.16197488 -0.00798531 0.98676257 -0.02717635] [ 0. 0. 0. 1. ]] SLAMing on 48.506502481 meters Centerline goodness : 0.262491 Centerline is valid? [False, False] Translation: X:0.96, Y:0.55, Z:-0.03 [[ 0.97955682 0.12180329 -0.1601012 0.95793692] [-0.11881296 0.99251736 0.02815616 0.55287828] [ 0.16233274 -0.00855846 0.98669896 -0.02669251] [ 0. 0. 0. 1. ]] SLAMing on 48.536502481 meters Centerline goodness : 0.576368 Centerline is valid? [False, False] Translation: X:0.96, Y:0.56, Z:-0.03 [[ 0.97918582 0.1241809 -0.16054359 0.96085597] [-0.12110993 0.99222084 0.02881301 0.56049729] [ 0.16287272 -0.00876987 0.98660811 -0.02686891] [ 0. 0. 0. 1. ]] SLAMing on 48.566502481 meters Centerline goodness : 0.564815 Centerline is valid? [False, False] Translation: X:0.96, Y:0.57, Z:-0.03 [[ 0.97885861 0.1257855 -0.16128806 0.96454752] [-0.1225835 0.99201393 0.02969259 0.5651024 ] [ 0.1637349 -0.00929359 0.9864606 -0.02793463] [ 0. 0. 0. 1. ]] SLAMing on 48.596502481 meters Centerline goodness : 0.569322 Centerline is valid? [False, False] Translation: X:0.97, Y:0.57, Z:-0.03 [[ 0.97834511 0.12913691 -0.16175447 0.96653991] [-0.12568841 0.99157217 0.03141752 0.57394776] [ 0.16444839 -0.01040652 0.98633079 -0.02694445] [ 0. 0. 0. 1. ]] SLAMing on 48.626502481 meters Centerline goodness : 0.296869 Centerline is valid? [False, False] Translation: X:0.97, Y:0.58, Z:-0.03 [[ 0.97837179 0.12833633 -0.16222952 0.96681162] [-0.12514001 0.99169106 0.02981296 0.57881369] [ 0.16470765 -0.00886676 0.98630258 -0.02566842] [ 0. 0. 0. 1. ]] SLAMing on 48.656502481 meters Centerline goodness : 0.311350 Centerline is valid? [False, False] Translation: X:0.97, Y:0.59, Z:-0.02 [[ 0.97844225 0.12702968 -0.16283188 0.96748523] [-0.12425838 0.9918788 0.02713475 0.58690663] [ 0.1649564 -0.00631657 0.98628063 -0.02407625] [ 0. 0. 0. 1. ]] SLAMing on 48.686502481 meters Centerline goodness : 0.418357 Centerline is valid? [False, False] Translation: X:0.97, Y:0.59, Z:-0.02 [[ 0.97842024 0.12638671 -0.16346323 0.96873324] [-0.1237937 0.99196743 0.02599506 0.59047597] [ 0.16543563 -0.00519837 0.98620689 -0.0236714 ] [ 0. 0. 0. 1. ]] SLAMing on 48.716502481 meters Centerline goodness : 0.376634 Centerline is valid? [False, False] Translation: X:0.97, Y:0.60, Z:-0.02 [[ 0.97815501 0.12738379 -0.16427461 0.97178406] [-0.12478969 0.99184095 0.02605883 0.59722229] [ 0.16625376 -0.0049898 0.98607038 -0.0237844 ] [ 0. 0. 0. 1. ]] SLAMing on 48.746502481 meters Centerline goodness : 0.614710 Centerline is valid? [False, False] Translation: X:0.97, Y:0.60, Z:-0.02 [[ 0.97811978 0.12691346 -0.1648474 0.9728359 ] [-0.12447435 0.99190566 0.025086 0.60111127] [ 0.16669681 -0.00401784 0.98600001 -0.023242 ] [ 0. 0. 0. 1. ]] SLAMing on 48.776502481 meters Centerline goodness : 0.203314 Centerline is valid? [False, False] Translation: X:0.97, Y:0.61, Z:-0.02 [[ 0.97764174 0.13037181 -0.16498428 0.97431677] [-0.12758875 0.99144856 0.02740177 0.60606549] [ 0.16714585 -0.00573897 0.98591548 -0.02290053] [ 0. 0. 0. 1. ]] SLAMing on 48.806502481 meters Centerline goodness : 0.560213 Centerline is valid? [False, False] Translation: X:0.98, Y:0.61, Z:-0.02 [[ 0.97739241 0.13151536 -0.16555297 0.976948 ] [-0.12870725 0.99129779 0.02762501 0.61175971] [ 0.1677454 -0.00569261 0.98581391 -0.02298132] [ 0. 0. 0. 1. ]] SLAMing on 48.836502481 meters Centerline goodness : 0.573834 Centerline is valid? [False, False] Translation: X:0.98, Y:0.61, Z:-0.02 [[ 0.97724234 0.13178543 -0.16622276 0.97912197] [-0.12900399 0.99126356 0.02746877 0.61437623] [ 0.16839055 -0.00540024 0.98570556 -0.02319369] [ 0. 0. 0. 1. ]] SLAMing on 48.866502481 meters Centerline goodness : 0.573834 Centerline is valid? [False, False] Translation: X:0.98, Y:0.61, Z:-0.02 [[ 0.97724234 0.13178543 -0.16622276 0.97912197] [-0.12900399 0.99126356 0.02746877 0.61437623] [ 0.16839055 -0.00540024 0.98570556 -0.02319369] [ 0. 0. 0. 1. ]] SLAMing on 48.896502481 meters Centerline goodness : 0.451114 Centerline is valid? [False, False] Translation: X:0.98, Y:0.62, Z:-0.02 [[ 0.97690111 0.13332226 -0.16700117 0.98264329] [-0.13046022 0.99105687 0.02804294 0.62016697] [ 0.1692464 -0.00560817 0.98555781 -0.02362752] [ 0. 0. 0. 1. ]] SLAMing on 48.926502481 meters Centerline goodness : 0.386568 Centerline is valid? [False, False] Translation: X:0.98, Y:0.62, Z:-0.02 [[ 0.9767363 0.13349649 -0.16782398 0.98466806] [-0.13066857 0.99103535 0.02783277 0.62306141] [ 0.17003508 -0.00525596 0.98542399 -0.02344384] [ 0. 0. 0. 1. ]] SLAMing on 48.956502481 meters Centerline goodness : 0.714379 Centerline is valid? [False, False] Translation: X:1.00, Y:0.63, Z:-0.02 [[ 0.97710127 0.12898206 -0.16922392 0.99620374] [-0.12532164 0.99159408 0.03218171 0.63052969] [ 0.1719523 -0.01023737 0.98505208 -0.02094459] [ 0. 0. 0. 1. ]] SLAMing on 48.986502481 meters Centerline goodness : 0.712854 Centerline is valid? [False, False] Translation: X:1.00, Y:0.63, Z:-0.02 [[ 0.97698122 0.12900248 -0.16990012 0.99790405] [-0.12540424 0.99159634 0.03178809 0.63382449] [ 0.17257308 -0.00975018 0.98494846 -0.02066244] [ 0. 0. 0. 1. ]] SLAMing on 49.016502480999996 meters Centerline goodness : 0.713086 Centerline is valid? [False, False] Translation: X:1.00, Y:0.64, Z:-0.02 [[ 0.97687803 0.12868189 -0.17073453 1.00079367] [-0.12526205 0.99164861 0.03069954 0.64005796] [ 0.17325913 -0.00860315 0.9848387 -0.02069846] [ 0. 0. 0. 1. ]] SLAMing on 49.046502481 meters Centerline goodness : 0.710635 Centerline is valid? [False, False] Translation: X:1.00, Y:0.64, Z:-0.02 [[ 0.97674354 0.12851258 -0.17162917 1.00304442] [-0.1252042 0.99167702 0.03000993 0.64314539] [ 0.17405736 -0.00782331 0.98470444 -0.02068386] [ 0. 0. 0. 1. ]] SLAMing on 49.076502481 meters Centerline goodness : 0.710243 Centerline is valid? [False, False] Translation: X:1.01, Y:0.65, Z:-0.02 [[ 0.97631833 0.13060008 -0.1724707 1.00700872] [-0.12714509 0.99140025 0.0309784 0.65050383] [ 0.17503328 -0.00831598 0.9845274 -0.02122115] [ 0. 0. 0. 1. ]] SLAMing on 49.106502481 meters Centerline goodness : 0.711502 Centerline is valid? [False, False] Translation: X:1.01, Y:0.66, Z:-0.02 [[ 0.97585517 0.13383159 -0.17261457 1.00803673] [-0.13003286 0.99095428 0.03318232 0.65786884] [ 0.17549399 -0.00993558 0.98443037 -0.02008639] [ 0. 0. 0. 1. ]] SLAMing on 49.136502481 meters Centerline goodness : 0.711402 Centerline is valid? [False, False] Translation: X:1.01, Y:0.66, Z:-0.02 [[ 0.97551295 0.13569442 -0.17309391 1.01014069] [-0.13161198 0.99068667 0.03490282 0.66170651] [ 0.17621795 -0.01126692 0.98428669 -0.02016352] [ 0. 0. 0. 1. ]] SLAMing on 49.166502481 meters Centerline goodness : 0.710168 Centerline is valid? [False, False] Translation: X:1.01, Y:0.67, Z:-0.02 [[ 0.97537897 0.13585522 -0.17372166 1.01324561] [-0.13180322 0.99066813 0.03470691 0.66778917] [ 0.17681563 -0.01095531 0.98418302 -0.02088962] [ 0. 0. 0. 1. ]] SLAMing on 49.196502481 meters Centerline goodness : 0.711471 Centerline is valid? [False, False] Translation: X:1.01, Y:0.67, Z:-0.02 [[ 0.97533997 0.13546055 -0.17424807 1.01477986] [-0.13149358 0.99072802 0.03416753 0.67076359] [ 0.1772608 -0.01041245 0.98410883 -0.02099616] [ 0. 0. 0. 1. ]] SLAMing on 49.226502481 meters Centerline goodness : 0.709709 Centerline is valid? [False, False] Translation: X:1.01, Y:0.68, Z:-0.03 [[ 0.97629161 0.13284777 -0.17089812 1.00506382] [-0.12835665 0.99103329 0.0371159 0.6798504 ] [ 0.17429649 -0.01430004 0.98458938 -0.02560979] [ 0. 0. 0. 1. ]] SLAMing on 49.256502481 meters Centerline goodness : 0.708895 Centerline is valid? [False, False] Translation: X:0.96, Y:0.69, Z:-0.03 [[ 0.97686887 0.12815753 -0.17118076 0.96341196] [-0.12319633 0.99160217 0.03934215 0.69407687] [ 0.1747852 -0.01734328 0.98445383 -0.03293438] [ 0. 0. 0. 1. ]] SLAMing on 49.286502481 meters Centerline goodness : 0.708202 Centerline is valid? [False, False] Translation: X:0.96, Y:0.70, Z:-0.04 [[ 0.97726772 0.12882073 -0.16838356 0.9586264 ] [-0.12342813 0.9914578 0.04215367 0.70198376] [ 0.17237546 -0.02041216 0.9848198 -0.03592169] [ 0. 0. 0. 1. ]] SLAMing on 49.316502481 meters Centerline goodness : 0.708623 Centerline is valid? [False, False] Translation: X:0.94, Y:0.71, Z:-0.04 [[ 0.97838264 0.12239635 -0.16669299 0.93951245] [-0.11604878 0.99211475 0.04733919 0.71124004] [ 0.17117272 -0.02697133 0.98487179 -0.04228115] [ 0. 0. 0. 1. ]] SLAMing on 49.346502481 meters Centerline goodness : 0.707985 Centerline is valid? [False, False] Translation: X:0.93, Y:0.72, Z:-0.05 [[ 0.97972368 0.11494989 -0.16409763 0.92859456] [-0.10866234 0.99297543 0.04682183 0.72234705] [ 0.16832708 -0.02804122 0.98533227 -0.04736602] [ 0. 0. 0. 1. ]] SLAMing on 49.376502481 meters Centerline goodness : 0.709275 Centerline is valid? [False, False] Translation: X:0.92, Y:0.73, Z:-0.05 [[ 0.98067118 0.10958575 -0.16209563 0.92170317] [-0.10351338 0.99358817 0.04547014 0.73215529] [ 0.16603918 -0.02781219 0.98572688 -0.05024075] [ 0. 0. 0. 1. ]] SLAMing on 49.406502481 meters Centerline goodness : 0.707794 Centerline is valid? [False, False] Translation: X:0.92, Y:0.74, Z:-0.05 [[ 0.98074945 0.10859393 -0.16228948 0.92190858] [-0.10268224 0.99372251 0.04440632 0.73545517] [ 0.16609297 -0.02688723 0.98574348 -0.04995219] [ 0. 0. 0. 1. ]] SLAMing on 49.436502481 meters Centerline goodness : 0.708444 Centerline is valid? [False, False] Translation: X:0.92, Y:0.74, Z:-0.05 [[ 0.98049885 0.11146481 -0.16185675 0.92151686] [-0.10514931 0.99334036 0.0471016 0.73751663] [ 0.16602901 -0.02916394 0.98568952 -0.04999451] [ 0. 0. 0. 1. ]] SLAMing on 49.466502481 meters Centerline goodness : 0.707367 Centerline is valid? [False, False] Translation: X:0.92, Y:0.75, Z:-0.05 [[ 0.98051703 0.11039041 -0.16248173 0.92229609] [-0.10423417 0.99349006 0.04596457 0.74727299] [ 0.16649803 -0.02813289 0.98564037 -0.04918171] [ 0. 0. 0. 1. ]] SLAMing on 49.496502481 meters Centerline goodness : 0.708193 Centerline is valid? [False, False] Translation: X:0.92, Y:0.76, Z:-0.05 [[ 0.98071876 0.10843639 -0.16258001 0.92225417] [-0.10263982 0.99375978 0.04366421 0.75567433] [ 0.16630027 -0.02613513 0.98572875 -0.04869243] [ 0. 0. 0. 1. ]] SLAMing on 49.526502481 meters Centerline goodness : 0.706107 Centerline is valid? [False, False] Translation: X:0.92, Y:0.76, Z:-0.05 [[ 0.98079286 0.10739311 -0.16282532 0.92237473] [-0.10181744 0.99390616 0.04223457 0.75946493] [ 0.16636879 -0.02484491 0.98575056 -0.04806253] [ 0. 0. 0. 1. ]] SLAMing on 49.556502481 meters Centerline goodness : 0.704968 Centerline is valid? [False, False] Translation: X:0.92, Y:0.77, Z:-0.05 [[ 0.98057776 0.11016485 -0.16226816 0.92335823] [-0.10430579 0.99356168 0.04422086 0.76643328] [ 0.16609502 -0.02643648 0.98575532 -0.04905083] [ 0. 0. 0. 1. ]] SLAMing on 49.586502481 meters Centerline goodness : 0.704014 Centerline is valid? [False, False] Translation: X:0.93, Y:0.77, Z:-0.05 [[ 0.98044316 0.10999328 -0.16319522 0.92535676] [-0.10419889 0.99359695 0.04367713 0.7724484 ] [ 0.16695446 -0.02581818 0.98562652 -0.04859493] [ 0. 0. 0. 1. ]] SLAMing on 49.616502481 meters Centerline goodness : 0.702749 Centerline is valid? [False, False] Translation: X:0.93, Y:0.78, Z:-0.05 [[ 0.98019124 0.11187117 -0.16343185 0.92663088] [-0.10618718 0.99340997 0.04313841 0.7826387 ] [ 0.16718078 -0.02492953 0.98561103 -0.0488225 ] [ 0. 0. 0. 1. ]] SLAMing on 49.646502481 meters Centerline goodness : 0.700976 Centerline is valid? [False, False] Translation: X:0.93, Y:0.79, Z:-0.05 [[ 0.98023799 0.11107247 -0.16369605 0.92688061] [-0.10585124 0.99356468 0.04030809 0.78842922] [ 0.16711973 -0.02218409 0.985687 -0.04890053] [ 0. 0. 0. 1. ]] SLAMing on 49.676502481 meters Centerline goodness : 0.700181 Centerline is valid? [False, False] Translation: X:0.93, Y:0.80, Z:-0.05 [[ 0.9799155 0.11310161 -0.16423651 0.92831727] [-0.10823734 0.99338704 0.03829983 0.7988053 ] [ 0.16748219 -0.01975407 0.98567717 -0.04894806] [ 0. 0. 0. 1. ]] SLAMing on 49.706502481 meters Centerline goodness : 0.698908 Centerline is valid? [False, False] Translation: X:0.93, Y:0.81, Z:-0.05 [[ 0.97962749 0.1158397 -0.16404617 0.92895437] [-0.11127645 0.99310902 0.03677003 0.80928642] [ 0.16717516 -0.01776646 0.98576712 -0.04962927] [ 0. 0. 0. 1. ]] SLAMing on 49.736502481 meters Centerline goodness : 0.697773 Centerline is valid? [False, False] Translation: X:0.93, Y:0.82, Z:-0.05 [[ 0.97961057 0.11528161 -0.16453957 0.9299536 ] [-0.11122291 0.99322386 0.033702 0.81553923] [ 0.16730985 -0.01471426 0.98579455 -0.05000264] [ 0. 0. 0. 1. ]] SLAMing on 49.766502480999996 meters Centerline goodness : 0.697284 Centerline is valid? [False, False] Translation: X:0.93, Y:0.83, Z:-0.05 [[ 0.97912236 0.11768746 -0.16573796 0.93376755] [-0.1137454 0.99295797 0.03311273 0.82521329] [ 0.16846778 -0.01356949 0.98561376 -0.05069278] [ 0. 0. 0. 1. ]] SLAMing on 49.796502481 meters Centerline goodness : 0.697195 Centerline is valid? [False, False] Translation: X:0.94, Y:0.83, Z:-0.05 [[ 0.9790148 0.11710138 -0.16678513 0.93577661] [-0.11359829 0.99306081 0.03042472 0.83104308] [ 0.16919055 -0.01083974 0.98552375 -0.05070558] [ 0. 0. 0. 1. ]] SLAMing on 49.826502481 meters Centerline goodness : 0.697325 Centerline is valid? [False, False] Translation: X:0.94, Y:0.84, Z:-0.05 [[ 0.97858599 0.1198538 -0.16734552 0.93834182] [-0.11642542 0.99274062 0.03018571 0.83952885] [ 0.16974857 -0.01005604 0.9854361 -0.05144122] [ 0. 0. 0. 1. ]] SLAMing on 49.856502481 meters Centerline goodness : 0.695254 Centerline is valid? [False, False] Translation: X:0.94, Y:0.85, Z:-0.05 [[ 0.97855132 0.11957744 -0.16774552 0.9390919 ] [-0.11662517 0.99279857 0.02737833 0.84527268] [ 0.16981134 -0.00722775 0.98545008 -0.05150496] [ 0. 0. 0. 1. ]] SLAMing on 49.886502481 meters Centerline goodness : 0.695512 Centerline is valid? [False, False] Translation: X:0.94, Y:0.85, Z:-0.05 [[ 0.97830665 0.12223448 -0.16725675 0.9392761 ] [-0.11938777 0.99248026 0.02700916 0.85384113] [ 0.16930048 -0.00645483 0.98554334 -0.05196024] [ 0. 0. 0. 1. ]] SLAMing on 49.916502481 meters Centerline goodness : 0.696194 Centerline is valid? [False, False] Translation: X:0.94, Y:0.86, Z:-0.05 [[ 9.78353105e-01 1.20459968e-01 -1.68269419e-01 9.40987863e-01] [-1.18602232e-01 9.92717959e-01 2.10847059e-02 8.64478930e-01] [ 1.69583937e-01 -6.71158886e-04 9.85515519e-01 -5.17467142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.946502481 meters Centerline goodness : 0.697133 Centerline is valid? [False, False] Translation: X:0.94, Y:0.87, Z:-0.05 [[ 0.97832537 0.119558 -0.16907203 0.9425359 ] [-0.11816638 0.99282506 0.0183059 0.87000713] [ 0.17004756 0.0020695 0.98543368 -0.05179303] [ 0. 0. 0. 1. ]] SLAMing on 49.976502481 meters Centerline goodness : 0.695132 Centerline is valid? [False, False] Translation: X:0.94, Y:0.88, Z:-0.05 [[ 0.97794705 0.12219326 -0.16937643 0.94467848] [-0.12092809 0.99250158 0.01780493 0.87942136] [ 0.17028202 0.00307009 0.98539059 -0.05236685] [ 0. 0. 0. 1. ]] SLAMing on 50.006502481 meters Centerline goodness : 0.693431 Centerline is valid? [False, False] Translation: X:0.94, Y:0.89, Z:-0.05 [[ 0.97791929 0.12167671 -0.16990774 0.94486694] [-0.12093912 0.99255073 0.01472335 0.88583054] [ 0.17043354 0.00615024 0.98534998 -0.05140446] [ 0. 0. 0. 1. ]] SLAMing on 50.036502481 meters Centerline goodness : 0.692234 Centerline is valid? [False, False] Translation: X:0.95, Y:0.90, Z:-0.05 [[ 0.97756027 0.12419365 -0.17015246 0.94593262] [-0.12393882 0.99221534 0.01216074 0.8968092 ] [ 0.17033817 0.00920064 0.98534271 -0.05103426] [ 0. 0. 0. 1. ]] SLAMing on 50.066502481 meters Centerline goodness : 0.693880 Centerline is valid? [False, False] Translation: X:0.95, Y:0.91, Z:-0.05 [[ 0.97718634 0.12673767 -0.17042422 0.947576 ] [-0.12672581 0.99187687 0.01099276 0.90683185] [ 0.17043304 0.01085517 0.98530947 -0.05101107] [ 0. 0. 0. 1. ]] SLAMing on 50.096502481 meters Centerline goodness : 0.692292 Centerline is valid? [False, False] Translation: X:0.95, Y:0.91, Z:-0.05 [[ 0.97679527 0.13012157 -0.17011576 0.94811359] [-0.12965562 0.99146174 0.0138938 0.9094417 ] [ 0.17047115 0.00848506 0.98532613 -0.05104882] [ 0. 0. 0. 1. ]] SLAMing on 50.126502481 meters Centerline goodness : 0.691688 Centerline is valid? [False, False] Translation: X:0.95, Y:0.92, Z:-0.05 [[ 0.97645933 0.13194905 -0.17063592 0.94965882] [-0.13172338 0.99120523 0.01269405 0.91900908] [ 0.17081018 0.01008152 0.98525238 -0.05036051] [ 0. 0. 0. 1. ]] SLAMing on 50.156502481 meters Centerline goodness : 0.690660 Centerline is valid? [False, False] Translation: X:0.95, Y:0.92, Z:-0.05 [[ 0.97645365 0.1308273 -0.17152983 0.95144912] [-0.13109609 0.99132113 0.00980945 0.92426342] [ 0.17132449 0.01290842 0.98513009 -0.05029282] [ 0. 0. 0. 1. ]] SLAMing on 50.186502481 meters Centerline goodness : 0.693499 Centerline is valid? [False, False] Translation: X:0.95, Y:0.92, Z:-0.05 [[ 0.97645022 0.12959076 -0.17248536 0.95333049] [-0.12980585 0.99148819 0.01008057 0.92452219] [ 0.17232354 0.01254643 0.9849605 -0.04989875] [ 0. 0. 0. 1. ]] SLAMing on 50.216502481 meters Centerline goodness : 0.694393 Centerline is valid? [False, False] Translation: X:0.95, Y:0.93, Z:-0.05 [[ 0.97703293 0.12267174 -0.17423631 0.95473363] [-0.12327243 0.99234519 0.00741231 0.92738787] [ 0.17381184 0.01423646 0.98467597 -0.04774359] [ 0. 0. 0. 1. ]] SLAMing on 50.246502481 meters Centerline goodness : 0.694691 Centerline is valid? [False, False] Translation: X:0.96, Y:0.93, Z:-0.05 [[ 0.97761703 0.11641004 -0.17525307 0.95610005] [-0.11768366 0.99304616 0.00314399 0.92793428] [ 0.17440038 0.0175508 0.9845184 -0.04808538] [ 0. 0. 0. 1. ]] SLAMing on 50.276502481 meters Centerline goodness : 0.694210 Centerline is valid? [False, False] Translation: X:0.96, Y:0.93, Z:-0.05 [[ 0.97805497 0.11186652 -0.17576792 0.95654479] [-0.11406619 0.99347018 -0.00242905 0.92978826] [ 0.17434846 0.02242492 0.98442864 -0.04852809] [ 0. 0. 0. 1. ]] SLAMing on 50.306502481 meters Centerline goodness : 0.697261 Centerline is valid? [False, False] Translation: X:0.96, Y:0.93, Z:-0.05 [[ 0.97860271 0.10688527 -0.17581887 0.95581222] [-0.11022849 0.99386247 -0.00933142 0.93388798] [ 0.17374239 0.028512 0.98437831 -0.04876865] [ 0. 0. 0. 1. ]] SLAMing on 50.336502481 meters Centerline goodness : 0.693275 Centerline is valid? [False, False] Translation: X:0.96, Y:0.94, Z:-0.05 [[ 0.97860155 0.10631302 -0.17617194 0.95591387] [-0.10981527 0.99389944 -0.01022259 0.93595627] [ 0.1740104 0.02935021 0.98430633 -0.04786081] [ 0. 0. 0. 1. ]] SLAMing on 50.366502481 meters Centerline goodness : 0.694713 Centerline is valid? [False, False] Translation: X:0.96, Y:0.94, Z:-0.05 [[ 0.97811458 0.11095074 -0.17601649 0.95668562] [-0.11374295 0.99349315 -0.0058224 0.93688493] [ 0.17422518 0.02571561 0.98437 -0.0482268 ] [ 0. 0. 0. 1. ]] SLAMing on 50.396502481 meters Centerline goodness : 0.694706 Centerline is valid? [False, False] Translation: X:0.96, Y:0.94, Z:-0.05 [[ 0.9780798 0.11072421 -0.17635206 0.95758494] [-0.11377651 0.99347985 -0.00725957 0.93951883] [ 0.1743984 0.02716516 0.98430039 -0.04837766] [ 0. 0. 0. 1. ]] SLAMing on 50.426502481 meters Centerline goodness : 0.692194 Centerline is valid? [False, False] Translation: X:0.96, Y:0.94, Z:-0.05 [[ 0.97814045 0.11080038 -0.17596742 0.95700778] [-0.11437446 0.99338464 -0.01026831 0.94449406] [ 0.1736656 0.03017003 0.98434243 -0.04859802] [ 0. 0. 0. 1. ]] SLAMing on 50.456502481 meters Centerline goodness : 0.690058 Centerline is valid? [False, False] Translation: X:0.96, Y:0.94, Z:-0.05 [[ 0.97801467 0.11404419 -0.17458875 0.9567927 ] [-0.11710195 0.99309322 -0.00727946 0.94462577] [ 0.17255272 0.0275641 0.98461453 -0.05082861] [ 0. 0. 0. 1. ]] SLAMing on 50.486502481 meters Centerline goodness : 0.690841 Centerline is valid? [False, False] Translation: X:0.96, Y:0.95, Z:-0.05 [[ 0.97796182 0.11401566 -0.17490313 0.95765872] [-0.11707976 0.99309593 -0.00726717 0.94522485] [ 0.17286702 0.02758463 0.98455883 -0.05089687] [ 0. 0. 0. 1. ]] SLAMing on 50.516502480999996 meters Centerline goodness : 0.691837 Centerline is valid? [False, False] Translation: X:0.96, Y:0.95, Z:-0.05 [[ 0.97788459 0.11407656 -0.17529478 0.95879005] [-0.11720469 0.99307899 -0.0075623 0.9461641 ] [ 0.17321888 0.02794043 0.98448695 -0.05066497] [ 0. 0. 0. 1. ]] SLAMing on 50.546502481 meters Centerline goodness : 0.691252 Centerline is valid? [False, False] Translation: X:0.96, Y:0.95, Z:-0.05 [[ 0.97776685 0.1142692 -0.17582531 0.95979739] [-0.1174689 0.99304542 -0.00786404 0.94697126] [ 0.17370391 0.02834321 0.98438997 -0.04985363] [ 0. 0. 0. 1. ]] SLAMing on 50.576502481 meters Centerline goodness : 0.687873 Centerline is valid? [False, False] Translation: X:0.96, Y:0.95, Z:-0.05 [[ 0.97758803 0.11458299 -0.17661363 0.96122452] [-0.11791872 0.9929871 -0.00847327 0.94899637] [ 0.17440417 0.02910942 0.98424379 -0.04841751] [ 0. 0. 0. 1. ]] SLAMing on 50.606502481 meters Centerline goodness : 0.686879 Centerline is valid? [False, False] Translation: X:0.96, Y:0.95, Z:-0.05 [[ 0.97742226 0.11500516 -0.1772556 0.96282737] [-0.11836671 0.99293381 -0.00847225 0.94967249] [ 0.17502872 0.02926213 0.98412838 -0.04800633] [ 0. 0. 0. 1. ]] SLAMing on 50.636502481 meters Centerline goodness : 0.686809 Centerline is valid? [False, False] Translation: X:0.96, Y:0.95, Z:-0.05 [[ 0.97717595 0.115609 -0.1782182 0.96442562] [-0.11908237 0.99284466 -0.0088804 0.95136386] [ 0.17591633 0.02990036 0.98395092 -0.0462505 ] [ 0. 0. 0. 1. ]] SLAMing on 50.666502481 meters Centerline goodness : 0.682861 Centerline is valid? [False, False] Translation: X:0.97, Y:0.95, Z:-0.04 [[ 0.97704356 0.11584574 -0.1787894 0.96504373] [-0.11939802 0.99280384 -0.00920063 0.95250461] [ 0.17643695 0.03033651 0.98384435 -0.04496907] [ 0. 0. 0. 1. ]] SLAMing on 50.696502480999996 meters Centerline goodness : 0.679852 Centerline is valid? [False, False] Translation: X:0.96, Y:0.96, Z:-0.04 [[ 0.97696919 0.11631231 -0.17889284 0.96480574] [-0.1200861 0.99270926 -0.01037556 0.95551084] [ 0.17638178 0.03161914 0.98381385 -0.04257717] [ 0. 0. 0. 1. ]] SLAMing on 50.726502481 meters Centerline goodness : 0.683611 Centerline is valid? [False, False] Translation: X:0.97, Y:0.96, Z:-0.04 [[ 0.97687202 0.11680978 -0.17909924 0.96521017] [-0.12074888 0.99261974 -0.0112145 0.95754476] [ 0.17646748 0.03258117 0.98376709 -0.04097138] [ 0. 0. 0. 1. ]] SLAMing on 50.756502481 meters Centerline goodness : 0.678609 Centerline is valid? [False, False] Translation: X:0.97, Y:0.96, Z:-0.04 [[ 0.97672454 0.11701493 -0.1797684 0.96624036] [-0.12103303 0.99258175 -0.01150954 0.95836178] [ 0.17708805 0.03299957 0.98364163 -0.03992099] [ 0. 0. 0. 1. ]] SLAMing on 50.786502481 meters Centerline goodness : 0.678609 Centerline is valid? [False, False] Translation: X:0.97, Y:0.96, Z:-0.04 [[ 0.9767266 0.11702831 -0.17974851 0.96621848] [-0.12104487 0.99258038 -0.01150352 0.95835628] [ 0.1770686 0.03299343 0.98364533 -0.03993066] [ 0. 0. 0. 1. ]] SLAMing on 50.816502481 meters Centerline goodness : 0.678207 Centerline is valid? [False, False] Translation: X:0.97, Y:0.96, Z:-0.04 [[ 0.97638094 0.11806822 -0.18094242 0.9691732 ] [-0.12213028 0.9924482 -0.01143506 0.95958242] [ 0.17822586 0.03326353 0.98342721 -0.03897242] [ 0. 0. 0. 1. ]] SLAMing on 50.846502481 meters Centerline goodness : 0.678055 Centerline is valid? [False, False] Translation: X:0.97, Y:0.96, Z:-0.04 [[ 0.97617067 0.11859328 -0.18173185 0.97109596] [-0.12266981 0.99238301 -0.01131728 0.95994348] [ 0.17900545 0.03334061 0.983283 -0.03855961] [ 0. 0. 0. 1. ]] SLAMing on 50.876502481 meters Centerline goodness : 0.675392 Centerline is valid? [False, False] Translation: X:0.97, Y:0.96, Z:-0.04 [[ 0.97585334 0.11951689 -0.1828277 0.97357238] [-0.12365568 0.99226009 -0.01136571 0.9614133 ] [ 0.18005423 0.03369895 0.98307927 -0.03732465] [ 0. 0. 0. 1. ]] SLAMing on 50.906502481 meters Centerline goodness : 0.674217 Centerline is valid? [False, False] Translation: X:0.97, Y:0.96, Z:-0.04 [[ 0.97567576 0.11969759 -0.18365536 0.97478222] [-0.12396652 0.99221505 -0.01189934 0.96273909] [ 0.18080129 0.03437701 0.98291867 -0.03584405] [ 0. 0. 0. 1. ]] SLAMing on 50.936502481 meters Centerline goodness : 0.672078 Centerline is valid? [False, False] Translation: X:0.98, Y:0.96, Z:-0.04 [[ 0.97545557 0.12027987 -0.18444292 0.97729868] [-0.12465664 0.99212398 -0.01227733 0.96337298] [ 0.18151353 0.03496802 0.98276654 -0.03533137] [ 0. 0. 0. 1. ]] SLAMing on 50.966502481 meters Centerline goodness : 0.674475 Centerline is valid? [False, False] Translation: X:0.98, Y:0.96, Z:-0.04 [[ 0.97534056 0.12079872 -0.18471182 0.97904865] [-0.12512116 0.99207031 -0.01188293 0.96237971] [ 0.18181167 0.03470126 0.98272088 -0.0361721 ] [ 0. 0. 0. 1. ]] SLAMing on 50.996502481 meters Centerline goodness : 0.671700 Centerline is valid? [False, False] Translation: X:0.98, Y:0.96, Z:-0.04 [[ 0.9750879 0.1216265 -0.18550087 0.9816986 ] [-0.12596646 0.99196494 -0.01174736 0.96207392] [ 0.18258157 0.0348216 0.98257388 -0.03606634] [ 0. 0. 0. 1. ]] SLAMing on 51.026502481 meters Centerline goodness : 0.670496 Centerline is valid? [False, False] Translation: X:0.98, Y:0.96, Z:-0.04 [[ 0.97446978 0.12692148 -0.18520147 0.98253108] [-0.13054802 0.99141385 -0.00746962 0.96099157] [ 0.18266325 0.0314566 0.98267218 -0.03598263] [ 0. 0. 0. 1. ]] SLAMing on 51.056502481 meters Centerline goodness : 0.664516 Centerline is valid? [False, False] Translation: X:0.98, Y:0.96, Z:-0.03 [[ 0.97418912 0.12757567 -0.18622571 0.98401534] [-0.13128306 0.99131532 -0.00766175 0.9626888 ] [ 0.18363094 0.03191228 0.98247712 -0.03410733] [ 0. 0. 0. 1. ]] SLAMing on 51.086502481 meters Centerline goodness : 0.663519 Centerline is valid? [False, False] Translation: X:0.98, Y:0.96, Z:-0.03 [[ 0.9735434 0.1326793 -0.18603618 0.98465506] [-0.13578785 0.99072982 -0.00401014 0.96382 ] [ 0.18377953 0.0291655 0.98253471 -0.03303243] [ 0. 0. 0. 1. ]] SLAMing on 51.116502481 meters Centerline goodness : 0.663880 Centerline is valid? [False, False] Translation: X:1.00, Y:0.96, Z:-0.03 [[ 9.74554734e-01 1.29555850e-01 -1.82916243e-01 1.00074010e+00] [-1.31807104e-01 9.91275373e-01 -1.51511161e-04 9.63828482e-01] [ 1.81300738e-01 2.42573162e-02 9.83128489e-01 -3.18025909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.146502481 meters Centerline goodness : 0.661752 Centerline is valid? [False, False] Translation: X:1.03, Y:0.96, Z:-0.03 [[ 9.75243140e-01 1.27105775e-01 -1.80955631e-01 1.02574424e+00] [-1.29281511e-01 9.91607905e-01 -2.31079453e-04 9.63116236e-01] [ 1.79407662e-01 2.36195760e-02 9.83491233e-01 -2.86373333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.176502481 meters Centerline goodness : 0.662145 Centerline is valid? [False, False] Translation: X:1.03, Y:0.96, Z:-0.03 [[ 9.75146097e-01 1.27293497e-01 -1.81346229e-01 1.02707041e+00] [-1.29515735e-01 9.91577280e-01 -4.15915865e-04 9.63292245e-01] [ 1.79765857e-01 2.38927690e-02 9.83419225e-01 -2.85676066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.206502481 meters Centerline goodness : 0.662186 Centerline is valid? [False, False] Translation: X:1.05, Y:0.96, Z:-0.03 [[ 0.97566288 0.12324605 -0.18136249 1.04614915] [-0.12487351 0.99216962 0.00246216 0.96379559] [ 0.18024581 0.02024514 0.98341323 -0.02603376] [ 0. 0. 0. 1. ]] SLAMing on 51.236502481 meters Centerline goodness : 0.661805 Centerline is valid? [False, False] Translation: X:1.08, Y:0.96, Z:-0.02 [[ 0.97647834 0.11803616 -0.18043702 1.07967787] [-0.11817224 0.99294242 0.01003384 0.96362669] [ 0.18034792 0.01152482 0.98353536 -0.02082018] [ 0. 0. 0. 1. ]] SLAMing on 51.266502480999996 meters Centerline goodness : 0.662205 Centerline is valid? [False, False] Translation: X:1.10, Y:0.96, Z:-0.02 [[ 0.97737059 0.1132353 -0.1786743 1.09656646] [-0.11267666 0.99354263 0.0133049 0.9641276 ] [ 0.17902712 0.00712861 0.98381831 -0.01970525] [ 0. 0. 0. 1. ]] SLAMing on 51.296502481 meters Centerline goodness : 0.661692 Centerline is valid? [False, False] Translation: X:1.12, Y:0.96, Z:-0.02 [[ 0.97772297 0.10682412 -0.18068315 1.11798321] [-0.10601708 0.99426368 0.01414638 0.96402362] [ 0.18115787 0.00532426 0.98343962 -0.01682132] [ 0. 0. 0. 1. ]] SLAMing on 51.326502481 meters Centerline goodness : 0.665200 Centerline is valid? [False, False] Translation: X:1.14, Y:0.96, Z:-0.01 [[ 0.97831004 0.10442842 -0.17889709 1.14174296] [-0.10318997 0.99452908 0.01624014 0.96080417] [ 0.17961429 0.00257249 0.98373375 -0.01493685] [ 0. 0. 0. 1. ]] SLAMing on 51.356502481 meters Centerline goodness : 0.669393 Centerline is valid? [False, False] Translation: X:1.16, Y:0.96, Z:-0.01 [[ 9.79178826e-01 9.78936684e-02 -1.77836040e-01 1.16018727e+00] [-9.63969408e-02 9.95196783e-01 1.70585249e-02 9.60098862e-01] [ 1.78651777e-01 4.39503878e-04 9.83912267e-01 -1.23326320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.386502481 meters Centerline goodness : 0.672117 Centerline is valid? [False, False] Translation: X:1.20, Y:0.96, Z:-0.01 [[ 0.97974801 0.09164885 -0.17802899 1.19598529] [-0.08908805 0.99577313 0.02234258 0.95952739] [ 0.17932415 -0.00602984 0.98377156 -0.00740044] [ 0. 0. 0. 1. ]] SLAMing on 51.416502481 meters Centerline goodness : 0.670713 Centerline is valid? [False, False] Translation: X:1.22, Y:0.96, Z:-0.00 [[ 0.98026746 0.0888933 -0.17656072 1.22291629] [-0.08626256 0.99601753 0.02253563 0.95700349] [ 0.17786084 -0.00686037 0.98403174 -0.00392179] [ 0. 0. 0. 1. ]] SLAMing on 51.446502480999996 meters Centerline goodness : 0.672170 Centerline is valid? [False, False] Translation: X:1.24, Y:0.96, Z:-0.00 [[ 0.9810906 0.0846628 -0.17405011 1.24073524] [-0.08155086 0.99635641 0.02496713 0.95694246] [ 0.17552973 -0.01030108 0.98442024 -0.00221062] [ 0. 0. 0. 1. ]] SLAMing on 51.476502481 meters Centerline goodness : 0.676757 Centerline is valid? [False, False] Translation: X:1.27, Y:0.96, Z:0.00 [[ 0.9816776 0.08435688 -0.17085962 1.26873147] [-0.08122181 0.99637567 0.02526937 0.95541511] [ 0.17237201 -0.01092885 0.98497129 0.00259891] [ 0. 0. 0. 1. ]] SLAMing on 51.506502481 meters Centerline goodness : 0.675560 Centerline is valid? [False, False] Translation: X:1.29, Y:0.95, Z:0.01 [[ 0.98223768 0.0818458 -0.16885022 1.29416553] [-0.07865948 0.99657573 0.02548546 0.95499397] [ 0.17035791 -0.01175111 0.98531218 0.0058264 ] [ 0. 0. 0. 1. ]] SLAMing on 51.536502481 meters Centerline goodness : 0.678523 Centerline is valid? [False, False] Translation: X:1.30, Y:0.96, Z:0.01 [[ 0.98298762 0.07375736 -0.16821175 1.30356336] [-0.06967936 0.99711745 0.03002644 0.95811696] [ 0.16994154 -0.01779473 0.98529347 0.00563823] [ 0. 0. 0. 1. ]] SLAMing on 51.566502481 meters Centerline goodness : 0.678454 Centerline is valid? [False, False] Translation: X:1.34, Y:0.96, Z:0.01 [[ 0.9832347 0.06807484 -0.16916067 1.33887752] [-0.06316538 0.99741545 0.03424263 0.95892183] [ 0.17105453 -0.02298344 0.98499346 0.01155194] [ 0. 0. 0. 1. ]] SLAMing on 51.596502481 meters Centerline goodness : 0.681434 Centerline is valid? [False, False] Translation: X:1.38, Y:0.96, Z:0.02 [[ 0.98356553 0.06339008 -0.16905782 1.37655466] [-0.05758604 0.99757765 0.03902146 0.95963229] [ 0.17112188 -0.0286448 0.98483338 0.01711186] [ 0. 0. 0. 1. ]] SLAMing on 51.626502481 meters Centerline goodness : 0.679700 Centerline is valid? [False, False] Translation: X:1.40, Y:0.96, Z:0.02 [[ 0.98398755 0.05876482 -0.1682712 1.39605023] [-0.05280225 0.99781569 0.03969607 0.9615678 ] [ 0.17023638 -0.03017534 0.98494113 0.02088333] [ 0. 0. 0. 1. ]] SLAMing on 51.656502481 meters Centerline goodness : 0.683068 Centerline is valid? [False, False] Translation: X:1.41, Y:0.96, Z:0.02 [[ 0.98467071 0.05396185 -0.16586653 1.41323966] [-0.0476253 0.99798405 0.04194837 0.96248692] [ 0.16779576 -0.03340588 0.98525562 0.02214952] [ 0. 0. 0. 1. ]] SLAMing on 51.686502481 meters Centerline goodness : 0.683950 Centerline is valid? [False, False] Translation: X:1.45, Y:0.97, Z:0.03 [[ 0.98469745 0.04995941 -0.16695805 1.4525707 ] [-0.04298067 0.99805488 0.04515671 0.96544137] [ 0.1688893 -0.03728972 0.98492938 0.02970893] [ 0. 0. 0. 1. ]] SLAMing on 51.716502481 meters Centerline goodness : 0.682769 Centerline is valid? [False, False] Translation: X:1.48, Y:0.97, Z:0.03 [[ 0.98499828 0.05001051 -0.16515849 1.48084529] [-0.04287008 0.99799696 0.04652127 0.96535584] [ 0.16715423 -0.03874301 0.98516925 0.03388687] [ 0. 0. 0. 1. ]] SLAMing on 51.746502481 meters Centerline goodness : 0.686260 Centerline is valid? [False, False] Translation: X:1.48, Y:0.96, Z:0.03 [[ 0.98481504 0.05064467 -0.16605556 1.48365413] [-0.04339743 0.99795233 0.04698739 0.96458123] [ 0.1680952 -0.0390675 0.98499631 0.03338039] [ 0. 0. 0. 1. ]] SLAMing on 51.776502481 meters Centerline goodness : 0.686357 Centerline is valid? [False, False] Translation: X:1.50, Y:0.97, Z:0.04 [[ 0.98498522 0.04535474 -0.16657451 1.50320825] [-0.03771313 0.99809845 0.04875668 0.96566976] [ 0.1684691 -0.04174256 0.98482268 0.0352485 ] [ 0. 0. 0. 1. ]] SLAMing on 51.806502481 meters Centerline goodness : 0.690975 Centerline is valid? [False, False] Translation: X:1.55, Y:0.97, Z:0.04 [[ 0.98572557 0.03338117 -0.16501756 1.55049989] [-0.02541786 0.9984189 0.05013622 0.97164252] [ 0.16643025 -0.04522616 0.98501552 0.03974145] [ 0. 0. 0. 1. ]] SLAMing on 51.836502481 meters Centerline goodness : 0.690808 Centerline is valid? [False, False] Translation: X:1.57, Y:0.97, Z:0.04 [[ 0.98627874 0.02993633 -0.16235165 1.56903634] [-0.02153851 0.99834932 0.05324208 0.97193417] [ 0.16367753 -0.04901472 0.9852955 0.04097064] [ 0. 0. 0. 1. ]] SLAMing on 51.866502481 meters Centerline goodness : 0.689538 Centerline is valid? [False, False] Translation: X:1.62, Y:0.98, Z:0.05 [[ 0.98630352 0.02338831 -0.16327389 1.61763367] [-0.01513914 0.99855378 0.05158632 0.97796538] [ 0.16424428 -0.04840794 0.98523119 0.05369316] [ 0. 0. 0. 1. ]] SLAMing on 51.896502481 meters Centerline goodness : 0.690747 Centerline is valid? [False, False] Translation: X:1.67, Y:0.99, Z:0.06 [[ 9.87305171e-01 8.82750983e-03 -1.58589328e-01 1.67393221e+00] [ 5.08819823e-04 9.98273522e-01 5.87342786e-02 9.85761564e-01] [ 1.58834005e-01 -5.80693503e-02 9.85596119e-01 5.94319144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.926502481 meters Centerline goodness : 0.691295 Centerline is valid? [False, False] Translation: X:1.68, Y:0.99, Z:0.06 [[ 0.98715259 0.00500186 -0.15970203 1.67561554] [ 0.00373662 0.99851385 0.05437023 0.98759057] [ 0.15973664 -0.05426846 0.98566685 0.06103358] [ 0. 0. 0. 1. ]] SLAMing on 51.956502481 meters Centerline goodness : 0.693835 Centerline is valid? [False, False] Translation: X:1.71, Y:0.99, Z:0.06 [[ 0.98729614 0.00348437 -0.15885273 1.7067976 ] [ 0.00517265 0.99852477 0.05405109 0.98710925] [ 0.15880672 -0.05418612 0.98582163 0.06456592] [ 0. 0. 0. 1. ]] SLAMing on 51.986502481 meters Centerline goodness : 0.696927 Centerline is valid? [False, False] Translation: X:1.73, Y:0.99, Z:0.07 [[ 9.87545383e-01 4.17059140e-04 -1.57333859e-01 1.72522471e+00] [ 8.80770753e-03 9.98281792e-01 5.79300189e-02 9.87924998e-01] [ 1.57087687e-01 -5.85942733e-02 9.85844901e-01 6.58526863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.016502480999996 meters Centerline goodness : 0.692915 Centerline is valid? [False, False] Translation: X:1.72, Y:0.99, Z:0.07 [[ 9.87638186e-01 -1.22557584e-04 -1.56750752e-01 1.72272327e+00] [ 9.30269480e-03 9.98282934e-01 5.78328932e-02 9.89034028e-01] [ 1.56474512e-01 -5.85761782e-02 9.85943486e-01 6.74147499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.046502481 meters Centerline goodness : 0.693555 Centerline is valid? [False, False] Translation: X:1.72, Y:0.99, Z:0.07 [[ 9.87633328e-01 -8.24192812e-04 -1.56779243e-01 1.72170679e+00] [ 9.95866641e-03 9.98296601e-01 5.74867041e-02 9.90016049e-01] [ 1.56464805e-01 -5.83370971e-02 9.85959202e-01 6.86728351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.076502481 meters Centerline goodness : 0.692176 Centerline is valid? [False, False] Translation: X:1.72, Y:0.99, Z:0.07 [[ 0.9876222 -0.00209689 -0.15683745 1.72107429] [ 0.01114508 0.99832141 0.05683439 0.99174626] [ 0.15645501 -0.05787887 0.98598776 0.06947011] [ 0. 0. 0. 1. ]] SLAMing on 52.106502481 meters Centerline goodness : 0.694500 Centerline is valid? [False, False] Translation: X:1.72, Y:1.00, Z:0.07 [[ 0.98759497 -0.00720195 -0.15685758 1.72090065] [ 0.01527056 0.99861766 0.05029493 0.99676401] [ 0.15627852 -0.05206633 0.98633976 0.06941665] [ 0. 0. 0. 1. ]] SLAMing on 52.136502481 meters Centerline goodness : 0.695571 Centerline is valid? [False, False] Translation: X:1.73, Y:1.00, Z:0.07 [[ 0.98720057 -0.01349363 -0.15891176 1.72579558] [ 0.02077227 0.99880533 0.04423142 1.0008186 ] [ 0.15812507 -0.04696624 0.98630149 0.06856936] [ 0. 0. 0. 1. ]] SLAMing on 52.166502481 meters Centerline goodness : 0.693706 Centerline is valid? [False, False] Translation: X:1.73, Y:1.00, Z:0.07 [[ 0.98717735 -0.01320154 -0.15908046 1.72763566] [ 0.02058814 0.99878045 0.0448748 0.99881093] [ 0.15829403 -0.04757456 0.98624523 0.06705073] [ 0. 0. 0. 1. ]] SLAMing on 52.196502480999996 meters Centerline goodness : 0.694758 Centerline is valid? [False, False] Translation: X:1.73, Y:1.00, Z:0.07 [[ 0.98716867 -0.01337421 -0.15911991 1.72712285] [ 0.02068629 0.99880026 0.04438601 0.99870831] [ 0.15833538 -0.04710808 0.98626099 0.06813874] [ 0. 0. 0. 1. ]] SLAMing on 52.226502481 meters Centerline goodness : 0.692915 Centerline is valid? [False, False] Translation: X:1.71, Y:1.00, Z:0.07 [[ 0.98724007 -0.00751462 -0.15906152 1.70853802] [ 0.01435732 0.99901807 0.0419138 0.99634897] [ 0.15859036 -0.04366268 0.98637856 0.06909306] [ 0. 0. 0. 1. ]] SLAMing on 52.256502481 meters Centerline goodness : 0.692793 Centerline is valid? [False, False] Translation: X:1.71, Y:1.00, Z:0.07 [[ 0.98719637 -0.00755337 -0.15933069 1.70832913] [ 0.01433706 0.99903689 0.04146974 0.99660394] [ 0.158864 -0.04322311 0.98635389 0.07033056] [ 0. 0. 0. 1. ]] SLAMing on 52.286502481 meters Centerline goodness : 0.693622 Centerline is valid? [False, False] Translation: X:1.71, Y:1.00, Z:0.07 [[ 0.9871865 -0.00790834 -0.15937461 1.70700332] [ 0.01453579 0.99907537 0.04046137 0.99702033] [ 0.15890726 -0.04225955 0.98638867 0.07257606] [ 0. 0. 0. 1. ]] SLAMing on 52.316502481 meters Centerline goodness : 0.688218 Centerline is valid? [False, False] Translation: X:1.71, Y:0.99, Z:0.07 [[ 0.98715962 -0.00778649 -0.15954701 1.7071928 ] [ 0.01437252 0.9990896 0.04016726 0.99499321] [ 0.159089 -0.04194459 0.98637282 0.0738958 ] [ 0. 0. 0. 1. ]] SLAMing on 52.346502481 meters Centerline goodness : 0.691225 Centerline is valid? [False, False] Translation: X:1.71, Y:1.00, Z:0.08 [[ 0.98706835 -0.01131533 -0.15990006 1.70798849] [ 0.01726779 0.9992067 0.0358858 0.9960449 ] [ 0.15936715 -0.03818286 0.9864807 0.07524672] [ 0. 0. 0. 1. ]] SLAMing on 52.376502481 meters Centerline goodness : 0.690310 Centerline is valid? [False, False] Translation: X:1.71, Y:1.00, Z:0.08 [[ 0.9868153 -0.01512287 -0.16114235 1.70985971] [ 0.02038424 0.99931003 0.03104736 0.99820006] [ 0.16056164 -0.03392277 0.9864427 0.07762745] [ 0. 0. 0. 1. ]] SLAMing on 52.406502481 meters Centerline goodness : 0.691860 Centerline is valid? [False, False] Translation: X:1.71, Y:1.00, Z:0.08 [[ 0.98652871 -0.01430472 -0.16296157 1.7136347 ] [ 0.01957864 0.9993337 0.03080298 0.99754458] [ 0.16241236 -0.03357859 0.98615146 0.07907122] [ 0. 0. 0. 1. ]] SLAMing on 52.436502481 meters Centerline goodness : 0.689962 Centerline is valid? [False, False] Translation: X:1.70, Y:1.00, Z:0.08 [[ 0.98624433 -0.00723417 -0.16513568 1.7024126 ] [ 0.01173784 0.99958484 0.02631297 0.99505593] [ 0.16487677 -0.02788936 0.98591979 0.08227913] [ 0. 0. 0. 1. ]] SLAMing on 52.466502481 meters Centerline goodness : 0.691289 Centerline is valid? [False, False] Translation: X:1.69, Y:0.99, Z:0.08 [[ 0.98602173 -0.00342813 -0.1665815 1.6872642 ] [ 0.00690756 0.99976982 0.02031234 0.99347329] [ 0.16647353 -0.02117908 0.98581845 0.08402559] [ 0. 0. 0. 1. ]] SLAMing on 52.496502481 meters Centerline goodness : 0.690249 Centerline is valid? [False, False] Translation: X:1.68, Y:0.99, Z:0.09 [[ 9.86167520e-01 1.17322069e-03 -1.65747534e-01 1.68474290e+00] [ 4.44698395e-04 9.99952623e-01 9.72389862e-03 9.94065843e-01] [ 1.65751090e-01 -9.66310065e-03 9.86120277e-01 8.70237542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.526502481 meters Centerline goodness : 0.692734 Centerline is valid? [False, False] Translation: X:1.67, Y:0.99, Z:0.09 [[ 0.98589173 0.00329464 -0.16735188 1.66773631] [-0.00266262 0.99998845 0.00400079 0.99192784] [ 0.16736313 -0.00349875 0.98588911 0.0869068 ] [ 0. 0. 0. 1. ]] SLAMing on 52.556502481 meters Centerline goodness : 0.689751 Centerline is valid? [False, False] Translation: X:1.67, Y:0.99, Z:0.09 [[ 9.85809542e-01 -1.01896037e-03 -1.67864552e-01 1.66801113e+00] [ 9.44444232e-04 9.99999417e-01 -5.23741529e-04 9.92378693e-01] [ 1.67864987e-01 3.57770689e-04 9.85809930e-01 8.85985217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.586502481 meters Centerline goodness : 0.693319 Centerline is valid? [False, False] Translation: X:1.67, Y:0.99, Z:0.09 [[ 9.85691840e-01 -8.98573393e-04 -1.68555003e-01 1.66842623e+00] [ 7.56995185e-04 9.99999305e-01 -9.04208061e-04 9.91236833e-01] [ 1.68555698e-01 7.63675182e-04 9.85691835e-01 9.04755217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.616502481 meters Centerline goodness : 0.694205 Centerline is valid? [False, False] Translation: X:1.63, Y:0.99, Z:0.09 [[ 0.98578924 0.0022096 -0.1679723 1.62555153] [-0.00350457 0.99996638 -0.00741332 0.98910019] [ 0.16795028 0.00789664 0.98576384 0.08723075] [ 0. 0. 0. 1. ]] SLAMing on 52.646502481 meters Centerline goodness : 0.689841 Centerline is valid? [False, False] Translation: X:1.59, Y:0.99, Z:0.09 [[ 9.85443571e-01 3.69062998e-04 -1.70002448e-01 1.58694011e+00] [-1.80045759e-03 9.99964217e-01 -8.26576076e-03 9.89600278e-01] [ 1.69993314e-01 8.45152300e-03 9.85408973e-01 8.55994264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.676502481 meters Centerline goodness : 0.689841 Centerline is valid? [False, False] Translation: X:1.54, Y:0.99, Z:0.08 [[ 0.9854233 0.00166795 -0.17011215 1.53695996] [-0.00407695 0.99989629 -0.01381294 0.98810156] [ 0.17007147 0.01430513 0.98532789 0.08062749] [ 0. 0. 0. 1. ]] SLAMing on 52.706502481 meters Centerline goodness : 0.689700 Centerline is valid? [False, False] Translation: X:1.49, Y:0.99, Z:0.08 [[ 0.98536351 0.00307624 -0.1704385 1.48663412] [-0.00643477 0.99979579 -0.01915633 0.98643391] [ 0.17034477 0.01997268 0.98518209 0.07678601] [ 0. 0. 0. 1. ]] SLAMing on 52.736502481 meters Centerline goodness : 0.687731 Centerline is valid? [False, False] Translation: X:1.43, Y:0.99, Z:0.07 [[ 0.98524571 0.00210079 -0.17113295 1.43455246] [-0.00660586 0.99964634 -0.02575979 0.98568715] [ 0.17101831 0.0265102 0.98491114 0.07161478] [ 0. 0. 0. 1. ]] SLAMing on 52.766502480999996 meters Centerline goodness : 0.691428 Centerline is valid? [False, False] Translation: X:1.41, Y:0.99, Z:0.07 [[ 9.84824322e-01 -1.22281937e-03 -1.73549878e-01 1.40530109e+00] [-4.22153491e-03 9.99510533e-01 -3.09979537e-02 9.86808030e-01] [ 1.73502836e-01 3.12601856e-02 9.84337120e-01 6.93534354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.796502481 meters Centerline goodness : 0.692545 Centerline is valid? [False, False] Translation: X:1.35, Y:0.99, Z:0.06 [[ 0.98483146 -0.00285554 -0.17349019 1.35233918] [-0.0038003 0.99926975 -0.03802008 0.98562896] [ 0.17347206 0.03810269 0.98410143 0.06329949] [ 0. 0. 0. 1. ]] SLAMing on 52.826502481 meters Centerline goodness : 0.689776 Centerline is valid? [False, False] Translation: X:1.33, Y:0.98, Z:0.06 [[ 9.84625360e-01 4.65358185e-05 -1.74679416e-01 1.33082271e+00] [-7.36491771e-03 9.99121791e-01 -4.12480758e-02 9.83833671e-01] [ 1.74524092e-01 4.19004010e-02 9.83760996e-01 6.20841356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.856502481 meters Centerline goodness : 0.689432 Centerline is valid? [False, False] Translation: X:1.30, Y:0.98, Z:0.06 [[ 9.84473232e-01 1.01501091e-03 -1.75531833e-01 1.29611105e+00] [-8.26676870e-03 9.99141818e-01 -4.05867844e-02 9.83924499e-01] [ 1.75339999e-01 4.14076839e-02 9.83636767e-01 5.87299692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.886502481 meters Centerline goodness : 0.690207 Centerline is valid? [False, False] Translation: X:1.24, Y:0.98, Z:0.05 [[ 0.98459809 0.00439686 -0.17477778 1.24455507] [-0.01231254 0.99894543 -0.04423152 0.98247839] [ 0.17439898 0.04570223 0.9836139 0.05361621] [ 0. 0. 0. 1. ]] SLAMing on 52.916502481 meters Centerline goodness : 0.688988 Centerline is valid? [False, False] Translation: X:1.18, Y:0.98, Z:0.05 [[ 0.98486599 0.00486299 -0.17324934 1.18120373] [-0.01303007 0.99885486 -0.04603457 0.98249759] [ 0.17282708 0.04759534 0.98380155 0.04610879] [ 0. 0. 0. 1. ]] SLAMing on 52.946502480999996 meters Centerline goodness : 0.690173 Centerline is valid? [False, False] Translation: X:1.13, Y:0.98, Z:0.04 [[ 0.98499596 0.00651068 -0.17245456 1.12892357] [-0.01548316 0.99859217 -0.05073411 0.9818578 ] [ 0.17188146 0.05264303 0.98371006 0.04003318] [ 0. 0. 0. 1. ]] SLAMing on 52.976502481 meters Centerline goodness : 0.689104 Centerline is valid? [False, False] Translation: X:1.08, Y:0.98, Z:0.03 [[ 0.98514169 0.00703759 -0.17159933 1.07733031] [-0.01684699 0.99830119 -0.05577548 0.9810037 ] [ 0.17091529 0.05783769 0.98358669 0.03294136] [ 0. 0. 0. 1. ]] SLAMing on 53.006502481 meters Centerline goodness : 0.690914 Centerline is valid? [False, False] Translation: X:1.04, Y:0.98, Z:0.03 [[ 0.98477206 0.00430743 -0.17379712 1.04406548] [-0.0145383 0.99823176 -0.05763674 0.97926261] [ 0.17324154 0.05928577 0.98309337 0.02786729] [ 0. 0. 0. 1. ]] SLAMing on 53.036502481 meters Centerline goodness : 0.687833 Centerline is valid? [False, False] Translation: X:1.01, Y:0.98, Z:0.02 [[ 0.98437062 0.00256059 -0.17609067 1.01180379] [-0.01325283 0.9981361 -0.05957094 0.9783085 ] [ 0.17560992 0.06097358 0.98256978 0.02375221] [ 0. 0. 0. 1. ]] SLAMing on 53.066502481 meters Centerline goodness : 0.691156 Centerline is valid? [False, False] Translation: X:0.95, Y:0.98, Z:0.02 [[ 9.84262790e-01 2.70843390e-04 -1.76710741e-01 9.51315235e-01] [-1.17635976e-02 9.97881029e-01 -6.39927253e-02 9.76373139e-01] [ 1.76318964e-01 6.50644124e-02 9.82180353e-01 1.67514823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.096502481 meters Centerline goodness : 0.690857 Centerline is valid? [False, False] Translation: X:0.92, Y:0.97, Z:0.01 [[ 0.98401295 0.00172934 -0.17808851 0.92135873] [-0.0132434 0.99789491 -0.06348517 0.97346217] [ 0.17760383 0.06482873 0.98196442 0.01178997] [ 0. 0. 0. 1. ]] SLAMing on 53.126502481 meters Centerline goodness : 0.691332 Centerline is valid? [False, False] Translation: X:0.88, Y:0.97, Z:0.01 [[ 9.83494278e-01 -9.08957896e-04 -1.80936949e-01 8.80071138e-01] [-1.05455215e-02 9.97999605e-01 -6.23344197e-02 9.73204104e-01] [ 1.80631663e-01 6.32136196e-02 9.81517315e-01 5.99339264e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.156502481 meters Centerline goodness : 0.689815 Centerline is valid? [False, False] Translation: X:0.85, Y:0.97, Z:0.00 [[ 9.83351691e-01 5.50980520e-04 -1.81711716e-01 8.52812804e-01] [-1.22428039e-02 9.97924055e-01 -6.32273219e-02 9.71160615e-01] [ 1.81299656e-01 6.43993549e-02 9.81317053e-01 1.39261978e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.186502481 meters Centerline goodness : 0.690558 Centerline is valid? [False, False] Translation: X:0.79, Y:0.97, Z:-0.00 [[ 0.98339952 -0.00108263 -0.1814503 0.79352748] [-0.01139233 0.99764101 -0.06769509 0.97044065] [ 0.18109555 0.06863846 0.98106736 -0.00497143] [ 0. 0. 0. 1. ]] SLAMing on 53.216502481 meters Centerline goodness : 0.689343 Centerline is valid? [False, False] Translation: X:0.75, Y:0.97, Z:-0.01 [[ 0.98300048 -0.00623001 -0.18349724 0.74974269] [-0.00635666 0.99767016 -0.06792525 0.97057296] [ 0.1834929 0.06793698 0.98067065 -0.01027192] [ 0. 0. 0. 1. ]] SLAMing on 53.246502481 meters Centerline goodness : 0.690566 Centerline is valid? [False, False] Translation: X:0.75, Y:0.97, Z:-0.01 [[ 0.98303753 -0.00612886 -0.18330208 0.74965119] [-0.00637225 0.9976967 -0.06753282 0.96919656] [ 0.18329378 0.06755534 0.98073425 -0.0109254 ] [ 0. 0. 0. 1. ]] SLAMing on 53.276502481 meters Centerline goodness : 0.687953 Centerline is valid? [False, False] Translation: X:0.71, Y:0.97, Z:-0.01 [[ 0.98269436 -0.0102767 -0.18494912 0.71297641] [-0.00307724 0.99741633 -0.07177183 0.96970025] [ 0.18520885 0.07109891 0.98012378 -0.01215038] [ 0. 0. 0. 1. ]] SLAMing on 53.306502481 meters Centerline goodness : 0.690586 Centerline is valid? [False, False] Translation: X:0.66, Y:0.97, Z:-0.02 [[ 0.98283881 -0.01005111 -0.18419243 0.663192 ] [-0.004473 0.9969223 -0.07826823 0.96748941] [ 0.18441222 0.07774895 0.97976897 -0.0182337 ] [ 0. 0. 0. 1. ]] SLAMing on 53.336502481 meters Centerline goodness : 0.688891 Centerline is valid? [False, False] Translation: X:0.65, Y:0.96, Z:-0.02 [[ 0.98245 -0.00861097 -0.18632725 0.64531153] [-0.00693935 0.99655495 -0.08264424 0.96459082] [ 0.18639699 0.08248683 0.97900566 -0.02140201] [ 0. 0. 0. 1. ]] SLAMing on 53.366502481 meters Centerline goodness : 0.689749 Centerline is valid? [False, False] Translation: X:0.64, Y:0.96, Z:-0.02 [[ 0.98251317 -0.00908973 -0.1859711 0.64390079] [-0.00645354 0.99654502 -0.08280328 0.96365097] [ 0.18608123 0.08255548 0.97905994 -0.02101254] [ 0. 0. 0. 1. ]] SLAMing on 53.396502481 meters Centerline goodness : 0.688336 Centerline is valid? [False, False] Translation: X:0.62, Y:0.96, Z:-0.02 [[ 0.98247753 -0.00614074 -0.18627991 0.62439569] [-0.01037643 0.99610484 -0.08756412 0.96153045] [ 0.18609203 0.0879627 0.9785869 -0.02125946] [ 0. 0. 0. 1. ]] SLAMing on 53.426502481 meters Centerline goodness : 0.683066 Centerline is valid? [False, False] Translation: X:0.62, Y:0.96, Z:-0.02 [[ 0.9825257 -0.0062631 -0.18602159 0.62346992] [-0.01027541 0.9960843 -0.08780934 0.96165981] [ 0.18584314 0.08818638 0.97861407 -0.02074629] [ 0. 0. 0. 1. ]] SLAMing on 53.456502481 meters Centerline goodness : 0.687837 Centerline is valid? [False, False] Translation: X:0.62, Y:0.96, Z:-0.02 [[ 0.98247603 -0.00589939 -0.18629557 0.62435344] [-0.01065115 0.99608871 -0.08771447 0.96104772] [ 0.18608438 0.08816162 0.97857045 -0.02071049] [ 0. 0. 0. 1. ]] SLAMing on 53.486502481 meters Centerline goodness : 0.688731 Centerline is valid? [False, False] Translation: X:0.64, Y:0.96, Z:-0.02 [[ 0.98288861 -0.00789619 -0.18403163 0.64050832] [-0.00712507 0.99670331 -0.08081927 0.96110802] [ 0.18406309 0.08074758 0.97959206 -0.02145757] [ 0. 0. 0. 1. ]] SLAMing on 53.516502480999996 meters Centerline goodness : 0.683151 Centerline is valid? [False, False] Translation: X:0.65, Y:0.96, Z:-0.02 [[ 0.98321858 -0.01175625 -0.18205222 0.64868759] [-0.00122492 0.99747353 -0.07102856 0.96165963] [ 0.1824273 0.0700596 0.98072011 -0.02471586] [ 0. 0. 0. 1. ]] SLAMing on 53.546502481 meters Centerline goodness : 0.682377 Centerline is valid? [False, False] Translation: X:0.65, Y:0.96, Z:-0.02 [[ 0.98313334 -0.01116226 -0.18254929 0.65007455] [-0.00180616 0.99749453 -0.07072056 0.95998657] [ 0.18288132 0.06985745 0.98064997 -0.02447412] [ 0. 0. 0. 1. ]] SLAMing on 53.576502481 meters Centerline goodness : 0.682553 Centerline is valid? [False, False] Translation: X:0.65, Y:0.96, Z:-0.03 [[ 0.98315348 -0.01057491 -0.18247577 0.6512451 ] [-0.00220989 0.99756431 -0.06971778 0.95775064] [ 0.18276857 0.06894653 0.98073545 -0.02618958] [ 0. 0. 0. 1. ]] SLAMing on 53.606502481 meters Centerline goodness : 0.684078 Centerline is valid? [False, False] Translation: X:0.65, Y:0.96, Z:-0.03 [[ 0.98316789 -0.01002884 -0.18242898 0.65281387] [-0.00261237 0.99761864 -0.06892194 0.95530583] [ 0.18268576 0.06823841 0.9808004 -0.02799047] [ 0. 0. 0. 1. ]] SLAMing on 53.636502481 meters Centerline goodness : 0.682840 Centerline is valid? [False, False] Translation: X:0.65, Y:0.95, Z:-0.03 [[ 0.98322635 -0.00471315 -0.18232865 0.65406046] [-0.00705701 0.99793442 -0.06385205 0.95249158] [ 0.18225298 0.06406771 0.98116216 -0.02986588] [ 0. 0. 0. 1. ]] SLAMing on 53.666502481 meters Centerline goodness : 0.682002 Centerline is valid? [False, False] Translation: X:0.65, Y:0.95, Z:-0.03 [[ 0.98311117 -0.00431308 -0.18295853 0.65497289] [-0.00754956 0.99791545 -0.06409182 0.95292061] [ 0.18285358 0.06439064 0.98102926 -0.02881724] [ 0. 0. 0. 1. ]] SLAMing on 53.696502480999996 meters Centerline goodness : 0.681847 Centerline is valid? [False, False] Translation: X:0.65, Y:0.95, Z:-0.03 [[ 9.83221685e-01 6.43326076e-04 -1.82413554e-01 6.54652417e-01] [-1.18274103e-02 9.98114424e-01 -6.02304653e-02 9.51078295e-01] [ 1.82030851e-01 6.13773795e-02 9.81375355e-01 -2.89688814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.726502481 meters Centerline goodness : 0.682307 Centerline is valid? [False, False] Translation: X:0.65, Y:0.95, Z:-0.03 [[ 9.83206495e-01 5.89426141e-04 -1.82495593e-01 6.54217088e-01] [-1.18778591e-02 9.98081175e-01 -6.07691011e-02 9.51403639e-01] [ 1.82109597e-01 6.19162318e-02 9.81326895e-01 -2.78136926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.756502481 meters Centerline goodness : 0.681639 Centerline is valid? [False, False] Translation: X:0.65, Y:0.95, Z:-0.03 [[ 0.98325221 -0.00332358 -0.18221977 0.65342645] [-0.00880353 0.9978004 -0.06570284 0.95259422] [ 0.18203733 0.06620664 0.98106019 -0.02573355] [ 0. 0. 0. 1. ]] SLAMing on 53.786502481 meters Centerline goodness : 0.682290 Centerline is valid? [False, False] Translation: X:0.65, Y:0.95, Z:-0.03 [[ 0.9832073 -0.00308984 -0.18246602 0.65435486] [-0.00904289 0.99780347 -0.06562364 0.95070746] [ 0.182268 0.06617166 0.98101972 -0.02584831] [ 0. 0. 0. 1. ]] SLAMing on 53.816502481 meters Centerline goodness : 0.682094 Centerline is valid? [False, False] Translation: X:0.65, Y:0.95, Z:-0.03 [[ 0.98315305 -0.00288441 -0.18276147 0.65476091] [-0.0091782 0.99783512 -0.0651217 0.948923 ] [ 0.18255365 0.06570202 0.98099817 -0.0259071 ] [ 0. 0. 0. 1. ]] SLAMing on 53.846502481 meters Centerline goodness : 0.678986 Centerline is valid? [False, False] Translation: X:0.66, Y:0.95, Z:-0.02 [[ 0.98308704 -0.00260296 -0.18312043 0.65517494] [-0.00952315 0.99781966 -0.06530873 0.94775126] [ 0.18289116 0.06594805 0.98091879 -0.02492947] [ 0. 0. 0. 1. ]] SLAMing on 53.876502481 meters Centerline goodness : 0.682368 Centerline is valid? [False, False] Translation: X:0.66, Y:0.95, Z:-0.03 [[ 0.9830573 -0.00238502 -0.183283 0.6563728 ] [-0.00972823 0.99782722 -0.06516284 0.94611164] [ 0.18304018 0.06584183 0.98089813 -0.02562639] [ 0. 0. 0. 1. ]] SLAMing on 53.906502481 meters Centerline goodness : 0.678880 Centerline is valid? [False, False] Translation: X:0.66, Y:0.94, Z:-0.03 [[ 0.98297308 -0.00155922 -0.18374302 0.65889694] [-0.01043707 0.99787583 -0.06430322 0.94463626] [ 0.18345298 0.06512607 0.9808688 -0.02711245] [ 0. 0. 0. 1. ]] SLAMing on 53.936502481 meters Centerline goodness : 0.681284 Centerline is valid? [False, False] Translation: X:0.66, Y:0.94, Z:-0.03 [[ 0.98307808 0.00261156 -0.18316842 0.65843134] [-0.01386085 0.9980924 -0.06016171 0.94111376] [ 0.18266189 0.06168253 0.98123896 -0.02850679] [ 0. 0. 0. 1. ]] SLAMing on 53.966502481 meters Centerline goodness : 0.681986 Centerline is valid? [False, False] Translation: X:0.66, Y:0.94, Z:-0.03 [[ 0.98325628 0.00714603 -0.18208794 0.65613651] [-0.01756734 0.99829389 -0.05568384 0.93755166] [ 0.18137936 0.05795029 0.98170428 -0.0290136 ] [ 0. 0. 0. 1. ]] SLAMing on 53.996502481 meters Centerline goodness : 0.680871 Centerline is valid? [False, False] Translation: X:0.66, Y:0.94, Z:-0.03 [[ 0.98329829 0.00726212 -0.18185636 0.65554454] [-0.01771576 0.9982778 -0.05592474 0.9371018 ] [ 0.18113703 0.05821242 0.98173351 -0.02851322] [ 0. 0. 0. 1. ]] SLAMing on 54.026502481 meters Centerline goodness : 0.677704 Centerline is valid? [False, False] Translation: X:0.64, Y:0.93, Z:-0.03 [[ 0.98341686 0.0120727 -0.18095725 0.63688423] [-0.02316938 0.99796925 -0.05933432 0.93450123] [ 0.17987344 0.06254304 0.9816995 -0.03036601] [ 0. 0. 0. 1. ]] SLAMing on 54.056502481 meters Centerline goodness : 0.675543 Centerline is valid? [False, False] Translation: X:0.58, Y:0.93, Z:-0.04 [[ 0.98318 0.01291543 -0.18218201 0.57826252] [-0.0245526 0.99778858 -0.06176658 0.9347845 ] [ 0.18098139 0.06520071 0.98132288 -0.03845275] [ 0. 0. 0. 1. ]] SLAMing on 54.086502481 meters Centerline goodness : 0.677000 Centerline is valid? [False, False] Translation: X:0.52, Y:0.94, Z:-0.05 [[ 0.98308826 0.0126696 -0.18269361 0.52047898] [-0.02487355 0.99759704 -0.06466421 0.93538512] [ 0.18143534 0.06811486 0.98104107 -0.04736895] [ 0. 0. 0. 1. ]] SLAMing on 54.116502481 meters Centerline goodness : 0.676692 Centerline is valid? [False, False] Translation: X:0.46, Y:0.94, Z:-0.06 [[ 0.98294834 0.01174346 -0.18350655 0.4593394 ] [-0.02440122 0.99746313 -0.06687209 0.93633366] [ 0.1822557 0.0702096 0.98074129 -0.05724506] [ 0. 0. 0. 1. ]] SLAMing on 54.146502481 meters Centerline goodness : 0.676377 Centerline is valid? [False, False] Translation: X:0.40, Y:0.94, Z:-0.07 [[ 0.98298983 0.00990122 -0.18339292 0.39718825] [-0.02299435 0.99732348 -0.06940557 0.93662371] [ 0.18221486 0.07244197 0.98058651 -0.06714803] [ 0. 0. 0. 1. ]] SLAMing on 54.176502481 meters Centerline goodness : 0.675797 Centerline is valid? [False, False] Translation: X:0.33, Y:0.94, Z:-0.08 [[ 0.98295086 0.00796406 -0.18369589 0.33461617] [-0.02150583 0.99718397 -0.07184452 0.936813 ] [ 0.18260642 0.07457017 0.98035411 -0.07721416] [ 0. 0. 0. 1. ]] SLAMing on 54.206502481 meters Centerline goodness : 0.676505 Centerline is valid? [False, False] Translation: X:0.31, Y:0.94, Z:-0.08 [[ 0.98259247 0.0095167 -0.18553026 0.30768337] [-0.02334094 0.99709737 -0.07247099 0.93564766] [ 0.18430205 0.0755399 0.97996249 -0.08213257] [ 0. 0. 0. 1. ]] SLAMing on 54.236502481 meters Centerline goodness : 0.677074 Centerline is valid? [False, False] Translation: X:0.24, Y:0.94, Z:-0.09 [[ 0.98264694 0.0078421 -0.18531995 0.24359532] [-0.02191258 0.99701749 -0.07399971 0.93554259] [ 0.18418692 0.07677643 0.97988803 -0.09264064] [ 0. 0. 0. 1. ]] SLAMing on 54.266502480999996 meters Centerline goodness : 0.674551 Centerline is valid? [False, False] Translation: X:0.21, Y:0.93, Z:-0.10 [[ 0.98233367 0.0078901 -0.1869714 0.20768058] [-0.02185171 0.99711228 -0.07272961 0.93442157] [ 0.18585763 0.07553039 0.97966938 -0.09860706] [ 0. 0. 0. 1. ]] SLAMing on 54.296502481 meters Centerline goodness : 0.673119 Centerline is valid? [False, False] Translation: X:0.16, Y:0.93, Z:-0.11 [[ 0.98210157 0.0044193 -0.18830022 0.16209362] [-0.01817789 0.99728187 -0.07140327 0.93314995] [ 0.18747285 0.07354816 0.97951243 -0.10518801] [ 0. 0. 0. 1. ]] SLAMing on 54.326502481 meters Centerline goodness : 0.669511 Centerline is valid? [False, False] Translation: X:0.16, Y:0.93, Z:-0.10 [[ 0.98226495 0.00384396 -0.18745878 0.15934495] [-0.01754895 0.99728587 -0.07150476 0.93190378] [ 0.18667513 0.07352633 0.97966641 -0.10464619] [ 0. 0. 0. 1. ]] SLAMing on 54.356502481 meters Centerline goodness : 0.670728 Centerline is valid? [False, False] Translation: X:0.09, Y:0.93, Z:-0.12 [[ 0.98240367 0.00102917 -0.18676717 0.09154523] [-0.01478739 0.99727426 -0.07228686 0.93037671] [ 0.1861837 0.07377668 0.9797411 -0.11646091] [ 0. 0. 0. 1. ]] SLAMing on 54.386502481 meters Centerline goodness : 0.672535 Centerline is valid? [False, False] Translation: X:0.06, Y:0.93, Z:-0.12 [[ 9.82079983e-01 -4.86567005e-04 -1.88463974e-01 6.08371000e-02] [-1.35488839e-02 9.97226902e-01 -7.31774094e-02 9.27760149e-01] [ 1.87976950e-01 7.44195455e-02 9.79349987e-01 -1.22799281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.416502481 meters Centerline goodness : 0.674060 Centerline is valid? [False, False] Translation: X:0.01, Y:0.92, Z:-0.13 [[ 9.82190066e-01 1.63139844e-04 -1.87889989e-01 8.14850832e-03] [-1.47269348e-02 9.96989977e-01 -7.61190116e-02 9.24316176e-01] [ 1.87312018e-01 7.75303807e-02 9.79236053e-01 -1.33538843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.446502480999996 meters Centerline goodness : 0.676276 Centerline is valid? [False, False] Translation: X:0.01, Y:0.92, Z:-0.13 [[ 0.98211519 -0.00413659 -0.18823561 0.00933377] [-0.01106153 0.99676409 -0.07961777 0.92275441] [ 0.18795584 0.080276 0.9788914 -0.13410789] [ 0. 0. 0. 1. ]] SLAMing on 54.476502481 meters Centerline goodness : 0.673999 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.92, Z:-0.14 [[ 0.98170165 -0.00807826 -0.19025405 -0.03466378] [-0.00696117 0.99690958 -0.07824847 0.92215513] [ 0.1902982 0.07814104 0.97861155 -0.14099467] [ 0. 0. 0. 1. ]] SLAMing on 54.506502481 meters Centerline goodness : 0.676595 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.92, Z:-0.14 [[ 0.98177763 -0.00854671 -0.1898411 -0.03696295] [-0.00645524 0.99691169 -0.07826506 0.92060271] [ 0.18992372 0.07806435 0.97869042 -0.14013677] [ 0. 0. 0. 1. ]] SLAMing on 54.536502481 meters Centerline goodness : 0.674863 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.92, Z:-0.15 [[ 0.981764 -0.00734136 -0.18996199 -0.06873285] [-0.00741297 0.99701565 -0.07684295 0.91763896] [ 0.18995921 0.07684982 0.97877965 -0.14695134] [ 0. 0. 0. 1. ]] SLAMing on 54.566502481 meters Centerline goodness : 0.674512 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.92, Z:-0.15 [[ 0.98168757 -0.00793895 -0.19033256 -0.10370618] [-0.00678013 0.99704209 -0.07655778 0.91625482] [ 0.19037736 0.0764463 0.97873001 -0.15249928] [ 0. 0. 0. 1. ]] SLAMing on 54.596502481 meters Centerline goodness : 0.676520 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.91, Z:-0.15 [[ 0.9817075 -0.00741296 -0.19025097 -0.10286537] [-0.00719953 0.99708179 -0.07600049 0.9143621 ] [ 0.19025917 0.07597997 0.9787893 -0.15346836] [ 0. 0. 0. 1. ]] SLAMing on 54.626502481 meters Centerline goodness : 0.676520 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.91, Z:-0.15 [[ 0.98172119 -0.00723285 -0.19018727 -0.10280297] [-0.00735993 0.99708749 -0.07591032 0.91366366] [ 0.1901824 0.07592253 0.97880868 -0.15364103] [ 0. 0. 0. 1. ]] SLAMing on 54.656502481 meters Centerline goodness : 0.676121 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.91, Z:-0.15 [[ 0.98151253 -0.00425812 -0.19135051 -0.11879061] [-0.01153189 0.99662056 -0.08132943 0.91118431] [ 0.19105016 0.08203248 0.97814647 -0.15492651] [ 0. 0. 0. 1. ]] SLAMing on 54.686502481 meters Centerline goodness : 0.676126 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.91, Z:-0.16 [[ 9.81538647e-01 1.26731095e-04 -1.91263872e-01 -1.17594077e-01] [-1.51533266e-02 9.96907884e-01 -7.71041407e-02 9.07793833e-01] [ 1.90662690e-01 7.85789778e-02 9.78505535e-01 -1.56736325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.716502481 meters Centerline goodness : 0.677740 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.91, Z:-0.16 [[ 9.81536879e-01 3.45284421e-04 -1.91272673e-01 -1.17245297e-01] [-1.53745331e-02 9.96905087e-01 -7.70965094e-02 9.06582728e-01] [ 1.90654080e-01 7.86137953e-02 9.78504416e-01 -1.56855401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.746502481 meters Centerline goodness : 0.675793 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.91, Z:-0.16 [[ 9.81425108e-01 9.00986154e-04 -1.91843545e-01 -1.15715244e-01] [-1.59972424e-02 9.96890674e-01 -7.71561567e-02 9.06510006e-01] [ 1.91177524e-01 7.87919571e-02 9.78387951e-01 -1.56433343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.776502481 meters Centerline goodness : 0.677115 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.90, Z:-0.16 [[ 0.9813347 0.00204959 -0.19229667 -0.11309069] [-0.01707856 0.99692099 -0.0765302 0.90487212] [ 0.19154773 0.07838589 0.97834816 -0.15718964] [ 0. 0. 0. 1. ]] SLAMing on 54.806502481 meters Centerline goodness : 0.675905 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.90, Z:-0.16 [[ 0.98113541 0.00346176 -0.19329077 -0.10910125] [-0.01850637 0.99692974 -0.07608292 0.90328266] [ 0.19243393 0.07822476 0.97818713 -0.15767624] [ 0. 0. 0. 1. ]] SLAMing on 54.836502481 meters Centerline goodness : 0.675972 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.90, Z:-0.16 [[ 0.9812288 0.00364301 -0.1928128 -0.11017766] [-0.01873593 0.99689259 -0.07651228 0.90316443] [ 0.19193492 0.07868858 0.97824797 -0.15674189] [ 0. 0. 0. 1. ]] SLAMing on 54.866502481 meters Centerline goodness : 0.676946 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.90, Z:-0.16 [[ 0.98116173 0.00412487 -0.19314411 -0.10986762] [-0.01934644 0.99684416 -0.07698982 0.90231805] [ 0.19221701 0.07927611 0.97814514 -0.15511113] [ 0. 0. 0. 1. ]] SLAMing on 54.896502481 meters Centerline goodness : 0.675282 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.90, Z:-0.15 [[ 0.98183592 0.00209967 -0.18972037 -0.09430231] [-0.01598516 0.99729896 -0.07168867 0.90276251] [ 0.18905741 0.07341923 0.9792175 -0.15434333] [ 0. 0. 0. 1. ]] SLAMing on 54.926502481 meters Centerline goodness : 0.675274 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.90, Z:-0.15 [[ 0.98172801 0.00260177 -0.19027176 -0.09274779] [-0.01652304 0.99729545 -0.07161545 0.90117283] [ 0.18957083 0.07345076 0.97911587 -0.153975 ] [ 0. 0. 0. 1. ]] SLAMing on 54.956502481 meters Centerline goodness : 0.674737 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.90, Z:-0.15 [[ 0.98161669 0.00407372 -0.19081949 -0.08977622] [-0.01797353 0.99730234 -0.07116874 0.89814765] [ 0.1900148 0.07329012 0.97904184 -0.15400919] [ 0. 0. 0. 1. ]] SLAMing on 54.986502481 meters Centerline goodness : 0.675395 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.90, Z:-0.15 [[ 0.98159459 0.00414091 -0.19093171 -0.08874959] [-0.01797184 0.99733114 -0.07076454 0.89633722] [ 0.19012911 0.07289348 0.97904926 -0.15498718] [ 0. 0. 0. 1. ]] SLAMing on 55.016502480999996 meters Centerline goodness : 0.680681 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.89, Z:-0.16 [[ 0.98143264 0.00532421 -0.19173323 -0.08545304] [-0.01911533 0.99735321 -0.0701511 0.89341556] [ 0.19085225 0.07251362 0.97893677 -0.15545647] [ 0. 0. 0. 1. ]] SLAMing on 55.046502481 meters Centerline goodness : 0.683113 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.89, Z:-0.15 [[ 0.98097565 0.00269629 -0.1941121 -0.0800735 ] [-0.01729812 0.99714017 -0.07356809 0.89320448] [ 0.19335862 0.07552628 0.97821686 -0.15381993] [ 0. 0. 0. 1. ]] SLAMing on 55.076502481 meters Centerline goodness : 0.681804 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.89, Z:-0.15 [[ 0.98174132 -0.00146724 -0.1902152 -0.0651878 ] [-0.01188599 0.99754303 -0.06904079 0.89069579] [ 0.18984915 0.0700411 0.97931177 -0.15448473] [ 0. 0. 0. 1. ]] SLAMing on 55.106502481 meters Centerline goodness : 0.684511 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.89, Z:-0.15 [[ 0.98241369 -0.00551663 -0.18663575 -0.04986244] [-0.00672744 0.99786863 -0.06490721 0.88912592] [ 0.18659602 0.06502131 0.98028269 -0.15481013] [ 0. 0. 0. 1. ]] SLAMing on 55.136502481 meters Centerline goodness : 0.684349 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.89, Z:-0.16 [[ 9.83115742e-01 -1.03738906e-02 -1.82690507e-01 -3.45819192e-02] [-8.66599261e-04 9.98116525e-01 -6.13404564e-02 8.86884129e-01] [ 1.82982753e-01 6.04630877e-02 9.81255078e-01 -1.55359846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.166502481 meters Centerline goodness : 0.686090 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.88, Z:-0.15 [[ 0.98307305 -0.00973615 -0.18295516 -0.03346064] [-0.0015247 0.9981177 -0.06130854 0.88465757] [ 0.18320769 0.06054972 0.98120776 -0.15465599] [ 0. 0. 0. 1. ]] SLAMing on 55.196502480999996 meters Centerline goodness : 0.685429 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.88, Z:-0.15 [[ 0.98315024 -0.00480183 -0.1827363 -0.03369252] [-0.00571653 0.99835838 -0.05699005 0.88154378] [ 0.18270997 0.0570744 0.98150883 -0.15455916] [ 0. 0. 0. 1. ]] SLAMing on 55.226502481 meters Centerline goodness : 0.686312 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.88, Z:-0.15 [[ 0.98305319 -0.00414687 -0.18327365 -0.03246323] [-0.00640616 0.99835641 -0.05695117 0.88135075] [ 0.1832086 0.05716011 0.98141089 -0.15383382] [ 0. 0. 0. 1. ]] SLAMing on 55.256502481 meters Centerline goodness : 0.686929 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.88, Z:-0.16 [[ 0.98349562 -0.00714727 -0.18079074 -0.01679729] [-0.00210863 0.99869884 -0.0509528 0.88019634] [ 0.18091967 0.05049308 0.98220086 -0.15514289] [ 0. 0. 0. 1. ]] SLAMing on 55.286502481 meters Centerline goodness : 0.687466 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.88, Z:-0.15 [[ 9.83259373e-01 -1.10177319e-02 -1.81878020e-01 -1.45753340e-02] [ 9.91184763e-04 9.98478861e-01 -5.51269510e-02 8.81024922e-01] [ 1.82208733e-01 5.40238166e-02 9.81774620e-01 -1.53938989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.316502481 meters Centerline goodness : 0.686072 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.88, Z:-0.15 [[ 9.83161314e-01 -1.04622099e-02 -1.82440054e-01 -1.28576445e-02] [ 4.75632836e-04 9.98502885e-01 -5.46969965e-02 8.79720352e-01] [ 1.82739171e-01 5.36891964e-02 9.81694385e-01 -1.54145286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.346502481 meters Centerline goodness : 0.687449 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.88, Z:-0.16 [[ 9.83039137e-01 -9.57813934e-03 -1.83145612e-01 -1.00829796e-02] [-3.40994692e-04 9.98538075e-01 -5.40517889e-02 8.78657004e-01] [ 1.83395582e-01 5.31974756e-02 9.81598741e-01 -1.55050391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.376502481 meters Centerline goodness : 0.684440 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.88, Z:-0.16 [[ 9.82963351e-01 -8.88926899e-03 -1.83586577e-01 -8.32002187e-03] [-9.80488851e-04 9.98561997e-01 -5.36001649e-02 8.77743890e-01] [ 1.83799045e-01 5.28670023e-02 9.81541131e-01 -1.55466020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.406502481 meters Centerline goodness : 0.683267 Centerline is valid? [False, False] Translation: X:0.01, Y:0.88, Z:-0.16 [[ 0.98334292 -0.01030966 -0.18146739 0.00959659] [ 0.00166326 0.99885865 -0.04773493 0.87789382] [ 0.1817524 0.04663798 0.98223773 -0.15534783] [ 0. 0. 0. 1. ]] SLAMing on 55.436502481 meters Centerline goodness : 0.683562 Centerline is valid? [False, False] Translation: X:0.01, Y:0.88, Z:-0.15 [[ 0.98325115 -0.01001453 -0.18198045 0.0103055 ] [ 0.00130618 0.99885079 -0.04791017 0.877883 ] [ 0.18225111 0.04687003 0.98213427 -0.15435351] [ 0. 0. 0. 1. ]] SLAMing on 55.466502481 meters Centerline goodness : 0.679726 Centerline is valid? [False, False] Translation: X:0.03, Y:0.88, Z:-0.15 [[ 0.98373525 -0.01291789 -0.1791594 0.02690571] [ 0.0053387 0.99907273 -0.04272202 0.8769382 ] [ 0.17954515 0.04107068 0.98289203 -0.15460837] [ 0. 0. 0. 1. ]] SLAMing on 55.496502481 meters Centerline goodness : 0.681075 Centerline is valid? [False, False] Translation: X:0.03, Y:0.87, Z:-0.16 [[ 0.98374263 -0.01261686 -0.17914029 0.02784815] [ 0.00513828 0.99909809 -0.04214983 0.87467474] [ 0.17951052 0.04054411 0.98292021 -0.15568887] [ 0. 0. 0. 1. ]] SLAMing on 55.526502481 meters Centerline goodness : 0.683246 Centerline is valid? [False, False] Translation: X:0.03, Y:0.87, Z:-0.16 [[ 0.98371258 -0.0125079 -0.17931287 0.02876059] [ 0.00505782 0.99910712 -0.04194508 0.87331525] [ 0.17967741 0.04035497 0.9828975 -0.15611356] [ 0. 0. 0. 1. ]] SLAMing on 55.556502481 meters Centerline goodness : 0.683430 Centerline is valid? [False, False] Translation: X:0.05, Y:0.87, Z:-0.16 [[ 0.98391444 -0.01567971 -0.17795091 0.0450861 ] [ 0.00951668 0.9993267 -0.0354342 0.87174711] [ 0.17838669 0.03317072 0.98340119 -0.15690961] [ 0. 0. 0. 1. ]] SLAMing on 55.586502481 meters Centerline goodness : 0.686935 Centerline is valid? [False, False] Translation: X:0.05, Y:0.87, Z:-0.16 [[ 0.98385788 -0.01527164 -0.17829878 0.04614362] [ 0.00916597 0.99934466 -0.03501774 0.87092003] [ 0.17871671 0.0328182 0.98335309 -0.15710438] [ 0. 0. 0. 1. ]] SLAMing on 55.616502481 meters Centerline goodness : 0.688261 Centerline is valid? [False, False] Translation: X:0.05, Y:0.87, Z:-0.16 [[ 0.98387656 -0.01493642 -0.17822406 0.04688764] [ 0.00894233 0.99936854 -0.03438842 0.86911098] [ 0.17862516 0.03224022 0.98338884 -0.15814278] [ 0. 0. 0. 1. ]] SLAMing on 55.646502481 meters Centerline goodness : 0.684695 Centerline is valid? [False, False] Translation: X:0.05, Y:0.87, Z:-0.16 [[ 0.98391927 -0.01484464 -0.17799578 0.04711414] [ 0.00890967 0.99937883 -0.03409646 0.86796634] [ 0.17839136 0.03196228 0.98344036 -0.15888713] [ 0. 0. 0. 1. ]] SLAMing on 55.676502481 meters Centerline goodness : 0.688742 Centerline is valid? [False, False] Translation: X:0.05, Y:0.87, Z:-0.16 [[ 0.98390321 -0.01494844 -0.17807586 0.04666414] [ 0.00890555 0.9993586 -0.0346855 0.8680108 ] [ 0.17848014 0.03254131 0.98340526 -0.15744813] [ 0. 0. 0. 1. ]] SLAMing on 55.706502481 meters Centerline goodness : 0.688613 Centerline is valid? [False, False] Translation: X:0.05, Y:0.87, Z:-0.16 [[ 0.9838265 -0.01469626 -0.17852015 0.04702859] [ 0.00854849 0.99934521 -0.03515796 0.86834058] [ 0.17891995 0.03306326 0.98330792 -0.15592894] [ 0. 0. 0. 1. ]] SLAMing on 55.736502481 meters Centerline goodness : 0.686173 Centerline is valid? [False, False] Translation: X:0.05, Y:0.87, Z:-0.15 [[ 0.98374353 -0.01438933 -0.1790017 0.04727239] [ 0.00814331 0.99933367 -0.03557959 0.86943874] [ 0.17939439 0.03354353 0.98320521 -0.15439509] [ 0. 0. 0. 1. ]] SLAMing on 55.766502480999996 meters Centerline goodness : 0.684201 Centerline is valid? [False, False] Translation: X:0.05, Y:0.87, Z:-0.15 [[ 0.98368447 -0.0138917 -0.17936523 0.04827064] [ 0.0076108 0.99933507 -0.03565814 0.86977548] [ 0.17974132 0.03371125 0.98313611 -0.15382392] [ 0. 0. 0. 1. ]] SLAMing on 55.796502481 meters Centerline goodness : 0.687393 Centerline is valid? [False, False] Translation: X:0.05, Y:0.87, Z:-0.15 [[ 0.98365656 -0.01338792 -0.17955652 0.04931934] [ 0.00717289 0.99935391 -0.03521794 0.86889069] [ 0.17991201 0.03335442 0.98311706 -0.15432361] [ 0. 0. 0. 1. ]] SLAMing on 55.826502481 meters Centerline goodness : 0.687408 Centerline is valid? [False, False] Translation: X:0.05, Y:0.87, Z:-0.16 [[ 0.98364703 -0.01246478 -0.17967511 0.05197064] [ 0.0064509 0.99940046 -0.03401639 0.8659485 ] [ 0.17999139 0.03230106 0.9831377 -0.15674696] [ 0. 0. 0. 1. ]] SLAMing on 55.856502481 meters Centerline goodness : 0.687590 Centerline is valid? [False, False] Translation: X:0.05, Y:0.86, Z:-0.16 [[ 0.98360511 -0.01194177 -0.17993993 0.05357514] [ 0.00596272 0.99941311 -0.03373238 0.86441451] [ 0.18023715 0.03210641 0.98309905 -0.15728195] [ 0. 0. 0. 1. ]] SLAMing on 55.886502481 meters Centerline goodness : 0.685171 Centerline is valid? [False, False] Translation: X:0.05, Y:0.86, Z:-0.16 [[ 0.98352425 -0.01126792 -0.18042476 0.05487825] [ 0.00525101 0.99941511 -0.03379156 0.8644666 ] [ 0.18069999 0.0322874 0.98300816 -0.15676066] [ 0. 0. 0. 1. ]] SLAMing on 55.916502481 meters Centerline goodness : 0.687412 Centerline is valid? [False, False] Translation: X:0.06, Y:0.86, Z:-0.16 [[ 0.98349389 -0.0109864 -0.18060748 0.05537868] [ 0.00495326 0.9994156 -0.03382189 0.86459127] [ 0.18087352 0.03236903 0.98297356 -0.15659702] [ 0. 0. 0. 1. ]] SLAMing on 55.946502480999996 meters Centerline goodness : 0.685026 Centerline is valid? [False, False] Translation: X:0.06, Y:0.87, Z:-0.16 [[ 0.98341792 -0.0106043 -0.1810435 0.05611474] [ 0.00449059 0.99940677 -0.03414582 0.86562426] [ 0.18129819 0.03276661 0.98288215 -0.15582383] [ 0. 0. 0. 1. ]] SLAMing on 55.976502481 meters Centerline goodness : 0.682616 Centerline is valid? [False, False] Translation: X:0.06, Y:0.87, Z:-0.15 [[ 0.98337516 -0.01085381 -0.18126085 0.05585465] [ 0.00453261 0.9993682 -0.0352514 0.86675512] [ 0.18152894 0.03384376 0.98280305 -0.15420389] [ 0. 0. 0. 1. ]] SLAMing on 56.006502481 meters Centerline goodness : 0.684092 Centerline is valid? [False, False] Translation: X:0.06, Y:0.87, Z:-0.15 [[ 0.98336752 -0.01108432 -0.18128834 0.05592409] [ 0.0046538 0.99934605 -0.03585821 0.86684098] [ 0.18156725 0.03441812 0.98277603 -0.15373286] [ 0. 0. 0. 1. ]] SLAMing on 56.036502481 meters Centerline goodness : 0.682433 Centerline is valid? [False, False] Translation: X:0.04, Y:0.87, Z:-0.15 [[ 0.98312553 -0.01093631 -0.18260502 0.0370096 ] [ 0.00316138 0.99907803 -0.04281477 0.8662353 ] [ 0.1829049 0.04151501 0.98225369 -0.15482595] [ 0. 0. 0. 1. ]] SLAMing on 56.066502481 meters Centerline goodness : 0.682797 Centerline is valid? [False, False] Translation: X:0.04, Y:0.86, Z:-0.16 [[ 0.98316677 -0.01085299 -0.18238782 0.03718193] [ 0.00314084 0.99909067 -0.04252009 0.86495027] [ 0.18268344 0.04123149 0.98230684 -0.15565858] [ 0. 0. 0. 1. ]] SLAMing on 56.096502481 meters Centerline goodness : 0.682314 Centerline is valid? [False, False] Translation: X:0.04, Y:0.86, Z:-0.16 [[ 0.98312778 -0.01094611 -0.18259231 0.03761767] [ 0.00318414 0.99908077 -0.04274896 0.86407193] [ 0.18289241 0.04144629 0.98225891 -0.15541547] [ 0. 0. 0. 1. ]] SLAMing on 56.126502481 meters Centerline goodness : 0.681960 Centerline is valid? [False, False] Translation: X:0.04, Y:0.86, Z:-0.15 [[ 0.98309373 -0.01097777 -0.18277363 0.0378617 ] [ 0.00314592 0.99906646 -0.04308494 0.86348756] [ 0.18307598 0.04178154 0.98221051 -0.15477088] [ 0. 0. 0. 1. ]] SLAMing on 56.156502481 meters Centerline goodness : 0.684012 Centerline is valid? [False, False] Translation: X:0.04, Y:0.86, Z:-0.15 [[ 0.98304361 -0.0109809 -0.18304281 0.03747485] [ 0.00306128 0.99904904 -0.04349302 0.86411281] [ 0.18334634 0.04219519 0.9821424 -0.15335724] [ 0. 0. 0. 1. ]] SLAMing on 56.186502481 meters Centerline goodness : 0.682623 Centerline is valid? [False, False] Translation: X:0.04, Y:0.86, Z:-0.15 [[ 0.98310491 -0.01146434 -0.18268361 0.03643183] [ 0.00338541 0.9990048 -0.04447421 0.86456689] [ 0.18301167 0.04310436 0.98216533 -0.15221351] [ 0. 0. 0. 1. ]] SLAMing on 56.216502481 meters Centerline goodness : 0.687549 Centerline is valid? [False, False] Translation: X:0.04, Y:0.86, Z:-0.15 [[ 0.98325884 -0.01177473 -0.18183347 0.03590259] [ 0.00377883 0.999013 -0.04425777 0.86182195] [ 0.18217512 0.04282972 0.98233286 -0.15374887] [ 0. 0. 0. 1. ]] SLAMing on 56.246502481 meters Centerline goodness : 0.686754 Centerline is valid? [False, False] Translation: X:0.04, Y:0.86, Z:-0.15 [[ 0.98330045 -0.01166976 -0.18161508 0.03605135] [ 0.00375961 0.99903158 -0.04383795 0.85984324] [ 0.18195078 0.04242307 0.98239208 -0.15451642] [ 0. 0. 0. 1. ]] SLAMing on 56.276502481 meters Centerline goodness : 0.684985 Centerline is valid? [False, False] Translation: X:0.04, Y:0.86, Z:-0.15 [[ 0.98330465 -0.0115808 -0.18159805 0.03597394] [ 0.00369345 0.99903738 -0.0437112 0.8576943 ] [ 0.18192945 0.0423107 0.98240088 -0.15428222] [ 0. 0. 0. 1. ]] SLAMing on 56.306502481 meters Centerline goodness : 0.684677 Centerline is valid? [False, False] Translation: X:0.04, Y:0.86, Z:-0.15 [[ 0.98333285 -0.01163242 -0.181442 0.03560484] [ 0.00374028 0.99903426 -0.04377839 0.85650159] [ 0.18177602 0.04237009 0.98242672 -0.15418025] [ 0. 0. 0. 1. ]] SLAMing on 56.336502481 meters Centerline goodness : 0.686651 Centerline is valid? [False, False] Translation: X:0.04, Y:0.85, Z:-0.15 [[ 0.9833836 -0.01157082 -0.18117069 0.0355282 ] [ 0.00371816 0.99904111 -0.04362376 0.8547551 ] [ 0.18150173 0.04222527 0.98248366 -0.15464427] [ 0. 0. 0. 1. ]] SLAMing on 56.366502481 meters Centerline goodness : 0.686764 Centerline is valid? [False, False] Translation: X:0.04, Y:0.85, Z:-0.16 [[ 0.98338665 -0.01132536 -0.18116963 0.03598735] [ 0.00351527 0.99905279 -0.04337241 0.85391442] [ 0.18148923 0.04201499 0.98249499 -0.1550313 ] [ 0. 0. 0. 1. ]] SLAMing on 56.396502481 meters Centerline goodness : 0.687902 Centerline is valid? [False, False] Translation: X:0.04, Y:0.85, Z:-0.15 [[ 0.98328553 -0.01100012 -0.18173762 0.03732793] [ 0.00315989 0.99905392 -0.04337372 0.85315587] [ 0.1820428 0.04207448 0.98239002 -0.15478867] [ 0. 0. 0. 1. ]] SLAMing on 56.426502481 meters Centerline goodness : 0.687568 Centerline is valid? [False, False] Translation: X:0.04, Y:0.85, Z:-0.15 [[ 0.98324621 -0.01080699 -0.1819618 0.03795806] [ 0.00294821 0.99905324 -0.04340439 0.85273607] [ 0.1822586 0.04214074 0.98234717 -0.15472988] [ 0. 0. 0. 1. ]] SLAMing on 56.456502481 meters Centerline goodness : 0.685123 Centerline is valid? [False, False] Translation: X:0.04, Y:0.85, Z:-0.15 [[ 0.983225 -0.01068707 -0.18208344 0.0391277 ] [ 0.00272113 0.99903035 -0.04394261 0.85252695] [ 0.1823765 0.04271 0.9823007 -0.15481607] [ 0. 0. 0. 1. ]] SLAMing on 56.486502481 meters Centerline goodness : 0.687014 Centerline is valid? [False, False] Translation: X:0.04, Y:0.85, Z:-0.15 [[ 0.98321956 -0.01062168 -0.18211665 0.03962227] [ 0.00262578 0.99902409 -0.04409041 0.85250997] [ 0.18240724 0.04287235 0.98228792 -0.15499768] [ 0. 0. 0. 1. ]] SLAMing on 56.516502480999996 meters Centerline goodness : 0.687014 Centerline is valid? [False, False] Translation: X:0.04, Y:0.85, Z:-0.15 [[ 0.98321724 -0.01059294 -0.18213088 0.03962515] [ 0.00258431 0.99902143 -0.04415308 0.85221684] [ 0.18242036 0.04294138 0.98228247 -0.15490942] [ 0. 0. 0. 1. ]] SLAMing on 56.546502481 meters Centerline goodness : 0.685637 Centerline is valid? [False, False] Translation: X:0.04, Y:0.85, Z:-0.15 [[ 0.98323415 -0.01067121 -0.18203497 0.03939696] [ 0.00263579 0.99901359 -0.04432713 0.85178164] [ 0.18232844 0.04310414 0.98229241 -0.15477245] [ 0. 0. 0. 1. ]] SLAMing on 56.576502481 meters Centerline goodness : 0.684319 Centerline is valid? [False, False] Translation: X:0.04, Y:0.85, Z:-0.15 [[ 0.9832335 -0.01076971 -0.1820327 0.03895452] [ 0.00269367 0.9990033 -0.04455503 0.85137859] [ 0.18233111 0.04331766 0.98228252 -0.15411952] [ 0. 0. 0. 1. ]] SLAMing on 56.606502481 meters Centerline goodness : 0.686103 Centerline is valid? [False, False] Translation: X:0.04, Y:0.85, Z:-0.15 [[ 0.98320999 -0.01046717 -0.18217726 0.03924751] [ 0.00241693 0.99901291 -0.04435507 0.84970283] [ 0.1824617 0.04317003 0.98226477 -0.15376297] [ 0. 0. 0. 1. ]] SLAMing on 56.636502481 meters Centerline goodness : 0.682533 Centerline is valid? [False, False] Translation: X:0.04, Y:0.85, Z:-0.15 [[ 0.98321904 -0.01042519 -0.1821308 0.03956943] [ 0.0023175 0.99899902 -0.04467198 0.84761908] [ 0.1824142 0.04350025 0.98225902 -0.15349361] [ 0. 0. 0. 1. ]] SLAMing on 56.666502481 meters Centerline goodness : 0.682415 Centerline is valid? [False, False] Translation: X:0.04, Y:0.84, Z:-0.16 [[ 0.98318606 -0.0098311 -0.18234177 0.04140126] [ 0.0018916 0.99904445 -0.04366479 0.84498183] [ 0.1825968 0.04258569 0.98226517 -0.15518461] [ 0. 0. 0. 1. ]] SLAMing on 56.696502480999996 meters Centerline goodness : 0.682873 Centerline is valid? [False, False] Translation: X:0.04, Y:0.84, Z:-0.16 [[ 0.98311364 -0.00929831 -0.18275969 0.0431298 ] [ 0.00139178 0.9990593 -0.04334264 0.84312022] [ 0.18299078 0.04235638 0.98220177 -0.15553529] [ 0. 0. 0. 1. ]] SLAMing on 56.726502481 meters Centerline goodness : 0.682976 Centerline is valid? [False, False] Translation: X:0.05, Y:0.84, Z:-0.15 [[ 0.98295113 -0.01096672 -0.18353966 0.04526508] [ 0.00250059 0.99892468 -0.04629501 0.84234765] [ 0.18385 0.04504678 0.98192157 -0.15381963] [ 0. 0. 0. 1. ]] SLAMing on 56.756502481 meters Centerline goodness : 0.679779 Centerline is valid? [False, False] Translation: X:0.05, Y:0.84, Z:-0.15 [[ 0.98286286 -0.01033403 -0.1840484 0.04629271] [ 0.00187927 0.99893723 -0.046053 0.84153532] [ 0.18432871 0.04491791 0.98183772 -0.15335322] [ 0. 0. 0. 1. ]] SLAMing on 56.786502481 meters Centerline goodness : 0.680397 Centerline is valid? [False, False] Translation: X:0.05, Y:0.84, Z:-0.15 [[ 0.98286427 -0.00992156 -0.18406357 0.04659355] [ 0.00142116 0.99892859 -0.04625643 0.84054346] [ 0.1843253 0.04520221 0.98182531 -0.15264604] [ 0. 0. 0. 1. ]] SLAMing on 56.816502481 meters Centerline goodness : 0.679366 Centerline is valid? [False, False] Translation: X:0.05, Y:0.84, Z:-0.15 [[ 9.82797297e-01 -9.49522348e-03 -1.84443255e-01 4.66194267e-02] [ 8.71146331e-04 9.98904733e-01 -4.67822117e-02 8.39781466e-01] [ 1.84685448e-01 4.58167541e-02 9.81729143e-01 -1.50613288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.846502481 meters Centerline goodness : 0.680486 Centerline is valid? [False, False] Translation: X:0.05, Y:0.84, Z:-0.15 [[ 9.82745811e-01 -9.19845019e-03 -1.84732398e-01 4.69171267e-02] [ 5.28828260e-04 9.98898264e-01 -4.69252402e-02 8.38807707e-01] [ 1.84960512e-01 4.60178916e-02 9.81667949e-01 -1.49632786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.876502481 meters Centerline goodness : 0.680892 Centerline is valid? [False, False] Translation: X:0.05, Y:0.84, Z:-0.15 [[ 9.82685022e-01 -8.78364406e-03 -1.85075645e-01 4.74635755e-02] [ 7.18729460e-05 9.98893681e-01 -4.70256261e-02 8.37553219e-01] [ 1.85283948e-01 4.61980765e-02 9.81598490e-01 -1.48589612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.906502481 meters Centerline goodness : 0.683206 Centerline is valid? [False, False] Translation: X:0.05, Y:0.83, Z:-0.15 [[ 9.82630466e-01 -7.96312466e-03 -1.85402146e-01 4.96960369e-02] [-5.80674471e-04 9.98942068e-01 -4.59826858e-02 8.34137415e-01] [ 1.85572169e-01 4.52916463e-02 9.81586286e-01 -1.50107203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.936502481 meters Centerline goodness : 0.678252 Centerline is valid? [False, False] Translation: X:0.05, Y:0.83, Z:-0.15 [[ 0.98228142 -0.01163339 -0.18705044 0.05277532] [ 0.00224757 0.99873102 -0.05031198 0.83466297] [ 0.18739838 0.04900011 0.98106108 -0.14804859] [ 0. 0. 0. 1. ]] SLAMing on 56.966502481 meters Centerline goodness : 0.681479 Centerline is valid? [False, False] Translation: X:0.06, Y:0.83, Z:-0.15 [[ 0.98217747 -0.01062744 -0.18765522 0.0551896 ] [ 0.00138473 0.99878225 -0.04931625 0.83201507] [ 0.18795081 0.04817746 0.98099614 -0.14889506] [ 0. 0. 0. 1. ]] SLAMing on 56.996502481 meters Centerline goodness : 0.679789 Centerline is valid? [False, False] Translation: X:0.07, Y:0.83, Z:-0.15 [[ 0.98199579 -0.01388047 -0.18839215 0.07487421] [ 0.0056567 0.99901022 -0.04412009 0.83149016] [ 0.1888181 0.04226006 0.98110235 -0.14798472] [ 0. 0. 0. 1. ]] SLAMing on 57.026502481 meters Centerline goodness : 0.679676 Centerline is valid? [False, False] Translation: X:0.08, Y:0.83, Z:-0.15 [[ 0.98175894 -0.01303507 -0.18968254 0.07830323] [ 0.00480876 0.9990303 -0.04376461 0.83000207] [ 0.19006908 0.04205416 0.98086961 -0.14782845] [ 0. 0. 0. 1. ]] SLAMing on 57.056502481 meters Centerline goodness : 0.681483 Centerline is valid? [False, False] Translation: X:0.08, Y:0.83, Z:-0.15 [[ 0.98164195 -0.01252529 -0.1903213 0.07987142] [ 0.0042892 0.99903876 -0.04362515 0.82914137] [ 0.19068477 0.04200795 0.98075208 -0.14748968] [ 0. 0. 0. 1. ]] SLAMing on 57.086502481 meters Centerline goodness : 0.683489 Centerline is valid? [False, False] Translation: X:0.08, Y:0.83, Z:-0.14 [[ 0.98146218 -0.0170453 -0.19089643 0.07941453] [ 0.00774382 0.99875075 -0.04936569 0.83129763] [ 0.1914994 0.04697229 0.98036809 -0.14328968] [ 0. 0. 0. 1. ]] SLAMing on 57.116502481 meters Centerline goodness : 0.682963 Centerline is valid? [False, False] Translation: X:0.09, Y:0.83, Z:-0.14 [[ 0.98217405 -0.02016752 -0.18688875 0.09374354] [ 0.01209635 0.99894826 -0.04422729 0.83084001] [ 0.18758414 0.04117822 0.98138501 -0.14346209] [ 0. 0. 0. 1. ]] SLAMing on 57.146502481 meters Centerline goodness : 0.682622 Centerline is valid? [False, False] Translation: X:0.09, Y:0.83, Z:-0.14 [[ 0.98216938 -0.02100894 -0.18682059 0.09196347] [ 0.01274903 0.99889183 -0.04530524 0.83052828] [ 0.18756538 0.04211564 0.98134882 -0.14123762] [ 0. 0. 0. 1. ]] SLAMing on 57.176502481 meters Centerline goodness : 0.684026 Centerline is valid? [False, False] Translation: X:0.09, Y:0.83, Z:-0.14 [[ 0.98206598 -0.02078229 -0.18738867 0.09351191] [ 0.01259586 0.9989178 -0.04477235 0.82833347] [ 0.18811635 0.04160908 0.98126496 -0.14166419] [ 0. 0. 0. 1. ]] SLAMing on 57.206502481 meters Centerline goodness : 0.685243 Centerline is valid? [False, False] Translation: X:0.10, Y:0.83, Z:-0.14 [[ 0.98172879 -0.02468561 -0.18867751 0.0959294 ] [ 0.01568299 0.99867273 -0.04905933 0.83006253] [ 0.18963815 0.04520393 0.98081292 -0.1400087 ] [ 0. 0. 0. 1. ]] SLAMing on 57.236502481 meters Centerline goodness : 0.684466 Centerline is valid? [False, False] Translation: X:0.12, Y:0.83, Z:-0.14 [[ 0.98157164 -0.02747542 -0.18910901 0.11541363] [ 0.01957804 0.99886143 -0.04350338 0.83062106] [ 0.19008897 0.0389993 0.98099197 -0.13962136] [ 0. 0. 0. 1. ]] SLAMing on 57.266502480999996 meters Centerline goodness : 0.684803 Centerline is valid? [False, False] Translation: X:0.12, Y:0.83, Z:-0.14 [[ 0.98146932 -0.02701012 -0.18970618 0.11688002] [ 0.01911691 0.99887854 -0.04331522 0.83058053] [ 0.19066338 0.03888596 0.98088499 -0.13944262] [ 0. 0. 0. 1. ]] SLAMing on 57.296502481 meters Centerline goodness : 0.682854 Centerline is valid? [False, False] Translation: X:0.12, Y:0.83, Z:-0.14 [[ 0.98135522 -0.02689925 -0.19031121 0.11760817] [ 0.01887673 0.99886008 -0.04384298 0.83163443] [ 0.19127362 0.03943308 0.98074433 -0.13798904] [ 0. 0. 0. 1. ]] SLAMing on 57.326502481 meters Centerline goodness : 0.680215 Centerline is valid? [False, False] Translation: X:0.12, Y:0.83, Z:-0.14 [[ 0.98132742 -0.02687862 -0.19045745 0.11769247] [ 0.0188151 0.99885344 -0.04402051 0.83192178] [ 0.19142229 0.03961505 0.98070799 -0.13749133] [ 0. 0. 0. 1. ]] SLAMing on 57.356502481 meters Centerline goodness : 0.682187 Centerline is valid? [False, False] Translation: X:0.12, Y:0.83, Z:-0.14 [[ 0.98133338 -0.02711152 -0.19039372 0.11700862] [ 0.01895578 0.99882829 -0.04452779 0.83195301] [ 0.19137785 0.04008754 0.98069746 -0.13647996] [ 0. 0. 0. 1. ]] SLAMing on 57.386502481 meters Centerline goodness : 0.679933 Centerline is valid? [False, False] Translation: X:0.12, Y:0.83, Z:-0.14 [[ 0.98132665 -0.02705815 -0.19043597 0.11677937] [ 0.01891645 0.99883286 -0.04444194 0.83178271] [ 0.19141622 0.04000969 0.98069315 -0.1361835 ] [ 0. 0. 0. 1. ]] SLAMing on 57.416502481 meters Centerline goodness : 0.678767 Centerline is valid? [False, False] Translation: X:0.14, Y:0.83, Z:-0.14 [[ 0.98146351 -0.03097861 -0.1891288 0.13626062] [ 0.02365467 0.99888482 -0.04086036 0.83230404] [ 0.19018368 0.03562918 0.98110179 -0.13534291] [ 0. 0. 0. 1. ]] SLAMing on 57.446502480999996 meters Centerline goodness : 0.680833 Centerline is valid? [False, False] Translation: X:0.14, Y:0.83, Z:-0.14 [[ 0.98146132 -0.03028707 -0.18925213 0.13808023] [ 0.0231684 0.99894241 -0.03971497 0.83033414] [ 0.19025483 0.03459404 0.98112504 -0.13719604] [ 0. 0. 0. 1. ]] SLAMing on 57.476502481 meters Centerline goodness : 0.683126 Centerline is valid? [False, False] Translation: X:0.14, Y:0.83, Z:-0.14 [[ 0.98139213 -0.02958703 -0.18972109 0.14029638] [ 0.02271643 0.99900852 -0.0382876 0.82772203] [ 0.19066581 0.03326536 0.98109121 -0.13902629] [ 0. 0. 0. 1. ]] SLAMing on 57.506502481 meters Centerline goodness : 0.681319 Centerline is valid? [False, False] Translation: X:0.16, Y:0.83, Z:-0.14 [[ 0.98167842 -0.03208136 -0.18782509 0.1572249 ] [ 0.02650775 0.9991327 -0.03211206 0.82732149] [ 0.18869239 0.02654489 0.98167742 -0.13907016] [ 0. 0. 0. 1. ]] SLAMing on 57.536502481 meters Centerline goodness : 0.682566 Centerline is valid? [False, False] Translation: X:0.16, Y:0.83, Z:-0.14 [[ 0.98162249 -0.03180732 -0.18816372 0.1577685 ] [ 0.02632508 0.999155 -0.03156376 0.82625941] [ 0.18900868 0.02603027 0.98163035 -0.1391047 ] [ 0. 0. 0. 1. ]] SLAMing on 57.566502481 meters Centerline goodness : 0.683042 Centerline is valid? [False, False] Translation: X:0.16, Y:0.83, Z:-0.14 [[ 0.98160154 -0.03155589 -0.18831526 0.15846703] [ 0.02612691 0.99917029 -0.03124275 0.82547205] [ 0.18914491 0.02574784 0.98161156 -0.13942127] [ 0. 0. 0. 1. ]] SLAMing on 57.596502481 meters Centerline goodness : 0.682851 Centerline is valid? [False, False] Translation: X:0.16, Y:0.82, Z:-0.14 [[ 0.98165702 -0.03156368 -0.18802457 0.15857707] [ 0.02616306 0.99917267 -0.03113644 0.82439064] [ 0.18885179 0.025646 0.98167066 -0.13997772] [ 0. 0. 0. 1. ]] SLAMing on 57.626502480999996 meters Centerline goodness : 0.683793 Centerline is valid? [False, False] Translation: X:0.16, Y:0.82, Z:-0.14 [[ 0.98170389 -0.03144534 -0.18779951 0.15860447] [ 0.02607191 0.99917882 -0.03101513 0.82332643] [ 0.18862058 0.02555138 0.98171758 -0.14027861] [ 0. 0. 0. 1. ]] SLAMing on 57.656502481 meters Centerline goodness : 0.681887 Centerline is valid? [False, False] Translation: X:0.16, Y:0.82, Z:-0.14 [[ 0.98175828 -0.03168512 -0.18747463 0.1574466 ] [ 0.02626422 0.99916397 -0.03132963 0.8226495 ] [ 0.18831058 0.02583425 0.98176969 -0.13951986] [ 0. 0. 0. 1. ]] SLAMing on 57.686502481 meters Centerline goodness : 0.681358 Centerline is valid? [False, False] Translation: X:0.16, Y:0.82, Z:-0.14 [[ 0.98161107 -0.03129488 -0.18830915 0.15802598] [ 0.02578497 0.99916669 -0.03163942 0.82369165] [ 0.18914238 0.02620206 0.98160003 -0.13764575] [ 0. 0. 0. 1. ]] SLAMing on 57.716502481 meters Centerline goodness : 0.681288 Centerline is valid? [False, False] Translation: X:0.16, Y:0.82, Z:-0.14 [[ 0.98146849 -0.03080656 -0.18913107 0.15955875] [ 0.02525731 0.99917883 -0.03168178 0.82459183] [ 0.18995176 0.02631772 0.98144063 -0.13692903] [ 0. 0. 0. 1. ]] SLAMing on 57.746502481 meters Centerline goodness : 0.679632 Centerline is valid? [False, False] Translation: X:0.16, Y:0.83, Z:-0.14 [[ 0.98126317 -0.02990414 -0.19033744 0.16234158] [ 0.02424007 0.99919332 -0.03201755 0.82639889] [ 0.19114135 0.02680385 0.98119648 -0.13573048] [ 0. 0. 0. 1. ]] SLAMing on 57.776502481 meters Centerline goodness : 0.679508 Centerline is valid? [False, False] Translation: X:0.16, Y:0.83, Z:-0.14 [[ 0.98114701 -0.02937504 -0.19101743 0.16418937] [ 0.02368006 0.99920638 -0.03202906 0.82694411] [ 0.19180669 0.02690191 0.98106395 -0.13552621] [ 0. 0. 0. 1. ]] SLAMing on 57.806502481 meters Centerline goodness : 0.677438 Centerline is valid? [False, False] Translation: X:0.17, Y:0.83, Z:-0.14 [[ 0.98102614 -0.02862898 -0.19175006 0.16671375] [ 0.02281601 0.99921273 -0.03245547 0.82822375] [ 0.19252827 0.02746469 0.98090701 -0.13517051] [ 0. 0. 0. 1. ]] SLAMing on 57.836502481 meters Centerline goodness : 0.678963 Centerline is valid? [False, False] Translation: X:0.17, Y:0.83, Z:-0.13 [[ 0.98093018 -0.02818836 -0.19230547 0.16840421] [ 0.02232502 0.99921946 -0.03258918 0.82857346] [ 0.193074 0.02767449 0.98079384 -0.13499945] [ 0. 0. 0. 1. ]] SLAMing on 57.866502481 meters Centerline goodness : 0.678639 Centerline is valid? [False, False] Translation: X:0.17, Y:0.83, Z:-0.13 [[ 0.98092275 -0.02719862 -0.19248582 0.16988584] [ 0.02129793 0.99923962 -0.03265857 0.82851714] [ 0.19322772 0.02793599 0.98075615 -0.13473607] [ 0. 0. 0. 1. ]] SLAMing on 57.896502481 meters Centerline goodness : 0.675775 Centerline is valid? [False, False] Translation: X:0.17, Y:0.83, Z:-0.13 [[ 0.98082483 -0.02679434 -0.19304071 0.17058582] [ 0.0207882 0.99923674 -0.03307233 0.82813972] [ 0.19377952 0.0284252 0.98063322 -0.13338771] [ 0. 0. 0. 1. ]] SLAMing on 57.926502481 meters Centerline goodness : 0.678603 Centerline is valid? [False, False] Translation: X:0.17, Y:0.83, Z:-0.13 [[ 0.98106987 -0.02203669 -0.19239619 0.16918691] [ 0.01679933 0.9994437 -0.02881096 0.82629728] [ 0.19292406 0.02503344 0.9808943 -0.13359806] [ 0. 0. 0. 1. ]] SLAMing on 57.956502481 meters Centerline goodness : 0.679392 Centerline is valid? [False, False] Translation: X:0.17, Y:0.83, Z:-0.13 [[ 0.98105109 -0.02183761 -0.19251463 0.16919168] [ 0.0165832 0.99944581 -0.02886295 0.82608822] [ 0.19303823 0.02512352 0.98086954 -0.13309092] [ 0. 0. 0. 1. ]] SLAMing on 57.986502481 meters Centerline goodness : 0.679741 Centerline is valid? [False, False] Translation: X:0.17, Y:0.82, Z:-0.13 [[ 0.98107737 -0.02152214 -0.19241618 0.16956495] [ 0.01633937 0.99946076 -0.02848172 0.824733 ] [ 0.19292541 0.02479881 0.9809 -0.13364612] [ 0. 0. 0. 1. ]] SLAMing on 58.016502480999996 meters Centerline goodness : 0.680593 Centerline is valid? [False, False] Translation: X:0.17, Y:0.82, Z:-0.13 [[ 0.98110347 -0.02109619 -0.19233027 0.17037927] [ 0.01604556 0.99948527 -0.0277802 0.82313311] [ 0.19281732 0.0241692 0.98093697 -0.13480879] [ 0. 0. 0. 1. ]] SLAMing on 58.046502481 meters Centerline goodness : 0.681489 Centerline is valid? [False, False] Translation: X:0.17, Y:0.82, Z:-0.13 [[ 0.98081243 -0.0247586 -0.19337525 0.17320725] [ 0.01906877 0.99933031 -0.0312301 0.8224588 ] [ 0.19401896 0.02694344 0.9806277 -0.13478564] [ 0. 0. 0. 1. ]] SLAMing on 58.076502481 meters Centerline goodness : 0.679829 Centerline is valid? [False, False] Translation: X:0.17, Y:0.82, Z:-0.14 [[ 0.98074823 -0.02434612 -0.1937529 0.17445498] [ 0.01879331 0.99935972 -0.03044616 0.82003052] [ 0.19437009 0.02621876 0.98057781 -0.1354612 ] [ 0. 0. 0. 1. ]] SLAMing on 58.106502481 meters Centerline goodness : 0.681526 Centerline is valid? [False, False] Translation: X:0.18, Y:0.82, Z:-0.14 [[ 0.98072575 -0.0239112 -0.19392075 0.17521995] [ 0.01847789 0.9993857 -0.02977902 0.81859843] [ 0.19451368 0.02562181 0.98056512 -0.13603031] [ 0. 0. 0. 1. ]] SLAMing on 58.136502481 meters Centerline goodness : 0.681034 Centerline is valid? [False, False] Translation: X:0.16, Y:0.81, Z:-0.14 [[ 0.98128699 -0.0204227 -0.19146475 0.15605241] [ 0.01471713 0.9994056 -0.03117458 0.8127751 ] [ 0.19198762 0.0277734 0.98100428 -0.14161803] [ 0. 0. 0. 1. ]] SLAMing on 58.166502481 meters Centerline goodness : 0.682873 Centerline is valid? [False, False] Translation: X:0.14, Y:0.81, Z:-0.15 [[ 0.98209494 -0.01591233 -0.18771342 0.13911073] [ 0.00979751 0.99939209 -0.03345828 0.80767846] [ 0.1881317 0.03102009 0.98165382 -0.14618968] [ 0. 0. 0. 1. ]] SLAMing on 58.196502480999996 meters Centerline goodness : 0.683224 Centerline is valid? [False, False] Translation: X:0.14, Y:0.81, Z:-0.15 [[ 0.98214396 -0.01625265 -0.18742755 0.13787334] [ 0.01009773 0.99937939 -0.03374709 0.80589865] [ 0.18785971 0.03125191 0.98169855 -0.14525474] [ 0. 0. 0. 1. ]] SLAMing on 58.226502481 meters Centerline goodness : 0.684785 Centerline is valid? [False, False] Translation: X:0.14, Y:0.80, Z:-0.15 [[ 0.98219584 -0.01622047 -0.18715828 0.1375642 ] [ 0.01013207 0.99938931 -0.03344169 0.80390539] [ 0.18758642 0.03094998 0.98176037 -0.14556615] [ 0. 0. 0. 1. ]] SLAMing on 58.256502481 meters Centerline goodness : 0.686132 Centerline is valid? [False, False] Translation: X:0.14, Y:0.80, Z:-0.15 [[ 0.98221502 -0.01630067 -0.18705062 0.13707164] [ 0.01024107 0.99939239 -0.03331626 0.80216479] [ 0.18748005 0.03080813 0.98178516 -0.14535413] [ 0. 0. 0. 1. ]] SLAMing on 58.286502481 meters Centerline goodness : 0.684187 Centerline is valid? [False, False] Translation: X:0.14, Y:0.80, Z:-0.14 [[ 0.98221587 -0.01641094 -0.18703655 0.13615138] [ 0.010322 0.999386 -0.03348241 0.80006412] [ 0.18747118 0.03095637 0.98178218 -0.14402801] [ 0. 0. 0. 1. ]] SLAMing on 58.316502481 meters Centerline goodness : 0.687811 Centerline is valid? [False, False] Translation: X:0.14, Y:0.80, Z:-0.14 [[ 0.98199835 -0.02045175 -0.18777903 0.13704206] [ 0.01363076 0.99920199 -0.03754437 0.79952741] [ 0.18839703 0.03430894 0.98149348 -0.14233775] [ 0. 0. 0. 1. ]] SLAMing on 58.346502481 meters Centerline goodness : 0.685754 Centerline is valid? [False, False] Translation: X:0.14, Y:0.80, Z:-0.14 [[ 0.98173131 -0.02416267 -0.18873207 0.13867122] [ 0.01659417 0.99899738 -0.04157971 0.79951456] [ 0.18954752 0.03768825 0.98114797 -0.14071078] [ 0. 0. 0. 1. ]] SLAMing on 58.376502480999996 meters Centerline goodness : 0.688130 Centerline is valid? [False, False] Translation: X:0.14, Y:0.80, Z:-0.14 [[ 0.98177305 -0.02404342 -0.18853009 0.13872876] [ 0.0165548 0.99901394 -0.04119583 0.79635644] [ 0.18933468 0.03732388 0.98120299 -0.14111943] [ 0. 0. 0. 1. ]] SLAMing on 58.406502481 meters Centerline goodness : 0.688130 Centerline is valid? [False, False] Translation: X:0.14, Y:0.80, Z:-0.14 [[ 0.98177275 -0.02404063 -0.18853202 0.13871828] [ 0.01654196 0.99901202 -0.04124727 0.79604589] [ 0.18933736 0.03737676 0.98120046 -0.14106086] [ 0. 0. 0. 1. ]] SLAMing on 58.436502481 meters Centerline goodness : 0.689149 Centerline is valid? [False, False] Translation: X:0.14, Y:0.80, Z:-0.14 [[ 0.98156242 -0.02748251 -0.18915584 0.13986234] [ 0.01926508 0.99879465 -0.04514539 0.79602189] [ 0.19016855 0.04066891 0.98090874 -0.13945239] [ 0. 0. 0. 1. ]] SLAMing on 58.466502481 meters Centerline goodness : 0.689383 Centerline is valid? [False, False] Translation: X:0.14, Y:0.79, Z:-0.14 [[ 0.98155346 -0.02722778 -0.18923914 0.14093587] [ 0.01905369 0.99881063 -0.0448807 0.79149166] [ 0.19023607 0.0404471 0.98090482 -0.13991169] [ 0. 0. 0. 1. ]] SLAMing on 58.496502481 meters Centerline goodness : 0.689135 Centerline is valid? [False, False] Translation: X:0.14, Y:0.79, Z:-0.14 [[ 0.98143979 -0.0262918 -0.18995968 0.14295411] [ 0.0182982 0.99887655 -0.04371282 0.78840903] [ 0.19089556 0.03942558 0.98081829 -0.14040546] [ 0. 0. 0. 1. ]] SLAMing on 58.526502481 meters Centerline goodness : 0.689929 Centerline is valid? [False, False] Translation: X:0.14, Y:0.79, Z:-0.14 [[ 0.9813449 -0.02582092 -0.19051371 0.1440081 ] [ 0.01785414 0.99889752 -0.0434162 0.78690179] [ 0.19142472 0.0392048 0.980724 -0.13992474] [ 0. 0. 0. 1. ]] SLAMing on 58.556502481 meters Centerline goodness : 0.687693 Centerline is valid? [False, False] Translation: X:0.14, Y:0.78, Z:-0.14 [[ 0.98139085 -0.02546852 -0.19032435 0.14369071] [ 0.01754627 0.99891256 -0.04319509 0.78484346] [ 0.1912175 0.03905179 0.98077053 -0.13951954] [ 0. 0. 0. 1. ]] SLAMing on 58.586502481 meters Centerline goodness : 0.688981 Centerline is valid? [False, False] Translation: X:0.14, Y:0.78, Z:-0.14 [[ 0.98140323 -0.02546481 -0.19026098 0.14301088] [ 0.01752823 0.99890914 -0.04328142 0.78363103] [ 0.19115559 0.03914159 0.98077902 -0.1387526 ] [ 0. 0. 0. 1. ]] SLAMing on 58.616502481 meters Centerline goodness : 0.685768 Centerline is valid? [False, False] Translation: X:0.14, Y:0.78, Z:-0.14 [[ 0.98146805 -0.02573865 -0.18988939 0.14165382] [ 0.01777633 0.99889455 -0.04351637 0.78143453] [ 0.19079953 0.03933439 0.98084063 -0.13788605] [ 0. 0. 0. 1. ]] SLAMing on 58.646502481 meters Centerline goodness : 0.688452 Centerline is valid? [False, False] Translation: X:0.14, Y:0.78, Z:-0.14 [[ 0.98136488 -0.02514661 -0.19050097 0.14353871] [ 0.01721618 0.99891936 -0.04317079 0.77946643] [ 0.19138071 0.03908659 0.98073731 -0.13800702] [ 0. 0. 0. 1. ]] SLAMing on 58.676502481 meters Centerline goodness : 0.690553 Centerline is valid? [False, False] Translation: X:0.15, Y:0.78, Z:-0.14 [[ 0.98087317 -0.02899132 -0.19247684 0.14781149] [ 0.02020744 0.99866949 -0.04744369 0.77987618] [ 0.19359621 0.04264678 0.98015395 -0.13665364] [ 0. 0. 0. 1. ]] SLAMing on 58.706502481 meters Centerline goodness : 0.687656 Centerline is valid? [False, False] Translation: X:0.15, Y:0.78, Z:-0.13 [[ 0.98050524 -0.03269585 -0.1937536 0.15016474] [ 0.02307737 0.99839629 -0.05169417 0.7810721 ] [ 0.19513306 0.04621508 0.97968732 -0.13488844] [ 0. 0. 0. 1. ]] SLAMing on 58.736502481 meters Centerline goodness : 0.691329 Centerline is valid? [False, False] Translation: X:0.15, Y:0.78, Z:-0.13 [[ 0.98042004 -0.03249212 -0.19421845 0.15142523] [ 0.02277596 0.99838457 -0.05205286 0.7801381 ] [ 0.19559602 0.04661015 0.97957628 -0.13436278] [ 0. 0. 0. 1. ]] SLAMing on 58.766502480999996 meters Centerline goodness : 0.689922 Centerline is valid? [False, False] Translation: X:0.15, Y:0.78, Z:-0.14 [[ 0.98065622 -0.02771802 -0.19376553 0.15153431] [ 0.01875652 0.99867448 -0.04793207 0.77674193] [ 0.19483727 0.04337051 0.97987623 -0.13532564] [ 0. 0. 0. 1. ]] SLAMing on 58.796502481 meters Centerline goodness : 0.689483 Centerline is valid? [False, False] Translation: X:0.15, Y:0.78, Z:-0.13 [[ 0.98054804 -0.02717697 -0.19438867 0.15246971] [ 0.01814687 0.99867839 -0.04808499 0.77607266] [ 0.19543857 0.04362209 0.97974531 -0.13401625] [ 0. 0. 0. 1. ]] SLAMing on 58.826502481 meters Centerline goodness : 0.691384 Centerline is valid? [False, False] Translation: X:0.15, Y:0.78, Z:-0.13 [[ 0.98056408 -0.02704233 -0.19432653 0.15189689] [ 0.01800154 0.99867836 -0.04814025 0.7754708 ] [ 0.19537153 0.04370642 0.97975493 -0.13330702] [ 0. 0. 0. 1. ]] SLAMing on 58.856502481 meters Centerline goodness : 0.692167 Centerline is valid? [False, False] Translation: X:0.15, Y:0.77, Z:-0.13 [[ 0.98061613 -0.02665062 -0.19411787 0.15241178] [ 0.01770075 0.99870509 -0.04769509 0.77354273] [ 0.19513761 0.04333454 0.97981806 -0.13402157] [ 0. 0. 0. 1. ]] SLAMing on 58.886502481 meters Centerline goodness : 0.691338 Centerline is valid? [False, False] Translation: X:0.15, Y:0.77, Z:-0.13 [[ 0.98058563 -0.02595607 -0.19436592 0.15398715] [ 0.01711196 0.99874623 -0.04704415 0.77139547] [ 0.19534331 0.04280483 0.97980036 -0.13471399] [ 0. 0. 0. 1. ]] SLAMing on 58.916502481 meters Centerline goodness : 0.691257 Centerline is valid? [False, False] Translation: X:0.16, Y:0.77, Z:-0.13 [[ 0.98042965 -0.02519175 -0.19525134 0.15608623] [ 0.01636542 0.99877548 -0.04668731 0.77030085] [ 0.19618838 0.04257825 0.97964137 -0.1343811 ] [ 0. 0. 0. 1. ]] SLAMing on 58.946502480999996 meters Centerline goodness : 0.692057 Centerline is valid? [False, False] Translation: X:0.16, Y:0.77, Z:-0.14 [[ 0.98039377 -0.02457327 -0.19551011 0.15782823] [ 0.01583157 0.99880905 -0.04615017 0.76795983] [ 0.19641133 0.04215011 0.97961521 -0.13517994] [ 0. 0. 0. 1. ]] SLAMing on 58.976502481 meters Centerline goodness : 0.692386 Centerline is valid? [False, False] Translation: X:0.16, Y:0.77, Z:-0.14 [[ 0.98042354 -0.02429211 -0.19539596 0.1578802 ] [ 0.01557352 0.99881849 -0.04603349 0.76641419] [ 0.19628335 0.04208931 0.97964347 -0.13508553] [ 0. 0. 0. 1. ]] SLAMing on 59.006502481 meters Centerline goodness : 0.691898 Centerline is valid? [False, False] Translation: X:0.16, Y:0.77, Z:-0.13 [[ 0.98036276 -0.02423413 -0.19570785 0.15753398] [ 0.01543657 0.99880582 -0.04635354 0.76628473] [ 0.19659748 0.04242223 0.97956612 -0.13360974] [ 0. 0. 0. 1. ]] SLAMing on 59.036502481 meters Centerline goodness : 0.689411 Centerline is valid? [False, False] Translation: X:0.17, Y:0.77, Z:-0.13 [[ 0.98083882 -0.02717919 -0.19291578 0.17384293] [ 0.01924486 0.99889468 -0.0428842 0.76564284] [ 0.19386811 0.03834985 0.98027774 -0.13011179] [ 0. 0. 0. 1. ]] SLAMing on 59.066502481 meters Centerline goodness : 0.689992 Centerline is valid? [False, False] Translation: X:0.18, Y:0.76, Z:-0.13 [[ 0.9807717 -0.02664993 -0.19333044 0.17512421] [ 0.01875763 0.99891869 -0.0425394 0.76417223] [ 0.19425507 0.03809502 0.98021107 -0.13014596] [ 0. 0. 0. 1. ]] SLAMing on 59.096502481 meters Centerline goodness : 0.687797 Centerline is valid? [False, False] Translation: X:0.18, Y:0.76, Z:-0.13 [[ 0.98069159 -0.0259553 -0.19383068 0.1768067 ] [ 0.01814752 0.99895492 -0.04194929 0.76264526] [ 0.19471692 0.03762177 0.98013771 -0.13053539] [ 0. 0. 0. 1. ]] SLAMing on 59.126502480999996 meters Centerline goodness : 0.685826 Centerline is valid? [False, False] Translation: X:0.18, Y:0.76, Z:-0.13 [[ 0.98039406 -0.02914069 -0.19488026 0.17968427] [ 0.02066244 0.99875529 -0.04539754 0.76259148] [ 0.19596061 0.04048078 0.97977587 -0.12992476] [ 0. 0. 0. 1. ]] SLAMing on 59.156502481 meters Centerline goodness : 0.691980 Centerline is valid? [False, False] Translation: X:0.18, Y:0.76, Z:-0.13 [[ 0.98035208 -0.02864753 -0.19516433 0.18096823] [ 0.02024636 0.998786 -0.04490671 0.7610089 ] [ 0.19621386 0.04007302 0.97974194 -0.13042169] [ 0. 0. 0. 1. ]] SLAMing on 59.186502481 meters Centerline goodness : 0.691582 Centerline is valid? [False, False] Translation: X:0.18, Y:0.76, Z:-0.13 [[ 0.98030167 -0.02807923 -0.19549983 0.18236967] [ 0.01978143 0.99882382 -0.04426826 0.75954904] [ 0.1965129 0.03952899 0.97970411 -0.13105384] [ 0. 0. 0. 1. ]] SLAMing on 59.216502481 meters Centerline goodness : 0.692999 Centerline is valid? [False, False] Translation: X:0.21, Y:0.76, Z:-0.12 [[ 0.98019827 -0.02884178 -0.19590688 0.21244811] [ 0.02043162 0.99878631 -0.04481587 0.76048405] [ 0.19696168 0.03992575 0.97959789 -0.12392245] [ 0. 0. 0. 1. ]] SLAMing on 59.246502481 meters Centerline goodness : 0.690252 Centerline is valid? [False, False] Translation: X:0.23, Y:0.76, Z:-0.12 [[ 0.98008483 -0.03247465 -0.19590593 0.23227233] [ 0.02448767 0.99877254 -0.04305536 0.76208193] [ 0.19706367 0.03740063 0.97967704 -0.11975189] [ 0. 0. 0. 1. ]] SLAMing on 59.276502481 meters Centerline goodness : 0.690151 Centerline is valid? [False, False] Translation: X:0.23, Y:0.76, Z:-0.12 [[ 0.98002802 -0.03210078 -0.19625143 0.23322173] [ 0.02411587 0.99878643 -0.04294285 0.76119151] [ 0.19739177 0.03735242 0.97961283 -0.11950603] [ 0. 0. 0. 1. ]] SLAMing on 59.306502481 meters Centerline goodness : 0.689317 Centerline is valid? [False, False] Translation: X:0.23, Y:0.76, Z:-0.12 [[ 0.97990449 -0.03174033 -0.19692573 0.23451022] [ 0.02372151 0.99879571 -0.04294665 0.76085475] [ 0.19805172 0.03741224 0.97947733 -0.11893349] [ 0. 0. 0. 1. ]] SLAMing on 59.336502481 meters Centerline goodness : 0.689620 Centerline is valid? [False, False] Translation: X:0.24, Y:0.76, Z:-0.12 [[ 0.97980497 -0.0313225 -0.19748702 0.23590334] [ 0.02329204 0.9988097 -0.04285626 0.76031112] [ 0.19859431 0.0373909 0.97936828 -0.11869293] [ 0. 0. 0. 1. ]] SLAMing on 59.366502481 meters Centerline goodness : 0.690411 Centerline is valid? [False, False] Translation: X:0.26, Y:0.76, Z:-0.12 [[ 0.98042862 -0.03198976 -0.19425854 0.26208704] [ 0.02447401 0.99886069 -0.04096753 0.75912605] [ 0.19534776 0.03541146 0.98009453 -0.11568049] [ 0. 0. 0. 1. ]] SLAMing on 59.396502481 meters Centerline goodness : 0.692187 Centerline is valid? [False, False] Translation: X:0.29, Y:0.76, Z:-0.11 [[ 0.98109378 -0.03358124 -0.19059721 0.28915259] [ 0.02623893 0.99881795 -0.04091713 0.7579839 ] [ 0.19174597 0.03514247 0.98081522 -0.11066719] [ 0. 0. 0. 1. ]] SLAMing on 59.426502481 meters Centerline goodness : 0.691484 Centerline is valid? [False, False] Translation: X:0.29, Y:0.76, Z:-0.11 [[ 0.98104 -0.03329887 -0.19092332 0.2894802 ] [ 0.02599248 0.99883543 -0.04064684 0.75710916] [ 0.19205447 0.0349136 0.98076303 -0.11025008] [ 0. 0. 0. 1. ]] SLAMing on 59.456502481 meters Centerline goodness : 0.691577 Centerline is valid? [False, False] Translation: X:0.32, Y:0.75, Z:-0.11 [[ 0.98144152 -0.03318898 -0.18886778 0.31844543] [ 0.02656442 0.99894349 -0.03749974 0.75438741] [ 0.18991282 0.03178664 0.98128626 -0.10785858] [ 0. 0. 0. 1. ]] SLAMing on 59.486502481 meters Centerline goodness : 0.693793 Centerline is valid? [False, False] Translation: X:0.34, Y:0.76, Z:-0.11 [[ 0.98139431 -0.03721635 -0.18836175 0.33669409] [ 0.03134392 0.99892814 -0.03406062 0.75537591] [ 0.18942746 0.0275229 0.9815089 -0.10597173] [ 0. 0. 0. 1. ]] SLAMing on 59.516502480999996 meters Centerline goodness : 0.695179 Centerline is valid? [False, False] Translation: X:0.36, Y:0.76, Z:-0.10 [[ 0.9814024 -0.04076562 -0.18758331 0.35656604] [ 0.03552835 0.99888155 -0.03119903 0.75677958] [ 0.18864536 0.02395428 0.98175309 -0.10362809] [ 0. 0. 0. 1. ]] SLAMing on 59.546502481 meters Centerline goodness : 0.694292 Centerline is valid? [False, False] Translation: X:0.36, Y:0.76, Z:-0.10 [[ 0.98135755 -0.04036357 -0.18790462 0.35762719] [ 0.03517139 0.99890391 -0.03088596 0.75607033] [ 0.18894533 0.0237013 0.98170154 -0.10383541] [ 0. 0. 0. 1. ]] SLAMing on 59.576502481 meters Centerline goodness : 0.696252 Centerline is valid? [False, False] Translation: X:0.36, Y:0.75, Z:-0.10 [[ 0.98137646 -0.04003689 -0.18787573 0.3584242 ] [ 0.03489226 0.99892213 -0.03061222 0.75464872] [ 0.18889884 0.0234867 0.98171564 -0.10445443] [ 0. 0. 0. 1. ]] SLAMing on 59.606502481 meters Centerline goodness : 0.695836 Centerline is valid? [False, False] Translation: X:0.36, Y:0.75, Z:-0.10 [[ 0.9815349 -0.03551688 -0.18795688 0.35824449] [ 0.03115113 0.99917303 -0.02613146 0.75264199] [ 0.18872955 0.01979387 0.9818296 -0.10483181] [ 0. 0. 0. 1. ]] SLAMing on 59.636502481 meters Centerline goodness : 0.696488 Centerline is valid? [False, False] Translation: X:0.38, Y:0.75, Z:-0.10 [[ 0.98181441 -0.03804914 -0.18599118 0.37508036] [ 0.03467724 0.99917048 -0.02135024 0.75403519] [ 0.18664925 0.01451231 0.98231942 -0.10299608] [ 0. 0. 0. 1. ]] SLAMing on 59.666502481 meters Centerline goodness : 0.696033 Centerline is valid? [False, False] Translation: X:0.38, Y:0.75, Z:-0.10 [[ 0.98176105 -0.03798544 -0.18628567 0.37501327] [ 0.03462695 0.99917435 -0.02125061 0.75342816] [ 0.18693907 0.01441251 0.98226578 -0.10227144] [ 0. 0. 0. 1. ]] SLAMing on 59.696502480999996 meters Centerline goodness : 0.698180 Centerline is valid? [False, False] Translation: X:0.38, Y:0.75, Z:-0.10 [[ 0.98172598 -0.03751791 -0.18656501 0.37612583] [ 0.03427549 0.99920059 -0.0205761 0.75168361] [ 0.18718784 0.01380548 0.98222712 -0.10285629] [ 0. 0. 0. 1. ]] SLAMing on 59.726502481 meters Centerline goodness : 0.698299 Centerline is valid? [False, False] Translation: X:0.38, Y:0.75, Z:-0.10 [[ 0.9813626 -0.04162749 -0.18760225 0.37856492] [ 0.03773137 0.99899259 -0.02429285 0.75199735] [ 0.18842451 0.01676161 0.98194463 -0.10254442] [ 0. 0. 0. 1. ]] SLAMing on 59.756502481 meters Centerline goodness : 0.698684 Centerline is valid? [False, False] Translation: X:0.38, Y:0.75, Z:-0.10 [[ 0.98130529 -0.0412409 -0.187987 0.3799109 ] [ 0.03743466 0.9990167 -0.02375437 0.75070238] [ 0.1887818 0.01627306 0.98188422 -0.10309804] [ 0. 0. 0. 1. ]] SLAMing on 59.786502481 meters Centerline goodness : 0.700077 Centerline is valid? [False, False] Translation: X:0.38, Y:0.75, Z:-0.10 [[ 0.98131402 -0.04114598 -0.18796222 0.38047131] [ 0.03743015 0.9990281 -0.02327732 0.74911386] [ 0.18873731 0.01580691 0.98190039 -0.10391386] [ 0. 0. 0. 1. ]] SLAMing on 59.816502481 meters Centerline goodness : 0.698267 Centerline is valid? [False, False] Translation: X:0.38, Y:0.75, Z:-0.10 [[ 0.98127445 -0.04103833 -0.18819224 0.38108311] [ 0.03731405 0.99903211 -0.02329153 0.74876734] [ 0.18896593 0.01583317 0.98185599 -0.10376257] [ 0. 0. 0. 1. ]] SLAMing on 59.846502481 meters Centerline goodness : 0.700937 Centerline is valid? [False, False] Translation: X:0.38, Y:0.75, Z:-0.10 [[ 0.98118964 -0.04096946 -0.18864884 0.38163427] [ 0.03719149 0.99903123 -0.02352447 0.74937572] [ 0.18942986 0.01606583 0.98176281 -0.10308343] [ 0. 0. 0. 1. ]] SLAMing on 59.876502480999996 meters Centerline goodness : 0.697569 Centerline is valid? [False, False] Translation: X:0.38, Y:0.75, Z:-0.10 [[ 0.98109351 -0.04096284 -0.18914958 0.38155394] [ 0.03708587 0.99902402 -0.02399242 0.75070872] [ 0.18994777 0.01652403 0.98165513 -0.1015427 ] [ 0. 0. 0. 1. ]] SLAMing on 59.906502481 meters Centerline goodness : 0.695109 Centerline is valid? [False, False] Translation: X:0.38, Y:0.75, Z:-0.10 [[ 0.98099313 -0.04086567 -0.18969048 0.38182654] [ 0.03692773 0.99902367 -0.02424961 0.75146141] [ 0.19049626 0.01678386 0.98154444 -0.10038851] [ 0. 0. 0. 1. ]] SLAMing on 59.936502481 meters Centerline goodness : 0.695540 Centerline is valid? [False, False] Translation: X:0.38, Y:0.75, Z:-0.10 [[ 0.98093434 -0.04077434 -0.19001386 0.38232961] [ 0.03675253 0.9990205 -0.02464339 0.75219414] [ 0.19083256 0.01719006 0.98147208 -0.0996153 ] [ 0. 0. 0. 1. ]] SLAMing on 59.966502481 meters Centerline goodness : 0.695522 Centerline is valid? [False, False] Translation: X:0.38, Y:0.75, Z:-0.10 [[ 0.98092721 -0.04053257 -0.19010242 0.38317629] [ 0.03655942 0.99903448 -0.02436214 0.75174186] [ 0.19090633 0.01694745 0.98146195 -0.10023262] [ 0. 0. 0. 1. ]] SLAMing on 59.996502481 meters Centerline goodness : 0.698501 Centerline is valid? [False, False] Translation: X:0.39, Y:0.75, Z:-0.10 [[ 0.98083094 -0.03991245 -0.19072928 0.38550891] [ 0.03605216 0.99906959 -0.02366828 0.75100909] [ 0.19149648 0.01633838 0.9813573 -0.10129911] [ 0. 0. 0. 1. ]] SLAMing on 60.026502481 meters Centerline goodness : 0.697948 Centerline is valid? [False, False] Translation: X:0.39, Y:0.75, Z:-0.10 [[ 0.98071468 -0.03950184 -0.19141137 0.38729596] [ 0.03566961 0.99908902 -0.0234267 0.75068772] [ 0.1921624 0.01614734 0.98123029 -0.10136576] [ 0. 0. 0. 1. ]] SLAMing on 60.056502481 meters Centerline goodness : 0.695737 Centerline is valid? [False, False] Translation: X:0.39, Y:0.75, Z:-0.10 [[ 0.9805494 -0.03888797 -0.1923814 0.38966145] [ 0.03507948 0.99911603 -0.02316454 0.75104245] [ 0.19311216 0.01596534 0.98104679 -0.10137033] [ 0. 0. 0. 1. ]] SLAMing on 60.086502481 meters Centerline goodness : 0.699161 Centerline is valid? [False, False] Translation: X:0.39, Y:0.75, Z:-0.10 [[ 0.98046969 -0.03877356 -0.19281024 0.39037978] [ 0.03491595 0.99911705 -0.02336647 0.75157227] [ 0.193546 0.01617796 0.98095781 -0.10083624] [ 0. 0. 0. 1. ]] SLAMing on 60.116502481 meters Centerline goodness : 0.696960 Centerline is valid? [False, False] Translation: X:0.39, Y:0.75, Z:-0.10 [[ 0.98048988 -0.0390904 -0.19264356 0.38927673] [ 0.03510625 0.99909409 -0.02405306 0.75216088] [ 0.19340929 0.01682079 0.98097396 -0.09964068] [ 0. 0. 0. 1. ]] SLAMing on 60.146502481 meters Centerline goodness : 0.698533 Centerline is valid? [False, False] Translation: X:0.39, Y:0.75, Z:-0.10 [[ 0.98051055 -0.03917515 -0.19252109 0.38872571] [ 0.03515157 0.9990872 -0.02427219 0.75191996] [ 0.19329622 0.01703172 0.9809926 -0.09913314] [ 0. 0. 0. 1. ]] SLAMing on 60.176502481 meters Centerline goodness : 0.693032 Centerline is valid? [False, False] Translation: X:0.39, Y:0.75, Z:-0.10 [[ 0.98055278 -0.03913273 -0.19231454 0.38825893] [ 0.03508877 0.99908653 -0.0243902 0.75154113] [ 0.19309332 0.0171678 0.98103019 -0.09878275] [ 0. 0. 0. 1. ]] SLAMing on 60.206502481 meters Centerline goodness : 0.696658 Centerline is valid? [False, False] Translation: X:0.39, Y:0.75, Z:-0.10 [[ 0.98046883 -0.03889095 -0.192791 0.38867174] [ 0.03482456 0.99909462 -0.02443759 0.75144792] [ 0.19356685 0.01724644 0.98093549 -0.09788874] [ 0. 0. 0. 1. ]] SLAMing on 60.236502481 meters Centerline goodness : 0.692217 Centerline is valid? [False, False] Translation: X:0.41, Y:0.75, Z:-0.09 [[ 0.98112339 -0.03709718 -0.1897912 0.41253319] [ 0.03387115 0.99922176 -0.02021451 0.75017803] [ 0.1903934 0.01340449 0.98161636 -0.09323875] [ 0. 0. 0. 1. ]] SLAMing on 60.266502480999996 meters Centerline goodness : 0.691665 Centerline is valid? [False, False] Translation: X:0.41, Y:0.75, Z:-0.09 [[ 0.98100034 -0.03667245 -0.19050846 0.41371788] [ 0.03349196 0.99924107 -0.01988884 0.74940168] [ 0.19109325 0.01313046 0.98148406 -0.09272724] [ 0. 0. 0. 1. ]] SLAMing on 60.296502481 meters Centerline goodness : 0.691665 Centerline is valid? [False, False] Translation: X:0.41, Y:0.75, Z:-0.09 [[ 0.98100218 -0.03671758 -0.19049025 0.41365811] [ 0.0335302 0.99923897 -0.01992979 0.74937573] [ 0.19107705 0.01316399 0.98148676 -0.09269502] [ 0. 0. 0. 1. ]] SLAMing on 60.326502481 meters Centerline goodness : 0.696137 Centerline is valid? [False, False] Translation: X:0.42, Y:0.75, Z:-0.09 [[ 0.98055741 -0.04005309 -0.19210134 0.41886059] [ 0.03626142 0.99907267 -0.02321452 0.74916416] [ 0.19285301 0.0157973 0.98110048 -0.09345121] [ 0. 0. 0. 1. ]] SLAMing on 60.356502481 meters Centerline goodness : 0.693421 Centerline is valid? [False, False] Translation: X:0.42, Y:0.75, Z:-0.09 [[ 0.98013987 -0.04364118 -0.19344581 0.42341328] [ 0.03925701 0.99887925 -0.02644106 0.74902149] [ 0.19438292 0.01832183 0.9807546 -0.09447634] [ 0. 0. 0. 1. ]] SLAMing on 60.386502481 meters Centerline goodness : 0.698776 Centerline is valid? [False, False] Translation: X:0.42, Y:0.75, Z:-0.10 [[ 0.98011859 -0.04334655 -0.19361981 0.42448055] [ 0.03902419 0.99889775 -0.02608433 0.74832988] [ 0.19453706 0.01800988 0.98072982 -0.09513095] [ 0. 0. 0. 1. ]] SLAMing on 60.416502481 meters Centerline goodness : 0.699189 Centerline is valid? [False, False] Translation: X:0.42, Y:0.75, Z:-0.09 [[ 0.98013428 -0.04323657 -0.19356495 0.42423891] [ 0.03890669 0.99890149 -0.02611673 0.74802112] [ 0.19448152 0.01806693 0.98073979 -0.09476526] [ 0. 0. 0. 1. ]] SLAMing on 60.446502480999996 meters Centerline goodness : 0.693759 Centerline is valid? [False, False] Translation: X:0.42, Y:0.75, Z:-0.09 [[ 0.98008005 -0.04324237 -0.19383807 0.42405101] [ 0.03882919 0.99889412 -0.026511 0.74795149] [ 0.19477011 0.01845632 0.98067526 -0.09345567] [ 0. 0. 0. 1. ]] SLAMing on 60.476502481 meters Centerline goodness : 0.695115 Centerline is valid? [False, False] Translation: X:0.42, Y:0.75, Z:-0.09 [[ 0.98002921 -0.04325479 -0.19409218 0.42350695] [ 0.03877367 0.99888778 -0.02682929 0.74845484] [ 0.19503681 0.01876782 0.98061634 -0.09213916] [ 0. 0. 0. 1. ]] SLAMing on 60.506502481 meters Centerline goodness : 0.694208 Centerline is valid? [False, False] Translation: X:0.45, Y:0.75, Z:-0.09 [[ 0.98085521 -0.04134897 -0.19029796 0.44823822] [ 0.03756298 0.99901882 -0.02346085 0.74722049] [ 0.19108133 0.01586354 0.98144601 -0.0868256 ] [ 0. 0. 0. 1. ]] SLAMing on 60.536502481 meters Centerline goodness : 0.695297 Centerline is valid? [False, False] Translation: X:0.45, Y:0.75, Z:-0.09 [[ 0.98087327 -0.0414685 -0.19017886 0.44767746] [ 0.03765298 0.99901135 -0.02363407 0.74614481] [ 0.19097091 0.01602123 0.98146494 -0.08617034] [ 0. 0. 0. 1. ]] SLAMing on 60.566502481 meters Centerline goodness : 0.696627 Centerline is valid? [False, False] Translation: X:0.45, Y:0.75, Z:-0.09 [[ 0.98082707 -0.04125607 -0.19046312 0.44871569] [ 0.03749637 0.99902502 -0.02330313 0.74515466] [ 0.19123882 0.01571467 0.98141773 -0.08662352] [ 0. 0. 0. 1. ]] SLAMing on 60.596502481 meters Centerline goodness : 0.697821 Centerline is valid? [False, False] Translation: X:0.45, Y:0.75, Z:-0.09 [[ 0.9803397 -0.04460317 -0.19220984 0.45392451] [ 0.04022996 0.99883639 -0.0265972 0.74535344] [ 0.1931725 0.0183417 0.98099336 -0.08718162] [ 0. 0. 0. 1. ]] SLAMing on 60.626502480999996 meters Centerline goodness : 0.696117 Centerline is valid? [False, False] Translation: X:0.46, Y:0.75, Z:-0.09 [[ 0.97994431 -0.04862153 -0.19324878 0.45629584] [ 0.04349708 0.99858252 -0.03067496 0.74671103] [ 0.19446632 0.02165399 0.98067016 -0.08639196] [ 0. 0. 0. 1. ]] SLAMing on 60.656502481 meters Centerline goodness : 0.698898 Centerline is valid? [False, False] Translation: X:0.46, Y:0.75, Z:-0.09 [[ 0.97991266 -0.04825691 -0.1935005 0.45710205] [ 0.0431621 0.99860357 -0.03046215 0.74584752] [ 0.1947003 0.02149836 0.98062715 -0.08636952] [ 0. 0. 0. 1. ]] SLAMing on 60.686502481 meters Centerline goodness : 0.699685 Centerline is valid? [False, False] Translation: X:0.46, Y:0.75, Z:-0.09 [[ 0.97980704 -0.04788606 -0.19412648 0.45767092] [ 0.04277941 0.99862146 -0.03041564 0.74575872] [ 0.19531536 0.02149684 0.98050487 -0.08531372] [ 0. 0. 0. 1. ]] SLAMing on 60.716502481 meters Centerline goodness : 0.699690 Centerline is valid? [False, False] Translation: X:0.46, Y:0.75, Z:-0.08 [[ 0.9796886 -0.04729443 -0.19486787 0.45809033] [ 0.04208064 0.99863902 -0.0308113 0.74624859] [ 0.19605986 0.02198531 0.98034544 -0.08300971] [ 0. 0. 0. 1. ]] SLAMing on 60.746502481 meters Centerline goodness : 0.702693 Centerline is valid? [False, False] Translation: X:0.46, Y:0.75, Z:-0.08 [[ 0.97959517 -0.04698292 -0.19541214 0.45858762] [ 0.04173988 0.99865166 -0.03086493 0.74629784] [ 0.19659878 0.02207866 0.98023541 -0.08199872] [ 0. 0. 0. 1. ]] SLAMing on 60.776502481 meters Centerline goodness : 0.701239 Centerline is valid? [False, False] Translation: X:0.46, Y:0.75, Z:-0.08 [[ 0.97952541 -0.04647237 -0.19588335 0.45943669] [ 0.04119438 0.99867213 -0.03093535 0.74568395] [ 0.19706088 0.02223266 0.98013913 -0.08106306] [ 0. 0. 0. 1. ]] SLAMing on 60.806502481 meters Centerline goodness : 0.702194 Centerline is valid? [False, False] Translation: X:0.46, Y:0.75, Z:-0.08 [[ 0.97917141 -0.05002062 -0.19677723 0.46244218] [ 0.04400634 0.99842422 -0.03482137 0.7454398 ] [ 0.19820894 0.02543665 0.97982968 -0.08071468] [ 0. 0. 0. 1. ]] SLAMing on 60.836502481 meters Centerline goodness : 0.703627 Centerline is valid? [False, False] Translation: X:0.46, Y:0.74, Z:-0.08 [[ 0.97910246 -0.04949794 -0.19725192 0.46417156] [ 0.04357182 0.99846222 -0.03427367 0.7437703 ] [ 0.19864507 0.02496281 0.97975354 -0.08121131] [ 0. 0. 0. 1. ]] SLAMing on 60.866502481 meters Centerline goodness : 0.701147 Centerline is valid? [False, False] Translation: X:0.47, Y:0.74, Z:-0.08 [[ 0.97897715 -0.04838777 -0.19814733 0.46571832] [ 0.04254927 0.99852853 -0.03362046 0.74201359] [ 0.19948258 0.02448264 0.97959548 -0.08011411] [ 0. 0. 0. 1. ]] SLAMing on 60.896502481 meters Centerline goodness : 0.704507 Centerline is valid? [False, False] Translation: X:0.47, Y:0.74, Z:-0.08 [[ 0.97890227 -0.04766836 -0.19869091 0.46678479] [ 0.04186663 0.99856806 -0.03330175 0.74045599] [ 0.19999384 0.02428064 0.97949626 -0.07933427] [ 0. 0. 0. 1. ]] SLAMing on 60.926502481 meters Centerline goodness : 0.701331 Centerline is valid? [False, False] Translation: X:0.47, Y:0.74, Z:-0.08 [[ 0.97857458 -0.05088638 -0.19950531 0.46838347] [ 0.04434642 0.99832648 -0.03711647 0.7389065 ] [ 0.20106016 0.02747389 0.97919355 -0.07727055] [ 0. 0. 0. 1. ]] SLAMing on 60.956502481 meters Centerline goodness : 0.702909 Centerline is valid? [False, False] Translation: X:0.47, Y:0.74, Z:-0.07 [[ 0.97832416 -0.05490711 -0.19966735 0.4673468 ] [ 0.04759923 0.99801556 -0.04122193 0.73850364] [ 0.2015345 0.0308244 0.97899627 -0.07472322] [ 0. 0. 0. 1. ]] SLAMing on 60.986502481 meters Centerline goodness : 0.701105 Centerline is valid? [False, False] Translation: X:0.47, Y:0.74, Z:-0.07 [[ 0.97814581 -0.05831214 -0.19957574 0.46734778] [ 0.0502712 0.99771555 -0.04512756 0.73714604] [ 0.2017513 0.03410842 0.9788427 -0.07296326] [ 0. 0. 0. 1. ]] SLAMing on 61.016502480999996 meters Centerline goodness : 0.701237 Centerline is valid? [False, False] Translation: X:0.47, Y:0.74, Z:-0.07 [[ 0.97780391 -0.06244735 -0.19999961 0.46810769] [ 0.05365306 0.99735181 -0.04909912 0.73570082] [ 0.20253608 0.03727872 0.97856499 -0.07163726] [ 0. 0. 0. 1. ]] SLAMing on 61.046502481 meters Centerline goodness : 0.703275 Centerline is valid? [False, False] Translation: X:0.47, Y:0.73, Z:-0.07 [[ 0.97775384 -0.06193792 -0.2004024 0.46946975] [ 0.05321356 0.99739799 -0.04863711 0.73311224] [ 0.20289343 0.036891 0.97850565 -0.07180488] [ 0. 0. 0. 1. ]] SLAMing on 61.076502481 meters Centerline goodness : 0.701975 Centerline is valid? [False, False] Translation: X:0.47, Y:0.73, Z:-0.07 [[ 0.97760862 -0.06061637 -0.20151188 0.47191698] [ 0.05197449 0.99749861 -0.04790803 0.7299079 ] [ 0.20391183 0.03636183 0.97831375 -0.0707638 ] [ 0. 0. 0. 1. ]] SLAMing on 61.106502481 meters Centerline goodness : 0.701604 Centerline is valid? [False, False] Translation: X:0.48, Y:0.73, Z:-0.07 [[ 0.97751803 -0.05865454 -0.20252937 0.47566967] [ 0.05012174 0.99763612 -0.04701036 0.72614565] [ 0.20480799 0.03580235 0.97814717 -0.0706111 ] [ 0. 0. 0. 1. ]] SLAMing on 61.136502481 meters Centerline goodness : 0.702975 Centerline is valid? [False, False] Translation: X:0.48, Y:0.72, Z:-0.07 [[ 0.97747997 -0.05815017 -0.20285824 0.47754712] [ 0.04968747 0.9976786 -0.04656786 0.72376887] [ 0.20509526 0.03543964 0.97810018 -0.07147232] [ 0. 0. 0. 1. ]] SLAMing on 61.166502481 meters Centerline goodness : 0.700541 Centerline is valid? [False, False] Translation: X:0.48, Y:0.72, Z:-0.07 [[ 0.97718759 -0.0621187 -0.20309031 0.47799928] [ 0.05281747 0.99730576 -0.0509072 0.72410894] [ 0.20570543 0.03901916 0.97783576 -0.0698803 ] [ 0. 0. 0. 1. ]] SLAMing on 61.196502480999996 meters Centerline goodness : 0.701012 Centerline is valid? [False, False] Translation: X:0.48, Y:0.72, Z:-0.07 [[ 0.9772068 -0.06254073 -0.20286824 0.4767736 ] [ 0.05323456 0.99727807 -0.05101499 0.72238857] [ 0.20550656 0.0390526 0.97787624 -0.06906231] [ 0. 0. 0. 1. ]] SLAMing on 61.226502481 meters Centerline goodness : 0.700871 Centerline is valid? [False, False] Translation: X:0.48, Y:0.72, Z:-0.07 [[ 0.97718688 -0.06218468 -0.20307353 0.4777299 ] [ 0.05293297 0.99731113 -0.05068149 0.72070637] [ 0.20567911 0.038776 0.97785097 -0.06916007] [ 0. 0. 0. 1. ]] SLAMing on 61.256502481 meters Centerline goodness : 0.701237 Centerline is valid? [False, False] Translation: X:0.48, Y:0.72, Z:-0.07 [[ 0.97714439 -0.06195073 -0.20334931 0.47926248] [ 0.05280644 0.99734744 -0.0500955 0.71887714] [ 0.20591337 0.03821238 0.97782386 -0.07016641] [ 0. 0. 0. 1. ]] SLAMing on 61.286502481 meters Centerline goodness : 0.702490 Centerline is valid? [False, False] Translation: X:0.48, Y:0.72, Z:-0.07 [[ 0.97705115 -0.06143155 -0.20395395 0.48120425] [ 0.05232907 0.99739078 -0.04973222 0.71719885] [ 0.20647692 0.0379182 0.97771647 -0.07024136] [ 0. 0. 0. 1. ]] SLAMing on 61.316502481 meters Centerline goodness : 0.701289 Centerline is valid? [False, False] Translation: X:0.48, Y:0.72, Z:-0.07 [[ 0.97699585 -0.06082445 -0.20440035 0.48267762] [ 0.05177617 0.99743948 -0.04933262 0.71570155] [ 0.20687761 0.0376147 0.97764349 -0.07008929] [ 0. 0. 0. 1. ]] SLAMing on 61.346502481 meters Centerline goodness : 0.704561 Centerline is valid? [False, False] Translation: X:0.48, Y:0.71, Z:-0.07 [[ 0.97689352 -0.06010998 -0.2050996 0.48375619] [ 0.05109318 0.99749188 -0.04898414 0.71405903] [ 0.20752962 0.0373731 0.97751456 -0.06907218] [ 0. 0. 0. 1. ]] SLAMing on 61.376502480999996 meters Centerline goodness : 0.703413 Centerline is valid? [False, False] Translation: X:0.48, Y:0.71, Z:-0.07 [[ 0.97673818 -0.0589527 -0.2061725 0.48498354] [ 0.04995312 0.99756882 -0.0485916 0.71296564] [ 0.20853586 0.03716231 0.97730843 -0.06702594] [ 0. 0. 0. 1. ]] SLAMing on 61.406502481 meters Centerline goodness : 0.704667 Centerline is valid? [False, False] Translation: X:0.49, Y:0.71, Z:-0.07 [[ 0.97659946 -0.05857114 -0.20693701 0.48668644] [ 0.04955779 0.99759401 -0.04847902 0.71324373] [ 0.20927859 0.03708924 0.97715242 -0.06681165] [ 0. 0. 0. 1. ]] SLAMing on 61.436502481 meters Centerline goodness : 0.705960 Centerline is valid? [False, False] Translation: X:0.49, Y:0.71, Z:-0.07 [[ 0.97654434 -0.05845998 -0.20722831 0.4883463 ] [ 0.0494379 0.99760108 -0.04845589 0.71280763] [ 0.20956392 0.0370744 0.97709183 -0.06752049] [ 0. 0. 0. 1. ]] SLAMing on 61.466502481 meters Centerline goodness : 0.703810 Centerline is valid? [False, False] Translation: X:0.49, Y:0.71, Z:-0.07 [[ 0.97622155 -0.06096319 -0.20802638 0.49213597] [ 0.05127443 0.99734766 -0.05165831 0.71300421] [ 0.21062387 0.03976352 0.97675813 -0.06778518] [ 0. 0. 0. 1. ]] SLAMing on 61.496502481 meters Centerline goodness : 0.703043 Centerline is valid? [False, False] Translation: X:0.49, Y:0.71, Z:-0.07 [[ 0.97603356 -0.06288209 -0.20833705 0.49448869] [ 0.05254433 0.9971142 -0.05479391 0.7119374 ] [ 0.21118139 0.04253376 0.97652102 -0.06689759] [ 0. 0. 0. 1. ]] SLAMing on 61.526502481 meters Centerline goodness : 0.703078 Centerline is valid? [False, False] Translation: X:0.49, Y:0.71, Z:-0.06 [[ 0.97647636 -0.05727896 -0.20787744 0.49327107] [ 0.04490959 0.99695514 -0.06374622 0.71109591] [ 0.2108958 0.05291099 0.9760755 -0.0645958 ] [ 0. 0. 0. 1. ]] SLAMing on 61.556502481 meters Centerline goodness : 0.703230 Centerline is valid? [False, False] Translation: X:0.49, Y:0.71, Z:-0.06 [[ 0.97646406 -0.05697062 -0.20801992 0.49348933] [ 0.04460571 0.99697434 -0.06365916 0.70951948] [ 0.21101723 0.05288201 0.97605083 -0.0642341 ] [ 0. 0. 0. 1. ]] SLAMing on 61.586502481 meters Centerline goodness : 0.701353 Centerline is valid? [False, False] Translation: X:0.48, Y:0.71, Z:-0.07 [[ 0.97717537 -0.05233194 -0.20588748 0.47534288] [ 0.03960218 0.99706813 -0.06547376 0.70523943] [ 0.20871022 0.05582576 0.97638288 -0.0666852 ] [ 0. 0. 0. 1. ]] SLAMing on 61.616502481 meters Centerline goodness : 0.700859 Centerline is valid? [False, False] Translation: X:0.45, Y:0.70, Z:-0.07 [[ 0.97709155 -0.0522874 -0.20629623 0.44563524] [ 0.0391418 0.99696476 -0.06729921 0.7014355 ] [ 0.20918897 0.05768268 0.97617247 -0.07064824] [ 0. 0. 0. 1. ]] SLAMing on 61.646502481 meters Centerline goodness : 0.700062 Centerline is valid? [False, False] Translation: X:0.42, Y:0.70, Z:-0.08 [[ 0.97778319 -0.04859815 -0.20390745 0.42493148] [ 0.03527075 0.99702781 -0.06849462 0.69690517] [ 0.20663011 0.05978092 0.97659113 -0.07586268] [ 0. 0. 0. 1. ]] SLAMing on 61.676502481 meters Centerline goodness : 0.698177 Centerline is valid? [False, False] Translation: X:0.41, Y:0.69, Z:-0.08 [[ 0.9775259 -0.04602532 -0.20572986 0.40839034] [ 0.03156979 0.99683183 -0.07300452 0.69387408] [ 0.20843813 0.06486896 0.97588194 -0.07814592] [ 0. 0. 0. 1. ]] SLAMing on 61.706502481 meters Centerline goodness : 0.697239 Centerline is valid? [False, False] Translation: X:0.39, Y:0.69, Z:-0.08 [[ 0.97681276 -0.0460896 -0.20907553 0.39409469] [ 0.02999046 0.99638124 -0.07952987 0.69185156] [ 0.21198443 0.07141552 0.97466016 -0.08020573] [ 0. 0. 0. 1. ]] SLAMing on 61.736502481 meters Centerline goodness : 0.698621 Centerline is valid? [False, False] Translation: X:0.39, Y:0.69, Z:-0.08 [[ 0.97680668 -0.04575922 -0.20917647 0.39488515] [ 0.02977702 0.99643556 -0.07892723 0.69048537] [ 0.21204253 0.07086799 0.97468749 -0.08107812] [ 0. 0. 0. 1. ]] SLAMing on 61.766502480999996 meters Centerline goodness : 0.696487 Centerline is valid? [False, False] Translation: X:0.38, Y:0.69, Z:-0.09 [[ 0.97708607 -0.04336117 -0.20838095 0.37610274] [ 0.02695312 0.99635401 -0.08094577 0.68587231] [ 0.2111311 0.07347447 0.97469234 -0.08506451] [ 0. 0. 0. 1. ]] SLAMing on 61.796502481 meters Centerline goodness : 0.695001 Centerline is valid? [False, False] Translation: X:0.38, Y:0.68, Z:-0.08 [[ 0.97700991 -0.04319012 -0.20877321 0.37639503] [ 0.02684443 0.99639275 -0.08050384 0.68460037] [ 0.21149709 0.07304865 0.974645 -0.08475182] [ 0. 0. 0. 1. ]] SLAMing on 61.826502481 meters Centerline goodness : 0.697072 Centerline is valid? [False, False] Translation: X:0.38, Y:0.68, Z:-0.08 [[ 0.97661254 -0.04704915 -0.20979591 0.37807475] [ 0.02973189 0.99594172 -0.08494765 0.68486289] [ 0.21294121 0.07672331 0.97404803 -0.08231714] [ 0. 0. 0. 1. ]] SLAMing on 61.856502481 meters Centerline goodness : 0.694602 Centerline is valid? [False, False] Translation: X:0.38, Y:0.68, Z:-0.08 [[ 0.97634566 -0.05189325 -0.2098958 0.37787857] [ 0.03363375 0.99540548 -0.08964763 0.68474263] [ 0.21358353 0.0804675 0.97360519 -0.08061823] [ 0. 0. 0. 1. ]] SLAMing on 61.886502481 meters Centerline goodness : 0.695735 Centerline is valid? [False, False] Translation: X:0.39, Y:0.69, Z:-0.08 [[ 0.97669614 -0.05620675 -0.2071363 0.39427919] [ 0.03894472 0.99549084 -0.08649449 0.68572747] [ 0.21106387 0.07641197 0.97448102 -0.07920093] [ 0. 0. 0. 1. ]] SLAMing on 61.916502481 meters Centerline goodness : 0.693766 Centerline is valid? [False, False] Translation: X:0.42, Y:0.68, Z:-0.07 [[ 0.97702536 -0.05766 -0.20517497 0.42275605] [ 0.04087485 0.99553107 -0.08513007 0.68497966] [ 0.20916666 0.07478774 0.97501595 -0.07479313] [ 0. 0. 0. 1. ]] SLAMing on 61.946502480999996 meters Centerline goodness : 0.693874 Centerline is valid? [False, False] Translation: X:0.44, Y:0.69, Z:-0.07 [[ 0.97717855 -0.06149745 -0.20332278 0.43896372] [ 0.04585783 0.99567809 -0.08076012 0.685933 ] [ 0.20741058 0.06959311 0.97577541 -0.07344501] [ 0. 0. 0. 1. ]] SLAMing on 61.976502481 meters Centerline goodness : 0.692199 Centerline is valid? [False, False] Translation: X:0.45, Y:0.69, Z:-0.07 [[ 0.97740513 -0.06538598 -0.20100717 0.45430008] [ 0.05099663 0.99580633 -0.07595451 0.68687117] [ 0.20513058 0.06398764 0.97664069 -0.07146909] [ 0. 0. 0. 1. ]] SLAMing on 62.006502481 meters Centerline goodness : 0.692076 Centerline is valid? [False, False] Translation: X:0.47, Y:0.69, Z:-0.07 [[ 0.97764911 -0.06944019 -0.19844466 0.46994832] [ 0.05613408 0.99582989 -0.07191517 0.68800135] [ 0.20261093 0.05916829 0.97747017 -0.06996762] [ 0. 0. 0. 1. ]] SLAMing on 62.036502481 meters Centerline goodness : 0.694498 Centerline is valid? [False, False] Translation: X:0.49, Y:0.69, Z:-0.07 [[ 0.97726387 -0.07682324 -0.19761962 0.48802306] [ 0.06390204 0.99543019 -0.07095966 0.68998261] [ 0.20216788 0.05671802 0.97770712 -0.06786145] [ 0. 0. 0. 1. ]] SLAMing on 62.066502481 meters Centerline goodness : 0.694078 Centerline is valid? [False, False] Translation: X:0.49, Y:0.69, Z:-0.07 [[ 0.97672747 -0.08126576 -0.19849261 0.4900384 ] [ 0.06749116 0.99488085 -0.07521327 0.69128434] [ 0.20358876 0.06006637 0.97721218 -0.06692747] [ 0. 0. 0. 1. ]] SLAMing on 62.096502481 meters Centerline goodness : 0.694913 Centerline is valid? [False, False] Translation: X:0.49, Y:0.69, Z:-0.07 [[ 0.97669804 -0.08120551 -0.19866202 0.49121216] [ 0.06752023 0.9949154 -0.0747286 0.69028727] [ 0.20372028 0.05957357 0.97721494 -0.06800217] [ 0. 0. 0. 1. ]] SLAMing on 62.126502480999996 meters Centerline goodness : 0.695327 Centerline is valid? [False, False] Translation: X:0.49, Y:0.69, Z:-0.07 [[ 0.97706967 -0.07682869 -0.19857547 0.49059992] [ 0.06396529 0.99546514 -0.07041022 0.68872863] [ 0.20308449 0.05609376 0.97755316 -0.06868316] [ 0. 0. 0. 1. ]] SLAMing on 62.156502481 meters Centerline goodness : 0.691565 Centerline is valid? [False, False] Translation: X:0.49, Y:0.69, Z:-0.07 [[ 0.9774756 -0.07269756 -0.19813255 0.48890561] [ 0.06055496 0.99593531 -0.06667797 0.68867145] [ 0.20217453 0.05317818 0.97790467 -0.06860426] [ 0. 0. 0. 1. ]] SLAMing on 62.186502481 meters Centerline goodness : 0.690496 Centerline is valid? [False, False] Translation: X:0.49, Y:0.69, Z:-0.07 [[ 0.97746503 -0.07260109 -0.19822006 0.48948818] [ 0.06044305 0.99593927 -0.06672036 0.68864035] [ 0.20225911 0.05323579 0.97788404 -0.06876708] [ 0. 0. 0. 1. ]] SLAMing on 62.216502481 meters Centerline goodness : 0.690496 Centerline is valid? [False, False] Translation: X:0.49, Y:0.69, Z:-0.07 [[ 0.97746503 -0.07260109 -0.19822006 0.48948818] [ 0.06044305 0.99593927 -0.06672036 0.68864035] [ 0.20225911 0.05323579 0.97788404 -0.06876708] [ 0. 0. 0. 1. ]] SLAMing on 62.246502481 meters Centerline goodness : 0.692251 Centerline is valid? [False, False] Translation: X:0.49, Y:0.69, Z:-0.07 [[ 0.97744879 -0.07237713 -0.19838201 0.49074771] [ 0.06020708 0.99595396 -0.06671448 0.6890578 ] [ 0.20240795 0.05326598 0.9778516 -0.06931144] [ 0. 0. 0. 1. ]] SLAMing on 62.276502481 meters Centerline goodness : 0.689910 Centerline is valid? [False, False] Translation: X:0.49, Y:0.69, Z:-0.07 [[ 0.97775332 -0.06740747 -0.19863202 0.49190728] [ 0.05613447 0.99650538 -0.06185431 0.68721375] [ 0.20210732 0.04932816 0.97812032 -0.07096612] [ 0. 0. 0. 1. ]] SLAMing on 62.306502481 meters Centerline goodness : 0.691824 Centerline is valid? [False, False] Translation: X:0.52, Y:0.69, Z:-0.06 [[ 0.97671254 -0.06774533 -0.20357599 0.51586537] [ 0.05675056 0.99662125 -0.05937562 0.69238878] [ 0.20691058 0.04643986 0.97725705 -0.06434431] [ 0. 0. 0. 1. ]] SLAMing on 62.336502481 meters Centerline goodness : 0.688151 Centerline is valid? [False, False] Translation: X:0.52, Y:0.70, Z:-0.06 [[ 0.97652102 -0.06701631 -0.2047328 0.5192642 ] [ 0.05593313 0.99666261 -0.05945688 0.69531199] [ 0.20803411 0.04660955 0.97701042 -0.06451324] [ 0. 0. 0. 1. ]] SLAMing on 62.366502481 meters Centerline goodness : 0.691075 Centerline is valid? [False, False] Translation: X:0.52, Y:0.69, Z:-0.07 [[ 0.97691794 -0.06204446 -0.20440602 0.52105722] [ 0.05176824 0.99712973 -0.05524811 0.69479452] [ 0.20724716 0.04339113 0.97732585 -0.06702121] [ 0. 0. 0. 1. ]] SLAMing on 62.396502481 meters Centerline goodness : 0.691227 Centerline is valid? [False, False] Translation: X:0.52, Y:0.70, Z:-0.07 [[ 0.97680558 -0.06206048 -0.20493744 0.5216518 ] [ 0.05155186 0.99708609 -0.05622933 0.69674813] [ 0.20782989 0.04436021 0.97715859 -0.0653761 ] [ 0. 0. 0. 1. ]] SLAMing on 62.426502481 meters Centerline goodness : 0.686830 Centerline is valid? [False, False] Translation: X:0.53, Y:0.70, Z:-0.06 [[ 0.9770964 -0.05456773 -0.20568177 0.53115927] [ 0.04385475 0.99745072 -0.05629233 0.69726721] [ 0.20822918 0.04598291 0.97699856 -0.06074813] [ 0. 0. 0. 1. ]] SLAMing on 62.456502481 meters Centerline goodness : 0.686412 Centerline is valid? [False, False] Translation: X:0.53, Y:0.70, Z:-0.06 [[ 0.97695759 -0.05423474 -0.20642784 0.53293559] [ 0.04331229 0.99743016 -0.05707124 0.69879978] [ 0.2089926 0.04681531 0.976796 -0.05968802] [ 0. 0. 0. 1. ]] SLAMing on 62.486502481 meters Centerline goodness : 0.684182 Centerline is valid? [False, False] Translation: X:0.55, Y:0.70, Z:-0.06 [[ 0.97726651 -0.04697208 -0.20674572 0.54612388] [ 0.03559585 0.99765802 -0.05840721 0.69791277] [ 0.20900504 0.04972012 0.97664979 -0.055609 ] [ 0. 0. 0. 1. ]] SLAMing on 62.516502480999996 meters Centerline goodness : 0.686392 Centerline is valid? [False, False] Translation: X:0.55, Y:0.70, Z:-0.05 [[ 0.97722183 -0.04672749 -0.20701217 0.54626097] [ 0.03518119 0.9976312 -0.05911231 0.69925349] [ 0.20928397 0.05048291 0.97655092 -0.05415854] [ 0. 0. 0. 1. ]] SLAMing on 62.546502481 meters Centerline goodness : 0.684476 Centerline is valid? [False, False] Translation: X:0.55, Y:0.70, Z:-0.05 [[ 0.97736 -0.04122582 -0.20752796 0.54713104] [ 0.03028172 0.99799158 -0.05564012 0.69841518] [ 0.20940497 0.04809613 0.97664544 -0.05244042] [ 0. 0. 0. 1. ]] SLAMing on 62.576502481 meters Centerline goodness : 0.684870 Centerline is valid? [False, False] Translation: X:0.55, Y:0.70, Z:-0.05 [[ 0.97711086 -0.0399127 -0.20895296 0.55072975] [ 0.02887733 0.9980354 -0.05560072 0.69891474] [ 0.21076163 0.04829406 0.9763438 -0.05159537] [ 0. 0. 0. 1. ]] SLAMing on 62.606502481 meters Centerline goodness : 0.685031 Centerline is valid? [False, False] Translation: X:0.55, Y:0.70, Z:-0.05 [[ 0.97696003 -0.03870713 -0.20988297 0.55427118] [ 0.02772638 0.99810067 -0.05501185 0.6974227 ] [ 0.21161369 0.04792509 0.97617766 -0.05215571] [ 0. 0. 0. 1. ]] SLAMing on 62.636502481 meters Centerline goodness : 0.688855 Centerline is valid? [False, False] Translation: X:0.56, Y:0.69, Z:-0.05 [[ 0.97678091 -0.03701659 -0.21101856 0.55869235] [ 0.02615706 0.99819697 -0.05402432 0.69473901] [ 0.21263788 0.0472503 0.97598798 -0.05293627] [ 0. 0. 0. 1. ]] SLAMing on 62.666502481 meters Centerline goodness : 0.685942 Centerline is valid? [False, False] Translation: X:0.56, Y:0.69, Z:-0.05 [[ 0.97671131 -0.03569118 -0.21156833 0.56141754] [ 0.02492852 0.99826614 -0.05332236 0.69104741] [ 0.21310464 0.04680647 0.97590756 -0.05326969] [ 0. 0. 0. 1. ]] SLAMing on 62.696502480999996 meters Centerline goodness : 0.687747 Centerline is valid? [False, False] Translation: X:0.56, Y:0.69, Z:-0.05 [[ 0.97665412 -0.03539473 -0.21188192 0.56209232] [ 0.02464689 0.9982821 -0.05315431 0.68934654] [ 0.21339931 0.04669114 0.97584869 -0.05290735] [ 0. 0. 0. 1. ]] SLAMing on 62.726502481 meters Centerline goodness : 0.688568 Centerline is valid? [False, False] Translation: X:0.56, Y:0.69, Z:-0.05 [[ 0.97662714 -0.03514315 -0.2120481 0.56221456] [ 0.02439893 0.9982924 -0.05307514 0.68762232] [ 0.21355123 0.04666087 0.97581691 -0.05221457] [ 0. 0. 0. 1. ]] SLAMing on 62.756502481 meters Centerline goodness : 0.689168 Centerline is valid? [False, False] Translation: X:0.56, Y:0.69, Z:-0.05 [[ 0.97662909 -0.03462919 -0.21212365 0.56278886] [ 0.02393767 0.99831999 -0.05276539 0.68549512] [ 0.21359451 0.04645446 0.97581728 -0.05204733] [ 0. 0. 0. 1. ]] SLAMing on 62.786502481 meters Centerline goodness : 0.687588 Centerline is valid? [False, False] Translation: X:0.56, Y:0.68, Z:-0.05 [[ 0.97638799 -0.03933368 -0.21241317 0.56219855] [ 0.02773235 0.9979704 -0.05732371 0.6849484 ] [ 0.21423681 0.05007946 0.97549712 -0.04981998] [ 0. 0. 0. 1. ]] SLAMing on 62.816502481 meters Centerline goodness : 0.687900 Centerline is valid? [False, False] Translation: X:0.58, Y:0.68, Z:-0.05 [[ 0.97651495 -0.04412188 -0.21088341 0.57928293] [ 0.03359625 0.99801651 -0.05323853 0.68217503] [ 0.21281411 0.04490333 0.97606037 -0.04871248] [ 0. 0. 0. 1. ]] SLAMing on 62.846502481 meters Centerline goodness : 0.689101 Centerline is valid? [False, False] Translation: X:0.58, Y:0.68, Z:-0.05 [[ 0.97637226 -0.04342343 -0.21168753 0.58102189] [ 0.03306249 0.99808697 -0.05224239 0.67965608] [ 0.21355111 0.0440091 0.97594012 -0.04889555] [ 0. 0. 0. 1. ]] SLAMing on 62.876502480999996 meters Centerline goodness : 0.692615 Centerline is valid? [False, False] Translation: X:0.58, Y:0.68, Z:-0.05 [[ 0.97634462 -0.04331476 -0.21183724 0.58168397] [ 0.03319046 0.99814089 -0.05111897 0.67661541] [ 0.21365762 0.04287876 0.97596713 -0.05007065] [ 0. 0. 0. 1. ]] SLAMing on 62.906502481 meters Centerline goodness : 0.692508 Centerline is valid? [False, False] Translation: X:0.58, Y:0.67, Z:-0.05 [[ 0.9763426 -0.04287398 -0.2119362 0.58280998] [ 0.03291577 0.99819183 -0.05029526 0.67440092] [ 0.21370934 0.04212936 0.97598844 -0.05112104] [ 0. 0. 0. 1. ]] SLAMing on 62.936502481 meters Centerline goodness : 0.693392 Centerline is valid? [False, False] Translation: X:0.58, Y:0.67, Z:-0.05 [[ 0.97635581 -0.04264334 -0.21192187 0.58408523] [ 0.03293724 0.99824951 -0.04912293 0.67095555] [ 0.21364566 0.04098133 0.97605126 -0.05306564] [ 0. 0. 0. 1. ]] SLAMing on 62.966502481 meters Centerline goodness : 0.692678 Centerline is valid? [False, False] Translation: X:0.58, Y:0.67, Z:-0.05 [[ 0.97641709 -0.04305152 -0.21155667 0.58252062] [ 0.03336076 0.99823331 -0.04916621 0.66968487] [ 0.21329959 0.04094904 0.9761283 -0.05252751] [ 0. 0. 0. 1. ]] SLAMing on 62.996502481 meters Centerline goodness : 0.694353 Centerline is valid? [False, False] Translation: X:0.58, Y:0.67, Z:-0.05 [[ 0.97637505 -0.04301848 -0.21175734 0.58227141] [ 0.03330651 0.99823245 -0.04922046 0.6694436 ] [ 0.21350044 0.04100473 0.97608205 -0.05175154] [ 0. 0. 0. 1. ]] SLAMing on 63.026502481 meters Centerline goodness : 0.694740 Centerline is valid? [False, False] Translation: X:0.58, Y:0.67, Z:-0.05 [[ 0.97627636 -0.04288651 -0.21223858 0.58251525] [ 0.03314473 0.99823645 -0.04924861 0.66915685] [ 0.21397639 0.04104566 0.97597611 -0.05083092] [ 0. 0. 0. 1. ]] SLAMing on 63.056502481 meters Centerline goodness : 0.698477 Centerline is valid? [False, False] Translation: X:0.58, Y:0.67, Z:-0.05 [[ 0.97630337 -0.04280603 -0.21213056 0.58299335] [ 0.03313795 0.99825257 -0.04892525 0.66743022] [ 0.21385417 0.04073631 0.97601585 -0.05151157] [ 0. 0. 0. 1. ]] SLAMing on 63.086502481 meters Centerline goodness : 0.698845 Centerline is valid? [False, False] Translation: X:0.59, Y:0.66, Z:-0.05 [[ 0.97630551 -0.04213224 -0.21225556 0.58522394] [ 0.03267574 0.99831914 -0.04786644 0.66461633] [ 0.21391551 0.03979666 0.97604118 -0.05352848] [ 0. 0. 0. 1. ]] SLAMing on 63.116502481 meters Centerline goodness : 0.697238 Centerline is valid? [False, False] Translation: X:0.59, Y:0.66, Z:-0.06 [[ 0.97642027 -0.03743621 -0.21260757 0.58694113] [ 0.02890237 0.99865231 -0.04310712 0.66172084] [ 0.21393481 0.0359458 0.97618635 -0.05531325] [ 0. 0. 0. 1. ]] SLAMing on 63.146502481 meters Centerline goodness : 0.698623 Centerline is valid? [False, False] Translation: X:0.61, Y:0.66, Z:-0.05 [[ 0.97663826 -0.03677943 -0.2117191 0.6050414 ] [ 0.03008841 0.99894336 -0.03473977 0.66133387] [ 0.2127731 0.02755789 0.97671294 -0.05441287] [ 0. 0. 0. 1. ]] SLAMing on 63.176502481 meters Centerline goodness : 0.697153 Centerline is valid? [False, False] Translation: X:0.61, Y:0.66, Z:-0.05 [[ 0.97657229 -0.0364147 -0.21208615 0.60586023] [ 0.02975988 0.99896196 -0.03448706 0.66114305] [ 0.21312183 0.02736745 0.97664226 -0.05432802] [ 0. 0. 0. 1. ]] SLAMing on 63.206502481 meters Centerline goodness : 0.698605 Centerline is valid? [False, False] Translation: X:0.61, Y:0.66, Z:-0.06 [[ 0.97659005 -0.03605129 -0.21206645 0.60678396] [ 0.02948404 0.99898513 -0.03405007 0.66005169] [ 0.21307878 0.02700038 0.97666187 -0.05520477] [ 0. 0. 0. 1. ]] SLAMing on 63.236502481 meters Centerline goodness : 0.698868 Centerline is valid? [False, False] Translation: X:0.61, Y:0.66, Z:-0.06 [[ 0.97657498 -0.03582719 -0.21217382 0.60748968] [ 0.0292992 0.99899795 -0.03383278 0.65953806] [ 0.21317334 0.02682372 0.9766461 -0.05561816] [ 0. 0. 0. 1. ]] SLAMing on 63.266502480999996 meters Centerline goodness : 0.694790 Centerline is valid? [False, False] Translation: X:0.61, Y:0.66, Z:-0.06 [[ 0.97654419 -0.03570883 -0.21233541 0.60766132] [ 0.02910463 0.9989929 -0.03414838 0.66019155] [ 0.21334096 0.02716746 0.9766 -0.05502998] [ 0. 0. 0. 1. ]] SLAMing on 63.296502481 meters Centerline goodness : 0.696094 Centerline is valid? [False, False] Translation: X:0.61, Y:0.66, Z:-0.05 [[ 0.97649215 -0.03571203 -0.21257405 0.60782119] [ 0.02903244 0.99898422 -0.03446237 0.66056393] [ 0.21358884 0.02748069 0.97653706 -0.05436426] [ 0. 0. 0. 1. ]] SLAMing on 63.326502481 meters Centerline goodness : 0.695203 Centerline is valid? [False, False] Translation: X:0.61, Y:0.66, Z:-0.05 [[ 0.97642769 -0.03536969 -0.21292709 0.60916253] [ 0.02866515 0.99899374 -0.03449374 0.66060887] [ 0.21393286 0.02757706 0.97645903 -0.05445491] [ 0. 0. 0. 1. ]] SLAMing on 63.356502481 meters Centerline goodness : 0.698415 Centerline is valid? [False, False] Translation: X:0.61, Y:0.66, Z:-0.05 [[ 0.97637386 -0.03502055 -0.21323144 0.60992312] [ 0.02833435 0.99900871 -0.03433321 0.66054452] [ 0.21422244 0.02748027 0.97639827 -0.05436467] [ 0. 0. 0. 1. ]] SLAMing on 63.386502481 meters Centerline goodness : 0.696171 Centerline is valid? [False, False] Translation: X:0.61, Y:0.66, Z:-0.05 [[ 0.9763056 -0.03447183 -0.213633 0.61053039] [ 0.02774717 0.99902298 -0.03439747 0.66145578] [ 0.21461002 0.02765473 0.97630823 -0.05353836] [ 0. 0. 0. 1. ]] SLAMing on 63.416502481 meters Centerline goodness : 0.696578 Centerline is valid? [False, False] Translation: X:0.61, Y:0.66, Z:-0.05 [[ 0.97622967 -0.03386655 -0.21407634 0.61223535] [ 0.02719194 0.99905022 -0.03404771 0.66099447] [ 0.21502609 0.02741723 0.97622337 -0.05388485] [ 0. 0. 0. 1. ]] SLAMing on 63.446502480999996 meters Centerline goodness : 0.695899 Centerline is valid? [False, False] Translation: X:0.62, Y:0.66, Z:-0.06 [[ 0.97600887 -0.03229351 -0.2153226 0.61671532] [ 0.02580194 0.99912581 -0.03289182 0.66066357] [ 0.21619656 0.02654697 0.97598889 -0.05517784] [ 0. 0. 0. 1. ]] SLAMing on 63.476502481 meters Centerline goodness : 0.695464 Centerline is valid? [False, False] Translation: X:0.62, Y:0.66, Z:-0.05 [[ 0.97594531 -0.03182032 -0.21568082 0.61653031] [ 0.02521055 0.99912642 -0.03332893 0.66189236] [ 0.21655295 0.02708978 0.97589496 -0.05330531] [ 0. 0. 0. 1. ]] SLAMing on 63.506502481 meters Centerline goodness : 0.695411 Centerline is valid? [False, False] Translation: X:0.62, Y:0.66, Z:-0.05 [[ 0.97594303 -0.03181104 -0.21569249 0.61638905] [ 0.02513131 0.99911794 -0.03364167 0.66193778] [ 0.21657242 0.02741172 0.97588165 -0.05277803] [ 0. 0. 0. 1. ]] SLAMing on 63.536502481 meters Centerline goodness : 0.694909 Centerline is valid? [False, False] Translation: X:0.62, Y:0.66, Z:-0.05 [[ 0.97579177 -0.03595992 -0.21572507 0.61687361] [ 0.02826559 0.99885304 -0.03864801 0.6636826 ] [ 0.21686742 0.03161482 0.975689 -0.05122825] [ 0. 0. 0. 1. ]] SLAMing on 63.566502481 meters Centerline goodness : 0.696502 Centerline is valid? [False, False] Translation: X:0.62, Y:0.66, Z:-0.05 [[ 0.97564532 -0.03928265 -0.21580799 0.61778481] [ 0.03079265 0.9986191 -0.04256422 0.66458482] [ 0.21718202 0.03488229 0.97550766 -0.05038243] [ 0. 0. 0. 1. ]] SLAMing on 63.596502481 meters Centerline goodness : 0.697244 Centerline is valid? [False, False] Translation: X:0.62, Y:0.66, Z:-0.05 [[ 0.97559118 -0.03874008 -0.21615053 0.61931932] [ 0.0301855 0.99863012 -0.04274014 0.66348347] [ 0.21751019 0.03517229 0.97542413 -0.05021747] [ 0. 0. 0. 1. ]] SLAMing on 63.626502480999996 meters Centerline goodness : 0.696728 Centerline is valid? [False, False] Translation: X:0.62, Y:0.66, Z:-0.05 [[ 0.97553422 -0.03856464 -0.21643878 0.61980001] [ 0.02994217 0.99862724 -0.04297796 0.66274021] [ 0.21779909 0.03544582 0.97534976 -0.04958502] [ 0. 0. 0. 1. ]] SLAMing on 63.656502481 meters Centerline goodness : 0.696756 Centerline is valid? [False, False] Translation: X:0.62, Y:0.66, Z:-0.05 [[ 0.97555773 -0.03795706 -0.21644026 0.61995774] [ 0.02936044 0.99865226 -0.0427975 0.66161752] [ 0.21777302 0.03539665 0.97535736 -0.04921812] [ 0. 0. 0. 1. ]] SLAMing on 63.686502481 meters Centerline goodness : 0.694966 Centerline is valid? [False, False] Translation: X:0.62, Y:0.66, Z:-0.05 [[ 0.97593964 -0.03463808 -0.21527196 0.61792724] [ 0.02666132 0.99884995 -0.03984912 0.6581373 ] [ 0.21640468 0.03315091 0.97574076 -0.04966091] [ 0. 0. 0. 1. ]] SLAMing on 63.716502481 meters Centerline goodness : 0.693711 Centerline is valid? [False, False] Translation: X:0.62, Y:0.66, Z:-0.05 [[ 0.97600498 -0.03453377 -0.21499231 0.61719498] [ 0.02653121 0.99884744 -0.03999853 0.65728503] [ 0.21612582 0.03333475 0.9757963 -0.04913 ] [ 0. 0. 0. 1. ]] SLAMing on 63.746502481 meters Centerline goodness : 0.701307 Centerline is valid? [False, False] Translation: X:0.62, Y:0.65, Z:-0.05 [[ 0.97609066 -0.03365278 -0.21474289 0.61855912] [ 0.02591081 0.9989123 -0.03876668 0.65422513] [ 0.21581392 0.03227563 0.97590093 -0.05110495] [ 0. 0. 0. 1. ]] SLAMing on 63.776502481 meters Centerline goodness : 0.699642 Centerline is valid? [False, False] Translation: X:0.62, Y:0.65, Z:-0.05 [[ 0.97577711 -0.03745998 -0.21553604 0.62071947] [ 0.02892303 0.99867229 -0.04262773 0.65393172] [ 0.2168467 0.03536121 0.97556501 -0.05057393] [ 0. 0. 0. 1. ]] SLAMing on 63.806502481 meters Centerline goodness : 0.699415 Centerline is valid? [False, False] Translation: X:0.61, Y:0.65, Z:-0.05 [[ 0.97525992 -0.03598789 -0.21811228 0.60610566] [ 0.02600319 0.99848574 -0.04847748 0.65066257] [ 0.2195266 0.04160653 0.97471892 -0.05174733] [ 0. 0. 0. 1. ]] SLAMing on 63.836502481 meters Centerline goodness : 0.699884 Centerline is valid? [False, False] Translation: X:0.58, Y:0.65, Z:-0.06 [[ 0.97469572 -0.0376307 -0.2203456 0.57586141] [ 0.02679057 0.99828869 -0.0519804 0.64777523] [ 0.22192458 0.04476189 0.97403586 -0.0550685 ] [ 0. 0. 0. 1. ]] SLAMing on 63.866502481 meters Centerline goodness : 0.699847 Centerline is valid? [False, False] Translation: X:0.57, Y:0.64, Z:-0.05 [[ 0.97479924 -0.03812492 -0.21980205 0.57441708] [ 0.02721666 0.99825286 -0.05244502 0.64456615] [ 0.22141749 0.04514109 0.97413376 -0.05466728] [ 0. 0. 0. 1. ]] SLAMing on 63.896502481 meters Centerline goodness : 0.702546 Centerline is valid? [False, False] Translation: X:0.56, Y:0.64, Z:-0.06 [[ 0.97473176 -0.0359165 -0.22047222 0.55597677] [ 0.02396259 0.99810607 -0.05665739 0.64037375] [ 0.2220896 0.04994267 0.97374634 -0.05701938] [ 0. 0. 0. 1. ]] SLAMing on 63.926502481 meters Centerline goodness : 0.700904 Centerline is valid? [False, False] Translation: X:0.50, Y:0.64, Z:-0.07 [[ 0.97453829 -0.03617668 -0.22128347 0.5032608 ] [ 0.02320834 0.99787233 -0.06092768 0.63552411] [ 0.22301681 0.05424074 0.97330439 -0.0658238 ] [ 0. 0. 0. 1. ]] SLAMing on 63.956502481 meters Centerline goodness : 0.699935 Centerline is valid? [False, False] Translation: X:0.48, Y:0.63, Z:-0.07 [[ 0.9742923 -0.03427686 -0.22266481 0.47521552] [ 0.02148003 0.99798872 -0.05964167 0.63133286] [ 0.2242613 0.05332557 0.97306899 -0.07320108] [ 0. 0. 0. 1. ]] SLAMing on 63.986502481 meters Centerline goodness : 0.699806 Centerline is valid? [False, False] Translation: X:0.43, Y:0.63, Z:-0.08 [[ 0.97424591 -0.03382582 -0.22293659 0.4253184 ] [ 0.01985959 0.99771399 -0.06459399 0.62740693] [ 0.2246119 0.058503 0.97269054 -0.08189458] [ 0. 0. 0. 1. ]] SLAMing on 64.01650248099999 meters Centerline goodness : 0.700143 Centerline is valid? [False, False] Translation: X:0.36, Y:0.62, Z:-0.09 [[ 0.97396168 -0.03559802 -0.22390049 0.36273059] [ 0.02107119 0.99753453 -0.06693922 0.62227343] [ 0.22573138 0.06047838 0.9723105 -0.09286152] [ 0. 0. 0. 1. ]] SLAMing on 64.04650248099999 meters Centerline goodness : 0.699569 Centerline is valid? [False, False] Translation: X:0.30, Y:0.62, Z:-0.10 [[ 0.97374092 -0.03557521 -0.22486225 0.30495218] [ 0.02032971 0.99735697 -0.06975518 0.61800189] [ 0.22674948 0.06335209 0.97189052 -0.10277926] [ 0. 0. 0. 1. ]] SLAMing on 64.07650248099999 meters Centerline goodness : 0.700648 Centerline is valid? [False, False] Translation: X:0.26, Y:0.61, Z:-0.11 [[ 0.9738263 -0.0342246 -0.22470206 0.25543433] [ 0.01825564 0.99718206 -0.07276447 0.61321697] [ 0.22655919 0.06675788 0.97170691 -0.1143661 ] [ 0. 0. 0. 1. ]] SLAMing on 64.10650248099999 meters Centerline goodness : 0.700648 Centerline is valid? [False, False] Translation: X:0.20, Y:0.61, Z:-0.13 [[ 0.97400017 -0.03206231 -0.22426697 0.20439156] [ 0.01553068 0.99705554 -0.0750936 0.60946744] [ 0.2260143 0.06965816 0.97163022 -0.12527321] [ 0. 0. 0. 1. ]] SLAMing on 64.136502481 meters Centerline goodness : 0.701236 Centerline is valid? [False, False] Translation: X:0.14, Y:0.61, Z:-0.14 [[ 0.97354966 -0.0342721 -0.22589042 0.14449343] [ 0.01682118 0.99675396 -0.07873109 0.60612261] [ 0.22785545 0.07284888 0.97096598 -0.13645693] [ 0. 0. 0. 1. ]] SLAMing on 64.166502481 meters Centerline goodness : 0.700147 Centerline is valid? [False, False] Translation: X:0.12, Y:0.60, Z:-0.14 [[ 0.97414293 -0.0304198 -0.22387538 0.12428722] [ 0.01283605 0.9967456 -0.07958292 0.60079565] [ 0.2255677 0.07465146 0.97136315 -0.14317318] [ 0. 0. 0. 1. ]] SLAMing on 64.196502481 meters Centerline goodness : 0.699795 Centerline is valid? [False, False] Translation: X:0.05, Y:0.59, Z:-0.16 [[ 0.97463083 -0.0262177 -0.22227772 0.05188312] [ 0.00773768 0.99646885 -0.08360596 0.59458401] [ 0.22368478 0.07976503 0.97139212 -0.15878076] [ 0. 0. 0. 1. ]] SLAMing on 64.226502481 meters Centerline goodness : 0.700044 Centerline is valid? [False, False] Translation: X:0.02, Y:0.59, Z:-0.17 [[ 0.97445733 -0.02528776 -0.22314443 0.01878628] [ 0.00704714 0.99659389 -0.08216423 0.59021175] [ 0.22446212 0.07849301 0.97131643 -0.16625791] [ 0. 0. 0. 1. ]] SLAMing on 64.256502481 meters Centerline goodness : 0.701698 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.59, Z:-0.18 [[ 0.97490702 -0.02313945 -0.22140655 -0.05121084] [ 0.00371961 0.99613742 -0.08772911 0.58513872] [ 0.22258135 0.08470418 0.97122744 -0.18180316] [ 0. 0. 0. 1. ]] SLAMing on 64.28650248099999 meters Centerline goodness : 0.697730 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.58, Z:-0.19 [[ 0.97485458 -0.02097466 -0.22185267 -0.10106214] [ 0.00121795 0.99604716 -0.08881766 0.57983333] [ 0.22283864 0.0863141 0.97102668 -0.19417224] [ 0. 0. 0. 1. ]] SLAMing on 64.31650248099999 meters Centerline goodness : 0.699785 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.58, Z:-0.21 [[ 0.97455592 -0.0236537 -0.22289294 -0.16137233] [ 0.00332945 0.99583418 -0.09112193 0.57758474] [ 0.22411978 0.0880613 0.97057485 -0.20644839] [ 0. 0. 0. 1. ]] SLAMing on 64.34650248099999 meters Centerline goodness : 0.699553 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.57, Z:-0.22 [[ 0.97467316 -0.02224674 -0.22252487 -0.20753724] [ 0.0010934 0.9955019 -0.09473532 0.5724767 ] [ 0.22363148 0.09209267 0.9703133 -0.21705558] [ 0. 0. 0. 1. ]] SLAMing on 64.37650248099999 meters Centerline goodness : 0.700840 Centerline is valid? [False, False] Translation: X:-0.26, Y:0.57, Z:-0.23 [[ 9.74743105e-01 -2.22799042e-02 -2.22214951e-01 -2.59039556e-01] [ 2.82296480e-04 9.95133386e-01 -9.85366187e-02 5.67074445e-01] [ 2.23328903e-01 9.59851592e-02 9.70005696e-01 -2.27728043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40650248099999 meters Centerline goodness : 0.698094 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.56, Z:-0.24 [[ 0.97574405 -0.02033874 -0.21796764 -0.28301868] [-0.00133012 0.99510558 -0.09880845 0.56134258] [ 0.21891046 0.09670168 0.97094129 -0.2353241 ] [ 0. 0. 0. 1. ]] SLAMing on 64.43650248099999 meters Centerline goodness : 0.696099 Centerline is valid? [False, False] Translation: X:-0.29, Y:0.56, Z:-0.23 [[ 9.75922659e-01 -2.10324346e-02 -2.17100439e-01 -2.85464096e-01] [-5.90671853e-04 9.95081531e-01 -9.90575488e-02 5.57474796e-01] [ 2.18116058e-01 9.68007415e-02 9.71110190e-01 -2.34858954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46650248099999 meters Centerline goodness : 0.698825 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.56, Z:-0.24 [[ 0.97582986 -0.02032325 -0.21758458 -0.28371927] [-0.00118745 0.99515837 -0.09827717 0.55511713] [ 0.21852843 0.09616017 0.97108112 -0.23551131] [ 0. 0. 0. 1. ]] SLAMing on 64.496502481 meters Centerline goodness : 0.697983 Centerline is valid? [False, False] Translation: X:-0.28, Y:0.55, Z:-0.23 [[ 9.75301777e-01 -2.32228262e-02 -2.19652324e-01 -2.78649157e-01] [ 7.80629771e-04 9.94813693e-01 -1.01710901e-01 5.52996939e-01] [ 2.20875154e-01 9.90273557e-02 9.70261691e-01 -2.34360650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.526502481 meters Centerline goodness : 0.697428 Centerline is valid? [False, False] Translation: X:-0.26, Y:0.55, Z:-0.23 [[ 0.97422984 -0.02971713 -0.2235914 -0.25569607] [ 0.0066599 0.99464067 -0.10317746 0.55288955] [ 0.22545923 0.09902947 0.96920653 -0.2299566 ] [ 0. 0. 0. 1. ]] SLAMing on 64.556502481 meters Centerline goodness : 0.695402 Centerline is valid? [False, False] Translation: X:-0.24, Y:0.55, Z:-0.23 [[ 0.97455978 -0.03187957 -0.22184889 -0.23774594] [ 0.01016294 0.99509993 -0.09835059 0.5507236 ] [ 0.22389719 0.09359389 0.97010836 -0.22884935] [ 0. 0. 0. 1. ]] SLAMing on 64.586502481 meters Centerline goodness : 0.697145 Centerline is valid? [False, False] Translation: X:-0.21, Y:0.55, Z:-0.22 [[ 0.9752124 -0.03023368 -0.21919557 -0.21220837] [ 0.00961852 0.99547716 -0.09451302 0.54712058] [ 0.22106166 0.09006194 0.97109247 -0.22429634] [ 0. 0. 0. 1. ]] SLAMing on 64.616502481 meters Centerline goodness : 0.694107 Centerline is valid? [False, False] Translation: X:-0.20, Y:0.55, Z:-0.22 [[ 0.97560683 -0.03432769 -0.21682462 -0.19561626] [ 0.01464511 0.99567534 -0.09173946 0.54698919] [ 0.21903613 0.08632622 0.9718904 -0.22180328] [ 0. 0. 0. 1. ]] SLAMing on 64.646502481 meters Centerline goodness : 0.695960 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.55, Z:-0.22 [[ 0.97604577 -0.03996667 -0.21386283 -0.1779542 ] [ 0.02090162 0.99566104 -0.09067644 0.54537335] [ 0.21655892 0.08403428 0.97264612 -0.21949997] [ 0. 0. 0. 1. ]] SLAMing on 64.67650248099999 meters Centerline goodness : 0.697796 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.54, Z:-0.22 [[ 0.97649306 -0.04444966 -0.21091595 -0.16177952] [ 0.02639587 0.9958012 -0.08765405 0.54484928] [ 0.21392654 0.08002626 0.97356624 -0.21830444] [ 0. 0. 0. 1. ]] SLAMing on 64.70650248099999 meters Centerline goodness : 0.697397 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.54, Z:-0.22 [[ 0.97678396 -0.04884946 -0.20858291 -0.14477728] [ 0.03186758 0.99595478 -0.0840151 0.54367195] [ 0.21184324 0.07541757 0.97438936 -0.21706183] [ 0. 0. 0. 1. ]] SLAMing on 64.73650248099999 meters Centerline goodness : 0.697635 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.54, Z:-0.21 [[ 0.97673382 -0.05360861 -0.20764673 -0.12644583] [ 0.0373513 0.99597812 -0.08143992 0.54381344] [ 0.21117748 0.07178925 0.97480787 -0.21498789] [ 0. 0. 0. 1. ]] SLAMing on 64.76650248099999 meters Centerline goodness : 0.697252 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.54, Z:-0.21 [[ 0.97658314 -0.05855283 -0.20701917 -0.1080948 ] [ 0.0429292 0.99593587 -0.07917594 0.54448562] [ 0.21081379 0.06843472 0.9751278 -0.21292112] [ 0. 0. 0. 1. ]] SLAMing on 64.79650248099999 meters Centerline goodness : 0.698483 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.54, Z:-0.21 [[ 0.97671971 -0.0594213 -0.2061255 -0.07807998] [ 0.0441364 0.99597756 -0.07797869 0.54236175] [ 0.20992997 0.06706568 0.97541355 -0.20945048] [ 0. 0. 0. 1. ]] SLAMing on 64.82650248099999 meters Centerline goodness : 0.700612 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.54, Z:-0.21 [[ 0.97665265 -0.06306458 -0.20535936 -0.05974713] [ 0.04848109 0.99598224 -0.07529246 0.54345134] [ 0.20928256 0.06357853 0.97578613 -0.20638613] [ 0. 0. 0. 1. ]] SLAMing on 64.85650248099999 meters Centerline goodness : 0.697257 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.54, Z:-0.20 [[ 0.97738493 -0.06150924 -0.20232478 -0.03311442] [ 0.04776739 0.99625151 -0.0721194 0.54215276] [ 0.20600237 0.06082389 0.97665935 -0.20154276] [ 0. 0. 0. 1. ]] SLAMing on 64.886502481 meters Centerline goodness : 0.699183 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.54, Z:-0.20 [[ 0.97769062 -0.06417887 -0.2000053 -0.01630537] [ 0.0515374 0.99636769 -0.06778884 0.54310247] [ 0.20362943 0.05596876 0.97744696 -0.19974548] [ 0. 0. 0. 1. ]] SLAMing on 64.916502481 meters Centerline goodness : 0.697791 Centerline is valid? [False, False] Translation: X:0.01, Y:0.54, Z:-0.20 [[ 0.97828237 -0.06391724 -0.19717555 0.01466845] [ 0.05157505 0.99641154 -0.06711234 0.54124494] [ 0.20075763 0.05548548 0.97806837 -0.19556181] [ 0. 0. 0. 1. ]] SLAMing on 64.946502481 meters Centerline goodness : 0.698750 Centerline is valid? [False, False] Translation: X:0.03, Y:0.54, Z:-0.19 [[ 0.9778598 -0.06930374 -0.19745178 0.03440405] [ 0.05706374 0.9961181 -0.0670258 0.54311832] [ 0.20133043 0.05427449 0.97801858 -0.19145255] [ 0. 0. 0. 1. ]] SLAMing on 64.976502481 meters Centerline goodness : 0.699017 Centerline is valid? [False, False] Translation: X:0.06, Y:0.54, Z:-0.19 [[ 0.97797362 -0.070185 -0.19657481 0.06250486] [ 0.05825572 0.99612877 -0.06583113 0.54205796] [ 0.20043418 0.0529295 0.97827634 -0.1865524 ] [ 0. 0. 0. 1. ]] SLAMing on 65.006502481 meters Centerline goodness : 0.697718 Centerline is valid? [False, False] Translation: X:0.08, Y:0.54, Z:-0.18 [[ 0.9777187 -0.074059 -0.19642151 0.08033456] [ 0.06286754 0.99605537 -0.06262088 0.54374269] [ 0.20028434 0.04887707 0.97851787 -0.18344592] [ 0. 0. 0. 1. ]] SLAMing on 65.03650248099999 meters Centerline goodness : 0.700466 Centerline is valid? [False, False] Translation: X:0.10, Y:0.54, Z:-0.18 [[ 0.97755154 -0.07776606 -0.19581989 0.09875065] [ 0.06733708 0.99596208 -0.05937386 0.54449615] [ 0.19964646 0.04485506 0.9788408 -0.18123343] [ 0. 0. 0. 1. ]] SLAMing on 65.06650248099999 meters Centerline goodness : 0.700186 Centerline is valid? [False, False] Translation: X:0.10, Y:0.54, Z:-0.18 [[ 0.97713786 -0.08187857 -0.19620782 0.10053132] [ 0.07073249 0.99549317 -0.06316858 0.54463885] [ 0.2004957 0.04784615 0.97852553 -0.18118818] [ 0. 0. 0. 1. ]] SLAMing on 65.09650248099999 meters Centerline goodness : 0.699215 Centerline is valid? [False, False] Translation: X:0.12, Y:0.55, Z:-0.18 [[ 0.97669948 -0.08583395 -0.1966994 0.12076119] [ 0.0749787 0.99525593 -0.06199859 0.54678501] [ 0.20108783 0.04580572 0.97850167 -0.17716083] [ 0. 0. 0. 1. ]] SLAMing on 65.12650248099999 meters Centerline goodness : 0.700924 Centerline is valid? [False, False] Translation: X:0.15, Y:0.55, Z:-0.17 [[ 0.97718247 -0.08474756 -0.19476207 0.1497571 ] [ 0.07454683 0.99546264 -0.05913458 0.54665481] [ 0.19888988 0.04326638 0.97906631 -0.17286141] [ 0. 0. 0. 1. ]] SLAMing on 65.15650248099999 meters Centerline goodness : 0.699592 Centerline is valid? [False, False] Translation: X:0.15, Y:0.55, Z:-0.17 [[ 0.97708418 -0.08463463 -0.19530356 0.15014724] [ 0.07438706 0.99546865 -0.0592345 0.54692848] [ 0.19943187 0.04334904 0.9789524 -0.17192604] [ 0. 0. 0. 1. ]] SLAMing on 65.18650248099999 meters Centerline goodness : 0.696750 Centerline is valid? [False, False] Translation: X:0.15, Y:0.55, Z:-0.17 [[ 0.97702855 -0.08449762 -0.19564091 0.15090431] [ 0.074237 0.99548124 -0.05921118 0.54657088] [ 0.19976006 0.04332722 0.97888644 -0.17170154] [ 0. 0. 0. 1. ]] SLAMing on 65.21650248099999 meters Centerline goodness : 0.698986 Centerline is valid? [False, False] Translation: X:0.18, Y:0.55, Z:-0.17 [[ 0.97735597 -0.08610111 -0.19329229 0.18136148] [ 0.07582172 0.99531597 -0.05997653 0.54725099] [ 0.19755095 0.04396267 0.97930634 -0.16769069] [ 0. 0. 0. 1. ]] SLAMing on 65.246502481 meters Centerline goodness : 0.696307 Centerline is valid? [False, False] Translation: X:0.18, Y:0.55, Z:-0.17 [[ 0.97690942 -0.08867064 -0.19438492 0.18490999] [ 0.07792032 0.99501206 -0.06228498 0.54826342] [ 0.19893819 0.04570024 0.9789459 -0.1681985 ] [ 0. 0. 0. 1. ]] SLAMing on 65.276502481 meters Centerline goodness : 0.696075 Centerline is valid? [False, False] Translation: X:0.20, Y:0.55, Z:-0.17 [[ 0.97671883 -0.09147257 -0.19404404 0.20285502] [ 0.0817305 0.99498586 -0.05764771 0.55056588] [ 0.19834426 0.04044629 0.97929753 -0.16606642] [ 0. 0. 0. 1. ]] SLAMing on 65.306502481 meters Centerline goodness : 0.698118 Centerline is valid? [False, False] Translation: X:0.22, Y:0.55, Z:-0.16 [[ 0.97666853 -0.09420333 -0.19298787 0.22048195] [ 0.08538972 0.9949098 -0.05350784 0.55322132] [ 0.19704613 0.03578024 0.97974109 -0.163121 ] [ 0. 0. 0. 1. ]] SLAMing on 65.336502481 meters Centerline goodness : 0.695221 Centerline is valid? [False, False] Translation: X:0.22, Y:0.55, Z:-0.16 [[ 0.97665821 -0.09447655 -0.19290652 0.21964372] [ 0.08550898 0.99485588 -0.0543139 0.55469193] [ 0.19704558 0.03655088 0.97971275 -0.16181104] [ 0. 0. 0. 1. ]] SLAMing on 65.366502481 meters Centerline goodness : 0.695178 Centerline is valid? [False, False] Translation: X:0.22, Y:0.56, Z:-0.16 [[ 0.97631292 -0.0984606 -0.19266186 0.22000469] [ 0.08871421 0.99433194 -0.0585985 0.55649908] [ 0.19733949 0.04011863 0.97951397 -0.16116129] [ 0. 0. 0. 1. ]] SLAMing on 65.396502481 meters Centerline goodness : 0.693935 Centerline is valid? [False, False] Translation: X:0.23, Y:0.55, Z:-0.16 [[ 0.97633706 -0.09504524 -0.19424815 0.22802658] [ 0.08480963 0.99456685 -0.06036638 0.55415554] [ 0.19893031 0.04246382 0.97909323 -0.15741717] [ 0. 0. 0. 1. ]] SLAMing on 65.42650248099999 meters Centerline goodness : 0.692755 Centerline is valid? [False, False] Translation: X:0.26, Y:0.55, Z:-0.15 [[ 0.97669024 -0.09356018 -0.19319074 0.25865821] [ 0.08383029 0.99479316 -0.05795724 0.55474052] [ 0.19760732 0.04041103 0.97944795 -0.15183405] [ 0. 0. 0. 1. ]] SLAMing on 65.45650248099999 meters Centerline goodness : 0.694500 Centerline is valid? [False, False] Translation: X:0.28, Y:0.56, Z:-0.15 [[ 0.97648987 -0.09643128 -0.19279144 0.27625305] [ 0.08757741 0.99469567 -0.05395117 0.55809845] [ 0.19697139 0.03579859 0.97975545 -0.14858384] [ 0. 0. 0. 1. ]] SLAMing on 65.48650248099999 meters Centerline goodness : 0.691530 Centerline is valid? [False, False] Translation: X:0.28, Y:0.56, Z:-0.15 [[ 0.97638501 -0.09579572 -0.19363753 0.27862381] [ 0.08695573 0.99476556 -0.05366736 0.55833746] [ 0.19776505 0.03556211 0.97960416 -0.14877401] [ 0. 0. 0. 1. ]] SLAMing on 65.51650248099999 meters Centerline goodness : 0.692170 Centerline is valid? [False, False] Translation: X:0.28, Y:0.56, Z:-0.15 [[ 0.97586813 -0.09932617 -0.19446262 0.28124547] [ 0.08975139 0.99430496 -0.05746601 0.55922033] [ 0.19906302 0.03862596 0.97922518 -0.14814044] [ 0. 0. 0. 1. ]] SLAMing on 65.54650248099999 meters Centerline goodness : 0.691957 Centerline is valid? [False, False] Translation: X:0.29, Y:0.55, Z:-0.15 [[ 0.97575186 -0.09490383 -0.1972348 0.29160499] [ 0.08525012 0.99473399 -0.0568921 0.55327797] [ 0.20159544 0.03869829 0.9787041 -0.14637597] [ 0. 0. 0. 1. ]] SLAMing on 65.57650248099999 meters Centerline goodness : 0.691163 Centerline is valid? [False, False] Translation: X:0.29, Y:0.55, Z:-0.15 [[ 0.97570051 -0.09443156 -0.19771495 0.29234986] [ 0.08481388 0.99478912 -0.05657919 0.55150244] [ 0.20202754 0.03843538 0.97862536 -0.14563733] [ 0. 0. 0. 1. ]] SLAMing on 65.60650248099999 meters Centerline goodness : 0.690629 Centerline is valid? [False, False] Translation: X:0.29, Y:0.55, Z:-0.15 [[ 0.97558725 -0.09397153 -0.19849149 0.29370795] [ 0.08439656 0.99484728 -0.0561793 0.55116107] [ 0.20274797 0.03805581 0.97849119 -0.14529599] [ 0. 0. 0. 1. ]] SLAMing on 65.636502481 meters Centerline goodness : 0.694054 Centerline is valid? [False, False] Translation: X:0.30, Y:0.55, Z:-0.14 [[ 0.97488703 -0.09751153 -0.20021682 0.29750668] [ 0.08712802 0.99438528 -0.06005515 0.55148861] [ 0.20494873 0.04110249 0.9779093 -0.14372379] [ 0. 0. 0. 1. ]] SLAMing on 65.666502481 meters Centerline goodness : 0.692128 Centerline is valid? [False, False] Translation: X:0.30, Y:0.55, Z:-0.14 [[ 0.97426972 -0.1015258 -0.2012238 0.29982007] [ 0.09032937 0.99384775 -0.06408792 0.55098684] [ 0.2064924 0.0442625 0.97744653 -0.14230286] [ 0. 0. 0. 1. ]] SLAMing on 65.696502481 meters Centerline goodness : 0.691433 Centerline is valid? [False, False] Translation: X:0.30, Y:0.55, Z:-0.14 [[ 0.97457663 -0.0975068 -0.20172461 0.30003006] [ 0.0874745 0.99447189 -0.05808496 0.54709222] [ 0.20627313 0.03896249 0.97771843 -0.14203462] [ 0. 0. 0. 1. ]] SLAMing on 65.726502481 meters Centerline goodness : 0.693396 Centerline is valid? [False, False] Translation: X:0.30, Y:0.54, Z:-0.14 [[ 0.97489025 -0.0935678 -0.2020744 0.30049823] [ 0.08461355 0.99502854 -0.05252379 0.54402885] [ 0.20598433 0.0341067 0.97796073 -0.14226419] [ 0. 0. 0. 1. ]] SLAMing on 65.756502481 meters Centerline goodness : 0.690968 Centerline is valid? [False, False] Translation: X:0.30, Y:0.54, Z:-0.14 [[ 0.97471892 -0.09383749 -0.20277463 0.30299478] [ 0.08495301 0.99502177 -0.05210238 0.54397526] [ 0.20665433 0.03355886 0.97783832 -0.14320003] [ 0. 0. 0. 1. ]] SLAMing on 65.78650248099999 meters Centerline goodness : 0.690808 Centerline is valid? [False, False] Translation: X:0.30, Y:0.54, Z:-0.14 [[ 0.97467536 -0.09362911 -0.20308011 0.30386303] [ 0.08488123 0.99506516 -0.05138573 0.54295681] [ 0.20688914 0.03284672 0.97781285 -0.14338812] [ 0. 0. 0. 1. ]] SLAMing on 65.81650248099999 meters Centerline goodness : 0.690764 Centerline is valid? [False, False] Translation: X:0.30, Y:0.54, Z:-0.14 [[ 0.97477475 -0.09291396 -0.20293147 0.30273317] [ 0.08452647 0.99518429 -0.04963371 0.54051145] [ 0.20656588 0.0312286 0.97793421 -0.1424245 ] [ 0. 0. 0. 1. ]] SLAMing on 65.84650248099999 meters Centerline goodness : 0.693547 Centerline is valid? [False, False] Translation: X:0.30, Y:0.54, Z:-0.14 [[ 0.97486757 -0.09238912 -0.20272511 0.30231317] [ 0.08423119 0.99526398 -0.04852533 0.53912444] [ 0.20624821 0.03022999 0.97803263 -0.14241553] [ 0. 0. 0. 1. ]] SLAMing on 65.87650248099999 meters Centerline goodness : 0.691781 Centerline is valid? [False, False] Translation: X:0.30, Y:0.54, Z:-0.14 [[ 0.97439231 -0.09668549 -0.20300626 0.30260093] [ 0.08773916 0.99475181 -0.05263728 0.53945197] [ 0.2070301 0.03347776 0.97776162 -0.14091746] [ 0. 0. 0. 1. ]] SLAMing on 65.90650248099999 meters Centerline goodness : 0.692818 Centerline is valid? [False, False] Translation: X:0.30, Y:0.54, Z:-0.14 [[ 0.97442199 -0.09628741 -0.20305299 0.30279096] [ 0.08753836 0.9948208 -0.05165853 0.53771413] [ 0.20697541 0.03256229 0.97780411 -0.14106766] [ 0. 0. 0. 1. ]] SLAMing on 65.93650248099999 meters Centerline goodness : 0.690968 Centerline is valid? [False, False] Translation: X:0.30, Y:0.53, Z:-0.14 [[ 0.97467341 -0.09230944 -0.20369268 0.30386572] [ 0.0846252 0.99534415 -0.04613679 0.53380351] [ 0.20700318 0.02773077 0.97794718 -0.14134198] [ 0. 0. 0. 1. ]] SLAMing on 65.96650248099999 meters Centerline goodness : 0.690939 Centerline is valid? [False, False] Translation: X:0.30, Y:0.53, Z:-0.14 [[ 0.97493488 -0.0884289 -0.20416245 0.3046527 ] [ 0.08163131 0.99579833 -0.04149707 0.53176243] [ 0.20697416 0.0237909 0.9780571 -0.14166634] [ 0. 0. 0. 1. ]] SLAMing on 65.996502481 meters Centerline goodness : 0.691893 Centerline is valid? [False, False] Translation: X:0.31, Y:0.53, Z:-0.14 [[ 0.97530065 -0.08405571 -0.20426279 0.30503987] [ 0.07825035 0.99627088 -0.03634846 0.52928054] [ 0.20655637 0.01946704 0.97824102 -0.14235547] [ 0. 0. 0. 1. ]] SLAMing on 66.026502481 meters Centerline goodness : 0.691893 Centerline is valid? [False, False] Translation: X:0.31, Y:0.53, Z:-0.14 [[ 0.97530065 -0.08405571 -0.20426279 0.30503987] [ 0.07825035 0.99627088 -0.03634846 0.52928054] [ 0.20655637 0.01946704 0.97824102 -0.14235547] [ 0. 0. 0. 1. ]] SLAMing on 66.056502481 meters Centerline goodness : 0.689529 Centerline is valid? [False, False] Translation: X:0.30, Y:0.53, Z:-0.14 [[ 0.97558861 -0.08278805 -0.20340353 0.30382791] [ 0.07703428 0.99637621 -0.03605776 0.5283401 ] [ 0.20565159 0.0195085 0.97843081 -0.14315522] [ 0. 0. 0. 1. ]] SLAMing on 66.086502481 meters Centerline goodness : 0.691487 Centerline is valid? [False, False] Translation: X:0.30, Y:0.53, Z:-0.14 [[ 0.97590842 -0.08158845 -0.20235138 0.30265793] [ 0.07589266 0.99647447 -0.03576215 0.52648042] [ 0.20455576 0.0195436 0.97865979 -0.14439948] [ 0. 0. 0. 1. ]] SLAMing on 66.116502481 meters Centerline goodness : 0.689571 Centerline is valid? [False, False] Translation: X:0.30, Y:0.53, Z:-0.14 [[ 0.97595518 -0.08082424 -0.20243253 0.30267759] [ 0.07520585 0.99654277 -0.03530697 0.52619785] [ 0.20458633 0.01923391 0.97865954 -0.14435169] [ 0. 0. 0. 1. ]] SLAMing on 66.146502481 meters Centerline goodness : 0.689037 Centerline is valid? [False, False] Translation: X:0.30, Y:0.52, Z:-0.14 [[ 0.9762863 -0.07638075 -0.2025612 0.30299762] [ 0.07176201 0.99696872 -0.0300598 0.52373587] [ 0.20424317 0.01481077 0.97880814 -0.14486853] [ 0. 0. 0. 1. ]] SLAMing on 66.17650248099999 meters Centerline goodness : 0.687718 Centerline is valid? [False, False] Translation: X:0.30, Y:0.52, Z:-0.15 [[ 0.97648555 -0.07210882 -0.20316569 0.30465612] [ 0.06834356 0.99733597 -0.02549753 0.5223722 ] [ 0.20446305 0.0110129 0.97881233 -0.14575424] [ 0. 0. 0. 1. ]] SLAMing on 66.20650248099999 meters Centerline goodness : 0.687124 Centerline is valid? [False, False] Translation: X:0.30, Y:0.52, Z:-0.15 [[ 0.97655388 -0.07180846 -0.20294351 0.30473829] [ 0.06804256 0.99735694 -0.02548216 0.52231475] [ 0.20423695 0.01107591 0.97885882 -0.14633155] [ 0. 0. 0. 1. ]] SLAMing on 66.23650248099999 meters Centerline goodness : 0.689833 Centerline is valid? [False, False] Translation: X:0.30, Y:0.52, Z:-0.15 [[ 0.97684024 -0.06566538 -0.2036448 0.29930687] [ 0.06030439 0.99765319 -0.03242666 0.51586292] [ 0.2052962 0.01939499 0.97850769 -0.14574386] [ 0. 0. 0. 1. ]] SLAMing on 66.26650248099999 meters Centerline goodness : 0.686820 Centerline is valid? [False, False] Translation: X:0.30, Y:0.52, Z:-0.15 [[ 0.97681767 -0.06594765 -0.20366186 0.29956257] [ 0.06061889 0.99763824 -0.03230008 0.51525728] [ 0.20531097 0.01920553 0.97850833 -0.14590008] [ 0. 0. 0. 1. ]] SLAMing on 66.29650248099999 meters Centerline goodness : 0.690517 Centerline is valid? [False, False] Translation: X:0.30, Y:0.51, Z:-0.15 [[ 0.97671661 -0.06586602 -0.20417233 0.30074975] [ 0.0607037 0.99766018 -0.03145182 0.51357968] [ 0.20576621 0.01832549 0.97842958 -0.14597551] [ 0. 0. 0. 1. ]] SLAMing on 66.32650248099999 meters Centerline goodness : 0.689882 Centerline is valid? [False, False] Translation: X:0.30, Y:0.51, Z:-0.15 [[ 0.97669769 -0.06581868 -0.20427804 0.30118309] [ 0.06067716 0.99766536 -0.03133854 0.51357372] [ 0.20586379 0.01821327 0.97841115 -0.14620688] [ 0. 0. 0. 1. ]] SLAMing on 66.35650248099999 meters Centerline goodness : 0.691568 Centerline is valid? [False, False] Translation: X:0.28, Y:0.51, Z:-0.15 [[ 0.9765861 -0.06199699 -0.20599993 0.28466875] [ 0.0560432 0.99782802 -0.03461809 0.50889765] [ 0.20769872 0.02226265 0.97793947 -0.14783635] [ 0. 0. 0. 1. ]] SLAMing on 66.386502481 meters Centerline goodness : 0.691678 Centerline is valid? [False, False] Translation: X:0.29, Y:0.51, Z:-0.15 [[ 0.97653641 -0.0614965 -0.20638512 0.28630786] [ 0.05549874 0.99785451 -0.03473128 0.5093377 ] [ 0.20807817 0.02246224 0.97785424 -0.14874444] [ 0. 0. 0. 1. ]] SLAMing on 66.416502481 meters Centerline goodness : 0.688085 Centerline is valid? [False, False] Translation: X:0.24, Y:0.50, Z:-0.16 [[ 0.97643075 -0.05978055 -0.20738678 0.2371689 ] [ 0.05286098 0.99784964 -0.03875327 0.50253379] [ 0.20925752 0.02687721 0.97749113 -0.15532982] [ 0. 0. 0. 1. ]] SLAMing on 66.446502481 meters Centerline goodness : 0.691005 Centerline is valid? [False, False] Translation: X:0.22, Y:0.49, Z:-0.16 [[ 0.97783107 -0.05416924 -0.20226737 0.21537946] [ 0.0476767 0.99818331 -0.03683774 0.49444853] [ 0.20389539 0.02637765 0.97863726 -0.16063656] [ 0. 0. 0. 1. ]] SLAMing on 66.476502481 meters Centerline goodness : 0.690014 Centerline is valid? [False, False] Translation: X:0.21, Y:0.49, Z:-0.16 [[ 0.97801666 -0.0540049 -0.20141221 0.2134943 ] [ 0.04738672 0.99817093 -0.0375405 0.48957941] [ 0.20307118 0.02717097 0.97878692 -0.1591263 ] [ 0. 0. 0. 1. ]] SLAMing on 66.506502481 meters Centerline goodness : 0.689674 Centerline is valid? [False, False] Translation: X:0.18, Y:0.48, Z:-0.16 [[ 0.97884943 -0.0514062 -0.19801816 0.18349793] [ 0.04279946 0.99795366 -0.04750462 0.48024036] [ 0.20005498 0.0380248 0.97904654 -0.16353037] [ 0. 0. 0. 1. ]] SLAMing on 66.53650248099999 meters Centerline goodness : 0.689427 Centerline is valid? [False, False] Translation: X:0.18, Y:0.48, Z:-0.16 [[ 0.97885818 -0.05180985 -0.19786968 0.18384773] [ 0.04331499 0.99795419 -0.04702396 0.47827504] [ 0.19990118 0.03745907 0.97909976 -0.16412399] [ 0. 0. 0. 1. ]] SLAMing on 66.56650248099999 meters Centerline goodness : 0.690258 Centerline is valid? [False, False] Translation: X:0.19, Y:0.48, Z:-0.17 [[ 0.97837407 -0.05317207 -0.19989226 0.18929935] [ 0.04468433 0.99790719 -0.04673918 0.47779409] [ 0.20195914 0.03679635 0.97870248 -0.16532863] [ 0. 0. 0. 1. ]] SLAMing on 66.59650248099999 meters Centerline goodness : 0.693414 Centerline is valid? [False, False] Translation: X:0.19, Y:0.48, Z:-0.17 [[ 0.97824299 -0.05354301 -0.20043401 0.1916447 ] [ 0.04500805 0.99788496 -0.046903 0.47865974] [ 0.20252141 0.03686139 0.97858383 -0.16641549] [ 0. 0. 0. 1. ]] SLAMing on 66.62650248099999 meters Centerline goodness : 0.692541 Centerline is valid? [False, False] Translation: X:0.19, Y:0.48, Z:-0.17 [[ 0.97836262 -0.04970184 -0.20083902 0.19363033] [ 0.04212575 0.99823652 -0.04182419 0.47712973] [ 0.20256358 0.03245873 0.97873103 -0.16776709] [ 0. 0. 0. 1. ]] SLAMing on 66.65650248099999 meters Centerline goodness : 0.694991 Centerline is valid? [False, False] Translation: X:0.19, Y:0.48, Z:-0.17 [[ 0.97850425 -0.04891217 -0.20034231 0.19290597] [ 0.04140227 0.99828 -0.04150767 0.47693886] [ 0.20202795 0.03232081 0.9788463 -0.16814556] [ 0. 0. 0. 1. ]] SLAMing on 66.68650248099999 meters Centerline goodness : 0.693967 Centerline is valid? [False, False] Translation: X:0.19, Y:0.48, Z:-0.17 [[ 0.97898586 -0.04724117 -0.19838086 0.18898927] [ 0.03991426 0.99837085 -0.04077364 0.47507341] [ 0.19998386 0.03199859 0.97927654 -0.16849368] [ 0. 0. 0. 1. ]] SLAMing on 66.71650248099999 meters Centerline goodness : 0.693092 Centerline is valid? [False, False] Translation: X:0.19, Y:0.47, Z:-0.17 [[ 0.97914502 -0.04673412 -0.1977143 0.1872927 ] [ 0.03948543 0.99840109 -0.04044943 0.47428677] [ 0.19928854 0.03179902 0.97942478 -0.16822736] [ 0. 0. 0. 1. ]] SLAMing on 66.746502481 meters Centerline goodness : 0.692472 Centerline is valid? [False, False] Translation: X:0.19, Y:0.47, Z:-0.17 [[ 0.97919794 -0.04626498 -0.1975625 0.18637805] [ 0.03914684 0.99844106 -0.03978666 0.47422737] [ 0.19909524 0.03122507 0.97948256 -0.16755115] [ 0. 0. 0. 1. ]] SLAMing on 66.776502481 meters Centerline goodness : 0.692729 Centerline is valid? [False, False] Translation: X:0.19, Y:0.47, Z:-0.17 [[ 0.97914226 -0.04623901 -0.19784437 0.18710176] [ 0.03920618 0.99845721 -0.03932004 0.47388413] [ 0.19935726 0.03074319 0.97944451 -0.16763402] [ 0. 0. 0. 1. ]] SLAMing on 66.806502481 meters Centerline goodness : 0.694125 Centerline is valid? [False, False] Translation: X:0.19, Y:0.47, Z:-0.17 [[ 0.97889659 -0.05090572 -0.19791433 0.18854092] [ 0.04292622 0.99809099 -0.04440408 0.47436844] [ 0.19979693 0.03497129 0.97921305 -0.1688034 ] [ 0. 0. 0. 1. ]] SLAMing on 66.836502481 meters Centerline goodness : 0.696569 Centerline is valid? [False, False] Translation: X:0.19, Y:0.47, Z:-0.17 [[ 0.97884594 -0.05105892 -0.19812524 0.18989811] [ 0.04318925 0.99810442 -0.04384355 0.47234644] [ 0.19998828 0.0343592 0.97919566 -0.16966908] [ 0. 0. 0. 1. ]] SLAMing on 66.866502481 meters Centerline goodness : 0.696590 Centerline is valid? [False, False] Translation: X:0.19, Y:0.47, Z:-0.17 [[ 0.97868405 -0.05093863 -0.19895424 0.19134127] [ 0.04327839 0.99815158 -0.04266612 0.47172852] [ 0.20075985 0.03314623 0.97907957 -0.16922846] [ 0. 0. 0. 1. ]] SLAMing on 66.896502481 meters Centerline goodness : 0.697104 Centerline is valid? [False, False] Translation: X:0.19, Y:0.47, Z:-0.17 [[ 0.978537 -0.05081898 -0.19970671 0.19201809] [ 0.04333482 0.9981911 -0.04167277 0.47181129] [ 0.20146323 0.03212409 0.97896916 -0.16815593] [ 0. 0. 0. 1. ]] SLAMing on 66.92650248099999 meters Centerline goodness : 0.698258 Centerline is valid? [False, False] Translation: X:0.19, Y:0.47, Z:-0.17 [[ 0.97855542 -0.05037257 -0.19972954 0.19179712] [ 0.04314227 0.9982521 -0.04039173 0.47008429] [ 0.20141506 0.03090876 0.97901819 -0.16777509] [ 0. 0. 0. 1. ]] SLAMing on 66.95650248099999 meters Centerline goodness : 0.698250 Centerline is valid? [False, False] Translation: X:0.19, Y:0.47, Z:-0.17 [[ 0.97857586 -0.0502186 -0.19966815 0.1919624 ] [ 0.04313957 0.99828192 -0.03965068 0.46834678] [ 0.20131631 0.0301876 0.97906101 -0.16801873] [ 0. 0. 0. 1. ]] SLAMing on 66.98650248099999 meters Centerline goodness : 0.699406 Centerline is valid? [False, False] Translation: X:0.19, Y:0.47, Z:-0.17 [[ 0.97859259 -0.05041517 -0.19953658 0.1920657 ] [ 0.04344777 0.99828845 -0.03914677 0.46671412] [ 0.20116865 0.02963932 0.97910811 -0.16830235] [ 0. 0. 0. 1. ]] SLAMing on 67.01650248099999 meters Centerline goodness : 0.699361 Centerline is valid? [False, False] Translation: X:0.19, Y:0.46, Z:-0.17 [[ 0.97864897 -0.05049927 -0.19923858 0.19181801] [ 0.04379238 0.99832037 -0.03792979 0.46446274] [ 0.20081936 0.02839482 0.97921669 -0.16853064] [ 0. 0. 0. 1. ]] SLAMing on 67.04650248099999 meters Centerline goodness : 0.699108 Centerline is valid? [False, False] Translation: X:0.19, Y:0.46, Z:-0.17 [[ 0.97866916 -0.05004237 -0.19925472 0.19196597] [ 0.04357183 0.99837488 -0.03673006 0.46341927] [ 0.20076897 0.02726469 0.97925914 -0.16849111] [ 0. 0. 0. 1. ]] SLAMing on 67.07650248099999 meters Centerline goodness : 0.704844 Centerline is valid? [False, False] Translation: X:0.19, Y:0.46, Z:-0.17 [[ 0.97863402 -0.05085158 -0.19922243 0.19127123] [ 0.04466414 0.99837349 -0.03543289 0.46163653] [ 0.20070021 0.02577773 0.9793135 -0.16749157] [ 0. 0. 0. 1. ]] SLAMing on 67.10650248099999 meters Centerline goodness : 0.702907 Centerline is valid? [False, False] Translation: X:0.19, Y:0.46, Z:-0.17 [[ 0.97859548 -0.05112101 -0.19934273 0.1910503 ] [ 0.04512247 0.99838478 -0.03452241 0.46007004] [ 0.20078557 0.02478864 0.97932154 -0.16684479] [ 0. 0. 0. 1. ]] SLAMing on 67.136502481 meters Centerline goodness : 0.703224 Centerline is valid? [False, False] Translation: X:0.19, Y:0.46, Z:-0.17 [[ 0.97834353 -0.05532504 -0.19945696 0.19144259] [ 0.0487538 0.99809864 -0.03771178 0.45907136] [ 0.20116412 0.0271708 0.97918065 -0.16651548] [ 0. 0. 0. 1. ]] SLAMing on 67.166502481 meters Centerline goodness : 0.702458 Centerline is valid? [False, False] Translation: X:0.19, Y:0.46, Z:-0.17 [[ 0.97829549 -0.05598197 -0.19950926 0.19198806] [ 0.04957958 0.99808654 -0.03694749 0.45767077] [ 0.2011959 0.02625398 0.97919913 -0.1666766 ] [ 0. 0. 0. 1. ]] SLAMing on 67.196502481 meters Centerline goodness : 0.704239 Centerline is valid? [False, False] Translation: X:0.19, Y:0.46, Z:-0.17 [[ 0.97813709 -0.05660041 -0.20011052 0.19381737] [ 0.05061557 0.99810815 -0.03490254 0.45504773] [ 0.20170744 0.02401076 0.97915147 -0.16674235] [ 0. 0. 0. 1. ]] SLAMing on 67.226502481 meters Centerline goodness : 0.704564 Centerline is valid? [False, False] Translation: X:0.19, Y:0.45, Z:-0.17 [[ 0.97804113 -0.05701384 -0.20046187 0.19473878] [ 0.05116569 0.99810309 -0.03423864 0.45469362] [ 0.20203369 0.02323003 0.97910304 -0.16664599] [ 0. 0. 0. 1. ]] SLAMing on 67.256502481 meters Centerline goodness : 0.706214 Centerline is valid? [False, False] Translation: X:0.20, Y:0.45, Z:-0.17 [[ 0.97777391 -0.05777462 -0.2015447 0.19686316] [ 0.05218239 0.99809367 -0.03295497 0.45470097] [ 0.20306445 0.02170542 0.97892477 -0.16608548] [ 0. 0. 0. 1. ]] SLAMing on 67.28650248099999 meters Centerline goodness : 0.706460 Centerline is valid? [False, False] Translation: X:0.20, Y:0.45, Z:-0.17 [[ 0.97771228 -0.05811101 -0.20174691 0.19672397] [ 0.05270756 0.9980953 -0.03205747 0.45354515] [ 0.20322554 0.02070939 0.97891292 -0.16527189] [ 0. 0. 0. 1. ]] SLAMing on 67.31650248099999 meters Centerline goodness : 0.704113 Centerline is valid? [False, False] Translation: X:0.20, Y:0.45, Z:-0.16 [[ 0.97755357 -0.06300632 -0.20104534 0.19538059] [ 0.05708544 0.99775142 -0.03511928 0.45140606] [ 0.20280601 0.02285422 0.9789522 -0.16465741] [ 0. 0. 0. 1. ]] SLAMing on 67.34650248099999 meters Centerline goodness : 0.706698 Centerline is valid? [False, False] Translation: X:0.20, Y:0.45, Z:-0.16 [[ 0.97748711 -0.06391657 -0.20108114 0.19556247] [ 0.05818657 0.99771683 -0.03428472 0.4493524 ] [ 0.2028134 0.02181265 0.97897443 -0.16441366] [ 0. 0. 0. 1. ]] SLAMing on 67.37650248099999 meters Centerline goodness : 0.707357 Centerline is valid? [False, False] Translation: X:0.20, Y:0.45, Z:-0.16 [[ 0.97738838 -0.06479313 -0.20128041 0.19609899] [ 0.05923985 0.99768156 -0.0334984 0.44811002] [ 0.20298422 0.02081713 0.9789607 -0.16419801] [ 0. 0. 0. 1. ]] SLAMing on 67.40650248099999 meters Centerline goodness : 0.707585 Centerline is valid? [False, False] Translation: X:0.20, Y:0.45, Z:-0.16 [[ 0.97693962 -0.06623325 -0.20298311 0.19835445] [ 0.06097897 0.99762475 -0.03203792 0.4484438 ] [ 0.20462295 0.01892141 0.97865797 -0.16231589] [ 0. 0. 0. 1. ]] SLAMing on 67.43650248099999 meters Centerline goodness : 0.710067 Centerline is valid? [False, False] Translation: X:0.20, Y:0.45, Z:-0.16 [[ 0.97676733 -0.06672282 -0.20365081 0.19942791] [ 0.06154011 0.9976016 -0.03168377 0.44893607] [ 0.20527641 0.01841498 0.97853078 -0.16177081] [ 0. 0. 0. 1. ]] SLAMing on 67.46650248099999 meters Centerline goodness : 0.710725 Centerline is valid? [False, False] Translation: X:0.20, Y:0.45, Z:-0.16 [[ 0.97662454 -0.06772306 -0.20400511 0.19991984] [ 0.06263523 0.9975455 -0.03130185 0.44829511] [ 0.20562424 0.01779225 0.97846927 -0.16121728] [ 0. 0. 0. 1. ]] SLAMing on 67.496502481 meters Centerline goodness : 0.710832 Centerline is valid? [False, False] Translation: X:0.20, Y:0.45, Z:-0.16 [[ 0.97671232 -0.06773066 -0.20358192 0.19887633] [ 0.06271544 0.99755008 -0.03099381 0.44747999] [ 0.20518239 0.01750431 0.97856721 -0.16102974] [ 0. 0. 0. 1. ]] SLAMing on 67.526502481 meters Centerline goodness : 0.710952 Centerline is valid? [False, False] Translation: X:0.22, Y:0.45, Z:-0.16 [[ 0.97704117 -0.07144029 -0.20071579 0.21518814] [ 0.06720117 0.9973503 -0.02786373 0.44926906] [ 0.20217455 0.01373568 0.97925318 -0.15920009] [ 0. 0. 0. 1. ]] SLAMing on 67.556502481 meters Centerline goodness : 0.708200 Centerline is valid? [False, False] Translation: X:0.24, Y:0.45, Z:-0.15 [[ 0.97761455 -0.06864412 -0.19889136 0.24447389] [ 0.06524477 0.9975901 -0.0236031 0.44998242] [ 0.20003227 0.01009811 0.97973727 -0.15476084] [ 0. 0. 0. 1. ]] SLAMing on 67.586502481 meters Centerline goodness : 0.708478 Centerline is valid? [False, False] Translation: X:0.28, Y:0.45, Z:-0.15 [[ 0.97752923 -0.06666756 -0.19998012 0.28160436] [ 0.06329543 0.99772476 -0.02321603 0.45225557] [ 0.20107287 0.01003652 0.97952487 -0.14745516] [ 0. 0. 0. 1. ]] SLAMing on 67.616502481 meters Centerline goodness : 0.710604 Centerline is valid? [False, False] Translation: X:0.31, Y:0.45, Z:-0.14 [[ 0.97743984 -0.06830249 -0.19986527 0.30993862] [ 0.06473862 0.99760584 -0.02432064 0.45348342] [ 0.20104792 0.01083296 0.97952151 -0.14145653] [ 0. 0. 0. 1. ]] SLAMing on 67.646502481 meters Centerline goodness : 0.708423 Centerline is valid? [False, False] Translation: X:0.31, Y:0.45, Z:-0.14 [[ 0.97699524 -0.07262463 -0.20051426 0.31150554] [ 0.06825411 0.99725698 -0.02863378 0.454993 ] [ 0.20204376 0.01428914 0.97927225 -0.14065534] [ 0. 0. 0. 1. ]] SLAMing on 67.67650248099999 meters Centerline goodness : 0.708355 Centerline is valid? [False, False] Translation: X:0.35, Y:0.46, Z:-0.13 [[ 0.97680423 -0.07297738 -0.20131519 0.3455495 ] [ 0.0681841 0.99720178 -0.03065175 0.45659189] [ 0.20298875 0.01621426 0.97904681 -0.13347281] [ 0. 0. 0. 1. ]] SLAMing on 67.70650248099999 meters Centerline goodness : 0.707879 Centerline is valid? [False, False] Translation: X:0.37, Y:0.46, Z:-0.13 [[ 0.97734583 -0.07130215 -0.19927653 0.37129948] [ 0.06732023 0.99737422 -0.0266955 0.45741351] [ 0.20065672 0.01267539 0.97957961 -0.12960329] [ 0. 0. 0. 1. ]] SLAMing on 67.73650248099999 meters Centerline goodness : 0.709684 Centerline is valid? [False, False] Translation: X:0.40, Y:0.46, Z:-0.12 [[ 0.97790203 -0.06488363 -0.19874038 0.40355565] [ 0.06187158 0.99785606 -0.02133524 0.45931643] [ 0.1996986 0.00856739 0.97981992 -0.12320934] [ 0. 0. 0. 1. ]] SLAMing on 67.76650248099999 meters Centerline goodness : 0.708443 Centerline is valid? [False, False] Translation: X:0.41, Y:0.46, Z:-0.12 [[ 0.97779747 -0.06449022 -0.19938186 0.40512025] [ 0.06146411 0.99788121 -0.02133657 0.46009884] [ 0.20033541 0.00860802 0.97968956 -0.1231163 ] [ 0. 0. 0. 1. ]] SLAMing on 67.79650248099999 meters Centerline goodness : 0.708205 Centerline is valid? [False, False] Translation: X:0.42, Y:0.46, Z:-0.12 [[ 0.97780593 -0.06252268 -0.19996617 0.41540977] [ 0.05848591 0.99794863 -0.02603718 0.45946831] [ 0.20118388 0.01376411 0.97945679 -0.11936796] [ 0. 0. 0. 1. ]] SLAMing on 67.82650248099999 meters Centerline goodness : 0.708272 Centerline is valid? [False, False] Translation: X:0.44, Y:0.46, Z:-0.12 [[ 0.97790998 -0.0645418 -0.19881252 0.43609504] [ 0.0610543 0.99785472 -0.02362894 0.46100808] [ 0.19991107 0.01096861 0.97975265 -0.11543839] [ 0. 0. 0. 1. ]] SLAMing on 67.85650248099999 meters Centerline goodness : 0.706758 Centerline is valid? [False, False] Translation: X:0.47, Y:0.46, Z:-0.11 [[ 0.97842694 -0.06093143 -0.19740337 0.46693884] [ 0.05809347 0.99810795 -0.02014113 0.46224378] [ 0.1982571 0.00823878 0.98011542 -0.11001775] [ 0. 0. 0. 1. ]] SLAMing on 67.886502481 meters Centerline goodness : 0.708964 Centerline is valid? [False, False] Translation: X:0.47, Y:0.46, Z:-0.11 [[ 0.97840346 -0.06065226 -0.19760558 0.46762398] [ 0.05771786 0.99812077 -0.02058104 0.46339982] [ 0.19848252 0.00873119 0.98006554 -0.11044734] [ 0. 0. 0. 1. ]] SLAMing on 67.916502481 meters Centerline goodness : 0.708964 Centerline is valid? [False, False] Translation: X:0.47, Y:0.46, Z:-0.11 [[ 0.97840346 -0.06065226 -0.19760558 0.46762398] [ 0.05771786 0.99812077 -0.02058104 0.46339982] [ 0.19848252 0.00873119 0.98006554 -0.11044734] [ 0. 0. 0. 1. ]] SLAMing on 67.946502481 meters Centerline goodness : 0.706742 Centerline is valid? [False, False] Translation: X:0.47, Y:0.46, Z:-0.11 [[ 0.97838629 -0.05955384 -0.19802426 0.46996064] [ 0.05642877 0.99817742 -0.02139211 0.46490134] [ 0.19893733 0.00975549 0.97996366 -0.11222279] [ 0. 0. 0. 1. ]] SLAMing on 67.976502481 meters Centerline goodness : 0.705817 Centerline is valid? [False, False] Translation: X:0.47, Y:0.47, Z:-0.11 [[ 0.97844457 -0.05917972 -0.1978484 0.4695619 ] [ 0.05592487 0.99819249 -0.02200357 0.46603672] [ 0.19879295 0.01046463 0.97998564 -0.1123885 ] [ 0. 0. 0. 1. ]] SLAMing on 68.006502481 meters Centerline goodness : 0.704320 Centerline is valid? [False, False] Translation: X:0.47, Y:0.47, Z:-0.11 [[ 0.97828006 -0.05743232 -0.19917244 0.47248157] [ 0.05372918 0.99826823 -0.02395246 0.46695723] [ 0.20020316 0.01273084 0.97967169 -0.10793377] [ 0. 0. 0. 1. ]] SLAMing on 68.03650248099999 meters Centerline goodness : 0.702331 Centerline is valid? [False, False] Translation: X:0.47, Y:0.47, Z:-0.11 [[ 0.9785614 -0.05662626 -0.1980178 0.47019329] [ 0.05284851 0.99830647 -0.02431526 0.46698674] [ 0.19905933 0.01332903 0.97989679 -0.10826886] [ 0. 0. 0. 1. ]] SLAMing on 68.06650248099999 meters Centerline goodness : 0.703314 Centerline is valid? [False, False] Translation: X:0.47, Y:0.47, Z:-0.11 [[ 0.97878406 -0.05587843 -0.19712779 0.46922779] [ 0.05193178 0.9983342 -0.02513776 0.46775259] [ 0.19820408 0.01436725 0.98005547 -0.10941581] [ 0. 0. 0. 1. ]] SLAMing on 68.09650248099999 meters Centerline goodness : 0.702772 Centerline is valid? [False, False] Translation: X:0.47, Y:0.47, Z:-0.11 [[ 0.97885957 -0.05577498 -0.19678182 0.46928449] [ 0.05172988 0.99833189 -0.02564081 0.46852923] [ 0.19788368 0.01491925 0.98011196 -0.11028058] [ 0. 0. 0. 1. ]] SLAMing on 68.12650248099999 meters Centerline goodness : 0.699145 Centerline is valid? [False, False] Translation: X:0.47, Y:0.47, Z:-0.11 [[ 0.97897018 -0.05534813 -0.19635167 0.46920719] [ 0.05126684 0.99835137 -0.02581173 0.46867982] [ 0.19745659 0.01520258 0.98019374 -0.1112187 ] [ 0. 0. 0. 1. ]] SLAMing on 68.15650248099999 meters Centerline goodness : 0.700202 Centerline is valid? [False, False] Translation: X:0.47, Y:0.47, Z:-0.11 [[ 0.97905161 -0.05518473 -0.1959913 0.46865062] [ 0.05116523 0.99836417 -0.02551671 0.46812643] [ 0.19707882 0.01495423 0.98027359 -0.11141428] [ 0. 0. 0. 1. ]] SLAMing on 68.18650248099999 meters Centerline goodness : 0.699024 Centerline is valid? [False, False] Translation: X:0.47, Y:0.47, Z:-0.11 [[ 0.97915824 -0.05472085 -0.19558828 0.46776335] [ 0.05087453 0.99840107 -0.02463917 0.46643534] [ 0.19662382 0.01417518 0.98037653 -0.11133944] [ 0. 0. 0. 1. ]] SLAMing on 68.21650248099999 meters Centerline goodness : 0.698453 Centerline is valid? [False, False] Translation: X:0.47, Y:0.47, Z:-0.11 [[ 0.97927859 -0.05834333 -0.19393167 0.46531006] [ 0.05387789 0.99814853 -0.02822561 0.46502263] [ 0.19521938 0.0171921 0.9806089 -0.11199541] [ 0. 0. 0. 1. ]] SLAMing on 68.246502481 meters Centerline goodness : 0.697153 Centerline is valid? [False, False] Translation: X:0.47, Y:0.46, Z:-0.11 [[ 0.97929837 -0.0587704 -0.19370269 0.46508088] [ 0.05468517 0.99815525 -0.02637488 0.46163586] [ 0.19489542 0.01523622 0.98070568 -0.11190369] [ 0. 