+ python -m lidar_slam --no-model /working/11273800-fcd2-43ba-9a89-b8368716a795 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/11273800-fcd2-43ba-9a89-b8368716a795 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 0.024839173 Adjusted end_distance from 9.223372036854776e+18 to 87.284839173 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.024839173 meters Centerline goodness : 0.999846 Centerline is valid? [0, True] SLAMing on 0.054839173 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.00, Z:0.00 [[ 9.99979497e-01 -5.45929376e-03 -3.34687363e-03 3.01638634e-02] [ 5.43760206e-03 9.99964373e-01 -6.45637878e-03 -2.26501992e-04] [ 3.38200166e-03 6.43804744e-03 9.99973556e-01 1.55466153e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.08483917299999999 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.00, Z:0.00 [[ 0.99994235 -0.00889151 -0.00601994 0.06124999] [ 0.00888202 0.99995927 -0.00160204 -0.00324941] [ 0.00603394 0.00154848 0.9999806 0.00135683] [ 0. 0. 0. 1. ]] SLAMing on 0.11483917299999999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.01, Z:-0.00 [[ 0.99987164 -0.01313007 -0.00918125 0.09388553] [ 0.01319314 0.99988955 0.00684298 -0.00728549] [ 0.00909038 -0.00696323 0.99993444 -0.00322194] [ 0. 0. 0. 1. ]] SLAMing on 0.144839173 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.02, Z:-0.01 [[ 0.99965506 -0.01992975 -0.01710431 0.12235769] [ 0.0204577 0.99930167 0.0312674 -0.01981357] [ 0.01646921 -0.03160653 0.99936469 -0.00960492] [ 0. 0. 0. 1. ]] SLAMing on 0.174839173 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:0.15, Y:-0.01, Z:0.00 [[ 0.99956592 -0.02404864 -0.01701848 0.15248524] [ 0.02402787 0.99971028 -0.00142349 -0.00743321] [ 0.01704778 0.00101395 0.99985416 0.00443998] [ 0. 0. 0. 1. ]] SLAMing on 0.20483917299999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:0.19, Y:0.00, Z:0.01 [[ 0.99963083 -0.02453302 -0.0116761 0.18533335] [ 0.02417568 0.99926289 -0.02981966 0.00272516] [ 0.01239906 0.02952637 0.9994871 0.0102556 ] [ 0. 0. 0. 1. ]] SLAMing on 0.23483917299999998 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:0.22, Y:-0.01, Z:-0.00 [[ 9.99549964e-01 -2.50780072e-02 -1.64609251e-02 2.18852026e-01] [ 2.51081577e-02 9.99683416e-01 1.62750765e-03 -8.05514933e-03] [ 1.64148992e-02 -2.04007872e-03 9.99863185e-01 -2.12969042e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.264839173 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:0.25, Y:-0.02, Z:-0.00 [[ 0.99937012 -0.02635553 -0.02376446 0.24770537] [ 0.02701603 0.99924517 0.02791476 -0.01699838] [ 0.02301081 -0.0285392 0.99932778 -0.00117242] [ 0. 0. 0. 1. ]] SLAMing on 0.294839173 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:0.28, Y:-0.00, Z:0.01 [[ 0.99918804 -0.03108409 -0.02563266 0.27717922] [ 0.03088419 0.99948968 -0.00815821 -0.00263614] [ 0.02587317 0.00735994 0.99963814 0.01471352] [ 0. 0. 0. 1. ]] SLAMing on 0.324839173 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:0.31, Y:-0.01, Z:0.01 [[ 0.99935058 -0.0280621 -0.02260372 0.30836071] [ 0.02814548 0.99959813 0.00337889 -0.00854359] [ 0.02249981 -0.00401289 0.99973879 0.00867424] [ 0. 0. 0. 1. ]] SLAMing on 0.35483917299999995 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:0.34, Y:-0.00, Z:0.01 [[ 0.99947611 -0.02532873 -0.02014828 0.33918035] [ 0.02538228 0.99967492 0.00240665 -0.00429927] [ 0.02008078 -0.0029168 0.99979411 0.01221386] [ 0. 0. 0. 1. ]] SLAMing on 0.384839173 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:0.37, Y:0.02, Z:0.02 [[ 0.9996461 -0.01882225 -0.01879895 0.37068952] [ 0.01851778 0.99969661 -0.01624107 0.01634031] [ 0.01909894 0.01588721 0.99969137 0.02119634] [ 0. 0. 0. 1. ]] SLAMing on 0.414839173 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:0.40, Y:0.00, Z:0.01 [[ 0.99971267 -0.00697163 -0.02293394 0.39836692] [ 0.00744856 0.99975641 0.02077613 0.00183849] [ 0.02278351 -0.02094098 0.99952108 0.00989568] [ 0. 0. 0. 1. ]] SLAMing on 0.444839173 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:0.43, Y:0.01, Z:0.01 [[ 9.99807647e-01 2.50812911e-04 -1.96113710e-02 4.25757560e-01] [-3.70115778e-04 9.99981448e-01 -6.07995881e-03 1.44904873e-02] [ 1.96094822e-02 6.08604779e-03 9.99789192e-01 1.35500022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.47483917299999995 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:0.45, Y:0.01, Z:0.01 [[ 0.99981006 0.00459127 -0.01894112 0.45347558] [-0.0045126 0.99998102 0.00419401 0.00915767] [ 0.01896002 -0.00410774 0.9998118 0.01004781] [ 0. 0. 0. 1. ]] SLAMing on 0.504839173 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:0.48, Y:0.01, Z:0.01 [[ 0.9997727 0.00873036 -0.01945093 0.48087351] [-0.00847754 0.999879 0.01304274 0.00588957] [ 0.01956244 -0.01287488 0.99972574 0.01092781] [ 0. 0. 0. 1. ]] SLAMing on 0.5348391730000001 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:0.51, Y:0.01, Z:0.01 [[ 0.99984057 0.00724091 -0.01632214 0.50980383] [-0.00711736 0.99994568 0.00761502 0.01113537] [ 0.0163764 -0.00749764 0.99983779 0.01422142] [ 0. 0. 0. 1. ]] SLAMing on 0.5648391730000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.54, Y:0.02, Z:0.02 [[ 0.99983281 -0.00472426 -0.01766441 0.53777938] [ 0.0046024 0.99996538 -0.00693287 0.02021593] [ 0.01769655 0.00685041 0.99981994 0.01634429] [ 0. 0. 0. 1. ]] SLAMing on 0.594839173 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:0.57, Y:0.01, Z:0.01 [[ 0.99970385 -0.01458365 -0.01948161 0.56737562] [ 0.01473794 0.99986097 0.00779978 0.0147152 ] [ 0.01936516 -0.00808459 0.99977979 0.01119976] [ 0. 0. 0. 1. ]] SLAMing on 0.624839173 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:0.60, Y:0.04, Z:0.03 [[ 0.99935319 -0.03083325 -0.01850703 0.59600222] [ 0.0300273 0.99865146 -0.04235125 0.04126047] [ 0.0197879 0.04176814 0.99893136 0.02949361] [ 0. 0. 0. 1. ]] SLAMing on 0.654839173 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:0.63, Y:0.03, Z:0.01 [[ 0.9987694 -0.04526766 -0.02026121 0.62988401] [ 0.04501735 0.99890618 -0.01264414 0.02900963] [ 0.02081142 0.01171647 0.99971476 0.01168578] [ 0. 0. 0. 1. ]] SLAMing on 0.684839173 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:0.66, Y:0.02, Z:0.03 [[ 0.99808004 -0.05022669 -0.03624256 0.6636008 ] [ 0.05046241 0.99871016 0.00561814 0.02071243] [ 0.03591363 -0.00743624 0.99932723 0.02508193] [ 0. 0. 0. 1. ]] SLAMing on 0.714839173 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.70, Y:0.00, Z:-0.00 [[ 0.99865552 -0.04569148 -0.02448364 0.69649314] [ 0.04652043 0.99832378 0.03443087 0.00332743] [ 0.0228694 -0.03552357 0.99910713 -0.00171281] [ 0. 0. 0. 1. ]] SLAMing on 0.744839173 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:0.73, Y:0.02, Z:0.01 [[ 9.98466682e-01 -4.74381334e-02 -2.85290677e-02 7.27724983e-01] [ 4.74317717e-02 9.98874075e-01 -9.00061516e-04 1.95193907e-02] [ 2.85396433e-02 -4.54502788e-04 9.99592558e-01 1.38640868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.774839173 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:0.75, Y:-0.01, Z:-0.01 [[ 0.99838464 -0.04220058 -0.03804229 0.75267062] [ 0.04466811 0.99678384 0.06653373 -0.01066083] [ 0.03511218 -0.06812553 0.9970587 -0.00728605] [ 0. 0. 0. 1. ]] SLAMing on 0.8048391730000001 meters Centerline goodness : 0.999819 Centerline is valid? [True, True] Translation: X:0.78, Y:-0.00, Z:0.00 [[ 0.99823432 -0.04116971 -0.04281692 0.77819207] [ 0.04310077 0.99804773 0.04520014 -0.00269587] [ 0.04087246 -0.04696577 0.99805995 0.00294817] [ 0. 0. 0. 1. ]] SLAMing on 0.834839173 meters Centerline goodness : 0.989474 Centerline is valid? [True, True] Translation: X:0.79, Y:0.03, Z:0.04 [[ 9.97178725e-01 -7.80462469e-03 -7.46570766e-02 7.86103237e-01] [ 7.82852289e-03 9.99969356e-01 2.74714141e-05 2.68610598e-02] [ 7.46545744e-02 -6.11848542e-04 9.97209266e-01 3.62090248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.864839173 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:0.85, Y:0.04, Z:0.03 [[ 0.99913529 -0.03886599 -0.01476822 0.84964173] [ 0.03766154 0.99650484 -0.07456351 0.04498354] [ 0.01761458 0.07394284 0.99710691 0.02839011] [ 0. 0. 0. 1. ]] SLAMing on 0.894839173 meters Centerline goodness : 0.936169 Centerline is valid? [True, False] Translation: X:0.71, Y:0.06, Z:-0.02 [[ 0.99881706 -0.04335763 -0.02201333 0.71147162] [ 0.04176343 0.99678774 -0.06833752 0.05552315] [ 0.02490557 0.06733733 0.99741937 -0.01573212] [ 0. 0. 0. 1. ]] SLAMing on 0.924839173 meters Centerline goodness : 0.979508 Centerline is valid? [False, True] Translation: X:0.73, Y:0.06, Z:0.00 [[ 0.98441726 0.03904287 -0.17145936 0.72900885] [-0.05426145 0.99490336 -0.08498824 0.06493154] [ 0.16726731 0.09296752 0.98151856 0.00197 ] [ 0. 0. 0. 1. ]] SLAMing on 0.954839173 meters Centerline goodness : 0.979508 Centerline is valid? [True, True] Translation: X:0.76, Y:0.02, Z:-0.04 [[ 9.85395418e-01 2.72788967e-02 -1.68082517e-01 7.64636764e-01] [-2.75643058e-02 9.99619830e-01 6.35316102e-04 1.75455519e-02] [ 1.68035948e-01 4.00704031e-03 9.85772724e-01 -3.62086517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.984839173 meters Centerline goodness : 0.988003 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.12, Z:-0.11 [[ 0.99378747 0.0323446 0.10649079 0.6747746 ] [-0.05736444 0.96880959 0.24107531 -0.12484649] [-0.09537181 -0.24568641 0.96464626 -0.10854087] [ 0. 0. 0. 1. ]] SLAMing on 1.014839173 meters Centerline goodness : 0.913013 Centerline is valid? [True, False] Translation: X:0.75, Y:-0.10, Z:-0.13 [[ 0.98368808 -0.01801786 0.17897798 0.75227856] [-0.00974331 0.98817338 0.15303083 -0.09995518] [-0.17961856 -0.15227844 0.97187882 -0.12932763] [ 0. 0. 0. 1. ]] SLAMing on 1.044839173 meters Centerline goodness : 0.984567 Centerline is valid? [False, True] Translation: X:0.81, Y:-0.08, Z:-0.08 [[ 0.98634362 -0.03722801 0.16043797 0.80590949] [ 0.01548499 0.99076566 0.13469827 -0.07712391] [-0.16397098 -0.1303744 0.97781186 -0.07712255] [ 0. 0. 0. 1. ]] SLAMing on 1.074839173 meters Centerline goodness : 0.994134 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.01, Z:-0.04 [[ 0.97183537 -0.00220971 0.23565043 0.89969629] [ 0.00453342 0.9999463 -0.00931948 -0.0053852 ] [-0.23561718 0.0101253 0.9717932 -0.0447684 ] [ 0. 0. 0. 1. ]] SLAMing on 1.104839173 meters Centerline goodness : 0.988029 Centerline is valid? [True, True] Translation: X:0.87, Y:-0.10, Z:-0.12 [[ 0.96659441 -0.09830448 0.23670969 0.87262694] [ 0.0498035 0.97795879 0.20277134 -0.09552058] [-0.25142566 -0.18420868 0.9501854 -0.11810407] [ 0. 0. 0. 1. ]] SLAMing on 1.1348391729999998 meters Centerline goodness : 0.998593 Centerline is valid? [True, True] Translation: X:0.94, Y:0.05, Z:-0.01 [[ 0.97455728 -0.01886893 0.22334293 0.94151522] [ 0.03496417 0.99704982 -0.06833133 0.04841189] [-0.22139469 0.0744018 0.9723419 -0.01487287] [ 0. 0. 0. 1. ]] SLAMing on 1.1648391729999998 meters Centerline goodness : 0.953664 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.20, Z:-0.21 [[ 0.96167104 -0.15410207 0.22680687 0.9399128 ] [ 0.05883699 0.92384186 0.37822536 -0.20147305] [-0.267819 -0.35038374 0.89749887 -0.21203216] [ 0. 0. 0. 1. ]] SLAMing on 1.1948391729999999 meters Centerline goodness : 0.849838 Centerline is valid? [True, False] Translation: X:0.83, Y:-0.31, Z:-0.08 [[ 0.15276876 -0.54861368 -0.82200045 0.82596715] [ 0.93637618 -0.18561233 0.29790555 -0.30526248] [-0.31600848 -0.8152123 0.48535302 -0.08012129] [ 0. 0. 0. 1. ]] SLAMing on 1.224839173 meters Centerline goodness : 0.797400 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.58, Z:0.04 [[ 0.44146043 0.82366697 0.35592893 0.82678811] [-0.88437716 0.33238425 0.32771597 -0.57638736] [ 0.15162365 -0.45944905 0.87516675 0.03979907] [ 0. 0. 0. 1. ]] SLAMing on 1.254839173 meters Centerline goodness : 0.983440 Centerline is valid? [False, True] Translation: X:1.31, Y:-0.41, Z:0.49 [[ 0.54351462 0.81861772 -0.18562563 1.31348877] [-0.78053949 0.57424015 0.24699464 -0.4144042 ] [ 0.30878788 0.01064294 0.95107138 0.49239479] [ 0. 0. 0. 1. ]] SLAMing on 1.284839173 meters Centerline goodness : 0.991438 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.44, Z:0.49 [[ 0.55276399 0.82152979 -0.13978834 1.29952408] [-0.78783661 0.56984841 0.23363703 -0.44057513] [ 0.27159795 -0.01901576 0.96222292 0.48783199] [ 0. 0. 0. 1. ]] SLAMing on 1.314839173 meters Centerline goodness : 0.994466 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.43, Z:0.57 [[ 0.53600623 0.79932927 -0.27160639 1.36961013] [-0.79676083 0.58532649 0.15021674 -0.43159184] [ 0.27905105 0.13588822 0.95061291 0.56685937] [ 0. 0. 0. 1. ]] SLAMing on 1.3448391729999998 meters Centerline goodness : 0.990543 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.52, Z:0.45 [[ 0.54384121 0.83801176 -0.0444189 1.29143279] [-0.78963308 0.52892905 0.31098818 -0.52209949] [ 0.2841062 -0.13405356 0.94937522 0.45345724] [ 0. 0. 0. 1. ]] SLAMing on 1.3748391729999998 meters Centerline goodness : 0.998139 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.36, Z:0.69 [[ 0.57934864 0.70346021 -0.41170242 1.45687641] [-0.7597583 0.64898832 0.03976787 -0.36183476] [ 0.29516518 0.28975487 0.91045024 0.69435364] [ 0. 0. 0. 1. ]] SLAMing on 1.4048391729999998 meters Centerline goodness : 0.997933 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.52, Z:0.53 [[ 0.56746371 0.8074702 -0.16117323 1.3889044 ] [-0.77201802 0.58982406 0.23684541 -0.51787627] [ 0.28630946 -0.00997253 0.9580853 0.53237338] [ 0. 0. 0. 1. ]] SLAMing on 1.4348391729999999 meters Centerline goodness : 0.997678 Centerline is valid? [True, True] Translation: X:0.43, Y:-0.78, Z:1.56 [[ 0.54114128 -0.80502166 0.24311774 0.43000117] [-0.72643271 -0.59313923 -0.34710426 -0.77504499] [ 0.42362912 0.01122377 -0.90576619 1.56477432] [ 0. 0. 0. 1. ]] SLAMing on 1.4648391729999999 meters Centerline goodness : 0.991644 Centerline is valid? [True, True] Translation: X:0.37, Y:-1.01, Z:1.32 [[ 0.55909981 -0.56020489 0.61121018 0.36755055] [-0.70329761 -0.71084834 -0.0081922 -1.00781031] [ 0.43906705 -0.4252824 -0.79142593 1.32449569] [ 0. 0. 0. 1. ]] SLAMing on 1.494839173 meters Centerline goodness : 0.995601 Centerline is valid? [True, True] Translation: X:0.68, Y:-1.22, Z:0.78 [[ 0.55584114 0.21081756 0.80411229 0.68340812] [-0.7043262 -0.39436324 0.59025608 -1.22402538] [ 0.44154868 -0.89444597 -0.07071898 0.78486228] [ 0. 0. 0. 1. ]] SLAMing on 1.524839173 meters Centerline goodness : 0.867094 Centerline is valid? [True, False] Translation: X:0.98, Y:0.15, Z:-1.26 [[ 0.1903144 -0.97986746 0.06033396 0.97594801] [ 0.96807312 0.17710066 -0.17739724 0.15158187] [ 0.1631406 0.09216894 0.98228816 -1.25615397] [ 0. 0. 0. 1. ]] SLAMing on 1.554839173 meters Centerline goodness : 0.898921 Centerline is valid? [False, False] Translation: X:0.99, Y:0.23, Z:-1.24 [[ 0.18181058 -0.98326665 0.01147251 0.99318564] [ 0.94883306 0.17235645 -0.26459229 0.22542973] [ 0.25818742 0.05899117 0.96429212 -1.24099329] [ 0. 0. 0. 1. ]] SLAMing on 1.584839173 meters Centerline goodness : 0.991751 Centerline is valid? [False, True] Translation: X:1.10, Y:0.40, Z:-1.09 [[ 0.24198078 -0.95946646 -0.14446249 1.09659894] [ 0.93608384 0.27002969 -0.22545735 0.40115003] [ 0.25532793 -0.08067266 0.96348304 -1.09024815] [ 0. 0. 0. 1. ]] SLAMing on 1.6148391729999998 meters Centerline goodness : 0.968603 Centerline is valid? [True, True] Translation: X:1.58, Y:0.28, Z:-1.19 [[ 0.12812446 -0.51801126 -0.84572363 1.58401404] [ 0.97781984 0.20844581 0.0204622 0.28177108] [ 0.1656879 -0.82958705 0.53322869 -1.18520453] [ 0. 0. 0. 1. ]] SLAMing on 1.6448391729999998 meters Centerline goodness : 0.988867 Centerline is valid? [True, True] Translation: X:0.93, Y:0.53, Z:-0.74 [[ 0.24292006 -0.90491451 0.34945611 0.93015861] [ 0.93109754 0.11645498 -0.34568137 0.53299438] [ 0.27211619 0.40935067 0.87085292 -0.73883789] [ 0. 0. 0. 1. ]] SLAMing on 1.6748391729999998 meters Centerline goodness : 0.971674 Centerline is valid? [True, True] Translation: X:1.22, Y:0.54, Z:-1.09 [[ 0.26890568 -0.93918957 -0.21357127 1.21615334] [ 0.93366323 0.30864111 -0.18169654 0.54383094] [ 0.23656437 -0.15054441 0.95988212 -1.09336338] [ 0. 0. 0. 1. ]] SLAMing on 1.7048391729999999 meters Centerline goodness : 0.972072 Centerline is valid? [True, True] Translation: X:1.20, Y:0.54, Z:-1.06 [[ 0.2506085 -0.93591577 -0.24750161 1.20401461] [ 0.93659191 0.29908052 -0.18261005 0.54392912] [ 0.24493053 -0.18604437 0.95152327 -1.06480427] [ 0. 0. 0. 1. ]] SLAMing on 1.734839173 meters Centerline goodness : 0.985957 Centerline is valid? [True, True] Translation: X:0.95, Y:0.61, Z:-0.74 [[ 0.26925296 -0.88466151 0.38062693 0.94946801] [ 0.94207911 0.15987599 -0.29483321 0.60550784] [ 0.19997449 0.4379654 0.87646821 -0.74498842] [ 0. 0. 0. 1. ]] SLAMing on 1.764839173 meters Centerline goodness : 0.976114 Centerline is valid? [True, True] Translation: X:1.34, Y:0.58, Z:-1.13 [[ 0.26560581 -0.87905537 -0.39587272 1.33556339] [ 0.94410248 0.32032456 -0.0778632 0.58443233] [ 0.19525382 -0.3530635 0.91499842 -1.12557055] [ 0. 0. 0. 1. ]] SLAMing on 1.794839173 meters Centerline goodness : 0.997507 Centerline is valid? [True, True] Translation: X:1.02, Y:0.68, Z:-0.86 [[ 0.24982536 -0.95412167 0.16504281 1.02108613] [ 0.94886325 0.20725828 -0.23812296 0.67924122] [ 0.19299178 0.21609221 0.95710936 -0.85954457] [ 0. 0. 0. 1. ]] SLAMing on 1.8248391729999998 meters Centerline goodness : 0.994056 Centerline is valid? [True, True] Translation: X:1.11, Y:0.70, Z:-0.95 [[ 0.26004496 -0.96554876 0.00960257 1.10835502] [ 0.94763141 0.25328476 -0.19452903 0.70019391] [ 0.18539508 0.05968599 0.98084976 -0.95277824] [ 0. 0. 0. 1. ]] SLAMing on 1.8548391729999998 meters Centerline goodness : 0.994600 Centerline is valid? [True, True] Translation: X:1.23, Y:0.71, Z:-1.04 [[ 0.28382263 -0.94528675 -0.16086541 1.23282257] [ 0.94143172 0.30656515 -0.14044259 0.71000751] [ 0.18207425 -0.11158302 0.97693306 -1.03754602] [ 0. 0. 0. 1. ]] SLAMing on 1.8848391729999998 meters Centerline goodness : 0.989547 Centerline is valid? [True, True] Translation: X:1.21, Y:0.74, Z:-1.01 [[ 0.28745907 -0.951229 -0.11194044 1.21450345] [ 0.9402722 0.30251899 -0.15611037 0.7400428 ] [ 0.18236082 -0.06037914 0.98137602 -1.01067428] [ 0. 0. 0. 1. ]] SLAMing on 1.9148391729999998 meters Centerline goodness : 0.988113 Centerline is valid? [True, True] Translation: X:1.13, Y:0.78, Z:-0.94 [[ 0.27285558 -0.96202609 0.00745917 1.12984886] [ 0.94412354 0.26627188 -0.19424218 0.778198 ] [ 0.18487987 0.06004244 0.98092525 -0.93525277] [ 0. 0. 0. 1. ]] SLAMing on 1.9448391729999999 meters Centerline goodness : 0.989870 Centerline is valid? [True, True] Translation: X:1.11, Y:0.81, Z:-0.93 [[ 0.27443977 -0.96083955 0.03834272 1.1127532 ] [ 0.94559839 0.26241226 -0.19231093 0.81200148] [ 0.17471835 0.08903459 0.98058469 -0.92974708] [ 0. 0. 0. 1. ]] SLAMing on 1.974839173 meters Centerline goodness : 0.977974 Centerline is valid? [True, True] Translation: X:1.30, Y:0.80, Z:-1.06 [[ 0.29100626 -0.91886206 -0.266473 1.29780235] [ 0.93927217 0.32734563 -0.10301756 0.79737733] [ 0.18188771 -0.22031192 0.9583212 -1.06427951] [ 0. 0. 0. 1. ]] SLAMing on 2.004839173 meters Centerline goodness : 0.989845 Centerline is valid? [True, True] Translation: X:1.17, Y:0.87, Z:-0.95 [[ 0.30510669 -0.95218176 0.01611868 1.16597034] [ 0.93806826 0.29758114 -0.17740746 0.87081019] [ 0.16412753 0.06924862 0.98400548 -0.94613212] [ 0. 0. 0. 1. ]] SLAMing on 2.034839173 meters Centerline goodness : 0.975601 Centerline is valid? [True, True] Translation: X:1.27, Y:0.88, Z:-1.02 [[ 0.30515419 -0.93784947 -0.16528549 1.26924547] [ 0.93337805 0.3289804 -0.14344796 0.88060428] [ 0.18890828 -0.1105001 0.97575785 -1.01848909] [ 0. 0. 0. 1. ]] SLAMing on 2.064839173 meters Centerline goodness : 0.993718 Centerline is valid? [True, True] Translation: X:1.06, Y:0.93, Z:-0.82 [[ 0.30530382 -0.92717851 0.21709352 1.06083177] [ 0.9356947 0.24976233 -0.24918711 0.93404478] [ 0.17681915 0.27921103 0.9438094 -0.8245432 ] [ 0. 0. 0. 1. ]] SLAMing on 2.094839173 meters Centerline goodness : 0.964125 Centerline is valid? [True, True] Translation: X:1.37, Y:0.92, Z:-1.10 [[ 0.30031397 -0.89363182 -0.33351716 1.36711532] [ 0.93476754 0.34530526 -0.08351001 0.92075543] [ 0.18979244 -0.28668179 0.93903801 -1.10306542] [ 0. 0. 0. 1. ]] SLAMing on 2.1248391730000002 meters Centerline goodness : 0.990463 Centerline is valid? [True, True] Translation: X:1.06, Y:1.00, Z:-0.80 [[ 0.31112304 -0.9220792 0.23015736 1.06353169] [ 0.93141118 0.24770878 -0.2666713 1.00054409] [ 0.18888006 0.29733872 0.93590278 -0.79777032] [ 0. 0. 0. 1. ]] SLAMing on 2.154839173 meters Centerline goodness : 0.989353 Centerline is valid? [True, True] Translation: X:1.22, Y:1.02, Z:-0.98 [[ 0.31456381 -0.94731681 -0.06033633 1.22135006] [ 0.92830747 0.32028008 -0.18885421 1.01952757] [ 0.19822929 0.00339603 0.98014979 -0.98273013] [ 0. 0. 0. 1. ]] SLAMing on 2.1848391730000003 meters Centerline goodness : 0.984853 Centerline is valid? [True, True] Translation: X:1.22, Y:1.05, Z:-0.99 [[ 3.04541448e-01 -9.50777140e-01 -5.72480268e-02 1.21829717e+00] [ 9.33709742e-01 3.09873317e-01 -1.79345042e-01 1.05065633e+00] [ 1.88256802e-01 1.16495837e-03 9.82119147e-01 -9.85913500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.214839173 meters Centerline goodness : 0.963011 Centerline is valid? [True, True] Translation: X:1.35, Y:1.05, Z:-1.07 [[ 0.30005181 -0.91855176 -0.25735494 1.34702003] [ 0.93330901 0.338465 -0.11989883 1.05087725] [ 0.19723892 -0.20421583 0.95884968 -1.07005066] [ 0. 0. 0. 1. ]] SLAMing on 2.244839173 meters Centerline goodness : 0.980690 Centerline is valid? [True, True] Translation: X:1.13, Y:1.11, Z:-0.85 [[ 0.3169957 -0.93686348 0.14765005 1.12882688] [ 0.92881489 0.27516026 -0.24817278 1.11484983] [ 0.19187658 0.21580927 0.95739738 -0.84654181] [ 0. 0. 0. 1. ]] SLAMing on 2.274839173 meters Centerline goodness : 0.976543 Centerline is valid? [True, True] Translation: X:1.25, Y:1.13, Z:-0.97 [[ 0.31244505 -0.94793017 -0.06169665 1.24730545] [ 0.92798806 0.31846229 -0.19344232 1.13251272] [ 0.20301787 0.00318634 0.97916985 -0.97166232] [ 0. 0. 0. 1. ]] SLAMing on 2.304839173 meters Centerline goodness : 0.976648 Centerline is valid? [True, True] Translation: X:1.26, Y:1.16, Z:-0.97 [[ 0.30722916 -0.94956462 -0.0627477 1.25730553] [ 0.92892266 0.31356359 -0.19692782 1.15841902] [ 0.20667109 0.00221421 0.97840797 -0.96884394] [ 0. 0. 0. 1. ]] SLAMing on 2.334839173 meters Centerline goodness : 0.975540 Centerline is valid? [True, True] Translation: X:1.32, Y:1.19, Z:-1.01 [[ 0.27933285 -0.9489751 -0.14635372 1.3208242 ] [ 0.94091327 0.30091712 -0.15534189 1.18755229] [ 0.19145593 -0.09431407 0.97695931 -1.01338034] [ 0. 0. 0. 1. ]] SLAMing on 2.364839173 meters Centerline goodness : 0.954338 Centerline is valid? [True, True] Translation: X:1.23, Y:1.21, Z:-0.93 [[ 0.28102105 -0.95967929 0.00654509 1.23275245] [ 0.9368722 0.27285105 -0.21868421 1.21160081] [ 0.20808087 0.06758678 0.97577373 -0.93457593] [ 0. 0. 0. 1. ]] SLAMing on 2.3948391730000003 meters Centerline goodness : 0.955073 Centerline is valid? [True, True] Translation: X:1.28, Y:1.23, Z:-0.97 [[ 2.88261682e-01 -9.55430290e-01 -6.37037162e-02 1.28112563e+00] [ 9.33202981e-01 2.95216550e-01 -2.04888713e-01 1.23227793e+00] [ 2.14563274e-01 -3.86932861e-04 9.76710014e-01 -9.70211993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.424839173 meters Centerline goodness : 0.963840 Centerline is valid? [True, True] Translation: X:1.30, Y:1.26, Z:-0.96 [[ 0.28044133 -0.95807309 -0.0587249 1.29561804] [ 0.93925215 0.28651578 -0.18898179 1.25543036] [ 0.19788397 -0.00215918 0.98022307 -0.96432882] [ 0. 0. 0. 1. ]] SLAMing on 2.454839173 meters Centerline goodness : 0.950479 Centerline is valid? [True, True] Translation: X:1.30, Y:1.28, Z:-0.96 [[ 0.28332751 -0.95697062 -0.06271164 1.30452537] [ 0.93542089 0.29018122 -0.20194705 1.28034514] [ 0.21145514 -0.00144463 0.97738664 -0.95627539] [ 0. 0. 0. 1. ]] SLAMing on 2.484839173 meters Centerline goodness : 0.771126 Centerline is valid? [True, False] Translation: X:1.99, Y:-0.50, Z:-1.11 [[ 0.09323478 0.94297081 0.31955176 1.98873403] [-0.99108118 0.05720559 0.1203562 -0.49840901] [ 0.09521223 -0.32792312 0.93989418 -1.10654213] [ 0. 0. 0. 1. ]] SLAMing on 2.514839173 meters Centerline goodness : 0.955440 Centerline is valid? [False, True] Translation: X:1.99, Y:-0.41, Z:-1.12 [[ 0.09480751 0.94542704 0.31173587 1.99034146] [-0.99193599 0.06325922 0.10982376 -0.41338045] [ 0.08411018 -0.31963415 0.94380055 -1.1171946 ] [ 0. 0. 0. 1. ]] SLAMing on 2.544839173 meters Centerline goodness : 0.960568 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.42, Z:-1.00 [[ 0.08731516 0.99572014 0.03028975 2.18137794] [-0.99338489 0.08475342 0.07748104 -0.42312781] [ 0.07458227 -0.03685465 0.9965336 -0.99698018] [ 0. 0. 0. 1. ]] SLAMing on 2.574839173 meters Centerline goodness : 0.951706 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.42, Z:-0.90 [[ 0.08553502 0.98613109 -0.14222954 2.29676445] [-0.99332714 0.09548773 0.06467828 -0.42463302] [ 0.07736244 0.1357482 0.98771832 -0.9038554 ] [ 0. 0. 0. 1. ]] SLAMing on 2.6048391730000002 meters Centerline goodness : 0.963098 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.46, Z:-0.99 [[ 9.63865016e-02 9.95339693e-01 -2.92209475e-03 2.24079054e+00] [-9.94688504e-01 9.64291381e-02 3.60027840e-02 -4.62016055e-01] [ 3.61167750e-02 -5.63608341e-04 9.99347418e-01 -9.94068257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.634839173 meters Centerline goodness : 0.967533 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.49, Z:-0.99 [[ 9.47365754e-02 9.95498913e-01 -2.62575979e-03 2.24615418e+00] [-9.94976186e-01 9.47719187e-02 3.22594515e-02 -4.87030615e-01] [ 3.23630972e-02 -4.43581495e-04 9.99476079e-01 -9.88089461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.664839173 meters Centerline goodness : 0.944582 Centerline is valid? [True, False] Translation: X:2.24, Y:-0.34, Z:-1.02 [[ 0.10163895 0.99455524 0.0230087 2.23764365] [-0.99462273 0.10112933 0.02232663 -0.34005016] [ 0.01987821 -0.02515423 0.99948593 -1.01924273] [ 0. 0. 0. 1. ]] SLAMing on 2.694839173 meters Centerline goodness : 0.937262 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.20, Z:-1.05 [[ 0.1071055 0.99356003 0.03697133 2.22873225] [-0.99418925 0.10662208 0.01481433 -0.20125009] [ 0.01077697 -0.03834319 0.99920651 -1.04592203] [ 0. 0. 0. 1. ]] SLAMing on 2.724839173 meters Centerline goodness : 0.934732 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.07, Z:-1.07 [[ 0.11343942 0.99217377 0.05217958 2.21775798] [-0.99353443 0.11304037 0.0105459 -0.06906384] [ 0.00456497 -0.05303853 0.99858203 -1.07113278] [ 0. 0. 0. 1. ]] SLAMing on 2.754839173 meters Centerline goodness : 0.933419 Centerline is valid? [False, False] Translation: X:2.21, Y:0.05, Z:-1.09 [[ 0.11946865 0.99076895 0.0640634 2.20717132] [-0.99283377 0.11903132 0.01061406 0.04569851] [ 0.00289053 -0.06487236 0.99788938 -1.09101856] [ 0. 0. 0. 1. ]] SLAMing on 2.784839173 meters Centerline goodness : 0.928361 Centerline is valid? [False, False] Translation: X:2.20, Y:0.14, Z:-1.11 [[ 0.13016707 0.98884104 0.07245635 2.1996451 ] [-0.99148545 0.12955096 0.01315896 0.14469902] [ 0.00362533 -0.07355228 0.99728477 -1.11182765] [ 0. 0. 0. 1. ]] SLAMing on 2.814839173 meters Centerline goodness : 0.925466 Centerline is valid? [False, False] Translation: X:2.19, Y:0.25, Z:-1.13 [[ 1.37341471e-01 9.86321674e-01 9.11420643e-02 2.18908909e+00] [-9.90522773e-01 1.36888642e-01 1.12310372e-02 2.52433260e-01] [-1.39889801e-03 -9.18207774e-02 9.95774567e-01 -1.13321120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.844839173 meters Centerline goodness : 0.925466 Centerline is valid? [False, False] Translation: X:2.18, Y:0.35, Z:-1.15 [[ 0.14370195 0.98426663 0.10280542 2.17607808] [-0.98957212 0.14394997 0.00504154 0.35245088] [-0.00983661 -0.10245786 0.99468871 -1.1495851 ] [ 0. 0. 0. 1. ]] SLAMing on 2.8748391730000002 meters Centerline goodness : 0.921442 Centerline is valid? [False, False] Translation: X:2.17, Y:0.45, Z:-1.17 [[ 1.49124413e-01 9.82179646e-01 1.14389917e-01 2.16562555e+00] [-9.88669363e-01 1.50109592e-01 1.33394364e-06 4.45442308e-01] [-1.71697136e-02 -1.13094005e-01 9.93435930e-01 -1.16561488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.904839173 meters Centerline goodness : 0.921657 Centerline is valid? [False, False] Translation: X:2.15, Y:0.54, Z:-1.18 [[ 0.15406744 0.97975556 0.12783687 2.15273604] [-0.98780287 0.1556861 -0.00270706 0.53778417] [-0.02255468 -0.12586056 0.99179151 -1.18100343] [ 0. 0. 0. 1. ]] SLAMing on 2.934839173 meters Centerline goodness : 0.917708 Centerline is valid? [False, False] Translation: X:2.14, Y:0.61, Z:-1.20 [[ 0.15772086 0.97859103 0.13222606 2.14424206] [-0.98716054 0.15967497 -0.00424034 0.61207806] [-0.02526275 -0.12985956 0.99121052 -1.19806892] [ 0. 0. 0. 1. ]] SLAMing on 2.964839173 meters Centerline goodness : 0.913163 Centerline is valid? [False, False] Translation: X:2.13, Y:0.69, Z:-1.22 [[ 0.16309747 0.9764444 0.14126409 2.13261418] [-0.9860897 0.16598113 -0.00879634 0.68621951] [-0.03203631 -0.1378644 0.98993287 -1.21519659] [ 0. 0. 0. 1. ]] SLAMing on 2.994839173 meters Centerline goodness : 0.906399 Centerline is valid? [False, False] Translation: X:2.12, Y:0.76, Z:-1.23 [[ 0.16946472 0.97312353 0.15592406 2.12244905] [-0.98464217 0.17391621 -0.01526285 0.76121995] [-0.04197036 -0.15094289 0.98765112 -1.23054161] [ 0. 0. 0. 1. ]] SLAMing on 3.024839173 meters Centerline goodness : 0.902164 Centerline is valid? [False, False] Translation: X:2.11, Y:0.82, Z:-1.24 [[ 0.17442516 0.97064711 0.16558998 2.11424724] [-0.98338966 0.18029191 -0.02096695 0.82349801] [-0.05020604 -0.15918231 0.98597178 -1.23982178] [ 0. 0. 0. 1. ]] SLAMing on 3.054839173 meters Centerline goodness : 0.895266 Centerline is valid? [False, False] Translation: X:2.11, Y:0.89, Z:-1.25 [[ 0.17733926 0.96969885 0.16803251 2.10774361] [-0.98248904 0.18435521 -0.02698978 0.88603284] [-0.05714963 -0.16030375 0.98541191 -1.25056564] [ 0. 0. 0. 1. ]] SLAMing on 3.084839173 meters Centerline goodness : 0.890449 Centerline is valid? [False, False] Translation: X:2.10, Y:0.94, Z:-1.26 [[ 0.17817474 0.96987269 0.16613465 2.10261213] [-0.98181324 0.18647362 -0.03564186 0.94070691] [-0.0655478 -0.15676272 0.98545874 -1.25552621] [ 0. 0. 0. 1. ]] SLAMing on 3.114839173 meters Centerline goodness : 0.880681 Centerline is valid? [False, False] Translation: X:2.10, Y:1.00, Z:-1.27 [[ 0.1758395 0.96963465 0.16996801 2.09535984] [-0.98155865 0.18584756 -0.04475816 1.00115772] [-0.07498721 -0.15896332 0.98443262 -1.26504563] [ 0. 0. 0. 1. ]] SLAMing on 3.1448391730000003 meters Centerline goodness : 0.878861 Centerline is valid? [False, False] Translation: X:2.09, Y:1.05, Z:-1.27 [[ 0.18005104 0.96857198 0.17160985 2.09140861] [-0.97956574 0.19244814 -0.05843515 1.05368562] [-0.08962465 -0.15758182 0.98343042 -1.27223901] [ 0. 0. 0. 1. ]] SLAMing on 3.174839173 meters Centerline goodness : 0.877500 Centerline is valid? [False, False] Translation: X:2.09, Y:1.10, Z:-1.28 [[ 0.18535373 0.96611373 0.17963366 2.08766766] [-0.97710858 0.20062289 -0.07077628 1.10237187] [-0.10441656 -0.16240294 0.98118422 -1.27964482] [ 0. 0. 0. 1. ]] SLAMing on 3.204839173 meters Centerline goodness : 0.870082 Centerline is valid? [False, False] Translation: X:2.08, Y:1.15, Z:-1.29 [[ 0.19364013 0.96219145 0.19154926 2.08431741] [-0.97333689 0.21288614 -0.08540958 1.14814048] [-0.12295855 -0.16990323 0.97775973 -1.2878396 ] [ 0. 0. 0. 1. ]] SLAMing on 3.234839173 meters Centerline goodness : 0.867570 Centerline is valid? [False, False] Translation: X:2.07, Y:1.19, Z:-1.29 [[ 0.2051072 0.95825193 0.19920914 2.07245943] [-0.96815686 0.22849242 -0.10229127 1.18937847] [-0.14353858 -0.17188502 0.97460362 -1.29433102] [ 0. 0. 0. 1. ]] SLAMing on 3.264839173 meters Centerline goodness : 0.865043 Centerline is valid? [False, False] Translation: X:2.06, Y:1.23, Z:-1.30 [[ 0.21481077 0.95625557 0.19857395 2.06430942] [-0.96335061 0.24090502 -0.11798466 1.22771305] [-0.16066095 -0.16595195 0.97295838 -1.29602507] [ 0. 0. 0. 1. ]] SLAMing on 3.294839173 meters Centerline goodness : 0.861709 Centerline is valid? [False, False] Translation: X:2.05, Y:1.26, Z:-1.30 [[ 0.22413521 0.95292759 0.2041872 2.05467775] [-0.95793164 0.2539579 -0.13368752 1.26492244] [-0.17924948 -0.1656333 0.9697604 -1.30402921] [ 0. 0. 0. 1. ]] SLAMing on 3.324839173 meters Centerline goodness : 0.860741 Centerline is valid? [False, False] Translation: X:2.05, Y:1.30, Z:-1.30 [[ 0.23866529 0.94892435 0.20635274 2.04564185] [-0.95099915 0.27139967 -0.14813116 1.30172718] [-0.19656933 -0.16088751 0.96719993 -1.30159758] [ 0. 0. 0. 1. ]] SLAMing on 3.3548391730000002 meters Centerline goodness : 0.859697 Centerline is valid? [False, False] Translation: X:2.04, Y:1.33, Z:-1.30 [[ 0.25051179 0.94561273 0.20751 2.03989545] [-0.94474483 0.28559372 -0.16091435 1.33183036] [-0.21142621 -0.15573305 0.96490734 -1.30285498] [ 0. 0. 0. 1. ]] SLAMing on 3.384839173 meters Centerline goodness : 0.850602 Centerline is valid? [False, False] Translation: X:2.04, Y:1.37, Z:-1.31 [[ 0.25953728 0.94254822 0.2103408 2.0373337 ] [-0.93864858 0.29742316 -0.17458038 1.36618725] [-0.22711066 -0.15212598 0.96191394 -1.30960056] [ 0. 0. 0. 1. ]] SLAMing on 3.414839173 meters Centerline goodness : 0.849118 Centerline is valid? [False, False] Translation: X:2.03, Y:1.40, Z:-1.31 [[ 0.26438757 0.94020244 0.21475239 2.03331324] [-0.93418841 0.30498426 -0.18513946 1.3958944 ] [-0.23956467 -0.15167062 0.95896027 -1.30677873] [ 0. 0. 0. 1. ]] SLAMing on 3.444839173 meters Centerline goodness : 0.848726 Centerline is valid? [False, False] Translation: X:2.03, Y:1.44, Z:-1.30 [[ 0.26921598 0.93727502 0.2214459 2.02766579] [-0.92837604 0.3137303 -0.19922657 1.43686119] [-0.25620437 -0.15195009 0.95460489 -1.29925166] [ 0. 0. 0. 1. ]] SLAMing on 3.474839173 meters Centerline goodness : 0.847909 Centerline is valid? [False, False] Translation: X:2.03, Y:1.44, Z:-1.30 [[ 0.27107872 0.93695376 0.22053114 2.02723192] [-0.92690839 0.31587013 -0.20264968 1.44375687] [-0.25953258 -0.14947815 0.95409597 -1.29721307] [ 0. 0. 0. 1. ]] SLAMing on 3.504839173 meters Centerline goodness : 0.847692 Centerline is valid? [False, False] Translation: X:2.03, Y:1.47, Z:-1.30 [[ 0.27815566 0.93376199 0.22520653 2.02781235] [-0.92179567 0.32541135 -0.21071353 1.46740728] [-0.27004104 -0.14898325 0.95125277 -1.3044694 ] [ 0. 0. 0. 1. ]] SLAMing on 3.534839173 meters Centerline goodness : 0.846046 Centerline is valid? [False, False] Translation: X:2.03, Y:1.49, Z:-1.30 [[ 0.28394399 0.93156566 0.22707096 2.02909704] [-0.91673182 0.33316196 -0.2204674 1.49489971] [-0.28103126 -0.14556278 0.94859523 -1.30349076] [ 0. 0. 0. 1. ]] SLAMing on 3.564839173 meters Centerline goodness : 0.841845 Centerline is valid? [False, False] Translation: X:2.02, Y:1.53, Z:-1.31 [[ 0.28749011 0.92858017 0.23470897 2.0192581 ] [-0.91038082 0.34106819 -0.23426321 1.53184751] [-0.29758394 -0.14632619 0.94341531 -1.31087276] [ 0. 0. 0. 1. ]] SLAMing on 3.594839173 meters Centerline goodness : 0.842054 Centerline is valid? [False, False] Translation: X:2.01, Y:1.56, Z:-1.31 [[ 0.28924211 0.92707783 0.23846532 2.01220954] [-0.90592684 0.34558131 -0.24468373 1.55686681] [-0.30925001 -0.14525929 0.93982135 -1.31330093] [ 0. 0. 0. 1. ]] SLAMing on 3.624839173 meters Centerline goodness : 0.840440 Centerline is valid? [False, False] Translation: X:2.01, Y:1.56, Z:-1.31 [[ 0.28952367 0.9271567 0.23781608 2.01036826] [-0.90564637 0.34576687 -0.2454586 1.5579833 ] [-0.3098075 -0.1443112 0.9397838 -1.30999205] [ 0. 0. 0. 1. ]] SLAMing on 3.654839173 meters Centerline goodness : 0.836879 Centerline is valid? [False, False] Translation: X:2.01, Y:1.56, Z:-1.31 [[ 0.29541553 0.92636733 0.23360915 2.01118302] [-0.90358775 0.35033097 -0.24657127 1.55765808] [-0.31025609 -0.13824539 0.94054738 -1.30851128] [ 0. 0. 0. 1. ]] SLAMing on 3.684839173 meters Centerline goodness : 0.837288 Centerline is valid? [False, False] Translation: X:2.01, Y:1.55, Z:-1.31 [[ 0.29744125 0.92564492 0.23390208 2.0091112 ] [-0.90306558 0.35227514 -0.24571281 1.5549136 ] [-0.3098407 -0.13814379 0.94069923 -1.30938524] [ 0. 0. 0. 1. ]] SLAMing on 3.714839173 meters Centerline goodness : 0.831388 Centerline is valid? [False, False] Translation: X:2.00, Y:1.57, Z:-1.30 [[ 0.30125962 0.9247391 0.23259458 2.0003565 ] [-0.89929035 0.35664173 -0.25314729 1.56827646] [-0.31704813 -0.13290701 0.9390507 -1.30153616] [ 0. 0. 0. 1. ]] SLAMing on 3.744839173 meters Centerline goodness : 0.827271 Centerline is valid? [False, False] Translation: X:1.99, Y:1.57, Z:-1.30 [[ 0.30211765 0.92526568 0.22936509 1.99089137] [-0.89802238 0.35696878 -0.25715576 1.5703271 ] [-0.31981358 -0.12828369 0.93875586 -1.29732626] [ 0. 0. 0. 1. ]] SLAMing on 3.774839173 meters Centerline goodness : 0.826625 Centerline is valid? [False, False] Translation: X:1.99, Y:1.57, Z:-1.30 [[ 0.30725139 0.92406542 0.22737565 1.98922672] [-0.89114919 0.36321107 -0.27190227 1.57305641] [-0.33384084 -0.11908328 0.93507725 -1.30306446] [ 0. 0. 0. 1. ]] SLAMing on 3.804839173 meters Centerline goodness : 0.826600 Centerline is valid? [False, False] Translation: X:1.99, Y:1.58, Z:-1.31 [[ 0.31284807 0.92285259 0.22465349 1.98849949] [-0.88392997 0.36943951 -0.28667449 1.576006 ] [-0.34755417 -0.10889239 0.93131549 -1.3075384 ] [ 0. 0. 0. 1. ]] SLAMing on 3.834839173 meters Centerline goodness : 0.825383 Centerline is valid? [False, False] Translation: X:1.99, Y:1.58, Z:-1.31 [[ 0.32334634 0.92011304 0.2209958 1.98649302] [-0.87477917 0.37970431 -0.30097514 1.57715335] [-0.36084421 -0.09600332 0.92767172 -1.30815431] [ 0. 0. 0. 1. ]] SLAMing on 3.864839173 meters Centerline goodness : 0.829152 Centerline is valid? [False, False] Translation: X:1.99, Y:1.58, Z:-1.31 [[ 0.3292128 0.91821297 0.22023596 1.98625999] [-0.86695195 0.38635042 -0.31484546 1.58032494] [-0.37418344 -0.08728284 0.92323803 -1.31254113] [ 0. 0. 0. 1. ]] SLAMing on 3.894839173 meters Centerline goodness : 0.830034 Centerline is valid? [False, False] Translation: X:1.98, Y:1.59, Z:-1.31 [[ 0.32995628 0.9168156 0.22489556 1.98389286] [-0.86056455 0.39005803 -0.32754142 1.58510359] [-0.3880174 -0.0854628 0.9176811 -1.31249595] [ 0. 0. 0. 1. ]] SLAMing on 3.924839173 meters Centerline goodness : 0.830733 Centerline is valid? [False, False] Translation: X:1.85, Y:1.92, Z:-1.18 [[ 0.33377676 0.90863609 0.25094527 1.8507638 ] [-0.85954079 0.40266258 -0.31472604 1.9155763 ] [-0.38701771 -0.11064946 0.91540919 -1.17504952] [ 0. 0. 0. 1. ]] SLAMing on 3.954839173 meters Centerline goodness : 0.830451 Centerline is valid? [False, False] Translation: X:1.74, Y:2.20, Z:-1.06 [[ 0.3356805 0.9009111 0.27509595 1.74083837] [-0.86009437 0.4122319 -0.30050382 2.19840521] [-0.38413055 -0.1357352 0.91324678 -1.06259132] [ 0. 0. 0. 1. ]] SLAMing on 3.984839173 meters Centerline goodness : 0.833487 Centerline is valid? [False, False] Translation: X:1.64, Y:2.47, Z:-0.96 [[ 0.33632053 0.8956282 0.291099 1.6426092 ] [-0.86108981 0.41761818 -0.29003343 2.46621673] [-0.38133035 -0.15311818 0.91166989 -0.95550869] [ 0. 0. 0. 1. ]] SLAMing on 4.0148391729999995 meters Centerline goodness : 0.831354 Centerline is valid? [False, False] Translation: X:1.54, Y:2.73, Z:-0.85 [[ 0.33852829 0.88863128 0.30940758 1.54308365] [-0.86151832 0.42494637 -0.27786105 2.7271355 ] [-0.37839765 -0.17249647 0.90942849 -0.85110345] [ 0. 0. 0. 1. ]] SLAMing on 4.044839173 meters Centerline goodness : 0.828912 Centerline is valid? [False, False] Translation: X:1.44, Y:3.01, Z:-0.74 [[ 0.33729946 0.8877569 0.31323597 1.43797742] [-0.86283791 0.42460385 -0.27426685 3.00524503] [-0.37648348 -0.17776181 0.90920896 -0.73973718] [ 0. 0. 0. 1. ]] SLAMing on 4.074839173 meters Centerline goodness : 0.831899 Centerline is valid? [False, False] Translation: X:1.34, Y:3.26, Z:-0.64 [[ 0.33767455 0.88289603 0.32629817 1.34391262] [-0.86335391 0.42861457 -0.26628851 3.25658053] [-0.37496122 -0.19179195 0.90698397 -0.64267011] [ 0. 0. 0. 1. ]] SLAMing on 4.104839173 meters Centerline goodness : 0.833684 Centerline is valid? [False, False] Translation: X:1.25, Y:3.51, Z:-0.55 [[ 0.33908885 0.8779528 0.337961 1.25409534] [-0.86300148 0.43330609 -0.25975811 3.50590039] [-0.37449592 -0.20357977 0.90460383 -0.54669805] [ 0. 0. 0. 1. ]] SLAMing on 4.134839173 meters Centerline goodness : 0.831591 Centerline is valid? [False, False] Translation: X:1.15, Y:3.77, Z:-0.45 [[ 0.34287514 0.86959696 0.35529955 1.15144961] [-0.86322633 0.44085205 -0.24594669 3.77295331] [-0.37050903 -0.22237492 0.9018162 -0.44747155] [ 0. 0. 0. 1. ]] SLAMing on 4.164839173 meters Centerline goodness : 0.830695 Centerline is valid? [False, False] Translation: X:1.06, Y:4.02, Z:-0.35 [[ 0.34750191 0.86835128 0.35384809 1.05814945] [-0.8638173 0.44326303 -0.23945263 4.02187538] [-0.36477678 -0.22244985 0.90413161 -0.35481922] [ 0. 0. 0. 1. ]] SLAMing on 4.194839173 meters Centerline goodness : 0.832849 Centerline is valid? [False, False] Translation: X:0.95, Y:4.30, Z:-0.25 [[ 0.35039008 0.86599073 0.35677283 0.95191063] [-0.86302265 0.44651887 -0.23624734 4.29569253] [-0.3638938 -0.22512431 0.9038254 -0.25328204] [ 0. 0. 0. 1. ]] SLAMing on 4.224839173 meters Centerline goodness : 0.834574 Centerline is valid? [False, False] Translation: X:0.87, Y:4.51, Z:-0.17 [[ 0.34952932 0.86483225 0.36040871 0.87499255] [-0.86366244 0.44652542 -0.23388512 4.512175 ] [-0.36320304 -0.22952176 0.90299685 -0.17191417] [ 0. 0. 0. 1. ]] SLAMing on 4.254839173 meters Centerline goodness : 0.833891 Centerline is valid? [False, False] Translation: X:0.79, Y:4.75, Z:-0.09 [[ 0.34707229 0.86194399 0.36958541 0.78794286] [-0.86530806 0.4462776 -0.22820664 4.75196227] [-0.36163903 -0.24060103 0.90073767 -0.08602185] [ 0. 0. 0. 1. ]] SLAMing on 4.284839173 meters Centerline goodness : 0.829150 Centerline is valid? [False, False] Translation: X:0.71, Y:4.98, Z:-0.01 [[ 0.34594664 0.86184261 0.37087497 0.70631223] [-0.86785163 0.44415689 -0.22261673 4.97766592] [-0.35658725 -0.24485094 0.90160609 -0.00731108] [ 0. 0. 0. 1. ]] SLAMing on 4.314839173 meters Centerline goodness : 0.826728 Centerline is valid? [False, False] Translation: X:0.61, Y:5.22, Z:0.07 [[ 0.35474849 0.86010621 0.36656624 0.60932115] [-0.8666808 0.44959145 -0.21617567 5.221108 ] [-0.35073908 -0.24100793 0.90492943 0.07319755] [ 0. 0. 0. 1. ]] SLAMing on 4.344839173 meters Centerline goodness : 0.827539 Centerline is valid? [False, False] Translation: X:0.52, Y:5.45, Z:0.15 [[ 0.36020192 0.85706992 0.36835545 0.51845249] [-0.86549665 0.45436967 -0.2108643 5.45230112] [-0.34809499 -0.24285668 0.90545597 0.15142728] [ 0. 0. 0. 1. ]] SLAMing on 4.374839173 meters Centerline goodness : 0.826814 Centerline is valid? [False, False] Translation: X:0.43, Y:5.67, Z:0.22 [[ 0.36528334 0.85330536 0.37207263 0.43329717] [-0.86463448 0.45910218 -0.20404022 5.66846686] [-0.34492796 -0.24717433 0.90549961 0.22496784] [ 0. 0. 0. 1. ]] SLAMing on 4.404839173 meters Centerline goodness : 0.824666 Centerline is valid? [False, False] Translation: X:0.36, Y:5.86, Z:0.29 [[ 0.36973256 0.85190457 0.37088602 0.35951169] [-0.86486913 0.46142922 -0.1976979 5.86101608] [-0.3395574 -0.24767251 0.90739137 0.2901971 ] [ 0. 0. 0. 1. ]] SLAMing on 4.434839173 meters Centerline goodness : 0.822124 Centerline is valid? [False, False] Translation: X:0.29, Y:6.05, Z:0.35 [[ 0.37727788 0.84886341 0.37025978 0.28625031] [-0.86355117 0.46689579 -0.19049328 6.0450628 ] [-0.33457551 -0.24786936 0.90918645 0.34938194] [ 0. 0. 0. 1. ]] SLAMing on 4.464839173 meters Centerline goodness : 0.823579 Centerline is valid? [False, False] Translation: X:0.20, Y:6.25, Z:0.41 [[ 0.38369178 0.84547625 0.37141693 0.20332649] [-0.86272486 0.47163894 -0.18238017 6.24841647] [-0.32937279 -0.25045284 0.91037736 0.41424354] [ 0. 0. 0. 1. ]] SLAMing on 4.494839173 meters Centerline goodness : 0.821528 Centerline is valid? [False, False] Translation: X:0.13, Y:6.43, Z:0.47 [[ 0.38686191 0.84376698 0.37201498 0.1317973 ] [-0.86282543 0.47356434 -0.17683068 6.42563174] [-0.32537692 -0.25257494 0.91122761 0.47143888] [ 0. 0. 0. 1. ]] SLAMing on 4.524839173 meters Centerline goodness : 0.823221 Centerline is valid? [False, False] Translation: X:0.05, Y:6.63, Z:0.54 [[ 0.38693283 0.84418787 0.37098495 0.05286742] [-0.86432195 0.4722207 -0.17307562 6.62843581] [-0.32129512 -0.2536818 0.9123678 0.5359278 ] [ 0. 0. 0. 1. ]] SLAMing on 4.554839173 meters Centerline goodness : 0.820616 Centerline is valid? [False, False] Translation: X:-0.02, Y:6.82, Z:0.59 [[ 0.3871998 0.84468462 0.369573 -0.02317383] [-0.86649872 0.47034884 -0.16718834 6.82001043] [-0.31504965 -0.25549924 0.91403712 0.59499692] [ 0. 0. 0. 1. ]] SLAMing on 4.584839173 meters Centerline goodness : 0.821008 Centerline is valid? [False, False] Translation: X:-0.10, Y:7.02, Z:0.66 [[ 0.38666122 0.84664422 0.36563187 -0.10455372] [-0.8671657 0.46871811 -0.16830624 7.02146947] [-0.31387378 -0.25198592 0.91541594 0.65871488] [ 0. 0. 0. 1. ]] SLAMing on 4.614839173 meters Centerline goodness : 0.823050 Centerline is valid? [False, False] Translation: X:-0.21, Y:7.25, Z:0.73 [[ 0.39205453 0.84351251 0.3671238 -0.20709715] [-0.864821 0.47400604 -0.16553826 7.25471632] [-0.31365249 -0.25259635 0.91532355 0.73106195] [ 0. 0. 0. 1. ]] SLAMing on 4.644839173 meters Centerline goodness : 0.825718 Centerline is valid? [False, False] Translation: X:-0.28, Y:7.44, Z:0.79 [[ 0.39662371 0.84228176 0.3650357 -0.28437703] [-0.86393994 0.47691665 -0.16173524 7.44134327] [-0.31031825 -0.25122089 0.91683731 0.78824699] [ 0. 0. 0. 1. ]] SLAMing on 4.674839173 meters Centerline goodness : 0.825006 Centerline is valid? [False, False] Translation: X:-0.37, Y:7.64, Z:0.85 [[ 0.4013415 0.84203352 0.36042273 -0.36798684] [-0.86343346 0.47912041 -0.15788064 7.63881244] [-0.30562668 -0.24783699 0.91933082 0.84677806] [ 0. 0. 0. 1. ]] SLAMing on 4.704839173 meters Centerline goodness : 0.827879 Centerline is valid? [False, False] Translation: X:-0.47, Y:7.86, Z:0.91 [[ 0.40499802 0.84094031 0.35888161 -0.47043572] [-0.86318854 0.48108388 -0.15317914 7.86126888] [-0.30146667 -0.24774524 0.92072805 0.91268986] [ 0. 0. 0. 1. ]] SLAMing on 4.734839173 meters Centerline goodness : 0.826928 Centerline is valid? [False, False] Translation: X:-0.55, Y:8.06, Z:0.97 [[ 0.40642452 0.8414477 0.35606864 -0.55423141] [-0.86442409 0.48034453 -0.14845917 8.0554954 ] [-0.29595625 -0.24745687 0.92259146 0.96916604] [ 0. 0. 0. 1. ]] SLAMing on 4.764839173 meters Centerline goodness : 0.829821 Centerline is valid? [False, False] Translation: X:-0.65, Y:8.27, Z:1.03 [[ 0.40641711 0.84309272 0.35216444 -0.64650488] [-0.86643528 0.47796661 -0.14435315 8.2653589 ] [-0.29002593 -0.2464601 0.92473909 1.03122008] [ 0. 0. 0. 1. ]] SLAMing on 4.794839173 meters Centerline goodness : 0.829821 Centerline is valid? [False, False] Translation: X:-0.74, Y:8.48, Z:1.09 [[ 0.40919702 0.84243194 0.35052279 -0.73523262] [-0.86727065 0.4784726 -0.13749758 8.47722096] [-0.2835479 -0.24773453 0.92640606 1.09001462] [ 0. 0. 0. 1. ]] SLAMing on 4.824839173 meters Centerline goodness : 0.831774 Centerline is valid? [False, False] Translation: X:-0.83, Y:8.70, Z:1.15 [[ 0.40916143 0.84242991 0.3505692 -0.83244961] [-0.86903239 0.47689776 -0.13172406 8.69697022] [-0.27815396 -0.25075958 0.92722705 1.15156834] [ 0. 0. 0. 1. ]] SLAMing on 4.854839173 meters Centerline goodness : 0.831531 Centerline is valid? [False, False] Translation: X:-0.91, Y:8.87, Z:1.20 [[ 0.40953909 0.84544364 0.34278679 -0.90878549] [-0.87103463 0.47408427 -0.12861874 8.86651531] [-0.27124972 -0.24590476 0.93056673 1.20240661] [ 0. 0. 0. 1. ]] SLAMing on 4.884839173 meters Centerline goodness : 0.830964 Centerline is valid? [False, False] Translation: X:-0.99, Y:9.04, Z:1.25 [[ 0.41121668 0.84845352 0.33320785 -0.98667291] [-0.87186255 0.47276993 -0.12784479 9.04491435] [-0.26600101 -0.23793954 0.93414573 1.2510966 ] [ 0. 0. 0. 1. ]] SLAMing on 4.914839173 meters Centerline goodness : 0.828031 Centerline is valid? [False, False] Translation: X:-1.07, Y:9.23, Z:1.30 [[ 0.41274868 0.85147907 0.32345311 -1.07289208] [-0.87197635 0.47201212 -0.12985298 9.22983214] [-0.26324089 -0.22844682 0.937292 1.30145102] [ 0. 0. 0. 1. ]] SLAMing on 4.944839173 meters Centerline goodness : 0.827431 Centerline is valid? [False, False] Translation: X:-1.15, Y:9.42, Z:1.35 [[ 0.41349244 0.85344681 0.31725787 -1.1540998 ] [-0.87311413 0.47049306 -0.12770278 9.41891507] [-0.25825516 -0.22419819 0.93970178 1.349594 ] [ 0. 0. 0. 1. ]] SLAMing on 4.974839173 meters Centerline goodness : 0.821138 Centerline is valid? [False, False] Translation: X:-1.24, Y:9.60, Z:1.40 [[ 0.41530161 0.85600623 0.3078602 -1.23907184] [-0.87305222 0.47012932 -0.12945367 9.6037916 ] [-0.25554725 -0.21501571 0.9425836 1.40033614] [ 0. 0. 0. 1. ]] SLAMing on 5.004839173 meters Centerline goodness : 0.818801 Centerline is valid? [False, False] Translation: X:-1.32, Y:9.79, Z:1.45 [[ 0.4186805 0.85822932 0.29689909 -1.32352541] [-0.87296899 0.470448 -0.12885581 9.78800744] [-0.25026342 -0.20523429 0.94617499 1.44636963] [ 0. 0. 0. 1. ]] SLAMing on 5.034839173 meters Centerline goodness : 0.816855 Centerline is valid? [False, False] Translation: X:-1.41, Y:9.98, Z:1.49 [[ 0.42316588 0.85873928 0.28895931 -1.41278569] [-0.87300502 0.47178801 -0.12360549 9.97684689] [-0.24247243 -0.1999573 0.94932829 1.49398152] [ 0. 0. 0. 1. ]] SLAMing on 5.064839173 meters Centerline goodness : 0.815853 Centerline is valid? [False, False] Translation: X:-1.51, Y:10.18, Z:1.54 [[ 0.42286353 0.8607052 0.28350132 -1.50511724] [-0.87392893 0.47007413 -0.12360636 10.18304411] [-0.23965527 -0.19549138 0.95097238 1.54270362] [ 0. 0. 0. 1. ]] SLAMing on 5.0948391729999996 meters Centerline goodness : 0.818437 Centerline is valid? [False, False] Translation: X:-1.60, Y:10.39, Z:1.59 [[ 0.42307171 0.86214597 0.2787735 -1.59908816] [-0.87464225 0.46893669 -0.12287926 10.39274628] [-0.23666698 -0.19184034 0.95246314 1.59126514] [ 0. 0. 0. 1. ]] SLAMing on 5.124839173 meters Centerline goodness : 0.814943 Centerline is valid? [False, False] Translation: X:-1.70, Y:10.61, Z:1.64 [[ 0.42753767 0.86106008 0.27529454 -1.6973372 ] [-0.87450468 0.47109718 -0.11536474 10.60916048] [-0.22902645 -0.19142359 0.95441285 1.63992005] [ 0. 0. 0. 1. ]] SLAMing on 5.154839173 meters Centerline goodness : 0.811461 Centerline is valid? [False, False] Translation: X:-1.80, Y:10.81, Z:1.68 [[ 0.4357832 0.86107445 0.2619996 -1.79790797] [-0.87258683 0.475551 -0.11155032 10.80937307] [-0.2206473 -0.18000565 0.95859936 1.68352652] [ 0. 0. 0. 1. ]] SLAMing on 5.184839173 meters Centerline goodness : 0.811978 Centerline is valid? [False, False] Translation: X:-1.90, Y:11.03, Z:1.73 [[ 0.43858511 0.8624922 0.25248824 -1.90041078] [-0.87250676 0.47597952 -0.11034237 11.02803442] [-0.21534866 -0.17190317 0.96128781 1.72916923] [ 0. 0. 0. 1. ]] SLAMing on 5.214839173 meters Centerline goodness : 0.810222 Centerline is valid? [False, False] Translation: X:-2.01, Y:11.26, Z:1.77 [[ 0.44277205 0.86168862 0.2478823 -2.00976135] [-0.87250509 0.47776841 -0.1023338 11.2598461 ] [-0.20661021 -0.17096803 0.96337021 1.77416092] [ 0. 0. 0. 1. ]] SLAMing on 5.244839173 meters Centerline goodness : 0.808633 Centerline is valid? [False, False] Translation: X:-2.11, Y:11.49, Z:1.82 [[ 0.44320701 0.86261326 0.24385632 -2.11369241] [-0.87350481 0.47670501 -0.09869998 11.48916967] [-0.20138744 -0.16926514 0.96477583 1.81773964] [ 0. 0. 0. 1. ]] SLAMing on 5.274839173 meters Centerline goodness : 0.809666 Centerline is valid? [False, False] Translation: X:-2.23, Y:11.74, Z:1.86 [[ 0.44081056 0.86445604 0.24166467 -2.22750629] [-0.87545825 0.47349262 -0.09683797 11.73708043] [-0.19813861 -0.16888013 0.96551571 1.86286299] [ 0. 0. 0. 1. ]] SLAMing on 5.3048391729999995 meters Centerline goodness : 0.809029 Centerline is valid? [False, False] Translation: X:-2.34, Y:11.98, Z:1.91 [[ 0.43864305 0.86699579 0.23645418 -2.34499386] [-0.8775621 0.46993202 -0.09512441 11.97973309] [-0.19358986 -0.16577757 0.96697506 1.90896223] [ 0. 0. 0. 1. ]] SLAMing on 5.334839173 meters Centerline goodness : 0.808788 Centerline is valid? [False, False] Translation: X:-2.47, Y:12.24, Z:1.95 [[ 0.44031229 0.86786789 0.23006611 -2.46810218] [-0.87837796 0.46945297 -0.08981132 12.23926668] [-0.18594958 -0.16253997 0.96902194 1.95064757] [ 0. 0. 0. 1. ]] SLAMing on 5.364839173 meters Centerline goodness : 0.804800 Centerline is valid? [False, False] Translation: X:-2.59, Y:12.49, Z:1.99 [[ 0.44177567 0.86822046 0.22589265 -2.5935128 ] [-0.88001401 0.46833115 -0.07900173 12.49232035] [-0.17438348 -0.16388765 0.97094348 1.98729506] [ 0. 0. 0. 1. ]] SLAMing on 5.394839173 meters Centerline goodness : 0.802081 Centerline is valid? [False, False] Translation: X:-2.74, Y:12.78, Z:2.03 [[ 0.44269371 0.86725827 0.2277836 -2.73558071] [-0.88050903 0.46846984 -0.07238684 12.78004165] [-0.16948783 -0.16852032 0.97101739 2.03233858] [ 0. 0. 0. 1. ]] SLAMing on 5.424839173 meters Centerline goodness : 0.803279 Centerline is valid? [False, False] Translation: X:-2.88, Y:13.09, Z:2.07 [[ 0.44613384 0.86627265 0.22480279 -2.88319106] [-0.88042264 0.46991231 -0.06354839 13.08611585] [-0.16068783 -0.16957038 0.97232984 2.07465344] [ 0. 0. 0. 1. ]] SLAMing on 5.454839173 meters Centerline goodness : 0.804118 Centerline is valid? [False, False] Translation: X:-3.04, Y:13.41, Z:2.11 [[ 0.44842175 0.8652669 0.22412303 -3.03971969] [-0.88055592 0.4706938 -0.0553952 13.41172159] [-0.15342496 -0.17251244 0.97298522 2.1147609 ] [ 0. 0. 0. 1. ]] SLAMing on 5.484839173 meters Centerline goodness : 0.800592 Centerline is valid? [False, False] Translation: X:-3.18, Y:13.70, Z:2.15 [[ 0.45321921 0.86261528 0.22469364 -3.18444692] [-0.87952233 0.47375141 -0.04472219 13.70440038] [-0.14502697 -0.17735411 0.97340264 2.14821725] [ 0. 0. 0. 1. ]] SLAMing on 5.514839173 meters Centerline goodness : 0.798362 Centerline is valid? [False, False] Translation: X:-3.34, Y:14.01, Z:2.18 [[ 0.45836395 0.85924503 0.22715737 -3.34039703] [-0.87742937 0.478178 -0.03825579 14.00583515] [-0.14149275 -0.18177948 0.97310638 2.18151692] [ 0. 0. 0. 1. ]] SLAMing on 5.544839173 meters Centerline goodness : 0.798267 Centerline is valid? [False, False] Translation: X:-3.49, Y:14.30, Z:2.21 [[ 0.46448365 0.85642323 0.22537568 -3.48755404] [-0.8746605 0.4834954 -0.03465852 14.30276494] [-0.13865046 -0.18102889 0.97365527 2.21373123] [ 0. 0. 0. 1. ]] SLAMing on 5.574839173 meters Centerline goodness : 0.797161 Centerline is valid? [False, False] Translation: X:-3.65, Y:14.62, Z:2.25 [[ 0.47574291 0.84798088 0.23366026 -3.65305179] [-0.86921915 0.49390671 -0.02267653 14.62274244] [-0.13463564 -0.19231378 0.97205383 2.24507299] [ 0. 0. 0. 1. ]] SLAMing on 5.604839173 meters Centerline goodness : 0.798123 Centerline is valid? [False, False] Translation: X:-3.77, Y:14.86, Z:2.27 [[ 0.4776538 0.8487292 0.22694841 -3.76974692] [-0.86897221 0.49444834 -0.02020222 14.86488564] [-0.12936048 -0.1875622 0.97369723 2.26858439] [ 0. 0. 0. 1. ]] SLAMing on 5.634839173 meters Centerline goodness : 0.797934 Centerline is valid? [False, False] Translation: X:-3.89, Y:15.12, Z:2.29 [[ 0.47808149 0.84995684 0.22138533 -3.89262231] [-0.869423 0.49373784 -0.01807171 15.11937742] [-0.12466649 -0.18383775 0.97501895 2.29147894] [ 0. 0. 0. 1. ]] SLAMing on 5.664839173 meters Centerline goodness : 0.795472 Centerline is valid? [False, False] Translation: X:-4.03, Y:15.38, Z:2.31 [[ 0.47630902 0.85395207 0.20951273 -4.02507919] [-0.87080602 0.49113009 -0.0220931 15.37934781] [-0.12176445 -0.1719218 0.9775563 2.31448334] [ 0. 0. 0. 1. ]] SLAMing on 5.694839173 meters Centerline goodness : 0.794725 Centerline is valid? [False, False] Translation: X:-4.16, Y:15.64, Z:2.34 [[ 0.47813033 0.85423637 0.20413625 -4.16012559] [-0.86984146 0.49272208 -0.02451078 15.64295831] [-0.12152044 -0.16584683 0.97863559 2.33639748] [ 0. 0. 0. 1. ]] SLAMing on 5.724839173 meters Centerline goodness : 0.795266 Centerline is valid? [False, False] Translation: X:-4.27, Y:15.87, Z:2.35 [[ 0.4801429 0.85471897 0.19727718 -4.27401883] [-0.8691225 0.49397178 -0.02485871 15.86551879] [-0.11869657 -0.1595223 0.98003253 2.35385233] [ 0. 0. 0. 1. ]] SLAMing on 5.754839173 meters Centerline goodness : 0.795121 Centerline is valid? [False, False] Translation: X:-4.39, Y:16.10, Z:2.37 [[ 0.47746628 0.85689554 0.19430898 -4.39380295] [-0.87082513 0.49094578 -0.02521561 16.10124344] [-0.11700232 -0.15716954 0.98061623 2.37375439] [ 0. 0. 0. 1. ]] SLAMing on 5.784839173 meters Centerline goodness : 0.794331 Centerline is valid? [False, False] Translation: X:-4.52, Y:16.35, Z:2.39 [[ 0.4776713 0.85740863 0.19152172 -4.5231207 ] [-0.87108293 0.49056727 -0.02362812 16.3541064 ] [-0.11421324 -0.15554482 0.98120393 2.3920306 ] [ 0. 0. 0. 1. ]] SLAMing on 5.814839173 meters Centerline goodness : 0.792321 Centerline is valid? [False, False] Translation: X:-4.66, Y:16.60, Z:2.41 [[ 0.48180987 0.85625175 0.18625841 -4.66092412] [-0.86959896 0.49340202 -0.01876415 16.60185835] [-0.10796711 -0.15292936 0.98232159 2.40822997] [ 0. 0. 0. 1. ]] SLAMing on 5.8448391729999996 meters Centerline goodness : 0.791596 Centerline is valid? [False, False] Translation: X:-4.79, Y:16.83, Z:2.42 [[ 0.48770007 0.85163813 0.19199256 -4.7884913 ] [-0.86593214 0.49985198 -0.01759358 16.83326915] [-0.11095122 -0.15767214 0.98123867 2.41991203] [ 0. 0. 0. 1. ]] SLAMing on 5.874839173 meters Centerline goodness : 0.789679 Centerline is valid? [False, False] Translation: X:-4.98, Y:17.14, Z:2.45 [[ 5.05929380e-01 8.31838570e-01 2.28210552e-01 -4.97756809e+00] [-8.55418971e-01 5.17862227e-01 8.78055536e-03 1.71384097e+01] [-1.10877620e-01 -1.99657977e-01 9.73572209e-01 2.44737370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.904839173 meters Centerline goodness : 0.789104 Centerline is valid? [False, False] Translation: X:-5.08, Y:17.33, Z:2.46 [[ 5.10408139e-01 8.30471534e-01 2.23160399e-01 -5.08211630e+00] [-8.53223159e-01 5.21429532e-01 1.10219428e-02 1.73304700e+01] [-1.07209013e-01 -1.96031310e-01 9.74719423e-01 2.45942658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.934839173 meters Centerline goodness : 0.790705 Centerline is valid? [False, False] Translation: X:-5.19, Y:17.52, Z:2.47 [[ 5.13110100e-01 8.29012743e-01 2.22386817e-01 -5.18726055e+00] [-8.51488140e-01 5.24273849e-01 1.02409976e-02 1.75235724e+01] [-1.08101675e-01 -1.94614497e-01 9.74904726e-01 2.47240922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.964839173 meters Centerline goodness : 0.790171 Centerline is valid? [False, False] Translation: X:-5.28, Y:17.70, Z:2.49 [[ 5.15216898e-01 8.30315705e-01 2.12432054e-01 -5.28397444e+00] [-8.50843915e-01 5.25317394e-01 1.03086167e-02 1.77034294e+01] [-1.03034846e-01 -1.86057694e-01 9.77121464e-01 2.48505740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.994839173 meters Centerline goodness : 0.789019 Centerline is valid? [False, False] Translation: X:-5.38, Y:17.89, Z:2.50 [[ 5.15489637e-01 8.33141424e-01 2.00364174e-01 -5.38078989e+00] [-8.51855887e-01 5.23574685e-01 1.45291649e-02 1.78861742e+01] [-9.28007601e-02 -1.78171035e-01 9.79613751e-01 2.49687752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.024839173 meters Centerline goodness : 0.788568 Centerline is valid? [False, False] Translation: X:-5.47, Y:18.06, Z:2.51 [[ 5.16400572e-01 8.35090230e-01 1.89617397e-01 -5.47083357e+00] [-8.52045182e-01 5.23219217e-01 1.61449429e-02 1.80577679e+01] [-8.57289819e-02 -1.69899847e-01 9.81725310e-01 2.50923252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0548391729999995 meters Centerline goodness : 0.787832 Centerline is valid? [False, False] Translation: X:-5.57, Y:18.24, Z:2.52 [[ 5.16548202e-01 8.37361823e-01 1.78894193e-01 -5.57050523e+00] [-8.52479486e-01 5.22525700e-01 1.56722401e-02 1.82411394e+01] [-8.03534779e-02 -1.60599097e-01 9.83743487e-01 2.51971475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.084839173 meters Centerline goodness : 0.789197 Centerline is valid? [False, False] Translation: X:-5.66, Y:18.41, Z:2.53 [[ 5.14448366e-01 8.40001910e-01 1.72451938e-01 -5.66262111e+00] [-8.54047473e-01 5.19980045e-01 1.49554463e-02 1.84147180e+01] [-7.71089634e-02 -1.54975947e-01 9.84904393e-01 2.52965708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.114839173 meters Centerline goodness : 0.790388 Centerline is valid? [False, False] Translation: X:-5.76, Y:18.60, Z:2.54 [[ 5.15839059e-01 8.40433607e-01 1.66076540e-01 -5.76392156e+00] [-8.53622881e-01 5.20621702e-01 1.67636446e-02 1.86003475e+01] [-7.23743209e-02 -1.50414078e-01 9.85970366e-01 2.53860036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.144839173 meters Centerline goodness : 0.791390 Centerline is valid? [False, False] Translation: X:-5.87, Y:18.79, Z:2.55 [[ 5.18598647e-01 8.40049025e-01 1.59289292e-01 -5.86805181e+00] [-8.52265097e-01 5.22816359e-01 1.75288219e-02 1.87871507e+01] [-6.85539779e-02 -1.44847127e-01 9.87076320e-01 2.54730437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.174839173 meters Centerline goodness : 0.788039 Centerline is valid? [False, False] Translation: X:-5.97, Y:18.97, Z:2.55 [[ 0.52227143 0.83948243 0.150006 -5.970274 ] [-0.85051464 0.52557363 0.01993034 18.96577958] [-0.06210803 -0.13799135 0.98848418 2.55367087] [ 0. 0. 0. 1. ]] SLAMing on 6.204839173 meters Centerline goodness : 0.791307 Centerline is valid? [False, False] Translation: X:-6.09, Y:19.15, Z:2.56 [[ 0.52825798 0.83284692 0.16525591 -6.08863676] [-0.8468865 0.53080849 0.03202506 19.14704215] [-0.06104727 -0.15687049 0.98573063 2.55708474] [ 0. 0. 0. 1. ]] SLAMing on 6.234839173 meters Centerline goodness : 0.790197 Centerline is valid? [False, False] Translation: X:-6.29, Y:19.44, Z:2.57 [[ 0.54045934 0.81515935 0.20837212 -6.288007 ] [-0.83888396 0.54110015 0.05902817 19.44093397] [-0.06463282 -0.20670235 0.97626673 2.56544811] [ 0. 0. 0. 1. ]] SLAMing on 6.264839173 meters Centerline goodness : 0.790136 Centerline is valid? [False, False] Translation: X:-6.39, Y:19.62, Z:2.57 [[ 0.54450032 0.81488737 0.19869065 -6.39157427] [-0.83659403 0.54465147 0.05886598 19.6200655 ] [-0.06024801 -0.19827596 0.97829281 2.56903115] [ 0. 0. 0. 1. ]] SLAMing on 6.294839173 meters Centerline goodness : 0.790188 Centerline is valid? [False, False] Translation: X:-6.48, Y:19.78, Z:2.57 [[ 0.5449136 0.81739977 0.18688711 -6.47669269] [-0.83660752 0.54494771 0.05585555 19.77616826] [-0.05618738 -0.18678761 0.98079221 2.57175619] [ 0. 0. 0. 1. ]] SLAMing on 6.324839173 meters Centerline goodness : 0.789715 Centerline is valid? [False, False] Translation: X:-6.56, Y:19.92, Z:2.58 [[ 0.5436588 0.82152473 0.17184944 -6.55566368] [-0.83776078 0.54358094 0.05173618 19.92454973] [-0.05091153 -0.17209555 0.98376376 2.5776983 ] [ 0. 0. 0. 1. ]] SLAMing on 6.354839173 meters Centerline goodness : 0.790212 Centerline is valid? [False, False] Translation: X:-6.63, Y:20.06, Z:2.58 [[ 0.54654033 0.82265098 0.1566494 -6.63420025] [-0.83627868 0.54597054 0.05053851 20.06470651] [-0.04395041 -0.15862389 0.98636039 2.58261351] [ 0. 0. 0. 1. ]] SLAMing on 6.384839173 meters Centerline goodness : 0.791352 Centerline is valid? [False, False] Translation: X:-6.71, Y:20.19, Z:2.59 [[ 0.55043322 0.82176174 0.14741409 -6.70884779] [-0.83399107 0.54935074 0.05169768 20.19335793] [-0.03849886 -0.15139815 0.98772285 2.58649629] [ 0. 0. 0. 1. ]] SLAMing on 6.414839173 meters Centerline goodness : 0.790585 Centerline is valid? [False, False] Translation: X:-6.78, Y:20.32, Z:2.59 [[ 0.55361174 0.82135421 0.13744562 -6.78166106] [-0.83222724 0.55164511 0.05554726 20.32408436] [-0.03019723 -0.14513761 0.98895056 2.58811241] [ 0. 0. 0. 1. ]] SLAMing on 6.444839173 meters Centerline goodness : 0.791523 Centerline is valid? [False, False] Translation: X:-6.86, Y:20.46, Z:2.59 [[ 0.55397205 0.82295856 0.12591337 -6.86058357] [-0.83216923 0.5518432 0.0544375 20.46312087] [-0.02468463 -0.13493809 0.99054651 2.58906559] [ 0. 0. 0. 1. ]] SLAMing on 6.474839173 meters Centerline goodness : 0.790061 Centerline is valid? [False, False] Translation: X:-6.93, Y:20.59, Z:2.59 [[ 5.54787328e-01 8.24266259e-01 1.13120088e-01 -6.93289744e+00] [-8.31807620e-01 5.52377398e-01 5.45462437e-02 2.05864628e+01] [-1.75243519e-02 -1.24355716e-01 9.92082936e-01 2.59038720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.504839173 meters Centerline goodness : 0.792468 Centerline is valid? [False, False] Translation: X:-7.01, Y:20.71, Z:2.59 [[ 5.56247393e-01 8.24624006e-01 1.02878984e-01 -7.00602051e+00] [-8.30867544e-01 5.54215105e-01 5.00473951e-02 2.07073247e+01] [-1.57468033e-02 -1.13317542e-01 9.93434030e-01 2.59000153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.534839173 meters Centerline goodness : 0.791702 Centerline is valid? [False, False] Translation: X:-7.08, Y:20.83, Z:2.59 [[ 5.58963864e-01 8.23958653e-01 9.30136405e-02 -7.07928944e+00] [-8.29108710e-01 5.56970247e-01 4.86095769e-02 2.08306655e+01] [-1.17535488e-02 -1.04289416e-01 9.94477537e-01 2.58939212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.564839173 meters Centerline goodness : 0.790291 Centerline is valid? [False, False] Translation: X:-7.16, Y:20.96, Z:2.59 [[ 5.61956328e-01 8.22582489e-01 8.69662835e-02 -7.15735892e+00] [-8.27128439e-01 5.59829716e-01 4.94897501e-02 2.09555978e+01] [-7.97690796e-03 -9.97433645e-02 9.94981221e-01 2.58838769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5948391729999996 meters Centerline goodness : 0.790057 Centerline is valid? [False, False] Translation: X:-7.23, Y:21.08, Z:2.59 [[ 5.63999167e-01 8.21950729e-01 7.93847506e-02 -7.23462790e+00] [-8.25774411e-01 5.61531811e-01 5.27128854e-02 2.10848217e+01] [-1.24966817e-03 -9.52839191e-02 9.95449352e-01 2.58626526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.624839173 meters Centerline goodness : 0.793449 Centerline is valid? [False, False] Translation: X:-7.31, Y:21.21, Z:2.59 [[ 5.62683875e-01 8.23789762e-01 6.89730760e-02 -7.30974346e+00] [-8.26671995e-01 5.60774155e-01 4.63223353e-02 2.12095496e+01] [-5.18452799e-04 -8.30829415e-02 9.96542501e-01 2.58809307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.654839173 meters Centerline goodness : 0.793718 Centerline is valid? [False, False] Translation: X:-7.38, Y:21.33, Z:2.59 [[ 5.61845903e-01 8.25200555e-01 5.80794780e-02 -7.38064113e+00] [-8.27235151e-01 5.60171001e-01 4.34793731e-02 2.13263554e+01] [ 3.34476348e-03 -7.24740934e-02 9.97364687e-01 2.58561074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.684839173 meters Centerline goodness : 0.793718 Centerline is valid? [False, False] Translation: X:-7.45, Y:21.45, Z:2.58 [[ 5.62800789e-01 8.25069650e-01 5.01532131e-02 -7.45171658e+00] [-8.26567576e-01 5.61275094e-01 4.19083567e-02 2.14450873e+01] [ 6.42756379e-03 -6.50410760e-02 9.97861887e-01 2.57955361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.714839173 meters Centerline goodness : 0.794957 Centerline is valid? [False, False] Translation: X:-7.52, Y:21.56, Z:2.57 [[ 5.62371715e-01 8.25878773e-01 4.07713835e-02 -7.52300530e+00] [-8.26802812e-01 5.60938900e-01 4.17691233e-02 2.15628540e+01] [ 1.16259773e-02 -5.71996681e-02 9.98295064e-01 2.57377630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.744839173 meters Centerline goodness : 0.792421 Centerline is valid? [False, False] Translation: X:-7.59, Y:21.68, Z:2.57 [[ 5.58573705e-01 8.28706178e-01 3.52347197e-02 -7.59216162e+00] [-8.29317866e-01 5.57205206e-01 4.18835823e-02 2.16781570e+01] [ 1.50762141e-02 -5.26158503e-02 9.98501017e-01 2.56620932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.774839173 meters Centerline goodness : 0.795393 Centerline is valid? [False, False] Translation: X:-7.66, Y:21.79, Z:2.56 [[ 5.57603428e-01 8.29637887e-01 2.79176134e-02 -7.66310279e+00] [-8.29930034e-01 5.56473539e-01 3.94124328e-02 2.17914118e+01] [ 1.71626344e-02 -4.51461735e-02 9.98832953e-01 2.55808118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8048391729999995 meters Centerline goodness : 0.793950 Centerline is valid? [False, False] Translation: X:-7.74, Y:21.91, Z:2.55 [[ 5.55726434e-01 8.31094193e-01 2.12266833e-02 -7.73988799e+00] [-8.31198928e-01 5.54923492e-01 3.41798215e-02 2.19086882e+01] [ 1.66274660e-02 -3.66382267e-02 9.99190256e-01 2.55353616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.834839173 meters Centerline goodness : 0.795624 Centerline is valid? [False, False] Translation: X:-7.81, Y:22.02, Z:2.55 [[ 5.49313416e-01 8.35484955e-01 1.48209855e-02 -7.81251148e+00] [-8.35241832e-01 5.48449806e-01 3.96723218e-02 2.20248601e+01] [ 2.50170613e-02 -3.41716457e-02 9.99102820e-01 2.54731014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.864839173 meters Centerline goodness : 0.795851 Centerline is valid? [False, False] Translation: X:-7.89, Y:22.14, Z:2.54 [[ 5.44756761e-01 8.38550031e-01 8.59747371e-03 -7.88504665e+00] [-8.38118013e-01 5.44073460e-01 3.92717036e-02 2.21444460e+01] [ 2.82536310e-02 -2.85992236e-02 9.99191582e-01 2.54176644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.894839173 meters Centerline goodness : 0.796924 Centerline is valid? [False, False] Translation: X:-7.97, Y:22.28, Z:2.53 [[ 5.40302963e-01 8.41467074e-01 -2.42311723e-03 -7.96713193e+00] [-8.40689446e-01 5.39923222e-01 4.15231091e-02 2.22759515e+01] [ 3.62486263e-02 -2.03979698e-02 9.99134606e-01 2.53374589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.924839173 meters Centerline goodness : 0.795534 Centerline is valid? [False, False] Translation: X:-8.05, Y:22.41, Z:2.52 [[ 5.30130102e-01 8.47761021e-01 -1.62273413e-02 -8.05116363e+00] [-8.46717861e-01 5.30301019e-01 4.30080503e-02 2.24055949e+01] [ 4.50659243e-02 -9.05988238e-03 9.98942932e-01 2.52252359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.954839173 meters Centerline goodness : 0.794866 Centerline is valid? [False, False] Translation: X:-8.13, Y:22.54, Z:2.51 [[ 5.27480776e-01 8.49166568e-01 -2.60800730e-02 -8.13471259e+00] [-8.47798293e-01 5.28114373e-01 4.83038596e-02 2.25386675e+01] [ 5.47912841e-02 -3.36871595e-03 9.98492147e-01 2.50919833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.984839173 meters Centerline goodness : 0.793467 Centerline is valid? [False, False] Translation: X:-8.22, Y:22.67, Z:2.49 [[ 5.30979926e-01 8.46906063e-01 -2.84682113e-02 -8.22245318e+00] [-8.45424070e-01 5.31736377e-01 5.01454663e-02 2.26699066e+01] [ 5.76060829e-02 -2.55852492e-03 9.98336112e-01 2.48876193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0148391729999995 meters Centerline goodness : 0.793780 Centerline is valid? [False, False] Translation: X:-8.30, Y:22.79, Z:2.48 [[ 5.37481998e-01 8.42647773e-01 -3.25243324e-02 -8.30053894e+00] [-8.41579464e-01 5.38446790e-01 4.26504441e-02 2.27873087e+01] [ 5.34519242e-02 4.44796434e-03 9.98560518e-01 2.47587721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.044839173 meters Centerline goodness : 0.794087 Centerline is valid? [False, False] Translation: X:-8.37, Y:22.88, Z:2.47 [[ 5.53500740e-01 8.32543986e-01 -2.25264918e-02 -8.37372953e+00] [-8.31621939e-01 5.53950755e-01 3.92875465e-02 2.28783773e+01] [ 4.51871777e-02 -3.01216124e-03 9.98973997e-01 2.46659546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.074839173 meters Centerline goodness : 0.793510 Centerline is valid? [False, False] Translation: X:-8.44, Y:22.98, Z:2.46 [[ 5.60682242e-01 8.27537572e-01 -2.85830389e-02 -8.44366452e+00] [-8.26748721e-01 5.61400682e-01 3.62743355e-02 2.29771333e+01] [ 4.60649130e-02 3.29261505e-03 9.98933022e-01 2.45585879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.104839173 meters Centerline goodness : 0.793228 Centerline is valid? [False, False] Translation: X:-8.55, Y:23.05, Z:2.45 [[ 0.57799189 0.81494327 0.04234197 -8.54710061] [-0.81505939 0.57397175 0.07895966 23.04908364] [ 0.04004455 -0.08014926 0.99597818 2.44523784] [ 0. 0. 0. 1. ]] SLAMing on 7.134839173 meters Centerline goodness : 0.791432 Centerline is valid? [False, False] Translation: X:-8.64, Y:23.17, Z:2.43 [[ 0.5840922 0.81070116 0.03999923 -8.63558886] [-0.81061884 0.58008692 0.0799766 23.17342501] [ 0.04163409 -0.07913783 0.99599388 2.4336365 ] [ 0. 0. 0. 1. ]] SLAMing on 7.164839173 meters Centerline goodness : 0.790268 Centerline is valid? [False, False] Translation: X:-8.72, Y:23.29, Z:2.42 [[ 0.59338801 0.80447667 0.02660763 -8.72084358] [-0.8036145 0.59022488 0.07640887 23.29274346] [ 0.04576466 -0.06672239 0.99672149 2.42484195] [ 0. 0. 0. 1. ]] SLAMing on 7.194839173 meters Centerline goodness : 0.792550 Centerline is valid? [False, False] Translation: X:-8.79, Y:23.39, Z:2.42 [[ 5.98192102e-01 8.01220126e-01 1.45780452e-02 -8.78729250e+00] [-7.99689936e-01 5.95680756e-01 7.52359180e-02 2.33923694e+01] [ 5.15966707e-02 -5.66634480e-02 9.97059194e-01 2.41783704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2248391729999994 meters Centerline goodness : 0.791762 Centerline is valid? [False, False] Translation: X:-8.86, Y:23.49, Z:2.41 [[ 6.01597669e-01 7.98797242e-01 1.79177340e-03 -8.85785408e+00] [-7.96828396e-01 5.99954383e-01 7.15489043e-02 2.34945427e+01] [ 5.60780852e-02 -4.44713900e-02 9.97435484e-01 2.40665347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.254839173 meters Centerline goodness : 0.791568 Centerline is valid? [False, False] Translation: X:-8.91, Y:23.58, Z:2.39 [[ 6.01587790e-01 7.98767223e-01 -7.94063339e-03 -8.91387022e+00] [-7.96567441e-01 6.00615549e-01 6.88569133e-02 2.35845080e+01] [ 5.97699134e-02 -3.50982283e-02 9.97594944e-01 2.39434226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.284839173 meters Centerline goodness : 0.790930 Centerline is valid? [False, False] Translation: X:-8.97, Y:23.68, Z:2.38 [[ 6.01715931e-01 7.98567800e-01 -1.50800307e-02 -8.97073458e+00] [-7.96441680e-01 6.01321969e-01 6.39729707e-02 2.36798158e+01] [ 6.01547082e-02 -2.64831907e-02 9.97837688e-01 2.38294966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.314839173 meters Centerline goodness : 0.791546 Centerline is valid? [False, False] Translation: X:-9.03, Y:23.77, Z:2.37 [[ 6.03730448e-01 7.96839801e-01 -2.35770640e-02 -9.02817613e+00] [-7.94832693e-01 6.03955032e-01 5.89856757e-02 2.37717455e+01] [ 6.12416205e-02 -1.68716272e-02 9.97980367e-01 2.37180574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3448391729999996 meters Centerline goodness : 0.791595 Centerline is valid? [False, False] Translation: X:-9.09, Y:23.86, Z:2.36 [[ 6.06209631e-01 7.94481830e-01 -3.61732522e-02 -9.08641734e+00] [-7.92694481e-01 6.07276706e-01 5.33897217e-02 2.38602020e+01] [ 6.43843372e-02 -3.69102615e-03 9.97918350e-01 2.36028860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.374839173 meters Centerline goodness : 0.790792 Centerline is valid? [False, False] Translation: X:-9.15, Y:23.96, Z:2.35 [[ 6.10198128e-01 7.91018533e-01 -4.41353056e-02 -9.15101388e+00] [-7.89209037e-01 6.11788320e-01 5.35177374e-02 2.39584136e+01] [ 6.93349866e-02 2.17555887e-03 9.97591062e-01 2.34685924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.404839173 meters Centerline goodness : 0.791313 Centerline is valid? [False, False] Translation: X:-9.22, Y:24.05, Z:2.33 [[ 6.12923595e-01 7.88785017e-01 -4.62910759e-02 -9.21527667e+00] [-7.87103932e-01 6.14650791e-01 5.16895109e-02 2.40541765e+01] [ 6.92247582e-02 4.75416695e-03 9.97589761e-01 2.33154679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.434839173 meters Centerline goodness : 0.791208 Centerline is valid? [False, False] Translation: X:-9.27, Y:24.13, Z:2.32 [[ 6.12681899e-01 7.88503802e-01 -5.36902707e-02 -9.26758966e+00] [-7.86569074e-01 6.14977176e-01 5.57867741e-02 2.41336647e+01] [ 7.70063745e-02 8.05155987e-03 9.96998090e-01 2.32116994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.464839173 meters Centerline goodness : 0.790215 Centerline is valid? [False, False] Translation: X:-9.33, Y:24.22, Z:2.31 [[ 6.10319914e-01 7.89938502e-01 -5.92179463e-02 -9.32596543e+00] [-7.88207194e-01 6.13033080e-01 5.40357481e-02 2.42238293e+01] [ 7.89874780e-02 1.36969181e-02 9.96781507e-01 2.30920268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.494839173 meters Centerline goodness : 0.792375 Centerline is valid? [False, False] Translation: X:-9.38, Y:24.31, Z:2.30 [[ 6.02285081e-01 7.95720944e-01 -6.38816159e-02 -9.38330804e+00] [-7.94637040e-01 6.05250510e-01 4.71571187e-02 2.43116776e+01] [ 7.61882876e-02 2.23606691e-02 9.96842688e-01 2.30176050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.524839173 meters Centerline goodness : 0.792169 Centerline is valid? [False, False] Translation: X:-9.44, Y:24.40, Z:2.29 [[ 0.59751218 0.79894777 -0.06827625 -9.44409991] [-0.7982022 0.60075009 0.04441372 24.40197076] [ 0.07650121 0.02796051 0.99667737 2.29084042] [ 0. 0. 0. 1. ]] SLAMing on 7.5548391729999995 meters Centerline goodness : 0.792775 Centerline is valid? [False, False] Translation: X:-9.51, Y:24.49, Z:2.27 [[ 0.59880394 0.79753298 -0.07331422 -9.50525544] [-0.79709937 0.60236567 0.04228704 24.49316455] [ 0.07788728 0.03311707 0.99641198 2.27460806] [ 0. 0. 0. 1. ]] SLAMing on 7.584839173 meters Centerline goodness : 0.791603 Centerline is valid? [False, False] Translation: X:-9.56, Y:24.58, Z:2.26 [[ 0.60346348 0.79347771 -0.07889839 -9.56428815] [-0.79305259 0.60754226 0.04427172 24.57739021] [ 0.08306273 0.03585421 0.99589912 2.25970115] [ 0. 0. 0. 1. ]] SLAMing on 7.614839173 meters Centerline goodness : 0.788845 Centerline is valid? [False, False] Translation: X:-9.65, Y:24.67, Z:2.24 [[ 0.61575003 0.78341711 -0.08431798 -9.64595711] [-0.78276743 0.62043745 0.04829628 24.6748646 ] [ 0.09015017 0.03626293 0.99526778 2.24094258] [ 0. 0. 0. 1. ]] SLAMing on 7.644839173 meters Centerline goodness : 0.789603 Centerline is valid? [False, False] Translation: X:-9.72, Y:24.77, Z:2.22 [[ 0.62352216 0.77690606 -0.0873904 -9.72094492] [-0.77667796 0.62833201 0.04438733 24.76565551] [ 0.08939497 0.04019772 0.99518475 2.22383447] [ 0. 0. 0. 1. ]] SLAMing on 7.674839173 meters Centerline goodness : 0.788814 Centerline is valid? [False, False] Translation: X:-9.77, Y:24.84, Z:2.21 [[ 0.62356574 0.77636992 -0.09173612 -9.77269788] [-0.77666148 0.62860448 0.04066139 24.83866046] [ 0.08923402 0.04589286 0.99495283 2.21289635] [ 0. 0. 0. 1. ]] SLAMing on 7.704839173 meters Centerline goodness : 0.790959 Centerline is valid? [False, False] Translation: X:-9.83, Y:24.92, Z:2.20 [[ 0.61643552 0.78117753 -0.09883784 -9.82563667] [-0.78167828 0.62222364 0.04262404 24.91987836] [ 0.09479618 0.05098442 0.99419026 2.20253491] [ 0. 0. 0. 1. ]] SLAMing on 7.734839173 meters Centerline goodness : 0.791438 Centerline is valid? [False, False] Translation: X:-9.87, Y:25.00, Z:2.19 [[ 0.61367316 0.78307272 -0.10100679 -9.87405986] [-0.78389567 0.61956078 0.04064502 24.99530113] [ 0.09440785 0.05423602 0.99405513 2.19177126] [ 0. 0. 0. 1. ]] SLAMing on 7.7648391729999995 meters Centerline goodness : 0.789732 Centerline is valid? [False, False] Translation: X:-9.92, Y:25.07, Z:2.18 [[ 0.61260427 0.78338301 -0.10500988 -9.9225341 ] [-0.78481432 0.61864326 0.03670153 25.07097205] [ 0.09371501 0.05992974 0.9937937 2.18131537] [ 0. 0. 0. 1. ]] SLAMing on 7.794839173 meters Centerline goodness : 0.789646 Centerline is valid? [False, False] Translation: X:-9.98, Y:25.15, Z:2.17 [[ 0.61518865 0.78137711 -0.10484627 -9.97528571] [-0.78306019 0.62103323 0.03368183 25.15286294] [ 0.09143123 0.06138026 0.9939179 2.16779342] [ 0. 0. 0. 1. ]] SLAMing on 7.824839173 meters Centerline goodness : 0.789298 Centerline is valid? [False, False] Translation: X:-10.04, Y:25.25, Z:2.15 [[ 0.6196627 0.77735564 -0.1083344 -10.03991001] [ -0.77951565 0.62563855 0.03052472 25.24938014] [ 0.09150674 0.06553333 0.99364576 2.15100823] [ 0. 0. 0. 1. ]] SLAMing on 7.854839173 meters Centerline goodness : 0.791329 Centerline is valid? [False, False] Translation: X:-10.10, Y:25.34, Z:2.14 [[ 6.27376061e-01 7.70128617e-01 -1.15330792e-01 -1.01039492e+01] [-7.73247842e-01 6.33621301e-01 2.47350277e-02 2.53407467e+01] [ 9.21251990e-02 7.36611216e-02 9.93019127e-01 2.13830995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.884839173 meters Centerline goodness : 0.791483 Centerline is valid? [False, False] Translation: X:-10.15, Y:25.41, Z:2.13 [[ 6.28516918e-01 7.67652770e-01 -1.25202671e-01 -1.01523538e+01] [-7.72158654e-01 6.35169898e-01 1.81717673e-02 2.54121766e+01] [ 9.34745751e-02 8.52550627e-02 9.91964756e-01 2.12682936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.914839173 meters Centerline goodness : 0.791315 Centerline is valid? [False, False] Translation: X:-10.20, Y:25.49, Z:2.12 [[ 6.28949383e-01 7.66214277e-01 -1.31675191e-01 -1.02026093e+01] [-7.71894653e-01 6.35640847e-01 1.18050078e-02 2.54874887e+01] [ 9.27432954e-02 9.42146232e-02 9.91222622e-01 2.11744220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.944839173 meters Centerline goodness : 0.791729 Centerline is valid? [False, False] Translation: X:-10.26, Y:25.57, Z:2.10 [[ 6.30077935e-01 7.64935407e-01 -1.33699737e-01 -1.02552965e+01] [-7.71169362e-01 6.36581861e-01 7.83251885e-03 2.55661406e+01] [ 9.11021983e-02 9.81700435e-02 9.90990934e-01 2.10398998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9748391729999994 meters Centerline goodness : 0.793162 Centerline is valid? [False, False] Translation: X:-10.31, Y:25.65, Z:2.09 [[ 6.28465243e-01 7.66416420e-01 -1.32805533e-01 -1.03061001e+01] [-7.72759242e-01 6.34672695e-01 5.80736156e-03 2.56475518e+01] [ 8.87389026e-02 9.89769779e-02 9.91125101e-01 2.09042762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.004839172999999 meters Centerline goodness : 0.791914 Centerline is valid? [False, False] Translation: X:-10.35, Y:25.72, Z:2.08 [[ 6.27767320e-01 7.65736036e-01 -1.39844608e-01 -1.03530601e+01] [-7.73092790e-01 6.34287297e-01 2.67619691e-03 2.57204921e+01] [ 9.07509186e-02 1.06432829e-01 9.90169846e-01 2.07915128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.034839173 meters Centerline goodness : 0.792366 Centerline is valid? [False, False] Translation: X:-10.42, Y:25.81, Z:2.06 [[ 6.33757552e-01 7.60195201e-01 -1.43019656e-01 -1.04214891e+01] [-7.68041176e-01 6.40400235e-01 5.40415107e-04 2.58121190e+01] [ 9.20006422e-02 1.09502492e-01 9.89719701e-01 2.06469607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.064839173 meters Centerline goodness : 0.792538 Centerline is valid? [False, False] Translation: X:-10.49, Y:25.90, Z:2.05 [[ 6.42949697e-01 7.51828242e-01 -1.46184752e-01 -1.04883411e+01] [-7.59744727e-01 6.50216443e-01 2.55459571e-03 2.58969954e+01] [ 9.69723464e-02 1.09420618e-01 9.89254008e-01 2.05026872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.094839173 meters Centerline goodness : 0.791292 Centerline is valid? [False, False] Translation: X:-10.54, Y:25.98, Z:2.03 [[ 6.46004037e-01 7.49389262e-01 -1.45239523e-01 -1.05446578e+01] [-7.57296028e-01 6.53070482e-01 1.29245199e-03 2.59754381e+01] [ 9.58201949e-02 1.09154385e-01 9.89395679e-01 2.03482571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.124839173 meters Centerline goodness : 0.790346 Centerline is valid? [False, False] Translation: X:-10.59, Y:26.04, Z:2.03 [[ 6.46848626e-01 7.47778596e-01 -1.49713150e-01 -1.05919645e+01] [-7.55840222e-01 6.54740055e-01 4.58470395e-03 2.60424315e+01] [ 1.01451540e-01 1.10193611e-01 9.88718844e-01 2.02505395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.154839173 meters Centerline goodness : 0.791623 Centerline is valid? [False, False] Translation: X:-10.64, Y:26.11, Z:2.01 [[ 6.45061488e-01 7.48108017e-01 -1.55660116e-01 -1.06407931e+01] [-7.57316313e-01 6.53048200e-01 2.24894162e-04 2.61136909e+01] [ 1.01821804e-01 1.17738875e-01 9.87810649e-01 2.01387476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.184839173 meters Centerline goodness : 0.793548 Centerline is valid? [False, False] Translation: X:-10.70, Y:26.19, Z:2.00 [[ 6.40574709e-01 7.51814719e-01 -1.56328727e-01 -1.06953033e+01] [-7.61431797e-01 6.48240041e-01 -2.54302161e-03 2.61873991e+01] [ 9.94266595e-02 1.20662659e-01 9.87701808e-01 2.00246820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.214839173 meters Centerline goodness : 0.794792 Centerline is valid? [False, False] Translation: X:-10.75, Y:26.26, Z:1.99 [[ 6.38869956e-01 7.53529518e-01 -1.55043364e-01 -1.07525111e+01] [-7.63108748e-01 6.46260325e-01 -3.55397457e-03 2.62638244e+01] [ 9.75203503e-02 1.20585475e-01 9.87901273e-01 1.98742788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.244839172999999 meters Centerline goodness : 0.793468 Centerline is valid? [False, False] Translation: X:-10.80, Y:26.33, Z:1.98 [[ 6.36878416e-01 7.54629680e-01 -1.57860476e-01 -1.08038142e+01] [-7.64693264e-01 6.44376907e-01 -4.75543869e-03 2.63340918e+01] [ 9.81330500e-02 1.23743479e-01 9.87449976e-01 1.97597513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.274839173 meters Centerline goodness : 0.792457 Centerline is valid? [False, False] Translation: X:-10.86, Y:26.40, Z:1.96 [[ 6.37677967e-01 7.54316572e-01 -1.56119568e-01 -1.08569480e+01] [-7.63517024e-01 6.45785733e-01 1.59427196e-03 2.64017753e+01] [ 1.02022376e-01 1.18183316e-01 9.87736877e-01 1.96349719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.304839173 meters Centerline goodness : 0.793679 Centerline is valid? [False, False] Translation: X:-10.92, Y:26.48, Z:1.95 [[ 6.40483498e-01 7.52749711e-01 -1.52147170e-01 -1.09184578e+01] [-7.61528815e-01 6.48130461e-01 8.76643387e-04 2.64790001e+01] [ 9.92711084e-02 1.15302978e-01 9.88357461e-01 1.94707833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.334839173 meters Centerline goodness : 0.793619 Centerline is valid? [False, False] Translation: X:-10.98, Y:26.56, Z:1.93 [[ 6.44080435e-01 7.50108180e-01 -1.49993705e-01 -1.09843922e+01] [-7.58497104e-01 6.51673492e-01 1.94989891e-03 2.65566456e+01] [ 9.92095565e-02 1.12513899e-01 9.88685029e-01 1.92868794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.364839173 meters Centerline goodness : 0.793233 Centerline is valid? [False, False] Translation: X:-11.04, Y:26.63, Z:1.91 [[ 6.44127190e-01 7.50149040e-01 -1.49588035e-01 -1.10429349e+01] [-7.58796445e-01 6.51326857e-01 -1.13114440e-03 2.66324452e+01] [ 9.65821775e-02 1.14235470e-01 9.88747764e-01 1.91358546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.394839173 meters Centerline goodness : 0.793850 Centerline is valid? [False, False] Translation: X:-11.10, Y:26.70, Z:1.90 [[ 6.40951195e-01 7.52122809e-01 -1.53273762e-01 -1.10951922e+01] [-7.61480258e-01 6.48177716e-01 -3.66949225e-03 2.67013574e+01] [ 9.65887280e-02 1.19066909e-01 9.88176952e-01 1.90058140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.424839173 meters Centerline goodness : 0.793258 Centerline is valid? [False, False] Translation: X:-11.16, Y:26.78, Z:1.89 [[ 6.42222719e-01 7.51450618e-01 -1.51234745e-01 -1.11555404e+01] [-7.60737054e-01 6.49036203e-01 -5.58048108e-03 2.67763509e+01] [ 9.39633690e-02 1.18633786e-01 9.88482124e-01 1.88535283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.454839173 meters Centerline goodness : 0.792894 Centerline is valid? [False, False] Translation: X:-11.22, Y:26.85, Z:1.87 [[ 6.49132456e-01 7.46456737e-01 -1.46387823e-01 -1.12198724e+01] [-7.54719415e-01 6.56046254e-01 -1.38482298e-03 2.68472116e+01] [ 9.50034722e-02 1.11380665e-01 9.89226308e-01 1.87173895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.484839173 meters Centerline goodness : 0.793353 Centerline is valid? [False, False] Translation: X:-11.28, Y:26.92, Z:1.86 [[ 6.51009128e-01 7.45255137e-01 -1.44159274e-01 -1.12786240e+01] [-7.53304471e-01 6.57669132e-01 -1.92001295e-03 2.69230216e+01] [ 9.33782051e-02 1.09845772e-01 9.89552635e-01 1.85602010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.514839173 meters Centerline goodness : 0.792523 Centerline is valid? [False, False] Translation: X:-11.33, Y:26.99, Z:1.84 [[ 6.51854402e-01 7.44932100e-01 -1.41992974e-01 -1.13312741e+01] [-7.52115647e-01 6.59015168e-01 4.58936361e-03 2.69920854e+01] [ 9.69942876e-02 1.03803540e-01 9.89857027e-01 1.84195433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.544839173 meters Centerline goodness : 0.790888 Centerline is valid? [False, False] Translation: X:-11.38, Y:27.06, Z:1.83 [[ 6.50914450e-01 7.44625419e-01 -1.47795004e-01 -1.13807348e+01] [-7.52653350e-01 6.58412541e-01 2.42073897e-03 2.70591517e+01] [ 9.91126277e-02 1.09662711e-01 9.89015054e-01 1.83008658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.574839172999999 meters Centerline goodness : 0.790888 Centerline is valid? [False, False] Translation: X:-11.43, Y:27.13, Z:1.82 [[ 6.50664284e-01 7.43881836e-01 -1.52564096e-01 -1.14299336e+01] [-7.52520629e-01 6.58566516e-01 1.68697980e-03 2.71250718e+01] [ 1.01728519e-01 1.13709972e-01 9.88292138e-01 1.81962639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.604839173 meters Centerline goodness : 0.791230 Centerline is valid? [False, False] Translation: X:-11.48, Y:27.19, Z:1.81 [[ 6.49454243e-01 7.43960001e-01 -1.57266345e-01 -1.14840062e+01] [-7.53432191e-01 6.57524945e-01 -9.37739901e-04 2.71928176e+01] [ 1.02708904e-01 1.19098546e-01 9.87555779e-01 1.80541147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.634839173 meters Centerline goodness : 0.791435 Centerline is valid? [False, False] Translation: X:-11.54, Y:27.26, Z:1.79 [[ 6.50157570e-01 7.42533403e-01 -1.61056758e-01 -1.15391166e+01] [-7.52827398e-01 6.58202848e-01 -4.46321744e-03 2.72620822e+01] [ 1.02693929e-01 1.24149735e-01 9.86935054e-01 1.79374622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.664839173 meters Centerline goodness : 0.791398 Centerline is valid? [False, False] Translation: X:-11.59, Y:27.33, Z:1.78 [[ 6.50840494e-01 7.41050864e-01 -1.65076554e-01 -1.15878657e+01] [-7.51484019e-01 6.59750314e-01 -1.13698644e-03 2.73257214e+01] [ 1.08066744e-01 1.24792389e-01 9.86280101e-01 1.78243922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.694839173 meters Centerline goodness : 0.790243 Centerline is valid? [False, False] Translation: X:-11.64, Y:27.40, Z:1.77 [[ 6.50707118e-01 7.41289305e-01 -1.64530885e-01 -1.16422727e+01] [-7.51621885e-01 6.59593707e-01 -8.26288079e-04 2.73974699e+01] [ 1.07911018e-01 1.24202686e-01 9.86371586e-01 1.76700059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.724839173 meters Centerline goodness : 0.792421 Centerline is valid? [False, False] Translation: X:-11.69, Y:27.47, Z:1.75 [[ 6.45357850e-01 7.46378938e-01 -1.62578371e-01 -1.16869583e+01] [-7.57139403e-01 6.53219789e-01 -6.62059425e-03 2.74665123e+01] [ 1.01257937e-01 1.27367144e-01 9.86673422e-01 1.75443912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.754839173 meters Centerline goodness : 0.791222 Centerline is valid? [False, False] Translation: X:-11.74, Y:27.54, Z:1.74 [[ 6.43061429e-01 7.48243223e-01 -1.63107564e-01 -1.17389402e+01] [-7.59141550e-01 6.50887212e-01 -7.06714911e-03 2.75389314e+01] [ 1.00876681e-01 1.28366340e-01 9.86582981e-01 1.74266210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.784839173 meters Centerline goodness : 0.791009 Centerline is valid? [False, False] Translation: X:-11.79, Y:27.61, Z:1.73 [[ 6.41392694e-01 7.49371025e-01 -1.64494617e-01 -1.17915713e+01] [-7.60672659e-01 6.49072115e-01 -9.08266192e-03 2.76113589e+01] [ 9.99625850e-02 1.30952110e-01 9.86336163e-01 1.73189264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.814839173 meters Centerline goodness : 0.789934 Centerline is valid? [False, False] Translation: X:-11.84, Y:27.68, Z:1.72 [[ 6.41768731e-01 7.48170595e-01 -1.68444818e-01 -1.18403218e+01] [-7.59966372e-01 6.49902633e-01 -8.81365551e-03 2.76772486e+01] [ 1.02878613e-01 1.33668726e-01 9.85671681e-01 1.72306499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.844839173 meters Centerline goodness : 0.791555 Centerline is valid? [False, False] Translation: X:-11.89, Y:27.75, Z:1.71 [[ 6.44386944e-01 7.45384101e-01 -1.70786444e-01 -1.18912329e+01] [-7.57605602e-01 6.52634184e-01 -1.01179834e-02 2.77507533e+01] [ 1.03919288e-01 1.35908663e-01 9.85256117e-01 1.70645608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.874839173 meters Centerline goodness : 0.789662 Centerline is valid? [False, False] Translation: X:-11.94, Y:27.82, Z:1.69 [[ 6.46823527e-01 7.43101761e-01 -1.71519962e-01 -1.19442985e+01] [-7.55350964e-01 6.55248809e-01 -9.69117993e-03 2.78231371e+01] [ 1.05186718e-01 1.35826252e-01 9.85132978e-01 1.69088929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.904839173 meters Centerline goodness : 0.789374 Centerline is valid? [False, False] Translation: X:-11.99, Y:27.89, Z:1.68 [[ 6.48734758e-01 7.39756540e-01 -1.78615439e-01 -1.19919334e+01] [-7.52845055e-01 6.58141898e-01 -8.57698075e-03 2.78871541e+01] [ 1.11209426e-01 1.40033935e-01 9.83881578e-01 1.67926738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.934839173 meters Centerline goodness : 0.788988 Centerline is valid? [False, False] Translation: X:-12.04, Y:27.95, Z:1.67 [[ 6.48240481e-01 7.40651512e-01 -1.76690736e-01 -1.20408651e+01] [-7.53753743e-01 6.57063479e-01 -1.10850756e-02 2.79524897e+01] [ 1.07886852e-01 1.40367098e-01 9.84203996e-01 1.66733502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.964839173 meters Centerline goodness : 0.788469 Centerline is valid? [False, False] Translation: X:-12.09, Y:28.02, Z:1.65 [[ 6.42702731e-01 7.46188091e-01 -1.73598772e-01 -1.20873071e+01] [-7.59276350e-01 6.50607232e-01 -1.44794526e-02 2.80234698e+01] [ 1.02140222e-01 1.41115426e-01 9.84710014e-01 1.65326147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.994839172999999 meters Centerline goodness : 0.787335 Centerline is valid? [False, False] Translation: X:-12.14, Y:28.10, Z:1.64 [[ 6.38665102e-01 7.50441651e-01 -1.70130000e-01 -1.21422475e+01] [-7.63063256e-01 6.46165677e-01 -1.42963276e-02 2.80997888e+01] [ 9.92036069e-02 1.38950517e-01 9.85317917e-01 1.63961784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.024839173 meters Centerline goodness : 0.785974 Centerline is valid? [False, False] Translation: X:-12.19, Y:28.17, Z:1.63 [[ 6.30138567e-01 7.58594747e-01 -1.65708770e-01 -1.21875033e+01] [-7.71005263e-01 6.36582982e-01 -1.76915585e-02 2.81716733e+01] [ 9.20666593e-02 1.38910467e-01 9.86016031e-01 1.62628468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.054839173 meters Centerline goodness : 0.788841 Centerline is valid? [False, False] Translation: X:-12.25, Y:28.25, Z:1.61 [[ 6.29685854e-01 7.59659125e-01 -1.62523042e-01 -1.22458955e+01] [-7.71829335e-01 6.35518593e-01 -1.98895875e-02 2.82489584e+01] [ 8.81771083e-02 1.37964243e-01 9.86504265e-01 1.61270062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.084839173 meters Centerline goodness : 0.785281 Centerline is valid? [False, False] Translation: X:-12.30, Y:28.31, Z:1.60 [[ 6.35150803e-01 7.58348082e-01 -1.46600286e-01 -1.23011638e+01] [-7.67826914e-01 6.40519348e-01 -1.32964371e-02 2.83108129e+01] [ 8.38169919e-02 1.21008888e-01 9.89106446e-01 1.59836766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.114839173 meters Centerline goodness : 0.784830 Centerline is valid? [False, False] Translation: X:-12.35, Y:28.37, Z:1.59 [[ 6.37062895e-01 7.57964026e-01 -1.40147793e-01 -1.23492775e+01] [-7.66503947e-01 6.42139010e-01 -1.13662406e-02 2.83668812e+01] [ 8.13791635e-02 1.14664847e-01 9.90065354e-01 1.59013474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.144839173 meters Centerline goodness : 0.783815 Centerline is valid? [False, False] Translation: X:-12.39, Y:28.40, Z:1.58 [[ 6.37705275e-01 7.58609281e-01 -1.33581215e-01 -1.23852732e+01] [-7.66217373e-01 6.42518641e-01 -8.98521607e-03 2.84043409e+01] [ 7.90121526e-02 1.08082168e-01 9.90997137e-01 1.58418651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.174839173 meters Centerline goodness : 0.785319 Centerline is valid? [False, False] Translation: X:-12.44, Y:28.47, Z:1.58 [[ 6.36344565e-01 7.58893998e-01 -1.38367243e-01 -1.24356315e+01] [-7.67038022e-01 6.41539020e-01 -8.96429687e-03 2.84682678e+01] [ 8.19650342e-02 1.11837318e-01 9.90340420e-01 1.57628490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.204839173 meters Centerline goodness : 0.783953 Centerline is valid? [False, False] Translation: X:-12.47, Y:28.52, Z:1.57 [[ 6.37055085e-01 7.57769762e-01 -1.41229624e-01 -1.24747939e+01] [-7.66032113e-01 6.42768261e-01 -6.61546799e-03 2.85151037e+01] [ 8.57649182e-02 1.12400845e-01 9.89954761e-01 1.56580592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.234839173 meters Centerline goodness : 0.785090 Centerline is valid? [False, False] Translation: X:-12.52, Y:28.57, Z:1.55 [[ 6.41799392e-01 7.54113467e-01 -1.39306924e-01 -1.25231642e+01] [-7.62410238e-01 6.47017037e-01 -9.97915590e-03 2.85733991e+01] [ 8.26085372e-02 1.12613641e-01 9.90198969e-01 1.55479624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.264839173 meters Centerline goodness : 0.784283 Centerline is valid? [False, False] Translation: X:-12.58, Y:28.64, Z:1.55 [[ 6.49303967e-01 7.48818831e-01 -1.32946294e-01 -1.25759213e+01] [-7.56649795e-01 6.53678819e-01 -1.36047758e-02 2.86356302e+01] [ 7.67166644e-02 1.09427421e-01 9.91029865e-01 1.54828754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.294839173 meters Centerline goodness : 0.782520 Centerline is valid? [False, False] Translation: X:-12.63, Y:28.71, Z:1.54 [[ 6.50757051e-01 7.47861434e-01 -1.31219421e-01 -1.26310727e+01] [-7.55376737e-01 6.55179693e-01 -1.20646250e-02 2.87090194e+01] [ 7.69496325e-02 1.06971238e-01 9.91279934e-01 1.53857044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.324839172999999 meters Centerline goodness : 0.784462 Centerline is valid? [False, False] Translation: X:-12.68, Y:28.79, Z:1.53 [[ 6.46455972e-01 7.51829451e-01 -1.29796581e-01 -1.26805543e+01] [-7.59236253e-01 6.50698588e-01 -1.23150285e-02 2.87856201e+01] [ 7.51996511e-02 1.06507394e-01 9.91464164e-01 1.53158868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.354839173 meters Centerline goodness : 0.781980 Centerline is valid? [False, False] Translation: X:-12.73, Y:28.86, Z:1.52 [[ 6.45336507e-01 7.52199844e-01 -1.33177278e-01 -1.27322581e+01] [-7.60168715e-01 6.49557770e-01 -1.47725664e-02 2.88578861e+01] [ 7.53944137e-02 1.10770477e-01 9.90982131e-01 1.51826496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.384839173 meters Centerline goodness : 0.784683 Centerline is valid? [False, False] Translation: X:-12.78, Y:28.93, Z:1.51 [[ 6.42238640e-01 7.53466375e-01 -1.40776244e-01 -1.27789900e+01] [-7.62782382e-01 6.46326352e-01 -2.06224151e-02 2.89304393e+01] [ 7.54490998e-02 1.20626151e-01 9.89826634e-01 1.51057520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.414839172999999 meters Centerline goodness : 0.782854 Centerline is valid? [False, False] Translation: X:-12.83, Y:28.99, Z:1.50 [[ 6.41858315e-01 7.52952620e-01 -1.45190413e-01 -1.28263598e+01] [-7.62655730e-01 6.46536084e-01 -1.86367935e-02 2.89930508e+01] [ 7.98382183e-02 1.22692481e-01 9.89228191e-01 1.50037258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.444839173 meters Centerline goodness : 0.782916 Centerline is valid? [False, False] Translation: X:-12.87, Y:29.05, Z:1.49 [[ 6.48434476e-01 7.47638138e-01 -1.43422261e-01 -1.28739729e+01] [-7.57363625e-01 6.52616989e-01 -2.21676565e-02 2.90521665e+01] [ 7.70264187e-02 1.22997076e-01 9.89413286e-01 1.49331662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.474839173 meters Centerline goodness : 0.784376 Centerline is valid? [False, False] Translation: X:-12.93, Y:29.12, Z:1.48 [[ 6.50638198e-01 7.45724759e-01 -1.43403347e-01 -1.29288004e+01] [-7.55379364e-01 6.54936504e-01 -2.14520900e-02 2.91209232e+01] [ 7.79227320e-02 1.22281478e-01 9.89431801e-01 1.48454142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.504839173 meters Centerline goodness : 0.783760 Centerline is valid? [False, False] Translation: X:-12.98, Y:29.19, Z:1.47 [[ 6.52258029e-01 7.43790528e-01 -1.46065442e-01 -1.29787588e+01] [-7.53577261e-01 6.57080464e-01 -1.91461668e-02 2.91872981e+01] [ 8.17360111e-02 1.22559837e-01 9.89089637e-01 1.47313631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.534839173 meters Centerline goodness : 0.782714 Centerline is valid? [False, False] Translation: X:-13.03, Y:29.26, Z:1.46 [[ 6.52821317e-01 7.43131965e-01 -1.46898639e-01 -1.30298951e+01] [-7.52618487e-01 6.58298231e-01 -1.44516914e-02 2.92550799e+01] [ 8.59636006e-02 1.19993004e-01 9.89045974e-01 1.46041808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.564839173 meters Centerline goodness : 0.783452 Centerline is valid? [False, False] Translation: X:-13.08, Y:29.33, Z:1.45 [[ 6.54016917e-01 7.42012447e-01 -1.47239259e-01 -1.30845611e+01] [-7.51468739e-01 6.59625645e-01 -1.37383770e-02 2.93267109e+01] [ 8.69287448e-02 1.19630832e-01 9.89005489e-01 1.44992077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.594839173 meters Centerline goodness : 0.785178 Centerline is valid? [False, False] Translation: X:-13.14, Y:29.40, Z:1.44 [[ 6.53439449e-01 7.42071509e-01 -1.49488333e-01 -1.31367377e+01] [-7.51818022e-01 6.59224408e-01 -1.38867238e-02 2.93951786e+01] [ 8.82414157e-02 1.21462156e-01 9.88665968e-01 1.44274926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.624839173 meters Centerline goodness : 0.782619 Centerline is valid? [False, False] Translation: X:-13.19, Y:29.47, Z:1.43 [[ 6.56349305e-01 7.39281653e-01 -1.50559710e-01 -1.31896946e+01] [-7.49133068e-01 6.62274711e-01 -1.38511504e-02 2.94695956e+01] [ 8.94719873e-02 1.21880451e-01 9.88503879e-01 1.43219539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.654839173 meters Centerline goodness : 0.784246 Centerline is valid? [False, False] Translation: X:-13.24, Y:29.54, Z:1.42 [[ 6.59353571e-01 7.36842183e-01 -1.49386966e-01 -1.32394352e+01] [-7.46692070e-01 6.64984553e-01 -1.57002510e-02 2.95364176e+01] [ 8.77714173e-02 1.21898079e-01 9.88654154e-01 1.42038040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.684839173 meters Centerline goodness : 0.782757 Centerline is valid? [False, False] Translation: X:-13.29, Y:29.60, Z:1.41 [[ 6.63741536e-01 7.31654417e-01 -1.55335084e-01 -1.32879920e+01] [-7.42153901e-01 6.70059237e-01 -1.51064996e-02 2.96018107e+01] [ 9.30309704e-02 1.25309349e-01 9.87746326e-01 1.40681867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.714839173 meters Centerline goodness : 0.782401 Centerline is valid? [False, False] Translation: X:-13.34, Y:29.66, Z:1.40 [[ 6.65211534e-01 7.30355362e-01 -1.55160109e-01 -1.33372765e+01] [-7.41364429e-01 6.70773448e-01 -2.10181877e-02 2.96648811e+01] [ 8.87265352e-02 1.29011726e-01 9.87665721e-01 1.39550147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.744839172999999 meters Centerline goodness : 0.782912 Centerline is valid? [False, False] Translation: X:-13.38, Y:29.72, Z:1.38 [[ 6.65245594e-01 7.30024256e-01 -1.56565911e-01 -1.33837427e+01] [-7.41534160e-01 6.70465137e-01 -2.45680549e-02 2.97244619e+01] [ 8.70367090e-02 1.32442762e-01 9.87361902e-01 1.38293277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.774839173 meters Centerline goodness : 0.784098 Centerline is valid? [False, False] Translation: X:-13.43, Y:29.79, Z:1.37 [[ 6.60086768e-01 7.34928187e-01 -1.55454232e-01 -1.34323658e+01] [-7.46696509e-01 6.64534983e-01 -2.89409638e-02 2.97930514e+01] [ 8.20352452e-02 1.35180679e-01 9.87419061e-01 1.37341244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.804839173 meters Centerline goodness : 0.784776 Centerline is valid? [False, False] Translation: X:-13.48, Y:29.86, Z:1.36 [[ 6.48151219e-01 7.45274743e-01 -1.56414687e-01 -1.34767164e+01] [-7.56883399e-01 6.53087380e-01 -2.45844460e-02 2.98625916e+01] [ 8.38302915e-02 1.34322119e-01 9.87385462e-01 1.36105180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.834839173 meters Centerline goodness : 0.786228 Centerline is valid? [False, False] Translation: X:-13.53, Y:29.93, Z:1.35 [[ 6.41787799e-01 7.50599490e-01 -1.57190414e-01 -1.35258496e+01] [-7.62309229e-01 6.46766525e-01 -2.40354269e-02 2.99302785e+01] [ 8.36245187e-02 1.35253347e-01 9.87275783e-01 1.35141989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.864839173 meters Centerline goodness : 0.785808 Centerline is valid? [False, False] Translation: X:-13.58, Y:30.01, Z:1.34 [[ 6.37061705e-01 7.55627089e-01 -1.52250079e-01 -1.35813848e+01] [-7.66806039e-01 6.41377929e-01 -2.53544996e-02 3.00119470e+01] [ 7.84912937e-02 1.32898661e-01 9.88016732e-01 1.33738633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.894839173 meters Centerline goodness : 0.785701 Centerline is valid? [False, False] Translation: X:-13.64, Y:30.08, Z:1.33 [[ 6.39272577e-01 7.53460744e-01 -1.53712328e-01 -1.36351792e+01] [-7.64860800e-01 6.43678056e-01 -2.58169795e-02 3.00803186e+01] [ 7.94891721e-02 1.34072621e-01 9.87778317e-01 1.32511653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.924839173 meters Centerline goodness : 0.783324 Centerline is valid? [False, False] Translation: X:-13.68, Y:30.13, Z:1.31 [[ 6.46153708e-01 7.47730898e-01 -1.52917919e-01 -1.36825987e+01] [-7.58938737e-01 6.50671626e-01 -2.52671482e-02 3.01321267e+01] [ 8.06063239e-02 1.32381794e-01 9.87915827e-01 1.31229962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.954839173 meters Centerline goodness : 0.782744 Centerline is valid? [False, False] Translation: X:-13.73, Y:30.18, Z:1.30 [[ 6.49917466e-01 7.44444713e-01 -1.53001167e-01 -1.37293912e+01] [-7.55594384e-01 6.54573707e-01 -2.47060312e-02 3.01811899e+01] [ 8.17582666e-02 1.31663703e-01 9.87917130e-01 1.30043812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.984839173 meters Centerline goodness : 0.782056 Centerline is valid? [False, False] Translation: X:-13.78, Y:30.23, Z:1.29 [[ 6.51940684e-01 7.42553924e-01 -1.53580643e-01 -1.37758083e+01] [-7.53712452e-01 6.56764313e-01 -2.40453066e-02 3.02251185e+01] [ 8.30113490e-02 1.31431757e-01 9.87843515e-01 1.28958055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.014839173 meters Centerline goodness : 0.782952 Centerline is valid? [False, False] Translation: X:-13.82, Y:30.27, Z:1.28 [[ 6.50401783e-01 7.43841076e-01 -1.53876494e-01 -1.38181372e+01] [-7.54811483e-01 6.55597355e-01 -2.12540077e-02 3.02722262e+01] [ 8.50714188e-02 1.29971389e-01 9.87861474e-01 1.28138820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.044839173 meters Centerline goodness : 0.780595 Centerline is valid? [False, False] Translation: X:-13.86, Y:30.31, Z:1.27 [[ 6.49338714e-01 7.44193165e-01 -1.56638973e-01 -1.38615072e+01] [-7.55337767e-01 6.55059636e-01 -1.90192166e-02 3.03146728e+01] [ 8.84538977e-02 1.30665246e-01 9.87472785e-01 1.27234367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.074839172999999 meters Centerline goodness : 0.780905 Centerline is valid? [False, False] Translation: X:-13.91, Y:30.36, Z:1.26 [[ 6.52015891e-01 7.41883292e-01 -1.56475107e-01 -1.39070681e+01] [-7.52725370e-01 6.58136295e-01 -1.61596385e-02 3.03641440e+01] [ 9.09933814e-02 1.28319124e-01 9.87549698e-01 1.26088059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.104839173 meters Centerline goodness : 0.781098 Centerline is valid? [False, False] Translation: X:-13.95, Y:30.40, Z:1.25 [[ 6.57131877e-01 7.39662229e-01 -1.45180864e-01 -1.39494681e+01] [-7.48470831e-01 6.63100190e-01 -9.46321666e-03 