0. 0. 1. ]] SLAMing on 68.276502481 meters Centerline goodness : 0.697977 Centerline is valid? [False, False] Translation: X:0.47, Y:0.46, Z:-0.11 [[ 0.9792239 -0.05910355 -0.19397763 0.46555051] [ 0.05515733 0.99814721 -0.0256868 0.46091188] [ 0.19513641 0.01445384 0.9806696 -0.11159453] [ 0. 0. 0. 1. ]] SLAMing on 68.306502481 meters Centerline goodness : 0.698546 Centerline is valid? [False, False] Translation: X:0.47, Y:0.46, Z:-0.11 [[ 0.97920886 -0.05928614 -0.19399782 0.4659359 ] [ 0.05545783 0.99814523 -0.02511049 0.45992512] [ 0.1951267 0.01382972 0.98068053 -0.11179091] [ 0. 0. 0. 1. ]] SLAMing on 68.336502481 meters Centerline goodness : 0.697537 Centerline is valid? [False, False] Translation: X:0.47, Y:0.46, Z:-0.11 [[ 0.97893888 -0.06310875 -0.19415446 0.46732058] [ 0.05870622 0.9978726 -0.02835216 0.45804283] [ 0.19553068 0.01635696 0.98056117 -0.11209144] [ 0. 0. 0. 1. ]] SLAMing on 68.366502481 meters Centerline goodness : 0.697462 Centerline is valid? [False, False] Translation: X:0.47, Y:0.46, Z:-0.11 [[ 0.97890102 -0.06336157 -0.19426296 0.46781029] [ 0.05914693 0.99787247 -0.02742563 0.45615827] [ 0.19558739 0.01535692 0.98056603 -0.11215326] [ 0. 0. 0. 1. ]] SLAMing on 68.396502481 meters Centerline goodness : 0.697401 Centerline is valid? [False, False] Translation: X:0.47, Y:0.45, Z:-0.11 [[ 0.9785169 -0.06630247 -0.19521438 0.47032949] [ 0.06158586 0.99764663 -0.03013932 0.45360224] [ 0.19675328 0.01746939 0.98029739 -0.11147336] [ 0. 0. 0. 1. ]] SLAMing on 68.42650248099999 meters Centerline goodness : 0.697410 Centerline is valid? [False, False] Translation: X:0.47, Y:0.45, Z:-0.11 [[ 0.97845543 -0.06591178 -0.19565432 0.47132639] [ 0.06129435 0.99768167 -0.02956836 0.45129742] [ 0.19714963 0.01693881 0.98022707 -0.11133942] [ 0. 0. 0. 1. ]] SLAMing on 68.45650248099999 meters Centerline goodness : 0.696793 Centerline is valid? [False, False] Translation: X:0.50, Y:0.45, Z:-0.10 [[ 0.97855886 -0.0686137 -0.19420275 0.50113874] [ 0.0636391 0.99746789 -0.03174703 0.44986706] [ 0.19588929 0.01870744 0.98044756 -0.10440328] [ 0. 0. 0. 1. ]] SLAMing on 68.48650248099999 meters Centerline goodness : 0.697673 Centerline is valid? [False, False] Translation: X:0.50, Y:0.45, Z:-0.10 [[ 0.97811441 -0.07260609 -0.19498863 0.50221626] [ 0.06689093 0.99711978 -0.03574561 0.44973058] [ 0.19702237 0.02192033 0.98015391 -0.10251403] [ 0. 0. 0. 1. ]] SLAMing on 68.51650248099999 meters Centerline goodness : 0.696148 Centerline is valid? [False, False] Translation: X:0.50, Y:0.45, Z:-0.10 [[ 0.97798299 -0.07359814 -0.19527568 0.50269899] [ 0.06811792 0.99707566 -0.03464203 0.44795663] [ 0.19725422 0.02057754 0.98013639 -0.10204122] [ 0. 0. 0. 1. ]] SLAMing on 68.54650248099999 meters Centerline goodness : 0.696250 Centerline is valid? [False, False] Translation: X:0.50, Y:0.45, Z:-0.10 [[ 0.97776456 -0.07423313 -0.19612725 0.50417484] [ 0.06883971 0.99704188 -0.03418447 0.44768642] [ 0.1980847 0.01992302 0.97998241 -0.10157535] [ 0. 0. 0. 1. ]] SLAMing on 68.57650248099999 meters Centerline goodness : 0.697283 Centerline is valid? [False, False] Translation: X:0.51, Y:0.45, Z:-0.10 [[ 0.97720893 -0.07848797 -0.19723679 0.50603855] [ 0.07237159 0.99665202 -0.03804074 0.44804698] [ 0.19956219 0.02289941 0.97961755 -0.10039113] [ 0. 0. 0. 1. ]] SLAMing on 68.60650248099999 meters Centerline goodness : 0.693235 Centerline is valid? [False, False] Translation: X:0.53, Y:0.45, Z:-0.10 [[ 0.97749403 -0.08041551 -0.1950353 0.53418006] [ 0.07435345 0.99649933 -0.03821849 0.44831316] [ 0.1974259 0.02285679 0.98005131 -0.09604216] [ 0. 0. 0. 1. ]] SLAMing on 68.636502481 meters Centerline goodness : 0.693265 Centerline is valid? [False, False] Translation: X:0.53, Y:0.45, Z:-0.10 [[ 0.97746594 -0.08043602 -0.19516759 0.53461827] [ 0.07447824 0.99651023 -0.03768749 0.44757233] [ 0.19751794 0.0223025 0.98004554 -0.09612585] [ 0. 0. 0. 1. ]] SLAMing on 68.666502481 meters Centerline goodness : 0.693864 Centerline is valid? [False, False] Translation: X:0.53, Y:0.45, Z:-0.10 [[ 0.97747221 -0.08093871 -0.19492819 0.53429401] [ 0.07509026 0.99648186 -0.03722044 0.44733018] [ 0.19725498 0.02174474 0.98011103 -0.09610221] [ 0. 0. 0. 1. ]] SLAMing on 68.696502481 meters Centerline goodness : 0.694272 Centerline is valid? [False, False] Translation: X:0.55, Y:0.45, Z:-0.09 [[ 0.97762101 -0.08411311 -0.19282673 0.55108518] [ 0.07912615 0.9963038 -0.03343326 0.44923345] [ 0.19492618 0.01742742 0.98066308 -0.09401635] [ 0. 0. 0. 1. ]] SLAMing on 68.726502481 meters Centerline goodness : 0.693266 Centerline is valid? [False, False] Translation: X:0.58, Y:0.45, Z:-0.09 [[ 0.97846548 -0.08194027 -0.18944947 0.57973295] [ 0.07759765 0.99652603 -0.03024021 0.45040902] [ 0.19126922 0.01488817 0.98142469 -0.0902129 ] [ 0. 0. 0. 1. ]] SLAMing on 68.756502481 meters Centerline goodness : 0.693851 Centerline is valid? [False, False] Translation: X:0.58, Y:0.45, Z:-0.09 [[ 0.97838304 -0.08186665 -0.18990651 0.58045562] [ 0.07750455 0.99653156 -0.03029678 0.45021965] [ 0.19172813 0.01492324 0.98133461 -0.08974808] [ 0. 0. 0. 1. ]] SLAMing on 68.78650248099999 meters Centerline goodness : 0.693935 Centerline is valid? [False, False] Translation: X:0.58, Y:0.45, Z:-0.09 [[ 0.97838614 -0.08251822 -0.18960827 0.57951523] [ 0.07805095 0.99646973 -0.03092137 0.45065974] [ 0.19149048 0.01545394 0.9813728 -0.0892891 ] [ 0. 0. 0. 1. ]] SLAMing on 68.81650248099999 meters Centerline goodness : 0.693191 Centerline is valid? [False, False] Translation: X:0.60, Y:0.45, Z:-0.09 [[ 0.97793211 -0.08590764 -0.19044332 0.59932211] [ 0.08196873 0.99622791 -0.02847951 0.45288584] [ 0.19217155 0.01224063 0.981285 -0.08576014] [ 0. 0. 0. 1. ]] SLAMing on 68.84650248099999 meters Centerline goodness : 0.694386 Centerline is valid? [False, False] Translation: X:0.60, Y:0.45, Z:-0.09 [[ 0.97785582 -0.08558188 -0.19098097 0.60088844] [ 0.08169314 0.99625968 -0.02815814 0.45285284] [ 0.19267647 0.01193276 0.98118978 -0.08620132] [ 0. 0. 0. 1. ]] SLAMing on 68.87650248099999 meters Centerline goodness : 0.692513 Centerline is valid? [False, False] Translation: X:0.60, Y:0.45, Z:-0.09 [[ 0.97777753 -0.08508605 -0.19160235 0.60314753] [ 0.08121079 0.99630349 -0.02800298 0.45398512] [ 0.19327676 0.0118205 0.98107307 -0.08698467] [ 0. 0. 0. 1. ]] SLAMing on 68.90650248099999 meters Centerline goodness : 0.695273 Centerline is valid? [False, False] Translation: X:0.60, Y:0.45, Z:-0.09 [[ 0.97768458 -0.08479123 -0.19220645 0.60454659] [ 0.08089604 0.99632811 -0.02803795 0.45446587] [ 0.19387806 0.01186353 0.9809539 -0.08686607] [ 0. 0. 0. 1. ]] SLAMing on 68.93650248099999 meters Centerline goodness : 0.695183 Centerline is valid? [False, False] Translation: X:0.61, Y:0.46, Z:-0.09 [[ 0.97752476 -0.08445973 -0.1931629 0.60617989] [ 0.08045856 0.99635099 -0.02848011 0.4565275 ] [ 0.19486347 0.0122984 0.98075327 -0.085973 ] [ 0. 0. 0. 1. ]] SLAMing on 68.96650248099999 meters Centerline goodness : 0.692661 Centerline is valid? [False, False] Translation: X:0.61, Y:0.46, Z:-0.09 [[ 0.9774539 -0.08433077 -0.19357734 0.60658844] [ 0.08027209 0.99635887 -0.02872984 0.45762172] [ 0.19529531 0.01254324 0.98066427 -0.08528964] [ 0. 0. 0. 1. ]] SLAMing on 68.996502481 meters Centerline goodness : 0.693426 Centerline is valid? [False, False] Translation: X:0.61, Y:0.46, Z:-0.08 [[ 0.97714254 -0.08335501 -0.19556175 0.60921152] [ 0.07896266 0.99642111 -0.03016396 0.46016953] [ 0.19737618 0.01403242 0.98022739 -0.08122386] [ 0. 0. 0. 1. ]] SLAMing on 69.026502481 meters Centerline goodness : 0.692049 Centerline is valid? [False, False] Translation: X:0.61, Y:0.46, Z:-0.08 [[ 0.97704534 -0.08325038 -0.19609124 0.61000301] [ 0.07880951 0.99642741 -0.03035575 0.46101985] [ 0.19791782 0.01420508 0.98011568 -0.08070632] [ 0. 0. 0. 1. ]] SLAMing on 69.056502481 meters Centerline goodness : 0.694134 Centerline is valid? [False, False] Translation: X:0.65, Y:0.46, Z:-0.07 [[ 0.97677479 -0.08264935 -0.19768684 0.64647231] [ 0.07776927 0.99644681 -0.03233709 0.46387918] [ 0.19965706 0.01621209 0.97973171 -0.07319161] [ 0. 0. 0. 1. ]] SLAMing on 69.086502481 meters Centerline goodness : 0.694975 Centerline is valid? [False, False] Translation: X:0.67, Y:0.47, Z:-0.07 [[ 0.9758685 -0.08592486 -0.20074261 0.66838019] [ 0.08095448 0.99617615 -0.03285486 0.46802863] [ 0.20279805 0.01581101 0.97909293 -0.06685926] [ 0. 0. 0. 1. ]] SLAMing on 69.116502481 meters Centerline goodness : 0.695526 Centerline is valid? [False, False] Translation: X:0.68, Y:0.47, Z:-0.06 [[ 0.97573592 -0.07977114 -0.20390188 0.68247881] [ 0.07442541 0.9966548 -0.03376501 0.46647268] [ 0.20591326 0.01777025 0.97840888 -0.06210655] [ 0. 0. 0. 1. ]] SLAMing on 69.146502481 meters Centerline goodness : 0.695039 Centerline is valid? [False, False] Translation: X:0.68, Y:0.47, Z:-0.06 [[ 0.97562499 -0.07965448 -0.20447749 0.68309067] [ 0.07421541 0.99665752 -0.03414473 0.46769521] [ 0.20651381 0.01813707 0.97827557 -0.06115036] [ 0. 0. 0. 1. ]] SLAMing on 69.17650248099999 meters Centerline goodness : 0.694016 Centerline is valid? [False, False] Translation: X:0.71, Y:0.47, Z:-0.06 [[ 0.97642892 -0.07722529 -0.20155101 0.71317093] [ 0.07221894 0.99687254 -0.03208672 0.46878707] [ 0.20339857 0.0167746 0.97895231 -0.05566444] [ 0. 0. 0. 1. ]] SLAMing on 69.20650248099999 meters Centerline goodness : 0.695314 Centerline is valid? [False, False] Translation: X:0.71, Y:0.47, Z:-0.05 [[ 0.97638496 -0.07724189 -0.20175754 0.71317669] [ 0.07215744 0.99686535 -0.0324465 0.46950466] [ 0.20363133 0.01712197 0.97889791 -0.0548522 ] [ 0. 0. 0. 1. ]] SLAMing on 69.23650248099999 meters Centerline goodness : 0.695152 Centerline is valid? [False, False] Translation: X:0.75, Y:0.47, Z:-0.05 [[ 0.97646819 -0.07637488 -0.20168479 0.7452696 ] [ 0.07082684 0.99688857 -0.03459403 0.4730288 ] [ 0.20369938 0.01949527 0.97883936 -0.04602644] [ 0. 0. 0. 1. ]] SLAMing on 69.26650248099999 meters Centerline goodness : 0.692866 Centerline is valid? [False, False] Translation: X:0.75, Y:0.47, Z:-0.05 [[ 0.97636334 -0.07598955 -0.20233691 0.74669998] [ 0.0703891 0.9969144 -0.03474272 0.47337524] [ 0.20435266 0.01967921 0.9786995 -0.04545212] [ 0. 0. 0. 1. ]] SLAMing on 69.29650248099999 meters Centerline goodness : 0.692386 Centerline is valid? [False, False] Translation: X:0.75, Y:0.47, Z:-0.05 [[ 0.97620904 -0.07507189 -0.20342107 0.74950722] [ 0.06949351 0.99698778 -0.03443875 0.47285951] [ 0.2053937 0.01948297 0.97848548 -0.04523205] [ 0. 0. 0. 1. ]] SLAMing on 69.32650248099999 meters Centerline goodness : 0.692974 Centerline is valid? [False, False] Translation: X:0.76, Y:0.47, Z:-0.04 [[ 0.97598929 -0.06965505 -0.2063809 0.76189201] [ 0.06397155 0.99736918 -0.03409351 0.46919188] [ 0.20821273 0.0200724 0.97787758 -0.04284255] [ 0. 0. 0. 1. ]] SLAMing on 69.35650248099999 meters Centerline goodness : 0.691265 Centerline is valid? [False, False] Translation: X:0.76, Y:0.47, Z:-0.04 [[ 0.97590332 -0.06919628 -0.206941 0.76331052] [ 0.06356377 0.99740685 -0.03375236 0.46851358] [ 0.2087399 0.01978509 0.97777104 -0.04287656] [ 0. 0. 0. 1. ]] SLAMing on 69.386502481 meters Centerline goodness : 0.691964 Centerline is valid? [False, False] Translation: X:0.79, Y:0.47, Z:-0.03 [[ 0.9757428 -0.07142751 -0.20693983 0.7935449 ] [ 0.06507358 0.99718089 -0.03735904 0.47012863] [ 0.2090249 0.0229865 0.97764012 -0.03405639] [ 0. 0. 0. 1. ]] SLAMing on 69.416502481 meters Centerline goodness : 0.692214 Centerline is valid? [False, False] Translation: X:0.79, Y:0.47, Z:-0.03 [[ 0.97574613 -0.07128779 -0.20697233 0.79363127] [ 0.06492316 0.9971895 -0.03739107 0.46933169] [ 0.20905616 0.02304689 0.97763202 -0.03372448] [ 0. 0. 0. 1. ]] SLAMing on 69.446502481 meters Centerline goodness : 0.694477 Centerline is valid? [False, False] Translation: X:0.79, Y:0.47, Z:-0.03 [[ 0.97567106 -0.07082424 -0.2074847 0.79491254] [ 0.06446684 0.99722431 -0.03725198 0.46925941] [ 0.20954713 0.0229698 0.97752871 -0.03348359] [ 0. 0. 0. 1. ]] SLAMing on 69.476502481 meters Centerline goodness : 0.691283 Centerline is valid? [False, False] Translation: X:0.80, Y:0.47, Z:-0.03 [[ 0.97557808 -0.0703453 -0.20808401 0.79667687] [ 0.0640181 0.99726278 -0.03699511 0.46892942] [ 0.21011687 0.02277048 0.97741107 -0.03360126] [ 0. 0. 0. 1. ]] SLAMing on 69.506502481 meters Centerline goodness : 0.690165 Centerline is valid? [False, False] Translation: X:0.80, Y:0.47, Z:-0.03 [[ 0.97550413 -0.06999317 -0.20854892 0.79813406] [ 0.0636961 0.99729181 -0.03676742 0.46841708] [ 0.2105576 0.02258302 0.97732057 -0.0337789 ] [ 0. 0. 0. 1. ]] SLAMing on 69.53650248099999 meters Centerline goodness : 0.691152 Centerline is valid? [False, False] Translation: X:0.80, Y:0.47, Z:-0.03 [[ 0.9750373 -0.07359471 -0.20949005 0.80096237] [ 0.0664921 0.99695418 -0.04075744 0.46911323] [ 0.21185151 0.02581059 0.97696098 -0.03282237] [ 0. 0. 0. 1. ]] SLAMing on 69.56650248099999 meters Centerline goodness : 0.692378 Centerline is valid? [False, False] Translation: X:0.80, Y:0.47, Z:-0.03 [[ 0.97484777 -0.07288152 -0.21061842 0.80269868] [ 0.06557017 0.99698458 -0.04150071 0.46790789] [ 0.21300795 0.02664659 0.97668704 -0.03026652] [ 0. 0. 0. 1. ]] SLAMing on 69.59650248099999 meters Centerline goodness : 0.690147 Centerline is valid? [False, False] Translation: X:0.82, Y:0.47, Z:-0.03 [[ 0.9751949 -0.0766436 -0.20765517 0.81865716] [ 0.07023568 0.99680376 -0.03806864 0.46908743] [ 0.20990917 0.02253954 0.97746105 -0.02858706] [ 0. 0. 0. 1. ]] SLAMing on 69.62650248099999 meters Centerline goodness : 0.691482 Centerline is valid? [False, False] Translation: X:0.82, Y:0.47, Z:-0.03 [[ 0.9751696 -0.07643072 -0.20785234 0.81899564] [ 0.07007566 0.99682603 -0.03777911 0.46805015] [ 0.21008011 0.02227565 0.97743038 -0.02842085] [ 0. 0. 0. 1. ]] SLAMing on 69.65650248099999 meters Centerline goodness : 0.695007 Centerline is valid? [False, False] Translation: X:0.84, Y:0.47, Z:-0.03 [[ 0.97512104 -0.08000869 -0.20673066 0.83644756] [ 0.07459341 0.99663864 -0.03387087 0.46947917] [ 0.20874573 0.01760746 0.97781143 -0.02600483] [ 0. 0. 0. 1. ]] SLAMing on 69.68650248099999 meters Centerline goodness : 0.695042 Centerline is valid? [False, False] Translation: X:0.84, Y:0.47, Z:-0.03 [[ 0.97502416 -0.07983985 -0.2072522 0.83756315] [ 0.07445971 0.99665631 -0.03364444 0.46870583] [ 0.20924538 0.0173722 0.97770884 -0.02589157] [ 0. 0. 0. 1. ]] SLAMing on 69.71650248099999 meters Centerline goodness : 0.692958 Centerline is valid? [False, False] Translation: X:0.84, Y:0.47, Z:-0.02 [[ 0.97443905 -0.08394108 -0.20838052 0.83969058] [ 0.07776752 0.99626001 -0.03765913 0.47009365] [ 0.21076232 0.02049129 0.97732254 -0.02456485] [ 0. 0. 0. 1. ]] SLAMing on 69.746502481 meters Centerline goodness : 0.693161 Centerline is valid? [False, False] Translation: X:0.84, Y:0.47, Z:-0.02 [[ 0.97438047 -0.08369149 -0.20875447 0.84033546] [ 0.07755889 0.99628579 -0.03740649 0.46940465] [ 0.21110971 0.02025739 0.97725244 -0.02433987] [ 0. 0. 0. 1. ]] SLAMing on 69.776502481 meters Centerline goodness : 0.698690 Centerline is valid? [False, False] Translation: X:0.84, Y:0.47, Z:-0.02 [[ 0.97432312 -0.08357008 -0.20907057 0.84096384] [ 0.07745908 0.99629893 -0.03726307 0.46880766] [ 0.21141087 0.02011185 0.97719034 -0.02417608] [ 0. 0. 0. 1. ]] SLAMing on 69.806502481 meters Centerline goodness : 0.698205 Centerline is valid? [False, False] Translation: X:0.84, Y:0.47, Z:-0.03 [[ 0.97414122 -0.08359512 -0.20990652 0.84347143] [ 0.0775496 0.99630602 -0.03688337 0.46727637] [ 0.2122144 0.01965144 0.97702552 -0.0250431 ] [ 0. 0. 0. 1. ]] SLAMing on 69.836502481 meters Centerline goodness : 0.698205 Centerline is valid? [False, False] Translation: X:0.84, Y:0.47, Z:-0.03 [[ 0.97414116 -0.08362593 -0.2098945 0.84343079] [ 0.07757972 0.99630339 -0.03689093 0.46727398] [ 0.21220364 0.01965342 0.97702782 -0.02504845] [ 0. 0. 0. 1. ]] SLAMing on 69.866502481 meters Centerline goodness : 0.696917 Centerline is valid? [False, False] Translation: X:0.85, Y:0.47, Z:-0.03 [[ 0.97406863 -0.08312232 -0.21043046 0.84547403] [ 0.07719091 0.99635675 -0.03626016 0.46594439] [ 0.21267783 0.01907656 0.97693614 -0.0258944 ] [ 0. 0. 0. 1. ]] SLAMing on 69.89650248099998 meters Centerline goodness : 0.699973 Centerline is valid? [False, False] Translation: X:0.85, Y:0.47, Z:-0.03 [[ 0.97395282 -0.08305382 -0.2109928 0.84585815] [ 0.07709218 0.99636148 -0.03634004 0.46658455] [ 0.21324327 0.01912759 0.97681188 -0.02505201] [ 0. 0. 0. 1. ]] SLAMing on 69.92650248099999 meters Centerline goodness : 0.696714 Centerline is valid? [False, False] Translation: X:0.85, Y:0.47, Z:-0.02 [[ 0.97385552 -0.08309502 -0.21142526 0.84526694] [ 0.07705447 0.99635247 -0.03666544 0.46751237] [ 0.2137008 0.01941558 0.9767062 -0.02344595] [ 0. 0. 0. 1. ]] SLAMing on 69.95650248099999 meters Centerline goodness : 0.695734 Centerline is valid? [False, False] Translation: X:0.86, Y:0.47, Z:-0.02 [[ 0.97458817 -0.08553401 -0.20703099 0.85884829] [ 0.08052394 0.99622195 -0.03252256 0.46960386] [ 0.2090306 0.01502515 0.97779367 -0.02052825] [ 0. 0. 0. 1. ]] SLAMing on 69.98650248099999 meters Centerline goodness : 0.698149 Centerline is valid? [False, False] Translation: X:0.86, Y:0.47, Z:-0.02 [[ 0.97458268 -0.08569424 -0.20699055 0.85848843] [ 0.0806338 0.9962047 -0.03277784 0.46944842] [ 0.20901384 0.01525428 0.9777937 -0.02004357] [ 0. 0. 0. 1. ]] SLAMing on 70.01650248099999 meters Centerline goodness : 0.695927 Centerline is valid? [False, False] Translation: X:0.86, Y:0.47, Z:-0.02 [[ 0.97457769 -0.0857564 -0.20698832 0.85847894] [ 0.08067743 0.99619809 -0.0328711 0.46924183] [ 0.20902027 0.01533616 0.97779104 -0.01991725] [ 0. 0. 0. 1. ]] SLAMing on 70.04650248099999 meters Centerline goodness : 0.697026 Centerline is valid? [False, False] Translation: X:0.86, Y:0.47, Z:-0.02 [[ 0.97438089 -0.08539474 -0.20806155 0.86039636] [ 0.0803132 0.996231 -0.03276551 0.47011965] [ 0.21007537 0.01521599 0.97756678 -0.0194498 ] [ 0. 0. 0. 1. ]] SLAMing on 70.07650248099999 meters Centerline goodness : 0.697115 Centerline is valid? [False, False] Translation: X:0.86, Y:0.47, Z:-0.02 [[ 0.97424314 -0.08473417 -0.20897471 0.86283952] [ 0.07974566 0.99629509 -0.03219805 0.47003203] [ 0.21092875 0.01470391 0.97739084 -0.01982858] [ 0. 0. 0. 1. ]] SLAMing on 70.10650248099999 meters Centerline goodness : 0.698628 Centerline is valid? [False, False] Translation: X:0.87, Y:0.47, Z:-0.02 [[ 0.97365004 -0.08780721 -0.21046497 0.86713447] [ 0.08225253 0.99599605 -0.03501984 0.47168938] [ 0.21269727 0.01678579 0.97697395 -0.02010935] [ 0. 0. 0. 1. ]] SLAMing on 70.136502481 meters Centerline goodness : 0.698681 Centerline is valid? [False, False] Translation: X:0.87, Y:0.47, Z:-0.02 [[ 0.97362975 -0.08761992 -0.21063681 0.86803091] [ 0.08207888 0.99601375 -0.03492364 0.47109269] [ 0.21285716 0.01671387 0.97694036 -0.02036079] [ 0. 0. 0. 1. ]] SLAMing on 70.166502481 meters Centerline goodness : 0.696055 Centerline is valid? [False, False] Translation: X:0.87, Y:0.47, Z:-0.02 [[ 0.97357912 -0.08759819 -0.21087972 0.8684182 ] [ 0.08198512 0.99601061 -0.03523209 0.47204735] [ 0.21312471 0.01701223 0.97687688 -0.01986536] [ 0. 0. 0. 1. ]] SLAMing on 70.196502481 meters Centerline goodness : 0.695433 Centerline is valid? [False, False] Translation: X:0.87, Y:0.47, Z:-0.02 [[ 0.97347086 -0.08728792 -0.21150723 0.8690718 ] [ 0.08164952 0.99603705 -0.03526394 0.47285697] [ 0.21374715 0.01705895 0.97674006 -0.01900545] [ 0. 0. 0. 1. ]] SLAMing on 70.226502481 meters Centerline goodness : 0.695235 Centerline is valid? [False, False] Translation: X:0.87, Y:0.48, Z:-0.02 [[ 0.9733375 -0.08704154 -0.21222128 0.8686451 ] [ 0.08128716 0.99605088 -0.03570783 0.47522293] [ 0.21449126 0.0175049 0.97656903 -0.01682018] [ 0. 0. 0. 1. ]] SLAMing on 70.256502481 meters Centerline goodness : 0.696380 Centerline is valid? [False, False] Translation: X:0.87, Y:0.48, Z:-0.02 [[ 0.9732863 -0.08714087 -0.21241525 0.86835718] [ 0.08131832 0.99603737 -0.03601229 0.47558487] [ 0.21471167 0.01777702 0.97651568 -0.01596041] [ 0. 0. 0. 1. ]] SLAMing on 70.28650248099999 meters Centerline goodness : 0.695631 Centerline is valid? [False, False] Translation: X:0.87, Y:0.47, Z:-0.02 [[ 0.97338458 -0.0873924 -0.21186089 0.86793647] [ 0.08154517 0.99601207 -0.03619862 0.47486178] [ 0.21417949 0.01795894 0.97662922 -0.01649178] [ 0. 0. 0. 1. ]] SLAMing on 70.31650248099999 meters Centerline goodness : 0.698067 Centerline is valid? [False, False] Translation: X:0.87, Y:0.47, Z:-0.02 [[ 0.9733755 -0.08723847 -0.21196601 0.8686337 ] [ 0.08141433 0.99602751 -0.03606805 0.47460603] [ 0.2142705 0.01785068 0.97661124 -0.01684461] [ 0. 0. 0. 1. ]] SLAMing on 70.34650248099999 meters Centerline goodness : 0.695446 Centerline is valid? [False, False] Translation: X:0.87, Y:0.48, Z:-0.02 [[ 0.97322162 -0.08643495 -0.21299924 0.87140981] [ 0.0807032 0.99610665 -0.03547582 0.47511612] [ 0.21523631 0.01733612 0.97640811 -0.01733408] [ 0. 0. 0. 1. ]] SLAMing on 70.37650248099999 meters Centerline goodness : 0.696763 Centerline is valid? [False, False] Translation: X:0.87, Y:0.47, Z:-0.02 [[ 0.97314373 -0.08568648 -0.2136565 0.87380475] [ 0.08006008 0.9961801 -0.03486531 0.47498713] [ 0.21582784 0.0168236 0.97628649 -0.01814445] [ 0. 0. 0. 1. ]] SLAMing on 70.40650248099999 meters Centerline goodness : 0.700074 Centerline is valid? [False, False] Translation: X:0.88, Y:0.47, Z:-0.02 [[ 0.97310875 -0.08462642 -0.21423755 0.87704396] [ 0.07916192 0.99628264 -0.03397482 0.47467958] [ 0.21631632 0.01610174 0.97619055 -0.01987539] [ 0. 0. 0. 1. ]] SLAMing on 70.43650248099999 meters Centerline goodness : 0.696620 Centerline is valid? [False, False] Translation: X:0.88, Y:0.47, Z:-0.02 [[ 0.97310556 -0.08441568 -0.21433516 0.8774011 ] [ 0.07894507 0.99629994 -0.03397225 0.47489387] [ 0.2164099 0.01613788 0.97616921 -0.01983236] [ 0. 0. 0. 1. ]] SLAMing on 70.46650248099999 meters Centerline goodness : 0.695292 Centerline is valid? [False, False] Translation: X:0.88, Y:0.48, Z:-0.02 [[ 0.97307781 -0.08427015 -0.21451834 0.87709112] [ 0.07874702 0.99630853 -0.03417935 0.47551478] [ 0.21660675 0.01636648 0.97612174 -0.01893996] [ 0. 0. 0. 1. ]] SLAMing on 70.496502481 meters Centerline goodness : 0.694074 Centerline is valid? [False, False] Translation: X:0.88, Y:0.48, Z:-0.02 [[ 0.97293964 -0.08257203 -0.21580158 0.8792151 ] [ 0.07675972 0.99642835 -0.03519222 0.47691822] [ 0.21793671 0.01767504 0.97580284 -0.01506663] [ 0. 0. 0. 1. ]] SLAMing on 70.526502481 meters Centerline goodness : 0.690992 Centerline is valid? [False, False] Translation: X:0.88, Y:0.48, Z:-0.01 [[ 0.97291594 -0.0822272 -0.21603994 0.87981247] [ 0.07643689 0.99645864 -0.0350367 0.47687918] [ 0.21815583 0.01757434 0.97575569 -0.01499662] [ 0. 0. 0. 1. ]] SLAMing on 70.556502481 meters Centerline goodness : 0.691929 Centerline is valid? [False, False] Translation: X:0.88, Y:0.48, Z:-0.01 [[ 0.97288411 -0.08183946 -0.21633033 0.88084379] [ 0.07604397 0.99649021 -0.03499395 0.47672248] [ 0.21843494 0.01759444 0.97569289 -0.01498483] [ 0. 0. 0. 1. ]] SLAMing on 70.586502481 meters Centerline goodness : 0.693507 Centerline is valid? [False, False] Translation: X:0.88, Y:0.48, Z:-0.01 [[ 0.97283579 -0.08154952 -0.21665687 0.88157563] [ 0.07576575 0.99651528 -0.03488329 0.47656272] [ 0.2187466 0.01752054 0.97562439 -0.01481535] [ 0. 0. 0. 1. ]] SLAMing on 70.616502481 meters Centerline goodness : 0.690773 Centerline is valid? [False, False] Translation: X:0.88, Y:0.48, Z:-0.01 [[ 0.9727739 -0.08111492 -0.21709747 0.88260042] [ 0.0753588 0.99655334 -0.03467694 0.47671564] [ 0.21916203 0.01737262 0.9755338 -0.01475008] [ 0. 0. 0. 1. ]] SLAMing on 70.64650248099998 meters Centerline goodness : 0.693293 Centerline is valid? [False, False] Translation: X:0.88, Y:0.48, Z:-0.01 [[ 0.97268649 -0.08062346 -0.21767142 0.88443253] [ 0.07490758 0.99659702 -0.03439825 0.47516367] [ 0.21970399 0.01715347 0.97541577 -0.01471711] [ 0. 0. 0. 1. ]] SLAMing on 70.67650248099999 meters Centerline goodness : 0.692808 Centerline is valid? [False, False] Translation: X:0.89, Y:0.48, Z:-0.01 [[ 0.97213857 -0.08405518 -0.21881802 0.88785729] [ 0.07757973 0.9962604 -0.03803433 0.47533798] [ 0.22119671 0.0199988 0.97502414 -0.01396768] [ 0. 0. 0. 1. ]] SLAMing on 70.70650248099999 meters Centerline goodness : 0.692098 Centerline is valid? [False, False] Translation: X:0.89, Y:0.47, Z:-0.01 [[ 0.97207435 -0.08354155 -0.21929949 0.88926501] [ 0.077176 0.99631388 -0.03745016 0.47431269] [ 0.22161977 0.01947968 0.97493857 -0.01435922] [ 0. 0. 0. 1. ]] SLAMing on 70.73650248099999 meters Centerline goodness : 0.691180 Centerline is valid? [False, False] Translation: X:0.89, Y:0.47, Z:-0.01 [[ 0.97196974 -0.08305768 -0.21994599 0.88980545] [ 0.07674676 0.99636016 -0.0370993 0.47356045] [ 0.2222268 0.01917925 0.97480634 -0.01337513] [ 0. 0. 0. 1. ]] SLAMing on 70.76650248099999 meters Centerline goodness : 0.691382 Centerline is valid? [False, False] Translation: X:0.89, Y:0.47, Z:-0.01 [[ 0.97194849 -0.08288441 -0.22010522 0.88960409] [ 0.07655109 0.99637279 -0.03716432 0.47294826] [ 0.2223872 0.01927251 0.97476792 -0.01236921] [ 0. 0. 0. 1. ]] SLAMing on 70.79650248099999 meters Centerline goodness : 0.689209 Centerline is valid? [False, False] Translation: X:0.89, Y:0.47, Z:-0.01 [[ 0.97193332 -0.08291413 -0.22016101 0.88962615] [ 0.0765544 0.99636828 -0.03727835 0.47211047] [ 0.22245235 0.01937778 0.97475097 -0.01195792] [ 0. 0. 0. 1. ]] SLAMing on 70.82650248099999 meters Centerline goodness : 0.689306 Centerline is valid? [False, False] Translation: X:0.89, Y:0.47, Z:-0.01 [[ 0.97152712 -0.08725929 -0.22027456 0.89104255] [ 0.08006863 0.99593001 -0.04138154 0.47184833] [ 0.22298897 0.0225662 0.97455974 -0.01170243] [ 0. 0. 0. 1. ]] SLAMing on 70.85650248099999 meters Centerline goodness : 0.688575 Centerline is valid? [False, False] Translation: X:0.89, Y:0.47, Z:-0.01 [[ 0.97149751 -0.08667393 -0.22063594 0.89285252] [ 0.07965091 0.99599778 -0.04054818 0.46987772] [ 0.22326737 0.0218186 0.97451302 -0.01272717] [ 0. 0. 0. 1. ]] SLAMing on 70.886502481 meters Centerline goodness : 0.687996 Centerline is valid? [False, False] Translation: X:0.89, Y:0.47, Z:-0.01 [[ 0.97136887 -0.08613214 -0.22141314 0.89395303] [ 0.07915917 0.99605137 -0.04019312 0.46938395] [ 0.22400079 0.02151547 0.97435144 -0.0120127 ] [ 0. 0. 0. 1. ]] SLAMing on 70.916502481 meters Centerline goodness : 0.687226 Centerline is valid? [False, False] Translation: X:0.89, Y:0.47, Z:-0.01 [[ 0.97129797 -0.08575711 -0.22186926 0.89442391] [ 0.07881869 0.99608788 -0.03995679 0.46896731] [ 0.22442786 0.0213225 0.9742574 -0.01132228] [ 0. 0. 0. 1. ]] SLAMing on 70.946502481 meters Centerline goodness : 0.686329 Centerline is valid? [False, False] Translation: X:0.89, Y:0.47, Z:-0.01 [[ 0.97135974 -0.0858398 -0.22156667 0.89355733] [ 0.07885439 0.99607528 -0.04019974 0.46840005] [ 0.22414782 0.02157691 0.97431627 -0.01066263] [ 0. 0. 0. 1. ]] SLAMing on 70.976502481 meters Centerline goodness : 0.686738 Centerline is valid? [False, False] Translation: X:0.89, Y:0.47, Z:-0.01 [[ 0.9713638 -0.0853526 -0.22173701 0.89470922] [ 0.07845074 0.99612456 -0.03976607 0.46760983] [ 0.22427182 0.02123189 0.97429531 -0.01129026] [ 0. 0. 0. 1. ]] SLAMing on 71.006502481 meters Centerline goodness : 0.686964 Centerline is valid? [False, False] Translation: X:0.91, Y:0.47, Z:-0.01 [[ 0.9709939 -0.08223512 -0.22451778 0.90911385] [ 0.07450201 0.99630561 -0.04271516 0.46538967] [ 0.22720101 0.02474913 0.97353335 -0.00775789] [ 0. 0. 0. 1. ]] SLAMing on 71.03650248099999 meters Centerline goodness : 0.686314 Centerline is valid? [False, False] Translation: X:0.91, Y:0.47, Z:-0.01 [[ 0.97113109 -0.08175034 -0.22410105 0.90929217] [ 0.07398251 0.99633823 -0.04285691 0.46545436] [ 0.22678401 0.02504012 0.97362313 -0.00887242] [ 0. 0. 0. 1. ]] SLAMing on 71.06650248099999 meters Centerline goodness : 0.683128 Centerline is valid? [False, False] Translation: X:0.91, Y:0.47, Z:-0.01 [[ 0.97108409 -0.08055889 -0.22473529 0.91041679] [ 0.0726465 0.99641864 -0.04327101 0.4655008 ] [ 0.22741629 0.02569356 0.97345861 -0.0072745 ] [ 0. 0. 0. 1. ]] SLAMing on 71.09650248099999 meters Centerline goodness : 0.685826 Centerline is valid? [False, False] Translation: X:0.91, Y:0.47, Z:-0.01 [[ 0.97119035 -0.07959877 -0.22461821 0.91001141] [ 0.0716491 0.99648798 -0.04333711 0.46588985] [ 0.22727893 0.02599489 0.97348269 -0.00729348] [ 0. 0. 0. 1. ]] SLAMing on 71.12650248099999 meters Centerline goodness : 0.679217 Centerline is valid? [False, False] Translation: X:0.91, Y:0.47, Z:-0.01 [[ 0.97160958 -0.07817897 -0.22329995 0.90811681] [ 0.07014769 0.99657951 -0.04368736 0.4650896 ] [ 0.22595159 0.02678308 0.97377027 -0.00844617] [ 0. 0. 0. 1. ]] SLAMing on 71.15650248099999 meters Centerline goodness : 0.680761 Centerline is valid? [False, False] Translation: X:0.90, Y:0.46, Z:-0.01 [[ 0.97292509 -0.07441698 -0.21881242 0.90362759] [ 0.06619879 0.99680636 -0.04466317 0.46101449] [ 0.22143731 0.0289688 0.97474424 -0.01208585] [ 0. 0. 0. 1. ]] SLAMing on 71.18650248099999 meters Centerline goodness : 0.678225 Centerline is valid? [False, False] Translation: X:0.90, Y:0.46, Z:-0.01 [[ 0.97328656 -0.06972809 -0.21874934 0.90368996] [ 0.0626279 0.99726546 -0.03923448 0.45805149] [ 0.22088691 0.02448658 0.97499199 -0.01279535] [ 0. 0. 0. 1. ]] SLAMing on 71.21650248099999 meters Centerline goodness : 0.678853 Centerline is valid? [False, False] Translation: X:0.90, Y:0.46, Z:-0.01 [[ 0.97350433 -0.06517667 -0.21918331 0.90417686] [ 0.05907993 0.99766507 -0.03426317 0.45673038] [ 0.22090469 0.02040601 0.9750819 -0.01282219] [ 0. 0. 0. 1. ]] SLAMing on 71.246502481 meters Centerline goodness : 0.679243 Centerline is valid? [False, False] Translation: X:0.90, Y:0.45, Z:-0.01 [[ 0.97364411 -0.06477361 -0.21868132 0.9041836 ] [ 0.05885281 0.99770481 -0.03348822 0.45427512] [ 0.22034856 0.0197356 0.97522152 -0.0138818 ] [ 0. 0. 0. 1. ]] SLAMing on 71.276502481 meters Centerline goodness : 0.679346 Centerline is valid? [False, False] Translation: X:0.90, Y:0.45, Z:-0.01 [[ 0.97368068 -0.06474655 -0.21852646 0.90449451] [ 0.05898092 0.99771971 -0.03281218 0.45189351] [ 0.22015263 0.0190597 0.97527922 -0.01445529] [ 0. 0. 0. 1. ]] SLAMing on 71.306502481 meters Centerline goodness : 0.679331 Centerline is valid? [False, False] Translation: X:0.91, Y:0.45, Z:-0.02 [[ 0.9736684 -0.06466375 -0.21860568 0.90557877] [ 0.05908206 0.9977407 -0.03198143 0.44985477] [ 0.22017982 0.01822363 0.97528906 -0.01528352] [ 0. 0. 0. 1. ]] SLAMing on 71.336502481 meters Centerline goodness : 0.677481 Centerline is valid? [False, False] Translation: X:0.91, Y:0.45, Z:-0.02 [[ 0.97366364 -0.06428627 -0.21873817 0.90574485] [ 0.05896852 0.99778581 -0.03076017 0.44847814] [ 0.2202313 0.01705139 0.97529863 -0.01512673] [ 0. 0. 0. 1. ]] SLAMing on 71.366502481 meters Centerline goodness : 0.674852 Centerline is valid? [False, False] Translation: X:0.90, Y:0.45, Z:-0.01 [[ 0.97358676 -0.0635122 -0.21930578 0.90481862] [ 0.05864828 0.99786822 -0.02862495 0.44691617] [ 0.2206563 0.01500697 0.97523617 -0.01292665] [ 0. 0. 0. 1. ]] SLAMing on 71.39650248099998 meters Centerline goodness : 0.672028 Centerline is valid? [False, False] Translation: X:0.90, Y:0.45, Z:-0.01 [[ 0.97359733 -0.06334918 -0.21930602 0.90486246] [ 0.05864849 0.99788915 -0.02788544 0.44523194] [ 0.22060962 0.01428722 0.97525754 -0.01289831] [ 0. 0. 0. 1. ]] SLAMing on 71.42650248099999 meters Centerline goodness : 0.675028 Centerline is valid? [False, False] Translation: X:0.91, Y:0.44, Z:-0.01 [[ 0.97349931 -0.06347961 -0.21970306 0.90595248] [ 0.05894889 0.99789245 -0.0271235 0.44303586] [ 0.22096181 0.01345346 0.97518966 -0.01302021] [ 0. 0. 0. 1. ]] SLAMing on 71.45650248099999 meters Centerline goodness : 0.676545 Centerline is valid? [False, False] Translation: X:0.91, Y:0.44, Z:-0.01 [[ 0.97343021 -0.06736691 -0.21884999 0.90582063] [ 0.06205126 0.99758892 -0.03108027 0.44217325] [ 0.22041611 0.01667455 0.9752634 -0.01426238] [ 0. 0. 0. 1. ]] SLAMing on 71.48650248099999 meters Centerline goodness : 0.677355 Centerline is valid? [False, False] Translation: X:0.91, Y:0.44, Z:-0.01 [[ 0.97338731 -0.06719147 -0.21909461 0.90638855] [ 0.06203411 0.9976127 -0.03034239 0.44118998] [ 0.22061032 0.01594356 0.97523171 -0.01417138] [ 0. 0. 0. 1. ]] SLAMing on 71.51650248099999 meters Centerline goodness : 0.678046 Centerline is valid? [False, False] Translation: X:0.91, Y:0.44, Z:-0.01 [[ 0.97336856 -0.06707744 -0.21921283 0.90695992] [ 0.06213101 0.99763522 -0.02938897 0.43970845] [ 0.22066577 0.01498638 0.97523434 -0.01437594] [ 0. 0. 0. 1. ]] SLAMing on 71.54650248099999 meters Centerline goodness : 0.678648 Centerline is valid? [False, False] Translation: X:0.91, Y:0.44, Z:-0.01 [[ 0.97345074 -0.06664548 -0.21897953 0.90704097] [ 0.06183488 0.99767204 -0.02875667 0.43818341] [ 0.22038625 0.01445263 0.9753056 -0.01494416] [ 0. 0. 0. 1. ]] SLAMing on 71.57650248099999 meters Centerline goodness : 0.678131 Centerline is valid? [False, False] Translation: X:0.91, Y:0.44, Z:-0.01 [[ 0.97366891 -0.06562705 -0.21831614 0.9052628 ] [ 0.0610323 0.99775049 -0.02773121 0.4366212 ] [ 0.21964495 0.01367668 0.97548401 -0.01459992] [ 0. 0. 0. 1. ]] SLAMing on 71.60650248099999 meters Centerline goodness : 0.680158 Centerline is valid? [False, False] Translation: X:0.90, Y:0.43, Z:-0.01 [[ 0.97394997 -0.06116287 -0.21835879 0.904184 ] [ 0.05765696 0.99808517 -0.02239779 0.43404874] [ 0.21931058 0.00922442 0.97561149 -0.0137386 ] [ 0. 0. 0. 1. ]] SLAMing on 71.636502481 meters Centerline goodness : 0.677718 Centerline is valid? [False, False] Translation: X:0.90, Y:0.43, Z:-0.01 [[ 0.97409496 -0.06080112 -0.21781238 0.90282295] [ 0.05724495 0.9981042 -0.02260585 0.43454802] [ 0.21877391 0.00955159 0.97572883 -0.01357617] [ 0. 0. 0. 1. ]] SLAMing on 71.666502481 meters Centerline goodness : 0.679362 Centerline is valid? [False, False] Translation: X:0.90, Y:0.43, Z:-0.02 [[ 0.97416204 -0.06064475 -0.21755582 0.90387975] [ 0.05700376 0.99810948 -0.02297891 0.43357232] [ 0.21853808 0.00998368 0.97577735 -0.01518094] [ 0. 0. 0. 1. ]] SLAMing on 71.696502481 meters Centerline goodness : 0.679991 Centerline is valid? [False, False] Translation: X:0.91, Y:0.44, Z:-0.02 [[ 0.9740487 -0.06419628 -0.21704371 0.90519529] [ 0.05944447 0.99782871 -0.02835872 0.43514341] [ 0.21839297 0.01472072 0.97574987 -0.01739796] [ 0. 0. 0. 1. ]] SLAMing on 71.726502481 meters Centerline goodness : 0.679991 Centerline is valid? [False, False] Translation: X:0.91, Y:0.44, Z:-0.02 [[ 0.9740487 -0.06419628 -0.21704371 0.90519529] [ 0.05944447 0.99782871 -0.02835872 0.43514341] [ 0.21839297 0.01472072 0.97574987 -0.01739796] [ 0. 0. 0. 1. ]] SLAMing on 71.756502481 meters Centerline goodness : 0.680844 Centerline is valid? [False, False] Translation: X:0.91, Y:0.43, Z:-0.02 [[ 0.97408559 -0.06388052 -0.21697128 0.90543283] [ 0.0591859 0.99785214 -0.02807368 0.43482042] [ 0.21829861 0.01450453 0.97577422 -0.01774128] [ 0. 0. 0. 1. ]] SLAMing on 71.78650248099999 meters Centerline goodness : 0.679735 Centerline is valid? [False, False] Translation: X:0.91, Y:0.43, Z:-0.02 [[ 0.97398566 -0.0632679 -0.21759849 0.90567771] [ 0.05874113 0.99790218 -0.02721598 0.43462655] [ 0.21886391 0.01372599 0.97565885 -0.01668837] [ 0. 0. 0. 1. ]] SLAMing on 71.81650248099999 meters Centerline goodness : 0.679355 Centerline is valid? [False, False] Translation: X:0.91, Y:0.43, Z:-0.02 [[ 0.97404852 -0.06306469 -0.217376 0.90517328] [ 0.05864988 0.99792127 -0.02670842 0.43413562] [ 0.2186085 0.01326622 0.97572247 -0.01661096] [ 0. 0. 0. 1. ]] SLAMing on 71.84650248099999 meters Centerline goodness : 0.681658 Centerline is valid? [False, False] Translation: X:0.91, Y:0.43, Z:-0.02 [[ 0.97402602 -0.0631517 -0.21745156 0.90504558] [ 0.05887342 0.9979241 -0.026104 0.43317588] [ 0.21864866 0.01262386 0.97572199 -0.01621474] [ 0. 0. 0. 1. ]] SLAMing on 71.87650248099999 meters Centerline goodness : 0.680154 Centerline is valid? [False, False] Translation: X:0.90, Y:0.43, Z:-0.02 [[ 0.97401179 -0.06370409 -0.21735416 0.90443158] [ 0.05978139 0.99790876 -0.02458238 0.42962593] [ 0.21846562 0.01094979 0.97578321 -0.01549727] [ 0. 0. 0. 1. ]] SLAMing on 71.90650248099999 meters Centerline goodness : 0.683423 Centerline is valid? [False, False] Translation: X:0.90, Y:0.43, Z:-0.02 [[ 0.97400191 -0.0639217 -0.21733451 0.90431012] [ 0.06020315 0.99790486 -0.02369526 0.42775161] [ 0.21839381 0.00999501 0.97580953 -0.01522279] [ 0. 0. 0. 1. ]] SLAMing on 71.93650248099999 meters Centerline goodness : 0.682152 Centerline is valid? [False, False] Translation: X:0.90, Y:0.42, Z:-0.01 [[ 0.97389452 -0.06457041 -0.21762383 0.90428226] [ 0.06121127 0.99787905 -0.02214894 0.42491197] [ 0.21859243 0.0082497 0.97578138 -0.01419781] [ 0. 0. 0. 1. ]] SLAMing on 71.96650248099999 meters Centerline goodness : 0.681705 Centerline is valid? [False, False] Translation: X:0.91, Y:0.42, Z:-0.01 [[ 0.97377743 -0.06534503 -0.21791638 0.90503821] [ 0.0622892 0.9978399 -0.02087068 0.42309161] [ 0.21880946 0.00674956 0.97574426 -0.01396155] [ 0. 0. 0. 1. ]] SLAMing on 71.996502481 meters Centerline goodness : 0.682564 Centerline is valid? [False, False] Translation: X:0.91, Y:0.42, Z:-0.01 [[ 0.97364081 -0.06581517 -0.21838482 0.90612622] [ 0.06288754 0.99781338 -0.02033741 0.42199067] [ 0.2192458 0.00606764 0.97565079 -0.01384069] [ 0. 0. 0. 1. ]] SLAMing on 72.026502481 meters Centerline goodness : 0.683022 Centerline is valid? [False, False] Translation: X:0.91, Y:0.42, Z:-0.01 [[ 0.9735943 -0.06605998 -0.21851822 0.90686152] [ 0.06330441 0.99780187 -0.01959544 0.42034411] [ 0.21933237 0.00524484 0.9756361 -0.01406782] [ 0. 0. 0. 1. ]] SLAMing on 72.056502481 meters Centerline goodness : 0.682850 Centerline is valid? [False, False] Translation: X:0.91, Y:0.42, Z:-0.01 [[ 0.97350104 -0.06667793 -0.21874595 0.90796786] [ 0.06424386 0.99776772 -0.01822947 0.4178199 ] [ 0.21947315 0.00369332 0.97561155 -0.01432265] [ 0. 0. 0. 1. ]] SLAMing on 72.086502481 meters Centerline goodness : 0.682921 Centerline is valid? [False, False] Translation: X:0.91, Y:0.42, Z:-0.01 [[ 0.97347015 -0.06678597 -0.2188504 0.90722649] [ 0.06468224 0.99776496 -0.01677159 0.41632665] [ 0.21948137 0.0021709 0.97561428 -0.01304568] [ 0. 0. 0. 1. ]] SLAMing on 72.116502481 meters Centerline goodness : 0.683862 Centerline is valid? [False, False] Translation: X:0.91, Y:0.42, Z:-0.01 [[ 9.73353004e-01 -6.63603829e-02 -2.19499951e-01 9.07766020e-01] [ 6.45616546e-02 9.97795411e-01 -1.53658582e-02 4.15203928e-01] [ 2.20035728e-01 7.85124229e-04 9.75491498e-01 -1.20372091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14650248099998 meters Centerline goodness : 0.683993 Centerline is valid? [False, False] Translation: X:0.91, Y:0.41, Z:-0.01 [[ 9.73319660e-01 -6.71845248e-02 -2.19397079e-01 9.07201809e-01] [ 6.56365398e-02 9.97740471e-01 -1.43456095e-02 4.13558387e-01] [ 2.19865148e-01 -4.37601299e-04 9.75530177e-01 -1.12944965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.17650248099999 meters Centerline goodness : 0.685522 Centerline is valid? [False, False] Translation: X:0.91, Y:0.41, Z:-0.01 [[ 0.97332142 -0.06759944 -0.21926177 0.90715192] [ 0.06619209 0.99771192 -0.01376708 0.41208136] [ 0.21969072 -0.0011136 0.97556893 -0.01131691] [ 0. 0. 0. 1. ]] SLAMing on 72.20650248099999 meters Centerline goodness : 0.686069 Centerline is valid? [False, False] Translation: X:0.91, Y:0.41, Z:-0.01 [[ 0.97325396 -0.06790843 -0.21946565 0.90777394] [ 0.06668984 0.99768952 -0.01296503 0.41054112] [ 0.21983901 -0.00201786 0.97553408 -0.01122211] [ 0. 0. 0. 1. ]] SLAMing on 72.23650248099999 meters Centerline goodness : 0.687784 Centerline is valid? [False, False] Translation: X:0.91, Y:0.41, Z:-0.01 [[ 9.72901425e-01 -7.30644537e-02 -2.19372747e-01 9.08817657e-01] [ 7.11480253e-02 9.97327055e-01 -1.66344325e-02 4.10090436e-01] [ 2.20001761e-01 5.75725376e-04 9.75499305e-01 -1.16960393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26650248099999 meters Centerline goodness : 0.686694 Centerline is valid? [False, False] Translation: X:0.91, Y:0.41, Z:-0.01 [[ 9.72779872e-01 -7.35991280e-02 -2.19732769e-01 9.10169150e-01] [ 7.19198336e-02 9.97287734e-01 -1.56432793e-02 4.08446316e-01] [ 2.20288127e-01 -5.85676931e-04 9.75434671e-01 -1.18863979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.29650248099999 meters Centerline goodness : 0.689517 Centerline is valid? [False, False] Translation: X:0.91, Y:0.41, Z:-0.01 [[ 0.97221371 -0.07659088 -0.22121107 0.91362813] [ 0.07436058 0.99706156 -0.01840526 0.40662055] [ 0.22197073 0.00144446 0.97505226 -0.01099406] [ 0. 0. 0. 1. ]] SLAMing on 72.32650248099999 meters Centerline goodness : 0.689479 Centerline is valid? [False, False] Translation: X:0.91, Y:0.41, Z:-0.01 [[ 9.72067199e-01 -7.69642250e-02 -2.21724761e-01 9.14662657e-01] [ 7.49082787e-02 9.97033688e-01 -1.76797778e-02 4.06346691e-01] [ 2.22427766e-01 5.76911865e-04 9.74949002e-01 -1.06599975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.35650248099999 meters Centerline goodness : 0.690219 Centerline is valid? [False, False] Translation: X:0.91, Y:0.40, Z:-0.01 [[ 9.72030916e-01 -7.67478388e-02 -2.21958706e-01 9.14627796e-01] [ 7.48045232e-02 9.97050532e-01 -1.71615900e-02 4.04628177e-01] [ 2.22621160e-01 7.80808901e-05 9.74905028e-01 -1.01334091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.386502481 meters Centerline goodness : 0.693475 Centerline is valid? [False, False] Translation: X:0.91, Y:0.41, Z:-0.01 [[ 0.97166002 -0.08042892 -0.22227911 0.91496693] [ 0.07776086 0.99675621 -0.02074376 0.40531285] [ 0.22322648 0.00287127 0.97476238 -0.00886355] [ 0. 0. 0. 1. ]] SLAMing on 72.416502481 meters Centerline goodness : 0.693111 Centerline is valid? [False, False] Translation: X:0.92, Y:0.41, Z:-0.01 [[ 0.97102964 -0.08413788 -0.22365658 0.91698019] [ 0.08057232 0.99643426 -0.0250373 0.40567815] [ 0.22496566 0.00629144 0.97434638 -0.00595877] [ 0. 0. 0. 1. ]] SLAMing on 72.446502481 meters Centerline goodness : 0.691289 Centerline is valid? [False, False] Translation: X:0.95, Y:0.41, Z:0.00 [[ 0.97136158 -0.08585769 -0.22155165 0.94751337] [ 0.08199183 0.99627783 -0.02660511 0.4054896 ] [ 0.22301125 0.00767776 0.97478563 0.00178536] [ 0. 0. 0. 1. ]] SLAMing on 72.476502481 meters Centerline goodness : 0.694934 Centerline is valid? [False, False] Translation: X:0.96, Y:0.40, Z:0.01 [[ 0.97092831 -0.08378785 -0.22422716 0.95961601] [ 0.07892573 0.99641148 -0.0305759 0.40421809] [ 0.2259844 0.01198971 0.97405713 0.0073214 ] [ 0. 0. 0. 1. ]] SLAMing on 72.506502481 meters Centerline goodness : 0.693662 Centerline is valid? [False, False] Translation: X:0.96, Y:0.40, Z:0.01 [[ 0.97086002 -0.08366445 -0.22456866 0.96075686] [ 0.0788197 0.99642316 -0.03046865 0.40382104] [ 0.22631456 0.01188036 0.97398182 0.00712262] [ 0. 0. 0. 1. ]] SLAMing on 72.53650248099999 meters Centerline goodness : 0.698673 Centerline is valid? [False, False] Translation: X:1.01, Y:0.40, Z:0.02 [[ 0.97056866 -0.07932851 -0.22738394 1.00888997] [ 0.07367544 0.99672764 -0.03325582 0.40289959] [ 0.22927799 0.01552445 0.97323717 0.01766069] [ 0. 0. 0. 1. ]] SLAMing on 72.56650248099999 meters Centerline goodness : 0.696864 Centerline is valid? [False, False] Translation: X:1.04, Y:0.40, Z:0.03 [[ 0.97016499 -0.0775451 -0.22970994 1.04377605] [ 0.07140104 0.99683511 -0.03495229 0.40336154] [ 0.23169332 0.01750796 0.97263132 0.02789464] [ 0. 0. 0. 1. ]] SLAMing on 72.59650248099999 meters Centerline goodness : 0.699359 Centerline is valid? [False, False] Translation: X:1.05, Y:0.40, Z:0.03 [[ 0.96971763 -0.07527687 -0.23233837 1.04756482] [ 0.06891232 0.9969944 -0.03540148 0.40395066] [ 0.23430497 0.01831847 0.97199054 0.03260344] [ 0. 0. 0. 1. ]] SLAMing on 72.62650248099999 meters Centerline goodness : 0.697802 Centerline is valid? [False, False] Translation: X:1.10, Y:0.40, Z:0.04 [[ 0.96992369 -0.06721132 -0.23394587 1.09709607] [ 0.06078603 0.99755177 -0.03457625 0.40009972] [ 0.23569704 0.01931568 0.97163461 0.0432186 ] [ 0. 0. 0. 1. ]] SLAMing on 72.65650248099999 meters Centerline goodness : 0.700459 Centerline is valid? [False, False] Translation: X:1.12, Y:0.40, Z:0.05 [[ 0.97041885 -0.06353704 -0.23291694 1.12185964] [ 0.0552118 0.99758683 -0.04209715 0.39788512] [ 0.2350296 0.0279921 0.97158506 0.05048804] [ 0. 0. 0. 1. ]] SLAMing on 72.68650248099999 meters Centerline goodness : 0.701661 Centerline is valid? [False, False] Translation: X:1.12, Y:0.40, Z:0.05 [[ 0.97045881 -0.06348079 -0.23276575 1.12235984] [ 0.05517637 0.99759192 -0.04202306 0.39747079] [ 0.23487288 0.02793848 0.9716245 0.04972023] [ 0. 0. 0. 1. ]] SLAMing on 72.71650248099999 meters Centerline goodness : 0.701537 Centerline is valid? [False, False] Translation: X:1.12, Y:0.40, Z:0.05 [[ 0.97043986 -0.06344586 -0.23285426 1.12302925] [ 0.05510467 0.99759009 -0.04216026 0.39778117] [ 0.234968 0.02808264 0.97159735 0.0491833 ] [ 0. 0. 0. 1. ]] SLAMing on 72.746502481 meters Centerline goodness : 0.702719 Centerline is valid? [False, False] Translation: X:1.13, Y:0.40, Z:0.05 [[ 0.97050955 -0.05938773 -0.23363287 1.12550876] [ 0.05194442 0.99793093 -0.03788977 0.39794734] [ 0.23539965 0.02463646 0.97158636 0.04821598] [ 0. 0. 0. 1. ]] SLAMing on 72.776502481 meters Centerline goodness : 0.703909 Centerline is valid? [False, False] Translation: X:1.13, Y:0.40, Z:0.05 [[ 0.97083096 -0.05501929 -0.23336694 1.12534875] [ 0.04852499 0.99826057 -0.03348385 0.39715125] [ 0.23480327 0.02118303 0.97181207 0.04750497] [ 0. 0. 0. 1. ]] SLAMing on 72.806502481 meters Centerline goodness : 0.706493 Centerline is valid? [False, False] Translation: X:1.12, Y:0.40, Z:0.05 [[ 0.97099565 -0.05457126 -0.23278623 1.12392936] [ 0.04809827 0.99828412 -0.03339724 0.396599 ] [ 0.23420932 0.02123196 0.97195432 0.04756637] [ 0. 0. 0. 1. ]] SLAMing on 72.836502481 meters Centerline goodness : 0.703921 Centerline is valid? [False, False] Translation: X:1.12, Y:0.40, Z:0.05 [[ 0.97117286 -0.05397285 -0.23218572 1.1226434 ] [ 0.04759301 0.99832167 -0.03299609 0.3952282 ] [ 0.23357693 0.02099449 0.97211164 0.04747228] [ 0. 0. 0. 1. ]] SLAMing on 72.866502481 meters Centerline goodness : 0.705247 Centerline is valid? [False, False] Translation: X:1.12, Y:0.39, Z:0.05 [[ 0.97129359 -0.05363795 -0.2317579 1.12196138] [ 0.04736603 0.99834722 -0.03254682 0.39346304] [ 0.2331206 0.02063507 0.97222887 0.04724309] [ 0. 0. 0. 1. ]] SLAMing on 72.89650248099998 meters Centerline goodness : 0.703717 Centerline is valid? [False, False] Translation: X:1.12, Y:0.39, Z:0.05 [[ 0.97123638 -0.05375175 -0.23197123 1.12263455] [ 0.04749881 0.99834368 -0.03246157 0.39391903] [ 0.23333188 0.0205095 0.97218084 0.04708062] [ 0. 0. 0. 1. ]] SLAMing on 72.92650248099999 meters Centerline goodness : 0.707635 Centerline is valid? [False, False] Translation: X:1.13, Y:0.39, Z:0.05 [[ 0.97117443 -0.05045355 -0.23296923 1.12574452] [ 0.04511206 0.99858374 -0.02820296 0.39384645] [ 0.23406222 0.01688027 0.97207507 0.0460736 ] [ 0. 0. 0. 1. ]] SLAMing on 72.95650248099999 meters Centerline goodness : 0.707487 Centerline is valid? [False, False] Translation: X:1.13, Y:0.39, Z:0.05 [[ 0.97114969 -0.05057292 -0.23304648 1.12691741] [ 0.04519341 0.99857536 -0.02836902 0.3938367 ] [ 0.23414918 0.0170184 0.97205171 0.04515641] [ 0. 0. 0. 1. ]] SLAMing on 72.98650248099999 meters Centerline goodness : 0.708140 Centerline is valid? [False, False] Translation: X:1.13, Y:0.39, Z:0.04 [[ 0.97118504 -0.05430039 -0.23205838 1.12601063] [ 0.04794024 0.99830612 -0.03296395 0.39359366] [ 0.23345526 0.02088916 0.97214314 0.04404593] [ 0. 0. 0. 1. ]] SLAMing on 73.01650248099999 meters Centerline goodness : 0.708432 Centerline is valid? [False, False] Translation: X:1.13, Y:0.39, Z:0.04 [[ 0.97129072 -0.05376275 -0.23174101 1.12551931] [ 0.0475324 0.99834443 -0.03238943 0.39225553] [ 0.23309869 0.02044435 0.97223815 0.04386728] [ 0. 0. 0. 1. ]] SLAMing on 73.04650248099999 meters Centerline goodness : 0.706549 Centerline is valid? [False, False] Translation: X:1.12, Y:0.39, Z:0.04 [[ 0.971498 -0.04930029 -0.23186445 1.12465622] [ 0.04428895 0.99865996 -0.02677251 0.39039329] [ 0.23287364 0.01574041 0.97237961 0.04487825] [ 0. 0. 0. 1. ]] SLAMing on 73.07650248099999 meters Centerline goodness : 0.709428 Centerline is valid? [False, False] Translation: X:1.12, Y:0.39, Z:0.05 [[ 0.97156619 -0.04903082 -0.23163575 1.12382069] [ 0.04395136 0.99866762 -0.02704175 0.39162568] [ 0.23265301 0.01609214 0.97242667 0.04515703] [ 0. 0. 0. 1. ]] SLAMing on 73.10650248099999 meters Centerline goodness : 0.705719 Centerline is valid? [False, False] Translation: X:1.12, Y:0.39, Z:0.05 [[ 0.97161269 -0.04875959 -0.23149792 1.12327346] [ 0.04369574 0.99868119 -0.02695466 0.39165354] [ 0.23250692 0.01607402 0.97246191 0.04536899] [ 0. 0. 0. 1. ]] SLAMing on 73.136502481 meters Centerline goodness : 0.704564 Centerline is valid? [False, False] Translation: X:1.12, Y:0.39, Z:0.04 [[ 0.97174083 -0.05176548 -0.23030436 1.12183338] [ 0.04572802 0.99845781 -0.03147947 0.39112837] [ 0.23157873 0.02005853 0.97260935 0.04421342] [ 0. 0. 0. 1. ]] SLAMing on 73.166502481 meters Centerline goodness : 0.708430 Centerline is valid? [False, False] Translation: X:1.12, Y:0.39, Z:0.04 [[ 0.97181646 -0.05166851 -0.23000683 1.12195168] [ 0.04569463 0.99846725 -0.03122741 0.38958764] [ 0.23126776 0.01983723 0.97268788 0.04340328] [ 0. 0. 0. 1. ]] SLAMing on 73.196502481 meters Centerline goodness : 0.708418 Centerline is valid? [False, False] Translation: X:1.12, Y:0.39, Z:0.04 [[ 0.97171663 -0.05161595 -0.23043998 1.12288516] [ 0.04571548 0.99847725 -0.03087513 0.38996128] [ 0.23168272 0.0194672 0.9725966 0.04349749] [ 0. 0. 0. 1. ]] SLAMing on 73.226502481 meters Centerline goodness : 0.709985 Centerline is valid? [False, False] Translation: X:1.13, Y:0.39, Z:0.04 [[ 0.97133035 -0.05220861 -0.23193017 1.12548639] [ 0.04656974 0.99847266 -0.02972563 0.39087161] [ 0.23312787 0.01807248 0.97227814 0.04446595] [ 0. 0. 0. 1. ]] SLAMing on 73.256502481 meters Centerline goodness : 0.711156 Centerline is valid? [False, False] Translation: X:1.13, Y:0.39, Z:0.04 [[ 0.97120153 -0.05260022 -0.23238073 1.12644394] [ 0.04716187 0.99846908 -0.02890091 0.3901279 ] [ 0.23354517 0.0171091 0.97219542 0.04477928] [ 0. 0. 0. 1. ]] SLAMing on 73.28650248099999 meters Centerline goodness : 0.712025 Centerline is valid? [False, False] Translation: X:1.13, Y:0.39, Z:0.04 [[ 0.97111314 -0.05288343 -0.23268563 1.12714597] [ 0.0476763 0.99847172 -0.02794986 0.38848758] [ 0.23380811 0.01604889 0.9721503 0.0449943 ] [ 0. 0. 0. 1. ]] SLAMing on 73.31650248099999 meters Centerline goodness : 0.711232 Centerline is valid? [False, False] Translation: X:1.13, Y:0.39, Z:0.04 [[ 0.97082981 -0.05795364 -0.23266038 1.12828056] [ 0.05198107 0.998144 -0.0317257 0.38775514] [ 0.23406718 0.01870632 0.97204045 0.04444463] [ 0. 0. 0. 1. ]] SLAMing on 73.34650248099999 meters Centerline goodness : 0.715071 Centerline is valid? [False, False] Translation: X:1.13, Y:0.39, Z:0.04 [[ 0.97071208 -0.05856449 -0.2329984 1.12910177] [ 0.05294451 0.99813744 -0.03030726 0.38565799] [ 0.23433935 0.01708364 0.97200474 0.04479941] [ 0. 0. 0. 1. ]] SLAMing on 73.37650248099999 meters Centerline goodness : 0.713759 Centerline is valid? [False, False] Translation: X:1.13, Y:0.39, Z:0.05 [[ 0.97065563 -0.05892525 -0.23314257 1.12877112] [ 0.05345932 0.99812825 -0.02970014 0.38527439] [ 0.23445627 0.01636496 0.97198891 0.0456681 ] [ 0. 0. 0. 1. ]] SLAMing on 73.40650248099999 meters Centerline goodness : 0.713407 Centerline is valid? [False, False] Translation: X:1.13, Y:0.38, Z:0.05 [[ 0.97051473 -0.05888667 -0.23373816 1.12867406] [ 0.05375441 0.99815384 -0.0282731 0.38446542] [ 0.23497155 0.014875 0.97188842 0.04730659] [ 0. 0. 0. 1. ]] SLAMing on 73.43650248099999 meters Centerline goodness : 0.713026 Centerline is valid? [False, False] Translation: X:1.13, Y:0.38, Z:0.05 [[ 0.97052007 -0.05868608 -0.23376644 1.12907497] [ 0.05363323 0.99817032 -0.02791925 0.38346647] [ 0.23497719 0.01455855 0.97189185 0.04697343] [ 0. 0. 0. 1. ]] SLAMing on 73.46650248099999 meters Centerline goodness : 0.714961 Centerline is valid? [False, False] Translation: X:1.13, Y:0.38, Z:0.05 [[ 0.9705287 -0.05942626 -0.2335435 1.12900935] [ 0.05456372 0.99813886 -0.02723263 0.38104504] [ 0.23472717 0.01368705 0.97196493 0.04679588] [ 0. 0. 0. 1. ]] SLAMing on 73.496502481 meters Centerline goodness : 0.713352 Centerline is valid? [False, False] Translation: X:1.13, Y:0.38, Z:0.05 [[ 0.97046797 -0.05906694 -0.23388676 1.12998395] [ 0.0543124 0.99816634 -0.02672314 0.38011194] [ 0.23503634 0.013231 0.97189653 0.04648728] [ 0. 0. 0. 1. ]] SLAMing on 73.526502481 meters Centerline goodness : 0.714719 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:0.05 [[ 0.97028466 -0.06096802 -0.23415932 1.14883798] [ 0.05759454 0.99811441 -0.02122469 0.38121561] [ 0.23501182 0.00710769 0.97196652 0.04905547] [ 0. 0. 0. 1. ]] SLAMing on 73.556502481 meters Centerline goodness : 0.715980 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:0.05 [[ 0.97024204 -0.06101633 -0.23432324 1.14954082] [ 0.05763021 0.99811123 -0.02127757 0.3819559 ] [ 0.23517894 0.0071403 0.97192586 0.04872882] [ 0. 0. 0. 1. ]] SLAMing on 73.586502481 meters Centerline goodness : 0.715926 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:0.05 [[ 0.97040408 -0.0607867 -0.23371112 1.14908977] [ 0.05718419 0.99811754 -0.02216627 0.38307623] [ 0.23461859 0.00814566 0.97205338 0.04776855] [ 0. 0. 0. 1. ]] SLAMing on 73.616502481 meters Centerline goodness : 0.714810 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:0.05 [[ 0.97063432 -0.06027086 -0.23288719 1.1476387 ] [ 0.05655695 0.99814359 -0.02259832 0.38330141] [ 0.23381688 0.00876331 0.97224116 0.04728493] [ 0. 0. 0. 1. ]] SLAMing on 73.64650248099998 meters Centerline goodness : 0.714810 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:0.05 [[ 0.97063432 -0.06027086 -0.23288719 1.1476387 ] [ 0.05655695 0.99814359 -0.02259832 0.38330141] [ 0.23381688 0.00876331 0.97224116 0.04728493] [ 0. 0. 0. 1. ]] SLAMing on 73.67650248099999 meters Centerline goodness : 0.714941 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:0.05 [[ 0.97111933 -0.05544053 -0.23206377 1.145163 ] [ 0.05234507 0.99843904 -0.01948032 0.38346383] [ 0.23278153 0.00677032 0.97250549 0.04729212] [ 0. 0. 0. 1. ]] SLAMing on 73.70650248099999 meters Centerline goodness : 0.715674 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:0.05 [[ 0.97130336 -0.05079548 -0.23235664 1.14530586] [ 0.04852828 0.99870205 -0.01546703 0.38300407] [ 0.23284071 0.00374731 0.97250767 0.04733631] [ 0. 0. 0. 1. ]] SLAMing on 73.73650248099999 meters Centerline goodness : 0.714806 Centerline is valid? [False, False] Translation: X:1.15, Y:0.39, Z:0.05 [[ 0.9715079 -0.04635293 -0.23243023 1.1457847 ] [ 0.04451893 0.99892222 -0.01313292 0.38545478] [ 0.23278847 0.00241119 0.9725244 0.04633589] [ 0. 0. 0. 1. ]] SLAMing on 73.76650248099999 meters Centerline goodness : 0.714909 Centerline is valid? [False, False] Translation: X:1.15, Y:0.39, Z:0.05 [[ 0.9715829 -0.04597385 -0.23219188 1.14581821] [ 0.04387309 0.9989361 -0.01420632 0.38722363] [ 0.23259797 0.00361565 0.97256625 0.04551976] [ 0. 0. 0. 1. ]] SLAMing on 73.79650248099999 meters Centerline goodness : 0.717285 Centerline is valid? [False, False] Translation: X:1.15, Y:0.39, Z:0.04 [[ 0.97169028 -0.04558013 -0.23181985 1.14551872] [ 0.0432496 0.99894975 -0.01512833 0.38860354] [ 0.23226593 0.00467394 0.97264109 0.04477922] [ 0. 0. 0. 1. ]] SLAMing on 73.82650248099999 meters Centerline goodness : 0.717222 Centerline is valid? [False, False] Translation: X:1.14, Y:0.39, Z:0.04 [[ 0.97186464 -0.04499929 -0.23120161 1.14480385] [ 0.04230384 0.99896679 -0.01660538 0.39042228] [ 0.23170996 0.00635747 0.97276414 0.04378469] [ 0. 0. 0. 1. ]] SLAMing on 73.85650248099999 meters Centerline goodness : 0.716382 Centerline is valid? [False, False] Translation: X:1.14, Y:0.39, Z:0.04 [[ 0.97192474 -0.04484163 -0.23097949 1.1446494 ] [ 0.04203632 0.99897051 -0.01705491 0.39119181] [ 0.23150647 0.00686656 0.97280913 0.04338895] [ 0. 0. 0. 1. ]] SLAMing on 73.886502481 meters Centerline goodness : 0.716594 Centerline is valid? [False, False] Translation: X:1.15, Y:0.39, Z:0.04 [[ 0.97196626 -0.04485822 -0.23080148 1.14541286] [ 0.04179616 0.99896144 -0.0181419 0.393003 ] [ 0.23137559 0.0079867 0.97283172 0.04220253] [ 0. 0. 0. 1. ]] SLAMing on 73.916502481 meters Centerline goodness : 0.715881 Centerline is valid? [False, False] Translation: X:1.15, Y:0.39, Z:0.04 [[ 0.97197733 -0.04499539 -0.23072818 1.14554245] [ 0.04192345 0.99895501 -0.01820207 0.39293923] [ 0.23130608 0.00801907 0.97284798 0.04199727] [ 0. 0. 0. 1. ]] SLAMing on 73.946502481 meters Centerline goodness : 0.717008 Centerline is valid? [False, False] Translation: X:1.14, Y:0.39, Z:0.04 [[ 0.97210284 -0.04492401 -0.23021272 1.14429104] [ 0.04201929 0.9989634 -0.01750715 0.39121448] [ 0.23076057 0.00734537 0.97298284 0.04221976] [ 0. 0. 0. 1. ]] SLAMing on 73.976502481 meters Centerline goodness : 0.716928 Centerline is valid? [False, False] Translation: X:1.14, Y:0.39, Z:0.04 [[ 0.97213043 -0.04505206 -0.23007115 1.14371618] [ 0.04217323 0.99895848 -0.01741746 0.39090818] [ 0.23061622 0.0072292 0.97301793 0.04249152] [ 0. 0. 0. 1. ]] SLAMing on 74.006502481 meters Centerline goodness : 0.716843 Centerline is valid? [False, False] Translation: X:1.14, Y:0.39, Z:0.04 [[ 0.97204982 -0.04538092 -0.23034697 1.14401312] [ 0.04250601 0.99894415 -0.0174304 0.39101011] [ 0.23089477 0.00715208 0.97295244 0.0428175 ] [ 0. 0. 0. 1. ]] SLAMing on 74.03650248099999 meters Centerline goodness : 0.715489 Centerline is valid? [False, False] Translation: X:1.14, Y:0.39, Z:0.04 [[ 0.97203108 -0.04560426 -0.23038194 1.14420239] [ 0.04273438 0.99893434 -0.01743415 0.39119345] [ 0.23093151 0.00710131 0.97294409 0.04273645] [ 0. 0. 0. 1. ]] SLAMing on 74.06650248099999 meters Centerline goodness : 0.712825 Centerline is valid? [False, False] Translation: X:1.14, Y:0.39, Z:0.04 [[ 0.97202334 -0.04582977 -0.23036984 1.14445505] [ 0.04296701 0.99892442 -0.01743082 0.39136446] [ 0.23092091 0.00704486 0.97294702 0.04253084] [ 0. 0. 0. 1. ]] SLAMing on 74.09650248099999 meters Centerline goodness : 0.714610 Centerline is valid? [False, False] Translation: X:1.15, Y:0.39, Z:0.04 [[ 0.97188264 -0.04658794 -0.23081095 1.14519811] [ 0.04376266 0.99889132 -0.01734804 0.39154361] [ 0.23136326 0.00675936 0.97284395 0.04287764] [ 0. 0. 0. 1. ]] SLAMing on 74.12650248099999 meters Centerline goodness : 0.712677 Centerline is valid? [False, False] Translation: X:1.14, Y:0.39, Z:0.04 [[ 0.97194721 -0.04723303 -0.2304076 1.14328597] [ 0.04468616 0.9988687 -0.0162625 0.3894619 ] [ 0.23091507 0.00551026 0.97295831 0.04426423] [ 0. 0. 0. 1. ]] SLAMing on 74.15650248099999 meters Centerline goodness : 0.713644 Centerline is valid? [False, False] Translation: X:1.14, Y:0.39, Z:0.05 [[ 0.97194991 -0.04734736 -0.23037275 1.14269359] [ 0.04510917 0.99886981 -0.0149757 0.38761843] [ 0.23082144 0.00416371 0.97298722 0.04501419] [ 0. 0. 0. 1. ]] SLAMing on 74.18650248099999 meters Centerline goodness : 0.712488 Centerline is valid? [False, False] Translation: X:1.14, Y:0.39, Z:0.05 [[ 0.97191194 -0.04779128 -0.23044127 1.14258422] [ 0.04575424 0.9988521 -0.01417857 0.38628316] [ 0.23085436 0.00323666 0.97298293 0.0455367 ] [ 0. 0. 0. 1. ]] SLAMing on 74.21650248099999 meters Centerline goodness : 0.713052 Centerline is valid? [False, False] Translation: X:1.14, Y:0.39, Z:0.05 [[ 0.97160311 -0.04957418 -0.23136507 1.14382157] [ 0.0477286 0.99876815 -0.01357098 0.38568051] [ 0.23175284 0.00214288 0.97277234 0.04674602] [ 0. 0. 0. 1. ]] SLAMing on 74.246502481 meters Centerline goodness : 0.715130 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:0.05 [[ 0.97144903 -0.05083703 -0.23173774 1.14505862] [ 0.04918336 0.99870631 -0.01291174 0.38482647] [ 0.23209434 0.00114546 0.97269261 0.04670085] [ 0. 0. 0. 1. ]] SLAMing on 74.276502481 meters Centerline goodness : 0.713166 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:0.05 [[ 9.71350801e-01 -5.16459835e-02 -2.31970502e-01 1.14584143e+00] [ 5.00704499e-02 9.98665210e-01 -1.26786612e-02 3.83885794e-01] [ 2.32315672e-01 7.00560364e-04 9.72640189e-01 4.66402870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.306502481 meters Centerline goodness : 0.714047 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:0.05 [[ 9.71288772e-01 -5.22866816e-02 -2.32086676e-01 1.14658785e+00] [ 5.08695944e-02 9.98632114e-01 -1.20907135e-02 3.82374079e-01] [ 2.32401391e-01 -6.25808232e-05 9.72619961e-01 4.64016537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.336502481 meters Centerline goodness : 0.713004 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:0.05 [[ 9.71018105e-01 -5.60062942e-02 -2.32351317e-01 1.14773500e+00] [ 5.43685542e-02 9.98430323e-01 -1.34517505e-02 3.82662559e-01] [ 2.32739983e-01 4.29288082e-04 9.72538902e-01 4.64684017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.366502481 meters Centerline goodness : 0.712636 Centerline is valid? [False, False] Translation: X:1.15, Y:0.38, Z:0.05 [[ 9.70875359e-01 -5.57137252e-02 -2.33017205e-01 1.14869446e+00] [ 5.41570709e-02 9.98446781e-01 -1.30781069e-02 3.82167533e-01] [ 2.33383909e-01 7.76824075e-05 9.72384669e-01 4.68833203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.39650248099998 meters Centerline goodness : 0.712237 Centerline is valid? [False, False] Translation: X:1.18, Y:0.38, Z:0.05 [[ 0.97144014 -0.05508745 -0.23080173 1.17549564] [ 0.05419759 0.99847814 -0.01019879 0.38129716] [ 0.23101231 -0.00260138 0.97294735 0.05148056] [ 0. 0. 0. 1. ]] SLAMing on 74.42650248099999 meters Centerline goodness : 0.711535 Centerline is valid? [False, False] Translation: X:1.18, Y:0.38, Z:0.05 [[ 0.97152933 -0.05522114 -0.23039397 1.1750564 ] [ 0.05433288 0.99847075 -0.01020297 0.3809891 ] [ 0.23060506 -0.00260549 0.97304395 0.05110064] [ 0. 0. 0. 1. ]] SLAMing on 74.45650248099999 meters Centerline goodness : 0.711532 Centerline is valid? [False, False] Translation: X:1.17, Y:0.38, Z:0.05 [[ 0.97168316 -0.05528014 -0.22973015 1.17408953] [ 0.05445028 0.99846686 -0.00995502 0.37992749] [ 0.22992826 -0.00283574 0.97320345 0.05077708] [ 0. 0. 0. 1. ]] SLAMing on 74.48650248099999 meters Centerline goodness : 0.709736 Centerline is valid? [False, False] Translation: X:1.17, Y:0.38, Z:0.05 [[ 0.97161365 -0.05513967 -0.23005767 1.17422688] [ 0.05442713 0.99847306 -0.00944688 0.38009855] [ 0.23022728 -0.00334266 0.97313115 0.05135458] [ 0. 0. 0. 1. ]] SLAMing on 74.51650248099999 meters Centerline goodness : 0.709310 Centerline is valid? [False, False] Translation: X:1.17, Y:0.38, Z:0.05 [[ 0.9715549 -0.05565935 -0.2301806 1.17422694] [ 0.05484051 0.99844546 -0.00995848 0.38135075] [ 0.23037706 -0.00294801 0.97309697 0.0516223 ] [ 0. 0. 0. 1. ]] SLAMing on 74.54650248099999 meters Centerline goodness : 0.706554 Centerline is valid? [False, False] Translation: X:1.18, Y:0.38, Z:0.05 [[ 9.71111914e-01 -5.92436388e-02 -2.31153287e-01 1.17653195e+00] [ 5.76930242e-02 9.98243520e-01 -1.34680994e-02 3.83854591e-01] [ 2.31545170e-01 -2.56900351e-04 9.72824120e-01 5.23410645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.57650248099999 meters Centerline goodness : 0.706895 Centerline is valid? [False, False] Translation: X:1.18, Y:0.38, Z:0.05 [[ 9.70983415e-01 -6.00182042e-02 -2.31493031e-01 1.17782460e+00] [ 5.83214913e-02 9.98197249e-01 -1.41723730e-02 3.84591786e-01] [ 2.31926307e-01 2.60120368e-04 9.72733324e-01 5.18265488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60650248099999 meters Centerline goodness : 0.707429 Centerline is valid? [False, False] Translation: X:1.18, Y:0.39, Z:0.05 [[ 9.70935179e-01 -6.00972397e-02 -2.31674770e-01 1.17830767e+00] [ 5.83422702e-02 9.98192407e-01 -1.44255920e-02 3.85601936e-01] [ 2.32122934e-01 4.89882755e-04 9.72686333e-01 5.17099976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.636502481 meters Centerline goodness : 0.706697 Centerline is valid? [False, False] Translation: X:1.20, Y:0.39, Z:0.06 [[ 0.97097025 -0.06299201 -0.23075695 1.19590469] [ 0.06216584 0.99800678 -0.01085676 0.38832941] [ 0.23098089 -0.00380361 0.97295085 0.05502716] [ 0. 0. 0. 1. ]] SLAMing on 74.666502481 meters Centerline goodness : 0.708022 Centerline is valid? [False, False] Translation: X:1.20, Y:0.39, Z:0.06 [[ 0.97120167 -0.05910519 -0.23081137 1.19510497] [ 0.05915518 0.99822625 -0.00670999 0.38822266] [ 0.23079857 -0.00713693 0.97297538 0.05558764] [ 0. 0. 0. 1. ]] SLAMing on 74.696502481 meters Centerline goodness : 0.706911 Centerline is valid? [False, False] Translation: X:1.19, Y:0.39, Z:0.06 [[ 0.9713701 -0.05895784 -0.23013932 1.19369554] [ 0.05890964 0.99823817 -0.00708659 0.3884827 ] [ 0.23015167 -0.00667373 0.97313189 0.05550168] [ 0. 0. 0. 1. ]] SLAMing on 74.726502481 meters Centerline goodness : 0.707553 Centerline is valid? [False, False] Translation: X:1.19, Y:0.39, Z:0.06 [[ 0.97163716 -0.0588796 -0.22902932 1.19114523] [ 0.05869055 0.99824697 -0.00764297 0.38785464] [ 0.22907784 -0.00601567 0.97338952 0.05559668] [ 0. 0. 0. 1. ]] SLAMing on 74.756502481 meters Centerline goodness : 0.707198 Centerline is valid? [False, False] Translation: X:1.19, Y:0.39, Z:0.05 [[ 0.97157499 -0.05892686 -0.22928074 1.19233679] [ 0.05867136 0.9982458 -0.00793726 0.38908704] [ 0.22934625 -0.00574057 0.97332797 0.05492458] [ 0. 0. 0. 1. ]] SLAMing on 74.78650248099999 meters Centerline goodness : 0.706962 Centerline is valid? [False, False] Translation: X:1.19, Y:0.39, Z:0.05 [[ 0.97147152 -0.05920163 -0.2296481 1.19301481] [ 0.05883842 0.99823188 -0.00843512 0.39075919] [ 0.22974142 -0.00531765 0.97323718 0.05497817] [ 0. 0. 0. 1. ]] SLAMing on 74.81650248099999 meters Centerline goodness : 0.703978 Centerline is valid? [False, False] Translation: X:1.19, Y:0.39, Z:0.05 [[ 0.97145305 -0.05938288 -0.22967943 1.19333669] [ 0.0588798 0.99822406 -0.00904936 0.39245359] [ 0.22980891 -0.00473245 0.97322426 0.05460965] [ 0. 0. 0. 1. ]] SLAMing on 74.84650248099999 meters Centerline goodness : 0.703709 Centerline is valid? [False, False] Translation: X:1.19, Y:0.39, Z:0.05 [[ 0.97142014 -0.05912404 -0.22988533 1.19457077] [ 0.05842583 0.99824317 -0.009849 0.39449252] [ 0.23006377 -0.00386372 0.97316789 0.05366163] [ 0. 0. 0. 1. ]] SLAMing on 74.87650248099999 meters Centerline goodness : 0.703452 Centerline is valid? [False, False] Translation: X:1.19, Y:0.40, Z:0.05 [[ 0.97145004 -0.05952407 -0.22965563 1.19406797] [ 0.05865737 0.99822184 -0.01060512 0.39563643] [ 0.22987852 -0.00316865 0.97321417 0.05355831] [ 0. 0. 0. 1. ]] SLAMing on 74.90650248099999 meters Centerline goodness : 0.700303 Centerline is valid? [False, False] Translation: X:1.19, Y:0.40, Z:0.05 [[ 0.97162164 -0.05948502 -0.22893869 1.19256732] [ 0.05844308 0.99822639 -0.01133471 0.39638655] [ 0.22920689 -0.00236684 0.97337485 0.05340784] [ 0. 0. 0. 1. ]] SLAMing on 74.93650248099999 meters Centerline goodness : 0.700598 Centerline is valid? [False, False] Translation: X:1.19, Y:0.40, Z:0.05 [[ 0.97168947 -0.05956937 -0.22862867 1.19177361] [ 0.05843552 0.99822224 -0.01173209 0.39716545] [ 0.2289211 -0.00196009 0.97344301 0.05347816] [ 0. 0. 0. 1. ]] SLAMing on 74.96650248099999 meters Centerline goodness : 0.699202 Centerline is valid? [False, False] Translation: X:1.19, Y:0.40, Z:0.05 [[ 0.97159865 -0.05990668 -0.22892629 1.19246557] [ 0.05863096 0.998203 -0.01237631 0.39925799] [ 0.22925634 -0.00139737 0.97336508 0.05340981] [ 0. 0. 0. 1. ]] SLAMing on 74.996502481 meters Centerline goodness : 0.698308 Centerline is valid? [False, False] Translation: X:1.19, Y:0.40, Z:0.05 [[ 9.71533633e-01 -6.05329107e-02 -2.29037479e-01 1.19277935e+00] [ 5.91462408e-02 9.98165707e-01 -1.29206510e-02 4.00317391e-01] [ 2.29399482e-01 -9.93858897e-04 9.73331850e-01 5.33475113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.026502481 meters Centerline goodness : 0.698565 Centerline is valid? [False, False] Translation: X:1.19, Y:0.40, Z:0.05 [[ 9.71421344e-01 -6.07668375e-02 -2.29451441e-01 1.19273602e+00] [ 5.93205508e-02 9.98151678e-01 -1.32022341e-02 4.01854773e-01] [ 2.29829599e-01 -7.86253812e-04 9.73230567e-01 5.41878895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.056502481 meters Centerline goodness : 0.696939 Centerline is valid? [False, False] Translation: X:1.19, Y:0.40, Z:0.06 [[ 9.71371219e-01 -6.09791840e-02 -2.29607262e-01 1.19214187e+00] [ 5.95367104e-02 9.98138687e-01 -1.32114105e-02 4.02402156e-01] [ 2.29985513e-01 -8.36877153e-04 9.73193693e-01 5.51048716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.086502481 meters Centerline goodness : 0.695565 Centerline is valid? [False, False] Translation: X:1.19, Y:0.40, Z:0.06 [[ 9.71349670e-01 -6.16646549e-02 -2.29515334e-01 1.19073446e+00] [ 6.00340959e-02 9.98096920e-01 -1.40870884e-02 4.03430752e-01] [ 2.29947224e-01 -9.52569491e-05 9.73203096e-01 5.64461724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.116502481 meters Centerline goodness : 0.696814 Centerline is valid? [False, False] Translation: X:1.19, Y:0.40, Z:0.06 [[ 9.71303259e-01 -6.21608886e-02 -2.29577882e-01 1.19038780e+00] [ 6.04191328e-02 9.98066089e-01 -1.46154079e-02 4.04344707e-01] [ 2.30042405e-01 3.25096766e-04 9.73180552e-01 5.68617635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14650248099998 meters Centerline goodness : 0.696949 Centerline is valid? [False, False] Translation: X:1.19, Y:0.41, Z:0.06 [[ 9.71210864e-01 -6.24109315e-02 -2.29900701e-01 1.19115287e+00] [ 6.06184656e-02 9.98050415e-01 -1.48583441e-02 4.05212400e-01] [ 2.30379814e-01 4.94357455e-04 9.73100661e-01 5.68102462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.17650248099999 meters Centerline goodness : 0.698639 Centerline is valid? [False, False] Translation: X:1.19, Y:0.41, Z:0.06 [[ 0.97104923 -0.06287276 -0.23045696 1.19345409] [ 0.06080309 0.99802027 -0.0160789 0.40786433] [ 0.23101164 0.00160091 0.97294967 0.05574857] [ 0. 0. 0. 1. ]] SLAMing on 75.20650248099999 meters Centerline goodness : 0.695704 Centerline is valid? [False, False] Translation: X:1.20, Y:0.41, Z:0.06 [[ 0.97091815 -0.06255293 -0.23109537 1.19522616] [ 0.06051359 0.99804058 -0.0159095 0.40816419] [ 0.23163774 0.00146242 0.97280102 0.05555174] [ 0. 0. 0. 1. ]] SLAMing on 75.23650248099999 meters Centerline goodness : 0.698823 Centerline is valid? [False, False] Translation: X:1.21, Y:0.41, Z:0.06 [[ 0.97075594 -0.05826761 -0.23289008 1.2081801 ] [ 0.05547958 0.99828824 -0.01850975 0.40612323] [ 0.23356995 0.0050478 0.9723269 0.06028359] [ 0. 0. 0. 1. ]] SLAMing on 75.26650248099999 meters Centerline goodness : 0.699851 Centerline is valid? [False, False] Translation: X:1.23, Y:0.41, Z:0.06 [[ 0.97091902 -0.06126081 -0.2314376 1.2273807 ] [ 0.05904889 0.99811906 -0.01647913 0.40810051] [ 0.2320118 0.00233376 0.97271017 0.06454332] [ 0. 0. 0. 1. ]] SLAMing on 75.29650248099999 meters Centerline goodness : 0.697635 Centerline is valid? [False, False] Translation: X:1.27, Y:0.41, Z:0.08 [[ 0.97116341 -0.05614243 -0.23171031 1.27140724] [ 0.05342047 0.99840968 -0.01801014 0.40843099] [ 0.23235295 0.00511271 0.9726181 0.07759336] [ 0. 0. 0. 1. ]] SLAMing on 75.32650248099999 meters Centerline goodness : 0.697778 Centerline is valid? [False, False] Translation: X:1.27, Y:0.41, Z:0.08 [[ 0.9712926 -0.05221097 -0.23208769 1.27132893] [ 0.05041326 0.99863482 -0.01367445 0.4081494 ] [ 0.2324848 0.0015816 0.97259874 0.07819648] [ 0. 0. 0. 1. ]] SLAMing on 75.35650248099999 meters Centerline goodness : 0.695857 Centerline is valid? [False, False] Translation: X:1.28, Y:0.41, Z:0.08 [[ 0.97075496 -0.05052818 -0.23469494 1.27600254] [ 0.04860391 0.99872029 -0.01398001 0.40769557] [ 0.23510098 0.00216407 0.97196854 0.08153061] [ 0. 0. 0. 1. ]] SLAMing on 75.386502481 meters Centerline goodness : 0.696315 Centerline is valid? [False, False] Translation: X:1.34, Y:0.40, Z:0.10 [[ 0.96971097 -0.04217537 -0.24058651 1.33756089] [ 0.03902894 0.99907899 -0.01783032 0.40401462] [ 0.24111692 0.00790042 0.97046392 0.0977846 ] [ 0. 0. 0. 1. ]] SLAMing on 75.416502481 meters Centerline goodness : 0.695860 Centerline is valid? [False, False] Translation: X:1.34, Y:0.40, Z:0.10 [[ 0.96920684 -0.04471092 -0.24215497 1.34171788] [ 0.04065193 0.99893694 -0.0217351 0.40407162] [ 0.24286935 0.01122174 0.9699941 0.09974595] [ 0. 0. 0. 1. ]] SLAMing on 75.446502481 meters Centerline goodness : 0.692786 Centerline is valid? [False, False] Translation: X:1.37, Y:0.41, Z:0.11 [[ 0.9686181 -0.04510934 -0.2444261 1.37478069] [ 0.03986725 0.99885738 -0.02635421 0.40614521] [ 0.24533563 0.01578257 0.96930972 0.11132406] [ 0. 0. 0. 1. ]] SLAMing on 75.476502481 meters Centerline goodness : 0.694799 Centerline is valid? [False, False] Translation: X:1.41, Y:0.41, Z:0.12 [[ 0.96831666 -0.04439608 -0.24574749 1.407768 ] [ 0.03870049 0.9988596 -0.02796007 0.4074662 ] [ 0.24670855 0.01756365 0.96893055 0.12250839] [ 0. 0. 0. 1. ]] SLAMing on 75.506502481 meters Centerline goodness : 0.692822 Centerline is valid? [False, False] Translation: X:1.44, Y:0.41, Z:0.13 [[ 0.96816901 -0.04626494 -0.24598439 1.43634966] [ 0.04001817 0.99873834 -0.03033615 0.40910521] [ 0.24707754 0.01952667 0.96879895 0.13219758] [ 0. 0. 0. 1. ]] SLAMing on 75.53650248099999 meters Centerline goodness : 0.692822 Centerline is valid? [False, False] Translation: X:1.46, Y:0.41, Z:0.14 [[ 0.96781551 -0.05006381 -0.24663081 1.45650732] [ 0.04372437 0.9985589 -0.03111753 0.41048752] [ 0.24783326 0.01933225 0.9686098 0.13931376] [ 0. 0. 0. 1. ]] SLAMing on 75.56650248099999 meters Centerline goodness : 0.693826 Centerline is valid? [False, False] Translation: X:1.49, Y:0.41, Z:0.15 [[ 0.9678556 -0.05176211 -0.24612236 1.4853388 ] [ 0.0449705 0.9984385 -0.03313934 0.41124288] [ 0.2474534 0.02100585 0.96867206 0.14817121] [ 0. 0. 0. 1. ]] SLAMing on 75.59650248099999 meters Centerline goodness : 0.691055 Centerline is valid? [False, False] Translation: X:1.52, Y:0.41, Z:0.15 [[ 0.96863255 -0.05294763 -0.24279114 1.5154804 ] [ 0.04616765 0.99837067 -0.03353446 0.41135356] [ 0.24417113 0.02127347 0.96949879 0.15482619] [ 0. 0. 0. 1. ]] SLAMing on 75.62650248099999 meters Centerline goodness : 0.690790 Centerline is valid? [False, False] Translation: X:1.54, Y:0.41, Z:0.16 [[ 0.96948781 -0.05363983 -0.23919899 1.5444725 ] [ 0.04722359 0.99835617 -0.03247909 0.41100681] [ 0.24054796 0.02019224 0.9704272 0.16042248] [ 0. 0. 0. 1. ]] SLAMing on 75.65650248099999 meters Centerline goodness : 0.690393 Centerline is valid? [False, False] Translation: X:1.56, Y:0.41, Z:0.16 [[ 0.96956842 -0.05789093 -0.23787753 1.56296308] [ 0.05222881 0.99818316 -0.0300421 0.41266113] [ 0.23918451 0.01670381 0.97083045 0.16413061] [ 0. 0. 0. 1. ]] SLAMing on 75.68650248099999 meters Centerline goodness : 0.690349 Centerline is valid? [False, False] Translation: X:1.59, Y:0.41, Z:0.17 [[ 0.96993136 -0.05999809 -0.23586729 1.58946706] [ 0.05447132 0.99806804 -0.02988433 0.41309186] [ 0.2372046 0.01613774 0.97132567 0.17004366] [ 0. 0. 0. 1. ]] SLAMing on 75.71650248099999 meters Centerline goodness : 0.693498 Centerline is valid? [False, False] Translation: X:1.59, Y:0.42, Z:0.17 [[ 0.96937053 -0.06473101 -0.23691912 1.59045662] [ 0.05822638 0.997712 -0.0343576 0.41501244] [ 0.23860106 0.0195103 0.97092167 0.17210714] [ 0. 0. 0. 1. ]] SLAMing on 75.746502481 meters Centerline goodness : 0.692457 Centerline is valid? [False, False] Translation: X:1.62, Y:0.42, Z:0.18 [[ 0.9699699 -0.06578475 -0.23415967 1.6187942 ] [ 0.05958515 0.99766226 -0.03346075 0.41546781] [ 0.23581347 0.01850348 0.97162216 0.17687637] [ 0. 0. 0. 1. ]] SLAMing on 75.776502481 meters Centerline goodness : 0.696741 Centerline is valid? [False, False] Translation: X:1.65, Y:0.42, Z:0.18 [[ 0.9704738 -0.06536288 -0.2321816 1.6499352 ] [ 0.05976177 0.99772857 -0.0310842 0.41609176] [ 0.23368596 0.01629082 0.97217564 0.18133553] [ 0. 0. 0. 1. ]] SLAMing on 75.806502481 meters Centerline goodness : 0.698788 Centerline is valid? [False, False] Translation: X:1.68, Y:0.42, Z:0.19 [[ 0.97114108 -0.06371147 -0.22983873 1.6819135 ] [ 0.05885945 0.99787598 -0.02791222 0.41646157] [ 0.23112888 0.01357852 0.97282838 0.18561529] [ 0. 0. 0. 1. ]] SLAMing on 75.836502481 meters Centerline goodness : 0.698524 Centerline is valid? [False, False] Translation: X:1.68, Y:0.42, Z:0.19 [[ 0.9709959 -0.06343213 -0.23052838 1.68308323] [ 0.05857569 0.99789422 -0.02785687 0.41680192] [ 0.23180996 0.01354554 0.97266678 0.18618387] [ 0. 0. 0. 1. ]] SLAMing on 75.866502481 meters Centerline goodness : 0.699975 Centerline is valid? [False, False] Translation: X:1.68, Y:0.42, Z:0.19 [[ 0.97094323 -0.063431 -0.23075043 1.68349711] [ 0.05854739 0.99789308 -0.02795735 0.41728107] [ 0.23203762 0.01363516 0.97261124 0.18639507] [ 0. 0. 0. 1. ]] SLAMing on 75.89650248099998 meters Centerline goodness : 0.697601 Centerline is valid? [False, False] Translation: X:1.71, Y:0.42, Z:0.19 [[ 0.97167506 -0.06311148 -0.22773784 1.71434093] [ 0.05845953 0.99792129 -0.02712165 0.41892244] [ 0.22897612 0.01303998 0.97334469 0.19184098] [ 0. 0. 0. 1. ]] SLAMing on 75.92650248099999 meters Centerline goodness : 0.701007 Centerline is valid? [False, False] Translation: X:1.71, Y:0.42, Z:0.19 [[ 0.97199696 -0.05841048 -0.22761839 1.7149581 ] [ 0.05467866 0.99824657 -0.02267201 0.41746558] [ 0.22854356 0.00959125 0.97348644 0.19037598] [ 0. 0. 0. 1. ]] SLAMing on 75.95650248099999 meters Centerline goodness : 0.697720 Centerline is valid? [False, False] Translation: X:1.75, Y:0.42, Z:0.20 [[ 0.97252559 -0.05531118 -0.22612973 1.7471375 ] [ 0.05205874 0.99843715 -0.02032589 0.42077268] [ 0.22690057 0.00799542 0.97388511 0.19760046] [ 0. 0. 0. 1. ]] SLAMing on 75.98650248099999 meters Centerline goodness : 0.697785 Centerline is valid? [False, False] Translation: X:1.75, Y:0.42, Z:0.20 [[ 0.97237721 -0.05528852 -0.22677244 1.74773161] [ 0.05189858 0.99843388 -0.02088851 0.42281313] [ 0.22757218 0.00854234 0.97372374 0.19878634] [ 0. 0. 0. 1. ]] SLAMing on 76.01650248099999 meters Centerline goodness : 0.696285 Centerline is valid? [False, False] Translation: X:1.79, Y:0.42, Z:0.21 [[ 0.97254126 -0.04958662 -0.2273866 1.7924269 ] [ 0.04588773 0.99871461 -0.02152797 0.42480382] [ 0.22816182 0.01050258 0.97356658 0.20900821] [ 0. 0. 0. 1. ]] SLAMing on 76.04650248099999 meters Centerline goodness : 0.694632 Centerline is valid? [False, False] Translation: X:1.79, Y:0.43, Z:0.21 [[ 0.97234605 -0.04923997 -0.22829497 1.79456145] [ 0.04544969 0.998728 -0.02183364 0.42716367] [ 0.22907967 0.01085392 0.97334716 0.20937465] [ 0. 0. 0. 1. ]] SLAMing on 76.07650248099999 meters Centerline goodness : 0.697289 Centerline is valid? [False, False] Translation: X:1.84, Y:0.43, Z:0.22 [[ 0.97226446 -0.04311043 -0.22987672 1.83754095] [ 0.03894232 0.99898495 -0.02264009 0.43166777] [ 0.23061941 0.01306022 0.97295638 0.21973515] [ 0. 0. 0. 1. ]] SLAMing on 76.10650248099999 meters Centerline goodness : 0.696047 Centerline is valid? [False, False] Translation: X:1.84, Y:0.44, Z:0.22 [[ 0.97206373 -0.04325992 -0.23069607 1.83857444] [ 0.03882667 0.99896429 -0.02372433 0.43510124] [ 0.23148345 0.0141044 0.97273659 0.22127113] [ 0. 0. 0. 1. ]] SLAMing on 76.136502481 meters Centerline goodness : 0.695336 Centerline is valid? [False, False] Translation: X:1.84, Y:0.44, Z:0.22 [[ 0.97212078 -0.04121252 -0.23083049 1.83975052] [ 0.03687915 0.99905368 -0.02305819 0.44069743] [ 0.23156234 0.01390252 0.97272072 0.22139059] [ 0. 0. 0. 1. ]] SLAMing on 76.166502481 meters Centerline goodness : 0.695094 Centerline is valid? [False, False] Translation: X:1.84, Y:0.44, Z:0.22 [[ 0.97200578 -0.04126937 -0.23130415 1.84076063] [ 0.03676013 0.99904131 -0.02377279 0.44290118] [ 0.23206349 0.01460452 0.972591 0.22207473] [ 0. 0. 0. 1. ]] SLAMing on 76.196502481 meters Centerline goodness : 0.693456 Centerline is valid? [False, False] Translation: X:1.84, Y:0.44, Z:0.22 [[ 0.97232497 -0.03685126 -0.23070789 1.84107847] [ 0.03312451 0.99925095 -0.02000742 0.44420486] [ 0.23127238 0.01181163 0.97281734 0.22027226] [ 0. 0. 0. 1. ]] SLAMing on 76.226502481 meters Centerline goodness : 0.691975 Centerline is valid? [False, False] Translation: X:1.84, Y:0.45, Z:0.22 [[ 0.97214283 -0.0366818 -0.23150113 1.8424 ] [ 0.03287155 0.99925349 -0.02029612 0.44602097] [ 0.23207281 0.01212093 0.97262289 0.22100568] [ 0. 0. 0. 1. ]] SLAMing on 76.256502481 meters Centerline goodness : 0.694508 Centerline is valid? [False, False] Translation: X:1.87, Y:0.45, Z:0.22 [[ 0.97307651 -0.03362903 -0.22801577 1.86707181] [ 0.03123643 0.99941264 -0.01409485 0.44702881] [ 0.22835584 0.00659297 0.97355541 0.22346273] [ 0. 0. 0. 1. ]] SLAMing on 76.28650248099999 meters Centerline goodness : 0.694794 Centerline is valid? [False, False] Translation: X:1.87, Y:0.45, Z:0.22 [[ 0.97302061 -0.03405221 -0.22819146 1.8663874 ] [ 0.03147709 0.99939317 -0.01491595 0.44903259] [ 0.22856091 0.00733072 0.97350201 0.2248021 ] [ 0. 0. 0. 1. ]] SLAMing on 76.31650248099999 meters Centerline goodness : 0.692883 Centerline is valid? [False, False] Translation: X:1.87, Y:0.45, Z:0.23 [[ 0.97295825 -0.03475117 -0.22835192 1.86544458] [ 0.03189257 0.99936004 -0.01619778 0.4528599 ] [ 0.22876868 0.00847704 0.9734439 0.22638958] [ 0. 0. 0. 1. ]] SLAMing on 76.34650248099999 meters Centerline goodness : 0.694504 Centerline is valid? [False, False] Translation: X:1.87, Y:0.45, Z:0.23 [[ 0.97289086 -0.03482587 -0.22862748 1.86614163] [ 0.03189288 0.99935489 -0.01651207 0.45389182] [ 0.22905504 0.00877286 0.97337394 0.22658433] [ 0. 0. 0. 1. ]] SLAMing on 76.37650248099999 meters Centerline goodness : 0.687324 Centerline is valid? [False, False] Translation: X:1.87, Y:0.45, Z:0.23 [[ 0.97288557 -0.03467869 -0.22867237 1.86721309] [ 0.0317614 0.99936049 -0.01642658 0.45437699] [ 0.22909578 0.00871822 0.97336484 0.22582306] [ 0. 0. 0. 1. ]] SLAMing on 76.40650248099999 meters Centerline goodness : 0.693434 Centerline is valid? [False, False] Translation: X:1.87, Y:0.46, Z:0.23 [[ 0.97278351 -0.03459843 -0.22911827 1.86900478] [ 0.03159421 0.99936011 -0.01676848 0.45638092] [ 0.22955183 0.00907329 0.97325415 0.22549226] [ 0. 0. 0. 1. ]] SLAMing on 76.43650248099999 meters Centerline goodness : 0.690843 Centerline is valid? [False, False] Translation: X:1.87, Y:0.46, Z:0.22 [[ 0.97301651 -0.02965915 -0.22882135 1.86954234] [ 0.02759523 0.99954455 -0.01221491 0.45517574] [ 0.22907942 0.00557093 0.97339179 0.22392206] [ 0. 0. 0. 1. ]] SLAMing on 76.46650248099999 meters Centerline goodness : 0.688225 Centerline is valid? [False, False] Translation: X:1.87, Y:0.46, Z:0.22 [[ 0.97330858 -0.02532183 -0.22809915 1.86840273] [ 0.02392187 0.99967421 -0.00890063 0.45738684] [ 0.22825022 0.0032065 0.97359723 0.22353195] [ 0. 0. 0. 1. ]] SLAMing on 76.496502481 meters Centerline goodness : 0.691337 Centerline is valid? [False, False] Translation: X:1.87, Y:0.46, Z:0.22 [[ 0.97320955 -0.02525442 -0.22852875 1.86883762] [ 0.02368896 0.99967337 -0.00959113 0.45934917] [ 0.22869632 0.00392057 0.97348992 0.22473772] [ 0. 0. 0. 1. ]] SLAMing on 76.526502481 meters Centerline goodness : 0.686852 Centerline is valid? [False, False] Translation: X:1.87, Y:0.46, Z:0.23 [[ 0.97323024 -0.02418145 -0.22855668 1.86872095] [ 0.02263 0.99969965 -0.00940682 0.46369421] [ 0.2287155 0.00398276 0.97348516 0.22544218] [ 0. 0. 0. 1. ]] SLAMing on 76.556502481 meters Centerline goodness : 0.686022 Centerline is valid? [False, False] Translation: X:1.87, Y:0.47, Z:0.23 [[ 0.97311927 -0.02401556 -0.22904616 1.86957015] [ 0.02237351 0.99970201 -0.00976356 0.46527339] [ 0.22921238 0.00437654 0.9733666 0.22607694] [ 0. 0. 0. 1. ]] SLAMing on 76.586502481 meters Centerline goodness : 0.686292 Centerline is valid? [False, False] Translation: X:1.87, Y:0.47, Z:0.23 [[ 0.9730427 -0.02381158 -0.22939249 1.8706319 ] [ 0.02210303 0.99970553 -0.01001507 0.46644284] [ 0.22956341 0.00467482 0.97328248 0.22625618] [ 0. 0. 0. 1. ]] SLAMing on 76.616502481 meters Centerline goodness : 0.686623 Centerline is valid? [False, False] Translation: X:1.87, Y:0.47, Z:0.23 [[ 0.97293572 -0.02327907 -0.22990035 1.87271611] [ 0.02151647 0.99971676 -0.01017105 0.46812486] [ 0.23007201 0.00494913 0.97316102 0.22607825] [ 0. 0. 0. 1. ]] SLAMing on 76.64650248099998 meters Centerline goodness : 0.686651 Centerline is valid? [False, False] Translation: X:1.87, Y:0.47, Z:0.23 [[ 0.97285921 -0.02327943 -0.23022384 1.87299017] [ 0.02135974 0.99971322 -0.01082745 0.47024495] [ 0.23040988 0.00561606 0.97307746 0.22704362] [ 0. 0. 0. 1. ]] SLAMing on 76.67650248099999 meters Centerline goodness : 0.684850 Centerline is valid? [False, False] Translation: X:1.87, Y:0.47, Z:0.23 [[ 0.97278069 -0.02305739 -0.23057771 1.87338561] [ 0.0211096 0.99971763 -0.01091112 0.47069363] [ 0.23076418 0.00574673 0.97299274 0.22768991] [ 0. 0. 0. 1. ]] SLAMing on 76.70650248099999 meters Centerline goodness : 0.684634 Centerline is valid? [False, False] Translation: X:1.87, Y:0.47, Z:0.23 [[ 0.9726783 -0.02286316 -0.23102856 1.87382799] [ 0.02085449 0.99972053 -0.0111331 0.47124372] [ 0.23121853 0.00601095 0.97288327 0.22864613] [ 0. 0. 0. 1. ]] SLAMing on 76.73650248099999 meters Centerline goodness : 0.688444 Centerline is valid? [False, False] Translation: X:1.87, Y:0.47, Z:0.23 [[ 0.97257052 -0.02258977 -0.2315087 1.87421935] [ 0.02054234 0.99972568 -0.01125099 0.47153824] [ 0.23169935 0.00618665 0.97276777 0.22965126] [ 0. 0. 0. 1. ]] SLAMing on 76.76650248099999 meters Centerline goodness : 0.689779 Centerline is valid? [False, False] Translation: X:1.88, Y:0.47, Z:0.23 [[ 0.97256715 -0.02219173 -0.23156138 1.87511267] [ 0.02023085 0.99973657 -0.01083958 0.47050096] [ 0.23174093 0.00585754 0.9727599 0.22909558] [ 0. 0. 0. 1. ]] SLAMing on 76.79650248099999 meters Centerline goodness : 0.688081 Centerline is valid? [False, False] Translation: X:1.88, Y:0.47, Z:0.23 [[ 0.97216105 -0.0263711 -0.23282495 1.87721866] [ 0.02350489 0.99961003 -0.01507689 0.47118882] [ 0.23313175 0.00918464 0.97240178 0.23077318] [ 0. 0. 0. 1. ]] SLAMing on 76.82650248099999 meters Centerline goodness : 0.686377 Centerline is valid? [False, False] Translation: X:1.88, Y:0.47, Z:0.23 [[ 0.97213626 -0.02632702 -0.23293342 1.87716328] [ 0.02350437 0.99961291 -0.01488571 0.46938506] [ 0.23323515 0.00899598 0.97237875 0.23107375] [ 0. 0. 0. 1. ]] SLAMing on 76.85650248099999 meters Centerline goodness : 0.689317 Centerline is valid? [False, False] Translation: X:1.88, Y:0.47, Z:0.23 [[ 0.97208597 -0.02604128 -0.23317528 1.87751385] [ 0.02329521 0.99962313 -0.01452352 0.46821951] [ 0.23346562 0.00868624 0.97232626 0.23121086] [ 0. 0. 0. 1. ]] SLAMing on 76.886502481 meters Centerline goodness : 0.689870 Centerline is valid? [False, False] Translation: X:1.88, Y:0.47, Z:0.23 [[ 0.97204936 -0.02599475 -0.23333308 1.87767957] [ 0.02329183 0.99962597 -0.01433238 0.46677495] [ 0.23361837 0.00849702 0.97229124 0.23140458] [ 0. 0. 0. 1. ]] SLAMing on 76.916502481 meters Centerline goodness : 0.690884 Centerline is valid? [False, False] Translation: X:1.90, Y:0.46, Z:0.24 [[ 0.97256186 -0.0288924 -0.23084335 1.9030025 ] [ 0.0263685 0.99955409 -0.01401177 0.46490918] [ 0.23114525 0.00754032 0.97289003 0.23705548] [ 0. 0. 0. 1. ]] SLAMing on 76.946502481 meters Centerline goodness : 0.689003 Centerline is valid? [False, False] Translation: X:1.90, Y:0.46, Z:0.24 [[ 0.97255748 -0.02854685 -0.23090478 1.90303851] [ 0.0261502 0.99956776 -0.01343385 0.46297816] [ 0.23118847 0.00702698 0.97288361 0.23704763] [ 0. 0. 0. 1. ]] SLAMing on 76.976502481 meters Centerline goodness : 0.689248 Centerline is valid? [False, False] Translation: X:1.93, Y:0.46, Z:0.24 [[ 0.97358583 -0.02931644 -0.2264314 1.92655607] [ 0.02748668 0.99955909 -0.0112302 0.45980596] [ 0.22666079 0.00470971 0.97396237 0.24141793] [ 0. 0. 0. 1. ]] SLAMing on 77.006502481 meters Centerline goodness : 0.688211 Centerline is valid? [False, False] Translation: X:1.93, Y:0.46, Z:0.24 [[ 0.97358428 -0.02921265 -0.22645149 1.92620637] [ 0.02742151 0.99956286 -0.01105191 0.45860372] [ 0.22667535 0.00455033 0.97395974 0.24183504] [ 0. 0. 0. 1. ]] SLAMing on 77.03650248099999 meters Centerline goodness : 0.688306 Centerline is valid? [False, False] Translation: X:1.93, Y:0.46, Z:0.24 [[ 0.97358088 -0.02909515 -0.2264812 1.92590098] [ 0.02734883 0.99956712 -0.01084527 0.4574056 ] [ 0.2266987 0.00436475 0.97395516 0.24222391] [ 0. 0. 0. 1. ]] SLAMing on 77.06650248099999 meters Centerline goodness : 0.686172 Centerline is valid? [False, False] Translation: X:1.93, Y:0.46, Z:0.24 [[ 0.97349591 -0.02885535 -0.22687678 1.92640882] [ 0.02712871 0.99957441 -0.01072555 0.45716373] [ 0.22708972 0.00428641 0.97386441 0.24268529] [ 0. 0. 0. 1. ]] SLAMing on 77.09650248099999 meters Centerline goodness : 0.687528 Centerline is valid? [False, False] Translation: X:1.93, Y:0.46, Z:0.24 [[ 0.97339943 -0.02843423 -0.22734343 1.92745986] [ 0.02677027 0.99958751 -0.01039984 0.4568939 ] [ 0.22754537 0.00403715 0.97375911 0.24277728] [ 0. 0. 0. 1. ]] SLAMing on 77.12650248099999 meters Centerline goodness : 0.687452 Centerline is valid? [False, False] Translation: X:1.96, Y:0.46, Z:0.25 [[ 0.97354179 -0.02873493 -0.22669513 1.95774 ] [ 0.02703953 0.99957836 -0.01058117 0.45776323] [ 0.22690359 0.00417148 0.97390829 0.25050158] [ 0. 0. 0. 1. ]] SLAMing on 77.15650248099999 meters Centerline goodness : 0.691291 Centerline is valid? [False, False] Translation: X:1.96, Y:0.46, Z:0.25 [[ 0.97344506 -0.02838521 -0.22715411 1.95935173] [ 0.02658637 0.99958627 -0.01097534 0.45896099] [ 0.22737166 0.00464469 0.97379698 0.25087573] [ 0. 0. 0. 1. ]] SLAMing on 77.18650248099999 meters Centerline goodness : 0.690323 Centerline is valid? [False, False] Translation: X:1.96, Y:0.46, Z:0.25 [[ 0.9733498 -0.02816246 -0.22758963 1.96055539] [ 0.02631676 0.99959157 -0.01114088 0.45986546] [ 0.22781043 0.00485456 0.9736934 0.25104242] [ 0. 0. 0. 1. ]] SLAMing on 77.21650248099999 meters Centerline goodness : 0.686161 Centerline is valid? [False, False] Translation: X:1.96, Y:0.46, Z:0.25 [[ 0.97317844 -0.02782378 -0.22836278 1.96196102] [ 0.02590446 0.99959944 -0.01139842 0.46093175] [ 0.22858846 0.00517708 0.97350938 0.25191427] [ 0. 0. 0. 1. ]] SLAMing on 77.246502481 meters Centerline goodness : 0.689680 Centerline is valid? [False, False] Translation: X:1.96, Y:0.46, Z:0.25 [[ 0.97296034 -0.02672681 -0.22942071 1.96346764] [ 0.02472808 0.99962711 -0.01158308 0.4638398 ] [ 0.22964473 0.00559674 0.97325843 0.25385164] [ 0. 0. 0. 1. ]] SLAMing on 77.276502481 meters Centerline goodness : 0.685904 Centerline is valid? [False, False] Translation: X:1.96, Y:0.46, Z:0.26 [[ 0.97280678 -0.02625868 -0.23012486 1.96477695] [ 0.02410699 0.99963546 -0.01215719 0.46491188] [ 0.2303602 0.00627898 0.97308517 0.25532144] [ 0. 0. 0. 1. ]] SLAMing on 77.306502481 meters Centerline goodness : 0.689286 Centerline is valid? [False, False] Translation: X:1.97, Y:0.47, Z:0.26 [[ 0.97280118 -0.02579909 -0.23020051 1.96554654] [ 0.02346266 0.99964172 -0.01288161 0.46683305] [ 0.23045037 0.00713013 0.97305796 0.25610032] [ 0. 0. 0. 1. ]] SLAMing on 77.336502481 meters Centerline goodness : 0.687256 Centerline is valid? [False, False] Translation: X:1.97, Y:0.47, Z:0.26 [[ 0.97265919 -0.0251144 -0.23087522 1.9674177 ] [ 0.02269378 0.99965618 -0.0131346 0.46681596] [ 0.2311257 0.00753606 0.97289471 0.25703966] [ 0. 0. 0. 1. ]] SLAMing on 77.366502481 meters Centerline goodness : 0.686991 Centerline is valid? [False, False] Translation: X:1.97, Y:0.47, Z:0.26 [[ 0.97254625 -0.02447266 -0.23141929 1.96845073] [ 0.02189423 0.99966637 -0.01370388 0.46812284] [ 0.23167745 0.00826091 0.97275758 0.2585307 ] [ 0. 0. 0. 1. ]] SLAMing on 77.39650248099998 meters Centerline goodness : 0.685188 Centerline is valid? [False, False] Translation: X:1.97, Y:0.47, Z:0.26 [[ 0.97244932 -0.02395169 -0.23188067 1.96949648] [ 0.02132104 0.99967682 -0.0138447 0.46842147] [ 0.23213733 0.00851933 0.97264571 0.25930343] [ 0. 0. 0. 1. ]] SLAMing on 77.42650248099999 meters Centerline goodness : 0.689829 Centerline is valid? [False, False] Translation: X:1.99, Y:0.46, Z:0.27 [[ 0.97296106 -0.01533156 -0.23045979 1.99215887] [ 0.01158701 0.99977809 -0.01759291 0.46370551] [ 0.23067838 0.01444687 0.9729228 0.26645526] [ 0. 0. 0. 1. ]] SLAMing on 77.45650248099999 meters Centerline goodness : 0.689829 Centerline is valid? [False, False] Translation: X:1.99, Y:0.46, Z:0.27 [[ 0.97297432 -0.01536672 -0.23040146 1.99212504] [ 0.01161375 0.99977702 -0.01763625 0.46343466] [ 0.2306211 0.01448379 0.97293583 0.26648128] [ 0. 0. 0. 1. ]] SLAMing on 77.48650248099999 meters Centerline goodness : 0.688201 Centerline is valid? [False, False] Translation: X:1.99, Y:0.46, Z:0.27 [[ 0.97299054 -0.0149558 -0.23036001 1.99234944] [ 0.01125251 0.99978561 -0.01738155 0.46193879] [ 0.23057057 0.01431995 0.97295023 0.26661881] [ 0. 0. 0. 1. ]] SLAMing on 77.51650248099999 meters Centerline goodness : 0.686773 Centerline is valid? [False, False] Translation: X:1.99, Y:0.46, Z:0.27 [[ 0.97319287 -0.01465268 -0.22952327 1.99095067] [ 0.01102461 0.99979332 -0.0170814 0.45887013] [ 0.22972612 0.01409309 0.97315327 0.26675075] [ 0. 0. 0. 1. ]] SLAMing on 77.54650248099999 meters Centerline goodness : 0.690116 Centerline is valid? [False, False] Translation: X:1.99, Y:0.46, Z:0.27 [[ 0.97321369 -0.01424523 -0.22946063 1.99097614] [ 0.01072205 0.99980482 -0.01659369 0.45665639] [ 0.22965222 0.01368892 0.97317648 0.26679313] [ 0. 0. 0. 1. ]] SLAMing on 77.57650248099999 meters Centerline goodness : 0.690280 Centerline is valid? [False, False] Translation: X:1.99, Y:0.45, Z:0.27 [[ 0.97296858 -0.01784328 -0.23024719 1.99181536] [ 0.0136692 0.99971227 -0.01971118 0.45398013] [ 0.23053265 0.01603106 0.97293253 0.26816031] [ 0. 0. 0. 1. ]] SLAMing on 77.60650248099999 meters Centerline goodness : 0.690750 Centerline is valid? [False, False] Translation: X:1.99, Y:0.45, Z:0.27 [[ 0.97268353 -0.02180716 -0.23110863 1.99271352] [ 0.01685807 0.99958479 -0.02336794 0.45273319] [ 0.23152226 0.01883357 0.97264728 0.26984788] [ 0. 0. 0. 1. ]] SLAMing on 77.636502481 meters Centerline goodness : 0.692698 Centerline is valid? [False, False] Translation: X:2.01, Y:0.45, Z:0.27 [[ 0.97310467 -0.02845503 -0.22859924 2.00910673] [ 0.02426573 0.9994825 -0.02111645 0.44858847] [ 0.22908181 0.01500139 0.97329157 0.27151589] [ 0. 0. 0. 1. ]] SLAMing on 77.666502481 meters Centerline goodness : 0.692475 Centerline is valid? [False, False] Translation: X:2.01, Y:0.45, Z:0.27 [[ 0.97278066 -0.0324155 -0.22944937 2.00991622] [ 0.02748727 0.99931835 -0.024643 0.44751459] [ 0.23009179 0.0176653 0.97300859 0.27308875] [ 0. 0. 0. 1. ]] SLAMing on 77.696502481 meters Centerline goodness : 0.693386 Centerline is valid? [False, False] Translation: X:2.03, Y:0.45, Z:0.27 [[ 0.97317522 -0.03809914 -0.22688864 2.02627892] [ 0.03404316 0.99918336 -0.02176426 0.44662272] [ 0.22753255 0.01345643 0.97367749 0.2742086 ] [ 0. 0. 0. 1. ]] SLAMing on 77.726502481 meters Centerline goodness : 0.695401 Centerline is valid? [False, False] Translation: X:2.03, Y:0.44, Z:0.27 [[ 0.9730095 -0.04214239 -0.22688439 2.02660443] [ 0.03754666 0.99899362 -0.02453549 0.44189205] [ 0.22769004 0.01535451 0.97361259 0.27405244] [ 0. 0. 0. 1. ]] SLAMing on 77.756502481 meters Centerline goodness : 0.697201 Centerline is valid? [False, False] Translation: X:2.03, Y:0.44, Z:0.28 [[ 0.97270022 -0.04663268 -0.22733166 2.0264321 ] [ 0.04120648 0.9987424 -0.02855951 0.44144213] [ 0.22837757 0.0184123 0.97339852 0.27571631] [ 0. 0. 0. 1. ]] SLAMing on 77.78650248099999 meters Centerline goodness : 0.697900 Centerline is valid? [False, False] Translation: X:2.02, Y:0.44, Z:0.28 [[ 0.97281885 -0.04747801 -0.22664801 2.02378916] [ 0.042102 0.99870681 -0.0284979 0.43634667] [ 0.22770794 0.01818096 0.97355973 0.27632955] [ 0. 0. 0. 1. ]] SLAMing on 77.81650248099999 meters Centerline goodness : 0.699977 Centerline is valid? [False, False] Translation: X:2.02, Y:0.43, Z:0.28 [[ 0.97284663 -0.04744097 -0.22653649 2.02348095] [ 0.04220332 0.99871911 -0.02791093 0.43407495] [ 0.22757045 0.01759246 0.97360269 0.27609555] [ 0. 0. 0. 1. ]] SLAMing on 77.84650248099999 meters Centerline goodness : 0.699699 Centerline is valid? [False, False] Translation: X:2.02, Y:0.43, Z:0.28 [[ 0.97259831 -0.05218757 -0.22655903 2.02362089] [ 0.04626412 0.99843622 -0.0313806 0.43194779] [ 0.22784242 0.02003917 0.97349179 0.2761214 ] [ 0. 0. 0. 1. ]] SLAMing on 77.87650248099999 meters Centerline goodness : 0.699131 Centerline is valid? [False, False] Translation: X:2.02, Y:0.43, Z:0.28 [[ 0.97265945 -0.05211422 -0.22631328 2.02361044] [ 0.04634279 0.99845237 -0.0307442 0.42995019] [ 0.22756524 0.01941564 0.97356925 0.27528876] [ 0. 0. 0. 1. ]] SLAMing on 77.90650248099999 meters Centerline goodness : 0.697532 Centerline is valid? [False, False] Translation: X:2.02, Y:0.43, Z:0.28 [[ 0.97241463 -0.05720879 -0.22613481 2.02178798] [ 0.05051055 0.99809944 -0.03530133 0.43111405] [ 0.22772457 0.02290534 0.97345614 0.27722136] [ 0. 0. 0. 1. ]] SLAMing on 77.93650248099999 meters Centerline goodness : 0.697732 Centerline is valid? [False, False] Translation: X:2.02, Y:0.43, Z:0.28 [[ 0.97240902 -0.05729956 -0.22613591 2.0214907 ] [ 0.0506049 0.99809485 -0.03529616 0.43102739] [ 0.22772754 0.02287872 0.97345607 0.27741928] [ 0. 0. 0. 1. ]] SLAMing on 77.96650248099999 meters Centerline goodness : 0.699766 Centerline is valid? [False, False] Translation: X:2.02, Y:0.43, Z:0.28 [[ 0.97239596 -0.05732335 -0.22618603 2.02148912] [ 0.05061697 0.99809255 -0.0353438 0.43144278] [ 0.22778062 0.02291931 0.9734427 0.27754043] [ 0. 0. 0. 1. ]] SLAMing on 77.996502481 meters Centerline goodness : 0.698841 Centerline is valid? [False, False] Translation: X:2.02, Y:0.43, Z:0.28 [[ 0.97237853 -0.0578637 -0.22612339 2.02039498] [ 0.05092834 0.99803912 -0.03638988 0.43467317] [ 0.22778564 0.02386865 0.97341871 0.27877052] [ 0. 0. 0. 1. ]] SLAMing on 78.026502481 meters Centerline goodness : 0.695631 Centerline is valid? [False, False] Translation: X:2.02, Y:0.44, Z:0.28 [[ 0.9728328 -0.05427037 -0.22505793 2.0180433 ] [ 0.04791285 0.9982856 -0.03361863 0.43773411] [ 0.22649659 0.02192214 0.97376523 0.27847491] [ 0. 0. 0. 1. ]] SLAMing on 78.056502481 meters Centerline goodness : 0.699346 Centerline is valid? [False, False] Translation: X:2.02, Y:0.44, Z:0.28 [[ 0.97323428 -0.0497328 -0.22436954 2.01773267] [ 0.04422603 0.99858574 -0.02950567 0.43771156] [ 0.22551963 0.01879295 0.97405735 0.27682768] [ 0. 0. 0. 1. ]] SLAMing on 78.086502481 meters Centerline goodness : 0.695798 Centerline is valid? [False, False] Translation: X:2.02, Y:0.44, Z:0.28 [[ 0.97338219 -0.04935617 -0.22381038 2.01626851] [ 0.04375139 0.99859384 -0.0299358 0.44402237] [ 0.22497318 0.01934696 0.97417286 0.27743387] [ 0. 0. 0. 1. ]] SLAMing on 78.116502481 meters Centerline goodness : 0.697531 Centerline is valid? [False, False] Translation: X:2.02, Y:0.45, Z:0.28 [[ 0.97335083 -0.04989646 -0.22382696 2.01523184] [ 0.04402177 0.9985444 -0.03116338 0.44719399] [ 0.2250561 0.02047964 0.97413055 0.27894885] [ 0. 0. 0. 1. ]] SLAMing on 78.14650248099998 meters Centerline goodness : 0.697925 Centerline is valid? [False, False] Translation: X:2.01, Y:0.45, Z:0.28 [[ 0.97336966 -0.05040138 -0.22363185 2.01394975] [ 0.04427095 0.99849578 -0.03234585 0.45007604] [ 0.22492573 0.02158407 0.97413682 0.28033471] [ 0. 0. 0. 1. ]] SLAMing on 78.17650248099999 meters Centerline goodness : 0.699628 Centerline is valid? [False, False] Translation: X:2.01, Y:0.46, Z:0.28 [[ 0.97349392 -0.05198142 -0.22272747 2.01032849] [ 0.04529503 0.99835935 -0.03502799 0.45548251] [ 0.22418286 0.02401108 0.97425126 0.28308755] [ 0. 0. 0. 1. ]] SLAMing on 78.20650248099999 meters Centerline goodness : 0.699374 Centerline is valid? [False, False] Translation: X:2.01, Y:0.46, Z:0.28 [[ 0.97405642 -0.04850313 -0.22104647 2.0076818 ] [ 0.04253639 0.99859263 -0.03167669 0.45661705] [ 0.22227179 0.02145236 0.97474871 0.28140024] [ 0. 0. 0. 1. ]] SLAMing on 78.23650248099999 meters Centerline goodness : 0.698263 Centerline is valid? [False, False] Translation: X:2.01, Y:0.46, Z:0.28 [[ 0.97413119 -0.04895043 -0.22061794 2.006668 ] [ 0.04283669 0.99855612 -0.0324144 0.45857804] [ 0.22188609 0.02212534 0.97482154 0.28177584] [ 0. 0. 0. 1. ]] SLAMing on 78.26650248099999 meters Centerline goodness : 0.696335 Centerline is valid? [False, False] Translation: X:2.01, Y:0.46, Z:0.28 [[ 0.97452068 -0.04492611 -0.21975235 2.00543637] [ 0.03964823 0.99881083 -0.02837137 0.45764494] [ 0.22076564 0.01893569 0.97514305 0.28028156] [ 0. 0. 0. 1. ]] SLAMing on 78.29650248099999 meters Centerline goodness : 0.696315 Centerline is valid? [False, False] Translation: X:2.00, Y:0.46, Z:0.28 [[ 0.97521429 -0.04195979 -0.21724749 2.00075682] [ 0.03731222 0.99897946 -0.02545281 0.45854272] [ 0.21809378 0.01671596 0.97578465 0.27900267] [ 0. 0. 0. 1. ]] SLAMing on 78.32650248099999 meters Centerline goodness : 0.696352 Centerline is valid? [False, False] Translation: X:2.00, Y:0.46, Z:0.28 [[ 0.97595286 -0.03870761 -0.21451747 1.99578321] [ 0.03469457 0.99914595 -0.02244243 0.45939844] [ 0.21520295 0.01446016 0.97646228 0.27774674] [ 0. 0. 0. 1. ]] SLAMing on 78.35650248099999 meters Centerline goodness : 0.699653 Centerline is valid? [False, False] Translation: X:1.99, Y:0.46, Z:0.28 [[ 0.97639258 -0.03463178 -0.21320924 1.99370915] [ 0.03139347 0.99933483 -0.01855641 0.45841012] [ 0.21371006 0.01142496 0.97683032 0.27654298] [ 0. 0. 0. 1. ]] SLAMing on 78.386502481 meters Centerline goodness : 0.699662 Centerline is valid? [False, False] Translation: X:1.99, Y:0.46, Z:0.27 [[ 0.97684921 -0.03066852 -0.21171932 1.99206741] [ 0.02818017 0.99949387 -0.01476115 0.4569363 ] [ 0.21206486 0.00845313 0.97721903 0.27468792] [ 0. 0. 0. 1. ]] SLAMing on 78.416502481 meters Centerline goodness : 0.700211 Centerline is valid? [False, False] Translation: X:1.99, Y:0.46, Z:0.27 [[ 0.97726211 -0.03133869 -0.20970614 1.98896546] [ 0.0287091 0.9994665 -0.01557254 0.4578855 ] [ 0.21008228 0.00919798 0.97764044 0.27405359] [ 0. 0. 0. 1. ]] SLAMing on 78.446502481 meters Centerline goodness : 0.699864 Centerline is valid? [False, False] Translation: X:1.99, Y:0.46, Z:0.27 [[ 0.97744719 -0.03133363 -0.20884253 1.98781823] [ 0.02870213 0.99946596 -0.01561981 0.4575746 ] [ 0.20922042 0.00927331 0.97782453 0.2735796 ] [ 0. 0. 0. 1. ]] SLAMing on 78.476502481 meters Centerline goodness : 0.699487 Centerline is valid? [False, False] Translation: X:1.99, Y:0.45, Z:0.28 [[ 0.97877036 -0.0258916 -0.20331799 1.99190317] [ 0.02274379 0.99958278 -0.01780387 0.4540834 ] [ 0.20369414 0.01280168 0.97895088 0.27681443] [ 0. 0. 0. 1. ]] SLAMing on 78.506502481 meters Centerline goodness : 0.696067 Centerline is valid? [False, False] Translation: X:1.99, Y:0.45, Z:0.28 [[ 0.97907893 -0.02592247 -0.20182287 1.98923471] [ 0.02280029 0.99958193 -0.01777974 0.45308902] [ 0.20219939 0.01280615 0.97926064 0.27656508] [ 0. 0. 0. 1. ]] SLAMing on 78.53650248099999 meters Centerline goodness : 0.698880 Centerline is valid? [False, False] Translation: X:1.98, Y:0.45, Z:0.28 [[ 0.97987189 -0.02664557 -0.19784107 1.98398616] [ 0.02344431 0.99955385 -0.01850608 0.44812276] [ 0.19824591 0.01349534 0.9800594 0.27510396] [ 0. 0. 0. 1. ]] SLAMing on 78.56650248099999 meters Centerline goodness : 0.704596 Centerline is valid? [False, False] Translation: X:1.98, Y:0.44, Z:0.27 [[ 0.9801169 -0.02600804 -0.19670901 1.98361625] [ 0.02302635 0.9995829 -0.01743019 0.44400507] [ 0.19708029 0.01255413 0.98030697 0.27318146] [ 0. 0. 0. 1. ]] SLAMing on 78.59650248099999 meters Centerline goodness : 0.703805 Centerline is valid? [False, False] Translation: X:1.98, Y:0.43, Z:0.27 [[ 0.98057581 -0.02675407 -0.19430724 1.98278742] [ 0.02378829 0.99956241 -0.01758113 0.4340658 ] [ 0.19469258 0.01261739 0.98078316 0.27042796] [ 0. 0. 0. 1. ]] SLAMing on 78.62650248099999 meters Centerline goodness : 0.704967 Centerline is valid? [False, False] Translation: X:1.99, Y:0.43, Z:0.27 [[ 0.98060242 -0.02493455 -0.1944149 1.98517556] [ 0.02235055 0.99963044 -0.01547374 0.42784499] [ 0.19472888 0.01082831 0.98079733 0.26853574] [ 0. 0. 0. 1. ]] SLAMing on 78.65650248099999 meters Centerline goodness : 0.705166 Centerline is valid? [False, False] Translation: X:1.99, Y:0.42, Z:0.27 [[ 0.98015397 -0.02446177 -0.19672268 1.9939453 ] [ 0.02203999 0.99965207 -0.01449082 0.41599909] [ 0.1970087 0.00986747 0.98035208 0.26570857] [ 0. 0. 0. 1. ]] SLAMing on 78.68650248099999 meters Centerline goodness : 0.705725 Centerline is valid? [False, False] Translation: X:2.00, Y:0.41, Z:0.26 [[ 0.97982372 -0.02645176 -0.19810549 1.99893512] [ 0.02377123 0.99959102 -0.01589723 0.40974116] [ 0.19844498 0.01086728 0.98005178 0.26437563] [ 0. 0. 0. 1. ]] SLAMing on 78.71650248099999 meters Centerline goodness : 0.705700 Centerline is valid? [False, False] Translation: X:2.01, Y:0.40, Z:0.26 [[ 0.97945756 -0.02558197 -0.20002115 2.00713883] [ 0.02319999 0.99962937 -0.01424391 0.39500351] [ 0.2003114 0.00931082 0.97968804 0.26126185] [ 0. 0. 0. 1. ]] SLAMing on 78.746502481 meters Centerline goodness : 0.707654 Centerline is valid? [False, False] Translation: X:1.99, Y:0.39, Z:0.26 [[ 0.97897545 -0.02224066 -0.20276198 1.99416006] [ 0.01937104 0.9996823 -0.01612642 0.38532432] [ 0.20305623 0.01185966 0.97909525 0.25605165] [ 0. 0. 0. 1. ]] SLAMing on 78.776502481 meters Centerline goodness : 0.707781 Centerline is valid? [False, False] Translation: X:1.96, Y:0.37, Z:0.24 [[ 0.97776991 -0.0180067 -0.2089061 1.95621855] [ 0.0149554 0.9997573 -0.0161766 0.36504835] [ 0.20914669 0.01269272 0.9778019 0.24094166] [ 0. 0. 0. 1. ]] SLAMing on 78.806502481 meters Centerline goodness : 0.707579 Centerline is valid? [False, False] Translation: X:1.90, Y:0.35, Z:0.22 [[ 0.97729647 -0.01389598 -0.21142025 1.89759818] [ 0.00978642 0.99974253 -0.02047191 0.35181653] [ 0.21165029 0.01793808 0.97718083 0.22173297] [ 0. 0. 0. 1. ]] SLAMing on 78.836502481 meters Centerline goodness : 0.711106 Centerline is valid? [False, False] Translation: X:1.84, Y:0.34, Z:0.20 [[ 0.97694204 -0.01190635 -0.21317246 1.83534206] [ 0.00681503 0.99967408 -0.02460254 0.33960506] [ 0.21339591 0.02258248 0.97670478 0.20053509] [ 0. 0. 0. 1. ]] SLAMing on 78.866502481 meters Centerline goodness : 0.712634 Centerline is valid? [False, False] Translation: X:1.80, Y:0.32, Z:0.18 [[ 0.97597965 -0.01179586 -0.21754216 1.80161427] [ 0.005853 0.9995924 -0.02794237 0.32237726] [ 0.21778309 0.02599791 0.97565088 0.18446798] [ 0. 0. 0. 1. ]] SLAMing on 78.89650248099998 meters Centerline goodness : 0.712314 Centerline is valid? [False, False] Translation: X:1.76, Y:0.31, Z:0.17 [[ 0.97589208 -0.01243473 -0.2178991 1.76202696] [ 0.00556311 0.99946851 -0.03212097 0.31284816] [ 0.2181827 0.0301344 0.97544258 0.16904702] [ 0. 0. 0. 1. ]] SLAMing on 78.92650248099999 meters Centerline goodness : 0.715471 Centerline is valid? [False, False] Translation: X:1.75, Y:0.30, Z:0.16 [[ 0.97502676 -0.01139573 -0.22179485 1.75331553] [ 0.0039828 0.99941929 -0.03384108 0.2978054 ] [ 0.22205169 0.03211259 0.97450594 0.15892205] [ 0. 0. 0. 1. ]] SLAMing on 78.95650248099999 meters Centerline goodness : 0.715821 Centerline is valid? [False, False] Translation: X:1.76, Y:0.29, Z:0.16 [[ 0.97497248 -0.01513069 -0.22181013 1.75593137] [ 0.00723867 0.9993129 -0.03634996 0.29440249] [ 0.22220772 0.0338346 0.9744121 0.1564839 ] [ 0. 0. 0. 1. ]] SLAMing on 78.98650248099999 meters Centerline goodness : 0.719370 Centerline is valid? [False, False] Translation: X:1.76, Y:0.29, Z:0.15 [[ 0.97414669 -0.02601642 -0.22441342 1.7649938 ] [ 0.01643422 0.9988759 -0.04446184 0.28797305] [ 0.22531789 0.03962429 0.97347921 0.15140294] [ 0. 0. 0. 1. ]] SLAMing on 79.01650248099999 meters Centerline goodness : 0.719371 Centerline is valid? [False, False] Translation: X:1.77, Y:0.28, Z:0.15 [[ 0.97379341 -0.03044463 -0.22538749 1.77073065] [ 0.02031459 0.99868222 -0.04712905 0.28396387] [ 0.22652531 0.04131531 0.97312863 0.14814677] [ 0. 0. 0. 1. ]] SLAMing on 79.04650248099999 meters Centerline goodness : 0.723774 Centerline is valid? [False, False] Translation: X:1.78, Y:0.27, Z:0.14 [[ 0.97132841 -0.03378258 -0.23532923 1.77523298] [ 0.0224976 0.99847187 -0.05047565 0.27430866] [ 0.23667482 0.04373409 0.97060412 0.14102753] [ 0. 0. 0. 1. ]] SLAMing on 79.07650248099999 meters Centerline goodness : 0.725339 Centerline is valid? [False, False] Translation: X:1.78, Y:0.27, Z:0.14 [[ 0.97082333 -0.03734364 -0.23687024 1.78239682] [ 0.02552903 0.99828129 -0.05275162 0.27282309] [ 0.23843307 0.04516543 0.97010812 0.13761003] [ 0. 0. 0. 1. ]] SLAMing on 79.10650248099999 meters Centerline goodness : 0.728280 Centerline is valid? [False, False] Translation: X:1.79, Y:0.26, Z:0.13 [[ 0.96864832 -0.03757297 -0.24557831 1.78624039] [ 0.02429983 0.99808651 -0.05685798 0.26382402] [ 0.24724472 0.04910787 0.96770784 0.12819535] [ 0. 0. 0. 1. ]] SLAMing on 79.136502481 meters Centerline goodness : 0.731376 Centerline is valid? [False, False] Translation: X:1.80, Y:0.26, Z:0.12 [[ 0.9678336 -0.03734549 -0.24880401 1.79787822] [ 0.02429233 0.99817257 -0.05532993 0.25803726] [ 0.25041566 0.04750614 0.96697216 0.12277571] [ 0. 0. 0. 1. ]] SLAMing on 79.166502481 meters Centerline goodness : 0.638566 Centerline is valid? [False, False] Translation: X:1.83, Y:0.24, Z:0.12 [[ 0.96585585 -0.0416455 -0.25571102 1.83390327] [ 0.02515571 0.99740732 -0.06742276 0.24286932] [ 0.2578559 0.05868807 0.96439932 0.12318936] [ 0. 0. 0. 1. ]] SLAMing on 79.196502481 meters Centerline goodness : 0.505719 Centerline is valid? [False, False] Translation: X:1.84, Y:0.24, Z:0.12 [[ 0.96503981 -0.04806782 -0.257658 1.84151472] [ 0.03015386 0.99687349 -0.07303423 0.23554909] [ 0.26036303 0.06271156 0.96347203 0.12205749] [ 0. 0. 0. 1. ]] SLAMing on 79.226502481 meters Centerline goodness : 0.553633 Centerline is valid? [False, False] Translation: X:1.84, Y:0.22, Z:0.12 [[ 0.96481117 -0.04981687 -0.25818149 1.84378096] [ 0.03212313 0.99686509 -0.07230553 0.2221936 ] [ 0.26097416 0.06146759 0.96338685 0.12006933] [ 0. 0. 0. 1. ]] SLAMing on 79.256502481 meters Centerline goodness : 0.670317 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:0.12 [[ 0.96452653 -0.05206046 -0.25880161 1.8484208 ] [ 0.03423616 0.99675062 -0.07291148 0.21282893] [ 0.26175647 0.06146469 0.96317477 0.11715801] [ 0. 0. 0. 1. ]] SLAMing on 79.28650248099999 meters Centerline goodness : 0.428074 Centerline is valid? [False, False] Translation: X:1.86, Y:0.20, Z:0.11 [[ 0.96383206 -0.0522715 -0.26133399 1.85514974] [ 0.0352092 0.99695669 -0.06955339 0.19765353] [ 0.26417433 0.05783642 0.96273925 0.11319326] [ 0. 0. 0. 1. ]] SLAMing on 79.31650248099999 meters Centerline goodness : 0.351142 Centerline is valid? [False, False] Translation: X:1.86, Y:0.19, Z:0.11 [[ 0.96354677 -0.05417376 -0.26199776 1.86113096] [ 0.03725094 0.99691154 -0.06913579 0.18831504] [ 0.26493394 0.0568559 0.96258891 0.10840109] [ 0. 0. 0. 1. ]] SLAMing on 79.34650248099999 meters Centerline goodness : 0.351142 Centerline is valid? [False, False] Translation: X:1.86, Y:0.19, Z:0.11 [[ 0.96354677 -0.05417376 -0.26199776 1.86113096] [ 0.03725094 0.99691154 -0.06913579 0.18831504] [ 0.26493394 0.0568559 0.96258891 0.10840109] [ 0. 0. 0. 1. ]] SLAMing on 79.37650248099999 meters Centerline goodness : 0.746042 Centerline is valid? [False, False] Translation: X:1.87, Y:0.17, Z:0.10 [[ 0.96354902 -0.05020918 -0.2627781 1.865184 ] [ 0.03497453 0.9974421 -0.06233807 0.17305083] [ 0.26523588 0.05087525 0.9628404 0.10350178] [ 0. 0. 0. 1. ]] SLAMing on 79.40650248099999 meters Centerline goodness : 0.714663 Centerline is valid? [False, False] Translation: X:1.87, Y:0.17, Z:0.10 [[ 0.96292112 -0.05575555 -0.26395877 1.87370504] [ 0.03948131 0.99700054 -0.06656692 0.16694033] [ 0.26687851 0.05367725 0.96223418 0.09955057] [ 0. 0. 0. 1. ]] SLAMing on 79.43650248099999 meters Centerline goodness : 0.556316 Centerline is valid? [False, False] Translation: X:1.89, Y:0.15, Z:0.09 [[ 0.96114646 -0.0548605 -0.27053244 1.88975001] [ 0.03957241 0.99731307 -0.06164957 0.15293412] [ 0.27318766 0.04854864 0.96073489 0.09161337] [ 0. 0. 0. 1. ]] SLAMing on 79.46650248099999 meters Centerline goodness : 0.582364 Centerline is valid? [False, False] Translation: X:1.90, Y:0.14, Z:0.09 [[ 0.96066825 -0.05586438 -0.27202149 1.89782654] [ 0.04111964 0.99737443 -0.05961061 0.14297716] [ 0.27463739 0.04608059 0.96044307 0.08548328] [ 0. 0. 0. 1. ]] SLAMing on 79.496502481 meters Centerline goodness : 0.317048 Centerline is valid? [False, False] Translation: X:1.91, Y:0.12, Z:0.08 [[ 0.95742808 -0.05751783 -0.28288366 1.91424575] [ 0.04496853 0.99770294 -0.05066243 0.1246832 ] [ 0.28514785 0.03578477 0.9578153 0.08053199] [ 0. 0. 0. 1. ]] SLAMing on 79.526502481 meters Centerline goodness : 0.299597 Centerline is valid? [False, False] Translation: X:1.92, Y:0.12, Z:0.08 [[ 0.95693789 -0.06454862 -0.28302534 1.91781014] [ 0.05088721 0.99716855 -0.05536591 0.11646711] [ 0.28579776 0.03857937 0.95751307 0.0786388 ] [ 0. 0. 0. 1. ]] SLAMing on 79.556502481 meters Centerline goodness : 0.711939 Centerline is valid? [False, False] Translation: X:1.94, Y:0.10, Z:0.08 [[ 0.95591598 -0.07029026 -0.28510335 1.94354011] [ 0.05848597 0.99704933 -0.04971946 0.09522531] [ 0.28775689 0.03085308 0.95720638 0.07551712] [ 0. 0. 0. 1. ]] SLAMing on 79.586502481 meters Centerline goodness : 0.712001 Centerline is valid? [False, False] Translation: X:1.95, Y:0.08, Z:0.07 [[ 0.95579593 -0.06800829 -0.2860577 1.94803684] [ 0.05751128 0.99733249 -0.04494836 0.0836678 ] [ 0.2883515 0.02650992 0.95715758 0.07189588] [ 0. 0. 0. 1. ]] SLAMing on 79.616502481 meters Centerline goodness : 0.679418 Centerline is valid? [False, False] Translation: X:1.95, Y:0.07, Z:0.07 [[ 0.95546718 -0.06883091 -0.2869578 1.95377259] [ 0.05882017 0.99732593 -0.04337259 0.07324489] [ 0.28917582 0.02456218 0.95696084 0.06829601] [ 0. 0. 0. 1. ]] SLAMing on 79.64650248099998 meters Centerline goodness : 0.706473 Centerline is valid? [False, False] Translation: X:1.96, Y:0.05, Z:0.06 [[ 0.95502444 -0.06717762 -0.28881739 1.96062692] [ 0.05942364 0.99759989 -0.03554272 0.04857289] [ 0.29051187 0.01678158 0.95672422 0.06423822] [ 0. 0. 0. 1. ]] SLAMing on 79.67650248099999 meters Centerline goodness : 0.727446 Centerline is valid? [False, False] Translation: X:1.97, Y:0.03, Z:0.07 [[ 0.95717775 -0.0669345 -0.28165675 1.97000713] [ 0.06086084 0.99768724 -0.03026754 0.02527282] [ 0.28303129 0.01182955 0.95903772 0.06639612] [ 0. 0. 0. 1. ]] SLAMing on 79.70650248099999 meters Centerline goodness : 0.357253 Centerline is valid? [False, False] Translation: X:1.98, Y:0.01, Z:0.07 [[ 0.95866176 -0.06938673 -0.27595853 1.9817562 ] [ 0.06403974 0.99754453 -0.02835174 0.01439701] [ 0.27724816 0.00950742 0.9607513 0.07186117] [ 0. 0. 0. 1. ]] SLAMing on 79.73650248099999 meters Centerline goodness : 0.681773 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.00, Z:0.10 [[ 0.95826997 -0.07591724 -0.27559977 2.0309661 ] [ 0.0694895 0.99703579 -0.03302797 -0.00298486] [ 0.27729022 0.01249842 0.96070491 0.09568033] [ 0. 0. 0. 1. ]] SLAMing on 79.76650248099999 meters Centerline goodness : 0.720448 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.02, Z:0.10 [[ 0.95861528 -0.07910331 -0.27349481 2.02308472] [ 0.07281653 0.99679664 -0.03307877 -0.01521703] [ 0.27523535 0.01179487 0.96130452 0.09986745] [ 0. 0. 0. 1. ]] SLAMing on 79.79650248099999 meters Centerline goodness : 0.713659 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.04, Z:0.11 [[ 0.9594751 -0.0835689 -0.26911666 2.00981213] [ 0.07823578 0.99646817 -0.03050153 -0.03632864] [ 0.27071517 0.0082109 0.96262447 0.10753276] [ 0. 0. 0. 1. ]] SLAMing on 79.82650248099999 meters Centerline goodness : 0.711087 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.05, Z:0.11 [[ 0.9598223 -0.08418329 -0.26768325 2.00324835] [ 0.07958134 0.99643462 -0.02801517 -0.04563863] [ 0.26908727 0.005587 0.96309959 0.11199778] [ 0. 0. 0. 1. ]] SLAMing on 79.85650248099999 meters Centerline goodness : 0.707961 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.06, Z:0.12 [[ 0.96010571 -0.0882881 -0.26533421 1.99478797] [ 0.08407622 0.99608766 -0.02721334 -0.06093554] [ 0.26669875 0.00381938 0.96377238 0.11770304] [ 0. 0. 0. 1. ]] SLAMing on 79.886502481 meters Centerline goodness : 0.706629 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.07, Z:0.12 [[ 0.96003374 -0.0907615 -0.26475946 1.9930247 ] [ 0.08649989 0.99586569 -0.02773631 -0.06782095] [ 0.26618225 0.00372613 0.96391552 0.11918236] [ 0. 0. 0. 1. ]] SLAMing on 79.916502481 meters Centerline goodness : 0.706585 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.08, Z:0.12 [[ 9.60201500e-01 -9.23593487e-02 -2.63595961e-01 1.98906160e+00] [ 8.85876276e-02 9.95724128e-01 -2.61857541e-02 -7.85299762e-02] [ 2.64887357e-01 1.79225957e-03 9.64277696e-01 1.22037114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.946502481 meters Centerline goodness : 0.705848 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.08, Z:0.12 [[ 9.60196852e-01 -9.12728895e-02 -2.63991033e-01 1.98863169e+00] [ 8.81111271e-02 9.95825842e-01 -2.38185183e-02 -8.26047224e-02] [ 2.65063078e-01 -3.90081227e-04 9.64230995e-01 1.23838016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.976502481 meters Centerline goodness : 0.704975 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.09, Z:0.13 [[ 9.59903263e-01 -9.47137551e-02 -2.63846605e-01 1.98735258e+00] [ 9.13278453e-02 9.95504548e-01 -2.50982089e-02 -8.78151345e-02] [ 2.65037640e-01 -4.68926861e-06 9.64238067e-01 1.25983592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.006502481 meters Centerline goodness : 0.704391 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.09, Z:0.13 [[ 0.95958846 -0.09910022 -0.26338022 1.98705688] [ 0.09494152 0.99507469 -0.02850379 -0.08950394] [ 0.26490773 0.00234619 0.96427091 0.126067 ] [ 0. 0. 0. 1. ]] SLAMing on 80.03650248099999 meters Centerline goodness : 0.701870 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.09, Z:0.13 [[ 9.59381223e-01 -9.96866939e-02 -2.63913304e-01 1.98752887e+00] [ 9.58303253e-02 9.95018298e-01 -2.74797429e-02 -9.29462997e-02] [ 2.65337931e-01 1.07265150e-03 9.64154879e-01 1.27504706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06650248099999 meters Centerline goodness : 0.701804 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.09, Z:0.13 [[ 9.59207155e-01 -9.98756043e-02 -2.64474000e-01 1.98880879e+00] [ 9.60637193e-02 9.94999594e-01 -2.73417380e-02 -9.28982554e-02] [ 2.65882295e-01 8.20034580e-04 9.64005152e-01 1.27682068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.09650248099999 meters Centerline goodness : 0.702371 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.09, Z:0.13 [[ 9.58654448e-01 -1.00415570e-01 -2.66267466e-01 1.99239474e+00] [ 9.67206778e-02 9.94945576e-01 -2.69891007e-02 -9.25405771e-02] [ 2.67631763e-01 1.19651674e-04 9.63521264e-01 1.28603931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12650248099999 meters Centerline goodness : 0.703119 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.09, Z:0.13 [[ 9.58622384e-01 -1.00223438e-01 -2.66455226e-01 1.99190013e+00] [ 9.66474410e-02 9.94964905e-01 -2.65350534e-02 -9.29958495e-02] [ 2.67773033e-01 -3.15119601e-04 9.63481968e-01 1.29533539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.15650248099999 meters Centerline goodness : 0.701987 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.09, Z:0.13 [[ 9.58749223e-01 -1.00486132e-01 -2.65899352e-01 1.98899308e+00] [ 9.68682717e-02 9.94938449e-01 -2.67211499e-02 -9.29567153e-02] [ 2.67238594e-01 -1.38328955e-04 9.63630383e-01 1.30951162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18650248099999 meters Centerline goodness : 0.700192 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.09, Z:0.13 [[ 0.96029238 -0.10577879 -0.25816543 1.99208531] [ 0.1029529 0.99438494 -0.02448026 -0.09146435] [ 0.25930531 -0.00307067 0.96579052 0.13219026] [ 0. 0. 0. 1. ]] SLAMing on 80.21650248099999 meters Centerline goodness : 0.697498 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.09, Z:0.13 [[ 0.96078379 -0.10251107 -0.25765477 1.98765279] [ 0.10039299 0.99471771 -0.02139922 -0.09138053] [ 0.25848742 -0.00530671 0.96600005 0.13453069] [ 0. 0. 0. 1. ]] SLAMing on 80.246502481 meters Centerline goodness : 0.697797 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.09, Z:0.14 [[ 0.96084724 -0.10230924 -0.25749835 1.98638994] [ 0.10024025 0.99473768 -0.02118571 -0.09142616] [ 0.2583108 -0.00545547 0.96604646 0.13533542] [ 0. 0. 0. 1. ]] SLAMing on 80.276502481 meters Centerline goodness : 0.695140 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.09, Z:0.14 [[ 0.96111099 -0.10082183 -0.2571004 1.98232323] [ 0.09916395 0.99488119 -0.01944058 -0.09255645] [ 0.25774438 -0.00681054 0.96618914 0.13806889] [ 0. 0. 0. 1. ]] SLAMing on 80.306502481 meters Centerline goodness : 0.695722 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.09, Z:0.14 [[ 0.96130172 -0.09997173 -0.25671901 1.97995892] [ 0.09845034 0.99496426 -0.01880581 -0.09247637] [ 0.25730629 -0.00719602 0.9663031 0.13925174] [ 0. 0. 0. 1. ]] SLAMing on 80.336502481 meters Centerline goodness : 0.693846 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.09, Z:0.14 [[ 0.96178507 -0.09862119 -0.25542777 1.97553997] [ 0.09718382 0.99509866 -0.01827471 -0.09248067] [ 0.25597811 -0.0072471 0.96665541 0.14028955] [ 0. 0. 0. 1. ]] SLAMing on 80.366502481 meters Centerline goodness : 0.693078 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.09, Z:0.14 [[ 0.96195112 -0.09809019 -0.25500658 1.97390701] [ 0.09674175 0.99514932 -0.01785661 -0.09327522] [ 0.25552119 -0.0074926 0.96677442 0.14081477] [ 0. 0. 0. 1. ]] SLAMing on 80.39650248099998 meters Centerline goodness : 0.691545 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.09, Z:0.14 [[ 0.96239872 -0.09544446 -0.25432076 1.96844338] [ 0.09470622 0.9953896 -0.01517487 -0.0939051 ] [ 0.2545966 -0.00948148 0.96700087 0.14391757] [ 0. 0. 0. 1. ]] SLAMing on 80.42650248099999 meters Centerline goodness : 0.691069 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.09, Z:0.15 [[ 0.96241969 -0.09479687 -0.25448359 1.9668764 ] [ 0.09422928 0.99544566 -0.01444893 -0.0930798 ] [ 0.2546943 -0.01007387 0.96696915 0.14556543] [ 0. 0. 0. 1. ]] SLAMing on 80.45650248099999 meters Centerline goodness : 0.691582 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.09, Z:0.15 [[ 0.96223168 -0.09523398 -0.25503075 1.96625272] [ 0.09461734 0.99540497 -0.01471421 -0.09108901] [ 0.25526017 -0.00997185 0.96682098 0.14723164] [ 0. 0. 0. 1. ]] SLAMing on 80.48650248099999 meters Centerline goodness : 0.691331 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.09, Z:0.15 [[ 0.96204554 -0.09579139 -0.25552375 1.9665734 ] [ 0.09509208 0.99535365 -0.01511951 -0.08981785] [ 0.25578482 -0.00975263 0.96668455 0.14797324] [ 0. 0. 0. 1. ]] SLAMing on 80.51650248099999 meters Centerline goodness : 0.689723 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.09, Z:0.15 [[ 0.96175307 -0.09663546 -0.25630573 1.9652829 ] [ 0.09582884 0.99527455 -0.01566538 -0.08516396] [ 0.2566084 -0.00949525 0.96646881 0.15051194] [ 0. 0. 0. 1. ]] SLAMing on 80.54650248099999 meters Centerline goodness : 0.688494 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.08, Z:0.15 [[ 0.96180797 -0.09666783 -0.25608741 1.96328649] [ 0.09584415 0.99527213 -0.01572561 -0.08370121] [ 0.25639682 -0.00941946 0.96652571 0.15192653] [ 0. 0. 0. 1. ]] SLAMing on 80.57650248099999 meters Centerline goodness : 0.688590 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.08, Z:0.16 [[ 0.96189894 -0.0984632 -0.25505965 1.95640158] [ 0.09734272 0.99510496 -0.01704448 -0.07856292] [ 0.25548938 -0.00843313 0.96677508 0.15606455] [ 0. 0. 0. 1. ]] SLAMing on 80.60650248099999 meters Centerline goodness : 0.688038 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.07, Z:0.16 [[ 0.96183295 -0.09829739 -0.25537227 1.9544419 ] [ 0.09731143 0.99511678 -0.01652508 -0.0743982 ] [ 0.25574961 -0.00895628 0.96670157 0.15821315] [ 0. 0. 0. 1. ]] SLAMing on 80.636502481 meters Centerline goodness : 0.688491 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.07, Z:0.16 [[ 0.96192098 -0.09777548 -0.25524105 1.9523391 ] [ 0.09680521 0.99516834 -0.01639273 -0.0661991 ] [ 0.25561062 -0.00894015 0.96673848 0.15923069] [ 0. 0. 0. 1. ]] SLAMing on 80.666502481 meters Centerline goodness : 0.690015 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.06, Z:0.16 [[ 0.96168613 -0.09979447 -0.25534458 1.95297447] [ 0.09829797 0.99498227 -0.01864906 -0.06239336] [ 0.2559244 -0.00716531 0.96667024 0.15888789] [ 0. 0. 0. 1. ]] SLAMing on 80.696502481 meters Centerline goodness : 0.690320 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.05, Z:0.16 [[ 0.96135205 -0.10303113 -0.2553171 1.95227047] [ 0.10062259 0.9946699 -0.02251407 -0.0546846 ] [ 0.25627588 -0.00404672 0.96659521 0.15925677] [ 0. 0. 0. 1. ]] SLAMing on 80.726502481 meters Centerline goodness : 0.690345 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.05, Z:0.16 [[ 0.96146322 -0.10063772 -0.25585253 1.95179498] [ 0.09866208 0.99490817 -0.02057953 -0.05047844] [ 0.25662085 -0.00545648 0.96649675 0.16024101] [ 0. 0. 0. 1. ]] SLAMing on 80.756502481 meters Centerline goodness : 0.691012 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.04, Z:0.16 [[ 0.96135251 -0.09888586 -0.2569493 1.95211574] [ 0.09704732 0.99508162 -0.01985925 -0.0423183 ] [ 0.25764932 -0.0058445 0.96622082 0.16126766] [ 0. 0. 0. 1. ]] SLAMing on 80.78650248099999 meters Centerline goodness : 0.691679 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.04, Z:0.16 [[ 0.96160297 -0.09610217 -0.2570683 1.95049281] [ 0.09470715 0.99534545 -0.01783252 -0.03890802] [ 0.2575855 -0.0071984 0.9662287 0.16224716] [ 0. 0. 0. 1. ]] SLAMing on 80.81650248099999 meters Centerline goodness : 0.692215 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.03, Z:0.17 [[ 0.96236773 -0.09057208 -0.25621291 1.94356674] [ 0.08999986 0.99584361 -0.01398315 -0.03155646] [ 0.25641447 -0.00960219 0.96651923 0.16551431] [ 0. 0. 0. 1. ]] SLAMing on 80.84650248099999 meters Centerline goodness : 0.691071 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.03, Z:0.17 [[ 0.96259374 -0.08710365 -0.25656625 1.94228426] [ 0.08704409 0.99613679 -0.01161125 -0.02765237] [ 0.25658647 -0.01115566 0.9664569 0.16657465] [ 0. 0. 0. 1. ]] SLAMing on 80.87650248099999 meters Centerline goodness : 0.695144 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.02, Z:0.17 [[ 0.96287423 -0.08428055 -0.25645665 1.94117591] [ 0.08416347 0.99638614 -0.01145275 -0.02013634] [ 0.25649509 -0.01055673 0.96648788 0.16590416] [ 0. 0. 0. 1. ]] SLAMing on 80.90650248099999 meters Centerline goodness : 0.694309 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.02, Z:0.16 [[ 0.96285553 -0.08483158 -0.25634512 1.94152393] [ 0.08419306 0.99635821 -0.0134853 -0.01620251] [ 0.25655555 -0.00859809 0.96649124 0.16469238] [ 0. 0. 0. 1. ]] SLAMing on 80.93650248099999 meters Centerline goodness : 0.694742 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.01, Z:0.16 [[ 0.96306014 -0.0816693 -0.25660339 1.94282689] [ 0.08089882 0.99662986 -0.01357596 -0.00914495] [ 0.25684734 -0.00768444 0.96642144 0.1623432 ] [ 0. 0. 0. 1. ]] SLAMing on 80.96650248099999 meters Centerline goodness : 0.694595 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.01, Z:0.16 [[ 0.9632399 -0.07801804 -0.25706436 1.94414378] [ 0.07764494 0.99691338 -0.01161779 -0.00555679] [ 0.2571773 -0.00876903 0.96632445 0.16112187] [ 0. 0. 0. 1. ]] SLAMing on 80.996502481 meters Centerline goodness : 0.696081 Centerline is valid? [False, False] Translation: X:1.95, Y:0.00, Z:0.16 [[ 0.96330964 -0.06985634 -0.25914212 1.9495163 ] [ 0.07049841 0.99748853 -0.00682675 0.00326047] [ 0.25896818 -0.01169284 0.96581507 0.15859113] [ 0. 0. 0. 1. ]] SLAMing on 81.026502481 meters Centerline goodness : 0.698436 Centerline is valid? [False, False] Translation: X:1.95, Y:0.01, Z:0.16 [[ 0.96334464 -0.06663108 -0.25986034 1.95135154] [ 0.06757052 0.99770028 -0.0053265 0.00802847] [ 0.25961765 -0.01242765 0.96563152 0.15747159] [ 0. 0. 0. 1. ]] SLAMing on 81.056502481 meters Centerline goodness : 0.699255 Centerline is valid? [False, False] Translation: X:1.96, Y:0.01, Z:0.16 [[ 0.96310255 -0.06391118 -0.2614361 1.95746097] [ 0.06510777 0.99786985 -0.00409114 0.01482572] [ 0.26114067 -0.01308133 0.96521212 0.15500895] [ 0. 0. 0. 1. ]] SLAMing on 81.086502481 meters Centerline goodness : 0.701260 Centerline is valid? [False, False] Translation: X:1.96, Y:0.02, Z:0.15 [[ 0.96292381 -0.06353575 -0.26218494 1.96123483] [ 0.0647383 0.99789403 -0.00405781 0.0173131 ] [ 0.2618906 -0.01306605 0.96500912 0.15332069] [ 0. 0. 0. 1. ]] SLAMing on 81.116502481 meters Centerline goodness : 0.701210 Centerline is valid? [False, False] Translation: X:1.96, Y:0.02, Z:0.15 [[ 0.96264303 -0.06386406 -0.26313453 1.96462704] [ 0.06486941 0.99788186 -0.00487471 0.0237423 ] [ 0.26288849 -0.01237678 0.96474683 0.15213651] [ 0. 0. 0. 1. ]] SLAMing on 81.14650248099998 meters Centerline goodness : 0.701551 Centerline is valid? [False, False] Translation: X:1.97, Y:0.03, Z:0.16 [[ 9.62974130e-01 -6.81178611e-02 -2.60846279e-01 1.96801296e+00] [ 7.07810325e-02 9.97491542e-01 8.17772182e-04 3.37906714e-02] [ 2.60136253e-01 -1.92504624e-02 9.65380003e-01 1.55377823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.17650248099999 meters Centerline goodness : 0.703411 Centerline is valid? [False, False] Translation: X:1.96, Y:0.04, Z:0.16 [[ 0.9633222 -0.06548634 -0.26023426 1.96439418] [ 0.06856328 0.99764297 0.00275346 0.03807052] [ 0.25944057 -0.02049498 0.96554158 0.15665483] [ 0. 0. 0. 1. ]] SLAMing on 81.20650248099999 meters Centerline goodness : 0.705186 Centerline is valid? [False, False] Translation: X:1.96, Y:0.05, Z:0.16 [[ 0.96364518 -0.06446675 -0.25929136 1.95965098] [ 0.06747252 0.99771748 0.00269952 0.04801474] [ 0.25852549 -0.02009642 0.96579537 0.15806185] [ 0. 0. 0. 1. ]] SLAMing on 81.23650248099999 meters Centerline goodness : 0.705044 Centerline is valid? [False, False] Translation: X:1.96, Y:0.05, Z:0.16 [[ 0.96387768 -0.06193862 -0.25904331 1.95844073] [ 0.06531253 0.99785502 0.00442989 0.05151806] [ 0.25821328 -0.02118864 0.96585555 0.15821511] [ 0. 0. 0. 1. ]] SLAMing on 81.26650248099999 meters Centerline goodness : 0.705044 Centerline is valid? [False, False] Translation: X:1.96, Y:0.05, Z:0.16 [[ 0.96387768 -0.06193862 -0.25904331 1.95844073] [ 0.06531253 0.99785502 0.00442989 0.05151806] [ 0.25821328 -0.02118864 0.96585555 0.15821511] [ 0. 0. 0. 1. ]] SLAMing on 81.29650248099999 meters Centerline goodness : 0.705983 Centerline is valid? [False, False] Translation: X:1.96, Y:0.06, Z:0.16 [[ 0.96415298 -0.05895216 -0.25871543 1.95712641] [ 0.06276935 0.99800682 0.00651139 0.05503379] [ 0.25781591 -0.02251737 0.96593164 0.15822443] [ 0. 0. 0. 1. ]] SLAMing on 81.32650248099999 meters Centerline goodness : 0.706881 Centerline is valid? [False, False] Translation: X:1.96, Y:0.06, Z:0.16 [[ 0.96433951 -0.05684503 -0.25849167 1.95544207] [ 0.06073823 0.99812852 0.00709358 0.06495817] [ 0.25760467 -0.02254095 0.96598744 0.15860363] [ 0. 0. 0. 1. ]] SLAMing on 81.35650248099999 meters Centerline goodness : 0.707761 Centerline is valid? [False, False] Translation: X:1.96, Y:0.07, Z:0.16 [[ 0.96450145 -0.05345521 -0.2586107 1.95527453] [ 0.05785455 0.99828053 0.00942538 0.06850028] [ 0.25766219 -0.0240526 0.96593564 0.15854303] [ 0. 0. 0. 1. ]] SLAMing on 81.386502481 meters Centerline goodness : 0.709357 Centerline is valid? [False, False] Translation: X:1.96, Y:0.08, Z:0.16 [[ 0.9645416 -0.04982156 -0.25918586 1.95685057] [ 0.05473836 0.9984312 0.01178314 0.07610091] [ 0.2581922 -0.02555274 0.96575558 0.15773314] [ 0. 0. 0. 1. ]] SLAMing on 81.416502481 meters Centerline goodness : 0.709024 Centerline is valid? [False, False] Translation: X:1.96, Y:0.08, Z:0.16 [[ 0.96452393 -0.04676489 -0.25982039 1.95791291] [ 0.05215821 0.99854211 0.01389856 0.08120098] [ 0.25879163 -0.02695726 0.96555694 0.15757019] [ 0. 0. 0. 1. ]] SLAMing on 81.446502481 meters Centerline goodness : 0.711477 Centerline is valid? [False, False] Translation: X:1.96, Y:0.08, Z:0.16 [[ 0.96469505 -0.0433719 -0.25977363 1.95753478] [ 0.04943848 0.99863482 0.01686225 0.08184966] [ 0.25868764 -0.02910974 0.96552231 0.15744953] [ 0. 0. 0. 1. ]] SLAMing on 81.476502481 meters Centerline goodness : 0.712199 Centerline is valid? [False, False] Translation: X:1.96, Y:0.08, Z:0.16 [[ 0.96461208 -0.04375462 -0.26001745 1.9577011 ] [ 0.04966514 0.99863451 0.01620167 0.08408287] [ 0.2589535 -0.02854213 0.96546798 0.15776855] [ 0. 0. 0. 1. ]] SLAMing on 81.506502481 meters Centerline goodness : 0.713891 Centerline is valid? [False, False] Translation: X:1.96, Y:0.09, Z:0.16 [[ 0.96473558 -0.04033479 -0.26011222 1.95777068] [ 0.04682012 0.99872673 0.01878268 0.0873767 ] [ 0.25902343 -0.03029881 0.96539569 0.15746815] [ 0. 0. 0. 1. ]] SLAMing on 81.53650248099999 meters Centerline goodness : 0.713948 Centerline is valid? [False, False] Translation: X:1.96, Y:0.09, Z:0.16 [[ 0.96467793 -0.03790373 -0.26069101 1.95893164] [ 0.04488599 0.99877388 0.02088018 0.08948072] [ 0.25957994 -0.03184403 0.96519646 0.15732844] [ 0. 0. 0. 1. ]] SLAMing on 81.56650248099999 meters Centerline goodness : 0.715604 Centerline is valid? [False, False] Translation: X:1.96, Y:0.09, Z:0.16 [[ 0.96489897 -0.03479041 -0.26030675 1.9567488 ] [ 0.04224295 0.99884055 0.02308855 0.09333304] [ 0.25920168 -0.03327425 0.96524987 0.15810175] [ 0. 0. 0. 1. ]] SLAMing on 81.59650248099999 meters Centerline goodness : 0.713875 Centerline is valid? [False, False] Translation: X:1.96, Y:0.10, Z:0.16 [[ 0.96488193 -0.0352262 -0.26031131 1.95692687] [ 0.04251002 0.99884484 0.02240257 0.09530209] [ 0.25922146 -0.03268168 0.96526481 0.1579659 ] [ 0. 0. 0. 1. ]] SLAMing on 81.62650248099999 meters Centerline goodness : 0.715643 Centerline is valid? [False, False] Translation: X:1.96, Y:0.10, Z:0.16 [[ 0.96487172 -0.03283688 -0.2606613 1.95923176] [ 0.04040066 0.99890218 0.02371133 0.10038418] [ 0.25959653 -0.03340928 0.96513909 0.15655466] [ 0. 0. 0. 1. ]] SLAMing on 81.65650248099999 meters Centerline goodness : 0.575299 Centerline is valid? [False, False] Translation: X:1.96, Y:0.10, Z:0.16 [[ 0.96494972 -0.02892615 -0.26083579 1.95986863] [ 0.03718714 0.99894914 0.02679069 0.10214753] [ 0.25978674 -0.03555141 0.96501137 0.15605747] [ 0. 0. 0. 1. ]] SLAMing on 81.68650248099999 meters Centerline goodness : 0.567396 Centerline is valid? [False, False] Translation: X:1.96, Y:0.11, Z:0.16 [[ 0.96505256 -0.02562198 -0.26080083 1.96070366] [ 0.03429464 0.99899796 0.02875693 0.10693101] [ 0.25980268 -0.03669602 0.96496423 0.15515275] [ 0. 0. 0. 1. ]] SLAMing on 81.71650248099999 meters Centerline goodness : 0.720060 Centerline is valid? [False, False] Translation: X:1.96, Y:0.11, Z:0.16 [[ 0.96520241 -0.02180293 -0.26059344 1.96001208] [ 0.03112926 0.99901209 0.0317147 0.10822143] [ 0.25964453 -0.03872319 0.96492758 0.15512834] [ 0. 0. 0. 1. ]] SLAMing on 81.746502481 meters Centerline goodness : 0.720213 Centerline is valid? [False, False] Translation: X:1.96, Y:0.11, Z:0.16 [[ 0.9653883 -0.01812266 -0.26018647 1.95831149] [ 0.02786827 0.99903946 0.03381592 0.11315074] [ 0.25932372 -0.03989644 0.96496605 0.15562527] [ 0. 0. 0. 1. ]] SLAMing on 81.776502481 meters Centerline goodness : 0.720277 Centerline is valid? [False, False] Translation: X:1.96, Y:0.12, Z:0.16 [[ 0.96536819 -0.01820125 -0.2602556 1.9584055 ] [ 0.02776654 0.99906547 0.03312398 0.11590735] [ 0.25940948 -0.03920323 0.96497141 0.15571649] [ 0. 0. 0. 1. ]] SLAMing on 81.806502481 meters Centerline goodness : 0.716727 Centerline is valid? [False, False] Translation: X:1.96, Y:0.12, Z:0.15 [[ 0.96530879 -0.01369032 -0.26075181 1.96066016] [ 0.02393221 0.99906 0.03614366 0.1198455 ] [ 0.26001189 -0.04113016 0.96472904 0.15456726] [ 0. 0. 0. 1. ]] SLAMing on 81.836502481 meters Centerline goodness : 0.387318 Centerline is valid? [False, False] Translation: X:1.96, Y:0.12, Z:0.15 [[ 0.96532126 -0.00943108 -0.26089445 1.96091558] [ 0.02041379 0.99901424 0.03941857 0.12164782] [ 0.26026551 -0.04337743 0.96456221 0.15449873] [ 0. 0. 0. 1. ]] SLAMing on 81.866502481 meters Centerline goodness : 0.139164 Centerline is valid? [False, False] Translation: X:1.96, Y:0.13, Z:0.15 [[ 0.96541952 -0.00593679 -0.26063366 1.96028426] [ 0.01740318 0.99897824 0.0417085 0.12507549] [ 0.26011974 -0.04480205 0.96453642 0.15446397] [ 0. 0. 0. 1. ]] SLAMing on 81.89650248099998 meters Centerline goodness : 0.251414 Centerline is valid? [False, False] Translation: X:1.96, Y:0.13, Z:0.15 [[ 0.96546191 -0.00865409 -0.26040047 1.96123297] [ 0.01938121 0.99906464 0.03865516 0.12884722] [ 0.25982237 -0.04236697 0.96472658 0.15349838] [ 0. 0. 0. 1. ]] SLAMing on 81.92650248099999 meters Centerline goodness : 0.141363 Centerline is valid? [False, False] Translation: X:1.96, Y:0.13, Z:0.15 [[ 0.96549683 -0.009338 -0.26024735 1.96094777] [ 0.01985024 0.99908836 0.03779428 0.12996475] [ 0.25965717 -0.04165623 0.96480201 0.15345401] [ 0. 0. 0. 1. ]] SLAMing on 81.95650248099999 meters Centerline goodness : 0.235363 Centerline is valid? [False, False] Translation: X:1.96, Y:0.13, Z:0.15 [[ 0.96551405 -0.00984832 -0.26016462 1.96063022] [ 0.0201912 0.99910709 0.03711248 0.13129563] [ 0.25956682 -0.04108565 0.96485078 0.15353561] [ 0. 0. 0. 1. ]] SLAMing on 81.98650248099999 meters Centerline goodness : 0.137273 Centerline is valid? [False, False] Translation: X:1.96, Y:0.13, Z:0.15 [[ 0.9655903 -0.00604785 -0.25999769 1.95968161] [ 0.01703413 0.99905355 0.04002291 0.13348534] [ 0.25950956 -0.04307457 0.96477944 0.15387236] [ 0. 0. 0. 1. ]] SLAMing on 82.01650248099999 meters Centerline goodness : 0.243565 Centerline is valid? [False, False] Translation: X:1.96, Y:0.13, Z:0.15 [[ 0.96559345 -0.00622175 -0.25998188 1.95946983] [ 0.01714497 0.99906181 0.03976878 0.13464631] [ 0.25949053 -0.04285786 0.96479421 0.15400655] [ 0. 0. 0. 1. ]] SLAMing on 82.04650248099999 meters Centerline goodness : 0.170664 Centerline is valid? [False, False] Translation: X:1.96, Y:0.13, Z:0.15 [[ 0.96555162 -0.00633249 -0.26013454 1.96032999] [ 0.01733506 0.99904836 0.04002326 0.13395577] [ 0.25963354 -0.04315398 0.96474254 0.15352315] [ 0. 0. 0. 1. ]] SLAMing on 82.07650248099999 meters Centerline goodness : 0.141159 Centerline is valid? [False, False] Translation: X:1.96, Y:0.13, Z:0.15 [[ 0.96546908 -0.00636789 -0.26043984 1.96140466] [ 0.01744389 0.99903781 0.04023874 0.13338755] [ 0.25993301 -0.04339234 0.9646512 0.15315893] [ 0. 0. 0. 1. ]] SLAMing on 82.10650248099999 meters Centerline goodness : 0.252615 Centerline is valid? [False, False] Translation: X:1.96, Y:0.13, Z:0.15 [[ 0.96537508 -0.01096729 -0.26063514 1.96194002] [ 0.02117606 0.99911317 0.03639294 0.13383014] [ 0.26000486 -0.04065206 0.9647512 0.15318401] [ 0. 0. 0. 1. ]] SLAMing on 82.136502481 meters Centerline goodness : 0.139705 Centerline is valid? [False, False] Translation: X:1.97, Y:0.13, Z:0.15 [[ 0.96659233 -0.0161 -0.25581254 1.97340037] [ 0.02733617 0.99880843 0.04042848 0.13273056] [ 0.25485682 -0.04607079 0.96588068 0.15279366] [ 0. 0. 0. 1. ]] SLAMing on 82.166502481 meters Centerline goodness : 0.138603 Centerline is valid? [False, False] Translation: X:1.97, Y:0.13, Z:0.15 [[ 0.96670899 -0.01683837 -0.25532372 1.97076448] [ 0.02800488 0.99880064 0.04016235 0.13299138] [ 0.25434123 -0.04597562 0.96602111 0.15405041] [ 0. 0. 0. 1. ]] SLAMing on 82.196502481 meters Centerline goodness : 0.137912 Centerline is valid? [False, False] Translation: X:1.98, Y:0.14, Z:0.16 [[ 0.96730925 -0.02027493 -0.25278793 1.97854524] [ 0.03333595 0.99831519 0.047492 0.1358345 ] [ 0.25139913 -0.05436637 0.96635541 0.1553553 ] [ 0. 0. 0. 1. ]] SLAMing on 82.226502481 meters Centerline goodness : 0.730048 Centerline is valid? [False, False] Translation: X:1.98, Y:0.14, Z:0.16 [[ 0.96735084 -0.02097474 -0.2525716 1.97770562] [ 0.03387126 0.99832886 0.04682119 0.13709136] [ 0.25116745 -0.05384744 0.9664447 0.15562352] [ 0. 0. 0. 1. ]] SLAMing on 82.256502481 meters Centerline goodness : 0.455758 Centerline is valid? [False, False] Translation: X:1.98, Y:0.14, Z:0.15 [[ 0.96731705 -0.02411461 -0.25242071 1.97824742] [ 0.03634393 0.99837474 0.04389769 0.14036752] [ 0.25095188 -0.05163694 0.96662132 0.15495708] [ 0. 0. 0. 1. ]] SLAMing on 82.28650248099999 meters Centerline goodness : 0.462099 Centerline is valid? [False, False] Translation: X:1.98, Y:0.14, Z:0.15 [[ 0.96726991 -0.0247088 -0.25254387 1.97921604] [ 0.03680517 0.99838454 0.04328614 0.14131682] [ 0.25106634 -0.0511643 0.96661673 0.15433733] [ 0. 0. 0. 1. ]] SLAMing on 82.31650248099999 meters Centerline goodness : 0.160570 Centerline is valid? [False, False] Translation: X:1.98, Y:0.14, Z:0.15 [[ 0.96725718 -0.02576154 -0.2524874 1.97937751] [ 0.03752066 0.99841835 0.04186879 0.14489798] [ 0.25100945 -0.04997139 0.96669391 0.15403831] [ 0. 0. 0. 1. ]] SLAMing on 82.34650248099999 meters Centerline goodness : 0.161434 Centerline is valid? [False, False] Translation: X:1.98, Y:0.15, Z:0.15 [[ 0.96708831 -0.02565592 -0.25314419 1.98114768] [ 0.03737519 0.99843528 0.04159421 0.14727979] [ 0.25168095 -0.04968659 0.96653398 0.15373219] [ 0. 0. 0. 1. ]] SLAMing on 82.37650248099999 meters Centerline goodness : 0.513606 Centerline is valid? [False, False] Translation: X:1.99, Y:0.15, Z:0.15 [[ 0.9667829 -0.02472108 -0.25440065 1.98676297] [ 0.03665935 0.99843248 0.04229273 0.15030412] [ 0.25295635 -0.05021405 0.96617371 0.15119604] [ 0. 0. 0. 1. ]] SLAMing on 82.40650248099999 meters Centerline goodness : 0.528447 Centerline is valid? [False, False] Translation: X:1.99, Y:0.15, Z:0.15 [[ 0.96670894 -0.02476288 -0.25467751 1.9881167 ] [ 0.03666607 0.9984405 0.04209701 0.15154829] [ 0.2532379 -0.05003358 0.96610931 0.15056736] [ 0. 0. 0. 1. ]] SLAMing on 82.43650248099999 meters Centerline goodness : 0.513770 Centerline is valid? [False, False] Translation: X:1.99, Y:0.15, Z:0.15 [[ 0.96675544 -0.02075107 -0.2548594 1.98866432] [ 0.03332127 0.99842644 0.04510371 0.15389777] [ 0.25352241 -0.0520965 0.96592564 0.15019429] [ 0. 0. 0. 1. ]] SLAMing on 82.46650248099999 meters Centerline goodness : 0.159733 Centerline is valid? [False, False] Translation: X:1.99, Y:0.16, Z:0.15 [[ 0.96675998 -0.02111541 -0.25481225 1.98819488] [ 0.03349295 0.99845516 0.04433403 0.15613828] [ 0.25348248 -0.05139478 0.96597371 0.15053022] [ 0. 0. 0. 1. ]] SLAMing on 82.496502481 meters Centerline goodness : 0.155282 Centerline is valid? [False, False] Translation: X:1.99, Y:0.16, Z:0.15 [[ 0.96673537 -0.02116359 -0.25490159 1.98810188] [ 0.03332136 0.9984988 0.04347215 0.16031749] [ 0.25359891 -0.05051974 0.96598931 0.15086548] [ 0. 0. 0. 1. ]] SLAMing on 82.526502481 meters Centerline goodness : 0.231147 Centerline is valid? [False, False] Translation: X:1.99, Y:0.16, Z:0.15 [[ 0.96672382 -0.02156241 -0.25491196 1.98792222] [ 0.03354163 0.99852304 0.04273996 0.16262326] [ 0.25361389 -0.0498679 0.96601925 0.15101092] [ 0. 0. 0. 1. ]] SLAMing on 82.556502481 meters Centerline goodness : 0.505530 Centerline is valid? [False, False] Translation: X:1.99, Y:0.17, Z:0.15 [[ 0.96665248 -0.02078025 -0.25524727 1.98860521] [ 0.03283616 0.99853266 0.04306174 0.16728635] [ 0.2539779 -0.05000708 0.96591641 0.1508718 ] [ 0. 0. 0. 1. ]] SLAMing on 82.586502481 meters Centerline goodness : 0.226551 Centerline is valid? [False, False] Translation: X:1.99, Y:0.17, Z:0.15 [[ 0.96657648 -0.02099614 -0.25551727 1.98906234] [ 0.03295372 0.99854833 0.04260625 0.16918357] [ 0.25425178 -0.04960244 0.96586522 0.15097998] [ 0. 0. 0. 1. ]] SLAMing on 82.616502481 meters Centerline goodness : 0.728375 Centerline is valid? [False, False] Translation: X:1.99, Y:0.17, Z:0.15 [[ 0.96633219 -0.0235994 -0.25621313 1.99140618] [ 0.0350465 0.99857668 0.04020384 0.17277736] [ 0.25489967 -0.04782964 0.96578387 0.15027417] [ 0. 0. 0. 1. ]] SLAMing on 82.64650248099998 meters Centerline goodness : 0.727786 Centerline is valid? [False, False] Translation: X:1.99, Y:0.17, Z:0.15 [[ 0.96627572 -0.02383263 -0.25640446 1.99220863] [ 0.03525147 0.99857644 0.04003027 0.17327436] [ 0.25508543 -0.04771891 0.9657403 0.14995786] [ 0. 0. 0. 1. ]] SLAMing on 82.67650248099999 meters Centerline goodness : 0.720508 Centerline is valid? [False, False] Translation: X:1.99, Y:0.17, Z:0.15 [[ 0.96624775 -0.02488867 -0.25640952 1.99148347] [ 0.03612105 0.99857871 0.03918961 0.17458963] [ 0.25506971 -0.04712865 0.96577344 0.15058316] [ 0. 0. 0. 1. ]] SLAMing on 82.70650248099999 meters Centerline goodness : 0.728260 Centerline is valid? [False, False] Translation: X:1.99, Y:0.17, Z:0.15 [[ 0.96618231 -0.02499926 -0.25664525 1.99213631] [ 0.0362477 0.99857405 0.03919138 0.17454451] [ 0.25529953 -0.04716882 0.96571075 0.15044811] [ 0. 0. 0. 1. ]] SLAMing on 82.73650248099999 meters Centerline goodness : 0.727701 Centerline is valid? [False, False] Translation: X:1.99, Y:0.18, Z:0.15 [[ 0.9659507 -0.02458385 -0.25755558 1.99431913] [ 0.036004 0.99856206 0.03971799 0.17549925] [ 0.25620881 -0.04763865 0.96544684 0.15015923] [ 0. 0. 0. 1. ]] SLAMing on 82.76650248099999 meters Centerline goodness : 0.727616 Centerline is valid? [False, False] Translation: X:2.00, Y:0.18, Z:0.15 [[ 0.96580052 -0.02439297 -0.25813626 1.99518301] [ 0.03585551 0.99856453 0.03979027 0.17675735] [ 0.25679511 -0.04768507 0.96528877 0.15048835] [ 0. 0. 0. 1. ]] SLAMing on 82.79650248099999 meters Centerline goodness : 0.727116 Centerline is valid? [False, False] Translation: X:2.00, Y:0.18, Z:0.15 [[ 0.96571586 -0.02419741 -0.2584712 1.99578216] [ 0.03569769 0.9985661 0.0398927 0.17745245] [ 0.25713528 -0.04775184 0.96519491 0.15065118] [ 0. 0. 0. 1. ]] SLAMing on 82.82650248099999 meters Centerline goodness : 0.727753 Centerline is valid? [False, False] Translation: X:2.00, Y:0.18, Z:0.15 [[ 0.96566376 -0.02517098 -0.25857285 1.9961304 ] [ 0.03648827 0.99857036 0.03906215 0.17847593] [ 0.25721995 -0.04715578 0.96520165 0.15051353] [ 0. 0. 0. 1. ]] SLAMing on 82.85650248099999 meters Centerline goodness : 0.725502 Centerline is valid? [False, False] Translation: X:2.00, Y:0.18, Z:0.15 [[ 0.96559468 -0.02513442 -0.25883426 1.99697611] [ 0.03644571 0.99857454 0.0389948 0.17891648] [ 0.25748519 -0.04708657 0.96513431 0.1503771 ] [ 0. 0. 0. 1. ]] SLAMing on 82.886502481 meters Centerline goodness : 0.538832 Centerline is valid? [False, False] Translation: X:2.00, Y:0.18, Z:0.15 [[ 0.96535408 -0.02332008 -0.25989935 1.99989205] [ 0.0349305 0.99858318 0.04014344 0.18284544] [ 0.25859497 -0.04783105 0.96480093 0.14983424] [ 0. 0. 0. 1. ]] SLAMing on 82.916502481 meters Centerline goodness : 0.726140 Centerline is valid? [False, False] Translation: X:2.00, Y:0.19, Z:0.15 [[ 0.96515637 -0.02300342 -0.26066075 2.00191169] [ 0.03456955 0.99860652 0.03987429 0.18528413] [ 0.25938028 -0.04749585 0.96460666 0.14970215] [ 0. 0. 0. 1. ]] SLAMing on 82.946502481 meters Centerline goodness : 0.724358 Centerline is valid? [False, False] Translation: X:2.00, Y:0.19, Z:0.15 [[ 0.96521392 -0.01950311 -0.26073302 2.00356202] [ 0.03151114 0.99862251 0.04195381 0.18968306] [ 0.25955564 -0.04871039 0.96449892 0.14846931] [ 0. 0. 0. 1. ]] SLAMing on 82.976502481 meters Centerline goodness : 0.724552 Centerline is valid? [False, False] Translation: X:2.00, Y:0.19, Z:0.15 [[ 0.96514402 -0.01906779 -0.26102382 2.00442455] [ 0.03098453 0.99865318 0.04161469 0.1926116 ] [ 0.25987877 -0.04825187 0.96443495 0.1484279 ] [ 0. 0. 0. 1. ]] SLAMing on 83.006502481 meters Centerline goodness : 0.722590 Centerline is valid? [False, False] Translation: X:2.00, Y:0.20, Z:0.15 [[ 0.96525472 -0.01547033 -0.26085243 2.00387557] [ 0.02778336 0.99866347 0.04358163 0.19719453] [ 0.25982957 -0.04931473 0.96439445 0.14858197] [ 0. 0. 0. 1. ]] SLAMing on 83.03650248099999 meters Centerline goodness : 0.722149 Centerline is valid? [False, False] Translation: X:2.00, Y:0.20, Z:0.15 [[ 0.96513609 -0.01533 -0.26129931 2.00463714] [ 0.02750947 0.99869552 0.04301726 0.19987949] [ 0.26029899 -0.04870572 0.96429881 0.14892464] [ 0. 0. 0. 1. ]] SLAMing on 83.06650248099999 meters Centerline goodness : 0.720809 Centerline is valid? [False, False] Translation: X:2.00, Y:0.20, Z:0.15 [[ 0.9651701 -0.01104533 -0.2613899 2.00443707] [ 0.02384678 0.9986635 0.04585344 0.20330675] [ 0.26053408 -0.05048967 0.96414355 0.14921918] [ 0. 0. 0. 1. ]] SLAMing on 83.09650248099999 meters Centerline goodness : 0.719219 Centerline is valid? [False, False] Translation: X:2.00, Y:0.21, Z:0.15 [[ 0.96502618 -0.01102705 -0.2619215 2.004821 ] [ 0.02370825 0.99869181 0.04530542 0.20577271] [ 0.26107927 -0.04993062 0.96402518 0.15000112] [ 0. 0. 0. 1. ]] SLAMing on 83.12650248099999 meters Centerline goodness : 0.718260 Centerline is valid? [False, False] Translation: X:2.00, Y:0.21, Z:0.15 [[ 0.96499074 -0.00671739 -0.26219791 2.00499793] [ 0.0201663 0.99861298 0.04863583 0.20763868] [ 0.26150753 -0.05222069 0.96378774 0.15022799] [ 0. 0. 0. 1. ]] SLAMing on 83.15650248099999 meters Centerline goodness : 0.718260 Centerline is valid? [False, False] Translation: X:2.00, Y:0.21, Z:0.15 [[ 0.96499074 -0.00671739 -0.26219791 2.00499793] [ 0.0201663 0.99861298 0.04863583 0.20763868] [ 0.26150753 -0.05222069 0.96378774 0.15022799] [ 0. 0. 0. 1. ]] SLAMing on 83.18650248099999 meters Centerline goodness : 0.717599 Centerline is valid? [False, False] Translation: X:2.01, Y:0.21, Z:0.15 [[ 0.96484131 -0.00659627 -0.26275032 2.00587687] [ 0.02002326 0.99862455 0.04845692 0.20888847] [ 0.26206929 -0.05201435 0.9636463 0.15061912] [ 0. 0. 0. 1. ]] SLAMing on 83.21650248099999 meters Centerline goodness : 0.716905 Centerline is valid? [False, False] Translation: X:2.01, Y:0.21, Z:0.15 [[ 0.96472571 -0.00666705 -0.26317268 2.00639916] [ 0.0200282 0.99864077 0.04811947 0.21014005] [ 0.26249415 -0.05169297 0.96354795 0.15105562] [ 0. 0. 0. 1. ]] SLAMing on 83.246502481 meters Centerline goodness : 0.714835 Centerline is valid? [False, False] Translation: X:2.01, Y:0.21, Z:0.15 [[ 0.96457636 -0.00688719 -0.26371388 2.00737208] [ 0.02013263 0.99866561 0.04755707 0.21187106] [ 0.26303445 -0.05118168 0.9634279 0.15139342] [ 0. 0. 0. 1. ]] SLAMing on 83.276502481 meters Centerline goodness : 0.714685 Centerline is valid? [False, False] Translation: X:2.01, Y:0.21, Z:0.15 [[ 0.96450578 -0.00720027 -0.26396354 2.00824349] [ 0.02030662 0.99869047 0.04695731 0.21341505] [ 0.26327977 -0.0506508 0.96338895 0.15125706] [ 0. 0. 0. 1. ]] SLAMing on 83.306502481 meters Centerline goodness : 0.713879 Centerline is valid? [False, False] Translation: X:2.01, Y:0.21, Z:0.15 [[ 0.9644566 -0.0075614 -0.26413308 2.00897997] [ 0.02058919 0.99870191 0.04658939 0.21373968] [ 0.26343793 -0.05037174 0.96336034 0.15101845] [ 0. 0. 0. 1. ]] SLAMing on 83.336502481 meters Centerline goodness : 0.713329 Centerline is valid? [False, False] Translation: X:2.01, Y:0.21, Z:0.15 [[ 0.96429825 -0.00756528 -0.2647105 2.01023798] [ 0.02061499 0.998703 0.04655475 0.21430797] [ 0.26401497 -0.05034967 0.96320351 0.15110407] [ 0. 0. 0. 1. ]] SLAMing on 83.366502481 meters Centerline goodness : 0.714066 Centerline is valid? [False, False] Translation: X:2.01, Y:0.22, Z:0.15 [[ 0.96415354 -0.00729468 -0.26524468 2.01121527] [ 0.02038861 0.9987034 0.04664571 0.21507834] [ 0.2645605 -0.0503816 0.96305215 0.15136774] [ 0. 0. 0. 1. ]] SLAMing on 83.39650248099998 meters Centerline goodness : 0.712311 Centerline is valid? [False, False] Translation: X:2.01, Y:0.22, Z:0.15 [[ 0.96393774 -0.0067319 -0.26604269 2.01288264] [ 0.01988951 0.99870655 0.04679346 0.21656651] [ 0.26538357 -0.05039744 0.96282483 0.1516423 ] [ 0. 0. 0. 1. ]] SLAMing on 83.42650248099999 meters Centerline goodness : 0.713118 Centerline is valid? [False, False] Translation: X:2.01, Y:0.22, Z:0.15 [[ 0.96390794 -0.00689026 -0.26614659 2.01319698] [ 0.02001651 0.99871126 0.04663854 0.21655714] [ 0.26548225 -0.05028258 0.96280363 0.15162594] [ 0. 0. 0. 1. ]] SLAMing on 83.45650248099999 meters Centerline goodness : 0.712103 Centerline is valid? [False, False] Translation: X:2.01, Y:0.22, Z:0.15 [[ 0.96388223 -0.0070525 -0.26623546 2.0138184 ] [ 0.02017858 0.99870984 0.04659925 0.21560888] [ 0.26556333 -0.05028844 0.96278097 0.15139873] [ 0. 0. 0. 1. ]] SLAMing on 83.48650248099999 meters Centerline goodness : 0.712247 Centerline is valid? [False, False] Translation: X:2.01, Y:0.22, Z:0.15 [[ 0.96384993 -0.00732049 -0.26634511 2.01367592] [ 0.0203878 0.99871813 0.04632963 0.21621742] [ 0.26566453 -0.050085 0.96276365 0.15171049] [ 0. 0. 0. 1. ]] SLAMing on 83.51650248099999 meters Centerline goodness : 0.712294 Centerline is valid? [False, False] Translation: X:2.01, Y:0.22, Z:0.15 [[ 0.96363236 -0.00694613 -0.26714121 2.01444948] [ 0.0201247 0.99870969 0.04662568 0.21780456] [ 0.26647264 -0.05030615 0.96252876 0.15249588] [ 0. 0. 0. 1. ]] SLAMing on 83.54650248099999 meters Centerline goodness : 0.711071 Centerline is valid? [False, False] Translation: X:2.02, Y:0.22, Z:0.15 [[ 0.96353544 -0.00679147 -0.26749456 2.01539522] [ 0.02004452 0.99870101 0.04684568 0.21745866] [ 0.26682894 -0.05049928 0.96241994 0.15244726] [ 0. 0. 0. 1. ]] SLAMing on 83.57650248099999 meters Centerline goodness : 0.713196 Centerline is valid? [False, False] Translation: X:2.03, Y:0.22, Z:0.16 [[ 0.9640501 -0.00965443 -0.2655451 2.03344698] [ 0.02375813 0.99846903 0.04995152 0.21715497] [ 0.26465631 -0.05446462 0.96280353 0.15535978] [ 0. 0. 0. 1. ]] SLAMing on 83.60650248099999 meters Centerline goodness : 0.713564 Centerline is valid? [False, False] Translation: X:2.03, Y:0.22, Z:0.16 [[ 0.9639258 -0.01480316 -0.26575914 2.03378772] [ 0.02782278 0.99858625 0.04529237 0.21849635] [ 0.26471296 -0.05105264 0.96297491 0.15585573] [ 0. 0. 0. 1. ]] SLAMing on 83.636502481 meters Centerline goodness : 0.714299 Centerline is valid? [False, False] Translation: X:2.04, Y:0.22, Z:0.16 [[ 0.96379329 -0.01538847 -0.26620609 2.03515326] [ 0.02824258 0.99860895 0.04452544 0.21995423] [ 0.26515061 -0.05043167 0.96288722 0.15567997] [ 0. 0. 0. 1. ]] SLAMing on 83.666502481 meters Centerline goodness : 0.714839 Centerline is valid? [False, False] Translation: X:2.04, Y:0.22, Z:0.16 [[ 0.9636965 -0.01520025 -0.26656708 2.03620045] [ 0.02805023 0.99861711 0.04446415 0.22125177] [ 0.26552258 -0.05032722 0.96279018 0.15559132] [ 0. 0. 0. 1. ]] SLAMing on 83.696502481 meters Centerline goodness : 0.716260 Centerline is valid? [False, False] Translation: X:2.04, Y:0.22, Z:0.16 [[ 0.9636333 -0.01080881 -0.26700942 2.03725367] [ 0.02448454 0.99854998 0.04794206 0.22358521] [ 0.26610406 -0.05273616 0.96250066 0.15530843] [ 0. 0. 0. 1. ]] SLAMing on 83.726502481 meters Centerline goodness : 0.715107 Centerline is valid? [False, False] Translation: X:2.04, Y:0.22, Z:0.16 [[ 0.9635198 -0.01070099 -0.26742303 2.03824138] [ 0.0243534 0.99856061 0.04778721 0.22452279] [ 0.26652674 -0.05255658 0.96239353 0.15541354] [ 0. 0. 0. 1. ]] SLAMing on 83.756502481 meters Centerline goodness : 0.713752 Centerline is valid? [False, False] Translation: X:2.04, Y:0.23, Z:0.16 [[ 0.96329019 -0.01359078 -0.26811806 2.04029166] [ 0.02658402 0.99863816 0.04489012 0.22644287] [ 0.26714284 -0.05036987 0.96233964 0.15546941] [ 0. 0. 0. 1. ]] SLAMing on 83.78650248099999 meters Centerline goodness : 0.714701 Centerline is valid? [False, False] Translation: X:2.04, Y:0.23, Z:0.16 [[ 0.96322177 -0.01357297 -0.26836468 2.04033096] [ 0.02652111 0.99864916 0.04468203 0.2274794 ] [ 0.2673957 -0.05015603 0.96228058 0.15600273] [ 0. 0. 0. 1. ]] SLAMing on 83.81650248099999 meters Centerline goodness : 0.713452 Centerline is valid? [False, False] Translation: X:2.04, Y:0.23, Z:0.16 [[ 0.96326959 -0.00948722 -0.26836858 2.03946796] [ 0.02320795 0.99857767 0.04800036 0.22881543] [ 0.26753148 -0.05246557 0.96211968 0.15651248] [ 0. 0. 0. 1. ]] SLAMing on 83.84650248099999 meters Centerline goodness : 0.716069 Centerline is valid? [False, False] Translation: X:2.04, Y:0.23, Z:0.16 [[ 0.963147 -0.00927141 -0.26881573 2.04029315] [ 0.02298386 0.99858727 0.04790837 0.22992718] [ 0.26799178 -0.05232122 0.96199943 0.15679357] [ 0. 0. 0. 1. ]] SLAMing on 83.87650248099999 meters Centerline goodness : 0.715409 Centerline is valid? [False, False] Translation: X:2.04, Y:0.23, Z:0.16 [[ 0.96303079 -0.00843107 -0.26925937 2.04188775] [ 0.02217238 0.99859961 0.04803332 0.2329141 ] [ 0.26847733 -0.05222768 0.96186911 0.15662245] [ 0. 0. 0. 1. ]] SLAMing on 83.90650248099999 meters Centerline goodness : 0.714529 Centerline is valid? [False, False] Translation: X:2.04, Y:0.23, Z:0.16 [[ 0.96296236 -0.00844349 -0.26950363 2.04256964] [ 0.02211273 0.99861574 0.04772451 0.23384474] [ 0.2687276 -0.05191637 0.96181608 0.15668088] [ 0. 0. 0. 1. ]] SLAMing on 83.93650248099999 meters Centerline goodness : 0.713607 Centerline is valid? [False, False] Translation: X:2.04, Y:0.24, Z:0.16 [[ 0.96294 -0.01105689 -0.26948896 2.04457356] [ 0.02407351 0.9986949 0.0450441 0.23574593] [ 0.2686392 -0.04986231 0.96194944 0.15562354] [ 0. 0. 0. 1. ]] SLAMing on 83.96650248099999 meters Centerline goodness : 0.714788 Centerline is valid? [False, False] Translation: X:2.04, Y:0.24, Z:0.16 [[ 0.96292284 -0.0111708 -0.26954558 2.04488933] [ 0.02413546 0.99870294 0.04483206 0.23648753] [ 0.26869516 -0.04967542 0.96194348 0.15551037] [ 0. 0. 0. 1. ]] SLAMing on 83.996502481 meters Centerline goodness : 0.715216 Centerline is valid? [False, False] Translation: X:2.05, Y:0.24, Z:0.16 [[ 0.9628473 -0.01000726 -0.26986094 2.04534476] [ 0.02319781 0.99868426 0.04573413 0.23913822] [ 0.2690482 -0.05029516 0.96181259 0.15568295] [ 0. 0. 0. 1. ]] SLAMing on 84.026502481 meters Centerline goodness : 0.716247 Centerline is valid? [False, False] Translation: X:2.05, Y:0.24, Z:0.16 [[ 0.96276391 -0.01002891 -0.27015751 2.04558374] [ 0.02319341 0.99869137 0.04558076 0.2402113 ] [ 0.26934685 -0.05014939 0.96173661 0.15609109] [ 0. 0. 0. 1. ]] SLAMing on 84.056502481 meters Centerline goodness : 0.717255 Centerline is valid? [False, False] Translation: X:2.05, Y:0.24, Z:0.16 [[ 0.96266454 -0.00983508 -0.27051849 2.04672768] [ 0.02304156 0.99869005 0.0456867 0.24036002] [ 0.26971479 -0.05021413 0.96163011 0.15592815] [ 0. 0. 0. 1. ]] SLAMing on 84.086502481 meters Centerline goodness : 0.717234 Centerline is valid? [False, False] Translation: X:2.05, Y:0.24, Z:0.16 [[ 0.96255036 -0.00987384 -0.27092309 2.04878566] [ 0.02311918 0.99868573 0.04574179 0.23975813] [ 0.27011538 -0.0502923 0.96151358 0.1550602 ] [ 0. 0. 0. 1. ]] SLAMing on 84.116502481 meters Centerline goodness : 0.716287 Centerline is valid? [False, False] Translation: X:2.05, Y:0.24, Z:0.16 [[ 0.96247255 -0.00988677 -0.27119888 2.04957977] [ 0.02314416 0.99868571 0.04572968 0.23932684] [ 0.27039033 -0.05029023 0.96143641 0.15503699] [ 0. 0. 0. 1. ]] SLAMing on 84.14650248099998 meters Centerline goodness : 0.715850 Centerline is valid? [False, False] Translation: X:2.05, Y:0.24, Z:0.16 [[ 0.96234094 -0.00956554 -0.27167705 2.05034294] [ 0.02284211 0.99869179 0.04574869 0.23985729] [ 0.27088403 -0.05023152 0.96130049 0.15563453] [ 0. 0. 0. 1. ]] SLAMing on 84.17650248099999 meters Centerline goodness : 0.716041 Centerline is valid? [False, False] Translation: X:2.05, Y:0.24, Z:0.16 [[ 0.96220049 -0.00934287 -0.27218181 2.0509175 ] [ 0.02261756 0.99870028 0.04567499 0.24112951] [ 0.27140131 -0.05010459 0.9611612 0.1562128 ] [ 0. 0. 0. 1. ]] SLAMing on 84.20650248099999 meters Centerline goodness : 0.714951 Centerline is valid? [False, False] Translation: X:2.05, Y:0.24, Z:0.16 [[ 0.96204938 -0.00882668 -0.27273262 2.05186432] [ 0.02204107 0.99872452 0.0454261 0.24408901] [ 0.27198379 -0.04971347 0.96101685 0.15671699] [ 0. 0. 0. 1. ]] SLAMing on 84.23650248099999 meters Centerline goodness : 0.716601 Centerline is valid? [False, False] Translation: X:2.05, Y:0.25, Z:0.16 [[ 0.96198853 -0.00887525 -0.27294561 2.05233837] [ 0.02196926 0.99874745 0.04495417 0.24557058] [ 0.27220476 -0.04924181 0.96097857 0.15688673] [ 0. 0. 0. 1. ]] SLAMing on 84.26650248099999 meters Centerline goodness : 0.715426 Centerline is valid? [False, False] Translation: X:2.05, Y:0.25, Z:0.16 [[ 0.96194503 -0.00882 -0.27310064 2.05285028] [ 0.02182313 0.998766 0.04461187 0.24673038] [ 0.27237016 -0.04887407 0.96095048 0.15693465] [ 0. 0. 0. 1. ]] SLAMing on 84.29650248099999 meters Centerline goodness : 0.713512 Centerline is valid? [False, False] Translation: X:2.05, Y:0.25, Z:0.16 [[ 0.96187146 -0.00848043 -0.27337039 2.05305375] [ 0.02130213 0.99880579 0.04396821 0.24915403] [ 0.27267106 -0.04811514 0.96090344 0.15781768] [ 0. 0. 0. 1. ]] SLAMing on 84.32650248099999 meters Centerline goodness : 0.714385 Centerline is valid? [False, False] Translation: X:2.05, Y:0.25, Z:0.16 [[ 0.96177374 -0.00816581 -0.27372355 2.05298001] [ 0.02090072 0.99882863 0.04364084 0.25053903] [ 0.27304656 -0.04769363 0.96081783 0.15892187] [ 0. 0. 0. 1. ]] SLAMing on 84.35650248099999 meters Centerline goodness : 0.714367 Centerline is valid? [False, False] Translation: X:2.05, Y:0.25, Z:0.16 [[ 0.96165818 -0.00777497 -0.27414063 2.05337873] [ 0.020558 0.99882933 0.04378739 0.25079666] [ 0.27347926 -0.04774429 0.96069224 0.15952836] [ 0. 0. 0. 1. ]] SLAMing on 84.386502481 meters Centerline goodness : 0.713304 Centerline is valid? [False, False] Translation: X:2.05, Y:0.25, Z:0.16 [[ 0.96183053 -0.00838009 -0.27351747 2.05125114] [ 0.0211105 0.99882455 0.04363333 0.24904197] [ 0.27283031 -0.04774196 0.96087685 0.16014408] [ 0. 0. 0. 1. ]] SLAMing on 84.416502481 meters Centerline goodness : 0.713364 Centerline is valid? [False, False] Translation: X:2.07, Y:0.25, Z:0.16 [[ 0.96248011 -0.01263854 -0.27105775 2.06866411] [ 0.02592841 0.99862758 0.04550464 0.24857173] [ 0.27011063 -0.05082541 0.96148688 0.16322151] [ 0. 0. 0. 1. ]] SLAMing on 84.446502481 meters Centerline goodness : 0.713453 Centerline is valid? [False, False] Translation: X:2.07, Y:0.25, Z:0.16 [[ 0.9621623 -0.01636229 -0.27198527 2.07045085] [ 0.02902717 0.99867017 0.0426064 0.24703295] [ 0.27092644 -0.04888924 0.96135774 0.16381215] [ 0. 0. 0. 1. ]] SLAMing on 84.476502481 meters Centerline goodness : 0.714006 Centerline is valid? [False, False] Translation: X:2.07, Y:0.25, Z:0.16 [[ 0.96207649 -0.01581326 -0.27232106 2.07139746] [ 0.02869274 0.99864662 0.04337806 0.24550644] [ 0.27126656 -0.04954665 0.96122816 0.16385437] [ 0. 0. 0. 1. ]] SLAMing on 84.50650248099998 meters Centerline goodness : 0.715788 Centerline is valid? [False, False] Translation: X:2.07, Y:0.24, Z:0.16 [[ 0.96198889 -0.01532315 -0.27265836 2.07177601] [ 0.02839394 0.99862543 0.04405723 0.2443563 ] [ 0.27160848 -0.05012441 0.96110165 0.16423467] [ 0. 0. 0. 1. ]] SLAMing on 84.53650248099999 meters Centerline goodness : 0.716400 Centerline is valid? [False, False] Translation: X:2.07, Y:0.24, Z:0.16 [[ 0.96181052 -0.01467284 -0.27332258 2.07356221] [ 0.02800487 0.99859708 0.04494004 0.24251742] [ 0.27227973 -0.05087817 0.96087208 0.16412542] [ 0. 0. 0. 1. ]] SLAMing on 84.56650248099999 meters Centerline goodness : 0.719325 Centerline is valid? [False, False] Translation: X:2.08, Y:0.24, Z:0.16 [[ 0.96145308 -0.01679049 -0.27445592 2.07917127] [ 0.02962675 0.99864894 0.04269144 0.24249932] [ 0.27336831 -0.04917705 0.96065154 0.16259185] [ 0. 0. 0. 1. ]] SLAMing on 84.59650248099999 meters Centerline goodness : 0.716788 Centerline is valid? [False, False] Translation: X:2.08, Y:0.24, Z:0.16 [[ 0.96140863 -0.01648002 -0.27463039 2.08014935] [ 0.0293449 0.99865254 0.04280165 0.24232586] [ 0.27355497 -0.04920888 0.96059678 0.1623151 ] [ 0. 0. 0. 1. ]] SLAMing on 84.62650248099999 meters Centerline goodness : 0.718735 Centerline is valid? [False, False] Translation: X:2.08, Y:0.24, Z:0.16 [[ 0.96134059 -0.01611713 -0.27488999 2.08075602] [ 0.02897913 0.99866362 0.04279245 0.2431873 ] [ 0.27383294 -0.04910419 0.96052293 0.16252054] [ 0. 0. 0. 1. ]] SLAMing on 84.65650248099999 meters Centerline goodness : 0.715904 Centerline is valid? [False, False] Translation: X:2.08, Y:0.25, Z:0.16 [[ 0.96117343 -0.01323219 -0.27562755 2.0833959 ] [ 0.02655232 0.99864972 0.04465106 0.24568575] [ 0.27466455 -0.05023597 0.96022692 0.16205515] [ 0. 0. 0. 1. ]] SLAMing on 84.68650248099999 meters Centerline goodness : 0.716216 Centerline is valid? [False, False] Translation: X:2.08, Y:0.25, Z:0.16 [[ 0.96107775 -0.01085817 -0.27606458 2.08475541] [ 0.02448681 0.99864272 0.04596859 0.24834171] [ 0.27519075 -0.05093933 0.96003919 0.16210618] [ 0. 0. 0. 1. ]] SLAMing on 84.71650248099999 meters Centerline goodness : 0.716336 Centerline is valid? [False, False] Translation: X:2.08, Y:0.25, Z:0.16 [[ 0.96110835 -0.01109562 -0.2759486 2.08337176] [ 0.02454142 0.99867101 0.04532036 0.24990871] [ 0.275079 -0.05032995 0.96010335 0.16322917] [ 0. 0. 0. 1. ]] SLAMing on 84.746502481 meters Centerline goodness : 0.716613 Centerline is valid? [False, False] Translation: X:2.08, Y:0.25, Z:0.16 [[ 0.96106071 -0.01114447 -0.27611251 2.08301671] [ 0.02450492 0.99868708 0.04498482 0.25035417] [ 0.27524866 -0.04999926 0.960072 0.16409957] [ 0. 0. 0. 1. ]] SLAMing on 84.776502481 meters Centerline goodness : 0.716339 Centerline is valid? [False, False] Translation: X:2.09, Y:0.25, Z:0.16 [[ 0.96076445 -0.01500132 -0.27695963 2.08569276] [ 0.02750135 0.99876808 0.04130379 0.25065591] [ 0.27599882 -0.04729997 0.95999342 0.16411432] [ 0. 0. 0. 1. ]] SLAMing on 84.806502481 meters Centerline goodness : 0.716615 Centerline is valid? [False, False] Translation: X:2.09, Y:0.25, Z:0.16 [[ 0.9606277 -0.01459133 -0.27745543 2.08691605] [ 0.02721146 0.99876001 0.04168899 0.24985964] [ 0.27650309 -0.04759756 0.95983359 0.1642064 ] [ 0. 0. 0. 1. ]] SLAMing on 84.836502481 meters Centerline goodness : 0.716846 Centerline is valid? [False, False] Translation: X:2.10, Y:0.25, Z:0.17 [[ 0.96150072 -0.01625006 -0.27432152 2.10120498] [ 0.03027345 0.99843772 0.04696414 0.24915656] [ 0.27312979 -0.05346072 0.96049054 0.16768472] [ 0. 0. 0. 1. ]] SLAMing on 84.866502481 meters Centerline goodness : 0.716298 Centerline is valid? [False, False] Translation: X:2.10, Y:0.25, Z:0.17 [[ 0.96138006 -0.01597291 -0.27476035 2.1018476 ] [ 0.0301181 0.99842466 0.04734014 0.2481311 ] [ 0.27357135 -0.05378712 0.96034664 0.1681304 ] [ 0. 0. 0. 1. ]] SLAMing on 84.89650248099998 meters Centerline goodness : 0.718550 Centerline is valid? [False, False] Translation: X:2.10, Y:0.25, Z:0.17 [[ 0.96122881 -0.02044382 -0.27499315 2.1023904 ] [ 0.03380523 0.99846222 0.04393628 0.24631212] [ 0.27367204 -0.05152902 0.96044176 0.16866583] [ 0. 0. 0. 1. ]] SLAMing on 84.92650248099999 meters Centerline goodness : 0.717694 Centerline is valid? [False, False] Translation: X:2.12, Y:0.25, Z:0.17 [[ 0.96129718 -0.02562432 -0.27431939 2.12168969] [ 0.03935562 0.99822633 0.044669 0.24565203] [ 0.27268823 -0.0537362 0.96060062 0.17293262] [ 0. 0. 0. 1. ]] SLAMing on 84.95650248099999 meters Centerline goodness : 0.718965 Centerline is valid? [False, False] Translation: X:2.12, Y:0.24, Z:0.17 [[ 0.96096476 -0.02954965 -0.27508826 2.12374373] [ 0.04266744 0.99821356 0.04182309 0.24341751] [ 0.27336097 -0.05192782 0.96050886 0.1730089 ] [ 0. 0. 0. 1. ]] SLAMing on 84.98650248099999 meters Centerline goodness : 0.719403 Centerline is valid? [False, False] Translation: X:2.12, Y:0.24, Z:0.17 [[ 0.96086609 -0.02895049 -0.27549633 2.12460794] [ 0.04230635 0.99819354 0.04265952 0.2419664 ] [ 0.27376364 -0.05264533 0.96035511 0.17312391] [ 0. 0. 0. 1. ]] SLAMing on 85.01650248099999 meters Centerline goodness : 0.721073 Centerline is valid? [False, False] Translation: X:2.14, Y:0.24, Z:0.18 [[ 0.96127241 -0.03044784 -0.27391291 2.1426161 ] [ 0.04518457 0.99784148 0.04765227 0.24017073] [ 0.27187075 -0.05818345 0.96057326 0.17669 ] [ 0. 0. 0. 1. ]] SLAMing on 85.04650248099999 meters Centerline goodness : 0.720214 Centerline is valid? [False, False] Translation: X:2.14, Y:0.24, Z:0.18 [[ 0.96115242 -0.02978238 -0.27440671 2.14375983] [ 0.04471404 0.99783058 0.04831966 0.23923179] [ 0.27237233 -0.05871239 0.96039896 0.17682447] [ 0. 0. 0. 1. ]] SLAMing on 85.07650248099999 meters Centerline goodness : 0.720214 Centerline is valid? [False, False] Translation: X:2.14, Y:0.24, Z:0.18 [[ 0.96115658 -0.02975848 -0.27439473 2.14375071] [ 0.04469547 0.99783022 0.04834434 0.2392272 ] [ 0.2723607 -0.05873068 0.96040114 0.17682319] [ 0. 0. 0. 1. ]] SLAMing on 85.10650248099999 meters Centerline goodness : 0.720634 Centerline is valid? [False, False] Translation: X:2.15, Y:0.24, Z:0.18 [[ 0.96103063 -0.02931467 -0.27488319 2.14500854] [ 0.04430385 0.99784116 0.04847868 0.23928425] [ 0.27286863 -0.05876788 0.96025468 0.17698935] [ 0. 0. 0. 1. ]] SLAMing on 85.136502481 meters Centerline goodness : 0.721953 Centerline is valid? [False, False] Translation: X:2.17, Y:0.24, Z:0.18 [[ 0.96097976 -0.03153006 -0.27481584 2.16585036] [ 0.04686026 0.99767937 0.04939627 0.24126158] [ 0.27262063 -0.06034676 0.96022719 0.18267357] [ 0. 0. 0. 1. ]] SLAMing on 85.166502481 meters Centerline goodness : 0.721989 Centerline is valid? [False, False] Translation: X:2.20, Y:0.24, Z:0.19 [[ 0.96177945 -0.02908704 -0.27227603 2.19576797] [ 0.04449965 0.99772698 0.05060281 0.24050678] [ 0.27018525 -0.06078493 0.96088767 0.18977726] [ 0. 0. 0. 1. ]] SLAMing on 85.196502481 meters Centerline goodness : 0.721836 Centerline is valid? [False, False] Translation: X:2.20, Y:0.24, Z:0.19 [[ 0.9616467 -0.02859709 -0.27279634 2.19637513] [ 0.04402776 0.99774751 0.05061093 0.24174935] [ 0.27073454 -0.06068045 0.96073966 0.19044118] [ 0. 0. 0. 1. ]] SLAMing on 85.226502481 meters Centerline goodness : 0.721241 Centerline is valid? [False, False] Translation: X:2.20, Y:0.24, Z:0.19 [[ 0.96156052 -0.02813948 -0.27314745 2.19655133] [ 0.04356844 0.99776902 0.05058433 0.24346959] [ 0.27111464 -0.06054051 0.96064129 0.1911069 ] [ 0. 0. 0. 1. ]] SLAMing on 85.25650248099998 meters Centerline goodness : 0.720655 Centerline is valid? [False, False] Translation: X:2.20, Y:0.24, Z:0.19 [[ 0.96137784 -0.02720475 -0.27388417 2.19828018] [ 0.04269501 0.99779807 0.05075572 0.244922 ] [ 0.2719003 -0.06048891 0.96042247 0.1913772 ] [ 0. 0. 0. 1. ]] SLAMing on 85.28650248099999 meters Centerline goodness : 0.721911 Centerline is valid? [False, False] Translation: X:2.20, Y:0.24, Z:0.19 [[ 0.9613098 -0.02665801 -0.27417663 2.19901845] [ 0.04221106 0.99780707 0.05098303 0.24473931] [ 0.27221627 -0.06058378 0.96032698 0.19160336] [ 0. 0. 0. 1. ]] SLAMing on 85.31650248099999 meters Centerline goodness : 0.722256 Centerline is valid? [False, False] Translation: X:2.20, Y:0.24, Z:0.19 [[ 0.96126525 -0.02655851 -0.27434243 2.19920841] [ 0.0421058 0.99781383 0.0509378 0.2446844 ] [ 0.27238984 -0.06051615 0.96028203 0.19196066] [ 0. 0. 0. 1. ]] SLAMing on 85.34650248099999 meters Centerline goodness : 0.720852 Centerline is valid? [False, False] Translation: X:2.22, Y:0.25, Z:0.20 [[ 0.96171167 -0.02926564 -0.2724962 2.21785404] [ 0.04541756 0.99755289 0.05315513 0.24598662] [ 0.27027376 -0.06349602 0.96068744 0.1959921 ] [ 0. 0. 0. 1. ]] SLAMing on 85.37650248099999 meters Centerline goodness : 0.723161 Centerline is valid? [False, False] Translation: X:2.25, Y:0.25, Z:0.20 [[ 0.96245863 -0.02612095 -0.27016861 2.24668293] [ 0.04302271 0.99745659 0.05682773 0.24513261] [ 0.26799707 -0.06631772 0.9611345 0.20137537] [ 0. 0. 0. 1. ]] SLAMing on 85.40650248099999 meters Centerline goodness : 0.725527 Centerline is valid? [False, False] Translation: X:2.27, Y:0.25, Z:0.21 [[ 0.96159566 -0.02801526 -0.27303649 2.27029899] [ 0.04597887 0.99716191 0.05961594 0.24632368] [ 0.27059144 -0.06988034 0.96015468 0.20593027] [ 0. 0. 0. 1. ]] SLAMing on 85.43650248099999 meters Centerline goodness : 0.723947 Centerline is valid? [False, False] Translation: X:2.27, Y:0.25, Z:0.21 [[ 0.96127017 -0.03030405 -0.27393672 2.27401469] [ 0.04785689 0.99719083 0.0576209 0.2465838 ] [ 0.27142104 -0.06849901 0.96002005 0.20508563] [ 0. 0. 0. 1. ]] SLAMing on 85.46650248099999 meters Centerline goodness : 0.723155 Centerline is valid? [False, False] Translation: X:2.28, Y:0.25, Z:0.20 [[ 0.96117833 -0.03016406 -0.27427422 2.27546291] [ 0.04781525 0.99717674 0.05789859 0.24535462] [ 0.27175341 -0.06876536 0.95990698 0.2046946 ] [ 0. 0. 0. 1. ]] SLAMing on 85.496502481 meters Centerline goodness : 0.715811 Centerline is valid? [False, False] Translation: X:2.28, Y:0.24, Z:0.21 [[ 0.9611329 -0.03022502 -0.27442669 2.27526642] [ 0.04796791 0.99715337 0.05817423 0.24403498] [ 0.27188718 -0.06907684 0.95984673 0.2052295 ] [ 0. 0. 0. 1. ]] SLAMing on 85.526502481 meters Centerline goodness : 0.724622 Centerline is valid? [False, False] Translation: X:2.27, Y:0.24, Z:0.21 [[ 0.961133 -0.03041382 -0.27440547 2.27469519] [ 0.04816011 0.99714454 0.05816683 0.24342782] [ 0.27185284 -0.06912145 0.95985325 0.20576626] [ 0. 0. 0. 1. ]] SLAMing on 85.556502481 meters Centerline goodness : 0.717186 Centerline is valid? [False, False] Translation: X:2.27, Y:0.24, Z:0.21 [[ 0.96118521 -0.03110412 -0.27414509 2.27344223] [ 0.04878283 0.99712948 0.05790548 0.24237847] [ 0.27155705 -0.06903146 0.95994345 0.20633294] [ 0. 0. 0. 1. ]] SLAMing on 85.586502481 meters Centerline goodness : 0.717667 Centerline is valid? [False, False] Translation: X:2.29, Y:0.24, Z:0.21 [[ 0.96116364 -0.03348714 -0.27393991 2.29329323] [ 0.05199774 0.99680743 0.06059031 0.24350091] [ 0.27103634 -0.07248145 0.95983631 0.21062237] [ 0. 0. 0. 1. ]] SLAMing on 85.616502481 meters Centerline goodness : 0.141516 Centerline is valid? [False, False] Translation: X:2.30, Y:0.24, Z:0.21 [[ 0.96076284 -0.03743958 -0.27483277 2.29529762] [ 0.05509092 0.99686517 0.05678758 0.24473194] [ 0.27184511 -0.06970018 0.95981359 0.21130744] [ 0. 0. 0. 1. ]] SLAMing on 85.64650248099998 meters Centerline goodness : 0.372033 Centerline is valid? [False, False] Translation: X:2.30, Y:0.25, Z:0.21 [[ 0.96059777 -0.04197773 -0.27475407 2.29551373] [ 0.05833618 0.99696064 0.05163694 0.24711121] [ 0.27175139 -0.06563044 0.96012698 0.21073744] [ 0. 0. 0. 1. ]] SLAMing on 85.67650248099999 meters Centerline goodness : 0.720921 Centerline is valid? [False, False] Translation: X:2.30, Y:0.25, Z:0.21 [[ 0.96056695 -0.04210643 -0.2748421 2.29559016] [ 0.05835348 0.99698195 0.05120421 0.24829735] [ 0.27185658 -0.06522306 0.96012497 0.21064798] [ 0. 0. 0. 1. ]] SLAMing on 85.70650248099999 meters Centerline goodness : 0.364326 Centerline is valid? [False, False] Translation: X:2.29, Y:0.25, Z:0.21 [[ 0.96061807 -0.04214196 -0.27465794 2.294404 ] [ 0.05838048 0.9969798 0.05121517 0.2483249 ] [ 0.27167011 -0.06523288 0.96017708 0.21129497] [ 0. 0. 0. 1. ]] SLAMing on 85.73650248099999 meters Centerline goodness : 0.498228 Centerline is valid? [False, False] Translation: X:2.29, Y:0.25, Z:0.21 [[ 0.96066266 -0.04227574 -0.27448135 2.29269718] [ 0.05844917 0.99698624 0.05101115 0.24898038] [ 0.2714976 -0.06504771 0.96023843 0.21229267] [ 0. 0. 0. 1. ]] SLAMing on 85.76650248099999 meters Centerline goodness : 0.374045 Centerline is valid? [False, False] Translation: X:2.29, Y:0.25, Z:0.21 [[ 0.96058617 -0.04263167 -0.27469391 2.29238945] [ 0.05885093 0.99695945 0.05107265 0.2496565 ] [ 0.27168137 -0.06522568 0.96017438 0.21304943] [ 0. 0. 0. 1. ]] SLAMing on 85.79650248099999 meters Centerline goodness : 0.548555 Centerline is valid? [False, False] Translation: X:2.29, Y:0.25, Z:0.21 [[ 0.96053323 -0.04352791 -0.2747385 2.29100212] [ 0.05993547 0.99686732 0.05160712 0.24924132] [ 0.27163148 -0.06603694 0.96013304 0.21481331] [ 0. 0. 0. 1. ]] SLAMing on 85.82650248099999 meters Centerline goodness : 0.563691 Centerline is valid? [False, False] Translation: X:2.29, Y:0.25, Z:0.21 [[ 0.96039637 -0.04863185 -0.27436063 2.29076557] [ 0.06390471 0.99684858 0.04700112 0.24992452] [ 0.27121026 -0.06267264 0.96047756 0.2144823 ] [ 0. 0. 0. 1. ]] SLAMing on 85.85650248099999 meters Centerline goodness : 0.518094 Centerline is valid? [False, False] Translation: X:2.29, Y:0.25, Z:0.21 [[ 0.96019571 -0.05340584 -0.27417516 2.29058278] [ 0.06753454 0.99681785 0.04234695 0.25138204] [ 0.27104112 -0.05917766 0.96074696 0.21430944] [ 0. 0. 0. 1. ]] SLAMing on 85.886502481 meters Centerline goodness : 0.528096 Centerline is valid? [False, False] Translation: X:2.29, Y:0.25, Z:0.21 [[ 0.96005167 -0.05801403 -0.27374288 2.2899394 ] [ 0.07098371 0.99676456 0.03770582 0.25298982] [ 0.27066973 -0.05563082 0.96106353 0.21414591] [ 0. 0. 0. 1. ]] SLAMing on 85.916502481 meters Centerline goodness : 0.229362 Centerline is valid? [False, False] Translation: X:2.29, Y:0.25, Z:0.21 [[ 0.95980493 -0.06267501 -0.27358059 2.29097131] [ 0.07455625 0.99666269 0.03323923 0.25491695] [ 0.2705843 -0.05230032 0.96127458 0.21316627] [ 0. 0. 0. 1. ]] SLAMing on 85.946502481 meters Centerline goodness : 0.244804 Centerline is valid? [False, False] Translation: X:2.29, Y:0.25, Z:0.21 [[ 0.95972644 -0.06308746 -0.27376108 2.2918371 ] [ 0.07501293 0.99662627 0.03330375 0.25496084] [ 0.27073644 -0.05249811 0.96122096 0.21292729] [ 0. 0. 0. 1. ]] SLAMing on 85.976502481 meters Centerline goodness : 0.424395 Centerline is valid? [False, False] Translation: X:2.29, Y:0.25, Z:0.21 [[ 0.95966692 -0.06360604 -0.27384974 2.29172393] [ 0.07571701 0.99655382 0.03387357 0.25440197] [ 0.27075144 -0.05324242 0.96117579 0.21356175] [ 0. 0. 0. 1. ]] SLAMing on 86.00650248099998 meters Centerline goodness : 0.481941 Centerline is valid? [False, False] Translation: X:2.29, Y:0.26, Z:0.21 [[ 0.95957493 -0.06788454 -0.27314399 2.29078924] [ 0.07882545 0.99645865 0.02926953 0.25582943] [ 0.27018974 -0.049617 0.96152777 0.2130913 ] [ 0. 0. 0. 1. ]] SLAMing on 86.03650248099999 meters Centerline goodness : 0.261215 Centerline is valid? [False, False] Translation: X:2.29, Y:0.26, Z:0.21 [[ 0.95947135 -0.07216264 -0.27241012 2.2899628 ] [ 0.08202361 0.9963175 0.02497118 0.256926 ] [ 0.26960499 -0.04630319 0.96185714 0.21258716] [ 0. 0. 0. 1. ]] SLAMing on 86.06650248099999 meters Centerline goodness : 0.382433 Centerline is valid? [False, False] Translation: X:2.29, Y:0.26, Z:0.21 [[ 0.95948033 -0.07241114 -0.27231255 2.29002194] [ 0.08217997 0.99631322 0.02462567 0.25758881] [ 0.26952542 -0.04600649 0.96189368 0.21230367] [ 0. 0. 0. 1. ]] SLAMing on 86.09650248099999 meters Centerline goodness : 0.246721 Centerline is valid? [False, False] Translation: X:2.29, Y:0.26, Z:0.21 [[ 0.95961383 -0.07231379 -0.27186764 2.28907673] [ 0.0816974 0.99638383 0.023341 0.26035795] [ 0.26919665 -0.04460922 0.96205155 0.21175257] [ 0. 0. 0. 1. ]] SLAMing on 86.12650248099999 meters Centerline goodness : 0.274089 Centerline is valid? [False, False] Translation: X:2.29, Y:0.26, Z:0.21 [[ 0.95974711 -0.07235147 -0.27138672 2.28875612] [ 0.08135872 0.99644047 0.02207134 0.26181734] [ 0.26882381 -0.04326258 0.96221729 0.2106742 ] [ 0. 0. 0. 1. ]] SLAMing on 86.15650248099999 meters Centerline goodness : 0.355580 Centerline is valid? [False, False] Translation: X:2.29, Y:0.27, Z:0.21 [[ 0.96005351 -0.07161 -0.27049819 2.28903905] [ 0.07974987 0.99662984 0.0192071 0.26517742] [ 0.26821115 -0.04001204 0.96252886 0.20763968] [ 0. 0. 0. 1. ]] SLAMing on 86.18650248099999 meters Centerline goodness : 0.236126 Centerline is valid? [False, False] Translation: X:2.29, Y:0.27, Z:0.21 [[ 0.96018838 -0.07123922 -0.2701171 2.2884694 ] [ 0.07896191 0.99671839 0.01781772 0.26712131] [ 0.26796136 -0.03843734 0.9626626 0.20680289] [ 0. 0. 0. 1. ]] SLAMing on 86.21650248099999 meters Centerline goodness : 0.209340 Centerline is valid? [False, False] Translation: X:2.29, Y:0.27, Z:0.21 [[ 0.96047085 -0.07068432 -0.26925724 2.28732239] [ 0.07797914 0.99681878 0.0164795 0.26901164] [ 0.26723584 -0.03682453 0.96292729 0.20556336] [ 0. 0. 0. 1. ]] SLAMing on 86.246502481 meters Centerline goodness : 0.229694 Centerline is valid? [False, False] Translation: X:2.28, Y:0.27, Z:0.20 [[ 0.96108675 -0.06845796 -0.26762989 2.28343738] [ 0.07532876 0.99703863 0.01547749 0.27091844] [ 0.26577778 -0.03503544 0.96339747 0.20492939] [ 0. 0. 0. 1. ]] SLAMing on 86.276502481 meters Centerline goodness : 0.396085 Centerline is valid? [False, False] Translation: X:2.28, Y:0.27, Z:0.20 [[ 0.96134382 -0.06770889 -0.26689619 2.28151612] [ 0.07451338 0.9971005 0.01543826 0.27071601] [ 0.26507702 -0.03472882 0.96360162 0.20491846] [ 0. 0. 0. 1. ]] SLAMing on 86.306502481 meters Centerline goodness : 0.244460 Centerline is valid? [False, False] Translation: X:2.28, Y:0.27, Z:0.21 [[ 0.9617518 -0.06654114 -0.26571742 2.27858086] [ 0.07340508 0.99717428 0.01597317 0.26887363] [ 0.26390371 -0.03486723 0.96391862 0.20501728] [ 0. 0. 0. 1. ]] SLAMing on 86.336502481 meters Centerline goodness : 0.225640 Centerline is valid? [False, False] Translation: X:2.28, Y:0.27, Z:0.20 [[ 0.96185974 -0.06565398 -0.26554734 2.27834457] [ 0.07265683 0.99721845 0.01662346 0.26782004] [ 0.26371731 -0.03528327 0.9639545 0.20483547] [ 0. 0. 0. 1. ]] SLAMing on 86.366502481 meters Centerline goodness : 0.269386 Centerline is valid? [False, False] Translation: X:2.28, Y:0.27, Z:0.20 [[ 0.96182602 -0.06579375 -0.2656349 2.27866575] [ 0.0729078 0.99719381 0.0169989 0.26706861] [ 0.26377105 -0.03571684 0.96392382 0.20488636] [ 0. 0. 0. 1. ]] SLAMing on 86.39650248099998 meters Centerline goodness : 0.227415 Centerline is valid? [False, False] Translation: X:2.28, Y:0.27, Z:0.20 [[ 0.9618516 -0.06573136 -0.26555769 2.27860536] [ 0.07296507 0.99718173 0.01745554 0.26580732] [ 0.2636619 -0.03616608 0.96393694 0.20494315] [ 0. 0. 0. 1. ]] SLAMing on 86.42650248099999 meters Centerline goodness : 0.236881 Centerline is valid? [False, False] Translation: X:2.28, Y:0.26, Z:0.20 [[ 0.96200253 -0.06868558 -0.26426015 2.27676827] [ 0.07502679 0.99708371 0.01396613 0.26419804] [ 0.26253022 -0.03326205 0.96435031 0.20416444] [ 0. 0. 0. 1. ]] SLAMing on 86.45650248099999 meters Centerline goodness : 0.235331 Centerline is valid? [False, False] Translation: X:2.28, Y:0.26, Z:0.20 [[ 0.96195156 -0.07211038 -0.26353234 2.27559583] [ 0.07746274 0.99694548 0.00996189 0.26467782] [ 0.26200902 -0.02999679 0.96459912 0.20387496] [ 0. 0. 0. 1. ]] SLAMing on 86.48650248099999 meters Centerline goodness : 0.309637 Centerline is valid? [False, False] Translation: X:2.27, Y:0.26, Z:0.20 [[ 0.96211192 -0.07470756 -0.26222022 2.27293388] [ 0.07938915 0.99681705 0.00728959 0.2626418 ] [ 0.26084099 -0.02783084 0.96498053 0.2039286 ] [ 0. 0. 0. 1. ]] SLAMing on 86.51650248099999 meters Centerline goodness : 0.216606 Centerline is valid? [False, False] Translation: X:2.27, Y:0.26, Z:0.20 [[ 0.96190342 -0.07850847 -0.26187445 2.27262035] [ 0.08230092 0.99660128 0.00352799 0.26305637] [ 0.26070744 -0.02494609 0.9650955 0.20382689] [ 0. 0. 0. 1. ]] SLAMing on 86.54650248099999 meters Centerline goodness : 0.297677 Centerline is valid? [False, False] Translation: X:2.27, Y:0.26, Z:0.20 [[ 9.61772395e-01 -8.17002628e-02 -2.61378894e-01 2.27180798e+00] [ 8.50508142e-02 9.96375467e-01 1.51270009e-03 2.60099850e-01] [ 2.60307930e-01 -2.36853610e-02 9.65235093e-01 2.04296879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.57650248099999 meters Centerline goodness : 0.581106 Centerline is valid? [False, False] Translation: X:2.27, Y:0.26, Z:0.20 [[ 9.61712444e-01 -8.54006861e-02 -2.60414857e-01 2.26970648e+00] [ 8.79566658e-02 9.96122593e-01 -1.84525875e-03 2.59257460e-01] [ 2.59562709e-01 -2.11306142e-02 9.65495053e-01 2.04767123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60650248099999 meters Centerline goodness : 0.588682 Centerline is valid? [False, False] Translation: X:2.27, Y:0.26, Z:0.21 [[ 0.96165815 -0.08879983 -0.25947679 2.2666884 ] [ 0.09097115 0.99584683 -0.00365305 0.25510654] [ 0.25872352 -0.02009192 0.96574244 0.20652315] [ 0. 0. 0. 1. ]] SLAMing on 86.636502481 meters Centerline goodness : 0.217535 Centerline is valid? [False, False] Translation: X:2.27, Y:0.25, Z:0.21 [[ 0.9616463 -0.08888024 -0.25949315 2.26643302] [ 0.0913552 0.99581515 -0.00253145 0.25247707] [ 0.2586322 -0.02127168 0.96574163 0.2072059 ] [ 0. 0. 0. 1. ]] SLAMing on 86.666502481 meters Centerline goodness : 0.206571 Centerline is valid? [False, False] Translation: X:2.26, Y:0.25, Z:0.21 [[ 0.96149445 -0.09251587 -0.25878413 2.26481032] [ 0.09474635 0.99549393 -0.00386771 0.24807641] [ 0.25797586 -0.02080007 0.96592744 0.20843146] [ 0. 0. 0. 1. ]] SLAMing on 86.696502481 meters Centerline goodness : 0.257529 Centerline is valid? [False, False] Translation: X:2.26, Y:0.24, Z:0.21 [[ 0.96162534 -0.09235351 -0.25835543 2.26349066] [ 0.09496076 0.99547813 -0.00239681 0.24478134] [ 0.25740853 -0.02222879 0.96604696 0.20923614] [ 0. 0. 0. 1. ]] SLAMing on 86.726502481 meters Centerline goodness : 0.585055 Centerline is valid? [False, False] Translation: X:2.26, Y:0.24, Z:0.21 [[ 0.96147486 -0.09592051 -0.25761473 2.26207188] [ 0.09811757 0.99516535 -0.00434441 0.24041143] [ 0.25678597 -0.02109949 0.96623795 0.2100977 ] [ 0. 0. 0. 1. ]] SLAMing on 86.75650248099998 meters Centerline goodness : 0.264426 Centerline is valid? [False, False] Translation: X:2.26, Y:0.24, Z:0.21 [[ 0.96141334 -0.098855 -0.25673346 2.2614098 ] [ 0.10043061 0.99491943 -0.00700116 0.2382266 ] [ 0.25612121 -0.01905289 0.96645689 0.20958017] [ 0. 0. 0. 1. ]] SLAMing on 86.78650248099999 meters Centerline goodness : 0.586030 Centerline is valid? [False, False] Translation: X:2.26, Y:0.23, Z:0.21 [[ 0.96135393 -0.10193478 -0.25574974 2.25934582] [ 0.10315771 0.99462727 -0.00866486 0.23464836] [ 0.25525892 -0.01805256 0.96670419 0.21048476] [ 0. 0. 0. 1. ]] SLAMing on 86.81650248099999 meters Centerline goodness : 0.585645 Centerline is valid? [False, False] Translation: X:2.26, Y:0.23, Z:0.21 [[ 0.96136425 -0.1018303 -0.25575255 2.25917562] [ 0.10338799 0.9946137 -0.00738329 0.23203542] [ 0.25512684 -0.01934371 0.96671408 0.21104872] [ 0. 0. 0. 1. ]] SLAMing on 86.84650248099999 meters Centerline goodness : 0.228655 Centerline is valid? [False, False] Translation: X:2.26, Y:0.23, Z:0.21 [[ 0.96102953 -0.10620109 -0.25523237 2.25972284] [ 0.10731619 0.99417865 -0.00959449 0.22784916] [ 0.25476552 -0.01816998 0.96683214 0.21083337] [ 0. 0. 0. 1. ]] SLAMing on 86.87650248099999 meters Centerline goodness : 0.229290 Centerline is valid? [False, False] Translation: X:2.26, Y:0.23, Z:0.21 [[ 0.9607096 -0.10999152 -0.25483117 2.25986227] [ 0.1105529 0.9937958 -0.01216443 0.22577862] [ 0.25458813 -0.01648584 0.96690904 0.21089077] [ 0. 0. 0. 1. ]] SLAMing on 86.90650248099999 meters Centerline goodness : 0.616965 Centerline is valid? [False, False] Translation: X:2.26, Y:0.22, Z:0.21 [[ 0.96035499 -0.11417281 -0.25432825 2.26069568] [ 0.11452067 0.99332928 -0.01348924 0.22065154] [ 0.2541718 -0.01617138 0.96702388 0.21072646] [ 0. 0. 0. 1. ]] SLAMing on 86.93650248099999 meters Centerline goodness : 0.245811 Centerline is valid? [False, False] Translation: X:2.26, Y:0.22, Z:0.21 [[ 0.95982734 -0.11802231 -0.2545628 2.26237399] [ 0.11791343 0.99289907 -0.01574347 0.21872361] [ 0.25461325 -0.01490536 0.96692809 0.21083176] [ 0. 0. 0. 1. ]] SLAMing on 86.96650248099999 meters Centerline goodness : 0.245811 Centerline is valid? [False, False] Translation: X:2.26, Y:0.22, Z:0.21 [[ 0.95982734 -0.11802231 -0.2545628 2.26237399] [ 0.11791343 0.99289907 -0.01574347 0.21872361] [ 0.25461325 -0.01490536 0.96692809 0.21083176] [ 0. 0. 0. 1. ]] SLAMing on 86.996502481 meters Centerline goodness : 0.609311 Centerline is valid? [False, False] Translation: X:2.26, Y:0.21, Z:0.21 [[ 0.95920203 -0.12279528 -0.2546621 2.26485427] [ 0.12259699 0.99231579 -0.01671397 0.21338021] [ 0.25475762 -0.01518873 0.96688565 0.21065389] [ 0. 0. 0. 1. ]] SLAMing on 87.026502481 meters Centerline goodness : 0.310914 Centerline is valid? [False, False] Translation: X:2.27, Y:0.21, Z:0.21 [[ 0.95902077 -0.12364911 -0.25493147 2.26559243] [ 0.12393122 0.99217712 -0.0150205 0.20984136] [ 0.25479445 -0.01718899 0.96684245 0.21151736] [ 0. 0. 0. 1. ]] SLAMing on 87.056502481 meters Centerline goodness : 0.624720 Centerline is valid? [False, False] Translation: X:2.27, Y:0.21, Z:0.21 [[ 0.95847258 -0.12851218 -0.25458779 2.26626968] [ 0.12853576 0.99156566 -0.01661614 0.20577649] [ 0.25457588 -0.01679752 0.96690691 0.21207661] [ 0. 0. 0. 1. ]] SLAMing on 87.086502481 meters Centerline goodness : 0.164784 Centerline is valid? [False, False] Translation: X:2.27, Y:0.20, Z:0.21 [[ 0.9583823 -0.12890637 -0.25472832 2.26690266] [ 0.12923898 0.99149226 -0.01550402 0.20337039] [ 0.25455972 -0.01806205 0.96688836 0.21239617] [ 0. 0. 0. 1. ]] SLAMing on 87.116502481 meters Centerline goodness : 0.572062 Centerline is valid? [False, False] Translation: X:2.27, Y:0.20, Z:0.21 [[ 0.95817164 -0.12983775 -0.2550476 2.26685278] [ 0.13059444 0.99133645 -0.01404053 0.20078497] [ 0.25466097 -0.01985456 0.96682655 0.21398536] [ 0. 0. 0. 1. ]] SLAMing on 87.14650248099998 meters Centerline goodness : 0.308097 Centerline is valid? [False, False] Translation: X:2.27, Y:0.20, Z:0.21 [[ 0.95802339 -0.13044516 -0.25529441 2.267816 ] [ 0.13125586 0.99125057 -0.01393549 0.20043062] [ 0.25487855 -0.02015836 0.96676293 0.21394284] [ 0. 0. 0. 1. ]] SLAMing on 87.17650248099999 meters Centerline goodness : 0.593334 Centerline is valid? [False, False] Translation: X:2.27, Y:0.20, Z:0.21 [[ 0.95767952 -0.13184807 -0.2558633 2.27069922] [ 0.13259089 0.99106589 -0.01442387 0.20029047] [ 0.25547915 -0.0201117 0.96660536 0.21291931] [ 0. 0. 0. 1. ]] SLAMing on 87.20650248099999 meters Centerline goodness : 0.273927 Centerline is valid? [False, False] Translation: X:2.27, Y:0.20, Z:0.21 [[ 0.957601 -0.13217317 -0.25598942 2.2716044 ] [ 0.13282799 0.99102845 -0.01480982 0.20117646] [ 0.25565026 -0.01982067 0.96656613 0.21235092] [ 0. 0. 0. 1. ]] SLAMing on 87.23650248099999 meters Centerline goodness : 0.582671 Centerline is valid? [False, False] Translation: X:2.27, Y:0.20, Z:0.21 [[ 0.95745414 -0.13220106 -0.25652376 2.27276955] [ 0.13287559 0.99102249 -0.01478202 0.20235236] [ 0.25617501 -0.01993264 0.96642488 0.21231203] [ 0. 0. 0. 1. ]] SLAMing on 87.26650248099999 meters Centerline goodness : 0.262225 Centerline is valid? [False, False] Translation: X:2.27, Y:0.20, Z:0.21 [[ 0.95778245 -0.12880534 -0.25702524 2.27359886] [ 0.1302145 0.99141793 -0.01160492 0.2028049 ] [ 0.2563142 -0.02235342 0.96633501 0.21190451] [ 0. 0. 0. 1. ]] SLAMing on 87.29650248099999 meters Centerline goodness : 0.485180 Centerline is valid? [False, False] Translation: X:2.27, Y:0.20, Z:0.21 [[ 0.95786769 -0.12865285 -0.25678383 2.27377944] [ 0.12990148 0.99145223 -0.0121687 0.20365765] [ 0.25615444 -0.02170059 0.96639225 0.21105939] [ 0. 0. 0. 1. ]] SLAMing on 87.32650248099999 meters Centerline goodness : 0.252589 Centerline is valid? [False, False] Translation: X:2.27, Y:0.21, Z:0.21 [[ 0.95814127 -0.12516304 -0.25748694 2.27488606] [ 0.12698744 0.99185786 -0.00960064 0.20638565] [ 0.25659209 -0.02349884 0.96623408 0.21044145] [ 0. 0. 0. 1. ]] SLAMing on 87.35650248099999 meters Centerline goodness : 0.382665 Centerline is valid? [False, False] Translation: X:2.28, Y:0.21, Z:0.21 [[ 0.9584218 -0.12156287 -0.25816684 2.27600294] [ 0.1241381 0.99224453 -0.00636579 0.20756363] [ 0.25693848 -0.02594723 0.96607938 0.21005374] [ 0. 0. 0. 1. ]] SLAMing on 87.386502481 meters Centerline goodness : 0.266827 Centerline is valid? [False, False] Translation: X:2.28, Y:0.21, Z:0.21 [[ 0.95878321 -0.11788707 -0.2585293 2.2766023 ] [ 0.1208894 0.99265662 -0.00431154 0.21133877] [ 0.2571391 -0.02711962 0.96599379 0.20907315] [ 0. 0. 0. 1. ]] SLAMing on 87.416502481 meters Centerline goodness : 0.447238 Centerline is valid? [False, False] Translation: X:2.28, Y:0.21, Z:0.21 [[ 9.59156323e-01 -1.14222591e-01 -2.58790163e-01 2.27674028e+00] [ 1.17947104e-01 9.93019223e-01 -1.14192100e-03 2.11693039e-01] [ 2.57114039e-01 -2.94282695e-02 9.65932890e-01 2.08792432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.446502481 meters Centerline goodness : 0.432885 Centerline is valid? [False, False] Translation: X:2.28, Y:0.22, Z:0.21 [[ 9.59508701e-01 -1.10480443e-01 -2.59108326e-01 2.27755957e+00] [ 1.14406418e-01 9.93434027e-01 7.30301655e-05 2.16648005e-01] [ 2.57398959e-01 -2.97137286e-02 9.65848265e-01 2.07243629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.476502481 meters Centerline goodness : 0.711363 Centerline is valid? [False, False] Translation: X:2.28, Y:0.22, Z:0.21 [[ 0.95970513 -0.10681564 -0.25991629 2.27898447] [ 0.11137937 0.99377387 0.00284999 0.21897007] [ 0.25799359 -0.03168446 0.96562695 0.20666467] [ 0. 0. 0. 1. ]] SLAMing on 87.50650248099998 meters Centerline goodness : 0.499761 Centerline is valid? [False, False] Translation: X:2.28, Y:0.23, Z:0.20 [[ 0.96004931 -0.10310116 -0.26014511 2.27951086] [ 0.10762197 0.99418688 0.00315432 0.22528212] [ 0.25830764 -0.03102563 0.96556438 0.20493297] [ 0. 0. 0. 1. ]] SLAMing on 87.53650248099999 meters Centerline goodness : 0.294597 Centerline is valid? [False, False] Translation: X:2.28, Y:0.23, Z:0.20 [[ 0.96030575 -0.09926478 -0.26069018 2.28100247] [ 0.10427318 0.99453395 0.00541617 0.2276815 ] [ 0.2587276 -0.03238417 0.96540732 0.20363825] [ 0. 0. 0. 1. ]] SLAMing on 87.56650248099999 meters Centerline goodness : 0.455368 Centerline is valid? [False, False] Translation: X:2.28, Y:0.24, Z:0.20 [[ 0.96055035 -0.09498823 -0.26138143 2.28355512] [ 0.10012133 0.9949549 0.00636073 0.23536006] [ 0.25945854 -0.03227966 0.96521463 0.20102385] [ 0. 0. 0. 1. ]] SLAMing on 87.59650248099999 meters Centerline goodness : 0.529472 Centerline is valid? [False, False] Translation: X:2.28, Y:0.24, Z:0.20 [[ 0.96079487 -0.09125984 -0.26181075 2.28360469] [ 0.0969043 0.99525566 0.00870203 0.23850855] [ 0.25977449 -0.03373146 0.96508 0.20088922] [ 0. 0. 0. 1. ]] SLAMing on 87.62650248099999 meters Centerline goodness : 0.444804 Centerline is valid? [False, False] Translation: X:2.28, Y:0.25, Z:0.20 [[ 0.96128224 -0.08411987 -0.26241248 2.2828201 ] [ 0.09073635 0.99578778 0.0131766 0.24577631] [ 0.26019873 -0.03647678 0.96486583 0.20113974] [ 0. 0. 0. 1. ]] SLAMing on 87.65650248099999 meters Centerline goodness : 0.543106 Centerline is valid? [False, False] Translation: X:2.28, Y:0.25, Z:0.20 [[ 0.96139433 -0.08087699 -0.26302063 2.28362481] [ 0.0879831 0.99600397 0.01533209 0.24905606] [ 0.26072958 -0.03788155 0.96466838 0.20091557] [ 0. 0. 0. 1. ]] SLAMing on 87.68650248099999 meters Centerline goodness : 0.523271 Centerline is valid? [False, False] Translation: X:2.28, Y:0.26, Z:0.20 [[ 0.96151997 -0.07864212 -0.263239 2.2838461 ] [ 0.08567629 0.99620506 0.01533127 0.25550379] [ 0.26103434 -0.03729467 0.96460882 0.20013078] [ 0. 0. 0. 1. ]] SLAMing on 87.71650248099999 meters Centerline goodness : 0.509175 Centerline is valid? [False, False] Translation: X:2.28, Y:0.26, Z:0.20 [[ 0.96148003 -0.07952723 -0.26311892 2.28386319] [ 0.08593917 0.99621646 0.01293128 0.26010327] [ 0.26109501 -0.03504539 0.96467674 0.19935628] [ 0. 0. 0. 1. ]] SLAMing on 87.746502481 meters Centerline goodness : 0.436264 Centerline is valid? [False, False] Translation: X:2.29, Y:0.27, Z:0.20 [[ 0.96130657 -0.07662982 -0.26460829 2.28516079] [ 0.08385683 0.99634762 0.0161075 0.26771872] [ 0.26240753 -0.03767346 0.96422145 0.20041898] [ 0. 0. 0. 1. ]] SLAMing on 87.776502481 meters Centerline goodness : 0.718708 Centerline is valid? [False, False] Translation: X:2.29, Y:0.27, Z:0.20 [[ 0.96133884 -0.0738584 -0.26527829 2.28565737] [ 0.08169107 0.99648413 0.01859963 0.27086775] [ 0.26297187 -0.03955141 0.96399247 0.20087315] [ 0. 0. 0. 1. ]] SLAMing on 87.806502481 meters Centerline goodness : 0.720619 Centerline is valid? [False, False] Translation: X:2.29, Y:0.28, Z:0.20 [[ 0.96108986 -0.07408053 -0.26611718 2.28672826] [ 0.08203652 0.99645029 0.01888982 0.27544801] [ 0.26377318 -0.03998614 0.96375558 0.2014149 ] [ 0. 0. 0. 1. ]] SLAMing on 87.836502481 meters Centerline goodness : 0.721014 Centerline is valid? [False, False] Translation: X:2.29, Y:0.28, Z:0.20 [[ 0.96107109 -0.07191567 -0.26677798 2.28684318] [ 0.08006256 0.9965937 0.01977342 0.28277976] [ 0.26444723 -0.04036259 0.96355515 0.20177702] [ 0. 0. 0. 1. ]] SLAMing on 87.866502481 meters Centerline goodness : 0.718847 Centerline is valid? [False, False] Translation: X:2.29, Y:0.29, Z:0.20 [[ 0.9609628 -0.07244428 -0.26702495 2.28658858] [ 0.08029639 0.99659766 0.01859019 0.28643415] [ 0.26476969 -0.03930562 0.96351029 0.20222371] [ 0. 0. 0. 1. ]] SLAMing on 87.89650248099998 meters Centerline goodness : 0.718284 Centerline is valid? [False, False] Translation: X:2.29, Y:0.29, Z:0.20 [[ 0.96100115 -0.06986266 -0.2675743 2.2854142 ] [ 0.0783452 0.99670204 0.02114392 0.2901941 ] [ 0.26521469 -0.0412825 0.96330521 0.20409843] [ 0. 0. 0. 1. ]] SLAMing on 87.92650248099999 meters Centerline goodness : 0.719550 Centerline is valid? [False, False] Translation: X:2.28, Y:0.29, Z:0.20 [[ 0.96086638 -0.07113435 -0.26772319 2.28481472] [ 0.07929127 0.9966555 0.0197662 0.29380393] [ 0.26542173 -0.04022079 0.9632931 0.20480441] [ 0. 0. 0. 1. ]] SLAMing on 87.95650248099999 meters Centerline goodness : 0.717177 Centerline is valid? [False, False] Translation: X:2.29, Y:0.30, Z:0.21 [[ 0.96059249 -0.07200275 -0.26847285 2.28533618] [ 0.08008685 0.99660166 0.01926736 0.29684206] [ 0.26617319 -0.04000923 0.96309454 0.20582273] [ 0. 0. 0. 1. ]] SLAMing on 87.98650248099999 meters Centerline goodness : 0.717975 Centerline is valid? [False, False] Translation: X:2.29, Y:0.30, Z:0.21 [[ 0.96022153 -0.07277148 -0.2695903 2.28603405] [ 0.08115353 0.99649968 0.02006233 0.3011455 ] [ 0.26718668 -0.04114248 0.9627661 0.20744077] [ 0. 0. 0. 1. ]] SLAMing on 88.01650248099999 meters Centerline goodness : 0.716104 Centerline is valid? [False, False] Translation: X:2.29, Y:0.30, Z:0.21 [[ 0.96003313 -0.07358252 -0.27004073 2.28659504] [ 0.08181159 0.99646035 0.01932961 0.30307942] [ 0.26766256 -0.04064953 0.96265485 0.20788245] [ 0. 