3.04040827e+01] [ 8.92698743e-02 1.14882223e-01 9.89359876e-01 1.25145839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.134839173 meters Centerline goodness : 0.781096 Centerline is valid? [False, False] Translation: X:-14.00, Y:30.46, Z:1.24 [[ 6.59025764e-01 7.38531739e-01 -1.42323273e-01 -1.39960664e+01] [-7.46586435e-01 6.65270438e-01 -4.89281870e-03 3.04576194e+01] [ 9.10699640e-02 1.09481118e-01 9.89808136e-01 1.24216293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.164839172999999 meters Centerline goodness : 0.783473 Centerline is valid? [False, False] Translation: X:-14.05, Y:30.52, Z:1.23 [[ 6.59527604e-01 7.38247332e-01 -1.41471609e-01 -1.40487363e+01] [-7.46637760e-01 6.65159740e-01 -9.72498631e-03 3.05178190e+01] [ 8.69217734e-02 1.12041942e-01 9.89894544e-01 1.23044281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.194839173 meters Centerline goodness : 0.782769 Centerline is valid? [False, False] Translation: X:-14.10, Y:30.58, Z:1.22 [[ 6.58197306e-01 7.39041962e-01 -1.43503606e-01 -1.40977527e+01] [-7.48256358e-01 6.63205154e-01 -1.64726215e-02 3.05764341e+01] [ 8.29983727e-02 1.18219721e-01 9.89512692e-01 1.22133353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.224839173 meters Centerline goodness : 0.784221 Centerline is valid? [False, False] Translation: X:-14.15, Y:30.62, Z:1.21 [[ 6.60002447e-01 7.37855813e-01 -1.41299570e-01 -1.41471403e+01] [-7.46770187e-01 6.64886424e-01 -1.61347824e-02 3.06247992e+01] [ 8.20430229e-02 1.16167302e-01 9.89835391e-01 1.21399547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.254839173 meters Centerline goodness : 0.783562 Centerline is valid? [False, False] Translation: X:-14.19, Y:30.67, Z:1.20 [[ 6.63217864e-01 7.34873018e-01 -1.41787563e-01 -1.41921590e+01] [-7.43461220e-01 6.68673219e-01 -1.18970623e-02 3.06745275e+01] [ 8.60667159e-02 1.13303899e-01 9.89825614e-01 1.20447115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.284839173 meters Centerline goodness : 0.782548 Centerline is valid? [False, False] Translation: X:-14.25, Y:30.73, Z:1.19 [[ 6.64208560e-01 7.33232024e-01 -1.45594600e-01 -1.42451079e+01] [-7.41822128e-01 6.70557912e-01 -7.21229898e-03 3.07329520e+01] [ 9.23413227e-02 1.12795767e-01 9.89318045e-01 1.19368892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.314839173 meters Centerline goodness : 0.784474 Centerline is valid? [False, False] Translation: X:-14.30, Y:30.79, Z:1.18 [[ 6.62206714e-01 7.34639938e-01 -1.47602265e-01 -1.42978492e+01] [-7.42899018e-01 6.69402354e-01 -1.23991210e-03 3.07908187e+01] [ 9.78944147e-02 1.10474656e-01 9.89046022e-01 1.18149590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.344839173 meters Centerline goodness : 0.783726 Centerline is valid? [False, False] Translation: X:-14.36, Y:30.85, Z:1.17 [[ 6.62108240e-01 7.34733951e-01 -1.47576082e-01 -1.43559689e+01] [-7.42470918e-01 6.69866857e-01 3.91533163e-03 3.08507318e+01] [ 1.01733053e-01 1.06978576e-01 9.89042957e-01 1.17096588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.374839173 meters Centerline goodness : 0.782546 Centerline is valid? [False, False] Translation: X:-14.41, Y:30.91, Z:1.16 [[ 6.63214566e-01 7.33224526e-01 -1.50094083e-01 -1.44107293e+01] [-7.40869583e-01 6.71609980e-01 7.23153031e-03 3.09122384e+01] [ 1.06107020e-01 1.06404085e-01 9.88645271e-01 1.16012907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.404839173 meters Centerline goodness : 0.784724 Centerline is valid? [False, False] Translation: X:-14.46, Y:30.97, Z:1.15 [[ 6.64392189e-01 7.32726912e-01 -1.47289821e-01 -1.44646795e+01] [-7.40121860e-01 6.72439627e-01 6.67682729e-03 3.09654304e+01] [ 1.03935804e-01 1.04576385e-01 9.89070841e-01 1.14765290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.434839173 meters Centerline goodness : 0.782347 Centerline is valid? [False, False] Translation: X:-14.52, Y:31.03, Z:1.13 [[ 6.64498062e-01 7.32591227e-01 -1.47487017e-01 -1.45238419e+01] [-7.39947537e-01 6.72625750e-01 7.22788031e-03 3.10321807e+01] [ 1.04498647e-01 1.04329742e-01 9.89037582e-01 1.13195439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.464839173 meters Centerline goodness : 0.782347 Centerline is valid? [False, False] Translation: X:-14.57, Y:31.10, Z:1.12 [[ 6.65564053e-01 7.30553360e-01 -1.52696691e-01 -1.45743801e+01] [-7.38386281e-01 6.74332773e-01 7.81095039e-03 3.10965959e+01] [ 1.08674699e-01 1.07550454e-01 9.88242232e-01 1.12208130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.494839172999999 meters Centerline goodness : 0.784741 Centerline is valid? [False, False] Translation: X:-14.63, Y:31.16, Z:1.11 [[ 6.63602487e-01 7.31839407e-01 -1.55057479e-01 -1.46322210e+01] [-7.39859316e-01 6.72706081e-01 8.64413111e-03 3.11570976e+01] [ 1.10634225e-01 1.08984453e-01 9.87867631e-01 1.11000876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.524839173 meters Centerline goodness : 0.782673 Centerline is valid? [False, False] Translation: X:-14.69, Y:31.22, Z:1.09 [[ 6.66887106e-01 7.28913649e-01 -1.54746499e-01 -1.46890783e+01] [-7.36142042e-01 6.76663105e-01 1.48975052e-02 3.12190953e+01] [ 1.15570241e-01 1.03980449e-01 9.87841883e-01 1.09395132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.554839173 meters Centerline goodness : 0.785729 Centerline is valid? [False, False] Translation: X:-14.76, Y:31.28, Z:1.08 [[ 6.77213093e-01 7.19419815e-01 -1.54329377e-01 -1.47558946e+01] [-7.26562372e-01 6.86956309e-01 1.40765787e-02 3.12833391e+01] [ 1.16144509e-01 1.02597074e-01 9.87919174e-01 1.08196845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.584839172999999 meters Centerline goodness : 0.783597 Centerline is valid? [False, False] Translation: X:-14.81, Y:31.35, Z:1.07 [[ 6.80590504e-01 7.15333489e-01 -1.58412643e-01 -1.48118927e+01] [-7.22654057e-01 6.91031637e-01 1.56968699e-02 3.13456308e+01] [ 1.20696644e-01 1.03794398e-01 9.87248217e-01 1.07169084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.614839173 meters Centerline goodness : 0.783645 Centerline is valid? [False, False] Translation: X:-14.86, Y:31.40, Z:1.06 [[ 6.80720325e-01 7.13859403e-01 -1.64391581e-01 -1.48649776e+01] [-7.21326868e-01 6.92321478e-01 1.94556041e-02 3.14007976e+01] [ 1.27700389e-01 1.05336239e-01 9.86203269e-01 1.05911325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.644839173 meters Centerline goodness : 0.783728 Centerline is valid? [False, False] Translation: X:-14.91, Y:31.45, Z:1.05 [[ 6.79829326e-01 7.13630432e-01 -1.69007969e-01 -1.49096986e+01] [-7.22261941e-01 6.91469092e-01 1.44285419e-02 3.14538855e+01] [ 1.27160433e-01 1.12259078e-01 9.85509068e-01 1.04606442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.674839173 meters Centerline goodness : 0.782679 Centerline is valid? [False, False] Translation: X:-14.97, Y:31.52, Z:1.03 [[ 6.77960225e-01 7.14431098e-01 -1.73084198e-01 -1.49654118e+01] [-7.23535038e-01 6.90133505e-01 1.45874714e-02 3.15156823e+01] [ 1.29872947e-01 1.15342756e-01 9.84798998e-01 1.02773740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.704839173 meters Centerline goodness : 0.790538 Centerline is valid? [False, False] Translation: X:-15.00, Y:31.57, Z:1.02 [[ 6.75854377e-01 7.14315675e-01 -1.81587381e-01 -1.50040066e+01] [-7.25164819e-01 6.88511053e-01 9.40825623e-03 3.15681078e+01] [ 1.31745384e-01 1.25322169e-01 9.83329806e-01 1.01765971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.734839173 meters Centerline goodness : 0.784337 Centerline is valid? [False, False] Translation: X:-15.06, Y:31.63, Z:1.00 [[ 6.78674109e-01 7.14600548e-01 -1.69550908e-01 -1.50607961e+01] [-7.23722635e-01 6.89999750e-01 1.12201431e-02 3.16288663e+01] [ 1.25008005e-01 1.15093009e-01 9.85457558e-01 1.00464494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.764839173 meters Centerline goodness : 0.783542 Centerline is valid? [False, False] Translation: X:-15.12, Y:31.69, Z:0.99 [[ 6.81285980e-01 7.11640362e-01 -1.71515041e-01 -1.51164759e+01] [-7.20652850e-01 6.93164872e-01 1.34881343e-02 3.16894873e+01] [ 1.28486902e-01 1.14413526e-01 9.85089164e-01 9.92314321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.794839173 meters Centerline goodness : 0.785599 Centerline is valid? [False, False] Translation: X:-15.17, Y:31.74, Z:0.98 [[ 6.80074186e-01 7.11892191e-01 -1.75238724e-01 -1.51685389e+01] [-7.20629553e-01 6.93063725e-01 1.88605412e-02 3.17433827e+01] [ 1.34878275e-01 1.13455636e-01 9.84345300e-01 9.81692281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.824839172999999 meters Centerline goodness : 0.784748 Centerline is valid? [False, False] Translation: X:-15.22, Y:31.80, Z:0.97 [[ 6.80699029e-01 7.11010713e-01 -1.76387637e-01 -1.52179236e+01] [-7.20124060e-01 6.93637412e-01 1.69846499e-02 3.17987031e+01] [ 1.34425332e-01 1.15459547e-01 9.84174234e-01 9.68111320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.854839173 meters Centerline goodness : 0.785765 Centerline is valid? [False, False] Translation: X:-15.26, Y:31.85, Z:0.96 [[ 6.83414359e-01 7.06397758e-01 -1.84247174e-01 -1.52601414e+01] [-7.17316654e-01 6.96670819e-01 1.03241939e-02 3.18458953e+01] [ 1.35652617e-01 1.25107864e-01 9.82825717e-01 9.58352905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.884839173 meters Centerline goodness : 0.786747 Centerline is valid? [False, False] Translation: X:-15.29, Y:31.88, Z:0.95 [[ 6.86391542e-01 7.03256965e-01 -1.85192579e-01 -1.52913208e+01] [-7.14924392e-01 6.99181490e-01 5.32525206e-03 3.18844865e+01] [ 1.33228244e-01 1.28743484e-01 9.82687819e-01 9.47493198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.914839172999999 meters Centerline goodness : 0.785785 Centerline is valid? [False, False] Translation: X:-15.33, Y:31.93, Z:0.93 [[ 6.89911938e-01 6.98254831e-01 -1.90949492e-01 -1.53320104e+01] [-7.10864804e-01 7.03320120e-01 3.46980320e-03 3.19307313e+01] [ 1.36721426e-01 1.33345415e-01 9.81593731e-01 9.32776526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.944839173 meters Centerline goodness : 0.785756 Centerline is valid? [False, False] Translation: X:-15.38, Y:31.98, Z:0.92 [[ 6.89336016e-01 6.97999801e-01 -1.93938484e-01 -1.53760832e+01] [-7.11065311e-01 7.03118840e-01 3.16534340e-03 3.19822970e+01] [ 1.38571211e-01 1.35720943e-01 9.81008586e-01 9.16612954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.974839173 meters Centerline goodness : 0.787469 Centerline is valid? [False, False] Translation: X:-15.42, Y:32.04, Z:0.90 [[ 6.85825747e-01 7.03072186e-01 -1.87969535e-01 -1.54176817e+01] [-7.16217509e-01 6.97871063e-01 -2.90831453e-03 3.20376041e+01] [ 1.29133744e-01 1.36621669e-01 9.82170553e-01 9.03466172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.004839173 meters Centerline goodness : 0.786926 Centerline is valid? [False, False] Translation: X:-15.46, Y:32.09, Z:0.89 [[ 6.85001115e-01 7.04952903e-01 -1.83888221e-01 -1.54618149e+01] [-7.17807913e-01 6.96224223e-01 -4.86128817e-03 3.20927585e+01] [ 1.24600454e-01 1.35326408e-01 9.82935140e-01 8.92506035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.034839173 meters Centerline goodness : 0.785457 Centerline is valid? [False, False] Translation: X:-15.50, Y:32.15, Z:0.88 [[ 6.83479417e-01 7.07399594e-01 -1.80115798e-01 -1.55012005e+01] [-7.19591438e-01 6.94389296e-01 -3.41575226e-03 3.21528198e+01] [ 1.22654180e-01 1.31944383e-01 9.83639483e-01 8.77417566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.064839173 meters Centerline goodness : 0.786461 Centerline is valid? [False, False] Translation: X:-15.54, Y:32.21, Z:0.86 [[ 6.84266288e-01 7.07097490e-01 -1.78305318e-01 -1.55447556e+01] [-7.19282021e-01 6.94697258e-01 -5.39384917e-03 3.22084984e+01] [ 1.20054239e-01 1.31942639e-01 9.83960426e-01 8.62192084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.094839173 meters Centerline goodness : 0.785555 Centerline is valid? [False, False] Translation: X:-15.59, Y:32.27, Z:0.85 [[ 6.84981103e-01 7.06712770e-01 -1.77081759e-01 -1.55916865e+01] [-7.19322667e-01 6.94598319e-01 -1.03959405e-02 3.22657411e+01] [ 1.15653748e-01 1.34499946e-01 9.84141237e-01 8.48914012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.124839173 meters Centerline goodness : 0.785102 Centerline is valid? [False, False] Translation: X:-15.64, Y:32.32, Z:0.83 [[ 6.87778742e-01 7.04735299e-01 -1.74093539e-01 -1.56423735e+01] [-7.17320539e-01 6.96602640e-01 -1.40002184e-02 3.23236229e+01] [ 1.11407571e-01 1.34509924e-01 9.84629592e-01 8.32838811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.154839173 meters Centerline goodness : 0.783666 Centerline is valid? [False, False] Translation: X:-15.70, Y:32.39, Z:0.82 [[ 6.90449773e-01 7.02380929e-01 -1.73032197e-01 -1.56975567e+01] [-7.14412421e-01 6.99643193e-01 -1.06908302e-02 3.23875799e+01] [ 1.13551764e-01 1.30997832e-01 9.84858145e-01 8.16000618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.184839173 meters Centerline goodness : 0.782822 Centerline is valid? [False, False] Translation: X:-15.75, Y:32.45, Z:0.80 [[ 6.93670576e-01 6.99348940e-01 -1.72430249e-01 -1.57525365e+01] [-7.10778251e-01 7.03385397e-01 -6.57731239e-03 3.24507209e+01] [ 1.16685083e-01 1.27122159e-01 9.84999771e-01 8.00511518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.214839173 meters Centerline goodness : 0.783777 Centerline is valid? [False, False] Translation: X:-15.81, Y:32.51, Z:0.79 [[ 6.98446675e-01 6.93261801e-01 -1.77652238e-01 -1.58068720e+01] [-7.05231639e-01 7.08950993e-01 -6.06832565e-03 3.25121744e+01] [ 1.21739792e-01 1.29524381e-01 9.84074620e-01 7.88808641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.244839172999999 meters Centerline goodness : 0.783456 Centerline is valid? [False, False] Translation: X:-15.85, Y:32.57, Z:0.77 [[ 7.01742001e-01 6.90019201e-01 -1.77289777e-01 -1.58541694e+01] [-7.02353045e-01 7.11760962e-01 -9.82516058e-03 3.25679347e+01] [ 1.19408393e-01 1.31414742e-01 9.84109649e-01 7.73833139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.274839173 meters Centerline goodness : 0.783550 Centerline is valid? [False, False] Translation: X:-15.90, Y:32.63, Z:0.76 [[ 7.03329558e-01 6.89221837e-01 -1.74071228e-01 -1.59019202e+01] [-7.01570790e-01 7.12467802e-01 -1.37133864e-02 3.26300538e+01] [ 1.14568580e-01 1.31768319e-01 9.84637573e-01 7.60883329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.304839173 meters Centerline goodness : 0.783332 Centerline is valid? [False, False] Translation: X:-15.95, Y:32.69, Z:0.75 [[ 7.02617043e-01 6.90008413e-01 -1.73832335e-01 -1.59452604e+01] [-7.02603048e-01 7.11401235e-01 -1.60386649e-02 3.26871140e+01] [ 1.12597724e-01 1.33404168e-01 9.84644647e-01 7.48543438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.334839172999999 meters Centerline goodness : 0.784196 Centerline is valid? [False, False] Translation: X:-15.98, Y:32.74, Z:0.74 [[ 6.99300163e-01 6.93394331e-01 -1.73734234e-01 -1.59824442e+01] [-7.06139368e-01 7.07866052e-01 -1.71127288e-02 3.27434748e+01] [ 1.11114697e-01 1.34647516e-01 9.84643880e-01 7.36301251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.364839173 meters Centerline goodness : 0.784762 Centerline is valid? [False, False] Translation: X:-16.03, Y:32.80, Z:0.72 [[ 7.00109812e-01 6.93057846e-01 -1.71805332e-01 -1.60292215e+01] [-7.05578256e-01 7.08415495e-01 -1.75160043e-02 3.28041636e+01] [ 1.09569955e-01 1.33485233e-01 9.84975186e-01 7.20876865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.394839173 meters Centerline goodness : 0.785627 Centerline is valid? [False, False] Translation: X:-16.07, Y:32.87, Z:0.71 [[ 7.06943440e-01 6.86968512e-01 -1.68241597e-01 -1.60738829e+01] [-6.98623676e-01 7.15338371e-01 -1.46960574e-02 3.28691653e+01] [ 1.10253942e-01 1.27926845e-01 9.85636237e-01 7.08402322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.424839173 meters Centerline goodness : 0.785953 Centerline is valid? [False, False] Translation: X:-16.12, Y:32.92, Z:0.70 [[ 7.12501791e-01 6.80685497e-01 -1.70318676e-01 -1.61171840e+01] [-6.92434917e-01 7.21348430e-01 -1.37959264e-02 3.29233412e+01] [ 1.13468423e-01 1.27764221e-01 9.85292455e-01 6.96765037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.454839173 meters Centerline goodness : 0.785667 Centerline is valid? [False, False] Translation: X:-16.15, Y:32.97, Z:0.69 [[ 7.17002297e-01 6.73713159e-01 -1.78936542e-01 -1.61494700e+01] [-6.86640050e-01 7.26848375e-01 -1.47268891e-02 3.29744018e+01] [ 1.20138036e-01 1.33424210e-01 9.83750391e-01 6.85499348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.484839173 meters Centerline goodness : 0.785431 Centerline is valid? [False, False] Translation: X:-16.19, Y:33.03, Z:0.68 [[ 7.18982037e-01 6.70775087e-01 -1.82004430e-01 -1.61901899e+01] [-6.84103157e-01 7.29233712e-01 -1.48681795e-02 3.30271320e+01] [ 1.22750562e-01 1.35199759e-01 9.83185295e-01 6.76890237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.514839173 meters Centerline goodness : 0.786617 Centerline is valid? [False, False] Translation: X:-16.23, Y:33.08, Z:0.67 [[ 7.17375629e-01 6.71214303e-01 -1.86664315e-01 -1.62251426e+01] [-6.85490805e-01 7.27880631e-01 -1.70922206e-02 3.30820307e+01] [ 1.24396796e-01 1.40218214e-01 9.82275058e-01 6.66145777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.544839173 meters Centerline goodness : 0.787031 Centerline is valid? [False, False] Translation: X:-16.25, Y:33.12, Z:0.66 [[ 7.17460971e-01 6.71539101e-01 -1.85162067e-01 -1.62530830e+01] [-6.85326351e-01 7.28083713e-01 -1.48962852e-02 3.31190602e+01] [ 1.24810048e-01 1.37583947e-01 9.82595089e-01 6.58330199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.574839172999999 meters Centerline goodness : 0.786097 Centerline is valid? [False, False] Translation: X:-16.29, Y:33.16, Z:0.65 [[ 7.19645342e-01 6.70103867e-01 -1.81855407e-01 -1.62850614e+01] [-6.82863739e-01 7.30468688e-01 -1.06118188e-02 3.31604610e+01] [ 1.25728660e-01 1.31819209e-01 9.83268021e-01 6.49732612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.604839173 meters Centerline goodness : 0.786666 Centerline is valid? [False, False] Translation: X:-16.32, Y:33.21, Z:0.64 [[ 7.20422119e-01 6.68629449e-01 -1.84191831e-01 -1.63246645e+01] [-6.81295157e-01 7.31969131e-01 -7.62239998e-03 3.32135768e+01] [ 1.29726174e-01 1.30980348e-01 9.82860757e-01 6.41170023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.634839173 meters Centerline goodness : 0.786607 Centerline is valid? [False, False] Translation: X:-16.36, Y:33.26, Z:0.63 [[ 7.20481451e-01 6.69139055e-01 -1.82097237e-01 -1.63632251e+01] [-6.81552684e-01 7.31727581e-01 -7.79014807e-03 3.32617369e+01] [ 1.28032879e-01 1.29721518e-01 9.83249668e-01 6.30982818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.664839172999999 meters Centerline goodness : 0.786619 Centerline is valid? [False, False] Translation: X:-16.39, Y:33.31, Z:0.63 [[ 7.20207841e-01 6.70684284e-01 -1.77435220e-01 -1.63945915e+01] [-6.82230534e-01 7.31115397e-01 -5.63683728e-03 3.33075101e+01] [ 1.25945083e-01 1.25111419e-01 9.84116339e-01 6.25595187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.694839173 meters Centerline goodness : 0.788031 Centerline is valid? [False, False] Translation: X:-16.44, Y:33.36, Z:0.62 [[ 7.20247466e-01 6.69656144e-01 -1.81119400e-01 -1.64365401e+01] [-6.81450456e-01 7.31853365e-01 -3.99107950e-03 3.33559721e+01] [ 1.29880191e-01 1.26298463e-01 9.83453016e-01 6.16008526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.724839173 meters Centerline goodness : 0.787851 Centerline is valid? [False, False] Translation: X:-16.48, Y:33.41, Z:0.60 [[ 7.21536593e-01 6.68262641e-01 -1.81135274e-01 -1.64829844e+01] [-6.79821252e-01 7.33374014e-01 -2.37090997e-03 3.34069425e+01] [ 1.31255512e-01 1.24850307e-01 9.83455333e-01 6.04600249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.754839173 meters Centerline goodness : 0.787359 Centerline is valid? [False, False] Translation: X:-16.53, Y:33.46, Z:0.59 [[ 7.23038417e-01 6.66272900e-01 -1.82471559e-01 -1.65282892e+01] [-6.78124662e-01 7.34938513e-01 -3.51050620e-03 3.34571754e+01] [ 1.31766422e-01 1.26276696e-01 9.83204865e-01 5.94807192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.784839173 meters Centerline goodness : 0.789979 Centerline is valid? [False, False] Translation: X:-16.56, Y:33.50, Z:0.59 [[ 7.25126557e-01 6.65246423e-01 -1.77872632e-01 -1.65649198e+01] [-6.76106469e-01 7.36803693e-01 -6.00060352e-04 3.34992671e+01] [ 1.30658024e-01 1.20695957e-01 9.84053335e-01 5.87668085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.814839173 meters Centerline goodness : 0.788743 Centerline is valid? [False, False] Translation: X:-16.61, Y:33.54, Z:0.58 [[ 7.24077980e-01 6.65392472e-01 -1.81559735e-01 -1.66062451e+01] [-6.75831517e-01 7.37032958e-01 5.84635376e-03 3.35436641e+01] [ 1.37705628e-01 1.18470575e-01 9.83362539e-01 5.76538261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.844839173 meters Centerline goodness : 0.787767 Centerline is valid? [False, False] Translation: X:-16.65, Y:33.59, Z:0.56 [[ 7.25169583e-01 6.63234525e-01 -1.85064965e-01 -1.66507418e+01] [-6.73802964e-01 7.38871039e-01 7.69118023e-03 3.35904100e+01] [ 1.41840199e-01 1.19119912e-01 9.82696191e-01 5.64771501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.874839173 meters Centerline goodness : 0.788276 Centerline is valid? [False, False] Translation: X:-16.69, Y:33.64, Z:0.55 [[ 7.26609154e-01 6.61838526e-01 -1.84415029e-01 -1.66917541e+01] [-6.73063212e-01 7.39581293e-01 2.32899217e-03 3.36375779e+01] [ 1.37931322e-01 1.22430704e-01 9.82845702e-01 5.52080592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.904839173 meters Centerline goodness : 0.788840 Centerline is valid? [False, False] Translation: X:-16.74, Y:33.68, Z:0.54 [[ 7.27406895e-01 6.60417621e-01 -1.86353897e-01 -1.67369671e+01] [-6.71675034e-01 7.40836896e-01 3.65267605e-03 3.36848638e+01] [ 1.40470134e-01 1.22512278e-01 9.82475894e-01 5.41951949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.934839173 meters Centerline goodness : 0.790535 Centerline is valid? [False, False] Translation: X:-16.78, Y:33.73, Z:0.53 [[ 7.27780719e-01 6.59726477e-01 -1.87339798e-01 -1.67830483e+01] [-6.70984648e-01 7.41458012e-01 4.42934566e-03 3.37341330e+01] [ 1.41826751e-01 1.22478536e-01 9.82285183e-01 5.31423099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.964839173 meters Centerline goodness : 0.792032 Centerline is valid? [False, False] Translation: X:-16.82, Y:33.78, Z:0.52 [[ 7.26296903e-01 6.63285083e-01 -1.80404291e-01 -1.68214007e+01] [-6.74208583e-01 7.38540256e-01 1.03727627e-03 3.37835536e+01] [ 1.33923841e-01 1.20876751e-01 9.83591997e-01 5.22653696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.994839172999999 meters Centerline goodness : 0.793126 Centerline is valid? [False, False] Translation: X:-16.86, Y:33.83, Z:0.51 [[ 7.25021089e-01 6.63594198e-01 -1.84356071e-01 -1.68608451e+01] [-6.74822731e-01 7.37975725e-01 2.47184001e-03 3.38315012e+01] [ 1.37690604e-01 1.22615531e-01 9.82856413e-01 5.12269854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.024839173 meters Centerline goodness : 0.793602 Centerline is valid? [False, False] Translation: X:-16.89, Y:33.88, Z:0.50 [[ 7.24394362e-01 6.64397384e-01 -1.83926412e-01 -1.68927844e+01] [-6.76484705e-01 7.36445413e-01 -4.07391498e-03 3.38790757e+01] [ 1.32745064e-01 1.27374526e-01 9.82931573e-01 5.01664436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.054839173 meters Centerline goodness : 0.793361 Centerline is valid? [False, False] Translation: X:-16.93, Y:33.93, Z:0.49 [[ 7.25302884e-01 6.62066165e-01 -1.88690539e-01 -1.69319696e+01] [-6.74632514e-01 7.38146656e-01 -3.23801449e-03 3.39275270e+01] [ 1.37137511e-01 1.29645314e-01 9.82031260e-01 4.90348851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.084839172999999 meters Centerline goodness : 0.792034 Centerline is valid? [False, False] Translation: X:-16.97, Y:33.98, Z:0.48 [[ 7.26346769e-01 6.58890039e-01 -1.95663708e-01 -1.69671189e+01] [-6.72189386e-01 7.40376193e-01 -2.12655927e-03 3.39750320e+01] [ 1.43463583e-01 1.33067687e-01 9.80668747e-01 4.77116160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.114839173 meters Centerline goodness : 0.790727 Centerline is valid? [False, False] Translation: X:-17.01, Y:34.02, Z:0.46 [[ 7.26614316e-01 6.57826230e-01 -1.98232913e-01 -1.70092539e+01] [-6.71523465e-01 7.40978942e-01 -2.53832082e-03 3.40216347e+01] [ 1.45216640e-01 1.34962433e-01 9.80151656e-01 4.64728507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.144839173 meters Centerline goodness : 0.794297 Centerline is valid? [False, False] Translation: X:-17.05, Y:34.08, Z:0.45 [[ 7.23035360e-01 6.64168450e-01 -1.90000362e-01 -1.70519784e+01] [-6.78068585e-01 7.34910448e-01 -1.13854017e-02 3.40783874e+01] [ 1.32071427e-01 1.37065325e-01 9.81718002e-01 4.52593833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.174839173 meters Centerline goodness : 0.793677 Centerline is valid? [False, False] Translation: X:-17.09, Y:34.13, Z:0.44 [[ 7.19468888e-01 6.68916561e-01 -1.86855971e-01 -1.70912551e+01] [-6.82676292e-01 7.30603112e-01 -1.31215030e-02 3.41256032e+01] [ 1.27740363e-01 1.37002654e-01 9.82299686e-01 4.40641124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.204839173 meters Centerline goodness : 0.796405 Centerline is valid? [False, False] Translation: X:-17.14, Y:34.19, Z:0.43 [[ 7.15879172e-01 6.73426684e-01 -1.84427527e-01 -1.71356089e+01] [-6.87295342e-01 7.26198460e-01 -1.61526801e-02 3.41852788e+01] [ 1.23053340e-01 1.38319547e-01 9.82713375e-01 4.28140007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.234839173 meters Centerline goodness : 0.795435 Centerline is valid? [False, False] Translation: X:-17.17, Y:34.22, Z:0.42 [[ 7.19014187e-01 6.70654173e-01 -1.82322731e-01 -1.71702496e+01] [-6.84039701e-01 7.29290821e-01 -1.49861579e-02 3.42236138e+01] [ 1.22915765e-01 1.35491247e-01 9.83124528e-01 4.18050615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.264839173 meters Centerline goodness : 0.796791 Centerline is valid? [False, False] Translation: X:-17.21, Y:34.27, Z:0.41 [[ 7.24948805e-01 6.64571832e-01 -1.81089785e-01 -1.72058204e+01] [-6.77157947e-01 7.35759736e-01 -1.07109743e-02 3.42650911e+01] [ 1.26120361e-01 1.30391295e-01 9.83408239e-01 4.06268005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.294839173 meters Centerline goodness : 0.795417 Centerline is valid? [False, False] Translation: X:-17.25, Y:34.31, Z:0.39 [[ 7.25405118e-01 6.63717990e-01 -1.82389266e-01 -1.72507833e+01] [-6.76055684e-01 7.36811742e-01 -7.56099579e-03 3.43141277e+01] [ 1.29368184e-01 1.28790085e-01 9.83197329e-01 3.92992734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.324839172999999 meters Centerline goodness : 0.792072 Centerline is valid? [False, False] Translation: X:-17.28, Y:34.36, Z:0.37 [[ 7.19916408e-01 6.69098682e-01 -1.84464954e-01 -1.72816609e+01] [-6.82634179e-01 7.30626596e-01 -1.39769320e-02 3.43605141e+01] [ 1.25423055e-01 1.35984305e-01 9.82739704e-01 3.74647262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.354839173 meters Centerline goodness : 0.791748 Centerline is valid? [False, False] Translation: X:-17.32, Y:34.41, Z:0.36 [[ 7.17645914e-01 6.71040670e-01 -1.86249192e-01 -1.73202269e+01] [-6.84791597e-01 7.28614545e-01 -1.34652880e-02 3.44117153e+01] [ 1.26668115e-01 1.37205191e-01 9.82410263e-01 3.64530022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.384839173 meters Centerline goodness : 0.791748 Centerline is valid? [False, False] Translation: X:-17.35, Y:34.45, Z:0.35 [[ 7.18529648e-01 6.70732018e-01 -1.83939406e-01 -1.73545757e+01] [-6.84036412e-01 7.29339858e-01 -1.25522180e-02 3.44476075e+01] [ 1.25735166e-01 1.34840392e-01 9.82857435e-01 3.54577177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.414839172999999 meters Centerline goodness : 0.793175 Centerline is valid? [False, False] Translation: X:-17.39, Y:34.50, Z:0.34 [[ 7.20543169e-01 6.69821839e-01 -1.79321629e-01 -1.73880170e+01] [-6.83021962e-01 7.30200760e-01 -1.69661267e-02 3.45028515e+01] [ 1.19576507e-01 1.34705437e-01 9.83644196e-01 3.43911548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.444839173 meters Centerline goodness : 0.793084 Centerline is valid? [False, False] Translation: X:-17.42, Y:34.54, Z:0.33 [[ 7.21308171e-01 6.70547353e-01 -1.73438085e-01 -1.74154684e+01] [-6.83233146e-01 7.29943235e-01 -1.93737516e-02 3.45410189e+01] [ 1.13608939e-01 1.32473094e-01 9.84654197e-01 3.32736422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.474839173 meters Centerline goodness : 0.795688 Centerline is valid? [False, False] Translation: X:-17.45, Y:34.60, Z:0.32 [[ 7.15624449e-01 6.77998827e-01 -1.67926290e-01 -1.74462183e+01] [-6.90381524e-01 7.23091747e-01 -2.26202902e-02 3.45964671e+01] [ 1.06089584e-01 1.32120841e-01 9.85539996e-01 3.24515153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.504839173 meters Centerline goodness : 0.796522 Centerline is valid? [False, False] Translation: X:-17.49, Y:34.65, Z:0.31 [[ 7.12831651e-01 6.80865467e-01 -1.68205986e-01 -1.74906359e+01] [-6.93499253e-01 7.20046174e-01 -2.43370816e-02 3.46527952e+01] [ 1.04545798e-01 1.33998968e-01 9.85451395e-01 3.11562484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.534839173 meters Centerline goodness : 0.796675 Centerline is valid? [False, False] Translation: X:-17.51, Y:34.70, Z:0.30 [[ 7.10551822e-01 6.82865077e-01 -1.69739200e-01 -1.75146570e+01] [-6.96057577e-01 7.17461961e-01 -2.74259721e-02 3.46980400e+01] [ 1.03053180e-01 1.37635830e-01 9.85107314e-01 2.98288556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.564839173 meters Centerline goodness : 0.795603 Centerline is valid? [False, False] Translation: X:-17.56, Y:34.75, Z:0.29 [[ 7.09529554e-01 6.83649988e-01 -1.70852295e-01 -1.75574221e+01] [-6.96859295e-01 7.16735632e-01 -2.60222372e-02 3.47516048e+01] [ 1.04665825e-01 1.37523556e-01 9.84952962e-01 2.88176499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.594839173 meters Centerline goodness : 0.795235 Centerline is valid? [False, False] Translation: X:-17.59, Y:34.80, Z:0.28 [[ 7.13747532e-01 6.79680742e-01 -1.69111056e-01 -1.75926151e+01] [-6.92620768e-01 7.20827409e-01 -2.61594711e-02 3.47978764e+01] [ 1.04119795e-01 1.35801087e-01 9.85249782e-01 2.79985794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.624839173 meters Centerline goodness : 0.785401 Centerline is valid? [False, False] Translation: X:-17.62, Y:34.82, Z:0.27 [[ 7.18710347e-01 6.75387550e-01 -1.65248584e-01 -1.76170430e+01] [-6.87625972e-01 7.25637440e-01 -2.49164495e-02 3.48232690e+01] [ 1.03082299e-01 1.31536928e-01 9.85937156e-01 2.72094956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.654839173 meters Centerline goodness : 0.796326 Centerline is valid? [False, False] Translation: X:-17.62, Y:34.83, Z:0.27 [[ 7.22660150e-01 6.70729200e-01 -1.66986968e-01 -1.76172503e+01] [-6.83633753e-01 7.29230618e-01 -2.94550071e-02 3.48252907e+01] [ 1.02015677e-01 1.35443888e-01 9.85519028e-01 2.73334189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.684839173 meters Centerline goodness : 0.791883 Centerline is valid? [False, False] Translation: X:-17.65, Y:34.86, Z:0.26 [[ 7.24620249e-01 6.68808850e-01 -1.66193309e-01 -1.76532230e+01] [-6.81458416e-01 7.31312481e-01 -2.82219998e-02 3.48621555e+01] [ 1.02664118e-01 1.33704062e-01 9.85689253e-01 2.64229164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.714839173 meters Centerline goodness : 0.791996 Centerline is valid? [False, False] Translation: X:-17.66, Y:34.87, Z:0.26 [[ 7.22828344e-01 6.69656432e-01 -1.70526974e-01 -1.76642370e+01] [-6.82681457e-01 7.30251232e-01 -2.60608200e-02 3.48734328e+01] [ 1.07075737e-01 1.35253103e-01 9.85008317e-01 2.60399012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.744839172999999 meters Centerline goodness : 0.795372 Centerline is valid? [False, False] Translation: X:-17.67, Y:34.89, Z:0.26 [[ 7.22090354e-01 6.68921797e-01 -1.76434549e-01 -1.76721027e+01] [-6.82886466e-01 7.30022438e-01 -2.70797756e-02 3.48901779e+01] [ 1.10686927e-01 1.40038810e-01 9.83939803e-01 2.59084365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.774839173 meters Centerline goodness : 0.823515 Centerline is valid? [False, False] Translation: X:-18.06, Y:35.43, Z:0.39 [[ 0.87877944 0.46687764 -0.09885326 -18.05902245] [ -0.45217917 0.74836713 -0.48526347 35.42506135] [ -0.15258013 0.47113894 0.86876199 0.39176708] [ 0. 0. 0. 1. ]] SLAMing on 12.804839173 meters Centerline goodness : 0.647823 Centerline is valid? [False, False] Translation: X:-18.00, Y:35.08, Z:0.27 [[ 8.68193418e-01 4.90436925e-01 7.55765268e-02 -1.80022459e+01] [-4.89281555e-01 8.71447595e-01 -3.43896783e-02 3.50756761e+01] [-8.27269505e-02 -7.12130822e-03 9.96546807e-01 2.68118225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.834839172999999 meters Centerline goodness : 0.793127 Centerline is valid? [False, False] Translation: X:-18.88, Y:33.13, Z:0.99 [[ 0.87592144 0.29157679 0.38437561 -18.88358386] [ -0.47308341 0.36283262 0.80283534 33.13097557] [ 0.09462414 -0.8850624 0.45575302 0.99123077] [ 0. 0. 0. 1. ]] SLAMing on 12.864839173 meters Centerline goodness : 0.790947 Centerline is valid? [False, False] Translation: X:-18.89, Y:33.18, Z:0.97 [[ 0.87807703 0.31438095 0.36075664 -18.88679753] [ -0.46936591 0.4190979 0.77720821 33.17714397] [ 0.09314711 -0.85177554 0.51555994 0.97226397] [ 0. 0. 0. 1. ]] SLAMing on 12.894839173 meters Centerline goodness : 0.789389 Centerline is valid? [False, False] Translation: X:-18.89, Y:33.22, Z:0.96 [[ 0.88203497 0.33327853 0.33307617 -18.89198519] [ -0.4616339 0.46963712 0.7525524 33.21546168] [ 0.09438463 -0.81753678 0.56808903 0.95935936] [ 0. 0. 0. 1. ]] SLAMing on 12.924839173 meters Centerline goodness : 0.788860 Centerline is valid? [False, False] Translation: X:-18.90, Y:33.26, Z:0.94 [[ 0.88651494 0.34844945 0.30442445 -18.90126316] [ -0.45306736 0.52016646 0.72398676 33.2581978 ] [ 0.0939214 -0.77974986 0.61900641 0.93886577] [ 0. 0. 0. 1. ]] SLAMing on 12.954839173 meters Centerline goodness : 0.791691 Centerline is valid? [False, False] Translation: X:-18.91, Y:33.30, Z:0.92 [[ 0.88743152 0.36525754 0.28116229 -18.90976503] [ -0.45070322 0.55976494 0.69536308 33.30034716] [ 0.09660182 -0.74380786 0.6613758 0.9239824 ] [ 0. 0. 0. 1. ]] SLAMing on 12.984839173 meters Centerline goodness : 0.794316 Centerline is valid? [False, False] Translation: X:-18.90, Y:33.33, Z:0.92 [[ 0.88906359 0.37972627 0.25568318 -18.90009351] [ -0.44616837 0.5937388 0.66963275 33.32741581] [ 0.10246812 -0.70942384 0.69729341 0.91624836] [ 0. 0. 0. 1. ]] SLAMing on 13.014839173 meters Centerline goodness : 0.778269 Centerline is valid? [False, False] Translation: X:-18.92, Y:33.38, Z:0.90 [[ 0.88971432 0.39113029 0.23542627 -18.92348539] [ -0.4439557 0.62115926 0.64580532 33.38014343] [ 0.10635682 -0.67910107 0.72629881 0.90080518] [ 0. 0. 0. 1. ]] SLAMing on 13.044839173 meters Centerline goodness : 0.790527 Centerline is valid? [False, False] Translation: X:-18.93, Y:33.42, Z:0.89 [[ 0.88757847 0.40550346 0.2185667 -18.93269955] [ -0.4472833 0.64513415 0.61946717 33.41637792] [ 0.11019124 -0.64758696 0.75398211 0.89148246] [ 0. 0. 0. 1. ]] SLAMing on 13.074839172999999 meters Centerline goodness : 0.794175 Centerline is valid? [False, False] Translation: X:-19.04, Y:33.49, Z:0.84 [[ 0.88506326 0.41304856 0.21460176 -19.04365383] [ -0.45476321 0.66899877 0.58790396 33.48624153] [ 0.09926457 -0.61792518 0.77994552 0.84072235] [ 0. 0. 0. 1. ]] SLAMing on 13.104839173 meters Centerline goodness : 0.790752 Centerline is valid? [False, False] Translation: X:-18.90, Y:33.47, Z:0.90 [[ 0.87620882 0.42766322 0.22217622 -18.90348515] [ -0.47427914 0.68336734 0.55503908 33.46531718] [ 0.08554183 -0.59170368 0.80160423 0.90166351] [ 0. 0. 0. 1. ]] SLAMing on 13.134839173 meters Centerline goodness : 0.805899 Centerline is valid? [False, False] Translation: X:-18.92, Y:33.50, Z:0.90 [[ 0.87988028 0.43164751 0.19872372 -18.91539078] [ -0.46806406 0.71507335 0.51921684 33.50112886] [ 0.08201662 -0.54986409 0.83121763 0.89743574] [ 0. 0. 0. 1. ]] SLAMing on 13.164839172999999 meters Centerline goodness : 0.797556 Centerline is valid? [False, False] Translation: X:-18.91, Y:33.53, Z:0.90 [[ 0.88182375 0.43752747 0.17594481 -18.91283942] [ -0.46412372 0.73913452 0.4881284 33.52559238] [ 0.0835227 -0.51210338 0.85485325 0.89585238] [ 0. 0. 0. 1. ]] SLAMing on 13.194839173 meters Centerline goodness : 0.793173 Centerline is valid? [False, False] Translation: X:-18.92, Y:33.56, Z:0.89 [[ 0.88217568 0.44536788 0.15301477 -18.92144705] [ -0.46280136 0.7598479 0.45655894 33.55736445] [ 0.08706874 -0.47358064 0.8764362 0.89385217] [ 0. 0. 0. 1. ]] SLAMing on 13.224839173 meters Centerline goodness : 0.790332 Centerline is valid? [False, False] Translation: X:-18.92, Y:33.59, Z:0.89 [[ 0.87988532 0.45428365 0.13938506 -18.92452348] [ -0.46737644 0.77439478 0.42646453 33.58917346] [ 0.0857968 -0.44038517 0.89370007 0.89484025] [ 0. 0. 0. 1. ]] SLAMing on 13.254839172999999 meters Centerline goodness : 0.794418 Centerline is valid? [False, False] Translation: X:-18.93, Y:33.62, Z:0.89 [[ 0.87998851 0.45781558 0.12659034 -18.93421021] [ -0.46797373 0.78997033 0.39616595 33.61886149] [ 0.08136833 -0.40786244 0.90941048 0.89498499] [ 0. 0. 0. 1. ]] SLAMing on 13.284839173 meters Centerline goodness : 0.791021 Centerline is valid? [False, False] Translation: X:-18.93, Y:33.64, Z:0.90 [[ 0.88007996 0.46314054 0.10469053 -18.92722753] [ -0.46715003 0.80506263 0.3655749 33.64451174] [ 0.08503012 -0.37064133 0.92487561 0.89596573] [ 0. 0. 0. 1. ]] SLAMing on 13.314839173 meters Centerline goodness : 0.791283 Centerline is valid? [False, False] Translation: X:-18.92, Y:33.67, Z:0.89 [[ 0.88100478 0.46565763 0.08362747 -18.91726059] [ -0.46452039 0.81786884 0.33957527 33.66833448] [ 0.08972951 -0.3380141 0.93685382 0.89420812] [ 0. 0. 0. 1. ]] SLAMing on 13.344839173 meters Centerline goodness : 0.767084 Centerline is valid? [False, False] Translation: X:-18.91, Y:33.69, Z:0.90 [[ 0.88225731 0.46615108 0.06576637 -18.90646282] [ -0.46160281 0.82916761 0.31528389 33.68655306] [ 0.09243858 -0.30851945 0.94671583 0.90192563] [ 0. 0. 0. 1. ]] SLAMing on 13.374839173 meters Centerline goodness : 0.759964 Centerline is valid? [False, False] Translation: X:-18.91, Y:33.64, Z:0.89 [[ 0.87667003 0.46856279 0.10908061 -18.91256327] [ -0.47371239 0.80117961 0.36566077 33.64480963] [ 0.08394187 -0.37223667 0.92433415 0.89106138] [ 0. 0. 0. 1. ]] SLAMing on 13.404839173 meters Centerline goodness : 0.786481 Centerline is valid? [False, False] Translation: X:-18.86, Y:33.64, Z:0.91 [[ 0.86655598 0.49032455 0.09307296 -18.86302053] [ -0.49375406 0.81509738 0.30302342 33.64411718] [ 0.0727163 -0.30854191 0.94842724 0.90848001] [ 0. 0. 0. 1. ]] SLAMing on 13.434839173 meters Centerline goodness : 0.790544 Centerline is valid? [False, False] Translation: X:-18.89, Y:33.68, Z:0.91 [[ 0.86621477 0.49370567 0.07698499 -18.89357863] [ -0.49386292 0.82249716 0.28213088 33.68435007] [ 0.07596968 -0.28240597 0.95628211 0.90865692] [ 0. 0. 0. 1. ]] SLAMing on 13.464839173 meters Centerline goodness : 0.768938 Centerline is valid? [False, False] Translation: X:-18.80, Y:33.69, Z:0.92 [[ 0.86809121 0.49523548 0.03405099 -18.79664684] [ -0.48790329 0.8385739 0.24237202 33.69040738] [ 0.09147696 -0.22701461 0.96958565 0.92373362] [ 0. 0. 0. 1. ]] SLAMing on 13.494839172999999 meters Centerline goodness : 0.791392 Centerline is valid? [False, False] Translation: X:-18.61, Y:33.60, Z:1.01 [[ 0.87345975 0.48265299 0.06414166 -18.61417794] [ -0.48510011 0.85134787 0.19971154 33.59701924] [ 0.0417845 -0.20555512 0.97775311 1.0138779 ] [ 0. 0. 0. 1. ]] SLAMing on 13.524839173 meters Centerline goodness : 0.799467 Centerline is valid? [False, False] Translation: X:-18.70, Y:33.64, Z:1.01 [[ 0.86896299 0.49104014 0.06150528 -18.69511111] [ -0.49339335 0.85002372 0.18445239 33.63951182] [ 0.03829258 -0.19062859 0.98091509 1.01127418] [ 0. 0. 0. 1. ]] SLAMing on 13.554839173 meters Centerline goodness : 0.804100 Centerline is valid? [False, False] Translation: X:-18.71, Y:33.67, Z:1.02 [[ 0.86706597 0.49574842 0.04929616 -18.70896759] [ -0.49669372 0.85254183 0.16268918 33.66717391] [ 0.03862587 -0.16554734 0.98544514 1.02031894] [ 0. 0. 0. 1. ]] SLAMing on 13.584839172999999 meters Centerline goodness : 0.803293 Centerline is valid? [False, False] Translation: X:-18.72, Y:33.70, Z:1.02 [[ 0.86277193 0.50421481 0.0373098 -18.72128291] [ -0.50420985 0.85260984 0.13721838 33.69838779] [ 0.03737684 -0.13720013 0.98983791 1.02373837] [ 0. 0. 0. 1. ]] SLAMing on 13.614839173 meters Centerline goodness : 0.800456 Centerline is valid? [False, False] Translation: X:-18.74, Y:33.73, Z:1.03 [[ 8.60578362e-01 5.08744529e-01 2.41637395e-02 -1.87415630e+01] [-5.07623075e-01 8.52881187e-01 1.22116725e-01 3.37252897e+01] [ 4.15174168e-02 -1.17357083e-01 9.92221558e-01 1.02748627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.644839173 meters Centerline goodness : 0.808545 Centerline is valid? [False, False] Translation: X:-18.77, Y:33.76, Z:1.03 [[ 8.62424312e-01 5.06058601e-01 1.13577268e-02 -1.87666097e+01] [-5.04243708e-01 8.56934990e-01 1.06774085e-01 3.37597696e+01] [ 4.43011106e-02 -9.78116292e-02 9.94218435e-01 1.02987438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.674839173 meters Centerline goodness : 0.813608 Centerline is valid? [False, False] Translation: X:-18.76, Y:33.77, Z:1.03 [[ 8.64825416e-01 5.02019867e-01 7.28372809e-03 -1.87607059e+01] [-5.00174713e-01 8.60205196e-01 9.93593320e-02 3.37697254e+01] [ 4.36148579e-02 -8.95716123e-02 9.95024960e-01 1.03017834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.704839173 meters Centerline goodness : 0.818008 Centerline is valid? [False, False] Translation: X:-18.78, Y:33.80, Z:1.04 [[ 8.63346220e-01 5.04572945e-01 -6.28082186e-03 -1.87807122e+01] [-5.02168530e-01 8.60322465e-01 8.75900865e-02 3.37951138e+01] [ 4.95991200e-02 -7.24665390e-02 9.96136802e-01 1.03556502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.734839173 meters Centerline goodness : 0.811078 Centerline is valid? [False, False] Translation: X:-18.81, Y:33.82, Z:1.04 [[ 8.62671792e-01 5.05570744e-01 -1.39858035e-02 -1.88101331e+01] [-5.03011244e-01 8.60529381e-01 8.04293049e-02 3.38227524e+01] [ 5.26978983e-02 -6.23490762e-02 9.96662192e-01 1.03506941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.764839173 meters Centerline goodness : 0.812458 Centerline is valid? [False, False] Translation: X:-18.79, Y:33.83, Z:1.04 [[ 8.60563072e-01 5.08957410e-01 -1.98382049e-02 -1.87944290e+01] [-5.06371494e-01 8.59093530e-01 7.44729250e-02 3.38282202e+01] [ 5.49464205e-02 -5.40431476e-02 9.97025691e-01 1.03992486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.794839173 meters Centerline goodness : 0.807332 Centerline is valid? [False, False] Translation: X:-18.80, Y:33.84, Z:1.04 [[ 8.59240022e-01 5.10758880e-01 -2.88435757e-02 -1.88024402e+01] [-5.07981263e-01 8.58519824e-01 6.99910513e-02 3.38434888e+01] [ 6.05113325e-02 -4.54871165e-02 9.97130534e-01 1.04473879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.824839172999999 meters Centerline goodness : 0.802924 Centerline is valid? [False, False] Translation: X:-18.81, Y:33.86, Z:1.05 [[ 0.85793596 0.51236805 -0.03774746 -18.80871462] [ -0.50958039 0.85801115 0.06437935 33.86075695] [ 0.06537366 -0.03599799 0.99721133 1.04802801] [ 0. 0. 0. 1. ]] SLAMing on 13.854839173 meters Centerline goodness : 0.527093 Centerline is valid? [False, False] Translation: X:-19.05, Y:33.74, Z:0.95 [[ 0.86436392 0.50064375 0.04723195 -19.04873362] [ -0.48755038 0.81132742 0.3225561 33.74337249] [ 0.12316512 -0.30183381 0.9453712 0.94747359] [ 0. 0. 0. 1. ]] SLAMing on 13.884839173 meters Centerline goodness : 0.781233 Centerline is valid? [False, False] Translation: X:-19.19, Y:33.74, Z:0.98 [[ 9.03273771e-01 4.28799224e-01 1.50904007e-02 -1.91937172e+01] [-3.79689062e-01 7.82452709e-01 4.93562533e-01 3.37414171e+01] [ 1.99831706e-01 -4.51551751e-01 8.69579384e-01 9.83332582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.914839172999999 meters Centerline goodness : 0.741686 Centerline is valid? [False, False] Translation: X:-19.00, Y:33.93, Z:1.02 [[ 0.91584191 0.39924348 -0.04287463 -18.99643011] [ -0.37273921 0.88500315 0.27898907 33.92872752] [ 0.14932875 -0.23952883 0.95933668 1.0182616 ] [ 0. 0. 0. 1. ]] SLAMing on 13.944839173 meters Centerline goodness : 0.774537 Centerline is valid? [False, False] Translation: X:-19.27, Y:33.92, Z:0.98 [[ 0.92455793 0.37523699 -0.06625589 -19.26779626] [ -0.31329687 0.84757227 0.42832968 33.92378588] [ 0.21688179 -0.37525784 0.90119024 0.97995313] [ 0. 0. 0. 1. ]] SLAMing on 13.974839173 meters Centerline goodness : 0.829922 Centerline is valid? [False, False] Translation: X:-19.13, Y:34.40, Z:2.17 [[ 0.91499664 -0.17983706 -0.36116449 -19.13046135] [ -0.28460378 0.34679976 -0.8937173 34.39755204] [ 0.28597525 0.9205371 0.26613831 2.16761085] [ 0. 0. 0. 1. ]] SLAMing on 14.004839172999999 meters Centerline goodness : 0.810135 Centerline is valid? [False, False] Translation: X:-19.21, Y:34.46, Z:2.13 [[ 0.92727166 -0.18350591 -0.32633243 -19.20977665] [ -0.2443058 0.36390322 -0.89882652 34.46381432] [ 0.2836934 0.91318127 0.29260559 2.13298027] [ 0. 0. 0. 1. ]] SLAMing on 14.034839173 meters Centerline goodness : 0.809401 Centerline is valid? [False, False] Translation: X:-19.29, Y:34.51, Z:2.11 [[ 0.93435797 -0.19469114 -0.29844689 -19.29128299] [ -0.21373947 0.36393026 -0.90657058 34.51093108] [ 0.28511511 0.91085132 0.29842796 2.10853226] [ 0. 0. 0. 1. ]] SLAMing on 14.064839173 meters Centerline goodness : 0.496798 Centerline is valid? [False, False] Translation: X:-19.62, Y:33.94, Z:0.93 [[ 0.70607686 0.67835134 -0.20321155 -19.617405 ] [ -0.69844265 0.71443865 -0.04189612 33.93852186] [ 0.11676189 0.17151349 0.9782381 0.93259946] [ 0. 0. 0. 1. ]] SLAMing on 14.094839173 meters Centerline goodness : 0.804325 Centerline is valid? [False, False] Translation: X:-19.57, Y:33.96, Z:1.02 [[ 6.81961777e-01 6.88610509e-01 -2.46462375e-01 -1.95748533e+01] [-7.30660124e-01 6.56464748e-01 -1.87589494e-01 3.39605748e+01] [ 3.26177643e-02 3.08009094e-01 9.50824105e-01 1.02446041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.124839173 meters Centerline goodness : 0.565330 Centerline is valid? [False, False] Translation: X:-19.64, Y:34.01, Z:0.97 [[ 0.69593787 0.68706517 -0.2088347 -19.63818803] [ -0.7157645 0.68713709 -0.12459454 34.00690809] [ 0.0578935 0.23618652 0.96998158 0.97375674] [ 0. 0. 0. 1. ]] SLAMing on 14.154839173 meters Centerline goodness : 0.828566 Centerline is valid? [False, False] Translation: X:-19.58, Y:33.98, Z:1.01 [[ 0.69494382 0.67890556 -0.23693952 -19.58033583] [ -0.7174008 0.67701363 -0.16428218 33.97840533] [ 0.0488792 0.28414749 0.95753383 1.01499813] [ 0. 0. 0. 1. ]] SLAMing on 14.184839173 meters Centerline goodness : 0.669289 Centerline is valid? [False, False] Translation: X:-19.59, Y:34.01, Z:0.98 [[ 7.24370054e-01 6.57510778e-01 -2.07286283e-01 -1.95906930e+01] [-6.88944905e-01 7.01443018e-01 -1.82572207e-01 3.40073636e+01] [ 2.53563220e-02 2.75058667e-01 9.61093017e-01 9.77284888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.214839173 meters Centerline goodness : 0.847884 Centerline is valid? [False, False] Translation: X:-20.02, Y:34.28, Z:1.17 [[ 5.85127476e-01 7.42391799e-01 -3.26313123e-01 -2.00168686e+01] [-7.90752782e-01 6.11558006e-01 -2.65865242e-02 3.42765818e+01] [ 1.79821785e-01 2.73589516e-01 9.44887772e-01 1.16573919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.244839172999999 meters Centerline goodness : 0.779099 Centerline is valid? [False, False] Translation: X:-19.93, Y:34.22, Z:1.24 [[ 0.60311816 0.7198821 -0.34353783 -19.93470479] [ -0.78529811 0.61139085 -0.09750956 34.21621272] [ 0.1398405 0.32858939 0.93406298 1.23610736] [ 0. 0. 0. 1. ]] SLAMing on 14.274839173 meters Centerline goodness : 0.779099 Centerline is valid? [False, False] Translation: X:-20.06, Y:34.39, Z:1.21 [[ 0.60265792 0.71738608 -0.34951486 -20.06286809] [ -0.78383371 0.6143207 -0.09063555 34.38621438] [ 0.14969353 0.32858376 0.93253663 1.20849281] [ 0. 0. 0. 1. ]] SLAMing on 14.304839173 meters Centerline goodness : 0.810048 Centerline is valid? [False, False] Translation: X:-20.11, Y:34.52, Z:1.15 [[ 0.64452589 0.70162977 -0.30381252 -20.11384164] [ -0.75758454 0.63968285 -0.12989038 34.52457223] [ 0.1032087 0.31388138 0.94383602 1.14551049] [ 0. 0. 0. 1. ]] SLAMing on 14.334839172999999 meters Centerline goodness : 0.790424 Centerline is valid? [False, False] Translation: X:-20.15, Y:34.63, Z:1.10 [[ 0.67164707 0.69213798 -0.26426356 -20.14812016] [ -0.73733409 0.65928494 -0.14724744 34.62929559] [ 0.07230944 0.29374884 0.95314373 1.09589737] [ 0. 0. 0. 1. ]] SLAMing on 14.364839173 meters Centerline goodness : 0.781388 Centerline is valid? [False, False] Translation: X:-20.19, Y:34.71, Z:1.06 [[ 0.69127452 0.68281573 -0.2364365 -20.18941913] [ -0.72091378 0.67399375 -0.16129399 34.71264482] [ 0.04922264 0.28194875 0.95816597 1.06069658] [ 0. 0. 0. 1. ]] SLAMing on 14.394839173 meters Centerline goodness : 0.815624 Centerline is valid? [False, False] Translation: X:-20.23, Y:34.78, Z:1.03 [[ 0.70358316 0.6769958 -0.21598014 -20.23192361] [ -0.70974316 0.68451123 -0.16646027 34.7802559 ] [ 0.03514793 0.27040907 0.96210372 1.03472903] [ 0. 0. 0. 1. ]] SLAMing on 14.424839172999999 meters Centerline goodness : 0.795163 Centerline is valid? [False, False] Translation: X:-20.27, Y:34.84, Z:1.01 [[ 7.14692849e-01 6.71790856e-01 -1.94707930e-01 -2.02694942e+01] [-6.99082935e-01 6.94967853e-01 -1.68234161e-01 3.48356101e+01] [ 2.22975806e-02 2.56352743e-01 9.66326078e-01 1.00851678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.454839173 meters Centerline goodness : 0.773073 Centerline is valid? [False, False] Translation: X:-20.30, Y:34.88, Z:0.99 [[ 7.24136984e-01 6.65775554e-01 -1.79912590e-01 -2.03011355e+01] [-6.89539442e-01 7.03743524e-01 -1.71115195e-01 3.48811839e+01] [ 1.26880063e-02 2.47967668e-01 9.68685217e-01 9.87458798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.484839173 meters Centerline goodness : 0.690978 Centerline is valid? [False, False] Translation: X:-20.31, Y:34.92, Z:0.97 [[ 7.33972928e-01 6.59576266e-01 -1.61996573e-01 -2.03139352e+01] [-6.79171432e-01 7.13886641e-01 -1.70563854e-01 3.49184352e+01] [ 3.14731942e-03 2.35212696e-01 9.71938826e-01 9.70775671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.514839173 meters Centerline goodness : 0.715858 Centerline is valid? [False, False] Translation: X:-20.32, Y:34.95, Z:0.96 [[ 7.38612341e-01 6.58578344e-01 -1.43966573e-01 -2.03236064e+01] [-6.74117767e-01 7.20251206e-01 -1.63717554e-01 3.49458163e+01] [-4.12873752e-03 2.17974231e-01 9.75945792e-01 9.55556953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.544839173 meters Centerline goodness : 0.722211 Centerline is valid? [False, False] Translation: X:-20.36, Y:34.98, Z:0.94 [[ 7.42666501e-01 6.57235877e-01 -1.28403545e-01 -2.03556172e+01] [-6.69622069e-01 7.26763772e-01 -1.53038249e-01 3.49810337e+01] [-7.26318290e-03 1.99638228e-01 9.79842755e-01 9.36478252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.574839172999999 meters Centerline goodness : 0.731696 Centerline is valid? [False, False] Translation: X:-20.38, Y:35.01, Z:0.92 [[ 7.45712234e-01 6.55352016e-01 -1.20112445e-01 -2.03836426e+01] [-6.66207747e-01 7.31000263e-01 -1.47668053e-01 3.50128555e+01] [-8.97232751e-03 1.90137715e-01 9.81716429e-01 9.21660803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.604839173 meters Centerline goodness : 0.674150 Centerline is valid? [False, False] Translation: X:-20.40, Y:35.04, Z:0.91 [[ 7.53449520e-01 6.48949741e-01 -1.05726316e-01 -2.03965774e+01] [-6.57274335e-01 7.39117340e-01 -1.47295640e-01 3.50385429e+01] [-1.74433141e-02 1.80471024e-01 9.83425615e-01 9.05292798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.634839173 meters Centerline goodness : 0.697127 Centerline is valid? [False, False] Translation: X:-20.41, Y:35.07, Z:0.89 [[ 7.60138887e-01 6.43566742e-01 -8.95026293e-02 -2.04093523e+01] [-6.49277369e-01 7.47021204e-01 -1.42822334e-01 3.50671270e+01] [-2.50553425e-02 1.66676842e-01 9.85693188e-01 8.90370027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.664839172999999 meters Centerline goodness : 0.746526 Centerline is valid? [False, False] Translation: X:-20.42, Y:35.09, Z:0.87 [[ 7.66904341e-01 6.37409116e-01 -7.46146854e-02 -2.04242567e+01] [-6.40901452e-01 7.54665669e-01 -1.40445922e-01 3.50919278e+01] [-3.32123697e-02 1.55529248e-01 9.87272805e-01 8.74243418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.694839173 meters Centerline goodness : 0.752105 Centerline is valid? [False, False] Translation: X:-20.44, Y:35.12, Z:0.86 [[ 0.7727986 0.63190733 -0.05895293 -20.43785464] [ -0.63333546 0.76188327 -0.13572059 35.11895505] [ -0.04084759 0.14222166 0.98899164 0.85810765] [ 0. 0. 0. 1. ]] SLAMing on 14.724839173 meters Centerline goodness : 0.749359 Centerline is valid? [False, False] Translation: X:-20.46, Y:35.14, Z:0.85 [[ 0.77385802 0.63139052 -0.04989759 -20.46361884] [ -0.63191081 0.76436389 -0.12820522 35.14277237] [ -0.04280764 0.13074347 0.99049162 0.84898794] [ 0. 0. 0. 1. ]] SLAMing on 14.754839172999999 meters Centerline goodness : 0.752730 Centerline is valid? [False, False] Translation: X:-20.48, Y:35.17, Z:0.84 [[ 0.78034816 0.62433812 -0.03547748 -20.48101622] [ -0.6233694 0.77212328 -0.12343513 35.16949275] [ -0.04967227 0.11843795 0.99171826 0.84115387] [ 0. 0. 0. 1. ]] SLAMing on 14.784839173 meters Centerline goodness : 0.754046 Centerline is valid? [False, False] Translation: X:-20.50, Y:35.19, Z:0.83 [[ 7.86606823e-01 6.17003387e-01 -2.35908366e-02 -2.04996494e+01] [-6.14719065e-01 7.78958389e-01 -1.23872104e-01 3.51906298e+01] [-5.80532274e-02 1.11940379e-01 9.92017729e-01 8.29456489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.814839173 meters Centerline goodness : 0.753274 Centerline is valid? [False, False] Translation: X:-20.52, Y:35.22, Z:0.82 [[ 7.92101796e-01 6.10276708e-01 -1.17082917e-02 -2.05234788e+01] [-6.06468862e-01 7.84699361e-01 -1.28228050e-01 3.52163937e+01] [-6.90671034e-02 1.08670383e-01 9.91675594e-01 8.21342363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.844839173 meters Centerline goodness : 0.754534 Centerline is valid? [False, False] Translation: X:-20.54, Y:35.24, Z:0.81 [[ 7.93341207e-01 6.08773779e-01 2.05305588e-03 -2.05407705e+01] [-6.03601702e-01 7.87030934e-01 -1.27464870e-01 3.52404979e+01] [-7.92130890e-02 9.98839058e-02 9.91840961e-01 8.12486760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.874839173 meters Centerline goodness : 0.754890 Centerline is valid? [False, False] Translation: X:-20.55, Y:35.25, Z:0.81 [[ 7.93255757e-01 6.08795212e-01 1.06627472e-02 -2.05483116e+01] [-6.03123379e-01 7.88028512e-01 -1.23504065e-01 3.52496673e+01] [-8.35912321e-02 9.15393581e-02 9.92286779e-01 8.05022602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.904839173 meters Centerline goodness : 0.753887 Centerline is valid? [False, False] Translation: X:-20.56, Y:35.27, Z:0.79 [[ 7.93853819e-01 6.07573391e-01 2.55085926e-02 -2.05624790e+01] [-6.01276570e-01 7.90514248e-01 -1.16420399e-01 3.52651004e+01] [-9.08988423e-02 7.70830590e-02 9.92872400e-01 7.88840433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.934839173 meters Centerline goodness : 0.750479 Centerline is valid? [False, False] Translation: X:-20.58, Y:35.28, Z:0.78 [[ 7.91159303e-01 6.10920081e-01 2.90449877e-02 -2.05796405e+01] [-6.04777972e-01 7.88517208e-01 -1.11732796e-01 3.52846826e+01] [-9.11622814e-02 7.08326722e-02 9.93313732e-01 7.75236040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.964839173 meters Centerline goodness : 0.749155 Centerline is valid? [False, False] Translation: X:-20.58, Y:35.28, Z:0.77 [[ 7.90492805e-01 6.11759341e-01 2.95234513e-02 -2.05797820e+01] [-6.05469114e-01 7.87815088e-01 -1.12935992e-01 3.52841044e+01] [-9.23486684e-02 7.13995511e-02 9.93163545e-01 7.70656046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.994839172999999 meters Centerline goodness : 0.750138 Centerline is valid? [False, False] Translation: X:-20.60, Y:35.30, Z:0.76 [[ 0.79248438 0.60869011 0.03827334 -20.59538331] [ -0.60133324 0.79029937 -0.11758082 35.29951551] [ -0.10181768 0.07016594 0.9923255 0.76226434] [ 0. 0. 0. 1. ]] SLAMing on 15.024839173 meters Centerline goodness : 0.747654 Centerline is valid? [False, False] Translation: X:-20.61, Y:35.32, Z:0.75 [[ 0.79694706 0.60216353 0.0476914 -20.61161765] [ -0.59388238 0.79551227 -0.12026612 35.31684589] [ -0.11035896 0.06752264 0.99159548 0.75244386] [ 0. 0. 0. 1. ]] SLAMing on 15.054839173 meters Centerline goodness : 0.748843 Centerline is valid? [False, False] Translation: X:-20.63, Y:35.34, Z:0.74 [[ 0.8025815 0.59356803 0.05949736 -20.63491553] [ -0.58423366 0.80225823 -0.1226897 35.33612464] [ -0.12055693 0.06370812 0.99066003 0.74223805] [ 0. 0. 0. 1. ]] SLAMing on 15.084839172999999 meters Centerline goodness : 0.748668 Centerline is valid? [False, False] Translation: X:-20.64, Y:35.33, Z:0.75 [[ 0.80361245 0.59205049 0.06068983 -20.63917357] [ -0.58282437 0.80351154 -0.12118153 35.33484589] [ -0.12051056 0.06201148 0.99077332 0.74618684] [ 0. 0. 0. 1. ]] SLAMing on 15.114839173 meters Centerline goodness : 0.748153 Centerline is valid? [False, False] Translation: X:-20.66, Y:35.35, Z:0.74 [[ 0.80645605 0.58683344 0.07249249 -20.65557161] [ -0.57759272 0.80806564 -0.11582992 35.34991519] [ -0.12655156 0.0515406 0.99062014 0.73944943] [ 0. 0. 0. 1. ]] SLAMing on 15.144839173 meters Centerline goodness : 0.751173 Centerline is valid? [False, False] Translation: X:-20.65, Y:35.35, Z:0.74 [[ 0.80597916 0.58727668 0.07418687 -20.65222086] [ -0.5787947 0.80813095 -0.10918363 35.34824395] [ -0.12407371 0.04506076 0.99124933 0.74051224] [ 0. 0. 0. 1. ]] SLAMing on 15.174839172999999 meters Centerline goodness : 0.750653 Centerline is valid? [False, False] Translation: X:-20.65, Y:35.35, Z:0.74 [[ 0.80604443 0.58717868 0.07425344 -20.65135583] [ -0.57879643 0.80824066 -0.1083593 35.34504534] [ -0.12364092 0.04436479 0.9913348 0.73692366] [ 0. 0. 0. 1. ]] SLAMing on 15.204839173 meters Centerline goodness : 0.746643 Centerline is valid? [False, False] Translation: X:-20.65, Y:35.34, Z:0.73 [[ 0.8061024 0.58728832 0.07274168 -20.65400174] [ -0.57837378 0.80788377 -0.11317059 35.33953686] [ -0.12523059 0.04915521 0.99090921 0.72928871] [ 0. 0. 0. 1. ]] SLAMing on 15.234839173 meters Centerline goodness : 0.746645 Centerline is valid? [False, False] Translation: X:-20.66, Y:35.34, Z:0.73 [[ 0.80481389 0.5889168 0.073835 -20.6574146 ] [ -0.57985181 0.80671292 -0.11395678 35.33637536] [ -0.12667471 0.04890064 0.99073823 0.72597747] [ 0. 0. 0. 1. ]] SLAMing on 15.264839173 meters Centerline goodness : 0.747966 Centerline is valid? [False, False] Translation: X:-20.67, Y:35.34, Z:0.72 [[ 0.80545312 0.58733598 0.07925733 -20.66762996] [ -0.57792667 0.80800829 -0.11455729 35.33837948] [ -0.1313242 0.0464656 0.99024992 0.72164852] [ 0. 0. 0. 1. ]] SLAMing on 15.294839173 meters Centerline goodness : 0.752487 Centerline is valid? [False, False] Translation: X:-20.67, Y:35.34, Z:0.72 [[ 0.80745948 0.58480208 0.07756106 -20.66893484] [ -0.57519272 0.80966035 -0.11663382 35.33728467] [ -0.13100582 0.04956453 0.99014183 0.72330024] [ 0. 0. 0. 1. ]] SLAMing on 15.324839172999999 meters Centerline goodness : 0.747977 Centerline is valid? [False, False] Translation: X:-20.70, Y:35.35, Z:0.71 [[ 0.81296046 0.57505777 0.09167252 -20.69722599] [ -0.56506648 0.81707426 -0.11440948 35.35015985] [ -0.14069532 0.04120931 0.98919493 0.711053 ] [ 0. 0. 0. 1. ]] SLAMing on 15.354839173 meters Centerline goodness : 0.748164 Centerline is valid? [False, False] Translation: X:-20.70, Y:35.35, Z:0.71 [[ 0.81459625 0.57299687 0.09004182 -20.69886405] [ -0.56263025 0.81831921 -0.11747714 35.34798013] [ -0.14099698 0.04503619 0.98898513 0.7096191 ] [ 0. 0. 0. 1. ]] SLAMing on 15.384839173 meters Centerline goodness : 0.748848 Centerline is valid? [False, False] Translation: X:-20.70, Y:35.35, Z:0.71 [[ 0.81672713 0.5703082 0.08778011 -20.69859902] [ -0.55959355 0.81994541 -0.1206009 35.34662114] [ -0.14075458 0.04937684 0.98881246 0.70786015] [ 0. 0. 0. 1. ]] SLAMing on 15.414839172999999 meters Centerline goodness : 0.752821 Centerline is valid? [False, False] Translation: X:-20.70, Y:35.34, Z:0.70 [[ 0.81870941 0.56773018 0.08600787 -20.6990409 ] [ -0.5567614 0.82152043 -0.12296717 35.34265789] [ -0.1404694 0.05278851 0.98867675 0.70369723] [ 0. 0. 0. 1. ]] SLAMing on 15.444839173 meters Centerline goodness : 0.755553 Centerline is valid? [False, False] Translation: X:-20.71, Y:35.34, Z:0.70 [[ 0.81806507 0.5686525 0.08604583 -20.70721416] [ -0.55692062 0.82059892 -0.12828419 35.33867207] [ -0.14355824 0.05702412 0.98799761 0.70013982] [ 0. 0. 0. 1. ]] SLAMing on 15.474839173 meters Centerline goodness : 0.757504 Centerline is valid? [False, False] Translation: X:-20.71, Y:35.34, Z:0.70 [[ 0.81743316 0.5693737 0.08727329 -20.71104657] [ -0.55762742 0.82017628 -0.12791609 35.33517951] [ -0.14441154 0.05589687 0.98793767 0.69908449] [ 0. 0. 0. 1. ]] SLAMing on 15.504839172999999 meters Centerline goodness : 0.758995 Centerline is valid? [False, False] Translation: X:-20.72, Y:35.33, Z:0.70 [[ 0.8168123 0.57000156 0.08897125 -20.71585317] [ -0.55840072 0.81990148 -0.12629411 35.33029688] [ -0.1449355 0.05347698 0.9879949 0.69976279] [ 0. 0. 0. 1. ]] SLAMing on 15.534839173 meters Centerline goodness : 0.760699 Centerline is valid? [False, False] Translation: X:-20.72, Y:35.33, Z:0.69 [[ 0.81854536 0.56567249 0.09999064 -20.71701367] [ -0.55228964 0.82283824 -0.1338409 35.33385094] [ -0.15798623 0.05433105 0.98594548 0.69456973] [ 0. 0. 0. 1. ]] SLAMing on 15.564839173 meters Centerline goodness : 0.765389 Centerline is valid? [False, False] Translation: X:-20.72, Y:35.34, Z:0.69 [[ 0.818333 0.56378039 0.11172632 -20.72346627] [ -0.54804357 0.82399247 -0.14382159 35.33567073] [ -0.17314544 0.05646306 0.98327645 0.69006268] [ 0. 0. 0. 1. ]] SLAMing on 15.594839173 meters Centerline goodness : 0.765385 Centerline is valid? [False, False] Translation: X:-20.73, Y:35.34, Z:0.69 [[ 0.81952017 0.55984834 0.12229688 -20.72575444] [ -0.5417431 0.82647331 -0.15315447 35.33937074] [ -0.18681838 0.05925969 0.98060552 0.68541872] [ 0. 0. 0. 1. ]] SLAMing on 15.624839173 meters Centerline goodness : 0.769381 Centerline is valid? [False, False] Translation: X:-20.73, Y:35.34, Z:0.68 [[ 0.81903702 0.56056197 0.12226466 -20.73080723] [ -0.54190421 0.82581956 -0.15608295 35.33671445] [ -0.18846271 0.06158198 0.98014767 0.6837358 ] [ 0. 0. 0. 1. ]] SLAMing on 15.654839173 meters Centerline goodness : 0.770033 Centerline is valid? [False, False] Translation: X:-20.73, Y:35.34, Z:0.68 [[ 0.82241999 0.5538633 0.1298492 -20.731568 ] [ -0.53217971 0.82970901 -0.16842718 35.33944963] [ -0.20102268 0.06941477 0.97712408 0.67638411] [ 0. 0. 0. 1. ]] SLAMing on 15.684839173 meters Centerline goodness : 0.772618 Centerline is valid? [False, False] Translation: X:-20.74, Y:35.34, Z:0.67 [[ 0.82658927 0.54592316 0.13681401 -20.73752953] [ -0.5201806 0.83387092 -0.18458447 35.33874528] [ -0.21485417 0.08140755 0.9732474 0.66961642] [ 0. 0. 0. 1. ]] SLAMing on 15.714839173 meters Centerline goodness : 0.774849 Centerline is valid? [False, False] Translation: X:-20.74, Y:35.34, Z:0.66 [[ 0.82850159 0.5404189 0.14673969 -20.74233638] [ -0.5112181 0.83687335 -0.19570142 35.33973099] [ -0.22856328 0.08712295 0.96962282 0.66415804] [ 0. 0. 0. 1. ]] SLAMing on 15.744839172999999 meters Centerline goodness : 0.779197 Centerline is valid? [False, False] Translation: X:-20.79, Y:35.35, Z:0.67 [[ 0.82885775 0.53724361 0.15609013 -20.78527112] [ -0.50937452 0.84007273 -0.18658888 35.34773833] [ -0.23137074 0.07514731 0.969959 0.66955072] [ 0. 0. 0. 1. ]] SLAMing on 15.774839173 meters Centerline goodness : 0.782999 Centerline is valid? [False, False] Translation: X:-20.81, Y:35.36, Z:0.68 [[ 0.83027613 0.53243798 0.16477667 -20.8148336 ] [ -0.50792504 0.84453932 -0.16960395 35.35768446] [ -0.22946396 0.05712392 0.97163941 0.67518426] [ 0. 0. 0. 1. ]] SLAMing on 15.804839173 meters Centerline goodness : 0.782242 Centerline is valid? [False, False] Translation: X:-20.85, Y:35.36, Z:0.68 [[ 0.83358605 0.52637408 0.16752499 -20.84736853] [ -0.50689843 0.84943164 -0.14669652 35.36430334] [ -0.21951827 0.03736601 0.97489256 0.68130203] [ 0. 0. 0. 1. ]] SLAMing on 15.834839172999999 meters Centerline goodness : 0.780958 Centerline is valid? [False, False] Translation: X:-20.88, Y:35.37, Z:0.68 [[ 8.36546339e-01 5.23235690e-01 1.62525800e-01 -2.08800150e+01] [-5.06759542e-01 8.51682562e-01 -1.33534943e-01 3.53744943e+01] [-2.08290638e-01 2.93466678e-02 9.77626607e-01 6.84137229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.864839173 meters Centerline goodness : 0.781005 Centerline is valid? [False, False] Translation: X:-20.91, Y:35.38, Z:0.68 [[ 8.41860944e-01 5.18521950e-01 1.49683462e-01 -2.09126746e+01] [-5.03969558e-01 8.54523864e-01 -1.25712572e-01 3.53778267e+01] [-1.93092818e-01 3.03965961e-02 9.80709544e-01 6.84805160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.894839173 meters Centerline goodness : 0.776445 Centerline is valid? [False, False] Translation: X:-20.95, Y:35.39, Z:0.69 [[ 8.49495847e-01 5.07137023e-01 1.45495175e-01 -2.09459663e+01] [-4.93812019e-01 8.61364323e-01 -1.19168759e-01 3.53863125e+01] [-1.85759243e-01 2.93860992e-02 9.82155772e-01 6.87747578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.924839172999999 meters Centerline goodness : 0.795774 Centerline is valid? [False, False] Translation: X:-20.98, Y:35.40, Z:0.69 [[ 8.54380599e-01 4.98066230e-01 1.48201968e-01 -2.09765430e+01] [-4.86955979e-01 8.66939155e-01 -1.06256183e-01 3.53987380e+01] [-1.81404705e-01 1.86153863e-02 9.83232323e-01 6.93252720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.954839173 meters Centerline goodness : 0.772576 Centerline is valid? [False, False] Translation: X:-20.99, Y:35.40, Z:0.70 [[ 8.55163322e-01 4.95856706e-01 1.51068922e-01 -2.09866700e+01] [-4.84672617e-01 8.68226227e-01 -1.06186975e-01 3.53989976e+01] [-1.83815524e-01 1.75882365e-02 9.82803392e-01 6.98116492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.984839173 meters Centerline goodness : 0.771594 Centerline is valid? [False, False] Translation: X:-21.00, Y:35.39, Z:0.70 [[ 8.57107108e-01 4.94850751e-01 1.43143772e-01 -2.09952011e+01] [-4.85040380e-01 8.68836638e-01 -9.92911181e-02 3.53896976e+01] [-1.73502838e-01 1.56726133e-02 9.84708655e-01 7.03292758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.014839173 meters Centerline goodness : 0.772047 Centerline is valid? [False, False] Translation: X:-21.02, Y:35.39, Z:0.71 [[ 8.59060466e-01 4.94555845e-01 1.32021330e-01 -2.10204759e+01] [-4.85678832e-01 8.68971732e-01 -9.48904665e-02 3.53914815e+01] [-1.61651438e-01 1.73966832e-02 9.86694567e-01 7.12543552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.044839173 meters Centerline goodness : 0.768367 Centerline is valid? [False, False] Translation: X:-21.03, Y:35.39, Z:0.72 [[ 8.59469535e-01 4.94669056e-01 1.28897806e-01 -2.10279198e+01] [-4.87239115e-01 8.69008747e-01 -8.61501166e-02 3.53905570e+01] [-1.54629118e-01 1.12393478e-02 9.87908656e-01 7.20072063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.074839173 meters Centerline goodness : 0.781591 Centerline is valid? [False, False] Translation: X:-21.03, Y:35.39, Z:0.72 [[ 8.59150317e-01 4.92673592e-01 1.38323765e-01 -2.10296702e+01] [-4.83492711e-01 8.70075335e-01 -9.59359692e-02 3.53944143e+01] [-1.67617215e-01 1.55448863e-02 9.85729591e-01 7.16281269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.104839173 meters Centerline goodness : 0.758847 Centerline is valid? [False, False] Translation: X:-21.03, Y:35.39, Z:0.72 [[ 8.56546391e-01 4.98760975e-01 1.32535922e-01 -2.10333489e+01] [-4.92245224e-01 8.66731846e-01 -8.04397078e-02 3.53871401e+01] [-1.54993292e-01 3.66016659e-03 9.87908742e-01 7.23229671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.134839173 meters Centerline goodness : 0.757736 Centerline is valid? [False, False] Translation: X:-21.04, Y:35.39, Z:0.73 [[ 8.55133799e-01 5.00544297e-01 1.34913279e-01 -2.10368064e+01] [-4.94626397e-01 8.65710226e-01 -7.67498009e-02 3.53857394e+01] [-1.55212480e-01 -1.10032018e-03 9.87880496e-01 7.26115706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.164839173 meters Centerline goodness : 0.775370 Centerline is valid? [False, False] Translation: X:-21.06, Y:35.39, Z:0.73 [[ 8.52193418e-01 5.05421676e-01 1.35334057e-01 -2.10582178e+01] [-4.99794712e-01 8.62865476e-01 -7.52888856e-02 3.53871047e+01] [-1.54827720e-01 -3.47855330e-03 9.87935361e-01 7.30974766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.194839173 meters Centerline goodness : 0.775370 Centerline is valid? [False, False] Translation: X:-21.06, Y:35.39, Z:0.74 [[ 8.54095076e-01 5.04890144e-01 1.24930155e-01 -2.10581705e+01] [-5.00094142e-01 8.63177967e-01 -6.94956595e-02 3.53873913e+01] [-1.42924631e-01 -3.12093802e-03 9.89728655e-01 7.38422869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.224839173 meters Centerline goodness : 0.776102 Centerline is valid? [False, False] Translation: X:-21.10, Y:35.41, Z:0.74 [[ 8.51810467e-01 5.07905646e-01 1.28260606e-01 -2.11043833e+01] [-5.03925250e-01 8.61355594e-01 -6.42330352e-02 3.54054554e+01] [-1.43102312e-01 -9.91938615e-03 9.89658191e-01 7.42123808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.254839173 meters Centerline goodness : 0.780062 Centerline is valid? [False, False] Translation: X:-21.11, Y:35.40, Z:0.75 [[ 8.53689371e-01 5.06697580e-01 1.20299710e-01 -2.11099642e+01] [-5.03648002e-01 8.62039077e-01 -5.68095108e-02 3.54039855e+01] [-1.32488292e-01 -1.20910328e-02 9.91110821e-01 7.49360808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.284839172999998 meters Centerline goodness : 0.780167 Centerline is valid? [False, False] Translation: X:-21.14, Y:35.42, Z:0.75 [[ 8.57719689e-01 4.99309549e-01 1.22502694e-01 -2.11400263e+01] [-4.97615046e-01 8.66162635e-01 -4.62769579e-02 3.54152539e+01] [-1.29213783e-01 -2.12665255e-02 9.91388689e-01 7.53139599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.314839173 meters Centerline goodness : 0.788657 Centerline is valid? [False, False] Translation: X:-21.17, Y:35.43, Z:0.75 [[ 8.62010715e-01 4.91641747e-01 1.23393352e-01 -2.11726028e+01] [-4.89956140e-01 8.70544368e-01 -4.57764616e-02 3.54288421e+01] [-1.29925007e-01 -2.09975299e-02 9.91301466e-01 7.54429557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.344839173 meters Centerline goodness : 0.796236 Centerline is valid? [False, False] Translation: X:-21.18, Y:35.42, Z:0.76 [[ 8.61655363e-01 4.91838350e-01 1.25080268e-01 -2.11783400e+01] [-4.90406544e-01 8.70374761e-01 -4.41497081e-02 3.54240659e+01] [-1.30581228e-01 -2.32983494e-02 9.91163826e-01 7.57358664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.374839172999998 meters Centerline goodness : 0.790467 Centerline is valid? [False, False] Translation: X:-21.19, Y:35.43, Z:0.76 [[ 8.61662736e-01 4.93571381e-01 1.18002636e-01 -2.11922152e+01] [-4.91769364e-01 8.69510457e-01 -4.59832229e-02 3.54289810e+01] [-1.25300529e-01 -1.84080517e-02 9.91948044e-01 7.62765457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.404839173 meters Centerline goodness : 0.787150 Centerline is valid? [False, False] Translation: X:-21.18, Y:35.41, Z:0.76 [[ 8.62833308e-01 4.86690557e-01 1.36568605e-01 -2.11823674e+01] [-4.87303642e-01 8.72675050e-01 -3.11996475e-02 3.54115152e+01] [-1.34364588e-01 -3.96302834e-02 9.90139181e-01 7.57565580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.434839173 meters Centerline goodness : 0.775185 Centerline is valid? [False, False] Translation: X:-21.23, Y:35.42, Z:0.76 [[ 8.66908805e-01 4.79047941e-01 1.37775884e-01 -2.12275448e+01] [-4.82326650e-01 8.75925819e-01 -1.07220522e-02 3.54239800e+01] [-1.25817831e-01 -5.71579391e-02 9.90405393e-01 7.56137605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.464839172999998 meters Centerline goodness : 0.848735 Centerline is valid? [False, False] Translation: X:-21.25, Y:35.37, Z:0.72 [[ 8.59468097e-01 4.84309236e-01 1.63582257e-01 -2.12467909e+01] [-4.91921618e-01 8.70611312e-01 7.00465725e-03 3.53748174e+01] [-1.39024143e-01 -8.64899280e-02 9.86504830e-01 7.15527378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.494839173 meters Centerline goodness : 0.810406 Centerline is valid? [False, False] Translation: X:-20.98, Y:35.61, Z:0.91 [[ 9.61148719e-01 2.73974380e-01 3.36330070e-02 -2.09842412e+01] [-2.55571850e-01 9.29313525e-01 -2.66569694e-01 3.56105135e+01] [-1.04288875e-01 2.47617470e-01 9.63228643e-01 9.08514953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.524839173 meters Centerline goodness : 0.846901 Centerline is valid? [False, False] Translation: X:-20.74, Y:35.59, Z:0.98 [[ 0.9886021 0.08449453 -0.12460564 -20.74093916] [ -0.0994782 0.98785161 -0.11938711 35.59231482] [ 0.11300432 0.1304219 0.98499754 0.98009903] [ 0. 0. 0. 1. ]] SLAMing on 16.554839173 meters Centerline goodness : 0.747764 Centerline is valid? [False, False] Translation: X:-20.74, Y:35.92, Z:1.31 [[ 0.98824008 0.05227972 -0.14369545 -20.73536783] [ -0.13208674 0.76530711 -0.62996676 35.91714189] [ 0.07703666 0.64153867 0.76321261 1.31273169] [ 0. 0. 0. 1. ]] SLAMing on 16.584839173 meters Centerline goodness : 0.801549 Centerline is valid? [False, False] Translation: X:-20.72, Y:35.76, Z:1.43 [[ 9.90707272e-01 1.17637894e-01 -6.82673193e-02 -2.07215235e+01] [-1.33707793e-01 7.50375709e-01 -6.47347296e-01 3.57614333e+01] [-2.49264345e-02 6.50459547e-01 7.59131774e-01 1.43269942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.614839173 meters Centerline goodness : 0.464684 Centerline is valid? [False, False] Translation: X:-20.67, Y:35.80, Z:1.38 [[ 9.93151999e-01 1.01032064e-01 -5.86654020e-02 -2.06728320e+01] [-1.15926165e-01 7.89900992e-01 -6.02177339e-01 3.58003185e+01] [-1.44993600e-02 6.04854483e-01 7.96204008e-01 1.37688365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.644839173 meters Centerline goodness : 0.758222 Centerline is valid? [False, False] Translation: X:-20.67, Y:35.75, Z:1.35 [[ 9.96533867e-01 7.27888532e-02 -4.02744867e-02 -2.06676974e+01] [-8.30968798e-02 8.48343381e-01 -5.22884707e-01 3.57491804e+01] [-3.89358393e-03 5.24419004e-01 8.51451437e-01 1.34645806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.674839173 meters Centerline goodness : 0.780703 Centerline is valid? [False, False] Translation: X:-20.68, Y:35.74, Z:1.51 [[ 9.98571357e-01 5.19208710e-02 -1.26280362e-02 -2.06767018e+01] [-4.62088879e-02 7.20406476e-01 -6.92011018e-01 3.57432612e+01] [-2.68324957e-02 6.91605909e-01 7.21776478e-01 1.51190993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.704839173 meters Centerline goodness : 0.800180 Centerline is valid? [False, False] Translation: X:-20.56, Y:35.74, Z:1.50 [[ 9.97582473e-01 3.82579665e-02 -5.80132496e-02 -2.05626703e+01] [-6.62150034e-02 7.76652813e-01 -6.26439129e-01 3.57396260e+01] [ 2.10898662e-02 6.28766043e-01 7.77308485e-01 1.49989528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.734839173 meters Centerline goodness : 0.787763 Centerline is valid? [False, False] Translation: X:-20.63, Y:35.72, Z:1.47 [[ 9.97027601e-01 3.55964475e-02 -6.83290328e-02 -2.06324018e+01] [-6.85310337e-02 8.14998406e-01 -5.75396469e-01 3.57218898e+01] [ 3.52059826e-02 5.78368820e-01 8.15015366e-01 1.47015833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.764839173 meters Centerline goodness : 0.948184 Centerline is valid? [False, False] Translation: X:-20.65, Y:35.44, Z:1.20 [[ 9.94765068e-01 9.80841849e-02 2.86697079e-02 -2.06513007e+01] [-8.80312069e-02 9.65007173e-01 -2.47005391e-01 3.54422614e+01] [-5.18937962e-02 2.43188506e-01 9.68589895e-01 1.19622466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.794839173 meters Centerline goodness : 0.983590 Centerline is valid? [False, True] Translation: X:-21.57, Y:34.28, Z:3.46 [[ 0.95939978 0.25826415 -0.11336533 -21.57019224] [ 0.0747109 0.15487675 0.9851048 34.27643332] [ 0.27197491 -0.95357895 0.12929357 3.46132024] [ 0. 0. 0. 1. ]] SLAMing on 16.824839173 meters Centerline goodness : 0.865856 Centerline is valid? [True, False] Translation: X:-20.31, Y:35.27, Z:2.43 [[ 0.85632726 -0.33608694 -0.39210864 -20.30785116] [ -0.44291136 -0.08748872 -0.89228653 35.26764037] [ 0.26558077 0.93775865 -0.2237757 2.43380508] [ 0. 0. 0. 1. ]] SLAMing on 16.854839173 meters Centerline goodness : 0.999395 Centerline is valid? [False, True] Translation: X:-20.95, Y:36.19, Z:1.73 [[ 0.79793067 -0.59944266 0.06304871 -20.95476807] [ 0.48012852 0.56887879 -0.66772264 36.19498151] [ 0.36439436 0.56306786 0.74173536 1.73077653] [ 0. 0. 0. 1. ]] SLAMing on 16.884839173 meters Centerline goodness : 0.997774 Centerline is valid? [True, True] Translation: X:-20.97, Y:36.19, Z:1.83 [[ 0.6883246 -0.56595008 -0.45377278 -20.96567353] [ 0.5058348 0.82284286 -0.25896099 36.18583434] [ 0.51994269 -0.05128485 0.85266023 1.83280531] [ 0. 0. 0. 1. ]] SLAMing on 16.914839173 meters Centerline goodness : 0.815444 Centerline is valid? [True, False] Translation: X:-20.87, Y:36.23, Z:1.81 [[ 8.06475367e-01 -5.76593994e-01 -1.30907783e-01 -2.08744803e+01] [ 5.69515591e-01 8.17028617e-01 -9.00901250e-02 3.62302607e+01] [ 1.58900830e-01 -1.89855691e-03 9.87292723e-01 1.80582372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.944839173 meters Centerline goodness : 0.884364 Centerline is valid? [False, False] Translation: X:-20.18, Y:35.76, Z:2.39 [[ 0.7842514 0.15586686 -0.60054581 -20.18144066] [ 0.4040822 0.60618771 0.68502119 35.76021602] [ 0.47081559 -0.7798987 0.41242054 2.38871259] [ 0. 0. 0. 1. ]] SLAMing on 16.974839173 meters Centerline goodness : 0.786196 Centerline is valid? [False, False] Translation: X:-20.83, Y:35.57, Z:2.07 [[ 9.91673317e-01 -6.57642649e-02 -1.10720797e-01 -2.08267034e+01] [ 1.27444438e-01 6.24632950e-01 7.70448955e-01 3.55736295e+01] [ 1.84918487e-02 -7.78144420e-01 6.27813119e-01 2.06763218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.004839173 meters Centerline goodness : 0.841430 Centerline is valid? [False, False] Translation: X:-20.31, Y:37.10, Z:2.50 [[ 0.73755774 0.32127287 -0.59396324 -20.31419918] [ -0.66896031 0.22752224 -0.70761977 37.10319323] [ -0.09219918 0.91924827 0.38272959 2.50335571] [ 0. 0. 0. 1. ]] SLAMing on 17.034839172999998 meters Centerline goodness : 0.782627 Centerline is valid? [False, False] Translation: X:-22.11, Y:36.48, Z:1.74 [[ 0.71091058 -0.39971305 0.57864983 -22.10702163] [ 0.12048849 0.87984233 0.45973905 36.48048134] [ -0.69288432 -0.25711271 0.67365004 1.73830609] [ 0. 0. 0. 1. ]] SLAMing on 17.064839173 meters Centerline goodness : 0.781722 Centerline is valid? [False, False] Translation: X:-22.00, Y:36.49, Z:1.88 [[ 0.87492463 -0.31328721 0.36926687 -21.99807584] [ 0.13811269 0.89230173 0.42979356 36.48584973] [ -0.46414629 -0.32503653 0.8239657 1.8787505 ] [ 0. 0. 0. 1. ]] SLAMing on 17.094839173 meters Centerline goodness : 0.772202 Centerline is valid? [False, False] Translation: X:-21.94, Y:36.52, Z:1.98 [[ 0.91710243 -0.25008818 0.31044973 -21.94294571] [ 0.12770485 0.92201336 0.36548985 36.52481939] [ -0.37764349 -0.29554569 0.87751817 1.98122687] [ 0. 0. 0. 1. ]] SLAMing on 17.124839172999998 meters Centerline goodness : 0.606986 Centerline is valid? [False, False] Translation: X:-21.97, Y:36.56, Z:1.96 [[ 0.91614133 -0.28268003 0.28421307 -21.96804499] [ 0.17106233 0.91691499 0.36056149 36.56144305] [ -0.36252276 -0.28170713 0.88837962 1.95511284] [ 0. 0. 0. 1. ]] SLAMing on 17.154839173 meters Centerline goodness : 0.791055 Centerline is valid? [False, False] Translation: X:-21.91, Y:36.56, Z:1.95 [[ 0.91376287 -0.3170125 0.25404822 -21.91392914] [ 0.19987925 0.89525314 0.39820862 36.56029542] [ -0.35367457 -0.31308928 0.88141329 1.9545402 ] [ 0. 0. 0. 1. ]] SLAMing on 17.184839173 meters Centerline goodness : 0.775845 Centerline is valid? [False, False] Translation: X:-21.96, Y:36.59, Z:2.04 [[ 0.9284484 -0.26818779 0.25701922 -21.96402114] [ 0.19083147 0.93799329 0.28939927 36.58920018] [ -0.31869566 -0.21964493 0.92205704 2.03590505] [ 0. 0. 0. 1. ]] SLAMing on 17.214839172999998 meters Centerline goodness : 0.780573 Centerline is valid? [False, False] Translation: X:-21.97, Y:36.60, Z:2.06 [[ 0.93821527 -0.25626762 0.23254894 -21.97080296] [ 0.19034219 0.9433805 0.27166721 36.59588672] [ -0.28900165 -0.21061845 0.93387254 2.06370607] [ 0. 0. 0. 1. ]] SLAMing on 17.244839173 meters Centerline goodness : 0.770020 Centerline is valid? [False, False] Translation: X:-22.01, Y:36.60, Z:2.07 [[ 0.94007334 -0.24613139 0.23596917 -22.00974783] [ 0.18555144 0.94988412 0.25157668 36.60205325] [ -0.28606428 -0.19271611 0.93863077 2.07223221] [ 0. 0. 0. 1. ]] SLAMing on 17.274839173 meters Centerline goodness : 0.369004 Centerline is valid? [False, False] Translation: X:-22.02, Y:36.65, Z:2.10 [[ 0.94973639 -0.22804606 0.21446627 -22.01797814] [ 0.18939867 0.96405165 0.18636672 36.64590443] [ -0.24925676 -0.13637963 0.95878656 2.10278471] [ 0. 0. 0. 1. ]] SLAMing on 17.304839173 meters Centerline goodness : 0.719302 Centerline is valid? [False, False] Translation: X:-22.00, Y:36.66, Z:2.20 [[ 0.97905935 -0.19107751 0.07022943 -22.00109247] [ 0.18040067 0.97419861 0.13561954 36.65978741] [ -0.09433125 -0.12011014 0.98826877 2.19696678] [ 0. 0. 0. 1. ]] SLAMing on 17.334839173 meters Centerline goodness : 0.763942 Centerline is valid? [False, False] Translation: X:-21.91, Y:36.65, Z:2.21 [[ 9.76516047e-01 -2.13519210e-01 -2.87394770e-02 -2.19135784e+01] [ 2.14592220e-01 9.52104549e-01 2.17823568e-01 3.66520465e+01] [-1.91465294e-02 -2.18875478e-01 9.75564932e-01 2.20582002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.364839173 meters Centerline goodness : 0.758636 Centerline is valid? [False, False] Translation: X:-21.81, Y:36.69, Z:2.22 [[ 9.74588732e-01 -2.19220377e-01 -4.60351011e-02 -2.18144365e+01] [ 2.23988395e-01 9.51480771e-01 2.10982325e-01 3.66889178e+01] [-2.45011145e-03 -2.15932325e-01 9.76405258e-01 2.21975196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.394839173 meters Centerline goodness : 0.786367 Centerline is valid? [False, False] Translation: X:-21.81, Y:36.71, Z:2.23 [[ 9.69658855e-01 -2.44461924e-01 2.68082541e-04 -2.18083213e+01] [ 2.39251623e-01 9.49216250e-01 2.04321247e-01 3.67111194e+01] [-5.02032334e-02 -1.98057767e-01 9.78903854e-01 2.23446563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.424839173 meters Centerline goodness : 0.770630 Centerline is valid? [False, False] Translation: X:-21.81, Y:36.72, Z:2.25 [[ 9.71054567e-01 -2.38637736e-01 -1.02498293e-02 -2.18090176e+01] [ 2.36093117e-01 9.52421043e-01 1.92754242e-01 3.67196745e+01] [-3.62362828e-02 -1.89594801e-01 9.81193530e-01 2.25140074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.454839173 meters Centerline goodness : 0.765512 Centerline is valid? [False, False] Translation: X:-21.82, Y:36.73, Z:2.28 [[ 9.72456169e-01 -2.32217306e-01 -2.01027969e-02 -2.18245138e+01] [ 2.32165922e-01 9.57354160e-01 1.71965104e-01 3.67257782e+01] [-2.06877769e-02 -1.71895711e-01 9.84897904e-01 2.27501108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.484839173 meters Centerline goodness : 0.777395 Centerline is valid? [False, False] Translation: X:-21.81, Y:36.74, Z:2.29 [[ 9.73202541e-01 -2.28031226e-01 -2.96407576e-02 -2.18090881e+01] [ 2.29770990e-01 9.59254565e-01 1.64426191e-01 3.67426798e+01] [-9.06127390e-03 -1.66830573e-01 9.85943940e-01 2.28534033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.514839173 meters Centerline goodness : 0.778646 Centerline is valid? [False, False] Translation: X:-21.81, Y:36.75, Z:2.29 [[ 9.73243204e-01 -2.26385806e-01 -3.93336117e-02 -2.18075507e+01] [ 2.29749608e-01 9.61425272e-01 1.51250007e-01 3.67482114e+01] [ 3.57547359e-03 -1.56239923e-01 9.87712662e-01 2.29222136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.544839173 meters Centerline goodness : 0.778355 Centerline is valid? [False, False] Translation: X:-21.80, Y:36.75, Z:2.30 [[ 9.72467162e-01 -2.28424558e-01 -4.61501955e-02 -2.18042251e+01] [ 2.32744369e-01 9.61969404e-01 1.42985752e-01 3.67498318e+01] [ 1.17336188e-02 -1.49790147e-01 9.88648185e-01 2.29805195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.574839173 meters Centerline goodness : 0.772721 Centerline is valid? [False, False] Translation: X:-21.80, Y:36.75, Z:2.30 [[ 9.71511092e-01 -2.29110490e-01 -6.06183332e-02 -2.17972968e+01] [ 2.35513064e-01 9.61875138e-01 1.39031709e-01 3.67543126e+01] [ 2.64536447e-02 -1.49347257e-01 9.88430878e-01 2.30322347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.604839173 meters Centerline goodness : 0.770974 Centerline is valid? [False, False] Translation: X:-21.79, Y:36.77, Z:2.32 [[ 0.9697928 -0.23205534 -0.07518141 -21.79171904] [ 0.2398365 0.9633273 0.12032857 36.77304572] [ 0.04450142 -0.13472502 0.98988322 2.32007398] [ 0. 0. 0. 1. ]] SLAMing on 17.634839173 meters Centerline goodness : 0.779572 Centerline is valid? [False, False] Translation: X:-21.79, Y:36.77, Z:2.33 [[ 0.96973963 -0.22257936 -0.10031688 -21.79368008] [ 0.23391374 0.96474167 0.12065603 36.77383062] [ 0.06992433 -0.14047043 0.9876126 2.32742498] [ 0. 0. 0. 1. ]] SLAMing on 17.664839173 meters Centerline goodness : 0.762777 Centerline is valid? [False, False] Translation: X:-21.76, Y:36.81, Z:2.34 [[ 0.96586397 -0.22432581 -0.1295559 -21.76436231] [ 0.23613439 0.96806317 0.0842273 36.80988831] [ 0.10652393 -0.11194472 0.98798838 2.34301427] [ 0. 0. 0. 1. ]] SLAMing on 17.694839173 meters Centerline goodness : 0.785847 Centerline is valid? [False, False] Translation: X:-21.79, Y:36.79, Z:2.41 [[ 0.97163333 -0.20808588 -0.11237857 -21.78772446] [ 0.21553285 0.97473394 0.05864584 36.7922453 ] [ 0.09733584 -0.08120352 0.99193333 2.40541191] [ 0. 0. 0. 1. ]] SLAMing on 17.724839173 meters Centerline goodness : 0.786954 Centerline is valid? [False, False] Translation: X:-21.79, Y:36.79, Z:2.41 [[ 0.97144924 -0.20987166 -0.11063575 -21.79115838] [ 0.21674315 0.97472753 0.05411706 36.79378575] [ 0.09648207 -0.07655152 0.99238656 2.40569106] [ 0. 0. 0. 1. ]] SLAMing on 17.754839173 meters Centerline goodness : 0.777952 Centerline is valid? [False, False] Translation: X:-21.79, Y:36.80, Z:2.40 [[ 0.97166522 -0.20809842 -0.11207916 -21.78804028] [ 0.21536107 0.97486864 0.05701536 36.79505463] [ 0.09739765 -0.07953733 0.99206225 2.40414023] [ 0. 0. 0. 1. ]] SLAMing on 17.784839172999998 meters Centerline goodness : 0.781112 Centerline is valid? [False, False] Translation: X:-21.79, Y:36.80, Z:2.41 [[ 0.97180613 -0.20828965 -0.110491 -21.7936144 ] [ 0.21512468 0.97509736 0.05391206 36.79867399] [ 0.09651016 -0.07616141 0.99241384 2.4062148 ] [ 0. 0. 0. 1. ]] SLAMing on 17.814839173 meters Centerline goodness : 0.786605 Centerline is valid? [False, False] Translation: X:-21.80, Y:36.80, Z:2.41 [[ 0.97227954 -0.20661715 -0.1094616 -21.79753593] [ 0.21331478 0.97552498 0.05336488 36.79971672] [ 0.09575642 -0.07523535 0.99255748 2.40720205] [ 0. 0. 0. 1. ]] SLAMing on 17.844839173 meters Centerline goodness : 0.781909 Centerline is valid? [False, False] Translation: X:-21.80, Y:36.80, Z:2.41 [[ 0.97234356 -0.20612633 -0.10981773 -21.79570957] [ 0.21290116 0.97558595 0.05389947 36.79983399] [ 0.09602653 -0.07578913 0.99248925 2.4054335 ] [ 0. 0. 0. 1. ]] SLAMing on 17.874839172999998 meters Centerline goodness : 0.765683 Centerline is valid? [False, False] Translation: X:-21.79, Y:36.80, Z:2.40 [[ 0.97234568 -0.20498628 -0.11191296 -21.79011115] [ 0.2121745 0.9755972 0.05649855 36.80299373] [ 0.09760054 -0.07868119 0.99211058 2.40238393] [ 0. 0. 0. 1. ]] SLAMing on 17.904839173 meters Centerline goodness : 0.779649 Centerline is valid? [False, False] Translation: X:-21.79, Y:36.81, Z:2.40 [[ 0.97226011 -0.20470631 -0.11316187 -21.78697859] [ 0.21194877 0.97567193 0.05605362 36.80543921] [ 0.09893433 -0.07848321 0.99199414 2.401469 ] [ 0. 0. 0. 1. ]] SLAMing on 17.934839173 meters Centerline goodness : 0.776865 Centerline is valid? [False, False] Translation: X:-21.78, Y:36.81, Z:2.40 [[ 0.97175984 -0.20602486 -0.11505032 -21.78317419] [ 0.21354171 0.97525626 0.05722907 36.80948444] [ 0.10041293 -0.08018095 0.99170977 2.40114605] [ 0. 0. 0. 1. ]] SLAMing on 17.964839172999998 meters Centerline goodness : 0.771992 Centerline is valid? [False, False] Translation: X:-21.78, Y:36.81, Z:2.40 [[ 0.97099385 -0.20852488 -0.11699706 -21.7785585 ] [ 0.21635517 0.97455183 0.05864445 36.80934468] [ 0.10179087 -0.08225632 0.99139927 2.40182484] [ 0. 0. 0. 1. ]] SLAMing on 17.994839173 meters Centerline goodness : 0.773255 Centerline is valid? [False, False] Translation: X:-21.78, Y:36.81, Z:2.40 [[ 0.97056152 -0.21081676 -0.1164759 -21.77639086] [ 0.21827195 0.97431866 0.05532177 36.80997165] [ 0.10182188 -0.0791166 0.99165159 2.39897627] [ 0. 0. 0. 1. ]] SLAMing on 18.024839173 meters Centerline goodness : 0.773220 Centerline is valid? [False, False] Translation: X:-21.77, Y:36.81, Z:2.40 [[ 0.9700831 -0.21279967 -0.11685494 -21.77474869] [ 0.22006396 0.97403907 0.05310119 36.81440945] [ 0.10252136 -0.07722813 0.99172838 2.39763483] [ 0. 0. 0. 1. ]] SLAMing on 18.054839172999998 meters Centerline goodness : 0.749778 Centerline is valid? [False, False] Translation: X:-22.52, Y:38.84, Z:3.00 [[ 0.96599047 -0.08991515 0.24244108 -22.51511412] [ 0.22114967 0.77315259 -0.59441391 38.84250862] [ -0.13399713 0.62781394 0.76674274 3.00312475] [ 0. 0. 0. 1. ]] SLAMing on 18.084839173 meters Centerline goodness : 0.749778 Centerline is valid? [False, False] Translation: X:-22.55, Y:38.81, Z:3.00 [[ 0.96959705 -0.11085721 0.21815645 -22.54913603] [ 0.21649382 0.80417678 -0.55356132 38.81414587] [ -0.11407009 0.58396095 0.80372733 3.00108813] [ 0. 0. 0. 1. ]] SLAMing on 18.114839173 meters Centerline goodness : 0.746482 Centerline is valid? [False, False] Translation: X:-22.92, Y:38.73, Z:3.20 [[ 0.96765827 -0.13610099 0.21240056 -22.91854361] [ 0.24360992 0.72281007 -0.6466837 38.72760085] [ -0.06551097 0.67751171 0.73258869 3.19525017] [ 0. 0. 0. 1. ]] SLAMing on 18.144839173 meters Centerline goodness : 0.754719 Centerline is valid? [False, False] Translation: X:-22.91, Y:38.67, Z:3.19 [[ 0.98077124 -0.10954585 0.16151621 -22.91235436] [ 0.1879296 0.75331641 -0.63023555 38.66988612] [ -0.05263312 0.64847058 0.75941798 3.18902741] [ 0. 0. 0. 1. ]] SLAMing on 18.174839173 meters Centerline goodness : 0.757733 Centerline is valid? [False, False] Translation: X:-22.90, Y:38.66, Z:3.19 [[ 0.98598565 -0.09808158 0.13495293 -22.90491049] [ 0.16154978 0.76323407 -0.62560005 38.66336196] [ -0.04164083 0.63863429 0.7683829 3.19203865] [ 0. 0. 0. 1. ]] SLAMing on 18.204839173 meters Centerline goodness : 0.755849 Centerline is valid? [False, False] Translation: X:-22.89, Y:38.65, Z:3.19 [[ 9.91714838e-01 -8.79025762e-02 9.36739923e-02 -2.28903608e+01] [ 1.27189897e-01 7.74156744e-01 -6.20083918e-01 3.86527011e+01] [-1.80113791e-02 6.26860808e-01 7.78923050e-01 3.19234647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.234839173 meters Centerline goodness : 0.736947 Centerline is valid? [False, False] Translation: X:-22.88, Y:38.65, Z:3.19 [[ 9.92968504e-01 -8.92462867e-02 7.77730663e-02 -2.28790466e+01] [ 1.18258353e-01 7.77475123e-01 -6.17695229e-01 3.86534876e+01] [-5.33961877e-03 6.22549222e-01 7.82562429e-01 3.18987622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.264839173 meters Centerline goodness : 0.745493 Centerline is valid? [False, False] Translation: X:-22.87, Y:38.65, Z:3.19 [[ 9.95055991e-01 -8.61191499e-02 4.94678373e-02 -2.28689391e+01] [ 9.83578725e-02 7.85516558e-01 -6.10974194e-01 3.86510064e+01] [ 1.37587729e-02 6.12819083e-01 7.90103453e-01 3.19230897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.294839173 meters Centerline goodness : 0.752197 Centerline is valid? [False, False] Translation: X:-22.86, Y:38.65, Z:3.20 [[ 9.96154468e-01 -8.13263749e-02 3.25929074e-02 -2.28626236e+01] [ 8.45190678e-02 7.93987679e-01 -6.02029977e-01 3.86476204e+01] [ 2.30825487e-02 6.02469573e-01 7.97808003e-01 3.19579212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.324839173 meters Centerline goodness : 0.755827 Centerline is valid? [False, False] Translation: X:-22.86, Y:38.65, Z:3.20 [[ 9.96942710e-01 -7.63258887e-02 1.67209696e-02 -2.28562594e+01] [ 7.12410505e-02 8.00017152e-01 -5.95732548e-01 3.86460375e+01] [ 3.20927537e-02 5.95102441e-01 8.03008805e-01 3.19647561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.354839173 meters Centerline goodness : 0.752756 Centerline is valid? [False, False] Translation: X:-22.85, Y:38.64, Z:3.20 [[ 9.97643268e-01 -6.75988095e-02 -1.17605621e-02 -2.28478324e+01] [ 4.75214893e-02 8.04369281e-01 -5.92226111e-01 3.86449311e+01] [ 4.94936150e-02 5.90271514e-01 8.05685995e-01 3.19875927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.384839173 meters Centerline goodness : 0.746145 Centerline is valid? [False, False] Translation: X:-22.84, Y:38.65, Z:3.20 [[ 9.97630382e-01 -6.30095716e-02 -2.76299800e-02 -2.28387525e+01] [ 3.46715464e-02 8.07291939e-01 -5.89132930e-01 3.86474916e+01] [ 5.94264737e-02 5.86778936e-01 8.07563604e-01 3.19666097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.414839173 meters Centerline goodness : 0.738916 Centerline is valid? [False, False] Translation: X:-22.86, Y:38.65, Z:3.19 [[ 9.96964873e-01 -6.69276120e-02 -3.97710440e-02 -2.28600713e+01] [ 3.22785390e-02 8.20219279e-01 -5.71137838e-01 3.86496993e+01] [ 7.08458687e-02 5.68120611e-01 8.19890135e-01 3.19222868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.444839173 meters Centerline goodness : 0.746466 Centerline is valid? [False, False] Translation: X:-22.88, Y:38.65, Z:3.19 [[ 9.96639020e-01 -6.73870259e-02 -4.65795247e-02 -2.28793483e+01] [ 3.08710132e-02 8.35644387e-01 -5.48402625e-01 3.86493988e+01] [ 7.58791403e-02 5.45121498e-01 8.34916109e-01 3.18613704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.474839173 meters Centerline goodness : 0.748748 Centerline is valid? [False, False] Translation: X:-22.91, Y:38.65, Z:3.18 [[ 9.97038914e-01 -5.78074675e-02 -5.07119405e-02 -2.29075269e+01] [ 2.27529533e-02 8.51703283e-01 -5.23530153e-01 3.86520201e+01] [ 7.34554785e-02 5.20826089e-01 8.50496606e-01 3.18239700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.504839173 meters Centerline goodness : 0.738279 Centerline is valid? [False, False] Translation: X:-22.93, Y:38.65, Z:3.17 [[ 9.97054346e-01 -5.45438141e-02 -5.39222004e-02 -2.29337739e+01] [ 1.99497485e-02 8.63273401e-01 -5.04342187e-01 3.86496748e+01] [ 7.40583479e-02 5.01780835e-01 8.61818632e-01 3.17489223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.534839172999998 meters Centerline goodness : 0.741504 Centerline is valid? [False, False] Translation: X:-22.96, Y:38.65, Z:3.17 [[ 9.96610895e-01 -6.03629501e-02 -5.58841502e-02 -2.29556301e+01] [ 2.50848037e-02 8.70013293e-01 -4.92389707e-01 3.86473213e+01] [ 7.83420488e-02 4.89319103e-01 8.68578919e-01 3.16508923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.564839173 meters Centerline goodness : 0.741391 Centerline is valid? [False, False] Translation: X:-22.94, Y:38.64, Z:3.16 [[ 9.95895638e-01 -6.69764187e-02 -6.08772366e-02 -2.29440723e+01] [ 2.92993768e-02 8.74959350e-01 -4.83309096e-01 3.86410212e+01] [ 8.56354197e-02 4.79541756e-01 8.73330567e-01 3.16378585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.594839173 meters Centerline goodness : 0.748383 Centerline is valid? [False, False] Translation: X:-22.94, Y:38.64, Z:3.16 [[ 9.95633314e-01 -7.07920918e-02 -6.08505101e-02 -2.29409086e+01] [ 3.23641476e-02 8.73188535e-01 -4.86306842e-01 3.86398024e+01] [ 8.75606463e-02 4.82213918e-01 8.71666720e-01 3.15915680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.624839172999998 meters Centerline goodness : 0.744772 Centerline is valid? [False, False] Translation: X:-22.97, Y:38.64, Z:3.15 [[ 9.95158932e-01 -7.33721812e-02 -6.53851915e-02 -2.29660090e+01] [ 3.44568043e-02 8.83556643e-01 -4.67055015e-01 3.86352196e+01] [ 9.20403655e-02 4.62541005e-01 8.81807456e-01 3.15005310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.654839173 meters Centerline goodness : 0.754833 Centerline is valid? [False, False] Translation: X:-22.98, Y:38.63, Z:3.15 [[ 9.94988669e-01 -7.54153297e-02 -6.56511732e-02 -2.29814322e+01] [ 3.83652183e-02 8.94288629e-01 -4.45842975e-01 3.86343480e+01] [ 9.23344926e-02 4.41089987e-01 8.92700378e-01 3.14543812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.684839173 meters Centerline goodness : 0.745369 Centerline is valid? [False, False] Translation: X:-22.99, Y:38.64, Z:3.14 [[ 0.99553135 -0.07393772 -0.05874142 -22.992681 ] [ 0.04117771 0.89969353 -0.4345756 38.63868913] [ 0.0849808 0.4302148 0.89871769 3.13637711] [ 0. 0. 0. 1. ]] SLAMing on 18.714839172999998 meters Centerline goodness : 0.759710 Centerline is valid? [False, False] Translation: X:-22.99, Y:38.64, Z:3.14 [[ 9.95906532e-01 -6.64583953e-02 -6.12654977e-02 -2.29890819e+01] [ 3.41443522e-02 9.04180757e-01 -4.25783187e-01 3.86425862e+01] [ 8.36919514e-02 4.21948386e-01 9.02748701e-01 3.13850458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.744839173 meters Centerline goodness : 0.748869 Centerline is valid? [False, False] Translation: X:-22.99, Y:38.65, Z:3.13 [[ 9.96352687e-01 -6.24758090e-02 -5.81213965e-02 -2.29911905e+01] [ 3.20587044e-02 9.05302137e-01 -4.23556703e-01 3.86467622e+01] [ 7.90794721e-02 4.20148562e-01 9.04003110e-01 3.13224842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.774839173 meters Centerline goodness : 0.750741 Centerline is valid? [False, False] Translation: X:-23.01, Y:38.65, Z:3.12 [[ 9.96140892e-01 -6.10318966e-02 -6.30748073e-02 -2.30074528e+01] [ 3.01670209e-02 9.12950650e-01 -4.06953389e-01 3.86475021e+01] [ 8.24213235e-02 4.03480133e-01 9.11268626e-01 3.12100623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.804839172999998 meters Centerline goodness : 0.750079 Centerline is valid? [False, False] Translation: X:-23.00, Y:38.65, Z:3.12 [[ 9.95754569e-01 -5.99598977e-02 -6.98401609e-02 -2.29968613e+01] [ 2.72072545e-02 9.16555800e-01 -3.98980238e-01 3.86473096e+01] [ 8.79352188e-02 3.95386236e-01 9.14295970e-01 3.11920717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.834839173 meters Centerline goodness : 0.755755 Centerline is valid? [False, False] Translation: X:-22.98, Y:38.66, Z:3.11 [[ 9.95360483e-01 -6.09350664e-02 -7.44609035e-02 -2.29807048e+01] [ 2.75471713e-02 9.21977722e-01 -3.86261872e-01 3.86586116e+01] [ 9.21881870e-02 3.82418616e-01 9.19378779e-01 3.11156589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.864839173 meters Centerline goodness : 0.760528 Centerline is valid? [False, False] Translation: X:-22.98, Y:38.66, Z:3.11 [[ 9.95119279e-01 -5.72382259e-02 -8.03828777e-02 -2.29791178e+01] [ 2.34570763e-02 9.28446047e-01 -3.70725913e-01 3.86577458e+01] [ 9.58508587e-02 3.67030956e-01 9.25257202e-01 3.10853621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.894839173 meters Centerline goodness : 0.759940 Centerline is valid? [False, False] Translation: X:-22.99, Y:38.65, Z:3.11 [[ 9.95107573e-01 -5.49125320e-02 -8.21311930e-02 -2.29865517e+01] [ 2.25071396e-02 9.35450718e-01 -3.52739822e-01 3.86541948e+01] [ 9.61995203e-02 3.49165530e-01 9.32110018e-01 3.10541733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.924839173 meters Centerline goodness : 0.750291 Centerline is valid? [False, False] Translation: X:-22.99, Y:38.66, Z:3.11 [[ 9.95480789e-01 -5.27405068e-02 -7.89711217e-02 -2.29867759e+01] [ 2.29269181e-02 9.40476441e-01 -3.39084681e-01 3.86554570e+01] [ 9.21539774e-02 3.35741721e-01 9.37435406e-01 3.10888260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.954839173 meters Centerline goodness : 0.745770 Centerline is valid? [False, False] Translation: X:-22.99, Y:38.65, Z:3.11 [[ 9.95358181e-01 -5.02274856e-02 -8.20931830e-02 -2.29903386e+01] [ 2.12450420e-02 9.46638572e-01 -3.21596117e-01 3.86530682e+01] [ 9.38655379e-02 3.18359253e-01 9.43311532e-01 3.10769913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.984839173 meters Centerline goodness : 0.743297 Centerline is valid? [False, False] Translation: X:-23.00, Y:38.66, Z:3.10 [[ 9.95590322e-01 -4.57461077e-02 -8.18975223e-02 -2.30043062e+01] [ 1.88005208e-02 9.52625038e-01 -3.03565607e-01 3.86575489e+01] [ 9.19045753e-02 3.00687264e-01 9.49284319e-01 3.09636751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.014839173 meters Centerline goodness : 0.745637 Centerline is valid? [False, False] Translation: X:-23.01, Y:38.66, Z:3.09 [[ 9.96064824e-01 -3.50766556e-02 -8.13909972e-02 -2.30073742e+01] [ 1.01790087e-02 9.57546815e-01 -2.88098048e-01 3.86610242e+01] [ 8.80412061e-02 2.86135852e-01 9.54135745e-01 3.08708020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.044839173 meters Centerline goodness : 0.742200 Centerline is valid? [False, False] Translation: X:-23.00, Y:38.66, Z:3.08 [[ 9.96217433e-01 -2.92730344e-02 -8.18163534e-02 -2.30025507e+01] [ 4.85925986e-03 9.58842692e-01 -2.83896248e-01 3.86633772e+01] [ 8.67595172e-02 2.82424824e-01 9.55358051e-01 3.08397491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.074839173 meters Centerline goodness : 0.739905 Centerline is valid? [False, False] Translation: X:-23.00, Y:38.67, Z:3.08 [[ 9.96324254e-01 -2.31697654e-02 -8.24690385e-02 -2.29984066e+01] [-8.15577522e-04 9.60116542e-01 -2.79598928e-01 3.86665085e+01] [ 8.56581296e-02 2.78638453e-01 9.56568501e-01 3.08225036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.104839173 meters Centerline goodness : 0.736059 Centerline is valid? [False, False] Translation: X:-22.97, Y:38.68, Z:3.09 [[ 9.96062397e-01 -1.66361420e-02 -8.70800735e-02 -2.29733579e+01] [-8.06240551e-03 9.61167727e-01 -2.75847054e-01 3.86755537e+01] [ 8.82875871e-02 2.75462953e-01 9.57248904e-01 3.08792114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.134839173 meters Centerline goodness : 0.738519 Centerline is valid? [False, False] Translation: X:-22.97, Y:38.67, Z:3.09 [[ 9.96137891e-01 -1.19502967e-02 -8.69855855e-02 -2.29719975e+01] [-1.21500865e-02 9.62402061e-01 -2.71357048e-01 3.86748629e+01] [ 8.69579040e-02 2.71365920e-01 9.58539963e-01 3.08522841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.164839173 meters Centerline goodness : 0.737271 Centerline is valid? [False, False] Translation: X:-22.97, Y:38.68, Z:3.08 [[ 9.96170059e-01 -7.38736483e-03 -8.71242858e-02 -2.29700676e+01] [-1.62733275e-02 9.63350674e-01 -2.67751113e-01 3.86775512e+01] [ 8.59092146e-02 2.68143444e-01 9.59540880e-01 3.08393928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.194839173 meters Centerline goodness : 0.737740 Centerline is valid? [False, False] Translation: X:-22.96, Y:38.68, Z:3.08 [[ 9.95844379e-01 -6.19686625e-03 -9.08601780e-02 -2.29612258e+01] [-1.71188623e-02 9.67160721e-01 -2.53588414e-01 3.86803070e+01] [ 8.94478488e-02 2.54090019e-01 9.63035484e-01 3.08282455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.224839173 meters Centerline goodness : 0.732717 Centerline is valid? [False, False] Translation: X:-22.95, Y:38.68, Z:3.09 [[ 9.95396144e-01 -5.02634017e-03 -9.57144301e-02 -2.29548613e+01] [-1.90510682e-02 9.68322580e-01 -2.48974773e-01 3.86834308e+01] [ 9.39338758e-02 2.49651991e-01 9.63768805e-01 3.08666869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.254839173 meters Centerline goodness : 0.740769 Centerline is valid? [False, False] Translation: X:-22.95, Y:38.69, Z:3.09 [[ 9.94988999e-01 3.97324619e-03 -9.99054818e-02 -2.29477589e+01] [-2.77122183e-02 9.71022295e-01 -2.37376781e-01 3.86882966e+01] [ 9.60672938e-02 2.38955888e-01 9.66266608e-01 3.08679335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.284839172999998 meters Centerline goodness : 0.731561 Centerline is valid? [False, False] Translation: X:-22.94, Y:38.69, Z:3.09 [[ 9.94750891e-01 2.50439469e-03 -1.02295612e-01 -2.29432025e+01] [-2.58694875e-02 9.73380183e-01 -2.27731837e-01 3.86891334e+01] [ 9.90021908e-02 2.29182783e-01 9.68335592e-01 3.09167259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.314839173 meters Centerline goodness : 0.729309 Centerline is valid? [False, False] Translation: X:-22.93, Y:38.70, Z:3.10 [[ 9.95026529e-01 1.23265960e-03 -9.96026500e-02 -2.29289946e+01] [-2.38306146e-02 9.73832293e-01 -2.26014970e-01 3.86969105e+01] [ 9.67176775e-02 2.27264483e-01 9.69018341e-01 3.09594777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.344839173 meters Centerline goodness : 0.737723 Centerline is valid? [False, False] Translation: X:-22.93, Y:38.70, Z:3.09 [[ 9.95040722e-01 4.74759563e-03 -9.93550305e-02 -2.29288161e+01] [-2.68530106e-02 9.74594127e-01 -2.22362774e-01 3.86988377e+01] [ 9.57751407e-02 2.23927997e-01 9.69888331e-01 3.09461299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.374839172999998 meters Centerline goodness : 0.732662 Centerline is valid? [False, False] Translation: X:-22.93, Y:38.70, Z:3.09 [[ 9.95111789e-01 3.52977590e-03 -9.86917872e-02 -2.29282203e+01] [-2.55601896e-02 9.74513039e-01 -2.22869947e-01 3.87039289e+01] [ 9.53897525e-02 2.24303092e-01 9.69839635e-01 3.09221504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.404839173 meters Centerline goodness : 0.732096 Centerline is valid? [False, False] Translation: X:-22.93, Y:38.70, Z:3.09 [[ 9.95132812e-01 6.09303013e-03 -9.83542663e-02 -2.29284676e+01] [-2.76674826e-02 9.75215437e-01 -2.19520754e-01 3.87048804e+01] [ 9.45790522e-02 2.21173520e-01 9.70637459e-01 3.09037650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.434839173 meters Centerline goodness : 0.727169 Centerline is valid? [False, False] Translation: X:-22.93, Y:38.71, Z:3.08 [[ 9.95282848e-01 4.41282521e-03 -9.69153253e-02 -2.29343016e+01] [-2.50421698e-02 9.76797237e-01 -2.12697079e-01 3.87108863e+01] [ 9.37280270e-02 2.14120724e-01 9.72300042e-01 3.07958609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.464839172999998 meters Centerline goodness : 0.731879 Centerline is valid? [False, False] Translation: X:-22.94, Y:38.71, Z:3.08 [[ 9.95344743e-01 6.65661497e-03 -9.61484883e-02 -2.29354644e+01] [-2.67105272e-02 9.77586956e-01 -2.08830770e-01 3.87110312e+01] [ 9.26034020e-02 2.10426786e-01 9.73213840e-01 3.07656018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.494839173 meters Centerline goodness : 0.721605 Centerline is valid? [False, False] Translation: X:-22.93, Y:38.71, Z:3.08 [[ 9.95008958e-01 1.13226108e-03 -9.97792151e-02 -2.29321388e+01] [-2.21297834e-02 9.77539381e-01 -2.09587767e-01 3.87093114e+01] [ 9.73008040e-02 2.10749798e-01 9.72685497e-01 3.07942157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.524839173 meters Centerline goodness : 0.722615 Centerline is valid? [False, False] Translation: X:-22.93, Y:38.71, Z:3.08 [[ 9.95026965e-01 1.08643939e-03 -9.95999892e-02 -2.29327144e+01] [-2.20020343e-02 9.77637877e-01 -2.09141319e-01 3.87069411e+01] [ 9.71455027e-02 2.10292655e-01 9.72799954e-01 3.07878508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.554839172999998 meters Centerline goodness : 0.725101 Centerline is valid? [False, False] Translation: X:-22.93, Y:38.71, Z:3.08 [[ 9.95000391e-01 5.50902416e-03 -9.97189691e-02 -2.29325804e+01] [-2.59358706e-02 9.78474185e-01 -2.04732998e-01 3.87056990e+01] [ 9.64445579e-02 2.06295711e-01 9.73725078e-01 3.07824187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.584839173 meters Centerline goodness : 0.724660 Centerline is valid? [False, False] Translation: X:-22.93, Y:38.71, Z:3.08 [[ 9.94952248e-01 1.38047276e-02 -9.93954418e-02 -2.29339644e+01] [-3.33153961e-02 9.79754072e-01 -1.97413380e-01 3.87081795e+01] [ 9.46578509e-02 1.99728285e-01 9.75268426e-01 3.07951094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.614839173 meters Centerline goodness : 0.724831 Centerline is valid? [False, False] Translation: X:-22.94, Y:38.71, Z:3.08 [[ 9.94848956e-01 2.16721811e-02 -9.90245985e-02 -2.29351020e+01] [-4.02422815e-02 9.81038979e-01 -1.89586603e-01 3.87057247e+01] [ 9.30382358e-02 1.92595010e-01 9.76857742e-01 3.07865134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.644839173 meters Centerline goodness : 0.723746 Centerline is valid? [False, False] Translation: X:-22.93, Y:38.71, Z:3.08 [[ 9.94708459e-01 2.67559308e-02 -9.91927539e-02 -2.29334304e+01] [-4.48637678e-02 9.81695832e-01 -1.85096016e-01 3.87051170e+01] [ 9.24246969e-02 1.88566733e-01 9.77701520e-01 3.07730496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.674839173 meters Centerline goodness : 0.722176 Centerline is valid? [False, False] Translation: X:-22.93, Y:38.70, Z:3.07 [[ 9.94477397e-01 3.25861760e-02 -9.97639634e-02 -2.29288944e+01] [-5.02238895e-02 9.82428735e-01 -1.79753556e-01 3.87043305e+01] [ 9.21535034e-02 1.83771383e-01 9.78639776e-01 3.07370514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.704839173 meters Centerline goodness : 0.721400 Centerline is valid? [False, False] Translation: X:-22.93, Y:38.70, Z:3.07 [[ 9.94499033e-01 3.25286065e-02 -9.95668807e-02 -2.29288067e+01] [-5.01033416e-02 9.82487642e-01 -1.79465007e-01 3.87044692e+01] [ 9.19854832e-02 1.83466409e-01 9.78712801e-01 3.07267870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.734839173 meters Centerline goodness : 0.722097 Centerline is valid? [False, False] Translation: X:-22.95, Y:38.70, Z:3.07 [[ 9.94821078e-01 2.49941999e-02 -9.85206173e-02 -2.29470690e+01] [-4.12546915e-02 9.85153639e-01 -1.66644405e-01 3.87032671e+01] [ 9.28928011e-02 1.69845805e-01 9.81082734e-01 3.07443873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.764839173 meters Centerline goodness : 0.723466 Centerline is valid? [False, False] Translation: X:-22.95, Y:38.70, Z:3.08 [[ 9.94843611e-01 2.44853022e-02 -9.84208282e-02 -2.29479671e+01] [-4.07621317e-02 9.85123176e-01 -1.66945432e-01 3.87041398e+01] [ 9.28689295e-02 1.70096439e-01 9.81041571e-01 3.07511753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.794839173 meters Centerline goodness : 0.721056 Centerline is valid? [False, False] Translation: X:-22.94, Y:38.71, Z:3.07 [[ 9.94647975e-01 2.93299993e-02 -9.90714693e-02 -2.29409979e+01] [-4.52596073e-02 9.85654999e-01 -1.62590869e-01 3.87062053e+01] [ 9.28814990e-02 1.66204614e-01 9.81707214e-01 3.06955237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.824839173 meters Centerline goodness : 0.719485 Centerline is valid? [False, False] Translation: X:-22.93, Y:38.70, Z:3.06 [[ 9.94360416e-01 3.40682209e-02 -1.00432665e-01 -2.29301685e+01] [-4.98202866e-02 9.86057158e-01 -1.58774119e-01 3.87035976e+01] [ 9.36231961e-02 1.62882283e-01 9.82193494e-01 3.06132657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.854839173 meters Centerline goodness : 0.716730 Centerline is valid? [False, False] Translation: X:-22.93, Y:38.70, Z:3.06 [[ 9.94247069e-01 3.80971999e-02 -1.00106784e-01 -2.29303919e+01] [-5.33959976e-02 9.86486259e-01 -1.54899092e-01 3.87036063e+01] [ 9.28527453e-02 1.59353270e-01 9.82845310e-01 3.06061252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.884839173 meters Centerline goodness : 0.719739 Centerline is valid? [False, False] Translation: X:-22.93, Y:38.70, Z:3.06 [[ 0.99417405 0.04141628 -0.09951201 -22.93216484] [ -0.05628545 0.9868375 -0.15160377 38.70481442] [ 0.09192332 0.15632161 0.98341937 3.06102083] [ 0. 