0. 0. 1. ]] SLAMing on 88.04650248099999 meters Centerline goodness : 0.713491 Centerline is valid? [False, False] Translation: X:2.29, Y:0.31, Z:0.21 [[ 0.95955747 -0.07436059 -0.27151419 2.28889925] [ 0.08270805 0.99638469 0.01941472 0.30830068] [ 0.2690889 -0.04108595 0.96223859 0.20861371] [ 0. 0. 0. 1. ]] SLAMing on 88.07650248099999 meters Centerline goodness : 0.715412 Centerline is valid? [False, False] Translation: X:2.29, Y:0.31, Z:0.21 [[ 0.95949118 -0.0746999 -0.2716553 2.2888429 ] [ 0.08276344 0.99640061 0.0183312 0.31102364] [ 0.26930816 -0.04007176 0.96222002 0.20874988] [ 0. 0. 0. 1. ]] SLAMing on 88.10650248099999 meters Centerline goodness : 0.715863 Centerline is valid? [False, False] Translation: X:2.29, Y:0.31, Z:0.21 [[ 0.95969892 -0.07119422 -0.27186277 2.2879638 ] [ 0.07975003 0.99660328 0.02053839 0.31468805] [ 0.26947712 -0.04139174 0.96211684 0.20924748] [ 0. 0. 0. 1. ]] SLAMing on 88.136502481 meters Centerline goodness : 0.715424 Centerline is valid? [False, False] Translation: X:2.29, Y:0.32, Z:0.21 [[ 0.95966415 -0.07097506 -0.27204275 2.28751269] [ 0.07935784 0.99664709 0.01992258 0.3174481 ] [ 0.26971661 -0.04070771 0.96207891 0.20973136] [ 0. 0. 0. 1. ]] SLAMing on 88.166502481 meters Centerline goodness : 0.714485 Centerline is valid? [False, False] Translation: X:2.28, Y:0.32, Z:0.21 [[ 0.96005621 -0.06661691 -0.2717614 2.28465732] [ 0.0756219 0.99687617 0.0227864 0.31970786] [ 0.2693945 -0.04242734 0.96209486 0.21108617] [ 0. 0. 0. 1. ]] SLAMing on 88.196502481 meters Centerline goodness : 0.713903 Centerline is valid? [False, False] Translation: X:2.28, Y:0.32, Z:0.21 [[ 0.95991613 -0.06693997 -0.27217653 2.28482289] [ 0.07540202 0.99693753 0.02073894 0.32456237] [ 0.26995473 -0.0404303 0.96202382 0.21132387] [ 0. 0. 0. 1. ]] SLAMing on 88.226502481 meters Centerline goodness : 0.713789 Centerline is valid? [False, False] Translation: X:2.28, Y:0.33, Z:0.21 [[ 0.95989276 -0.06747677 -0.2721264 2.28499077] [ 0.07560271 0.99694782 0.01947504 0.32648261] [ 0.26998171 -0.03926744 0.96206442 0.21095815] [ 0. 0. 0. 1. ]] SLAMing on 88.25650248099998 meters Centerline goodness : 0.712496 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.21 [[ 0.95980752 -0.06789981 -0.27232175 2.28500723] [ 0.07579786 0.99695016 0.01857591 0.32816581] [ 0.27022991 -0.0384707 0.96202692 0.21125586] [ 0. 0. 0. 1. ]] SLAMing on 88.28650248099999 meters Centerline goodness : 0.715008 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.21 [[ 0.95961938 -0.06875703 -0.27276936 2.28536562] [ 0.07619856 0.99695164 0.01676942 0.33163803] [ 0.27078485 -0.0368769 0.96193329 0.21166033] [ 0. 0. 0. 1. ]] SLAMing on 88.31650248099999 meters Centerline goodness : 0.716646 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.21 [[ 0.95948202 -0.06928199 -0.27311948 2.28579101] [ 0.07663905 0.99692488 0.0163476 0.33309074] [ 0.27114701 -0.03661684 0.96184121 0.21200367] [ 0. 0. 0. 1. ]] SLAMing on 88.34650248099999 meters Centerline goodness : 0.715311 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.21 [[ 0.95935785 -0.07002501 -0.27336609 2.28562948] [ 0.07717438 0.99689752 0.01547407 0.33483768] [ 0.27143441 -0.03594203 0.9617856 0.2126665 ] [ 0. 0. 0. 1. ]] SLAMing on 88.37650248099999 meters Centerline goodness : 0.716818 Centerline is valid? [False, False] Translation: X:2.29, Y:0.34, Z:0.21 [[ 0.95928378 -0.07055703 -0.2734892 2.2852201 ] [ 0.0776394 0.99686645 0.01514607 0.33517339] [ 0.27156354 -0.03576292 0.96175582 0.21339306] [ 0. 0. 0. 1. ]] SLAMing on 88.40650248099999 meters Centerline goodness : 0.717645 Centerline is valid? [False, False] Translation: X:2.28, Y:0.33, Z:0.22 [[ 0.9591196 -0.07128094 -0.27387702 2.28449872] [ 0.07848762 0.99679564 0.01543205 0.33443062] [ 0.27189941 -0.03629713 0.9616409 0.2151484 ] [ 0. 0. 0. 1. ]] SLAMing on 88.43650248099999 meters Centerline goodness : 0.717807 Centerline is valid? [False, False] Translation: X:2.28, Y:0.33, Z:0.22 [[ 0.95901692 -0.07159035 -0.27415575 2.28489967] [ 0.07887139 0.99676253 0.01561309 0.33380247] [ 0.27215043 -0.03659626 0.96155856 0.21557475] [ 0. 0. 0. 1. ]] SLAMing on 88.46650248099999 meters Centerline goodness : 0.719194 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.22 [[ 0.95859811 -0.07649885 -0.27429471 2.28555305] [ 0.08287415 0.9964912 0.01171211 0.334579 ] [ 0.2724363 -0.03395915 0.96157435 0.21591102] [ 0. 0. 0. 1. ]] SLAMing on 88.496502481 meters Centerline goodness : 0.719528 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.22 [[ 0.95846889 -0.0768136 -0.27465807 2.28569376] [ 0.08340005 0.99643942 0.0123654 0.33369757] [ 0.2727303 -0.03475835 0.96146245 0.2167515 ] [ 0. 0. 0. 1. ]] SLAMing on 88.526502481 meters Centerline goodness : 0.717526 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.22 [[ 0.95829118 -0.07766471 -0.27503854 2.28518333] [ 0.08440136 0.99635059 0.01272475 0.33365847] [ 0.27304655 -0.03540764 0.96134899 0.21822199] [ 0. 0. 0. 1. ]] SLAMing on 88.556502481 meters Centerline goodness : 0.720749 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.22 [[ 0.95816295 -0.07790252 -0.27541779 2.28579495] [ 0.08473223 0.99631937 0.01296755 0.33276637] [ 0.27339387 -0.03576179 0.96123716 0.21857105] [ 0. 0. 0. 1. ]] SLAMing on 88.586502481 meters Centerline goodness : 0.719829 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.22 [[ 0.95805704 -0.07824537 -0.27568891 2.28603838] [ 0.08516226 0.9962798 0.01318882 0.33225677] [ 0.27363133 -0.03611393 0.96115643 0.21899377] [ 0. 0. 0. 1. ]] SLAMing on 88.616502481 meters Centerline goodness : 0.720999 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.22 [[ 0.95798966 -0.07891009 -0.27573358 2.2856477 ] [ 0.08587573 0.9962176 0.01326079 0.33219093] [ 0.27364424 -0.03638253 0.96114262 0.21968166] [ 0. 0. 0. 1. ]] SLAMing on 88.64650248099998 meters Centerline goodness : 0.719266 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.22 [[ 0.95745647 -0.0841562 -0.27603412 2.28603363] [ 0.09003586 0.99590076 0.00867355 0.33390127] [ 0.27417266 -0.03315751 0.9611087 0.22054605] [ 0. 0. 0. 1. ]] SLAMing on 88.67650248099999 meters Centerline goodness : 0.720337 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.22 [[ 0.95696344 -0.08766876 -0.2766499 2.28711049] [ 0.09275331 0.9956749 0.00532059 0.33429607] [ 0.27498691 -0.03075181 0.96095605 0.22187343] [ 0. 0. 0. 1. ]] SLAMing on 88.70650248099999 meters Centerline goodness : 0.719290 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.22 [[ 0.95690775 -0.08764537 -0.27684986 2.28705377] [ 0.09282267 0.99566677 0.0056245 0.33235481] [ 0.27515724 -0.03108007 0.96089673 0.22239111] [ 0. 0. 0. 1. ]] SLAMing on 88.73650248099999 meters Centerline goodness : 0.718733 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.22 [[ 0.95690601 -0.08770971 -0.27683549 2.28693333] [ 0.09294246 0.99565453 0.00581079 0.33079818] [ 0.27512284 -0.03129015 0.96089976 0.22257738] [ 0. 0. 0. 1. ]] SLAMing on 88.76650248099999 meters Centerline goodness : 0.721335 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.22 [[ 9.56330448e-01 -9.19109748e-02 -2.77460712e-01 2.28770093e+00] [ 9.63194473e-02 9.95347885e-01 2.26996388e-03 3.30234610e-01] [ 2.75961298e-01 -2.88956980e-02 9.60734303e-01 2.24076329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.79650248099999 meters Centerline goodness : 0.720706 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.22 [[ 0.95627455 -0.09151709 -0.27778339 2.288591 ] [ 0.09612709 0.99536457 0.0029916 0.32856002] [ 0.27622197 -0.0295633 0.96063908 0.22380867] [ 0. 0. 0. 1. ]] SLAMing on 88.82650248099999 meters Centerline goodness : 0.721868 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.22 [[ 0.95628677 -0.09138544 -0.27778467 2.28893891] [ 0.09618356 0.99535687 0.00366452 0.32587715] [ 0.27616 -0.03022265 0.96063638 0.22352097] [ 0. 0. 0. 1. ]] SLAMing on 88.85650248099999 meters Centerline goodness : 0.724187 Centerline is valid? [False, False] Translation: X:2.29, Y:0.32, Z:0.22 [[ 0.95611939 -0.09186343 -0.27820284 2.2896608 ] [ 0.09683876 0.99529137 0.00416436 0.32497113] [ 0.27651033 -0.03092244 0.96051332 0.22395867] [ 0. 0. 0. 1. ]] SLAMing on 88.886502481 meters Centerline goodness : 0.724187 Centerline is valid? [False, False] Translation: X:2.29, Y:0.32, Z:0.22 [[ 0.95611939 -0.09186343 -0.27820284 2.2896608 ] [ 0.09683876 0.99529137 0.00416436 0.32497113] [ 0.27651033 -0.03092244 0.96051332 0.22395867] [ 0. 0. 0. 1. ]] SLAMing on 88.916502481 meters Centerline goodness : 0.722661 Centerline is valid? [False, False] Translation: X:2.29, Y:0.32, Z:0.22 [[ 9.55608902e-01 -9.54499210e-02 -2.78748883e-01 2.29129520e+00] [ 9.96823763e-02 9.95018791e-01 1.01489622e-03 3.24938418e-01] [ 2.77263505e-01 -2.87561949e-02 9.60363489e-01 2.24491896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.946502481 meters Centerline goodness : 0.560513 Centerline is valid? [False, False] Translation: X:2.29, Y:0.32, Z:0.22 [[ 9.55664302e-01 -9.56859401e-02 -2.78477902e-01 2.29089381e+00] [ 9.99283581e-02 9.94994086e-01 1.04503846e-03 3.24589483e-01] [ 2.76983870e-01 -2.88265455e-02 9.60442068e-01 2.24346314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.976502481 meters Centerline goodness : 0.544783 Centerline is valid? [False, False] Translation: X:2.29, Y:0.32, Z:0.22 [[ 9.55779676e-01 -9.60141939e-02 -2.77968499e-01 2.29025188e+00] [ 1.00091459e-01 9.94978125e-01 4.79764132e-04 3.24717962e-01] [ 2.76526512e-01 -2.82808213e-02 9.60590071e-01 2.23890668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00650248099998 meters Centerline goodness : 0.543777 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.22 [[ 9.55751571e-01 -9.61474160e-02 -2.78019079e-01 2.29064119e+00] [ 1.00096292e-01 9.94977755e-01 9.52533154e-06 3.25367528e-01] [ 2.76621883e-01 -2.78377827e-02 9.60575552e-01 2.23561492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.03650248099999 meters Centerline goodness : 0.540189 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.22 [[ 9.56063601e-01 -9.55162769e-02 -2.77162465e-01 2.28872087e+00] [ 9.92165275e-02 9.95065637e-01 -6.77055554e-04 3.26594100e-01] [ 2.75859515e-01 -2.68517892e-02 9.60822829e-01 2.23238760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06650248099999 meters Centerline goodness : 0.535692 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.22 [[ 9.55898746e-01 -9.54418256e-02 -2.77756090e-01 2.28916937e+00] [ 9.90780211e-02 9.95079215e-01 -9.49109181e-04 3.26786329e-01] [ 2.76479897e-01 -2.66122715e-02 9.60651161e-01 2.24576693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.09650248099999 meters Centerline goodness : 0.548405 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.22 [[ 9.56025700e-01 -9.55847930e-02 -2.77269557e-01 2.28860403e+00] [ 9.89691128e-02 9.95088883e-01 -1.79734645e-03 3.27716355e-01] [ 2.76079653e-01 -2.57228127e-02 9.60790488e-01 2.23982212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12650248099999 meters Centerline goodness : 0.549729 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95522201 -0.09799143 -0.27919275 2.29320067] [ 0.10002758 0.99496018 -0.00698093 0.32812937] [ 0.27846974 -0.02125864 0.9602097 0.22928151] [ 0. 0. 0. 1. ]] SLAMing on 89.15650248099999 meters Centerline goodness : 0.564429 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95520572 -0.09861948 -0.27902728 2.2924358 ] [ 0.10041484 0.99491438 -0.00788851 0.32942124] [ 0.27838621 -0.02048333 0.96025077 0.2296179 ] [ 0. 0. 0. 1. ]] SLAMing on 89.18650248099999 meters Centerline goodness : 0.391649 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95522117 -0.09891625 -0.2788693 2.29236521] [ 0.10063641 0.99488965 -0.00817848 0.32977235] [ 0.27825317 -0.02025215 0.96029424 0.229349 ] [ 0. 0. 0. 1. ]] SLAMing on 89.21650248099999 meters Centerline goodness : 0.402853 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95458831 -0.10306396 -0.27953349 2.29386694] [ 0.10381844 0.99452209 -0.01214709 0.33083323] [ 0.27925416 -0.01742526 0.9600591 0.23069248] [ 0. 0. 0. 1. ]] SLAMing on 89.246502481 meters Centerline goodness : 0.388823 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95447882 -0.10337204 -0.27979349 2.29420528] [ 0.10418215 0.99448563 -0.01201728 0.33093568] [ 0.27949286 -0.01767925 0.95998499 0.23106127] [ 0. 0. 0. 1. ]] SLAMing on 89.276502481 meters Centerline goodness : 0.727444 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95454414 -0.10383631 -0.27939848 2.29341301] [ 0.10482756 0.99442467 -0.01143477 0.32974686] [ 0.27902809 -0.01837366 0.96010715 0.23126903] [ 0. 0. 0. 1. ]] SLAMing on 89.306502481 meters Centerline goodness : 0.727373 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95446068 -0.10433945 -0.27949612 2.29297278] [ 0.10540667 0.99436553 -0.0112525 0.32923361] [ 0.27909539 -0.01872069 0.96008088 0.23195869] [ 0. 0. 0. 1. ]] SLAMing on 89.336502481 meters Centerline goodness : 0.521130 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95432739 -0.10483041 -0.27976742 2.29276968] [ 0.10623442 0.99428895 -0.01018454 0.3283231 ] [ 0.27923731 -0.02000154 0.96001378 0.23300613] [ 0. 0. 0. 1. ]] SLAMing on 89.366502481 meters Centerline goodness : 0.562424 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95423756 -0.10547996 -0.27982968 2.29228359] [ 0.1068084 0.99422373 -0.01054244 0.32788022] [ 0.27932533 -0.01982817 0.95999177 0.23368835] [ 0. 0. 0. 1. ]] SLAMing on 89.39650248099998 meters Centerline goodness : 0.560553 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95367481 -0.11008383 -0.27997483 2.29294647] [ 0.11039238 0.99377911 -0.01471766 0.32906249] [ 0.27985331 -0.01687123 0.95989452 0.23469859] [ 0. 0. 0. 1. ]] SLAMing on 89.42650248099999 meters Centerline goodness : 0.570879 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95382054 -0.11017467 -0.27944216 2.29201599] [ 0.11070592 0.99375556 -0.0139317 0.32723923] [ 0.27923212 -0.01764756 0.96006145 0.23470192] [ 0. 0. 0. 1. ]] SLAMing on 89.45650248099999 meters Centerline goodness : 0.582828 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.24 [[ 0.95373087 -0.11023559 -0.27972405 2.29202695] [ 0.11089442 0.99374022 -0.01352086 0.32745641] [ 0.27946352 -0.01812457 0.95998523 0.23531815] [ 0. 0. 0. 1. ]] SLAMing on 89.48650248099999 meters Centerline goodness : 0.734845 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.24 [[ 0.95374826 -0.11058463 -0.27952691 2.29099445] [ 0.11125612 0.99369987 -0.01351426 0.3280049 ] [ 0.27926033 -0.01820988 0.96004274 0.2359658 ] [ 0. 0. 0. 1. ]] SLAMing on 89.51650248099999 meters Centerline goodness : 0.731176 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.24 [[ 0.95373023 -0.11075498 -0.27952097 2.29074871] [ 0.11150753 0.99367512 -0.01325972 0.32745046] [ 0.27922162 -0.01852249 0.96004802 0.2362209 ] [ 0. 0. 0. 1. ]] SLAMing on 89.54650248099999 meters Centerline goodness : 0.732887 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.24 [[ 0.95337818 -0.11177427 -0.28031509 2.2934402 ] [ 0.11234732 0.99356928 -0.01407699 0.32892349] [ 0.28008591 -0.01807195 0.95980482 0.23559461] [ 0. 0. 0. 1. ]] SLAMing on 89.57650248099999 meters Centerline goodness : 0.733756 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.24 [[ 0.95328525 -0.11207876 -0.28050952 2.29443585] [ 0.11254653 0.99354073 -0.01449458 0.3300632 ] [ 0.28032217 -0.0177529 0.9597418 0.23509708] [ 0. 0. 0. 1. ]] SLAMing on 89.60650248099999 meters Centerline goodness : 0.587802 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95371991 -0.11157281 -0.27923079 2.29201469] [ 0.11162238 0.99362547 -0.01577585 0.33185446] [ 0.27921098 -0.01612266 0.96009442 0.23440377] [ 0. 0. 0. 1. ]] SLAMing on 89.636502481 meters Centerline goodness : 0.584195 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95399798 -0.11088278 -0.27855496 2.29071163] [ 0.11074488 0.99371548 -0.01628238 0.33303289] [ 0.27860981 -0.01531518 0.96028226 0.23393104] [ 0. 0. 0. 1. ]] SLAMing on 89.666502481 meters Centerline goodness : 0.378810 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95418182 -0.11054267 -0.27806001 2.28998968] [ 0.11005125 0.99377314 -0.01742585 0.3348835 ] [ 0.27825487 -0.01397342 0.96040563 0.23326384] [ 0. 0. 0. 1. ]] SLAMing on 89.696502481 meters Centerline goodness : 0.550891 Centerline is valid? [False, False] Translation: X:2.29, Y:0.34, Z:0.23 [[ 0.95504167 -0.10523172 -0.27716727 2.28872149] [ 0.10528594 0.99433288 -0.01473081 0.33605467] [ 0.27714668 -0.01511328 0.96070875 0.23149669] [ 0. 0. 0. 1. ]] SLAMing on 89.726502481 meters Centerline goodness : 0.548211 Centerline is valid? [False, False] Translation: X:2.29, Y:0.34, Z:0.23 [[ 0.9551508 -0.10444195 -0.27708993 2.2880427 ] [ 0.1042226 0.99443223 -0.01556223 0.33821261] [ 0.27717251 -0.01401476 0.96071795 0.23159063] [ 0. 0. 0. 1. ]] SLAMing on 89.75650248099998 meters Centerline goodness : 0.537537 Centerline is valid? [False, False] Translation: X:2.29, Y:0.34, Z:0.23 [[ 0.95559926 -0.09976929 -0.27726547 2.28812107] [ 0.10028596 0.99488195 -0.01235451 0.33957141] [ 0.27707901 -0.01599987 0.96071392 0.23095809] [ 0. 0. 0. 1. ]] SLAMing on 89.78650248099999 meters Centerline goodness : 0.579595 Centerline is valid? [False, False] Translation: X:2.29, Y:0.34, Z:0.23 [[ 0.9561753 -0.09868529 -0.27566285 2.28507169] [ 0.0989805 0.99500605 -0.01287713 0.33878803] [ 0.27555698 -0.01497245 0.96116813 0.23031188] [ 0. 0. 0. 1. ]] SLAMing on 89.81650248099999 meters Centerline goodness : 0.247802 Centerline is valid? [False, False] Translation: X:2.28, Y:0.34, Z:0.23 [[ 0.95637925 -0.09854148 -0.27500602 2.28418641] [ 0.09880602 0.99502275 -0.01292695 0.33761887] [ 0.27491108 -0.01480919 0.9613556 0.22982391] [ 0. 0. 0. 1. ]] SLAMing on 89.84650248099999 meters Centerline goodness : 0.207236 Centerline is valid? [False, False] Translation: X:2.28, Y:0.34, Z:0.23 [[ 0.95650962 -0.09835211 -0.27462012 2.28350378] [ 0.09863454 0.9950412 -0.01281592 0.33707726] [ 0.2745188 -0.01482847 0.96146739 0.22960463] [ 0. 0. 0. 1. ]] SLAMing on 89.87650248099999 meters Centerline goodness : 0.279795 Centerline is valid? [False, False] Translation: X:2.28, Y:0.34, Z:0.23 [[ 0.95638066 -0.09758155 -0.27534318 2.28434279] [ 0.09867766 0.99507016 -0.00990432 0.33764891] [ 0.27495226 -0.01769792 0.96129498 0.23030359] [ 0. 0. 0. 1. ]] SLAMing on 89.90650248099999 meters Centerline goodness : 0.213793 Centerline is valid? [False, False] Translation: X:2.29, Y:0.34, Z:0.23 [[ 0.95627432 -0.09783384 -0.27562288 2.28510748] [ 0.09902082 0.99503865 -0.00964141 0.33746817] [ 0.27519867 -0.01807257 0.9612175 0.23028212] [ 0. 0. 0. 1. ]] SLAMing on 89.93650248099999 meters Centerline goodness : 0.527918 Centerline is valid? [False, False] Translation: X:2.29, Y:0.34, Z:0.23 [[ 0.9559762 -0.10183924 -0.27520589 2.28630371] [ 0.10200722 0.99468874 -0.01374198 0.33694163] [ 0.27514367 -0.01493598 0.96128709 0.22907452] [ 0. 0. 0. 1. ]] SLAMing on 89.96650248099999 meters Centerline goodness : 0.450297 Centerline is valid? [False, False] Translation: X:2.29, Y:0.34, Z:0.23 [[ 0.95599115 -0.10181891 -0.27516146 2.2864405 ] [ 0.10217716 0.99468033 -0.01307162 0.33572003] [ 0.27502863 -0.01561887 0.96130916 0.22897049] [ 0. 0. 0. 1. ]] SLAMing on 89.996502481 meters Centerline goodness : 0.224611 Centerline is valid? [False, False] Translation: X:2.29, Y:0.34, Z:0.23 [[ 0.95603327 -0.10169559 -0.27506069 2.28635147] [ 0.10211048 0.99469006 -0.01285016 0.33587581] [ 0.27490694 -0.0158014 0.96134098 0.22889541] [ 0. 0. 0. 1. ]] SLAMing on 90.026502481 meters Centerline goodness : 0.544439 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95628937 -0.10159639 -0.27420577 2.28506531] [ 0.10223611 0.99468783 -0.01199608 0.33328089] [ 0.2739679 -0.016562 0.96159622 0.2286267 ] [ 0. 0. 0. 1. ]] SLAMing on 90.056502481 meters Centerline goodness : 0.231191 Centerline is valid? [False, False] Translation: X:2.28, Y:0.33, Z:0.23 [[ 0.95634109 -0.10151821 -0.27405433 2.28465118] [ 0.10246032 0.99467722 -0.01091331 0.33113935] [ 0.2737035 -0.01764285 0.96165229 0.22890844] [ 0. 0. 0. 1. ]] SLAMing on 90.086502481 meters Centerline goodness : 0.236744 Centerline is valid? [False, False] Translation: X:2.28, Y:0.33, Z:0.23 [[ 0.95637394 -0.10162805 -0.27389893 2.28435664] [ 0.10276303 0.99465315 -0.01024018 0.3299338 ] [ 0.27347512 -0.01835325 0.96170397 0.22904578] [ 0. 0. 0. 1. ]] SLAMing on 90.116502481 meters Centerline goodness : 0.243873 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95612731 -0.10266581 -0.27437256 2.28518486] [ 0.10412659 0.9945208 -0.00927572 0.32835787] [ 0.27382152 -0.01970071 0.96157873 0.22965092] [ 0. 0. 0. 1. ]] SLAMing on 90.14650248099998 meters Centerline goodness : 0.726666 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95605731 -0.10293605 -0.27451519 2.28566416] [ 0.10456027 0.99448005 -0.00875085 0.32719754] [ 0.27390066 -0.02033706 0.96154294 0.22970767] [ 0. 0. 0. 1. ]] SLAMing on 90.17650248099999 meters Centerline goodness : 0.567143 Centerline is valid? [False, False] Translation: X:2.28, Y:0.33, Z:0.23 [[ 0.95604708 -0.1036667 -0.27427576 2.28491004] [ 0.10548295 0.99438763 -0.00816047 0.32626579] [ 0.27358239 -0.02112962 0.96161646 0.23020933] [ 0. 0. 0. 1. ]] SLAMing on 90.20650248099999 meters Centerline goodness : 0.231345 Centerline is valid? [False, False] Translation: X:2.28, Y:0.33, Z:0.23 [[ 0.95605756 -0.10416088 -0.27405191 2.28451293] [ 0.1060089 0.99433219 -0.00810033 0.32618743] [ 0.27334237 -0.02130756 0.96168079 0.23025569] [ 0. 0. 0. 1. ]] SLAMing on 90.23650248099999 meters Centerline goodness : 0.250816 Centerline is valid? [False, False] Translation: X:2.28, Y:0.33, Z:0.23 [[ 0.95600818 -0.10493858 -0.27392746 2.28414419] [ 0.10686838 0.9942417 -0.00791183 0.3250453 ] [ 0.27318036 -0.02171041 0.96171781 0.2305585 ] [ 0. 0. 0. 1. ]] SLAMing on 90.26650248099999 meters Centerline goodness : 0.317337 Centerline is valid? [False, False] Translation: X:2.28, Y:0.32, Z:0.23 [[ 0.95607766 -0.10501258 -0.27365647 2.28309482] [ 0.10705845 0.99422451 -0.00749071 0.32439218] [ 0.27286258 -0.02213553 0.96179833 0.23103206] [ 0. 0. 0. 1. ]] SLAMing on 90.29650248099999 meters Centerline goodness : 0.256501 Centerline is valid? [False, False] Translation: X:2.28, Y:0.33, Z:0.23 [[ 0.95588265 -0.10583372 -0.27402115 2.28384216] [ 0.10784768 0.99413723 -0.00774944 0.32503463] [ 0.27323477 -0.02214499 0.96169244 0.23118924] [ 0. 0. 0. 1. ]] SLAMing on 90.32650248099999 meters Centerline goodness : 0.252479 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.9557469 -0.10642993 -0.27426361 2.28568894] [ 0.10833495 0.99408032 -0.00823699 0.32500011] [ 0.27351673 -0.02183985 0.96161927 0.23020318] [ 0. 0. 0. 1. ]] SLAMing on 90.35650248099999 meters Centerline goodness : 0.455235 Centerline is valid? [False, False] Translation: X:2.29, Y:0.32, Z:0.23 [[ 0.95572339 -0.10667274 -0.27425121 2.28686649] [ 0.10862167 0.99405003 -0.00811583 0.32482196] [ 0.27348516 -0.02203314 0.96162384 0.22919789] [ 0. 0. 0. 1. ]] SLAMing on 90.386502481 meters Centerline goodness : 0.432626 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95570958 -0.10686384 -0.27422492 2.28662647] [ 0.10873416 0.99403523 -0.00841696 0.3263104 ] [ 0.2734887 -0.02177345 0.96162875 0.22924239] [ 0. 0. 0. 1. ]] SLAMing on 90.416502481 meters Centerline goodness : 0.550008 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.23 [[ 0.95567292 -0.10693215 -0.27432605 2.28674739] [ 0.10867218 0.99403786 -0.00889288 0.32788736] [ 0.27364142 -0.02131292 0.96159562 0.22924126] [ 0. 0. 0. 1. ]] SLAMing on 90.446502481 meters Centerline goodness : 0.324423 Centerline is valid? [False, False] Translation: X:2.30, Y:0.33, Z:0.23 [[ 0.95563041 -0.10422016 -0.2755153 2.29590512] [ 0.1049064 0.99440619 -0.01228763 0.32706912] [ 0.27525474 -0.01716088 0.96121815 0.23476544] [ 0. 0. 0. 1. ]] SLAMing on 90.476502481 meters Centerline goodness : 0.149476 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 0.95694256 -0.10036631 -0.27237388 2.31882864] [ 0.09842964 0.9949266 -0.02080082 0.32720333] [ 0.27307972 -0.00690448 0.96196663 0.24427945] [ 0. 0. 0. 1. ]] SLAMing on 90.50650248099998 meters Centerline goodness : 0.149864 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 0.95711698 -0.10018127 -0.27182862 2.31792505] [ 0.09800536 0.99495134 -0.02160516 0.32854587] [ 0.27262068 -0.005962 0.96210312 0.24379955] [ 0. 0. 0. 1. ]] SLAMing on 90.53650248099999 meters Centerline goodness : 0.169651 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 0.95759072 -0.09590782 -0.27170151 2.31800643] [ 0.09438223 0.99536022 -0.01870906 0.33017483] [ 0.27223522 -0.00772817 0.9621997 0.24263609] [ 0. 0. 0. 1. ]] SLAMing on 90.56650248099999 meters Centerline goodness : 0.401364 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 0.9574233 -0.09562634 -0.27238983 2.31952525] [ 0.0939549 0.99539122 -0.01920416 0.33065211] [ 0.27297087 -0.00720585 0.96199531 0.24373811] [ 0. 0. 0. 1. ]] SLAMing on 90.59650248099999 meters Centerline goodness : 0.182368 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 0.95769486 -0.09513031 -0.27160775 2.31904997] [ 0.09292814 0.99545156 -0.02098914 0.33328641] [ 0.27236906 -0.00513882 0.96217913 0.242155 ] [ 0. 0. 0. 1. ]] SLAMing on 90.62650248099999 meters Centerline goodness : 0.727417 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 0.95798939 -0.09486958 -0.27065862 2.3172604 ] [ 0.09250387 0.99547987 -0.0215143 0.33345357] [ 0.27147626 -0.0044265 0.96243496 0.24170089] [ 0. 0. 0. 1. ]] SLAMing on 90.65650248099999 meters Centerline goodness : 0.191903 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 0.95819763 -0.09454451 -0.2700345 2.31619825] [ 0.09214593 0.99551174 -0.0215756 0.33285121] [ 0.27086237 -0.00420889 0.96260888 0.24133278] [ 0. 0. 0. 1. ]] SLAMing on 90.68650248099999 meters Centerline goodness : 0.191814 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 0.95820981 -0.09445627 -0.27002217 2.31679964] [ 0.09196812 0.9955215 -0.0218815 0.33357461] [ 0.27087972 -0.00386636 0.96260544 0.24065489] [ 0. 0. 0. 1. ]] SLAMing on 90.71650248099999 meters Centerline goodness : 0.726148 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 0.95809424 -0.09469192 -0.27034952 2.31734013] [ 0.09209778 0.99550034 -0.02229517 0.33498259] [ 0.27124421 -0.00353772 0.96250406 0.24082676] [ 0. 0. 0. 1. ]] SLAMing on 90.746502481 meters Centerline goodness : 0.724675 Centerline is valid? [False, False] Translation: X:2.32, Y:0.34, Z:0.24 [[ 0.95815648 -0.09447066 -0.27020633 2.31724383] [ 0.09192099 0.99552093 -0.02210468 0.33541475] [ 0.2710843 -0.00365789 0.96254866 0.2405964 ] [ 0. 0. 0. 1. ]] SLAMing on 90.776502481 meters Centerline goodness : 0.724675 Centerline is valid? [False, False] Translation: X:2.32, Y:0.34, Z:0.24 [[ 0.95815648 -0.09447066 -0.27020633 2.31724383] [ 0.09192099 0.99552093 -0.02210468 0.33541475] [ 0.2710843 -0.00365789 0.96254866 0.2405964 ] [ 0. 0. 0. 1. ]] SLAMing on 90.806502481 meters Centerline goodness : 0.724528 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 0.95814193 -0.09486199 -0.27012081 2.31778051] [ 0.09230407 0.99548365 -0.02218697 0.33480751] [ 0.27100555 -0.00367499 0.96257077 0.24004788] [ 0. 0. 0. 1. ]] SLAMing on 90.836502481 meters Centerline goodness : 0.724430 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 9.57662245e-01 -1.00397973e-01 -2.69820813e-01 2.31889062e+00] [ 9.67569863e-02 9.94947259e-01 -2.67962095e-02 3.34974146e-01] [ 2.71147764e-01 -4.45330568e-04 9.62537631e-01 2.39298707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.866502481 meters Centerline goodness : 0.725155 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 9.57592807e-01 -1.00787709e-01 -2.69921940e-01 2.31945955e+00] [ 9.73419045e-02 9.94907199e-01 -2.61575966e-02 3.33496955e-01] [ 2.71183645e-01 -1.22638933e-03 9.62526845e-01 2.39244140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.89650248099998 meters Centerline goodness : 0.547491 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 9.56963309e-01 -1.05080609e-01 -2.70516710e-01 2.31997575e+00] [ 1.00683178e-01 9.94462437e-01 -3.01223929e-02 3.33014171e-01] [ 2.72183986e-01 1.58954273e-03 9.62243915e-01 2.41608650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92650248099999 meters Centerline goodness : 0.723784 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 9.56844434e-01 -1.05685741e-01 -2.70701408e-01 2.32087874e+00] [ 1.01417739e-01 9.94399067e-01 -2.97479189e-02 3.32446818e-01] [ 2.72329159e-01 1.01020587e-03 9.62203621e-01 2.41412676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.95650248099999 meters Centerline goodness : 0.725123 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 0.95637215 -0.11002616 -0.270641 2.32129552] [ 0.10484035 0.99392161 -0.03359061 0.33323415] [ 0.27269178 0.00375103 0.96209413 0.24167252] [ 0. 0. 0. 1. ]] SLAMing on 90.98650248099999 meters Centerline goodness : 0.722642 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 0.95622496 -0.11428149 -0.26939481 2.31913889] [ 0.10850424 0.99343334 -0.03629091 0.33048957] [ 0.27177317 0.00547179 0.96234578 0.24207667] [ 0. 0. 0. 1. ]] SLAMing on 91.01650248099999 meters Centerline goodness : 0.722942 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 0.95610507 -0.11478777 -0.26960502 2.3191563 ] [ 0.10958129 0.99338461 -0.0343361 0.32738279] [ 0.27176284 0.00328525 0.96235865 0.2428742 ] [ 0. 0. 0. 1. ]] SLAMing on 91.04650248099999 meters Centerline goodness : 0.723837 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 9.55956632e-01 -1.15172675e-01 -2.69966983e-01 2.31924479e+00] [ 1.10271301e-01 9.93343331e-01 -3.33056513e-02 3.26432697e-01] [ 2.72005803e-01 2.06914772e-03 9.62293387e-01 2.43691588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.07650248099999 meters Centerline goodness : 0.723134 Centerline is valid? [False, False] Translation: X:2.32, Y:0.33, Z:0.24 [[ 9.55970016e-01 -1.15318490e-01 -2.69857324e-01 2.31829631e+00] [ 1.10500549e-01 9.93327014e-01 -3.30313795e-02 3.25335720e-01] [ 2.71865698e-01 1.75762607e-03 9.62333598e-01 2.44110379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10650248099999 meters Centerline goodness : 0.722218 Centerline is valid? [False, False] Translation: X:2.32, Y:0.32, Z:0.24 [[ 0.9557605 -0.11940015 -0.26882236 2.31682639] [ 0.11371498 0.99283607 -0.03668032 0.32468125] [ 0.27127617 0.00448848 0.96249109 0.24413876] [ 0. 0. 0. 1. ]] SLAMing on 91.136502481 meters Centerline goodness : 0.721706 Centerline is valid? [False, False] Translation: X:2.32, Y:0.32, Z:0.24 [[ 0.95565287 -0.11990287 -0.26898122 2.31791133] [ 0.11430144 0.99277721 -0.03644991 0.32356416] [ 0.27140887 0.00408852 0.96245546 0.2436482 ] [ 0. 0. 0. 1. ]] SLAMing on 91.166502481 meters Centerline goodness : 0.721346 Centerline is valid? [False, False] Translation: X:2.32, Y:0.32, Z:0.24 [[ 0.95554053 -0.12040787 -0.26915468 2.31957823] [ 0.11484345 0.99271701 -0.03638565 0.32232336] [ 0.27157555 0.00385731 0.96240939 0.2426823 ] [ 0. 0. 0. 1. ]] SLAMing on 91.196502481 meters Centerline goodness : 0.720615 Centerline is valid? [False, False] Translation: X:2.32, Y:0.32, Z:0.24 [[ 0.95533553 -0.12068479 -0.26975768 2.32166914] [ 0.11525002 0.99268552 -0.03595674 0.32178777] [ 0.27212397 0.00326118 0.96225667 0.24215619] [ 0. 0. 0. 1. ]] SLAMing on 91.226502481 meters Centerline goodness : 0.719985 Centerline is valid? [False, False] Translation: X:2.32, Y:0.32, Z:0.24 [[ 0.95532633 -0.12004644 -0.27007492 2.32250523] [ 0.11478064 0.99276462 -0.0352676 0.32156729] [ 0.27235457 0.00269269 0.96219319 0.24204364] [ 0. 0. 0. 1. ]] SLAMing on 91.25650248099998 meters Centerline goodness : 0.723456 Centerline is valid? [False, False] Translation: X:2.32, Y:0.32, Z:0.24 [[ 0.95543712 -0.1197411 -0.26981843 2.32159964] [ 0.11450481 0.99280158 -0.03512364 0.3214556 ] [ 0.27208191 0.00266292 0.96227041 0.24227788] [ 0. 0. 0. 1. ]] SLAMing on 91.28650248099999 meters Centerline goodness : 0.721220 Centerline is valid? [False, False] Translation: X:2.32, Y:0.32, Z:0.24 [[ 0.95551967 -0.11917591 -0.26977633 2.32172313] [ 0.1140425 0.99287032 -0.03468196 0.32038436] [ 0.27198617 0.00237332 0.96229824 0.2422399 ] [ 0. 0. 0. 1. ]] SLAMing on 91.31650248099999 meters Centerline goodness : 0.723004 Centerline is valid? [False, False] Translation: X:2.32, Y:0.32, Z:0.24 [[ 9.55960878e-01 -1.13530203e-01 -2.70646805e-01 2.32362656e+00] [ 1.09505618e-01 9.93534061e-01 -2.99764746e-02 3.19880209e-01] [ 2.72300055e-01 -9.81008632e-04 9.62211888e-01 2.41506251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34650248099999 meters Centerline goodness : 0.722044 Centerline is valid? [False, False] Translation: X:2.32, Y:0.32, Z:0.24 [[ 9.55802769e-01 -1.13025240e-01 -2.71415479e-01 2.32499812e+00] [ 1.08993352e-01 9.93591643e-01 -2.99348674e-02 3.20935661e-01] [ 2.73059547e-01 -9.70653583e-04 9.61996643e-01 2.42057584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.37650248099999 meters Centerline goodness : 0.721904 Centerline is valid? [False, False] Translation: X:2.33, Y:0.32, Z:0.24 [[ 9.55723061e-01 -1.12625624e-01 -2.71861911e-01 2.32654621e+00] [ 1.08614086e-01 9.93636951e-01 -2.98092322e-02 3.21344930e-01] [ 2.73489324e-01 -1.03866252e-03 9.61874478e-01 2.41881427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40650248099999 meters Centerline goodness : 0.722666 Centerline is valid? [False, False] Translation: X:2.33, Y:0.32, Z:0.24 [[ 9.55304047e-01 -1.14724474e-01 -2.72456370e-01 2.33061912e+00] [ 1.10028181e-01 9.93396768e-01 -3.25063259e-02 3.23587789e-01] [ 2.74386549e-01 1.07554602e-03 9.61618877e-01 2.41441011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.43650248099999 meters Centerline goodness : 0.720851 Centerline is valid? [False, False] Translation: X:2.36, Y:0.32, Z:0.25 [[ 0.95662033 -0.10677721 -0.2710649 2.36147033] [ 0.0998811 0.9942288 -0.03915181 0.32333939] [ 0.27368105 0.01037916 0.9617645 0.25081148] [ 0. 0. 0. 1. ]] SLAMing on 91.46650248099999 meters Centerline goodness : 0.721823 Centerline is valid? [False, False] Translation: X:2.40, Y:0.33, Z:0.27 [[ 0.95685909 -0.1027093 -0.2717931 2.40147535] [ 0.09459425 0.99459418 -0.04282927 0.32517496] [ 0.2747228 0.01527151 0.96140219 0.26582521] [ 0. 0. 0. 1. ]] SLAMing on 91.496502481 meters Centerline goodness : 0.721466 Centerline is valid? [False, False] Translation: X:2.43, Y:0.33, Z:0.28 [[ 0.9567542 -0.10037876 -0.27303023 2.43356653] [ 0.09182151 0.99480399 -0.04397528 0.32921037] [ 0.27602575 0.01700349 0.96099983 0.27735695] [ 0. 0. 0. 1. ]] SLAMing on 91.526502481 meters Centerline goodness : 0.721137 Centerline is valid? [False, False] Translation: X:2.43, Y:0.33, Z:0.28 [[ 0.95666814 -0.10047473 -0.27329635 2.43442807] [ 0.09180817 0.99478851 -0.04435168 0.3305802 ] [ 0.27632829 0.017339 0.96090688 0.27707141] [ 0. 0. 0. 1. ]] SLAMing on 91.556502481 meters Centerline goodness : 0.720441 Centerline is valid? [False, False] Translation: X:2.44, Y:0.33, Z:0.28 [[ 0.95649644 -0.09993737 -0.27409318 2.43684002] [ 0.09113556 0.99483503 -0.04469416 0.33091367] [ 0.27714412 0.01777017 0.96066402 0.27797044] [ 0. 0. 0. 1. ]] SLAMing on 91.586502481 meters Centerline goodness : 0.719431 Centerline is valid? [False, False] Translation: X:2.44, Y:0.33, Z:0.28 [[ 0.95639027 -0.09971487 -0.27454435 2.43827276] [ 0.09088567 0.99485637 -0.04472795 0.33045164] [ 0.27759224 0.01782523 0.96053361 0.27829198] [ 0. 0. 0. 1. ]] SLAMing on 91.616502481 meters Centerline goodness : 0.720927 Centerline is valid? [False, False] Translation: X:2.44, Y:0.33, Z:0.28 [[ 0.95648607 -0.09997374 -0.27411613 2.43733669] [ 0.09109977 0.99482689 -0.04494773 0.33052341] [ 0.27719168 0.01801996 0.96064564 0.27827767] [ 0. 0. 0. 1. ]] SLAMing on 91.64650248099998 meters Centerline goodness : 0.719694 Centerline is valid? [False, False] Translation: X:2.44, Y:0.33, Z:0.28 [[ 0.95648376 -0.10022915 -0.2740309 2.43677379] [ 0.09122783 0.99479322 -0.04543043 0.33031862] [ 0.27715754 0.01845423 0.96064725 0.27931833] [ 0. 0. 0. 1. ]] SLAMing on 91.67650248099999 meters Centerline goodness : 0.719679 Centerline is valid? [False, False] Translation: X:2.44, Y:0.33, Z:0.28 [[ 0.95637044 -0.10020243 -0.27443589 2.43656323] [ 0.09116233 0.99479454 -0.04553292 0.33035203] [ 0.27756983 0.01852813 0.96052678 0.28043214] [ 0. 0. 0. 1. ]] SLAMing on 91.70650248099999 meters Centerline goodness : 0.721934 Centerline is valid? [False, False] Translation: X:2.44, Y:0.33, Z:0.28 [[ 0.95613956 -0.10016676 -0.27525219 2.4384522 ] [ 0.09106238 0.99479634 -0.04569333 0.3303333 ] [ 0.27839682 0.01862408 0.96028556 0.28095874] [ 0. 0. 0. 1. ]] SLAMing on 91.73650248099999 meters Centerline goodness : 0.721498 Centerline is valid? [False, False] Translation: X:2.44, Y:0.33, Z:0.28 [[ 0.95596899 -0.09975803 -0.27599207 2.4404796 ] [ 0.09069574 0.99484143 -0.04544011 0.33008404] [ 0.27910137 0.01840803 0.96008519 0.28099291] [ 0. 0. 0. 1. ]] SLAMing on 91.76650248099999 meters Centerline goodness : 0.722690 Centerline is valid? [False, False] Translation: X:2.44, Y:0.33, Z:0.28 [[ 0.95577871 -0.09918158 -0.27685748 2.44309921] [ 0.09022322 0.99490695 -0.04494375 0.33063248] [ 0.27990502 0.01797731 0.95985936 0.28040468] [ 0. 0. 0. 1. ]] SLAMing on 91.79650248099999 meters Centerline goodness : 0.720667 Centerline is valid? [False, False] Translation: X:2.44, Y:0.33, Z:0.28 [[ 0.95527354 -0.10381045 -0.27690404 2.44481608] [ 0.093791 0.99437429 -0.04922422 0.33109141] [ 0.28045624 0.02105149 0.95963594 0.28063806] [ 0. 0. 0. 1. ]] SLAMing on 91.82650248099999 meters Centerline goodness : 0.721522 Centerline is valid? [False, False] Translation: X:2.45, Y:0.33, Z:0.28 [[ 0.955224 -0.10360881 -0.27715038 2.44523347] [ 0.09362195 0.99439807 -0.0490653 0.33047048] [ 0.2806814 0.02092099 0.95957296 0.28087546] [ 0. 0. 0. 1. ]] SLAMing on 91.85650248099999 meters Centerline goodness : 0.720372 Centerline is valid? [False, False] Translation: X:2.45, Y:0.33, Z:0.28 [[ 0.95562652 -0.09891689 -0.27747686 2.44554834] [ 0.09000319 0.9949373 -0.04471245 0.32844814] [ 0.28049489 0.0177546 0.9596913 0.28019716] [ 0. 0. 0. 1. ]] SLAMing on 91.886502481 meters Centerline goodness : 0.721372 Centerline is valid? [False, False] Translation: X:2.46, Y:0.33, Z:0.28 [[ 0.95577719 -0.10045544 -0.27640309 2.46263493] [ 0.09305199 0.9948652 -0.03980654 0.33085217] [ 0.2789826 0.01232633 0.96021704 0.28477072] [ 0. 0. 0. 1. ]] SLAMing on 91.916502481 meters Centerline goodness : 0.720044 Centerline is valid? [False, False] Translation: X:2.46, Y:0.33, Z:0.29 [[ 0.95568666 -0.10021187 -0.27680423 2.46339145] [ 0.09283811 0.99489136 -0.03965178 0.33064418] [ 0.27936372 0.01219669 0.96010789 0.28506832] [ 0. 0. 0. 1. ]] SLAMing on 91.946502481 meters Centerline goodness : 0.720611 Centerline is valid? [False, False] Translation: X:2.46, Y:0.33, Z:0.28 [[ 0.95563824 -0.10009631 -0.27701313 2.464399 ] [ 0.09273723 0.9949038 -0.03957559 0.32996424] [ 0.27956279 0.01213051 0.96005078 0.2848875 ] [ 0. 0. 0. 1. ]] SLAMing on 91.976502481 meters Centerline goodness : 0.718949 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:0.29 [[ 0.9555652 -0.10001753 -0.27729342 2.46503349] [ 0.09262863 0.99491079 -0.03965412 0.32929244] [ 0.27984832 0.01220678 0.95996662 0.28521633] [ 0. 0. 0. 1. ]] SLAMing on 92.00650248099998 meters Centerline goodness : 0.717232 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:0.29 [[ 0.95548034 -0.09967403 -0.2777092 2.46589034] [ 0.09229313 0.99494575 -0.0395593 0.32901186] [ 0.28024862 0.01216748 0.95985033 0.28569824] [ 0. 0. 0. 1. ]] SLAMing on 92.03650248099999 meters Centerline goodness : 0.718947 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:0.29 [[ 0.95531389 -0.09948549 -0.27834872 2.46702689] [ 0.09210881 0.99496561 -0.03948934 0.32893625] [ 0.28087602 0.01208635 0.95966795 0.28617448] [ 0. 0. 0. 1. ]] SLAMing on 92.06650248099999 meters Centerline goodness : 0.717974 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:0.29 [[ 0.95505262 -0.09990175 -0.2790952 2.46971352] [ 0.0923473 0.99491823 -0.04012086 0.33064196] [ 0.28168505 0.01254384 0.95942493 0.28533761] [ 0. 0. 0. 1. ]] SLAMing on 92.09650248099999 meters Centerline goodness : 0.718433 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:0.28 [[ 0.95513394 -0.10041917 -0.27863086 2.47016819] [ 0.09257898 0.99485299 -0.04119067 0.33146854] [ 0.28133307 0.01354725 0.95951455 0.28399426] [ 0. 0. 0. 1. ]] SLAMing on 92.12650248099999 meters Centerline goodness : 0.716987 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:0.28 [[ 0.95510758 -0.10061981 -0.27864881 2.47037843] [ 0.09272184 0.99483036 -0.04141525 0.3315291 ] [ 0.28137549 0.01371919 0.95949967 0.28382873] [ 0. 0. 0. 1. ]] SLAMing on 92.15650248099999 meters Centerline goodness : 0.716752 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:0.28 [[ 0.95514697 -0.10064893 -0.27850324 2.47079531] [ 0.09269434 0.99482438 -0.04161997 0.3317423 ] [ 0.28125082 0.01393751 0.95953307 0.283155 ] [ 0. 0. 0. 1. ]] SLAMing on 92.18650248099999 meters Centerline goodness : 0.715816 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:0.28 [[ 0.95524415 -0.10050108 -0.2782232 2.47028598] [ 0.09268494 0.99484519 -0.04114058 0.33192871] [ 0.28092369 0.01351219 0.95963498 0.28306093] [ 0. 0. 0. 1. ]] SLAMing on 92.21650248099999 meters Centerline goodness : 0.716998 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:0.28 [[ 0.95527712 -0.10090371 -0.27796414 2.46993186] [ 0.09314704 0.99480754 -0.04100722 0.33205508] [ 0.2806586 0.01328172 0.95971576 0.2829419 ] [ 0. 0. 0. 1. ]] SLAMing on 92.246502481 meters Centerline goodness : 0.715815 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:0.28 [[ 0.95511166 -0.10177051 -0.27821661 2.47116828] [ 0.09431103 0.99473476 -0.04010221 0.33036934] [ 0.28083296 0.01206319 0.95968085 0.28267572] [ 0. 0. 0. 1. ]] SLAMing on 92.276502481 meters Centerline goodness : 0.716682 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:0.28 [[ 0.95511989 -0.10226324 -0.27800759 2.47138749] [ 0.0949527 0.99469097 -0.03967198 0.32893547] [ 0.28058863 0.01149392 0.9597593 0.28221495] [ 0. 0. 0. 1. ]] SLAMing on 92.306502481 meters Centerline goodness : 0.714383 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:0.28 [[ 0.9551713 -0.10221852 -0.27784736 2.47109873] [ 0.0950646 0.9947015 -0.03913638 0.32655366] [ 0.28037565 0.0109685 0.95982769 0.28199653] [ 0. 0. 0. 1. ]] SLAMing on 92.336502481 meters Centerline goodness : 0.715284 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:0.28 [[ 0.9552372 -0.10204954 -0.2776829 2.47034274] [ 0.0950355 0.99472368 -0.03863995 0.32573955] [ 0.28016094 0.01052059 0.95989539 0.28238639] [ 0. 0. 0. 1. ]] SLAMing on 92.366502481 meters Centerline goodness : 0.712643 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:0.28 [[ 0.9551576 -0.1018536 -0.27802841 2.47001557] [ 0.09483911 0.99474397 -0.03860024 0.32582306] [ 0.28049866 0.01050135 0.95979697 0.28343973] [ 0. 0. 0. 1. ]] SLAMing on 92.39650248099998 meters Centerline goodness : 0.712877 Centerline is valid? [False, False] Translation: X:2.47, Y:0.33, Z:0.28 [[ 0.95504883 -0.10167698 -0.2784664 2.47101997] [ 0.09466221 0.99476242 -0.03855904 0.32594037] [ 0.28092847 0.01046552 0.95967165 0.28358468] [ 0. 0. 0. 1. ]] SLAMing on 92.42650248099999 meters Centerline goodness : 0.711269 Centerline is valid? [False, False] Translation: X:2.47, Y:0.32, Z:0.28 [[ 0.95505237 -0.10110055 -0.27866405 2.47428566] [ 0.09424214 0.99482627 -0.03793564 0.32407069] [ 0.28105763 0.00996863 0.95963912 0.28152082] [ 0. 0. 0. 1. ]] SLAMing on 92.45650248099999 meters Centerline goodness : 0.710966 Centerline is valid? [False, False] Translation: X:2.48, Y:0.32, Z:0.28 [[ 0.95492448 -0.10027852 -0.27939837 2.47690594] [ 0.09355449 0.99491394 -0.03733387 0.32309189] [ 0.28172111 0.00951205 0.95944918 0.28113521] [ 0. 0. 0. 1. ]] SLAMing on 92.48650248099999 meters Centerline goodness : 0.710477 Centerline is valid? [False, False] Translation: X:2.48, Y:0.32, Z:0.28 [[ 0.95515025 -0.09456135 -0.28061745 2.47937501] [ 0.08898248 0.99550001 -0.03258597 0.32270331] [ 0.28243605 0.00615446 0.95926639 0.2807439 ] [ 0. 0. 0. 1. ]] SLAMing on 92.51650248099999 meters Centerline goodness : 0.709301 Centerline is valid? [False, False] Translation: X:2.48, Y:0.32, Z:0.28 [[ 0.95492064 -0.0938889 -0.28162287 2.48102288] [ 0.08834488 0.99556454 -0.0323486 0.32352336] [ 0.28341092 0.00601041 0.95897973 0.28153473] [ 0. 0. 0. 1. ]] SLAMing on 92.54650248099999 meters Centerline goodness : 0.710323 Centerline is valid? [False, False] Translation: X:2.48, Y:0.32, Z:0.28 [[ 0.95476828 -0.09301399 -0.28242862 2.48388933] [ 0.08752301 0.99564757 -0.03202563 0.32347388] [ 0.2841782 0.00585805 0.95875358 0.28136699] [ 0. 0. 0. 1. ]] SLAMing on 92.57650248099999 meters Centerline goodness : 0.707600 Centerline is valid? [False, False] Translation: X:2.48, Y:0.32, Z:0.28 [[ 0.95479629 -0.09291516 -0.28236646 2.48451636] [ 0.08742555 0.9956567 -0.03200807 0.32317753] [ 0.2841141 0.00587514 0.95877248 0.28100667] [ 0. 0. 0. 1. ]] SLAMing on 92.60650248099999 meters Centerline goodness : 0.706543 Centerline is valid? [False, False] Translation: X:2.48, Y:0.32, Z:0.28 [[ 0.95521828 -0.09235489 -0.28112028 2.48232493] [ 0.08661631 0.99570169 -0.03279889 0.3239371 ] [ 0.28294108 0.0069805 0.95911189 0.28024199] [ 0. 0. 0. 1. ]] SLAMing on 92.636502481 meters Centerline goodness : 0.707690 Centerline is valid? [False, False] Translation: X:2.48, Y:0.33, Z:0.28 [[ 0.95535914 -0.09237869 -0.28063337 2.48171118] [ 0.08628377 0.99568942 -0.03402483 0.32638624] [ 0.28256684 0.00829183 0.95921177 0.27968195] [ 0. 0. 0. 1. ]] SLAMing on 92.666502481 meters Centerline goodness : 0.707444 Centerline is valid? [False, False] Translation: X:2.48, Y:0.33, Z:0.28 [[ 0.95523748 -0.09242981 -0.28103041 2.48226215] [ 0.08622066 0.99568175 -0.03440717 0.32798194] [ 0.2829971 0.00863639 0.95908188 0.27994339] [ 0. 0. 0. 1. ]] SLAMing on 92.696502481 meters Centerline goodness : 0.707444 Centerline is valid? [False, False] Translation: X:2.48, Y:0.33, Z:0.28 [[ 0.95523748 -0.09242981 -0.28103041 2.48226215] [ 0.08622066 0.99568175 -0.03440717 0.32798194] [ 0.2829971 0.00863639 0.95908188 0.27994339] [ 0. 0. 0. 1. ]] SLAMing on 92.726502481 meters Centerline goodness : 0.707035 Centerline is valid? [False, False] Translation: X:2.48, Y:0.33, Z:0.28 [[ 0.9550941 -0.09248058 -0.28150063 2.48343056] [ 0.08616345 0.99567428 -0.03476488 0.32982194] [ 0.28349802 0.00894867 0.95893107 0.2798821 ] [ 0. 0. 0. 1. ]] SLAMing on 92.75650248099998 meters Centerline goodness : 0.706086 Centerline is valid? [False, False] Translation: X:2.48, Y:0.33, Z:0.28 [[ 0.95511479 -0.09297233 -0.28126834 2.48353838] [ 0.08642839 0.99562141 -0.03561085 0.33160922] [ 0.2833476 0.00970288 0.95896819 0.27929941] [ 0. 0. 0. 1. ]] SLAMing on 92.78650248099999 meters Centerline goodness : 0.707102 Centerline is valid? [False, False] Translation: X:2.48, Y:0.33, Z:0.28 [[ 0.95517284 -0.09314482 -0.28101403 2.48344345] [ 0.08655536 0.99560364 -0.03579889 0.33104299] [ 0.28311307 0.00987086 0.95903574 0.27893098] [ 0. 0. 0. 1. ]] SLAMing on 92.81650248099999 meters Centerline goodness : 0.707884 Centerline is valid? [False, False] Translation: X:2.48, Y:0.33, Z:0.28 [[ 0.95518705 -0.09365343 -0.28079661 2.48369434] [ 0.08700732 0.9955544 -0.03607173 0.33095527] [ 0.28292654 0.01002389 0.9590892 0.27838451] [ 0. 0. 0. 1. ]] SLAMing on 92.84650248099999 meters Centerline goodness : 0.708505 Centerline is valid? [False, False] Translation: X:2.48, Y:0.33, Z:0.28 [[ 0.95517086 -0.09363272 -0.2808586 2.48335668] [ 0.08709517 0.99556017 -0.03569851 0.3312111 ] [ 0.28295418 0.00963675 0.95908501 0.27883677] [ 0. 0. 0. 1. ]] SLAMing on 92.87650248099999 meters Centerline goodness : 0.706791 Centerline is valid? [False, False] Translation: X:2.48, Y:0.33, Z:0.28 [[ 0.95526392 -0.09340534 -0.28061768 2.48243899] [ 0.08693949 0.99558332 -0.03543129 0.33196968] [ 0.28268775 0.00944947 0.95916544 0.27915567] [ 0. 0. 0. 1. ]] SLAMing on 92.90650248099999 meters Centerline goodness : 0.708210 Centerline is valid? [False, False] Translation: X:2.48, Y:0.33, Z:0.28 [[ 0.95535055 -0.09374351 -0.2802097 2.48166591] [ 0.08710442 0.99554551 -0.03608252 0.33388229] [ 0.28234402 0.01006395 0.95926043 0.27904487] [ 0. 0. 0. 1. ]] SLAMing on 92.93650248099999 meters Centerline goodness : 0.707806 Centerline is valid? [False, False] Translation: X:2.48, Y:0.34, Z:0.28 [[ 0.95497047 -0.09863969 -0.27982425 2.48302864] [ 0.09061193 0.99502061 -0.04151467 0.33604352] [ 0.28252589 0.01428987 0.95915323 0.2777103 ] [ 0. 0. 0. 1. ]] SLAMing on 92.96650248099999 meters Centerline goodness : 0.707573 Centerline is valid? [False, False] Translation: X:2.48, Y:0.34, Z:0.28 [[ 0.95492595 -0.09902744 -0.27983925 2.48377291] [ 0.091004 0.99498317 -0.04155441 0.33587775] [ 0.28255037 0.01421489 0.95914713 0.27718561] [ 0. 0. 0. 1. ]] SLAMing on 92.996502481 meters Centerline goodness : 0.709035 Centerline is valid? [False, False] Translation: X:2.48, Y:0.34, Z:0.28 [[ 0.95486641 -0.0995693 -0.27985014 2.48423456] [ 0.09161165 0.99493352 -0.04140769 0.33590767] [ 0.28255522 0.01390127 0.9591503 0.27689219] [ 0. 0. 0. 1. ]] SLAMing on 93.026502481 meters Centerline goodness : 0.709187 Centerline is valid? [False, False] Translation: X:2.48, Y:0.34, Z:0.28 [[ 0.95484752 -0.09943991 -0.27996056 2.48453195] [ 0.09153663 0.99494908 -0.0411991 0.33611731] [ 0.28264334 0.01371222 0.95912706 0.27688389] [ 0. 0. 0. 1. ]] SLAMing on 93.056502481 meters Centerline goodness : 0.707890 Centerline is valid? [False, False] Translation: X:2.49, Y:0.34, Z:0.28 [[ 0.95467003 -0.09969699 -0.28047397 2.48557809] [ 0.09178572 0.99492456 -0.04123702 0.33724019] [ 0.28316165 0.01362424 0.95897542 0.27702656] [ 0. 0. 0. 1. ]] SLAMing on 93.086502481 meters Centerline goodness : 0.709005 Centerline is valid? [False, False] Translation: X:2.48, Y:0.34, Z:0.28 [[ 0.95491945 -0.09964957 -0.27964051 2.48440439] [ 0.09186723 0.99493366 -0.04083422 0.33570803] [ 0.28229287 0.01330359 0.95923603 0.27646457] [ 0. 0. 0. 1. ]] SLAMing on 93.116502481 meters Centerline goodness : 0.708535 Centerline is valid? [False, False] Translation: X:2.48, Y:0.33, Z:0.28 [[ 0.95500219 -0.09926394 -0.27949506 2.48357268] [ 0.0916582 0.99497933 -0.04018601 0.33481363] [ 0.28208083 0.01275971 0.95930579 0.2768927 ] [ 0. 0. 0. 1. ]] SLAMing on 93.14650248099998 meters Centerline goodness : 0.707220 Centerline is valid? [False, False] Translation: X:2.48, Y:0.33, Z:0.28 [[ 0.95508507 -0.09914617 -0.27925357 2.48287734] [ 0.09162445 0.99499416 -0.03989462 0.33482918] [ 0.28181107 0.0125163 0.95938828 0.27700903] [ 0. 0. 0. 1. ]] SLAMing on 93.17650248099999 meters Centerline goodness : 0.709307 Centerline is valid? [False, False] Translation: X:2.48, Y:0.33, Z:0.28 [[ 0.95537986 -0.0950221 -0.27967859 2.48318372] [ 0.08863738 0.99543404 -0.03541877 0.33418338] [ 0.28176716 0.0090484 0.95944015 0.27699321] [ 0. 0. 0. 1. ]] SLAMing on 93.20650248099999 meters Centerline goodness : 0.707715 Centerline is valid? [False, False] Translation: X:2.48, Y:0.34, Z:0.28 [[ 0.95544306 -0.09483551 -0.27952599 2.48252038] [ 0.08831854 0.99544702 -0.0358478 0.33549327] [ 0.28165296 0.0095632 0.95946869 0.27715209] [ 0. 0. 0. 1. ]] SLAMing on 93.23650248099999 meters Centerline goodness : 0.705461 Centerline is valid? [False, False] Translation: X:2.48, Y:0.34, Z:0.28 [[ 0.95531355 -0.09501061 -0.27990893 2.48291559] [ 0.08826864 0.99542317 -0.03662452 0.33681151] [ 0.28210756 0.01028072 0.9593277 0.27819429] [ 0. 0. 0. 1. ]] SLAMing on 93.26650248099999 meters Centerline goodness : 0.705815 Centerline is valid? [False, False] Translation: X:2.48, Y:0.34, Z:0.28 [[ 0.95529785 -0.09539696 -0.27983107 2.48321513] [ 0.08856034 0.99538321 -0.03700457 0.33701111] [ 0.28206927 0.01056845 0.95933583 0.27779701] [ 0. 0. 0. 1. ]] SLAMing on 93.29650248099999 meters Centerline goodness : 0.708405 Centerline is valid? [False, False] Translation: X:2.48, Y:0.34, Z:0.28 [[ 0.95497477 -0.09626645 -0.28063493 2.48485472] [ 0.08941261 0.99530136 -0.03715625 0.33697022] [ 0.28289323 0.01039098 0.95909512 0.2781572 ] [ 0. 0. 0. 1. ]] SLAMing on 93.32650248099999 meters Centerline goodness : 0.706733 Centerline is valid? [False, False] Translation: X:2.50, Y:0.34, Z:0.28 [[ 0.95501242 -0.0996066 -0.27933814 2.50205628] [ 0.09385796 0.99500776 -0.03391524 0.33898329] [ 0.28132179 0.00617137 0.95959364 0.28216111] [ 0. 0. 0. 1. ]] SLAMing on 93.35650248099999 meters Centerline goodness : 0.708849 Centerline is valid? [False, False] Translation: X:2.53, Y:0.34, Z:0.29 [[ 0.95536963 -0.09779041 -0.2787578 2.53331558] [ 0.09270186 0.9951983 -0.03141186 0.34068645] [ 0.28049107 0.00416857 0.95984758 0.29049927] [ 0. 0. 0. 1. ]] SLAMing on 93.386502481 meters Centerline goodness : 0.707199 Centerline is valid? [False, False] Translation: X:2.54, Y:0.34, Z:0.29 [[ 0.9552256 -0.0971525 -0.27947352 2.53526893] [ 0.09214679 0.99526192 -0.03102695 0.34032992] [ 0.2811637 0.00388515 0.95965196 0.29054459] [ 0. 0. 0. 1. ]] SLAMing on 93.416502481 meters Centerline goodness : 0.706059 Centerline is valid? [False, False] Translation: X:2.57, Y:0.34, Z:0.30 [[ 0.9554569 -0.09701547 -0.27872946 2.57091093] [ 0.09145821 0.9952651 -0.03290551 0.34143964] [ 0.28060205 0.0059477 0.95980577 0.30068191] [ 0. 0. 0. 1. ]] SLAMing on 93.446502481 meters Centerline goodness : 0.705293 Centerline is valid? [False, False] Translation: X:2.57, Y:0.34, Z:0.30 [[ 0.95541269 -0.09713528 -0.27883926 2.57067461] [ 0.09150582 0.99525205 -0.033167 0.34099195] [ 0.28073703 0.00617276 0.95976488 0.30139781] [ 0. 0. 0. 1. ]] SLAMing on 93.476502481 meters Centerline goodness : 0.703904 Centerline is valid? [False, False] Translation: X:2.60, Y:0.34, Z:0.31 [[ 0.95592649 -0.09710435 -0.27708353 2.60324612] [ 0.09132491 0.99525009 -0.03371984 0.34157322] [ 0.27904175 0.00692906 0.96025397 0.30960564] [ 0. 0. 0. 1. ]] SLAMing on 93.50650248099998 meters Centerline goodness : 0.705732 Centerline is valid? [False, False] Translation: X:2.60, Y:0.34, Z:0.31 [[ 0.95586301 -0.09688932 -0.27737766 2.60455857] [ 0.09115614 0.99527222 -0.03352275 0.340753 ] [ 0.27931427 0.00675848 0.96017595 0.30924013] [ 0. 0. 0. 1. ]] SLAMing on 93.53650248099999 meters Centerline goodness : 0.705200 Centerline is valid? [False, False] Translation: X:2.62, Y:0.34, Z:0.31 [[ 9.55444579e-01 -9.94674923e-02 -2.77906233e-01 2.62426693e+00] [ 9.49935597e-02 9.95039117e-01 -2.95530038e-02 3.42112387e-01] [ 2.79467136e-01 1.83695487e-03 9.60153501e-01 3.13232736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56650248099999 meters Centerline goodness : 0.704016 Centerline is valid? [False, False] Translation: X:2.63, Y:0.34, Z:0.31 [[ 9.55256998e-01 -9.87928022e-02 -2.78790332e-01 2.62564067e+00] [ 9.44462844e-02 9.95107061e-01 -2.90144240e-02 3.41546509e-01] [ 2.80292644e-01 1.38552061e-03 9.59913597e-01 3.13862278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.59650248099999 meters Centerline goodness : 0.704880 Centerline is valid? [False, False] Translation: X:2.65, Y:0.34, Z:0.32 [[ 9.56060690e-01 -9.80128261e-02 -2.76299554e-01 2.65363824e+00] [ 9.42662204e-02 9.95185078e-01 -2.68428745e-02 3.40088271e-01] [ 2.77600139e-01 -3.82297598e-04 9.60696631e-01 3.20725604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62650248099999 meters Centerline goodness : 0.705179 Centerline is valid? [False, False] Translation: X:2.67, Y:0.34, Z:0.32 [[ 0.95624451 -0.10156631 -0.27437332 2.67105614] [ 0.09884144 0.99481911 -0.02377608 0.34107833] [ 0.27536667 -0.00438371 0.96132928 0.32415945] [ 0. 0. 0. 1. ]] SLAMing on 93.65650248099999 meters Centerline goodness : 0.706589 Centerline is valid? [False, False] Translation: X:2.67, Y:0.34, Z:0.32 [[ 9.55666467e-01 -1.06114109e-01 -2.74665979e-01 2.67218796e+00] [ 1.02437681e-01 9.94352626e-01 -2.77376419e-02 3.40495313e-01] [ 2.76058193e-01 -1.62821179e-03 9.61139544e-01 3.24996386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68650248099999 meters Centerline goodness : 0.705499 Centerline is valid? [False, False] Translation: X:2.67, Y:0.34, Z:0.33 [[ 9.55088023e-01 -1.10249197e-01 -2.75049055e-01 2.67299133e+00] [ 1.05658654e-01 9.93903450e-01 -3.14988965e-02 3.40937701e-01] [ 2.76844933e-01 1.02290569e-03 9.60914063e-01 3.26257923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.71650248099999 meters Centerline goodness : 0.706655 Centerline is valid? [False, False] Translation: X:2.67, Y:0.34, Z:0.33 [[ 9.54862068e-01 -1.09643870e-01 -2.76073637e-01 2.67484427e+00] [ 1.05163079e-01 9.93970757e-01 -3.10299997e-02 3.40826532e-01] [ 2.77811371e-01 5.96615881e-04 9.60635460e-01 3.26794786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.746502481 meters Centerline goodness : 0.707057 Centerline is valid? [False, False] Translation: X:2.68, Y:0.34, Z:0.33 [[ 9.54692742e-01 -1.08882396e-01 -2.76959189e-01 2.67757090e+00] [ 1.04516568e-01 9.94054619e-01 -3.05237762e-02 3.40942752e-01] [ 2.78636063e-01 1.94003679e-04 9.60396744e-01 3.26467008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.776502481 meters Centerline goodness : 0.708229 Centerline is valid? [False, False] Translation: X:2.68, Y:0.34, Z:0.33 [[ 9.54648917e-01 -1.09229825e-01 -2.76973448e-01 2.67800896e+00] [ 1.04810867e-01 9.94016466e-01 -3.07562465e-02 3.40342566e-01] [ 2.78675667e-01 3.31590163e-04 9.60385216e-01 3.26353077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.806502481 meters Centerline goodness : 0.709551 Centerline is valid? [False, False] Translation: X:2.68, Y:0.34, Z:0.33 [[ 9.54700849e-01 -1.09894232e-01 -2.76531278e-01 2.67647635e+00] [ 1.05604767e-01 9.93943271e-01 -3.04040509e-02 3.39017567e-01] [ 2.78197633e-01 -1.76248104e-04 9.60523839e-01 3.27035821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.836502481 meters Centerline goodness : 0.705080 Centerline is valid? [False, False] Translation: X:2.68, Y:0.34, Z:0.33 [[ 9.54664373e-01 -1.10034989e-01 -2.76601223e-01 2.67638086e+00] [ 1.05969126e-01 9.93927208e-01 -2.96521477e-02 3.38148299e-01] [ 2.78184255e-01 -1.00334072e-03 9.60527206e-01 3.27393094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.866502481 meters Centerline goodness : 0.705953 Centerline is valid? [False, False] Translation: X:2.68, Y:0.34, Z:0.33 [[ 9.54304220e-01 -1.10986858e-01 -2.77462382e-01 2.67726854e+00] [ 1.07216020e-01 9.93819241e-01 -2.87757039e-02 3.38199389e-01] [ 2.78941179e-01 -2.28763654e-03 9.60305465e-01 3.28607440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.89650248099998 meters Centerline goodness : 0.706667 Centerline is valid? [False, False] Translation: X:2.68, Y:0.34, Z:0.33 [[ 0.9541836 -0.11101358 -0.27786623 2.67791614] [ 0.10746177 0.99381401 -0.02803003 0.33797585] [ 0.27925906 -0.0031142 0.96021075 0.32898367] [ 0. 0. 0. 1. ]] SLAMing on 93.92650248099999 meters Centerline goodness : 0.704264 Centerline is valid? [False, False] Translation: X:2.68, Y:0.34, Z:0.33 [[ 0.95422776 -0.11088697 -0.27776512 2.67930496] [ 0.10746788 0.99382666 -0.02755418 0.33585658] [ 0.27910578 -0.00355787 0.96025377 0.3277631 ] [ 0. 0. 0. 1. ]] SLAMing on 93.95650248099999 meters Centerline goodness : 0.704454 Centerline is valid? [False, False] Translation: X:2.68, Y:0.33, Z:0.33 [[ 0.95416009 -0.11113796 -0.27789725 2.67991369] [ 0.10783382 0.99379687 -0.02719648 0.33442615] [ 0.27919598 -0.00401693 0.96022574 0.3276546 ] [ 0. 0. 0. 1. ]] SLAMing on 93.98650248099999 meters Centerline goodness : 0.702338 Centerline is valid? [False, False] Translation: X:2.68, Y:0.33, Z:0.33 [[ 0.95400374 -0.11057292 -0.27865837 2.68057356] [ 0.10734826 0.99385874 -0.02685448 0.33457089] [ 0.27991644 -0.00429422 0.96001476 0.32861745] [ 0. 0. 0. 1. ]] SLAMing on 94.01650248099999 meters Centerline goodness : 0.704376 Centerline is valid? [False, False] Translation: X:2.68, Y:0.34, Z:0.33 [[ 0.95393072 -0.1103036 -0.27901487 2.6808114 ] [ 0.10715871 0.99388742 -0.02654832 0.33559651] [ 0.28023774 -0.00457362 0.95991973 0.32908201] [ 0. 0. 0. 1. ]] SLAMing on 94.04650248099999 meters Centerline goodness : 0.702235 Centerline is valid? [False, False] Translation: X:2.68, Y:0.34, Z:0.33 [[ 0.9538534 -0.10974264 -0.27949997 2.68268143] [ 0.10658859 0.99394982 -0.0265073 0.33678922] [ 0.28071793 -0.00450743 0.95977973 0.32891038] [ 0. 0. 0. 1. ]] SLAMing on 94.07650248099999 meters Centerline goodness : 0.703369 Centerline is valid? [False, False] Translation: X:2.68, Y:0.34, Z:0.33 [[ 0.95375232 -0.10925993 -0.28003355 2.68442784] [ 0.10612387 0.99400278 -0.02638537 0.33709414] [ 0.28123699 -0.00455314 0.95962754 0.32884073] [ 0. 0. 0. 1. ]] SLAMing on 94.10650248099999 meters Centerline goodness : 0.701414 Centerline is valid? [False, False] Translation: X:2.69, Y:0.34, Z:0.33 [[ 0.95366578 -0.10824857 -0.28072018 2.68594836] [ 0.10498667 0.9941157 -0.02667927 0.33918834] [ 0.28195633 -0.00402877 0.95941878 0.32993722] [ 0. 0. 0. 1. ]] SLAMing on 94.136502481 meters Centerline goodness : 0.701619 Centerline is valid? [False, False] Translation: X:2.69, Y:0.34, Z:0.33 [[ 0.95352108 -0.10788202 -0.28135214 2.6866597 ] [ 0.10451913 0.99415689 -0.0269785 0.34068564] [ 0.28261866 -0.00368212 0.95922528 0.3310311 ] [ 0. 0. 0. 1. ]] SLAMing on 94.166502481 meters Centerline goodness : 0.699797 Centerline is valid? [False, False] Translation: X:2.69, Y:0.34, Z:0.33 [[ 0.9535112 -0.10707173 -0.28169494 2.68750131] [ 0.1036505 0.99424551 -0.02706358 0.34210093] [ 0.28297167 -0.00339239 0.95912227 0.3317761 ] [ 0. 0. 0. 1. ]] SLAMing on 94.196502481 meters Centerline goodness : 0.700447 Centerline is valid? [False, False] Translation: X:2.69, Y:0.34, Z:0.33 [[ 0.95345926 -0.10655181 -0.28206763 2.68876098] [ 0.1031953 0.99430071 -0.0267738 0.34196248] [ 0.28331284 -0.00358033 0.95902086 0.33161686] [ 0. 0. 0. 1. ]] SLAMing on 94.226502481 meters Centerline goodness : 0.698139 Centerline is valid? [False, False] Translation: X:2.69, Y:0.34, Z:0.33 [[ 9.53004880e-01 -1.08307820e-01 -2.82933056e-01 2.69277479e+00] [ 1.04373390e-01 9.94115583e-01 -2.89896907e-02 3.43207653e-01] [ 2.84407971e-01 -1.90336553e-03 9.58701457e-01 3.31653362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.25650248099998 meters Centerline goodness : 0.699778 Centerline is valid? [False, False] Translation: X:2.70, Y:0.34, Z:0.33 [[ 9.52736874e-01 -1.07157760e-01 -2.84270407e-01 2.69659145e+00] [ 1.03362975e-01 9.94239228e-01 -2.83628910e-02 3.43275930e-01] [ 2.85672093e-01 -2.36066289e-03 9.58324518e-01 3.31478753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28650248099999 meters Centerline goodness : 0.699377 Centerline is valid? [False, False] Translation: X:2.70, Y:0.34, Z:0.33 [[ 9.52524088e-01 -1.06410444e-01 -2.85262474e-01 2.69907799e+00] [ 1.02710769e-01 9.94318673e-01 -2.79441250e-02 3.42704256e-01] [ 2.86615351e-01 -2.68207580e-03 9.58041986e-01 3.31828716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.31650248099999 meters Centerline goodness : 0.701776 Centerline is valid? [False, False] Translation: X:2.70, Y:0.34, Z:0.33 [[ 0.95237537 -0.10603211 -0.2858992 2.70061912] [ 0.10236088 0.9943588 -0.02779994 0.3421799 ] [ 0.28723407 -0.00278891 0.95785636 0.33217748] [ 0. 0. 0. 1. ]] SLAMing on 94.34650248099999 meters Centerline goodness : 0.700870 Centerline is valid? [False, False] Translation: X:2.70, Y:0.34, Z:0.33 [[ 0.95223257 -0.10550151 -0.28657034 2.70171535] [ 0.10184278 0.99441514 -0.02768705 0.342312 ] [ 0.28789091 -0.00282061 0.95765906 0.33301318] [ 0. 0. 0. 1. ]] SLAMing on 94.37650248099999 meters Centerline goodness : 0.701443 Centerline is valid? [False, False] Translation: X:2.70, Y:0.34, Z:0.33 [[ 0.95209641 -0.10504055 -0.28719141 2.70261716] [ 0.10143013 0.99446347 -0.02746506 0.34224387] [ 0.28848631 -0.00298048 0.95747938 0.333681 ] [ 0. 0. 0. 1. ]] SLAMing on 94.40650248099999 meters Centerline goodness : 0.701177 Centerline is valid? [False, False] Translation: X:2.70, Y:0.34, Z:0.33 [[ 9.51952836e-01 -1.05126224e-01 -2.87635664e-01 2.70287306e+00] [ 1.01367251e-01 9.94455678e-01 -2.79747220e-02 3.43127003e-01] [ 2.88981796e-01 -2.52622068e-03 9.57331259e-01 3.34876654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43650248099999 meters Centerline goodness : 0.700917 Centerline is valid? [False, False] Translation: X:2.70, Y:0.34, Z:0.34 [[ 9.51321581e-01 -1.09317750e-01 -2.88161204e-01 2.70435103e+00] [ 1.04462550e-01 9.94006703e-01 -3.22218863e-02 3.44085731e-01] [ 2.89956592e-01 5.51321576e-04 9.57039639e-01 3.36545373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46650248099999 meters Centerline goodness : 0.700814 Centerline is valid? [False, False] Translation: X:2.70, Y:0.34, Z:0.34 [[ 9.51386073e-01 -1.09453019e-01 -2.87896816e-01 2.70470371e+00] [ 1.04643167e-01 9.93991887e-01 -3.20926131e-02 3.42249705e-01] [ 2.89679733e-01 4.06030683e-04 9.57123549e-01 3.35905528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.496502481 meters Centerline goodness : 0.698964 Centerline is valid? [False, False] Translation: X:2.71, Y:0.34, Z:0.34 [[ 9.51230095e-01 -1.08891399e-01 -2.88624270e-01 2.70610546e+00] [ 1.04291429e-01 9.94053603e-01 -3.13166351e-02 3.40799254e-01] [ 2.90318108e-01 -3.11711879e-04 9.56930143e-01 3.36017058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.526502481 meters Centerline goodness : 0.700100 Centerline is valid? [False, False] Translation: X:2.71, Y:0.34, Z:0.34 [[ 9.51140966e-01 -1.08547868e-01 -2.89047097e-01 2.70687387e+00] [ 1.04078871e-01 9.94090936e-01 -3.08350230e-02 3.39814092e-01] [ 2.90686175e-01 -7.55241910e-04 9.56818153e-01 3.36144978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.556502481 meters Centerline goodness : 0.701091 Centerline is valid? [False, False] Translation: X:2.71, Y:0.34, Z:0.34 [[ 9.51004458e-01 -1.08646417e-01 -2.89458938e-01 2.70740694e+00] [ 1.04215864e-01 9.94080006e-01 -3.07244934e-02 3.38796745e-01] [ 2.91083449e-01 -9.47083038e-04 9.56697198e-01 3.36603756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.586502481 meters Centerline goodness : 0.701091 Centerline is valid? [False, False] Translation: X:2.71, Y:0.34, Z:0.34 [[ 9.51001719e-01 -1.08680577e-01 -2.89455115e-01 2.70737570e+00] [ 1.04253394e-01 9.94076257e-01 -3.07184905e-02 3.38779147e-01] [ 2.91078960e-01 -9.63340899e-04 9.56698547e-01 3.36587999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.616502481 meters Centerline goodness : 0.702740 Centerline is valid? [False, False] Translation: X:2.71, Y:0.34, Z:0.34 [[ 9.51003447e-01 -1.09098053e-01 -2.89292342e-01 2.70818929e+00] [ 1.04771646e-01 9.94030072e-01 -3.04486055e-02 3.35405814e-01] [ 2.90887171e-01 -1.35290619e-03 9.56756408e-01 3.35622571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64650248099998 meters Centerline goodness : 0.701580 Centerline is valid? [False, False] Translation: X:2.71, Y:0.33, Z:0.34 [[ 9.51039861e-01 -1.08867097e-01 -2.89259637e-01 2.70877087e+00] [ 1.04709742e-01 9.94054513e-01 -2.98579175e-02 3.33193782e-01] [ 2.90790392e-01 -1.89223220e-03 9.56784912e-01 3.35025398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.67650248099999 meters Centerline goodness : 0.704445 Centerline is valid? [False, False] Translation: X:2.71, Y:0.33, Z:0.34 [[ 9.50918261e-01 -1.08792052e-01 -2.89687331e-01 2.70840054e+00] [ 1.04792004e-01 9.94061477e-01 -2.93328605e-02 3.31062172e-01] [ 2.91158198e-01 -2.46376324e-03 9.56671748e-01 3.35899710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70650248099999 meters Centerline goodness : 0.704257 Centerline is valid? [False, False] Translation: X:2.71, Y:0.33, Z:0.34 [[ 0.95079661 -0.10860654 -0.29015588 2.70899773] [ 0.10473479 0.99408052 -0.02888848 0.32979109] [ 0.29157578 -0.00292235 0.95654327 0.33623881] [ 0. 0. 0. 1. ]] SLAMing on 94.73650248099999 meters Centerline goodness : 0.704729 Centerline is valid? [False, False] Translation: X:2.71, Y:0.33, Z:0.34 [[ 0.95072446 -0.10835029 -0.2904879 2.70951041] [ 0.10451839 0.99410809 -0.02872307 0.32918009] [ 0.29188852 -0.0030536 0.95644747 0.33661787] [ 0. 0. 0. 1. ]] SLAMing on 94.76650248099999 meters Centerline goodness : 0.705794 Centerline is valid? [False, False] Translation: X:2.71, Y:0.33, Z:0.34 [[ 0.95067281 -0.10825638 -0.29069187 2.70983455] [ 0.10442053 0.99411834 -0.02872422 0.32886167] [ 0.2920917 -0.00304686 0.95638546 0.33697001] [ 0. 0. 0. 1. ]] SLAMing on 94.79650248099999 meters Centerline goodness : 0.705718 Centerline is valid? [False, False] Translation: X:2.71, Y:0.33, Z:0.34 [[ 0.95056621 -0.10794066 -0.29115752 2.71103327] [ 0.10414171 0.99415228 -0.02856136 0.32850466] [ 0.29253784 -0.00317218 0.95624869 0.33709277] [ 0. 0. 0. 1. ]] SLAMing on 94.82650248099999 meters Centerline goodness : 0.704591 Centerline is valid? [False, False] Translation: X:2.71, Y:0.33, Z:0.34 [[ 0.9503376 -0.10721252 -0.29217106 2.71381493] [ 0.10353658 0.99422968 -0.02806288 0.32845552] [ 0.29349383 -0.00358119 0.95595426 0.33697321] [ 0. 0. 0. 1. ]] SLAMing on 94.85650248099999 meters Centerline goodness : 0.706388 Centerline is valid? [False, False] Translation: X:2.72, Y:0.33, Z:0.34 [[ 0.95008445 -0.10596895 -0.29344524 2.71755333] [ 0.10249237 0.99436061 -0.02724509 0.32946144] [ 0.29467752 -0.00419076 0.95558757 0.33650507] [ 0. 0. 0. 1. ]] SLAMing on 94.886502481 meters Centerline goodness : 0.707460 Centerline is valid? [False, False] Translation: X:2.72, Y:0.33, Z:0.34 [[ 0.95002628 -0.105644 -0.2937506 2.71898883] [ 0.10211185 0.99439604 -0.0273805 0.32986088] [ 0.29499702 -0.00398322 0.95548987 0.33642645] [ 0. 0. 0. 1. ]] SLAMing on 94.916502481 meters Centerline goodness : 0.707813 Centerline is valid? [False, False] Translation: X:2.72, Y:0.33, Z:0.34 [[ 0.94993459 -0.10558707 -0.29406742 2.71920809] [ 0.10195641 0.99440328 -0.02769504 0.33027097] [ 0.29534584 -0.00367358 0.95538335 0.33725721] [ 0. 0. 0. 1. ]] SLAMing on 94.946502481 meters Centerline goodness : 0.706746 Centerline is valid? [False, False] Translation: X:2.72, Y:0.33, Z:0.34 [[ 0.94985423 -0.10556286 -0.29433558 2.7190599 ] [ 0.10182338 0.99440706 -0.02804651 0.33102489] [ 0.29565005 -0.00333014 0.95529051 0.33824395] [ 0. 0. 0. 1. ]] SLAMing on 94.976502481 meters Centerline goodness : 0.705609 Centerline is valid? [False, False] Translation: X:2.72, Y:0.33, Z:0.34 [[ 0.95017297 -0.10026881 -0.29515674 2.71985581] [ 0.09750085 0.99494313 -0.02411969 0.33179035] [ 0.29608263 -0.00586015 0.95514435 0.33870258] [ 0. 0. 0. 1. ]] SLAMing on 95.00650248099998 meters Centerline goodness : 0.703810 Centerline is valid? [False, False] Translation: X:2.72, Y:0.34, Z:0.34 [[ 0.95006659 -0.09780054 -0.29632504 2.72277187] [ 0.09528328 0.99518533 -0.02296195 0.33510382] [ 0.29714403 -0.00641944 0.95481109 0.33908767] [ 0. 0. 0. 1. ]] SLAMing on 95.03650248099999 meters Centerline goodness : 0.706226 Centerline is valid? [False, False] Translation: X:2.72, Y:0.34, Z:0.34 [[ 0.9498827 -0.09738146 -0.29705168 2.72453285] [ 0.09481725 0.99522746 -0.02306479 0.3356823 ] [ 0.29788007 -0.00625678 0.9545828 0.33954066] [ 0. 0. 0. 1. ]] SLAMing on 95.06650248099999 meters Centerline goodness : 0.703375 Centerline is valid? [False, False] Translation: X:2.73, Y:0.33, Z:0.34 [[ 0.94934514 -0.0947651 -0.29960538 2.73401913] [ 0.09138321 0.99549403 -0.0253129 0.3345959 ] [ 0.30065415 -0.00334822 0.95372736 0.34456503] [ 0. 0. 0. 1. ]] SLAMing on 95.09650248099999 meters Centerline goodness : 0.704655 Centerline is valid? [False, False] Translation: X:2.73, Y:0.33, Z:0.35 [[ 0.94915367 -0.0944915 -0.30029762 2.73487736] [ 0.09107121 0.9955204 -0.02540027 0.33499451] [ 0.30135251 -0.00323971 0.9535073 0.34555185] [ 0. 0. 0. 1. ]] SLAMing on 95.12650248099999 meters Centerline goodness : 0.703719 Centerline is valid? [False, False] Translation: X:2.74, Y:0.34, Z:0.35 [[ 0.9487368 -0.09318097 -0.30201952 2.7383376 ] [ 0.08970734 0.99564464 -0.02538405 0.33576097] [ 0.30306943 -0.00301059 0.95296372 0.34741152] [ 0. 0. 0. 1. ]] SLAMing on 95.15650248099999 meters Centerline goodness : 0.703389 Centerline is valid? [False, False] Translation: X:2.74, Y:0.34, Z:0.35 [[ 0.94852916 -0.09267072 -0.30282761 2.73997066] [ 0.08919615 0.9956923 -0.02531597 0.33576884] [ 0.30386917 -0.00299812 0.95270905 0.34818127] [ 0. 0. 0. 1. ]] SLAMing on 95.18650248099999 meters Centerline goodness : 0.701288 Centerline is valid? [False, False] Translation: X:2.74, Y:0.34, Z:0.35 [[ 0.94833709 -0.09220112 -0.30357159 2.74111412] [ 0.08870693 0.99573611 -0.02531171 0.33574874] [ 0.30461096 -0.00292487 0.95247237 0.34918923] [ 0. 0. 0. 1. ]] SLAMing on 95.21650248099999 meters Centerline goodness : 0.703359 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:0.36 [[ 0.94835295 -0.08767983 -0.30485888 2.75857875] [ 0.08249644 0.99614364 -0.02986946 0.33358695] [ 0.30630218 0.00317702 0.95192903 0.35725334] [ 0. 0. 0. 1. ]] SLAMing on 95.246502481 meters Centerline goodness : 0.701139 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:0.36 [[ 0.94770615 -0.09175043 -0.30567124 2.76142188] [ 0.08535768 0.99576171 -0.0342445 0.3340798 ] [ 0.30751766 0.00636234 0.9515211 0.35867481] [ 0. 0. 0. 1. ]] SLAMing on 95.276502481 meters Centerline goodness : 0.699007 Centerline is valid? [False, False] Translation: X:2.76, Y:0.33, Z:0.36 [[ 0.94764949 -0.09147527 -0.30592928 2.76141477] [ 0.08500609 0.99578532 -0.03443198 0.33285468] [ 0.30778956 0.0066236 0.9514314 0.36000749] [ 0. 0. 0. 1. ]] SLAMing on 95.306502481 meters Centerline goodness : 0.700816 Centerline is valid? [False, False] Translation: X:2.79, Y:0.33, Z:0.37 [[ 0.94855349 -0.08847573 -0.30400382 2.79068978] [ 0.08262073 0.99606408 -0.03209603 0.33185912] [ 0.30564701 0.00532778 0.95212999 0.37080937] [ 0. 0. 0. 1. ]] SLAMing on 95.336502481 meters Centerline goodness : 0.703181 Centerline is valid? [False, False] Translation: X:2.79, Y:0.33, Z:0.37 [[ 0.9479926 -0.09276974 -0.30447299 2.79129586] [ 0.08575362 0.99565245 -0.03636649 0.33279025] [ 0.30652299 0.0083655 0.95182649 0.37276101] [ 0. 0. 0. 1. ]] SLAMing on 95.366502481 meters Centerline goodness : 0.701400 Centerline is valid? [False, False] Translation: X:2.79, Y:0.33, Z:0.37 [[ 0.94738484 -0.09697348 -0.30505426 2.79229879] [ 0.08880097 0.9952221 -0.04058771 0.33278379] [ 0.30753267 0.01136306 0.95146967 0.37493944] [ 0. 0. 0. 1. ]] SLAMing on 95.39650248099998 meters Centerline goodness : 0.703792 Centerline is valid? [False, False] Translation: X:2.82, Y:0.33, Z:0.38 [[ 0.94825968 -0.0964655 -0.30248634 2.81881666] [ 0.08912589 0.99529489 -0.03800877 0.33041537] [ 0.30472964 0.00908282 0.95239558 0.38221794] [ 0. 0. 0. 1. ]] SLAMing on 95.42650248099999 meters Centerline goodness : 0.704399 Centerline is valid? [False, False] Translation: X:2.85, Y:0.33, Z:0.39 [[ 0.94887584 -0.09803748 -0.30003882 2.84721195] [ 0.09110886 0.99515213 -0.03703259 0.3292428 ] [ 0.30221485 0.00780313 0.9532079 0.38826445] [ 0. 0. 0. 1. ]] SLAMing on 95.45650248099999 meters Centerline goodness : 0.703592 Centerline is valid? [False, False] Translation: X:2.85, Y:0.33, Z:0.39 [[ 0.94811944 -0.10199036 -0.30111044 2.85016105] [ 0.09406716 0.99473208 -0.04073649 0.32922261] [ 0.30367894 0.01029846 0.95271876 0.38938401] [ 0. 0. 0. 1. ]] SLAMing on 95.48650248099999 meters Centerline goodness : 0.704812 Centerline is valid? [False, False] Translation: X:2.85, Y:0.33, Z:0.39 [[ 0.94801428 -0.10124898 -0.3016912 2.85356514] [ 0.093683 0.99481888 -0.03948267 0.32549309] [ 0.30412568 0.0091668 0.95258781 0.38763311] [ 0. 0. 0. 1. ]] SLAMing on 95.51650248099999 meters Centerline goodness : 0.705420 Centerline is valid? [False, False] Translation: X:2.85, Y:0.32, Z:0.39 [[ 0.94794932 -0.10080688 -0.30204314 2.85479336] [ 0.09338315 0.99486776 -0.03895808 0.32399959] [ 0.30442022 0.00872454 0.95249788 0.38737777] [ 0. 0. 0. 1. ]] SLAMing on 95.54650248099999 meters Centerline goodness : 0.706415 Centerline is valid? [False, False] Translation: X:2.86, Y:0.32, Z:0.39 [[ 0.94791866 -0.10015506 -0.30235606 2.8556293 ] [ 0.09285123 0.99493642 -0.03847285 0.32214486] [ 0.30467831 0.008395 0.95241832 0.3877106 ] [ 0. 0. 0. 1. ]] SLAMing on 95.57650248099999 meters Centerline goodness : 0.704999 Centerline is valid? [False, False] Translation: X:2.86, Y:0.32, Z:0.39 [[ 0.94781975 -0.09978722 -0.30278743 2.85622065] [ 0.09244543 0.99497232 -0.0385218 0.32180391] [ 0.30510909 0.00852041 0.95227929 0.38866251] [ 0. 0. 0. 1. ]] SLAMing on 95.60650248099999 meters Centerline goodness : 0.703556 Centerline is valid? [False, False] Translation: X:2.89, Y:0.32, Z:0.40 [[ 0.94844842 -0.0957068 -0.3021354 2.89383455] [ 0.08795504 0.99535316 -0.03919185 0.32192045] [ 0.30448235 0.01059711 0.95245903 0.40213652] [ 0. 0. 0. 1. ]] SLAMing on 95.636502481 meters Centerline goodness : 0.704008 Centerline is valid? [False, False] Translation: X:2.91, Y:0.32, Z:0.41 [[ 0.94843124 -0.08740288 -0.30469481 2.91108395] [ 0.07900178 0.99607893 -0.03981822 0.31737742] [ 0.30698031 0.01369341 0.95161735 0.40962223] [ 0. 0. 0. 1. ]] SLAMing on 95.666502481 meters Centerline goodness : 0.703226 Centerline is valid? [False, False] Translation: X:2.94, Y:0.32, Z:0.42 [[ 0.94963995 -0.07862866 -0.30331748 2.94321537] [ 0.06789823 0.9966414 -0.04577942 0.31510446] [ 0.30589833 0.02287924 0.95178924 0.4212582 ] [ 0. 0. 0. 1. ]] SLAMing on 95.696502481 meters Centerline goodness : 0.703701 Centerline is valid? [False, False] Translation: X:2.94, Y:0.31, Z:0.42 [[ 0.9501988 -0.0779359 -0.30174201 2.94086118] [ 0.0668844 0.99666243 -0.04680261 0.31457422] [ 0.30438253 0.02428995 0.95224014 0.41994785] [ 0. 0. 0. 1. ]] SLAMing on 95.726502481 meters Centerline goodness : 0.703016 Centerline is valid? [False, False] Translation: X:2.94, Y:0.31, Z:0.42 [[ 0.950094 -0.07746147 -0.30219384 2.94180986] [ 0.06638329 0.9966972 -0.04677549 0.31319218] [ 0.30481905 0.02438049 0.95209818 0.42052518] [ 0. 0. 0. 1. ]] SLAMing on 95.75650248099998 meters Centerline goodness : 0.704519 Centerline is valid? [False, False] Translation: X:2.94, Y:0.31, Z:0.42 [[ 0.94996825 -0.07682611 -0.30275083 2.9434631 ] [ 0.06580575 0.99675067 -0.04645107 0.31147413] [ 0.30533575 0.02420429 0.9519371 0.42045145] [ 0. 0. 0. 1. ]] SLAMing on 95.78650248099999 meters Centerline goodness : 0.704047 Centerline is valid? [False, False] Translation: X:2.94, Y:0.31, Z:0.42 [[ 0.94991253 -0.07708531 -0.30285976 2.94450934] [ 0.06605192 0.99673106 -0.04652244 0.31131074] [ 0.30545593 0.02418778 0.95189896 0.41989391] [ 0. 0. 0. 1. ]] SLAMing on 95.81650248099999 meters Centerline goodness : 0.705494 Centerline is valid? [False, False] Translation: X:2.95, Y:0.31, Z:0.42 [[ 0.94964928 -0.08169382 -0.30247706 2.94620174] [ 0.06970968 0.99630216 -0.05022524 0.31044595] [ 0.30546164 0.02661079 0.95183247 0.41825541] [ 0. 0. 0. 1. ]] SLAMing on 95.84650248099999 meters Centerline goodness : 0.705330 Centerline is valid? [False, False] Translation: X:2.95, Y:0.31, Z:0.42 [[ 0.94958022 -0.08204684 -0.30259829 2.94693891] [ 0.07046636 0.99630941 -0.04901078 0.30760289] [ 0.30550271 0.02521667 0.95185725 0.41809735] [ 0. 0. 0. 1. ]] SLAMing on 95.87650248099999 meters Centerline goodness : 0.704983 Centerline is valid? [False, False] Translation: X:2.95, Y:0.30, Z:0.42 [[ 0.94956913 -0.08433901 -0.3020023 2.94535579] [ 0.0730884 0.99615116 -0.04838346 0.30415191] [ 0.30492055 0.02387058 0.95207859 0.41868026] [ 0. 0. 0. 1. ]] SLAMing on 95.90650248099999 meters Centerline goodness : 0.705207 Centerline is valid? [False, False] Translation: X:2.95, Y:0.30, Z:0.42 [[ 0.94942582 -0.08429068 -0.30246602 2.9460161 ] [ 0.07353268 0.99619401 -0.04680209 0.30182739] [ 0.30525982 0.02219397 0.95201044 0.41930151] [ 0. 0. 0. 1. ]] SLAMing on 95.93650248099999 meters Centerline goodness : 0.706963 Centerline is valid? [False, False] Translation: X:2.95, Y:0.30, Z:0.42 [[ 0.94915754 -0.0851157 -0.30307636 2.9476226 ] [ 0.07520453 0.99618598 -0.04424667 0.29765772] [ 0.30568651 0.01920435 0.95193852 0.41961442] [ 0. 0. 0. 1. ]] SLAMing on 95.96650248099999 meters Centerline goodness : 0.707463 Centerline is valid? [False, False] Translation: X:2.95, Y:0.30, Z:0.42 [[ 0.94906003 -0.08510405 -0.30338482 2.94801045] [ 0.07566208 0.99621606 -0.04276471 0.29504251] [ 0.30587628 0.01763155 0.95190799 0.420088 ] [ 0. 0. 0. 1. ]] SLAMing on 95.996502481 meters Centerline goodness : 0.706346 Centerline is valid? [False, False] Translation: X:2.95, Y:0.29, Z:0.42 [[ 0.94876617 -0.08963551 -0.30299874 2.94785929] [ 0.07944212 0.9957855 -0.04582773 0.29373059] [ 0.30582954 0.01940893 0.95188843 0.4202037 ] [ 0. 0. 0. 1. ]] SLAMing on 96.026502481 meters Centerline goodness : 0.706053 Centerline is valid? [False, False] Translation: X:2.95, Y:0.29, Z:0.42 [[ 0.94858999 -0.09386434 -0.30226896 2.94797358] [ 0.08261701 0.99533568 -0.04981279 0.29372891] [ 0.30553473 0.02227935 0.95192025 0.41928161] [ 0. 0. 0. 1. ]] SLAMing on 96.056502481 meters Centerline goodness : 0.702776 Centerline is valid? [False, False] Translation: X:2.95, Y:0.29, Z:0.42 [[ 0.94854331 -0.09457073 -0.30219525 2.94757627] [ 0.08380807 0.99530502 -0.04841616 0.29009324] [ 0.3053552 0.02059843 0.95201571 0.41981133] [ 0. 0. 0. 1. ]] SLAMing on 96.086502481 meters Centerline goodness : 0.704238 Centerline is valid? [False, False] Translation: X:2.95, Y:0.29, Z:0.42 [[ 0.94851407 -0.09440162 -0.30233986 2.9472617 ] [ 0.08387978 0.99533694 -0.04762941 0.28981098] [ 0.30542633 0.01981696 0.95200948 0.42046576] [ 0. 0. 0. 1. ]] SLAMing on 96.116502481 meters Centerline goodness : 0.705186 Centerline is valid? [False, False] Translation: X:2.95, Y:0.29, Z:0.42 [[ 0.94842017 -0.09479635 -0.30251089 2.94705466] [ 0.08449648 0.99531531 -0.04698705 0.289409 ] [ 0.30554792 0.01900236 0.95198707 0.42123888] [ 0. 0. 0. 1. ]] SLAMing on 96.14650248099998 meters Centerline goodness : 0.704759 Centerline is valid? [False, False] Translation: X:2.95, Y:0.29, Z:0.42 [[ 0.94839752 -0.09519344 -0.30245719 2.9462676 ] [ 0.08511553 0.99529197 -0.04635996 0.28665736] [ 0.30544638 0.01822386 0.95203487 0.42197859] [ 0. 0. 0. 1. ]] SLAMing on 96.17650248099999 meters Centerline goodness : 0.703693 Centerline is valid? [False, False] Translation: X:2.95, Y:0.29, Z:0.42 [[ 0.9483912 -0.09502531 -0.30252986 2.94629635] [ 0.08503385 0.99531287 -0.04606014 0.28605901] [ 0.30548874 0.01795775 0.95202634 0.42212517] [ 0. 0. 0. 1. ]] SLAMing on 96.20650248099999 meters Centerline goodness : 0.705031 Centerline is valid? [False, False] Translation: X:2.95, Y:0.29, Z:0.42 [[ 0.94832124 -0.09508656 -0.30272988 2.94650435] [ 0.08502989 0.99530392 -0.0462603 0.28640242] [ 0.30570697 0.01812854 0.95195305 0.42234003] [ 0. 0. 0. 1. ]] SLAMing on 96.23650248099999 meters Centerline goodness : 0.705473 Centerline is valid? [False, False] Translation: X:2.95, Y:0.29, Z:0.42 [[ 0.94849382 -0.09090191 -0.30347374 2.94775793] [ 0.08184616 0.9957403 -0.04245545 0.28630784] [ 0.30604031 0.01543057 0.9518935 0.42218092] [ 0. 0. 0. 1. ]] SLAMing on 96.26650248099999 meters Centerline goodness : 0.703363 Centerline is valid? [False, False] Translation: X:2.95, Y:0.29, Z:0.42 [[ 0.94873382 -0.08812404 -0.3035429 2.94724946] [ 0.07998127 0.99602605 -0.03918031 0.28560011] [ 0.30578936 0.01289394 0.95201188 0.42236398] [ 0. 0. 0. 1. ]] SLAMing on 96.29650248099999 meters Centerline goodness : 0.705992 Centerline is valid? [False, False] Translation: X:2.95, Y:0.29, Z:0.42 [[ 0.94895039 -0.08748264 -0.30305108 2.94589347] [ 0.07916838 0.9960729 -0.03963762 0.28598793] [ 0.30532857 0.01362207 0.95214962 0.42239344] [ 0. 0. 0. 1. ]] SLAMing on 96.32650248099999 meters Centerline goodness : 0.703920 Centerline is valid? [False, False] Translation: X:2.95, Y:0.29, Z:0.42 [[ 0.94927488 -0.08699579 -0.30217369 2.94504328] [ 0.07851379 0.99610506 -0.04012849 0.28505431] [ 0.30448775 0.01436817 0.95240788 0.42120929] [ 0. 0. 0. 1. ]] SLAMing on 96.35650248099999 meters Centerline goodness : 0.705217 Centerline is valid? [False, False] Translation: X:2.94, Y:0.28, Z:0.42 [[ 0.94943934 -0.08669312 -0.30174366 2.94458854] [ 0.07824867 0.99613167 -0.0399856 0.28398025] [ 0.30404289 0.01435286 0.95255022 0.4206893 ] [ 0. 0. 0. 1. ]] SLAMing on 96.386502481 meters Centerline goodness : 0.707552 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:0.42 [[ 0.94946686 -0.0864367 -0.30173065 2.94521673] [ 0.0781308 0.99615979 -0.03951259 0.28374599] [ 0.30398728 0.01394144 0.95257408 0.42016807] [ 0. 0. 0. 1. ]] SLAMing on 96.416502481 meters Centerline goodness : 0.708315 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:0.42 [[ 0.94932244 -0.08660331 -0.30213701 2.94605979] [ 0.07841157 0.99615159 -0.0391616 0.2836569 ] [ 0.30436578 0.01348595 0.95245976 0.42038832] [ 0. 0. 0. 1. ]] SLAMing on 96.446502481 meters Centerline goodness : 0.709004 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:0.42 [[ 0.94930276 -0.08678978 -0.30214535 2.94641456] [ 0.07889638 0.99614849 -0.03825629 0.28144143] [ 0.30430189 0.01247862 0.95249391 0.42028102] [ 0. 0. 0. 1. ]] SLAMing on 96.476502481 meters Centerline goodness : 0.708475 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:0.42 [[ 0.94921604 -0.08683044 -0.30240598 2.9468585 ] [ 0.07915167 0.99615398 -0.03758014 0.27984362] [ 0.30450602 0.01173573 0.95243811 0.42058085] [ 0. 0. 0. 1. ]] SLAMing on 96.50650248099998 meters Centerline goodness : 0.708475 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:0.42 [[ 0.94921604 -0.08683044 -0.30240598 2.9468585 ] [ 0.07915167 0.99615398 -0.03758014 0.27984362] [ 0.30450602 0.01173573 0.95243811 0.42058085] [ 0. 0. 0. 1. ]] SLAMing on 96.53650248099999 meters Centerline goodness : 0.711229 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:0.42 [[ 0.94900999 -0.09119584 -0.30176707 2.94625661] [ 0.08248653 0.99572741 -0.04150772 0.279615 ] [ 0.30426308 0.01449952 0.95247769 0.42049909] [ 0. 0. 0. 1. ]] SLAMing on 96.56650248099999 meters Centerline goodness : 0.711174 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:0.42 [[ 0.94899884 -0.09126798 -0.30178031 2.94642648] [ 0.08282947 0.9957335 -0.04067035 0.2779759 ] [ 0.30420467 0.01359981 0.95250961 0.42054247] [ 0. 0. 0. 1. ]] SLAMing on 96.59650248099999 meters Centerline goodness : 0.710771 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:0.42 [[ 0.94869629 -0.09227139 -0.30242575 2.94679795] [ 0.0843131 0.99566421 -0.0392949 0.27652701] [ 0.30474029 0.01178048 0.95236263 0.42188669] [ 0. 0. 0. 1. ]] SLAMing on 96.62650248099999 meters Centerline goodness : 0.711260 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:0.42 [[ 0.94841696 -0.09313879 -0.30303536 2.94787481] [ 0.08535988 0.99559265 -0.0388454 0.27593879] [ 0.30531779 0.01097457 0.95218727 0.42247712] [ 0. 0. 0. 1. ]] SLAMing on 96.65650248099999 meters Centerline goodness : 0.710682 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:0.42 [[ 0.94768658 -0.09896735 -0.30347257 2.94963863] [ 0.09034133 0.99500916 -0.0423701 0.27568435] [ 0.30615124 0.01273746 0.95189767 0.4228545 ] [ 0. 0. 0. 1. ]] SLAMing on 96.68650248099999 meters Centerline goodness : 0.710426 Centerline is valid? [False, False] Translation: X:2.95, Y:0.27, Z:0.42 [[ 0.94759991 -0.09971765 -0.30349763 2.94928598] [ 0.09134036 0.99494575 -0.04171215 0.2742766 ] [ 0.30612311 0.01180484 0.95191874 0.42353185] [ 0. 0. 0. 1. ]] SLAMing on 96.71650248099999 meters Centerline goodness : 0.711483 Centerline is valid? [False, False] Translation: X:2.95, Y:0.27, Z:0.42 [[ 0.94715622 -0.10328888 -0.30368817 2.94917104] [ 0.09505375 0.9945934 -0.0418182 0.27353349] [ 0.3063656 0.01074167 0.95185332 0.42475862] [ 0. 0. 0. 1. ]] SLAMing on 96.746502481 meters Centerline goodness : 0.713070 Centerline is valid? [False, False] Translation: X:2.95, Y:0.27, Z:0.43 [[ 0.94694459 -0.1047108 -0.30386114 2.9489146 ] [ 0.09693849 0.99446211 -0.04059597 0.27209802] [ 0.30642923 0.0089863 0.95185102 0.42575396] [ 0. 0. 0. 1. ]] SLAMing on 96.776502481 meters Centerline goodness : 0.713233 Centerline is valid? [False, False] Translation: X:2.95, Y:0.27, Z:0.43 [[ 0.94687643 -0.10523252 -0.30389332 2.94831644] [ 0.09755462 0.99441053 -0.04038309 0.2720933 ] [ 0.30644434 0.0085916 0.95184981 0.42652766] [ 0. 0. 0. 1. ]] SLAMing on 96.806502481 meters Centerline goodness : 0.713659 Centerline is valid? [False, False] Translation: X:2.95, Y:0.27, Z:0.43 [[ 0.94667862 -0.10628947 -0.30414165 2.94806338] [ 0.09873108 0.99430305 -0.0401699 0.27236301] [ 0.30667861 0.00799975 0.95177951 0.42748032] [ 0. 0. 0. 1. ]] SLAMing on 96.836502481 meters Centerline goodness : 0.713576 Centerline is valid? [False, False] Translation: X:2.95, Y:0.27, Z:0.43 [[ 0.94652289 -0.10700691 -0.30437467 2.94792325] [ 0.09940109 0.99422604 -0.04042274 0.27300368] [ 0.30694274 0.00800588 0.95169431 0.42817414] [ 0. 0. 0. 1. ]] SLAMing on 96.866502481 meters Centerline goodness : 0.712870 Centerline is valid? [False, False] Translation: X:2.95, Y:0.27, Z:0.43 [[ 0.94639207 -0.10778317 -0.30450753 2.94803125] [ 0.10016015 0.99414289 -0.04059376 0.27312314] [ 0.30709933 0.00791809 0.95164453 0.42848035] [ 0. 0. 0. 1. ]] SLAMing on 96.89650248099998 meters Centerline goodness : 0.713477 Centerline is valid? [False, False] Translation: X:2.95, Y:0.27, Z:0.43 [[ 0.94626793 -0.10785442 -0.30486789 2.94882749] [ 0.1002819 0.99413693 -0.04043889 0.2732847 ] [ 0.30744194 0.0076933 0.95153574 0.4286047 ] [ 0. 0. 0. 1. ]] SLAMing on 96.92650248099999 meters Centerline goodness : 0.713739 Centerline is valid? [False, False] Translation: X:2.95, Y:0.27, Z:0.43 [[ 0.94644759 -0.10412322 -0.30560646 2.94863493] [ 0.09771926 0.99455458 -0.03622329 0.27336328] [ 0.30771399 0.00441981 0.95146864 0.4297201 ] [ 0. 0. 0. 1. ]] SLAMing on 96.95650248099999 meters Centerline goodness : 0.711941 Centerline is valid? [False, False] Translation: X:2.95, Y:0.27, Z:0.43 [[ 0.94627765 -0.10417871 -0.30611338 2.94914764] [ 0.09783224 0.99454988 -0.03604697 0.27399317] [ 0.30820035 0.00416268 0.95131236 0.43031154] [ 0. 0. 0. 1. ]] SLAMing on 96.98650248099999 meters Centerline goodness : 0.714297 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:0.43 [[ 0.94611704 -0.10501039 -0.30632558 2.95110712] [ 0.09827987 0.99445732 -0.03735923 0.27585649] [ 0.30855082 0.00524057 0.95119342 0.42910632] [ 0. 0. 0. 1. ]] SLAMing on 97.01650248099999 meters Centerline goodness : 0.714083 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:0.43 [[ 0.94614636 -0.10513076 -0.30619372 2.95091507] [ 0.09824423 0.99444184 -0.03786168 0.27642515] [ 0.30847227 0.00574092 0.95121601 0.42898464] [ 0. 0. 0. 1. ]] SLAMing on 97.04650248099999 meters Centerline goodness : 0.713747 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:0.43 [[ 0.94644252 -0.10085397 -0.30671654 2.95092267] [ 0.09496086 0.99489621 -0.03411697 0.27713424] [ 0.30859195 0.00316368 0.95118925 0.42928261] [ 0. 0. 0. 1. ]] SLAMing on 97.07650248099999 meters Centerline goodness : 0.714696 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:0.43 [[ 9.46648316e-01 -9.66490494e-02 -3.07434428e-01 2.95165729e+00] [ 9.18360442e-02 9.95318483e-01 -3.01207275e-02 2.77326805e-01] [ 3.08906308e-01 2.80174317e-04 9.51092432e-01 4.29481541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10650248099999 meters Centerline goodness : 0.713680 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:0.43 [[ 9.46657678e-01 -9.65970512e-02 -3.07421941e-01 2.95213350e+00] [ 9.11700212e-02 9.95320987e-01 -3.20025037e-02 2.80666826e-01] [ 3.09074857e-01 2.26775098e-03 9.51035010e-01 4.28882546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.136502481 meters Centerline goodness : 0.713702 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:0.43 [[ 9.46583257e-01 -9.62941527e-02 -3.07745955e-01 2.95377089e+00] [ 9.08817959e-02 9.95350413e-01 -3.19069614e-02 2.80729817e-01] [ 3.09387517e-01 2.23409037e-03 9.50933422e-01 4.28373884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.166502481 meters Centerline goodness : 0.714668 Centerline is valid? [False, False] Translation: X:2.95, Y:0.28, Z:0.43 [[ 9.46510268e-01 -9.62732237e-02 -3.07976913e-01 2.95496675e+00] [ 9.06392747e-02 9.95350648e-01 -3.25823495e-02 2.81594117e-01] [ 3.09681828e-01 2.92472435e-03 9.50835744e-01 4.28834999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.196502481 meters Centerline goodness : 0.712298 Centerline is valid? [False, False] Translation: X:2.96, Y:0.28, Z:0.43 [[ 0.94622862 -0.09594301 -0.3089439 2.95613498] [ 0.09018115 0.99538142 -0.03291179 0.28299361] [ 0.31067468 0.00328116 0.95051064 0.4301883 ] [ 0. 0. 0. 1. ]] SLAMing on 97.226502481 meters Centerline goodness : 0.712485 Centerline is valid? [False, False] Translation: X:2.99, Y:0.29, Z:0.44 [[ 9.47129628e-01 -8.87234606e-02 -3.08340097e-01 2.98978261e+00] [ 8.40628171e-02 9.96055822e-01 -2.83944090e-02 2.85955008e-01] [ 3.09643199e-01 9.73248897e-04 9.50852324e-01 4.40024077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.25650248099998 meters Centerline goodness : 0.711988 Centerline is valid? [False, False] Translation: X:3.01, Y:0.29, Z:0.45 [[ 0.94694536 -0.08332868 -0.31040427 3.00585318] [ 0.07751017 0.99650776 -0.03105558 0.28759115] [ 0.31190808 0.00534845 0.95009723 0.44591366] [ 0. 0. 0. 1. ]] SLAMing on 97.28650248099999 meters Centerline goodness : 0.709737 Centerline is valid? [False, False] Translation: X:3.02, Y:0.29, Z:0.45 [[ 0.94653802 -0.08099014 -0.31226012 3.01935907] [ 0.07374393 0.99666404 -0.03496613 0.2868475 ] [ 0.31405034 0.01006948 0.94935293 0.45113144] [ 0. 0. 0. 1. ]] SLAMing on 97.31650248099999 meters Centerline goodness : 0.708142 Centerline is valid? [False, False] Translation: X:3.02, Y:0.29, Z:0.45 [[ 0.94707963 -0.08039499 -0.31076812 3.01675523] [ 0.07261788 0.99669043 -0.0365353 0.28853862] [ 0.31267686 0.01203452 0.94978332 0.45007961] [ 0. 0. 0. 1. ]] SLAMing on 97.34650248099999 meters Centerline goodness : 0.707166 Centerline is valid? [False, False] Translation: X:3.01, Y:0.29, Z:0.45 [[ 0.94745991 -0.07590325 -0.31073849 3.01464022] [ 0.06898836 0.99706485 -0.03320077 0.28907625] [ 0.31234647 0.01001906 0.94991542 0.45155718] [ 0. 0. 0. 1. ]] SLAMing on 97.37650248099999 meters Centerline goodness : 0.706735 Centerline is valid? [False, False] Translation: X:3.01, Y:0.29, Z:0.45 [[ 0.94741705 -0.07578307 -0.31089847 3.01495948] [ 0.06883355 0.99707286 -0.03328148 0.28877954] [ 0.31251059 0.0101312 0.94986025 0.45213461] [ 0. 0. 0. 1. ]] SLAMing on 97.40650248099999 meters Centerline goodness : 0.707265 Centerline is valid? [False, False] Translation: X:3.02, Y:0.29, Z:0.45 [[ 0.94688012 -0.08000871 -0.31147496 3.01607726] [ 0.07182853 0.99670553 -0.03766634 0.28940716] [ 0.31346245 0.01329272 0.94950755 0.45427619] [ 0. 0. 0. 1. ]] SLAMing on 97.43650248099999 meters Centerline goodness : 0.704147 Centerline is valid? [False, False] Translation: X:3.02, Y:0.29, Z:0.46 [[ 0.94644049 -0.0848049 -0.31154219 3.01619576] [ 0.07559382 0.99627275 -0.04154737 0.28875508] [ 0.31390441 0.01577145 0.94932359 0.45507959] [ 0. 0. 0. 1. ]] SLAMing on 97.46650248099999 meters Centerline goodness : 0.705407 Centerline is valid? [False, False] Translation: X:3.02, Y:0.29, Z:0.45 [[ 0.94643144 -0.08462275 -0.3116192 3.01694758] [ 0.07560916 0.99629767 -0.04091714 0.28659877] [ 0.313928 0.015164 0.94932569 0.45443906] [ 0. 0. 0. 1. ]] SLAMing on 97.496502481 meters Centerline goodness : 0.705537 Centerline is valid? [False, False] Translation: X:3.02, Y:0.28, Z:0.45 [[ 0.94623493 -0.08475456 -0.31217964 3.01831803] [ 0.07602156 0.996301 -0.04006283 0.28274618] [ 0.31442039 0.01417646 0.94917798 0.45391294] [ 0. 0. 0. 1. ]] SLAMing on 97.526502481 meters Centerline goodness : 0.705060 Centerline is valid? [False, False] Translation: X:3.04, Y:0.28, Z:0.46 [[ 0.94652343 -0.08676391 -0.31074976 3.03522436] [ 0.08008442 0.99620067 -0.03421559 0.28207513] [ 0.3125378 0.00749964 0.94987572 0.45639804] [ 0. 0. 0. 1. ]] SLAMing on 97.556502481 meters Centerline goodness : 0.707277 Centerline is valid? [False, False] Translation: X:3.04, Y:0.28, Z:0.46 [[ 0.94652756 -0.08629221 -0.31086853 3.03556276] [ 0.08000503 0.99624987 -0.03294525 0.27868222] [ 0.31254565 0.00631254 0.94988177 0.45588105] [ 0. 0. 0. 1. ]] SLAMing on 97.586502481 meters Centerline goodness : 0.706029 Centerline is valid? [False, False] Translation: X:3.04, Y:0.28, Z:0.46 [[ 0.94648424 -0.0859398 -0.31109794 3.03616802] [ 0.07983125 0.99628359 -0.03234155 0.27685574] [ 0.3127212 0.00577543 0.9498274 0.45575515] [ 0. 0. 0. 1. ]] SLAMing on 97.616502481 meters Centerline goodness : 0.704718 Centerline is valid? [False, False] Translation: X:3.04, Y:0.27, Z:0.45 [[ 0.94637419 -0.08546607 -0.31156289 3.03811631] [ 0.07965397 0.99632923 -0.03135766 0.27413369] [ 0.31309923 0.00485886 0.94970799 0.45487766] [ 0. 0. 0. 1. ]] SLAMing on 97.64650248099998 meters Centerline goodness : 0.704602 Centerline is valid? [False, False] Translation: X:3.04, Y:0.27, Z:0.46 [[ 0.9463049 -0.08529544 -0.31182002 3.03832085] [ 0.07960539 0.99634567 -0.03095623 0.27297962] [ 0.31332096 0.00447147 0.94963676 0.45512934] [ 0. 0. 0. 1. ]] SLAMing on 97.67650248099999 meters Centerline goodness : 0.701603 Centerline is valid? [False, False] Translation: X:3.04, Y:0.27, Z:0.46 [[ 0.94625089 -0.08530334 -0.31198173 3.03813872] [ 0.07959449 0.99634481 -0.031012 0.27311744] [ 0.3134868 0.00451311 0.94958183 0.45563038] [ 0. 0. 0. 1. ]] SLAMing on 97.70650248099999 meters Centerline goodness : 0.700700 Centerline is valid? [False, False] Translation: X:3.04, Y:0.27, Z:0.46 [[ 0.94617871 -0.08507757 -0.31226217 3.03868812] [ 0.07938206 0.99636427 -0.03093118 0.27305858] [ 0.31375842 0.00447841 0.94949228 0.45592385] [ 0. 0. 0. 1. ]] SLAMing on 97.73650248099999 meters Centerline goodness : 0.700526 Centerline is valid? [False, False] Translation: X:3.04, Y:0.27, Z:0.46 [[ 0.94609331 -0.08449974 -0.31267754 3.04077962] [ 0.07884735 0.99641382 -0.03070179 0.27312478] [ 0.31415052 0.00439296 0.94936303 0.45540814] [ 0. 0. 0. 1. ]] SLAMing on 97.76650248099999 meters Centerline goodness : 0.699187 Centerline is valid? [False, False] Translation: X:3.04, Y:0.27, Z:0.46 [[ 0.9458954 -0.08395612 -0.31342185 3.04261764] [ 0.07823026 0.99645866 -0.03082478 0.27406843] [ 0.31489985 0.00463794 0.94911357 0.45593759] [ 0. 0. 0. 1. ]] SLAMing on 97.79650248099999 meters Centerline goodness : 0.697918 Centerline is valid? [False, False] Translation: X:3.04, Y:0.27, Z:0.46 [[ 9.46224197e-01 -7.87771767e-02 -3.13773687e-01 3.04358198e+00] [ 7.42394998e-02 9.96890816e-01 -2.64044863e-02 2.72678947e-01] [ 3.14878177e-01 1.69016231e-03 9.49130590e-01 4.55168814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82650248099999 meters Centerline goodness : 0.695099 Centerline is valid? [False, False] Translation: X:3.05, Y:0.27, Z:0.45 [[ 9.46375342e-01 -7.30248085e-02 -3.14707943e-01 3.04579788e+00] [ 6.95933082e-02 9.97329675e-01 -2.21424906e-02 2.73686441e-01] [ 3.15484521e-01 -9.46459700e-04 9.48930251e-01 4.54896326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.85650248099999 meters Centerline goodness : 0.696694 Centerline is valid? [False, False] Translation: X:3.05, Y:0.27, Z:0.46 [[ 9.46195006e-01 -7.27059460e-02 -3.15323414e-01 3.04720336e+00] [ 6.91838364e-02 9.97353206e-01 -2.23646817e-02 2.74529195e-01] [ 3.16114863e-01 -6.53933312e-04 9.48720699e-01 4.55441479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.886502481 meters Centerline goodness : 0.694271 Centerline is valid? [False, False] Translation: X:3.05, Y:0.28, Z:0.46 [[ 9.45999957e-01 -7.18813632e-02 -3.16096743e-01 3.04953939e+00] [ 6.81896846e-02 9.97413188e-01 -2.27398132e-02 2.76464619e-01] [ 3.16913629e-01 -4.26749179e-05 9.48454401e-01 4.56202037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.916502481 meters Centerline goodness : 0.693681 Centerline is valid? [False, False] Translation: X:3.05, Y:0.28, Z:0.46 [[ 9.45717054e-01 -7.13680494e-02 -3.17058127e-01 3.05101453e+00] [ 6.75958597e-02 9.97450025e-01 -2.28964496e-02 2.77900400e-01] [ 3.17883711e-01 2.21746175e-04 9.48129684e-01 4.57314360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.946502481 meters Centerline goodness : 0.692179 Centerline is valid? [False, False] Translation: X:3.05, Y:0.28, Z:0.46 [[ 9.45543658e-01 -7.07260740e-02 -3.17718449e-01 3.05255501e+00] [ 6.68775449e-02 9.97495642e-01 -2.30182167e-02 2.79866433e-01] [ 3.18550756e-01 5.16499027e-04 9.47905665e-01 4.57880484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.976502481 meters Centerline goodness : 0.691779 Centerline is valid? [False, False] Translation: X:3.05, Y:0.28, Z:0.46 [[ 9.45382997e-01 -7.03625679e-02 -3.18276763e-01 3.05421088e+00] [ 6.65006290e-02 9.97521317e-01 -2.29975865e-02 2.79546902e-01] [ 3.19106025e-01 5.75922325e-04 9.47718847e-01 4.58151315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00650248099998 meters Centerline goodness : 0.691392 Centerline is valid? [False, False] Translation: X:3.06, Y:0.28, Z:0.46 [[ 9.45301244e-01 -7.01122660e-02 -3.18574683e-01 3.05517546e+00] [ 6.62230452e-02 9.97538875e-01 -2.30369342e-02 2.79572558e-01] [ 3.19405803e-01 6.79856912e-04 9.47617787e-01 4.58364433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.03650248099999 meters Centerline goodness : 0.692390 Centerline is valid? [False, False] Translation: X:3.06, Y:0.28, Z:0.46 [[ 9.45222924e-01 -6.98809892e-02 -3.18857760e-01 3.05543743e+00] [ 6.60298103e-02 9.97555168e-01 -2.28856014e-02 2.78683243e-01] [ 3.19677475e-01 5.77877705e-04 9.47526241e-01 4.58855783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06650248099999 meters Centerline goodness : 0.691378 Centerline is valid? [False, False] Translation: X:3.06, Y:0.28, Z:0.46 [[ 0.94477795 -0.07432564 -0.31917132 3.05537162] [ 0.06930191 0.99722799 -0.02708483 0.27983399] [ 0.32029967 0.00346997 0.94730992 0.46073546] [ 0. 0. 0. 1. ]] SLAMing on 98.09650248099999 meters Centerline goodness : 0.693442 Centerline is valid? [False, False] Translation: X:3.06, Y:0.28, Z:0.46 [[ 0.94477313 -0.07394929 -0.31927297 3.05613336] [ 0.06905832 0.99725715 -0.0266293 0.27828487] [ 0.32036647 0.00311019 0.94728858 0.46041401] [ 0. 0. 0. 1. ]] SLAMing on 98.12650248099999 meters Centerline goodness : 0.692359 Centerline is valid? [False, False] Translation: X:3.07, Y:0.28, Z:0.47 [[ 9.44926646e-01 -7.67274506e-02 -3.18161172e-01 3.07449919e+00] [ 7.32819855e-02 9.97050536e-01 -2.28030495e-02 2.77624567e-01] [ 3.18972387e-01 -1.76827326e-03 9.47762359e-01 4.65524072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.15650248099999 meters Centerline goodness : 0.694475 Centerline is valid? [False, False] Translation: X:3.08, Y:0.28, Z:0.47 [[ 9.44761305e-01 -7.62482934e-02 -3.18766801e-01 3.07533145e+00] [ 7.29588750e-02 9.97086387e-01 -2.22652212e-02 2.76429880e-01] [ 3.19535723e-01 -2.22154773e-03 9.47571626e-01 4.66042189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18650248099999 meters Centerline goodness : 0.694445 Centerline is valid? [False, False] Translation: X:3.08, Y:0.27, Z:0.47 [[ 9.44744500e-01 -7.64235004e-02 -3.18774652e-01 3.07599776e+00] [ 7.32912083e-02 9.97071679e-01 -2.18280902e-02 2.73263137e-01] [ 3.19509356e-01 -2.74141121e-03 9.47579155e-01 4.65440280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.21650248099999 meters Centerline goodness : 0.693577 Centerline is valid? [False, False] Translation: X:3.08, Y:0.27, Z:0.47 [[ 9.44228830e-01 -8.09229678e-02 -3.19191775e-01 3.07764061e+00] [ 7.67633526e-02 9.96720308e-01 -2.56127986e-02 2.73480239e-01] [ 3.20217588e-01 -3.17887900e-04 9.47343969e-01 4.65833243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.246502481 meters Centerline goodness : 0.694232 Centerline is valid? [False, False] Translation: X:3.08, Y:0.27, Z:0.47 [[ 9.44085456e-01 -8.04971819e-02 -3.19723091e-01 3.07867724e+00] [ 7.64303205e-02 9.96754667e-01 -2.52693283e-02 2.72829550e-01] [ 3.20719593e-01 -5.80133036e-04 9.47174010e-01 4.66145813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.276502481 meters Centerline goodness : 0.694478 Centerline is valid? [False, False] Translation: X:3.08, Y:0.27, Z:0.47 [[ 0.94430714 -0.07605944 -0.32015463 3.07879233] [ 0.07314994 0.99709724 -0.02112305 0.27131389] [ 0.3208319 -0.00347264 0.94712979 0.46592225] [ 0. 0. 0. 1. ]] SLAMing on 98.306502481 meters Centerline goodness : 0.694224 Centerline is valid? [False, False] Translation: X:3.08, Y:0.27, Z:0.47 [[ 0.94417044 -0.07572599 -0.3206365 3.08001312] [ 0.07286959 0.99712211 -0.02091697 0.27127188] [ 0.3212977 -0.00361547 0.94697134 0.46603327] [ 0. 0. 0. 1. ]] SLAMing on 98.336502481 meters Centerline goodness : 0.696735 Centerline is valid? [False, False] Translation: X:3.08, Y:0.27, Z:0.47 [[ 0.94407174 -0.07550614 -0.32097878 3.08146161] [ 0.07271484 0.99713808 -0.02069301 0.27049551] [ 0.32162261 -0.00380423 0.9468603 0.46573892] [ 0. 0. 0. 1. ]] SLAMing on 98.366502481 meters Centerline goodness : 0.696040 Centerline is valid? [False, False] Translation: X:3.08, Y:0.27, Z:0.47 [[ 9.43590149e-01 -8.05809725e-02 -3.21160921e-01 3.08152042e+00] [ 7.65089404e-02 9.96747822e-01 -2.53014167e-02 2.71584154e-01] [ 3.22155261e-01 -6.97514199e-04 9.46686591e-01 4.67207125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.39650248099998 meters Centerline goodness : 0.696040 Centerline is valid? [False, False] Translation: X:3.08, Y:0.27, Z:0.47 [[ 9.43592602e-01 -8.06123708e-02 -3.21145836e-01 3.08147648e+00] [ 7.65384160e-02 9.96745284e-01 -2.53122303e-02 2.71585349e-01] [ 3.22141076e-01 -6.95560353e-04 9.46691419e-01 4.67199942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42650248099999 meters Centerline goodness : 0.695259 Centerline is valid? [False, False] Translation: X:3.08, Y:0.27, Z:0.47 [[ 9.43615993e-01 -8.09393310e-02 -3.20994833e-01 3.08026810e+00] [ 7.67444920e-02 9.96718964e-01 -2.57213989e-02 2.71532410e-01] [ 3.22023510e-01 -3.63462031e-04 9.46731602e-01 4.68125189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.45650248099999 meters Centerline goodness : 0.696444 Centerline is valid? [False, False] Translation: X:3.08, Y:0.27, Z:0.47 [[ 9.43394820e-01 -8.04010215e-02 -3.21779255e-01 3.08181926e+00] [ 7.62961397e-02 9.96762406e-01 -2.53693567e-02 2.71519950e-01] [ 3.22777186e-01 -6.17195215e-04 9.46474779e-01 4.68566744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48650248099999 meters Centerline goodness : 0.693527 Centerline is valid? [False, False] Translation: X:3.08, Y:0.27, Z:0.47 [[ 9.43253106e-01 -7.97958664e-02 -3.22344844e-01 3.08349844e+00] [ 7.57851384e-02 9.96810861e-01 -2.49944096e-02 2.71537207e-01] [ 3.23311292e-01 -8.52894166e-04 9.46292281e-01 4.68577492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.51650248099999 meters Centerline goodness : 0.693309 Centerline is valid? [False, False] Translation: X:3.08, Y:0.27, Z:0.47 [[ 9.43207756e-01 -7.97477660e-02 -3.22489414e-01 3.08353365e+00] [ 7.56624399e-02 9.96814878e-01 -2.52050428e-02 2.71617316e-01] [ 3.23472291e-01 -6.26744038e-04 9.46237435e-01 4.69182506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54650248099999 meters Centerline goodness : 0.695908 Centerline is valid? [False, False] Translation: X:3.08, Y:0.27, Z:0.47 [[ 9.43140556e-01 -7.90464282e-02 -3.22858410e-01 3.08456971e+00] [ 7.49146246e-02 9.96870857e-01 -2.52248653e-02 2.72245212e-01] [ 3.23842075e-01 -3.96223114e-04 9.46111068e-01 4.69766765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.57650248099999 meters Centerline goodness : 0.693577 Centerline is valid? [False, False] Translation: X:3.09, Y:0.27, Z:0.47 [[ 9.42958262e-01 -7.84492628e-02 -3.23535824e-01 3.08634291e+00] [ 7.43645330e-02 9.96917984e-01 -2.49889798e-02 2.72497273e-01] [ 3.24499049e-01 -4.96025513e-04 9.45885892e-01 4.70020570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60650248099999 meters Centerline goodness : 0.695888 Centerline is valid? [False, False] Translation: X:3.09, Y:0.27, Z:0.47 [[ 9.42894934e-01 -7.76709106e-02 -3.23907971e-01 3.08723254e+00] [ 7.35434720e-02 9.96979017e-01 -2.49839511e-02 2.73738073e-01] [ 3.24869976e-01 -2.64075845e-04 9.45758652e-01 4.70881085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.636502481 meters Centerline goodness : 0.692906 Centerline is valid? [False, False] Translation: X:3.09, Y:0.27, Z:0.47 [[ 9.42767436e-01 -7.75430892e-02 -3.24309469e-01 3.08715547e+00] [ 7.32516887e-02 9.96988976e-01 -2.54395850e-02 2.74672108e-01] [ 3.25305629e-01 2.27396023e-04 9.45608902e-01 4.72378366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.666502481 meters Centerline goodness : 0.691906 Centerline is valid? [False, False] Translation: X:3.09, Y:0.28, Z:0.47 [[ 9.42671250e-01 -7.68693126e-02 -3.24749169e-01 3.08799909e+00] [ 7.24107113e-02 9.97040843e-01 -2.58117625e-02 2.76441385e-01] [ 3.25772317e-01 8.16688086e-04 9.45447899e-01 4.73554569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.696502481 meters Centerline goodness : 0.693117 Centerline is valid? [False, False] Translation: X:3.12, Y:0.27, Z:0.48 [[ 0.94308765 -0.07055437 -0.3249735 3.1198545 ] [ 0.06357555 0.997462 -0.03205798 0.27488954] [ 0.32641054 0.00957312 0.94517962 0.483411 ] [ 0. 0. 0. 1. ]] SLAMing on 98.726502481 meters Centerline goodness : 0.694079 Centerline is valid? [False, False] Translation: X:3.13, Y:0.27, Z:0.49 [[ 0.94255921 -0.06667067 -0.32731814 3.13012897] [ 0.05914673 0.99770702 -0.03289919 0.27137279] [ 0.32876102 0.01164964 0.94434129 0.48753406] [ 0. 0. 0. 1. ]] SLAMing on 98.75650248099998 meters Centerline goodness : 0.693560 Centerline is valid? [False, False] Translation: X:3.13, Y:0.27, Z:0.49 [[ 0.94225649 -0.06538926 -0.32844627 3.13439795] [ 0.05798749 0.99779493 -0.03229138 0.27189629] [ 0.32983353 0.01138098 0.94397051 0.48706937] [ 0. 0. 0. 1. ]] SLAMing on 98.78650248099999 meters Centerline goodness : 0.693124 Centerline is valid? [False, False] Translation: X:3.16, Y:0.27, Z:0.50 [[ 0.94269793 -0.05998968 -0.32821008 3.16390516] [ 0.05030218 0.99801333 -0.03793527 0.26942743] [ 0.32983376 0.01925182 0.94384271 0.49692855] [ 0. 0. 0. 1. ]] SLAMing on 98.81650248099999 meters Centerline goodness : 0.693209 Centerline is valid? [False, False] Translation: X:3.17, Y:0.27, Z:0.50 [[ 0.94249492 -0.05499395 -0.32966497 3.17452197] [ 0.0443378 0.99822499 -0.03976212 0.2660105 ] [ 0.33126649 0.02285897 0.94326029 0.50318931] [ 0. 0. 0. 1. ]] SLAMing on 98.84650248099999 meters Centerline goodness : 0.690630 Centerline is valid? [False, False] Translation: X:3.18, Y:0.26, Z:0.50 [[ 0.94213027 -0.05346684 -0.33095596 3.1780568 ] [ 0.04280639 0.99830531 -0.03942227 0.26397443] [ 0.33250287 0.02297389 0.94282238 0.50453747] [ 0. 0. 0. 1. ]] SLAMing on 98.87650248099999 meters Centerline goodness : 0.692455 Centerline is valid? [False, False] Translation: X:3.18, Y:0.26, Z:0.50 [[ 0.94228369 -0.0534202 -0.33052645 3.17777345] [ 0.04254113 0.998291 -0.04006667 0.26480076] [ 0.33210195 0.0236932 0.94294588 0.5038407 ] [ 0. 0. 0. 1. ]] SLAMing on 98.90650248099999 meters Centerline goodness : 0.691024 Centerline is valid? [False, False] Translation: X:3.18, Y:0.26, Z:0.50 [[ 0.9424829 -0.05248493 -0.33010802 3.17682091] [ 0.0415985 0.99833493 -0.03996167 0.2647855 ] [ 0.33165575 0.02393119 0.9430969 0.50365101] [ 0. 0. 0. 1. ]] SLAMing on 98.93650248099999 meters Centerline goodness : 0.688342 Centerline is valid? [False, False] Translation: X:3.17, Y:0.26, Z:0.51 [[ 0.94265709 -0.05176565 -0.32972401 3.17380215] [ 0.04103112 0.99837925 -0.03943745 0.26482162] [ 0.33123111 0.02364705 0.94325329 0.50530958] [ 0. 0. 0. 1. ]] SLAMing on 98.96650248099999 meters Centerline goodness : 0.689235 Centerline is valid? [False, False] Translation: X:3.17, Y:0.26, Z:0.51 [[ 0.94281589 -0.05171183 -0.32927814 3.17254323] [ 0.04106924 0.99838704 -0.03919995 0.26402022] [ 0.33077413 0.02343513 0.94341893 0.50545334] [ 0. 0. 0. 1. ]] SLAMing on 98.996502481 meters Centerline goodness : 0.688002 Centerline is valid? [False, False] Translation: X:3.17, Y:0.26, Z:0.51 [[ 0.94261461 -0.05651472 -0.329065 3.17195688] [ 0.04466309 0.99805585 -0.04347094 0.26374373] [ 0.330882 0.02627928 0.94330615 0.50586723] [ 0. 0. 0. 1. ]] SLAMing on 99.026502481 meters Centerline goodness : 0.686771 Centerline is valid? [False, False] Translation: X:3.17, Y:0.26, Z:0.51 [[ 0.942294 -0.06038762 -0.32929524 3.17226602] [ 0.04757662 0.9977691 -0.04683254 0.26361939] [ 0.33138872 0.02846327 0.94306487 0.50638664] [ 0. 0. 0. 1. ]] SLAMing on 99.056502481 meters Centerline goodness : 0.689271 Centerline is valid? [False, False] Translation: X:3.17, Y:0.26, Z:0.51 [[ 0.94221835 -0.06046976 -0.32949657 3.17163421] [ 0.04836605 0.99782375 -0.04481621 0.25994455] [ 0.33148953 0.02629021 0.94309253 0.50746571] [ 0. 0. 0. 1. ]] SLAMing on 99.086502481 meters Centerline goodness : 0.687147 Centerline is valid? [False, False] Translation: X:3.17, Y:0.26, Z:0.51 [[ 0.94210589 -0.06029488 -0.32984998 3.17239637] [ 0.04863691 0.99786925 -0.04349034 0.25805779] [ 0.3317694 0.02492962 0.94303106 0.50773728] [ 0. 0. 0. 1. ]] SLAMing on 99.116502481 meters Centerline goodness : 0.689162 Centerline is valid? [False, False] Translation: X:3.17, Y:0.26, Z:0.51 [[ 0.94164562 -0.06351935 -0.33055835 3.1738818 ] [ 0.05139238 0.99765028 -0.04530726 0.25640603] [ 0.33265952 0.0256752 0.94269742 0.50839965] [ 0. 0. 0. 1. ]] SLAMing on 99.14650248099998 meters Centerline goodness : 0.687623 Centerline is valid? [False, False] Translation: X:3.17, Y:0.25, Z:0.51 [[ 0.94188526 -0.06312358 -0.32995086 3.1723743 ] [ 0.05144399 0.99770525 -0.04401986 0.25347658] [ 0.3319724 0.02448767 0.9429712 0.50847626] [ 0. 0. 0. 1. ]] SLAMing on 99.17650248099999 meters Centerline goodness : 0.690243 Centerline is valid? [False, False] Translation: X:3.17, Y:0.25, Z:0.51 [[ 0.94214067 -0.06517285 -0.32882131 3.16937953] [ 0.05319518 0.99755602 -0.04530187 0.24974916] [ 0.33097013 0.02518903 0.94330498 0.50904993] [ 0. 0. 0. 1. ]] SLAMing on 99.20650248099999 meters Centerline goodness : 0.690740 Centerline is valid? [False, False] Translation: X:3.17, Y:0.25, Z:0.51 [[ 0.94212618 -0.06491584 -0.32891366 3.16986362] [ 0.05334232 0.99760203 -0.04409964 0.24759197] [ 0.3309877 0.0240024 0.94332975 0.50903394] [ 0. 0. 0. 1. ]] SLAMing on 99.23650248099999 meters Centerline goodness : 0.692361 Centerline is valid? [False, False] Translation: X:3.17, Y:0.25, Z:0.51 [[ 0.94184956 -0.06792968 -0.32909719 3.17098932] [ 0.05576124 0.99737072 -0.04628535 0.24559622] [ 0.33137605 0.02524297 0.94316102 0.50887729] [ 0. 0. 0. 1. ]] SLAMing on 99.26650248099999 meters Centerline goodness : 0.692316 Centerline is valid? [False, False] Translation: X:3.17, Y:0.24, Z:0.51 [[ 0.94185251 -0.06763891 -0.32914865 3.17127737] [ 0.05577021 0.99741185 -0.04537931 0.24409955] [ 0.33136617 0.02438393 0.94318709 0.50885078] [ 0. 0. 0. 1. ]] SLAMing on 99.29650248099999 meters Centerline goodness : 0.693845 Centerline is valid? [False, False] Translation: X:3.17, Y:0.24, Z:0.51 [[ 0.94203179 -0.06682271 -0.32880213 3.17179448] [ 0.05516189 0.99747738 -0.04467699 0.24168669] [ 0.33095812 0.0239498 0.94334147 0.50772127] [ 0. 0. 0. 1. ]] SLAMing on 99.32650248099999 meters Centerline goodness : 0.694670 Centerline is valid? [False, False] Translation: X:3.17, Y:0.24, Z:0.51 [[ 0.94209951 -0.06640972 -0.32869173 3.17175898] [ 0.05492787 0.99751572 -0.04410582 0.23996394] [ 0.33080422 0.02349773 0.94340682 0.50749798] [ 0. 0. 0. 1. ]] SLAMing on 99.35650248099999 meters Centerline goodness : 0.693553 Centerline is valid? [False, False] Translation: X:3.17, Y:0.24, Z:0.51 [[ 0.94258032 -0.06509568 -0.32757424 3.1699761 ] [ 0.05368616 0.99759839 -0.04376359 0.23778067] [ 0.32963636 0.0236645 0.94381135 0.50645443] [ 0. 0. 0. 1. ]] SLAMing on 99.386502481 meters Centerline goodness : 0.693114 Centerline is valid? [False, False] Translation: X:3.17, Y:0.24, Z:0.51 [[ 0.94277529 -0.06444036 -0.32714247 3.16923776] [ 0.05308751 0.99764088 -0.04352458 0.23707217] [ 0.32917544 0.02366672 0.94397215 0.50607512] [ 0. 0. 0. 1. ]] SLAMing on 99.416502481 meters Centerline goodness : 0.694509 Centerline is valid? [False, False] Translation: X:3.17, Y:0.24, Z:0.50 [[ 0.94305057 -0.06318178 -0.32659407 3.16909798] [ 0.05201078 0.99772747 -0.04283424 0.23515676] [ 0.32855821 0.02340844 0.94419359 0.50498922] [ 0. 0. 0. 1. ]] SLAMing on 99.446502481 meters Centerline goodness : 0.693679 Centerline is valid? [False, False] Translation: X:3.17, Y:0.23, Z:0.50 [[ 0.94305788 -0.06293646 -0.32662033 3.16995236] [ 0.05196033 0.9977558 -0.04223134 0.23387486] [ 0.32854522 0.0228553 0.94421167 0.5043713 ] [ 0. 0. 0. 1. ]] SLAMing on 99.476502481 meters Centerline goodness : 0.692712 Centerline is valid? [False, False] Translation: X:3.17, Y:0.23, Z:0.50 [[ 0.9433773 -0.06210661 -0.32585587 3.16903628] [ 0.05154518 0.99783055 -0.04095468 0.23050304] [ 0.3276925 0.02183941 0.94453198 0.50364699] [ 0. 0. 0. 1. ]] SLAMing on 99.50650248099998 meters Centerline goodness : 0.692574 Centerline is valid? [False, False] Translation: X:3.17, Y:0.23, Z:0.50 [[ 0.94345558 -0.06175006 -0.32569693 3.16911264] [ 0.0514969 0.99787107 -0.04001745 0.22875428] [ 0.32747462 0.02098231 0.94462697 0.5033887 ] [ 0. 0. 0. 1. ]] SLAMing on 99.53650248099999 meters Centerline goodness : 0.692376 Centerline is valid? [False, False] Translation: X:3.17, Y:0.23, Z:0.50 [[ 0.943481 -0.06589246 -0.32481038 3.1688662 ] [ 0.05485619 0.99756668 -0.04302927 0.22706252] [ 0.32685532 0.02277944 0.94479982 0.50232741] [ 0. 0. 0. 1. ]] SLAMing on 99.56650248099999 meters Centerline goodness : 0.691531 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:0.50 [[ 0.94360816 -0.06570403 -0.324479 3.16836715] [ 0.05529316 0.99761927 -0.04121234 0.22365385] [ 0.32641432 0.02094683 0.94499467 0.50238632] [ 0. 0. 0. 1. ]] SLAMing on 99.59650248099999 meters Centerline goodness : 0.690985 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:0.50 [[ 0.94344437 -0.07014578 -0.32402515 3.16838811] [ 0.05936201 0.99730742 -0.04305887 0.22063146] [ 0.32617308 0.02138886 0.94506806 0.50225281] [ 0. 0. 0. 1. ]] SLAMing on 99.62650248099999 meters Centerline goodness : 0.690780 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:0.50 [[ 0.94319271 -0.07481066 -0.3237142 3.16914429] [ 0.0631301 0.99692374 -0.04645046 0.21982462] [ 0.32619336 0.02337563 0.94501401 0.50170407] [ 0. 0. 0. 1. ]] SLAMing on 99.65650248099999 meters Centerline goodness : 0.690634 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.50 [[ 0.94282031 -0.0797539 -0.32361887 3.17064155] [ 0.06790834 0.99654817 -0.04775138 0.21498278] [ 0.32631015 0.02304455 0.94498182 0.5012823 ] [ 0. 0. 0. 1. ]] SLAMing on 99.68650248099999 meters Centerline goodness : 0.690054 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.50 [[ 0.94273304 -0.07984621 -0.32385027 3.1709738 ] [ 0.06857733 0.99658103 -0.04608028 0.21250115] [ 0.32642237 0.02123262 0.94498551 0.50181725] [ 0. 0. 0. 1. ]] SLAMing on 99.71650248099999 meters Centerline goodness : 0.690939 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.50 [[ 0.94282447 -0.08021343 -0.32349317 3.16999527] [ 0.06934128 0.99657684 -0.04501546 0.21090716] [ 0.32599664 0.02001025 0.94515913 0.50225555] [ 0. 0. 0. 1. ]] SLAMing on 99.746502481 meters Centerline goodness : 0.689302 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.50 [[ 0.94272705 -0.08459974 -0.32265863 3.16886073] [ 0.07307948 0.99618592 -0.04767598 0.20864227] [ 0.32546136 0.02136571 0.94531392 0.50231749] [ 0. 0. 0. 1. ]] SLAMing on 99.776502481 meters Centerline goodness : 0.689350 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.50 [[ 0.94264374 -0.08487099 -0.32283074 3.16946636] [ 0.07364493 0.99618325 -0.04685466 0.20684984] [ 0.32557518 0.02039241 0.94529623 0.50241082] [ 0. 0. 0. 1. ]] SLAMing on 99.806502481 meters Centerline goodness : 0.690134 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.50 [[ 0.94269002 -0.08508218 -0.32263996 3.16984674] [ 0.07413103 0.99618225 -0.04610332 0.20563069] [ 0.32533078 0.01954351 0.9453983 0.50195595] [ 0. 0. 0. 1. ]] SLAMing on 99.836502481 meters Centerline goodness : 0.689180 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.50 [[ 0.94275704 -0.08518692 -0.32241644 3.16999643] [ 0.07421203 0.99617156 -0.04620382 0.20581544] [ 0.32511805 0.0196318 0.94546964 0.50148028] [ 0. 0. 0. 1. ]] SLAMing on 99.866502481 meters Centerline goodness : 0.691172 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.50 [[ 0.94279465 -0.08489301 -0.32238398 3.17052493] [ 0.07381442 0.99618923 -0.04645908 0.20697599] [ 0.3250995 0.02000478 0.9454682 0.5008906 ] [ 0. 0. 0. 1. ]] SLAMing on 99.89650248099998 meters Centerline goodness : 0.690330 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.50 [[ 0.94298119 -0.08470156 -0.32188837 3.17007466] [ 0.0735721 0.9962002 -0.04660809 0.20716361] [ 0.32461303 0.02026855 0.94562972 0.50022273] [ 0. 0. 0. 1. ]] SLAMing on 99.92650248099999 meters Centerline goodness : 0.692799 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.50 [[ 0.94342725 -0.08419777 -0.32071133 3.16895886] [ 0.07287753 0.99622519 -0.04716171 0.2067257 ] [ 0.32347161 0.02112099 0.94600212 0.49866761] [ 0. 0. 0. 1. ]] SLAMing on 99.95650248099999 meters Centerline goodness : 0.690522 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.50 [[ 0.94356367 -0.08353286 -0.32048379 3.16903659] [ 0.07221852 0.9962784 -0.0470514 0.20689651] [ 0.32322142 0.02125113 0.94608472 0.49803568] [ 0. 0. 0. 1. ]] SLAMing on 99.98650248099999 meters Centerline goodness : 0.690771 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.50 [[ 0.94397968 -0.07890255 -0.32043214 3.16906056] [ 0.06873903 0.99671076 -0.0429257 0.20658199] [ 0.32276511 0.0184948 0.94629838 0.49743767] [ 0. 0. 0. 1. ]] SLAMing on 100.01650248099999 meters Centerline goodness : 0.691033 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.50 [[ 0.94398144 -0.07866476 -0.32048542 3.16997118] [ 0.06844772 0.99672586 -0.04304039 0.20709411] [ 0.32282187 0.01869283 0.94627513 0.49676005] [ 0. 0. 0. 1. ]] SLAMing on 100.04650248099999 meters Centerline goodness : 0.691919 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.50 [[ 0.9441559 -0.07824281 -0.32007453 3.17050043] [ 0.0679806 0.99675399 -0.04312917 0.20654701] [ 0.32241011 0.0189618 0.94641015 0.49540097] [ 0. 0. 0. 1. ]] SLAMing on 100.07650248099999 meters Centerline goodness : 0.692554 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.49 [[ 0.9443547 -0.07827242 -0.31948026 3.16997143] [ 0.06804007 0.99675192 -0.04308316 0.2057159 ] [ 0.32181478 0.01894832 0.94661302 0.49472341] [ 0. 0. 0. 1. ]] SLAMing on 100.10650248099999 meters Centerline goodness : 0.691522 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.49 [[ 0.9444025 -0.07829311 -0.31933386 3.17002092] [ 0.06810053 0.9967523 -0.04297862 0.20521644] [ 0.32166169 0.01884231 0.94666717 0.49442665] [ 0. 0. 0. 1. ]] SLAMing on 100.136502481 meters Centerline goodness : 0.691457 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.49 [[ 0.94432782 -0.07835818 -0.31953866 3.17095937] [ 0.06824585 0.9967526 -0.04274057 0.20561903] [ 0.32185006 0.01855392 0.94660884 0.49418751] [ 0. 0. 0. 1. ]] SLAMing on 100.166502481 meters Centerline goodness : 0.691336 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.49 [[ 0.94420634 -0.0787897 -0.31979145 3.17248981] [ 0.06876433 0.99672554 -0.04254017 0.20480621] [ 0.32209603 0.01817645 0.9465325 0.4935927 ] [ 0. 0. 0. 1. ]] SLAMing on 100.196502481 meters Centerline goodness : 0.693013 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.49 [[ 0.94412426 -0.07912373 -0.31995128 3.17325579] [ 0.06915525 0.99670369 -0.04241822 0.20446193] [ 0.32225291 0.01792176 0.94648395 0.49343721] [ 0. 0. 0. 1. ]] SLAMing on 100.226502481 meters Centerline goodness : 0.692814 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.49 [[ 0.94406246 -0.07887516 -0.32019492 3.17406026] [ 0.06902424 0.99672971 -0.04201821 0.20443851] [ 0.32246199 0.01756661 0.9464194 0.49334965] [ 0. 0. 0. 1. ]] SLAMing on 100.25650248099998 meters Centerline goodness : 0.693261 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.49 [[ 0.94402493 -0.07922389 -0.32021947 3.1741294 ] [ 0.06939386 0.99670428 -0.04201262 0.20405225] [ 0.32249252 0.0174397 0.94641134 0.49346472] [ 0. 0. 0. 1. ]] SLAMing on 100.28650248099999 meters Centerline goodness : 0.692683 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.49 [[ 0.94423777 -0.07901514 -0.319643 3.17249807] [ 0.0695012 0.9967356 -0.04108191 0.20211114] [ 0.32184565 0.01657552 0.94664705 0.49386887] [ 0. 0. 0. 1. ]] SLAMing on 100.31650248099999 meters Centerline goodness : 0.692683 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.49 [[ 0.94423777 -0.07901514 -0.319643 3.17249807] [ 0.0695012 0.9967356 -0.04108191 0.20211114] [ 0.32184565 0.01657552 0.94664705 0.49386887] [ 0. 0. 0. 1. ]] SLAMing on 100.34650248099999 meters Centerline goodness : 0.691840 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.49 [[ 0.94423195 -0.07898928 -0.31966656 3.17228043] [ 0.06960241 0.9967441 -0.04070266 0.20154717] [ 0.32184083 0.01618319 0.94665547 0.49415284] [ 0. 0. 0. 1. ]] SLAMing on 100.37650248099999 meters Centerline goodness : 0.692457 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.49 [[ 0.94411855 -0.07930318 -0.31992368 3.17313637] [ 0.07008311 0.99672879 -0.04025023 0.20038969] [ 0.32206912 0.01557974 0.94658795 0.4941366 ] [ 0. 0. 0. 1. ]] SLAMing on 100.40650248099999 meters Centerline goodness : 0.692657 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.49 [[ 0.94391296 -0.08021131 -0.32030371 3.17446543] [ 0.07124154 0.99667091 -0.0396451 0.1987152 ] [ 0.32241737 0.01460259 0.94648497 0.49415503] [ 0. 0. 0. 1. ]] SLAMing on 100.43650248099999 meters Centerline goodness : 0.691613 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.49 [[ 0.94369961 -0.0801701 -0.32094206 3.17522837] [ 0.07147335 0.99668726 -0.03880806 0.19820381] [ 0.32299011 0.01368435 0.9463034 0.49499372] [ 0. 0. 0. 1. ]] SLAMing on 100.46650248099999 meters Centerline goodness : 0.691118 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.50 [[ 0.94360786 -0.08039453 -0.32115561 3.17604273] [ 0.07208539 0.99668569 -0.03770055 0.1961277 ] [ 0.32312211 0.01242391 0.94627572 0.49507324] [ 0. 0. 0. 1. ]] SLAMing on 100.496502481 meters Centerline goodness : 0.691887 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.50 [[ 0.94347205 -0.08078966 -0.32145532 3.17665789] [ 0.07271582 0.99666373 -0.03706511 0.1944653 ] [ 0.32337734 0.01159501 0.94619906 0.49538252] [ 0. 0. 0. 1. ]] SLAMing on 100.526502481 meters Centerline goodness : 0.690618 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.50 [[ 0.9434353 -0.08067421 -0.32159213 3.17639783] [ 0.07311603 0.99669027 -0.03553244 0.19174815] [ 0.3233943 0.01000902 0.94621137 0.49615264] [ 0. 0. 0. 1. ]] SLAMing on 100.556502481 meters Centerline goodness : 0.688639 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.50 [[ 0.94337165 -0.08076737 -0.32175544 3.17669935] [ 0.07339161 0.99668854 -0.03500905 0.19099254] [ 0.32351755 0.0094124 0.94617536 0.49640681] [ 0. 0. 0. 1. ]] SLAMing on 100.586502481 meters Centerline goodness : 0.691504 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.50 [[ 0.94339449 -0.08077199 -0.3216873 3.17712858] [ 0.0734338 0.99668918 -0.034902 0.19088352] [ 0.32344136 0.00930363 0.94620248 0.49595241] [ 0. 0. 0. 1. ]] SLAMing on 100.61650248099998 meters Centerline goodness : 0.688744 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.50 [[ 0.94341707 -0.0801775 -0.32176978 3.17736337] [ 0.07304245 0.99674203 -0.03420704 0.1901047 ] [ 0.3234641 0.00876865 0.94619981 0.49593506] [ 0. 0. 0. 1. ]] SLAMing on 100.64650248099998 meters Centerline goodness : 0.690915 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.50 [[ 0.94349957 -0.08016358 -0.32153126 3.17694844] [ 0.07313212 0.99674566 -0.0339083 0.18939001] [ 0.3232031 0.00847821 0.94629164 0.49588853] [ 0. 0. 0. 1. ]] SLAMing on 100.67650248099999 meters Centerline goodness : 0.693504 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.50 [[ 0.94367176 -0.08017656 -0.32102232 3.1768995 ] [ 0.07334175 0.99674917 -0.03334776 0.18703955] [ 0.32265244 0.007925 0.94648434 0.49502541] [ 0. 0. 0. 1. ]] SLAMing on 100.70650248099999 meters Centerline goodness : 0.691137 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.50 [[ 0.94352911 -0.08002351 -0.32147949 3.17826188] [ 0.07349212 0.99676864 -0.03242189 0.18572184] [ 0.32303519 0.00696479 0.94636133 0.49500198] [ 0. 0. 0. 1. ]] SLAMing on 100.73650248099999 meters Centerline goodness : 0.691518 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.50 [[ 0.94345318 -0.07982954 -0.32175044 3.1785622 ] [ 0.0733893 0.9967861 -0.03211682 0.18635209] [ 0.32328024 0.00668768 0.94627964 0.49534143] [ 0. 0. 0. 1. ]] SLAMing on 100.76650248099999 meters Centerline goodness : 0.692311 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.50 [[ 0.94353747 -0.07982833 -0.32150345 3.1781387 ] [ 0.07331368 0.99678444 -0.03234004 0.18706394] [ 0.32305129 0.00694344 0.94635599 0.49520295] [ 0. 0. 0. 1. ]] SLAMing on 100.79650248099999 meters Centerline goodness : 0.693023 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.49 [[ 0.94373837 -0.07962355 -0.32096415 3.17812303] [ 0.07306899 0.9967993 -0.0324357 0.1857697 ] [ 0.32251948 0.00715829 0.94653576 0.49408273] [ 0. 0. 0. 1. ]] SLAMing on 100.82650248099999 meters Centerline goodness : 0.690249 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.49 [[ 0.94381859 -0.0793394 -0.32079858 3.17848706] [ 0.07285047 0.99682294 -0.03219996 0.18470987] [ 0.32233411 0.00702059 0.94659993 0.49345283] [ 0. 0. 0. 1. ]] SLAMing on 100.85650248099999 meters Centerline goodness : 0.691390 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.49 [[ 0.94384377 -0.07939512 -0.32071069 3.17911041] [ 0.07269447 0.99681368 -0.03283305 0.18593652] [ 0.32229558 0.00767538 0.94660797 0.49264872] [ 0. 0. 0. 1. ]] SLAMing on 100.886502481 meters Centerline goodness : 0.691879 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.49 [[ 0.94378405 -0.07964126 -0.32082538 3.18065294] [ 0.07278939 0.99679077 -0.03331472 0.18668282] [ 0.32244901 0.00808922 0.94655227 0.49162951] [ 0. 0. 0. 1. ]] SLAMing on 100.916502481 meters Centerline goodness : 0.691751 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.49 [[ 0.94386594 -0.07969015 -0.32057226 3.18031455] [ 0.07292463 0.99678884 -0.03307578 0.18579392] [ 0.32217867 0.00784148 0.94664641 0.49144486] [ 0. 0. 0. 1. ]] SLAMing on 100.946502481 meters Centerline goodness : 0.691359 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.49 [[ 0.94388545 -0.07980962 -0.32048509 3.17987168] [ 0.07313136 0.99678145 -0.0328412 0.18534144] [ 0.32207463 0.00756082 0.94668409 0.49170318] [ 0. 0. 0. 1. ]] SLAMing on 100.976502481 meters Centerline goodness : 0.691577 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.49 [[ 0.94366744 -0.08025934 -0.32101434 3.18066325] [ 0.0736852 0.99674868 -0.03259688 0.18559577] [ 0.32258683 0.00710661 0.9465132 0.49227904] [ 0. 0. 0. 1. ]] SLAMing on 101.00650248099998 meters Centerline goodness : 0.691119 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.49 [[ 0.94357304 -0.08073087 -0.32117354 3.1812468 ] [ 0.07423323 0.99671292 -0.03244671 0.1853259 ] [ 0.32273726 0.00677409 0.94646435 0.4923092 ] [ 0. 0. 0. 1. ]] SLAMing on 101.03650248099999 meters Centerline goodness : 0.691928 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.49 [[ 0.94336156 -0.08146308 -0.3216096 3.18202218] [ 0.07516754 0.99665841 -0.03196637 0.18474872] [ 0.32313899 0.00598124 0.94633261 0.49287023] [ 0. 0. 0. 1. ]] SLAMing on 101.06650248099999 meters Centerline goodness : 0.694212 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.49 [[ 0.94336013 -0.08210554 -0.32145036 3.18224331] [ 0.07587479 0.9966074 -0.03188593 0.18416937] [ 0.32297782 0.00568994 0.94638943 0.49264763] [ 0. 0. 0. 1. ]] SLAMing on 101.09650248099999 meters Centerline goodness : 0.692142 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.49 [[ 0.94330101 -0.08260536 -0.32149582 3.18288231] [ 0.0764256 0.99656747 -0.03181836 0.18319144] [ 0.32302064 0.00544378 0.94637626 0.49240058] [ 0. 0. 0. 1. ]] SLAMing on 101.12650248099999 meters Centerline goodness : 0.690565 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.49 [[ 0.94337966 -0.08286253 -0.32119871 3.18236944] [ 0.07686098 0.99654903 -0.0313435 0.18127558] [ 0.32268747 0.00488117 0.94649299 0.49237971] [ 0. 0. 0. 1. ]] SLAMing on 101.15650248099999 meters Centerline goodness : 0.693917 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.49 [[ 0.94345411 -0.08271268 -0.32101861 3.18118322] [ 0.0769088 0.9965641 -0.0307414 0.18115147] [ 0.32245832 0.00431395 0.94657383 0.49307381] [ 0. 0. 0. 1. ]] SLAMing on 101.18650248099999 meters Centerline goodness : 0.694055 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.49 [[ 9.43504210e-01 -7.91108098e-02 -3.21778319e-01 3.18130253e+00] [ 7.48381501e-02 9.96865821e-01 -2.56473238e-02 1.79785374e-01] [ 3.22798788e-01 1.17063908e-04 9.46467606e-01 4.94513633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.21650248099999 meters Centerline goodness : 0.694386 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.49 [[ 9.43464066e-01 -7.94981811e-02 -3.21800552e-01 3.18214541e+00] [ 7.52852708e-02 9.96835002e-01 -2.55363820e-02 1.79140307e-01] [ 3.22812149e-01 -1.34182905e-04 9.46463046e-01 4.94062089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.246502481 meters Centerline goodness : 0.694535 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.49 [[ 9.43310362e-01 -8.00898892e-02 -3.22104286e-01 3.18378632e+00] [ 7.60348438e-02 9.96787366e-01 -2.51723871e-02 1.77897855e-01] [ 3.23085537e-01 -7.45775481e-04 9.46369473e-01 4.93640710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.276502481 meters Centerline goodness : 0.692687 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.49 [[ 9.43359551e-01 -8.00393924e-02 -3.21972753e-01 3.18381163e+00] [ 7.60071109e-02 9.96791383e-01 -2.50969765e-02 1.77741686e-01] [ 3.22948412e-01 -7.96746261e-04 9.46416234e-01 4.93402657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.306502481 meters Centerline goodness : 0.693609 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.49 [[ 9.43194717e-01 -8.07042613e-02 -3.22289542e-01 3.18499295e+00] [ 7.64927336e-02 9.96738018e-01 -2.57329580e-02 1.79223816e-01] [ 3.23314998e-01 -3.81617984e-04 9.46291322e-01 4.93123870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.336502481 meters Centerline goodness : 0.693135 Centerline is valid? [False, False] Translation: X:3.19, Y:0.18, Z:0.49 [[ 9.43011520e-01 -8.09780346e-02 -3.22756611e-01 3.18629527e+00] [ 7.67493018e-02 9.96715800e-01 -2.58294034e-02 1.80007861e-01] [ 3.23788229e-01 -4.13919603e-04 9.46129490e-01 4.93087178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36650248099998 meters Centerline goodness : 0.694166 Centerline is valid? [False, False] Translation: X:3.19, Y:0.18, Z:0.49 [[ 9.43055663e-01 -8.11667692e-02 -3.22580181e-01 3.18638430e+00] [ 7.67356074e-02 9.96700516e-01 -2.64523743e-02 1.80309876e-01] [ 3.23662886e-01 1.92675253e-04 9.46172447e-01 4.92505653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.39650248099998 meters Centerline goodness : 0.694655 Centerline is valid? [False, False] Translation: X:3.19, Y:0.18, Z:0.49 [[ 9.43114591e-01 -8.14714248e-02 -3.22331002e-01 3.18577072e+00] [ 7.68996230e-02 9.96675499e-01 -2.69146204e-02 1.80642929e-01] [ 3.23452185e-01 5.96438701e-04 9.46244328e-01 4.92488603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42650248099999 meters Centerline goodness : 0.692853 Centerline is valid? [False, False] Translation: X:3.19, Y:0.18, Z:0.49 [[ 9.43124204e-01 -8.12958526e-02 -3.22347205e-01 3.18562586e+00] [ 7.66966035e-02 9.96689762e-01 -2.69657088e-02 1.80979028e-01] [ 3.23472360e-01 7.09076821e-04 9.46237354e-01 4.92558667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.45650248099999 meters Centerline goodness : 0.693206 Centerline is valid? [False, False] Translation: X:3.19, Y:0.18, Z:0.49 [[ 9.43054111e-01 -8.17127151e-02 -3.22446857e-01 3.18631203e+00] [ 7.67988365e-02 9.96654642e-01 -2.79546788e-02 1.83135720e-01] [ 3.23652410e-01 1.59923124e-03 9.46174699e-01 4.92085195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48650248099999 meters Centerline goodness : 0.692710 Centerline is valid? [False, False] Translation: X:3.19, Y:0.18, Z:0.49 [[ 9.43125796e-01 -8.00832214e-02 -3.22645951e-01 3.18627696e+00] [ 7.57996207e-02 9.96788177e-01 -2.58408037e-02 1.84199823e-01] [ 3.23679085e-01 -8.53121414e-05 9.46166921e-01 4.92369287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.51650248099999 meters Centerline goodness : 0.692240 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:0.49 [[ 9.43252763e-01 -7.99792603e-02 -3.22300394e-01 3.18532570e+00] [ 7.55344714e-02 9.96796423e-01 -2.62951640e-02 1.85055824e-01] [ 3.23370947e-01 4.58196278e-04 9.46272170e-01 4.92331370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54650248099999 meters Centerline goodness : 0.693315 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.49 [[ 9.43350727e-01 -8.01396835e-02 -3.21973658e-01 3.18494906e+00] [ 7.53297661e-02 9.96782382e-01 -2.73917904e-02 1.86284867e-01] [ 3.23132839e-01 1.58586510e-03 9.46352288e-01 4.91772206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.57650248099999 meters Centerline goodness : 0.691850 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.49 [[ 9.43364001e-01 -8.01152183e-02 -3.21940854e-01 3.18493138e+00] [ 7.51952541e-02 9.96783737e-01 -2.77102171e-02 1.87116310e-01] [ 3.23125418e-01 1.93239689e-03 9.46354178e-01 4.91653665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60650248099999 meters Centerline goodness : 0.691971 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.49 [[ 9.43480838e-01 -7.62026328e-02 -3.22547776e-01 3.18447992e+00] [ 7.25420143e-02 9.97091444e-01 -2.33732590e-02 1.86737783e-01] [ 3.23390731e-01 -1.34604339e-03 9.46264563e-01 4.92977159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.636502481 meters Centerline goodness : 0.692055 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.49 [[ 9.43471449e-01 -7.65095705e-02 -3.22502575e-01 3.18442271e+00] [ 7.27885772e-02 9.97068115e-01 -2.36007694e-02 1.86893523e-01] [ 3.23362719e-01 -1.20785149e-03 9.46274322e-01 4.92991962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.666502481 meters Centerline goodness : 0.691727 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:0.49 [[ 9.43476233e-01 -7.67263345e-02 -3.22437074e-01 3.18510162e+00] [ 7.29632640e-02 9.97051573e-01 -2.37596963e-02 1.86716794e-01] [ 3.23309386e-01 -1.10935261e-03 9.46292666e-01 4.92329761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.696502481 meters Centerline goodness : 0.692281 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:0.49 [[ 9.43164358e-01 -7.79399947e-02 -3.23057813e-01 3.18738014e+00] [ 7.40699222e-02 9.96957518e-01 -2.42766236e-02 1.87564116e-01] [ 3.23967036e-01 -1.03202098e-03 9.46067807e-01 4.91967491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.726502481 meters Centerline goodness : 0.692982 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:0.49 [[ 9.43045729e-01 -7.85066560e-02 -3.23266852e-01 3.18822843e+00] [ 7.46219687e-02 9.96912984e-01 -2.44144298e-02 1.87719500e-01] [ 3.24185617e-01 -1.09888519e-03 9.45992853e-01 4.91861479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.75650248099998 meters Centerline goodness : 0.690539 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:0.49 [[ 9.42895936e-01 -7.93976004e-02 -3.23486127e-01 3.18913256e+00] [ 7.56060437e-02 9.96841818e-01 -2.42922845e-02 1.87143615e-01] [ 3.24393249e-01 -1.55240989e-03 9.45921038e-01 4.91863523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78650248099999 meters Centerline goodness : 0.689074 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:0.49 [[ 9.42710692e-01 -8.01032554e-02 -3.23851848e-01 3.18957894e+00] [ 7.63900529e-02 9.96784682e-01 -2.41838310e-02 1.87257424e-01] [ 3.24747765e-01 -1.94070379e-03 9.45798669e-01 4.92409978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.81650248099999 meters Centerline goodness : 0.691495 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:0.49 [[ 9.42593700e-01 -8.05735142e-02 -3.24075647e-01 3.18990339e+00] [ 7.68316584e-02 9.96746762e-01 -2.43472543e-02 1.87990980e-01] [ 3.24983096e-01 -1.94970089e-03 9.45717815e-01 4.92685446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84650248099999 meters Centerline goodness : 0.691051 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:0.49 [[ 9.42467986e-01 -8.11011108e-02 -3.24309582e-01 3.19045673e+00] [ 7.73070386e-02 9.96704074e-01 -2.45888463e-02 1.88747434e-01] [ 3.25234864e-01 -1.89721292e-03 9.45631368e-01 4.92797412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.87650248099999 meters Centerline goodness : 0.690614 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:0.49 [[ 9.42207583e-01 -8.23047464e-02 -3.24762681e-01 3.19153181e+00] [ 7.83872754e-02 9.96605656e-01 -2.51515674e-02 1.90231256e-01] [ 3.25730418e-01 -1.75926412e-03 9.45461051e-01 4.93056691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90650248099999 meters Centerline goodness : 0.691707 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:0.49 [[ 9.42296491e-01 -8.25054195e-02 -3.24453663e-01 3.19038386e+00] [ 7.85562790e-02 9.96589215e-01 -2.52754280e-02 1.90620076e-01] [ 3.25432381e-01 -1.67092544e-03 9.45563839e-01 4.93397339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.93650248099999 meters Centerline goodness : 0.690944 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:0.49 [[ 9.42339511e-01 -8.29673390e-02 -3.24210838e-01 3.18905482e+00] [ 7.89759240e-02 9.96550983e-01 -2.54743170e-02 1.90645299e-01] [ 3.25206166e-01 -1.59939515e-03 9.45641788e-01 4.94065281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96650248099999 meters Centerline goodness : 0.692027 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:0.49 [[ 9.42286591e-01 -8.35402445e-02 -3.24217533e-01 3.18902923e+00] [ 7.94480664e-02 9.96503438e-01 -2.58631701e-02 1.90982533e-01] [ 3.25244501e-01 -1.38793770e-03 9.45628938e-01 4.94144384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.996502481 meters Centerline goodness : 0.692268 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:0.49 [[ 9.42314165e-01 -8.35293828e-02 -3.24140180e-01 3.18866265e+00] [ 7.93727095e-02 9.96504614e-01 -2.60485659e-02 1.91713436e-01] [ 3.25183005e-01 -1.18195169e-03 9.45650367e-01 4.94247462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.026502481 meters Centerline goodness : 0.692313 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:0.49 [[ 9.42467141e-01 -8.31272532e-02 -3.23798623e-01 3.18766024e+00] [ 7.88833585e-02 9.96538605e-01 -2.62340325e-02 1.92354241e-01] [ 3.24858591e-01 -8.17609301e-04 9.45762247e-01 4.94249377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.056502481 meters Centerline goodness : 0.690260 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:0.49 [[ 9.42656477e-01 -8.28360814e-02 -3.23321745e-01 3.18614404e+00] [ 7.82723971e-02 9.96563153e-01 -2.71166554e-02 1.94004057e-01] [ 3.24456775e-01 2.54522831e-04 9.45900490e-01 4.94260360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.086502481 meters Centerline goodness : 0.689142 Centerline is valid? [False, False] Translation: X:3.19, Y:0.19, Z:0.49 [[ 9.42705232e-01 -8.28412558e-02 -3.23178236e-01 3.18631517e+00] [ 7.80654284e-02 9.96562333e-01 -2.77363585e-02 1.94958303e-01] [ 3.24364971e-01 9.18162859e-04 9.45931563e-01 4.93702042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.11650248099998 meters Centerline goodness : 0.689214 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:0.49 [[ 9.42905962e-01 -8.26366070e-02 -3.22644601e-01 3.18605750e+00] [ 7.76228835e-02 9.96578240e-01 -2.83989404e-02 1.95547683e-01] [ 3.23887381e-01 1.73292589e-03 9.46094055e-01 4.92642014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14650248099998 meters Centerline goodness : 0.689614 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.49 [[ 9.43053710e-01 -8.22814462e-02 -3.22303372e-01 3.18472375e+00] [ 7.72456577e-02 9.96607336e-01 -2.84064320e-02 1.95482668e-01] [ 3.23547228e-01 1.89225511e-03 9.46210130e-01 4.92972889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.17650248099999 meters Centerline goodness : 0.689762 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.49 [[ 9.43299368e-01 -7.79502154e-02 -3.22660915e-01 3.18489877e+00] [ 7.41145586e-02 9.96956637e-01 -2.41763656e-02 1.94954634e-01] [ 3.23563494e-01 -1.10832097e-03 9.46205811e-01 4.93144825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20650248099999 meters Centerline goodness : 0.689762 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.49 [[ 9.43299368e-01 -7.79502154e-02 -3.22660915e-01 3.18489877e+00] [ 7.41145586e-02 9.96956637e-01 -2.41763656e-02 1.94954634e-01] [ 3.23563494e-01 -1.10832097e-03 9.46205811e-01 4.93144825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.23650248099999 meters Centerline goodness : 0.691939 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:0.49 [[ 9.43119359e-01 -7.83538539e-02 -3.23089070e-01 3.18847833e+00] [ 7.41273962e-02 9.96925611e-01 -2.53861302e-02 1.96386842e-01] [ 3.24084870e-01 -7.60062720e-06 9.46028011e-01 4.90976609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26650248099999 meters Centerline goodness : 0.691007 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:0.49 [[ 9.43108707e-01 -7.84409423e-02 -3.23099033e-01 3.18888794e+00] [ 7.41429010e-02 9.96918743e-01 -2.56095785e-02 1.96669479e-01] [ 3.24112322e-01 1.97116801e-04 9.46018585e-01 4.90629992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.29650248099999 meters Centerline goodness : 0.689929 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:0.49 [[ 9.43177084e-01 -7.83152042e-02 -3.22929895e-01 3.18843549e+00] [ 7.39886984e-02 9.96928596e-01 -2.56718931e-02 1.96990954e-01] [ 3.23948547e-01 3.19978681e-04 9.46074647e-01 4.90584159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32650248099999 meters Centerline goodness : 0.692342 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:0.49 [[ 9.43239950e-01 -7.86062389e-02 -3.22675466e-01 3.18807358e+00] [ 7.40064978e-02 9.96905098e-01 -2.65191371e-02 1.98892533e-01] [ 3.23761386e-01 1.13382841e-03 9.46138087e-01 4.90295245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.35650248099999 meters Centerline goodness : 0.693369 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:0.49 [[ 9.43433967e-01 -7.87262616e-02 -3.22078447e-01 3.18697903e+00] [ 7.39636474e-02 9.96894876e-01 -2.70182300e-02 1.99363232e-01] [ 3.23205398e-01 1.66781916e-03 9.46327369e-01 4.89985648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.386502481 meters Centerline goodness : 0.692118 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:0.49 [[ 9.43576712e-01 -7.87846579e-02 -3.21645715e-01 3.18513465e+00] [ 7.40460772e-02 9.96890338e-01 -2.69598188e-02 1.99219313e-01] [ 3.22769526e-01 1.62205371e-03 9.46476203e-01 4.90633786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.416502481 meters Centerline goodness : 0.691996 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:0.49 [[ 9.43289266e-01 -7.94330267e-02 -3.22328644e-01 3.18595385e+00] [ 7.45518971e-02 9.96838409e-01 -2.74809200e-02 2.01691007e-01] [ 3.23492465e-01 1.89224500e-03 9.46228854e-01 4.91342850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.446502481 meters Centerline goodness : 0.692129 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:0.49 [[ 9.43042223e-01 -8.01186138e-02 -3.22881361e-01 3.18735563e+00] [ 7.51040039e-02 9.96783044e-01 -2.79812653e-02 2.03000486e-01] [ 3.24084486e-01 2.13783166e-03 9.46025727e-01 4.91403150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.476502481 meters Centerline goodness : 0.694825 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:0.49 [[ 9.43159439e-01 -8.10452013e-02 -3.22307225e-01 3.18700990e+00] [ 7.58484183e-02 9.96707047e-01 -2.86719344e-02 2.03207836e-01] [ 3.23569605e-01 2.59571236e-03 9.46200810e-01 4.90689573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50650248099998 meters Centerline goodness : 0.695529 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:0.49 [[ 9.43280969e-01 -8.10646725e-02 -3.21946473e-01 3.18617274e+00] [ 7.58962895e-02 9.96705611e-01 -2.85950900e-02 2.02886060e-01] [ 3.23203908e-01 2.53866150e-03 9.46325942e-01 4.90654531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.53650248099999 meters Centerline goodness : 0.696165 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:0.49 [[ 9.43226437e-01 -8.18171541e-02 -3.21915892e-01 3.18605400e+00] [ 7.66909592e-02 9.96644737e-01 -2.85965871e-02 2.02949649e-01] [ 3.23175471e-01 2.28501837e-03 9.46336300e-01 4.90844676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56650248099999 meters Centerline goodness : 0.695371 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:0.49 [[ 9.43213902e-01 -8.20920464e-02 -3.21882635e-01 3.18580588e+00] [ 7.70470610e-02 9.96622762e-01 -2.84045858e-02 2.02431260e-01] [ 3.23127351e-01 1.99148923e-03 9.46353395e-01 4.91120791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.59650248099999 meters Centerline goodness : 0.696384 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:0.49 [[ 9.43019514e-01 -8.27073984e-02 -3.22294405e-01 3.18605927e+00] [ 7.78369010e-02 9.96573010e-01 -2.79937979e-02 2.02648958e-01] [ 3.23505199e-01 1.31230006e-03 9.46225483e-01 4.92000558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62650248099999 meters Centerline goodness : 0.697716 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:0.49 [[ 9.42939529e-01 -8.25687676e-02 -3.22563859e-01 3.18645542e+00] [ 7.78174089e-02 9.96584922e-01 -2.76214388e-02 2.03125830e-01] [ 3.23742947e-01 9.44262799e-04 9.46144605e-01 4.92273057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.65650248099999 meters Centerline goodness : 0.697791 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.49 [[ 9.43141126e-01 -8.22692410e-02 -3.22050598e-01 3.18497894e+00] [ 7.75999317e-02 9.96609829e-01 -2.73331186e-02 2.02727870e-01] [ 3.23207466e-01 7.87883869e-04 9.46327804e-01 4.92454303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68650248099999 meters Centerline goodness : 0.698030 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.49 [[ 9.43194868e-01 -8.25057996e-02 -3.21832618e-01 3.18445941e+00] [ 7.78323809e-02 9.96590279e-01 -2.73849672e-02 2.02674422e-01] [ 3.22994677e-01 7.80361635e-04 9.46400460e-01 4.92484364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.71650248099999 meters Centerline goodness : 0.697394 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.49 [[ 9.43122649e-01 -8.25656281e-02 -3.22028858e-01 3.18462829e+00] [ 7.78248692e-02 9.96585167e-01 -2.75915750e-02 2.03475148e-01] [ 3.23207299e-01 9.60385547e-04 9.46327702e-01 4.92706944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.746502481 meters Centerline goodness : 0.698907 Centerline is valid? [False, False] Translation: X:3.19, Y:0.20, Z:0.49 [[ 9.42907066e-01 -8.35874372e-02 -3.22396349e-01 3.18619541e+00] [ 7.85972077e-02 9.96499282e-01 -2.84896485e-02 2.04921105e-01] [ 3.23649107e-01 1.52363806e-03 9.46175953e-01 4.92273138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.776502481 meters Centerline goodness : 0.699354 Centerline is valid? [False, False] Translation: X:3.19, Y:0.21, Z:0.49 [[ 9.42890722e-01 -8.39722814e-02 -3.22344136e-01 3.18716495e+00] [ 7.88448239e-02 9.96466305e-01 -2.89550672e-02 2.05153070e-01] [ 3.23636494e-01 1.88629754e-03 9.46179614e-01 4.91415619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.806502481 meters Centerline goodness : 0.697918 Centerline is valid? [False, False] Translation: X:3.19, Y:0.21, Z:0.49 [[ 9.42820647e-01 -8.43669652e-02 -3.22446031e-01 3.18747615e+00] [ 7.90838787e-02 9.96432123e-01 -2.94748257e-02 2.06179223e-01] [ 3.23782285e-01 2.28919139e-03 9.46128845e-01 4.91364533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.836502481 meters Centerline goodness : 0.699695 Centerline is valid? [False, False] Translation: X:3.19, Y:0.21, Z:0.49 [[ 9.42940801e-01 -8.45177673e-02 -3.22054953e-01 3.18680770e+00] [ 7.91459468e-02 9.96418646e-01 -2.97624260e-02 2.06357606e-01] [ 3.23417014e-01 2.57486160e-03 9.46253034e-01 4.91150290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86650248099998 meters Centerline goodness : 0.700933 Centerline is valid? [False, False] Translation: X:3.19, Y:0.21, Z:0.49 [[ 9.43042867e-01 -8.42429173e-02 -3.21828030e-01 3.18556511e+00] [ 7.88821050e-02 9.96441831e-01 -2.96865389e-02 2.06805081e-01] [ 3.23183793e-01 2.60920629e-03 9.46332620e-01 4.91629721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.89650248099998 meters Centerline goodness : 0.701409 Centerline is valid? [False, False] Translation: X:3.19, Y:0.21, Z:0.49 [[ 9.43132940e-01 -8.06140361e-02 -3.22492846e-01 3.18583951e+00] [ 7.64980897e-02 9.96745162e-01 -2.54386486e-02 2.07612829e-01] [ 3.23493896e-01 -6.78059195e-04 9.46230014e-01 4.92524289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92650248099999 meters Centerline goodness : 0.701509 Centerline is valid? [False, False] Translation: X:3.19, Y:0.21, Z:0.49 [[ 9.43042688e-01 -8.12137600e-02 -3.22606282e-01 3.18681782e+00] [ 7.69592148e-02 9.96696641e-01 -2.59438747e-02 2.08429326e-01] [ 3.23647598e-01 -3.61344825e-04 9.46177627e-01 4.92035345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.95650248099999 meters Centerline goodness : 0.702215 Centerline is valid? [False, False] Translation: X:3.19, Y:0.21, Z:0.49 [[ 9.43044772e-01 -8.18072291e-02 -3.22450207e-01 3.18734115e+00] [ 7.75359321e-02 9.96648093e-01 -2.60913571e-02 2.07703835e-01] [ 3.23503845e-01 -3.96159448e-04 9.46226773e-01 4.91431464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98650248099999 meters Centerline goodness : 0.700782 Centerline is valid? [False, False] Translation: X:3.19, Y:0.21, Z:0.49 [[ 9.43091839e-01 -8.21011911e-02 -3.22237765e-01 3.18709329e+00] [ 7.77606061e-02 9.96623976e-01 -2.63427299e-02 2.07748433e-01] [ 3.23312652e-01 -2.13790325e-04 9.46292176e-01 4.91213199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.01650248099999 meters Centerline goodness : 0.701032 Centerline is valid? [False, False] Translation: X:3.19, Y:0.21, Z:0.49 [[ 9.43111161e-01 -8.23657122e-02 -3.22113688e-01 3.18693341e+00] [ 7.79725736e-02 9.96602168e-01 -2.65404524e-02 2.07717960e-01] [ 3.23205224e-01 -8.54363890e-05 9.46328894e-01 4.91115758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04650248099999 meters Centerline goodness : 0.701532 Centerline is valid? [False, False] Translation: X:3.19, Y:0.21, Z:0.49 [[ 9.43233637e-01 -8.25255780e-02 -3.21713903e-01 3.18617662e+00] [ 7.81451197e-02 9.96588940e-01 -2.65296985e-02 2.07553388e-01] [ 3.22805896e-01 -1.16667487e-04 9.46465181e-01 4.90987478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.07650248099999 meters Centerline goodness : 0.704076 Centerline is valid? [False, False] Translation: X:3.19, Y:0.21, Z:0.49 [[ 9.43339817e-01 -8.24792305e-02 -3.21414323e-01 3.18562448e+00] [ 7.80682610e-02 9.96592784e-01 -2.66114679e-02 2.07983262e-01] [ 3.22514088e-01 1.13999449e-05 9.46564664e-01 4.90809706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10650248099999 meters Centerline goodness : 0.704352 Centerline is valid? [False, False] Translation: X:3.19, Y:0.21, Z:0.49 [[ 9.43479235e-01 -8.21355589e-02 -3.21092950e-01 3.18564493e+00] [ 7.77231760e-02 9.96621162e-01 -2.65587690e-02 2.08322669e-01] [ 3.22189449e-01 1.01283171e-04 9.46675208e-01 4.90103428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.136502481 meters Centerline goodness : 0.703741 Centerline is valid? [False, False] Translation: X:3.19, Y:0.21, Z:0.49 [[ 9.43734717e-01 -8.16709508e-02 -3.20460045e-01 3.18529983e+00] [ 7.70166553e-02 9.96658862e-01 -2.71946088e-02 2.09136840e-01] [ 3.21610354e-01 9.83735570e-04 9.46871593e-01 4.88878562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.166502481 meters Centerline goodness : 0.706620 Centerline is valid? [False, False] Translation: X:3.19, Y:0.21, Z:0.49 [[ 9.43841695e-01 -8.17143045e-02 -3.20133765e-01 3.18541073e+00] [ 7.68846063e-02 9.96654590e-01 -2.77197859e-02 2.09647015e-01] [ 3.21327889e-01 1.54973119e-03 9.46966729e-01 4.88079209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.196502481 meters Centerline goodness : 0.706035 Centerline is valid? [False, False] Translation: X:3.19, Y:0.21, Z:0.49 [[ 9.44023178e-01 -8.11337712e-02 -3.19746071e-01 3.18596846e+00] [ 7.60397655e-02 9.96700079e-01 -2.84060883e-02 2.10412064e-01] [ 3.20995628e-01 2.50258953e-03 9.47077370e-01 4.86587835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.226502481 meters Centerline goodness : 0.705000 Centerline is valid? [False, False] Translation: X:3.19, Y:0.21, Z:0.49 [[ 9.44227702e-01 -8.07439298e-02 -3.19240450e-01 3.18555863e+00] [ 7.56033713e-02 9.96731058e-01 -2.84838122e-02 2.10524123e-01] [ 3.20496766e-01 2.75955027e-03 9.47245590e-01 4.85814766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.25650248099998 meters Centerline goodness : 0.704667 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:0.49 [[ 9.44647348e-01 -8.00491432e-02 -3.18172158e-01 3.18253185e+00] [ 7.49015633e-02 9.96786412e-01 -2.84007726e-02 2.10717872e-01] [ 3.19423141e-01 2.99712251e-03 9.47607447e-01 4.85986560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28650248099999 meters Centerline goodness : 0.705219 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:0.49 [[ 0.94494015 -0.07975354 -0.31737595 3.18081084] [ 0.07453928 0.99680905 -0.02855885 0.2108407 ] [ 0.31864089 0.00332943 0.94786966 0.48566528] [ 0. 0. 0. 1. ]] SLAMing on 103.31650248099999 meters Centerline goodness : 0.705061 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:0.48 [[ 0.94508533 -0.0798406 -0.31692144 3.18113196] [ 0.07437945 0.99679908 -0.02931363 0.21100201] [ 0.31824742 0.00413144 0.94799869 0.48439103] [ 0. 0. 0. 1. ]] SLAMing on 103.34650248099999 meters Centerline goodness : 0.703561 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:0.48 [[ 0.94500995 -0.08026418 -0.31703921 3.18255797] [ 0.07469457 0.99676396 -0.02970399 0.21082127] [ 0.31839742 0.00438946 0.94794716 0.48349642] [ 0. 0. 0. 1. ]] SLAMing on 103.37650248099999 meters Centerline goodness : 0.704006 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:0.48 [[ 0.94495643 -0.08037478 -0.31717068 3.1842233 ] [ 0.07458761 0.99675198 -0.03036748 0.21245001] [ 0.31858128 0.00503894 0.94788215 0.48236616] [ 0. 0. 0. 1. ]] SLAMing on 103.40650248099999 meters Centerline goodness : 0.703637 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:0.48 [[ 0.94499979 -0.08026777 -0.31706859 3.18391304] [ 0.07436713 0.99675859 -0.03068947 0.21408486] [ 0.31850421 0.00542206 0.94790594 0.48233662] [ 0. 0. 0. 1. ]] SLAMing on 103.43650248099999 meters Centerline goodness : 0.702460 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:0.48 [[ 9.45512472e-01 -7.55840556e-02 -3.16691040e-01 3.18241374e+00] [ 7.09379622e-02 9.97136782e-01 -2.61924490e-02 2.12783805e-01] [ 3.17764016e-01 2.29987020e-03 9.48167043e-01 4.82381086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46650248099999 meters Centerline goodness : 0.702448 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:0.48 [[ 9.45702887e-01 -7.53641674e-02 -3.16174464e-01 3.18124469e+00] [ 7.06814982e-02 9.97152953e-01 -2.62700064e-02 2.12721520e-01] [ 3.17254118e-01 2.49593607e-03 9.48337279e-01 4.82264498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.496502481 meters Centerline goodness : 0.701086 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:0.48 [[ 0.94581397 -0.07548893 -0.31581221 3.18047919] [ 0.07057232 0.99714137 -0.02699342 0.21411468] [ 0.31694712 0.00324316 0.94843766 0.48203444] [ 0. 0. 0. 1. ]] SLAMing on 103.526502481 meters Centerline goodness : 0.700025 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:0.48 [[ 0.94585493 -0.07574802 -0.31562746 3.1806407 ] [ 0.07071343 0.99712053 -0.02739069 0.21446673] [ 0.31679341 0.00358852 0.94848777 0.4815863 ] [ 0. 0. 0. 1. ]] SLAMing on 103.556502481 meters Centerline goodness : 0.698378 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:0.48 [[ 0.94577078 -0.07640118 -0.31572217 3.18073439] [ 0.07129509 0.9970703 -0.02770959 0.21484443] [ 0.31691424 0.00369748 0.94844699 0.48178423] [ 0. 0. 0. 1. ]] SLAMing on 103.586502481 meters Centerline goodness : 0.697426 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.48 [[ 0.94582677 -0.07686925 -0.31544072 3.18019093] [ 0.07168036 0.99703353 -0.02803703 0.21523255] [ 0.31666016 0.00390727 0.94853101 0.48174567] [ 0. 0. 0. 1. ]] SLAMing on 103.61650248099998 meters Centerline goodness : 0.696897 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.48 [[ 0.94571004 -0.07725678 -0.31569592 3.18110092] [ 0.07199352 0.99700299 -0.02831917 0.2153866 ] [ 0.31693762 0.00405366 0.94843772 0.48156608] [ 0. 0. 0. 1. ]] SLAMing on 103.64650248099998 meters Centerline goodness : 0.697647 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.48 [[ 0.9454611 -0.07755849 -0.31636687 3.18326279] [ 0.07200065 0.99697593 -0.02923865 0.2179093 ] [ 0.31767786 0.00486539 0.94818622 0.4810459 ] [ 0. 0. 0. 1. ]] SLAMing on 103.67650248099999 meters Centerline goodness : 0.696341 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.48 [[ 0.94546732 -0.07766214 -0.31632285 3.18328956] [ 0.07193227 0.99696515 -0.0297697 0.21961997] [ 0.31767483 0.00539246 0.94818438 0.48086489] [ 0. 0. 0. 1. ]] SLAMing on 103.70650248099999 meters Centerline goodness : 0.695032 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.48 [[ 9.45575236e-01 -7.36743233e-02 -3.16953571e-01 3.18377841e+00] [ 6.89282458e-02 9.97278122e-01 -2.61771729e-02 2.20851873e-01] [ 3.18019448e-01 2.90543275e-03 9.48079738e-01 4.81348900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.73650248099999 meters Centerline goodness : 0.696436 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.48 [[ 0.94573727 -0.0738332 -0.31643273 3.18265121] [ 0.06890527 0.99726448 -0.02675116 0.22219371] [ 0.31754225 0.00349568 0.94823768 0.48116323] [ 0. 0. 0. 1. ]] SLAMing on 103.76650248099999 meters Centerline goodness : 0.695209 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.48 [[ 0.94576607 -0.07463699 -0.31615798 3.18149146] [ 0.06949947 0.99720256 -0.02751142 0.22236979] [ 0.31732691 0.00404656 0.94830757 0.48166661] [ 0. 0. 0. 1. ]] SLAMing on 103.79650248099999 meters Centerline goodness : 0.693713 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.48 [[ 0.94555726 -0.075933 -0.31647376 3.18275624] [ 0.07053724 0.99710224 -0.0284888 0.22303108] [ 0.31771994 0.00461461 0.94817337 0.48140559] [ 0. 0. 0. 1. ]] SLAMing on 103.82650248099999 meters Centerline goodness : 0.693858 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.48 [[ 0.94546917 -0.07665124 -0.31656379 3.18302355] [ 0.07113656 0.99704612 -0.02895907 0.22406986] [ 0.31784845 0.00486065 0.94812907 0.48145576] [ 0. 0. 0. 1. ]] SLAMing on 103.85650248099999 meters Centerline goodness : 0.695791 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94526797 -0.07750466 -0.3169566 3.18403537] [ 0.0718939 0.99697954 -0.02937803 0.22562725] [ 0.31827617 0.00498286 0.94798494 0.48151959] [ 0. 0. 0. 1. ]] SLAMing on 103.886502481 meters Centerline goodness : 0.694794 Centerline is valid? [False, False] Translation: X:3.19, Y:0.23, Z:0.48 [[ 0.94509849 -0.07804472 -0.31732927 3.18510924] [ 0.07236572 0.99693696 -0.02966298 0.22691193] [ 0.31867232 0.00507068 0.94785138 0.48147221] [ 0. 0. 0. 1. ]] SLAMing on 103.916502481 meters Centerline goodness : 0.695444 Centerline is valid? [False, False] Translation: X:3.19, Y:0.23, Z:0.48 [[ 0.94504238 -0.07875804 -0.31732014 3.18537466] [ 0.0729047 0.9968786 -0.03029802 0.22835985] [ 0.31871587 0.00549878 0.94783435 0.4812676 ] [ 0. 0. 0. 1. ]] SLAMing on 103.946502481 meters Centerline goodness : 0.696333 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94509252 -0.07940975 -0.31700822 3.1846268 ] [ 0.07343222 0.99682512 -0.03077961 0.22888899] [ 0.31844596 0.00581096 0.94792321 0.48131382] [ 0. 0. 0. 1. ]] SLAMing on 103.976502481 meters Centerline goodness : 0.693112 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94537716 -0.07937942 -0.316166 3.18205103] [ 0.07360298 0.99683054 -0.03019064 0.22835937] [ 0.31756044 0.00527079 0.94822338 0.48182355] [ 0. 0. 0. 1. ]] SLAMing on 104.00650248099998 meters Centerline goodness : 0.693288 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94540564 -0.07937428 -0.31608211 3.18144216] [ 0.07374132 0.99683319 -0.02976269 0.22814936] [ 0.31744353 0.0048295 0.94826488 0.48228344] [ 0. 0. 0. 1. ]] SLAMing on 104.03650248099999 meters Centerline goodness : 0.694498 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94510513 -0.08040809 -0.31671886 3.18255575] [ 0.07478158 0.99675153 -0.02990172 0.2289811 ] [ 0.31809435 0.00457553 0.94804802 0.48284696] [ 0. 0. 0. 1. ]] SLAMing on 104.06650248099999 meters Centerline goodness : 0.693568 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94498822 -0.08098877 -0.31691969 3.18337208] [ 0.07535094 0.99670488 -0.03002703 0.22916234] [ 0.31830725 0.00449499 0.94797695 0.48274771] [ 0. 0. 0. 1. ]] SLAMing on 104.09650248099999 meters Centerline goodness : 0.692929 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94473424 -0.08173603 -0.31748454 3.18400395] [ 0.07607641 0.99664437 -0.03020546 0.22984373] [ 0.31888806 0.00438305 0.94778225 0.48348326] [ 0. 0. 0. 1. ]] SLAMing on 104.12650248099999 meters Centerline goodness : 0.692929 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94473424 -0.08173603 -0.31748454 3.18400395] [ 0.07607641 0.99664437 -0.03020546 0.22984373] [ 0.31888806 0.00438305 0.94778225 0.48348326] [ 0. 0. 0. 1. ]] SLAMing on 104.15650248099999 meters Centerline goodness : 0.692783 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94466609 -0.08202964 -0.31761159 3.18427347] [ 0.07642527 0.99662125 -0.03008743 0.23007818] [ 0.31900652 0.00414903 0.94774344 0.48362554] [ 0. 0. 0. 1. ]] SLAMing on 104.18650248099999 meters Centerline goodness : 0.692473 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94455284 -0.08245357 -0.31783854 3.18445076] [ 0.07689071 0.99658717 -0.03003044 0.230101 ] [ 0.31922993 0.00392651 0.94766916 0.48405574] [ 0. 0. 0. 1. ]] SLAMing on 104.21650248099999 meters Centerline goodness : 0.692576 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94444403 -0.08306223 -0.31800337 3.18486805] [ 0.07750089 0.9965371 -0.0301234 0.22980919] [ 0.31940427 0.00380433 0.94761091 0.48414016] [ 0. 0. 0. 1. ]] SLAMing on 104.246502481 meters Centerline goodness : 0.692993 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94447926 -0.08259984 -0.31801918 3.18464239] [ 0.07710354 0.99657601 -0.02985455 0.23022229] [ 0.31939627 0.00367659 0.94761411 0.48429518] [ 0. 0. 0. 1. ]] SLAMing on 104.276502481 meters Centerline goodness : 0.692795 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94444126 -0.08266185 -0.3181159 3.18439725] [ 0.07709786 0.99657015 -0.03006428 0.2309885 ] [ 0.31950998 0.00386789 0.94757502 0.48465664] [ 0. 0. 0. 1. ]] SLAMing on 104.306502481 meters Centerline goodness : 0.692221 Centerline is valid? [False, False] Translation: X:3.19, Y:0.23, Z:0.48 [[ 0.94446333 -0.08264501 -0.31805473 3.18521861] [ 0.07670209 0.99656621 -0.03118619 0.232515 ] [ 0.31953998 0.00505875 0.94755929 0.4837383 ] [ 0. 0. 0. 1. ]] SLAMing on 104.336502481 meters Centerline goodness : 0.691362 Centerline is valid? [False, False] Translation: X:3.19, Y:0.23, Z:0.48 [[ 0.94448658 -0.0824158 -0.31804519 3.18544108] [ 0.07638634 0.99658358 -0.03140549 0.23289363] [ 0.31954692 0.00536776 0.94755525 0.48346538] [ 0. 0. 0. 1. ]] SLAMing on 104.36650248099998 meters Centerline goodness : 0.691773 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 9.44845069e-01 -7.76641966e-02 -3.18176158e-01 3.18398398e+00] [ 7.27833935e-02 9.96976289e-01 -2.72186707e-02 2.31853564e-01] [ 3.19328002e-01 2.55948632e-03 9.47640795e-01 4.84430214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.39650248099998 meters Centerline goodness : 0.692536 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 9.45096692e-01 -7.71119199e-02 -3.17562584e-01 3.18222795e+00] [ 7.21816546e-02 9.97018339e-01 -2.72807809e-02 2.32275848e-01] [ 3.18719393e-01 2.86078296e-03 9.47844800e-01 4.84521284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42650248099999 meters Centerline goodness : 0.692278 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94529878 -0.07668139 -0.31706494 3.18121201] [ 0.07152032 0.99704878 -0.02790286 0.23267244] [ 0.31826884 0.00369995 0.94799328 0.48422399] [ 0. 0. 0. 1. ]] SLAMing on 104.45650248099999 meters Centerline goodness : 0.693435 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.9453009 -0.07659398 -0.31707975 3.1818176 ] [ 0.07135819 0.99705455 -0.02811095 0.23292119] [ 0.31829894 0.00394707 0.94798218 0.48372997] [ 0. 0. 0. 1. ]] SLAMing on 104.48650248099999 meters Centerline goodness : 0.695353 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94520768 -0.07650944 -0.31737792 3.18242329] [ 0.07115803 0.99705961 -0.02843724 0.23400303] [ 0.31862042 0.00429511 0.94787266 0.48374965] [ 0. 0. 0. 1. ]] SLAMing on 104.51650248099999 meters Centerline goodness : 0.692094 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94530187 -0.07614254 -0.31718556 3.18199215] [ 0.0708392 0.997088 -0.02823705 0.23408453] [ 0.31841196 0.00422336 0.94794303 0.48369209] [ 0. 0. 0. 1. ]] SLAMing on 104.54650248099999 meters Centerline goodness : 0.695094 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94552909 -0.07610183 -0.31651739 3.18072339] [ 0.07067987 0.99708914 -0.0285938 0.23360953] [ 0.31777209 0.00466486 0.94815565 0.48335798] [ 0. 0. 0. 1. ]] SLAMing on 104.57650248099999 meters Centerline goodness : 0.693782 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94560215 -0.07605432 -0.31631049 3.18007332] [ 0.07070808 0.99709373 -0.02836318 0.23232776] [ 0.31754834 0.00445457 0.94823162 0.48348513] [ 0. 0. 0. 1. ]] SLAMing on 104.60650248099999 meters Centerline goodness : 0.692498 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.9454923 -0.07609366 -0.31662922 3.18070002] [ 0.07091449 0.99709307 -0.02786654 0.23108984] [ 0.31782927 0.00389399 0.94813997 0.48376135] [ 0. 0. 0. 1. ]] SLAMing on 104.636502481 meters Centerline goodness : 0.693199 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94535566 -0.07607355 -0.31704179 3.18200554] [ 0.07096098 0.99709553 -0.02765955 0.23116637] [ 0.31822511 0.00365052 0.94800815 0.4835751 ] [ 0. 0. 0. 1. ]] SLAMing on 104.666502481 meters Centerline goodness : 0.695117 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 0.94535228 -0.07599959 -0.31706959 3.18175246] [ 0.0709779 0.99710214 -0.02737643 0.23106274] [ 0.31823136 0.00337544 0.94800707 0.48385044] [ 0. 0. 0. 1. ]] SLAMing on 104.696502481 meters Centerline goodness : 0.694296 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 9.45514446e-01 -7.52177793e-02 -3.16772344e-01 3.18034693e+00] [ 7.04263282e-02 9.97163173e-01 -2.65657305e-02 2.30625415e-01] [ 3.17871931e-01 2.80916891e-03 9.48129497e-01 4.84432577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.726502481 meters Centerline goodness : 0.695056 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 9.45493683e-01 -7.57217468e-02 -3.16714243e-01 3.18014340e+00] [ 7.08634063e-02 9.97124650e-01 -2.68479154e-02 2.30164683e-01] [ 3.17836550e-01 2.94108429e-03 9.48140959e-01 4.84559500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.75650248099998 meters Centerline goodness : 0.694449 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 9.45494234e-01 -7.62644406e-02 -3.16582356e-01 3.18043568e+00] [ 7.14062273e-02 9.97083516e-01 -2.69371942e-02 2.29090073e-01] [ 3.17713399e-01 2.86301016e-03 9.48182472e-01 4.84212397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78650248099999 meters Centerline goodness : 0.693857 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 9.45395188e-01 -7.71469865e-02 -3.16664305e-01 3.18119292e+00] [ 7.24002228e-02 9.97016936e-01 -2.67476624e-02 2.28138552e-01] [ 3.17783176e-01 2.36054510e-03 9.48160472e-01 4.84012196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.81650248099999 meters Centerline goodness : 0.696440 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 9.45316840e-01 -7.76041633e-02 -3.16786469e-01 3.18168471e+00] [ 7.29315188e-02 9.96982159e-01 -2.66001684e-02 2.28135049e-01] [ 3.17894741e-01 2.04186884e-03 9.48123813e-01 4.84021832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84650248099999 meters Centerline goodness : 0.696311 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 9.45373901e-01 -7.82959434e-02 -3.16445782e-01 3.18118809e+00] [ 7.38664891e-02 9.96929445e-01 -2.59889084e-02 2.26622021e-01] [ 3.17508944e-01 1.19449677e-03 9.48254525e-01 4.84126235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.87650248099999 meters Centerline goodness : 0.697754 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 9.45350827e-01 -7.91475832e-02 -3.16302819e-01 3.18091586e+00] [ 7.49066777e-02 9.96862796e-01 -2.55647147e-02 2.25131217e-01] [ 3.17333898e-01 4.74430865e-04 9.48313752e-01 4.84322169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90650248099999 meters Centerline goodness : 0.698575 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.48 [[ 9.45250873e-01 -7.96111760e-02 -3.16485147e-01 3.18099367e+00] [ 7.55984108e-02 9.96825937e-01 -2.49585848e-02 2.24290526e-01] [ 3.17467586e-01 -3.33650130e-04 9.48269066e-01 4.84855293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.93650248099999 meters Centerline goodness : 0.697088 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.49 [[ 9.45358839e-01 -7.95122360e-02 -3.16187398e-01 3.18015734e+00] [ 7.55704684e-02 9.96833757e-01 -2.47298619e-02 2.24179140e-01] [ 3.17152598e-01 -5.15836180e-04 9.48374379e-01 4.85028187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96650248099999 meters Centerline goodness : 0.699768 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.49 [[ 9.45574093e-01 -7.93186937e-02 -3.15591791e-01 3.17829098e+00] [ 7.51582750e-02 9.96849277e-01 -2.53525756e-02 2.25207914e-01] [ 3.16608382e-01 2.53404097e-04 9.48556307e-01 4.85217056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.996502481 meters Centerline goodness : 0.699294 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 9.45761142e-01 -7.90039629e-02 -3.15109879e-01 3.17760331e+00] [ 7.46484798e-02 9.96873839e-01 -2.58873265e-02 2.25640279e-01] [ 3.16169996e-01 9.60754030e-04 9.48702066e-01 4.84685352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.026502481 meters Centerline goodness : 0.697639 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 9.46119230e-01 -7.79580710e-02 -3.14294356e-01 3.17596131e+00] [ 7.33598308e-02 9.96954693e-01 -2.64513760e-02 2.26278619e-01] [ 3.15399331e-01 1.96957470e-03 9.48956997e-01 4.84096403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.056502481 meters Centerline goodness : 0.697751 Centerline is valid? [False, False] Translation: X:3.17, Y:0.23, Z:0.48 [[ 9.46335273e-01 -7.77251128e-02 -3.13701064e-01 3.17464270e+00] [ 7.30117713e-02 9.96971879e-01 -2.67647713e-02 2.26625090e-01] [ 3.14831435e-01 2.42457680e-03 9.49144504e-01 4.83936458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.086502481 meters Centerline goodness : 0.698038 Centerline is valid? [False, False] Translation: X:3.17, Y:0.23, Z:0.48 [[ 9.46357904e-01 -7.78815182e-02 -3.13593983e-01 3.17439772e+00] [ 7.30672397e-02 9.96958888e-01 -2.70952647e-02 2.27212132e-01] [ 3.14750529e-01 2.72837118e-03 9.49170512e-01 4.83900881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.11650248099998 meters Centerline goodness : 0.699447 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 9.46233010e-01 -7.81449660e-02 -3.13905170e-01 3.17530152e+00] [ 7.33041595e-02 9.96938238e-01 -2.72148729e-02 2.27973100e-01] [ 3.15070773e-01 2.74105648e-03 9.49064221e-01 4.83841164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14650248099998 meters Centerline goodness : 0.701576 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 9.46201339e-01 -7.83527126e-02 -3.13948847e-01 3.17564211e+00] [ 7.36226778e-02 9.96922924e-01 -2.69143815e-02 2.26729051e-01] [ 3.15091617e-01 2.35266902e-03 9.49058343e-01 4.83745994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.17650248099999 meters Centerline goodness : 0.701139 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:0.48 [[ 9.46160450e-01 -7.83588039e-02 -3.14070534e-01 3.17606036e+00] [ 7.38229836e-02 9.96923727e-01 -2.63296376e-02 2.25451215e-01] [ 3.15167526e-01 1.72643787e-03 9.49034483e-01 4.83750803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20650248099999 meters Centerline goodness : 0.701257 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.48 [[ 9.46167929e-01 -7.84011259e-02 -3.14037439e-01 3.17588078e+00] [ 7.41643998e-02 9.96921592e-01 -2.54358164e-02 2.24427401e-01] [ 3.15064900e-01 7.76155589e-04 9.49069811e-01 4.84041832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.23650248099999 meters Centerline goodness : 0.701935 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.48 [[ 9.46110950e-01 -7.87107090e-02 -3.14131650e-01 3.17578149e+00] [ 7.45790706e-02 9.96897425e-01 -2.51691535e-02 2.23701692e-01] [ 3.15138115e-01 3.85165215e-04 9.49045742e-01 4.84424246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26650248099999 meters Centerline goodness : 0.704834 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.48 [[ 9.45947420e-01 -8.31444543e-02 -3.13481224e-01 3.17578732e+00] [ 7.80058427e-02 9.96533268e-01 -2.89229094e-02 2.23551371e-01] [ 3.14799248e-01 2.90618449e-03 9.49153827e-01 4.83703461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.29650248099999 meters Centerline goodness : 0.703743 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.48 [[ 0.94560729 -0.08727519 -0.31338459 3.17599403] [ 0.08138891 0.99617359 -0.03184362 0.223026 ] [ 0.31496461 0.00460553 0.94909224 0.4840334 ] [ 0. 0. 0. 1. ]] SLAMing on 105.32650248099999 meters Centerline goodness : 0.703239 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.48 [[ 0.94543167 -0.08773376 -0.31378614 3.1766238 ] [ 0.08203377 0.99613633 -0.03135085 0.22219189] [ 0.3153243 0.00389903 0.94897597 0.48454594] [ 0. 0. 0. 1. ]] SLAMing on 105.35650248099999 meters Centerline goodness : 0.703518 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.48 [[ 0.94515012 -0.08875545 -0.3143465 3.1783979 ] [ 0.08316124 0.99604785 -0.03119112 0.22243433] [ 0.31587254 0.00333885 0.94879576 0.48446885] [ 0. 0. 0. 1. ]] SLAMing on 105.386502481 meters Centerline goodness : 0.704612 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.48 [[ 9.45136291e-01 -8.89447046e-02 -3.14334585e-01 3.17788445e+00] [ 8.34516777e-02 9.96032078e-01 -3.09179146e-02 2.21662483e-01] [ 3.15837315e-01 2.98989469e-03 9.48808648e-01 4.84977760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.416502481 meters Centerline goodness : 0.703853 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.49 [[ 9.45404167e-01 -8.92232463e-02 -3.13448838e-01 3.17528831e+00] [ 8.38480198e-02 9.96008092e-01 -3.06168244e-02 2.19442347e-01] [ 3.14929312e-01 2.66320904e-03 9.49111393e-01 4.85491485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.446502481 meters Centerline goodness : 0.702956 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:0.49 [[ 9.45416921e-01 -8.92503377e-02 -3.13402652e-01 3.17518560e+00] [ 8.38362493e-02 9.96005328e-01 -3.07387416e-02 2.19617960e-01] [ 3.14894154e-01 2.78642357e-03 9.49122704e-01 4.85442382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.476502481 meters Centerline goodness : 0.704055 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:0.49 [[ 9.45614838e-01 -8.86832492e-02 -3.12966227e-01 3.17418200e+00] [ 8.32530275e-02 9.96055435e-01 -3.07002270e-02 2.19891167e-01] [ 3.14454307e-01 2.97520428e-03 9.49267948e-01 4.85316525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50650248099998 meters Centerline goodness : 0.705633 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:0.49 [[ 0.94578958 -0.08851038 -0.31248676 3.17295207] [ 0.08301728 0.99606995 -0.03086738 0.22000917] [ 0.31399076 0.00325224 0.94942047 0.48532403] [ 0. 0. 0. 1. ]] SLAMing on 105.53650248099999 meters Centerline goodness : 0.705931 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:0.49 [[ 0.94571629 -0.08840321 -0.31273882 3.17341292] [ 0.08283628 0.9960787 -0.03107045 0.22109908] [ 0.31425921 0.00347771 0.94933085 0.48542617] [ 0. 0. 0. 1. ]] SLAMing on 105.56650248099999 meters Centerline goodness : 0.705915 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:0.49 [[ 0.94569721 -0.08849614 -0.31277023 3.17386455] [ 0.08297187 0.99607097 -0.03095617 0.22022258] [ 0.31428085 0.00332403 0.94932423 0.48523962] [ 0. 0. 0. 1. ]] SLAMing on 105.59650248099999 meters Centerline goodness : 0.707257 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:0.48 [[ 0.94579302 -0.08850764 -0.31247714 3.17354692] [ 0.08301696 0.99607021 -0.03085975 0.21963878] [ 0.3139805 0.00324604 0.94942388 0.48495354] [ 0. 0. 0. 1. ]] SLAMing on 105.62650248099999 meters Centerline goodness : 0.708393 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:0.49 [[ 9.45809504e-01 -8.81467469e-02 -3.12529251e-01 3.17331991e+00] [ 8.29159401e-02 9.96104425e-01 -3.00153677e-02 2.18961947e-01] [ 3.13957526e-01 2.47516340e-03 9.49433802e-01 4.85359597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.65650248099999 meters Centerline goodness : 0.709841 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:0.49 [[ 9.45808916e-01 -8.80991606e-02 -3.12544448e-01 3.17315614e+00] [ 8.30098778e-02 9.96109636e-01 -2.95796016e-02 2.18487179e-01] [ 3.13934475e-01 2.03237451e-03 9.49442476e-01 4.85628531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68650248099999 meters Centerline goodness : 0.708308 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:0.49 [[ 9.45979799e-01 -8.81207334e-02 -3.12020763e-01 3.17191836e+00] [ 8.32900180e-02 9.96109006e-01 -2.88031528e-02 2.16325206e-01] [ 3.13344847e-01 1.25898574e-03 9.49638574e-01 4.85886328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.71650248099999 meters Centerline goodness : 0.707824 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.49 [[ 9.46030764e-01 -8.81415065e-02 -3.11860335e-01 3.17157634e+00] [ 8.35265001e-02 9.96107792e-01 -2.81529957e-02 2.14813357e-01] [ 3.13127957e-01 5.84997747e-04 9.49710767e-01 4.86018686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.746502481 meters Centerline goodness : 0.709689 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:0.49 [[ 9.45600608e-01 -9.30393886e-02 -3.11742142e-01 3.17245265e+00] [ 8.74125530e-02 9.95657861e-01 -3.20073359e-02 2.15027163e-01] [ 3.13366457e-01 3.01597976e-03 9.49627489e-01 4.85776672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.776502481 meters Centerline goodness : 0.711200 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:0.49 [[ 9.45466532e-01 -9.35732010e-02 -3.11988931e-01 3.17409272e+00] [ 8.82196190e-02 9.95610323e-01 -3.12631209e-02 2.13489503e-01] [ 3.13544790e-01 2.03468996e-03 9.49571232e-01 4.85324729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.806502481 meters Centerline goodness : 0.710712 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:0.49 [[ 9.45011835e-01 -9.52813190e-02 -3.12848368e-01 3.17645894e+00] [ 9.04777655e-02 9.95450383e-01 -2.98715515e-02 2.11462155e-01] [ 3.14271228e-01 -7.68515283e-05 9.49333234e-01 4.85761703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.836502481 meters Centerline goodness : 0.709850 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:0.49 [[ 9.44975674e-01 -9.57609408e-02 -3.12811155e-01 3.17701028e+00] [ 9.12252495e-02 9.95403859e-01 -2.91395247e-02 2.10126374e-01] [ 3.14163859e-01 -1.00013365e-03 9.49368248e-01 4.85605426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86650248099998 meters Centerline goodness : 0.352462 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:0.49 [[ 9.44697152e-01 -1.00749940e-01 -3.12084508e-01 3.17608753e+00] [ 9.52829174e-02 9.94911042e-01 -3.27594840e-02 2.09319325e-01] [ 3.13796839e-01 1.21146885e-03 9.49489377e-01 4.85826680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.89650248099998 meters Centerline goodness : 0.710573 Centerline is valid? [False, False] Translation: X:3.18, Y:0.21, Z:0.49 [[ 9.44766468e-01 -1.00965988e-01 -3.11804729e-01 3.17567419e+00] [ 9.58405550e-02 9.94889870e-01 -3.17605714e-02 2.07039201e-01] [ 3.13418104e-01 1.22784548e-04 9.49615226e-01 4.85921048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92650248099999 meters Centerline goodness : 0.711267 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.49 [[ 9.44687829e-01 -1.02043716e-01 -3.11692132e-01 3.17437452e+00] [ 9.74607608e-02 9.94778351e-01 -3.02891338e-02 2.04310871e-01] [ 3.13155401e-01 -1.76397628e-03 9.49700260e-01 4.87403378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.95650248099999 meters Centerline goodness : 0.713919 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.49 [[ 0.94441602 -0.10283066 -0.31225668 3.17510991] [ 0.09874322 0.99469264 -0.02891924 0.20375525] [ 0.31357321 -0.00352143 0.9495575 0.48841708] [ 0. 0. 0. 1. ]] SLAMing on 105.98650248099999 meters Centerline goodness : 0.712403 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.49 [[ 0.94422262 -0.10334335 -0.31267201 3.17613226] [ 0.09938327 0.9946375 -0.02862182 0.20325948] [ 0.31395318 -0.00404899 0.94942983 0.48868107] [ 0. 0. 0. 1. ]] SLAMing on 106.01650248099999 meters Centerline goodness : 0.712403 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.49 [[ 0.94422262 -0.10334335 -0.31267201 3.17613226] [ 0.09938327 0.9946375 -0.02862182 0.20325948] [ 0.31395318 -0.00404899 0.94942983 0.48868107] [ 0. 0. 0. 1. ]] SLAMing on 106.04650248099999 meters Centerline goodness : 0.712821 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.49 [[ 9.43992906e-01 -1.08235004e-01 -3.11709122e-01 3.17618592e+00] [ 1.03147867e-01 9.94124640e-01 -3.28133807e-02 2.02766988e-01] [ 3.13429276e-01 -1.17653240e-03 9.49610818e-01 4.87589799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.07650248099999 meters Centerline goodness : 0.713496 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.49 [[ 9.44000750e-01 -1.12015110e-01 -3.10346902e-01 3.17492173e+00] [ 1.05990844e-01 9.93705600e-01 -3.62645981e-02 2.00831447e-01] [ 3.12455637e-01 1.33987782e-03 9.49931408e-01 4.86640203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10650248099999 meters Centerline goodness : 0.714405 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.49 [[ 9.44213088e-01 -1.11135744e-01 -3.10016921e-01 3.17400769e+00] [ 1.05291250e-01 9.93804780e-01 -3.55782444e-02 2.00317364e-01] [ 3.12050313e-01 9.51374817e-04 9.50065102e-01 4.86677231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.136502481 meters Centerline goodness : 0.711911 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.49 [[ 9.44865772e-01 -1.05425376e-01 -3.10022844e-01 3.17271123e+00] [ 1.00838912e-01 9.94424934e-01 -3.08312301e-02 1.99337439e-01] [ 3.11544840e-01 -2.13099232e-03 9.50229063e-01 4.86930507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.166502481 meters Centerline goodness : 0.713045 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.49 [[ 9.45059817e-01 -1.04275726e-01 -3.09820134e-01 3.17296138e+00] [ 9.96995958e-02 9.94546502e-01 -3.06144613e-02 1.99470926e-01] [ 3.11322876e-01 -1.95644487e-03 9.50302183e-01 4.86068759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.196502481 meters Centerline goodness : 0.716770 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 9.45452805e-01 -1.02830647e-01 -3.09103302e-01 3.17304200e+00] [ 9.78686090e-02 9.94698792e-01 -3.15602254e-02 2.00125388e-01] [ 3.10710039e-01 -4.12806577e-04 9.50504656e-01 4.83976223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.226502481 meters Centerline goodness : 0.713522 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 9.45791898e-01 -1.01846242e-01 -3.08391031e-01 3.17232431e+00] [ 9.67456442e-02 9.94800116e-01 -3.18277958e-02 1.99803995e-01] [ 3.10028975e-01 2.66982449e-04 9.50727071e-01 4.82859543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.25650248099998 meters Centerline goodness : 0.674459 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 9.46294814e-01 -9.98432427e-02 -3.07501954e-01 3.17187484e+00] [ 9.45353326e-02 9.95002260e-01 -3.21492496e-02 1.99686082e-01] [ 3.09175025e-01 1.35286859e-03 9.51004192e-01 4.80963795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28650248099999 meters Centerline goodness : 0.554397 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 9.46495125e-01 -9.90933105e-02 -3.07127815e-01 3.17196953e+00] [ 9.37160046e-02 9.95076628e-01 -3.22461702e-02 1.99924471e-01] [ 3.08811090e-01 1.73805117e-03 9.51121806e-01 4.79940716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.31650248099999 meters Centerline goodness : 0.513598 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 9.46690062e-01 -9.76644847e-02 -3.06984651e-01 3.17192776e+00] [ 9.22941445e-02 9.95217465e-01 -3.19998137e-02 2.00475567e-01] [ 3.08641731e-01 1.96101990e-03 9.51176343e-01 4.79346703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34650248099999 meters Centerline goodness : 0.427294 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 9.46868944e-01 -9.37996398e-02 -3.07637499e-01 3.17301472e+00] [ 8.95448252e-02 9.95590507e-01 -2.79511339e-02 1.99447237e-01] [ 3.08902780e-01 -1.08128537e-03 9.51093005e-01 4.79366888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.37650248099999 meters Centerline goodness : 0.429280 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 9.46920680e-01 -9.34566742e-02 -3.07582633e-01 3.17345816e+00] [ 8.92405912e-02 9.95622688e-01 -2.77773288e-02 1.98828292e-01] [ 3.08832224e-01 -1.14592891e-03 9.51115842e-01 4.78884425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40650248099999 meters Centerline goodness : 0.425897 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 9.47097889e-01 -9.35394768e-02 -3.07011326e-01 3.17274820e+00] [ 8.90614465e-02 9.95615538e-01 -2.85964970e-02 1.98437024e-01] [ 3.08340148e-01 -2.59190829e-04 9.51276136e-01 4.78186007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.43650248099999 meters Centerline goodness : 0.517994 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 9.47167627e-01 -9.34041987e-02 -3.06837323e-01 3.17301492e+00] [ 8.88734475e-02 9.95628271e-01 -2.87377309e-02 1.98583461e-01] [ 3.08180138e-01 -5.02424133e-05 9.51328019e-01 4.77605729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46650248099999 meters Centerline goodness : 0.479789 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 9.47098586e-01 -9.33931045e-02 -3.07053735e-01 3.17333540e+00] [ 8.88617501e-02 9.95629310e-01 -2.87378831e-02 1.99771811e-01] [ 3.08395618e-01 -6.77237625e-05 9.51258187e-01 4.77751804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.496502481 meters Centerline goodness : 0.510237 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 9.47226452e-01 -9.31724250e-02 -3.06726178e-01 3.17266841e+00] [ 8.86478876e-02 9.95649988e-01 -2.86819334e-02 2.00115559e-01] [ 3.08064281e-01 -2.23417532e-05 9.51365544e-01 4.77640844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.526502481 meters Centerline goodness : 0.339694 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 9.47111937e-01 -9.37856822e-02 -3.06892856e-01 3.17231836e+00] [ 8.93309302e-02 9.95592344e-01 -2.85634436e-02 1.99773690e-01] [ 3.08219020e-01 -3.62245965e-04 9.51315355e-01 4.78447873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.556502481 meters Centerline goodness : 0.549364 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 9.47036076e-01 -9.40547712e-02 -3.07044576e-01 3.17271037e+00] [ 8.96832272e-02 9.95566786e-01 -2.83494822e-02 1.99171115e-01] [ 3.08349786e-01 -6.88766086e-04 9.51272797e-01 4.78549671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.586502481 meters Centerline goodness : 0.536632 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 9.47074314e-01 -9.44217858e-02 -3.06813900e-01 3.17199279e+00] [ 9.02563514e-02 9.95531311e-01 -2.77704891e-02 1.97657701e-01] [ 3.08064984e-01 -1.39118629e-03 9.51364300e-01 4.78962015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.61650248099998 meters Centerline goodness : 0.539600 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 9.47056626e-01 -9.41823979e-02 -3.06942052e-01 3.17160468e+00] [ 9.02868720e-02 9.95552445e-01 -2.68999837e-02 1.97239112e-01] [ 3.08110415e-01 -2.23702993e-03 9.51347974e-01 4.79629166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64650248099998 meters Centerline goodness : 0.719099 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 9.46912452e-01 -9.46801027e-02 -3.07233602e-01 3.17201687e+00] [ 9.08198086e-02 9.95504716e-01 -2.68723248e-02 1.97990516e-01] [ 3.08396774e-01 -2.45715790e-03 9.51254641e-01 4.80021545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.67650248099999 meters Centerline goodness : 0.466390 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 9.46783012e-01 -9.57987016e-02 -3.07285758e-01 3.17255975e+00] [ 9.19478116e-02 9.95397143e-01 -2.70208681e-02 1.97621678e-01] [ 3.08459929e-01 -2.67135407e-03 9.51233586e-01 4.80025041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70650248099999 meters Centerline goodness : 0.719103 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 0.94688964 -0.09658605 -0.30671019 3.17124552] [ 0.09296372 0.99531854 -0.02643375 0.19576671] [ 0.30782747 -0.00348307 0.95143582 0.48036674] [ 0. 0. 0. 1. ]] SLAMing on 106.73650248099999 meters Centerline goodness : 0.717264 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 0.94675052 -0.09716321 -0.30695728 3.1718169 ] [ 0.09364747 0.99526065 -0.02619887 0.19570021] [ 0.30804807 -0.00394198 0.95136263 0.48064262] [ 0. 0. 0. 1. ]] SLAMing on 106.76650248099999 meters Centerline goodness : 0.719045 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.48 [[ 0.94636151 -0.0985821 -0.30770352 3.17426375] [ 0.09529762 0.99511645 -0.02572173 0.19483565] [ 0.30873653 -0.00498136 0.95113455 0.48064456] [ 0. 0. 0. 1. ]] SLAMing on 106.79650248099999 meters Centerline goodness : 0.719674 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.48 [[ 0.94618098 -0.09899974 -0.30812432 3.17578595] [ 0.0959199 0.99507088 -0.02516571 0.1938191 ] [ 0.30909694 -0.00574393 0.95101319 0.48055099] [ 0. 0. 0. 1. ]] SLAMing on 106.82650248099999 meters Centerline goodness : 0.561856 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.48 [[ 0.94583365 -0.0997476 -0.3089484 3.17824723] [ 0.09695681 0.9949891 -0.02441433 0.19314472] [ 0.30983556 -0.00686276 0.95076539 0.48052055] [ 0. 0. 0. 1. ]] SLAMing on 106.85650248099999 meters Centerline goodness : 0.373082 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.48 [[ 0.94589275 -0.09963427 -0.30880403 3.17802341] [ 0.0969684 0.99499783 -0.02400932 0.19275152] [ 0.30965149 -0.00723399 0.9508226 0.48053229] [ 0. 0. 0. 1. ]] SLAMing on 106.886502481 meters Centerline goodness : 0.717420 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.48 [[ 0.94597053 -0.09941931 -0.30863499 3.17708685] [ 0.09683118 0.99501785 -0.02373206 0.19249129] [ 0.30945675 -0.00743566 0.95088445 0.48094616] [ 0. 0. 0. 1. ]] SLAMing on 106.916502481 meters Centerline goodness : 0.717690 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.48 [[ 0.94607711 -0.0992529 -0.30836174 3.17652555] [ 0.09659471 0.99503647 -0.02391418 0.19318854] [ 0.30920473 -0.00716146 0.95096853 0.48076326] [ 0. 0. 0. 1. ]] SLAMing on 106.946502481 meters Centerline goodness : 0.719844 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.48 [[ 0.94624136 -0.09731419 -0.30847568 3.17736613] [ 0.09501806 0.99522136 -0.02249492 0.19477203] [ 0.30919066 -0.00802514 0.95096621 0.47994335] [ 0. 0. 0. 1. ]] SLAMing on 106.976502481 meters Centerline goodness : 0.718122 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.48 [[ 0.94647171 -0.09685196 -0.30791394 3.17646687] [ 0.09439746 0.99527131 -0.02289423 0.19588545] [ 0.30867526 -0.00739755 0.95113872 0.4793308 ] [ 0. 0. 0. 1. ]] SLAMing on 107.00650248099998 meters Centerline goodness : 0.369127 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.48 [[ 0.94684293 -0.09267156 -0.30805917 3.17553347] [ 0.09102228 0.99565294 -0.01975241 0.19679807] [ 0.3085505 -0.00933782 0.95116213 0.47965813] [ 0. 0. 0. 1. ]] SLAMing on 107.03650248099999 meters Centerline goodness : 0.719036 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.48 [[ 0.94683514 -0.09283162 -0.3080349 3.17608751] [ 0.09089624 0.99564606 -0.02065896 0.19846444] [ 0.30861154 -0.00843858 0.95115073 0.47904319] [ 0. 0. 0. 1. ]] SLAMing on 107.06650248099999 meters Centerline goodness : 0.542643 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.48 [[ 0.94702874 -0.09263485 -0.30749853 3.17624462] [ 0.09027429 0.99567557 -0.021925 0.19947968] [ 0.3081998 -0.0069956 0.95129593 0.47751403] [ 0. 0. 0. 1. ]] SLAMing on 107.09650248099999 meters Centerline goodness : 0.719409 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.48 [[ 0.94715265 -0.08879075 -0.30825 3.17662738] [ 0.08742068 0.99600373 -0.01828123 0.2000077 ] [ 0.30864135 -0.00963231 0.95112972 0.4781741 ] [ 0. 0. 0. 1. ]] SLAMing on 107.12650248099999 meters Centerline goodness : 0.455523 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.48 [[ 0.94704981 -0.08880315 -0.30856225 3.17730232] [ 0.08731244 0.99600611 -0.01866477 0.20178067] [ 0.30898738 -0.00926485 0.95102101 0.47814013] [ 0. 0. 0. 1. ]] SLAMing on 107.15650248099999 meters Centerline goodness : 0.717888 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.48 [[ 0.94697981 -0.08865035 -0.30882092 3.17770524] [ 0.08704332 0.9960232 -0.01900628 0.20286468] [ 0.30927771 -0.00888223 0.95093028 0.47816813] [ 0. 0. 0. 1. ]] SLAMing on 107.18650248099999 meters Centerline goodness : 0.717562 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.48 [[ 0.94708543 -0.08881062 -0.30845073 3.17688583] [ 0.08709668 0.99601193 -0.01934973 0.20320082] [ 0.30893907 -0.00853919 0.9510435 0.47806007] [ 0. 0. 0. 1. ]] SLAMing on 107.21650248099999 meters Centerline goodness : 0.716386 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.48 [[ 0.94709151 -0.088609 -0.30849005 3.17581563] [ 0.08689834 0.99603005 -0.01930872 0.20354066] [ 0.30897629 -0.00852015 0.95103158 0.47894747] [ 0. 0. 0. 1. ]] SLAMing on 107.246502481 meters Centerline goodness : 0.718160 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.48 [[ 0.94721631 -0.08843189 -0.30815752 3.17500168] [ 0.08675677 0.99604523 -0.01916143 0.20343201] [ 0.30863331 -0.00858473 0.95114236 0.478981 ] [ 0. 0. 0. 1. ]] SLAMing on 107.276502481 meters Centerline goodness : 0.717112 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 0.9471177 -0.08878526 -0.30835895 3.17498333] [ 0.08711515 0.99601305 -0.01920805 0.20379613] [ 0.30883493 -0.00867045 0.95107613 0.4794485 ] [ 0. 0. 0. 1. ]] SLAMing on 107.306502481 meters Centerline goodness : 0.716705 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.48 [[ 0.94711021 -0.08882609 -0.30837021 3.17563039] [ 0.08725511 0.99600651 -0.0189096 0.20243273] [ 0.3088184 -0.0089974 0.95107846 0.47908198] [ 0. 0. 0. 1. ]] SLAMing on 107.336502481 meters Centerline goodness : 0.717468 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 0.94696802 -0.09287464 -0.30761319 3.17476538] [ 0.09026124 0.99565834 -0.02274577 0.20207535] [ 0.30839014 -0.00622603 0.95123959 0.47881402] [ 0. 0. 0. 1. ]] SLAMing on 107.36650248099998 meters Centerline goodness : 0.717401 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 0.94712265 -0.08896449 -0.30829208 3.17463329] [ 0.08792239 0.9959771 -0.01729952 0.20015274] [ 0.30859089 -0.01072101 0.95113444 0.48013118] [ 0. 0. 0. 1. ]] SLAMing on 107.39650248099998 meters Centerline goodness : 0.717751 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 0.94709193 -0.08888221 -0.30841015 3.17456403] [ 0.08795573 0.99598043 -0.0169345 0.19985351] [ 0.30867565 -0.01108791 0.95110273 0.48052027] [ 0. 0. 0. 1. ]] SLAMing on 107.42650248099999 meters Centerline goodness : 0.718137 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 0.94714155 -0.08873775 -0.30829935 3.17413494] [ 0.0878222 0.99599324 -0.01687368 0.19930146] [ 0.3085614 -0.01109376 0.95113973 0.48064592] [ 0. 0. 0. 1. ]] SLAMing on 107.45650248099999 meters Centerline goodness : 0.716389 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 0.94715928 -0.0886216 -0.30827829 3.1740912 ] [ 0.08770009 0.99600402 -0.0168728 0.19915214] [ 0.30854171 -0.0110548 0.95114657 0.48060812] [ 0. 0. 0. 1. ]] SLAMing on 107.48650248099999 meters Centerline goodness : 0.717398 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 0.94716101 -0.08860893 -0.30827663 3.17465726] [ 0.08769338 0.99600495 -0.01685233 0.19870003] [ 0.30853832 -0.01107195 0.95114747 0.48016963] [ 0. 0. 0. 1. ]] SLAMing on 107.51650248099999 meters Centerline goodness : 0.717442 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.48 [[ 0.94713112 -0.08917527 -0.30820516 3.17595188] [ 0.08813164 0.99595799 -0.0173346 0.19819 ] [ 0.30850521 -0.01074449 0.95116197 0.4790845 ] [ 0. 0. 0. 1. ]] SLAMing on 107.54650248099999 meters Centerline goodness : 0.715936 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.48 [[ 0.94722355 -0.0887514 -0.3080434 3.1756339 ] [ 0.08770522 0.99599677 -0.01726919 0.19904481] [ 0.30834289 -0.01065923 0.95121556 0.47900857] [ 0. 0. 0. 1. ]] SLAMing on 107.57650248099999 meters Centerline goodness : 0.717003 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 0.94737425 -0.0887023 -0.30759377 3.17473466] [ 0.08753786 0.99600552 -0.01761047 0.19916147] [ 0.30792718 -0.01024239 0.95135479 0.47881787] [ 0. 0. 0. 1. ]] SLAMing on 107.60650248099999 meters Centerline goodness : 0.715403 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 0.94767067 -0.08832998 -0.30678677 3.17395556] [ 0.08703422 0.99604395 -0.01793026 0.19813291] [ 0.30715689 -0.00970897 0.95160936 0.47768215] [ 0. 0. 0. 1. ]] SLAMing on 107.636502481 meters Centerline goodness : 0.715663 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 0.94777599 -0.08820877 -0.30649613 3.17320982] [ 0.08688428 0.99605595 -0.01799056 0.19780337] [ 0.30687422 -0.00957868 0.95170188 0.47764129] [ 0. 0. 0. 1. ]] SLAMing on 107.666502481 meters Centerline goodness : 0.716285 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 0.94816986 -0.08715724 -0.30557737 3.17089929] [ 0.08597583 0.99614615 -0.01734964 0.19710059] [ 0.30591187 -0.00982186 0.95200917 0.47765181] [ 0. 0. 0. 1. ]] SLAMing on 107.696502481 meters Centerline goodness : 0.715527 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 0.9482334 -0.08701695 -0.30542015 3.17024233] [ 0.08597793 0.99615405 -0.01687887 0.19669621] [ 0.30571427 -0.01025428 0.95206808 0.47793429] [ 0. 0. 0. 1. ]] SLAMing on 107.726502481 meters Centerline goodness : 0.716807 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.48 [[ 0.94805813 -0.0910461 -0.30478909 3.17043571] [ 0.08895172 0.99581912 -0.02078173 0.19661051] [ 0.30540689 -0.00740923 0.95219312 0.47705142] [ 0. 0. 0. 1. ]] SLAMing on 107.75650248099998 meters Centerline goodness : 0.713867 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.48 [[ 0.94803774 -0.0913352 -0.30476602 3.17057163] [ 0.0895547 0.99578412 -0.01984772 0.19423814] [ 0.30529396 -0.00847685 0.95222043 0.47723304] [ 0. 0. 0. 1. ]] SLAMing on 107.78650248099999 meters Centerline goodness : 0.439196 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.48 [[ 0.94774064 -0.09562954 -0.30437258 3.17053087] [ 0.0932321 0.99539158 -0.02243628 0.19268292] [ 0.30511548 -0.00711352 0.95228879 0.47739052] [ 0. 0. 0. 1. ]] SLAMing on 107.81650248099999 meters Centerline goodness : 0.258768 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.48 [[ 0.94748802 -0.09648998 -0.30488709 3.17226919] [ 0.09442537 0.99529873 -0.02154715 0.19070566] [ 0.30553282 -0.00837341 0.95214473 0.47751993] [ 0. 0. 0. 1. ]] SLAMing on 107.84650248099999 meters Centerline goodness : 0.484986 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.48 [[ 0.94709354 -0.10128556 -0.30455717 3.17312407] [ 0.09889336 0.99482491 -0.02331296 0.18703072] [ 0.30534233 -0.00803913 0.95220871 0.47746271] [ 0. 0. 0. 1. ]] SLAMing on 107.87650248099999 meters Centerline goodness : 0.280014 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.48 [[ 0.94702679 -0.10174352 -0.30461208 3.17297853] [ 0.09976381 0.99476568 -0.02210011 0.18474604] [ 0.30526618 -0.00945986 0.95222007 0.47818691] [ 0. 0. 0. 1. ]] SLAMing on 107.90650248099999 meters Centerline goodness : 0.513761 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.48 [[ 0.94668353 -0.10551795 -0.30439489 3.17338548] [ 0.10298846 0.99438319 -0.02440186 0.18289416] [ 0.30526 -0.00824832 0.95223332 0.47834392] [ 0. 0. 0. 1. ]] SLAMing on 107.93650248099999 meters Centerline goodness : 0.513761 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.48 [[ 0.94668353 -0.10551795 -0.30439489 3.17338548] [ 0.10298846 0.99438319 -0.02440186 0.18289416] [ 0.30526 -0.00824832 0.95223332 0.47834392] [ 0. 0. 0. 1. ]] SLAMing on 107.96650248099999 meters Centerline goodness : 0.383460 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.48 [[ 0.94659994 -0.1056411 -0.30461206 3.17394502] [ 0.10342286 0.99436084 -0.02345705 0.1806302 ] [ 0.30537233 -0.00929941 0.95218762 0.47864884] [ 0. 0. 0. 1. ]] SLAMing on 107.996502481 meters Centerline goodness : 0.229087 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.48 [[ 0.94667547 -0.10539171 -0.3044637 3.17331549] [ 0.10355431 0.99437547 -0.02222467 0.17838497] [ 0.30509353 -0.01048898 0.95226463 0.47915421] [ 0. 0. 0. 1. ]] SLAMing on 108.026502481 meters Centerline goodness : 0.229681 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.48 [[ 0.94668377 -0.1053684 -0.30444595 3.17340059] [ 0.10355721 0.99437709 -0.02213852 0.17875782] [ 0.30506678 -0.01056939 0.95227231 0.47909927] [ 0. 0. 0. 1. ]] SLAMing on 108.056502481 meters Centerline goodness : 0.463466 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.48 [[ 0.94673375 -0.10522744 -0.30433926 3.17335982] [ 0.10344486 0.99439134 -0.02202316 0.17893686] [ 0.30494976 -0.01063227 0.95230909 0.47894885] [ 0. 0. 0. 1. ]] SLAMing on 108.086502481 meters Centerline goodness : 0.235159 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.48 [[ 0.94702498 -0.10488668 -0.30354977 3.1715318 ] [ 0.10314565 0.9944271 -0.02181076 0.17818274] [ 0.30414578 -0.0106545 0.95256592 0.47895568] [ 0. 0. 0. 1. ]] SLAMing on 108.11650248099998 meters Centerline goodness : 0.341746 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.48 [[ 0.94712735 -0.10464173 -0.30331483 3.17112301] [ 0.10295955 0.99445144 -0.02157927 0.17724255] [ 0.30388996 -0.01079084 0.95264602 0.47887724] [ 0. 0. 0. 1. ]] SLAMing on 108.14650248099998 meters Centerline goodness : 0.141649 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.48 [[ 0.94733166 -0.10439116 -0.30276263 3.17023243] [ 0.10266912 0.99448004 -0.02164476 0.17673754] [ 0.30335092 -0.01057961 0.95282018 0.47844563] [ 0. 0. 0. 1. ]] SLAMing on 108.17650248099999 meters Centerline goodness : 0.572697 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.48 [[ 0.9474373 -0.10326539 -0.30281814 3.17038914] [ 0.10163669 0.99459615 -0.0211776 0.17701246] [ 0.30336867 -0.01071298 0.95281304 0.47822667] [ 0. 0. 0. 1. ]] SLAMing on 108.20650248099999 meters Centerline goodness : 0.373440 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.48 [[ 0.94749446 -0.10292026 -0.30275676 3.17073084] [ 0.10129594 0.99463239 -0.02110764 0.17727825] [ 0.30330409 -0.01066866 0.95283409 0.47775311] [ 0. 0. 0. 1. ]] SLAMing on 108.23650248099999 meters Centerline goodness : 0.576139 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.48 [[ 0.94762231 -0.10257923 -0.30247225 3.1709639 ] [ 0.10089082 0.99467064 -0.02124544 0.1774368 ] [ 0.30303961 -0.01038402 0.95292139 0.47687536] [ 0. 0. 0. 1. ]] SLAMing on 108.26650248099999 meters Centerline goodness : 0.272428 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.48 [[ 0.94792654 -0.10142976 -0.30190608 3.17072189] [ 0.09967603 0.99479297 -0.02125183 0.17724247] [ 0.30248961 -0.00994762 0.95310077 0.47570755] [ 0. 0. 0. 1. ]] SLAMing on 108.29650248099999 meters Centerline goodness : 0.584271 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.48 [[ 0.94806239 -0.10106822 -0.30160061 3.16993569] [ 0.09922982 0.99483328 -0.02145213 0.17796141] [ 0.30221045 -0.00958981 0.95319299 0.47560543] [ 0. 0. 0. 1. ]] SLAMing on 108.32650248099999 meters Centerline goodness : 0.388770 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.48 [[ 0.9483043 -0.10049707 -0.3010304 3.16889333] [ 0.09863572 0.99489311 -0.02141698 0.17757711] [ 0.30164541 -0.00938254 0.95337402 0.47523326] [ 0. 0. 0. 1. ]] SLAMing on 108.35650248099999 meters Centerline goodness : 0.542898 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.94854715 -0.10013497 -0.30038526 3.16826783] [ 0.09825758 0.9949311 -0.02139067 0.17663225] [ 0.30100459 -0.00922507 0.95357807 0.4744285 ] [ 0. 0. 0. 1. ]] SLAMing on 108.386502481 meters Centerline goodness : 0.650843 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.94852611 -0.1000214 -0.3004895 3.16867892] [ 0.09813436 0.99494291 -0.02140703 0.17707766] [ 0.30111106 -0.00918322 0.95354486 0.47425568] [ 0. 0. 0. 1. ]] SLAMing on 108.416502481 meters Centerline goodness : 0.517478 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.94853143 -0.09995772 -0.3004939 3.16907427] [ 0.09803019 0.99495062 -0.02152549 0.17774564] [ 0.30112823 -0.00903987 0.95354081 0.4739171 ] [ 0. 0. 0. 1. ]] SLAMing on 108.446502481 meters Centerline goodness : 0.485869 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.94878695 -0.09969074 -0.29977505 3.16814558] [ 0.09767368 0.99498089 -0.02174585 0.17785765] [ 0.3004383 -0.00864795 0.95376204 0.47317654] [ 0. 0. 0. 1. ]] SLAMing on 108.476502481 meters Centerline goodness : 0.527185 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.94913062 -0.09894642 -0.29893255 3.16719559] [ 0.09700898 0.99505444 -0.02135225 0.17660744] [ 0.29956689 -0.00873307 0.95403533 0.47228319] [ 0. 0. 0. 1. ]] SLAMing on 108.50650248099998 meters Centerline goodness : 0.223724 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.94923559 -0.09882845 -0.29863814 3.16685405] [ 0.09688097 0.99506681 -0.0213571 0.17695046] [ 0.29927559 -0.00865943 0.95412742 0.47197594] [ 0. 0. 0. 1. ]] SLAMing on 108.53650248099999 meters Centerline goodness : 0.553292 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.94932215 -0.09896545 -0.29831745 3.16648595] [ 0.097082 0.99505134 -0.02116405 0.17613219] [ 0.29893569 -0.00886975 0.95423204 0.47176389] [ 0. 0. 0. 1. ]] SLAMing on 108.56650248099999 meters Centerline goodness : 0.717411 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.94936205 -0.09911439 -0.29814097 3.16645851] [ 0.09719864 0.99503738 -0.02128464 0.17583533] [ 0.29877103 -0.00877206 0.95428451 0.47146939] [ 0. 0. 0. 1. ]] SLAMing on 108.59650248099999 meters Centerline goodness : 0.687637 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.94951025 -0.09900586 -0.29770475 3.16620024] [ 0.09700783 0.99505099 -0.02151779 0.17603316] [ 0.29836179 -0.00844833 0.95441546 0.47076826] [ 0. 0. 0. 1. ]] SLAMing on 108.62650248099999 meters Centerline goodness : 0.646716 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.94968461 -0.09862505 -0.2972747 3.16660215] [ 0.0965941 0.99509049 -0.02155221 0.17588059] [ 0.29794081 -0.00824718 0.95454872 0.4695121 ] [ 0. 0. 0. 1. ]] SLAMing on 108.65650248099999 meters Centerline goodness : 0.713566 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.94971867 -0.09890329 -0.29707336 3.16701234] [ 0.0967973 0.9950647 -0.0218295 0.1762181 ] [ 0.29776622 -0.00802401 0.9546051 0.46882662] [ 0. 0. 0. 1. ]] SLAMing on 108.68650248099999 meters Centerline goodness : 0.712810 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.94954765 -0.0993275 -0.29747823 3.16831429] [ 0.09725437 0.99502076 -0.02180082 0.17730258] [ 0.29816244 -0.00823014 0.95447966 0.46860921] [ 0. 0. 0. 1. ]] SLAMing on 108.71650248099999 meters Centerline goodness : 0.510005 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.94949832 -0.10018275 -0.29734889 3.16882172] [ 0.09817934 0.99493202 -0.02170481 0.17690347] [ 0.29801638 -0.00858484 0.95452215 0.46826992] [ 0. 0. 0. 1. ]] SLAMing on 108.746502481 meters Centerline goodness : 0.359008 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.94944697 -0.10046938 -0.29741613 3.16938773] [ 0.09850814 0.99490145 -0.02161578 0.17635561] [ 0.29807146 -0.00877487 0.95450322 0.46805089] [ 0. 0. 0. 1. ]] SLAMing on 108.776502481 meters Centerline goodness : 0.601866 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.9493967 -0.10093156 -0.29742012 3.16983084] [ 0.09899529 0.9948533 -0.0216068 0.17618868] [ 0.2980702 -0.00892977 0.95450218 0.467935 ] [ 0. 0. 0. 1. ]] SLAMing on 108.806502481 meters Centerline goodness : 0.616656 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94942637 -0.10169633 -0.29706467 3.16912633] [ 0.09997522 0.99476781 -0.02102277 0.17460765] [ 0.29764831 -0.00973953 0.95462591 0.4682262 ] [ 0. 0. 0. 1. ]] SLAMing on 108.836502481 meters Centerline goodness : 0.258534 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94936804 -0.10210715 -0.29711017 3.16963084] [ 0.10047745 0.99472201 -0.02079415 0.17417253] [ 0.29766526 -0.01011157 0.95461675 0.46808636] [ 0. 0. 0. 1. ]] SLAMing on 108.86650248099998 meters Centerline goodness : 0.372599 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94918573 -0.10322514 -0.29730628 3.17060895] [ 0.10162348 0.99460373 -0.0208827 0.17428395] [ 0.29785756 -0.01039174 0.95455376 0.46801676] [ 0. 0. 0. 1. ]] SLAMing on 108.89650248099998 meters Centerline goodness : 0.716028 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.9490444 -0.10412486 -0.29744369 3.17118629] [ 0.10275621 0.99449983 -0.02027929 0.17314142] [ 0.29791928 -0.01131824 0.95452397 0.46816709] [ 0. 0. 0. 1. ]] SLAMing on 108.92650248099999 meters Centerline goodness : 0.717127 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94893998 -0.10475327 -0.29755616 3.17181107] [ 0.10343125 0.99443084 -0.02023094 0.17321306] [ 0.29801827 -0.01157866 0.95448994 0.46806073] [ 0. 0. 0. 1. ]] SLAMing on 108.95650248099999 meters Centerline goodness : 0.716603 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94887084 -0.10515417 -0.29763524 3.1719313 ] [ 0.10391358 0.99438452 -0.02003496 0.17322889] [ 0.29807064 -0.01191775 0.95446941 0.46829276] [ 0. 0. 0. 1. ]] SLAMing on 108.98650248099999 meters Centerline goodness : 0.715846 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94886375 -0.10559314 -0.29750239 3.17129432] [ 0.10448392 0.99433192 -0.01967589 0.17320687] [ 0.29789377 -0.01241447 0.9545183 0.46878739] [ 0. 0. 0. 1. ]] SLAMing on 109.01650248099999 meters Centerline goodness : 0.714904 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94872661 -0.10591782 -0.29782416 3.17173592] [ 0.10492788 0.99429141 -0.0193581 0.17326617] [ 0.29817437 -0.01288451 0.95442445 0.46922675] [ 0. 0. 0. 1. ]] SLAMing on 109.04650248099999 meters Centerline goodness : 0.716604 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94850956 -0.10689137 -0.29816747 3.17201812] [ 0.1058869 0.99418559 -0.01956995 0.1743403 ] [ 0.29852566 -0.01300974 0.95431293 0.46992851] [ 0. 0. 0. 1. ]] SLAMing on 109.07650248099999 meters Centerline goodness : 0.715664 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.9484785 -0.10724251 -0.2981402 3.17200463] [ 0.10624276 0.99414688 -0.01960765 0.17412828] [ 0.29849792 -0.0130778 0.95432068 0.47003928] [ 0. 0. 0. 1. ]] SLAMing on 109.10650248099999 meters Centerline goodness : 0.717249 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94836847 -0.10812502 -0.29817146 3.17325812] [ 0.10693838 0.99405753 -0.02034234 0.17476223] [ 0.2985991 -0.01259394 0.95429553 0.46920968] [ 0. 0. 0. 1. ]] SLAMing on 109.136502481 meters Centerline goodness : 0.717589 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.47 [[ 0.94814979 -0.10827506 -0.29881178 3.17523328] [ 0.10692553 0.99404707 -0.02091313 0.17669292] [ 0.29929734 -0.01212183 0.95408289 0.46868897] [ 0. 0. 0. 1. ]] SLAMing on 109.166502481 meters Centerline goodness : 0.718685 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.47 [[ 0.94826564 -0.10450744 -0.29978405 3.17697315] [ 0.10382325 0.99442819 -0.01825691 0.17841073] [ 0.30002169 -0.01381215 0.95383238 0.46831087] [ 0. 0. 0. 1. ]] SLAMing on 109.196502481 meters Centerline goodness : 0.717666 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.47 [[ 0.94870842 -0.09984709 -0.29997149 3.17648797] [ 0.09994469 0.99487902 -0.01505947 0.17946806] [ 0.29993899 -0.01569351 0.95382929 0.46818144] [ 0. 0. 0. 1. ]] SLAMing on 109.226502481 meters Centerline goodness : 0.719047 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.47 [[ 0.94878992 -0.09936134 -0.299875 3.17590014] [ 0.09926728 0.99493869 -0.01558866 0.1812583 ] [ 0.29990615 -0.01497742 0.95385113 0.46816281] [ 0. 0. 0. 1. ]] SLAMing on 109.25650248099998 meters Centerline goodness : 0.718288 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.47 [[ 0.94885716 -0.09905719 -0.29976284 3.1755642 ] [ 0.09869411 0.99498281 -0.01639158 0.18286047] [ 0.29988257 -0.01403156 0.95387293 0.46793723] [ 0. 0. 0. 1. ]] SLAMing on 109.28650248099999 meters Centerline goodness : 0.717636 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94892704 -0.09899655 -0.2995616 3.17520894] [ 0.0980679 0.9950138 -0.01817206 0.18586953] [ 0.2998669 -0.01213342 0.95390388 0.46740618] [ 0. 0. 0. 1. ]] SLAMing on 109.31650248099999 meters Centerline goodness : 0.717627 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94897812 -0.09872778 -0.2994885 3.17529325] [ 0.09770755 0.99504471 -0.01841885 0.18679151] [ 0.2998229 -0.0117832 0.95392211 0.46706673] [ 0. 0. 0. 1. ]] SLAMing on 109.34650248099999 meters Centerline goodness : 0.717248 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94891073 -0.09831007 -0.29983923 3.17581161] [ 0.09726304 0.99508761 -0.01845387 0.18790088] [ 0.3001805 -0.0116522 0.95381125 0.46719411] [ 0. 0. 0. 1. ]] SLAMing on 109.37650248099999 meters Centerline goodness : 0.715428 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.47 [[ 0.9489718 -0.09824314 -0.29966784 3.17496013] [ 0.0971457 0.99509641 -0.01859683 0.1883469 ] [ 0.3000254 -0.01146358 0.95386233 0.46752842] [ 0. 0. 0. 1. ]] SLAMing on 109.40650248099999 meters Centerline goodness : 0.716242 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.47 [[ 0.9490517 -0.09467849 -0.30056091 3.17438281] [ 0.09483088 0.9953933 -0.0141167 0.1877289 ] [ 0.30051286 -0.01510498 0.95365815 0.46951547] [ 0. 0. 0. 1. ]] SLAMing on 109.43650248099999 meters Centerline goodness : 0.716542 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.47 [[ 0.94894747 -0.09525245 -0.30070863 3.17459323] [ 0.09535428 0.99533962 -0.01437382 0.18875696] [ 0.30067635 -0.01503385 0.95360774 0.46975371] [ 0. 0. 0. 1. ]] SLAMing on 109.46650248099999 meters Centerline goodness : 0.717574 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94860704 -0.09603654 -0.30153219 3.17663227] [ 0.09610618 0.99526341 -0.01464073 0.18907142] [ 0.30151 -0.0150908 0.95334358 0.46980119] [ 0. 0. 0. 1. ]] SLAMing on 109.496502481 meters Centerline goodness : 0.715584 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94846648 -0.09657784 -0.30180135 3.17779097] [ 0.09660122 0.99521185 -0.01488523 0.18915946] [ 0.30179387 -0.01503623 0.95325462 0.4694661 ] [ 0. 0. 0. 1. ]] SLAMing on 109.526502481 meters Centerline goodness : 0.715875 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94831906 -0.09707159 -0.30210605 3.17882951] [ 0.09700064 0.99516709 -0.01527576 0.1897857 ] [ 0.30212884 -0.01481819 0.95315192 0.46930755] [ 0. 0. 0. 1. ]] SLAMing on 109.556502481 meters Centerline goodness : 0.716409 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94823047 -0.09737439 -0.30228662 3.17839485] [ 0.09739901 0.9951319 -0.01503095 0.19051148] [ 0.30227869 -0.01518961 0.95309856 0.47014867] [ 0. 0. 0. 1. ]] SLAMing on 109.586502481 meters Centerline goodness : 0.715454 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.9481947 -0.09729407 -0.30242466 3.17763885] [ 0.09749891 0.99513061 -0.01445765 0.19039706] [ 0.30235868 -0.01577741 0.95306364 0.47117857] [ 0. 0. 0. 1. ]] SLAMing on 109.61650248099998 meters Centerline goodness : 0.716854 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94797746 -0.09830382 -0.30277894 3.17772931] [ 0.09840107 0.99503418 -0.01497351 0.19209233] [ 0.30274735 -0.01559923 0.95294318 0.47194687] [ 0. 0. 0. 1. ]] SLAMing on 109.64650248099998 meters Centerline goodness : 0.716507 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94778869 -0.09938831 -0.30301579 3.17891493] [ 0.09944132 0.99492587 -0.01529505 0.19113812] [ 0.3029984 -0.01563582 0.95286279 0.47175259] [ 0. 0. 0. 1. ]] SLAMing on 109.67650248099999 meters Centerline goodness : 0.717304 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94769341 -0.09981006 -0.30317512 3.17942919] [ 0.09992094 0.99487946 -0.01518781 0.19060996] [ 0.3031386 -0.01590015 0.95281382 0.47178467] [ 0. 0. 0. 1. ]] SLAMing on 109.70650248099999 meters Centerline goodness : 0.716009 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94743041 -0.10009491 -0.30390234 3.18076153] [ 0.10035225 0.99484169 -0.01481338 0.19137034] [ 0.30381746 -0.01646264 0.95258802 0.47223673] [ 0. 0. 0. 1. ]] SLAMing on 109.73650248099999 meters Centerline goodness : 0.716596 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94726998 -0.10055046 -0.30425185 3.18108312] [ 0.10082422 0.99479337 -0.01485339 0.1917577 ] [ 0.30416124 -0.01660578 0.95247582 0.47278081] [ 0. 0. 0. 1. ]] SLAMing on 109.76650248099999 meters Centerline goodness : 0.716316 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94727141 -0.10012706 -0.30438701 3.18086088] [ 0.10070227 0.99482019 -0.01385092 0.19072369] [ 0.30419719 -0.01753189 0.95244774 0.47335483] [ 0. 0. 0. 1. ]] SLAMing on 109.79650248099999 meters Centerline goodness : 0.715913 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94726491 -0.10049516 -0.30428589 3.18028633] [ 0.1009914 0.99478667 -0.01414998 0.19135087] [ 0.30412155 -0.01732648 0.95247566 0.47364365] [ 0. 0. 0. 1. ]] SLAMing on 109.82650248099999 meters Centerline goodness : 0.715913 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94726491 -0.10049516 -0.30428589 3.18028633] [ 0.1009914 0.99478667 -0.01414998 0.19135087] [ 0.30412155 -0.01732648 0.95247566 0.47364365] [ 0. 0. 0. 1. ]] SLAMing on 109.85650248099999 meters Centerline goodness : 0.715746 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94725455 -0.1006993 -0.30425066 3.18002799] [ 0.10125067 0.99476233 -0.01400725 0.19058333] [ 0.30406761 -0.01753715 0.95248902 0.47384395] [ 0. 0. 0. 1. ]] SLAMing on 109.886502481 meters Centerline goodness : 0.715171 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94723993 -0.10104246 -0.30418242 3.18012247] [ 0.1015992 0.99472633 -0.01404018 0.19012499] [ 0.30399692 -0.01760527 0.95251033 0.47376767] [ 0. 0. 0. 1. ]] SLAMing on 109.916502481 meters Centerline goodness : 0.717722 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94714321 -0.10117124 -0.30444067 3.18049518] [ 0.10171393 0.99471348 -0.01412014 0.19097999] [ 0.30425978 -0.01759207 0.95242664 0.47397324] [ 0. 0. 0. 1. ]] SLAMing on 109.946502481 meters Centerline goodness : 0.716128 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94708436 -0.10098504 -0.30468546 3.18089156] [ 0.10155517 0.99473111 -0.01401986 0.19135313] [ 0.3044959 -0.0176644 0.95234984 0.47410868] [ 0. 0. 0. 1. ]] SLAMing on 109.976502481 meters Centerline goodness : 0.718241 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94730602 -0.10068979 -0.30409353 3.18037261] [ 0.10113393 0.99476958 -0.0143323 0.19151605] [ 0.3039461 -0.0171771 0.95253436 0.47324154] [ 0. 0. 0. 1. ]] SLAMing on 110.00650248099998 meters Centerline goodness : 0.719181 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94736631 -0.1005314 -0.30395806 3.18021235] [ 0.10086966 0.99479206 -0.01463137 0.19184165] [ 0.30384598 -0.01679888 0.95257305 0.47298056] [ 0. 0. 0. 1. ]] SLAMing on 110.03650248099999 meters Centerline goodness : 0.717768 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94755973 -0.09992164 -0.30355596 3.18034666] [ 0.10001641 0.9948685 -0.01527684 0.19281431] [ 0.30352475 -0.01588486 0.95269114 0.47177883] [ 0. 0. 0. 1. ]] SLAMing on 110.06650248099999 meters Centerline goodness : 0.718617 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94768776 -0.0997161 -0.30322369 3.18036715] [ 0.09967808 0.99489676 -0.01564367 0.19319687] [ 0.30323619 -0.01539944 0.95279099 0.47095997] [ 0. 0. 0. 1. ]] SLAMing on 110.09650248099999 meters Centerline goodness : 0.717866 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94780568 -0.09915268 -0.30303984 3.18034059] [ 0.09902638 0.99495899 -0.01582328 0.19332299] [ 0.30308113 -0.01501155 0.95284651 0.47043258] [ 0. 0. 0. 1. ]] SLAMing on 110.12650248099999 meters Centerline goodness : 0.716859 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94793833 -0.09911054 -0.30263845 3.18014073] [ 0.09891508 0.99496702 -0.0160136 0.19311795] [ 0.30270239 -0.0147556 0.9529709 0.46983712] [ 0. 0. 0. 1. ]] SLAMing on 110.15650248099999 meters Centerline goodness : 0.718629 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94822163 -0.09829703 -0.30201563 3.17925726] [ 0.09824804 0.99504291 -0.01539273 0.19101516] [ 0.30203157 -0.01507673 0.95317869 0.46929706] [ 0. 0. 0. 1. ]] SLAMing on 110.18650248099999 meters Centerline goodness : 0.719552 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94825805 -0.09809296 -0.30196762 3.17879834] [ 0.09818397 0.99505648 -0.01491648 0.19039433] [ 0.30193804 -0.0155037 0.95320148 0.46964322] [ 0. 0. 0. 1. ]] SLAMing on 110.21650248099999 meters Centerline goodness : 0.719438 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94819183 -0.09817936 -0.30214741 3.17904971] [ 0.09838022 0.9950419 -0.01459307 0.1898408 ] [ 0.30208207 -0.0158883 0.95314951 0.46989457] [ 0. 0. 0. 1. ]] SLAMing on 110.246502481 meters Centerline goodness : 0.718125 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94805893 -0.09837721 -0.3024999 3.18060808] [ 0.09862052 0.99501933 -0.01450963 0.18936072] [ 0.30242066 -0.01607672 0.95303897 0.46939745] [ 0. 0. 0. 1. ]] SLAMing on 110.276502481 meters Centerline goodness : 0.718811 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94800738 -0.0985566 -0.30260304 3.18158877] [ 0.09885184 0.99499826 -0.0143798 0.18840422] [ 0.30250672 -0.01628071 0.9530082 0.46892744] [ 0. 0. 0. 1. ]] SLAMing on 110.306502481 meters Centerline goodness : 0.719584 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94823812 -0.09821439 -0.30199072 3.18046931] [ 0.09891047 0.99501108 -0.01302601 0.18530264] [ 0.30176346 -0.01751828 0.95322187 0.46892765] [ 0. 0. 0. 1. ]] SLAMing on 110.336502481 meters Centerline goodness : 0.718680 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.47 [[ 0.94819442 -0.09824032 -0.30211947 3.18025247] [ 0.09919083 0.99499322 -0.01223445 0.18418455] [ 0.30180874 -0.01836684 0.95319156 0.46955401] [ 0. 0. 0. 1. ]] SLAMing on 110.36650248099998 meters Centerline goodness : 0.720620 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.47 [[ 0.94795999 -0.09898464 -0.30261179 3.18198433] [ 0.10013795 0.99490427 -0.0117427 0.1832831 ] [ 0.3022321 -0.01917132 0.95304156 0.46940551] [ 0. 0. 0. 1. ]] SLAMing on 110.39650248099998 meters Centerline goodness : 0.719410 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.47 [[ 0.94771119 -0.10339989 -0.30191384 3.18189714] [ 0.10377747 0.99448989 -0.01483563 0.18206627] [ 0.30178426 -0.01727196 0.95321977 0.46896195] [ 0. 0. 0. 1. ]] SLAMing on 110.42650248099999 meters Centerline goodness : 0.720200 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.47 [[ 0.9476547 -0.10366194 -0.30200127 3.18196174] [ 0.10434541 0.99444376 -0.01391565 0.18040371] [ 0.3017658 -0.01832522 0.95320595 0.46943868] [ 0. 0. 0. 1. ]] SLAMing on 110.45650248099999 meters Centerline goodness : 0.722428 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.47 [[ 0.9475686 -0.10419359 -0.30208847 3.18162381] [ 0.10535213 0.99435637 -0.0125036 0.17834039] [ 0.30168638 -0.01997764 0.95319789 0.47043922] [ 0. 0. 0. 1. ]] SLAMing on 110.48650248099999 meters Centerline goodness : 0.721635 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.47 [[ 0.94749253 -0.10426096 -0.30230376 3.18168283] [ 0.1057339 0.99432754 -0.01153628 0.17661179] [ 0.30179173 -0.02103322 0.95314183 0.47106443] [ 0. 0. 0. 1. ]] SLAMing on 110.51650248099999 meters Centerline goodness : 0.721886 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.47 [[ 0.94736497 -0.10455189 -0.30260291 3.1820121 ] [ 0.10628556 0.9942772 -0.01078093 0.17527736] [ 0.30199834 -0.02194884 0.95305574 0.47168358] [ 0. 0. 0. 1. ]] SLAMing on 110.54650248099999 meters Centerline goodness : 0.723686 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94719676 -0.10527684 -0.30287802 3.18312215] [ 0.1073039 0.99417608 -0.00999017 0.17388965] [ 0.30216581 -0.02303734 0.95297697 0.47167418] [ 0. 0. 0. 1. ]] SLAMing on 110.57650248099999 meters Centerline goodness : 0.723109 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94719379 -0.10524655 -0.30289781 3.18208673] [ 0.10772062 0.99414421 -0.00857698 0.17235223] [ 0.3020268 -0.02450428 0.95298445 0.47294476] [ 0. 0. 0. 1. ]] SLAMing on 110.60650248099999 meters Centerline goodness : 0.721603 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94718891 -0.10543817 -0.30284643 3.18184155] [ 0.1080803 0.9941094 -0.00807213 0.1714938 ] [ 0.30191359 -0.0250859 0.95300518 0.47323982] [ 0. 0. 0. 1. ]] SLAMing on 110.636502481 meters Centerline goodness : 0.722201 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94697481 -0.10599658 -0.30332067 3.18357647] [ 0.10886659 0.99402821 -0.00748277 0.17020323] [ 0.30230245 -0.02593549 0.95285916 0.47307402] [ 0. 0. 0. 1. ]] SLAMing on 110.666502481 meters Centerline goodness : 0.723430 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94691849 -0.10619478 -0.30342715 3.18385955] [ 0.109133 0.99400029 -0.00730846 0.16975737] [ 0.3023828 -0.0261934 0.95282661 0.47321558] [ 0. 0. 0. 1. ]] SLAMing on 110.696502481 meters Centerline goodness : 0.723994 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94688613 -0.1058033 -0.30366481 3.18384687] [ 0.10890205 0.99402948 -0.00676323 0.169716 ] [ 0.30256735 -0.02666571 0.95275492 0.47371878] [ 0. 0. 0. 1. ]] SLAMing on 110.726502481 meters Centerline goodness : 0.723595 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94677839 -0.10576642 -0.30401339 3.18472721] [ 0.10882311 0.99403703 -0.00692195 0.17051294] [ 0.30293267 -0.02653013 0.95264261 0.47358913] [ 0. 0. 0. 1. ]] SLAMing on 110.75650248099998 meters Centerline goodness : 0.724610 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.47 [[ 0.94689517 -0.10526091 -0.30382507 3.18539946] [ 0.10815071 0.99410734 -0.00735048 0.17147692] [ 0.30280845 -0.02589877 0.95269948 0.4724548 ] [ 0. 0. 0. 1. ]] SLAMing on 110.78650248099999 meters Centerline goodness : 0.724407 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94707235 -0.10501791 -0.30335656 3.18489854] [ 0.10773725 0.99414875 -0.00780748 0.17151354] [ 0.30240146 -0.02528856 0.95284513 0.47177455] [ 0. 0. 0. 1. ]] SLAMing on 110.81650248099999 meters Centerline goodness : 0.723464 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94740776 -0.10388983 -0.30269696 3.18426057] [ 0.10633235 0.99429476 -0.00844747 0.17198048] [ 0.30184761 -0.02418328 0.95304942 0.47057311] [ 0. 0. 0. 1. ]] SLAMing on 110.84650248099999 meters Centerline goodness : 0.723910 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94754552 -0.10336515 -0.30244526 3.18383425] [ 0.10559719 0.99436817 -0.00900946 0.17287938] [ 0.3016732 -0.0234005 0.95312418 0.47011664] [ 0. 0. 0. 1. ]] SLAMing on 110.87650248099999 meters Centerline goodness : 0.723247 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94805707 -0.09800078 -0.3026279 3.18440957] [ 0.10098171 0.99487125 -0.00582147 0.17395749] [ 0.30164631 -0.0250408 0.95309101 0.4689037 ] [ 0. 0. 0. 1. ]] SLAMing on 110.90650248099999 meters Centerline goodness : 0.721584 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 9.48515227e-01 -9.28196328e-02 -3.02825660e-01 3.18403270e+00] [ 9.69595502e-02 9.95287381e-01 -1.36910309e-03 1.73070432e-01] [ 3.01525638e-01 -2.80632246e-02 9.53044986e-01 4.68916943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93650248099999 meters Centerline goodness : 0.721406 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 9.49383681e-01 -9.10534689e-02 -3.00632487e-01 3.17968026e+00] [ 9.45678399e-02 9.95514272e-01 -2.87348839e-03 1.74557075e-01] [ 2.99545573e-01 -2.57021219e-02 9.53735734e-01 4.67596932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96650248099999 meters Centerline goodness : 0.721216 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.9497532 -0.0904509 -0.2996456 3.17807188] [ 0.09374812 0.99559019 -0.00338553 0.17449904] [ 0.29863045 -0.02487579 0.95404457 0.46676808] [ 0. 0. 0. 1. ]] SLAMing on 110.996502481 meters Centerline goodness : 0.719493 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 9.50223177e-01 -8.56182383e-02 -2.99575419e-01 3.17667624e+00] [ 9.00672644e-02 9.95935134e-01 1.04745064e-03 1.73179124e-01] [ 2.98268004e-01 -2.79772503e-02 9.54072047e-01 4.67264034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.026502481 meters Centerline goodness : 0.719963 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 9.50259777e-01 -8.57118597e-02 -2.99432520e-01 3.17621170e+00] [ 9.01377937e-02 9.95928828e-01 9.73200029e-04 1.73419693e-01] [ 2.98130064e-01 -2.79149795e-02 9.54116984e-01 4.67367912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.056502481 meters Centerline goodness : 0.720310 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.47 [[ 0.94998525 -0.09053588 -0.29888338 3.17645345] [ 0.09358355 0.99560286 -0.00413136 0.17512134] [ 0.29794318 -0.02404584 0.9542807 0.46649546] [ 0. 0. 0. 1. ]] SLAMing on 111.086502481 meters Centerline goodness : 0.720724 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94987721 -0.09095727 -0.29909876 3.17715692] [ 0.09408307 0.99555646 -0.00396438 0.17431327] [ 0.29813029 -0.02437446 0.95421393 0.4665227 ] [ 0. 0. 0. 1. ]] SLAMing on 111.11650248099998 meters Centerline goodness : 0.719135 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94978149 -0.09532801 -0.29803976 3.17548593] [ 0.09740348 0.99521348 -0.00791739 0.17477342] [ 0.29736794 -0.02151032 0.95452062 0.46644083] [ 0. 0. 0. 1. ]] SLAMing on 111.14650248099998 meters Centerline goodness : 0.719116 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94989043 -0.09524538 -0.2977188 3.17474268] [ 0.097501 0.99520864 -0.00730138 0.17358015] [ 0.29698775 -0.02209237 0.95462569 0.46658974] [ 0. 0. 0. 1. ]] SLAMing on 111.17650248099999 meters Centerline goodness : 0.718166 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94991943 -0.09551046 -0.29754132 3.17439052] [ 0.09807695 0.99515871 -0.00632808 0.17192769] [ 0.29670523 -0.02317078 0.95468797 0.46689807] [ 0. 0. 0. 1. ]] SLAMing on 111.20650248099999 meters Centerline goodness : 0.717553 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94981058 -0.09566908 -0.29783768 3.17505514] [ 0.09834494 0.99513415 -0.00602512 0.17209646] [ 0.29696486 -0.02356811 0.95459752 0.46703941] [ 0. 0. 0. 1. ]] SLAMing on 111.23650248099999 meters Centerline goodness : 0.719778 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94985207 -0.09559312 -0.29772976 3.17483232] [ 0.09842044 0.99512963 -0.00551736 0.17214075] [ 0.29680712 -0.02406202 0.95463425 0.46708082] [ 0. 0. 0. 1. ]] SLAMing on 111.26650248099999 meters Centerline goodness : 0.719663 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94993581 -0.09545566 -0.29750661 3.17439742] [ 0.09838101 0.99513543 -0.00516179 0.17107942] [ 0.29655209 -0.02436564 0.9547058 0.46709673] [ 0. 0. 0. 1. ]] SLAMing on 111.29650248099999 meters Centerline goodness : 0.718573 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94983623 -0.09962218 -0.29645668 3.17370685] [ 0.10127175 0.99481025 -0.00982805 0.17174971] [ 0.29589723 -0.02068765 0.95499573 0.46603724] [ 0. 0. 0. 1. ]] SLAMing on 111.32650248099999 meters Centerline goodness : 0.718166 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94976338 -0.0999639 -0.29657502 3.17443903] [ 0.10158832 0.99477656 -0.00997008 0.17220381] [ 0.29602253 -0.02065935 0.95495751 0.46573205] [ 0. 0. 0. 1. ]] SLAMing on 111.35650248099999 meters Centerline goodness : 0.718710 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94949208 -0.10022976 -0.29735296 3.17590986] [ 0.10199078 0.99473875 -0.00962827 0.17420353] [ 0.29675355 -0.02118529 0.95471908 0.46610348] [ 0. 0. 0. 1. ]] SLAMing on 111.386502481 meters Centerline goodness : 0.718051 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94949404 -0.10052709 -0.29724633 3.17593383] [ 0.10224201 0.99471114 -0.00981421 0.17456463] [ 0.29666083 -0.02107253 0.95475039 0.46597829] [ 0. 0. 0. 1. ]] SLAMing on 111.416502481 meters Centerline goodness : 0.717335 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94974866 -0.10068707 -0.29637746 3.1742488 ] [ 0.10234308 0.99469926 -0.00996414 0.17383386] [ 0.2958097 -0.02086875 0.95501891 0.46576987] [ 0. 0. 0. 1. ]] SLAMing on 111.446502481 meters Centerline goodness : 0.717757 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94982924 -0.10079291 -0.29608311 3.1734272 ] [ 0.10244119 0.99468896 -0.00998353 0.17341997] [ 0.29551687 -0.02084846 0.95511 0.46592902] [ 0. 0. 0. 1. ]] SLAMing on 111.476502481 meters Centerline goodness : 0.717987 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94988698 -0.10070662 -0.29592719 3.17221695] [ 0.1024973 0.99468793 -0.00949831 0.17318102] [ 0.29531175 -0.02130942 0.95516327 0.46673988] [ 0. 0. 0. 1. ]] SLAMing on 111.50650248099998 meters Centerline goodness : 0.718170 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94979121 -0.10097456 -0.29614319 3.17244085] [ 0.10279921 0.99465728 -0.00944577 0.17367995] [ 0.29551476 -0.02147177 0.95509685 0.46707332] [ 0. 0. 0. 1. ]] SLAMing on 111.53650248099999 meters Centerline goodness : 0.719037 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94961202 -0.10183067 -0.29642458 3.1736018 ] [ 0.1036939 0.99456414 -0.00947343 0.17420365] [ 0.29577795 -0.02174134 0.95500928 0.46691645] [ 0. 0. 0. 1. ]] SLAMing on 111.56650248099999 meters Centerline goodness : 0.719032 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94948838 -0.10220503 -0.29669168 3.17454666] [ 0.10417902 0.99451606 -0.009194 0.1737166 ] [ 0.29600431 -0.02217945 0.95492907 0.46686842] [ 0. 0. 0. 1. ]] SLAMing on 111.59650248099999 meters Centerline goodness : 0.721642 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.949035 -0.1071277 -0.29640552 3.17604571] [ 0.10803352 0.99405732 -0.01337184 0.1743549 ] [ 0.29607657 -0.01933139 0.95496857 0.46585066] [ 0. 0. 0. 1. ]] SLAMing on 111.62650248099999 meters Centerline goodness : 0.721436 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94893756 -0.10758543 -0.29655165 3.17725761] [ 0.10858348 0.99400029 -0.01315458 0.17342439] [ 0.29618767 -0.01971774 0.95492621 0.46536925] [ 0. 0. 0. 1. ]] SLAMing on 111.65650248099999 meters Centerline goodness : 0.721427 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94892872 -0.10773866 -0.2965243 3.17733658] [ 0.10895326 0.99396856 -0.01247779 0.17209921] [ 0.29608017 -0.02046675 0.95494379 0.46550816] [ 0. 0. 0. 1. ]] SLAMing on 111.68650248099999 meters Centerline goodness : 0.721406 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94919717 -0.10794791 -0.29558753 3.17566437] [ 0.10952318 0.9939203 -0.01127424 0.16897589] [ 0.29500748 -0.02167221 0.95524913 0.46554147] [ 0. 0. 0. 1. ]] SLAMing on 111.71650248099999 meters Centerline goodness : 0.721368 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94933192 -0.10773648 -0.29523171 3.17492758] [ 0.10970781 0.99391428 -0.00993015 0.16670048] [ 0.29450485 -0.02296222 0.95537408 0.46581578] [ 0. 0. 0. 1. ]] SLAMing on 111.746502481 meters Centerline goodness : 0.721368 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94933192 -0.10773648 -0.29523171 3.17492758] [ 0.10970781 0.99391428 -0.00993015 0.16670048] [ 0.29450485 -0.02296222 0.95537408 0.46581578] [ 0. 0. 0. 1. ]] SLAMing on 111.776502481 meters Centerline goodness : 0.722234 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94938591 -0.10761993 -0.29510057 3.1746074 ] [ 0.10974573 0.99391524 -0.00940034 0.16598097] [ 0.29431661 -0.02346148 0.95541995 0.46593134] [ 0. 0. 0. 1. ]] SLAMing on 111.806502481 meters Centerline goodness : 0.721653 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.47 [[ 0.94938116 -0.10770993 -0.29508303 3.1747673 ] [ 0.1099724 0.99389418 -0.00896883 0.16505309] [ 0.29424733 -0.02393615 0.95542952 0.46594022] [ 0. 0. 0. 1. ]] SLAMing on 111.836502481 meters Centerline goodness : 0.722684 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.46 [[ 0.9490349 -0.11208701 -0.29456624 3.17638564] [ 0.11311357 0.99348887 -0.01360805 0.1655256 ] [ 0.29417356 -0.02040492 0.95553417 0.46413227] [ 0. 0. 0. 1. ]] SLAMing on 111.86650248099998 meters Centerline goodness : 0.721507 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.46 [[ 0.94903263 -0.11210261 -0.29456761 3.17729862] [ 0.11338504 0.99346893 -0.01277926 0.16389074] [ 0.29407636 -0.02127163 0.95554519 0.4636291 ] [ 0. 0. 0. 1. ]] SLAMing on 111.89650248099998 meters Centerline goodness : 0.721769 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.46 [[ 0.94906899 -0.1121057 -0.29444925 3.17719869] [ 0.11349015 0.99346125 -0.01243912 0.16333517] [ 0.29391842 -0.02161151 0.95558616 0.46356651] [ 0. 0. 0. 1. ]] SLAMing on 111.92650248099999 meters Centerline goodness : 0.720644 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.46 [[ 0.94923254 -0.11204076 -0.29394633 3.17686739] [ 0.11346432 0.99346639 -0.01226313 0.16220121] [ 0.29339977 -0.02171186 0.95574325 0.46291579] [ 0. 0. 0. 1. ]] SLAMing on 111.95650248099999 meters Centerline goodness : 0.720531 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.46 [[ 0.94937519 -0.11179142 -0.29358037 3.17649654] [ 0.11330123 0.99348923 -0.01191562 0.1612956 ] [ 0.293001 -0.02195062 0.95586013 0.46258942] [ 0. 0. 0. 1. ]] SLAMing on 111.98650248099999 meters Centerline goodness : 0.720469 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.9498913 -0.11040272 -0.29243419 3.17398401] [ 0.11197045 0.99364584 -0.01142635 0.16021146] [ 0.29183752 -0.02189019 0.95621738 0.46220304] [ 0. 0. 0. 1. ]] SLAMing on 112.01650248099999 meters Centerline goodness : 0.721713 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.95001518 -0.11000648 -0.29218098 3.17338502] [ 0.11151686 0.9936956 -0.01153481 0.16011949] [ 0.29160786 -0.02162486 0.95629348 0.46201751] [ 0. 0. 0. 1. ]] SLAMing on 112.04650248099999 meters Centerline goodness : 0.721558 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.95029417 -0.10929201 -0.29154117 3.17248637] [ 0.11072839 0.99378276 -0.01162089 0.16022895] [ 0.29099866 -0.02123862 0.95648769 0.46126288] [ 0. 0. 0. 1. ]] SLAMing on 112.07650248099999 meters Centerline goodness : 0.721821 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.95038796 -0.1091028 -0.29130619 3.17195881] [ 0.11047686 0.99380889 -0.01177953 0.16023321] [ 0.29078786 -0.02098747 0.95655734 0.46113494] [ 0. 0. 0. 1. ]] SLAMing on 112.10650248099999 meters Centerline goodness : 0.721593 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.95077691 -0.10811242 -0.29040484 3.17087291] [ 0.10937513 0.99392894 -0.01193065 0.1591608 ] [ 0.28993162 -0.02041968 0.9568295 0.45997433] [ 0. 0. 0. 1. ]] SLAMing on 112.136502481 meters Centerline goodness : 0.721599 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.95091059 -0.10774904 -0.29010205 3.1704173 ] [ 0.10908247 0.99396478 -0.0116203 0.15833121] [ 0.28960329 -0.02059518 0.95692516 0.45978773] [ 0. 0. 0. 1. ]] SLAMing on 112.166502481 meters Centerline goodness : 0.720226 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.9508661 -0.10759335 -0.29030559 3.17001816] [ 0.10918495 0.99396322 -0.01075956 0.15750282] [ 0.28971073 -0.0214661 0.9568735 0.4606686 ] [ 0. 0. 0. 1. ]] SLAMing on 112.196502481 meters Centerline goodness : 0.720732 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.95083592 -0.10765769 -0.29038058 3.17056788] [ 0.10940425 0.99394435 -0.01026328 0.15662145] [ 0.28972705 -0.02201017 0.9568562 0.46053761] [ 0. 0. 0. 1. ]] SLAMing on 112.226502481 meters Centerline goodness : 0.719994 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.95077435 -0.10787611 -0.29050109 3.17165686] [ 0.10975441 0.99390972 -0.00987064 0.15521657] [ 0.28979666 -0.02249902 0.95682375 0.46009875] [ 0. 0. 0. 1. ]] SLAMing on 112.25650248099998 meters Centerline goodness : 0.720657 Centerline is valid? [False, False] Translation: X:3.17, Y:0.15, Z:0.46 [[ 0.95025856 -0.11241736 -0.29046686 3.173645 ] [ 0.1134438 0.99345459 -0.01335986 0.15421514] [ 0.29006752 -0.02025634 0.95679178 0.4592741 ] [ 0. 0. 0. 1. ]] SLAMing on 112.28650248099999 meters Centerline goodness : 0.721474 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94997982 -0.11305575 -0.29113011 3.17622639] [ 0.1144835 0.99335044 -0.01218345 0.15222515] [ 0.29057163 -0.02175556 0.95660589 0.45893966] [ 0. 0. 0. 1. ]] SLAMing on 112.31650248099999 meters Centerline goodness : 0.721361 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94980708 -0.11335192 -0.29157822 3.17725358] [ 0.11504664 0.99329484 -0.01138552 0.15150306] [ 0.29091371 -0.02273105 0.95647923 0.45929876] [ 0. 0. 0. 1. ]] SLAMing on 112.34650248099999 meters Centerline goodness : 0.721961 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94972177 -0.11388839 -0.29164705 3.17667699] [ 0.11600861 0.99319713 -0.01007285 0.14914251] [ 0.29081019 -0.02426717 0.95647297 0.46053507] [ 0. 0. 0. 1. ]] SLAMing on 112.37650248099999 meters Centerline goodness : 0.723878 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94964333 -0.1141135 -0.29181441 3.17718293] [ 0.11650701 0.99314705 -0.00922293 0.14742033] [ 0.29086708 -0.02523993 0.95643049 0.46083231] [ 0. 0. 0. 1. ]] SLAMing on 112.40650248099999 meters Centerline goodness : 0.723459 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94915234 -0.11895556 -0.29147799 3.17716274] [ 0.12047623 0.99263377 -0.01279344 0.14686266] [ 0.29085275 -0.02297325 0.95649198 0.46124278] [ 0. 0. 0. 1. ]] SLAMing on 112.43650248099999 meters Centerline goodness : 0.722603 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94914502 -0.11874287 -0.29158853 3.17700929] [ 0.1205778 0.99263449 -0.01173728 0.14536679] [ 0.29083455 -0.02401872 0.95647183 0.461881 ] [ 0. 0. 0. 1. ]] SLAMing on 112.46650248099999 meters Centerline goodness : 0.723706 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94896053 -0.11935616 -0.29193839 3.17749725] [ 0.12131269 0.99254818 -0.01146058 0.14522232] [ 0.29113081 -0.02454019 0.95636846 0.46245155] [ 0. 0. 0. 1. ]] SLAMing on 112.496502481 meters Centerline goodness : 0.722261 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94879324 -0.11961174 -0.29237718 3.17853831] [ 0.12165281 0.99250884 -0.01126061 0.14547032] [ 0.29153384 -0.02488452 0.95623678 0.46256754] [ 0. 0. 0. 1. ]] SLAMing on 112.526502481 meters Centerline goodness : 0.720546 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94877322 -0.11968572 -0.29241189 3.17803909] [ 0.12181837 0.99249174 -0.01097451 0.1450547 ] [ 0.29152987 -0.02520882 0.9562295 0.46317911] [ 0. 0. 0. 1. ]] SLAMing on 112.556502481 meters Centerline goodness : 0.723023 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94870445 -0.12010931 -0.29246133 3.17817401] [ 0.12220847 0.99244179 -0.01115286 0.14513358] [ 0.29159041 -0.02516049 0.95621231 0.46328825] [ 0. 0. 0. 1. ]] SLAMing on 112.586502481 meters Centerline goodness : 0.721607 Centerline is valid? [False, False] Translation: X:3.18, Y:0.14, Z:0.46 [[ 0.94861502 -0.11990567 -0.29283471 3.17893237] [ 0.12215381 0.99245385 -0.0106678 0.14484401] [ 0.29190406 -0.02565124 0.95610357 0.46343774] [ 0. 0. 0. 1. ]] SLAMing on 112.61650248099998 meters Centerline goodness : 0.721160 Centerline is valid? [False, False] Translation: X:3.18, Y:0.14, Z:0.46 [[ 0.94861114 -0.11984472 -0.29287224 3.17881635] [ 0.12215912 0.99245557 -0.01044502 0.14498575] [ 0.29191446 -0.02586876 0.95609453 0.46364503] [ 0. 0. 0. 1. ]] SLAMing on 112.64650248099998 meters Centerline goodness : 0.722346 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94864841 -0.11965008 -0.29283109 3.17823255] [ 0.12196831 0.99247951 -0.01039919 0.14547758] [ 0.29187312 -0.02585094 0.95610764 0.46396207] [ 0. 0. 0. 1. ]] SLAMing on 112.67650248099999 meters Centerline goodness : 0.540550 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94862367 -0.11966085 -0.29290684 3.17862044] [ 0.12198449 0.99247762 -0.01039014 0.14577366] [ 0.29194678 -0.02587376 0.95608453 0.46378667] [ 0. 0. 0. 1. ]] SLAMing on 112.70650248099999 meters Centerline goodness : 0.592780 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94859391 -0.11971445 -0.29298129 3.17917997] [ 0.12202842 0.99247173 -0.0104368 0.14570192] [ 0.29202509 -0.02585176 0.95606121 0.46348489] [ 0. 0. 0. 1. ]] SLAMing on 112.73650248099999 meters Centerline goodness : 0.721477 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94865266 -0.11931292 -0.29295489 3.17949108] [ 0.12156658 0.99252699 -0.01057102 0.14551437] [ 0.29202689 -0.0255853 0.95606782 0.46300208] [ 0. 0. 0. 1. ]] SLAMing on 112.76650248099999 meters Centerline goodness : 0.720275 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94860528 -0.11909214 -0.29319802 3.1799372 ] [ 0.12138567 0.99255063 -0.01042945 0.14562173] [ 0.29225594 -0.02569661 0.95599485 0.46308877] [ 0. 0. 0. 1. ]] SLAMing on 112.79650248099999 meters Centerline goodness : 0.720060 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94850553 -0.11859821 -0.29372048 3.18085797] [ 0.12098268 0.99260318 -0.01010561 0.14647189] [ 0.29274639 -0.02594986 0.95583793 0.46315585] [ 0. 0. 0. 1. ]] SLAMing on 112.82650248099999 meters Centerline goodness : 0.718812 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94851361 -0.11812939 -0.29388326 3.1810582 ] [ 0.12059425 0.99265363 -0.00978718 0.14673535] [ 0.29288044 -0.02615736 0.95579121 0.46325907] [ 0. 0. 0. 1. ]] SLAMing on 112.85650248099999 meters Centerline goodness : 0.719009 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94848501 -0.11828767 -0.29391192 3.1817112 ] [ 0.12057434 0.99264987 -0.01039527 0.14747098] [ 0.29298126 -0.02557848 0.95577598 0.46265412] [ 0. 0. 0. 1. ]] SLAMing on 112.886502481 meters Centerline goodness : 0.718537 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94839402 -0.11861343 -0.29407421 3.18256345] [ 0.12085686 0.99261334 -0.01060057 0.14767255] [ 0.29315935 -0.02548737 0.9557238 0.46230925] [ 0. 0. 0. 1. ]] SLAMing on 112.916502481 meters Centerline goodness : 0.718636 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94823746 -0.11883986 -0.29448735 3.18279009] [ 0.12120726 0.9925741 -0.01026904 0.14809665] [ 0.29352089 -0.02595651 0.9556002 0.46300623] [ 0. 0. 0. 1. ]] SLAMing on 112.946502481 meters Centerline goodness : 0.716342 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94802566 -0.11901177 -0.29509922 3.18352126] [ 0.12150455 0.99254106 -0.00994458 0.14855829] [ 0.29408161 -0.02642818 0.95541486 0.4637285 ] [ 0. 0. 0. 1. ]] SLAMing on 112.976502481 meters Centerline goodness : 0.717372 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94772456 -0.12015373 -0.29560317 3.18444394] [ 0.12254896 0.99240711 -0.01048285 0.15062032] [ 0.29461824 -0.02629101 0.9552533 0.46415176] [ 0. 0. 0. 1. ]] SLAMing on 113.00650248099998 meters Centerline goodness : 0.717694 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94764062 -0.12020227 -0.29585243 3.18448993] [ 0.12275499 0.99238659 -0.01000333 0.15066754] [ 0.29480241 -0.0268378 0.95518128 0.46470889] [ 0. 0. 0. 1. ]] SLAMing on 113.03650248099999 meters Centerline goodness : 0.715717 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.47 [[ 0.94756277 -0.12015222 -0.296122 3.18430939] [ 0.12289498 0.99237511 -0.00940613 0.15047862] [ 0.29499427 -0.02747901 0.95510381 0.46552383] [ 0. 0. 0. 1. ]] SLAMing on 113.06650248099999 meters Centerline goodness : 0.715919 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.47 [[ 0.9475393 -0.12061823 -0.29600762 3.18360386] [ 0.12332927 0.99231967 -0.00956905 0.15099596] [ 0.29488838 -0.02743935 0.95513765 0.46598875] [ 0. 0. 0. 1. ]] SLAMing on 113.09650248099999 meters Centerline goodness : 0.713423 Centerline is valid? [False, False] Translation: X:3.19, Y:0.15, Z:0.47 [[ 0.94725541 -0.12070069 -0.29688133 3.18557627] [ 0.12340757 0.99230886 -0.00968024 0.15305105] [ 0.29576638 -0.02746775 0.95486531 0.46592842] [ 0. 0. 0. 1. ]] SLAMing on 113.12650248099999 meters Centerline goodness : 0.711548 Centerline is valid? [False, False] Translation: X:3.19, Y:0.15, Z:0.47 [[ 0.94722128 -0.12057793 -0.29704007 3.18574017] [ 0.12327446 0.99232511 -0.0097102 0.15406057] [ 0.29593116 -0.02741975 0.95481564 0.46603725] [ 0. 0. 0. 1. ]] SLAMing on 113.15650248099999 meters Centerline goodness : 0.710818 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.47 [[ 0.94731661 -0.12031786 -0.29684147 3.18434478] [ 0.12309044 0.99235089 -0.00940542 0.1543592 ] [ 0.29570253 -0.02762844 0.95488045 0.46675556] [ 0. 0. 0. 1. ]] SLAMing on 113.18650248099999 meters Centerline goodness : 0.708427 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.47 [[ 0.94741701 -0.11986238 -0.29670529 3.18383829] [ 0.12253079 0.99241771 -0.00965873 0.15568136] [ 0.2956133 -0.02720469 0.95492025 0.46668596] [ 0. 0. 0. 1. ]] SLAMing on 113.21650248099999 meters Centerline goodness : 0.708598 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.47 [[ 0.9474041 -0.11971305 -0.29680677 3.18457729] [ 0.12223629 0.99244949 -0.01011429 0.15674921] [ 0.29577654 -0.02669824 0.95488399 0.46607428] [ 0. 0. 0. 1. ]] SLAMing on 113.246502481 meters Centerline goodness : 0.707198 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.47 [[ 0.94757494 -0.11945969 -0.29636313 3.18319224] [ 0.12189195 0.99248964 -0.01032771 0.15739048] [ 0.29537109 -0.026338 0.95501949 0.46624132] [ 0. 0. 0. 1. ]] SLAMing on 113.276502481 meters Centerline goodness : 0.705262 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.47 [[ 0.94799335 -0.11549164 -0.29659786 3.18248999] [ 0.11907022 0.99286749 -0.0060355 0.15573858] [ 0.29517942 -0.02959436 0.95498339 0.46686784] [ 0. 0. 0. 1. ]] SLAMing on 113.306502481 meters Centerline goodness : 0.703229 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.47 [[ 0.94798852 -0.11450895 -0.29699404 3.18297776] [ 0.11835901 0.99295803 -0.00504926 0.15834277] [ 0.2954808 -0.03036528 0.95486598 0.46681618] [ 0. 0. 0. 1. ]] SLAMing on 113.336502481 meters Centerline goodness : 0.704003 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.47 [[ 0.94809045 -0.11437889 -0.29671866 3.18240986] [ 0.11806967 0.99299 -0.00551487 0.15902019] [ 0.29526945 -0.02980488 0.95494902 0.46660036] [ 0. 0. 0. 1. ]] SLAMing on 113.36650248099998 meters Centerline goodness : 0.699875 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.47 [[ 0.94826359 -0.1137401 -0.29641077 3.18095081] [ 0.11738147 0.99307142 -0.00554457 0.15926768] [ 0.29498771 -0.02953542 0.95504445 0.46703997] [ 0. 0. 0. 1. ]] SLAMing on 113.39650248099998 meters Centerline goodness : 0.700713 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.47 [[ 0.94821555 -0.11363203 -0.29660584 3.1815606 ] [ 0.11722569 0.99308893 -0.0057028 0.1602523 ] [ 0.29520399 -0.02936234 0.95498296 0.46681319] [ 0. 0. 0. 1. ]] SLAMing on 113.42650248099999 meters Centerline goodness : 0.701181 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.47 [[ 0.94806205 -0.11425559 -0.2968569 3.1824552 ] [ 0.1175537 0.99304339 -0.00677956 0.1624712 ] [ 0.29556638 -0.02846918 0.95489791 0.46642358] [ 0. 0. 0. 1. ]] SLAMing on 113.45650248099999 meters Centerline goodness : 0.699861 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.47 [[ 0.94784589 -0.11266819 -0.29815104 3.18499633] [ 0.11658686 0.99316952 -0.00466957 0.16443268] [ 0.29664063 -0.03033446 0.95450728 0.46648233] [ 0. 0. 0. 1. ]] SLAMing on 113.48650248099999 meters Centerline goodness : 0.698741 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94779869 -0.11345299 -0.29800347 3.18392034] [ 0.11716719 0.99309734 -0.00543265 0.16616616] [ 0.29656281 -0.02976717 0.95454933 0.467081 ] [ 0. 0. 0. 1. ]] SLAMing on 113.51650248099999 meters Centerline goodness : 0.699044 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94777242 -0.1140252 -0.2978686 3.18380578] [ 0.11769138 0.99303408 -0.00566112 0.16608982] [ 0.29643918 -0.02969111 0.9545901 0.46702544] [ 0. 0. 0. 1. ]] SLAMing on 113.54650248099999 meters Centerline goodness : 0.697264 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94764723 -0.11472885 -0.29799668 3.18423332] [ 0.1183507 0.99295418 -0.00592552 0.16601923] [ 0.29657688 -0.02965281 0.95454851 0.46704839] [ 0. 0. 0. 1. ]] SLAMing on 113.57650248099999 meters Centerline goodness : 0.697600 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94736788 -0.11609668 -0.29835491 3.184736 ] [ 0.11959423 0.99280109 -0.00657332 0.16813919] [ 0.29697022 -0.02945418 0.95443236 0.46754755] [ 0. 0. 0. 1. ]] SLAMing on 113.60650248099999 meters Centerline goodness : 0.697711 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94721842 -0.11654752 -0.29865353 3.18493666] [ 0.12002917 0.99274759 -0.00672495 0.1695999 ] [ 0.29727135 -0.02947714 0.95433791 0.46801566] [ 0. 0. 0. 1. ]] SLAMing on 113.636502481 meters Centerline goodness : 0.697711 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94721842 -0.11654752 -0.29865353 3.18493666] [ 0.12002917 0.99274759 -0.00672495 0.1695999 ] [ 0.29727135 -0.02947714 0.95433791 0.46801566] [ 0. 0. 0. 1. ]] SLAMing on 113.666502481 meters Centerline goodness : 0.696150 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94705285 -0.11731797 -0.29887689 3.18416294] [ 0.12082863 0.99265027 -0.00677407 0.17135942] [ 0.29747494 -0.02969748 0.95426763 0.46920788] [ 0. 0. 0. 1. ]] SLAMing on 113.696502481 meters Centerline goodness : 0.697149 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.9467281 -0.11888101 -0.29928784 3.18453773] [ 0.12216841 0.99247894 -0.0077739 0.17335001] [ 0.29796105 -0.02920375 0.9541312 0.46991446] [ 0. 0. 0. 1. ]] SLAMing on 113.726502481 meters Centerline goodness : 0.696959 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94657139 -0.11974245 -0.29944007 3.18472374] [ 0.12293785 0.99238035 -0.00821734 0.17396674] [ 0.29814241 -0.02903422 0.95407972 0.47021214] [ 0. 0. 0. 1. ]] SLAMing on 113.75650248099998 meters Centerline goodness : 0.695894 Centerline is valid? [False, False] Translation: X:3.18, Y:0.17, Z:0.47 [[ 0.94647049 -0.12051574 -0.29944876 3.18498664] [ 0.12361828 0.99229227 -0.00863513 0.17437211] [ 0.29818136 -0.02884445 0.95407331 0.47014575] [ 0. 0. 0. 1. ]] SLAMing on 113.78650248099999 meters Centerline goodness : 0.694930 Centerline is valid? [False, False] Translation: X:3.19, Y:0.18, Z:0.47 [[ 0.94616284 -0.12136277 -0.30007824 3.18566647] [ 0.12449644 0.99218164 -0.00873108 0.17588009] [ 0.29879175 -0.02909765 0.95387464 0.47095887] [ 0. 0. 0. 1. ]] SLAMing on 113.81650248099999 meters Centerline goodness : 0.695531 Centerline is valid? [False, False] Translation: X:3.19, Y:0.18, Z:0.47 [[ 0.94608792 -0.12129208 -0.30034295 3.18574793] [ 0.12451405 0.99218173 -0.00846548 0.17651356] [ 0.29902158 -0.02938783 0.95379371 0.47145221] [ 0. 0. 0. 1. ]] SLAMing on 113.84650248099999 meters Centerline goodness : 0.694351 Centerline is valid? [False, False] Translation: X:3.19, Y:0.18, Z:0.47 [[ 0.94597743 -0.12178838 -0.30049008 3.18535413] [ 0.1247567 0.99214315 -0.00936629 0.1791169 ] [ 0.29926988 -0.02862786 0.95373895 0.47199117] [ 0. 0. 0. 1. ]] SLAMing on 113.87650248099999 meters Centerline goodness : 0.695996 Centerline is valid? [False, False] Translation: X:3.19, Y:0.18, Z:0.47 [[ 0.94593916 -0.12177514 -0.3006159 3.18621664] [ 0.12459466 0.99215882 -0.0098508 0.18072464] [ 0.2994583 -0.02813688 0.95369442 0.47135446] [ 0. 0. 0. 1. ]] SLAMing on 113.90650248099999 meters Centerline goodness : 0.696661 Centerline is valid? [False, False] Translation: X:3.19, Y:0.18, Z:0.47 [[ 0.94630122 -0.117638 -0.3011234 3.186762 ] [ 0.12128631 0.99259549 -0.00662042 0.18122393] [ 0.29967254 -0.03025723 0.9535622 0.47108448] [ 0. 0. 0. 1. ]] SLAMing on 113.93650248099999 meters Centerline goodness : 0.695786 Centerline is valid? [False, False] Translation: X:3.19, Y:0.18, Z:0.47 [[ 0.94656542 -0.11706013 -0.30051759 3.18524043] [ 0.12057103 0.99268069 -0.00690463 0.18198437] [ 0.29912627 -0.02969804 0.95375128 0.47096653] [ 0. 0. 0. 1. ]] SLAMing on 113.96650248099999 meters Centerline goodness : 0.694832 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.47 [[ 0.94682745 -0.11681376 -0.29978713 3.18352226] [ 0.12000121 0.99274291 -0.00782419 0.18348608] [ 0.29852552 -0.02856667 0.95397403 0.47069079] [ 0. 0. 0. 1. ]] SLAMing on 113.996502481 meters Centerline goodness : 0.696301 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.47 [[ 0.9473966 -0.11251167 -0.29963444 3.18270925] [ 0.11641052 0.99318926 -0.00486744 0.18415788] [ 0.29814135 -0.0302692 0.95404167 0.4702101 ] [ 0. 0. 0. 1. ]] SLAMing on 114.026502481 meters Centerline goodness : 0.695668 Centerline is valid? [False, False] Translation: X:3.18, Y:0.18, Z:0.47 [[ 9.47886614e-01 -1.07971647e-01 -2.99755051e-01 3.18264698e+00] [ 1.12678261e-01 9.93630248e-01 -1.59356259e-03 1.84710142e-01] [ 2.98017745e-01 -3.22653613e-02 9.54014869e-01 4.69605482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.056502481 meters Centerline goodness : 0.695308 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 9.48025140e-01 -1.07571165e-01 -2.99460814e-01 3.18221902e+00] [ 1.12041511e-01 9.93700968e-01 -2.25539456e-03 1.86083360e-01] [ 2.97817116e-01 -3.14138712e-02 9.54105934e-01 4.69141071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.086502481 meters Centerline goodness : 0.696458 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94832381 -0.10692966 -0.29874405 3.18155155] [ 0.11087022 0.99382771 -0.00377845 0.18879217] [ 0.29730414 -0.02953863 0.95432579 0.46778034] [ 0. 0. 0. 1. ]] SLAMing on 114.11650248099998 meters Centerline goodness : 0.696617 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94845854 -0.10670189 -0.29839757 3.18074883] [ 0.11037429 0.99387959 -0.00456907 0.18994879] [ 0.29705878 -0.02860185 0.95443073 0.46753577] [ 0. 0. 0. 1. ]] SLAMing on 114.14650248099998 meters Centerline goodness : 0.697119 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94864669 -0.10650061 -0.2978709 3.17986354] [ 0.10994587 0.99392389 -0.00521606 0.19101172] [ 0.29661652 -0.02780147 0.95459191 0.46704615] [ 0. 0. 0. 1. ]] SLAMing on 114.17650248099999 meters Centerline goodness : 0.697847 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94889435 -0.10631692 -0.29714679 3.17885516] [ 0.10929394 0.99398738 -0.00662728 0.19282499] [ 0.29606475 -0.02618776 0.95480881 0.46613399] [ 0. 0. 0. 1. ]] SLAMing on 114.20650248099999 meters Centerline goodness : 0.696149 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94894282 -0.10625398 -0.29701449 3.17853144] [ 0.10904108 0.99401104 -0.0072181 0.19380347] [ 0.29600264 -0.02553722 0.95484569 0.46599771] [ 0. 0. 0. 1. ]] SLAMing on 114.23650248099999 meters Centerline goodness : 0.696560 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94927811 -0.1019887 -0.297438 3.17799212] [ 0.10577092 0.99438473 -0.00339565 0.19359677] [ 0.29611412 -0.02823688 0.9547351 0.46664014] [ 0. 0. 0. 1. ]] SLAMing on 114.26650248099999 meters Centerline goodness : 0.696267 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94934549 -0.10206794 -0.29719568 3.17763702] [ 0.10561843 0.99439815 -0.00413124 0.19480167] [ 0.2959525 -0.02746736 0.95480766 0.46637102] [ 0. 0. 0. 1. ]] SLAMing on 114.29650248099999 meters Centerline goodness : 0.697075 Centerline is valid? [False, False] Translation: X:3.18, Y:0.20, Z:0.47 [[ 0.94961643 -0.10181877 -0.29641452 3.17614711] [ 0.10506909 0.99445241 -0.00498827 0.19534458] [ 0.29527803 -0.02640706 0.95504636 0.46597968] [ 0. 0. 0. 1. ]] SLAMing on 114.32650248099999 meters Centerline goodness : 0.697905 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94972654 -0.10155767 -0.29615121 3.1750475 ] [ 0.10489378 0.99447258 -0.00464598 0.19482217] [ 0.29498609 -0.02665201 0.95512977 0.46644259] [ 0. 0. 0. 1. ]] SLAMing on 114.35650248099999 meters Centerline goodness : 0.698357 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.47 [[ 0.94976845 -0.10163424 -0.29599049 3.17399044] [ 0.1051266 0.99445024 -0.00413617 0.19456318] [ 0.29476819 -0.02718807 0.95518193 0.46715268] [ 0. 0. 0. 1. ]] SLAMing on 114.386502481 meters Centerline goodness : 0.697847 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.47 [[ 0.94958789 -0.10209361 -0.29641142 3.17469084] [ 0.10563399 0.99439666 -0.00409157 0.19465192] [ 0.29516825 -0.02742582 0.95505158 0.46754768] [ 0. 0. 0. 1. ]] SLAMing on 114.416502481 meters Centerline goodness : 0.699534 Centerline is valid? [False, False] Translation: X:3.17, Y:0.20, Z:0.47 [[ 0.94938265 -0.10634802 -0.29557178 3.17377288] [ 0.10882216 0.9940281 -0.00811665 0.19519394] [ 0.29466984 -0.02445895 0.95528605 0.46734384] [ 0. 0. 0. 1. ]] SLAMing on 114.446502481 meters Centerline goodness : 0.698336 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.47 [[ 0.94938363 -0.10627028 -0.29559659 3.17414936] [ 0.10902056 0.99401333 -0.00721165 0.19331939] [ 0.29459334 -0.02537949 0.95528564 0.46726356] [ 0. 0. 0. 1. ]] SLAMing on 114.476502481 meters Centerline goodness : 0.700312 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.47 [[ 0.94898786 -0.11041638 -0.29534771 3.17466189] [ 0.11225555 0.99362093 -0.01077668 0.19339261] [ 0.29465359 -0.02292749 0.95532905 0.46706717] [ 0. 0. 0. 1. ]] SLAMing on 114.50650248099998 meters Centerline goodness : 0.701631 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94883653 -0.11060592 -0.29576269 3.17570514] [ 0.11266255 0.99358161 -0.01013538 0.19255399] [ 0.29498541 -0.02370457 0.95520768 0.46722059] [ 0. 0. 0. 1. ]] SLAMing on 114.53650248099999 meters Centerline goodness : 0.703627 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94876912 -0.11063867 -0.29596662 3.17605599] [ 0.11293251 0.99355829 -0.00938988 0.19163365] [ 0.29509897 -0.02451543 0.95515213 0.46750514] [ 0. 0. 0. 1. ]] SLAMing on 114.56650248099999 meters Centerline goodness : 0.702511 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94868631 -0.11096904 -0.29610835 3.17635299] [ 0.11359465 0.99349184 -0.00837917 0.19022294] [ 0.29511106 -0.02568712 0.9551176 0.4678337 ] [ 0. 0. 0. 1. ]] SLAMing on 114.59650248099999 meters Centerline goodness : 0.702094 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.47 [[ 0.94874906 -0.11099872 -0.29589611 3.17613098] [ 0.1138305 0.99347037 -0.00769649 0.18835329] [ 0.29481832 -0.02637997 0.95518912 0.46785739] [ 0. 0. 0. 1. ]] SLAMing on 114.62650248099999 meters Centerline goodness : 0.703450 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.47 [[ 0.94909555 -0.11097022 -0.29479357 3.17335883] [ 0.11407642 0.99344941 -0.00669579 0.18511716] [ 0.29360554 -0.02727405 0.9555375 0.4684449 ] [ 0. 0. 0. 1. ]] SLAMing on 114.65650248099999 meters Centerline goodness : 0.704112 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.94918595 -0.11056081 -0.2946563 3.17270251] [ 0.1138489 0.99347979 -0.00602789 0.18410099] [ 0.29340153 -0.02782471 0.95558429 0.46881527] [ 0. 0. 0. 1. ]] SLAMing on 114.68650248099999 meters Centerline goodness : 0.705211 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.94929862 -0.11042895 -0.29434261 3.17256955] [ 0.11365802 0.99350078 -0.00616916 0.18413246] [ 0.29311086 -0.02759802 0.95568006 0.46828929] [ 0. 0. 0. 1. ]] SLAMing on 114.71650248099999 meters Centerline goodness : 0.703234 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.47 [[ 0.94936911 -0.1099749 -0.29428527 3.17276221] [ 0.11318374 0.99355497 -0.00616056 0.18458665] [ 0.2930661 -0.02745967 0.95569777 0.46787546] [ 0. 0. 0. 1. ]] SLAMing on 114.746502481 meters Centerline goodness : 0.704226 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.47 [[ 0.94933744 -0.10972955 -0.29447894 3.17400571] [ 0.11254588 0.99361882 -0.007421 0.1872459 ] [ 0.29341412 -0.02609736 0.95562916 0.46682934] [ 0. 0. 0. 1. ]] SLAMing on 114.776502481 meters Centerline goodness : 0.702106 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.47 [[ 0.94949718 -0.10963594 -0.2939984 3.1739837 ] [ 0.11221923 0.99365028 -0.0081223 0.18758864] [ 0.29302208 -0.02528018 0.9557714 0.46577962] [ 0. 0. 0. 1. ]] SLAMing on 114.806502481 meters Centerline goodness : 0.703378 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.47 [[ 0.9496709 -0.10956612 -0.29346287 3.17343004] [ 0.11207412 0.99366511 -0.00830941 0.1867278 ] [ 0.29251424 -0.02499839 0.95593436 0.46517344] [ 0. 0. 0. 1. ]] SLAMing on 114.836502481 meters Centerline goodness : 0.700466 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.46 [[ 0.95003131 -0.10908729 -0.29247304 3.17203534] [ 0.11149899 0.9937285 -0.00846445 0.18572294] [ 0.29156216 -0.02456896 0.95623631 0.46439958] [ 0. 0. 0. 1. ]] SLAMing on 114.86650248099998 meters Centerline goodness : 0.701182 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.46 [[ 0.95002475 -0.10820836 -0.29282063 3.17207962] [ 0.11088945 0.9938046 -0.00747978 0.18602649] [ 0.29181586 -0.02536474 0.95613813 0.46492934] [ 0. 0. 0. 1. ]] SLAMing on 114.89650248099998 meters Centerline goodness : 0.703555 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.46 [[ 0.9499961 -0.10817325 -0.29292654 3.17270876] [ 0.1109139 0.99380329 -0.00728907 0.18583394] [ 0.29189984 -0.02556504 0.95610716 0.46463723] [ 0. 0. 0. 1. ]] SLAMing on 114.92650248099999 meters Centerline goodness : 0.701258 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.46 [[ 0.95000365 -0.10814794 -0.29291141 3.17371092] [ 0.11099829 0.99379647 -0.00692448 0.18471787] [ 0.29184319 -0.02593438 0.95611451 0.4638837 ] [ 0. 0. 0. 1. ]] SLAMing on 114.95650248099999 meters Centerline goodness : 0.701216 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.46 [[ 0.949794 -0.11229753 -0.29202847 3.17381131] [ 0.11417509 0.99340342 -0.01066312 0.18345595] [ 0.29129952 -0.0232146 0.95635018 0.46283801] [ 0. 0. 0. 1. ]] SLAMing on 114.98650248099999 meters Centerline goodness : 0.701150 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.46 [[ 0.94987582 -0.11217111 -0.29181085 3.17341183] [ 0.11439559 0.99338999 -0.00948579 0.1807965 ] [ 0.29094601 -0.02437155 0.95642901 0.46306782] [ 0. 0. 0. 1. ]] SLAMing on 115.01650248099999 meters Centerline goodness : 0.700567 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.46 [[ 0.94994355 -0.11160686 -0.29180671 3.17282591] [ 0.11453734 0.99339372 -0.00707849 0.17756162] [ 0.29066896 -0.0266986 0.95645112 0.46400372] [ 0. 0. 0. 1. ]] SLAMing on 115.04650248099999 meters Centerline goodness : 0.699753 Centerline is valid? [False, False] Translation: X:3.17, Y:0.18, Z:0.46 [[ 0.94994179 -0.11163319 -0.29180236 3.17265976] [ 0.11483053 0.99336572 -0.00620376 0.17634311] [ 0.29055901 -0.0276146 0.95645852 0.46437116] [ 0. 0. 0. 1. ]] SLAMing on 115.07650248099999 meters Centerline goodness : 0.700396 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.46 [[ 0.94991212 -0.11544525 -0.29041238 3.17049355] [ 0.11792222 0.99298187 -0.00901921 0.17448353] [ 0.28941546 -0.02567862 0.95685908 0.46440531] [ 0. 0. 0. 1. ]] SLAMing on 115.10650248099999 meters Centerline goodness : 0.700706 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.46 [[ 0.94995124 -0.11535965 -0.29031843 3.17087571] [ 0.11815241 0.99296362 -0.00795303 0.17198826] [ 0.2891931 -0.02674683 0.95689705 0.46421084] [ 0. 0. 0. 1. ]] SLAMing on 115.136502481 meters Centerline goodness : 0.699839 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.46 [[ 0.94989511 -0.11567923 -0.29037494 3.17197995] [ 0.1187018 0.99290351 -0.007246 0.16992346] [ 0.2891525 -0.02758509 0.95688552 0.46375723] [ 0. 0. 0. 1. ]] SLAMing on 115.166502481 meters Centerline goodness : 0.698841 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.46 [[ 0.94961745 -0.11603457 -0.29114031 3.17432335] [ 0.11948257 0.99281834 -0.00597142 0.16704899] [ 0.28974234 -0.02911563 0.95666173 0.46373178] [ 0. 0. 0. 1. ]] SLAMing on 115.196502481 meters Centerline goodness : 0.698457 Centerline is valid? [False, False] Translation: X:3.17, Y:0.17, Z:0.46 [[ 0.94969581 -0.1159712 -0.29090987 3.173493 ] [ 0.11984526 0.99278225 -0.00452923 0.16503845] [ 0.28933542 -0.03056278 0.95673974 0.46434693] [ 0. 0. 0. 1. ]] SLAMing on 115.22650248099998 meters Centerline goodness : 0.697541 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.949738 -0.11576612 -0.29085379 3.17290033] [ 0.11990677 0.99277859 -0.00361045 0.16336849] [ 0.28917139 -0.03144635 0.9567607 0.46494644] [ 0. 0. 0. 1. ]] SLAMing on 115.25650248099998 meters Centerline goodness : 0.697319 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.47 [[ 9.49743072e-01 -1.15870319e-01 -2.90795748e-01 3.17278897e+00] [ 1.20201956e-01 9.92744965e-01 -2.98732275e-03 1.61767970e-01] [ 2.89032157e-01 -3.21170288e-02 9.56780491e-01 4.65197786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28650248099999 meters Centerline goodness : 0.696196 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.47 [[ 0.94944288 -0.11997391 -0.29011114 3.1721951 ] [ 0.12335384 0.99234028 -0.00667854 0.16116738] [ 0.28869022 -0.02944544 0.95696966 0.46513521] [ 0. 0. 0. 1. ]] SLAMing on 115.31650248099999 meters Centerline goodness : 0.694906 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.94953375 -0.11975969 -0.28990218 3.17219853] [ 0.12328526 0.99235227 -0.00614098 0.15993276] [ 0.28842053 -0.0299096 0.95703658 0.46484966] [ 0. 0. 0. 1. ]] SLAMing on 115.34650248099999 meters Centerline goodness : 0.696707 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.94955175 -0.11968123 -0.28987561 3.17228591] [ 0.12321863 0.99236088 -0.00608712 0.15969801] [ 0.28838973 -0.02993804 0.95704497 0.46471472] [ 0. 0. 0. 1. ]] SLAMing on 115.37650248099999 meters Centerline goodness : 0.696716 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.94963608 -0.11939981 -0.28971539 3.17246419] [ 0.1228865 0.99240139 -0.00619604 0.15947984] [ 0.28825376 -0.02971813 0.95709279 0.46414205] [ 0. 0. 0. 1. ]] SLAMing on 115.40650248099999 meters Centerline goodness : 0.694920 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.94984476 -0.11884725 -0.28925813 3.17226629] [ 0.12213352 0.99249086 -0.00673075 0.1593708 ] [ 0.28788598 -0.02893495 0.95722747 0.46312179] [ 0. 0. 0. 1. ]] SLAMing on 115.43650248099999 meters Centerline goodness : 0.696008 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.94999483 -0.1184425 -0.28893112 3.17187005] [ 0.12166431 0.99254766 -0.00685061 0.15920926] [ 0.28758931 -0.02864456 0.95732538 0.46269055] [ 0. 0. 0. 1. ]] SLAMing on 115.46650248099999 meters Centerline goodness : 0.694438 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.95048015 -0.11717879 -0.28784824 3.16995418] [ 0.12019414 0.992724 -0.00724009 0.15949957] [ 0.28660224 -0.02771611 0.95764867 0.46178393] [ 0. 0. 0. 1. ]] SLAMing on 115.496502481 meters Centerline goodness : 0.693530 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.95070933 -0.11670135 -0.2872848 3.16902294] [ 0.11967523 0.99278661 -0.00725126 0.15952337] [ 0.28605874 -0.02748703 0.95781776 0.46131703] [ 0. 0. 0. 1. ]] SLAMing on 115.526502481 meters Centerline goodness : 0.692991 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.95084915 -0.11638095 -0.28695185 3.16875166] [ 0.11932052 0.99282906 -0.00728546 0.15925894] [ 0.28574202 -0.02731187 0.9579173 0.46079922] [ 0. 0. 0. 1. ]] SLAMing on 115.556502481 meters Centerline goodness : 0.692991 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.95084915 -0.11638095 -0.28695185 3.16875166] [ 0.11932052 0.99282906 -0.00728546 0.15925894] [ 0.28574202 -0.02731187 0.9579173 0.46079922] [ 0. 0. 0. 1. ]] SLAMing on 115.586502481 meters Centerline goodness : 0.695137 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.9509678 -0.11616472 -0.28664613 3.16826964] [ 0.11915401 0.99285071 -0.00705606 0.15865393] [ 0.28541648 -0.02744495 0.95801055 0.46061304] [ 0. 0. 0. 1. ]] SLAMing on 115.61650248099998 meters Centerline goodness : 0.692643 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.95094779 -0.11616927 -0.28671067 3.16855946] [ 0.11925328 0.99284095 -0.00674539 0.15832047] [ 0.2854417 -0.02777667 0.95799347 0.46061367] [ 0. 0. 0. 1. ]] SLAMing on 115.64650248099998 meters Centerline goodness : 0.694273 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.950475 -0.12060793 -0.28644545 3.17082335] [ 0.12267052 0.99238865 -0.01080372 0.15832129] [ 0.28556822 -0.02486975 0.95803564 0.45899301] [ 0. 0. 0. 1. ]] SLAMing on 115.67650248099999 meters Centerline goodness : 0.695354 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.9502798 -0.12114814 -0.28686482 3.17247807] [ 0.12343434 0.9923006 -0.01017277 0.15691592] [ 0.28588854 -0.02574199 0.95791706 0.45878645] [ 0. 0. 0. 1. ]] SLAMing on 115.70650248099999 meters Centerline goodness : 0.693478 Centerline is valid? [False, False] Translation: X:3.17, Y:0.16, Z:0.46 [[ 0.95011833 -0.12187148 -0.2870932 3.17215422] [ 0.12466378 0.99216172 -0.0086065 0.15543766] [ 0.28589177 -0.02761293 0.95786399 0.46017971] [ 0. 0. 0. 1. ]] SLAMing on 115.73650248099999 meters Centerline goodness : 0.696088 Centerline is valid? [False, False] Translation: X:3.17, Y:0.15, Z:0.46 [[ 0.94999879 -0.12251252 -0.28721592 3.17177633] [ 0.12548784 0.99206208 -0.008101 0.15467388] [ 0.2859285 -0.02834617 0.95783161 0.46108471] [ 0. 0. 0. 1. ]] SLAMing on 115.76650248099999 meters Centerline goodness : 0.694929 Centerline is valid? [False, False] Translation: X:3.17, Y:0.15, Z:0.46 [[ 0.95003925 -0.122889 -0.28692108 3.17175966] [ 0.12600132 0.99200045 -0.00766674 0.15318829] [ 0.285568 -0.02886873 0.95792354 0.4608447 ] [ 0. 0. 0. 1. ]] SLAMing on 115.79650248099999 meters Centerline goodness : 0.694506 Centerline is valid? [False, False] Translation: X:3.17, Y:0.15, Z:0.46 [[ 0.94956183 -0.12741451 -0.28652728 3.17249673] [ 0.12959928 0.99150081 -0.01140924 0.15298071] [ 0.28554573 -0.02629995 0.95800415 0.46040569] [ 0. 0. 0. 1. ]] SLAMing on 115.82650248099999 meters Centerline goodness : 0.694193 Centerline is valid? [False, False] Translation: X:3.17, Y:0.15, Z:0.46 [[ 0.94937634 -0.12805031 -0.28685832 3.17313483] [ 0.13030418 0.99140962 -0.01130384 0.15324149] [ 0.28584156 -0.02664724 0.95790633 0.46073808] [ 0. 0. 0. 1. ]] SLAMing on 115.85650248099999 meters Centerline goodness : 0.693745 Centerline is valid? [False, False] Translation: X:3.17, Y:0.15, Z:0.46 [[ 0.94941573 -0.12830065 -0.28661597 3.17202977] [ 0.13068423 0.99136432 -0.01088222 0.15357184] [ 0.28553704 -0.02712443 0.95798375 0.46139084] [ 0. 0. 0. 1. ]] SLAMing on 115.886502481 meters Centerline goodness : 0.693426 Centerline is valid? [False, False] Translation: X:3.17, Y:0.15, Z:0.46 [[ 0.94941547 -0.12810846 -0.28670279 3.1719148 ] [ 0.1306208 0.99137753 -0.01043046 0.15349327] [ 0.28556694 -0.02754651 0.95796279 0.46172138] [ 0. 0. 0. 1. ]] SLAMing on 115.916502481 meters Centerline goodness : 0.692886 Centerline is valid? [False, False] Translation: X:3.17, Y:0.15, Z:0.46 [[ 0.94937441 -0.12887069 -0.28649709 3.17224198] [ 0.13122882 0.99129063 -0.01104034 0.15362654] [ 0.28542465 -0.02711526 0.9580175 0.46118443] [ 0. 0. 0. 1. ]] SLAMing on 115.946502481 meters Centerline goodness : 0.692815 Centerline is valid? [False, False] Translation: X:3.17, Y:0.15, Z:0.46 [[ 0.94936942 -0.12928172 -0.28632839 3.17270966] [ 0.13157288 0.99124199 -0.0113094 0.1530528 ] [ 0.28528282 -0.02693625 0.9580648 0.46057136] [ 0. 0. 0. 1. ]] SLAMing on 115.97650248099998 meters Centerline goodness : 0.691869 Centerline is valid? [False, False] Translation: X:3.17, Y:0.15, Z:0.46 [[ 0.94934176 -0.12941074 -0.28636181 3.17346338] [ 0.13170825 0.991224 -0.01131047 0.15288429] [ 0.2853124 -0.02697872 0.95805479 0.46005603] [ 0. 0. 0. 1. ]] SLAMing on 116.00650248099998 meters Centerline goodness : 0.691837 Centerline is valid? [False, False] Translation: X:3.17, Y:0.15, Z:0.46 [[ 0.94932067 -0.12932085 -0.28647232 3.17409656] [ 0.13161014 0.99123674 -0.01133567 0.1536098 ] [ 0.28542783 -0.02694148 0.95802146 0.45971505] [ 0. 0. 0. 1. ]] SLAMing on 116.03650248099999 meters Centerline goodness : 0.691892 Centerline is valid? [False, False] Translation: X:3.17, Y:0.15, Z:0.46 [[ 0.94930739 -0.12933685 -0.28650908 3.17472734] [ 0.13154985 0.99124171 -0.01159766 0.15467174] [ 0.28549976 -0.02668048 0.95800733 0.45916939] [ 0. 0. 0. 1. ]] SLAMing on 116.06650248099999 meters Centerline goodness : 0.692883 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94938632 -0.12905088 -0.28637648 3.17507711] [ 0.13129177 0.99127766 -0.01144871 0.15444356] [ 0.28535607 -0.02672963 0.95804877 0.45857332] [ 0. 0. 0. 1. ]] SLAMing on 116.09650248099999 meters Centerline goodness : 0.693304 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.46 [[ 0.94944708 -0.128679 -0.28634236 3.17565707] [ 0.13094184 0.99132546 -0.0113166 0.15441274] [ 0.28531468 -0.02674968 0.95806053 0.45796787] [ 0. 0. 0. 1. ]] SLAMing on 116.12650248099999 meters Centerline goodness : 0.692983 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.46 [[ 0.94946742 -0.12863549 -0.28629448 3.17667088] [ 0.13071395 0.99134841 -0.01192462 0.15521323] [ 0.28535151 -0.02610065 0.95806747 0.45685834] [ 0. 0. 0. 1. ]] SLAMing on 116.15650248099999 meters Centerline goodness : 0.692099 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.46 [[ 0.94957382 -0.12798726 -0.28623212 3.17679183] [ 0.13002433 0.99143865 -0.01196169 0.15609285] [ 0.28531253 -0.02585863 0.95808564 0.45642274] [ 0. 0. 0. 1. ]] SLAMing on 116.18650248099999 meters Centerline goodness : 0.692753 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.46 [[ 0.94960602 -0.12771197 -0.28624823 3.17707713] [ 0.12979541 0.99147098 -0.01176673 0.15628309] [ 0.28530957 -0.02597995 0.95808324 0.45618767] [ 0. 0. 0. 1. ]] SLAMing on 116.21650248099999 meters Centerline goodness : 0.694251 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.46 [[ 0.94975977 -0.12741595 -0.28586981 3.17670375] [ 0.12952453 0.99150834 -0.01160243 0.15587105] [ 0.28492063 -0.02600764 0.95819822 0.45573875] [ 0. 0. 0. 1. ]] SLAMing on 116.246502481 meters Centerline goodness : 0.692531 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.46 [[ 0.94980308 -0.12734702 -0.2857566 3.17660747] [ 0.12938307 0.99152417 -0.01182548 0.15613672] [ 0.28484052 -0.02574019 0.95822926 0.45555554] [ 0. 0. 0. 1. ]] SLAMing on 116.276502481 meters Centerline goodness : 0.694161 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.46 [[ 0.94977185 -0.12724924 -0.28590395 3.17665174] [ 0.12930924 0.99153476 -0.0117444 0.15647226] [ 0.28497817 -0.02581552 0.95818631 0.45578566] [ 0. 0. 0. 1. ]] SLAMing on 116.306502481 meters Centerline goodness : 0.693222 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.46 [[ 0.95008697 -0.12365108 -0.28643526 3.17741645] [ 0.12675782 0.99190344 -0.00774689 0.15570419] [ 0.28507403 -0.02894769 0.95806828 0.45569415] [ 0. 0. 0. 1. ]] SLAMing on 116.336502481 meters Centerline goodness : 0.696422 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.46 [[ 0.95004988 -0.12392361 -0.2864405 3.17807675] [ 0.12690112 0.9918813 -0.00822199 0.15665219] [ 0.28513387 -0.02853832 0.95806275 0.45514009] [ 0. 0. 0. 1. ]] SLAMing on 116.36650248099998 meters Centerline goodness : 0.696356 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.45 [[ 0.95005662 -0.12394247 -0.28640998 3.17860737] [ 0.1269358 0.9918773 -0.00816844 0.15671259] [ 0.28509598 -0.0285952 0.95807233 0.45462931] [ 0. 0. 0. 1. ]] SLAMing on 116.39650248099998 meters Centerline goodness : 0.697036 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.45 [[ 0.95022465 -0.12395372 -0.28584715 3.17825381] [ 0.12700218 0.99187077 -0.00792546 0.15500206] [ 0.28450583 -0.02877225 0.95824245 0.45404267] [ 0. 0. 0. 1. ]] SLAMing on 116.42650248099999 meters Centerline goodness : 0.698932 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.45 [[ 0.95020164 -0.12403123 -0.28589001 3.17869353] [ 0.12715551 0.99185301 -0.00768608 0.15435436] [ 0.28451418 -0.02904916 0.95823161 0.45387023] [ 0. 0. 0. 1. ]] SLAMing on 116.45650248099999 meters Centerline goodness : 0.700524 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.45 [[ 0.94986471 -0.12471113 -0.28671269 3.18073416] [ 0.12789416 0.99175811 -0.0076771 0.1553573 ] [ 0.28530706 -0.02937668 0.95798585 0.45392396] [ 0. 0. 0. 1. ]] SLAMing on 116.48650248099999 meters Centerline goodness : 0.701344 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.45 [[ 0.94984175 -0.12456973 -0.2868502 3.18124173] [ 0.12789127 0.99176202 -0.00720605 0.15500638] [ 0.28538479 -0.02984103 0.95794835 0.4538703 ] [ 0. 0. 0. 1. ]] SLAMing on 116.51650248099999 meters Centerline goodness : 0.700602 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.45 [[ 0.94994952 -0.12488003 -0.28635798 3.18035136] [ 0.12820764 0.99172137 -0.00717775 0.15464211] [ 0.28488369 -0.02989478 0.95809581 0.45380459] [ 0. 0. 0. 1. ]] SLAMing on 116.54650248099999 meters Centerline goodness : 0.700700 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.45 [[ 0.9499985 -0.1250514 -0.28612059 3.18022845] [ 0.12832223 0.99170516 -0.00736818 0.15464915] [ 0.28466867 -0.02971587 0.95816529 0.45348336] [ 0. 0. 0. 1. ]] SLAMing on 116.57650248099999 meters Centerline goodness : 0.702587 Centerline is valid? [False, False] Translation: X:3.18, Y:0.15, Z:0.45 [[ 0.95016909 -0.12474283 -0.28568851 3.17993243] [ 0.12789504 0.99175801 -0.00767545 0.15496167] [ 0.28429133 -0.02924517 0.95829179 0.4527919 ] [ 0. 0. 0. 1. ]] SLAMing on 116.60650248099999 meters Centerline goodness : 0.702818 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.45 [[ 0.9501489 -0.12463649 -0.28580206 3.18054608] [ 0.12777343 0.99177331 -0.00772341 0.15535829] [ 0.28441347 -0.02917952 0.95825755 0.45247599] [ 0. 0. 0. 1. ]] SLAMing on 116.636502481 meters Centerline goodness : 0.702579 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.45 [[ 0.95027701 -0.12454421 -0.28541608 3.18055584] [ 0.12755329 0.99179864 -0.00809981 0.15612436] [ 0.28408407 -0.02870869 0.95836948 0.45160818] [ 0. 0. 0. 1. ]] SLAMing on 116.666502481 meters Centerline goodness : 0.700664 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.45 [[ 0.95033158 -0.12436672 -0.28531176 3.18050138] [ 0.1273713 0.99182221 -0.00807783 0.15662628] [ 0.28398316 -0.02866392 0.95840072 0.45138331] [ 0. 0. 0. 1. ]] SLAMing on 116.696502481 meters Centerline goodness : 0.701035 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.45 [[ 0.95043973 -0.123968 -0.28512498 3.18026813] [ 0.12706821 0.99186428 -0.0076765 0.15670218] [ 0.28375692 -0.02893427 0.95845961 0.45119271] [ 0. 0. 0. 1. ]] SLAMing on 116.72650248099998 meters Centerline goodness : 0.700593 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.45 [[ 0.95050635 -0.12411587 -0.28483843 3.17940887] [ 0.12724172 0.99184277 -0.00758103 0.15676497] [ 0.28345587 -0.02903751 0.95854556 0.45143964] [ 0. 0. 0. 1. ]] SLAMing on 116.75650248099998 meters Centerline goodness : 0.701301 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.45 [[ 0.95054076 -0.1242128 -0.2846813 3.17976325] [ 0.12737237 0.99182688 -0.00746437 0.15656499] [ 0.28328173 -0.02916535 0.95859316 0.45094702] [ 0. 0. 0. 1. ]] SLAMing on 116.78650248099999 meters Centerline goodness : 0.700677 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.45 [[ 0.95030214 -0.12529808 -0.28500217 3.18128759] [ 0.12833256 0.99169826 -0.00808128 0.1574236 ] [ 0.28364872 -0.0288954 0.95849281 0.45048725] [ 0. 0. 0. 1. ]] SLAMing on 116.81650248099999 meters Centerline goodness : 0.700922 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.45 [[ 0.95020319 -0.12582196 -0.28510126 3.18230781] [ 0.12883522 0.99163178 -0.00824064 0.15778063] [ 0.28375232 -0.02890081 0.95846198 0.44999218] [ 0. 0. 0. 1. ]] SLAMing on 116.84650248099999 meters Centerline goodness : 0.701955 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.45 [[ 0.95011206 -0.12623599 -0.28522194 3.18326129] [ 0.12928218 0.99157391 -0.00820329 0.15788733] [ 0.28385418 -0.02908007 0.95842639 0.44956263] [ 0. 0. 0. 1. ]] SLAMing on 116.87650248099999 meters Centerline goodness : 0.701145 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.45 [[ 0.95007389 -0.12614586 -0.28538892 3.18391358] [ 0.12932099 0.99157232 -0.00777271 0.1579949 ] [ 0.28396425 -0.02952213 0.95838027 0.44943584] [ 0. 0. 0. 1. ]] SLAMing on 116.90650248099999 meters Centerline goodness : 0.705485 Centerline is valid? [False, False] Translation: X:3.19, Y:0.16, Z:0.45 [[ 0.9497238 -0.12689651 -0.28622017 3.18531605] [ 0.12997031 0.99148302 -0.00831473 0.1611428 ] [ 0.28483755 -0.02930342 0.9581278 0.44979236] [ 0. 0. 0. 1. ]] SLAMing on 116.93650248099999 meters Centerline goodness : 0.704283 Centerline is valid? [False, False] Translation: X:3.19, Y:0.16, Z:0.45 [[ 0.94974767 -0.12684301 -0.28616467 3.1855188 ] [ 0.12988744 0.99149317 -0.00839967 0.16180617] [ 0.28479576 -0.02919163 0.95814363 0.44948348] [ 0. 0. 0. 1. ]] SLAMing on 116.96650248099999 meters Centerline goodness : 0.705924 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.45 [[ 0.9498003 -0.12736225 -0.28575906 3.18436529] [ 0.13019994 0.99144573 -0.00912941 0.16266878] [ 0.28447734 -0.02853469 0.95825801 0.44971157] [ 0. 0. 0. 1. ]] SLAMing on 116.996502481 meters Centerline goodness : 0.708100 Centerline is valid? [False, False] Translation: X:3.18, Y:0.16, Z:0.45 [[ 0.94974397 -0.12759657 -0.28584174 3.18422162] [ 0.13036981 0.99142097 -0.00938971 0.16326293] [ 0.28458759 -0.02834731 0.95823084 0.45004228] [ 0. 0. 0. 1. ]] SLAMing on 117.026502481 meters Centerline goodness : 0.706088 Centerline is valid? [False, False] Translation: X:3.19, Y:0.16, Z:0.45 [[ 0.94962492 -0.1274275 -0.28631232 3.18539578] [ 0.13027958 0.99143509 -0.00914859 0.16366144] [ 0.28502586 -0.02861292 0.95809267 0.45000317] [ 0. 0. 0. 1. ]] SLAMing on 117.056502481 meters Centerline goodness : 0.707464 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.45 [[ 0.94948887 -0.12822057 -0.28640944 3.18578472] [ 0.13081595 0.99135483 -0.01013861 0.16552676] [ 0.28523336 -0.02784042 0.95805367 0.44986041] [ 0. 0. 0. 1. ]] SLAMing on 117.086502481 meters Centerline goodness : 0.707545 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.45 [[ 0.94949435 -0.12801233 -0.28648441 3.18547711] [ 0.13062055 0.99138127 -0.0100723 0.1662039 ] [ 0.28530465 -0.02785716 0.95803196 0.4501924 ] [ 0. 0. 0. 1. ]] SLAMing on 117.11650248099998 meters Centerline goodness : 0.707010 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.45 [[ 0.94963783 -0.12460061 -0.28751119 3.18585582] [ 0.12822663 0.99172512 -0.00626307 0.1667246 ] [ 0.28591245 -0.03091894 0.9577568 0.45126376] [ 0. 0. 0. 1. ]] SLAMing on 117.14650248099998 meters Centerline goodness : 0.705599 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.45 [[ 0.94960036 -0.12451136 -0.28767357 3.18655239] [ 0.12816059 0.99173411 -0.00619044 0.1674427 ] [ 0.28606647 -0.03098997 0.95770851 0.45096234] [ 0. 0. 0. 1. ]] SLAMing on 117.17650248099999 meters Centerline goodness : 0.707182 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.45 [[ 0.94939879 -0.12519321 -0.28804269 3.18761112] [ 0.1287716 0.99165251 -0.00657042 0.16825393] [ 0.28646083 -0.03085376 0.95759503 0.45090251] [ 0. 0. 0. 1. ]] SLAMing on 117.20650248099999 meters Centerline goodness : 0.705730 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.45 [[ 0.94949918 -0.12479229 -0.28788572 3.18728592] [ 0.1285127 0.9916896 -0.00601805 0.1675837 ] [ 0.28624428 -0.03128284 0.95764586 0.45094687] [ 0. 0. 0. 1. ]] SLAMing on 117.23650248099999 meters Centerline goodness : 0.705125 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.45 [[ 0.94954258 -0.12469903 -0.28778298 3.1865201 ] [ 0.12850258 0.99169271 -0.00571418 0.16766243] [ 0.28610484 -0.031555 0.9576786 0.45144861] [ 0. 0. 0. 1. ]] SLAMing on 117.26650248099999 meters Centerline goodness : 0.706456 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.45 [[ 0.94937407 -0.12437444 -0.28847855 3.18716112] [ 0.12832207 0.99171857 -0.00526484 0.16875011] [ 0.28674435 -0.03201986 0.95747188 0.45221096] [ 0. 0. 0. 1. ]] SLAMing on 117.29650248099999 meters Centerline goodness : 0.706508 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.45 [[ 0.94931682 -0.12413026 -0.28877198 3.18723588] [ 0.12789352 0.99177049 -0.00587751 0.1713596 ] [ 0.2871251 -0.03135245 0.95737986 0.45242176] [ 0. 0. 0. 1. ]] SLAMing on 117.32650248099999 meters Centerline goodness : 0.707111 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.45 [[ 0.94928306 -0.12368496 -0.28907387 3.18801442] [ 0.1274591 0.99182682 -0.00580923 0.17172422] [ 0.28742973 -0.03133049 0.95728917 0.45228462] [ 0. 0. 0. 1. ]] SLAMing on 117.35650248099999 meters Centerline goodness : 0.706418 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.45 [[ 0.94916438 -0.12358652 -0.28950536 3.18927756] [ 0.12736845 0.99183841 -0.00581773 0.17224075] [ 0.28786153 -0.03135187 0.95715871 0.4520176 ] [ 0. 0. 0. 1. ]] SLAMing on 117.386502481 meters Centerline goodness : 0.708267 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.45 [[ 0.94892584 -0.12338894 -0.2903703 3.1912364 ] [ 0.12716601 0.99186388 -0.00590252 0.17359444] [ 0.28873612 -0.03132418 0.95689615 0.45193188] [ 0. 0. 0. 1. ]] SLAMing on 117.416502481 meters Centerline goodness : 0.706580 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.45 [[ 0.94899276 -0.12293996 -0.29034206 3.1907397 ] [ 0.12677024 0.99191598 -0.00565566 0.17404221] [ 0.28869023 -0.03143956 0.95690622 0.45219074] [ 0. 0. 0. 1. ]] SLAMing on 117.446502481 meters Centerline goodness : 0.706580 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.45 [[ 0.94899276 -0.12293996 -0.29034206 3.1907397 ] [ 0.12677024 0.99191598 -0.00565566 0.17404221] [ 0.28869023 -0.03143956 0.95690622 0.45219074] [ 0. 0. 0. 1. ]] SLAMing on 117.47650248099998 meters Centerline goodness : 0.708034 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.45 [[ 9.48975978e-01 -1.19735023e-01 -2.91732956e-01 3.19135598e+00] [ 1.24633605e-01 9.92201190e-01 -1.80622466e-03 1.74026735e-01] [ 2.89674055e-01 -3.46456663e-02 9.56498102e-01 4.53915994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50650248099998 meters Centerline goodness : 0.707190 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.45 [[ 9.48780425e-01 -1.19664901e-01 -2.92397017e-01 3.19259874e+00] [ 1.24712036e-01 9.92192007e-01 -1.38927399e-03 1.74847433e-01] [ 2.90280231e-01 -3.51473114e-02 9.56296008e-01 4.54152350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.53650248099999 meters Centerline goodness : 0.706477 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.45 [[ 9.48732552e-01 -1.19790303e-01 -2.92500986e-01 3.19260195e+00] [ 1.24886259e-01 9.92170264e-01 -1.26056957e-03 1.74542091e-01] [ 2.90361785e-01 -3.53334105e-02 9.56264390e-01 4.54421099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56650248099999 meters Centerline goodness : 0.704384 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.46 [[ 9.48578249e-01 -1.19184971e-01 -2.93247761e-01 3.19332362e+00] [ 1.24736133e-01 9.92189923e-01 2.31393966e-04 1.73134442e-01] [ 2.90929894e-01 -3.67980870e-02 9.56036452e-01 4.55424468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.59650248099999 meters Centerline goodness : 0.703905 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.46 [[ 9.48152288e-01 -1.19989713e-01 -2.94295273e-01 3.19401985e+00] [ 1.25797759e-01 9.92055575e-01 8.12005276e-04 1.72783450e-01] [ 2.91859834e-01 -3.77915905e-02 9.55714200e-01 4.57264716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62650248099999 meters Centerline goodness : 0.703382 Centerline is valid? [False, False] Translation: X:3.19, Y:0.17, Z:0.46 [[ 9.48043228e-01 -1.20433762e-01 -2.94465187e-01 3.19426010e+00] [ 1.26330586e-01 9.91987681e-01 1.01216790e-03 1.72751170e-01] [ 2.91983939e-01 -3.81595386e-02 9.55661671e-01 4.57568122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.65650248099999 meters Centerline goodness : 0.701416 Centerline is valid? [False, False] Translation: X:3.20, Y:0.17, Z:0.46 [[ 9.47453466e-01 -1.21407407e-01 -2.95959746e-01 3.19600012e+00] [ 1.27748946e-01 9.91804297e-01 2.10769783e-03 1.71222497e-01] [ 2.93278257e-01 -3.98054912e-02 9.55198088e-01 4.59621956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68650248099999 meters Centerline goodness : 0.701783 Centerline is valid? [False, False] Translation: X:3.20, Y:0.17, Z:0.46 [[ 9.47197286e-01 -1.22339036e-01 -2.96395787e-01 3.19679882e+00] [ 1.28721859e-01 9.91678643e-01 2.03776780e-03 1.70840487e-01] [ 2.93680073e-01 -4.00827847e-02 9.55063027e-01 4.60128941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.71650248099999 meters Centerline goodness : 0.700528 Centerline is valid? [False, False] Translation: X:3.20, Y:0.17, Z:0.46 [[ 9.46398127e-01 -1.24263686e-01 -2.98142787e-01 3.20002018e+00] [ 1.30771713e-01 9.91410691e-01 1.89760385e-03 1.71023088e-01] [ 2.95346143e-01 -4.07845316e-02 9.54519396e-01 4.61368832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.746502481 meters Centerline goodness : 0.699177 Centerline is valid? [False, False] Translation: X:3.20, Y:0.17, Z:0.46 [[ 9.46116681e-01 -1.24643582e-01 -2.98876570e-01 3.20126677e+00] [ 1.31427036e-01 9.91322382e-01 2.62094571e-03 1.70014396e-01] [ 2.95956349e-01 -4.17601823e-02 9.54288178e-01 4.62085764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.776502481 meters Centerline goodness : 0.696225 Centerline is valid? [False, False] Translation: X:3.20, Y:0.17, Z:0.47 [[ 0.94558083 -0.12546355 -0.30022624 3.20133947] [ 0.13269591 0.99114976 0.00373564 0.16914574] [ 0.29710047 -0.04337115 0.95386071 0.46510969] [ 0. 0. 0. 1. ]] SLAMing on 117.806502481 meters Centerline goodness : 0.695974 Centerline is valid? [False, False] Translation: X:3.20, Y:0.17, Z:0.47 [[ 0.94524378 -0.12507523 -0.30144715 3.20169046] [ 0.13282833 0.99112503 0.00527443 0.16869883] [ 0.29811212 -0.04502635 0.9534683 0.46734259] [ 0. 0. 0. 1. ]] SLAMing on 117.836502481 meters Centerline goodness : 0.693157 Centerline is valid? [False, False] Translation: X:3.20, Y:0.17, Z:0.47 [[ 0.94441293 -0.12487724 -0.30412151 3.20256652] [ 0.13355845 0.99101005 0.00782492 0.16825923] [ 0.30041032 -0.04800796 0.95260111 0.47207335] [ 0. 0. 0. 1. ]] SLAMing on 117.86650248099998 meters Centerline goodness : 0.693244 Centerline is valid? [False, False] Translation: X:3.20, Y:0.17, Z:0.47 [[ 0.94400588 -0.12528599 -0.30521522 3.2035581 ] [ 0.13417176 0.99092397 0.00822384 0.16842958] [ 0.30141474 -0.04871461 0.95224789 0.47358822] [ 0. 0. 0. 1. ]] SLAMing on 117.89650248099998 meters Centerline goodness : 0.690857 Centerline is valid? [False, False] Translation: X:3.21, Y:0.17, Z:0.48 [[ 0.94317633 -0.12566561 -0.30761432 3.20611639] [ 0.13500632 0.99080218 0.0091836 0.16830423] [ 0.30363088 -0.05019164 0.95146681 0.47640033] [ 0. 0. 0. 1. ]] SLAMing on 117.92650248099999 meters Centerline goodness : 0.689470 Centerline is valid? [False, False] Translation: X:3.21, Y:0.17, Z:0.48 [[ 0.94275583 -0.12620705 -0.30867981 3.20764029] [ 0.13567162 0.99071021 0.00929961 0.16797653] [ 0.30463856 -0.05064635 0.95112055 0.47748683] [ 0. 0. 0. 1. ]] SLAMing on 117.95650248099999 meters Centerline goodness : 0.687471 Centerline is valid? [False, False] Translation: X:3.21, Y:0.17, Z:0.48 [[ 0.94199264 -0.12779963 -0.31034999 3.20977392] [ 0.13733078 0.99048471 0.00896084 0.1689246 ] [ 0.30625172 -0.05106165 0.95058013 0.47938249] [ 0. 0. 0. 1. ]] SLAMing on 117.98650248099999 meters Centerline goodness : 0.688018 Centerline is valid? [False, False] Translation: X:3.21, Y:0.17, Z:0.48 [[ 0.9415463 -0.12778447 -0.31170772 3.21108671] [ 0.13759811 0.99044163 0.00959852 0.16933345] [ 0.30750176 -0.05192784 0.95012955 0.48100732] [ 0. 0. 0. 1. ]] SLAMing on 118.01650248099999 meters Centerline goodness : 0.685591 Centerline is valid? [False, False] Translation: X:3.21, Y:0.17, Z:0.48 [[ 0.94084437 -0.12770439 -0.31385261 3.21253871] [ 0.13800579 0.99037332 0.01072782 0.16988834] [ 0.30946126 -0.05340669 0.94941111 0.48407741] [ 0. 0. 0. 1. ]] SLAMing on 118.04650248099999 meters Centerline goodness : 0.686849 Centerline is valid? [False, False] Translation: X:3.21, Y:0.17, Z:0.49 [[ 0.94052897 -0.12831364 -0.31454867 3.21252947] [ 0.13860895 0.9902917 0.01048422 0.17109702] [ 0.31014966 -0.05345997 0.94918345 0.48544984] [ 0. 0. 0. 1. ]] SLAMing on 118.07650248099999 meters Centerline goodness : 0.686051 Centerline is valid? [False, False] Translation: X:3.21, Y:0.17, Z:0.49 [[ 0.9401841 -0.12488058 -0.31695222 3.21306434] [ 0.13660343 0.99051309 0.01494397 0.1712934 ] [ 0.31207911 -0.05734685 0.94832377 0.48922244] [ 0. 0. 0. 1. ]] SLAMing on 118.10650248099999 meters Centerline goodness : 0.684707 Centerline is valid? [False, False] Translation: X:3.21, Y:0.17, Z:0.49 [[ 0.93994481 -0.1243499 -0.31786924 3.21357863] [ 0.13638956 0.99052907 0.01581301 0.17072502] [ 0.31289238 -0.0582174 0.94800269 0.49063789] [ 0. 0. 0. 1. ]] SLAMing on 118.136502481 meters Centerline goodness : 0.683427 Centerline is valid? [False, False] Translation: X:3.21, Y:0.17, Z:0.49 [[ 0.93936041 -0.12444609 -0.31955469 3.21386366] [ 0.13679002 0.99046456 0.01638434 0.17063827] [ 0.31446863 -0.0591027 0.94742617 0.49381476] [ 0. 0. 0. 1. ]] SLAMing on 118.166502481 meters Centerline goodness : 0.683025 Centerline is valid? [False, False] Translation: X:3.21, Y:0.17, Z:0.50 [[ 0.9390347 -0.12427816 -0.32057567 3.21387129] [ 0.1368487 0.99044795 0.01689033 0.17098157] [ 0.31541442 -0.05973097 0.94707231 0.49582743] [ 0. 0. 0. 1. ]] SLAMing on 118.196502481 meters Centerline goodness : 0.685312 Centerline is valid? [False, False] Translation: X:3.21, Y:0.17, Z:0.50 [[ 0.9380972 -0.12364444 -0.32355169 3.21499209] [ 0.13721186 0.99035236 0.01936782 0.17294341] [ 0.31803546 -0.06256402 0.94601226 0.50044914] [ 0. 0. 0. 1. ]] SLAMing on 118.22650248099998 meters Centerline goodness : 0.683280 Centerline is valid? [False, False] Translation: X:3.22, Y:0.17, Z:0.50 [[ 0.93753455 -0.12420528 -0.32496464 3.21629107] [ 0.13796631 0.99024386 0.01955496 0.17399851] [ 0.31936541 -0.06316762 0.94552397 0.50220304] [ 0. 0. 0. 1. ]] SLAMing on 118.25650248099998 meters Centerline goodness : 0.681689 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.51 [[ 0.93662425 -0.12536203 -0.32713815 3.21677458] [ 0.13931164 0.9900573 0.01946295 0.17564848] [ 0.3214456 -0.06380363 0.94477607 0.50611328] [ 0. 0. 0. 1. ]] SLAMing on 118.28650248099999 meters Centerline goodness : 0.681690 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.51 [[ 0.93624068 -0.12467418 -0.32849617 3.21730558] [ 0.13905635 0.99007101 0.02056012 0.17530724] [ 0.32267122 -0.0649287 0.9442815 0.50839999] [ 0. 0. 0. 1. ]] SLAMing on 118.31650248099999 meters Centerline goodness : 0.680817 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.51 [[ 0.93571806 -0.12503105 -0.32984686 3.21714148] [ 0.13959064 0.98999228 0.02072995 0.17651818] [ 0.32395396 -0.06544092 0.94380682 0.51109899] [ 0. 0. 0. 1. ]] SLAMing on 118.34650248099999 meters Centerline goodness : 0.681409 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.52 [[ 0.93532381 -0.12042686 -0.33266611 3.21689974] [ 0.13670394 0.99027403 0.02587237 0.17697842] [ 0.32631488 -0.06967581 0.94268971 0.51597334] [ 0. 0. 0. 1. ]] SLAMing on 118.37650248099999 meters Centerline goodness : 0.678312 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.52 [[ 0.93452946 -0.12019928 -0.33497286 3.21725998] [ 0.13683698 0.99024104 0.02642579 0.17868257] [ 0.32852751 -0.07053236 0.94185713 0.51991127] [ 0. 0. 0. 1. ]] SLAMing on 118.40650248099999 meters Centerline goodness : 0.679784 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.52 [[ 0.93412055 -0.12097923 -0.33583155 3.21718569] [ 0.13759564 0.99014623 0.02603623 0.17903608] [ 0.3293725 -0.07052993 0.94156215 0.5217675 ] [ 0. 0. 0. 1. ]] SLAMing on 118.43650248099999 meters Centerline goodness : 0.678717 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.52 [[ 0.93363631 -0.12115678 -0.33711167 3.21741882] [ 0.13809521 0.99006082 0.02663248 0.17875891] [ 0.33053435 -0.07141856 0.9410879 0.52419497] [ 0. 0. 0. 1. ]] SLAMing on 118.46650248099999 meters Centerline goodness : 0.678467 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.53 [[ 0.93257983 -0.12148361 -0.33990673 3.21879291] [ 0.13908974 0.98988886 0.02782237 0.18038372] [ 0.33308993 -0.07322412 0.94004751 0.52851445] [ 0. 0. 0. 1. ]] SLAMing on 118.496502481 meters Centerline goodness : 0.679718 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.53 [[ 0.93194075 -0.12188177 -0.3415132 3.22014673] [ 0.13984042 0.98976758 0.02836893 0.18072277] [ 0.33456104 -0.07419551 0.93944874 0.53073971] [ 0. 0. 0. 1. ]] SLAMing on 118.526502481 meters Centerline goodness : 0.677790 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.54 [[ 0.93082673 -0.12325822 -0.34404799 3.21984875] [ 0.14188276 0.98944714 0.02938768 0.18032982] [ 0.33679503 -0.07616931 0.93849206 0.53627335] [ 0. 0. 0. 1. ]] SLAMing on 118.556502481 meters Centerline goodness : 0.676417 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.54 [[ 0.92979274 -0.12474878 -0.34629929 3.21857108] [ 0.14412054 0.98908527 0.03065282 0.17856496] [ 0.33869563 -0.07840961 0.93762317 0.54210291] [ 0. 0. 0. 1. ]] SLAMing on 118.586502481 meters Centerline goodness : 0.675520 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.55 [[ 0.92912982 -0.12474522 -0.34807528 3.21898535] [ 0.1448705 0.98892354 0.03229189 0.17736634] [ 0.34019157 -0.0804292 0.93691026 0.54556294] [ 0. 0. 0. 1. ]] SLAMing on 118.61650248099998 meters Centerline goodness : 0.673360 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.55 [[ 0.92775988 -0.12424333 -0.35188805 3.2185005 ] [ 0.14635071 0.98854715 0.03682402 0.17675819] [ 0.34328279 -0.08566291 0.93531748 0.55337514] [ 0. 0. 0. 1. ]] SLAMing on 118.64650248099998 meters Centerline goodness : 0.674528 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.56 [[ 0.92710447 -0.12477606 -0.3534236 3.21862327] [ 0.14752437 0.98832588 0.03805942 0.17590479] [ 0.34454879 -0.08742365 0.93468885 0.55658614] [ 0. 0. 0. 1. ]] SLAMing on 118.67650248099999 meters Centerline goodness : 0.670374 Centerline is valid? [False, False] Translation: X:3.22, Y:0.17, Z:0.56 [[ 0.92528776 -0.12972838 -0.35638897 3.21777048] [ 0.15278266 0.98755988 0.03718797 0.17431914] [ 0.34713112 -0.08885963 0.93359732 0.56411471] [ 0. 0. 0. 1. ]] SLAMing on 118.70650248099999 meters Centerline goodness : 0.672385 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.57 [[ 0.92407787 -0.13451105 -0.35775253 3.21794221] [ 0.15698887 0.98700101 0.03440198 0.17560893] [ 0.34847466 -0.08795327 0.93318253 0.56733214] [ 0. 0. 0. 1. ]] SLAMing on 118.73650248099999 meters Centerline goodness : 0.669768 Centerline is valid? [False, False] Translation: X:3.22, Y:0.17, Z:0.57 [[ 0.92313032 -0.13544106 -0.35984181 3.21923043] [ 0.15857161 0.98671242 0.03540691 0.17493107] [ 0.35026484 -0.08974589 0.93234126 0.57077671] [ 0. 0. 0. 1. ]] SLAMing on 118.76650248099999 meters Centerline goodness : 0.666097 Centerline is valid? [False, False] Translation: X:3.22, Y:0.17, Z:0.58 [[ 0.92158218 -0.13654039 -0.36337722 3.21835307] [ 0.16109185 0.98620825 0.03798289 0.17375038] [ 0.35317942 -0.09354147 0.9308675 0.57858556] [ 0. 0. 0. 1. ]] SLAMing on 118.79650248099999 meters Centerline goodness : 0.662951 Centerline is valid? [False, False] Translation: X:3.22, Y:0.17, Z:0.59 [[ 0.92014709 -0.13593715 -0.36721985 3.2171728 ] [ 0.1622587 0.98586991 0.04162501 0.1743026 ] [ 0.35637262 -0.09788575 0.92920231 0.58649436] [ 0. 0. 0. 1. ]] SLAMing on 118.82650248099999 meters Centerline goodness : 0.662229 Centerline is valid? [False, False] Translation: X:3.22, Y:0.17, Z:0.59 [[ 0.91942922 -0.13698184 -0.36862702 3.21756696] [ 0.16349889 0.98566925 0.04152401 0.17475183] [ 0.35765628 -0.0984485 0.92864949 0.58904018] [ 0. 0. 0. 1. ]] SLAMing on 118.85650248099999 meters Centerline goodness : 0.660939 Centerline is valid? [False, False] Translation: X:3.22, Y:0.17, Z:0.59 [[ 0.91875976 -0.1378174 -0.36998226 3.21861635] [ 0.16453049 0.98549964 0.04147495 0.17480532] [ 0.35890141 -0.09897887 0.92811258 0.59105177] [ 0. 0. 0. 1. ]] SLAMing on 118.886502481 meters Centerline goodness : 0.657753 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.60 [[ 0.91744137 -0.13892343 -0.37282919 3.21854359] [ 0.16611562 0.98522608 0.04165543 0.17572181] [ 0.36153413 -0.10014916 0.92696452 0.59651959] [ 0. 0. 0. 1. ]] SLAMing on 118.916502481 meters Centerline goodness : 0.656754 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.60 [[ 0.91683793 -0.13827074 -0.37455228 3.21816309] [ 0.16622768 0.98513982 0.04321914 0.17550103] [ 0.36301043 -0.1018859 0.92619798 0.59996005] [ 0. 0. 0. 1. ]] SLAMing on 118.946502481 meters Centerline goodness : 0.652868 Centerline is valid? [False, False] Translation: X:3.23, Y:0.18, Z:0.61 [[ 0.91486357 -0.13987283 -0.37876146 3.22960068] [ 0.16822864 0.9848247 0.04265491 0.1813998 ] [ 0.36704738 -0.10274195 0.92451085 0.61442149] [ 0. 0. 0. 1. ]] SLAMing on 118.97650248099998 meters Centerline goodness : 0.648268 Centerline is valid? [False, False] Translation: X:3.23, Y:0.18, Z:0.62 [[ 0.91328917 -0.13646121 -0.38377237 3.22961395] [ 0.16665192 0.98492462 0.04637486 0.18301817] [ 0.37165849 -0.10631006 0.92226251 0.62307502] [ 0. 0. 0. 1. ]] SLAMing on 119.00650248099998 meters Centerline goodness : 0.649762 Centerline is valid? [False, False] Translation: X:3.23, Y:0.18, Z:0.63 [[ 0.9125622 -0.13619722 -0.38559117 3.23004938] [ 0.16662957 0.98492423 0.04646348 0.18435279] [ 0.37344989 -0.10665171 0.9214991 0.62595539] [ 0. 0. 0. 1. ]] SLAMing on 119.03650248099999 meters Centerline goodness : 0.643930 Centerline is valid? [False, False] Translation: X:3.23, Y:0.19, Z:0.64 [[ 0.91024555 -0.13564338 -0.39122105 3.23203623] [ 0.16609207 0.98508774 0.04489518 0.18836168] [ 0.37929733 -0.10584435 0.91920102 0.63528124] [ 0. 0. 0. 1. ]] SLAMing on 119.06650248099999 meters Centerline goodness : 0.640698 Centerline is valid? [False, False] Translation: X:3.23, Y:0.19, Z:0.64 [[ 0.90949657 -0.13574189 -0.39292509 3.23097828] [ 0.16647764 0.98501538 0.04505437 0.19070635] [ 0.38092149 -0.10639004 0.9184661 0.63874294] [ 0. 0. 0. 1. ]] SLAMing on 119.09650248099999 meters Centerline goodness : 0.636759 Centerline is valid? [False, False] Translation: X:3.23, Y:0.19, Z:0.65 [[ 0.90773748 -0.13054434 -0.39871148 3.23082547] [ 0.16299623 0.98543673 0.04844255 0.19444475] [ 0.38658104 -0.10896159 0.91579609 0.64880176] [ 0. 0. 0. 1. ]] SLAMing on 119.12650248099999 meters Centerline goodness : 0.632193 Centerline is valid? [False, False] Translation: X:3.23, Y:0.19, Z:0.65 [[ 0.90734101 -0.12673574 -0.40083705 3.22952734] [ 0.16074426 0.98561293 0.05223438 0.19486683] [ 0.38845022 -0.11182665 0.91465908 0.65282065] [ 0. 0. 0. 1. ]] SLAMing on 119.15650248099999 meters Centerline goodness : 0.623112 Centerline is valid? [False, False] Translation: X:3.24, Y:0.20, Z:0.67 [[ 0.90653227 -0.12821581 -0.40219393 3.2368414 ] [ 0.16070659 0.98583672 0.04795163 0.20365268] [ 0.39034939 -0.10810492 0.91429792 0.6656612 ] [ 0. 0. 0. 1. ]] SLAMing on 119.18650248099999 meters Centerline goodness : 0.619315 Centerline is valid? [False, False] Translation: X:3.24, Y:0.21, Z:0.67 [[ 0.90550166 -0.1287717 -0.40433227 3.23531984] [ 0.1613483 0.98575882 0.04739496 0.2057486 ] [ 0.39247097 -0.10815454 0.91338334 0.67043784] [ 0. 0. 0. 1. ]] SLAMing on 119.21650248099999 meters Centerline goodness : 0.607497 Centerline is valid? [False, False] Translation: X:3.24, Y:0.21, Z:0.69 [[ 0.90286508 -0.12911162 -0.41007906 3.24486798] [ 0.16113552 0.9859352 0.04435229 0.21260003] [ 0.39858498 -0.10612244 0.91097093 0.68573037] [ 0. 0. 0. 1. ]] SLAMing on 119.246502481 meters Centerline goodness : 0.601706 Centerline is valid? [False, False] Translation: X:3.24, Y:0.21, Z:0.69 [[ 0.90181045 -0.12847829 -0.41259088 3.24453501] [ 0.16147906 0.98580463 0.04597536 0.21457996] [ 0.40082717 -0.10808585 0.90975548 0.68999841] [ 0. 0. 0. 1. ]] SLAMing on 119.276502481 meters Centerline goodness : 0.600032 Centerline is valid? [False, False] Translation: X:3.24, Y:0.22, Z:0.69 [[ 0.90088993 -0.1282491 -0.41466793 3.24410434] [ 0.16200839 0.98566349 0.0471251 0.21599693] [ 0.40267929 -0.10963421 0.90875174 0.69378015] [ 0. 0. 0. 1. ]] SLAMing on 119.306502481 meters Centerline goodness : 0.591105 Centerline is valid? [False, False] Translation: X:3.24, Y:0.22, Z:0.70 [[ 0.89886566 -0.12862385 -0.41892295 3.24228209] [ 0.16322688 0.98543642 0.04766607 0.21975099] [ 0.40669094 -0.11122487 0.90676982 0.70252356] [ 0. 0. 0. 1. ]] SLAMing on 119.336502481 meters Centerline goodness : 0.589177 Centerline is valid? [False, False] Translation: X:3.24, Y:0.22, Z:0.71 [[ 0.89650832 -0.12976081 -0.42359764 3.2428044 ] [ 0.16438905 0.98531855 0.04608246 0.22422555] [ 0.41139892 -0.11094813 0.90467754 0.71088027] [ 0. 0. 0. 1. ]] SLAMing on 119.36650248099998 meters Centerline goodness : 0.589177 Centerline is valid? [False, False] Translation: X:3.24, Y:0.22, Z:0.71 [[ 0.89650832 -0.12976081 -0.42359764 3.2428044 ] [ 0.16438905 0.98531855 0.04608246 0.22422555] [ 0.41139892 -0.11094813 0.90467754 0.71088027] [ 0. 0. 0. 1. ]] SLAMing on 119.39650248099998 meters Centerline goodness : 0.585667 Centerline is valid? [False, False] Translation: X:3.24, Y:0.23, Z:0.71 [[ 0.89560859 -0.13099914 -0.42511702 3.2423241 ] [ 0.16561958 0.98514668 0.04534504 0.22631817] [ 0.41286246 -0.11101911 0.90400185 0.71382122] [ 0. 0. 0. 1. ]] SLAMing on 119.42650248099999 meters Centerline goodness : 0.580313 Centerline is valid? [False, False] Translation: X:3.24, Y:0.23, Z:0.72 [[ 0.89487797 -0.13172101 -0.42643052 3.24101734] [ 0.16648579 0.98501129 0.04511352 0.22791085] [ 0.41409648 -0.11136572 0.90339459 0.71696384] [ 0. 0. 0. 1. ]] SLAMing on 119.45650248099999 meters Centerline goodness : 0.574861 Centerline is valid? [False, False] Translation: X:3.24, Y:0.23, Z:0.73 [[ 0.89330599 -0.12910813 -0.43050609 3.2379177 ] [ 0.16571142 0.98498299 0.04845855 0.23031649] [ 0.41778479 -0.11462809 0.9012859 0.72587607] [ 0. 0. 0. 1. ]] SLAMing on 119.48650248099999 meters Centerline goodness : 0.565529 Centerline is valid? [False, False] Translation: X:3.23, Y:0.24, Z:0.73 [[ 0.89123212 -0.13067502 -0.43431479 3.23474468] [ 0.16686766 0.98490166 0.04608586 0.23720724] [ 0.42173509 -0.11354629 0.89958143 0.73488181] [ 0. 0. 0. 1. ]] SLAMing on 119.51650248099999 meters Centerline goodness : 0.564339 Centerline is valid? [False, False] Translation: X:3.23, Y:0.24, Z:0.74 [[ 0.89033885 -0.13174131 -0.43582217 3.23334979] [ 0.16770724 0.98481306 0.04491675 0.24080822] [ 0.42328597 -0.11308166 0.8989113 0.73814536] [ 0. 0. 0. 1. ]] SLAMing on 119.54650248099999 meters Centerline goodness : 0.560038 Centerline is valid? [False, False] Translation: X:3.23, Y:0.25, Z:0.75 [[ 0.88878154 -0.13219841 -0.43885185 3.23029625] [ 0.16744428 0.9849691 0.0424062 0.24894441] [ 0.42664948 -0.11117308 0.89755822 0.74528649] [ 0. 0. 0. 1. ]] SLAMing on 119.57650248099999 meters Centerline goodness : 0.555285 Centerline is valid? [False, False] Translation: X:3.23, Y:0.25, Z:0.75 [[ 0.88812001 -0.13337083 -0.43983527 3.22751922] [ 0.16811792 0.98492184 0.04080857 0.25251881] [ 0.42776069 -0.1101871 0.89715082 0.74851897] [ 0. 0. 0. 1. ]] SLAMing on 119.60650248099999 meters Centerline goodness : 0.552210 Centerline is valid? [False, False] Translation: X:3.22, Y:0.26, Z:0.75 [[ 0.88751185 -0.1340773 -0.44084691 3.22438363] [ 0.16859714 0.98487784 0.03988279 0.25572555] [ 0.42883297 -0.10972197 0.89669581 0.75197258] [ 0. 0. 0. 1. ]] SLAMing on 119.636502481 meters Centerline goodness : 0.548652 Centerline is valid? [False, False] Translation: X:3.23, Y:0.27, Z:0.76 [[ 0.88726471 -0.13599923 -0.44075566 3.22792586] [ 0.16988392 0.98472578 0.03813918 0.2670853 ] [ 0.42883656 -0.10871684 0.89681651 0.76162788] [ 0. 0. 0. 1. ]] SLAMing on 119.666502481 meters Centerline goodness : 0.542128 Centerline is valid? [False, False] Translation: X:3.22, Y:0.27, Z:0.76 [[ 0.88685221 -0.13711925 -0.44123856 3.22417376] [ 0.17052481 0.98466801 0.03674513 0.27128934] [ 0.42943503 -0.10782962 0.89663723 0.7643801 ] [ 0. 0. 0. 1. ]] SLAMing on 119.696502481 meters Centerline goodness : 0.542271 Centerline is valid? [False, False] Translation: X:3.22, Y:0.28, Z:0.77 [[ 0.88671323 -0.13948681 -0.44077555 3.21737626] [ 0.17077534 0.98479329 0.03190532 0.27884555] [ 0.42962243 -0.10356446 0.89705015 0.76950012] [ 0. 0. 0. 1. ]] SLAMing on 119.72650248099998 meters Centerline goodness : 0.539551 Centerline is valid? [False, False] Translation: X:3.21, Y:0.29, Z:0.77 [[ 0.88654619 -0.14126742 -0.4405444 3.21048374] [ 0.17088359 0.98489149 0.02806327 0.28587903] [ 0.42992401 -0.10016119 0.89729208 0.77494946] [ 0. 0. 0. 1. ]] SLAMing on 119.75650248099998 meters Centerline goodness : 0.542207 Centerline is valid? [False, False] Translation: X:3.21, Y:0.29, Z:0.78 [[ 0.88634425 -0.14237563 -0.44059396 3.20715834] [ 0.17146503 0.98482849 0.02669456 0.28843819] [ 0.43010883 -0.09920702 0.89730951 0.77722154] [ 0. 0. 0. 1. ]] SLAMing on 119.78650248099999 meters Centerline goodness : 0.540352 Centerline is valid? [False, False] Translation: X:3.20, Y:0.29, Z:0.78 [[ 0.88603026 -0.14337398 -0.44090166 3.20491385] [ 0.1719308 0.98478476 0.02527409 0.29071017] [ 0.43056959 -0.09819818 0.8971995 0.77926243] [ 0. 0. 0. 1. ]] SLAMing on 119.81650248099999 meters Centerline goodness : 0.541820 Centerline is valid? [False, False] Translation: X:3.20, Y:0.30, Z:0.78 [[ 0.88580801 -0.1454257 -0.44067623 3.20044945] [ 0.17293202 0.98467295 0.02266475 0.29718045] [ 0.43062593 -0.09628364 0.89737995 0.78167986] [ 0. 0. 0. 1. ]] SLAMing on 119.84650248099999 meters Centerline goodness : 0.539575 Centerline is valid? [False, False] Translation: X:3.20, Y:0.30, Z:0.78 [[ 0.88564778 -0.14622365 -0.44073423 3.19889915] [ 0.17308722 0.98467991 0.02112572 0.29967742] [ 0.43089306 -0.09499541 0.89738901 0.78289794] [ 0. 0. 0. 1. ]] SLAMing on 119.87650248099999 meters Centerline goodness : 0.542716 Centerline is valid? [False, False] Translation: X:3.19, Y:0.31, Z:0.79 [[ 0.88597469 -0.14437194 -0.44068763 3.19446657] [ 0.17096162 0.98505391 0.02099792 0.305159 ] [ 0.43106957 -0.0939443 0.8974149 0.78548364] [ 0. 0. 0. 1. ]] SLAMing on 119.90650248099999 meters Centerline goodness : 0.544411 Centerline is valid? [False, False] Translation: X:3.19, Y:0.31, Z:0.79 [[ 0.88641523 -0.14719558 -0.43886388 3.18960263] [ 0.17145381 0.98506369 0.01590981 0.31200824] [ 0.42996702 -0.08934758 0.89841269 0.78646931] [ 0. 0. 0. 1. ]] SLAMing on 119.93650248099999 meters Centerline goodness : 0.547118 Centerline is valid? [False, False] Translation: X:3.19, Y:0.31, Z:0.79 [[ 0.8865978 -0.14826904 -0.43813312 3.18682891] [ 0.17180177 0.98502759 0.01431065 0.31425088] [ 0.42945139 -0.08795984 0.89879618 0.78718742] [ 0. 0. 0. 1. ]] SLAMing on 119.96650248099999 meters Centerline goodness : 0.546424 Centerline is valid? [False, False] Translation: X:3.18, Y:0.32, Z:0.79 [[ 0.88781242 -0.14907636 -0.43539103 3.17897917] [ 0.17137853 0.98513027 0.01215541 0.32041524] [ 0.4271048 -0.08540839 0.90015937 0.78867624] [ 0. 0. 0. 1. ]] SLAMing on 119.996502481 meters Centerline goodness : 0.550073 Centerline is valid? [False, False] Translation: X:3.18, Y:0.32, Z:0.79 [[ 0.88801904 -0.15002825 -0.43464204 3.1758464 ] [ 0.17154868 0.98512021 0.01045142 0.32307744] [ 0.42660665 -0.08384333 0.90054265 0.7897129 ] [ 0. 0. 0. 1. ]] SLAMing on 120.026502481 meters Centerline goodness : 0.550022 Centerline is valid? [False, False] Translation: X:3.17, Y:0.33, Z:0.79 [[ 0.88845078 -0.15223405 -0.43298961 3.17119722] [ 0.17201918 0.98507131 0.00662642 0.32904805] [ 0.42551688 -0.08036976 0.90137455 0.79062537] [ 0. 0. 0. 1. ]] SLAMing on 120.056502481 meters Centerline goodness : 0.548429 Centerline is valid? [False, False] Translation: X:3.17, Y:0.33, Z:0.79 [[ 0.88869019 -0.15305067 -0.43220972 3.16903696] [ 0.17220177 0.98504768 0.00525628 0.33133902] [ 0.4249427 -0.07909849 0.9017578 0.79091243] [ 0. 0. 0. 1. ]] SLAMing on 120.086502481 meters Centerline goodness : 0.549253 Centerline is valid? [False, False] Translation: X:3.17, Y:0.33, Z:0.79 [[ 0.88896895 -0.15363288 -0.43142919 3.16642704] [ 0.17222295 0.9850495 0.00409073 0.33336566] [ 0.42435064 -0.07793854 0.90213753 0.79150933] [ 0. 0. 0. 1. ]] SLAMing on 120.11650248099998 meters Centerline goodness : 0.552177 Centerline is valid? [False, False] Translation: X:3.16, Y:0.34, Z:0.79 [[ 0.88977298 -0.15377794 -0.42971664 3.16159815] [ 0.17203537 0.98508384 0.00369605 0.33663256] [ 0.42273854 -0.07721511 0.90295623 0.7923106 ] [ 0. 0. 0. 1. ]] SLAMing on 120.14650248099998 meters Centerline goodness : 0.553751 Centerline is valid? [False, False] Translation: X:3.16, Y:0.34, Z:0.79 [[ 0.89079998 -0.15301203 -0.42785829 3.15726604] [ 0.17155817 0.98516197 0.00486699 0.3371988 ] [ 0.42076501 -0.0777381 0.90383273 0.79260505] [ 0. 0. 0. 1. ]] SLAMing on 120.17650248099999 meters Centerline goodness : 0.552583 Centerline is valid? [False, False] Translation: X:3.15, Y:0.34, Z:0.79 [[ 0.89131902 -0.15360542 -0.42656274 3.15451574] [ 0.17194947 0.98509521 0.00456174 0.33741071] [ 0.41950421 -0.0774132 0.90444647 0.79277433] [ 0. 0. 0. 1. ]] SLAMing on 120.20650248099999 meters Centerline goodness : 0.554089 Centerline is valid? [False, False] Translation: X:3.15, Y:0.34, Z:0.79 [[ 0.89170508 -0.15402097 -0.42560497 3.15222901] [ 0.17232621 0.98502929 0.00457936 0.33676491] [ 0.41852804 -0.07742633 0.90489747 0.79334715] [ 0. 0. 0. 1. ]] SLAMing on 120.23650248099999 meters Centerline goodness : 0.557008 Centerline is valid? [False, False] Translation: X:3.15, Y:0.34, Z:0.79 [[ 0.89282586 -0.15576766 -0.42260906 3.14802292] [ 0.17332314 0.98485992 0.00316617 0.3360706 ] [ 0.41571753 -0.07607477 0.90630655 0.79301866] [ 0. 0. 0. 1. ]] SLAMing on 120.26650248099999 meters Centerline goodness : 0.558328 Centerline is valid? [False, False] Translation: X:3.14, Y:0.34, Z:0.79 [[ 8.94034767e-01 -1.56820854e-01 -4.19653493e-01 3.14466094e+00] [ 1.73590574e-01 9.84816259e-01 1.80215655e-03 3.36286218e-01] [ 4.12998968e-01 -7.44590814e-02 9.07682598e-01 7.91724243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.29650248099999 meters Centerline goodness : 0.558898 Centerline is valid? [False, False] Translation: X:3.14, Y:0.34, Z:0.79 [[ 8.94478201e-01 -1.56779188e-01 -4.18723101e-01 3.14292282e+00] [ 1.73325378e-01 9.84863469e-01 1.50380534e-03 3.36530612e-01] [ 4.12149320e-01 -7.39204609e-02 9.08112715e-01 7.91634133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32650248099999 meters Centerline goodness : 0.559443 Centerline is valid? [False, False] Translation: X:3.14, Y:0.34, Z:0.79 [[ 8.95158072e-01 -1.55884325e-01 -4.17602805e-01 3.14058463e+00] [ 1.72338822e-01 9.85036227e-01 1.72120395e-03 3.36807804e-01] [ 4.11085583e-01 -7.35099250e-02 9.08628051e-01 7.91516016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.35650248099999 meters Centerline goodness : 0.562950 Centerline is valid? [False, False] Translation: X:3.14, Y:0.34, Z:0.79 [[ 8.97000199e-01 -1.53431598e-01 -4.14547207e-01 3.13611455e+00] [ 1.69709180e-01 9.85491094e-01 2.46943033e-03 3.36479332e-01] [ 4.08153692e-01 -7.25675462e-02 9.10024458e-01 7.90538311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.386502481 meters Centerline goodness : 0.557959 Centerline is valid? [False, False] Translation: X:3.13, Y:0.34, Z:0.79 [[ 8.97588173e-01 -1.53286952e-01 -4.13326242e-01 3.13422021e+00] [ 1.69268479e-01 9.85567789e-01 2.07754241e-03 3.36535097e-01] [ 4.07042570e-01 -7.18278817e-02 9.10580640e-01 7.90170342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.416502481 meters Centerline goodness : 0.561023 Centerline is valid? [False, False] Translation: X:3.13, Y:0.34, Z:0.79 [[ 8.98753938e-01 -1.52564764e-01 -4.11053951e-01 3.13112876e+00] [ 1.68233509e-01 9.85745199e-01 1.97187025e-03 3.36648993e-01] [ 4.04893621e-01 -7.09252748e-02 9.11608886e-01 7.89372024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.446502481 meters Centerline goodness : 0.562292 Centerline is valid? [False, False] Translation: X:3.13, Y:0.34, Z:0.79 [[ 8.99190294e-01 -1.52737002e-01 -4.10034416e-01 3.12967535e+00] [ 1.67959147e-01 9.85793318e-01 1.12214525e-03 3.37311616e-01] [ 4.04037795e-01 -6.98780528e-02 9.12069360e-01 7.89037000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.47650248099998 meters Centerline goodness : 0.559212 Centerline is valid? [False, False] Translation: X:3.13, Y:0.34, Z:0.79 [[ 9.00748158e-01 -1.51558598e-01 -4.07041457e-01 3.12588162e+00] [ 1.66249445e-01 9.86083455e-01 7.35686437e-04 3.37829083e-01] [ 4.01265347e-01 -6.83330845e-02 9.13409388e-01 7.87687805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50650248099998 meters Centerline goodness : 0.557082 Centerline is valid? [False, False] Translation: X:3.12, Y:0.34, Z:0.79 [[ 9.01516815e-01 -1.50851291e-01 -4.05599951e-01 3.12358584e+00] [ 1.65296939e-01 9.86243665e-01 5.96254543e-04 3.37817052e-01] [ 3.99930436e-01 -6.75819640e-02 9.14050504e-01 7.87350411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.53650248099999 meters Centerline goodness : 0.555408 Centerline is valid? [False, False] Translation: X:3.12, Y:0.34, Z:0.79 [[ 9.03565111e-01 -1.48642153e-01 -4.01840267e-01 3.11843733e+00] [ 1.62958602e-01 9.86631820e-01 1.46483398e-03 3.37946316e-01] [ 3.96250658e-01 -6.68069010e-02 9.15708607e-01 7.85983911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56650248099999 meters Centerline goodness : 0.554905 Centerline is valid? [False, False] Translation: X:3.12, Y:0.34, Z:0.79 [[ 9.04105410e-01 -1.47531088e-01 -4.01033646e-01 3.11693736e+00] [ 1.61758479e-01 9.86829011e-01 1.64265185e-03 3.38206644e-01] [ 3.95509293e-01 -6.63557231e-02 9.16061852e-01 7.85823176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.59650248099999 meters Centerline goodness : 0.554022 Centerline is valid? [False, False] Translation: X:3.11, Y:0.34, Z:0.78 [[ 9.05431515e-01 -1.46252597e-01 -3.98502133e-01 3.11357297e+00] [ 1.60136181e-01 9.87093676e-01 1.57422379e-03 3.38832699e-01] [ 3.93128701e-01 -6.52399617e-02 9.17166055e-01 7.84658782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62650248099999 meters Centerline goodness : 0.556483 Centerline is valid? [False, False] Translation: X:3.11, Y:0.34, Z:0.78 [[ 9.05924968e-01 -1.46233062e-01 -3.97386264e-01 3.11194388e+00] [ 1.60037502e-01 9.87109646e-01 1.59517951e-03 3.38399696e-01] [ 3.92030547e-01 -6.50418179e-02 9.17650049e-01 7.84351787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.65650248099999 meters Centerline goodness : 0.558390 Centerline is valid? [False, False] Translation: X:3.11, Y:0.34, Z:0.78 [[ 9.06663979e-01 -1.49843022e-01 -3.94344389e-01 3.10936144e+00] [ 1.62381362e-01 9.86726786e-01 -1.59452244e-03 3.37346509e-01] [ 3.89349100e-01 -6.25884831e-02 9.18961349e-01 7.82935762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68650248099999 meters Centerline goodness : 0.555700 Centerline is valid? [False, False] Translation: X:3.11, Y:0.34, Z:0.78 [[ 0.90672888 -0.15344919 -0.39280541 3.10779016] [ 0.16480983 0.98631336 -0.00486542 0.33752942] [ 0.38817582 -0.06032658 0.91960874 0.78249139] [ 0. 0. 0. 1. ]] SLAMing on 120.71650248099999 meters Centerline goodness : 0.548528 Centerline is valid? [False, False] Translation: X:3.11, Y:0.33, Z:0.78 [[ 9.07687806e-01 -1.52476726e-01 -3.90965082e-01 3.10570327e+00] [ 1.64380625e-01 9.86392244e-01 -3.05799876e-03 3.34744436e-01] [ 3.86111198e-01 -6.14913764e-02 9.20400431e-01 7.81889257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.746502481 meters Centerline goodness : 0.552409 Centerline is valid? [False, False] Translation: X:3.10, Y:0.33, Z:0.78 [[ 9.08202639e-01 -1.52604744e-01 -3.89717536e-01 3.10420152e+00] [ 1.64520358e-01 9.86369599e-01 -2.84015195e-03 3.34208391e-01] [ 3.84838951e-01 -6.15370351e-02 9.20930060e-01 7.81304386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.776502481 meters Centerline goodness : 0.547018 Centerline is valid? [False, False] Translation: X:3.10, Y:0.33, Z:0.78 [[ 9.09710019e-01 -1.51146497e-01 -3.86758862e-01 3.10066753e+00] [ 1.63425008e-01 9.86555089e-01 -1.15053314e-03 3.32383753e-01] [ 3.81732823e-01 -6.21594186e-02 9.22180166e-01 7.80022534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.806502481 meters Centerline goodness : 0.549634 Centerline is valid? [False, False] Translation: X:3.10, Y:0.33, Z:0.78 [[ 9.10501286e-01 -1.50035708e-01 -3.85326738e-01 3.09876346e+00] [ 1.62456408e-01 9.86715668e-01 -3.26514332e-04 3.31508673e-01] [ 3.80256918e-01 -6.23015061e-02 9.22780146e-01 7.79344649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.836502481 meters Centerline goodness : 0.551068 Centerline is valid? [False, False] Translation: X:3.10, Y:0.33, Z:0.78 [[ 9.11866813e-01 -1.49989873e-01 -3.82102020e-01 3.09564658e+00] [ 1.62273833e-01 9.86745761e-01 -7.78553311e-05 3.30682294e-01] [ 3.77049226e-01 -6.19341656e-02 9.24120144e-01 7.77296367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86650248099998 meters Centerline goodness : 0.551451 Centerline is valid? [False, False] Translation: X:3.09, Y:0.33, Z:0.78 [[ 0.91188081 -0.15345418 -0.38069043 3.09475957] [ 0.1642606 0.98640822 -0.00415658 0.33180616] [ 0.37615401 -0.05874213 0.9246932 0.77660487] [ 0. 0. 0. 1. ]] SLAMing on 120.89650248099998 meters Centerline goodness : 0.548053 Centerline is valid? [False, False] Translation: X:3.09, Y:0.33, Z:0.77 [[ 0.91282218 -0.15292117 -0.37864334 3.09359382] [ 0.16374588 0.98649577 -0.00365838 0.33071579] [ 0.37408949 -0.05866184 0.92553543 0.77453351] [ 0. 0. 0. 1. ]] SLAMing on 120.92650248099999 meters Centerline goodness : 0.546377 Centerline is valid? [False, False] Translation: X:3.09, Y:0.33, Z:0.77 [[ 0.91318791 -0.15260823 -0.37788698 3.09284037] [ 0.16317199 0.98658906 -0.0041148 0.33104755] [ 0.37344711 -0.05790299 0.92584259 0.77405928] [ 0. 0. 0. 1. ]] SLAMing on 120.95650248099999 meters Centerline goodness : 0.543211 Centerline is valid? [False, False] Translation: X:3.09, Y:0.33, Z:0.77 [[ 0.91429791 -0.1515777 -0.37561088 3.09124362] [ 0.16157135 0.98684861 -0.00495167 0.33269624] [ 0.37142163 -0.05616065 0.92676424 0.77178399] [ 0. 0. 0. 1. ]] SLAMing on 120.98650248099999 meters Centerline goodness : 0.541197 Centerline is valid? [False, False] Translation: X:3.09, Y:0.33, Z:0.77 [[ 0.9149254 -0.15069959 -0.37443444 3.0901823 ] [ 0.16051113 0.98702115 -0.00504221 0.33278042] [ 0.37033457 -0.05548765 0.92723968 0.77077063] [ 0. 0. 0. 1. ]] SLAMing on 121.01650248099999 meters Centerline goodness : 0.537309 Centerline is valid? [False, False] Translation: X:3.09, Y:0.33, Z:0.77 [[ 0.91606702 -0.1497467 -0.37201766 3.08755936] [ 0.15935797 0.98720836 -0.00496917 0.33249673] [ 0.36800306 -0.05473189 0.92821235 0.76936387] [ 0. 0. 0. 1. ]] SLAMing on 121.04650248099999 meters Centerline goodness : 0.539314 Centerline is valid? [False, False] Translation: X:3.09, Y:0.33, Z:0.77 [[ 0.91625359 -0.14950151 -0.37165665 3.08748865] [ 0.15913906 0.98724452 -0.00479693 0.33176105] [ 0.36763314 -0.05474988 0.92835786 0.76905561] [ 0. 0. 0. 1. ]] SLAMing on 121.07650248099999 meters Centerline goodness : 0.535326 Centerline is valid? [False, False] Translation: X:3.09, Y:0.33, Z:0.77 [[ 0.91692606 -0.14836626 -0.37045115 3.08661544] [ 0.15822181 0.98739617 -0.00382931 0.33013879] [ 0.36635018 -0.05510226 0.92884406 0.76802118] [ 0. 0. 0. 1. ]] SLAMing on 121.10650248099999 meters Centerline goodness : 0.530281 Centerline is valid? [False, False] Translation: X:3.09, Y:0.33, Z:0.77 [[ 0.91739255 -0.14817034 -0.36937306 3.08536305] [ 0.15787559 0.98745091 -0.0039988 0.32969396] [ 0.36533027 -0.05464652 0.92927259 0.76751143] [ 0. 0. 0. 1. ]] SLAMing on 121.136502481 meters Centerline goodness : 0.530329 Centerline is valid? [False, False] Translation: X:3.08, Y:0.33, Z:0.77 [[ 0.91797836 -0.14754375 -0.3681665 3.08444986] [ 0.15703957 0.9875833 -0.00421771 0.32862091] [ 0.36421738 -0.05394495 0.92975031 0.76668153] [ 0. 0. 0. 1. ]] SLAMing on 121.166502481 meters Centerline goodness : 0.533811 Centerline is valid? [False, False] Translation: X:3.08, Y:0.33, Z:0.77 [[ 0.91825404 -0.1472297 -0.36760431 3.0840565 ] [ 0.15667587 0.98764117 -0.00419436 0.32809428] [ 0.36367868 -0.05374324 0.92997284 0.76620555] [ 0. 0. 0. 1. ]] SLAMing on 121.196502481 meters Centerline goodness : 0.529868 Centerline is valid? [False, False] Translation: X:3.08, Y:0.33, Z:0.77 [[ 0.91870646 -0.14628614 -0.36684985 3.08273058] [ 0.15558379 0.98781346 -0.00427312 0.32830019] [ 0.36300431 -0.05315015 0.93027035 0.76605542] [ 0. 0. 0. 1. ]] SLAMing on 121.22650248099998 meters Centerline goodness : 0.531201 Centerline is valid? [False, False] Translation: X:3.08, Y:0.33, Z:0.77 [[ 0.9187569 -0.14658829 -0.36660283 3.08250003] [ 0.1556706 0.98779714 -0.00484464 0.32863527] [ 0.3628394 -0.05261824 0.93036493 0.7659172 ] [ 0. 0. 0. 1. ]] SLAMing on 121.25650248099998 meters Centerline goodness : 0.531201 Centerline is valid? [False, False] Translation: X:3.08, Y:0.33, Z:0.77 [[ 0.9187569 -0.14658829 -0.36660283 3.08250003] [ 0.1556706 0.98779714 -0.00484464 0.32863527] [ 0.3628394 -0.05261824 0.93036493 0.7659172 ] [ 0. 0. 0. 1. ]] SLAMing on 121.28650248099999 meters Centerline goodness : 0.534411 Centerline is valid? [False, False] Translation: X:3.08, Y:0.33, Z:0.76 [[ 0.91882508 -0.15002006 -0.36504036 3.08282577] [ 0.15743623 0.98748298 -0.00954936 0.33025168] [ 0.36190374 -0.04869638 0.93094272 0.76407774] [ 0. 0. 0. 1. ]] SLAMing on 121.31650248099999 meters Centerline goodness : 0.531568 Centerline is valid? [False, False] Translation: X:3.08, Y:0.33, Z:0.76 [[ 0.91861209 -0.15400688 -0.36391443 3.08220366] [ 0.15974104 0.98705261 -0.01448924 0.33195745] [ 0.36143413 -0.04482208 0.93131968 0.76359931] [ 0. 0. 0. 1. ]] SLAMing on 121.34650248099999 meters Centerline goodness : 0.531763 Centerline is valid? [False, False] Translation: X:3.08, Y:0.33, Z:0.76 [[ 0.91918398 -0.15397091 -0.36248279 3.08085827] [ 0.15950195 0.98708641 -0.01481714 0.33163133] [ 0.36008325 -0.04419703 0.93187267 0.76256881] [ 0. 0. 0. 1. ]] SLAMing on 121.37650248099999 meters Centerline goodness : 0.537731 Centerline is valid? [False, False] Translation: X:3.08, Y:0.33, Z:0.76 [[ 0.91987082 -0.15184378 -0.36163676 3.07864516] [ 0.15766841 0.98739931 -0.0135381 0.33110825] [ 0.35913556 -0.04456539 0.93222077 0.76286154] [ 0. 0. 0. 1. ]] SLAMing on 121.40650248099999 meters Centerline goodness : 0.541158 Centerline is valid? [False, False] Translation: X:3.08, Y:0.33, Z:0.76 [[ 0.91991628 -0.15221489 -0.36136499 3.07771249] [ 0.15776093 0.98737384 -0.01429624 0.33161966] [ 0.35897844 -0.04385794 0.93231484 0.7632377 ] [ 0. 0. 0. 1. ]] SLAMing on 121.43650248099999 meters Centerline goodness : 0.540170 Centerline is valid? [False, False] Translation: X:3.08, Y:0.33, Z:0.76 [[ 0.91990025 -0.15240042 -0.3613276 3.07785204] [ 0.15767864 0.98737621 -0.01502216 0.33183169] [ 0.35905566 -0.04315476 0.93231792 0.76332343] [ 0. 0. 0. 1. ]] SLAMing on 121.46650248099999 meters Centerline goodness : 0.541600 Centerline is valid? [False, False] Translation: X:3.08, Y:0.33, Z:0.76 [[ 0.91991311 -0.15349629 -0.36083065 3.07795468] [ 0.15826391 0.98725908 -0.01649404 0.33250642] [ 0.35876511 -0.04193338 0.93248549 0.76270637] [ 0. 0. 0. 1. ]] SLAMing on 121.496502481 meters Centerline goodness : 0.542556 Centerline is valid? [False, False] Translation: X:3.08, Y:0.33, Z:0.76 [[ 0.91991488 -0.15408645 -0.36057451 3.07786788] [ 0.15850638 0.98720324 -0.0174784 0.33310228] [ 0.35865351 -0.04107472 0.93256664 0.76259593] [ 0. 0. 0. 1. ]] SLAMing on 121.526502481 meters Centerline goodness : 0.540201 Centerline is valid? [False, False] Translation: X:3.08, Y:0.33, Z:0.76 [[ 0.92018317 -0.15370769 -0.36005122 3.07805038] [ 0.15786464 0.9872962 -0.01802697 0.33386318] [ 0.35824808 -0.04025124 0.93275836 0.76174055] [ 0. 0. 0. 1. ]] SLAMing on 121.556502481 meters Centerline goodness : 0.542080 Centerline is valid? [False, False] Translation: X:3.08, Y:0.33, Z:0.76 [[ 0.92004064 -0.15433782 -0.3601459 3.07836217] [ 0.15810413 0.98723625 -0.01917463 0.33482118] [ 0.35850846 -0.03929911 0.93269891 0.76186527] [ 0. 0. 0. 1. ]] SLAMing on 121.586502481 meters Centerline goodness : 0.546316 Centerline is valid? [False, False] Translation: X:3.08, Y:0.33, Z:0.76 [[ 0.9202289 -0.15383797 -0.35987867 3.07866077] [ 0.15770822 0.98730721 -0.01877764 0.33463272] [ 0.35819952 -0.0394761 0.93281013 0.76131159] [ 0. 0. 0. 1. ]] SLAMing on 121.61650248099998 meters Centerline goodness : 0.546606 Centerline is valid? [False, False] Translation: X:3.04, Y:0.32, Z:0.75 [[ 0.92168561 -0.14839811 -0.3584322 3.03969699] [ 0.15061542 0.98834986 -0.02189866 0.32401894] [ 0.35750613 -0.03380174 0.93329888 0.74900575] [ 0. 0. 0. 1. ]] SLAMing on 121.64650248099998 meters Centerline goodness : 0.546592 Centerline is valid? [False, False] Translation: X:3.04, Y:0.32, Z:0.75 [[ 0.9222504 -0.14731527 -0.35742469 3.03861853] [ 0.14979978 0.98849558 -0.02089276 0.32327336] [ 0.35639055 -0.03427378 0.93370824 0.74830994] [ 0. 0. 0. 1. ]] SLAMing on 121.67650248099999 meters Centerline goodness : 0.548621 Centerline is valid? [False, False] Translation: X:3.02, Y:0.32, Z:0.74 [[ 0.92297063 -0.14432937 -0.35678319 3.02253137] [ 0.14516029 0.98910222 -0.02460265 0.31773143] [ 0.35644593 -0.02908323 0.93386319 0.74387136] [ 0. 0. 0. 1. ]] SLAMing on 121.70650248099999 meters Centerline goodness : 0.552746 Centerline is valid? [False, False] Translation: X:3.02, Y:0.31, Z:0.74 [[ 0.92561366 -0.13894001 -0.35204406 3.01622837] [ 0.13838808 0.99001357 -0.02686766 0.31058449] [ 0.35226139 -0.02384963 0.93559773 0.73960239] [ 0. 0. 0. 1. ]] SLAMing on 121.73650248099999 meters Centerline goodness : 0.553949 Centerline is valid? [False, False] Translation: X:3.01, Y:0.30, Z:0.74 [[ 0.92804721 -0.1332588 -0.3478081 3.01031939] [ 0.13143034 0.99090228 -0.02896107 0.3015871 ] [ 0.34850316 -0.0188353 0.93711834 0.73605511] [ 0. 0. 0. 1. ]] SLAMing on 121.76650248099999 meters Centerline goodness : 0.552769 Centerline is valid? [False, False] Translation: X:3.01, Y:0.29, Z:0.74 [[ 0.92950966 -0.12619676 -0.34653452 3.00750222] [ 0.12249906 0.99193142 -0.03265034 0.29330506] [ 0.34785884 -0.01210135 0.93746882 0.73540375] [ 0. 0. 0. 1. ]] SLAMing on 121.79650248099999 meters Centerline goodness : 0.555399 Centerline is valid? [False, False] Translation: X:3.01, Y:0.29, Z:0.74 [[ 0.929419 -0.1260493 -0.34683121 3.00850966] [ 0.12218428 0.99195583 -0.03308512 0.29023046] [ 0.3482116 -0.01162738 0.93734384 0.73657097] [ 0. 0. 0. 1. ]] SLAMing on 121.82650248099999 meters Centerline goodness : 0.552606 Centerline is valid? [False, False] Translation: X:3.01, Y:0.29, Z:0.74 [[ 0.92925994 -0.12558733 -0.34742451 3.0097748 ] [ 0.12176562 0.99201327 -0.03290611 0.28860314] [ 0.34878231 -0.01172603 0.93713041 0.7371856 ] [ 0. 0. 0. 1. ]] SLAMing on 121.85650248099999 meters Centerline goodness : 0.557970 Centerline is valid? [False, False] Translation: X:3.01, Y:0.29, Z:0.74 [[ 0.92892749 -0.12490653 -0.34855714 3.01190938] [ 0.12131904 0.99209129 -0.03219582 0.28682192] [ 0.34982197 -0.01237903 0.93673441 0.7374781 ] [ 0. 0. 0. 1. ]] SLAMing on 121.886502481 meters Centerline goodness : 0.562008 Centerline is valid? [False, False] Translation: X:3.01, Y:0.28, Z:0.74 [[ 0.9288254 -0.12452988 -0.34896372 3.01370422] [ 0.12097408 0.99213788 -0.03205779 0.28462574] [ 0.35021228 -0.01243948 0.93658775 0.73769673] [ 0. 0. 0. 1. ]] SLAMing on 121.916502481 meters Centerline goodness : 0.558252 Centerline is valid? [False, False] Translation: X:3.02, Y:0.28, Z:0.74 [[ 0.92875849 -0.12452318 -0.34914416 3.01501857] [ 0.1210373 0.99213601 -0.03187656 0.28275069] [ 0.35036787 -0.01265384 0.93652669 0.73738482] [ 0. 0. 0. 1. ]] SLAMing on 121.946502481 meters Centerline goodness : 0.561541 Centerline is valid? [False, False] Translation: X:3.02, Y:0.28, Z:0.74 [[ 0.92869716 -0.12441877 -0.34934446 3.01616651] [ 0.12091103 0.99214989 -0.03192362 0.28094515] [ 0.35057396 -0.01259222 0.93645039 0.73756096] [ 0. 0. 0. 1. ]] SLAMing on 121.97650248099998 meters Centerline goodness : 0.563781 Centerline is valid? [False, False] Translation: X:3.02, Y:0.28, Z:0.74 [[ 0.92855181 -0.12452238 -0.34969375 3.01777977] [ 0.12092812 0.9921393 -0.03218681 0.27930306] [ 0.35095289 -0.01240069 0.936311 0.73783367] [ 0. 0. 0. 1. ]] SLAMing on 122.00650248099998 meters Centerline goodness : 0.558410 Centerline is valid? [False, False] Translation: X:3.02, Y:0.28, Z:0.74 [[ 0.92830916 -0.124163 -0.35046492 3.01857879] [ 0.12051856 0.99218599 -0.0322837 0.2787995 ] [ 0.35173482 -0.01226827 0.93601929 0.73908929] [ 0. 0. 0. 1. ]] SLAMing on 122.03650248099999 meters Centerline goodness : 0.560299 Centerline is valid? [False, False] Translation: X:3.02, Y:0.28, Z:0.74 [[ 0.92797687 -0.12350116 -0.35157701 3.01927475] [ 0.11990396 0.99226711 -0.03207843 0.27855262] [ 0.35282003 -0.01238743 0.9356092 0.74063091] [ 0. 0. 0. 1. ]] SLAMing on 122.06650248099999 meters Centerline goodness : 0.561266 Centerline is valid? [False, False] Translation: X:3.02, Y:0.28, Z:0.74 [[ 0.92770025 -0.12298246 -0.35248768 3.01957816] [ 0.11935797 0.99233258 -0.03208929 0.27815648] [ 0.35373143 -0.01230297 0.93526612 0.74250452] [ 0. 0. 0. 1. ]] SLAMing on 122.09650248099999 meters Centerline goodness : 0.560452 Centerline is valid? [False, False] Translation: X:3.02, Y:0.28, Z:0.74 [[ 0.92759703 -0.12311445 -0.35271317 3.01942161] [ 0.11932569 0.99232126 -0.03255601 0.27757204] [ 0.35401289 -0.01188888 0.93516497 0.74380421] [ 0. 0. 0. 1. ]] SLAMing on 122.12650248099999 meters Centerline goodness : 0.563132 Centerline is valid? [False, False] Translation: X:3.02, Y:0.28, Z:0.74 [[ 0.92756216 -0.12300496 -0.35284306 3.0200769 ] [ 0.11916875 0.99233651 -0.03266578 0.27705674] [ 0.35415711 -0.01174833 0.93511214 0.74406407] [ 0. 0. 0. 1. ]] SLAMing on 122.15650248099999 meters Centerline goodness : 0.562758 Centerline is valid? [False, False] Translation: X:3.02, Y:0.28, Z:0.74 [[ 0.92764062 -0.12319875 -0.35256906 3.02090571] [ 0.11927271 0.99231532 -0.03292912 0.27573841] [ 0.35391651 -0.01150548 0.93520625 0.74388214] [ 0. 0. 0. 1. ]] SLAMing on 122.18650248099999 meters Centerline goodness : 0.564419 Centerline is valid? [False, False] Translation: X:3.02, Y:0.27, Z:0.74 [[ 0.92750181 -0.12294307 -0.35302321 3.02214949] [ 0.11895484 0.99234906 -0.03306188 0.27482792] [ 0.35438698 -0.01132887 0.93503023 0.74451997] [ 0. 0. 0. 1. ]] SLAMing on 122.21650248099999 meters Centerline goodness : 0.563314 Centerline is valid? [False, False] Translation: X:3.02, Y:0.27, Z:0.75 [[ 0.92733836 -0.12247992 -0.35361311 3.02333935] [ 0.11846826 0.99240739 -0.03305821 0.27438782] [ 0.35497723 -0.01123578 0.93480743 0.7452943 ] [ 0. 0. 0. 1. ]] SLAMing on 122.246502481 meters Centerline goodness : 0.565179 Centerline is valid? [False, False] Translation: X:3.02, Y:0.27, Z:0.75 [[ 0.92780174 -0.11732437 -0.35414535 3.02437206] [ 0.11441421 0.99300318 -0.02922464 0.27319261] [ 0.35509622 -0.01340459 0.93473365 0.74530135] [ 0. 0. 0. 1. ]] SLAMing on 122.276502481 meters Centerline goodness : 0.569705 Centerline is valid? [False, False] Translation: X:3.03, Y:0.27, Z:0.75 [[ 0.9275918 -0.11589164 -0.35516557 3.0275534 ] [ 0.11282596 0.99317947 -0.02940813 0.27273229] [ 0.35615131 -0.01279316 0.93434072 0.74703668] [ 0. 0. 0. 1. ]] SLAMing on 122.306502481 meters Centerline goodness : 0.568767 Centerline is valid? [False, False] Translation: X:3.03, Y:0.27, Z:0.75 [[ 0.92726596 -0.11508705 -0.35627631 3.02988861] [ 0.11194692 0.99327634 -0.02949586 0.27180744] [ 0.35727542 -0.01253352 0.93391498 0.74836349] [ 0. 0. 0. 1. ]] SLAMing on 122.336502481 meters Centerline goodness : 0.567945 Centerline is valid? [False, False] Translation: X:3.03, Y:0.27, Z:0.75 [[ 0.92703671 -0.11454926 -0.35704538 3.03144848] [ 0.11145221 0.99333741 -0.02931218 0.2719731 ] [ 0.35802422 -0.01262003 0.93362701 0.74879885] [ 0. 0. 0. 1. ]] SLAMing on 122.36650248099998 meters Centerline goodness : 0.570215 Centerline is valid? [False, False] Translation: X:3.04, Y:0.27, Z:0.75 [[ 9.26734013e-01 -1.08012207e-01 -3.59857516e-01 3.03639887e+00] [ 1.01168405e-01 9.94148691e-01 -3.78594080e-02 2.68338744e-01] [ 3.61841156e-01 -1.32060974e-03 9.32238829e-01 7.53246175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.39650248099998 meters Centerline goodness : 0.570861 Centerline is valid? [False, False] Translation: X:3.04, Y:0.27, Z:0.75 [[ 9.26586865e-01 -1.07279219e-01 -3.60455198e-01 3.03844615e+00] [ 1.00495116e-01 9.94227930e-01 -3.75706630e-02 2.67210254e-01] [ 3.62405177e-01 -1.41150421e-03 9.32019579e-01 7.53552320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42650248099999 meters Centerline goodness : 0.571943 Centerline is valid? [False, False] Translation: X:3.04, Y:0.27, Z:0.76 [[ 9.26303590e-01 -1.06058771e-01 -3.61542801e-01 3.03886050e+00] [ 9.91277299e-02 9.94359459e-01 -3.77221467e-02 2.66849269e-01] [ 3.63504268e-01 -8.96757226e-04 9.31592101e-01 7.56581424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.45650248099999 meters Centerline goodness : 0.572221 Centerline is valid? [False, False] Translation: X:3.04, Y:0.27, Z:0.76 [[ 9.26094294e-01 -1.05850522e-01 -3.62139510e-01 3.03843020e+00] [ 9.87997218e-02 9.94381874e-01 -3.79908340e-02 2.65953634e-01] [ 3.64126315e-01 -5.96188222e-04 9.31349382e-01 7.58555835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48650248099999 meters Centerline goodness : 0.568726 Centerline is valid? [False, False] Translation: X:3.04, Y:0.26, Z:0.76 [[ 9.26149756e-01 -1.06145283e-01 -3.61911327e-01 3.03841466e+00] [ 9.89914389e-02 9.94350572e-01 -3.83097306e-02 2.64499810e-01] [ 3.63933132e-01 -3.45575376e-04 9.31425014e-01 7.58808753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.51650248099999 meters Centerline goodness : 0.571770 Centerline is valid? [False, False] Translation: X:3.04, Y:0.26, Z:0.76 [[ 9.26071214e-01 -1.06021703e-01 -3.62148458e-01 3.03917146e+00] [ 9.88825319e-02 9.94363740e-01 -3.82491504e-02 2.63021447e-01] [ 3.64162535e-01 -3.88719294e-04 9.31335330e-01 7.59159635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54650248099999 meters Centerline goodness : 0.567895 Centerline is valid? [False, False] Translation: X:3.04, Y:0.26, Z:0.76 [[ 9.25987978e-01 -1.05499482e-01 -3.62513618e-01 3.04008052e+00] [ 9.84854911e-02 9.94419131e-01 -3.78311917e-02 2.60014670e-01] [ 3.64481648e-01 -6.71102930e-04 9.31210330e-01 7.59711395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.57650248099999 meters Centerline goodness : 0.567961 Centerline is valid? [False, False] Translation: X:3.04, Y:0.26, Z:0.76 [[ 9.25790899e-01 -1.04949494e-01 -3.63176011e-01 3.04060336e+00] [ 9.80362184e-02 9.94477134e-01 -3.74717289e-02 2.59035241e-01] [ 3.65102877e-01 -9.13417078e-04 9.30966731e-01 7.60548074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60650248099999 meters Centerline goodness : 0.569887 Centerline is valid? [False, False] Translation: X:3.04, Y:0.26, Z:0.76 [[ 9.25642556e-01 -1.04216160e-01 -3.63764828e-01 3.04207352e+00] [ 9.74196321e-02 9.94554000e-01 -3.70372286e-02 2.56262325e-01] [ 3.65643643e-01 -1.15460078e-03 9.30754207e-01 7.61247874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.636502481 meters Centerline goodness : 0.567182 Centerline is valid? [False, False] Translation: X:3.04, Y:0.25, Z:0.76 [[ 9.25623246e-01 -1.04087964e-01 -3.63850659e-01 3.04300292e+00] [ 9.73550887e-02 9.94567229e-01 -3.68512301e-02 2.54821088e-01] [ 3.65709712e-01 -1.31235801e-03 9.30728040e-01 7.61048360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.666502481 meters Centerline goodness : 0.564300 Centerline is valid? [False, False] Translation: X:3.04, Y:0.25, Z:0.76 [[ 9.25591445e-01 -1.03564355e-01 -3.64080898e-01 3.04419156e+00] [ 9.69587036e-02 9.94621496e-01 -3.64292308e-02 2.52427302e-01] [ 3.65895458e-01 -1.58222749e-03 9.30654614e-01 7.61266102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.696502481 meters Centerline goodness : 0.562570 Centerline is valid? [False, False] Translation: X:3.05, Y:0.25, Z:0.76 [[ 9.25453883e-01 -1.03235778e-01 -3.64523641e-01 3.04515475e+00] [ 9.66987798e-02 9.94655369e-01 -3.61945247e-02 2.51178492e-01] [ 3.66311967e-01 -1.75262795e-03 9.30490447e-01 7.61758547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72650248099998 meters Centerline goodness : 0.558333 Centerline is valid? [False, False] Translation: X:3.05, Y:0.25, Z:0.76 [[ 9.25126195e-01 -1.03130746e-01 -3.65384144e-01 3.04775972e+00] [ 9.66300425e-02 9.94665952e-01 -3.60871115e-02 2.49562741e-01] [ 3.67156858e-01 -1.92195317e-03 9.30157056e-01 7.61790088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.75650248099998 meters Centerline goodness : 0.563396 Centerline is valid? [False, False] Translation: X:3.05, Y:0.25, Z:0.76 [[ 9.24919303e-01 -1.02398707e-01 -3.66113080e-01 3.05010192e+00] [ 9.60940717e-02 9.94740572e-01 -3.54559473e-02 2.48356430e-01] [ 3.67818177e-01 -2.38740652e-03 9.29894665e-01 7.61582776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78650248099999 meters Centerline goodness : 0.557717 Centerline is valid? [False, False] Translation: X:3.05, Y:0.25, Z:0.76 [[ 9.24618887e-01 -1.01163709e-01 -3.67213585e-01 3.05303709e+00] [ 9.50309317e-02 9.94866060e-01 -3.47943173e-02 2.45457355e-01] [ 3.68848255e-01 -2.72516618e-03 9.29485631e-01 7.62393937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.81650248099999 meters Centerline goodness : 0.558646 Centerline is valid? [False, False] Translation: X:3.05, Y:0.24, Z:0.76 [[ 9.24482654e-01 -1.00495580e-01 -3.67739665e-01 3.05377511e+00] [ 9.43295073e-02 9.94934214e-01 -3.47541996e-02 2.44431321e-01] [ 3.69369418e-01 -2.55904673e-03 9.29279121e-01 7.63514070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84650248099999 meters Centerline goodness : 0.558628 Centerline is valid? [False, False] Translation: X:3.05, Y:0.24, Z:0.77 [[ 9.24596140e-01 -9.98370065e-02 -3.67633716e-01 3.05330745e+00] [ 9.34710728e-02 9.95002025e-01 -3.51301581e-02 2.43687477e-01] [ 3.69303582e-01 -1.88190931e-03 9.29306904e-01 7.65026656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.87650248099999 meters Centerline goodness : 0.555091 Centerline is valid? [False, False] Translation: X:3.05, Y:0.24, Z:0.77 [[ 9.24572752e-01 -9.99223793e-02 -3.67669341e-01 3.05394811e+00] [ 9.33101918e-02 9.94994464e-01 -3.57662497e-02 2.43047547e-01] [ 3.69402808e-01 -1.23879683e-03 9.29268546e-01 7.65499458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90650248099999 meters Centerline goodness : 0.552792 Centerline is valid? [False, False] Translation: X:3.06, Y:0.24, Z:0.77 [[ 0.92446706 -0.09510232 -0.36921023 3.05693708] [ 0.08469928 0.9954202 -0.04432454 0.23925392] [ 0.37173469 0.00970474 0.92828828 0.7700808 ] [ 0. 0. 0. 1. ]] SLAMing on 122.93650248099999 meters Centerline goodness : 0.555352 Centerline is valid? [False, False] Translation: X:3.06, Y:0.23, Z:0.77 [[ 0.92518086 -0.08794556 -0.36919636 3.05506788] [ 0.07511436 0.99596948 -0.04901654 0.23269706] [ 0.3720191 0.01761722 0.92805788 0.77088465] [ 0. 0. 0. 1. ]] SLAMing on 122.96650248099999 meters Centerline goodness : 0.556260 Centerline is valid? [False, False] Translation: X:3.06, Y:0.23, Z:0.77 [[ 0.92558768 -0.08325403 -0.36926441 3.05521267] [ 0.07142714 0.99640244 -0.04561078 0.23249018] [ 0.37173324 0.01584127 0.92820442 0.7707072 ] [ 0. 0. 0. 1. ]] SLAMing on 122.996502481 meters Centerline goodness : 0.556904 Centerline is valid? [False, False] Translation: X:3.05, Y:0.23, Z:0.77 [[ 0.9260921 -0.07541461 -0.36968374 3.05067618] [ 0.06119458 0.99686966 -0.05006095 0.22749463] [ 0.37230183 0.02373841 0.92780808 0.77025529] [ 0. 0. 0. 1. ]] SLAMing on 123.026502481 meters Centerline goodness : 0.550373 Centerline is valid? [False, False] Translation: X:3.04, Y:0.22, Z:0.77 [[ 0.92677138 -0.06709474 -0.36958505 3.04479605] [ 0.0511329 0.99729362 -0.05282855 0.22197135] [ 0.37212934 0.03006203 0.92769393 0.76818993] [ 0. 0. 0. 1. ]] SLAMing on 123.056502481 meters Centerline goodness : 0.558968 Centerline is valid? [False, False] Translation: X:3.02, Y:0.21, Z:0.76 [[ 0.92726833 -0.05765271 -0.3699319 3.01982729] [ 0.03869124 0.99753851 -0.05848004 0.21254165] [ 0.37239285 0.03991357 0.92721652 0.76240272] [ 0. 0. 0. 1. ]] SLAMing on 123.086502481 meters Centerline goodness : 0.559500 Centerline is valid? [False, False] Translation: X:3.02, Y:0.21, Z:0.76 [[ 0.92786262 -0.05001243 -0.36955339 3.01523104] [ 0.02889414 0.99762883 -0.06246472 0.20767472] [ 0.37180113 0.04728075 0.92710757 0.76161495] [ 0. 0. 0. 1. ]] SLAMing on 123.11650248099998 meters Centerline goodness : 0.563531 Centerline is valid? [False, False] Translation: X:3.01, Y:0.20, Z:0.76 [[ 0.92788976 -0.04517414 -0.37010794 3.0126229 ] [ 0.0207716 0.99735467 -0.06965775 0.20280834] [ 0.37227561 0.05694698 0.92637353 0.7636015 ] [ 0. 0. 0. 1. ]] SLAMing on 123.14650248099998 meters Centerline goodness : 0.562624 Centerline is valid? [False, False] Translation: X:3.01, Y:0.20, Z:0.77 [[ 0.92774035 -0.0412936 -0.37093487 3.01076324] [ 0.01334678 0.99689555 -0.07759597 0.19845747] [ 0.37298754 0.06703813 0.92541136 0.76590325] [ 0. 0. 0. 1. ]] SLAMing on 123.17650248099999 meters Centerline goodness : 0.562624 Centerline is valid? [False, False] Translation: X:3.01, Y:0.20, Z:0.77 [[ 0.92777126 -0.04109593 -0.37087951 3.01082945] [ 0.01318855 0.99690727 -0.07747226 0.19769867] [ 0.37291627 0.06698517 0.92544392 0.76578005] [ 0. 0. 0. 1. ]] SLAMing on 123.20650248099999 meters Centerline goodness : 0.559637 Centerline is valid? [False, False] Translation: X:3.01, Y:0.19, Z:0.77 [[ 0.9276533 -0.03860058 -0.37144226 3.00947346] [ 0.00658923 0.9961806 -0.08706771 0.19282858] [ 0.37338444 0.07832113 0.92436457 0.76972427] [ 0. 0. 0. 1. ]] SLAMing on 123.23650248099999 meters Centerline goodness : 0.561213 Centerline is valid? [False, False] Translation: X:3.01, Y:0.19, Z:0.77 [[ 9.27333120e-01 -3.42757374e-02 -3.72664003e-01 3.00713645e+00] [-1.32943305e-03 9.95488958e-01 -9.48681525e-02 1.86597238e-01] [ 3.74234576e-01 8.84698116e-02 9.23104314e-01 7.72218018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26650248099999 meters Centerline goodness : 0.557131 Centerline is valid? [False, False] Translation: X:3.01, Y:0.18, Z:0.77 [[ 9.26743731e-01 -3.38829643e-02 -3.74163069e-01 3.00954102e+00] [-2.20039356e-03 9.95418187e-01 -9.55917961e-02 1.81189534e-01] [ 3.75687657e-01 8.94124037e-02 9.22423008e-01 7.74535443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.29650248099999 meters Centerline goodness : 0.562064 Centerline is valid? [False, False] Translation: X:3.01, Y:0.18, Z:0.77 [[ 9.26506077e-01 -3.31139893e-02 -3.74819895e-01 3.01088732e+00] [-2.86991776e-03 9.95469299e-01 -9.50401950e-02 1.79208749e-01] [ 3.76268858e-01 8.91310205e-02 9.22213320e-01 7.74865182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32650248099999 meters Centerline goodness : 0.559500 Centerline is valid? [False, False] Translation: X:3.02, Y:0.18, Z:0.78 [[ 0.92655445 -0.03817246 -0.37421881 3.02258673] [ 0.00441722 0.99587321 -0.09064785 0.18061706] [ 0.37613474 0.08233716 0.92289937 0.77776157] [ 0. 0. 0. 1. ]] SLAMing on 123.35650248099999 meters Centerline goodness : 0.560484 Centerline is valid? [False, False] Translation: X:3.02, Y:0.18, Z:0.78 [[ 0.92668233 -0.03861233 -0.37385686 3.02136709] [ 0.00468824 0.99581895 -0.09122845 0.1773194 ] [ 0.37581629 0.08278706 0.92298885 0.77870082] [ 0. 0. 0. 1. ]] SLAMing on 123.386502481 meters Centerline goodness : 0.564349 Centerline is valid? [False, False] Translation: X:3.02, Y:0.18, Z:0.78 [[ 0.92662231 -0.03838847 -0.37402864 3.02123075] [ 0.0044362 0.99582125 -0.09121595 0.17638419] [ 0.37596731 0.08286347 0.92292049 0.77933908] [ 0. 0. 0. 1. ]] SLAMing on 123.416502481 meters Centerline goodness : 0.563924 Centerline is valid? [False, False] Translation: X:3.03, Y:0.18, Z:0.78 [[ 0.92683574 -0.04386483 -0.37289594 3.03187811] [ 0.01177108 0.99605868 -0.08791216 0.17935283] [ 0.37528249 0.07709075 0.92369912 0.78322476] [ 0. 0. 0. 1. ]] SLAMing on 123.446502481 meters Centerline goodness : 0.567106 Centerline is valid? [False, False] Translation: X:3.06, Y:0.18, Z:0.79 [[ 0.92790999 -0.04324065 -0.37028813 3.05593121] [ 0.01289721 0.99637945 -0.0840336 0.17784014] [ 0.37258115 0.07319993 0.92510813 0.78942242] [ 0. 0. 0. 1. ]] SLAMing on 123.47650248099998 meters Centerline goodness : 0.564510 Centerline is valid? [False, False] Translation: X:3.06, Y:0.18, Z:0.79 [[ 0.92733189 -0.04961787 -0.37093616 3.0645226 ] [ 0.02126952 0.99655746 -0.08013011 0.18251718] [ 0.37363508 0.06641757 0.92519486 0.79268314] [ 0. 0. 0. 1. ]] SLAMing on 123.50650248099998 meters Centerline goodness : 0.569526 Centerline is valid? [False, False] Translation: X:3.07, Y:0.18, Z:0.79 [[ 0.92701523 -0.04951195 -0.37174095 3.06503986] [ 0.02097067 0.99653934 -0.08043364 0.183151 ] [ 0.3744369 0.06676756 0.92484545 0.79409993] [ 0. 0. 0. 1. ]] SLAMing on 123.53650248099999 meters Centerline goodness : 0.565499 Centerline is valid? [False, False] Translation: X:3.07, Y:0.18, Z:0.79 [[ 0.92688947 -0.04948195 -0.37205838 3.06569151] [ 0.02084269 0.99652786 -0.08060903 0.18337725] [ 0.37475524 0.06696097 0.92470252 0.79447031] [ 0. 0. 0. 1. ]] SLAMing on 123.56650248099999 meters Centerline goodness : 0.567557 Centerline is valid? [False, False] Translation: X:3.07, Y:0.19, Z:0.80 [[ 0.92632713 -0.0527747 -0.37300521 3.06743317] [ 0.02299114 0.99621289 -0.08385277 0.18586702] [ 0.3760179 0.06909928 0.92403237 0.79594114] [ 0. 0. 0. 1. ]] SLAMing on 123.59650248099999 meters Centerline goodness : 0.567570 Centerline is valid? [False, False] Translation: X:3.07, Y:0.19, Z:0.80 [[ 0.92602167 -0.05232459 -0.37382617 3.0689036 ] [ 0.02246623 0.9962301 -0.08379059 0.18615124] [ 0.37680119 0.06919343 0.92370619 0.79664491] [ 0. 0. 0. 1. ]] SLAMing on 123.62650248099999 meters Centerline goodness : 0.570838 Centerline is valid? [False, False] Translation: X:3.07, Y:0.19, Z:0.80 [[ 0.92545687 -0.05039931 -0.37548566 3.07072182] [ 0.02046563 0.99631532 -0.08328827 0.1868404 ] [ 0.37829979 0.06939515 0.92307832 0.79934859] [ 0. 0. 0. 1. ]] SLAMing on 123.65650248099999 meters Centerline goodness : 0.569115 Centerline is valid? [False, False] Translation: X:3.07, Y:0.19, Z:0.80 [[ 0.92499085 -0.04960996 -0.37673702 3.07219376] [ 0.01953063 0.99633746 -0.083248 0.18725714] [ 0.37948714 0.06964572 0.92257194 0.80111757] [ 0. 0. 0. 1. ]] SLAMing on 123.68650248099999 meters Centerline goodness : 0.567054 Centerline is valid? [False, False] Translation: X:3.09, Y:0.18, Z:0.81 [[ 0.92469038 -0.04238075 -0.37835378 3.08563293] [ 0.01129803 0.99640185 -0.08399832 0.18398905] [ 0.38055231 0.07339778 0.92184202 0.80889492] [ 0. 0. 0. 1. ]] SLAMing on 123.71650248099999 meters Centerline goodness : 0.567908 Centerline is valid? [False, False] Translation: X:3.09, Y:0.18, Z:0.81 [[ 0.92458221 -0.04229064 -0.37862811 3.08598337] [ 0.01107786 0.99638398 -0.08423918 0.18442668] [ 0.38082151 0.07369166 0.92170739 0.8094981 ] [ 0. 0. 0. 1. ]] SLAMing on 123.746502481 meters Centerline goodness : 0.568300 Centerline is valid? [False, False] Translation: X:3.09, Y:0.18, Z:0.81 [[ 0.92393066 -0.03892497 -0.38057455 3.09247772] [ 0.00720269 0.99640376 -0.08442552 0.18136389] [ 0.38249217 0.07526217 0.92088835 0.81338583] [ 0. 0. 0. 1. ]] SLAMing on 123.776502481 meters Centerline goodness : 0.567142 Centerline is valid? [False, False] Translation: X:3.09, Y:0.18, Z:0.81 [[ 0.92358497 -0.03852776 -0.38145304 3.09452025] [ 0.00665567 0.99639921 -0.08452404 0.17940048] [ 0.38333603 0.07552631 0.92051576 0.8142228 ] [ 0. 0. 0. 1. ]] SLAMing on 123.806502481 meters Centerline goodness : 0.566769 Centerline is valid? [False, False] Translation: X:3.10, Y:0.17, Z:0.82 [[ 0.92314728 -0.0376063 -0.38260274 3.09831391] [ 0.00547489 0.99638925 -0.08472596 0.17460523] [ 0.38440749 0.07611983 0.92001992 0.81529484] [ 0. 0. 0. 1. ]] SLAMing on 123.836502481 meters Centerline goodness : 0.563720 Centerline is valid? [False, False] Translation: X:3.10, Y:0.17, Z:0.82 [[ 0.92307553 -0.03757738 -0.38277866 3.10054851] [ 0.00526097 0.99635636 -0.0851254 0.17052741] [ 0.38458274 0.07656339 0.91990987 0.81522274] [ 0. 0. 0. 1. ]] SLAMing on 123.86650248099998 meters Centerline goodness : 0.561688 Centerline is valid? [False, False] Translation: X:3.10, Y:0.17, Z:0.82 [[ 0.92302677 -0.03706987 -0.3829457 3.10182929] [ 0.00475439 0.99637039 -0.08499087 0.16726571] [ 0.38470635 0.07662818 0.91985278 0.81536142] [ 0. 0. 0. 1. ]] SLAMing on 123.89650248099998 meters Centerline goodness : 0.564855 Centerline is valid? [False, False] Translation: X:3.10, Y:0.17, Z:0.82 [[ 0.92282798 -0.03648557 -0.38348055 3.10283131] [ 0.00424637 0.99640741 -0.08458271 0.16543428] [ 0.38518891 0.07642689 0.91966757 0.81581414] [ 0. 0. 0. 1. ]] SLAMing on 123.92650248099999 meters Centerline goodness : 0.560397 Centerline is valid? [False, False] Translation: X:3.10, Y:0.16, Z:0.82 [[ 9.22662689e-01 -3.17869598e-02 -3.84295655e-01 3.10469172e+00] [ 5.05287739e-04 9.96695389e-01 -8.12283607e-02 1.60579297e-01] [ 3.85607710e-01 7.47521979e-02 9.19629710e-01 8.16358695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.95650248099999 meters Centerline goodness : 0.561574 Centerline is valid? [False, False] Translation: X:3.11, Y:0.16, Z:0.82 [[ 9.22507295e-01 -3.14090000e-02 -3.84699579e-01 3.10513770e+00] [ 4.20188481e-05 9.96691741e-01 -8.12746619e-02 1.59160170e-01] [ 3.85979649e-01 7.49603038e-02 9.19456722e-01 8.17288765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98650248099999 meters Centerline goodness : 0.562662 Centerline is valid? [False, False] Translation: X:3.07, Y:0.15, Z:0.81 [[ 0.92212845 -0.0296232 -0.38574808 3.0671686 ] [-0.00525505 0.99601328 -0.08905016 0.15222983] [ 0.38684816 0.08414281 0.91829651 0.80729313] [ 0. 0. 0. 1. ]] SLAMing on 124.01650248099999 meters Centerline goodness : 0.556066 Centerline is valid? [False, False] Translation: X:3.06, Y:0.15, Z:0.81 [[ 0.92259631 -0.02639249 -0.38486295 3.06332008] [-0.01183611 0.99525055 -0.09662425 0.14736528] [ 0.38558522 0.09370046 0.9179021 0.80553742] [ 0. 0. 0. 1. ]] SLAMing on 124.04650248099999 meters Centerline goodness : 0.551164 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:0.80 [[ 0.92288963 -0.02263525 -0.38439873 3.06044161] [-0.01862637 0.994478 -0.10327905 0.1404851 ] [ 0.38461382 0.10247512 0.91737182 0.80363922] [ 0. 0. 0. 1. ]] SLAMing on 124.07650248099999 meters Centerline goodness : 0.553128 Centerline is valid? [False, False] Translation: X:3.02, Y:0.13, Z:0.79 [[ 0.92233218 -0.02126938 -0.38581208 3.02077206] [-0.02284424 0.99373576 -0.10939554 0.1349239 ] [ 0.38572203 0.10971261 0.91606859 0.792426 ] [ 0. 0. 0. 1. ]] SLAMing on 124.10650248099999 meters Centerline goodness : 0.552708 Centerline is valid? [False, False] Translation: X:3.02, Y:0.13, Z:0.79 [[ 0.92211438 -0.02083048 -0.38635626 3.0204607 ] [-0.02323746 0.99376574 -0.10903981 0.13360743] [ 0.38621896 0.10952512 0.91588163 0.79347987] [ 0. 0. 0. 1. ]] SLAMing on 124.136502481 meters Centerline goodness : 0.551843 Centerline is valid? [False, False] Translation: X:3.02, Y:0.13, Z:0.79 [[ 0.92202229 -0.02093118 -0.38657053 3.01950887] [-0.02322687 0.99374769 -0.10920646 0.13083419] [ 0.38643939 0.10966961 0.91577135 0.79477384] [ 0. 0. 0. 1. ]] SLAMing on 124.166502481 meters Centerline goodness : 0.546877 Centerline is valid? [False, False] Translation: X:3.02, Y:0.13, Z:0.80 [[ 0.92167235 -0.02562497 -0.387122 3.01945397] [-0.01993609 0.99337001 -0.11321912 0.1298432 ] [ 0.38745662 0.11206863 0.91505081 0.79641862] [ 0. 0. 0. 1. ]] SLAMing on 124.196502481 meters Centerline goodness : 0.549401 Centerline is valid? [False, False] Translation: X:3.02, Y:0.13, Z:0.80 [[ 0.92206412 -0.03692636 -0.38527158 3.02474183] [-0.00682988 0.99373086 -0.11158997 0.13333617] [ 0.38697688 0.10552447 0.91603138 0.79678725] [ 0. 0. 0. 1. ]] SLAMing on 124.22650248099998 meters Centerline goodness : 0.547498 Centerline is valid? [False, False] Translation: X:3.03, Y:0.14, Z:0.80 [[ 0.92159789 -0.04620357 -0.38538626 3.02993407] [ 0.00425199 0.99403206 -0.10900546 0.13769876] [ 0.38812274 0.09882054 0.9162943 0.79909952] [ 0. 0. 0. 1. ]] SLAMing on 124.25650248099998 meters Centerline goodness : 0.544071 Centerline is valid? [False, False] Translation: X:3.03, Y:0.14, Z:0.80 [[ 0.92108347 -0.05794621 -0.38502918 3.03466824] [ 0.01760407 0.99405034 -0.1074896 0.14090752] [ 0.38896701 0.09222882 0.91662343 0.80134838] [ 0. 0. 0. 1. ]] SLAMing on 124.28650248099999 meters Centerline goodness : 0.547805 Centerline is valid? [False, False] Translation: X:3.03, Y:0.14, Z:0.80 [[ 0.92117384 -0.05793534 -0.38481457 3.03471202] [ 0.01780611 0.99409521 -0.10704044 0.13921532] [ 0.38874375 0.0917508 0.9167661 0.80068034] [ 0. 0. 0. 1. ]] SLAMing on 124.31650248099999 meters Centerline goodness : 0.547863 Centerline is valid? [False, False] Translation: X:3.04, Y:0.14, Z:0.80 [[ 0.92090384 -0.06630924 -0.38410832 3.03977869] [ 0.02852573 0.99424655 -0.10324764 0.14250866] [ 0.38874465 0.08412417 0.91749699 0.80221627] [ 0. 0. 0. 1. ]] SLAMing on 124.34650248099999 meters Centerline goodness : 0.548324 Centerline is valid? [False, False] Translation: X:3.04, Y:0.14, Z:0.80 [[ 0.92075491 -0.06613825 -0.38449464 3.04046954] [ 0.02868299 0.9943347 -0.10235135 0.13977856] [ 0.3890857 0.08321205 0.9174356 0.80167767] [ 0. 0. 0. 1. ]] SLAMing on 124.37650248099999 meters Centerline goodness : 0.548399 Centerline is valid? [False, False] Translation: X:3.04, Y:0.14, Z:0.80 [[ 0.9204391 -0.06613341 -0.38525087 3.04200706] [ 0.02886611 0.99439276 -0.10173391 0.13765485] [ 0.38981869 0.08251918 0.91718699 0.80133626] [ 0. 0. 0. 1. ]] SLAMing on 124.40650248099999 meters Centerline goodness : 0.550565 Centerline is valid? [False, False] Translation: X:3.04, Y:0.14, Z:0.80 [[ 0.92042855 -0.06570808 -0.38534885 3.04315734] [ 0.02867949 0.9944659 -0.10106954 0.13649458] [ 0.38985738 0.08197568 0.91721928 0.80058028] [ 0. 0. 0. 1. ]] SLAMing on 124.43650248099999 meters Centerline goodness : 0.550302 Centerline is valid? [False, False] Translation: X:3.04, Y:0.14, Z:0.80 [[ 0.92038356 -0.06582951 -0.38543557 3.04327525] [ 0.02888696 0.99448011 -0.10087045 0.13578945] [ 0.38994826 0.08170544 0.91720476 0.80045701] [ 0. 0. 0. 1. ]] SLAMing on 124.46650248099999 meters Centerline goodness : 0.553883 Centerline is valid? [False, False] Translation: X:3.04, Y:0.14, Z:0.80 [[ 0.92040035 -0.06575623 -0.38540799 3.04364032] [ 0.0288501 0.99449064 -0.10077714 0.13612197] [ 0.38991136 0.08163625 0.91722661 0.80024113] [ 0. 0. 0. 1. ]] SLAMing on 124.496502481 meters Centerline goodness : 0.550417 Centerline is valid? [False, False] Translation: X:3.04, Y:0.14, Z:0.80 [[ 0.92037936 -0.06571096 -0.38546582 3.04425032] [ 0.0288248 0.99449833 -0.10070851 0.13639759] [ 0.38996277 0.08157906 0.91720984 0.80001362] [ 0. 0. 0. 1. ]] SLAMing on 124.526502481 meters Centerline goodness : 0.554247 Centerline is valid? [False, False] Translation: X:3.05, Y:0.14, Z:0.80 [[ 0.92031895 -0.06557972 -0.38563238 3.0455092 ] [ 0.02869065 0.99450785 -0.10065283 0.13710376] [ 0.39011521 0.08156866 0.91714594 0.79968359] [ 0. 0. 0. 1. ]] SLAMing on 124.556502481 meters Centerline goodness : 0.558236 Centerline is valid? [False, False] Translation: X:3.05, Y:0.14, Z:0.80 [[ 0.92079815 -0.06071666 -0.38528463 3.04540075] [ 0.02511518 0.99498924 -0.09677627 0.13705623] [ 0.38923 0.07943492 0.91770916 0.79890114] [ 0. 0. 0. 1. ]] SLAMing on 124.586502481 meters Centerline goodness : 0.559250 Centerline is valid? [False, False] Translation: X:3.05, Y:0.14, Z:0.80 [[ 0.9206917 -0.06047436 -0.38557703 3.04555012] [ 0.02477342 0.99498575 -0.09690009 0.1378627 ] [ 0.38950362 0.07966305 0.91757328 0.79965241] [ 0. 0. 0. 1. ]] SLAMing on 124.61650248099998 meters Centerline goodness : 0.561810 Centerline is valid? [False, False] Translation: X:3.05, Y:0.14, Z:0.80 [[ 0.92116736 -0.05584218 -0.38513937 3.04591988] [ 0.02144671 0.99543192 -0.09303406 0.13704513] [ 0.38857525 0.07743997 0.91815703 0.79829839] [ 0. 0. 0. 1. ]] SLAMing on 124.64650248099998 meters Centerline goodness : 0.564573 Centerline is valid? [False, False] Translation: X:3.05, Y:0.14, Z:0.80 [[ 0.92173691 -0.05114561 -0.38442841 3.04708782] [ 0.01807347 0.99585358 -0.08915718 0.1364266 ] [ 0.38739441 0.0752315 0.91883937 0.79621615] [ 0. 0. 0. 1. ]] SLAMing on 124.67650248099999 meters Centerline goodness : 0.566836 Centerline is valid? [False, False] Translation: X:3.05, Y:0.14, Z:0.80 [[ 0.92162939 -0.05064905 -0.38475179 3.04850664] [ 0.01762108 0.99588558 -0.08888991 0.13638962] [ 0.38767095 0.07514381 0.91872991 0.79609686] [ 0. 0. 0. 1. ]] SLAMing on 124.70650248099999 meters Centerline goodness : 0.566256 Centerline is valid? [False, False] Translation: X:3.05, Y:0.14, Z:0.79 [[ 0.9219244 -0.04574836 -0.38465894 3.05055889] [ 0.01395332 0.9962792 -0.08504736 0.13550271] [ 0.38711847 0.07303997 0.91913244 0.79458324] [ 0. 0. 0. 1. ]] SLAMing on 124.73650248099999 meters Centerline goodness : 0.564921 Centerline is valid? [False, False] Translation: X:3.05, Y:0.14, Z:0.79 [[ 0.92170387 -0.04528864 -0.38524136 3.05209578] [ 0.01347161 0.99629902 -0.08489272 0.13635106] [ 0.38766027 0.07305612 0.91890278 0.79481478] [ 0. 0. 0. 1. ]] SLAMing on 124.76650248099999 meters Centerline goodness : 0.561450 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:0.79 [[ 0.92118733 -0.04422087 -0.38659853 3.05674812] [ 0.01241084 0.99635509 -0.08439499 0.13757871] [ 0.38892143 0.07294558 0.9183785 0.79463166] [ 0. 0. 0. 1. ]] SLAMing on 124.79650248099999 meters Centerline goodness : 0.564530 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:0.80 [[ 0.92083394 -0.0434897 -0.38752225 3.05890808] [ 0.01165171 0.99638644 -0.08413261 0.1385816 ] [ 0.38978082 0.07295686 0.91801318 0.79510844] [ 0. 0. 0. 1. ]] SLAMing on 124.82650248099999 meters Centerline goodness : 0.559578 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:0.80 [[ 0.9204862 -0.04311434 -0.38838937 3.06016893] [ 0.01110772 0.99638013 -0.0842808 0.14005459] [ 0.39061716 0.07326519 0.91763307 0.79613547] [ 0. 0. 0. 1. ]] SLAMing on 124.85650248099999 meters Centerline goodness : 0.562806 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:0.80 [[ 0.9202752 -0.04222941 -0.38898617 3.06164893] [ 0.01003315 0.99637865 -0.08443288 0.14315719] [ 0.39114307 0.07379873 0.91736626 0.79722167] [ 0. 0. 0. 1. ]] SLAMing on 124.886502481 meters Centerline goodness : 0.561893 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:0.80 [[ 0.92005692 -0.04206722 -0.38951972 3.06223191] [ 0.00964665 0.99634978 -0.08481777 0.14442812] [ 0.39166594 0.07427962 0.91710432 0.7982677 ] [ 0. 0. 0. 1. ]] SLAMing on 124.916502481 meters Centerline goodness : 0.566654 Centerline is valid? [False, False] Translation: X:3.09, Y:0.14, Z:0.81 [[ 0.92220977 -0.03584051 -0.38502545 3.0906348 ] [ 0.00542735 0.99679705 -0.0797884 0.14383986] [ 0.38665189 0.07149198 0.91945049 0.80688476] [ 0. 0. 0. 1. ]] SLAMing on 124.946502481 meters Centerline goodness : 0.568122 Centerline is valid? [False, False] Translation: X:3.12, Y:0.14, Z:0.81 [[ 0.92402494 -0.03194491 -0.38099531 3.11651318] [ 0.00363499 0.99719234 -0.0747946 0.14211042] [ 0.38231491 0.06772716 0.92154671 0.81337633] [ 0. 0. 0. 1. ]] SLAMing on 124.97650248099998 meters Centerline goodness : 0.571570 Centerline is valid? [False, False] Translation: X:3.14, Y:0.14, Z:0.82 [[ 9.26179712e-01 -2.88385198e-02 -3.75978033e-01 3.14016653e+00] [ 2.84477381e-03 9.97577264e-01 -6.95090605e-02 1.40451298e-01] [ 3.77071676e-01 6.33083091e-02 9.24017862e-01 8.18285797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00650248099998 meters Centerline goodness : 0.569360 Centerline is valid? [False, False] Translation: X:3.14, Y:0.14, Z:0.82 [[ 9.26203437e-01 -2.87563381e-02 -3.75925879e-01 3.13974128e+00] [ 2.71144167e-03 9.97569317e-01 -6.96283376e-02 1.40504676e-01] [ 3.77014378e-01 6.34707045e-02 9.24030101e-01 8.18750379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.03650248099999 meters Centerline goodness : 0.574807 Centerline is valid? [False, False] Translation: X:3.16, Y:0.14, Z:0.82 [[ 9.27721712e-01 -2.67511222e-02 -3.72312775e-01 3.16281839e+00] [ 2.85553015e-03 9.97908089e-01 -6.45855461e-02 1.39089399e-01] [ 3.73261665e-01 5.88542630e-02 9.25857389e-01 8.23307668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06650248099999 meters Centerline goodness : 0.574807 Centerline is valid? [False, False] Translation: X:3.16, Y:0.14, Z:0.82 [[ 9.27721872e-01 -2.67519256e-02 -3.72312318e-01 3.16281731e+00] [ 2.85634941e-03 9.97908074e-01 -6.45857350e-02 1.39088663e-01] [ 3.73261261e-01 5.88541449e-02 9.25857560e-01 8.23307408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.09650248099999 meters Centerline goodness : 0.568525 Centerline is valid? [False, False] Translation: X:3.19, Y:0.14, Z:0.83 [[ 0.92847606 -0.02692132 -0.37041524 3.18794738] [ 0.00418242 0.998064 -0.06205448 0.1384956 ] [ 0.3713687 0.05606687 0.92679113 0.8302995 ] [ 0. 0. 0. 1. ]] SLAMing on 125.12650248099999 meters Centerline goodness : 0.571362 Centerline is valid? [False, False] Translation: X:3.20, Y:0.14, Z:0.83 [[ 0.9280456 -0.03453265 -0.37086232 3.19529407] [ 0.01416301 0.99824449 -0.05750951 0.14020169] [ 0.37219723 0.04811893 0.92690549 0.83150828] [ 0. 0. 0. 1. ]] SLAMing on 125.15650248099999 meters Centerline goodness : 0.571912 Centerline is valid? [False, False] Translation: X:3.20, Y:0.14, Z:0.83 [[ 0.92771557 -0.03366234 -0.37176696 3.1969765 ] [ 0.01343085 0.99829088 -0.0568765 0.13873672] [ 0.37304616 0.04777207 0.9265821 0.83201093] [ 0. 0. 0. 1. ]] SLAMing on 125.18650248099999 meters Centerline goodness : 0.576629 Centerline is valid? [False, False] Translation: X:3.23, Y:0.14, Z:0.84 [[ 0.928072 -0.03250227 -0.37097974 3.22903533] [ 0.01314531 0.99842241 -0.05458844 0.13528353] [ 0.37216873 0.04578536 0.92703513 0.8403664 ] [ 0. 0. 0. 1. ]] SLAMing on 125.21650248099999 meters Centerline goodness : 0.567965 Centerline is valid? [False, False] Translation: X:3.23, Y:0.14, Z:0.84 [[ 0.92730284 -0.03632654 -0.37254507 3.23133937] [ 0.0157827 0.99818904 -0.05804777 0.13519986] [ 0.37397908 0.0479481 0.92619686 0.84226862] [ 0. 0. 0. 1. ]] SLAMing on 125.246502481 meters Centerline goodness : 0.572516 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:0.84 [[ 0.92699583 -0.03584577 -0.3733548 3.23321865] [ 0.01538445 0.99821882 -0.05764115 0.13389461] [ 0.37475598 0.04768925 0.92589616 0.84257491] [ 0. 0. 0. 1. ]] SLAMing on 125.276502481 meters Centerline goodness : 0.569758 Centerline is valid? [False, False] Translation: X:3.25, Y:0.13, Z:0.85 [[ 0.92587664 -0.03073067 -0.37657414 3.24530115] [ 0.00938888 0.99825035 -0.05837883 0.12871302] [ 0.37770928 0.05051598 0.9245452 0.84966872] [ 0. 0. 0. 1. ]] SLAMing on 125.306502481 meters Centerline goodness : 0.569313 Centerline is valid? [False, False] Translation: X:3.25, Y:0.13, Z:0.85 [[ 0.92556618 -0.0305651 -0.37735001 3.24650284] [ 0.00913431 0.99824838 -0.05845278 0.12851032] [ 0.37847565 0.05065508 0.92422413 0.85043264] [ 0. 0. 0. 1. ]] SLAMing on 125.336502481 meters Centerline goodness : 0.569763 Centerline is valid? [False, False] Translation: X:3.25, Y:0.13, Z:0.85 [[ 0.92513894 -0.02985808 -0.37845269 3.2477957 ] [ 0.00829067 0.99825353 -0.05849056 0.12779403] [ 0.37953815 0.05097426 0.92377076 0.85229654] [ 0. 0. 0. 1. ]] SLAMing on 125.36650248099998 meters Centerline goodness : 0.572320 Centerline is valid? [False, False] Translation: X:3.25, Y:0.13, Z:0.86 [[ 0.92444163 -0.02826867 -0.38027431 3.25054576] [ 0.00637701 0.99825498 -0.05870541 0.12622369] [ 0.38127024 0.05184471 0.92300874 0.85569613] [ 0. 0. 0. 1. ]] SLAMing on 125.39650248099998 meters Centerline goodness : 0.569499 Centerline is valid? [False, False] Translation: X:3.28, Y:0.12, Z:0.87 [[ 9.25315268e-01 -2.47224624e-02 -3.78391933e-01 3.27768169e+00] [-2.13796493e-04 9.97838267e-01 -6.57171732e-02 1.22994460e-01] [ 3.79198641e-01 6.08900026e-02 9.23309698e-01 8.69147983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42650248099999 meters Centerline goodness : 0.567165 Centerline is valid? [False, False] Translation: X:3.30, Y:0.12, Z:0.88 [[ 9.26556634e-01 -2.48667859e-02 -3.75332448e-01 3.30265632e+00] [ 1.09777439e-03 9.97987000e-01 -6.34093296e-02 1.21171793e-01] [ 3.76153690e-01 5.83403046e-02 9.24718774e-01 8.76049453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.45650248099999 meters Centerline goodness : 0.566587 Centerline is valid? [False, False] Translation: X:3.31, Y:0.12, Z:0.88 [[ 0.92682857 -0.03268917 -0.37405912 3.30745651] [ 0.01149255 0.99820611 -0.05875783 0.12424435] [ 0.37530885 0.05015954 0.92554162 0.87692704] [ 0. 0. 0. 1. ]] SLAMing on 125.48650248099999 meters Centerline goodness : 0.564796 Centerline is valid? [False, False] Translation: X:3.31, Y:0.13, Z:0.88 [[ 0.92662192 -0.03971936 -0.37389062 3.3143824 ] [ 0.02073357 0.99828939 -0.05466637 0.12853184] [ 0.37542236 0.04290297 0.92586035 0.87912244] [ 0. 0. 0. 1. ]] SLAMing on 125.51650248099999 meters Centerline goodness : 0.561691 Centerline is valid? [False, False] Translation: X:3.32, Y:0.13, Z:0.88 [[ 0.92655558 -0.03993979 -0.37403152 3.31544894] [ 0.02082809 0.99826902 -0.05500145 0.12872861] [ 0.37558083 0.04317154 0.92578359 0.87917223] [ 0. 0. 0. 1. ]] SLAMing on 125.54650248099999 meters Centerline goodness : 0.564431 Centerline is valid? [False, False] Translation: X:3.32, Y:0.13, Z:0.88 [[ 0.92635637 -0.04008017 -0.37450961 3.31671351] [ 0.02084638 0.99825382 -0.05526963 0.12869096] [ 0.37607087 0.04339221 0.92557432 0.87953 ] [ 0. 0. 0. 1. ]] SLAMing on 125.57650248099999 meters Centerline goodness : 0.563700 Centerline is valid? [False, False] Translation: X:3.32, Y:0.13, Z:0.88 [[ 0.9260598 -0.03926359 -0.37532868 3.31844478] [ 0.02026649 0.99831187 -0.05443049 0.12677069] [ 0.37683222 0.04279929 0.92529223 0.87961913] [ 0. 0. 0. 1. ]] SLAMing on 125.60650248099999 meters Centerline goodness : 0.564402 Centerline is valid? [False, False] Translation: X:3.32, Y:0.12, Z:0.88 [[ 0.92589662 -0.03910396 -0.3757477 3.31859387] [ 0.02025732 0.99833654 -0.05397964 0.12246534] [ 0.37723348 0.04236792 0.92514856 0.88004317] [ 0. 0. 0. 1. ]] SLAMing on 125.636502481 meters Centerline goodness : 0.560799 Centerline is valid? [False, False] Translation: X:3.32, Y:0.12, Z:0.88 [[ 0.92584346 -0.03918364 -0.37587035 3.31933882] [ 0.02044574 0.99834705 -0.05371353 0.11834434] [ 0.37735375 0.04204537 0.92511423 0.87973806] [ 0. 0. 0. 1. ]] SLAMing on 125.666502481 meters Centerline goodness : 0.558269 Centerline is valid? [False, False] Translation: X:3.32, Y:0.12, Z:0.88 [[ 0.92524205 -0.04376898 -0.37684404 3.32087953] [ 0.02375053 0.99805677 -0.05760724 0.11858034] [ 0.37863315 0.0443504 0.92448363 0.88096841] [ 0. 0. 0. 1. ]] SLAMing on 125.696502481 meters Centerline goodness : 0.558757 Centerline is valid? [False, False] Translation: X:3.32, Y:0.12, Z:0.88 [[ 0.92523396 -0.04328876 -0.37691937 3.32250388] [ 0.02342427 0.99809194 -0.05712955 0.11697772] [ 0.37867325 0.04402914 0.92448256 0.8802161 ] [ 0. 0. 0. 1. ]] SLAMing on 125.72650248099998 meters Centerline goodness : 0.554408 Centerline is valid? [False, False] Translation: X:3.32, Y:0.12, Z:0.88 [[ 0.92469084 -0.0424237 -0.37834783 3.32455318] [ 0.02254807 0.99813029 -0.05681117 0.11700692] [ 0.38005056 0.04400175 0.92391851 0.88161225] [ 0. 0. 0. 1. ]] SLAMing on 125.75650248099998 meters Centerline goodness : 0.552009 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.88 [[ 0.92415004 -0.04056345 -0.37987012 3.32670852] [ 0.02071651 0.99820506 -0.05619153 0.11920768] [ 0.3814676 0.04405982 0.92333158 0.88349552] [ 0. 0. 0. 1. ]] SLAMing on 125.78650248099999 meters Centerline goodness : 0.553058 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.88 [[ 0.92385629 -0.04016417 -0.38062632 3.32786487] [ 0.0201298 0.99820121 -0.05647239 0.12021874] [ 0.38220982 0.04451044 0.92300296 0.88472257] [ 0. 0. 0. 1. ]] SLAMing on 125.81650248099999 meters Centerline goodness : 0.548696 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.89 [[ 0.9237011 -0.03998833 -0.38102128 3.32838774] [ 0.01975859 0.99818664 -0.05685979 0.12139809] [ 0.38260408 0.044993 0.92281621 0.885664 ] [ 0. 0. 0. 1. ]] SLAMing on 125.84650248099999 meters Centerline goodness : 0.547526 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.89 [[ 0.92387685 -0.04028718 -0.38056342 3.32821203] [ 0.01979268 0.99814263 -0.05761551 0.12295257] [ 0.38217774 0.04569726 0.92295825 0.88581249] [ 0. 0. 0. 1. ]] SLAMing on 125.87650248099999 meters Centerline goodness : 0.544393 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.89 [[ 0.92383322 -0.040192 -0.38067938 3.32846639] [ 0.01965611 0.99814149 -0.05768196 0.1226223 ] [ 0.38229023 0.04580584 0.92290628 0.88611426] [ 0. 0. 0. 1. ]] SLAMing on 125.90650248099999 meters Centerline goodness : 0.548713 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.89 [[ 0.92365435 -0.03982718 -0.38115147 3.32867379] [ 0.01925104 0.9981514 -0.05764702 0.12136356] [ 0.38274279 0.04590836 0.92271359 0.88730437] [ 0. 0. 0. 1. ]] SLAMing on 125.93650248099999 meters Centerline goodness : 0.544443 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.89 [[ 0.92355223 -0.03948452 -0.38143448 3.32890563] [ 0.01894613 0.99816843 -0.05745276 0.12075076] [ 0.38300435 0.04583392 0.92260876 0.88779298] [ 0. 0. 0. 1. ]] SLAMing on 125.96650248099999 meters Centerline goodness : 0.547616 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.89 [[ 0.92353957 -0.03930028 -0.38148415 3.32910454] [ 0.01878639 0.99817728 -0.05735147 0.12026977] [ 0.38304274 0.04579964 0.92259452 0.88798186] [ 0. 0. 0. 1. ]] SLAMing on 125.996502481 meters Centerline goodness : 0.544581 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.89 [[ 0.92345825 -0.03900742 -0.38171098 3.32973057] [ 0.01850773 0.9981894 -0.05723094 0.12012348] [ 0.38325229 0.04578578 0.92250818 0.88822091] [ 0. 0. 0. 1. ]] SLAMing on 126.026502481 meters Centerline goodness : 0.545241 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.89 [[ 0.92330032 -0.03883535 -0.38211038 3.33009175] [ 0.01827715 0.99819046 -0.05728653 0.12009687] [ 0.38364368 0.04590879 0.92233937 0.88889955] [ 0. 0. 0. 1. ]] SLAMing on 126.056502481 meters Centerline goodness : 0.539986 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.89 [[ 0.92299949 -0.03859092 -0.38286118 3.32969565] [ 0.01798186 0.99819713 -0.05726384 0.11892026] [ 0.38438079 0.04596994 0.92202938 0.89063992] [ 0. 0. 0. 1. ]] SLAMing on 126.086502481 meters Centerline goodness : 0.545041 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.89 [[ 0.92276159 -0.03833129 -0.38346024 3.33019893] [ 0.01775097 0.99821254 -0.05706684 0.11739358] [ 0.38496226 0.04585229 0.92179261 0.89143957] [ 0. 0. 0. 1. ]] SLAMing on 126.11650248099998 meters Centerline goodness : 0.543550 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.89 [[ 0.92278155 -0.03812331 -0.38343295 3.33122351] [ 0.01761505 0.99822692 -0.05685707 0.11616242] [ 0.38492068 0.04571246 0.92181693 0.89101834] [ 0. 0. 0. 1. ]] SLAMing on 126.14650248099998 meters Centerline goodness : 0.542445 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:0.89 [[ 0.9227298 -0.03785943 -0.3835836 3.33256056] [ 0.01742799 0.99824469 -0.05660213 0.11515386] [ 0.38505322 0.04554338 0.92176994 0.89063415] [ 0. 0. 0. 1. ]] SLAMing on 126.17650248099999 meters Centerline goodness : 0.545672 Centerline is valid? [False, False] Translation: X:3.34, Y:0.11, Z:0.89 [[ 0.92230724 -0.03730641 -0.38465254 3.3350307 ] [ 0.01696043 0.9982781 -0.05615312 0.11359643] [ 0.38608508 0.04526656 0.92135186 0.89091141] [ 0. 0. 0. 1. ]] SLAMing on 126.20650248099999 meters Centerline goodness : 0.546749 Centerline is valid? [False, False] Translation: X:3.34, Y:0.11, Z:0.89 [[ 0.92184664 -0.03675512 -0.38580803 3.33632181] [ 0.01631025 0.99829005 -0.05613341 0.11360352] [ 0.38721151 0.04545377 0.92086981 0.89239138] [ 0. 0. 0. 1. ]] SLAMing on 126.23650248099999 meters Centerline goodness : 0.546004 Centerline is valid? [False, False] Translation: X:3.34, Y:0.11, Z:0.89 [[ 0.92166224 -0.03631804 -0.38628967 3.33734315] [ 0.01583971 0.99830144 -0.05606541 0.11377522] [ 0.38766972 0.04555466 0.92067201 0.8929147 ] [ 0. 0. 0. 1. ]] SLAMing on 126.26650248099999 meters Centerline goodness : 0.549066 Centerline is valid? [False, False] Translation: X:3.34, Y:0.11, Z:0.89 [[ 0.92148902 -0.03602678 -0.38672996 3.33810421] [ 0.0154775 0.99830405 -0.05612014 0.11426389] [ 0.38809592 0.04572848 0.92048382 0.8934984 ] [ 0. 0. 0. 1. ]] SLAMing on 126.29650248099999 meters Centerline goodness : 0.545687 Centerline is valid? [False, False] Translation: X:3.34, Y:0.11, Z:0.90 [[ 0.92153427 -0.03549577 -0.38667124 3.3377306 ] [ 0.01465404 0.99828278 -0.05671643 0.11490951] [ 0.38802043 0.04659983 0.92047194 0.89503645] [ 0. 0. 0. 1. ]] SLAMing on 126.32650248099999 meters Centerline goodness : 0.544265 Centerline is valid? [False, False] Translation: X:3.34, Y:0.12, Z:0.90 [[ 0.92130884 -0.03519834 -0.38723521 3.33755616] [ 0.01414396 0.99826896 -0.05708792 0.11523931] [ 0.38857429 0.04711856 0.92021186 0.89671867] [ 0. 0. 0. 1. ]] SLAMing on 126.35650248099999 meters Centerline goodness : 0.545185 Centerline is valid? [False, False] Translation: X:3.34, Y:0.11, Z:0.90 [[ 9.20641686e-01 -2.82211267e-02 -3.89387281e-01 3.34242771e+00] [ 2.53248812e-03 9.97794643e-01 -6.63282450e-02 1.10953827e-01] [ 3.90400401e-01 6.00784286e-02 9.18682812e-01 9.04831381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.386502481 meters Centerline goodness : 0.548179 Centerline is valid? [False, False] Translation: X:3.34, Y:0.11, Z:0.91 [[ 9.20431322e-01 -2.77788492e-02 -3.89916038e-01 3.34428621e+00] [ 1.93033030e-03 9.97782660e-01 -6.65284702e-02 1.09591550e-01] [ 3.90899546e-01 6.04822211e-02 9.18444035e-01 9.05342168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.416502481 meters Centerline goodness : 0.549799 Centerline is valid? [False, False] Translation: X:3.34, Y:0.11, Z:0.91 [[ 9.20122474e-01 -2.78007389e-02 -3.90642742e-01 3.34497987e+00] [ 1.57768653e-03 9.97732267e-01 -6.72891791e-02 1.08487086e-01] [ 3.91627558e-01 6.12979741e-02 9.18079743e-01 9.06888585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.446502481 meters Centerline goodness : 0.553263 Centerline is valid? [False, False] Translation: X:3.35, Y:0.10, Z:0.91 [[ 0.91963091 -0.02403153 -0.3920478 3.34562481] [-0.0063612 0.99708446 -0.07604026 0.10295439] [ 0.39273213 0.07242286 0.91679681 0.91248966] [ 0. 0. 0. 1. ]] SLAMing on 126.47650248099998 meters Centerline goodness : 0.548159 Centerline is valid? [False, False] Translation: X:3.35, Y:0.10, Z:0.92 [[ 0.918646 -0.02807255 -0.39408305 3.34822908] [-0.00383996 0.99679085 -0.07995782 0.10269509] [ 0.395063 0.07496619 0.91559013 0.91508177] [ 0. 0. 0. 1. ]] SLAMing on 126.50650248099998 meters Centerline goodness : 0.550598 Centerline is valid? [False, False] Translation: X:3.35, Y:0.10, Z:0.92 [[ 9.17654909e-01 -3.13619692e-02 -3.96138732e-01 3.35015011e+00] [-1.88331657e-03 9.96526342e-01 -8.32568503e-02 1.01052264e-01] [ 3.97373781e-01 7.71471120e-02 9.14408225e-01 9.18029112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.53650248099999 meters Centerline goodness : 0.551000 Centerline is valid? [False, False] Translation: X:3.35, Y:0.10, Z:0.92 [[ 9.17033594e-01 -3.15722180e-02 -3.97558275e-01 3.35158320e+00] [-2.01578436e-03 9.96481761e-01 -8.37856571e-02 9.78760509e-02] [ 3.98804869e-01 7.76356540e-02 9.13743608e-01 9.19754113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56650248099999 meters Centerline goodness : 0.548793 Centerline is valid? [False, False] Translation: X:3.31, Y:0.09, Z:0.91 [[ 0.9160175 -0.02991379 -0.40002138 3.31061309] [-0.00644829 0.99598869 -0.08924659 0.09230437] [ 0.40108648 0.0843309 0.91215017 0.9078017 ] [ 0. 0. 0. 1. ]] SLAMing on 126.59650248099999 meters Centerline goodness : 0.549504 Centerline is valid? [False, False] Translation: X:3.31, Y:0.09, Z:0.91 [[ 0.91588349 -0.03398569 -0.40000301 3.31005124] [-0.00360996 0.99567248 -0.0928616 0.0924035 ] [ 0.40142795 0.0864944 0.9117973 0.90873855] [ 0. 0. 0. 1. ]] SLAMing on 126.62650248099999 meters Centerline goodness : 0.549527 Centerline is valid? [False, False] Translation: X:3.27, Y:0.09, Z:0.90 [[ 9.14609079e-01 -3.85844239e-02 -4.02494068e-01 3.27137602e+00] [-4.98910465e-04 9.95328091e-01 -9.65491718e-02 9.24088186e-02] [ 4.04338947e-01 8.85055576e-02 9.10316858e-01 8.98785048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.65650248099999 meters Centerline goodness : 0.554490 Centerline is valid? [False, False] Translation: X:3.27, Y:0.09, Z:0.90 [[ 9.15164649e-01 -3.56211895e-02 -4.01503170e-01 3.26860012e+00] [-2.71078716e-03 9.95521073e-01 -9.45010259e-02 8.89586568e-02] [ 4.03071105e-01 8.75723879e-02 9.10969133e-01 8.99024965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68650248099999 meters Centerline goodness : 0.552968 Centerline is valid? [False, False] Translation: X:3.27, Y:0.09, Z:0.90 [[ 9.15235624e-01 -3.56594729e-02 -4.01337955e-01 3.26775328e+00] [-2.77468857e-03 9.95494497e-01 -9.47787330e-02 8.72983367e-02] [ 4.02909485e-01 8.78584607e-02 9.11013083e-01 8.99566775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.71650248099999 meters Centerline goodness : 0.552950 Centerline is valid? [False, False] Translation: X:3.27, Y:0.09, Z:0.90 [[ 9.15346423e-01 -3.57532473e-02 -4.01076840e-01 3.26699518e+00] [-2.70670981e-03 9.95481448e-01 -9.49176511e-02 8.56422194e-02] [ 4.02658168e-01 8.79681310e-02 9.11113609e-01 8.99770979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.746502481 meters Centerline goodness : 0.554568 Centerline is valid? [False, False] Translation: X:3.27, Y:0.08, Z:0.90 [[ 9.15568725e-01 -3.68983908e-02 -4.00465254e-01 3.26543978e+00] [-1.96367898e-03 9.95360013e-01 -9.62007701e-02 8.24826317e-02] [ 4.02156754e-01 8.88648016e-02 9.11248041e-01 9.00418111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.776502481 meters Centerline goodness : 0.551691 Centerline is valid? [False, False] Translation: X:3.27, Y:0.08, Z:0.90 [[ 9.15038005e-01 -4.11429432e-02 -4.01263888e-01 3.26560226e+00] [ 7.78068266e-04 9.94962721e-01 -1.00242593e-01 8.10072143e-02] [ 4.03366885e-01 9.14135718e-02 9.10460716e-01 9.02831066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.806502481 meters Centerline goodness : 0.551624 Centerline is valid? [False, False] Translation: X:3.27, Y:0.08, Z:0.90 [[ 0.91435556 -0.04525217 -0.40237564 3.2668468 ] [ 0.00353437 0.99458956 -0.10382254 0.08032548] [ 0.4048968 0.09350858 0.90956843 0.90457461] [ 0. 0. 0. 1. ]] SLAMing on 126.836502481 meters Centerline goodness : 0.551808 Centerline is valid? [False, False] Translation: X:3.27, Y:0.08, Z:0.90 [[ 9.14202311e-01 -4.48148446e-02 -4.02772596e-01 3.26842527e+00] [ 3.16720107e-03 9.94626579e-01 -1.03479168e-01 7.78106186e-02] [ 4.05245732e-01 9.33252325e-02 9.09431854e-01 9.04492929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86650248099998 meters Centerline goodness : 0.553185 Centerline is valid? [False, False] Translation: X:3.27, Y:0.08, Z:0.91 [[ 0.91345658 -0.0482296 -0.40406804 3.26982436] [ 0.00543385 0.9943089 -0.10639678 0.07610062] [ 0.40689993 0.0949932 0.90852008 0.90641043] [ 0. 0. 0. 1. ]] SLAMing on 126.89650248099998 meters Centerline goodness : 0.553008 Centerline is valid? [False, False] Translation: X:3.27, Y:0.08, Z:0.91 [[ 0.91261395 -0.05224962 -0.4054698 3.27147283] [ 0.00806546 0.99390734 -0.10992341 0.07562325] [ 0.40874286 0.09704734 0.90747512 0.90847927] [ 0. 0. 0. 1. ]] SLAMing on 126.92650248099999 meters Centerline goodness : 0.550516 Centerline is valid? [False, False] Translation: X:3.27, Y:0.07, Z:0.91 [[ 0.91177738 -0.05592823 -0.40685874 3.27457497] [ 0.01058397 0.99355468 -0.11285866 0.07453665] [ 0.41054839 0.09859579 0.90649263 0.90938756] [ 0. 0. 0. 1. ]] SLAMing on 126.95650248099999 meters Centerline goodness : 0.550226 Centerline is valid? [False, False] Translation: X:3.28, Y:0.07, Z:0.91 [[ 0.9114193 -0.05463703 -0.40783534 3.27739768] [ 0.0092765 0.99362166 -0.112383 0.07049475] [ 0.4113743 0.09864475 0.9061128 0.91018787] [ 0. 0. 0. 1. ]] SLAMing on 126.98650248099999 meters Centerline goodness : 0.550226 Centerline is valid? [False, False] Translation: X:3.28, Y:0.07, Z:0.91 [[ 0.91138123 -0.05443064 -0.40794799 3.27775871] [ 0.00916325 0.99365384 -0.11210742 0.06948396] [ 0.41146117 0.09843447 0.90609622 0.9101206 ] [ 0. 0. 0. 1. ]] SLAMing on 127.01650248099999 meters Centerline goodness : 0.552079 Centerline is valid? [False, False] Translation: X:3.28, Y:0.07, Z:0.91 [[ 0.91144679 -0.06042364 -0.40695668 3.28378718] [ 0.01827356 0.99412569 -0.10667799 0.07295009] [ 0.41101196 0.08979477 0.90719682 0.91139423] [ 0. 0. 0. 1. ]] SLAMing on 127.04650248099999 meters Centerline goodness : 0.552427 Centerline is valid? [False, False] Translation: X:3.28, Y:0.07, Z:0.91 [[ 0.91143887 -0.05996817 -0.40704177 3.28413257] [ 0.01793299 0.994171 -0.1063129 0.07188354] [ 0.41104452 0.08959824 0.9072015 0.91142864] [ 0. 0. 0. 1. ]] SLAMing on 127.07650248099999 meters Centerline goodness : 0.555466 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.92 [[ 0.91352827 -0.05688033 -0.40277875 3.30981276] [ 0.01704818 0.99465888 -0.10179914 0.06826374] [ 0.40641783 0.08612975 0.90961872 0.91861064] [ 0. 0. 0. 1. ]] SLAMing on 127.10650248099999 meters Centerline goodness : 0.553841 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.92 [[ 0.91377043 -0.06440666 -0.40109275 3.31394681] [ 0.0272742 0.99485046 -0.09761492 0.07257387] [ 0.40531436 0.07825815 0.91082157 0.91967624] [ 0. 0. 0. 