0. 0. 1. ]] SLAMing on 19.914839173 meters Centerline goodness : 0.718527 Centerline is valid? [False, False] Translation: X:-22.93, Y:38.71, Z:3.07 [[ 0.9935691 0.0422758 -0.10503906 -22.92652324] [ -0.05730505 0.98784926 -0.14446441 38.70924381] [ 0.09765541 0.14955464 0.98391912 3.06691093] [ 0. 0. 0. 1. ]] SLAMing on 19.944839173 meters Centerline goodness : 0.719005 Centerline is valid? [False, False] Translation: X:-22.92, Y:38.71, Z:3.07 [[ 0.99313443 0.03950639 -0.1101056 -22.92011961] [ -0.05514228 0.98821452 -0.14279845 38.70956702] [ 0.1031665 0.14788953 0.98360834 3.06975649] [ 0. 0. 0. 1. ]] SLAMing on 19.974839173 meters Centerline goodness : 0.718747 Centerline is valid? [False, False] Translation: X:-22.92, Y:38.71, Z:3.07 [[ 0.99301611 0.04356842 -0.10963941 -22.9207513 ] [ -0.05868162 0.98860341 -0.1386354 38.709302 ] [ 0.10234977 0.144101 0.98425577 3.06894344] [ 0. 0. 0. 1. ]] SLAMing on 20.004839173 meters Centerline goodness : 0.718747 Centerline is valid? [False, False] Translation: X:-22.92, Y:38.71, Z:3.07 [[ 0.99301611 0.04356842 -0.10963941 -22.9207513 ] [ -0.05868162 0.98860341 -0.1386354 38.709302 ] [ 0.10234977 0.144101 0.98425577 3.06894344] [ 0. 0. 0. 1. ]] SLAMing on 20.034839172999998 meters Centerline goodness : 0.717058 Centerline is valid? [False, False] Translation: X:-22.92, Y:38.71, Z:3.07 [[ 0.99276632 0.04884624 -0.10967711 -22.91851348] [ -0.06360123 0.98875516 -0.13534442 38.71459782] [ 0.10183274 0.14134098 0.98470951 3.06913173] [ 0. 0. 0. 1. ]] SLAMing on 20.064839173 meters Centerline goodness : 0.717778 Centerline is valid? [False, False] Translation: X:-22.91, Y:38.72, Z:3.07 [[ 0.99263718 0.05007333 -0.11029091 -22.91494012] [ -0.06483812 0.98877086 -0.13464101 38.71506278] [ 0.10231051 0.14080073 0.98473738 3.06732747] [ 0. 0. 0. 1. ]] SLAMing on 20.094839173 meters Centerline goodness : 0.714822 Centerline is valid? [False, False] Translation: X:-22.91, Y:38.71, Z:3.06 [[ 0.99245384 0.05225447 -0.11092721 -22.90899807] [ -0.06675293 0.98909276 -0.1312995 38.70891439] [ 0.10285631 0.13771341 0.98511705 3.06003854] [ 0. 0. 0. 1. ]] SLAMing on 20.124839172999998 meters Centerline goodness : 0.715614 Centerline is valid? [False, False] Translation: X:-22.91, Y:38.71, Z:3.06 [[ 0.99241039 0.05292488 -0.11099809 -22.90722941] [ -0.06729974 0.98922171 -0.1300429 38.70653162] [ 0.10291921 0.13652607 0.98527573 3.05730387] [ 0. 0. 0. 1. ]] SLAMing on 20.154839173 meters Centerline goodness : 0.716177 Centerline is valid? [False, False] Translation: X:-22.91, Y:38.71, Z:3.06 [[ 0.99242065 0.05272412 -0.11100192 -22.90738318] [ -0.0671248 0.98920256 -0.1302788 38.70771181] [ 0.10293455 0.13674235 0.98524414 3.05764336] [ 0. 0. 0. 1. ]] SLAMing on 20.184839173 meters Centerline goodness : 0.717378 Centerline is valid? [False, False] Translation: X:-22.91, Y:38.71, Z:3.06 [[ 0.99264753 0.05011946 -0.11017679 -22.91130259] [ -0.06315328 0.99098102 -0.11818745 38.7051819 ] [ 0.10325962 0.1242765 0.98686007 3.06405279] [ 0. 0. 0. 1. ]] SLAMing on 20.214839172999998 meters Centerline goodness : 0.726693 Centerline is valid? [False, False] Translation: X:-22.92, Y:38.70, Z:3.07 [[ 0.99288886 0.04611862 -0.10974873 -22.91736983] [ -0.0593589 0.99092373 -0.12060964 38.70087142] [ 0.10319027 0.12626653 0.98661468 3.06743772] [ 0. 0. 0. 1. ]] SLAMing on 20.244839173 meters Centerline goodness : 0.727811 Centerline is valid? [False, False] Translation: X:-22.92, Y:38.70, Z:3.07 [[ 0.99294926 0.04539019 -0.10950572 -22.91983106] [ -0.05852973 0.99105573 -0.11992839 38.69571898] [ 0.1030827 0.12549215 0.98672472 3.06778728] [ 0. 0. 0. 1. ]] SLAMing on 20.274839173 meters Centerline goodness : 0.730294 Centerline is valid? [False, False] Translation: X:-22.92, Y:38.69, Z:3.07 [[ 0.99309801 0.04300714 -0.10911796 -22.92422009] [ -0.05621366 0.99105983 -0.12099767 38.68871044] [ 0.10293866 0.12629647 0.98663713 3.06993039] [ 0. 0. 0. 1. ]] SLAMing on 20.304839172999998 meters Centerline goodness : 0.728033 Centerline is valid? [False, False] Translation: X:-22.92, Y:38.69, Z:3.07 [[ 0.99304123 0.0438984 -0.10927964 -22.92375984] [ -0.05700653 0.99115097 -0.11987501 38.68507225] [ 0.1030503 0.12527048 0.98675627 3.06967075] [ 0. 0. 0. 1. ]] SLAMing on 20.334839173 meters Centerline goodness : 0.725939 Centerline is valid? [False, False] Translation: X:-22.92, Y:38.67, Z:3.07 [[ 0.99286023 0.04626706 -0.10994507 -22.92112206] [ -0.05911646 0.99141263 -0.11664577 38.67382174] [ 0.10360407 0.12231251 0.98706932 3.06694147] [ 0. 0. 0. 1. ]] SLAMing on 20.364839173 meters Centerline goodness : 0.724883 Centerline is valid? [False, False] Translation: X:-22.92, Y:38.67, Z:3.07 [[ 0.99275079 0.04765916 -0.110338 -22.91969844] [ -0.06037747 0.99153391 -0.11495683 38.66875303] [ 0.10392513 0.12078542 0.98722361 3.0658269 ] [ 0. 0. 0. 1. ]] SLAMing on 20.394839173 meters Centerline goodness : 0.725823 Centerline is valid? [False, False] Translation: X:-22.91, Y:38.66, Z:3.06 [[ 0.99224022 0.05280176 -0.11256693 -22.9093356 ] [ -0.0651443 0.99191032 -0.10895015 38.65792248] [ 0.10590354 0.11543781 0.98765305 3.0580134 ] [ 0. 0. 0. 1. ]] SLAMing on 20.424839173 meters Centerline goodness : 0.724086 Centerline is valid? [False, False] Translation: X:-22.90, Y:38.65, Z:3.05 [[ 0.99190346 0.0558027 -0.11407709 -22.90225387] [ -0.06802969 0.99200816 -0.10626278 38.65368021] [ 0.10723565 0.11316305 0.98777256 3.05425556] [ 0. 0. 0. 1. ]] SLAMing on 20.454839173 meters Centerline goodness : 0.727664 Centerline is valid? [False, False] Translation: X:-22.90, Y:38.65, Z:3.05 [[ 0.99154741 0.06186925 -0.1140435 -22.90038435] [ -0.07335374 0.99233782 -0.09942269 38.64664326] [ 0.10701847 0.10694783 0.98848835 3.0509623 ] [ 0. 0. 0. 1. ]] SLAMing on 20.484839173 meters Centerline goodness : 0.729277 Centerline is valid? [False, False] Translation: X:-22.90, Y:38.64, Z:3.05 [[ 0.99145232 0.06371207 -0.11385546 -22.90395458] [ -0.07490796 0.99246882 -0.09692488 38.6410051 ] [ 0.10682271 0.10462508 0.98875806 3.05341083] [ 0. 0. 0. 1. ]] SLAMing on 20.514839173 meters Centerline goodness : 0.730554 Centerline is valid? [False, False] Translation: X:-22.90, Y:38.64, Z:3.05 [[ 0.99118569 0.06819021 -0.11358266 -22.90445142] [ -0.07887347 0.99259485 -0.09238209 38.63776208] [ 0.10644201 0.10052646 0.98922421 3.05322054] [ 0. 0. 0. 1. ]] SLAMing on 20.544839173 meters Centerline goodness : 0.732795 Centerline is valid? [False, False] Translation: X:-22.91, Y:38.63, Z:3.05 [[ 0.99088238 0.07294394 -0.11327531 -22.90619196] [ -0.0830619 0.99271051 -0.08733024 38.63248259] [ 0.10607938 0.09594286 0.98971821 3.05404213] [ 0. 0. 0. 1. ]] SLAMing on 20.574839173 meters Centerline goodness : 0.734740 Centerline is valid? [False, False] Translation: X:-22.91, Y:38.63, Z:3.05 [[ 0.99084329 0.07350655 -0.11325357 -22.90684209] [ -0.08346649 0.99280432 -0.08586569 38.62686646] [ 0.10612694 0.09453232 0.98984883 3.05363782] [ 0. 0. 0. 1. ]] SLAMing on 20.604839173 meters Centerline goodness : 0.740348 Centerline is valid? [False, False] Translation: X:-22.91, Y:38.62, Z:3.05 [[ 0.99103627 0.07032455 -0.11358509 -22.9066031 ] [ -0.08054435 0.99285506 -0.08804227 38.62019561] [ 0.10658199 0.09640172 0.98961962 3.05287418] [ 0. 0. 0. 1. ]] SLAMing on 20.634839173 meters Centerline goodness : 0.739784 Centerline is valid? [False, False] Translation: X:-22.90, Y:38.62, Z:3.06 [[ 0.99059675 0.06726236 -0.11913797 -22.89977253] [ -0.07762117 0.99339104 -0.08455288 38.61768867] [ 0.11266337 0.09300544 0.98927092 3.056382 ] [ 0. 0. 0. 1. ]] SLAMing on 20.664839173 meters Centerline goodness : 0.737138 Centerline is valid? [False, False] Translation: X:-22.90, Y:38.62, Z:3.06 [[ 0.99054217 0.0674635 -0.11947756 -22.89942417] [ -0.07776832 0.99344375 -0.08379495 38.61643591] [ 0.11304114 0.092294 0.98929445 3.0564918 ] [ 0. 0. 0. 1. ]] SLAMing on 20.694839173 meters Centerline goodness : 0.738460 Centerline is valid? [False, False] Translation: X:-22.90, Y:38.61, Z:3.06 [[ 0.99048589 0.06781511 -0.11974481 -22.89937341] [ -0.07803861 0.99350119 -0.08285744 38.61328586] [ 0.11334763 0.09141384 0.98934111 3.05649715] [ 0. 0. 0. 1. ]] SLAMing on 20.724839173 meters Centerline goodness : 0.741435 Centerline is valid? [False, False] Translation: X:-22.91, Y:38.61, Z:3.06 [[ 0.99073779 0.06474914 -0.11935737 -22.90526223] [ -0.07511014 0.99359247 -0.08445395 38.60604383] [ 0.11312426 0.09263666 0.98925293 3.06013097] [ 0. 0. 0. 1. ]] SLAMing on 20.754839173 meters Centerline goodness : 0.744878 Centerline is valid? [False, False] Translation: X:-22.91, Y:38.60, Z:3.06 [[ 0.99083176 0.06442202 -0.1187528 -22.90823962] [ -0.07467312 0.99366432 -0.08399496 38.60182076] [ 0.1125893 0.09209252 0.98936476 3.06101367] [ 0. 0. 0. 1. ]] SLAMing on 20.784839172999998 meters Centerline goodness : 0.747896 Centerline is valid? [False, False] Translation: X:-22.90, Y:38.59, Z:3.06 [[ 0.99207012 0.05896902 -0.11099339 -22.90132029] [ -0.06791338 0.99458972 -0.07860695 38.59307363] [ 0.10575751 0.08552155 0.99070753 3.05774035] [ 0. 0. 0. 1. ]] SLAMing on 20.814839173 meters Centerline goodness : 0.750376 Centerline is valid? [False, False] Translation: X:-22.89, Y:38.59, Z:3.05 [[ 0.99289037 0.05556435 -0.1052678 -22.89093062] [ -0.0631817 0.99551139 -0.07046373 38.58588476] [ 0.10088002 0.07661376 0.99194433 3.05302686] [ 0. 0. 0. 1. ]] SLAMing on 20.844839173 meters Centerline goodness : 0.747125 Centerline is valid? [False, False] Translation: X:-22.89, Y:38.58, Z:3.05 [[ 0.99310017 0.04850037 -0.10676972 -22.88650172] [ -0.05674455 0.99552378 -0.07558088 38.57882339] [ 0.10262609 0.08111798 0.99140696 3.04972259] [ 0. 0. 0. 1. ]] SLAMing on 20.874839172999998 meters Centerline goodness : 0.750156 Centerline is valid? [False, False] Translation: X:-22.88, Y:38.57, Z:3.05 [[ 0.99318433 0.04528962 -0.10739522 -22.88424949] [ -0.05377935 0.99553931 -0.07751944 38.57349011] [ 0.10340533 0.08276674 0.99118969 3.04746685] [ 0. 0. 0. 1. ]] SLAMing on 20.904839173 meters Centerline goodness : 0.744745 Centerline is valid? [False, False] Translation: X:-22.88, Y:38.57, Z:3.04 [[ 0.99358469 0.04273925 -0.10470353 -22.8763775 ] [ -0.04971959 0.9966465 -0.06499017 38.5681416 ] [ 0.10157478 0.06977906 0.99237767 3.0430299 ] [ 0. 0. 0. 1. ]] SLAMing on 20.934839173 meters Centerline goodness : 0.745130 Centerline is valid? [False, False] Translation: X:-22.87, Y:38.56, Z:3.04 [[ 9.94573489e-01 3.77460952e-02 -9.69474496e-02 -2.28706287e+01] [-4.34152562e-02 9.97426992e-01 -5.70483149e-02 3.85621366e+01] [ 9.45446520e-02 6.09477400e-02 9.93653200e-01 3.03896038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.964839172999998 meters Centerline goodness : 0.744600 Centerline is valid? [False, False] Translation: X:-22.86, Y:38.56, Z:3.04 [[ 9.95336000e-01 3.50083700e-02 -8.98925019e-02 -2.28617871e+01] [-3.95627356e-02 9.97995576e-01 -4.93925136e-02 3.85554720e+01] [ 8.79831678e-02 5.27185402e-02 9.94725951e-01 3.03601711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.994839173 meters Centerline goodness : 0.744632 Centerline is valid? [False, False] Translation: X:-22.86, Y:38.55, Z:3.04 [[ 9.95336611e-01 3.46736738e-02 -9.00153687e-02 -2.28624121e+01] [-3.91155589e-02 9.98078275e-01 -4.80596524e-02 3.85486303e+01] [ 8.81759792e-02 5.13565330e-02 9.94780128e-01 3.03554191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.024839173 meters Centerline goodness : 0.745305 Centerline is valid? [False, False] Translation: X:-22.85, Y:38.54, Z:3.03 [[ 9.95851708e-01 3.43604384e-02 -8.42539957e-02 -2.28517122e+01] [-3.75684564e-02 9.98616595e-01 -3.67900356e-02 3.85444421e+01] [ 8.28733166e-02 3.98027123e-02 9.95764911e-01 3.02994168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.054839172999998 meters Centerline goodness : 0.752489 Centerline is valid? [False, False] Translation: X:-22.85, Y:38.54, Z:3.03 [[ 9.95819337e-01 3.46509035e-02 -8.45172327e-02 -2.28491390e+01] [-3.77983525e-02 9.98639288e-01 -3.59284927e-02 3.85438727e+01] [ 8.31572744e-02 3.89728999e-02 9.95774061e-01 3.02705037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.084839173 meters Centerline goodness : 0.744226 Centerline is valid? [False, False] Translation: X:-22.84, Y:38.54, Z:3.02 [[ 9.96535740e-01 3.08834003e-02 -7.72187456e-02 -2.28381166e+01] [-3.32410050e-02 9.99013833e-01 -2.94346338e-02 3.85367268e+01] [ 7.62335535e-02 3.18994933e-02 9.96579584e-01 3.02109597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.114839173 meters Centerline goodness : 0.741712 Centerline is valid? [False, False] Translation: X:-22.83, Y:38.54, Z:3.02 [[ 9.96665698e-01 2.44132207e-02 -7.78555164e-02 -2.28343261e+01] [-2.72928202e-02 9.98974000e-01 -3.61393139e-02 3.85350079e+01] [ 7.68933595e-02 3.81437111e-02 9.96309424e-01 3.01871981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.144839172999998 meters Centerline goodness : 0.743494 Centerline is valid? [False, False] Translation: X:-22.84, Y:38.54, Z:3.02 [[ 9.96647001e-01 2.74715569e-02 -7.70718384e-02 -2.28365697e+01] [-3.00651915e-02 9.99013042e-01 -3.26959805e-02 3.85351695e+01] [ 7.60975623e-02 3.49035305e-02 9.96489290e-01 3.01888333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.174839173 meters Centerline goodness : 0.743651 Centerline is valid? [False, False] Translation: X:-22.83, Y:38.54, Z:3.01 [[ 9.97099491e-01 3.22945315e-02 -6.89178308e-02 -2.28277003e+01] [-3.36474787e-02 9.99261390e-01 -1.85613138e-02 3.85367200e+01] [ 6.82674985e-02 2.08263878e-02 9.97449653e-01 3.01450965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.204839173 meters Centerline goodness : 0.745539 Centerline is valid? [False, False] Translation: X:-22.83, Y:38.54, Z:3.01 [[ 9.97864039e-01 3.62909136e-02 -5.43169381e-02 -2.28277721e+01] [-3.70421911e-02 9.99230582e-01 -1.28887916e-02 3.85361444e+01] [ 5.38073996e-02 1.48732801e-02 9.98440559e-01 3.00605447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.234839173 meters Centerline goodness : 0.747228 Centerline is valid? [False, False] Translation: X:-22.83, Y:38.54, Z:3.01 [[ 9.97795045e-01 3.72372711e-02 -5.49402823e-02 -2.28256480e+01] [-3.80256555e-02 9.99187255e-01 -1.33745942e-02 3.85400534e+01] [ 5.43975964e-02 1.54342441e-02 9.98400063e-01 3.00628826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.264839173 meters Centerline goodness : 0.743171 Centerline is valid? [False, False] Translation: X:-22.82, Y:38.54, Z:3.00 [[ 9.97627699e-01 4.13604812e-02 -5.50298447e-02 -2.28238346e+01] [-4.19833968e-02 9.99066123e-01 -1.02116232e-02 3.85443523e+01] [ 5.45560959e-02 1.24977379e-02 9.98432491e-01 3.00494680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.294839173 meters Centerline goodness : 0.744958 Centerline is valid? [False, False] Translation: X:-22.83, Y:38.55, Z:3.00 [[ 9.98367422e-01 4.11769261e-02 -3.95847480e-02 -2.28275919e+01] [-4.15214924e-02 9.99106206e-01 -7.92181136e-03 3.85504832e+01] [ 3.92231715e-02 9.55249620e-03 9.99184814e-01 2.99977036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.324839173 meters Centerline goodness : 0.745405 Centerline is valid? [False, False] Translation: X:-22.83, Y:38.55, Z:2.99 [[ 9.98834361e-01 4.15240026e-02 -2.46104769e-02 -2.28299896e+01] [-4.16325089e-02 9.99125329e-01 -3.91287382e-03 3.85539712e+01] [ 2.44264727e-02 4.93290872e-03 9.99689459e-01 2.99373092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.354839173 meters Centerline goodness : 0.743567 Centerline is valid? [False, False] Translation: X:-22.83, Y:38.56, Z:2.99 [[ 9.98835985e-01 4.12790524e-02 -2.49542441e-02 -2.28292872e+01] [-4.14051333e-02 9.99132048e-01 -4.55685945e-03 3.85568597e+01] [ 2.47444822e-02 5.58478900e-03 9.99678209e-01 2.99402127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.384839173 meters Centerline goodness : 0.741236 Centerline is valid? [False, False] Translation: X:-22.82, Y:38.56, Z:2.99 [[ 9.98739710e-01 4.29235630e-02 -2.60107378e-02 -2.28245038e+01] [-4.30601403e-02 9.99061364e-01 -4.71338438e-03 3.85592632e+01] [ 2.57840080e-02 5.82747017e-03 9.99650552e-01 2.99220448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.414839173 meters Centerline goodness : 0.742303 Centerline is valid? [False, False] Translation: X:-22.82, Y:38.57, Z:2.99 [[ 9.98531742e-01 4.72052314e-02 -2.65711610e-02 -2.28192715e+01] [-4.72763059e-02 9.98879741e-01 -2.05270222e-03 3.85652295e+01] [ 2.64444962e-02 3.30587466e-03 9.99644817e-01 2.98864212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.444839173 meters Centerline goodness : 0.740832 Centerline is valid? [False, False] Translation: X:-22.82, Y:38.57, Z:2.99 [[ 9.98490974e-01 4.78467578e-02 -2.69529881e-02 -2.28168747e+01] [-4.79401411e-02 9.98846205e-01 -2.82884375e-03 3.85709684e+01] [ 2.67865389e-02 4.11670500e-03 9.99632700e-01 2.98782032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.474839173 meters Centerline goodness : 0.743524 Centerline is valid? [False, False] Translation: X:-22.82, Y:38.58, Z:2.99 [[ 9.98463692e-01 4.84523168e-02 -2.68817634e-02 -2.28164843e+01] [-4.85738106e-02 9.98812041e-01 -3.88474203e-03 3.85781456e+01] [ 2.66616042e-02 5.18452355e-03 9.99631072e-01 2.98876772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.504839173 meters Centerline goodness : 0.742375 Centerline is valid? [False, False] Translation: X:-22.82, Y:38.59, Z:2.99 [[ 9.98286025e-01 5.21457599e-02 -2.65675018e-02 -2.28174450e+01] [-5.22703120e-02 9.98624902e-01 -4.01496735e-03 3.85888536e+01] [ 2.63216054e-02 5.39677741e-03 9.99638959e-01 2.99371915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.534839172999998 meters Centerline goodness : 0.740619 Centerline is valid? [False, False] Translation: X:-22.82, Y:38.59, Z:2.99 [[ 9.98263760e-01 5.23039019e-02 -2.70881278e-02 -2.28159181e+01] [-5.24612480e-02 9.98609782e-01 -5.13046341e-03 3.85936692e+01] [ 2.67821261e-02 6.54263269e-03 9.99619884e-01 2.99425515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.564839173 meters Centerline goodness : 0.739415 Centerline is valid? [False, False] Translation: X:-22.81, Y:38.60, Z:2.99 [[ 9.98300388e-01 5.10823577e-02 -2.80522430e-02 -2.28111672e+01] [-5.12868932e-02 9.98662018e-01 -6.62032339e-03 3.85982163e+01] [ 2.76765279e-02 8.04778380e-03 9.99584535e-01 2.99088443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.594839173 meters Centerline goodness : 0.737464 Centerline is valid? [False, False] Translation: X:-22.81, Y:38.60, Z:2.99 [[ 9.98525635e-01 4.62371713e-02 -2.84373191e-02 -2.28100592e+01] [-4.65723932e-02 9.98851671e-01 -1.12406031e-02 3.86019299e+01] [ 2.78849300e-02 1.25484244e-02 9.99532375e-01 2.98976708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.624839172999998 meters Centerline goodness : 0.738428 Centerline is valid? [False, False] Translation: X:-22.80, Y:38.60, Z:2.99 [[ 9.98906058e-01 4.19966800e-02 -2.05661316e-02 -2.28026722e+01] [-4.20988652e-02 9.99103039e-01 -4.56094021e-03 3.86004177e+01] [ 2.03561403e-02 5.42176161e-03 9.99778091e-01 2.98581997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.654839173 meters Centerline goodness : 0.739140 Centerline is valid? [False, False] Translation: X:-22.80, Y:38.60, Z:2.99 [[ 9.99016330e-01 3.88311733e-02 -2.14129242e-02 -2.28025616e+01] [-3.89922431e-02 9.99213886e-01 -7.15642499e-03 3.86027466e+01] [ 2.11181989e-02 7.98432338e-03 9.99745104e-01 2.98677206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.684839173 meters Centerline goodness : 0.736814 Centerline is valid? [False, False] Translation: X:-22.80, Y:38.61, Z:2.99 [[ 9.99071148e-01 3.74885870e-02 -2.12472887e-02 -2.28021792e+01] [-3.76859162e-02 9.99249427e-01 -8.96408659e-03 3.86118245e+01] [ 2.08952901e-02 9.75648382e-03 9.99734064e-01 2.98573195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.714839172999998 meters Centerline goodness : 0.736733 Centerline is valid? [False, False] Translation: X:-22.80, Y:38.62, Z:2.99 [[ 9.99101456e-01 3.67331859e-02 -2.11413023e-02 -2.28027852e+01] [-3.69527482e-02 9.99266073e-01 -1.00901131e-02 3.86157323e+01] [ 2.07551441e-02 1.08622759e-02 9.99725580e-01 2.98631080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.744839173 meters Centerline goodness : 0.737781 Centerline is valid? [False, False] Translation: X:-22.81, Y:38.62, Z:2.99 [[ 9.99199062e-01 3.46029461e-02 -2.00965312e-02 -2.28060587e+01] [-3.48590682e-02 9.99313597e-01 -1.25371721e-02 3.86216551e+01] [ 1.96489138e-02 1.32276770e-02 9.99719435e-01 2.98731961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.774839173 meters Centerline goodness : 0.736304 Centerline is valid? [False, False] Translation: X:-22.80, Y:38.62, Z:2.98 [[ 9.99425801e-01 3.16156399e-02 -1.21868331e-02 -2.27977786e+01] [-3.16909176e-02 9.99479502e-01 -6.03410984e-03 3.86246823e+01] [ 1.19897176e-02 6.41685699e-03 9.99907531e-01 2.98328531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.804839172999998 meters Centerline goodness : 0.737368 Centerline is valid? [False, False] Translation: X:-22.80, Y:38.63, Z:2.98 [[ 9.99454435e-01 3.07425357e-02 -1.20718183e-02 -2.27987959e+01] [-3.08334706e-02 9.99496991e-01 -7.42033735e-03 3.86287199e+01] [ 1.18376261e-02 7.78850513e-03 9.99899600e-01 2.98449258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.834839173 meters Centerline goodness : 0.736767 Centerline is valid? [False, False] Translation: X:-22.80, Y:38.63, Z:2.99 [[ 9.99403996e-01 3.26087790e-02 -1.13278663e-02 -2.28028209e+01] [-3.26774035e-02 9.99448379e-01 -5.92665261e-03 3.86341087e+01] [ 1.11283567e-02 6.29328556e-03 9.99918274e-01 2.98785971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.864839173 meters Centerline goodness : 0.736892 Centerline is valid? [False, False] Translation: X:-22.80, Y:38.64, Z:2.99 [[ 9.99367724e-01 3.34224189e-02 -1.21282170e-02 -2.27997928e+01] [-3.35024414e-02 9.99417784e-01 -6.45591703e-03 3.86383262e+01] [ 1.19053834e-02 6.85815999e-03 9.99905609e-01 2.98736117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.894839172999998 meters Centerline goodness : 0.736892 Centerline is valid? [False, False] Translation: X:-22.80, Y:38.64, Z:2.99 [[ 9.99367724e-01 3.34224189e-02 -1.21282170e-02 -2.27997928e+01] [-3.35024414e-02 9.99417784e-01 -6.45591703e-03 3.86383262e+01] [ 1.19053834e-02 6.85815999e-03 9.99905609e-01 2.98736117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.924839173 meters Centerline goodness : 0.735429 Centerline is valid? [False, False] Translation: X:-22.79, Y:38.64, Z:2.98 [[ 9.99123807e-01 3.95935834e-02 -1.35634113e-02 -2.27901182e+01] [-3.96370186e-02 9.99209794e-01 -2.94856177e-03 3.86445171e+01] [ 1.34359493e-02 3.48359145e-03 9.99903665e-01 2.98159159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.954839173 meters Centerline goodness : 0.734635 Centerline is valid? [False, False] Translation: X:-22.79, Y:38.65, Z:2.98 [[ 9.99091821e-01 4.02310450e-02 -1.40355376e-02 -2.27881335e+01] [-4.02962511e-02 9.99178114e-01 -4.39422413e-03 3.86505545e+01] [ 1.38472178e-02 4.95581294e-03 9.99891841e-01 2.98241768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.984839173 meters Centerline goodness : 0.735446 Centerline is valid? [False, False] Translation: X:-22.79, Y:38.66, Z:2.98 [[ 9.99087152e-01 4.04676418e-02 -1.36832742e-02 -2.27886120e+01] [-4.05597174e-02 9.99155845e-01 -6.51976691e-03 3.86582679e+01] [ 1.34078838e-02 7.06880509e-03 9.99885124e-01 2.98447891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.014839173 meters Centerline goodness : 0.736505 Centerline is valid? [False, False] Translation: X:-22.79, Y:38.66, Z:2.99 [[ 9.99120510e-01 3.96749618e-02 -1.35684803e-02 -2.27900393e+01] [-3.97852788e-02 9.99176551e-01 -7.95936420e-03 3.86614727e+01] [ 1.32415199e-02 8.49218979e-03 9.99876265e-01 2.98648541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.044839173 meters Centerline goodness : 0.739139 Centerline is valid? [False, False] Translation: X:-22.79, Y:38.67, Z:2.99 [[ 9.99333670e-01 3.61890247e-02 -4.75083675e-03 -2.27857785e+01] [-3.62057642e-02 9.99338276e-01 -3.48604543e-03 3.86658938e+01] [ 4.62153642e-03 3.65573025e-03 9.99982638e-01 2.98879334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.074839173 meters Centerline goodness : 0.739875 Centerline is valid? [False, False] Translation: X:-22.79, Y:38.67, Z:2.99 [[ 9.99371385e-01 3.51505059e-02 -4.61264508e-03 -2.27874832e+01] [-3.51726752e-02 9.99369644e-01 -4.81646450e-03 3.86689523e+01] [ 4.44043631e-03 4.97567587e-03 9.99977762e-01 2.99072856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.104839173 meters Centerline goodness : 0.737277 Centerline is valid? [False, False] Translation: X:-22.78, Y:38.67, Z:2.99 [[ 9.99440196e-01 3.29616446e-02 -5.72921239e-03 -2.27821670e+01] [-3.30067124e-02 9.99423445e-01 -7.95829261e-03 3.86727016e+01] [ 5.46359077e-03 8.14294000e-03 9.99951920e-01 2.98761294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.134839173 meters Centerline goodness : 0.737265 Centerline is valid? [False, False] Translation: X:-22.78, Y:38.67, Z:2.99 [[ 9.99419695e-01 3.35059366e-02 -6.13390418e-03 -2.27798825e+01] [-3.35531750e-02 9.99406750e-01 -7.76744054e-03 3.86729734e+01] [ 5.87000987e-03 7.96874502e-03 9.99951020e-01 2.98607497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.164839173 meters Centerline goodness : 0.734588 Centerline is valid? [False, False] Translation: X:-22.78, Y:38.68, Z:2.99 [[ 9.99433319e-01 3.31366878e-02 -5.91612002e-03 -2.27802267e+01] [-3.31934287e-02 9.99401240e-01 -9.76514495e-03 3.86792161e+01] [ 5.58899312e-03 9.95598754e-03 9.99934819e-01 2.98733163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.194839173 meters Centerline goodness : 0.735930 Centerline is valid? [False, False] Translation: X:-22.78, Y:38.68, Z:2.99 [[ 9.99474441e-01 3.19218987e-02 -5.64215398e-03 -2.27829824e+01] [-3.19863213e-02 9.99419560e-01 -1.17225929e-02 3.86832966e+01] [ 5.26467162e-03 1.18969038e-02 9.99915370e-01 2.99071711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.224839173 meters Centerline goodness : 0.737502 Centerline is valid? [False, False] Translation: X:-22.79, Y:38.69, Z:2.99 [[ 9.99526433e-01 3.03200578e-02 -5.25385018e-03 -2.27863563e+01] [-3.03903170e-02 9.99442102e-01 -1.38532550e-02 3.86866441e+01] [ 4.83088758e-03 1.40063607e-02 9.99890236e-01 2.99437864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.254839173 meters Centerline goodness : 0.736057 Centerline is valid? [False, False] Translation: X:-22.78, Y:38.69, Z:2.99 [[ 9.99503391e-01 3.09473527e-02 -5.93563866e-03 -2.27835931e+01] [-3.10249948e-02 9.99427869e-01 -1.34679282e-02 3.86868116e+01] [ 5.51544597e-03 1.36453931e-02 9.99891686e-01 2.99293664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.284839172999998 meters Centerline goodness : 0.734379 Centerline is valid? [False, False] Translation: X:-22.78, Y:38.69, Z:2.98 [[ 9.99441016e-01 3.26197144e-02 -7.32185134e-03 -2.27759045e+01] [-3.26944569e-02 9.99411991e-01 -1.03317445e-02 3.86852311e+01] [ 6.98052747e-03 1.05653532e-02 9.99919820e-01 2.98444461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.314839173 meters Centerline goodness : 0.731697 Centerline is valid? [False, False] Translation: X:-22.77, Y:38.68, Z:2.98 [[ 9.99427164e-01 3.29376629e-02 -7.77518725e-03 -2.27737488e+01] [-3.30097427e-02 9.99411465e-01 -9.33168897e-03 3.86835333e+01] [ 7.46324726e-03 9.58300038e-03 9.99926230e-01 2.98216071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.344839173 meters Centerline goodness : 0.733960 Centerline is valid? [False, False] Translation: X:-22.78, Y:38.68, Z:2.98 [[ 9.99463628e-01 3.19225786e-02 -7.30789626e-03 -2.27762901e+01] [-3.19948672e-02 9.99438022e-01 -9.99839114e-03 3.86845866e+01] [ 6.98461495e-03 1.02268435e-02 9.99923310e-01 2.98379498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.374839172999998 meters Centerline goodness : 0.734814 Centerline is valid? [False, False] Translation: X:-22.78, Y:38.69, Z:2.99 [[ 9.99467838e-01 3.17764760e-02 -7.36857202e-03 -2.27774321e+01] [-3.18576927e-02 9.99429887e-01 -1.11798431e-02 3.86867087e+01] [ 7.00911508e-03 1.14086393e-02 9.99910354e-01 2.98663505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.404839173 meters Centerline goodness : 0.737019 Centerline is valid? [False, False] Translation: X:-22.78, Y:38.68, Z:2.99 [[ 9.99468998e-01 3.17509541e-02 -7.32115280e-03 -2.27813588e+01] [-3.18331293e-02 9.99428237e-01 -1.13951732e-02 3.86840816e+01] [ 6.95515921e-03 1.16221776e-02 9.99908271e-01 2.99202745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.434839173 meters Centerline goodness : 0.735440 Centerline is valid? [False, False] Translation: X:-22.78, Y:38.68, Z:2.99 [[ 9.99451380e-01 3.21805062e-02 -7.83285793e-03 -2.27803148e+01] [-3.22661249e-02 9.99418102e-01 -1.10614409e-02 3.86825997e+01] [ 7.47233723e-03 1.13081084e-02 9.99908141e-01 2.99244040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.464839172999998 meters Centerline goodness : 0.734473 Centerline is valid? [False, False] Translation: X:-22.77, Y:38.68, Z:2.99 [[ 9.99339703e-01 3.50251171e-02 -9.66432823e-03 -2.27722157e+01] [-3.51114173e-02 9.99343690e-01 -8.90942285e-03 3.86811292e+01] [ 9.34593185e-03 9.24286824e-03 9.99913608e-01 2.98808095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.494839173 meters Centerline goodness : 0.733935 Centerline is valid? [False, False] Translation: X:-22.77, Y:38.68, Z:2.98 [[ 9.99261261e-01 3.69109630e-02 -1.07010574e-02 -2.27667853e+01] [-3.69940634e-02 9.99286016e-01 -7.67449862e-03 3.86803219e+01] [ 1.04101439e-02 8.06470477e-03 9.99913291e-01 2.98480266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.524839173 meters Centerline goodness : 0.732207 Centerline is valid? [False, False] Translation: X:-22.76, Y:38.68, Z:2.98 [[ 9.99173980e-01 3.89602863e-02 -1.15522543e-02 -2.27625051e+01] [-3.90438956e-02 9.99212255e-01 -7.10242768e-03 3.86798892e+01] [ 1.12664414e-02 7.54760594e-03 9.99908046e-01 2.98358494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.554839172999998 meters Centerline goodness : 0.733235 Centerline is valid? [False, False] Translation: X:-22.76, Y:38.68, Z:2.98 [[ 9.99156524e-01 3.92972952e-02 -1.19148221e-02 -2.27617695e+01] [-3.93923401e-02 9.99192984e-01 -7.85005004e-03 3.86823787e+01] [ 1.15967209e-02 8.31278144e-03 9.99898202e-01 2.98487031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.584839173 meters Centerline goodness : 0.735653 Centerline is valid? [False, False] Translation: X:-22.77, Y:38.69, Z:2.99 [[ 9.99205472e-01 3.81480646e-02 -1.15390607e-02 -2.27655361e+01] [-3.82590585e-02 9.99222160e-01 -9.55616327e-03 3.86850196e+01] [ 1.11655360e-02 9.99004423e-03 9.99887759e-01 2.98933787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.614839173 meters Centerline goodness : 0.735617 Centerline is valid? [False, False] Translation: X:-22.76, Y:38.68, Z:2.99 [[ 9.99320318e-01 3.47913812e-02 -1.21844872e-02 -2.27640805e+01] [-3.49543326e-02 9.99298719e-01 -1.34262669e-02 3.86846806e+01] [ 1.17088241e-02 1.38430419e-02 9.99835623e-01 2.98980066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.644839172999998 meters Centerline goodness : 0.734170 Centerline is valid? [False, False] Translation: X:-22.76, Y:38.68, Z:2.99 [[ 9.99275601e-01 3.59246042e-02 -1.25576725e-02 -2.27611101e+01] [-3.60698124e-02 9.99282703e-01 -1.15346147e-02 3.86812155e+01] [ 1.21342885e-02 1.19792119e-02 9.99854618e-01 2.98631016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.674839173 meters Centerline goodness : 0.734084 Centerline is valid? [False, False] Translation: X:-22.76, Y:38.68, Z:2.98 [[ 9.99243101e-01 3.65993713e-02 -1.31799232e-02 -2.27584240e+01] [-3.67466206e-02 9.99262867e-01 -1.11088976e-02 3.86821517e+01] [ 1.27636292e-02 1.15848069e-02 9.99851430e-01 2.98487350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.704839173 meters Centerline goodness : 0.734545 Centerline is valid? [False, False] Translation: X:-22.76, Y:38.68, Z:2.99 [[ 9.99122470e-01 3.98745274e-02 -1.28184116e-02 -2.27602561e+01] [-3.99800085e-02 9.99167805e-01 -8.08063238e-03 3.86844743e+01] [ 1.24855328e-02 8.58602159e-03 9.99885189e-01 2.98672011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.734839173 meters Centerline goodness : 0.736464 Centerline is valid? [False, False] Translation: X:-22.76, Y:38.69, Z:2.99 [[ 9.99150588e-01 3.92289297e-02 -1.26171860e-02 -2.27624808e+01] [-3.93545410e-02 9.99176600e-01 -9.86623662e-03 3.86880081e+01] [ 1.22197551e-02 1.03543997e-02 9.99871724e-01 2.99035320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.764839173 meters Centerline goodness : 0.734573 Centerline is valid? [False, False] Translation: X:-22.76, Y:38.69, Z:2.99 [[ 9.99140582e-01 3.93813619e-02 -1.29307747e-02 -2.27626216e+01] [-3.95104386e-02 9.99170280e-01 -9.88310812e-03 3.86858646e+01] [ 1.25308355e-02 1.03855150e-02 9.99867551e-01 2.99178271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.794839173 meters Centerline goodness : 0.729287 Centerline is valid? [False, False] Translation: X:-22.75, Y:38.68, Z:2.99 [[ 9.99131285e-01 3.88982463e-02 -1.49533367e-02 -2.27537424e+01] [-3.90548539e-02 9.99183696e-01 -1.03276526e-02 3.86793588e+01] [ 1.45394027e-02 1.09026812e-02 9.99834855e-01 2.98592877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.824839173 meters Centerline goodness : 0.727534 Centerline is valid? [False, False] Translation: X:-22.75, Y:38.68, Z:2.98 [[ 9.99101975e-01 3.93460281e-02 -1.57204808e-02 -2.27475396e+01] [-3.95130247e-02 9.99164334e-01 -1.04572555e-02 3.86765693e+01] [ 1.52958923e-02 1.10690283e-02 9.99821740e-01 2.98137181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.854839173 meters Centerline goodness : 0.728955 Centerline is valid? [False, False] Translation: X:-22.74, Y:38.68, Z:2.98 [[ 9.98950902e-01 4.26272742e-02 -1.67335458e-02 -2.27410059e+01] [-4.27758258e-02 9.99047490e-01 -8.62210724e-03 3.86767381e+01] [ 1.63500700e-02 9.32885305e-03 9.99822808e-01 2.97789468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.884839173 meters Centerline goodness : 0.729012 Centerline is valid? [False, False] Translation: X:-22.74, Y:38.68, Z:2.98 [[ 9.98909415e-01 4.34158746e-02 -1.71767957e-02 -2.27393606e+01] [-4.35713974e-02 9.99011682e-01 -8.78587401e-03 3.86784838e+01] [ 1.67783732e-02 9.52470926e-03 9.99813866e-01 2.97819995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.914839173 meters Centerline goodness : 0.730832 Centerline is valid? [False, False] Translation: X:-22.74, Y:38.68, Z:2.98 [[ 9.98927518e-01 4.30595831e-02 -1.70201378e-02 -2.27407319e+01] [-4.32185538e-02 9.99024332e-01 -9.08520323e-03 3.86779616e+01] [ 1.66123267e-02 9.81104525e-03 9.99813870e-01 2.97957491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.944839173 meters Centerline goodness : 0.731046 Centerline is valid? [False, False] Translation: X:-22.73, Y:38.67, Z:2.98 [[ 9.99303851e-01 3.60175253e-02 -9.72372400e-03 -2.27337835e+01] [-3.60584331e-02 9.99341416e-01 -4.06493613e-03 3.86702784e+01] [ 9.57091117e-03 4.41272859e-03 9.99944461e-01 2.97664814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.974839173 meters Centerline goodness : 0.729407 Centerline is valid? [False, False] Translation: X:-22.73, Y:38.67, Z:2.98 [[ 9.99536157e-01 2.84429263e-02 -1.08844504e-02 -2.27311089e+01] [-2.85584311e-02 9.99535837e-01 -1.06078287e-02 3.86669885e+01] [ 1.05776805e-02 1.09137512e-02 9.99884495e-01 2.97508944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.004839173 meters Centerline goodness : 0.730730 Centerline is valid? [False, False] Translation: X:-22.73, Y:38.66, Z:2.97 [[ 9.99617957e-01 2.51496477e-02 -1.14645605e-02 -2.27292516e+01] [-2.53053090e-02 9.99586697e-01 -1.36409963e-02 3.86636723e+01] [ 1.11167559e-02 1.39258991e-02 9.99841231e-01 2.97412846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.034839172999998 meters Centerline goodness : 0.730559 Centerline is valid? [False, False] Translation: X:-22.73, Y:38.66, Z:2.97 [[ 9.99719921e-01 2.08410121e-02 -1.12130270e-02 -2.27306514e+01] [-2.10273784e-02 9.99638283e-01 -1.67676000e-02 3.86561464e+01] [ 1.08595173e-02 1.69986843e-02 9.99796537e-01 2.97405635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.064839173 meters Centerline goodness : 0.734791 Centerline is valid? [False, False] Translation: X:-22.73, Y:38.65, Z:2.98 [[ 9.99838921e-01 1.44342519e-02 -1.06670218e-02 -2.27278636e+01] [-1.45101082e-02 9.99869738e-01 -7.06844314e-03 3.86521579e+01] [ 1.05636046e-02 7.22208420e-03 9.99918123e-01 2.97571679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.094839173 meters Centerline goodness : 0.733211 Centerline is valid? [False, False] Translation: X:-22.73, Y:38.65, Z:2.98 [[ 9.99858480e-01 1.30496886e-02 -1.06172337e-02 -2.27299258e+01] [-1.31195095e-02 9.99892591e-01 -6.53333203e-03 3.86502654e+01] [ 1.05308354e-02 6.67170033e-03 9.99922292e-01 2.97641985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.124839172999998 meters Centerline goodness : 0.733450 Centerline is valid? [False, False] Translation: X:-22.73, Y:38.65, Z:2.98 [[ 9.99849935e-01 1.33087206e-02 -1.10898360e-02 -2.27292756e+01] [-1.33741446e-02 9.99893471e-01 -5.84631943e-03 3.86480963e+01] [ 1.10108476e-02 5.99375918e-03 9.99921415e-01 2.97664847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.154839173 meters Centerline goodness : 0.734399 Centerline is valid? [False, False] Translation: X:-22.73, Y:38.65, Z:2.98 [[ 9.99862837e-01 1.26443465e-02 -1.06971168e-02 -2.27314992e+01] [-1.27075537e-02 9.99902075e-01 -5.86161243e-03 3.86462279e+01] [ 1.06219530e-02 5.99674262e-03 9.99925604e-01 2.97797160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.184839173 meters Centerline goodness : 0.736818 Centerline is valid? [False, False] Translation: X:-22.73, Y:38.64, Z:2.98 [[ 9.99868145e-01 1.23942784e-02 -1.04916313e-02 -2.27334514e+01] [-1.24556980e-02 9.99905550e-01 -5.80919211e-03 3.86425854e+01] [ 1.04186396e-02 5.93910673e-03 9.99928087e-01 2.98001210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.214839172999998 meters Centerline goodness : 0.733430 Centerline is valid? [False, False] Translation: X:-22.73, Y:38.64, Z:2.98 [[ 9.99852928e-01 1.22891675e-02 -1.19624093e-02 -2.27256305e+01] [-1.23750551e-02 9.99897988e-01 -7.13244291e-03 3.86391899e+01] [ 1.18735372e-02 7.27942940e-03 9.99903010e-01 2.97574572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.244839173 meters Centerline goodness : 0.732767 Centerline is valid? [False, False] Translation: X:-22.72, Y:38.64, Z:2.97 [[ 9.99830467e-01 1.33192199e-02 -1.27135774e-02 -2.27226834e+01] [-1.33979805e-02 9.99891452e-01 -6.13005651e-03 3.86371016e+01] [ 1.26305498e-02 6.29935352e-03 9.99900389e-01 2.97409742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.274839173 meters Centerline goodness : 0.733519 Centerline is valid? [False, False] Translation: X:-22.72, Y:38.64, Z:2.97 [[ 9.99880060e-01 1.54824649e-02 3.98078211e-04 -2.27204057e+01] [-1.54808129e-02 9.99872702e-01 -3.86325425e-03 3.86350822e+01] [-4.57840235e-04 3.85662832e-03 9.99992458e-01 2.96676986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.304839172999998 meters Centerline goodness : 0.733850 Centerline is valid? [False, False] Translation: X:-22.72, Y:38.64, Z:2.97 [[ 9.99876083e-01 1.57421762e-02 -4.23424511e-05 -2.27196900e+01] [-1.57422010e-02 9.99864996e-01 -4.70874210e-03 3.86390092e+01] [-3.17891131e-05 4.70882517e-03 9.99988913e-01 2.96811916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.334839173 meters Centerline goodness : 0.736308 Centerline is valid? [False, False] Translation: X:-22.72, Y:38.64, Z:2.97 [[ 9.99832130e-01 1.83195320e-02 3.27524719e-04 -2.27227993e+01] [-1.83186647e-02 9.99829125e-01 -2.47955307e-03 3.86435345e+01] [-3.72893005e-04 2.47313701e-03 9.99996872e-01 2.97164448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.364839173 meters Centerline goodness : 0.735392 Centerline is valid? [False, False] Translation: X:-22.72, Y:38.64, Z:2.97 [[ 9.99866696e-01 1.63101586e-02 -7.54537264e-04 -2.27185282e+01] [-1.63142836e-02 9.99849924e-01 -5.82862711e-03 3.86442456e+01] [ 6.59358193e-04 5.84015987e-03 9.99982729e-01 2.97053026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.394839172999998 meters Centerline goodness : 0.734209 Centerline is valid? [False, False] Translation: X:-22.72, Y:38.64, Z:2.97 [[ 9.99904538e-01 1.37340597e-02 -1.51371931e-03 -2.27150200e+01] [-1.37472978e-02 9.99863977e-01 -9.11255423e-03 3.86443111e+01] [ 1.38836105e-03 9.13249387e-03 9.99957334e-01 2.96869790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.424839173 meters Centerline goodness : 0.732904 Centerline is valid? [False, False] Translation: X:-22.71, Y:38.64, Z:2.97 [[ 9.99937072e-01 1.09750625e-02 -2.32379306e-03 -2.27117849e+01] [-1.10027756e-02 9.99864193e-01 -1.22692776e-02 3.86435287e+01] [ 2.18882138e-03 1.22940737e-02 9.99922029e-01 2.96710131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.454839173 meters Centerline goodness : 0.733094 Centerline is valid? [False, False] Translation: X:-22.71, Y:38.64, Z:2.96 [[ 9.99964684e-01 7.83359780e-03 -3.04383536e-03 -2.27086851e+01] [-7.87931030e-03 9.99851778e-01 -1.53081046e-02 3.86430292e+01] [ 2.92346667e-03 1.53315473e-02 9.99878191e-01 2.96492307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.484839173 meters Centerline goodness : 0.736425 Centerline is valid? [False, False] Translation: X:-22.71, Y:38.64, Z:2.96 [[ 9.99964760e-01 7.75617523e-03 -3.21254008e-03 -2.27077992e+01] [-7.80180004e-03 9.99865274e-01 -1.44417918e-02 3.86411258e+01] [ 3.10009420e-03 1.44663465e-02 9.99890551e-01 2.96326530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.514839173 meters Centerline goodness : 0.733308 Centerline is valid? [False, False] Translation: X:-22.70, Y:38.64, Z:2.96 [[ 9.99990562e-01 2.07928943e-03 3.81479504e-03 -2.26989322e+01] [-2.04749691e-03 9.99963300e-01 -8.31906737e-03 3.86369559e+01] [-3.83195279e-03 8.31117807e-03 9.99958119e-01 2.95797794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.544839173 meters Centerline goodness : 0.734063 Centerline is valid? [False, False] Translation: X:-22.70, Y:38.63, Z:2.96 [[ 9.99990098e-01 1.77225729e-03 4.08196785e-03 -2.26997047e+01] [-1.74007984e-03 9.99967494e-01 -7.87293354e-03 3.86349552e+01] [-4.09578802e-03 7.86575264e-03 9.99960676e-01 2.95754676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.574839173 meters Centerline goodness : 0.734248 Centerline is valid? [False, False] Translation: X:-22.70, Y:38.63, Z:2.95 [[ 9.99994832e-01 -8.87765429e-04 3.09008471e-03 -2.26956292e+01] [ 9.19455112e-04 9.99946850e-01 -1.02690117e-02 3.86320313e+01] [-3.08080400e-03 1.02717998e-02 9.99942498e-01 2.95489658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.604839173 meters Centerline goodness : 0.731630 Centerline is valid? [False, False] Translation: X:-22.69, Y:38.63, Z:2.95 [[ 9.99996802e-01 1.25063574e-04 2.52609102e-03 -2.26930154e+01] [-1.02956609e-04 9.99961715e-01 -8.74968714e-03 3.86287117e+01] [-2.52708858e-03 8.74939908e-03 9.99958530e-01 2.95270935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.634839173 meters Centerline goodness : 0.734530 Centerline is valid? [False, False] Translation: X:-22.66, Y:38.63, Z:2.96 [[ 9.99992172e-01 3.64001596e-03 1.55132671e-03 -2.26646424e+01] [-3.62933775e-03 9.99970080e-01 -6.83138269e-03 3.86285302e+01] [-1.57614663e-03 6.82569893e-03 9.99975462e-01 2.95645881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.664839173 meters Centerline goodness : 0.735928 Centerline is valid? [False, False] Translation: X:-22.66, Y:38.63, Z:2.96 [[ 9.99957305e-01 9.11220542e-03 1.53499905e-03 -2.26644525e+01] [-9.10742103e-03 9.99953735e-01 -3.09554480e-03 3.86318562e+01] [-1.56313528e-03 3.08143275e-03 9.99994031e-01 2.95843541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.694839173 meters Centerline goodness : 0.738840 Centerline is valid? [False, False] Translation: X:-22.66, Y:38.63, Z:2.96 [[ 9.99955090e-01 9.40055412e-03 1.20292143e-03 -2.26647476e+01] [-9.39572328e-03 9.99948016e-01 -3.96045701e-03 3.86337394e+01] [-1.24008938e-03 3.94897683e-03 9.99991434e-01 2.96123161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.724839173 meters Centerline goodness : 0.737097 Centerline is valid? [False, False] Translation: X:-22.66, Y:38.63, Z:2.96 [[ 9.99955206e-01 9.43074517e-03 8.04613828e-04 -2.26649307e+01] [-9.42745868e-03 9.99947580e-01 -3.99499010e-03 3.86325525e+01] [-8.42247384e-04 3.98722568e-03 9.99991696e-01 2.96292141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.754839173 meters Centerline goodness : 0.736535 Centerline is valid? [False, False] Translation: X:-22.66, Y:38.63, Z:2.96 [[ 9.99981262e-01 6.12112547e-03 8.31878527e-05 -2.26629605e+01] [-6.12043242e-03 9.99958914e-01 -6.68656304e-03 3.86279602e+01] [-1.24113726e-04 6.68592860e-03 9.99977641e-01 2.96207479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.784839172999998 meters Centerline goodness : 0.734862 Centerline is valid? [False, False] Translation: X:-22.66, Y:38.62, Z:2.96 [[ 9.99999065e-01 -1.17146680e-03 -7.05941236e-04 -2.26596697e+01] [ 1.16312499e-03 9.99930837e-01 -1.17033560e-02 3.86203908e+01] [ 7.19602504e-04 1.17025240e-02 9.99931264e-01 2.95772202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.814839173 meters Centerline goodness : 0.734862 Centerline is valid? [False, False] Translation: X:-22.66, Y:38.62, Z:2.96 [[ 9.99999065e-01 -1.17146680e-03 -7.05941236e-04 -2.26596697e+01] [ 1.16312499e-03 9.99930837e-01 -1.17033560e-02 3.86203908e+01] [ 7.19602504e-04 1.17025240e-02 9.99931264e-01 2.95772202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.844839173 meters Centerline goodness : 0.732860 Centerline is valid? [False, False] Translation: X:-22.66, Y:38.62, Z:2.96 [[ 9.99989486e-01 -4.44990191e-03 -1.10769863e-03 -2.26576549e+01] [ 4.43346253e-03 9.99886117e-01 -1.44256095e-02 3.86164901e+01] [ 1.17176503e-03 1.44205469e-02 9.99895332e-01 2.95594425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.874839172999998 meters Centerline goodness : 0.730552 Centerline is valid? [False, False] Translation: X:-22.65, Y:38.61, Z:2.95 [[ 9.99974888e-01 -6.75126319e-03 -2.15478391e-03 -2.26525946e+01] [ 6.71767109e-03 9.99861396e-01 -1.52335655e-02 3.86098807e+01] [ 2.25733106e-03 1.52187078e-02 9.99881641e-01 2.95093390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.904839173 meters Centerline goodness : 0.731408 Centerline is valid? [False, False] Translation: X:-22.65, Y:38.61, Z:2.95 [[ 9.99994383e-01 -2.52965970e-03 -2.19869858e-03 -2.26515009e+01] [ 2.50801266e-03 9.99948902e-01 -9.79300350e-03 3.86068873e+01] [ 2.22335920e-03 9.78743413e-03 9.99949630e-01 2.94827415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.934839173 meters Centerline goodness : 0.732773 Centerline is valid? [False, False] Translation: X:-22.65, Y:38.60, Z:2.95 [[ 9.99996678e-01 1.30950593e-03 -2.22014319e-03 -2.26516048e+01] [-1.32098593e-03 9.99985725e-01 -5.17728249e-03 3.86046535e+01] [ 2.21333182e-03 5.18019807e-03 9.99984133e-01 2.94773145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.964839172999998 meters Centerline goodness : 0.733909 Centerline is valid? [False, False] Translation: X:-22.65, Y:38.60, Z:2.95 [[ 9.99997140e-01 1.30038451e-03 -2.00745039e-03 -2.26538556e+01] [-1.31179299e-03 9.99982939e-01 -5.69225039e-03 3.86044361e+01] [ 2.00001403e-03 5.69486747e-03 9.99981784e-01 2.95133430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.994839173 meters Centerline goodness : 0.737268 Centerline is valid? [False, False] Translation: X:-22.66, Y:38.60, Z:2.96 [[ 9.99997524e-01 -2.12456025e-03 -6.61400438e-04 -2.26617032e+01] [ 2.11925709e-03 9.99966406e-01 -7.91810540e-03 3.86045267e+01] [ 6.78200711e-04 7.91668412e-03 9.99968433e-01 2.95784799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.024839173 meters Centerline goodness : 0.739692 Centerline is valid? [False, False] Translation: X:-22.67, Y:38.60, Z:2.96 [[ 9.99992573e-01 -3.85365331e-03 -5.55277370e-05 -2.26656571e+01] [ 3.85303733e-03 9.99955990e-01 -8.55410336e-03 3.86031728e+01] [ 8.84898419e-05 8.55382588e-03 9.99963411e-01 2.96067776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.054839172999998 meters Centerline goodness : 0.740297 Centerline is valid? [False, False] Translation: X:-22.67, Y:38.60, Z:2.96 [[ 9.99985316e-01 -5.41438068e-03 2.28721459e-04 -2.26694123e+01] [ 5.41625797e-03 9.99942903e-01 -9.21162210e-03 3.86021690e+01] [-1.78833171e-04 9.21272565e-03 9.99957546e-01 2.96440024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.084839173 meters Centerline goodness : 0.741666 Centerline is valid? [False, False] Translation: X:-22.67, Y:38.60, Z:2.96 [[ 9.99991562e-01 -4.03480755e-03 -7.72732116e-04 -2.26656608e+01] [ 4.02820903e-03 9.99956954e-01 -8.35843617e-03 3.86024643e+01] [ 8.06423535e-04 8.35525291e-03 9.99964769e-01 2.96279222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.114839173 meters Centerline goodness : 0.738294 Centerline is valid? [False, False] Translation: X:-22.66, Y:38.60, Z:2.96 [[ 9.99998995e-01 7.44044271e-04 -1.20672885e-03 -2.26636253e+01] [-7.48219236e-04 9.99993724e-01 -3.46298416e-03 3.86006336e+01] [ 1.20414466e-03 3.46388358e-03 9.99993276e-01 2.96112080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.144839172999998 meters Centerline goodness : 0.737866 Centerline is valid? [False, False] Translation: X:-22.66, Y:38.60, Z:2.96 [[ 9.99991147e-01 3.61619199e-03 -2.15171197e-03 -2.26590297e+01] [-3.62165320e-03 9.99990217e-01 -2.53961694e-03 3.85998796e+01] [ 2.14250718e-03 2.54738721e-03 9.99994460e-01 2.95973229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.174839173 meters Centerline goodness : 0.737859 Centerline is valid? [False, False] Translation: X:-22.63, Y:38.60, Z:2.96 [[ 9.99972872e-01 1.73579420e-03 -7.15843765e-03 -2.26336807e+01] [-1.74308700e-03 9.99997968e-01 -1.01265801e-03 3.85999083e+01] [ 7.15666534e-03 1.02510832e-03 9.99973865e-01 2.95802593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.204839173 meters Centerline goodness : 0.736723 Centerline is valid? [False, False] Translation: X:-22.63, Y:38.60, Z:2.96 [[ 9.99972207e-01 1.77159002e-03 -7.24206479e-03 -2.26333554e+01] [-1.77664938e-03 9.99998182e-01 -6.92233278e-04 3.85985542e+01] [ 7.24082527e-03 7.05080649e-04 9.99973536e-01 2.95762468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.234839173 meters Centerline goodness : 0.739072 Centerline is valid? [False, False] Translation: X:-22.64, Y:38.60, Z:2.96 [[ 9.99976510e-01 7.98909722e-04 -6.80736380e-03 -2.26355563e+01] [-8.04843051e-04 9.99999299e-01 -8.68909605e-04 3.85973538e+01] [ 6.80666485e-03 8.74368055e-04 9.99976452e-01 2.95874620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.264839173 meters Centerline goodness : 0.738716 Centerline is valid? [False, False] Translation: X:-22.64, Y:38.60, Z:2.96 [[ 9.99975432e-01 6.23404628e-04 -6.98186296e-03 -2.26354370e+01] [-6.31817651e-04 9.99999077e-01 -1.20284171e-03 3.85992694e+01] [ 6.98110666e-03 1.20722342e-03 9.99974903e-01 2.95913796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.294839173 meters Centerline goodness : 0.740444 Centerline is valid? [False, False] Translation: X:-22.64, Y:38.60, Z:2.96 [[ 9.99974882e-01 1.62477302e-04 -7.08580973e-03 -2.26358875e+01] [-1.75966669e-04 9.99998174e-01 -1.90313382e-03 3.86017963e+01] [ 7.08548757e-03 1.90433289e-03 9.99973084e-01 2.96016263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.324839173 meters Centerline goodness : 0.739755 Centerline is valid? [False, False] Translation: X:-22.64, Y:38.60, Z:2.96 [[ 9.99975236e-01 -1.23256406e-04 -7.03648792e-03 -2.26356742e+01] [ 1.09339896e-04 9.99998038e-01 -1.97811405e-03 3.86028314e+01] [ 7.03671792e-03 1.97729570e-03 9.99973287e-01 2.95938494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.354839173 meters Centerline goodness : 0.737751 Centerline is valid? [False, False] Translation: X:-22.64, Y:38.60, Z:2.96 [[ 9.99974379e-01 -3.54645587e-04 -7.14953508e-03 -2.26352614e+01] [ 3.41744925e-04 9.99998312e-01 -1.80554666e-03 3.86024210e+01] [ 7.15016334e-03 1.80305708e-03 9.99972812e-01 2.95872741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.384839173 meters Centerline goodness : 0.737540 Centerline is valid? [False, False] Translation: X:-22.63, Y:38.60, Z:2.96 [[ 9.99975397e-01 -5.59497482e-04 -6.99228480e-03 -2.26347686e+01] [ 5.45857089e-04 9.99997945e-01 -1.95253384e-03 3.86037118e+01] [ 6.99336286e-03 1.94866901e-03 9.99973647e-01 2.95734535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.414839173 meters Centerline goodness : 0.738436 Centerline is valid? [False, False] Translation: X:-22.63, Y:38.60, Z:2.96 [[ 9.99975105e-01 -5.29640955e-04 -7.03624919e-03 -2.26340433e+01] [ 5.15050640e-04 9.99997714e-01 -2.07524297e-03 3.86046494e+01] [ 7.03733224e-03 2.07156728e-03 9.99973092e-01 2.95652024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.444839173 meters Centerline goodness : 0.739901 Centerline is valid? [False, False] Translation: X:-22.64, Y:38.61, Z:2.96 [[ 9.99975389e-01 -1.03211487e-03 -6.93942314e-03 -2.26350040e+01] [ 1.00764566e-03 9.99993266e-01 -3.52868754e-03 3.86092636e+01] [ 6.94301843e-03 3.52160821e-03 9.99969696e-01 2.95813171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.474839173 meters Centerline goodness : 0.739510 Centerline is valid? [False, False] Translation: X:-22.63, Y:38.61, Z:2.96 [[ 9.99973498e-01 -6.61551647e-04 -7.25023651e-03 -2.26336951e+01] [ 6.36493005e-04 9.99993818e-01 -3.45801412e-03 3.86100918e+01] [ 7.25247935e-03 3.45330775e-03 9.99967738e-01 2.95749183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.504839173 meters Centerline goodness : 0.734755 Centerline is valid? [False, False] Translation: X:-22.62, Y:38.61, Z:2.95 [[ 9.99949427e-01 2.30774687e-03 -9.78861807e-03 -2.26199109e+01] [-2.34077015e-03 9.99991604e-01 -3.36352649e-03 3.86090938e+01] [ 9.78077372e-03 3.38626929e-03 9.99946433e-01 2.95006246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.534839172999998 meters Centerline goodness : 0.735584 Centerline is valid? [False, False] Translation: X:-22.62, Y:38.61, Z:2.95 [[ 9.99939124e-01 3.43213866e-03 -1.04865540e-02 -2.26160752e+01] [-3.46168854e-03 9.99990085e-01 -2.80103191e-03 3.86092768e+01] [ 1.04768365e-02 2.83716258e-03 9.99941091e-01 2.94729388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.564839173 meters Centerline goodness : 0.737739 Centerline is valid? [False, False] Translation: X:-22.62, Y:38.62, Z:2.95 [[ 9.99932504e-01 6.06825039e-03 -9.90779775e-03 -2.26187926e+01] [-6.07764974e-03 9.99981109e-01 -9.18848939e-04 3.86166319e+01] [ 9.90203477e-03 9.79003044e-04 9.99950494e-01 2.94953046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.594839173 meters Centerline goodness : 0.738189 Centerline is valid? [False, False] Translation: X:-22.61, Y:38.62, Z:2.95 [[ 9.99993377e-01 2.95438398e-03 -2.12558952e-03 -2.26112086e+01] [-2.94721335e-03 9.99989983e-01 3.36874272e-03 3.86208358e+01] [ 2.13552078e-03 -3.36245584e-03 9.99992067e-01 2.95026751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.624839172999998 meters Centerline goodness : 0.738262 Centerline is valid? [False, False] Translation: X:-22.62, Y:38.62, Z:2.96 [[ 9.99994593e-01 -2.93780945e-03 -1.47782136e-03 -2.26159506e+01] [ 2.93340501e-03 9.99991276e-01 -2.97374928e-03 3.86248730e+01] [ 1.48654477e-03 2.96939815e-03 9.99994486e-01 2.95527483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.654839173 meters Centerline goodness : 0.738497 Centerline is valid? [False, False] Translation: X:-22.61, Y:38.62, Z:2.96 [[ 9.99976735e-01 -6.57297760e-03 -1.82377644e-03 -2.26147053e+01] [ 6.56030393e-03 9.99954880e-01 -6.87021233e-03 3.86243728e+01] [ 1.86885190e-03 6.85808796e-03 9.99974737e-01 2.95505716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.684839173 meters Centerline goodness : 0.737834 Centerline is valid? [False, False] Translation: X:-22.61, Y:38.62, Z:2.95 [[ 9.99944349e-01 -1.03026747e-02 -2.27032143e-03 -2.26116253e+01] [ 1.02821445e-02 9.99907741e-01 -8.87624348e-03 3.86193750e+01] [ 2.36156102e-03 8.85240573e-03 9.99958028e-01 2.95032770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.714839172999998 meters Centerline goodness : 0.737879 Centerline is valid? [False, False] Translation: X:-22.61, Y:38.62, Z:2.95 [[ 9.99926872e-01 -1.19397428e-02 -1.92167981e-03 -2.26133585e+01] [ 1.19198479e-02 9.99878438e-01 -1.00511662e-02 3.86235519e+01] [ 2.04145455e-03 1.00275251e-02 9.99947639e-01 2.95079969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.744839173 meters Centerline goodness : 0.738294 Centerline is valid? [False, False] Translation: X:-22.62, Y:38.62, Z:2.95 [[ 9.99952809e-01 -9.59259076e-03 -1.53683583e-03 -2.26158181e+01] [ 9.58242458e-03 9.99933019e-01 -6.49116801e-03 3.86238483e+01] [ 1.59900000e-03 6.47613507e-03 9.99977751e-01 2.95137836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.774839173 meters Centerline goodness : 0.741407 Centerline is valid? [False, False] Translation: X:-22.62, Y:38.62, Z:2.95 [[ 9.99972205e-01 -7.36856735e-03 -1.13724601e-03 -2.26185580e+01] [ 7.36509194e-03 9.99968285e-01 -3.03050481e-03 3.86235563e+01] [ 1.15954042e-03 3.02204466e-03 9.99994761e-01 2.95234978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.804839172999998 meters Centerline goodness : 0.744216 Centerline is valid? [False, False] Translation: X:-22.62, Y:38.63, Z:2.95 [[ 9.99966288e-01 -8.11117567e-03 -1.27729687e-03 -2.26195999e+01] [ 8.10489828e-03 9.99955415e-01 -4.84537825e-03 3.86296306e+01] [ 1.31654163e-03 4.83486254e-03 9.99987445e-01 2.95478046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.834839173 meters Centerline goodness : 0.746343 Centerline is valid? [False, False] Translation: X:-22.62, Y:38.63, Z:2.96 [[ 9.99960533e-01 -8.81412086e-03 -1.11545061e-03 -2.26210509e+01] [ 8.80764688e-03 9.99945071e-01 -5.68150679e-03 3.86312904e+01] [ 1.16546683e-03 5.67145806e-03 9.99983238e-01 2.95625646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.864839173 meters Centerline goodness : 0.748343 Centerline is valid? [False, False] Translation: X:-22.62, Y:38.63, Z:2.96 [[ 9.99941344e-01 -1.07989166e-02 -8.31905064e-04 -2.26234250e+01] [ 1.07935474e-02 9.99922472e-01 -6.20873014e-03 3.86297589e+01] [ 8.98888127e-04 6.19938675e-03 9.99980380e-01 2.95703144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.894839172999998 meters Centerline goodness : 0.744118 Centerline is valid? [False, False] Translation: X:-22.62, Y:38.63, Z:2.96 [[ 9.99946168e-01 -1.03195571e-02 -1.08076796e-03 -2.26217025e+01] [ 1.03135729e-02 9.99932214e-01 -5.40339228e-03 3.86284109e+01] [ 1.13645531e-03 5.39195483e-03 9.99984818e-01 2.95511976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.924839173 meters Centerline goodness : 0.746734 Centerline is valid? [False, False] Translation: X:-22.62, Y:38.63, Z:2.95 [[ 9.99951483e-01 -9.75170686e-03 -1.39134196e-03 -2.26199322e+01] [ 9.74435876e-03 9.99939034e-01 -5.19379629e-03 3.86288924e+01] [ 1.44190551e-03 5.17998657e-03 9.99985544e-01 2.95388920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.954839173 meters Centerline goodness : 0.747446 Centerline is valid? [False, False] Translation: X:-22.62, Y:38.63, Z:2.95 [[ 9.99954806e-01 -9.33664083e-03 -1.79244502e-03 -2.26188830e+01] [ 9.32690630e-03 9.99942114e-01 -5.36450836e-03 3.86302220e+01] [ 1.84242775e-03 5.34754795e-03 9.99984004e-01 2.95416767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.984839173 meters Centerline goodness : 0.747159 Centerline is valid? [False, False] Translation: X:-22.62, Y:38.63, Z:2.95 [[ 9.99986688e-01 -4.44399476e-03 -2.62192626e-03 -2.26167931e+01] [ 4.44057775e-03 9.99989286e-01 -1.30763087e-03 3.86321875e+01] [ 2.62770927e-03 1.29597059e-03 9.99995708e-01 2.95442518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.014839173 meters Centerline goodness : 0.749092 Centerline is valid? [False, False] Translation: X:-22.61, Y:38.63, Z:2.95 [[ 9.99989365e-01 -3.22905051e-03 -3.29274985e-03 -2.26145219e+01] [ 3.22520204e-03 9.99994111e-01 -1.17341159e-03 3.86335883e+01] [ 3.29651946e-03 1.16277933e-03 9.99993890e-01 2.95445750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.044839173 meters Centerline goodness : 0.748091 Centerline is valid? [False, False] Translation: X:-22.61, Y:38.64, Z:2.96 [[ 9.99990552e-01 -2.12351417e-03 -3.79288997e-03 -2.26129906e+01] [ 2.11792049e-03 9.99996665e-01 -1.47818904e-03 3.86351190e+01] [ 3.79601627e-03 1.47014203e-03 9.99991714e-01 2.95536141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.074839173 meters Centerline goodness : 0.748159 Centerline is valid? [False, False] Translation: X:-22.61, Y:38.64, Z:2.96 [[ 9.99989220e-01 -1.57751383e-03 -4.36703075e-03 -2.26113915e+01] [ 1.57019476e-03 9.99997358e-01 -1.67890499e-03 3.86363851e+01] [ 4.36966771e-03 1.67202980e-03 9.99989055e-01 2.95555537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.104839173 meters Centerline goodness : 0.748194 Centerline is valid? [False, False] Translation: X:-22.61, Y:38.64, Z:2.95 [[ 9.99976282e-01 4.40665600e-03 -5.29314689e-03 -2.26065110e+01] [-4.38855882e-03 9.99984502e-01 3.42574524e-03 3.86353313e+01] [ 5.30816094e-03 -3.40243470e-03 9.99980123e-01 2.95252517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.134839173 meters Centerline goodness : 0.746475 Centerline is valid? [False, False] Translation: X:-22.60, Y:38.64, Z:2.95 [[ 9.99945206e-01 8.41283757e-03 -6.22972664e-03 -2.25996119e+01] [-8.37668200e-03 9.99948052e-01 5.80724272e-03 3.86353303e+01] [ 6.27825841e-03 -5.75474008e-03 9.99963733e-01 2.94794105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.164839173 meters Centerline goodness : 0.747748 Centerline is valid? [False, False] Translation: X:-22.60, Y:38.64, Z:2.95 [[ 9.99935276e-01 9.15107144e-03 -6.76034586e-03 -2.25976677e+01] [-9.11389329e-03 9.99943287e-01 5.50993313e-03 3.86374720e+01] [ 6.81038425e-03 -5.44796343e-03 9.99961968e-01 2.94789178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.194839173 meters Centerline goodness : 0.747707 Centerline is valid? [False, False] Translation: X:-22.60, Y:38.64, Z:2.95 [[ 9.99920614e-01 1.02093857e-02 -7.38466542e-03 -2.25953648e+01] [-1.01726642e-02 9.99935790e-01 4.99325458e-03 3.86410821e+01] [ 7.43516931e-03 -4.91773647e-03 9.99960266e-01 2.94811466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.224839173 meters Centerline goodness : 0.746835 Centerline is valid? [False, False] Translation: X:-22.60, Y:38.65, Z:2.95 [[ 9.99925124e-01 9.81237551e-03 -7.31184266e-03 -2.25966196e+01] [-9.78901185e-03 9.99946888e-01 3.22428412e-03 3.86456994e+01] [ 7.34309221e-03 -3.15246698e-03 9.99968070e-01 2.95090860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.254839173 meters Centerline goodness : 0.746749 Centerline is valid? [False, False] Translation: X:-22.60, Y:38.65, Z:2.95 [[ 9.99949767e-01 6.37670222e-03 -7.73311165e-03 -2.25959355e+01] [-6.38679844e-03 9.99978783e-01 -1.28159104e-03 3.86471289e+01] [ 7.72477525e-03 1.33091649e-03 9.99969278e-01 2.95241388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.284839172999998 meters Centerline goodness : 0.747083 Centerline is valid? [False, False] Translation: X:-22.59, Y:38.65, Z:2.95 [[ 9.99956129e-01 4.62463127e-03 -8.14572887e-03 -2.25932072e+01] [-4.66302247e-03 9.99978081e-01 -4.70037616e-03 3.86467626e+01] [ 8.12381282e-03 4.73815367e-03 9.99955776e-01 2.95221945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.314839173 meters Centerline goodness : 0.744943 Centerline is valid? [False, False] Translation: X:-22.59, Y:38.65, Z:2.95 [[ 9.99949563e-01 5.31505868e-03 -8.52177624e-03 -2.25917011e+01] [-5.35106497e-03 9.99976829e-01 -4.20799034e-03 3.86462198e+01] [ 8.49921307e-03 4.25337868e-03 9.99954835e-01 2.95154368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.344839173 meters Centerline goodness : 0.739959 Centerline is valid? [False, False] Translation: X:-22.59, Y:38.65, Z:2.95 [[ 9.99933753e-01 6.88060753e-03 -9.22748949e-03 -2.25879674e+01] [-6.91439899e-03 9.99969488e-01 -3.63515373e-03 3.86466632e+01] [ 9.20219587e-03 3.69871545e-03 9.99950818e-01 2.94961787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.374839172999998 meters Centerline goodness : 0.738331 Centerline is valid? [False, False] Translation: X:-22.59, Y:38.64, Z:2.95 [[ 9.99947049e-01 3.85504080e-03 -9.54133873e-03 -2.25863851e+01] [-3.91687362e-03 9.99971396e-01 -6.47033822e-03 3.86424842e+01] [ 9.51612239e-03 6.50736783e-03 9.99933547e-01 2.94859038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.404839173 meters Centerline goodness : 0.737032 Centerline is valid? [False, False] Translation: X:-22.59, Y:38.64, Z:2.95 [[ 9.99954646e-01 3.02988399e-03 -9.02914016e-03 -2.25883330e+01] [-3.08345771e-03 9.99977691e-01 -5.92542285e-03 3.86383638e+01] [ 9.01098538e-03 5.95299509e-03 9.99941680e-01 2.94846610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.434839173 meters Centerline goodness : 0.737699 Centerline is valid? [False, False] Translation: X:-22.59, Y:38.64, Z:2.95 [[ 9.99960459e-01 -1.34740203e-03 -8.79001670e-03 -2.25903670e+01] [ 1.25987230e-03 9.99949646e-01 -9.95580611e-03 3.86356566e+01] [ 8.80298856e-03 9.94433815e-03 9.99911805e-01 2.95059358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.464839172999998 meters Centerline goodness : 0.738246 Centerline is valid? [False, False] Translation: X:-22.59, Y:38.63, Z:2.95 [[ 9.99961510e-01 -1.85443753e-03 -8.57546470e-03 -2.25916747e+01] [ 1.77240452e-03 9.99952696e-01 -9.56373904e-03 3.86338673e+01] [ 8.59279440e-03 9.54817175e-03 9.99917495e-01 2.95092907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.494839173 meters Centerline goodness : 0.738927 Centerline is valid? [False, False] Translation: X:-22.59, Y:38.63, Z:2.95 [[ 9.99961237e-01 -2.22584566e-03 -8.51884091e-03 -2.25920702e+01] [ 2.14760318e-03 9.99955531e-01 -9.18279278e-03 3.86331471e+01] [ 8.53890157e-03 9.16414174e-03 9.99921550e-01 2.95055090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.524839173 meters Centerline goodness : 0.736950 Centerline is valid? [False, False] Translation: X:-22.59, Y:38.63, Z:2.95 [[ 9.99958154e-01 -1.81583199e-03 -8.96627012e-03 -2.25901367e+01] [ 1.73988546e-03 9.99962609e-01 -8.47079606e-03 3.86333591e+01] [ 8.98131640e-03 8.45484131e-03 9.99923923e-01 2.94890568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.554839172999998 meters Centerline goodness : 0.738779 Centerline is valid? [False, False] Translation: X:-22.59, Y:38.63, Z:2.95 [[ 9.99955664e-01 -1.19178381e-03 -9.34077086e-03 -2.25887678e+01] [ 1.12150436e-03 9.99971054e-01 -7.52557585e-03 3.86315349e+01] [ 9.34946934e-03 7.51476648e-03 9.99928055e-01 2.94798815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.584839173 meters Centerline goodness : 0.668593 Centerline is valid? [False, False] Translation: X:-22.59, Y:38.63, Z:2.95 [[ 9.99958526e-01 -1.48771774e-03 -8.98516735e-03 -2.25899464e+01] [ 1.42349643e-03 9.99973428e-01 -7.14965139e-03 3.86282390e+01] [ 8.99556526e-03 7.13656451e-03 9.99934072e-01 2.94811129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.614839173 meters Centerline goodness : 0.739181 Centerline is valid? [False, False] Translation: X:-22.58, Y:38.63, Z:2.95 [[ 9.99973776e-01 -6.98908852e-03 -1.89739555e-03 -2.25814470e+01] [ 6.98278113e-03 9.99970139e-01 -3.31075444e-03 3.86266672e+01] [ 1.92047805e-03 3.29741852e-03 9.99992719e-01 2.94730988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.644839172999998 meters Centerline goodness : 0.741392 Centerline is valid? [False, False] Translation: X:-22.58, Y:38.63, Z:2.95 [[ 9.99972467e-01 -7.19079271e-03 -1.83262571e-03 -2.25821229e+01] [ 7.18446212e-03 9.99968282e-01 -3.43786897e-03 3.86266767e+01] [ 1.85728858e-03 3.42460788e-03 9.99992411e-01 2.94789101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.674839173 meters Centerline goodness : 0.740364 Centerline is valid? [False, False] Translation: X:-22.58, Y:38.63, Z:2.95 [[ 9.99974547e-01 -6.84188688e-03 -2.02345192e-03 -2.25810597e+01] [ 6.83560582e-03 9.99971848e-01 -3.09492112e-03 3.86258785e+01] [ 2.04457006e-03 3.08101082e-03 9.99993164e-01 2.94702028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.704839173 meters Centerline goodness : 0.740364 Centerline is valid? [False, False] Translation: X:-22.58, Y:38.63, Z:2.95 [[ 9.99974547e-01 -6.84188688e-03 -2.02345192e-03 -2.25810597e+01] [ 6.83560582e-03 9.99971848e-01 -3.09492112e-03 3.86258785e+01] [ 2.04457006e-03 3.08101082e-03 9.99993164e-01 2.94702028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.734839172999997 meters Centerline goodness : 0.740409 Centerline is valid? [False, False] Translation: X:-22.58, Y:38.63, Z:2.95 [[ 9.99977776e-01 -6.18399778e-03 -2.49108371e-03 -2.25800481e+01] [ 6.17395787e-03 9.99972868e-01 -4.01806774e-03 3.86294748e+01] [ 2.51586385e-03 4.00259859e-03 9.99988825e-01 2.94851732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.764839173 meters Centerline goodness : 0.745059 Centerline is valid? [False, False] Translation: X:-22.58, Y:38.63, Z:2.95 [[ 9.99991310e-01 -3.55396712e-03 -2.17918635e-03 -2.25835325e+01] [ 3.55019059e-03 9.99992194e-01 -1.73442575e-03 3.86335620e+01] [ 2.18533343e-03 1.72667415e-03 9.99996121e-01 2.95244163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.794839173 meters Centerline goodness : 0.741821 Centerline is valid? [False, False] Translation: X:-22.58, Y:38.63, Z:2.95 [[ 9.99992610e-01 -2.71837109e-03 -2.71862408e-03 -2.25814532e+01] [ 2.71512300e-03 9.99995597e-01 -1.19773308e-03 3.86331776e+01] [ 2.72186799e-03 1.19034283e-03 9.99995587e-01 2.95161188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.824839173 meters Centerline goodness : 0.742184 Centerline is valid? [False, False] Translation: X:-22.58, Y:38.63, Z:2.95 [[ 9.99989523e-01 2.89105857e-03 -3.54900228e-03 -2.25774234e+01] [-2.88016451e-03 9.99991137e-01 3.07089487e-03 3.86347664e+01] [ 3.55784896e-03 -3.06064099e-03 9.99988987e-01 2.94975248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.854839173 meters Centerline goodness : 0.744232 Centerline is valid? [False, False] Translation: X:-22.58, Y:38.64, Z:2.95 [[ 9.99988643e-01 2.92191564e-03 -3.76520490e-03 -2.25774707e+01] [-2.91413973e-03 9.99993613e-01 2.06903841e-03 3.86373591e+01] [ 3.77122641e-03 -2.05804258e-03 9.99990771e-01 2.95140333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.884839173 meters Centerline goodness : 0.743454 Centerline is valid? [False, False] Translation: X:-22.58, Y:38.64, Z:2.95 [[ 9.99988446e-01 2.80073233e-03 -3.90686066e-03 -2.25774929e+01] [-2.79590559e-03 9.99995322e-01 1.24036535e-03 3.86392990e+01] [ 3.91031632e-03 -1.22942780e-03 9.99991599e-01 2.95245350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.914839173 meters Centerline goodness : 0.744200 Centerline is valid? [False, False] Translation: X:-22.58, Y:38.64, Z:2.95 [[ 9.99988908e-01 2.56295183e-03 -3.95166963e-03 -2.25776963e+01] [-2.55931046e-03 9.99996296e-01 9.26260016e-04 3.86404418e+01] [ 3.95402895e-03 -9.16136192e-04 9.99991763e-01 2.95289116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.944839173 meters Centerline goodness : 0.742869 Centerline is valid? [False, False] Translation: X:-22.58, Y:38.64, Z:2.95 [[ 9.99990648e-01 -7.52331337e-04 -4.25875097e-03 -2.25763494e+01] [ 7.41955826e-04 9.99996754e-01 -2.43733621e-03 3.86390716e+01] [ 4.26057083e-03 2.43415361e-03 9.99987961e-01 2.95227717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.974839173 meters Centerline goodness : 0.742743 Centerline is valid? [False, False] Translation: X:-22.58, Y:38.64, Z:2.95 [[ 9.99991833e-01 -1.48803620e-03 -3.75770823e-03 -2.25783531e+01] [ 1.47874128e-03 9.99995844e-01 -2.47512867e-03 3.86374149e+01] [ 3.76137569e-03 2.46955177e-03 9.99989877e-01 2.95288018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.004839173 meters Centerline goodness : 0.742137 Centerline is valid? [False, False] Translation: X:-22.58, Y:38.64, Z:2.95 [[ 9.99992457e-01 -1.86521769e-03 -3.40679480e-03 -2.25796322e+01] [ 1.85763882e-03 9.99995796e-01 -2.22644413e-03 3.86357769e+01] [ 3.41093328e-03 2.22009874e-03 9.99991718e-01 2.95315657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.034839172999998 meters Centerline goodness : 0.744819 Centerline is valid? [False, False] Translation: X:-22.58, Y:38.64, Z:2.95 [[ 9.99990690e-01 -2.66082617e-03 -3.39713596e-03 -2.25806615e+01] [ 2.65254767e-03 9.99993507e-01 -2.43909126e-03 3.86371834e+01] [ 3.40360390e-03 2.43005749e-03 9.99991255e-01 2.95384453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.064839173 meters Centerline goodness : 0.746656 Centerline is valid? [False, False] Translation: X:-22.58, Y:38.64, Z:2.95 [[ 9.99991029e-01 -2.71828289e-03 -3.24855193e-03 -2.25810540e+01] [ 2.71234961e-03 9.99994648e-01 -1.82944855e-03 3.86354487e+01] [ 3.25350751e-03 1.82062093e-03 9.99993050e-01 2.95339850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.094839173 meters Centerline goodness : 0.744979 Centerline is valid? [False, False] Translation: X:-22.58, Y:38.63, Z:2.95 [[ 9.99991434e-01 -2.33576954e-03 -3.41689863e-03 -2.25803840e+01] [ 2.33131566e-03 9.99996429e-01 -1.30688677e-03 3.86339170e+01] [ 3.41993901e-03 1.29890970e-03 9.99993308e-01 2.95293939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.124839172999998 meters Centerline goodness : 0.746794 Centerline is valid? [False, False] Translation: X:-22.58, Y:38.63, Z:2.96 [[ 9.99980152e-01 -5.19190090e-03 -3.56924555e-03 -2.25801417e+01] [ 5.17275218e-03 9.99972292e-01 -5.35338136e-03 3.86326729e+01] [ 3.59694088e-03 5.33481228e-03 9.99979301e-01 2.95501038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.154839173 meters Centerline goodness : 0.749577 Centerline is valid? [False, False] Translation: X:-22.58, Y:38.63, Z:2.96 [[ 9.99980185e-01 -5.26975155e-03 -3.44359614e-03 -2.25813784e+01] [ 5.25191095e-03 9.99972847e-01 -5.16947133e-03 3.86306566e+01] [ 3.47074446e-03 5.15128344e-03 9.99980709e-01 2.95630878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.184839173 meters Centerline goodness : 0.752366 Centerline is valid? [False, False] Translation: X:-22.58, Y:38.63, Z:2.96 [[ 9.99981225e-01 -4.85059073e-03 -3.74442364e-03 -2.25807017e+01] [ 4.83360768e-03 9.99978051e-01 -4.53136091e-03 3.86287908e+01] [ 3.76632123e-03 4.51317676e-03 9.99982723e-01 2.95629150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.214839172999998 meters Centerline goodness : 0.752013 Centerline is valid? [False, False] Translation: X:-22.58, Y:38.63, Z:2.96 [[ 9.99980429e-01 -4.83046414e-03 -3.97587639e-03 -2.25800867e+01] [ 4.81771802e-03 9.99983245e-01 -3.20922254e-03 3.86254603e+01] [ 3.99131181e-03 3.19000508e-03 9.99986947e-01 2.95507022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.244839173 meters Centerline goodness : 0.752838 Centerline is valid? [False, False] Translation: X:-22.58, Y:38.62, Z:2.96 [[ 9.99976918e-01 -5.69641926e-03 -3.70324975e-03 -2.25817267e+01] [ 5.68550498e-03 9.99979483e-01 -2.95109456e-03 3.86239536e+01] [ 3.71998445e-03 2.92997159e-03 9.99988788e-01 2.95544642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.274839173 meters Centerline goodness : 0.754165 Centerline is valid? [False, False] Translation: X:-22.59, Y:38.62, Z:2.96 [[ 9.99925991e-01 -1.18728998e-02 -2.65451088e-03 -2.25868430e+01] [ 1.18521044e-02 9.99899982e-01 -7.71706726e-03 3.86211577e+01] [ 2.74586934e-03 7.68503459e-03 9.99966700e-01 2.95851166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.304839172999998 meters Centerline goodness : 0.755696 Centerline is valid? [False, False] Translation: X:-22.59, Y:38.62, Z:2.96 [[ 9.99916725e-01 -1.26782312e-02 -2.40932705e-03 -2.25882815e+01] [ 1.26604957e-02 9.99893648e-01 -7.23910740e-03 3.86178067e+01] [ 2.50084989e-03 7.20800129e-03 9.99970895e-01 2.95869198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.334839173 meters Centerline goodness : 0.758866 Centerline is valid? [False, False] Translation: X:-22.59, Y:38.62, Z:2.96 [[ 9.99892147e-01 -1.44814581e-02 -2.44563491e-03 -2.25890282e+01] [ 1.44630059e-02 9.99868013e-01 -7.40123576e-03 3.86152259e+01] [ 2.55249280e-03 7.36506628e-03 9.99969620e-01 2.95801849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.364839173 meters Centerline goodness : 0.759100 Centerline is valid? [False, False] Translation: X:-22.59, Y:38.61, Z:2.96 [[ 9.99929257e-01 -1.16635623e-02 -2.33285312e-03 -2.25903652e+01] [ 1.16558872e-02 9.99926698e-01 -3.27695790e-03 3.86137069e+01] [ 2.37090312e-03 3.24953461e-03 9.99991910e-01 2.95789125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.394839172999998 meters Centerline goodness : 0.760837 Centerline is valid? [False, False] Translation: X:-22.59, Y:38.62, Z:2.96 [[ 9.99948519e-01 -1.00131644e-02 -1.64161348e-03 -2.25943434e+01] [ 1.00118307e-02 9.99949545e-01 -8.18628325e-04 3.86162715e+01] [ 1.64972771e-03 8.02150626e-04 9.99998317e-01 2.95990407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.424839173 meters Centerline goodness : 0.761180 Centerline is valid? [False, False] Translation: X:-22.60, Y:38.62, Z:2.96 [[ 9.99943327e-01 -1.05180869e-02 -1.64676476e-03 -2.25950127e+01] [ 1.05147188e-02 9.99942636e-01 -2.04075619e-03 3.86202563e+01] [ 1.66813515e-03 2.02332527e-03 9.99996562e-01 2.96120725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.454839173 meters Centerline goodness : 0.759345 Centerline is valid? [False, False] Translation: X:-22.60, Y:38.62, Z:2.96 [[ 9.99934337e-01 -1.13953314e-02 -1.21197453e-03 -2.25965681e+01] [ 1.13920901e-02 9.99931601e-01 -2.64850648e-03 3.86203325e+01] [ 1.24207224e-03 2.63452565e-03 9.99995758e-01 2.96156528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.484839172999997 meters Centerline goodness : 0.759747 Centerline is valid? [False, False] Translation: X:-22.60, Y:38.62, Z:2.96 [[ 9.99926959e-01 -1.20421584e-02 -1.03085955e-03 -2.25972292e+01] [ 1.20398653e-02 9.99925093e-01 -2.20243271e-03 3.86177496e+01] [ 1.05730438e-03 2.18986043e-03 9.99997043e-01 2.96098900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.514839173 meters Centerline goodness : 0.765473 Centerline is valid? [False, False] Translation: X:-22.60, Y:38.62, Z:2.96 [[ 9.99932269e-01 -1.16370747e-02 1.90286925e-04 -2.26040788e+01] [ 1.16372082e-02 9.99932029e-01 -7.16171718e-04 3.86238157e+01] [-1.81939848e-04 7.18337619e-04 9.99999725e-01 2.96465280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.544839173 meters Centerline goodness : 0.766615 Centerline is valid? [False, False] Translation: X:-22.60, Y:38.63, Z:2.97 [[ 9.99933835e-01 -1.15001544e-02 -2.67484752e-04 -2.26032524e+01] [ 1.14998200e-02 9.99933131e-01 -1.21982493e-03 3.86272002e+01] [ 2.81495041e-04 1.21666820e-03 9.99999220e-01 2.96519658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.574839173 meters Centerline goodness : 0.766227 Centerline is valid? [False, False] Translation: X:-22.60, Y:38.63, Z:2.96 [[ 9.99963128e-01 -8.57418796e-03 -4.76203637e-04 -2.26003763e+01] [ 8.57444673e-03 9.99963091e-01 5.44043519e-04 3.86293715e+01] [ 4.71521330e-04 -5.48106641e-04 9.99999739e-01 2.96328257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.604839173 meters Centerline goodness : 0.767013 Centerline is valid? [False, False] Translation: X:-22.60, Y:38.63, Z:2.96 [[ 9.99968500e-01 -7.87899469e-03 -9.58920471e-04 -2.25982025e+01] [ 7.87973451e-03 9.99968658e-01 7.70200620e-04 3.86297586e+01] [ 9.52822009e-04 -7.77732398e-04 9.99999244e-01 2.96216748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.634839173 meters Centerline goodness : 0.762862 Centerline is valid? [False, False] Translation: X:-22.59, Y:38.63, Z:2.96 [[ 9.99963930e-01 -8.28998985e-03 -1.84795933e-03 -2.25918431e+01] [ 8.28862032e-03 9.99965369e-01 -7.47532799e-04 3.86299528e+01] [ 1.85409237e-03 7.32188802e-04 9.99998013e-01 2.95769633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.664839173 meters Centerline goodness : 0.763364 Centerline is valid? [False, False] Translation: X:-22.59, Y:38.63, Z:2.96 [[ 9.99964027e-01 -8.30413429e-03 -1.72818092e-03 -2.25912373e+01] [ 8.30297696e-03 9.99965301e-01 -6.75776949e-04 3.86307574e+01] [ 1.73373269e-03 6.61403593e-04 9.99998278e-01 2.95632579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.694839173 meters Centerline goodness : 0.763238 Centerline is valid? [False, False] Translation: X:-22.59, Y:38.64, Z:2.96 [[ 9.99979661e-01 -6.29680406e-03 -1.01344205e-03 -2.25941575e+01] [ 6.29851731e-03 9.99978725e-01 1.69631282e-03 3.86367635e+01] [ 1.00273914e-03 -1.70266150e-03 9.99998048e-01 2.95695456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.724839173 meters Centerline goodness : 0.764089 Centerline is valid? [False, False] Translation: X:-22.60, Y:38.64, Z:2.96 [[ 9.99973250e-01 -7.27628704e-03 -7.44881983e-04 -2.25962448e+01] [ 7.27642537e-03 9.99973510e-01 1.83174417e-04 3.86417316e+01] [ 7.43529422e-04 -1.88589595e-04 9.99999706e-01 2.95914244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.754839173 meters Centerline goodness : 0.765112 Centerline is valid? [False, False] Translation: X:-22.60, Y:38.65, Z:2.96 [[ 9.99961185e-01 -8.80990300e-03 -1.20709709e-04 -2.25998892e+01] [ 8.80971784e-03 9.99960132e-01 -1.45705055e-03 3.86460860e+01] [ 1.33541371e-04 1.45593057e-03 9.99998931e-01 2.96211788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.784839172999998 meters Centerline goodness : 0.764847 Centerline is valid? [False, False] Translation: X:-22.60, Y:38.65, Z:2.96 [[ 9.99956353e-01 -9.34252265e-03 9.15247893e-05 -2.26012367e+01] [ 9.34268206e-03 9.99954490e-01 -1.93176863e-03 3.86473944e+01] [-7.34730319e-05 1.93253940e-03 9.99998130e-01 2.96313487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.814839173 meters Centerline goodness : 0.765661 Centerline is valid? [False, False] Translation: X:-22.60, Y:38.65, Z:2.97 [[ 9.99943650e-01 -1.06075182e-02 4.20148348e-04 -2.26040066e+01] [ 1.06085929e-02 9.99940232e-01 -2.64390170e-03 3.86486151e+01] [-3.92078001e-04 2.64820990e-03 9.99996417e-01 2.96525914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.844839173 meters Centerline goodness : 0.766246 Centerline is valid? [False, False] Translation: X:-22.60, Y:38.65, Z:2.96 [[ 9.99933378e-01 -1.15411665e-02 2.04043136e-04 -2.26044501e+01] [ 1.15415516e-02 9.99931395e-01 -1.99946969e-03 3.86462115e+01] [-1.80952925e-04 2.00169146e-03 9.99997980e-01 2.96484784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.874839172999998 meters Centerline goodness : 0.764018 Centerline is valid? [False, False] Translation: X:-22.60, Y:38.64, Z:2.96 [[ 9.99942191e-01 -1.07523288e-02 3.76434146e-05 -2.26023973e+01] [ 1.07523288e-02 9.99942192e-01 -1.08376472e-06 3.86414115e+01] [-3.76295855e-05 1.48845644e-06 9.99999999e-01 2.96171801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.904839173 meters Centerline goodness : 0.762014 Centerline is valid? [False, False] Translation: X:-22.60, Y:38.64, Z:2.96 [[ 9.99951480e-01 -9.84650534e-03 -2.91019760e-04 -2.25999090e+01] [ 9.84701491e-03 9.99949888e-01 1.80474711e-03 3.86366085e+01] [ 2.73234725e-04 -1.80752521e-03 9.99998329e-01 2.95880083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.934839173 meters Centerline goodness : 0.762037 Centerline is valid? [False, False] Translation: X:-22.60, Y:38.63, Z:2.96 [[ 9.99910092e-01 -1.34085825e-02 -1.31269086e-04 -2.25998670e+01] [ 1.34083062e-02 9.99908266e-01 -1.91761458e-03 3.86349037e+01] [ 1.56969537e-04 1.91568207e-03 9.99998153e-01 2.95894339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.964839172999998 meters Centerline goodness : 0.763569 Centerline is valid? [False, False] Translation: X:-22.60, Y:38.63, Z:2.96 [[ 9.99899703e-01 -1.41621983e-02 1.26604257e-04 -2.26015090e+01] [ 1.41623862e-02 9.99898376e-01 -1.63217981e-03 3.86326391e+01] [-1.03476137e-04 1.63380913e-03 9.99998660e-01 2.95952787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.994839173 meters Centerline goodness : 0.763919 Centerline is valid? [False, False] Translation: X:-22.60, Y:38.63, Z:2.96 [[ 9.99879598e-01 -1.55155395e-02 2.39165467e-04 -2.26031919e+01] [ 1.55157852e-02 9.99879059e-01 -1.06195917e-03 3.86290206e+01] [-2.22659672e-04 1.06554215e-03 9.99999408e-01 2.95960635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.024839173 meters Centerline goodness : 0.765008 Centerline is valid? [False, False] Translation: X:-22.60, Y:38.63, Z:2.96 [[ 9.99881948e-01 -1.53651474e-02 -3.62780455e-05 -2.26021875e+01] [ 1.53651119e-02 9.99881603e-01 -8.32362901e-04 3.86291631e+01] [ 4.90631290e-05 8.31707223e-04 9.99999653e-01 2.95894914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.054839172999998 meters Centerline goodness : 0.760887 Centerline is valid? [False, False] Translation: X:-22.60, Y:38.63, Z:2.96 [[ 9.99889284e-01 -1.48710660e-02 -5.20384322e-04 -2.25997238e+01] [ 1.48709233e-02 9.99889383e-01 -2.76956798e-04 3.86301837e+01] [ 5.24445402e-04 2.69187539e-04 9.99999826e-01 2.95679850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.084839173 meters Centerline goodness : 0.760152 Centerline is valid? [False, False] Translation: X:-22.60, Y:38.63, Z:2.95 [[ 9.99904392e-01 -1.38135138e-02 -6.27899140e-04 -2.25973980e+01] [ 1.38143226e-02 9.99903729e-01 1.30255636e-03 3.86259561e+01] [ 6.09845811e-04 -1.31110582e-03 9.99998955e-01 2.95380195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.114839173 meters Centerline goodness : 0.759980 Centerline is valid? [False, False] Translation: X:-22.60, Y:38.62, Z:2.95 [[ 9.99910864e-01 -1.33377257e-02 -6.07874017e-04 -2.25968928e+01] [ 1.33391194e-02 9.99908270e-01 2.34943566e-03 3.86216671e+01] [ 5.76482128e-04 -2.35733474e-03 9.99997055e-01 2.95285382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.144839172999998 meters Centerline goodness : 0.761289 Centerline is valid? [False, False] Translation: X:-22.60, Y:38.62, Z:2.95 [[ 9.99897486e-01 -1.43180218e-02 1.05717215e-04 -2.25998608e+01] [ 1.43177513e-02 9.99895021e-01 2.22445918e-03 3.86181770e+01] [-1.37555972e-04 -2.22271751e-03 9.99997520e-01 2.95425189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.174839173 meters Centerline goodness : 0.762346 Centerline is valid? [False, False] Translation: X:-22.60, Y:38.62, Z:2.96 [[ 9.99888701e-01 -1.49119387e-02 4.68562783e-04 -2.26018139e+01] [ 1.49110168e-02 9.99886995e-01 1.91298332e-03 3.86175211e+01] [-4.97036123e-04 -1.90578366e-03 9.99998060e-01 2.95572091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.204839173 meters Centerline goodness : 0.764451 Centerline is valid? [False, False] Translation: X:-22.60, Y:38.62, Z:2.95 [[ 9.99940165e-01 -1.09367755e-02 2.31123904e-04 -2.26009261e+01] [ 1.09352100e-02 9.99922566e-01 5.93994206e-03 3.86184997e+01] [-2.96069819e-04 -5.93705925e-03 9.99982332e-01 2.95478872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.234839172999997 meters Centerline goodness : 0.760201 Centerline is valid? [False, False] Translation: X:-22.60, Y:38.62, Z:2.95 [[ 9.99976811e-01 -6.72739264e-03 -1.05804090e-03 -2.25953416e+01] [ 6.73658783e-03 9.99937331e-01 8.94159536e-03 3.86220626e+01] [ 9.97820968e-04 -8.94851559e-03 9.99959463e-01 2.95189230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.264839173 meters Centerline goodness : 0.758143 Centerline is valid? [False, False] Translation: X:-22.59, Y:38.62, Z:2.95 [[ 9.99980434e-01 -6.02878243e-03 -1.66903327e-03 -2.25929542e+01] [ 6.04436844e-03 9.99936640e-01 9.49635004e-03 3.86213076e+01] [ 1.61167609e-03 -9.50625248e-03 9.99953516e-01 2.95062276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.294839173 meters Centerline goodness : 0.759758 Centerline is valid? [False, False] Translation: X:-22.59, Y:38.62, Z:2.95 [[ 9.99980776e-01 -6.05471383e-03 -1.33704919e-03 -2.25937858e+01] [ 6.06692007e-03 9.99938143e-01 9.32211612e-03 3.86200086e+01] [ 1.28052374e-03 -9.33004868e-03 9.99955654e-01 2.95104055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.324839173 meters Centerline goodness : 0.762990 Centerline is valid? [False, False] Translation: X:-22.60, Y:38.62, Z:2.95 [[ 9.99975632e-01 -6.91503532e-03 -9.58011675e-04 -2.25959852e+01] [ 6.92260669e-03 9.99942914e-01 8.13917920e-03 3.86217577e+01] [ 9.01674274e-04 -8.14561280e-03 9.99966417e-01 2.95314119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.354839173 meters Centerline goodness : 0.760897 Centerline is valid? [False, False] Translation: X:-22.60, Y:38.63, Z:2.96 [[ 9.99971130e-01 -7.54791027e-03 -8.76857057e-04 -2.25973711e+01] [ 7.55295133e-03 9.99954097e-01 5.89546036e-03 3.86288376e+01] [ 8.32318401e-04 -5.90191301e-03 9.99982237e-01 2.95608042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.384839173 meters Centerline goodness : 0.761672 Centerline is valid? [False, False] Translation: X:-22.60, Y:38.63, Z:2.96 [[ 9.99971012e-01 -7.52604449e-03 -1.15455290e-03 -2.25968388e+01] [ 7.53207370e-03 9.99957536e-01 5.30981038e-03 3.86309089e+01] [ 1.11454200e-03 -5.31835264e-03 9.99985236e-01 2.95659344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.414839173 meters Centerline goodness : 0.761079 Centerline is valid? [False, False] Translation: X:-22.59, Y:38.63, Z:2.96 [[ 9.99978792e-01 -6.27374381e-03 -1.74785595e-03 -2.25946112e+01] [ 6.28421981e-03 9.99961928e-01 6.05403796e-03 3.86276105e+01] [ 1.70980793e-03 -6.06489348e-03 9.99980147e-01 2.95619876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.444839173 meters Centerline goodness : 0.762774 Centerline is valid? [False, False] Translation: X:-22.59, Y:38.63, Z:2.96 [[ 9.99958210e-01 -8.83166553e-03 -2.36221041e-03 -2.25924067e+01] [ 8.83746204e-03 9.99957936e-01 2.45476958e-03 3.86274268e+01] [ 2.34043134e-03 -2.47554293e-03 9.99994197e-01 2.95639066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.474839173 meters Centerline goodness : 0.761201 Centerline is valid? [False, False] Translation: X:-22.59, Y:38.63, Z:2.95 [[ 9.99967411e-01 -7.31604517e-03 -3.41357821e-03 -2.25883511e+01] [ 7.32664866e-03 9.99968342e-01 3.10417253e-03 3.86278830e+01] [ 3.39075987e-03 -3.12908146e-03 9.99989356e-01 2.95496198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.504839173 meters Centerline goodness : 0.759741 Centerline is valid? [False, False] Translation: X:-22.59, Y:38.63, Z:2.95 [[ 9.99972704e-01 -6.13986964e-03 -4.11013685e-03 -2.25856009e+01] [ 6.15345786e-03 9.99975617e-01 3.30158483e-03 3.86290082e+01] [ 4.08976533e-03 -3.32678626e-03 9.99986103e-01 2.95419293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.534839172999998 meters Centerline goodness : 0.759893 Centerline is valid? [False, False] Translation: X:-22.58, Y:38.63, Z:2.95 [[ 9.99983159e-01 -3.46548395e-05 -5.80353089e-03 -2.25755643e+01] [ 7.06497095e-05 9.99980764e-01 6.20214615e-03 3.86285185e+01] [ 5.80320432e-03 -6.20245172e-03 9.99963926e-01 2.94990016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.564839173 meters Centerline goodness : 0.761409 Centerline is valid? [False, False] Translation: X:-22.57, Y:38.63, Z:2.95 [[ 9.99976297e-01 1.94533725e-03 -6.60455784e-03 -2.25716264e+01] [-1.90472936e-03 9.99979279e-01 6.14919693e-03 3.86304221e+01] [ 6.61638325e-03 -6.13647129e-03 9.99959283e-01 2.94896019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.594839173 meters Centerline goodness : 0.757123 Centerline is valid? [False, False] Translation: X:-22.57, Y:38.63, Z:2.95 [[ 9.99917532e-01 1.09517361e-02 -6.70738600e-03 -2.25696282e+01] [-1.08582345e-02 9.99845522e-01 1.38213723e-02 3.86335623e+01] [ 6.85771788e-03 -1.37474022e-02 9.99881983e-01 2.94764656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.624839172999998 meters Centerline goodness : 0.757123 Centerline is valid? [False, False] Translation: X:-22.57, Y:38.63, Z:2.95 [[ 9.99917532e-01 1.09517361e-02 -6.70738600e-03 -2.25696282e+01] [-1.08582345e-02 9.99845522e-01 1.38213723e-02 3.86335623e+01] [ 6.85771788e-03 -1.37474022e-02 9.99881983e-01 2.94764656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.654839173 meters Centerline goodness : 0.760998 Centerline is valid? [False, False] Translation: X:-22.57, Y:38.64, Z:2.95 [[ 9.99906135e-01 1.17207723e-02 -7.09542726e-03 -2.25685087e+01] [-1.16317749e-02 9.99854754e-01 1.24568717e-02 3.86391293e+01] [ 7.24040083e-03 -1.23731700e-02 9.99897235e-01 2.94929936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.684839173 meters Centerline goodness : 0.762127 Centerline is valid? [False, False] Translation: X:-22.57, Y:38.64, Z:2.95 [[ 9.99891744e-01 1.26572013e-02 -7.50298571e-03 -2.25669601e+01] [-1.25705066e-02 9.99854955e-01 1.14913740e-02 3.86442491e+01] [ 7.64734607e-03 -1.13958137e-02 9.99905822e-01 2.95023331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.714839172999998 meters Centerline goodness : 0.761777 Centerline is valid? [False, False] Translation: X:-22.57, Y:38.65, Z:2.95 [[ 9.99886858e-01 1.28615212e-02 -7.80080390e-03 -2.25663667e+01] [-1.27756313e-02 9.99858298e-01 1.09620616e-02 3.86453951e+01] [ 7.94068730e-03 -1.08611611e-02 9.99909486e-01 2.95104884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.744839173 meters Centerline goodness : 0.762488 Centerline is valid? [False, False] Translation: X:-22.57, Y:38.65, Z:2.95 [[ 9.99921684e-01 9.58447028e-03 -8.04754659e-03 -2.25657555e+01] [-9.53758510e-03 9.99937437e-01 5.84432655e-03 3.86486105e+01] [ 8.10305789e-03 -5.76711469e-03 9.99950539e-01 2.95291814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.774839173 meters Centerline goodness : 0.762010 Centerline is valid? [False, False] Translation: X:-22.56, Y:38.65, Z:2.95 [[ 9.99909606e-01 1.02137293e-02 -8.74406952e-03 -2.25635061e+01] [-1.01619272e-02 9.99930674e-01 5.94832723e-03 3.86488680e+01] [ 8.80421793e-03 -5.85893294e-03 9.99944078e-01 2.95246815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.804839172999998 meters Centerline goodness : 0.758756 Centerline is valid? [False, False] Translation: X:-22.56, Y:38.65, Z:2.95 [[ 9.99887228e-01 1.15066376e-02 -9.65032031e-03 -2.25595442e+01] [-1.14487344e-02 9.99916255e-01 6.03406938e-03 3.86514760e+01] [ 9.71894400e-03 -5.92290495e-03 9.99935229e-01 2.95081577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.834839173 meters Centerline goodness : 0.756711 Centerline is valid? [False, False] Translation: X:-22.56, Y:38.65, Z:2.95 [[ 9.99908539e-01 8.97335649e-03 -1.01188993e-02 -2.25568687e+01] [-8.95522652e-03 9.99958216e-01 1.83558331e-03 3.86544760e+01] [ 1.01349478e-02 -1.74479839e-03 9.99947118e-01 2.95032196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.864839173 meters Centerline goodness : 0.754582 Centerline is valid? [False, False] Translation: X:-22.55, Y:38.65, Z:2.95 [[ 9.99926086e-01 6.01411602e-03 -1.05665711e-02 -2.25538172e+01] [-6.03085655e-03 9.99980608e-01 -1.55314193e-03 3.86538215e+01] [ 1.05570254e-02 1.61675261e-03 9.99942966e-01 2.94805269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.894839172999998 meters Centerline goodness : 0.754143 Centerline is valid? [False, False] Translation: X:-22.55, Y:38.65, Z:2.95 [[ 9.99938720e-01 2.74978624e-03 -1.07235432e-02 -2.25523985e+01] [-2.80741292e-03 9.99981681e-01 -5.36250227e-03 3.86544281e+01] [ 1.07086010e-02 5.39227908e-03 9.99928122e-01 2.94728117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.924839173 meters Centerline goodness : 0.753682 Centerline is valid? [False, False] Translation: X:-22.55, Y:38.65, Z:2.95 [[ 9.99941857e-01 2.30969450e-03 -1.05331574e-02 -2.25524974e+01] [-2.36073385e-03 9.99985521e-01 -4.83573178e-03 3.86522325e+01] [ 1.05218358e-02 4.86031660e-03 9.99932832e-01 2.94592797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.954839173 meters Centerline goodness : 0.753722 Centerline is valid? [False, False] Translation: X:-22.55, Y:38.65, Z:2.95 [[ 9.99943341e-01 1.86172801e-03 -1.04808599e-02 -2.25527968e+01] [-1.91039534e-03 9.99987432e-01 -4.63535300e-03 3.86520312e+01] [ 1.04720984e-02 4.65511295e-03 9.99934330e-01 2.94546388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.984839172999997 meters Centerline goodness : 0.751904 Centerline is valid? [False, False] Translation: X:-22.55, Y:38.65, Z:2.94 [[ 9.99949324e-01 4.27891988e-05 -1.00671865e-02 -2.25548976e+01] [-8.47645391e-05 9.99991306e-01 -4.16913077e-03 3.86484623e+01] [ 1.00669205e-02 4.16977284e-03 9.99940633e-01 2.94461305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.014839173 meters Centerline goodness : 0.753624 Centerline is valid? [False, False] Translation: X:-22.56, Y:38.65, Z:2.94 [[ 9.99953977e-01 -7.80438314e-04 -9.56213116e-03 -2.25565526e+01] [ 7.40417675e-04 9.99990956e-01 -4.18815183e-03 3.86480516e+01] [ 9.56531327e-03 4.18087910e-03 9.99945511e-01 2.94458361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.044839173 meters Centerline goodness : 0.760218 Centerline is valid? [False, False] Translation: X:-22.56, Y:38.65, Z:2.95 [[ 9.99955472e-01 -3.63286283e-03 -8.70953811e-03 -2.25607127e+01] [ 3.58446931e-03 9.99978088e-01 -5.56556780e-03 3.86507614e+01] [ 8.72956621e-03 5.53410090e-03 9.99946583e-01 2.94582012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.074839173 meters Centerline goodness : 0.754103 Centerline is valid? [False, False] Translation: X:-22.56, Y:38.65, Z:2.94 [[ 9.99953186e-01 -3.54253706e-03 -9.00425341e-03 -2.25594041e+01] [ 3.49365503e-03 9.99979107e-01 -5.43871510e-03 3.86511529e+01] [ 9.02333213e-03 5.40700274e-03 9.99944670e-01 2.94481309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.104839173 meters Centerline goodness : 0.748858 Centerline is valid? [False, False] Translation: X:-22.56, Y:38.65, Z:2.94 [[ 9.99951544e-01 -2.70975867e-03 -9.46402247e-03 -2.25565802e+01] [ 2.65655745e-03 9.99980626e-01 -5.62947162e-03 3.86535566e+01] [ 9.47909362e-03 5.60405711e-03 9.99939369e-01 2.94316080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.134839173 meters Centerline goodness : 0.751974 Centerline is valid? [False, False] Translation: X:-22.56, Y:38.66, Z:2.94 [[ 9.99951163e-01 -2.65288920e-03 -9.52014124e-03 -2.25561116e+01] [ 2.59752697e-03 9.99979673e-01 -5.82293515e-03 3.86554510e+01] [ 9.53539532e-03 5.79792196e-03 9.99937728e-01 2.94278362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.164839173 meters Centerline goodness : 0.751667 Centerline is valid? [False, False] Translation: X:-22.56, Y:38.66, Z:2.94 [[ 9.99946948e-01 -2.77915269e-03 -9.91858960e-03 -2.25554974e+01] [ 2.71903338e-03 9.99977883e-01 -6.06962305e-03 3.86584397e+01] [ 9.93523864e-03 6.04233207e-03 9.99932388e-01 2.94306246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.194839173 meters Centerline goodness : 0.750404 Centerline is valid? [False, False] Translation: X:-22.55, Y:38.66, Z:2.94 [[ 9.99947798e-01 -2.57354110e-03 -9.88832249e-03 -2.25549110e+01] [ 2.51750676e-03 9.99980728e-01 -5.67499393e-03 3.86579789e+01] [ 9.90273676e-03 5.64980377e-03 9.99935006e-01 2.94207686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.224839173 meters Centerline goodness : 0.751084 Centerline is valid? [False, False] Translation: X:-22.56, Y:38.66, Z:2.94 [[ 9.99950999e-01 -3.10267936e-03 -9.40073904e-03 -2.25562891e+01] [ 3.05602739e-03 9.99982965e-01 -4.97289331e-03 3.86555043e+01] [ 9.41600820e-03 4.94392071e-03 9.99943447e-01 2.94139250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.254839173 meters Centerline goodness : 0.752194 Centerline is valid? [False, False] Translation: X:-22.56, Y:38.66, Z:2.94 [[ 9.99948589e-01 -3.21195464e-03 -9.61788014e-03 -2.25560889e+01] [ 3.16314458e-03 9.99982064e-01 -5.08584787e-03 3.86561493e+01] [ 9.63404315e-03 5.05516366e-03 9.99940814e-01 2.94173261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.284839172999998 meters Centerline goodness : 0.754034 Centerline is valid? [False, False] Translation: X:-22.56, Y:38.66, Z:2.94 [[ 9.99945620e-01 -3.14410904e-03 -9.94343333e-03 -2.25555469e+01] [ 3.08941479e-03 9.99980041e-01 -5.51112506e-03 3.86600443e+01] [ 9.96056245e-03 5.48010598e-03 9.99935376e-01 2.94224598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.314839173 meters Centerline goodness : 0.751445 Centerline is valid? [False, False] Translation: X:-22.56, Y:38.66, Z:2.94 [[ 9.99944879e-01 -3.40401243e-03 -9.93231301e-03 -2.25562670e+01] [ 3.34699257e-03 9.99977857e-01 -5.75182992e-03 3.86603692e+01] [ 9.95167238e-03 5.71826950e-03 9.99934131e-01 2.94316917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.344839173 meters Centerline goodness : 0.751257 Centerline is valid? [False, False] Translation: X:-22.56, Y:38.66, Z:2.94 [[ 9.99921379e-01 -7.83506950e-03 -9.79015221e-03 -2.25572868e+01] [ 7.74410588e-03 9.99926814e-01 -9.29495722e-03 3.86576643e+01] [ 9.86226234e-03 9.21841047e-03 9.99908874e-01 2.94362058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.374839172999998 meters Centerline goodness : 0.751577 Centerline is valid? [False, False] Translation: X:-22.56, Y:38.65, Z:2.94 [[ 9.99920202e-01 -8.16523773e-03 -9.63945543e-03 -2.25577154e+01] [ 8.08982896e-03 9.99936573e-01 -7.83617105e-03 3.86521584e+01] [ 9.70282823e-03 7.75756419e-03 9.99922835e-01 2.94212577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.404839173 meters Centerline goodness : 0.749411 Centerline is valid? [False, False] Translation: X:-22.55, Y:38.64, Z:2.94 [[ 9.99890398e-01 -1.02640635e-02 -1.06696755e-02 -2.25526821e+01] [ 1.01699784e-02 9.99909252e-01 -8.83516458e-03 3.86447240e+01] [ 1.07593920e-02 8.72568585e-03 9.99904044e-01 2.93789527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.434839173 meters Centerline goodness : 0.748202 Centerline is valid? [False, False] Translation: X:-22.55, Y:38.64, Z:2.93 [[ 9.99897836e-01 -8.58234167e-03 -1.14307000e-02 -2.25483780e+01] [ 8.50785912e-03 9.99942363e-01 -6.54877531e-03 3.86402034e+01] [ 1.14862450e-02 6.45085548e-03 9.99913223e-01 2.93405658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.464839172999998 meters Centerline goodness : 0.745485 Centerline is valid? [False, False] Translation: X:-22.54, Y:38.64, Z:2.93 [[ 9.99909518e-01 -4.36706202e-03 -1.27233514e-02 -2.25400020e+01] [ 4.32279130e-03 9.99984514e-01 -3.50491146e-03 3.86378819e+01] [ 1.27384606e-02 3.44959394e-03 9.99912912e-01 2.92839449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.494839173 meters Centerline goodness : 0.743602 Centerline is valid? [False, False] Translation: X:-22.53, Y:38.64, Z:2.93 [[ 9.99903282e-01 -1.76377364e-03 -1.37955202e-02 -2.25342991e+01] [ 1.73439301e-03 9.99996203e-01 -2.14139664e-03 3.86392959e+01] [ 1.37992448e-02 2.11726267e-03 9.99902544e-01 2.92535148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.524839173 meters Centerline goodness : 0.743333 Centerline is valid? [False, False] Translation: X:-22.53, Y:38.64, Z:2.92 [[ 9.99888064e-01 4.15690662e-03 -1.43728521e-02 -2.25306973e+01] [-4.13290406e-03 9.99990016e-01 1.69929210e-03 3.86440019e+01] [ 1.43797724e-02 -1.63970027e-03 9.99895261e-01 2.92427402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.554839172999998 meters Centerline goodness : 0.744209 Centerline is valid? [False, False] Translation: X:-22.53, Y:38.65, Z:2.93 [[ 9.99879833e-01 4.55636146e-03 -1.48175530e-02 -2.25294630e+01] [-4.54559936e-03 9.99989380e-01 7.59906035e-04 3.86479294e+01] [ 1.48208581e-02 -6.92460060e-04 9.99889925e-01 2.92510983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.584839173 meters Centerline goodness : 0.742794 Centerline is valid? [False, False] Translation: X:-22.53, Y:38.65, Z:2.93 [[ 9.99874004e-01 4.87295142e-03 -1.51073008e-02 -2.25282528e+01] [-4.87390521e-03 9.99988122e-01 -2.63172208e-05 3.86517809e+01] [ 1.51069931e-02 9.99454570e-05 9.99885878e-01 2.92529430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.614839173 meters Centerline goodness : 0.741228 Centerline is valid? [False, False] Translation: X:-22.53, Y:38.65, Z:2.93 [[ 9.99875884e-01 1.19735134e-03 -1.57093246e-02 -2.25265552e+01] [-1.25730063e-03 9.99991964e-01 -3.80683896e-03 3.86521238e+01] [ 1.57046402e-02 3.82611782e-03 9.99869354e-01 2.92501392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.644839172999998 meters Centerline goodness : 0.739969 Centerline is valid? [False, False] Translation: X:-22.52, Y:38.65, Z:2.92 [[ 9.99862989e-01 2.21036744e-03 -1.64047912e-02 -2.25224859e+01] [-2.24284511e-03 9.99995561e-01 -1.96163356e-03 3.86474298e+01] [ 1.64003824e-02 1.99815820e-03 9.99863508e-01 2.92102929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.674839173 meters Centerline goodness : 0.737974 Centerline is valid? [False, False] Translation: X:-22.52, Y:38.65, Z:2.92 [[ 9.99848624e-01 3.19686374e-03 -1.71028724e-02 -2.25192294e+01] [-3.22747254e-03 9.99993239e-01 -1.76238585e-03 3.86479671e+01] [ 1.70971226e-02 1.81731812e-03 9.99852182e-01 2.91956265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.704839173 meters Centerline goodness : 0.739294 Centerline is valid? [False, False] Translation: X:-22.52, Y:38.65, Z:2.92 [[ 9.99830942e-01 4.45805051e-03 -1.78385284e-02 -2.25155700e+01] [-4.48158981e-03 9.99989139e-01 -1.27981807e-03 3.86482464e+01] [ 1.78326291e-02 1.35954668e-03 9.99840062e-01 2.91773337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.734839172999997 meters Centerline goodness : 0.737461 Centerline is valid? [False, False] Translation: X:-22.51, Y:38.65, Z:2.92 [[ 9.99812302e-01 5.55754066e-03 -1.85600310e-02 -2.25121203e+01] [-5.56422342e-03 9.99984472e-01 -3.08440363e-04 3.86470444e+01] [ 1.85580287e-02 4.11654629e-04 9.99827700e-01 2.91551959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.764839173 meters Centerline goodness : 0.738236 Centerline is valid? [False, False] Translation: X:-22.51, Y:38.65, Z:2.91 [[ 9.99799540e-01 6.15776440e-03 -1.90515636e-02 -2.25097811e+01] [-6.15023290e-03 9.99980984e-01 4.53888456e-04 3.86458557e+01] [ 1.90539963e-02 -3.36625916e-04 9.99818399e-01 2.91374313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.794839173 meters Centerline goodness : 0.737929 Centerline is valid? [False, False] Translation: X:-22.51, Y:38.65, Z:2.91 [[ 9.99789725e-01 6.42475743e-03 -1.94737678e-02 -2.25081645e+01] [-6.42149110e-03 9.99979356e-01 2.30256995e-04 3.86475989e+01] [ 1.94748451e-02 -1.05157952e-04 9.99810342e-01 2.91332167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.824839172999997 meters Centerline goodness : 0.738315 Centerline is valid? [False, False] Translation: X:-22.51, Y:38.65, Z:2.92 [[ 9.99779037e-01 6.62075561e-03 -1.99510064e-02 -2.25076380e+01] [-6.65232203e-03 9.99976724e-01 -1.51624489e-03 3.86534538e+01] [ 1.99405034e-02 1.64863038e-03 9.99799809e-01 2.91601472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.854839173 meters Centerline goodness : 0.736147 Centerline is valid? [False, False] Translation: X:-22.51, Y:38.65, Z:2.92 [[ 9.99780340e-01 6.48362304e-03 -1.99307541e-02 -2.25080639e+01] [-6.52706149e-03 9.99976461e-01 -2.11518967e-03 3.86545331e+01] [ 1.99165708e-02 2.24481430e-03 9.99799125e-01 2.91696594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.884839173 meters Centerline goodness : 0.737675 Centerline is valid? [False, False] Translation: X:-22.51, Y:38.65, Z:2.92 [[ 9.99768378e-01 7.15734970e-03 -2.02968447e-02 -2.25066792e+01] [-7.19836342e-03 9.99972193e-01 -1.94835428e-03 3.86528943e+01] [ 2.02823353e-02 2.09400707e-03 9.99792099e-01 2.91689373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.914839173 meters Centerline goodness : 0.736995 Centerline is valid? [False, False] Translation: X:-22.51, Y:38.65, Z:2.92 [[ 9.99756653e-01 7.58850757e-03 -2.07135114e-02 -2.25051487e+01] [-7.62778706e-03 9.99969255e-01 -1.81797258e-03 3.86524743e+01] [ 2.06990788e-02 1.97552844e-03 9.99783799e-01 2.91645811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.944839173 meters Centerline goodness : 0.738917 Centerline is valid? [False, False] Translation: X:-22.50, Y:38.65, Z:2.92 [[ 9.99736894e-01 8.35904190e-03 -2.13604630e-02 -2.25025653e+01] [-8.38543658e-03 9.99964184e-01 -1.14640779e-03 3.86513946e+01] [ 2.13501151e-02 1.32522297e-03 9.99771182e-01 2.91516737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.974839173 meters Centerline goodness : 0.736577 Centerline is valid? [False, False] Translation: X:-22.50, Y:38.65, Z:2.92 [[ 9.99727287e-01 8.32475941e-03 -2.18185567e-02 -2.25025793e+01] [-8.36918036e-03 9.99963085e-01 -1.94540254e-03 3.86531613e+01] [ 2.18015563e-02 2.12747544e-03 9.99760054e-01 2.91742516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.004839173 meters Centerline goodness : 0.739825 Centerline is valid? [False, False] Translation: X:-22.50, Y:38.65, Z:2.92 [[ 9.99715601e-01 8.58578117e-03 -2.22486443e-02 -2.25025888e+01] [-8.63203769e-03 9.99960775e-01 -1.98386720e-03 3.86515436e+01] [ 2.22307386e-02 2.17535413e-03 9.99750500e-01 2.91934841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.034839172999998 meters Centerline goodness : 0.737500 Centerline is valid? [False, False] Translation: X:-22.50, Y:38.65, Z:2.92 [[ 9.99718837e-01 8.21195320e-03 -2.22443432e-02 -2.25038072e+01] [-8.27212714e-03 9.99962368e-01 -2.61446974e-03 3.86518523e+01] [ 2.22220362e-02 2.79774268e-03 9.99749145e-01 2.92122451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.064839173 meters Centerline goodness : 0.740086 Centerline is valid? [False, False] Translation: X:-22.50, Y:38.65, Z:2.92 [[ 9.99717348e-01 8.23010842e-03 -2.23044600e-02 -2.25038657e+01] [-8.28405798e-03 9.99962978e-01 -2.32746082e-03 3.86503441e+01] [ 2.22844789e-02 2.51157440e-03 9.99748515e-01 2.92136089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.094839173 meters Centerline goodness : 0.740040 Centerline is valid? [False, False] Translation: X:-22.50, Y:38.65, Z:2.92 [[ 9.99724503e-01 1.23877184e-03 -2.34389500e-02 -2.24999499e+01] [-1.44464651e-03 9.99960512e-01 -8.76854936e-03 3.86455819e+01] [ 2.34271623e-02 8.79999465e-03 9.99686815e-01 2.91954459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.124839172999998 meters Centerline goodness : 0.738475 Centerline is valid? [False, False] Translation: X:-22.50, Y:38.64, Z:2.92 [[ 9.99717875e-01 -3.16363066e-03 -2.35406353e-02 -2.24990007e+01] [ 2.90891266e-03 9.99936941e-01 -1.08467415e-02 3.86383587e+01] [ 2.35734660e-02 1.07752038e-02 9.99664037e-01 2.91639537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.154839173 meters Centerline goodness : 0.739524 Centerline is valid? [False, False] Translation: X:-22.50, Y:38.64, Z:2.92 [[ 9.99718253e-01 -3.41524439e-03 -2.34893845e-02 -2.24990552e+01] [ 3.17149503e-03 9.99940822e-01 -1.04064374e-02 3.86365393e+01] [ 2.35235349e-02 1.03290090e-02 9.99669923e-01 2.91563774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.184839173 meters Centerline goodness : 0.739459 Centerline is valid? [False, False] Translation: X:-22.50, Y:38.64, Z:2.91 [[ 9.99959771e-01 -2.09803433e-03 -8.72088942e-03 -2.25017725e+01] [ 2.04245439e-03 9.99977579e-01 -6.37722466e-03 3.86357348e+01] [ 8.73407353e-03 6.35915609e-03 9.99941637e-01 2.91058027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.214839172999998 meters Centerline goodness : 0.740928 Centerline is valid? [False, False] Translation: X:-22.50, Y:38.64, Z:2.91 [[ 9.99959352e-01 -2.60565478e-03 -8.63167925e-03 -2.25033503e+01] [ 2.54582347e-03 9.99972710e-01 -6.93534556e-03 3.86366409e+01] [ 8.64951480e-03 6.91308892e-03 9.99938696e-01 2.91252582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.244839173 meters Centerline goodness : 0.742827 Centerline is valid? [False, False] Translation: X:-22.51, Y:38.64, Z:2.92 [[ 9.99957404e-01 -3.93127896e-03 -8.35077405e-03 -2.25071746e+01] [ 3.86531756e-03 9.99961321e-01 -7.90034387e-03 3.86359480e+01] [ 8.38150951e-03 7.86772895e-03 9.99933922e-01 2.91671850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.274839173 meters Centerline goodness : 0.744117 Centerline is valid? [False, False] Translation: X:-22.51, Y:38.63, Z:2.92 [[ 9.99964501e-01 -1.86750903e-03 -8.21641380e-03 -2.25099361e+01] [ 1.83166572e-03 9.99988784e-01 -4.36776729e-03 3.86332200e+01] [ 8.22447849e-03 4.35256252e-03 9.99956706e-01 2.91830267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.304839172999998 meters Centerline goodness : 0.743720 Centerline is valid? [False, False] Translation: X:-22.51, Y:38.63, Z:2.92 [[ 9.99960572e-01 -1.68327186e-03 -8.71897805e-03 -2.25102163e+01] [ 1.64212123e-03 9.99987490e-01 -4.72467190e-03 3.86344351e+01] [ 8.72682188e-03 4.71016800e-03 9.99950827e-01 2.92089468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.334839173 meters Centerline goodness : 0.744420 Centerline is valid? [False, False] Translation: X:-22.51, Y:38.63, Z:2.92 [[ 9.99958962e-01 -1.20764001e-03 -8.97863265e-03 -2.25099648e+01] [ 1.16808874e-03 9.99989598e-01 -4.40898324e-03 3.86334878e+01] [ 8.98386372e-03 4.39831447e-03 9.99949971e-01 2.92167476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.364839173 meters Centerline goodness : 0.747780 Centerline is valid? [False, False] Translation: X:-22.51, Y:38.63, Z:2.92 [[ 9.99956100e-01 -5.19267450e-04 -9.35568816e-03 -2.25102355e+01] [ 4.80781072e-04 9.99991416e-01 -4.11546716e-03 3.86292907e+01] [ 9.35774488e-03 4.11078846e-03 9.99947766e-01 2.92408890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.394839172999998 meters Centerline goodness : 0.747462 Centerline is valid? [False, False] Translation: X:-22.51, Y:38.63, Z:2.92 [[ 9.99952141e-01 3.45084723e-04 -9.77736631e-03 -2.25089110e+01] [-3.81437128e-04 9.99993021e-01 -3.71639526e-03 3.86285560e+01] [ 9.77601560e-03 3.71994684e-03 9.99945294e-01 2.92418443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.424839173 meters Centerline goodness : 0.745259 Centerline is valid? [False, False] Translation: X:-22.50, Y:38.63, Z:2.92 [[ 9.99925443e-01 5.34236101e-03 -1.09803099e-02 -2.25017584e+01] [-5.35970199e-03 9.99984435e-01 -1.55046001e-03 3.86274552e+01] [ 1.09718558e-02 1.60919560e-03 9.99938513e-01 2.92212570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.454839173 meters Centerline goodness : 0.744991 Centerline is valid? [False, False] Translation: X:-22.50, Y:38.63, Z:2.92 [[ 9.99917220e-01 6.08538161e-03 -1.13367496e-02 -2.25006553e+01] [-6.10355794e-03 9.99980142e-01 -1.56940188e-03 3.86270390e+01] [ 1.13269741e-02 1.63846647e-03 9.99934505e-01 2.92254378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.484839172999997 meters Centerline goodness : 0.747286 Centerline is valid? [False, False] Translation: X:-22.50, Y:38.62, Z:2.92 [[ 9.99914048e-01 6.43105849e-03 -1.14253529e-02 -2.25014268e+01] [-6.44507664e-03 9.99978522e-01 -1.19053736e-03 3.86211855e+01] [ 1.14174511e-02 1.26407231e-03 9.99934020e-01 2.92428730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.514839173 meters Centerline goodness : 0.747286 Centerline is valid? [False, False] Translation: X:-22.50, Y:38.62, Z:2.92 [[ 9.99914048e-01 6.43105849e-03 -1.14253529e-02 -2.25014268e+01] [-6.44507664e-03 9.99978522e-01 -1.19053736e-03 3.86211855e+01] [ 1.14174511e-02 1.26407231e-03 9.99934020e-01 2.92428730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.544839173 meters Centerline goodness : 0.748545 Centerline is valid? [False, False] Translation: X:-22.50, Y:38.62, Z:2.93 [[ 9.99923633e-01 4.53144517e-03 -1.14976127e-02 -2.25013525e+01] [-4.57902979e-03 9.99981047e-01 -4.11570776e-03 3.86200958e+01] [ 1.14787446e-02 4.16804137e-03 9.99925430e-01 2.92590283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.574839172999997 meters Centerline goodness : 0.747571 Centerline is valid? [False, False] Translation: X:-22.50, Y:38.61, Z:2.92 [[ 9.99904526e-01 5.95980261e-03 -1.24667253e-02 -2.24977475e+01] [-5.98638627e-03 9.99979884e-01 -2.09613969e-03 3.86148994e+01] [ 1.24539819e-02 2.17057020e-03 9.99920090e-01 2.92373723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.604839173 meters Centerline goodness : 0.745242 Centerline is valid? [False, False] Translation: X:-22.49, Y:38.61, Z:2.92 [[ 9.99887747e-01 6.98477479e-03 -1.32554302e-02 -2.24946537e+01] [-6.99696415e-03 9.99975140e-01 -8.73421102e-04 3.86118860e+01] [ 1.32490001e-02 9.66070828e-04 9.99911761e-01 2.92186992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.634839173 meters Centerline goodness : 0.748217 Centerline is valid? [False, False] Translation: X:-22.49, Y:38.61, Z:2.92 [[ 9.99874679e-01 6.41863048e-03 -1.44716331e-02 -2.24883096e+01] [-6.45939142e-03 9.99975297e-01 -2.77162948e-03 3.86081647e+01] [ 1.44534855e-02 2.86476007e-03 9.99891439e-01 2.91894687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.664839173 meters Centerline goodness : 0.743582 Centerline is valid? [False, False] Translation: X:-22.49, Y:38.61, Z:2.92 [[ 9.99857726e-01 7.55061801e-03 -1.50835981e-02 -2.24855221e+01] [-7.58011406e-03 9.99969467e-01 -1.89929100e-03 3.86054369e+01] [ 1.50687967e-02 2.01335617e-03 9.99884432e-01 2.91736962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.694839173 meters Centerline goodness : 0.743504 Centerline is valid? [False, False] Translation: X:-22.48, Y:38.61, Z:2.92 [[ 9.99831966e-01 9.69747973e-03 -1.55562859e-02 -2.24827508e+01] [-9.72799160e-03 9.99950902e-01 -1.88691328e-03 3.86073199e+01] [ 1.55372239e-02 2.03792763e-03 9.99877213e-01 2.91749485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.724839173 meters Centerline goodness : 0.744124 Centerline is valid? [False, False] Translation: X:-22.48, Y:38.61, Z:2.92 [[ 9.99831906e-01 9.79730726e-03 -1.54974946e-02 -2.24838184e+01] [-9.85513025e-03 9.99944742e-01 -3.65915803e-03 3.86125352e+01] [ 1.54607883e-02 3.81127278e-03 9.99873211e-01 2.92084310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.754839173 meters Centerline goodness : 0.744104 Centerline is valid? [False, False] Translation: X:-22.48, Y:38.61, Z:2.92 [[ 9.99818994e-01 1.02652906e-02 -1.60188647e-02 -2.24834813e+01] [-1.03377741e-02 9.99936668e-01 -4.44865656e-03 3.86147321e+01] [ 1.59721834e-02 4.61345072e-03 9.99861793e-01 2.92326933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.784839172999998 meters Centerline goodness : 0.746958 Centerline is valid? [False, False] Translation: X:-22.48, Y:38.61, Z:2.92 [[ 9.99835873e-01 7.35533326e-03 -1.65567455e-02 -2.24812979e+01] [-7.48810769e-03 9.99940188e-01 -7.97169707e-03 3.86143417e+01] [ 1.64971207e-02 8.09436740e-03 9.99831149e-01 2.92273351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.814839173 meters Centerline goodness : 0.751741 Centerline is valid? [False, False] Translation: X:-22.48, Y:38.61, Z:2.92 [[ 9.99861491e-01 5.29816751e-03 -1.57774566e-02 -2.24845607e+01] [-5.42547522e-03 9.99952983e-01 -8.03712169e-03 3.86120856e+01] [ 1.57341328e-02 8.12160867e-03 9.99843226e-01 2.92295139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.844839173 meters Centerline goodness : 0.752240 Centerline is valid? [False, False] Translation: X:-22.49, Y:38.61, Z:2.92 [[ 9.99866580e-01 4.66992943e-03 -1.56529307e-02 -2.24856632e+01] [-4.79547575e-03 9.99956559e-01 -7.99271243e-03 3.86115851e+01] [ 1.56149253e-02 8.06670929e-03 9.99845539e-01 2.92350989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.874839172999998 meters Centerline goodness : 0.747785 Centerline is valid? [False, False] Translation: X:-22.49, Y:38.61, Z:2.92 [[ 9.99874133e-01 4.02500083e-03 -1.53465503e-02 -2.24864511e+01] [-4.14296004e-03 9.99962062e-01 -7.66233764e-03 3.86095928e+01] [ 1.53151271e-02 7.72495336e-03 9.99852875e-01 2.92282808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.904839173 meters Centerline goodness : 0.746300 Centerline is valid? [False, False] Translation: X:-22.49, Y:38.61, Z:2.92 [[ 9.99876622e-01 3.68480486e-03 -1.52696449e-02 -2.24866067e+01] [-3.79871379e-03 9.99965126e-01 -7.43755105e-03 3.86096407e+01] [ 1.52417065e-02 7.49463844e-03 9.99855750e-01 2.92211769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.934839173 meters Centerline goodness : 0.746211 Centerline is valid? [False, False] Translation: X:-22.49, Y:38.61, Z:2.92 [[ 9.99888731e-01 -8.98639731e-04 -1.48901875e-02 -2.24879130e+01] [ 7.27196626e-04 9.99933433e-01 -1.15152478e-02 3.86079092e+01] [ 1.48995444e-02 1.15031385e-02 9.99822825e-01 2.92286413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.964839172999998 meters Centerline goodness : 0.747113 Centerline is valid? [False, False] Translation: X:-22.49, Y:38.61, Z:2.91 [[ 9.99997503e-01 -7.98444335e-04 -2.08699334e-03 -2.24881560e+01] [ 7.80015045e-04 9.99960830e-01 -8.81649317e-03 3.86051582e+01] [ 2.09395108e-03 8.81484328e-03 9.99958956e-01 2.91361757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.994839173 meters Centerline goodness : 0.748604 Centerline is valid? [False, False] Translation: X:-22.49, Y:38.60, Z:2.91 [[ 9.99994625e-01 -2.56864173e-03 -2.03777898e-03 -2.24892977e+01] [ 2.55057820e-03 9.99957868e-01 -8.81794373e-03 3.86024684e+01] [ 2.06034327e-03 8.81269882e-03 9.99959045e-01 2.91315054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.024839173 meters Centerline goodness : 0.746614 Centerline is valid? [False, False] Translation: X:-22.49, Y:38.60, Z:2.91 [[ 9.99994310e-01 -2.72447553e-03 -1.98937842e-03 -2.24895582e+01] [ 2.70649920e-03 9.99955984e-01 -8.98361489e-03 3.86027958e+01] [ 2.01376649e-03 8.97817952e-03 9.99957668e-01 2.91337537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.054839172999998 meters Centerline goodness : 0.749643 Centerline is valid? [False, False] Translation: X:-22.49, Y:38.61, Z:2.92 [[ 9.99998962e-01 -7.32271127e-04 -1.24126579e-03 -2.24935381e+01] [ 7.23696735e-04 9.99975973e-01 -6.89421196e-03 3.86074846e+01] [ 1.24628439e-03 6.89330650e-03 9.99975464e-01 2.91614342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.084839173 meters Centerline goodness : 0.750387 Centerline is valid? [False, False] Translation: X:-22.49, Y:38.61, Z:2.92 [[ 9.99996143e-01 2.65866500e-03 -8.03141334e-04 -2.24949315e+01] [-2.66114669e-03 9.99991639e-01 -3.10488266e-03 3.86087079e+01] [ 7.94879776e-04 3.10700797e-03 9.99994857e-01 2.91626168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.114839173 meters Centerline goodness : 0.750191 Centerline is valid? [False, False] Translation: X:-22.49, Y:38.61, Z:2.92 [[ 9.99992312e-01 3.77519274e-03 -1.05977709e-03 -2.24934396e+01] [-3.77884506e-03 9.99986854e-01 -3.46572829e-03 3.86129875e+01] [ 1.04667937e-03 3.46970638e-03 9.99993433e-01 2.91635607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.144839172999998 meters Centerline goodness : 0.751383 Centerline is valid? [False, False] Translation: X:-22.49, Y:38.62, Z:2.92 [[ 9.99987176e-01 4.82650659e-03 -1.53375124e-03 -2.24910621e+01] [-4.83272358e-03 9.99980016e-01 -4.07593462e-03 3.86168375e+01] [ 1.51404807e-03 4.08329455e-03 9.99990517e-01 2.91595972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.174839173 meters Centerline goodness : 0.749869 Centerline is valid? [False, False] Translation: X:-22.49, Y:38.62, Z:2.91 [[ 9.99948374e-01 9.90379097e-03 -2.27254333e-03 -2.24876481e+01] [-9.90572141e-03 9.99950584e-01 -8.39787173e-04 3.86229998e+01] [ 2.26411395e-03 8.62254999e-04 9.99997065e-01 2.91492304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.204839173 meters Centerline goodness : 0.750700 Centerline is valid? [False, False] Translation: X:-22.49, Y:38.63, Z:2.92 [[ 9.99950635e-01 9.71132856e-03 -2.10162969e-03 -2.24883449e+01] [-9.71623333e-03 9.99950067e-01 -2.33630684e-03 3.86261670e+01] [ 2.07883611e-03 2.35661144e-03 9.99995062e-01 2.91652047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.234839172999997 meters Centerline goodness : 0.750759 Centerline is valid? [False, False] Translation: X:-22.49, Y:38.64, Z:2.92 [[ 9.99955537e-01 9.25601983e-03 -1.80289135e-03 -2.24895891e+01] [-9.26542660e-03 9.99943129e-01 -5.28106818e-03 3.86350395e+01] [ 1.75390714e-03 5.29753792e-03 9.99984430e-01 2.91960777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.264839173 meters Centerline goodness : 0.748875 Centerline is valid? [False, False] Translation: X:-22.49, Y:38.64, Z:2.92 [[ 9.99950944e-01 9.62751451e-03 -2.32804334e-03 -2.24871177e+01] [-9.64069291e-03 9.99937182e-01 -5.71735478e-03 3.86386244e+01] [ 2.27285318e-03 5.73951826e-03 9.99980946e-01 2.91829648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.294839173 meters Centerline goodness : 0.747355 Centerline is valid? [False, False] Translation: X:-22.48, Y:38.65, Z:2.91 [[ 9.99945892e-01 1.00539962e-02 -2.67016231e-03 -2.24826633e+01] [-1.00700319e-02 9.99930924e-01 -6.06155339e-03 3.86451801e+01] [ 2.60903503e-03 6.08811404e-03 9.99978064e-01 2.91346892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.324839172999997 meters Centerline goodness : 0.748646 Centerline is valid? [False, False] Translation: X:-22.48, Y:38.65, Z:2.92 [[ 9.99959603e-01 8.70349316e-03 -2.24528370e-03 -2.24848223e+01] [-8.72064564e-03 9.99931972e-01 -7.74613834e-03 3.86499654e+01] [ 2.17771250e-03 7.76540575e-03 9.99967477e-01 2.91516427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.354839173 meters Centerline goodness : 0.749844 Centerline is valid? [False, False] Translation: X:-22.49, Y:38.65, Z:2.91 [[ 9.99979948e-01 3.50396438e-04 6.32307261e-03 -2.24875711e+01] [-3.46811053e-04 9.99999778e-01 -5.68119649e-04 3.86525735e+01] [-6.32327028e-03 5.65915346e-04 9.99979848e-01 2.91440060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.384839173 meters Centerline goodness : 0.749880 Centerline is valid? [False, False] Translation: X:-22.49, Y:38.65, Z:2.92 [[ 9.99976957e-01 -1.85086331e-03 6.53138844e-03 -2.24905213e+01] [ 1.85884093e-03 9.99997534e-01 -1.21556841e-03 3.86514161e+01] [-6.52912248e-03 1.22768121e-03 9.99977931e-01 2.91595653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.414839173 meters Centerline goodness : 0.752562 Centerline is valid? [False, False] Translation: X:-22.49, Y:38.65, Z:2.92 [[ 9.99975116e-01 -2.60133181e-03 6.55749778e-03 -2.24919976e+01] [ 2.61255182e-03 9.99995137e-01 -1.70303643e-03 3.86524621e+01] [-6.55303573e-03 1.72012585e-03 9.99977049e-01 2.91762794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.444839173 meters Centerline goodness : 0.749725 Centerline is valid? [False, False] Translation: X:-22.49, Y:38.65, Z:2.92 [[ 9.99981615e-01 -1.56811516e-03 5.85749522e-03 -2.24893006e+01] [ 1.57293030e-03 9.99998429e-01 -8.17531386e-04 3.86503630e+01] [-5.85620403e-03 8.26729787e-04 9.99982511e-01 2.91631165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.474839173 meters Centerline goodness : 0.748725 Centerline is valid? [False, False] Translation: X:-22.48, Y:38.65, Z:2.91 [[ 9.99988905e-01 2.06737314e-03 4.23261917e-03 -2.24809139e+01] [-2.07126017e-03 9.99997437e-01 9.14173830e-04 3.86470717e+01] [-4.23071839e-03 -9.22930543e-04 9.99990625e-01 2.91224811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.504839173 meters Centerline goodness : 0.748567 Centerline is valid? [False, False] Translation: X:-22.48, Y:38.65, Z:2.91 [[ 9.99987758e-01 3.84440561e-03 3.11528133e-03 -2.24758254e+01] [-3.85027799e-03 9.99990818e-01 1.88122477e-03 3.86461465e+01] [-3.10802053e-03 -1.89319644e-03 9.99993378e-01 2.90945074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.534839172999998 meters Centerline goodness : 0.744370 Centerline is valid? [False, False] Translation: X:-22.46, Y:38.64, Z:2.90 [[ 9.99984514e-01 5.42129857e-03 1.25779209e-03 -2.24646138e+01] [-5.42318468e-03 9.99984168e-01 1.50100874e-03 3.86423224e+01] [-1.24963476e-03 -1.50780674e-03 9.99998082e-01 2.90243255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.564839173 meters Centerline goodness : 0.743562 Centerline is valid? [False, False] Translation: X:-22.46, Y:38.64, Z:2.90 [[ 9.99981187e-01 6.07773394e-03 8.28791537e-04 -2.24628298e+01] [-6.07960480e-03 9.99978934e-01 2.27381455e-03 3.86399359e+01] [-8.14954438e-04 -2.27881050e-03 9.99997071e-01 2.90124647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.594839173 meters Centerline goodness : 0.743465 Centerline is valid? [False, False] Translation: X:-22.46, Y:38.64, Z:2.90 [[ 9.99996007e-01 2.74782980e-03 6.59953979e-04 -2.24624984e+01] [-2.74615445e-03 9.99993038e-01 -2.52621613e-03 3.86422247e+01] [-6.66890996e-04 2.52439371e-03 9.99996591e-01 2.90299357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.624839172999998 meters Centerline goodness : 0.746929 Centerline is valid? [False, False] Translation: X:-22.46, Y:38.64, Z:2.91 [[ 9.99997124e-01 2.26597410e-03 7.85100503e-04 -2.24646362e+01] [-2.26279803e-03 9.99989348e-01 -4.02296747e-03 3.86438429e+01] [-7.94208080e-04 4.02117938e-03 9.99991600e-01 2.90696148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.654839173 meters Centerline goodness : 0.745762 Centerline is valid? [False, False] Translation: X:-22.46, Y:38.64, Z:2.91 [[ 9.99997217e-01 2.31364457e-03 4.61087632e-04 -2.24634717e+01] [-2.31190991e-03 9.99990379e-01 -3.72779202e-03 3.86442680e+01] [-4.69707982e-04 3.72671565e-03 9.99992945e-01 2.90601505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.684839173 meters Centerline goodness : 0.742744 Centerline is valid? [False, False] Translation: X:-22.46, Y:38.64, Z:2.90 [[ 9.99996934e-01 2.46203593e-03 2.66426307e-04 -2.24624516e+01] [-2.46124833e-03 9.99992716e-01 -2.91715761e-03 3.86420857e+01] [-2.73606514e-04 2.91649292e-03 9.99995710e-01 2.90455663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.714839172999998 meters Centerline goodness : 0.744920 Centerline is valid? [False, False] Translation: X:-22.46, Y:38.64, Z:2.91 [[ 9.99996102e-01 2.79061303e-03 9.55588824e-05 -2.24621305e+01] [-2.79033879e-03 9.99992301e-01 -2.75881948e-03 3.86402657e+01] [-1.03256944e-04 2.75854208e-03 9.99996190e-01 2.90504878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.744839173 meters Centerline goodness : 0.748081 Centerline is valid? [False, False] Translation: X:-22.46, Y:38.64, Z:2.91 [[ 9.99997151e-01 2.38041951e-03 1.77489839e-04 -2.24635970e+01] [-2.37979950e-03 9.99991336e-01 -3.41521366e-03 3.86417861e+01] [-1.85617943e-04 3.41478154e-03 9.99994152e-01 2.90718607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.774839173 meters Centerline goodness : 0.750802 Centerline is valid? [False, False] Translation: X:-22.47, Y:38.64, Z:2.91 [[ 9.99997461e-01 2.25349511e-03 3.52626655e-06 -2.24656710e+01] [-2.25345179e-03 9.99985793e-01 -4.83075954e-03 3.86434025e+01] [-1.44123095e-05 4.83073933e-03 9.99988332e-01 2.91246591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.804839172999998 meters Centerline goodness : 0.751610 Centerline is valid? [False, False] Translation: X:-22.46, Y:38.64, Z:2.91 [[ 9.99995856e-01 2.84724553e-03 -4.26335816e-04 -2.24647976e+01] [-2.84902994e-03 9.99986931e-01 -4.24505849e-03 3.86406589e+01] [ 4.14243521e-04 4.24625554e-03 9.99990899e-01 2.91275254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.834839173 meters Centerline goodness : 0.748483 Centerline is valid? [False, False] Translation: X:-22.46, Y:38.64, Z:2.91 [[ 9.99986468e-01 4.71424440e-03 -2.20010234e-03 -2.24557481e+01] [-4.72356252e-03 9.99979815e-01 -4.24951339e-03 3.86380954e+01] [ 2.18002469e-03 4.25984821e-03 9.99988551e-01 2.90847043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.864839173 meters Centerline goodness : 0.748179 Centerline is valid? [False, False] Translation: X:-22.45, Y:38.64, Z:2.91 [[ 9.99978442e-01 5.82803172e-03 -3.02475857e-03 -2.24528355e+01] [-5.83886868e-03 9.99976522e-01 -3.58637349e-03 3.86370058e+01] [ 3.00378606e-03 3.60395734e-03 9.99988994e-01 2.90738084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.894839172999998 meters Centerline goodness : 0.749473 Centerline is valid? [False, False] Translation: X:-22.45, Y:38.63, Z:2.91 [[ 9.99981549e-01 4.32421824e-03 -4.26636811e-03 -2.24481337e+01] [-4.34993776e-03 9.99972312e-01 -6.03768643e-03 3.86342910e+01] [ 4.24014171e-03 6.05613347e-03 9.99972672e-01 2.90601367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.924839173 meters Centerline goodness : 0.748461 Centerline is valid? [False, False] Translation: X:-22.45, Y:38.63, Z:2.91 [[ 9.99978292e-01 4.74562061e-03 -4.57098948e-03 -2.24471677e+01] [-4.76917517e-03 9.99975335e-01 -5.15601423e-03 3.86317796e+01] [ 4.54640825e-03 5.17770215e-03 9.99976261e-01 2.90536919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.954839173 meters Centerline goodness : 0.751295 Centerline is valid? [False, False] Translation: X:-22.45, Y:38.63, Z:2.91 [[ 9.99974872e-01 5.07950284e-03 -4.94518087e-03 -2.24472216e+01] [-5.10109094e-03 9.99977473e-01 -4.36270032e-03 3.86281229e+01] [ 4.92290912e-03 4.38781651e-03 9.99978256e-01 2.90674614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.984839172999997 meters Centerline goodness : 0.751190 Centerline is valid? [False, False] Translation: X:-22.45, Y:38.63, Z:2.91 [[ 9.99981771e-01 2.03043403e-03 -5.68630690e-03 -2.24455982e+01] [-2.07544163e-03 9.99966479e-01 -7.92039982e-03 3.86272154e+01] [ 5.67003444e-03 7.93205704e-03 9.99952465e-01 2.90755009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.014839173 meters Centerline goodness : 0.750392 Centerline is valid? [False, False] Translation: X:-22.45, Y:38.62, Z:2.91 [[ 9.99979847e-01 -1.88156134e-03 -6.06348222e-03 -2.24456771e+01] [ 1.82407548e-03 9.99953473e-01 -9.47229322e-03 3.86176445e+01] [ 6.08102281e-03 9.46104207e-03 9.99936753e-01 2.90710984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.044839173 meters Centerline goodness : 0.749630 Centerline is valid? [False, False] Translation: X:-22.44, Y:38.61, Z:2.91 [[ 9.99963717e-01 -5.47034219e-03 -6.52996540e-03 -2.24440579e+01] [ 5.39422395e-03 9.99917959e-01 -1.16180054e-02 3.86125280e+01] [ 6.59298414e-03 1.15823597e-02 9.99911187e-01 2.90525005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.074839172999997 meters Centerline goodness : 0.747925 Centerline is valid? [False, False] Translation: X:-22.44, Y:38.60, Z:2.90 [[ 9.99903415e-01 -1.17651921e-02 -7.39867532e-03 -2.24402921e+01] [ 1.16501658e-02 9.99813503e-01 -1.54023968e-02 3.85994785e+01] [ 7.57850765e-03 1.53147133e-02 9.99854002e-01 2.90104168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.104839173 meters Centerline goodness : 0.750410 Centerline is valid? [False, False] Translation: X:-22.44, Y:38.60, Z:2.90 [[ 9.99862904e-01 -1.43796564e-02 -8.20969312e-03 -2.24370551e+01] [ 1.42315930e-02 9.99739967e-01 -1.78173986e-02 3.85955495e+01] [ 8.46376640e-03 1.76981189e-02 9.99807552e-01 2.89932110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.134839173 meters Centerline goodness : 0.752820 Centerline is valid? [False, False] Translation: X:-22.44, Y:38.59, Z:2.90 [[ 9.99917926e-01 -9.70098764e-03 -8.36855434e-03 -2.24354107e+01] [ 9.60693678e-03 9.99891054e-01 -1.12065314e-02 3.85884719e+01] [ 8.47635704e-03 1.11252154e-02 9.99902186e-01 2.89566277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.164839173 meters Centerline goodness : 0.753948 Centerline is valid? [False, False] Translation: X:-22.43, Y:38.59, Z:2.89 [[ 9.99948919e-01 -5.00988997e-03 -8.77839104e-03 -2.24332342e+01] [ 4.95746907e-03 9.99969812e-01 -5.98320328e-03 3.85874154e+01] [ 8.80810123e-03 5.93937906e-03 9.99943569e-01 2.89316819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.194839173 meters Centerline goodness : 0.752773 Centerline is valid? [False, False] Translation: X:-22.43, Y:38.59, Z:2.89 [[ 9.99942416e-01 -3.13809958e-03 -1.02624253e-02 -2.24253767e+01] [ 3.08358532e-03 9.99981076e-01 -5.32354074e-03 3.85862047e+01] [ 1.02789369e-02 5.29158912e-03 9.99933169e-01 2.88871261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.224839173 meters Centerline goodness : 0.753654 Centerline is valid? [False, False] Translation: X:-22.42, Y:38.59, Z:2.89 [[ 9.99924872e-01 -6.15211688e-03 -1.06020125e-02 -2.24234235e+01] [ 6.05885483e-03 9.99942867e-01 -8.80641823e-03 3.85854262e+01] [ 1.06555849e-02 8.74152057e-03 9.99905018e-01 2.88794590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.254839173 meters Centerline goodness : 0.754622 Centerline is valid? [False, False] Translation: X:-22.43, Y:38.58, Z:2.89 [[ 9.99919476e-01 -8.44302576e-03 -9.47404569e-03 -2.24285741e+01] [ 8.35131483e-03 9.99918289e-01 -9.67839196e-03 3.85848681e+01] [ 9.55498646e-03 9.59849187e-03 9.99908281e-01 2.89080798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.284839172999998 meters Centerline goodness : 0.757444 Centerline is valid? [False, False] Translation: X:-22.43, Y:38.58, Z:2.89 [[ 9.99926738e-01 -1.21014900e-02 -2.67848922e-04 -2.24256022e+01] [ 1.21007451e-02 9.99923333e-01 -2.62691061e-03 3.85848940e+01] [ 2.99617919e-04 2.62347699e-03 9.99996514e-01 2.89021388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.314839173 meters Centerline goodness : 0.753235 Centerline is valid? [False, False] Translation: X:-22.43, Y:38.59, Z:2.89 [[ 9.99806722e-01 -1.74451248e-02 9.06569339e-03 -2.24271295e+01] [ 1.74129354e-02 9.99841839e-01 3.61757455e-03 3.85853051e+01] [-9.12736859e-03 -3.45901502e-03 9.99952362e-01 2.89490975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.344839173 meters Centerline goodness : 0.747301 Centerline is valid? [False, False] Translation: X:-22.42, Y:38.58, Z:2.90 [[ 9.99839765e-01 -1.61809166e-02 7.65654572e-03 -2.24241980e+01] [ 1.61413682e-02 9.99856202e-01 5.19922379e-03 3.85803630e+01] [-7.73957293e-03 -5.07480357e-03 9.99957172e-01 2.89530342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.374839172999998 meters Centerline goodness : 0.745829 Centerline is valid? [False, False] Translation: X:-22.42, Y:38.58, Z:2.89 [[ 9.99879017e-01 -1.42307966e-02 6.27985053e-03 -2.24195435e+01] [ 1.41875440e-02 9.99875688e-01 6.87913897e-03 3.85768046e+01] [-6.37696550e-03 -6.78921106e-03 9.99956620e-01 2.89338423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.404839173 meters Centerline goodness : 0.745410 Centerline is valid? [False, False] Translation: X:-22.42, Y:38.57, Z:2.89 [[ 9.99907793e-01 -1.25207116e-02 5.25716542e-03 -2.24158978e+01] [ 1.24750668e-02 9.99884965e-01 8.62722584e-03 3.85725482e+01] [-5.36457967e-03 -8.56084686e-03 9.99948965e-01 2.89161032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.434839173 meters Centerline goodness : 0.745410 Centerline is valid? [False, False] Translation: X:-22.42, Y:38.57, Z:2.89 [[ 9.99907793e-01 -1.25207116e-02 5.25716542e-03 -2.24158978e+01] [ 1.24750668e-02 9.99884965e-01 8.62722584e-03 3.85725482e+01] [-5.36457967e-03 -8.56084686e-03 9.99948965e-01 2.89161032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.464839172999998 meters Centerline goodness : 0.743628 Centerline is valid? [False, False] Translation: X:-22.41, Y:38.57, Z:2.89 [[ 9.99906821e-01 -1.31423798e-02 3.69146066e-03 -2.24104646e+01] [ 1.31148330e-02 9.99886689e-01 7.38993438e-03 3.85673328e+01] [-3.78816370e-03 -7.34083291e-03 9.99965880e-01 2.89026095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.494839173 meters Centerline goodness : 0.742873 Centerline is valid? [False, False] Translation: X:-22.41, Y:38.57, Z:2.89 [[ 9.99868917e-01 -1.58902801e-02 3.10593895e-03 -2.24091091e+01] [ 1.58787662e-02 9.99867089e-01 3.69721349e-03 3.85678794e+01] [-3.16427590e-03 -3.64741037e-03 9.99988342e-01 2.89158830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.524839173 meters Centerline goodness : 0.742411 Centerline is valid? [False, False] Translation: X:-22.41, Y:38.56, Z:2.89 [[ 9.99830799e-01 -1.82696303e-02 2.14346711e-03 -2.24074631e+01] [ 1.82661339e-02 9.99831816e-01 1.63955455e-03 3.85610363e+01] [-2.17306067e-03 -1.60012428e-03 9.99996359e-01 2.89289702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.554839172999998 meters Centerline goodness : 0.742668 Centerline is valid? [False, False] Translation: X:-22.41, Y:38.56, Z:2.89 [[ 9.99778279e-01 -2.10048889e-02 1.47869463e-03 -2.24056857e+01] [ 2.10063955e-02 9.99778830e-01 -1.01083568e-03 3.85558332e+01] [-1.45713510e-03 1.04167360e-03 9.99998396e-01 2.89315236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.584839173 meters Centerline goodness : 0.741835 Centerline is valid? [False, False] Translation: X:-22.40, Y:38.54, Z:2.89 [[ 9.99733642e-01 -2.30636067e-02 8.45430927e-04 -2.24033327e+01] [ 2.30654857e-02 9.99731346e-01 -2.28458238e-03 3.85439274e+01] [-7.92513089e-04 2.30347414e-03 9.99997033e-01 2.89260519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.614839173 meters Centerline goodness : 0.740677 Centerline is valid? [False, False] Translation: X:-22.40, Y:38.54, Z:2.89 [[ 9.99739160e-01 -2.28347186e-02 4.32850180e-04 -2.24021498e+01] [ 2.28351079e-02 9.99738824e-01 -9.16959126e-04 3.85374224e+01] [-4.11798627e-04 9.26604127e-04 9.99999486e-01 2.89176384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.644839172999998 meters Centerline goodness : 0.738374 Centerline is valid? [False, False] Translation: X:-22.40, Y:38.53, Z:2.89 [[ 9.99689167e-01 -2.27454441e-02 -1.02085517e-02 -2.24044249e+01] [ 2.26725135e-02 9.99716991e-01 -7.20384078e-03 3.85306532e+01] [ 1.03695172e-02 6.97014806e-03 9.99921942e-01 2.89289273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.674839173 meters Centerline goodness : 0.739385 Centerline is valid? [False, False] Translation: X:-22.41, Y:38.53, Z:2.90 [[ 9.99567430e-01 -2.06562316e-02 -2.09349626e-02 -2.24079753e+01] [ 2.03850462e-02 9.99706568e-01 -1.30853926e-02 3.85251089e+01] [ 2.11991146e-02 1.26529720e-02 9.99695203e-01 2.90105797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.704839173 meters Centerline goodness : 0.739042 Centerline is valid? [False, False] Translation: X:-22.41, Y:38.52, Z:2.90 [[ 9.99504904e-01 -2.36103146e-02 -2.07966090e-02 -2.24074129e+01] [ 2.32882573e-02 9.99607158e-01 -1.55944689e-02 3.85212499e+01] [ 2.11566295e-02 1.51024314e-02 9.99662100e-01 2.90049878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.734839172999997 meters Centerline goodness : 0.738881 Centerline is valid? [False, False] Translation: X:-22.41, Y:38.52, Z:2.89 [[ 9.99721566e-01 -2.24959133e-02 -7.12216135e-03 -2.24075988e+01] [ 2.24294324e-02 9.99705352e-01 -9.28056453e-03 3.85178497e+01] [ 7.32883759e-03 9.11823447e-03 9.99931571e-01 2.89449710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.764839173 meters Centerline goodness : 0.740539 Centerline is valid? [False, False] Translation: X:-22.41, Y:38.51, Z:2.90 [[ 9.99654881e-01 -2.53876113e-02 -6.75190736e-03 -2.24112942e+01] [ 2.53097720e-02 9.99614946e-01 -1.13743564e-02 3.85132438e+01] [ 7.03807525e-03 1.11995416e-02 9.99912514e-01 2.89863501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.794839173 meters Centerline goodness : 0.742816 Centerline is valid? [False, False] Translation: X:-22.41, Y:38.51, Z:2.90 [[ 9.99539492e-01 -2.95827894e-02 -6.75736211e-03 -2.24111998e+01] [ 2.94866720e-02 9.99468432e-01 -1.39064602e-02 3.85061121e+01] [ 7.16516200e-03 1.37008041e-02 9.99880467e-01 2.89809448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.824839172999997 meters Centerline goodness : 0.743672 Centerline is valid? [False, False] Translation: X:-22.41, Y:38.50, Z:2.90 [[ 9.99634050e-01 -2.61478960e-02 -6.93210616e-03 -2.24114558e+01] [ 2.60825446e-02 9.99616011e-01 -9.35585549e-03 3.85042568e+01] [ 7.17408025e-03 9.17162475e-03 9.99932205e-01 2.89799010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.854839173 meters Centerline goodness : 0.738922 Centerline is valid? [False, False] Translation: X:-22.41, Y:38.51, Z:2.90 [[ 9.99799057e-01 -1.87856712e-02 -6.99606120e-03 -2.24127527e+01] [ 1.87744551e-02 9.99822357e-01 -1.66544846e-03 3.85069982e+01] [ 7.02610497e-03 1.53376657e-03 9.99974140e-01 2.89903664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.884839173 meters Centerline goodness : 0.737856 Centerline is valid? [False, False] Translation: X:-22.41, Y:38.51, Z:2.90 [[ 9.99868638e-01 -1.45588927e-02 -7.12352228e-03 -2.24134046e+01] [ 1.45758599e-02 9.99891038e-01 2.33576342e-03 3.85066338e+01] [ 7.08873996e-03 -2.43928806e-03 9.99971899e-01 2.90026555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.914839173 meters Centerline goodness : 0.737478 Centerline is valid? [False, False] Translation: X:-22.41, Y:38.50, Z:2.90 [[ 9.99912776e-01 -1.14861004e-02 -6.51995053e-03 -2.24141177e+01] [ 1.15158378e-02 9.99923375e-01 4.54191496e-03 3.85044483e+01] [ 6.46728205e-03 -4.61660149e-03 9.99968430e-01 2.90058918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.944839173 meters Centerline goodness : 0.739523 Centerline is valid? [False, False] Translation: X:-22.41, Y:38.50, Z:2.90 [[ 9.99928269e-01 -9.72892508e-03 -6.98600951e-03 -2.24109300e+01] [ 9.77235825e-03 9.99932965e-01 6.21017875e-03 3.84992083e+01] [ 6.92512284e-03 -6.27800308e-03 9.99956314e-01 2.89786554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.974839173 meters Centerline goodness : 0.739311 Centerline is valid? [False, False] Translation: X:-22.41, Y:38.50, Z:2.90 [[ 9.99928590e-01 -9.66558332e-03 -7.02794481e-03 -2.24107857e+01] [ 9.71354148e-03 9.99929550e-01 6.82211521e-03 3.84961467e+01] [ 6.96150997e-03 -6.88989428e-03 9.99952032e-01 2.89758437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.004839173 meters Centerline goodness : 0.773517 Centerline is valid? [False, False] Translation: X:-22.42, Y:38.50, Z:2.90 [[ 9.99951240e-01 -7.67158007e-03 -6.21807330e-03 -2.24158753e+01] [ 7.73217077e-03 9.99922284e-01 9.77953795e-03 3.84958099e+01] [ 6.14256555e-03 -9.82714030e-03 9.99932846e-01 2.90190861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.034839172999995 meters Centerline goodness : 0.774665 Centerline is valid? [False, False] Translation: X:-22.42, Y:38.50, Z:2.91 [[ 9.99949675e-01 -8.12189081e-03 -5.88917062e-03 -2.24190262e+01] [ 8.17488529e-03 9.99925802e-01 9.03110221e-03 3.84969220e+01] [ 5.81538403e-03 -9.07879101e-03 9.99941877e-01 2.90576500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.064839172999996 meters Centerline goodness : 0.768556 Centerline is valid? [False, False] Translation: X:-22.42, Y:38.49, Z:2.91 [[ 9.99960590e-01 -7.18458255e-03 -5.21532429e-03 -2.24245830e+01] [ 7.23850433e-03 9.99919772e-01 1.03949285e-02 3.84921669e+01] [ 5.14022265e-03 -1.04322700e-02 9.99932371e-01 2.91205239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.094839173 meters Centerline goodness : 0.765212 Centerline is valid? [False, False] Translation: X:-22.42, Y:38.49, Z:2.91 [[ 9.99937568e-01 -9.62240979e-03 -5.68061445e-03 -2.24229661e+01] [ 9.66704522e-03 9.99922200e-01 7.88304235e-03 3.84886748e+01] [ 5.60431863e-03 -7.93746495e-03 9.99952793e-01 2.91185185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.124839173 meters Centerline goodness : 0.742873 Centerline is valid? [False, False] Translation: X:-22.42, Y:38.49, Z:2.91 [[ 9.99901399e-01 -1.26847733e-02 -6.02402723e-03 -2.24214699e+01] [ 1.27155199e-02 9.99906182e-01 5.09342614e-03 3.84856839e+01] [ 5.95885311e-03 -5.16952256e-03 9.99968884e-01 2.91110222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.15483917299999 meters Centerline goodness : 0.740309 Centerline is valid? [False, False] Translation: X:-22.42, Y:38.48, Z:2.91 [[ 9.99855750e-01 -1.57644293e-02 -6.32162159e-03 -2.24200074e+01] [ 1.57852013e-02 9.99870126e-01 3.24953622e-03 3.84806040e+01] [ 6.26957349e-03 -3.34885554e-03 9.99974738e-01 2.90983659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.18483917299999 meters Centerline goodness : 0.733149 Centerline is valid? [False, False] Translation: X:-22.42, Y:38.48, Z:2.91 [[ 9.99862972e-01 -1.52055780e-02 -6.54434199e-03 -2.24184605e+01] [ 1.52350846e-02 9.99873891e-01 4.48272836e-03 3.84790283e+01] [ 6.47535421e-03 -4.58181770e-03 9.99968538e-01 2.90804393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.214839172999994 meters Centerline goodness : 0.723388 Centerline is valid? [False, False] Translation: X:-22.42, Y:38.48, Z:2.91 [[ 9.99861289e-01 -1.53395160e-02 -6.48866025e-03 -2.24182107e+01] [ 1.53708653e-02 9.99870294e-01 4.80944050e-03 3.84774442e+01] [ 6.41404414e-03 -4.90850970e-03 9.99967383e-01 2.90733971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.244839172999995 meters Centerline goodness : 0.729349 Centerline is valid? [False, False] Translation: X:-22.41, Y:38.47, Z:2.90 [[ 9.99847557e-01 -1.71112994e-02 3.47354910e-03 -2.24149655e+01] [ 1.71024664e-02 9.99850473e-01 2.55689134e-03 3.84748239e+01] [-3.51678144e-03 -2.49709530e-03 9.99990698e-01 2.89924689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.274839173 meters Centerline goodness : 0.739759 Centerline is valid? [False, False] Translation: X:-22.42, Y:38.47, Z:2.90 [[ 9.99717682e-01 -2.33872615e-02 4.19438676e-03 -2.24167779e+01] [ 2.33927282e-02 9.99725560e-01 -1.25905102e-03 3.84709411e+01] [-4.16378989e-03 1.35681372e-03 9.99990411e-01 2.90071321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.304839173 meters Centerline goodness : 0.739964 Centerline is valid? [False, False] Translation: X:-22.42, Y:38.47, Z:2.90 [[ 9.99613841e-01 -2.74330215e-02 4.42708556e-03 -2.24175806e+01] [ 2.74541260e-02 9.99611641e-01 -4.77892587e-03 3.84687040e+01] [-4.29426589e-03 4.89862220e-03 9.99978781e-01 2.90166020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.334839173 meters Centerline goodness : 0.742053 Centerline is valid? [False, False] Translation: X:-22.39, Y:38.47, Z:2.90 [[ 9.99058160e-01 -4.29612045e-02 6.09331473e-03 -2.23946414e+01] [ 4.29330804e-02 9.99067018e-01 4.67368664e-03 3.84670160e+01] [-6.28841698e-03 -4.40768000e-03 9.99970514e-01 2.90140563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.36483917299999 meters Centerline goodness : 0.739357 Centerline is valid? [False, False] Translation: X:-22.40, Y:38.47, Z:2.90 [[ 9.99009020e-01 -4.40707027e-02 6.22496401e-03 -2.23960486e+01] [ 4.40435845e-02 9.99019796e-01 4.42834503e-03 3.84674123e+01] [-6.41402255e-03 -4.14978690e-03 9.99970819e-01 2.90277750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.394839172999994 meters Centerline goodness : 0.736994 Centerline is valid? [False, False] Translation: X:-22.40, Y:38.47, Z:2.91 [[ 9.99077599e-01 -4.25325441e-02 5.91042853e-03 -2.23979325e+01] [ 4.24890070e-02 9.99070219e-01 7.30625503e-03 3.84678999e+01] [-6.21568674e-03 -7.04838750e-03 9.99955842e-01 2.90501551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.424839172999995 meters Centerline goodness : 0.739849 Centerline is valid? [False, False] Translation: X:-22.40, Y:38.47, Z:2.91 [[ 9.99200317e-01 -3.95620519e-02 5.79406051e-03 -2.23985869e+01] [ 3.95001369e-02 9.99165059e-01 1.04366475e-02 3.84679429e+01] [-6.20211800e-03 -1.01994353e-02 9.99928750e-01 2.90555629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.454839172999996 meters Centerline goodness : 0.708933 Centerline is valid? [False, False] Translation: X:-22.40, Y:38.48, Z:2.91 [[ 9.99334915e-01 -3.59792531e-02 5.93465493e-03 -2.24001010e+01] [ 3.59125151e-02 9.99294476e-01 1.09928281e-02 3.84763086e+01] [-6.32598163e-03 -1.07723885e-02 9.99921966e-01 2.90894454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.484839173 meters Centerline goodness : 0.737548 Centerline is valid? [False, False] Translation: X:-22.40, Y:38.48, Z:2.91 [[ 9.99447441e-01 -3.27074277e-02 5.91926105e-03 -2.24015291e+01] [ 3.26276878e-02 9.99381713e-01 1.31006330e-02 3.84803660e+01] [-6.34408925e-03 -1.29002623e-02 9.99896663e-01 2.91103403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.514839173 meters Centerline goodness : 0.741995 Centerline is valid? [False, False] Translation: X:-22.40, Y:38.49, Z:2.91 [[ 9.99448971e-01 -3.26883173e-02 5.76433912e-03 -2.24014537e+01] [ 3.26255878e-02 9.99410796e-01 1.06598527e-02 3.84875268e+01] [-6.10939540e-03 -1.04659139e-02 9.99926567e-01 2.91279320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.54483917299999 meters Centerline goodness : 0.742898 Centerline is valid? [False, False] Translation: X:-22.40, Y:38.49, Z:2.91 [[ 9.99434929e-01 -3.30949139e-02 5.87790469e-03 -2.24022010e+01] [ 3.30368391e-02 9.99406900e-01 9.71680050e-03 3.84900061e+01] [-6.19599518e-03 -9.51712242e-03 9.99935515e-01 2.91373414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.574839172999994 meters Centerline goodness : 0.744728 Centerline is valid? [False, False] Translation: X:-22.40, Y:38.49, Z:2.92 [[ 9.99387152e-01 -3.44597545e-02 6.15186474e-03 -2.24044739e+01] [ 3.44079027e-02 9.99373037e-01 8.34440733e-03 3.84917290e+01] [-6.43555398e-03 -8.12762071e-03 9.99946261e-01 2.91612525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.604839172999995 meters Centerline goodness : 0.743311 Centerline is valid? [False, False] Translation: X:-22.40, Y:38.49, Z:2.92 [[ 9.99379207e-01 -3.47279073e-02 5.93062129e-03 -2.24040084e+01] [ 3.46794251e-02 9.99365736e-01 8.09093419e-03 3.84929006e+01] [-6.20784093e-03 -7.88024086e-03 9.99949681e-01 2.91596378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.634839172999996 meters Centerline goodness : 0.745036 Centerline is valid? [False, False] Translation: X:-22.40, Y:38.50, Z:2.91 [[ 9.99392329e-01 -3.44370493e-02 5.39098098e-03 -2.24018876e+01] [ 3.43932383e-02 9.99376207e-01 8.01880992e-03 3.84961509e+01] [-5.66376228e-03 -7.82852382e-03 9.99953317e-01 2.91441970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.664839173 meters Centerline goodness : 0.744874 Centerline is valid? [False, False] Translation: X:-22.38, Y:38.51, Z:2.91 [[ 9.99342884e-01 -3.59653873e-02 4.50446829e-03 -2.23832053e+01] [ 3.59043574e-02 9.99271105e-01 1.29667320e-02 3.85068246e+01] [-4.96753854e-03 -1.27964813e-02 9.99905782e-01 2.91016080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.694839173 meters Centerline goodness : 0.745135 Centerline is valid? [False, False] Translation: X:-22.38, Y:38.51, Z:2.91 [[ 9.99332663e-01 -3.62543692e-02 4.45523667e-03 -2.23830367e+01] [ 3.62055221e-02 9.99288201e-01 1.05948403e-02 3.85139821e+01] [-4.83617469e-03 -1.04264658e-02 9.99933948e-01 2.91075799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.72483917299999 meters Centerline goodness : 0.747498 Centerline is valid? [False, False] Translation: X:-22.38, Y:38.52, Z:2.91 [[ 9.99232378e-01 -3.89829239e-02 3.87134924e-03 -2.23798978e+01] [ 3.89560203e-02 9.99217806e-01 6.79734273e-03 3.85163622e+01] [-4.13330139e-03 -6.64131258e-03 9.99969404e-01 2.90871387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.75483917299999 meters Centerline goodness : 0.749055 Centerline is valid? [False, False] Translation: X:-22.37, Y:38.52, Z:2.90 [[ 9.99232294e-01 -3.90894579e-02 2.61487086e-03 -2.23747741e+01] [ 3.90752771e-02 9.99222369e-01 5.27064120e-03 3.85242969e+01] [-2.81886396e-03 -5.16441810e-03 9.99982691e-01 2.90491758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.784839172999995 meters Centerline goodness : 0.749272 Centerline is valid? [False, False] Translation: X:-22.36, Y:38.53, Z:2.90 [[ 9.99166597e-01 -4.02805574e-02 6.60205683e-03 -2.23637221e+01] [ 4.01764291e-02 9.99076812e-01 1.52111399e-02 3.85269396e+01] [-7.20867508e-03 -1.49332158e-02 9.99862508e-01 2.90017451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.814839172999996 meters Centerline goodness : 0.750074 Centerline is valid? [False, False] Translation: X:-22.36, Y:38.53, Z:2.90 [[ 9.99370257e-01 -3.43345305e-02 -8.95712488e-03 -2.23573767e+01] [ 3.45090035e-02 9.99202013e-01 2.01113242e-02 3.85254966e+01] [ 8.25946434e-03 -2.04077607e-02 9.99757623e-01 2.90361180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.844839173 meters Centerline goodness : 0.750650 Centerline is valid? [False, False] Translation: X:-22.35, Y:38.53, Z:2.90 [[ 9.99336875e-01 -3.52468248e-02 -9.13629222e-03 -2.23528832e+01] [ 3.54144738e-02 9.99194204e-01 1.88880188e-02 3.85281359e+01] [ 8.46318754e-03 -1.91990506e-02 9.99779861e-01 2.89820362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.874839173 meters Centerline goodness : 0.751180 Centerline is valid? [False, False] Translation: X:-22.34, Y:38.53, Z:2.90 [[ 9.99220727e-01 -3.74398753e-02 -1.24978107e-02 -2.23443103e+01] [ 3.76859429e-02 9.99088047e-01 2.00709872e-02 3.85348913e+01] [ 1.17349580e-02 -2.05263382e-02 9.99720441e-01 2.89539533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.90483917299999 meters Centerline goodness : 0.750561 Centerline is valid? [False, False] Translation: X:-22.34, Y:38.54, Z:2.89 [[ 9.99300346e-01 -3.49000587e-02 -1.34463338e-02 -2.23409086e+01] [ 3.51989216e-02 9.99123153e-01 2.26707056e-02 3.85370022e+01] [ 1.26433344e-02 -2.31281404e-02 9.99652557e-01 2.89259649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.93483917299999 meters Centerline goodness : 0.752709 Centerline is valid? [False, False] Translation: X:-22.34, Y:38.54, Z:2.89 [[ 9.99557656e-01 -2.67660225e-02 -1.29642954e-02 -2.23412243e+01] [ 2.71003031e-02 9.99285775e-01 2.63346288e-02 3.85388808e+01] [ 1.22501628e-02 -2.66743162e-02 9.99569114e-01 2.89001794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.964839172999994 meters Centerline goodness : 0.755333 Centerline is valid? [False, False] Translation: X:-22.34, Y:38.54, Z:2.89 [[ 9.99653009e-01 -2.27926715e-02 -1.32043480e-02 -2.23414801e+01] [ 2.31729227e-02 9.99299133e-01 2.93982729e-02 3.85399625e+01] [ 1.25250283e-02 -2.96940553e-02 9.99480558e-01 2.89069680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.994839172999995 meters Centerline goodness : 0.753503 Centerline is valid? [False, False] Translation: X:-22.34, Y:38.54, Z:2.89 [[ 9.99639393e-01 -2.30793845e-02 -1.37268382e-02 -2.23396562e+01] [ 2.34623569e-02 9.99320520e-01 2.84256068e-02 3.85445185e+01] [ 1.30614656e-02 -2.87374203e-02 9.99501655e-01 2.88973747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.024839173 meters Centerline goodness : 0.750258 Centerline is valid? [False, False] Translation: X:-22.34, Y:38.55, Z:2.89 [[ 9.99557294e-01 -2.59460692e-02 -1.45607999e-02 -2.23356576e+01] [ 2.62994153e-02 9.99350784e-01 2.46241880e-02 3.85476201e+01] [ 1.39124459e-02 -2.49962273e-02 9.99590732e-01 2.88752042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.054839173 meters Centerline goodness : 0.748230 Centerline is valid? [False, False] Translation: X:-22.33, Y:38.55, Z:2.88 [[ 9.99420313e-01 -3.02970985e-02 -1.55281336e-02 -2.23285331e+01] [ 3.06051145e-02 9.99331484e-01 1.99978167e-02 3.85475736e+01] [ 1.49118770e-02 -2.04614646e-02 9.99679431e-01 2.88167538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.084839173 meters Centerline goodness : 0.749302 Centerline is valid? [False, False] Translation: X:-22.33, Y:38.55, Z:2.88 [[ 9.99308406e-01 -3.36974480e-02 -1.57223508e-02 -2.23269585e+01] [ 3.39481921e-02 9.99296094e-01 1.59636183e-02 3.85476892e+01] [ 1.51733506e-02 -1.64863234e-02 9.99748954e-01 2.88113929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.11483917299999 meters Centerline goodness : 0.749072 Centerline is valid? [False, False] Translation: X:-22.33, Y:38.55, Z:2.88 [[ 9.99310012e-01 -3.34872702e-02 -1.60655793e-02 -2.23254488e+01] [ 3.37342217e-02 9.99312879e-01 1.53548775e-02 3.85519628e+01] [ 1.55403474e-02 -1.58862426e-02 9.99753032e-01 2.88056570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.144839172999994 meters Centerline goodness : 0.745532 Centerline is valid? [False, False] Translation: X:-22.32, Y:38.55, Z:2.88 [[ 9.99417395e-01 -2.98699710e-02 -1.65122626e-02 -2.23245149e+01] [ 3.01833152e-02 9.99362551e-01 1.90646045e-02 3.85540127e+01] [ 1.59322777e-02 -1.95518922e-02 9.99681892e-01 2.87972317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.174839172999995 meters Centerline goodness : 0.740413 Centerline is valid? [False, False] Translation: X:-22.32, Y:38.56, Z:2.87 [[ 9.99502655e-01 -2.56291669e-02 -1.83735722e-02 -2.23156551e+01] [ 2.60385011e-02 9.99410021e-01 2.23965551e-02 3.85555193e+01] [ 1.77887272e-02 -2.28638366e-02 9.99580315e-01 2.87348073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.204839172999996 meters Centerline goodness : 0.737956 Centerline is valid? [False, False] Translation: X:-22.31, Y:38.56, Z:2.87 [[ 9.99476610e-01 -2.62801470e-02 -1.88642437e-02 -2.23106994e+01] [ 2.66651751e-02 9.99435067e-01 2.04576651e-02 3.85555568e+01] [ 1.83159562e-02 -2.09499761e-02 9.99612737e-01 2.87009526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.234839173 meters Centerline goodness : 0.739015 Centerline is valid? [False, False] Translation: X:-22.31, Y:38.56, Z:2.87 [[ 9.99483232e-01 -2.58744245e-02 -1.90731200e-02 -2.23089323e+01] [ 2.62686943e-02 9.99440178e-01 2.07192141e-02 3.85554221e+01] [ 1.85263447e-02 -2.12095330e-02 9.99603386e-01 2.86833109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.264839173 meters Centerline goodness : 0.739158 Centerline is valid? [False, False] Translation: X:-22.31, Y:38.56, Z:2.87 [[ 9.99460145e-01 -2.66351884e-02 -1.92349823e-02 -2.23094408e+01] [ 2.70076083e-02 9.99447572e-01 1.93685545e-02 3.85592421e+01] [ 1.87084713e-02 -1.98775891e-02 9.99627368e-01 2.86965464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.29483917299999 meters Centerline goodness : 0.739833 Centerline is valid? [False, False] Translation: X:-22.31, Y:38.57, Z:2.87 [[ 9.99442019e-01 -2.69105647e-02 -1.97856303e-02 -2.23088638e+01] [ 2.72453225e-02 9.99486771e-01 1.68489276e-02 3.85675652e+01] [ 1.93220616e-02 -1.73785921e-02 9.99662264e-01 2.87187436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.324839172999994 meters Centerline goodness : 0.739833 Centerline is valid? [False, False] Translation: X:-22.31, Y:38.57, Z:2.87 [[ 9.99442019e-01 -2.69105647e-02 -1.97856303e-02 -2.23088638e+01] [ 2.72453225e-02 9.99486771e-01 1.68489276e-02 3.85675652e+01] [ 1.93220616e-02 -1.73785921e-02 9.99662264e-01 2.87187436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.354839172999995 meters Centerline goodness : 0.737765 Centerline is valid? [False, False] Translation: X:-22.31, Y:38.57, Z:2.87 [[ 9.99451303e-01 -2.60838235e-02 -2.04139123e-02 -2.23064274e+01] [ 2.64227438e-02 9.99514468e-01 1.65125978e-02 3.85694578e+01] [ 1.99732890e-02 -1.70429290e-02 9.99655244e-01 2.87119937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.384839172999996 meters Centerline goodness : 0.736853 Centerline is valid? [False, False] Translation: X:-22.30, Y:38.57, Z:2.87 [[ 9.99482885e-01 -2.46480006e-02 -2.06503854e-02 -2.23040229e+01] [ 2.49678542e-02 9.99569984e-01 1.53770222e-02 3.85744047e+01] [ 2.02624926e-02 -1.58846663e-02 9.99668499e-01 2.87078239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.414839173 meters Centerline goodness : 0.736265 Centerline is valid? [False, False] Translation: X:-22.30, Y:38.58, Z:2.87 [[ 9.99480206e-01 -2.46062189e-02 -2.08291246e-02 -2.23033047e+01] [ 2.49130614e-02 9.99582968e-01 1.46023622e-02 3.85770614e+01] [ 2.04611293e-02 -1.51136893e-02 9.99676407e-01 2.87080371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.444839173 meters Centerline goodness : 0.735748 Centerline is valid? [False, False] Translation: X:-22.30, Y:38.58, Z:2.87 [[ 9.99553645e-01 -2.09471137e-02 -2.13009260e-02 -2.23018973e+01] [ 2.13138874e-02 9.99625901e-01 1.71399311e-02 3.85833391e+01] [ 2.09339252e-02 -1.75862862e-02 9.99626177e-01 2.87030380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.47483917299999 meters Centerline goodness : 0.732606 Centerline is valid? [False, False] Translation: X:-22.30, Y:38.59, Z:2.87 [[ 9.99542024e-01 -2.09527777e-02 -2.18339758e-02 -2.23007757e+01] [ 2.13098948e-02 9.99640787e-01 1.62537623e-02 3.85865904e+01] [ 2.14855713e-02 -1.67115982e-02 9.99629478e-01 2.87086982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.50483917299999 meters Centerline goodness : 0.734019 Centerline is valid? [False, False] Translation: X:-22.30, Y:38.59, Z:2.88 [[ 9.99536980e-01 -2.07221025e-02 -2.22804743e-02 -2.23009958e+01] [ 2.10210349e-02 9.99690999e-01 1.32673284e-02 3.85928022e+01] [ 2.19986627e-02 -1.37295440e-02 9.99663723e-01 2.87598842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.534839172999995 meters Centerline goodness : 0.732894 Centerline is valid? [False, False] Translation: X:-22.30, Y:38.59, Z:2.88 [[ 9.99541176e-01 -1.99917752e-02 -2.27544664e-02 -2.22996794e+01] [ 2.02827701e-02 9.99714501e-01 1.26303240e-02 3.85944154e+01] [ 2.24954675e-02 -1.30860525e-02 9.99661297e-01 2.87689079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.564839172999996 meters Centerline goodness : 0.733417 Centerline is valid? [False, False] Translation: X:-22.29, Y:38.59, Z:2.87 [[ 9.99625091e-01 -1.35418969e-02 -2.37969407e-02 -2.22943427e+01] [ 1.39682061e-02 9.99743270e-01 1.78404872e-02 3.85933093e+01] [ 2.35492373e-02 -1.81661992e-02 9.99557613e-01 2.87378723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.594839173 meters Centerline goodness : 0.733977 Centerline is valid? [False, False] Translation: X:-22.29, Y:38.60, Z:2.87 [[ 9.99668304e-01 -8.03784585e-03 -2.44678374e-02 -2.22912842e+01] [ 8.56704158e-03 9.99729969e-01 2.16007870e-02 3.85980221e+01] [ 2.42876065e-02 -2.18032391e-02 9.99467224e-01 2.87285545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.624839173 meters Centerline goodness : 0.733250 Centerline is valid? [False, False] Translation: X:-22.29, Y:38.60, Z:2.87 [[ 9.99657203e-01 -7.34194647e-03 -2.51310918e-02 -2.22890194e+01] [ 7.89022106e-03 9.99731491e-01 2.17874033e-02 3.85984534e+01] [ 2.49643819e-02 -2.19782245e-02 9.99446716e-01 2.87221147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.65483917299999 meters Centerline goodness : 0.738096 Centerline is valid? [False, False] Translation: X:-22.29, Y:38.60, Z:2.87 [[ 9.99611972e-01 -1.03747722e-02 -2.58509114e-02 -2.22867667e+01] [ 1.08507532e-02 9.99772912e-01 1.83408091e-02 3.85957073e+01] [ 2.56547592e-02 -1.86141942e-02 9.99497546e-01 2.87238656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.68483917299999 meters Centerline goodness : 0.744168 Centerline is valid? [False, False] Translation: X:-22.29, Y:38.60, Z:2.88 [[ 9.99557074e-01 -1.45607924e-02 -2.59545523e-02 -2.22880556e+01] [ 1.49009546e-02 9.99804965e-01 1.29611984e-02 3.85968032e+01] [ 2.57607650e-02 -1.33422051e-02 9.99579096e-01 2.87614272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.714839172999994 meters Centerline goodness : 0.745853 Centerline is valid? [False, False] Translation: X:-22.29, Y:38.60, Z:2.88 [[ 9.99546404e-01 -1.56904474e-02 -2.57059401e-02 -2.22914441e+01] [ 1.59818499e-02 9.99809887e-01 1.11700308e-02 3.85980514e+01] [ 2.55257903e-02 -1.15757926e-02 9.99607140e-01 2.88091086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.744839172999995 meters Centerline goodness : 0.746862 Centerline is valid? [False, False] Translation: X:-22.29, Y:38.60, Z:2.89 [[ 9.99529310e-01 -1.63429425e-02 -2.59627793e-02 -2.22935828e+01] [ 1.66068232e-02 9.99812280e-01 9.98090069e-03 3.85995811e+01] [ 2.57947882e-02 -1.04073621e-02 9.99613083e-01 2.88532785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.774839173 meters Centerline goodness : 0.748976 Centerline is valid? [False, False] Translation: X:-22.29, Y:38.60, Z:2.88 [[ 9.99520561e-01 -1.58348481e-02 -2.66064867e-02 -2.22916078e+01] [ 1.61198048e-02 9.99814619e-01 1.05299016e-02 3.85996744e+01] [ 2.64348150e-02 -1.09537445e-02 9.99590524e-01 2.88457509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.804839173 meters Centerline goodness : 0.748749 Centerline is valid? [False, False] Translation: X:-22.29, Y:38.60, Z:2.89 [[ 9.99453382e-01 -1.81768931e-02 -2.76140873e-02 -2.22887101e+01] [ 1.83859610e-02 9.99804050e-01 7.33609470e-03 3.85965472e+01] [ 2.74753289e-02 -7.83979619e-03 9.99591739e-01 2.88550092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.834839173 meters Centerline goodness : 0.750000 Centerline is valid? [False, False] Translation: X:-22.29, Y:38.59, Z:2.89 [[ 9.99380500e-01 -2.15096678e-02 -2.78558724e-02 -2.22885112e+01] [ 2.16242723e-02 9.99758872e-01 3.81947698e-03 3.85927842e+01] [ 2.77669999e-02 -4.41947378e-03 9.99604653e-01 2.88703024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.86483917299999 meters Centerline goodness : 0.753330 Centerline is valid? [False, False] Translation: X:-22.29, Y:38.58, Z:2.89 [[ 9.99182262e-01 -2.92860164e-02 -2.78771685e-02 -2.22898721e+01] [ 2.92226646e-02 9.99569341e-01 -2.67731867e-03 3.85831696e+01] [ 2.79435709e-02 1.86048418e-03 9.99607771e-01 2.88963835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.894839172999994 meters Centerline goodness : 0.755105 Centerline is valid? [False, False] Translation: X:-22.28, Y:38.58, Z:2.89 [[ 9.99121431e-01 -3.61953590e-02 -2.11249247e-02 -2.22819670e+01] [ 3.62724725e-02 9.99336559e-01 3.27854787e-03 3.85756785e+01] [ 2.09922414e-02 -4.04192069e-03 9.99771468e-01 2.88667016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.924839172999995 meters Centerline goodness : 0.753410 Centerline is valid? [False, False] Translation: X:-22.28, Y:38.57, Z:2.89 [[ 9.99123116e-01 -3.58685783e-02 -2.15973011e-02 -2.22811762e+01] [ 3.59703322e-02 9.99343428e-01 4.34139168e-03 3.85728876e+01] [ 2.14274014e-02 -5.11444688e-03 9.99757325e-01 2.88664073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.954839172999996 meters Centerline goodness : 0.756798 Centerline is valid? [False, False] Translation: X:-22.28, Y:38.57, Z:2.89 [[ 9.99145282e-01 -3.47647930e-02 -2.23632560e-02 -2.22784696e+01] [ 3.49085553e-02 9.99372074e-01 6.07045321e-03 3.85690535e+01] [ 2.21381755e-02 -6.84593364e-03 9.99731481e-01 2.88501602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.984839173 meters Centerline goodness : 0.753196 Centerline is valid? [False, False] Translation: X:-22.28, Y:38.56, Z:2.88 [[ 9.99162358e-01 -3.40056573e-02 -2.27639482e-02 -2.22765488e+01] [ 3.41982941e-02 9.99382022e-01 8.12713261e-03 3.85632325e+01] [ 2.24735121e-02 -8.89881318e-03 9.99707834e-01 2.88288021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.014839173 meters Centerline goodness : 0.756783 Centerline is valid? [False, False] Translation: X:-22.27, Y:38.56, Z:2.88 [[ 9.99359891e-01 -3.39225912e-02 -1.13607323e-02 -2.22743578e+01] [ 3.39782924e-02 9.99411301e-01 4.74631480e-03 3.85637475e+01] [ 1.11930370e-02 -5.12929492e-03 9.99924200e-01 2.87874804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.04483917299999 meters Centerline goodness : 0.755818 Centerline is valid? [False, False] Translation: X:-22.28, Y:38.56, Z:2.88 [[ 9.99317865e-01 -3.52274545e-02 -1.10828978e-02 -2.22766521e+01] [ 3.52782222e-02 9.99367760e-01 4.41900269e-03 3.85607627e+01] [ 1.09202205e-02 -4.80697326e-03 9.99928818e-01 2.88055195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.074839172999994 meters Centerline goodness : 0.755860 Centerline is valid? [False, False] Translation: X:-22.27, Y:38.55, Z:2.88 [[ 9.99175591e-01 -3.90178465e-02 -1.12136918e-02 -2.22749300e+01] [ 3.90440221e-02 9.99235232e-01 2.12480608e-03 3.85547743e+01] [ 1.11222106e-02 -2.56088200e-03 9.99934867e-01 2.87826516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.104839172999995 meters Centerline goodness : 0.757142 Centerline is valid? [False, False] Translation: X:-22.27, Y:38.55, Z:2.88 [[ 9.99174244e-01 -3.89388411e-02 -1.16015542e-02 -2.22732890e+01] [ 3.89785154e-02 9.99234882e-01 3.21340276e-03 3.85518074e+01] [ 1.14675514e-02 -3.66296063e-03 9.99927536e-01 2.87645112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.134839172999996 meters Centerline goodness : 0.755397 Centerline is valid? [False, False] Translation: X:-22.27, Y:38.55, Z:2.87 [[ 9.99034656e-01 -4.22234401e-02 -1.21217830e-02 -2.22696498e+01] [ 4.22353898e-02 9.99107420e-01 7.31395345e-04 3.85511170e+01] [ 1.20800813e-02 -1.24265753e-03 9.99926261e-01 2.87280707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.164839173 meters Centerline goodness : 0.754644 Centerline is valid? [False, False] Translation: X:-22.27, Y:38.55, Z:2.87 [[ 9.99027829e-01 -4.23730492e-02 -1.21623379e-02 -2.22696191e+01] [ 4.23868905e-02 9.99100882e-01 8.82428226e-04 3.85515778e+01] [ 1.21140114e-02 -1.39709404e-03 9.99925647e-01 2.87263536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.194839173 meters Centerline goodness : 0.753196 Centerline is valid? [False, False] Translation: X:-22.27, Y:38.55, Z:2.86 [[ 9.99028807e-01 -4.40248823e-02 1.80368016e-03 -2.22681633e+01] [ 4.40203316e-02 9.99027534e-01 2.48949658e-03 3.85472318e+01] [-1.91152593e-03 -2.40768020e-03 9.99995275e-01 2.86439149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.22483917299999 meters Centerline goodness : 0.752680 Centerline is valid? [False, False] Translation: X:-22.27, Y:38.54, Z:2.86 [[ 9.99028257e-01 -4.40367839e-02 1.81751136e-03 -2.22678708e+01] [ 4.40300750e-02 9.99023793e-01 3.57949389e-03 3.85427063e+01] [-1.97336649e-03 -3.49599039e-03 9.99991942e-01 2.86348909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.25483917299999 meters Centerline goodness : 0.754143 Centerline is valid? [False, False] Translation: X:-22.27, Y:38.54, Z:2.86 [[ 9.99027945e-01 -4.40404985e-02 1.89735382e-03 -2.22676882e+01] [ 4.40321449e-02 9.99021117e-01 4.23998131e-03 3.85406553e+01] [-2.08222742e-03 -4.15231526e-03 9.99989211e-01 2.86270195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.284839172999995 meters Centerline goodness : 0.755730 Centerline is valid? [False, False] Translation: X:-22.27, Y:38.55, Z:2.86 [[ 9.98987479e-01 -4.49474168e-02 1.93552992e-03 -2.22688939e+01] [ 4.49411449e-02 9.98984606e-01 3.17039205e-03 3.85453166e+01] [-2.07606553e-03 -3.08019703e-03 9.99993101e-01 2.86427477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.314839172999996 meters Centerline goodness : 0.756929 Centerline is valid? [False, False] Translation: X:-22.27, Y:38.54, Z:2.87 [[ 9.98962000e-01 -4.55151922e-02 1.81358161e-03 -2.22695712e+01] [ 4.55086533e-02 9.98957824e-01 3.49690641e-03 3.85433426e+01] [-1.97085391e-03 -3.41074296e-03 9.99992241e-01 2.86509996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.344839173 meters Centerline goodness : 0.757345 Centerline is valid? [False, False] Translation: X:-22.27, Y:38.54, Z:2.86 [[ 9.98977849e-01 -4.51765823e-02 1.52792077e-03 -2.22686736e+01] [ 4.51693834e-02 9.98969400e-01 4.45696293e-03 3.85396635e+01] [-1.72769644e-03 -4.38339200e-03 9.99988900e-01 2.86459446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.374839173 meters Centerline goodness : 0.758189 Centerline is valid? [False, False] Translation: X:-22.26, Y:38.53, Z:2.86 [[ 9.98864620e-01 -4.76327702e-02 7.67549082e-04 -2.22648144e+01] [ 4.76307434e-02 9.98861953e-01 2.47201933e-03 3.85327554e+01] [-8.84424704e-04 -2.43265372e-03 9.99996650e-01 2.86238164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.40483917299999 meters Centerline goodness : 0.755857 Centerline is valid? [False, False] Translation: X:-22.26, Y:38.53, Z:2.86 [[ 9.98904617e-01 -4.67924770e-02 1.72983859e-04 -2.22625918e+01] [ 4.67915059e-02 9.98897694e-01 3.73515885e-03 3.85294162e+01] [-3.47570513e-04 -3.72297324e-03 9.99993009e-01 2.86103105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.43483917299999 meters Centerline goodness : 0.755088 Centerline is valid? [False, False] Translation: X:-22.26, Y:38.53, Z:2.86 [[ 9.99012047e-01 -4.44179799e-02 -1.40477162e-03 -2.22571561e+01] [ 4.44251842e-02 9.98997028e-01 5.59830175e-03 3.85285933e+01] [ 1.15469742e-03 -5.65517813e-03 9.99983343e-01 2.85866793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.464839172999994 meters Centerline goodness : 0.753545 Centerline is valid? [False, False] Translation: X:-22.25, Y:38.53, Z:2.86 [[ 9.99223033e-01 -3.93273892e-02 -2.58597287e-03 -2.22540100e+01] [ 3.93529610e-02 9.99167868e-01 1.07199317e-02 3.85312792e+01] [ 2.16223407e-03 -1.08133684e-02 9.99939196e-01 2.85698834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.494839172999995 meters Centerline goodness : 0.750772 Centerline is valid? [False, False] Translation: X:-22.25, Y:38.53, Z:2.86 [[ 9.99236416e-01 -3.89376364e-02 -3.23180908e-03 -2.22523595e+01] [ 3.89708402e-02 9.99180454e-01 1.09404413e-02 3.85325773e+01] [ 2.80316554e-03 -1.10580337e-02 9.99934929e-01 2.85667670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.524839173 meters Centerline goodness : 0.750357 Centerline is valid? [False, False] Translation: X:-22.25, Y:38.53, Z:2.86 [[ 9.99135793e-01 -4.13485082e-02 -4.23884255e-03 -2.22486757e+01] [ 4.13807734e-02 9.99112769e-01 7.82980988e-03 3.85312745e+01] [ 3.91133076e-03 -7.99844989e-03 9.99960362e-01 2.85597865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.554839173 meters Centerline goodness : 0.748422 Centerline is valid? [False, False] Translation: X:-22.25, Y:38.53, Z:2.85 [[ 9.99014914e-01 -4.41086212e-02 -4.86121715e-03 -2.22455455e+01] [ 4.41318607e-02 9.99014271e-01 4.78171597e-03 3.85291171e+01] [ 4.64551041e-03 -4.99154012e-03 9.99976752e-01 2.85449377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.584839173 meters Centerline goodness : 0.747540 Centerline is valid? [False, False] Translation: X:-22.24, Y:38.53, Z:2.85 [[ 9.98918542e-01 -4.60707738e-02 -6.26338462e-03 -2.22394372e+01] [ 4.60877482e-02 9.98934029e-01 2.59325641e-03 3.85283734e+01] [ 6.13723470e-03 -2.87911721e-03 9.99977022e-01 2.85087354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.61483917299999 meters Centerline goodness : 0.748327 Centerline is valid? [False, False] Translation: X:-22.24, Y:38.53, Z:2.85 [[ 9.99080824e-01 -4.23337590e-02 -6.73501142e-03 -2.22387437e+01] [ 4.23780881e-02 9.99079970e-01 6.58120008e-03 3.85294098e+01] [ 6.45020807e-03 -6.86056771e-03 9.99955663e-01 2.85038962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.644839172999994 meters Centerline goodness : 0.744132 Centerline is valid? [False, False] Translation: X:-22.24, Y:38.53, Z:2.85 [[ 9.99259720e-01 -3.76659056e-02 -7.82882758e-03 -2.22352000e+01] [ 3.77440541e-02 9.99236535e-01 1.00863038e-02 3.85341503e+01] [ 7.44294078e-03 -1.03743289e-02 9.99918485e-01 2.84857897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.674839172999995 meters Centerline goodness : 0.742823 Centerline is valid? [False, False] Translation: X:-22.23, Y:38.54, Z:2.85 [[ 9.99295136e-01 -3.65138844e-02 -8.71596718e-03 -2.22321150e+01] [ 3.66006425e-02 9.99279827e-01 1.00110523e-02 3.85356642e+01] [ 8.34414777e-03 -1.03230059e-02 9.99911901e-01 2.84777929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.704839172999996 meters Centerline goodness : 0.744261 Centerline is valid? [False, False] Translation: X:-22.23, Y:38.54, Z:2.85 [[ 9.99322121e-01 -3.56731267e-02 -9.09538656e-03 -2.22305070e+01] [ 3.57483256e-02 9.99326822e-01 8.24376032e-03 3.85417778e+01] [ 8.79518304e-03 -8.56331689e-03 9.99924654e-01 2.84877129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.734839173 meters Centerline goodness : 0.743421 Centerline is valid? [False, False] Translation: X:-22.23, Y:38.55, Z:2.85 [[ 9.99337592e-01 -3.50179340e-02 -9.90566754e-03 -2.22286101e+01] [ 3.50943860e-02 9.99354704e-01 7.65239753e-03 3.85473531e+01] [ 9.63130430e-03 -7.99496184e-03 9.99921656e-01 2.84924376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.764839173 meters Centerline goodness : 0.742175 Centerline is valid? [False, False] Translation: X:-22.23, Y:38.55, Z:2.85 [[ 9.99516755e-01 -2.91251046e-02 -1.08620343e-02 -2.22253343e+01] [ 2.92401335e-02 9.99516359e-01 1.05859354e-02 3.85549667e+01] [ 1.05484645e-02 -1.08984271e-02 9.99884970e-01 2.84951155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.79483917299999 meters Centerline goodness : 0.740648 Centerline is valid? [False, False] Translation: X:-22.22, Y:38.56, Z:2.85 [[ 9.99559304e-01 -2.72941112e-02 -1.16716917e-02 -2.22221438e+01] [ 2.74212781e-02 9.99564780e-01 1.08777278e-02 3.85599005e+01] [ 1.13697141e-02 -1.11929867e-02 9.99872715e-01 2.84862129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.824839172999994 meters Centerline goodness : 0.739761 Centerline is valid? [False, False] Translation: X:-22.22, Y:38.57, Z:2.85 [[ 9.99658792e-01 -2.28964833e-02 -1.25718563e-02 -2.22193190e+01] [ 2.30719139e-02 9.99635901e-01 1.39911575e-02 3.85656426e+01] [ 1.22469306e-02 -1.42764404e-02 9.99823082e-01 2.84769122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.854839172999995 meters Centerline goodness : 0.738681 Centerline is valid? [False, False] Translation: X:-22.22, Y:38.57, Z:2.85 [[ 9.99665434e-01 -2.23138134e-02 -1.30810342e-02 -2.22174861e+01] [ 2.24858143e-02 9.99660640e-01 1.31526567e-02 3.85702323e+01] [ 1.27831091e-02 -1.34423940e-02 9.99827932e-01 2.84762979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.884839172999996 meters Centerline goodness : 0.734058 Centerline is valid? [False, False] Translation: X:-22.21, Y:38.57, Z:2.84 [[ 9.99656959e-01 -2.22259466e-02 -1.38553608e-02 -2.22125898e+01] [ 2.23967351e-02 9.99673548e-01 1.22956937e-02 3.85747713e+01] [ 1.35775543e-02 -1.26017906e-02 9.99828408e-01 2.84394162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.914839173 meters Centerline goodness : 0.733040 Centerline is valid? [False, False] Translation: X:-22.21, Y:38.58, Z:2.84 [[ 9.99609337e-01 -2.38900343e-02 -1.45065361e-02 -2.22079915e+01] [ 2.40359630e-02 9.99661380e-01 9.96988264e-03 3.85772392e+01] [ 1.42634430e-02 -1.03146663e-02 9.99845069e-01 2.84057717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.944839173 meters Centerline goodness : 0.733733 Centerline is valid? [False, False] Translation: X:-22.20, Y:38.58, Z:2.84 [[ 9.99547229e-01 -2.61238957e-02 -1.49291575e-02 -2.22031753e+01] [ 2.62384477e-02 9.99627357e-01 7.52935304e-03 3.85805248e+01] [ 1.47268982e-02 -7.91766189e-03 9.99860205e-01 2.83551697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.97483917299999 meters Centerline goodness : 0.734187 Centerline is valid? [False, False] Translation: X:-22.20, Y:38.58, Z:2.83 [[ 9.99554484e-01 -2.55514680e-02 -1.54258304e-02 -2.22000580e+01] [ 2.56820042e-02 9.99635505e-01 8.32420837e-03 3.85796916e+01] [ 1.52075120e-02 -8.71666605e-03 9.99846364e-01 2.83260277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.00483917299999 meters Centerline goodness : 0.732877 Centerline is valid? [False, False] Translation: X:-22.20, Y:38.58, Z:2.83 [[ 9.99536158e-01 -2.57537481e-02 -1.62546250e-02 -2.21950233e+01] [ 2.58846217e-02 9.99633776e-01 7.89307030e-03 3.85838565e+01] [ 1.60453961e-02 -8.31015399e-03 9.99836730e-01 2.82822100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.034839172999995 meters Centerline goodness : 0.732332 Centerline is valid? [False, False] Translation: X:-22.19, Y:38.59, Z:2.83 [[ 9.99525894e-01 -2.59224225e-02 -1.66136948e-02 -2.21937394e+01] [ 2.60443974e-02 9.99635088e-01 7.16797234e-03 3.85885663e+01] [ 1.64218210e-02 -7.59726763e-03 9.99836289e-01 2.82767288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.064839172999996 meters Centerline goodness : 0.729041 Centerline is valid? [False, False] Translation: X:-22.19, Y:38.60, Z:2.83 [[ 9.99662222e-01 -2.44866199e-02 -8.70908753e-03 -2.21866404e+01] [ 2.46261753e-02 9.99563916e-01 1.62950973e-02 3.85972300e+01] [ 8.30627778e-03 -1.65040646e-02 9.99829296e-01 2.82802537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.094839173 meters Centerline goodness : 0.726798 Centerline is valid? [False, False] Translation: X:-22.18, Y:38.60, Z:2.83 [[ 9.99664331e-01 -2.42978192e-02 -8.99122559e-03 -2.21840937e+01] [ 2.44351497e-02 9.99581359e-01 1.54929270e-02 3.86009692e+01] [ 8.61101715e-03 -1.57074284e-02 9.99839551e-01 2.82595603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.124839173 meters Centerline goodness : 0.727021 Centerline is valid? [False, False] Translation: X:-22.18, Y:38.60, Z:2.82 [[ 9.99626403e-01 -2.57794314e-02 -9.08162870e-03 -2.21808071e+01] [ 2.58975604e-02 9.99578249e-01 1.31392992e-02 3.86036744e+01] [ 8.73907485e-03 -1.33695824e-02 9.99872433e-01 2.82298108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.15483917299999 meters Centerline goodness : 0.724619 Centerline is valid? [False, False] Translation: X:-22.18, Y:38.61, Z:2.82 [[ 9.99612113e-01 -2.62604592e-02 -9.27420238e-03 -2.21787194e+01] [ 2.63659262e-02 9.99586908e-01 1.14390412e-02 3.86123048e+01] [ 8.96997680e-03 -1.16791271e-02 9.99891563e-01 2.82108368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.18483917299999 meters Centerline goodness : 0.723282 Centerline is valid? [False, False] Translation: X:-22.18, Y:38.62, Z:2.82 [[ 9.99601022e-01 -2.65863994e-02 -9.53732861e-03 -2.21783094e+01] [ 2.66807600e-02 9.99594913e-01 9.90689972e-03 3.86184227e+01] [ 9.27007637e-03 -1.01574103e-02 9.99905442e-01 2.82196632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.214839172999994 meters Centerline goodness : 0.725690 Centerline is valid? [False, False] Translation: X:-22.17, Y:38.62, Z:2.82 [[ 9.99572296e-01 -2.92053426e-02 -1.50771303e-03 -2.21718815e+01] [ 2.92252970e-02 9.99451632e-01 1.55665534e-02 3.86232536e+01] [ 1.05225972e-03 -1.56039589e-02 9.99877697e-01 2.82280302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.244839172999995 meters Centerline goodness : 0.725690 Centerline is valid? [False, False] Translation: X:-22.17, Y:38.62, Z:2.82 [[ 9.99572296e-01 -2.92053426e-02 -1.50771303e-03 -2.21718815e+01] [ 2.92252970e-02 9.99451632e-01 1.55665534e-02 3.86232536e+01] [ 1.05225972e-03 -1.56039589e-02 9.99877697e-01 2.82280302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.274839173 meters Centerline goodness : 0.724663 Centerline is valid? [False, False] Translation: X:-22.17, Y:38.62, Z:2.82 [[ 9.99532468e-01 -3.05573043e-02 -1.04677796e-03 -2.21746155e+01] [ 3.05693711e-02 9.99425251e-01 1.46520186e-02 3.86237885e+01] [ 5.98450134e-04 -1.46771677e-02 9.99892105e-01 2.82473439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.304839173 meters Centerline goodness : 0.728413 Centerline is valid? [False, False] Translation: X:-22.17, Y:38.62, Z:2.83 [[ 9.99525628e-01 -3.07678103e-02 -1.36422136e-03 -2.21746534e+01] [ 3.07838076e-02 9.99429597e-01 1.38865999e-02 3.86249284e+01] [ 9.36182930e-04 -1.39220084e-02 9.99902646e-01 2.82628107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.33483917299999 meters Centerline goodness : 0.728180 Centerline is valid? [False, False] Translation: X:-22.17, Y:38.62, Z:2.82 [[ 9.99555372e-01 -2.97286772e-02 -2.29414419e-03 -2.21711070e+01] [ 2.97587948e-02 9.99452599e-01 1.44539683e-02 3.86249492e+01] [ 1.86319101e-03 -1.45158127e-02 9.99892904e-01 2.82462521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.36483917299999 meters Centerline goodness : 0.727537 Centerline is valid? [False, False] Translation: X:-22.16, Y:38.62, Z:2.82 [[ 9.99534949e-01 -3.02839772e-02 -3.57304721e-03 -2.21636803e+01] [ 3.03277575e-02 9.99456617e-01 1.29111463e-02 3.86230414e+01] [ 3.18010482e-03 -1.30135045e-02 9.99910264e-01 2.82022918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.394839172999994 meters Centerline goodness : 0.729231 Centerline is valid? [False, False] Translation: X:-22.16, Y:38.62, Z:2.82 [[ 9.99447806e-01 -3.29610468e-02 -4.20153607e-03 -2.21603098e+01] [ 3.29998865e-02 9.99409854e-01 9.53678567e-03 3.86219870e+01] [ 3.88471411e-03 -9.67016973e-03 9.99945697e-01 2.81890599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.424839172999995 meters Centerline goodness : 0.734261 Centerline is valid? [False, False] Translation: X:-22.16, Y:38.62, Z:2.82 [[ 9.99427935e-01 -3.35801579e-02 -4.02196083e-03 -2.21624435e+01] [ 3.36138597e-02 9.99397656e-01 8.62745191e-03 3.86203728e+01] [ 3.72982703e-03 -8.75771007e-03 9.99954694e-01 2.82217927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.454839172999996 meters Centerline goodness : 0.732927 Centerline is valid? [False, False] Translation: X:-22.16, Y:38.62, Z:2.82 [[ 9.99425754e-01 -3.35650530e-02 -4.64207848e-03 -2.21619903e+01] [ 3.36007018e-02 9.99404685e-01 7.82741852e-03 3.86221096e+01] [ 4.37658727e-03 -7.97890075e-03 9.99958590e-01 2.82424150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.484839173 meters Centerline goodness : 0.731142 Centerline is valid? [False, False] Translation: X:-22.16, Y:38.62, Z:2.82 [[ 9.99436129e-01 -3.31696711e-02 -5.21505016e-03 -2.21608108e+01] [ 3.32103938e-02 9.99416952e-01 7.92624516e-03 3.86216290e+01] [ 4.94909859e-03 -8.09496965e-03 9.99954988e-01 2.82488846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.514839173 meters Centerline goodness : 0.730158 Centerline is valid? [False, False] Translation: X:-22.15, Y:38.62, Z:2.82 [[ 9.99518121e-01 -3.02064932e-02 -7.14798637e-03 -2.21525627e+01] [ 3.02843742e-02 9.99480238e-01 1.10503595e-02 3.86166375e+01] [ 6.81047851e-03 -1.12615068e-02 9.99913394e-01 2.81951241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.54483917299999 meters Centerline goodness : 0.727225 Centerline is valid? [False, False] Translation: X:-22.14, Y:38.62, Z:2.81 [[ 9.99639058e-01 -2.49802158e-02 -9.88643947e-03 -2.21361462e+01] [ 2.51033178e-02 9.99606336e-01 1.25297855e-02 3.86161358e+01] [ 9.56955079e-03 -1.27734454e-02 9.99872623e-01 2.81136598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.574839172999994 meters Centerline goodness : 0.727439 Centerline is valid? [False, False] Translation: X:-22.13, Y:38.62, Z:2.81 [[ 9.99650873e-01 -2.41935247e-02 -1.06210333e-02 -2.21332647e+01] [ 2.43276208e-02 9.99623580e-01 1.26832776e-02 3.86179413e+01] [ 1.03101822e-02 -1.29372339e-02 9.99863155e-01 2.81001941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.604839172999995 meters Centerline goodness : 0.726316 Centerline is valid? [False, False] Translation: X:-22.13, Y:38.62, Z:2.81 [[ 9.99563135e-01 -2.73201731e-02 -1.12759606e-02 -2.21303348e+01] [ 2.74232247e-02 9.99582601e-01 9.08789027e-03 3.86183325e+01] [ 1.10229713e-02 -9.39314329e-03 9.99895126e-01 2.80886592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.634839172999996 meters Centerline goodness : 0.725312 Centerline is valid? [False, False] Translation: X:-22.13, Y:38.62, Z:2.81 [[ 9.99548439e-01 -2.79051290e-02 -1.11454538e-02 -2.21312893e+01] [ 2.80065409e-02 9.99566782e-01 9.04891035e-03 3.86162925e+01] [ 1.08881144e-02 -9.35696983e-03 9.99896943e-01 2.80945876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.664839173 meters Centerline goodness : 0.727579 Centerline is valid? [False, False] Translation: X:-22.12, Y:38.61, Z:2.81 [[ 9.99416826e-01 -3.38866052e-02 -4.20792790e-03 -2.21221496e+01] [ 3.39437520e-02 9.99320771e-01 1.43463528e-02 3.86142343e+01] [ 3.71892056e-03 -1.44808193e-02 9.99888232e-01 2.80607211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.694839173 meters Centerline goodness : 0.727850 Centerline is valid? [False, False] Translation: X:-22.12, Y:38.61, Z:2.81 [[ 9.99286058e-01 -3.74824347e-02 -4.73726335e-03 -2.21205814e+01] [ 3.75298608e-02 9.99241867e-01 1.03537724e-02 3.86144856e+01] [ 4.34558728e-03 -1.05241692e-02 9.99935177e-01 2.80649646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.72483917299999 meters Centerline goodness : 0.730356 Centerline is valid? [False, False] Translation: X:-22.12, Y:38.61, Z:2.81 [[ 9.99158565e-01 -4.06864949e-02 -5.17401977e-03 -2.21184194e+01] [ 4.07231484e-02 9.99144614e-01 7.18790110e-03 3.86117092e+01] [ 4.87714348e-03 -7.39255532e-03 9.99960781e-01 2.80575197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.75483917299999 meters Centerline goodness : 0.733584 Centerline is valid? [False, False] Translation: X:-22.12, Y:38.61, Z:2.80 [[ 9.99194824e-01 -3.97291690e-02 -5.59427695e-03 -2.21164656e+01] [ 3.97772498e-02 9.99170146e-01 8.76297109e-03 3.86068942e+01] [ 5.24148896e-03 -8.97844031e-03 9.99945956e-01 2.80428196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.784839172999995 meters Centerline goodness : 0.731775 Centerline is valid? [False, False] Translation: X:-22.11, Y:38.61, Z:2.80 [[ 9.99375778e-01 -3.46550465e-02 -6.86156990e-03 -2.21139228e+01] [ 3.47443233e-02 9.99307064e-01 1.33500625e-02 3.86073960e+01] [ 6.39416824e-03 -1.35801297e-02 9.99887341e-01 2.80463552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.814839172999996 meters Centerline goodness : 0.731651 Centerline is valid? [False, False] Translation: X:-22.11, Y:38.61, Z:2.81 [[ 9.99392934e-01 -3.39439615e-02 -7.84666597e-03 -2.21118420e+01] [ 3.40461008e-02 9.99332135e-01 1.32720073e-02 3.86083266e+01] [ 7.39092096e-03 -1.35310987e-02 9.99881135e-01 2.80558680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.844839173 meters Centerline goodness : 0.731619 Centerline is valid? [False, False] Translation: X:-22.11, Y:38.60, Z:2.81 [[ 9.99345741e-01 -3.51855273e-02 -8.37066517e-03 -2.21116842e+01] [ 3.52858129e-02 9.99303392e-01 1.21507729e-02 3.86027463e+01] [ 7.93730275e-03 -1.24381889e-02 9.99891139e-01 2.80786242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.874839173 meters Centerline goodness : 0.730975 Centerline is valid? [False, False] Translation: X:-22.11, Y:38.60, Z:2.81 [[ 9.99218951e-01 -3.85288701e-02 -8.77578476e-03 -2.21102253e+01] [ 3.86079510e-02 9.99213656e-01 9.02746526e-03 3.85990390e+01] [ 8.42106595e-03 -9.35922943e-03 9.99920742e-01 2.80793331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.90483917299999 meters Centerline goodness : 0.729145 Centerline is valid? [False, False] Translation: X:-22.11, Y:38.59, Z:2.81 [[ 9.98726879e-01 -4.94857027e-02 -9.78702274e-03 -2.21077173e+01] [ 4.94772674e-02 9.98774642e-01 -1.10228382e-03 3.85904132e+01] [ 9.82957742e-03 6.16645337e-04 9.99951498e-01 2.80955598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.93483917299999 meters Centerline goodness : 0.729800 Centerline is valid? [False, False] Translation: X:-22.10, Y:38.58, Z:2.81 [[ 9.98393157e-01 -5.56023393e-02 -1.09308661e-02 -2.21025453e+01] [ 5.55519940e-02 9.98443983e-01 -4.85692055e-03 3.85765127e+01] [ 1.11839136e-02 4.24188483e-03 9.99928461e-01 2.80597434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.964839172999994 meters Centerline goodness : 0.731354 Centerline is valid? [False, False] Translation: X:-22.10, Y:38.57, Z:2.80 [[ 9.98466525e-01 -5.40366904e-02 -1.20264463e-02 -2.20981335e+01] [ 5.40154027e-02 9.98537919e-01 -2.08814288e-03 3.85686841e+01] [ 1.21216990e-02 1.43532743e-03 9.99925499e-01 2.80270225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.994839172999995 meters Centerline goodness : 0.734263 Centerline is valid? [False, False] Translation: X:-22.09, Y:38.56, Z:2.80 [[ 9.98569570e-01 -5.17398135e-02 -1.34835459e-02 -2.20928469e+01] [ 5.17625186e-02 9.98658523e-01 1.34016970e-03 3.85568035e+01] [ 1.33961179e-02 -2.03619498e-03 9.99908195e-01 2.80001054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.024839173 meters Centerline goodness : 0.734026 Centerline is valid? [False, False] Translation: X:-22.09, Y:38.55, Z:2.80 [[ 9.98605847e-01 -5.08503461e-02 -1.41635291e-02 -2.20918263e+01] [ 5.08905824e-02 9.98701119e-01 2.49482447e-03 3.85524674e+01] [ 1.40182697e-02 -3.21213655e-03 9.99896580e-01 2.80102374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.054839173 meters Centerline goodness : 0.734090 Centerline is valid? [False, False] Translation: X:-22.09, Y:38.55, Z:2.81 [[ 9.98692447e-01 -4.86841893e-02 -1.55963596e-02 -2.20915514e+01] [ 4.87562662e-02 9.98801558e-01 4.27475276e-03 3.85451984e+01] [ 1.53695554e-02 -5.02958355e-03 9.99869231e-01 2.80648805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.08483917299999 meters Centerline goodness : 0.731446 Centerline is valid? [False, False] Translation: X:-22.08, Y:38.53, Z:2.81 [[ 9.98869723e-01 -4.39027026e-02 -1.82161904e-02 -2.20840201e+01] [ 4.40352878e-02 9.99005856e-01 6.94210594e-03 3.85337638e+01] [ 1.78933037e-02 -7.73641462e-03 9.99809971e-01 2.80798575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.11483917299999 meters Centerline goodness : 0.731826 Centerline is valid? [False, False] Translation: X:-22.08, Y:38.53, Z:2.81 [[ 9.98915172e-01 -4.23676572e-02 -1.93251291e-02 -2.20819237e+01] [ 4.25271186e-02 9.99063949e-01 7.91637772e-03 3.85286628e+01] [ 1.89716414e-02 -8.72963187e-03 9.99781911e-01 2.80969693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.144839172999994 meters Centerline goodness : 0.736081 Centerline is valid? [False, False] Translation: X:-22.08, Y:38.52, Z:2.81 [[ 9.98976171e-01 -4.05001015e-02 -2.01581574e-02 -2.20826223e+01] [ 4.06969870e-02 9.99126804e-01 9.45440339e-03 3.85211202e+01] [ 1.97576511e-02 -1.02651000e-02 9.99752101e-01 2.81471071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.174839172999995 meters Centerline goodness : 0.739423 Centerline is valid? [False, False] Translation: X:-22.08, Y:38.51, Z:2.82 [[ 9.98874443e-01 -4.17683813e-02 -2.24777694e-02 -2.20803239e+01] [ 4.21121416e-02 9.98999630e-01 1.50435113e-02 3.85113054e+01] [ 2.18269402e-02 -1.59731659e-02 9.99634154e-01 2.82076074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.204839172999996 meters Centerline goodness : 0.740036 Centerline is valid? [False, False] Translation: X:-22.08, Y:38.51, Z:2.82 [[ 9.98822684e-01 -4.25620759e-02 -2.32747834e-02 -2.20795948e+01] [ 4.29721699e-02 9.98924517e-01 1.74127083e-02 3.85057273e+01] [ 2.25086307e-02 -1.83923760e-02 9.99577452e-01 2.82351668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.234839173 meters Centerline goodness : 0.736798 Centerline is valid? [False, False] Translation: X:-22.08, Y:38.50, Z:2.82 [[ 9.98803410e-01 -4.31115368e-02 -2.30898988e-02 -2.20799760e+01] [ 4.34835424e-02 9.98928266e-01 1.58587851e-02 3.85010779e+01] [ 2.23814560e-02 -1.68438392e-02 9.99607601e-01 2.82395024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.264839173 meters Centerline goodness : 0.733417 Centerline is valid? [False, False] Translation: X:-22.08, Y:38.49, Z:2.82 [[ 9.98886565e-01 -4.16275138e-02 -2.21986685e-02 -2.20814540e+01] [ 4.19381533e-02 9.99026051e-01 1.37164624e-02 3.84943965e+01] [ 2.16060659e-02 -1.46321612e-02 9.99659481e-01 2.82362001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.29483917299999 meters Centerline goodness : 0.732368 Centerline is valid? [False, False] Translation: X:-22.08, Y:38.49, Z:2.82 [[ 9.98929651e-01 -4.01396915e-02 -2.29860117e-02 -2.20792184e+01] [ 4.04879280e-02 9.99069071e-01 1.48902511e-02 3.84911566e+01] [ 2.23669233e-02 -1.58049693e-02 9.99624891e-01 2.82357489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.324839172999994 meters Centerline goodness : 0.729037 Centerline is valid? [False, False] Translation: X:-22.08, Y:38.48, Z:2.83 [[ 9.99040675e-01 -3.69554514e-02 -2.34951763e-02 -2.20785902e+01] [ 3.73682811e-02 9.99150388e-01 1.73814072e-02 3.84824439e+01] [ 2.28328768e-02 -1.82427072e-02 9.99572840e-01 2.82591529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.354839172999995 meters Centerline goodness : 0.716694 Centerline is valid? [False, False] Translation: X:-22.08, Y:38.48, Z:2.83 [[ 9.99049350e-01 -3.64537470e-02 -2.39065046e-02 -2.20786086e+01] [ 3.68879831e-02 9.99157615e-01 1.79815743e-02 3.84785861e+01] [ 2.32308704e-02 -1.88463429e-02 9.99552471e-01 2.82758075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.384839172999996 meters Centerline goodness : 0.714876 Centerline is valid? [False, False] Translation: X:-22.08, Y:38.47, Z:2.83 [[ 9.99064495e-01 -3.57643483e-02 -2.43114520e-02 -2.20787562e+01] [ 3.62367530e-02 9.99157299e-01 1.92766634e-02 3.84740926e+01] [ 2.36015474e-02 -2.01395981e-02 9.99518566e-01 2.82916924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.414839173 meters Centerline goodness : 0.725175 Centerline is valid? [False, False] Translation: X:-22.08, Y:38.47, Z:2.83 [[ 9.99076589e-01 -3.51005720e-02 -2.47773905e-02 -2.20776989e+01] [ 3.55964119e-02 9.99168840e-01 1.98626255e-02 3.84732505e+01] [ 2.40596070e-02 -2.07262703e-02 9.99495651e-01 2.82929506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.444839173 meters Centerline goodness : 0.708335 Centerline is valid? [False, False] Translation: X:-22.08, Y:38.47, Z:2.83 [[ 9.99086780e-01 -3.41833785e-02 -2.56340014e-02 -2.20761422e+01] [ 3.47242216e-02 9.99177138e-01 2.09588978e-02 3.84713571e+01] [ 2.48964622e-02 -2.18298785e-02 9.99451661e-01 2.82991436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.47483917299999 meters Centerline goodness : 0.708972 Centerline is valid? [False, False] Translation: X:-22.08, Y:38.47, Z:2.83 [[ 9.99075322e-01 -3.42978709e-02 -2.59259893e-02 -2.20761886e+01] [ 3.48469066e-02 9.99171364e-01 2.10304021e-02 3.84711476e+01] [ 2.51832081e-02 -2.19143962e-02 9.99442627e-01 2.83079515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.50483917299999 meters Centerline goodness : 0.724031 Centerline is valid? [False, False] Translation: X:-22.07, Y:38.47, Z:2.83 [[ 9.98948533e-01 -3.72724531e-02 -2.66944304e-02 -2.20733441e+01] [ 3.77617077e-02 9.99123481e-01 1.80644191e-02 3.84708229e+01] [ 2.59977270e-02 -1.90534522e-02 9.99480407e-01 2.82987673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.534839172999995 meters Centerline goodness : 0.722395 Centerline is valid? [False, False] Translation: X:-22.07, Y:38.47, Z:2.83 [[ 9.98629686e-01 -4.42624382e-02 -2.79210984e-02 -2.20684599e+01] [ 4.46227916e-02 9.98926729e-01 1.24175528e-02 3.84656812e+01] [ 2.73415003e-02 -1.36464542e-02 9.99532999e-01 2.82722489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.564839172999996 meters Centerline goodness : 0.700745 Centerline is valid? [False, False] Translation: X:-22.06, Y:38.46, Z:2.82 [[ 9.98279548e-01 -5.10582367e-02 -2.88270700e-02 -2.20638216e+01] [ 5.12721631e-02 9.98662036e-01 6.73079896e-03 3.84625372e+01] [ 2.84448377e-02 -8.19724518e-03 9.99561752e-01 2.82412266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.594839173 meters Centerline goodness : 0.717715 Centerline is valid? [False, False] Translation: X:-22.06, Y:38.46, Z:2.82 [[ 9.98273522e-01 -5.08102969e-02 -2.94667528e-02 -2.20617518e+01] [ 5.10629069e-02 9.98664319e-01 7.88404958e-03 3.84601638e+01] [ 2.90268037e-02 -9.37509599e-03 9.99534668e-01 2.82262507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.624839173 meters Centerline goodness : 0.713697 Centerline is valid? [False, False] Translation: X:-22.06, Y:38.46, Z:2.82 [[ 9.98097484e-01 -5.35885721e-02 -3.04906066e-02 -2.20569734e+01] [ 5.37871492e-02 9.98535985e-01 5.72965597e-03 3.84591424e+01] [ 3.01389238e-02 -7.35875801e-03 9.99518631e-01 2.81906503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.65483917299999 meters Centerline goodness : 0.717729 Centerline is valid? [False, False] Translation: X:-22.06, Y:38.46, Z:2.82 [[ 9.98087259e-01 -5.36556736e-02 -3.07065573e-02 -2.20564308e+01] [ 5.38552666e-02 9.98532428e-01 5.70970523e-03 3.84587083e+01] [ 3.03551351e-02 -7.35249388e-03 9.99512134e-01 2.81904611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.68483917299999 meters Centerline goodness : 0.724818 Centerline is valid? [False, False] Translation: X:-22.06, Y:38.46, Z:2.82 [[ 9.98072661e-01 -5.37288406e-02 -3.10511544e-02 -2.20561648e+01] [ 5.38900993e-02 9.98537269e-01 4.37938718e-03 3.84601550e+01] [ 3.07704355e-02 -6.04429642e-03 9.99508202e-01 2.82074404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.714839172999994 meters Centerline goodness : 0.726655 Centerline is valid? [False, False] Translation: X:-22.05, Y:38.46, Z:2.82 [[ 9.98093552e-01 -5.29721718e-02 -3.16734947e-02 -2.20542942e+01] [ 5.31294228e-02 9.98579039e-01 4.14333584e-03 3.84638397e+01] [ 3.14090064e-02 -5.81823128e-03 9.99489681e-01 2.82029219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.744839172999995 meters Centerline goodness : 0.717046 Centerline is valid? [False, False] Translation: X:-22.05, Y:38.47, Z:2.81 [[ 9.98582647e-01 -4.88762913e-02 -2.10667076e-02 -2.20496598e+01] [ 4.90226879e-02 9.98776584e-01 6.48939742e-03 3.84696381e+01] [ 2.07237565e-02 -7.51294628e-03 9.99757011e-01 2.81327682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.774839173 meters Centerline goodness : 0.733656 Centerline is valid? [False, False] Translation: X:-22.05, Y:38.48, Z:2.82 [[ 9.98718324e-01 -4.57797394e-02 -2.15853120e-02 -2.20500355e+01] [ 4.59649383e-02 9.98909701e-01 8.16297608e-03 3.84763621e+01] [ 2.11880787e-02 -9.14468132e-03 9.99733685e-01 2.81514367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.804839173 meters Centerline goodness : 0.734576 Centerline is valid? [False, False] Translation: X:-22.05, Y:38.48, Z:2.82 [[ 9.98707978e-01 -4.58626554e-02 -2.18858806e-02 -2.20496483e+01] [ 4.60380865e-02 9.98910925e-01 7.58008103e-03 3.84785267e+01] [ 2.15144026e-02 -8.57787147e-03 9.99731739e-01 2.81572168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.83483917299999 meters Centerline goodness : 0.735905 Centerline is valid? [False, False] Translation: X:-22.05, Y:38.48, Z:2.81 [[ 9.99055408e-01 -4.28604122e-02 -7.16074944e-03 -2.20529230e+01] [ 4.29360079e-02 9.99019885e-01 1.07595944e-02 3.84826032e+01] [ 6.69257043e-03 -1.10568849e-02 9.99916474e-01 2.81319467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.86483917299999 meters Centerline goodness : 0.735854 Centerline is valid? [False, False] Translation: X:-22.06, Y:38.48, Z:2.82 [[ 9.99181036e-01 -3.98417465e-02 -7.06342830e-03 -2.20550292e+01] [ 3.99354242e-02 9.99108909e-01 1.36583256e-02 3.84836751e+01] [ 6.51296259e-03 -1.39292209e-02 9.99881772e-01 2.81543280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.894839172999994 meters Centerline goodness : 0.737672 Centerline is valid? [False, False] Translation: X:-22.06, Y:38.49, Z:2.82 [[ 9.99436545e-01 -3.28190145e-02 -7.03592713e-03 -2.20570716e+01] [ 3.29497136e-02 9.99269812e-01 1.93432182e-02 3.84903862e+01] [ 6.39596422e-03 -1.95641509e-02 9.99788145e-01 2.81787978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.924839172999995 meters Centerline goodness : 0.738068 Centerline is valid? [False, False] Translation: X:-22.06, Y:38.50, Z:2.82 [[ 9.99434452e-01 -3.27682209e-02 -7.55114332e-03 -2.20566866e+01] [ 3.28990710e-02 9.99298195e-01 1.79100042e-02 3.84969282e+01] [ 6.95896492e-03 -1.81483008e-02 9.99811088e-01 2.81954572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.954839172999996 meters Centerline goodness : 0.744648 Centerline is valid? [False, False] Translation: X:-22.05, Y:38.50, Z:2.82 [[ 9.99409562e-01 -3.39996898e-02 4.95463865e-03 -2.20544497e+01] [ 3.39213727e-02 9.99310192e-01 1.51156042e-02 3.85033788e+01] [-5.46514675e-03 -1.49386112e-02 9.99873477e-01 2.81568186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.984839173 meters Centerline goodness : 0.732898 Centerline is valid? [False, False] Translation: X:-22.05, Y:38.51, Z:2.82 [[ 9.99295790e-01 -3.72394288e-02 4.59875937e-03 -2.20528106e+01] [ 3.71896921e-02 9.99253431e-01 1.04646067e-02 3.85067089e+01] [-4.98502205e-03 -1.02862110e-02 9.99934670e-01 2.81573555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.014839173 meters Centerline goodness : 0.754719 Centerline is valid? [False, False] Translation: X:-21.99, Y:38.52, Z:2.82 [[ 9.98882632e-01 -4.71417240e-02 -3.33849878e-03 -2.19892914e+01] [ 4.71930264e-02 9.98733179e-01 1.74600865e-02 3.85199136e+01] [ 2.51117092e-03 -1.75981310e-02 9.99841987e-01 2.82334460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.04483917299999 meters Centerline goodness : 0.753460 Centerline is valid? [False, False] Translation: X:-21.99, Y:38.52, Z:2.82 [[ 9.98869792e-01 -4.73919048e-02 -3.62573733e-03 -2.19886949e+01] [ 4.74449741e-02 9.98740732e-01 1.63072221e-02 3.85238128e+01] [ 2.84834123e-03 -1.64608146e-02 9.99860455e-01 2.82362249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.074839172999994 meters Centerline goodness : 0.755525 Centerline is valid? [False, False] Translation: X:-21.99, Y:38.53, Z:2.82 [[ 9.98872029e-01 -4.73003351e-02 -4.16509292e-03 -2.19854917e+01] [ 4.73589986e-02 9.98760148e-01 1.53392541e-02 3.85282565e+01] [ 3.43437697e-03 -1.55192065e-02 9.99873672e-01 2.82109062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.104839172999995 meters Centerline goodness : 0.753727 Centerline is valid? [False, False] Translation: X:-21.98, Y:38.53, Z:2.82 [[ 9.98873692e-01 -4.72418550e-02 -4.42197188e-03 -2.19838439e+01] [ 4.73026586e-02 9.98770382e-01 1.48385678e-02 3.85311574e+01] [ 3.71553308e-03 -1.50310261e-02 9.99880124e-01 2.81962487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.134839172999996 meters Centerline goodness : 0.753727 Centerline is valid? [False, False] Translation: X:-21.98, Y:38.53, Z:2.82 [[ 9.98873692e-01 -4.72418550e-02 -4.42197188e-03 -2.19838439e+01] [ 4.73026586e-02 9.98770382e-01 1.48385678e-02 3.85311574e+01] [ 3.71553308e-03 -1.50310261e-02 9.99880124e-01 2.81962487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.164839173 meters Centerline goodness : 0.754440 Centerline is valid? [False, False] Translation: X:-21.98, Y:38.54, Z:2.82 [[ 9.98816499e-01 -4.84461919e-02 4.30894098e-03 -2.19790260e+01] [ 4.83361653e-02 9.98571909e-01 2.27542875e-02 3.85388380e+01] [-5.40514600e-03 -2.25190801e-02 9.99731802e-01 2.81834724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.194839173 meters Centerline goodness : 0.755358 Centerline is valid? [False, False] Translation: X:-21.98, Y:38.54, Z:2.82 [[ 9.98775580e-01 -4.92860506e-02 4.26919854e-03 -2.19800174e+01] [ 4.91861096e-02 9.98568934e-01 2.09954804e-02 3.85436148e+01] [-5.29787335e-03 -2.07597878e-02 9.99770456e-01 2.82015097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.22483917299999 meters Centerline goodness : 0.756160 Centerline is valid? [False, False] Translation: X:-21.98, Y:38.55, Z:2.82 [[ 9.98631204e-01 -5.20622083e-02 5.02445696e-03 -2.19839614e+01] [ 5.19672245e-02 9.98495866e-01 1.74760694e-02 3.85523952e+01] [-5.92674227e-03 -1.71910412e-02 9.99834657e-01 2.82314768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.25483917299999 meters Centerline goodness : 0.756399 Centerline is valid? [False, False] Translation: X:-21.98, Y:38.56, Z:2.82 [[ 9.98390500e-01 -5.65103271e-02 4.79511057e-03 -2.19832122e+01] [ 5.64492025e-02 9.98332792e-01 1.20467006e-02 3.85592980e+01] [-5.46787912e-03 -1.17566313e-02 9.99915938e-01 2.82351611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.284839172999995 meters Centerline goodness : 0.750607 Centerline is valid? [False, False] Translation: X:-21.98, Y:38.57, Z:2.82 [[ 9.98207805e-01 -5.96031977e-02 5.35127301e-03 -2.19836790e+01] [ 5.95516455e-02 9.98181668e-01 9.32524420e-03 3.85663860e+01] [-5.89735699e-03 -8.98985444e-03 9.99942200e-01 2.82141182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.314839172999996 meters Centerline goodness : 0.748556 Centerline is valid? [False, False] Translation: X:-21.98, Y:38.57, Z:2.82 [[ 9.98207305e-01 -5.96439633e-02 4.97740252e-03 -2.19819911e+01] [ 5.96000984e-02 9.98185808e-01 8.53941497e-03 3.85701049e+01] [-5.47769710e-03 -8.22745272e-03 9.99951151e-01 2.82024544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.344839173 meters Centerline goodness : 0.747375 Centerline is valid? [False, False] Translation: X:-21.98, Y:38.58, Z:2.82 [[ 9.98381824e-01 -5.66765576e-02 4.63704633e-03 -2.19778246e+01] [ 5.66273249e-02 9.98343924e-01 1.01368489e-02 3.85803812e+01] [-5.20388873e-03 -9.85786216e-03 9.99937869e-01 2.81510151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.374839173 meters Centerline goodness : 0.747671 Centerline is valid? [False, False] Translation: X:-21.98, Y:38.59, Z:2.81 [[ 9.98510289e-01 -5.43771637e-02 4.50861121e-03 -2.19752327e+01] [ 5.43202550e-02 9.98452566e-01 1.19072478e-02 3.85859195e+01] [-5.14911680e-03 -1.16446005e-02 9.99918942e-01 2.81154372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.40483917299999 meters Centerline goodness : 0.746356 Centerline is valid? [False, False] Translation: X:-21.97, Y:38.60, Z:2.81 [[ 9.98693513e-01 -5.09280464e-02 4.19549170e-03 -2.19731576e+01] [ 5.08670370e-02 9.98613492e-01 1.35513042e-02 3.85968325e+01] [-4.87981606e-03 -1.33201873e-02 9.99899375e-01 2.80949139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.43483917299999 meters Centerline goodness : 0.745773 Centerline is valid? [False, False] Translation: X:-21.97, Y:38.60, Z:2.81 [[ 9.98712912e-01 -5.05861570e-02 3.68232123e-03 -2.19714639e+01] [ 5.05364623e-02 9.98643654e-01 1.25266856e-02 3.86014755e+01] [-4.31100362e-03 -1.23244711e-02 9.99914758e-01 2.80939443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.464839172999994 meters Centerline goodness : 0.748761 Centerline is valid? [False, False] Translation: X:-21.98, Y:38.61, Z:2.81 [[ 9.98744969e-01 -4.98376064e-02 4.96990854e-03 -2.19781084e+01] [ 4.97759051e-02 9.98690118e-01 1.18493722e-02 3.86129332e+01] [-5.55394290e-03 -1.15871192e-02 9.99917443e-01 2.81467249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.494839172999995 meters Centerline goodness : 0.745900 Centerline is valid? [False, False] Translation: X:-21.98, Y:38.62, Z:2.82 [[ 9.98649682e-01 -5.16697014e-02 5.39017007e-03 -2.19804548e+01] [ 5.16124692e-02 9.98614426e-01 1.02655745e-02 3.86178833e+01] [-5.91312076e-03 -9.97351269e-03 9.99932780e-01 2.81567153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.524839173 meters Centerline goodness : 0.743076 Centerline is valid? [False, False] Translation: X:-21.98, Y:38.62, Z:2.81 [[ 9.98706230e-01 -5.06319858e-02 4.71900821e-03 -2.19771182e+01] [ 5.05789087e-02 9.98662108e-01 1.07595555e-02 3.86182075e+01] [-5.25747235e-03 -1.05069529e-02 9.99930979e-01 2.81354727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.554839173 meters Centerline goodness : 0.739925 Centerline is valid? [False, False] Translation: X:-21.97, Y:38.62, Z:2.81 [[ 9.98948768e-01 -4.57059418e-02 3.51075295e-03 -2.19692839e+01] [ 4.56512589e-02 9.98854601e-01 1.43335006e-02 3.86197879e+01] [-4.16185789e-03 -1.41581625e-02 9.99891107e-01 2.80767853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.58483917299999 meters Centerline goodness : 0.737170 Centerline is valid? [False, False] Translation: X:-21.97, Y:38.62, Z:2.81 [[ 9.98999325e-01 -4.46451758e-02 2.67511141e-03 -2.19655410e+01] [ 4.46001749e-02 9.98892070e-01 1.50152396e-02 3.86214555e+01] [-3.34250558e-03 -1.48809038e-02 9.99883686e-01 2.80514126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.61483917299999 meters Centerline goodness : 0.733194 Centerline is valid? [False, False] Translation: X:-21.96, Y:38.63, Z:2.80 [[ 9.99312430e-01 -3.66883442e-02 -5.35088679e-03 -2.19618519e+01] [ 3.67279874e-02 9.99297089e-01 7.50882522e-03 3.86256737e+01] [ 5.07163923e-03 -7.70018968e-03 9.99957492e-01 2.80329614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.644839172999994 meters Centerline goodness : 0.728423 Centerline is valid? [False, False] Translation: X:-21.96, Y:38.62, Z:2.79 [[ 9.99650627e-01 -2.62929361e-02 -2.70276837e-03 -2.19562646e+01] [ 2.63028502e-02 9.99647171e-01 3.70048100e-03 3.86244777e+01] [ 2.60451824e-03 -3.77027867e-03 9.99989501e-01 2.79195686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.674839172999995 meters Centerline goodness : 0.731132 Centerline is valid? [False, False] Translation: X:-21.95, Y:38.62, Z:2.79 [[ 9.99674161e-01 -2.52927052e-02 -3.44243134e-03 -2.19535946e+01] [ 2.53074248e-02 9.99670460e-01 4.30173523e-03 3.86239267e+01] [ 3.33249440e-03 -4.38745263e-03 9.99984822e-01 2.79095989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.704839172999996 meters Centerline goodness : 0.729902 Centerline is valid? [False, False] Translation: X:-21.95, Y:38.62, Z:2.79 [[ 9.99686492e-01 -2.47318137e-02 -3.90586224e-03 -2.19523375e+01] [ 2.47491610e-02 9.99683756e-01 4.45728004e-03 3.86243014e+01] [ 3.79439042e-03 -4.55254946e-03 9.99982438e-01 2.79106418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.734839173 meters Centerline goodness : 0.731022 Centerline is valid? [False, False] Translation: X:-21.95, Y:38.62, Z:2.79 [[ 9.99704954e-01 -2.38617253e-02 -4.54124048e-03 -2.19504605e+01] [ 2.38855167e-02 9.99700868e-01 5.25888466e-03 3.86227709e+01] [ 4.41439599e-03 -5.36580293e-03 9.99975860e-01 2.79072275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.764839173 meters Centerline goodness : 0.732672 Centerline is valid? [False, False] Translation: X:-21.95, Y:38.62, Z:2.79 [[ 9.99721161e-01 -2.30575103e-02 -5.09432890e-03 -2.19485782e+01] [ 2.30885668e-02 9.99714667e-01 6.12398270e-03 3.86209244e+01] [ 4.95167152e-03 -6.23989584e-03 9.99968272e-01 2.78996581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.79483917299999 meters Centerline goodness : 0.734234 Centerline is valid? [False, False] Translation: X:-21.95, Y:38.62, Z:2.79 [[ 9.99638550e-01 -2.62797207e-02 -5.66969584e-03 -2.19475879e+01] [ 2.62970080e-02 9.99649683e-01 2.99635429e-03 3.86164611e+01] [ 5.58896630e-03 -3.14436730e-03 9.99979438e-01 2.79124647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.824839172999994 meters Centerline goodness : 0.736000 Centerline is valid? [False, False] Translation: X:-21.95, Y:38.61, Z:2.79 [[ 9.99540439e-01 -2.96947811e-02 -6.09355315e-03 -2.19467867e+01] [ 2.96910589e-02 9.99558878e-01 -7.00417993e-04 3.86135934e+01] [ 6.11166391e-03 5.19172063e-04 9.99981189e-01 2.79260605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.854839172999995 meters Centerline goodness : 0.734748 Centerline is valid? [False, False] Translation: X:-21.95, Y:38.60, Z:2.79 [[ 9.99330078e-01 -3.59956992e-02 -6.61092970e-03 -2.19451621e+01] [ 3.59477627e-02 9.99327501e-01 -7.23219944e-03 3.86037917e+01] [ 6.86681193e-03 6.98970630e-03 9.99951994e-01 2.79434031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.884839172999996 meters Centerline goodness : 0.732785 Centerline is valid? [False, False] Translation: X:-21.94, Y:38.60, Z:2.79 [[ 9.99354013e-01 -3.52262586e-02 -7.11809021e-03 -2.19428100e+01] [ 3.51876581e-02 9.99365713e-01 -5.47727897e-03 3.85969313e+01] [ 7.30651934e-03 5.22327180e-03 9.99959665e-01 2.79223884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.914839173 meters Centerline goodness : 0.732717 Centerline is valid? [False, False] Translation: X:-21.94, Y:38.59, Z:2.79 [[ 9.99401335e-01 -3.36014990e-02 -8.24076951e-03 -2.19387942e+01] [ 3.35708325e-02 9.99428995e-01 -3.83187831e-03 3.85943437e+01] [ 8.36482084e-03 3.55293480e-03 9.99958702e-01 2.79026531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.944839173 meters Centerline goodness : 0.729340 Centerline is valid? [False, False] Translation: X:-21.93, Y:38.59, Z:2.79 [[ 9.99570154e-01 -2.72776036e-02 -1.07442645e-02 -2.19282678e+01] [ 2.72867153e-02 9.99627402e-01 7.02351635e-04 3.85898715e+01] [ 1.07211027e-02 -9.95225417e-04 9.99942032e-01 2.78646627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.97483917299999 meters Centerline goodness : 0.729877 Centerline is valid? [False, False] Translation: X:-21.93, Y:38.58, Z:2.79 [[ 9.99705208e-01 -2.13390528e-02 -1.15819330e-02 -2.19256433e+01] [ 2.14112773e-02 9.99751848e-01 6.14819308e-03 3.85827455e+01] [ 1.14478623e-02 -6.39436463e-03 9.99914026e-01 2.78646898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.00483917299999 meters Centerline goodness : 0.731925 Centerline is valid? [False, False] Translation: X:-21.92, Y:38.58, Z:2.79 [[ 9.99650574e-01 -2.33830121e-02 -1.23274003e-02 -2.19225901e+01] [ 2.34158762e-02 9.99722614e-01 2.52835886e-03 3.85827533e+01] [ 1.22648602e-02 -2.81613227e-03 9.99920818e-01 2.78695529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.034839172999995 meters Centerline goodness : 0.730280 Centerline is valid? [False, False] Translation: X:-21.92, Y:38.58, Z:2.79 [[ 9.99653347e-01 -2.31169900e-02 -1.26011786e-02 -2.19224351e+01] [ 2.31583692e-02 9.99726853e-01 3.14777521e-03 3.85777992e+01] [ 1.25249695e-02 -3.43850677e-03 9.99915647e-01 2.78791465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.064839172999996 meters Centerline goodness : 0.728317 Centerline is valid? [False, False] Translation: X:-21.92, Y:38.58, Z:2.79 [[ 9.99572839e-01 -2.59094484e-02 -1.35218162e-02 -2.19196856e+01] [ 2.59059592e-02 9.99664290e-01 -4.33165680e-04 3.85760521e+01] [ 1.35284999e-02 8.26850304e-05 9.99908482e-01 2.78840463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.094839173 meters Centerline goodness : 0.727123 Centerline is valid? [False, False] Translation: X:-21.92, Y:38.57, Z:2.79 [[ 9.99496742e-01 -2.83459529e-02 -1.42396962e-02 -2.19177506e+01] [ 2.83042775e-02 9.99594485e-01 -3.11980444e-03 3.85709506e+01] [ 1.43223557e-02 2.71519006e-03 9.99893743e-01 2.78937707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.124839173 meters Centerline goodness : 0.725313 Centerline is valid? [False, False] Translation: X:-21.91, Y:38.57, Z:2.79 [[ 9.99420210e-01 -3.03671936e-02 -1.53973069e-02 -2.19141122e+01] [ 3.02795448e-02 9.99524091e-01 -5.89405270e-03 3.85705428e+01] [ 1.55689651e-02 5.42441194e-03 9.99864082e-01 2.78929114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.15483917299999 meters Centerline goodness : 0.722085 Centerline is valid? [False, False] Translation: X:-21.92, Y:38.56, Z:2.79 [[ 9.99316244e-01 -3.35654643e-02 -1.55049610e-02 -2.19172120e+01] [ 3.34492298e-02 9.99410786e-01 -7.69614401e-03 3.85612541e+01] [ 1.57541499e-02 7.17225272e-03 9.99850172e-01 2.79391491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.18483917299999 meters Centerline goodness : 0.721933 Centerline is valid? [False, False] Translation: X:-21.92, Y:38.55, Z:2.80 [[ 9.99209943e-01 -3.64143835e-02 -1.59211379e-02 -2.19171106e+01] [ 3.62591499e-02 9.99293059e-01 -9.93255463e-03 3.85536617e+01] [ 1.62715704e-02 9.34742042e-03 9.99823915e-01 2.79573397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.214839172999994 meters Centerline goodness : 0.723970 Centerline is valid? [False, False] Translation: X:-21.91, Y:38.54, Z:2.80 [[ 9.99125092e-01 -3.82050139e-02 -1.70125577e-02 -2.19146184e+01] [ 3.80331351e-02 9.99223243e-01 -1.03146302e-02 3.85405267e+01] [ 1.73934136e-02 9.65856494e-03 9.99802071e-01 2.79591711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.244839172999995 meters Centerline goodness : 0.724747 Centerline is valid? [False, False] Translation: X:-21.91, Y:38.54, Z:2.79 [[ 9.99164279e-01 -3.66888460e-02 -1.80186605e-02 -2.19114062e+01] [ 3.65458544e-02 9.99298317e-01 -8.20204011e-03 3.85357161e+01] [ 1.83069405e-02 7.53667815e-03 9.99804008e-01 2.79439844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.274839173 meters Centerline goodness : 0.720800 Centerline is valid? [False, False] Translation: X:-21.90, Y:38.53, Z:2.79 [[ 9.99227904e-01 -3.39201698e-02 -1.98246796e-02 -2.19048627e+01] [ 3.38387072e-02 9.99417487e-01 -4.43035695e-03 3.85274818e+01] [ 1.99634099e-02 3.75609476e-03 9.99793656e-01 2.79030211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.304839173 meters Centerline goodness : 0.718269 Centerline is valid? [False, False] Translation: X:-21.90, Y:38.52, Z:2.79 [[ 9.99135670e-01 -3.61024081e-02 -2.06041154e-02 -2.19010059e+01] [ 3.59768389e-02 9.99331919e-01 -6.43297041e-03 3.85220052e+01] [ 2.08225959e-02 5.68613926e-03 9.99767017e-01 2.78818356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.33483917299999 meters Centerline goodness : 0.715862 Centerline is valid? [False, False] Translation: X:-21.90, Y:38.51, Z:2.79 [[ 9.99026977e-01 -4.01747894e-02 -1.81957593e-02 -2.19038399e+01] [ 3.98557447e-02 9.99050959e-01 -1.75699043e-02 3.85114435e+01] [ 1.88843580e-02 1.68276028e-02 9.99680055e-01 2.78580455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.36483917299999 meters Centerline goodness : 0.714818 Centerline is valid? [False, False] Translation: X:-21.90, Y:38.50, Z:2.79 [[ 9.98727144e-01 -4.57984238e-02 -2.11328362e-02 -2.18999871e+01] [ 4.55738443e-02 9.98900526e-01 -1.09892600e-02 3.85025763e+01] [ 2.16128920e-02 1.00121676e-02 9.99716279e-01 2.79204452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.394839172999994 meters Centerline goodness : 0.713178 Centerline is valid? [False, False] Translation: X:-21.89, Y:38.50, Z:2.79 [[ 9.98629201e-01 -5.02733108e-02 -1.45709425e-02 -2.18907747e+01] [ 5.02320544e-02 9.98732498e-01 -3.18393458e-03 3.84963339e+01] [ 1.47125408e-02 2.44764167e-03 9.99888769e-01 2.78779006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.424839172999995 meters Centerline goodness : 0.711080 Centerline is valid? [False, False] Translation: X:-21.89, Y:38.49, Z:2.79 [[ 9.98258480e-01 -5.70203156e-02 -1.51225405e-02 -2.18898445e+01] [ 5.69099251e-02 9.98350141e-01 -7.63263271e-03 3.84864085e+01] [ 1.55328056e-02 6.75871768e-03 9.99856516e-01 2.78845072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.454839172999996 meters Centerline goodness : 0.711650 Centerline is valid? [False, False] Translation: X:-21.89, Y:38.48, Z:2.79 [[ 9.98283550e-01 -5.63301936e-02 -1.60269468e-02 -2.18873292e+01] [ 5.62546954e-02 9.98403305e-01 -5.12351983e-03 3.84793434e+01] [ 1.62899655e-02 4.21313455e-03 9.99858433e-01 2.78664997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.484839173 meters Centerline goodness : 0.712838 Centerline is valid? [False, False] Translation: X:-21.88, Y:38.47, Z:2.78 [[ 9.98349145e-01 -5.49193785e-02 -1.68180314e-02 -2.18847462e+01] [ 5.49058620e-02 9.98490734e-01 -1.26472501e-03 3.84691576e+01] [ 1.68621065e-02 3.39228622e-04 9.99857767e-01 2.78400348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.514839173 meters Centerline goodness : 0.716016 Centerline is valid? [False, False] Translation: X:-21.88, Y:38.47, Z:2.78 [[ 9.98404710e-01 -5.36297835e-02 -1.76601376e-02 -2.18825029e+01] [ 5.36375400e-02 9.98560470e-01 -3.44996040e-05 3.84669256e+01] [ 1.76365655e-02 -9.12801769e-04 9.99844047e-01 2.78372323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.54483917299999 meters Centerline goodness : 0.722058 Centerline is valid? [False, False] Translation: X:-21.88, Y:38.46, Z:2.78 [[ 9.98529086e-01 -5.08163417e-02 -1.89040948e-02 -2.18797995e+01] [ 5.08665710e-02 9.98703067e-01 2.18546880e-03 3.84610721e+01] [ 1.87685199e-02 -3.14384064e-03 9.99818913e-01 2.78476197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.574839172999994 meters Centerline goodness : 0.724809 Centerline is valid? [False, False] Translation: X:-21.88, Y:38.46, Z:2.78 [[ 9.98588717e-01 -4.92871104e-02 -1.97826964e-02 -2.18766100e+01] [ 4.93759492e-02 9.98772144e-01 4.02740183e-03 3.84553471e+01] [ 1.95599071e-02 -4.99850744e-03 9.99796192e-01 2.78337905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.604839172999995 meters Centerline goodness : 0.729574 Centerline is valid? [False, False] Translation: X:-21.87, Y:38.44, Z:2.78 [[ 9.98540018e-01 -4.96990309e-02 -2.11621934e-02 -2.18698051e+01] [ 4.97640839e-02 9.98757724e-01 2.55825481e-03 3.84448297e+01] [ 2.10087613e-02 -3.60763697e-03 9.99772783e-01 2.78139761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.634839172999996 meters Centerline goodness : 0.735996 Centerline is valid? [False, False] Translation: X:-21.87, Y:38.44, Z:2.78 [[ 9.98582375e-01 -4.84924027e-02 -2.19482939e-02 -2.18664223e+01] [ 4.86061428e-02 9.98807066e-01 4.67840488e-03 3.84389854e+01] [ 2.16952439e-02 -5.73859456e-03 9.99748161e-01 2.77886264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.664839173 meters Centerline goodness : 0.740363 Centerline is valid? [False, False] Translation: X:-21.87, Y:38.43, Z:2.78 [[ 9.98491038e-01 -4.47702998e-02 -3.18004382e-02 -2.18686589e+01] [ 4.48367123e-02 9.98993378e-01 1.37804364e-03 3.84320889e+01] [ 3.17067317e-02 -2.80179132e-03 9.99493288e-01 2.77742042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.694839173 meters Centerline goodness : 0.733947 Centerline is valid? [False, False] Translation: X:-21.87, Y:38.43, Z:2.78 [[ 9.98459964e-01 -4.50899123e-02 -3.23202682e-02 -2.18666782e+01] [ 4.51769836e-02 9.98977059e-01 1.96846835e-03 3.84296275e+01] [ 3.21984484e-02 -3.42556906e-03 9.99475625e-01 2.77637474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.72483917299999 meters Centerline goodness : 0.735291 Centerline is valid? [False, False] Translation: X:-21.87, Y:38.43, Z:2.78 [[ 9.98402140e-01 -4.65064367e-02 -3.20985704e-02 -2.18667061e+01] [ 4.65238165e-02 9.98917160e-01 -2.05608194e-04 3.84266607e+01] [ 3.20733749e-02 -1.28806834e-03 9.99484687e-01 2.77610098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.75483917299999 meters Centerline goodness : 0.736065 Centerline is valid? [False, False] Translation: X:-21.86, Y:38.42, Z:2.77 [[ 9.98435789e-01 -4.54228416e-02 -3.25997149e-02 -2.18644085e+01] [ 4.55118926e-02 9.98961806e-01 1.99445202e-03 3.84214853e+01] [ 3.24752764e-02 -3.47500700e-03 9.99466498e-01 2.77414423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.784839172999995 meters Centerline goodness : 0.733800 Centerline is valid? [False, False] Translation: X:-21.86, Y:38.41, Z:2.77 [[ 9.98305983e-01 -4.77667559e-02 -3.32189763e-02 -2.18605810e+01] [ 4.78312810e-02 9.98854767e-01 1.15001162e-03 3.84148796e+01] [ 3.31260005e-02 -2.73696967e-03 9.99447436e-01 2.77070843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.814839172999996 meters Centerline goodness : 0.729860 Centerline is valid? [False, False] Translation: X:-21.86, Y:38.41, Z:2.77 [[ 9.98304232e-01 -4.76383122e-02 -3.34552276e-02 -2.18596644e+01] [ 4.77442783e-02 9.98856768e-01 2.37525044e-03 3.84123698e+01] [ 3.33038276e-02 -3.96851827e-03 9.99437395e-01 2.76964035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.844839173 meters Centerline goodness : 0.730253 Centerline is valid? [False, False] Translation: X:-21.85, Y:38.41, Z:2.76 [[ 9.98171415e-01 -5.34427888e-02 -2.82435008e-02 -2.18470246e+01] [ 5.37033676e-02 9.98520336e-01 8.54904469e-03 3.84087116e+01] [ 2.77448252e-02 -1.00501831e-02 9.99564514e-01 2.76396143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.874839173 meters Centerline goodness : 0.720940 Centerline is valid? [False, False] Translation: X:-21.82, Y:38.41, Z:2.79 [[ 9.97643210e-01 -5.33991049e-02 -4.30878253e-02 -2.18221901e+01] [ 5.33471521e-02 9.98573249e-01 -2.35550557e-03 3.84055870e+01] [ 4.31521315e-02 5.13413754e-05 9.99068512e-01 2.78848673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.90483917299999 meters Centerline goodness : 0.730508 Centerline is valid? [False, False] Translation: X:-21.83, Y:38.40, Z:2.77 [[ 9.97302111e-01 -5.94300883e-02 -4.30878751e-02 -2.18262189e+01] [ 6.08257148e-02 9.97640566e-01 3.18360284e-02 3.83961018e+01] [ 4.10941942e-02 -3.43709891e-02 9.98563920e-01 2.76960869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.93483917299999 meters Centerline goodness : 0.726999 Centerline is valid? [False, False] Translation: X:-21.82, Y:38.39, Z:2.77 [[ 9.96979269e-01 -6.93091420e-02 -3.50511160e-02 -2.18170616e+01] [ 7.04487833e-02 9.96989207e-01 3.23958282e-02 3.83936258e+01] [ 3.27002573e-02 -3.47672776e-02 9.98860315e-01 2.76566397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.964839172999994 meters Centerline goodness : 0.730753 Centerline is valid? [False, False] Translation: X:-21.82, Y:38.40, Z:2.76 [[ 9.96747764e-01 -7.25936314e-02 -3.49865598e-02 -2.18157863e+01] [ 7.36013625e-02 9.96882419e-01 2.84303072e-02 3.83964817e+01] [ 3.28136271e-02 -3.09129036e-02 9.98983312e-01 2.76499908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.994839172999995 meters Centerline goodness : 0.730678 Centerline is valid? [False, False] Translation: X:-21.81, Y:38.40, Z:2.77 [[ 9.96433229e-01 -7.55144892e-02 -3.76614191e-02 -2.18128632e+01] [ 7.68474414e-02 9.96417858e-01 3.52976244e-02 3.83978391e+01] [ 3.48610285e-02 -3.80659095e-02 9.98666959e-01 2.77234286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.024839173 meters Centerline goodness : 0.728722 Centerline is valid? [False, False] Translation: X:-21.81, Y:38.40, Z:2.77 [[ 9.96127469e-01 -7.85927210e-02 -3.94112768e-02 -2.18081587e+01] [ 8.00544956e-02 9.96103775e-01 3.69938803e-02 3.83976268e+01] [ 3.63502719e-02 -4.00056703e-02 9.98538033e-01 2.77286511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.054839173 meters Centerline goodness : 0.728722 Centerline is valid? [False, False] Translation: X:-21.81, Y:38.40, Z:2.77 [[ 9.96127469e-01 -7.85927210e-02 -3.94112768e-02 -2.18081587e+01] [ 8.00544956e-02 9.96103775e-01 3.69938803e-02 3.83976268e+01] [ 3.63502719e-02 -4.00056703e-02 9.98538033e-01 2.77286511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.08483917299999 meters Centerline goodness : 0.731695 Centerline is valid? [False, False] Translation: X:-21.76, Y:38.40, Z:2.78 [[ 9.95004578e-01 -9.15579277e-02 -3.97873834e-02 -2.17574799e+01] [ 9.27156664e-02 9.95290515e-01 2.82947868e-02 3.83979560e+01] [ 3.70093933e-02 -3.18423561e-02 9.98807474e-01 2.77625332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.11483917299999 meters Centerline goodness : 0.736381 Centerline is valid? [False, False] Translation: X:-21.75, Y:38.39, Z:2.78 [[ 9.94446883e-01 -9.70526067e-02 -4.06962995e-02 -2.17544058e+01] [ 9.82307572e-02 9.94769100e-01 2.80206308e-02 3.83916715e+01] [ 3.77639460e-02 -3.18626573e-02 9.98778582e-01 2.77797618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.144839172999994 meters Centerline goodness : 0.737900 Centerline is valid? [False, False] Translation: X:-21.75, Y:38.39, Z:2.78 [[ 9.94359412e-01 -9.76338489e-02 -4.14365925e-02 -2.17525023e+01] [ 9.88671741e-02 9.94682796e-01 2.88343047e-02 3.83908384e+01] [ 3.84010616e-02 -3.27683811e-02 9.98724983e-01 2.77810740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.174839172999995 meters Centerline goodness : 0.736599 Centerline is valid? [False, False] Translation: X:-21.75, Y:38.39, Z:2.78 [[ 9.94802592e-01 -9.29181510e-02 -4.16415637e-02 -2.17547701e+01] [ 9.43356133e-02 9.94977590e-01 3.34722002e-02 3.83912521e+01] [ 3.83222477e-02 -3.72265139e-02 9.98571776e-01 2.78113290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.204839172999996 meters Centerline goodness : 0.735672 Centerline is valid? [False, False] Translation: X:-21.76, Y:38.39, Z:2.78 [[ 9.95149228e-01 -8.89482215e-02 -4.20265050e-02 -2.17567669e+01] [ 9.05346822e-02 9.95187604e-01 3.74847171e-02 3.83928761e+01] [ 3.84900579e-02 -4.11077435e-02 9.98413075e-01 2.78391403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.234839173 meters Centerline goodness : 0.734691 Centerline is valid? [False, False] Translation: X:-21.75, Y:38.40, Z:2.78 [[ 0.99516565 -0.08817506 -0.04324904 -21.75453878] [ 0.08989969 0.9951594 0.03969664 38.39533185] [ 0.03953943 -0.0433928 0.99827536 2.78431723] [ 0. 0. 0. 1. ]] SLAMing on 39.264839173 meters Centerline goodness : 0.742789 Centerline is valid? [False, False] Translation: X:-21.74, Y:38.40, Z:2.78 [[ 9.94947596e-01 -9.28535486e-02 -3.81772104e-02 -2.17421008e+01] [ 9.45312792e-02 9.94514358e-01 4.47775438e-02 3.83978100e+01] [ 3.38100301e-02 -4.81602501e-02 9.98267235e-01 2.77575407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.29483917299999 meters Centerline goodness : 0.744830 Centerline is valid? [False, False] Translation: X:-21.74, Y:38.40, Z:2.78 [[ 9.94550576e-01 -9.67935504e-02 -3.87318959e-02 -2.17400367e+01] [ 9.83840726e-02 9.94282340e-01 4.15114794e-02 3.83970286e+01] [ 3.44923966e-02 -4.50958674e-02 9.98387018e-01 2.77582919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.324839172999994 meters Centerline goodness : 0.746317 Centerline is valid? [False, False] Translation: X:-21.74, Y:38.40, Z:2.78 [[ 9.94741782e-01 -9.43712303e-02 -3.97851556e-02 -2.17381537e+01] [ 9.61621523e-02 9.94311474e-01 4.57988328e-02 3.83954177e+01] [ 3.52367445e-02 -4.93838387e-02 9.98158108e-01 2.77577510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.354839172999995 meters Centerline goodness : 0.745375 Centerline is valid? [False, False] Translation: X:-21.74, Y:38.40, Z:2.78 [[ 9.95174084e-01 -8.98482261e-02 -3.94441173e-02 -2.17408149e+01] [ 9.17102640e-02 9.94616078e-01 4.82502299e-02 3.83979563e+01] [ 3.48965557e-02 -5.16348087e-02 9.98056149e-01 2.77690761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.384839172999996 meters Centerline goodness : 0.750089 Centerline is valid? [False, False] Translation: X:-21.74, Y:38.40, Z:2.78 [[ 9.95133372e-01 -9.03247744e-02 -3.93828158e-02 -2.17421809e+01] [ 9.21114972e-02 9.94676580e-01 4.61949484e-02 3.84044158e+01] [ 3.50006163e-02 -4.95977449e-02 9.98155810e-01 2.77879262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.414839173 meters Centerline goodness : 0.753594 Centerline is valid? [False, False] Translation: X:-21.74, Y:38.41, Z:2.78 [[ 9.95409115e-01 -8.69757011e-02 -3.99489944e-02 -2.17442631e+01] [ 8.89272201e-02 9.94782897e-01 4.99893814e-02 3.84067827e+01] [ 3.53927148e-02 -5.33124389e-02 9.97950470e-01 2.78232126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.444839173 meters Centerline goodness : 0.759789 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.42, Z:2.79 [[ 9.95256349e-01 -9.09498370e-02 -3.45387649e-02 -2.17322416e+01] [ 9.25281241e-02 9.94588981e-01 4.72367002e-02 3.84218751e+01] [ 3.00557048e-02 -5.02084329e-02 9.98286416e-01 2.78734081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.47483917299999 meters Centerline goodness : 0.755144 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.43, Z:2.79 [[ 9.94878023e-01 -9.52239121e-02 -3.39135034e-02 -2.17331410e+01] [ 9.65969737e-02 9.94459964e-01 4.14536349e-02 3.84269486e+01] [ 2.97782441e-02 -4.45172521e-02 9.98564705e-01 2.78858101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.50483917299999 meters Centerline goodness : 0.760869 Centerline is valid? [False, False] Translation: X:-21.74, Y:38.43, Z:2.79 [[ 9.95023516e-01 -9.39773400e-02 -3.31128577e-02 -2.17353256e+01] [ 9.53118067e-02 9.94588970e-01 4.13332874e-02 3.84272551e+01] [ 2.90492907e-02 -4.42836393e-02 9.98596564e-01 2.78930794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.534839172999995 meters Centerline goodness : 0.763801 Centerline is valid? [False, False] Translation: X:-21.74, Y:38.44, Z:2.79 [[ 9.95153434e-01 -9.56267305e-02 -2.29166323e-02 -2.17363502e+01] [ 9.63444640e-02 9.94814662e-01 3.25811664e-02 3.84354038e+01] [ 1.96821714e-02 -3.46311503e-02 9.99206333e-01 2.78941436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.564839172999996 meters Centerline goodness : 0.766203 Centerline is valid? [False, False] Translation: X:-21.74, Y:38.44, Z:2.79 [[ 9.95166318e-01 -9.54372970e-02 -2.31456515e-02 -2.17361485e+01] [ 9.61680128e-02 9.94823514e-01 3.28312252e-02 3.84356624e+01] [ 1.98925150e-02 -3.48984008e-02 9.99192869e-01 2.78967266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.594839173 meters Centerline goodness : 0.766497 Centerline is valid? [False, False] Translation: X:-21.74, Y:38.44, Z:2.79 [[ 9.95121755e-01 -9.58993138e-02 -2.31519968e-02 -2.17368830e+01] [ 9.66290879e-02 9.94780499e-01 3.27807737e-02 3.84350277e+01] [ 1.98875012e-02 -3.48580174e-02 9.99194378e-01 2.79102587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.624839173 meters Centerline goodness : 0.767611 Centerline is valid? [False, False] Translation: X:-21.74, Y:38.44, Z:2.80 [[ 9.94835954e-01 -9.85085632e-02 -2.44435592e-02 -2.17382608e+01] [ 9.92993759e-02 9.94490975e-01 3.35758120e-02 3.84383143e+01] [ 2.10013940e-02 -3.58296552e-02 9.99137216e-01 2.79703093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.65483917299999 meters Centerline goodness : 0.770532 Centerline is valid? [False, False] Translation: X:-21.74, Y:38.44, Z:2.80 [[ 9.94881396e-01 -9.75861898e-02 -2.62286816e-02 -2.17376776e+01] [ 9.85367428e-02 9.94415690e-01 3.77881726e-02 3.84405069e+01] [ 2.23946087e-02 -4.01792388e-02 9.98941495e-01 2.80077550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.68483917299999 meters Centerline goodness : 0.770995 Centerline is valid? [False, False] Translation: X:-21.74, Y:38.45, Z:2.81 [[ 9.95007536e-01 -9.16419681e-02 -3.95190233e-02 -2.17400887e+01] [ 9.32257892e-02 9.94829454e-01 4.02903068e-02 3.84450490e+01] [ 3.56224054e-02 -4.37733510e-02 9.98406199e-01 2.81094323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.714839172999994 meters Centerline goodness : 0.769154 Centerline is valid? [False, False] Translation: X:-21.74, Y:38.45, Z:2.81 [[ 9.95137458e-01 -8.93197073e-02 -4.15142156e-02 -2.17363068e+01] [ 9.11093453e-02 9.94893689e-01 4.34239008e-02 3.84480278e+01] [ 3.74236210e-02 -4.69950832e-02 9.98193836e-01 2.81006881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.744839172999995 meters Centerline goodness : 0.770090 Centerline is valid? [False, False] Translation: X:-21.74, Y:38.45, Z:2.81 [[ 9.95158364e-01 -8.91577767e-02 -4.13608700e-02 -2.17372220e+01] [ 9.09043386e-02 9.94953885e-01 4.24637240e-02 3.84502336e+01] [ 3.73661871e-02 -4.60180126e-02 9.98241509e-01 2.81049718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.774839173 meters Centerline goodness : 0.769322 Centerline is valid? [False, False] Translation: X:-21.74, Y:38.46, Z:2.81 [[ 9.95097053e-01 -8.97322014e-02 -4.15931051e-02 -2.17366543e+01] [ 9.14264489e-02 9.94975839e-01 4.07956447e-02 3.84556408e+01] [ 3.77234516e-02 -4.43983357e-02 9.98301422e-01 2.81043591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.804839173 meters Centerline goodness : 0.768401 Centerline is valid? [False, False] Translation: X:-21.74, Y:38.46, Z:2.81 [[ 9.95080312e-01 -8.97973562e-02 -4.18521995e-02 -2.17351404e+01] [ 9.14888281e-02 9.94985432e-01 4.04201072e-02 3.84574300e+01] [ 3.80127100e-02 -4.40502616e-02 9.98305869e-01 2.80905334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.83483917299999 meters Centerline goodness : 0.767923 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.47, Z:2.81 [[ 9.95008147e-01 -9.04292658e-02 -4.22058643e-02 -2.17315931e+01] [ 9.20602140e-02 9.95011061e-01 3.84435489e-02 3.84652321e+01] [ 3.85188799e-02 -4.21371252e-02 9.98369049e-01 2.80550794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.86483917299999 meters Centerline goodness : 0.767894 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.47, Z:2.81 [[ 9.94968927e-01 -9.08986878e-02 -4.21219896e-02 -2.17320291e+01] [ 9.24429242e-02 9.95056541e-01 3.62875354e-02 3.84725672e+01] [ 3.86152719e-02 -3.99988501e-02 9.98453280e-01 2.80611650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.894839172999994 meters Centerline goodness : 0.762421 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.48, Z:2.80 [[ 9.95134618e-01 -8.87662084e-02 -4.27510572e-02 -2.17294691e+01] [ 9.03792543e-02 9.95204854e-01 3.74017230e-02 3.84802173e+01] [ 3.92260505e-02 -4.10835580e-02 9.98385426e-01 2.80346919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.924839172999995 meters Centerline goodness : 0.760030 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.48, Z:2.80 [[ 9.95134735e-01 -8.85465316e-02 -4.32015096e-02 -2.17271209e+01] [ 9.01700535e-02 9.95231421e-01 3.71992071e-02 3.84818575e+01] [ 3.97016390e-02 -4.09137056e-02 9.98373602e-01 2.80160569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.954839172999996 meters Centerline goodness : 0.757520 Centerline is valid? [False, False] Translation: X:-21.72, Y:38.49, Z:2.80 [[ 9.95138735e-01 -8.84310065e-02 -4.33457682e-02 -2.17245122e+01] [ 8.99886437e-02 9.95313306e-01 3.54043247e-02 3.84897202e+01] [ 4.00117798e-02 -3.91328418e-02 9.98432611e-01 2.79900355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.984839173 meters Centerline goodness : 0.757108 Centerline is valid? [False, False] Translation: X:-21.72, Y:38.49, Z:2.80 [[ 9.94834665e-01 -9.19552988e-02 -4.29908488e-02 -2.17238707e+01] [ 9.33143184e-02 9.95161768e-01 3.07488916e-02 3.84944487e+01] [ 3.99553255e-02 -3.46017250e-02 9.98602169e-01 2.79861736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.014839173 meters Centerline goodness : 0.755330 Centerline is valid? [False, False] Translation: X:-21.72, Y:38.50, Z:2.80 [[ 9.94776603e-01 -9.26661688e-02 -4.28076077e-02 -2.17246083e+01] [ 9.39632669e-02 9.95142966e-01 2.93493023e-02 3.84984655e+01] [ 3.98800023e-02 -3.32183419e-02 9.98652155e-01 2.79909686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.04483917299999 meters Centerline goodness : 0.754577 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.51, Z:2.80 [[ 9.95007955e-01 -9.02847017e-02 -4.25187271e-02 -2.17270664e+01] [ 9.16151589e-02 9.95328704e-01 3.04537989e-02 3.85070680e+01] [ 3.95705974e-02 -3.41971321e-02 9.98631425e-01 2.80018727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.074839172999994 meters Centerline goodness : 0.751386 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.51, Z:2.80 [[ 9.95293585e-01 -8.68204670e-02 -4.30451610e-02 -2.17262726e+01] [ 8.82675320e-02 9.95552081e-01 3.29377734e-02 3.85136621e+01] [ 3.99940267e-02 -3.65822447e-02 9.98530028e-01 2.79927126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.104839172999995 meters Centerline goodness : 0.752343 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.52, Z:2.80 [[ 9.95295515e-01 -8.67884461e-02 -4.30651141e-02 -2.17266011e+01] [ 8.81854166e-02 9.95600448e-01 3.16714311e-02 3.85183640e+01] [ 4.01269326e-02 -3.53201483e-02 9.98570136e-01 2.80025786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.134839172999996 meters Centerline goodness : 0.751356 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.52, Z:2.80 [[ 9.95615785e-01 -8.29773510e-02 -4.31736907e-02 -2.17273673e+01] [ 8.44692665e-02 9.95847214e-01 3.39598327e-02 3.85229714e+01] [ 4.01765026e-02 -3.74577955e-02 9.98490241e-01 2.80117397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.164839173 meters Centerline goodness : 0.751067 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.53, Z:2.80 [[ 9.95646333e-01 -8.24740822e-02 -4.34327697e-02 -2.17255968e+01] [ 8.39457949e-02 9.95916272e-01 3.32247378e-02 3.85283285e+01] [ 4.05152223e-02 -3.67260867e-02 9.98503736e-01 2.79976412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.194839173 meters Centerline goodness : 0.749968 Centerline is valid? [False, False] Translation: X:-21.72, Y:38.54, Z:2.80 [[ 9.95634869e-01 -8.25398045e-02 -4.35704966e-02 -2.17247178e+01] [ 8.39680896e-02 9.95953387e-01 3.20345222e-02 3.85350776e+01] [ 4.07500605e-02 -3.55532187e-02 9.98536630e-01 2.79885824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.22483917299999 meters Centerline goodness : 0.746576 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.54, Z:2.80 [[ 9.95473503e-01 -8.49403905e-02 -4.26337348e-02 -2.17264239e+01] [ 8.62131401e-02 9.95855828e-01 2.89562637e-02 3.85447095e+01] [ 3.99974969e-02 -3.25007814e-02 9.98671067e-01 2.79788378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.25483917299999 meters Centerline goodness : 0.745861 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.55, Z:2.80 [[ 9.94725562e-01 -9.40298128e-02 -4.09810989e-02 -2.17277948e+01] [ 9.48529837e-02 9.95317074e-01 1.86234487e-02 3.85499598e+01] [ 3.90380281e-02 -2.24124000e-02 9.98986345e-01 2.79821104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.284839172999995 meters Centerline goodness : 0.744587 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.56, Z:2.80 [[ 9.94657161e-01 -9.48981056e-02 -4.06384348e-02 -2.17275802e+01] [ 9.56306557e-02 9.95280556e-01 1.64739877e-02 3.85580261e+01] [ 3.88832937e-02 -2.02722499e-02 9.99038100e-01 2.79705443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.314839172999996 meters Centerline goodness : 0.743747 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.56, Z:2.80 [[ 9.94966288e-01 -9.15942886e-02 -4.06518478e-02 -2.17280594e+01] [ 9.24468066e-02 9.95524546e-01 1.96078005e-02 3.85622027e+01] [ 3.86739498e-02 -2.32672340e-02 9.98980961e-01 2.79593467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.344839173 meters Centerline goodness : 0.744537 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.57, Z:2.79 [[ 9.95252236e-01 -8.85001794e-02 -4.05056240e-02 -2.17287042e+01] [ 8.94664107e-02 9.95731252e-01 2.26944001e-02 3.85666700e+01] [ 3.83242572e-02 -2.62105452e-02 9.98921548e-01 2.79444118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.374839173 meters Centerline goodness : 0.743707 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.58, Z:2.80 [[ 9.95738808e-01 -8.32249020e-02 -3.97220499e-02 -2.17339556e+01] [ 8.43201461e-02 9.96079841e-01 2.67406811e-02 3.85814138e+01] [ 3.73408425e-02 -2.99761030e-02 9.98852889e-01 2.79573053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.40483917299999 meters Centerline goodness : 0.746765 Centerline is valid? [False, False] Translation: X:-21.74, Y:38.59, Z:2.80 [[ 9.95678506e-01 -8.41794442e-02 -3.92190399e-02 -2.17362621e+01] [ 8.51645791e-02 9.96073899e-01 2.41615726e-02 3.85881110e+01] [ 3.70311542e-02 -2.73972316e-02 9.98938479e-01 2.79814801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.43483917299999 meters Centerline goodness : 0.746850 Centerline is valid? [False, False] Translation: X:-21.74, Y:38.59, Z:2.80 [[ 9.95366703e-01 -8.81716564e-02 -3.83521309e-02 -2.17374307e+01] [ 8.89012746e-02 9.95882259e-01 1.77507812e-02 3.85928863e+01] [ 3.66290910e-02 -2.10780899e-02 9.99106613e-01 2.80077689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.464839172999994 meters Centerline goodness : 0.745034 Centerline is valid? [False, False] Translation: X:-21.74, Y:38.60, Z:2.80 [[ 9.95312188e-01 -8.87444557e-02 -3.84456670e-02 -2.17362865e+01] [ 8.94127723e-02 9.95865746e-01 1.60241339e-02 3.86005107e+01] [ 3.68646698e-02 -1.93865494e-02 9.99132202e-01 2.79948849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.494839172999995 meters Centerline goodness : 0.744479 Centerline is valid? [False, False] Translation: X:-21.74, Y:38.61, Z:2.80 [[ 9.95541473e-01 -8.61670303e-02 -3.83721075e-02 -2.17355415e+01] [ 8.69207230e-02 9.96044855e-01 1.84237282e-02 3.86056488e+01] [ 3.66328223e-02 -2.16769168e-02 9.99093663e-01 2.79693348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.524839173 meters Centerline goodness : 0.741473 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.61, Z:2.79 [[ 9.95783839e-01 -8.34277010e-02 -3.81361238e-02 -2.17347253e+01] [ 8.42299908e-02 9.96246893e-01 1.99358423e-02 3.86140121e+01] [ 3.63297933e-02 -2.30639949e-02 9.99073670e-01 2.79454444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.554839173 meters Centerline goodness : 0.739367 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.62, Z:2.79 [[ 9.95803812e-01 -8.30722871e-02 -3.83896269e-02 -2.17334295e+01] [ 8.38474334e-02 9.96296680e-01 1.90402992e-02 3.86166109e+01] [ 3.66657366e-02 -2.21792742e-02 9.99081430e-01 2.79453902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.58483917299999 meters Centerline goodness : 0.741143 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.62, Z:2.79 [[ 9.95813063e-01 -8.29796430e-02 -3.83499870e-02 -2.17327618e+01] [ 8.37053754e-02 9.96332988e-01 1.77197105e-02 3.86212931e+01] [ 3.67389819e-02 -2.08556193e-02 9.99107247e-01 2.79438103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.61483917299999 meters Centerline goodness : 0.743366 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.63, Z:2.80 [[ 9.95755810e-01 -8.37005071e-02 -3.82700008e-02 -2.17336472e+01] [ 8.43644155e-02 9.96305335e-01 1.60725155e-02 3.86265162e+01] [ 3.67833282e-02 -1.92329269e-02 9.99138169e-01 2.79556187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.644839172999994 meters Centerline goodness : 0.742578 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.63, Z:2.80 [[ 9.95713944e-01 -8.41894581e-02 -3.82867635e-02 -2.17344076e+01] [ 8.47914524e-02 9.96294974e-01 1.43782743e-02 3.86328973e+01] [ 3.69344109e-02 -1.75630385e-02 9.99163344e-01 2.79695494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.674839172999995 meters Centerline goodness : 0.743745 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.64, Z:2.79 [[ 9.96295889e-01 -7.69674359e-02 -3.83472906e-02 -2.17339242e+01] [ 7.77949619e-02 9.96757065e-01 2.05742106e-02 3.86404272e+01] [ 3.66393886e-02 -2.34812275e-02 9.99052645e-01 2.79459463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.704839172999996 meters Centerline goodness : 0.742069 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.64, Z:2.79 [[ 9.96597284e-01 -7.27465561e-02 -3.87529615e-02 -2.17327965e+01] [ 7.37064888e-02 9.96992487e-01 2.39444074e-02 3.86436602e+01] [ 3.68945383e-02 -2.67192761e-02 9.98961898e-01 2.79358564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.734839173 meters Centerline goodness : 0.743823 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.65, Z:2.79 [[ 9.96947666e-01 -6.76868565e-02 -3.89081159e-02 -2.17307296e+01] [ 6.87550304e-02 9.97273450e-01 2.68032036e-02 3.86499865e+01] [ 3.69878064e-02 -2.93965200e-02 9.98883250e-01 2.79193190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.764839173 meters Centerline goodness : 0.746210 Centerline is valid? [False, False] Translation: X:-21.74, Y:38.65, Z:2.80 [[ 9.96850912e-01 -6.96339101e-02 -3.79391296e-02 -2.17355242e+01] [ 7.05911968e-02 9.97204308e-01 2.45040872e-02 3.86543570e+01] [ 3.61267481e-02 -2.71050903e-02 9.98979565e-01 2.79524874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.79483917299999 meters Centerline goodness : 0.754590 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.66, Z:2.80 [[ 9.96801288e-01 -7.42678267e-02 -2.95208908e-02 -2.17349240e+01] [ 7.51674848e-02 9.96700327e-01 3.06318170e-02 3.86568804e+01] [ 2.71485231e-02 -3.27528458e-02 9.99094695e-01 2.79867346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.824839172999994 meters Centerline goodness : 0.756720 Centerline is valid? [False, False] Translation: X:-21.74, Y:38.66, Z:2.80 [[ 9.96768159e-01 -7.47424248e-02 -2.94415857e-02 -2.17362068e+01] [ 7.56203682e-02 9.96687439e-01 2.99283890e-02 3.86577633e+01] [ 2.71071383e-02 -3.20580487e-02 9.99118354e-01 2.80036493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.854839172999995 meters Centerline goodness : 0.749730 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.66, Z:2.80 [[ 9.96928922e-01 -7.19901385e-02 -3.08244239e-02 -2.17296250e+01] [ 7.29515826e-02 9.96844445e-01 3.12924876e-02 3.86569298e+01] [ 2.84744052e-02 -3.34450765e-02 9.99034852e-01 2.79748199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.884839172999996 meters Centerline goodness : 0.751398 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.66, Z:2.80 [[ 9.97020026e-01 -7.03379985e-02 -3.16801745e-02 -2.17252981e+01] [ 7.13448752e-02 9.96942772e-01 3.18593617e-02 3.86579980e+01] [ 2.93423972e-02 -3.40246397e-02 9.98990164e-01 2.79531578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.914839173 meters Centerline goodness : 0.749341 Centerline is valid? [False, False] Translation: X:-21.72, Y:38.66, Z:2.79 [[ 9.97161032e-01 -6.79371841e-02 -3.24717672e-02 -2.17205051e+01] [ 6.89876669e-02 9.97091072e-01 3.24051761e-02 3.86600379e+01] [ 3.01757928e-02 -3.45533303e-02 9.98947190e-01 2.79324782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.944839173 meters Centerline goodness : 0.749341 Centerline is valid? [False, False] Translation: X:-21.72, Y:38.66, Z:2.79 [[ 9.97161032e-01 -6.79371841e-02 -3.24717672e-02 -2.17205051e+01] [ 6.89876669e-02 9.97091072e-01 3.24051761e-02 3.86600379e+01] [ 3.01757928e-02 -3.45533303e-02 9.98947190e-01 2.79324782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.97483917299999 meters Centerline goodness : 0.748858 Centerline is valid? [False, False] Translation: X:-21.72, Y:38.66, Z:2.79 [[ 9.96940442e-01 -7.09843347e-02 -3.27258345e-02 -2.17185110e+01] [ 7.19092144e-02 9.97017890e-01 2.80069973e-02 3.86614359e+01] [ 3.06401843e-02 -3.02745973e-02 9.99071883e-01 2.79392868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.00483917299999 meters Centerline goodness : 0.751716 Centerline is valid? [False, False] Translation: X:-21.72, Y:38.66, Z:2.80 [[ 9.96614412e-01 -7.56137839e-02 -3.22841912e-02 -2.17204199e+01] [ 7.64070695e-02 9.96785709e-01 2.40875624e-02 3.86558490e+01] [ 3.03590687e-02 -2.64727523e-02 9.99188431e-01 2.79662061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.034839172999995 meters Centerline goodness : 0.749473 Centerline is valid? [False, False] Translation: X:-21.72, Y:38.65, Z:2.80 [[ 9.96411080e-01 -7.77886787e-02 -3.33748668e-02 -2.17158232e+01] [ 7.85275897e-02 9.96681585e-01 2.14298063e-02 3.86514024e+01] [ 3.15971189e-02 -2.39737443e-02 9.99213131e-01 2.79619379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.064839172999996 meters Centerline goodness : 0.750527 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.65, Z:2.79 [[ 9.96474177e-01 -7.66087764e-02 -3.42097943e-02 -2.17124988e+01] [ 7.73962088e-02 9.96750597e-01 2.23175803e-02 3.86499395e+01] [ 3.23889104e-02 -2.48866009e-02 9.99165460e-01 2.79473421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.094839173 meters Centerline goodness : 0.746579 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.65, Z:2.79 [[ 9.96530966e-01 -7.55377807e-02 -3.49295960e-02 -2.17095191e+01] [ 7.63657013e-02 9.96814396e-01 2.30073897e-02 3.86485979e+01] [ 3.30803970e-02 -2.55949994e-02 9.99124909e-01 2.79353284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.124839173 meters Centerline goodness : 0.749813 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.65, Z:2.79 [[ 9.96666732e-01 -7.33844157e-02 -3.56391985e-02 -2.17056659e+01] [ 7.42466723e-02 9.96962895e-01 2.35035814e-02 3.86484001e+01] [ 3.38061619e-02 -2.60713296e-02 9.99088299e-01 2.79270566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.15483917299999 meters Centerline goodness : 0.749336 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.65, Z:2.79 [[ 9.96669394e-01 -7.32888500e-02 -3.57611907e-02 -2.17055574e+01] [ 7.41524412e-02 9.96971171e-01 2.34499487e-02 3.86481216e+01] [ 3.39342564e-02 -2.60236258e-02 9.99085200e-01 2.79314517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.18483917299999 meters Centerline goodness : 0.752083 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.65, Z:2.79 [[ 9.96707531e-01 -7.24979127e-02 -3.63063464e-02 -2.17042083e+01] [ 7.33556934e-02 9.97043405e-01 2.28777147e-02 3.86505576e+01] [ 3.45404167e-02 -2.54656677e-02 9.99078805e-01 2.79432687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.214839172999994 meters Centerline goodness : 0.751603 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.65, Z:2.79 [[ 9.96713262e-01 -7.23202740e-02 -3.65027662e-02 -2.17037850e+01] [ 7.31783165e-02 9.97059523e-01 2.27429538e-02 3.86507629e+01] [ 3.47506540e-02 -2.53394147e-02 9.99074725e-01 2.79470730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.244839172999995 meters Centerline goodness : 0.751929 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.65, Z:2.79 [[ 9.96727920e-01 -7.19271516e-02 -3.68773409e-02 -2.17022929e+01] [ 7.28022915e-02 9.97082010e-01 2.29628167e-02 3.86505962e+01] [ 3.51180832e-02 -2.55724355e-02 9.99055940e-01 2.79405146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.274839173 meters Centerline goodness : 0.752445 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.65, Z:2.79 [[ 9.96696773e-01 -7.24711202e-02 -3.66535080e-02 -2.17034285e+01] [ 7.33274727e-02 9.97052188e-01 2.25835527e-02 3.86503795e+01] [ 3.49088050e-02 -2.51966632e-02 9.99072822e-01 2.79483530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.304839173 meters Centerline goodness : 0.755334 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.65, Z:2.79 [[ 9.96923318e-01 -7.52832165e-02 -2.18251013e-02 -2.17069643e+01] [ 7.58223313e-02 9.96807240e-01 2.50259948e-02 3.86470512e+01] [ 1.98713816e-02 -2.66038278e-02 9.99448530e-01 2.79097041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.33483917299999 meters Centerline goodness : 0.755738 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.65, Z:2.79 [[ 9.96598462e-01 -7.95022939e-02 -2.17000263e-02 -2.17075512e+01] [ 7.99461615e-02 9.96590089e-01 2.04157983e-02 3.86466241e+01] [ 2.00029283e-02 -2.20811870e-02 9.99556053e-01 2.79319221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.36483917299999 meters Centerline goodness : 0.756408 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.64, Z:2.79 [[ 9.96601416e-01 -7.94624522e-02 -2.17102836e-02 -2.17077625e+01] [ 7.99197116e-02 9.96578507e-01 2.10741540e-02 3.86427774e+01] [ 1.99613981e-02 -2.27376113e-02 9.99542167e-01 2.79353079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.394839172999994 meters Centerline goodness : 0.755158 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.64, Z:2.79 [[ 9.96321115e-01 -8.28085544e-02 -2.20675992e-02 -2.17055165e+01] [ 8.32059810e-02 9.96374397e-01 1.77433124e-02 3.86416105e+01] [ 2.05182929e-02 -1.95141930e-02 9.99599018e-01 2.79288690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.424839172999995 meters Centerline goodness : 0.756331 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.64, Z:2.79 [[ 9.95966969e-01 -8.70865602e-02 -2.15807456e-02 -2.17059811e+01] [ 8.73994088e-02 9.96074933e-01 1.40025088e-02 3.86407590e+01] [ 2.02766094e-02 -1.58321807e-02 9.99669046e-01 2.79284017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.454839172999996 meters Centerline goodness : 0.754427 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.64, Z:2.79 [[ 9.95915363e-01 -8.77085144e-02 -2.14430844e-02 -2.17067081e+01] [ 8.80294034e-02 9.96012229e-01 1.45073498e-02 3.86377101e+01] [ 2.00851562e-02 -1.63357145e-02 9.99664809e-01 2.79266536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.484839173 meters Centerline goodness : 0.754391 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.63, Z:2.79 [[ 9.95935262e-01 -8.74094329e-02 -2.17380868e-02 -2.17053498e+01] [ 8.77541665e-02 9.96022442e-01 1.54434940e-02 3.86344399e+01] [ 2.03017152e-02 -1.72883279e-02 9.99644414e-01 2.79150802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.514839173 meters Centerline goodness : 0.752762 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.64, Z:2.79 [[ 9.96015370e-01 -8.64106789e-02 -2.20584830e-02 -2.17031709e+01] [ 8.67650980e-02 9.96105887e-01 1.56486391e-02 3.86358488e+01] [ 2.06203753e-02 -1.75001915e-02 9.99634205e-01 2.79024318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.54483917299999 meters Centerline goodness : 0.754401 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.64, Z:2.80 [[ 9.95916711e-01 -8.77477948e-02 -2.12186157e-02 -2.17075735e+01] [ 8.80419833e-02 9.96027292e-01 1.33507228e-02 3.86372247e+01] [ 1.99628239e-02 -1.51643370e-02 9.99685715e-01 2.79512889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.574839172999994 meters Centerline goodness : 0.754479 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.64, Z:2.80 [[ 9.95863171e-01 -8.84647003e-02 -2.07494850e-02 -2.17093022e+01] [ 8.87515609e-02 9.95964518e-01 1.33356714e-02 3.86353078e+01] [ 1.94860146e-02 -1.51220532e-02 9.99695763e-01 2.79568075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.604839172999995 meters Centerline goodness : 0.751406 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.64, Z:2.79 [[ 9.95814564e-01 -8.89996272e-02 -2.07947406e-02 -2.17091695e+01] [ 8.92958622e-02 9.95909839e-01 1.37782718e-02 3.86351116e+01] [ 1.94834257e-02 -1.55774880e-02 9.99688821e-01 2.79447402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.634839172999996 meters Centerline goodness : 0.752013 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.64, Z:2.79 [[ 9.95812097e-01 -8.89955160e-02 -2.09300170e-02 -2.17089058e+01] [ 8.92943318e-02 9.95909643e-01 1.38023400e-02 3.86356325e+01] [ 1.96160594e-02 -1.56134690e-02 9.99685665e-01 2.79435438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.664839173 meters Centerline goodness : 0.754576 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.63, Z:2.79 [[ 9.95832359e-01 -8.87443224e-02 -2.10323067e-02 -2.17082471e+01] [ 8.90640164e-02 9.95916192e-01 1.47830645e-02 3.86322295e+01] [ 1.96345018e-02 -1.65946757e-02 9.99669497e-01 2.79348484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.694839173 meters Centerline goodness : 0.753856 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.63, Z:2.79 [[ 9.95908075e-01 -9.01599556e-02 -6.18776738e-03 -2.17092396e+01] [ 9.02538835e-02 9.95771962e-01 1.71007495e-02 3.86268222e+01] [ 4.61980245e-03 -1.75892446e-02 9.99834624e-01 2.78692189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.72483917299999 meters Centerline goodness : 0.757898 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.63, Z:2.79 [[ 9.95841814e-01 -9.09186335e-02 -5.73450291e-03 -2.17115942e+01] [ 9.10007621e-02 9.95718857e-01 1.62117204e-02 3.86274729e+01] [ 4.23600521e-03 -1.66661532e-02 9.99852137e-01 2.78905982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.75483917299999 meters Centerline goodness : 0.758473 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.63, Z:2.79 [[ 9.96147268e-01 -8.74965674e-02 -5.91364912e-03 -2.17132423e+01] [ 8.75961250e-02 9.95966178e-01 1.94497208e-02 3.86279994e+01] [ 4.18801070e-03 -1.98927990e-02 9.99793347e-01 2.79099382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.784839172999995 meters Centerline goodness : 0.753802 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.63, Z:2.79 [[ 9.96189080e-01 -8.69800587e-02 -6.46428850e-03 -2.17074248e+01] [ 8.70908519e-02 9.96009765e-01 1.94867161e-02 3.86258275e+01] [ 4.74353876e-03 -1.99754342e-02 9.99789218e-01 2.78645292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.814839172999996 meters Centerline goodness : 0.753541 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.62, Z:2.79 [[ 9.96174922e-01 -8.71592074e-02 -6.22873039e-03 -2.17075257e+01] [ 8.72668393e-02 9.95987441e-01 1.98372550e-02 3.86244394e+01] [ 4.47473782e-03 -2.03049376e-02 9.99783820e-01 2.78559230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.844839173 meters Centerline goodness : 0.755532 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.62, Z:2.79 [[ 9.95767629e-01 -9.17287748e-02 -5.71499216e-03 -2.17097634e+01] [ 9.18058625e-02 9.95662026e-01 1.51265666e-02 3.86235589e+01] [ 4.30265926e-03 -1.55872151e-02 9.99869254e-01 2.78887299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.874839173 meters Centerline goodness : 0.756847 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.62, Z:2.79 [[ 9.95745973e-01 -9.19627930e-02 -5.72727871e-03 -2.17102850e+01] [ 9.20407299e-02 9.95637921e-01 1.52851121e-02 3.86216565e+01] [ 4.29663427e-03 -1.57472317e-02 9.99866773e-01 2.78963828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.90483917299999 meters Centerline goodness : 0.755569 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.62, Z:2.79 [[ 9.95780581e-01 -9.15626739e-02 -6.10831361e-03 -2.17089250e+01] [ 9.16495944e-02 9.95664124e-01 1.59155051e-02 3.86201176e+01] [ 4.62456252e-03 -1.64081753e-02 9.99854682e-01 2.78888919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.93483917299999 meters Centerline goodness : 0.754027 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.62, Z:2.78 [[ 9.96167528e-01 -8.71189673e-02 -7.78088554e-03 -2.17014394e+01] [ 8.72571036e-02 9.95991993e-01 1.96506318e-02 3.86220906e+01] [ 6.03775696e-03 -2.02542588e-02 9.99776630e-01 2.78358848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.964839172999994 meters Centerline goodness : 0.750821 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.62, Z:2.78 [[ 9.96194202e-01 -8.68045761e-02 -7.87888365e-03 -2.17007123e+01] [ 8.69451145e-02 9.96018113e-01 1.97095065e-02 3.86224292e+01] [ 6.13663547e-03 -2.03195265e-02 9.99774704e-01 2.78311162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.994839172999995 meters Centerline goodness : 0.751929 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.62, Z:2.79 [[ 9.95924120e-01 -8.99110838e-02 -7.15144986e-03 -2.17043503e+01] [ 9.00195779e-02 9.95800611e-01 1.66619075e-02 3.86212502e+01] [ 5.62332798e-03 -1.72377661e-02 9.99835605e-01 2.78663088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.024839173 meters Centerline goodness : 0.754649 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.62, Z:2.79 [[ 9.95497673e-01 -9.45755035e-02 -6.31321812e-03 -2.17088511e+01] [ 9.46481153e-02 9.95433404e-01 1.24125612e-02 3.86194220e+01] [ 5.11046398e-03 -1.29542100e-02 9.99903031e-01 2.79115591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.054839173 meters Centerline goodness : 0.757419 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.62, Z:2.80 [[ 9.95447205e-01 -9.50931860e-02 -6.49208198e-03 -2.17110037e+01] [ 9.51614314e-02 9.95399214e-01 1.11671884e-02 3.86195783e+01] [ 5.40028977e-03 -1.17341423e-02 9.99916570e-01 2.79576101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08483917299999 meters Centerline goodness : 0.754130 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.62, Z:2.79 [[ 9.95995900e-01 -8.90314941e-02 -8.09692741e-03 -2.17053563e+01] [ 8.91565262e-02 9.95878011e-01 1.66763587e-02 3.86198655e+01] [ 6.57883083e-03 -1.73314788e-02 9.99828155e-01 2.79175220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.11483917299999 meters Centerline goodness : 0.747086 Centerline is valid? [False, False] Translation: X:-21.69, Y:38.62, Z:2.78 [[ 9.97302080e-01 -7.16158619e-02 -1.61160987e-02 -2.16923461e+01] [ 7.18874468e-02 9.97268632e-01 1.69549497e-02 3.86242844e+01] [ 1.48578364e-02 -1.80677518e-02 9.99726363e-01 2.78070075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.144839172999994 meters Centerline goodness : 0.746258 Centerline is valid? [False, False] Translation: X:-21.69, Y:38.62, Z:2.78 [[ 9.97674627e-01 -6.60323119e-02 -1.68840954e-02 -2.16885459e+01] [ 6.63869523e-02 9.97564756e-01 2.13852578e-02 3.86249496e+01] [ 1.54308605e-02 -2.24564127e-02 9.99628730e-01 2.77801416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.174839172999995 meters Centerline goodness : 0.749571 Centerline is valid? [False, False] Translation: X:-21.69, Y:38.63, Z:2.78 [[ 9.97955158e-01 -6.19064503e-02 -1.59089359e-02 -2.16920481e+01] [ 6.22501537e-02 9.97815814e-01 2.21024784e-02 3.86288055e+01] [ 1.45059018e-02 -2.30476160e-02 9.99629124e-01 2.78378823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.204839172999996 meters Centerline goodness : 0.753329 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.63, Z:2.79 [[ 9.97899018e-01 -6.29127757e-02 -1.54768182e-02 -2.16953989e+01] [ 6.32069356e-02 9.97813535e-01 1.93140417e-02 3.86339763e+01] [ 1.42278787e-02 -2.02517055e-02 9.99693671e-01 2.78883756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.234839173 meters Centerline goodness : 0.756020 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.64, Z:2.79 [[ 9.97819774e-01 -6.41715049e-02 -1.54180734e-02 -2.16978213e+01] [ 6.44346861e-02 9.97773237e-01 1.72261324e-02 3.86415721e+01] [ 1.42783141e-02 -1.81820343e-02 9.99732736e-01 2.79170450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26483917299999 meters Centerline goodness : 0.751603 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.64, Z:2.79 [[ 9.97812759e-01 -6.42579520e-02 -1.55117373e-02 -2.16967030e+01] [ 6.45247775e-02 9.97765069e-01 1.73614573e-02 3.86429402e+01] [ 1.43614579e-02 -1.83243750e-02 9.99728946e-01 2.78996389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.29483917299999 meters Centerline goodness : 0.751222 Centerline is valid? [False, False] Translation: X:-21.69, Y:38.64, Z:2.79 [[ 9.97831693e-01 -6.38920881e-02 -1.58023571e-02 -2.16941757e+01] [ 6.41755103e-02 9.97773924e-01 1.81301239e-02 3.86425892e+01] [ 1.46088084e-02 -1.91049366e-02 9.99710750e-01 2.78694167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.324839172999994 meters Centerline goodness : 0.747960 Centerline is valid? [False, False] Translation: X:-21.69, Y:38.65, Z:2.78 [[ 9.97849171e-01 -6.36684915e-02 -1.55998486e-02 -2.16904193e+01] [ 6.39408950e-02 9.97797883e-01 1.76337001e-02 3.86457943e+01] [ 1.44427848e-02 -1.85932413e-02 9.99722810e-01 2.78211731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.354839172999995 meters Centerline goodness : 0.749784 Centerline is valid? [False, False] Translation: X:-21.69, Y:38.65, Z:2.79 [[ 9.97768483e-01 -6.52006105e-02 -1.43852188e-02 -2.16948164e+01] [ 6.53980340e-02 9.97765085e-01 1.37088224e-02 3.86538818e+01] [ 1.34592455e-02 -1.46189960e-02 9.99802547e-01 2.78698890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.384839172999996 meters Centerline goodness : 0.749211 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.65, Z:2.79 [[ 9.97692022e-01 -6.65270742e-02 -1.35933051e-02 -2.16979691e+01] [ 6.67023834e-02 9.97689809e-01 1.28777929e-02 3.86543418e+01] [ 1.27051801e-02 -1.37547771e-02 9.99824677e-01 2.78835838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.414839173 meters Centerline goodness : 0.752401 Centerline is valid? [False, False] Translation: X:-21.69, Y:38.65, Z:2.79 [[ 9.97454302e-01 -7.10383286e-02 -6.20256841e-03 -2.16933646e+01] [ 7.11545209e-02 9.97241676e-01 2.11204558e-02 3.86531392e+01] [ 4.68509784e-03 -2.15080302e-02 9.99757698e-01 2.78660783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.444839173 meters Centerline goodness : 0.753154 Centerline is valid? [False, False] Translation: X:-21.69, Y:38.65, Z:2.79 [[ 9.97396500e-01 -7.18581836e-02 -6.05175578e-03 -2.16949069e+01] [ 7.19718381e-02 9.97178869e-01 2.13156564e-02 3.86512135e+01] [ 4.50297863e-03 -2.16957171e-02 9.99754479e-01 2.78746739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.47483917299999 meters Centerline goodness : 0.750475 Centerline is valid? [False, False] Translation: X:-21.69, Y:38.65, Z:2.79 [[ 9.97422703e-01 -7.14371064e-02 -6.68522114e-03 -2.16928705e+01] [ 7.15681193e-02 9.97193040e-01 2.20010235e-02 3.86495332e+01] [ 5.09476654e-03 -2.24227690e-02 9.99735596e-01 2.78660308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.50483917299999 meters Centerline goodness : 0.749482 Centerline is valid? [False, False] Translation: X:-21.69, Y:38.65, Z:2.79 [[ 9.97464287e-01 -7.08188406e-02 -7.04898346e-03 -2.16908722e+01] [ 7.09605597e-02 9.97226645e-01 2.24414327e-02 3.86487198e+01] [ 5.44015788e-03 -2.28847275e-02 9.99723309e-01 2.78526252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.534839172999995 meters Centerline goodness : 0.744211 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.65, Z:2.78 [[ 9.97564239e-01 -6.93315878e-02 -7.66295984e-03 -2.16826067e+01] [ 6.94840814e-02 9.97343835e-01 2.18457383e-02 3.86465344e+01] [ 6.12800604e-03 -2.23249810e-02 9.99731985e-01 2.77984509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.564839172999996 meters Centerline goodness : 0.744147 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.65, Z:2.78 [[ 9.97629739e-01 -6.83132516e-02 -8.25859456e-03 -2.16791215e+01] [ 6.84838153e-02 9.97398006e-01 2.25207738e-02 3.86455285e+01] [ 6.69863846e-03 -2.30329737e-02 9.99712264e-01 2.77734855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.594839173 meters Centerline goodness : 0.743118 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.65, Z:2.78 [[ 9.97673977e-01 -6.75898313e-02 -8.84592432e-03 -2.16767913e+01] [ 6.77728859e-02 9.97450304e-01 2.23545700e-02 3.86472440e+01] [ 7.31242829e-03 -2.29020866e-02 9.99710970e-01 2.77660812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.624839173 meters Centerline goodness : 0.743417 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.65, Z:2.78 [[ 9.97590380e-01 -6.88865994e-02 -8.25049258e-03 -2.16797006e+01] [ 6.90471538e-02 9.97390641e-01 2.10807817e-02 3.86508121e+01] [ 6.77678072e-03 -2.15996580e-02 9.99743732e-01 2.77834117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.65483917299999 meters Centerline goodness : 0.747278 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.65, Z:2.78 [[ 9.96969236e-01 -7.77965520e-02 1.95727343e-04 -2.16782826e+01] [ 7.77693988e-02 9.96681724e-01 2.40304209e-02 3.86499672e+01] [-2.06456176e-03 -2.39423688e-02 9.99711209e-01 2.78094836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.68483917299999 meters Centerline goodness : 0.748670 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.65, Z:2.78 [[ 9.96558022e-01 -8.28912212e-02 1.07425622e-03 -2.16816180e+01] [ 8.28551036e-02 9.96374235e-01 1.93239617e-02 3.86485914e+01] [-2.67214800e-03 -1.91684414e-02 9.99812698e-01 2.78407049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.714839172999994 meters Centerline goodness : 0.747240 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.65, Z:2.79 [[ 9.96171591e-01 -8.74037556e-02 1.65668820e-03 -2.16831234e+01] [ 8.73684930e-02 9.96059067e-01 1.52670043e-02 3.86464834e+01] [-2.98455281e-03 -1.50638136e-02 9.99882080e-01 2.78556666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.744839172999995 meters Centerline goodness : 0.747303 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.64, Z:2.78 [[ 9.95864548e-01 -9.08384429e-02 1.47628142e-03 -2.16807890e+01] [ 9.08113155e-02 9.95781098e-01 1.31647180e-02 3.86413588e+01] [-2.66591561e-03 -1.29762128e-02 9.99912252e-01 2.78316643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.774839173 meters Centerline goodness : 0.740073 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.64, Z:2.78 [[ 9.95647756e-01 -9.31928149e-02 8.03023440e-04 -2.16762642e+01] [ 9.31792462e-02 9.95593589e-01 1.05372718e-02 3.86392762e+01] [-1.78148301e-03 -1.04165859e-02 9.99944159e-01 2.78054306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.804839173 meters Centerline goodness : 0.739544 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.63, Z:2.78 [[ 9.95483989e-01 -9.49295950e-02 -7.53898979e-06 -2.16702589e+01] [ 9.49263470e-02 9.95449265e-01 8.35157394e-03 3.86326927e+01] [-7.85306850e-04 -8.31457379e-03 9.99965125e-01 2.77755960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.83483917299999 meters Centerline goodness : 0.740435 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.63, Z:2.78 [[ 9.95489102e-01 -9.48759494e-02 3.84638584e-05 -2.16706528e+01] [ 9.48727313e-02 9.95458516e-01 7.84272946e-03 3.86328965e+01] [-7.82375579e-04 -7.80370254e-03 9.99969245e-01 2.77869349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.86483917299999 meters Centerline goodness : 0.740435 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.63, Z:2.78 [[ 9.95489102e-01 -9.48759494e-02 3.84638584e-05 -2.16706528e+01] [ 9.48727313e-02 9.95458516e-01 7.84272946e-03 3.86328965e+01] [-7.82375579e-04 -7.80370254e-03 9.99969245e-01 2.77869349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.894839172999994 meters Centerline goodness : 0.740957 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.63, Z:2.78 [[ 9.95796022e-01 -9.15979594e-02 3.09474371e-04 -2.16727763e+01] [ 9.15889124e-02 9.95735140e-01 1.10906219e-02 3.86344401e+01] [-1.32403284e-03 -1.10156527e-02 9.99938449e-01 2.77948440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.924839172999995 meters Centerline goodness : 0.741412 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.64, Z:2.78 [[ 9.95897265e-01 -9.04899987e-02 -4.45748089e-04 -2.16701088e+01] [ 9.04893776e-02 9.95835903e-01 1.10692064e-02 3.86358343e+01] [-5.57760524e-04 -1.10641279e-02 9.99938635e-01 2.77898654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.954839172999996 meters Centerline goodness : 0.741839 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.64, Z:2.78 [[ 9.96429237e-01 -8.44199612e-02 -1.43054568e-03 -2.16670095e+01] [ 8.44319818e-02 9.96311000e-01 1.53502834e-02 3.86373322e+01] [ 1.29398065e-04 -1.54162550e-02 9.99881154e-01 2.77839883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.984839173 meters Centerline goodness : 0.748515 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.64, Z:2.78 [[ 9.97008081e-01 -7.72808774e-02 -1.59751682e-03 -2.16703121e+01] [ 7.72973673e-02 9.96780026e-01 2.13236110e-02 3.86434337e+01] [-5.55345076e-05 -2.13832963e-02 9.99771350e-01 2.78204101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.01483917299999 meters Centerline goodness : 0.748028 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.64, Z:2.78 [[ 9.97197060e-01 -7.48099520e-02 -1.22292144e-03 -2.16742028e+01] [ 7.48176180e-02 9.96903853e-01 2.41874172e-02 3.86447004e+01] [-5.90324419e-04 -2.42111174e-02 9.99706694e-01 2.78482077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.04483917299999 meters Centerline goodness : 0.748255 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.64, Z:2.79 [[ 9.96896403e-01 -7.87224330e-02 5.84040927e-04 -2.16816878e+01] [ 7.86982077e-02 9.96726860e-01 1.84975419e-02 3.86446570e+01] [-2.03830078e-03 -1.83941700e-02 9.99828735e-01 2.79406744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.074839172999994 meters Centerline goodness : 0.751004 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.64, Z:2.80 [[ 9.96558963e-01 -8.28807917e-02 1.00406464e-03 -2.16826916e+01] [ 8.28583996e-02 9.96461016e-01 1.41396512e-02 3.86416235e+01] [-2.17241676e-03 -1.40078010e-02 9.99899526e-01 2.79628672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.104839172999995 meters Centerline goodness : 0.749592 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.64, Z:2.80 [[ 9.96212786e-01 -8.69389329e-02 1.30634361e-03 -2.16830385e+01] [ 8.69211328e-02 9.96162615e-01 1.02353070e-02 3.86390050e+01] [-2.19117734e-03 -1.00829948e-02 9.99946765e-01 2.79736576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.134839172999996 meters Centerline goodness : 0.745870 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.63, Z:2.80 [[ 9.95563039e-01 -9.40916324e-02 1.00022727e-03 -2.16797791e+01] [ 9.40866637e-02 9.95555141e-01 4.20259815e-03 3.86326433e+01] [-1.39121072e-03 -4.08984334e-03 9.99990669e-01 2.79569687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.164839173 meters Centerline goodness : 0.743441 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.63, Z:2.79 [[ 9.95236197e-01 -9.74901775e-02 7.59528183e-04 -2.16777694e+01] [ 9.74888403e-02 9.95235277e-01 1.63399015e-03 3.86287184e+01] [-9.15207231e-04 -1.55216062e-03 9.99998377e-01 2.79451254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.194839173 meters Centerline goodness : 0.744058 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.62, Z:2.79 [[ 9.94971482e-01 -1.00158611e-01 5.64422625e-05 -2.16738051e+01] [ 1.00158486e-01 9.94970870e-01 1.11610598e-03 3.86211675e+01] [-1.67946032e-04 -1.10484045e-03 9.99999376e-01 2.79056487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.22483917299999 meters Centerline goodness : 0.741613 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.62, Z:2.79 [[ 9.95051371e-01 -9.93608426e-02 -4.38077771e-04 -2.16714553e+01] [ 9.93616852e-02 9.95047409e-01 2.81248861e-03 3.86180443e+01] [ 1.56456912e-04 -2.84209880e-03 9.99995949e-01 2.78815061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.25483917299999 meters Centerline goodness : 0.740231 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.61, Z:2.79 [[ 9.95289237e-01 -9.69355396e-02 -1.68384091e-03 -2.16662078e+01] [ 9.69434058e-02 9.95274808e-01 5.48023993e-03 3.86107644e+01] [ 1.14465442e-03 -5.61766110e-03 9.99983566e-01 2.78529639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.284839172999995 meters Centerline goodness : 0.741139 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.61, Z:2.79 [[ 9.95368076e-01 -9.61144104e-02 -2.10093032e-03 -2.16654788e+01] [ 9.61246859e-02 9.95354050e-01 5.50990792e-03 3.86091201e+01] [ 1.56158795e-03 -5.68633772e-03 9.99982613e-01 2.78674147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.314839172999996 meters Centerline goodness : 0.740351 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.61, Z:2.79 [[ 9.95700915e-01 -9.25995098e-02 -2.24041171e-03 -2.16678322e+01] [ 9.26157989e-02 9.95662962e-01 8.80793210e-03 3.86058550e+01] [ 1.41508477e-03 -8.97756356e-03 9.99958700e-01 2.79038956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.344839173 meters Centerline goodness : 0.742945 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.61, Z:2.79 [[ 9.95760379e-01 -9.19456492e-02 -2.69530773e-03 -2.16665771e+01] [ 9.19663240e-02 9.95721883e-01 8.95139181e-03 3.86063509e+01] [ 1.86073536e-03 -9.16131884e-03 9.99956303e-01 2.79038895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.374839173 meters Centerline goodness : 0.738290 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.60, Z:2.79 [[ 9.95970854e-01 -8.95880534e-02 -4.00476465e-03 -2.16607245e+01] [ 8.96277453e-02 9.95912662e-01 1.11730128e-02 3.86034407e+01] [ 2.98742735e-03 -1.14869332e-02 9.99929560e-01 2.78638946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.40483917299999 meters Centerline goodness : 0.738282 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.60, Z:2.78 [[ 9.96051410e-01 -8.86642450e-02 -4.49897534e-03 -2.16580173e+01] [ 8.87147923e-02 9.95976526e-01 1.26667278e-02 3.85992809e+01] [ 3.35778797e-03 -1.30158378e-02 9.99909653e-01 2.78409656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.43483917299999 meters Centerline goodness : 0.740395 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.59, Z:2.79 [[ 9.95666908e-01 -9.29061029e-02 -3.98297326e-03 -2.16590008e+01] [ 9.29388586e-02 9.95630881e-01 9.02864455e-03 3.85919522e+01] [ 3.12675500e-03 -9.35969559e-03 9.99951309e-01 2.78606902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.464839172999994 meters Centerline goodness : 0.742725 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.59, Z:2.79 [[ 9.95277475e-01 -9.70117580e-02 -3.38619639e-03 -2.16620602e+01] [ 9.70299242e-02 9.95265192e-01 5.69136610e-03 3.85875119e+01] [ 2.81803397e-03 -5.99305087e-03 9.99978071e-01 2.78958547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.494839172999995 meters Centerline goodness : 0.744606 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.58, Z:2.79 [[ 9.94745864e-01 -1.02334838e-01 -2.87164464e-03 -2.16656461e+01] [ 1.02342645e-01 9.94745494e-01 2.71743553e-03 3.85783097e+01] [ 2.57846725e-03 -2.99704946e-03 9.99992185e-01 2.79381723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.524839173 meters Centerline goodness : 0.744826 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.58, Z:2.79 [[ 9.94824401e-01 -1.01548257e-01 -3.51599421e-03 -2.16637985e+01] [ 1.01561191e-01 9.94822342e-01 3.71911792e-03 3.85767107e+01] [ 3.12011965e-03 -4.05695782e-03 9.99986903e-01 2.79312379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.554839173 meters Centerline goodness : 0.743660 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.57, Z:2.79 [[ 9.95256226e-01 -9.71976266e-02 -4.20309438e-03 -2.16627867e+01] [ 9.72309643e-02 9.95224435e-01 8.62925391e-03 3.85743885e+01] [ 3.34427923e-03 -8.99698960e-03 9.99953934e-01 2.79228366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58483917299999 meters Centerline goodness : 0.741264 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.57, Z:2.79 [[ 9.95593955e-01 -9.36149982e-02 -5.37660645e-03 -2.16575362e+01] [ 9.36687724e-02 9.95544666e-01 1.08156548e-02 3.85734023e+01] [ 4.34014438e-03 -1.12716206e-02 9.99927054e-01 2.78982212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.61483917299999 meters Centerline goodness : 0.741077 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.57, Z:2.79 [[ 9.95292005e-01 -9.67703693e-02 -5.41482945e-03 -2.16558390e+01] [ 9.68126151e-02 9.95269049e-01 8.17537998e-03 3.85681684e+01] [ 4.59807762e-03 -8.66111413e-03 9.99951920e-01 2.78914976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.644839172999994 meters Centerline goodness : 0.743253 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.56, Z:2.79 [[ 9.94921096e-01 -1.00523559e-01 -5.19876322e-03 -2.16551819e+01] [ 1.00549557e-01 9.94919451e-01 5.00719279e-03 3.85641473e+01] [ 4.66900981e-03 -5.50449508e-03 9.99973950e-01 2.78892565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.674839172999995 meters Centerline goodness : 0.744923 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.56, Z:2.79 [[ 9.93743683e-01 -1.11578362e-01 -4.87448848e-03 -2.16532038e+01] [ 1.11549531e-01 9.93741753e-01 -5.83349529e-03 3.85576824e+01] [ 5.49487458e-03 5.25325219e-03 9.99971104e-01 2.79010719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.704839172999996 meters Centerline goodness : 0.748243 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.55, Z:2.79 [[ 9.93315704e-01 -1.15327202e-01 -4.85266402e-03 -2.16518296e+01] [ 1.15283972e-01 9.93297017e-01 -8.40492649e-03 3.85535173e+01] [ 5.78945335e-03 7.78931109e-03 9.99952903e-01 2.78899865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.734839173 meters Centerline goodness : 0.746664 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.55, Z:2.79 [[ 9.93155414e-01 -1.16694996e-01 -4.95997468e-03 -2.16524853e+01] [ 1.16657091e-01 9.93145080e-01 -7.34667922e-03 3.85524700e+01] [ 5.78329515e-03 6.71777802e-03 9.99960712e-01 2.78799366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76483917299999 meters Centerline goodness : 0.746548 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.55, Z:2.79 [[ 9.93492502e-01 -1.13784352e-01 -5.07629795e-03 -2.16540287e+01] [ 1.13769788e-01 9.93502390e-01 -3.07182654e-03 3.85504459e+01] [ 5.39283994e-03 2.47430730e-03 9.99982397e-01 2.78822531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.79483917299999 meters Centerline goodness : 0.747004 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.55, Z:2.79 [[ 9.93558480e-01 -1.13188116e-01 -5.47687245e-03 -2.16530273e+01] [ 1.13173091e-01 9.93570816e-01 -2.98061543e-03 3.85505253e+01] [ 5.77903087e-03 2.34158115e-03 9.99980560e-01 2.78841685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.824839172999994 meters Centerline goodness : 0.745719 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.54, Z:2.78 [[ 9.93848465e-01 -1.10742161e-01 1.18427078e-03 -2.16603674e+01] [ 1.10748060e-01 9.93817680e-01 -7.82852526e-03 3.85429966e+01] [-3.10001428e-04 7.91152351e-03 9.99968655e-01 2.78484577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.854839172999995 meters Centerline goodness : 0.749266 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.54, Z:2.79 [[ 9.93463899e-01 -1.14137185e-01 1.47814037e-03 -2.16601783e+01] [ 1.14146662e-01 9.93396436e-01 -1.15784649e-02 3.85395705e+01] [-1.46845983e-04 1.16715116e-02 9.99931875e-01 2.78604482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.884839172999996 meters Centerline goodness : 0.750283 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.54, Z:2.79 [[ 9.93864256e-01 -1.10600277e-01 1.19174939e-03 -2.16608220e+01] [ 1.10606042e-01 9.93837773e-01 -7.26533428e-03 3.85384837e+01] [-3.80857575e-04 7.35257073e-03 9.99972897e-01 2.78587929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.914839173 meters Centerline goodness : 0.750481 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.54, Z:2.79 [[ 9.94289401e-01 -1.06714585e-01 7.64441207e-04 -2.16607098e+01] [ 1.06716369e-01 9.94285292e-01 -2.89375286e-03 3.85389643e+01] [-4.51267012e-04 2.95880619e-03 9.99995521e-01 2.78508055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.944839173 meters Centerline goodness : 0.748490 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.54, Z:2.79 [[ 9.95130105e-01 -9.85700081e-02 -1.68843160e-04 -2.16604389e+01] [ 9.85695602e-02 9.95116724e-01 5.17175060e-03 3.85386169e+01] [-3.41760846e-04 -5.16320751e-03 9.99986612e-01 2.78500938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.97483917299999 meters Centerline goodness : 0.749189 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.54, Z:2.78 [[ 9.95338906e-01 -9.64388752e-02 -6.95630799e-05 -2.16585854e+01] [ 9.64377871e-02 9.95323694e-01 5.52253051e-03 3.85411706e+01] [-4.63348849e-04 -5.50349799e-03 9.99984748e-01 2.78346153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.00483917299999 meters Centerline goodness : 0.748253 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.54, Z:2.78 [[ 9.95343501e-01 -9.63914645e-02 8.38052021e-06 -2.16583175e+01] [ 9.63900447e-02 9.95329304e-01 5.34183944e-03 3.85429887e+01] [-5.23249104e-04 -5.31615737e-03 9.99985732e-01 2.78273216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.034839172999995 meters Centerline goodness : 0.749101 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.54, Z:2.78 [[ 9.95276898e-01 -9.70755754e-02 4.77581324e-04 -2.16595922e+01] [ 9.70720069e-02 9.95264857e-01 4.98905046e-03 3.85436566e+01] [-9.59634852e-04 -4.91912689e-03 9.99987441e-01 2.78285260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.064839172999996 meters Centerline goodness : 0.745799 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.54, Z:2.78 [[ 9.95101886e-01 -9.88537030e-02 4.26793905e-04 -2.16602600e+01] [ 9.88504318e-02 9.95090171e-01 4.91368430e-03 3.85423640e+01] [-9.10434307e-04 -4.84742775e-03 9.99987837e-01 2.78248966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.094839173 meters Centerline goodness : 0.744070 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.54, Z:2.78 [[ 9.95034911e-01 -9.95247201e-02 5.95944108e-04 -2.16607284e+01] [ 9.95203946e-02 9.95022337e-01 5.12240024e-03 3.85417811e+01] [-1.10278315e-03 -5.03765847e-03 9.99986703e-01 2.78195744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.124839173 meters Centerline goodness : 0.744326 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.54, Z:2.78 [[ 9.94626306e-01 -1.03526819e-01 8.42609849e-04 -2.16598236e+01] [ 1.03525173e-01 9.94625193e-01 1.80681226e-03 3.85404271e+01] [-1.02513451e-03 -1.70987167e-03 9.99998013e-01 2.78075546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.15483917299999 meters Centerline goodness : 0.742774 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.54, Z:2.78 [[ 9.94280945e-01 -1.06789036e-01 1.22638341e-03 -2.16594223e+01] [ 1.06791836e-01 9.94278244e-01 -2.50543895e-03 3.85397837e+01] [-9.51812940e-04 2.62207794e-03 9.99996109e-01 2.78156227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.18483917299999 meters Centerline goodness : 0.743726 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.54, Z:2.78 [[ 9.94622182e-01 -1.03560426e-01 1.39732110e-03 -2.16610465e+01] [ 1.03558926e-01 9.94622704e-01 1.10672471e-03 3.85391076e+01] [-1.50442018e-03 -9.56067875e-04 9.99998411e-01 2.78196378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.214839172999994 meters Centerline goodness : 0.749868 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.54, Z:2.78 [[ 9.94994249e-01 -9.99251429e-02 1.18779451e-03 -2.16616650e+01] [ 9.99187588e-02 9.94985076e-01 4.57612834e-03 3.85411567e+01] [-1.63910809e-03 -4.43453843e-03 9.99988824e-01 2.78201845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.244839172999995 meters Centerline goodness : 0.741047 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.54, Z:2.78 [[ 9.95425811e-01 -9.55348860e-02 7.35225140e-04 -2.16615048e+01] [ 9.55260098e-02 9.95394841e-01 7.99327413e-03 3.85434132e+01] [-1.49547584e-03 -7.88647826e-03 9.99967783e-01 2.78315443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.274839173 meters Centerline goodness : 0.743713 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.54, Z:2.78 [[ 9.95173262e-01 -9.81310309e-02 6.93022932e-04 -2.16598682e+01] [ 9.81265425e-02 9.95162073e-01 4.86108317e-03 3.85396848e+01] [-1.16669324e-03 -4.76961605e-03 9.99987945e-01 2.78329377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.304839173 meters Centerline goodness : 0.747100 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.54, Z:2.78 [[ 9.95207449e-01 -9.77840512e-02 6.41748614e-04 -2.16593279e+01] [ 9.77798795e-02 9.95196492e-01 4.79971429e-03 3.85403543e+01] [-1.10800148e-03 -4.71396131e-03 9.99988275e-01 2.78288901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.33483917299999 meters Centerline goodness : 0.743801 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.54, Z:2.78 [[ 9.95567808e-01 -9.40453375e-02 4.63321932e-04 -2.16596050e+01] [ 9.40378100e-02 9.95530849e-01 8.67293456e-03 3.85415644e+01] [-1.27690033e-03 -8.59092467e-03 9.99962282e-01 2.78231910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.36483917299999 meters Centerline goodness : 0.740945 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.55, Z:2.78 [[ 9.96196116e-01 -8.71383956e-02 4.45371305e-04 -2.16628419e+01] [ 8.71218819e-02 9.96084178e-01 1.50362455e-02 3.85457388e+01] [-1.75386162e-03 -1.49402478e-02 9.99886850e-01 2.78476818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.394839172999994 meters Centerline goodness : 0.741903 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.55, Z:2.79 [[ 9.96209556e-01 -8.69851528e-02 3.22498387e-04 -2.16631370e+01] [ 8.69712241e-02 9.96104098e-01 1.45818826e-02 3.85461277e+01] [-1.58964925e-03 -1.44985628e-02 9.99893627e-01 2.78606097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.424839172999995 meters Centerline goodness : 0.745752 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.54, Z:2.79 [[ 9.96072865e-01 -8.85325851e-02 9.09974427e-04 -2.16638866e+01] [ 8.85151200e-02 9.96001011e-01 1.21267969e-02 3.85426187e+01] [-1.97995213e-03 -1.19986268e-02 9.99926054e-01 2.78786507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.454839172999996 meters Centerline goodness : 0.747979 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.54, Z:2.79 [[ 9.96024131e-01 -8.90748194e-02 1.26772973e-03 -2.16653291e+01] [ 8.90523302e-02 9.95949470e-01 1.24232216e-02 3.85395573e+01] [-2.36919097e-03 -1.22609342e-02 9.99922025e-01 2.78869525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.484839173 meters Centerline goodness : 0.749336 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.54, Z:2.79 [[ 9.95978690e-01 -8.95757630e-02 1.62239508e-03 -2.16664848e+01] [ 8.95477863e-02 9.95899933e-01 1.28264094e-02 3.85370512e+01] [-2.76467856e-03 -1.26295486e-02 9.99916422e-01 2.78900516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.51483917299999 meters Centerline goodness : 0.752632 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.54, Z:2.79 [[ 9.95952258e-01 -8.98634125e-02 1.91501062e-03 -2.16668975e+01] [ 8.98310375e-02 9.95871529e-01 1.30492407e-02 3.85380724e+01] [-3.07975385e-03 -1.28243933e-02 9.99913021e-01 2.78807628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.54483917299999 meters Centerline goodness : 0.751690 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.54, Z:2.79 [[ 9.96018941e-01 -8.91285024e-02 1.54237411e-03 -2.16652084e+01] [ 8.90990109e-02 9.95927619e-01 1.37675159e-02 3.85386005e+01] [-2.76317106e-03 -1.35752826e-02 9.99904034e-01 2.78658416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.574839172999994 meters Centerline goodness : 0.752943 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.54, Z:2.79 [[ 9.96091696e-01 -8.83175917e-02 1.15553457e-03 -2.16632368e+01] [ 8.82919320e-02 9.95990629e-01 1.43944895e-02 3.85361050e+01] [-2.42218825e-03 -1.42362071e-02 9.99895726e-01 2.78547065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.604839172999995 meters Centerline goodness : 0.753462 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.53, Z:2.78 [[ 9.96281868e-01 -8.61516681e-02 5.74534832e-04 -2.16589653e+01] [ 8.61329248e-02 9.96166851e-01 1.52552780e-02 3.85343230e+01] [-1.88660020e-03 -1.51490705e-02 9.99883466e-01 2.78274126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.634839172999996 meters Centerline goodness : 0.750506 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.54, Z:2.78 [[ 9.96362933e-01 -8.52106838e-02 -2.13192113e-04 -2.16557823e+01] [ 8.52035519e-02 9.96240335e-01 1.56700530e-02 3.85352559e+01] [-1.12286535e-03 -1.56312247e-02 9.99877194e-01 2.78068549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.664839173 meters Centerline goodness : 0.748593 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.54, Z:2.78 [[ 9.96487424e-01 -8.37393657e-02 -7.29336772e-04 -2.16524094e+01] [ 8.37401567e-02 9.96355520e-01 1.62253857e-02 3.85393947e+01] [-6.32024788e-04 -1.62294676e-02 9.99868094e-01 2.77742442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.694839173 meters Centerline goodness : 0.748956 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.54, Z:2.78 [[ 9.96269373e-01 -8.62948229e-02 -7.34481069e-04 -2.16506344e+01] [ 8.62973007e-02 9.96192832e-01 1.23538294e-02 3.85426377e+01] [-3.34386742e-04 -1.23711256e-02 9.99923419e-01 2.77678420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.72483917299999 meters Centerline goodness : 0.750831 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.54, Z:2.78 [[ 9.95993454e-01 -8.94256368e-02 3.08838404e-04 -2.16551426e+01] [ 8.94184719e-02 9.95947089e-01 9.68153047e-03 3.85416105e+01] [-1.17336374e-03 -9.61512511e-03 9.99953085e-01 2.78040808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.75483917299999 meters Centerline goodness : 0.750831 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.54, Z:2.78 [[ 9.95993454e-01 -8.94256368e-02 3.08838404e-04 -2.16551426e+01] [ 8.94184719e-02 9.95947089e-01 9.68153047e-03 3.85416105e+01] [-1.17336374e-03 -9.61512511e-03 9.99953085e-01 2.78040808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.784839172999995 meters Centerline goodness : 0.751646 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.54, Z:2.78 [[ 9.95910565e-01 -9.03394130e-02 9.67757201e-04 -2.16575735e+01] [ 9.03263947e-02 9.95867804e-01 9.40530692e-03 3.85408559e+01] [-1.81342815e-03 -9.27943052e-03 9.99955301e-01 2.78167162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.814839172999996 meters Centerline goodness : 0.752039 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.54, Z:2.78 [[ 9.95621930e-01 -9.34673280e-02 9.11266822e-04 -2.16561190e+01] [ 9.34608799e-02 9.95607437e-01 5.55838010e-03 3.85447130e+01] [-1.42679096e-03 -5.44887732e-03 9.99984137e-01 2.78091085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.844839173 meters Centerline goodness : 0.753126 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.54, Z:2.78 [[ 9.95622365e-01 -9.34624875e-02 9.32499537e-04 -2.16557367e+01] [ 9.34553991e-02 9.95605887e-01 5.91663541e-03 3.85443371e+01] [-1.48138549e-03 -5.80358742e-03 9.99982062e-01 2.78000680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.874839173 meters Centerline goodness : 0.752474 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.54, Z:2.78 [[ 9.95608711e-01 -9.36074512e-02 9.69706866e-04 -2.16553713e+01] [ 9.35990759e-02 9.95588058e-01 6.60539432e-03 3.85416921e+01] [-1.58374270e-03 -6.48562446e-03 9.99977714e-01 2.77899503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.90483917299999 meters Centerline goodness : 0.753353 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.54, Z:2.78 [[ 9.95298449e-01 -9.68528724e-02 7.19600315e-04 -2.16534647e+01] [ 9.68503287e-02 9.95294483e-01 2.98437078e-03 3.85421482e+01] [-1.00525911e-03 -2.90064608e-03 9.99995288e-01 2.77842596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.93483917299999 meters Centerline goodness : 0.750868 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.54, Z:2.78 [[ 9.95329643e-01 -9.65336865e-02 3.86788147e-04 -2.16516937e+01] [ 9.65319351e-02 9.95324593e-01 3.24665562e-03 3.85446234e+01] [-6.98391390e-04 -3.19415517e-03 9.99994655e-01 2.77649018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.964839172999994 meters Centerline goodness : 0.751092 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.54, Z:2.78 [[ 9.95365222e-01 -9.61669037e-02 -4.82196374e-05 -2.16500790e+01] [ 9.61663759e-02 9.95357828e-01 3.85003838e-03 3.85442361e+01] [-3.22250477e-04 -3.83683141e-03 9.99992587e-01 2.77519492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.994839172999995 meters Centerline goodness : 0.751534 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.54, Z:2.77 [[ 9.95362380e-01 -9.61962447e-02 1.24378527e-04 -2.16498079e+01] [ 9.61952095e-02 9.95356231e-01 3.52906725e-03 3.85446691e+01] [-4.63283959e-04 -3.50073616e-03 9.99993765e-01 2.77447868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.024839173 meters Centerline goodness : 0.752071 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.55, Z:2.77 [[ 9.95337351e-01 -9.64540330e-02 4.21752108e-04 -2.16504600e+01] [ 9.64522073e-02 9.95332486e-01 3.19593896e-03 3.85454976e+01] [-7.28044777e-04 -3.14035850e-03 9.99994804e-01 2.77452117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.054839173 meters Centerline goodness : 0.750535 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.55, Z:2.77 [[ 9.95329265e-01 -9.54689810e-02 1.43292579e-02 -2.16504368e+01] [ 9.53814046e-02 9.95418407e-01 6.67707532e-03 3.85457228e+01] [-1.49010607e-02 -5.27914372e-03 9.99875037e-01 2.76636692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08483917299999 meters Centerline goodness : 0.753620 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.55, Z:2.77 [[ 9.95666487e-01 -9.18925917e-02 1.42827738e-02 -2.16509560e+01] [ 9.17441835e-02 9.95724890e-01 1.07214289e-02 3.85457640e+01] [-1.52069332e-02 -9.36460598e-03 9.99840514e-01 2.76569683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.11483917299999 meters Centerline goodness : 0.744117 Centerline is valid? [False, False] Translation: X:-21.64, Y:38.55, Z:2.76 [[ 9.96106653e-01 -8.72238165e-02 1.27883233e-02 -2.16429868e+01] [ 8.70557491e-02 9.96116535e-01 1.31584806e-02 3.85472115e+01] [-1.38863932e-02 -1.19939530e-02 9.99831642e-01 2.76051539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.144839172999994 meters Centerline goodness : 0.745779 Centerline is valid? [False, False] Translation: X:-21.64, Y:38.55, Z:2.76 [[ 9.96229409e-01 -8.58831000e-02 1.22905518e-02 -2.16397224e+01] [ 8.57181753e-02 9.96229707e-01 1.33703004e-02 3.85486460e+01] [-1.33924956e-02 -1.22663628e-02 9.99835075e-01 2.75789871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.174839172999995 meters Centerline goodness : 0.736893 Centerline is valid? [False, False] Translation: X:-21.64, Y:38.55, Z:2.76 [[ 9.96312736e-01 -8.49792404e-02 1.18093119e-02 -2.16364206e+01] [ 8.48193889e-02 9.96305750e-01 1.34358802e-02 3.85519012e+01] [-1.29074563e-02 -1.23846800e-02 9.99839996e-01 2.75500557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.204839172999996 meters Centerline goodness : 0.737436 Centerline is valid? [False, False] Translation: X:-21.64, Y:38.55, Z:2.76 [[ 9.96248582e-01 -8.56479956e-02 1.23767797e-02 -2.16380194e+01] [ 8.54867125e-02 9.96254219e-01 1.30212274e-02 3.85525101e+01] [-1.34456610e-02 -1.19143291e-02 9.99838618e-01 2.75529888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.234839173 meters Centerline goodness : 0.741301 Centerline is valid? [False, False] Translation: X:-21.64, Y:38.55, Z:2.75 [[ 9.95821976e-01 -8.69451925e-02 2.79128375e-02 -2.16443160e+01] [ 8.64993382e-02 9.96110178e-01 1.68040728e-02 3.85537380e+01] [-2.92652949e-02 -1.43194230e-02 9.99469107e-01 2.75154034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26483917299999 meters Centerline goodness : 0.744368 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.56, Z:2.75 [[ 9.95749241e-01 -8.76362954e-02 2.83430450e-02 -2.16465820e+01] [ 8.72164616e-02 9.96065239e-01 1.57266806e-02 3.85555478e+01] [-2.96097499e-02 -1.31878502e-02 9.99474534e-01 2.75385774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.29483917299999 meters Centerline goodness : 0.745499 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.56, Z:2.76 [[ 9.95898423e-01 -8.57507025e-02 2.88643205e-02 -2.16515399e+01] [ 8.52632254e-02 9.96200912e-01 1.77179404e-02 3.85597958e+01] [-3.02739883e-02 -1.51842039e-02 9.99426298e-01 2.75810095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.324839172999994 meters Centerline goodness : 0.746619 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.56, Z:2.76 [[ 9.95868700e-01 -8.60454848e-02 2.90121977e-02 -2.16525651e+01] [ 8.55605162e-02 9.96178136e-01 1.75647060e-02 3.85601296e+01] [-3.04126807e-02 -1.50098424e-02 9.99424721e-01 2.75904714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.354839172999995 meters Centerline goodness : 0.747963 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.56, Z:2.76 [[ 9.95876926e-01 -8.59862711e-02 2.89051668e-02 -2.16521823e+01] [ 8.54791131e-02 9.96171004e-01 1.83480563e-02 3.85563586e+01] [-3.03721700e-02 -1.58016179e-02 9.99413748e-01 2.75872465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.384839172999996 meters Centerline goodness : 0.747594 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.56, Z:2.76 [[ 9.95935025e-01 -8.54331251e-02 2.85413308e-02 -2.16508022e+01] [ 8.49217872e-02 9.96212618e-01 1.86737936e-02 3.85558726e+01] [-3.00285944e-02 -1.61741042e-02 9.99418172e-01 2.75800584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.414839173 meters Centerline goodness : 0.743063 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.56, Z:2.76 [[ 9.96055098e-01 -8.42553873e-02 2.78437101e-02 -2.16474407e+01] [ 8.37506861e-02 9.96308949e-01 1.88228722e-02 3.85580200e+01] [-2.93268660e-02 -1.64166880e-02 9.99435054e-01 2.75572783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.444839173 meters Centerline goodness : 0.741689 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.56, Z:2.75 [[ 9.96039457e-01 -8.44281052e-02 2.78800205e-02 -2.16470718e+01] [ 8.39247787e-02 9.96295536e-01 1.87572795e-02 3.85588829e+01] [-2.93603815e-02 -1.63431659e-02 9.99435275e-01 2.75479604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.47483917299999 meters Centerline goodness : 0.741955 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.56, Z:2.76 [[ 9.95489206e-01 -9.04942184e-02 2.84962661e-02 -2.16489633e+01] [ 9.01244784e-02 9.95832030e-01 1.40051958e-02 3.85562660e+01] [-2.96448838e-02 -1.13738101e-02 9.99495782e-01 2.75591434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.50483917299999 meters Centerline goodness : 0.742538 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.55, Z:2.75 [[ 9.95086948e-01 -9.46977610e-02 2.88842399e-02 -2.16488362e+01] [ 9.44145512e-02 9.95471984e-01 1.10191712e-02 3.85531115e+01] [-2.97969424e-02 -8.23794089e-03 9.99522025e-01 2.75490896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.534839172999995 meters Centerline goodness : 0.742329 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.55, Z:2.75 [[ 9.94611585e-01 -9.95945163e-02 2.87876121e-02 -2.16481332e+01] [ 9.93783147e-02 9.95010371e-01 8.84941337e-03 3.85471114e+01] [-2.95253256e-02 -5.94086469e-03 9.99546378e-01 2.75322655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.564839172999996 meters Centerline goodness : 0.741858 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.54, Z:2.75 [[ 9.94668061e-01 -9.90831831e-02 2.86002047e-02 -2.16467507e+01] [ 9.88281529e-02 9.95052233e-01 1.02004666e-02 3.85434218e+01] [-2.94693922e-02 -7.31957297e-03 9.99538883e-01 2.75151649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.594839173 meters Centerline goodness : 0.745005 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.55, Z:2.75 [[ 9.95021169e-01 -9.54872785e-02 2.85491416e-02 -2.16484446e+01] [ 9.51323881e-02 9.95372487e-01 1.35440100e-02 3.85454484e+01] [-2.97103107e-02 -1.07606287e-02 9.99500628e-01 2.75316602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.624839173 meters Centerline goodness : 0.744436 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.55, Z:2.75 [[ 9.95074856e-01 -9.50469422e-02 2.81444335e-02 -2.16475428e+01] [ 9.46964068e-02 9.95414124e-01 1.35392789e-02 3.85480983e+01] [-2.93022336e-02 -1.08074193e-02 9.99512170e-01 2.75295781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.65483917299999 meters Centerline goodness : 0.751146 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.55, Z:2.76 [[ 9.95348738e-01 -9.40137140e-02 2.10311762e-02 -2.16542417e+01] [ 9.39594961e-02 9.95569679e-01 3.55363442e-03 3.85481348e+01] [-2.12720917e-02 -1.56102682e-03 9.99772505e-01 2.75550349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.68483917299999 meters Centerline goodness : 0.745150 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.55, Z:2.75 [[ 9.95029634e-01 -9.72593365e-02 2.13693320e-02 -2.16524002e+01] [ 9.72601018e-02 9.95258489e-01 1.00596552e-03 3.85453148e+01] [-2.13658486e-02 1.07741790e-03 9.99771144e-01 2.75359173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.714839172999994 meters Centerline goodness : 0.747400 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.54, Z:2.76 [[ 9.94250301e-01 -1.04681077e-01 2.25435547e-02 -2.16564503e+01] [ 1.04816116e-01 9.94479593e-01 -4.89098334e-03 3.85406507e+01] [-2.19071117e-02 7.22578949e-03 9.99733898e-01 2.75727104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.744839172999995 meters Centerline goodness : 0.746912 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.54, Z:2.76 [[ 9.94154708e-01 -1.05534493e-01 2.27790917e-02 -2.16586786e+01] [ 1.05667659e-01 9.94390298e-01 -4.72031792e-03 3.85371673e+01] [-2.21531514e-02 7.09973956e-03 9.99729379e-01 2.75961536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.774839173 meters Centerline goodness : 0.748777 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.53, Z:2.76 [[ 9.94294734e-01 -1.04363643e-01 2.20502185e-02 -2.16565835e+01] [ 1.04446207e-01 9.94527078e-01 -2.62331722e-03 3.85305729e+01] [-2.16557605e-02 4.91141218e-03 9.99753423e-01 2.75884337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.804839173 meters Centerline goodness : 0.749524 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.53, Z:2.76 [[ 9.94710074e-01 -1.00408245e-01 2.16807237e-02 -2.16566011e+01] [ 1.00378562e-01 9.94946287e-01 2.45580224e-03 3.85256341e+01] [-2.18177383e-02 -2.66531358e-04 9.99761929e-01 2.75853127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.83483917299999 meters Centerline goodness : 0.751993 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.52, Z:2.76 [[ 9.95183647e-01 -9.57545788e-02 2.09897644e-02 -2.16562493e+01] [ 9.56110923e-02 9.95388685e-01 7.73848144e-03 3.85212086e+01] [-2.16339690e-02 -5.69435588e-03 9.99749742e-01 2.75906071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.86483917299999 meters Centerline goodness : 0.757655 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.52, Z:2.76 [[ 9.95320368e-01 -9.44720926e-02 2.03073781e-02 -2.16544304e+01] [ 9.42955558e-02 9.95499073e-01 9.48391093e-03 3.85165341e+01] [-2.11119410e-02 -7.52463420e-03 9.99748801e-01 2.75860660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.894839172999994 meters Centerline goodness : 0.756832 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.51, Z:2.76 [[ 9.95110238e-01 -9.67784260e-02 1.97370473e-02 -2.16510037e+01] [ 9.66534966e-02 9.95292117e-01 7.19056120e-03 3.85128107e+01] [-2.03400188e-02 -5.24774644e-03 9.99779348e-01 2.75686599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.924839172999995 meters Centerline goodness : 0.757372 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.51, Z:2.75 [[ 9.94877150e-01 -9.92468401e-02 1.92229528e-02 -2.16476369e+01] [ 9.91644787e-02 9.95057502e-01 5.19373287e-03 3.85078125e+01] [-1.96434049e-02 -3.26089206e-03 9.99801732e-01 2.75478439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.954839172999996 meters Centerline goodness : 0.760687 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.50, Z:2.75 [[ 9.94541667e-01 -1.02621269e-01 1.88612872e-02 -2.16450686e+01] [ 1.02568917e-01 9.94718926e-01 3.72490857e-03 3.85014618e+01] [-1.91439342e-02 -1.76999498e-03 9.99815171e-01 2.75239131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.984839173 meters Centerline goodness : 0.759265 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.50, Z:2.75 [[ 9.94753120e-01 -1.00594046e-01 1.86297404e-02 -2.16464172e+01] [ 1.00472000e-01 9.94912533e-01 7.37753454e-03 3.84986566e+01] [-1.92770982e-02 -5.46705822e-03 9.99799232e-01 2.75307969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.01483917299999 meters Centerline goodness : 0.760727 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.50, Z:2.76 [[ 9.94681808e-01 -1.01268993e-01 1.87800778e-02 -2.16492363e+01] [ 1.01159751e-01 9.94847763e-01 6.68085044e-03 3.85012126e+01] [-1.93598814e-02 -4.74553241e-03 9.99801318e-01 2.75656540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.04483917299999 meters Centerline goodness : 0.762800 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.50, Z:2.76 [[ 9.94682327e-01 -1.01330067e-01 1.84197352e-02 -2.16478504e+01] [ 1.01202825e-01 9.94835892e-01 7.71596293e-03 3.84981835e+01] [-1.91064727e-02 -5.81080272e-03 9.99800569e-01 2.75511132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.074839172999994 meters Centerline goodness : 0.764988 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.50, Z:2.75 [[ 9.94700537e-01 -1.01200819e-01 1.81448725e-02 -2.16462399e+01] [ 1.01067502e-01 9.94846416e-01 8.12205146e-03 3.84979045e+01] [-1.88733196e-02 -6.24515202e-03 9.99802378e-01 2.75331564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.104839172999995 meters Centerline goodness : 0.764668 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.50, Z:2.75 [[ 9.94680853e-01 -1.01401107e-01 1.81057062e-02 -2.16452255e+01] [ 1.01260277e-01 9.94823357e-01 8.53495206e-03 3.84965497e+01] [-1.88774330e-02 -6.65616458e-03 9.99799649e-01 2.75154101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.134839172999996 meters Centerline goodness : 0.760883 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.50, Z:2.75 [[ 9.94222149e-01 -1.05654115e-01 1.89611614e-02 -2.16460099e+01] [ 1.05602158e-01 9.94401488e-01 3.72365034e-03 3.84992975e+01] [-1.92484260e-02 -1.69979608e-03 9.99813287e-01 2.75170945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.164839173 meters Centerline goodness : 0.762588 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.50, Z:2.75 [[ 9.94399249e-01 -1.03906935e-01 1.93256796e-02 -2.16492828e+01] [ 1.03799365e-01 9.94577075e-01 6.49108361e-03 3.85002827e+01] [-1.98953465e-02 -4.44873538e-03 9.99792170e-01 2.75328255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.194839173 meters Centerline goodness : 0.757643 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.51, Z:2.75 [[ 9.94589206e-01 -1.02011530e-01 1.96458632e-02 -2.16522590e+01] [ 1.01865686e-01 9.94763626e-01 8.28917993e-03 3.85054805e+01] [-2.03885820e-02 -6.24308956e-03 9.99772639e-01 2.75489129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.22483917299999 meters Centerline goodness : 0.755948 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.51, Z:2.76 [[ 9.94807735e-01 -9.98354436e-02 1.97599470e-02 -2.16543398e+01] [ 9.96369052e-02 9.94965340e-01 1.07916337e-02 3.85081870e+01] [-2.07378499e-02 -8.76678072e-03 9.99746510e-01 2.75577674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.25483917299999 meters Centerline goodness : 0.754307 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.51, Z:2.76 [[ 9.94751164e-01 -1.00362810e-01 1.99355853e-02 -2.16555515e+01] [ 1.00190173e-01 