1. ]] SLAMing on 127.136502481 meters Centerline goodness : 0.556332 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.92 [[ 0.9139273 -0.0644432 -0.40072928 3.31354117] [ 0.0273845 0.99485549 -0.09753275 0.0714449 ] [ 0.40495305 0.07816408 0.91099034 0.91948657] [ 0. 0. 0. 1. ]] SLAMing on 127.166502481 meters Centerline goodness : 0.554514 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.92 [[ 0.91401497 -0.06424833 -0.40056059 3.31452645] [ 0.02741142 0.9949039 -0.09703016 0.06919115] [ 0.40475331 0.07770708 0.91111819 0.91849017] [ 0. 0. 0. 1. ]] SLAMing on 127.196502481 meters Centerline goodness : 0.556084 Centerline is valid? [False, False] Translation: X:3.32, Y:0.07, Z:0.92 [[ 0.91387546 -0.06316652 -0.40105066 3.31689738] [ 0.02670882 0.99503649 -0.09585936 0.06780172] [ 0.40511514 0.07689192 0.91102654 0.91760914] [ 0. 0. 0. 1. ]] SLAMing on 127.22650248099998 meters Centerline goodness : 0.559463 Centerline is valid? [False, False] Translation: X:3.32, Y:0.07, Z:0.92 [[ 0.91380808 -0.06237943 -0.40132731 3.31838486] [ 0.02613365 0.99511807 -0.0951686 0.06680378] [ 0.40530462 0.07647769 0.91097713 0.91720764] [ 0. 0. 0. 1. ]] SLAMing on 127.25650248099998 meters Centerline goodness : 0.559543 Centerline is valid? [False, False] Translation: X:3.32, Y:0.07, Z:0.92 [[ 0.91393606 -0.06171948 -0.40113786 3.3197745 ] [ 0.0256594 0.99517911 -0.09465797 0.06647948] [ 0.40504626 0.07621838 0.91111376 0.91627059] [ 0. 0. 0. 1. ]] SLAMing on 127.28650248099999 meters Centerline goodness : 0.560663 Centerline is valid? [False, False] Translation: X:3.32, Y:0.07, Z:0.92 [[ 0.91385946 -0.06137196 -0.40136562 3.32021234] [ 0.02535499 0.99520716 -0.09444484 0.06632059] [ 0.40523821 0.07613269 0.91103557 0.91649958] [ 0. 0. 0. 1. ]] SLAMing on 127.31650248099999 meters Centerline goodness : 0.564493 Centerline is valid? [False, False] Translation: X:3.32, Y:0.07, Z:0.92 [[ 0.91369196 -0.06032944 -0.40190467 3.32040916] [ 0.02428814 0.99525883 -0.09418037 0.06681094] [ 0.40568102 0.07629033 0.91082528 0.91797575] [ 0. 0. 0. 1. ]] SLAMing on 127.34650248099999 meters Centerline goodness : 0.567730 Centerline is valid? [False, False] Translation: X:3.32, Y:0.07, Z:0.92 [[ 0.91342441 -0.05971381 -0.40260416 3.32174803] [ 0.02363879 0.99529253 -0.09398924 0.06633773] [ 0.40632137 0.07633499 0.91053606 0.91882385] [ 0. 0. 0. 1. ]] SLAMing on 127.37650248099999 meters Centerline goodness : 0.564882 Centerline is valid? [False, False] Translation: X:3.32, Y:0.07, Z:0.92 [[ 0.9133428 -0.05909161 -0.40288101 3.32438265] [ 0.0230495 0.99533044 -0.09373385 0.06695193] [ 0.40653861 0.07632493 0.91043993 0.91807711] [ 0. 0. 0. 1. ]] SLAMing on 127.40650248099999 meters Centerline goodness : 0.568269 Centerline is valid? [False, False] Translation: X:3.34, Y:0.06, Z:0.93 [[ 0.91283349 -0.05395986 -0.40475097 3.33982749] [ 0.0161832 0.99523213 -0.09618265 0.06102682] [ 0.40801117 0.08124858 0.90935447 0.92608021] [ 0. 0. 0. 1. ]] SLAMing on 127.43650248099999 meters Centerline goodness : 0.571018 Centerline is valid? [False, False] Translation: X:3.34, Y:0.06, Z:0.93 [[ 0.91246207 -0.05311883 -0.40569861 3.34250688] [ 0.01533262 0.99527972 -0.09582891 0.05984653] [ 0.40887392 0.08121983 0.90896945 0.92657104] [ 0. 0. 0. 1. ]] SLAMing on 127.46650248099999 meters Centerline goodness : 0.564932 Centerline is valid? [False, False] Translation: X:3.35, Y:0.06, Z:0.93 [[ 0.91159673 -0.05116712 -0.40788888 3.34715839] [ 0.01337225 0.9953894 -0.09497958 0.05791856] [ 0.4108681 0.08112869 0.90807794 0.92829964] [ 0. 0. 0. 1. ]] SLAMing on 127.496502481 meters Centerline goodness : 0.564780 Centerline is valid? [False, False] Translation: X:3.35, Y:0.05, Z:0.93 [[ 0.91100506 -0.05009442 -0.40934135 3.34984679] [ 0.01219449 0.99543308 -0.0946799 0.05499405] [ 0.41221485 0.08126216 0.90745544 0.92987522] [ 0. 0. 0. 1. ]] SLAMing on 127.526502481 meters Centerline goodness : 0.566065 Centerline is valid? [False, False] Translation: X:3.35, Y:0.05, Z:0.93 [[ 0.91063478 -0.04859204 -0.41034512 3.35281211] [ 0.0105586 0.99547362 -0.09444992 0.05115933] [ 0.41307725 0.08167671 0.90702596 0.931287 ] [ 0. 0. 0. 1. ]] SLAMing on 127.556502481 meters Centerline goodness : 0.569946 Centerline is valid? [False, False] Translation: X:3.35, Y:0.05, Z:0.93 [[ 0.91084772 -0.04920414 -0.4097992 3.35240286] [ 0.01084018 0.99537809 -0.09541984 0.04888052] [ 0.4126002 0.08247065 0.90717125 0.93141588] [ 0. 0. 0. 1. ]] SLAMing on 127.586502481 meters Centerline goodness : 0.569399 Centerline is valid? [False, False] Translation: X:3.35, Y:0.05, Z:0.93 [[ 0.91046718 -0.05241006 -0.41024712 3.35341932] [ 0.01271027 0.99501545 -0.09890756 0.04570369] [ 0.41338597 0.08483774 0.90659506 0.93344775] [ 0. 0. 0. 1. ]] SLAMing on 127.61650248099998 meters Centerline goodness : 0.569906 Centerline is valid? [False, False] Translation: X:3.35, Y:0.04, Z:0.93 [[ 0.91054059 -0.05362291 -0.40992734 3.35298894] [ 0.01343396 0.9948666 -0.10029943 0.04192618] [ 0.41320136 0.08581975 0.90658679 0.93408049] [ 0. 0. 0. 1. ]] SLAMing on 127.64650248099998 meters Centerline goodness : 0.571584 Centerline is valid? [False, False] Translation: X:3.35, Y:0.04, Z:0.94 [[ 0.9105019 -0.05352303 -0.41002631 3.35239508] [ 0.01315028 0.99483399 -0.10065983 0.03794883] [ 0.41329573 0.08625901 0.90650208 0.93532301] [ 0. 0. 0. 1. ]] SLAMing on 127.67650248099999 meters Centerline goodness : 0.565320 Centerline is valid? [False, False] Translation: X:3.35, Y:0.03, Z:0.94 [[ 0.9103214 -0.0530584 -0.41048722 3.35287394] [ 0.01261054 0.99484452 -0.10062484 0.03467927] [ 0.41370995 0.08642448 0.90629735 0.93629534] [ 0. 0. 0. 1. ]] SLAMing on 127.70650248099999 meters Centerline goodness : 0.566399 Centerline is valid? [False, False] Translation: X:3.35, Y:0.03, Z:0.94 [[ 0.91009788 -0.05249125 -0.41105536 3.35313375] [ 0.01200023 0.9948673 -0.10047415 0.03073661] [ 0.41421955 0.08650855 0.90605653 0.93754414] [ 0. 0. 0. 1. ]] SLAMing on 127.73650248099999 meters Centerline goodness : 0.565663 Centerline is valid? [False, False] Translation: X:3.35, Y:0.03, Z:0.94 [[ 0.90997731 -0.05228614 -0.41134833 3.35382125] [ 0.01170128 0.99486111 -0.1005706 0.02793417] [ 0.4144929 0.08670367 0.90591286 0.93803768] [ 0. 0. 0. 1. ]] SLAMing on 127.76650248099999 meters Centerline goodness : 0.564746 Centerline is valid? [False, False] Translation: X:3.36, Y:0.03, Z:0.94 [[ 0.90875894 -0.05569887 -0.41358775 3.3575622 ] [ 0.01386065 0.99453485 -0.10348102 0.02547303] [ 0.41709121 0.08830671 0.90456445 0.94004933] [ 0. 0. 0. 1. ]] SLAMing on 127.79650248099999 meters Centerline goodness : 0.559945 Centerline is valid? [False, False] Translation: X:3.36, Y:0.02, Z:0.94 [[ 0.90766544 -0.05883515 -0.41555008 3.36078354] [ 0.0155491 0.99415961 -0.10679375 0.02213481] [ 0.41940633 0.09047157 0.90327915 0.94281431] [ 0. 0. 0. 1. ]] SLAMing on 127.82650248099999 meters Centerline goodness : 0.559900 Centerline is valid? [False, False] Translation: X:3.36, Y:0.02, Z:0.95 [[ 0.90668985 -0.06223052 -0.41718207 3.36287812] [ 0.01772022 0.99380326 -0.10973184 0.017713 ] [ 0.42142557 0.09210019 0.90217407 0.94513345] [ 0. 0. 0. 1. ]] SLAMing on 127.85650248099999 meters Centerline goodness : 0.558719 Centerline is valid? [False, False] Translation: X:3.36, Y:0.01, Z:0.95 [[ 0.90639741 -0.06173213 -0.41789099 3.36422951] [ 0.01714003 0.9938242 -0.10963434 0.01480762] [ 0.42207814 0.09220962 0.90185777 0.94582833] [ 0. 0. 0. 1. ]] SLAMing on 127.886502481 meters Centerline goodness : 0.550521 Centerline is valid? [False, False] Translation: X:3.37, Y:0.01, Z:0.95 [[ 0.90541617 -0.06533781 -0.41946696 3.3665266 ] [ 0.01950206 0.9934436 -0.11264762 0.01298295] [ 0.42407692 0.09381251 0.90075412 0.94763323] [ 0. 0. 0. 1. ]] SLAMing on 127.916502481 meters Centerline goodness : 0.556495 Centerline is valid? [False, False] Translation: X:3.37, Y:0.01, Z:0.95 [[ 0.90518514 -0.06471812 -0.42006122 3.36735007] [ 0.01899664 0.99351161 -0.112133 0.01084337] [ 0.42459274 0.09352138 0.90054137 0.94814762] [ 0. 0. 0. 1. ]] SLAMing on 127.946502481 meters Centerline goodness : 0.555851 Centerline is valid? [False, False] Translation: X:3.37, Y:0.01, Z:0.95 [[ 0.90492224 -0.06415439 -0.42071363 3.36741396] [ 0.0184656 0.99356034 -0.1117894 0.00959184] [ 0.42517616 0.09339199 0.90027949 0.94923568] [ 0. 0. 0. 1. ]] SLAMing on 127.97650248099998 meters Centerline goodness : 0.551721 Centerline is valid? [False, False] Translation: X:3.39, Y:0.01, Z:0.96 [[ 0.90686168 -0.06016298 -0.41711187 3.39370005] [ 0.01656809 0.99408194 -0.107362 0.00509843] [ 0.4211026 0.09045174 0.9024916 0.95811212] [ 0. 0. 0. 1. ]] SLAMing on 128.00650248099998 meters Centerline goodness : 0.555312 Centerline is valid? [False, False] Translation: X:3.39, Y:0.00, Z:0.96 [[ 9.06041591e-01 -6.44083686e-02 -4.18258530e-01 3.39393640e+00] [ 1.94230131e-02 9.93637579e-01 -1.10937409e-01 3.34887514e-03] [ 4.22742691e-01 9.23900657e-02 9.01527977e-01 9.60747918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03650248099999 meters Centerline goodness : 0.555649 Centerline is valid? [False, False] Translation: X:3.39, Y:0.00, Z:0.96 [[ 9.05843017e-01 -6.39756906e-02 -4.18754750e-01 3.39406372e+00] [ 1.90678017e-02 9.93686047e-01 -1.10564277e-01 1.79269703e-03] [ 4.23184178e-01 9.21691455e-02 9.01343442e-01 9.61436051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.066502481 meters Centerline goodness : 0.551468 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.00, Z:0.97 [[ 9.07234045e-01 -6.21683705e-02 -4.16006588e-01 3.42255935e+00] [ 1.89562317e-02 9.94055412e-01 -1.07212404e-01 -1.53959901e-03] [ 4.20198820e-01 8.93808259e-02 9.03019390e-01 9.69802746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.096502481 meters Centerline goodness : 0.550485 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.00, Z:0.97 [[ 9.06938652e-01 -6.15989479e-02 -4.16734749e-01 3.42434249e+00] [ 1.84909682e-02 9.94119070e-01 -1.06702201e-01 -3.28967915e-03] [ 4.20856705e-01 8.90665214e-02 9.02744033e-01 9.69934342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.126502481 meters Centerline goodness : 0.548599 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.00, Z:0.97 [[ 0.90653554 -0.06090026 -0.41771339 3.42617957] [ 0.01787702 0.99418942 -0.1061499 -0.0049327 ] [ 0.42175079 0.08876118 0.90235676 0.97051824] [ 0. 0. 0. 1. ]] SLAMing on 128.156502481 meters Centerline goodness : 0.551858 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.01, Z:0.98 [[ 0.90766686 -0.05742185 -0.41574465 3.45651978] [ 0.0159866 0.99460754 -0.10247083 -0.00841389] [ 0.41938682 0.08636304 0.90369028 0.97988555] [ 0. 0. 0. 1. ]] SLAMing on 128.186502481 meters Centerline goodness : 0.554195 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.01, Z:0.98 [[ 0.90753502 -0.05675528 -0.41612382 3.45831605] [ 0.015434 0.99466443 -0.10200224 -0.01026262] [ 0.41969273 0.08614815 0.90356876 0.97970846] [ 0. 0. 0. 1. ]] SLAMing on 128.216502481 meters Centerline goodness : 0.549564 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.01, Z:0.98 [[ 0.90729371 -0.05628109 -0.416714 3.45941465] [ 0.01498186 0.99469983 -0.10172408 -0.01274955] [ 0.42023049 0.08605047 0.9033281 0.9802666 ] [ 0. 0. 0. 1. ]] SLAMing on 128.246502481 meters Centerline goodness : 0.550611 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.01, Z:0.98 [[ 0.90697446 -0.05561888 -0.41749715 3.46033664] [ 0.01427321 0.99473205 -0.10151074 -0.01464404] [ 0.42094371 0.08610862 0.90299042 0.98142564] [ 0. 0. 0. 1. ]] SLAMing on 128.276502481 meters Centerline goodness : 0.546530 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.02, Z:0.98 [[ 0.90635635 -0.05443759 -0.41899251 3.46241145] [ 0.01308892 0.99480676 -0.10093655 -0.01633342] [ 0.42231132 0.08600032 0.90236195 0.98294264] [ 0. 0. 0. 1. ]] SLAMing on 128.306502481 meters Centerline goodness : 0.547665 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.02, Z:0.98 [[ 0.90612092 -0.05389949 -0.41957089 3.4639631 ] [ 0.01256323 0.99484069 -0.10066857 -0.01744357] [ 0.42283218 0.08594673 0.90212311 0.98321898] [ 0. 0. 0. 1. ]] SLAMing on 128.336502481 meters Centerline goodness : 0.543822 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.02, Z:0.98 [[ 0.90607347 -0.05385966 -0.41967845 3.46457419] [ 0.01245103 0.99482975 -0.10079061 -0.01932497] [ 0.42293716 0.08609827 0.90205945 0.98340182] [ 0. 0. 0. 1. ]] SLAMing on 128.366502481 meters Centerline goodness : 0.544883 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.02, Z:0.98 [[ 0.90586079 -0.05374898 -0.42015148 3.46458422] [ 0.01231936 0.9948399 -0.10070654 -0.02016162] [ 0.42339633 0.08605011 0.90184862 0.98419171] [ 0. 0. 0. 1. ]] SLAMing on 128.396502481 meters Centerline goodness : 0.543088 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.02, Z:0.99 [[ 0.90566315 -0.05341889 -0.42061939 3.46476038] [ 0.01194798 0.99485309 -0.10062092 -0.0224212 ] [ 0.42382956 0.08610311 0.90164004 0.98522948] [ 0. 0. 0. 1. ]] SLAMing on 128.426502481 meters Centerline goodness : 0.545005 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.03, Z:0.99 [[ 0.9054146 -0.05306674 -0.42119867 3.46546348] [ 0.01152506 0.99486341 -0.10056821 -0.0251232 ] [ 0.42437197 0.08620158 0.90137546 0.9862494 ] [ 0. 0. 0. 1. ]] SLAMing on 128.456502481 meters Centerline goodness : 0.544711 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.03, Z:0.99 [[ 0.90498908 -0.05361899 -0.42204238 3.46487795] [ 0.01176707 0.99480121 -0.10115374 -0.02840392] [ 0.42527204 0.08657683 0.90091517 0.98826418] [ 0. 0. 0. 1. ]] SLAMing on 128.486502481 meters Centerline goodness : 0.542894 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.03, Z:0.99 [[ 0.90475592 -0.05359863 -0.42254458 3.46549533] [ 0.01172384 0.99480865 -0.10108558 -0.02996725] [ 0.42576905 0.08650394 0.9006874 0.98878145] [ 0. 0. 0. 1. ]] SLAMing on 128.516502481 meters Centerline goodness : 0.546072 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.03, Z:0.99 [[ 0.90388711 -0.05790255 -0.42383414 3.46774404] [ 0.01469317 0.99441448 -0.10451771 -0.03210916] [ 0.42751865 0.08824475 0.89968921 0.99021847] [ 0. 0. 0. 1. ]] SLAMing on 128.54650248099998 meters Centerline goodness : 0.545435 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.03, Z:0.99 [[ 0.90292265 -0.06114558 -0.42543142 3.46979819] [ 0.0168114 0.99409561 -0.10719744 -0.03457714] [ 0.42947416 0.0896389 0.89861939 0.99227831] [ 0. 0. 0. 1. ]] SLAMing on 128.57650248099998 meters Centerline goodness : 0.546212 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.04, Z:0.99 [[ 0.90282059 -0.06219063 -0.42549655 3.46846386] [ 0.01762247 0.99400635 -0.10789265 -0.0380633 ] [ 0.42965618 0.0899094 0.89850535 0.99316819] [ 0. 0. 0. 1. ]] SLAMing on 128.60650248099998 meters Centerline goodness : 0.550089 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.04, Z:0.99 [[ 0.90280185 -0.06201799 -0.42556149 3.46839347] [ 0.01753525 0.99403283 -0.10766262 -0.03996407] [ 0.42969911 0.08973568 0.89850219 0.9933778 ] [ 0. 0. 0. 1. ]] SLAMing on 128.63650248099998 meters Centerline goodness : 0.552081 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.04, Z:0.99 [[ 0.90270499 -0.06139237 -0.42585759 3.46817786] [ 0.01715728 0.99411692 -0.10694473 -0.04261516] [ 0.42991782 0.08923298 0.89844763 0.9937154 ] [ 0. 0. 0. 1. ]] SLAMing on 128.66650248099998 meters Centerline goodness : 0.553648 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.04, Z:1.00 [[ 0.90192576 -0.06820162 -0.4264721 3.47349104] [ 0.02634523 0.99430201 -0.10329296 -0.03981418] [ 0.43108682 0.08192708 0.89858339 0.99709477] [ 0. 0. 0. 1. ]] SLAMing on 128.69650248099998 meters Centerline goodness : 0.555076 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.04, Z:1.00 [[ 0.90118989 -0.07082654 -0.42759838 3.47472819] [ 0.02814573 0.99403875 -0.10533174 -0.04249865] [ 0.43250965 0.08288883 0.89781114 0.99863776] [ 0. 0. 0. 1. ]] SLAMing on 128.72650248099998 meters Centerline goodness : 0.553914 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.04, Z:1.00 [[ 0.90116318 -0.07036747 -0.42773046 3.47611668] [ 0.02795476 0.99411623 -0.10464919 -0.04454623] [ 0.43257769 0.08234889 0.89782805 0.99793157] [ 0. 0. 0. 1. ]] SLAMing on 128.75650248099998 meters Centerline goodness : 0.554360 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.05, Z:1.00 [[ 0.90046153 -0.07446849 -0.42851311 3.47842951] [ 0.03092905 0.99370266 -0.10769593 -0.04750876] [ 0.43383457 0.08372254 0.89709426 0.9986431 ] [ 0. 0. 0. 1. ]] SLAMing on 128.78650248099999 meters Centerline goodness : 0.557758 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.05, Z:1.00 [[ 0.89974928 -0.07833767 -0.42931858 3.47943869] [ 0.03361067 0.99327394 -0.11080254 -0.04860609] [ 0.43511097 0.08526482 0.89633049 1.00007236] [ 0. 0. 0. 1. ]] SLAMing on 128.816502481 meters Centerline goodness : 0.557915 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.05, Z:1.00 [[ 0.8997405 -0.07856909 -0.42929468 3.47961009] [ 0.03391422 0.99327409 -0.11070866 -0.05074461] [ 0.43510557 0.08504987 0.89635354 0.99991995] [ 0. 0. 0. 1. ]] SLAMing on 128.846502481 meters Centerline goodness : 0.563278 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.05, Z:1.00 [[ 0.89975354 -0.07822432 -0.42933031 3.47990507] [ 0.0338491 0.99334939 -0.11005102 -0.0546032 ] [ 0.43508367 0.08448635 0.89641746 0.99960606] [ 0. 0. 0. 1. ]] SLAMing on 128.876502481 meters Centerline goodness : 0.563278 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.05, Z:1.00 [[ 0.89976371 -0.07831649 -0.42929221 3.47983154] [ 0.03395397 0.99334562 -0.11005277 -0.05465575] [ 0.43505448 0.08444531 0.89643549 0.99955795] [ 0. 0. 0. 1. ]] SLAMing on 128.906502481 meters Centerline goodness : 0.568033 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.06, Z:1.00 [[ 0.89958467 -0.07834733 -0.42966163 3.48035671] [ 0.03396017 0.99334782 -0.11003101 -0.05772866] [ 0.43542408 0.08439083 0.89626116 1.00011724] [ 0. 0. 0. 1. ]] SLAMing on 128.936502481 meters Centerline goodness : 0.569641 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.06, Z:1.00 [[ 0.89958701 -0.07979707 -0.42938984 3.4793297 ] [ 0.03519622 0.99321484 -0.11084002 -0.06113913] [ 0.43532107 0.08459734 0.89629172 1.0002855 ] [ 0. 0. 0. 1. ]] SLAMing on 128.966502481 meters Centerline goodness : 0.568940 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.06, Z:1.00 [[ 0.89954705 -0.079452 -0.42953752 3.47994953] [ 0.03504466 0.99327631 -0.11033605 -0.06287364] [ 0.43541586 0.08419947 0.89628315 1.00010467] [ 0. 0. 0. 1. ]] SLAMing on 128.996502481 meters Centerline goodness : 0.574370 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.07, Z:1.00 [[ 0.89934918 -0.08120651 -0.42962375 3.4800385 ] [ 0.03651192 0.99311759 -0.11128491 -0.06597879] [ 0.43570396 0.08439761 0.89612449 1.00006987] [ 0. 0. 0. 1. ]] SLAMing on 129.026502481 meters Centerline goodness : 0.577679 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.07, Z:1.00 [[ 0.89944863 -0.0813081 -0.42939627 3.48032465] [ 0.03678301 0.99313874 -0.11100653 -0.06794909] [ 0.4354758 0.08405019 0.89626804 0.9994783 ] [ 0. 0. 0. 1. ]] SLAMing on 129.056502481 meters Centerline goodness : 0.580455 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.07, Z:1.00 [[ 0.89887126 -0.08601337 -0.42968844 3.48104752] [ 0.04044705 0.99264645 -0.11409238 -0.07039733] [ 0.43634218 0.08517473 0.89574035 0.99966316] [ 0. 0. 0. 1. ]] SLAMing on 129.086502481 meters Centerline goodness : 0.582818 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.07, Z:1.00 [[ 0.89890483 -0.08552091 -0.42971652 3.48158144] [ 0.04026842 0.99274029 -0.11333652 -0.07226084] [ 0.43628954 0.08457474 0.89582283 0.99915919] [ 0. 0. 0. 1. ]] SLAMing on 129.116502481 meters Centerline goodness : 0.589641 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.07, Z:1.00 [[ 0.89892038 -0.08560106 -0.42966802 3.48100427] [ 0.04061832 0.99278599 -0.11281011 -0.0747644 ] [ 0.43622506 0.08395492 0.89591254 0.99904298] [ 0. 0. 0. 1. ]] SLAMing on 129.146502481 meters Centerline goodness : 0.589568 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.08, Z:1.00 [[ 0.89895417 -0.08531267 -0.42965469 3.48129489] [ 0.04056051 0.99284874 -0.11227745 -0.07632847] [ 0.43616081 0.08350527 0.89598584 0.99865908] [ 0. 0. 0. 1. ]] SLAMing on 129.176502481 meters Centerline goodness : 0.592982 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.08, Z:1.00 [[ 0.89908379 -0.08707186 -0.42903011 3.48022123] [ 0.04214171 0.99268352 -0.1131526 -0.07913234] [ 0.43574353 0.0836536 0.89617501 0.9981664 ] [ 0. 0. 0. 1. ]] SLAMing on 129.206502481 meters Centerline goodness : 0.593219 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.08, Z:1.00 [[ 0.89924169 -0.08695363 -0.42872304 3.48042038] [ 0.04223336 0.99272425 -0.11276039 -0.08054378] [ 0.43540868 0.08329243 0.89637138 0.99747894] [ 0. 0. 0. 1. ]] SLAMing on 129.236502481 meters Centerline goodness : 0.588407 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.08, Z:1.00 [[ 0.89929965 -0.08660064 -0.42867292 3.48046947] [ 0.04208989 0.9927866 -0.11226397 -0.08172639] [ 0.43530287 0.08291615 0.89645765 0.99729225] [ 0. 0. 0. 1. ]] SLAMing on 129.266502481 meters Centerline goodness : 0.590787 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.08, Z:1.00 [[ 0.89983702 -0.08188279 -0.42847233 3.48093856] [ 0.03878631 0.99335278 -0.10837839 -0.08328045] [ 0.43449851 0.08090402 0.89703154 0.99618538] [ 0. 0. 0. 1. ]] SLAMing on 129.29650248099998 meters Centerline goodness : 0.586805 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.08, Z:1.00 [[ 0.90041436 -0.07710251 -0.42814622 3.48100766] [ 0.03545022 0.99389998 -0.10443232 -0.08477114] [ 0.43358651 0.07885449 0.89765511 0.9950712 ] [ 0. 0. 0. 1. ]] SLAMing on 129.32650248099998 meters Centerline goodness : 0.592408 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.09, Z:0.99 [[ 0.9005701 -0.07699533 -0.42783783 3.48113524] [ 0.03541786 0.99391333 -0.10431621 -0.08538212] [ 0.43326558 0.07879096 0.89781564 0.99467933] [ 0. 0. 0. 1. ]] SLAMing on 129.35650248099998 meters Centerline goodness : 0.589243 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.09, Z:0.99 [[ 0.90066622 -0.07648588 -0.42772686 3.48257839] [ 0.03508638 0.99397285 -0.10386013 -0.08655769] [ 0.43309272 0.07853592 0.89792138 0.99382458] [ 0. 0. 0. 1. ]] SLAMing on 129.38650248099998 meters Centerline goodness : 0.592383 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.09, Z:0.99 [[ 0.90044953 -0.07586607 -0.4282931 3.48411282] [ 0.03455771 0.99403674 -0.10342492 -0.08668772] [ 0.43358552 0.07832809 0.89770168 0.99388193] [ 0. 0. 0. 1. ]] SLAMing on 129.41650248099998 meters Centerline goodness : 0.592737 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.09, Z:0.99 [[ 0.90018553 -0.07485617 -0.42902514 3.486424 ] [ 0.03375423 0.99414624 -0.1026348 -0.08723535] [ 0.43419658 0.07790895 0.89744277 0.99371717] [ 0. 0. 0. 1. ]] SLAMing on 129.44650248099998 meters Centerline goodness : 0.593677 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.09, Z:0.99 [[ 0.89980162 -0.07317008 -0.43011996 3.48989526] [ 0.03243517 0.99432737 -0.10129684 -0.08748126] [ 0.43509195 0.07719604 0.89707066 0.99338856] [ 0. 0. 0. 1. ]] SLAMing on 129.47650248099998 meters Centerline goodness : 0.598265 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.09, Z:1.00 [[ 0.90186076 -0.06870046 -0.42652951 3.51642332] [ 0.03028748 0.99490046 -0.09620677 -0.08942186] [ 0.43096386 0.07384661 0.89934244 1.00111523] [ 0. 0. 0. 1. ]] SLAMing on 129.50650248099998 meters Centerline goodness : 0.595677 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.09, Z:1.00 [[ 0.90199571 -0.06850592 -0.42627536 3.51667821] [ 0.03013956 0.99491376 -0.09611565 -0.08968225] [ 0.43069171 0.07384816 0.89947268 1.00074748] [ 0. 0. 0. 1. ]] SLAMing on 129.53650248099999 meters Centerline goodness : 0.595027 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.09, Z:1.00 [[ 0.90188374 -0.0681954 -0.42656195 3.51723921] [ 0.02980704 0.99493103 -0.09604052 -0.08965342] [ 0.43094925 0.07390283 0.89934483 1.0010167 ] [ 0. 0. 0. 1. ]] SLAMing on 129.566502481 meters Centerline goodness : 0.603761 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.09, Z:1.01 [[ 0.904021 -0.0619921 -0.42296927 3.54631023] [ 0.026058 0.99558072 -0.09022206 -0.09208031] [ 0.42669311 0.0705409 0.90164127 1.00949781] [ 0. 0. 0. 1. ]] SLAMing on 129.596502481 meters Centerline goodness : 0.599659 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.09, Z:1.01 [[ 0.90383718 -0.06145471 -0.42344028 3.54687921] [ 0.02555874 0.99561911 -0.08994078 -0.09210273] [ 0.42711252 0.07046923 0.90144827 1.00998386] [ 0. 0. 0. 1. ]] SLAMing on 129.626502481 meters Centerline goodness : 0.599392 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.09, Z:1.02 [[ 0.90591555 -0.0565148 -0.41967023 3.57430758] [ 0.02288234 0.99613945 -0.08475023 -0.09452147] [ 0.42283971 0.06717352 0.9037114 1.01744949] [ 0. 0. 0. 1. ]] SLAMing on 129.656502481 meters Centerline goodness : 0.602902 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.10, Z:1.03 [[ 0.90760845 -0.05287602 -0.41647451 3.60332347] [ 0.02072189 0.99646981 -0.0813543 -0.0975934 ] [ 0.41930597 0.06520771 0.90550011 1.02688826] [ 0. 0. 0. 1. ]] SLAMing on 129.686502481 meters Centerline goodness : 0.607060 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.10, Z:1.03 [[ 0.9097584 -0.04972107 -0.41214981 3.63058369] [ 0.01919031 0.99677726 -0.07788985 -0.10001488] [ 0.41469432 0.06295167 0.90778065 1.0348195 ] [ 0. 0. 0. 1. ]] SLAMing on 129.716502481 meters Centerline goodness : 0.606202 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.10, Z:1.03 [[ 0.90970513 -0.04936434 -0.41231025 3.63126631] [ 0.01889394 0.99680114 -0.07765636 -0.1006447 ] [ 0.41482478 0.06285422 0.90772779 1.03475957] [ 0. 0. 0. 1. ]] SLAMing on 129.746502481 meters Centerline goodness : 0.607438 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.10, Z:1.03 [[ 0.90956111 -0.04893118 -0.41267944 3.63228775] [ 0.01857318 0.99683808 -0.07725856 -0.10142416] [ 0.41515494 0.06260662 0.90759396 1.03474186] [ 0. 0. 0. 1. ]] SLAMing on 129.776502481 meters Centerline goodness : 0.613972 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.10, Z:1.04 [[ 0.91087522 -0.0465799 -0.41004469 3.65708406] [ 0.01856181 0.99722836 -0.07204901 -0.10434432] [ 0.41226422 0.05801648 0.90921521 1.04028661] [ 0. 0. 0. 1. ]] SLAMing on 129.806502481 meters Centerline goodness : 0.619444 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.11, Z:1.05 [[ 0.91227775 -0.04429711 -0.40716959 3.68575435] [ 0.01778828 0.99748128 -0.0686635 -0.10840782] [ 0.40918564 0.05539734 0.91076794 1.04823434] [ 0. 0. 0. 1. ]] SLAMing on 129.836502481 meters Centerline goodness : 0.618272 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.11, Z:1.05 [[ 0.91225928 -0.04366467 -0.40727927 3.68660864] [ 0.0173832 0.9975332 -0.06800979 -0.10964156] [ 0.40924422 0.05496274 0.91076795 1.04784792] [ 0. 0. 0. 1. ]] SLAMing on 129.866502481 meters Centerline goodness : 0.618596 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.11, Z:1.06 [[ 0.91375628 -0.04230046 -0.40405461 3.71272999] [ 0.01762475 0.99775577 -0.06459721 -0.11366354] [ 0.40588031 0.05190474 0.91245113 1.05523965] [ 0. 0. 0. 1. ]] SLAMing on 129.896502481 meters Centerline goodness : 0.623971 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.11, Z:1.06 [[ 0.91373587 -0.04211384 -0.40412025 3.71263974] [ 0.01754454 0.99777571 -0.06431028 -0.11487065] [ 0.40592972 0.05167251 0.91244233 1.05534687] [ 0. 0. 0. 1. ]] SLAMing on 129.926502481 meters Centerline goodness : 0.626855 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.12, Z:1.06 [[ 0.91491796 -0.04251471 -0.4013946 3.73624155] [ 0.01933559 0.99791214 -0.0616238 -0.118742 ] [ 0.40317646 0.04861952 0.91382979 1.06243682] [ 0. 0. 0. 1. ]] SLAMing on 129.956502481 meters Centerline goodness : 0.623367 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.12, Z:1.07 [[ 0.9127775 -0.05137265 -0.40521364 3.74320263] [ 0.02902804 0.99770942 -0.06110071 -0.11508192] [ 0.40742437 0.04400879 0.91217795 1.06781303] [ 0. 0. 0. 1. ]] SLAMing on 129.986502481 meters Centerline goodness : 0.632553 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.12, Z:1.08 [[ 0.91384743 -0.04988986 -0.40298123 3.7722479 ] [ 0.02901834 0.99790996 -0.05773779 -0.11858344] [ 0.40501951 0.04106969 0.91338517 1.07571183] [ 0. 0. 0. 1. ]] SLAMing on 130.016502481 meters Centerline goodness : 0.627729 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.12, Z:1.08 [[ 0.91529486 -0.04896552 -0.39979706 3.7983232 ] [ 0.0295112 0.99806792 -0.05467639 -0.12082016] [ 0.40170188 0.03824652 0.91497148 1.08290013] [ 0. 0. 0. 1. ]] SLAMing on 130.04650248099998 meters Centerline goodness : 0.631410 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.12, Z:1.09 [[ 0.91681693 -0.04747175 -0.39647591 3.82609568] [ 0.02935014 0.99823371 -0.05165306 -0.12340951] [ 0.39822768 0.03571978 0.91659086 1.09017471] [ 0. 0. 0. 1. ]] SLAMing on 130.07650248099998 meters Centerline goodness : 0.632919 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.13, Z:1.10 [[ 0.91812349 -0.04696703 -0.3935014 3.85045531] [ 0.03057356 0.9983875 -0.04782956 -0.12589189] [ 0.39511329 0.0318827 0.91807896 1.0960296 ] [ 0. 0. 0. 1. ]] SLAMing on 130.10650248099998 meters Centerline goodness : 0.633799 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.13, Z:1.10 [[ 0.919766 -0.0455334 -0.3898169 3.87605709] [ 0.03032461 0.99852282 -0.04508423 -0.12830352] [ 0.39129391 0.0296459 0.91978813 1.10372558] [ 0. 0. 0. 1. ]] SLAMing on 130.13650248099998 meters Centerline goodness : 0.631687 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.13, Z:1.11 [[ 0.92130934 -0.04284285 -0.38646291 3.9080498 ] [ 0.02820045 0.99865615 -0.04348137 -0.13116822] [ 0.38780643 0.02916136 0.92127943 1.1144592 ] [ 0. 0. 0. 1. ]] SLAMing on 130.16650248099998 meters Centerline goodness : 0.631100 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.13, Z:1.11 [[ 0.92108182 -0.04253985 -0.3870383 3.90889814] [ 0.0279546 0.99867361 -0.04323849 -0.13133587] [ 0.38836429 0.02900669 0.92104929 1.11482794] [ 0. 0. 0. 1. ]] SLAMing on 130.19650248099998 meters Centerline goodness : 0.633798 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.13, Z:1.12 [[ 0.92090372 -0.04221317 -0.38749758 3.90976218] [ 0.02771074 0.99869329 -0.04293985 -0.1315767 ] [ 0.38880386 0.02880563 0.92087013 1.11507867] [ 0. 0. 0. 1. ]] SLAMing on 130.22650248099998 meters Centerline goodness : 0.633034 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.13, Z:1.12 [[ 0.92268191 -0.03866468 -0.38361848 3.93742562] [ 0.02544014 0.99889609 -0.03948935 -0.13424772] [ 0.38472184 0.0266768 0.92264698 1.12326608] [ 0. 0. 0. 1. ]] SLAMing on 130.25650248099998 meters Centerline goodness : 0.636270 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.13, Z:1.12 [[ 0.92242739 -0.03867276 -0.38422927 3.93745546] [ 0.02530876 0.99888793 -0.03977901 -0.13357977] [ 0.38534034 0.02696889 0.92238034 1.12440073] [ 0. 0. 0. 1. ]] SLAMing on 130.28650248099999 meters Centerline goodness : 0.635935 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.13, Z:1.12 [[ 0.92218894 -0.0382581 -0.38484267 3.93863211] [ 0.02494342 0.99890691 -0.03953234 -0.13342478] [ 0.38593444 0.026857 0.92213519 1.12471148] [ 0. 0. 0. 1. ]] SLAMing on 130.316502481 meters Centerline goodness : 0.633932 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.14, Z:1.13 [[ 0.92340453 -0.03225272 -0.38247069 3.96940936] [ 0.0208106 0.99920457 -0.03401689 -0.13697175] [ 0.3832636 0.02345191 0.92334123 1.13346285] [ 0. 0. 0. 1. ]] SLAMing on 130.346502481 meters Centerline goodness : 0.633412 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.14, Z:1.14 [[ 0.92452241 -0.0296306 -0.37997413 3.99920862] [ 0.01907986 0.9993215 -0.03150408 -0.14000404] [ 0.3806498 0.02187638 0.92446047 1.14230745] [ 0. 0. 0. 1. ]] SLAMing on 130.376502481 meters Centerline goodness : 0.625873 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.14, Z:1.15 [[ 0.92425572 -0.03021755 -0.38057622 4.03505728] [ 0.01869168 0.99924887 -0.03394578 -0.14169914] [ 0.38131612 0.02426098 0.9241263 1.15393287] [ 0. 0. 0. 1. ]] SLAMing on 130.406502481 meters Centerline goodness : 0.628415 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.14, Z:1.15 [[ 0.9240739 -0.02973297 -0.38105562 4.03712327] [ 0.0183148 0.99926899 -0.0335568 -0.14201894] [ 0.3817748 0.02403 0.92394294 1.15351941] [ 0. 0. 0. 1. ]] SLAMing on 130.436502481 meters Centerline goodness : 0.624150 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.14, Z:1.15 [[ 0.92378074 -0.02908067 -0.38181599 4.03857891] [ 0.01777777 0.99929398 -0.03309807 -0.1422039 ] [ 0.38250894 0.02378753 0.92364553 1.15383082] [ 0. 0. 0. 1. ]] SLAMing on 130.466502481 meters Centerline goodness : 0.623885 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.15, Z:1.16 [[ 0.92505048 -0.02365874 -0.37910668 4.07151016] [ 0.01358103 0.99948029 -0.02923533 -0.14531981] [ 0.37960132 0.0218955 0.92489103 1.16411458] [ 0. 0. 0. 1. ]] SLAMing on 130.496502481 meters Centerline goodness : 0.627001 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.14, Z:1.16 [[ 0.92479339 -0.02309217 -0.37976827 4.07237717] [ 0.01300758 0.99949188 -0.02909961 -0.14433918] [ 0.38024727 0.02197126 0.92462386 1.16485668] [ 0. 0. 0. 1. ]] SLAMing on 130.526502481 meters Centerline goodness : 0.625906 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.15, Z:1.17 [[ 0.92613512 -0.01959197 -0.37668274 4.09967552] [ 0.01099916 0.99962821 -0.02494932 -0.14718815] [ 0.3770315 0.01896325 0.92600629 1.17187071] [ 0. 0. 0. 1. ]] SLAMing on 130.556502481 meters Centerline goodness : 0.626315 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.15, Z:1.17 [[ 0.92600169 -0.01946777 -0.37701707 4.09979974] [ 0.01081886 0.99962779 -0.02504461 -0.14677518] [ 0.37736431 0.01911245 0.92586764 1.17252351] [ 0. 0. 0. 1. ]] SLAMing on 130.586502481 meters Centerline goodness : 0.626417 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.15, Z:1.17 [[ 0.92618175 -0.0198534 -0.37655439 4.09768739] [ 0.01089183 0.99960486 -0.02591325 -0.14501503] [ 0.37692006 0.01989902 0.92603202 1.17382654] [ 0. 0. 0. 1. ]] SLAMing on 130.616502481 meters Centerline goodness : 0.621804 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.14, Z:1.17 [[ 0.9261637 -0.02014117 -0.37658349 4.09753783] [ 0.01100951 0.99959122 -0.02638545 -0.14441863] [ 0.37696099 0.02029124 0.92600685 1.17436326] [ 0. 0. 0. 1. ]] SLAMing on 130.646502481 meters Centerline goodness : 0.617925 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.14, Z:1.17 [[ 0.92604559 -0.02014054 -0.37687388 4.0986186 ] [ 0.01091343 0.99958651 -0.02660273 -0.14357205] [ 0.37725384 0.02052236 0.92588248 1.17442536] [ 0. 0. 0. 1. ]] SLAMing on 130.676502481 meters Centerline goodness : 0.616755 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.14, Z:1.18 [[ 0.92588644 -0.02022841 -0.37726 4.09910515] [ 0.01084216 0.99957698 -0.02698732 -0.14301829] [ 0.37764632 0.02089688 0.92571409 1.17516384] [ 0. 0. 0. 1. ]] SLAMing on 130.706502481 meters Centerline goodness : 0.612824 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.14, Z:1.18 [[ 0.92568804 -0.01986015 -0.37776609 4.10002053] [ 0.01033058 0.99957565 -0.02723598 -0.14107876] [ 0.3781467 0.02130947 0.92550039 1.17584255] [ 0. 0. 0. 1. ]] SLAMing on 130.736502481 meters Centerline goodness : 0.609336 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.14, Z:1.18 [[ 0.92533444 -0.01911005 -0.37867002 4.10185587] [ 0.00963908 0.99959189 -0.02689118 -0.14026819] [ 0.37902938 0.0212333 0.925141 1.1762885 ] [ 0. 0. 0. 1. ]] SLAMing on 130.766502481 meters Centerline goodness : 0.607348 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.14, Z:1.18 [[ 0.92468442 -0.01740139 -0.38033658 4.10546742] [ 0.00811294 0.99962873 -0.02601122 -0.13808976] [ 0.38064801 0.02096652 0.92448229 1.17713426] [ 0. 0. 0. 1. ]] SLAMing on 130.79650248099998 meters Centerline goodness : 0.607348 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.14, Z:1.18 [[ 0.92470564 -0.01749192 -0.38028083 4.10536548] [ 0.00820799 0.99962769 -0.02602138 -0.13814653] [ 0.38059441 0.02094078 0.92450494 1.17708262] [ 0. 0. 0. 1. ]] SLAMing on 130.82650248099998 meters Centerline goodness : 0.603912 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.14, Z:1.18 [[ 0.92452306 -0.01756375 -0.38072119 4.10571019] [ 0.00814021 0.99961969 -0.02634804 -0.13748232] [ 0.38103916 0.02126022 0.92431443 1.17787591] [ 0. 0. 0. 1. ]] SLAMing on 130.85650248099998 meters Centerline goodness : 0.600438 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.14, Z:1.18 [[ 0.92470819 -0.01871653 -0.38021632 4.10516163] [ 0.00895741 0.99958385 -0.02742058 -0.1364924 ] [ 0.38057131 0.02195028 0.92449103 1.17772621] [ 0. 0. 0. 1. ]] SLAMing on 130.88650248099998 meters Centerline goodness : 0.597775 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.14, Z:1.18 [[ 0.92423145 -0.02311673 -0.38113233 4.10629872] [ 0.01210537 0.99943787 -0.03126361 -0.13553779] [ 0.38164079 0.02428107 0.92399174 1.17904623] [ 0. 0. 0. 1. ]] SLAMing on 130.91650248099998 meters Centerline goodness : 0.594074 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.13, Z:1.18 [[ 0.92410541 -0.02327936 -0.38142793 4.10685374] [ 0.01218645 0.99943032 -0.03147259 -0.1349879 ] [ 0.3819433 0.02443574 0.92386266 1.17932469] [ 0. 0. 0. 1. ]] SLAMing on 130.94650248099998 meters Centerline goodness : 0.592780 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.13, Z:1.18 [[ 0.92397065 -0.02308514 -0.38176606 4.10699229] [ 0.01200887 0.99943567 -0.03137072 -0.13465346] [ 0.38227481 0.02440104 0.92372645 1.17982046] [ 0. 0. 0. 1. ]] SLAMing on 130.97650248099998 meters Centerline goodness : 0.594503 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.13, Z:1.18 [[ 0.92375898 -0.02290212 -0.38228894 4.10744727] [ 0.01180345 0.99943869 -0.03135251 -0.13427691] [ 0.3827924 0.02444984 0.92351079 1.18049115] [ 0. 0. 0. 1. ]] SLAMing on 131.00650248099998 meters Centerline goodness : 0.589805 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.13, Z:1.18 [[ 0.92340936 -0.02794109 -0.38279819 4.10742934] [ 0.01550323 0.99924803 -0.03553895 -0.13219259] [ 0.38350333 0.02688239 0.92314816 1.18171726] [ 0. 0. 0. 1. ]] SLAMing on 131.03650248099999 meters Centerline goodness : 0.589787 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.13, Z:1.18 [[ 0.9236692 -0.02874468 -0.38211117 4.10629637] [ 0.01619834 0.99922009 -0.03601137 -0.1326348 ] [ 0.3828483 0.02707303 0.92341444 1.1814897 ] [ 0. 0. 0. 1. ]] SLAMing on 131.066502481 meters Centerline goodness : 0.589605 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.13, Z:1.18 [[ 0.92370498 -0.0286847 -0.38202919 4.10609237] [ 0.01620302 0.99922583 -0.03584984 -0.1330051 ] [ 0.38276177 0.02692465 0.92345465 1.18148214] [ 0. 0. 0. 1. ]] SLAMing on 131.096502481 meters Centerline goodness : 0.588308 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.13, Z:1.18 [[ 0.92277862 -0.03604009 -0.38364141 4.11324229] [ 0.02546583 0.99914373 -0.03260834 -0.12806639] [ 0.38448811 0.02032053 0.92290626 1.18474772] [ 0. 0. 0. 1. ]] SLAMing on 131.126502481 meters Centerline goodness : 0.589441 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.13, Z:1.18 [[ 0.92270994 -0.03552449 -0.38385464 4.11471362] [ 0.02509826 0.99916825 -0.03213855 -0.12810841] [ 0.38467707 0.02002048 0.92283408 1.18424291] [ 0. 0. 0. 1. ]] SLAMing on 131.156502481 meters Centerline goodness : 0.590861 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.13, Z:1.18 [[ 0.92274446 -0.03559904 -0.38376472 4.11581441] [ 0.02513256 0.99916363 -0.03225503 -0.12721209] [ 0.384592 0.02011816 0.92286741 1.1836251 ] [ 0. 0. 0. 1. ]] SLAMing on 131.186502481 meters Centerline goodness : 0.591804 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.13, Z:1.18 [[ 0.92270994 -0.03559988 -0.38384765 4.11614381] [ 0.0250594 0.99915987 -0.03242798 -0.12627486] [ 0.3846796 0.02030263 0.92282686 1.18377562] [ 0. 0. 0. 1. ]] SLAMing on 131.216502481 meters Centerline goodness : 0.596403 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.12, Z:1.18 [[ 0.92319165 -0.03086178 -0.38309884 4.11560791] [ 0.0213852 0.99935144 -0.02897196 -0.12447056] [ 0.3837445 0.01855403 0.92325289 1.18310506] [ 0. 0. 0. 1. ]] SLAMing on 131.246502481 meters Centerline goodness : 0.596097 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.12, Z:1.18 [[ 0.92289342 -0.03076458 -0.38382453 4.11603572] [ 0.02107892 0.99934496 -0.02941664 -0.12285473] [ 0.3844781 0.01905782 0.92293737 1.18445799] [ 0. 0. 0. 1. ]] SLAMing on 131.276502481 meters Centerline goodness : 0.592811 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.12, Z:1.18 [[ 0.92318572 -0.02619498 -0.3834605 4.11651911] [ 0.01760555 0.99950968 -0.025893 -0.12256555] [ 0.38395075 0.01715302 0.92319423 1.18361198] [ 0. 0. 0. 1. ]] SLAMing on 131.306502481 meters Centerline goodness : 0.599591 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.12, Z:1.18 [[ 0.92293093 -0.02556516 -0.38411577 4.11894179] [ 0.01686182 0.99951948 -0.02600928 -0.11832276] [ 0.38459612 0.01752788 0.92291852 1.18368547] [ 0. 0. 0. 1. ]] SLAMing on 131.336502481 meters Centerline goodness : 0.597165 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.12, Z:1.18 [[ 0.92263201 -0.02555761 -0.3848337 4.12029894] [ 0.01665559 0.99951142 -0.02644817 -0.11643502] [ 0.38532163 0.0179923 0.92260691 1.18427622] [ 0. 0. 0. 1. ]] SLAMing on 131.366502481 meters Centerline goodness : 0.602653 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.11, Z:1.19 [[ 0.92201966 -0.02453206 -0.38636502 4.12384591] [ 0.0155436 0.99953136 -0.02637157 -0.11158353] [ 0.3868309 0.0183096 0.92196888 1.18502603] [ 0. 0. 0. 1. ]] SLAMing on 131.396502481 meters Centerline goodness : 0.600951 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.11, Z:1.19 [[ 0.92157397 -0.02354479 -0.38748814 4.12635314] [ 0.0144321 0.99954699 -0.02641083 -0.10650068] [ 0.38793444 0.01874726 0.92149629 1.18582938] [ 0. 0. 0. 1. ]] SLAMing on 131.426502481 meters Centerline goodness : 0.601443 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.19 [[ 0.92134602 -0.0234101 -0.38803799 4.12731274] [ 0.01413157 0.99954231 -0.02674822 -0.10495758] [ 0.38848656 0.01916079 0.92125515 1.18651615] [ 0. 0. 0. 1. ]] SLAMing on 131.456502481 meters Centerline goodness : 0.598173 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.19 [[ 0.92108634 -0.02330495 -0.3886603 4.128155 ] [ 0.01386063 0.999537 -0.02708619 -0.10352864] [ 0.38911159 0.01956164 0.9209829 1.18726968] [ 0. 0. 0. 1. ]] SLAMing on 131.486502481 meters Centerline goodness : 0.597356 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.19 [[ 0.92083988 -0.02253077 -0.38928946 4.12918383] [ 0.01303798 0.99955013 -0.02701009 -0.09988954] [ 0.38972289 0.01979642 0.92071938 1.18808225] [ 0. 0. 0. 1. ]] SLAMing on 131.516502481 meters Centerline goodness : 0.597372 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.19 [[ 0.92066979 -0.02249783 -0.38969345 4.12915015] [ 0.01287919 0.99954491 -0.02727814 -0.09872348] [ 0.39012981 0.02009523 0.92054056 1.18890123] [ 0. 0. 0. 1. ]] SLAMing on 131.54650248099998 meters Centerline goodness : 0.597089 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.19 [[ 0.92070391 -0.02301313 -0.38958273 4.12817932] [ 0.01305358 0.99951726 -0.0281931 -0.09686276] [ 0.39004347 0.02087205 0.92055986 1.18992843] [ 0. 0. 0. 1. ]] SLAMing on 131.57650248099998 meters Centerline goodness : 0.600067 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.19 [[ 0.92077582 -0.02323597 -0.38939952 4.12795621] [ 0.01316479 0.99950675 -0.02851233 -0.0964845 ] [ 0.38986996 0.0211271 0.92062754 1.18999792] [ 0. 0. 0. 1. ]] SLAMing on 131.60650248099998 meters Centerline goodness : 0.602083 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.19 [[ 0.92096583 -0.02374444 -0.38891919 4.12739693] [ 0.01358521 0.99949139 -0.02885138 -0.09647845] [ 0.38940644 0.02128759 0.92081999 1.18973785] [ 0. 0. 0. 1. ]] SLAMing on 131.63650248099998 meters Centerline goodness : 0.596562 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.19 [[ 0.92084689 -0.02350559 -0.38921522 4.12827886] [ 0.01343147 0.99950114 -0.02858452 -0.09685858] [ 0.38969295 0.02109423 0.92070323 1.1896987 ] [ 0. 0. 0. 1. ]] SLAMing on 131.66650248099998 meters Centerline goodness : 0.597498 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.19 [[ 0.92062543 -0.02318953 -0.3897577 4.13032261] [ 0.01330277 0.99951809 -0.02804688 -0.09784092] [ 0.39022027 0.02063581 0.92049025 1.1891661 ] [ 0. 0. 0. 1. ]] SLAMing on 131.69650248099998 meters Centerline goodness : 0.593189 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.19 [[ 0.92060475 -0.02301989 -0.3898166 4.1311746 ] [ 0.01322689 0.99952632 -0.02778806 -0.09827214] [ 0.39027164 0.02042576 0.92047316 1.1887673 ] [ 0. 0. 0. 1. ]] SLAMing on 131.72650248099998 meters Centerline goodness : 0.595572 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.19 [[ 0.92069811 -0.02295776 -0.38959971 4.13121187] [ 0.01326632 0.99953244 -0.02754817 -0.09826639] [ 0.39004999 0.02019499 0.92057219 1.18835591] [ 0. 0. 0. 1. ]] SLAMing on 131.75650248099998 meters Centerline goodness : 0.591393 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.19 [[ 0.92067399 -0.02276186 -0.38966819 4.13156438] [ 0.01314407 0.99954002 -0.0273309 -0.09849903] [ 0.39011105 0.02004102 0.92054969 1.18827406] [ 0. 0. 0. 1. ]] SLAMing on 131.78650248099999 meters Centerline goodness : 0.596586 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.19 [[ 0.92089704 -0.02275135 -0.38914139 4.13081583] [ 0.01324251 0.99954499 -0.02710069 -0.09877332] [ 0.3895809 0.01980374 0.92077931 1.18788036] [ 0. 0. 0. 1. ]] SLAMing on 131.816502481 meters Centerline goodness : 0.591420 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.19 [[ 0.92122539 -0.0185483 -0.38858686 4.13078825] [ 0.01021215 0.99967151 -0.02350702 -0.10058842] [ 0.38889523 0.01768696 0.92111219 1.18685932] [ 0. 0. 0. 1. ]] SLAMing on 131.846502481 meters Centerline goodness : 0.590616 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.19 [[ 0.92161291 -0.01387376 -0.38786231 4.13095911] [ 0.00687019 0.99978747 -0.01943771 -0.10209171] [ 0.38804955 0.01524935 0.92151235 1.18537373] [ 0. 0. 0. 1. ]] SLAMing on 131.876502481 meters Centerline goodness : 0.587363 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.19 [[ 0.92174039 -0.01409666 -0.3875512 4.13072481] [ 0.00709246 0.99978475 -0.01949735 -0.10153428] [ 0.38774262 0.0152228 0.92164197 1.18503048] [ 0. 0. 0. 1. ]] SLAMing on 131.906502481 meters Centerline goodness : 0.586890 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.18 [[ 0.9219647 -0.01430463 -0.38700965 4.1311675 ] [ 0.00734362 0.99978368 -0.0194594 -0.10148593] [ 0.38720429 0.01509882 0.92187031 1.18391859] [ 0. 0. 0. 1. ]] SLAMing on 131.936502481 meters Centerline goodness : 0.579996 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.18 [[ 0.92197201 -0.01418355 -0.3869967 4.13194582] [ 0.00729067 0.99978767 -0.0192734 -0.10131015] [ 0.38718789 0.01494807 0.92187965 1.18344013] [ 0. 0. 0. 1. ]] SLAMing on 131.966502481 meters Centerline goodness : 0.580674 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.18 [[ 0.92191361 -0.01394845 -0.38714435 4.13284833] [ 0.0071268 0.99979312 -0.01905045 -0.10133195] [ 0.38732998 0.01480377 0.92182229 1.18318323] [ 0. 0. 0. 1. ]] SLAMing on 131.996502481 meters Centerline goodness : 0.576003 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:1.18 [[ 0.92178052 -0.01364283 -0.38747199 4.1340714 ] [ 0.0068792 0.99979889 -0.01883742 -0.1007339 ] [ 0.38765107 0.01469846 0.921689 1.1830064 ] [ 0. 0. 0. 1. ]] SLAMing on 132.026502481 meters Centerline goodness : 0.572969 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.10, Z:1.18 [[ 0.92146912 -0.01267411 -0.3882448 4.1365677 ] [ 0.00613093 0.99981761 -0.0180874 -0.10029545] [ 0.38840323 0.01428668 0.92137876 1.18278017] [ 0. 0. 0. 1. ]] SLAMing on 132.056502481 meters Centerline goodness : 0.570878 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.10, Z:1.18 [[ 9.21678923e-01 -7.79830630e-03 -3.87875172e-01 4.13817585e+00] [ 2.56588632e-03 9.99898618e-01 -1.40060327e-02 -1.01778702e-01] [ 3.87945072e-01 1.19138216e-02 9.21605491e-01 1.18116629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.086502481 meters Centerline goodness : 0.568490 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.10, Z:1.18 [[ 9.21603849e-01 -7.39731613e-03 -3.88061367e-01 4.13944968e+00] [ 2.24902469e-03 9.99903358e-01 -1.37191998e-02 -1.01511220e-01] [ 3.88125349e-01 1.17709077e-02 9.21531420e-01 1.18083214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.116502481 meters Centerline goodness : 0.563291 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.10, Z:1.18 [[ 9.21536958e-01 -7.14655683e-03 -3.88224886e-01 4.14115939e+00] [ 2.01282013e-03 9.99905099e-01 -1.36286742e-02 -1.00552446e-01] [ 3.88285442e-01 1.17779001e-02 9.21463888e-01 1.18024002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.146502481 meters Centerline goodness : 0.565032 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.10, Z:1.18 [[ 9.21378766e-01 -6.84017020e-03 -3.88605689e-01 4.14225614e+00] [ 1.73935884e-03 9.99907679e-01 -1.34762063e-02 -1.00149792e-01] [ 3.88661992e-01 1.17407656e-02 9.21305601e-01 1.18029965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.176502481 meters Centerline goodness : 0.559750 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.10, Z:1.18 [[ 9.21215369e-01 -6.55285242e-03 -3.88997819e-01 4.14348750e+00] [ 1.46679081e-03 9.99909537e-01 -1.33703305e-02 -9.89377387e-02] [ 3.89050243e-01 1.17463755e-02 9.21141645e-01 1.18027194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.206502481 meters Centerline goodness : 0.560613 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.10, Z:1.18 [[ 9.20989733e-01 -6.15506666e-03 -3.89538222e-01 4.14458011e+00] [ 1.10409785e-03 9.99912410e-01 -1.31891159e-02 -9.88058281e-02] [ 3.89585282e-01 1.17169520e-02 9.20915860e-01 1.18063424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.236502481 meters Centerline goodness : 0.563714 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.10, Z:1.18 [[ 9.20601456e-01 -5.59576445e-03 -3.90463375e-01 4.14542606e+00] [ 5.77536680e-04 9.99915742e-01 -1.29682121e-02 -9.82331195e-02] [ 3.90503043e-01 1.17130480e-02 9.20527120e-01 1.18173474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.266502481 meters Centerline goodness : 0.561247 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.10, Z:1.18 [[ 9.20435830e-01 -5.50469666e-03 -3.90854937e-01 4.14573023e+00] [ 4.37991880e-04 9.99914735e-01 -1.30510924e-02 -9.77210209e-02] [ 3.90893453e-01 1.18415017e-02 9.20359760e-01 1.18229446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29650248099998 meters Centerline goodness : 0.558809 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.10, Z:1.18 [[ 9.20277706e-01 -5.16486504e-03 -3.91231732e-01 4.14711042e+00] [ 1.76566388e-04 9.99918251e-01 -1.27851406e-02 -9.77512587e-02] [ 3.91265783e-01 1.16968015e-02 9.20203386e-01 1.18212930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32650248099998 meters Centerline goodness : 0.559615 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.10, Z:1.18 [[ 9.20179859e-01 -4.70275910e-03 -3.91467638e-01 4.14814395e+00] [-1.51081065e-04 9.99923510e-01 -1.23673598e-02 -9.82936689e-02] [ 3.91495855e-01 1.14393388e-02 9.20108764e-01 1.18193784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35650248099998 meters Centerline goodness : 0.554002 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.10, Z:1.18 [[ 9.20063861e-01 -4.73860793e-03 -3.91739757e-01 4.14832560e+00] [-2.23829233e-04 9.99920326e-01 -1.26210513e-02 -9.76629542e-02] [ 3.91768352e-01 1.16998560e-02 9.19989496e-01 1.18256745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38650248099998 meters Centerline goodness : 0.554193 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.10, Z:1.18 [[ 9.20332627e-01 -1.07145334e-04 -3.91136605e-01 4.14879371e+00] [-3.66222312e-03 9.99953768e-01 -8.89102110e-03 -9.92486093e-02] [ 3.91119475e-01 9.61512633e-03 9.20289686e-01 1.18141547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.41650248099998 meters Centerline goodness : 0.553411 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.10, Z:1.18 [[ 0.92058342 0.00473111 -0.39051733 4.14966001] [-0.00718236 0.99996261 -0.00481676 -0.10074638] [ 0.39047994 0.00723906 0.92058298 1.17984539] [ 0. 0. 0. 1. ]] SLAMing on 132.44650248099998 meters Centerline goodness : 0.551343 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.10, Z:1.18 [[ 0.92042322 0.00497679 -0.39089171 4.15002982] [-0.00743807 0.9999609 -0.00478286 -0.10074492] [ 0.39085262 0.00730974 0.92042425 1.18040084] [ 0. 0. 0. 1. ]] SLAMing on 132.47650248099998 meters Centerline goodness : 0.551072 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.10, Z:1.18 [[ 0.92038982 0.00506501 -0.39096922 4.1499255 ] [-0.00763136 0.99995833 -0.00501068 -0.10014585] [ 0.39092755 0.00759541 0.92039011 1.18094775] [ 0. 0. 0. 1. ]] SLAMing on 132.50650248099998 meters Centerline goodness : 0.548171 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.10, Z:1.18 [[ 0.92031615 0.00534568 -0.39113885 4.15070871] [-0.00788862 0.9999569 -0.00489486 -0.09984663] [ 0.39109583 0.00759037 0.92031866 1.18092677] [ 0. 0. 0. 1. ]] SLAMing on 132.53650248099999 meters Centerline goodness : 0.545924 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.10, Z:1.18 [[ 0.92001052 0.00600761 -0.39184762 4.15231078] [-0.00854933 0.99995221 -0.00474201 -0.09899376] [ 0.39180041 0.00771273 0.92001791 1.18145361] [ 0. 0. 0. 1. ]] SLAMing on 132.566502481 meters Centerline goodness : 0.544320 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.10, Z:1.18 [[ 0.91985181 0.00642374 -0.39221343 4.15349388] [-0.00892341 0.99994983 -0.00455057 -0.09851364] [ 0.39216453 0.00768573 0.91986299 1.18148464] [ 0. 0. 0. 1. ]] SLAMing on 132.596502481 meters Centerline goodness : 0.540462 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.10, Z:1.18 [[ 9.19501534e-01 7.68960186e-03 -3.93011194e-01 4.15638859e+00] [-1.00049165e-02 9.99942565e-01 -3.84308621e-03 -9.77910997e-02] [ 3.92959069e-01 7.46576786e-03 9.19525656e-01 1.18140662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.626502481 meters Centerline goodness : 0.543877 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.10, Z:1.18 [[ 9.19304637e-01 8.65852597e-03 -3.93451412e-01 4.15825364e+00] [-1.08536896e-02 9.99935470e-01 -3.35461997e-03 -9.72819818e-02] [ 3.93396977e-01 7.35431720e-03 9.19339291e-01 1.18135024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.656502481 meters Centerline goodness : 0.540123 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.10, Z:1.18 [[ 9.19147729e-01 8.99724472e-03 -3.93810235e-01 4.15882185e+00] [-1.11914634e-02 9.99932008e-01 -3.27562640e-03 -9.71770978e-02] [ 3.93753988e-01 7.41809741e-03 9.19185927e-01 1.18177119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.686502481 meters Centerline goodness : 0.540123 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.10, Z:1.18 [[ 9.19147729e-01 8.99724472e-03 -3.93810235e-01 4.15882185e+00] [-1.11914634e-02 9.99932008e-01 -3.27562640e-03 -9.71770978e-02] [ 3.93753988e-01 7.41809741e-03 9.19185927e-01 1.18177119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.716502481 meters Centerline goodness : 0.540823 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.10, Z:1.18 [[ 9.18997632e-01 9.22240110e-03 -3.94155172e-01 4.15896506e+00] [-1.14351476e-02 9.99929284e-01 -3.26552766e-03 -9.70470393e-02] [ 3.94097183e-01 7.50823474e-03 9.19038104e-01 1.18237546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.746502481 meters Centerline goodness : 0.540345 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.10, Z:1.18 [[ 9.18916486e-01 9.46565748e-03 -3.94338552e-01 4.15860940e+00] [-1.17148493e-02 9.99925944e-01 -3.29668917e-03 -9.71821873e-02] [ 3.94278143e-01 7.64899873e-03 9.18959324e-01 1.18319792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.776502481 meters Centerline goodness : 0.536710 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.10, Z:1.18 [[ 9.18900602e-01 9.61300786e-03 -3.94371999e-01 4.15895002e+00] [-1.18109179e-02 9.99925299e-01 -3.14619147e-03 -9.77937508e-02] [ 3.94312294e-01 7.54893254e-03 9.18945498e-01 1.18315128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.806502481 meters Centerline goodness : 0.536824 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.10, Z:1.18 [[ 9.19104058e-01 9.56683427e-03 -3.93898726e-01 4.15977996e+00] [-1.16199115e-02 9.99928489e-01 -2.82752291e-03 -9.97011164e-02] [ 3.93843508e-01 7.17585612e-03 9.19149497e-01 1.18189923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.836502481 meters Centerline goodness : 0.536871 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.10, Z:1.18 [[ 9.19147012e-01 9.72238334e-03 -3.93794674e-01 4.16039313e+00] [-1.16607303e-02 9.99928811e-01 -2.52983154e-03 -1.00932393e-01] [ 3.93742044e-01 6.91722058e-03 9.19194949e-01 1.18142770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.866502481 meters Centerline goodness : 0.540844 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.10, Z:1.18 [[ 9.19202140e-01 9.80317448e-03 -3.93663972e-01 4.16059191e+00] [-1.15710732e-02 9.99930810e-01 -2.11769210e-03 -1.03264708e-01] [ 3.93615975e-01 6.50170176e-03 9.19251974e-01 1.18106402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.896502481 meters Centerline goodness : 0.538813 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.10, Z:1.18 [[ 9.19241317e-01 2.76765757e-03 -3.93684824e-01 4.16685811e+00] [-2.11498386e-03 9.99995576e-01 2.09168533e-03 -9.99346416e-02] [ 3.93688872e-01 -1.09012653e-03 9.19243104e-01 1.18320447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.926502481 meters Centerline goodness : 0.541241 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.10, Z:1.18 [[ 9.18955142e-01 3.36848086e-03 -3.94347690e-01 4.16819531e+00] [-2.43671758e-03 9.99992931e-01 2.86352103e-03 -1.01667981e-01] [ 3.94354548e-01 -1.67053343e-03 9.18956854e-01 1.18333596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.956502481 meters Centerline goodness : 0.537066 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.10, Z:1.18 [[ 9.18886746e-01 3.73601409e-03 -3.94503726e-01 4.16897855e+00] [-2.64174831e-03 9.99991010e-01 3.31685839e-03 -1.02927671e-01] [ 3.94512571e-01 -2.00563766e-03 9.18888355e-01 1.18315656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.986502481 meters Centerline goodness : 0.534632 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.11, Z:1.18 [[ 9.18811297e-01 3.87869617e-03 -3.94678040e-01 4.16988968e+00] [-2.57630962e-03 9.99989348e-01 3.82973542e-03 -1.05450552e-01] [ 3.94688690e-01 -2.50199134e-03 9.18811503e-01 1.18276581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.016502481 meters Centerline goodness : 0.537736 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.11, Z:1.18 [[ 9.18838227e-01 3.96864718e-03 -3.94614448e-01 4.17046997e+00] [-2.55755637e-03 9.99988317e-01 4.10177646e-03 -1.06549709e-01] [ 3.94626117e-01 -2.75962032e-03 9.18837642e-01 1.18235318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04650248099998 meters Centerline goodness : 0.531587 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.11, Z:1.18 [[ 9.18895598e-01 3.76574912e-03 -3.94482825e-01 4.17066569e+00] [-2.22044798e-03 9.99987970e-01 4.37368584e-03 -1.08495525e-01] [ 3.94494550e-01 -3.14303208e-03 9.18892905e-01 1.18190006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07650248099998 meters Centerline goodness : 0.538133 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.11, Z:1.18 [[ 9.18905635e-01 4.08658864e-03 -3.94456251e-01 4.17094404e+00] [-2.41299246e-03 9.99985861e-01 4.73872195e-03 -1.08890876e-01] [ 3.94470039e-01 -3.40261834e-03 9.18902503e-01 1.18171064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10650248099998 meters Centerline goodness : 0.534847 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.11, Z:1.18 [[ 9.18646969e-01 4.86015807e-03 -3.95049524e-01 4.17259135e+00] [-3.01998120e-03 9.99981502e-01 5.27977244e-03 -1.08935830e-01] [ 3.95067876e-01 -3.65720481e-03 9.18644653e-01 1.18182343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.13650248099998 meters Centerline goodness : 0.537382 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.11, Z:1.18 [[ 9.18560278e-01 5.43319168e-03 -3.95243590e-01 4.17396838e+00] [-3.45528051e-03 9.99977694e-01 5.71593600e-03 -1.09286288e-01] [ 3.95265830e-01 -3.88475429e-03 9.18558562e-01 1.18146039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16650248099998 meters Centerline goodness : 0.535172 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.11, Z:1.18 [[ 9.18504248e-01 5.95591622e-03 -3.95366253e-01 4.17500306e+00] [-3.85825757e-03 9.99973948e-01 6.10050826e-03 -1.09323101e-01] [ 3.95392287e-01 -4.07791791e-03 9.18503299e-01 1.18117869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.19650248099998 meters Centerline goodness : 0.534628 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.11, Z:1.18 [[ 9.18239874e-01 6.71397309e-03 -3.95967748e-01 4.17692231e+00] [-4.54889600e-03 9.99969131e-01 6.40655247e-03 -1.08498722e-01] [ 3.95998538e-01 -4.08153583e-03 9.18242070e-01 1.18131572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22650248099998 meters Centerline goodness : 0.537031 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.11, Z:1.18 [[ 0.91808026 0.00733049 -0.39632676 4.17857359] [-0.00506064 0.99996426 0.00677259 -0.10820163] [ 0.39636224 -0.00421211 0.91808454 1.1810945 ] [ 0. 0. 0. 1. ]] SLAMing on 133.25650248099998 meters Centerline goodness : 0.537340 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.11, Z:1.18 [[ 0.91775709 0.00884166 -0.39704377 4.1812705 ] [-0.00637101 0.99995127 0.00754121 -0.10640142] [ 0.39709109 -0.00439143 0.9177687 1.18109807] [ 0. 0. 0. 1. ]] SLAMing on 133.28650248099999 meters Centerline goodness : 0.536209 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.11, Z:1.18 [[ 0.91792923 0.01429151 -0.39648667 4.1823789 ] [-0.01048712 0.99987584 0.01176156 -0.1072958 ] [ 0.39660553 -0.00663827 0.91796513 1.17989088] [ 0. 0. 0. 1. ]] SLAMing on 133.316502481 meters Centerline goodness : 0.536779 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.11, Z:1.18 [[ 0.91762815 0.01493005 -0.39715949 4.18407661] [-0.01114719 0.99986787 0.01183176 -0.10596977] [ 0.39728366 -0.00642994 0.91767333 1.18030415] [ 0. 0. 0. 1. ]] SLAMing on 133.346502481 meters Centerline goodness : 0.532064 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.10, Z:1.18 [[ 0.91742165 0.01694253 -0.39755561 4.18700251] [-0.01294943 0.99983516 0.0127269 -0.10284926] [ 0.3977057 -0.00652781 0.91748982 1.1799195 ] [ 0. 0. 0. 1. ]] SLAMing on 133.376502481 meters Centerline goodness : 0.531207 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.10, Z:1.18 [[ 0.91703632 0.01742671 -0.39842277 4.18811391] [-0.01351127 0.99982891 0.01263334 -0.10135288] [ 0.39857476 -0.00620203 0.91711488 1.18094642] [ 0. 0. 0. 1. ]] SLAMing on 133.406502481 meters Centerline goodness : 0.526849 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.10, Z:1.18 [[ 0.91699834 0.01939676 -0.39841914 4.18867881] [-0.01534358 0.99979303 0.01335958 -0.09821556] [ 0.39859581 -0.00613753 0.91710616 1.18151795] [ 0. 0. 0. 1. ]] SLAMing on 133.436502481 meters Centerline goodness : 0.528882 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.10, Z:1.18 [[ 0.9169111 0.01968876 -0.39860554 4.18983945] [-0.01570372 0.99978875 0.01326043 -0.09752836] [ 0.39878242 -0.00589905 0.9170266 1.18152799] [ 0. 0. 0. 1. ]] SLAMing on 133.466502481 meters Centerline goodness : 0.528258 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.10, Z:1.18 [[ 0.91677141 0.02010901 -0.39890577 4.19158202] [-0.01616182 0.99978151 0.01325605 -0.09726061] [ 0.39908518 -0.00570572 0.9168961 1.18143897] [ 0. 0. 0. 1. ]] SLAMing on 133.496502481 meters Centerline goodness : 0.524991 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.10, Z:1.18 [[ 0.91667586 0.02041091 -0.39910995 4.19210889] [-0.01645368 0.99977565 0.01333878 -0.09745054] [ 0.39929267 -0.00566051 0.91680604 1.18168208] [ 0. 0. 0. 1. ]] SLAMing on 133.526502481 meters Centerline goodness : 0.524177 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.10, Z:1.18 [[ 0.9164918 0.02067958 -0.39951862 4.19278102] [-0.01670626 0.9997703 0.01342534 -0.09839422] [ 0.39970449 -0.00562975 0.91662677 1.18219499] [ 0. 0. 0. 1. ]] SLAMing on 133.556502481 meters Centerline goodness : 0.528202 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.10, Z:1.18 [[ 9.16059894e-01 1.69052846e-02 -4.00685015e-01 4.19443258e+00] [-1.39616769e-02 9.99849840e-01 1.02649555e-02 -9.90503053e-02] [ 4.00798380e-01 -3.80907930e-03 9.16158365e-01 1.18338727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.586502481 meters Centerline goodness : 0.525522 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.10, Z:1.18 [[ 9.16085293e-01 1.70908248e-02 -4.00619071e-01 4.19463332e+00] [-1.40762935e-02 9.99846143e-01 1.04665758e-02 -1.00385413e-01] [ 4.00736316e-01 -3.94904449e-03 9.16184922e-01 1.18332350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.616502481 meters Centerline goodness : 0.527187 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.10, Z:1.18 [[ 9.16252341e-01 1.70198337e-02 -4.00239894e-01 4.19412830e+00] [-1.40220412e-02 9.99847417e-01 1.04175240e-02 -1.02494944e-01] [ 4.00356129e-01 -3.93290046e-03 9.16351190e-01 1.18336977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.646502481 meters Centerline goodness : 0.526578 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.10, Z:1.18 [[ 9.15840755e-01 1.27198101e-02 -4.01340152e-01 4.19491565e+00] [-1.08905381e-02 9.99917309e-01 6.83898607e-03 -1.02014044e-01] [ 4.01393956e-01 -1.89261196e-03 9.15903549e-01 1.18478157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.676502481 meters Centerline goodness : 0.527394 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.10, Z:1.19 [[ 9.15484562e-01 8.36801394e-03 -4.02266074e-01 4.19624160e+00] [-7.61580272e-03 9.99964981e-01 3.46927364e-03 -1.03223123e-01] [ 4.02281018e-01 -1.12487403e-04 9.15516232e-01 1.18563989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.706502481 meters Centerline goodness : 0.527533 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.10, Z:1.19 [[ 9.14943728e-01 4.33319095e-03 -4.03558173e-01 4.19704966e+00] [-4.70177887e-03 9.99988944e-01 7.75103904e-05 -1.03337661e-01] [ 4.03554047e-01 1.82652364e-03 9.14953985e-01 1.18752923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.736502481 meters Centerline goodness : 0.527357 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.11, Z:1.19 [[ 9.14838498e-01 5.00017842e-03 -4.03788956e-01 4.19815145e+00] [-5.08015810e-03 9.99986715e-01 8.73198200e-04 -1.05440092e-01] [ 4.03787958e-01 1.25247641e-03 9.14851745e-01 1.18722090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.766502481 meters Centerline goodness : 0.526947 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.11, Z:1.19 [[ 9.14975256e-01 4.31837627e-03 -4.03486843e-01 4.19815902e+00] [-4.27618441e-03 9.99990351e-01 1.00556360e-03 -1.10371798e-01] [ 4.03487292e-01 8.05318335e-04 9.14984894e-01 1.18656835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79650248099998 meters Centerline goodness : 0.533729 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.11, Z:1.19 [[ 9.14747471e-01 -1.87788046e-04 -4.04026026e-01 4.19731197e+00] [-7.37027833e-04 9.99997453e-01 -2.13348116e-03 -1.13393682e-01] [ 4.04025397e-01 2.24937492e-03 9.14745002e-01 1.18793458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82650248099998 meters Centerline goodness : 0.530621 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.12, Z:1.19 [[ 9.14778298e-01 4.13559049e-05 -4.03956265e-01 4.19742118e+00] [-7.72294474e-04 9.99998346e-01 -1.64652079e-03 -1.15699856e-01] [ 4.03955529e-01 1.81817468e-03 9.14776817e-01 1.18775737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85650248099998 meters Centerline goodness : 0.533916 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.12, Z:1.19 [[ 9.14591182e-01 -4.49296464e-03 -4.04354774e-01 4.19787879e+00] [ 2.84786365e-03 9.99985041e-01 -4.66982605e-03 -1.19239655e-01] [ 4.04369707e-01 3.11943447e-03 9.14590296e-01 1.18808419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88650248099998 meters Centerline goodness : 0.536427 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.12, Z:1.19 [[ 9.14698107e-01 -4.42190146e-03 -4.04113622e-01 4.19808091e+00] [ 2.95388486e-03 9.99986580e-01 -4.25605358e-03 -1.22141503e-01] [ 4.04127019e-01 2.69929904e-03 9.14698894e-01 1.18758023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.91650248099998 meters Centerline goodness : 0.539742 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.13, Z:1.19 [[ 9.14737752e-01 -5.23353619e-03 -4.04014177e-01 4.19726495e+00] [ 3.82273126e-03 9.99983455e-01 -4.29849520e-03 -1.26940408e-01] [ 4.04029989e-01 2.38755821e-03 9.14742624e-01 1.18769328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94650248099998 meters Centerline goodness : 0.542009 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.13, Z:1.19 [[ 9.14689255e-01 -4.79729525e-03 -4.04129376e-01 4.19760686e+00] [ 3.58666330e-03 9.99986527e-01 -3.75263054e-03 -1.29177292e-01] [ 4.04141934e-01 1.98301483e-03 9.14694137e-01 1.18769074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97650248099998 meters Centerline goodness : 0.541739 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.13, Z:1.19 [[ 9.14682722e-01 -4.40891939e-03 -4.04148587e-01 4.19803477e+00] [ 3.48334975e-03 9.99989357e-01 -3.02540372e-03 -1.32938780e-01] [ 4.04157624e-01 1.35949363e-03 9.14688344e-01 1.18739887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00650248099998 meters Centerline goodness : 0.540638 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.13, Z:1.19 [[ 9.14612167e-01 -4.12985815e-03 -4.04311177e-01 4.19827868e+00] [ 3.34192229e-03 9.99990892e-01 -2.65453396e-03 -1.34392161e-01] [ 4.04318458e-01 1.07669253e-03 9.14617639e-01 1.18750554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03650248099999 meters Centerline goodness : 0.543304 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.14, Z:1.19 [[ 9.14512089e-01 -3.53266088e-03 -4.04543148e-01 4.19882215e+00] [ 2.94807358e-03 9.99993516e-01 -2.06798473e-03 -1.36165011e-01] [ 4.04547831e-01 6.98574069e-04 9.14516574e-01 1.18764591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.066502481 meters Centerline goodness : 0.544092 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.14, Z:1.19 [[ 9.14494997e-01 -2.96407229e-03 -4.04586350e-01 4.20017541e+00] [ 2.67527357e-03 9.99995603e-01 -1.27917060e-03 -1.38677282e-01] [ 4.04588363e-01 8.74159460e-05 9.14498906e-01 1.18691813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.096502481 meters Centerline goodness : 0.544865 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.14, Z:1.19 [[ 9.14495995e-01 -2.55599127e-03 -4.04586879e-01 4.20140729e+00] [ 2.43214277e-03 9.99996706e-01 -8.20090933e-04 -1.40192351e-01] [ 4.04587643e-01 -2.34043180e-04 9.14499199e-01 1.18628673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.126502481 meters Centerline goodness : 0.542972 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.14, Z:1.19 [[ 9.14096159e-01 -1.58334898e-03 -4.05494395e-01 4.20395364e+00] [ 1.72428907e-03 9.99998513e-01 -1.77082888e-05 -1.42156613e-01] [ 4.05493821e-01 -6.83002476e-04 9.14097530e-01 1.18639628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.156502481 meters Centerline goodness : 0.538449 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.14, Z:1.19 [[ 9.13777297e-01 -8.14343428e-04 -4.06214707e-01 4.20537654e+00] [ 1.12096807e-03 9.99999238e-01 5.16899959e-04 -1.42575890e-01] [ 4.06213976e-01 -9.27685163e-04 9.13777514e-01 1.18675640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.186502481 meters Centerline goodness : 0.536587 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.14, Z:1.19 [[ 9.12979808e-01 8.98351002e-04 -4.08003754e-01 4.20959078e+00] [-2.31861258e-04 9.99998557e-01 1.68298711e-03 -1.43529499e-01] [ 4.08004677e-01 -1.44193299e-03 9.12978699e-01 1.18732685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.216502481 meters Centerline goodness : 0.534996 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.14, Z:1.19 [[ 9.12580823e-01 1.71780135e-03 -4.08892761e-01 4.21164552e+00] [-9.21967681e-04 9.99997278e-01 2.14341443e-03 -1.43912470e-01] [ 4.08895330e-01 -1.57905299e-03 9.12579923e-01 1.18773198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.246502481 meters Centerline goodness : 0.532957 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.14, Z:1.19 [[ 9.12250915e-01 2.34806058e-03 -4.09625139e-01 4.21311015e+00] [-1.49833173e-03 9.99996009e-01 2.39535278e-03 -1.44022116e-01] [ 4.09629128e-01 -1.57140842e-03 9.12250792e-01 1.18825964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.276502481 meters Centerline goodness : 0.532937 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.14, Z:1.19 [[ 9.11845586e-01 3.06826899e-03 -4.10521879e-01 4.21448614e+00] [-2.32219643e-03 9.99994622e-01 2.31599817e-03 -1.43034148e-01] [ 4.10526777e-01 -1.15852026e-03 9.11847807e-01 1.18941801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.306502481 meters Centerline goodness : 0.530477 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.14, Z:1.19 [[ 9.11312081e-01 3.95050771e-03 -4.11697321e-01 4.21601912e+00] [-3.32257663e-03 9.99991969e-01 2.24089814e-03 -1.41652367e-01] [ 4.11702867e-01 -6.74261653e-04 9.11317889e-01 1.19100641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.336502481 meters Centerline goodness : 0.529861 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.14, Z:1.19 [[ 9.11017187e-01 4.33301566e-03 -4.12345619e-01 4.21685388e+00] [-3.76714814e-03 9.99990517e-01 2.18515204e-03 -1.41051962e-01] [ 4.12351177e-01 -4.37344035e-04 9.11024871e-01 1.19185095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.366502481 meters Centerline goodness : 0.525266 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.14, Z:1.19 [[ 9.10848264e-01 4.58084699e-03 -4.12715951e-01 4.21719429e+00] [-4.08084548e-03 9.99989483e-01 2.09288687e-03 -1.40716027e-01] [ 4.12721198e-01 -2.22072347e-04 9.10857378e-01 1.19247399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.396502481 meters Centerline goodness : 0.525987 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.14, Z:1.19 [[ 9.10727225e-01 4.68502715e-03 -4.12981807e-01 4.21711425e+00] [-4.35226656e-03 9.99989004e-01 1.74644010e-03 -1.40908109e-01] [ 4.12985448e-01 2.06876366e-04 9.10737601e-01 1.19341638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.426502481 meters Centerline goodness : 0.526870 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.14, Z:1.20 [[ 9.09871942e-01 7.75894266e-05 -4.14889194e-01 4.22903004e+00] [ 1.63736180e-03 9.99991524e-01 3.77782394e-03 -1.38396110e-01] [ 4.14885971e-01 -4.11665972e-03 9.09864102e-01 1.20007248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.456502481 meters Centerline goodness : 0.522457 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.14, Z:1.21 [[ 9.10050877e-01 -1.09975410e-03 -4.14495105e-01 4.24998434e+00] [ 3.91721063e-03 9.99974642e-01 5.94731935e-03 -1.40074002e-01] [ 4.14478054e-01 -7.03602782e-03 9.10032108e-01 1.20973210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.486502481 meters Centerline goodness : 0.524609 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.14, Z:1.21 [[ 9.09928361e-01 -7.21005972e-04 -4.14764822e-01 4.25003753e+00] [ 3.68519688e-03 9.99973071e-01 6.34643648e-03 -1.41832245e-01] [ 4.14749077e-01 -7.30329258e-03 9.09906514e-01 1.21019312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.516502481 meters Centerline goodness : 0.519925 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.14, Z:1.21 [[ 9.09312967e-01 -4.82495495e-03 -4.16084905e-01 4.25144556e+00] [ 6.83802453e-03 9.99971015e-01 3.34808895e-03 -1.44209977e-01] [ 4.16056690e-01 -5.88965948e-03 9.09319604e-01 1.21151161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54650248099998 meters Centerline goodness : 0.517458 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.15, Z:1.21 [[ 9.08592679e-01 -8.76453266e-03 -4.17591339e-01 4.25375843e+00] [ 9.80172922e-03 9.99951904e-01 3.39251020e-04 -1.45573644e-01] [ 4.17568281e-01 -4.40135822e-03 9.08634887e-01 1.21269716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57650248099998 meters Centerline goodness : 0.517588 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.15, Z:1.21 [[ 9.08416632e-01 -8.01396424e-03 -4.17989234e-01 4.25598491e+00] [ 9.39511603e-03 9.99955088e-01 1.24662384e-03 -1.48716059e-01] [ 4.17960471e-01 -5.05951118e-03 9.08451125e-01 1.21214523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60650248099998 meters Centerline goodness : 0.517588 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.15, Z:1.21 [[ 9.08416632e-01 -8.01396424e-03 -4.17989234e-01 4.25598491e+00] [ 9.39511603e-03 9.99955088e-01 1.24662384e-03 -1.48716059e-01] [ 4.17960471e-01 -5.05951118e-03 9.08451125e-01 1.21214523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.63650248099998 meters Centerline goodness : 0.518230 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.15, Z:1.21 [[ 9.07781742e-01 -1.18735927e-02 -4.19274764e-01 4.25781081e+00] [ 1.24568301e-02 9.99921504e-01 -1.34655804e-03 -1.52133503e-01] [ 4.19257841e-01 -4.00045367e-03 9.07858392e-01 1.21313038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66650248099998 meters Centerline goodness : 0.517277 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.16, Z:1.21 [[ 9.07508925e-01 -1.62563556e-02 -4.19718097e-01 4.25731440e+00] [ 1.58559516e-02 9.99864416e-01 -4.44282465e-03 -1.55130090e-01] [ 4.19733414e-01 -2.62312680e-03 9.07643642e-01 1.21426007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.69650248099998 meters Centerline goodness : 0.521248 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.16, Z:1.22 [[ 9.07003441e-01 -2.01819994e-02 -4.20639328e-01 4.25726287e+00] [ 1.87619784e-02 9.99795743e-01 -7.51403373e-03 -1.56149570e-01] [ 4.20705057e-01 -1.07677151e-03 9.07196834e-01 1.21587228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72650248099998 meters Centerline goodness : 0.518067 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.16, Z:1.22 [[ 9.07077344e-01 -2.06690816e-02 -4.20456277e-01 4.25680646e+00] [ 1.93289999e-02 9.99785432e-01 -7.44845292e-03 -1.61021556e-01] [ 4.20520013e-01 -1.37067643e-03 9.07282227e-01 1.21586745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75650248099998 meters Centerline goodness : 0.521712 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.16, Z:1.22 [[ 9.07074473e-01 -2.00455979e-02 -4.20492658e-01 4.25715724e+00] [ 1.89988304e-02 9.99797202e-01 -6.67830607e-03 -1.63399466e-01] [ 4.20541253e-01 -1.93114773e-03 9.07271362e-01 1.21574782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78650248099999 meters Centerline goodness : 0.528718 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.17, Z:1.22 [[ 9.07379097e-01 -2.00314651e-02 -4.19835581e-01 4.25492184e+00] [ 1.91286665e-02 9.99796797e-01 -6.36068651e-03 -1.66888033e-01] [ 4.19877683e-01 -2.25934082e-03 9.07577890e-01 1.21605982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.816502481 meters Centerline goodness : 0.525178 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.17, Z:1.22 [[ 9.07492448e-01 -1.97795430e-02 -4.19602463e-01 4.25468921e+00] [ 1.90495886e-02 9.99800954e-01 -5.93001328e-03 -1.68722127e-01] [ 4.19636235e-01 -2.61181203e-03 9.07688608e-01 1.21587335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.846502481 meters Centerline goodness : 0.524772 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.17, Z:1.22 [[ 9.07585538e-01 -1.94172265e-02 -4.19418005e-01 4.25491108e+00] [ 1.88994134e-02 9.99806862e-01 -5.38994976e-03 -1.70845147e-01] [ 4.19441657e-01 -3.03491382e-03 9.07777222e-01 1.21553851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.876502481 meters Centerline goodness : 0.529617 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.18, Z:1.21 [[ 9.07840882e-01 -1.93187541e-02 -4.18869572e-01 4.25546472e+00] [ 1.90031353e-02 9.99807291e-01 -4.92565761e-03 -1.75138365e-01] [ 4.18884010e-01 -3.48812180e-03 9.08033050e-01 1.21455912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.906502481 meters Centerline goodness : 0.530767 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.18, Z:1.21 [[ 9.07869050e-01 -1.88910353e-02 -4.18828028e-01 4.25583112e+00] [ 1.87809085e-02 9.99814004e-01 -4.38584804e-03 -1.77038698e-01] [ 4.18832981e-01 -3.88419520e-03 9.08054980e-01 1.21434521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.936502481 meters Centerline goodness : 0.531441 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.18, Z:1.21 [[ 9.07950408e-01 -1.83143566e-02 -4.18677252e-01 4.25604592e+00] [ 1.84703675e-02 9.99822634e-01 -3.68047352e-03 -1.79716962e-01] [ 4.18670398e-01 -4.39143526e-03 9.08127641e-01 1.21416350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.966502481 meters Centerline goodness : 0.533888 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.18, Z:1.22 [[ 9.07767193e-01 -2.29629462e-02 -4.18845350e-01 4.26889051e+00] [ 2.47656257e-02 9.99692643e-01 -1.13279502e-03 -1.78501773e-01] [ 4.18742627e-01 -9.34465298e-03 9.08056876e-01 1.21993532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.996502481 meters Centerline goodness : 0.534232 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.18, Z:1.22 [[ 9.07100292e-01 -2.66666086e-02 -4.20068985e-01 4.27159137e+00] [ 2.75387498e-02 9.99612776e-01 -3.98952260e-03 -1.80015739e-01] [ 4.20012711e-01 -7.94927755e-03 9.07483406e-01 1.22069343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.026502481 meters Centerline goodness : 0.535366 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.18, Z:1.22 [[ 9.06799251e-01 -2.60708316e-02 -4.20755785e-01 4.27334871e+00] [ 2.71404090e-02 9.99625690e-01 -3.44658476e-03 -1.81957359e-01] [ 4.20688147e-01 -8.29412362e-03 9.07167399e-01 1.22100570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.056502481 meters Centerline goodness : 0.538255 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.18, Z:1.22 [[ 9.06403651e-01 -2.47316167e-02 -4.21688000e-01 4.27611745e+00] [ 2.62052969e-02 9.99653933e-01 -2.30141977e-03 -1.83919410e-01] [ 4.21598985e-01 -8.96444394e-03 9.06738074e-01 1.22105946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.086502481 meters Centerline goodness : 0.539839 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.19, Z:1.23 [[ 9.05327796e-01 -1.99829742e-02 -4.24243165e-01 4.28509898e+00] [ 2.11020715e-02 9.99775203e-01 -2.06058764e-03 -1.89254907e-01] [ 4.24188973e-01 -7.08690235e-03 9.05545963e-01 1.22636157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.116502481 meters Centerline goodness : 0.540898 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.20, Z:1.24 [[ 9.04225983e-01 -1.32064334e-02 -4.26850045e-01 4.30208142e+00] [ 1.29428700e-02 9.99910046e-01 -3.51872070e-03 -1.96519993e-01] [ 4.26858118e-01 -2.34294593e-03 9.04315574e-01 1.23551151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.146502481 meters Centerline goodness : 0.542649 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.20, Z:1.24 [[ 9.03261467e-01 -7.17594544e-03 -4.29030567e-01 4.31334096e+00] [ 6.00363840e-03 9.99973631e-01 -4.08572517e-03 -2.03614439e-01] [ 4.29048573e-01 1.11473373e-03 9.03280731e-01 1.24323173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.176502481 meters Centerline goodness : 0.540480 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.21, Z:1.26 [[ 9.03608412e-01 1.27793865e-04 -4.28359454e-01 4.33448606e+00] [-3.72911255e-03 9.99964408e-01 -7.56810227e-03 -2.10790292e-01] [ 4.28343240e-01 8.43600149e-03 9.03576727e-01 1.25578403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.206502481 meters Centerline goodness : 0.544325 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.21, Z:1.26 [[ 9.03087200e-01 1.21495897e-03 -4.29455508e-01 4.33605480e+00] [-4.73911314e-03 9.99963303e-01 -7.13675336e-03 -2.13546954e-01] [ 4.29431077e-01 8.48034885e-03 9.03059817e-01 1.25732371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.236502481 meters Centerline goodness : 0.542052 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.22, Z:1.26 [[ 9.02445268e-01 -1.45276299e-03 -4.30802076e-01 4.33798326e+00] [-3.03416571e-03 9.99948078e-01 -9.72803121e-03 -2.15473163e-01] [ 4.30793840e-01 1.00861406e-02 9.02394003e-01 1.25924778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.266502481 meters Centerline goodness : 0.548227 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.22, Z:1.26 [[ 9.02128076e-01 -4.96418877e-03 -4.31439788e-01 4.33816741e+00] [-6.74093097e-04 9.99916375e-01 -1.29146456e-02 -2.16947036e-01] [ 4.31467819e-01 1.19414950e-02 9.02049290e-01 1.26071590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29650248099998 meters Centerline goodness : 0.553021 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.22, Z:1.26 [[ 9.02048471e-01 -8.79861338e-03 -4.31545061e-01 4.33739372e+00] [ 1.98623673e-03 9.99866245e-01 -1.62341209e-02 -2.17824042e-01] [ 4.31630178e-01 1.37868133e-02 9.01945294e-01 1.26183677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32650248099998 meters Centerline goodness : 0.555072 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.22, Z:1.26 [[ 0.90189712 -0.01325902 -0.43174735 4.33677055] [ 0.00504407 0.99978391 -0.02016672 -0.2193685 ] [ 0.43192144 0.01601054 0.90176911 1.26338477] [ 0. 0. 0. 1. ]] SLAMing on 135.35650248099998 meters Centerline goodness : 0.557955 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.22, Z:1.26 [[ 0.90146506 -0.01763349 -0.43249256 4.33719507] [ 0.00817378 0.99968518 -0.02372193 -0.22162882] [ 0.4327747 0.01784939 0.90132539 1.26485271] [ 0. 0. 0. 1. ]] SLAMing on 135.38650248099998 meters Centerline goodness : 0.555949 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.23, Z:1.27 [[ 0.90140666 -0.01779955 -0.43260744 4.3373763 ] [ 0.0082844 0.99968075 -0.02386979 -0.22611881] [ 0.43289421 0.0179325 0.90126635 1.26538614] [ 0. 0. 0. 1. ]] SLAMing on 135.41650248099998 meters Centerline goodness : 0.557548 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.23, Z:1.27 [[ 0.90135246 -0.0176359 -0.43272708 4.33737535] [ 0.00820345 0.99968652 -0.02365502 -0.22824271] [ 0.43300861 0.01777166 0.90121458 1.26572615] [ 0. 0. 0. 1. ]] SLAMing on 135.44650248099998 meters Centerline goodness : 0.561662 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.23, Z:1.27 [[ 0.90100593 -0.0214725 -0.43327502 4.33872099] [ 0.01127309 0.99959588 -0.02609591 -0.23141503] [ 0.43366027 0.01862823 0.90088388 1.26585075] [ 0. 0. 0. 1. ]] SLAMing on 135.47650248099998 meters Centerline goodness : 0.563583 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.23, Z:1.27 [[ 0.90095566 -0.02282872 -0.43331022 4.33893457] [ 0.01244485 0.99956373 -0.02678567 -0.23484374] [ 0.43373266 0.01874022 0.9008467 1.26581947] [ 0. 0. 0. 1. ]] SLAMing on 135.50650248099998 meters Centerline goodness : 0.571050 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.24, Z:1.27 [[ 0.90079466 -0.02438841 -0.4335599 4.33886828] [ 0.01394155 0.99953117 -0.0272592 -0.24052952] [ 0.43402144 0.01851045 0.90071236 1.26598232] [ 0. 0. 0. 1. ]] SLAMing on 135.53650248099999 meters Centerline goodness : 0.563645 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.24, Z:1.27 [[ 0.90081322 -0.02581908 -0.43343848 4.3381163 ] [ 0.01522122 0.99949472 -0.02790375 -0.24468492] [ 0.43393992 0.0185386 0.90075105 1.26624311] [ 0. 0. 0. 1. ]] SLAMing on 135.566502481 meters Centerline goodness : 0.568946 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.25, Z:1.27 [[ 0.90074264 -0.03050525 -0.43328065 4.33808013] [ 0.01904125 0.99934497 -0.03077452 -0.24900715] [ 0.43393562 0.01946972 0.90073349 1.26610849] [ 0. 0. 0. 1. ]] SLAMing on 135.596502481 meters Centerline goodness : 0.566827 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.25, Z:1.27 [[ 0.90041309 -0.03549024 -0.43358588 4.33805479] [ 0.02285241 0.99914937 -0.0343264 -0.25133562] [ 0.43443531 0.02099946 0.90045821 1.26686225] [ 0. 0. 0. 1. ]] SLAMing on 135.626502481 meters Centerline goodness : 0.571128 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.25, Z:1.27 [[ 0.90015677 -0.04030941 -0.43369683 4.33780084] [ 0.0265599 0.99893537 -0.03771855 -0.25379494] [ 0.43475552 0.02243366 0.90026905 1.26748331] [ 0. 0. 0. 1. ]] SLAMing on 135.656502481 meters Centerline goodness : 0.578138 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.26, Z:1.27 [[ 0.90058087 -0.04159796 -0.43269356 4.33574084] [ 0.02783235 0.99888619 -0.03810167 -0.25848853] [ 0.43379657 0.02227076 0.90073556 1.26723153] [ 0. 0. 0. 1. ]] SLAMing on 135.686502481 meters Centerline goodness : 0.581544 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.26, Z:1.27 [[ 0.90125967 -0.0468925 -0.43073438 4.34847053] [ 0.03466488 0.99874325 -0.03619749 -0.26020447] [ 0.43189044 0.01769198 0.90175254 1.27275918] [ 0. 0. 0. 1. ]] SLAMing on 135.716502481 meters Centerline goodness : 0.582738 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.26, Z:1.27 [[ 0.90067864 -0.04984384 -0.4316174 4.34959582] [ 0.03689336 0.99858382 -0.03833069 -0.26162966] [ 0.4329167 0.01859982 0.90124202 1.27377012] [ 0. 0. 0. 1. ]] SLAMing on 135.746502481 meters Centerline goodness : 0.585166 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.26, Z:1.27 [[ 0.90075365 -0.04961745 -0.43148693 4.34990579] [ 0.03683163 0.99860091 -0.03794276 -0.26334718] [ 0.43276586 0.01828471 0.90132091 1.27349583] [ 0. 0. 0. 1. ]] SLAMing on 135.776502481 meters Centerline goodness : 0.588791 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.26, Z:1.28 [[ 0.9011605 -0.05475933 -0.430013 4.36330106] [ 0.04354189 0.99840668 -0.03589158 -0.26358718] [ 0.43129325 0.0136205 0.90210898 1.27858619] [ 0. 0. 0. 1. ]] SLAMing on 135.806502481 meters Centerline goodness : 0.585436 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.26, Z:1.28 [[ 0.90132342 -0.05526656 -0.42960645 4.3636882 ] [ 0.04401818 0.99837882 -0.036085 -0.2641208 ] [ 0.43090428 0.01361377 0.90229494 1.27788488] [ 0. 0. 0. 1. ]] SLAMing on 135.836502481 meters Centerline goodness : 0.587092 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.27, Z:1.28 [[ 0.90146063 -0.05511714 -0.42933767 4.36462266] [ 0.04404779 0.99839187 -0.03568555 -0.26591972] [ 0.43061413 0.01325775 0.90243875 1.27701697] [ 0. 0. 0. 1. ]] SLAMing on 135.866502481 meters Centerline goodness : 0.588613 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.27, Z:1.28 [[ 0.9015396 -0.0551858 -0.42916301 4.3650042 ] [ 0.04424263 0.99839192 -0.03544242 -0.26604275] [ 0.4304288 0.01296544 0.90253141 1.27665084] [ 0. 0. 0. 1. ]] SLAMing on 135.896502481 meters Centerline goodness : 0.598049 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.27, Z:1.28 [[ 0.90145674 -0.05607154 -0.42922223 4.36675232] [ 0.04497583 0.99834066 -0.03595978 -0.26567653] [ 0.43052633 0.01311156 0.90248278 1.27587249] [ 0. 0. 0. 1. ]] SLAMing on 135.926502481 meters Centerline goodness : 0.597393 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.27, Z:1.28 [[ 0.90133846 -0.05670582 -0.42938727 4.36821072] [ 0.0454603 0.99830236 -0.03641104 -0.26539158] [ 0.43072304 0.0132986 0.90238618 1.27541354] [ 0. 0. 0. 1. ]] SLAMing on 135.956502481 meters Centerline goodness : 0.600436 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.26, Z:1.27 [[ 0.90147509 -0.05705191 -0.42905447 4.36937783] [ 0.04552792 0.99827449 -0.03708429 -0.26434486] [ 0.43042986 0.01389661 0.90251705 1.27418277] [ 0. 0. 0. 1. ]] SLAMing on 135.986502481 meters Centerline goodness : 0.600273 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.26, Z:1.27 [[ 0.90164685 -0.05714149 -0.42868147 4.36942432] [ 0.04542238 0.99826274 -0.03752734 -0.26339691] [ 0.43008111 0.01436467 0.90267596 1.27357773] [ 0. 0. 0. 1. ]] SLAMing on 136.016502481 meters Centerline goodness : 0.601913 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.26, Z:1.28 [[ 0.90232091 -0.05534854 -0.42749681 4.39762466] [ 0.04430622 0.99837836 -0.03574378 -0.26220969] [ 0.42878193 0.01331159 0.90330995 1.28468101] [ 0. 0. 0. 1. ]] SLAMing on 136.04650248099998 meters Centerline goodness : 0.600944 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.26, Z:1.29 [[ 0.90075591 -0.05807444 -0.43042554 4.41208866] [ 0.04796394 0.9982595 -0.03431387 -0.25837053] [ 0.43166914 0.01026351 0.90197362 1.29311951] [ 0. 0. 0. 1. ]] SLAMing on 136.07650248099998 meters Centerline goodness : 0.599735 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.26, Z:1.30 [[ 0.89941134 -0.06039357 -0.43291091 4.42790017] [ 0.05078985 0.99813975 -0.03372576 -0.25512431] [ 0.43414241 0.00834585 0.90080559 1.30243721] [ 0. 0. 0. 1. ]] SLAMing on 136.10650248099998 meters Centerline goodness : 0.602495 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.25, Z:1.30 [[ 0.89891026 -0.05873274 -0.43417832 4.43064456] [ 0.04927186 0.9982393 -0.03302409 -0.25377226] [ 0.43535345 0.00829292 0.90022142 1.30335079] [ 0. 0. 0. 1. ]] SLAMing on 136.13650248099998 meters Centerline goodness : 0.598214 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.25, Z:1.31 [[ 0.89843735 -0.06073653 -0.43488091 4.44866383] [ 0.05185261 0.998133 -0.03227738 -0.25135009] [ 0.4360294 0.0064495 0.89990931 1.31290264] [ 0. 0. 0. 1. ]] SLAMing on 136.16650248099998 meters Centerline goodness : 0.598013 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.25, Z:1.33 [[ 0.89793343 -0.05905845 -0.43615095 4.47664138] [ 0.04903247 0.99821082 -0.03421955 -0.25055117] [ 0.43739155 0.00934132 0.89922265 1.32878025] [ 0. 0. 0. 1. ]] SLAMing on 136.19650248099998 meters Centerline goodness : 0.595501 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.25, Z:1.33 [[ 0.89710617 -0.05710432 -0.43810914 4.48001598] [ 0.04729358 0.99832639 -0.03328254 -0.25336341] [ 0.43927649 0.00913822 0.89830544 1.33093592] [ 0. 0. 0. 1. ]] SLAMing on 136.22650248099998 meters Centerline goodness : 0.593268 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.25, Z:1.33 [[ 0.89628903 -0.05512357 -0.4400311 4.48348078] [ 0.04520544 0.99843258 -0.03299775 -0.25484497] [ 0.44116034 0.00968372 0.89737605 1.33339211] [ 0. 0. 0. 1. ]] SLAMing on 136.25650248099998 meters Centerline goodness : 0.590905 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.26, Z:1.34 [[ 0.89538098 -0.05822055 -0.44147851 4.48523084] [ 0.04692177 0.99823225 -0.03647917 -0.25660885] [ 0.44282192 0.01194781 0.89652998 1.33619018] [ 0. 0. 0. 1. ]] SLAMing on 136.28650248099999 meters Centerline goodness : 0.594330 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.26, Z:1.34 [[ 0.89573815 -0.05502633 -0.44116354 4.48394706] [ 0.04023456 0.99827222 -0.04282229 -0.26026424] [ 0.44275767 0.02060754 0.89640447 1.33626343] [ 0. 0. 0. 1. ]] SLAMing on 136.316502481 meters Centerline goodness : 0.596939 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.27, Z:1.33 [[ 0.89660809 -0.04847712 -0.44016349 4.48174822] [ 0.03153583 0.99845611 -0.04572618 -0.26751904] [ 0.4417006 0.02711754 0.89675259 1.33398394] [ 0. 0. 0. 1. ]] SLAMing on 136.346502481 meters Centerline goodness : 0.593162 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.27, Z:1.32 [[ 0.89598549 -0.04418144 -0.44188007 4.45306886] [ 0.02390722 0.99839459 -0.05134877 -0.2721703 ] [ 0.44343933 0.03544363 0.89560332 1.32369593] [ 0. 0. 0. 1. ]] SLAMing on 136.376502481 meters Centerline goodness : 0.593309 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.28, Z:1.31 [[ 0.89482256 -0.04044996 -0.44458564 4.42021537] [ 0.0167008 0.99822259 -0.0572079 -0.27555798] [ 0.44610949 0.04376598 0.89390764 1.31227783] [ 0. 0. 0. 1. ]] SLAMing on 136.406502481 meters Centerline goodness : 0.593154 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.28, Z:1.30 [[ 0.89366882 -0.03929931 -0.44700292 4.3796343 ] [ 0.01278849 0.99798347 -0.0621727 -0.27917549] [ 0.44854487 0.04984531 0.89236929 1.29674569] [ 0. 0. 0. 1. ]] SLAMing on 136.436502481 meters Centerline goodness : 0.592826 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.28, Z:1.28 [[ 0.89256328 -0.03570521 -0.44950632 4.34653903] [ 0.0056541 0.99766795 -0.06801973 -0.28360484] [ 0.45088671 0.05817036 0.89068366 1.28478695] [ 0. 0. 0. 1. ]] SLAMing on 136.466502481 meters Centerline goodness : 0.595783 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.29, Z:1.28 [[ 8.92739564e-01 -3.05728148e-02 -4.49534620e-01 4.34049356e+00] [-2.31198828e-03 9.97371358e-01 -7.24225718e-02 -2.88131906e-01] [ 4.50567116e-01 6.56938139e-02 8.90322187e-01 1.28184563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.496502481 meters Centerline goodness : 0.595783 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.29, Z:1.27 [[ 8.90468323e-01 -3.47272679e-02 -4.53718176e-01 4.30695136e+00] [ 6.10455434e-04 9.97173945e-01 -7.51249064e-02 -2.88494130e-01] [ 4.55044826e-01 6.66193747e-02 8.87973009e-01 1.27061285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.526502481 meters Centerline goodness : 0.595829 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.29, Z:1.25 [[ 8.88654283e-01 -3.44310649e-02 -4.57283355e-01 4.26474665e+00] [-2.50828383e-03 9.96797475e-01 -7.99281131e-02 -2.91593195e-01] [ 4.58570903e-01 7.21754565e-02 8.85721982e-01 1.25436898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.556502481 meters Centerline goodness : 0.596049 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.29, Z:1.24 [[ 8.85955128e-01 -3.42493622e-02 -4.62504586e-01 4.23030245e+00] [-2.52698244e-03 9.96898076e-01 -7.86628230e-02 -2.94083064e-01] [ 4.63764084e-01 7.08604724e-02 8.83120415e-01 1.24111773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.586502481 meters Centerline goodness : 0.599033 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.30, Z:1.24 [[ 8.85750005e-01 -3.45268967e-02 -4.62876682e-01 4.23056041e+00] [-2.12005302e-03 9.96918234e-01 -7.84190072e-02 -2.95063051e-01] [ 4.64157769e-01 7.04409591e-02 8.82947131e-01 1.24155910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.616502481 meters Centerline goodness : 0.599121 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.30, Z:1.23 [[ 0.88723907 -0.02981385 -0.46034548 4.21766662] [-0.00741717 0.99685843 -0.07885596 -0.29932616] [ 0.46125027 0.07337855 0.88423061 1.23225091] [ 0. 0. 0. 1. ]] SLAMing on 136.646502481 meters Centerline goodness : 0.599170 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.30, Z:1.23 [[ 0.88719949 -0.03300523 -0.46020399 4.21592197] [-0.00481651 0.99672121 -0.08076902 -0.30040563] [ 0.46136088 0.07387481 0.88413158 1.2329928 ] [ 0. 0. 0. 1. ]] SLAMing on 136.676502481 meters Centerline goodness : 0.602500 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.30, Z:1.23 [[ 8.87061758e-01 -3.65500635e-02 -4.60201619e-01 4.21487754e+00] [-2.24742157e-03 9.96507215e-01 -8.34764637e-02 -3.00429201e-01] [ 4.61645303e-01 7.50830457e-02 8.83881299e-01 1.23358017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.706502481 meters Centerline goodness : 0.599942 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.30, Z:1.23 [[ 8.87108739e-01 -3.63223007e-02 -4.60129087e-01 4.21414774e+00] [-2.25489440e-03 9.96545827e-01 -8.30140385e-02 -3.03083224e-01] [ 4.61554982e-01 7.46800215e-02 8.83962608e-01 1.23364298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.736502481 meters Centerline goodness : 0.601836 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.30, Z:1.23 [[ 8.87070431e-01 -3.62457440e-02 -4.60208970e-01 4.21354530e+00] [-1.96972544e-03 9.96606581e-01 -8.22887746e-02 -3.04489051e-01] [ 4.61629907e-01 7.39024241e-02 8.83988835e-01 1.23416080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.766502481 meters Centerline goodness : 0.600943 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:1.23 [[ 8.87115005e-01 -3.59601940e-02 -4.60145447e-01 4.21255832e+00] [-1.67712187e-03 9.96702504e-01 -8.11252520e-02 -3.06958338e-01] [ 4.61545399e-01 7.27391483e-02 8.84129437e-01 1.23455829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79650248099998 meters Centerline goodness : 0.601774 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:1.24 [[ 8.87007046e-01 -3.60060816e-02 -4.60349934e-01 4.21229832e+00] [-1.35163911e-03 9.96748471e-01 -8.05646258e-02 -3.08199023e-01] [ 4.61753909e-01 7.20836178e-02 8.84074250e-01 1.23501513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82650248099998 meters Centerline goodness : 0.599319 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:1.23 [[ 8.86935795e-01 -3.52008302e-02 -4.60549451e-01 4.21279102e+00] [-1.78687172e-03 9.96822840e-01 -7.96306062e-02 -3.10837261e-01] [ 4.61889275e-01 7.14501778e-02 8.84054958e-01 1.23486140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85650248099998 meters Centerline goodness : 0.597133 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:1.24 [[ 8.86799843e-01 -3.56310256e-02 -4.60778112e-01 4.21320018e+00] [-1.16731734e-03 9.96847665e-01 -7.93307680e-02 -3.11876866e-01] [ 4.62152221e-01 7.08883869e-02 8.83962760e-01 1.23508514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88650248099998 meters Centerline goodness : 0.600462 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:1.23 [[ 8.86781716e-01 -3.98730698e-02 -4.60465336e-01 4.21301628e+00] [ 2.09954713e-03 9.96609025e-01 -8.22559663e-02 -3.13402893e-01] [ 4.62183707e-01 7.19763183e-02 8.83858377e-01 1.23474454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.91650248099998 meters Centerline goodness : 0.595247 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:1.24 [[ 8.86512579e-01 -4.01921946e-02 -4.60955566e-01 4.21340857e+00] [ 2.62780801e-03 9.96641478e-01 -8.18465514e-02 -3.14452654e-01] [ 4.62697030e-01 7.13466947e-02 8.83640825e-01 1.23533543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94650248099998 meters Centerline goodness : 0.597210 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:1.24 [[ 8.86412419e-01 -4.02617023e-02 -4.61142080e-01 4.21385880e+00] [ 2.87776596e-03 9.96670308e-01 -8.14862866e-02 -3.15462286e-01] [ 4.62887396e-01 7.09033975e-02 8.83576803e-01 1.23538906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97650248099998 meters Centerline goodness : 0.594922 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:1.24 [[ 8.85901822e-01 -4.03792935e-02 -4.62111972e-01 4.21564039e+00] [ 3.21500696e-03 9.96714650e-01 -8.09294178e-02 -3.16498219e-01] [ 4.63861645e-01 7.02098255e-02 8.83121144e-01 1.23589895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00650248099998 meters Centerline goodness : 0.590057 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:1.24 [[ 8.85706281e-01 -4.09317926e-02 -4.62438073e-01 4.21641465e+00] [ 3.67907512e-03 9.96693171e-01 -8.11738055e-02 -3.16719353e-01] [ 4.64231459e-01 7.01948050e-02 8.82927994e-01 1.23604370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03650248099999 meters Centerline goodness : 0.588630 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:1.24 [[ 0.88545704 -0.04525327 -0.46251267 4.21696802] [ 0.00665152 0.9963797 -0.08475401 -0.31711479] [ 0.46467363 0.07196963 0.88255243 1.23589317] [ 0. 0. 0. 1. ]] SLAMing on 137.066502481 meters Centerline goodness : 0.589988 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:1.24 [[ 0.88532155 -0.04563507 -0.46273447 4.21744918] [ 0.00713619 0.9963885 -0.08461101 -0.31794252] [ 0.46492453 0.07160579 0.88244988 1.23603002] [ 0. 0. 0. 1. ]] SLAMing on 137.096502481 meters Centerline goodness : 0.583663 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:1.24 [[ 0.88520384 -0.04521321 -0.463001 4.21715003] [ 0.00727479 0.9964895 -0.08340115 -0.31959163] [ 0.46514647 0.07045878 0.88242525 1.23666632] [ 0. 0. 0. 1. ]] SLAMing on 137.126502481 meters Centerline goodness : 0.586491 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:1.24 [[ 0.88534053 -0.04475088 -0.46278451 4.2162285 ] [ 0.00708564 0.99654022 -0.08280928 -0.32041287] [ 0.46488917 0.07003529 0.88259454 1.23680278] [ 0. 0. 0. 1. ]] SLAMing on 137.156502481 meters Centerline goodness : 0.586038 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:1.24 [[ 0.8853969 -0.04486932 -0.46266519 4.21526631] [ 0.00737387 0.99656086 -0.0825353 -0.32118917] [ 0.46477732 0.06966487 0.88268275 1.23717899] [ 0. 0. 0. 1. ]] SLAMing on 137.186502481 meters Centerline goodness : 0.582815 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:1.24 [[ 0.88569085 -0.04933572 -0.46164673 4.21486223] [ 0.0105352 0.99621761 -0.08625249 -0.32216725] [ 0.46415593 0.0715295 0.88286058 1.23594477] [ 0. 0. 0. 1. ]] SLAMing on 137.216502481 meters Centerline goodness : 0.583208 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:1.24 [[ 0.88560565 -0.04987892 -0.4617518 4.21523769] [ 0.01113228 0.99621039 -0.08626081 -0.32295558] [ 0.46430454 0.07125271 0.88280482 1.23601092] [ 0. 0. 0. 1. ]] SLAMing on 137.246502481 meters Centerline goodness : 0.581643 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.33, Z:1.24 [[ 0.88602895 -0.04922591 -0.46100922 4.21364898] [ 0.01118063 0.99632692 -0.08489795 -0.32531676] [ 0.46349508 0.07006767 0.88332487 1.23583388] [ 0. 0. 0. 1. ]] SLAMing on 137.276502481 meters Centerline goodness : 0.581263 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.33, Z:1.24 [[ 0.88624503 -0.0489395 -0.46062422 4.2127939 ] [ 0.01126102 0.9963856 -0.08419573 -0.32639201] [ 0.46307983 0.06943095 0.8835929 1.23580267] [ 0. 0. 0. 1. ]] SLAMing on 137.306502481 meters Centerline goodness : 0.579532 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.33, Z:1.24 [[ 0.88633217 -0.04877004 -0.4604745 4.21249112] [ 0.01141489 0.99643707 -0.08356356 -0.32729526] [ 0.46290926 0.06880881 0.88373093 1.23582606] [ 0. 0. 0. 1. ]] SLAMing on 137.336502481 meters Centerline goodness : 0.577484 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.33, Z:1.24 [[ 0.88621358 -0.05233419 -0.46031143 4.21275692] [ 0.01437074 0.99622622 -0.08559671 -0.32854651] [ 0.46305395 0.06924196 0.88362129 1.23579811] [ 0. 0. 0. 1. ]] SLAMing on 137.366502481 meters Centerline goodness : 0.578480 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.33, Z:1.24 [[ 0.8862387 -0.0569856 -0.45971034 4.21269264] [ 0.01808815 0.99590469 -0.08858144 -0.32976474] [ 0.46287555 0.07018899 0.88364004 1.23528688] [ 0. 0. 0. 1. ]] SLAMing on 137.396502481 meters Centerline goodness : 0.577607 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.33, Z:1.24 [[ 0.88620643 -0.05770036 -0.45968341 4.21293322] [ 0.018918 0.99589338 -0.0885352 -0.33076516] [ 0.46290417 0.06976417 0.88365869 1.2352826 ] [ 0. 0. 0. 1. ]] SLAMing on 137.426502481 meters Centerline goodness : 0.575080 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.33, Z:1.24 [[ 0.8862016 -0.05814161 -0.45963712 4.21327818] [ 0.01953321 0.99590104 -0.08831517 -0.33168919] [ 0.46288787 0.06928686 0.88370479 1.23518003] [ 0. 0. 0. 1. ]] SLAMing on 137.456502481 meters Centerline goodness : 0.574631 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.33, Z:1.24 [[ 0.88623135 -0.05854421 -0.45952864 4.21346696] [ 0.02013066 0.99591205 -0.08805644 -0.33224694] [ 0.4628053 0.06878776 0.88378702 1.23512829] [ 0. 0. 0. 1. ]] SLAMing on 137.486502481 meters Centerline goodness : 0.573856 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.33, Z:1.24 [[ 0.88612251 -0.05870904 -0.45971746 4.21418211] [ 0.0203787 0.99592038 -0.08790509 -0.33172711] [ 0.46300281 0.06852623 0.88370389 1.23517296] [ 0. 0. 0. 1. ]] SLAMing on 137.516502481 meters Centerline goodness : 0.571492 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.33, Z:1.23 [[ 0.88618423 -0.05933755 -0.45951774 4.21488988] [ 0.0206714 0.99584137 -0.08872806 -0.33096762] [ 0.46287168 0.06913053 0.88372551 1.23455989] [ 0. 0. 0. 1. ]] SLAMing on 137.54650248099998 meters Centerline goodness : 0.570176 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.33, Z:1.23 [[ 0.88617144 -0.06001383 -0.45945459 4.21568275] [ 0.02103157 0.99576457 -0.08950192 -0.33024794] [ 0.46287995 0.069651 0.88368031 1.23410363] [ 0. 0. 0. 1. ]] SLAMing on 137.57650248099998 meters Centerline goodness : 0.572543 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.33, Z:1.23 [[ 0.88650308 -0.06046416 -0.45875525 4.21588835] [ 0.02097968 0.99565844 -0.09068692 -0.32907366] [ 0.46224684 0.07076969 0.88392279 1.23291083] [ 0. 0. 0. 1. ]] SLAMing on 137.60650248099998 meters Centerline goodness : 0.572999 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.33, Z:1.23 [[ 0.88687398 -0.05997293 -0.45810238 4.21467398] [ 0.02046282 0.995665 -0.090733 -0.32858449] [ 0.46155803 0.07109467 0.8842566 1.23247027] [ 0. 0. 0. 1. ]] SLAMing on 137.63650248099998 meters Centerline goodness : 0.570750 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.33, Z:1.23 [[ 0.88781423 -0.05445603 -0.45696874 4.21222516] [ 0.01607335 0.99603766 -0.08746792 -0.32760311] [ 0.45992123 0.07031025 0.8851717 1.231724 ] [ 0. 0. 0. 1. ]] SLAMing on 137.66650248099998 meters Centerline goodness : 0.573269 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.33, Z:1.23 [[ 0.88815116 -0.05019877 -0.45680149 4.21188468] [ 0.01291984 0.99635065 -0.08437101 -0.32730443] [ 0.45936978 0.0690324 0.88555854 1.23146649] [ 0. 0. 0. 1. ]] SLAMing on 137.69650248099998 meters Centerline goodness : 0.569724 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.33, Z:1.23 [[ 0.8887847 -0.04555972 -0.45605489 4.21083697] [ 0.00911974 0.99660804 -0.08178775 -0.32619688] [ 0.4582342 0.0685326 0.88618548 1.23058475] [ 0. 0. 0. 1. ]] SLAMing on 137.72650248099998 meters Centerline goodness : 0.572331 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.33, Z:1.23 [[ 0.88922894 -0.04543509 -0.45520056 4.20952499] [ 0.00863978 0.99654608 -0.08259089 -0.32527426] [ 0.45738086 0.06950938 0.88655017 1.22985219] [ 0. 0. 0. 1. ]] SLAMing on 137.75650248099998 meters Centerline goodness : 0.570118 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:1.23 [[ 0.88961894 -0.04532364 -0.45444901 4.20858279] [ 0.00832482 0.99650741 -0.08308837 -0.32464781] [ 0.45662767 0.07013379 0.88688918 1.22911042] [ 0. 0. 0. 1. ]] SLAMing on 137.78650248099999 meters Centerline goodness : 0.570278 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:1.23 [[ 0.88989566 -0.04509389 -0.4539298 4.20900384] [ 0.00750569 0.99641464 -0.08427058 -0.32264711] [ 0.45610239 0.07158497 0.88704352 1.22795408] [ 0. 0. 0. 1. ]] SLAMing on 137.816502481 meters Centerline goodness : 0.570328 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:1.23 [[ 0.89005972 -0.04129436 -0.45396969 4.20975335] [ 0.00445474 0.99662878 -0.08192214 -0.3210195 ] [ 0.45582218 0.07089328 0.88724308 1.22748494] [ 0. 0. 0. 1. ]] SLAMing on 137.846502481 meters Centerline goodness : 0.574797 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:1.23 [[ 0.89019826 -0.04114251 -0.45371176 4.20985978] [ 0.00421196 0.99661447 -0.08210882 -0.32032377] [ 0.45555387 0.07118211 0.88735775 1.22700425] [ 0. 0. 0. 1. ]] SLAMing on 137.876502481 meters Centerline goodness : 0.573200 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.32, Z:1.22 [[ 8.91284118e-01 -3.64737492e-02 -4.51975979e-01 4.19794245e+00] [-1.10695064e-03 9.96581715e-01 -8.26054499e-02 -3.22969203e-01] [ 4.53443927e-01 7.41252407e-02 8.88197081e-01 1.21713961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.906502481 meters Centerline goodness : 0.573206 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.32, Z:1.22 [[ 8.91357622e-01 -3.66615022e-02 -4.51815809e-01 4.19791103e+00] [-9.37221248e-04 9.96572928e-01 -8.27134845e-02 -3.22957973e-01] [ 4.53299804e-01 7.41507462e-02 8.88268515e-01 1.21693165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.936502481 meters Centerline goodness : 0.575187 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.32, Z:1.20 [[ 8.89920811e-01 -3.76280260e-02 -4.54560317e-01 4.16483490e+00] [ 2.03647470e-04 9.96624010e-01 -8.21007965e-02 -3.24570828e-01] [ 4.56115016e-01 7.29706373e-02 8.86924111e-01 1.20322618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.966502481 meters Centerline goodness : 0.579322 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:1.19 [[ 8.90191000e-01 -3.76479360e-02 -4.54029313e-01 4.13831832e+00] [ 5.08537891e-04 9.96661286e-01 -8.16457074e-02 -3.26357319e-01] [ 4.55587232e-01 7.24493827e-02 8.87238052e-01 1.18960626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.996502481 meters Centerline goodness : 0.583329 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:1.19 [[ 8.89781613e-01 -3.94644420e-02 -4.54677072e-01 4.13989554e+00] [ 2.12059001e-03 9.96601072e-01 -8.23517293e-02 -3.26414167e-01] [ 4.56381622e-01 7.23108709e-02 8.86840997e-01 1.18996105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.026502481 meters Centerline goodness : 0.578543 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:1.19 [[ 8.89686721e-01 -4.01698025e-02 -4.54800974e-01 4.14044991e+00] [ 2.86004596e-03 9.96592907e-01 -8.24281334e-02 -3.26929746e-01] [ 4.56562547e-01 7.20344640e-02 8.86770363e-01 1.19003523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.056502481 meters Centerline goodness : 0.581267 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:1.19 [[ 8.89629542e-01 -4.10718983e-02 -4.54832252e-01 4.14101604e+00] [ 3.68896044e-03 9.96561411e-01 -8.27752663e-02 -3.27183002e-01] [ 4.56668008e-01 7.19614641e-02 8.86721985e-01 1.18992168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.086502481 meters Centerline goodness : 0.579199 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:1.19 [[ 0.88945084 -0.04182952 -0.45511262 4.14215675] [ 0.00468061 0.99658431 -0.08244876 -0.32795207] [ 0.45700689 0.07120391 0.88660854 1.18998861] [ 0. 0. 0. 1. ]] SLAMing on 138.116502481 meters Centerline goodness : 0.579279 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:1.19 [[ 0.88942588 -0.04163188 -0.45517951 4.14178698] [ 0.00476692 0.99663407 -0.08184009 -0.32852094] [ 0.45705457 0.07062089 0.8866306 1.19035099] [ 0. 0. 0. 1. ]] SLAMing on 138.146502481 meters Centerline goodness : 0.583325 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:1.19 [[ 0.8897581 -0.04171627 -0.45452203 4.1395929 ] [ 0.00527274 0.99668757 -0.08115475 -0.32976125] [ 0.45640193 0.06981152 0.88703079 1.19061457] [ 0. 0. 0. 1. ]] SLAMing on 138.176502481 meters Centerline goodness : 0.584746 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:1.19 [[ 0.88968165 -0.04185776 -0.45465865 4.13962683] [ 0.00548345 0.99669659 -0.08102992 -0.32994891] [ 0.45654846 0.06959773 0.88697219 1.19088308] [ 0. 0. 0. 1. ]] SLAMing on 138.206502481 meters Centerline goodness : 0.586354 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:1.19 [[ 0.88966201 -0.04262663 -0.45462565 4.140229 ] [ 0.00616518 0.99666371 -0.08138451 -0.33033586] [ 0.45657804 0.06960186 0.88695664 1.19061948] [ 0. 0. 0. 1. ]] SLAMing on 138.236502481 meters Centerline goodness : 0.588650 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:1.19 [[ 0.88969222 -0.04286556 -0.45454406 4.14015639] [ 0.0064654 0.99666584 -0.08133517 -0.33121013] [ 0.45651501 0.06942446 0.88700298 1.19060459] [ 0. 0. 0. 1. ]] SLAMing on 138.266502481 meters Centerline goodness : 0.590030 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:1.19 [[ 0.889754 -0.04323365 -0.45438824 4.14018064] [ 0.00702791 0.99668365 -0.08106979 -0.33273196] [ 0.45638627 0.06893877 0.88710711 1.19043882] [ 0. 0. 0. 1. ]] SLAMing on 138.29650248099998 meters Centerline goodness : 0.591757 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:1.19 [[ 0.88971497 -0.04317438 -0.45447029 4.14073258] [ 0.00706062 0.99670019 -0.08086331 -0.33310838] [ 0.45646185 0.06873645 0.88708392 1.19033442] [ 0. 0. 0. 1. ]] SLAMing on 138.32650248099998 meters Centerline goodness : 0.593629 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:1.19 [[ 0.88975376 -0.04337091 -0.45437562 4.14181659] [ 0.00728783 0.99669837 -0.08086557 -0.33351509] [ 0.45638266 0.06863903 0.88713221 1.18969704] [ 0. 0. 0. 1. ]] SLAMing on 138.35650248099998 meters Centerline goodness : 0.589068 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:1.19 [[ 0.89000095 -0.04317704 -0.45390974 4.14175668] [ 0.00715625 0.99670645 -0.08077767 -0.33419942] [ 0.45590251 0.06864391 0.88737868 1.18900754] [ 0. 0. 0. 1. ]] SLAMing on 138.38650248099998 meters Centerline goodness : 0.594443 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:1.19 [[ 0.8900778 -0.04270547 -0.45380365 4.14195173] [ 0.00692181 0.99675284 -0.0802238 -0.33486762] [ 0.45575607 0.06826428 0.88748318 1.18877743] [ 0. 0. 0. 1. ]] SLAMing on 138.41650248099998 meters Centerline goodness : 0.594443 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.33, Z:1.19 [[ 0.8900778 -0.04270547 -0.45380365 4.14195173] [ 0.00692181 0.99675284 -0.0802238 -0.33486762] [ 0.45575607 0.06826428 0.88748318 1.18877743] [ 0. 0. 0. 1. ]] SLAMing on 138.44650248099998 meters Centerline goodness : 0.591695 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.34, Z:1.19 [[ 0.89027821 -0.0420338 -0.45347312 4.14147634] [ 0.00658201 0.99681507 -0.07947573 -0.33595124] [ 0.45536951 0.06777074 0.8877194 1.18849917] [ 0. 0. 0. 1. ]] SLAMing on 138.47650248099998 meters Centerline goodness : 0.592967 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.34, Z:1.19 [[ 0.89030328 -0.04172649 -0.45345229 4.14152028] [ 0.00649494 0.99685519 -0.07897811 -0.33678542] [ 0.45532175 0.06736933 0.88777445 1.1884344 ] [ 0. 0. 0. 1. ]] SLAMing on 138.50650248099998 meters Centerline goodness : 0.591149 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.34, Z:1.19 [[ 0.89040515 -0.04182521 -0.45324311 4.14126312] [ 0.0068133 0.99688238 -0.07860728 -0.33881811] [ 0.45511783 0.06690425 0.88791417 1.18826459] [ 0. 0. 0. 1. ]] SLAMing on 138.53650248099999 meters Centerline goodness : 0.593685 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.34, Z:1.19 [[ 0.89043878 -0.04169744 -0.45318881 4.1415277 ] [ 0.00689066 0.99691496 -0.07818616 -0.33977826] [ 0.45505087 0.06649722 0.88797907 1.18810406] [ 0. 0. 0. 1. ]] SLAMing on 138.566502481 meters Centerline goodness : 0.587562 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.34, Z:1.19 [[ 0.89033483 -0.04165786 -0.45339663 4.14248228] [ 0.00717578 0.99696578 -0.07750966 -0.3414332 ] [ 0.45524981 0.06575608 0.88793229 1.18804145] [ 0. 0. 0. 1. ]] SLAMing on 138.596502481 meters Centerline goodness : 0.589088 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.34, Z:1.19 [[ 0.89031877 -0.04122495 -0.45346775 4.14252747] [ 0.00707153 0.99702483 -0.07675601 -0.3424591 ] [ 0.45528287 0.0651306 0.88796144 1.18817008] [ 0. 0. 0. 1. ]] SLAMing on 138.626502481 meters Centerline goodness : 0.588308 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.34, Z:1.19 [[ 0.89041827 -0.04097578 -0.45329492 4.14238109] [ 0.00704817 0.99706115 -0.07628486 -0.34312804] [ 0.45508859 0.06473053 0.88809027 1.18805043] [ 0. 0. 0. 1. ]] SLAMing on 138.656502481 meters Centerline goodness : 0.586833 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.34, Z:1.19 [[ 0.89038103 -0.04142131 -0.45332759 4.14286104] [ 0.00753426 0.99705608 -0.07630465 -0.34431678] [ 0.45515367 0.06452473 0.8880719 1.18788904] [ 0. 0. 0. 1. ]] SLAMing on 138.686502481 meters Centerline goodness : 0.585282 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.35, Z:1.19 [[ 0.89031483 -0.04186521 -0.45341681 4.14361157] [ 0.00796464 0.99704385 -0.07642066 -0.34505092] [ 0.45527581 0.06442714 0.88801637 1.18770901] [ 0. 0. 0. 1. ]] SLAMing on 138.716502481 meters Centerline goodness : 0.589008 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.35, Z:1.19 [[ 0.89024193 -0.04228548 -0.45352095 4.14426716] [ 0.00860814 0.99706553 -0.07606721 -0.34693188] [ 0.45540664 0.06381425 0.88799354 1.18762019] [ 0. 0. 0. 1. ]] SLAMing on 138.746502481 meters Centerline goodness : 0.586668 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.35, Z:1.19 [[ 0.89035921 -0.04194959 -0.45332187 4.14398419] [ 0.00862804 0.99712166 -0.07532569 -0.34822205] [ 0.45517693 0.06315564 0.88815839 1.18756458] [ 0. 0. 0. 1. ]] SLAMing on 138.776502481 meters Centerline goodness : 0.588141 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.35, Z:1.19 [[ 0.89038182 -0.04143066 -0.45332518 4.14410267] [ 0.00869983 0.99721651 -0.07405096 -0.34998653] [ 0.45513133 0.06198978 0.88826389 1.18767643] [ 0. 0. 0. 1. ]] SLAMing on 138.806502481 meters Centerline goodness : 0.591569 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.35, Z:1.19 [[ 0.89030282 -0.04107868 -0.45351233 4.14463138] [ 0.00872123 0.9972783 -0.07321153 -0.35111998] [ 0.45528544 0.06122525 0.88823794 1.18779923] [ 0. 0. 0. 1. ]] SLAMing on 138.836502481 meters Centerline goodness : 0.587431 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.35, Z:1.19 [[ 0.89018472 -0.04106442 -0.45374538 4.14525893] [ 0.00900709 0.99732134 -0.07258795 -0.35216618] [ 0.45551074 0.06052976 0.88817009 1.18798873] [ 0. 0. 0. 1. ]] SLAMing on 138.866502481 meters Centerline goodness : 0.589358 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.35, Z:1.19 [[ 0.89010447 -0.04526169 -0.45350349 4.14554747] [ 0.01222478 0.99706949 -0.07551809 -0.35358579] [ 0.45559257 0.06167501 0.88804932 1.18771388] [ 0. 0. 0. 1. ]] SLAMing on 138.896502481 meters Centerline goodness : 0.589818 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.36, Z:1.19 [[ 0.8900025 -0.0454626 -0.45368348 4.14579249] [ 0.01296512 0.99713771 -0.0744869 -0.35587666] [ 0.45577127 0.06041147 0.88804448 1.18811193] [ 0. 0. 0. 1. ]] SLAMing on 138.926502481 meters Centerline goodness : 0.592450 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.36, Z:1.19 [[ 0.8899683 -0.04516021 -0.45378076 4.14615575] [ 0.01297533 0.9971892 -0.07379256 -0.35700483] [ 0.45583776 0.05978508 0.88805274 1.18818415] [ 0. 0. 0. 1. ]] SLAMing on 138.956502481 meters Centerline goodness : 0.590547 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.36, Z:1.19 [[ 0.88989612 -0.04483559 -0.45395448 4.1462366 ] [ 0.01293035 0.9972374 -0.07314625 -0.35798123] [ 0.45597994 0.05922277 0.88801743 1.18850036] [ 0. 0. 0. 1. ]] SLAMing on 138.986502481 meters Centerline goodness : 0.593809 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.36, Z:1.19 [[ 0.89006641 -0.04341799 -0.45375838 4.14535303] [ 0.01202933 0.99734398 -0.07183508 -0.35932173] [ 0.45567212 0.05847958 0.88822466 1.18871541] [ 0. 0. 0. 1. ]] SLAMing on 139.01650248099997 meters Centerline goodness : 0.591785 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.36, Z:1.19 [[ 0.89020935 -0.04165967 -0.4536428 4.14469699] [ 0.0105754 0.99743127 -0.07084504 -0.3597229 ] [ 0.45542889 0.05826946 0.88836321 1.18875466] [ 0. 0. 0. 1. ]] SLAMing on 139.04650248099998 meters Centerline goodness : 0.593456 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.36, Z:1.19 [[ 0.89031529 -0.0407402 -0.45351838 4.14451623] [ 0.00987372 0.99748253 -0.07022189 -0.36005272] [ 0.45523751 0.05804171 0.88847621 1.18861866] [ 0. 0. 0. 1. ]] SLAMing on 139.07650248099998 meters Centerline goodness : 0.592652 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.36, Z:1.19 [[ 0.89048228 -0.04017244 -0.45324108 4.14420265] [ 0.00938608 0.99750482 -0.06997173 -0.36031899] [ 0.4549211 0.05805443 0.88863743 1.18839999] [ 0. 0. 0. 1. ]] SLAMing on 139.10650248099998 meters Centerline goodness : 0.590319 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.36, Z:1.20 [[ 0.88878661 -0.04121783 -0.45646407 4.15735692] [ 0.01169161 0.99766278 -0.06732216 -0.35866494] [ 0.45817209 0.05449824 0.88719123 1.19791692] [ 0. 0. 0. 1. ]] SLAMing on 139.13650248099998 meters Centerline goodness : 0.590205 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.36, Z:1.20 [[ 0.88878578 -0.04136478 -0.4564524 4.15807109] [ 0.01175356 0.99764847 -0.06752316 -0.35858028] [ 0.45817212 0.05464868 0.88718196 1.19759177] [ 0. 0. 0. 1. ]] SLAMing on 139.16650248099998 meters Centerline goodness : 0.589598 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.36, Z:1.20 [[ 0.88725569 -0.04398039 -0.4591765 4.16535207] [ 0.01700943 0.99788673 -0.06271168 -0.35760385] [ 0.46096422 0.04783097 0.88612876 1.20245694] [ 0. 0. 0. 1. ]] SLAMing on 139.19650248099998 meters Centerline goodness : 0.589246 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.36, Z:1.20 [[ 0.88729161 -0.04372118 -0.45913184 4.16514702] [ 0.01708604 0.99792933 -0.06200909 -0.35865627] [ 0.46089224 0.0471754 0.88620135 1.20269167] [ 0. 0. 0. 1. ]] SLAMing on 139.22650248099998 meters Centerline goodness : 0.591183 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.36, Z:1.21 [[ 0.88623937 -0.04834628 -0.46069774 4.17223075] [ 0.02419468 0.99801231 -0.05818978 -0.3560996 ] [ 0.46259528 0.04042364 0.88564753 1.20722283] [ 0. 0. 0. 1. ]] SLAMing on 139.25650248099998 meters Centerline goodness : 0.595729 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.36, Z:1.21 [[ 0.88630347 -0.04854991 -0.460553 4.17242886] [ 0.02451288 0.99801363 -0.05803376 -0.35669149] [ 0.46245571 0.04014605 0.88573304 1.20708395] [ 0. 0. 0. 1. ]] SLAMing on 139.28650248099999 meters Centerline goodness : 0.595801 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.36, Z:1.21 [[ 0.88654078 -0.0521612 -0.45970062 4.17140448] [ 0.02725117 0.99778628 -0.06066222 -0.35782423] [ 0.46184718 0.04125215 0.88599968 1.20672456] [ 0. 0. 0. 1. ]] SLAMing on 139.316502481 meters Centerline goodness : 0.596170 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.36, Z:1.21 [[ 0.88646116 -0.05239606 -0.45982743 4.17157676] [ 0.0276995 0.9977961 -0.06029664 -0.35851806] [ 0.46197332 0.04071364 0.88595883 1.20707934] [ 0. 0. 0. 1. ]] SLAMing on 139.346502481 meters Centerline goodness : 0.593791 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.36, Z:1.21 [[ 0.88643318 -0.05307678 -0.4598033 4.17270003] [ 0.02878766 0.99780227 -0.05968159 -0.35943342] [ 0.46196048 0.03966708 0.886013 1.20699696] [ 0. 0. 0. 1. ]] SLAMing on 139.376502481 meters Centerline goodness : 0.594790 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.36, Z:1.21 [[ 0.88665397 -0.05745709 -0.45885011 4.17164792] [ 0.03242004 0.99753301 -0.06226431 -0.36063309] [ 0.46129566 0.04033096 0.88632936 1.20678739] [ 0. 0. 0. 1. ]] SLAMing on 139.406502481 meters Centerline goodness : 0.595343 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.36, Z:1.21 [[ 0.88647076 -0.06139579 -0.45869395 4.17133609] [ 0.03542513 0.99725501 -0.06501921 -0.36107619] [ 0.46142675 0.04138833 0.88621237 1.20705274] [ 0. 0. 0. 1. ]] SLAMing on 139.436502481 meters Centerline goodness : 0.593688 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.36, Z:1.21 [[ 0.88641365 -0.06227085 -0.45868637 4.1716086 ] [ 0.03643672 0.99722192 -0.0649678 -0.36182988] [ 0.4614577 0.04087532 0.88622006 1.20721983] [ 0. 0. 0. 1. ]] SLAMing on 139.466502481 meters Centerline goodness : 0.597713 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.36, Z:1.21 [[ 0.88608781 -0.06737001 -0.45859532 4.17276778] [ 0.04043542 0.99684417 -0.06831309 -0.36204049] [ 0.46175032 0.0419879 0.88601561 1.20711704] [ 0. 0. 0. 1. ]] SLAMing on 139.496502481 meters Centerline goodness : 0.599238 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.36, Z:1.21 [[ 0.88579106 -0.06869786 -0.45897147 4.17473791] [ 0.0419969 0.99679106 -0.06814572 -0.36257371] [ 0.46218012 0.04108749 0.88583371 1.20718128] [ 0. 0. 0. 1. ]] SLAMing on 139.526502481 meters Centerline goodness : 0.598698 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.36, Z:1.21 [[ 0.88559117 -0.06915223 -0.45928885 4.1756869 ] [ 0.04262333 0.99678167 -0.06789374 -0.36306721] [ 0.46250571 0.04054968 0.88568854 1.20746629] [ 0. 0. 0. 1. ]] SLAMing on 139.556502481 meters Centerline goodness : 0.600068 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.36, Z:1.21 [[ 0.8855632 -0.06978016 -0.45924781 4.17613932] [ 0.04331896 0.99674995 -0.06791909 -0.36351788] [ 0.46249464 0.04025251 0.88570788 1.20742048] [ 0. 0. 0. 1. ]] SLAMing on 139.586502481 meters Centerline goodness : 0.597261 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.36, Z:1.21 [[ 0.88527918 -0.07449329 -0.45905502 4.17782143] [ 0.04686321 0.99635281 -0.07130862 -0.36337747] [ 0.46269278 0.04161524 0.8855414 1.20685257] [ 0. 0. 0. 1. ]] SLAMing on 139.616502481 meters Centerline goodness : 0.600690 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.36, Z:1.21 [[ 0.88511047 -0.07497164 -0.45930241 4.17856105] [ 0.04738364 0.99632752 -0.07131805 -0.36361534] [ 0.46296246 0.04136093 0.88541235 1.20702922] [ 0. 0. 0. 1. ]] SLAMing on 139.646502481 meters Centerline goodness : 0.601215 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.36, Z:1.21 [[ 0.88516815 -0.07298011 -0.45951198 4.17877901] [ 0.04636811 0.99654185 -0.06895176 -0.36265795] [ 0.46295502 0.0397272 0.88549105 1.20745748] [ 0. 0. 0. 1. ]] SLAMing on 139.676502481 meters Centerline goodness : 0.596200 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.36, Z:1.21 [[ 0.88516192 -0.07267049 -0.45957303 4.17895959] [ 0.04601257 0.99655781 -0.06895917 -0.36156758] [ 0.46300239 0.0398939 0.88545879 1.20751559] [ 0. 0. 0. 1. ]] SLAMing on 139.706502481 meters Centerline goodness : 0.595523 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.36, Z:1.21 [[ 0.88526498 -0.07274818 -0.45936219 4.1787712 ] [ 0.04590344 0.99653532 -0.06935577 -0.36048583] [ 0.46281616 0.04031193 0.88553721 1.20735823] [ 0. 0. 0. 1. ]] SLAMing on 139.736502481 meters Centerline goodness : 0.598615 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.36, Z:1.21 [[ 0.88579327 -0.07348167 -0.45822562 4.17728709] [ 0.04598588 0.99642336 -0.07089275 -0.35846957] [ 0.46179603 0.04172441 0.88600423 1.20646406] [ 0. 0. 0. 1. ]] SLAMing on 139.76650248099997 meters Centerline goodness : 0.593087 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.36, Z:1.21 [[ 0.88601083 -0.0735159 -0.45779932 4.17615295] [ 0.04585639 0.99640322 -0.07125878 -0.3575256 ] [ 0.46139137 0.04214303 0.88619522 1.2064351 ] [ 0. 0. 0. 1. ]] SLAMing on 139.79650248099998 meters Centerline goodness : 0.593292 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.36, Z:1.21 [[ 0.88626989 -0.07022356 -0.45781473 4.17579285] [ 0.04322448 0.99666593 -0.0692002 -0.35530214] [ 0.46114783 0.04154125 0.88635038 1.20645592] [ 0. 0. 0. 1. ]] SLAMing on 139.82650248099998 meters Centerline goodness : 0.591295 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.35, Z:1.21 [[ 0.88610326 -0.07036227 -0.45811588 4.17664921] [ 0.04304242 0.99663066 -0.06981895 -0.3533494 ] [ 0.46148495 0.04214839 0.88614624 1.20646803] [ 0. 0. 0. 1. ]] SLAMing on 139.85650248099998 meters Centerline goodness : 0.586497 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.35, Z:1.21 [[ 0.88623106 -0.06741982 -0.45831111 4.17851757] [ 0.04038604 0.99683028 -0.0685446 -0.35028904] [ 0.46147965 0.04223698 0.88614478 1.20549658] [ 0. 0. 0. 1. ]] SLAMing on 139.88650248099998 meters Centerline goodness : 0.589400 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.35, Z:1.21 [[ 0.8862375 -0.06763337 -0.45826719 4.17914529] [ 0.04019839 0.99678072 -0.06937071 -0.34866803] [ 0.46148367 0.04305732 0.8861032 1.20508487] [ 0. 0. 0. 1. ]] SLAMing on 139.91650248099998 meters Centerline goodness : 0.587488 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.35, Z:1.20 [[ 0.88604793 -0.06542977 -0.45895317 4.18135141] [ 0.03830955 0.99693815 -0.06816673 -0.34617698] [ 0.46200806 0.0428167 0.88584157 1.20482644] [ 0. 0. 0. 1. ]] SLAMing on 139.94650248099998 meters Centerline goodness : 0.585999 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.34, Z:1.20 [[ 0.88567781 -0.06564581 -0.45963622 4.18320126] [ 0.03824516 0.9969051 -0.06868421 -0.3445801 ] [ 0.46272252 0.04325322 0.88544736 1.20488856] [ 0. 0. 0. 1. ]] SLAMing on 139.97650248099998 meters Centerline goodness : 0.585601 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.34, Z:1.20 [[ 0.88536706 -0.06585129 -0.46020514 4.1848759 ] [ 0.03806195 0.9968614 -0.06941645 -0.34262175] [ 0.4633319 0.04394274 0.88509468 1.20482632] [ 0. 0. 0. 1. ]] SLAMing on 140.00650248099998 meters Centerline goodness : 0.584514 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.34, Z:1.20 [[ 0.88550507 -0.06264111 -0.46038774 4.18535727] [ 0.03543521 0.99708915 -0.06750986 -0.34001604] [ 0.46327651 0.04346639 0.88514719 1.2046615 ] [ 0. 0. 0. 1. ]] SLAMing on 140.03650248099999 meters Centerline goodness : 0.583077 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.34, Z:1.20 [[ 0.8856868 -0.05951518 -0.46045285 4.18487299] [ 0.03293464 0.99730529 -0.0655551 -0.33779571] [ 0.46311359 0.04289644 0.88526024 1.20489376] [ 0. 0. 0. 1. ]] SLAMing on 140.066502481 meters Centerline goodness : 0.581779 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.34, Z:1.21 [[ 0.88553486 -0.06000932 -0.46068091 4.18479975] [ 0.0330299 0.99724542 -0.06641233 -0.33600904] [ 0.46339728 0.04359419 0.88507768 1.20525346] [ 0. 0. 0. 1. ]] SLAMing on 140.096502481 meters Centerline goodness : 0.583487 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.33, Z:1.21 [[ 0.88554234 -0.06053742 -0.46059743 4.18480672] [ 0.03312398 0.99717756 -0.06737744 -0.33421566] [ 0.46337627 0.04440876 0.88504819 1.20516962] [ 0. 0. 0. 1. ]] SLAMing on 140.126502481 meters Centerline goodness : 0.581088 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.33, Z:1.21 [[ 0.88554404 -0.05736624 -0.46099985 4.18479867] [ 0.03053339 0.99738784 -0.06546147 -0.33197274] [ 0.46355092 0.04389312 0.88498245 1.20558922] [ 0. 0. 0. 1. ]] SLAMing on 140.156502481 meters Centerline goodness : 0.577916 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.33, Z:1.21 [[ 0.88549937 -0.05768004 -0.4610465 4.18479545] [ 0.03048913 0.99733941 -0.06621559 -0.33025025] [ 0.46363917 0.04457696 0.88490204 1.20564776] [ 0. 0. 0. 1. ]] SLAMing on 140.186502481 meters Centerline goodness : 0.579929 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.33, Z:1.21 [[ 0.88539705 -0.05518127 -0.46154858 4.18605736] [ 0.02843447 0.99749883 -0.06471141 -0.32769103] [ 0.46396502 0.0441714 0.88475157 1.20562795] [ 0. 0. 0. 1. ]] SLAMing on 140.216502481 meters Centerline goodness : 0.580598 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.33, Z:1.21 [[ 0.88530994 -0.05517702 -0.46171615 4.18647703] [ 0.02826052 0.99748398 -0.06501586 -0.32625109] [ 0.46414184 0.04451085 0.88464181 1.20568421] [ 0. 0. 0. 1. ]] SLAMing on 140.246502481 meters Centerline goodness : 0.583095 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.33, Z:1.19 [[ 0.88614985 -0.05284395 -0.4603759 4.15791317] [ 0.0227107 0.99723533 -0.07075255 -0.33053501] [ 0.46284195 0.05224191 0.88490006 1.19123943] [ 0. 0. 0. 1. ]] SLAMing on 140.276502481 meters Centerline goodness : 0.578965 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.33, Z:1.19 [[ 0.8859611 -0.05318808 -0.46069942 4.15873081] [ 0.02301798 0.99722034 -0.07086443 -0.33004815] [ 0.46318797 0.05217876 0.88472271 1.1914324 ] [ 0. 0. 0. 1. ]] SLAMing on 140.306502481 meters Centerline goodness : 0.578965 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.33, Z:1.19 [[ 0.8859611 -0.05318808 -0.46069942 4.15873081] [ 0.02301798 0.99722034 -0.07086443 -0.33004815] [ 0.46318797 0.05217876 0.88472271 1.1914324 ] [ 0. 0. 0. 1. ]] SLAMing on 140.336502481 meters Centerline goodness : 0.578830 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.33, Z:1.19 [[ 0.885773 -0.0545074 -0.46090687 4.15966122] [ 0.02426491 0.99716023 -0.07129294 -0.32917985] [ 0.46348399 0.0519655 0.88458022 1.19156845] [ 0. 0. 0. 1. ]] SLAMing on 140.366502481 meters Centerline goodness : 0.575390 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.33, Z:1.19 [[ 0.88537762 -0.05848143 -0.46117935 4.1600487 ] [ 0.02705708 0.99685648 -0.07446531 -0.33065309] [ 0.46408446 0.05345175 0.88417675 1.19245004] [ 0. 0. 0. 1. ]] SLAMing on 140.396502481 meters Centerline goodness : 0.575011 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.33, Z:1.19 [[ 0.88540443 -0.05977584 -0.46096186 4.16009663] [ 0.02814832 0.99677177 -0.0751911 -0.32939154] [ 0.46396839 0.05359923 0.88422874 1.1923791 ] [ 0. 0. 0. 1. ]] SLAMing on 140.426502481 meters Centerline goodness : 0.573859 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.33, Z:1.19 [[ 0.88532817 -0.06046342 -0.46101866 4.16016881] [ 0.02868862 0.99672323 -0.07562916 -0.328689 ] [ 0.46408081 0.05373064 0.88416176 1.19255742] [ 0. 0. 0. 1. ]] SLAMing on 140.456502481 meters Centerline goodness : 0.572312 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.33, Z:1.19 [[ 0.88542371 -0.06220479 -0.46060331 4.15996332] [ 0.02983148 0.99656602 -0.07724149 -0.32684413] [ 0.4638264 0.05465097 0.88423885 1.19230065] [ 0. 0. 0. 1. ]] SLAMing on 140.486502481 meters Centerline goodness : 0.574880 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.33, Z:1.19 [[ 0.88529591 -0.06204214 -0.46087083 4.16120631] [ 0.02967809 0.99657773 -0.07714942 -0.32625087] [ 0.46408013 0.05462229 0.88410748 1.1922407 ] [ 0. 0. 0. 1. ]] SLAMing on 140.51650248099997 meters Centerline goodness : 0.577595 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.32, Z:1.20 [[ 0.88331995 -0.06580467 -0.46412888 4.17917268] [ 0.03364666 0.99644452 -0.07724134 -0.32173384] [ 0.46756152 0.05261243 0.88239343 1.20141904] [ 0. 0. 0. 1. ]] SLAMing on 140.54650248099998 meters Centerline goodness : 0.572202 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.32, Z:1.20 [[ 0.8834116 -0.06648492 -0.46385741 4.18051337] [ 0.0340052 0.99636952 -0.0780476 -0.32062315] [ 0.46736237 0.05317459 0.88246523 1.20046923] [ 0. 0. 0. 1. ]] SLAMing on 140.57650248099998 meters Centerline goodness : 0.574655 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.32, Z:1.20 [[ 0.88411019 -0.06694528 -0.46245812 4.18002081] [ 0.03398149 0.99627494 -0.07925588 -0.3185514 ] [ 0.46604124 0.05435591 0.88309173 1.19872028] [ 0. 0. 0. 1. ]] SLAMing on 140.60650248099998 meters Centerline goodness : 0.576683 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.32, Z:1.20 [[ 0.88438848 -0.06648663 -0.46199194 4.17968445] [ 0.03342219 0.99628254 -0.07939806 -0.3174153 ] [ 0.46555341 0.05477795 0.88332293 1.19820061] [ 0. 0. 0. 1. ]] SLAMing on 140.63650248099998 meters Centerline goodness : 0.579990 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.32, Z:1.20 [[ 0.88463323 -0.06571857 -0.46163309 4.18191911] [ 0.03218357 0.9962627 -0.08015523 -0.31643927] [ 0.46517551 0.05605098 0.88344215 1.19877068] [ 0. 0. 0. 1. ]] SLAMing on 140.66650248099998 meters Centerline goodness : 0.578764 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.31, Z:1.20 [[ 0.88510294 -0.065486 -0.46076498 4.18184478] [ 0.03157914 0.99621976 -0.08092556 -0.3145069 ] [ 0.46432267 0.05707689 0.88382503 1.19750201] [ 0. 0. 0. 1. ]] SLAMing on 140.69650248099998 meters Centerline goodness : 0.579041 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.31, Z:1.20 [[ 0.88562107 -0.06424108 -0.45994391 4.18422315] [ 0.03033431 0.9962733 -0.0807424 -0.31416898] [ 0.46341682 0.05755509 0.88426934 1.19631432] [ 0. 0. 0. 1. ]] SLAMing on 140.72650248099998 meters Centerline goodness : 0.579698 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.31, Z:1.20 [[ 0.88586518 -0.06386736 -0.45952567 4.18537991] [ 0.03001447 0.9962938 -0.08060895 -0.31344092] [ 0.46297085 0.05761625 0.88449893 1.19539799] [ 0. 0. 0. 1. ]] SLAMing on 140.75650248099998 meters Centerline goodness : 0.580053 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.31, Z:1.20 [[ 0.88577026 -0.06090494 -0.46011046 4.19769146] [ 0.02548597 0.99623951 -0.08280881 -0.31449113] [ 0.46342369 0.06162322 0.88399155 1.20004105] [ 0. 0. 0. 1. ]] SLAMing on 140.78650248099999 meters Centerline goodness : 0.582395 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.32, Z:1.20 [[ 0.88602671 -0.06077193 -0.45963404 4.19934891] [ 0.02532243 0.99623553 -0.08290685 -0.31557661] [ 0.46294217 0.06181863 0.88423018 1.19900677] [ 0. 0. 0. 1. ]] SLAMing on 140.816502481 meters Centerline goodness : 0.583719 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.32, Z:1.20 [[ 0.8861585 -0.06398375 -0.45894356 4.20373347] [ 0.02746081 0.99593171 -0.08582496 -0.316375 ] [ 0.46256785 0.06345156 0.8843104 1.19724338] [ 0. 0. 0. 1. ]] SLAMing on 140.846502481 meters Centerline goodness : 0.587007 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:1.20 [[ 0.88662822 -0.06364214 -0.45808305 4.20567444] [ 0.02736781 0.99597074 -0.08540076 -0.31753509] [ 0.46167241 0.063182 0.88479751 1.19516834] [ 0. 0. 0. 1. ]] SLAMing on 140.876502481 meters Centerline goodness : 0.586108 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:1.19 [[ 0.88722479 -0.065068 -0.45672566 4.20849104] [ 0.02846975 0.995839 -0.08656877 -0.31670605] [ 0.46045809 0.06380309 0.88538552 1.19242452] [ 0. 0. 0. 1. ]] SLAMing on 140.906502481 meters Centerline goodness : 0.584591 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:1.19 [[ 0.88750351 -0.06446828 -0.45626896 4.20949847] [ 0.0281286 0.99589789 -0.08600101 -0.31682274] [ 0.45994164 0.06349199 0.88567627 1.19135539] [ 0. 0. 0. 1. ]] SLAMing on 140.936502481 meters Centerline goodness : 0.585732 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:1.19 [[ 0.88786731 -0.06410285 -0.45561218 4.21014468] [ 0.02792791 0.99592955 -0.08569929 -0.3163949 ] [ 0.4592512 0.0633653 0.88604355 1.19014922] [ 0. 0. 0. 1. ]] SLAMing on 140.966502481 meters Centerline goodness : 0.583454 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:1.19 [[ 0.88853673 -0.06303401 -0.45445483 4.21319811] [ 0.02738078 0.99603713 -0.08461871 -0.31630362] [ 0.45798774 0.0627435 0.8867415 1.18713455] [ 0. 0. 0. 1. ]] SLAMing on 140.996502481 meters Centerline goodness : 0.584550 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:1.18 [[ 0.88871514 -0.0662845 -0.45364278 4.21700073] [ 0.02982406 0.99575578 -0.08706867 -0.31539208] [ 0.45748872 0.06384978 0.88692011 1.18476336] [ 0. 0. 0. 1. ]] SLAMing on 141.026502481 meters Centerline goodness : 0.587305 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:1.18 [[ 0.88900353 -0.06595501 -0.45312543 4.2185576 ] [ 0.02973075 0.9957982 -0.08661429 -0.31599285] [ 0.45693413 0.06352865 0.88722901 1.18322353] [ 0. 0. 0. 1. ]] SLAMing on 141.056502481 meters Centerline goodness : 0.588248 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.32, Z:1.19 [[ 0.88886874 -0.06957733 -0.45284805 4.23415266] [ 0.03489189 0.99581128 -0.08451308 -0.31517264] [ 0.45683138 0.05932031 0.8875732 1.1903349 ] [ 0. 0. 0. 1. ]] SLAMing on 141.086502481 meters Centerline goodness : 0.587989 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.32, Z:1.19 [[ 0.88987998 -0.06913041 -0.45092638 4.23662228] [ 0.03497246 0.99588051 -0.08365962 -0.31570692] [ 0.45485222 0.05867702 0.88863179 1.18621343] [ 0. 0. 0. 1. ]] SLAMing on 141.116502481 meters Centerline goodness : 0.589135 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.31, Z:1.19 [[ 0.8912532 -0.07129446 -0.44786698 4.25203518] [ 0.03997423 0.9960718 -0.07901285 -0.31461725] [ 0.45174084 0.05251732 0.89060212 1.18849513] [ 0. 0. 0. 1. ]] SLAMing on 141.146502481 meters Centerline goodness : 0.590557 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.32, Z:1.19 [[ 0.89161436 -0.07082255 -0.44722255 4.25349958] [ 0.03975459 0.99612199 -0.07848917 -0.31507015] [ 0.45104702 0.05220292 0.89097219 1.18683919] [ 0. 0. 0. 1. ]] SLAMing on 141.176502481 meters Centerline goodness : 0.592780 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:1.18 [[ 0.89263305 -0.06996042 -0.44532211 4.25658863] [ 0.03942546 0.99621416 -0.07747896 -0.3157264 ] [ 0.44905665 0.05160325 0.8920119 1.18256913] [ 0. 0. 0. 1. ]] SLAMing on 141.206502481 meters Centerline goodness : 0.592184 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:1.18 [[ 0.89298897 -0.06917945 -0.44473014 4.25863963] [ 0.03895933 0.99628902 -0.07674874 -0.31614602] [ 0.44838919 0.05120939 0.89237029 1.18067074] [ 0. 0. 0. 1. ]] SLAMing on 141.236502481 meters Centerline goodness : 0.590803 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:1.18 [[ 0.89328618 -0.06823119 -0.44427953 4.26073286] [ 0.03836795 0.99637874 -0.07587689 -0.31644002] [ 0.44784785 0.05073369 0.89266925 1.17893153] [ 0. 0. 0. 1. ]] SLAMing on 141.26650248099997 meters Centerline goodness : 0.592339 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:1.17 [[ 0.89425287 -0.06647539 -0.44259781 4.26412346] [ 0.03723113 0.99652962 -0.0744483 -0.31559229] [ 0.44601081 0.05009719 0.89362443 1.17489963] [ 0. 0. 0. 1. ]] SLAMing on 141.29650248099998 meters Centerline goodness : 0.594006 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.31, Z:1.17 [[ 0.89519071 -0.06501517 -0.44091567 4.26778346] [ 0.03631405 0.99665351 -0.07323303 -0.31492452] [ 0.4442014 0.0495461 0.89455592 1.1706611 ] [ 0. 0. 0. 1. ]] SLAMing on 141.32650248099998 meters Centerline goodness : 0.594784 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.32, Z:1.17 [[ 0.89566089 -0.06435959 -0.44005615 4.26973106] [ 0.03591154 0.99670859 -0.0726798 -0.31531068] [ 0.44328539 0.04929336 0.89502415 1.16840369] [ 0. 0. 0. 1. ]] SLAMing on 141.35650248099998 meters Centerline goodness : 0.596714 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.32, Z:1.17 [[ 0.89598753 -0.06339689 -0.43953064 4.2720029 ] [ 0.0351606 0.99677764 -0.07209769 -0.31623122] [ 0.44268508 0.04914447 0.8953294 1.16679705] [ 0. 0. 0. 1. ]] SLAMing on 141.38650248099998 meters Centerline goodness : 0.596587 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.32, Z:1.16 [[ 0.89688463 -0.06173705 -0.43793436 4.27573434] [ 0.03389569 0.99689189 -0.07111715 -0.31692502] [ 0.44096377 0.04893979 0.89618963 1.16301127] [ 0. 0. 0. 1. ]] SLAMing on 141.41650248099998 meters Centerline goodness : 0.599971 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.32, Z:1.16 [[ 0.897122 -0.06116411 -0.43752837 4.27828623] [ 0.03337818 0.99692305 -0.0709248 -0.31824909] [ 0.44052017 0.0490243 0.89640315 1.16142606] [ 0. 0. 0. 1. ]] SLAMing on 141.44650248099998 meters Centerline goodness : 0.599467 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.32, Z:1.16 [[ 0.89762091 -0.06243228 -0.43632433 4.28371415] [ 0.03411601 0.99678891 -0.07244281 -0.31886429] [ 0.43944602 0.05014054 0.89686851 1.15777111] [ 0. 0. 0. 1. ]] SLAMing on 141.47650248099998 meters Centerline goodness : 0.603840 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.32, Z:1.16 [[ 0.89751262 -0.06602673 -0.43601786 4.28551929] [ 0.03660323 0.99646986 -0.07555146 -0.31945638] [ 0.43946707 0.05184873 0.89676106 1.15704324] [ 0. 0. 0. 1. ]] SLAMing on 141.50650248099998 meters Centerline goodness : 0.601134 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.32, Z:1.15 [[ 0.89795396 -0.0670676 -0.434949 4.29071646] [ 0.03738365 0.99637171 -0.07645832 -0.31958277] [ 0.43849875 0.05239607 0.89720315 1.15308494] [ 0. 0. 0. 1. ]] SLAMing on 141.53650248099999 meters Centerline goodness : 0.607311 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.32, Z:1.15 [[ 0.89823727 -0.06646037 -0.43445694 4.29317514] [ 0.03703384 0.9964305 -0.07586013 -0.32037508] [ 0.43794784 0.05205079 0.89749229 1.15096587] [ 0. 0. 0. 1. ]] SLAMing on 141.566502481 meters Centerline goodness : 0.608125 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.32, Z:1.15 [[ 0.89945201 -0.06685021 -0.4318763 4.29546835] [ 0.03747921 0.99638983 -0.07617487 -0.32167085] [ 0.43540946 0.05232926 0.89871033 1.14608133] [ 0. 0. 0. 1. ]] SLAMing on 141.596502481 meters Centerline goodness : 0.608240 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.32, Z:1.14 [[ 0.89992128 -0.06629653 -0.43098313 4.29682697] [ 0.03722123 0.99644638 -0.07555925 -0.3224897 ] [ 0.43446089 0.05195566 0.89919094 1.14389344] [ 0. 0. 0. 1. ]] SLAMing on 141.626502481 meters Centerline goodness : 0.612361 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.32, Z:1.14 [[ 0.90045875 -0.07033756 -0.42921635 4.29958574] [ 0.04037541 0.99609379 -0.07853013 -0.32384547] [ 0.43306336 0.05338336 0.89978128 1.14024671] [ 0. 0. 0. 1. ]] SLAMing on 141.656502481 meters Centerline goodness : 0.618224 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.32, Z:1.14 [[ 0.90101966 -0.07324252 -0.42755013 4.30277994] [ 0.04282667 0.99584681 -0.080343 -0.3249179 ] [ 0.43165896 0.05408008 0.90041429 1.1362573 ] [ 0. 0. 0. 1. ]] SLAMing on 141.686502481 meters Centerline goodness : 0.619936 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.33, Z:1.13 [[ 0.90152111 -0.07270977 -0.42658291 4.30482719] [ 0.04254186 0.99589932 -0.07984198 -0.32743349] [ 0.43063893 0.0538316 0.90091746 1.13389026] [ 0. 0. 0. 1. ]] SLAMing on 141.716502481 meters Centerline goodness : 0.624522 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.33, Z:1.13 [[ 0.90191848 -0.07202304 -0.42585882 4.30722173] [ 0.04218569 0.99597375 -0.07909899 -0.32939929] [ 0.42984116 0.05337569 0.90132548 1.13151933] [ 0. 0. 0. 1. ]] SLAMing on 141.746502481 meters Centerline goodness : 0.631133 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.33, Z:1.13 [[ 0.902262 -0.07465079 -0.42467699 4.31256877] [ 0.04440334 0.99574916 -0.08069665 -0.33096008] [ 0.42889582 0.05395245 0.90174138 1.1271514 ] [ 0. 0. 0. 1. ]] SLAMing on 141.776502481 meters Centerline goodness : 0.634673 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.33, Z:1.12 [[ 0.9026516 -0.07334133 -0.4240768 4.31544247] [ 0.04362073 0.99588915 -0.0793854 -0.33254896] [ 0.42815572 0.05315882 0.90214014 1.12446703] [ 0. 0. 0. 1. ]] SLAMing on 141.806502481 meters Centerline goodness : 0.641884 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.33, Z:1.12 [[ 0.90349666 -0.07103611 -0.4226673 4.32020357] [ 0.04221263 0.9961231 -0.07718068 -0.33437744] [ 0.42651128 0.05189059 0.90299252 1.11949699] [ 0. 0. 0. 1. ]] SLAMing on 141.836502481 meters Centerline goodness : 0.642698 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.33, Z:1.13 [[ 0.90321417 -0.07309506 -0.42291993 4.33784487] [ 0.04548392 0.99614346 -0.07502945 -0.33368338] [ 0.42677321 0.0485316 0.90305554 1.12744626] [ 0. 0. 0. 1. ]] SLAMing on 141.866502481 meters Centerline goodness : 0.647102 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.34, Z:1.13 [[ 0.90350002 -0.07058066 -0.42273643 4.34987352] [ 0.04209873 0.99619198 -0.07634941 -0.33625682] [ 0.42651544 0.05118502 0.90303083 1.12681702] [ 0. 0. 0. 1. ]] SLAMing on 141.896502481 meters Centerline goodness : 0.648033 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.34, Z:1.12 [[ 0.90441468 -0.06958872 -0.42094121 4.35185538] [ 0.04080977 0.99619508 -0.07700597 -0.33568679] [ 0.42469831 0.05246682 0.90381335 1.12245841] [ 0. 0. 0. 1. ]] SLAMing on 141.926502481 meters Centerline goodness : 0.651069 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.34, Z:1.11 [[ 0.90544905 -0.06632898 -0.41924036 4.34267625] [ 0.03617357 0.99617971 -0.07948247 -0.33689139] [ 0.42291073 0.05680191 0.90438933 1.10817827] [ 0. 0. 0. 1. ]] SLAMing on 141.956502481 meters Centerline goodness : 0.652648 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.34, Z:1.10 [[ 0.90600175 -0.06311928 -0.41854126 4.33125082] [ 0.03174876 0.99616718 -0.08150433 -0.33894262] [ 0.42208157 0.0605549 0.90453317 1.09624632] [ 0. 0. 0. 1. ]] SLAMing on 141.986502481 meters Centerline goodness : 0.655145 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.34, Z:1.09 [[ 0.90635114 -0.06160982 -0.41800938 4.31946013] [ 0.02848484 0.99597094 -0.08503237 -0.34097896] [ 0.42156403 0.06516226 0.90445434 1.08524366] [ 0. 0. 0. 1. ]] SLAMing on 142.01650248099997 meters Centerline goodness : 0.656119 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.34, Z:1.06 [[ 0.90841687 -0.05775615 -0.41405679 4.29301048] [ 0.02334425 0.99587363 -0.08769694 -0.34483694] [ 0.41741328 0.06999954 0.90601668 1.05866666] [ 0. 0. 0. 1. ]] SLAMing on 142.04650248099998 meters Centerline goodness : 0.654714 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.35, Z:1.03 [[ 0.9098972 -0.05417216 -0.4112815 4.26675468] [ 0.01879928 0.9958029 -0.08957217 -0.34854985] [ 0.41440762 0.07376967 0.90709666 1.03070497] [ 0. 0. 0. 1. ]] SLAMing on 142.07650248099998 meters Centerline goodness : 0.654871 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.35, Z:1.03 [[ 0.91012127 -0.0542748 -0.41077186 4.26952779] [ 0.01870557 0.99575495 -0.09012319 -0.34825433] [ 0.41391953 0.07433931 0.907273 1.02817107] [ 0. 0. 0. 1. ]] SLAMing on 142.10650248099998 meters Centerline goodness : 0.655382 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.35, Z:1.03 [[ 0.91024791 -0.05422429 -0.41049784 4.27238696] [ 0.0186059 0.99574311 -0.09027448 -0.34805069] [ 0.41364546 0.07453448 0.90738197 1.02602107] [ 0. 0. 0. 1. ]] SLAMing on 142.13650248099998 meters Centerline goodness : 0.658582 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.35, Z:1.02 [[ 0.91053164 -0.05543063 -0.40970671 4.27861498] [ 0.01925151 0.99558111 -0.09191105 -0.34704534] [ 0.41299095 0.07580045 0.90757522 1.02092477] [ 0. 0. 0. 1. ]] SLAMing on 142.16650248099998 meters Centerline goodness : 0.660657 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.35, Z:1.02 [[ 0.91065226 -0.05544939 -0.40943598 4.28177309] [ 0.01935727 0.99559133 -0.09177795 -0.34770344] [ 0.41271995 0.07565223 0.90771085 1.01854943] [ 0. 0. 0. 1. ]] SLAMing on 142.19650248099998 meters Centerline goodness : 0.664537 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.35, Z:1.01 [[ 0.91072035 -0.05968091 -0.40868891 4.28725852] [ 0.02254239 0.99521267 -0.09509772 -0.34764267] [ 0.41240791 0.0773946 0.90770579 1.0142326 ] [ 0. 0. 0. 1. ]] SLAMing on 142.22650248099998 meters Centerline goodness : 0.664537 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.35, Z:1.01 [[ 0.91072035 -0.05968091 -0.40868891 4.28725852] [ 0.02254239 0.99521267 -0.09509772 -0.34764267] [ 0.41240791 0.0773946 0.90770579 1.0142326 ] [ 0. 0. 0. 1. ]] SLAMing on 142.25650248099998 meters Centerline goodness : 0.665771 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.35, Z:1.01 [[ 0.9108672 -0.05993322 -0.40832457 4.28975737] [ 0.02287432 0.9952098 -0.09504855 -0.34836109] [ 0.41206518 0.07723646 0.90787489 1.01217027] [ 0. 0. 0. 1. ]] SLAMing on 142.28650248099999 meters Centerline goodness : 0.667977 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.35, Z:1.01 [[ 0.91079433 -0.06426228 -0.40782845 4.29510768] [ 0.02622301 0.99482187 -0.09819264 -0.34855117] [ 0.41202674 0.07873882 0.90776327 1.00848368] [ 0. 0. 0. 1. ]] SLAMing on 142.316502481 meters Centerline goodness : 0.669075 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.35, Z:1.01 [[ 0.91081318 -0.0645805 -0.40773608 4.29830906] [ 0.02665501 0.99482684 -0.09802584 -0.34962649] [ 0.41195735 0.07841502 0.90782279 1.00647301] [ 0. 0. 0. 1. ]] SLAMing on 142.346502481 meters Centerline goodness : 0.670595 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.35, Z:1.00 [[ 0.91082585 -0.06492682 -0.40765276 4.30361897] [ 0.02737528 0.99487958 -0.0972893 -0.351495 ] [ 0.41188209 0.077454 0.90793944 1.00305638] [ 0. 0. 0. 1. ]] SLAMing on 142.376502481 meters Centerline goodness : 0.671981 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.35, Z:1.00 [[ 0.91061553 -0.06568311 -0.40800133 4.30884875] [ 0.02835122 0.9948914 -0.09688816 -0.35233671] [ 0.41228093 0.07666053 0.90782575 1.00067748] [ 0. 0. 0. 1. ]] SLAMing on 142.406502481 meters Centerline goodness : 0.674005 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.35, Z:1.00 [[ 0.91048209 -0.06580118 -0.40828002 4.312098 ] [ 0.02873955 0.99494113 -0.09626102 -0.35328984] [ 0.41254867 0.07591015 0.90776717 0.99928323] [ 0. 0. 0. 1. ]] SLAMing on 142.436502481 meters Centerline goodness : 0.674866 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.35, Z:1.00 [[ 0.91037707 -0.06596013 -0.4084885 4.31516445] [ 0.02901244 0.99495833 -0.09600104 -0.35397594] [ 0.41276128 0.07554589 0.90770091 0.99786555] [ 0. 0. 0. 1. ]] SLAMing on 142.466502481 meters Centerline goodness : 0.677392 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.35, Z:1.00 [[ 0.91017216 -0.06744863 -0.408702 4.32055921] [ 0.0302573 0.99484403 -0.09679796 -0.35441563] [ 0.41312364 0.07573659 0.90752015 0.99515809] [ 0. 0. 0. 1. ]] SLAMing on 142.496502481 meters Centerline goodness : 0.675892 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.36, Z:0.99 [[ 0.90992499 -0.06765261 -0.40921832 4.32380421] [ 0.03058276 0.99486595 -0.09646992 -0.35523582] [ 0.41364381 0.07526536 0.90732239 0.99420191] [ 0. 0. 0. 1. ]] SLAMing on 142.526502481 meters Centerline goodness : 0.678526 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.36, Z:0.99 [[ 0.90955646 -0.06846187 -0.40990245 4.32929093] [ 0.03132009 0.99482479 -0.09665758 -0.35582013] [ 0.41439848 0.07507735 0.90699355 0.99221435] [ 0. 0. 0. 1. ]] SLAMing on 142.556502481 meters Centerline goodness : 0.677196 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.36, Z:0.99 [[ 0.90917175 -0.06829165 -0.41078338 4.33271512] [ 0.03126078 0.99487041 -0.09620623 -0.35568649] [ 0.41524631 0.07462658 0.90664291 0.99185675] [ 0. 0. 0. 1. ]] SLAMing on 142.586502481 meters Centerline goodness : 0.679123 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.36, Z:0.99 [[ 0.9087654 -0.0682412 -0.41168992 4.33618266] [ 0.03122315 0.99489247 -0.09599007 -0.35508387] [ 0.41613767 0.07437819 0.90625456 0.99156766] [ 0. 0. 0. 1. ]] SLAMing on 142.616502481 meters Centerline goodness : 0.678173 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.35, Z:0.99 [[ 0.90807907 -0.06869134 -0.41312698 4.34245272] [ 0.03155961 0.99487609 -0.09604977 -0.35411445] [ 0.41760794 0.07418266 0.90559403 0.99060481] [ 0. 0. 0. 1. ]] SLAMing on 142.646502481 meters Centerline goodness : 0.679159 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.35, Z:0.99 [[ 0.9074854 -0.06923109 -0.4143396 4.34917782] [ 0.03203798 0.99485987 -0.09605944 -0.35451927] [ 0.41886014 0.07389794 0.90503883 0.98894059] [ 0. 0. 0. 1. ]] SLAMing on 142.676502481 meters Centerline goodness : 0.676914 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.35, Z:0.99 [[ 0.90705777 -0.06882615 -0.41534223 4.35272744] [ 0.03181528 0.99493153 -0.09538883 -0.35471437] [ 0.41980233 0.07330895 0.9046501 0.98875918] [ 0. 0. 0. 1. ]] SLAMing on 142.706502481 meters Centerline goodness : 0.679628 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.35, Z:0.99 [[ 0.90623936 -0.06913552 -0.41707374 4.35953617] [ 0.03211017 0.99494449 -0.09515465 -0.35275544] [ 0.42154378 0.07284058 0.90387781 0.98821151] [ 0. 0. 0. 1. ]] SLAMing on 142.736502481 meters Centerline goodness : 0.677466 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.35, Z:0.99 [[ 0.90588916 -0.06882283 -0.41788544 4.3631691 ] [ 0.03193521 0.99499915 -0.09464051 -0.35307226] [ 0.42230909 0.07238855 0.90355682 0.98763204] [ 0. 0. 0. 1. ]] SLAMing on 142.76650248099997 meters Centerline goodness : 0.677865 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.35, Z:0.99 [[ 0.90502036 -0.06907789 -0.4197218 4.36939461] [ 0.03218267 0.9950172 -0.09436661 -0.35291048] [ 0.42414906 0.07189594 0.90273393 0.98751778] [ 0. 0. 0. 1. ]] SLAMing on 142.79650248099998 meters Centerline goodness : 0.676192 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.35, Z:0.99 [[ 0.90464668 -0.0687738 -0.42057646 4.3726401 ] [ 0.03194804 0.99505987 -0.09399566 -0.35301064] [ 0.42496319 0.07159627 0.90237479 0.98724218] [ 0. 0. 0. 1. ]] SLAMing on 142.82650248099998 meters Centerline goodness : 0.676544 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.35, Z:0.99 [[ 0.90365814 -0.06929773 -0.42261068 4.3785492 ] [ 0.03251435 0.99507477 -0.09364308 -0.35247514] [ 0.42701848 0.07088042 0.90146058 0.98777746] [ 0. 0. 0. 1. ]] SLAMing on 142.85650248099998 meters Centerline goodness : 0.676272 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.35, Z:0.99 [[ 0.90321618 -0.06907097 -0.42359147 4.3818093 ] [ 0.03245314 0.9951308 -0.09306713 -0.35263428] [ 0.42795715 0.07031286 0.90105981 0.98778348] [ 0. 0. 0. 1. ]] SLAMing on 142.88650248099998 meters Centerline goodness : 0.675228 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.35, Z:0.99 [[ 0.9020424 -0.06988432 -0.42595269 4.38823735] [ 0.03319178 0.99511513 -0.09297407 -0.35094583] [ 0.43036939 0.06972842 0.89995563 0.98875179] [ 0. 0. 0. 1. ]] SLAMing on 142.91650248099998 meters Centerline goodness : 0.675026 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.35, Z:0.99 [[ 0.90087159 -0.07070178 -0.4282892 4.39557665] [ 0.03392166 0.99509571 -0.09291847 -0.34928217] [ 0.43275824 0.06917933 0.89885178 0.98914962] [ 0. 0. 0. 1. ]] SLAMing on 142.94650248099998 meters Centerline goodness : 0.675150 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.35, Z:0.99 [[ 0.90025313 -0.07094542 -0.42954749 4.39938041] [ 0.03410031 0.99509277 -0.09288463 -0.3485586 ] [ 0.43402934 0.06897198 0.89825464 0.98947525] [ 0. 0. 0. 1. ]] SLAMing on 142.97650248099998 meters Centerline goodness : 0.673711 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.35, Z:0.99 [[ 0.89962054 -0.07114002 -0.4308387 4.40274096] [ 0.03422456 0.99509208 -0.09284625 -0.34758184] [ 0.43532926 0.06878113 0.89764001 0.99012245] [ 0. 0. 0. 1. ]] SLAMing on 143.00650248099998 meters Centerline goodness : 0.674384 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.35, Z:0.99 [[ 0.89868125 -0.06854618 -0.43321292 4.40835916] [ 0.0326465 0.99542641 -0.08978006 -0.34669099] [ 0.43738566 0.06654077 0.89680885 0.99132862] [ 0. 0. 0. 1. ]] SLAMing on 143.03650248099999 meters Centerline goodness : 0.673797 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.35, Z:0.99 [[ 0.89814575 -0.06857757 -0.43431709 4.41096993] [ 0.03272631 0.99544879 -0.0895025 -0.34610069] [ 0.43847828 0.06617269 0.89630239 0.99199614] [ 0. 0. 0. 1. ]] SLAMing on 143.066502481 meters Centerline goodness : 0.675186 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.34, Z:0.99 [[ 0.8971845 -0.06922502 -0.43619705 4.41542111] [ 0.03309752 0.99540112 -0.08989534 -0.34464855] [ 0.44041404 0.06621567 0.89534963 0.99321863] [ 0. 0. 0. 1. ]] SLAMing on 143.096502481 meters Centerline goodness : 0.671839 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.34, Z:0.99 [[ 0.89669634 -0.06939388 -0.43717292 4.41787415] [ 0.03330791 0.99541294 -0.08968645 -0.34442836] [ 0.44139127 0.06586019 0.89489451 0.9937639 ] [ 0. 0. 0. 1. ]] SLAMing on 143.126502481 meters Centerline goodness : 0.677123 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.34, Z:0.99 [[ 0.89564844 -0.06994652 -0.43922814 4.42327096] [ 0.03404542 0.99544072 -0.08909923 -0.34445595] [ 0.44345776 0.06484788 0.89394629 0.99478471] [ 0. 0. 0. 1. ]] SLAMing on 143.156502481 meters Centerline goodness : 0.684104 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.35, Z:1.00 [[ 0.8949885 -0.06984745 -0.44058702 4.4264149 ] [ 0.03435818 0.99552514 -0.08802963 -0.34547788] [ 0.4447641 0.06364773 0.89338338 0.99572725] [ 0. 0. 0. 1. ]] SLAMing on 143.186502481 meters Centerline goodness : 0.684021 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.35, Z:1.00 [[ 0.89386321 -0.07020702 -0.44280868 4.43156668] [ 0.03542372 0.99563488 -0.08635016 -0.34711615] [ 0.44693816 0.0614993 0.89244839 0.99725918] [ 0. 0. 0. 1. ]] SLAMing on 143.216502481 meters Centerline goodness : 0.682641 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.35, Z:1.00 [[ 0.89327987 -0.06999249 -0.44401815 4.43425756] [ 0.03570683 0.99573019 -0.08512591 -0.34826839] [ 0.44808045 0.06018678 0.89196494 0.99822704] [ 0. 0. 0. 1. ]] SLAMing on 143.246502481 meters Centerline goodness : 0.681218 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.35, Z:1.00 [[ 0.89236574 -0.06995123 -0.44585896 4.43876351] [ 0.03650581 0.99586586 -0.08317766 -0.35021831] [ 0.44983409 0.05794846 0.8912302 0.99940143] [ 0. 0. 0. 1. ]] SLAMing on 143.276502481 meters Centerline goodness : 0.678759 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.35, Z:1.00 [[ 0.89182116 -0.06984496 -0.44696387 4.44135888] [ 0.03691627 0.99595053 -0.08197398 -0.35167258] [ 0.45087937 0.05660589 0.89078817 1.00024692] [ 0. 0. 0. 1. ]] SLAMing on 143.306502481 meters Centerline goodness : 0.676561 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.35, Z:1.00 [[ 0.89070058 -0.07176686 -0.44888973 4.44567353] [ 0.03955636 0.99594998 -0.08073992 -0.35378269] [ 0.45286617 0.05415865 0.88993206 1.00200826] [ 0. 0. 0. 1. ]] SLAMing on 143.336502481 meters Centerline goodness : 0.676693 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.36, Z:1.00 [[ 0.89020487 -0.07200442 -0.44983403 4.44840142] [ 0.04033276 0.99600955 -0.07961308 -0.35565921] [ 0.45377148 0.0527289 0.88955669 1.00251309] [ 0. 0. 0. 1. ]] SLAMing on 143.366502481 meters Centerline goodness : 0.677335 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.36, Z:1.00 [[ 0.8886781 -0.0777472 -0.45189226 4.45366308] [ 0.04532139 0.99558801 -0.08216129 -0.35621564] [ 0.45628633 0.05253456 0.88828087 1.00433261] [ 0. 0. 0. 1. ]] SLAMing on 143.396502481 meters Centerline goodness : 0.492069 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.36, Z:1.01 [[ 0.88796724 -0.07786941 -0.45326652 4.45691915] [ 0.04604146 0.99566202 -0.08085376 -0.35763627] [ 0.45759629 0.05092644 0.88770047 1.00542203] [ 0. 0. 0. 1. ]] SLAMing on 143.426502481 meters Centerline goodness : 0.672952 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.36, Z:1.01 [[ 0.88737475 -0.07788295 -0.45442304 4.4596853 ] [ 0.0466782 0.99574076 -0.07950779 -0.35896659] [ 0.45867984 0.04934155 0.88723064 1.00635753] [ 0. 0. 0. 1. ]] SLAMing on 143.456502481 meters Centerline goodness : 0.681841 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.36, Z:1.01 [[ 0.88579899 -0.08396885 -0.45640922 4.46422378] [ 0.05197636 0.99525719 -0.08222883 -0.3585952 ] [ 0.46114922 0.04911572 0.88596221 1.00875343] [ 0. 0. 0. 1. ]] SLAMing on 143.486502481 meters Centerline goodness : 0.663735 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:1.01 [[ 0.88436419 -0.08600571 -0.45880606 4.46920297] [ 0.05483433 0.99521569 -0.08086361 -0.35985378] [ 0.46356572 0.04635456 0.88484919 1.01121024] [ 0. 0. 0. 1. ]] SLAMing on 143.51650248099997 meters Centerline goodness : 0.683543 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:1.01 [[ 0.88366714 -0.08629116 -0.46009372 4.47165275] [ 0.05561794 0.99525484 -0.07984013 -0.36066977] [ 0.4648 0.04496264 0.88427333 1.01263879] [ 0. 0. 0. 1. ]] SLAMing on 143.54650248099998 meters Centerline goodness : 0.685810 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.01 [[ 0.88247252 -0.08848187 -0.46196667 4.47570463] [ 0.05832594 0.99515198 -0.07918724 -0.36120311] [ 0.46673368 0.04293592 0.88335507 1.01464556] [ 0. 0. 0. 1. ]] SLAMing on 143.57650248099998 meters Centerline goodness : 0.687213 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.02 [[ 0.88195602 -0.08872044 -0.46290632 4.47833507] [ 0.05899933 0.99518037 -0.07832694 -0.36200547] [ 0.46762449 0.04176975 0.88293976 1.0152994 ] [ 0. 0. 0. 1. ]] SLAMing on 143.60650248099998 meters Centerline goodness : 0.687008 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.02 [[ 0.88145949 -0.08888376 -0.46381984 4.48078718] [ 0.05955513 0.99520924 -0.0775355 -0.36279764] [ 0.46848944 0.04072155 0.88253012 1.01598144] [ 0. 0. 0. 1. ]] SLAMing on 143.63650248099998 meters Centerline goodness : 0.691118 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.02 [[ 0.88059289 -0.089989 -0.46525061 4.48426593] [ 0.06098607 0.99515996 -0.07705426 -0.36293446] [ 0.46993282 0.03947963 0.88181886 1.01726919] [ 0. 0. 0. 1. ]] SLAMing on 143.66650248099998 meters Centerline goodness : 0.692321 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.36, Z:1.02 [[ 0.87967241 -0.09059178 -0.46687213 4.48836972] [ 0.06172923 0.99513482 -0.07678664 -0.3617229 ] [ 0.47155696 0.03872743 0.8809848 1.01843725] [ 0. 0. 0. 1. ]] SLAMing on 143.69650248099998 meters Centerline goodness : 0.694578 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.36, Z:1.02 [[ 0.87925412 -0.09057986 -0.46766171 4.48971485] [ 0.06186718 0.99515363 -0.0764311 -0.36118374] [ 0.47231836 0.03826944 0.88059685 1.01937244] [ 0. 0. 0. 1. ]] SLAMing on 143.72650248099998 meters Centerline goodness : 0.694200 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.36, Z:1.02 [[ 0.8791496 -0.08629228 -0.46866793 4.48956378] [ 0.05937505 0.99564003 -0.07194113 -0.36182147] [ 0.47283252 0.03541984 0.88044014 1.02108504] [ 0. 0. 0. 1. ]] SLAMing on 143.75650248099998 meters Centerline goodness : 0.694129 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.36, Z:1.02 [[ 0.87903788 -0.08627579 -0.46888048 4.48981352] [ 0.05939552 0.99564538 -0.07185026 -0.36120948] [ 0.47303762 0.0353097 0.88033439 1.02143708] [ 0. 0. 0. 1. ]] SLAMing on 143.78650248099999 meters Centerline goodness : 0.696432 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.36, Z:1.02 [[ 0.87875006 -0.08657564 -0.46936445 4.49106236] [ 0.0596091 0.99561862 -0.07204383 -0.36030951] [ 0.47354523 0.03533013 0.88006062 1.02179191] [ 0. 0. 0. 1. ]] SLAMing on 143.816502481 meters Centerline goodness : 0.697955 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:1.02 [[ 0.87783431 -0.08746967 -0.47090973 4.49610467] [ 0.06018227 0.99553429 -0.07272943 -0.35834822] [ 0.4751684 0.03550397 0.87917828 1.0222467 ] [ 0. 0. 0. 1. ]] SLAMing on 143.846502481 meters Centerline goodness : 0.698709 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:1.02 [[ 0.87711877 -0.08770769 -0.47219702 4.50021605] [ 0.06034076 0.99551759 -0.07282667 -0.35649567] [ 0.47646789 0.03538491 0.87847951 1.02262721] [ 0. 0. 0. 1. ]] SLAMing on 143.876502481 meters Centerline goodness : 0.700918 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.35, Z:1.02 [[ 0.87663509 -0.08779251 -0.47307864 4.50193645] [ 0.06032121 0.99550859 -0.07296568 -0.35496735] [ 0.47735969 0.0354276 0.87799352 1.02348253] [ 0. 0. 0. 1. ]] SLAMing on 143.906502481 meters Centerline goodness : 0.701203 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.35, Z:1.02 [[ 0.8764023 -0.08339652 -0.47430374 4.50420852] [ 0.05709347 0.99593846 -0.06961984 -0.35319567] [ 0.47818339 0.03393534 0.87760415 1.02417634] [ 0. 0. 0. 1. ]] SLAMing on 143.936502481 meters Centerline goodness : 0.701169 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.02 [[ 0.87617225 -0.08324663 -0.47475487 4.50534981] [ 0.05671663 0.99593602 -0.06996195 -0.35170389] [ 0.47864957 0.03437223 0.87733297 1.02442904] [ 0. 0. 0. 1. ]] SLAMing on 143.966502481 meters Centerline goodness : 0.701223 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.02 [[ 0.87578768 -0.08336209 -0.47544369 4.50701371] [ 0.05619288 0.99588481 -0.07110413 -0.34887957] [ 0.47941454 0.03555557 0.876868 1.02481897] [ 0. 0. 0. 1. ]] SLAMing on 143.996502481 meters Centerline goodness : 0.702328 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.03 [[ 0.87554117 -0.08338027 -0.47589431 4.50797919] [ 0.0559177 0.9958643 -0.07160661 -0.34755594] [ 0.47989673 0.03608362 0.87658262 1.02511931] [ 0. 0. 0. 1. ]] SLAMing on 144.026502481 meters Centerline goodness : 0.702869 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.03 [[ 0.87550233 -0.07917461 -0.47668338 4.50941618] [ 0.05253991 0.99623414 -0.06897164 -0.34566335] [ 0.48034906 0.03533993 0.87636514 1.02534442] [ 0. 0. 0. 1. ]] SLAMing on 144.056502481 meters Centerline goodness : 0.705649 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.34, Z:1.03 [[ 0.87517231 -0.07926966 -0.47727325 4.51030738] [ 0.05215371 0.99619514 -0.06982283 -0.34316178] [ 0.48099212 0.03621544 0.87597661 1.02593955] [ 0. 0. 0. 1. ]] SLAMing on 144.086502481 meters Centerline goodness : 0.706504 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.34, Z:1.03 [[ 0.87514159 -0.07488857 -0.4780365 4.51216764] [ 0.04809868 0.99652116 -0.06805942 -0.339999 ] [ 0.48147037 0.0365687 0.87569916 1.02570212] [ 0. 0. 0. 1. ]] SLAMing on 144.116502481 meters Centerline goodness : 0.706504 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.34, Z:1.03 [[ 0.87514159 -0.07488857 -0.4780365 4.51216764] [ 0.04809868 0.99652116 -0.06805942 -0.339999 ] [ 0.48147037 0.0365687 0.87569916 1.02570212] [ 0. 0. 0. 1. ]] SLAMing on 144.146502481 meters Centerline goodness : 0.707018 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.34, Z:1.03 [[ 0.8750821 -0.07505952 -0.47811858 4.51277789] [ 0.04751872 0.9964523 -0.0694607 -0.33747933] [ 0.48163605 0.03806423 0.87554431 1.02537191] [ 0. 0. 0. 1. ]] SLAMing on 144.176502481 meters Centerline goodness : 0.705230 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:1.02 [[ 0.87534805 -0.06956486 -0.47846267 4.5140727 ] [ 0.0424322 0.99682996 -0.06730179 -0.33498659] [ 0.48162776 0.03861027 0.87552495 1.02454326] [ 0. 0. 0. 1. ]] SLAMing on 144.206502481 meters Centerline goodness : 0.704985 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:1.02 [[ 0.87529789 -0.06893653 -0.47864534 4.5142199 ] [ 0.04129257 0.99682665 -0.06805555 -0.33299281] [ 0.48181795 0.03980438 0.87536682 1.0246366 ] [ 0. 0. 0. 1. ]] SLAMing on 144.236502481 meters Centerline goodness : 0.703467 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:1.02 [[ 0.87561707 -0.06352882 -0.47880981 4.5141284 ] [ 0.03653512 0.9971839 -0.06549394 -0.33091126] [ 0.48162219 0.03985424 0.87547228 1.02433853] [ 0. 0. 0. 1. ]] SLAMing on 144.26650248099997 meters Centerline goodness : 0.703100 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:1.02 [[ 0.87570612 -0.06333148 -0.47867308 4.51351166] [ 0.03584514 0.99715216 -0.06635283 -0.32923631] [ 0.48151212 0.04094748 0.87548237 1.02424567] [ 0. 0. 0. 1. ]] SLAMing on 144.29650248099998 meters Centerline goodness : 0.702842 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:1.02 [[ 0.87609522 -0.06280017 -0.47803066 4.51196393] [ 0.03438636 0.99709457 -0.06797051 -0.32721759] [ 0.48091034 0.0431109 0.87570926 1.02354511] [ 0. 0. 0. 1. ]] SLAMing on 144.32650248099998 meters Centerline goodness : 0.701667 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:1.02 [[ 0.8761013 -0.0627677 -0.47802378 4.511576 ] [ 0.03401058 0.99706517 -0.06858817 -0.32653369] [ 0.48092598 0.04383232 0.87566485 1.02363876] [ 0. 0. 0. 1. ]] SLAMing on 144.35650248099998 meters Centerline goodness : 0.701011 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:1.02 [[ 0.87605136 -0.06309971 -0.47807158 4.51192724] [ 0.03392886 0.99701039 -0.06941982 -0.32602469] [ 0.4810227 0.04459491 0.87557321 1.02347138] [ 0. 0. 0. 1. ]] SLAMing on 144.38650248099998 meters Centerline goodness : 0.698613 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:1.02 [[ 0.87596776 -0.0630041 -0.47823736 4.51214112] [ 0.03402389 0.99703412 -0.06903142 -0.32701685] [ 0.48116823 0.04419781 0.87551339 1.02367876] [ 0. 0. 0. 1. ]] SLAMing on 144.41650248099998 meters Centerline goodness : 0.698812 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:1.02 [[ 0.87565986 -0.06306835 -0.47879244 4.51230591] [ 0.03476385 0.99709568 -0.06776187 -0.32910107] [ 0.4816755 0.04269168 0.87530916 1.0247814 ] [ 0. 0. 0. 1. ]] SLAMing on 144.44650248099998 meters Centerline goodness : 0.697433 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:1.03 [[ 0.87542589 -0.06333793 -0.47918453 4.51266987] [ 0.03543225 0.99711918 -0.06706634 -0.33027178] [ 0.48205193 0.04173303 0.87514816 1.02551032] [ 0. 0. 0. 1. ]] SLAMing on 144.47650248099998 meters Centerline goodness : 0.698542 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:1.03 [[ 0.87476933 -0.06848401 -0.47967548 4.51390903] [ 0.03977542 0.9967696 -0.06977314 -0.3314757 ] [ 0.48290428 0.04195611 0.87466745 1.02639249] [ 0. 0. 0. 1. ]] SLAMing on 144.50650248099998 meters Centerline goodness : 0.697496 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:1.03 [[ 0.87432321 -0.07390106 -0.47968485 4.51468561] [ 0.04421203 0.99635771 -0.07291513 -0.3327329 ] [ 0.4833262 0.04254355 0.87440599 1.02665947] [ 0. 0. 0. 1. ]] SLAMing on 144.53650248099999 meters Centerline goodness : 0.695958 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:1.03 [[ 0.87393706 -0.07864966 -0.47963346 4.51472722] [ 0.04759043 0.99592577 -0.07659636 -0.33230663] [ 0.4837036 0.04411443 0.87411941 1.02706442] [ 0. 0. 0. 1. ]] SLAMing on 144.566502481 meters Centerline goodness : 0.695898 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:1.03 [[ 0.87386052 -0.07898295 -0.47971813 4.51492881] [ 0.04829914 0.99593785 -0.07599338 -0.33380781] [ 0.48377162 0.04323764 0.87412558 1.02723845] [ 0. 0. 0. 1. ]] SLAMing on 144.596502481 meters Centerline goodness : 0.697434 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:1.03 [[ 0.87368004 -0.08385893 -0.47921902 4.51458174] [ 0.05187697 0.99547445 -0.07962029 -0.33376957] [ 0.48372717 0.04470222 0.87407651 1.0270796 ] [ 0. 0. 0. 1. ]] SLAMing on 144.626502481 meters Centerline goodness : 0.697515 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:1.03 [[ 0.87361947 -0.08409749 -0.47928762 4.51469506] [ 0.05227983 0.99547286 -0.07937633 -0.33459362] [ 0.48379317 0.04428764 0.87406108 1.02723352] [ 0. 0. 0. 1. ]] SLAMing on 144.656502481 meters Centerline goodness : 0.696593 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87346539 -0.08469779 -0.47946272 4.51507956] [ 0.05309463 0.99544998 -0.07912208 -0.33560609] [ 0.48398262 0.0436535 0.8739881 1.02755121] [ 0. 0. 0. 1. ]] SLAMing on 144.686502481 meters Centerline goodness : 0.697141 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87344191 -0.0849711 -0.47945713 4.51554133] [ 0.05346233 0.99543831 -0.07902115 -0.3356674 ] [ 0.48398451 0.04338749 0.8740003 1.02742878] [ 0. 0. 0. 1. ]] SLAMing on 144.716502481 meters Centerline goodness : 0.698487 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87344279 -0.08527153 -0.4794022 4.51528797] [ 0.05375874 0.99541531 -0.07910978 -0.33588496] [ 0.4839501 0.04332581 0.87402241 1.02750851] [ 0. 0. 0. 1. ]] SLAMing on 144.746502481 meters Centerline goodness : 0.697785 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87347487 -0.08531168 -0.47933659 4.51524144] [ 0.05399815 0.99542956 -0.07876665 -0.33680327] [ 0.48386552 0.0429174 0.87408938 1.02744825] [ 0. 0. 0. 1. ]] SLAMing on 144.776502481 meters Centerline goodness : 0.697795 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.34, Z:1.03 [[ 0.87335466 -0.09018588 -0.47866287 4.51460661] [ 0.05724843 0.99490398 -0.08299809 -0.33595701] [ 0.48370885 0.04508407 0.87406703 1.02705266] [ 0. 0. 0. 1. ]] SLAMing on 144.806502481 meters Centerline goodness : 0.694938 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.34, Z:1.03 [[ 0.87335496 -0.09049238 -0.47860447 4.5144752 ] [ 0.05766988 0.99489002 -0.08287363 -0.33642419] [ 0.48365824 0.04477703 0.87411082 1.02709482] [ 0. 0. 0. 1. ]] SLAMing on 144.836502481 meters Centerline goodness : 0.698508 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.34, Z:1.03 [[ 0.87346833 -0.09084839 -0.47833007 4.51424912] [ 0.05818267 0.9948739 -0.08270853 -0.33747744] [ 0.48339204 0.04441277 0.87427664 1.02675149] [ 0. 0. 0. 1. ]] SLAMing on 144.866502481 meters Centerline goodness : 0.695321 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87344158 -0.09117695 -0.47831639 4.51546621] [ 0.05872932 0.99486754 -0.08239811 -0.33904602] [ 0.48337426 0.04387874 0.87431344 1.02611745] [ 0. 0. 0. 1. ]] SLAMing on 144.896502481 meters Centerline goodness : 0.694138 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.8733408 -0.0912913 -0.47847857 4.51607132] [ 0.05902994 0.99487659 -0.08207331 -0.34001358] [ 0.48351971 0.04343341 0.87425524 1.02618054] [ 0. 0. 0. 1. ]] SLAMing on 144.926502481 meters Centerline goodness : 0.694910 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87331844 -0.09146014 -0.47848714 4.51636337] [ 0.05940185 0.99488126 -0.08174776 -0.34091628] [ 0.48351455 0.0429688 0.87428105 1.02611944] [ 0. 0. 0. 1. ]] SLAMing on 144.956502481 meters Centerline goodness : 0.693166 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87317891 -0.09149763 -0.47873456 4.51688492] [ 0.05999325 0.99492879 -0.08073114 -0.34288155] [ 0.4836935 0.04177189 0.87424007 1.02638717] [ 0. 0. 0. 1. ]] SLAMing on 144.986502481 meters Centerline goodness : 0.695213 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87305348 -0.09176684 -0.47891175 4.51741169] [ 0.06036988 0.99491765 -0.08058753 -0.34329322] [ 0.48387301 0.04144538 0.87415627 1.02653413] [ 0. 0. 0. 1. ]] SLAMing on 145.01650248099997 meters Centerline goodness : 0.695607 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.8727748 -0.09242427 -0.47929312 4.51896869] [ 0.0611769 0.99487978 -0.08044636 -0.34456291] [ 0.48427423 0.04088989 0.87396023 1.02656178] [ 0. 0. 0. 1. ]] SLAMing on 145.04650248099998 meters Centerline goodness : 0.694685 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87264015 -0.09278131 -0.47946928 4.51973733] [ 0.06159128 0.99485665 -0.08041615 -0.34491233] [ 0.48446432 0.04064324 0.87386638 1.02659125] [ 0. 0. 0. 1. ]] SLAMing on 145.07650248099998 meters Centerline goodness : 0.693760 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87254256 -0.09311918 -0.47958138 4.52009011] [ 0.06180432 0.99481916 -0.08071591 -0.34469048] [ 0.48461295 0.04078787 0.87377722 1.02665606] [ 0. 0. 0. 1. ]] SLAMing on 145.10650248099998 meters Centerline goodness : 0.693329 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87235684 -0.09343317 -0.47985809 4.52073904] [ 0.06206555 0.99479089 -0.08086383 -0.34382502] [ 0.48491382 0.04075946 0.87361162 1.02694729] [ 0. 0. 0. 1. ]] SLAMing on 145.13650248099998 meters Centerline goodness : 0.693667 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87216462 -0.09390957 -0.48011444 4.52107271] [ 0.06240904 0.99474209 -0.08119906 -0.3433466 ] [ 0.48521541 0.04085547 0.87343966 1.02735404] [ 0. 0. 0. 1. ]] SLAMing on 145.16650248099998 meters Centerline goodness : 0.693668 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.8720707 -0.09424828 -0.48021865 4.52144145] [ 0.06277796 0.99471713 -0.08122043 -0.34341307] [ 0.4853366 0.04068281 0.87338038 1.02742171] [ 0. 0. 0. 1. ]] SLAMing on 145.19650248099998 meters Centerline goodness : 0.695418 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87199116 -0.09486896 -0.48024087 4.52069718] [ 0.0635616 0.99467864 -0.08108218 -0.34436745] [ 0.48537752 0.04017807 0.87338101 1.02798189] [ 0. 0. 0. 1. ]] SLAMing on 145.22650248099998 meters Centerline goodness : 0.693103 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87186253 -0.09507901 -0.48043284 4.52014772] [ 0.06389679 0.99467264 -0.08089219 -0.34470427] [ 0.48556455 0.03982876 0.87329304 1.0287208 ] [ 0. 0. 0. 1. ]] SLAMing on 145.25650248099998 meters Centerline goodness : 0.693062 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87162217 -0.09565148 -0.48075522 4.52019305] [ 0.06438905 0.99461978 -0.08115132 -0.34341097] [ 0.4859309 0.03977792 0.87309156 1.02950485] [ 0. 0. 0. 1. ]] SLAMing on 145.28650248099999 meters Centerline goodness : 0.694289 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87162439 -0.09613416 -0.48065491 4.51920172] [ 0.06483355 0.99457454 -0.08135168 -0.34322179] [ 0.48586781 0.03974555 0.87312815 1.02996334] [ 0. 0. 0. 1. ]] SLAMing on 145.316502481 meters Centerline goodness : 0.693534 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.8717474 -0.09593836 -0.48047091 4.51834677] [ 0.06473126 0.99459759 -0.08115111 -0.34382508] [ 0.48566071 0.03964178 0.87324807 1.03007831] [ 0. 0. 0. 1. ]] SLAMing on 145.346502481 meters Centerline goodness : 0.691648 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87178241 -0.09598481 -0.48039811 4.51754391] [ 0.06482572 0.99459696 -0.08108333 -0.3440474 ] [ 0.48558527 0.03954487 0.87329442 1.0303945 ] [ 0. 0. 0. 1. ]] SLAMing on 145.376502481 meters Centerline goodness : 0.692618 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87190529 -0.09551938 -0.48026786 4.51663034] [ 0.06451892 0.99464873 -0.08069213 -0.343968 ] [ 0.48540548 0.03936953 0.87340229 1.03056793] [ 0. 0. 0. 1. ]] SLAMing on 145.406502481 meters Centerline goodness : 0.692082 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87199038 -0.09540094 -0.48013689 4.51546808] [ 0.06427544 0.99464766 -0.08089934 -0.34309513] [ 0.4852849 0.03968243 0.87345513 1.03097692] [ 0. 0. 0. 1. ]] SLAMing on 145.436502481 meters Centerline goodness : 0.691987 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87203512 -0.09525411 -0.48008478 4.51535411] [ 0.06407031 0.99465498 -0.08097197 -0.34307391] [ 0.48523164 0.03985122 0.87347704 1.03088777] [ 0. 0. 0. 1. ]] SLAMing on 145.466502481 meters Centerline goodness : 0.691460 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87205288 -0.0952652 -0.48005033 4.51601888] [ 0.0637605 0.9946272 -0.08155567 -0.34287463] [ 0.48524053 0.04051261 0.87344167 1.03032172] [ 0. 0. 0. 1. ]] SLAMing on 145.496502481 meters Centerline goodness : 0.690573 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.8721772 -0.09527336 -0.4798228 4.51617909] [ 0.06362623 0.99461278 -0.08183594 -0.34274257] [ 0.48503467 0.04084613 0.87354047 1.02975457] [ 0. 0. 0. 1. ]] SLAMing on 145.526502481 meters Centerline goodness : 0.692805 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87239174 -0.09489946 -0.47950677 4.51620411] [ 0.06304062 0.99462389 -0.08215349 -0.34223526] [ 0.48472522 0.04144162 0.87368419 1.02898786] [ 0. 0. 0. 1. ]] SLAMing on 145.556502481 meters Centerline goodness : 0.691021 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87233793 -0.09483455 -0.47961749 4.51676119] [ 0.06295069 0.99462811 -0.08217139 -0.3420429 ] [ 0.48483372 0.04148897 0.87362173 1.0288746 ] [ 0. 0. 0. 1. ]] SLAMing on 145.586502481 meters Centerline goodness : 0.692041 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87225643 -0.09515242 -0.47970276 4.51776259] [ 0.06312528 0.99458972 -0.08250147 -0.34206995] [ 0.48495765 0.04168106 0.8735438 1.02847011] [ 0. 0. 0. 1. ]] SLAMing on 145.616502481 meters Centerline goodness : 0.691456 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87225632 -0.095113 -0.47971077 4.51797787] [ 0.06319546 0.99460251 -0.08229332 -0.34262056] [ 0.4849487 0.04146532 0.87355903 1.02837493] [ 0. 0. 0. 1. ]] SLAMing on 145.646502481 meters Centerline goodness : 0.692144 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87232332 -0.09515884 -0.47957984 4.51706304] [ 0.06359417 0.9946275 -0.08168176 -0.34348205] [ 0.48477605 0.04075442 0.87368831 1.02872862] [ 0. 0. 0. 1. ]] SLAMing on 145.676502481 meters Centerline goodness : 0.692768 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.03 [[ 0.87218076 -0.09529432 -0.47981216 4.51676988] [ 0.06407368 0.99464645 -0.08107406 -0.3442276 ] [ 0.48496936 0.03996791 0.87361736 1.02947127] [ 0. 0. 0. 1. ]] SLAMing on 145.706502481 meters Centerline goodness : 0.692919 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:1.03 [[ 0.87185627 -0.09533195 -0.48039408 4.51602544] [ 0.06501475 0.99472013 -0.07940374 -0.34633164] [ 0.48542737 0.03799594 0.87345096 1.03127624] [ 0. 0. 0. 1. ]] SLAMing on 145.736502481 meters Centerline goodness : 0.692983 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:1.03 [[ 0.8716207 -0.09558178 -0.48077175 4.51615658] [ 0.06562178 0.99472896 -0.07879137 -0.34736112] [ 0.4857686 0.03712709 0.8732986 1.03211082] [ 0. 0. 0. 1. ]] SLAMing on 145.76650248099997 meters Centerline goodness : 0.690563 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:1.03 [[ 0.87145334 -0.09582189 -0.48102727 4.51650149] [ 0.06623284 0.99473798 -0.07816364 -0.34867861] [ 0.48598589 0.03625616 0.8732143 1.03259054] [ 0. 0. 0. 1. ]] SLAMing on 145.79650248099998 meters Centerline goodness : 0.691460 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:1.03 [[ 0.87094668 -0.10083866 -0.48091937 4.51577544] [ 0.0699748 0.99419444 -0.08173702 -0.3485362 ] [ 0.48636962 0.03753635 0.87294652 1.03351793] [ 0. 0. 0. 1. ]] SLAMing on 145.82650248099998 meters Centerline goodness : 0.692565 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:1.03 [[ 0.87079759 -0.10122575 -0.481108 4.51602453] [ 0.07045222 0.99416732 -0.08165675 -0.34891769] [ 0.48656762 0.03721137 0.87285008 1.03388758] [ 0. 0. 0. 1. ]] SLAMing on 145.85650248099998 meters Centerline goodness : 0.690403 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:1.03 [[ 0.87032592 -0.10180375 -0.48183896 4.51732509] [ 0.07125784 0.99413646 -0.08133273 -0.34906632] [ 0.48729366 0.03645118 0.87247705 1.03476857] [ 0. 0. 0. 1. ]] SLAMing on 145.88650248099998 meters Centerline goodness : 0.692001 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:1.04 [[ 0.87006691 -0.1020069 -0.48226358 4.51786436] [ 0.07151245 0.99412443 -0.08125625 -0.34854619] [ 0.4877187 0.03621052 0.87224954 1.03537401] [ 0. 0. 0. 1. ]] SLAMing on 145.91650248099998 meters Centerline goodness : 0.693951 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:1.04 [[ 0.87004706 -0.10181739 -0.48233944 4.51644947] [ 0.07137044 0.99414605 -0.08111656 -0.3478351 ] [ 0.48777493 0.03615045 0.87222059 1.03634495] [ 0. 0. 0. 1. ]] SLAMing on 145.94650248099998 meters Centerline goodness : 0.693656 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:1.04 [[ 0.87017356 -0.10145424 -0.48218773 4.51526673] [ 0.07102318 0.99417974 -0.0810084 -0.34794999] [ 0.48759991 0.03624486 0.87231453 1.03667437] [ 0. 0. 0. 1. ]] SLAMing on 145.97650248099998 meters Centerline goodness : 0.693747 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87054604 -0.10109328 -0.48159085 4.51270862] [ 0.07055176 0.99420051 -0.08116524 -0.347665 ] [ 0.48700313 0.036681 0.87262962 1.0368683 ] [ 0. 0. 0. 1. ]] SLAMing on 146.00650248099998 meters Centerline goodness : 0.694867 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87057094 -0.10122184 -0.48151882 4.51173526] [ 0.07062886 0.99418432 -0.08129637 -0.34709209] [ 0.48694743 0.03676514 0.87265716 1.0373164 ] [ 0. 0. 0. 1. ]] SLAMing on 146.03650248099999 meters Centerline goodness : 0.694867 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87057094 -0.10122184 -0.48151882 4.51173526] [ 0.07062886 0.99418432 -0.08129637 -0.34709209] [ 0.48694743 0.03676514 0.87265716 1.0373164 ] [ 0. 0. 0. 1. ]] SLAMing on 146.066502481 meters Centerline goodness : 0.695184 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87070149 -0.10128133 -0.4812702 4.51052809] [ 0.07074959 0.99418172 -0.08122314 -0.34712624] [ 0.48669642 0.03667143 0.87280112 1.03760809] [ 0. 0. 0. 1. ]] SLAMing on 146.096502481 meters Centerline goodness : 0.695628 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87066906 -0.10149404 -0.48128406 4.51097314] [ 0.07106841 0.9941702 -0.08108576 -0.34759887] [ 0.48670799 0.03639477 0.87280625 1.03746831] [ 0. 0. 0. 1. ]] SLAMing on 146.126502481 meters Centerline goodness : 0.696203 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87039943 -0.10212342 -0.4816385 4.51218634] [ 0.07196562 0.99413412 -0.08073595 -0.3486836 ] [ 0.4870583 0.03561111 0.87264315 1.03766609] [ 0. 0. 0. 1. ]] SLAMing on 146.156502481 meters Centerline goodness : 0.695754 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87031659 -0.1020996 -0.48179323 4.5124247 ] [ 0.07218361 0.99415493 -0.08028387 -0.3493573 ] [ 0.48717406 0.03509481 0.87259944 1.03791599] [ 0. 0. 0. 1. ]] SLAMing on 146.186502481 meters Centerline goodness : 0.695341 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87017212 -0.10228395 -0.48201502 4.51306694] [ 0.07286826 0.99417461 -0.07941698 -0.35055785] [ 0.48733018 0.03398284 0.87255628 1.03819522] [ 0. 0. 0. 1. ]] SLAMing on 146.216502481 meters Centerline goodness : 0.697036 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87012598 -0.10241966 -0.48206949 4.51361319] [ 0.07322724 0.99417768 -0.07904755 -0.35131892] [ 0.48735875 0.03348071 0.87255974 1.03814082] [ 0. 0. 0. 1. ]] SLAMing on 146.246502481 meters Centerline goodness : 0.697012 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87020352 -0.10247307 -0.48191814 4.51346388] [ 0.07380368 0.9942071 -0.07813616 -0.35303162] [ 0.48713329 0.03242703 0.87272541 1.03811204] [ 0. 0. 0. 1. ]] SLAMing on 146.276502481 meters Centerline goodness : 0.699951 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87017375 -0.10280588 -0.48190103 4.51326967] [ 0.07420553 0.99418013 -0.07809873 -0.35329376] [ 0.48712544 0.03219974 0.87273821 1.0383155 ] [ 0. 0. 0. 1. ]] SLAMing on 146.306502481 meters Centerline goodness : 0.698547 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87006142 -0.10292269 -0.48207887 4.5137926 ] [ 0.07450731 0.99418224 -0.07778389 -0.35397553] [ 0.48727998 0.03175836 0.87266811 1.03845995] [ 0. 0. 0. 1. ]] SLAMing on 146.336502481 meters Centerline goodness : 0.699226 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:1.04 [[ 0.86953028 -0.10807043 -0.48191065 4.51522663] [ 0.07787877 0.99356087 -0.08229036 -0.35214059] [ 0.48770072 0.03402336 0.87234765 1.03802922] [ 0. 0. 0. 1. ]] SLAMing on 146.366502481 meters Centerline goodness : 0.700516 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:1.04 [[ 0.8692895 -0.10900559 -0.48213436 4.51647195] [ 0.07879545 0.99346752 -0.08254431 -0.35197844] [ 0.48798262 0.03376491 0.87220003 1.0380475 ] [ 0. 0. 0. 1. ]] SLAMing on 146.396502481 meters Centerline goodness : 0.702133 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:1.04 [[ 0.86925951 -0.10926376 -0.48213 4.51659892] [ 0.07908279 0.99344351 -0.08255845 -0.35188475] [ 0.48798957 0.03363653 0.87220111 1.03806182] [ 0. 0. 0. 1. ]] SLAMing on 146.426502481 meters Centerline goodness : 0.702866 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:1.04 [[ 0.86917501 -0.10925528 -0.48228424 4.51671416] [ 0.0791995 0.99345396 -0.08232047 -0.35220234] [ 0.48812113 0.03335422 0.87213832 1.0383261 ] [ 0. 0. 0. 1. ]] SLAMing on 146.456502481 meters Centerline goodness : 0.701038 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.8695398 -0.10912391 -0.481656 4.51451201] [ 0.0791886 0.99347138 -0.08212052 -0.35267975] [ 0.48747276 0.03326539 0.87250428 1.03834871] [ 0. 0. 0. 1. ]] SLAMing on 146.486502481 meters Centerline goodness : 0.699175 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87016047 -0.10858466 -0.48065593 4.51091929] [ 0.07862187 0.99351719 -0.0821109 -0.3531898 ] [ 0.48645592 0.03365959 0.87305651 1.03829328] [ 0. 0. 0. 1. ]] SLAMing on 146.51650248099997 meters Centerline goodness : 0.699335 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87044642 -0.10799415 -0.48027106 4.51007638] [ 0.07805772 0.99357546 -0.08194388 -0.35368438] [ 0.486035 0.03383889 0.87328398 1.03787634] [ 0. 0. 0. 1. ]] SLAMing on 146.54650248099998 meters Centerline goodness : 0.701329 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87047565 -0.10803277 -0.4802094 4.50982387] [ 0.07800984 0.99356517 -0.08211403 -0.35368067] [ 0.48599034 0.03401721 0.87330191 1.03786991] [ 0. 0. 0. 1. ]] SLAMing on 146.57650248099998 meters Centerline goodness : 0.698808 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87075728 -0.10720119 -0.47988506 4.50950556] [ 0.07705361 0.99363656 -0.08215307 -0.35375318] [ 0.48563825 0.03455851 0.8734765 1.03718021] [ 0. 0. 0. 1. ]] SLAMing on 146.60650248099998 meters Centerline goodness : 0.697416 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87091074 -0.10681408 -0.47969285 4.50971539] [ 0.07659611 0.99366829 -0.08219715 -0.35373825] [ 0.48543539 0.03484378 0.87357793 1.03657774] [ 0. 0. 0. 1. ]] SLAMing on 146.63650248099998 meters Centerline goodness : 0.699218 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87119968 -0.10621902 -0.47930016 4.51003751] [ 0.07591362 0.99371744 -0.08223609 -0.35402655] [ 0.48502397 0.03525864 0.87378978 1.03546817] [ 0. 0. 0. 1. ]] SLAMing on 146.66650248099998 meters Centerline goodness : 0.697585 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.04 [[ 0.87123561 -0.10567919 -0.47935417 4.50952688] [ 0.07555413 0.9937833 -0.08176995 -0.35481482] [ 0.48501555 0.03502371 0.8738039 1.03577168] [ 0. 0. 0. 1. ]] SLAMing on 146.69650248099998 meters Centerline goodness : 0.697164 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.36, Z:1.04 [[ 0.87177664 -0.10442545 -0.47864477 4.50776664] [ 0.07467671 0.99392635 -0.08083197 -0.35669235] [ 0.48417856 0.03472381 0.87427992 1.03520695] [ 0. 0. 0. 1. ]] SLAMing on 146.72650248099998 meters Centerline goodness : 0.697257 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.36, Z:1.04 [[ 0.87195047 -0.10406135 -0.47840737 4.50709344] [ 0.07463137 0.99398229 -0.0801833 -0.35817523] [ 0.48387244 0.03421167 0.87446957 1.03511721] [ 0. 0. 0. 1. ]] SLAMing on 146.75650248099998 meters Centerline goodness : 0.698545 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.36, Z:1.04 [[ 0.87213039 -0.10338983 -0.47822497 4.50595937] [ 0.0746209 0.99409111 -0.07883269 -0.36123841] [ 0.48354969 0.03306681 0.87469211 1.0353684 ] [ 0. 0. 0. 1. ]] SLAMing on 146.78650248099999 meters Centerline goodness : 0.698205 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.36, Z:1.04 [[ 0.87207662 -0.10334509 -0.4783327 4.5067822 ] [ 0.07498245 0.99412345 -0.07807815 -0.36360203] [ 0.48359074 0.03222357 0.87470088 1.03521591] [ 0. 0. 0. 1. ]] SLAMing on 146.816502481 meters Centerline goodness : 0.698178 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.37, Z:1.04 [[ 0.87179815 -0.10339637 -0.47882897 4.50848177] [ 0.07538802 0.99414476 -0.0774135 -0.36510227] [ 0.48402958 0.03139098 0.8744884 1.03535601] [ 0. 0. 0. 1. ]] SLAMing on 146.846502481 meters Centerline goodness : 0.699028 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.37, Z:1.04 [[ 0.87148745 -0.10374096 -0.47931977 4.51020709] [ 0.07589654 0.99412508 -0.07716897 -0.36584424] [ 0.48450938 0.03087308 0.87424111 1.03549437] [ 0. 0. 0. 1. ]] SLAMing on 146.876502481 meters Centerline goodness : 0.696294 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.37, Z:1.04 [[ 0.87114799 -0.10388592 -0.47990509 4.51236772] [ 0.07663329 0.99415118 -0.07609708 -0.36752157] [ 0.48500362 0.02951511 0.87401393 1.0356378 ] [ 0. 0. 0. 1. ]] SLAMing on 146.906502481 meters Centerline goodness : 0.695438 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.37, Z:1.04 [[ 0.87140061 -0.10345054 -0.47954037 4.51114475] [ 0.07680303 0.99422748 -0.07491999 -0.36936385] [ 0.48452273 0.02845517 0.87431575 1.03572707] [ 0. 0. 0. 1. ]] SLAMing on 146.936502481 meters Centerline goodness : 0.696255 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.37, Z:1.04 [[ 0.87148044 -0.10322542 -0.47944381 4.51002623] [ 0.07685672 0.99426493 -0.07436593 -0.37051737] [ 0.48437062 0.02795997 0.874416 1.03622627] [ 0. 0. 0. 1. ]] SLAMing on 146.966502481 meters Centerline goodness : 0.695070 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.37, Z:1.04 [[ 0.87158776 -0.10319642 -0.47925492 4.50882131] [ 0.0771599 0.99428577 -0.07377098 -0.37196749] [ 0.48412925 0.02731862 0.87456993 1.03663053] [ 0. 0. 0. 1. ]] SLAMing on 146.996502481 meters Centerline goodness : 0.692904 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.37, Z:1.04 [[ 0.87167622 -0.10294333 -0.47914845 4.5068638 ] [ 0.07748308 0.99434157 -0.072672 -0.37459097] [ 0.48391832 0.02622055 0.87472027 1.03764253] [ 0. 0. 0. 1. ]] SLAMing on 147.026502481 meters Centerline goodness : 0.691611 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.87150479 -0.10323591 -0.47939727 4.50692566] [ 0.07800031 0.99432641 -0.07232531 -0.37505896] [ 0.48414393 0.02563872 0.87461266 1.0382542 ] [ 0. 0. 0. 1. ]] SLAMing on 147.056502481 meters Centerline goodness : 0.692702 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.87094203 -0.10411593 -0.48022897 4.50897251] [ 0.07909664 0.99425545 -0.07210985 -0.37547853] [ 0.48497805 0.024819 0.87417407 1.0390059 ] [ 0. 0. 0. 1. ]] SLAMing on 147.086502481 meters Centerline goodness : 0.691872 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.87072909 -0.10451452 -0.48052842 4.51052464] [ 0.07952262 0.99421893 -0.07214485 -0.3757627 ] [ 0.48529063 0.02460573 0.87400661 1.03883606] [ 0. 0. 0. 1. ]] SLAMing on 147.116502481 meters Centerline goodness : 0.693269 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.8703713 -0.10524017 -0.48101798 4.51267089] [ 0.08012237 0.99414285 -0.07252858 -0.37581585] [ 0.48583351 0.02458649 0.8737055 1.03869758] [ 0. 0. 0. 1. ]] SLAMing on 147.146502481 meters Centerline goodness : 0.694050 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.87036213 -0.10544984 -0.48098867 4.51274548] [ 0.08031601 0.99412108 -0.07261273 -0.37624984] [ 0.48581798 0.02456828 0.87371465 1.03863054] [ 0. 0. 0. 1. ]] SLAMing on 147.176502481 meters Centerline goodness : 0.692166 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.87048807 -0.10497504 -0.48086459 4.51125297] [ 0.08003908 0.99417765 -0.0721425 -0.3767221 ] [ 0.48563799 0.02431123 0.8738219 1.03921948] [ 0. 0. 0. 1. ]] SLAMing on 147.206502481 meters Centerline goodness : 0.690740 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.87052576 -0.10463198 -0.48087114 4.51012322] [ 0.07992913 0.9942232 -0.07163494 -0.37692603] [ 0.48558855 0.02392444 0.87386005 1.03987555] [ 0. 0. 0. 1. ]] SLAMing on 147.236502481 meters Centerline goodness : 0.693957 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.87060633 -0.10472143 -0.48070578 4.50856609] [ 0.08011779 0.99421855 -0.0714885 -0.37674751] [ 0.48541298 0.02372525 0.87396301 1.0405495 ] [ 0. 0. 0. 1. ]] SLAMing on 147.26650248099997 meters Centerline goodness : 0.693630 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.87056486 -0.10469676 -0.48078625 4.5086608 ] [ 0.08033399 0.99423296 -0.07104409 -0.37773591] [ 0.48545162 0.02322501 0.87395499 1.0407277 ] [ 0. 0. 0. 1. ]] SLAMing on 147.29650248099998 meters Centerline goodness : 0.692635 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.87058939 -0.10505875 -0.48066285 4.50845913] [ 0.08096151 0.99420907 -0.07066519 -0.37922938] [ 0.48530336 0.02260517 0.87405358 1.04079568] [ 0. 0. 0. 1. ]] SLAMing on 147.32650248099998 meters Centerline goodness : 0.693750 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.87042471 -0.10543769 -0.48087807 4.50888172] [ 0.08146018 0.99417756 -0.0705352 -0.3795473 ] [ 0.48551525 0.02222316 0.87394569 1.04108432] [ 0. 0. 0. 1. ]] SLAMing on 147.35650248099998 meters Centerline goodness : 0.693108 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.87021642 -0.10567034 -0.48120386 4.50989685] [ 0.08184839 0.99416248 -0.07029802 -0.37991534] [ 0.48582324 0.02178873 0.87378546 1.04125691] [ 0. 0. 0. 1. ]] SLAMing on 147.38650248099998 meters Centerline goodness : 0.692970 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.86990401 -0.10589509 -0.48171905 4.51120071] [ 0.0821834 0.99414662 -0.07013128 -0.37895447] [ 0.48632592 0.02141817 0.87351495 1.04169111] [ 0. 0. 0. 1. ]] SLAMing on 147.41650248099998 meters Centerline goodness : 0.694099 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.86975004 -0.10623405 -0.4819224 4.51054812] [ 0.082457 0.99411025 -0.07032539 -0.37814445] [ 0.48655494 0.02142764 0.87338717 1.04252698] [ 0. 0. 0. 1. ]] SLAMing on 147.44650248099998 meters Centerline goodness : 0.691409 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.86976087 -0.10646341 -0.48185222 4.51034862] [ 0.08255372 0.99408091 -0.0706259 -0.37799211] [ 0.48651917 0.02164895 0.87340164 1.04253187] [ 0. 0. 0. 1. ]] SLAMing on 147.47650248099998 meters Centerline goodness : 0.688517 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.86973381 -0.10652756 -0.48188689 4.51054458] [ 0.08258064 0.99407288 -0.07070743 -0.37790918] [ 0.48656298 0.02170212 0.87337591 1.04249761] [ 0. 0. 0. 1. ]] SLAMing on 147.50650248099998 meters Centerline goodness : 0.684587 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.86975331 -0.10665309 -0.48182394 4.5099487 ] [ 0.08243681 0.99404777 -0.07122639 -0.37658581] [ 0.48655253 0.02222936 0.87336848 1.04274785] [ 0. 0. 0. 1. ]] SLAMing on 147.53650248099999 meters Centerline goodness : 0.681015 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.87001493 -0.10644216 -0.48139806 4.50885521] [ 0.0822014 0.99406639 -0.07123859 -0.37640056] [ 0.48612442 0.02240704 0.8736023 1.04249607] [ 0. 0. 0. 1. ]] SLAMing on 147.566502481 meters Centerline goodness : 0.675911 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.37, Z:1.04 [[ 0.86997277 -0.10687697 -0.48137791 4.50852668] [ 0.08225182 0.99400434 -0.07204179 -0.37493285] [ 0.48619134 0.02308019 0.87354753 1.04265847] [ 0. 0. 0. 1. ]] SLAMing on 147.596502481 meters Centerline goodness : 0.674023 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.37, Z:1.04 [[ 0.869874 -0.10719987 -0.48148458 4.50941015] [ 0.08241194 0.99396424 -0.0724111 -0.37430119] [ 0.48634092 0.02330845 0.8734582 1.04244526] [ 0. 0. 0. 1. ]] SLAMing on 147.626502481 meters Centerline goodness : 0.609883 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.37, Z:1.04 [[ 0.86963873 -0.10788513 -0.48175645 4.51056653] [ 0.08292713 0.99388733 -0.07287712 -0.37363636] [ 0.48667399 0.02342609 0.87326952 1.04246347] [ 0. 0. 0. 1. ]] SLAMing on 147.656502481 meters Centerline goodness : 0.638985 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.37, Z:1.04 [[ 0.86960191 -0.10797217 -0.48180342 4.51069849] [ 0.08313021 0.99388416 -0.07268865 -0.37407407] [ 0.48670514 0.02315777 0.87325931 1.04254822] [ 0. 0. 0. 1. ]] SLAMing on 147.686502481 meters Centerline goodness : 0.644348 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.37, Z:1.04 [[ 0.86968095 -0.10816584 -0.48161728 4.51040751] [ 0.08340626 0.99386748 -0.07260053 -0.37370647] [ 0.48651665 0.0229694 0.87336932 1.04245192] [ 0. 0. 0. 1. ]] SLAMing on 147.716502481 meters Centerline goodness : 0.638479 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.37, Z:1.04 [[ 0.86986959 -0.10845072 -0.48121237 4.50984378] [ 0.08356814 0.99383075 -0.0729164 -0.37328824] [ 0.48615149 0.02321373 0.87356617 1.04206343] [ 0. 0. 0. 1. ]] SLAMing on 147.746502481 meters Centerline goodness : 0.621934 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.37, Z:1.04 [[ 0.87010123 -0.10837792 -0.48080981 4.50889883] [ 0.08361439 0.9938423 -0.07270563 -0.37380714] [ 0.48572881 0.02305864 0.87380537 1.04195984] [ 0. 0. 0. 1. ]] SLAMing on 147.776502481 meters Centerline goodness : 0.574407 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.87085391 -0.10805294 -0.47951855 4.50681907] [ 0.08356026 0.99388341 -0.0722042 -0.37575927] [ 0.4843874 0.02281061 0.87455618 1.04096352] [ 0. 0. 0. 1. ]] SLAMing on 147.806502481 meters Centerline goodness : 0.547439 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.87148043 -0.10763098 -0.47847408 4.50749882] [ 0.08331936 0.99393108 -0.07182537 -0.37622528] [ 0.48330089 0.02272825 0.87515923 1.03923025] [ 0. 0. 0. 1. ]] SLAMing on 147.836502481 meters Centerline goodness : 0.541271 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:1.04 [[ 0.87183092 -0.10787751 -0.47777954 4.50776329] [ 0.08353658 0.99390177 -0.07197855 -0.37629999] [ 0.4826308 0.02284106 0.87552601 1.03821428] [ 0. 0. 0. 1. ]] SLAMing on 147.866502481 meters Centerline goodness : 0.532347 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:1.03 [[ 0.87355964 -0.11001216 -0.47412116 4.49269713] [ 0.08519652 0.99364314 -0.07358579 -0.37679662] [ 0.47920257 0.02388811 0.8773792 1.02552788] [ 0. 0. 0. 1. ]] SLAMing on 147.896502481 meters Centerline goodness : 0.527617 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:1.01 [[ 0.87407481 -0.10973497 -0.4732351 4.48353872] [ 0.08485577 0.99366507 -0.07368328 -0.37873033] [ 0.47832282 0.02424797 0.87784925 1.01453305] [ 0. 0. 0. 1. ]] SLAMing on 147.926502481 meters Centerline goodness : 0.527617 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.38, Z:1.00 [[ 0.87556499 -0.11278808 -0.46974971 4.46604426] [ 0.08829105 0.99334668 -0.07393961 -0.37891334] [ 0.47496382 0.02326424 0.87969776 1.00106562] [ 0. 0. 0. 1. ]] SLAMing on 147.956502481 meters Centerline goodness : 0.531556 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.38, Z:1.00 [[ 0.87723761 -0.11390526 -0.46634725 4.464485 ] [ 0.0893488 0.99320882 -0.07451868 -0.37813478] [ 0.47166827 0.02370302 0.88145743 0.99575976] [ 0. 0. 0. 1. ]] SLAMing on 147.986502481 meters Centerline goodness : 0.308760 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.38, Z:0.99 [[ 0.87811957 -0.11339974 -0.46480804 4.46436637] [ 0.08890481 0.99326003 -0.074367 -0.37792932] [ 0.47010844 0.02397945 0.88228286 0.99387634] [ 0. 0. 0. 1. ]] SLAMing on 148.01650248099997 meters Centerline goodness : 0.338538 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.38, Z:0.99 [[ 0.87889835 -0.11322579 -0.46337631 4.46396518] [ 0.08853218 0.99326217 -0.07478177 -0.37598495] [ 0.46872139 0.02470186 0.88300061 0.99245933] [ 0. 0. 0. 1. ]] SLAMing on 148.04650248099998 meters Centerline goodness : 0.336911 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.37, Z:0.99 [[ 0.87920141 -0.11357343 -0.46271585 4.46464933] [ 0.08853499 0.99320325 -0.07555699 -0.37461205] [ 0.46815215 0.02546327 0.88328092 0.99146595] [ 0. 0. 0. 1. ]] SLAMing on 148.07650248099998 meters Centerline goodness : 0.330453 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.37, Z:0.99 [[ 0.87964075 -0.11389922 -0.46179987 4.46468878] [ 0.08841523 0.99313899 -0.07653557 -0.37323112] [ 0.4673488 0.02649366 0.88367595 0.99017186] [ 0. 0. 0. 1. ]] SLAMing on 148.10650248099998 meters Centerline goodness : 0.329122 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.37, Z:0.99 [[ 0.88075632 -0.11384188 -0.45968285 4.46394649] [ 0.08736242 0.9930748 -0.07855089 -0.36989306] [ 0.46544184 0.02902519 0.88460242 0.98737122] [ 0. 0. 0. 1. ]] SLAMing on 148.13650248099998 meters Centerline goodness : 0.327335 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.37, Z:0.99 [[ 0.88166695 -0.11391303 -0.45791615 4.46312934] [ 0.08641028 0.99299012 -0.08064671 -0.3658166 ] [ 0.46389293 0.03153488 0.88532983 0.98539313] [ 0. 0. 0. 1. ]] SLAMing on 148.16650248099998 meters Centerline goodness : 0.327064 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.36, Z:0.98 [[ 0.88206292 -0.11416932 -0.45708902 4.46313459] [ 0.08621976 0.99292663 -0.08162633 -0.36400824] [ 0.46317509 0.03258945 0.88566741 0.98435968] [ 0. 0. 0. 1. ]] SLAMing on 148.19650248099998 meters Centerline goodness : 0.385189 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.36, Z:0.98 [[ 0.88233442 -0.11431118 -0.45652921 4.46342312] [ 0.08608263 0.99288797 -0.08223905 -0.36262409] [ 0.4626832 0.03326311 0.88589944 0.98366359] [ 0. 0. 0. 1. ]] SLAMing on 148.22650248099998 meters Centerline goodness : 0.397049 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.36, Z:0.98 [[ 0.88295121 -0.1146449 -0.45525126 4.46387991] [ 0.08590102 0.9928058 -0.08341263 -0.36038973] [ 0.46153893 0.03454274 0.88644719 0.98189235] [ 0. 0. 0. 1. ]] SLAMing on 148.25650248099998 meters Centerline goodness : 0.345378 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.36, Z:0.98 [[ 0.88315874 -0.11491198 -0.45478113 4.46448869] [ 0.08617896 0.99277477 -0.08349515 -0.36008834] [ 0.46108982 0.03454691 0.88668071 0.98134066] [ 0. 0. 0. 1. ]] SLAMing on 148.28650248099999 meters Centerline goodness : 0.341919 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.88344521 -0.11531024 -0.45412345 4.4656944 ] [ 0.08666591 0.9927341 -0.08347472 -0.36006815] [ 0.46044932 0.03438832 0.88701965 0.98049705] [ 0. 0. 0. 1. ]] SLAMing on 148.316502481 meters Centerline goodness : 0.311626 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.88361302 -0.11545551 -0.45375991 4.46653522] [ 0.08696967 0.99272773 -0.08323423 -0.36011567] [ 0.46006989 0.0340835 0.88722827 0.98000323] [ 0. 0. 0. 1. ]] SLAMing on 148.346502481 meters Centerline goodness : 0.339990 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.88380854 -0.11600941 -0.45323756 4.46818976] [ 0.08767888 0.99267578 -0.08310959 -0.36083231] [ 0.45955945 0.0337136 0.88750691 0.97912919] [ 0. 0. 0. 1. ]] SLAMing on 148.376502481 meters Centerline goodness : 0.304172 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.88397024 -0.11631593 -0.45284347 4.46895389] [ 0.08814378 0.9926514 -0.08290877 -0.36146896] [ 0.45915932 0.03337355 0.88772683 0.97861222] [ 0. 0. 0. 1. ]] SLAMing on 148.406502481 meters Centerline goodness : 0.274137 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.88393304 -0.1165287 -0.45286139 4.4700022 ] [ 0.08868397 0.99265189 -0.08232484 -0.36214536] [ 0.45912693 0.0326081 0.88777203 0.97874611] [ 0. 0. 0. 1. ]] SLAMing on 148.436502481 meters Centerline goodness : 0.267167 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.88370802 -0.11730337 -0.45310048 4.4730325 ] [ 0.08987924 0.99259787 -0.08167739 -0.36287035] [ 0.45932761 0.03145464 0.88770984 0.97879646] [ 0. 0. 0. 1. ]] SLAMing on 148.466502481 meters Centerline goodness : 0.520951 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.88356709 -0.11821797 -0.45313763 4.47446971] [ 0.09092989 0.99250611 -0.0816295 -0.36301212] [ 0.45939194 0.03092138 0.88769528 0.97885461] [ 0. 0. 0. 1. ]] SLAMing on 148.496502481 meters Centerline goodness : 0.311742 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.98 [[ 0.88295847 -0.12315044 -0.45301027 4.47694383] [ 0.09512717 0.99189487 -0.08423419 -0.3623952 ] [ 0.45971204 0.03128171 0.88751693 0.97931209] [ 0. 0. 0. 1. ]] SLAMing on 148.526502481 meters Centerline goodness : 0.502763 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.98 [[ 0.8830684 -0.12328186 -0.45276019 4.47767848] [ 0.09580719 0.99191464 -0.08322459 -0.36395215] [ 0.45935954 0.03011532 0.88773976 0.97935759] [ 0. 0. 0. 1. ]] SLAMing on 148.556502481 meters Centerline goodness : 0.317626 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.98 [[ 0.88307205 -0.12361944 -0.452661 4.47859739] [ 0.09683817 0.99191885 -0.08197167 -0.36593755] [ 0.45913628 0.02855203 0.8879069 0.9797793 ] [ 0. 0. 0. 1. ]] SLAMing on 148.586502481 meters Centerline goodness : 0.318877 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.98 [[ 0.88297888 -0.12389325 -0.45276789 4.47979676] [ 0.09747312 0.99190938 -0.08133124 -0.36643836] [ 0.45918111 0.02768107 0.8879113 0.98008843] [ 0. 0. 0. 1. ]] SLAMing on 148.616502481 meters Centerline goodness : 0.186452 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.98 [[ 0.88312457 -0.12358346 -0.45256836 4.48120197] [ 0.09769492 0.99197626 -0.08024217 -0.36740378] [ 0.45885367 0.0266502 0.88811209 0.97997077] [ 0. 0. 0. 1. ]] SLAMing on 148.646502481 meters Centerline goodness : 0.193341 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.98 [[ 0.88315042 -0.12365035 -0.45249965 4.48156322] [ 0.09793806 0.99197818 -0.07992141 -0.36759838] [ 0.45875209 0.02626569 0.88817601 0.98027781] [ 0. 0. 0. 1. ]] SLAMing on 148.676502481 meters Centerline goodness : 0.267504 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.98 [[ 0.88340297 -0.12328822 -0.45210531 4.48251702] [ 0.09769304 0.99202549 -0.07963351 -0.36855488] [ 0.45831786 0.02618094 0.88840266 0.97962701] [ 0. 0. 0. 1. ]] SLAMing on 148.706502481 meters Centerline goodness : 0.253044 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.98 [[ 0.88349285 -0.12317727 -0.45195989 4.4835163 ] [ 0.09766818 0.99204269 -0.07944947 -0.36919746] [ 0.45814988 0.02605094 0.88849313 0.97912704] [ 0. 0. 0. 1. ]] SLAMing on 148.736502481 meters Centerline goodness : 0.683099 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.98 [[ 0.88366354 -0.12292607 -0.45169451 4.48496004] [ 0.09752461 0.99207695 -0.07919772 -0.36976775] [ 0.45785118 0.02593281 0.88865054 0.97835662] [ 0. 0. 0. 1. ]] SLAMing on 148.76650248099997 meters Centerline goodness : 0.236342 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.37, Z:0.98 [[ 0.88383827 -0.12233052 -0.4515143 4.4852964 ] [ 0.09723897 0.99216316 -0.07846553 -0.37054645] [ 0.45757458 0.02544606 0.88880707 0.97826784] [ 0. 0. 0. 1. ]] SLAMing on 148.79650248099998 meters Centerline goodness : 0.237626 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.37, Z:0.98 [[ 0.88412217 -0.12182291 -0.45109551 4.48656291] [ 0.09675097 0.99222135 -0.07833289 -0.37067995] [ 0.45712934 0.02561191 0.88903138 0.97720486] [ 0. 0. 0. 1. ]] SLAMing on 148.82650248099998 meters Centerline goodness : 0.167471 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.37, Z:0.98 [[ 0.88427526 -0.12133209 -0.45092771 4.4877256 ] [ 0.09651959 0.99229193 -0.07772191 -0.37141697] [ 0.45688209 0.02520421 0.88917012 0.97662017] [ 0. 0. 0. 1. ]] SLAMing on 148.85650248099998 meters Centerline goodness : 0.198619 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.37, Z:0.98 [[ 0.88463513 -0.12085033 -0.45035085 4.48829344] [ 0.09628545 0.99235848 -0.07716064 -0.37322159] [ 0.45623438 0.02489678 0.88951129 0.97573127] [ 0. 0. 0. 1. ]] SLAMing on 148.88650248099998 meters Centerline goodness : 0.680849 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.37, Z:0.98 [[ 0.88458252 -0.12083438 -0.45045846 4.4892367 ] [ 0.09649032 0.99237276 -0.07671982 -0.37457551] [ 0.4562931 0.02440013 0.88949494 0.97563911] [ 0. 0. 0. 1. ]] SLAMing on 148.91650248099998 meters Centerline goodness : 0.140891 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.98 [[ 0.88383371 -0.12495462 -0.45080408 4.49342697] [ 0.0996772 0.99183917 -0.07949534 -0.37504448] [ 0.45705846 0.02532577 0.88907602 0.97525497] [ 0. 0. 0. 1. ]] SLAMing on 148.94650248099998 meters Centerline goodness : 0.683228 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.88348679 -0.12540299 -0.45135926 4.49545084] [ 0.10044696 0.9918056 -0.07894339 -0.37601639] [ 0.45756038 0.02440778 0.88884349 0.97558236] [ 0. 0. 0. 1. ]] SLAMing on 148.97650248099998 meters Centerline goodness : 0.683764 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.88311469 -0.12574556 -0.45199171 4.49718905] [ 0.10122631 0.99178997 -0.07814024 -0.37667082] [ 0.45810663 0.02325334 0.88859304 0.97633653] [ 0. 0. 0. 1. ]] SLAMing on 149.00650248099998 meters Centerline goodness : 0.681865 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.88253563 -0.12648511 -0.45291543 4.49959742] [ 0.10288411 0.99174819 -0.07648776 -0.37792356] [ 0.45885262 0.02090537 0.88826642 0.97786682] [ 0. 0. 0. 1. ]] SLAMing on 149.03650248099999 meters Centerline goodness : 0.683941 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.88147294 -0.13244316 -0.45328165 4.50357174] [ 0.1079545 0.99096293 -0.0796134 -0.37799919] [ 0.45972957 0.02124327 0.88780485 0.97822594] [ 0. 0. 0. 1. ]] SLAMing on 149.066502481 meters Centerline goodness : 0.682971 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:0.98 [[ 0.88099445 -0.13341786 -0.4539256 4.50511133] [ 0.10955019 0.99086735 -0.07861705 -0.38000354] [ 0.46026898 0.01953354 0.88756459 0.97932492] [ 0. 0. 0. 1. ]] SLAMing on 149.096502481 meters Centerline goodness : 0.523998 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:0.98 [[ 0.87981696 -0.13881277 -0.45459116 4.50762008] [ 0.11466025 0.99014314 -0.08043377 -0.38110884] [ 0.46127555 0.01864346 0.88706104 0.98131217] [ 0. 0. 0. 1. ]] SLAMing on 149.126502481 meters Centerline goodness : 0.547595 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:0.98 [[ 0.87924206 -0.13985075 -0.45538464 4.50921261] [ 0.11628105 0.9900271 -0.07953023 -0.3822953 ] [ 0.4619655 0.01697372 0.88673546 0.98278262] [ 0. 0. 0. 1. ]] SLAMing on 149.156502481 meters Centerline goodness : 0.494600 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:0.98 [[ 0.87887482 -0.14064633 -0.45584828 4.51042634] [ 0.11768813 0.98994057 -0.07853133 -0.38404792] [ 0.46230785 0.01537128 0.88658625 0.983679 ] [ 0. 0. 0. 1. ]] SLAMing on 149.186502481 meters Centerline goodness : 0.683686 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:0.99 [[ 0.87794422 -0.14618826 -0.45589794 4.51152474] [ 0.12254467 0.98913677 -0.08118659 -0.38469827] [ 0.46281394 0.01540943 0.8863215 0.98524493] [ 0. 0. 0. 1. ]] SLAMing on 149.216502481 meters Centerline goodness : 0.538208 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.87727428 -0.14690198 -0.45695694 4.51380534] [ 0.124225 0.98906621 -0.07947443 -0.38601841] [ 0.46363562 0.01295539 0.88593124 0.98720726] [ 0. 0. 0. 1. ]] SLAMing on 149.246502481 meters Centerline goodness : 0.556843 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 0.87676285 -0.14760348 -0.45771184 4.51557932] [ 0.12517338 0.98897256 -0.07915114 -0.3861744 ] [ 0.46434743 0.01210344 0.88557042 0.98803716] [ 0. 0. 0. 1. ]] SLAMing on 149.276502481 meters Centerline goodness : 0.445676 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 0.87590244 -0.14848631 -0.4590716 4.51883439] [ 0.12665626 0.9888604 -0.07818759 -0.38686711] [ 0.46556751 0.01034041 0.88495196 0.98966068] [ 0. 0. 0. 1. ]] SLAMing on 149.306502481 meters Centerline goodness : 0.567976 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 0.87536857 -0.1490313 -0.45991254 4.52085409] [ 0.12742729 0.98878625 -0.07787188 -0.38705136] [ 0.46636054 0.00956119 0.88454306 0.99049342] [ 0. 0. 0. 1. ]] SLAMing on 149.336502481 meters Centerline goodness : 0.485965 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 0.8750011 -0.14947659 -0.46046696 4.52248614] [ 0.12837596 0.98873063 -0.07701524 -0.38838202] [ 0.46678976 0.00827553 0.88432959 0.99133485] [ 0. 0. 0. 1. ]] SLAMing on 149.366502481 meters Centerline goodness : 0.541759 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 0.8748991 -0.14965895 -0.46060152 4.52298916] [ 0.12859705 0.98870433 -0.07698412 -0.38838662] [ 0.46692008 0.00812134 0.88426223 0.99148683] [ 0. 0. 0. 1. ]] SLAMing on 149.396502481 meters Centerline goodness : 0.557300 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 0.87443714 -0.15005985 -0.46134774 4.52393799] [ 0.12904681 0.98864634 -0.07697621 -0.38773923] [ 0.46766079 0.0077754 0.88387382 0.99264397] [ 0. 0. 0. 1. ]] SLAMing on 149.426502481 meters Centerline goodness : 0.562321 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.39, Z:0.99 [[ 0.87402863 -0.15007271 -0.46211702 4.52743769] [ 0.12903454 0.98864512 -0.07701247 -0.385811 ] [ 0.4684272 0.00768204 0.8834687 0.99266883] [ 0. 0. 0. 1. ]] SLAMing on 149.456502481 meters Centerline goodness : 0.600244 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.39, Z:0.99 [[ 0.87380809 -0.14633387 -0.46373033 4.5320144 ] [ 0.12659531 0.98921931 -0.07361237 -0.38511777] [ 0.46950299 0.005617 0.88291302 0.99274242] [ 0. 0. 0. 1. ]] SLAMing on 149.486502481 meters Centerline goodness : 0.689325 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.38, Z:0.99 [[ 0.87353406 -0.14683949 -0.46408664 4.53383352] [ 0.12670064 0.98914049 -0.07448515 -0.38321937] [ 0.46998425 0.00626524 0.88265256 0.99249717] [ 0. 0. 0. 1. ]] SLAMing on 149.51650248099997 meters Centerline goodness : 0.688927 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.38, Z:0.99 [[ 0.87334249 -0.1470507 -0.46438022 4.53497386] [ 0.12666139 0.98910637 -0.07500321 -0.38202907] [ 0.47035071 0.00668444 0.88245427 0.99247657] [ 0. 0. 0. 1. ]] SLAMing on 149.54650248099998 meters Centerline goodness : 0.690655 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.38, Z:0.99 [[ 0.87322032 -0.14736211 -0.46451123 4.53543161] [ 0.12657682 0.98905484 -0.07582111 -0.3802713 ] [ 0.47060023 0.00741218 0.88231541 0.99262171] [ 0. 0. 0. 1. ]] SLAMing on 149.57650248099998 meters Centerline goodness : 0.692239 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.38, Z:0.99 [[ 0.87351964 -0.14337827 -0.4651947 4.53554719] [ 0.1239826 0.9896532 -0.07221392 -0.3798756 ] [ 0.47073533 0.00540423 0.88225792 0.99344041] [ 0. 0. 0. 1. ]] SLAMing on 149.60650248099998 meters Centerline goodness : 0.693082 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.38, Z:0.99 [[ 0.87333984 -0.14368665 -0.46543707 4.53546423] [ 0.12405596 0.98960638 -0.07272779 -0.37828935] [ 0.47104951 0.00577584 0.88208786 0.9940302 ] [ 0. 0. 0. 1. ]] SLAMing on 149.63650248099998 meters Centerline goodness : 0.693532 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.38, Z:0.99 [[ 0.87309696 -0.14368312 -0.46589361 4.53710664] [ 0.12354541 0.98960065 -0.07366871 -0.37569476] [ 0.47163358 0.00676091 0.88176871 0.99408269] [ 0. 0. 0. 1. ]] SLAMing on 149.66650248099998 meters Centerline goodness : 0.693924 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.37, Z:0.99 [[ 0.87262758 -0.14431899 -0.46657598 4.53917016] [ 0.12385301 0.9895053 -0.07442914 -0.37372852] [ 0.47242094 0.00716208 0.88134395 0.99442198] [ 0. 0. 0. 1. ]] SLAMing on 149.69650248099998 meters Centerline goodness : 0.693107 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.37, Z:0.99 [[ 0.87227267 -0.14476996 -0.4670996 4.54063626] [ 0.12395766 0.98943557 -0.07517812 -0.37191685] [ 0.4730485 0.00767525 0.88100296 0.99468307] [ 0. 0. 0. 1. ]] SLAMing on 149.72650248099998 meters Centerline goodness : 0.693985 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.37, Z:1.00 [[ 0.87261004 -0.14063954 -0.46773094 4.54100872] [ 0.12103971 0.99004204 -0.07187592 -0.37134592] [ 0.47318189 0.00610564 0.8809436 0.99511196] [ 0. 0. 0. 1. ]] SLAMing on 149.75650248099998 meters Centerline goodness : 0.694433 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.37, Z:1.00 [[ 8.72555202e-01 -1.36821981e-01 -4.68963927e-01 4.54197751e+00] [ 1.18593904e-01 9.90587478e-01 -6.83515542e-02 -3.70575574e-01] [ 4.73901788e-01 4.02424112e-03 8.80568510e-01 9.96526344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78650248099999 meters Centerline goodness : 0.693943 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.37, Z:1.00 [[ 8.72284826e-01 -1.37289002e-01 -4.69330281e-01 4.54264449e+00] [ 1.18886818e-01 9.90522104e-01 -6.87887077e-02 -3.69203951e-01] [ 4.74325950e-01 4.20616217e-03 8.80339254e-01 9.97018414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.816502481 meters Centerline goodness : 0.695109 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.37, Z:1.00 [[ 8.72127435e-01 -1.37663746e-01 -4.69512972e-01 4.54310057e+00] [ 1.19099619e-01 9.90469176e-01 -6.91815865e-02 -3.68550830e-01] [ 4.74561923e-01 4.41634358e-03 8.80211041e-01 9.97201859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.846502481 meters Centerline goodness : 0.695109 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.37, Z:1.00 [[ 8.72127435e-01 -1.37663746e-01 -4.69512972e-01 4.54310057e+00] [ 1.19099619e-01 9.90469176e-01 -6.91815865e-02 -3.68550830e-01] [ 4.74561923e-01 4.41634358e-03 8.80211041e-01 9.97201859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.876502481 meters Centerline goodness : 0.695284 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.37, Z:1.00 [[ 0.87184962 -0.13835181 -0.46982658 4.54389175] [ 0.11959217 0.9903725 -0.06971389 -0.3671539 ] [ 0.47494837 0.00459245 0.88000168 0.99776549] [ 0. 0. 0. 1. ]] SLAMing on 149.906502481 meters Centerline goodness : 0.696836 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.37, Z:1.00 [[ 8.71362195e-01 -1.38835135e-01 -4.70587645e-01 4.54559237e+00] [ 1.20110140e-01 9.90306315e-01 -6.97635741e-02 -3.66198261e-01] [ 4.75711552e-01 4.26699335e-03 8.79590992e-01 9.98524023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.936502481 meters Centerline goodness : 0.697808 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.36, Z:1.00 [[ 8.70628798e-01 -1.39237934e-01 -4.71824431e-01 4.54816583e+00] [ 1.20682107e-01 9.90252396e-01 -6.95415033e-02 -3.64769222e-01] [ 4.76908089e-01 3.60406907e-03 8.78945781e-01 9.99801031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.966502481 meters Centerline goodness : 0.698060 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.36, Z:1.00 [[ 8.70323286e-01 -1.39668561e-01 -4.72260596e-01 4.54915896e+00] [ 1.21121343e-01 9.90192470e-01 -6.96311171e-02 -3.64267346e-01] [ 4.77354164e-01 3.40074505e-03 8.78704408e-01 1.00031145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.996502481 meters Centerline goodness : 0.697959 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.37, Z:1.00 [[ 8.69777543e-01 -1.39969129e-01 -4.73176150e-01 4.55087056e+00] [ 1.21860937e-01 9.90153287e-01 -6.88939775e-02 -3.65186318e-01] [ 4.78159950e-01 2.26074539e-03 8.78269862e-01 1.00139895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.026502481 meters Centerline goodness : 0.696658 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.37, Z:1.00 [[ 8.69363300e-01 -1.40192958e-01 -4.73870644e-01 4.55251126e+00] [ 1.22359900e-01 9.90123036e-01 -6.84428794e-02 -3.66113445e-01] [ 4.78785451e-01 1.51896302e-03 8.77930626e-01 1.00209439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.056502481 meters Centerline goodness : 0.696007 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.37, Z:1.00 [[ 8.69028926e-01 -1.40178130e-01 -4.74487954e-01 4.55413578e+00] [ 1.22579475e-01 9.90125856e-01 -6.80077996e-02 -3.66622862e-01] [ 4.79335998e-01 9.38261000e-04 8.77630971e-01 1.00259916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.086502481 meters Centerline goodness : 0.697726 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.37, Z:1.00 [[ 8.68752883e-01 -1.39791917e-01 -4.75106985e-01 4.55501236e+00] [ 1.22441526e-01 9.90180810e-01 -6.74539553e-02 -3.66555111e-01] [ 4.79871337e-01 4.27993889e-04 8.77338770e-01 1.00339086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.116502481 meters Centerline goodness : 0.697756 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.37, Z:1.01 [[ 8.68703436e-01 -1.34936119e-01 -4.76598976e-01 4.55580432e+00] [ 1.19311274e-01 9.90852115e-01 -6.30627158e-02 -3.66915611e-01] [ 4.80748542e-01 -2.08083312e-03 8.76856037e-01 1.00501824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.146502481 meters Centerline goodness : 0.696847 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.37, Z:1.01 [[ 8.68501445e-01 -1.35040049e-01 -4.76937548e-01 4.55670423e+00] [ 1.19195008e-01 9.90838673e-01 -6.34923104e-02 -3.65627733e-01] [ 4.81142172e-01 -1.70541136e-03 8.76640920e-01 1.00521205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.176502481 meters Centerline goodness : 0.695358 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.36, Z:1.01 [[ 8.68444892e-01 -1.34653371e-01 -4.77149809e-01 4.55702499e+00] [ 1.18056977e-01 9.90892760e-01 -6.47617832e-02 -3.63788064e-01] [ 4.81524683e-01 -8.88240181e-05 8.76432525e-01 1.00500619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.206502481 meters Centerline goodness : 0.694631 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.36, Z:1.00 [[ 8.68377889e-01 -1.34703995e-01 -4.77257452e-01 4.55764577e+00] [ 1.17793743e-01 9.90885743e-01 -6.53458344e-02 -3.62802225e-01] [ 4.81709950e-01 5.26936178e-04 8.76330558e-01 1.00481188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.236502481 meters Centerline goodness : 0.695182 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.36, Z:1.01 [[ 8.68123673e-01 -1.30517208e-01 -4.78880514e-01 4.55990358e+00] [ 1.14701095e-01 9.91445672e-01 -6.22827288e-02 -3.62478325e-01] [ 4.82912981e-01 -8.59008224e-04 8.75667925e-01 1.00592412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26650248099997 meters Centerline goodness : 0.693776 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.36, Z:1.01 [[ 8.67954390e-01 -1.30562922e-01 -4.79174811e-01 4.56122955e+00] [ 1.14540681e-01 9.91439903e-01 -6.26685771e-02 -3.61344056e-01] [ 4.83255221e-01 -4.91542555e-04 8.75479383e-01 1.00580763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29650248099998 meters Centerline goodness : 0.694566 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.36, Z:1.01 [[ 8.68033766e-01 -1.25485793e-01 -4.80385987e-01 4.56261898e+00] [ 1.10946114e-01 9.92092606e-01 -5.86789687e-02 -3.61747723e-01] [ 4.83950763e-01 -2.36163243e-03 8.75092042e-01 1.00658583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32650248099998 meters Centerline goodness : 0.693982 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.36, Z:1.01 [[ 8.67763485e-01 -1.25463859e-01 -4.80879771e-01 4.56348436e+00] [ 1.10820697e-01 9.92095724e-01 -5.88629538e-02 -3.60647812e-01] [ 4.84463938e-01 -2.21230948e-03 8.74808436e-01 1.00713053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35650248099998 meters Centerline goodness : 0.694750 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.36, Z:1.01 [[ 8.67623151e-01 -1.25633968e-01 -4.81088529e-01 4.56417736e+00] [ 1.10634199e-01 9.92075442e-01 -5.95515809e-02 -3.60031691e-01] [ 4.84757817e-01 -1.55651357e-03 8.74647035e-01 1.00718443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38650248099998 meters Centerline goodness : 0.695660 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.36, Z:1.01 [[ 8.67469463e-01 -1.25659657e-01 -4.81358890e-01 4.56427869e+00] [ 1.10749635e-01 9.92071804e-01 -5.93974199e-02 -3.60500946e-01] [ 4.85006442e-01 -1.78487342e-03 8.74508757e-01 1.00775154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.41650248099998 meters Centerline goodness : 0.692607 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.36, Z:1.01 [[ 8.67247881e-01 -1.25762473e-01 -4.81731163e-01 4.56408950e+00] [ 1.11128718e-01 9.92057408e-01 -5.89279858e-02 -3.60914163e-01] [ 4.85315898e-01 -2.42899592e-03 8.74335507e-01 1.00885107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44650248099998 meters Centerline goodness : 0.692351 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.36, Z:1.01 [[ 8.66909600e-01 -1.25930356e-01 -4.82295853e-01 4.56485149e+00] [ 1.11538012e-01 9.92034412e-01 -5.85405680e-02 -3.61429668e-01] [ 4.85826117e-01 -3.04494039e-03 8.74050177e-01 1.00977307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47650248099998 meters Centerline goodness : 0.692268 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.36, Z:1.01 [[ 8.66388053e-01 -1.26279087e-01 -4.83141111e-01 4.56636170e+00] [ 1.12466835e-01 9.91984832e-01 -5.75960440e-02 -3.62828002e-01] [ 4.86541830e-01 -4.43682728e-03 8.73646017e-01 1.01103478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50650248099998 meters Centerline goodness : 0.691080 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.36, Z:1.01 [[ 0.86572425 -0.12680764 -0.48419143 4.56867679] [ 0.11357642 0.99190977 -0.05670458 -0.36427442] [ 0.48746478 -0.0059022 0.8731227 1.0122844 ] [ 0. 0. 0. 1. ]] SLAMing on 150.53650248099999 meters Centerline goodness : 0.691057 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.37, Z:1.01 [[ 0.86549291 -0.12717734 -0.48450794 4.57017459] [ 0.11415583 0.9918589 -0.05643027 -0.36504399] [ 0.48774016 -0.0064694 0.87296488 1.0123708 ] [ 0. 0. 0. 1. ]] SLAMing on 150.566502481 meters Centerline goodness : 0.693450 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.37, Z:1.01 [[ 0.86505785 -0.12779709 -0.48512144 4.57183712] [ 0.1152245 0.991771 -0.05579962 -0.36629133] [ 0.48826041 -0.00762797 0.87266465 1.01310428] [ 0. 0. 0. 1. ]] SLAMing on 150.596502481 meters Centerline goodness : 0.692795 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.37, Z:1.01 [[ 0.86471532 -0.12811621 -0.48564767 4.57259715] [ 0.11579496 0.9917245 -0.05544412 -0.36674719] [ 0.48873198 -0.00829217 0.87239457 1.01391152] [ 0. 0. 0. 1. ]] SLAMing on 150.626502481 meters Centerline goodness : 0.694478 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.37, Z:1.01 [[ 0.86447502 -0.12850566 -0.48597246 4.57332507] [ 0.11645971 0.99166796 -0.05506164 -0.36732266] [ 0.48899906 -0.0089968 0.87223792 1.01445083] [ 0. 0. 0. 1. ]] SLAMing on 150.656502481 meters Centerline goodness : 0.693908 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.37, Z:1.01 [[ 0.86432617 -0.12878031 -0.48616448 4.57365704] [ 0.11676217 0.99163092 -0.05508823 -0.36715039] [ 0.48919001 -0.00915143 0.87212922 1.01481734] [ 0. 0. 0. 1. ]] SLAMing on 150.686502481 meters Centerline goodness : 0.697540 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.37, Z:1.02 [[ 0.86427976 -0.1289728 -0.48619595 4.57292749] [ 0.1168075 0.99160811 -0.05540178 -0.36639976] [ 0.48926117 -0.0089087 0.87209182 1.01538037] [ 0. 0. 0. 1. ]] SLAMing on 150.716502481 meters Centerline goodness : 0.697072 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.37, Z:1.02 [[ 0.86416219 -0.12916628 -0.48635357 4.57296722] [ 0.11684021 0.99158518 -0.05574232 -0.36564507] [ 0.48946101 -0.00865524 0.87198223 1.0157308 ] [ 0. 0. 0. 1. ]] SLAMing on 150.746502481 meters Centerline goodness : 0.699050 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.36, Z:1.02 [[ 0.86412399 -0.12940143 -0.48635891 4.57311069] [ 0.11670968 0.99156019 -0.05645558 -0.3645 ] [ 0.48955957 -0.00797817 0.87193335 1.01566069] [ 0. 0. 0. 1. ]] SLAMing on 150.776502481 meters Centerline goodness : 0.698960 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.36, Z:1.02 [[ 0.8644808 -0.12493895 -0.48689136 4.57301594] [ 0.11321748 0.99212524 -0.05356585 -0.36364526] [ 0.48974967 -0.00881797 0.8718185 1.01592266] [ 0. 0. 0. 1. ]] SLAMing on 150.806502481 meters Centerline goodness : 0.700651 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.36, Z:1.02 [[ 0.86431209 -0.1242687 -0.48736219 4.57259116] [ 0.11257778 0.99220994 -0.05334493 -0.36011768] [ 0.49019471 -0.00875948 0.87156894 1.01688614] [ 0. 0. 0. 1. ]] SLAMing on 150.836502481 meters Centerline goodness : 0.700845 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.36, Z:1.02 [[ 0.86427419 -0.12452763 -0.48736331 4.57256498] [ 0.11250555 0.9921826 -0.05400182 -0.35875645] [ 0.49027811 -0.0081587 0.87152786 1.01695509] [ 0. 0. 0. 1. ]] SLAMing on 150.866502481 meters Centerline goodness : 0.702470 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.36, Z:1.02 [[ 0.8640985 -0.12495258 -0.48756603 4.57325559] [ 0.11264466 0.99213268 -0.05462532 -0.35783096] [ 0.49055577 -0.00772005 0.8713756 1.01709719] [ 0. 0. 0. 1. ]] SLAMing on 150.896502481 meters Centerline goodness : 0.703073 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.36, Z:1.02 [[ 0.8639966 -0.12504882 -0.48772192 4.5736341 ] [ 0.11238294 0.9921256 -0.055289 -0.35584175] [ 0.49079522 -0.00704211 0.8712465 1.0173182 ] [ 0. 0. 0. 1. ]] SLAMing on 150.926502481 meters Centerline goodness : 0.704262 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.35, Z:1.02 [[ 0.86402977 -0.12077502 -0.48873915 4.57364187] [ 0.10986515 0.99263376 -0.05106731 -0.35489301] [ 0.49130663 -0.00957172 0.87093408 1.0189751 ] [ 0. 0. 0. 1. ]] SLAMing on 150.956502481 meters Centerline goodness : 0.702811 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.35, Z:1.02 [[ 0.86386976 -0.12109138 -0.48894367 4.57419251] [ 0.11011544 0.99259545 -0.05127249 -0.35357867] [ 0.49153191 -0.00954749 0.87080722 1.01938764] [ 0. 0. 0. 1. ]] SLAMing on 150.986502481 meters Centerline goodness : 0.629502 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.35, Z:1.02 [[ 0.86338287 -0.12195751 -0.48958797 4.57524326] [ 0.11112525 0.99248345 -0.05126183 -0.35259296] [ 0.49215972 -0.010147 0.87044577 1.02101072] [ 0. 0. 0. 1. ]] SLAMing on 151.01650248099997 meters Centerline goodness : 0.628630 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.35, Z:1.02 [[ 0.86312376 -0.12228489 -0.48996303 4.57607957] [ 0.11177848 0.99243478 -0.05078163 -0.35294859] [ 0.49246618 -0.01093649 0.87026286 1.02189458] [ 0. 0. 0. 1. ]] SLAMing on 151.04650248099998 meters Centerline goodness : 0.620582 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.35, Z:1.02 [[ 0.86274948 -0.12278891 -0.49049589 4.57775324] [ 0.11264024 0.992362 -0.05029754 -0.3532551 ] [ 0.49292546 -0.0118554 0.86999077 1.02270287] [ 0. 0. 0. 1. ]] SLAMing on 151.07650248099998 meters Centerline goodness : 0.617188 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.35, Z:1.03 [[ 0.86166376 -0.12409387 -0.49207344 4.58081638] [ 0.11501277 0.99216402 -0.04881209 -0.35369469] [ 0.49427484 -0.01453512 0.86918416 1.02553475] [ 0. 0. 0. 1. ]] SLAMing on 151.10650248099998 meters Centerline goodness : 0.616596 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.35, Z:1.03 [[ 0.86083912 -0.1259119 -0.49305396 4.58280638] [ 0.11776832 0.99189548 -0.0476862 -0.35427826] [ 0.49506226 -0.01701599 0.86869087 1.02785144] [ 0. 0. 0. 1. ]] SLAMing on 151.13650248099998 meters Centerline goodness : 0.578765 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.36, Z:1.03 [[ 0.86040358 -0.12661145 -0.49363471 4.58343344] [ 0.11905173 0.99178101 -0.04687332 -0.35547762] [ 0.49551223 -0.01843809 0.86840524 1.02931756] [ 0. 0. 0. 1. ]] SLAMing on 151.16650248099998 meters Centerline goodness : 0.618133 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.36, Z:1.03 [[ 0.85992285 -0.12722777 -0.49431346 4.58424341] [ 0.12029005 0.99167343 -0.04597939 -0.35644163] [ 0.49604738 -0.01992226 0.86806688 1.03086037] [ 0. 0. 0. 1. ]] SLAMing on 151.19650248099998 meters Centerline goodness : 0.683014 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.36, Z:1.03 [[ 0.85908565 -0.12857076 -0.49542044 4.58561352] [ 0.1226437 0.99144685 -0.04462802 -0.3569833 ] [ 0.4969209 -0.0224209 0.86750615 1.03357762] [ 0. 0. 0. 1. ]] SLAMing on 151.22650248099998 meters Centerline goodness : 0.565838 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.36, Z:1.04 [[ 0.8585699 -0.12945777 -0.49608306 4.5858148 ] [ 0.123979 0.99130349 -0.04412024 -0.35701253] [ 0.49748058 -0.02362357 0.86715339 1.03542115] [ 0. 0. 0. 1. ]] SLAMing on 151.25650248099998 meters Centerline goodness : 0.676945 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.36, Z:1.04 [[ 0.8577981 -0.13072257 -0.49708554 4.58670012] [ 0.12604896 0.99108657 -0.04311698 -0.35697202] [ 0.49829117 -0.02567145 0.86662961 1.03798814] [ 0. 0. 0. 1. ]] SLAMing on 151.28650248099999 meters Centerline goodness : 0.570135 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.36, Z:1.04 [[ 0.85695235 -0.13218803 -0.49815559 4.58866036] [ 0.12794936 0.99085575 -0.0428235 -0.35699459] [ 0.49926109 -0.02704099 0.86602953 1.0399199 ] [ 0. 0. 0. 1. ]] SLAMing on 151.316502481 meters Centerline goodness : 0.671677 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.36, Z:1.04 [[ 0.85660748 -0.13286371 -0.49856881 4.58973358] [ 0.12880547 0.99074928 -0.04272007 -0.35706759] [ 0.49963264 -0.02762406 0.86579682 1.04059374] [ 0. 0. 0. 1. ]] SLAMing on 151.346502481 meters Centerline goodness : 0.533315 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.36, Z:1.04 [[ 0.85639192 -0.1333459 -0.49881033 4.59044834] [ 0.12931895 0.99067841 -0.04281227 -0.35664872] [ 0.49986947 -0.02784155 0.86565314 1.04113612] [ 0. 0. 0. 1. ]] SLAMing on 151.376502481 meters Centerline goodness : 0.530369 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.35, Z:1.04 [[ 0.85596507 -0.13316738 -0.49959007 4.59056709] [ 0.12938676 0.99068779 -0.04238826 -0.35467082] [ 0.50058252 -0.02835747 0.86522425 1.04289868] [ 0. 0. 0. 1. ]] SLAMing on 151.406502481 meters Centerline goodness : 0.529287 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.35, Z:1.04 [[ 0.85600356 -0.13297856 -0.49957443 4.58971654] [ 0.12916083 0.99071677 -0.04240001 -0.35356875] [ 0.50057506 -0.02823089 0.8652327 1.04348162] [ 0. 0. 0. 1. ]] SLAMing on 151.436502481 meters Centerline goodness : 0.659177 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.35, Z:1.04 [[ 0.85655948 -0.12828771 -0.49984809 4.58737515] [ 0.12573742 0.99129858 -0.03895152 -0.35218948] [ 0.50049571 -0.02948532 0.86523677 1.04490368] [ 0. 0. 0. 1. ]] SLAMing on 151.466502481 meters Centerline goodness : 0.502310 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.35, Z:1.05 [[ 0.85659458 -0.12829533 -0.49978599 4.58688124] [ 0.12532654 0.99132201 -0.03967286 -0.35052884] [ 0.50053869 -0.02865289 0.86523987 1.04516937] [ 0. 0. 0. 1. ]] SLAMing on 151.496502481 meters Centerline goodness : 0.150821 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.35, Z:1.05 [[ 0.85656626 -0.12764772 -0.50000031 4.58755189] [ 0.12393277 0.99145148 -0.04079976 -0.34801606] [ 0.50093404 -0.02701873 0.86506362 1.04537656] [ 0. 0. 0. 1. ]] SLAMing on 151.526502481 meters Centerline goodness : 0.514447 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.35, Z:1.05 [[ 0.85643154 -0.12762779 -0.50023612 4.58810246] [ 0.12343044 0.99147915 -0.04164147 -0.34599889] [ 0.50128829 -0.0260813 0.86488717 1.04558306] [ 0. 0. 0. 1. ]] SLAMing on 151.556502481 meters Centerline goodness : 0.152756 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.34, Z:1.05 [[ 0.85669185 -0.12255714 -0.5010577 4.58861358] [ 0.11952787 0.99209192 -0.03829777 -0.34384536] [ 0.50178896 -0.02708098 0.86456605 1.04630395] [ 0. 0. 0. 1. ]] SLAMing on 151.586502481 meters Centerline goodness : 0.148983 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.34, Z:1.05 [[ 0.85684908 -0.11776971 -0.5019362 4.58898497] [ 0.11645132 0.99261069 -0.03410447 -0.34408513] [ 0.50224371 -0.02922875 0.86423199 1.04735804] [ 0. 0. 0. 1. ]] SLAMing on 151.616502481 meters Centerline goodness : 0.156506 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.34, Z:1.05 [[ 0.85732251 -0.11291064 -0.50224427 4.58851117] [ 0.11278614 0.99314346 -0.03074673 -0.34318474] [ 0.50227224 -0.03028633 0.86417899 1.04784342] [ 0. 0. 0. 1. ]] SLAMing on 151.646502481 meters Centerline goodness : 0.148655 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.34, Z:1.05 [[ 0.85752781 -0.11298332 -0.5018773 4.58752665] [ 0.11250728 0.99315634 -0.03134628 -0.34237164] [ 0.50198423 -0.02958454 0.86437063 1.0478237 ] [ 0. 0. 0. 1. ]] SLAMing on 151.676502481 meters Centerline goodness : 0.432571 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.34, Z:1.05 [[ 0.85781216 -0.11313707 -0.50135647 4.5862874 ] [ 0.11184252 0.99318568 -0.0327636 -0.34026171] [ 0.50164684 -0.02796796 0.86462028 1.04758592] [ 0. 0. 0. 1. ]] SLAMing on 151.706502481 meters Centerline goodness : 0.512694 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.34, Z:1.05 [[ 0.85789733 -0.11212531 -0.50143802 4.58497995] [ 0.11116273 0.99328942 -0.03192155 -0.33753286] [ 0.50165229 -0.02835581 0.86460449 1.04836242] [ 0. 0. 0. 1. ]] SLAMing on 151.736502481 meters Centerline goodness : 0.512694 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.34, Z:1.05 [[ 0.85789733 -0.11212531 -0.50143802 4.58497995] [ 0.11116273 0.99328942 -0.03192155 -0.33753286] [ 0.50165229 -0.02835581 0.86460449 1.04836242] [ 0. 0. 0. 1. ]] SLAMing on 151.76650248099997 meters Centerline goodness : 0.539852 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.34, Z:1.05 [[ 0.85804998 -0.11215269 -0.50117064 4.58395803] [ 0.11087217 0.99330445 -0.03245981 -0.33614605] [ 0.50145548 -0.02771373 0.86473947 1.04851718] [ 0. 0. 0. 1. ]] SLAMing on 151.79650248099998 meters Centerline goodness : 0.545132 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.33, Z:1.05 [[ 0.85834985 -0.11214697 -0.50065815 4.58277315] [ 0.11044254 0.99332927 -0.0331574 -0.33415172] [ 0.5010369 -0.02683331 0.86500983 1.04832775] [ 0. 0. 0. 1. ]] SLAMing on 151.82650248099998 meters Centerline goodness : 0.516390 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.33, Z:1.05 [[ 0.85837985 -0.11231357 -0.50056938 4.58236089] [ 0.11054716 0.99331272 -0.03330416 -0.33374056] [ 0.50096244 -0.0267489 0.86505557 1.04858382] [ 0. 0. 0. 1. ]] SLAMing on 151.85650248099998 meters Centerline goodness : 0.527946 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.33, Z:1.05 [[ 0.85861693 -0.11264226 -0.50008868 4.58176869] [ 0.11100363 0.99326721 -0.03314267 -0.33408298] [ 0.50045495 -0.0270548 0.86533975 1.04835129] [ 0. 0. 0. 1. ]] SLAMing on 151.88650248099998 meters Centerline goodness : 0.527960 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.33, Z:1.05 [[ 0.85860372 -0.11287182 -0.5000596 4.58187441] [ 0.11147152 0.99322649 -0.03279094 -0.33462014] [ 0.50037361 -0.02758798 0.86536995 1.04844614] [ 0. 0. 0. 1. ]] SLAMing on 151.91650248099998 meters Centerline goodness : 0.642901 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.34, Z:1.05 [[ 0.85859571 -0.11354017 -0.49992204 4.58206921] [ 0.11257374 0.99312109 -0.03221263 -0.33545475] [ 0.50014055 -0.02862047 0.86547114 1.0485618 ] [ 0. 0. 0. 1. ]] SLAMing on 151.94650248099998 meters Centerline goodness : 0.643115 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.34, Z:1.05 [[ 0.85865846 -0.11352208 -0.49981835 4.58172199] [ 0.11297637 0.9930991 -0.03147255 -0.33646531] [ 0.49994198 -0.02944349 0.86555826 1.04870176] [ 0. 0. 0. 1. ]] SLAMing on 151.97650248099998 meters Centerline goodness : 0.602123 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.34, Z:1.05 [[ 0.85882141 -0.11413945 -0.49939761 4.5807479 ] [ 0.11435465 0.99297805 -0.03029198 -0.33844715] [ 0.49934838 -0.03109304 0.86584319 1.04906285] [ 0. 0. 0. 1. ]] SLAMing on 152.00650248099998 meters Centerline goodness : 0.593210 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.34, Z:1.05 [[ 0.85949021 -0.11500986 -0.4980455 4.57963672] [ 0.11560847 0.99284887 -0.02976246 -0.33975121] [ 0.49790688 -0.03199774 0.86663999 1.04721659] [ 0. 0. 0. 1. ]] SLAMing on 152.03650248099999 meters Centerline goodness : 0.610907 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.34, Z:1.05 [[ 0.85920685 -0.11967404 -0.49743514 4.57978326] [ 0.11926506 0.99232277 -0.03273174 -0.34139804] [ 0.49753336 -0.0312033 0.86688345 1.04710389] [ 0. 0. 0. 1. ]] SLAMing on 152.066502481 meters Centerline goodness : 0.565825 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.34, Z:1.05 [[ 0.85928582 -0.1198034 -0.49726756 4.57942055] [ 0.11982558 0.99227902 -0.03200284 -0.34292662] [ 0.49726221 -0.03208579 0.8670068 1.04724188] [ 0. 0. 0. 1. ]] SLAMing on 152.096502481 meters Centerline goodness : 0.649103 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.35, Z:1.05 [[ 0.85932943 -0.11938892 -0.49729187 4.57920608] [ 0.12046575 0.99226246 -0.03005354 -0.34544483] [ 0.49703212 -0.03408075 0.86706261 1.04788819] [ 0. 0. 0. 1. ]] SLAMing on 152.126502481 meters Centerline goodness : 0.648728 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.35, Z:1.04 [[ 0.86023707 -0.11887322 -0.49584408 4.56515586] [ 0.12060711 0.99228682 -0.02864937 -0.34854881] [ 0.49542519 -0.03515707 0.86793886 1.03758322] [ 0. 0. 0. 1. ]] SLAMing on 152.156502481 meters Centerline goodness : 0.648700 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.35, Z:1.04 [[ 0.86022334 -0.11827938 -0.49600987 4.56607245] [ 0.12032935 0.9923405 -0.02794965 -0.34930371] [ 0.49551655 -0.03564161 0.86786694 1.03757469] [ 0. 0. 0. 1. ]] SLAMing on 152.186502481 meters Centerline goodness : 0.606786 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.35, Z:1.03 [[ 0.86130301 -0.11813376 -0.49416753 4.55090608] [ 0.11957547 0.99240649 -0.02882827 -0.35132683] [ 0.49382065 -0.03426044 0.86888859 1.02747787] [ 0. 0. 0. 1. ]] SLAMing on 152.216502481 meters Centerline goodness : 0.589093 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.35, Z:1.03 [[ 0.86148706 -0.11757283 -0.49398043 4.55019553] [ 0.11916677 0.99246813 -0.02839515 -0.35252944] [ 0.49359834 -0.034404 0.86900923 1.02755582] [ 0. 0. 0. 1. ]] SLAMing on 152.246502481 meters Centerline goodness : 0.654141 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.35, Z:1.03 [[ 0.86201123 -0.11713815 -0.49316862 4.54764143] [ 0.11877135 0.99252267 -0.0281446 -0.35359841] [ 0.49277784 -0.03431335 0.86947835 1.02767259] [ 0. 0. 0. 1. ]] SLAMing on 152.276502481 meters Centerline goodness : 0.653980 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.35, Z:1.03 [[ 0.86238763 -0.11683711 -0.49258164 4.54577275] [ 0.11837429 0.9925689 -0.0281869 -0.35395683] [ 0.49221449 -0.03400097 0.86980965 1.02777696] [ 0. 0. 0. 1. ]] SLAMing on 152.306502481 meters Centerline goodness : 0.654082 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.35, Z:1.03 [[ 0.86228733 -0.11701097 -0.49271593 4.54622147] [ 0.11836373 0.99255922 -0.02856975 -0.35382868] [ 0.49239271 -0.03368436 0.86972109 1.02777174] [ 0. 0. 0. 1. ]] SLAMing on 152.336502481 meters Centerline goodness : 0.658524 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.36, Z:1.02 [[ 0.86225161 -0.11750207 -0.49266157 4.53263083] [ 0.11733521 0.99259647 -0.03137989 -0.35551999] [ 0.49270134 -0.03074919 0.86965504 1.01916975] [ 0. 0. 0. 1. ]] SLAMing on 152.366502481 meters Centerline goodness : 0.656589 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.36, Z:1.02 [[ 0.86226899 -0.11748227 -0.49263587 4.53246004] [ 0.11734528 0.99259717 -0.03132004 -0.35590522] [ 0.49266852 -0.0308022 0.86967175 1.01922952] [ 0. 0. 0. 1. ]] SLAMing on 152.396502481 meters Centerline goodness : 0.656824 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.36, Z:1.02 [[ 0.86231928 -0.11734158 -0.49258137 4.53186763] [ 0.11732362 0.99260764 -0.03106844 -0.35622166] [ 0.49258565 -0.03100051 0.86971164 1.01950469] [ 0. 0. 0. 1. ]] SLAMing on 152.426502481 meters Centerline goodness : 0.631743 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.36, Z:1.01 [[ 0.86323868 -0.11735332 -0.49096556 4.51616122] [ 0.11743512 0.99260351 -0.03077768 -0.35839159] [ 0.490946 -0.03108811 0.87063514 1.01009179] [ 0. 0. 0. 1. ]] SLAMing on 152.456502481 meters Centerline goodness : 0.448734 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.36, Z:1.01 [[ 0.86326024 -0.11735096 -0.49092821 4.51537228] [ 0.11796575 0.99256955 -0.02982892 -0.36045449] [ 0.49078085 -0.0321626 0.87068922 1.0107772 ] [ 0. 0. 0. 1. ]] SLAMing on 152.486502481 meters Centerline goodness : 0.646820 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.36, Z:1.01 [[ 0.86320056 -0.11737791 -0.49102669 4.51483285] [ 0.11838509 0.99253987 -0.02914745 -0.3619472 ] [ 0.49078484 -0.03297015 0.87065677 1.01143196] [ 0. 0. 0. 1. ]] SLAMing on 152.51650248099997 meters Centerline goodness : 0.645083 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:1.00 [[ 0.86418941 -0.11992411 -0.48866643 4.49928522] [ 0.12048048 0.99224879 -0.03044325 -0.36558974] [ 0.48852955 -0.03256603 0.87193941 1.00136186] [ 0. 0. 0. 1. ]] SLAMing on 152.54650248099998 meters Centerline goodness : 0.646610 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.86456829 -0.12166248 -0.48756529 4.48417845] [ 0.12151789 0.99207095 -0.03207223 -0.36824089] [ 0.48760135 -0.03151927 0.87249726 0.99104737] [ 0. 0. 0. 1. ]] SLAMing on 152.57650248099998 meters Centerline goodness : 0.648354 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86437104 -0.12254004 -0.48769525 4.47022817] [ 0.12197522 0.99198223 -0.03306509 -0.37133764] [ 0.48783681 -0.03090623 0.87238756 0.98214097] [ 0. 0. 0. 1. ]] SLAMing on 152.60650248099998 meters Centerline goodness : 0.650236 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86412887 -0.12664766 -0.48707459 4.47036534] [ 0.12490391 0.99150771 -0.03621426 -0.37196723] [ 0.48752467 -0.02954373 0.87260923 0.98175373] [ 0. 0. 0. 1. ]] SLAMing on 152.63650248099998 meters Centerline goodness : 0.653256 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86395536 -0.13089111 -0.48625986 4.47018497] [ 0.12791055 0.99099908 -0.03949323 -0.37280566] [ 0.48705238 -0.02807738 0.87292132 0.98117644] [ 0. 0. 0. 1. ]] SLAMing on 152.66650248099998 meters Centerline goodness : 0.653498 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86401209 -0.13085678 -0.4861683 4.47037977] [ 0.12815574 0.99098784 -0.03897698 -0.37420201] [ 0.48688727 -0.02862868 0.87299552 0.98104294] [ 0. 0. 0. 1. ]] SLAMing on 152.69650248099998 meters Centerline goodness : 0.656034 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.38, Z:0.98 [[ 0.86452657 -0.12996999 -0.4854911 4.46894727] [ 0.12761064 0.99109289 -0.03808421 -0.37574335] [ 0.48611659 -0.02902902 0.87341169 0.9807441 ] [ 0. 0. 0. 1. ]] SLAMing on 152.72650248099998 meters Centerline goodness : 0.658358 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.38, Z:0.98 [[ 0.86475525 -0.12956295 -0.48519254 4.46806881] [ 0.12725601 0.99114698 -0.03786255 -0.37582308] [ 0.4858027 -0.02900183 0.87358722 0.98063798] [ 0. 0. 0. 1. ]] SLAMing on 152.75650248099998 meters Centerline goodness : 0.658731 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.38, Z:0.98 [[ 0.86532142 -0.12919523 -0.48428032 4.46636009] [ 0.12655366 0.99121983 -0.03830691 -0.37552914] [ 0.48497733 -0.02813966 0.87407388 0.97986857] [ 0. 0. 0. 1. ]] SLAMing on 152.78650248099999 meters Centerline goodness : 0.659374 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.38, Z:0.98 [[ 0.86533857 -0.12957362 -0.48414856 4.46603398] [ 0.12683013 0.99117386 -0.03858109 -0.37552147] [ 0.48487449 -0.02801892 0.87413481 0.97986597] [ 0. 0. 0. 1. ]] SLAMing on 152.816502481 meters Centerline goodness : 0.660020 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.38, Z:0.98 [[ 0.86530495 -0.12999358 -0.48409607 4.46616528] [ 0.12703682 0.99112815 -0.03907222 -0.37554402] [ 0.48488038 -0.02768864 0.87414207 0.97979712] [ 0. 0. 0. 1. ]] SLAMing on 152.846502481 meters Centerline goodness : 0.661104 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.38, Z:0.98 [[ 0.86532672 -0.130369 -0.48395618 4.4661339 ] [ 0.12724635 0.99108588 -0.03946062 -0.37522479] [ 0.48478658 -0.02743533 0.87420208 0.97960433] [ 0. 0. 0. 1. ]] SLAMing on 152.876502481 meters Centerline goodness : 0.661304 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86505584 -0.131047 -0.48425724 4.46681069] [ 0.12764336 0.99100656 -0.04016421 -0.37402521] [ 0.4851655 -0.02706794 0.8740033 0.97983415] [ 0. 0. 0. 1. ]] SLAMing on 152.906502481 meters Centerline goodness : 0.662576 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86481991 -0.13148161 -0.48456074 4.46749469] [ 0.12797783 0.99095066 -0.04047792 -0.37341313] [ 0.48549788 -0.02700692 0.87382059 0.980086 ] [ 0. 0. 0. 1. ]] SLAMing on 152.936502481 meters Centerline goodness : 0.662175 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86472589 -0.1320776 -0.48456644 4.46752932] [ 0.12839469 0.99087704 -0.04095713 -0.37258478] [ 0.48555528 -0.02679907 0.8737951 0.98019736] [ 0. 0. 0. 1. ]] SLAMing on 152.966502481 meters Centerline goodness : 0.662534 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.8645988 -0.13245024 -0.4846915 4.46729445] [ 0.12875529 0.99082498 -0.04108457 -0.37179993] [ 0.48568611 -0.02688492 0.87371975 0.98064997] [ 0. 0. 0. 1. ]] SLAMing on 152.996502481 meters Centerline goodness : 0.662616 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86445093 -0.13286889 -0.48484065 4.46720361] [ 0.12937982 0.99075399 -0.04083377 -0.37172175] [ 0.48578334 -0.02742981 0.87364876 0.98123543] [ 0. 0. 0. 1. ]] SLAMing on 153.026502481 meters Centerline goodness : 0.663187 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86436378 -0.13330858 -0.48487532 4.46675312] [ 0.13010802 0.99067507 -0.04043271 -0.37241916] [ 0.48574392 -0.0281376 0.87364817 0.98181041] [ 0. 0. 0. 1. ]] SLAMing on 153.056502481 meters Centerline goodness : 0.665680 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86368405 -0.13817292 -0.48472477 4.4664971 ] [ 0.1340899 0.99002323 -0.04328868 -0.37254904] [ 0.48587011 -0.02760896 0.87359486 0.98274831] [ 0. 0. 0. 1. ]] SLAMing on 153.086502481 meters Centerline goodness : 0.664593 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86334428 -0.13867796 -0.48518561 4.46728836] [ 0.13494183 0.98992747 -0.04282869 -0.37320632] [ 0.48623796 -0.02849593 0.87336168 0.98345714] [ 0. 0. 0. 1. ]] SLAMing on 153.116502481 meters Centerline goodness : 0.664819 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.8625121 -0.14048217 -0.4861457 4.4692672 ] [ 0.13724858 0.98962579 -0.04246921 -0.37379496] [ 0.48706848 -0.0300926 0.87284519 0.98482107] [ 0. 0. 0. 1. ]] SLAMing on 153.146502481 meters Centerline goodness : 0.667928 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.86232543 -0.14089322 -0.48635784 4.46975913] [ 0.13787537 0.9895499 -0.04220645 -0.3740576 ] [ 0.48722195 -0.03066107 0.87273975 0.98517853] [ 0. 0. 0. 1. ]] SLAMing on 153.176502481 meters Centerline goodness : 0.666463 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.86204005 -0.14165574 -0.48664218 4.4700198 ] [ 0.1389484 0.98941397 -0.04187281 -0.3740647 ] [ 0.48742209 -0.03152211 0.87259731 0.9858649 ] [ 0. 0. 0. 1. ]] SLAMing on 153.206502481 meters Centerline goodness : 0.666977 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.86199354 -0.14200843 -0.48662177 4.46967011] [ 0.1394215 0.98935265 -0.04174902 -0.37443458] [ 0.48736925 -0.03185815 0.87261462 0.98619734] [ 0. 0. 0. 1. ]] SLAMing on 153.236502481 meters Centerline goodness : 0.669941 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.86217364 -0.14269045 -0.48610293 4.46939714] [ 0.1401497 0.98924729 -0.04180752 -0.37497164] [ 0.48684154 -0.03208184 0.87290095 0.985684 ] [ 0. 0. 0. 1. ]] SLAMing on 153.26650248099997 meters Centerline goodness : 0.671668 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.862374 -0.14310727 -0.48562474 4.46944832] [ 0.14026117 0.989205 -0.04242955 -0.37303083] [ 0.48645441 -0.03152415 0.87313707 0.98477029] [ 0. 0. 0. 1. ]] SLAMing on 153.29650248099998 meters Centerline goodness : 0.675122 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86255571 -0.14345067 -0.48520052 4.46925237] [ 0.14026461 0.98917556 -0.0430994 -0.37165637] [ 0.48613113 -0.03088083 0.87334008 0.9840542 ] [ 0. 0. 0. 1. ]] SLAMing on 153.32650248099998 meters Centerline goodness : 0.674540 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86265904 -0.14356021 -0.48498437 4.4693006 ] [ 0.14017 0.98917233 -0.0434795 -0.37068142] [ 0.48597505 -0.03047227 0.87344129 0.9835762 ] [ 0. 0. 0. 1. ]] SLAMing on 153.35650248099998 meters Centerline goodness : 0.676479 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86320435 -0.143738 -0.48396036 4.46864697] [ 0.13960283 0.98919385 -0.04479495 -0.36852653] [ 0.48516935 -0.02889504 0.87394267 0.98189991] [ 0. 0. 0. 1. ]] SLAMing on 153.38650248099998 meters Centerline goodness : 0.676923 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86345463 -0.14379656 -0.48349628 4.46844046] [ 0.13930258 0.98920741 -0.04542572 -0.3672517 ] [ 0.48481016 -0.02812923 0.87416695 0.98107479] [ 0. 0. 0. 1. ]] SLAMing on 153.41650248099998 meters Centerline goodness : 0.678207 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86403495 -0.13970856 -0.48365806 4.46853411] [ 0.13644422 0.98975084 -0.04214568 -0.36654884] [ 0.48458908 -0.029577 0.87424174 0.98051477] [ 0. 0. 0. 1. ]] SLAMing on 153.44650248099998 meters Centerline goodness : 0.678638 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.8646096 -0.13942531 -0.48271194 4.46756069] [ 0.13564087 0.98982685 -0.04294594 -0.36474862] [ 0.483789 -0.02834399 0.87472557 0.97905201] [ 0. 0. 0. 1. ]] SLAMing on 153.47650248099998 meters Centerline goodness : 0.677716 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.86484744 -0.13971489 -0.48220188 4.46722871] [ 0.13555132 0.98980727 -0.04367383 -0.36365817] [ 0.48338881 -0.0275919 0.87497083 0.9782397 ] [ 0. 0. 0. 1. ]] SLAMing on 153.50650248099998 meters Centerline goodness : 0.679472 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.86504022 -0.13978576 -0.48183541 4.46743149] [ 0.13537317 0.98981189 -0.04411956 -0.36300679] [ 0.4830937 -0.0270624 0.87515033 0.97737744] [ 0. 0. 0. 1. ]] SLAMing on 153.53650248099999 meters Centerline goodness : 0.680363 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.86526753 -0.14038269 -0.48125336 4.4680088 ] [ 0.13556355 0.9897473 -0.04497557 -0.36243995] [ 0.48263301 -0.02632452 0.87542698 0.97599754] [ 0. 0. 0. 1. ]] SLAMing on 153.566502481 meters Centerline goodness : 0.679608 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.86542446 -0.14063568 -0.48089719 4.46811167] [ 0.13571616 0.98971609 -0.04520158 -0.36253782] [ 0.48230865 -0.02614696 0.87561105 0.9753142 ] [ 0. 0. 0. 1. ]] SLAMing on 153.596502481 meters Centerline goodness : 0.679645 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.97 [[ 0.86555924 -0.14118285 -0.48049412 4.46874682] [ 0.13614425 0.98964198 -0.04553555 -0.36242729] [ 0.48194599 -0.02600279 0.875815 0.97431456] [ 0. 0. 0. 1. ]] SLAMing on 153.626502481 meters Centerline goodness : 0.681514 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.97 [[ 0.86565905 -0.14154706 -0.48020707 4.46902818] [ 0.1364106 0.98959354 -0.04579064 -0.36207276] [ 0.48169134 -0.02586625 0.87595912 0.97369765] [ 0. 0. 0. 1. ]] SLAMing on 153.656502481 meters Centerline goodness : 0.681514 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.97 [[ 0.86565905 -0.14154706 -0.48020707 4.46902818] [ 0.1364106 0.98959354 -0.04579064 -0.36207276] [ 0.48169134 -0.02586625 0.87595912 0.97369765] [ 0. 0. 0. 1. ]] SLAMing on 153.686502481 meters Centerline goodness : 0.681774 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.97 [[ 0.86559229 -0.14147495 -0.48034865 4.46895412] [ 0.13651187 0.98959457 -0.04546535 -0.36209275] [ 0.48178262 -0.02621884 0.87589844 0.97403294] [ 0. 0. 0. 1. ]] SLAMing on 153.716502481 meters Centerline goodness : 0.682437 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.97 [[ 0.86547707 -0.14189165 -0.48043335 4.46930536] [ 0.13715247 0.98951942 -0.0451722 -0.36252964] [ 0.48180768 -0.02679712 0.87586715 0.97417608] [ 0. 0. 0. 1. ]] SLAMing on 153.746502481 meters Centerline goodness : 0.682312 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.97 [[ 0.86552244 -0.14199269 -0.48032175 4.46952012] [ 0.13748782 0.98949137 -0.0447653 -0.36368082] [ 0.48163057 -0.02729302 0.87594925 0.97395462] [ 0. 0. 0. 1. ]] SLAMing on 153.776502481 meters Centerline goodness : 0.682914 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.97 [[ 0.86539084 -0.1421469 -0.48051321 4.46950868] [ 0.13793727 0.9894506 -0.04428117 -0.36489101] [ 0.48173851 -0.02796016 0.87586884 0.97447624] [ 0. 0. 0. 1. ]] SLAMing on 153.806502481 meters Centerline goodness : 0.683114 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.97 [[ 0.86559085 -0.14211613 -0.48016193 4.46898964] [ 0.13839104 0.98942769 -0.0433679 -0.36691413] [ 0.48124878 -0.02891125 0.87610716 0.97422164] [ 0. 0. 0. 1. ]] SLAMing on 153.836502481 meters Centerline goodness : 0.683294 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.97 [[ 0.86513778 -0.14274903 -0.48079032 4.47110363] [ 0.13922926 0.9893173 -0.04320301 -0.36721695] [ 0.48182137 -0.02956352 0.87577061 0.97441702] [ 0. 0. 0. 1. ]] SLAMing on 153.866502481 meters Centerline goodness : 0.684282 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.97 [[ 0.86508106 -0.14293252 -0.48083787 4.4719291 ] [ 0.13946724 0.98928586 -0.04315519 -0.36729395] [ 0.48185439 -0.0297284 0.87574686 0.97412726] [ 0. 0. 0. 1. ]] SLAMing on 153.896502481 meters Centerline goodness : 0.685579 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.97 [[ 0.86496968 -0.14306933 -0.48099753 4.47269015] [ 0.13982968 0.98925047 -0.04279225 -0.36803652] [ 0.48194929 -0.03024373 0.87567699 0.97412085] [ 0. 0. 0. 1. ]] SLAMing on 153.926502481 meters Centerline goodness : 0.686669 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.97 [[ 0.86486551 -0.14306116 -0.48118724 4.47308649] [ 0.14005261 0.9892365 -0.04238403 -0.3687187 ] [ 0.48207149 -0.03073504 0.87559262 0.97435 ] [ 0. 0. 0. 1. ]] SLAMing on 153.956502481 meters Centerline goodness : 0.686539 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.97 [[ 0.8649462 -0.14266151 -0.48116085 4.47287803] [ 0.14018439 0.98926318 -0.04131221 -0.3706345 ] [ 0.48188837 -0.0317184 0.87565835 0.97449434] [ 0. 0. 0. 1. ]] SLAMing on 153.986502481 meters Centerline goodness : 0.684161 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.97 [[ 0.86501563 -0.14217349 -0.48118049 4.47228991] [ 0.14009544 0.98931096 -0.04046101 -0.37203264] [ 0.48178961 -0.03241178 0.8756873 0.97491244] [ 0. 0. 0. 1. ]] SLAMing on 154.01650248099997 meters Centerline goodness : 0.686643 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86507072 -0.14185134 -0.48117653 4.47165435] [ 0.14014499 0.98933474 -0.03970087 -0.37338541] [ 0.48167628 -0.03309042 0.87572426 0.97532017] [ 0. 0. 0. 1. ]] SLAMing on 154.04650248099998 meters Centerline goodness : 0.684763 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.86517611 -0.1413577 -0.4811323 4.47158122] [ 0.1399339 0.98939033 -0.0390547 -0.37488637] [ 0.48154833 -0.03353753 0.87577762 0.97532369] [ 0. 0. 0. 1. ]] SLAMing on 154.07650248099998 meters Centerline goodness : 0.684323 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.97 [[ 0.86508649 -0.14144298 -0.48126836 4.47313572] [ 0.13978817 0.98939295 -0.03950776 -0.37494265] [ 0.48175162 -0.03309799 0.87568253 0.97466 ] [ 0. 0. 0. 1. ]] SLAMing on 154.10650248099998 meters Centerline goodness : 0.684653 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.97 [[ 0.86507657 -0.14129882 -0.48132855 4.47411957] [ 0.13945156 0.98942775 -0.03982456 -0.37466755] [ 0.48186698 -0.03267073 0.8756351 0.97416979] [ 0. 0. 0. 1. ]] SLAMing on 154.13650248099998 meters Centerline goodness : 0.684214 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.97 [[ 0.86503503 -0.14099798 -0.48149139 4.4765459 ] [ 0.13837236 0.98952411 -0.041172 -0.3724217 ] [ 0.48225251 -0.03100988 0.87548324 0.97280216] [ 0. 0. 0. 1. ]] SLAMing on 154.16650248099998 meters Centerline goodness : 0.685501 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.97 [[ 0.86505115 -0.14071329 -0.48154572 4.47753332] [ 0.13769702 0.98959153 -0.04181059 -0.37118093] [ 0.48241688 -0.03013911 0.87542309 0.97218241] [ 0. 0. 0. 1. ]] SLAMing on 154.19650248099998 meters Centerline goodness : 0.685082 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.97 [[ 0.866178 -0.13495449 -0.48116833 4.47614703] [ 0.13318901 0.99036158 -0.03800821 -0.37209406] [ 0.48166 -0.03116446 0.87580387 0.97113808] [ 0. 0. 0. 1. ]] SLAMing on 154.22650248099998 meters Centerline goodness : 0.683473 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.97 [[ 0.86749686 -0.12892128 -0.48044615 4.47236844] [ 0.12857271 0.99112381 -0.03380301 -0.37378854] [ 0.48053955 -0.03244826 0.87637255 0.97090833] [ 0. 0. 0. 1. ]] SLAMing on 154.25650248099998 meters Centerline goodness : 0.683915 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.97 [[ 0.86776635 -0.12849477 -0.48007359 4.47127528] [ 0.12804099 0.99119085 -0.03385559 -0.37386697] [ 0.48019481 -0.03209036 0.87657467 0.97069882] [ 0. 0. 0. 1. ]] SLAMing on 154.28650248099999 meters Centerline goodness : 0.685577 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.97 [[ 0.86795127 -0.12863247 -0.47970229 4.47082327] [ 0.12786983 0.99119325 -0.03442728 -0.37350843] [ 0.47990614 -0.03145825 0.87675566 0.9702119 ] [ 0. 0. 0. 1. ]] SLAMing on 154.316502481 meters Centerline goodness : 0.687118 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.97 [[ 0.86792484 -0.12848589 -0.47978937 4.47242898] [ 0.12754965 0.99122455 -0.03471287 -0.37319887] [ 0.48003912 -0.0310688 0.87669674 0.96941555] [ 0. 0. 0. 1. ]] SLAMing on 154.346502481 meters Centerline goodness : 0.688655 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.97 [[ 0.8677349 -0.12896546 -0.48000421 4.47360061] [ 0.12791998 0.99116487 -0.03505262 -0.37296652] [ 0.48028389 -0.03098575 0.87656561 0.96929895] [ 0. 0. 0. 1. ]] SLAMing on 154.376502481 meters Centerline goodness : 0.687154 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.97 [[ 0.86746575 -0.12933454 -0.48039124 4.47567651] [ 0.12861447 0.99109146 -0.0345837 -0.37486826] [ 0.48058452 -0.03178509 0.8763722 0.96911906] [ 0. 0. 0. 1. ]] SLAMing on 154.406502481 meters Centerline goodness : 0.687390 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.97 [[ 0.86736239 -0.12933347 -0.48057813 4.47616726] [ 0.12898772 0.99106606 -0.03391522 -0.37643126] [ 0.48067104 -0.03257189 0.87629585 0.96938894] [ 0. 0. 0. 1. ]] SLAMing on 154.436502481 meters Centerline goodness : 0.689472 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.97 [[ 0.86722265 -0.12916329 -0.48087598 4.47664056] [ 0.12954202 0.99103875 -0.032574 -0.37909566] [ 0.4807741 -0.03404473 0.87618333 0.96999109] [ 0. 0. 0. 1. ]] SLAMing on 154.466502481 meters Centerline goodness : 0.687291 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.97 [[ 0.86684398 -0.13178893 -0.48084633 4.47680635] [ 0.13217524 0.99066883 -0.03324113 -0.38082928] [ 0.48074028 -0.03474111 0.87617455 0.97059183] [ 0. 0. 0. 1. ]] SLAMing on 154.496502481 meters Centerline goodness : 0.689132 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.97 [[ 0.86672027 -0.13180352 -0.48106528 4.47734505] [ 0.13264353 0.99063291 -0.0324365 -0.38248686] [ 0.48083434 -0.03569683 0.87608451 0.97093192] [ 0. 0. 0. 1. ]] SLAMing on 154.526502481 meters Centerline goodness : 0.689157 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.97 [[ 0.866293 -0.13620054 -0.48060988 4.47761829] [ 0.13603091 0.99007251 -0.03538377 -0.38400374] [ 0.48065792 -0.03472508 0.87622037 0.97092045] [ 0. 0. 0. 1. ]] SLAMing on 154.556502481 meters Centerline goodness : 0.690819 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.97 [[ 0.86588365 -0.14104885 -0.47994866 4.47738685] [ 0.13931345 0.98946227 -0.03944855 -0.38366542] [ 0.48045526 -0.03270545 0.8764092 0.97069604] [ 0. 0. 0. 1. ]] SLAMing on 154.586502481 meters Centerline goodness : 0.690033 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:0.97 [[ 0.86533219 -0.14526109 -0.47968679 4.47845988] [ 0.14271752 0.98887196 -0.04199941 -0.38585323] [ 0.4804497 -0.03211627 0.87643404 0.97067228] [ 0. 0. 0. 1. ]] SLAMing on 154.616502481 meters Centerline goodness : 0.689499 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:0.97 [[ 0.86504917 -0.14542541 -0.48014726 4.47942313] [ 0.14325329 0.98881974 -0.04140058 -0.38693674] [ 0.48079978 -0.03296913 0.87621037 0.97123437] [ 0. 0. 0. 1. ]] SLAMing on 154.646502481 meters Centerline goodness : 0.691250 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:0.97 [[ 0.86479364 -0.14517816 -0.48068208 4.47994017] [ 0.14392984 0.98879139 -0.03969631 -0.38991398] [ 0.48105734 -0.03485538 0.87599597 0.97227443] [ 0. 0. 0. 1. ]] SLAMing on 154.676502481 meters Centerline goodness : 0.691596 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:0.97 [[ 0.86465461 -0.1450681 -0.48096534 4.48018496] [ 0.14425777 0.98877548 -0.03889394 -0.39151058] [ 0.48120901 -0.03575316 0.87587648 0.97289855] [ 0. 0. 0. 1. ]] SLAMing on 154.706502481 meters Centerline goodness : 0.690681 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:0.97 [[ 0.86446587 -0.14513487 -0.48128435 4.48041038] [ 0.14514021 0.98870191 -0.03745471 -0.3943933 ] [ 0.48128274 -0.03747539 0.87576396 0.97375754] [ 0. 0. 0. 1. ]] SLAMing on 154.736502481 meters Centerline goodness : 0.689337 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:0.97 [[ 0.86430629 -0.14529786 -0.48152172 4.48051612] [ 0.14560658 0.9886517 -0.03696673 -0.39553821] [ 0.48142845 -0.03816215 0.87565421 0.97435234] [ 0. 0. 0. 1. ]] SLAMing on 154.76650248099997 meters Centerline goodness : 0.692140 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:0.97 [[ 0.86378204 -0.15039856 -0.48089589 4.47973192] [ 0.14943771 0.98793908 -0.04055557 -0.39612322] [ 0.48119534 -0.0368328 0.87583925 0.97475498] [ 0. 0. 0. 1. ]] SLAMing on 154.79650248099998 meters Centerline goodness : 0.689389 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:0.98 [[ 0.86378985 -0.15036126 -0.48089353 4.47928015] [ 0.14984325 0.98791082 -0.03973944 -0.39780206] [ 0.48105519 -0.03773212 0.87587795 0.97519853] [ 0. 0. 0. 1. ]] SLAMing on 154.82650248099998 meters Centerline goodness : 0.688704 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:0.98 [[ 0.86343154 -0.1508828 -0.48137341 4.47967578] [ 0.15083475 0.98778685 -0.03906441 -0.39924197] [ 0.48138847 -0.0388784 0.87564468 0.97622189] [ 0. 0. 0. 1. ]] SLAMing on 154.85650248099998 meters Centerline goodness : 0.689586 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:0.98 [[ 0.86319369 -0.15096189 -0.48177502 4.48013975] [ 0.15115822 0.9877526 -0.03867818 -0.39978165] [ 0.48171346 -0.0394375 0.87544093 0.97683641] [ 0. 0. 0. 1. ]] SLAMing on 154.88650248099998 meters Centerline goodness : 0.688686 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:0.98 [[ 0.86275199 -0.15131907 -0.48245367 4.48117154] [ 0.15199029 0.98765223 -0.03797398 -0.40087437] [ 0.48224263 -0.04056615 0.87509795 0.97779303] [ 0. 0. 0. 1. ]] SLAMing on 154.91650248099998 meters Centerline goodness : 0.690150 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:0.98 [[ 0.86259254 -0.15130735 -0.48274237 4.4817689 ] [ 0.15229352 0.98762638 -0.03742758 -0.40172417] [ 0.48243217 -0.04123378 0.87496227 0.97815519] [ 0. 0. 0. 1. ]] SLAMing on 154.94650248099998 meters Centerline goodness : 0.690694 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:0.98 [[ 0.86238093 -0.15137339 -0.48309961 4.48206183] [ 0.15283441 0.98757312 -0.03661937 -0.40336286] [ 0.48263939 -0.0422544 0.87479928 0.97895131] [ 0. 0. 0. 1. ]] SLAMing on 154.97650248099998 meters Centerline goodness : 0.689804 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:0.98 [[ 0.8623596 -0.15134112 -0.48314778 4.48224882] [ 0.15310448 0.98755159 -0.03606774 -0.4047391 ] [ 0.48259189 -0.04286873 0.8747956 0.97913814] [ 0. 0. 0. 1. ]] SLAMing on 155.00650248099998 meters Centerline goodness : 0.689766 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.98 [[ 0.86236858 -0.15123113 -0.48316621 4.48235349] [ 0.15357563 0.98751731 -0.03498705 -0.40724366] [ 0.48242612 -0.04403082 0.87482931 0.97945165] [ 0. 0. 0. 1. ]] SLAMing on 155.03650248099999 meters Centerline goodness : 0.689239 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.98 [[ 0.8623483 -0.15134232 -0.48316758 4.48211799] [ 0.15385505 0.98748354 -0.03471138 -0.40790362] [ 0.48237334 -0.04440448 0.87483953 0.97970654] [ 0. 0. 0. 1. ]] SLAMing on 155.066502481 meters Centerline goodness : 0.688892 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.98 [[ 0.86234349 -0.15139346 -0.48316014 4.4821858 ] [ 0.15415157 0.9874524 -0.03427897 -0.40937578] [ 0.48228726 -0.04491964 0.87486069 0.9798682 ] [ 0. 0. 0. 1. ]] SLAMing on 155.096502481 meters Centerline goodness : 0.691199 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.98 [[ 0.86219576 -0.15182679 -0.48328779 4.4825607 ] [ 0.15463361 0.98737566 -0.03431834 -0.40978176] [ 0.48239705 -0.04514341 0.87478864 0.98009062] [ 0. 0. 0. 1. ]] SLAMing on 155.126502481 meters Centerline goodness : 0.690243 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.98 [[ 0.86195676 -0.15224676 -0.48358191 4.48392064] [ 0.15504008 0.98730611 -0.03448499 -0.40961875] [ 0.4826936 -0.04525001 0.87461953 0.98002377] [ 0. 0. 0. 1. ]] SLAMing on 155.156502481 meters Centerline goodness : 0.692125 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.98 [[ 0.86183818 -0.15230682 -0.48377432 4.48457732] [ 0.15507225 0.98729802 -0.03457198 -0.40917443] [ 0.48289497 -0.04522452 0.87450968 0.98003692] [ 0. 0. 0. 1. ]] SLAMing on 155.186502481 meters Centerline goodness : 0.693651 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.98 [[ 0.86178607 -0.15220881 -0.48389796 4.48444877] [ 0.15487222 0.98732337 -0.0347441 -0.40843855] [ 0.48305213 -0.04500037 0.87443445 0.98025586] [ 0. 0. 0. 1. ]] SLAMing on 155.216502481 meters Centerline goodness : 0.693037 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.98 [[ 0.86180186 -0.15202729 -0.48392691 4.4836976 ] [ 0.15471014 0.9873516 -0.03466412 -0.4083164 ] [ 0.4830759 -0.04499479 0.8744216 0.98065614] [ 0. 0. 0. 1. ]] SLAMing on 155.246502481 meters Centerline goodness : 0.694829 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.98 [[ 0.8618343 -0.15199761 -0.48387846 4.48222872] [ 0.15462499 0.98736186 -0.03475153 -0.40787834] [ 0.48304528 -0.04486964 0.87444495 0.98128318] [ 0. 0. 0. 1. ]] SLAMing on 155.276502481 meters Centerline goodness : 0.692992 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.98 [[ 0.86192415 -0.15181318 -0.48377631 4.48127833] [ 0.15435541 0.9874007 -0.03484622 -0.40786678] [ 0.48297119 -0.04463869 0.8744977 0.9815339 ] [ 0. 0. 0. 1. ]] SLAMing on 155.306502481 meters Centerline goodness : 0.695209 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.98 [[ 0.86191963 -0.15182757 -0.48377985 4.48053877] [ 0.15433869 0.98740118 -0.03490673 -0.40759126] [ 0.4829846 -0.04457915 0.87449332 0.98189822] [ 0. 0. 0. 1. ]] SLAMing on 155.336502481 meters Centerline goodness : 0.695787 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.98 [[ 0.86179135 -0.15229701 -0.48386082 4.48004882] [ 0.1547976 0.98732397 -0.03505812 -0.40750055] [ 0.48306663 -0.04468771 0.87444247 0.98239388] [ 0. 0. 0. 1. ]] SLAMing on 155.366502481 meters Centerline goodness : 0.694697 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.98 [[ 0.8615873 -0.15264566 -0.48411427 4.4806248 ] [ 0.15520509 0.98725956 -0.03507054 -0.40771062] [ 0.4832998 -0.04492067 0.87430168 0.98271127] [ 0. 0. 0. 1. ]] SLAMing on 155.396502481 meters Centerline goodness : 0.695809 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.98 [[ 0.86134719 -0.15319245 -0.48436876 4.48157493] [ 0.15599656 0.98714439 -0.03479965 -0.40871143] [ 0.48347295 -0.04558528 0.87417155 0.98293753] [ 0. 0. 0. 1. ]] SLAMing on 155.426502481 meters Centerline goodness : 0.697262 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.98 [[ 0.86133472 -0.15309105 -0.48442298 4.48200216] [ 0.15622081 0.98713024 -0.03418995 -0.41001666] [ 0.48342275 -0.04622796 0.87416556 0.98298533] [ 0. 0. 0. 1. ]] SLAMing on 155.456502481 meters Centerline goodness : 0.697525 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.98 [[ 0.86133559 -0.15288517 -0.48448646 4.48191672] [ 0.15661183 0.98710666 -0.0330631 -0.41259639] [ 0.48329467 -0.04739788 0.87417372 0.98347901] [ 0. 0. 0. 1. ]] SLAMing on 155.486502481 meters Centerline goodness : 0.698893 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.98 [[ 0.86152879 -0.1522479 -0.48434361 4.48096454] [ 0.15672215 0.98713945 -0.03152568 -0.41545436] [ 0.4829144 -0.04874709 0.87430967 0.98397769] [ 0. 0. 0. 1. ]] SLAMing on 155.51650248099997 meters Centerline goodness : 0.696173 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.98 [[ 0.86159633 -0.15179476 -0.48436568 4.48038019] [ 0.15671696 0.98716948 -0.03059755 -0.41694324] [ 0.48279556 -0.04954558 0.87433042 0.98444398] [ 0. 0. 0. 1. ]] SLAMing on 155.54650248099998 meters Centerline goodness : 0.696173 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.98 [[ 0.86159633 -0.15179476 -0.48436568 4.48038019] [ 0.15671696 0.98716948 -0.03059755 -0.41694324] [ 0.48279556 -0.04954558 0.87433042 0.98444398] [ 0. 0. 0. 1. ]] SLAMing on 155.57650248099998 meters Centerline goodness : 0.696737 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.86145577 -0.15159784 -0.48467726 4.48073078] [ 0.15704305 0.98714701 -0.02963561 -0.41849891] [ 0.4829404 -0.05058543 0.87419087 0.98510513] [ 0. 0. 0. 1. ]] SLAMing on 155.60650248099998 meters Centerline goodness : 0.695840 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.8614724 -0.15158952 -0.48465031 4.48101209] [ 0.15730087 0.98712046 -0.02914835 -0.41975352] [ 0.48282683 -0.05112542 0.8742222 0.98510002] [ 0. 0. 0. 1. ]] SLAMing on 155.63650248099998 meters Centerline goodness : 0.694916 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.86132082 -0.15179065 -0.48485673 4.48152669] [ 0.15795879 0.98703722 -0.02839979 -0.42137046] [ 0.48288246 -0.05212605 0.87413237 0.98551698] [ 0. 0. 0. 1. ]] SLAMing on 155.66650248099998 meters Centerline goodness : 0.696960 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.86114883 -0.1519113 -0.48512436 4.48199315] [ 0.15831837 0.98699011 -0.02803255 -0.42170007] [ 0.48307141 -0.05266391 0.87399573 0.98591819] [ 0. 0. 0. 1. ]] SLAMing on 155.69650248099998 meters Centerline goodness : 0.696380 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.86108599 -0.15227147 -0.48512299 4.48140011] [ 0.15885983 0.98690969 -0.02779956 -0.42172699] [ 0.48300566 -0.05312874 0.87400393 0.98641162] [ 0. 0. 0. 1. ]] SLAMing on 155.72650248099998 meters Centerline goodness : 0.695663 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.86096979 -0.15264723 -0.48521113 4.48154471] [ 0.15932047 0.98683664 -0.02775651 -0.42167197] [ 0.48306107 -0.05340655 0.87395637 0.98667411] [ 0. 0. 0. 1. ]] SLAMing on 155.75650248099998 meters Centerline goodness : 0.692295 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.86063204 -0.15363077 -0.48549983 4.48219764] [ 0.16044229 0.98665356 -0.02780347 -0.42196882] [ 0.4832916 -0.05396615 0.87379453 0.9872541 ] [ 0. 0. 0. 1. ]] SLAMing on 155.78650248099999 meters Centerline goodness : 0.693082 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.86038419 -0.15429674 -0.48572787 4.48297318] [ 0.16115207 0.9865343 -0.02792989 -0.42198963] [ 0.4834967 -0.05424561 0.87366376 0.98747568] [ 0. 0. 0. 1. ]] SLAMing on 155.816502481 meters Centerline goodness : 0.694085 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.86008518 -0.1553861 -0.48591011 4.4846126 ] [ 0.16220362 0.98635111 -0.02831043 -0.42157634] [ 0.48367703 -0.05446699 0.87355016 0.98726696] [ 0. 0. 0. 1. ]] SLAMing on 155.846502481 meters Centerline goodness : 0.692295 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.42, Z:0.99 [[ 0.85987073 -0.15579859 -0.48615751 4.48555945] [ 0.16265606 0.98627461 -0.02837971 -0.42102795] [ 0.48390633 -0.05467358 0.87341025 0.98734734] [ 0. 0. 0. 1. ]] SLAMing on 155.876502481 meters Centerline goodness : 0.692397 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.42, Z:0.99 [[ 0.85958292 -0.15664244 -0.48639525 4.48624582] [ 0.16334457 0.98614527 -0.02891476 -0.41877497] [ 0.48418566 -0.05459538 0.87326032 0.98750626] [ 0. 0. 0. 1. ]] SLAMing on 155.906502481 meters Centerline goodness : 0.692443 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.42, Z:0.99 [[ 0.85939175 -0.15712718 -0.48657668 4.48605681] [ 0.16382155 0.98606125 -0.029081 -0.41776124] [ 0.48436382 -0.05471977 0.87315373 0.98801385] [ 0. 0. 0. 1. ]] SLAMing on 155.936502481 meters Centerline goodness : 0.691876 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.85948197 -0.15793773 -0.48615473 4.48438673] [ 0.16455483 0.98593026 -0.02938093 -0.41700352] [ 0.48395501 -0.05474673 0.87337869 0.98836528] [ 0. 0. 0. 1. ]] SLAMing on 155.966502481 meters Centerline goodness : 0.691120 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.85950029 -0.15860855 -0.48590388 4.48400586] [ 0.16506757 0.9858316 -0.02981184 -0.41657386] [ 0.48374781 -0.05458369 0.87350368 0.98824438] [ 0. 0. 0. 1. ]] SLAMing on 155.996502481 meters Centerline goodness : 0.689222 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.99 [[ 0.85932647 -0.15965497 -0.48586862 4.48469291] [ 0.16585144 0.98567715 -0.03055913 -0.41483389] [ 0.48378851 -0.05432174 0.87349747 0.98793705] [ 0. 0. 0. 1. ]] SLAMing on 156.026502481 meters Centerline goodness : 0.690816 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.99 [[ 0.85916343 -0.16006923 -0.48602062 4.48495056] [ 0.16616082 0.9856151 -0.030878 -0.41372933] [ 0.48397188 -0.05422834 0.87340169 0.98809384] [ 0. 0. 0. 1. ]] SLAMing on 156.056502481 meters Centerline goodness : 0.691926 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.41, Z:0.99 [[ 0.85874169 -0.1609689 -0.48646862 4.48652783] [ 0.16655534 0.98550995 -0.03208519 -0.41002073] [ 0.48458438 -0.05347106 0.87310871 0.98795523] [ 0. 0. 0. 1. ]] SLAMing on 156.086502481 meters Centerline goodness : 0.691540 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.41, Z:0.99 [[ 0.85832343 -0.16138507 -0.48706852 4.48828185] [ 0.16647823 0.98548743 -0.03315917 -0.40593228] [ 0.4853513 -0.05262502 0.87273405 0.98785303] [ 0. 0. 0. 1. ]] SLAMing on 156.116502481 meters Centerline goodness : 0.692477 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.85836949 -0.16184915 -0.4868333 4.48791515] [ 0.16644821 0.98545893 -0.03414234 -0.4039673 ] [ 0.48528013 -0.05172579 0.87282738 0.98747575] [ 0. 0. 0. 1. ]] SLAMing on 156.146502481 meters Centerline goodness : 0.691046 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.8585009 -0.16224668 -0.48646914 4.48704571] [ 0.16635469 0.98544152 -0.03508746 -0.40197622] [ 0.48507971 -0.05080381 0.87299292 0.98710786] [ 0. 0. 0. 1. ]] SLAMing on 156.176502481 meters Centerline goodness : 0.687863 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.85923792 -0.15772286 -0.48665563 4.48562253] [ 0.16275717 0.9861393 -0.0322396 -0.39989017] [ 0.48499516 -0.05150521 0.8729988 0.9870294 ] [ 0. 0. 0. 1. ]] SLAMing on 156.206502481 meters Centerline goodness : 0.689858 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.8597245 -0.15317997 -0.48724705 4.48548514] [ 0.15953732 0.98677391 -0.02872435 -0.39949911] [ 0.48520268 -0.05303906 0.87279163 0.98723824] [ 0. 0. 0. 1. ]] SLAMing on 156.236502481 meters Centerline goodness : 0.691117 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.86030048 -0.14912282 -0.48748893 4.48551422] [ 0.15584816 0.98741155 -0.02701466 -0.39594743] [ 0.4853807 -0.05273352 0.87271115 0.98635997] [ 0. 0. 0. 1. ]] SLAMing on 156.26650248099997 meters Centerline goodness : 0.689760 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:0.99 [[ 0.8604429 -0.14953296 -0.48711181 4.48550955] [ 0.15551113 0.98742521 -0.02842092 -0.39334909] [ 0.48523634 -0.05129673 0.87287705 0.98539527] [ 0. 0. 0. 1. ]] SLAMing on 156.29650248099998 meters Centerline goodness : 0.688448 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:0.98 [[ 0.86102508 -0.14964437 -0.48604771 4.48466997] [ 0.15427136 0.98754965 -0.03075776 -0.38926559] [ 0.48459897 -0.04850004 0.87339085 0.98324311] [ 0. 0. 0. 1. ]] SLAMing on 156.32650248099998 meters Centerline goodness : 0.689029 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:0.98 [[ 0.86144334 -0.14995766 -0.48520931 4.48336821] [ 0.15344996 0.98761213 -0.03279319 -0.38566537] [ 0.48411619 -0.04620588 0.87378289 0.98197785] [ 0. 0. 0. 1. ]] SLAMing on 156.35650248099998 meters Centerline goodness : 0.690645 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.86156927 -0.15005729 -0.48495485 4.48265686] [ 0.15316971 0.98763267 -0.03347769 -0.38401608] [ 0.48398083 -0.04543704 0.87389818 0.98171383] [ 0. 0. 0. 1. ]] SLAMing on 156.38650248099998 meters Centerline goodness : 0.690688 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.86167301 -0.15009029 -0.48476028 4.48197173] [ 0.15307911 0.98763954 -0.03368874 -0.38298073] [ 0.48382477 -0.04517799 0.87399802 0.98164577] [ 0. 0. 0. 1. ]] SLAMing on 156.41650248099998 meters Centerline goodness : 0.690410 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.86194233 -0.15020416 -0.48424595 4.48000558] [ 0.15317655 0.98762427 -0.03369346 -0.38309253] [ 0.48331395 -0.0451333 0.87428291 0.98177697] [ 0. 0. 0. 1. ]] SLAMing on 156.44650248099998 meters Centerline goodness : 0.689242 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.8619673 -0.15069327 -0.4840495 4.47948269] [ 0.15378281 0.98753359 -0.03358936 -0.38398721] [ 0.48307683 -0.04548556 0.8743957 0.98188315] [ 0. 0. 0. 1. ]] SLAMing on 156.47650248099998 meters Centerline goodness : 0.690015 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.86151978 -0.15542966 -0.483348 4.47884562] [ 0.15732177 0.98685657 -0.03693192 -0.3843149 ] [ 0.48273547 -0.04422359 0.87464892 0.98199846] [ 0. 0. 0. 1. ]] SLAMing on 156.50650248099998 meters Centerline goodness : 0.691096 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:0.98 [[ 0.86114516 -0.15618004 -0.48377352 4.47962268] [ 0.15842415 0.98669489 -0.03653746 -0.38511005] [ 0.48304328 -0.04517736 0.87443021 0.9826777 ] [ 0. 0. 0. 1. ]] SLAMing on 156.53650248099999 meters Centerline goodness : 0.692033 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:0.98 [[ 0.86092451 -0.15617235 -0.48416856 4.4803963 ] [ 0.15873519 0.98666461 -0.03600133 -0.3854627 ] [ 0.48333439 -0.04586015 0.87423378 0.98314714] [ 0. 0. 0. 1. ]] SLAMing on 156.566502481 meters Centerline goodness : 0.694225 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:0.98 [[ 0.86051367 -0.15721608 -0.48456096 4.4816827 ] [ 0.15985021 0.98647763 -0.03619122 -0.38533756] [ 0.48369838 -0.04631414 0.87400851 0.98344351] [ 0. 0. 0. 1. ]] SLAMing on 156.596502481 meters Centerline goodness : 0.695887 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:0.98 [[ 0.8603347 -0.15761755 -0.4847483 4.48237088] [ 0.16037973 0.9863955 -0.03608676 -0.3860548 ] [ 0.48384145 -0.04669711 0.87390894 0.98361214] [ 0. 0. 0. 1. ]] SLAMing on 156.626502481 meters Centerline goodness : 0.696487 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:0.98 [[ 0.85996408 -0.16253318 -0.48378171 4.48203657] [ 0.16370556 0.98569163 -0.04015591 -0.38572493] [ 0.48338625 -0.04466512 0.87426698 0.98306679] [ 0. 0. 0. 1. ]] SLAMing on 156.656502481 meters Centerline goodness : 0.696874 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:0.98 [[ 0.85984895 -0.16278396 -0.48390202 4.48158589] [ 0.16405768 0.98563732 -0.04005175 -0.38594842] [ 0.48347168 -0.04494939 0.87420518 0.98366278] [ 0. 0. 0. 1. ]] SLAMing on 156.686502481 meters Centerline goodness : 0.698123 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:0.98 [[ 0.86004284 -0.16264238 -0.48360497 4.48052153] [ 0.16377978 0.98567631 -0.04022935 -0.38510958] [ 0.48322096 -0.04460575 0.87436139 0.98356841] [ 0. 0. 0. 1. ]] SLAMing on 156.716502481 meters Centerline goodness : 0.701103 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.86019329 -0.16274842 -0.48330162 4.47938952] [ 0.16339499 0.98570367 -0.04111397 -0.38315679] [ 0.48308342 -0.0436031 0.87448795 0.983434 ] [ 0. 0. 0. 1. ]] SLAMing on 156.746502481 meters Centerline goodness : 0.700199 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.86033958 -0.16234118 -0.48317817 4.47882468] [ 0.162818 0.98579132 -0.04130102 -0.38230005] [ 0.4830177 -0.0431372 0.87454736 0.98336269] [ 0. 0. 0. 1. ]] SLAMing on 156.776502481 meters Centerline goodness : 0.702755 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.86043549 -0.16222314 -0.48304702 4.47792748] [ 0.16246057 0.98583391 -0.04169001 -0.38162489] [ 0.48296722 -0.04260453 0.87460135 0.98349228] [ 0. 0. 0. 1. ]] SLAMing on 156.806502481 meters Centerline goodness : 0.703300 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.86061536 -0.16216139 -0.48274722 4.47696562] [ 0.16191223 0.98588845 -0.04252513 -0.38096252] [ 0.48283085 -0.0415649 0.87472666 0.98334289] [ 0. 0. 0. 1. ]] SLAMing on 156.836502481 meters Centerline goodness : 0.704300 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.86072393 -0.1619775 -0.48261538 4.47640323] [ 0.16168038 0.9859254 -0.04255056 -0.38081974] [ 0.482715 -0.04140515 0.87479817 0.9833274 ] [ 0. 0. 0. 1. ]] SLAMing on 156.866502481 meters Centerline goodness : 0.706180 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.86059257 -0.16087853 -0.48321686 4.4766668 ] [ 0.16082207 0.98609431 -0.04188415 -0.38012944] [ 0.48323565 -0.04166675 0.87449825 0.98405149] [ 0. 0. 0. 1. ]] SLAMing on 156.896502481 meters Centerline goodness : 0.705792 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.86066439 -0.16069316 -0.4831506 4.4767372 ] [ 0.16056765 0.98613281 -0.04195368 -0.37945223] [ 0.48319233 -0.04147032 0.87453152 0.9838292 ] [ 0. 0. 0. 1. ]] SLAMing on 156.926502481 meters Centerline goodness : 0.706016 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.86089651 -0.16090973 -0.48266474 4.47579542] [ 0.16047117 0.98612382 -0.04253025 -0.37919803] [ 0.48281073 -0.04083964 0.87477193 0.98344661] [ 0. 0. 0. 1. ]] SLAMing on 156.956502481 meters Centerline goodness : 0.705315 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.86091387 -0.16083347 -0.4826592 4.47576315] [ 0.1605191 0.98612658 -0.04228458 -0.38053159] [ 0.48276384 -0.04107264 0.87478689 0.98354804] [ 0. 0. 0. 1. ]] SLAMing on 156.986502481 meters Centerline goodness : 0.705245 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.86070467 -0.16112102 -0.48293632 4.47666671] [ 0.16077574 0.98607795 -0.04244339 -0.38066846] [ 0.48305138 -0.04111323 0.87462624 0.9836784 ] [ 0. 0. 0. 1. ]] SLAMing on 157.01650248099997 meters Centerline goodness : 0.707467 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.860556 -0.16126982 -0.48315155 4.47782004] [ 0.16096048 0.98604801 -0.0424386 -0.38081053] [ 0.4832547 -0.04124751 0.8745076 0.98355387] [ 0. 0. 0. 1. ]] SLAMing on 157.04650248099998 meters Centerline goodness : 0.707271 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.86017574 -0.1614086 -0.48378194 4.47948422] [ 0.1613431 0.98600015 -0.04209641 -0.38101152] [ 0.48380379 -0.04184457 0.87417557 0.98395093] [ 0. 0. 0. 1. ]] SLAMing on 157.07650248099998 meters Centerline goodness : 0.708263 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.98 [[ 0.86001794 -0.16152621 -0.48402317 4.47986132] [ 0.16164499 0.98596252 -0.04181866 -0.381339 ] [ 0.48398352 -0.04227512 0.87405536 0.98430442] [ 0. 0. 0. 1. ]] SLAMing on 157.10650248099998 meters Centerline goodness : 0.707971 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.85974836 -0.16182409 -0.48440244 4.48027191] [ 0.16238839 0.98586926 -0.04113158 -0.38249125] [ 0.48421356 -0.04329853 0.87387783 0.98504616] [ 0. 0. 0. 1. ]] SLAMing on 157.13650248099998 meters Centerline goodness : 0.707660 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.85935824 -0.1627485 -0.48478484 4.48128434] [ 0.16368017 0.98567133 -0.0407534 -0.38347743] [ 0.48447107 -0.0443279 0.87368348 0.98560595] [ 0. 0. 0. 1. ]] SLAMing on 157.16650248099998 meters Centerline goodness : 0.708433 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.85898624 -0.16323281 -0.48528105 4.48170507] [ 0.16452253 0.98555016 -0.0402891 -0.38411219] [ 0.48484532 -0.04523188 0.8734295 0.98655341] [ 0. 0. 0. 1. ]] SLAMing on 157.19650248099998 meters Centerline goodness : 0.707787 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.8587011 -0.16413629 -0.48548089 4.4807883 ] [ 0.16587937 0.98534524 -0.03973403 -0.38470264] [ 0.48488808 -0.04641161 0.87334387 0.98784603] [ 0. 0. 0. 1. ]] SLAMing on 157.22650248099998 meters Centerline goodness : 0.708177 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.85829888 -0.16477805 -0.48597452 4.48093438] [ 0.16675336 0.98520547 -0.03954118 -0.38480682] [ 0.48530028 -0.04709973 0.87307804 0.98895546] [ 0. 0. 0. 1. ]] SLAMing on 157.25650248099998 meters Centerline goodness : 0.708792 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:0.99 [[ 0.85798112 -0.1656814 -0.48622842 4.48135436] [ 0.1677437 0.98503281 -0.03965355 -0.38506053] [ 0.48552081 -0.04753975 0.87293157 0.98951551] [ 0. 0. 0. 1. ]] SLAMing on 157.28650248099999 meters Centerline goodness : 0.709605 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.85694515 -0.17108226 -0.48618502 4.48199672] [ 0.17177218 0.98417345 -0.04355397 -0.38385379] [ 0.4859417 -0.0461897 0.87276983 0.99028288] [ 0. 0. 0. 1. ]] SLAMing on 157.316502481 meters Centerline goodness : 0.707352 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.85664951 -0.17189559 -0.48641909 4.48210945] [ 0.17258827 0.98402011 -0.04379159 -0.38335041] [ 0.48617375 -0.04643619 0.87262751 0.99087178] [ 0. 0. 0. 1. ]] SLAMing on 157.346502481 meters Centerline goodness : 0.707988 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.85620555 -0.17273045 -0.48690477 4.48180257] [ 0.17350425 0.98385318 -0.04392255 -0.38200747] [ 0.48662957 -0.04687332 0.87235002 0.99208905] [ 0. 0. 0. 1. ]] SLAMing on 157.376502481 meters Centerline goodness : 0.710277 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.85604155 -0.17283936 -0.48715441 4.48183348] [ 0.17377065 0.9838162 -0.04369717 -0.38110097] [ 0.48682299 -0.04724655 0.87222196 0.9925783 ] [ 0. 0. 0. 1. ]] SLAMing on 157.406502481 meters Centerline goodness : 0.710759 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.85589664 -0.17282772 -0.4874131 4.48218235] [ 0.17392395 0.98380105 -0.04342756 -0.38077647] [ 0.487023 -0.04760331 0.87209089 0.99293255] [ 0. 0. 0. 1. ]] SLAMing on 157.436502481 meters Centerline goodness : 0.708875 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.85563874 -0.17329266 -0.48770073 4.48245634] [ 0.1743446 0.98371614 -0.04366366 -0.37941218] [ 0.48732567 -0.04766767 0.87191828 0.9933943 ] [ 0. 0. 0. 1. ]] SLAMing on 157.466502481 meters Centerline goodness : 0.708875 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.85563874 -0.17329266 -0.48770073 4.48245634] [ 0.1743446 0.98371614 -0.04366366 -0.37941218] [ 0.48732567 -0.04766767 0.87191828 0.9933943 ] [ 0. 0. 0. 1. ]] SLAMing on 157.496502481 meters Centerline goodness : 0.710747 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.85548719 -0.17374676 -0.48780501 4.48282009] [ 0.17471004 0.9836383 -0.04395562 -0.37895433] [ 0.48746084 -0.04762096 0.87184527 0.99349981] [ 0. 0. 0. 1. ]] SLAMing on 157.526502481 meters Centerline goodness : 0.710892 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.85550923 -0.17422227 -0.48759671 4.48300047] [ 0.17490055 0.98357682 -0.04456953 -0.37818081] [ 0.48735382 -0.04715129 0.87193062 0.99307098] [ 0. 0. 0. 1. ]] SLAMing on 157.556502481 meters Centerline goodness : 0.710832 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.85549155 -0.17446657 -0.48754039 4.48281284] [ 0.17488664 0.98355554 -0.04509067 -0.37702231] [ 0.48738986 -0.04668961 0.87193532 0.9930102 ] [ 0. 0. 0. 1. ]] SLAMing on 157.586502481 meters Centerline goodness : 0.709595 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.85609039 -0.17007235 -0.48804163 4.48275553] [ 0.17150209 0.98428108 -0.04216383 -0.37555371] [ 0.48754105 -0.04760411 0.87180134 0.99278074] [ 0. 0. 0. 1. ]] SLAMing on 157.616502481 meters Centerline goodness : 0.708637 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85622327 -0.16971102 -0.48793429 4.48242828] [ 0.17085691 0.98437611 -0.04256272 -0.37409192] [ 0.48753422 -0.04692376 0.87184204 0.99254243] [ 0. 0. 0. 1. ]] SLAMing on 157.646502481 meters Centerline goodness : 0.709491 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85710001 -0.16523468 -0.48793142 4.48174668] [ 0.16712934 0.98512219 -0.04002569 -0.37268964] [ 0.4872857 -0.04724163 0.8719638 0.99169788] [ 0. 0. 0. 1. ]] SLAMing on 157.676502481 meters Centerline goodness : 0.709099 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85724177 -0.16512295 -0.48772017 4.48133158] [ 0.16654166 0.98518894 -0.04082432 -0.3708641 ] [ 0.48723755 -0.04622941 0.87204496 0.99128429] [ 0. 0. 0. 1. ]] SLAMing on 157.706502481 meters Centerline goodness : 0.707183 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.8579121 -0.16069192 -0.48802145 4.48145997] [ 0.16289715 0.9859007 -0.03826644 -0.36902486] [ 0.48728979 -0.04666806 0.8719924 0.99057337] [ 0. 0. 0. 1. ]] SLAMing on 157.736502481 meters Centerline goodness : 0.707594 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85807936 -0.16047123 -0.48779995 4.48154246] [ 0.16220836 0.98598468 -0.03902118 -0.36736535] [ 0.48722506 -0.04564196 0.87208288 0.9899236 ] [ 0. 0. 0. 1. ]] SLAMing on 157.76650248099997 meters Centerline goodness : 0.707353 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85854809 -0.16055579 -0.48694663 4.48028875] [ 0.16122973 0.98607077 -0.04085847 -0.36410407] [ 0.4867239 -0.04343131 0.87247554 0.98863535] [ 0. 0. 0. 1. ]] SLAMing on 157.79650248099998 meters Centerline goodness : 0.706761 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85905214 -0.16029634 -0.48614247 4.47911876] [ 0.16001834 0.98620229 -0.04241661 -0.36166558] [ 0.48623404 -0.04135363 0.87284955 0.98739424] [ 0. 0. 0. 1. ]] SLAMing on 157.82650248099998 meters Centerline goodness : 0.707224 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85935555 -0.16011518 -0.48566569 4.47816775] [ 0.15943411 0.98626963 -0.04304637 -0.36040919] [ 0.4858897 -0.04043955 0.8730841 0.98682346] [ 0. 0. 0. 1. ]] SLAMing on 157.85650248099998 meters Centerline goodness : 0.706548 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85986761 -0.15984673 -0.48484711 4.47585255] [ 0.15853888 0.98637071 -0.0440256 -0.35859698] [ 0.48527633 -0.03901093 0.87349014 0.98623497] [ 0. 0. 0. 1. ]] SLAMing on 157.88650248099998 meters Centerline goodness : 0.705428 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.86011494 -0.15940425 -0.484554 4.47495674] [ 0.15803712 0.98645289 -0.04398828 -0.35898584] [ 0.48500161 -0.03874254 0.87365466 0.98611406] [ 0. 0. 0. 1. ]] SLAMing on 157.91650248099998 meters Centerline goodness : 0.706182 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.86017783 -0.1596852 -0.48434982 4.47468958] [ 0.15817947 0.98641641 -0.04429367 -0.35906248] [ 0.48484365 -0.03851376 0.87375244 0.9859584 ] [ 0. 0. 0. 1. ]] SLAMing on 157.94650248099998 meters Centerline goodness : 0.706508 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85988453 -0.16371511 -0.48352452 4.47422316] [ 0.16080779 0.98582696 -0.04781275 -0.35869404] [ 0.48449917 -0.03664106 0.87402402 0.98551488] [ 0. 0. 0. 1. ]] SLAMing on 157.97650248099998 meters Centerline goodness : 0.705360 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85972477 -0.16377086 -0.48378964 4.47473998] [ 0.16122543 0.98578837 -0.04719802 -0.35969757] [ 0.48464386 -0.03742189 0.87391071 0.98587486] [ 0. 0. 0. 1. ]] SLAMing on 158.00650248099998 meters Centerline goodness : 0.703959 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85963949 -0.1638279 -0.48392187 4.47481177] [ 0.16156158 0.98575603 -0.04672165 -0.36059813] [ 0.48468321 -0.03801941 0.8738631 0.98621055] [ 0. 0. 0. 1. ]] SLAMing on 158.03650248099999 meters Centerline goodness : 0.703433 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85916954 -0.1680278 -0.483316 4.47465847] [ 0.16467388 0.9850931 -0.04974023 -0.36103217] [ 0.484469 -0.03685423 0.87403178 0.98620333] [ 0. 0. 0. 1. ]] SLAMing on 158.066502481 meters Centerline goodness : 0.704653 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85898228 -0.16830684 -0.48355171 4.47509779] [ 0.16528043 0.98501645 -0.04924406 -0.36219171] [ 0.4845945 -0.03762186 0.8739295 0.98661545] [ 0. 0. 0. 1. ]] SLAMing on 158.096502481 meters Centerline goodness : 0.705142 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85860353 -0.16892692 -0.48400793 4.4755357 ] [ 0.1665818 0.9848478 -0.0482215 -0.36368094] [ 0.48482005 -0.03922376 0.87373395 0.9876117 ] [ 0. 0. 0. 1. ]] SLAMing on 158.126502481 meters Centerline goodness : 0.705235 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.8584753 -0.1692525 -0.48412163 4.47533593] [ 0.1672368 0.98476099 -0.04772479 -0.36463876] [ 0.48482163 -0.0399924 0.87369823 0.98815687] [ 0. 0. 0. 1. ]] SLAMing on 158.156502481 meters Centerline goodness : 0.706490 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85775484 -0.17426446 -0.48362024 4.47469188] [ 0.17123354 0.98391805 -0.05083647 -0.36545836] [ 0.48470168 -0.03920678 0.87380039 0.98889408] [ 0. 0. 0. 1. ]] SLAMing on 158.186502481 meters Centerline goodness : 0.704912 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85748086 -0.17484517 -0.48389642 4.47556153] [ 0.17209737 0.98378434 -0.05050614 -0.36656207] [ 0.48488047 -0.03996925 0.87366663 0.98922897] [ 0. 0. 0. 1. ]] SLAMing on 158.216502481 meters Centerline goodness : 0.706337 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85689375 -0.17583486 -0.48457734 4.47706846] [ 0.17346747 0.98356193 -0.05014944 -0.36734094] [ 0.48542984 -0.04108566 0.8733097 0.99008538] [ 0. 0. 0. 1. ]] SLAMing on 158.246502481 meters Centerline goodness : 0.706601 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85652214 -0.17649317 -0.48499483 4.47744048] [ 0.17425226 0.98342378 -0.05013798 -0.3670755 ] [ 0.48580446 -0.04156716 0.87307857 0.99088005] [ 0. 0. 0. 1. ]] SLAMing on 158.276502481 meters Centerline goodness : 0.705720 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85634389 -0.17673278 -0.48522229 4.47691888] [ 0.17488018 0.9833433 -0.04952662 -0.36759595] [ 0.48589306 -0.04244394 0.87298708 0.99171019] [ 0. 0. 0. 1. ]] SLAMing on 158.306502481 meters Centerline goodness : 0.706238 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85623428 -0.17687075 -0.48536542 4.47672456] [ 0.1751929 0.98330083 -0.0492639 -0.3681605 ] [ 0.48597356 -0.04285114 0.87292238 0.99219962] [ 0. 0. 0. 1. ]] SLAMing on 158.336502481 meters Centerline goodness : 0.704361 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85611809 -0.17726306 -0.48542726 4.47622826] [ 0.17561427 0.98322272 -0.04932257 -0.36822103] [ 0.48602618 -0.043022 0.87288468 0.99270693] [ 0. 0. 0. 1. ]] SLAMing on 158.366502481 meters Centerline goodness : 0.705709 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85605688 -0.17738349 -0.48549121 4.47617369] [ 0.1757844 0.98319485 -0.04927194 -0.36816631] [ 0.48607249 -0.04316219 0.87285197 0.9929117 ] [ 0. 0. 0. 1. ]] SLAMing on 158.396502481 meters Centerline goodness : 0.705945 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.8560791 -0.17735831 -0.48546123 4.47614117] [ 0.17571312 0.98320393 -0.04934495 -0.36703829] [ 0.48605913 -0.04305873 0.87286452 0.99278398] [ 0. 0. 0. 1. ]] SLAMing on 158.426502481 meters Centerline goodness : 0.706503 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85598975 -0.17749053 -0.48557045 4.47651013] [ 0.17576914 0.98318471 -0.04952813 -0.36638748] [ 0.48619622 -0.04295272 0.87279339 0.99280267] [ 0. 0. 0. 1. ]] SLAMing on 158.456502481 meters Centerline goodness : 0.706111 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85595888 -0.17755499 -0.48560129 4.47650703] [ 0.17579439 0.98317562 -0.04961882 -0.36605423] [ 0.48624142 -0.04289432 0.87277108 0.99285511] [ 0. 0. 0. 1. ]] SLAMing on 158.486502481 meters Centerline goodness : 0.706356 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85612226 -0.17764915 -0.48527873 4.47612068] [ 0.17561687 0.98318298 -0.05009927 -0.36558173] [ 0.48601789 -0.04233203 0.87292303 0.99244226] [ 0. 0. 0. 1. ]] SLAMing on 158.51650248099997 meters Centerline goodness : 0.706927 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85622498 -0.17778955 -0.48504604 4.47559823] [ 0.17567221 0.98316457 -0.05026628 -0.36552458] [ 0.4858169 -0.04216987 0.87304275 0.9923175 ] [ 0. 0. 0. 1. ]] SLAMing on 158.54650248099998 meters Centerline goodness : 0.702948 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85624814 -0.17765489 -0.48505449 4.47528351] [ 0.17549891 0.98319376 -0.05030066 -0.36507858] [ 0.4858387 -0.04205669 0.87303607 0.99241222] [ 0. 0. 0. 1. ]] SLAMing on 158.57650248099998 meters Centerline goodness : 0.702398 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85631192 -0.177683 -0.48493159 4.47543131] [ 0.1754128 0.98319885 -0.05050126 -0.36449848] [ 0.4857574 -0.04181838 0.87309276 0.99206169] [ 0. 0. 0. 1. ]] SLAMing on 158.60650248099998 meters Centerline goodness : 0.703055 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85632713 -0.17719062 -0.48508487 4.47577721] [ 0.17485387 0.98329822 -0.05050479 -0.36347344] [ 0.48593206 -0.04157035 0.87300741 0.99193664] [ 0. 0. 0. 1. ]] SLAMing on 158.63650248099998 meters Centerline goodness : 0.701701 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.8562394 -0.17739345 -0.48516559 4.47612432] [ 0.17492049 0.98327057 -0.0508114 -0.36269348] [ 0.48606266 -0.04135868 0.87294476 0.99186781] [ 0. 0. 0. 1. ]] SLAMing on 158.66650248099998 meters Centerline goodness : 0.699332 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85634766 -0.17751148 -0.48493129 4.47546791] [ 0.17500148 0.98325228 -0.0508865 -0.36299139] [ 0.48584273 -0.04128716 0.87307057 0.99184562] [ 0. 0. 0. 1. ]] SLAMing on 158.69650248099998 meters Centerline goodness : 0.696535 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85642615 -0.17740792 -0.48483057 4.47500447] [ 0.17500019 0.98326393 -0.05066526 -0.36363766] [ 0.48570483 -0.04145439 0.87313937 0.99196726] [ 0. 0. 0. 1. ]] SLAMing on 158.72650248099998 meters Centerline goodness : 0.694326 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85624376 -0.17759695 -0.48508345 4.47439628] [ 0.17530856 0.98321617 -0.05052601 -0.36386551] [ 0.48591516 -0.0417767 0.87300697 0.99289799] [ 0. 0. 0. 1. ]] SLAMing on 158.75650248099998 meters Centerline goodness : 0.694923 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85615779 -0.17762221 -0.48522591 4.47425384] [ 0.17535865 0.98320846 -0.05050223 -0.36366064] [ 0.48604853 -0.04185069 0.87292917 0.9932433 ] [ 0. 0. 0. 1. ]] SLAMing on 158.78650248099999 meters Centerline goodness : 0.693552 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85612849 -0.17782179 -0.48520452 4.4737435 ] [ 0.17539715 0.98318405 -0.05084257 -0.36314224] [ 0.48608626 -0.04157572 0.8729213 0.99344151] [ 0. 0. 0. 1. ]] SLAMing on 158.816502481 meters Centerline goodness : 0.691668 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85628748 -0.1777232 -0.48496002 4.47341786] [ 0.17519918 0.9832127 -0.0509709 -0.36331513] [ 0.48587756 -0.04131885 0.87304968 0.99313271] [ 0. 0. 0. 1. ]] SLAMing on 158.846502481 meters Centerline goodness : 0.692011 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85656211 -0.1776471 -0.48450269 4.47276157] [ 0.17483426 0.98325398 -0.05142554 -0.36318728] [ 0.4855248 -0.0406585 0.8732769 0.99262933] [ 0. 0. 0. 1. ]] SLAMing on 158.876502481 meters Centerline goodness : 0.690222 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85679928 -0.17733314 -0.48419827 4.4719507 ] [ 0.17451056 0.98331646 -0.05133036 -0.3634847 ] [ 0.4852227 -0.04051789 0.87345133 0.99243823] [ 0. 0. 0. 1. ]] SLAMing on 158.906502481 meters Centerline goodness : 0.690508 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85722974 -0.17615074 -0.48386784 4.47024505] [ 0.17341547 0.9835363 -0.05082741 -0.36348422] [ 0.48485487 -0.0403394 0.87366383 0.99248338] [ 0. 0. 0. 1. ]] SLAMing on 158.936502481 meters Centerline goodness : 0.688970 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.8573796 -0.17603485 -0.48364444 4.46942284] [ 0.17318144 0.9835692 -0.05098835 -0.36309769] [ 0.48467351 -0.04004187 0.87377814 0.99242861] [ 0. 0. 0. 1. ]] SLAMing on 158.966502481 meters Centerline goodness : 0.689223 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85771465 -0.1758787 -0.48310688 4.46904759] [ 0.17272304 0.9836262 -0.05144164 -0.36330778] [ 0.48424408 -0.03932144 0.87404891 0.99160613] [ 0. 0. 0. 1. ]] SLAMing on 158.996502481 meters Centerline goodness : 0.688364 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85784038 -0.17604989 -0.48282121 4.46923135] [ 0.17272015 0.98360923 -0.05177481 -0.36350236] [ 0.48402235 -0.03897843 0.87418708 0.99102713] [ 0. 0. 0. 1. ]] SLAMing on 159.026502481 meters Centerline goodness : 0.690213 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85820323 -0.17582247 -0.48225892 4.46880432] [ 0.17238271 0.98366384 -0.05186178 -0.3645727 ] [ 0.48349913 -0.03862515 0.87449225 0.99028083] [ 0. 0. 0. 1. ]] SLAMing on 159.056502481 meters Centerline goodness : 0.690793 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.8584279 -0.17579695 -0.48186821 4.4684989 ] [ 0.17235922 0.98367039 -0.05181559 -0.36507465] [ 0.48310851 -0.03857448 0.87471034 0.98982863] [ 0. 0. 0. 1. ]] SLAMing on 159.086502481 meters Centerline goodness : 0.689589 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85877952 -0.17562438 -0.48130429 4.46796213] [ 0.17218478 0.98370587 -0.0517219 -0.36552474] [ 0.48254548 -0.03845556 0.8750263 0.98910159] [ 0. 0. 0. 1. ]] SLAMing on 159.116502481 meters Centerline goodness : 0.690804 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85892095 -0.17552092 -0.4810896 4.46829437] [ 0.17204458 0.98372936 -0.0517417 -0.36589656] [ 0.48234372 -0.03832683 0.87514318 0.98856029] [ 0. 0. 0. 1. ]] SLAMing on 159.146502481 meters Centerline goodness : 0.689317 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.859015 -0.17579964 -0.48081983 4.46912328] [ 0.17225543 0.9836834 -0.05191382 -0.3663064 ] [ 0.48210091 -0.03822908 0.87528124 0.98778789] [ 0. 0. 0. 1. ]] SLAMing on 159.176502481 meters Centerline goodness : 0.692114 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85892049 -0.17611025 -0.48087501 4.46953837] [ 0.17262838 0.9836194 -0.05188752 -0.36656166] [ 0.48213592 -0.03844542 0.87525248 0.98782246] [ 0. 0. 0. 1. ]] SLAMing on 159.206502481 meters Centerline goodness : 0.689336 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85877616 -0.17664124 -0.48093801 4.47020458] [ 0.17340061 0.98349893 -0.05159534 -0.36788504] [ 0.48211589 -0.0390861 0.87523514 0.98791836] [ 0. 0. 0. 1. ]] SLAMing on 159.236502481 meters Centerline goodness : 0.691128 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85858241 -0.1773171 -0.48103523 4.47094459] [ 0.1741474 0.9833639 -0.05165389 -0.36845258] [ 0.48219179 -0.03942192 0.87517826 0.9879681 ] [ 0. 0. 0. 1. ]] SLAMing on 159.26650248099997 meters Centerline goodness : 0.692929 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85778828 -0.18283567 -0.48038566 4.47159605] [ 0.17812216 0.98242201 -0.0558524 -0.36715697] [ 0.48215326 -0.0376578 0.87527717 0.9877353 ] [ 0. 0. 0. 1. ]] SLAMing on 159.29650248099998 meters Centerline goodness : 0.691970 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85749171 -0.18340915 -0.48069643 4.47199683] [ 0.17889265 0.98229212 -0.05567423 -0.36750141] [ 0.48239548 -0.03825287 0.87511789 0.98833646] [ 0. 0. 0. 1. ]] SLAMing on 159.32650248099998 meters Centerline goodness : 0.692454 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85742633 -0.1840935 -0.48055143 4.47094604] [ 0.1798619 0.98213486 -0.05532459 -0.36816715] [ 0.48215121 -0.03899614 0.87521969 0.98896361] [ 0. 0. 0. 1. ]] SLAMing on 159.35650248099998 meters Centerline goodness : 0.692454 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85742633 -0.1840935 -0.48055143 4.47094604] [ 0.1798619 0.98213486 -0.05532459 -0.36816715] [ 0.48215121 -0.03899614 0.87521969 0.98896361] [ 0. 0. 0. 1. ]] SLAMing on 159.38650248099998 meters Centerline goodness : 0.694205 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85733493 -0.18468616 -0.48048709 4.47020137] [ 0.18053543 0.98201107 -0.05532828 -0.36839233] [ 0.48206201 -0.03931008 0.87525479 0.98944956] [ 0. 0. 0. 1. ]] SLAMing on 159.41650248099998 meters Centerline goodness : 0.694521 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85706597 -0.18541319 -0.48068687 4.46973279] [ 0.18141428 0.98185274 -0.05526351 -0.36849271] [ 0.48221031 -0.03983899 0.87514917 0.99031651] [ 0. 0. 0. 1. ]] SLAMing on 159.44650248099998 meters Centerline goodness : 0.694961 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85679493 -0.18584839 -0.48100189 4.4701275 ] [ 0.18195098 0.98175563 -0.05522437 -0.36846417] [ 0.48248967 -0.04020281 0.87497854 0.99086984] [ 0. 0. 0. 1. ]] SLAMing on 159.47650248099998 meters Centerline goodness : 0.694581 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85639367 -0.18691556 -0.48130287 4.47022627] [ 0.18319333 0.98152491 -0.05521818 -0.36856927] [ 0.4827319 -0.04088298 0.87481341 0.99173372] [ 0. 0. 0. 1. ]] SLAMing on 159.50650248099998 meters Centerline goodness : 0.695288 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85633983 -0.18721245 -0.48128327 4.47018352] [ 0.18361754 0.9814543 -0.05506416 -0.369298 ] [ 0.48266624 -0.04121842 0.8748339 0.99192085] [ 0. 0. 0. 1. ]] SLAMing on 159.53650248099999 meters Centerline goodness : 0.696275 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85597945 -0.18805132 -0.48159722 4.47056682] [ 0.18474195 0.98125805 -0.05480006 -0.37010095] [ 0.48287637 -0.04206349 0.8746777 0.99267227] [ 0. 0. 0. 1. ]] SLAMing on 159.566502481 meters Centerline goodness : 0.695995 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85558951 -0.18877071 -0.48200852 4.47151104] [ 0.18550859 0.98110521 -0.05494658 -0.36977634] [ 0.48327337 -0.04240501 0.87444191 0.99316614] [ 0. 0. 0. 1. ]] SLAMing on 159.596502481 meters Centerline goodness : 0.698173 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85522361 -0.18956597 -0.48234565 4.47310536] [ 0.18659038 0.98091529 -0.05467378 -0.37015333] [ 0.48350451 -0.04324275 0.8742731 0.99327171] [ 0. 0. 0. 1. ]] SLAMing on 159.626502481 meters Centerline goodness : 0.698571 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85505155 -0.19014603 -0.48242237 4.4743797 ] [ 0.18733844 0.98078059 -0.05453211 -0.37092112] [ 0.48351956 -0.04374849 0.87423962 0.993029 ] [ 0. 0. 0. 1. ]] SLAMing on 159.656502481 meters Centerline goodness : 0.698921 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.8548587 -0.19067078 -0.48255699 4.47522127] [ 0.18787716 0.98067039 -0.05466041 -0.37100206] [ 0.4836515 -0.04393451 0.8741573 0.99303838] [ 0. 0. 0. 1. ]] SLAMing on 159.686502481 meters Centerline goodness : 0.699998 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85460666 -0.19142232 -0.48270587 4.47632826] [ 0.18859751 0.98051692 -0.05493227 -0.37088807] [ 0.48381654 -0.04409164 0.87405806 0.99293744] [ 0. 0. 0. 1. ]] SLAMing on 159.716502481 meters Centerline goodness : 0.700440 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85468903 -0.19167118 -0.48246121 4.47632339] [ 0.18887377 0.98046424 -0.05492339 -0.37114563] [ 0.4835632 -0.04418185 0.87419369 0.99260346] [ 0. 0. 0. 1. ]] SLAMing on 159.746502481 meters Centerline goodness : 0.701159 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85468731 -0.19194842 -0.48235403 4.47623083] [ 0.18915555 0.98040687 -0.05497768 -0.37144121] [ 0.48345608 -0.04425122 0.87424942 0.99256163] [ 0. 0. 0. 1. ]] SLAMing on 159.776502481 meters Centerline goodness : 0.700174 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85471065 -0.19248233 -0.48209984 4.47630289] [ 0.18961469 0.98030409 -0.05522824 -0.37175644] [ 0.48323491 -0.04420905 0.87437383 0.99226506] [ 0. 0. 0. 1. ]] SLAMing on 159.806502481 meters Centerline goodness : 0.699978 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85475957 -0.19277752 -0.48189513 4.4767094 ] [ 0.18978385 0.98025525 -0.05551335 -0.37157936] [ 0.48308196 -0.04400535 0.87446861 0.99176697] [ 0. 0. 0. 1. ]] SLAMing on 159.836502481 meters Centerline goodness : 0.701236 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.8546192 -0.19303166 -0.48204233 4.47723881] [ 0.18984916 0.98021847 -0.05593797 -0.37045118] [ 0.48330459 -0.04370967 0.87436042 0.99170052] [ 0. 0. 0. 1. ]] SLAMing on 159.866502481 meters Centerline goodness : 0.702633 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85458663 -0.1931348 -0.48205876 4.47728388] [ 0.189725 0.98021728 -0.05637824 -0.36938762] [ 0.48341092 -0.0432785 0.87432308 0.99161436] [ 0. 0. 0. 1. ]] SLAMing on 159.896502481 meters Centerline goodness : 0.701439 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.8548623 -0.19321548 -0.48153735 4.47707708] [ 0.18917351 0.98025925 -0.05749078 -0.36792803] [ 0.48313955 -0.04194741 0.87453793 0.99064261] [ 0. 0. 0. 1. ]] SLAMing on 159.926502481 meters Centerline goodness : 0.698636 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85502078 -0.1928971 -0.48138361 4.47654723] [ 0.18877467 0.98033344 -0.05753667 -0.36767688] [ 0.48301511 -0.04167798 0.87461955 0.99049768] [ 0. 0. 0. 1. ]] SLAMing on 159.956502481 meters Centerline goodness : 0.701772 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.99 [[ 0.85601658 -0.19181096 -0.480046 4.47387065] [ 0.18684124 0.98063743 -0.05865647 -0.36604358] [ 0.48200203 -0.03948148 0.8752801 0.9890295 ] [ 0. 0. 0. 1. ]] SLAMing on 159.986502481 meters Centerline goodness : 0.699651 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85656972 -0.19129116 -0.47926611 4.47231628] [ 0.18583949 0.98078767 -0.05932307 -0.36487871] [ 0.48140627 -0.03825222 0.87566248 0.98815663] [ 0. 0. 0. 1. ]] SLAMing on 160.01650248099997 meters Centerline goodness : 0.700052 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85802678 -0.18586271 -0.47879546 4.47035988] [ 0.18131591 0.98181763 -0.05620222 -0.364782 ] [ 0.48053572 -0.03859022 0.87612569 0.98687209] [ 0. 0. 0. 1. ]] SLAMing on 160.04650248099998 meters Centerline goodness : 0.699993 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85842715 -0.18537383 -0.47826704 4.4691582 ] [ 0.18041379 0.98195058 -0.05677967 -0.36367288] [ 0.48016006 -0.03754476 0.87637703 0.98630611] [ 0. 0. 0. 1. ]] SLAMing on 160.07650248099998 meters Centerline goodness : 0.700835 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.99 [[ 0.85904652 -0.18455583 -0.47747065 4.46799238] [ 0.17898991 0.98216323 -0.05760206 -0.36263596] [ 0.47958492 -0.03597958 0.87675754 0.98510803] [ 0. 0. 0. 1. ]] SLAMing on 160.10650248099998 meters Centerline goodness : 0.699298 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.85932804 -0.18442846 -0.47701307 4.46807084] [ 0.17864282 0.98220704 -0.05793165 -0.36267431] [ 0.47920984 -0.03543267 0.87698487 0.98417265] [ 0. 0. 0. 1. ]] SLAMing on 160.13650248099998 meters Centerline goodness : 0.698435 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.85947182 -0.18418352 -0.47684863 4.46910417] [ 0.17811009 0.98227721 -0.05838051 -0.36247111] [ 0.47915027 -0.03475515 0.87704452 0.98318888] [ 0. 0. 0. 1. ]] SLAMing on 160.16650248099998 meters Centerline goodness : 0.699402 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.85964721 -0.18416262 -0.47654046 4.46914956] [ 0.17806182 0.98228482 -0.05839967 -0.36253669] [ 0.47885349 -0.03465055 0.87721073 0.98261081] [ 0. 0. 0. 1. ]] SLAMing on 160.19650248099998 meters Centerline goodness : 0.700577 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.85967687 -0.18426106 -0.47644888 4.46924905] [ 0.17823515 0.98226046 -0.05828057 -0.36313501] [ 0.47873573 -0.03481748 0.8772684 0.98247013] [ 0. 0. 0. 1. ]] SLAMing on 160.22650248099998 meters Centerline goodness : 0.700134 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.8596618 -0.18446909 -0.47639557 4.46977246] [ 0.17853994 0.98221265 -0.05815317 -0.36378059] [ 0.47864922 -0.03506358 0.8773058 0.98223253] [ 0. 0. 0. 1. ]] SLAMing on 160.25650248099998 meters Centerline goodness : 0.700655 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.85926071 -0.1893533 -0.47520138 4.46924995] [ 0.18178159 0.98136061 -0.0623443 -0.36322217] [ 0.47814901 -0.03281286 0.87766556 0.98149075] [ 0. 0. 0. 1. ]] SLAMing on 160.28650248099999 meters Centerline goodness : 0.701905 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.85914336 -0.18964755 -0.47529622 4.46947522] [ 0.18243724 0.98127556 -0.06176519 -0.36453355] [ 0.47811018 -0.03364658 0.87765515 0.98175601] [ 0. 0. 0. 1. ]] SLAMing on 160.316502481 meters Centerline goodness : 0.703669 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.36, Z:0.98 [[ 0.85818429 -0.19430496 -0.47514767 4.47059028] [ 0.18606283 0.98039454 -0.06486263 -0.3646438 ] [ 0.47843531 -0.03274323 0.87751213 0.9822117 ] [ 0. 0. 0. 1. ]] SLAMing on 160.346502481 meters Centerline goodness : 0.703231 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.85775626 -0.19503197 -0.47562247 4.47183638] [ 0.18708379 0.98022078 -0.0645514 -0.36531866] [ 0.47880461 -0.03361188 0.87727783 0.98277134] [ 0. 0. 0. 1. ]] SLAMing on 160.376502481 meters Centerline goodness : 0.704226 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.85739558 -0.19604584 -0.4758559 4.47145094] [ 0.18868169 0.97996588 -0.06376592 -0.36756472] [ 0.47882359 -0.03511267 0.87720868 0.98393342] [ 0. 0. 0. 1. ]] SLAMing on 160.406502481 meters Centerline goodness : 0.705141 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.85756273 -0.19627558 -0.47545984 4.46984369] [ 0.18946971 0.97987822 -0.06276872 -0.37036501] [ 0.47821271 -0.03625712 0.87749531 0.98442483] [ 0. 0. 0. 1. ]] SLAMing on 160.436502481 meters Centerline goodness : 0.704504 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.85745062 -0.19649579 -0.47557106 4.47005181] [ 0.18982595 0.97982092 -0.06258647 -0.37080549] [ 0.47827245 -0.03661091 0.87744806 0.98464938] [ 0. 0. 0. 1. ]] SLAMing on 160.466502481 meters Centerline goodness : 0.704228 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.85751541 -0.19652924 -0.4754404 4.47028431] [ 0.18982986 0.97981687 -0.06263799 -0.37084909] [ 0.47815473 -0.03653975 0.87751519 0.98431381] [ 0. 0. 0. 1. ]] SLAMing on 160.496502481 meters Centerline goodness : 0.705736 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.85778952 -0.19614045 -0.47510636 4.46997139] [ 0.1894888 0.97989683 -0.06241948 -0.3711673 ] [ 0.47779821 -0.03648456 0.87771166 0.98380422] [ 0. 0. 0. 1. ]] SLAMing on 160.526502481 meters Centerline goodness : 0.706151 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.85793501 -0.19597965 -0.47490999 4.46975409] [ 0.18930143 0.9799337 -0.06240917 -0.37139492] [ 0.47761123 -0.03635813 0.87781866 0.98351295] [ 0. 0. 0. 1. ]] SLAMing on 160.556502481 meters Centerline goodness : 0.705624 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.85839861 -0.19539306 -0.47431359 4.46984368] [ 0.18845749 0.9800792 -0.06267801 -0.37151609] [ 0.47711173 -0.03558523 0.87812191 0.98219968] [ 0. 0. 0. 1. ]] SLAMing on 160.586502481 meters Centerline goodness : 0.706427 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.85857331 -0.19485525 -0.47421863 4.4699001 ] [ 0.18795546 0.98018928 -0.06246378 -0.37200298] [ 0.47699541 -0.03550224 0.87818846 0.98188127] [ 0. 0. 0. 1. ]] SLAMing on 160.616502481 meters Centerline goodness : 0.706992 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.37, Z:0.98 [[ 0.85904517 -0.19397924 -0.47372297 4.46909577] [ 0.18705835 0.98037559 -0.06223246 -0.37350017] [ 0.47649824 -0.03515334 0.87847235 0.98127089] [ 0. 0. 0. 1. ]] SLAMing on 160.646502481 meters Centerline goodness : 0.707567 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.38, Z:0.98 [[ 0.85930698 -0.1931209 -0.4735988 4.46866774] [ 0.18657451 0.98052604 -0.06130779 -0.37548835] [ 0.47621577 -0.03567926 0.87860431 0.98125214] [ 0. 0. 0. 1. ]] SLAMing on 160.676502481 meters Centerline goodness : 0.705054 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.38, Z:0.98 [[ 0.85909904 -0.19298968 -0.47402934 4.46935217] [ 0.18675905 0.98052696 -0.06072844 -0.37656358] [ 0.47651851 -0.03635752 0.87841234 0.98179682] [ 0. 0. 0. 1. ]] SLAMing on 160.706502481 meters Centerline goodness : 0.707717 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.38, Z:0.98 [[ 0.85903225 -0.19265761 -0.4742854 4.47006904] [ 0.18680102 0.98056534 -0.05997501 -0.37801131] [ 0.47662247 -0.03707653 0.87832588 0.98196423] [ 0. 0. 0. 1. ]] SLAMing on 160.736502481 meters Centerline goodness : 0.706178 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.38, Z:0.98 [[ 0.85862728 -0.19649897 -0.47344202 4.47075297] [ 0.18961333 0.97984845 -0.06279974 -0.38007205] [ 0.47624151 -0.03584935 0.87858343 0.98126733] [ 0. 0. 0. 1. ]] SLAMing on 160.76650248099997 meters Centerline goodness : 0.707334 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.38, Z:0.98 [[ 0.85861801 -0.19614283 -0.47360648 4.47183015] [ 0.18977845 0.97988259 -0.06175962 -0.3824525 ] [ 0.47619245 -0.03685238 0.87856853 0.98118568] [ 0. 0. 0. 1. ]] SLAMing on 160.79650248099998 meters Centerline goodness : 0.708445 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.38, Z:0.98 [[ 0.85805115 -0.20036738 -0.47286482 4.47213752] [ 0.19300534 0.9790664 -0.06463689 -0.38376562] [ 0.47591718 -0.03580368 0.87876102 0.98102733] [ 0. 0. 0. 1. ]] SLAMing on 160.82650248099998 meters Centerline goodness : 0.709403 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.39, Z:0.98 [[ 0.85803518 -0.19996861 -0.47306255 4.47232496] [ 0.19329214 0.97909818 -0.06328432 -0.38614277] [ 0.47582956 -0.0371391 0.87875304 0.98144505] [ 0. 0. 0. 1. ]] SLAMing on 160.85650248099998 meters Centerline goodness : 0.708426 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.39, Z:0.98 [[ 0.85731631 -0.20423 -0.47254508 4.47133125] [ 0.19704433 0.97821819 -0.06528941 -0.38907387] [ 0.47558624 -0.03713865 0.87888477 0.98256975] [ 0. 0. 0. 1. ]] SLAMing on 160.88650248099998 meters Centerline goodness : 0.710152 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.39, Z:0.98 [[ 0.85697981 -0.20399725 -0.47325545 4.47262169] [ 0.19770465 0.97819339 -0.063644 -0.39187005] [ 0.47591855 -0.03902318 0.8786232 0.98350737] [ 0. 0. 0. 1. ]] SLAMing on 160.91650248099998 meters Centerline goodness : 0.709546 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.39, Z:0.98 [[ 0.85587308 -0.20868395 -0.47321483 4.47361099] [ 0.20195835 0.97719038 -0.06566412 -0.39437381] [ 0.47612403 -0.03936953 0.87849641 0.9846364 ] [ 0. 0. 0. 1. ]] SLAMing on 160.94650248099998 meters Centerline goodness : 0.709294 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.40, Z:0.99 [[ 0.85503068 -0.21305237 -0.4727909 4.47337287] [ 0.20601651 0.97622877 -0.06733931 -0.39769761] [ 0.47589888 -0.03982556 0.87859785 0.98571576] [ 0. 0. 0. 1. ]] SLAMing on 160.97650248099998 meters Centerline goodness : 0.709725 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.40, Z:0.99 [[ 0.85471553 -0.21348201 -0.47316677 4.47391382] [ 0.20697276 0.97608292 -0.06651631 -0.39957286] [ 0.47605004 -0.04108011 0.87845819 0.98653569] [ 0. 0. 0. 1. ]] SLAMing on 161.00650248099998 meters Centerline goodness : 0.708536 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.40, Z:0.99 [[ 0.85440986 -0.21365229 -0.47364174 4.47486029] [ 0.20767444 0.97599399 -0.06562822 -0.40128892] [ 0.47629311 -0.04228988 0.878269 0.98725232] [ 0. 0. 0. 1. ]] SLAMing on 161.03650248099999 meters Centerline goodness : 0.710297 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:0.99 [[ 0.85376374 -0.21468367 -0.47433996 4.47639737] [ 0.20939453 0.97568824 -0.06470227 -0.40354403] [ 0.47669844 -0.04408374 0.87796083 0.98838871] [ 0. 0. 0. 1. ]] SLAMing on 161.066502481 meters Centerline goodness : 0.709872 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:0.99 [[ 0.85362457 -0.21481066 -0.47453291 4.47710242] [ 0.20985415 0.97562638 -0.06414369 -0.40486014] [ 0.47674557 -0.04482807 0.87789755 0.98860882] [ 0. 0. 0. 1. ]] SLAMing on 161.096502481 meters Centerline goodness : 0.709562 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.99 [[ 0.85328512 -0.21520477 -0.47496464 4.4777012 ] [ 0.21094036 0.97546531 -0.06302054 -0.40722764] [ 0.47687385 -0.04641472 0.87774541 0.98957363] [ 0. 0. 0. 1. ]] SLAMing on 161.126502481 meters Centerline goodness : 0.708459 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.99 [[ 0.8532954 -0.21498455 -0.47504589 4.47738001] [ 0.21114502 0.97547437 -0.06218946 -0.40872478] [ 0.47676486 -0.0472376 0.87776072 0.99008602] [ 0. 0. 0. 1. ]] SLAMing on 161.156502481 meters Centerline goodness : 0.710623 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.99 [[ 0.85336606 -0.21517954 -0.47483064 4.47567633] [ 0.21207786 0.97535606 -0.06085669 -0.41176615] [ 0.47622406 -0.04876803 0.87797057 0.99113603] [ 0. 0. 0. 1. ]] SLAMing on 161.186502481 meters Centerline goodness : 0.710245 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.99 [[ 0.85318846 -0.21536303 -0.47506653 4.47602666] [ 0.21262372 0.97527396 -0.06026493 -0.41318145] [ 0.47629885 -0.04959307 0.87788378 0.99171161] [ 0. 0. 0. 1. ]] SLAMing on 161.216502481 meters Centerline goodness : 0.710532 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.99 [[ 0.85274902 -0.21600592 -0.47556341 4.47807069] [ 0.21376131 0.97506716 -0.05958306 -0.41473209] [ 0.47657656 -0.05084766 0.87766127 0.99203098] [ 0. 0. 0. 1. ]] SLAMing on 161.246502481 meters Centerline goodness : 0.711620 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.85260449 -0.21623814 -0.47571698 4.4792854 ] [ 0.21413282 0.9749964 -0.05940676 -0.41506604] [ 0.47666835 -0.05121614 0.87758999 0.99186925] [ 0. 0. 0. 1. ]] SLAMing on 161.276502481 meters Centerline goodness : 0.711620 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.85260449 -0.21623814 -0.47571698 4.4792854 ] [ 0.21413282 0.9749964 -0.05940676 -0.41506604] [ 0.47666835 -0.05121614 0.87758999 0.99186925] [ 0. 0. 0. 1. ]] SLAMing on 161.306502481 meters Centerline goodness : 0.146104 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.85253836 -0.21653135 -0.47570213 4.4802506 ] [ 0.21445059 0.9749247 -0.05943719 -0.41546691] [ 0.47664377 -0.05134212 0.87759598 0.99151694] [ 0. 0. 0. 1. ]] SLAMing on 161.336502481 meters Centerline goodness : 0.342482 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.85259233 -0.21651213 -0.47561415 4.48064842] [ 0.21440511 0.97493272 -0.05946967 -0.41546724] [ 0.4765677 -0.05127072 0.87764146 0.99118662] [ 0. 0. 0. 1. ]] SLAMing on 161.366502481 meters Centerline goodness : 0.452642 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.99 [[ 0.85284248 -0.21630585 -0.47525938 4.48058608] [ 0.21396173 0.97500939 -0.05980858 -0.41461533] [ 0.47631931 -0.05068002 0.8778106 0.99039026] [ 0. 0. 0. 1. ]] SLAMing on 161.396502481 meters Centerline goodness : 0.592322 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.99 [[ 0.85327765 -0.21549904 -0.47484462 4.48016847] [ 0.21298456 0.97522018 -0.05985968 -0.4138648 ] [ 0.47597776 -0.05005765 0.87803155 0.98953353] [ 0. 0. 0. 1. ]] SLAMing on 161.426502481 meters Centerline goodness : 0.456497 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.99 [[ 0.85353372 -0.21516051 -0.47453782 4.47944393] [ 0.2125703 0.97530971 -0.05987346 -0.41351573] [ 0.47570375 -0.04976864 0.87819646 0.98918726] [ 0. 0. 0. 1. ]] SLAMing on 161.456502481 meters Centerline goodness : 0.282299 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.99 [[ 0.8538039 -0.21499319 -0.47412744 4.47850686] [ 0.2121883 0.97537421 -0.06017711 -0.41256764] [ 0.47538935 -0.04922485 0.87839734 0.98877553] [ 0. 0. 0. 1. ]] SLAMing on 161.486502481 meters Centerline goodness : 0.476970 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.99 [[ 0.8546574 -0.21176221 -0.47404376 4.47706636] [ 0.20969743 0.97604757 -0.05794937 -0.41239556] [ 0.47496075 -0.0498789 0.87859227 0.98838751] [ 0. 0. 0. 1. ]] SLAMing on 161.51650248099997 meters Centerline goodness : 0.230267 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.99 [[ 0.8549804 -0.21170621 -0.47348601 4.47659831] [ 0.20922158 0.97610811 -0.05864543 -0.41138436] [ 0.47458913 -0.0489228 0.87884681 0.98742648] [ 0. 0. 0. 1. ]] SLAMing on 161.54650248099998 meters Centerline goodness : 0.515352 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.99 [[ 0.85547054 -0.21144358 -0.47271744 4.47581277] [ 0.20822061 0.97624866 -0.05985587 -0.40966313] [ 0.4741459 -0.04722458 0.87917888 0.98606594] [ 0. 0. 0. 1. ]] SLAMing on 161.57650248099998 meters Centerline goodness : 0.232120 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:0.99 [[ 0.85575756 -0.2110306 -0.47238235 4.47528712] [ 0.20751032 0.97637494 -0.06026149 -0.40861415] [ 0.47393931 -0.04645499 0.87933126 0.9854515 ] [ 0. 0. 0. 1. ]] SLAMing on 161.60650248099998 meters Centerline goodness : 0.329618 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.41, Z:0.99 [[ 0.85590816 -0.21075427 -0.47223285 4.4747973 ] [ 0.20716251 0.97644609 -0.0603052 -0.40836912] [ 0.4738195 -0.04621323 0.87940856 0.98533333] [ 0. 0. 0. 1. ]] SLAMing on 161.63650248099998 meters Centerline goodness : 0.261918 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.41, Z:0.99 [[ 0.85602508 -0.20953126 -0.47256503 4.47431944] [ 0.20616452 0.97670028 -0.059605 -0.40796236] [ 0.47404351 -0.04640276 0.87927785 0.98573413] [ 0. 0. 0. 1. ]] SLAMing on 161.66650248099998 meters Centerline goodness : 0.234201 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.41, Z:0.99 [[ 0.85614709 -0.20909941 -0.47253529 4.47437015] [ 0.20581192 0.97679067 -0.05934176 -0.40785217] [ 0.47397639 -0.04644812 0.87931164 0.98552022] [ 0. 0. 0. 1. ]] SLAMing on 161.69650248099998 meters Centerline goodness : 0.583835 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.41, Z:0.99 [[ 0.85628758 -0.20892714 -0.47235689 4.47335246] [ 0.20580996 0.97681416 -0.05896066 -0.40910978] [ 0.47372338 -0.04672847 0.87943312 0.98583547] [ 0. 0. 0. 1. ]] SLAMing on 161.72650248099998 meters Centerline goodness : 0.353249 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.41, Z:0.99 [[ 0.85627197 -0.20883828 -0.47242447 4.47279467] [ 0.20595087 0.97681105 -0.05851853 -0.41028031] [ 0.47369035 -0.04718845 0.87942635 0.9863778 ] [ 0. 0. 0. 1. ]] SLAMing on 161.75650248099998 meters Centerline goodness : 0.607916 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.41, Z:0.99 [[ 0.85621747 -0.2085276 -0.47266043 4.47226135] [ 0.20620996 0.97682236 -0.05740665 -0.41208431] [ 0.47367615 -0.04831471 0.87937284 0.98731475] [ 0. 0. 0. 1. ]] SLAMing on 161.78650248099999 meters Centerline goodness : 0.226021 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.41, Z:0.99 [[ 0.85607238 -0.20896993 -0.47272788 4.47266394] [ 0.20670717 0.97671599 -0.05742832 -0.41264454] [ 0.47372168 -0.04855344 0.87933517 0.98746896] [ 0. 0. 0. 1. ]] SLAMing on 161.816502481 meters Centerline goodness : 0.452754 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.42, Z:0.99 [[ 0.85564019 -0.20921006 -0.47340365 4.47400607] [ 0.20763734 0.97658488 -0.05629133 -0.41545192] [ 0.47409556 -0.05013115 0.87904509 0.98843913] [ 0. 0. 0. 1. ]] SLAMing on 161.846502481 meters Centerline goodness : 0.608493 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.42, Z:0.99 [[ 0.85543572 -0.20944358 -0.47366984 4.47445879] [ 0.20820312 0.97649438 -0.05576902 -0.41663885] [ 0.4742164 -0.05091273 0.87893498 0.98897175] [ 0. 0. 0. 1. ]] SLAMing on 161.876502481 meters Centerline goodness : 0.603446 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.8549663 -0.20977361 -0.4743708 4.47526259] [ 0.20929604 0.97633072 -0.05452984 -0.41810622] [ 0.47458171 -0.05266275 0.87863464 0.99028089] [ 0. 0. 0. 1. ]] SLAMing on 161.906502481 meters Centerline goodness : 0.548001 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.85464098 -0.21004287 -0.47483764 4.47614857] [ 0.20996492 0.97622092 -0.05392078 -0.41888321] [ 0.47487212 -0.05361634 0.87842004 0.99098769] [ 0. 0. 0. 1. ]] SLAMing on 161.936502481 meters Centerline goodness : 0.525454 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.85408109 -0.21092129 -0.47545525 4.47715845] [ 0.21165037 0.97592136 -0.05274107 -0.42148767] [ 0.47513115 -0.05558513 0.87815755 0.99233343] [ 0. 0. 0. 1. ]] SLAMing on 161.966502481 meters Centerline goodness : 0.461780 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:0.99 [[ 0.8538181 -0.21163082 -0.47561229 4.47767986] [ 0.21260302 0.97572727 -0.05250003 -0.42302898] [ 0.47517851 -0.05629113 0.87808695 0.99285221] [ 0. 0. 0. 1. ]] SLAMing on 161.996502481 meters Centerline goodness : 0.728256 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.43, Z:0.99 [[ 0.85317809 -0.21326709 -0.47602971 4.47844831] [ 0.21470636 0.97528663 -0.05212654 -0.42502744] [ 0.47538229 -0.05773338 0.87788299 0.99412522] [ 0. 0. 0. 1. ]] SLAMing on 162.026502481 meters Centerline goodness : 0.727991 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.43, Z:0.99 [[ 0.85279586 -0.21384446 -0.47645542 4.47899568] [ 0.21551559 0.97511964 -0.0519107 -0.42526933] [ 0.47570185 -0.05841434 0.87766481 0.99492318] [ 0. 0. 0. 1. ]] SLAMing on 162.056502481 meters Centerline goodness : 0.725985 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.43, Z:1.00 [[ 0.85214343 -0.21475307 -0.47721346 4.48020092] [ 0.21671613 0.97486363 -0.05172052 -0.4250368 ] [ 0.47632519 -0.05934655 0.8772641 0.99600151] [ 0. 0. 0. 1. ]] SLAMing on 162.086502481 meters Centerline goodness : 0.150105 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:1.00 [[ 0.85189484 -0.21530398 -0.47740903 4.48066951] [ 0.21727574 0.97473066 -0.05187859 -0.42488242] [ 0.47651488 -0.0595343 0.87714835 0.99630847] [ 0. 0. 0. 1. ]] SLAMing on 162.116502481 meters Centerline goodness : 0.725295 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:1.00 [[ 0.85137507 -0.21607627 -0.47798697 4.48180697] [ 0.21814439 0.97453072 -0.05198943 -0.42468876] [ 0.47704667 -0.06000767 0.87682698 0.99705478] [ 0. 0. 0. 1. ]] SLAMing on 162.146502481 meters Centerline goodness : 0.616209 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:1.00 [[ 0.85101227 -0.21642696 -0.47847413 4.48213845] [ 0.21846948 0.97444664 -0.05219993 -0.42359064] [ 0.47754498 -0.06010922 0.87654873 0.99777081] [ 0. 0. 0. 1. ]] SLAMing on 162.176502481 meters Centerline goodness : 0.724323 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:1.00 [[ 0.85093805 -0.21639077 -0.47862247 4.48214111] [ 0.2184267 0.97445495 -0.05222378 -0.42307426] [ 0.47769678 -0.06010473 0.87646632 0.99797982] [ 0. 0. 0. 1. ]] SLAMing on 162.206502481 meters Centerline goodness : 0.147874 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:1.00 [[ 0.85079676 -0.21619846 -0.47896043 4.48242796] [ 0.21831573 0.97448794 -0.05207211 -0.42262408] [ 0.47799907 -0.06026182 0.87629071 0.99838625] [ 0. 0. 0. 1. ]] SLAMing on 162.236502481 meters Centerline goodness : 0.722006 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:1.00 [[ 0.8505422 -0.21589651 -0.4795484 4.48178401] [ 0.21818261 0.97453398 -0.05176738 -0.42178704] [ 0.47851261 -0.06059878 0.87598714 0.99964765] [ 0. 0. 0. 1. ]] SLAMing on 162.26650248099997 meters Centerline goodness : 0.721606 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:1.00 [[ 0.85044483 -0.21582604 -0.47975276 4.48126469] [ 0.21822932 0.97453432 -0.05156382 -0.42147329] [ 0.47866434 -0.06084394 0.87588724 1.00026635] [ 0. 0. 0. 1. ]] SLAMing on 162.29650248099998 meters Centerline goodness : 0.719183 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:1.00 [[ 0.85017772 -0.2157786 -0.48024727 4.48189415] [ 0.21844458 0.97450826 -0.05114306 -0.42148859] [ 0.47904051 -0.06142673 0.87564088 1.00093192] [ 0. 0. 0. 1. ]] SLAMing on 162.32650248099998 meters Centerline goodness : 0.718486 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:1.00 [[ 0.84994379 -0.21614217 -0.48049779 4.48259382] [ 0.21882075 0.97441803 -0.05125412 -0.42106548] [ 0.47928389 -0.06157976 0.87549694 1.00115925] [ 0. 0. 0. 1. ]] SLAMing on 162.35650248099998 meters Centerline goodness : 0.718078 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:1.00 [[ 0.84941133 -0.21582651 -0.48158001 4.48454608] [ 0.21890227 0.97443363 -0.05060539 -0.41987982] [ 0.48018974 -0.06243417 0.87493988 1.00209519] [ 0. 0. 0. 1. ]] SLAMing on 162.38650248099998 meters Centerline goodness : 0.716768 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:1.00 [[ 0.84927317 -0.21609775 -0.48170204 4.48461682] [ 0.21906003 0.97438267 -0.05090304 -0.41841311] [ 0.48036215 -0.06229108 0.87485543 1.00227221] [ 0. 0. 0. 1. ]] SLAMing on 162.41650248099998 meters Centerline goodness : 0.715620 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.42, Z:1.00 [[ 0.8491893 -0.21672538 -0.48156791 4.48417687] [ 0.21945017 0.97426434 -0.05148406 -0.41737412] [ 0.48033234 -0.06196045 0.87489527 1.00230867] [ 0. 0. 0. 1. ]] SLAMing on 162.44650248099998 meters Centerline goodness : 0.715204 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:1.00 [[ 0.84918305 -0.21743619 -0.4812584 4.48383468] [ 0.21950869 0.97417978 -0.05281754 -0.41467887] [ 0.48031665 -0.06078864 0.87498609 1.00187348] [ 0. 0. 0. 1. ]] SLAMing on 162.47650248099998 meters Centerline goodness : 0.715773 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:1.00 [[ 0.8491937 -0.21778536 -0.4810817 4.48340664] [ 0.21955341 0.97413574 -0.05344026 -0.41289555] [ 0.48027739 -0.06024199 0.87504545 1.00163325] [ 0. 0. 0. 1. ]] SLAMing on 162.50650248099998 meters Centerline goodness : 0.713618 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:1.00 [[ 0.84938914 -0.21503528 -0.48197295 4.48427187] [ 0.21744201 0.97470472 -0.05166891 -0.40890102] [ 0.48089195 -0.06091416 0.87466131 1.00159453] [ 0. 0. 0. 1. ]] SLAMing on 162.53650248099999 meters Centerline goodness : 0.712988 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:1.00 [[ 0.84924924 -0.21557499 -0.48197838 4.48452153] [ 0.21735505 0.97465515 -0.05295396 -0.40561964] [ 0.48117826 -0.05978933 0.87458145 1.0012531 ] [ 0. 0. 0. 1. ]] SLAMing on 162.566502481 meters Centerline goodness : 0.710078 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.84983233 -0.21246646 -0.48233081 4.48415929] [ 0.2146529 0.97533529 -0.05143164 -0.40158465] [ 0.48136175 -0.05982544 0.874478 1.00074658] [ 0. 0. 0. 1. ]] SLAMing on 162.596502481 meters Centerline goodness : 0.709370 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.84985148 -0.21285996 -0.48212353 4.48311801] [ 0.2144645 0.97531631 -0.052565 -0.39839109] [ 0.48141193 -0.05872594 0.87452491 1.00061064] [ 0. 0. 0. 1. ]] SLAMing on 162.626502481 meters Centerline goodness : 0.708572 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.00 [[ 0.85049001 -0.21015472 -0.48218435 4.48097682] [ 0.21186418 0.97593291 -0.0516577 -0.3926661 ] [ 0.48143568 -0.05822323 0.87454545 1.00042221] [ 0. 0. 0. 1. ]] SLAMing on 162.656502481 meters Centerline goodness : 0.707722 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.00 [[ 0.85101858 -0.20648846 -0.48283525 4.48076729] [ 0.20920085 0.976647 -0.04894532 -0.39117621] [ 0.48166625 -0.05935617 0.87434231 1.00052874] [ 0. 0. 0. 1. ]] SLAMing on 162.686502481 meters Centerline goodness : 0.706371 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.00 [[ 0.85164876 -0.20351674 -0.48298584 4.48031891] [ 0.20630915 0.97730758 -0.04802525 -0.38573019] [ 0.48179967 -0.05874375 0.87431016 0.99959889] [ 0. 0. 0. 1. ]] SLAMing on 162.716502481 meters Centerline goodness : 0.705268 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:1.00 [[ 0.8516899 -0.20415549 -0.4826436 4.48043655] [ 0.20609365 0.97726936 -0.04969926 -0.38182541] [ 0.48181918 -0.05714142 0.87440559 0.99862991] [ 0. 0. 0. 1. ]] SLAMing on 162.746502481 meters Centerline goodness : 0.705220 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:1.00 [[ 0.85209399 -0.2017556 -0.48293945 4.48095519] [ 0.20374549 0.97779673 -0.04900337 -0.37646618] [ 0.48210332 -0.05664126 0.87428151 0.99769171] [ 0. 0. 0. 1. ]] SLAMing on 162.776502481 meters Centerline goodness : 0.704059 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:1.00 [[ 0.8520767 -0.20237405 -0.48271114 4.48084157] [ 0.20364727 0.97774424 -0.05043797 -0.37289458] [ 0.48217538 -0.05532579 0.874326 0.99709055] [ 0. 0. 0. 1. ]] SLAMing on 162.806502481 meters Centerline goodness : 0.703094 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:1.00 [[ 0.85272736 -0.19973654 -0.48266071 4.47933625] [ 0.2015035 0.97826985 -0.04883074 -0.36844155] [ 0.4819257 -0.05561852 0.87444508 0.9966663 ] [ 0. 0. 0. 1. ]] SLAMing on 162.836502481 meters Centerline goodness : 0.700817 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.85258493 -0.2006731 -0.48252383 4.47761378] [ 0.20230055 0.97808099 -0.049316 -0.36438789] [ 0.48184378 -0.05556875 0.87449339 0.9972375 ] [ 0. 0. 0. 1. ]] SLAMing on 162.866502481 meters Centerline goodness : 0.699296 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.85234853 -0.20192859 -0.48241769 4.47715865] [ 0.20322416 0.97784248 -0.05023974 -0.36261546] [ 0.48187335 -0.05521717 0.87449936 0.99741649] [ 0. 0. 0. 1. ]] SLAMing on 162.896502481 meters Centerline goodness : 0.700079 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.85176622 -0.20414937 -0.48251149 4.47745805] [ 0.20501396 0.97739647 -0.05162759 -0.35960471] [ 0.48214477 -0.05494696 0.87436677 0.99788532] [ 0. 0. 0. 1. ]] SLAMing on 162.926502481 meters Centerline goodness : 0.698067 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.85129123 -0.2053474 -0.48284127 4.47794482] [ 0.20607906 0.97714032 -0.05223234 -0.35791199] [ 0.48252945 -0.05503854 0.87414878 0.99844223] [ 0. 0. 0. 1. ]] SLAMing on 162.956502481 meters Centerline goodness : 0.699050 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85063557 -0.20699286 -0.483294 4.47939524] [ 0.20751151 0.97678934 -0.0531183 -0.35474975] [ 0.48307153 -0.05510475 0.87384516 0.99877336] [ 0. 0. 0. 1. ]] SLAMing on 162.986502481 meters Centerline goodness : 0.697944 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85050734 -0.2078492 -0.48315213 4.47935827] [ 0.20813419 0.97662217 -0.05375218 -0.35353818] [ 0.48302943 -0.05484386 0.87388484 0.99869077] [ 0. 0. 0. 1. ]] SLAMing on 163.01650248099997 meters Centerline goodness : 0.695900 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85043128 -0.20878015 -0.48288455 4.47932986] [ 0.20863965 0.9764596 -0.05473708 -0.35105661] [ 0.48294527 -0.05419874 0.8739716 0.99829707] [ 0. 0. 0. 1. ]] SLAMing on 163.04650248099998 meters Centerline goodness : 0.696820 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85054224 -0.20936942 -0.48243378 4.47849615] [ 0.20883855 0.97637151 -0.05554407 -0.34930713] [ 0.48266382 -0.05350819 0.87416961 0.99786875] [ 0. 0. 0. 1. ]] SLAMing on 163.07650248099998 meters Centerline goodness : 0.694639 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85149908 -0.20546061 -0.48242642 4.47676824] [ 0.20589118 0.97715188 -0.05275431 -0.34835514] [ 0.48224281 -0.0544071 0.87434646 0.99762731] [ 0. 0. 0. 1. ]] SLAMing on 163.10650248099998 meters Centerline goodness : 0.695663 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85192977 -0.20551503 -0.48164223 4.47528807] [ 0.20545705 0.97719972 -0.0535548 -0.34659774] [ 0.48166696 -0.05333186 0.87473004 0.99677299] [ 0. 0. 0. 1. ]] SLAMing on 163.13650248099998 meters Centerline goodness : 0.692385 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:1.00 [[ 0.8527598 -0.20133205 -0.48193996 4.4745771 ] [ 0.20189999 0.97805964 -0.05133951 -0.34403373] [ 0.48170231 -0.0535234 0.87469888 0.99634028] [ 0. 0. 0. 1. ]] SLAMing on 163.16650248099998 meters Centerline goodness : 0.692385 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:1.00 [[ 0.8527598 -0.20133205 -0.48193996 4.4745771 ] [ 0.20189999 0.97805964 -0.05133951 -0.34403373] [ 0.48170231 -0.0535234 0.87469888 0.99634028] [ 0. 0. 0. 1. ]] SLAMing on 163.19650248099998 meters Centerline goodness : 0.691783 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:1.00 [[ 0.8529321 -0.20132168 -0.48163929 4.47386225] [ 0.20128577 0.97813023 -0.05239549 -0.34133453] [ 0.4816543 -0.05225734 0.87480187 0.99590994] [ 0. 0. 0. 1. ]] SLAMing on 163.22650248099998 meters Centerline goodness : 0.689253 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85410014 -0.19637453 -0.48161187 4.47271132] [ 0.19708414 0.97912501 -0.04971974 -0.33911263] [ 0.48132192 -0.05245242 0.87497312 0.99492643] [ 0. 0. 0. 1. ]] SLAMing on 163.25650248099998 meters Centerline goodness : 0.687150 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85438934 -0.19640431 -0.48108648 4.47199414] [ 0.19644472 0.97919391 -0.05087988 -0.33685189] [ 0.48106998 -0.05103567 0.87519543 0.9941282 ] [ 0. 0. 0. 1. ]] SLAMing on 163.28650248099999 meters Centerline goodness : 0.687033 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85533439 -0.19226148 -0.48108066 4.4716209 ] [ 0.1928493 0.98001499 -0.04878287 -0.33518476] [ 0.48084532 -0.0510504 0.87531802 0.99306523] [ 0. 0. 0. 1. ]] SLAMing on 163.316502481 meters Centerline goodness : 0.684775 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85564381 -0.1921995 -0.48055492 4.4708506 ] [ 0.1920296 0.98011035 -0.05008331 -0.33247714] [ 0.48062283 -0.04942729 0.87553334 0.99235756] [ 0. 0. 0. 1. ]] SLAMing on 163.346502481 meters Centerline goodness : 0.685959 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85569742 -0.19226408 -0.4804336 4.47061016] [ 0.19191018 0.9801164 -0.05042141 -0.33185476] [ 0.48057507 -0.04905463 0.87558052 0.99218917] [ 0. 0. 0. 1. ]] SLAMing on 163.376502481 meters Centerline goodness : 0.685885 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85574273 -0.19264083 -0.48020192 4.47032823] [ 0.19209658 0.98005821 -0.05084106 -0.33129082] [ 0.4804199 -0.04873828 0.87568333 0.9920391 ] [ 0. 0. 0. 1. ]] SLAMing on 163.406502481 meters Centerline goodness : 0.683400 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.8557381 -0.19294832 -0.48008671 4.47020074] [ 0.19239236 0.97999555 -0.05093043 -0.3312519 ] [ 0.48030978 -0.0487819 0.87574131 0.99195912] [ 0. 0. 0. 1. ]] SLAMing on 163.436502481 meters Centerline goodness : 0.682860 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85575775 -0.19307842 -0.47999938 4.47045893] [ 0.19256608 0.9799643 -0.05087516 -0.3313504 ] [ 0.48020515 -0.04889478 0.87579239 0.99184577] [ 0. 0. 0. 1. ]] SLAMing on 163.466502481 meters Centerline goodness : 0.681904 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85570564 -0.19317607 -0.48005298 4.4702433 ] [ 0.19288696 0.97992059 -0.05050015 -0.33231451] [ 0.48016922 -0.0493827 0.87578472 0.99222968] [ 0. 0. 0. 1. ]] SLAMing on 163.496502481 meters Centerline goodness : 0.683160 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85572218 -0.19345384 -0.47991161 4.47004809] [ 0.19323224 0.97985597 -0.05043384 -0.33323021] [ 0.48000088 -0.04957704 0.87586601 0.99224921] [ 0. 0. 0. 1. ]] SLAMing on 163.526502481 meters Centerline goodness : 0.682564 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85555056 -0.19385502 -0.48005569 4.47039126] [ 0.19377305 0.97975592 -0.05030242 -0.3339954 ] [ 0.48008878 -0.04998559 0.87579461 0.99254951] [ 0. 0. 0. 1. ]] SLAMing on 163.556502481 meters Centerline goodness : 0.682792 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85545728 -0.19436255 -0.48001672 4.47132216] [ 0.19454163 0.97962134 -0.04995586 -0.33570944] [ 0.47994417 -0.05064813 0.87583581 0.99241278] [ 0. 0. 0. 1. ]] SLAMing on 163.586502481 meters Centerline goodness : 0.683318 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.8549835 -0.19500811 -0.48059864 4.47193263] [ 0.19551911 0.97944517 -0.0495926 -0.33642662] [ 0.48039097 -0.05156537 0.87553728 0.99350082] [ 0. 0. 0. 1. ]] SLAMing on 163.616502481 meters Centerline goodness : 0.680396 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85468715 -0.19541975 -0.48095842 4.47222706] [ 0.19608974 0.97933797 -0.04945667 -0.33669827] [ 0.48068565 -0.05204103 0.87534738 0.99417587] [ 0. 0. 0. 1. ]] SLAMing on 163.646502481 meters Centerline goodness : 0.680875 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85424929 -0.20018938 -0.47977323 4.47152233] [ 0.19922699 0.97848895 -0.0535536 -0.33605169] [ 0.48017367 -0.04983566 0.87575662 0.99372148] [ 0. 0. 0. 1. ]] SLAMing on 163.676502481 meters Centerline goodness : 0.680752 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.8542437 -0.2004715 -0.47966539 4.47136083] [ 0.1996243 0.97841607 -0.05340543 -0.33708128] [ 0.48001859 -0.05013161 0.87582474 0.99385244] [ 0. 0. 0. 1. ]] SLAMing on 163.706502481 meters Centerline goodness : 0.680785 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85422179 -0.20071464 -0.47960272 4.47136066] [ 0.19992459 0.97835733 -0.05335813 -0.33723162] [ 0.4799326 -0.0503047 0.87586194 0.99391295] [ 0. 0. 0. 1. ]] SLAMing on 163.736502481 meters Centerline goodness : 0.681634 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85415786 -0.20106239 -0.47957092 4.4708475 ] [ 0.2002062 0.97828832 -0.05356724 -0.33644642] [ 0.47992898 -0.05025819 0.87586659 0.99421472] [ 0. 0. 0. 1. ]] SLAMing on 163.76650248099997 meters Centerline goodness : 0.680747 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85412689 -0.20107833 -0.4796194 4.47065033] [ 0.20016926 0.97829004 -0.05367376 -0.3361736 ] [ 0.47999951 -0.05016086 0.87583352 0.99442537] [ 0. 0. 0. 1. ]] SLAMing on 163.79650248099998 meters Centerline goodness : 0.684070 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85427194 -0.20153153 -0.47917064 4.47052255] [ 0.20034538 0.9782224 -0.05424626 -0.33599649] [ 0.47966779 -0.04965857 0.87604386 0.99378538] [ 0. 0. 0. 1. ]] SLAMing on 163.82650248099998 meters Centerline goodness : 0.684312 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85464809 -0.20183245 -0.47837256 4.47006322] [ 0.20034251 0.97819284 -0.05478724 -0.3368254 ] [ 0.47899846 -0.04901455 0.87644626 0.9927787 ] [ 0. 0. 0. 1. ]] SLAMing on 163.85650248099998 meters Centerline goodness : 0.682128 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85492347 -0.20158061 -0.47798652 4.46963799] [ 0.20012789 0.97824683 -0.05460733 -0.33747715] [ 0.47859658 -0.04897334 0.87666808 0.99230069] [ 0. 0. 0. 1. ]] SLAMing on 163.88650248099998 meters Centerline goodness : 0.682953 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85513553 -0.201006 -0.47784916 4.469341 ] [ 0.19959989 0.97836881 -0.05435405 -0.33705507] [ 0.47843821 -0.04889856 0.8767587 0.99203556] [ 0. 0. 0. 1. ]] SLAMing on 163.91650248099998 meters Centerline goodness : 0.686006 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.8553729 -0.20068509 -0.47755911 4.46933453] [ 0.19924604 0.97844416 -0.05429589 -0.33660737] [ 0.47816129 -0.04870853 0.87692032 0.99139611] [ 0. 0. 0. 1. ]] SLAMing on 163.94650248099998 meters Centerline goodness : 0.686760 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.8555271 -0.20026886 -0.47745761 4.4697285 ] [ 0.19874892 0.97854377 -0.05432265 -0.33634302] [ 0.4780923 -0.04841968 0.87697394 0.99086808] [ 0. 0. 0. 1. ]] SLAMing on 163.97650248099998 meters Centerline goodness : 0.688399 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85580559 -0.20017889 -0.47699601 4.47032653] [ 0.19847609 0.97858476 -0.0545813 -0.33623603] [ 0.47770705 -0.04796132 0.87720903 0.98976113] [ 0. 0. 0. 1. ]] SLAMing on 164.00650248099998 meters Centerline goodness : 0.688041 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85577649 -0.20032866 -0.47698535 4.47055289] [ 0.19862167 0.97855266 -0.05462722 -0.33657674] [ 0.47769868 -0.04799094 0.87721197 0.98972039] [ 0. 0. 0. 1. ]] SLAMing on 164.03650248099999 meters Centerline goodness : 0.687590 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85577614 -0.20079945 -0.47678798 4.47086079] [ 0.19904249 0.97845634 -0.05482035 -0.33693036] [ 0.47752412 -0.04798712 0.87730722 0.98942839] [ 0. 0. 0. 1. ]] SLAMing on 164.066502481 meters Centerline goodness : 0.687456 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.8556345 -0.20103464 -0.47694306 4.47136889] [ 0.19937643 0.97839404 -0.05471878 -0.33691958] [ 0.47763862 -0.04827193 0.87722926 0.98953194] [ 0. 0. 0. 1. ]] SLAMing on 164.096502481 meters Centerline goodness : 0.689091 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85521074 -0.20226183 -0.47718418 4.47281689] [ 0.20055169 0.97812871 -0.05516559 -0.33733951] [ 0.47790544 -0.04852189 0.87707013 0.98961692] [ 0. 0. 0. 1. ]] SLAMing on 164.126502481 meters Centerline goodness : 0.690217 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85494469 -0.20315278 -0.47728244 4.47357318] [ 0.20141026 0.97793498 -0.0554715 -0.33724595] [ 0.47802038 -0.04870451 0.87699737 0.98964336] [ 0. 0. 0. 1. ]] SLAMing on 164.156502481 meters Centerline goodness : 0.690058 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85483033 -0.20313363 -0.47749538 4.47383527] [ 0.2015908 0.97791737 -0.0551251 -0.33706649] [ 0.47814878 -0.04913607 0.8769033 0.98992838] [ 0. 0. 0. 1. ]] SLAMing on 164.186502481 meters Centerline goodness : 0.691006 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85487976 -0.20320935 -0.47737466 4.47340345] [ 0.20152862 0.97791556 -0.05538386 -0.3363763 ] [ 0.47808662 -0.04885812 0.87695272 0.98993847] [ 0. 0. 0. 1. ]] SLAMing on 164.216502481 meters Centerline goodness : 0.692571 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85510064 -0.20306184 -0.4770417 4.47190716] [ 0.20118742 0.97797004 -0.05566161 -0.33562164] [ 0.47783524 -0.04837851 0.8771163 0.98999948] [ 0. 0. 0. 1. ]] SLAMing on 164.246502481 meters Centerline goodness : 0.691558 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85530518 -0.20331302 -0.4765678 4.47029782] [ 0.20109689 0.97795207 -0.05630086 -0.33456921] [ 0.47750717 -0.04768189 0.87733308 0.98995483] [ 0. 0. 0. 1. ]] SLAMing on 164.276502481 meters Centerline goodness : 0.693355 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85531826 -0.20376078 -0.47635304 4.46976507] [ 0.20127035 0.9778818 -0.05689845 -0.33368124] [ 0.47741064 -0.04720946 0.87741116 0.98987427] [ 0. 0. 0. 1. ]] SLAMing on 164.306502481 meters Centerline goodness : 0.693887 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85521431 -0.20450134 -0.47622232 4.46947903] [ 0.201541 0.97776475 -0.05794238 -0.33199977] [ 0.47748269 -0.04642517 0.87741381 0.98981704] [ 0. 0. 0. 1. ]] SLAMing on 164.336502481 meters Centerline goodness : 0.692834 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85516655 -0.20464576 -0.47624603 4.46949747] [ 0.20157038 0.97774372 -0.05819442 -0.33115271] [ 0.47755581 -0.04623117 0.87738425 0.98982495] [ 0. 0. 0. 1. ]] SLAMing on 164.366502481 meters Centerline goodness : 0.694598 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85482925 -0.20494489 -0.47672271 4.47059675] [ 0.20176248 0.97768452 -0.05852245 -0.32968319] [ 0.4780783 -0.04615806 0.87710351 0.99010714] [ 0. 0. 0. 1. ]] SLAMing on 164.396502481 meters Centerline goodness : 0.693176 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85466284 -0.20529908 -0.47686866 4.47075658] [ 0.20212205 0.97760428 -0.05862211 -0.32954196] [ 0.47822391 -0.04628353 0.87701752 0.99038697] [ 0. 0. 0. 1. ]] SLAMing on 164.426502481 meters Centerline goodness : 0.695265 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.8545204 -0.20571583 -0.47694431 4.47101746] [ 0.20273072 0.97749222 -0.05838856 -0.33065943] [ 0.4782208 -0.04679704 0.87699196 0.99064832] [ 0. 0. 0. 1. ]] SLAMing on 164.456502481 meters Centerline goodness : 0.696396 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85445183 -0.20614635 -0.47688128 4.47052107] [ 0.20337395 0.97737549 -0.0581049 -0.33185191] [ 0.47807019 -0.04733739 0.87704507 0.99104268] [ 0. 0. 0. 1. ]] SLAMing on 164.486502481 meters Centerline goodness : 0.695228 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85457475 -0.2058939 -0.47677006 4.47057903] [ 0.20341194 0.97740379 -0.05749264 -0.33250103] [ 0.47783425 -0.04784896 0.87714589 0.99077503] [ 0. 0. 0. 1. ]] SLAMing on 164.51650248099997 meters Centerline goodness : 0.696733 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85436096 -0.20596713 -0.47712146 4.47067573] [ 0.20377357 0.97735596 -0.05702327 -0.33228677] [ 0.47806242 -0.04850628 0.87698544 0.99138859] [ 0. 0. 0. 1. ]] SLAMing on 164.54650248099998 meters Centerline goodness : 0.694803 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85420082 -0.20577828 -0.47748954 4.47109237] [ 0.20397776 0.97735555 -0.05629562 -0.33301373] [ 0.47826147 -0.04930948 0.87683211 0.99188516] [ 0. 0. 0. 1. ]] SLAMing on 164.57650248099998 meters Centerline goodness : 0.695010 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.33, Z:0.99 [[ 0.85376145 -0.20683765 -0.47781751 4.47210549] [ 0.20544571 0.97707269 -0.05586609 -0.33478625] [ 0.47841765 -0.05046925 0.8766809 0.99245442] [ 0. 0. 0. 1. ]] SLAMing on 164.60650248099998 meters Centerline goodness : 0.695639 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85342133 -0.20772117 -0.47804179 4.47309211] [ 0.20649126 0.9768543 -0.05583041 -0.33570471] [ 0.47857434 -0.05106459 0.8765609 0.99275358] [ 0. 0. 0. 1. ]] SLAMing on 164.63650248099998 meters Centerline goodness : 0.696048 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85224945 -0.21274586 -0.47792267 4.47456993] [ 0.21057993 0.97580294 -0.05886184 -0.33611825] [ 0.47888096 -0.05047595 0.87642752 0.99334838] [ 0. 0. 0. 1. ]] SLAMing on 164.66650248099998 meters Centerline goodness : 0.696102 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:0.99 [[ 0.85186885 -0.21301779 -0.47847976 4.47546503] [ 0.21132959 0.97568485 -0.05812813 -0.33706475] [ 0.47922778 -0.05159939 0.8761725 0.99411659] [ 0. 0. 0. 1. ]] SLAMing on 164.69650248099998 meters Centerline goodness : 0.696753 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:1.00 [[ 0.8512978 -0.21339295 -0.47932818 4.4771354 ] [ 0.21230407 0.97552584 -0.05723917 -0.33778106] [ 0.47981146 -0.05303575 0.87576719 0.99504082] [ 0. 0. 0. 1. ]] SLAMing on 164.72650248099998 meters Centerline goodness : 0.696263 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:1.00 [[ 0.85116313 -0.21421224 -0.47920188 4.47682499] [ 0.21317434 0.97532962 -0.05734828 -0.33837451] [ 0.47966449 -0.0533408 0.87582917 0.99525164] [ 0. 0. 0. 1. ]] SLAMing on 164.75650248099998 meters Centerline goodness : 0.694433 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:1.00 [[ 0.85123219 -0.21430434 -0.47903801 4.47604015] [ 0.21339856 0.97529454 -0.05711057 -0.33921873] [ 0.4794422 -0.05361166 0.87593434 0.99546981] [ 0. 0. 0. 1. ]] SLAMing on 164.78650248099999 meters Centerline goodness : 0.695297 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:1.00 [[ 0.85122928 -0.21474945 -0.47884379 4.47440278] [ 0.21380627 0.97519574 -0.05727252 -0.33906839] [ 0.47926567 -0.05362776 0.87602995 0.99606892] [ 0. 0. 0. 1. ]] SLAMing on 164.816502481 meters Centerline goodness : 0.694137 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:1.00 [[ 0.85105776 -0.21495274 -0.47905742 4.47433684] [ 0.21397827 0.97514986 -0.05741122 -0.3385705 ] [ 0.47949347 -0.05364761 0.87590407 0.99650215] [ 0. 0. 0. 1. ]] SLAMing on 164.846502481 meters Centerline goodness : 0.693050 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:1.00 [[ 0.85073848 -0.21551436 -0.47937209 4.47463362] [ 0.21453072 0.97501627 -0.05761802 -0.33770157] [ 0.4798131 -0.05382217 0.87571831 0.99699592] [ 0. 0. 0. 1. ]] SLAMing on 164.876502481 meters Centerline goodness : 0.694307 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:1.00 [[ 0.85077679 -0.21514362 -0.47947062 4.47541031] [ 0.21441749 0.97507388 -0.05706191 -0.33935396] [ 0.47979579 -0.05425994 0.87570078 0.9967515 ] [ 0. 0. 0. 1. ]] SLAMing on 164.906502481 meters Centerline goodness : 0.694985 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:1.00 [[ 0.85074515 -0.21542021 -0.47940257 4.47549454] [ 0.21481563 0.97499542 -0.05690492 -0.33998822] [ 0.47967378 -0.05457158 0.87574826 0.99675772] [ 0. 0. 0. 1. ]] SLAMing on 164.936502481 meters Centerline goodness : 0.697325 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:1.00 [[ 0.85053877 -0.21578251 -0.47960579 4.47585959] [ 0.21530775 0.9748935 -0.05679118 -0.34047014] [ 0.47981911 -0.05495974 0.87564436 0.99709994] [ 0. 0. 0. 1. ]] SLAMing on 164.966502481 meters Centerline goodness : 0.694440 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:1.00 [[ 0.85045896 -0.21569883 -0.47978493 4.47612015] [ 0.21565001 0.97486274 -0.05601524 -0.3414633 ] [ 0.47980687 -0.05582696 0.87559621 0.99735844] [ 0. 0. 0. 1. ]] SLAMing on 164.996502481 meters Centerline goodness : 0.693974 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:1.00 [[ 0.85129828 -0.2111351 -0.48032615 4.47712244] [ 0.21254572 0.97575547 -0.05220709 -0.34430734] [ 0.47970362 -0.05764746 0.87553481 0.99666044] [ 0. 0. 0. 1. ]] SLAMing on 165.026502481 meters Centerline goodness : 0.694270 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85212746 -0.20632616 -0.48094523 4.47857218] [ 0.20925104 0.97667099 -0.04824711 -0.34687753] [ 0.47967989 -0.0595256 0.87542213 0.99587433] [ 0. 0. 0. 1. ]] SLAMing on 165.056502481 meters Centerline goodness : 0.695447 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85218812 -0.2059663 -0.48099199 4.47988999] [ 0.20851802 0.97679836 -0.04883858 -0.3453722 ] [ 0.47989129 -0.05867584 0.87536364 0.99507254] [ 0. 0. 0. 1. ]] SLAMing on 165.086502481 meters Centerline goodness : 0.695447 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85218812 -0.2059663 -0.48099199 4.47988999] [ 0.20851802 0.97679836 -0.04883858 -0.3453722 ] [ 0.47989129 -0.05867584 0.87536364 0.99507254] [ 0. 0. 0. 1. ]] SLAMing on 165.116502481 meters Centerline goodness : 0.694490 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:0.99 [[ 0.85217412 -0.20615332 -0.48093667 4.4802276 ] [ 0.20841872 0.97679117 -0.04940298 -0.34424762] [ 0.47995928 -0.05813627 0.87536236 0.99474459] [ 0. 0. 0. 1. ]] SLAMing on 165.146502481 meters Centerline goodness : 0.694337 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:0.99 [[ 0.85247149 -0.20567998 -0.48061221 4.47996793] [ 0.20758069 0.97694447 -0.0498974 -0.34256366] [ 0.47979434 -0.05722971 0.87551251 0.99399895] [ 0. 0. 0. 1. ]] SLAMing on 165.176502481 meters Centerline goodness : 0.692729 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:0.99 [[ 0.85279036 -0.20568717 -0.48004311 4.47874753] [ 0.20725671 0.97698608 -0.05042669 -0.34121953] [ 0.47936756 -0.05648876 0.87579436 0.9934783 ] [ 0. 0. 0. 1. ]] SLAMing on 165.206502481 meters Centerline goodness : 0.693260 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:0.99 [[ 0.8530326 -0.20574802 -0.47958643 4.4776588 ] [ 0.20721085 0.97698807 -0.05057638 -0.34156512] [ 0.47895621 -0.05623221 0.87603589 0.99325564] [ 0. 0. 0. 1. ]] SLAMing on 165.236502481 meters Centerline goodness : 0.691672 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:0.99 [[ 0.85353059 -0.20584283 -0.47865882 4.47507916] [ 0.20711352 0.97699559 -0.05082913 -0.34242879] [ 0.47811037 -0.0557525 0.87652846 0.99301605] [ 0. 0. 0. 1. ]] SLAMing on 165.26650248099997 meters Centerline goodness : 0.691972 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.853658 -0.20595493 -0.47838331 4.47453277] [ 0.20709837 0.976987 -0.05105552 -0.34241588] [ 0.47788941 -0.05548845 0.8766657 0.99284004] [ 0. 0. 0. 1. ]] SLAMing on 165.29650248099998 meters Centerline goodness : 0.692343 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:0.99 [[ 0.85356538 -0.20665517 -0.47824657 4.47508045] [ 0.20723371 0.97689465 -0.05225926 -0.34076237] [ 0.47799616 -0.05450212 0.87666937 0.99234744] [ 0. 0. 0. 1. ]] SLAMing on 165.32650248099998 meters Centerline goodness : 0.694072 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:0.99 [[ 0.853596 -0.20702791 -0.47803066 4.4750737 ] [ 0.20728816 0.97684786 -0.05291382 -0.33950157] [ 0.47791787 -0.05392307 0.87674786 0.99197009] [ 0. 0. 0. 1. ]] SLAMing on 165.35650248099998 meters Centerline goodness : 0.694426 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:0.99 [[ 0.8537734 -0.20695121 -0.47774699 4.47513956] [ 0.20671009 0.97692321 -0.05377712 -0.33733581] [ 0.47785136 -0.05284165 0.87684995 0.9912342 ] [ 0. 0. 0. 1. ]] SLAMing on 165.38650248099998 meters Centerline goodness : 0.694462 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:0.99 [[ 0.85389664 -0.20718813 -0.47742394 4.4752059 ] [ 0.20669919 0.97689915 -0.05425402 -0.33697293] [ 0.47763583 -0.05235582 0.87699651 0.99062799] [ 0. 0. 0. 1. ]] SLAMing on 165.41650248099998 meters Centerline goodness : 0.693608 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85414927 -0.20694825 -0.47707594 4.47445854] [ 0.20652851 0.97694823 -0.05401981 -0.33801111] [ 0.47725779 -0.0523888 0.87720033 0.99055085] [ 0. 0. 0. 1. ]] SLAMing on 165.44650248099998 meters Centerline goodness : 0.696219 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85434042 -0.20672281 -0.47683135 4.47274809] [ 0.2066418 0.97696345 -0.05330645 -0.3394514 ] [ 0.47686646 -0.05299143 0.87737694 0.9911571 ] [ 0. 0. 0. 1. ]] SLAMing on 165.47650248099998 meters Centerline goodness : 0.698279 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85437798 -0.20673306 -0.4767596 4.4726757 ] [ 0.20682604 0.97694223 -0.05297983 -0.34047021] [ 0.47671927 -0.0533415 0.87743571 0.99118928] [ 0. 0. 0. 1. ]] SLAMing on 165.50650248099998 meters Centerline goodness : 0.698158 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85430365 -0.2069285 -0.47680801 4.47309427] [ 0.20743857 0.9768506 -0.0522699 -0.34276454] [ 0.47658632 -0.05425401 0.87745198 0.99141483] [ 0. 0. 0. 1. ]] SLAMing on 165.53650248099999 meters Centerline goodness : 0.699533 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.34, Z:0.99 [[ 0.85426145 -0.20697357 -0.47686405 4.47306613] [ 0.20770472 0.97681472 -0.05188207 -0.34410822] [ 0.47654604 -0.05472606 0.87744455 0.99174233] [ 0. 0. 0. 1. ]] SLAMing on 165.566502481 meters Centerline goodness : 0.698673 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.35, Z:0.99 [[ 0.85404258 -0.20758136 -0.47699188 4.47407739] [ 0.20843669 0.97666151 -0.0518309 -0.34539788] [ 0.47661874 -0.05515682 0.87737809 0.99173743] [ 0. 0. 0. 1. ]] SLAMing on 165.596502481 meters Centerline goodness : 0.698822 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85379606 -0.2078349 -0.47732269 4.47556602] [ 0.20881241 0.97658729 -0.05171702 -0.3458927 ] [ 0.47689587 -0.05551511 0.87720488 0.99172592] [ 0. 0. 0. 1. ]] SLAMing on 165.626502481 meters Centerline goodness : 0.701493 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85328476 -0.20812717 -0.47810898 4.47719015] [ 0.20939765 0.97648074 -0.05136139 -0.34598247] [ 0.47755391 -0.056289 0.87679747 0.99240663] [ 0. 0. 0. 1. ]] SLAMing on 165.656502481 meters Centerline goodness : 0.702279 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85326217 -0.2084572 -0.47800551 4.47711147] [ 0.20981246 0.97639601 -0.05127921 -0.34655624] [ 0.47741219 -0.05653691 0.8768587 0.99246731] [ 0. 0. 0. 1. ]] SLAMing on 165.686502481 meters Centerline goodness : 0.702650 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85300571 -0.20868345 -0.47836438 4.47793161] [ 0.21022724 0.97631923 -0.0510419 -0.34719961] [ 0.47768794 -0.05702619 0.87667682 0.99284523] [ 0. 0. 0. 1. ]] SLAMing on 165.716502481 meters Centerline goodness : 0.700269 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85291405 -0.20899113 -0.47839348 4.47807359] [ 0.21087659 0.97620734 -0.05050043 -0.34842649] [ 0.47756537 -0.05780946 0.8766923 0.99314703] [ 0. 0. 0. 1. ]] SLAMing on 165.746502481 meters Centerline goodness : 0.703460 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85297024 -0.2091213 -0.47823639 4.47655628] [ 0.21123269 0.97615107 -0.0500982 -0.34846611] [ 0.47730757 -0.05828689 0.87680107 0.99384045] [ 0. 0. 0. 1. ]] SLAMing on 165.776502481 meters Centerline goodness : 0.703569 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85297908 -0.20901132 -0.47826871 4.47612106] [ 0.21122834 0.97616322 -0.0498795 -0.34840662] [ 0.4772937 -0.05847774 0.87679592 0.99410431] [ 0. 0. 0. 1. ]] SLAMing on 165.806502481 meters Centerline goodness : 0.704957 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.35, Z:0.99 [[ 0.85317947 -0.20940883 -0.47773711 4.47465981] [ 0.21141903 0.97610083 -0.05029074 -0.34870707] [ 0.47685091 -0.05809569 0.8770622 0.99413307] [ 0. 0. 0. 1. ]] SLAMing on 165.836502481 meters Centerline goodness : 0.705488 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.35, Z:0.99 [[ 0.85329241 -0.2095121 -0.47749004 4.47392355] [ 0.21152854 0.97607806 -0.05027217 -0.34904521] [ 0.47660019 -0.05810591 0.87719779 0.99419085] [ 0. 0. 0. 1. ]] SLAMing on 165.866502481 meters Centerline goodness : 0.703150 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.35, Z:0.99 [[ 0.85319763 -0.20990974 -0.47748478 4.47362825] [ 0.21187786 0.97599231 -0.0504657 -0.34874336] [ 0.47661471 -0.05811124 0.87718955 0.99444175] [ 0. 0. 0. 1. ]] SLAMing on 165.896502481 meters Centerline goodness : 0.707623 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.35, Z:0.99 [[ 0.85294555 -0.21025479 -0.47778323 4.47458437] [ 0.2122136 0.97591158 -0.05061591 -0.34808873] [ 0.47691642 -0.05821948 0.87701837 0.99459672] [ 0. 0. 0. 1. ]] SLAMing on 165.926502481 meters Centerline goodness : 0.708300 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.35, Z:1.00 [[ 0.85263585 -0.21055185 -0.47820501 4.47494073] [ 0.2129094 0.97579069 -0.05002113 -0.34854066] [ 0.47716003 -0.05916453 0.87682259 0.99535678] [ 0. 0. 0. 1. ]] SLAMing on 165.956502481 meters Centerline goodness : 0.707001 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85230508 -0.21094657 -0.47862051 4.47597796] [ 0.21372622 0.97564325 -0.04941004 -0.34991034] [ 0.47738575 -0.06018132 0.87663051 0.99589381] [ 0. 0. 0. 1. ]] SLAMing on 165.986502481 meters Centerline goodness : 0.707695 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85224494 -0.21111353 -0.47865399 4.47664221] [ 0.21408916 0.97557936 -0.04909934 -0.3510829 ] [ 0.47733049 -0.06062997 0.87662969 0.99581483] [ 0. 0. 0. 1. ]] SLAMing on 166.01650248099997 meters Centerline goodness : 0.707369 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85208509 -0.21137656 -0.47882247 4.47723002] [ 0.21465903 0.97547762 -0.04863044 -0.35253436] [ 0.47735993 -0.06134629 0.87656382 0.99608357] [ 0. 0. 0. 1. ]] SLAMing on 166.04650248099998 meters Centerline goodness : 0.708518 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85194106 -0.21108005 -0.47920938 4.47739328] [ 0.21471717 0.97549812 -0.04795779 -0.35288364] [ 0.47759079 -0.06203727 0.87638942 0.99671158] [ 0. 0. 0. 1. ]] SLAMing on 166.07650248099998 meters Centerline goodness : 0.709262 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85189664 -0.21103124 -0.47930985 4.4775459 ] [ 0.21477259 0.97549521 -0.04776851 -0.35224006] [ 0.47764511 -0.06224879 0.87634482 0.99680339] [ 0. 0. 0. 1. ]] SLAMing on 166.10650248099998 meters Centerline goodness : 0.711692 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85183527 -0.21144657 -0.47923587 4.47751598] [ 0.21508112 0.97541272 -0.048064 -0.35208282] [ 0.47761573 -0.06213198 0.87636912 0.99682064] [ 0. 0. 0. 1. ]] SLAMing on 166.13650248099998 meters Centerline goodness : 0.711558 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85217117 -0.21188946 -0.47844242 4.47683589] [ 0.21523737 0.97535216 -0.04859051 -0.3526785 ] [ 0.47694567 -0.06157125 0.87677352 0.99596365] [ 0. 0. 0. 1. ]] SLAMing on 166.16650248099998 meters Centerline goodness : 0.711719 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85237818 -0.21243877 -0.47782967 4.47598083] [ 0.21553872 0.97525998 -0.04910228 -0.35262034] [ 0.47643939 -0.06113708 0.87707911 0.99547392] [ 0. 0. 0. 1. ]] SLAMing on 166.19650248099998 meters Centerline goodness : 0.713218 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85243241 -0.21250369 -0.47770405 4.47588013] [ 0.21553458 0.97525454 -0.04922823 -0.35212874] [ 0.47634423 -0.060998 0.87714048 0.99530376] [ 0. 0. 0. 1. ]] SLAMing on 166.22650248099998 meters Centerline goodness : 0.713291 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:1.00 [[ 0.85234359 -0.21293741 -0.47766941 4.47568709] [ 0.21573174 0.97518326 -0.04977382 -0.35018558] [ 0.47641392 -0.06062405 0.87712856 0.99528143] [ 0. 0. 0. 1. ]] SLAMing on 166.25650248099998 meters Centerline goodness : 0.714677 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.8524028 -0.21306674 -0.47750605 4.47585521] [ 0.21574599 0.97516872 -0.0499963 -0.34940389] [ 0.47630151 -0.06040303 0.87720485 0.99484944] [ 0. 0. 0. 1. ]] SLAMing on 166.28650248099999 meters Centerline goodness : 0.712989 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85241292 -0.21373194 -0.4771906 4.4764041 ] [ 0.21592696 0.97507568 -0.05101922 -0.34797524] [ 0.47620139 -0.05954887 0.8773176 0.99403342] [ 0. 0. 0. 1. ]] SLAMing on 166.316502481 meters Centerline goodness : 0.713901 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85242436 -0.21421337 -0.47695424 4.47659726] [ 0.21625593 0.97498309 -0.05139401 -0.34768286] [ 0.47603161 -0.05933468 0.87742424 0.99361747] [ 0. 0. 0. 1. ]] SLAMing on 166.346502481 meters Centerline goodness : 0.715033 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85244187 -0.2149815 -0.47657719 4.47678926] [ 0.21672848 0.97484127 -0.05208896 -0.34740533] [ 0.47578527 -0.05888504 0.87758813 0.99308274] [ 0. 0. 0. 1. ]] SLAMing on 166.376502481 meters Centerline goodness : 0.715806 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85227565 -0.21530201 -0.47672976 4.47686919] [ 0.21704979 0.97476416 -0.05219399 -0.34726247] [ 0.47593656 -0.05899043 0.87749902 0.99341589] [ 0. 0. 0. 1. ]] SLAMing on 166.406502481 meters Centerline goodness : 0.714407 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.8524403 -0.21550589 -0.4763431 4.47622154] [ 0.21722719 0.97472207 -0.05224204 -0.34651828] [ 0.4755606 -0.05894146 0.87770611 0.99304845] [ 0. 0. 0. 1. ]] SLAMing on 166.436502481 meters Centerline goodness : 0.715378 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.35, Z:0.99 [[ 0.85277111 -0.21536576 -0.47581406 4.47467932] [ 0.21707192 0.97476116 -0.05215801 -0.34665305] [ 0.47503811 -0.05880703 0.87799802 0.99292176] [ 0. 0. 0. 1. ]] SLAMing on 166.466502481 meters Centerline goodness : 0.712623 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.35, Z:0.99 [[ 0.85285371 -0.21528005 -0.4757048 4.47411236] [ 0.21705228 0.9747741 -0.05199775 -0.34697304] [ 0.47489879 -0.05890633 0.87806673 0.9930521 ] [ 0. 0. 0. 1. ]] SLAMing on 166.496502481 meters Centerline goodness : 0.712886 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.35, Z:0.99 [[ 0.85316996 -0.21485635 -0.47532911 4.47272306] [ 0.21674714 0.97486243 -0.05161315 -0.34755084] [ 0.4744699 -0.05899143 0.87829284 0.99303334] [ 0. 0. 0. 1. ]] SLAMing on 166.526502481 meters Centerline goodness : 0.714314 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.35, Z:0.99 [[ 0.85329721 -0.21457063 -0.47522974 4.47242594] [ 0.216553 0.97491926 -0.05135405 -0.34777204] [ 0.4743297 -0.05909216 0.8783618 0.9929743 ] [ 0. 0. 0. 1. ]] SLAMing on 166.556502481 meters Centerline goodness : 0.712351 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.35, Z:0.99 [[ 0.85340049 -0.21386327 -0.47536314 4.47279727] [ 0.2158804 0.97508061 -0.05112194 -0.34735057] [ 0.47445048 -0.05899409 0.87830316 0.99280384] [ 0. 0. 0. 1. ]] SLAMing on 166.586502481 meters Centerline goodness : 0.714180 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.35, Z:0.99 [[ 0.85363692 -0.21376889 -0.47498092 4.47313373] [ 0.21552815 0.97513755 -0.05152056 -0.34655296] [ 0.47418522 -0.05839191 0.87848663 0.99182477] [ 0. 0. 0. 1. ]] SLAMing on 166.616502481 meters Centerline goodness : 0.714335 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.35, Z:0.99 [[ 0.85368532 -0.21382901 -0.47486685 4.47401615] [ 0.21530856 0.97515855 -0.05203866 -0.34534955] [ 0.47419785 -0.05781826 0.87851776 0.99106204] [ 0. 0. 0. 1. ]] SLAMing on 166.646502481 meters Centerline goodness : 0.715043 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.35, Z:0.99 [[ 0.85358016 -0.2138087 -0.475065 4.47493707] [ 0.21528804 0.97516188 -0.05206129 -0.34542282] [ 0.47439643 -0.05783733 0.87840928 0.99096049] [ 0. 0. 0. 1. ]] SLAMing on 166.676502481 meters Centerline goodness : 0.712659 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85350699 -0.21414535 -0.47504483 4.47607903] [ 0.21555163 0.97509181 -0.05228255 -0.34524881] [ 0.47440839 -0.05777316 0.87840705 0.99036721] [ 0. 0. 0. 1. ]] SLAMing on 166.706502481 meters Centerline goodness : 0.712750 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:0.99 [[ 0.85321134 -0.21486536 -0.47525076 4.4770076 ] [ 0.21605698 0.97494674 -0.05289841 -0.34447601] [ 0.47471022 -0.05754773 0.87825877 0.99039762] [ 0. 0. 0. 1. ]] SLAMing on 166.736502481 meters Centerline goodness : 0.713936 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:0.99 [[ 0.85309518 -0.21499126 -0.47540232 4.47753311] [ 0.21620816 0.97491281 -0.05290593 -0.34471535] [ 0.47485013 -0.05765207 0.87817629 0.99049016] [ 0. 0. 0. 1. ]] SLAMing on 166.76650248099997 meters Centerline goodness : 0.711827 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:0.99 [[ 0.85286422 -0.2153301 -0.4756633 4.477723 ] [ 0.21654835 0.97483061 -0.05302918 -0.34431921] [ 0.47510992 -0.05777742 0.87802753 0.9909497 ] [ 0. 0. 0. 1. ]] SLAMing on 166.79650248099998 meters Centerline goodness : 0.712326 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:0.99 [[ 0.85274305 -0.21544479 -0.47582857 4.47779053] [ 0.21664797 0.97480406 -0.05311031 -0.34356773] [ 0.47528196 -0.05779785 0.87793307 0.99119081] [ 0. 0. 0. 1. ]] SLAMing on 166.82650248099998 meters Centerline goodness : 0.709721 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.34, Z:0.99 [[ 0.85260533 -0.21444913 -0.47652463 4.47764124] [ 0.2162723 0.97495797 -0.0518 -0.34386515] [ 0.47569995 -0.05889412 0.87763377 0.99235013] [ 0. 0. 0. 1. ]] SLAMing on 166.85650248099998 meters Centerline goodness : 0.708630 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85277222 -0.21420091 -0.47633761 4.47668733] [ 0.21623952 0.97499115 -0.0513101 -0.34517696] [ 0.47541563 -0.05924719 0.87776407 0.9926951 ] [ 0. 0. 0. 1. ]] SLAMing on 166.88650248099998 meters Centerline goodness : 0.708559 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85256533 -0.21448782 -0.47657878 4.47685245] [ 0.21671486 0.97489807 -0.05107275 -0.34578018] [ 0.47557022 -0.05973885 0.87764699 0.99320947] [ 0. 0. 0. 1. ]] SLAMing on 166.91650248099998 meters Centerline goodness : 0.706912 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85225685 -0.21488791 -0.47695015 4.47688464] [ 0.21759434 0.97473985 -0.05034811 -0.34729263] [ 0.47572152 -0.06087213 0.8774871 0.99416382] [ 0. 0. 0. 1. ]] SLAMing on 166.94650248099998 meters Centerline goodness : 0.707088 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85227704 -0.21490912 -0.47690452 4.47683703] [ 0.2179301 0.9746947 -0.04976669 -0.3485403 ] [ 0.47553162 -0.06151685 0.87754507 0.99427393] [ 0. 0. 0. 1. ]] SLAMing on 166.97650248099998 meters Centerline goodness : 0.707088 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85227704 -0.21490912 -0.47690452 4.47683703] [ 0.2179301 0.9746947 -0.04976669 -0.3485403 ] [ 0.47553162 -0.06151685 0.87754507 0.99427393] [ 0. 0. 0. 1. ]] SLAMing on 167.00650248099998 meters Centerline goodness : 0.706246 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.8515735 -0.21939965 -0.47611592 4.47609639] [ 0.22132831 0.97376579 -0.05285802 -0.34920844] [ 0.47522243 -0.06036544 0.87779249 0.99474276] [ 0. 0. 0. 1. ]] SLAMing on 167.03650248099999 meters Centerline goodness : 0.707531 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85154944 -0.21938069 -0.47616768 4.47662583] [ 0.22166905 0.97372399 -0.05219607 -0.35102398] [ 0.4751067 -0.06110411 0.87780403 0.99478497] [ 0. 0. 0. 1. ]] SLAMing on 167.066502481 meters Centerline goodness : 0.706659 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85147926 -0.21926491 -0.47634647 4.47789091] [ 0.22203618 0.97368798 -0.05129964 -0.35323206] [ 0.47506104 -0.06208558 0.87775987 0.99472926] [ 0. 0. 0. 1. ]] SLAMing on 167.096502481 meters Centerline goodness : 0.706377 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.85153361 -0.21922625 -0.47626712 4.47851928] [ 0.2221042 0.97368399 -0.05108036 -0.35402507] [ 0.47493182 -0.06228429 0.87781572 0.99435646] [ 0. 0. 0. 1. ]] SLAMing on 167.126502481 meters Centerline goodness : 0.706228 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.8518313 -0.21837288 -0.47612679 4.47901123] [ 0.22150514 0.97385782 -0.05036289 -0.35552068] [ 0.47467769 -0.06256385 0.87793329 0.9937745 ] [ 0. 0. 0. 1. ]] SLAMing on 167.156502481 meters Centerline goodness : 0.705376 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85228688 -0.21754395 -0.47569076 4.47956399] [ 0.22055703 0.97407631 -0.05029853 -0.3559645 ] [ 0.47430124 -0.06204816 0.87817331 0.99250182] [ 0. 0. 0. 1. ]] SLAMing on 167.186502481 meters Centerline goodness : 0.704972 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85243263 -0.21688373 -0.47573109 4.4803928 ] [ 0.21993294 0.97422954 -0.05006299 -0.35614121] [ 0.47432912 -0.06195361 0.87816492 0.992014 ] [ 0. 0. 0. 1. ]] SLAMing on 167.216502481 meters Centerline goodness : 0.704535 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85285079 -0.21640361 -0.47519997 4.47994383] [ 0.21921397 0.97437938 -0.05029968 -0.35596255] [ 0.47391009 -0.06127235 0.87843892 0.99115932] [ 0. 0. 0. 1. ]] SLAMing on 167.246502481 meters Centerline goodness : 0.704538 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85306148 -0.21614651 -0.47493873 4.47944666] [ 0.21895536 0.97444287 -0.05019605 -0.35631646] [ 0.47365036 -0.06117006 0.87858611 0.99095059] [ 0. 0. 0. 1. ]] SLAMing on 167.276502481 meters Centerline goodness : 0.705062 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.8533351 -0.2159601 -0.4745318 4.47919795] [ 0.21858171 0.97451444 -0.05043453 -0.35649243] [ 0.47332994 -0.06068642 0.87879231 0.99036581] [ 0. 0. 0. 1. ]] SLAMing on 167.306502481 meters Centerline goodness : 0.704492 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85337966 -0.21610609 -0.47438519 4.4792931 ] [ 0.21865024 0.97449073 -0.0505954 -0.35682031] [ 0.47321794 -0.06054735 0.87886222 0.99016609] [ 0. 0. 0. 1. ]] SLAMing on 167.336502481 meters Centerline goodness : 0.703292 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.8537411 -0.21597412 -0.47379459 4.47857846] [ 0.21838336 0.97454381 -0.05072533 -0.3580199 ] [ 0.47268894 -0.06016256 0.87917326 0.98963079] [ 0. 0. 0. 1. ]] SLAMing on 167.366502481 meters Centerline goodness : 0.701667 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85376405 -0.21571294 -0.47387222 4.47818814] [ 0.21821052 0.97459405 -0.05050358 -0.35833999] [ 0.47272732 -0.06028576 0.87914419 0.98994953] [ 0. 0. 0. 1. ]] SLAMing on 167.396502481 meters Centerline goodness : 0.704222 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85395496 -0.21527478 -0.47372746 4.47744546] [ 0.21771534 0.97470635 -0.05047331 -0.35812874] [ 0.47261079 -0.0600358 0.87922394 0.99000827] [ 0. 0. 0. 1. ]] SLAMing on 167.426502481 meters Centerline goodness : 0.703643 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85421875 -0.21480923 -0.47346312 4.47624203] [ 0.21721698 0.97482269 -0.0503737 -0.35896692] [ 0.47236333 -0.05981407 0.87937203 0.99016521] [ 0. 0. 0. 1. ]] SLAMing on 167.456502481 meters Centerline goodness : 0.703138 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.8543796 -0.21436479 -0.47337431 4.47560905] [ 0.2168645 0.97491666 -0.05007283 -0.35965182] [ 0.47223435 -0.05987688 0.87943702 0.99030654] [ 0. 0. 0. 1. ]] SLAMing on 167.486502481 meters Centerline goodness : 0.702922 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85443612 -0.21388301 -0.47349021 4.47599377] [ 0.21635756 0.97503252 -0.05000985 -0.36022376] [ 0.47236461 -0.05971297 0.87937821 0.99022331] [ 0. 0. 0. 1. ]] SLAMing on 167.51650248099997 meters Centerline goodness : 0.703299 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85456911 -0.21365707 -0.47335218 4.47656221] [ 0.21604404 0.97509774 -0.0500937 -0.36057349] [ 0.47226752 -0.05945638 0.87944774 0.98967443] [ 0. 0. 0. 1. ]] SLAMing on 167.54650248099998 meters Centerline goodness : 0.703496 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85472023 -0.21308176 -0.47333867 4.4774209 ] [ 0.21547268 0.97523238 -0.04993332 -0.36119111] [ 0.47225507 -0.05931254 0.87946414 0.98917899] [ 0. 0. 0. 1. ]] SLAMing on 167.57650248099998 meters Centerline goodness : 0.704161 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85494014 -0.21268544 -0.47311972 4.47721081] [ 0.21522917 0.97530757 -0.04951318 -0.36214774] [ 0.47196798 -0.05949835 0.87960569 0.98891242] [ 0. 0. 0. 1. ]] SLAMing on 167.60650248099998 meters Centerline goodness : 0.704501 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85471428 -0.21645356 -0.47181707 4.47609307] [ 0.21768554 0.9745917 -0.05276389 -0.36297656] [ 0.47124993 -0.0576097 0.88011625 0.98833113] [ 0. 0. 0. 1. ]] SLAMing on 167.63650248099998 meters Centerline goodness : 0.704703 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.85467811 -0.21614459 -0.47202419 4.47626028] [ 0.21783035 0.97460762 -0.05186456 -0.36495641] [ 0.47124862 -0.05849369 0.88005865 0.98882367] [ 0. 0. 0. 1. ]] SLAMing on 167.66650248099998 meters Centerline goodness : 0.706166 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85403695 -0.22038626 -0.47122265 4.47551987] [ 0.22102008 0.97372681 -0.05482906 -0.36628617] [ 0.4709257 -0.05732363 0.88030846 0.98922749] [ 0. 0. 0. 1. ]] SLAMing on 167.69650248099998 meters Centerline goodness : 0.705485 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85349666 -0.22448167 -0.4702674 4.47580263] [ 0.22420279 0.97284606 -0.05747745 -0.36825945] [ 0.47040042 -0.05637845 0.88065028 0.98888516] [ 0. 0. 0. 