9.94923141e-01 9.48011395e-03 3.85113884e+01] [-2.07858260e-02 -7.43300466e-03 9.99756320e-01 2.75733304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.284839172999995 meters Centerline goodness : 0.755798 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.52, Z:2.76 [[ 9.94472581e-01 -9.86399123e-02 3.59785143e-02 -2.16660711e+01] [ 9.82287955e-02 9.95078615e-01 1.30250935e-02 3.85151213e+01] [-3.70862443e-02 -9.41897219e-03 9.99267679e-01 2.75668201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.314839172999996 meters Centerline goodness : 0.754725 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.52, Z:2.76 [[ 9.94405256e-01 -9.92504627e-02 3.61598256e-02 -2.16674958e+01] [ 9.88749164e-02 9.95027097e-01 1.20344401e-02 3.85179325e+01] [-3.71744301e-02 -8.39181080e-03 9.99273556e-01 2.75821154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.344839173 meters Centerline goodness : 0.753359 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.52, Z:2.76 [[ 9.94373095e-01 -9.95960375e-02 3.60940140e-02 -2.16676699e+01] [ 9.92762372e-02 9.95003971e-01 1.05511560e-02 3.85239418e+01] [-3.69645405e-02 -6.90850775e-03 9.99292697e-01 2.75867838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.374839173 meters Centerline goodness : 0.750171 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.54, Z:2.76 [[ 9.94858562e-01 -9.46196120e-02 3.61050043e-02 -2.16716806e+01] [ 9.41805091e-02 9.95461164e-01 1.36785282e-02 3.85395796e+01] [-3.72353866e-02 -1.02078133e-02 9.99254385e-01 2.76198932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.40483917299999 meters Centerline goodness : 0.748789 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.55, Z:2.77 [[ 9.94907735e-01 -9.36396381e-02 3.72856203e-02 -2.16777419e+01] [ 9.32395671e-02 9.95567331e-01 1.23317799e-02 3.85517433e+01] [-3.82750889e-02 -8.79248814e-03 9.99228557e-01 2.76732826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.43483917299999 meters Centerline goodness : 0.750006 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.55, Z:2.77 [[ 9.94838468e-01 -9.42519434e-02 3.75898015e-02 -2.16786434e+01] [ 9.38938198e-02 9.95519382e-01 1.11852813e-02 3.85545894e+01] [-3.84756105e-02 -7.59809810e-03 9.99230652e-01 2.76782897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.464839172999994 meters Centerline goodness : 0.748307 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.56, Z:2.76 [[ 9.94840324e-01 -9.42458572e-02 3.75559446e-02 -2.16759917e+01] [ 9.39493814e-02 9.95530821e-01 9.58630204e-03 3.85621822e+01] [-3.82915696e-02 -6.00848206e-03 9.99248545e-01 2.76424272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.494839172999995 meters Centerline goodness : 0.745584 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.57, Z:2.76 [[ 9.95105896e-01 -9.14209856e-02 3.75027809e-02 -2.16749856e+01] [ 9.10188307e-02 9.95773237e-01 1.22976406e-02 3.85669670e+01] [-3.84685280e-02 -8.82399546e-03 9.99220851e-01 2.76145156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.524839173 meters Centerline goodness : 0.744638 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.57, Z:2.76 [[ 9.95361483e-01 -8.85979393e-02 3.74956495e-02 -2.16744016e+01] [ 8.81024784e-02 9.96003396e-01 1.46692974e-02 3.85735382e+01] [-3.86454638e-02 -1.12977940e-02 9.99189115e-01 2.75914942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.554839173 meters Centerline goodness : 0.742242 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.58, Z:2.75 [[ 9.95837012e-01 -8.37451448e-02 3.59916145e-02 -2.16671467e+01] [ 8.31899981e-02 9.96394480e-01 1.66572402e-02 3.85834407e+01] [-3.72568090e-02 -1.35937539e-02 9.99213261e-01 2.75305604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58483917299999 meters Centerline goodness : 0.742409 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.59, Z:2.75 [[ 9.96269196e-01 -7.85774196e-02 3.56830166e-02 -2.16656170e+01] [ 7.79211145e-02 9.96770224e-01 1.94273381e-02 3.85925670e+01] [-3.70943185e-02 -1.65743981e-02 9.99174310e-01 2.75180466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.61483917299999 meters Centerline goodness : 0.739409 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.61, Z:2.75 [[ 9.97201943e-01 -6.54314155e-02 3.61526463e-02 -2.16686894e+01] [ 6.43426671e-02 9.97461632e-01 3.05010530e-02 3.86111801e+01] [-3.80566047e-02 -2.80895517e-02 9.98880710e-01 2.75091016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.644839172999994 meters Centerline goodness : 0.740211 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.63, Z:2.75 [[ 9.96999679e-01 -6.78066742e-02 3.73349067e-02 -2.16728523e+01] [ 6.68987746e-02 9.97445166e-01 2.50538358e-02 3.86252087e+01] [-3.89383395e-02 -2.24810068e-02 9.98988694e-01 2.75498210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.674839172999995 meters Centerline goodness : 0.740211 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.63, Z:2.75 [[ 9.96999679e-01 -6.78066742e-02 3.73349067e-02 -2.16728523e+01] [ 6.68987746e-02 9.97445166e-01 2.50538358e-02 3.86252087e+01] [-3.89383395e-02 -2.24810068e-02 9.98988694e-01 2.75498210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.704839172999996 meters Centerline goodness : 0.740920 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.63, Z:2.76 [[ 9.96668764e-01 -7.22590149e-02 3.78154551e-02 -2.16734325e+01] [ 7.15601939e-02 9.97245264e-01 1.95198050e-02 3.86299839e+01] [-3.91217653e-02 -1.67486986e-02 9.99094074e-01 2.75550727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.734839173 meters Centerline goodness : 0.735623 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.63, Z:2.75 [[ 9.96155781e-01 -7.84656949e-02 3.89460551e-02 -2.16758057e+01] [ 7.79373220e-02 9.96846808e-01 1.49068674e-02 3.86345235e+01] [-3.99929284e-02 -1.18142109e-02 9.99130117e-01 2.75334843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76483917299999 meters Centerline goodness : 0.738696 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.64, Z:2.75 [[ 9.96079104e-01 -7.93365396e-02 3.91424613e-02 -2.16768366e+01] [ 7.88410578e-02 9.96788239e-01 1.40461123e-02 3.86382902e+01] [-4.01311150e-02 -1.09050059e-02 9.99134913e-01 2.75350925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.79483917299999 meters Centerline goodness : 0.736777 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.64, Z:2.75 [[ 9.96044043e-01 -7.97935232e-02 3.91057320e-02 -2.16767450e+01] [ 7.93373935e-02 9.96761967e-01 1.30827621e-02 3.86440159e+01] [-4.00230260e-02 -9.92846036e-03 9.99149430e-01 2.75300498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.824839172999994 meters Centerline goodness : 0.736319 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.64, Z:2.75 [[ 9.95983096e-01 -8.03368174e-02 3.95432525e-02 -2.16776978e+01] [ 7.98591518e-02 9.96714506e-01 1.35169965e-02 3.86420839e+01] [-4.04992459e-02 -1.03048094e-02 9.99126429e-01 2.75224086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.854839172999995 meters Centerline goodness : 0.737649 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.64, Z:2.76 [[ 9.95557294e-01 -8.47706070e-02 4.09831426e-02 -2.16844065e+01] [ 8.44227165e-02 9.96378341e-01 1.01491877e-02 3.86386610e+01] [-4.16950684e-02 -6.64418960e-03 9.99108290e-01 2.75761412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.884839172999996 meters Centerline goodness : 0.737913 Centerline is valid? [False, False] Translation: X:-21.69, Y:38.64, Z:2.76 [[ 9.95479594e-01 -8.54902917e-02 4.13737530e-02 -2.16863493e+01] [ 8.51341050e-02 9.96316273e-01 1.02989092e-02 3.86359555e+01] [-4.21018002e-02 -6.73003655e-03 9.99090659e-01 2.75887938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.914839173 meters Centerline goodness : 0.737361 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.63, Z:2.76 [[ 9.95549456e-01 -8.49724484e-02 4.07549304e-02 -2.16844621e+01] [ 8.45769401e-02 9.96352470e-01 1.13356158e-02 3.86322518e+01] [-4.15694906e-02 -7.83823887e-03 9.99104869e-01 2.75800328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.944839173 meters Centerline goodness : 0.737720 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.63, Z:2.76 [[ 9.95956121e-01 -8.04492900e-02 3.99914548e-02 -2.16822214e+01] [ 7.98530461e-02 9.96673496e-01 1.62921084e-02 3.86304946e+01] [-4.11691116e-02 -1.30327856e-02 9.99067190e-01 2.75586759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.97483917299999 meters Centerline goodness : 0.735799 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.63, Z:2.75 [[ 9.96095711e-01 -7.91292845e-02 3.91393816e-02 -2.16786056e+01] [ 7.85274486e-02 9.96772323e-01 1.66846254e-02 3.86314444e+01] [-4.03332948e-02 -1.35459680e-02 9.99094456e-01 2.75395091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.00483917299999 meters Centerline goodness : 0.734279 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.63, Z:2.75 [[ 9.96149772e-01 -7.86057926e-02 3.88170220e-02 -2.16762895e+01] [ 7.79834519e-02 9.96804593e-01 1.72969791e-02 3.86320063e+01] [-4.00526285e-02 -1.42032964e-02 9.99096619e-01 2.75125849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.034839172999995 meters Centerline goodness : 0.733318 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.63, Z:2.75 [[ 9.96165001e-01 -7.84068509e-02 3.88285603e-02 -2.16754267e+01] [ 7.77680889e-02 9.96814361e-01 1.76989986e-02 3.86311834e+01] [-4.00925893e-02 -1.46115000e-02 9.99089129e-01 2.74988449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.064839172999996 meters Centerline goodness : 0.731003 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.63, Z:2.75 [[ 9.95845804e-01 -8.22011763e-02 3.91676050e-02 -2.16754954e+01] [ 8.16977319e-02 9.96554732e-01 1.42880227e-02 3.86284175e+01] [-4.02071543e-02 -1.10287630e-02 9.99130498e-01 2.74998819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.094839173 meters Centerline goodness : 0.728950 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.62, Z:2.75 [[ 9.95524782e-01 -8.59256025e-02 3.93344565e-02 -2.16757631e+01] [ 8.55654236e-02 9.96274519e-01 1.07536419e-02 3.86243925e+01] [-4.01119299e-02 -7.33984757e-03 9.99168234e-01 2.75148373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.124839173 meters Centerline goodness : 0.728146 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.62, Z:2.75 [[ 9.95494752e-01 -8.61554678e-02 3.95908396e-02 -2.16765310e+01] [ 8.57745959e-02 9.96251352e-01 1.12233331e-02 3.86218856e+01] [-4.04093790e-02 -7.77688097e-03 9.99152942e-01 2.75160215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.15483917299999 meters Centerline goodness : 0.727298 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.62, Z:2.75 [[ 9.95520347e-01 -8.59159733e-02 3.94675144e-02 -2.16759879e+01] [ 8.55194665e-02 9.96268617e-01 1.16302987e-02 3.86205501e+01] [-4.03194744e-02 -8.20295827e-03 9.99153167e-01 2.75122559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.18483917299999 meters Centerline goodness : 0.727224 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.62, Z:2.75 [[ 9.96028651e-01 -8.03859562e-02 3.82756251e-02 -2.16719696e+01] [ 7.97910306e-02 9.96669567e-01 1.68275109e-02 3.86186334e+01] [-3.95008462e-02 -1.37066314e-02 9.99125523e-01 2.74870861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.214839172999994 meters Centerline goodness : 0.725994 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.62, Z:2.75 [[ 9.96977589e-01 -6.68500236e-02 3.95823449e-02 -2.16723704e+01] [ 6.64021836e-02 9.97714335e-01 1.25242169e-02 3.86199633e+01] [-4.03291171e-02 -9.85800941e-03 9.99137819e-01 2.74557149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.244839172999995 meters Centerline goodness : 0.729592 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.62, Z:2.75 [[ 9.97307515e-01 -6.20641157e-02 3.90610447e-02 -2.16711416e+01] [ 6.14464165e-02 9.97968623e-01 1.68215463e-02 3.86177083e+01] [-4.00257114e-02 -1.43760933e-02 9.99095226e-01 2.74569114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.274839173 meters Centerline goodness : 0.731529 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.62, Z:2.75 [[ 9.97727842e-01 -5.56244099e-02 3.80141752e-02 -2.16678931e+01] [ 5.48581654e-02 9.98275150e-01 2.09118590e-02 3.86177402e+01] [-3.91118163e-02 -1.87789561e-02 9.99058365e-01 2.74681557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.304839173 meters Centerline goodness : 0.731654 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.62, Z:2.75 [[ 9.98163037e-01 -5.18290520e-02 3.13735575e-02 -2.16732366e+01] [ 5.15222737e-02 9.98616546e-01 1.05094798e-02 3.86209458e+01] [-3.18748500e-02 -8.87373723e-03 9.99452475e-01 2.75159713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.33483917299999 meters Centerline goodness : 0.735074 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.62, Z:2.75 [[ 9.98252233e-01 -5.07175481e-02 3.03349599e-02 -2.16700692e+01] [ 5.04135293e-02 9.98671059e-01 1.07047847e-02 3.86221688e+01] [-3.08375669e-02 -9.15678288e-03 9.99482465e-01 2.75113927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.36483917299999 meters Centerline goodness : 0.742615 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.62, Z:2.75 [[ 9.98268667e-01 -5.05377274e-02 3.00933034e-02 -2.16703240e+01] [ 5.02489932e-02 9.98683862e-01 1.02752899e-02 3.86227727e+01] [-3.05729862e-02 -8.74534176e-03 9.99494278e-01 2.75324392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.394839172999994 meters Centerline goodness : 0.747036 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.62, Z:2.76 [[ 9.98240010e-01 -5.09886626e-02 3.02826374e-02 -2.16720036e+01] [ 5.07173779e-02 9.98666322e-01 9.66046310e-03 3.86190656e+01] [-3.07348242e-02 -8.10760482e-03 9.99494691e-01 2.75605524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.424839172999995 meters Centerline goodness : 0.745679 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.62, Z:2.76 [[ 9.98229392e-01 -5.11467071e-02 3.03660372e-02 -2.16722181e+01] [ 5.08638820e-02 9.98655380e-01 1.00148809e-02 3.86157888e+01] [-3.08374346e-02 -8.45261393e-03 9.99488672e-01 2.75607668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.454839172999996 meters Centerline goodness : 0.742897 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.61, Z:2.76 [[ 9.98106836e-01 -5.39114686e-02 2.96023102e-02 -2.16691374e+01] [ 5.37435396e-02 9.98534004e-01 6.44005046e-03 3.86144756e+01] [-2.99061059e-02 -4.83692546e-03 9.99541009e-01 2.75567233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.484839173 meters Centerline goodness : 0.739319 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.61, Z:2.75 [[ 9.98159380e-01 -5.32240034e-02 2.90698730e-02 -2.16669704e+01] [ 5.30394163e-02 9.98567286e-01 7.08492092e-03 3.86130518e+01] [-2.94053121e-02 -5.53003117e-03 9.99552273e-01 2.75432556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.51483917299999 meters Centerline goodness : 0.733373 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.61, Z:2.76 [[ 9.98168779e-01 -5.30782001e-02 2.90136839e-02 -2.16671051e+01] [ 5.28961259e-02 9.98575430e-01 7.00790449e-03 3.86113968e+01] [-2.93443188e-02 -5.46035999e-03 9.99554448e-01 2.75535537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.54483917299999 meters Centerline goodness : 0.734640 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.61, Z:2.76 [[ 9.98108209e-01 -5.39877235e-02 2.94164807e-02 -2.16695095e+01] [ 5.38016849e-02 9.98526540e-01 7.08009195e-03 3.86094964e+01] [-2.97553747e-02 -5.48404167e-03 9.99542167e-01 2.75688193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.574839172999994 meters Centerline goodness : 0.733448 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.60, Z:2.76 [[ 9.97479910e-01 -6.18217042e-02 3.48124297e-02 -2.16830759e+01] [ 6.16614667e-02 9.98081079e-01 5.65886754e-03 3.86008309e+01] [-3.50954682e-02 -3.49802121e-03 9.99377842e-01 2.76239217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.604839172999995 meters Centerline goodness : 0.733864 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.60, Z:2.76 [[ 9.97220103e-01 -6.58119240e-02 3.49407507e-02 -2.16837306e+01] [ 6.57652262e-02 9.97832029e-01 2.48534898e-03 3.85972801e+01] [-3.50285657e-02 -1.80553600e-04 9.99386295e-01 2.76338521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.634839172999996 meters Centerline goodness : 0.733952 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.59, Z:2.76 [[ 9.97509196e-01 -6.17961802e-02 3.40093432e-02 -2.16819201e+01] [ 6.15478542e-02 9.98069608e-01 8.30179743e-03 3.85931640e+01] [-3.44567112e-02 -6.18791718e-03 9.99387035e-01 2.76131339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.664839173 meters Centerline goodness : 0.732172 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.59, Z:2.76 [[ 9.97803498e-01 -5.72814465e-02 3.32718514e-02 -2.16794580e+01] [ 5.68791045e-02 9.98297516e-01 1.29165136e-02 3.85942820e+01] [-3.39550832e-02 -1.09956693e-02 9.99362871e-01 2.75894263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.694839173 meters Centerline goodness : 0.731381 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.60, Z:2.76 [[ 9.97907093e-01 -5.59345557e-02 3.24462515e-02 -2.16759323e+01] [ 5.55297082e-02 9.98369142e-01 1.32478987e-02 3.85955519e+01] [-3.31343516e-02 -1.14184412e-02 9.99385678e-01 2.75729428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.72483917299999 meters Centerline goodness : 0.731211 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.59, Z:2.76 [[ 9.97875229e-01 -5.63456621e-02 3.27138127e-02 -2.16770564e+01] [ 5.59460346e-02 9.98349079e-01 1.30060570e-02 3.85939842e+01] [-3.33926396e-02 -1.11482140e-02 9.99380132e-01 2.75820788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.75483917299999 meters Centerline goodness : 0.730357 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.59, Z:2.76 [[ 9.97681771e-01 -5.97374543e-02 3.25963129e-02 -2.16758616e+01] [ 5.94848009e-02 9.98191583e-01 8.66731572e-03 3.85941918e+01] [-3.30551286e-02 -6.70823772e-03 9.99431017e-01 2.75866573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.784839172999995 meters Centerline goodness : 0.728264 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.59, Z:2.76 [[ 9.97703047e-01 -5.95298552e-02 3.23237596e-02 -2.16749011e+01] [ 5.92785016e-02 9.98203742e-01 8.68038047e-03 3.85942354e+01] [-3.27824396e-02 -6.74433801e-03 9.99439756e-01 2.75828347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.814839172999996 meters Centerline goodness : 0.725776 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.59, Z:2.76 [[ 9.97729518e-01 -5.93653105e-02 3.18051700e-02 -2.16733495e+01] [ 5.91016842e-02 9.98209880e-01 9.16657911e-03 3.85944685e+01] [-3.22924117e-02 -7.26602744e-03 9.99452052e-01 2.75715909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.844839173 meters Centerline goodness : 0.723240 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.60, Z:2.76 [[ 9.97701348e-01 -5.99348204e-02 3.16201996e-02 -2.16730511e+01] [ 5.96762202e-02 9.98176666e-01 9.06046948e-03 3.85980670e+01] [-3.21055830e-02 -7.15266862e-03 9.99458889e-01 2.75628207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.874839173 meters Centerline goodness : 0.722612 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.60, Z:2.76 [[ 9.97709308e-01 -5.98903569e-02 3.14528577e-02 -2.16725468e+01] [ 5.96394355e-02 9.98180691e-01 8.85699792e-03 3.85993259e+01] [-3.19260839e-02 -6.96087859e-03 9.99465993e-01 2.75616795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.90483917299999 meters Centerline goodness : 0.722928 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.60, Z:2.76 [[ 9.97842781e-01 -5.74586585e-02 3.17535481e-02 -2.16752110e+01] [ 5.71283621e-02 9.98303862e-01 1.12137711e-02 3.86019013e+01] [-3.23440179e-02 -9.37555235e-03 9.99432821e-01 2.75831068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.93483917299999 meters Centerline goodness : 0.722656 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.61, Z:2.76 [[ 9.97872092e-01 -5.72049601e-02 3.12870683e-02 -2.16739685e+01] [ 5.69114321e-02 9.98327188e-01 1.01938976e-02 3.86066961e+01] [-3.18178724e-02 -8.39161411e-03 9.99458455e-01 2.75855877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.964839172999994 meters Centerline goodness : 0.720446 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.61, Z:2.76 [[ 9.98009443e-01 -5.45711994e-02 3.16091080e-02 -2.16747028e+01] [ 5.41935796e-02 9.98449895e-01 1.26831857e-02 3.86116878e+01] [-3.22522472e-02 -1.09449284e-02 9.99419832e-01 2.75754171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.994839172999995 meters Centerline goodness : 0.719754 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.61, Z:2.76 [[ 9.98019681e-01 -5.44014829e-02 3.15784029e-02 -2.16737213e+01] [ 5.40426337e-02 9.98465208e-01 1.21087776e-02 3.86137717e+01] [-3.21886721e-02 -1.03782183e-02 9.99427927e-01 2.75674712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.024839173 meters Centerline goodness : 0.720165 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.62, Z:2.76 [[ 9.98117343e-01 -5.29603617e-02 3.09349112e-02 -2.16705039e+01] [ 5.26451408e-02 9.98553603e-01 1.09175023e-02 3.86186169e+01] [-3.14683619e-02 -9.26837567e-03 9.99461775e-01 2.75660706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.054839173 meters Centerline goodness : 0.720687 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.62, Z:2.76 [[ 9.98169983e-01 -5.23248765e-02 3.03115913e-02 -2.16688439e+01] [ 5.20426019e-02 9.98594513e-01 1.00282275e-02 3.86220928e+01] [-3.07937146e-02 -8.43238155e-03 9.99490191e-01 2.75736217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08483917299999 meters Centerline goodness : 0.721552 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.63, Z:2.76 [[ 9.98349239e-01 -4.88255564e-02 3.02466752e-02 -2.16688706e+01] [ 4.84469186e-02 9.98739486e-01 1.31276165e-02 3.86260662e+01] [-3.08495120e-02 -1.16405877e-02 9.99456254e-01 2.75694834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.11483917299999 meters Centerline goodness : 0.721061 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.63, Z:2.76 [[ 9.98389941e-01 -4.83607276e-02 2.96439759e-02 -2.16668365e+01] [ 4.79899701e-02 9.98761991e-01 1.30938283e-02 3.86277375e+01] [-3.02405035e-02 -1.16501329e-02 9.99474755e-01 2.75612061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.144839172999994 meters Centerline goodness : 0.724535 Centerline is valid? [False, False] Translation: X:-23.00, Y:38.42, Z:2.89 [[ 0.3600789 0.3134076 0.87870294 -23.00486434] [ -0.86437688 0.46644177 0.18784219 38.41935808] [ -0.35099259 -0.82716852 0.43885812 2.89399174] [ 0. 0. 0. 1. ]] SLAMing on 48.174839172999995 meters Centerline goodness : 0.717909 Centerline is valid? [False, False] Translation: X:-21.37, Y:38.49, Z:3.11 [[ 0.80384611 0.57947257 -0.13432412 -21.37371966] [ -0.55578084 0.65118953 -0.51677835 38.49282577] [ -0.21198841 0.49006504 0.84551592 3.11327876] [ 0. 0. 0. 1. ]] SLAMing on 48.204839172999996 meters Centerline goodness : 0.717195 Centerline is valid? [False, False] Translation: X:-21.39, Y:38.52, Z:3.11 [[ 0.80738844 0.57756035 -0.12061488 -21.38567638] [ -0.54871488 0.65986739 -0.51330985 38.51559056] [ -0.21687759 0.48062362 0.84968526 3.10730777] [ 0. 0. 0. 1. ]] SLAMing on 48.234839173 meters Centerline goodness : 0.711028 Centerline is valid? [False, False] Translation: X:-21.39, Y:38.53, Z:3.10 [[ 0.8070225 0.57937248 -0.11420254 -21.38602665] [ -0.54775276 0.66218422 -0.51135015 38.52594993] [ -0.22063908 0.47522583 0.85175044 3.09910101] [ 0. 0. 0. 1. ]] SLAMing on 48.26483917299999 meters Centerline goodness : 0.707937 Centerline is valid? [False, False] Translation: X:-21.39, Y:38.54, Z:3.09 [[ 0.81071702 0.57536462 -0.10813631 -21.38578502] [ -0.54212582 0.66809535 -0.50965498 38.53927877] [ -0.22099208 0.47180945 0.85355629 3.08933536] [ 0. 0. 0. 1. ]] SLAMing on 48.29483917299999 meters Centerline goodness : 0.706302 Centerline is valid? [False, False] Translation: X:-21.38, Y:38.54, Z:3.08 [[ 0.81117285 0.57454149 -0.10909024 -21.38115688] [ -0.54200723 0.66856104 -0.50917021 38.53876471] [ -0.21960593 0.47215275 0.8537242 3.08422327] [ 0. 0. 0. 1. ]] SLAMing on 48.324839172999994 meters Centerline goodness : 0.705217 Centerline is valid? [False, False] Translation: X:-21.38, Y:38.54, Z:3.08 [[ 0.81280111 0.57258722 -0.10722982 -21.38125894] [ -0.54020564 0.67196228 -0.50660098 38.53787184] [ -0.21801885 0.46969199 0.85548654 3.07819143] [ 0. 0. 0. 1. ]] SLAMing on 48.354839172999995 meters Centerline goodness : 0.705021 Centerline is valid? [False, False] Translation: X:-21.38, Y:38.54, Z:3.08 [[ 0.81129874 0.57533567 -0.10384226 -21.38312229] [ -0.54197951 0.67355162 -0.50257977 38.53652983] [ -0.21920895 0.46402271 0.85827173 3.07767975] [ 0. 0. 0. 1. ]] SLAMing on 48.384839172999996 meters Centerline goodness : 0.705408 Centerline is valid? [False, False] Translation: X:-21.39, Y:38.55, Z:3.07 [[ 0.81007567 0.57886733 -0.09322027 -21.39233183] [ -0.54150347 0.67766506 -0.497538 38.54548586] [ -0.22483638 0.45352253 0.86241864 3.07412701] [ 0. 0. 0. 1. ]] SLAMing on 48.414839173 meters Centerline goodness : 0.702248 Centerline is valid? [False, False] Translation: X:-21.38, Y:38.55, Z:3.07 [[ 0.81085266 0.5774571 -0.09519067 -21.38254873] [ -0.54148007 0.67850213 -0.4964214 38.54668278] [ -0.22207499 0.45406846 0.86284676 3.06684167] [ 0. 0. 0. 1. ]] SLAMing on 48.444839173 meters Centerline goodness : 0.704657 Centerline is valid? [False, False] Translation: X:-21.38, Y:38.55, Z:3.06 [[ 0.81063531 0.57799191 -0.0937856 -21.38068929] [ -0.54215338 0.68035407 -0.493141 38.545169 ] [ -0.22122409 0.45060369 0.8648793 3.06368738] [ 0. 0. 0. 1. ]] SLAMing on 48.47483917299999 meters Centerline goodness : 0.704540 Centerline is valid? [False, False] Translation: X:-21.38, Y:38.54, Z:3.06 [[ 0.80854588 0.58143732 -0.09046657 -21.38303996] [ -0.54454865 0.68109118 -0.48947071 38.54371883] [ -0.22298055 0.44502298 0.86731437 3.0632872 ] [ 0. 0. 0. 1. ]] SLAMing on 48.50483917299999 meters Centerline goodness : 0.704418 Centerline is valid? [False, False] Translation: X:-21.39, Y:38.54, Z:3.06 [[ 0.80725141 0.58388257 -0.08617606 -21.38677954] [ -0.54589002 0.68312439 -0.48512386 38.54174198] [ -0.22438639 0.43865957 0.87018879 3.06081842] [ 0. 0. 0. 1. ]] SLAMing on 48.534839172999995 meters Centerline goodness : 0.703242 Centerline is valid? [False, False] Translation: X:-21.39, Y:38.55, Z:3.05 [[ 0.81082823 0.57988218 -0.07933622 -21.39401156] [ -0.54026871 0.68942586 -0.48249529 38.55049961] [ -0.22509398 0.43408368 0.87229815 3.05287738] [ 0. 0. 0. 1. ]] SLAMing on 48.564839172999996 meters Centerline goodness : 0.703242 Centerline is valid? [False, False] Translation: X:-21.39, Y:38.55, Z:3.05 [[ 0.81082823 0.57988218 -0.07933622 -21.39401156] [ -0.54026871 0.68942586 -0.48249529 38.55049961] [ -0.22509398 0.43408368 0.87229815 3.05287738] [ 0. 0. 0. 1. ]] SLAMing on 48.594839173 meters Centerline goodness : 0.701211 Centerline is valid? [False, False] Translation: X:-21.39, Y:38.54, Z:3.04 [[ 0.81451138 0.57448689 -0.08084567 -21.38878799] [ -0.53760012 0.69502855 -0.47741118 38.54432156] [ -0.21807641 0.43231948 0.87495288 3.0446219 ] [ 0. 0. 0. 1. ]] SLAMing on 48.624839173 meters Centerline goodness : 0.696263 Centerline is valid? [False, False] Translation: X:-21.39, Y:38.54, Z:3.04 [[ 0.81769972 0.56999787 -0.08043383 -21.38735549] [ -0.53458743 0.70010392 -0.47336115 38.54020412] [ -0.2135028 0.4300662 0.87718847 3.03563258] [ 0. 0. 0. 1. ]] SLAMing on 48.65483917299999 meters Centerline goodness : 0.695751 Centerline is valid? [False, False] Translation: X:-21.39, Y:38.54, Z:3.03 [[ 0.8185658 0.56923041 -0.07698559 -21.39368015] [ -0.53227144 0.70128104 -0.47422782 38.54196216] [ -0.21595636 0.4291639 0.87702976 3.0291673 ] [ 0. 0. 0. 1. ]] SLAMing on 48.68483917299999 meters Centerline goodness : 0.696159 Centerline is valid? [False, False] Translation: X:-21.40, Y:38.54, Z:3.02 [[ 0.81868029 0.56956926 -0.0731672 -21.40075895] [ -0.53079825 0.70194703 -0.47489323 38.54303588] [ -0.21912509 0.42762275 0.87699657 3.02322017] [ 0. 0. 0. 1. ]] SLAMing on 48.714839172999994 meters Centerline goodness : 0.698224 Centerline is valid? [False, False] Translation: X:-21.40, Y:38.54, Z:3.02 [[ 0.81552326 0.57430235 -0.07140462 -21.39881641] [ -0.53446218 0.70007136 -0.47355071 38.54309214] [ -0.22197296 0.42435468 0.87786736 3.01680982] [ 0. 0. 0. 1. ]] SLAMing on 48.744839172999995 meters Centerline goodness : 0.697792 Centerline is valid? [False, False] Translation: X:-21.39, Y:38.54, Z:3.01 [[ 0.81368091 0.57707594 -0.07004816 -21.39409164] [ -0.53725312 0.70051323 -0.46972365 38.54172211] [ -0.22199655 0.41983876 0.88003008 3.01055331] [ 0. 0. 0. 1. ]] SLAMing on 48.774839173 meters Centerline goodness : 0.698864 Centerline is valid? [False, False] Translation: X:-21.39, Y:38.54, Z:3.00 [[ 0.81130826 0.5805801 -0.06859775 -21.38594456] [ -0.54115861 0.70141339 -0.46386056 38.54066745] [ -0.22119283 0.41345616 0.8832484 3.00093981] [ 0. 0. 0. 1. ]] SLAMing on 48.804839173 meters Centerline goodness : 0.699235 Centerline is valid? [False, False] Translation: X:-21.39, Y:38.54, Z:2.99 [[ 0.8081531 0.58584587 -0.06060679 -21.39013099] [ -0.54414653 0.7033058 -0.45745547 38.54170424] [ -0.22537329 0.40267304 0.88716476 2.99398393] [ 0. 0. 0. 1. ]] SLAMing on 48.83483917299999 meters Centerline goodness : 0.702653 Centerline is valid? [False, False] Translation: X:-21.39, Y:38.54, Z:2.99 [[ 0.80211796 0.59481928 -0.05288476 -21.39373742] [ -0.55019676 0.70169848 -0.45266187 38.54395122] [ -0.23214285 0.39218524 0.8901126 2.98736188] [ 0. 0. 0. 1. ]] SLAMing on 48.86483917299999 meters Centerline goodness : 0.701390 Centerline is valid? [False, False] Translation: X:-21.40, Y:38.56, Z:2.98 [[ 0.80159652 0.59634749 -0.04257563 -21.40386815] [ -0.54795879 0.70433487 -0.4512799 38.55592057] [ -0.23913214 0.38507409 0.89136624 2.97912292] [ 0. 0. 0. 1. ]] SLAMing on 48.894839172999994 meters Centerline goodness : 0.703386 Centerline is valid? [False, False] Translation: X:-21.41, Y:38.55, Z:2.98 [[ 0.79809677 0.60127845 -0.03880433 -21.40647099] [ -0.55170637 0.70337264 -0.4482042 38.55419752] [ -0.24220162 0.37911892 0.89308858 2.97522662] [ 0. 0. 0. 1. ]] SLAMing on 48.924839172999995 meters Centerline goodness : 0.707024 Centerline is valid? [False, False] Translation: X:-21.41, Y:38.55, Z:2.97 [[ 7.95719695e-01 6.04620183e-01 -3.55612342e-02 -2.14083227e+01] [-5.54506778e-01 7.03634058e-01 -4.44321219e-01 3.85509739e+01] [-2.43623481e-01 3.73274090e-01 8.95161468e-01 2.97225177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.954839172999996 meters Centerline goodness : 0.707913 Centerline is valid? [False, False] Translation: X:-21.41, Y:38.55, Z:2.97 [[ 7.94369361e-01 6.06561919e-01 -3.25569650e-02 -2.14104129e+01] [-5.56367574e-01 7.05029624e-01 -4.39759425e-01 3.85461509e+01] [-2.43787696e-01 3.67445053e-01 8.97525316e-01 2.96921005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.984839173 meters Centerline goodness : 0.703858 Centerline is valid? [False, False] Translation: X:-21.41, Y:38.54, Z:2.96 [[ 7.96287734e-01 6.03910088e-01 -3.49063115e-02 -2.14085122e+01] [-5.54486533e-01 7.05619292e-01 -4.41187148e-01 3.85437598e+01] [-2.41806802e-01 3.70666994e-01 8.96735998e-01 2.96441766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.01483917299999 meters Centerline goodness : 0.698648 Centerline is valid? [False, False] Translation: X:-21.41, Y:38.54, Z:2.96 [[ 0.80416571 0.59292728 -0.0418897 -21.40751612] [ -0.54619517 0.70930347 -0.44560007 38.53592027] [ -0.23449593 0.38121625 0.89425155 2.95668576] [ 0. 0. 0. 1. ]] SLAMing on 49.04483917299999 meters Centerline goodness : 0.699666 Centerline is valid? [False, False] Translation: X:-21.41, Y:38.53, Z:2.95 [[ 0.8072453 0.58855209 -0.04428828 -21.40670713] [ -0.54319871 0.71149575 -0.44576783 38.52986232] [ -0.23084667 0.38390132 0.89405234 2.95104881] [ 0. 0. 0. 1. ]] SLAMing on 49.074839172999994 meters Centerline goodness : 0.697117 Centerline is valid? [False, False] Translation: X:-21.40, Y:38.52, Z:2.94 [[ 0.81087789 0.58336902 -0.04645038 -21.40154446] [ -0.54023807 0.71567997 -0.44265676 38.52344474] [ -0.22498863 0.38403485 0.89548721 2.94390227] [ 0. 0. 0. 1. ]] SLAMing on 49.104839172999995 meters Centerline goodness : 0.698872 Centerline is valid? [False, False] Translation: X:-21.40, Y:38.52, Z:2.94 [[ 0.81138255 0.58261288 -0.04712317 -21.39735373] [ -0.54037209 0.71692947 -0.44046581 38.52131038] [ -0.22283707 0.38285032 0.8965318 2.94203859] [ 0. 0. 0. 1. ]] SLAMing on 49.134839172999996 meters Centerline goodness : 0.701186 Centerline is valid? [False, False] Translation: X:-21.39, Y:38.52, Z:2.94 [[ 0.81173796 0.58213656 -0.04688818 -21.39464536] [ -0.54067439 0.71870987 -0.43718111 38.51738202] [ -0.22080011 0.38022775 0.89815042 2.93884691] [ 0. 0. 0. 1. ]] SLAMing on 49.164839173 meters Centerline goodness : 0.704250 Centerline is valid? [False, False] Translation: X:-21.40, Y:38.51, Z:2.93 [[ 0.81299549 0.58025835 -0.04835884 -21.39553067] [ -0.53914374 0.71881212 -0.43889995 38.51298169] [ -0.21991444 0.38289605 0.89723367 2.93079083] [ 0. 0. 0. 1. ]] SLAMing on 49.194839173 meters Centerline goodness : 0.708440 Centerline is valid? [False, False] Translation: X:-21.39, Y:38.51, Z:2.93 [[ 0.81347264 0.57958998 -0.04834987 -21.39457115] [ -0.53893485 0.71993021 -0.43732108 38.50965023] [ -0.21865838 0.38180616 0.89800477 2.92787819] [ 0. 0. 0. 1. ]] SLAMing on 49.22483917299999 meters Centerline goodness : 0.707123 Centerline is valid? [False, False] Translation: X:-21.39, Y:38.51, Z:2.93 [[ 0.81450536 0.57808536 -0.04897279 -21.39215623] [ -0.53815119 0.7213012 -0.43602509 38.50700693] [ -0.21673559 0.38149954 0.89860102 2.92527574] [ 0. 0. 0. 1. ]] SLAMing on 49.25483917299999 meters Centerline goodness : 0.711815 Centerline is valid? [False, False] Translation: X:-21.38, Y:38.51, Z:2.92 [[ 0.82122874 0.56891534 -0.04380298 -21.3839641 ] [ -0.52770424 0.72805001 -0.43757448 38.5057637 ] [ -0.21705207 0.38246375 0.89811462 2.91675156] [ 0. 0. 0. 1. ]] SLAMing on 49.284839172999995 meters Centerline goodness : 0.714534 Centerline is valid? [False, False] Translation: X:-21.38, Y:38.50, Z:2.92 [[ 0.82224269 0.56741634 -0.04422284 -21.38156189] [ -0.52700419 0.72973096 -0.43561371 38.50283989] [ -0.21490356 0.38148581 0.89904674 2.91527435] [ 0. 0. 0. 1. ]] SLAMing on 49.314839172999996 meters Centerline goodness : 0.715062 Centerline is valid? [False, False] Translation: X:-21.38, Y:38.50, Z:2.91 [[ 0.82400343 0.56476026 -0.04543344 -21.37523293] [ -0.52600387 0.73272044 -0.43178777 38.49893876] [ -0.21056656 0.37969277 0.90083024 2.9133307 ] [ 0. 0. 0. 1. ]] SLAMing on 49.344839173 meters Centerline goodness : 0.715804 Centerline is valid? [False, False] Translation: X:-21.37, Y:38.50, Z:2.91 [[ 0.82416534 0.56453262 -0.04532565 -21.37255949] [ -0.52629577 0.73385974 -0.42949115 38.49735942] [ -0.20919909 0.37782642 0.90193289 2.91238829] [ 0. 0. 0. 1. ]] SLAMing on 49.374839173 meters Centerline goodness : 0.720967 Centerline is valid? [False, False] Translation: X:-21.37, Y:38.49, Z:2.91 [[ 0.82329578 0.56587198 -0.04441801 -21.3731712 ] [ -0.52747391 0.73382615 -0.42810099 38.49473292] [ -0.20965525 0.37588308 0.90263868 2.90908837] [ 0. 0. 0. 1. ]] SLAMing on 49.40483917299999 meters Centerline goodness : 0.727093 Centerline is valid? [False, False] Translation: X:-21.37, Y:38.49, Z:2.91 [[ 0.82172612 0.56832498 -0.04210594 -21.37309644] [ -0.52964719 0.73435267 -0.42449972 38.49245415] [ -0.21033318 0.3711238 0.90444849 2.90685677] [ 0. 0. 0. 1. ]] SLAMing on 49.43483917299999 meters Centerline goodness : 0.729876 Centerline is valid? [False, False] Translation: X:-21.37, Y:38.49, Z:2.90 [[ 8.23023260e-01 5.67256618e-01 -2.92000294e-02 -2.13662190e+01] [-5.24836941e-01 7.39806419e-01 -4.20990081e-01 3.84932367e+01] [-2.17207040e-01 3.61809883e-01 9.06595119e-01 2.89773687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.464839172999994 meters Centerline goodness : 0.731571 Centerline is valid? [False, False] Translation: X:-21.36, Y:38.50, Z:2.89 [[ 8.24855000e-01 5.65031302e-01 -1.88110684e-02 -2.13592556e+01] [-5.19536226e-01 7.44479321e-01 -4.19324040e-01 3.84955634e+01] [-2.22926757e-01 3.55654562e-01 9.07641721e-01 2.88918358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.494839172999995 meters Centerline goodness : 0.735482 Centerline is valid? [False, False] Translation: X:-21.35, Y:38.50, Z:2.88 [[ 8.26956098e-01 5.62189527e-01 -9.30305428e-03 -2.13529855e+01] [-5.13683578e-01 7.48671232e-01 -4.19071078e-01 3.84969671e+01] [-2.28632442e-01 3.51332210e-01 9.07905769e-01 2.87839530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.524839173 meters Centerline goodness : 0.734142 Centerline is valid? [False, False] Translation: X:-21.35, Y:38.49, Z:2.87 [[ 8.26096582e-01 5.63464490e-01 -8.49744192e-03 -2.13537640e+01] [-5.14809261e-01 7.48458264e-01 -4.18068956e-01 3.84946826e+01] [-2.29207030e-01 3.49739897e-01 9.08375551e-01 2.87463888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.554839173 meters Centerline goodness : 0.741076 Centerline is valid? [False, False] Translation: X:-21.35, Y:38.50, Z:2.86 [[ 8.27223636e-01 5.61861975e-01 3.48967709e-03 -2.13519078e+01] [-5.08689335e-01 7.51546781e-01 -4.20014995e-01 3.84967319e+01] [-2.38613110e-01 3.45671170e-01 9.07510455e-01 2.86481828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.58483917299999 meters Centerline goodness : 0.742342 Centerline is valid? [False, False] Translation: X:-21.35, Y:38.50, Z:2.86 [[ 8.26628365e-01 5.62735526e-01 3.77804197e-03 -2.13493030e+01] [-5.10007086e-01 7.51977023e-01 -4.17640191e-01 3.84951676e+01] [-2.37861973e-01 3.43306400e-01 9.08604643e-01 2.86243102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.61483917299999 meters Centerline goodness : 0.740818 Centerline is valid? [False, False] Translation: X:-21.34, Y:38.50, Z:2.86 [[ 8.26842495e-01 5.62429324e-01 2.17811205e-03 -2.13365218e+01] [-5.11728457e-01 7.53901438e-01 -4.12027436e-01 3.84951216e+01] [-2.33378394e-01 3.39567192e-01 9.11168836e-01 2.85607697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.644839172999994 meters Centerline goodness : 0.739194 Centerline is valid? [False, False] Translation: X:-21.33, Y:38.49, Z:2.85 [[ 8.27488423e-01 5.61482325e-01 7.13271962e-04 -2.13313307e+01] [-5.11481349e-01 7.54321967e-01 -4.11564333e-01 3.84949706e+01] [-2.31624135e-01 3.40199896e-01 9.11380431e-01 2.85236740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.674839172999995 meters Centerline goodness : 0.737768 Centerline is valid? [False, False] Translation: X:-21.33, Y:38.49, Z:2.85 [[ 8.27843303e-01 5.60958987e-01 6.92855926e-04 -2.13272111e+01] [-5.11814357e-01 7.55821818e-01 -4.08386390e-01 3.84913473e+01] [-2.29611691e-01 3.37725325e-01 9.12808894e-01 2.84508121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.704839172999996 meters Centerline goodness : 0.739846 Centerline is valid? [False, False] Translation: X:-21.32, Y:38.49, Z:2.84 [[ 8.27717080e-01 5.61143043e-01 1.70884992e-03 -2.13244229e+01] [-5.12797931e-01 7.57634953e-01 -4.03766715e-01 3.84871233e+01] [-2.27865567e-01 3.33328312e-01 9.14860383e-01 2.84185718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.734839173 meters Centerline goodness : 0.742812 Centerline is valid? [False, False] Translation: X:-21.32, Y:38.48, Z:2.83 [[ 8.31806126e-01 5.54947363e-01 1.14888308e-02 -2.13170386e+01] [-5.04517349e-01 7.64522992e-01 -4.01206728e-01 3.84849233e+01] [-2.31432091e-01 3.27929900e-01 9.15915481e-01 2.83339359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.76483917299999 meters Centerline goodness : 0.742470 Centerline is valid? [False, False] Translation: X:-21.31, Y:38.48, Z:2.83 [[ 8.32929922e-01 5.53265800e-01 1.11669364e-02 -2.13132678e+01] [-5.03889740e-01 7.66627730e-01 -3.97966147e-01 3.84814290e+01] [-2.28741942e-01 3.25851007e-01 9.17332135e-01 2.83155420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.79483917299999 meters Centerline goodness : 0.739817 Centerline is valid? [False, False] Translation: X:-21.31, Y:38.48, Z:2.83 [[ 8.34826663e-01 5.50430781e-01 9.50783193e-03 -2.13058516e+01] [-5.02810071e-01 7.69406205e-01 -3.93949394e-01 3.84769224e+01] [-2.24157257e-01 3.24098824e-01 9.19082954e-01 2.82572965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.824839172999994 meters Centerline goodness : 0.737758 Centerline is valid? [False, False] Translation: X:-21.30, Y:38.48, Z:2.82 [[ 8.34129954e-01 5.51521046e-01 7.19416702e-03 -2.13012884e+01] [-5.03926350e-01 7.67320034e-01 -3.96583156e-01 3.84775668e+01] [-2.24244185e-01 3.27176559e-01 9.17970612e-01 2.81670959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.854839172999995 meters Centerline goodness : 0.738365 Centerline is valid? [False, False] Translation: X:-21.30, Y:38.48, Z:2.81 [[ 8.32704832e-01 5.53666387e-01 7.49632455e-03 -2.12996149e+01] [-5.06042811e-01 7.66435934e-01 -3.95596552e-01 3.84769545e+01] [-2.24773966e-01 3.25621699e-01 9.18393801e-01 2.81270765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.884839172999996 meters Centerline goodness : 0.741248 Centerline is valid? [False, False] Translation: X:-21.30, Y:38.47, Z:2.81 [[ 8.30028414e-01 5.57627259e-01 1.02309538e-02 -2.12996435e+01] [-5.09871382e-01 7.66122411e-01 -3.91264137e-01 3.84746553e+01] [-2.26017711e-01 3.19543880e-01 9.20221551e-01 2.81006490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.914839173 meters Centerline goodness : 0.744327 Centerline is valid? [False, False] Translation: X:-21.30, Y:38.47, Z:2.80 [[ 8.30121773e-01 5.56970801e-01 2.61030304e-02 -2.12957018e+01] [-5.06106787e-01 7.72306016e-01 -3.83926214e-01 3.84741650e+01] [-2.33995218e-01 3.05494588e-01 9.22994742e-01 2.80348203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.944839173 meters Centerline goodness : 0.747321 Centerline is valid? [False, False] Translation: X:-21.29, Y:38.47, Z:2.79 [[ 8.31338615e-01 5.54468913e-01 3.79517070e-02 -2.12895613e+01] [-5.01589518e-01 7.77955267e-01 -3.78409246e-01 3.84728442e+01] [-2.39340894e-01 2.95550040e-01 9.24860049e-01 2.79492136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.97483917299999 meters Centerline goodness : 0.747627 Centerline is valid? [False, False] Translation: X:-21.29, Y:38.47, Z:2.79 [[ 0.83004739 0.55630843 0.03927156 -21.28946852] [ -0.50362304 0.7779587 -0.3756915 38.46988649] [ -0.239552 0.29206369 0.92591233 2.79182003] [ 0. 0. 0. 1. ]] SLAMing on 50.00483917299999 meters Centerline goodness : 0.749673 Centerline is valid? [False, False] Translation: X:-21.29, Y:38.47, Z:2.79 [[ 0.82790578 0.55938483 0.04075101 -21.29217797] [ -0.5062474 0.77658057 -0.37501492 38.4667103 ] [ -0.2414241 0.28984693 0.92612265 2.78630451] [ 0. 0. 0. 1. ]] SLAMing on 50.034839172999995 meters Centerline goodness : 0.748853 Centerline is valid? [False, False] Translation: X:-21.29, Y:38.46, Z:2.78 [[ 0.82747874 0.56000651 0.04088576 -21.29217567] [ -0.50695904 0.77642715 -0.37437068 38.46416984] [ -0.24139483 0.28905637 0.92637733 2.78264318] [ 0. 0. 0. 1. ]] SLAMing on 50.064839172999996 meters Centerline goodness : 0.752094 Centerline is valid? [False, False] Translation: X:-21.29, Y:38.46, Z:2.78 [[ 0.82662068 0.56117469 0.04220439 -21.29349786] [ -0.50835425 0.77677356 -0.371751 38.45900634] [ -0.24140051 0.28584228 0.92737263 2.77831999] [ 0. 0. 0. 1. ]] SLAMing on 50.094839173 meters Centerline goodness : 0.751890 Centerline is valid? [False, False] Translation: X:-21.29, Y:38.46, Z:2.78 [[ 0.82572709 0.56233658 0.04418532 -21.29252761] [ -0.51003568 0.77778939 -0.36729725 38.45522579] [ -0.24091155 0.2807512 0.92905349 2.77539763] [ 0. 0. 0. 1. ]] SLAMing on 50.124839173 meters Centerline goodness : 0.754347 Centerline is valid? [False, False] Translation: X:-21.29, Y:38.45, Z:2.77 [[ 0.82490759 0.56348141 0.0449018 -21.29271372] [ -0.51112408 0.77746231 -0.36647581 38.4528549 ] [ -0.24141176 0.27935829 0.92934348 2.7705241 ] [ 0. 0. 0. 1. ]] SLAMing on 50.15483917299999 meters Centerline goodness : 0.761280 Centerline is valid? [False, False] Translation: X:-21.30, Y:38.45, Z:2.76 [[ 0.82573922 0.56132469 0.05540166 -21.29832838] [ -0.50333541 0.77762079 -0.37677495 38.45489557] [ -0.25457457 0.28323224 0.92464658 2.75725511] [ 0. 0. 0. 1. ]] SLAMing on 50.18483917299999 meters Centerline goodness : 0.764159 Centerline is valid? [False, False] Translation: X:-21.30, Y:38.45, Z:2.75 [[ 0.82689233 0.55815398 0.06865278 -21.29751853] [ -0.49717011 0.7826218 -0.37459979 38.45327282] [ -0.26281353 0.27562158 0.92464144 2.75152757] [ 0. 0. 0. 1. ]] SLAMing on 50.214839172999994 meters Centerline goodness : 0.765017 Centerline is valid? [False, False] Translation: X:-21.29, Y:38.45, Z:2.75 [[ 0.82726953 0.55666193 0.07584601 -21.29201644] [ -0.49647305 0.78756025 -0.36505256 38.45021273] [ -0.26294417 0.26434136 0.92789224 2.74808966] [ 0. 0. 0. 1. ]] SLAMing on 50.244839172999995 meters Centerline goodness : 0.765779 Centerline is valid? [False, False] Translation: X:-21.29, Y:38.44, Z:2.74 [[ 0.83059583 0.55136833 0.07812508 -21.29005838] [ -0.4928114 0.79310257 -0.35794587 38.4437563 ] [ -0.25932121 0.25880742 0.93046828 2.74174708] [ 0. 0. 0. 1. ]] SLAMing on 50.274839173 meters Centerline goodness : 0.769070 Centerline is valid? [False, False] Translation: X:-21.29, Y:38.44, Z:2.73 [[ 0.83308224 0.54812026 0.07441889 -21.28916159] [ -0.48930751 0.79297749 -0.36299431 38.44107922] [ -0.25797704 0.26599039 0.92881482 2.73455708] [ 0. 0. 0. 1. ]] SLAMing on 50.304839173 meters Centerline goodness : 0.773068 Centerline is valid? [False, False] Translation: X:-21.29, Y:38.44, Z:2.73 [[ 0.83498021 0.54551669 0.07224671 -21.28962124] [ -0.48650972 0.79317551 -0.36630712 38.43767728] [ -0.25713097 0.27071047 0.92768503 2.72789835] [ 0. 0. 0. 1. ]] SLAMing on 50.33483917299999 meters Centerline goodness : 0.774321 Centerline is valid? [False, False] Translation: X:-21.33, Y:38.45, Z:2.73 [[ 0.83926784 0.53811003 0.07789155 -21.32923535] [ -0.48420032 0.80485838 -0.34315162 38.44848432] [ -0.247345 0.250281 0.9360448 2.7314065 ] [ 0. 0. 0. 1. ]] SLAMing on 50.36483917299999 meters Centerline goodness : 0.776097 Centerline is valid? [False, False] Translation: X:-21.38, Y:38.46, Z:2.74 [[ 0.84258118 0.53144714 0.08729771 -21.3763327 ] [ -0.48259266 0.81697887 -0.31567365 38.46361069] [ -0.23908425 0.22385144 0.94484351 2.73634968] [ 0. 0. 0. 1. ]] SLAMing on 50.394839172999994 meters Centerline goodness : 0.780036 Centerline is valid? [False, False] Translation: X:-21.42, Y:38.48, Z:2.74 [[ 0.84551671 0.52550367 0.09459067 -21.41979623] [ -0.48112681 0.82664731 -0.29184109 38.47685911] [ -0.23155668 0.20124641 0.95177801 2.74287355] [ 0. 0. 0. 1. ]] SLAMing on 50.424839172999995 meters Centerline goodness : 0.784439 Centerline is valid? [False, False] Translation: X:-21.48, Y:38.50, Z:2.75 [[ 0.85089248 0.51420689 0.10757911 -21.47738171] [ -0.47440484 0.84007228 -0.2630943 38.4965836 ] [ -0.22565913 0.17282891 0.95875342 2.75153232] [ 0. 0. 0. 1. ]] SLAMing on 50.454839172999996 meters Centerline goodness : 0.786019 Centerline is valid? [False, False] Translation: X:-21.52, Y:38.51, Z:2.76 [[ 0.85440535 0.50712316 0.11321486 -21.52102972] [ -0.47205085 0.8486205 -0.23877027 38.51103407] [ -0.21716238 0.15056343 0.96445381 2.76007487] [ 0. 0. 0. 1. ]] SLAMing on 50.484839173 meters Centerline goodness : 0.786019 Centerline is valid? [False, False] Translation: X:-21.55, Y:38.52, Z:2.77 [[ 0.856748 0.50215175 0.11758603 -21.55356776] [ -0.47121068 0.85483801 -0.21728431 38.52252822] [ -0.20962671 0.13075011 0.96900003 2.76530899] [ 0. 0. 0. 1. ]] SLAMing on 50.51483917299999 meters Centerline goodness : 0.788307 Centerline is valid? [False, False] Translation: X:-21.59, Y:38.53, Z:2.78 [[ 0.86209911 0.49299174 0.11723594 -21.59497034] [ -0.46600039 0.86216795 -0.19877141 38.53431335] [ -0.19906973 0.11672866 0.97300856 2.77644863] [ 0. 0. 0. 1. ]] SLAMing on 50.54483917299999 meters Centerline goodness : 0.789271 Centerline is valid? [False, False] Translation: X:-21.64, Y:38.55, Z:2.78 [[ 0.86533515 0.4871619 0.11776399 -21.63897132] [ -0.46428774 0.86766828 -0.17773199 38.55057647] [ -0.18876433 0.09912136 0.97700716 2.78406739] [ 0. 0. 0. 1. ]] SLAMing on 50.574839172999994 meters Centerline goodness : 0.789762 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.57, Z:2.79 [[ 0.86877355 0.48032488 0.12050117 -21.67626609] [ -0.4613668 0.87348377 -0.15545669 38.56556265] [ -0.17992553 0.07946142 0.98046555 2.79137029] [ 0. 0. 0. 1. ]] SLAMing on 50.604839172999995 meters Centerline goodness : 0.790117 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.58, Z:2.80 [[ 0.87073777 0.47495242 0.12742031 -21.70451068] [ -0.45820863 0.87769408 -0.14034941 38.58153152] [ -0.17849535 0.06382245 0.98186868 2.7990177 ] [ 0. 0. 0. 1. ]] SLAMing on 50.634839172999996 meters Centerline goodness : 0.792219 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.60, Z:2.81 [[ 0.87302127 0.46948946 0.13196021 -21.73266013] [ -0.4551367 0.88155771 -0.12532591 38.59511896] [ -0.17516974 0.04935225 0.98330052 2.80599833] [ 0. 0. 0. 1. ]] SLAMing on 50.664839173 meters Centerline goodness : 0.793426 Centerline is valid? [False, False] Translation: X:-21.76, Y:38.61, Z:2.81 [[ 8.75297961e-01 4.63854621e-01 1.36720044e-01 -2.17610665e+01] [-4.52005799e-01 8.85252455e-01 -1.09630508e-01 3.86082502e+01] [-1.71884372e-01 3.41611074e-02 9.84524647e-01 2.81221851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.69483917299999 meters Centerline goodness : 0.791513 Centerline is valid? [False, False] Translation: X:-21.79, Y:38.62, Z:2.82 [[ 8.80660491e-01 4.53813927e-01 1.35978012e-01 -2.17915100e+01] [-4.44405898e-01 8.90798871e-01 -9.47669212e-02 3.86234070e+01] [-1.64135609e-01 2.30280526e-02 9.86168957e-01 2.82218953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.72483917299999 meters Centerline goodness : 0.790923 Centerline is valid? [False, False] Translation: X:-21.82, Y:38.64, Z:2.83 [[ 8.85446315e-01 4.45193856e-01 1.33368864e-01 -2.18197260e+01] [-4.38191084e-01 8.95353694e-01 -7.95634192e-02 3.86355591e+01] [-1.54833451e-01 1.20080891e-02 9.87867607e-01 2.82851751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.75483917299999 meters Centerline goodness : 0.791719 Centerline is valid? [False, False] Translation: X:-21.82, Y:38.63, Z:2.83 [[ 8.87384584e-01 4.42072008e-01 1.30847011e-01 -2.18183574e+01] [-4.34356782e-01 8.96802303e-01 -8.41416434e-02 3.86349832e+01] [-1.54540566e-01 1.78317108e-02 9.87825513e-01 2.82603795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.784839172999995 meters Centerline goodness : 0.788666 Centerline is valid? [False, False] Translation: X:-21.84, Y:38.65, Z:2.83 [[ 8.90114047e-01 4.37102598e-01 1.28989543e-01 -2.18401620e+01] [-4.31887881e-01 8.99401206e-01 -6.74561210e-02 3.86482651e+01] [-1.45498597e-01 4.33462030e-03 9.89348962e-01 2.82814372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.814839172999996 meters Centerline goodness : 0.786102 Centerline is valid? [False, False] Translation: X:-21.86, Y:38.66, Z:2.83 [[ 8.92579711e-01 4.31093078e-01 1.32137114e-01 -2.18632421e+01] [-4.27684177e-01 9.02274363e-01 -5.46554519e-02 3.86618553e+01] [-1.42785517e-01 -7.72860525e-03 9.89723479e-01 2.83220413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.844839173 meters Centerline goodness : 0.787133 Centerline is valid? [False, False] Translation: X:-21.86, Y:38.67, Z:2.83 [[ 8.93753778e-01 4.25245955e-01 1.42723727e-01 -2.18627726e+01] [-4.20863514e-01 9.05061555e-01 -6.11349624e-02 3.86690592e+01] [-1.55171153e-01 -5.42760551e-03 9.87872691e-01 2.83393331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.874839173 meters Centerline goodness : 0.785831 Centerline is valid? [False, False] Translation: X:-21.86, Y:38.68, Z:2.83 [[ 8.94392265e-01 4.20312829e-01 1.52969285e-01 -2.18628838e+01] [-4.14455393e-01 9.07378861e-01 -6.99308939e-02 3.86760062e+01] [-1.68193947e-01 -8.53294318e-04 9.85753553e-01 2.83310810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.90483917299999 meters Centerline goodness : 0.788010 Centerline is valid? [False, False] Translation: X:-21.86, Y:38.68, Z:2.83 [[ 8.94938321e-01 4.15127792e-01 1.63567472e-01 -2.18619209e+01] [-4.07910036e-01 9.09760237e-01 -7.71084583e-02 3.86819406e+01] [-1.80817046e-01 2.28650072e-03 9.83514091e-01 2.82911434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.93483917299999 meters Centerline goodness : 0.791008 Centerline is valid? [False, False] Translation: X:-21.86, Y:38.69, Z:2.83 [[ 8.96153551e-01 4.09479936e-01 1.70982439e-01 -2.18606572e+01] [-3.99310949e-01 9.12212421e-01 -9.17565509e-02 3.86910043e+01] [-1.93544772e-01 1.39527988e-02 9.80992223e-01 2.82636881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.964839172999994 meters Centerline goodness : 0.787991 Centerline is valid? [False, False] Translation: X:-21.86, Y:38.69, Z:2.82 [[ 8.96541681e-01 4.08841736e-01 1.70474191e-01 -2.18583677e+01] [-3.98706654e-01 9.12496031e-01 -9.15641716e-02 3.86912486e+01] [-1.92992277e-01 1.41219022e-02 9.81098646e-01 2.82449161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.994839172999995 meters Centerline goodness : 0.792553 Centerline is valid? [False, False] Translation: X:-21.86, Y:38.70, Z:2.82 [[ 8.95705987e-01 4.06919543e-01 1.79240815e-01 -2.18564501e+01] [-3.94266939e-01 9.13209585e-01 -1.02965215e-01 3.87021859e+01] [-2.05582988e-01 2.15578323e-02 9.78402215e-01 2.82064057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.024839173 meters Centerline goodness : 0.788467 Centerline is valid? [False, False] Translation: X:-21.86, Y:38.70, Z:2.82 [[ 8.93601521e-01 4.10772538e-01 1.80948180e-01 -2.18562885e+01] [-3.98594451e-01 9.11559258e-01 -1.00906804e-01 3.87029063e+01] [-2.06394733e-01 1.80455331e-02 9.78302393e-01 2.81646820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.054839173 meters Centerline goodness : 0.789428 Centerline is valid? [False, False] Translation: X:-21.86, Y:38.70, Z:2.82 [[ 8.93072415e-01 4.11803747e-01 1.81216266e-01 -2.18572850e+01] [-3.99536862e-01 9.11091664e-01 -1.01401555e-01 3.87037405e+01] [-2.06862169e-01 1.81563539e-02 9.78201610e-01 2.81705399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.08483917299999 meters Centerline goodness : 0.792141 Centerline is valid? [False, False] Translation: X:-21.85, Y:38.71, Z:2.82 [[ 8.93648261e-01 4.10779233e-01 1.80701983e-01 -2.18520610e+01] [-3.99154545e-01 9.11599408e-01 -9.82963282e-02 3.87058170e+01] [-2.05105911e-01 1.57143253e-02 9.78613624e-01 2.81687925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.11483917299999 meters Centerline goodness : 0.789865 Centerline is valid? [False, False] Translation: X:-21.85, Y:38.71, Z:2.82 [[ 8.94285899e-01 4.09801551e-01 1.79764903e-01 -2.18491673e+01] [-3.98169399e-01 9.12028277e-01 -9.83135350e-02 3.87075129e+01] [-2.04239714e-01 1.63435245e-02 9.78784465e-01 2.81651337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.144839172999994 meters Centerline goodness : 0.789504 Centerline is valid? [False, False] Translation: X:-21.85, Y:38.71, Z:2.82 [[ 8.94713198e-01 4.09238313e-01 1.78919807e-01 -2.18460807e+01] [-3.97547808e-01 9.12267294e-01 -9.86109790e-02 3.87096810e+01] [-2.03578079e-01 1.70993673e-02 9.78909382e-01 2.81501474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.174839172999995 meters Centerline goodness : 0.786639 Centerline is valid? [False, False] Translation: X:-21.84, Y:38.71, Z:2.81 [[ 8.94030050e-01 4.10817007e-01 1.78716693e-01 -2.18411706e+01] [-3.99724184e-01 9.11605763e-01 -9.58932187e-02 3.87118432e+01] [-2.02313732e-01 1.42940348e-02 9.79216439e-01 2.81194491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.204839172999996 meters Centerline goodness : 0.787231 Centerline is valid? [False, False] Translation: X:-21.83, Y:38.72, Z:2.81 [[ 8.94543171e-01 4.05195878e-01 1.88702984e-01 -2.18348560e+01] [-3.93881344e-01 9.14159646e-01 -9.57581778e-02 3.87194294e+01] [-2.11305472e-01 1.13332392e-02 9.77354365e-01 2.80500020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.234839173 meters Centerline goodness : 0.784947 Centerline is valid? [False, False] Translation: X:-21.83, Y:38.72, Z:2.80 [[ 8.94741113e-01 4.05163537e-01 1.87831973e-01 -2.18319370e+01] [-3.93646068e-01 9.14157089e-01 -9.67449710e-02 3.87232612e+01] [-2.10905464e-01 1.26223855e-02 9.77424964e-01 2.80392381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26483917299999 meters Centerline goodness : 0.783566 Centerline is valid? [False, False] Translation: X:-21.83, Y:38.73, Z:2.80 [[ 8.94341053e-01 4.06422465e-01 1.87015667e-01 -2.18251384e+01] [-3.95390117e-01 9.13622443e-01 -9.46609014e-02 3.87269294e+01] [-2.09334028e-01 1.07149836e-02 9.77785485e-01 2.79912096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.29483917299999 meters Centerline goodness : 0.781453 Centerline is valid? [False, False] Translation: X:-21.82, Y:38.73, Z:2.80 [[ 8.94461158e-01 4.06272017e-01 1.86767998e-01 -2.18219307e+01] [-3.95613261e-01 9.13705711e-01 -9.29086711e-02 3.87294625e+01] [-2.08397180e-01 9.21530065e-03 9.78000866e-01 2.79897325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.324839172999994 meters Centerline goodness : 0.779207 Centerline is valid? [False, False] Translation: X:-21.81, Y:38.74, Z:2.79 [[ 8.95614237e-01 4.00015548e-01 1.94583402e-01 -2.18139205e+01] [-3.89404842e-01 9.16486029e-01 -9.17454456e-02 3.87351429e+01] [-2.15032574e-01 6.39680821e-03 9.76585927e-01 2.78892653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.354839172999995 meters Centerline goodness : 0.776905 Centerline is valid? [False, False] Translation: X:-21.81, Y:38.74, Z:2.79 [[ 8.96227201e-01 3.99186007e-01 1.93461460e-01 -2.18101983e+01] [-3.88625245e-01 9.16844821e-01 -9.14658038e-02 3.87370480e+01] [-2.13886007e-01 6.79013396e-03 9.76835027e-01 2.78791618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.384839172999996 meters Centerline goodness : 0.775961 Centerline is valid? [False, False] Translation: X:-21.80, Y:38.74, Z:2.79 [[ 8.97826738e-01 3.96720449e-01 1.91102155e-01 -2.18034775e+01] [-3.86154092e-01 9.17902902e-01 -9.13196539e-02 3.87400810e+01] [-2.11641597e-01 8.19434794e-03 9.77312993e-01 2.78631749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.414839173 meters Centerline goodness : 0.774174 Centerline is valid? [False, False] Translation: X:-21.79, Y:38.75, Z:2.78 [[ 8.99966769e-01 3.88200726e-01 1.98393576e-01 -2.17947409e+01] [-3.77536032e-01 9.21550874e-01 -9.06119799e-02 3.87465618e+01] [-2.18005410e-01 6.64704707e-03 9.75924924e-01 2.77780199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44483917299999 meters Centerline goodness : 0.772976 Centerline is valid? [False, False] Translation: X:-21.79, Y:38.75, Z:2.77 [[ 8.99764161e-01 3.82539365e-01 2.09971638e-01 -2.17931648e+01] [-3.71127802e-01 9.23921778e-01 -9.29123377e-02 3.87540687e+01] [-2.29539996e-01 5.67287899e-03 9.73282697e-01 2.77356345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.47483917299999 meters Centerline goodness : 0.769867 Centerline is valid? [False, False] Translation: X:-21.79, Y:38.76, Z:2.77 [[ 8.99442985e-01 3.76705208e-01 2.21575049e-01 -2.17917512e+01] [-3.64845633e-01 9.26326318e-01 -9.38467713e-02 3.87602147e+01] [-2.40603367e-01 3.56913096e-03 9.70616959e-01 2.76882077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.50483917299999 meters Centerline goodness : 0.769734 Centerline is valid? [False, False] Translation: X:-21.79, Y:38.76, Z:2.77 [[ 8.99230781e-01 3.77005844e-01 2.21924752e-01 -2.17923444e+01] [-3.65208146e-01 9.26205540e-01 -9.36285613e-02 3.87600740e+01] [-2.40846449e-01 3.14495719e-03 9.70558137e-01 2.76909885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.534839172999995 meters Centerline goodness : 0.771011 Centerline is valid? [False, False] Translation: X:-21.79, Y:38.76, Z:2.77 [[ 8.98949041e-01 3.77570561e-01 2.22106040e-01 -2.17925372e+01] [-3.65550903e-01 9.25972861e-01 -9.45875202e-02 3.87621738e+01] [-2.41377629e-01 3.83829703e-03 9.70423674e-01 2.76923295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.564839172999996 meters Centerline goodness : 0.766668 Centerline is valid? [False, False] Translation: X:-21.79, Y:38.76, Z:2.77 [[ 8.97700141e-01 3.80182107e-01 2.22701647e-01 -2.17898538e+01] [-3.68742059e-01 9.24911136e-01 -9.25671915e-02 3.87649208e+01] [-2.41171623e-01 9.78117008e-04 9.70481989e-01 2.76621790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.594839173 meters Centerline goodness : 0.762665 Centerline is valid? [False, False] Translation: X:-21.79, Y:38.77, Z:2.76 [[ 8.96734946e-01 3.82825451e-01 2.22061052e-01 -2.17856147e+01] [-3.70917583e-01 9.23816973e-01 -9.47752438e-02 3.87690363e+01] [-2.41426144e-01 2.62192452e-03 9.70415655e-01 2.75831825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.624839173 meters Centerline goodness : 0.761666 Centerline is valid? [False, False] Translation: X:-21.78, Y:38.77, Z:2.76 [[ 8.96476536e-01 3.83611576e-01 2.21747559e-01 -2.17842250e+01] [-3.71454123e-01 9.23487586e-01 -9.58775945e-02 3.87721003e+01] [-2.41560873e-01 3.58296876e-03 9.70379053e-01 2.75738402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.65483917299999 meters Centerline goodness : 0.756385 Centerline is valid? [False, False] Translation: X:-21.78, Y:38.78, Z:2.76 [[ 8.96077811e-01 3.84899052e-01 2.21127284e-01 -2.17813417e+01] [-3.72555073e-01 9.22948416e-01 -9.67932835e-02 3.87756267e+01] [-2.41344720e-01 4.35222209e-03 9.70429691e-01 2.75553731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.68483917299999 meters Centerline goodness : 0.751955 Centerline is valid? [False, False] Translation: X:-21.78, Y:38.78, Z:2.75 [[ 8.95924911e-01 3.85428446e-01 2.20824516e-01 -2.17803035e+01] [-3.72907606e-01 9.22723787e-01 -9.75742305e-02 3.87757647e+01] [-2.41367918e-01 5.07204221e-03 9.70420426e-01 2.75311372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.714839172999994 meters Centerline goodness : 0.751068 Centerline is valid? [False, False] Translation: X:-21.78, Y:38.77, Z:2.75 [[ 8.95984405e-01 3.85195208e-01 2.20990039e-01 -2.17801610e+01] [-3.72955890e-01 9.22826608e-01 -9.64103469e-02 3.87739239e+01] [-2.41072292e-01 3.96263072e-03 9.70499071e-01 2.75258295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.744839172999995 meters Centerline goodness : 0.748345 Centerline is valid? [False, False] Translation: X:-21.78, Y:38.77, Z:2.75 [[ 8.95729420e-01 3.85403136e-01 2.21660167e-01 -2.17786740e+01] [-3.74481019e-01 9.22747244e-01 -9.11125147e-02 3.87720572e+01] [-2.39651357e-01 -1.39536530e-03 9.70858012e-01 2.75420552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.774839173 meters Centerline goodness : 0.744850 Centerline is valid? [False, False] Translation: X:-21.77, Y:38.78, Z:2.75 [[ 8.96805124e-01 3.77095053e-01 2.31386885e-01 -2.17728257e+01] [-3.67077151e-01 9.26146318e-01 -8.66450387e-02 3.87766091e+01] [-2.46971527e-01 -7.23312400e-03 9.68995741e-01 2.75025700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.804839173 meters Centerline goodness : 0.741461 Centerline is valid? [False, False] Translation: X:-21.77, Y:38.78, Z:2.75 [[ 8.96935434e-01 3.76904201e-01 2.31192668e-01 -2.17725620e+01] [-3.66917387e-01 9.26223869e-01 -8.64926289e-02 3.87768498e+01] [-2.46735603e-01 -7.25030613e-03 9.69055713e-01 2.75132409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.83483917299999 meters Centerline goodness : 0.740731 Centerline is valid? [False, False] Translation: X:-21.77, Y:38.78, Z:2.74 [[ 8.96033030e-01 3.79025771e-01 2.31223431e-01 -2.17722604e+01] [-3.68379510e-01 9.25371963e-01 -8.93491322e-02 3.87753288e+01] [-2.47833304e-01 -5.11820054e-03 9.68789171e-01 2.74437588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.86483917299999 meters Centerline goodness : 0.733527 Centerline is valid? [False, False] Translation: X:-21.77, Y:38.78, Z:2.74 [[ 8.96769024e-01 3.78372160e-01 2.29433707e-01 -2.17693228e+01] [-3.66500195e-01 9.25653526e-01 -9.40380636e-02 3.87765584e+01] [-2.47957505e-01 2.42924464e-04 9.68770879e-01 2.73846544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.894839172999994 meters Centerline goodness : 0.732731 Centerline is valid? [False, False] Translation: X:-21.77, Y:38.77, Z:2.73 [[ 8.95846193e-01 3.80518402e-01 2.29489311e-01 -2.17686981e+01] [-3.67988603e-01 9.24770407e-01 -9.68714767e-02 3.87734256e+01] [-2.49086303e-01 2.33249264e-03 9.68478484e-01 2.72919916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.924839172999995 meters Centerline goodness : 0.733292 Centerline is valid? [False, False] Translation: X:-21.77, Y:38.77, Z:2.73 [[ 8.95523662e-01 3.81014606e-01 2.29924423e-01 -2.17701227e+01] [-3.68493349e-01 9.24566751e-01 -9.68967208e-02 3.87725522e+01] [-2.49499543e-01 2.04768547e-03 9.68372751e-01 2.73009537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.954839172999996 meters Centerline goodness : 0.735298 Centerline is valid? [False, False] Translation: X:-21.77, Y:38.77, Z:2.73 [[ 8.94625801e-01 3.82005479e-01 2.31768180e-01 -2.17745868e+01] [-3.69871298e-01 9.24160018e-01 -9.55169278e-02 3.87655032e+01] [-2.50678876e-01 -2.72489676e-04 9.68070259e-01 2.72806072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.984839173 meters Centerline goodness : 0.735190 Centerline is valid? [False, False] Translation: X:-21.77, Y:38.77, Z:2.73 [[ 8.96076734e-01 3.80016087e-01 2.29421577e-01 -2.17717619e+01] [-3.66883899e-01 9.24968074e-01 -9.91477005e-02 3.87671816e+01] [-2.49885355e-01 4.67286493e-03 9.68264155e-01 2.72725027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.01483917299999 meters Centerline goodness : 0.739804 Centerline is valid? [False, False] Translation: X:-21.77, Y:38.77, Z:2.72 [[ 8.99297140e-01 3.74860130e-01 2.25265482e-01 -2.17677612e+01] [-3.59866501e-01 9.26972918e-01 -1.05911807e-01 3.87672591e+01] [-2.48517115e-01 1.41806839e-02 9.68523697e-01 2.72458286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.04483917299999 meters Centerline goodness : 0.736163 Centerline is valid? [False, False] Translation: X:-21.77, Y:38.75, Z:2.72 [[ 9.01174355e-01 3.70310645e-01 2.25288277e-01 -2.17705461e+01] [-3.55927339e-01 9.28822290e-01 -1.02980015e-01 3.87540820e+01] [-2.47387369e-01 1.26166918e-02 9.68834511e-01 2.71888602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.074839172999994 meters Centerline goodness : 0.738094 Centerline is valid? [False, False] Translation: X:-21.77, Y:38.75, Z:2.72 [[ 9.01388259e-01 3.69621367e-01 2.25564295e-01 -2.17710120e+01] [-3.55705466e-01 9.29119089e-01 -1.01051174e-01 3.87496183e+01] [-2.46926766e-01 1.08518891e-02 9.68973379e-01 2.71772282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.104839172999995 meters Centerline goodness : 0.737637 Centerline is valid? [False, False] Translation: X:-21.77, Y:38.75, Z:2.72 [[ 9.02955293e-01 3.67189910e-01 2.23256152e-01 -2.17687151e+01] [-3.52221439e-01 9.30004905e-01 -1.05028256e-01 3.87502099e+01] [-2.46194633e-01 1.62002165e-02 9.69085010e-01 2.71654677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.134839172999996 meters Centerline goodness : 0.713030 Centerline is valid? [False, False] Translation: X:-21.77, Y:38.75, Z:2.72 [[ 9.04420205e-01 3.65000925e-01 2.20903640e-01 -2.17660120e+01] [-3.49073557e-01 9.30764968e-01 -1.08739256e-01 3.87530046e+01] [-2.45299298e-01 2.12343611e-02 9.69214814e-01 2.71751657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.164839173 meters Centerline goodness : 0.736938 Centerline is valid? [False, False] Translation: X:-21.76, Y:38.75, Z:2.71 [[ 9.05264135e-01 3.63513126e-01 2.19897825e-01 -2.17627457e+01] [-3.48093154e-01 9.31374466e-01 -1.06643145e-01 3.87492735e+01] [-2.43573403e-01 1.99952868e-02 9.69676331e-01 2.71389386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.19483917299999 meters Centerline goodness : 0.739617 Centerline is valid? [False, False] Translation: X:-21.76, Y:38.75, Z:2.71 [[ 9.09670631e-01 3.56115505e-01 2.13731349e-01 -2.17558960e+01] [-3.38078807e-01 9.33816897e-01 -1.16998816e-01 3.87497144e+01] [-2.41251037e-01 3.41723475e-02 9.69860911e-01 2.70707518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.22483917299999 meters Centerline goodness : 0.750522 Centerline is valid? [False, False] Translation: X:-21.75, Y:38.75, Z:2.71 [[ 0.91496749 0.35234643 0.19668883 -21.75334681] [ -0.3323831 0.93445009 -0.12776738 38.74857842] [ -0.22881427 0.05152695 0.97210545 2.71420393] [ 0. 0. 0. 1. ]] SLAMing on 52.25483917299999 meters Centerline goodness : 0.741099 Centerline is valid? [False, False] Translation: X:-21.78, Y:38.74, Z:2.71 [[ 9.17726271e-01 3.39200337e-01 2.06692095e-01 -2.17772076e+01] [-3.25205943e-01 9.40408781e-01 -9.93600519e-02 3.87418873e+01] [-2.28078024e-01 2.39678323e-02 9.73347809e-01 2.70520080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.284839172999995 meters Centerline goodness : 0.737554 Centerline is valid? [False, False] Translation: X:-21.78, Y:38.73, Z:2.70 [[ 9.19790343e-01 3.34454778e-01 2.05245525e-01 -2.17769489e+01] [-3.20145586e-01 9.42035881e-01 -1.00375308e-01 3.87349461e+01] [-2.26919651e-01 2.66157903e-02 9.73549727e-01 2.70265852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.314839172999996 meters Centerline goodness : 0.742565 Centerline is valid? [False, False] Translation: X:-21.78, Y:38.74, Z:2.71 [[ 9.19737605e-01 3.34681016e-01 2.05113033e-01 -2.17767983e+01] [-3.20207428e-01 9.41935218e-01 -1.01119967e-01 3.87383711e+01] [-2.27046123e-01 2.73251191e-02 9.73500589e-01 2.70557903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.344839173 meters Centerline goodness : 0.739921 Centerline is valid? [False, False] Translation: X:-21.78, Y:38.74, Z:2.71 [[ 9.15913458e-01 3.42454051e-01 2.09350807e-01 -2.17766161e+01] [-3.30987283e-01 9.39458794e-01 -8.86825459e-02 3.87394074e+01] [-2.27046154e-01 1.19330825e-02 9.73810888e-01 2.70778155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.374839173 meters Centerline goodness : 0.739921 Centerline is valid? [False, False] Translation: X:-21.78, Y:38.74, Z:2.71 [[ 9.15913458e-01 3.42454051e-01 2.09350807e-01 -2.17766161e+01] [-3.30987283e-01 9.39458794e-01 -8.86825459e-02 3.87394074e+01] [-2.27046154e-01 1.19330825e-02 9.73810888e-01 2.70778155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.40483917299999 meters Centerline goodness : 0.741725 Centerline is valid? [False, False] Translation: X:-21.78, Y:38.74, Z:2.71 [[ 9.14221372e-01 3.46182914e-01 2.10610239e-01 -2.17760612e+01] [-3.35497489e-01 9.38135586e-01 -8.56916356e-02 3.87409383e+01] [-2.27245940e-01 7.68191827e-03 9.73807101e-01 2.70675698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.43483917299999 meters Centerline goodness : 0.738280 Centerline is valid? [False, False] Translation: X:-21.77, Y:38.74, Z:2.70 [[ 9.12717691e-01 3.50088467e-01 2.10676248e-01 -2.17744985e+01] [-3.39026657e-01 9.36676663e-01 -8.77368457e-02 3.87432078e+01] [-2.28051183e-01 8.65410713e-03 9.73610684e-01 2.69993123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.464839172999994 meters Centerline goodness : 0.744396 Centerline is valid? [False, False] Translation: X:-21.78, Y:38.74, Z:2.70 [[ 9.13256560e-01 3.49369373e-01 2.09531615e-01 -2.17751934e+01] [-3.37012496e-01 9.36872375e-01 -9.32348165e-02 3.87432409e+01] [-2.28877771e-01 1.45325352e-02 9.73346686e-01 2.69690992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.494839172999995 meters Centerline goodness : 0.742587 Centerline is valid? [False, False] Translation: X:-21.78, Y:38.74, Z:2.70 [[ 9.14446566e-01 3.46718040e-01 2.08744048e-01 -2.17762710e+01] [-3.34115690e-01 9.37828567e-01 -9.40440561e-02 3.87369911e+01] [-2.28372903e-01 1.62536025e-02 9.73438050e-01 2.69678474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.524839173 meters Centerline goodness : 0.740452 Centerline is valid? [False, False] Translation: X:-21.77, Y:38.73, Z:2.70 [[ 9.14424593e-01 3.46524888e-01 2.09160621e-01 -2.17740364e+01] [-3.35428982e-01 9.37988549e-01 -8.75493014e-02 3.87340398e+01] [-2.26528279e-01 9.89870024e-03 9.73954288e-01 2.69864278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.554839173 meters Centerline goodness : 0.737413 Centerline is valid? [False, False] Translation: X:-21.77, Y:38.74, Z:2.71 [[ 9.14045889e-01 3.47332457e-01 2.09476196e-01 -2.17675212e+01] [-3.38754819e-01 9.37741683e-01 -7.67183735e-02 3.87385580e+01] [-2.23081342e-01 -8.36956843e-04 9.74799474e-01 2.70553018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.58483917299999 meters Centerline goodness : 0.737458 Centerline is valid? [False, False] Translation: X:-21.76, Y:38.74, Z:2.71 [[ 9.13635538e-01 3.48449582e-01 2.09411061e-01 -2.17641669e+01] [-3.40742632e-01 9.37316067e-01 -7.30277266e-02 3.87421409e+01] [-2.21730833e-01 -4.63455005e-03 9.75096897e-01 2.70775487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.61483917299999 meters Centerline goodness : 0.741556 Centerline is valid? [False, False] Translation: X:-21.77, Y:38.74, Z:2.71 [[ 9.14569215e-01 3.53308256e-01 1.96815721e-01 -2.17662486e+01] [-3.43015573e-01 9.35447930e-01 -8.53081910e-02 3.87422859e+01] [-2.14250947e-01 1.05093879e-02 9.76722112e-01 2.71171594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.644839172999994 meters Centerline goodness : 0.740769 Centerline is valid? [False, False] Translation: X:-21.77, Y:38.73, Z:2.70 [[ 9.16569028e-01 3.49723107e-01 1.93894211e-01 -2.17650563e+01] [-3.37820500e-01 9.36654793e-01 -9.24938281e-02 3.87344581e+01] [-2.13959171e-01 1.92755388e-02 9.76652408e-01 2.70074098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.674839172999995 meters Centerline goodness : 0.737140 Centerline is valid? [False, False] Translation: X:-21.76, Y:38.73, Z:2.70 [[ 9.18203235e-01 3.46950040e-01 1.91124275e-01 -2.17608654e+01] [-3.34202696e-01 9.37560349e-01 -9.63802393e-02 3.87347816e+01] [-2.12629669e-01 2.46223996e-02 9.76822584e-01 2.69673266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.704839172999996 meters Centerline goodness : 0.735058 Centerline is valid? [False, False] Translation: X:-21.76, Y:38.74, Z:2.69 [[ 9.19090406e-01 3.45503209e-01 1.89473899e-01 -2.17556768e+01] [-3.32991854e-01 9.38096665e-01 -9.53471190e-02 3.87350200e+01] [-2.10687568e-01 2.45393574e-02 9.77245398e-01 2.69392746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.734839173 meters Centerline goodness : 0.735115 Centerline is valid? [False, False] Translation: X:-21.75, Y:38.74, Z:2.70 [[ 9.17834620e-01 3.48246623e-01 1.90535821e-01 -2.17512479e+01] [-3.37685823e-01 9.37283289e-01 -8.64194504e-02 3.87376281e+01] [-2.08681323e-01 1.49775178e-02 9.77868999e-01 2.69686463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76483917299999 meters Centerline goodness : 0.735497 Centerline is valid? [False, False] Translation: X:-21.75, Y:38.75, Z:2.70 [[ 9.13955625e-01 3.49591626e-01 2.06084472e-01 -2.17527390e+01] [-3.40098261e-01 9.36893839e-01 -8.10130043e-02 3.87456559e+01] [-2.21400741e-01 3.95332032e-03 9.75174899e-01 2.69703072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.79483917299999 meters Centerline goodness : 0.738194 Centerline is valid? [False, False] Translation: X:-21.75, Y:38.75, Z:2.70 [[ 9.13603329e-01 3.50472590e-01 2.06150236e-01 -2.17527608e+01] [-3.41154969e-01 9.36567973e-01 -8.03350413e-02 3.87477092e+01] [-2.21228939e-01 3.06518373e-03 9.75217084e-01 2.70008604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.824839172999994 meters Centerline goodness : 0.737287 Centerline is valid? [False, False] Translation: X:-21.75, Y:38.75, Z:2.70 [[ 9.15056785e-01 3.47992845e-01 2.03892274e-01 -2.17506028e+01] [-3.37728533e-01 9.37460605e-01 -8.43033291e-02 3.87492446e+01] [-2.20477930e-01 8.28209460e-03 9.75356801e-01 2.69980412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.854839172999995 meters Centerline goodness : 0.737907 Centerline is valid? [False, False] Translation: X:-21.75, Y:38.75, Z:2.70 [[ 9.18406678e-01 3.41055086e-01 2.00525816e-01 -2.17495631e+01] [-3.29406503e-01 9.39898259e-01 -8.99033839e-02 3.87464594e+01] [-2.19135872e-01 1.65133602e-02 9.75554600e-01 2.70157660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.884839172999996 meters Centerline goodness : 0.739415 Centerline is valid? [False, False] Translation: X:-21.75, Y:38.74, Z:2.71 [[ 9.19315218e-01 3.38558263e-01 2.00593701e-01 -2.17483773e+01] [-3.28307047e-01 9.40883455e-01 -8.33834936e-02 3.87421432e+01] [-2.16965466e-01 1.07993887e-02 9.76119542e-01 2.70671338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.914839173 meters Centerline goodness : 0.740226 Centerline is valid? [False, False] Translation: X:-21.75, Y:38.74, Z:2.71 [[ 9.18713333e-01 3.39748922e-01 2.01336736e-01 -2.17476218e+01] [-3.30516573e-01 9.40497476e-01 -7.88878488e-02 3.87431579e+01] [-2.16158754e-01 5.93019050e-03 9.76340220e-01 2.71047506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94483917299999 meters Centerline goodness : 0.738110 Centerline is valid? [False, False] Translation: X:-21.75, Y:38.75, Z:2.71 [[ 9.16357238e-01 3.45019884e-01 2.03102662e-01 -2.17456192e+01] [-3.37157267e-01 9.38594398e-01 -7.32497943e-02 3.87491934e+01] [-2.15903657e-01 -1.35455940e-03 9.76413732e-01 2.71225656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.97483917299999 meters Centerline goodness : 0.738150 Centerline is valid? [False, False] Translation: X:-21.75, Y:38.75, Z:2.71 [[ 9.14794629e-01 3.48459320e-01 2.04271606e-01 -2.17450356e+01] [-3.41254889e-01 9.37310257e-01 -7.06723538e-02 3.87506994e+01] [-2.16092312e-01 -5.05799457e-03 9.76359836e-01 2.71060975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.00483917299999 meters Centerline goodness : 0.739864 Centerline is valid? [False, False] Translation: X:-21.75, Y:38.75, Z:2.71 [[ 9.13534242e-01 3.51257732e-01 2.05117513e-01 -2.17470393e+01] [-3.43771894e-01 9.36268032e-01 -7.22707137e-02 3.87529202e+01] [-2.17430618e-01 -4.49186450e-03 9.76065443e-01 2.71051838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.034839172999995 meters Centerline goodness : 0.740946 Centerline is valid? [False, False] Translation: X:-21.75, Y:38.75, Z:2.71 [[ 9.13899003e-01 3.50621396e-01 2.04580667e-01 -2.17465002e+01] [-3.43051310e-01 9.36509328e-01 -7.25677462e-02 3.87547420e+01] [-2.17035508e-01 -3.86207497e-03 9.76156070e-01 2.71313724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.064839172999996 meters Centerline goodness : 0.742757 Centerline is valid? [False, False] Translation: X:-21.74, Y:38.76, Z:2.72 [[ 9.17184999e-01 3.43718724e-01 2.01566654e-01 -2.17423656e+01] [-3.36084439e-01 9.39071196e-01 -7.20592737e-02 3.87553849e+01] [-2.14053560e-01 -1.65173096e-03 9.76820529e-01 2.71931461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.094839173 meters Centerline goodness : 0.745802 Centerline is valid? [False, False] Translation: X:-21.74, Y:38.75, Z:2.73 [[ 9.19962362e-01 3.37147597e-01 2.00001878e-01 -2.17441086e+01] [-3.28884093e-01 9.41448454e-01 -7.42297886e-02 3.87526622e+01] [-2.13317853e-01 2.51117546e-03 9.76979625e-01 2.72589847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.124839173 meters Centerline goodness : 0.747683 Centerline is valid? [False, False] Translation: X:-21.74, Y:38.75, Z:2.73 [[ 9.21476314e-01 3.33866503e-01 1.98531007e-01 -2.17442672e+01] [-3.24740748e-01 9.42592242e-01 -7.78672714e-02 3.87521570e+01] [-2.13131060e-01 7.28173858e-03 9.76996483e-01 2.72706610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.15483917299999 meters Centerline goodness : 0.744549 Centerline is valid? [False, False] Translation: X:-21.74, Y:38.75, Z:2.73 [[ 9.23222896e-01 3.30552626e-01 1.95945009e-01 -2.17403401e+01] [-3.20786096e-01 9.43716942e-01 -8.05891662e-02 3.87522674e+01] [-2.11555585e-01 1.15453291e-02 9.77297774e-01 2.72509117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.18483917299999 meters Centerline goodness : 0.745483 Centerline is valid? [False, False] Translation: X:-21.74, Y:38.76, Z:2.72 [[ 9.24927526e-01 3.27510174e-01 1.92992639e-01 -2.17356181e+01] [-3.16693364e-01 9.44679375e-01 -8.53591982e-02 3.87551254e+01] [-2.10272171e-01 1.78315841e-02 9.77480255e-01 2.72191283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.214839172999994 meters Centerline goodness : 0.742600 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.76, Z:2.72 [[ 9.25022625e-01 3.27483379e-01 1.92581877e-01 -2.17342726e+01] [-3.16738426e-01 9.44691474e-01 -8.50575639e-02 3.87560767e+01] [-2.09785396e-01 1.76820903e-02 9.77587557e-01 2.72194768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.244839172999995 meters Centerline goodness : 0.745122 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.76, Z:2.72 [[ 9.23762635e-01 3.23050968e-01 2.05671259e-01 -2.17347303e+01] [-3.13245538e-01 9.46338634e-01 -7.95010861e-02 3.87602597e+01] [-2.20317561e-01 9.01452865e-03 9.75386544e-01 2.71862656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.274839173 meters Centerline goodness : 0.742950 Centerline is valid? [False, False] Translation: X:-21.74, Y:38.76, Z:2.72 [[ 9.23801569e-01 3.22626814e-01 2.06161588e-01 -2.17370291e+01] [-3.12666633e-01 9.46478036e-01 -8.01180622e-02 3.87617906e+01] [-2.20975650e-01 9.55334182e-03 9.75232534e-01 2.72268150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.304839173 meters Centerline goodness : 0.748328 Centerline is valid? [False, False] Translation: X:-21.74, Y:38.76, Z:2.72 [[ 9.25092300e-01 3.19932030e-01 2.04567184e-01 -2.17363539e+01] [-3.08963686e-01 9.47324166e-01 -8.43704082e-02 3.87635259e+01] [-2.20784233e-01 1.48465838e-02 9.75209671e-01 2.72359968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.33483917299999 meters Centerline goodness : 0.744985 Centerline is valid? [False, False] Translation: X:-21.74, Y:38.76, Z:2.73 [[ 9.25492527e-01 3.18603084e-01 2.04830803e-01 -2.17387669e+01] [-3.07771174e-01 9.47779769e-01 -8.36086968e-02 3.87625060e+01] [-2.20772480e-01 1.43382073e-02 9.75219938e-01 2.72908255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.36483917299999 meters Centerline goodness : 0.747580 Centerline is valid? [False, False] Translation: X:-21.74, Y:38.76, Z:2.73 [[ 9.25502835e-01 3.18470868e-01 2.04989776e-01 -2.17395220e+01] [-3.07641146e-01 9.47825007e-01 -8.35744115e-02 3.87616537e+01] [-2.20910451e-01 1.42850653e-02 9.75189474e-01 2.72971471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.394839172999994 meters Centerline goodness : 0.744316 Centerline is valid? [False, False] Translation: X:-21.74, Y:38.76, Z:2.73 [[ 9.26292381e-01 3.17322125e-01 2.03197181e-01 -2.17367203e+01] [-3.05351072e-01 9.48105700e-01 -8.86357963e-02 3.87638597e+01] [-2.20778505e-01 2.00561857e-02 9.75117737e-01 2.72528569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.424839172999995 meters Centerline goodness : 0.743916 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.77, Z:2.72 [[ 9.26450897e-01 3.17431316e-01 2.02301988e-01 -2.17339043e+01] [-3.05252090e-01 9.48041871e-01 -8.96536209e-02 3.87657112e+01] [-2.20249622e-01 2.13065727e-02 9.75210815e-01 2.72222079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.454839172999996 meters Centerline goodness : 0.741575 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.77, Z:2.72 [[ 9.25946318e-01 3.19082721e-01 2.02013945e-01 -2.17318545e+01] [-3.06811650e-01 9.47480803e-01 -9.02592902e-02 3.87681490e+01] [-2.20204515e-01 2.15950257e-02 9.75214657e-01 2.71961034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.484839173 meters Centerline goodness : 0.742017 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.77, Z:2.72 [[ 9.23762089e-01 3.24151671e-01 2.03934540e-01 -2.17327391e+01] [-3.12527966e-01 9.45846390e-01 -8.77546357e-02 3.87700531e+01] [-2.21336560e-01 1.73291587e-02 9.75043500e-01 2.71826468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.51483917299999 meters Centerline goodness : 0.743547 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.77, Z:2.72 [[ 9.23078119e-01 3.25702344e-01 2.04559940e-01 -2.17346972e+01] [-3.13609534e-01 9.45284303e-01 -8.99257883e-02 3.87749712e+01] [-2.22656341e-01 1.88565798e-02 9.74714616e-01 2.72163309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.54483917299999 meters Centerline goodness : 0.742277 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.78, Z:2.72 [[ 9.23245762e-01 3.25380800e-01 2.04314946e-01 -2.17344068e+01] [-3.13377470e-01 9.45399677e-01 -8.95210175e-02 3.87755140e+01] [-2.22287704e-01 1.86221991e-02 9.74803257e-01 2.72340856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.574839172999994 meters Centerline goodness : 0.742534 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.78, Z:2.73 [[ 9.24014008e-01 3.23697135e-01 2.03514808e-01 -2.17331905e+01] [-3.11631915e-01 9.45960815e-01 -8.96865972e-02 3.87775321e+01] [-2.21548328e-01 1.94499629e-02 9.74955403e-01 2.72580691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.604839172999995 meters Centerline goodness : 0.742077 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.78, Z:2.72 [[ 9.24210615e-01 3.23626472e-01 2.02732942e-01 -2.17310776e+01] [-3.11333962e-01 9.45957209e-01 -9.07530927e-02 3.87798849e+01] [-2.21146791e-01 2.07573215e-02 9.75019605e-01 2.72452497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.634839172999996 meters Centerline goodness : 0.742569 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.78, Z:2.72 [[ 9.25478228e-01 3.21330555e-01 2.00590937e-01 -2.17280314e+01] [-3.08117969e-01 9.46611676e-01 -9.48137714e-02 3.87806168e+01] [-2.20348285e-01 2.59424089e-02 9.75076215e-01 2.72103443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.664839173 meters Centerline goodness : 0.742808 Centerline is valid? [False, False] Translation: X:-21.73, Y:38.78, Z:2.72 [[ 9.25855401e-01 3.20746129e-01 1.99784128e-01 -2.17255082e+01] [-3.07851002e-01 9.46834960e-01 -9.34415335e-02 3.87800851e+01] [-2.19133607e-01 2.50096046e-02 9.75374278e-01 2.72025910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.69483917299999 meters Centerline goodness : 0.741448 Centerline is valid? [False, False] Translation: X:-21.72, Y:38.78, Z:2.72 [[ 9.27431157e-01 3.17754574e-01 1.97239649e-01 -2.17214425e+01] [-3.03923091e-01 9.47678373e-01 -9.76547765e-02 3.87845322e+01] [-2.17950001e-01 3.06223986e-02 9.75479403e-01 2.71959469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.72483917299999 meters Centerline goodness : 0.739589 Centerline is valid? [False, False] Translation: X:-21.72, Y:38.78, Z:2.72 [[ 9.27531395e-01 3.17590651e-01 1.97032203e-01 -2.17198585e+01] [-3.04058727e-01 9.47770932e-01 -9.63252332e-02 3.87830726e+01] [-2.17333388e-01 2.94353174e-02 9.75653504e-01 2.71763209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.75483917299999 meters Centerline goodness : 0.738635 Centerline is valid? [False, False] Translation: X:-21.72, Y:38.78, Z:2.71 [[ 9.29351833e-01 3.13590309e-01 1.94849401e-01 -2.17171701e+01] [-2.99294798e-01 9.48937132e-01 -9.97042771e-02 3.87815056e+01] [-2.16166127e-01 3.43429404e-02 9.75752411e-01 2.71429316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.784839172999995 meters Centerline goodness : 0.742443 Centerline is valid? [False, False] Translation: X:-21.72, Y:38.78, Z:2.72 [[ 9.30194702e-01 3.11395412e-01 1.94346890e-01 -2.17175807e+01] [-2.97609941e-01 9.49719844e-01 -9.72653146e-02 3.87773881e+01] [-2.14863071e-01 3.26361139e-02 9.76098737e-01 2.71858627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.814839172999996 meters Centerline goodness : 0.741481 Centerline is valid? [False, False] Translation: X:-21.72, Y:38.78, Z:2.72 [[ 9.30535002e-01 3.10830647e-01 1.93620552e-01 -2.17155880e+01] [-2.97291615e-01 9.49927940e-01 -9.62008567e-02 3.87774480e+01] [-2.13827746e-01 3.19564979e-02 9.76348543e-01 2.71893306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.844839173 meters Centerline goodness : 0.742270 Centerline is valid? [False, False] Translation: X:-21.72, Y:38.78, Z:2.72 [[ 9.29658727e-01 3.12826117e-01 1.94613646e-01 -2.17156147e+01] [-3.00180047e-01 9.49418864e-01 -9.21724474e-02 3.87767659e+01] [-2.13603815e-01 2.72697868e-02 9.76539691e-01 2.71983577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.874839173 meters Centerline goodness : 0.741914 Centerline is valid? [False, False] Translation: X:-21.72, Y:38.78, Z:2.72 [[ 9.26738097e-01 3.19434332e-01 1.97783232e-01 -2.17171574e+01] [-3.08515937e-01 9.47448818e-01 -8.46088302e-02 3.87761807e+01] [-2.14416455e-01 1.73909472e-02 9.76587497e-01 2.71967918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.90483917299999 meters Centerline goodness : 0.740201 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.77, Z:2.72 [[ 9.26065261e-01 3.21175807e-01 1.98114192e-01 -2.17142624e+01] [-3.11397064e-01 9.46943772e-01 -7.95572844e-02 3.87737122e+01] [-2.13154875e-01 1.19830596e-02 9.76944935e-01 2.71636055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.93483917299999 meters Centerline goodness : 0.739245 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.78, Z:2.72 [[ 9.26854642e-01 3.19838693e-01 1.96579965e-01 -2.17128658e+01] [-3.08956990e-01 9.47307386e-01 -8.45830603e-02 3.87782191e+01] [-2.13274588e-01 1.76614477e-02 9.76832649e-01 2.71598670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.964839172999994 meters Centerline goodness : 0.742292 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.77, Z:2.71 [[ 9.26806367e-01 3.19870294e-01 1.96756073e-01 -2.17134630e+01] [-3.09038236e-01 9.47302187e-01 -8.43441517e-02 3.87746676e+01] [-2.13366647e-01 1.73655470e-02 9.76817850e-01 2.71374534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.994839172999995 meters Centerline goodness : 0.741622 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.78, Z:2.72 [[ 9.25906091e-01 3.21805971e-01 1.97835354e-01 -2.17138236e+01] [-3.11738833e-01 9.46712379e-01 -8.09603121e-02 3.87763812e+01] [-2.13346690e-01 1.32886839e-02 9.76886176e-01 2.71638456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.024839173 meters Centerline goodness : 0.742307 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.78, Z:2.72 [[ 9.23133950e-01 3.28106435e-01 2.00424244e-01 -2.17112897e+01] [-3.20803845e-01 9.44640466e-01 -6.88424486e-02 3.87784474e+01] [-2.11916501e-01 -7.46066457e-04 9.77287491e-01 2.71870272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.054839173 meters Centerline goodness : 0.743380 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.78, Z:2.72 [[ 9.21546558e-01 3.31470982e-01 2.02185382e-01 -2.17127581e+01] [-3.24810492e-01 9.43454215e-01 -6.62743492e-02 3.87812690e+01] [-2.12720674e-01 -4.59703477e-03 9.77102237e-01 2.72077474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08483917299999 meters Centerline goodness : 0.745839 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.79, Z:2.71 [[ 9.18697094e-01 3.31090777e-01 2.15347505e-01 -2.17111494e+01] [-3.25476737e-01 9.43508774e-01 -6.20974029e-02 3.87882144e+01] [-2.23742138e-01 -1.30418996e-02 9.74561114e-01 2.71128768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.11483917299999 meters Centerline goodness : 0.745094 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.79, Z:2.71 [[ 9.18391990e-01 3.31909612e-01 2.15388399e-01 -2.17110717e+01] [-3.26032729e-01 9.43234189e-01 -6.33397473e-02 3.87932236e+01] [-2.24184773e-01 -1.20529509e-02 9.74472121e-01 2.71323277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.144839172999994 meters Centerline goodness : 0.746998 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.80, Z:2.71 [[ 9.19285847e-01 3.30948055e-01 2.13042055e-01 -2.17044833e+01] [-3.24258723e-01 9.43616737e-01 -6.66613389e-02 3.88011369e+01] [-2.23091489e-01 -7.79991933e-03 9.74766305e-01 2.70879705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.174839172999995 meters Centerline goodness : 0.751289 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.81, Z:2.70 [[ 9.20660339e-01 3.28808119e-01 2.10403806e-01 -2.17002012e+01] [-3.20650914e-01 9.44396641e-01 -7.27871985e-02 3.88054651e+01] [-2.22637669e-01 -4.53885690e-04 9.74901155e-01 2.70445367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.204839172999996 meters Centerline goodness : 0.740531 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.81, Z:2.70 [[ 9.20051564e-01 3.30068053e-01 2.11092870e-01 -2.16998753e+01] [-3.21624723e-01 9.43957072e-01 -7.41794011e-02 3.88068485e+01] [-2.23746858e-01 3.56188162e-04 9.74647227e-01 2.69802701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.234839173 meters Centerline goodness : 0.740851 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.81, Z:2.70 [[ 9.19723885e-01 3.30577700e-01 2.11722365e-01 -2.17019119e+01] [-3.21676079e-01 9.43776662e-01 -7.62240946e-02 3.88101108e+01] [-2.25016613e-01 1.99910030e-03 9.74352876e-01 2.69958989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26483917299999 meters Centerline goodness : 0.740480 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.81, Z:2.70 [[ 9.19726204e-01 3.30715485e-01 2.11496994e-01 -2.17015545e+01] [-3.21624412e-01 9.43726191e-01 -7.70623966e-02 3.88135079e+01] [-2.25080980e-01 2.85370917e-03 9.74335881e-01 2.70158117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.29483917299999 meters Centerline goodness : 0.740480 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.81, Z:2.70 [[ 9.19726204e-01 3.30715485e-01 2.11496994e-01 -2.17015545e+01] [-3.21624412e-01 9.43726191e-01 -7.70623966e-02 3.88135079e+01] [-2.25080980e-01 2.85370917e-03 9.74335881e-01 2.70158117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.324839172999994 meters Centerline goodness : 0.743955 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.82, Z:2.71 [[ 9.19190602e-01 3.31670972e-01 2.12327585e-01 -2.16983696e+01] [-3.24785402e-01 9.43370309e-01 -6.75788702e-02 3.88192456e+01] [-2.22717489e-01 -6.84303746e-03 9.74859012e-01 2.70890809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.354839172999995 meters Centerline goodness : 0.749024 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.82, Z:2.72 [[ 9.17319206e-01 3.34675360e-01 2.15680034e-01 -2.17017575e+01] [-3.29990293e-01 9.42170617e-01 -5.84887557e-02 3.88222593e+01] [-2.22782136e-01 -1.75194589e-02 9.74710823e-01 2.71782031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.384839172999996 meters Centerline goodness : 0.749509 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.82, Z:2.72 [[ 9.16540724e-01 3.36025329e-01 2.16887251e-01 -2.17024088e+01] [-3.32358375e-01 9.41588600e-01 -5.43030261e-02 3.88225612e+01] [-2.22465756e-01 -2.23133596e-02 9.74685129e-01 2.72060996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.414839173 meters Centerline goodness : 0.751215 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.82, Z:2.72 [[ 9.16289794e-01 3.36317974e-01 2.17493064e-01 -2.17038730e+01] [-3.32805328e-01 9.41463812e-01 -5.37262032e-02 3.88237015e+01] [-2.22830937e-01 -2.31540788e-02 9.74582096e-01 2.72333309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44483917299999 meters Centerline goodness : 0.750501 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.83, Z:2.72 [[ 9.15868424e-01 3.37128224e-01 2.18012821e-01 -2.17053221e+01] [-3.33379297e-01 9.41192434e-01 -5.49094445e-02 3.88253176e+01] [-2.23703541e-01 -2.23911344e-02 9.74400002e-01 2.72446243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.47483917299999 meters Centerline goodness : 0.752894 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.83, Z:2.73 [[ 9.14644822e-01 3.39816885e-01 2.18973364e-01 -2.17042672e+01] [-3.36840470e-01 9.40126062e-01 -5.19758100e-02 3.88290146e+01] [-2.23524824e-01 -2.62196855e-02 9.74345514e-01 2.72513338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.50483917299999 meters Centerline goodness : 0.751993 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.83, Z:2.73 [[ 9.14634607e-01 3.40153002e-01 2.18493642e-01 -2.17032552e+01] [-3.36858640e-01 9.40042786e-01 -5.33462012e-02 3.88332604e+01] [-2.23539242e-01 -2.48091894e-02 9.74379141e-01 2.72663926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.534839172999995 meters Centerline goodness : 0.750868 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.84, Z:2.72 [[ 9.14852325e-01 3.39988804e-01 2.17836721e-01 -2.17038977e+01] [-3.35262449e-01 9.40245214e-01 -5.94813193e-02 3.88364612e+01] [-2.25042917e-01 -1.86158491e-02 9.74170999e-01 2.72477361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.564839172999996 meters Centerline goodness : 0.752354 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.84, Z:2.72 [[ 9.14500856e-01 3.40527330e-01 2.18470412e-01 -2.17050862e+01] [-3.35797866e-01 9.40045743e-01 -5.96137060e-02 3.88361580e+01] [-2.25672277e-01 -1.88451130e-02 9.74020988e-01 2.72414175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.594839173 meters Centerline goodness : 0.753529 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.84, Z:2.73 [[ 9.14958237e-01 3.39680705e-01 2.17872539e-01 -2.17043249e+01] [-3.34968427e-01 9.40356000e-01 -5.93864074e-02 3.88379946e+01] [-2.25050166e-01 -1.86443392e-02 9.74168780e-01 2.72723968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.624839173 meters Centerline goodness : 0.755759 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.84, Z:2.72 [[ 9.15873807e-01 3.30676881e-01 2.27657574e-01 -2.17006812e+01] [-3.26345713e-01 9.43497076e-01 -5.75477460e-02 3.88416108e+01] [-2.33823964e-01 -2.15886000e-02 9.72039241e-01 2.72203448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.65483917299999 meters Centerline goodness : 0.755097 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.84, Z:2.72 [[ 9.16728355e-01 3.28979159e-01 2.26675619e-01 -2.17016813e+01] [-3.23681698e-01 9.44180410e-01 -6.12659053e-02 3.88424941e+01] [-2.34177885e-01 -1.72065568e-02 9.72041487e-01 2.72480771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.68483917299999 meters Centerline goodness : 0.754834 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.84, Z:2.73 [[ 9.18076103e-01 3.26081882e-01 2.25403806e-01 -2.17022410e+01] [-3.19903189e-01 9.45253402e-01 -6.44822083e-02 3.88408418e+01] [-2.34090194e-01 -1.29078219e-02 9.72129194e-01 2.72627262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.714839172999994 meters Centerline goodness : 0.754512 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.84, Z:2.73 [[ 9.19726340e-01 3.22877095e-01 2.23279736e-01 -2.17001045e+01] [-3.15882517e-01 9.46402258e-01 -6.73869522e-02 3.88405061e+01] [-2.33070150e-01 -8.55260995e-03 9.72422315e-01 2.72599356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.744839172999995 meters Centerline goodness : 0.750249 Centerline is valid? [False, False] Translation: X:-21.69, Y:38.84, Z:2.72 [[ 9.22278702e-01 3.18508491e-01 2.18984789e-01 -2.16943514e+01] [-3.09273679e-01 9.47916616e-01 -7.61832080e-02 3.88421450e+01] [-2.31844319e-01 2.53591891e-03 9.72749598e-01 2.71940127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.774839173 meters Centerline goodness : 0.745990 Centerline is valid? [False, False] Translation: X:-21.69, Y:38.84, Z:2.72 [[ 9.23152284e-01 3.17128062e-01 2.17300836e-01 -2.16920758e+01] [-3.06718885e-01 9.48347986e-01 -8.09914956e-02 3.88429063e+01] [-2.31761487e-01 8.11721380e-03 9.72738775e-01 2.71509784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.804839173 meters Centerline goodness : 0.747437 Centerline is valid? [False, False] Translation: X:-21.69, Y:38.84, Z:2.71 [[ 9.23913149e-01 3.15153567e-01 2.16939443e-01 -2.16937631e+01] [-3.03782393e-01 9.48958927e-01 -8.48128105e-02 3.88404976e+01] [-2.32595681e-01 1.24572877e-02 9.72493735e-01 2.71290333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.83483917299999 meters Centerline goodness : 0.746156 Centerline is valid? [False, False] Translation: X:-21.69, Y:38.84, Z:2.72 [[ 9.24997269e-01 3.12724763e-01 2.15831590e-01 -2.16947264e+01] [-3.00377493e-01 9.49687882e-01 -8.86921012e-02 3.88405272e+01] [-2.32708862e-01 1.72089994e-02 9.72394177e-01 2.71546407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.86483917299999 meters Centerline goodness : 0.748168 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.83, Z:2.72 [[ 9.24992014e-01 3.12247150e-01 2.16544432e-01 -2.16978674e+01] [-3.00187116e-01 9.49869029e-01 -8.73872016e-02 3.88347055e+01] [-2.32975254e-01 1.58286152e-02 9.72353838e-01 2.71763197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.894839172999994 meters Centerline goodness : 0.749278 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.83, Z:2.72 [[ 9.24945984e-01 3.12159536e-01 2.16867125e-01 -2.16981301e+01] [-3.00846442e-01 9.49945221e-01 -8.42347636e-02 3.88341648e+01] [-2.32306574e-01 1.26689034e-02 9.72560103e-01 2.72099922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.924839172999995 meters Centerline goodness : 0.750844 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.83, Z:2.72 [[ 9.23997925e-01 3.14130924e-01 2.18058703e-01 -2.16990098e+01] [-3.03821614e-01 9.49347172e-01 -8.02020864e-02 3.88344016e+01] [-2.32207368e-01 7.85561432e-03 9.72634581e-01 2.72410632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.954839172999996 meters Centerline goodness : 0.748723 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.83, Z:2.72 [[ 9.24250717e-01 3.20756598e-01 2.07064767e-01 -2.17000468e+01] [-3.10650738e-01 9.47107893e-01 -8.05155707e-02 3.88291450e+01] [-2.21938576e-01 1.00917512e-02 9.75008423e-01 2.72162816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.984839173 meters Centerline goodness : 0.748331 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.83, Z:2.72 [[ 9.23446714e-01 3.22692349e-01 2.07643478e-01 -2.17002843e+01] [-3.12306712e-01 9.46442240e-01 -8.19243797e-02 3.88295956e+01] [-2.22958929e-01 1.08043473e-02 9.74767963e-01 2.71748565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.01483917299999 meters Centerline goodness : 0.750246 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.83, Z:2.71 [[ 9.21673764e-01 3.27153475e-01 2.08537950e-01 -2.16987092e+01] [-3.17151707e-01 9.44935306e-01 -8.06973566e-02 3.88321528e+01] [-2.23455292e-01 8.23846979e-03 9.74679363e-01 2.71308291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.04483917299999 meters Centerline goodness : 0.748519 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.84, Z:2.71 [[ 9.21845423e-01 3.27189705e-01 2.07720759e-01 -2.16964174e+01] [-3.17046566e-01 9.44914507e-01 -8.13513959e-02 3.88352384e+01] [-2.22895698e-01 9.13625870e-03 9.74799485e-01 2.71268851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.074839172999994 meters Centerline goodness : 0.749116 Centerline is valid? [False, False] Translation: X:-21.69, Y:38.83, Z:2.71 [[ 9.22574086e-01 3.25714071e-01 2.06802803e-01 -2.16942445e+01] [-3.16043339e-01 9.45437251e-01 -7.91518324e-02 3.88340885e+01] [-2.21299939e-01 7.66478112e-03 9.75175670e-01 2.71425388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.104839172999995 meters Centerline goodness : 0.749390 Centerline is valid? [False, False] Translation: X:-21.69, Y:38.83, Z:2.72 [[ 9.23422021e-01 3.23588999e-01 2.06353897e-01 -2.16944085e+01] [-3.14317287e-01 9.46176084e-01 -7.71716326e-02 3.88309084e+01] [-2.20219013e-01 6.40138804e-03 9.75429448e-01 2.71770971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.134839172999996 meters Centerline goodness : 0.751443 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.83, Z:2.72 [[ 9.26195395e-01 3.17102035e-01 2.03981346e-01 -2.16959370e+01] [-3.06521961e-01 9.48291257e-01 -8.23891961e-02 3.88259890e+01] [-2.19559509e-01 1.37837319e-02 9.75501733e-01 2.72157960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.164839173 meters Centerline goodness : 0.749509 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.82, Z:2.72 [[ 9.27456761e-01 3.14245122e-01 2.02667115e-01 -2.16958459e+01] [-3.03201223e-01 9.49195231e-01 -8.42462604e-02 3.88222790e+01] [-2.18844635e-01 1.66858467e-02 9.75617040e-01 2.72198534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.19483917299999 meters Centerline goodness : 0.749438 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.82, Z:2.73 [[ 9.30384958e-01 3.06953533e-01 2.00407980e-01 -2.16982671e+01] [-2.94647114e-01 9.51419820e-01 -8.93498985e-02 3.88172845e+01] [-2.18098391e-01 2.40801686e-02 9.75629662e-01 2.72826631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.22483917299999 meters Centerline goodness : 0.752444 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.81, Z:2.73 [[ 9.32346282e-01 3.01699681e-01 1.99267941e-01 -2.17008862e+01] [-2.89313484e-01 9.53058731e-01 -8.93127314e-02 3.88094401e+01] [-2.16859673e-01 2.56194908e-02 9.75866550e-01 2.73474874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.25483917299999 meters Centerline goodness : 0.754285 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.80, Z:2.74 [[ 9.32503028e-01 3.00984495e-01 1.99615722e-01 -2.17025920e+01] [-2.88902710e-01 9.53321111e-01 -8.78298590e-02 3.88049879e+01] [-2.16733307e-01 2.42320865e-02 9.75930059e-01 2.73610994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.284839172999995 meters Centerline goodness : 0.757642 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.80, Z:2.74 [[ 9.32739838e-01 3.00198844e-01 1.99692386e-01 -2.17051829e+01] [-2.87643729e-01 9.53511661e-01 -8.98698932e-02 3.88020437e+01] [-2.17387857e-01 2.63849669e-02 9.75728627e-01 2.73759976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.314839172999996 meters Centerline goodness : 0.757451 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.80, Z:2.74 [[ 9.32695117e-01 3.00247203e-01 1.99828517e-01 -2.17059771e+01] [-2.87919360e-01 9.53525204e-01 -8.88376411e-02 3.87991069e+01] [-2.17214781e-01 2.53239353e-02 9.75795285e-01 2.73845628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.344839173 meters Centerline goodness : 0.760773 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.79, Z:2.74 [[ 9.33518898e-01 2.97930988e-01 1.99448225e-01 -2.17078727e+01] [-2.85722672e-01 9.54252920e-01 -8.81131027e-02 3.87934988e+01] [-2.16575675e-01 2.52683669e-02 9.75938772e-01 2.74202913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.374839173 meters Centerline goodness : 0.759113 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.78, Z:2.75 [[ 9.35008130e-01 3.01015717e-01 1.87481557e-01 -2.17098325e+01] [-2.89529464e-01 9.53246454e-01 -8.65672478e-02 3.87828448e+01] [-2.04774231e-01 2.66596459e-02 9.78446104e-01 2.74698559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.40483917299999 meters Centerline goodness : 0.762094 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.78, Z:2.75 [[ 9.36781092e-01 2.96211348e-01 1.86279422e-01 -2.17130902e+01] [-2.83467010e-01 9.54528717e-01 -9.23113354e-02 3.87756493e+01] [-2.05152723e-01 3.36714426e-02 9.78150599e-01 2.74744899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.43483917299999 meters Centerline goodness : 0.763258 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.77, Z:2.75 [[ 9.36776798e-01 2.96210390e-01 1.86302539e-01 -2.17132528e+01] [-2.83645041e-01 9.54558403e-01 -9.14535211e-02 3.87734393e+01] [-2.04926137e-01 3.28277454e-02 9.78226772e-01 2.74742776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.464839172999994 meters Centerline goodness : 0.762581 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.77, Z:2.75 [[ 9.36405411e-01 2.97460124e-01 1.86178359e-01 -2.17118217e+01] [-2.85192036e-01 9.54219869e-01 -9.01662009e-02 3.87724065e+01] [-2.04475939e-01 3.13355331e-02 9.78369907e-01 2.74580073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.494839172999995 meters Centerline goodness : 0.762299 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.77, Z:2.74 [[ 9.35071406e-01 3.00780361e-01 1.87543700e-01 -2.17118776e+01] [-2.89529798e-01 9.53350722e-01 -8.54101681e-02 3.87689827e+01] [-2.04484623e-01 2.55651162e-02 9.78535878e-01 2.74368130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.524839173 meters Centerline goodness : 0.757948 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.77, Z:2.74 [[ 9.34699291e-01 3.01892455e-01 1.87611784e-01 -2.17115679e+01] [-2.90628081e-01 9.53001999e-01 -8.55716582e-02 3.87665908e+01] [-2.04627843e-01 2.54585155e-02 9.78508717e-01 2.74013440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.554839173 meters Centerline goodness : 0.757137 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.77, Z:2.74 [[ 9.35826798e-01 2.99778071e-01 1.85368045e-01 -2.17082041e+01] [-2.87729384e-01 9.53525329e-01 -8.94496983e-02 3.87662764e+01] [-2.03568184e-01 3.03735913e-02 9.78589515e-01 2.73623673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58483917299999 meters Centerline goodness : 0.752949 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.75, Z:2.73 [[ 9.38354829e-01 3.00064674e-01 1.71614123e-01 -2.17075163e+01] [-2.88196499e-01 9.53244460e-01 -9.09273169e-02 3.87531842e+01] [-1.90874288e-01 3.58634974e-02 9.80959131e-01 2.73332024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.61483917299999 meters Centerline goodness : 0.754689 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.75, Z:2.73 [[ 9.38457414e-01 2.99863086e-01 1.71405403e-01 -2.17068147e+01] [-2.87916380e-01 9.53288242e-01 -9.13547226e-02 3.87530566e+01] [-1.90792664e-01 3.63820937e-02 9.80955913e-01 2.73180355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.644839172999994 meters Centerline goodness : 0.754594 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.75, Z:2.73 [[ 9.37228921e-01 3.03362751e-01 1.71967994e-01 -2.17046868e+01] [-2.91979246e-01 9.52308181e-01 -8.86411210e-02 3.87548734e+01] [-1.90656942e-01 3.28659369e-02 9.81106396e-01 2.72887011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.674839172999995 meters Centerline goodness : 0.753486 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.76, Z:2.72 [[ 9.32802925e-01 3.14625553e-01 1.75753991e-01 -2.17069456e+01] [-3.04265641e-01 9.48894837e-01 -8.37914555e-02 3.87571912e+01] [-1.93134988e-01 2.46850140e-02 9.80861625e-01 2.72422773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.704839172999996 meters Centerline goodness : 0.756955 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.76, Z:2.72 [[ 9.29971321e-01 3.21451836e-01 1.78387386e-01 -2.17098285e+01] [-3.11760228e-01 9.46726159e-01 -8.07164172e-02 3.87577914e+01] [-1.94830445e-01 1.94498612e-02 9.80644074e-01 2.72329318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.734839173 meters Centerline goodness : 0.758542 Centerline is valid? [False, False] Translation: X:-21.72, Y:38.76, Z:2.73 [[ 9.25168730e-01 3.32453112e-01 1.83133144e-01 -2.17156400e+01] [-3.24171260e-01 9.43072820e-01 -7.43414378e-02 3.87588903e+01] [-1.97422933e-01 9.41187137e-03 9.80273228e-01 2.72572150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76483917299999 meters Centerline goodness : 0.761868 Centerline is valid? [False, False] Translation: X:-21.72, Y:38.76, Z:2.73 [[ 9.23592437e-01 3.35808000e-01 1.84959448e-01 -2.17176518e+01] [-3.28378044e-01 9.41920807e-01 -7.03779369e-02 3.87581865e+01] [-1.97850626e-01 4.26390868e-03 9.80222908e-01 2.72782417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.79483917299999 meters Centerline goodness : 0.759039 Centerline is valid? [False, False] Translation: X:-21.72, Y:38.76, Z:2.73 [[ 9.23246561e-01 3.36937386e-01 1.84632025e-01 -2.17163914e+01] [-3.29650649e-01 9.41520308e-01 -6.97850937e-02 3.87588603e+01] [-1.97348008e-01 3.56478100e-03 9.80327015e-01 2.72749095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.824839172999994 meters Centerline goodness : 0.759772 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.75, Z:2.73 [[ 9.24906097e-01 3.39809107e-01 1.70524142e-01 -2.17118608e+01] [-3.33556214e-01 9.40488953e-01 -6.49675475e-02 3.87517973e+01] [-1.82452636e-01 3.20949368e-03 9.83209405e-01 2.73381220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.854839172999995 meters Centerline goodness : 0.757430 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.75, Z:2.73 [[ 9.27911172e-01 3.33416852e-01 1.66775478e-01 -2.17073286e+01] [-3.25898887e-01 9.42704355e-01 -7.14031852e-02 3.87515922e+01] [-1.81026994e-01 1.19038708e-02 9.83406084e-01 2.72986736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.884839172999996 meters Centerline goodness : 0.756616 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.75, Z:2.73 [[ 9.29642634e-01 3.29563900e-01 1.64779273e-01 -2.17055819e+01] [-3.21405665e-01 9.43989048e-01 -7.47199790e-02 3.87508706e+01] [-1.80174837e-01 1.65018864e-02 9.83496170e-01 2.72931707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.914839173 meters Centerline goodness : 0.757791 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.75, Z:2.73 [[ 9.32678771e-01 3.22320297e-01 1.61925711e-01 -2.17017991e+01] [-3.13949160e-01 9.46426540e-01 -7.55826049e-02 3.87474257e+01] [-1.77612598e-01 1.96578501e-02 9.83904128e-01 2.73058032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94483917299999 meters Centerline goodness : 0.758574 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.75, Z:2.73 [[ 9.34251099e-01 3.18418096e-01 1.60576463e-01 -2.16991008e+01] [-3.10277336e-01 9.47751097e-01 -7.41338901e-02 3.87455926e+01] [-1.75792091e-01 1.94364313e-02 9.84235422e-01 2.73230921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.97483917299999 meters Centerline goodness : 0.755407 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.75, Z:2.73 [[ 9.35487257e-01 3.15593578e-01 1.58947429e-01 -2.16955434e+01] [-3.07592197e-01 9.48690215e-01 -7.33070002e-02 3.87459409e+01] [-1.73927089e-01 1.96867756e-02 9.84561729e-01 2.73350857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.00483917299999 meters Centerline goodness : 0.754201 Centerline is valid? [False, False] Translation: X:-21.69, Y:38.75, Z:2.73 [[ 9.35620866e-01 3.15348652e-01 1.58646846e-01 -2.16941608e+01] [-3.07296950e-01 9.48762635e-01 -7.36073842e-02 3.87465659e+01] [-1.73730189e-01 2.01169125e-02 9.84587798e-01 2.73160175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.034839172999995 meters Centerline goodness : 0.751669 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.75, Z:2.73 [[ 9.35780805e-01 3.14883922e-01 1.58626611e-01 -2.16968817e+01] [-3.06128942e-01 9.48826588e-01 -7.75446776e-02 3.87462026e+01] [-1.74926718e-01 2.40046242e-02 9.84288790e-01 2.73157862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.064839172999996 meters Centerline goodness : 0.754881 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.74, Z:2.73 [[ 9.35767773e-01 3.14726980e-01 1.59014476e-01 -2.16985522e+01] [-3.06200660e-01 9.48912945e-01 -7.61930401e-02 3.87433072e+01] [-1.74870900e-01 2.26086541e-02 9.84331762e-01 2.73374728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.094839173 meters Centerline goodness : 0.756536 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.74, Z:2.74 [[ 9.35487175e-01 3.14968976e-01 1.60182048e-01 -2.17023639e+01] [-3.06741784e-01 9.48881576e-01 -7.43856990e-02 3.87401724e+01] [-1.75422982e-01 2.04523403e-02 9.84280691e-01 2.73834357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.124839173 meters Centerline goodness : 0.757970 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.74, Z:2.74 [[ 9.32263144e-01 3.23108761e-01 1.62745690e-01 -2.16992400e+01] [-3.16841731e-01 9.46328557e-01 -6.38246021e-02 3.87447703e+01] [-1.74633182e-01 7.93669790e-03 9.84601574e-01 2.73860401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.15483917299999 meters Centerline goodness : 0.754961 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.75, Z:2.74 [[ 9.30630303e-01 3.27265129e-01 1.63782704e-01 -2.16981191e+01] [-3.21548750e-01 9.44923475e-01 -6.10411938e-02 3.87488137e+01] [-1.74738776e-01 4.14266095e-03 9.84606113e-01 2.73868829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.18483917299999 meters Centerline goodness : 0.754961 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.75, Z:2.74 [[ 9.30630303e-01 3.27265129e-01 1.63782704e-01 -2.16981191e+01] [-3.21548750e-01 9.44923475e-01 -6.10411938e-02 3.87488137e+01] [-1.74738776e-01 4.14266095e-03 9.84606113e-01 2.73868829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.214839172999994 meters Centerline goodness : 0.754592 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.75, Z:2.74 [[ 9.28583170e-01 3.32002441e-01 1.65854381e-01 -2.17028041e+01] [-3.25794651e-01 9.43262345e-01 -6.41404274e-02 3.87527643e+01] [-1.77738971e-01 5.52525110e-03 9.84062157e-01 2.73825750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.244839172999995 meters Centerline goodness : 0.725673 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.75, Z:2.74 [[ 9.28400651e-01 3.32246833e-01 1.66385917e-01 -2.17042988e+01] [-3.26202916e-01 9.43182039e-01 -6.32400077e-02 3.87501872e+01] [-1.77943501e-01 4.43649301e-03 9.84030705e-01 2.73881669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.274839173 meters Centerline goodness : 0.739527 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.75, Z:2.74 [[ 9.30294459e-01 3.27275355e-01 1.65659476e-01 -2.17046435e+01] [-3.21507312e-01 9.44921550e-01 -6.12887656e-02 3.87472299e+01] [-1.76593511e-01 3.75586630e-03 9.84276702e-01 2.74431307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.304839173 meters Centerline goodness : 0.735143 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.75, Z:2.75 [[ 9.32229795e-01 3.22757420e-01 1.63631465e-01 -2.17033856e+01] [-3.16431380e-01 9.46448211e-01 -6.40856127e-02 3.87477830e+01] [-1.75552815e-01 7.96438719e-03 9.84437798e-01 2.74720162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.33483917299999 meters Centerline goodness : 0.738675 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.75, Z:2.75 [[ 9.34456519e-01 3.17632871e-01 1.60935929e-01 -2.16998878e+01] [-3.10838971e-01 9.48136973e-01 -6.64485872e-02 3.87478816e+01] [-1.73695560e-01 1.20681570e-02 9.84725450e-01 2.74770680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.36483917299999 meters Centerline goodness : 0.732434 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.75, Z:2.75 [[ 9.34887323e-01 3.16799328e-01 1.60074602e-01 -2.16978868e+01] [-3.09942135e-01 9.48405692e-01 -6.68020633e-02 3.87482788e+01] [-1.72978512e-01 1.28385384e-02 9.84841919e-01 2.74663584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.394839172999994 meters Centerline goodness : 0.755701 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.75, Z:2.74 [[ 9.34415688e-01 3.18180852e-01 1.60088311e-01 -2.16974065e+01] [-3.11041384e-01 9.47923216e-01 -6.85188561e-02 3.87495740e+01] [-1.73552815e-01 1.42310043e-02 9.84721737e-01 2.74361034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.424839172999995 meters Centerline goodness : 0.679523 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.75, Z:2.74 [[ 9.34246374e-01 3.18774349e-01 1.59895673e-01 -2.16965702e+01] [-3.11373091e-01 9.47701033e-01 -7.00681804e-02 3.87523884e+01] [-1.73869233e-01 1.56737336e-02 9.84644009e-01 2.74217228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.454839172999996 meters Centerline goodness : 0.806656 Centerline is valid? [False, False] Translation: X:-21.69, Y:38.76, Z:2.74 [[ 9.33396404e-01 3.21047636e-01 1.60310849e-01 -2.16946446e+01] [-3.14064518e-01 9.46974053e-01 -6.78499927e-02 3.87565746e+01] [-1.73593294e-01 1.29829896e-02 9.84731847e-01 2.74220961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.484839173 meters Centerline goodness : 0.674711 Centerline is valid? [False, False] Translation: X:-21.69, Y:38.76, Z:2.74 [[ 9.33504214e-01 3.20763031e-01 1.60252800e-01 -2.16948010e+01] [-3.13672610e-01 9.47061523e-01 -6.84394994e-02 3.87575995e+01] [-1.73722123e-01 1.36216469e-02 9.84700500e-01 2.74262270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.51483917299999 meters Centerline goodness : 0.769118 Centerline is valid? [False, False] Translation: X:-21.69, Y:38.76, Z:2.74 [[ 9.35071781e-01 3.17066435e-01 1.58460217e-01 -2.16937861e+01] [-3.09203861e-01 9.48213469e-01 -7.26924381e-02 3.87576440e+01] [-1.73302445e-01 1.89761365e-02 9.84685822e-01 2.74200766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.54483917299999 meters Centerline goodness : 0.754817 Centerline is valid? [False, False] Translation: X:-21.69, Y:38.76, Z:2.74 [[ 9.36625078e-01 3.13525013e-01 1.56318677e-01 -2.16892124e+01] [-3.05874598e-01 9.49387906e-01 -7.14376294e-02 3.87574154e+01] [-1.70804545e-01 1.90963626e-02 9.85119859e-01 2.74264071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.574839172999994 meters Centerline goodness : 0.755253 Centerline is valid? [False, False] Translation: X:-21.69, Y:38.76, Z:2.74 [[ 9.36956230e-01 3.12915853e-01 1.55552858e-01 -2.16871480e+01] [-3.05270644e-01 9.49581525e-01 -7.14476159e-02 3.87603350e+01] [-1.70067212e-01 1.94575677e-02 9.85240350e-01 2.74356192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.604839172999995 meters Centerline goodness : 0.753165 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.76, Z:2.74 [[ 9.36875621e-01 3.13642907e-01 1.54571009e-01 -2.16836294e+01] [-3.05926236e-01 9.49326106e-01 -7.20352917e-02 3.87642207e+01] [-1.69331652e-01 2.02007817e-02 9.85352079e-01 2.74202499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.634839172999996 meters Centerline goodness : 0.792223 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.77, Z:2.74 [[ 9.36383194e-01 3.15743604e-01 1.53272603e-01 -2.16781054e+01] [-3.07436863e-01 9.48544583e-01 -7.58007217e-02 3.87741565e+01] [-1.69319490e-01 2.38568737e-02 9.85272429e-01 2.73649567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.664839173 meters Centerline goodness : 0.751639 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.78, Z:2.73 [[ 9.36009407e-01 3.17056898e-01 1.52844081e-01 -2.16759206e+01] [-3.08516614e-01 9.48071181e-01 -7.73209852e-02 3.87771830e+01] [-1.69422220e-01 2.52182311e-02 9.85220865e-01 2.73335146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.69483917299999 meters Centerline goodness : 0.748625 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.79, Z:2.73 [[ 9.35385778e-01 3.19071909e-01 1.52468236e-01 -2.16737083e+01] [-3.09816580e-01 9.47281762e-01 -8.16758813e-02 3.87861576e+01] [-1.70490859e-01 2.91612703e-02 9.84927656e-01 2.73003306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.72483917299999 meters Centerline goodness : 0.747047 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.79, Z:2.73 [[ 9.35416983e-01 3.19187340e-01 1.52034572e-01 -2.16728859e+01] [-3.09940391e-01 9.47238208e-01 -8.17112695e-02 3.87864241e+01] [-1.70094158e-01 2.93124545e-02 9.84991755e-01 2.73005086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.75483917299999 meters Centerline goodness : 0.747046 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.79, Z:2.73 [[ 9.35687116e-01 3.18421908e-01 1.51977334e-01 -2.16730125e+01] [-3.09248586e-01 9.47504942e-01 -8.12385234e-02 3.87851303e+01] [-1.69867401e-01 2.90150639e-02 9.85039691e-01 2.73012599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.784839172999995 meters Centerline goodness : 0.746932 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.79, Z:2.73 [[ 9.37051392e-01 3.15142771e-01 1.50398547e-01 -2.16698238e+01] [-3.06284069e-01 9.48620151e-01 -7.94347449e-02 3.87852461e+01] [-1.67704378e-01 2.83697592e-02 9.85429043e-01 2.73288948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.814839172999996 meters Centerline goodness : 0.749445 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.79, Z:2.74 [[ 9.37768590e-01 3.13456698e-01 1.49448890e-01 -2.16682371e+01] [-3.04816507e-01 9.49196507e-01 -7.81849641e-02 3.87862220e+01] [-1.66363965e-01 2.77649147e-02 9.85673445e-01 2.73624863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.844839173 meters Centerline goodness : 0.729103 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.78, Z:2.74 [[ 9.36991893e-01 3.15163491e-01 1.50725465e-01 -2.16690718e+01] [-3.07430094e-01 9.48786593e-01 -7.27374651e-02 3.87834733e+01] [-1.65930494e-01 2.18168712e-02 9.85896087e-01 2.73843762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.874839173 meters Centerline goodness : 0.715391 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.79, Z:2.74 [[ 9.35446032e-01 3.18589388e-01 1.53106245e-01 -2.16729398e+01] [-3.11386912e-01 9.47732992e-01 -6.95727528e-02 3.87854388e+01] [-1.67268980e-01 1.74062749e-02 9.85757632e-01 2.74324283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.90483917299999 meters Centerline goodness : 0.771207 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.79, Z:2.74 [[ 9.34311361e-01 3.21501224e-01 1.53945587e-01 -2.16741953e+01] [-3.13907746e-01 9.46719628e-01 -7.19991190e-02 3.87886093e+01] [-1.68891114e-01 1.89448828e-02 9.85452629e-01 2.74111004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.93483917299999 meters Centerline goodness : 0.752639 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.79, Z:2.74 [[ 9.32646255e-01 3.25199130e-01 1.56257764e-01 -2.16766987e+01] [-3.18405576e-01 9.45554558e-01 -6.74126647e-02 3.87857192e+01] [-1.69672781e-01 1.31188258e-02 9.85413134e-01 2.74101880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.964839172999994 meters Centerline goodness : 0.755951 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.79, Z:2.74 [[ 9.31093408e-01 3.22708694e-01 1.70071054e-01 -2.16838765e+01] [-3.15282090e-01 9.46430481e-01 -6.97606552e-02 3.87916365e+01] [-1.83472799e-01 1.13333287e-02 9.82959454e-01 2.74330387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.994839172999995 meters Centerline goodness : 0.751935 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.79, Z:2.75 [[ 9.31210958e-01 3.22349238e-01 1.70109142e-01 -2.16845834e+01] [-3.15030604e-01 9.46559186e-01 -6.91478487e-02 3.87909749e+01] [-1.83308127e-01 1.08016487e-02 9.82996162e-01 2.74557548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.024839173 meters Centerline goodness : 0.690588 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.79, Z:2.74 [[ 9.33662721e-01 3.17013737e-01 1.66661974e-01 -2.16808420e+01] [-3.08257388e-01 9.48204713e-01 -7.67150870e-02 3.87921712e+01] [-1.82349405e-01 2.02512322e-02 9.83025219e-01 2.74187706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.054839173 meters Centerline goodness : 0.747431 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.79, Z:2.74 [[ 9.34449780e-01 3.15102472e-01 1.65873566e-01 -2.16814235e+01] [-3.05560643e-01 9.48731031e-01 -8.08833976e-02 3.87919982e+01] [-1.82855958e-01 2.48970397e-02 9.82824418e-01 2.74054057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08483917299999 meters Centerline goodness : 0.708571 Centerline is valid? [False, False] Translation: X:-21.69, Y:38.79, Z:2.74 [[ 9.32789162e-01 3.17999123e-01 1.69649453e-01 -2.16911025e+01] [-3.08619472e-01 9.47834439e-01 -7.97740398e-02 3.87856240e+01] [-1.86167669e-01 2.20552352e-02 9.82270414e-01 2.74369329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.11483917299999 meters Centerline goodness : 0.709536 Centerline is valid? [False, False] Translation: X:-21.69, Y:38.78, Z:2.74 [[ 9.32257886e-01 3.19108196e-01 1.70485169e-01 -2.16928399e+01] [-3.10077840e-01 9.47511666e-01 -7.79318635e-02 3.87812626e+01] [-1.86405383e-01 1.97889213e-02 9.82273603e-01 2.74359453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.144839172999994 meters Centerline goodness : 0.693202 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.77, Z:2.74 [[ 9.32520442e-01 3.17913829e-01 1.71278789e-01 -2.16980695e+01] [-3.08380230e-01 9.47861156e-01 -8.03794879e-02 3.87747607e+01] [-1.87902262e-01 2.21365232e-02 9.81938244e-01 2.74397132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.174839172999995 meters Centerline goodness : 0.720448 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.77, Z:2.75 [[ 9.33615752e-01 3.15251761e-01 1.70229123e-01 -2.16985136e+01] [-3.05226505e-01 9.48668101e-01 -8.28590087e-02 3.87729524e+01] [-1.87612388e-01 2.54000353e-02 9.81914676e-01 2.74512088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.204839172999996 meters Centerline goodness : 0.742401 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.77, Z:2.75 [[ 9.35520296e-01 3.10559300e-01 1.68388532e-01 -2.16991305e+01] [-2.99482811e-01 9.50010443e-01 -8.82621295e-02 3.87698712e+01] [-1.87381489e-01 3.21415425e-02 9.81761223e-01 2.74521758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.234839173 meters Centerline goodness : 0.751819 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.77, Z:2.74 [[ 9.36603849e-01 3.07910256e-01 1.67225907e-01 -2.16990391e+01] [-2.96342857e-01 9.50752019e-01 -9.08378210e-02 3.87673449e+01] [-1.86960265e-01 3.55228497e-02 9.81725005e-01 2.74484054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26483917299999 meters Centerline goodness : 0.752934 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.76, Z:2.74 [[ 0.93799003 0.30394935 0.1667018 -21.70423731] [ -0.29100381 0.95170506 -0.09784812 38.76041253] [ -0.18839182 0.0432697 0.98114028 2.74401212] [ 0. 0. 0. 1. ]] SLAMing on 57.29483917299999 meters Centerline goodness : 0.737807 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.75, Z:2.74 [[ 0.93918939 0.30031717 0.16653192 -21.70665601] [ -0.2872208 0.95279688 -0.09839874 38.75292847] [ -0.18822193 0.04458362 0.98111406 2.74481462] [ 0. 0. 0. 1. ]] SLAMing on 57.324839172999994 meters Centerline goodness : 0.761336 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.75, Z:2.75 [[ 0.93978296 0.29864309 0.16619353 -21.70615642] [ -0.28596697 0.95340293 -0.09615484 38.74942175] [ -0.18716538 0.04283882 0.98139388 2.74675542] [ 0. 0. 0. 1. ]] SLAMing on 57.354839172999995 meters Centerline goodness : 0.742201 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.74, Z:2.75 [[ 9.40395269e-01 2.96418482e-01 1.66711794e-01 -2.17081789e+01] [-2.84656726e-01 9.54294826e-01 -9.10600568e-02 3.87438542e+01] [-1.86084086e-01 3.81768132e-02 9.81791854e-01 2.75440428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.384839172999996 meters Centerline goodness : 0.757324 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.74, Z:2.76 [[ 9.40503105e-01 2.96070163e-01 1.66722426e-01 -2.17081354e+01] [-2.84637476e-01 9.54467636e-01 -8.92918762e-02 3.87410439e+01] [-1.85567820e-01 3.65238364e-02 9.81952440e-01 2.75533495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.414839173 meters Centerline goodness : 0.743762 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.73, Z:2.76 [[ 9.40856541e-01 3.00540472e-01 1.56410979e-01 -2.17113447e+01] [-2.89625123e-01 9.52994952e-01 -8.89826369e-02 3.87337830e+01] [-1.75801757e-01 3.84193468e-02 9.83675605e-01 2.75813290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44483917299999 meters Centerline goodness : 0.727584 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.73, Z:2.75 [[ 9.40954169e-01 3.00504476e-01 1.55891986e-01 -2.17095417e+01] [-2.89609440e-01 9.52999824e-01 -8.89815014e-02 3.87320730e+01] [-1.75304374e-01 3.85797242e-02 9.83758091e-01 2.75469018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.47483917299999 meters Centerline goodness : 0.743332 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.73, Z:2.75 [[ 9.41237887e-01 3.00014927e-01 1.55120221e-01 -2.17073047e+01] [-2.89251130e-01 9.53164622e-01 -8.83797890e-02 3.87310413e+01] [-1.74370363e-01 3.83177068e-02 9.83934312e-01 2.75324021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.50483917299999 meters Centerline goodness : 0.755874 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.73, Z:2.76 [[ 9.41485399e-01 2.98725150e-01 1.56104221e-01 -2.17103675e+01] [-2.88223472e-01 9.53639574e-01 -8.65955701e-02 3.87275026e+01] [-1.74735438e-01 3.65355643e-02 9.83937335e-01 2.75721389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.534839172999995 meters Centerline goodness : 0.758525 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.72, Z:2.76 [[ 9.43628163e-01 2.92323930e-01 1.55282356e-01 -2.17117837e+01] [-2.81665628e-01 9.55542278e-01 -8.71976420e-02 3.87212256e+01] [-1.73868814e-01 3.85444484e-02 9.84014208e-01 2.76138198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.564839172999996 meters Centerline goodness : 0.759744 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.72, Z:2.76 [[ 0.94637581 0.28478259 0.15255065 -21.71029965] [ -0.27322533 0.95749647 -0.09245773 38.71972142] [ -0.17239706 0.04581906 0.98396131 2.76319994] [ 0. 0. 0. 1. ]] SLAMing on 57.594839173 meters Centerline goodness : 0.758489 Centerline is valid? [False, False] Translation: X:-21.71, Y:38.71, Z:2.76 [[ 0.95050141 0.27310576 0.14819011 -21.70662185] [ -0.26037674 0.9603381 -0.09977321 38.71345172] [ -0.16956125 0.05624932 0.98391311 2.76134114] [ 0. 0. 0. 1. ]] SLAMing on 57.62483917299999 meters Centerline goodness : 0.760201 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.71, Z:2.76 [[ 0.9518124 0.26935141 0.14663894 -21.70311397] [ -0.25685547 0.96139546 -0.09871185 38.71106229] [ -0.16756619 0.05629015 0.9842525 2.76119169] [ 0. 0. 0. 1. ]] SLAMing on 57.65483917299999 meters Centerline goodness : 0.758613 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.71, Z:2.76 [[ 0.95243917 0.26772552 0.14554266 -21.7000029 ] [ -0.25550237 0.96189198 -0.09737742 38.71037739] [ -0.16606674 0.05555958 0.98454811 2.76093624] [ 0. 0. 0. 1. ]] SLAMing on 57.68483917299999 meters Centerline goodness : 0.758918 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.71, Z:2.76 [[ 0.95247886 0.26778249 0.14517765 -21.69698338] [ -0.25639649 0.96213439 -0.09251085 38.71127601] [ -0.1644532 0.05089158 0.98507116 2.76342093] [ 0. 0. 0. 1. ]] SLAMing on 57.714839172999994 meters Centerline goodness : 0.759730 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.71, Z:2.76 [[ 0.95206245 0.26887115 0.14589517 -21.69866971] [ -0.25746416 0.96185222 -0.09247982 38.70995309] [ -0.16519475 0.05048379 0.98496806 2.76274938] [ 0. 0. 0. 1. ]] SLAMing on 57.744839172999995 meters Centerline goodness : 0.757445 Centerline is valid? [False, False] Translation: X:-21.70, Y:38.71, Z:2.76 [[ 0.95190561 0.26934364 0.14604695 -21.69882613] [ -0.25785573 0.96170259 -0.09294381 38.71020629] [ -0.16548756 0.05081469 0.98490189 2.76183599] [ 0. 0. 0. 1. ]] SLAMing on 57.774839173 meters Centerline goodness : 0.759812 Centerline is valid? [False, False] Translation: X:-21.69, Y:38.71, Z:2.76 [[ 0.95226207 0.26877701 0.14476144 -21.69499376] [ -0.257251 0.96180663 -0.0935411 38.71283913] [ -0.16437421 0.05183562 0.98503512 2.75959128] [ 0. 0. 0. 1. ]] SLAMing on 57.804839173 meters Centerline goodness : 0.756116 Centerline is valid? [False, False] Translation: X:-21.69, Y:38.71, Z:2.76 [[ 0.95209665 0.26962579 0.14427023 -21.69101423] [ -0.25882708 0.96178097 -0.08936396 38.71246638] [ -0.16285119 0.04774208 0.98549489 2.75789345] [ 0. 0. 0. 1. ]] SLAMing on 57.83483917299999 meters Centerline goodness : 0.751389 Centerline is valid? [False, False] Translation: X:-21.69, Y:38.72, Z:2.75 [[ 0.95130439 0.27238423 0.14431493 -21.68788726] [ -0.26192812 0.96111744 -0.08744665 38.7155204 ] [ -0.16252269 0.04538825 0.98566033 2.75439364] [ 0. 0. 0. 1. ]] SLAMing on 57.86483917299999 meters Centerline goodness : 0.752332 Centerline is valid? [False, False] Translation: X:-21.69, Y:38.72, Z:2.75 [[ 0.94990566 0.27631589 0.14604373 -21.68944029] [ -0.26630226 0.96017345 -0.08455799 38.71618903] [ -0.16359203 0.04143034 0.98565774 2.75390893] [ 0. 0. 0. 1. ]] SLAMing on 57.894839172999994 meters Centerline goodness : 0.753602 Centerline is valid? [False, False] Translation: X:-21.69, Y:38.72, Z:2.75 [[ 9.48115772e-01 2.76972500e-01 1.56085608e-01 -2.16855117e+01] [-2.68813529e-01 9.60528339e-01 -7.15862850e-02 3.87228530e+01] [-1.69752083e-01 2.59141626e-02 9.85146023e-01 2.75143973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.924839172999995 meters Centerline goodness : 0.751160 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.73, Z:2.76 [[ 9.46966683e-01 2.80475832e-01 1.56803727e-01 -2.16833608e+01] [-2.73575059e-01 9.59690064e-01 -6.44334341e-02 3.87281890e+01] [-1.68555000e-01 1.81187265e-02 9.85525709e-01 2.75634889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.954839172999996 meters Centerline goodness : 0.752569 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.73, Z:2.76 [[ 9.47306378e-01 2.79522241e-01 1.56454287e-01 -2.16835438e+01] [-2.72568138e-01 9.59957968e-01 -6.47094230e-02 3.87298478e+01] [-1.68277262e-01 1.86551955e-02 9.85563162e-01 2.75918438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.984839173 meters Centerline goodness : 0.751051 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.73, Z:2.76 [[ 9.47559154e-01 2.78720836e-01 1.56353273e-01 -2.16841611e+01] [-2.71746339e-01 9.60186325e-01 -6.47776916e-02 3.87291754e+01] [-1.68183167e-01 1.88922652e-02 9.85574708e-01 2.76057671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.01483917299999 meters Centerline goodness : 0.750081 Centerline is valid? [False, False] Translation: X:-21.68, Y:38.73, Z:2.76 [[ 9.48059229e-01 2.78026902e-01 1.54546887e-01 -2.16789580e+01] [-2.70813833e-01 9.60342694e-01 -6.63458916e-02 3.87328172e+01] [-1.66863916e-01 2.10464001e-02 9.85755285e-01 2.75648575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.04483917299999 meters Centerline goodness : 0.747720 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.74, Z:2.75 [[ 9.47382451e-01 2.80493883e-01 1.54239013e-01 -2.16748296e+01] [-2.73679542e-01 9.59675190e-01 -6.42108919e-02 3.87384262e+01] [-1.66030116e-01 1.86202097e-02 9.85944871e-01 2.75452977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.074839172999994 meters Centerline goodness : 0.751697 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.76, Z:2.75 [[ 9.43692286e-01 2.86388137e-01 1.65610097e-01 -2.16674856e+01] [-2.80177829e-01 9.58056838e-01 -6.02285564e-02 3.87580874e+01] [-1.75912630e-01 1.04369466e-02 9.84350454e-01 2.75287666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.104839172999995 meters Centerline goodness : 0.751697 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.76, Z:2.75 [[ 9.43692286e-01 2.86388137e-01 1.65610097e-01 -2.16674856e+01] [-2.80177829e-01 9.58056838e-01 -6.02285564e-02 3.87580874e+01] [-1.75912630e-01 1.04369466e-02 9.84350454e-01 2.75287666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.134839172999996 meters Centerline goodness : 0.754276 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.76, Z:2.76 [[ 9.41521815e-01 2.92092995e-01 1.67983196e-01 -2.16681146e+01] [-2.87092293e-01 9.56386658e-01 -5.38755476e-02 3.87633503e+01] [-1.76393558e-01 2.49832230e-03 9.84316550e-01 2.75587707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.164839173 meters Centerline goodness : 0.756311 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.78, Z:2.75 [[ 9.39080981e-01 2.92329499e-01 1.80749479e-01 -2.16691526e+01] [-2.86809619e-01 9.56316817e-01 -5.65542859e-02 3.87773914e+01] [-1.89386253e-01 1.26836500e-03 9.81901848e-01 2.75399085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.19483917299999 meters Centerline goodness : 0.754534 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.78, Z:2.75 [[ 9.40493088e-01 2.89068775e-01 1.78639289e-01 -2.16660487e+01] [-2.82774611e-01 9.57288185e-01 -6.03145939e-02 3.87829480e+01] [-1.88444346e-01 6.21080322e-03 9.82064231e-01 2.75415201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22483917299999 meters Centerline goodness : 0.753849 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.78, Z:2.76 [[ 9.40693327e-01 2.88571263e-01 1.78389153e-01 -2.16660297e+01] [-2.82173088e-01 9.57433731e-01 -6.08193899e-02 3.87844615e+01] [-1.88346521e-01 6.87577593e-03 9.82078567e-01 2.75541238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.25483917299999 meters Centerline goodness : 0.758835 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.80, Z:2.76 [[ 9.40116505e-01 2.83614043e-01 1.89060919e-01 -2.16646808e+01] [-2.76879203e-01 9.58921824e-01 -6.16996174e-02 3.87998278e+01] [-1.98793519e-01 5.65779208e-03 9.80025064e-01 2.75774308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.284839172999995 meters Centerline goodness : 0.761429 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.81, Z:2.76 [[ 9.39639837e-01 2.85140065e-01 1.89135191e-01 -2.16633593e+01] [-2.78756541e-01 9.58478470e-01 -6.01150033e-02 3.88073188e+01] [-1.98423204e-01 3.76378046e-03 9.80109211e-01 2.76166344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.314839172999996 meters Centerline goodness : 0.758588 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.82, Z:2.76 [[ 9.37932683e-01 2.89710866e-01 1.90656486e-01 -2.16615690e+01] [-2.84523289e-01 9.57109577e-01 -5.46603618e-02 3.88151456e+01] [-1.98314850e-01 -2.97847075e-03 9.80133842e-01 2.76256066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.344839173 meters Centerline goodness : 0.760888 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.82, Z:2.76 [[ 9.37528166e-01 2.90388191e-01 1.91613249e-01 -2.16638394e+01] [-2.84757872e-01 9.56908176e-01 -5.69183423e-02 3.88200170e+01] [-1.99884699e-01 -1.20083198e-03 9.79818690e-01 2.76429217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.37483917299999 meters Centerline goodness : 0.758096 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.83, Z:2.77 [[ 9.37818382e-01 2.89153362e-01 1.92059926e-01 -2.16678708e+01] [-2.81550903e-01 9.57247902e-01 -6.63742630e-02 3.88300120e+01] [-2.03041303e-01 8.17235832e-03 9.79136069e-01 2.76936409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.40483917299999 meters Centerline goodness : 0.757843 Centerline is valid? [False, False] Translation: X:-21.67, Y:38.83, Z:2.77 [[ 9.38226751e-01 2.88152647e-01 1.91568828e-01 -2.16675367e+01] [-2.80288467e-01 9.57535446e-01 -6.75591928e-02 3.88327000e+01] [-2.02901304e-01 9.69130867e-03 9.79151234e-01 2.77091587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.43483917299999 meters Centerline goodness : 0.753477 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.84, Z:2.77 [[ 9.38958337e-01 2.86864786e-01 1.89910073e-01 -2.16623471e+01] [-2.78774532e-01 9.57902235e-01 -6.86153631e-02 3.88353197e+01] [-2.01598615e-01 1.14848754e-02 9.79400886e-01 2.76547955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.464839172999994 meters Centerline goodness : 0.748666 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.84, Z:2.76 [[ 9.38933349e-01 2.87313342e-01 1.89354719e-01 -2.16589071e+01] [-2.79272299e-01 9.57768919e-01 -6.84520257e-02 3.88351160e+01] [-2.01025245e-01 1.13903620e-02 9.79519837e-01 2.75967293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.494839172999995 meters Centerline goodness : 0.747867 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.84, Z:2.76 [[ 9.38174834e-01 2.90188393e-01 1.88729113e-01 -2.16533362e+01] [-2.82375508e-01 9.56915410e-01 -6.76533111e-02 3.88429447e+01] [-2.00230002e-01 1.01781547e-02 9.79696051e-01 2.75549345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.524839173 meters Centerline goodness : 0.750113 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.85, Z:2.76 [[ 9.37455560e-01 2.92068265e-01 1.89402220e-01 -2.16531373e+01] [-2.84855470e-01 9.56372857e-01 -6.48715587e-02 3.88468285e+01] [-2.00086066e-01 6.86194518e-03 9.79754296e-01 2.75813296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.554839173 meters Centerline goodness : 0.755765 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.86, Z:2.76 [[ 9.37064937e-01 2.86622753e-01 1.99390826e-01 -2.16519794e+01] [-2.78982546e-01 9.58023132e-01 -6.60334594e-02 3.88572220e+01] [-2.09947716e-01 6.25107914e-03 9.77692631e-01 2.76261526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.58483917299999 meters Centerline goodness : 0.754730 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.86, Z:2.76 [[ 9.37001181e-01 2.86470321e-01 1.99908835e-01 -2.16538346e+01] [-2.78759028e-01 9.58067560e-01 -6.63321505e-02 3.88571914e+01] [-2.10528362e-01 6.42691071e-03 9.77566624e-01 2.76413383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.61483917299999 meters Centerline goodness : 0.750070 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.85, Z:2.76 [[ 9.37280284e-01 2.85106855e-01 2.00548625e-01 -2.16567342e+01] [-2.77024046e-01 9.58461738e-01 -6.78879542e-02 3.88509221e+01] [-2.11573505e-01 8.07324945e-03 9.77328744e-01 2.76185140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.644839172999994 meters Centerline goodness : 0.750958 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.85, Z:2.76 [[ 9.37951776e-01 2.83381477e-01 1.99853455e-01 -2.16567130e+01] [-2.74510868e-01 9.58931079e-01 -7.13790503e-02 3.88476426e+01] [-2.11873190e-01 1.20881616e-02 9.77222404e-01 2.75833798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.674839172999995 meters Centerline goodness : 0.750604 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.85, Z:2.76 [[ 9.38574515e-01 2.82081291e-01 1.98766257e-01 -2.16562899e+01] [-2.72186648e-01 9.59235044e-01 -7.60431336e-02 3.88500695e+01] [-2.12113904e-01 1.72706262e-02 9.77092328e-01 2.75875497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.704839172999996 meters Centerline goodness : 0.750705 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.85, Z:2.76 [[ 9.38010602e-01 2.83712901e-01 1.99105750e-01 -2.16563999e+01] [-2.73778066e-01 9.58756414e-01 -7.63656252e-02 3.88493091e+01] [-2.12559828e-01 1.71209788e-02 9.76998051e-01 2.75709077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.734839173 meters Centerline goodness : 0.749286 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.85, Z:2.75 [[ 9.37379751e-01 2.85623122e-01 1.99345517e-01 -2.16557411e+01] [-2.75657855e-01 9.58192517e-01 -7.66801632e-02 3.88489744e+01] [-2.12913010e-01 1.69272747e-02 9.76924520e-01 2.75433126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76483917299999 meters Centerline goodness : 0.751690 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.85, Z:2.75 [[ 9.34590556e-01 2.93191552e-01 2.01442810e-01 -2.16553567e+01] [-2.83975437e-01 9.55980254e-01 -7.38898190e-02 3.88461643e+01] [-2.14239220e-01 1.18519170e-02 9.76709316e-01 2.74666710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.79483917299999 meters Centerline goodness : 0.753095 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.85, Z:2.75 [[ 9.32924497e-01 2.97623881e-01 2.02662053e-01 -2.16552863e+01] [-2.89215019e-01 9.54655506e-01 -7.06225003e-02 3.88459687e+01] [-2.14491387e-01 7.27255118e-03 9.76698805e-01 2.74606205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.824839172999994 meters Centerline goodness : 0.757044 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.84, Z:2.75 [[ 9.29545451e-01 3.06220486e-01 2.05363745e-01 -2.16573765e+01] [-2.98849387e-01 9.51960352e-01 -6.67872201e-02 3.88449647e+01] [-2.15949758e-01 7.08927329e-04 9.76404219e-01 2.74521539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.854839172999995 meters Centerline goodness : 0.756376 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.84, Z:2.74 [[ 9.27424050e-01 3.11297715e-01 2.07312237e-01 -2.16624964e+01] [-3.03448736e-01 9.50311210e-01 -6.94799912e-02 3.88399522e+01] [-2.18640105e-01 1.52877854e-03 9.75804369e-01 2.74221454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.884839172999996 meters Centerline goodness : 0.756259 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.84, Z:2.74 [[ 9.27208100e-01 3.12042760e-01 2.07158045e-01 -2.16619941e+01] [-3.04391294e-01 9.50067854e-01 -6.86805203e-02 3.88363499e+01] [-2.18245458e-01 6.24029404e-04 9.75893709e-01 2.74049078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.914839173 meters Centerline goodness : 0.753889 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.83, Z:2.74 [[ 9.27881419e-01 3.11753539e-01 2.04562466e-01 -2.16573891e+01] [-3.03525111e-01 9.50154421e-01 -7.12676850e-02 3.88332831e+01] [-2.16583884e-01 4.03811563e-03 9.76255660e-01 2.73623309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94483917299999 meters Centerline goodness : 0.754976 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.82, Z:2.74 [[ 9.27717140e-01 3.19844690e-01 1.92458522e-01 -2.16548216e+01] [-3.11789295e-01 9.47448119e-01 -7.16205076e-02 3.88247200e+01] [-2.05251904e-01 6.43706556e-03 9.78688010e-01 2.73932885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.97483917299999 meters Centerline goodness : 0.753548 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.82, Z:2.73 [[ 9.27314775e-01 3.21178142e-01 1.92176765e-01 -2.16538000e+01] [-3.12974978e-01 9.46992513e-01 -7.24696016e-02 3.88218367e+01] [-2.05265610e-01 7.05561342e-03 9.78680871e-01 2.73465057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.00483917299999 meters Centerline goodness : 0.754201 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.81, Z:2.74 [[ 9.27006072e-01 3.29143169e-01 1.79790205e-01 -2.16546744e+01] [-3.19179747e-01 9.44084409e-01 -8.26372636e-02 3.88141908e+01] [-1.96936620e-01 1.92198531e-02 9.80227813e-01 2.73535056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.034839172999995 meters Centerline goodness : 0.753774 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.81, Z:2.73 [[ 9.27268256e-01 3.29062069e-01 1.78582577e-01 -2.16562979e+01] [-3.17839652e-01 9.43956177e-01 -8.90207390e-02 3.88103903e+01] [-1.97867475e-01 2.57854813e-02 9.79889571e-01 2.73216081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.064839172999996 meters Centerline goodness : 0.756059 Centerline is valid? [False, False] Translation: X:-21.66, Y:38.81, Z:2.73 [[ 9.27201484e-01 3.29292232e-01 1.78504996e-01 -2.16562606e+01] [-3.18003164e-01 9.43867000e-01 -8.93816141e-02 3.88086121e+01] [-1.97917647e-01 2.61096116e-02 9.79870855e-01 2.73059457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.094839173 meters Centerline goodness : 0.755754 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.80, Z:2.72 [[ 9.26280373e-01 3.31966271e-01 1.78334140e-01 -2.16516791e+01] [-3.21627551e-01 9.43050731e-01 -8.49178240e-02 3.88001104e+01] [-1.96367994e-01 2.13005411e-02 9.80298882e-01 2.72216201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12483917299999 meters Centerline goodness : 0.756272 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.79, Z:2.72 [[ 9.25847086e-01 3.33146216e-01 1.78383776e-01 -2.16497500e+01] [-3.23322368e-01 9.42690604e-01 -8.24443553e-02 3.87949856e+01] [-1.95626735e-01 1.86554012e-02 9.80500972e-01 2.71731129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.15483917299999 meters Centerline goodness : 0.760976 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.79, Z:2.71 [[ 9.25562085e-01 3.33973120e-01 1.78316524e-01 -2.16484357e+01] [-3.24573872e-01 9.42437599e-01 -8.03938671e-02 3.87906291e+01] [-1.94901587e-01 1.65326307e-02 9.80683457e-01 2.71453017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.18483917299999 meters Centerline goodness : 0.763184 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.79, Z:2.72 [[ 9.25591437e-01 3.33755422e-01 1.78571582e-01 -2.16500979e+01] [-3.24504488e-01 9.42528364e-01 -7.96060386e-02 3.87871932e+01] [-1.94877728e-01 1.57353881e-02 9.80701315e-01 2.71516555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.214839172999994 meters Centerline goodness : 0.766907 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.77, Z:2.71 [[ 9.26644239e-01 3.26311855e-01 1.86684299e-01 -2.16469347e+01] [-3.17905466e-01 9.45215453e-01 -7.41880253e-02 3.87748894e+01] [-2.00665316e-01 9.39794721e-03 9.79614776e-01 2.70894380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.244839172999995 meters Centerline goodness : 0.765079 Centerline is valid? [False, False] Translation: X:-21.65, Y:38.77, Z:2.70 [[ 9.27529301e-01 3.24484680e-01 1.85469914e-01 -2.16453056e+01] [-3.16132449e-01 9.45839950e-01 -7.38042313e-02 3.87654070e+01] [-1.99373196e-01 9.82252896e-03 9.79874403e-01 2.70244220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.274839173 meters Centerline goodness : 0.763408 Centerline is valid? [False, False] Translation: X:-21.64, Y:38.76, Z:2.70 [[ 9.28378771e-01 3.22969051e-01 1.83858231e-01 -2.16427983e+01] [-3.14212014e-01 9.46326318e-01 -7.57450388e-02 3.87616455e+01] [-1.98453186e-01 1.25496209e-02 9.80030020e-01 2.69895416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.304839173 meters Centerline goodness : 0.763117 Centerline is valid? [False, False] Translation: X:-21.64, Y:38.76, Z:2.70 [[ 9.29447177e-01 3.20572318e-01 1.82650854e-01 -2.16427349e+01] [-3.11224180e-01 9.47086482e-01 -7.85283688e-02 3.87585664e+01] [-1.98160177e-01 1.61426083e-02 9.80036714e-01 2.69833628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.33483917299999 meters Centerline goodness : 0.767438 Centerline is valid? [False, False] Translation: X:-21.64, Y:38.75, Z:2.70 [[ 9.28648320e-01 3.17059105e-01 1.92576793e-01 -2.16385587e+01] [-3.08896019e-01 9.48378184e-01 -7.18475369e-02 3.87504804e+01] [-2.05415545e-01 7.23488959e-03 9.78648103e-01 2.69541157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.36483917299999 meters Centerline goodness : 0.767724 Centerline is valid? [False, False] Translation: X:-21.64, Y:38.75, Z:2.70 [[ 9.27441397e-01 3.19756397e-01 1.93928598e-01 -2.16396362e+01] [-3.12507136e-01 9.47497190e-01 -6.77374671e-02 3.87489020e+01] [-2.05406290e-01 2.21846022e-03 9.78674274e-01 2.69682140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.394839172999994 meters Centerline goodness : 0.768969 Centerline is valid? [False, False] Translation: X:-21.63, Y:38.74, Z:2.70 [[ 9.28381765e-01 3.18785633e-01 1.91005285e-01 -2.16349789e+01] [-3.12147652e-01 9.47826729e-01 -6.47173477e-02 3.87399102e+01] [-2.01670875e-01 4.60554177e-04 9.79453238e-01 2.69581909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.424839172999995 meters Centerline goodness : 0.765269 Centerline is valid? [False, False] Translation: X:-21.63, Y:38.73, Z:2.69 [[ 9.31570598e-01 3.12030877e-01 1.86582296e-01 -2.16314493e+01] [-3.04079000e-01 9.50029269e-01 -7.05715934e-02 3.87257950e+01] [-1.99279159e-01 9.00666334e-03 9.79901371e-01 2.68884963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.454839172999996 meters Centerline goodness : 0.762108 Centerline is valid? [False, False] Translation: X:-21.63, Y:38.72, Z:2.68 [[ 9.32441611e-01 3.10003236e-01 1.85608826e-01 -2.16310931e+01] [-3.01921115e-01 9.50680522e-01 -7.10646576e-02 3.87166231e+01] [-1.98484970e-01 1.02244201e-02 9.80050600e-01 2.68437244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.484839173 meters Centerline goodness : 0.756965 Centerline is valid? [False, False] Translation: X:-21.63, Y:38.70, Z:2.68 [[ 9.33480788e-01 3.08907671e-01 1.82180320e-01 -2.16267900e+01] [-3.01719687e-01 9.51064434e-01 -6.66458816e-02 3.87025027e+01] [-1.93852647e-01 7.24526093e-03 9.81003903e-01 2.67549608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.51483917299999 meters Centerline goodness : 0.755821 Centerline is valid? [False, False] Translation: X:-21.63, Y:38.70, Z:2.67 [[ 9.33014758e-01 3.10153171e-01 1.82451286e-01 -2.16256875e+01] [-3.03657386e-01 9.50679754e-01 -6.32471170e-02 3.86953009e+01] [-1.93069037e-01 3.60781312e-03 9.81178542e-01 2.67093162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.54483917299999 meters Centerline goodness : 0.755469 Centerline is valid? [False, False] Translation: X:-21.63, Y:38.69, Z:2.67 [[ 9.32824931e-01 3.10583215e-01 1.82690215e-01 -2.16263973e+01] [-3.04623904e-01 9.50545827e-01 -6.05550042e-02 3.86877670e+01] [-1.92462789e-01 8.35411300e-04 9.81303917e-01 2.66894555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.574839172999994 meters Centerline goodness : 0.757388 Centerline is valid? [False, False] Translation: X:-21.62, Y:38.67, Z:2.67 [[ 9.36036648e-01 3.03787806e-01 1.77618589e-01 -2.16205954e+01] [-2.98437142e-01 9.52739709e-01 -5.67654769e-02 3.86733489e+01] [-1.86468942e-01 1.26582856e-04 9.82460848e-01 2.67431027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.604839172999995 meters Centerline goodness : 0.754391 Centerline is valid? [False, False] Translation: X:-21.62, Y:38.66, Z:2.67 [[ 9.37149669e-01 3.01720945e-01 1.75256864e-01 -2.16186180e+01] [-2.96397655e-01 9.53395817e-01 -5.64344409e-02 3.86643947e+01] [-1.84116614e-01 9.41794282e-04 9.82903955e-01 2.67293384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.634839172999996 meters Centerline goodness : 0.755984 Centerline is valid? [False, False] Translation: X:-21.62, Y:38.65, Z:2.67 [[ 9.38386019e-01 2.99209583e-01 1.72931502e-01 -2.16171883e+01] [-2.95348110e-01 9.54169877e-01 -4.82632348e-02 3.86477866e+01] [-1.79446852e-01 -5.78544746e-03 9.83750657e-01 2.66896630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.664839173 meters Centerline goodness : 0.753657 Centerline is valid? [False, False] Translation: X:-21.62, Y:38.64, Z:2.67 [[ 9.40591357e-01 2.98269261e-01 1.62244712e-01 -2.16203182e+01] [-2.95459771e-01 9.54442429e-01 -4.17513176e-02 3.86352950e+01] [-1.67306371e-01 -8.66585687e-03 9.85866868e-01 2.67447832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.69483917299999 meters Centerline goodness : 0.759958 Centerline is valid? [False, False] Translation: X:-21.62, Y:38.63, Z:2.67 [[ 9.40402752e-01 2.98735041e-01 1.62480890e-01 -2.16214815e+01] [-2.96240838e-01 9.54277574e-01 -3.99459378e-02 3.86288845e+01] [-1.66985121e-01 -1.05682051e-02 9.85902775e-01 2.67415596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.72483917299999 meters Centerline goodness : 0.755487 Centerline is valid? [False, False] Translation: X:-21.62, Y:38.62, Z:2.68 [[ 9.41223418e-01 3.00983098e-01 1.53322052e-01 -2.16243557e+01] [-2.99638920e-01 9.53503756e-01 -3.23589874e-02 3.86202555e+01] [-1.55932661e-01 -1.54842173e-02 9.87646315e-01 2.68232526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.75483917299999 meters Centerline goodness : 0.755499 Centerline is valid? [False, False] Translation: X:-21.63, Y:38.62, Z:2.68 [[ 9.40146340e-01 3.03621533e-01 1.54721762e-01 -2.16264191e+01] [-3.02975633e-01 9.52577446e-01 -2.83191674e-02 3.86159769e+01] [-1.55982770e-01 -2.02527623e-02 9.87552126e-01 2.68303206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.784839172999995 meters Centerline goodness : 0.760120 Centerline is valid? [False, False] Translation: X:-21.63, Y:38.61, Z:2.68 [[ 9.39910666e-01 3.04237439e-01 1.54943607e-01 -2.16280131e+01] [-3.03813566e-01 9.52349001e-01 -2.69943998e-02 3.86114523e+01] [-1.55773097e-01 -2.17016457e-02 9.87554445e-01 2.68485467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.814839172999996 meters Centerline goodness : 0.760159 Centerline is valid? [False, False] Translation: X:-21.63, Y:38.61, Z:2.69 [[ 9.40005727e-01 3.03845646e-01 1.55135607e-01 -2.16298400e+01] [-3.03418099e-01 9.52474575e-01 -2.70118648e-02 3.86102555e+01] [-1.55970159e-01 -2.16796435e-02 9.87523824e-01 2.68708386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.844839173 meters Centerline goodness : 0.770748 Centerline is valid? [False, False] Translation: X:-21.63, Y:38.60, Z:2.70 [[ 9.42730061e-01 2.94319002e-01 1.56959731e-01 -2.16329425e+01] [-2.94293712e-01 9.55415187e-01 -2.39380825e-02 3.86040216e+01] [-1.57007144e-01 -2.36251120e-02 9.87314849e-01 2.69874458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.87483917299999 meters Centerline goodness : 0.779072 Centerline is valid? [False, False] Translation: X:-21.64, Y:38.60, Z:2.70 [[ 9.43467429e-01 2.92057153e-01 1.56754042e-01 -2.16368603e+01] [-2.91690801e-01 9.56163058e-01 -2.58589258e-02 3.86022164e+01] [-1.57434709e-01 -2.13266579e-02 9.87299086e-01 2.70398469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.90483917299999 meters Centerline goodness : 0.786607 Centerline is valid? [False, False] Translation: X:-21.64, Y:38.60, Z:2.71 [[ 9.45448881e-01 2.85837067e-01 1.56280466e-01 -2.16358071e+01] [-2.86403734e-01 9.57913221e-01 -1.93691213e-02 3.85987517e+01] [-1.55239538e-01 -2.64467951e-02 9.87522786e-01 2.71491490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.93483917299999 meters Centerline goodness : 0.789495 Centerline is valid? [False, False] Translation: X:-21.64, Y:38.60, Z:2.72 [[ 9.45558930e-01 2.85404220e-01 1.56405695e-01 -2.16372292e+01] [-2.85982711e-01 9.58040813e-01 -1.92792507e-02 3.85970092e+01] [-1.55345419e-01 -2.64996570e-02 9.87504719e-01 2.71630504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.964839172999994 meters Centerline goodness : 0.803414 Centerline is valid? [False, False] Translation: X:-21.64, Y:38.59, Z:2.72 [[ 9.45426204e-01 2.86136111e-01 1.55869875e-01 -2.16360858e+01] [-2.86845590e-01 9.57799887e-01 -1.84114951e-02 3.85949289e+01] [-1.54560342e-01 -2.73038765e-02 9.87605994e-01 2.71672859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.994839172999995 meters Centerline goodness : 0.803414 Centerline is valid? [False, False] Translation: X:-21.64, Y:38.59, Z:2.72 [[ 9.45426204e-01 2.86136111e-01 1.55869875e-01 -2.16360858e+01] [-2.86845590e-01 9.57799887e-01 -1.84114951e-02 3.85949289e+01] [-1.54560342e-01 -2.73038765e-02 9.87605994e-01 2.71672859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.024839173 meters Centerline goodness : 0.795877 Centerline is valid? [False, False] Translation: X:-21.64, Y:38.59, Z:2.72 [[ 9.45440343e-01 2.86075006e-01 1.55896276e-01 -2.16369583e+01] [-2.86780548e-01 9.57818888e-01 -1.84362572e-02 3.85940341e+01] [-1.54594550e-01 -2.72776382e-02 9.87601365e-01 2.71819365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.054839173 meters Centerline goodness : 0.800233 Centerline is valid? [False, False] Translation: X:-21.64, Y:38.59, Z:2.72 [[ 9.45526361e-01 2.85803589e-01 1.55872415e-01 -2.16377234e+01] [-2.86394816e-01 9.57920509e-01 -1.91391842e-02 3.85943052e+01] [-1.54783431e-01 -2.65444486e-02 9.87591759e-01 2.71987247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.08483917299999 meters Centerline goodness : 0.806157 Centerline is valid? [False, False] Translation: X:-21.64, Y:38.60, Z:2.73 [[ 9.45258080e-01 2.86339135e-01 1.56515375e-01 -2.16401895e+01] [-2.86895118e-01 9.57763109e-01 -1.95196945e-02 3.86010494e+01] [-1.55493904e-01 -2.64523479e-02 9.87482617e-01 2.72661806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.11483917299999 meters Centerline goodness : 0.806864 Centerline is valid? [False, False] Translation: X:-21.64, Y:38.60, Z:2.73 [[ 9.45616494e-01 2.85329835e-01 1.56193250e-01 -2.16414243e+01] [-2.85592002e-01 9.58115760e-01 -2.12461408e-02 3.86042999e+01] [-1.55713372e-01 -2.45168417e-02 9.87497985e-01 2.73057568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.144839172999994 meters Centerline goodness : 0.814130 Centerline is valid? [False, False] Translation: X:-21.64, Y:38.61, Z:2.74 [[ 9.47887527e-01 2.79694248e-01 1.52579039e-01 -2.16365106e+01] [-2.80334167e-01 9.59738374e-01 -1.77484593e-02 3.86099675e+01] [-1.51400101e-01 -2.59495747e-02 9.88131888e-01 2.74116735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.174839172999995 meters Centerline goodness : 0.813620 Centerline is valid? [False, False] Translation: X:-21.64, Y:38.61, Z:2.74 [[ 9.48108497e-01 2.79275834e-01 1.51971335e-01 -2.16353527e+01] [-2.79717276e-01 9.59896208e-01 -1.89080860e-02 3.86130410e+01] [-1.51157279e-01 -2.45820908e-02 9.88204026e-01 2.74188346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.204839172999996 meters Centerline goodness : 0.812649 Centerline is valid? [False, False] Translation: X:-21.63, Y:38.62, Z:2.75 [[ 9.50490106e-01 2.79147396e-01 1.36547759e-01 -2.16284765e+01] [-2.79186193e-01 9.60043797e-01 -1.92607486e-02 3.86182696e+01] [-1.36468417e-01 -1.98150980e-02 9.90446229e-01 2.74574118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.234839173 meters Centerline goodness : 0.811416 Centerline is valid? [False, False] Translation: X:-21.62, Y:38.62, Z:2.75 [[ 9.52714327e-01 2.78247865e-01 1.22120993e-01 -2.16237374e+01] [-2.78066526e-01 9.60376405e-01 -1.88724375e-02 3.86213124e+01] [-1.22533335e-01 -1.59777185e-02 9.92335777e-01 2.75090965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.26483917299999 meters Centerline goodness : 0.810677 Centerline is valid? [False, False] Translation: X:-21.62, Y:38.62, Z:2.75 [[ 9.52854630e-01 2.77941550e-01 1.21723244e-01 -2.16223223e+01] [-2.77633478e-01 9.60482416e-01 -1.98288035e-02 3.86242933e+01] [-1.22424284e-01 -1.49004803e-02 9.92365996e-01 2.75050998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.29483917299999 meters Centerline goodness : 0.817710 Centerline is valid? [False, False] Translation: X:-21.62, Y:38.63, Z:2.75 [[ 9.52516510e-01 2.79310055e-01 1.21236097e-01 -2.16177662e+01] [-2.79019071e-01 9.60083090e-01 -1.97184611e-02 3.86324762e+01] [-1.21904291e-01 -1.50450234e-02 9.92427827e-01 2.74876556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.324839172999994 meters Centerline goodness : 0.820336 Centerline is valid? [False, False] Translation: X:-21.62, Y:38.64, Z:2.75 [[ 9.51866136e-01 2.81651171e-01 1.20927572e-01 -2.16157405e+01] [-2.81265931e-01 9.59408737e-01 -2.05997643e-02 3.86426800e+01] [-1.21820917e-01 -1.44045882e-02 9.92447566e-01 2.75336088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.354839172999995 meters Centerline goodness : 0.822800 Centerline is valid? [False, False] Translation: X:-21.62, Y:38.65, Z:2.76 [[ 9.51173892e-01 2.83819190e-01 1.21304965e-01 -2.16160889e+01] [-2.83609965e-01 9.58744404e-01 -1.93534254e-02 3.86476379e+01] [-1.21793330e-01 -1.59948240e-02 9.92426597e-01 2.75706241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.384839172999996 meters Centerline goodness : 0.825172 Centerline is valid? [False, False] Translation: X:-21.62, Y:38.66, Z:2.76 [[ 9.49624026e-01 2.88254491e-01 1.22977874e-01 -2.16169363e+01] [-2.88550484e-01 9.57334516e-01 -1.57874031e-02 3.86562624e+01] [-1.22281753e-01 -2.04932277e-02 9.92283831e-01 2.76167431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.414839173 meters Centerline goodness : 0.823308 Centerline is valid? [False, False] Translation: X:-21.62, Y:38.66, Z:2.76 [[ 9.48719433e-01 2.90964144e-01 1.23577120e-01 -2.16155099e+01] [-2.91636502e-01 9.56440633e-01 -1.30178972e-02 3.86595715e+01] [-1.21981920e-01 -2.36892669e-02 9.92249580e-01 2.76160553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.44483917299999 meters Centerline goodness : 0.825280 Centerline is valid? [False, False] Translation: X:-21.61, Y:38.66, Z:2.76 [[ 9.47791370e-01 2.94187413e-01 1.23066185e-01 -2.16065624e+01] [-2.95941564e-01 9.55196843e-01 -4.19309227e-03 3.86648520e+01] [-1.18785986e-01 -3.24462225e-02 9.92389607e-01 2.76097357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.47483917299999 meters Centerline goodness : 0.818433 Centerline is valid? [False, False] Translation: X:-21.60, Y:38.67, Z:2.76 [[ 9.47611632e-01 2.95211815e-01 1.21992538e-01 -2.15998417e+01] [-2.97349085e-01 9.54768562e-01 -7.17321681e-04 3.86677482e+01] [-1.16686401e-01 -3.55946271e-02 9.92530758e-01 2.75708228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.50483917299999 meters Centerline goodness : 0.814597 Centerline is valid? [False, False] Translation: X:-21.60, Y:38.68, Z:2.75 [[ 9.46961232e-01 2.97494284e-01 1.21497225e-01 -2.15965934e+01] [-2.99043395e-01 9.54222455e-01 -5.70567950e-03 3.86758579e+01] [-1.17632787e-01 -3.09298853e-02 9.92575372e-01 2.74949137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.534839172999995 meters Centerline goodness : 0.810959 Centerline is valid? [False, False] Translation: X:-21.60, Y:38.68, Z:2.75 [[ 9.46712737e-01 2.98462180e-01 1.21059160e-01 -2.15955786e+01] [-2.99664965e-01 9.54005965e-01 -8.57482373e-03 3.86807707e+01] [-1.18050421e-01 -2.81592940e-02 9.92608257e-01 2.74774941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.564839172999996 meters Centerline goodness : 0.812390 Centerline is valid? [False, False] Translation: X:-21.59, Y:38.69, Z:2.75 [[ 9.46230929e-01 3.00171360e-01 1.20599267e-01 -2.15926036e+01] [-3.01623409e-01 9.53405232e-01 -6.46394334e-03 3.86868557e+01] [-1.16920263e-01 -3.02591790e-02 9.92680228e-01 2.74976714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.594839173 meters Centerline goodness : 0.815618 Centerline is valid? [False, False] Translation: X:-21.59, Y:38.69, Z:2.75 [[ 9.45537945e-01 3.02156890e-01 1.21075217e-01 -2.15906724e+01] [-3.04146939e-01 9.52622728e-01 -2.13957423e-03 3.86884743e+01] [-1.15985491e-01 -3.48016080e-02 9.92641030e-01 2.75077190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62483917299999 meters Centerline goodness : 0.816752 Centerline is valid? [False, False] Translation: X:-21.59, Y:38.70, Z:2.75 [[ 9.45964490e-01 2.96541681e-01 1.31202955e-01 -2.15871745e+01] [-2.98932931e-01 9.54272884e-01 -1.53767334e-03 3.86996990e+01] [-1.25659406e-01 -3.77662996e-02 9.91354336e-01 2.75125445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.65483917299999 meters Centerline goodness : 0.818468 Centerline is valid? [False, False] Translation: X:-21.58, Y:38.70, Z:2.75 [[ 9.45894209e-01 2.96790672e-01 1.31146640e-01 -2.15845384e+01] [-2.99860325e-01 9.53975339e-01 3.85189388e-03 3.86993991e+01] [-1.23967454e-01 -4.29691583e-02 9.91355497e-01 2.75356416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.68483917299999 meters Centerline goodness : 0.817332 Centerline is valid? [False, False] Translation: X:-21.58, Y:38.70, Z:2.75 [[ 9.48284201e-01 2.90883401e-01 1.27058730e-01 -2.15772225e+01] [-2.93336356e-01 9.56009098e-01 6.22184908e-04 3.87043509e+01] [-1.21288318e-01 -3.78609529e-02 9.91895001e-01 2.75407104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.714839172999994 meters Centerline goodness : 0.809250 Centerline is valid? [False, False] Translation: X:-21.57, Y:38.71, Z:2.75 [[ 9.47918243e-01 2.92464909e-01 1.26155784e-01 -2.15738501e+01] [-2.94237635e-01 9.55720401e-01 -4.76758640e-03 3.87113299e+01] [-1.21964008e-01 -3.26004974e-02 9.91998986e-01 2.74717030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.744839172999995 meters Centerline goodness : 0.809102 Centerline is valid? [False, False] Translation: X:-21.57, Y:38.72, Z:2.75 [[ 9.47479655e-01 2.93922744e-01 1.26062382e-01 -2.15734697e+01] [-2.95383963e-01 9.55350210e-01 -7.36826004e-03 3.87170239e+01] [-1.22599423e-01 -3.02555296e-02 9.91994952e-01 2.74636434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.774839173 meters Centerline goodness : 0.806541 Centerline is valid? [False, False] Translation: X:-21.57, Y:38.73, Z:2.74 [[ 9.48017143e-01 2.88560171e-01 1.34151124e-01 -2.15674525e+01] [-2.90543511e-01 9.56848816e-01 -4.98116311e-03 3.87254923e+01] [-1.29799709e-01 -3.42545105e-02 9.90948366e-01 2.73940487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.804839173 meters Centerline goodness : 0.805710 Centerline is valid? [False, False] Translation: X:-21.56, Y:38.74, Z:2.74 [[ 9.49272825e-01 2.80383376e-01 1.42359638e-01 -2.15583444e+01] [-2.83505869e-01 9.58968951e-01 1.72426298e-03 3.87358511e+01] [-1.36035018e-01 -4.19965890e-02 9.89813498e-01 2.73608806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.83483917299999 meters Centerline goodness : 0.760382 Centerline is valid? [False, False] Translation: X:-21.55, Y:38.74, Z:2.73 [[ 9.50416928e-01 2.72050227e-01 1.50653036e-01 -2.15518326e+01] [-2.75478407e-01 9.61305251e-01 1.96497641e-03 3.87413067e+01] [-1.44288982e-01 -4.33692052e-02 9.88584747e-01 2.73209789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.86483917299999 meters Centerline goodness : 0.806993 Centerline is valid? [False, False] Translation: X:-21.54, Y:38.75, Z:2.73 [[ 9.50966649e-01 2.66969191e-01 1.56172611e-01 -2.15404209e+01] [-2.70194544e-01 9.62805562e-01 -5.98195596e-04 3.87539798e+01] [-1.50523559e-01 -4.16281235e-02 9.87729597e-01 2.72825655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.894839172999994 meters Centerline goodness : 0.799953 Centerline is valid? [False, False] Translation: X:-21.53, Y:38.77, Z:2.72 [[ 9.51417629e-01 2.67036602e-01 1.53283883e-01 -2.15313379e+01] [-2.69212033e-01 9.63057105e-01 -6.77450420e-03 3.87690110e+01] [-1.49430173e-01 -3.48204832e-02 9.88158974e-01 2.72069044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.924839172999995 meters Centerline goodness : 0.797412 Centerline is valid? [False, False] Translation: X:-21.53, Y:38.78, Z:2.71 [[ 9.51238449e-01 2.61671144e-01 1.63320624e-01 -2.15274680e+01] [-2.63920614e-01 9.64509874e-01 -8.16165754e-03 3.87795259e+01] [-1.59660025e-01 -3.53399968e-02 9.86539285e-01 2.71215351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.954839172999996 meters Centerline goodness : 0.794253 Centerline is valid? [False, False] Translation: X:-21.52, Y:38.80, Z:2.71 [[ 9.50361602e-01 2.58565523e-01 1.73080029e-01 -2.15204228e+01] [-2.61120348e-01 9.65271041e-01 -8.24508279e-03 3.87958222e+01] [-1.69201034e-01 -3.73589074e-02 9.84873252e-01 2.71016750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.984839173 meters Centerline goodness : 0.793498 Centerline is valid? [False, False] Translation: X:-21.52, Y:38.80, Z:2.70 [[ 9.50429941e-01 2.51504970e-01 1.82833742e-01 -2.15162277e+01] [-2.54422493e-01 9.67062408e-01 -7.71327275e-03 3.88049194e+01] [-1.78751566e-01 -3.91860912e-02 9.83113589e-01 2.70444423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.01483917299999 meters Centerline goodness : 0.792871 Centerline is valid? [False, False] Translation: X:-21.51, Y:38.81, Z:2.71 [[ 9.50710096e-01 2.51416618e-01 1.81493793e-01 -2.15135896e+01] [-2.53836440e-01 9.67193809e-01 -1.01586398e-02 3.88124148e+01] [-1.78093724e-01 -3.64118170e-02 9.83339618e-01 2.70727081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.04483917299999 meters Centerline goodness : 0.791817 Centerline is valid? [False, False] Translation: X:-21.51, Y:38.82, Z:2.71 [[ 9.51250814e-01 2.50240313e-01 1.80282207e-01 -2.15118884e+01] [-2.52632391e-01 9.67511190e-01 -9.94848673e-03 3.88158219e+01] [-1.76914565e-01 -3.60816188e-02 9.83564616e-01 2.71148181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.074839172999994 meters Centerline goodness : 0.788253 Centerline is valid? [False, False] Translation: X:-21.51, Y:38.82, Z:2.71 [[ 9.51676879e-01 2.41776450e-01 1.89354868e-01 -2.15075766e+01] [-2.44961663e-01 9.69509195e-01 -6.76053591e-03 3.88221570e+01] [-1.85215824e-01 -3.99508378e-02 9.81885446e-01 2.70589489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.104839172999995 meters Centerline goodness : 0.789576 Centerline is valid? [False, False] Translation: X:-21.51, Y:38.82, Z:2.71 [[ 9.51863535e-01 2.41230438e-01 1.89112891e-01 -2.15078011e+01] [-2.44202529e-01 9.69693013e-01 -7.78364704e-03 3.88236417e+01] [-1.85259102e-01 -3.87728765e-02 9.81924503e-01 2.70805758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.134839172999996 meters Centerline goodness : 0.790122 Centerline is valid? [False, False] Translation: X:-21.50, Y:38.82, Z:2.71 [[ 9.53641135e-01 2.36484445e-01 1.86128161e-01 -2.15036014e+01] [-2.38497310e-01 9.71071071e-01 -1.18324815e-02 3.88246330e+01] [-1.83541871e-01 -3.31071246e-02 9.82454223e-01 2.70784833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.164839173 meters Centerline goodness : 0.788235 Centerline is valid? [False, False] Translation: X:-21.50, Y:38.83, Z:2.71 [[ 9.54715414e-01 2.33696232e-01 1.84131883e-01 -2.15013351e+01] [-2.34766902e-01 9.71915384e-01 -1.62784549e-02 3.88280941e+01] [-1.82764823e-01 -2.76867800e-02 9.82766738e-01 2.70898715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.19483917299999 meters Centerline goodness : 0.787794 Centerline is valid? [False, False] Translation: X:-21.50, Y:38.83, Z:2.71 [[ 9.55630810e-01 2.31884112e-01 1.81657683e-01 -2.14961602e+01] [-2.33068027e-01 9.72343116e-01 -1.51049605e-02 3.88332634e+01] [-1.80136197e-01 -2.79038321e-02 9.83245812e-01 2.71181609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.22483917299999 meters Centerline goodness : 0.787054 Centerline is valid? [False, False] Translation: X:-21.49, Y:38.83, Z:2.71 [[ 9.55892019e-01 2.31536421e-01 1.80724471e-01 -2.14941823e+01] [-2.32628486e-01 9.72443287e-01 -1.54285989e-02 3.88341766e+01] [-1.79316581e-01 -2.72935855e-02 9.83412743e-01 2.71183245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.25483917299999 meters Centerline goodness : 0.788542 Centerline is valid? [False, False] Translation: X:-21.50, Y:38.84, Z:2.72 [[ 9.56266649e-01 2.29893409e-01 1.80840029e-01 -2.14971702e+01] [-2.30154808e-01 9.72951989e-01 -1.98290330e-02 3.88351617e+01] [-1.80507230e-01 -2.26593592e-02 9.83312612e-01 2.71609467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.284839172999995 meters Centerline goodness : 0.789736 Centerline is valid? [False, False] Translation: X:-21.50, Y:38.83, Z:2.72 [[ 9.56152835e-01 2.30124817e-01 1.81147248e-01 -2.14986175e+01] [-2.30420223e-01 9.72891679e-01 -1.97053497e-02 3.88344107e+01] [-1.80771341e-01 -2.28986634e-02 9.83258549e-01 2.71858893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.314839172999996 meters Centerline goodness : 0.790097 Centerline is valid? [False, False] Translation: X:-21.50, Y:38.84, Z:2.72 [[ 9.56619796e-01 2.29611373e-01 1.79324241e-01 -2.14950846e+01] [-2.28741131e-01 9.73145287e-01 -2.58020438e-02 3.88391351e+01] [-1.80432983e-01 -1.63360838e-02 9.83451611e-01 2.71542235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.344839173 meters Centerline goodness : 0.789865 Centerline is valid? [False, False] Translation: X:-21.48, Y:38.84, Z:2.71 [[ 9.58355607e-01 2.27913713e-01 1.72075190e-01 -2.14839955e+01] [-2.25080351e-01 9.73672424e-01 -3.60672580e-02 3.88448628e+01] [-1.75765090e-01 -4.16548523e-03 9.84423325e-01 2.70776807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.37483917299999 meters Centerline goodness : 0.786719 Centerline is valid? [False, False] Translation: X:-21.48, Y:38.85, Z:2.70 [[ 9.58939391e-01 2.26712626e-01 1.70401377e-01 -2.14803757e+01] [-2.22930729e-01 9.73960405e-01 -4.12676444e-02 3.88494817e+01] [-1.75320090e-01 1.58546653e-03 9.84510209e-01 2.70434685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.40483917299999 meters Centerline goodness : 0.787287 Centerline is valid? [False, False] Translation: X:-21.48, Y:38.85, Z:2.71 [[ 9.59031365e-01 2.26685962e-01 1.69918557e-01 -2.14800610e+01] [-2.22762440e-01 9.73964714e-01 -4.20669824e-02 3.88517949e+01] [-1.75030673e-01 2.49208308e-03 9.84559827e-01 2.70672172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.43483917299999 meters Centerline goodness : 0.789528 Centerline is valid? [False, False] Translation: X:-21.48, Y:38.86, Z:2.71 [[ 9.58514920e-01 2.20893981e-01 1.80152703e-01 -2.14791679e+01] [-2.17137046e-01 9.75297798e-01 -4.05673308e-02 3.88565476e+01] [-1.84663614e-01 -2.33434023e-04 9.82801758e-01 2.71477455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.464839172999994 meters Centerline goodness : 0.794091 Centerline is valid? [False, False] Translation: X:-21.49, Y:38.86, Z:2.73 [[ 9.59108567e-01 2.17090608e-01 1.81610640e-01 -2.14860870e+01] [-2.12299047e-01 9.76137406e-01 -4.56604792e-02 3.88567700e+01] [-1.87189400e-01 5.23759099e-03 9.82309878e-01 2.72639527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.494839172999995 meters Centerline goodness : 0.793849 Centerline is valid? [False, False] Translation: X:-21.49, Y:38.86, Z:2.73 [[ 9.60114449e-01 2.13887524e-01 1.80089898e-01 -2.14856116e+01] [-2.08371872e-01 9.76809689e-01 -4.92340829e-02 3.88568854e+01] [-1.86444113e-01 9.74468517e-03 9.82417240e-01 2.72925153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.524839173 meters Centerline goodness : 0.795209 Centerline is valid? [False, False] Translation: X:-21.48, Y:38.86, Z:2.73 [[ 9.62295261e-01 2.06948976e-01 1.76521818e-01 -2.14814941e+01] [-1.99970929e-01 9.78163156e-01 -5.66433441e-02 3.88562359e+01] [-1.84389420e-01 1.92083897e-02 9.82665548e-01 2.72881979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.554839173 meters Centerline goodness : 0.793224 Centerline is valid? [False, False] Translation: X:-21.48, Y:38.85, Z:2.73 [[ 9.63010509e-01 2.04445305e-01 1.75535971e-01 -2.14800691e+01] [-1.96673575e-01 9.78583652e-01 -6.07745131e-02 3.88548504e+01] [-1.84201696e-01 2.40032077e-02 9.82595329e-01 2.72580154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.58483917299999 meters Centerline goodness : 0.793157 Centerline is valid? [False, False] Translation: X:-21.48, Y:38.85, Z:2.72 [[ 9.63605670e-01 2.02750274e-01 1.74230996e-01 -2.14778119e+01] [-1.94497547e-01 9.78852879e-01 -6.33856825e-02 3.88527790e+01] [-1.83397976e-01 2.71913017e-02 9.82662615e-01 2.72358081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.61483917299999 meters Centerline goodness : 0.792315 Centerline is valid? [False, False] Translation: X:-21.48, Y:38.85, Z:2.72 [[ 9.63581224e-01 2.03180734e-01 1.73864356e-01 -2.14770046e+01] [-1.94984597e-01 9.78769685e-01 -6.31736535e-02 3.88535450e+01] [-1.83008830e-01 2.69720750e-02 9.82741205e-01 2.72432633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.644839172999994 meters Centerline goodness : 0.792736 Centerline is valid? [False, False] Translation: X:-21.48, Y:38.85, Z:2.73 [[ 9.62675062e-01 2.06610486e-01 1.74839449e-01 -2.14778343e+01] [-1.99284723e-01 9.78184140e-01 -5.86633442e-02 3.88525474e+01] [-1.83145638e-01 2.16309073e-02 9.82847790e-01 2.72632291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.674839172999995 meters Centerline goodness : 0.793049 Centerline is valid? [False, False] Translation: X:-21.48, Y:38.85, Z:2.73 [[ 9.62635762e-01 2.06888813e-01 1.74726666e-01 -2.14777676e+01] [-1.99738963e-01 9.78145493e-01 -5.77558748e-02 3.88504645e+01] [-1.82857145e-01 2.06981474e-02 9.82921589e-01 2.72691531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.704839172999996 meters Centerline goodness : 0.793543 Centerline is valid? [False, False] Translation: X:-21.48, Y:38.85, Z:2.73 [[ 9.63033671e-01 2.05733618e-01 1.73896021e-01 -2.14770665e+01] [-1.98744651e-01 9.78399121e-01 -5.68834190e-02 3.88490438e+01] [-1.81842546e-01 2.02197439e-02 9.83119754e-01 2.72934802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.734839173 meters Centerline goodness : 0.794372 Centerline is valid? [False, False] Translation: X:-21.47, Y:38.85, Z:2.73 [[ 9.64891864e-01 1.99712128e-01 1.70583580e-01 -2.14727628e+01] [-1.91084560e-01 9.79368974e-01 -6.57503162e-02 3.88529389e+01] [-1.80195401e-01 3.08460568e-02 9.83147058e-01 2.72877490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.76483917299999 meters Centerline goodness : 0.793191 Centerline is valid? [False, False] Translation: X:-21.47, Y:38.85, Z:2.73 [[ 9.65847415e-01 1.96438897e-01 1.68969024e-01 -2.14704493e+01] [-1.87175210e-01 9.79881325e-01 -6.92678075e-02 3.88533070e+01] [-1.79176483e-01 3.52753202e-02 9.83184337e-01 2.72780249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.79483917299999 meters Centerline goodness : 0.792488 Centerline is valid? [False, False] Translation: X:-21.47, Y:38.85, Z:2.73 [[ 0.96679168 0.19313357 0.16737164 -21.46825711] [ -0.18317626 0.98035361 -0.07316598 38.85288254] [ -0.1782142 0.04007775 0.9831752 2.72649732] [ 0. 0. 0. 1. ]] SLAMing on 61.824839172999994 meters Centerline goodness : 0.792912 Centerline is valid? [False, False] Translation: X:-21.47, Y:38.85, Z:2.73 [[ 0.96782785 0.18950991 0.1655151 -21.46547192] [ -0.179 0.98087837 -0.0763978 38.85232972] [ -0.17682832 0.04431271 0.98324368 2.72563853] [ 0. 0. 0. 1. ]] SLAMing on 61.854839172999995 meters Centerline goodness : 0.792953 Centerline is valid? [False, False] Translation: X:-21.46, Y:38.85, Z:2.73 [[ 0.96811096 0.18903756 0.1643958 -21.46277422] [ -0.17869208 0.98098638 -0.07572887 38.85316385] [ -0.17558564 0.04393772 0.98348318 2.72545303] [ 0. 0. 0. 1. ]] SLAMing on 61.884839172999996 meters Centerline goodness : 0.794580 Centerline is valid? [False, False] Translation: X:-21.46, Y:38.86, Z:2.72 [[ 0.96856884 0.1885867 0.16220193 -21.45663557] [ -0.17840073 0.98106806 -0.07535672 38.8557437 ] [ -0.17334241 0.04405122 0.98387596 2.72290015] [ 0. 0. 0. 1. ]] SLAMing on 61.914839173 meters Centerline goodness : 0.794580 Centerline is valid? [False, False] Translation: X:-21.46, Y:38.86, Z:2.72 [[ 0.96856884 0.1885867 0.16220193 -21.45663557] [ -0.17840073 0.98106806 -0.07535672 38.8557437 ] [ -0.17334241 0.04405122 0.98387596 2.72290015] [ 0. 0. 0. 1. ]] SLAMing on 61.94483917299999 meters Centerline goodness : 0.793177 Centerline is valid? [False, False] Translation: X:-21.45, Y:38.86, Z:2.72 [[ 9.67972469e-01 1.91409787e-01 1.62454894e-01 -2.14548271e+01] [-1.82085723e-01 9.80744476e-01 -7.06049778e-02 3.88560930e+01] [-1.72841224e-01 3.87629579e-02 9.84186641e-01 2.72149159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.97483917299999 meters Centerline goodness : 0.795683 Centerline is valid? [False, False] Translation: X:-21.45, Y:38.86, Z:2.72 [[ 0.96790638 0.19228241 0.1618169 -21.4533503 ] [ -0.18290997 0.98055588 -0.07109225 38.85827021] [ -0.1723403 0.03921272 0.98425667 2.72221203] [ 0. 0. 0. 1. ]] SLAMing on 62.00483917299999 meters Centerline goodness : 0.793690 Centerline is valid? [False, False] Translation: X:-21.45, Y:38.86, Z:2.72 [[ 0.96795549 0.19261886 0.16112154 -21.45143932] [ -0.18324445 0.9804791 -0.07128963 38.86025263] [ -0.17170803 0.03948056 0.98435646 2.72207983] [ 0. 0. 0. 1. ]] SLAMing on 62.034839172999995 meters Centerline goodness : 0.795909 Centerline is valid? [False, False] Translation: X:-21.45, Y:38.86, Z:2.72 [[ 9.67432002e-01 1.95531522e-01 1.60756788e-01 -2.14474693e+01] [-1.86762269e-01 9.80041258e-01 -6.81101163e-02 3.88621296e+01] [-1.70865959e-01 3.58686038e-02 9.84641187e-01 2.71816256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.064839172999996 meters Centerline goodness : 0.791990 Centerline is valid? [False, False] Translation: X:-21.45, Y:38.86, Z:2.72 [[ 9.66867678e-01 1.97503009e-01 1.61738847e-01 -2.14484644e+01] [-1.88631021e-01 9.79646267e-01 -6.86405847e-02 3.88620806e+01] [-1.72003580e-01 3.58573990e-02 9.84443506e-01 2.71623035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.094839173 meters Centerline goodness : 0.794054 Centerline is valid? [False, False] Translation: X:-21.45, Y:38.86, Z:2.72 [[ 9.66545576e-01 1.98350219e-01 1.62624842e-01 -2.14502437e+01] [-1.89425923e-01 9.79480483e-01 -6.88171649e-02 3.88606475e+01] [-1.72937758e-01 3.57095655e-02 9.84285202e-01 2.71588846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12483917299999 meters Centerline goodness : 0.794948 Centerline is valid? [False, False] Translation: X:-21.45, Y:38.85, Z:2.72 [[ 9.66667310e-01 1.97582003e-01 1.62836309e-01 -2.14505960e+01] [-1.89255308e-01 9.79753591e-01 -6.53094910e-02 3.88533725e+01] [-1.72443438e-01 3.23149142e-02 9.84489211e-01 2.71504103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.15483917299999 meters Centerline goodness : 0.795010 Centerline is valid? [False, False] Translation: X:-21.45, Y:38.85, Z:2.72 [[ 9.66812867e-01 1.96835724e-01 1.62875959e-01 -2.14511455e+01] [-1.88730995e-01 9.79942685e-01 -6.39761297e-02 3.88498755e+01] [-1.72201892e-01 3.11132035e-02 9.84570199e-01 2.71564513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.18483917299999 meters Centerline goodness : 0.796410 Centerline is valid? [False, False] Translation: X:-21.45, Y:38.85, Z:2.72 [[ 9.68160606e-01 1.91650960e-01 1.61043320e-01 -2.14514804e+01] [-1.83183786e-01 9.80859646e-01 -6.60155726e-02 3.88469303e+01] [-1.70612842e-01 3.44131517e-02 9.84737017e-01 2.72149838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.214839172999994 meters Centerline goodness : 0.798750 Centerline is valid? [False, False] Translation: X:-21.45, Y:38.84, Z:2.72 [[ 9.69123124e-01 1.87889203e-01 1.59680987e-01 -2.14511846e+01] [-1.79443011e-01 9.81559075e-01 -6.58937616e-02 3.88443018e+01] [-1.69117049e-01 3.52055310e-02 9.84967002e-01 2.72499450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.244839172999995 meters Centerline goodness : 0.801951 Centerline is valid? [False, False] Translation: X:-21.46, Y:38.84, Z:2.73 [[ 9.70135073e-01 1.82874796e-01 1.59357299e-01 -2.14556378e+01] [-1.74262507e-01 9.82447190e-01 -6.65589819e-02 3.88374923e+01] [-1.68732091e-01 3.68012002e-02 9.84974697e-01 2.73349642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.274839173 meters Centerline goodness : 0.801609 Centerline is valid? [False, False] Translation: X:-21.45, Y:38.83, Z:2.73 [[ 0.97112214 0.17910369 0.15761872 -21.45368924] [ -0.17021416 0.98303664 -0.06830886 38.83413093] [ -0.16717934 0.0395073 0.98513463 2.73375202] [ 0. 0. 0. 1. ]] SLAMing on 62.304839173 meters Centerline goodness : 0.803874 Centerline is valid? [False, False] Translation: X:-21.45, Y:38.83, Z:2.74 [[ 0.97453368 0.17337791 0.14221182 -21.45118888] [ -0.16350794 0.98341665 -0.07846555 38.8260092 ] [ -0.15345767 0.05321456 0.98672132 2.735011 ] [ 0. 0. 0. 1. ]] SLAMing on 62.33483917299999 meters Centerline goodness : 0.802560 Centerline is valid? [False, False] Translation: X:-21.45, Y:38.82, Z:2.73 [[ 0.97532041 0.1700724 0.14080298 -21.44754768] [ -0.16010541 0.98390103 -0.07940412 38.8194099 ] [ -0.15204064 0.05490114 0.98684827 2.7288992 ] [ 0. 0. 0. 1. ]] SLAMing on 62.36483917299999 meters Centerline goodness : 0.801793 Centerline is valid? [False, False] Translation: X:-21.44, Y:38.81, Z:2.72 [[ 0.97531996 0.17063636 0.14012211 -21.44279369] [ -0.16167863 0.98413356 -0.0730832 38.80785434] [ -0.15036953 0.04862475 0.98743336 2.71754 ] [ 0. 0. 0. 1. ]] SLAMing on 62.394839172999994 meters Centerline goodness : 0.802025 Centerline is valid? [False, False] Translation: X:-21.45, Y:38.80, Z:2.72 [[ 0.97388503 0.17648454 0.14283261 -21.44692723] [ -0.1681592 0.98337737 -0.06849403 38.80493781] [ -0.15254649 0.04268669 0.987374 2.71813773] [ 0. 0. 0. 1. ]] SLAMing on 62.424839172999995 meters Centerline goodness : 0.803398 Centerline is valid? [False, False] Translation: X:-21.45, Y:38.80, Z:2.72 [[ 9.72825145e-01 1.80643925e-01 1.44841326e-01 -2.14501858e+01] [-1.73177609e-01 9.82892570e-01 -6.27033644e-02 3.87998693e+01] [-1.53690445e-01 3.59161350e-02 9.87466090e-01 2.71931679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.454839172999996 meters Centerline goodness : 0.804839 Centerline is valid? [False, False] Translation: X:-21.45, Y:38.80, Z:2.72 [[ 9.72583920e-01 1.81440856e-01 1.45463860e-01 -2.14525216e+01] [-1.74045036e-01 9.82773903e-01 -6.21593269e-02 3.87980480e+01] [-1.54236327e-01 3.51378992e-02 9.87408975e-01 2.72215262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.484839173 meters Centerline goodness : 0.806038 Centerline is valid? [False, False] Translation: X:-21.45, Y:38.80, Z:2.72 [[ 9.72739740e-01 1.81360824e-01 1.44518683e-01 -2.14504669e+01] [-1.74197580e-01 9.82827315e-01 -6.08742273e-02 3.87971889e+01] [-1.53077109e-01 3.40399751e-02 9.87627804e-01 2.72242197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.51483917299999 meters Centerline goodness : 0.808391 Centerline is valid? [False, False] Translation: X:-21.45, Y:38.80, Z:2.72 [[ 9.72015602e-01 1.84966707e-01 1.44820531e-01 -2.14499012e+01] [-1.78690162e-01 9.82348707e-01 -5.53248933e-02 3.87956501e+01] [-1.52497525e-01 2.78986553e-02 9.87910001e-01 2.72410360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.54483917299999 meters Centerline goodness : 0.809705 Centerline is valid? [False, False] Translation: X:-21.45, Y:38.80, Z:2.72 [[ 9.71319715e-01 1.87619564e-01 1.46071594e-01 -2.14524136e+01] [-1.81163679e-01 9.81832536e-01 -5.64321874e-02 3.87971769e+01] [-1.54005626e-01 2.83508288e-02 9.87663150e-01 2.72467827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.574839172999994 meters Centerline goodness : 0.809582 Centerline is valid? [False, False] Translation: X:-21.46, Y:38.79, Z:2.72 [[ 9.69348543e-01 1.94942036e-01 1.49535962e-01 -2.14570505e+01] [-1.88802515e-01 9.80509955e-01 -5.43492276e-02 3.87940989e+01] [-1.57216449e-01 2.44505790e-02 9.87261443e-01 2.72110686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.604839172999995 meters Centerline goodness : 0.809743 Centerline is valid? [False, False] Translation: X:-21.46, Y:38.79, Z:2.72 [[ 9.69190268e-01 1.95880165e-01 1.49335811e-01 -2.14562695e+01] [-1.89687709e-01 9.80315049e-01 -5.47811810e-02 3.87949003e+01] [-1.57126690e-01 2.47662196e-02 9.87267865e-01 2.72039351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.634839172999996 meters Centerline goodness : 0.810576 Centerline is valid? [False, False] Translation: X:-21.46, Y:38.80, Z:2.72 [[ 9.68902056e-01 1.97099369e-01 1.49601621e-01 -2.14571110e+01] [-1.90835740e-01 9.80064583e-01 -5.52732661e-02 3.87954395e+01] [-1.57513576e-01 2.50050451e-02 9.87200193e-01 2.72138460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.664839173 meters Centerline goodness : 0.812046 Centerline is valid? [False, False] Translation: X:-21.46, Y:38.80, Z:2.73 [[ 9.68711884e-01 1.97823343e-01 1.49877319e-01 -2.14592159e+01] [-1.91549760e-01 9.79921300e-01 -5.53437900e-02 3.87960551e+01] [-1.57816271e-01 2.49032227e-02 9.87154423e-01 2.72552893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.69483917299999 meters Centerline goodness : 0.816059 Centerline is valid? [False, False] Translation: X:-21.46, Y:38.79, Z:2.73 [[ 9.67838507e-01 2.00861311e-01 1.51470654e-01 -2.14639168e+01] [-1.95428098e-01 9.79437648e-01 -5.00974323e-02 3.87944245e+01] [-1.58418697e-01 1.88846022e-02 9.87191414e-01 2.73383755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.72483917299999 meters Centerline goodness : 0.817256 Centerline is valid? [False, False] Translation: X:-21.47, Y:38.80, Z:2.74 [[ 9.67746723e-01 2.01124819e-01 1.51707239e-01 -2.14654915e+01] [-1.95665111e-01 9.79382330e-01 -5.02535284e-02 3.87957784e+01] [-1.58686621e-01 1.89488738e-02 9.87147150e-01 2.73709722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.75483917299999 meters Centerline goodness : 0.817247 Centerline is valid? [False, False] Translation: X:-21.47, Y:38.80, Z:2.74 [[ 9.67582556e-01 2.01567475e-01 1.52166191e-01 -2.14678978e+01] [-1.96105016e-01 9.79294591e-01 -5.02486509e-02 3.87964958e+01] [-1.59144021e-01 1.87791648e-02 9.87076757e-01 2.74169080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.784839172999995 meters Centerline goodness : 0.818699 Centerline is valid? [False, False] Translation: X:-21.47, Y:38.79, Z:2.74 [[ 9.67498956e-01 2.01860169e-01 1.52309691e-01 -2.14665423e+01] [-1.96835625e-01 9.79283485e-01 -4.75351797e-02 3.87917949e+01] [-1.58749825e-01 1.60102635e-02 9.87189022e-01 2.73869529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.814839172999996 meters Centerline goodness : 0.817979 Centerline is valid? [False, False] Translation: X:-21.47, Y:38.79, Z:2.74 [[ 9.67148295e-01 2.03043078e-01 1.52963014e-01 -2.14676194e+01] [-1.97982109e-01 9.79040202e-01 -4.77846040e-02 3.87890137e+01] [-1.59459273e-01 1.59308582e-02 9.87075959e-01 2.73718044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.844839173 meters Centerline goodness : 0.819069 Centerline is valid? [False, False] Translation: X:-21.47, Y:38.79, Z:2.74 [[ 9.66156299e-01 2.06164279e-01 1.55042883e-01 -2.14718625e+01] [-2.00774874e-01 9.78369544e-01 -4.98245507e-02 3.87869539e+01] [-1.61961277e-01 1.70095882e-02 9.86650505e-01 2.73576799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.87483917299999 meters Centerline goodness : 0.822580 Centerline is valid? [False, False] Translation: X:-21.47, Y:38.79, Z:2.74 [[ 9.66192440e-01 2.06201653e-01 1.54767718e-01 -2.14717911e+01] [-2.00639524e-01 9.78341428e-01 -5.09100296e-02 3.87899343e+01] [-1.61913403e-01 1.81363645e-02 9.86638294e-01 2.73729956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.90483917299999 meters Centerline goodness : 0.822575 Centerline is valid? [False, False] Translation: X:-21.47, Y:38.80, Z:2.74 [[ 9.66297282e-01 2.07250963e-01 1.52697744e-01 -2.14658283e+01] [-2.02268681e-01 9.78170462e-01 -4.76437575e-02 3.87958424e+01] [-1.59238638e-01 1.51520621e-02 9.87123838e-01 2.73856031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.93483917299999 meters Centerline goodness : 0.820163 Centerline is valid? [False, False] Translation: X:-21.46, Y:38.80, Z:2.74 [[ 9.66329991e-01 2.07572209e-01 1.52053037e-01 -2.14633734e+01] [-2.02319082e-01 9.78072189e-01 -4.94143942e-02 3.87985740e+01] [-1.58975902e-01 1.69873803e-02 9.87136309e-01 2.73553865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.964839172999994 meters Centerline goodness : 0.817942 Centerline is valid? [False, False] Translation: X:-21.46, Y:38.80, Z:2.73 [[ 9.65586385e-01 2.10252474e-01 1.53090921e-01 -2.14628860e+01] [-2.04475883e-01 9.77450423e-01 -5.27284045e-02 3.88001586e+01] [-1.60725063e-01 1.96104281e-02 9.86804380e-01 2.72783620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.994839172999995 meters Centerline goodness : 0.819997 Centerline is valid? [False, False] Translation: X:-21.46, Y:38.80, Z:2.73 [[ 9.65418814e-01 2.11058483e-01 1.53038658e-01 -2.14625401e+01] [-2.05114427e-01 9.77256940e-01 -5.38232721e-02 3.88016100e+01] [-1.60917949e-01 2.05715630e-02 9.86753376e-01 2.72711374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.024839173 meters Centerline goodness : 0.820794 Centerline is valid? [False, False] Translation: X:-21.46, Y:38.80, Z:2.73 [[ 9.64953557e-01 2.12621791e-01 1.53807043e-01 -2.14648124e+01] [-2.07397953e-01 9.77006763e-01 -4.94355477e-02 3.88035654e+01] [-1.60781596e-01 1.58037418e-02 9.86863476e-01 2.73484765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.054839173 meters Centerline goodness : 0.821017 Centerline is valid? [False, False] Translation: X:-21.46, Y:38.80, Z:2.74 [[ 9.65768128e-01 2.10134200e-01 1.52103719e-01 -2.14637565e+01] [-2.05117631e-01 9.77553038e-01 -4.81333052e-02 3.88048314e+01] [-1.58803906e-01 1.52864576e-02 9.87191797e-01 2.74183873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.08483917299999 meters Centerline goodness : 0.821458 Centerline is valid? [False, False] Translation: X:-21.46, Y:38.81, Z:2.74 [[ 9.66794110e-01 2.07031121e-01 1.49824108e-01 -2.14605622e+01] [-2.01334158e-01 9.78119424e-01 -5.24113422e-02 3.88068888e+01] [-1.57396650e-01 2.05062662e-02 9.87322535e-01 2.74180188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.11483917299999 meters Centerline goodness : 0.819992 Centerline is valid? [False, False] Translation: X:-21.46, Y:38.80, Z:2.74 [[ 9.67786662e-01 2.10663027e-01 1.37876994e-01 -2.14602260e+01] [-2.05022810e-01 9.77262643e-01 -5.40682379e-02 3.88037535e+01] [-1.46132214e-01 2.40585908e-02 9.88972477e-01 2.73898687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.144839172999994 meters Centerline goodness : 0.817292 Centerline is valid? [False, False] Translation: X:-21.46, Y:38.81, Z:2.74 [[ 9.68402077e-01 2.08635700e-01 1.36632950e-01 -2.14576732e+01] [-2.02223332e-01 9.77536581e-01 -5.93966084e-02 3.88061982e+01] [-1.45955959e-01 2.98894285e-02 9.88839461e-01 2.73508521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.174839172999995 meters Centerline goodness : 0.813088 Centerline is valid? [False, False] Translation: X:-21.45, Y:38.80, Z:2.72 [[ 9.68781542e-01 2.07589309e-01 1.35532294e-01 -2.14544513e+01] [-1.99936106e-01 9.77447917e-01 -6.79788415e-02 3.88035527e+01] [-1.46587439e-01 3.87588478e-02 9.88438098e-01 2.72462113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.204839172999996 meters Centerline goodness : 0.812273 Centerline is valid? [False, False] Translation: X:-21.45, Y:38.80, Z:2.72 [[ 0.96913597 0.20639613 0.13481877 -21.45275314] [ -0.19817508 0.97752327 -0.07193672 38.80216589] [ -0.14663594 0.04299874 0.98825554 2.71977812] [ 0. 0. 0. 1. ]] SLAMing on 63.234839173 meters Centerline goodness : 0.812693 Centerline is valid? [False, False] Translation: X:-21.45, Y:38.79, Z:2.72 [[ 0.9693125 0.21270302 0.12325056 -21.45427235] [ -0.20569502 0.97630712 -0.06718601 38.79257937] [ -0.13462107 0.03977221 0.99009865 2.72218306] [ 0. 0. 0. 1. ]] SLAMing on 63.26483917299999 meters Centerline goodness : 0.814358 Centerline is valid? [False, False] Translation: X:-21.45, Y:38.79, Z:2.72 [[ 9.69366146e-01 2.12968561e-01 1.22366933e-01 -2.14514134e+01] [-2.06201970e-01 9.76302905e-01 -6.56763695e-02 3.87920321e+01] [-1.33454194e-01 3.84321466e-02 9.90309521e-01 2.72111802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.29483917299999 meters Centerline goodness : 0.815071 Centerline is valid? [False, False] Translation: X:-21.45, Y:38.79, Z:2.72 [[ 9.68713803e-01 2.15858014e-01 1.22469942e-01 -2.14490589e+01] [-2.09832843e-01 9.75877081e-01 -6.02835005e-02 3.87911007e+01] [-1.32528287e-01 3.26992428e-02 9.90639699e-01 2.72027919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.324839172999994 meters Centerline goodness : 0.814541 Centerline is valid? [False, False] Translation: X:-21.45, Y:38.79, Z:2.72 [[ 9.68633882e-01 2.16335068e-01 1.22260134e-01 -2.14484027e+01] [-2.10403401e-01 9.75792436e-01 -5.96618027e-02 3.87908276e+01] [-1.32207454e-01 3.20664956e-02 9.90703250e-01 2.72026685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.354839172999995 meters Centerline goodness : 0.814319 Centerline is valid? [False, False] Translation: X:-21.45, Y:38.79, Z:2.72 [[ 9.69036839e-01 2.14636189e-01 1.22061093e-01 -2.14484845e+01] [-2.08084538e-01 9.75998072e-01 -6.42540907e-02 3.87874900e+01] [-1.32922645e-01 3.68655549e-02 9.90440559e-01 2.71515154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.384839172999996 meters Centerline goodness : 0.813547 Centerline is valid? [False, False] Translation: X:-21.44, Y:38.79, Z:2.71 [[ 0.97003652 0.21134864 0.11983696 -21.44366282] [ -0.20438804 0.97653841 -0.06781047 38.78652458] [ -0.13135705 0.04128539 0.99047506 2.71073793] [ 0. 0. 0. 1. ]] SLAMing on 63.414839173 meters Centerline goodness : 0.812747 Centerline is valid? [False, False] Translation: X:-21.43, Y:38.79, Z:2.71 [[ 0.97190059 0.21127657 0.10378561 -21.43316245] [ -0.20482078 0.9763308 -0.06947384 38.78606524] [ -0.11600728 0.04626421 0.99217031 2.70621657] [ 0. 0. 0. 1. ]] SLAMing on 63.44483917299999 meters Centerline goodness : 0.810772 Centerline is valid? [False, False] Translation: X:-21.43, Y:38.79, Z:2.70 [[ 0.97212611 0.21095582 0.10231554 -21.42737352] [ -0.20444975 0.9763354 -0.07049462 38.7883351 ] [ -0.11476553 0.04761127 0.992251 2.70034389] [ 0. 0. 0. 1. ]] SLAMing on 63.47483917299999 meters Centerline goodness : 0.804644 Centerline is valid? [False, False] Translation: X:-21.43, Y:38.79, Z:2.69 [[ 0.97186977 0.21228096 0.1020095 -21.42531219] [ -0.20459944 0.97550881 -0.08075658 38.79130389] [ -0.11665425 0.05761379 0.99150009 2.68734966] [ 0. 0. 0. 1. ]] SLAMing on 63.50483917299999 meters Centerline goodness : 0.807065 Centerline is valid? [False, False] Translation: X:-21.43, Y:38.79, Z:2.68 [[ 0.97133237 0.21464949 0.10217149 -21.42607621] [ -0.20624045 0.97463629 -0.08688486 38.79273631] [ -0.11822984 0.06332218 0.99096519 2.68145342] [ 0. 0. 0. 1. ]] SLAMing on 63.534839172999995 meters Centerline goodness : 0.789433 Centerline is valid? [False, False] Translation: X:-21.42, Y:38.80, Z:2.68 [[ 0.97148725 0.21466711 0.10065071 -21.4207498 ] [ -0.20633042 0.97459797 -0.08710078 38.79525663] [ -0.11679165 0.06384999 0.99110186 2.67776656] [ 0. 0. 0. 1. ]] SLAMing on 63.564839172999996 meters Centerline goodness : 0.807725 Centerline is valid? [False, False] Translation: X:-21.41, Y:38.80, Z:2.67 [[ 0.97176615 0.21964721 0.0861722 -21.41347155] [ -0.21149299 0.9727932 -0.09457324 38.79661502] [ -0.10460048 0.07367826 0.99178135 2.6671592 ] [ 0. 0. 0. 1. ]] SLAMing on 63.594839173 meters Centerline goodness : 0.797854 Centerline is valid? [False, False] Translation: X:-21.41, Y:38.79, Z:2.66 [[ 0.97076033 0.22411272 0.08601089 -21.40558828] [ -0.21657192 0.97221147 -0.08889019 38.7929198 ] [ -0.10354219 0.06766353 0.99232085 2.65633043] [ 0. 0. 0. 1. ]] SLAMing on 63.62483917299999 meters Centerline goodness : 0.800923 Centerline is valid? [False, False] Translation: X:-21.39, Y:38.79, Z:2.65 [[ 0.9701191 0.23173186 0.07189773 -21.39395224] [ -0.22567059 0.9706257 -0.08341779 38.79388042] [ -0.08911634 0.06469998 0.9939176 2.64973565] [ 0. 0. 0. 1. ]] SLAMing on 63.65483917299999 meters Centerline goodness : 0.794974 Centerline is valid? [False, False] Translation: X:-21.39, Y:38.80, Z:2.64 [[ 0.96965787 0.23379718 0.07143179 -21.39045849] [ -0.2275777 0.96999606 -0.08553386 38.79711841] [ -0.08928613 0.0666823 0.99377133 2.64364556] [ 0. 0. 0. 1. ]] SLAMing on 63.68483917299999 meters Centerline goodness : 0.789677 Centerline is valid? [False, False] Translation: X:-21.39, Y:38.80, Z:2.64 [[ 0.96907343 0.2359655 0.07222856 -21.38800985] [ -0.22991065 0.96965444 -0.08313458 38.80100572] [ -0.08965363 0.0639574 0.99391734 2.64005944] [ 0. 0. 0. 1. ]] SLAMing on 63.714839172999994 meters Centerline goodness : 0.781156 Centerline is valid? [False, False] Translation: X:-21.38, Y:38.80, Z:2.64 [[ 0.96945079 0.23483954 0.0708206 -21.38123616] [ -0.229317 0.97021178 -0.07812048 38.80160824] [ -0.08705676 0.05949359 0.99442528 2.63929092] [ 0. 0. 0. 1. ]] SLAMing on 63.744839172999995 meters Centerline goodness : 0.789765 Centerline is valid? [False, False] Translation: X:-21.36, Y:38.80, Z:2.64 [[ 0.9711831 0.22905129 0.06587034 -21.36482931] [ -0.22473987 0.97212379 -0.06683805 38.80178565] [ -0.07934347 0.0501083 0.99558715 2.63817662] [ 0. 0. 0. 1. ]] SLAMing on 63.774839173 meters Centerline goodness : 0.791411 Centerline is valid? [False, False] Translation: X:-21.36, Y:38.80, Z:2.64 [[ 0.97186465 0.22661829 0.06421264 -21.35919852] [ -0.22256433 0.97277693 -0.06457676 38.80268188] [ -0.07709885 0.04846843 0.99584466 2.63778358] [ 0. 0. 0. 1. ]] SLAMing on 63.804839173 meters Centerline goodness : 0.791411 Centerline is valid? [False, False] Translation: X:-21.36, Y:38.80, Z:2.64 [[ 0.97186465 0.22661829 0.06421264 -21.35919852] [ -0.22256433 0.97277693 -0.06457676 38.80268188] [ -0.07709885 0.04846843 0.99584466 2.63778358] [ 0. 0. 0. 1. ]] SLAMing on 63.83483917299999 meters Centerline goodness : 0.789015 Centerline is valid? [False, False] Translation: X:-21.35, Y:38.80, Z:2.64 [[ 0.97235622 0.22503242 0.06232012 -21.35153398] [ -0.22138075 0.97331322 -0.06043131 38.80423473] [ -0.074256 0.04496429 0.996225 2.6366765 ] [ 0. 0. 0. 1. ]] SLAMing on 63.86483917299999 meters Centerline goodness : 0.791408 Centerline is valid? [False, False] Translation: X:-21.35, Y:38.80, Z:2.63 [[ 0.97215792 0.22600402 0.06189635 -21.34705967] [ -0.22270669 0.97328194 -0.05589276 38.80347623] [ -0.07287458 0.04055186 0.99651635 2.63461159] [ 0. 0. 0. 1. ]] SLAMing on 63.894839172999994 meters Centerline goodness : 0.787435 Centerline is valid? [False, False] Translation: X:-21.34, Y:38.81, Z:2.62 [[ 9.72475778e-01 2.21468570e-01 7.24053476e-02 -2.13407481e+01] [-2.17950635e-01 9.74496194e-01 -5.34292796e-02 3.88061174e+01] [-8.23916418e-02 3.61778887e-02 9.95943160e-01 2.62288186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.924839172999995 meters Centerline goodness : 0.786534 Centerline is valid? [False, False] Translation: X:-21.34, Y:38.81, Z:2.62 [[ 9.72714219e-01 2.16073255e-01 8.44949502e-02 -2.13371171e+01] [-2.12204988e-01 9.75815875e-01 -5.24635272e-02 3.88136122e+01] [-9.37874788e-02 3.31017691e-02 9.95041799e-01 2.61561579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.954839172999996 meters Centerline goodness : 0.786161 Centerline is valid? [False, False] Translation: X:-21.33, Y:38.82, Z:2.61 [[ 9.72806812e-01 2.16064531e-01 8.34447470e-02 -2.13333339e+01] [-2.12202827e-01 9.75799822e-01 -5.27699492e-02 3.88159752e+01] [-9.28270836e-02 3.36277548e-02 9.95114218e-01 2.61328477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.984839173 meters Centerline goodness : 0.788223 Centerline is valid? [False, False] Translation: X:-21.33, Y:38.82, Z:2.61 [[ 9.73126903e-01 2.15359118e-01 8.15136864e-02 -2.13265605e+01] [-2.11477767e-01 9.75907444e-01 -5.36825432e-02 3.88207127e+01] [-9.11108385e-02 3.50015946e-02 9.95225454e-01 2.60925494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.014839173 meters Centerline goodness : 0.783182 Centerline is valid? [False, False] Translation: X:-21.32, Y:38.82, Z:2.61 [[ 9.73562318e-01 2.14026069e-01 7.98076100e-02 -2.13213496e+01] [-2.10285870e-01 9.76216168e-01 -5.27432104e-02 3.88217610e+01] [-8.91979012e-02 3.45663894e-02 9.95413934e-01 2.60796005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.044839173 meters Centerline goodness : 0.774588 Centerline is valid? [False, False] Translation: X:-21.31, Y:38.83, Z:2.60 [[ 9.74684881e-01 2.10415354e-01 7.55960380e-02 -2.13089462e+01] [-2.06932921e-01 9.77006049e-01 -5.13609437e-02 3.88254025e+01] [-8.46649175e-02 3.44174264e-02 9.95814889e-01 2.60384036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.074839173 meters Centerline goodness : 0.768670 Centerline is valid? [False, False] Translation: X:-21.30, Y:38.83, Z:2.60 [[ 9.74492029e-01 2.11528664e-01 7.49727334e-02 -2.13043299e+01] [-2.08458582e-01 9.76913820e-01 -4.67376431e-02 3.88256926e+01] [-8.31282506e-02 2.99167510e-02 9.96089696e-01 2.60202086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.104839173 meters Centerline goodness : 0.766974 Centerline is valid? [False, False] Translation: X:-21.30, Y:38.83, Z:2.59 [[ 9.74154191e-01 2.08377004e-01 8.71930941e-02 -2.13008533e+01] [-2.05149867e-01 9.77715421e-01 -4.45655357e-02 3.88300707e+01] [-9.45364655e-02 2.55260517e-02 9.95194090e-01 2.59408524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.134839173 meters Centerline goodness : 0.730900 Centerline is valid? [False, False] Translation: X:-21.30, Y:38.83, Z:2.59 [[ 9.73937318e-01 2.09230064e-01 8.75721426e-02 -2.13011160e+01] [-2.05964130e-01 9.77528769e-01 -4.49030307e-02 3.88283118e+01] [-9.49993528e-02 2.56960171e-02 9.95145636e-01 2.59225834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.164839173 meters Centerline goodness : 0.747516 Centerline is valid? [False, False] Translation: X:-21.31, Y:38.83, Z:2.59 [[ 9.73435720e-01 2.11104102e-01 8.86451243e-02 -2.13051374e+01] [-2.07123538e-01 9.76930078e-01 -5.20332821e-02 3.88251949e+01] [-9.75845275e-02 3.22905636e-02 9.94703262e-01 2.58758606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.194839173 meters Centerline goodness : 0.763136 Centerline is valid? [False, False] Translation: X:-21.31, Y:38.82, Z:2.59 [[ 9.73186187e-01 2.12157443e-01 8.88699342e-02 -2.13070256e+01] [-2.07818856e-01 9.76584544e-01 -5.56233097e-02 3.88241205e+01] [-9.85899033e-02 3.56629886e-02 9.94488905e-01 2.58623814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.224839173 meters Centerline goodness : 0.696014 Centerline is valid? [False, False] Translation: X:-21.31, Y:38.82, Z:2.59 [[ 9.72524620e-01 2.14380216e-01 9.07578495e-02 -2.13131920e+01] [-2.09938225e-01 9.76106224e-01 -5.60587337e-02 3.88162742e+01] [-1.00607185e-01 3.54649569e-02 9.94293936e-01 2.58703597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.25483917300001 meters Centerline goodness : 0.728376 Centerline is valid? [False, False] Translation: X:-21.32, Y:38.81, Z:2.59 [[ 9.72259784e-01 2.14805370e-01 9.25719424e-02 -2.13190221e+01] [-2.10107500e-01 9.75960643e-01 -5.79280708e-02 3.88099324e+01] [-1.02789833e-01 3.68710742e-02 9.94019504e-01 2.58660001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.284839173 meters Centerline goodness : 0.762755 Centerline is valid? [False, False] Translation: X:-21.33, Y:38.80, Z:2.59 [[ 9.72279751e-01 2.13945959e-01 9.43356356e-02 -2.13265507e+01] [-2.09144989e-01 9.76147937e-01 -5.82544315e-02 3.87982164e+01] [-1.04548836e-01 3.69097787e-02 9.93834598e-01 2.58980525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.314839173 meters Centerline goodness : 0.699489 Centerline is valid? [False, False] Translation: X:-21.32, Y:38.79, Z:2.59 [[ 9.72891338e-01 2.11524482e-01 9.34871054e-02 -2.13248365e+01] [-2.07144502e-01 9.76795841e-01 -5.44154406e-02 3.87948358e+01] [-1.02828014e-01 3.35749708e-02 9.94132346e-01 2.59325959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.344839173 meters Centerline goodness : 0.800537 Centerline is valid? [False, False] Translation: X:-21.33, Y:38.79, Z:2.60 [[ 9.74077305e-01 2.06447453e-01 9.24816323e-02 -2.13251541e+01] [-2.02105382e-01 9.77863647e-01 -5.41858184e-02 3.87881182e+01] [-1.01620950e-01 3.40901403e-02 9.94238927e-01 2.59673700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.374839173 meters Centerline goodness : 0.760986 Centerline is valid? [False, False] Translation: X:-21.33, Y:38.77, Z:2.60 [[ 9.74633723e-01 2.08476453e-01 8.14043918e-02 -2.13302521e+01] [-2.04994055e-01 9.77530284e-01 -4.91119328e-02 3.87714932e+01] [-8.98139397e-02 3.11787295e-02 9.95470413e-01 2.60114481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.404839173 meters Centerline goodness : 0.771039 Centerline is valid? [False, False] Translation: X:-21.33, Y:38.76, Z:2.60 [[ 9.74409874e-01 2.09535006e-01 8.13663284e-02 -2.13300957e+01] [-2.06315081e-01 9.77392374e-01 -4.62410553e-02 3.87620687e+01] [-8.92159486e-02 2.82706403e-02 9.95611011e-01 2.59900154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.434839173 meters Centerline goodness : 0.774662 Centerline is valid? [False, False] Translation: X:-21.34, Y:38.75, Z:2.61 [[ 9.74993563e-01 2.10631033e-01 7.08669122e-02 -2.13380581e+01] [-2.08212170e-01 9.77264271e-01 -4.00279572e-02 3.87463139e+01] [-7.76868313e-02 2.42716471e-02 9.96682318e-01 2.60671357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.464839173 meters Centerline goodness : 0.771452 Centerline is valid? [False, False] Translation: X:-21.34, Y:38.74, Z:2.61 [[ 9.74801699e-01 2.11561732e-01 7.07338824e-02 -2.13387693e+01] [-2.09291601e-01 9.77107550e-01 -3.81819402e-02 3.87408854e+01] [-7.71924480e-02 2.24158126e-02 9.96764193e-01 2.60775574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.494839173 meters Centerline goodness : 0.603020 Centerline is valid? [False, False] Translation: X:-21.34, Y:38.73, Z:2.61 [[ 9.74587652e-01 2.12548402e-01 7.07254165e-02 -2.13406344e+01] [-2.10436314e-01 9.76938275e-01 -3.61685462e-02 3.87332685e+01] [-7.67819331e-02 2.03662226e-02 9.96839883e-01 2.60956180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.524839173 meters Centerline goodness : 0.822318 Centerline is valid? [False, False] Translation: X:-21.35, Y:38.72, Z:2.62 [[ 9.74970518e-01 2.10756944e-01 7.08096058e-02 -2.13477174e+01] [-2.08574951e-01 9.77306389e-01 -3.69961098e-02 3.87178551e+01] [-7.69998672e-02 2.13010063e-02 9.96803535e-01 2.61538649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.554839173 meters Centerline goodness : 0.772998 Centerline is valid? [False, False] Translation: X:-21.35, Y:38.71, Z:2.62 [[ 9.75622106e-01 2.07904800e-01 7.02645023e-02 -2.13502131e+01] [-2.05629454e-01 9.77881069e-01 -3.82771825e-02 3.87087225e+01] [-7.66683366e-02 2.28956142e-02 9.96793738e-01 2.61668482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.584839173 meters Centerline goodness : 0.772617 Centerline is valid? [False, False] Translation: X:-21.36, Y:38.69, Z:2.62 [[ 9.77713632e-01 1.97420055e-01 7.14239139e-02 -2.13575745e+01] [-1.95244852e-01 9.80081724e-01 -3.63216477e-02 3.86895303e+01] [-7.71718943e-02 2.15670185e-02 9.96784512e-01 2.62442854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.61483917300001 meters Centerline goodness : 0.775305 Centerline is valid? [False, False] Translation: X:-21.37, Y:38.67, Z:2.63 [[ 9.80005274e-01 1.81282611e-01 8.20138902e-02 -2.13655750e+01] [-1.79294836e-01 9.83305369e-01 -3.10469321e-02 3.86682057e+01] [-8.62729675e-02 1.57214902e-02 9.96147484e-01 2.63226040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64483917300001 meters Centerline goodness : 0.759801 Centerline is valid? [False, False] Translation: X:-21.37, Y:38.66, Z:2.64 [[ 9.80985204e-01 1.75714089e-01 8.24171656e-02 -2.13670813e+01] [-1.74286188e-01 9.84395961e-01 -2.42676153e-02 3.86572183e+01] [-8.53952868e-02 9.44199791e-03 9.96302411e-01 2.64074150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.674839173 meters Centerline goodness : 0.799707 Centerline is valid? [False, False] Translation: X:-21.38, Y:38.64, Z:2.65 [[ 9.81301654e-01 1.71374000e-01 8.76242842e-02 -2.13774892e+01] [-1.70411807e-01 9.85201087e-01 -1.84020106e-02 3.86377108e+01] [-8.94811662e-02 3.12571082e-03 9.95983610e-01 2.64998027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.704839173 meters Centerline goodness : 0.768666 Centerline is valid? [False, False] Translation: X:-21.38, Y:38.63, Z:2.65 [[ 9.81259407e-01 1.71617590e-01 8.76206557e-02 -2.13793150e+01] [-1.70850583e-01 9.85163174e-01 -1.62357604e-02 3.86292800e+01] [-8.91069853e-02 9.61452581e-04 9.96021597e-01 2.65141357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.734839173 meters Centerline goodness : 0.522329 Centerline is valid? [False, False] Translation: X:-21.38, Y:38.61, Z:2.65 [[ 9.82256738e-01 1.72399646e-01 7.38245340e-02 -2.13792842e+01] [-1.71837723e-01 9.85026567e-01 -1.39448355e-02 3.86127116e+01] [-7.51232121e-02 1.01156883e-03 9.97173746e-01 2.65323154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.764839173 meters Centerline goodness : 0.779699 Centerline is valid? [False, False] Translation: X:-21.38, Y:38.60, Z:2.66 [[ 9.82771961e-01 1.74368988e-01 6.12758362e-02 -2.13824579e+01] [-1.73849209e-01 9.84676213e-01 -1.37552931e-02 3.86044940e+01] [-6.27353549e-02 2.86556069e-03 9.98026084e-01 2.65550589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.794839173 meters Centerline goodness : 0.807146 Centerline is valid? [False, False] Translation: X:-21.38, Y:38.59, Z:2.65 [[ 9.82772546e-01 1.74650673e-01 6.04587836e-02 -2.13805956e+01] [-1.74242304e-01 9.84629652e-01 -1.20028709e-02 3.85870606e+01] [-6.16258205e-02 1.26161421e-03 9.98098525e-01 2.65204019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.824839173 meters Centerline goodness : 0.785583 Centerline is valid? [False, False] Translation: X:-21.38, Y:38.58, Z:2.65 [[ 9.82576865e-01 1.75820911e-01 6.02470843e-02 -2.13793812e+01] [-1.75592043e-01 9.84420830e-01 -9.11392705e-03 3.85798540e+01] [-6.09109037e-02 -1.62377474e-03 9.98141886e-01 2.65000082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.854839173 meters Centerline goodness : 0.652865 Centerline is valid? [False, False] Translation: X:-21.43, Y:38.57, Z:2.65 [[ 9.82187441e-01 1.81109198e-01 5.00728296e-02 -2.14285442e+01] [-1.81649389e-01 9.83342414e-01 6.41849129e-03 3.85661109e+01] [-4.80762893e-02 -1.53998604e-02 9.98724944e-01 2.64736034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.884839173 meters Centerline goodness : 0.641838 Centerline is valid? [False, False] Translation: X:-21.54, Y:38.57, Z:2.66 [[ 9.83954910e-01 1.75294942e-01 3.32327798e-02 -2.15372048e+01] [-1.75962372e-01 9.84226219e-01 1.83301472e-02 3.85704091e+01] [-2.94953911e-02 -2.38837571e-02 9.99279534e-01 2.65523006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.914839173 meters Centerline goodness : 0.872894 Centerline is valid? [False, False] Translation: X:-21.53, Y:38.57, Z:2.66 [[ 9.85541117e-01 1.64999717e-01 -3.85201321e-02 -2.15304522e+01] [-1.64371918e-01 9.86216305e-01 1.89544562e-02 3.85654129e+01] [ 4.11166623e-02 -1.23487679e-02 9.99078039e-01 2.65509291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.944839173 meters Centerline goodness : 0.576103 Centerline is valid? [False, False] Translation: X:-21.32, Y:38.53, Z:2.65 [[ 9.83331307e-01 1.81577942e-01 9.43353711e-03 -2.13166313e+01] [-1.81399725e-01 9.83259208e-01 -1.71892106e-02 3.85323007e+01] [-1.23967937e-02 1.51914479e-02 9.99807751e-01 2.64592054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.974839173 meters Centerline goodness : 0.951957 Centerline is valid? [False, True] Translation: X:-21.44, Y:38.51, Z:2.71 [[ 9.08441598e-01 1.42403425e-01 -3.93007796e-01 -2.14446012e+01] [-1.17064885e-01 9.89231647e-01 8.78439655e-02 3.85122135e+01] [ 4.01285031e-01 -3.37937001e-02 9.15329618e-01 2.70834898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00483917300001 meters Centerline goodness : 0.832111 Centerline is valid? [True, False] Translation: X:-21.90, Y:38.60, Z:2.20 [[ 0.71608714 0.36524398 0.59482438 -21.89973554] [ -0.22712218 0.92771949 -0.29622976 38.59571538] [ -0.6600263 0.07702851 0.74728301 2.20090684] [ 0. 