1. ]] SLAMing on 167.72650248099998 meters Centerline goodness : 0.706913 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85316176 -0.22465359 -0.47079272 4.47706562] [ 0.22496381 0.97272805 -0.05649264 -0.37051574] [ 0.47064456 -0.05771396 0.8804333 0.98954961] [ 0. 0. 0. 1. ]] SLAMing on 167.75650248099998 meters Centerline goodness : 0.709090 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85193958 -0.22952939 -0.47065402 4.47884742] [ 0.22920845 0.97159167 -0.05893308 -0.37244296] [ 0.4708104 -0.05767045 0.88034748 0.99017629] [ 0. 0. 0. 1. ]] SLAMing on 167.78650248099999 meters Centerline goodness : 0.707353 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.85154291 -0.22988943 -0.47119585 4.47974664] [ 0.23019321 0.97141877 -0.05793665 -0.37433755] [ 0.47104752 -0.05913054 0.88012375 0.99113708] [ 0. 0. 0. 1. ]] SLAMing on 167.816502481 meters Centerline goodness : 0.707680 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.8501974 -0.23476782 -0.47122017 4.48123549] [ 0.23449899 0.97024473 -0.06029413 -0.37591581] [ 0.47135401 -0.05923874 0.87995237 0.99224036] [ 0. 0. 0. 1. ]] SLAMing on 167.846502481 meters Centerline goodness : 0.710470 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.84982488 -0.23530276 -0.47162516 4.48251909] [ 0.23550377 0.97004319 -0.05961701 -0.37765651] [ 0.47152482 -0.06040548 0.87978152 0.99278504] [ 0. 0. 0. 1. ]] SLAMing on 167.876502481 meters Centerline goodness : 0.707930 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.84878742 -0.2402789 -0.47098404 4.48254344] [ 0.23957912 0.96886184 -0.06251871 -0.37859801] [ 0.47134039 -0.05977284 0.87992354 0.99346749] [ 0. 0. 0. 1. ]] SLAMing on 167.906502481 meters Centerline goodness : 0.708847 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:1.00 [[ 0.84854382 -0.24093405 -0.47108828 4.48097927] [ 0.24084282 0.9686092 -0.06157074 -0.38063378] [ 0.47113493 -0.06121276 0.87993459 0.99505749] [ 0. 0. 0. 1. ]] SLAMing on 167.936502481 meters Centerline goodness : 0.708447 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:1.00 [[ 0.84837643 -0.24115485 -0.47127675 4.48081494] [ 0.24133416 0.96851343 -0.06115196 -0.38131062] [ 0.47118495 -0.0618553 0.87986287 0.99571629] [ 0. 0. 0. 1. ]] SLAMing on 167.966502481 meters Centerline goodness : 0.708367 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:1.00 [[ 0.84826798 -0.24178383 -0.47114967 4.48080749] [ 0.2419594 0.96834766 -0.0613062 -0.381628 ] [ 0.47105953 -0.06199501 0.87992019 0.99579542] [ 0. 0. 0. 1. ]] SLAMing on 167.996502481 meters Centerline goodness : 0.707850 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:1.00 [[ 0.84823183 -0.24208893 -0.47105809 4.48020472] [ 0.24220168 0.96827541 -0.06149046 -0.38153982] [ 0.47100012 -0.06193289 0.87995636 0.99605466] [ 0. 0. 0. 1. ]] SLAMing on 168.026502481 meters Centerline goodness : 0.708825 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:1.00 [[ 0.84818413 -0.24207866 -0.47114924 4.48035591] [ 0.24219055 0.96827739 -0.06150304 -0.38116672] [ 0.47109173 -0.06194199 0.87990668 0.99611334] [ 0. 0. 0. 1. ]] SLAMing on 168.056502481 meters Centerline goodness : 0.709105 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:1.00 [[ 0.84819313 -0.24195017 -0.47119904 4.48199641] [ 0.24189496 0.9683331 -0.06178858 -0.38010239] [ 0.47122739 -0.06157202 0.87986001 0.9951873 ] [ 0. 0. 0. 1. ]] SLAMing on 168.086502481 meters Centerline goodness : 0.707938 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.8483935 -0.24150422 -0.47106707 4.4821482 ] [ 0.24147054 0.96845035 -0.06161078 -0.38014494] [ 0.47108433 -0.06147864 0.87994314 0.99474985] [ 0. 0. 0. 1. ]] SLAMing on 168.116502481 meters Centerline goodness : 0.709379 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.84865379 -0.24049671 -0.47111365 4.48201028] [ 0.24059207 0.96870066 -0.06111041 -0.3800133 ] [ 0.47106496 -0.06148463 0.87995309 0.99459246] [ 0. 0. 0. 1. ]] SLAMing on 168.146502481 meters Centerline goodness : 0.711018 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.84916877 -0.23965502 -0.47061435 4.48157646] [ 0.23959169 0.96894855 -0.06111077 -0.37973353] [ 0.47064659 -0.06086193 0.88022021 0.99364462] [ 0. 0. 0. 1. ]] SLAMing on 168.176502481 meters Centerline goodness : 0.710323 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.8492906 -0.23941187 -0.47051825 4.4811541 ] [ 0.23931847 0.96901746 -0.06108871 -0.37944002] [ 0.47056577 -0.06072164 0.88027311 0.99360027] [ 0. 0. 0. 1. ]] SLAMing on 168.206502481 meters Centerline goodness : 0.710046 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.84947502 -0.23910048 -0.47034366 4.48068924] [ 0.2390573 0.96909462 -0.06088693 -0.37954088] [ 0.4703656 -0.06071716 0.88038039 0.99345956] [ 0. 0. 0. 1. ]] SLAMing on 168.236502481 meters Centerline goodness : 0.712244 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.84975099 -0.2391335 -0.46982808 4.48003923] [ 0.23887307 0.96911863 -0.06122687 -0.3791952 ] [ 0.46996054 -0.06020168 0.88063207 0.99284954] [ 0. 0. 0. 1. ]] SLAMing on 168.26650248099997 meters Centerline goodness : 0.711190 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.84943249 -0.24001229 -0.46995591 4.48200348] [ 0.23946751 0.96892215 -0.06200951 -0.37793567] [ 0.47023373 -0.05986628 0.88050909 0.99220803] [ 0. 0. 0. 1. ]] SLAMing on 168.29650248099998 meters Centerline goodness : 0.710769 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.84903338 -0.24057626 -0.47038854 4.48330768] [ 0.23999421 0.96877378 -0.0622908 -0.376995 ] [ 0.47068577 -0.06000356 0.88025819 0.99244904] [ 0. 0. 0. 1. ]] SLAMing on 168.32650248099998 meters Centerline goodness : 0.711737 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.99 [[ 0.84825453 -0.24191061 -0.47110881 4.4852777 ] [ 0.24133061 0.96841245 -0.06274444 -0.3758686 ] [ 0.47140618 -0.06046972 0.87984068 0.99305221] [ 0. 0. 0. 1. ]] SLAMing on 168.35650248099998 meters Centerline goodness : 0.712824 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.99 [[ 0.84807571 -0.24244296 -0.47115709 4.48576919] [ 0.24193792 0.96826039 -0.0627524 -0.3761614 ] [ 0.47141663 -0.06077198 0.87981426 0.99315563] [ 0. 0. 0. 1. ]] SLAMing on 168.38650248099998 meters Centerline goodness : 0.712532 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.99 [[ 0.84791699 -0.24338629 -0.47095635 4.48521596] [ 0.24294293 0.96800192 -0.06285713 -0.37645272] [ 0.47118521 -0.06111789 0.87991426 0.99344629] [ 0. 0. 0. 1. ]] SLAMing on 168.41650248099998 meters Centerline goodness : 0.712056 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:0.99 [[ 0.84786673 -0.24384853 -0.47080771 4.48415242] [ 0.2432609 0.96789798 -0.06322683 -0.37526823] [ 0.47111161 -0.06092118 0.87996731 0.9937801 ] [ 0. 0. 0. 1. ]] SLAMing on 168.44650248099998 meters Centerline goodness : 0.711862 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.84783816 -0.24403837 -0.4707608 4.48394263] [ 0.24329177 0.96786794 -0.06356703 -0.37422211] [ 0.47114708 -0.06063767 0.8799679 0.99372271] [ 0. 0. 0. 1. ]] SLAMing on 168.47650248099998 meters Centerline goodness : 0.711126 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.84790197 -0.24458108 -0.47036406 4.48309211] [ 0.24328824 0.96779555 -0.0646731 -0.37153321] [ 0.47103406 -0.05959759 0.88009945 0.99330721] [ 0. 0. 0. 1. ]] SLAMing on 168.50650248099998 meters Centerline goodness : 0.710647 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.84798851 -0.24495519 -0.47001324 4.48219338] [ 0.24338161 0.9677336 -0.06524617 -0.3705036 ] [ 0.47082999 -0.05906458 0.88024456 0.99311903] [ 0. 0. 0. 1. ]] SLAMing on 168.53650248099999 meters Centerline goodness : 0.708663 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.84837101 -0.24535984 -0.46911106 4.48047832] [ 0.24324322 0.96770081 -0.06624107 -0.36972251] [ 0.47021205 -0.05791108 0.88065143 0.99245226] [ 0. 0. 0. 1. ]] SLAMing on 168.566502481 meters Centerline goodness : 0.707458 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.84848663 -0.24531601 -0.46892482 4.47986865] [ 0.24314971 0.96772052 -0.06629646 -0.36947063] [ 0.47005175 -0.05776727 0.88074644 0.99243727] [ 0. 0. 0. 1. ]] SLAMing on 168.596502481 meters Centerline goodness : 0.707819 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.84839557 -0.24508236 -0.46921167 4.47980691] [ 0.24277886 0.96779746 -0.06653198 -0.36775067] [ 0.47040768 -0.05746923 0.88057589 0.99276507] [ 0. 0. 0. 1. ]] SLAMing on 168.626502481 meters Centerline goodness : 0.710123 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.84847345 -0.24504961 -0.46908794 4.47969257] [ 0.24262215 0.96782256 -0.06673821 -0.36699855] [ 0.47034806 -0.05718552 0.88062621 0.99249624] [ 0. 0. 0. 1. ]] SLAMing on 168.656502481 meters Centerline goodness : 0.708540 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.84872154 -0.24441209 -0.46897172 4.47969023] [ 0.24198587 0.96799467 -0.06655195 -0.36644557] [ 0.47022822 -0.05700045 0.8807022 0.99202064] [ 0. 0. 0. 1. ]] SLAMing on 168.686502481 meters Centerline goodness : 0.707875 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.84892427 -0.24449438 -0.46856171 4.47933464] [ 0.24176426 0.96801313 -0.06708663 -0.36610298] [ 0.46997619 -0.05633001 0.88087985 0.99144811] [ 0. 0. 0. 1. ]] SLAMing on 168.716502481 meters Centerline goodness : 0.708353 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.8489866 -0.2444032 -0.46849635 4.47989354] [ 0.24160019 0.9680469 -0.06719036 -0.36597112] [ 0.46994798 -0.05614509 0.8809067 0.99098204] [ 0. 0. 0. 1. ]] SLAMing on 168.746502481 meters Centerline goodness : 0.708760 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:0.99 [[ 0.84895561 -0.24441414 -0.4685468 4.48077478] [ 0.24149498 0.96805734 -0.0674178 -0.36533978] [ 0.47005803 -0.05591698 0.8808625 0.99053034] [ 0. 0. 0. 1. ]] SLAMing on 168.776502481 meters Centerline goodness : 0.708899 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.8485387 -0.24402244 -0.46950518 4.48330097] [ 0.2411494 0.96814762 -0.06735847 -0.36323105] [ 0.4709873 -0.05606463 0.88035659 0.99062365] [ 0. 0. 0. 1. ]] SLAMing on 168.806502481 meters Centerline goodness : 0.709345 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.8484156 -0.24418662 -0.46964228 4.48450422] [ 0.24101718 0.96813751 -0.06797406 -0.36138849] [ 0.47127667 -0.05552161 0.88023614 0.99014849] [ 0. 0. 0. 1. ]] SLAMing on 168.836502481 meters Centerline goodness : 0.710101 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.84832987 -0.24446516 -0.46965224 4.48470781] [ 0.2411941 0.96807484 -0.06823859 -0.36119368] [ 0.47134048 -0.05538852 0.88021035 0.99016861] [ 0. 0. 0. 1. ]] SLAMing on 168.866502481 meters Centerline goodness : 0.709474 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.84828136 -0.24501449 -0.46945354 4.48433311] [ 0.2415623 0.96795074 -0.06869512 -0.36110999] [ 0.4712392 -0.05512949 0.88028084 0.9902092 ] [ 0. 0. 0. 1. ]] SLAMing on 168.896502481 meters Centerline goodness : 0.709474 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.84828136 -0.24501449 -0.46945354 4.48433311] [ 0.2415623 0.96795074 -0.06869512 -0.36110999] [ 0.4712392 -0.05512949 0.88028084 0.9902092 ] [ 0. 0. 0. 1. ]] SLAMing on 168.926502481 meters Centerline goodness : 0.706654 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.84808117 -0.2450986 -0.46977123 4.48357031] [ 0.24156644 0.96793451 -0.06890895 -0.35927757] [ 0.47159727 -0.05504059 0.88009462 0.99101977] [ 0. 0. 0. 1. ]] SLAMing on 168.956502481 meters Centerline goodness : 0.707415 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.84787617 -0.2449654 -0.47021054 4.48364083] [ 0.24144782 0.96796437 -0.06890515 -0.35792155] [ 0.47202642 -0.05510828 0.87986029 0.99163096] [ 0. 0. 0. 1. ]] SLAMing on 168.98650248099997 meters Centerline goodness : 0.706065 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.84770506 -0.24526491 -0.47036291 4.48345092] [ 0.24159028 0.96790084 -0.06929716 -0.35670112] [ 0.47226081 -0.05489155 0.87974806 0.9919683 ] [ 0. 0. 0. 1. ]] SLAMing on 169.01650248099997 meters Centerline goodness : 0.705170 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.84763532 -0.24558917 -0.47031939 4.48292257] [ 0.24156009 0.96785511 -0.07003724 -0.35567714] [ 0.47240141 -0.05424436 0.87971271 0.99215795] [ 0. 0. 0. 1. ]] SLAMing on 169.04650248099998 meters Centerline goodness : 0.706441 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.84760806 -0.24590969 -0.47020102 4.48284895] [ 0.24171431 0.96778911 -0.0704161 -0.35573011] [ 0.47237143 -0.05396907 0.87974574 0.99208306] [ 0. 0. 0. 1. ]] SLAMing on 169.07650248099998 meters Centerline goodness : 0.701201 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:0.99 [[ 0.84734085 -0.24615902 -0.47055204 4.4831731 ] [ 0.24193972 0.96772141 -0.07057231 -0.35527304] [ 0.47273529 -0.05404643 0.87954553 0.99262877] [ 0. 0. 0. 1. ]] SLAMing on 169.10650248099998 meters Centerline goodness : 0.703859 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.35, Z:0.99 [[ 0.84723266 -0.24297854 -0.47239628 4.48490616] [ 0.24030534 0.96837511 -0.06710433 -0.35464578] [ 0.47376171 -0.05666637 0.87882806 0.99394843] [ 0. 0. 0. 1. ]] SLAMing on 169.13650248099998 meters Centerline goodness : 0.701692 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.35, Z:0.99 [[ 0.84706909 -0.24301033 -0.47267318 4.48509585] [ 0.24045633 0.96834972 -0.06692966 -0.35434024] [ 0.47397754 -0.05696322 0.87869249 0.9943671 ] [ 0. 0. 0. 1. ]] SLAMing on 169.16650248099998 meters Centerline goodness : 0.701682 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.84712045 -0.24285728 -0.4726598 4.48410532] [ 0.2406405 0.96834989 -0.06626188 -0.35619923] [ 0.47379225 -0.0576093 0.87875029 0.99505637] [ 0. 0. 0. 1. ]] SLAMing on 169.19650248099998 meters Centerline goodness : 0.702843 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.84719162 -0.24294006 -0.47248967 4.48329478] [ 0.24090826 0.96830686 -0.06591693 -0.35768986] [ 0.47352885 -0.05798239 0.87886772 0.99538885] [ 0. 0. 0. 1. ]] SLAMing on 169.22650248099998 meters Centerline goodness : 0.702207 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.84726391 -0.24298684 -0.47233596 4.48250125] [ 0.2413157 0.96825138 -0.06523801 -0.35992811] [ 0.47319192 -0.05870827 0.87900099 0.99582755] [ 0. 0. 0. 1. ]] SLAMing on 169.25650248099998 meters Centerline goodness : 0.700745 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.84696878 -0.24263039 -0.47304797 4.48332746] [ 0.2414823 0.9682743 -0.06427424 -0.36060712] [ 0.47363507 -0.05979444 0.87868905 0.99667679] [ 0. 0. 0. 1. ]] SLAMing on 169.28650248099999 meters Centerline goodness : 0.702225 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.84668909 -0.24255688 -0.47358605 4.48401539] [ 0.24163038 0.96826069 -0.06392183 -0.36036401] [ 0.47405943 -0.06031086 0.87842487 0.9972547 ] [ 0. 0. 0. 1. ]] SLAMing on 169.316502481 meters Centerline goodness : 0.702432 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.36, Z:1.00 [[ 0.8465565 -0.2420748 -0.4740695 4.48557292] [ 0.24135948 0.96835778 -0.06347292 -0.36067579] [ 0.47443408 -0.06068776 0.87819662 0.99726746] [ 0. 0. 0. 1. ]] SLAMing on 169.346502481 meters Centerline goodness : 0.701154 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.36, Z:1.00 [[ 0.84661446 -0.24212365 -0.47394102 4.485918 ] [ 0.24144369 0.96834145 -0.06340166 -0.36143857] [ 0.47428778 -0.06075331 0.87827111 0.9969804 ] [ 0. 0. 0. 1. ]] SLAMing on 169.376502481 meters Centerline goodness : 0.702235 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.36, Z:1.00 [[ 0.84668171 -0.24205057 -0.47385821 4.48514847] [ 0.24148892 0.96834656 -0.06315092 -0.36242017] [ 0.47414468 -0.06096278 0.87833385 0.99732327] [ 0. 0. 0. 1. ]] SLAMing on 169.406502481 meters Centerline goodness : 0.702859 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.36, Z:1.00 [[ 0.84649549 -0.2419817 -0.47422594 4.48516545] [ 0.24166135 0.96833025 -0.06274003 -0.36268128] [ 0.47438926 -0.06149293 0.87816482 0.99802646] [ 0. 0. 0. 1. ]] SLAMing on 169.436502481 meters Centerline goodness : 0.701779 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.84638147 -0.24141611 -0.47471747 4.48467291] [ 0.24163672 0.96840566 -0.06166169 -0.36313899] [ 0.47460521 -0.06251986 0.8779756 0.99904054] [ 0. 0. 0. 1. ]] SLAMing on 169.466502481 meters Centerline goodness : 0.700700 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.8461151 -0.24202935 -0.47488002 4.48399163] [ 0.24226227 0.96823882 -0.06182708 -0.36329891] [ 0.47476123 -0.06273269 0.87787606 0.99995109] [ 0. 0. 0. 1. ]] SLAMing on 169.496502481 meters Centerline goodness : 0.699603 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.84597324 -0.24208574 -0.47510396 4.48407881] [ 0.24243634 0.96820599 -0.06165854 -0.36366483] [ 0.47492515 -0.06302099 0.87776674 1.00038905] [ 0. 0. 0. 1. ]] SLAMing on 169.526502481 meters Centerline goodness : 0.700806 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.84574951 -0.24278095 -0.47514754 4.48455552] [ 0.24279942 0.96806334 -0.06246448 -0.36283865] [ 0.4751381 -0.06253624 0.87768617 1.00032529] [ 0. 0. 0. 1. ]] SLAMing on 169.556502481 meters Centerline goodness : 0.699251 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.84559365 -0.24299238 -0.47531683 4.48467072] [ 0.24278224 0.96803499 -0.06296854 -0.36181191] [ 0.4754242 -0.06215269 0.87755847 1.00050055] [ 0. 0. 0. 1. ]] SLAMing on 169.586502481 meters Centerline goodness : 0.697392 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.84668617 -0.23802462 -0.47588529 4.48310484] [ 0.23914646 0.96917295 -0.05926853 -0.36245941] [ 0.47532252 -0.06362444 0.87750808 1.00082624] [ 0. 0. 0. 1. ]] SLAMing on 169.616502481 meters Centerline goodness : 0.698723 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.84702861 -0.23690659 -0.47583379 4.48182798] [ 0.23809222 0.96945832 -0.05884438 -0.3623311 ] [ 0.47524164 -0.06344946 0.87756455 1.0010656 ] [ 0. 0. 0. 1. ]] SLAMing on 169.646502481 meters Centerline goodness : 0.698396 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.84770011 -0.23561103 -0.47528094 4.47925347] [ 0.23666981 0.96981837 -0.05864926 -0.36235004] [ 0.4747546 -0.06276766 0.87787715 1.00114683] [ 0. 0. 0. 1. ]] SLAMing on 169.676502481 meters Centerline goodness : 0.696646 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.84775097 -0.23486066 -0.47556153 4.47905041] [ 0.23614332 0.96998107 -0.058078 -0.36295274] [ 0.47492592 -0.063065 0.87776317 1.00160896] [ 0. 0. 0. 1. ]] SLAMing on 169.706502481 meters Centerline goodness : 0.694783 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.36, Z:1.00 [[ 0.84771044 -0.23463142 -0.47574689 4.47922387] [ 0.23616998 0.97000473 -0.05757228 -0.36393296] [ 0.474985 -0.06355251 0.87769603 1.00191958] [ 0. 0. 0. 1. ]] SLAMing on 169.73650248099997 meters Centerline goodness : 0.696564 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:1.00 [[ 0.84764492 -0.23466942 -0.47584488 4.4792884 ] [ 0.23676587 0.96991864 -0.05656646 -0.36633321] [ 0.47480523 -0.06471555 0.87770832 1.00241531] [ 0. 0. 0. 1. ]] SLAMing on 169.76650248099997 meters Centerline goodness : 0.696937 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:1.00 [[ 0.84747481 -0.23475541 -0.47610539 4.47983892] [ 0.23724141 0.96984048 -0.05591027 -0.36776723] [ 0.47487152 -0.06556937 0.87760908 1.0028488 ] [ 0. 0. 0. 1. ]] SLAMing on 169.79650248099998 meters Centerline goodness : 0.695586 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:1.00 [[ 0.84671192 -0.23549867 -0.47709464 4.48168636] [ 0.23877045 0.96952763 -0.05481654 -0.37062017] [ 0.47546566 -0.06750229 0.87714072 1.00424539] [ 0. 0. 0. 1. ]] SLAMing on 169.82650248099998 meters Centerline goodness : 0.696968 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:1.00 [[ 0.84640274 -0.23588392 -0.47745281 4.48271522] [ 0.23956387 0.96936512 -0.05422552 -0.37212778] [ 0.47561703 -0.06848382 0.87698256 1.00467999] [ 0. 0. 0. 1. ]] SLAMing on 169.85650248099998 meters Centerline goodness : 0.697226 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.37, Z:1.01 [[ 0.84533365 -0.24037981 -0.47710435 4.48340296] [ 0.24328165 0.9682907 -0.05680806 -0.37375932] [ 0.47563122 -0.06804897 0.87700871 1.00538001] [ 0. 0. 0. 1. ]] SLAMing on 169.88650248099998 meters Centerline goodness : 0.698141 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:1.01 [[ 0.84505967 -0.24030848 -0.47762537 4.48433174] [ 0.2438335 0.96821474 -0.05572643 -0.3757378 ] [ 0.47583546 -0.0693689 0.87679449 1.00611301] [ 0. 0. 0. 1. ]] SLAMing on 169.91650248099998 meters Centerline goodness : 0.697146 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:1.01 [[ 0.84454559 -0.24047365 -0.4784508 4.48554909] [ 0.2449904 0.96801579 -0.05408441 -0.37884329] [ 0.47615381 -0.0715391 0.87644721 1.00746796] [ 0. 0. 0. 1. ]] SLAMing on 169.94650248099998 meters Centerline goodness : 0.698757 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:1.01 [[ 0.84435289 -0.24054121 -0.47875685 4.48613057] [ 0.24546834 0.96793269 -0.05340038 -0.38023843] [ 0.4762494 -0.07243089 0.87632202 1.00795706] [ 0. 0. 0. 1. ]] SLAMing on 169.97650248099998 meters Centerline goodness : 0.697264 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:1.01 [[ 0.84427867 -0.24066689 -0.47882457 4.48531076] [ 0.24623706 0.96779953 -0.05226257 -0.38253754] [ 0.47598407 -0.07378018 0.87635361 1.00889333] [ 0. 0. 0. 1. ]] SLAMing on 170.00650248099998 meters Centerline goodness : 0.697531 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:1.01 [[ 0.84421813 -0.24050315 -0.47901355 4.48444604] [ 0.24646967 0.96778 -0.05152251 -0.38366921] [ 0.47597106 -0.07456608 0.87629416 1.00978908] [ 0. 0. 0. 1. ]] SLAMing on 170.03650248099999 meters Centerline goodness : 0.696588 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.01 [[ 0.84463058 -0.24062441 -0.47822493 4.48191103] [ 0.24677558 0.96772588 -0.05107275 -0.38560124] [ 0.47508 -0.07487663 0.8767511 1.01002311] [ 0. 0. 0. 1. ]] SLAMing on 170.066502481 meters Centerline goodness : 0.694673 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.01 [[ 0.84482698 -0.24073566 -0.47782184 4.48112339] [ 0.24690534 0.96769685 -0.05099568 -0.38618668] [ 0.47466317 -0.07489423 0.87697533 1.00983171] [ 0. 0. 0. 1. ]] SLAMing on 170.096502481 meters Centerline goodness : 0.694928 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.01 [[ 0.84547397 -0.24037685 -0.47685714 4.47973135] [ 0.24613184 0.96786754 -0.05149317 -0.38591967] [ 0.47391232 -0.07383359 0.87747121 1.00868627] [ 0. 0. 0. 1. ]] SLAMing on 170.126502481 meters Centerline goodness : 0.694632 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.01 [[ 0.84563325 -0.24014899 -0.47668949 4.4793096 ] [ 0.24572545 0.96795801 -0.0517329 -0.38534117] [ 0.47383901 -0.07338768 0.8775482 1.00846165] [ 0. 0. 0. 1. ]] SLAMing on 170.156502481 meters Centerline goodness : 0.695214 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:1.01 [[ 0.84597724 -0.23986692 -0.47622093 4.47865479] [ 0.24501493 0.96810392 -0.05236866 -0.38444865] [ 0.47359286 -0.07237854 0.87776486 1.00771691] [ 0. 0. 0. 1. ]] SLAMing on 170.186502481 meters Centerline goodness : 0.694556 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:1.01 [[ 0.84705017 -0.23854563 -0.47497578 4.47680605] [ 0.24308373 0.96855999 -0.05293245 -0.38359745] [ 0.47266934 -0.07062245 0.87840546 1.00592737] [ 0. 0. 0. 1. ]] SLAMing on 170.216502481 meters Centerline goodness : 0.696187 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.00 [[ 0.8486831 -0.23286641 -0.47487918 4.47556686] [ 0.23854333 0.96988039 -0.04928595 -0.38514624] [ 0.47205305 -0.07145111 0.87866982 1.00481235] [ 0. 0. 0. 1. ]] SLAMing on 170.246502481 meters Centerline goodness : 0.695021 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:1.00 [[ 0.84897785 -0.23221318 -0.47467216 4.47527003] [ 0.23776035 0.97007099 -0.04931826 -0.38474637] [ 0.47191804 -0.0709881 0.87877987 1.00431314] [ 0. 0. 0. 1. ]] SLAMing on 170.276502481 meters Centerline goodness : 0.697706 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.38, Z:1.00 [[ 0.84954182 -0.23100195 -0.47425393 4.47561711] [ 0.23647738 0.97039769 -0.04905882 -0.38484492] [ 0.4715476 -0.0704728 0.87902016 1.00304716] [ 0. 0. 0. 1. ]] SLAMing on 170.306502481 meters Centerline goodness : 0.695607 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.00 [[ 0.8496845 -0.23068995 -0.47415019 4.47608152] [ 0.23625142 0.97046588 -0.04879795 -0.38572284] [ 0.47140378 -0.0705558 0.87909064 1.00266538] [ 0. 0. 0. 1. ]] SLAMing on 170.336502481 meters Centerline goodness : 0.696072 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.00 [[ 0.85027991 -0.22996106 -0.47343636 4.47514943] [ 0.23609017 0.97057332 -0.0474221 -0.38962981] [ 0.47040994 -0.07145161 0.87955054 1.00223251] [ 0. 0. 0. 1. ]] SLAMing on 170.366502481 meters Centerline goodness : 0.695846 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.39, Z:1.00 [[ 0.84967066 -0.23423815 -0.47243228 4.47483141] [ 0.23943511 0.96961764 -0.05012454 -0.39107321] [ 0.46981975 -0.07052752 0.87994049 1.00224158] [ 0. 0. 0. 1. ]] SLAMing on 170.396502481 meters Centerline goodness : 0.697767 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.00 [[ 0.84937428 -0.23445947 -0.47285525 4.4762346 ] [ 0.2401024 0.96948873 -0.04942107 -0.39234187] [ 0.47001507 -0.07155669 0.87975307 1.00258975] [ 0. 0. 0. 1. ]] SLAMing on 170.426502481 meters Centerline goodness : 0.697270 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.00 [[ 0.84804197 -0.23973873 -0.47259937 4.47806281] [ 0.24450754 0.96822989 -0.05241131 -0.39240163] [ 0.47014986 -0.07110712 0.87971751 1.00298939] [ 0. 0. 0. 1. ]] SLAMing on 170.456502481 meters Centerline goodness : 0.698316 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.00 [[ 0.8471274 -0.24474322 -0.47167354 4.47837357] [ 0.2481308 0.96709694 -0.05616602 -0.39226345] [ 0.46990028 -0.06945696 0.87998264 1.00284005] [ 0. 0. 0. 1. ]] SLAMing on 170.48650248099997 meters Centerline goodness : 0.696515 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.00 [[ 0.84580827 -0.25045337 -0.47104296 4.47878631] [ 0.25305314 0.96564854 -0.05905086 -0.39420133] [ 0.46965144 -0.06925319 0.88013154 1.00375379] [ 0. 0. 0. 1. ]] SLAMing on 170.51650248099997 meters Centerline goodness : 0.697183 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.84534352 -0.25106505 -0.47155135 4.47940995] [ 0.25420112 0.96539291 -0.05829514 -0.3953976 ] [ 0.4698682 -0.07058947 0.87990966 1.00481554] [ 0. 0. 0. 1. ]] SLAMing on 170.54650248099998 meters Centerline goodness : 0.694535 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.01 [[ 0.84427527 -0.25320018 -0.47232292 4.47978699] [ 0.25727201 0.96464184 -0.05724706 -0.39678966] [ 0.47011742 -0.07318319 0.87956457 1.007003 ] [ 0. 0. 0. 1. ]] SLAMing on 170.57650248099998 meters Centerline goodness : 0.694978 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.01 [[ 0.84377949 -0.25402908 -0.47276357 4.47996437] [ 0.25864182 0.96431744 -0.05653569 -0.3981962 ] [ 0.47025587 -0.07457278 0.87937382 1.00825261] [ 0. 0. 0. 1. ]] SLAMing on 170.60650248099998 meters Centerline goodness : 0.694663 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.01 [[ 0.84241208 -0.25969629 -0.47212258 4.47956027] [ 0.26352046 0.96282265 -0.05940969 -0.39895 ] [ 0.46999879 -0.07436652 0.87952872 1.00959498] [ 0. 0. 0. 1. ]] SLAMing on 170.63650248099998 meters Centerline goodness : 0.695267 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.01 [[ 0.84109006 -0.26557875 -0.47120636 4.47943277] [ 0.26811069 0.96131033 -0.06323844 -0.3986338 ] [ 0.46977033 -0.07314624 0.87975307 1.01014954] [ 0. 0. 0. 1. ]] SLAMing on 170.66650248099998 meters Centerline goodness : 0.696564 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.01 [[ 0.84081461 -0.26616959 -0.47136454 4.47987814] [ 0.26887015 0.96110669 -0.06310917 -0.39901745] [ 0.46982936 -0.07367274 0.87967761 1.01052243] [ 0. 0. 0. 1. ]] SLAMing on 170.69650248099998 meters Centerline goodness : 0.696691 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.01 [[ 0.84048097 -0.26715505 -0.47140207 4.48047926] [ 0.2698898 0.96080726 -0.06331595 -0.39810551] [ 0.46984171 -0.07401076 0.87964264 1.01055673] [ 0. 0. 0. 1. ]] SLAMing on 170.72650248099998 meters Centerline goodness : 0.697636 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.01 [[ 0.84048515 -0.26734064 -0.4712894 4.48054125] [ 0.27001946 0.96076197 -0.06345015 -0.39752729] [ 0.46975974 -0.0739284 0.87969334 1.0103481 ] [ 0. 0. 0. 1. ]] SLAMing on 170.75650248099998 meters Centerline goodness : 0.698808 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.01 [[ 0.84120297 -0.26698074 -0.4702115 4.47870063] [ 0.26950525 0.96090636 -0.06344992 -0.39795148] [ 0.46876913 -0.0733502 0.88026999 1.00931587] [ 0. 0. 0. 1. ]] SLAMing on 170.78650248099999 meters Centerline goodness : 0.698808 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.01 [[ 0.84120297 -0.26698074 -0.4702115 4.47870063] [ 0.26950525 0.96090636 -0.06344992 -0.39795148] [ 0.46876913 -0.0733502 0.88026999 1.00931587] [ 0. 0. 0. 1. ]] SLAMing on 170.816502481 meters Centerline goodness : 0.698968 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.01 [[ 0.84163927 -0.26660787 -0.46964197 4.47792663] [ 0.26910909 0.96102776 -0.06329243 -0.39857146] [ 0.46821323 -0.07311553 0.88058531 1.00865767] [ 0. 0. 0. 1. ]] SLAMing on 170.846502481 meters Centerline goodness : 0.699297 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.01 [[ 0.84258364 -0.26563323 -0.46849952 4.47672126] [ 0.26789879 0.96136706 -0.06327412 -0.39861741] [ 0.46720772 -0.07219672 0.88119497 1.00695149] [ 0. 0. 0. 1. ]] SLAMing on 170.876502481 meters Centerline goodness : 0.698762 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.01 [[ 0.84373216 -0.26078171 -0.46915769 4.47785129] [ 0.26444708 0.96256535 -0.05946173 -0.39957783] [ 0.46710147 -0.07389761 0.8811103 1.00594283] [ 0. 0. 0. 1. ]] SLAMing on 170.906502481 meters Centerline goodness : 0.701603 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.01 [[ 0.84387663 -0.26041277 -0.46910278 4.47885245] [ 0.2639262 0.96269724 -0.05964046 -0.39848997] [ 0.46713509 -0.07347932 0.88112746 1.00508501] [ 0. 0. 0. 1. ]] SLAMing on 170.936502481 meters Centerline goodness : 0.702891 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.84485256 -0.25570701 -0.46993411 4.48142453] [ 0.26044763 0.96384932 -0.05622741 -0.3985861 ] [ 0.46732342 -0.07488936 0.88090885 1.0036338 ] [ 0. 0. 0. 1. ]] SLAMing on 170.966502481 meters Centerline goodness : 0.704526 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.84514715 -0.25569976 -0.46940806 4.48190852] [ 0.26000398 0.9639265 -0.05695291 -0.3976567 ] [ 0.46703772 -0.07391437 0.88114269 1.00227483] [ 0. 0. 0. 1. ]] SLAMing on 170.996502481 meters Centerline goodness : 0.703665 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.84542643 -0.25560198 -0.46895819 4.48243477] [ 0.25962213 0.96400395 -0.05738231 -0.39727513] [ 0.46674458 -0.0732394 0.88135435 1.00111828] [ 0. 0. 0. 1. ]] SLAMing on 171.026502481 meters Centerline goodness : 0.706636 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.84608325 -0.25561125 -0.46776705 4.4818691 ] [ 0.2589663 0.96411734 -0.05843121 -0.39716161] [ 0.465918 -0.07169824 0.88191824 0.99923597] [ 0. 0. 0. 1. ]] SLAMing on 171.056502481 meters Centerline goodness : 0.705616 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.84645458 -0.25531134 -0.46725877 4.48120651] [ 0.25847968 0.96423665 -0.05861687 -0.39711847] [ 0.46551358 -0.07116038 0.88217533 0.99855745] [ 0. 0. 0. 1. ]] SLAMing on 171.086502481 meters Centerline goodness : 0.706903 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.84761451 -0.25064979 -0.46767972 4.48056947] [ 0.25499581 0.96536354 -0.05523015 -0.39712215] [ 0.46532437 -0.07244249 0.8821708 0.99807192] [ 0. 0. 0. 1. ]] SLAMing on 171.116502481 meters Centerline goodness : 0.707214 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.84861801 -0.24612477 -0.46826282 4.48007073] [ 0.25142347 0.9664611 -0.05233712 -0.39666488] [ 0.46543926 -0.07331804 0.88203785 0.99774274] [ 0. 0. 0. 1. ]] SLAMing on 171.146502481 meters Centerline goodness : 0.707924 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.84894503 -0.24584358 -0.46781756 4.47915595] [ 0.25083029 0.96659141 -0.0527752 -0.39577578] [ 0.46516288 -0.07253957 0.88224799 0.99721655] [ 0. 0. 0. 1. ]] SLAMing on 171.176502481 meters Centerline goodness : 0.709968 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.00 [[ 0.84938059 -0.24587593 -0.46700925 4.47848901] [ 0.25018226 0.96669544 -0.05393294 -0.39474692] [ 0.46471653 -0.07102784 0.88260614 0.99594066] [ 0. 0. 0. 1. ]] SLAMing on 171.206502481 meters Centerline goodness : 0.709835 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.00 [[ 0.84936745 -0.2460392 -0.46694715 4.47891146] [ 0.25025685 0.96666493 -0.05413341 -0.39488754] [ 0.46470037 -0.07087757 0.88262672 0.99569598] [ 0. 0. 0. 1. ]] SLAMing on 171.23650248099997 meters Centerline goodness : 0.709886 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.00 [[ 0.84934493 -0.246205 -0.46690073 4.47896679] [ 0.25041929 0.96662052 -0.05417522 -0.39475149] [ 0.46465403 -0.0709075 0.88264872 0.99566438] [ 0. 0. 0. 1. ]] SLAMing on 171.26650248099997 meters Centerline goodness : 0.404455 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.39, Z:1.00 [[ 0.84922961 -0.24635852 -0.46702948 4.47904139] [ 0.2506792 0.96656095 -0.05403583 -0.3946646 ] [ 0.46472465 -0.07118575 0.88258914 0.99593999] [ 0. 0. 0. 1. ]] SLAMing on 171.29650248099998 meters Centerline goodness : 0.710966 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.8492518 -0.24652553 -0.466901 4.47871024] [ 0.25107604 0.96648107 -0.05362053 -0.39617617] [ 0.46446981 -0.07169032 0.88268244 0.99622615] [ 0. 0. 0. 1. ]] SLAMing on 171.32650248099998 meters Centerline goodness : 0.710763 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.84909441 -0.24688988 -0.46699471 4.47917474] [ 0.25157524 0.96635924 -0.05347638 -0.39697417] [ 0.46448743 -0.07207781 0.88264161 0.99642211] [ 0. 0. 0. 1. ]] SLAMing on 171.35650248099998 meters Centerline goodness : 0.150620 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.84877517 -0.24749693 -0.46725366 4.48036449] [ 0.25254077 0.96613358 -0.05300068 -0.39861129] [ 0.46454695 -0.07301494 0.88253326 0.99676285] [ 0. 0. 0. 1. ]] SLAMing on 171.38650248099998 meters Centerline goodness : 0.654681 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.84848897 -0.24765094 -0.46769165 4.48191876] [ 0.25327214 0.96599522 -0.0520236 -0.40050794] [ 0.46467159 -0.07431182 0.88235937 0.99712788] [ 0. 0. 0. 1. ]] SLAMing on 171.41650248099998 meters Centerline goodness : 0.313584 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.84832477 -0.24768781 -0.4679699 4.4828337 ] [ 0.25360337 0.96593502 -0.05152534 -0.40136477] [ 0.46479072 -0.07496852 0.88224107 0.99737013] [ 0. 0. 0. 1. ]] SLAMing on 171.44650248099998 meters Centerline goodness : 0.531843 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.84813388 -0.24742547 -0.46845443 4.48443094] [ 0.25398884 0.96589746 -0.05031673 -0.40283121] [ 0.46492858 -0.07630687 0.88205367 0.99762266] [ 0. 0. 0. 1. ]] SLAMing on 171.47650248099998 meters Centerline goodness : 0.537905 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.40, Z:1.00 [[ 0.8480195 -0.24769091 -0.46852123 4.48463577] [ 0.25447586 0.96578681 -0.04997879 -0.40356559] [ 0.46487092 -0.07684435 0.8820374 0.99787894] [ 0. 0. 0. 1. ]] SLAMing on 171.50650248099998 meters Centerline goodness : 0.545210 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.41, Z:1.00 [[ 0.84784757 -0.24802512 -0.46865556 4.4853934 ] [ 0.25525847 0.96561814 -0.04924144 -0.40525525] [ 0.46475543 -0.07787907 0.88200751 0.99815887] [ 0. 0. 0. 1. ]] SLAMing on 171.53650248099999 meters Centerline goodness : 0.538501 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.41, Z:1.00 [[ 0.84772117 -0.24845404 -0.46865702 4.4864433 ] [ 0.25580533 0.96547904 -0.04913096 -0.40570415] [ 0.46468532 -0.07823561 0.88201289 0.99785796] [ 0. 0. 0. 1. ]] SLAMing on 171.566502481 meters Centerline goodness : 0.670581 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.41, Z:1.00 [[ 0.84780854 -0.24839937 -0.46852795 4.48628965] [ 0.25581377 0.96548488 -0.04897196 -0.40591451] [ 0.46452126 -0.07833706 0.88209031 0.99774044] [ 0. 0. 0. 1. ]] SLAMing on 171.596502481 meters Centerline goodness : 0.681450 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:1.00 [[ 0.84804541 -0.24839023 -0.46810392 4.48491476] [ 0.25573012 0.96550411 -0.04902979 -0.40578838] [ 0.46413478 -0.07812878 0.88231219 0.99767335] [ 0. 0. 0. 1. ]] SLAMing on 171.626502481 meters Centerline goodness : 0.695771 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.41, Z:1.00 [[ 0.8480464 -0.24876816 -0.46790139 4.48493394] [ 0.25594114 0.96542892 -0.04940787 -0.40524664] [ 0.46401663 -0.07785505 0.88239852 0.99736783] [ 0. 0. 0. 1. ]] SLAMing on 171.656502481 meters Centerline goodness : 0.572746 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:1.00 [[ 0.84790027 -0.24902894 -0.46802747 4.48645918] [ 0.25594836 0.96539742 -0.04998256 -0.40410123] [ 0.46427962 -0.07741064 0.88229929 0.99672731] [ 0. 0. 0. 1. ]] SLAMing on 171.686502481 meters Centerline goodness : 0.387894 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:1.00 [[ 0.84786807 -0.24947286 -0.46784936 4.48694271] [ 0.25612161 0.96532035 -0.05058016 -0.40329475] [ 0.46424288 -0.07694103 0.88235969 0.99616662] [ 0. 0. 0. 1. ]] SLAMing on 171.716502481 meters Centerline goodness : 0.282988 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:1.00 [[ 0.84779376 -0.24962635 -0.46790215 4.48760858] [ 0.25596699 0.96532784 -0.05121593 -0.40157305] [ 0.46446381 -0.07634696 0.88229502 0.99572405] [ 0. 0. 0. 1. ]] SLAMing on 171.746502481 meters Centerline goodness : 0.276827 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.84791152 -0.24945447 -0.46778042 4.48826375] [ 0.25563725 0.96540288 -0.05144785 -0.40063279] [ 0.46443046 -0.07595887 0.88234608 0.99499902] [ 0. 0. 0. 1. ]] SLAMing on 171.776502481 meters Centerline goodness : 0.551608 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.84803506 -0.2494518 -0.46755784 4.48846001] [ 0.25532576 0.96545612 -0.05199264 -0.39914262] [ 0.46437624 -0.07528798 0.88243211 0.99426697] [ 0. 0. 0. 1. ]] SLAMing on 171.806502481 meters Centerline goodness : 0.709318 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.84873133 -0.24850921 -0.46679578 4.48626594] [ 0.25452943 0.96570203 -0.05132598 -0.39983307] [ 0.46354061 -0.0752513 0.88287448 0.99391485] [ 0. 0. 0. 1. ]] SLAMing on 171.836502481 meters Centerline goodness : 0.665561 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.84897063 -0.24822889 -0.46650968 4.48569049] [ 0.25424582 0.96578311 -0.05120587 -0.39989368] [ 0.46325795 -0.07513585 0.88303266 0.99365737] [ 0. 0. 0. 1. ]] SLAMing on 171.866502481 meters Centerline goodness : 0.559898 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.84904764 -0.2483062 -0.46632835 4.48602396] [ 0.25408301 0.96580228 -0.05165055 -0.39933085] [ 0.46320613 -0.07463233 0.88310254 0.99311237] [ 0. 0. 0. 1. ]] SLAMing on 171.896502481 meters Centerline goodness : 0.520212 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.84903498 -0.24846288 -0.46626795 4.4866697 ] [ 0.25411591 0.96577936 -0.05191654 -0.39914708] [ 0.46321129 -0.07440714 0.88311883 0.99271317] [ 0. 0. 0. 1. ]] SLAMing on 171.926502481 meters Centerline goodness : 0.144866 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.84902459 -0.24840935 -0.46631539 4.48817881] [ 0.25394404 0.96581271 -0.05213677 -0.39874726] [ 0.46332459 -0.07415261 0.88308081 0.9919744 ] [ 0. 0. 0. 1. ]] SLAMing on 171.956502481 meters Centerline goodness : 0.257361 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.8491357 -0.24829856 -0.46617206 4.48893983] [ 0.25372327 0.96586237 -0.0522913 -0.39841857] [ 0.46324191 -0.07387629 0.88314734 0.99124236] [ 0. 0. 0. 1. ]] SLAMing on 171.98650248099997 meters Centerline goodness : 0.708711 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.84927689 -0.2481434 -0.46599744 4.48916867] [ 0.25345163 0.96592556 -0.05244115 -0.39787046] [ 0.46313177 -0.07357075 0.88323061 0.99073553] [ 0. 0. 0. 1. ]] SLAMing on 172.01650248099997 meters Centerline goodness : 0.146105 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.849547 -0.24777598 -0.46570051 4.48891105] [ 0.25305918 0.96603399 -0.0523391 -0.39770634] [ 0.4628509 -0.07338527 0.88339326 0.99020649] [ 0. 0. 0. 1. ]] SLAMing on 172.04650248099998 meters Centerline goodness : 0.137481 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.84960384 -0.24730844 -0.46584531 4.48964719] [ 0.25250954 0.96617453 -0.05239946 -0.39665143] [ 0.4630467 -0.0731116 0.88331333 0.98980509] [ 0. 0. 0. 1. ]] SLAMing on 172.07650248099998 meters Centerline goodness : 0.706942 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.84960118 -0.24730539 -0.46585177 4.49018377] [ 0.25224325 0.96621671 -0.05290189 -0.39550082] [ 0.46319669 -0.07256245 0.88327998 0.98936858] [ 0. 0. 0. 1. ]] SLAMing on 172.10650248099998 meters Centerline goodness : 0.705298 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.84974653 -0.24711538 -0.46568748 4.49012159] [ 0.25192438 0.96629075 -0.05306872 -0.39505867] [ 0.4631036 -0.07222307 0.8833566 0.98899436] [ 0. 0. 0. 1. ]] SLAMing on 172.13650248099998 meters Centerline goodness : 0.151839 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:0.99 [[ 0.84979426 -0.24696224 -0.46568161 4.49009274] [ 0.25140096 0.96639031 -0.05373377 -0.39310317] [ 0.46330041 -0.07141016 0.88331949 0.98870286] [ 0. 0. 0. 1. ]] SLAMing on 172.16650248099998 meters Centerline goodness : 0.522969 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:0.99 [[ 0.84985004 -0.24665569 -0.46574229 4.49039636] [ 0.25102706 0.96648423 -0.05379258 -0.392129 ] [ 0.46340082 -0.07119829 0.88328392 0.98842126] [ 0. 0. 0. 1. ]] SLAMing on 172.19650248099998 meters Centerline goodness : 0.148608 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:0.99 [[ 0.84967713 -0.2473081 -0.46571179 4.49071663] [ 0.25134296 0.96635689 -0.05459928 -0.39043895] [ 0.46354665 -0.07066162 0.8832505 0.98826123] [ 0. 0. 0. 1. ]] SLAMing on 172.22650248099998 meters Centerline goodness : 0.710991 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:0.99 [[ 0.84945486 -0.24814266 -0.46567333 4.49163272] [ 0.25215556 0.96613081 -0.05485283 -0.39085584] [ 0.46351268 -0.07082712 0.88325507 0.98805409] [ 0. 0. 0. 1. ]] SLAMing on 172.25650248099998 meters Centerline goodness : 0.710168 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:0.99 [[ 0.84931731 -0.2486727 -0.46564148 4.49177686] [ 0.25267725 0.96598602 -0.05500195 -0.39089477] [ 0.46348065 -0.0709429 0.88326259 0.98810551] [ 0. 0. 0. 1. ]] SLAMing on 172.28650248099999 meters Centerline goodness : 0.711278 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:0.99 [[ 0.84893356 -0.24952404 -0.46588579 4.49196781] [ 0.25372499 0.96571752 -0.05489344 -0.39111075] [ 0.4636113 -0.07160598 0.8831405 0.98880967] [ 0. 0. 0. 1. ]] SLAMing on 172.316502481 meters Centerline goodness : 0.712226 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:0.99 [[ 0.84855532 -0.25009032 -0.46627105 4.49306522] [ 0.25434611 0.96554776 -0.05500534 -0.39067486] [ 0.46396327 -0.07191915 0.88293019 0.98911071] [ 0. 0. 0. 1. ]] SLAMing on 172.346502481 meters Centerline goodness : 0.712791 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:0.99 [[ 0.84824763 -0.25071259 -0.46649668 4.49436222] [ 0.25502301 0.96536353 -0.05510463 -0.39046693] [ 0.46415431 -0.07222502 0.88280481 0.98905127] [ 0. 0. 0. 1. ]] SLAMing on 172.376502481 meters Centerline goodness : 0.715582 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.99 [[ 0.84768531 -0.25194985 -0.4668521 4.49634008] [ 0.25645577 0.96498294 -0.05512136 -0.39077507] [ 0.46439213 -0.07300135 0.88261586 0.98919138] [ 0. 0. 0. 1. ]] SLAMing on 172.406502481 meters Centerline goodness : 0.714480 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.99 [[ 0.84743472 -0.25244134 -0.4670415 4.49646438] [ 0.25723362 0.96479757 -0.05474052 -0.39176045] [ 0.46441927 -0.07374976 0.88253935 0.98980519] [ 0. 0. 0. 1. ]] SLAMing on 172.436502481 meters Centerline goodness : 0.714651 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.99 [[ 0.84715071 -0.25310322 -0.4671985 4.49577216] [ 0.2585823 0.96449892 -0.05363802 -0.3939358 ] [ 0.4641884 -0.07536977 0.88252395 0.99105759] [ 0. 0. 0. 1. ]] SLAMing on 172.466502481 meters Centerline goodness : 0.714024 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.99 [[ 0.84679247 -0.25363313 -0.46756042 4.49590953] [ 0.25950192 0.96428144 -0.05310426 -0.39463056] [ 0.46432883 -0.07636454 0.88236455 0.99199325] [ 0. 0. 0. 1. ]] SLAMing on 172.496502481 meters Centerline goodness : 0.715056 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.84597152 -0.25514757 -0.46822206 4.49703317] [ 0.26157625 0.96375033 -0.05256586 -0.39615469] [ 0.46466122 -0.07800656 0.88204588 0.99339421] [ 0. 0. 0. 1. ]] SLAMing on 172.526502481 meters Centerline goodness : 0.715187 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.84551927 -0.25606393 -0.46853862 4.49814544] [ 0.26293848 0.96340904 -0.05202293 -0.39720876] [ 0.46471553 -0.07921044 0.88190996 0.9938709 ] [ 0. 0. 0. 1. ]] SLAMing on 172.556502481 meters Centerline goodness : 0.713827 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.84522788 -0.25660143 -0.46877025 4.49884966] [ 0.26357901 0.96323443 -0.05201482 -0.39732636] [ 0.46488272 -0.07959362 0.88178734 0.99415287] [ 0. 0. 0. 1. ]] SLAMing on 172.586502481 meters Centerline goodness : 0.715295 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.84478998 -0.25744483 -0.46909705 4.49993667] [ 0.26459107 0.96295866 -0.05198251 -0.39745295] [ 0.4651037 -0.08020458 0.88161543 0.99449561] [ 0. 0. 0. 1. ]] SLAMing on 172.616502481 meters Centerline goodness : 0.715421 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.84461626 -0.2577222 -0.46925755 4.50064487] [ 0.26489885 0.96287147 -0.05203002 -0.39737883] [ 0.465244 -0.08036039 0.88152722 0.99451122] [ 0. 0. 0. 1. ]] SLAMing on 172.646502481 meters Centerline goodness : 0.715911 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:1.00 [[ 0.84405546 -0.25895127 -0.46958984 4.50133236] [ 0.26608123 0.96251933 -0.05251026 -0.39641732] [ 0.4655869 -0.08062747 0.88132176 0.99503926] [ 0. 0. 0. 1. ]] SLAMing on 172.676502481 meters Centerline goodness : 0.716104 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:1.00 [[ 0.84348095 -0.26007051 -0.47000343 4.5026297 ] [ 0.26699655 0.96222378 -0.05327519 -0.39530069] [ 0.46610378 -0.08055269 0.88105535 0.99532045] [ 0. 0. 0. 1. ]] SLAMing on 172.706502481 meters Centerline goodness : 0.716104 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:1.00 [[ 0.84348095 -0.26007051 -0.47000343 4.5026297 ] [ 0.26699655 0.96222378 -0.05327519 -0.39530069] [ 0.46610378 -0.08055269 0.88105535 0.99532045] [ 0. 0. 0. 1. ]] SLAMing on 172.73650248099997 meters Centerline goodness : 0.718955 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84322211 -0.26051144 -0.47022363 4.50349134] [ 0.26736909 0.96210422 -0.05356523 -0.39446398] [ 0.4663585 -0.08055588 0.88092026 0.99534114] [ 0. 0. 0. 1. ]] SLAMing on 172.76650248099997 meters Centerline goodness : 0.718259 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84302616 -0.26097473 -0.47031807 4.50365408] [ 0.26762978 0.96200239 -0.0540898 -0.39310555] [ 0.46656318 -0.08027201 0.88083779 0.99539581] [ 0. 0. 0. 1. ]] SLAMing on 172.79650248099998 meters Centerline goodness : 0.718278 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84303068 -0.26108467 -0.47024894 4.50332211] [ 0.26767541 0.96198197 -0.05422696 -0.39280519] [ 0.46652883 -0.08015908 0.88086626 0.99542295] [ 0. 0. 0. 1. ]] SLAMing on 172.82650248099998 meters Centerline goodness : 0.718873 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84324477 -0.26092144 -0.46995559 4.50229937] [ 0.26730709 0.96206819 -0.05451348 -0.39197026] [ 0.46635306 -0.07965426 0.88100512 0.99526624] [ 0. 0. 0. 1. ]] SLAMing on 172.85650248099998 meters Centerline goodness : 0.718539 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84334336 -0.26089846 -0.46979141 4.5016505 ] [ 0.26704816 0.9621169 -0.05492125 -0.39068745] [ 0.46632312 -0.07913945 0.88106736 0.99512352] [ 0. 0. 0. 1. ]] SLAMing on 172.88650248099998 meters Centerline goodness : 0.717065 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.99 [[ 0.84415066 -0.25683727 -0.47057867 4.50165533] [ 0.26394182 0.96312556 -0.05219079 -0.3893382 ] [ 0.46663089 -0.0801485 0.88081317 0.99482338] [ 0. 0. 0. 1. ]] SLAMing on 172.91650248099998 meters Centerline goodness : 0.719374 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.99 [[ 0.84424501 -0.25686466 -0.47039443 4.50135949] [ 0.26353134 0.96319439 -0.05298867 -0.38763744] [ 0.46669219 -0.07922825 0.88086394 0.99437894] [ 0. 0. 0. 1. ]] SLAMing on 172.94650248099998 meters Centerline goodness : 0.719333 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.99 [[ 0.84537303 -0.25194556 -0.47102853 4.50099147] [ 0.25959635 0.96442468 -0.04994765 -0.38640384] [ 0.46685563 -0.08005289 0.88070276 0.99379221] [ 0. 0. 0. 1. ]] SLAMing on 172.97650248099998 meters Centerline goodness : 0.719440 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84626777 -0.24763561 -0.47170697 4.50092335] [ 0.25605497 0.96549513 -0.04748692 -0.38435728] [ 0.46719024 -0.08059626 0.88047574 0.99322604] [ 0. 0. 0. 1. ]] SLAMing on 173.00650248099998 meters Centerline goodness : 0.718124 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84633147 -0.24787963 -0.47146445 4.50084115] [ 0.25585945 0.965505 -0.04833263 -0.38278572] [ 0.46718196 -0.07972321 0.88055961 0.99266353] [ 0. 0. 0. 1. ]] SLAMing on 173.03650248099999 meters Centerline goodness : 0.717750 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84660007 -0.24787985 -0.47098184 4.50004911] [ 0.25536314 0.96559382 -0.04917556 -0.38143468] [ 0.46696679 -0.07863937 0.88077118 0.9919936 ] [ 0. 0. 0. 1. ]] SLAMing on 173.066502481 meters Centerline goodness : 0.716133 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84666044 -0.24790444 -0.47086036 4.49979456] [ 0.2551932 0.96562085 -0.04952574 -0.38096416] [ 0.46695023 -0.07822888 0.88081651 0.99183369] [ 0. 0. 0. 1. ]] SLAMing on 173.096502481 meters Centerline goodness : 0.716447 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84671978 -0.24796738 -0.4707205 4.49993413] [ 0.25480003 0.96568069 -0.05037614 -0.37923657] [ 0.46705733 -0.07728512 0.88084304 0.99125157] [ 0. 0. 0. 1. ]] SLAMing on 173.126502481 meters Centerline goodness : 0.716659 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84672557 -0.24801916 -0.47068281 4.5000418 ] [ 0.25465888 0.96569852 -0.0507466 -0.37821177] [ 0.46712382 -0.07689511 0.88084191 0.99101725] [ 0. 0. 0. 1. ]] SLAMing on 173.156502481 meters Centerline goodness : 0.716371 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84654112 -0.24855321 -0.47073287 4.50090193] [ 0.2548184 0.96561103 -0.0516035 -0.37646817] [ 0.46737107 -0.07626692 0.88076537 0.99057188] [ 0. 0. 0. 1. ]] SLAMing on 173.186502481 meters Centerline goodness : 0.716262 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84644441 -0.24877051 -0.47079198 4.50112958] [ 0.25511611 0.96553684 -0.05152062 -0.37669141] [ 0.46738381 -0.07649728 0.88073863 0.99065063] [ 0. 0. 0. 1. ]] SLAMing on 173.216502481 meters Centerline goodness : 0.717191 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84633599 -0.24904236 -0.47084318 4.5006675 ] [ 0.25588443 0.96537871 -0.05066654 -0.37887829] [ 0.4671601 -0.07760052 0.88076081 0.99139114] [ 0. 0. 0. 1. ]] SLAMing on 173.246502481 meters Centerline goodness : 0.715780 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84627164 -0.2490613 -0.47094882 4.49947445] [ 0.2567089 0.96523707 -0.04917251 -0.38178257] [ 0.46682423 -0.07928345 0.88078901 0.99266325] [ 0. 0. 0. 1. ]] SLAMing on 173.276502481 meters Centerline goodness : 0.714795 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84618336 -0.24889556 -0.47119498 4.49928612] [ 0.25707028 0.96519084 -0.04818202 -0.38346358] [ 0.46678538 -0.0803594 0.88071209 0.99342616] [ 0. 0. 0. 1. ]] SLAMing on 173.306502481 meters Centerline goodness : 0.714850 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.99 [[ 0.84571508 -0.24939293 -0.47177237 4.4994761 ] [ 0.25824279 0.96492852 -0.04715522 -0.38547449] [ 0.46698679 -0.08195193 0.88045853 0.99489303] [ 0. 0. 0. 1. ]] SLAMing on 173.336502481 meters Centerline goodness : 0.713685 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84555158 -0.24959796 -0.47195697 4.49986257] [ 0.25863406 0.96483637 -0.04689571 -0.38611521] [ 0.46706632 -0.08241141 0.88037345 0.99523841] [ 0. 0. 0. 1. ]] SLAMing on 173.366502481 meters Centerline goodness : 0.713441 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84535402 -0.24972444 -0.47224389 4.50045166] [ 0.25923967 0.96471292 -0.04608444 -0.38787884] [ 0.46708819 -0.08346669 0.88026242 0.99582388] [ 0. 0. 0. 1. ]] SLAMing on 173.396502481 meters Centerline goodness : 0.712846 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84510624 -0.24991902 -0.47258431 4.50073575] [ 0.25992534 0.96456647 -0.04528077 -0.38968548] [ 0.46715551 -0.08456957 0.88012142 0.99668217] [ 0. 0. 0. 1. ]] SLAMing on 173.426502481 meters Centerline goodness : 0.712515 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84491697 -0.25000642 -0.47287641 4.50119648] [ 0.26023964 0.96449778 -0.04493721 -0.39024867] [ 0.46732284 -0.08509298 0.87998213 0.99713871] [ 0. 0. 0. 1. ]] SLAMing on 173.456502481 meters Centerline goodness : 0.711667 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84454181 -0.25045751 -0.47330769 4.50235601] [ 0.26102097 0.9643057 -0.04452597 -0.39067964] [ 0.46756517 -0.08593919 0.87977114 0.9975911 ] [ 0. 0. 0. 1. ]] SLAMing on 173.48650248099997 meters Centerline goodness : 0.711324 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84429816 -0.25076603 -0.47357894 4.50276957] [ 0.26155916 0.96417333 -0.04423339 -0.39104092] [ 0.46770442 -0.08652274 0.87963992 0.99806829] [ 0. 0. 0. 1. ]] SLAMing on 173.51650248099997 meters Centerline goodness : 0.710286 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84379702 -0.2517377 -0.47395645 4.50273255] [ 0.26292966 0.96381923 -0.04382338 -0.39189417] [ 0.46784034 -0.08763917 0.8794571 0.99927115] [ 0. 0. 0. 1. ]] SLAMing on 173.54650248099998 meters Centerline goodness : 0.709539 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84341872 -0.25281318 -0.47405734 4.50316047] [ 0.26428172 0.96345892 -0.04361279 -0.39311421] [ 0.46776066 -0.08850085 0.87941319 0.99979211] [ 0. 0. 0. 1. ]] SLAMing on 173.57650248099998 meters Centerline goodness : 0.709927 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84317583 -0.25313736 -0.47431634 4.50392882] [ 0.26466454 0.96335236 -0.04364542 -0.39319815] [ 0.46798205 -0.08873396 0.87927191 1.00002453] [ 0. 0. 0. 1. ]] SLAMing on 173.60650248099998 meters Centerline goodness : 0.708302 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84291398 -0.25332671 -0.47468052 4.50454601] [ 0.2649675 0.96327286 -0.04356178 -0.39238656] [ 0.46828222 -0.08905607 0.87907951 1.00037637] [ 0. 0. 0. 1. ]] SLAMing on 173.63650248099998 meters Centerline goodness : 0.708309 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84288844 -0.25339515 -0.47468935 4.50436143] [ 0.26499941 0.96326006 -0.04365061 -0.39189157] [ 0.46831014 -0.0889998 0.87907033 1.00043556] [ 0. 0. 0. 1. ]] SLAMing on 173.66650248099998 meters Centerline goodness : 0.707856 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84299165 -0.25333691 -0.47453712 4.50380738] [ 0.26480962 0.96330324 -0.04384898 -0.39058863] [ 0.46823171 -0.08869767 0.87914264 1.00024837] [ 0. 0. 0. 1. ]] SLAMing on 173.69650248099998 meters Centerline goodness : 0.709010 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84310439 -0.25325595 -0.47438002 4.50325251] [ 0.26464072 0.96334467 -0.04395845 -0.38988297] [ 0.46812421 -0.08847871 0.87922196 1.00009753] [ 0. 0. 0. 1. ]] SLAMing on 173.72650248099998 meters Centerline goodness : 0.709552 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84317551 -0.25297337 -0.4744044 4.50357649] [ 0.26412135 0.96347004 -0.04433267 -0.38817587] [ 0.46828942 -0.08792011 0.87919001 0.99971969] [ 0. 0. 0. 1. ]] SLAMing on 173.75650248099998 meters Centerline goodness : 0.709114 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84323234 -0.2530155 -0.47428091 4.50328391] [ 0.26400143 0.96348957 -0.04462176 -0.38731913] [ 0.46825471 -0.08758432 0.87924201 0.99950621] [ 0. 0. 0. 1. ]] SLAMing on 173.78650248099999 meters Centerline goodness : 0.708532 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84464667 -0.24819479 -0.47431144 4.5020972 ] [ 0.25993184 0.96471626 -0.04192813 -0.38566718] [ 0.4679823 -0.08787419 0.87935811 0.99826021] [ 0. 0. 0. 1. ]] SLAMing on 173.816502481 meters Centerline goodness : 0.712017 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84484456 -0.24823044 -0.4739402 4.50155116] [ 0.25939834 0.96481587 -0.04292817 -0.38365823] [ 0.46792111 -0.08667167 0.87951001 0.99754959] [ 0. 0. 0. 1. ]] SLAMing on 173.846502481 meters Centerline goodness : 0.708672 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84580894 -0.24405203 -0.47438996 4.50089545] [ 0.25590893 0.96584735 -0.04061414 -0.38144014] [ 0.46810026 -0.08704882 0.87937742 0.99692149] [ 0. 0. 0. 1. ]] SLAMing on 173.876502481 meters Centerline goodness : 0.707034 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84605768 -0.24418871 -0.4738758 4.49998304] [ 0.25549202 0.96591652 -0.04158248 -0.37967692] [ 0.46787844 -0.08589031 0.87960936 0.99622716] [ 0. 0. 0. 1. ]] SLAMing on 173.906502481 meters Centerline goodness : 0.708300 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84724653 -0.23972851 -0.47402907 4.49935997] [ 0.25172028 0.96700852 -0.03913341 -0.37832217] [ 0.46777154 -0.08616708 0.87963914 0.99506363] [ 0. 0. 0. 1. ]] SLAMing on 173.936502481 meters Centerline goodness : 0.707765 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84747103 -0.23990317 -0.47353914 4.49890073] [ 0.2512979 0.9670746 -0.04020061 -0.37649338] [ 0.46759193 -0.08493054 0.87985487 0.99416941] [ 0. 0. 0. 1. ]] SLAMing on 173.966502481 meters Centerline goodness : 0.708108 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84825782 -0.23551157 -0.47433424 4.49957775] [ 0.24786719 0.9680721 -0.03739325 -0.37512223] [ 0.46799629 -0.08585278 0.87955033 0.99362419] [ 0. 0. 0. 1. ]] SLAMing on 173.996502481 meters Centerline goodness : 0.707185 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.99 [[ 0.84833992 -0.23571412 -0.47408674 4.49875456] [ 0.24772807 0.96808261 -0.03803761 -0.3737745 ] [ 0.46792113 -0.08517577 0.87965613 0.99348585] [ 0. 0. 0. 1. ]] SLAMing on 174.026502481 meters Centerline goodness : 0.707117 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.99 [[ 0.84875244 -0.2355353 -0.47343681 4.49675249] [ 0.24721092 0.96819683 -0.03849227 -0.37323375] [ 0.46744631 -0.08436835 0.87998632 0.99322245] [ 0. 0. 0. 1. ]] SLAMing on 174.056502481 meters Centerline goodness : 0.706339 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.99 [[ 0.84903615 -0.23556941 -0.47291084 4.49630292] [ 0.24703748 0.96822945 -0.03878425 -0.37331768] [ 0.46702259 -0.08389747 0.88025628 0.99254881] [ 0. 0. 0. 1. ]] SLAMing on 174.086502481 meters Centerline goodness : 0.707662 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.99 [[ 0.84902309 -0.23586113 -0.47278889 4.49629142] [ 0.24725385 0.96816642 -0.03897849 -0.37338637] [ 0.46693183 -0.08380524 0.88031321 0.99243629] [ 0. 0. 0. 1. ]] SLAMing on 174.116502481 meters Centerline goodness : 0.708679 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.99 [[ 0.84912101 -0.23582665 -0.47263019 4.49559039] [ 0.24744287 0.96813666 -0.03851529 -0.37478464] [ 0.46665354 -0.08424483 0.88041881 0.99271602] [ 0. 0. 0. 1. ]] SLAMing on 174.146502481 meters Centerline goodness : 0.709954 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84917507 -0.23592661 -0.47248316 4.49527164] [ 0.24763406 0.96809477 -0.03833925 -0.37527608] [ 0.46645372 -0.08444618 0.88050541 0.9927493 ] [ 0. 0. 0. 1. ]] SLAMing on 174.176502481 meters Centerline goodness : 0.709979 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.8489972 -0.23617084 -0.47268074 4.49549823] [ 0.24842354 0.96792862 -0.03741558 -0.37715567] [ 0.46635769 -0.0856593 0.88043909 0.99339765] [ 0. 0. 0. 1. ]] SLAMing on 174.206502481 meters Centerline goodness : 0.712949 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84884214 -0.23638019 -0.47285454 4.49591913] [ 0.24904934 0.96779439 -0.03672133 -0.37876491] [ 0.46630617 -0.0865935 0.88037499 0.99383461] [ 0. 0. 0. 1. ]] SLAMing on 174.23650248099997 meters Centerline goodness : 0.715168 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84799678 -0.24106341 -0.47200625 4.49587207] [ 0.25279999 0.96671012 -0.03954368 -0.38031443] [ 0.46582576 -0.08579026 0.8807079 0.99413866] [ 0. 0. 0. 1. ]] SLAMing on 174.26650248099997 meters Centerline goodness : 0.716731 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84699891 -0.24585925 -0.47132374 4.4969205 ] [ 0.25661888 0.96557698 -0.04251881 -0.38154437] [ 0.46555299 -0.08493719 0.88093478 0.9942236 ] [ 0. 0. 0. 1. ]] SLAMing on 174.29650248099998 meters Centerline goodness : 0.716357 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.84684981 -0.24618806 -0.47142002 4.49740429] [ 0.25730198 0.96541981 -0.04195558 -0.38285401] [ 0.46544719 -0.08576723 0.88091027 0.99446032] [ 0. 0. 0. 1. ]] SLAMing on 174.32650248099998 meters Centerline goodness : 0.718480 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84640114 -0.24686588 -0.47187111 4.49770385] [ 0.25861589 0.96510859 -0.0410273 -0.3844241 ] [ 0.4655351 -0.08730781 0.88071245 0.99564643] [ 0. 0. 0. 1. ]] SLAMing on 174.35650248099998 meters Centerline goodness : 0.718409 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84615 -0.24717748 -0.47215832 4.49833922] [ 0.25921022 0.96496565 -0.04063689 -0.38510352] [ 0.46566108 -0.08800336 0.88057661 0.99608115] [ 0. 0. 0. 1. ]] SLAMing on 174.38650248099998 meters Centerline goodness : 0.717636 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84540647 -0.24997125 -0.47201936 4.49877648] [ 0.261746 0.96422958 -0.0418371 -0.38567233] [ 0.46559311 -0.08817982 0.8805949 0.99657869] [ 0. 0. 0. 1. ]] SLAMing on 174.41650248099998 meters Centerline goodness : 0.719171 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84518636 -0.25055223 -0.47210548 4.49893309] [ 0.26241416 0.9640476 -0.04184533 -0.38612254] [ 0.4656166 -0.08852006 0.88054834 0.99690914] [ 0. 0. 0. 1. ]] SLAMing on 174.44650248099998 meters Centerline goodness : 0.717246 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84463894 -0.25166769 -0.47249172 4.49885923] [ 0.26364659 0.96370434 -0.04200512 -0.3855584 ] [ 0.46591366 -0.08909167 0.88033354 0.99793876] [ 0. 0. 0. 1. ]] SLAMing on 174.47650248099998 meters Centerline goodness : 0.718904 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84432376 -0.25221851 -0.47276126 4.4991855 ] [ 0.26421093 0.9635419 -0.04218522 -0.38505641] [ 0.46616518 -0.08929071 0.88018021 0.99837057] [ 0. 0. 0. 1. ]] SLAMing on 174.50650248099998 meters Centerline goodness : 0.718400 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.8438484 -0.25313736 -0.47311875 4.4996898 ] [ 0.26517697 0.96326619 -0.04241957 -0.3845141 ] [ 0.46647727 -0.08966451 0.87997684 0.99899856] [ 0. 0. 0. 1. ]] SLAMing on 174.53650248099999 meters Centerline goodness : 0.716866 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84361444 -0.25358846 -0.47329437 4.49863257] [ 0.2657671 0.96310808 -0.04231645 -0.38428184] [ 0.4665646 -0.0900873 0.87988735 1.00003853] [ 0. 0. 0. 1. ]] SLAMing on 174.566502481 meters Centerline goodness : 0.717818 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84363734 -0.25355789 -0.47326994 4.49808715] [ 0.26582708 0.9630996 -0.0421321 -0.38452236] [ 0.46648902 -0.09026376 0.87990934 1.00029455] [ 0. 0. 0. 1. ]] SLAMing on 174.596502481 meters Centerline goodness : 0.717818 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84363734 -0.25355789 -0.47326994 4.49808715] [ 0.26582708 0.9630996 -0.0421321 -0.38452236] [ 0.46648902 -0.09026376 0.87990934 1.00029455] [ 0. 0. 0. 1. ]] SLAMing on 174.626502481 meters Centerline goodness : 0.715993 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84368137 -0.2535813 -0.4731789 4.49803221] [ 0.26573593 0.96311589 -0.04233435 -0.38418691] [ 0.46646132 -0.09002393 0.8799486 1.00011776] [ 0. 0. 0. 1. ]] SLAMing on 174.656502481 meters Centerline goodness : 0.717236 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84363835 -0.25322744 -0.47344504 4.49831855] [ 0.26544638 0.96320263 -0.0421772 -0.38376492] [ 0.46670393 -0.09009197 0.87981298 1.00026046] [ 0. 0. 0. 1. ]] SLAMing on 174.686502481 meters Centerline goodness : 0.715464 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.8445545 -0.24856028 -0.47428418 4.49813226] [ 0.26229839 0.96422826 -0.03825463 -0.38479318] [ 0.46682679 -0.09209586 0.87954028 1.00041266] [ 0. 0. 0. 1. ]] SLAMing on 174.716502481 meters Centerline goodness : 0.716328 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84473699 -0.24840273 -0.47404166 4.49784617] [ 0.26192634 0.96431714 -0.03856229 -0.3842264 ] [ 0.46670548 -0.091589 0.87965758 0.99996483] [ 0. 0. 0. 1. ]] SLAMing on 174.746502481 meters Centerline goodness : 0.716250 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84563596 -0.24390507 -0.47477378 4.49881013] [ 0.25836897 0.96538437 -0.0357561 -0.38355526] [ 0.46706028 -0.09243017 0.87938124 0.99915661] [ 0. 0. 0. 1. ]] SLAMing on 174.776502481 meters Centerline goodness : 0.714670 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84688769 -0.23860798 -0.47523412 4.49814588] [ 0.25396726 0.96665773 -0.03276385 -0.38295978] [ 0.46720645 -0.0929466 0.87924914 0.99840134] [ 0. 0. 0. 1. ]] SLAMing on 174.806502481 meters Centerline goodness : 0.713096 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.848426 -0.2332508 -0.47514986 4.49633263] [ 0.24931605 0.96795764 -0.02999196 -0.38168876] [ 0.46692059 -0.09301653 0.87939359 0.99721161] [ 0. 0. 0. 1. ]] SLAMing on 174.836502481 meters Centerline goodness : 0.714072 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84872779 -0.23251241 -0.47497275 4.49582749] [ 0.24808766 0.96825168 -0.03067889 -0.37992351] [ 0.46702638 -0.09179685 0.87946557 0.99662678] [ 0. 0. 0. 1. ]] SLAMing on 174.866502481 meters Centerline goodness : 0.712652 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84977054 -0.22763183 -0.47547216 4.49535003] [ 0.24397334 0.96937604 -0.02805524 -0.37846338] [ 0.46729758 -0.09216202 0.87928331 0.99598149] [ 0. 0. 0. 1. ]] SLAMing on 174.896502481 meters Centerline goodness : 0.713795 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:1.00 [[ 0.84998296 -0.22749907 -0.4751559 4.49479435] [ 0.24345387 0.96948844 -0.02867708 -0.37750913] [ 0.46718217 -0.09130351 0.87943419 0.99546605] [ 0. 0. 0. 1. ]] SLAMing on 174.926502481 meters Centerline goodness : 0.712535 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.99 [[ 0.85053344 -0.22720412 -0.47431125 4.49332343] [ 0.24261497 0.96967595 -0.02943684 -0.37678472] [ 0.46661638 -0.09003799 0.87986494 0.99446227] [ 0. 0. 0. 1. ]] SLAMing on 174.956502481 meters Centerline goodness : 0.712129 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.99 [[ 0.85059284 -0.22738497 -0.47411803 4.49307063] [ 0.24260998 0.96966633 -0.02979265 -0.37652042] [ 0.46651069 -0.08968435 0.8799571 0.99423233] [ 0. 0. 0. 1. ]] SLAMing on 174.98650248099997 meters Centerline goodness : 0.711742 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.99 [[ 0.85050414 -0.22770248 -0.47412476 4.49365458] [ 0.24295868 0.96957821 -0.02981915 -0.37698194] [ 0.46649093 -0.08983141 0.87995257 0.99410502] [ 0. 0. 0. 1. ]] SLAMing on 175.01650248099997 meters Centerline goodness : 0.710496 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.99 [[ 0.85023097 -0.22812648 -0.47441081 4.49387465] [ 0.24395566 0.96935527 -0.02891364 -0.37872776] [ 0.46646858 -0.09115193 0.87982861 0.99496882] [ 0. 0. 0. 1. ]] SLAMing on 175.04650248099998 meters Centerline goodness : 0.711157 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:1.00 [[ 0.85009036 -0.2281303 -0.47466087 4.49332375] [ 0.24446069 0.96925412 -0.02802539 -0.38032 ] [ 0.46646045 -0.09221181 0.87972247 0.99598291] [ 0. 0. 0. 1. ]] SLAMing on 175.07650248099998 meters Centerline goodness : 0.711713 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:1.00 [[ 0.84934897 -0.23284726 -0.47369661 4.49186603] [ 0.24821722 0.96821243 -0.03086905 -0.38147869] [ 0.46582672 -0.09136106 0.88014693 0.99673422] [ 0. 0. 0. 1. ]] SLAMing on 175.10650248099998 meters Centerline goodness : 0.711722 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:1.00 [[ 0.84900173 -0.23329103 -0.47410058 4.49252736] [ 0.24915834 0.96799371 -0.03013789 -0.38296188] [ 0.46595728 -0.09253899 0.87995474 0.99755495] [ 0. 0. 0. 1. ]] SLAMing on 175.13650248099998 meters Centerline goodness : 0.712608 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:1.00 [[ 0.84784261 -0.2381916 -0.47373797 4.493288 ] [ 0.25334467 0.96682314 -0.03270319 -0.38391126] [ 0.46581046 -0.09229183 0.88005843 0.99835218] [ 0. 0. 0. 1. ]] SLAMing on 175.16650248099998 meters Centerline goodness : 0.714442 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:1.00 [[ 0.84667096 -0.24321108 -0.47328284 4.49347212] [ 0.25753156 0.96561733 -0.03550592 -0.38475295] [ 0.46564555 -0.09182344 0.88019468 0.99930585] [ 0. 0. 0. 1. ]] SLAMing on 175.19650248099998 meters Centerline goodness : 0.714794 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:1.00 [[ 0.84640458 -0.24382809 -0.47344182 4.49423411] [ 0.25855254 0.96536503 -0.03494211 -0.38628965] [ 0.46556404 -0.09283442 0.88013175 0.99968106] [ 0. 0. 0. 1. ]] SLAMing on 175.22650248099998 meters Centerline goodness : 0.714337 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:1.00 [[ 0.84531962 -0.24913932 -0.47261437 4.4946229 ] [ 0.262877 0.96407944 -0.03803314 -0.387239 ] [ 0.46511334 -0.09208929 0.88044826 0.99999098] [ 0. 0. 0. 1. ]] SLAMing on 175.25650248099998 meters Centerline goodness : 0.716539 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:1.00 [[ 0.84480354 -0.25048512 -0.47282574 4.49385874] [ 0.26500526 0.96353844 -0.03695792 -0.38937238] [ 0.46484318 -0.09407913 0.88038056 1.0016465 ] [ 0. 0. 0. 1. ]] SLAMing on 175.28650248099999 meters Centerline goodness : 0.718155 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:1.00 [[ 0.8444852 -0.25088101 -0.47318438 4.49425699] [ 0.26580265 0.96334053 -0.03638631 -0.39019249] [ 0.46496633 -0.09504596 0.88021167 1.00242301] [ 0. 0. 0. 1. ]] SLAMing on 175.316502481 meters Centerline goodness : 0.718888 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84372601 -0.25195904 -0.47396526 4.49666966] [ 0.26736786 0.96292422 -0.03593565 -0.390809 ] [ 0.46544694 -0.09640323 0.87980996 1.00309344] [ 0. 0. 0. 1. ]] SLAMing on 175.346502481 meters Centerline goodness : 0.717778 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84334428 -0.25253494 -0.474338 4.49805738] [ 0.26809742 0.96272315 -0.03588749 -0.39102656] [ 0.46571901 -0.09690328 0.87961102 1.00334237] [ 0. 0. 0. 1. ]] SLAMing on 175.376502481 meters Centerline goodness : 0.719332 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84289391 -0.25347272 -0.47463821 4.4996509 ] [ 0.26918405 0.96241834 -0.03592884 -0.39125913] [ 0.4659075 -0.09748084 0.87944738 1.0034303 ] [ 0. 0. 0. 1. ]] SLAMing on 175.406502481 meters Centerline goodness : 0.719284 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84278876 -0.25417714 -0.4744482 4.49994135] [ 0.26968331 0.96225861 -0.03645935 -0.39078049] [ 0.465809 -0.09722323 0.87952807 1.00310692] [ 0. 0. 0. 1. ]] SLAMing on 175.436502481 meters Centerline goodness : 0.719952 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84278339 -0.25458056 -0.47424139 4.49968691] [ 0.26991923 0.96217817 -0.03683444 -0.39035891] [ 0.46568205 -0.09696342 0.87962397 1.00291377] [ 0. 0. 0. 1. ]] SLAMing on 175.466502481 meters Centerline goodness : 0.719052 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84337732 -0.25078814 -0.47520522 4.49964087] [ 0.26746866 0.96298342 -0.03351777 -0.39014577] [ 0.46602061 -0.09883438 0.87923635 1.00330224] [ 0. 0. 0. 1. ]] SLAMing on 175.496502481 meters Centerline goodness : 0.719165 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.8434885 -0.25080385 -0.47499955 4.49928554] [ 0.26719414 0.96304202 -0.03401996 -0.38884137] [ 0.46597686 -0.09822165 0.87932819 1.00287479] [ 0. 0. 0. 1. ]] SLAMing on 175.526502481 meters Centerline goodness : 0.718887 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84376745 -0.2503795 -0.47472791 4.49883686] [ 0.26622731 0.96327952 -0.03486524 -0.38660233] [ 0.46602522 -0.09696738 0.87944177 1.00210573] [ 0. 0. 0. 1. ]] SLAMing on 175.556502481 meters Centerline goodness : 0.718743 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:1.00 [[ 0.84414309 -0.25024585 -0.47413021 4.49781846] [ 0.26565603 0.96341351 -0.03551458 -0.38538241] [ 0.46567082 -0.09597616 0.87973818 1.00126181] [ 0. 0. 0. 1. ]] SLAMing on 175.586502481 meters Centerline goodness : 0.718126 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84512049 -0.24576195 -0.47473406 4.49776505] [ 0.26221234 0.96446289 -0.03249663 -0.38461815] [ 0.46584982 -0.09701756 0.87952916 1.00068804] [ 0. 0. 0. 1. ]] SLAMing on 175.616502481 meters Centerline goodness : 0.716242 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84639121 -0.24084965 -0.47498775 4.49715783] [ 0.2581793 0.9656438 -0.02958872 -0.3841392 ] [ 0.46579542 -0.09758837 0.87949482 0.9996973 ] [ 0. 0. 0. 1. ]] SLAMing on 175.646502481 meters Centerline goodness : 0.715913 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84664985 -0.240276 -0.47481732 4.49667971] [ 0.25723302 0.96588054 -0.03009918 -0.38251004] [ 0.46584892 -0.09665523 0.87956953 0.99917383] [ 0. 0. 0. 1. ]] SLAMing on 175.676502481 meters Centerline goodness : 0.714815 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84804786 -0.23527925 -0.4748247 4.49616223] [ 0.25280471 0.9671207 -0.02770062 -0.38079276] [ 0.46573018 -0.09654647 0.87964435 0.99751763] [ 0. 0. 0. 1. ]] SLAMing on 175.706502481 meters Centerline goodness : 0.716998 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:1.00 [[ 0.84853282 -0.23535137 -0.4739217 4.49558359] [ 0.25196578 0.9672946 -0.0292303 -0.37850432] [ 0.46530129 -0.09460918 0.8800817 0.99578274] [ 0. 0. 0. 1. ]] SLAMing on 175.73650248099997 meters Centerline goodness : 0.715551 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.99 [[ 0.85001125 -0.22997545 -0.47391156 4.49472692] [ 0.24710971 0.96861618 -0.02682337 -0.37662849] [ 0.46520712 -0.09430798 0.88016381 0.99418692] [ 0. 0. 0. 1. ]] SLAMing on 175.76650248099997 meters Centerline goodness : 0.713521 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.99 [[ 0.85142533 -0.22495517 -0.47378273 4.493108 ] [ 0.24279676 0.96977699 -0.02413139 -0.37547466] [ 0.46489207 -0.09448684 0.88031108 0.9930207 ] [ 0. 0. 0. 1. ]] SLAMing on 175.79650248099998 meters Centerline goodness : 0.714582 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.37, Z:0.99 [[ 0.85178336 -0.22492149 -0.47315477 4.49192827] [ 0.24227469 0.96988803 -0.02490328 -0.37451251] [ 0.46450843 -0.09342122 0.88062727 0.99229854] [ 0. 0. 0. 1. ]] SLAMing on 175.82650248099998 meters Centerline goodness : 0.713056 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.37, Z:0.99 [[ 0.85211527 -0.224777 -0.4726255 4.49069011] [ 0.24144369 0.9700652 -0.02604703 -0.37281472] [ 0.46433233 -0.09191737 0.88087836 0.99166218] [ 0. 0. 0. 1. ]] SLAMing on 175.85650248099998 meters Centerline goodness : 0.712691 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.37, Z:0.99 [[ 0.85225434 -0.22485184 -0.47233905 4.489958 ] [ 0.24120811 0.97010904 -0.02659136 -0.37176246] [ 0.4641995 -0.09126941 0.88101573 0.99137773] [ 0. 0. 0. 1. ]] SLAMing on 175.88650248099998 meters Centerline goodness : 0.709129 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.37, Z:0.99 [[ 0.85247587 -0.22481863 -0.47195496 4.48918776] [ 0.2407001 0.97021275 -0.02739855 -0.37045952] [ 0.46405642 -0.090243 0.88119682 0.99085299] [ 0. 0. 0. 1. ]] SLAMing on 175.91650248099998 meters Centerline goodness : 0.709730 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.37, Z:0.99 [[ 0.85238229 -0.22573964 -0.47168426 4.48947239] [ 0.24119245 0.97006183 -0.0283945 -0.36947842] [ 0.46397266 -0.08956371 0.88131022 0.99032444] [ 0. 0. 0. 1. ]] SLAMing on 175.94650248099998 meters Centerline goodness : 0.708959 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.37, Z:0.99 [[ 0.85235147 -0.22594781 -0.47164028 4.489414 ] [ 0.24149696 0.9699901 -0.02825639 -0.36985196] [ 0.46387087 -0.08981532 0.8813382 0.99038275] [ 0. 0. 0. 1. ]] SLAMing on 175.97650248099998 meters Centerline goodness : 0.708001 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.37, Z:0.99 [[ 0.85222379 -0.2261957 -0.47175218 4.48956788] [ 0.24193165 0.96988946 -0.02799121 -0.37050449] [ 0.46387896 -0.09027701 0.88128677 0.99069546] [ 0. 0. 0. 1. ]] SLAMing on 176.00650248099998 meters Centerline goodness : 0.708550 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.37, Z:0.99 [[ 0.8515776 -0.22735175 -0.47236297 4.49068924] [ 0.24373502 0.96946031 -0.02720199 -0.37157949] [ 0.46412157 -0.0919668 0.88098427 0.99177008] [ 0. 0. 0. 1. ]] SLAMing on 176.03650248099999 meters Centerline goodness : 0.709314 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.37, Z:0.99 [[ 0.85119584 -0.22809907 -0.47269066 4.49147745] [ 0.24472864 0.96921546 -0.02700528 -0.37227469] [ 0.46429898 -0.09269416 0.88081454 0.99228888] [ 0. 0. 0. 1. ]] SLAMing on 176.066502481 meters Centerline goodness : 0.708025 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.37, Z:0.99 [[ 0.85026153 -0.23369119 -0.47163944 4.49149328] [ 0.24899629 0.96801603 -0.03075411 -0.37304464] [ 0.4637415 -0.09128743 0.88125503 0.99232068] [ 0. 0. 0. 1. ]] SLAMing on 176.096502481 meters Centerline goodness : 0.708174 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.37, Z:0.99 [[ 0.84992089 -0.23390118 -0.47214904 4.49209517] [ 0.24971061 0.96785672 -0.02996631 -0.37439641] [ 0.46398178 -0.09243164 0.88100925 0.99322436] [ 0. 0. 0. 1. ]] SLAMing on 176.126502481 meters Centerline goodness : 0.707153 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.37, Z:0.99 [[ 0.84934513 -0.23446484 -0.47290495 4.49298175] [ 0.25078252 0.96759923 -0.02932321 -0.37499377] [ 0.46445773 -0.09369077 0.88062538 0.99441255] [ 0. 0. 0. 1. ]] SLAMing on 176.156502481 meters Centerline goodness : 0.708532 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:1.00 [[ 0.84913858 -0.23455131 -0.47323287 4.49310533] [ 0.25112346 0.96752237 -0.02893929 -0.37531953] [ 0.46465114 -0.0942664 0.88046191 0.99505968] [ 0. 0. 0. 1. ]] SLAMing on 176.186502481 meters Centerline goodness : 0.707782 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:1.00 [[ 0.84912303 -0.23459931 -0.47323698 4.49295242] [ 0.2513799 0.9674671 -0.02855788 -0.37631178] [ 0.46454087 -0.09471311 0.88047215 0.99531771] [ 0. 0. 0. 1. ]] SLAMing on 176.216502481 meters Centerline goodness : 0.707881 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:1.00 [[ 0.84921874 -0.2345895 -0.47307008 4.49322801] [ 0.2514529 0.96745397 -0.02835948 -0.37725989] [ 0.46432636 -0.09487145 0.88056825 0.99501181] [ 0. 0. 0. 1. ]] SLAMing on 176.246502481 meters Centerline goodness : 0.709870 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.99 [[ 0.84941138 -0.23442646 -0.47280498 4.49346749] [ 0.25140834 0.96747515 -0.02802988 -0.37887907] [ 0.46399801 -0.09505822 0.88072117 0.99456064] [ 0. 0. 0. 1. ]] SLAMing on 176.276502481 meters Centerline goodness : 0.708682 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.99 [[ 0.85005752 -0.23301002 -0.47234367 4.49176468] [ 0.25029101 0.96779464 -0.02698054 -0.3807608 ] [ 0.46341841 -0.09528836 0.88100142 0.9944508 ] [ 0. 0. 0. 1. ]] SLAMing on 176.306502481 meters Centerline goodness : 0.708092 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.99 [[ 0.85065915 -0.23201684 -0.47174908 4.49121117] [ 0.24918834 0.96808447 -0.02678873 -0.38112869] [ 0.46290839 -0.09476629 0.8813258 0.99337003] [ 0. 0. 0. 1. ]] SLAMing on 176.336502481 meters Centerline goodness : 0.706682 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.99 [[ 0.85082653 -0.23162419 -0.47164017 4.49110712] [ 0.24874734 0.96819888 -0.02675228 -0.38147443] [ 0.46283796 -0.09455769 0.8813852 0.9931237 ] [ 0. 0. 0. 1. ]] SLAMing on 176.366502481 meters Centerline goodness : 0.707532 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.99 [[ 0.85106095 -0.23118096 -0.47143465 4.49145932] [ 0.24832359 0.96831319 -0.026551 -0.38307409] [ 0.46263448 -0.09447182 0.88150123 0.9926574 ] [ 0. 0. 0. 1. ]] SLAMing on 176.396502481 meters Centerline goodness : 0.706966 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.99 [[ 0.85115864 -0.23106346 -0.47131587 4.49188676] [ 0.24827463 0.96833091 -0.02636193 -0.38405013] [ 0.46248101 -0.09457759 0.88157041 0.99233188] [ 0. 0. 0. 1. ]] SLAMing on 176.426502481 meters Centerline goodness : 0.705959 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:0.99 [[ 0.85110192 -0.23077188 -0.47156109 4.49341776] [ 0.24841622 0.96831723 -0.02551709 -0.38610587] [ 0.46250935 -0.09542578 0.88146413 0.99220243] [ 0. 0. 0. 1. ]] SLAMing on 176.456502481 meters Centerline goodness : 0.705640 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:0.99 [[ 0.85119625 -0.23047887 -0.47153413 4.49314412] [ 0.24851616 0.96831316 -0.02468474 -0.3876798 ] [ 0.46228202 -0.0961723 0.88150225 0.99247846] [ 0. 0. 0. 1. ]] SLAMing on 176.48650248099997 meters Centerline goodness : 0.705156 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:0.99 [[ 0.85125653 -0.23024819 -0.471538 4.49180266] [ 0.24902797 0.96821817 -0.02320872 -0.3908408 ] [ 0.46189543 -0.09766958 0.88154028 0.99365388] [ 0. 0. 0. 1. ]] SLAMing on 176.51650248099997 meters Centerline goodness : 0.705156 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:0.99 [[ 0.85125653 -0.23024819 -0.471538 4.49180266] [ 0.24902797 0.96821817 -0.02320872 -0.3908408 ] [ 0.46189543 -0.09766958 0.88154028 0.99365388] [ 0. 0. 0. 1. ]] SLAMing on 176.54650248099998 meters Centerline goodness : 0.704093 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:0.99 [[ 0.85119425 -0.23016797 -0.47168958 4.49222024] [ 0.24934533 0.96815402 -0.02246549 -0.39263037] [ 0.46183899 -0.0984911 0.88147844 0.99399343] [ 0. 0. 0. 1. ]] SLAMing on 176.57650248099998 meters Centerline goodness : 0.704224 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.39, Z:0.99 [[ 0.85044314 -0.23486683 -0.47072714 4.49238345] [ 0.25287575 0.96715742 -0.02569802 -0.3945102 ] [ 0.46130286 -0.09718078 0.88190451 0.99396696] [ 0. 0. 0. 1. ]] SLAMing on 176.60650248099998 meters Centerline goodness : 0.703641 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.84979018 -0.23884884 -0.46990198 4.49156767] [ 0.25600393 0.96626492 -0.02817955 -0.3962072 ] [ 0.46078046 -0.09635005 0.88226869 0.99452907] [ 0. 0. 0. 1. ]] SLAMing on 176.63650248099998 meters Centerline goodness : 0.703958 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:1.00 [[ 0.84969074 -0.23899053 -0.47000976 4.49162394] [ 0.25658044 0.96613414 -0.02740982 -0.39782574] [ 0.46064316 -0.09730544 0.88223553 0.99502911] [ 0. 0. 0. 1. ]] SLAMing on 176.66650248099998 meters Centerline goodness : 0.702596 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:1.00 [[ 0.84892719 -0.24316741 -0.46924645 4.49215028] [ 0.25993661 0.96516276 -0.02989658 -0.39968268] [ 0.46016907 -0.09659431 0.88256103 0.99509137] [ 0. 0. 0. 1. ]] SLAMing on 176.69650248099998 meters Centerline goodness : 0.704332 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:1.00 [[ 0.84882675 -0.24319322 -0.46941474 4.49242265] [ 0.26047455 0.96504624 -0.02896145 -0.4016671 ] [ 0.46005016 -0.09768734 0.88250271 0.99565627] [ 0. 0. 0. 1. ]] SLAMing on 176.72650248099998 meters Centerline goodness : 0.705280 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:1.00 [[ 0.84823305 -0.24751995 -0.46822491 4.49162583] [ 0.26370953 0.96407423 -0.03190874 -0.40315008] [ 0.45930162 -0.09640933 0.88303299 0.99566498] [ 0. 0. 0. 1. ]] SLAMing on 176.75650248099998 meters Centerline goodness : 0.703587 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:1.00 [[ 0.848262 -0.24734803 -0.46826332 4.49223269] [ 0.26392873 0.96404 -0.03112071 -0.40496021] [ 0.45912222 -0.09718962 0.88304075 0.99568654] [ 0. 0. 0. 1. ]] SLAMing on 176.78650248099999 meters Centerline goodness : 0.701750 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.41, Z:1.00 [[ 0.84832331 -0.24683238 -0.46842432 4.49303915] [ 0.26402991 0.96405286 -0.02983776 -0.40736539] [ 0.45895073 -0.09836597 0.88299964 0.99584381] [ 0. 0. 0. 1. ]] SLAMing on 176.816502481 meters Centerline goodness : 0.704722 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.41, Z:1.00 [[ 0.84848125 -0.24640918 -0.46836106 4.49372166] [ 0.26380494 0.96413003 -0.02932982 -0.40855337] [ 0.4587881 -0.09867016 0.88305021 0.99545885] [ 0. 0. 0. 1. ]] SLAMing on 176.846502481 meters Centerline goodness : 0.703303 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.41, Z:0.99 [[ 0.84877362 -0.24608796 -0.46800006 4.49361592] [ 0.26341063 0.9642388 -0.02929819 -0.40895048] [ 0.45847375 -0.09840866 0.88324264 0.99479358] [ 0. 0. 0. 1. ]] SLAMing on 176.876502481 meters Centerline goodness : 0.704369 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.41, Z:0.99 [[ 0.84945187 -0.24501362 -0.46733269 4.49215758] [ 0.26219556 0.96457512 -0.02912599 -0.40999008] [ 0.45791375 -0.09779143 0.88360162 0.99411252] [ 0. 0. 0. 1. ]] SLAMing on 176.906502481 meters Centerline goodness : 0.704149 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.41, Z:0.99 [[ 0.85025982 -0.24382274 -0.46648549 4.4906097 ] [ 0.26070839 0.96497643 -0.02918274 -0.41036903] [ 0.45726292 -0.09680377 0.88404731 0.99298734] [ 0. 0. 0. 1. ]] SLAMing on 176.936502481 meters Centerline goodness : 0.705330 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.41, Z:0.99 [[ 0.85063839 -0.24347829 -0.46597494 4.48993677] [ 0.26009073 0.96513347 -0.02949921 -0.410155 ] [ 0.45691042 -0.0961026 0.88430603 0.99220182] [ 0. 0. 0. 1. ]] SLAMing on 176.966502481 meters Centerline goodness : 0.704650 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.41, Z:0.99 [[ 0.85120518 -0.2426472 -0.46537306 4.48912733] [ 0.25885914 0.96545171 -0.0299156 -0.40973253] [ 0.45655415 -0.09500176 0.88460894 0.99115872] [ 0. 0. 0. 1. ]] SLAMing on 176.996502481 meters Centerline goodness : 0.704759 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.41, Z:0.99 [[ 0.85167642 -0.2419821 -0.4648569 4.48849698] [ 0.25810331 0.96565771 -0.02979707 -0.41005082] [ 0.45610301 -0.09460364 0.88488429 0.99034508] [ 0. 0. 0. 1. ]] SLAMing on 177.026502481 meters Centerline goodness : 0.704748 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.41, Z:0.99 [[ 0.85198919 -0.24147541 -0.46454715 4.48886703] [ 0.2575364 0.96581175 -0.0297097 -0.41079123] [ 0.45583926 -0.09432546 0.88504987 0.98951516] [ 0. 0. 0. 1. ]] SLAMing on 177.056502481 meters Centerline goodness : 0.706179 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.41, Z:0.99 [[ 0.85210979 -0.24129784 -0.46441819 4.48919981] [ 0.25752028 0.96582796 -0.02931981 -0.41201848] [ 0.45562288 -0.09461341 0.88513055 0.98923522] [ 0. 0. 0. 1. ]] SLAMing on 177.086502481 meters Centerline goodness : 0.707748 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.42, Z:0.99 [[ 0.8523677 -0.24090117 -0.46415076 4.48850784] [ 0.25782226 0.96579248 -0.02779522 -0.41540799] [ 0.45496921 -0.09597665 0.88532 0.9896323 ] [ 0. 0. 0. 1. ]] SLAMing on 177.116502481 meters Centerline goodness : 0.707320 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.42, Z:0.99 [[ 0.85247591 -0.24067618 -0.46406875 4.48821179] [ 0.25796891 0.96577605 -0.02699385 -0.41681491] [ 0.45468326 -0.0967037 0.88538778 0.98985528] [ 0. 0. 0. 1. ]] SLAMing on 177.146502481 meters Centerline goodness : 0.708035 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.42, Z:0.99 [[ 0.85216807 -0.24105839 -0.46443561 4.48971507] [ 0.25899249 0.96553113 -0.02593308 -0.41874845] [ 0.45467842 -0.098186 0.88522711 0.99026779] [ 0. 0. 0. 1. ]] SLAMing on 177.176502481 meters Centerline goodness : 0.341036 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.42, Z:0.99 [[ 0.85121569 -0.24576928 -0.46371253 4.49169067] [ 0.26251855 0.96448242 -0.02928591 -0.41936675] [ 0.45444016 -0.09680451 0.88550157 0.98967917] [ 0. 0. 0. 1. ]] SLAMing on 177.206502481 meters Centerline goodness : 0.709701 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.42, Z:0.99 [[ 0.85111465 -0.24593046 -0.46381253 4.49194225] [ 0.26301202 0.96436546 -0.02870439 -0.42071787] [ 0.45434406 -0.09755754 0.88546824 0.99004359] [ 0. 0. 0. 1. ]] SLAMing on 177.23650248099997 meters Centerline goodness : 0.511371 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.42, Z:0.99 [[ 0.85132935 -0.24594248 -0.46341196 4.49147011] [ 0.26344945 0.96427313 -0.02777978 -0.4230079 ] [ 0.45368793 -0.09843588 0.88570743 0.99004168] [ 0. 0. 0. 1. ]] SLAMing on 177.26650248099997 meters Centerline goodness : 0.547925 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.42, Z:0.99 [[ 0.85137579 -0.24600662 -0.46329257 4.49131021] [ 0.26364859 0.96422663 -0.02750335 -0.42384569] [ 0.45348504 -0.09873074 0.88577851 0.9901121 ] [ 0. 0. 0. 1. ]] SLAMing on 177.29650248099998 meters Centerline goodness : 0.537071 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.42, Z:0.99 [[ 0.8516418 -0.24562654 -0.46300524 4.49047468] [ 0.26339914 0.96430681 -0.0270788 -0.42466199] [ 0.45313038 -0.09889375 0.88594181 0.99008965] [ 0. 0. 0. 1. ]] SLAMing on 177.32650248099998 meters Centerline goodness : 0.506871 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.42, Z:0.99 [[ 0.85189961 -0.2452491 -0.46273095 4.48952 ] [ 0.26296645 0.9644265 -0.02702156 -0.42469688] [ 0.45289701 -0.09866306 0.88608685 0.98998087] [ 0. 0. 0. 1. ]] SLAMing on 177.35650248099998 meters Centerline goodness : 0.543812 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.43, Z:0.99 [[ 0.85214564 -0.24505249 -0.46238196 4.48918757] [ 0.26271383 0.96449611 -0.02699441 -0.42508203] [ 0.45258065 -0.09847096 0.88626984 0.98951957] [ 0. 0. 0. 1. ]] SLAMing on 177.38650248099998 meters Centerline goodness : 0.525987 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.43, Z:0.99 [[ 0.85233056 -0.24495436 -0.46209304 4.48945832] [ 0.26260637 0.96452756 -0.02691623 -0.42593601] [ 0.45229472 -0.09840705 0.88642289 0.98891925] [ 0. 0. 0. 1. ]] SLAMing on 177.41650248099998 meters Centerline goodness : 0.539414 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.43, Z:0.99 [[ 0.85226949 -0.24509366 -0.46213182 4.49116279] [ 0.26276068 0.96448508 -0.02693229 -0.42620987] [ 0.45232018 -0.09847651 0.88640219 0.9882195 ] [ 0. 0. 0. 1. ]] SLAMing on 177.44650248099998 meters Centerline goodness : 0.549721 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.43, Z:0.99 [[ 0.85213857 -0.24530882 -0.46225906 4.49179597] [ 0.26302319 0.96441369 -0.02692641 -0.42603691] [ 0.45241425 -0.09863982 0.88633601 0.98819265] [ 0. 0. 0. 1. ]] SLAMing on 177.47650248099998 meters Centerline goodness : 0.482868 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.43, Z:0.99 [[ 0.85217167 -0.24543001 -0.46213369 4.49186545] [ 0.2633619 0.96433306 -0.02650038 -0.42692696] [ 0.45215478 -0.09912553 0.88641423 0.98816878] [ 0. 0. 0. 1. ]] SLAMing on 177.50650248099998 meters Centerline goodness : 0.706233 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.43, Z:0.99 [[ 0.85225281 -0.24545045 -0.46197318 4.49200139] [ 0.26350729 0.96430098 -0.02622076 -0.42761492] [ 0.45191709 -0.09938658 0.88650621 0.98794294] [ 0. 0. 0. 1. ]] SLAMing on 177.53650248099999 meters Centerline goodness : 0.582490 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.43, Z:0.99 [[ 0.85202556 -0.24608688 -0.46205378 4.49339673] [ 0.26431072 0.96408496 -0.0260774 -0.42839323] [ 0.4518764 -0.09990716 0.88646843 0.98775945] [ 0. 0. 0. 1. ]] SLAMing on 177.566502481 meters Centerline goodness : 0.345530 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.43, Z:0.99 [[ 0.85183455 -0.2464005 -0.46223878 4.49409333] [ 0.26483636 0.96394846 -0.02578889 -0.42895635] [ 0.45192876 -0.10044977 0.88638042 0.98796269] [ 0. 0. 0. 1. ]] SLAMing on 177.596502481 meters Centerline goodness : 0.150753 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.43, Z:0.99 [[ 0.85144034 -0.24716566 -0.46255648 4.49448979] [ 0.26614121 0.96360959 -0.02500849 -0.43036081] [ 0.45190509 -0.1018121 0.88623703 0.98897011] [ 0. 0. 0. 1. ]] SLAMing on 177.626502481 meters Centerline goodness : 0.463413 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.43, Z:0.99 [[ 0.85090802 -0.24814205 -0.46301302 4.49606809] [ 0.26748655 0.96324612 -0.02465462 -0.43095777] [ 0.45211335 -0.10287094 0.88600852 0.98947433] [ 0. 0. 0. 1. ]] SLAMing on 177.656502481 meters Centerline goodness : 0.509080 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.43, Z:0.99 [[ 0.85058113 -0.248573 -0.46338235 4.49709712] [ 0.26807481 0.96308516 -0.02455336 -0.43104948] [ 0.45237997 -0.10333651 0.88581823 0.98981148] [ 0. 0. 0. 1. ]] SLAMing on 177.686502481 meters Centerline goodness : 0.719197 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.43, Z:0.99 [[ 0.85015905 -0.2496834 -0.46355991 4.49753441] [ 0.26925866 0.96274999 -0.02474332 -0.43071875] [ 0.45247029 -0.10378176 0.88572003 0.99029033] [ 0. 0. 0. 1. ]] SLAMing on 177.716502481 meters Centerline goodness : 0.359086 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.43, Z:0.99 [[ 0.84967259 -0.25073867 -0.46388211 4.49884822] [ 0.27034153 0.96243863 -0.02504687 -0.43027573] [ 0.45273828 -0.10412496 0.88554279 0.99050264] [ 0. 0. 0. 1. ]] SLAMing on 177.746502481 meters Centerline goodness : 0.467191 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.43, Z:0.99 [[ 0.84938522 -0.25126745 -0.46412219 4.49952576] [ 0.27075538 0.96231114 -0.02547142 -0.42932872] [ 0.45303009 -0.10402853 0.88540488 0.99060053] [ 0. 0. 0. 1. ]] SLAMing on 177.776502481 meters Centerline goodness : 0.294241 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.43, Z:0.99 [[ 0.84964436 -0.24764132 -0.4655945 4.50068743] [ 0.26850809 0.96302103 -0.0222241 -0.42821731] [ 0.4538809 -0.10613331 0.88471908 0.99123712] [ 0. 0. 0. 1. ]] SLAMing on 177.806502481 meters Centerline goodness : 0.358800 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.43, Z:0.99 [[ 0.84967421 -0.24783316 -0.46543792 4.50040122] [ 0.26838661 0.9630404 -0.02284334 -0.42677214] [ 0.45389686 -0.10550791 0.88478569 0.99086229] [ 0. 0. 0. 1. ]] SLAMing on 177.836502481 meters Centerline goodness : 0.463236 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.84987829 -0.24817917 -0.46488062 4.49955649] [ 0.26810911 0.96308948 -0.02400323 -0.42477785] [ 0.45367873 -0.1042389 0.88504794 0.98995737] [ 0. 0. 0. 1. ]] SLAMing on 177.866502481 meters Centerline goodness : 0.592789 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.85009121 -0.24844795 -0.46434744 4.49883373] [ 0.26796115 0.96311181 -0.02474813 -0.42384966] [ 0.45336712 -0.1033889 0.88530728 0.989236 ] [ 0. 0. 0. 1. ]] SLAMing on 177.896502481 meters Centerline goodness : 0.147700 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.85011933 -0.24873989 -0.46413964 4.49868732] [ 0.26759872 0.96317829 -0.02604822 -0.42171658] [ 0.45352845 -0.10205908 0.88537895 0.98853241] [ 0. 0. 0. 1. ]] SLAMing on 177.926502481 meters Centerline goodness : 0.153408 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.85092913 -0.24399199 -0.46517473 4.49886203] [ 0.26428231 0.96418776 -0.02228964 -0.42195547] [ 0.45395428 -0.10397055 0.88493821 0.98871446] [ 0. 0. 0. 1. ]] SLAMing on 177.956502481 meters Centerline goodness : 0.241874 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.8510588 -0.24402729 -0.46491892 4.49855198] [ 0.26409351 0.96423063 -0.02266952 -0.42123746] [ 0.45382105 -0.10348898 0.88506299 0.9882671 ] [ 0. 0. 0. 1. ]] SLAMing on 177.98650248099997 meters Centerline goodness : 0.713572 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.851164 -0.24401018 -0.46473528 4.49892523] [ 0.26392828 0.96427027 -0.02290662 -0.42154551] [ 0.45371986 -0.10315949 0.88515332 0.98774081] [ 0. 0. 0. 1. ]] SLAMing on 178.01650248099997 meters Centerline goodness : 0.712386 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.85116174 -0.24421644 -0.46463107 4.49897359] [ 0.26410036 0.96422093 -0.02299992 -0.42155229] [ 0.45362396 -0.10313258 0.88520561 0.98759515] [ 0. 0. 0. 1. ]] SLAMing on 178.04650248099998 meters Centerline goodness : 0.714478 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.8510864 -0.24387065 -0.46495059 4.49848962] [ 0.26417958 0.96421881 -0.02216368 -0.42207577] [ 0.45371918 -0.10396724 0.88505916 0.98845479] [ 0. 0. 0. 1. ]] SLAMing on 178.07650248099998 meters Centerline goodness : 0.714757 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.8509367 -0.24382508 -0.46524839 4.49829835] [ 0.26447475 0.96415147 -0.0215649 -0.42265419] [ 0.45382799 -0.10469609 0.88491745 0.98924528] [ 0. 0. 0. 1. ]] SLAMing on 178.10650248099998 meters Centerline goodness : 0.713462 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.85049754 -0.2445095 -0.46569199 4.49838151] [ 0.26585509 0.96379495 -0.02050266 -0.42440286] [ 0.45384469 -0.10636913 0.88470934 0.99065935] [ 0. 0. 0. 1. ]] SLAMing on 178.13650248099998 meters Centerline goodness : 0.712928 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.43, Z:0.99 [[ 0.85022998 -0.24508402 -0.46587852 4.49878533] [ 0.26673136 0.96356102 -0.02011341 -0.42550812] [ 0.45383186 -0.10716339 0.88462006 0.99122488] [ 0. 0. 0. 1. ]] SLAMing on 178.16650248099998 meters Centerline goodness : 0.714481 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.43, Z:0.99 [[ 0.84893102 -0.25080053 -0.46520449 4.49978494] [ 0.27103481 0.96226589 -0.02417633 -0.4251858 ] [ 0.45371385 -0.10556257 0.88487303 0.99139636] [ 0. 0. 0. 1. ]] SLAMing on 178.19650248099998 meters Centerline goodness : 0.713874 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.84823249 -0.25209019 -0.46578125 4.50194879] [ 0.27232898 0.96188825 -0.024656 -0.42435051] [ 0.45424504 -0.10593171 0.88455634 0.99164701] [ 0. 0. 0. 1. ]] SLAMing on 178.22650248099998 meters Centerline goodness : 0.713843 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.84796323 -0.25254368 -0.46602581 4.50243741] [ 0.27277798 0.96175608 -0.02484783 -0.4233654 ] [ 0.45447832 -0.10605153 0.88442215 0.99185052] [ 0. 0. 0. 1. ]] SLAMing on 178.25650248099998 meters Centerline goodness : 0.713856 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.84767246 -0.25276794 -0.46643302 4.50154358] [ 0.27326507 0.96162664 -0.02450321 -0.42226958] [ 0.45472805 -0.10668915 0.88421707 0.99300652] [ 0. 0. 0. 1. ]] SLAMing on 178.28650248099999 meters Centerline goodness : 0.713761 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.84772443 -0.25306766 -0.46617599 4.50055069] [ 0.27342882 0.96157306 -0.02477768 -0.42172452] [ 0.4545327 -0.10646131 0.88434496 0.99305353] [ 0. 0. 0. 1. ]] SLAMing on 178.316502481 meters Centerline goodness : 0.714527 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.84787699 -0.25338701 -0.46572484 4.49945531] [ 0.27349527 0.9615423 -0.02523374 -0.4213255 ] [ 0.45420804 -0.10597843 0.88456974 0.9928384 ] [ 0. 0. 0. 1. ]] SLAMing on 178.346502481 meters Centerline goodness : 0.714341 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.84796817 -0.25363116 -0.46542584 4.4987556 ] [ 0.27351746 0.96152495 -0.02565089 -0.42061087] [ 0.45402442 -0.10555095 0.88471511 0.99256599] [ 0. 0. 0. 1. ]] SLAMing on 178.376502481 meters Centerline goodness : 0.714611 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.84816157 -0.25374981 -0.4650086 4.49732122] [ 0.27313808 0.96160858 -0.02654309 -0.41813447] [ 0.45389156 -0.10449872 0.88490817 0.99210422] [ 0. 0. 0. 1. ]] SLAMing on 178.406502481 meters Centerline goodness : 0.714611 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.84816157 -0.25374981 -0.4650086 4.49732122] [ 0.27313808 0.96160858 -0.02654309 -0.41813447] [ 0.45389156 -0.10449872 0.88490817 0.99210422] [ 0. 0. 0. 1. ]] SLAMing on 178.436502481 meters Centerline goodness : 0.716741 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.8490008 -0.24941145 -0.46582355 4.49701231] [ 0.26997393 0.96258475 -0.0233384 -0.41730261] [ 0.45421551 -0.1059459 0.88456981 0.99205093] [ 0. 0. 0. 1. ]] SLAMing on 178.466502481 meters Centerline goodness : 0.715572 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.42, Z:0.99 [[ 0.84921712 -0.24949246 -0.46538564 4.49662796] [ 0.26957513 0.96267577 -0.02417894 -0.41556408] [ 0.45404794 -0.10492322 0.88477771 0.99109272] [ 0. 0. 0. 1. ]] SLAMing on 178.496502481 meters Centerline goodness : 0.716047 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.84995086 -0.24539313 -0.466225 4.49772389] [ 0.26633334 0.96363752 -0.02166288 -0.41416226] [ 0.45458783 -0.10575888 0.88440091 0.9903255 ] [ 0. 0. 0. 1. ]] SLAMing on 178.526502481 meters Centerline goodness : 0.715889 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.85090272 -0.24071456 -0.46692726 4.49807857] [ 0.26272652 0.96469204 -0.0185483 -0.41336638] [ 0.45490585 -0.10689138 0.88410118 0.98964383] [ 0. 0. 0. 1. ]] SLAMing on 178.556502481 meters Centerline goodness : 0.714989 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.85109577 -0.24081615 -0.46652286 4.49727035] [ 0.26233424 0.96478149 -0.01942756 -0.4113783 ] [ 0.45477109 -0.10585021 0.88429576 0.98895058] [ 0. 0. 0. 1. ]] SLAMing on 178.586502481 meters Centerline goodness : 0.716497 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.85181725 -0.2363827 -0.46747256 4.4977887 ] [ 0.25910768 0.96571284 -0.01618366 -0.41051873] [ 0.4552698 -0.10734021 0.88385943 0.98879747] [ 0. 0. 0. 1. ]] SLAMing on 178.616502481 meters Centerline goodness : 0.714896 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.85190218 -0.23659499 -0.46721033 4.49748015] [ 0.25901006 0.96572902 -0.01677062 -0.40943265] [ 0.45516641 -0.10672525 0.88398714 0.98831233] [ 0. 0. 0. 1. ]] SLAMing on 178.646502481 meters Centerline goodness : 0.716938 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.85181613 -0.23700132 -0.46716128 4.4973402 ] [ 0.25912034 0.96568761 -0.017438 -0.40787122] [ 0.45526469 -0.10619702 0.88400014 0.98816685] [ 0. 0. 0. 1. ]] SLAMing on 178.676502481 meters Centerline goodness : 0.716068 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.85164861 -0.23758827 -0.46716855 4.49734588] [ 0.25957489 0.96555801 -0.01784936 -0.40697726] [ 0.45531913 -0.10606384 0.88398809 0.98822334] [ 0. 0. 0. 1. ]] SLAMing on 178.706502481 meters Centerline goodness : 0.715479 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.85118855 -0.23856524 -0.46750901 4.49784861] [ 0.26058114 0.96528158 -0.01813644 -0.40621091] [ 0.45560456 -0.10638651 0.88380224 0.98881248] [ 0. 0. 0. 1. ]] SLAMing on 178.73650248099997 meters Centerline goodness : 0.715692 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.85074117 -0.23960393 -0.46779206 4.49820171] [ 0.26176449 0.96496014 -0.01820129 -0.40615772] [ 0.45576179 -0.10696676 0.88365112 0.98954065] [ 0. 0. 0. 1. ]] SLAMing on 178.76650248099997 meters Centerline goodness : 0.716610 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.85041086 -0.24015735 -0.46810876 4.49857252] [ 0.26252141 0.9647576 -0.01803549 -0.40645473] [ 0.45594284 -0.10755099 0.88348679 0.99020389] [ 0. 0. 0. 1. ]] SLAMing on 178.79650248099998 meters Centerline goodness : 0.715176 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.85000543 -0.24106642 -0.46837778 4.49910345] [ 0.26370814 0.96443814 -0.01780678 -0.40688901] [ 0.45601402 -0.10837918 0.88334884 0.99085903] [ 0. 0. 0. 1. ]] SLAMing on 178.82650248099998 meters Centerline goodness : 0.716392 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.8498482 -0.24151235 -0.46843337 4.49906316] [ 0.26420841 0.96430073 -0.01783284 -0.40707548] [ 0.4560175 -0.10860883 0.88331884 0.99117276] [ 0. 0. 0. 1. ]] SLAMing on 178.85650248099998 meters Centerline goodness : 0.713179 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.84970843 -0.24189204 -0.468491 4.49875325] [ 0.26473293 0.96415992 -0.01766695 -0.40724545] [ 0.45597374 -0.10901324 0.88329161 0.99159997] [ 0. 0. 0. 1. ]] SLAMing on 178.88650248099998 meters Centerline goodness : 0.715462 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.84937673 -0.24250067 -0.46877777 4.49877402] [ 0.26538587 0.96397763 -0.01781791 -0.4061056 ] [ 0.45621213 -0.10927287 0.88313642 0.99217467] [ 0. 0. 0. 1. ]] SLAMing on 178.91650248099998 meters Centerline goodness : 0.713851 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.84929557 -0.24270532 -0.46881891 4.49869448] [ 0.2656348 0.96390945 -0.01779682 -0.40594837] [ 0.45621836 -0.10941986 0.883115 0.99232508] [ 0. 0. 0. 1. ]] SLAMing on 178.94650248099998 meters Centerline goodness : 0.713655 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.84948086 -0.24295539 -0.46835344 4.49786072] [ 0.26587338 0.96384439 -0.01775761 -0.40662584] [ 0.45573415 -0.10943796 0.88336273 0.99208415] [ 0. 0. 0. 1. ]] SLAMing on 178.97650248099998 meters Centerline goodness : 0.713857 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.84952209 -0.2431728 -0.46816579 4.49767443] [ 0.26597664 0.96381169 -0.01798455 -0.40664916] [ 0.45559702 -0.1092429 0.88345761 0.99189254] [ 0. 0. 0. 1. ]] SLAMing on 179.00650248099998 meters Centerline goodness : 0.711382 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.84983976 -0.24319016 -0.46757986 4.49684516] [ 0.26570402 0.96387918 -0.01839277 -0.40610115] [ 0.45516343 -0.10860694 0.88375946 0.99111583] [ 0. 0. 0. 1. ]] SLAMing on 179.03650248099999 meters Centerline goodness : 0.713317 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.84999411 -0.24325348 -0.46726626 4.49616138] [ 0.26553803 0.96391765 -0.01876994 -0.40527322] [ 0.45497205 -0.10812262 0.88391738 0.99075331] [ 0. 0. 0. 1. ]] SLAMing on 179.066502481 meters Centerline goodness : 0.712135 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.41, Z:0.99 [[ 0.85107398 -0.23856572 -0.46771731 4.49592667] [ 0.2620727 0.96492687 -0.01529817 -0.40545056] [ 0.45496262 -0.10955606 0.88374571 0.9901156 ] [ 0. 0. 0. 1. ]] SLAMing on 179.096502481 meters Centerline goodness : 0.712931 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.85173062 -0.23823879 -0.4666875 4.49416811] [ 0.26093719 0.96521465 -0.0165065 -0.40397865] [ 0.4543861 -0.10771703 0.88426823 0.98866543] [ 0. 0. 0. 1. ]] SLAMing on 179.126502481 meters Centerline goodness : 0.710710 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.85223112 -0.23798486 -0.4659027 4.49306514] [ 0.2602765 0.96538405 -0.01702299 -0.40364708] [ 0.45382625 -0.10675601 0.88467219 0.98759889] [ 0. 0. 0. 1. ]] SLAMing on 179.156502481 meters Centerline goodness : 0.710196 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.85279932 -0.23739994 -0.46516082 4.49188416] [ 0.25914886 0.96567457 -0.0177339 -0.40274751] [ 0.453404 -0.10542243 0.88504854 0.98645331] [ 0. 0. 0. 1. ]] SLAMing on 179.186502481 meters Centerline goodness : 0.711938 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.85297061 -0.23727446 -0.46491072 4.49169816] [ 0.25883683 0.96575333 -0.018 -0.40207017] [ 0.45326002 -0.10498254 0.88517457 0.98590141] [ 0. 0. 0. 1. ]] SLAMing on 179.216502481 meters Centerline goodness : 0.709468 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.85290427 -0.23738594 -0.4649755 4.49201744] [ 0.25874076 0.96577056 -0.01845096 -0.40083252] [ 0.45343965 -0.10457121 0.88513126 0.98564169] [ 0. 0. 0. 1. ]] SLAMing on 179.246502481 meters Centerline goodness : 0.710521 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.8528929 -0.23764323 -0.46486493 4.49261507] [ 0.25895015 0.96571193 -0.01858208 -0.40107759] [ 0.45334152 -0.10452832 0.88518659 0.98525937] [ 0. 0. 0. 1. ]] SLAMing on 179.276502481 meters Centerline goodness : 0.710841 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.85285947 -0.23777314 -0.46485982 4.49287836] [ 0.25911521 0.96566835 -0.01854566 -0.40156356] [ 0.45331008 -0.10463541 0.88519004 0.98521395] [ 0. 0. 0. 1. ]] SLAMing on 179.306502481 meters Centerline goodness : 0.710402 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.85246951 -0.2381215 -0.46539648 4.49413503] [ 0.25969952 0.96551576 -0.01831586 -0.40216561] [ 0.45370904 -0.10524953 0.88491279 0.98575395] [ 0. 0. 0. 1. ]] SLAMing on 179.336502481 meters Centerline goodness : 0.710761 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.99 [[ 0.85229392 -0.23842853 -0.46556085 4.494675 ] [ 0.26008429 0.96541274 -0.01828694 -0.40229038] [ 0.45381851 -0.10549922 0.88482692 0.98590942] [ 0. 0. 0. 1. ]] SLAMing on 179.366502481 meters Centerline goodness : 0.711265 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.85184333 -0.23909527 -0.46604333 4.49581532] [ 0.26112375 0.96514008 -0.01786079 -0.40275936] [ 0.45406753 -0.10648039 0.8845816 0.98656166] [ 0. 0. 0. 1. ]] SLAMing on 179.396502481 meters Centerline goodness : 0.710394 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.85139517 -0.23944564 -0.46668195 4.49679325] [ 0.26194835 0.96492863 -0.01719884 -0.40368249] [ 0.45443297 -0.10760356 0.88425797 0.98755289] [ 0. 0. 0. 1. ]] SLAMing on 179.426502481 meters Centerline goodness : 0.709789 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.85111679 -0.23976771 -0.46702426 4.49736669] [ 0.26241269 0.96480425 -0.01709776 -0.40362687] [ 0.45468648 -0.1080009 0.88407919 0.98799554] [ 0. 0. 0. 1. ]] SLAMing on 179.456502481 meters Centerline goodness : 0.710636 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.85103577 -0.23999696 -0.46705415 4.49752973] [ 0.26261741 0.9647465 -0.01721303 -0.40356299] [ 0.45471993 -0.10800765 0.88406116 0.98803541] [ 0. 0. 0. 1. ]] SLAMing on 179.48650248099997 meters Centerline goodness : 0.710081 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.85111837 -0.23989081 -0.46695815 4.49698777] [ 0.26236187 0.96481177 -0.01745009 -0.40336964] [ 0.45471284 -0.10765992 0.88410722 0.98804848] [ 0. 0. 0. 1. ]] SLAMing on 179.51650248099997 meters Centerline goodness : 0.710676 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.85190398 -0.23531225 -0.46785441 4.49643161] [ 0.25928998 0.96570409 -0.01357653 -0.40358428] [ 0.45500364 -0.10974406 0.88370127 0.98856399] [ 0. 0. 0. 1. ]] SLAMing on 179.54650248099998 meters Centerline goodness : 0.708300 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.85195026 -0.23566872 -0.46759064 4.49538867] [ 0.25919027 0.96571768 -0.01448325 -0.40136771] [ 0.4549738 -0.10885593 0.88382647 0.98838237] [ 0. 0. 0. 1. ]] SLAMing on 179.57650248099998 meters Centerline goodness : 0.708491 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.85188343 -0.23608223 -0.4675038 4.49539552] [ 0.25931058 0.96567536 -0.01513658 -0.40034143] [ 0.45503038 -0.10833408 0.88386146 0.98816278] [ 0. 0. 0. 1. ]] SLAMing on 179.60650248099998 meters Centerline goodness : 0.708199 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.85177237 -0.23710289 -0.46718953 4.49565647] [ 0.2597799 0.96552879 -0.01638805 -0.39880568] [ 0.45497059 -0.10740756 0.8840053 0.98747861] [ 0. 0. 0. 1. ]] SLAMing on 179.63650248099998 meters Centerline goodness : 0.706229 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.85163668 -0.2376665 -0.46715051 4.4957019 ] [ 0.26015115 0.96542004 -0.01689764 -0.39807719] [ 0.45501246 -0.10713909 0.88401633 0.98744932] [ 0. 0. 0. 1. ]] SLAMing on 179.66650248099998 meters Centerline goodness : 0.706089 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.85130985 -0.23807421 -0.46753845 4.49597751] [ 0.26041134 0.96534108 -0.01739338 -0.39556676] [ 0.45547499 -0.10694515 0.8838016 0.98774032] [ 0. 0. 0. 1. ]] SLAMing on 179.69650248099998 meters Centerline goodness : 0.704790 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.99 [[ 0.85115473 -0.23862568 -0.46753975 4.49627786] [ 0.26060389 0.96527362 -0.01823341 -0.39354057] [ 0.45565474 -0.10632322 0.88378398 0.98741135] [ 0. 0. 0. 1. ]] SLAMing on 179.72650248099998 meters Centerline goodness : 0.705122 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.99 [[ 0.85081121 -0.2390652 -0.46794029 4.49819533] [ 0.26061197 0.96525091 -0.01928947 -0.39025275] [ 0.45629124 -0.10553914 0.88354954 0.98672346] [ 0. 0. 0. 1. ]] SLAMing on 179.75650248099998 meters Centerline goodness : 0.703269 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.99 [[ 0.85092539 -0.23933141 -0.46759646 4.49737876] [ 0.26041222 0.96528679 -0.0201714 -0.38813313] [ 0.45619234 -0.10460348 0.88371187 0.98624968] [ 0. 0. 0. 1. ]] SLAMing on 179.78650248099999 meters Centerline goodness : 0.702730 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.99 [[ 0.85096225 -0.23955766 -0.46741349 4.49641887] [ 0.26022937 0.96531897 -0.0209754 -0.38602691] [ 0.45622792 -0.10378545 0.88378994 0.98614081] [ 0. 0. 0. 1. ]] SLAMing on 179.816502481 meters Centerline goodness : 0.701609 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.85104784 -0.23988436 -0.46709 4.49604872] [ 0.26014561 0.96532389 -0.02177255 -0.38449091] [ 0.45611603 -0.10298193 0.88394168 0.98555708] [ 0. 0. 0. 1. ]] SLAMing on 179.846502481 meters Centerline goodness : 0.700266 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.85101123 -0.24003399 -0.46707984 4.49568839] [ 0.25982925 0.96538745 -0.02271172 -0.38172847] [ 0.45636461 -0.10203308 0.88392341 0.98530534] [ 0. 0. 0. 1. ]] SLAMing on 179.876502481 meters Centerline goodness : 0.698796 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.99 [[ 0.85105592 -0.24028143 -0.46687113 4.49522021] [ 0.259826 0.9653765 -0.02320896 -0.38050354] [ 0.4562831 -0.10155314 0.88402075 0.98505456] [ 0. 0. 0. 1. ]] SLAMing on 179.906502481 meters Centerline goodness : 0.699425 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.98 [[ 0.85096851 -0.24107794 -0.46661978 4.49456576] [ 0.26011705 0.96527046 -0.02433242 -0.37868859] [ 0.4562803 -0.10066964 0.88412324 0.98494573] [ 0. 0. 0. 1. ]] SLAMing on 179.936502481 meters Centerline goodness : 0.699623 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.98 [[ 0.85090095 -0.24148132 -0.46653439 4.49461589] [ 0.26030159 0.96520778 -0.02484014 -0.37784751] [ 0.45630105 -0.10030314 0.88415419 0.98474884] [ 0. 0. 0. 1. ]] SLAMing on 179.966502481 meters Centerline goodness : 0.699374 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.98 [[ 0.85073361 -0.24209314 -0.46652249 4.49483969] [ 0.26069517 0.96508647 -0.02541928 -0.37652452] [ 0.45638837 -0.09999513 0.88414401 0.98460428] [ 0. 0. 0. 1. ]] SLAMing on 179.996502481 meters Centerline goodness : 0.699102 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.98 [[ 0.85033091 -0.2434193 -0.4665666 4.49579213] [ 0.26157831 0.96481472 -0.02663371 -0.37444602] [ 0.45663348 -0.09939623 0.88408498 0.98428709] [ 0. 0. 0. 1. ]] SLAMing on 180.026502481 meters Centerline goodness : 0.699887 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.98 [[ 0.85009513 -0.24420768 -0.46658426 4.49657173] [ 0.26210853 0.96465095 -0.02734336 -0.37346577] [ 0.45676841 -0.09905126 0.88405399 0.98401548] [ 0. 0. 0. 1. ]] SLAMing on 180.056502481 meters Centerline goodness : 0.697449 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.98 [[ 0.84982925 -0.24516974 -0.46656409 4.49778444] [ 0.26282722 0.96443479 -0.02806038 -0.37283392] [ 0.4568502 -0.09877921 0.88404217 0.98355613] [ 0. 0. 0. 1. ]] SLAMing on 180.086502481 meters Centerline goodness : 0.700017 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.98 [[ 0.84973939 -0.2453392 -0.46663867 4.49762137] [ 0.26310588 0.96436312 -0.02791164 -0.37293692] [ 0.45685694 -0.09905776 0.88400752 0.98386205] [ 0. 0. 0. 1. ]] SLAMing on 180.116502481 meters Centerline goodness : 0.700010 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.98 [[ 0.84979999 -0.24552853 -0.46642869 4.49635184] [ 0.26345847 0.96427602 -0.02759322 -0.37345902] [ 0.45654092 -0.09943587 0.88412833 0.98436185] [ 0. 0. 0. 1. ]] SLAMing on 180.146502481 meters Centerline goodness : 0.700108 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.98 [[ 0.84968555 -0.24572945 -0.46653136 4.49648008] [ 0.26369568 0.96421097 -0.02760077 -0.3734925 ] [ 0.45661697 -0.09957033 0.88407392 0.98456189] [ 0. 0. 0. 1. ]] SLAMing on 180.176502481 meters Centerline goodness : 0.699097 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.98 [[ 0.8496196 -0.24616006 -0.46642444 4.49701544] [ 0.26402055 0.96411369 -0.02789144 -0.3732004 ] [ 0.45655195 -0.09944852 0.88412121 0.9842059 ] [ 0. 0. 0. 1. ]] SLAMing on 180.206502481 meters Centerline goodness : 0.699073 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.98 [[ 0.85010495 -0.24591316 -0.46566972 4.4956138 ] [ 0.26376003 0.96419147 -0.02766696 -0.37377484] [ 0.45579844 -0.09930524 0.884526 0.98355833] [ 0. 0. 0. 1. ]] SLAMing on 180.23650248099997 meters Centerline goodness : 0.696876 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.98 [[ 0.85022319 -0.24583161 -0.46549689 4.49512027] [ 0.26371744 0.96420711 -0.02752737 -0.37440423] [ 0.45560251 -0.09935524 0.88462133 0.98357557] [ 0. 0. 0. 1. ]] SLAMing on 180.26650248099997 meters Centerline goodness : 0.696933 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.85028665 -0.24605443 -0.46526319 4.49560834] [ 0.26402865 0.96412682 -0.02735579 -0.3755259 ] [ 0.45530373 -0.09958255 0.88474958 0.98315591] [ 0. 0. 0. 1. ]] SLAMing on 180.29650248099998 meters Centerline goodness : 0.698062 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.85019035 -0.24637317 -0.46527049 4.49611876] [ 0.26441133 0.96402306 -0.02731627 -0.37604819] [ 0.45526148 -0.09979876 0.88474696 0.98308631] [ 0. 0. 0. 1. ]] SLAMing on 180.32650248099998 meters Centerline goodness : 0.698062 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.85019035 -0.24637317 -0.46527049 4.49611876] [ 0.26441133 0.96402306 -0.02731627 -0.37604819] [ 0.45526148 -0.09979876 0.88474696 0.98308631] [ 0. 0. 0. 1. ]] SLAMing on 180.35650248099998 meters Centerline goodness : 0.698480 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.85028491 -0.24633091 -0.46512004 4.49609876] [ 0.26458572 0.96398841 -0.02684661 -0.37735573] [ 0.45498348 -0.10023685 0.88484044 0.98307939] [ 0. 0. 0. 1. ]] SLAMing on 180.38650248099998 meters Centerline goodness : 0.697607 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.85030679 -0.24640925 -0.46503854 4.49560616] [ 0.26476482 0.96394467 -0.02665059 -0.37790278] [ 0.45483838 -0.10046467 0.8848892 0.98331899] [ 0. 0. 0. 1. ]] SLAMing on 180.41650248099998 meters Centerline goodness : 0.699576 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.98 [[ 0.85062825 -0.24614064 -0.46459268 4.49482059] [ 0.26460482 0.96399939 -0.02625761 -0.37909869] [ 0.45433013 -0.100598 0.88513512 0.98306839] [ 0. 0. 0. 1. ]] SLAMing on 180.44650248099998 meters Centerline goodness : 0.696683 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.98 [[ 0.85086344 -0.24567281 -0.46440959 4.49428243] [ 0.26429063 0.96409818 -0.02579075 -0.37985667] [ 0.45407253 -0.1007947 0.88524492 0.98299144] [ 0. 0. 0. 1. ]] SLAMing on 180.47650248099998 meters Centerline goodness : 0.697292 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.98 [[ 0.85090697 -0.24581674 -0.46425366 4.49411452] [ 0.26446111 0.96405286 -0.02573706 -0.38029394] [ 0.45389167 -0.10087719 0.88532827 0.98292894] [ 0. 0. 0. 1. ]] SLAMing on 180.50650248099998 meters Centerline goodness : 0.697300 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.98 [[ 0.85088427 -0.24613873 -0.46412465 4.49461991] [ 0.26500422 0.9639138 -0.02535655 -0.38169211] [ 0.45361738 -0.1014195 0.88540689 0.98277075] [ 0. 0. 0. 1. ]] SLAMing on 180.53650248099999 meters Centerline goodness : 0.697678 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.98 [[ 0.85085021 -0.24617708 -0.46416673 4.49473206] [ 0.26524398 0.96385758 -0.02498401 -0.38275791] [ 0.45354111 -0.10185979 0.88539542 0.98301578] [ 0. 0. 0. 1. ]] SLAMing on 180.566502481 meters Centerline goodness : 0.699850 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.98 [[ 0.85022851 -0.25094496 -0.46275059 4.49374136] [ 0.26854257 0.96283913 -0.02873487 -0.38264714] [ 0.45276525 -0.09983702 0.88602269 0.98259093] [ 0. 0. 0. 1. ]] SLAMing on 180.596502481 meters Centerline goodness : 0.699901 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.38, Z:0.98 [[ 0.85012392 -0.25115205 -0.46283039 4.49426281] [ 0.26893572 0.96273802 -0.0284444 -0.38350517] [ 0.45272828 -0.10029036 0.88599038 0.98269437] [ 0. 0. 0. 1. ]] SLAMing on 180.626502481 meters Centerline goodness : 0.699678 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.84993048 -0.25147824 -0.4630085 4.49551907] [ 0.26956102 0.96257649 -0.0279885 -0.38489232] [ 0.4527196 -0.10102077 0.88591183 0.9827646 ] [ 0. 0. 0. 1. ]] SLAMing on 180.656502481 meters Centerline goodness : 0.701948 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.85012883 -0.25122454 -0.46278203 4.4952093 ] [ 0.26953638 0.96259984 -0.0274169 -0.3862671 ] [ 0.45236171 -0.10142869 0.88604803 0.98272236] [ 0. 0. 0. 1. ]] SLAMing on 180.686502481 meters Centerline goodness : 0.702987 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.8502974 -0.25074929 -0.46273007 4.49524427] [ 0.2693224 0.96267797 -0.02676869 -0.3878134 ] [ 0.45217228 -0.10186223 0.88609498 0.98273352] [ 0. 0. 0. 1. ]] SLAMing on 180.716502481 meters Centerline goodness : 0.704363 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.85030961 -0.25077211 -0.46269527 4.4958347 ] [ 0.26951929 0.96263238 -0.02642454 -0.38895186] [ 0.45203198 -0.10223626 0.88612349 0.98254993] [ 0. 0. 0. 1. ]] SLAMing on 180.746502481 meters Centerline goodness : 0.703874 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.84971332 -0.25465065 -0.46167123 4.49526446] [ 0.27232572 0.96175977 -0.02927184 -0.3899963 ] [ 0.45147091 -0.10085228 0.88656801 0.98256531] [ 0. 0. 0. 1. ]] SLAMing on 180.776502481 meters Centerline goodness : 0.705022 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.84945532 -0.25489809 -0.46200934 4.49568152] [ 0.27294867 0.96160086 -0.02868454 -0.39112196] [ 0.45158021 -0.1017386 0.88641106 0.9832736 ] [ 0. 0. 0. 1. ]] SLAMing on 180.806502481 meters Centerline goodness : 0.706869 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.84828423 -0.25935844 -0.46167854 4.49780565] [ 0.2765998 0.96047383 -0.03134594 -0.39154822] [ 0.45155999 -0.10110992 0.88649329 0.98334472] [ 0. 0. 0. 1. ]] SLAMing on 180.836502481 meters Centerline goodness : 0.706104 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.84690512 -0.26471848 -0.46116791 4.50047448] [ 0.28089542 0.95911087 -0.03470016 -0.39200139] [ 0.45149693 -0.10015221 0.88663412 0.98313917] [ 0. 0. 0. 1. ]] SLAMing on 180.866502481 meters Centerline goodness : 0.707642 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.84661178 -0.26542987 -0.46129761 4.50147093] [ 0.28181186 0.95884867 -0.03451531 -0.39299397] [ 0.45147599 -0.10077807 0.88657386 0.98332961] [ 0. 0. 0. 1. ]] SLAMing on 180.896502481 meters Centerline goodness : 0.708663 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.84563531 -0.27010398 -0.46037459 4.50134328] [ 0.28536475 0.95767708 -0.03770383 -0.3931586 ] [ 0.45107415 -0.09949099 0.8869237 0.9835058 ] [ 0. 0. 0. 1. ]] SLAMing on 180.926502481 meters Centerline goodness : 0.709902 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.84553794 -0.2703505 -0.46040873 4.50128836] [ 0.28582041 0.95755445 -0.03736533 -0.39398518] [ 0.45096817 -0.10000041 0.88692031 0.98385381] [ 0. 0. 0. 1. ]] SLAMing on 180.956502481 meters Centerline goodness : 0.710015 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.84528664 -0.27065287 -0.46069243 4.50092494] [ 0.28644433 0.95738668 -0.03688338 -0.39463048] [ 0.45104339 -0.1007857 0.88679316 0.98480402] [ 0. 0. 0. 1. ]] SLAMing on 180.98650248099997 meters Centerline goodness : 0.711574 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.84512407 -0.27095073 -0.4608156 4.50118041] [ 0.28675698 0.95729001 -0.03696315 -0.39427199] [ 0.45114936 -0.10090364 0.88672584 0.98498195] [ 0. 0. 0. 1. ]] SLAMing on 181.01650248099997 meters Centerline goodness : 0.711296 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.99 [[ 0.84479598 -0.27132496 -0.46119683 4.50181551] [ 0.28704864 0.95718876 -0.03731957 -0.3927919 ] [ 0.45157815 -0.1008585 0.88651268 0.98525745] [ 0. 0. 0. 1. ]] SLAMing on 181.04650248099998 meters Centerline goodness : 0.712494 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.84488651 -0.27132637 -0.46103014 4.50169183] [ 0.28693344 0.95721599 -0.03750677 -0.39226081] [ 0.451482 -0.100596 0.88659148 0.98488828] [ 0. 0. 0. 1. ]] SLAMing on 181.07650248099998 meters Centerline goodness : 0.712085 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.84505186 -0.27146457 -0.46064558 4.50125645] [ 0.28683069 0.95723053 -0.03791931 -0.39186359] [ 0.45123776 -0.10008351 0.8867738 0.98439585] [ 0. 0. 0. 1. ]] SLAMing on 181.10650248099998 meters Centerline goodness : 0.714730 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.84588444 -0.26724929 -0.46158134 4.5015159 ] [ 0.28386076 0.95824066 -0.03461088 -0.39219486] [ 0.45155574 -0.10174803 0.88642245 0.98442984] [ 0. 0. 0. 1. ]] SLAMing on 181.13650248099998 meters Centerline goodness : 0.714622 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.84592979 -0.26742021 -0.46139921 4.5010212 ] [ 0.28372431 0.95825915 -0.0352125 -0.39054139] [ 0.45155655 -0.10112286 0.88649357 0.98411221] [ 0. 0. 0. 1. ]] SLAMing on 181.16650248099998 meters Centerline goodness : 0.715588 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.8462438 -0.26714696 -0.46098149 4.50011241] [ 0.28290498 0.95846803 -0.03610826 -0.38810088] [ 0.45148223 -0.09985757 0.88667483 0.98329645] [ 0. 0. 0. 1. ]] SLAMing on 181.19650248099998 meters Centerline goodness : 0.716507 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.84661325 -0.26682064 -0.46049186 4.50052025] [ 0.28201565 0.95869579 -0.03700748 -0.38636825] [ 0.45134597 -0.09853488 0.88689215 0.98175173] [ 0. 0. 0. 1. ]] SLAMing on 181.22650248099998 meters Centerline goodness : 0.715972 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.39, Z:0.98 [[ 0.84679425 -0.26696395 -0.46007582 4.50043616] [ 0.28174418 0.95874636 -0.0377576 -0.38506278] [ 0.45117593 -0.09765077 0.88707644 0.98084367] [ 0. 0. 0. 1. ]] SLAMing on 181.25650248099998 meters Centerline goodness : 0.717272 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.84760392 -0.26258377 -0.4611045 4.50117634] [ 0.2784356 0.95982542 -0.03476754 -0.38417369] [ 0.45170921 -0.09891881 0.88666446 0.98054401] [ 0. 0. 0. 1. ]] SLAMing on 181.28650248099999 meters Centerline goodness : 0.716201 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.84778557 -0.26264289 -0.46073673 4.50076446] [ 0.2781536 0.95988547 -0.03536182 -0.38278822] [ 0.45154202 -0.09817634 0.88683212 0.97986155] [ 0. 0. 0. 1. ]] SLAMing on 181.316502481 meters Centerline goodness : 0.716862 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.8481549 -0.26248373 -0.46014733 4.50004825] [ 0.27755259 0.96003404 -0.03604438 -0.38156182] [ 0.45121817 -0.09714386 0.88711061 0.97886896] [ 0. 0. 0. 1. ]] SLAMing on 181.346502481 meters Centerline goodness : 0.717756 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.848225 -0.26269271 -0.45989878 4.49931785] [ 0.27758834 0.96001109 -0.03637876 -0.38085823] [ 0.45106437 -0.09680517 0.88722584 0.97874066] [ 0. 0. 0. 1. ]] SLAMing on 181.376502481 meters Centerline goodness : 0.718006 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.84820397 -0.26338333 -0.45954243 4.49965974] [ 0.27792908 0.95988258 -0.03715983 -0.3800816 ] [ 0.45089406 -0.09620109 0.8873781 0.97802744] [ 0. 0. 0. 1. ]] SLAMing on 181.406502481 meters Centerline goodness : 0.717940 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.84820249 -0.26359732 -0.45942245 4.50002512] [ 0.27809566 0.95982969 -0.03727962 -0.37988925] [ 0.45079412 -0.09614272 0.8874352 0.9776597 ] [ 0. 0. 0. 1. ]] SLAMing on 181.436502481 meters Centerline goodness : 0.717485 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.84785545 -0.26471022 -0.45942316 4.50080999] [ 0.27902421 0.95953464 -0.0379311 -0.37891036] [ 0.45087319 -0.0960301 0.88740723 0.97750946] [ 0. 0. 0. 1. ]] SLAMing on 181.466502481 meters Centerline goodness : 0.718735 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.84747298 -0.26532129 -0.45977621 4.50212994] [ 0.27970822 0.9593315 -0.03803138 -0.37816632] [ 0.45116834 -0.09637262 0.88722007 0.97755386] [ 0. 0. 0. 1. ]] SLAMing on 181.496502481 meters Centerline goodness : 0.718359 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.8472883 -0.2659416 -0.45975821 4.5024067 ] [ 0.28026832 0.95915707 -0.03830644 -0.37798468] [ 0.45116761 -0.09639907 0.88721756 0.97758875] [ 0. 0. 0. 1. ]] SLAMing on 181.526502481 meters Centerline goodness : 0.718329 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.84722986 -0.26684435 -0.45934263 4.50158992] [ 0.28144079 0.95882949 -0.03790894 -0.37937741] [ 0.45054705 -0.09716017 0.88744986 0.97784798] [ 0. 0. 0. 1. ]] SLAMing on 181.556502481 meters Centerline goodness : 0.717385 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.84716466 -0.26696717 -0.45939152 4.50077652] [ 0.28181988 0.95873626 -0.03744794 -0.38019879] [ 0.45043267 -0.09774109 0.88744413 0.97859149] [ 0. 0. 0. 1. ]] SLAMing on 181.586502481 meters Centerline goodness : 0.365571 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.84713323 -0.26734637 -0.45922893 4.49909937] [ 0.28233268 0.95859335 -0.03724297 -0.38020313] [ 0.45017057 -0.09810558 0.8875369 0.97934594] [ 0. 0. 0. 1. ]] SLAMing on 181.616502481 meters Centerline goodness : 0.372461 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.84701331 -0.26742593 -0.45940377 4.49961648] [ 0.28226371 0.95859975 -0.03759941 -0.37807335] [ 0.4504394 -0.09782581 0.88743138 0.97906998] [ 0. 0. 0. 1. ]] SLAMing on 181.646502481 meters Centerline goodness : 0.442913 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.38, Z:0.98 [[ 0.84684547 -0.26759795 -0.45961297 4.50058321] [ 0.28230735 0.95857315 -0.03794825 -0.37655831] [ 0.45072752 -0.09761582 0.88730821 0.97873852] [ 0. 0. 0. 1. ]] SLAMing on 181.676502481 meters Centerline goodness : 0.573540 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.98 [[ 0.84674792 -0.26823167 -0.45942326 4.50128194] [ 0.28242348 0.95849325 -0.03908542 -0.37422254] [ 0.45083804 -0.09665642 0.88735708 0.97789287] [ 0. 0. 0. 1. ]] SLAMing on 181.706502481 meters Centerline goodness : 0.476019 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.98 [[ 0.84675254 -0.26839327 -0.45932036 4.50101983] [ 0.28249196 0.95846488 -0.03928573 -0.37383491] [ 0.45078646 -0.09648901 0.88740151 0.97783915] [ 0. 0. 0. 1. ]] SLAMing on 181.73650248099997 meters Centerline goodness : 0.716415 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.98 [[ 0.84681062 -0.26901668 -0.45884834 4.49985254] [ 0.28283291 0.95833937 -0.03988978 -0.37268643] [ 0.45046344 -0.09599832 0.88761873 0.97761894] [ 0. 0. 0. 1. ]] SLAMing on 181.76650248099997 meters Centerline goodness : 0.714507 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.98 [[ 0.84675346 -0.26910899 -0.45889969 4.49948182] [ 0.2829463 0.95830611 -0.03988459 -0.37193361] [ 0.45049969 -0.09607156 0.88759241 0.97780178] [ 0. 0. 0. 1. ]] SLAMing on 181.79650248099998 meters Centerline goodness : 0.141004 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.98 [[ 0.84668925 -0.26974758 -0.45864317 4.49850895] [ 0.28328188 0.95817753 -0.04058568 -0.37026639] [ 0.45040947 -0.09556184 0.88769322 0.97781968] [ 0. 0. 0. 1. ]] SLAMing on 181.82650248099998 meters Centerline goodness : 0.659233 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.98 [[ 0.84653958 -0.27007678 -0.45872571 4.49887992] [ 0.28326296 0.95814929 -0.04137673 -0.36811619] [ 0.45070261 -0.09491296 0.88761404 0.97756514] [ 0. 0. 0. 1. ]] SLAMing on 181.85650248099998 meters Centerline goodness : 0.537848 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.98 [[ 0.84657904 -0.27037686 -0.45847605 4.49964833] [ 0.28293219 0.95819173 -0.0426378 -0.36569824] [ 0.45083624 -0.09362136 0.88768335 0.97639595] [ 0. 0. 0. 1. ]] SLAMing on 181.88650248099998 meters Centerline goodness : 0.725322 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.37, Z:0.98 [[ 0.84680496 -0.26994406 -0.45831383 4.49950934] [ 0.28237588 0.95835169 -0.04273065 -0.36519329] [ 0.45076071 -0.09323225 0.88776265 0.97593177] [ 0. 0. 0. 1. ]] SLAMing on 181.91650248099998 meters Centerline goodness : 0.725279 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.84768328 -0.26562935 -0.45921032 4.49940327] [ 0.27916847 0.95942346 -0.03964324 -0.36425423] [ 0.45110756 -0.09459213 0.88744256 0.97583128] [ 0. 0. 0. 1. ]] SLAMing on 181.94650248099998 meters Centerline goodness : 0.726030 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.84840858 -0.26138638 -0.4603043 4.49984141] [ 0.27631526 0.96038982 -0.03607306 -0.36429811] [ 0.45150057 -0.09658441 0.88702801 0.97605065] [ 0. 0. 0. 1. ]] SLAMing on 181.97650248099998 meters Centerline goodness : 0.726483 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.84943684 -0.25669451 -0.4610477 4.49920812] [ 0.27272549 0.96153009 -0.03287386 -0.36339328] [ 0.45174978 -0.09781519 0.88676622 0.97587723] [ 0. 0. 0. 1. ]] SLAMing on 182.00650248099998 meters Centerline goodness : 0.725020 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.84973403 -0.25633461 -0.46070016 4.49804406] [ 0.27215637 0.96168335 -0.03310658 -0.36250806] [ 0.45153404 -0.0972507 0.88693817 0.97558512] [ 0. 0. 0. 1. ]] SLAMing on 182.03650248099999 meters Centerline goodness : 0.727626 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.85009222 -0.25636622 -0.46002128 4.49588366] [ 0.27175691 0.96177228 -0.03379733 -0.3611385 ] [ 0.45110021 -0.09628311 0.88726442 0.97528894] [ 0. 0. 0. 1. ]] SLAMing on 182.066502481 meters Centerline goodness : 0.727301 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.85016529 -0.25628009 -0.45993423 4.49552982] [ 0.27158335 0.96181678 -0.03392605 -0.36055861] [ 0.45106702 -0.09606773 0.88730464 0.97522667] [ 0. 0. 0. 1. ]] SLAMing on 182.096502481 meters Centerline goodness : 0.146171 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.85015889 -0.25638312 -0.45988864 4.49521571] [ 0.27169298 0.96178572 -0.03392869 -0.36033964] [ 0.45101307 -0.09610374 0.88732817 0.97529331] [ 0. 0. 0. 1. ]] SLAMing on 182.126502481 meters Centerline goodness : 0.153003 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.84998747 -0.25683537 -0.45995314 4.49555904] [ 0.27199817 0.96168448 -0.03435034 -0.35941514] [ 0.45115218 -0.09590906 0.88727851 0.97524209] [ 0. 0. 0. 1. ]] SLAMing on 182.156502481 meters Centerline goodness : 0.147161 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.84983519 -0.25699174 -0.46014715 4.49645749] [ 0.27219303 0.96162894 -0.03436178 -0.35915691] [ 0.45132151 -0.096047 0.88717747 0.97513143] [ 0. 0. 0. 1. ]] SLAMing on 182.186502481 meters Centerline goodness : 0.727420 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.97 [[ 0.84954669 -0.25776157 -0.46024927 4.49782694] [ 0.27287468 0.96142147 -0.03475884 -0.35895929] [ 0.45145302 -0.09606111 0.88710903 0.97485425] [ 0. 0. 0. 1. ]] SLAMing on 182.216502481 meters Centerline goodness : 0.727420 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.97 [[ 0.84954669 -0.25776157 -0.46024927 4.49782694] [ 0.27287468 0.96142147 -0.03475884 -0.35895929] [ 0.45145302 -0.09606111 0.88710903 0.97485425] [ 0. 0. 0. 1. ]] SLAMing on 182.246502481 meters Centerline goodness : 0.150744 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.84918699 -0.25848433 -0.46050767 4.49850237] [ 0.27382347 0.96115868 -0.03456431 -0.35931045] [ 0.45155528 -0.09674624 0.88698252 0.97527853] [ 0. 0. 0. 1. ]] SLAMing on 182.276502481 meters Centerline goodness : 0.145434 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.84897816 -0.25850553 -0.46088064 4.49879431] [ 0.2741263 0.96108868 -0.03410753 -0.35975875] [ 0.45176415 -0.09738296 0.88680647 0.97591016] [ 0. 0. 0. 1. ]] SLAMing on 182.306502481 meters Centerline goodness : 0.549818 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.8488019 -0.25903935 -0.46090557 4.49831022] [ 0.27481914 0.96089673 -0.03393983 -0.35974803] [ 0.45167441 -0.09785748 0.88679994 0.97645192] [ 0. 0. 0. 1. ]] SLAMing on 182.336502481 meters Centerline goodness : 0.145221 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.84855914 -0.25943375 -0.46113069 4.49791814] [ 0.27539296 0.96073928 -0.03374528 -0.35930571] [ 0.45178103 -0.09835728 0.88669033 0.977134 ] [ 0. 0. 0. 1. ]] SLAMing on 182.366502481 meters Centerline goodness : 0.143426 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.84835893 -0.25982048 -0.46128131 4.49825144] [ 0.27587242 0.96060328 -0.03370084 -0.3593705 ] [ 0.45186451 -0.09866438 0.88661367 0.97738623] [ 0. 0. 0. 1. ]] SLAMing on 182.396502481 meters Centerline goodness : 0.146398 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.84809533 -0.26036445 -0.46145928 4.49843142] [ 0.27645954 0.96043094 -0.03380152 -0.35929426] [ 0.45200048 -0.0989079 0.88651723 0.97781301] [ 0. 0. 0. 1. ]] SLAMing on 182.426502481 meters Centerline goodness : 0.528091 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.84795329 -0.26041097 -0.46169399 4.49767044] [ 0.27683761 0.96034226 -0.03322178 -0.35893921] [ 0.45203556 -0.09964374 0.88641693 0.97862652] [ 0. 0. 0. 1. ]] SLAMing on 182.456502481 meters Centerline goodness : 0.546146 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.84794798 -0.26053279 -0.46163501 4.49592929] [ 0.27713064 0.96026872 -0.03290288 -0.35836762] [ 0.45186594 -0.10003327 0.88645954 0.97941589] [ 0. 0. 0. 1. ]] SLAMing on 182.48650248099997 meters Centerline goodness : 0.149770 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.36, Z:0.98 [[ 0.84797521 -0.26055026 -0.46157513 4.49556288] [ 0.27714887 0.96026387 -0.03289093 -0.35781517] [ 0.45180366 -0.10003433 0.88649117 0.97940654] [ 0. 0. 0. 1. ]] SLAMing on 182.51650248099997 meters Centerline goodness : 0.720979 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.36, Z:0.98 [[ 0.8481095 -0.26062595 -0.46128559 4.49398173] [ 0.27710703 0.96026983 -0.03306873 -0.3569994 ] [ 0.45157721 -0.09977958 0.88663525 0.97966502] [ 0. 0. 0. 1. ]] SLAMing on 182.54650248099998 meters Centerline goodness : 0.540470 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.36, Z:0.98 [[ 0.84842742 -0.2603686 -0.46084607 4.49260423] [ 0.27678836 0.96036367 -0.03301255 -0.35702034] [ 0.45117525 -0.09954807 0.88686587 0.97956047] [ 0. 0. 0. 1. ]] SLAMing on 182.57650248099998 meters Centerline goodness : 0.720004 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.36, Z:0.98 [[ 0.84877794 -0.2601685 -0.46031333 4.49090494] [ 0.27635003 0.96048009 -0.03329658 -0.35582137] [ 0.45078451 -0.0989462 0.88713188 0.97926791] [ 0. 0. 0. 1. ]] SLAMing on 182.60650248099998 meters Centerline goodness : 0.720010 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.35, Z:0.98 [[ 0.84905767 -0.25939243 -0.46023543 4.49067163] [ 0.27539277 0.96075026 -0.03343289 -0.35402015] [ 0.45084354 -0.09835906 0.88716717 0.97872949] [ 0. 0. 0. 1. ]] SLAMing on 182.63650248099998 meters Centerline goodness : 0.717925 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.35, Z:0.98 [[ 0.84928519 -0.25935263 -0.45983789 4.4902592 ] [ 0.27503772 0.96083399 -0.03394536 -0.35300942] [ 0.45063169 -0.09764347 0.88735384 0.97806935] [ 0. 0. 0. 1. ]] SLAMing on 182.66650248099998 meters Centerline goodness : 0.718634 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.35, Z:0.98 [[ 0.84980201 -0.25894189 -0.45911398 4.48953076] [ 0.27399611 0.96109713 -0.03490606 -0.35104881] [ 0.45029177 -0.0961322 0.88769134 0.97678317] [ 0. 0. 0. 1. ]] SLAMing on 182.69650248099998 meters Centerline goodness : 0.718544 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.35, Z:0.98 [[ 0.85011774 -0.25901991 -0.45848502 4.48893445] [ 0.27362999 0.96117409 -0.03565114 -0.34955947] [ 0.44991828 -0.09514759 0.88798676 0.97577615] [ 0. 0. 0. 1. ]] SLAMing on 182.72650248099998 meters Centerline goodness : 0.718576 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.35, Z:0.98 [[ 0.85070318 -0.25550286 -0.45937173 4.49042818] [ 0.27105917 0.9619937 -0.03309139 -0.34808599] [ 0.45036766 -0.09636597 0.88762749 0.97503195] [ 0. 0. 0. 1. ]] SLAMing on 182.75650248099998 meters Centerline goodness : 0.717554 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.35, Z:0.97 [[ 0.85060474 -0.25622 -0.45915453 4.49074105] [ 0.27138656 0.96186999 -0.0339921 -0.34638785] [ 0.45035642 -0.09569452 0.88770584 0.97443175] [ 0. 0. 0. 1. ]] SLAMing on 182.78650248099999 meters Centerline goodness : 0.717585 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.35, Z:0.97 [[ 0.85064203 -0.2564924 -0.45893331 4.49088386] [ 0.27143404 0.9618402 -0.03445271 -0.34529192] [ 0.45025736 -0.0952632 0.88780247 0.97386021] [ 0. 0. 0. 1. ]] SLAMing on 182.816502481 meters Centerline goodness : 0.717490 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.34, Z:0.97 [[ 0.85052777 -0.25744214 -0.45861319 4.4911531 ] [ 0.27191516 0.96166453 -0.03554538 -0.34359218] [ 0.45018292 -0.09447154 0.88792481 0.97318494] [ 0. 0. 0. 1. ]] SLAMing on 182.846502481 meters Centerline goodness : 0.716218 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.34, Z:0.97 [[ 0.85054201 -0.25809677 -0.45821866 4.49124517] [ 0.27206068 0.96158285 -0.03662529 -0.34158399] [ 0.45006808 -0.09351193 0.88808459 0.9723329 ] [ 0. 0. 0. 1. ]] SLAMing on 182.876502481 meters Centerline goodness : 0.716635 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.34, Z:0.97 [[ 0.85059423 -0.25821157 -0.45805703 4.48999228] [ 0.27207182 0.9615722 -0.0368215 -0.33968073] [ 0.44996264 -0.09330425 0.88815986 0.97248812] [ 0. 0. 0. 1. ]] SLAMing on 182.906502481 meters Centerline goodness : 0.716107 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.34, Z:0.97 [[ 0.85045752 -0.25899131 -0.45787062 4.48930057] [ 0.27263632 0.96138983 -0.0374036 -0.33824323] [ 0.44987936 -0.09302199 0.88823165 0.97252583] [ 0. 0. 0. 1. ]] SLAMing on 182.936502481 meters Centerline goodness : 0.716129 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.34, Z:0.97 [[ 0.84979099 -0.26045966 -0.45827507 4.48989992] [ 0.27404735 0.96096557 -0.03798984 -0.33651675] [ 0.45028138 -0.09330564 0.88799816 0.97315719] [ 0. 0. 0. 1. ]] SLAMing on 182.966502481 meters Centerline goodness : 0.715312 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.34, Z:0.97 [[ 0.84947138 -0.26135315 -0.45835893 4.4899903 ] [ 0.2749358 0.96070143 -0.03825005 -0.33635536] [ 0.45034285 -0.09352696 0.88794371 0.97354358] [ 0. 0. 0. 1. ]] SLAMing on 182.996502481 meters Centerline goodness : 0.714766 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.33, Z:0.97 [[ 0.84837727 -0.26727278 -0.45696966 4.48943493] [ 0.27923582 0.95927481 -0.04265209 -0.3349427 ] [ 0.44975922 -0.09141723 0.88845908 0.9732802 ] [ 0. 0. 0. 1. ]] SLAMing on 183.026502481 meters Centerline goodness : 0.714620 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.33, Z:0.97 [[ 0.84777056 -0.26831206 -0.45748629 4.4905075 ] [ 0.28044232 0.95892022 -0.04270973 -0.33479498] [ 0.45015239 -0.09209047 0.88819039 0.97397634] [ 0. 0. 0. 1. ]] SLAMing on 183.056502481 meters Centerline goodness : 0.715440 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.33, Z:0.97 [[ 0.84673246 -0.27008967 -0.458362 4.49328345] [ 0.28243199 0.95832508 -0.04295593 -0.33312635] [ 0.45086175 -0.09308392 0.88772691 0.97436457] [ 0. 0. 0. 1. ]] SLAMing on 183.086502481 meters Centerline goodness : 0.715780 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.33, Z:0.98 [[ 0.84588279 -0.27177976 -0.45893144 4.49426073] [ 0.28427714 0.95776732 -0.0432235 -0.33172397] [ 0.45129681 -0.0939017 0.88741967 0.97519016] [ 0. 0. 0. 1. ]] SLAMing on 183.116502481 meters Centerline goodness : 0.716551 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.33, Z:0.98 [[ 0.8455008 -0.2724436 -0.45924165 4.49513493] [ 0.28502548 0.95754127 -0.0433034 -0.33157877] [ 0.45154056 -0.09428251 0.88725528 0.97552454] [ 0. 0. 0. 1. ]] SLAMing on 183.146502481 meters Centerline goodness : 0.716600 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.33, Z:0.98 [[ 0.84533152 -0.27328963 -0.45905054 4.49491579] [ 0.28594297 0.95726613 -0.04333792 -0.33233305] [ 0.45127734 -0.09462737 0.88735248 0.97571003] [ 0. 0. 0. 1. ]] SLAMing on 183.176502481 meters Centerline goodness : 0.717813 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.33, Z:0.98 [[ 0.84537396 -0.27362224 -0.45877417 4.49440489] [ 0.28620924 0.95717968 -0.04348939 -0.33244018] [ 0.45102898 -0.09454061 0.88748799 0.97564487] [ 0. 0. 0. 1. ]] SLAMing on 183.206502481 meters Centerline goodness : 0.716105 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.33, Z:0.98 [[ 0.84509355 -0.27419524 -0.45894865 4.4946735 ] [ 0.28673641 0.95700909 -0.04377014 -0.33132527] [ 0.45121959 -0.09460743 0.88738397 0.97579221] [ 0. 0. 0. 1. ]] SLAMing on 183.23650248099997 meters Centerline goodness : 0.715799 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.33, Z:0.98 [[ 0.84495488 -0.27461772 -0.45895136 4.49562832] [ 0.28702858 0.95690465 -0.04413709 -0.33042591] [ 0.45129352 -0.0944383 0.88736439 0.97528055] [ 0. 0. 0. 1. ]] SLAMing on 183.26650248099997 meters Centerline goodness : 0.719296 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.33, Z:0.97 [[ 0.8448172 -0.27519343 -0.45885998 4.49692728] [ 0.28728237 0.95679307 -0.0448984 -0.32896095] [ 0.45138979 -0.09389144 0.88737346 0.97440647] [ 0. 0. 0. 1. ]] SLAMing on 183.29650248099998 meters Centerline goodness : 0.719181 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.33, Z:0.97 [[ 0.84488521 -0.27528612 -0.45867912 4.49735913] [ 0.28732358 0.9567768 -0.0449812 -0.32875651] [ 0.45123624 -0.09378538 0.88746276 0.97382481] [ 0. 0. 0. 1. ]] SLAMing on 183.32650248099998 meters Centerline goodness : 0.717444 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.33, Z:0.97 [[ 0.84496523 -0.27542062 -0.45845091 4.49868339] [ 0.28723275 0.95678402 -0.04540586 -0.32887152] [ 0.45114421 -0.09331574 0.88755905 0.97280875] [ 0. 0. 0. 1. ]] SLAMing on 183.35650248099998 meters Centerline goodness : 0.718786 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.33, Z:0.97 [[ 0.84532497 -0.27504935 -0.45801043 4.49864945] [ 0.28674471 0.95692896 -0.04543614 -0.32900638] [ 0.45078063 -0.09292377 0.88778488 0.97189716] [ 0. 0. 0. 1. ]] SLAMing on 183.38650248099998 meters Centerline goodness : 0.719594 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.33, Z:0.97 [[ 0.84535356 -0.27486431 -0.45806874 4.49880959] [ 0.2865935 0.95697905 -0.04533502 -0.32888909] [ 0.45082317 -0.0929554 0.88775997 0.97183385] [ 0. 0. 0. 1. ]] SLAMing on 183.41650248099998 meters Centerline goodness : 0.719287 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.33, Z:0.97 [[ 0.84551694 -0.27495009 -0.45771557 4.50011614] [ 0.28642168 0.95700919 -0.04578253 -0.32841315] [ 0.45062592 -0.09238976 0.88791915 0.97045472] [ 0. 0. 0. 1. ]] SLAMing on 183.44650248099998 meters Centerline goodness : 0.719328 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.33, Z:0.97 [[ 0.84535451 -0.27559367 -0.45762853 4.50137568] [ 0.28677347 0.95686901 -0.04650452 -0.32801557] [ 0.45070692 -0.09192292 0.88792649 0.96985862] [ 0. 0. 0. 1. ]] SLAMing on 183.47650248099998 meters Centerline goodness : 0.721293 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.33, Z:0.97 [[ 0.84482756 -0.2803086 -0.455734 4.502372 ] [ 0.2894162 0.95582304 -0.05138664 -0.32721656] [ 0.45000517 -0.08848395 0.8886315 0.96769786] [ 0. 0. 0. 1. ]] SLAMing on 183.50650248099998 meters Centerline goodness : 0.721245 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.33, Z:0.97 [[ 0.84496596 -0.28035538 -0.45544856 4.5031633 ] [ 0.28941015 0.95582202 -0.05143966 -0.32826834] [ 0.44974915 -0.08834667 0.88877476 0.96696658] [ 0. 0. 0. 1. ]] SLAMing on 183.53650248099999 meters Centerline goodness : 0.720908 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:0.97 [[ 0.84504008 -0.28004941 -0.45549928 4.5051513 ] [ 0.28905668 0.95592758 -0.05146544 -0.3291071 ] [ 0.44983719 -0.08817475 0.88874727 0.96602351] [ 0. 0. 0. 1. ]] SLAMing on 183.566502481 meters Centerline goodness : 0.720910 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:0.97 [[ 0.84528133 -0.27936507 -0.45547187 4.50645163] [ 0.28844083 0.95613069 -0.05114667 -0.33013276] [ 0.44977923 -0.08814336 0.88877972 0.9652156 ] [ 0. 0. 0. 1. ]] SLAMing on 183.596502481 meters Centerline goodness : 0.720291 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.33, Z:0.96 [[ 0.84555928 -0.27889843 -0.45524187 4.50634221] [ 0.28808434 0.95625893 -0.05075704 -0.33138504] [ 0.44948516 -0.08822997 0.88891988 0.96495451] [ 0. 0. 0. 1. ]] SLAMing on 183.626502481 meters Centerline goodness : 0.719877 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.34, Z:0.96 [[ 0.84620146 -0.2774968 -0.45490507 4.50646031] [ 0.28699429 0.95664199 -0.0497029 -0.33550889] [ 0.44897369 -0.08849649 0.88915184 0.96453083] [ 0. 0. 0. 1. ]] SLAMing on 183.656502481 meters Centerline goodness : 0.720396 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.34, Z:0.96 [[ 0.84648102 -0.27695684 -0.45471397 4.50622886] [ 0.28677535 0.95674981 -0.04888461 -0.3380095 ] [ 0.44858643 -0.08902086 0.88929495 0.96448481] [ 0. 0. 0. 1. ]] SLAMing on 183.686502481 meters Centerline goodness : 0.720222 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.34, Z:0.96 [[ 0.8461126 -0.28062148 -0.45315014 4.50519195] [ 0.28894941 0.95590692 -0.0524424 -0.33854729] [ 0.44788582 -0.08656529 0.8898903 0.96384129] [ 0. 0. 0. 1. ]] SLAMing on 183.716502481 meters Centerline goodness : 0.721876 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.34, Z:0.96 [[ 0.84588193 -0.28373195 -0.45164139 4.50580259] [ 0.29110853 0.95511871 -0.05480952 -0.3417018 ] [ 0.44692235 -0.08511428 0.89051444 0.9626554 ] [ 0. 0. 0. 1. ]] SLAMing on 183.746502481 meters Centerline goodness : 0.722911 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:0.96 [[ 0.84513548 -0.28736344 -0.45074192 4.507536 ] [ 0.29392183 0.95411744 -0.05718284 -0.34507527] [ 0.44649298 -0.08415564 0.89082088 0.9621917 ] [ 0. 0. 0. 1. ]] SLAMing on 183.776502481 meters Centerline goodness : 0.723251 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:0.96 [[ 0.84438217 -0.2910882 -0.44976262 4.50826552] [ 0.29653048 0.95312651 -0.06016248 -0.34616533] [ 0.44619327 -0.0825682 0.89111955 0.9618059 ] [ 0. 0. 0. 1. ]] SLAMing on 183.806502481 meters Centerline goodness : 0.724345 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:0.96 [[ 0.84440123 -0.29072566 -0.44996129 4.50949059] [ 0.29676969 0.95313036 -0.05890898 -0.34964045] [ 0.44599811 -0.08379206 0.89110301 0.96197758] [ 0. 0. 0. 1. ]] SLAMing on 183.836502481 meters Centerline goodness : 0.723827 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.36, Z:0.96 [[ 0.84401469 -0.29357246 -0.44883673 4.50954063] [ 0.2992558 0.95227677 -0.06012419 -0.35506032] [ 0.44506759 -0.0835713 0.89158885 0.96205522] [ 0. 0. 0. 1. ]] SLAMing on 183.866502481 meters Centerline goodness : 0.723175 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.36, Z:0.96 [[ 0.84379917 -0.29621467 -0.44750399 4.50920224] [ 0.30138663 0.95151357 -0.06154691 -0.36017759] [ 0.44403722 -0.08293849 0.89216151 0.96185496] [ 0. 0. 0. 1. ]] SLAMing on 183.896502481 meters Centerline goodness : 0.722305 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.36, Z:0.96 [[ 0.84396316 -0.29526504 -0.44782221 4.50977264] [ 0.30109875 0.9517009 -0.06004113 -0.36328373] [ 0.44392085 -0.0841662 0.89210444 0.96230431] [ 0. 0. 0. 1. ]] SLAMing on 183.926502481 meters Centerline goodness : 0.721839 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.37, Z:0.96 [[ 0.84441834 -0.29360075 -0.44805832 4.50989541] [ 0.3004471 0.95205588 -0.0576293 -0.36838898] [ 0.44349657 -0.08595459 0.89214494 0.96296325] [ 0. 0. 0. 1. ]] SLAMing on 183.956502481 meters Centerline goodness : 0.721996 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.37, Z:0.96 [[ 0.84466907 -0.29281821 -0.44809783 4.51019076] [ 0.30012254 0.95222499 -0.05651577 -0.37102899] [ 0.4432388 -0.08674714 0.89219634 0.96301944] [ 0. 0. 0. 1. ]] SLAMing on 183.98650248099997 meters Centerline goodness : 0.721613 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.37, Z:0.96 [[ 0.84465283 -0.29550068 -0.44636414 4.51001777] [ 0.30155379 0.95160037 -0.05934684 -0.37389593] [ 0.44229731 -0.08447532 0.89288129 0.96165785] [ 0. 0. 0. 1. ]] SLAMing on 184.01650248099997 meters Centerline goodness : 0.723039 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:0.96 [[ 0.84475113 -0.29815087 -0.44441151 4.50852145] [ 0.30295292 0.95097758 -0.0621383 -0.37698594] [ 0.44115197 -0.08214437 0.89366506 0.96067834] [ 0. 0. 0. 1. ]] SLAMing on 184.04650248099998 meters Centerline goodness : 0.722539 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:0.96 [[ 0.84522855 -0.29706904 -0.44422819 4.50845462] [ 0.30222371 0.95127622 -0.06110959 -0.37933282] [ 0.44073748 -0.08260473 0.89382713 0.96036207] [ 0. 0. 0. 1. ]] SLAMing on 184.07650248099998 meters Centerline goodness : 0.722972 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:0.96 [[ 0.84560018 -0.2960196 -0.44422149 4.5080994 ] [ 0.30160718 0.95154482 -0.05996296 -0.38237584] [ 0.44044687 -0.0832757 0.89390811 0.96072093] [ 0. 0. 0. 1. ]] SLAMing on 184.10650248099998 meters Centerline goodness : 0.722127 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:0.96 [[ 0.84593477 -0.29528632 -0.44407247 4.50784396] [ 0.30120243 0.95172839 -0.05907766 -0.38447777] [ 0.4400812 -0.08377986 0.89404109 0.96069257] [ 0. 0. 0. 1. ]] SLAMing on 184.13650248099998 meters Centerline goodness : 0.722127 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:0.96 [[ 0.84593477 -0.29528632 -0.44407247 4.50784396] [ 0.30120243 0.95172839 -0.05907766 -0.38447777] [ 0.4400812 -0.08377986 0.89404109 0.96069257] [ 0. 0. 0. 1. ]] SLAMing on 184.16650248099998 meters Centerline goodness : 0.362605 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.96 [[ 0.84628102 -0.29451675 -0.44392377 4.50793492] [ 0.3009255 0.95189147 -0.05784876 -0.38883207] [ 0.43960468 -0.08463168 0.89419528 0.96089596] [ 0. 0. 0. 1. ]] SLAMing on 184.19650248099998 meters Centerline goodness : 0.723849 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.96 [[ 0.84606271 -0.29766807 -0.44223479 4.50665768] [ 0.30306299 0.95105763 -0.06035074 -0.39182124] [ 0.43855526 -0.08296449 0.89486657 0.96045789] [ 0. 0. 0. 1. ]] SLAMing on 184.22650248099998 meters Centerline goodness : 0.578952 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.96 [[ 0.84611989 -0.29739243 -0.44231083 4.50648417] [ 0.30314776 0.95108036 -0.05956161 -0.39358959] [ 0.43838632 -0.08368928 0.89488186 0.96093597] [ 0. 0. 0. 1. ]] SLAMing on 184.25650248099998 meters Centerline goodness : 0.577839 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.96 [[ 0.84612299 -0.29670585 -0.44276576 4.50645352] [ 0.30313231 0.9511747 -0.05811623 -0.39567251] [ 0.43839102 -0.08504313 0.89475191 0.96189212] [ 0. 0. 0. 1. ]] SLAMing on 184.28650248099999 meters Centerline goodness : 0.537533 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.96 [[ 0.84598521 -0.29667651 -0.44304861 4.50722856] [ 0.30339051 0.95112475 -0.05758393 -0.39661299] [ 0.4384783 -0.08570159 0.89464631 0.96219227] [ 0. 0. 0. 1. ]] SLAMing on 184.316502481 meters Centerline goodness : 0.484208 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.96 [[ 0.84499437 -0.30112296 -0.44193831 4.50808095] [ 0.30668942 0.94986497 -0.06081237 -0.39770347] [ 0.43809372 -0.08415169 0.89498178 0.96189164] [ 0. 0. 0. 1. ]] SLAMing on 184.346502481 meters Centerline goodness : 0.256425 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.96 [[ 0.84472543 -0.30132845 -0.44231224 4.50947798] [ 0.30736191 0.94969976 -0.05999185 -0.39975999] [ 0.43814108 -0.08527329 0.89485242 0.9622872 ] [ 0. 0. 0. 1. ]] SLAMing on 184.376502481 meters Centerline goodness : 0.482713 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.96 [[ 0.84353067 -0.30604025 -0.44135628 4.50968579] [ 0.31115446 0.94827829 -0.06285849 -0.40180064] [ 0.43776581 -0.08430691 0.89512761 0.96287755] [ 0. 0. 0. 1. ]] SLAMing on 184.406502481 meters Centerline goodness : 0.247070 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.96 [[ 0.84220498 -0.31038121 -0.4408563 4.50978363] [ 0.31485701 0.94689987 -0.06515907 -0.40320139] [ 0.43767092 -0.0839294 0.89520948 0.96418053] [ 0. 0. 0. 1. ]] SLAMing on 184.436502481 meters Centerline goodness : 0.161236 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.97 [[ 0.8418994 -0.31051695 -0.44134412 4.51021967] [ 0.31552893 0.94674149 -0.06420311 -0.40469118] [ 0.43777495 -0.08520428 0.89503817 0.96518286] [ 0. 0. 0. 1. ]] SLAMing on 184.466502481 meters Centerline goodness : 0.573795 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.8411536 -0.31143661 -0.44211747 4.51090314] [ 0.31722176 0.94625458 -0.06302871 -0.40669373] [ 0.43798513 -0.08723246 0.89473992 0.96702156] [ 0. 0. 0. 1. ]] SLAMing on 184.496502481 meters Centerline goodness : 0.572702 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.84087802 -0.31172327 -0.44243955 4.51154026] [ 0.3178139 0.94608761 -0.06255047 -0.40786179] [ 0.43808502 -0.08801613 0.89461426 0.96763656] [ 0. 0. 0. 1. ]] SLAMing on 184.526502481 meters Centerline goodness : 0.537692 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.84049085 -0.31259305 -0.44256153 4.51236946] [ 0.31913888 0.9456862 -0.06187077 -0.41027673] [ 0.43786471 -0.08923678 0.89460119 0.96825785] [ 0. 0. 0. 1. ]] SLAMing on 184.556502481 meters Centerline goodness : 0.160080 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.84043278 -0.31264335 -0.44263629 4.51248846] [ 0.31940172 0.94562382 -0.06146656 -0.41105056] [ 0.43778453 -0.08972027 0.89459207 0.96850453] [ 0. 0. 0. 1. ]] SLAMing on 184.586502481 meters Centerline goodness : 0.157782 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.84020273 -0.31284781 -0.44292845 4.51197605] [ 0.31997836 0.94547027 -0.0608261 -0.41167659] [ 0.437805 -0.09062127 0.89449124 0.96958529] [ 0. 0. 0. 1. ]] SLAMing on 184.616502481 meters Centerline goodness : 0.162938 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.83973564 -0.31342894 -0.44340315 4.51252346] [ 0.32077473 0.94521193 -0.06064638 -0.41157694] [ 0.43811828 -0.0913056 0.89426823 0.970434 ] [ 0. 0. 0. 1. ]] SLAMing on 184.646502481 meters Centerline goodness : 0.716207 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.83960843 -0.31313099 -0.44385433 4.51334392] [ 0.32073781 0.94525659 -0.06014353 -0.41142119] [ 0.43838903 -0.09186385 0.89407835 0.9707049 ] [ 0. 0. 0. 1. ]] SLAMing on 184.676502481 meters Centerline goodness : 0.612017 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.83924411 -0.31395308 -0.44396259 4.51271997] [ 0.32151015 0.94497259 -0.06048157 -0.41068315] [ 0.43852086 -0.09197968 0.89400179 0.97146025] [ 0. 0. 0. 1. ]] SLAMing on 184.706502481 meters Centerline goodness : 0.609492 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.83915778 -0.31410297 -0.44401976 4.51238146] [ 0.32175671 0.94489794 -0.06033653 -0.41087274] [ 0.43850525 -0.09223447 0.89398319 0.97187628] [ 0. 0. 0. 1. ]] SLAMing on 184.73650248099997 meters Centerline goodness : 0.634147 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.83908428 -0.31397755 -0.4442473 4.51218209] [ 0.32174371 0.94491559 -0.06012911 -0.41049796] [ 0.43865539 -0.09248039 0.89388412 0.97229958] [ 0. 0. 0. 1. ]] SLAMing on 184.76650248099997 meters Centerline goodness : 0.317590 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.83903834 -0.31367155 -0.44455013 4.51252882] [ 0.32157869 0.94499042 -0.05983522 -0.40996155] [ 0.43886422 -0.0927538 0.89375328 0.97244047] [ 0. 0. 0. 1. ]] SLAMing on 184.79650248099998 meters Centerline goodness : 0.267862 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.83908974 -0.31158439 -0.4459188 4.51400187] [ 0.32058941 0.94547787 -0.05739354 -0.40884973] [ 0.43948929 -0.09479851 0.89323144 0.97298807] [ 0. 0. 0. 1. ]] SLAMing on 184.82650248099998 meters Centerline goodness : 0.560783 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.83896932 -0.31174008 -0.44603655 4.51473246] [ 0.32071979 0.94542635 -0.05751373 -0.40834081] [ 0.43962405 -0.09480049 0.89316491 0.97279459] [ 0. 0. 0. 1. ]] SLAMing on 184.85650248099998 meters Centerline goodness : 0.592926 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.97 [[ 0.8389846 -0.31140291 -0.44624329 4.51566035] [ 0.3203743 0.94554469 -0.05749388 -0.4075311 ] [ 0.43984673 -0.0947284 0.89306292 0.97239812] [ 0. 0. 0. 1. ]] SLAMing on 184.88650248099998 meters Centerline goodness : 0.351720 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.83987529 -0.30769606 -0.44713827 4.51461675] [ 0.31790318 0.94656992 -0.05424903 -0.40748369] [ 0.43993985 -0.09658426 0.89281824 0.972886 ] [ 0. 0. 0. 1. ]] SLAMing on 184.91650248099998 meters Centerline goodness : 0.434135 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.83998737 -0.30724654 -0.44723684 4.51454283] [ 0.31733939 0.94675103 -0.05438931 -0.40627252] [ 0.44013286 -0.09623953 0.89276033 0.97270464] [ 0. 0. 0. 1. ]] SLAMing on 184.94650248099998 meters Centerline goodness : 0.599487 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.97 [[ 0.84087404 -0.30311151 -0.44839075 4.51481719] [ 0.3141664 0.94796138 -0.05165947 -0.40450023] [ 0.44071569 -0.0974302 0.89234357 0.97251295] [ 0. 0. 0. 1. ]] SLAMing on 184.97650248099998 meters Centerline goodness : 0.238795 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.97 [[ 0.84100575 -0.30273894 -0.44839544 4.51522005] [ 0.31358404 0.94813615 -0.05198927 -0.40298658] [ 0.4408791 -0.09688638 0.89232205 0.97190961] [ 0. 0. 0. 1. ]] SLAMing on 185.00650248099998 meters Centerline goodness : 0.638352 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.97 [[ 0.84180371 -0.29915729 -0.44930104 4.51550241] [ 0.31107226 0.94911566 -0.0491276 -0.40247495] [ 0.44113553 -0.09840929 0.89202862 0.97177795] [ 0. 0. 0. 1. ]] SLAMing on 185.03650248099999 meters Centerline goodness : 0.350759 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.97 [[ 0.84178081 -0.29975378 -0.44894624 4.51521149] [ 0.311325 0.94899313 -0.04988765 -0.40132291] [ 0.44100092 -0.09777372 0.89216506 0.97131398] [ 0. 0. 0. 1. ]] SLAMing on 185.066502481 meters Centerline goodness : 0.582274 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.97 [[ 0.84168511 -0.29953956 -0.44926855 4.51553932] [ 0.31127208 0.94902626 -0.04958689 -0.40112861] [ 0.44122089 -0.09810821 0.89201957 0.97162493] [ 0. 0. 0. 1. ]] SLAMing on 185.096502481 meters Centerline goodness : 0.694583 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.97 [[ 0.84165669 -0.29976743 -0.44916979 4.51503675] [ 0.31142677 0.94896598 -0.04976885 -0.40061522] [ 0.44116593 -0.09799521 0.89205917 0.97174234] [ 0. 0. 0. 1. ]] SLAMing on 185.126502481 meters Centerline goodness : 0.599419 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.97 [[ 0.84191657 -0.29702487 -0.45050274 4.5155403 ] [ 0.31004164 0.94957745 -0.0466566 -0.40024186] [ 0.44164542 -0.10039364 0.89155507 0.97267364] [ 0. 0. 0. 1. ]] SLAMing on 185.156502481 meters Centerline goodness : 0.719622 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.97 [[ 0.84170681 -0.29746625 -0.45060346 4.5156837 ] [ 0.31017011 0.94949729 -0.04742773 -0.39823243] [ 0.44195492 -0.09984348 0.89146348 0.97259355] [ 0. 0. 0. 1. ]] SLAMing on 185.186502481 meters Centerline goodness : 0.720365 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.97 [[ 0.84167245 -0.29770272 -0.45051145 4.51568943] [ 0.31016272 0.94947311 -0.0479573 -0.39714991] [ 0.44202553 -0.09936752 0.89148165 0.97233476] [ 0. 0. 0. 1. ]] SLAMing on 185.216502481 meters Centerline goodness : 0.721308 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.97 [[ 0.84182221 -0.29747076 -0.45038486 4.51544629] [ 0.30960223 0.94962703 -0.04852791 -0.39535648] [ 0.44213327 -0.09858829 0.89151473 0.97184949] [ 0. 0. 0. 1. ]] SLAMing on 185.246502481 meters Centerline goodness : 0.436835 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.97 [[ 0.84178687 -0.29706122 -0.45072109 4.51559623] [ 0.30916961 0.94976668 -0.04855315 -0.39429491] [ 0.44250313 -0.09847786 0.89134342 0.97202247] [ 0. 0. 0. 1. ]] SLAMing on 185.276502481 meters Centerline goodness : 0.720552 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.97 [[ 0.8426932 -0.29327509 -0.45150625 4.51528337] [ 0.30642094 0.9507992 -0.04568459 -0.39356956] [ 0.44268993 -0.09985288 0.89109765 0.97188266] [ 0. 0. 0. 1. ]] SLAMing on 185.306502481 meters Centerline goodness : 0.511914 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.97 [[ 0.84386174 -0.28891584 -0.45213384 4.51381494] [ 0.30346977 0.95191997 -0.04188634 -0.39469864] [ 0.44249686 -0.10186267 0.89096606 0.97220851] [ 0. 0. 0. 1. ]] SLAMing on 185.336502481 meters Centerline goodness : 0.563174 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.97 [[ 0.84409913 -0.28866547 -0.45185053 4.51279696] [ 0.30314466 0.952023 -0.04189887 -0.39433264] [ 0.44226686 -0.10160927 0.89110919 0.97206255] [ 0. 0. 0. 1. ]] SLAMing on 185.366502481 meters Centerline goodness : 0.137671 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.97 [[ 0.84488227 -0.28452166 -0.45301366 4.51297007] [ 0.3003418 0.95305693 -0.03843566 -0.39400943] [ 0.44268359 -0.10358533 0.89067464 0.97236739] [ 0. 0. 0. 1. ]] SLAMing on 185.396502481 meters Centerline goodness : 0.720385 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.97 [[ 0.84496864 -0.28425775 -0.45301825 4.51272619] [ 0.30004662 0.95315005 -0.03843179 -0.39347414] [ 0.4427189 -0.10345294 0.89067248 0.9723 ] [ 0. 0. 0. 1. ]] SLAMing on 185.426502481 meters Centerline goodness : 0.485456 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.97 [[ 0.84530663 -0.28405852 -0.45251239 4.51155738] [ 0.29954404 0.95329083 -0.03885821 -0.39304105] [ 0.44241391 -0.10270029 0.8909111 0.97188109] [ 0. 0. 0. 1. ]] SLAMing on 185.456502481 meters Centerline goodness : 0.725483 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.97 [[ 0.84539491 -0.28359992 -0.4526351 4.51200559] [ 0.29908845 0.95343761 -0.03876628 -0.39268817] [ 0.44255344 -0.10260512 0.89085276 0.97161542] [ 0. 0. 0. 1. ]] SLAMing on 185.48650248099997 meters Centerline goodness : 0.525276 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.97 [[ 0.8464068 -0.27898871 -0.45360868 4.5122678 ] [ 0.29582902 0.95459518 -0.03511746 -0.39340388] [ 0.44281004 -0.10446695 0.8905088 0.97153958] [ 0. 0. 0. 1. ]] SLAMing on 185.51650248099997 meters Centerline goodness : 0.724710 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.97 [[ 0.84655395 -0.27890757 -0.45338391 4.51172804] [ 0.29554192 0.95467177 -0.03545121 -0.39263155] [ 0.44272043 -0.10398258 0.89061004 0.97122555] [ 0. 0. 0. 1. ]] SLAMing on 185.54650248099998 meters Centerline goodness : 0.723306 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.97 [[ 0.84759764 -0.27459827 -0.4540639 4.51080766] [ 0.29246514 0.95573904 -0.03204731 -0.39377359] [ 0.44276673 -0.10563464 0.89039258 0.97148591] [ 0. 0. 0. 1. ]] SLAMing on 185.57650248099998 meters Centerline goodness : 0.724419 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.97 [[ 0.84774386 -0.27440642 -0.4539069 4.51114827] [ 0.29198942 0.95586829 -0.03252685 -0.39329288] [ 0.44280079 -0.10496157 0.89045524 0.97086656] [ 0. 0. 0. 1. ]] SLAMing on 185.60650248099998 meters Centerline goodness : 0.721994 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.97 [[ 0.84780925 -0.27438219 -0.45379938 4.51169905] [ 0.29191728 0.95588823 -0.03258828 -0.39358219] [ 0.44272313 -0.10484324 0.89050779 0.97040434] [ 0. 0. 0. 1. ]] SLAMing on 185.63650248099998 meters Centerline goodness : 0.724039 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.97 [[ 0.84781263 -0.27427437 -0.45385826 4.51285416] [ 0.29171333 0.95594429 -0.03276965 -0.39352855] [ 0.44285109 -0.10461398 0.89047113 0.96986977] [ 0. 0. 0. 1. ]] SLAMing on 185.66650248099998 meters Centerline goodness : 0.722887 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.97 [[ 0.84782188 -0.27403917 -0.45398303 4.51324268] [ 0.29162918 0.95598124 -0.0324389 -0.39396572] [ 0.44288879 -0.10489229 0.89041964 0.96989986] [ 0. 0. 0. 1. ]] SLAMing on 185.69650248099998 meters Centerline goodness : 0.722784 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.97 [[ 0.84786564 -0.27408249 -0.45387515 4.5125277 ] [ 0.29208539 0.95587037 -0.03159055 -0.39625422] [ 0.44250422 -0.10578575 0.89050513 0.97058115] [ 0. 0. 0. 1. ]] SLAMing on 185.72650248099998 meters Centerline goodness : 0.723993 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.97 [[ 0.84797213 -0.27393005 -0.45376822 4.51195049] [ 0.29227125 0.95583802 -0.03084148 -0.39808919] [ 0.44217732 -0.10647068 0.89058588 0.97102544] [ 0. 0. 0. 1. ]] SLAMing on 185.75650248099998 meters Centerline goodness : 0.722328 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.97 [[ 0.8471108 -0.27817995 -0.45279046 4.51153467] [ 0.29560268 0.9547228 -0.03351774 -0.39971509] [ 0.44161334 -0.10545283 0.89098673 0.97146855] [ 0. 0. 0. 1. ]] SLAMing on 185.78650248099999 meters Centerline goodness : 0.722545 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.97 [[ 0.84660438 -0.27851725 -0.45352968 4.51357362] [ 0.2965971 0.95445023 -0.03247957 -0.40159652] [ 0.44191763 -0.10701824 0.89064915 0.97220367] [ 0. 0. 0. 1. ]] SLAMing on 185.816502481 meters Centerline goodness : 0.723530 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.97 [[ 0.84642045 -0.27844133 -0.45391943 4.51434432] [ 0.29685898 0.95438882 -0.03188622 -0.40246248] [ 0.44209407 -0.10776091 0.89047202 0.97266097] [ 0. 0. 0. 1. ]] SLAMing on 185.846502481 meters Centerline goodness : 0.724351 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.97 [[ 0.8463691 -0.27838832 -0.45404767 4.51551197] [ 0.29715857 0.95431834 -0.0311977 -0.40439687] [ 0.44199109 -0.10851939 0.89043103 0.97268873] [ 0. 0. 0. 1. ]] SLAMing on 185.876502481 meters Centerline goodness : 0.725616 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.97 [[ 0.84640805 -0.2780686 -0.45417097 4.51601519] [ 0.29706293 0.95436431 -0.03069833 -0.40577247] [ 0.44198081 -0.10893405 0.8903855 0.97277201] [ 0. 0. 0. 1. ]] SLAMing on 185.906502481 meters Centerline goodness : 0.722931 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.97 [[ 0.84654484 -0.27762825 -0.45418542 4.51609478] [ 0.2968804 0.95444111 -0.03006974 -0.40772955] [ 0.44184145 -0.10938337 0.89039958 0.9729665 ] [ 0. 0. 0. 1. ]] SLAMing on 185.936502481 meters Centerline goodness : 0.723398 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.97 [[ 0.84671517 -0.27740531 -0.45400409 4.5154294 ] [ 0.29672674 0.95449666 -0.02982222 -0.40841895] [ 0.44161823 -0.10946423 0.89050038 0.97303752] [ 0. 0. 0. 1. ]] SLAMing on 185.966502481 meters Centerline goodness : 0.725564 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.8470334 -0.27682665 -0.45376361 4.51380288] [ 0.29635317 0.95463217 -0.02919272 -0.4095212 ] [ 0.44125866 -0.10974708 0.8906438 0.97353498] [ 0. 0. 0. 1. ]] SLAMing on 185.996502481 meters Centerline goodness : 0.727175 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.84717509 -0.27677604 -0.45352992 4.51386546] [ 0.29633268 0.95464278 -0.02905339 -0.41035236] [ 0.44100035 -0.10978243 0.89076737 0.97325149] [ 0. 0. 0. 1. ]] SLAMing on 186.026502481 meters Centerline goodness : 0.727175 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.84717509 -0.27677604 -0.45352992 4.51386546] [ 0.29633268 0.95464278 -0.02905339 -0.41035236] [ 0.44100035 -0.10978243 0.89076737 0.97325149] [ 0. 0. 0. 1. ]] SLAMing on 186.056502481 meters Centerline goodness : 0.726162 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.97 [[ 0.84724949 -0.27661473 -0.45348936 4.51417751] [ 0.29627498 0.95466863 -0.02879135 -0.41132132] [ 0.44089618 -0.10996409 0.89079653 0.97312589] [ 0. 0. 0. 1. ]] SLAMing on 186.086502481 meters Centerline goodness : 0.726073 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.97 [[ 0.84723504 -0.27666643 -0.45348481 4.51506545] [ 0.29643021 0.95462637 -0.02859416 -0.41262847] [ 0.4408196 -0.11020062 0.8908052 0.97292388] [ 0. 0. 0. 1. ]] SLAMing on 186.116502481 meters Centerline goodness : 0.727496 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.97 [[ 0.84726929 -0.27668373 -0.45341026 4.51565002] [ 0.2964726 0.95461522 -0.02852685 -0.41313039] [ 0.44072525 -0.11025379 0.8908453 0.97258369] [ 0. 0. 0. 1. ]] SLAMing on 186.146502481 meters Centerline goodness : 0.731020 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.97 [[ 0.84730793 -0.27669071 -0.4533338 4.51623786] [ 0.2964533 0.95462022 -0.02856022 -0.41318812] [ 0.44066395 -0.110193 0.89088315 0.97218017] [ 0. 0. 0. 1. ]] SLAMing on 186.176502481 meters Centerline goodness : 0.731163 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.97 [[ 0.84739394 -0.27648524 -0.45329837 4.51553661] [ 0.2963728 0.95465459 -0.02824496 -0.41368378] [ 0.44055269 -0.1104107 0.89091122 0.9725376 ] [ 0. 0. 0. 1. ]] SLAMing on 186.206502481 meters Centerline goodness : 0.731141 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.97 [[ 0.84769618 -0.276079 -0.45298077 4.51391735] [ 0.29636472 0.95468615 -0.02724522 -0.4158083 ] [ 0.4399763 -0.11115184 0.89110388 0.97313723] [ 0. 0. 0. 1. ]] SLAMing on 186.23650248099997 meters Centerline goodness : 0.730713 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.97 [[ 0.84776003 -0.27597629 -0.45292386 4.5137888 ] [ 0.29645641 0.95467004 -0.02680892 -0.41691004] [ 0.43979146 -0.11154465 0.89114604 0.97329146] [ 0. 0. 0. 1. ]] SLAMing on 186.26650248099997 meters Centerline goodness : 0.734248 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.97 [[ 0.84763517 -0.27620548 -0.45301782 4.513831 ] [ 0.29710093 0.95449059 -0.02605269 -0.41870143] [ 0.43959714 -0.11250884 0.89112071 0.97391816] [ 0. 0. 0. 1. ]] SLAMing on 186.29650248099998 meters Centerline goodness : 0.336761 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.97 [[ 0.84688885 -0.28066083 -0.4516733 4.5136079 ] [ 0.30028193 0.95339752 -0.02939275 -0.41943827] [ 0.43887359 -0.11073694 0.89169911 0.97352838] [ 0. 0. 0. 1. ]] SLAMing on 186.32650248099998 meters Centerline goodness : 0.533804 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.97 [[ 0.84682305 -0.28061482 -0.45182524 4.51442893] [ 0.30053826 0.95333454 -0.02880996 -0.421071 ] [ 0.4388251 -0.11139383 0.89164115 0.97370237] [ 0. 0. 0. 1. ]] SLAMing on 186.35650248099998 meters Centerline goodness : 0.278234 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.97 [[ 0.84671578 -0.280948 -0.45181923 4.516249 ] [ 0.30109962 0.9531688 -0.02842967 -0.42292056] [ 0.43864725 -0.11197075 0.8916564 0.97325161] [ 0. 0. 0. 1. ]] SLAMing on 186.38650248099998 meters Centerline goodness : 0.592960 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.97 [[ 0.84659358 -0.28070149 -0.45220126 4.51805279] [ 0.30129622 0.95313175 -0.02757634 -0.42432556] [ 0.4387481 -0.11290058 0.89148952 0.97324307] [ 0. 0. 0. 1. ]] SLAMing on 186.41650248099998 meters Centerline goodness : 0.568578 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.43, Z:0.97 [[ 0.84658185 -0.28066995 -0.45224281 4.51820172] [ 0.30144382 0.95309543 -0.02721632 -0.4251278 ] [ 0.43866936 -0.11328495 0.89147951 0.97344615] [ 0. 0. 0. 1. ]] SLAMing on 186.44650248099998 meters Centerline goodness : 0.326570 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.43, Z:0.97 [[ 0.84652265 -0.28033396 -0.45256191 4.51858361] [ 0.30167654 0.9530539 -0.02606792 -0.42715814] [ 0.43862361 -0.11446023 0.89135189 0.9741573 ] [ 0. 0. 0. 1. ]] SLAMing on 186.47650248099998 meters Centerline goodness : 0.651132 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.43, Z:0.97 [[ 0.84654086 -0.28028784 -0.45255641 4.51876915] [ 0.30181518 0.95302056 -0.025679 -0.42836369] [ 0.43849307 -0.11485007 0.89136597 0.97430272] [ 0. 0. 0. 1. ]] SLAMing on 186.50650248099998 meters Centerline goodness : 0.162222 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.43, Z:0.97 [[ 0.84648054 -0.28024978 -0.45269279 4.51941584] [ 0.30206186 0.95295702 -0.02513076 -0.42972045] [ 0.43843966 -0.11546852 0.89131234 0.97447397] [ 0. 0. 0. 1. ]] SLAMing on 186.53650248099999 meters Centerline goodness : 0.473645 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.43, Z:0.97 [[ 0.84638166 -0.28026285 -0.45286955 4.52043739] [ 0.30242421 0.95285911 -0.0244766 -0.43150892] [ 0.43838076 -0.11624218 0.89124075 0.97466113] [ 0. 0. 0. 1. ]] SLAMing on 186.566502481 meters Centerline goodness : 0.156023 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.43, Z:0.97 [[ 0.84630643 -0.28021407 -0.45304029 4.52113529] [ 0.30249737 0.95284125 -0.02426729 -0.43134776] [ 0.43847551 -0.11650593 0.89115969 0.97456798] [ 0. 0. 0. 1. ]] SLAMing on 186.596502481 meters Centerline goodness : 0.209055 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.43, Z:0.97 [[ 0.84621422 -0.28046833 -0.45305519 4.52159437] [ 0.30265677 0.95278391 -0.02452955 -0.43095409] [ 0.43854346 -0.11636296 0.89114494 0.97437302] [ 0. 0. 0. 1. ]] SLAMing on 186.626502481 meters Centerline goodness : 0.737395 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.43, Z:0.97 [[ 0.84622019 -0.28066472 -0.45292241 4.52205022] [ 0.30279857 0.95273572 -0.02465111 -0.43126707] [ 0.43843405 -0.11628399 0.89120908 0.97403574] [ 0. 0. 0. 1. ]] SLAMing on 186.656502481 meters Centerline goodness : 0.236184 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.43, Z:0.97 [[ 0.84627355 -0.28064356 -0.45283582 4.52195219] [ 0.30286565 0.95271982 -0.02444041 -0.43210056] [ 0.4382847 -0.11646514 0.89125888 0.97410534] [ 0. 0. 0. 1. ]] SLAMing on 186.686502481 meters Centerline goodness : 0.735771 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.43, Z:0.97 [[ 0.84636223 -0.28073546 -0.45261305 4.52116976] [ 0.303121 0.95264818 -0.0240646 -0.43353491] [ 0.43793679 -0.11682915 0.89138225 0.97445373] [ 0. 0. 0. 1. ]] SLAMing on 186.716502481 meters Centerline goodness : 0.736826 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.43, Z:0.97 [[ 0.8463396 -0.28063404 -0.45271826 4.5208514 ] [ 0.30326564 0.95261452 -0.0235695 -0.43426335] [ 0.43788039 -0.11734609 0.89134205 0.97494553] [ 0. 0. 0. 1. ]] SLAMing on 186.746502481 meters Centerline goodness : 0.733545 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.44, Z:0.98 [[ 0.84610084 -0.28056507 -0.45320702 4.52099215] [ 0.30378489 0.95247486 -0.022503 -0.43605874] [ 0.43798185 -0.11863764 0.89112121 0.97617882] [ 0. 0. 0. 1. ]] SLAMing on 186.776502481 meters Centerline goodness : 0.733434 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.44, Z:0.98 [[ 0.84585793 -0.28062597 -0.45362256 4.52214432] [ 0.30436137 0.95231178 -0.02159712 -0.43802421] [ 0.43805082 -0.11979709 0.89093217 0.97682876] [ 0. 0. 0. 1. ]] SLAMing on 186.806502481 meters Centerline goodness : 0.732519 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.44, Z:0.98 [[ 0.84563963 -0.28062583 -0.45402948 4.52292202] [ 0.30466528 0.95222564 -0.02110452 -0.43900864] [ 0.43826098 -0.1204802 0.89073668 0.97739336] [ 0. 0. 0. 1. ]] SLAMing on 186.836502481 meters Centerline goodness : 0.731524 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.44, Z:0.98 [[ 0.84543721 -0.28070893 -0.45435494 4.52369122] [ 0.30504037 0.95211587 -0.02063355 -0.44015469] [ 0.43839057 -0.12115223 0.89058174 0.97788011] [ 0. 0. 0. 1. ]] SLAMing on 186.866502481 meters Centerline goodness : 0.731051 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.44, Z:0.98 [[ 0.84549781 -0.28060721 -0.45430501 4.52359752] [ 0.30506546 0.95211427 -0.02033425 -0.44084477] [ 0.43825622 -0.12140021 0.8906141 0.97796081] [ 0. 0. 0. 1. ]] SLAMing on 186.896502481 meters Centerline goodness : 0.256680 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.44, Z:0.98 [[ 0.84577857 -0.28003288 -0.45413676 4.5229344 ] [ 0.30465493 0.95225693 -0.0198016 -0.44210501] [ 0.43799997 -0.12160724 0.89071191 0.97808527] [ 0. 0. 0. 1. ]] SLAMing on 186.926502481 meters Centerline goodness : 0.275120 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.44, Z:0.98 [[ 0.8459637 -0.27971596 -0.45398722 4.52258126] [ 0.30443415 0.95233421 -0.01947817 -0.44275904] [ 0.43779592 -0.12173138 0.89079527 0.97803835] [ 0. 0. 0. 1. ]] SLAMing on 186.956502481 meters Centerline goodness : 0.545801 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.44, Z:0.98 [[ 0.84605466 -0.2791947 -0.45413857 4.52222595] [ 0.30415899 0.95243394 -0.01889155 -0.44364348] [ 0.43781141 -0.12214704 0.89073075 0.97851174] [ 0. 0. 0. 1. ]] SLAMing on 186.98650248099997 meters Centerline goodness : 0.162646 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.45, Z:0.98 [[ 0.84622291 -0.27883242 -0.45404764 4.521849 ] [ 0.30403819 0.95248447 -0.01827884 -0.44531836] [ 0.43757006 -0.12257985 0.89078989 0.97879417] [ 0. 0. 0. 1. ]] SLAMing on 187.01650248099997 meters Centerline goodness : 0.607128 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.45, Z:0.98 [[ 0.84626441 -0.27856523 -0.45413431 4.5219108 ] [ 0.30416327 0.95246028 -0.01743926 -0.44757937] [ 0.43740286 -0.12337275 0.89076254 0.97933639] [ 0. 0. 0. 1. ]] SLAMing on 187.04650248099998 meters Centerline goodness : 0.568130 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.45, Z:0.98 [[ 0.84615618 -0.27864803 -0.45428515 4.52221036] [ 0.30453731 0.9523502 -0.01691533 -0.44868255] [ 0.43735198 -0.12403377 0.89069572 0.97976974] [ 0. 0. 0. 1. ]] SLAMing on 187.07650248099998 meters Centerline goodness : 0.604788 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.45, Z:0.98 [[ 0.84567704 -0.27929197 -0.45478164 4.52320961] [ 0.30585425 0.95194608 -0.01586911 -0.45117027] [ 0.43735972 -0.12567676 0.89046158 0.98107173] [ 0. 0. 0. 1. ]] SLAMing on 187.10650248099998 meters Centerline goodness : 0.295818 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.45, Z:0.98 [[ 0.84544708 -0.27949153 -0.4550865 4.52372329] [ 0.30644213 0.95176747 -0.01522862 -0.45255704] [ 0.4373928 -0.12658268 0.890317 0.98182168] [ 0. 0. 0. 1. ]] SLAMing on 187.13650248099998 meters Centerline goodness : 0.164351 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.45, Z:0.98 [[ 0.84424329 -0.28390312 -0.45459024 4.52407784] [ 0.31032424 0.95047379 -0.01727561 -0.45467589] [ 0.43698071 -0.12648555 0.89053314 0.98310692] [ 0. 0. 0. 1. ]] SLAMing on 187.16650248099998 meters Centerline goodness : 0.499394 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.46, Z:0.98 [[ 0.84393614 -0.28415509 -0.45500295 4.52509301] [ 0.31115598 0.95021917 -0.01629404 -0.45685133] [ 0.43698256 -0.12782576 0.89034084 0.98402433] [ 0. 0. 0. 1. ]] SLAMing on 187.19650248099998 meters Centerline goodness : 0.572650 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.46, Z:0.99 [[ 0.8424603 -0.28898343 -0.45469685 4.52662225] [ 0.31553069 0.94873777 -0.01835821 -0.45981076] [ 0.43669329 -0.12800475 0.89045705 0.98542116] [ 0. 0. 0. 1. ]] SLAMing on 187.22650248099998 meters Centerline goodness : 0.605651 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.46, Z:0.99 [[ 0.84212455 -0.28922091 -0.45516755 4.52757827] [ 0.31640391 0.94846718 -0.01727944 -0.46193105] [ 0.43670906 -0.12946536 0.89023813 0.98646757] [ 0. 0. 0. 1. ]] SLAMing on 187.25650248099998 meters Centerline goodness : 0.624158 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.46, Z:0.99 [[ 0.84080829 -0.29368087 -0.45474494 4.52751684] [ 0.32040097 0.94708678 -0.0192316 -0.46412566] [ 0.43633087 -0.12953063 0.89041405 0.98825027] [ 0. 0. 0. 1. ]] SLAMing on 187.28650248099999 meters Centerline goodness : 0.596616 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.47, Z:0.99 [[ 0.84017505 -0.29500631 -0.45505732 4.52692749] [ 0.3223518 0.94644105 -0.01840238 -0.46719733] [ 0.43611375 -0.13122733 0.89027197 0.99046127] [ 0. 0. 0. 1. ]] SLAMing on 187.316502481 meters Centerline goodness : 0.196374 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.47, Z:0.99 [[ 0.83987176 -0.29527542 -0.45544248 4.52740179] [ 0.32294624 0.94624728 -0.01793891 -0.46816562] [ 0.43625813 -0.13201705 0.89008446 0.9913245 ] [ 0. 0. 0. 1. ]] SLAMing on 187.346502481 meters Centerline goodness : 0.599517 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.47, Z:0.99 [[ 0.83950171 -0.295507 -0.45597422 4.52825757] [ 0.32382507 0.94596672 -0.01686079 -0.47021952] [ 0.43631892 -0.13350123 0.88983325 0.99255574] [ 0. 0. 0. 1. ]] SLAMing on 187.376502481 meters Centerline goodness : 0.695991 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.47, Z:0.99 [[ 0.83919681 -0.29574432 -0.45638143 4.5291133 ] [ 0.32428625 0.94581322 -0.01660651 -0.47061776] [ 0.43656287 -0.13406209 0.88962926 0.99309944] [ 0. 0. 0. 1. ]] SLAMing on 187.406502481 meters Centerline goodness : 0.160661 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.47, Z:0.99 [[ 0.83896507 -0.29583968 -0.45674554 4.52993487] [ 0.32478977 0.94565214 -0.01592606 -0.47160631] [ 0.43663395 -0.13498487 0.88945482 0.99372121] [ 0. 0. 0. 1. ]] SLAMing on 187.436502481 meters Centerline goodness : 0.580705 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.47, Z:0.99 [[ 0.83879597 -0.29594953 -0.4569849 4.53039963] [ 0.32509261 0.94555276 -0.01564499 -0.47215964] [ 0.43673346 -0.13543946 0.88933685 0.99412147] [ 0. 0. 0. 1. ]] SLAMing on 187.466502481 meters Centerline goodness : 0.158945 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.47, Z:0.99 [[ 0.83856003 -0.29576412 -0.45753761 4.53204262] [ 0.32525663 0.94550555 -0.01507943 -0.47289191] [ 0.4370643 -0.13617213 0.8890624 0.99441014] [ 0. 0. 0. 1. ]] SLAMing on 187.496502481 meters Centerline goodness : 0.157411 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.47, Z:0.99 [[ 0.83841112 -0.29607405 -0.45761004 4.53321644] [ 0.32544484 0.94543508 -0.01543284 -0.47246728] [ 0.43720984 -0.13598776 0.88901906 0.99396037] [ 0. 0. 0. 1. ]] SLAMing on 187.526502481 meters Centerline goodness : 0.162050 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.47, Z:0.99 [[ 0.83821588 -0.29611251 -0.4579427 4.53502851] [ 0.32529462 0.94547831 -0.01594268 -0.47104572] [ 0.43769571 -0.13560289 0.88883875 0.99329139] [ 0. 0. 0. 1. ]] SLAMing on 187.556502481 meters Centerline goodness : 0.620619 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.47, Z:0.99 [[ 0.83830746 -0.29561825 -0.45809438 4.53500395] [ 0.32471102 0.94567711 -0.01604854 -0.46966264] [ 0.43795361 -0.13529468 0.88875868 0.99305406] [ 0. 0. 0. 1. ]] SLAMing on 187.586502481 meters Centerline goodness : 0.494572 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.47, Z:0.99 [[ 0.83829157 -0.2955531 -0.45816548 4.53495168] [ 0.32452187 0.9457376 -0.01630794 -0.46857507] [ 0.43812418 -0.13501391 0.8887173 0.99294917] [ 0. 0. 0. 1. ]] SLAMing on 187.616502481 meters Centerline goodness : 0.556277 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.47, Z:0.99 [[ 0.83909623 -0.29166479 -0.45918316 4.53572889] [ 0.32163402 0.94676603 -0.01362511 -0.46749546] [ 0.43871298 -0.13625614 0.88823712 0.99249453] [ 0. 0. 0. 1. ]] SLAMing on 187.646502481 meters Centerline goodness : 0.237603 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.47, Z:0.99 [[ 0.83908507 -0.2917427 -0.45915405 4.5357174 ] [ 0.32143426 0.94682546 -0.01419726 -0.46612044] [ 0.43888069 -0.13567514 0.88824321 0.99212133] [ 0. 0. 0. 1. ]] SLAMing on 187.676502481 meters Centerline goodness : 0.232227 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.46, Z:0.99 [[ 0.84023246 -0.28714664 -0.45995241 4.53531762] [ 0.31780744 0.94808766 -0.01132303 -0.46442586] [ 0.43932657 -0.13666232 0.88787137 0.99151152] [ 0. 0. 0. 1. ]] SLAMing on 187.706502481 meters Centerline goodness : 0.467651 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.46, Z:0.99 [[ 0.84147697 -0.28266163 -0.46045511 4.53444106] [ 0.31389402 0.94941362 -0.00918269 -0.46114295] [ 0.43975795 -0.13680708 0.88763549 0.99030527] [ 0. 0. 0. 1. ]] SLAMing on 187.73650248099997 meters Centerline goodness : 0.459045 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.46, Z:0.99 [[ 0.8422992 -0.27842803 -0.46152995 4.53466876] [ 0.31084899 0.95043993 -0.00606951 -0.46038311] [ 0.44034641 -0.13835378 0.88710387 0.99028583] [ 0. 0. 0. 1. ]] SLAMing on 187.76650248099997 meters Centerline goodness : 0.620546 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.46, Z:0.99 [[ 0.84340622 -0.2744919 -0.46186594 4.53415905] [ 0.30721736 0.95162845 -0.00455819 -0.45698082] [ 0.44077596 -0.13804883 0.88693803 0.98877193] [ 0. 0. 0. 1. ]] SLAMing on 187.79650248099998 meters Centerline goodness : 0.633367 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.46, Z:0.99 [[ 8.44033232e-01 -2.70705095e-01 -4.62954268e-01 4.53500978e+00] [ 3.04505021e-01 9.52509016e-01 -1.80727577e-03 -4.55788412e-01] [ 4.41457353e-01 -1.39446498e-01 8.86380324e-01 9.88569826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82650248099998 meters Centerline goodness : 0.658498 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.45, Z:0.99 [[ 8.44682692e-01 -2.67461445e-01 -4.63654531e-01 4.53578694e+00] [ 3.01524049e-01 9.53458320e-01 -6.92745283e-04 -4.50985583e-01] [ 4.42260553e-01 -1.39217842e-01 8.86015799e-01 9.87020126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.85650248099998 meters Centerline goodness : 0.695853 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.45, Z:0.99 [[ 8.45296454e-01 -2.63488747e-01 -4.64809193e-01 4.53630786e+00] [ 2.98794908e-01 9.54314312e-01 2.40785683e-03 -4.49939126e-01] [ 4.42939622e-01 -1.40917973e-01 8.85407599e-01 9.87157593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88650248099998 meters Centerline goodness : 0.539325 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.45, Z:0.99 [[ 8.45723500e-01 -2.60297896e-01 -4.65829118e-01 4.53602428e+00] [ 2.96332973e-01 9.55074928e-01 4.31867532e-03 -4.45755874e-01] [ 4.43777569e-01 -1.41692933e-01 8.84864160e-01 9.87036043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.91650248099998 meters Centerline goodness : 0.645605 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.44, Z:0.99 [[ 8.45423113e-01 -2.60748839e-01 -4.66122091e-01 4.53686491e+00] [ 2.96458452e-01 9.55039525e-01 3.44840857e-03 -4.43135081e-01] [ 4.44265852e-01 -1.41101198e-01 8.84713685e-01 9.86699521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94650248099998 meters Centerline goodness : 0.645605 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.44, Z:0.99 [[ 8.45423113e-01 -2.60748839e-01 -4.66122091e-01 4.53686491e+00] [ 2.96458452e-01 9.55039525e-01 3.44840857e-03 -4.43135081e-01] [ 4.44265852e-01 -1.41101198e-01 8.84713685e-01 9.86699521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97650248099998 meters Centerline goodness : 0.727800 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.44, Z:0.99 [[ 8.44700374e-01 -2.62243330e-01 -4.66593735e-01 4.53921506e+00] [ 2.97213263e-01 9.54810062e-01 1.42218797e-03 -4.37373612e-01] [ 4.45135434e-01 -1.39879169e-01 8.84470612e-01 9.85586595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00650248099998 meters Centerline goodness : 0.701265 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.44, Z:0.99 [[ 8.44377846e-01 -2.63092197e-01 -4.66699634e-01 4.53972771e+00] [ 2.97700591e-01 9.54659185e-01 4.46543517e-04 -4.35106749e-01] [ 4.45421610e-01 -1.39313808e-01 8.84415769e-01 9.85322822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03650248099999 meters Centerline goodness : 0.689539 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.43, Z:0.99 [[ 8.43741774e-01 -2.64809982e-01 -4.66878456e-01 4.53982827e+00] [ 2.98791890e-01 9.54317401e-01 -1.30563837e-03 -4.31132355e-01] [ 4.45895981e-01 -1.38397875e-01 8.84320532e-01 9.85383331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.066502481 meters Centerline goodness : 0.467829 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.43, Z:0.99 [[ 8.43026118e-01 -2.66113138e-01 -4.67429954e-01 4.54031340e+00] [ 2.99826242e-01 9.53990883e-01 -2.37073974e-03 -4.27295377e-01] [ 4.46554800e-01 -1.38149171e-01 8.84026933e-01 9.85833396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.096502481 meters Centerline goodness : 0.568128 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.43, Z:0.99 [[ 8.42635217e-01 -2.66912248e-01 -4.67679103e-01 4.54020063e+00] [ 3.00461766e-01 9.53789173e-01 -2.98997132e-03 -4.25240547e-01] [ 4.46865325e-01 -1.38000234e-01 8.83893272e-01 9.86235468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.126502481 meters Centerline goodness : 0.284166 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.42, Z:0.99 [[ 8.42239690e-01 -2.67493461e-01 -4.68059348e-01 4.53835787e+00] [ 3.01078397e-01 9.53594006e-01 -3.20469112e-03 -4.22239027e-01] [ 4.47195823e-01 -1.38223440e-01 8.83691223e-01 9.87480582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.156502481 meters Centerline goodness : 0.725411 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.42, Z:0.99 [[ 8.42257435e-01 -2.67586678e-01 -4.67974127e-01 4.53671997e+00] [ 3.01056821e-01 9.53600048e-01 -3.42609395e-03 -4.20919869e-01] [ 4.47176927e-01 -1.38001150e-01 8.83735525e-01 9.87961630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.186502481 meters Centerline goodness : 0.725155 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.42, Z:0.99 [[ 8.43184144e-01 -2.64005599e-01 -4.68339132e-01 4.53353156e+00] [ 2.98434211e-01 9.54429932e-01 -7.25650949e-04 -4.18952277e-01] [ 4.47188462e-01 -1.39156562e-01 8.83548488e-01 9.88593655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.216502481 meters Centerline goodness : 0.584912 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.42, Z:0.99 [[ 8.43215981e-01 -2.64329249e-01 -4.68099197e-01 4.53207645e+00] [ 2.98325640e-01 9.54462842e-01 -1.57979073e-03 -4.16769117e-01] [ 4.47200874e-01 -1.38313888e-01 8.83674514e-01 9.88551957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.246502481 meters Centerline goodness : 0.618271 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.41, Z:0.99 [[ 8.43762001e-01 -2.60478681e-01 -4.69272355e-01 4.53122784e+00] [ 2.95430569e-01 9.55363791e-01 8.97535002e-04 -4.13807992e-01] [ 4.48092027e-01 -1.39394705e-01 8.83053029e-01 9.89091259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.276502481 meters Centerline goodness : 0.720302 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.41, Z:0.99 [[ 8.44142403e-01 -2.57341993e-01 -4.70317661e-01 4.53168262e+00] [ 2.92991815e-01 9.56111080e-01 2.72004222e-03 -4.10302666e-01] [ 4.48975946e-01 -1.40095328e-01 8.82493002e-01 9.88851135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.306502481 meters Centerline goodness : 0.721416 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.41, Z:0.99 [[ 8.43815972e-01 -2.58186169e-01 -4.70440759e-01 4.53253376e+00] [ 2.93329945e-01 9.56010149e-01 1.46223460e-03 -4.07343403e-01] [ 4.49368611e-01 -1.39228219e-01 8.82430368e-01 9.88300500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.336502481 meters Centerline goodness : 0.721168 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.41, Z:0.99 [[ 8.44131370e-01 -2.54954833e-01 -4.71635731e-01 4.53336604e+00] [ 2.91132549e-01 9.56674726e-01 3.91249570e-03 -4.05249841e-01] [ 4.50204474e-01 -1.40611173e-01 8.81784798e-01 9.88440259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.366502481 meters Centerline goodness : 0.719248 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.40, Z:0.99 [[ 8.43997306e-01 -2.55428035e-01 -4.71619621e-01 4.53282846e+00] [ 2.91321869e-01 9.56619611e-01 3.23863840e-03 -4.03560898e-01] [ 4.50333339e-01 -1.40126512e-01 8.81796147e-01 9.88527991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.396502481 meters Centerline goodness : 0.719269 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.40, Z:0.99 [[ 0.84447474 -0.25191294 -0.47265452 4.53241575] [ 0.28891926 0.95733488 0.00596625 -0.40171585] [ 0.45098568 -0.14159734 0.88122762 0.9890234 ] [ 0. 0. 0. 1. ]] SLAMing on 188.426502481 meters Centerline goodness : 0.719053 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.40, Z:0.99 [[ 0.84445537 -0.25238264 -0.47243849 4.53160313] [ 0.28900562 0.95731344 0.00517116 -0.40006056] [ 0.4509666 -0.14090419 0.88134847 0.9888819 ] [ 0. 0. 0. 1. ]] SLAMing on 188.456502481 meters Centerline goodness : 0.716852 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.40, Z:0.99 [[ 8.44464398e-01 -2.52340567e-01 -4.72444831e-01 4.53031546e+00] [ 2.88588081e-01 9.57443027e-01 4.44632681e-03 -3.97022669e-01] [ 4.51217021e-01 -1.40096712e-01 8.81349029e-01 9.88987203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48650248099997 meters Centerline goodness : 0.717660 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.39, Z:0.99 [[ 8.44307114e-01 -2.52996408e-01 -4.72375184e-01 4.52974721e+00] [ 2.88866784e-01 9.57362673e-01 3.56276683e-03 -3.94727132e-01] [ 4.51333002e-01 -1.39461569e-01 8.81390374e-01 9.88944450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.51650248099997 meters Centerline goodness : 0.715952 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.39, Z:0.99 [[ 8.43951024e-01 -2.53589113e-01 -4.72693591e-01 4.52962141e+00] [ 2.89048665e-01 9.57311154e-01 2.49470385e-03 -3.90935960e-01] [ 4.51882218e-01 -1.38736859e-01 8.81223323e-01 9.88995627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54650248099998 meters Centerline goodness : 0.717139 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.39, Z:0.99 [[ 8.43951968e-01 -2.54185443e-01 -4.72371502e-01 4.52812909e+00] [ 2.89193228e-01 9.57269458e-01 1.56917200e-03 -3.88816923e-01] [ 4.51787951e-01 -1.37930945e-01 8.81398152e-01 9.88985635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.57650248099998 meters Centerline goodness : 0.716446 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.39, Z:0.99 [[ 8.44119849e-01 -2.54215600e-01 -4.72055197e-01 4.52697791e+00] [ 2.89031570e-01 9.57318688e-01 1.29633093e-03 -3.88100370e-01] [ 4.51577715e-01 -1.37533113e-01 8.81568041e-01 9.88859844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60650248099998 meters Centerline goodness : 0.714581 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 8.44380931e-01 -2.54647513e-01 -4.71354949e-01 4.52409137e+00] [ 2.88909073e-01 9.57356481e-01 3.41280927e-04 -3.85524943e-01] [ 4.51167809e-01 -1.36466892e-01 8.81943533e-01 9.88794120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.63650248099998 meters Centerline goodness : 0.714480 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:0.99 [[ 8.44438495e-01 -2.54971985e-01 -4.71076337e-01 4.52316244e+00] [ 2.88943428e-01 9.57346149e-01 -2.15452588e-04 -3.84400682e-01] [ 4.51038051e-01 -1.35932475e-01 8.82092421e-01 9.88677327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66650248099998 meters Centerline goodness : 0.713948 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:0.99 [[ 8.44603417e-01 -2.55109014e-01 -4.70706340e-01 4.52144533e+00] [ 2.88811577e-01 9.57385737e-01 -6.51120975e-04 -3.83088726e-01] [ 4.50813643e-01 -1.35395501e-01 8.82289701e-01 9.88716174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.69650248099998 meters Centerline goodness : 0.714163 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:0.99 [[ 8.44622346e-01 -2.55769620e-01 -4.70313719e-01 4.52038735e+00] [ 2.89147548e-01 9.57283624e-01 -1.32589820e-03 -3.81803099e-01] [ 4.50562746e-01 -1.34870175e-01 8.82498299e-01 9.88562031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72650248099998 meters Centerline goodness : 0.713335 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:0.99 [[ 8.44559143e-01 -2.56112041e-01 -4.70240871e-01 4.52069334e+00] [ 2.89405686e-01 9.57205270e-01 -1.55574903e-03 -3.81919536e-01] [ 4.50515486e-01 -1.34776460e-01 8.82536743e-01 9.88409265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75650248099998 meters Centerline goodness : 0.713323 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:0.99 [[ 8.44365279e-01 -2.56627707e-01 -4.70307873e-01 4.52147820e+00] [ 2.89836661e-01 9.57074281e-01 -1.87912083e-03 -3.81746667e-01] [ 4.50601804e-01 -1.34725799e-01 8.82500410e-01 9.88261446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78650248099999 meters Centerline goodness : 0.713640 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:0.99 [[ 8.43972529e-01 -2.57104872e-01 -4.70752010e-01 4.52190491e+00] [ 2.90396720e-01 9.56904267e-01 -1.99233204e-03 -3.80807230e-01] [ 4.50976845e-01 -1.35023366e-01 8.82263326e-01 9.88874555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.816502481 meters Centerline goodness : 0.712157 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:0.99 [[ 8.43633295e-01 -2.57700273e-01 -4.71034429e-01 4.52211046e+00] [ 2.91135148e-01 9.56679918e-01 -1.96455339e-03 -3.80077297e-01] [ 4.51135445e-01 -1.35477315e-01 8.82112639e-01 9.89412067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.846502481 meters Centerline goodness : 0.711586 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:0.99 [[ 8.43405750e-01 -2.58328138e-01 -4.71097989e-01 4.52276883e+00] [ 2.91786735e-01 9.56481089e-01 -2.10437830e-03 -3.80208080e-01] [ 4.51139937e-01 -1.35685299e-01 8.82078373e-01 9.89463994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.876502481 meters Centerline goodness : 0.713798 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:0.99 [[ 0.84223875 -0.2637127 -0.47020155 4.52327352] [ 0.29561336 0.95528715 -0.00626184 -0.3792306 ] [ 0.45082882 -0.13372389 0.88253685 0.98937159] [ 0. 0. 0. 1. ]] SLAMing on 188.906502481 meters Centerline goodness : 0.711789 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:0.99 [[ 0.84226567 -0.26395955 -0.47001478 4.52258867] [ 0.29622389 0.9551024 -0.00555129 -0.38111794] [ 0.45037756 -0.13455394 0.88264109 0.98987882] [ 0. 0. 0. 1. ]] SLAMing on 188.936502481 meters Centerline goodness : 0.713375 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:0.99 [[ 0.84238204 -0.26399683 -0.46978525 4.52199541] [ 0.29638298 0.95505478 -0.00524438 -0.38195139] [ 0.45005515 -0.13481858 0.88276515 0.98999495] [ 0. 0. 0. 1. ]] SLAMing on 188.966502481 meters Centerline goodness : 0.714051 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:0.99 [[ 8.42554726e-01 -2.63652916e-01 -4.69668684e-01 4.52088729e+00] [ 2.96416428e-01 9.55048779e-01 -4.37400528e-03 -3.83345464e-01] [ 4.49709723e-01 -1.35532175e-01 8.82831918e-01 9.90569283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.996502481 meters Centerline goodness : 0.715178 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:0.99 [[ 8.42556443e-01 -2.63979390e-01 -4.69482185e-01 4.52061346e+00] [ 2.96688729e-01 9.54963626e-01 -4.50222563e-03 -3.83375427e-01] [ 4.49526905e-01 -1.35496694e-01 8.82930466e-01 9.90516824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.026502481 meters Centerline goodness : 0.715679 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:0.99 [[ 0.84238653 -0.26425385 -0.46963265 4.52216191] [ 0.29701538 0.95486198 -0.00452312 -0.38396387] [ 0.44962962 -0.1356779 0.88285034 0.99021628] [ 0. 0. 0. 1. ]] SLAMing on 189.056502481 meters Centerline goodness : 0.716998 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 8.42531676e-01 -2.64066113e-01 -4.69477862e-01 4.52268240e+00] [ 2.97036984e-01 9.54857556e-01 -4.00967796e-03 -3.86034824e-01] [ 4.49343304e-01 -1.36074008e-01 8.82935139e-01 9.90023574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.086502481 meters Centerline goodness : 0.717067 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 8.42839982e-01 -2.63626996e-01 -4.69171154e-01 4.52146559e+00] [ 2.96799555e-01 9.54933774e-01 -3.39277186e-03 -3.87453899e-01] [ 4.48921808e-01 -1.36390226e-01 8.83100740e-01 9.90232072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.116502481 meters Centerline goodness : 0.715512 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 8.43766197e-01 -2.62759015e-01 -4.67991779e-01 4.51791334e+00] [ 2.96080530e-01 9.55159797e-01 -2.46607839e-03 -3.90088527e-01] [ 4.47654917e-01 -1.36482461e-01 8.83729378e-01 9.90216478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.146502481 meters Centerline goodness : 0.715692 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 8.43948046e-01 -2.62459560e-01 -4.67831888e-01 4.51768634e+00] [ 2.95932856e-01 9.55206580e-01 -2.03308871e-03 -3.91237875e-01] [ 4.47409701e-01 -1.36731005e-01 8.83815134e-01 9.90153286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.176502481 meters Centerline goodness : 0.715681 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 8.43965066e-01 -2.62329455e-01 -4.67874154e-01 4.51925657e+00] [ 2.95914711e-01 9.55212683e-01 -1.79267051e-03 -3.92685337e-01] [ 4.47389596e-01 -1.36937894e-01 8.83793280e-01 9.89663212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.206502481 meters Centerline goodness : 0.717543 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 8.43857135e-01 -2.62441842e-01 -4.68005786e-01 4.52058128e+00] [ 2.96151543e-01 9.55139588e-01 -1.62177636e-03 -3.93628946e-01] [ 4.47436476e-01 -1.37232088e-01 8.83723913e-01 9.89482414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.23650248099997 meters Centerline goodness : 0.717240 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 0.84306388 -0.26705115 -0.4668265 4.52158761] [ 0.29922649 0.95416655 -0.00545004 -0.39411278] [ 0.44688567 -0.13509213 0.88433213 0.98862798] [ 0. 0. 0. 1. ]] SLAMing on 189.26650248099997 meters Centerline goodness : 0.717159 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.84304236 -0.26698201 -0.4669049 4.522058 ] [ 0.29945698 0.95409739 -0.00486592 -0.39611334] [ 0.44677186 -0.13571576 0.88429415 0.98893017] [ 0. 0. 0. 1. ]] SLAMing on 189.29650248099998 meters Centerline goodness : 0.718780 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.84218048 -0.27137176 -0.46592855 4.52180215] [ 0.30262465 0.95307541 -0.00809819 -0.39713807] [ 0.44626266 -0.13418133 0.88478529 0.98920477] [ 0. 0. 0. 1. ]] SLAMing on 189.32650248099998 meters Centerline goodness : 0.718796 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.84160131 -0.27508579 -0.46479571 4.52143133] [ 0.30518691 0.95222928 -0.01097048 -0.39823613] [ 0.44560991 -0.1326168 0.88534999 0.98900842] [ 0. 0. 0. 1. ]] SLAMing on 189.35650248099998 meters Centerline goodness : 0.717672 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.84169349 -0.2747725 -0.46481409 4.52082477] [ 0.30522556 0.9522255 -0.01019551 -0.39982373] [ 0.44540928 -0.13329165 0.8853496 0.98957083] [ 0. 0. 0. 1. ]] SLAMing on 189.38650248099998 meters Centerline goodness : 0.718535 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.84200341 -0.27397683 -0.46472246 4.51916498] [ 0.30509044 0.95228416 -0.00864301 -0.40295823] [ 0.44491582 -0.13450493 0.88541422 0.99064094] [ 0. 0. 0. 1. ]] SLAMing on 189.41650248099998 meters Centerline goodness : 0.719035 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.84203308 -0.27379715 -0.46477458 4.51927488] [ 0.30515119 0.95226916 -0.00813552 -0.40431972] [ 0.44481798 -0.13497614 0.88539167 0.99090769] [ 0. 0. 0. 1. ]] SLAMing on 189.44650248099998 meters Centerline goodness : 0.719429 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.84139806 -0.27764026 -0.46364338 4.51901275] [ 0.30775892 0.9513983 -0.01121274 -0.40572594] [ 0.44422263 -0.13325601 0.88595095 0.99074592] [ 0. 0. 0. 1. ]] SLAMing on 189.47650248099998 meters Centerline goodness : 0.719721 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.84152416 -0.27751453 -0.46348977 4.5193401 ] [ 0.3077317 0.95141038 -0.01093128 -0.40715558] [ 0.44400257 -0.13343156 0.88603484 0.9905517 ] [ 0. 0. 0. 1. ]] SLAMing on 189.50650248099998 meters Centerline goodness : 0.719966 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.84187383 -0.27678026 -0.46329379 4.51972275] [ 0.30724637 0.95157559 -0.0101764 -0.40937905] [ 0.44367569 -0.13377809 0.88614632 0.99017735] [ 0. 0. 0. 1. ]] SLAMing on 189.53650248099999 meters Centerline goodness : 0.720677 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.84212341 -0.27651347 -0.46299942 4.51937905] [ 0.30701613 0.95165247 -0.00993362 -0.41025516] [ 0.44336133 -0.13378296 0.88630291 0.98987892] [ 0. 0. 0. 1. ]] SLAMing on 189.566502481 meters Centerline goodness : 0.720301 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.84234542 -0.27577526 -0.46303585 4.51881402] [ 0.3066884 0.95176805 -0.00893346 -0.41242459] [ 0.44316635 -0.13448267 0.88629453 0.99045512] [ 0. 0. 0. 1. ]] SLAMing on 189.596502481 meters Centerline goodness : 0.722866 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.84225054 -0.27571809 -0.46324245 4.51975882] [ 0.30705667 0.95165643 -0.00813881 -0.41485529] [ 0.44309167 -0.13538676 0.88619422 0.99089193] [ 0. 0. 0. 1. ]] SLAMing on 189.626502481 meters Centerline goodness : 0.723540 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84204233 -0.27594021 -0.46348863 4.52111652] [ 0.30752149 0.9515092 -0.00779639 -0.41620509] [ 0.44316503 -0.13596782 0.88606857 0.99106926] [ 0. 0. 0. 1. ]] SLAMing on 189.656502481 meters Centerline goodness : 0.462955 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84145378 -0.27715794 -0.4638308 4.52370833] [ 0.30900116 0.95103042 -0.00770848 -0.41820913] [ 0.44325367 -0.13683792 0.88589027 0.99134182] [ 0. 0. 0. 1. ]] SLAMing on 189.686502481 meters Centerline goodness : 0.561219 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.8413785 -0.27726706 -0.46390214 4.52437175] [ 0.30924508 0.95095286 -0.00749241 -0.41895983] [ 0.44322647 -0.1371555 0.88585477 0.9913586 ] [ 0. 0. 0. 1. ]] SLAMing on 189.716502481 meters Centerline goodness : 0.530087 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.42, Z:0.99 [[ 0.84095138 -0.27762909 -0.46445976 4.52584786] [ 0.30994764 0.9507271 -0.00710203 -0.41963001] [ 0.44354621 -0.13798574 0.88556575 0.99197437] [ 0. 0. 0. 1. ]] SLAMing on 189.746502481 meters Centerline goodness : 0.511120 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.42, Z:0.99 [[ 0.84091186 -0.27773304 -0.46446916 4.52648149] [ 0.3101147 0.95067333 -0.00700641 -0.42043886] [ 0.44350435 -0.13814694 0.88556158 0.99188414] [ 0. 0. 0. 1. ]] SLAMing on 189.776502481 meters Centerline goodness : 0.587647 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.42, Z:0.99 [[ 0.8412859 -0.27707469 -0.46418493 4.52630379] [ 0.30959709 0.95084593 -0.00645363 -0.42220709] [ 0.44315649 -0.13828096 0.8857148 0.99156876] [ 0. 0. 0. 1. ]] SLAMing on 189.806502481 meters Centerline goodness : 0.467938 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84176712 -0.27615373 -0.46386122 4.52474125] [ 0.30855207 0.95118627 -0.00634814 -0.42175743] [ 0.44297149 -0.13778169 0.88588513 0.99132359] [ 0. 0. 0. 1. ]] SLAMing on 189.836502481 meters Centerline goodness : 0.467938 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84176712 -0.27615373 -0.46386122 4.52474125] [ 0.30855207 0.95118627 -0.00634814 -0.42175743] [ 0.44297149 -0.13778169 0.88588513 0.99132359] [ 0. 0. 0. 1. ]] SLAMing on 189.866502481 meters Centerline goodness : 0.726198 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84201342 -0.27574835 -0.46365531 4.52366479] [ 0.30799731 0.95136523 -0.00646931 -0.42120041] [ 0.44288944 -0.13735735 0.88599204 0.99118939] [ 0. 0. 0. 1. ]] SLAMing on 189.896502481 meters Centerline goodness : 0.725640 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84276249 -0.27482497 -0.46284189 4.52231462] [ 0.30647924 0.95185059 -0.00713657 -0.41996978] [ 0.44251764 -0.135837 0.88641212 0.98968494] [ 0. 0. 0. 1. ]] SLAMing on 189.926502481 meters Centerline goodness : 0.531488 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84298825 -0.27474987 -0.4624752 4.52151408] [ 0.3060954 0.95197043 -0.00760888 -0.41925875] [ 0.44235326 -0.13514733 0.88659957 0.98919993] [ 0. 0. 0. 1. ]] SLAMing on 189.956502481 meters Centerline goodness : 0.519841 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84357065 -0.27438637 -0.46162829 4.51997513] [ 0.30513965 0.95227046 -0.00841194 -0.4187523 ] [ 0.44190311 -0.13376503 0.88703357 0.98811895] [ 0. 0. 0. 1. ]] SLAMing on 189.98650248099997 meters Centerline goodness : 0.425210 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84387696 -0.27404503 -0.46127107 4.51951696] [ 0.30468413 0.95241614 -0.00843102 -0.41872089] [ 0.44163249 -0.13342723 0.8872192 0.98755615] [ 0. 0. 0. 1. ]] SLAMing on 190.01650248099997 meters Centerline goodness : 0.579506 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84399305 -0.2742772 -0.46092054 4.51863036] [ 0.30453095 0.95245853 -0.00914615 -0.41727692] [ 0.44151628 -0.13264528 0.88739428 0.98714977] [ 0. 0. 0. 1. ]] SLAMing on 190.04650248099998 meters Centerline goodness : 0.622402 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84404933 -0.27436897 -0.46076285 4.51820099] [ 0.30451971 0.9524604 -0.00932348 -0.41682254] [ 0.44141645 -0.13244189 0.88747432 0.98701565] [ 0. 0. 0. 1. ]] SLAMing on 190.07650248099998 meters Centerline goodness : 0.319370 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84365091 -0.27516375 -0.46101849 4.51844335] [ 0.30535514 0.95219081 -0.00953381 -0.41643332] [ 0.44160093 -0.13273116 0.88733931 0.98755973] [ 0. 0. 0. 1. ]] SLAMing on 190.10650248099998 meters Centerline goodness : 0.281873 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84316247 -0.27652177 -0.46109952 4.51943824] [ 0.30665206 0.95176878 -0.01003531 -0.41656845] [ 0.44163511 -0.13293572 0.88729168 0.98774499] [ 0. 0. 0. 1. ]] SLAMing on 190.13650248099998 meters Centerline goodness : 0.517093 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84295417 -0.27708009 -0.4611452 4.52017159] [ 0.307159 0.95160248 -0.01029859 -0.41653334] [ 0.44168045 -0.13296366 0.88726492 0.98765764] [ 0. 0. 0. 1. ]] SLAMing on 190.16650248099998 meters Centerline goodness : 0.401705 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84215615 -0.2784164 -0.46179792 4.52136236] [ 0.30869441 0.95110367 -0.01046771 -0.41613058] [ 0.44213208 -0.13373899 0.88692339 0.98870799] [ 0. 0. 0. 1. ]] SLAMing on 190.19650248099998 meters Centerline goodness : 0.515871 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84164854 -0.27927891 -0.46220236 4.52174525] [ 0.30968336 0.95078092 -0.01057657 -0.41563967] [ 0.442407 -0.13423462 0.8867114 0.98948621] [ 0. 0. 0. 1. ]] SLAMing on 190.22650248099998 meters Centerline goodness : 0.495070 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.8414239 -0.27986114 -0.46225919 4.5220182 ] [ 0.31018338 0.95061411 -0.01091215 -0.4149831 ] [ 0.442484 -0.13420338 0.88667771 0.98955369] [ 0. 0. 0. 1. ]] SLAMing on 190.25650248099998 meters Centerline goodness : 0.524737 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.8410973 -0.28050698 -0.46246206 4.52263159] [ 0.310957 0.95036155 -0.01089377 -0.41509633] [ 0.44256194 -0.1346431 0.88657214 0.98987061] [ 0. 0. 0. 1. ]] SLAMing on 190.28650248099999 meters Centerline goodness : 0.430512 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84098572 -0.28069022 -0.46255381 4.52242819] [ 0.31128221 0.95025741 -0.01068864 -0.41584478] [ 0.44254538 -0.13499578 0.88652678 0.99041059] [ 0. 0. 0. 1. ]] SLAMing on 190.316502481 meters Centerline goodness : 0.574263 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84130075 -0.28092744 -0.46183636 4.52016094] [ 0.31160831 0.95015455 -0.01032438 -0.4170053 ] [ 0.44171632 -0.13522614 0.88690506 0.99067792] [ 0. 0. 0. 1. ]] SLAMing on 190.346502481 meters Centerline goodness : 0.506827 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84120809 -0.28099814 -0.46196211 4.51961713] [ 0.31201785 0.95002666 -0.00970594 -0.41730286] [ 0.44160368 -0.13597571 0.88684655 0.9913779 ] [ 0. 0. 0. 1. ]] SLAMing on 190.376502481 meters Centerline goodness : 0.558317 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84107813 -0.28124869 -0.46204626 4.5196375 ] [ 0.31238091 0.94990868 -0.0095744 -0.41754638] [ 0.44159454 -0.13628161 0.88680414 0.99169574] [ 0. 0. 0. 1. ]] SLAMing on 190.406502481 meters Centerline goodness : 0.468108 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84103184 -0.28176607 -0.46181525 4.51955563] [ 0.31283399 0.9497577 -0.00975748 -0.41788215] [ 0.44136191 -0.13626516 0.88692247 0.99158406] [ 0. 0. 0. 1. ]] SLAMing on 190.436502481 meters Centerline goodness : 0.403322 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84091557 -0.28216407 -0.46178397 4.519393 ] [ 0.31318572 0.94963985 -0.00994294 -0.41781602] [ 0.441334 -0.13626297 0.8869367 0.9917655 ] [ 0. 0. 0. 1. ]] SLAMing on 190.466502481 meters Centerline goodness : 0.729405 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84086941 -0.28275429 -0.46150694 4.5194206 ] [ 0.31349455 0.94953122 -0.01056549 -0.41722115] [ 0.44120268 -0.13579571 0.88707368 0.9913224 ] [ 0. 0. 0. 1. ]] SLAMing on 190.496502481 meters Centerline goodness : 0.152715 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.42, Z:0.99 [[ 0.84092661 -0.28272451 -0.46142094 4.51934962] [ 0.31332636 0.94958402 -0.0108062 -0.41650215] [ 0.44121313 -0.13548812 0.88711552 0.99102638] [ 0. 0. 0. 1. ]] SLAMing on 190.526502481 meters Centerline goodness : 0.314603 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.84102042 -0.2823851 -0.46145781 4.51904008] [ 0.3126382 0.94980349 -0.01143168 -0.41379756] [ 0.44152237 -0.13465507 0.8870885 0.99052597] [ 0. 0. 0. 1. ]] SLAMing on 190.556502481 meters Centerline goodness : 0.439744 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.84109856 -0.28281065 -0.4610546 4.51855059] [ 0.31253294 0.94982506 -0.01247062 -0.4118915 ] [ 0.44144804 -0.13360573 0.88728414 0.98976458] [ 0. 0. 0. 1. ]] SLAMing on 190.586502481 meters Centerline goodness : 0.147469 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.84159097 -0.28299067 -0.46004448 4.51769231] [ 0.31174951 0.95005951 -0.01411257 -0.40948425] [ 0.44106336 -0.13154163 0.88778371 0.98789749] [ 0. 0. 0. 1. ]] SLAMing on 190.616502481 meters Centerline goodness : 0.319225 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.84192999 -0.28288522 -0.45948868 4.51672988] [ 0.31109249 0.95026111 -0.01500956 -0.40813758] [ 0.4408802 -0.13030648 0.88805679 0.98699905] [ 0. 0. 0. 1. ]] SLAMing on 190.646502481 meters Centerline goodness : 0.727717 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.84209866 -0.28302965 -0.45909048 4.51623228] [ 0.31093878 0.9503033 -0.0155152 -0.40769669] [ 0.44066646 -0.1296837 0.88825402 0.98648475] [ 0. 0. 0. 1. ]] SLAMing on 190.676502481 meters Centerline goodness : 0.729431 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.84198704 -0.28341551 -0.45905715 4.51589304] [ 0.31127117 0.95019124 -0.01571187 -0.40749158] [ 0.44064508 -0.12966206 0.88826779 0.98669367] [ 0. 0. 0. 1. ]] SLAMing on 190.706502481 meters Centerline goodness : 0.522361 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.8419596 -0.28347318 -0.45907188 4.51540939] [ 0.31146957 0.95013055 -0.01544798 -0.40791537] [ 0.4405573 -0.12998035 0.88826481 0.98711667] [ 0. 0. 0. 1. ]] SLAMing on 190.73650248099997 meters Centerline goodness : 0.731680 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.84175295 -0.28390569 -0.45918354 4.51502078] [ 0.31222766 0.94988982 -0.01494081 -0.40869531] [ 0.44041555 -0.13079333 0.88821577 0.98790654] [ 0. 0. 0. 1. ]] SLAMing on 190.76650248099997 meters Centerline goodness : 0.729545 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.84151445 -0.28417781 -0.45945228 4.5156534 ] [ 0.31273559 0.94972761 -0.01462609 -0.40936996] [ 0.44051093 -0.13137901 0.88808202 0.98832712] [ 0. 0. 0. 1. ]] SLAMing on 190.79650248099998 meters Centerline goodness : 0.547567 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.84085373 -0.28509075 -0.46009594 4.51727343] [ 0.31421399 0.94924981 -0.01394129 -0.41084342] [ 0.44072052 -0.132846 0.88775974 0.98932751] [ 0. 0. 0. 1. ]] SLAMing on 190.82650248099998 meters Centerline goodness : 0.231860 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.84062785 -0.28531072 -0.46037225 4.51774824] [ 0.3148361 0.94905311 -0.01328278 -0.41196635] [ 0.44070744 -0.13377593 0.88762659 0.98997569] [ 0. 0. 0. 1. ]] SLAMing on 190.85650248099998 meters Centerline goodness : 0.506630 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.83959121 -0.28995698 -0.45935994 4.51790442] [ 0.31843052 0.94780665 -0.01626545 -0.41257967] [ 0.44010068 -0.1326179 0.88810128 0.9900938 ] [ 0. 0. 0. 1. ]] SLAMing on 190.88650248099998 meters Centerline goodness : 0.379664 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.8382764 -0.29479334 -0.45868242 4.51964199] [ 0.32200383 0.94653035 -0.01984516 -0.41186052] [ 0.44000705 -0.13106177 0.88837864 0.98986312] [ 0. 0. 0. 1. ]] SLAMing on 190.91650248099998 meters Centerline goodness : 0.649409 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.83807539 -0.29491896 -0.45896891 4.51993116] [ 0.32238617 0.94640827 -0.01945627 -0.41206481] [ 0.44010999 -0.13165941 0.88823927 0.99034438] [ 0. 0. 0. 1. ]] SLAMing on 190.94650248099998 meters Centerline goodness : 0.383440 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.83770555 -0.29541821 -0.45932287 4.51988499] [ 0.32321408 0.94613424 -0.01904339 -0.41196277] [ 0.44020686 -0.13250687 0.88806523 0.99126478] [ 0. 0. 0. 1. ]] SLAMing on 190.97650248099998 meters Centerline goodness : 0.386329 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.83735957 -0.29602049 -0.45956591 4.52013167] [ 0.32387432 0.94590595 -0.01916653 -0.41180341] [ 0.44037981 -0.13279232 0.88793683 0.99178912] [ 0. 0. 0. 1. ]] SLAMing on 191.00650248099998 meters Centerline goodness : 0.660780 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.83701547 -0.29672597 -0.45973776 4.52073754] [ 0.32474471 0.94560929 -0.01907716 -0.41222549] [ 0.44039299 -0.13332953 0.88784979 0.99216061] [ 0. 0. 0. 1. ]] SLAMing on 191.03650248099999 meters Centerline goodness : 0.646063 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.8368286 -0.2970703 -0.45985555 4.5208898 ] [ 0.32510485 0.94548354 -0.01917568 -0.41197254] [ 0.44048238 -0.13345452 0.88778667 0.99240326] [ 0. 0. 0. 1. ]] SLAMing on 191.066502481 meters Centerline goodness : 0.291779 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.83651959 -0.29770623 -0.46000649 4.52097102] [ 0.32551575 0.9453283 -0.01984715 -0.40973202] [ 0.44076577 -0.13313682 0.88769371 0.99242494] [ 0. 0. 0. 1. ]] SLAMing on 191.096502481 meters Centerline goodness : 0.336169 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.83615551 -0.2982171 -0.4603374 4.52144157] [ 0.32583431 0.94520502 -0.02048095 -0.40750807] [ 0.44122099 -0.13286846 0.88750775 0.9925332 ] [ 0. 0. 0. 1. ]] SLAMing on 191.126502481 meters Centerline goodness : 0.249454 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.83618611 -0.2984224 -0.46014874 4.52069344] [ 0.32591318 0.94517251 -0.02072497 -0.40686467] [ 0.44110474 -0.13263861 0.88759992 0.99252713] [ 0. 0. 0. 1. ]] SLAMing on 191.156502481 meters Centerline goodness : 0.475337 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.83693024 -0.29456949 -0.46127714 4.52042411] [ 0.3233846 0.94610692 -0.01743829 -0.40644208] [ 0.44155428 -0.13457529 0.88708472 0.99299741] [ 0. 0. 0. 1. ]] SLAMing on 191.186502481 meters Centerline goodness : 0.387491 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.83699747 -0.29474589 -0.4610424 4.51972937] [ 0.32325586 0.94614008 -0.01801692 -0.40519134] [ 0.44152111 -0.13395454 0.88719518 0.99272046] [ 0. 0. 0. 1. ]] SLAMing on 191.216502481 meters Centerline goodness : 0.617573 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.83802144 -0.29019594 -0.4620675 4.51952187] [ 0.32013953 0.94726246 -0.01430079 -0.40539997] [ 0.44184923 -0.1359417 0.88672945 0.99285351] [ 0. 0. 0. 1. ]] SLAMing on 191.246502481 meters Centerline goodness : 0.725301 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.83818062 -0.29011692 -0.46182835 4.51888687] [ 0.31981538 0.94736601 -0.01468914 -0.40435267] [ 0.44178204 -0.13538766 0.88684768 0.99249791] [ 0. 0. 0. 1. ]] SLAMing on 191.276502481 meters Centerline goodness : 0.726430 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.83858626 -0.28974993 -0.46132207 4.51786342] [ 0.31896324 0.94764208 -0.0153928 -0.40262339] [ 0.44162827 -0.13423659 0.88709921 0.99156495] [ 0. 0. 0. 1. ]] SLAMing on 191.306502481 meters Centerline goodness : 0.725453 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.8387163 -0.28971294 -0.46110886 4.51736091] [ 0.318709 0.94772181 -0.01574647 -0.40178562] [ 0.44156487 -0.13375272 0.88720385 0.99124157] [ 0. 0. 0. 1. ]] SLAMing on 191.336502481 meters Centerline goodness : 0.724819 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.83991567 -0.28523841 -0.46171497 4.51687276] [ 0.31540891 0.94887446 -0.01242878 -0.40200636] [ 0.44165471 -0.13518989 0.88694127 0.99082046] [ 0. 0. 0. 1. ]] SLAMing on 191.366502481 meters Centerline goodness : 0.725156 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.84007773 -0.2854201 -0.46130768 4.51605556] [ 0.31511639 0.94896 -0.0132883 -0.40047762] [ 0.44155528 -0.1342024 0.88714071 0.99024933] [ 0. 0. 0. 1. ]] SLAMing on 191.396502481 meters Centerline goodness : 0.724351 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.83999655 -0.28568005 -0.4612946 4.51659561] [ 0.31513312 0.94894656 -0.01384011 -0.39943579] [ 0.44169777 -0.13374356 0.88713908 0.98980842] [ 0. 0. 0. 1. ]] SLAMing on 191.426502481 meters Centerline goodness : 0.724495 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.8397644 -0.28596335 -0.46154167 4.51858407] [ 0.31503489 0.94896525 -0.014764 -0.39669463] [ 0.44220897 -0.13300344 0.88699567 0.98873856] [ 0. 0. 0. 1. ]] SLAMing on 191.456502481 meters Centerline goodness : 0.722959 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.83959846 -0.28637375 -0.46158911 4.51892187] [ 0.31524353 0.9488876 -0.01529176 -0.39561336] [ 0.44237534 -0.13267404 0.88696204 0.98858124] [ 0. 0. 0. 1. ]] SLAMing on 191.48650248099997 meters Centerline goodness : 0.721914 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.8398011 -0.28612723 -0.4613733 4.5176554 ] [ 0.31491586 0.94899599 -0.01531711 -0.39513221] [ 0.44222405 -0.13243044 0.88707388 0.98863268] [ 0. 0. 0. 1. ]] SLAMing on 191.51650248099997 meters Centerline goodness : 0.718425 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.8398621 -0.28586643 -0.46142393 4.51631929] [ 0.31476286 0.94905102 -0.01505001 -0.39503284] [ 0.44221714 -0.13259918 0.88705212 0.98932696] [ 0. 0. 0. 1. ]] SLAMing on 191.54650248099998 meters Centerline goodness : 0.721287 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 0.83972859 -0.28621179 -0.46145283 4.51594797] [ 0.31495643 0.9489803 -0.0154543 -0.39411433] [ 0.44233285 -0.13236011 0.88703013 0.98949261] [ 0. 0. 0. 1. ]] SLAMing on 191.57650248099998 meters Centerline goodness : 0.720234 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 0.83972349 -0.28635291 -0.46137454 4.5155247 ] [ 0.31492888 0.9489837 -0.01580292 -0.39315488] [ 0.44236214 -0.13203008 0.88706471 0.9894479 ] [ 0. 0. 0. 1. ]] SLAMing on 191.60650248099998 meters Centerline goodness : 0.720341 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.83972113 -0.28654977 -0.4612566 4.51448752] [ 0.3149115 0.94898202 -0.01624418 -0.39204604] [ 0.44237898 -0.13161443 0.88711807 0.98960313] [ 0. 0. 0. 1. ]] SLAMing on 191.63650248099998 meters Centerline goodness : 0.719968 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.83972317 -0.28692748 -0.46101802 4.51459118] [ 0.3150903 0.94891543 -0.01666159 -0.39180393] [ 0.44224778 -0.13127118 0.88723434 0.98919229] [ 0. 0. 0. 1. ]] SLAMing on 191.66650248099998 meters Centerline goodness : 0.718658 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 0.8395496 -0.28721448 -0.46115541 4.51515831] [ 0.31541068 0.94880804 -0.01671561 -0.39185367] [ 0.44234892 -0.13141976 0.88716192 0.98927684] [ 0. 0. 0. 1. ]] SLAMing on 191.69650248099998 meters Centerline goodness : 0.719803 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 0.83944672 -0.28733819 -0.46126562 4.51614061] [ 0.31567462 0.94872396 -0.01650373 -0.39278565] [ 0.4423559 -0.13175585 0.88710859 0.98918907] [ 0. 0. 0. 1. ]] SLAMing on 191.72650248099998 meters Centerline goodness : 0.719548 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 0.83946017 -0.28700157 -0.46145068 4.51639376] [ 0.31562534 0.94875064 -0.01590207 -0.39349733] [ 0.44236554 -0.13229638 0.88702333 0.98941397] [ 0. 0. 0. 1. ]] SLAMing on 191.75650248099998 meters Centerline goodness : 0.719548 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 0.83946017 -0.28700157 -0.46145068 4.51639376] [ 0.31562534 0.94875064 -0.01590207 -0.39349733] [ 0.44236554 -0.13229638 0.88702333 0.98941397] [ 0. 0. 0. 1. ]] SLAMing on 191.78650248099999 meters Centerline goodness : 0.718563 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:0.99 [[ 0.83938176 -0.28686647 -0.46167726 4.51544941] [ 0.31589606 0.94867316 -0.0151299 -0.39416134] [ 0.44232108 -0.13314226 0.88691894 0.99045959] [ 0. 0. 0. 1. ]] SLAMing on 191.816502481 meters Centerline goodness : 0.717435 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.83905457 -0.28677073 -0.46233102 4.51638739] [ 0.31646966 0.94849951 -0.0139869 -0.39597951] [ 0.44253178 -0.13457797 0.88659709 0.99148435] [ 0. 0. 0. 1. ]] SLAMing on 191.846502481 meters Centerline goodness : 0.718999 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.83882038 -0.28699854 -0.46261454 4.51721226] [ 0.31694244 0.94834649 -0.01365344 -0.39679499] [ 0.4426374 -0.1351694 0.88645438 0.99185525] [ 0. 0. 0. 1. ]] SLAMing on 191.876502481 meters Centerline goodness : 0.717885 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.83873475 -0.28691277 -0.46282294 4.51743137] [ 0.31724297 0.94825615 -0.01292957 -0.39824454] [ 0.44258436 -0.13598285 0.88635645 0.99238045] [ 0. 0. 0. 1. ]] SLAMing on 191.906502481 meters Centerline goodness : 0.717841 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.83883087 -0.28685761 -0.46268292 4.51714821] [ 0.31721063 0.94826844 -0.01282076 -0.39857558] [ 0.44242534 -0.13601349 0.88643113 0.99230782] [ 0. 0. 0. 1. ]] SLAMing on 191.936502481 meters Centerline goodness : 0.718862 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.83891017 -0.28707062 -0.46240696 4.51760553] [ 0.31713031 0.94828774 -0.01336853 -0.39798077] [ 0.44233256 -0.13542827 0.88656702 0.991489 ] [ 0. 0. 0. 1. ]] SLAMing on 191.966502481 meters Centerline goodness : 0.716532 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.83907639 -0.28721442 -0.46201591 4.51792067] [ 0.31664634 0.94843238 -0.01452976 -0.39594462] [ 0.442364 -0.13410407 0.88675261 0.99017131] [ 0. 0. 0. 1. ]] SLAMing on 191.996502481 meters Centerline goodness : 0.716601 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.83940977 -0.28713779 -0.46145761 4.51702482] [ 0.31616112 0.94858472 -0.01513852 -0.39514603] [ 0.44207848 -0.13318754 0.88703309 0.98941852] [ 0. 0. 0. 1. ]] SLAMing on 192.026502481 meters Centerline goodness : 0.717249 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.83997037 -0.2866128 -0.46076336 4.51553933] [ 0.3154028 0.9488356 -0.01523432 -0.39509997] [ 0.44155503 -0.13252968 0.88739227 0.98870709] [ 0. 0. 0. 1. ]] SLAMing on 192.056502481 meters Centerline goodness : 0.714965 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.84098458 -0.28564782 -0.45951089 4.51272589] [ 0.31382922 0.94934822 -0.01578574 -0.39469781] [ 0.440745 -0.13093238 0.88803184 0.98742866] [ 0. 0. 0. 1. ]] SLAMing on 192.086502481 meters Centerline goodness : 0.713351 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.84178149 -0.28506293 -0.45841362 4.51067208] [ 0.31263098 0.94973125 -0.01650519 -0.39378669] [ 0.44007476 -0.12942053 0.88858569 0.98604974] [ 0. 0. 0. 1. ]] SLAMing on 192.116502481 meters Centerline goodness : 0.714392 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.84210503 -0.28488376 -0.45793051 4.5097991 ] [ 0.31226136 0.94984973 -0.01668353 -0.39349586] [ 0.43971804 -0.12894472 0.88883143 0.98546717] [ 0. 0. 0. 1. ]] SLAMing on 192.146502481 meters Centerline goodness : 0.585365 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.84237306 -0.28464993 -0.45758283 4.50922916] [ 0.31195998 0.94994943 -0.01664477 -0.39398028] [ 0.43941848 -0.12872643 0.88901119 0.98516005] [ 0. 0. 0. 1. ]] SLAMing on 192.176502481 meters Centerline goodness : 0.620526 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.84235549 -0.28472166 -0.45757054 4.50966494] [ 0.31212591 0.949898 -0.01646864 -0.39484082] [ 0.43933432 -0.12894717 0.8890208 0.98510707] [ 0. 0. 0. 1. ]] SLAMing on 192.206502481 meters Centerline goodness : 0.623421 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.98 [[ 0.84197427 -0.285219 -0.45796228 4.51225797] [ 0.31282539 0.94967046 -0.01631823 -0.39590759] [ 0.43956752 -0.1295227 0.88882184 0.98489151] [ 0. 0. 0. 1. ]] SLAMing on 192.23650248099997 meters Centerline goodness : 0.717128 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.98 [[ 0.84180131 -0.28532572 -0.45821369 4.51366221] [ 0.31318286 0.94955935 -0.01592264 -0.39681857] [ 0.43964424 -0.13010098 0.88869943 0.984874 ] [ 0. 0. 0. 1. ]] SLAMing on 192.26650248099997 meters Centerline goodness : 0.655485 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.98 [[ 0.84184997 -0.28540808 -0.45807298 4.51366177] [ 0.31334953 0.94950764 -0.01572644 -0.3973311 ] [ 0.43943224 -0.13029765 0.88877546 0.98477307] [ 0. 0. 0. 1. ]] SLAMing on 192.29650248099998 meters Centerline goodness : 0.719341 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84194703 -0.285122 -0.45807274 4.51305075] [ 0.31333967 0.94952116 -0.01509359 -0.39857897] [ 0.43925327 -0.13082436 0.88878656 0.98528854] [ 0. 0. 0. 1. ]] SLAMing on 192.32650248099998 meters Centerline goodness : 0.720328 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84207653 -0.28496236 -0.45793403 4.51251916] [ 0.31321178 0.94956576 -0.01494148 -0.39899147] [ 0.43909624 -0.13084846 0.8888606 0.98535932] [ 0. 0. 0. 1. ]] SLAMing on 192.35650248099998 meters Centerline goodness : 0.597964 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84227819 -0.28464422 -0.45776099 4.5125169 ] [ 0.31296089 0.94965279 -0.01466496 -0.4001551 ] [ 0.43888829 -0.13090931 0.88895434 0.98516101] [ 0. 0. 0. 1. ]] SLAMing on 192.38650248099998 meters Centerline goodness : 0.720232 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.98 [[ 0.84237509 -0.28464299 -0.4575834 4.51261152] [ 0.31300623 0.94964022 -0.01451052 -0.40102209] [ 0.43866992 -0.13100316 0.8890483 0.98497676] [ 0. 0. 0. 1. ]] SLAMing on 192.41650248099998 meters Centerline goodness : 0.651605 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84234295 -0.28458374 -0.45767942 4.51249078] [ 0.31311352 0.94960969 -0.0141901 -0.4012364 ] [ 0.43865508 -0.13135268 0.88900404 0.98525092] [ 0. 0. 0. 1. ]] SLAMing on 192.44650248099998 meters Centerline goodness : 0.519179 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84229637 -0.28469955 -0.45769312 4.5130044 ] [ 0.31332729 0.94954162 -0.01402607 -0.40137775] [ 0.43859189 -0.13159364 0.88899959 0.98512651] [ 0. 0. 0. 1. ]] SLAMing on 192.47650248099998 meters Centerline goodness : 0.344486 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84226447 -0.28472829 -0.45773394 4.5134172 ] [ 0.31345351 0.94950254 -0.0138497 -0.40197364] [ 0.43856294 -0.1318132 0.88898134 0.98513932] [ 0. 0. 0. 1. ]] SLAMing on 192.50650248099998 meters Centerline goodness : 0.617992 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84222056 -0.28477447 -0.457786 4.5140159 ] [ 0.31376054 0.94940828 -0.01335048 -0.4035115 ] [ 0.4384277 -0.13239114 0.88896217 0.98526613] [ 0. 0. 0. 1. ]] SLAMing on 192.53650248099999 meters Centerline goodness : 0.491790 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84223333 -0.28477916 -0.45775959 4.51441346] [ 0.31384223 0.94938357 -0.01318656 -0.40433794] [ 0.4383447 -0.13255813 0.88897822 0.98521926] [ 0. 0. 0. 1. ]] SLAMing on 192.566502481 meters Centerline goodness : 0.653761 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84204433 -0.28494533 -0.45800383 4.51437765] [ 0.31410101 0.94929884 -0.01312499 -0.40419215] [ 0.43852241 -0.13280765 0.88885332 0.98573092] [ 0. 0. 0. 1. ]] SLAMing on 192.596502481 meters Centerline goodness : 0.570073 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84207844 -0.28479765 -0.45803298 4.5128154 ] [ 0.31416637 0.94928346 -0.01266496 -0.40423229] [ 0.43841008 -0.13323367 0.88884498 0.98659385] [ 0. 0. 0. 1. ]] SLAMing on 192.626502481 meters Centerline goodness : 0.652671 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84197175 -0.28483185 -0.4582078 4.51298206] [ 0.31433735 0.94922962 -0.01245647 -0.40471038] [ 0.43849242 -0.13354383 0.88875781 0.98692182] [ 0. 0. 0. 1. ]] SLAMing on 192.656502481 meters Centerline goodness : 0.636534 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84158868 -0.28546529 -0.45851723 4.51494798] [ 0.31489414 0.94903938 -0.01288166 -0.40487904] [ 0.43882818 -0.13354333 0.88859215 0.9867109 ] [ 0. 0. 0. 1. ]] SLAMing on 192.686502481 meters Centerline goodness : 0.389954 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.84124733 -0.28630543 -0.4586198 4.51688836] [ 0.31544748 0.94884393 -0.01371468 -0.40376313] [ 0.4390852 -0.13313302 0.88852675 0.98595314] [ 0. 0. 0. 1. ]] SLAMing on 192.716502481 meters Centerline goodness : 0.665259 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.84131101 -0.28640272 -0.45844221 4.51675392] [ 0.31551003 0.94882262 -0.01374943 -0.40351383] [ 0.43891821 -0.13307557 0.88861786 0.98569793] [ 0. 0. 0. 1. ]] SLAMing on 192.746502481 meters Centerline goodness : 0.639861 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.84135198 -0.28645052 -0.45833716 4.51620581] [ 0.31550418 0.94882333 -0.01383452 -0.40304477] [ 0.43884389 -0.13296759 0.88867072 0.98577519] [ 0. 0. 0. 1. ]] SLAMing on 192.776502481 meters Centerline goodness : 0.613360 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84154316 -0.28624198 -0.45811641 4.51468899] [ 0.31525169 0.94890784 -0.0137942 -0.4025511 ] [ 0.43865873 -0.13281356 0.88878517 0.98601528] [ 0. 0. 0. 1. ]] SLAMing on 192.806502481 meters Centerline goodness : 0.607889 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84176866 -0.2860286 -0.4578353 4.51343903] [ 0.31510392 0.94896101 -0.01351007 -0.40314845] [ 0.43833211 -0.13289334 0.88893437 0.98621658] [ 0. 0. 0. 1. ]] SLAMing on 192.836502481 meters Centerline goodness : 0.606252 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84176627 -0.28605486 -0.45782329 4.51303614] [ 0.31522844 0.94892243 -0.01331346 -0.40371965] [ 0.43824717 -0.1331121 0.88894352 0.98654686] [ 0. 0. 0. 1. ]] SLAMing on 192.866502481 meters Centerline goodness : 0.648647 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84152274 -0.28659559 -0.45793279 4.51302673] [ 0.31593585 0.94868939 -0.01315258 -0.40414575] [ 0.43820545 -0.13360919 0.88888951 0.98710769] [ 0. 0. 0. 1. ]] SLAMing on 192.896502481 meters Centerline goodness : 0.489825 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84116935 -0.28710561 -0.45826247 4.5138895 ] [ 0.31654789 0.94848481 -0.01319098 -0.40401673] [ 0.4384422 -0.13396616 0.88871902 0.98744913] [ 0. 0. 0. 1. ]] SLAMing on 192.926502481 meters Centerline goodness : 0.605600 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.8405393 -0.28807164 -0.45881197 4.51581359] [ 0.31758849 0.94813283 -0.01347953 -0.40328546] [ 0.43889776 -0.13438333 0.88843113 0.98769682] [ 0. 0. 0. 1. ]] SLAMing on 192.956502481 meters Centerline goodness : 0.530384 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.84012167 -0.28868654 -0.45919022 4.51681782] [ 0.31834032 0.94788047 -0.01349273 -0.40331239] [ 0.43915261 -0.13484323 0.88823549 0.98813146] [ 0. 0. 0. 1. ]] SLAMing on 192.98650248099997 meters Centerline goodness : 0.334027 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.84000616 -0.28900716 -0.45919986 4.51686023] [ 0.31857879 0.94779672 -0.01374542 -0.40296047] [ 0.43920064 -0.1347451 0.88822663 0.98821027] [ 0. 0. 0. 1. ]] SLAMing on 193.01650248099997 meters Centerline goodness : 0.648420 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 0.84008109 -0.28923879 -0.45891685 4.51550538] [ 0.31853888 0.94780258 -0.01425701 -0.40175036] [ 0.43908626 -0.13420582 0.88836482 0.98820009] [ 0. 0. 0. 1. ]] SLAMing on 193.04650248099998 meters Centerline goodness : 0.643655 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84016957 -0.28916113 -0.4588038 4.5148708 ] [ 0.31833662 0.9478676 -0.01445002 -0.40115395] [ 0.43906364 -0.13391359 0.8884201 0.98817637] [ 0. 0. 0. 1. ]] SLAMing on 193.07650248099998 meters Centerline goodness : 0.232126 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84039716 -0.28914229 -0.45839869 4.51371294] [ 0.31772638 0.94805569 -0.0155032 -0.3987045 ] [ 0.43907011 -0.13261651 0.88861144 0.98753117] [ 0. 0. 0. 1. ]] SLAMing on 193.10650248099998 meters Centerline goodness : 0.635955 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84128124 -0.28485783 -0.45945825 4.51394571] [ 0.31459819 0.94914371 -0.0124178 -0.39797344] [ 0.43962921 -0.13409787 0.88811256 0.9874129 ] [ 0. 0. 0. 1. ]] SLAMing on 193.13650248099998 meters Centerline goodness : 0.229278 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84137526 -0.285154 -0.45910224 4.51379195] [ 0.31456766 0.94914559 -0.01303242 -0.3971848 ] [ 0.43947111 -0.13345356 0.88828784 0.98677984] [ 0. 0. 0. 1. ]] SLAMing on 193.16650248099998 meters Centerline goodness : 0.636989 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.84123658 -0.28590625 -0.45888848 4.51321313] [ 0.31490983 0.94901858 -0.01398308 -0.39560258] [ 0.43949154 -0.13274541 0.88838384 0.98664937] [ 0. 0. 0. 1. ]] SLAMing on 193.19650248099998 meters Centerline goodness : 0.602012 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.84082574 -0.28673138 -0.45912656 4.51204638] [ 0.31576222 0.94873175 -0.01422302 -0.39415079] [ 0.43966613 -0.13301574 0.88825701 0.98771213] [ 0. 0. 0. 1. ]] SLAMing on 193.22650248099998 meters Centerline goodness : 0.428258 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.84067285 -0.28699974 -0.45923883 4.51190752] [ 0.31615897 0.94860186 -0.0140716 -0.39416817] [ 0.43967336 -0.13336287 0.88820138 0.98809431] [ 0. 0. 0. 1. ]] SLAMing on 193.25650248099998 meters Centerline goodness : 0.253541 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.84020392 -0.28778695 -0.45960423 4.51193421] [ 0.31725597 0.94823988 -0.01377567 -0.39470684] [ 0.43977952 -0.13423781 0.888017 0.98917882] [ 0. 0. 0. 1. ]] SLAMing on 193.28650248099999 meters Centerline goodness : 0.634923 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83987155 -0.28804563 -0.46004945 4.51233782] [ 0.31780254 0.94806201 -0.01341552 -0.3950969 ] [ 0.44001969 -0.13493757 0.88779194 0.99000603] [ 0. 0. 0. 1. ]] SLAMing on 193.316502481 meters Centerline goodness : 0.270175 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83944675 -0.28884046 -0.46032635 4.51234717] [ 0.31893093 0.94768817 -0.01304542 -0.39587012] [ 0.44001389 -0.13586138 0.88765391 0.99101757] [ 0. 0. 0. 1. ]] SLAMing on 193.346502481 meters Centerline goodness : 0.596651 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83884911 -0.28954057 -0.46097552 4.51290591] [ 0.32003978 0.9473199 -0.01263074 -0.39601871] [ 0.4403484 -0.13693522 0.88732296 0.992209 ] [ 0. 0. 0. 1. ]] SLAMing on 193.376502481 meters Centerline goodness : 0.635766 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83846181 -0.29003515 -0.46136905 4.51341807] [ 0.32066631 0.94710799 -0.0126323 -0.39551768] [ 0.44063013 -0.13735381 0.88711838 0.99271974] [ 0. 0. 0. 1. ]] SLAMing on 193.406502481 meters Centerline goodness : 0.636897 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83812275 -0.2904812 -0.46170438 4.51379143] [ 0.3212664 0.94690561 -0.01255695 -0.39525854] [ 0.44083802 -0.13780584 0.88694498 0.99327018] [ 0. 0. 0. 1. ]] SLAMing on 193.436502481 meters Centerline goodness : 0.642532 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83706621 -0.29221021 -0.46252929 4.51498881] [ 0.32327446 0.94621948 -0.01274052 -0.39502612] [ 0.44137714 -0.13885925 0.88651245 0.9948077 ] [ 0. 0. 0. 1. ]] SLAMing on 193.466502481 meters Centerline goodness : 0.633817 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:1.00 [[ 0.83657143 -0.29329759 -0.46273618 4.51524972] [ 0.32455838 0.94578034 -0.01270448 -0.39493464] [ 0.44137298 -0.1395567 0.886405 0.99547203] [ 0. 0. 0. 1. ]] SLAMing on 193.496502481 meters Centerline goodness : 0.233414 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:1.00 [[ 0.83627735 -0.29382791 -0.46293125 4.51511885] [ 0.3251006 0.94559159 -0.01288946 -0.39433343] [ 0.44153119 -0.13972006 0.88630047 0.99598309] [ 0. 0. 0. 1. ]] SLAMing on 193.526502481 meters Centerline goodness : 0.606621 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:1.00 [[ 0.83620373 -0.29389758 -0.46302002 4.51465499] [ 0.32504652 0.94560607 -0.01318782 -0.39266243] [ 0.44171041 -0.13947534 0.88624971 0.99604361] [ 0. 0. 0. 1. ]] SLAMing on 193.556502481 meters Centerline goodness : 0.607568 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:1.00 [[ 0.83618951 -0.29414882 -0.46288613 4.5140219 ] [ 0.32510754 0.94557943 -0.0135877 -0.39152175] [ 0.44169241 -0.13912588 0.88631361 0.99598893] [ 0. 0. 0. 1. ]] SLAMing on 193.586502481 meters Centerline goodness : 0.569606 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:1.00 [[ 0.83641547 -0.29413167 -0.46248862 4.5126678 ] [ 0.32473881 0.94569792 -0.0141477 -0.38961044] [ 0.44153581 -0.13835465 0.88651234 0.99558848] [ 0. 0. 0. 1. ]] SLAMing on 193.616502481 meters Centerline goodness : 0.621088 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.83726019 -0.29176779 -0.46245749 4.51137114] [ 0.32277449 0.94639049 -0.01271474 -0.38869634] [ 0.44137513 -0.13862393 0.88655028 0.99491272] [ 0. 0. 0. 1. ]] SLAMing on 193.646502481 meters Centerline goodness : 0.621088 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.83726019 -0.29176779 -0.46245749 4.51137114] [ 0.32277449 0.94639049 -0.01271474 -0.38869634] [ 0.44137513 -0.13862393 0.88655028 0.99491272] [ 0. 0. 0. 1. ]] SLAMing on 193.676502481 meters Centerline goodness : 0.299967 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.83749405 -0.29182455 -0.461998 4.51073673] [ 0.32233431 0.9465287 -0.01356553 -0.38739251] [ 0.44125312 -0.13755676 0.88677721 0.99414823] [ 0. 0. 0. 1. ]] SLAMing on 193.706502481 meters Centerline goodness : 0.617168 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.83782955 -0.29158018 -0.46154377 4.51015087] [ 0.3216442 0.94675355 -0.01423821 -0.38638164] [ 0.44111978 -0.13652368 0.88700317 0.99329324] [ 0. 0. 0. 1. ]] SLAMing on 193.73650248099997 meters Centerline goodness : 0.573495 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.83921867 -0.28654471 -0.46217329 4.50901667] [ 0.31761699 0.94815391 -0.01111786 -0.38551001] [ 0.44139718 -0.13746377 0.88671993 0.99277863] [ 0. 0. 0. 1. ]] SLAMing on 193.76650248099997 meters Centerline goodness : 0.565622 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.84018293 -0.28202673 -0.46319928 4.50896241] [ 0.31448641 0.9492322 -0.00751888 -0.38573336] [ 0.4418042 -0.13935264 0.88622226 0.99288407] [ 0. 0. 0. 1. ]] SLAMing on 193.79650248099998 meters Centerline goodness : 0.548635 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:0.99 [[ 0.84067329 -0.28175044 -0.46247714 4.50771239] [ 0.31342147 0.94957359 -0.00877388 -0.38369159] [ 0.44162812 -0.1375743 0.88658779 0.99167455] [ 0. 0. 0. 1. ]] SLAMing on 193.82650248099998 meters Centerline goodness : 0.709243 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.38, Z:0.99 [[ 0.84103248 -0.28163407 -0.46189459 4.50642214] [ 0.31318606 0.94965122 -0.00877795 -0.3846998 ] [ 0.44111093 -0.13727641 0.88689139 0.99144526] [ 0. 0. 0. 1. ]] SLAMing on 193.85650248099998 meters Centerline goodness : 0.710555 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.84115264 -0.2816387 -0.46167291 4.50596353] [ 0.31326818 0.94962626 -0.00854533 -0.38538447] [ 0.44082341 -0.1374395 0.88700908 0.99145192] [ 0. 0. 0. 1. ]] SLAMing on 193.88650248099998 meters Centerline goodness : 0.290382 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.84073089 -0.28181686 -0.46233196 4.50612412] [ 0.31395503 0.9494058 -0.00780147 -0.3859504 ] [ 0.44113923 -0.13859251 0.8866726 0.99275256] [ 0. 0. 0. 1. ]] SLAMing on 193.91650248099998 meters Centerline goodness : 0.573056 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.83955369 -0.28586243 -0.46198732 4.5084877 ] [ 0.31703645 0.94835333 -0.01067013 -0.38507476] [ 0.4411774 -0.13750867 0.88682234 0.99238373] [ 0. 0. 0. 1. ]] SLAMing on 193.94650248099998 meters Centerline goodness : 0.315232 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.83925709 -0.28621514 -0.46230772 4.51028317] [ 0.31759684 0.94816817 -0.01045773 -0.38610229] [ 0.44133862 -0.13805075 0.88665789 0.99242966] [ 0. 0. 0. 1. ]] SLAMing on 193.97650248099998 meters Centerline goodness : 0.249953 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.83823741 -0.29092331 -0.46121761 4.51119292] [ 0.32082576 0.94703061 -0.01427771 -0.3862662 ] [ 0.44094091 -0.13600238 0.88717217 0.99190839] [ 0. 0. 0. 1. ]] SLAMing on 194.00650248099998 meters Centerline goodness : 0.280143 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.83839411 -0.29049822 -0.46120072 4.51141564] [ 0.32064797 0.94709989 -0.01366318 -0.3875748 ] [ 0.44077228 -0.13642794 0.88719063 0.99188916] [ 0. 0. 0. 1. ]] SLAMing on 194.03650248099999 meters Centerline goodness : 0.232710 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.83844278 -0.29022284 -0.4612856 4.5108888 ] [ 0.32043672 0.94717384 -0.01349191 -0.38744046] [ 0.44083331 -0.13650065 0.88714912 0.99221341] [ 0. 0. 0. 1. ]] SLAMing on 194.066502481 meters Centerline goodness : 0.274836 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.83982714 -0.28521088 -0.46189298 4.50850831] [ 0.31703607 0.94836927 -0.00915739 -0.38927658] [ 0.4406569 -0.13874611 0.88688839 0.99293782] [ 0. 0. 0. 1. ]] SLAMing on 194.096502481 meters Centerline goodness : 0.271674 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.8401537 -0.28497124 -0.46144681 4.50726264] [ 0.31663535 0.94850213 -0.00926102 -0.38967199] [ 0.4403224 -0.13832969 0.88711954 0.99278402] [ 0. 0. 0. 1. ]] SLAMing on 194.126502481 meters Centerline goodness : 0.246510 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.8405508 -0.28465632 -0.46091771 4.50662172] [ 0.31608326 0.94868419 -0.00947005 -0.39061017] [ 0.43996106 -0.13772831 0.88739235 0.99224865] [ 0. 0. 0. 1. ]] SLAMing on 194.156502481 meters Centerline goodness : 0.295520 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.84054869 -0.28477069 -0.46085091 4.50673005] [ 0.31603508 0.94869685 -0.00980399 -0.39054114] [ 0.43999969 -0.13740432 0.88742342 0.9920766 ] [ 0. 0. 0. 1. ]] SLAMing on 194.186502481 meters Centerline goodness : 0.360279 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.84056651 -0.28461065 -0.46091725 4.50662558] [ 0.31581344 0.94876955 -0.00991006 -0.3900247 ] [ 0.44012476 -0.1372338 0.88738778 0.99209113] [ 0. 0. 0. 1. ]] SLAMing on 194.216502481 meters Centerline goodness : 0.637866 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.84070715 -0.28389246 -0.46110363 4.50651266] [ 0.31541534 0.94890966 -0.00914408 -0.39100466] [ 0.44014163 -0.13775167 0.88729917 0.99244937] [ 0. 0. 0. 1. ]] SLAMing on 194.246502481 meters Centerline goodness : 0.465911 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.84064557 -0.28392469 -0.46119605 4.50697125] [ 0.3157123 0.94881552 -0.00865144 -0.39221056] [ 0.44004633 -0.13833247 0.88725608 0.99265389] [ 0. 0. 0. 1. ]] SLAMing on 194.276502481 meters Centerline goodness : 0.640239 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.39, Z:0.99 [[ 0.83982322 -0.28800458 -0.46016337 4.50719436] [ 0.31876602 0.94776468 -0.0114165 -0.39394725] [ 0.43941459 -0.1370966 0.88776086 0.99275082] [ 0. 0. 0. 1. ]] SLAMing on 194.306502481 meters Centerline goodness : 0.635928 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.8396222 -0.28786274 -0.46061872 4.50799936] [ 0.31916437 0.94764176 -0.01044956 -0.39575305] [ 0.43950957 -0.1382394 0.88753659 0.99352005] [ 0. 0. 0. 1. ]] SLAMing on 194.336502481 meters Centerline goodness : 0.231355 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83836394 -0.29252171 -0.45997494 4.50903659] [ 0.32297768 0.94631533 -0.01314188 -0.3969413 ] [ 0.43912563 -0.13754396 0.88783464 0.99403165] [ 0. 0. 0. 1. ]] SLAMing on 194.366502481 meters Centerline goodness : 0.516844 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83812319 -0.29259664 -0.46036586 4.50969589] [ 0.32364933 0.94609981 -0.01209388 -0.39882551] [ 0.43909068 -0.13886094 0.8876469 0.99486208] [ 0. 0. 0. 1. ]] SLAMing on 194.396502481 meters Centerline goodness : 0.564942 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:1.00 [[ 0.83704399 -0.29700324 -0.45950674 4.50951094] [ 0.3273126 0.94480577 -0.01444013 -0.40073164] [ 0.43843338 -0.13831532 0.88805689 0.99575089] [ 0. 0. 0. 1. ]] SLAMing on 194.426502481 meters Centerline goodness : 0.638784 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:1.00 [[ 0.83680495 -0.29714859 -0.45984801 4.51026698] [ 0.32794892 0.94459748 -0.01360564 -0.40245183] [ 0.43841417 -0.13942139 0.8878934 0.99646084] [ 0. 0. 0. 1. ]] SLAMing on 194.456502481 meters Centerline goodness : 0.263569 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:1.00 [[ 0.83639993 -0.29771851 -0.46021608 4.51160023] [ 0.32893959 0.944261 -0.01303504 -0.40394026] [ 0.43844487 -0.14048078 0.88771124 0.99702332] [ 0. 0. 0. 1. ]] SLAMing on 194.48650248099997 meters Centerline goodness : 0.229529 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:1.00 [[ 0.83628607 -0.29807234 -0.46019396 4.51166171] [ 0.32927672 0.94414185 -0.01315323 -0.40351949] [ 0.43840899 -0.14053129 0.88772097 0.99699855] [ 0. 0. 0. 1. ]] SLAMing on 194.51650248099997 meters Centerline goodness : 0.372598 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:1.00 [[ 0.83636149 -0.29825844 -0.45993626 4.51146563] [ 0.32935946 0.94411068 -0.01331795 -0.40340381] [ 0.43820292 -0.14034574 0.88785206 0.99666987] [ 0. 0. 0. 1. ]] SLAMing on 194.54650248099998 meters Centerline goodness : 0.709455 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:1.00 [[ 0.83654234 -0.29844005 -0.45948934 4.51101717] [ 0.32927676 0.94413348 -0.01373982 -0.40322619] [ 0.43791978 -0.13980522 0.888077 0.99613007] [ 0. 0. 0. 1. ]] SLAMing on 194.57650248099998 meters Centerline goodness : 0.373575 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:1.00 [[ 0.83675407 -0.29850862 -0.45905907 4.51028776] [ 0.32908639 0.94419412 -0.01412827 -0.40273143] [ 0.43765829 -0.13924821 0.8882934 0.99566077] [ 0. 0. 0. 1. ]] SLAMing on 194.60650248099998 meters Centerline goodness : 0.708670 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.8374002 -0.29816513 -0.45810311 4.5083197 ] [ 0.32798235 0.94456087 -0.01524249 -0.40078847] [ 0.43725106 -0.13748567 0.88876836 0.99441288] [ 0. 0. 0. 1. ]] SLAMing on 194.63650248099998 meters Centerline goodness : 0.707303 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83844866 -0.29355405 -0.45916212 4.50836501] [ 0.32459615 0.94577742 -0.01193387 -0.40011019] [ 0.4377684 -0.13903632 0.88827233 0.99421098] [ 0. 0. 0. 1. ]] SLAMing on 194.66650248099998 meters Centerline goodness : 0.707978 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83853508 -0.29373849 -0.45888627 4.50774371] [ 0.32444159 0.94582219 -0.01257114 -0.39895204] [ 0.43771745 -0.13834045 0.88840607 0.9938229 ] [ 0. 0. 0. 1. ]] SLAMing on 194.69650248099998 meters Centerline goodness : 0.707966 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.8386838 -0.2937615 -0.45859968 4.50729515] [ 0.32426246 0.94587939 -0.01288547 -0.39852317] [ 0.43756524 -0.13789983 0.88854955 0.99345936] [ 0. 0. 0. 1. ]] SLAMing on 194.72650248099998 meters Centerline goodness : 0.707428 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83928477 -0.29366727 -0.4575594 4.5053693 ] [ 0.323803 0.94603195 -0.01323477 -0.39885854] [ 0.43675243 -0.13705137 0.88908056 0.99265512] [ 0. 0. 0. 1. ]] SLAMing on 194.75650248099998 meters Centerline goodness : 0.706610 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83976318 -0.29352287 -0.45677361 4.50280842] [ 0.32359636 0.94610527 -0.01304635 -0.39991727] [ 0.43598532 -0.13685444 0.8894873 0.99278629] [ 0. 0. 0. 1. ]] SLAMing on 194.78650248099999 meters Centerline goodness : 0.706265 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83983378 -0.29343202 -0.45670217 4.5025339 ] [ 0.32362435 0.94609967 -0.0127551 -0.40027048] [ 0.43582853 -0.13708778 0.88952821 0.99284858] [ 0. 0. 0. 1. ]] SLAMing on 194.816502481 meters Centerline goodness : 0.708545 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83963645 -0.29400181 -0.45669856 4.50329463] [ 0.32424185 0.94588757 -0.01280358 -0.40038671] [ 0.43574976 -0.13733044 0.88952937 0.99267582] [ 0. 0. 0. 1. ]] SLAMing on 194.846502481 meters Centerline goodness : 0.707882 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83944192 -0.29447889 -0.45674878 4.5042924 ] [ 0.32477963 0.94570282 -0.01282077 -0.40072696] [ 0.43572405 -0.1375804 0.88950334 0.99248024] [ 0. 0. 0. 1. ]] SLAMing on 194.876502481 meters Centerline goodness : 0.708129 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.8381447 -0.29952991 -0.45584568 4.50623164] [ 0.32843064 0.94438101 -0.01666782 -0.40004317] [ 0.43548452 -0.13574364 0.88990274 0.99180093] [ 0. 0. 0. 1. ]] SLAMing on 194.906502481 meters Centerline goodness : 0.708677 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83764113 -0.30064067 -0.45604004 4.50805833] [ 0.32980593 0.94390484 -0.01648358 -0.40130646] [ 0.43541404 -0.13659739 0.88980659 0.99192694] [ 0. 0. 0. 1. ]] SLAMing on 194.936502481 meters Centerline goodness : 0.583967 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83743285 -0.30093496 -0.45622842 4.50856792] [ 0.33034514 0.94372244 -0.01612613 -0.40197742] [ 0.43540591 -0.13720829 0.88971657 0.99228126] [ 0. 0. 0. 1. ]] SLAMing on 194.966502481 meters Centerline goodness : 0.558016 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83707719 -0.3014948 -0.4565114 4.50843305] [ 0.33116926 0.94343853 -0.01583219 -0.40235329] [ 0.43546377 -0.13792978 0.88957669 0.99320898] [ 0. 0. 0. 1. ]] SLAMing on 194.996502481 meters Centerline goodness : 0.712679 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83711466 -0.30120241 -0.4566357 4.5080069 ] [ 0.33106846 0.94348091 -0.01540935 -0.40245037] [ 0.4354684 -0.13827828 0.88952032 0.99357432] [ 0. 0. 0. 1. ]] SLAMing on 195.026502481 meters Centerline goodness : 0.714978 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.8375304 -0.3013435 -0.45577948 4.50509998] [ 0.33081231 0.94356173 -0.01595251 -0.40184412] [ 0.43486326 -0.13741675 0.88994977 0.99352892] [ 0. 0. 0. 1. ]] SLAMing on 195.056502481 meters Centerline goodness : 0.714302 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83851413 -0.29683291 -0.45692919 4.50523338] [ 0.32756546 0.9447443 -0.01261231 -0.40159565] [ 0.435425 -0.13909862 0.88941365 0.99356809] [ 0. 0. 0. 1. ]] SLAMing on 195.086502481 meters Centerline goodness : 0.715561 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83854351 -0.29703574 -0.45674342 4.50522319] [ 0.32742455 0.94478371 -0.01330024 -0.40039908] [ 0.43547439 -0.13839618 0.88949904 0.99304396] [ 0. 0. 0. 1. ]] SLAMing on 195.116502481 meters Centerline goodness : 0.715156 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83965917 -0.29287116 -0.45738273 4.50533457] [ 0.32426944 0.94590768 -0.01039232 -0.40017567] [ 0.43568544 -0.13958923 0.88920922 0.99233976] [ 0. 0. 0. 1. ]] SLAMing on 195.146502481 meters Centerline goodness : 0.715445 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83986186 -0.29272145 -0.45710633 4.50466666] [ 0.32389966 0.94603089 -0.01070334 -0.39943633] [ 0.43556981 -0.13906726 0.88934765 0.99194952] [ 0. 0. 0. 1. ]] SLAMing on 195.176502481 meters Centerline goodness : 0.713660 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.84061094 -0.29184639 -0.45628822 4.50273356] [ 0.32264347 0.94645708 -0.01096335 -0.39912675] [ 0.43505683 -0.1380025 0.8897645 0.99107448] [ 0. 0. 0. 1. ]] SLAMing on 195.206502481 meters Centerline goodness : 0.716342 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.84093979 -0.29157294 -0.45585687 4.50157975] [ 0.32218304 0.94661206 -0.01112173 -0.39906824] [ 0.43476241 -0.13751665 0.88998361 0.99077682] [ 0. 0. 0. 1. ]] SLAMing on 195.23650248099997 meters Centerline goodness : 0.714465 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.8414767 -0.29094073 -0.45526966 4.50020209] [ 0.32118834 0.94694559 -0.01149328 -0.39825717] [ 0.43445946 -0.13655598 0.89027942 0.99003809] [ 0. 0. 0. 1. ]] SLAMing on 195.26650248099997 meters Centerline goodness : 0.717033 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.84158464 -0.29064785 -0.4552572 4.50010659] [ 0.32096552 0.94702382 -0.01127008 -0.39832174] [ 0.43441504 -0.13663714 0.89028864 0.98999199] [ 0. 0. 0. 1. ]] SLAMing on 195.29650248099998 meters Centerline goodness : 0.715862 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.84113889 -0.29121924 -0.45571562 4.50256261] [ 0.32182235 0.94673623 -0.01099482 -0.39958434] [ 0.43464439 -0.1374113 0.89005752 0.98998808] [ 0. 0. 0. 1. ]] SLAMing on 195.32650248099998 meters Centerline goodness : 0.716852 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.84086942 -0.2915617 -0.45599386 4.50445961] [ 0.32239881 0.94654342 -0.01070301 -0.40062599] [ 0.43473858 -0.13801204 0.88991856 0.98987686] [ 0. 0. 0. 1. ]] SLAMing on 195.35650248099998 meters Centerline goodness : 0.716196 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83939311 -0.29644355 -0.45556604 4.50621818] [ 0.32618974 0.94520002 -0.01404195 -0.40063519] [ 0.43476368 -0.13681425 0.89009123 0.99021258] [ 0. 0. 0. 1. ]] SLAMing on 195.38650248099998 meters Centerline goodness : 0.715951 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83877689 -0.29678511 -0.45647774 4.50732941] [ 0.32724722 0.94484946 -0.01299042 -0.40164485] [ 0.43515811 -0.13848501 0.88964 0.9916739 ] [ 0. 0. 0. 1. ]] SLAMing on 195.41650248099998 meters Centerline goodness : 0.713727 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83862428 -0.29684778 -0.45671733 4.5076034 ] [ 0.32759599 0.94473511 -0.01250789 -0.40217206] [ 0.43518983 -0.13912935 0.88952394 0.99214784] [ 0. 0. 0. 1. ]] SLAMing on 195.44650248099998 meters Centerline goodness : 0.712873 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83830492 -0.2972004 -0.45707415 4.50767251] [ 0.32832416 0.94448938 -0.01196054 -0.40332412] [ 0.43525636 -0.14004191 0.88934817 0.99319254] [ 0. 0. 0. 1. ]] SLAMing on 195.47650248099998 meters Centerline goodness : 0.713348 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83823404 -0.29722096 -0.45719076 4.50777592] [ 0.3284477 0.94444848 -0.01179779 -0.40369962] [ 0.43529966 -0.14027394 0.8892904 0.99346022] [ 0. 0. 0. 1. ]] SLAMing on 195.50650248099998 meters Centerline goodness : 0.712862 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83814783 -0.29775685 -0.45700008 4.50722369] [ 0.32879787 0.94432091 -0.01224684 -0.40311978] [ 0.43520131 -0.13999599 0.88938234 0.99352206] [ 0. 0. 0. 1. ]] SLAMing on 195.53650248099999 meters Centerline goodness : 0.710448 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83814347 -0.29773005 -0.45702553 4.5068328 ] [ 0.32884815 0.9443054 -0.01209158 -0.40319477] [ 0.43517171 -0.14015753 0.88937138 0.99380833] [ 0. 0. 0. 1. ]] SLAMing on 195.566502481 meters Centerline goodness : 0.710448 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83814347 -0.29773005 -0.45702553 4.5068328 ] [ 0.32884815 0.9443054 -0.01209158 -0.40319477] [ 0.43517171 -0.14015753 0.88937138 0.99380833] [ 0. 0. 0. 1. ]] SLAMing on 195.596502481 meters Centerline goodness : 0.710308 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83766144 -0.29816829 -0.45762319 4.50706836] [ 0.32948663 0.94408381 -0.01201339 -0.40270256] [ 0.43561666 -0.14071757 0.88906507 0.99481174] [ 0. 0. 0. 1. ]] SLAMing on 195.626502481 meters Centerline goodness : 0.710306 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:1.00 [[ 0.8372139 -0.29904816 -0.45786797 4.50774909] [ 0.33032437 0.9437858 -0.01241679 -0.40159663] [ 0.4358425 -0.14084944 0.88893349 0.99503035] [ 0. 0. 0. 1. ]] SLAMing on 195.656502481 meters Centerline goodness : 0.710210 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:1.00 [[ 0.83694782 -0.2995049 -0.45805584 4.50799542] [ 0.33080955 0.94361414 -0.01254592 -0.40109999] [ 0.43598553 -0.14102897 0.88883488 0.99531867] [ 0. 0. 0. 1. ]] SLAMing on 195.686502481 meters Centerline goodness : 0.709298 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:1.00 [[ 0.83680882 -0.29964316 -0.45821935 4.50755352] [ 0.33120758 0.94348017 -0.01211202 -0.40190853] [ 0.43595016 -0.14163027 0.88875662 0.99611999] [ 0. 0. 0. 1. ]] SLAMing on 195.716502481 meters Centerline goodness : 0.708065 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:1.00 [[ 0.83684741 -0.29958074 -0.45818968 4.50704769] [ 0.33125752 0.9434659 -0.01185583 -0.4024844 ] [ 0.43583812 -0.14185726 0.88877537 0.99647385] [ 0. 0. 0. 1. ]] SLAMing on 195.746502481 meters Centerline goodness : 0.706631 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:1.00 [[ 0.83699793 -0.29905039 -0.45826119 4.50682468] [ 0.33079546 0.94363112 -0.01160505 -0.40234048] [ 0.43590001 -0.14187732 0.88874181 0.99649529] [ 0. 0. 0. 1. ]] SLAMing on 195.776502481 meters Centerline goodness : 0.708107 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:1.00 [[ 0.83705828 -0.29895824 -0.45821109 4.5069915 ] [ 0.3306525 0.94368047 -0.01166633 -0.40190301] [ 0.4358926 -0.14174325 0.88876684 0.99616099] [ 0. 0. 0. 1. ]] SLAMing on 195.806502481 meters Centerline goodness : 0.707483 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:1.00 [[ 0.83708424 -0.29902824 -0.45811798 4.50714519] [ 0.33053443 0.94371721 -0.01203387 -0.40091712] [ 0.43593229 -0.14135041 0.88880993 0.99573613] [ 0. 0. 0. 1. ]] SLAMing on 195.836502481 meters Centerline goodness : 0.706544 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:1.00 [[ 0.83714608 -0.29898892 -0.45803065 4.50749989] [ 0.33046314 0.94374188 -0.01205692 -0.40086754] [ 0.43586759 -0.14126885 0.88885463 0.99536715] [ 0. 0. 0. 1. ]] SLAMing on 195.866502481 meters Centerline goodness : 0.707185 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83728854 -0.29917914 -0.45764587 4.50796146] [ 0.33046908 0.94373612 -0.01234182 -0.40089265] [ 0.43558935 -0.14090414 0.8890489 0.99453562] [ 0. 0. 0. 1. ]] SLAMing on 195.896502481 meters Centerline goodness : 0.705598 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83716769 -0.29960467 -0.45758857 4.50853239] [ 0.33077336 0.94362505 -0.01267886 -0.40040526] [ 0.43559068 -0.14074378 0.88907364 0.99420871] [ 0. 0. 0. 1. ]] SLAMing on 195.926502481 meters Centerline goodness : 0.706376 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83742956 -0.29947987 -0.45719091 4.50767835] [ 0.33045376 0.94373402 -0.01289962 -0.39965489] [ 0.4353298 -0.14027793 0.88927502 0.99372712] [ 0. 0. 0. 1. ]] SLAMing on 195.956502481 meters Centerline goodness : 0.705255 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83765396 -0.29944452 -0.45680283 4.50686121] [ 0.33027478 0.94379471 -0.01304321 -0.39905504] [ 0.43503381 -0.13994475 0.88947234 0.99331902] [ 0. 0. 0. 1. ]] SLAMing on 195.98650248099997 meters Centerline goodness : 0.705357 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83802737 -0.29951337 -0.45607221 4.50548896] [ 0.32991532 0.9439115 -0.01367339 -0.39793578] [ 0.43458717 -0.13900654 0.88983772 0.99246436] [ 0. 0. 0. 1. ]] SLAMing on 196.01650248099997 meters Centerline goodness : 0.704976 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.8381349 -0.29958415 -0.45582807 4.50461324] [ 0.32983874 0.94393487 -0.01390561 -0.39779347] [ 0.43443791 -0.13869498 0.88995921 0.99248539] [ 0. 0. 0. 1. ]] SLAMing on 196.04650248099998 meters Centerline goodness : 0.703735 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83857287 -0.29946692 -0.455099 4.5030899 ] [ 0.3295131 0.94404659 -0.01404087 -0.39827634] [ 0.43383944 -0.13818679 0.89033014 0.99207782] [ 0. 0. 0. 1. ]] SLAMing on 196.07650248099998 meters Centerline goodness : 0.704548 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83849832 -0.29987308 -0.4549689 4.50329945] [ 0.32978769 0.94394577 -0.01436912 -0.39783115] [ 0.43377488 -0.13799466 0.89039139 0.99177759] [ 0. 0. 0. 1. ]] SLAMing on 196.10650248099998 meters Centerline goodness : 0.705423 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83808515 -0.30057125 -0.45526938 4.50443712] [ 0.33044582 0.94370987 -0.01473923 -0.39710534] [ 0.43407239 -0.13808913 0.89023174 0.99184184] [ 0. 0. 0. 1. ]] SLAMing on 196.13650248099998 meters Centerline goodness : 0.702985 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83779664 -0.30111516 -0.45544093 4.50467958] [ 0.33115497 0.94346338 -0.01460258 -0.39752936] [ 0.4340889 -0.13858754 0.89014624 0.99234097] [ 0. 0. 0. 1. ]] SLAMing on 196.16650248099998 meters Centerline goodness : 0.702174 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83769259 -0.3012931 -0.45551465 4.50496491] [ 0.33150908 0.94334344 -0.01431386 -0.39813 ] [ 0.43401942 -0.13901662 0.89011321 0.99253508] [ 0. 0. 0. 1. ]] SLAMing on 196.19650248099998 meters Centerline goodness : 0.703692 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83748764 -0.30175789 -0.45558383 4.50546675] [ 0.33223307 0.94309449 -0.01392741 -0.39924465] [ 0.43386131 -0.13969598 0.89008393 0.99281742] [ 0. 0. 0. 1. ]] SLAMing on 196.22650248099998 meters Centerline goodness : 0.703415 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83732501 -0.3020186 -0.45571 4.5052054 ] [ 0.3326837 0.94293966 -0.01365108 -0.39964137] [ 0.43382991 -0.1401769 0.89002362 0.99336852] [ 0. 0. 0. 1. ]] SLAMing on 196.25650248099998 meters Centerline goodness : 0.700186 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83713758 -0.30221161 -0.45592632 4.50468103] [ 0.3332698 0.94274224 -0.01297352 -0.40025611] [ 0.43374175 -0.14108585 0.88992296 0.99430875] [ 0. 0. 0. 1. ]] SLAMing on 196.28650248099999 meters Centerline goodness : 0.701049 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83702889 -0.30225031 -0.45610019 4.50498679] [ 0.33352871 0.9426558 -0.01259557 -0.40096419] [ 0.43375251 -0.14157965 0.88983929 0.99463179] [ 0. 0. 0. 1. ]] SLAMing on 196.316502481 meters Centerline goodness : 0.702045 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83603694 -0.30690327 -0.45481053 4.50566816] [ 0.33667355 0.94147813 -0.01642706 -0.40033568] [ 0.43323568 -0.13938905 0.89043671 0.99386574] [ 0. 0. 0. 1. ]] SLAMing on 196.346502481 meters Centerline goodness : 0.699947 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.8360669 -0.30690955 -0.45475122 4.50655786] [ 0.33681361 0.94143313 -0.01613214 -0.40179602] [ 0.43306898 -0.13967885 0.89047239 0.99358547] [ 0. 0. 0. 1. ]] SLAMing on 196.376502481 meters Centerline goodness : 0.699208 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83622246 -0.30669138 -0.45461237 4.50632607] [ 0.33660608 0.94150955 -0.0160033 -0.40197727] [ 0.43292996 -0.13964297 0.89054561 0.99341364] [ 0. 0. 0. 1. ]] SLAMing on 196.406502481 meters Centerline goodness : 0.698506 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83739478 -0.30185239 -0.45569192 4.50581396] [ 0.33348661 0.94268333 -0.0116115 -0.40325688] [ 0.43307813 -0.14224374 0.89006182 0.99385875] [ 0. 0. 0. 1. ]] SLAMing on 196.436502481 meters Centerline goodness : 0.695965 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83811081 -0.30114863 -0.45484038 4.50388005] [ 0.33257557 0.94300598 -0.01154203 -0.40317511] [ 0.43239306 -0.1415953 0.89049818 0.99302092] [ 0. 0. 0. 1. ]] SLAMing on 196.466502481 meters Centerline goodness : 0.697617 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83856646 -0.30078057 -0.4542437 4.50281674] [ 0.33206443 0.94318633 -0.0115225 -0.40364143] [ 0.43190219 -0.14117579 0.89080295 0.99245206] [ 0. 0. 0. 1. ]] SLAMing on 196.496502481 meters Centerline goodness : 0.698378 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83885291 -0.30068251 -0.45377949 4.50206128] [ 0.33180735 0.94327517 -0.01165498 -0.40389217] [ 0.43154337 -0.14079056 0.89103779 0.99199368] [ 0. 0. 0. 1. ]] SLAMing on 196.526502481 meters Centerline goodness : 0.697158 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83917519 -0.30034048 -0.45340997 4.50208896] [ 0.33132259 0.94344466 -0.01172653 -0.40381645] [ 0.43128917 -0.14038435 0.89122494 0.99112051] [ 0. 0. 0. 1. ]] SLAMing on 196.556502481 meters Centerline goodness : 0.698344 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83927921 -0.30044749 -0.45314645 4.50335076] [ 0.33111529 0.94351004 -0.01230737 -0.40341375] [ 0.43124594 -0.1397144 0.89135112 0.98993199] [ 0. 0. 0. 1. ]] SLAMing on 196.586502481 meters Centerline goodness : 0.696789 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.40, Z:0.99 [[ 0.83932411 -0.30032476 -0.45314466 4.50408758] [ 0.33098855 0.94355482 -0.01228351 -0.4036343 ] [ 0.43125587 -0.13967585 0.89135236 0.98952122] [ 0. 0. 0. 1. ]] SLAMing on 196.616502481 meters Centerline goodness : 0.696842 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.40, Z:0.99 [[ 0.83923108 -0.30065821 -0.45309584 4.50544256] [ 0.33124647 0.94346136 -0.01250745 -0.40385183] [ 0.43123888 -0.13958976 0.89137407 0.98890448] [ 0. 0. 0. 1. ]] SLAMing on 196.646502481 meters Centerline goodness : 0.596398 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.99 [[ 0.83907441 -0.30102968 -0.45313934 4.506872 ] [ 0.33173516 0.94329137 -0.01237635 -0.40506103] [ 0.43116808 -0.13993757 0.89135378 0.98858657] [ 0. 0. 0. 1. ]] SLAMing on 196.676502481 meters Centerline goodness : 0.579309 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.99 [[ 0.83901081 -0.30097211 -0.45329532 4.50740247] [ 0.33188387 0.94324402 -0.01199215 -0.40607796] [ 0.4311774 -0.14037986 0.89127972 0.98879353] [ 0. 0. 0. 1. ]] SLAMing on 196.706502481 meters Centerline goodness : 0.697915 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.99 [[ 0.83938686 -0.30034448 -0.45301533 4.50642823] [ 0.33150008 0.94338842 -0.01122411 -0.40746055] [ 0.43074052 -0.14075325 0.89143207 0.98893368] [ 0. 0. 0. 1. ]] SLAMing on 196.73650248099997 meters Centerline goodness : 0.595978 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.99 [[ 0.8396237 -0.29994082 -0.45284385 4.50564574] [ 0.33118259 0.94350397 -0.01087925 -0.40774504] [ 0.43052309 -0.14083953 0.89152347 0.98895572] [ 0. 0. 0. 1. ]] SLAMing on 196.76650248099997 meters Centerline goodness : 0.586707 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.99 [[ 0.83995577 -0.29926214 -0.45267701 4.50511811] [ 0.33054317 0.94373176 -0.01056281 -0.40825704] [ 0.43036672 -0.140757 0.891612 0.98876037] [ 0. 0. 0. 1. ]] SLAMing on 196.79650248099998 meters Centerline goodness : 0.588623 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.99 [[ 0.84013892 -0.29909937 -0.45244465 4.50528221] [ 0.33033414 0.9438053 -0.01053168 -0.40863761] [ 0.43016968 -0.14060984 0.8917303 0.98826314] [ 0. 0. 0. 1. ]] SLAMing on 196.82650248099998 meters Centerline goodness : 0.697260 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.99 [[ 0.84027378 -0.29883961 -0.45236585 4.50507923] [ 0.33032884 0.9438139 -0.0099086 -0.40990991] [ 0.42991026 -0.14110355 0.89177741 0.98844585] [ 0. 0. 0. 1. ]] SLAMing on 196.85650248099998 meters Centerline goodness : 0.599397 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.99 [[ 0.8402625 -0.29876434 -0.45243652 4.5052217 ] [ 0.33048313 0.9437647 -0.00943925 -0.41099249] [ 0.42981373 -0.14159119 0.89174665 0.98872882] [ 0. 0. 0. 1. ]] SLAMing on 196.88650248099998 meters Centerline goodness : 0.608167 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.41, Z:0.99 [[ 0.84029021 -0.29866176 -0.45245278 4.50569868] [ 0.33089772 0.94362972 -0.00834563 -0.41369176] [ 0.42944042 -0.14270284 0.89174931 0.98908137] [ 0. 0. 0. 1. ]] SLAMing on 196.91650248099998 meters Centerline goodness : 0.638952 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 0.84028345 -0.29830545 -0.45270032 4.50666157] [ 0.33104581 0.94358645 -0.00729989 -0.41595507] [ 0.42933948 -0.14373056 0.89163285 0.98941187] [ 0. 0. 0. 1. ]] SLAMing on 196.94650248099998 meters Centerline goodness : 0.638379 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 0.84013158 -0.29810381 -0.45311484 4.50745343] [ 0.33118387 0.94354245 -0.00669934 -0.41659121] [ 0.42953018 -0.144436 0.89142698 0.98983465] [ 0. 0. 0. 1. ]] SLAMing on 196.97650248099998 meters Centerline goodness : 0.582278 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 0.84003017 -0.29769048 -0.45357435 4.50854008] [ 0.33122248 0.94353467 -0.00583015 -0.41738605] [ 0.42969871 -0.14533652 0.89119937 0.99014249] [ 0. 0. 0. 1. ]] SLAMing on 197.00650248099998 meters Centerline goodness : 0.636780 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 0.84005167 -0.29746953 -0.45367947 4.50891571] [ 0.33114176 0.94356485 -0.00552286 -0.41792072] [ 0.42971889 -0.14559273 0.89114782 0.99018305] [ 0. 0. 0. 1. ]] SLAMing on 197.03650248099999 meters Centerline goodness : 0.299433 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 0.84037745 -0.29721621 -0.45324196 4.50840542] [ 0.33088214 0.94365718 -0.00530471 -0.41946091] [ 0.42928167 -0.14551171 0.89137174 0.98990159] [ 0. 0. 0. 1. ]] SLAMing on 197.066502481 meters Centerline goodness : 0.230389 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 0.84063187 -0.29710063 -0.45284575 4.50767881] [ 0.33063528 0.94374318 -0.00539729 -0.42003421] [ 0.42897363 -0.14518964 0.89157254 0.98966598] [ 0. 0. 0. 1. ]] SLAMing on 197.096502481 meters Centerline goodness : 0.636227 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.41708243e-01 -2.92293442e-01 -4.53973323e-01 4.50843879e+00] [ 3.27365383e-01 9.44896773e-01 -1.41195219e-03 -4.21701758e-01] [ 4.29370633e-01 -1.47426699e-01 8.91014157e-01 9.89655924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.126502481 meters Centerline goodness : 0.303670 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.41635823e-01 -2.92388996e-01 -4.54046050e-01 4.50923915e+00] [ 3.27227101e-01 9.44943715e-01 -1.94934832e-03 -4.20643542e-01] [ 4.29617929e-01 -1.46935531e-01 8.90976085e-01 9.89139733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.156502481 meters Centerline goodness : 0.636063 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.41752370e-01 -2.92015432e-01 -4.54070408e-01 4.51076779e+00] [ 3.26417135e-01 9.45221768e-01 -2.76817336e-03 -4.18873363e-01] [ 4.30005583e-01 -1.45886245e-01 8.90961504e-01 9.87785597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.186502481 meters Centerline goodness : 0.384061 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.41775728e-01 -2.92174057e-01 -4.53925042e-01 4.51173589e+00] [ 3.26209600e-01 9.45290941e-01 -3.51195916e-03 -4.18039102e-01] [ 4.30117334e-01 -1.45118424e-01 8.91032952e-01 9.86834529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.216502481 meters Centerline goodness : 0.231032 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.41801731e-01 -2.92272390e-01 -4.53813503e-01 4.51189798e+00] [ 3.26277397e-01 9.45267370e-01 -3.55801683e-03 -4.18432096e-01] [ 4.30015006e-01 -1.45073944e-01 8.91089583e-01 9.86667543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.246502481 meters Centerline goodness : 0.232965 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.41820519e-01 -2.92224752e-01 -4.53809331e-01 4.51227892e+00] [ 3.26444936e-01 9.45211143e-01 -3.09831944e-03 -4.19869490e-01] [ 4.29851042e-01 -1.45535529e-01 8.91093425e-01 9.86748638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.276502481 meters Centerline goodness : 0.234266 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.41602773e-01 -2.92235547e-01 -4.54206073e-01 4.51222953e+00] [ 3.26836158e-01 9.45077804e-01 -2.46388737e-03 -4.20337509e-01] [ 4.29980113e-01 -1.46377353e-01 8.90893244e-01 9.87654439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.306502481 meters Centerline goodness : 0.551784 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.41536948e-01 -2.92421367e-01 -4.54208443e-01 4.51202568e+00] [ 3.27133713e-01 9.44975308e-01 -2.28059469e-03 -4.20377870e-01] [ 4.29882658e-01 -1.46667690e-01 8.90892524e-01 9.87861356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.336502481 meters Centerline goodness : 0.259358 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.41267715e-01 -2.92766051e-01 -4.54485062e-01 4.51152718e+00] [ 3.27815174e-01 9.44740205e-01 -1.77681780e-03 -4.21125039e-01] [ 4.29890503e-01 -1.47492320e-01 8.90752587e-01 9.88974143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.366502481 meters Centerline goodness : 0.228396 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.41059635e-01 -2.93088970e-01 -4.54662013e-01 4.51189972e+00] [ 3.28290727e-01 9.44575356e-01 -1.61117284e-03 -4.21566431e-01] [ 4.29934750e-01 -1.47906231e-01 8.90662595e-01 9.89348485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.396502481 meters Centerline goodness : 0.233066 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.40618195e-01 -2.93759134e-01 -4.55045736e-01 4.51356340e+00] [ 3.29054982e-01 9.44309169e-01 -1.73573493e-03 -4.21942817e-01] [ 4.30213749e-01 -1.48275976e-01 8.90466375e-01 9.89499705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.426502481 meters Centerline goodness : 0.446803 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.40502944e-01 -2.94147723e-01 -4.55007603e-01 4.51435853e+00] [ 3.29276082e-01 9.44231204e-01 -2.16687092e-03 -4.21303403e-01] [ 4.30269757e-01 -1.48001859e-01 8.90484916e-01 9.89012463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.456502481 meters Centerline goodness : 0.446803 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.40502944e-01 -2.94147723e-01 -4.55007603e-01 4.51435853e+00] [ 3.29276082e-01 9.44231204e-01 -2.16687092e-03 -4.21303403e-01] [ 4.30269757e-01 -1.48001859e-01 8.90484916e-01 9.89012463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48650248099997 meters Centerline goodness : 0.541943 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.40562929e-01 -2.93805061e-01 -4.55118170e-01 4.51426900e+00] [ 3.29051975e-01 9.44309947e-01 -1.87676511e-03 -4.21148616e-01] [ 4.30324018e-01 -1.48179993e-01 8.90429070e-01 9.89126866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.51650248099997 meters Centerline goodness : 0.541161 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.40696842e-01 -2.93474252e-01 -4.55084259e-01 4.51368676e+00] [ 3.28774620e-01 9.44406938e-01 -1.66855822e-03 -4.20932096e-01] [ 4.30274411e-01 -1.48217403e-01 8.90446816e-01 9.89233397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54650248099998 meters Centerline goodness : 0.276829 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.40853055e-01 -2.93149026e-01 -4.55005262e-01 4.51293743e+00] [ 3.28454408e-01 9.44518563e-01 -1.54460701e-03 -4.20581681e-01] [ 4.30213716e-01 -1.48149697e-01 8.90487409e-01 9.89333975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.57650248099998 meters Centerline goodness : 0.545425 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.40968771e-01 -2.93187796e-01 -4.54766360e-01 4.51275186e+00] [ 3.28288420e-01 9.44575649e-01 -1.88611994e-03 -4.20512731e-01] [ 4.30114217e-01 -1.47708362e-01 8.90608781e-01 9.88988855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60650248099998 meters Centerline goodness : 0.286199 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.41068257e-01 -2.93225102e-01 -4.54558277e-01 4.51287531e+00] [ 3.28163270e-01 9.44618567e-01 -2.15190401e-03 -4.20237683e-01] [ 4.30015181e-01 -1.47359433e-01 8.90714400e-01 9.88532873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.63650248099998 meters Centerline goodness : 0.531521 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.40818716e-01 -2.93804748e-01 -4.54645639e-01 4.51370192e+00] [ 3.28385503e-01 9.44538784e-01 -3.07338671e-03 -4.18341262e-01] [ 4.30333414e-01 -1.46714876e-01 8.90667108e-01 9.88040807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66650248099998 meters Centerline goodness : 0.343941 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.42, Z:0.99 [[ 8.40602236e-01 -2.94261951e-01 -4.54750244e-01 4.51457997e+00] [ 3.28676954e-01 9.44435648e-01 -3.57315832e-03 -4.17231642e-01] [ 4.30533786e-01 -1.46462320e-01 8.90611839e-01 9.87688947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.69650248099998 meters Centerline goodness : 0.334243 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.84002171 -0.29528262 -0.45516118 4.51588347] [ 0.32940382 0.94417794 -0.00459832 -0.41463675] [ 0.43111095 -0.14606915 0.89039719 0.98755447] [ 0. 0. 0. 1. ]] SLAMing on 197.72650248099998 meters Centerline goodness : 0.548199 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.83939137 -0.29631558 -0.4556525 4.51668595] [ 0.33028611 0.94386564 -0.00536105 -0.41293009] [ 0.4316633 -0.14599567 0.89014159 0.98805083] [ 0. 0. 0. 1. ]] SLAMing on 197.75650248099998 meters Centerline goodness : 0.330185 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.8389823 -0.29684437 -0.45606153 4.51692298] [ 0.33090481 0.9436483 -0.00546726 -0.41254248] [ 0.43198461 -0.14632602 0.88993145 0.98881467] [ 0. 0. 0. 1. ]] SLAMing on 197.78650248099999 meters Centerline goodness : 0.311765 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.8383177 -0.29765499 -0.45675479 4.51756602] [ 0.33198308 0.94326994 -0.00538958 -0.41166636] [ 0.4324473 -0.14711668 0.88957631 0.98988544] [ 0. 0. 0. 1. ]] SLAMing on 197.816502481 meters Centerline goodness : 0.350304 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.83736633 -0.29895169 -0.45765218 4.51848594] [ 0.33364991 0.94268211 -0.00530798 -0.41120555] [ 0.43300735 -0.14825089 0.88911546 0.99151833] [ 0. 0. 0. 1. ]] SLAMing on 197.846502481 meters Centerline goodness : 0.348846 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.83690255 -0.29967187 -0.45802935 4.51927515] [ 0.33454417 0.94236527 -0.00528239 -0.4112121 ] [ 0.43321394 -0.1488102 0.88892137 0.99211637] [ 0. 0. 0. 1. ]] SLAMing on 197.876502481 meters Centerline goodness : 0.355954 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.83650566 -0.30007054 -0.45849314 4.52016312] [ 0.33520747 0.94213095 -0.00502253 -0.41142766] [ 0.43346769 -0.14948895 0.88868375 0.99273032] [ 0. 0. 0. 1. ]] SLAMing on 197.906502481 meters Centerline goodness : 0.361037 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.83599339 -0.30108267 -0.45876385 4.51922014] [ 0.33645826 0.94168563 -0.00490088 -0.41137934] [ 0.43348689 -0.15025778 0.88854472 0.99418446] [ 0. 0. 0. 1. ]] SLAMing on 197.936502481 meters Centerline goodness : 0.304618 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 0.83590628 -0.30116657 -0.4588675 4.51876247] [ 0.33666152 0.94161391 -0.00471847 -0.41131453] [ 0.43349707 -0.15053883 0.88849218 0.99467451] [ 0. 0. 0. 1. ]] SLAMing on 197.966502481 meters Centerline goodness : 0.262579 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:1.00 [[ 0.83553659 -0.30163895 -0.45923038 4.51907492] [ 0.33708103 0.94146187 -0.00509119 -0.4096256 ] [ 0.4338836 -0.15054398 0.88830261 0.995005 ] [ 0. 0. 0. 1. ]] SLAMing on 197.996502481 meters Centerline goodness : 0.289901 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:1.00 [[ 8.36116754e-01 -2.97981913e-01 -4.60560043e-01 4.51941900e+00] [ 3.34787128e-01 9.42291915e-01 -1.87775926e-03 -4.09017688e-01] [ 4.34541543e-01 -1.52619548e-01 8.87626566e-01 9.95514662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.026502481 meters Centerline goodness : 0.578986 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:1.00 [[ 8.36188820e-01 -2.98184443e-01 -4.60298049e-01 4.51853130e+00] [ 3.34600287e-01 9.42356499e-01 -2.62227638e-03 -4.07511514e-01] [ 4.34546781e-01 -1.51823141e-01 8.87760570e-01 9.95243940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.056502481 meters Centerline goodness : 0.263822 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 8.36294960e-01 -2.98218834e-01 -4.60082891e-01 4.51869296e+00] [ 3.34412808e-01 9.42421919e-01 -2.99993697e-03 -4.07048991e-01] [ 4.34486839e-01 -1.51348780e-01 8.87870899e-01 9.94680377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.086502481 meters Centerline goodness : 0.588429 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 8.37043407e-01 -2.94348178e-01 -4.61213058e-01 4.52021154e+00] [ 3.31652499e-01 9.43401606e-01 -1.75638340e-04 -4.06151977e-01] [ 4.35160838e-01 -1.52815446e-01 8.87289403e-01 9.94099123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.116502481 meters Centerline goodness : 0.590538 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 8.37800282e-01 -2.90173678e-01 -4.62482349e-01 4.52099261e+00] [ 3.28993960e-01 9.44325586e-01 3.48727615e-03 -4.06645459e-01] [ 4.35722000e-01 -1.55075540e-01 8.86621630e-01 9.94418149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.146502481 meters Centerline goodness : 0.515394 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.99 [[ 8.37888646e-01 -2.90316858e-01 -4.62232343e-01 4.52042393e+00] [ 3.28758749e-01 9.44409845e-01 2.78025596e-03 -4.05117719e-01] [ 4.35729620e-01 -1.54292472e-01 8.86754493e-01 9.93990881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.176502481 meters Centerline goodness : 0.490749 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 8.38007084e-01 -2.90302879e-01 -4.62026368e-01 4.52034076e+00] [ 3.28569790e-01 9.44476359e-01 2.50982536e-03 -4.04763563e-01] [ 4.35644373e-01 -1.53911158e-01 8.86862636e-01 9.93581053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.206502481 meters Centerline goodness : 0.584405 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 8.37992461e-01 -2.90442197e-01 -4.61965330e-01 4.52011064e+00] [ 3.28338588e-01 9.44558484e-01 1.74389691e-03 -4.03233353e-01] [ 4.35846771e-01 -1.53142417e-01 8.86896269e-01 9.93354328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.23650248099997 meters Centerline goodness : 0.569874 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 8.37871413e-01 -2.90595624e-01 -4.62088388e-01 4.51985602e+00] [ 3.28417782e-01 9.44531364e-01 1.50445191e-03 -4.02189846e-01] [ 4.36019789e-01 -1.53018581e-01 8.86832599e-01 9.93553854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26650248099997 meters Centerline goodness : 0.690733 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 8.37876320e-01 -2.90937308e-01 -4.61864435e-01 4.51957325e+00] [ 3.28510364e-01 9.44499839e-01 9.97727553e-04 -4.00758166e-01] [ 4.35940608e-01 -1.52563226e-01 8.86949969e-01 9.93120935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.29650248099998 meters Centerline goodness : 0.689127 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 8.37560468e-01 -2.91627957e-01 -4.62001728e-01 4.51983505e+00] [ 3.29135323e-01 9.44282554e-01 6.31042261e-04 -3.99965863e-01] [ 4.36076142e-01 -1.52589624e-01 8.86878799e-01 9.93352994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32650248099998 meters Centerline goodness : 0.688662 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 8.37251913e-01 -2.92163072e-01 -4.62222861e-01 4.52034954e+00] [ 3.29651040e-01 9.44102779e-01 3.65615121e-04 -3.99509531e-01] [ 4.36279069e-01 -1.52678359e-01 8.86763719e-01 9.93612086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.35650248099998 meters Centerline goodness : 0.692324 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 8.37038409e-01 -2.92810827e-01 -4.62199656e-01 4.52025141e+00] [ 3.30331218e-01 9.43865039e-01 2.72640177e-04 -3.98941435e-01] [ 4.36174264e-01 -1.52907185e-01 8.86775848e-01 9.93773364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38650248099998 meters Centerline goodness : 0.690525 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 8.36771991e-01 -2.93100542e-01 -4.62498331e-01 4.52028031e+00] [ 3.30760958e-01 9.43714499e-01 3.63837221e-04 -3.98290099e-01] [ 4.36359740e-01 -1.53280840e-01 8.86620077e-01 9.94305549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.41650248099998 meters Centerline goodness : 0.566377 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:0.99 [[ 8.36307421e-01 -2.94272867e-01 -4.62594182e-01 4.51987227e+00] [ 3.31722425e-01 9.43376949e-01 -4.07080469e-04 -3.96598204e-01] [ 4.36520481e-01 -1.53112420e-01 8.86570052e-01 9.94845701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44650248099998 meters Centerline goodness : 0.564877 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.40, Z:1.00 [[ 8.35817036e-01 -2.95364198e-01 -4.62784909e-01 4.51982274e+00] [ 3.32742008e-01 9.43017457e-01 -9.12207188e-04 -3.95377727e-01] [ 4.36683682e-01 -1.53225542e-01 8.86470132e-01 9.95385446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47650248099998 meters Centerline goodness : 0.691449 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:1.00 [[ 8.35438571e-01 -2.96080802e-01 -4.63010315e-01 4.52046022e+00] [ 3.33428510e-01 9.42774559e-01 -1.24923741e-03 -3.94679666e-01] [ 4.36884221e-01 -1.53337178e-01 8.86352011e-01 9.95640097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50650248099998 meters Centerline goodness : 0.566743 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:1.00 [[ 8.34874451e-01 -2.97319486e-01 -4.63234037e-01 4.52132750e+00] [ 3.34515164e-01 9.42388310e-01 -1.96929539e-03 -3.93254565e-01] [ 4.37131851e-01 -1.53314695e-01 8.86233800e-01 9.95764736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53650248099999 meters Centerline goodness : 0.694283 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:1.00 [[ 8.35174868e-01 -2.94295143e-01 -4.64621684e-01 4.52147961e+00] [ 3.32866496e-01 9.42973376e-01 1.05300127e-03 -3.92443720e-01] [ 4.37815985e-01 -1.55536432e-01 8.85508657e-01 9.96655829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.566502481 meters Centerline goodness : 0.693403 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:1.00 [[ 8.34882119e-01 -2.94644600e-01 -4.64926238e-01 4.52150324e+00] [ 3.33056241e-01 9.42906821e-01 5.16848176e-04 -3.90673824e-01] [ 4.38229835e-01 -1.55278092e-01 8.85349268e-01 9.96961162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.596502481 meters Centerline goodness : 0.694038 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:1.00 [[ 8.35508093e-01 -2.91233020e-01 -4.65950163e-01 4.52136423e+00] [ 3.30635055e-01 9.43753932e-01 2.99593442e-03 -3.88893816e-01] [ 4.38869784e-01 -1.56562585e-01 8.84805894e-01 9.97044224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.626502481 meters Centerline goodness : 0.691345 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:1.00 [[ 8.35438223e-01 -2.91381127e-01 -4.65982847e-01 4.52103418e+00] [ 3.30576775e-01 9.43775717e-01 2.52807858e-03 -3.87304502e-01] [ 4.39046662e-01 -1.56155161e-01 8.84790142e-01 9.96967606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.656502481 meters Centerline goodness : 0.692614 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:1.00 [[ 0.83645438 -0.28715425 -0.46678316 4.52083078] [ 0.32745875 0.94484922 0.00554185 -0.38663045] [ 0.43944834 -0.15748773 0.88435444 0.99665487] [ 0. 0. 0. 1. ]] SLAMing on 198.686502481 meters Centerline goodness : 0.692392 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.39, Z:1.00 [[ 0.83655847 -0.28711786 -0.46661897 4.52026003] [ 0.32719372 0.94494321 0.00515754 -0.38555039] [ 0.4394476 -0.15698937 0.88444341 0.99646228] [ 0. 0. 0. 1. ]] SLAMing on 198.716502481 meters Centerline goodness : 0.692407 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:1.00 [[ 8.36418896e-01 -2.87449186e-01 -4.66665186e-01 4.51971885e+00] [ 3.27128371e-01 9.44970332e-01 4.25443829e-03 -3.82695153e-01] [ 4.39761821e-01 -1.56217914e-01 8.84423826e-01 9.96382960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.746502481 meters Centerline goodness : 0.693488 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:1.00 [[ 8.36234281e-01 -2.87975397e-01 -4.66671616e-01 4.51997163e+00] [ 3.27341619e-01 9.44899634e-01 3.48518285e-03 -3.80745419e-01] [ 4.39954193e-01 -1.55675472e-01 8.84423799e-01 9.96064275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.776502481 meters Centerline goodness : 0.695623 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:1.00 [[ 8.36223456e-01 -2.88230704e-01 -4.66533379e-01 4.51934473e+00] [ 3.27313725e-01 9.44911260e-01 2.90435091e-03 -3.78961815e-01] [ 4.39995520e-01 -1.55131465e-01 8.84498825e-01 9.95855623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.806502481 meters Centerline goodness : 0.694143 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:1.00 [[ 8.36084801e-01 -2.88230044e-01 -4.66782227e-01 4.51878934e+00] [ 3.27218105e-01 9.44945223e-01 2.61466775e-03 -3.76711472e-01] [ 4.40330010e-01 -1.54925680e-01 8.84368428e-01 9.96119775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.836502481 meters Centerline goodness : 0.696507 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.38, Z:1.00 [[ 8.36025057e-01 -2.88475305e-01 -4.66737723e-01 4.51870982e+00] [ 3.27259401e-01 9.44932074e-01 2.15858174e-03 -3.75474266e-01] [ 4.40412747e-01 -1.54548936e-01 8.84393147e-01 9.95957268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.866502481 meters Centerline goodness : 0.696003 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.37, Z:1.00 [[ 8.35917071e-01 -2.88640865e-01 -4.66828770e-01 4.51855395e+00] [ 3.27012480e-01 9.45019191e-01 1.25133148e-03 -3.72534705e-01] [ 4.40800961e-01 -1.53704843e-01 8.84346840e-01 9.95662444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.896502481 meters Centerline goodness : 0.695974 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.37, Z:1.00 [[ 8.36611515e-01 -2.84451351e-01 -4.68154463e-01 4.51834541e+00] [ 3.23980726e-01 9.46054610e-01 4.14285072e-03 -3.70484781e-01] [ 4.41721249e-01 -1.55138979e-01 8.83636936e-01 9.96067951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.926502481 meters Centerline goodness : 0.697141 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.37, Z:1.00 [[ 8.36560327e-01 -2.84669397e-01 -4.68113398e-01 4.51810980e+00] [ 3.23832757e-01 9.46108339e-01 3.37000988e-03 -3.68362271e-01] [ 4.41926650e-01 -1.54409669e-01 8.83661977e-01 9.95783513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.956502481 meters Centerline goodness : 0.695975 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.36, Z:1.00 [[ 8.36511258e-01 -2.85204893e-01 -4.67875074e-01 4.51729082e+00] [ 3.23539480e-01 9.46213204e-01 1.66664611e-03 -3.64685087e-01] [ 4.42234237e-01 -1.52770226e-01 8.83793040e-01 9.95234427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98650248099997 meters Centerline goodness : 0.695663 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.36, Z:0.99 [[ 8.36530580e-01 -2.85586206e-01 -4.67607857e-01 4.51695013e+00] [ 3.23480792e-01 9.46234406e-01 7.91433453e-04 -3.62944672e-01] [ 4.42240621e-01 -1.51924218e-01 8.83935668e-01 9.94756628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.01650248099997 meters Centerline goodness : 0.694851 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.36, Z:0.99 [[ 8.37064083e-01 -2.82246614e-01 -4.68679602e-01 4.51700540e+00] [ 3.21090532e-01 9.47043286e-01 3.14413293e-03 -3.61019772e-01] [ 4.42972450e-01 -1.53120424e-01 8.83362635e-01 9.94888828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04650248099998 meters Centerline goodness : 0.693378 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.36, Z:0.99 [[ 8.36861837e-01 -2.82739652e-01 -4.68743591e-01 4.51731488e+00] [ 3.21269285e-01 9.46984932e-01 2.36336886e-03 -3.59153217e-01] [ 4.43224900e-01 -1.52570732e-01 8.83331116e-01 9.94655303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.07650248099998 meters Centerline goodness : 0.695897 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.36, Z:1.00 [[ 8.36479929e-01 -2.81577929e-01 -4.70122535e-01 4.51836260e+00] [ 3.20891628e-01 9.47108732e-01 3.68944515e-03 -3.55516953e-01] [ 4.44218292e-01 -1.53944533e-01 8.82593445e-01 9.95213737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10650248099998 meters Centerline goodness : 0.696083 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:0.99 [[ 8.35991648e-01 -2.83017788e-01 -4.70126468e-01 4.51851937e+00] [ 3.21717293e-01 9.46833469e-01 2.08934212e-03 -3.51914244e-01] [ 4.44540154e-01 -1.52994487e-01 8.82596589e-01 9.94862527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.13650248099998 meters Centerline goodness : 0.693226 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:0.99 [[ 8.35775028e-01 -2.83580477e-01 -4.70172538e-01 4.51842876e+00] [ 3.22085966e-01 9.46709177e-01 1.53808887e-03 -3.50565396e-01] [ 4.44680484e-01 -1.52721472e-01 8.82573181e-01 9.94918745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16650248099998 meters Centerline goodness : 0.698815 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:1.00 [[ 8.35258175e-01 -2.84645792e-01 -4.70447185e-01 4.51816346e+00] [ 3.23055049e-01 9.46379688e-01 9.59458844e-04 -3.47952518e-01] [ 4.44948554e-01 -1.52781734e-01 8.82427632e-01 9.95358548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.19650248099998 meters Centerline goodness : 0.696124 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:1.00 [[ 8.35024748e-01 -2.85349994e-01 -4.70434960e-01 4.51730498e+00] [ 3.23737107e-01 9.46146789e-01 7.34459734e-04 -3.47098379e-01] [ 4.44890949e-01 -1.52910545e-01 8.82434365e-01 9.95849149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22650248099998 meters Centerline goodness : 0.697113 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.35, Z:1.00 [[ 8.34787726e-01 -2.86571391e-01 -4.70113061e-01 4.51500712e+00] [ 3.25143058e-01 9.45664409e-01 9.04184587e-04 -3.46847893e-01] [ 4.44310077e-01 -1.53608801e-01 8.82605740e-01 9.96858815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.25650248099998 meters Centerline goodness : 0.698203 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.35, Z:1.00 [[ 8.34520916e-01 -2.87324941e-01 -4.70126812e-01 4.51477555e+00] [ 3.25957947e-01 9.45383912e-01 8.21793141e-04 -3.46589934e-01] [ 4.44214203e-01 -1.53927374e-01 8.82598496e-01 9.97193643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28650248099999 meters Centerline goodness : 0.696024 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.00 [[ 8.33580546e-01 -2.89158300e-01 -4.70670745e-01 4.51575231e+00] [ 3.27755437e-01 9.44762600e-01 5.22829057e-05 -3.44442948e-01] [ 4.44656999e-01 -1.54308478e-01 8.82308929e-01 9.97861341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.316502481 meters Centerline goodness : 0.697529 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.00 [[ 8.33065285e-01 -2.90224354e-01 -4.70926805e-01 4.51646810e+00] [ 3.28662245e-01 9.44447304e-01 -6.46601332e-04 -3.42682591e-01] [ 4.44953211e-01 -1.54237200e-01 8.82172050e-01 9.97958694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.346502481 meters Centerline goodness : 0.696102 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.00 [[ 8.31716630e-01 -2.93220068e-01 -4.71454598e-01 4.51822952e+00] [ 3.31095258e-01 9.43593287e-01 -2.76390473e-03 -3.36217665e-01] [ 4.45671826e-01 -1.53797596e-01 8.81886003e-01 9.97432779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.376502481 meters Centerline goodness : 0.696102 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.34, Z:1.00 [[ 8.31716630e-01 -2.93220068e-01 -4.71454598e-01 4.51822952e+00] [ 3.31095258e-01 9.43593287e-01 -2.76390473e-03 -3.36217665e-01] [ 4.45671826e-01 -1.53797596e-01 8.81886003e-01 9.97432779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.406502481 meters Centerline goodness : 0.697763 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.33, Z:1.00 [[ 8.31425063e-01 -2.94151090e-01 -4.71388905e-01 4.51812162e+00] [ 3.31646214e-01 9.43396425e-01 -3.73813000e-03 -3.33957805e-01] [ 4.45806183e-01 -1.53226371e-01 8.81917528e-01 9.97225801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.436502481 meters Centerline goodness : 0.699157 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.33, Z:1.00 [[ 8.31992041e-01 -2.91486002e-01 -4.72043594e-01 4.51775853e+00] [ 3.29711248e-01 9.44080030e-01 -1.84088796e-03 -3.30589612e-01] [ 4.46183523e-01 -1.54106478e-01 8.81573285e-01 9.96599786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.466502481 meters Centerline goodness : 0.698362 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.33, Z:1.00 [[ 8.32000285e-01 -2.92346064e-01 -4.71496878e-01 4.51634553e+00] [ 3.29891733e-01 9.44013351e-01 -3.19953576e-03 -3.27402505e-01] [ 4.46034719e-01 -1.52880908e-01 8.81861927e-01 9.96004564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.496502481 meters Centerline goodness : 0.698105 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.32, Z:1.00 [[ 8.32603105e-01 -2.89667047e-01 -4.72085874e-01 4.51497060e+00] [ 3.27647002e-01 9.44798386e-01 -1.85781238e-03 -3.22415045e-01] [ 4.46564119e-01 -1.53130701e-01 8.81550609e-01 9.95540103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.526502481 meters Centerline goodness : 0.697769 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.32, Z:1.00 [[ 8.33145788e-01 -2.86184415e-01 -4.73251072e-01 4.51556603e+00] [ 3.25287656e-01 9.45614750e-01 8.27967914e-04 -3.20882026e-01] [ 4.47276243e-01 -1.54632550e-01 8.80927203e-01 9.95516504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.556502481 meters Centerline goodness : 0.701822 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.31, Z:0.99 [[ 8.33674947e-01 -2.84093362e-01 -4.73578974e-01 4.51575682e+00] [ 3.23110551e-01 9.46360604e-01 1.08620923e-03 -3.14971251e-01] [ 4.47867899e-01 -1.53923909e-01 8.80750688e-01 9.93806783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.586502481 meters Centerline goodness : 0.699684 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.31, Z:0.99 [[ 8.33623797e-01 -2.85090510e-01 -4.73069516e-01 4.51519754e+00] [ 3.23070289e-01 9.46374421e-01 -1.02159622e-03 -3.10881009e-01] [ 4.47992136e-01 -1.51983078e-01 8.81024511e-01 9.92842416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.616502481 meters Centerline goodness : 0.699003 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.31, Z:0.99 [[ 8.34965781e-01 -2.78648238e-01 -4.74539044e-01 4.51502754e+00] [ 3.18220777e-01 9.48011065e-01 3.24914526e-03 -3.05573127e-01] [ 4.48962896e-01 -1.53721108e-01 8.80228458e-01 9.91633898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.646502481 meters Centerline goodness : 0.700228 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.30, Z:0.99 [[ 0.83732578 -0.26959691 -0.47560807 4.51408417] [ 0.31168795 0.9501302 0.01016004 -0.30274431] [ 0.44915048 -0.15674857 0.87959862 0.98947318] [ 0. 0. 0. 1. ]] SLAMing on 199.676502481 meters Centerline goodness : 0.700377 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.30, Z:0.99 [[ 0.83869896 -0.26510761 -0.4757121 4.51366417] [ 0.30844261 0.95114375 0.0137374 -0.30240438] [ 0.44882871 -0.15825143 0.87949376 0.98795025] [ 0. 0. 0. 1. ]] SLAMing on 199.706502481 meters Centerline goodness : 0.698124 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.30, Z:0.99 [[ 0.84005456 -0.26173714 -0.47518629 4.51199907] [ 0.3058507 0.95193894 0.01635886 -0.2994442 ] [ 0.44806661 -0.15907839 0.87973313 0.98576574] [ 0. 0. 0. 1. ]] SLAMing on 199.73650248099997 meters Centerline goodness : 0.700081 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.30, Z:0.99 [[ 0.83987713 -0.26211549 -0.47529137 4.51216636] [ 0.30594206 0.95192142 0.01565437 -0.29633343] [ 0.44833678 -0.15855937 0.87968918 0.98557983] [ 0. 0. 0. 1. ]] SLAMing on 199.76650248099997 meters Centerline goodness : 0.695488 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.29, Z:0.98 [[ 0.84088143 -0.25754216 -0.47601517 4.51310755] [ 0.30255163 0.95294603 0.0188781 -0.29287544] [ 0.44875486 -0.15989341 0.87923442 0.98397223] [ 0. 0. 0. 1. ]] SLAMing on 199.79650248099998 meters Centerline goodness : 0.698854 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.29, Z:0.98 [[ 0.84201699 -0.2529744 -0.47645707 4.5134512 ] [ 0.2993288 0.95388414 0.02252388 -0.29226001] [ 0.44878688 -0.16158281 0.87890917 0.9825019 ] [ 0. 0. 0. 1. ]] SLAMing on 199.82650248099998 meters Centerline goodness : 0.699934 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.29, Z:0.98 [[ 0.84301098 -0.24837724 -0.47711763 4.51343386] [ 0.29588721 0.95487684 0.02570959 -0.28837357] [ 0.4492029 -0.16284647 0.87846331 0.98115251] [ 0. 0. 0. 1. ]] SLAMing on 199.85650248099998 meters Centerline goodness : 0.699782 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.29, Z:0.98 [[ 0.84462991 -0.24003134 -0.47852405 4.51128822] [ 0.28490653 0.9582984 0.02219098 -0.28853249] [ 0.4532423 -0.15507779 0.87779399 0.97867954] [ 0. 0. 0. 1. ]] SLAMing on 199.88650248099998 meters Centerline goodness : 0.698016 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.29, Z:0.98 [[ 0.84441821 -0.24016431 -0.47883087 4.51208009] [ 0.2848693 0.95832054 0.02170795 -0.28578831] [ 0.45365998 -0.1547348 0.87763874 0.97854509] [ 0. 0. 0. 1. ]] SLAMing on 199.91650248099998 meters Centerline goodness : 0.698921 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.28, Z:0.98 [[ 0.8456289 -0.2362018 -0.4786653 4.51091809] [ 0.28201926 0.95908408 0.02495741 -0.28313033] [ 0.45318528 -0.15609754 0.87764267 0.97634431] [ 0. 0. 0. 1. ]] SLAMing on 199.94650248099998 meters Centerline goodness : 0.698418 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.28, Z:0.97 [[ 0.84792877 -0.2299802 -0.47762529 4.50882709] [ 0.27247051 0.96194501 0.02053342 -0.28104288] [ 0.45472698 -0.14754968 0.87832367 0.97304465] [ 0. 0. 0. 1. ]] SLAMing on 199.97650248099998 meters Centerline goodness : 0.698889 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.28, Z:0.97 [[ 0.84986575 -0.22248685 -0.47773195 4.50544842] [ 0.26195731 0.96493623 0.01662633 -0.28345167] [ 0.45728173 -0.13927552 0.87834831 0.97054803] [ 0. 0. 0. 1. ]] SLAMing on 200.00650248099998 meters Centerline goodness : 0.697712 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.28, Z:0.97 [[ 0.85074275 -0.21811025 -0.47818897 4.5050426 ] [ 0.25861082 0.96578309 0.01958241 -0.27850145] [ 0.45755569 -0.14032443 0.87803863 0.9691836 ] [ 0. 0. 0. 1. ]] SLAMing on 200.03650248099999 meters Centerline goodness : 0.696526 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.28, Z:0.97 [[ 0.85180212 -0.21343666 -0.4784119 4.5040272 ] [ 0.25527202 0.96658906 0.02327642 -0.27781407] [ 0.45745966 -0.14195207 0.87782701 0.96817234] [ 0. 0. 0. 1. ]] SLAMing on 200.066502481 meters Centerline goodness : 0.696012 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.28, Z:0.96 [[ 0.85505292 -0.20426929 -0.47661155 4.49869519] [ 0.24348347 0.96967274 0.0212267 -0.27810693] [ 0.45782126 -0.13419699 0.8788577 0.96436753] [ 0. 0. 0. 1. ]] SLAMing on 200.096502481 meters Centerline goodness : 0.695604 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.28, Z:0.96 [[ 0.8558441 -0.20123427 -0.47648259 4.49870447] [ 0.24125003 0.97017627 0.02358891 -0.27677161] [ 0.4575252 -0.13513987 0.8788674 0.96299077] [ 0. 0. 0. 1. ]] SLAMing on 200.126502481 meters Centerline goodness : 0.694917 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.28, Z:0.96 [[ 0.85855216 -0.19364812 -0.47475109 4.49484203] [ 0.23062449 0.97283199 0.02025495 -0.27563919] [ 0.45793071 -0.12687916 0.879887 0.95920876] [ 0. 0. 0. 1. ]] SLAMing on 200.156502481 meters Centerline goodness : 0.693936 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.28, Z:0.96 [[ 0.86107959 -0.18602799 -0.47321827 4.49039898] [ 0.22012885 0.97532019 0.01714135 -0.27872819] [ 0.45835056 -0.11892905 0.88077843 0.95556774] [ 0. 0. 0. 1. ]] SLAMing on 200.186502481 meters Centerline goodness : 0.694796 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.28, Z:0.95 [[ 0.86193801 -0.18190536 -0.47325819 4.49039103] [ 0.21712427 0.97593229 0.0203279 -0.27630374] [ 0.45817019 -0.12027723 0.8806892 0.95380291] [ 0. 0. 0. 1. ]] SLAMing on 200.216502481 meters Centerline goodness : 0.696082 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.27, Z:0.95 [[ 0.862857 -0.17721613 -0.4733627 4.48943813] [ 0.21372383 0.97660014 0.0239643 -0.2743296 ] [ 0.45803922 -0.12184666 0.88054158 0.95258645] [ 0. 0. 0. 1. ]] SLAMing on 200.246502481 meters Centerline goodness : 0.693504 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.27, Z:0.95 [[ 0.86371826 -0.17265206 -0.47347865 4.4891292 ] [ 0.21061816 0.97717054 0.02788772 -0.27498572] [ 0.45785452 -0.12381033 0.8803637 0.9512668 ] [ 0. 0. 0. 1. ]] SLAMing on 200.276502481 meters Centerline goodness : 0.695997 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.28, Z:0.95 [[ 0.86624386 -0.16555198 -0.47139592 4.48328218] [ 0.20048598 0.97939122 0.02445841 -0.27697617] [ 0.45763189 -0.11569523 0.88158248 0.94712203] [ 0. 0. 0. 1. ]] SLAMing on 200.306502481 meters Centerline goodness : 0.695071 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.28, Z:0.95 [[ 0.86613145 -0.16574507 -0.47153461 4.48367192] [ 0.2005266 0.97939236 0.02407659 -0.27532601] [ 0.45782682 -0.11540873 0.88151882 0.9471124 ] [ 0. 0. 0. 1. ]] SLAMing on 200.336502481 meters Centerline goodness : 0.695150 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.27, Z:0.95 [[ 0.86604721 -0.16621849 -0.47152268 4.48406422] [ 0.20078156 0.97935317 0.02354014 -0.27244521] [ 0.45787443 -0.11505994 0.88153969 0.94651544] [ 0. 0. 0. 1. ]] SLAMing on 200.366502481 meters Centerline goodness : 0.696010 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.27, Z:0.95 [[ 0.86596619 -0.16585815 -0.47179829 4.48456946] [ 0.20091079 0.97930326 0.02449462 -0.27415649] [ 0.45797097 -0.11600088 0.88136621 0.94602504] [ 0. 0. 0. 1. ]] SLAMing on 200.396502481 meters Centerline goodness : 0.699436 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.27, Z:0.95 [[ 0.86594353 -0.16551972 -0.4719587 4.48511168] [ 0.20077275 0.97932085 0.02491945 -0.27471942] [ 0.45807434 -0.11633528 0.88126841 0.94589821] [ 0. 0. 0. 1. ]] SLAMing on 200.426502481 meters Centerline goodness : 0.696921 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.28, Z:0.94 [[ 0.86784976 -0.15952578 -0.4705192 4.47968674] [ 0.19170205 0.98123047 0.02090674 -0.28004653] [ 0.45835261 -0.1083434 0.88214205 0.94231024] [ 0. 0. 0. 1. ]] SLAMing on 200.45650248099997 meters Centerline goodness : 0.697552 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.28, Z:0.94 [[ 0.86791193 -0.15945275 -0.47042927 4.48034669] [ 0.19168111 0.98123151 0.02104942 -0.280295 ] [ 0.45824363 -0.10844144 0.88218662 0.94178336] [ 0. 0. 0. 1. ]] SLAMing on 200.48650248099997 meters Centerline goodness : 0.697563 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.29, Z:0.94 [[ 0.86981496 -0.15321682 -0.46898459 4.47450138] [ 0.18221548 0.98311564 0.01676792 -0.28576854] [ 0.45849695 -0.10004123 0.88304717 0.93878957] [ 0. 0. 0. 1. ]] SLAMing on 200.51650248099997 meters Centerline goodness : 0.696135 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.29, Z:0.94 [[ 0.87072082 -0.14830613 -0.46888223 4.47283193] [ 0.17864153 0.98369858 0.0205987 -0.28619817] [ 0.45818387 -0.10169756 0.88302047 0.93824004] [ 0. 0. 0. 1. ]] SLAMing on 200.54650248099998 meters Centerline goodness : 0.694940 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.29, Z:0.94 [[ 0.87164746 -0.1430449 -0.46879512 4.47201648] [ 0.174993 0.98425113 0.02504314 -0.28836678] [ 0.45782984 -0.10386465 0.88295185 0.93723653] [ 0. 0. 0. 1. ]] SLAMing on 200.57650248099998 meters Centerline goodness : 0.692423 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.29, Z:0.93 [[ 0.87510533 -0.13403269 -0.46500097 4.46445979] [ 0.16386058 0.9861887 0.02411552 -0.29346202] [ 0.45534644 -0.09729895 0.88498166 0.9322053 ] [ 0. 0. 0. 1. ]] SLAMing on 200.60650248099998 meters Centerline goodness : 0.691607 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.29, Z:0.93 [[ 0.87490696 -0.13419931 -0.46532607 4.46467525] [ 0.16377352 0.98621794 0.02350357 -0.29200204] [ 0.45575875 -0.09677152 0.88482723 0.93303631] [ 0. 0. 0. 1. ]] SLAMing on 200.63650248099998 meters Centerline goodness : 0.690927 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.29, Z:0.93 [[ 0.87478553 -0.13390103 -0.4656402 4.46489319] [ 0.16347205 0.98626813 0.02349595 -0.29247882] [ 0.45609996 -0.09667307 0.88466216 0.93386835] [ 0. 0. 0. 1. ]] SLAMing on 200.66650248099998 meters Centerline goodness : 0.690349 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.29, Z:0.93 [[ 0.87465119 -0.13354876 -0.46599358 4.46593917] [ 0.16260859 0.98643389 0.02250841 -0.29141066] [ 0.45666589 -0.09546157 0.88450175 0.93416679] [ 0. 0. 0. 1. ]] SLAMing on 200.69650248099998 meters Centerline goodness : 0.686910 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.29, Z:0.93 [[ 0.87470064 -0.13340885 -0.46594084 4.46590352] [ 0.16215282 0.98652164 0.02194369 -0.29070242] [ 0.45673323 -0.09474778 0.88454373 0.93417582] [ 0. 0. 0. 1. ]] SLAMing on 200.72650248099998 meters Centerline goodness : 0.687113 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.29, Z:0.94 [[ 0.87431722 -0.13349198 -0.46663615 4.46641351] [ 0.16151281 0.98666051 0.02036311 -0.28837776] [ 0.45769315 -0.09317153 0.88421493 0.93542552] [ 0. 0. 0. 1. ]] SLAMing on 200.75650248099998 meters Centerline goodness : 0.683710 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.29, Z:0.94 [[ 0.87411418 -0.13338995 -0.46704551 4.46664245] [ 0.16116752 0.98672792 0.01982509 -0.28745532] [ 0.45820238 -0.09260196 0.884011 0.93611737] [ 0. 0. 0. 1. ]] SLAMing on 200.78650248099999 meters Centerline goodness : 0.682253 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.29, Z:0.94 [[ 0.87382279 -0.13350096 -0.4675588 4.46666783] [ 0.16078084 0.98681255 0.0187218 -0.28652955] [ 0.45889352 -0.09153403 0.88376369 0.93743343] [ 0. 0. 0. 1. ]] SLAMing on 200.816502481 meters Centerline goodness : 0.682228 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.29, Z:0.94 [[ 0.87379679 -0.13338391 -0.46764078 4.46654632] [ 0.16054416 0.98685523 0.01850217 -0.2866015 ] [ 0.45902585 -0.09124413 0.88372494 0.93784688] [ 0. 0. 0. 1. ]] SLAMing on 200.846502481 meters Centerline goodness : 0.679395 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.29, Z:0.94 [[ 0.87398046 -0.13352942 -0.46725587 4.46516057] [ 0.16004901 0.98695714 0.01731791 -0.28528368] [ 0.45884907 -0.08991935 0.88395251 0.93815088] [ 0. 0. 0. 1. ]] SLAMing on 200.876502481 meters Centerline goodness : 0.675815 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.28, Z:0.94 [[ 0.87390551 -0.13397561 -0.46726833 4.46410375] [ 0.15990753 0.98700115 0.01607212 -0.28372108] [ 0.45904111 -0.08876524 0.88396945 0.93902989] [ 0. 0. 0. 1. ]] SLAMing on 200.906502481 meters Centerline goodness : 0.678681 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.28, Z:0.94 [[ 0.87389252 -0.13412195 -0.46725064 4.4639357 ] [ 0.1598866 0.98701025 0.0157174 -0.28352701] [ 0.45907312 -0.08844243 0.88398518 0.93921643] [ 0. 0. 0. 1. ]] SLAMing on 200.936502481 meters Centerline goodness : 0.677012 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.28, Z:0.94 [[ 0.87378833 -0.13410448 -0.46745048 4.46322803] [ 0.1598571 0.98701602 0.01565513 -0.28342651] [ 0.45928169 -0.08840455 0.88388063 0.94012872] [ 0. 0. 0. 1. ]] SLAMing on 200.966502481 meters Centerline goodness : 0.678020 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.28, Z:0.94 [[ 0.87384426 -0.13399015 -0.4673787 4.46271099] [ 0.15982937 0.98701714 0.01586595 -0.28386834] [ 0.45918491 -0.08856521 0.88391483 0.940328 ] [ 0. 0. 0. 1. ]] SLAMing on 200.996502481 meters Centerline goodness : 0.678734 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.28, Z:0.94 [[ 0.87353324 -0.13860981 -0.46661226 4.46060127] [ 0.16312632 0.98652813 0.01233097 -0.28202355] [ 0.45861693 -0.08688826 0.88437602 0.94074891] [ 0. 0. 0. 1. ]] SLAMing on 201.026502481 meters Centerline goodness : 0.678902 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.28, Z:0.94 [[ 0.87339739 -0.13845386 -0.46691276 4.46023351] [ 0.16355241 0.98644327 0.01342729 -0.2836877 ] [ 0.45872389 -0.08809207 0.88420144 0.94164172] [ 0. 0. 0. 1. ]] SLAMing on 201.056502481 meters Centerline goodness : 0.683088 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.28, Z:0.94 [[ 0.8727328 -0.14404456 -0.46646396 4.45938395] [ 0.16772547 0.98578898 0.00939403 -0.28064234] [ 0.45848187 -0.08643637 0.88449032 0.9418558 ] [ 0. 0. 0. 1. ]] SLAMing on 201.086502481 meters Centerline goodness : 0.684635 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.28, Z:0.94 [[ 0.87181948 -0.1494416 -0.46647401 4.46006667] [ 0.17155352 0.98516204 0.0050153 -0.2786878 ] [ 0.45880299 -0.08439769 0.88452069 0.94254216] [ 0. 0. 0. 1. ]] SLAMing on 201.116502481 meters Centerline goodness : 0.688111 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.28, Z:0.94 [[ 0.87168815 -0.1495619 -0.46668085 4.46060214] [ 0.17178057 0.98512179 0.00514783 -0.27908349] [ 0.45896755 -0.08465401 0.88441081 0.94273568] [ 0. 0. 0. 1. ]] SLAMing on 201.146502481 meters Centerline goodness : 0.687405 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.28, Z:0.94 [[ 0.87152882 -0.15009184 -0.46680826 4.4604697 ] [ 0.17223583 0.98504383 0.00484449 -0.27839985] [ 0.45909948 -0.08462323 0.88434528 0.9431626 ] [ 0. 0. 0. 1. ]] SLAMing on 201.176502481 meters Centerline goodness : 0.685896 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.28, Z:0.94 [[ 0.87163704 -0.15034414 -0.46652493 4.45994559] [ 0.17235482 0.98502427 0.0045833 -0.2779055 ] [ 0.4588493 -0.0844028 0.88449617 0.94292758] [ 0. 0. 0. 1. ]] SLAMing on 201.20650248099997 meters Centerline goodness : 0.686993 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.28, Z:0.94 [[ 8.71793843e-01 -1.50785469e-01 -4.66089302e-01 4.45932669e+00] [ 1.72421516e-01 9.85015773e-01 3.84035875e-03 -2.76284595e-01] [ 4.58526244e-01 -8.37118250e-02 8.84729345e-01 9.42336357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.23650248099997 meters Centerline goodness : 0.688303 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.94 [[ 8.71856210e-01 -1.51910899e-01 -4.65606946e-01 4.45804480e+00] [ 1.72986878e-01 9.84920760e-01 2.57617553e-03 -2.74261835e-01] [ 4.58194598e-01 -8.27899466e-02 8.84987873e-01 9.42228543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26650248099997 meters Centerline goodness : 0.688303 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.94 [[ 8.71856210e-01 -1.51910899e-01 -4.65606946e-01 4.45804480e+00] [ 1.72986878e-01 9.84920760e-01 2.57617553e-03 -2.74261835e-01] [ 4.58194598e-01 -8.27899466e-02 8.84987873e-01 9.42228543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.29650248099998 meters Centerline goodness : 0.686848 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.94 [[ 8.71707789e-01 -1.52200753e-01 -4.65790147e-01 4.45833242e+00] [ 1.73145520e-01 9.84893767e-01 2.21285367e-03 -2.73463863e-01] [ 4.58417014e-01 -8.25784391e-02 8.84892447e-01 9.42372882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32650248099998 meters Centerline goodness : 0.686636 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.94 [[ 8.71534936e-01 -1.53415505e-01 -4.65715082e-01 4.45789601e+00] [ 1.73789220e-01 9.84782531e-01 8.21248350e-04 -2.71054455e-01] [ 4.58502085e-01 -8.16520077e-02 8.84934341e-01 9.42518506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.35650248099998 meters Centerline goodness : 0.687356 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.94 [[ 8.71349574e-01 -1.53794365e-01 -4.65936920e-01 4.45807200e+00] [ 1.74450273e-01 9.84665222e-01 1.22593486e-03 -2.71204821e-01] [ 4.58603339e-01 -8.23510409e-02 8.84817090e-01 9.42856818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38650248099998 meters Centerline goodness : 0.686332 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.94 [[ 8.71124379e-01 -1.53943747e-01 -4.66308524e-01 4.45858244e+00] [ 1.74861186e-01 9.84591768e-01 1.61715931e-03 -2.72055373e-01] [ 4.58874583e-01 -8.29480083e-02 8.84620679e-01 9.43368564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.41650248099998 meters Centerline goodness : 0.684954 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.94 [[ 8.70548951e-01 -1.58926073e-01 -4.65711314e-01 4.45794119e+00] [ 1.78250927e-01 9.83981667e-01 -2.58568992e-03 -2.70842287e-01] [ 4.58662328e-01 -8.07625037e-02 8.84932928e-01 9.43706197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44650248099998 meters Centerline goodness : 0.685257 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.94 [[ 8.70397726e-01 -1.59347511e-01 -4.65849942e-01 4.45761412e+00] [ 1.78768098e-01 9.83887973e-01 -2.53462270e-03 -2.71265722e-01] [ 4.58748041e-01 -8.10729782e-02 8.84860106e-01 9.44262108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47650248099998 meters Centerline goodness : 0.688060 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.94 [[ 8.70561041e-01 -1.59722712e-01 -4.65416082e-01 4.45657597e+00] [ 1.78989986e-01 9.83846802e-01 -2.83825629e-03 -2.71348610e-01] [ 4.58351458e-01 -8.08339429e-02 8.85087462e-01 9.44199875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50650248099998 meters Centerline goodness : 0.684563 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.94 [[ 8.70599164e-01 -1.59588443e-01 -4.65390830e-01 4.45609978e+00] [ 1.79098998e-01 9.83828299e-01 -2.32963073e-03 -2.72469388e-01] [ 4.58236451e-01 -8.13228566e-02 8.85102225e-01 9.44472080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53650248099999 meters Centerline goodness : 0.683150 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.27, Z:0.94 [[ 8.70854529e-01 -1.59656353e-01 -4.64889491e-01 4.45474565e+00] [ 1.79355845e-01 9.83782468e-01 -1.88059880e-03 -2.73700846e-01] [ 4.57650380e-01 -8.17429195e-02 8.85366717e-01 9.44390368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.566502481 meters Centerline goodness : 0.683116 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.27, Z:0.94 [[ 8.70750321e-01 -1.59930582e-01 -4.64990417e-01 4.45488022e+00] [ 1.80035736e-01 9.83659356e-01 -1.18505393e-03 -2.74670732e-01] [ 4.57581700e-01 -8.26830057e-02 8.85314920e-01 9.44443778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.596502481 meters Centerline goodness : 0.684569 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.28, Z:0.94 [[ 8.70494150e-01 -1.60321453e-01 -4.65335327e-01 4.45533077e+00] [ 1.80619944e-01 9.83552477e-01 -9.79846897e-04 -2.75094100e-01] [ 4.57838804e-01 -8.31958897e-02 8.85133930e-01 9.44931206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.626502481 meters Centerline goodness : 0.683169 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.95 [[ 8.69603625e-01 -1.61213644e-01 -4.66690151e-01 4.45823584e+00] [ 1.81790481e-01 9.83336832e-01 -9.46349564e-04 -2.74829702e-01] [ 4.59066179e-01 -8.40168782e-02 8.84420379e-01 9.45973800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.656502481 meters Centerline goodness : 0.681163 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.95 [[ 8.69312461e-01 -1.61764394e-01 -4.67041888e-01 4.45970344e+00] [ 1.82348863e-01 9.83233230e-01 -1.14334296e-03 -2.74717063e-01] [ 4.59396057e-01 -8.41706349e-02 8.84234453e-01 9.45918301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.686502481 meters Centerline goodness : 0.682979 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.95 [[ 0.86785979 -0.16751515 -0.46771579 4.46139946] [ 0.1870843 0.98233268 -0.00468803 -0.27143573] [ 0.46023782 -0.08343373 0.88386649 0.94681431] [ 0. 0. 0. 1. ]] SLAMing on 201.716502481 meters Centerline goodness : 0.684268 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.95 [[ 8.67760608e-01 -1.67714778e-01 -4.67828260e-01 4.46150360e+00] [ 1.87544816e-01 9.82246806e-01 -4.26075360e-03 -2.71891074e-01] [ 4.60237405e-01 -8.40414510e-02 8.83809123e-01 9.46916469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.746502481 meters Centerline goodness : 0.682134 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.95 [[ 8.68742281e-01 -1.62605688e-01 -4.67810047e-01 4.45980826e+00] [ 1.84020247e-01 9.82922450e-01 7.99197716e-05 -2.73934483e-01] [ 4.59808002e-01 -8.61559500e-02 8.83829030e-01 9.46272087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.776502481 meters Centerline goodness : 0.680509 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.95 [[ 8.68699764e-01 -1.62652573e-01 -4.67872696e-01 4.45964330e+00] [ 1.83958320e-01 9.82934033e-01 -1.54316721e-04 -2.73802701e-01] [ 4.59913096e-01 -8.59350202e-02 8.83795857e-01 9.46794495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.806502481 meters Centerline goodness : 0.680867 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.95 [[ 8.68566384e-01 -1.63247817e-01 -4.67913011e-01 4.45890684e+00] [ 1.84444900e-01 9.82842717e-01 -5.22080566e-04 -2.73916604e-01] [ 4.59970124e-01 -8.58507069e-02 8.83774372e-01 9.47535191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.836502481 meters Centerline goodness : 0.675235 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.95 [[ 8.68524669e-01 -1.63349057e-01 -4.67955110e-01 4.45845233e+00] [ 1.84393741e-01 9.82852088e-01 -8.49331114e-04 -2.73865438e-01] [ 4.60069394e-01 -8.55503281e-02 8.83751828e-01 9.48287440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.866502481 meters Centerline goodness : 0.678103 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.95 [[ 8.68603431e-01 -1.63264685e-01 -4.67838352e-01 4.45879958e+00] [ 1.84372605e-01 9.82856183e-01 -6.81917630e-04 -2.74378705e-01] [ 4.59929150e-01 -8.56642598e-02 8.83813788e-01 9.47910771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.896502481 meters Centerline goodness : 0.679554 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.28, Z:0.95 [[ 8.68599044e-01 -1.63197881e-01 -4.67869804e-01 4.45938981e+00] [ 1.84257412e-01 9.82877725e-01 -7.64635279e-04 -2.75044319e-01] [ 4.59983595e-01 -8.55443179e-02 8.83797071e-01 9.48135848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.926502481 meters Centerline goodness : 0.676738 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.95 [[ 8.68494527e-01 -1.63229883e-01 -4.68052627e-01 4.45920236e+00] [ 1.84170335e-01 9.82893792e-01 -1.03986305e-03 -2.74910576e-01] [ 4.60215758e-01 -8.52982938e-02 8.83699981e-01 9.48904132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.95650248099997 meters Centerline goodness : 0.676470 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.28, Z:0.95 [[ 8.69604843e-01 -1.58229030e-01 -4.67708234e-01 4.45761452e+00] [ 1.80710254e-01 9.83530984e-01 3.25706993e-03 -2.76756589e-01] [ 4.59490176e-01 -8.73520373e-02 8.83876914e-01 9.47689658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98650248099997 meters Centerline goodness : 0.675923 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.28, Z:0.95 [[ 8.69586984e-01 -1.58553739e-01 -4.67631467e-01 4.45688305e+00] [ 1.80714118e-01 9.83532297e-01 2.57450872e-03 -2.76276311e-01] [ 4.59522453e-01 -8.67463673e-02 8.83919783e-01 9.48702107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.01650248099997 meters Centerline goodness : 0.676816 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.28, Z:0.95 [[ 8.69947511e-01 -1.58812115e-01 -4.66872617e-01 4.45561503e+00] [ 1.80689915e-01 9.83537813e-01 2.12696576e-03 -2.75276499e-01] [ 4.58849085e-01 -8.62095222e-02 8.84322020e-01 9.47901715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04650248099998 meters Centerline goodness : 0.675409 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.95 [[ 8.69627442e-01 -1.59589136e-01 -4.67203832e-01 4.45650529e+00] [ 1.80949604e-01 9.83491989e-01 8.64942788e-04 -2.72860418e-01] [ 4.59353190e-01 -8.52925262e-02 8.84149213e-01 9.48043415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.07650248099998 meters Centerline goodness : 0.674236 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.95 [[ 8.69488262e-01 -1.60258043e-01 -4.67233906e-01 4.45714377e+00] [ 1.81319195e-01 9.83424291e-01 1.13988350e-04 -2.71805947e-01] [ 4.59470905e-01 -8.48175870e-02 8.84133737e-01 9.47786088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10650248099998 meters Centerline goodness : 0.675046 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.95 [[ 8.69190758e-01 -1.61225231e-01 -4.67454651e-01 4.45913042e+00] [ 1.81794881e-01 9.83335835e-01 -1.12121444e-03 -2.70084976e-01] [ 4.59845678e-01 -8.40063134e-02 8.84016341e-01 9.47084515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.13650248099998 meters Centerline goodness : 0.675837 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.95 [[ 8.68987455e-01 -1.61476065e-01 -4.67745960e-01 4.45994790e+00] [ 1.82096265e-01 9.83280038e-01 -1.14767652e-03 -2.69779369e-01] [ 4.60110588e-01 -8.41774758e-02 8.83862206e-01 9.47204889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16650248099998 meters Centerline goodness : 0.674890 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.95 [[ 8.69203242e-01 -1.61572898e-01 -4.67311377e-01 4.45921007e+00] [ 1.82251736e-01 9.83251425e-01 -9.69337062e-04 -2.70220118e-01] [ 4.59641196e-01 -8.43257591e-02 8.84092267e-01 9.46871909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.19650248099998 meters Centerline goodness : 0.673413 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.95 [[ 8.69917673e-01 -1.61041381e-01 -4.66164044e-01 4.45662252e+00] [ 1.81814134e-01 9.83332826e-01 -4.16050932e-04 -2.71446366e-01] [ 4.58461409e-01 -8.43932819e-02 8.84698203e-01 9.46244999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22650248099998 meters Centerline goodness : 0.671589 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.28, Z:0.94 [[ 8.72025940e-01 -1.56144622e-01 -4.63885349e-01 4.44431941e+00] [ 1.74686798e-01 9.84619349e-01 -3.04298600e-03 -2.78813698e-01] [ 4.57225636e-01 -7.83810836e-02 8.85890018e-01 9.40167419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25650248099998 meters Centerline goodness : 0.674065 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.29, Z:0.93 [[ 0.87401842 -0.15383225 -0.46089852 4.42811043] [ 0.17066137 0.98531584 -0.00523363 -0.28686229] [ 0.45493572 -0.07408329 0.88743741 0.93032785] [ 0. 0. 0. 1. ]] SLAMing on 202.28650248099999 meters Centerline goodness : 0.670360 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.29, Z:0.93 [[ 0.87406635 -0.15381186 -0.46081441 4.42788788] [ 0.17072021 0.98530656 -0.00505853 -0.28849093] [ 0.45482153 -0.07424884 0.88748211 0.93043737] [ 0. 0. 0. 1. ]] SLAMing on 202.316502481 meters Centerline goodness : 0.672008 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.30, Z:0.92 [[ 0.87591075 -0.15079687 -0.45830192 4.41041373] [ 0.1671988 0.98591129 -0.00484639 -0.29728962] [ 0.45257586 -0.07238253 0.88878336 0.91919776] [ 0. 0. 0. 1. ]] SLAMing on 202.346502481 meters Centerline goodness : 0.672821 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.30, Z:0.92 [[ 0.87608527 -0.1509244 -0.45792622 4.41114725] [ 0.16752023 0.98585869 -0.00442892 -0.30097563] [ 0.45211898 -0.0728318 0.88897917 0.91830762] [ 0. 0. 0. 1. ]] SLAMing on 202.376502481 meters Centerline goodness : 0.674368 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.30, Z:0.92 [[ 8.76282218e-01 -1.50655173e-01 -4.57637950e-01 4.41168509e+00] [ 1.67578112e-01 9.85851983e-01 -3.66661414e-03 -3.03416739e-01] [ 4.51715675e-01 -7.34771149e-02 8.89131072e-01 9.17274854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.406502481 meters Centerline goodness : 0.674014 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.31, Z:0.92 [[ 8.76492791e-01 -1.51185234e-01 -4.57059529e-01 4.41088542e+00] [ 1.68323201e-01 9.85726446e-01 -3.26699570e-03 -3.07719775e-01] [ 4.51029587e-01 -7.40702247e-02 8.89430106e-01 9.16546410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.436502481 meters Centerline goodness : 0.676377 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.31, Z:0.92 [[ 8.76669723e-01 -1.51029703e-01 -4.56771525e-01 4.41075887e+00] [ 1.68435145e-01 9.85709182e-01 -2.64765433e-03 -3.09460466e-01] [ 4.50643760e-01 -7.46152594e-02 8.89580106e-01 9.15794491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.466502481 meters Centerline goodness : 0.676004 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.31, Z:0.91 [[ 8.76769154e-01 -1.50744222e-01 -4.56674973e-01 4.41125684e+00] [ 1.68765126e-01 9.85655379e-01 -1.34405548e-03 -3.13205706e-01] [ 4.50326752e-01 -7.58923828e-02 8.89632600e-01 9.14623087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.496502481 meters Centerline goodness : 0.677899 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.32, Z:0.91 [[ 8.76970118e-01 -1.50646887e-01 -4.56321080e-01 4.41120269e+00] [ 1.69026540e-01 9.85611350e-01 -5.43601871e-04 -3.15572094e-01] [ 4.49837127e-01 -7.66536505e-02 8.89815024e-01 9.13576189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.526502481 meters Centerline goodness : 0.678641 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.32, Z:0.91 [[ 8.76290782e-01 -1.55636073e-01 -4.55951617e-01 4.41201656e+00] [ 1.73131100e-01 9.84892756e-01 -3.44697562e-03 -3.17975650e-01] [ 4.49599919e-01 -7.59188521e-02 8.89997888e-01 9.12933353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.556502481 meters Centerline goodness : 0.680556 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.32, Z:0.91 [[ 0.87558773 -0.1604923 -0.45561864 4.41357524] [ 0.1771869 0.98415794 -0.00616108 -0.32096333] [ 0.44938951 -0.07533509 0.89015375 0.912014 ] [ 0. 0. 0. 1. ]] SLAMing on 202.586502481 meters Centerline goodness : 0.682592 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.32, Z:0.91 [[ 0.87579517 -0.16051696 -0.45521108 4.41358332] [ 0.17766392 0.98407752 -0.00519303 -0.32379396] [ 0.44879655 -0.07632656 0.89036841 0.91057975] [ 0. 0. 0. 1. ]] SLAMing on 202.616502481 meters Centerline goodness : 0.681661 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.33, Z:0.91 [[ 0.87578824 -0.16114382 -0.45500289 4.41292403] [ 0.17871597 0.98389059 -0.00446272 -0.32741132] [ 0.4483922 -0.07740788 0.89047878 0.90974851] [ 0. 0. 0. 1. ]] SLAMing on 202.646502481 meters Centerline goodness : 0.684148 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.33, Z:0.91 [[ 8.76066907e-01 -1.61365677e-01 -4.54387382e-01 4.41206379e+00] [ 1.79133460e-01 9.83816617e-01 -4.00833751e-03 -3.28835604e-01] [ 4.47680665e-01 -7.78844121e-02 8.90795173e-01 9.08662274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.676502481 meters Centerline goodness : 0.683780 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.33, Z:0.91 [[ 8.76254496e-01 -1.61737043e-01 -4.53893366e-01 4.41103486e+00] [ 1.79741763e-01 9.83707495e-01 -3.53037351e-03 -3.30571650e-01] [ 4.47069298e-01 -7.84900883e-02 8.91049016e-01 9.07759830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70650248099997 meters Centerline goodness : 0.685684 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.33, Z:0.91 [[ 8.76381083e-01 -1.61721067e-01 -4.53654597e-01 4.41099920e+00] [ 1.79848905e-01 9.83688931e-01 -3.23383833e-03 -3.31005059e-01] [ 4.46777986e-01 -7.87552077e-02 8.91171728e-01 9.07120579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.73650248099997 meters Centerline goodness : 0.685964 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.33, Z:0.91 [[ 8.76473048e-01 -1.61938942e-01 -4.53399134e-01 4.41024734e+00] [ 1.80128379e-01 9.83638182e-01 -3.11349805e-03 -3.31066324e-01] [ 4.46484896e-01 -7.89411539e-02 8.91302155e-01 9.06773359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76650248099997 meters Centerline goodness : 0.684891 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.33, Z:0.91 [[ 8.76500115e-01 -1.61944125e-01 -4.53344956e-01 4.41003123e+00] [ 1.80165016e-01 9.83631698e-01 -3.04120985e-03 -3.30854028e-01] [ 4.46416975e-01 -7.90112804e-02 8.91329963e-01 9.06639578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.79650248099998 meters Centerline goodness : 0.685716 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.33, Z:0.91 [[ 8.77409046e-01 -1.57656755e-01 -4.53097907e-01 4.40885655e+00] [ 1.77259025e-01 9.84163897e-01 8.13479306e-04 -3.32057437e-01] [ 4.45794352e-01 -8.10294476e-02 8.91460389e-01 9.05278418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82650248099998 meters Centerline goodness : 0.686475 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.33, Z:0.90 [[ 0.87838455 -0.15284185 -0.45285754 4.40835396] [ 0.17393416 0.98474452 0.00501461 -0.3332648 ] [ 0.44518253 -0.08317215 0.89156879 0.9036025 ] [ 0. 0. 0. 1. ]] SLAMing on 202.85650248099998 meters Centerline goodness : 0.685079 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.33, Z:0.90 [[ 0.87829511 -0.15272311 -0.45307101 4.40881169] [ 0.1737842 0.98477139 0.00493623 -0.3324513 ] [ 0.44541749 -0.08307205 0.89146076 0.9037885 ] [ 0. 0. 0. 1. ]] SLAMing on 202.88650248099998 meters Centerline goodness : 0.685367 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.90 [[ 8.80115923e-01 -1.43864330e-01 -4.52436755e-01 4.40378329e+00] [ 1.62486945e-01 9.86707937e-01 2.33241594e-03 -3.36187587e-01] [ 4.46087386e-01 -7.55678624e-02 8.91793442e-01 9.00242454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.91650248099998 meters Centerline goodness : 0.686504 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.90 [[ 8.80134763e-01 -1.43375748e-01 -4.52555184e-01 4.40455195e+00] [ 1.62234777e-01 9.86747923e-01 2.90074178e-03 -3.37326706e-01] [ 4.46141992e-01 -7.59732331e-02 8.91731681e-01 8.99927852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94650248099998 meters Centerline goodness : 0.684446 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.34, Z:0.90 [[ 8.80000893e-01 -1.42444146e-01 -4.53109362e-01 4.40716398e+00] [ 1.61463857e-01 9.86872969e-01 3.34148972e-03 -3.36641696e-01] [ 4.46685406e-01 -7.61012990e-02 8.91448675e-01 8.99699224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97650248099998 meters Centerline goodness : 0.684690 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.34, Z:0.90 [[ 8.79884984e-01 -1.42079356e-01 -4.53448863e-01 4.40859191e+00] [ 1.60996554e-01 9.86949907e-01 3.16076216e-03 -3.35069000e-01] [ 4.47082234e-01 -7.57848117e-02 8.91276690e-01 8.99841150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00650248099998 meters Centerline goodness : 0.684278 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.90 [[ 8.80896088e-01 -1.30233088e-01 -4.55040025e-01 4.40364509e+00] [ 1.46850646e-01 9.89157967e-01 1.18465084e-03 -3.37089963e-01] [ 4.49952186e-01 -6.78664760e-02 8.90470197e-01 8.98509312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03650248099999 meters Centerline goodness : 0.685440 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.90 [[ 0.8816671 -0.12471472 -0.4550927 4.40413093] [ 0.14295593 0.98971247 0.00573033 -0.33916329] [ 0.44969626 -0.07011044 0.89042563 0.89727118] [ 0. 0. 0. 1. ]] SLAMing on 203.066502481 meters Centerline goodness : 0.684409 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 0.88462642 -0.11188853 -0.45267765 4.39951678] [ 0.12884031 0.99164288 0.006676 -0.34373206] [ 0.4481476 -0.0642289 0.89164925 0.89215479] [ 0. 0. 0. 1. ]] SLAMing on 203.096502481 meters Centerline goodness : 0.684209 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 0.88518701 -0.10646426 -0.45288996 4.39929395] [ 0.12474097 0.99213291 0.01058181 -0.34327451] [ 0.44820045 -0.06586081 0.89150362 0.89196052] [ 0. 0. 0. 1. ]] SLAMing on 203.126502481 meters Centerline goodness : 0.683429 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 0.88514626 -0.1064625 -0.45297002 4.39878346] [ 0.12468742 0.99214087 0.01046604 -0.34313075] [ 0.44829583 -0.06574364 0.89146431 0.89247725] [ 0. 0. 0. 1. ]] SLAMing on 203.156502481 meters Centerline goodness : 0.684824 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 0.8852341 -0.10681243 -0.45271592 4.39789684] [ 0.12477064 0.99213629 0.00989304 -0.34226127] [ 0.44809919 -0.06524331 0.89159992 0.89281571] [ 0. 0. 0. 1. ]] SLAMing on 203.186502481 meters Centerline goodness : 0.684824 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 0.8852341 -0.10681243 -0.45271592 4.39789684] [ 0.12477064 0.99213629 0.00989304 -0.34226127] [ 0.44809919 -0.06524331 0.89159992 0.89281571] [ 0. 0. 0. 1. ]] SLAMing on 203.216502481 meters Centerline goodness : 0.685574 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 0.88526346 -0.10675862 -0.45267119 4.39816177] [ 0.12469606 0.99214588 0.00987193 -0.34216853] [ 0.44806194 -0.06518557 0.89162287 0.89267498] [ 0. 0. 0. 1. ]] SLAMing on 203.246502481 meters Centerline goodness : 0.683984 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 0.88522232 -0.10715745 -0.4526574 4.39757947] [ 0.12477685 0.99214268 0.00914548 -0.34055852] [ 0.44812072 -0.06457694 0.89163761 0.89329262] [ 0. 0. 0. 1. ]] SLAMing on 203.276502481 meters Centerline goodness : 0.684253 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 0.88521157 -0.107034 -0.45270763 4.39803149] [ 0.12468788 0.99215303 0.00923565 -0.34035894] [ 0.44816671 -0.06462266 0.89161119 0.8930987 ] [ 0. 0. 0. 1. ]] SLAMing on 203.306502481 meters Centerline goodness : 0.688182 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 0.88530135 -0.10680852 -0.4525853 4.39882208] [ 0.12472259 0.99214298 0.00982743 -0.34108108] [ 0.44797967 -0.06514784 0.89166696 0.89199393] [ 0. 0. 0. 1. ]] SLAMing on 203.336502481 meters Centerline goodness : 0.689339 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 0.8852398 -0.1078979 -0.45244727 4.39861883] [ 0.12546579 0.99205803 0.008899 -0.3399191 ] [ 0.44789377 -0.0646444 0.89174675 0.89202195] [ 0. 0. 0. 1. ]] SLAMing on 203.366502481 meters Centerline goodness : 0.689408 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 0.88520469 -0.10778207 -0.45254357 4.39830062] [ 0.12549703 0.9920513 0.00920401 -0.34061153] [ 0.44795441 -0.06494031 0.89169479 0.89217106] [ 0. 0. 0. 1. ]] SLAMing on 203.396502481 meters Centerline goodness : 0.685578 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 0.88526839 -0.10829428 -0.45229661 4.39701456] [ 0.12621839 0.99195663 0.00953782 -0.34045825] [ 0.44762573 -0.06553168 0.89181658 0.8923899 ] [ 0. 0. 0. 1. ]] SLAMing on 203.426502481 meters Centerline goodness : 0.687002 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 0.88507221 -0.10834731 -0.4526677 4.39711378] [ 0.12660517 0.99190148 0.01012854 -0.34137974] [ 0.44790436 -0.06627456 0.89162176 0.89311648] [ 0. 0. 0. 1. ]] SLAMing on 203.45650248099997 meters Centerline goodness : 0.688044 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 0.88419517 -0.11386741 -0.45302662 4.39722926] [ 0.13165533 0.99126482 0.00780582 -0.34423411] [ 0.44818052 -0.06654524 0.89146282 0.89477046] [ 0. 0. 0. 1. ]] SLAMing on 203.48650248099997 meters Centerline goodness : 0.685749 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.35, Z:0.90 [[ 0.88414012 -0.11289924 -0.45337623 4.39783943] [ 0.13152803 0.99126546 0.00965223 -0.34730626] [ 0.44832647 -0.06816561 0.89126698 0.89514066] [ 0. 0. 0. 1. ]] SLAMing on 203.51650248099997 meters Centerline goodness : 0.686404 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.35, Z:0.90 [[ 0.88409953 -0.11223168 -0.45362106 4.39868971] [ 0.13113764 0.99131043 0.01032202 -0.3488707 ] [ 0.44852083 -0.06861249 0.89113489 0.89510566] [ 0. 0. 0. 1. ]] SLAMing on 203.54650248099998 meters Centerline goodness : 0.685175 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.35, Z:0.89 [[ 0.88390449 -0.11733838 -0.45270802 4.39797698] [ 0.13401256 0.99096798 0.00480602 -0.34651858] [ 0.44805523 -0.06491662 0.89164586 0.89477321] [ 0. 0. 0. 1. ]] SLAMing on 203.57650248099998 meters Centerline goodness : 0.686505 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.35, Z:0.89 [[ 0.88408218 -0.11648777 -0.45258072 4.39763045] [ 0.13286011 0.9911249 0.00443088 -0.34542403] [ 0.44804787 -0.06404719 0.89171243 0.89466096] [ 0. 0. 0. 1. ]] SLAMing on 203.60650248099998 meters Centerline goodness : 0.683213 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.35, Z:0.89 [[ 0.88522395 -0.11051411 -0.45184642 4.39593124] [ 0.12794363 0.99174842 0.0080925 -0.34626097] [ 0.44722363 -0.06497455 0.89205904 0.8935571 ] [ 0. 0. 0. 1. ]] SLAMing on 203.63650248099998 meters Centerline goodness : 0.683575 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.35, Z:0.89 [[ 0.88535094 -0.10995986 -0.45173283 4.39558969] [ 0.1267824 0.99190562 0.00703317 -0.34505916] [ 0.44730296 -0.06349859 0.89212555 0.89359487] [ 0. 0. 0. 1. ]] SLAMing on 203.66650248099998 meters Centerline goodness : 0.687125 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 0.88540882 -0.10995552 -0.45162042 4.39529886] [ 0.12635425 0.99196577 0.00620666 -0.3438519 ] [ 0.44730953 -0.06255959 0.89218859 0.89365326] [ 0. 0. 0. 1. ]] SLAMing on 203.69650248099998 meters Centerline goodness : 0.682672 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 0.88544513 -0.1099404 -0.45155291 4.39539932] [ 0.12569952 0.99205604 0.00494512 -0.34237482] [ 0.44742212 -0.06113862 0.89223064 0.89362498] [ 0. 0. 0. 1. ]] SLAMing on 203.72650248099998 meters Centerline goodness : 0.683754 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 8.85229677e-01 -1.09939069e-01 -4.51975464e-01 4.39628231e+00] [ 1.25452644e-01 9.92089888e-01 4.39175347e-03 -3.42075066e-01] [ 4.47917462e-01 -6.05892275e-02 8.92019559e-01 8.94021632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75650248099998 meters Centerline goodness : 0.684767 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 8.84718746e-01 -1.10000222e-01 -4.52959923e-01 4.39881384e+00] [ 1.25237222e-01 9.92120006e-01 3.67868462e-03 -3.41286697e-01] [ 4.48985945e-01 -5.99820436e-02 8.91523290e-01 8.94441929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78650248099999 meters Centerline goodness : 0.681126 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.89 [[ 8.84554513e-01 -1.10269382e-01 -4.53215155e-01 4.39979649e+00] [ 1.25328171e-01 9.92110109e-01 3.22193631e-03 -3.40633897e-01] [ 4.49284056e-01 -5.96506046e-02 8.91395335e-01 8.94394170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.816502481 meters Centerline goodness : 0.682599 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.90 [[ 8.84452266e-01 -1.09629239e-01 -4.53569860e-01 4.39938665e+00] [ 1.24580946e-01 9.92204569e-01 3.11146871e-03 -3.40372656e-01] [ 4.49692980e-01 -5.92581079e-02 8.91215294e-01 8.95396615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.846502481 meters Centerline goodness : 0.683410 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.90 [[ 8.84604831e-01 -1.09519755e-01 -4.53298706e-01 4.39850949e+00] [ 1.24082589e-01 9.92268975e-01 2.40680741e-03 -3.39205135e-01] [ 4.49530649e-01 -5.83755506e-02 8.91355423e-01 8.95461507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.876502481 meters Centerline goodness : 0.682695 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.34, Z:0.90 [[ 8.84815642e-01 -1.09213717e-01 -4.52960973e-01 4.39674175e+00] [ 1.22923060e-01 9.92415851e-01 8.36324344e-04 -3.36573140e-01] [ 4.49434311e-01 -5.64193415e-02 8.91529953e-01 8.96009614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.906502481 meters Centerline goodness : 0.679139 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.34, Z:0.90 [[ 8.85040595e-01 -1.08866303e-01 -4.52604985e-01 4.39462068e+00] [ 1.22000432e-01 9.92530032e-01 -1.71762068e-04 -3.35382563e-01] [ 4.49242739e-01 -5.50659874e-02 8.91711107e-01 8.96748558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.936502481 meters Centerline goodness : 0.679911 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.33, Z:0.90 [[ 8.85181111e-01 -1.09121169e-01 -4.52268693e-01 4.39376299e+00] [ 1.21752495e-01 9.92559784e-01 -1.18574352e-03 -3.34658591e-01] [ 4.49033106e-01 -5.40152443e-02 8.91880947e-01 8.96813409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.966502481 meters Centerline goodness : 0.680014 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.33, Z:0.90 [[ 8.85307824e-01 -1.08829738e-01 -4.52090859e-01 4.39319975e+00] [ 1.21105204e-01 9.92638048e-01 -1.79865151e-03 -3.34766880e-01] [ 4.48958335e-01 -5.31581955e-02 8.91970078e-01 8.97006145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.996502481 meters Centerline goodness : 0.679767 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.33, Z:0.90 [[ 8.85360963e-01 -1.08763962e-01 -4.52002617e-01 4.39269094e+00] [ 1.20918719e-01 9.92660375e-01 -2.01096675e-03 -3.34867437e-01] [ 4.48903808e-01 -5.28751459e-02 8.92014344e-01 8.97299596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.026502481 meters Centerline goodness : 0.678756 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.33, Z:0.90 [[ 8.85287522e-01 -1.08656803e-01 -4.52172205e-01 4.39173187e+00] [ 1.20624225e-01 9.92695388e-01 -2.37959385e-03 -3.34074310e-01] [ 4.49127822e-01 -5.24362971e-02 8.91927483e-01 8.98313920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.056502481 meters Centerline goodness : 0.678835 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.33, Z:0.90 [[ 8.85089719e-01 -1.08515586e-01 -4.52593147e-01 4.39132597e+00] [ 1.20335680e-01 9.92729607e-01 -2.69284300e-03 -3.33167076e-01] [ 4.49594832e-01 -5.20796963e-02 8.91713066e-01 8.99434332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.086502481 meters Centerline goodness : 0.676526 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.33, Z:0.90 [[ 8.85027155e-01 -1.08336440e-01 -4.52758380e-01 4.39116730e+00] [ 1.20001447e-01 9.92769249e-01 -2.97851275e-03 -3.32464605e-01] [ 4.49807278e-01 -5.16955961e-02 8.91628273e-01 8.99905422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.116502481 meters Centerline goodness : 0.678209 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.33, Z:0.90 [[ 0.88483921 -0.10903502 -0.45295798 4.39134443] [ 0.11985265 0.99277984 -0.00485133 -0.32921616] [ 0.45021651 -0.04999557 0.89151867 0.90025139] [ 0. 0. 0. 1. ]] SLAMing on 204.146502481 meters Centerline goodness : 0.674366 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.33, Z:0.90 [[ 0.88458678 -0.1101029 -0.45319265 4.39232882] [ 0.11995905 0.99275387 -0.00704091 -0.32621054] [ 0.45068398 -0.04813627 0.89138479 0.90030156] [ 0. 0. 0. 1. ]] SLAMing on 204.176502481 meters Centerline goodness : 0.678097 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.33, Z:0.90 [[ 0.88401039 -0.10995738 -0.4543512 4.39364139] [ 0.12058989 0.99268654 -0.00561349 -0.32805214] [ 0.45164556 -0.04982778 0.89080496 0.90181656] [ 0. 0. 0. 1. ]] SLAMing on 204.20650248099997 meters Centerline goodness : 0.677140 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.33, Z:0.90 [[ 0.88314395 -0.11085304 -0.45581616 4.39555723] [ 0.12169355 0.9925519 -0.00560418 -0.32757343] [ 0.45304243 -0.05052059 0.8900563 0.9036174 ] [ 0. 0. 0. 1. ]] SLAMing on 204.23650248099997 meters Centerline goodness : 0.676808 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.33, Z:0.90 [[ 0.88284421 -0.11107365 -0.45634279 4.39621685] [ 0.12194719 0.99252046 -0.0056591 -0.32762266] [ 0.45355813 -0.05065362 0.88978606 0.90435764] [ 0. 0. 0. 1. ]] SLAMing on 204.26650248099997 meters Centerline goodness : 0.674455 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.32, Z:0.90 [[ 0.88255715 -0.11667724 -0.45549895 4.39387862] [ 0.12583407 0.99199792 -0.01029162 -0.32382276] [ 0.45305481 -0.04823434 0.89017683 0.90473102] [ 0. 0. 0. 1. ]] SLAMing on 204.29650248099998 meters Centerline goodness : 0.674237 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.32, Z:0.91 [[ 0.88231094 -0.1169345 -0.45590979 4.39393943] [ 0.12633924 0.99193752 -0.00991693 -0.32454267] [ 0.45339366 -0.04884949 0.88997074 0.90557758] [ 0. 0. 0. 1. ]] SLAMing on 204.32650248099998 meters Centerline goodness : 0.673718 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.33, Z:0.91 [[ 0.88161618 -0.11708207 -0.45721407 4.39491162] [ 0.12795461 0.99175361 -0.00723886 -0.32740991] [ 0.45429124 -0.05212075 0.88932722 0.90744357] [ 0. 0. 0. 1. ]] SLAMing on 204.35650248099998 meters Centerline goodness : 0.673574 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.33, Z:0.91 [[ 0.88131399 -0.11659897 -0.45791957 4.39460077] [ 0.1286151 0.9916821 -0.00497647 -0.3302605 ] [ 0.45469089 -0.05450954 0.8889797 0.90892826] [ 0. 0. 0. 1. ]] SLAMing on 204.38650248099998 meters Centerline goodness : 0.674793 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.33, Z:0.91 [[ 8.81348522e-01 -1.16612556e-01 -4.57849642e-01 4.39297304e+00] [ 1.29650662e-01 9.91555282e-01 -2.97122820e-03 -3.33167920e-01] [ 4.54329714e-01 -5.67418219e-02 8.89024677e-01 9.09837750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.41650248099998 meters Centerline goodness : 0.673466 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.33, Z:0.91 [[ 0.8806895 -0.12201212 -0.45771066 4.39276126] [ 0.13390916 0.99097225 -0.0065068 -0.33398473] [ 0.45437247 -0.05556118 0.88907739 0.91069774] [ 0. 0. 0. 1. ]] SLAMing on 204.44650248099998 meters Centerline goodness : 0.676199 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.34, Z:0.91 [[ 0.88040244 -0.12199917 -0.45826601 4.39416754] [ 0.13445423 0.9909046 -0.00548962 -0.3359181 ] [ 0.45476763 -0.05678273 0.88879814 0.91099801] [ 0. 0. 0. 1. ]] SLAMing on 204.47650248099998 meters Centerline goodness : 0.679609 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.33, Z:0.91 [[ 0.87935186 -0.12804417 -0.45863383 4.39614798] [ 0.13899833 0.99024256 -0.00995641 -0.33392726] [ 0.4554336 -0.05499415 0.88856957 0.91145503] [ 0. 0. 0. 1. ]] SLAMing on 204.50650248099998 meters Centerline goodness : 0.678675 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.33, Z:0.91 [[ 0.87884704 -0.12843034 -0.45949268 4.39795439] [ 0.13969616 0.99014825 -0.00956168 -0.33435259] [ 0.45619389 -0.05578611 0.88813008 0.9121037 ] [ 0. 0. 0. 1. ]] SLAMing on 204.53650248099999 meters Centerline goodness : 0.681352 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.33, Z:0.91 [[ 0.87800368 -0.12947707 -0.46080931 4.40077196] [ 0.1411284 0.98994805 -0.00925398 -0.33408824] [ 0.45737546 -0.05690825 0.88745092 0.91295667] [ 0. 0. 0. 1. ]] SLAMing on 204.566502481 meters Centerline goodness : 0.679772 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.34, Z:0.91 [[ 0.87649104 -0.12721692 -0.46430519 4.38748385] [ 0.13670692 0.99052186 -0.01332906 -0.33698664] [ 0.46160012 -0.05179093 0.88557497 0.90765188] [ 0. 0. 0. 1. ]] SLAMing on 204.596502481 meters Centerline goodness : 0.681439 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.34, Z:0.91 [[ 0.87576717 -0.13270255 -0.46413565 4.38835876] [ 0.14078248 0.98988794 -0.0173828 -0.33589233] [ 0.46174902 -0.05011888 0.88559355 0.90777896] [ 0. 0. 0. 1. ]] SLAMing on 204.626502481 meters Centerline goodness : 0.683155 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.34, Z:0.91 [[ 0.87651358 -0.12548301 -0.46473429 4.38529748] [ 0.13018948 0.99124277 -0.0221014 -0.34034356] [ 0.46343785 -0.04113134 0.88517432 0.90652038] [ 0. 0. 0. 1. ]] SLAMing on 204.656502481 meters Centerline goodness : 0.682040 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.34, Z:0.91 [[ 0.87647299 -0.12528276 -0.46486485 4.38679632] [ 0.12996602 0.99127193 -0.02210875 -0.33984428] [ 0.46357732 -0.04103891 0.88510557 0.90614978] [ 0. 0. 0. 1. ]] SLAMing on 204.686502481 meters Centerline goodness : 0.681569 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.34, Z:0.91 [[ 0.87652948 -0.12571193 -0.46464243 4.38650678] [ 0.13025923 0.99122569 -0.02245347 -0.34008178] [ 0.46338818 -0.04084284 0.88521368 0.90606472] [ 0. 0. 0. 1. ]] SLAMing on 204.716502481 meters Centerline goodness : 0.682119 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.34, Z:0.91 [[ 0.87745325 -0.12087307 -0.46418261 4.38505572] [ 0.12672735 0.99176132 -0.01869934 -0.34151443] [ 0.4626186 -0.04241684 0.88554212 0.90531254] [ 0. 0. 0. 1. ]] SLAMing on 204.746502481 meters Centerline goodness : 0.680208 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.34, Z:0.91 [[ 0.87770275 -0.12167763 -0.46350021 4.3822009 ] [ 0.1271434 0.99169119 -0.01957392 -0.34069755] [ 0.46203078 -0.04175091 0.88588059 0.90615197] [ 0. 0. 0. 1. ]] SLAMing on 204.776502481 meters Centerline goodness : 0.678061 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.34, Z:0.91 [[ 0.87779333 -0.12201451 -0.46324003 4.38138404] [ 0.12727684 0.99166514 -0.02002152 -0.34040391] [ 0.4618219 -0.04138497 0.88600667 0.90643994] [ 0. 0. 0. 1. ]] SLAMing on 204.806502481 meters Centerline goodness : 0.679468 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.34, Z:0.91 [[ 0.87865905 -0.11865171 -0.46247167 4.3790653 ] [ 0.12477359 0.99203168 -0.01745579 -0.34298105] [ 0.46085771 -0.04236656 0.88646221 0.90613178] [ 0. 0. 0. 1. ]] SLAMing on 204.836502481 meters Centerline goodness : 0.682518 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.35, Z:0.91 [[ 0.87908515 -0.1186341 -0.46166573 4.37730227] [ 0.12516015 0.99199786 -0.01658851 -0.34615318] [ 0.45993938 -0.04319944 0.88689885 0.90503089] [ 0. 0. 0. 1. ]] SLAMing on 204.866502481 meters Centerline goodness : 0.680816 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.35, Z:0.90 [[ 0.87924613 -0.11866167 -0.46135198 4.37709535] [ 0.12526337 0.9919877 -0.01641607 -0.34678705] [ 0.45960345 -0.04335674 0.88706531 0.904474 ] [ 0. 0. 0. 1. ]] SLAMing on 204.896502481 meters Centerline goodness : 0.680007 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.35, Z:0.90 [[ 0.87959266 -0.11926013 -0.46053639 4.37625722] [ 0.12576974 0.99191964 -0.01665519 -0.34704308] [ 0.45880139 -0.04327176 0.88748456 0.90339947] [ 0. 0. 0. 1. ]] SLAMing on 204.926502481 meters Centerline goodness : 0.679511 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.35, Z:0.90 [[ 0.8803691 -0.11428903 -0.46031322 4.37649639] [ 0.12223923 0.99242048 -0.01261562 -0.34882446] [ 0.45826609 -0.04516193 0.88766694 0.90207514] [ 0. 0. 0. 1. ]] SLAMing on 204.95650248099997 meters Centerline goodness : 0.677586 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.35, Z:0.90 [[ 0.88106807 -0.10889763 -0.46028292 4.37712534] [ 0.11823483 0.99294845 -0.00859646 -0.3495354 ] [ 0.45797335 -0.0468474 0.88773066 0.90135499] [ 0. 0. 0. 1. ]] SLAMing on 204.98650248099997 meters Centerline goodness : 0.677807 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.35, Z:0.90 [[ 8.81502163e-01 -1.03679576e-01 -4.60656577e-01 4.37804044e+00] [ 1.14666350e-01 9.93395352e-01 -4.15965570e-03 -3.52224290e-01] [ 4.58045373e-01 -4.91550628e-02 8.87568710e-01 9.00612678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.01650248099997 meters Centerline goodness : 0.676633 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.35, Z:0.90 [[ 8.81451712e-01 -1.03228206e-01 -4.60854443e-01 4.37944863e+00] [ 1.14369365e-01 9.93431129e-01 -3.77351317e-03 -3.52398393e-01] [ 4.58216683e-01 -4.93814604e-02 8.87467714e-01 9.00208555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04650248099998 meters Centerline goodness : 0.678648 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.35, Z:0.90 [[ 8.81470766e-01 -1.02359093e-01 -4.61011828e-01 4.38179324e+00] [ 1.13954174e-01 9.93482339e-01 -2.69988350e-03 -3.53987974e-01] [ 4.58283467e-01 -5.01543535e-02 8.87389883e-01 8.98968083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.07650248099998 meters Centerline goodness : 0.678648 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.35, Z:0.90 [[ 8.81471553e-01 -1.02394674e-01 -4.61002420e-01 4.38174763e+00] [ 1.13980161e-01 9.93479286e-01 -2.72605438e-03 -3.54006249e-01] [ 4.58275488e-01 -5.01421908e-02 8.87394691e-01 8.98977397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10650248099998 meters Centerline goodness : 0.679263 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.35, Z:0.90 [[ 8.81504365e-01 -1.02080819e-01 -4.61009285e-01 4.38264897e+00] [ 1.13864645e-01 9.93493689e-01 -2.26561056e-03 -3.54759682e-01] [ 4.58241090e-01 -5.04955131e-02 8.87392420e-01 8.98347081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.13650248099998 meters Centerline goodness : 0.680667 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.36, Z:0.90 [[ 8.81649045e-01 -1.01485786e-01 -4.60863968e-01 4.38375353e+00] [ 1.13626436e-01 9.93522544e-01 -1.40991332e-03 -3.56142112e-01] [ 4.58021828e-01 -5.11232813e-02 8.87469670e-01 8.97194256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16650248099998 meters Centerline goodness : 0.679340 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.36, Z:0.90 [[ 8.81837592e-01 -1.01517882e-01 -4.60496017e-01 4.38321409e+00] [ 1.13723154e-01 9.93511697e-01 -1.24615759e-03 -3.57214604e-01] [ 4.57634686e-01 -5.12701509e-02 8.87660896e-01 8.96876562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.19650248099998 meters Centerline goodness : 0.679086 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.36, Z:0.90 [[ 8.81984183e-01 -1.01754555e-01 -4.60162919e-01 4.38212787e+00] [ 1.13882001e-01 9.93493278e-01 -1.41328917e-03 -3.57505517e-01] [ 4.57312575e-01 -5.11577750e-02 8.87833369e-01 8.96990995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22650248099998 meters Centerline goodness : 0.679286 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.36, Z:0.90 [[ 8.82159005e-01 -1.01942544e-01 -4.59786045e-01 4.38092851e+00] [ 1.14026764e-01 9.93476552e-01 -1.49589259e-03 -3.57485943e-01] [ 4.56939149e-01 -5.11082996e-02 8.88028465e-01 8.96916578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25650248099998 meters Centerline goodness : 0.678457 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.36, Z:0.90 [[ 8.83060591e-01 -9.87004155e-02 -4.58761617e-01 4.37703732e+00] [ 1.11831305e-01 9.93726124e-01 1.46620142e-03 -3.60259425e-01] [ 4.55738689e-01 -5.25986550e-02 8.88558174e-01 8.96375362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28650248099999 meters Centerline goodness : 0.679013 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.36, Z:0.90 [[ 8.83249659e-01 -9.89810891e-02 -4.58336976e-01 4.37589977e+00] [ 1.12121258e-01 9.93693444e-01 1.47097795e-03 -3.60819330e-01] [ 4.55300849e-01 -5.26885591e-02 8.88777280e-01 8.96075596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.316502481 meters Centerline goodness : 0.681124 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.36, Z:0.90 [[ 8.83336057e-01 -9.86449979e-02 -4.58242922e-01 4.37651118e+00] [ 1.12005425e-01 9.93705592e-01 1.99532648e-03 -3.61822133e-01] [ 4.55161725e-01 -5.30882369e-02 8.88824754e-01 8.95445732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.346502481 meters Centerline goodness : 0.680419 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.36, Z:0.89 [[ 8.83415943e-01 -9.80039113e-02 -4.58226478e-01 4.37795825e+00] [ 1.11821315e-01 9.93723660e-01 3.04636982e-03 -3.63731865e-01] [ 4.55051937e-01 -5.39306992e-02 8.88830251e-01 8.94172534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.376502481 meters Centerline goodness : 0.682238 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.36, Z:0.89 [[ 8.83422943e-01 -9.75348062e-02 -4.58313065e-01 4.37915243e+00] [ 1.11593409e-01 9.93747355e-01 3.62028068e-03 -3.64335072e-01] [ 4.55094292e-01 -5.43429562e-02 8.88783454e-01 8.93473799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.406502481 meters Centerline goodness : 0.683411 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.37, Z:0.89 [[ 0.88342349 -0.09685722 -0.45845568 4.38016146] [ 0.11128572 0.99377832 0.00448858 -0.36548389] [ 0.45516856 -0.05498489 0.88870594 0.89284465] [ 0. 0. 0. 1. ]] SLAMing on 205.436502481 meters Centerline goodness : 0.682308 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.37, Z:0.89 [[ 0.88357038 -0.09639922 -0.4582691 4.3808626 ] [ 0.11130408 0.99377086 0.00555624 -0.36761826] [ 0.45487886 -0.05591655 0.88879613 0.89154032] [ 0. 0. 0. 1. ]] SLAMing on 205.466502481 meters Centerline goodness : 0.683942 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.37, Z:0.89 [[ 0.88365016 -0.09575201 -0.45825097 4.38206576] [ 0.11109189 0.99378844 0.00656653 -0.36980695] [ 0.45477576 -0.05671049 0.88879859 0.89055484] [ 0. 0. 0. 1. ]] SLAMing on 205.496502481 meters Centerline goodness : 0.684099 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.37, Z:0.89 [[ 0.88370819 -0.09550247 -0.45819114 4.38311851] [ 0.11138572 0.99374743 0.00769796 -0.37316023] [ 0.45459109 -0.0578387 0.88882035 0.88921927] [ 0. 0. 0. 1. ]] SLAMing on 205.526502481 meters Centerline goodness : 0.686060 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.37, Z:0.89 [[ 0.88380016 -0.09508016 -0.45810156 4.38381363] [ 0.1113002 0.99375072 0.00847227 -0.37495613] [ 0.45443321 -0.05847459 0.88885948 0.888405 ] [ 0. 0. 0. 1. ]] SLAMing on 205.556502481 meters Centerline goodness : 0.686546 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.38, Z:0.89 [[ 0.88363424 -0.09413535 -0.45861647 4.38675431] [ 0.11101377 0.99376942 0.00991401 -0.37807522] [ 0.45482577 -0.05967311 0.888579 0.88727785] [ 0. 0. 0. 1. ]] SLAMing on 205.586502481 meters Centerline goodness : 0.688635 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.38, Z:0.89 [[ 0.88361443 -0.09357145 -0.45877001 4.38824658] [ 0.11080189 0.99378474 0.01071618 -0.37980616] [ 0.45491591 -0.06030155 0.88849043 0.88654768] [ 0. 0. 0. 1. ]] SLAMing on 205.616502481 meters Centerline goodness : 0.688838 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.38, Z:0.89 [[ 0.88369737 -0.09293101 -0.45874043 4.38978099] [ 0.11061979 0.99379308 0.01177185 -0.38235414] [ 0.45479909 -0.06114853 0.88849234 0.88535476] [ 0. 0. 0. 1. ]] SLAMing on 205.646502481 meters Centerline goodness : 0.689720 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.38, Z:0.89 [[ 0.88369507 -0.09273997 -0.45878352 4.38986994] [ 0.11055912 0.9937963 0.01206649 -0.38315293] [ 0.45481831 -0.0613858 0.88846614 0.88530309] [ 0. 0. 0. 1. ]] SLAMing on 205.676502481 meters Centerline goodness : 0.688203 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.39, Z:0.89 [[ 0.88375051 -0.09235595 -0.4587542 4.38938444] [ 0.11047424 0.99379722 0.01274884 -0.38521077] [ 0.45473122 -0.06194732 0.88847175 0.88529021] [ 0. 0. 0. 1. ]] SLAMing on 205.70650248099997 meters Centerline goodness : 0.688586 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.38, Z:0.89 [[ 0.88370584 -0.09239644 -0.45883208 4.3889038 ] [ 0.11036159 0.9938138 0.0124279 -0.38452043] [ 0.45484536 -0.06162005 0.88843608 0.885955 ] [ 0. 0. 0. 1. ]] SLAMing on 205.73650248099997 meters Centerline goodness : 0.687361 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.38, Z:0.89 [[ 0.88364302 -0.09212727 -0.45900718 4.3899091 ] [ 0.11015323 0.99383493 0.01258551 -0.38434163] [ 0.4550179 -0.06168222 0.88834341 0.88576528] [ 0. 0. 0. 1. ]] SLAMing on 205.76650248099997 meters Centerline goodness : 0.688392 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.39, Z:0.88 [[ 0.88384114 -0.08409507 -0.46016613 4.38891017] [ 0.09884687 0.99507044 0.00800669 -0.38833305] [ 0.45722439 -0.05256262 0.88779673 0.88439426] [ 0. 0. 0. 1. ]] SLAMing on 205.79650248099998 meters Centerline goodness : 0.687612 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.39, Z:0.88 [[ 0.88354505 -0.08372551 -0.46080167 4.39068431] [ 0.09843018 0.99511241 0.00792359 -0.38719875] [ 0.45788605 -0.05235764 0.88746777 0.88481531] [ 0. 0. 0. 1. ]] SLAMing on 205.82650248099998 meters Centerline goodness : 0.687712 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.39, Z:0.88 [[ 0.88344971 -0.0717887 -0.46299351 4.38897925] [ 0.08398907 0.99645004 0.00575875 -0.3886957 ] [ 0.46093649 -0.04397396 0.88634296 0.88425156] [ 0. 0. 0. 1. ]] SLAMing on 205.85650248099998 meters Centerline goodness : 0.686628 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.39, Z:0.88 [[ 0.88381918 -0.06601051 -0.46314822 4.39041943] [ 0.07995894 0.99674261 0.0105231 -0.39062588] [ 0.46094493 -0.04633336 0.88621837 0.88292759] [ 0. 0. 0. 1. ]] SLAMing on 205.88650248099998 meters Centerline goodness : 0.683298 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.39, Z:0.88 [[ 0.88365812 -0.05786778 -0.46454241 4.39137687] [ 0.06768481 0.99769675 0.00446836 -0.38735546] [ 0.46321388 -0.03539097 0.8855396 0.88407759] [ 0. 0. 0. 1. ]] SLAMing on 205.91650248099998 meters Centerline goodness : 0.680975 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.39, Z:0.88 [[ 0.88398267 -0.05259114 -0.46455227 4.39085286] [ 0.06397127 0.99791332 0.00875702 -0.38832606] [ 0.46312236 -0.03745905 0.8855024 0.88358536] [ 0. 0. 0. 1. ]] SLAMing on 205.94650248099998 meters Centerline goodness : 0.678242 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.38, Z:0.88 [[ 0.88413181 -0.05363985 -0.46414838 4.38911528] [ 0.06381792 0.99794208 0.00623505 -0.38419766] [ 0.46285875 -0.03513359 0.88573552 0.88392609] [ 0. 0. 0. 1. ]] SLAMing on 205.97650248099998 meters Centerline goodness : 0.674693 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.38, Z:0.89 [[ 0.88400938 -0.05435836 -0.46429795 4.38792858] [ 0.06405161 0.99793346 0.00511782 -0.38301215] [ 0.46306027 -0.03426323 0.88566428 0.8851177 ] [ 0. 0. 0. 1. ]] SLAMing on 206.00650248099998 meters Centerline goodness : 0.672982 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.38, Z:0.89 [[ 8.83330597e-01 -6.06611189e-02 -4.64808869e-01 4.38782229e+00] [ 6.80994374e-02 9.97678228e-01 -7.87336292e-04 -3.79219819e-01] [ 4.63777449e-01 -3.09577442e-02 8.85410693e-01 8.86741909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03650248099999 meters Centerline goodness : 0.671400 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.37, Z:0.89 [[ 0.88279186 -0.0668335 -0.46498582 4.38733913] [ 0.07215587 0.99737306 -0.0063643 -0.37425725] [ 0.46418968 -0.0279331 0.88529525 0.88780955] [ 0. 0. 0. 1. ]] SLAMing on 206.066502481 meters Centerline goodness : 0.671195 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.37, Z:0.89 [[ 0.88287989 -0.06701851 -0.46479202 4.38593081] [ 0.07217981 0.9973691 -0.00670427 -0.37373471] [ 0.46401851 -0.02762954 0.88539451 0.88833216] [ 0. 0. 0. 1. ]] SLAMing on 206.096502481 meters Centerline goodness : 0.667398 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.37, Z:0.89 [[ 8.83361693e-01 -6.20735128e-02 -4.64563234e-01 4.38285422e+00] [ 6.81077231e-02 9.97670738e-01 -3.79964146e-03 -3.71901619e-01] [ 4.63717002e-01 -2.82838864e-02 8.85531797e-01 8.89429910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.126502481 meters Centerline goodness : 0.660545 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.37, Z:0.89 [[ 8.83143904e-01 -6.17549285e-02 -4.65019541e-01 4.38226936e+00] [ 6.81925070e-02 9.97667722e-01 -2.98288966e-03 -3.72617243e-01] [ 4.64119194e-01 -2.90765275e-02 8.85295391e-01 8.90679799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.156502481 meters Centerline goodness : 0.663133 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.37, Z:0.89 [[ 8.83227824e-01 -6.20606804e-02 -4.64819409e-01 4.38128116e+00] [ 6.81780982e-02 9.97666470e-01 -3.65532642e-03 -3.71566960e-01] [ 4.63961591e-01 -2.84620173e-02 8.85397964e-01 8.91003725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.186502481 meters Centerline goodness : 0.663045 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.37, Z:0.89 [[ 0.8830622 -0.06249035 -0.46507645 4.38104982] [ 0.06798055 0.99767424 -0.00497543 -0.37016743] [ 0.46430571 -0.02722254 0.88525654 0.89186082] [ 0. 0. 0. 1. ]] SLAMing on 206.216502481 meters Centerline goodness : 0.664142 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.37, Z:0.89 [[ 0.8827512 -0.06831351 -0.46484791 4.38030764] [ 0.0712146 0.99739657 -0.01133896 -0.36607293] [ 0.46441231 -0.02309447 0.88531794 0.89261254] [ 0. 0. 0. 1. ]] SLAMing on 206.246502481 meters Centerline goodness : 0.660151 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.37, Z:0.89 [[ 0.88238648 -0.06802814 -0.46558164 4.38146065] [ 0.07090021 0.99741867 -0.01136461 -0.36556206] [ 0.46515294 -0.02298185 0.88493196 0.89346701] [ 0. 0. 0. 1. ]] SLAMing on 206.276502481 meters Centerline goodness : 0.662223 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.36, Z:0.89 [[ 0.88239374 -0.06810009 -0.46555736 4.38170101] [ 0.07023394 0.99744861 -0.01278543 -0.36440141] [ 0.46524023 -0.02141615 0.88492535 0.89349191] [ 0. 0. 0. 1. ]] SLAMing on 206.306502481 meters Centerline goodness : 0.659856 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.35, Z:0.89 [[ 0.88322234 -0.07003487 -0.46369539 4.37897435] [ 0.0685257 0.99744631 -0.02012655 -0.35495934] [ 0.46392082 -0.01399884 0.88576606 0.89232892] [ 0. 0. 0. 1. ]] SLAMing on 206.336502481 meters Centerline goodness : 0.657040 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.35, Z:0.89 [[ 0.88343565 -0.07072568 -0.46318391 4.37722343] [ 0.06805905 0.99742773 -0.02249206 -0.35187138] [ 0.46358324 -0.01165358 0.88597673 0.89267108] [ 0. 0. 0. 1. ]] SLAMing on 206.366502481 meters Centerline goodness : 0.656598 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.35, Z:0.89 [[ 0.88359889 -0.07045883 -0.46291312 4.37515513] [ 0.0679719 0.99744299 -0.02207493 -0.35101336] [ 0.46328482 -0.0119597 0.88612874 0.89335939] [ 0. 0. 0. 1. ]] SLAMing on 206.396502481 meters Centerline goodness : 0.657627 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.35, Z:0.89 [[ 0.88356618 -0.07075935 -0.46292972 4.37461084] [ 0.06788665 0.99743049 -0.02288724 -0.34938607] [ 0.4633597 -0.01120435 0.88609946 0.89376187] [ 0. 0. 0. 1. ]] SLAMing on 206.426502481 meters Centerline goodness : 0.660247 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.34, Z:0.89 [[ 0.88375423 -0.07644444 -0.46166515 4.37233885] [ 0.07054711 0.99705572 -0.03005005 -0.34432746] [ 0.46260303 -0.00601229 0.88654514 0.89351502] [ 0. 0. 0. 1. ]] SLAMing on 206.45650248099997 meters Centerline goodness : 0.662335 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.35, Z:0.89 [[ 0.88379159 -0.07652955 -0.46157953 4.37240542] [ 0.07092263 0.99704512 -0.02951299 -0.34503638] [ 0.46247423 -0.0066531 0.88660776 0.89325897] [ 0. 0. 0. 1. ]] SLAMing on 206.48650248099997 meters Centerline goodness : 0.663122 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.35, Z:0.89 [[ 0.8842257 -0.07646097 -0.46075876 4.37098621] [ 0.07093301 0.99704974 -0.0293312 -0.34533761] [ 0.46164209 -0.0067476 0.88704061 0.89251793] [ 0. 0. 0. 1. ]] SLAMing on 206.51650248099997 meters Centerline goodness : 0.663653 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.34, Z:0.89 [[ 0.88481273 -0.07663434 -0.45960158 4.36830208] [ 0.07038107 0.99704603 -0.03075249 -0.34281479] [ 0.46060063 -0.00513706 0.88759263 0.8919879 ] [ 0. 0. 0. 1. ]] SLAMing on 206.54650248099998 meters Centerline goodness : 0.662203 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.34, Z:0.89 [[ 8.84947843e-01 -7.68979813e-02 -4.59297307e-01 4.36740792e+00] [ 7.02624447e-02 9.97029473e-01 -3.15502719e-02 -3.41203083e-01] [ 4.60359104e-01 -4.35100661e-03 8.87722121e-01 8.92070381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.57650248099998 meters Centerline goodness : 0.663515 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.34, Z:0.89 [[ 8.85119663e-01 -7.69551618e-02 -4.58956517e-01 4.36738059e+00] [ 7.02703716e-02 9.97025573e-01 -3.16556713e-02 -3.40340112e-01] [ 4.60027452e-01 -4.23198792e-03 8.87894607e-01 8.91405609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60650248099998 meters Centerline goodness : 0.666454 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.34, Z:0.89 [[ 8.85241689e-01 -7.78278264e-02 -4.58573856e-01 4.36724193e+00] [ 7.05088317e-02 9.96962176e-01 -3.30896358e-02 -3.38275371e-01] [ 4.59756084e-01 -3.04118180e-03 8.88040030e-01 8.90926218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.63650248099998 meters Centerline goodness : 0.664117 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.34, Z:0.89 [[ 8.85558181e-01 -7.75272389e-02 -4.58013358e-01 4.36655694e+00] [ 7.02626761e-02 9.96985599e-01 -3.29070165e-02 -3.38358013e-01] [ 4.59183912e-01 -3.04016653e-03 8.88336025e-01 8.90188281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66650248099998 meters Centerline goodness : 0.664285 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.34, Z:0.89 [[ 8.85747063e-01 -7.77480587e-02 -4.57610510e-01 4.36625301e+00] [ 7.05249022e-02 9.96968057e-01 -3.28775358e-02 -3.38497916e-01] [ 4.58779226e-01 -3.15175564e-03 8.88544703e-01 8.89560418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.69650248099998 meters Centerline goodness : 0.669104 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.33, Z:0.89 [[ 8.85835097e-01 -8.36310850e-02 -4.56401165e-01 4.36500777e+00] [ 7.39062912e-02 9.96496330e-01 -3.91525790e-02 -3.34684008e-01] [ 4.58076459e-01 9.51811210e-04 8.88912286e-01 8.88699884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72650248099998 meters Centerline goodness : 0.665885 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.34, Z:0.89 [[ 8.85603443e-01 -8.36942377e-02 -4.56838939e-01 4.36623603e+00] [ 7.44909056e-02 9.96491454e-01 -3.81560955e-02 -3.35742581e-01] [ 4.58429544e-01 -2.39176698e-04 8.88730722e-01 8.88722142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75650248099998 meters Centerline goodness : 0.667144 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.33, Z:0.89 [[ 8.86066133e-01 -8.38060006e-02 -4.55920347e-01 4.36462895e+00] [ 7.41602841e-02 9.96481782e-01 -3.90424266e-02 -3.34403652e-01] [ 4.57588309e-01 7.82989483e-04 8.89163836e-01 8.87950187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78650248099999 meters Centerline goodness : 0.669841 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.34, Z:0.89 [[ 8.85606536e-01 -8.35973133e-02 -4.56850689e-01 4.36631612e+00] [ 7.50184224e-02 9.96498375e-01 -3.69218697e-02 -3.36241505e-01] [ 4.58337538e-01 -1.57396882e-03 8.88776813e-01 8.88454188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.816502481 meters Centerline goodness : 0.669879 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.33, Z:0.89 [[ 8.86222098e-01 -8.35483791e-02 -4.55664417e-01 4.36428304e+00] [ 7.42846329e-02 9.96503721e-01 -3.82377619e-02 -3.34810075e-01] [ 4.57265990e-01 3.82856053e-05 8.89329980e-01 8.87451538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.846502481 meters Centerline goodness : 0.671042 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.34, Z:0.89 [[ 8.85812313e-01 -8.32555975e-02 -4.56514021e-01 4.36507351e+00] [ 7.48124702e-02 9.96526681e-01 -3.65741600e-02 -3.37110216e-01] [ 4.57973406e-01 -1.75510035e-03 8.88964161e-01 8.88530775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.876502481 meters Centerline goodness : 0.669265 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.34, Z:0.89 [[ 8.86409846e-01 -8.26032860e-02 -4.55471494e-01 4.36331955e+00] [ 7.38938629e-02 9.96582083e-01 -3.69303182e-02 -3.36520872e-01] [ 4.56965296e-01 -9.21150383e-04 8.89484047e-01 8.87491956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.906502481 meters Centerline goodness : 0.669215 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.34, Z:0.89 [[ 8.86982772e-01 -8.73233468e-02 -4.53471273e-01 4.36085002e+00] [ 7.66266042e-02 9.96176981e-01 -4.19498023e-02 -3.35639755e-01] [ 4.55400841e-01 2.46078821e-03 8.90283111e-01 8.85945999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.936502481 meters Centerline goodness : 0.668232 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.33, Z:0.89 [[ 0.88663125 -0.09242667 -0.45314714 4.3606806 ] [ 0.07961486 0.99570217 -0.04731447 -0.33325726] [ 0.45557271 0.00587324 0.8901792 0.88623205] [ 0. 0. 0. 1. ]] SLAMing on 206.966502481 meters Centerline goodness : 0.668323 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.33, Z:0.88 [[ 0.88764975 -0.09222835 -0.45118937 4.35902318] [ 0.07842238 0.99570302 -0.0492486 -0.33264448] [ 0.45379273 0.00833217 0.89106831 0.88368291] [ 0. 0. 0. 1. ]] SLAMing on 206.996502481 meters Centerline goodness : 0.668323 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.33, Z:0.88 [[ 0.88764975 -0.09222835 -0.45118937 4.35902318] [ 0.07842238 0.99570302 -0.0492486 -0.33264448] [ 0.45379273 0.00833217 0.89106831 0.88368291] [ 0. 0. 0. 1. ]] SLAMing on 207.026502481 meters Centerline goodness : 0.666667 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.33, Z:0.88 [[ 0.88817158 -0.09141671 -0.4503268 4.35711441] [ 0.07783134 0.99577937 -0.04863866 -0.33258482] [ 0.45287253 0.00814994 0.89153803 0.88300903] [ 0. 0. 0. 1. ]] SLAMing on 207.056502481 meters Centerline goodness : 0.669284 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.33, Z:0.88 [[ 0.8882939 -0.09113624 -0.45014234 4.35617524] [ 0.07730756 0.99579977 -0.04905473 -0.33056872] [ 0.45272231 0.00877561 0.89160838 0.88317358] [ 0. 0. 0. 1. ]] SLAMing on 207.086502481 meters Centerline goodness : 0.668968 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.33, Z:0.88 [[ 0.88855001 -0.09045643 -0.44977385 4.35618909] [ 0.07752025 0.99587567 -0.04714088 -0.33320859] [ 0.45218303 0.00702045 0.89189754 0.88214058] [ 0. 0. 0. 1. ]] SLAMing on 207.116502481 meters Centerline goodness : 0.668376 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.33, Z:0.88 [[ 0.8890984 -0.09047649 -0.4486848 4.35504689] [ 0.0770584 0.99586478 -0.04811808 -0.33261701] [ 0.45118294 0.00820677 0.89239375 0.88078547] [ 0. 0. 0. 1. ]] SLAMing on 207.146502481 meters Centerline goodness : 0.668291 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.33, Z:0.88 [[ 0.88929767 -0.09508412 -0.44733506 4.35474341] [ 0.08043639 0.99541928 -0.05167643 -0.33358948] [ 0.45019955 0.00997371 0.89287227 0.87898148] [ 0. 0. 0. 1. ]] SLAMing on 207.176502481 meters Centerline goodness : 0.669854 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.33, Z:0.88 [[ 0.88981134 -0.09521858 -0.44628377 4.35334859] [ 0.07998999 0.99539153 -0.05288959 -0.33237359] [ 0.44926316 0.01136352 0.8933272 0.87791802] [ 0. 0. 0. 1. ]] SLAMing on 207.20650248099997 meters Centerline goodness : 0.669631 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.34, Z:0.88 [[ 0.8898595 -0.09461111 -0.44631693 4.35319472] [ 0.08049583 0.99547327 -0.05053103 -0.33587367] [ 0.44907737 0.00903886 0.89344715 0.87784482] [ 0. 0. 0. 1. ]] SLAMing on 207.23650248099997 meters Centerline goodness : 0.670330 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.34, Z:0.88 [[ 0.88968675 -0.09443521 -0.44669842 4.35399779] [ 0.08096769 0.99550201 -0.04919327 -0.3373416 ] [ 0.44933476 0.00759846 0.89333115 0.87794766] [ 0. 0. 0. 1. ]] SLAMing on 207.26650248099997 meters Centerline goodness : 0.668657 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.34, Z:0.88 [[ 0.89036912 -0.09467317 -0.44528622 4.35228308] [ 0.08040158 0.99546307 -0.0508809 -0.33520654] [ 0.44808305 0.00950106 0.89394145 0.87644748] [ 0. 0. 0. 1. ]] SLAMing on 207.29650248099998 meters Centerline goodness : 0.668863 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.34, Z:0.88 [[ 0.88987253 -0.09483817 -0.44624276 4.35433107] [ 0.08125554 0.99546205 -0.04952622 -0.33659667] [ 0.44891471 0.00781232 0.89354046 0.87691785] [ 0. 0. 0. 1. ]] SLAMing on 207.32650248099998 meters Centerline goodness : 0.666366 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.34, Z:0.88 [[ 0.89016805 -0.09498647 -0.44562137 4.35353384] [ 0.08120715 0.99544404 -0.04996551 -0.33567368] [ 0.44833719 0.00829006 0.89382607 0.87620248] [ 0. 0. 0. 1. ]] SLAMing on 207.35650248099998 meters Centerline goodness : 0.671596 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.34, Z:0.88 [[ 0.88999653 -0.09483005 -0.44599712 4.35444323] [ 0.0817996 0.99547147 -0.04842911 -0.33827255] [ 0.44856995 0.00661935 0.89372322 0.8762124 ] [ 0. 0. 0. 1. ]] SLAMing on 207.38650248099998 meters Centerline goodness : 0.667298 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.34, Z:0.88 [[ 0.89011807 -0.09467796 -0.44578684 4.35471272] [ 0.08176641 0.99548727 -0.04815965 -0.33901789] [ 0.44833478 0.00641739 0.89384268 0.87559811] [ 0. 0. 0. 1. ]] SLAMing on 207.41650248099998 meters Centerline goodness : 0.666677 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.34, Z:0.88 [[ 0.8900407 -0.09396163 -0.44609277 4.35537699] [ 0.08202506 0.99556614 -0.04604284 -0.34079031] [ 0.44844112 0.00438921 0.8938016 0.87558131] [ 0. 0. 0. 1. ]] SLAMing on 207.44650248099998 meters Centerline goodness : 0.669185 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.34, Z:0.88 [[ 8.90203131e-01 -9.31841309e-02 -4.45931725e-01 4.35499512e+00] [ 8.17689647e-02 9.95642962e-01 -4.48210672e-02 -3.42840802e-01] [ 4.48165396e-01 3.43647892e-03 8.93944052e-01 8.75379528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.47650248099998 meters Centerline goodness : 0.667365 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.35, Z:0.87 [[ 8.91542531e-01 -9.12517016e-02 -4.43649685e-01 4.35125192e+00] [ 8.00190568e-02 9.95820813e-01 -4.40211093e-02 -3.46870208e-01] [ 4.45812591e-01 3.74626185e-03 8.95118483e-01 8.73250395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50650248099998 meters Centerline goodness : 0.669159 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.35, Z:0.86 [[ 0.89318504 -0.08707325 -0.4411788 4.33281203] [ 0.07588805 0.99618984 -0.04297445 -0.35448977] [ 0.44323976 0.00490393 0.89638968 0.86113738] [ 0. 0. 0. 1. ]] SLAMing on 207.53650248099999 meters Centerline goodness : 0.670392 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.36, Z:0.86 [[ 0.89395882 -0.08565348 -0.4398876 4.33089229] [ 0.07463601 0.99631244 -0.04232016 -0.35599958] [ 0.44189036 0.00500102 0.89705513 0.8597734 ] [ 0. 0. 0. 1. ]] SLAMing on 207.566502481 meters Centerline goodness : 0.670106 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.36, Z:0.86 [[ 0.8951341 -0.08451714 -0.437712 4.32754132] [ 0.07264164 0.99639421 -0.04383789 -0.35605649] [ 0.43983876 0.00744467 0.8980459 0.85775386] [ 0. 0. 0. 1. ]] SLAMing on 207.596502481 meters Centerline goodness : 0.667773 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.35, Z:0.86 [[ 0.89585429 -0.0843613 -0.43626628 4.32568294] [ 0.07187154 0.99639424 -0.04508873 -0.35480733] [ 0.43849695 0.0090378 0.89868723 0.85623017] [ 0. 0. 0. 1. ]] SLAMing on 207.626502481 meters Centerline goodness : 0.667748 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.35, Z:0.85 [[ 0.89707468 -0.08465826 -0.43369344 4.32196319] [ 0.06995423 0.99630711 -0.04978506 -0.34849794] [ 0.43630657 0.01432223 0.89968408 0.85403666] [ 0. 0. 0. 1. ]] SLAMing on 207.656502481 meters Centerline goodness : 0.665774 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.35, Z:0.84 [[ 0.89744176 -0.07928777 -0.433949 4.3072138 ] [ 0.06396559 0.99670754 -0.04982457 -0.35484754] [ 0.43647072 0.01695685 0.89955866 0.84462704] [ 0. 0. 0. 1. ]] SLAMing on 207.686502481 meters Centerline goodness : 0.667411 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.36, Z:0.84 [[ 0.8973723 -0.07210649 -0.43534309 4.29291697] [ 0.05641367 0.99721004 -0.04888386 -0.35971565] [ 0.43765335 0.01930772 0.89893646 0.83579806] [ 0. 0. 0. 1. ]] SLAMing on 207.716502481 meters Centerline goodness : 0.669366 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.36, Z:0.84 [[ 0.89736889 -0.07188515 -0.43538672 4.29354304] [ 0.0562589 0.99722805 -0.04869442 -0.35953882] [ 0.43768025 0.01920248 0.89892561 0.83549521] [ 0. 0. 0. 1. ]] SLAMing on 207.746502481 meters Centerline goodness : 0.668561 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.36, Z:0.83 [[ 0.89707692 -0.06741868 -0.43670095 4.279841 ] [ 0.05004515 0.99743463 -0.05118234 -0.3627422 ] [ 0.4390313 0.02405973 0.89814957 0.82806642] [ 0. 0. 0. 1. ]] SLAMing on 207.776502481 meters Centerline goodness : 0.670144 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.36, Z:0.83 [[ 0.89728654 -0.0671017 -0.43631895 4.27907707] [ 0.05012524 0.99747449 -0.0503199 -0.36437335] [ 0.43859358 0.02328078 0.89838393 0.82716117] [ 0. 0. 0. 1. ]] SLAMing on 207.806502481 meters Centerline goodness : 0.669712 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.36, Z:0.83 [[ 0.89742357 -0.0675989 -0.43596022 4.27815023] [ 0.05046978 0.99743443 -0.05076772 -0.36306544] [ 0.43827358 0.02355733 0.89853287 0.82702572] [ 0. 0. 0. 1. ]] SLAMing on 207.836502481 meters Centerline goodness : 0.670234 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.37, Z:0.83 [[ 0.897826 -0.06792102 -0.43508069 4.27676045] [ 0.0511177 0.99742895 -0.05022422 -0.36551884] [ 0.43737336 0.02285229 0.89898961 0.82550567] [ 0. 0. 0. 1. ]] SLAMing on 207.866502481 meters Centerline goodness : 0.671479 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.37, Z:0.81 [[ 0.89939002 -0.06438009 -0.43238039 4.25824853] [ 0.04793237 0.99765562 -0.04884419 -0.37380953] [ 0.43451132 0.02320496 0.9003674 0.81254441] [ 0. 0. 0. 1. ]] SLAMing on 207.896502481 meters Centerline goodness : 0.675153 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.38, Z:0.81 [[ 0.89998774 -0.06489582 -0.43105754 4.2552949 ] [ 0.04881664 0.99764056 -0.04827272 -0.37744136] [ 0.43317318 0.02240207 0.90103226 0.81114841] [ 0. 0. 0. 1. ]] SLAMing on 207.926502481 meters Centerline goodness : 0.674275 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.39, Z:0.80 [[ 0.9015297 -0.06153648 -0.42831936 4.23814065] [ 0.04507934 0.99780679 -0.04847121 -0.38508733] [ 0.43036271 0.02438988 0.90232648 0.79911904] [ 0. 0. 0. 1. ]] SLAMing on 207.95650248099997 meters Centerline goodness : 0.674279 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.39, Z:0.80 [[ 0.90207088 -0.0622904 -0.42706912 4.23672214] [ 0.04586 0.99776193 -0.04866197 -0.38864625] [ 0.42914448 0.02431116 0.90290862 0.79760497] [ 0. 0. 0. 1. ]] SLAMing on 207.98650248099997 meters Centerline goodness : 0.672028 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.39, Z:0.80 [[ 0.90269827 -0.06296253 -0.42564252 4.23531917] [ 0.04650245 0.99771742 -0.04896394 -0.38931484] [ 0.42775385 0.02440625 0.9035657 0.79587906] [ 0. 0. 0. 1. ]] SLAMing on 208.01650248099997 meters Centerline goodness : 0.672191 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.39, Z:0.79 [[ 0.90376827 -0.05961668 -0.42384993 4.2198342 ] [ 0.0416247 0.9978005 -0.05159014 -0.3942578 ] [ 0.4259933 0.02898291 0.90426196 0.78649207] [ 0. 0. 0. 1. ]] SLAMing on 208.04650248099998 meters Centerline goodness : 0.645208 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.40, Z:0.77 [[ 0.90615793 -0.05569875 -0.41925583 4.20061743] [ 0.03817288 0.9980153 -0.05008289 -0.40189885] [ 0.42121329 0.02937881 0.90648566 0.77144305] [ 0. 0. 0. 1. ]] SLAMing on 208.07650248099998 meters Centerline goodness : 0.619595 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.41, Z:0.76 [[ 0.90913922 -0.05118443 -0.41333525 4.18254085] [ 0.03406071 0.99823269 -0.04869665 -0.40765789] [ 0.41509727 0.03019355 0.90927587 0.75700743] [ 0. 0. 0. 1. ]] Total time of SLAM: 13389.98 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%| | 0/6920 [00:00