0. 0. 1. ]] SLAMing on 65.034839173 meters Centerline goodness : 0.845884 Centerline is valid? [False, False] Translation: X:-21.92, Y:38.59, Z:2.22 [[ 0.73362238 0.3454767 0.58518719 -21.92428308] [ -0.22403764 0.93594495 -0.27168767 38.58898996] [ -0.64156476 0.06821219 0.76402995 2.22311251] [ 0. 0. 0. 1. ]] SLAMing on 65.064839173 meters Centerline goodness : 0.798067 Centerline is valid? [False, False] Translation: X:-21.90, Y:38.60, Z:2.24 [[ 0.7221989 0.3778294 0.57937353 -21.90113429] [ -0.23134359 0.92133072 -0.31245775 38.59779781] [ -0.65185036 0.09162229 0.75279244 2.23994056] [ 0. 0. 0. 1. ]] SLAMing on 65.094839173 meters Centerline goodness : 0.819840 Centerline is valid? [False, False] Translation: X:-21.94, Y:38.60, Z:2.28 [[ 0.72631729 0.36384927 0.58316112 -21.93748313] [ -0.22695506 0.92777231 -0.29619241 38.59623302] [ -0.64881013 0.0827783 0.75643451 2.28096069] [ 0. 0. 0. 1. ]] SLAMing on 65.124839173 meters Centerline goodness : 0.820046 Centerline is valid? [False, False] Translation: X:-22.05, Y:38.59, Z:2.41 [[ 0.74271102 0.32524964 0.58531446 -22.05007332] [ -0.20940122 0.94308469 -0.2583455 38.59443787] [ -0.63602789 0.06931049 0.76854706 2.40956465] [ 0. 0. 0. 1. ]] SLAMing on 65.154839173 meters Centerline goodness : 0.617887 Centerline is valid? [False, False] Translation: X:-21.89, Y:38.58, Z:2.29 [[ 0.72131202 0.3731014 0.58352747 -21.88534481] [ -0.22139491 0.92250776 -0.31617041 38.57813193] [ -0.65627224 0.0988675 0.74801869 2.28869319] [ 0. 0. 0. 1. ]] SLAMing on 65.184839173 meters Centerline goodness : 0.797018 Centerline is valid? [False, False] Translation: X:-21.92, Y:38.57, Z:2.33 [[ 0.72162616 0.35807106 0.59248696 -21.91618268] [ -0.21512949 0.92946089 -0.29970277 38.57077426] [ -0.65800835 0.08881194 0.74775494 2.32744386] [ 0. 0. 0. 1. ]] SLAMing on 65.214839173 meters Centerline goodness : 0.787670 Centerline is valid? [False, False] Translation: X:-21.94, Y:38.55, Z:2.37 [[ 0.71471622 0.34041561 0.61098113 -21.94209057] [ -0.2090987 0.93760639 -0.27779846 38.55139292] [ -0.66742675 0.0707917 0.74130296 2.36605233] [ 0. 0. 0. 1. ]] SLAMing on 65.244839173 meters Centerline goodness : 0.773567 Centerline is valid? [False, False] Translation: X:-21.96, Y:38.53, Z:2.40 [[ 0.71315127 0.31900504 0.62422036 -21.9615821 ] [ -0.20563422 0.94648309 -0.24876562 38.52928859] [ -0.6701715 0.04904645 0.74058396 2.39562285] [ 0. 0. 0. 1. ]] SLAMing on 65.274839173 meters Centerline goodness : 0.782040 Centerline is valid? [False, False] Translation: X:-21.98, Y:38.52, Z:2.41 [[ 7.16533026e-01 3.07465131e-01 6.26135462e-01 -2.19778869e+01] [-2.05549201e-01 9.50827799e-01 -2.31680862e-01 3.85167062e+01] [-6.66580790e-01 3.73053449e-02 7.44498732e-01 2.41173642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.304839173 meters Centerline goodness : 0.820945 Centerline is valid? [False, False] Translation: X:-22.02, Y:38.50, Z:2.45 [[ 7.23104747e-01 3.04112066e-01 6.20189791e-01 -2.20197130e+01] [-2.09181887e-01 9.52115174e-01 -2.22978997e-01 3.84979967e+01] [-6.58302714e-01 3.15047003e-02 7.52093738e-01 2.44554489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.334839173 meters Centerline goodness : 0.721205 Centerline is valid? [False, False] Translation: X:-22.00, Y:38.43, Z:2.48 [[ 0.76179996 0.21501927 0.61108717 -21.99966206] [ -0.1973606 0.97549967 -0.09720697 38.42634447] [ -0.61701671 -0.04655227 0.78557194 2.47677492] [ 0. 0. 0. 1. ]] SLAMing on 65.36483917300001 meters Centerline goodness : 0.993114 Centerline is valid? [False, True] Translation: X:-21.78, Y:38.50, Z:3.12 [[ 6.22053149e-01 -7.12886037e-02 -7.79722909e-01 -2.17759979e+01] [ 1.10932865e-01 9.93825094e-01 -2.36271781e-03 3.84970254e+01] [ 7.75076628e-01 -8.50271603e-02 6.26120278e-01 3.12273698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39483917300001 meters Centerline goodness : 0.632894 Centerline is valid? [True, False] Translation: X:-22.35, Y:38.18, Z:2.28 [[ 0.88266572 -0.27339744 0.38230232 -22.34536004] [ 0.15059427 0.93503592 0.32098162 38.18270218] [ -0.44522195 -0.22574693 0.86649624 2.28320453] [ 0. 0. 0. 1. ]] SLAMing on 65.424839173 meters Centerline goodness : 0.558071 Centerline is valid? [False, False] Translation: X:-22.33, Y:38.16, Z:2.27 [[ 9.23379028e-01 -1.08987203e-01 3.68093684e-01 -2.23332047e+01] [ 9.85661174e-03 9.65267902e-01 2.61076090e-01 3.81551524e+01] [-3.83762970e-01 -2.37444030e-01 8.92382382e-01 2.27296125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.454839173 meters Centerline goodness : 0.811433 Centerline is valid? [False, False] Translation: X:-22.11, Y:38.17, Z:2.19 [[ 9.26478805e-01 -2.95592249e-02 3.75184322e-01 -2.21110804e+01] [-6.29852305e-02 9.70671871e-01 2.32010733e-01 3.81701639e+01] [-3.71038925e-01 -2.38584097e-01 8.97445121e-01 2.19252485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.484839173 meters Centerline goodness : 0.331791 Centerline is valid? [False, False] Translation: X:-22.17, Y:38.21, Z:2.24 [[ 9.27196392e-01 -6.50861351e-04 3.74574994e-01 -2.21737280e+01] [-7.12099446e-02 9.81455350e-01 1.77973426e-01 3.82125062e+01] [-3.67744468e-01 -1.91689783e-01 9.09955512e-01 2.24131304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.514839173 meters Centerline goodness : 0.989224 Centerline is valid? [False, True] Translation: X:-22.56, Y:39.19, Z:2.37 [[ 0.15597355 -0.87101264 -0.46584249 -22.55780743] [ 0.88409694 -0.08721896 0.45909198 39.18929677] [ -0.44050522 -0.48345613 0.75645576 2.36572927] [ 0. 0. 0. 1. ]] SLAMing on 65.544839173 meters Centerline goodness : 0.798102 Centerline is valid? [True, False] Translation: X:-22.21, Y:38.28, Z:3.26 [[ 6.68644450e-01 4.85323168e-01 5.63361360e-01 -2.22148091e+01] [-6.58846887e-01 3.54425805e-02 7.51441683e-01 3.82754479e+01] [ 3.44725078e-01 -8.73616189e-01 3.43452143e-01 3.26457492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.574839173 meters Centerline goodness : 0.531162 Centerline is valid? [False, False] Translation: X:-22.40, Y:40.00, Z:2.65 [[ 0.66726665 -0.32406494 0.67062444 -22.39544837] [ 0.63456795 0.71877248 -0.28405923 39.99839139] [ -0.38997275 0.61510002 0.68525412 2.65455968] [ 0. 0. 0. 1. ]] SLAMing on 65.604839173 meters Centerline goodness : 0.780419 Centerline is valid? [False, False] Translation: X:-22.26, Y:40.06, Z:2.60 [[ 0.62006241 -0.42260281 0.6610064 -22.25740706] [ 0.64896983 0.74972037 -0.12945087 40.05940751] [ -0.44086366 0.50924083 0.7391299 2.60093464] [ 0. 0. 0. 1. ]] SLAMing on 65.634839173 meters Centerline goodness : 0.778209 Centerline is valid? [False, False] Translation: X:-22.27, Y:40.03, Z:2.62 [[ 0.61547466 -0.42608965 0.66305245 -22.27109113] [ 0.6476992 0.752786 -0.11746902 40.03016488] [ -0.44908427 0.50175775 0.73929864 2.6226852 ] [ 0. 0. 0. 1. ]] SLAMing on 65.664839173 meters Centerline goodness : 0.771297 Centerline is valid? [False, False] Translation: X:-22.31, Y:39.96, Z:2.67 [[ 0.61854596 -0.43289837 0.65574377 -22.30908686] [ 0.64355293 0.75792947 -0.10668897 39.95629991] [ -0.45082205 0.48799786 0.74740723 2.66931424] [ 0. 0. 0. 1. ]] SLAMing on 65.694839173 meters Centerline goodness : 0.775836 Centerline is valid? [False, False] Translation: X:-22.35, Y:39.89, Z:2.71 [[ 0.62203307 -0.44628852 0.6433517 -22.34598433] [ 0.64388402 0.75907919 -0.0959799 39.8908535 ] [ -0.44552017 0.47394655 0.75953041 2.70860234] [ 0. 0. 0. 1. ]] SLAMing on 65.724839173 meters Centerline goodness : 0.796132 Centerline is valid? [False, False] Translation: X:-22.38, Y:39.82, Z:2.74 [[ 0.62566704 -0.46060974 0.6295867 -22.38381752] [ 0.64413308 0.76030016 -0.0838823 39.81993377] [ -0.44003786 0.45802002 0.77238873 2.74417059] [ 0. 0. 0. 1. ]] SLAMing on 65.75483917300001 meters Centerline goodness : 0.796132 Centerline is valid? [False, False] Translation: X:-22.42, Y:39.76, Z:2.78 [[ 0.62999799 -0.47083287 0.61759124 -22.42220464] [ 0.64366747 0.76151834 -0.07603951 39.756796 ] [ -0.43450515 0.44542813 0.78281483 2.7805274 ] [ 0. 0. 0. 1. ]] SLAMing on 65.784839173 meters Centerline goodness : 0.786802 Centerline is valid? [False, False] Translation: X:-22.46, Y:39.68, Z:2.82 [[ 0.63633639 -0.48040181 0.60356449 -22.46091728] [ 0.6427742 0.76280201 -0.07052957 39.68425788] [ -0.42651767 0.43283622 0.79418857 2.82005483] [ 0. 0. 0. 1. ]] SLAMing on 65.814839173 meters Centerline goodness : 0.787236 Centerline is valid? [False, False] Translation: X:-22.54, Y:39.55, Z:2.87 [[ 0.64257986 -0.49255308 0.58692639 -22.54070701] [ 0.6413475 0.7648798 -0.06026835 39.55155122] [ -0.41924278 0.415151 0.80739404 2.87398145] [ 0. 0. 0. 1. ]] SLAMing on 65.844839173 meters Centerline goodness : 0.835756 Centerline is valid? [False, False] Translation: X:-22.65, Y:39.36, Z:2.94 [[ 0.60563174 -0.54604632 0.57882952 -22.64817535] [ 0.6328042 0.77151815 0.06571598 39.36017632] [ -0.48246145 0.32648607 0.81279628 2.93857189] [ 0. 0. 0. 1. ]] SLAMing on 65.874839173 meters Centerline goodness : 0.786565 Centerline is valid? [False, False] Translation: X:-22.56, Y:39.47, Z:2.83 [[ 0.61375663 -0.52694234 0.58790694 -22.55567661] [ 0.61060179 0.78887182 0.06961828 39.47033141] [ -0.50046804 0.31624835 0.80592724 2.82806278] [ 0. 0. 0. 1. ]] SLAMing on 65.904839173 meters Centerline goodness : 0.750868 Centerline is valid? [False, False] Translation: X:-22.61, Y:39.36, Z:2.96 [[ 6.79637244e-01 -5.06337856e-01 5.30768493e-01 -2.26143363e+01] [ 5.98889048e-01 8.00826765e-01 -2.89842895e-03 3.93553992e+01] [-4.23586031e-01 3.19841317e-01 8.47511892e-01 2.95782478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.934839173 meters Centerline goodness : 0.886919 Centerline is valid? [False, False] Translation: X:-22.43, Y:39.50, Z:2.87 [[ 7.47301817e-01 -5.35978343e-01 3.92768646e-01 -2.24261512e+01] [ 5.85289252e-01 8.10792778e-01 -7.18069429e-03 3.94969237e+01] [-3.14605285e-01 2.35249413e-01 9.19609280e-01 2.86665973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.964839173 meters Centerline goodness : 0.407904 Centerline is valid? [False, False] Translation: X:-22.51, Y:39.44, Z:2.88 [[ 0.6770769 -0.54312183 0.49657382 -22.50524332] [ 0.56590609 0.81562149 0.12046526 39.43954633] [ -0.4704436 0.1994499 0.85959442 2.8787637 ] [ 0. 0. 0. 1. ]] SLAMing on 65.994839173 meters Centerline goodness : 0.804512 Centerline is valid? [False, False] Translation: X:-22.42, Y:39.52, Z:2.88 [[ 0.71497803 -0.50577804 0.48269554 -22.42407475] [ 0.54467267 0.83580587 0.06899435 39.51658745] [ -0.4383356 0.21358163 0.87306632 2.87836227] [ 0. 0. 0. 1. ]] SLAMing on 66.024839173 meters Centerline goodness : 0.779754 Centerline is valid? [False, False] Translation: X:-22.47, Y:39.43, Z:2.97 [[ 7.64751566e-01 -4.73438724e-01 4.37047843e-01 -2.24747784e+01] [ 5.24553409e-01 8.51366248e-01 4.38558011e-03 3.94342064e+01] [-3.74164085e-01 2.25901057e-01 8.99427568e-01 2.96982658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.054839173 meters Centerline goodness : 0.785547 Centerline is valid? [False, False] Translation: X:-22.48, Y:39.42, Z:3.01 [[ 0.75472841 -0.47736625 0.45000722 -22.48282876] [ 0.55113024 0.83345005 -0.04020541 39.42363251] [ -0.35586584 0.27835675 0.8921194 3.01383176] [ 0. 0. 0. 1. ]] SLAMing on 66.084839173 meters Centerline goodness : 0.752396 Centerline is valid? [False, False] Translation: X:-22.44, Y:39.45, Z:2.99 [[ 7.48037637e-01 -4.80125405e-01 4.58169498e-01 -2.24421485e+01] [ 5.48687908e-01 8.35788386e-01 -1.99838031e-02 3.94521808e+01] [-3.73338014e-01 2.66340700e-01 8.88640174e-01 2.98667525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.11483917300001 meters Centerline goodness : 0.833413 Centerline is valid? [False, False] Translation: X:-22.45, Y:39.42, Z:2.99 [[ 7.71147655e-01 -4.99534606e-01 3.94710618e-01 -2.24482434e+01] [ 5.45909570e-01 8.37820992e-01 -6.22305479e-03 3.94245635e+01] [-3.27588210e-01 2.20275198e-01 9.18784415e-01 2.99427908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14483917300001 meters Centerline goodness : 0.969542 Centerline is valid? [False, True] Translation: X:-22.88, Y:41.10, Z:4.52 [[ 0.96996104 -0.18538722 0.1575029 -22.87543337] [ 0.23679148 0.57122322 -0.78589683 41.10417155] [ 0.05572592 0.79958465 0.59796238 4.51648414] [ 0. 0. 0. 1. ]] SLAMing on 66.174839173 meters Centerline goodness : 0.975552 Centerline is valid? [True, True] Translation: X:-23.25, Y:41.63, Z:5.23 [[ 8.77438397e-01 -9.88384375e-02 -4.69396231e-01 -2.32532359e+01] [ 7.07947871e-02 9.94508872e-01 -7.70727075e-02 4.16294362e+01] [ 4.74436462e-01 3.43957467e-02 8.79617517e-01 5.23227047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.204839173 meters Centerline goodness : 0.739392 Centerline is valid? [True, False] Translation: X:-23.87, Y:39.35, Z:5.90 [[ 0.70028729 0.2232461 -0.67805523 -23.87134776] [ 0.31603762 0.75473186 0.57489134 39.34705678] [ 0.64009213 -0.61688005 0.45797496 5.90475424] [ 0. 0. 0. 1. ]] SLAMing on 66.234839173 meters Centerline goodness : 0.948284 Centerline is valid? [False, False] Translation: X:-23.72, Y:39.22, Z:5.97 [[ 0.92985984 0.30704691 -0.20268912 -23.72458997] [ -0.05077947 0.6527489 0.75587057 39.21904679] [ 0.36439282 -0.69256124 0.62255667 5.97326602] [ 0. 0. 0. 1. ]] SLAMing on 66.264839173 meters Centerline goodness : 0.795800 Centerline is valid? [False, False] Translation: X:-23.81, Y:40.79, Z:6.51 [[ 2.67986509e-01 -7.23221787e-01 -6.36500965e-01 -2.38138565e+01] [-9.09435327e-01 2.81548989e-02 -4.14891177e-01 4.07908034e+01] [ 3.17978958e-01 6.90041701e-01 -6.50178309e-01 6.50588459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.294839173 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:-24.97, Y:39.12, Z:5.66 [[ 0.96178611 0.24202136 0.1280357 -24.97124459] [ -0.26668752 0.93396625 0.23787563 39.11903152] [ -0.06201004 -0.262931 0.96281984 5.65990368] [ 0. 0. 0. 1. ]] SLAMing on 66.324839173 meters Centerline goodness : 0.650289 Centerline is valid? [True, False] Translation: X:-25.41, Y:40.49, Z:5.13 [[ 1.49932258e-01 -7.95387712e-01 5.87263744e-01 -2.54083656e+01] [ 9.78455535e-01 2.04637518e-01 2.73541816e-02 4.04935858e+01] [-1.41933375e-01 5.70510187e-01 8.08933275e-01 5.12539007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.354839173 meters Centerline goodness : 0.979236 Centerline is valid? [False, True] Translation: X:-23.78, Y:40.62, Z:4.62 [[ 0.21906272 0.9153213 0.33793261 -23.77927651] [ -0.96627894 0.2515585 -0.05498481 40.61624044] [ -0.13533859 -0.31449204 0.93956278 4.62073515] [ 0. 0. 0. 1. ]] SLAMing on 66.384839173 meters Centerline goodness : 0.915929 Centerline is valid? [True, False] Translation: X:-25.23, Y:40.74, Z:4.81 [[ 0.37683462 -0.4759423 0.79465376 -25.23245966] [ 0.47480597 0.8358687 0.27546834 40.73973559] [ -0.79533324 0.27350034 0.54096451 4.80894643] [ 0. 0. 0. 1. ]] SLAMing on 66.414839173 meters Centerline goodness : 0.922135 Centerline is valid? [False, False] Translation: X:-24.74, Y:41.03, Z:4.99 [[ 0.92905092 -0.35760675 0.09477237 -24.73560944] [ 0.35620591 0.79549872 -0.49020317 41.02787388] [ 0.09990866 0.48918218 0.86644045 4.98904019] [ 0. 0. 0. 1. ]] SLAMing on 66.444839173 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:-24.99, Y:40.29, Z:4.73 [[ 0.53237848 -0.75173541 0.38918765 -24.99366022] [ -0.47670288 0.11368574 0.87168223 40.29473266] [ -0.69951949 -0.64959174 -0.29783059 4.72933742] [ 0. 0. 0. 1. ]] SLAMing on 66.474839173 meters Centerline goodness : 0.819820 Centerline is valid? [True, False] Translation: X:-24.39, Y:41.02, Z:4.43 [[ 0.78501215 -0.45191545 -0.42370787 -24.39050165] [ 0.43588433 0.88895773 -0.14056674 41.0200942 ] [ 0.44018267 -0.07434103 0.89482548 4.43362415] [ 0. 0. 0. 1. ]] SLAMing on 66.50483917300001 meters Centerline goodness : 0.446983 Centerline is valid? [False, False] Translation: X:-24.23, Y:41.19, Z:4.59 [[ 7.72866813e-01 -4.10174594e-01 -4.84183531e-01 -2.42301991e+01] [ 3.51136404e-01 9.11986655e-01 -2.12093299e-01 4.11895406e+01] [ 5.28564202e-01 -6.09459222e-03 8.48871451e-01 4.59139597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.534839173 meters Centerline goodness : 0.874408 Centerline is valid? [False, False] Translation: X:-24.23, Y:41.21, Z:4.60 [[ 7.87776866e-01 -4.46830663e-01 -4.23969301e-01 -2.42250515e+01] [ 4.07211001e-01 8.94232908e-01 -1.85813636e-01 4.12102131e+01] [ 4.62154531e-01 -2.62652797e-02 8.86410359e-01 4.60358548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.564839173 meters Centerline goodness : 0.903033 Centerline is valid? [False, False] Translation: X:-24.55, Y:40.96, Z:4.49 [[ 7.59261529e-01 -4.43250728e-01 -4.76498398e-01 -2.45472921e+01] [ 3.76253402e-01 8.96396624e-01 -2.34321298e-01 4.09643962e+01] [ 5.30994641e-01 -1.37299595e-03 8.47374065e-01 4.49126162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.594839173 meters Centerline goodness : 0.968037 Centerline is valid? [False, True] Translation: X:-24.24, Y:40.96, Z:3.85 [[ 0.97227536 -0.22549395 -0.06191211 -24.23824966] [ 0.21258844 0.96265545 -0.16763245 40.95524026] [ 0.09740014 0.1498231 0.98390358 3.84887256] [ 0. 0. 0. 1. ]] SLAMing on 66.624839173 meters Centerline goodness : 0.902577 Centerline is valid? [True, False] Translation: X:-23.86, Y:38.60, Z:4.77 [[ 9.88057136e-01 -3.51186789e-02 -1.50032577e-01 -2.38640107e+01] [ 1.49185827e-01 4.61672182e-01 8.74415454e-01 3.86012349e+01] [ 3.85575516e-02 -8.86355163e-01 4.61397703e-01 4.76548645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.654839173 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:-24.31, Y:38.79, Z:4.87 [[ 0.96518837 0.18084024 -0.18896616 -24.31173664] [ -0.09653147 0.91775619 0.38523403 38.79473773] [ 0.24309068 -0.35358222 0.90326438 4.87489003] [ 0. 0. 0. 1. ]] SLAMing on 66.684839173 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:137: RuntimeWarning: invalid value encountered in divide ret = um.true_divide( SLAMing on 66.714839173 meters Centerline is valid? [True, False] Translation: X:-24.56, Y:38.31, Z:4.42 [[ 0.80396836 0.30825846 0.50853869 -24.56403424] [ -0.57946891 0.59822668 0.55348046 38.31080997] [ -0.13360638 -0.73966314 0.65958151 4.41588517] [ 0. 0. 0. 1. ]] SLAMing on 66.744839173 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:137: RuntimeWarning: invalid value encountered in divide ret = um.true_divide( SLAMing on 66.774839173 meters SLAMing on 66.804839173 meters SLAMing on 66.834839173 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] SLAMing on 66.86483917300001 meters Centerline goodness : 0.969689 Centerline is valid? [True, True] Translation: X:-24.19, Y:41.26, Z:4.43 [[-9.31608539e-01 1.30170834e-01 3.39353922e-01 -2.41864279e+01] [ 1.33700520e-01 9.90935630e-01 -1.30670990e-02 4.12555923e+01] [-3.37978848e-01 3.31983748e-02 -9.40568002e-01 4.42565309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.89483917300001 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:-23.87, Y:41.51, Z:4.05 [[-9.62419780e-01 1.69370618e-02 -2.71037457e-01 -2.38725846e+01] [-3.19099976e-02 -9.98192228e-01 5.09315929e-02 4.15071473e+01] [-2.69684851e-01 5.76663770e-02 9.61220407e-01 4.04852196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.924839173 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-23.85, Y:40.61, Z:3.90 [[ -0.27614773 -0.24887471 0.92833389 -23.85107 ] [ 0.25064493 -0.95111733 -0.18042433 40.61393783] [ 0.9278575 0.18285842 0.32502808 3.90488276] [ 0. 0. 0. 1. ]] SLAMing on 66.954839173 meters Centerline goodness : 0.888171 Centerline is valid? [True, False] Translation: X:-23.42, Y:40.26, Z:3.44 [[ 0.94449607 0.24103797 -0.22322155 -23.41594475] [ -0.29780065 0.91507425 -0.27194465 40.2603695 ] [ 0.13871531 0.32332618 0.9360653 3.43621907] [ 0. 0. 0. 1. ]] SLAMing on 66.984839173 meters Centerline goodness : 0.993949 Centerline is valid? [False, True] Translation: X:-23.71, Y:38.16, Z:3.51 [[ 9.73058863e-01 -2.10548473e-01 -9.39456704e-02 -2.37074432e+01] [ 2.30202014e-01 9.09843872e-01 3.45240730e-01 3.81562317e+01] [ 1.27859841e-02 -3.57566034e-01 9.33800326e-01 3.50874995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.014839173 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-23.48, Y:37.04, Z:2.69 [[ 8.39384415e-02 -8.80399408e-01 4.66745349e-01 -2.34775791e+01] [ 9.92943505e-01 1.13275580e-01 3.50975613e-02 3.70449825e+01] [-8.37707225e-02 4.60505729e-01 8.83695049e-01 2.68989260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.044839173 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:137: RuntimeWarning: invalid value encountered in divide ret = um.true_divide( SLAMing on 67.074839173 meters Centerline goodness : 0.953523 Centerline is valid? [True, True] Translation: X:-23.93, Y:36.82, Z:3.57 [[ -0.9093633 0.14659468 -0.38931786 -23.92735057] [ -0.24991278 -0.94066685 0.22954189 36.81870211] [ -0.33256879 0.30603247 0.89204379 3.57108544] [ 0. 0. 0. 1. ]] SLAMing on 67.104839173 meters Centerline goodness : 0.657706 Centerline is valid? [True, False] Translation: X:-23.50, Y:36.39, Z:3.27 [[ 0.96905385 0.16902968 0.17989886 -23.4956765 ] [ -0.1909922 0.97511027 0.1126141 36.38646254] [ -0.1563861 -0.14348841 0.97721772 3.26615722] [ 0. 0. 0. 1. ]] SLAMing on 67.134839173 meters Centerline goodness : 0.826562 Centerline is valid? [False, False] Translation: X:-23.53, Y:36.50, Z:3.36 [[ 9.93283904e-01 1.00469019e-01 5.73852060e-02 -2.35330079e+01] [-1.02132648e-01 9.94409014e-01 2.68260242e-02 3.65033848e+01] [-5.43691817e-02 -3.25067611e-02 9.97991635e-01 3.35585258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.164839173 meters Centerline goodness : 0.843674 Centerline is valid? [False, False] Translation: X:-23.25, Y:36.54, Z:3.77 [[ 0.82853281 0.15350338 -0.53848871 -23.25339327] [ -0.35933744 0.88330175 -0.30108905 36.5416453 ] [ 0.42942983 0.44296132 0.787004 3.76878255] [ 0. 0. 0. 1. ]] SLAMing on 67.194839173 meters Centerline goodness : 0.851836 Centerline is valid? [False, False] Translation: X:-23.14, Y:36.50, Z:3.77 [[ 0.81028216 0.17763255 -0.55847068 -23.14483102] [ -0.35771175 0.90475185 -0.23122803 36.49986187] [ 0.46420375 0.38713147 0.79664553 3.77476205] [ 0. 0. 0. 1. ]] SLAMing on 67.224839173 meters Centerline goodness : 0.970583 Centerline is valid? [False, True] Translation: X:-23.65, Y:36.62, Z:3.93 [[ 0.89811507 0.22673279 -0.3768044 -23.64709161] [ -0.3100859 0.93408068 -0.17703112 36.61919854] [ 0.31182696 0.27583605 0.90921858 3.9260019 ] [ 0. 0. 0. 1. ]] SLAMing on 67.25483917300001 meters Centerline goodness : 0.975478 Centerline is valid? [True, True] Translation: X:-23.63, Y:36.62, Z:3.78 [[ 9.29675617e-01 1.77167432e-01 -3.22978247e-01 -2.36264972e+01] [-1.63147699e-01 9.84100338e-01 7.02093492e-02 3.66249976e+01] [ 3.30281812e-01 -1.25787623e-02 9.43798548e-01 3.77572139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.284839173 meters Centerline goodness : 0.946018 Centerline is valid? [True, False] Translation: X:-23.78, Y:36.70, Z:3.44 [[ 8.82659375e-01 4.69713951e-01 -1.67699532e-02 -2.37802128e+01] [-4.69550977e-01 8.79647836e-01 -7.57731117e-02 3.66950708e+01] [-2.08400347e-02 7.47561954e-02 9.96984054e-01 3.44445216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.314839173 meters Centerline goodness : 0.857900 Centerline is valid? [False, False] Translation: X:-23.69, Y:36.67, Z:3.49 [[ 8.82518955e-01 4.70022888e-01 -1.54524878e-02 -2.36919478e+01] [-4.68935127e-01 8.77045665e-01 -1.04358746e-01 3.66702858e+01] [-3.54984615e-02 9.93447854e-02 9.94419666e-01 3.48712834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.344839173 meters Centerline goodness : 0.681178 Centerline is valid? [False, False] Translation: X:-23.67, Y:36.65, Z:3.47 [[ 0.88682723 0.46042438 0.03932999 -23.6685831 ] [ -0.45472062 0.88464745 -0.10309246 36.65019471] [ -0.08225946 0.07354104 0.99389391 3.47329953] [ 0. 0. 0. 1. ]] SLAMing on 67.374839173 meters Centerline goodness : 0.732949 Centerline is valid? [False, False] Translation: X:-23.66, Y:36.65, Z:3.42 [[ 0.91160826 0.40454182 0.07291301 -23.66413162] [ -0.39468874 0.91098227 -0.11971673 36.65482886] [ -0.11485288 0.08035682 0.99012706 3.42265324] [ 0. 0. 0. 1. ]] SLAMing on 67.404839173 meters Centerline goodness : 0.799722 Centerline is valid? [False, False] Translation: X:-23.59, Y:36.65, Z:3.51 [[ 8.91810064e-01 4.51984432e-01 -1.96184306e-02 -2.35867135e+01] [-4.49793454e-01 8.81161055e-01 -1.45743076e-01 3.66455575e+01] [-4.85866043e-02 1.38799383e-01 9.89127936e-01 3.51284345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.434839173 meters Centerline goodness : 0.925895 Centerline is valid? [False, False] Translation: X:-23.81, Y:36.75, Z:3.53 [[ 9.11759477e-01 4.07488906e-01 -5.14533574e-02 -2.38081980e+01] [-4.10633329e-01 9.01735687e-01 -1.35103736e-01 3.67530534e+01] [-8.65594498e-03 1.44310575e-01 9.89494584e-01 3.53189145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.464839173 meters Centerline goodness : 0.837543 Centerline is valid? [False, False] Translation: X:-23.60, Y:36.63, Z:3.51 [[ 8.79824077e-01 4.75298913e-01 -7.32929982e-04 -2.36044638e+01] [-4.73008117e-01 8.75430276e-01 -9.94241068e-02 3.66309260e+01] [-4.66145408e-02 8.78224049e-02 9.95044878e-01 3.51233270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.494839173 meters Centerline goodness : 0.421327 Centerline is valid? [False, False] Translation: X:-23.54, Y:36.60, Z:3.49 [[ 0.87358204 0.48310965 0.05881744 -23.53967853] [ -0.47301594 0.87127077 -0.13093193 36.60186441] [ -0.1145004 0.0865582 0.98964506 3.49257079] [ 0. 0. 0. 1. ]] SLAMing on 67.524839173 meters Centerline goodness : 0.825263 Centerline is valid? [False, False] Translation: X:-23.60, Y:36.65, Z:3.51 [[ 0.87103123 0.48569172 0.07354007 -23.59553859] [ -0.47548788 0.87121331 -0.12205997 36.64684243] [ -0.12335261 0.07135063 0.98979453 3.51293598] [ 0. 0. 0. 1. ]] SLAMing on 67.554839173 meters Centerline goodness : 0.817174 Centerline is valid? [False, False] Translation: X:-23.64, Y:36.68, Z:3.53 [[ 0.87035365 0.48610578 0.07864924 -23.63923288] [ -0.47586829 0.87135947 -0.11950747 36.67783594] [ -0.12662503 0.06658708 0.98971322 3.52511163] [ 0. 0. 0. 1. ]] SLAMing on 67.584839173 meters Centerline goodness : 0.818644 Centerline is valid? [False, False] Translation: X:-23.67, Y:36.70, Z:3.53 [[ 0.87031961 0.48441783 0.08878707 -23.67236597] [ -0.47372602 0.87273412 -0.11797799 36.70415213] [ -0.13463815 0.06061782 0.98903895 3.5331561 ] [ 0. 0. 0. 1. ]] SLAMing on 67.61483917300001 meters Centerline goodness : 0.825145 Centerline is valid? [False, False] Translation: X:-23.71, Y:36.74, Z:3.55 [[ 0.87059464 0.48163973 0.10043974 -23.70589323] [ -0.47043972 0.87468327 -0.1166861 36.735104 ] [ -0.14405363 0.05433545 0.98807703 3.54508798] [ 0. 0. 0. 1. ]] SLAMing on 67.64483917300001 meters Centerline goodness : 0.825145 Centerline is valid? [False, False] Translation: X:-23.71, Y:36.74, Z:3.55 [[ 0.87171706 0.47906853 0.10296942 -23.71434902] [ -0.46878688 0.87651488 -0.10936421 36.73804402] [ -0.14264718 0.04706393 0.98865402 3.54757836] [ 0. 0. 0. 1. ]] SLAMing on 67.674839173 meters Centerline goodness : 0.833726 Centerline is valid? [False, False] Translation: X:-23.73, Y:36.75, Z:3.55 [[ 0.87345365 0.47428995 0.11012613 -23.72570724] [ -0.46357957 0.87922516 -0.10980486 36.75138548] [ -0.14890501 0.04485723 0.98783355 3.54901909] [ 0. 0. 0. 1. ]] SLAMing on 67.704839173 meters Centerline goodness : 0.834880 Centerline is valid? [False, False] Translation: X:-23.72, Y:36.76, Z:3.55 [[ 0.8760298 0.46960771 0.10972869 -23.72436475] [ -0.45799618 0.88139658 -0.11567012 36.76446488] [ -0.15103407 0.05107515 0.9872082 3.54836174] [ 0. 0. 0. 1. ]] SLAMing on 67.734839173 meters Centerline goodness : 0.818972 Centerline is valid? [False, False] Translation: X:-23.74, Y:36.79, Z:3.55 [[ 0.8790298 0.46156781 0.11942266 -23.74473615] [ -0.45055955 0.88613149 -0.1084761 36.78894868] [ -0.15589326 0.04154671 0.98689977 3.55472372] [ 0. 0. 0. 1. ]] SLAMing on 67.764839173 meters Centerline goodness : 0.810039 Centerline is valid? [False, False] Translation: X:-23.77, Y:36.81, Z:3.56 [[ 8.79169455e-01 4.59424781e-01 1.26451335e-01 -2.37732934e+01] [-4.48843711e-01 8.87540234e-01 -1.03979109e-01 3.68086679e+01] [-1.60001227e-01 3.46583705e-02 9.86508188e-01 3.56333656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.794839173 meters Centerline goodness : 0.672093 Centerline is valid? [False, False] Translation: X:-23.78, Y:36.82, Z:3.57 [[ 8.79974461e-01 4.57329659e-01 1.28431038e-01 -2.37798281e+01] [-4.46391408e-01 8.88584422e-01 -1.05605092e-01 3.68249438e+01] [-1.62418160e-01 3.55992718e-02 9.86079628e-01 3.57459523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.824839173 meters Centerline goodness : 0.811992 Centerline is valid? [False, False] Translation: X:-23.79, Y:36.83, Z:3.58 [[ 8.80564013e-01 4.55283984e-01 1.31618821e-01 -2.37871888e+01] [-4.44225822e-01 8.89679787e-01 -1.05514432e-01 3.68338378e+01] [-1.65137635e-01 3.44437325e-02 9.85668905e-01 3.58007792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.854839173 meters Centerline goodness : 0.706720 Centerline is valid? [False, False] Translation: X:-23.80, Y:36.84, Z:3.59 [[ 8.81727278e-01 4.51864590e-01 1.35555893e-01 -2.37982094e+01] [-4.41058237e-01 8.91546085e-01 -1.03020438e-01 3.68444627e+01] [-1.67405614e-01 3.10478869e-02 9.85399101e-01 3.58672146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.884839173 meters Centerline goodness : 0.815337 Centerline is valid? [False, False] Translation: X:-23.81, Y:36.86, Z:3.59 [[ 8.83221220e-01 4.47038672e-01 1.41692281e-01 -2.38090836e+01] [-4.35905204e-01 8.94023694e-01 -1.03480855e-01 3.68620430e+01] [-1.72936200e-01 2.96320839e-02 9.84487181e-01 3.59244871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.914839173 meters Centerline goodness : 0.821338 Centerline is valid? [False, False] Translation: X:-23.82, Y:36.87, Z:3.60 [[ 8.85324253e-01 4.41059452e-01 1.47198936e-01 -2.38237354e+01] [-4.30967934e-01 8.97212288e-01 -9.63158815e-02 3.68729870e+01] [-1.74549724e-01 2.18327646e-02 9.84406280e-01 3.59600903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.944839173 meters Centerline goodness : 0.820745 Centerline is valid? [False, False] Translation: X:-23.84, Y:36.89, Z:3.60 [[ 8.88472768e-01 4.33207349e-01 1.51484434e-01 -2.38405942e+01] [-4.24472432e-01 9.01192647e-01 -8.76068951e-02 3.68884208e+01] [-1.74468609e-01 1.35353744e-02 9.84569702e-01 3.60122983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.974839173 meters Centerline goodness : 0.819733 Centerline is valid? [False, False] Translation: X:-23.84, Y:36.89, Z:3.60 [[ 8.88599348e-01 4.33244117e-01 1.50634438e-01 -2.38377811e+01] [-4.24305179e-01 9.01151422e-01 -8.88325891e-02 3.68919958e+01] [-1.74230635e-01 1.50216085e-02 9.84590289e-01 3.60002476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00483917300001 meters Centerline goodness : 0.815020 Centerline is valid? [False, False] Translation: X:-23.84, Y:36.90, Z:3.60 [[ 8.89655744e-01 4.34545403e-01 1.40295939e-01 -2.38390484e+01] [-4.26894015e-01 9.00551737e-01 -8.22682711e-02 3.68959256e+01] [-1.62093051e-01 1.32989430e-02 9.86685857e-01 3.60395132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.034839173 meters Centerline goodness : 0.806422 Centerline is valid? [False, False] Translation: X:-23.85, Y:36.91, Z:3.60 [[ 8.86989241e-01 4.41420113e-01 1.35640592e-01 -2.38450600e+01] [-4.34834684e-01 8.97256869e-01 -7.64781540e-02 3.69094663e+01] [-1.55463448e-01 8.85406605e-03 9.87801965e-01 3.60396920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.064839173 meters Centerline goodness : 0.813190 Centerline is valid? [False, False] Translation: X:-23.85, Y:36.92, Z:3.61 [[ 8.86284808e-01 4.42320742e-01 1.37301132e-01 -2.38508659e+01] [-4.37148125e-01 8.96856902e-01 -6.74478621e-02 3.69178460e+01] [-1.52973056e-01 -2.42916972e-04 9.88230330e-01 3.60908948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.094839173 meters Centerline goodness : 0.802905 Centerline is valid? [False, False] Translation: X:-23.86, Y:36.93, Z:3.62 [[ 8.83717154e-01 4.48839408e-01 1.32616655e-01 -2.38604758e+01] [-4.43461713e-01 8.93609094e-01 -6.93144734e-02 3.69345429e+01] [-1.49618516e-01 2.44398025e-03 9.88740778e-01 3.61822822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.124839173 meters Centerline goodness : 0.806815 Centerline is valid? [False, False] Translation: X:-23.86, Y:36.94, Z:3.62 [[ 8.83175531e-01 4.49812346e-01 1.32927932e-01 -2.38619099e+01] [-4.44452775e-01 8.93120643e-01 -6.92621616e-02 3.69374949e+01] [-1.49875655e-01 2.09045811e-03 9.88702644e-01 3.62243533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.154839173 meters Centerline goodness : 0.685930 Centerline is valid? [False, False] Translation: X:-23.86, Y:36.94, Z:3.62 [[ 8.83085082e-01 4.50094338e-01 1.32573849e-01 -2.38618954e+01] [-4.44613233e-01 8.92976132e-01 -7.00906546e-02 3.69392616e+01] [-1.49932690e-01 2.95192375e-03 9.88691800e-01 3.62440293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.184839173 meters Centerline goodness : 0.721556 Centerline is valid? [False, False] Translation: X:-23.87, Y:36.94, Z:3.63 [[ 8.83624081e-01 4.51011566e-01 1.25686317e-01 -2.38667547e+01] [-4.46886992e-01 8.92515001e-01 -6.09014630e-02 3.69431984e+01] [-1.39644188e-01 -2.35358083e-03 9.90198950e-01 3.63287133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.214839173 meters Centerline goodness : 0.695475 Centerline is valid? [False, False] Translation: X:-23.87, Y:36.95, Z:3.64 [[ 8.81062011e-01 4.58000579e-01 1.18174458e-01 -2.38744041e+01] [-4.54289257e-01 8.88948719e-01 -5.82361133e-02 3.69469799e+01] [-1.31723207e-01 -2.37575982e-03 9.91283689e-01 3.63742009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.244839173 meters Centerline goodness : 0.804415 Centerline is valid? [False, False] Translation: X:-23.88, Y:36.95, Z:3.64 [[ 8.79767338e-01 4.62284040e-01 1.10918426e-01 -2.38844821e+01] [-4.58955144e-01 8.86729295e-01 -5.54196080e-02 3.69496153e+01] [-1.23974218e-01 -2.15022127e-03 9.92283110e-01 3.63965741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.274839173 meters Centerline goodness : 0.782563 Centerline is valid? [False, False] Translation: X:-23.89, Y:36.95, Z:3.64 [[ 8.73767443e-01 4.76792549e-01 9.59130908e-02 -2.38946652e+01] [-4.74385294e-01 8.79008590e-01 -4.79842872e-02 3.69492129e+01] [-1.07186981e-01 -3.57265192e-03 9.94232461e-01 3.63749976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.304839173 meters Centerline goodness : 0.768840 Centerline is valid? [False, False] Translation: X:-23.91, Y:36.95, Z:3.64 [[ 8.69773536e-01 4.86539307e-01 8.23012640e-02 -2.39122343e+01] [-4.84577351e-01 8.73656663e-01 -4.36901066e-02 3.69536943e+01] [-9.31600019e-02 -1.88082997e-03 9.95649374e-01 3.64089920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.334839173 meters Centerline goodness : 0.756355 Centerline is valid? [False, False] Translation: X:-23.93, Y:36.95, Z:3.64 [[ 8.61692119e-01 5.03615771e-01 6.21115691e-02 -2.39336947e+01] [-5.01969770e-01 8.63918244e-01 -4.08854231e-02 3.69517760e+01] [-7.42498616e-02 4.05251680e-03 9.97231435e-01 3.63955709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36483917300001 meters Centerline goodness : 0.691305 Centerline is valid? [False, False] Translation: X:-23.97, Y:36.96, Z:3.64 [[ 8.59166589e-01 5.08192525e-01 5.97756624e-02 -2.39695940e+01] [-5.06944423e-01 8.61243449e-01 -3.55959726e-02 3.69609340e+01] [-6.95710049e-02 2.79931721e-04 9.97576963e-01 3.64323939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.39483917300001 meters Centerline goodness : 0.656667 Centerline is valid? [False, False] Translation: X:-24.01, Y:36.97, Z:3.65 [[ 8.55627031e-01 5.13748859e-01 6.29642320e-02 -2.40123448e+01] [-5.13177244e-01 8.57883346e-01 -2.61778529e-02 3.69653207e+01] [-6.74648081e-02 -9.91333257e-03 9.97672404e-01 3.64747302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.424839173 meters Centerline goodness : 0.691198 Centerline is valid? [False, False] Translation: X:-24.05, Y:36.98, Z:3.66 [[ 8.57305977e-01 5.10338999e-01 6.76798924e-02 -2.40538352e+01] [-5.10506441e-01 8.59723092e-01 -1.61052134e-02 3.69777671e+01] [-6.64050848e-02 -2.07439253e-02 9.97577092e-01 3.65774464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.454839173 meters Centerline goodness : 0.528210 Centerline is valid? [False, False] Translation: X:-24.10, Y:36.98, Z:3.67 [[ 8.59694878e-01 5.04719239e-01 7.86333677e-02 -2.40956361e+01] [-5.05332441e-01 8.62821274e-01 -1.33631000e-02 3.69774586e+01] [-7.45911562e-02 -2.82478030e-02 9.96814035e-01 3.66856907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.484839173 meters Centerline goodness : 0.808388 Centerline is valid? [False, False] Translation: X:-24.13, Y:36.98, Z:3.68 [[ 8.61305062e-01 5.00728018e-01 8.61686827e-02 -2.41285048e+01] [-5.01613777e-01 8.64999687e-01 -1.26158788e-02 3.69830110e+01] [-8.08530076e-02 -3.23572782e-02 9.96200681e-01 3.67510348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.514839173 meters Centerline goodness : 0.673122 Centerline is valid? [False, False] Translation: X:-24.16, Y:36.98, Z:3.69 [[ 8.63474726e-01 4.95513829e-01 9.42201847e-02 -2.41643278e+01] [-4.96771827e-01 8.67808125e-01 -1.12609642e-02 3.69805373e+01] [-8.73450053e-02 -3.70823753e-02 9.95487693e-01 3.68891386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.544839173 meters Centerline goodness : 0.766725 Centerline is valid? [False, False] Translation: X:-24.20, Y:36.99, Z:3.70 [[ 8.66361784e-01 4.91266168e-01 8.98599592e-02 -2.42002006e+01] [-4.92451189e-01 8.70282503e-01 -1.00095719e-02 3.69913355e+01] [-8.31209143e-02 -3.55797332e-02 9.95904110e-01 3.70444255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.574839173 meters Centerline goodness : 0.795815 Centerline is valid? [False, False] Translation: X:-24.23, Y:36.99, Z:3.72 [[ 8.69583147e-01 4.85760045e-01 8.86697795e-02 -2.42306339e+01] [-4.86441453e-01 8.73580652e-01 -1.52169881e-02 3.69856117e+01] [-8.48520086e-02 -2.99002200e-02 9.95944835e-01 3.71513582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.604839173 meters Centerline goodness : 0.800622 Centerline is valid? [False, False] Translation: X:-24.25, Y:36.98, Z:3.72 [[ 8.72302118e-01 4.81235886e-01 8.66085310e-02 -2.42520547e+01] [-4.82298711e-01 8.75954341e-01 -9.58884131e-03 3.69778935e+01] [-8.04796133e-02 -3.34068163e-02 9.96196274e-01 3.72238973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.634839173 meters Centerline goodness : 0.807211 Centerline is valid? [False, False] Translation: X:-24.28, Y:36.99, Z:3.73 [[ 8.73614134e-01 4.79498787e-01 8.29412924e-02 -2.42843126e+01] [-4.80940917e-01 8.76748116e-01 -2.92827297e-03 3.69890376e+01] [-7.41227252e-02 -3.73316806e-02 9.96550133e-01 3.73079416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.664839173 meters Centerline goodness : 0.819651 Centerline is valid? [False, False] Translation: X:-24.32, Y:37.00, Z:3.74 [[ 8.73619190e-01 4.79788576e-01 8.11937999e-02 -2.43189192e+01] [-4.81430205e-01 8.76484124e-01 7.34005855e-04 3.70025937e+01] [-7.08129090e-02 -3.97303894e-02 9.96698063e-01 3.73538329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.694839173 meters Centerline goodness : 0.814519 Centerline is valid? [False, False] Translation: X:-24.36, Y:37.01, Z:3.74 [[ 8.72748272e-01 4.82101821e-01 7.67351842e-02 -2.43562491e+01] [-4.83903820e-01 8.75102601e-01 5.70356998e-03 3.70115014e+01] [-6.44014578e-02 -4.21102296e-02 9.97035195e-01 3.73737516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.724839173 meters Centerline goodness : 0.799564 Centerline is valid? [False, False] Translation: X:-24.38, Y:37.02, Z:3.74 [[ 8.72329957e-01 4.83376151e-01 7.34026000e-02 -2.43808028e+01] [-4.84857486e-01 8.74588917e-01 2.72858450e-03 3.70156894e+01] [-6.28781677e-02 -3.79700261e-02 9.97298658e-01 3.73853158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.75483917300001 meters Centerline goodness : 0.802519 Centerline is valid? [False, False] Translation: X:-24.42, Y:37.02, Z:3.74 [[ 8.71466810e-01 4.85795404e-01 6.74420039e-02 -2.44196756e+01] [-4.86224775e-01 8.73764507e-01 -1.10024562e-02 3.70174129e+01] [-6.42733720e-02 -2.32036978e-02 9.97662529e-01 3.73822348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.784839173 meters Centerline goodness : 0.805527 Centerline is valid? [False, False] Translation: X:-24.47, Y:37.03, Z:3.74 [[ 8.68543360e-01 4.90447464e-01 7.13702739e-02 -2.44712866e+01] [-4.91209791e-01 8.71007641e-01 -7.65704909e-03 3.70290346e+01] [-6.59194342e-02 -2.84072982e-02 9.97420500e-01 3.74422000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.814839173 meters Centerline goodness : 0.806835 Centerline is valid? [False, False] Translation: X:-24.54, Y:37.06, Z:3.75 [[ 8.67152270e-01 4.91832995e-01 7.84043700e-02 -2.45440577e+01] [-4.93018760e-01 8.70005526e-01 -4.78399630e-03 3.70591363e+01] [-7.05651624e-02 -3.45063721e-02 9.96910161e-01 3.75321866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.844839173 meters Centerline goodness : 0.801834 Centerline is valid? [False, False] Translation: X:-24.60, Y:37.07, Z:3.77 [[ 8.63495223e-01 4.97167467e-01 8.48558211e-02 -2.46020186e+01] [-4.98570884e-01 8.66832889e-01 -5.27407020e-03 3.70725251e+01] [-7.61779127e-02 -3.77525073e-02 9.96379282e-01 3.76900384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.874839173 meters Centerline goodness : 0.801896 Centerline is valid? [False, False] Translation: X:-24.66, Y:37.09, Z:3.78 [[ 8.61794194e-01 4.99873526e-01 8.62393463e-02 -2.46551902e+01] [-5.01018099e-01 8.65385957e-01 -9.38134538e-03 3.70902730e+01] [-7.93198055e-02 -3.51226843e-02 9.96230277e-01 3.78335007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.904839173 meters Centerline goodness : 0.802920 Centerline is valid? [False, False] Translation: X:-24.71, Y:37.10, Z:3.80 [[ 8.60362511e-01 5.00656808e-01 9.54940367e-02 -2.47133076e+01] [-5.02194562e-01 8.64708542e-01 -8.93086278e-03 3.71016925e+01] [-8.70458065e-02 -4.02728064e-02 9.95389938e-01 3.79598818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.934839173 meters Centerline goodness : 0.805943 Centerline is valid? [False, False] Translation: X:-24.77, Y:37.12, Z:3.80 [[ 8.61431370e-01 4.99024998e-01 9.43930413e-02 -2.47657200e+01] [-5.01092704e-01 8.65391150e-01 -2.06416473e-03 3.71222692e+01] [-8.27169723e-02 -4.55215280e-02 9.95532869e-01 3.80496302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.964839173 meters Centerline goodness : 0.817794 Centerline is valid? [False, False] Translation: X:-24.83, Y:37.14, Z:3.81 [[ 8.61951150e-01 4.97211096e-01 9.91026795e-02 -2.48255103e+01] [-5.00605229e-01 8.65603270e-01 1.11975032e-02 3.71422215e+01] [-8.02160806e-02 -5.92630204e-02 9.95014208e-01 3.81145915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.994839173 meters Centerline goodness : 0.811939 Centerline is valid? [False, False] Translation: X:-24.87, Y:37.16, Z:3.82 [[ 8.61855118e-01 4.97497540e-01 9.84984892e-02 -2.48709310e+01] [-5.00314434e-01 8.65831769e-01 4.56230765e-03 3.71611352e+01] [-8.30133843e-02 -5.32122641e-02 9.95126742e-01 3.81816812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.024839173 meters Centerline goodness : 0.804292 Centerline is valid? [False, False] Translation: X:-24.93, Y:37.18, Z:3.83 [[ 8.62752622e-01 4.96219148e-01 9.70797110e-02 -2.49314726e+01] [-4.97700370e-01 8.67290990e-01 -1.00339916e-02 3.71781009e+01] [-8.91754174e-02 -3.96597556e-02 9.95226029e-01 3.83010266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.054839173 meters Centerline goodness : 0.806211 Centerline is valid? [False, False] Translation: X:-24.99, Y:37.20, Z:3.84 [[ 8.64784515e-01 4.93018663e-01 9.52908256e-02 -2.49934577e+01] [-4.93914034e-01 8.69370740e-01 -1.56026759e-02 3.72047231e+01] [-9.05354660e-02 -3.35725235e-02 9.95327190e-01 3.83983843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.084839173 meters Centerline goodness : 0.804771 Centerline is valid? [False, False] Translation: X:-25.05, Y:37.23, Z:3.86 [[ 8.70786602e-01 4.84776492e-01 8.19905226e-02 -2.50539974e+01] [-4.85072756e-01 8.74296539e-01 -1.76063287e-02 3.72323081e+01] [-8.02191644e-02 -2.44400136e-02 9.96477582e-01 3.85886892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.11483917300001 meters Centerline goodness : 0.802576 Centerline is valid? [False, False] Translation: X:-25.07, Y:37.23, Z:3.87 [[ 8.74053573e-01 4.79327917e-01 7.92155309e-02 -2.50662110e+01] [-4.80042323e-01 8.77176208e-01 -1.10121998e-02 3.72334564e+01] [-7.47644338e-02 -2.84015548e-02 9.96796685e-01 3.86509139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14483917300001 meters Centerline goodness : 0.796258 Centerline is valid? [False, False] Translation: X:-25.10, Y:37.24, Z:3.87 [[ 8.79311086e-01 4.71002630e-01 7.04878454e-02 -2.50968424e+01] [-4.70441553e-01 8.82065414e-01 -2.54037690e-02 3.72376508e+01] [-7.41401325e-02 -1.08225957e-02 9.97189106e-01 3.86989384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.174839173 meters Centerline goodness : 0.796818 Centerline is valid? [False, False] Translation: X:-25.13, Y:37.25, Z:3.88 [[ 8.83827175e-01 4.63509175e-01 6.33148440e-02 -2.51286141e+01] [-4.62629156e-01 8.86083830e-01 -2.88047044e-02 3.72515733e+01] [-6.94535043e-02 -3.83291234e-03 9.97577826e-01 3.87549396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.204839173 meters Centerline goodness : 0.797076 Centerline is valid? [False, False] Translation: X:-25.15, Y:37.25, Z:3.88 [[ 8.86832352e-01 4.57837310e-01 6.25569861e-02 -2.51470493e+01] [-4.57395473e-01 8.88989878e-01 -2.20539880e-02 3.72536745e+01] [-6.57096660e-02 -9.05509220e-03 9.97797697e-01 3.87793026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.234839173 meters Centerline goodness : 0.793274 Centerline is valid? [False, False] Translation: X:-25.16, Y:37.26, Z:3.88 [[ 8.88655279e-01 4.54908941e-01 5.78761549e-02 -2.51620664e+01] [-4.54499792e-01 8.90503702e-01 -2.08109376e-02 3.72596641e+01] [-6.10060119e-02 -7.81095078e-03 9.98106836e-01 3.88207132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.264839173 meters Centerline goodness : 0.790207 Centerline is valid? [False, False] Translation: X:-25.19, Y:37.27, Z:3.89 [[ 8.94000560e-01 4.45129442e-01 5.12130587e-02 -2.51948032e+01] [-4.44364734e-01 8.95466058e-01 -2.60868215e-02 3.72727371e+01] [-5.74715681e-02 5.64355882e-04 9.98346984e-01 3.88902414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.294839173 meters Centerline goodness : 0.792849 Centerline is valid? [False, False] Translation: X:-25.22, Y:37.28, Z:3.90 [[ 8.97910722e-01 4.37101474e-01 5.19483965e-02 -2.52216817e+01] [-4.36409141e-01 8.99412008e-01 -2.45988033e-02 3.72844656e+01] [-5.74751848e-02 -5.83225793e-04 9.98346765e-01 3.89794448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.324839173 meters Centerline goodness : 0.789244 Centerline is valid? [False, False] Translation: X:-25.24, Y:37.29, Z:3.91 [[ 9.02442877e-01 4.27908399e-01 4.99124800e-02 -2.52374633e+01] [-4.27099044e-01 9.03818562e-01 -2.64275350e-02 3.72900745e+01] [-5.64203901e-02 2.53176828e-03 9.98403891e-01 3.90531436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.354839173 meters Centerline goodness : 0.794134 Centerline is valid? [False, False] Translation: X:-25.26, Y:37.30, Z:3.91 [[ 9.06341027e-01 4.20794136e-01 3.84478449e-02 -2.52575092e+01] [-4.20158563e-01 9.07140358e-01 -2.37308399e-02 3.73015746e+01] [-4.48633900e-02 5.35404253e-03 9.98978784e-01 3.91311531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.384839173 meters Centerline goodness : 0.789512 Centerline is valid? [False, False] Translation: X:-25.26, Y:37.30, Z:3.92 [[ 9.09541554e-01 4.15185161e-01 1.88532181e-02 -2.52634375e+01] [-4.14982570e-01 9.09724620e-01 -1.38051444e-02 3.73041457e+01] [-2.28829278e-02 4.73259555e-03 9.99726950e-01 3.91608069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.414839173 meters Centerline goodness : 0.787886 Centerline is valid? [False, False] Translation: X:-25.27, Y:37.31, Z:3.92 [[ 9.09850002e-01 4.14778289e-01 1.14867560e-02 -2.52671778e+01] [-4.14759957e-01 9.09921865e-01 -4.04691846e-03 3.73050327e+01] [-1.21306243e-02 -1.08215764e-03 9.99925836e-01 3.91688916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.444839173 meters Centerline goodness : 0.786859 Centerline is valid? [False, False] Translation: X:-25.27, Y:37.31, Z:3.91 [[ 9.09705893e-01 4.15204352e-01 6.36674008e-03 -2.52659869e+01] [-4.15248451e-01 9.09661677e-01 9.18459575e-03 3.73094190e+01] [-1.97809534e-03 -1.09990598e-02 9.99937552e-01 3.91325642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.474839173 meters Centerline goodness : 0.785583 Centerline is valid? [False, False] Translation: X:-25.27, Y:37.32, Z:3.92 [[ 9.09394572e-01 4.15931597e-01 -1.55527321e-03 -2.52689813e+01] [-4.15840780e-01 9.09262673e-01 1.78279783e-02 3.73153738e+01] [ 8.82937137e-03 -1.55659207e-02 9.99839859e-01 3.91652729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50483917300001 meters Centerline goodness : 0.782194 Centerline is valid? [False, False] Translation: X:-25.27, Y:37.32, Z:3.92 [[ 9.10239613e-01 4.13783944e-01 -1.57064960e-02 -2.52705579e+01] [-4.13535370e-01 9.10332214e-01 1.68451298e-02 3.73167747e+01] [ 2.12683735e-02 -8.83791280e-03 9.99734739e-01 3.91903949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.534839173 meters Centerline goodness : 0.782194 Centerline is valid? [False, False] Translation: X:-25.27, Y:37.32, Z:3.92 [[ 9.10239613e-01 4.13783944e-01 -1.57064960e-02 -2.52705579e+01] [-4.13535370e-01 9.10332214e-01 1.68451298e-02 3.73167747e+01] [ 2.12683735e-02 -8.83791280e-03 9.99734739e-01 3.91903949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.564839173 meters Centerline goodness : 0.784728 Centerline is valid? [False, False] Translation: X:-25.27, Y:37.31, Z:3.92 [[ 9.10630246e-01 4.12031409e-01 -3.13475993e-02 -2.52704346e+01] [-4.12222714e-01 9.11083025e-01 3.94007572e-04 3.73143849e+01] [ 2.87226091e-02 1.25633973e-02 9.99508466e-01 3.92444493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.594839173 meters Centerline goodness : 0.789534 Centerline is valid? [False, False] Translation: X:-25.27, Y:37.32, Z:3.93 [[ 9.11574389e-01 4.08690933e-01 -4.47644245e-02 -2.52745520e+01] [-4.09176400e-01 9.12453402e-01 -1.86073564e-03 3.73214311e+01] [ 4.00849857e-02 2.00127451e-02 9.98995838e-01 3.93171790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.624839173 meters Centerline goodness : 0.786463 Centerline is valid? [False, False] Translation: X:-25.27, Y:37.33, Z:3.94 [[ 9.11723551e-01 4.06874615e-01 -5.66852224e-02 -2.52748881e+01] [-4.07493160e-01 9.13207986e-01 7.06302473e-04 3.73287223e+01] [ 5.20527743e-02 2.24548878e-02 9.98391850e-01 3.93802819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.654839173 meters Centerline goodness : 0.788955 Centerline is valid? [False, False] Translation: X:-25.27, Y:37.34, Z:3.95 [[ 9.09562863e-01 4.10319299e-01 -6.58291047e-02 -2.52743727e+01] [-4.10925769e-01 9.11656834e-01 4.67230600e-03 3.73443531e+01] [ 6.19306904e-02 2.28011194e-02 9.97819973e-01 3.94584155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.684839173 meters Centerline goodness : 0.791248 Centerline is valid? [False, False] Translation: X:-25.28, Y:37.35, Z:3.95 [[ 9.09085151e-01 4.09361620e-01 -7.73773426e-02 -2.52755023e+01] [-4.10066246e-01 9.12026658e-01 7.28346556e-03 3.73520123e+01] [ 7.35517704e-02 2.51085460e-02 9.96975275e-01 3.95253433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.714839173 meters Centerline goodness : 0.791157 Centerline is valid? [False, False] Translation: X:-25.27, Y:37.35, Z:3.95 [[ 9.08254994e-01 4.10852881e-01 -7.92008592e-02 -2.52723690e+01] [-4.11637021e-01 9.11321641e-01 6.91586030e-03 3.73529061e+01] [ 7.50188581e-02 2.63206411e-02 9.96834688e-01 3.95434278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.744839173 meters Centerline goodness : 0.791050 Centerline is valid? [False, False] Translation: X:-25.28, Y:37.36, Z:3.96 [[ 9.09021068e-01 4.06348058e-01 -9.25308261e-02 -2.52764161e+01] [-4.07532496e-01 9.13167062e-01 6.57118478e-03 3.73569762e+01] [ 8.71662908e-02 3.17359732e-02 9.95688137e-01 3.96215719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.774839173 meters Centerline goodness : 0.793112 Centerline is valid? [False, False] Translation: X:-25.28, Y:37.36, Z:3.96 [[ 9.10730500e-01 4.02270648e-01 -9.35322523e-02 -2.52796822e+01] [-4.03726188e-01 9.14872614e-01 3.64201907e-03 3.73555503e+01] [ 8.70351736e-02 3.44445219e-02 9.95609589e-01 3.96444556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.804839173 meters Centerline goodness : 0.798004 Centerline is valid? [False, False] Translation: X:-25.28, Y:37.36, Z:3.97 [[ 9.12231454e-01 3.98632692e-01 -9.44761961e-02 -2.52827739e+01] [-4.00403022e-01 9.16339109e-01 2.38105701e-04 3.73564434e+01] [ 8.66671501e-02 3.76113469e-02 9.95527092e-01 3.96726545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.834839173 meters Centerline goodness : 0.800685 Centerline is valid? [False, False] Translation: X:-25.29, Y:37.36, Z:3.97 [[ 9.13763486e-01 3.94882737e-01 -9.54144391e-02 -2.52859263e+01] [-3.96967674e-01 9.17827190e-01 -3.14892050e-03 3.73579607e+01] [ 8.63305122e-02 4.07538165e-02 9.95432654e-01 3.97052787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86483917300001 meters Centerline goodness : 0.803198 Centerline is valid? [False, False] Translation: X:-25.30, Y:37.36, Z:3.98 [[ 9.15352058e-01 3.90281816e-01 -9.90490534e-02 -2.52950024e+01] [-3.92048074e-01 9.19943034e-01 1.76706816e-03 3.73620183e+01] [ 9.18091413e-02 3.72145012e-02 9.95080983e-01 3.97559857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.894839173 meters Centerline goodness : 0.804052 Centerline is valid? [False, False] Translation: X:-25.30, Y:37.36, Z:3.98 [[ 9.18108197e-01 3.83456954e-01 -1.00190337e-01 -2.53013569e+01] [-3.85747741e-01 9.22596408e-01 -3.81428861e-03 3.73608461e+01] [ 9.09726299e-02 4.21501260e-02 9.94960978e-01 3.97983426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.924839173 meters Centerline goodness : 0.813656 Centerline is valid? [False, False] Translation: X:-25.32, Y:37.37, Z:3.99 [[ 9.23713389e-01 3.68098039e-01 -1.06100938e-01 -2.53184549e+01] [-3.71495258e-01 9.28336139e-01 -1.35383501e-02 3.73652288e+01] [ 9.35138946e-02 5.19215503e-02 9.94263197e-01 3.99237723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.954839173 meters Centerline goodness : 0.816561 Centerline is valid? [False, False] Translation: X:-25.32, Y:37.37, Z:3.99 [[ 9.25187595e-01 3.64221960e-01 -1.06631508e-01 -2.53216397e+01] [-3.67933640e-01 9.29700457e-01 -1.67897552e-02 3.73663675e+01] [ 9.30201642e-02 5.47669921e-02 9.94156842e-01 3.99467790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.984839173 meters Centerline goodness : 0.820990 Centerline is valid? [False, False] Translation: X:-25.33, Y:37.37, Z:4.00 [[ 9.28699590e-01 3.56410073e-01 -1.02415479e-01 -2.53299641e+01] [-3.59358293e-01 9.33131097e-01 -1.13125202e-02 3.73692654e+01] [ 9.15351723e-02 4.73097847e-02 9.94677383e-01 3.99775478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.014839173 meters Centerline goodness : 0.824362 Centerline is valid? [False, False] Translation: X:-25.33, Y:37.37, Z:4.00 [[ 9.30066469e-01 3.52993081e-01 -1.01844234e-01 -2.53334966e+01] [-3.56082243e-01 9.34359521e-01 -1.33312178e-02 3.73709332e+01] [ 9.04533019e-02 4.86638418e-02 9.94711029e-01 3.99898353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.044839173 meters Centerline goodness : 0.823015 Centerline is valid? [False, False] Translation: X:-25.34, Y:37.37, Z:4.00 [[ 9.30817024e-01 3.51178376e-01 -1.01259151e-01 -2.53358388e+01] [-3.54245105e-01 9.35055278e-01 -1.34919232e-02 3.73704099e+01] [ 8.99448315e-02 4.84290702e-02 9.94768592e-01 3.99936408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.074839173 meters Centerline goodness : 0.827378 Centerline is valid? [False, False] Translation: X:-25.34, Y:37.37, Z:4.00 [[ 9.33225015e-01 3.44891462e-01 -1.00702288e-01 -2.53399507e+01] [-3.48214860e-01 9.37261030e-01 -1.69756872e-02 3.73704618e+01] [ 8.85295604e-02 5.09081689e-02 9.94771770e-01 3.99914561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.104839173 meters Centerline goodness : 0.833011 Centerline is valid? [False, False] Translation: X:-25.35, Y:37.37, Z:4.01 [[ 9.37955796e-01 3.32371931e-01 -9.88323083e-02 -2.53527489e+01] [-3.36394269e-01 9.41340038e-01 -2.67923348e-02 3.73731370e+01] [ 8.41297888e-02 5.83766478e-02 9.94743357e-01 4.00637116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.134839173 meters Centerline goodness : 0.837524 Centerline is valid? [False, False] Translation: X:-25.36, Y:37.38, Z:4.01 [[ 9.39306816e-01 3.28171210e-01 -1.00031808e-01 -2.53572210e+01] [-3.32700892e-01 9.42485746e-01 -3.21050661e-02 3.73756377e+01] [ 8.37425945e-02 6.34371791e-02 9.94466139e-01 4.01207225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.164839173 meters Centerline goodness : 0.838409 Centerline is valid? [False, False] Translation: X:-25.36, Y:37.38, Z:4.02 [[ 9.39698002e-01 3.26325880e-01 -1.02367404e-01 -2.53570289e+01] [-3.31366464e-01 9.42800455e-01 -3.63808768e-02 3.73791022e+01] [ 8.46400137e-02 6.81081620e-02 9.94081157e-01 4.01671636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.194839173 meters Centerline goodness : 0.837811 Centerline is valid? [False, False] Translation: X:-25.36, Y:37.39, Z:4.02 [[ 9.39820069e-01 3.21369254e-01 -1.16017412e-01 -2.53564626e+01] [-3.27279364e-01 9.44257357e-01 -3.55845860e-02 3.73850493e+01] [ 9.81145033e-02 7.14132130e-02 9.92609539e-01 4.02216881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.224839173 meters Centerline goodness : 0.838373 Centerline is valid? [False, False] Translation: X:-25.36, Y:37.39, Z:4.03 [[ 9.40484916e-01 3.15359202e-01 -1.26636083e-01 -2.53587523e+01] [-3.21637776e-01 9.46318454e-01 -3.21017885e-02 3.73878120e+01] [ 1.09714468e-01 7.09221960e-02 9.91429663e-01 4.02618709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.25483917300001 meters Centerline goodness : 0.841159 Centerline is valid? [False, False] Translation: X:-25.36, Y:37.39, Z:4.03 [[ 9.42137961e-01 3.07423655e-01 -1.33666597e-01 -2.53588873e+01] [-3.13498984e-01 9.49217616e-01 -2.65387498e-02 3.73919335e+01] [ 1.18720049e-01 6.69075060e-02 9.90670952e-01 4.02546023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.284839173 meters Centerline goodness : 0.840489 Centerline is valid? [False, False] Translation: X:-25.36, Y:37.40, Z:4.03 [[ 9.42563286e-01 3.02300857e-01 -1.42086746e-01 -2.53611169e+01] [-3.08297305e-01 9.51041600e-01 -2.17404564e-02 3.73977900e+01] [ 1.28558248e-01 6.42967170e-02 9.89615435e-01 4.02917064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.314839173 meters Centerline goodness : 0.842769 Centerline is valid? [False, False] Translation: X:-25.36, Y:37.40, Z:4.04 [[ 9.42559238e-01 2.95117562e-01 -1.56485488e-01 -2.53625123e+01] [-3.02277338e-01 9.52928577e-01 -2.35698417e-02 3.74037075e+01] [ 1.42163619e-01 6.95179887e-02 9.87398985e-01 4.03816722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.344839173 meters Centerline goodness : 0.844529 Centerline is valid? [False, False] Translation: X:-25.36, Y:37.40, Z:4.05 [[ 9.42882844e-01 2.91240167e-01 -1.61713039e-01 -2.53623226e+01] [-2.99872582e-01 9.53466598e-01 -3.12710834e-02 3.74023373e+01] [ 1.45080586e-01 7.79782747e-02 9.86342239e-01 4.04615120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.374839173 meters Centerline goodness : 0.848521 Centerline is valid? [False, False] Translation: X:-25.36, Y:37.41, Z:4.05 [[ 9.41300625e-01 2.88488559e-01 -1.75292568e-01 -2.53627895e+01] [-2.98302129e-01 9.53938300e-01 -3.18992160e-02 3.74097352e+01] [ 1.58015735e-01 8.23168983e-02 9.83999469e-01 4.05382946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.404839173 meters Centerline goodness : 0.851404 Centerline is valid? [False, False] Translation: X:-25.36, Y:37.42, Z:4.06 [[ 9.37448671e-01 3.01398799e-01 -1.74208937e-01 -2.53568517e+01] [-3.10211318e-01 9.50335527e-01 -2.51261623e-02 3.74204502e+01] [ 1.57983947e-01 7.75960714e-02 9.84388095e-01 4.05636528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.434839173 meters Centerline goodness : 0.851012 Centerline is valid? [False, False] Translation: X:-25.36, Y:37.43, Z:4.06 [[ 9.34218375e-01 3.04268671e-01 -1.86162843e-01 -2.53572797e+01] [-3.13620696e-01 9.49286366e-01 -2.23036732e-02 3.74296225e+01] [ 1.69935540e-01 7.92210218e-02 9.82265719e-01 4.06224191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.464839173 meters Centerline goodness : 0.851459 Centerline is valid? [False, False] Translation: X:-25.35, Y:37.43, Z:4.06 [[ 9.32114638e-01 3.09850110e-01 -1.87497229e-01 -2.53529211e+01] [-3.19020147e-01 9.47534662e-01 -2.01049894e-02 3.74316955e+01] [ 1.71430590e-01 7.85555485e-02 9.82059356e-01 4.06449096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.494839173 meters Centerline goodness : 0.854206 Centerline is valid? [False, False] Translation: X:-25.33, Y:37.43, Z:4.08 [[ 9.25212788e-01 3.23602799e-01 -1.98147738e-01 -2.53342819e+01] [-3.35510627e-01 9.41594627e-01 -2.88474946e-02 3.74338929e+01] [ 1.77239716e-01 9.31707428e-02 9.79747567e-01 4.07692961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.524839173 meters Centerline goodness : 0.857830 Centerline is valid? [False, False] Translation: X:-25.33, Y:37.44, Z:4.09 [[ 9.21283099e-01 3.32570792e-01 -2.01579066e-01 -2.53315762e+01] [-3.45335908e-01 9.37973447e-01 -3.08046055e-02 3.74397494e+01] [ 1.78831099e-01 9.79922523e-02 9.78987720e-01 4.08941301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.554839173 meters Centerline goodness : 0.859091 Centerline is valid? [False, False] Translation: X:-25.33, Y:37.44, Z:4.09 [[ 9.19793231e-01 3.36891363e-01 -2.01207905e-01 -2.53324889e+01] [-3.49330146e-01 9.36557198e-01 -2.87934665e-02 3.74440498e+01] [ 1.78742442e-01 9.67720226e-02 9.79125281e-01 4.09365888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.584839173 meters Centerline goodness : 0.861889 Centerline is valid? [False, False] Translation: X:-25.33, Y:37.45, Z:4.10 [[ 9.16920541e-01 3.45624994e-01 -1.99499586e-01 -2.53331666e+01] [-3.57042919e-01 9.33798909e-01 -2.32368580e-02 3.74505852e+01] [ 1.78261257e-01 9.25362667e-02 9.79622358e-01 4.09871693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.61483917300001 meters Centerline goodness : 0.862831 Centerline is valid? [False, False] Translation: X:-25.33, Y:37.45, Z:4.10 [[ 9.16693803e-01 3.46036278e-01 -1.99828338e-01 -2.53335437e+01] [-3.57502466e-01 9.33621836e-01 -2.32863345e-02 3.74511536e+01] [ 1.78506183e-01 9.27855622e-02 9.79554175e-01 4.10017138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.644839173 meters Centerline goodness : 0.866987 Centerline is valid? [False, False] Translation: X:-25.34, Y:37.45, Z:4.10 [[ 9.17440939e-01 3.42900162e-01 -2.01795945e-01 -2.53364970e+01] [-3.55060203e-01 9.34472176e-01 -2.63439650e-02 3.74465864e+01] [ 1.79539346e-01 9.58187410e-02 9.79073231e-01 4.10277071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.674839173 meters Centerline goodness : 0.869678 Centerline is valid? [False, False] Translation: X:-25.34, Y:37.45, Z:4.11 [[ 9.18101938e-01 3.40555926e-01 -2.02757224e-01 -2.53393660e+01] [-3.53217510e-01 9.35098284e-01 -2.87852549e-02 3.74451704e+01] [ 1.79794943e-01 9.80452001e-02 9.78805863e-01 4.10502748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.704839173 meters Centerline goodness : 0.873800 Centerline is valid? [False, False] Translation: X:-25.34, Y:37.44, Z:4.11 [[ 9.18316863e-01 3.39106402e-01 -2.04208196e-01 -2.53409902e+01] [-3.52033190e-01 9.35520529e-01 -2.95630361e-02 3.74374619e+01] [ 1.81015944e-01 9.90362971e-02 9.78480986e-01 4.10563875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.734839173 meters Centerline goodness : 0.870023 Centerline is valid? [False, False] Translation: X:-25.34, Y:37.44, Z:4.11 [[ 9.15619730e-01 3.42677906e-01 -2.10267358e-01 -2.53427855e+01] [-3.53884880e-01 9.35134522e-01 -1.69975884e-02 3.74378591e+01] [ 1.90803568e-01 8.99737661e-02 9.77496148e-01 4.10574605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.764839173 meters Centerline goodness : 0.871156 Centerline is valid? [False, False] Translation: X:-25.34, Y:37.44, Z:4.11 [[ 9.14705866e-01 3.46089109e-01 -2.08651642e-01 -2.53422699e+01] [-3.56693008e-01 9.34112248e-01 -1.42970896e-02 3.74414497e+01] [ 1.89955988e-01 8.75022136e-02 9.77885518e-01 4.10550895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.794839173 meters Centerline goodness : 0.871458 Centerline is valid? [False, False] Translation: X:-25.34, Y:37.45, Z:4.11 [[ 9.14465832e-01 3.46585960e-01 -2.08878946e-01 -2.53441462e+01] [-3.57439853e-01 9.33808807e-01 -1.54228579e-02 3.74472664e+01] [ 1.89707653e-01 8.87653363e-02 9.77819882e-01 4.10980245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.824839173 meters Centerline goodness : 0.874109 Centerline is valid? [False, False] Translation: X:-25.35, Y:37.45, Z:4.11 [[ 9.15222632e-01 3.43499145e-01 -2.10655813e-01 -2.53454702e+01] [-3.55039840e-01 9.34669491e-01 -1.84297152e-02 3.74455415e+01] [ 1.90562970e-01 9.16584987e-02 9.77386553e-01 4.11177676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.854839173 meters Centerline goodness : 0.877634 Centerline is valid? [False, False] Translation: X:-25.35, Y:37.44, Z:4.11 [[ 9.14229845e-01 3.39097486e-01 -2.21803258e-01 -2.53455077e+01] [-3.54631652e-01 9.34417713e-01 -3.31651725e-02 3.74411570e+01] [ 1.96010666e-01 1.08979046e-01 9.74527263e-01 4.11285000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.884839173 meters Centerline goodness : 0.875690 Centerline is valid? [False, False] Translation: X:-25.34, Y:37.44, Z:4.11 [[ 9.14159078e-01 3.39416897e-01 -2.21606294e-01 -2.53445815e+01] [-3.54715319e-01 9.34424192e-01 -3.20697994e-02 3.74383414e+01] [ 1.96189251e-01 1.07924046e-01 9.74608731e-01 4.11091219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.914839173 meters Centerline goodness : 0.872731 Centerline is valid? [False, False] Translation: X:-25.34, Y:37.44, Z:4.11 [[ 9.13469493e-01 3.34190203e-01 -2.32143047e-01 -2.53408182e+01] [-3.49491293e-01 9.36551046e-01 -2.69809959e-02 3.74405995e+01] [ 2.08397029e-01 1.05778290e-01 9.72307375e-01 4.10881912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.944839173 meters Centerline goodness : 0.868854 Centerline is valid? [False, False] Translation: X:-25.34, Y:37.44, Z:4.11 [[ 9.13319753e-01 3.30222082e-01 -2.38328358e-01 -2.53427427e+01] [-3.44410185e-01 9.38620553e-01 -1.93153347e-02 3.74428861e+01] [ 2.17321545e-01 9.97237905e-02 9.70992540e-01 4.10792194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.974839173 meters Centerline goodness : 0.866033 Centerline is valid? [False, False] Translation: X:-25.34, Y:37.44, Z:4.11 [[ 9.12159700e-01 3.22666720e-01 -2.52687296e-01 -2.53401111e+01] [-3.38361432e-01 9.40801945e-01 -2.00808869e-02 3.74425795e+01] [ 2.31249265e-01 1.03816611e-01 9.67339593e-01 4.10799840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00483917300001 meters Centerline goodness : 0.864841 Centerline is valid? [False, False] Translation: X:-25.34, Y:37.44, Z:4.11 [[ 9.12761667e-01 3.19489501e-01 -2.54543903e-01 -2.53386229e+01] [-3.35991752e-01 9.41584094e-01 -2.29986208e-02 3.74406062e+01] [ 2.32326672e-01 1.06516911e-01 9.66787704e-01 4.10793839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.034839173 meters Centerline goodness : 0.866108 Centerline is valid? [False, False] Translation: X:-25.34, Y:37.44, Z:4.11 [[ 9.12107723e-01 3.20821642e-01 -2.55211630e-01 -2.53379155e+01] [-3.37199964e-01 9.41176108e-01 -2.19936155e-02 3.74353896e+01] [ 2.33143061e-01 1.06117899e-01 9.66635042e-01 4.10748178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.064839173 meters Centerline goodness : 0.867368 Centerline is valid? [False, False] Translation: X:-25.34, Y:37.44, Z:4.11 [[ 9.11503714e-01 3.21528488e-01 -2.56476922e-01 -2.53358162e+01] [-3.38139387e-01 9.40832589e-01 -2.22664402e-02 3.74353370e+01] [ 2.34142552e-01 1.07020892e-01 9.66293844e-01 4.10852160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.094839173 meters Centerline goodness : 0.862979 Centerline is valid? [False, False] Translation: X:-25.33, Y:37.44, Z:4.11 [[ 9.09175764e-01 3.27850626e-01 -2.56736047e-01 -2.53296872e+01] [-3.43702090e-01 9.38902875e-01 -1.81731945e-02 3.74355515e+01] [ 2.35092119e-01 1.04763344e-01 9.66310684e-01 4.10716836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.124839173 meters Centerline goodness : 0.859728 Centerline is valid? [False, False] Translation: X:-25.33, Y:37.43, Z:4.11 [[ 9.07533029e-01 3.32860022e-01 -2.56101557e-01 -2.53274247e+01] [-3.47855750e-01 9.37439468e-01 -1.42695769e-02 3.74348919e+01] [ 2.35329935e-01 1.02036511e-01 9.66544552e-01 4.10667976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.154839173 meters Centerline goodness : 0.861545 Centerline is valid? [False, False] Translation: X:-25.33, Y:37.43, Z:4.11 [[ 9.05412677e-01 3.39196098e-01 -2.55291779e-01 -2.53261630e+01] [-3.53169243e-01 9.35510533e-01 -9.56704076e-03 3.74328104e+01] [ 2.35583045e-01 9.88233242e-02 9.66816725e-01 4.10676641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.184839173 meters Centerline goodness : 0.858795 Centerline is valid? [False, False] Translation: X:-25.32, Y:37.43, Z:4.11 [[ 9.04878726e-01 3.39902275e-01 -2.56243896e-01 -2.53229578e+01] [-3.53974661e-01 9.35207127e-01 -9.46407213e-03 3.74329630e+01] [ 2.36424258e-01 9.92676838e-02 9.66565827e-01 4.10634235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.214839173 meters Centerline goodness : 0.858720 Centerline is valid? [False, False] Translation: X:-25.32, Y:37.43, Z:4.11 [[ 9.04139328e-01 3.41368638e-01 -2.56903734e-01 -2.53212498e+01] [-3.55385242e-01 9.34678973e-01 -8.74913805e-03 3.74326502e+01] [ 2.37135837e-01 9.92102354e-02 9.66397395e-01 4.10685986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.244839173 meters Centerline goodness : 0.858349 Centerline is valid? [False, False] Translation: X:-25.32, Y:37.43, Z:4.11 [[ 9.04018636e-01 3.41688199e-01 -2.56903639e-01 -2.53230271e+01] [-3.55607469e-01 9.34598467e-01 -8.30861029e-03 3.74309465e+01] [ 2.37262794e-01 9.88679916e-02 9.66401307e-01 4.10801667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.274839173 meters Centerline goodness : 0.862811 Centerline is valid? [False, False] Translation: X:-25.33, Y:37.43, Z:4.11 [[ 9.04493862e-01 3.40073705e-01 -2.57372744e-01 -2.53288272e+01] [-3.54364922e-01 9.35055416e-01 -9.84229060e-03 3.74287040e+01] [ 2.37310674e-01 1.00106164e-01 9.66262076e-01 4.11173498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.304839173 meters Centerline goodness : 0.862150 Centerline is valid? [False, False] Translation: X:-25.33, Y:37.43, Z:4.11 [[ 9.04326626e-01 3.40109764e-01 -2.57912198e-01 -2.53297943e+01] [-3.54426328e-01 9.35033574e-01 -9.70530648e-03 3.74275342e+01] [ 2.37855695e-01 1.00187640e-01 9.66119612e-01 4.11340006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.334839173 meters Centerline goodness : 0.861576 Centerline is valid? [False, False] Translation: X:-25.33, Y:37.43, Z:4.11 [[ 9.04047008e-01 3.40408832e-01 -2.58497261e-01 -2.53285714e+01] [-3.54540527e-01 9.35000535e-01 -8.66106779e-03 3.74250051e+01] [ 2.38746773e-01 9.94777675e-02 9.65973163e-01 4.11333199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36483917300001 meters Centerline goodness : 0.858440 Centerline is valid? [False, False] Translation: X:-25.33, Y:37.42, Z:4.11 [[ 9.02442120e-01 3.36748180e-01 -2.68698500e-01 -2.53336370e+01] [-3.50732684e-01 9.36465619e-01 -4.32773028e-03 3.74207494e+01] [ 2.50169552e-01 9.81468724e-02 9.63214611e-01 4.11312264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.394839173 meters Centerline goodness : 0.856851 Centerline is valid? [False, False] Translation: X:-25.33, Y:37.42, Z:4.11 [[ 9.03189905e-01 3.33505939e-01 -2.70225430e-01 -2.53295385e+01] [-3.48156797e-01 9.37412142e-01 -6.73211048e-03 3.74186997e+01] [ 2.51067400e-01 1.00161194e-01 9.62773543e-01 4.11032984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.424839173 meters Centerline goodness : 0.856851 Centerline is valid? [False, False] Translation: X:-25.33, Y:37.42, Z:4.11 [[ 9.03189905e-01 3.33505939e-01 -2.70225430e-01 -2.53295385e+01] [-3.48156797e-01 9.37412142e-01 -6.73211048e-03 3.74186997e+01] [ 2.51067400e-01 1.00161194e-01 9.62773543e-01 4.11032984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.454839173 meters Centerline goodness : 0.851378 Centerline is valid? [False, False] Translation: X:-25.32, Y:37.41, Z:4.11 [[ 9.03090323e-01 3.32731677e-01 -2.71509670e-01 -2.53221594e+01] [-3.47394866e-01 9.37697357e-01 -6.36194063e-03 3.74147558e+01] [ 2.52477080e-01 1.00066472e-01 9.62414685e-01 4.10539127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.484839173 meters Centerline goodness : 0.844735 Centerline is valid? [False, False] Translation: X:-25.31, Y:37.41, Z:4.10 [[ 9.00144794e-01 3.30506280e-01 -2.83733942e-01 -2.53118944e+01] [-3.44916593e-01 9.38632922e-01 -8.83928217e-04 3.74132494e+01] [ 2.66029875e-01 9.86602079e-02 9.58902638e-01 4.09752549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.514839173 meters Centerline goodness : 0.838009 Centerline is valid? [False, False] Translation: X:-25.30, Y:37.41, Z:4.09 [[ 9.00068456e-01 3.30439172e-01 -2.84054093e-01 -2.53039696e+01] [-3.44491886e-01 9.38789153e-01 5.15499512e-04 3.74099533e+01] [ 2.66837243e-01 9.73903454e-02 9.58808118e-01 4.09104938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.544839173 meters Centerline goodness : 0.835152 Centerline is valid? [False, False] Translation: X:-25.29, Y:37.40, Z:4.08 [[ 8.99449527e-01 3.30764803e-01 -2.85631221e-01 -2.52947583e+01] [-3.43452261e-01 9.39150829e-01 6.02197875e-03 3.73983566e+01] [ 2.70242657e-01 9.26842228e-02 9.58320688e-01 4.08244036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.574839173 meters Centerline goodness : 0.832999 Centerline is valid? [False, False] Translation: X:-25.29, Y:37.40, Z:4.08 [[ 9.01697930e-01 3.23942646e-01 -2.86359924e-01 -2.52936607e+01] [-3.37309157e-01 9.41389730e-01 2.81223574e-03 3.73955164e+01] [ 2.70487294e-01 9.40560373e-02 9.58117991e-01 4.07896036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.604839173 meters Centerline goodness : 0.835131 Centerline is valid? [False, False] Translation: X:-25.29, Y:37.39, Z:4.08 [[ 9.05496499e-01 3.22883095e-01 -2.75359033e-01 -2.52885292e+01] [-3.35657416e-01 9.41983808e-01 7.77285434e-04 3.73921036e+01] [ 2.59634723e-01 9.17224722e-02 9.61341146e-01 4.07572191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.634839173 meters Centerline goodness : 0.835022 Centerline is valid? [False, False] Translation: X:-25.29, Y:37.39, Z:4.07 [[ 9.09105090e-01 3.22236633e-01 -2.63991455e-01 -2.52870230e+01] [-3.34604185e-01 9.42356637e-01 -2.00209931e-03 3.73888987e+01] [ 2.48128950e-01 9.01527642e-02 9.64522941e-01 4.07473202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.664839173 meters Centerline goodness : 0.837555 Centerline is valid? [False, False] Translation: X:-25.30, Y:37.39, Z:4.08 [[ 9.13647495e-01 3.17464943e-01 -2.53898141e-01 -2.52965373e+01] [-3.31372747e-01 9.43412690e-01 -1.28296510e-02 3.73867190e+01] [ 2.35457764e-01 9.58567029e-02 9.67145870e-01 4.08049729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.694839173 meters Centerline goodness : 0.839943 Centerline is valid? [False, False] Translation: X:-25.30, Y:37.38, Z:4.08 [[ 9.14471275e-01 3.14063114e-01 -2.55160043e-01 -2.53004515e+01] [-3.28801714e-01 9.44260786e-01 -1.61555063e-02 3.73849422e+01] [ 2.35863774e-01 9.86708060e-02 9.66763855e-01 4.08395691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.724839173 meters Centerline goodness : 0.838873 Centerline is valid? [False, False] Translation: X:-25.30, Y:37.38, Z:4.08 [[ 9.15440354e-01 3.10617909e-01 -2.55901293e-01 -2.53004218e+01] [-3.25669209e-01 9.45320428e-01 -1.75742795e-02 3.73803284e+01] [ 2.36449834e-01 9.94273764e-02 9.66543156e-01 4.08216084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.75483917300001 meters Centerline goodness : 0.838546 Centerline is valid? [False, False] Translation: X:-25.30, Y:37.37, Z:4.07 [[ 9.16269535e-01 3.09526369e-01 -2.54250988e-01 -2.52980271e+01] [-3.23555205e-01 9.46102155e-01 -1.42387346e-02 3.73747454e+01] [ 2.36140144e-01 9.53107494e-02 9.67033450e-01 4.07471755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.784839173 meters Centerline goodness : 0.837920 Centerline is valid? [False, False] Translation: X:-25.30, Y:37.37, Z:4.07 [[ 9.17183897e-01 3.07975366e-01 -2.52833687e-01 -2.53005525e+01] [-3.21569569e-01 9.46793280e-01 -1.32475342e-02 3.73729406e+01] [ 2.35301322e-01 9.34540450e-02 9.67419056e-01 4.07277463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.814839173 meters Centerline goodness : 0.837789 Centerline is valid? [False, False] Translation: X:-25.31, Y:37.37, Z:4.07 [[ 9.25345411e-01 2.95153922e-01 -2.37949644e-01 -2.53124109e+01] [-3.07395518e-01 9.51460233e-01 -1.52125160e-02 3.73733452e+01] [ 2.21909590e-01 8.72214861e-02 9.71158353e-01 4.06713971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.844839173 meters Centerline goodness : 0.838694 Centerline is valid? [False, False] Translation: X:-25.32, Y:37.38, Z:4.07 [[ 9.28667204e-01 2.84133633e-01 -2.38422531e-01 -2.53183414e+01] [-2.98033479e-01 9.54262699e-01 -2.36378268e-02 3.73774845e+01] [ 2.20801426e-01 9.30095709e-02 9.70873807e-01 4.06905192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.874839173 meters Centerline goodness : 0.842595 Centerline is valid? [False, False] Translation: X:-25.32, Y:37.38, Z:4.07 [[ 9.31456397e-01 2.73810705e-01 -2.39617777e-01 -2.53230291e+01] [-2.89537556e-01 9.56618759e-01 -3.23813723e-02 3.73809123e+01] [ 2.20356494e-01 9.95401819e-02 9.70327145e-01 4.07168264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.904839173 meters Centerline goodness : 0.844639 Centerline is valid? [False, False] Translation: X:-25.33, Y:37.39, Z:4.08 [[ 0.93534364 0.25856726 -0.24140265 -25.32884382] [ -0.2770942 0.95975848 -0.04563401 37.38613928] [ 0.21988878 0.10957475 0.96935148 4.07513224] [ 0. 0. 0. 1. ]] SLAMing on 71.934839173 meters Centerline goodness : 0.843878 Centerline is valid? [False, False] Translation: X:-25.33, Y:37.38, Z:4.07 [[ 0.93851403 0.25924064 -0.22800375 -25.32802681] [ -0.2762885 0.9599847 -0.04576059 37.38326895] [ 0.20701711 0.10594177 0.97258432 4.07003371] [ 0. 0. 0. 1. ]] SLAMing on 71.964839173 meters Centerline goodness : 0.844327 Centerline is valid? [False, False] Translation: X:-25.33, Y:37.39, Z:4.06 [[ 0.94216842 0.25761511 -0.2143668 -25.32758079] [ -0.27160534 0.96165544 -0.03807028 37.38771858] [ 0.19633952 0.09409179 0.97601103 4.06225774] [ 0. 0. 0. 1. ]] SLAMing on 71.994839173 meters Centerline goodness : 0.838303 Centerline is valid? [False, False] Translation: X:-25.32, Y:37.39, Z:4.06 [[ 9.41517177e-01 2.62255220e-01 -2.11583566e-01 -2.53233014e+01] [-2.75013616e-01 9.60881663e-01 -3.27710313e-02 3.73940825e+01] [ 1.94712395e-01 8.90428505e-02 9.76810347e-01 4.05667694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.024839173 meters Centerline goodness : 0.838674 Centerline is valid? [False, False] Translation: X:-25.32, Y:37.40, Z:4.06 [[ 9.40451532e-01 2.66129803e-01 -2.11484857e-01 -2.53192790e+01] [-2.78518798e-01 9.59944362e-01 -3.05630709e-02 3.73974953e+01] [ 1.94879952e-01 8.76455949e-02 9.76903298e-01 4.05569396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.054839173 meters Centerline goodness : 0.837429 Centerline is valid? [False, False] Translation: X:-25.30, Y:37.40, Z:4.06 [[ 9.38894733e-01 2.73665543e-01 -2.08767458e-01 -2.53048963e+01] [-2.86977329e-01 9.57268877e-01 -3.57814188e-02 3.74000535e+01] [ 1.90054449e-01 9.35065134e-02 9.77310513e-01 4.05586000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.084839173 meters Centerline goodness : 0.840124 Centerline is valid? [False, False] Translation: X:-25.31, Y:37.40, Z:4.06 [[ 0.93882637 0.27361896 -0.20913563 -25.30768171] [ -0.28733049 0.95709102 -0.03765588 37.40320781] [ 0.18985847 0.09544337 0.97716136 4.06018324] [ 0. 0. 0. 1. ]] SLAMing on 72.11483917300001 meters Centerline goodness : 0.844774 Centerline is valid? [False, False] Translation: X:-25.31, Y:37.41, Z:4.07 [[ 0.93910147 0.272754 -0.20903036 -25.31251486] [ -0.28727478 0.95692802 -0.04197586 37.41465957] [ 0.18857792 0.09946874 0.97700785 4.06797204] [ 0. 0. 0. 1. ]] SLAMing on 72.144839173 meters Centerline goodness : 0.851376 Centerline is valid? [False, False] Translation: X:-25.31, Y:37.43, Z:4.07 [[ 0.93865209 0.27497778 -0.20813329 -25.31414999] [ -0.28962902 0.95617605 -0.04292308 37.42608713] [ 0.18720918 0.10057128 0.9771582 4.0728683 ] [ 0. 0. 0. 1. ]] SLAMing on 72.174839173 meters Centerline goodness : 0.851424 Centerline is valid? [False, False] Translation: X:-25.31, Y:37.43, Z:4.08 [[ 0.93832973 0.27493181 -0.20964211 -25.31353825] [ -0.29026757 0.95585575 -0.04565656 37.43092553] [ 0.18783518 0.10369321 0.97671166 4.07712648] [ 0. 0. 0. 1. ]] SLAMing on 72.204839173 meters Centerline goodness : 0.852742 Centerline is valid? [False, False] Translation: X:-25.31, Y:37.43, Z:4.08 [[ 0.93779069 0.27569032 -0.21105326 -25.31484443] [ -0.29159023 0.95535282 -0.04770872 37.43353908] [ 0.1884775 0.10628186 0.97630958 4.08248452] [ 0. 0. 0. 1. ]] SLAMing on 72.234839173 meters Centerline goodness : 0.860263 Centerline is valid? [False, False] Translation: X:-25.32, Y:37.44, Z:4.09 [[ 0.93772126 0.27397514 -0.21358013 -25.31993432] [ -0.29177367 0.95483545 -0.0561906 37.43946007] [ 0.18853905 0.11500817 0.97530823 4.09469057] [ 0. 0. 0. 1. ]] SLAMing on 72.264839173 meters Centerline goodness : 0.864347 Centerline is valid? [False, False] Translation: X:-25.32, Y:37.44, Z:4.10 [[ 0.93761151 0.27413134 -0.21386132 -25.32223107] [ -0.29218736 0.95464105 -0.0573325 37.44183449] [ 0.18844416 0.11624318 0.97518015 4.09823699] [ 0. 0. 0. 1. ]] SLAMing on 72.294839173 meters Centerline goodness : 0.870006 Centerline is valid? [False, False] Translation: X:-25.32, Y:37.45, Z:4.10 [[ 0.93724774 0.2758385 -0.21325994 -25.32290718] [ -0.29383989 0.95413759 -0.05726759 37.4503208 ] [ 0.18768271 0.1163382 0.97531565 4.10176479] [ 0. 0. 0. 1. ]] SLAMing on 72.324839173 meters Centerline goodness : 0.871007 Centerline is valid? [False, False] Translation: X:-25.33, Y:37.45, Z:4.10 [[ 0.93747868 0.27543028 -0.21277193 -25.32630504] [ -0.29357088 0.95415542 -0.05834015 37.45418783] [ 0.18694885 0.11715629 0.97535867 4.1049898 ] [ 0. 0. 0. 1. ]] SLAMing on 72.354839173 meters Centerline goodness : 0.873871 Centerline is valid? [False, False] Translation: X:-25.33, Y:37.46, Z:4.11 [[ 0.93750119 0.27431444 -0.21411002 -25.33020239] [ -0.29320826 0.9540683 -0.06150288 37.45758313] [ 0.18740445 0.12043785 0.97487143 4.11192985] [ 0. 0. 0. 1. ]] SLAMing on 72.384839173 meters Centerline goodness : 0.872629 Centerline is valid? [False, False] Translation: X:-25.33, Y:37.46, Z:4.11 [[ 0.93630595 0.27808758 -0.21447251 -25.32949681] [ -0.29665278 0.95314804 -0.05921099 37.45767888] [ 0.18795821 0.11906347 0.97493364 4.11397104] [ 0. 0. 0. 1. ]] SLAMing on 72.414839173 meters Centerline goodness : 0.876488 Centerline is valid? [False, False] Translation: X:-25.33, Y:37.46, Z:4.12 [[ 0.93464841 0.2825572 -0.21585591 -25.32631433] [ -0.30130409 0.95171104 -0.05883825 37.4637008 ] [ 0.18880728 0.12003135 0.97465085 4.11805833] [ 0. 0. 0. 1. ]] SLAMing on 72.444839173 meters Centerline goodness : 0.879416 Centerline is valid? [False, False] Translation: X:-25.33, Y:37.47, Z:4.12 [[ 0.93374769 0.28594114 -0.21529728 -25.32585069] [ -0.30421584 0.95092981 -0.05643768 37.46592632] [ 0.18859475 0.1181954 0.97491634 4.11916946] [ 0. 0. 0. 1. ]] SLAMing on 72.474839173 meters Centerline goodness : 0.877923 Centerline is valid? [False, False] Translation: X:-25.33, Y:37.47, Z:4.12 [[ 0.933725 0.28553391 -0.21593519 -25.32686426] [ -0.30427813 0.95078572 -0.05849223 37.47165863] [ 0.18860658 0.12032002 0.97465412 4.1231431 ] [ 0. 0. 0. 1. ]] SLAMing on 72.50483917300001 meters Centerline goodness : 0.878544 Centerline is valid? [False, False] Translation: X:-25.33, Y:37.47, Z:4.12 [[ 0.93375292 0.2852052 -0.21624867 -25.32717833] [ -0.30403025 0.95084992 -0.05873696 37.471614 ] [ 0.18886794 0.12059195 0.9745699 4.12403992] [ 0. 0. 0. 1. ]] SLAMing on 72.534839173 meters Centerline goodness : 0.881793 Centerline is valid? [False, False] Translation: X:-25.33, Y:37.47, Z:4.12 [[ 0.93359756 0.28549668 -0.21653462 -25.32780549] [ -0.30423976 0.95082195 -0.05810154 37.46888269] [ 0.18929807 0.1201219 0.97454449 4.1245001 ] [ 0. 0. 0. 1. ]] SLAMing on 72.564839173 meters Centerline goodness : 0.881776 Centerline is valid? [False, False] Translation: X:-25.33, Y:37.47, Z:4.12 [[ 0.93346867 0.28594713 -0.21649589 -25.32806171] [ -0.30448674 0.95080737 -0.05703659 37.46627545] [ 0.18953644 0.119162 0.974616 4.12405885] [ 0. 0. 0. 1. ]] SLAMing on 72.594839173 meters Centerline goodness : 0.883838 Centerline is valid? [False, False] Translation: X:-25.33, Y:37.46, Z:4.12 [[ 0.9331005 0.28672342 -0.21705563 -25.32556673] [ -0.30515163 0.95065383 -0.05603369 37.46428584] [ 0.19027859 0.11851995 0.97454968 4.1226962 ] [ 0. 0. 0. 1. ]] SLAMing on 72.624839173 meters Centerline goodness : 0.882547 Centerline is valid? [False, False] Translation: X:-25.32, Y:37.46, Z:4.12 [[ 0.93196251 0.29074512 -0.21659445 -25.32344798] [ -0.30848124 0.94978668 -0.05238873 37.46465142] [ 0.19048676 0.11563965 0.974855 4.12218364] [ 0. 0. 0. 1. ]] SLAMing on 72.654839173 meters Centerline goodness : 0.879086 Centerline is valid? [False, False] Translation: X:-25.32, Y:37.47, Z:4.12 [[ 0.93009524 0.2973413 -0.21566409 -25.31992828] [ -0.31393208 0.94830904 -0.0464393 37.46544886] [ 0.19070788 0.11089685 0.9753627 4.12136574] [ 0. 0. 0. 1. ]] SLAMing on 72.684839173 meters Centerline goodness : 0.879023 Centerline is valid? [False, False] Translation: X:-25.32, Y:37.47, Z:4.12 [[ 0.92969105 0.29788011 -0.21666101 -25.31791886] [ -0.31465074 0.94805747 -0.04671127 37.46618752] [ 0.19149273 0.1115996 0.97512874 4.12216684] [ 0. 0. 0. 1. ]] SLAMing on 72.714839173 meters Centerline goodness : 0.883649 Centerline is valid? [False, False] Translation: X:-25.32, Y:37.47, Z:4.13 [[ 0.92807515 0.3026823 -0.21693306 -25.31801444] [ -0.3190531 0.94671345 -0.04403131 37.4663158 ] [ 0.19204594 0.11007753 0.97519295 4.12537702] [ 0. 0. 0. 1. ]] SLAMing on 72.744839173 meters Centerline goodness : 0.883216 Centerline is valid? [False, False] Translation: X:-25.32, Y:37.47, Z:4.13 [[ 0.92683302 0.30679334 -0.216468 -25.31718617] [ -0.32258129 0.94565687 -0.04091949 37.46695315] [ 0.19215062 0.10775406 0.9754318 4.12628943] [ 0. 0. 0. 1. ]] SLAMing on 72.774839173 meters Centerline goodness : 0.881651 Centerline is valid? [False, False] Translation: X:-25.31, Y:37.47, Z:4.13 [[ 0.92523451 0.31127819 -0.21690319 -25.31211606] [ -0.32662115 0.94439301 -0.03795342 37.46792098] [ 0.19302778 0.10596098 0.97545504 4.12538099] [ 0. 0. 0. 1. ]] SLAMing on 72.804839173 meters Centerline goodness : 0.878776 Centerline is valid? [False, False] Translation: X:-25.31, Y:37.47, Z:4.13 [[ 9.23054211e-01 3.09343993e-01 -2.28642115e-01 -2.53123123e+01] [-3.25423873e-01 9.44907234e-01 -3.53500038e-02 3.74726105e+01] [ 2.05110277e-01 1.07035572e-01 9.72868522e-01 4.12731802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.834839173 meters Centerline goodness : 0.875168 Centerline is valid? [False, False] Translation: X:-25.31, Y:37.47, Z:4.12 [[ 9.20596484e-01 3.08176121e-01 -2.39853270e-01 -2.53076421e+01] [-3.24163402e-01 9.45547127e-01 -2.93039241e-02 3.74732373e+01] [ 2.17761801e-01 1.04728741e-01 9.70366781e-01 4.12455751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86483917300001 meters Centerline goodness : 0.873977 Centerline is valid? [False, False] Translation: X:-25.30, Y:37.47, Z:4.12 [[ 9.20503227e-01 3.07802844e-01 -2.40689047e-01 -2.53033122e+01] [-3.23725047e-01 9.45717368e-01 -2.86488101e-02 3.74705447e+01] [ 2.18805627e-01 1.04288395e-01 9.70179379e-01 4.12175214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.894839173 meters Centerline goodness : 0.871351 Centerline is valid? [False, False] Translation: X:-25.30, Y:37.47, Z:4.12 [[ 9.20776270e-01 3.03001990e-01 -2.45684463e-01 -2.53034560e+01] [-3.17508545e-01 9.48028180e-01 -2.07579615e-02 3.74677802e+01] [ 2.26626090e-01 9.71203546e-02 9.69127573e-01 4.11851080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.924839173 meters Centerline goodness : 0.873431 Centerline is valid? [False, False] Translation: X:-25.30, Y:37.47, Z:4.12 [[ 9.20948957e-01 3.01758461e-01 -2.46566117e-01 -2.53032230e+01] [-3.16654623e-01 9.48281361e-01 -2.21880463e-02 3.74696346e+01] [ 2.27118622e-01 9.85103588e-02 9.68871942e-01 4.12036371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.954839173 meters Centerline goodness : 0.873062 Centerline is valid? [False, False] Translation: X:-25.30, Y:37.47, Z:4.12 [[ 9.21714148e-01 2.97492764e-01 -2.48879658e-01 -2.53018400e+01] [-3.13518024e-01 9.49213005e-01 -2.64786531e-02 3.74717579e+01] [ 2.28362600e-01 1.02434008e-01 9.68172400e-01 4.12258466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.984839173 meters Centerline goodness : 0.873189 Centerline is valid? [False, False] Translation: X:-25.30, Y:37.47, Z:4.12 [[ 9.22301013e-01 2.93823540e-01 -2.51054912e-01 -2.53001094e+01] [-3.10783177e-01 9.50011248e-01 -2.98738304e-02 3.74710147e+01] [ 2.29727355e-01 1.05576307e-01 9.67511750e-01 4.12352169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.014839173 meters Centerline goodness : 0.873460 Centerline is valid? [False, False] Translation: X:-25.29, Y:37.46, Z:4.12 [[ 9.21660833e-01 2.93606873e-01 -2.53646038e-01 -2.52924990e+01] [-3.10558433e-01 9.50122419e-01 -2.86504450e-02 3.74628055e+01] [ 2.32582820e-01 1.05177909e-01 9.66872711e-01 4.11994461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.044839173 meters Centerline goodness : 0.872631 Centerline is valid? [False, False] Translation: X:-25.29, Y:37.46, Z:4.12 [[ 9.19136766e-01 2.90191803e-01 -2.66413819e-01 -2.52919722e+01] [-3.07848604e-01 9.51076583e-01 -2.61260548e-02 3.74649013e+01] [ 2.45798378e-01 1.06028540e-01 9.63504596e-01 4.12333923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.074839173 meters Centerline goodness : 0.867874 Centerline is valid? [False, False] Translation: X:-25.28, Y:37.46, Z:4.12 [[ 9.17022300e-01 2.95809263e-01 -2.67520058e-01 -2.52795109e+01] [-3.12515989e-01 9.49676775e-01 -2.11608217e-02 3.74648686e+01] [ 2.47798019e-01 1.03009241e-01 9.63319904e-01 4.11821361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.104839173 meters Centerline goodness : 0.865880 Centerline is valid? [False, False] Translation: X:-25.27, Y:37.46, Z:4.12 [[ 9.15633358e-01 2.99896985e-01 -2.67726264e-01 -2.52730172e+01] [-3.15759317e-01 9.48682886e-01 -1.72288893e-02 3.74632952e+01] [ 2.48820433e-01 1.00312408e-01 9.63340964e-01 4.11533873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.134839173 meters Centerline goodness : 0.861425 Centerline is valid? [False, False] Translation: X:-25.27, Y:37.46, Z:4.12 [[ 9.13557737e-01 3.05308144e-01 -2.68699085e-01 -2.52669992e+01] [-3.20489098e-01 9.47156892e-01 -1.34372718e-02 3.74625825e+01] [ 2.50397681e-01 9.83908509e-02 9.63130439e-01 4.11512803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.164839173 meters Centerline goodness : 0.864802 Centerline is valid? [False, False] Translation: X:-25.27, Y:37.46, Z:4.12 [[ 9.11701198e-01 3.10611124e-01 -2.68926859e-01 -2.52674530e+01] [-3.25254972e-01 9.45567738e-01 -1.05288450e-02 3.74631808e+01] [ 2.51018185e-01 9.70689583e-02 9.63103052e-01 4.11910090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.194839173 meters Centerline goodness : 0.866765 Centerline is valid? [False, False] Translation: X:-25.27, Y:37.47, Z:4.12 [[ 9.11483356e-01 3.10357189e-01 -2.69956490e-01 -2.52684878e+01] [-3.25487476e-01 9.45470037e-01 -1.20130240e-02 3.74659950e+01] [ 2.51507444e-01 9.88171279e-02 9.62797580e-01 4.12298095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.224839173 meters Centerline goodness : 0.873711 Centerline is valid? [False, False] Translation: X:-25.29, Y:37.47, Z:4.13 [[ 9.14222314e-01 3.09104319e-01 -2.62015419e-01 -2.52851310e+01] [-3.25104513e-01 9.45488356e-01 -1.89426482e-02 3.74743248e+01] [ 2.41877273e-01 1.02500187e-01 9.64877762e-01 4.13105050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.25483917300001 meters Centerline goodness : 0.875191 Centerline is valid? [False, False] Translation: X:-25.29, Y:37.48, Z:4.14 [[ 9.15110783e-01 3.05493621e-01 -2.63146160e-01 -2.52898814e+01] [-3.22531883e-01 9.46277431e-01 -2.30696298e-02 3.74774012e+01] [ 2.41961647e-01 1.05984293e-01 9.64480114e-01 4.13624683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.284839173 meters Centerline goodness : 0.876217 Centerline is valid? [False, False] Translation: X:-25.29, Y:37.48, Z:4.14 [[ 9.15806721e-01 3.02214522e-01 -2.64507907e-01 -2.52919979e+01] [-3.20088480e-01 9.47024841e-01 -2.62166911e-02 3.74787391e+01] [ 2.42572493e-01 1.08675356e-01 9.64027102e-01 4.13947452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.314839173 meters Centerline goodness : 0.878100 Centerline is valid? [False, False] Translation: X:-25.30, Y:37.47, Z:4.14 [[ 9.18182770e-01 2.93976811e-01 -2.65552319e-01 -2.52997817e+01] [-3.13129278e-01 9.49174157e-01 -3.19135431e-02 3.74735992e+01] [ 2.42673557e-01 1.12454671e-01 9.63568104e-01 4.14286497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.344839173 meters Centerline goodness : 0.878100 Centerline is valid? [False, False] Translation: X:-25.30, Y:37.47, Z:4.14 [[ 9.18182770e-01 2.93976811e-01 -2.65552319e-01 -2.52997817e+01] [-3.13129278e-01 9.49174157e-01 -3.19135431e-02 3.74735992e+01] [ 2.42673557e-01 1.12454671e-01 9.63568104e-01 4.14286497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.374839173 meters Centerline goodness : 0.882081 Centerline is valid? [False, False] Translation: X:-25.32, Y:37.47, Z:4.15 [[ 9.22614593e-01 2.84505368e-01 -2.60459227e-01 -2.53171016e+01] [-3.03793400e-01 9.52051138e-01 -3.61690571e-02 3.74652876e+01] [ 2.37680213e-01 1.12495894e-01 9.64807126e-01 4.14727094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.404839173 meters Centerline goodness : 0.881435 Centerline is valid? [False, False] Translation: X:-25.32, Y:37.46, Z:4.15 [[ 0.92373227 0.28041177 -0.26093664 -25.32146991] [ -0.30035499 0.95302487 -0.0391214 37.46359447] [ 0.237709 0.11451132 0.9645629 4.14967927] [ 0. 0. 0. 1. ]] SLAMing on 73.434839173 meters Centerline goodness : 0.884691 Centerline is valid? [False, False] Translation: X:-25.33, Y:37.46, Z:4.15 [[ 9.24040764e-01 2.80543061e-01 -2.59700321e-01 -2.53256041e+01] [-2.99889198e-01 9.53245045e-01 -3.72874433e-02 3.74618879e+01] [ 2.37097310e-01 1.12336438e-01 9.64969114e-01 4.15121981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.464839173 meters Centerline goodness : 0.880570 Centerline is valid? [False, False] Translation: X:-25.32, Y:37.46, Z:4.15 [[ 9.23690216e-01 2.80785968e-01 -2.60682997e-01 -2.53214746e+01] [-3.00230940e-01 9.53141760e-01 -3.71775315e-02 3.74627554e+01] [ 2.38028921e-01 1.12605623e-01 9.64708353e-01 4.15032334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.494839173 meters Centerline goodness : 0.872858 Centerline is valid? [False, False] Translation: X:-25.32, Y:37.46, Z:4.15 [[ 9.19046225e-01 2.85089855e-01 -2.72172392e-01 -2.53153022e+01] [-3.03030473e-01 9.52642595e-01 -2.53893258e-02 3.74579712e+01] [ 2.52044775e-01 1.05810493e-01 9.61913495e-01 4.14953978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.524839173 meters Centerline goodness : 0.872323 Centerline is valid? [False, False] Translation: X:-25.31, Y:37.45, Z:4.15 [[ 9.18173508e-01 2.86104658e-01 -2.74046591e-01 -2.53089067e+01] [-3.03979201e-01 9.52371647e-01 -2.41845191e-02 3.74533523e+01] [ 2.54074900e-01 1.05510049e-01 9.61412281e-01 4.14723679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.554839173 meters Centerline goodness : 0.874442 Centerline is valid? [False, False] Translation: X:-25.30, Y:37.44, Z:4.15 [[ 9.14043582e-01 2.91866110e-01 -2.81670913e-01 -2.52950877e+01] [-3.10869700e-01 9.50142818e-01 -2.42622357e-02 3.74363343e+01] [ 2.60546271e-01 1.09739693e-01 9.59204275e-01 4.14899763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.584839173 meters Centerline goodness : 0.870691 Centerline is valid? [False, False] Translation: X:-25.29, Y:37.42, Z:4.15 [[ 9.10146115e-01 2.98500362e-01 -2.87283105e-01 -2.52859156e+01] [-3.17932832e-01 9.47848842e-01 -2.23894434e-02 3.74233458e+01] [ 2.65617702e-01 1.11714396e-01 9.57584007e-01 4.15194008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.61483917300001 meters Centerline goodness : 0.870541 Centerline is valid? [False, False] Translation: X:-25.29, Y:37.42, Z:4.15 [[ 9.09527244e-01 2.99997850e-01 -2.87682954e-01 -2.52850713e+01] [-3.19337242e-01 9.47393675e-01 -2.16552852e-02 3.74226354e+01] [ 2.66052472e-01 1.11563953e-01 9.57480844e-01 4.15264842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.644839173 meters Centerline goodness : 0.871500 Centerline is valid? [False, False] Translation: X:-25.29, Y:37.42, Z:4.15 [[ 9.08519572e-01 3.04624790e-01 -2.85999867e-01 -2.52873372e+01] [-3.22794509e-01 9.46307835e-01 -1.74696029e-02 3.74233948e+01] [ 2.65322241e-01 1.08190663e-01 9.58070399e-01 4.15474526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.674839173 meters Centerline goodness : 0.868884 Centerline is valid? [False, False] Translation: X:-25.29, Y:37.42, Z:4.16 [[ 9.08697025e-01 3.04403279e-01 -2.85671771e-01 -2.52889124e+01] [-3.22527939e-01 9.46398542e-01 -1.74793551e-02 3.74243210e+01] [ 2.65038575e-01 1.08020566e-01 9.58168102e-01 4.15579158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.704839173 meters Centerline goodness : 0.868613 Centerline is valid? [False, False] Translation: X:-25.29, Y:37.42, Z:4.16 [[ 9.08867874e-01 3.04073398e-01 -2.85479521e-01 -2.52901857e+01] [-3.22167658e-01 9.46520858e-01 -1.75004525e-02 3.74245367e+01] [ 2.64890899e-01 1.07877868e-01 9.58225014e-01 4.15662393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.734839173 meters Centerline goodness : 0.870214 Centerline is valid? [False, False] Translation: X:-25.29, Y:37.42, Z:4.16 [[ 9.09422114e-01 2.99146404e-01 -2.88899372e-01 -2.52946112e+01] [-3.19032876e-01 9.47459305e-01 -2.32139937e-02 3.74203212e+01] [ 2.66776015e-01 1.13279717e-01 9.57077982e-01 4.16287199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.764839173 meters Centerline goodness : 0.867833 Centerline is valid? [False, False] Translation: X:-25.30, Y:37.41, Z:4.17 [[ 9.08325958e-01 2.97704111e-01 -2.93796214e-01 -2.53012475e+01] [-3.19693202e-01 9.47086124e-01 -2.87076580e-02 3.74061925e+01] [ 2.69703930e-01 1.20000563e-01 9.55436892e-01 4.17027830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.794839173 meters Centerline goodness : 0.864874 Centerline is valid? [False, False] Translation: X:-25.30, Y:37.40, Z:4.17 [[ 9.08700133e-01 2.94873310e-01 -2.95489086e-01 -2.53008710e+01] [-3.17640105e-01 9.47701412e-01 -3.10933743e-02 3.74031524e+01] [ 2.70866818e-01 1.22113737e-01 9.54839988e-01 4.17095329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.824839173 meters Centerline goodness : 0.870861 Centerline is valid? [False, False] Translation: X:-25.30, Y:37.40, Z:4.17 [[ 9.09236513e-01 2.94256160e-01 -2.94452502e-01 -2.52960079e+01] [-3.16097295e-01 9.48301487e-01 -2.84040641e-02 3.74013451e+01] [ 2.70871674e-01 1.18901651e-01 9.55243913e-01 4.16540159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.854839173 meters Centerline goodness : 0.869184 Centerline is valid? [False, False] Translation: X:-25.29, Y:37.40, Z:4.16 [[ 9.09493598e-01 2.93255411e-01 -2.94656850e-01 -2.52931572e+01] [-3.14924582e-01 9.48707809e-01 -2.78567858e-02 3.74001639e+01] [ 2.71374101e-01 1.18130254e-01 9.55197017e-01 4.16321046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.884839173 meters Centerline goodness : 0.867461 Centerline is valid? [False, False] Translation: X:-25.30, Y:37.39, Z:4.17 [[ 9.10912532e-01 2.86556615e-01 -2.96856305e-01 -2.52968157e+01] [-3.09312551e-01 9.50432653e-01 -3.16783399e-02 3.73909595e+01] [ 2.73064288e-01 1.20677578e-01 9.54396572e-01 4.16505168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.914839173 meters Centerline goodness : 0.868479 Centerline is valid? [False, False] Translation: X:-25.30, Y:37.38, Z:4.17 [[ 9.11716322e-01 2.80315040e-01 -3.00327865e-01 -2.52983881e+01] [-3.04834900e-01 9.51681002e-01 -3.71342685e-02 3.73840973e+01] [ 2.75407030e-01 1.25406333e-01 9.53112910e-01 4.16824944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.944839173 meters Centerline goodness : 0.867463 Centerline is valid? [False, False] Translation: X:-25.29, Y:37.37, Z:4.17 [[ 0.91372349 0.2820049 -0.29254507 -25.29448271] [ -0.30614564 0.95117316 -0.03929982 37.37192293] [ 0.26717827 0.12547057 0.95544383 4.16774153] [ 0. 0. 0. 1. ]] SLAMing on 73.974839173 meters Centerline goodness : 0.866711 Centerline is valid? [False, False] Translation: X:-25.29, Y:37.36, Z:4.16 [[ 0.91633918 0.28526562 -0.28097338 -25.29354098] [ -0.30746254 0.95082581 -0.03737742 37.35813484] [ 0.25649425 0.12063919 0.95898743 4.16379018] [ 0. 0. 0. 1. ]] SLAMing on 74.00483917300001 meters Centerline goodness : 0.871303 Centerline is valid? [False, False] Translation: X:-25.29, Y:37.35, Z:4.16 [[ 9.18467727e-01 2.91766575e-01 -2.67000562e-01 -2.52884363e+01] [-3.10782054e-01 9.49976147e-01 -3.09812074e-02 3.73511977e+01] [ 2.44604884e-01 1.11434222e-01 9.63198248e-01 4.15540764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.034839173 meters Centerline goodness : 0.873834 Centerline is valid? [False, False] Translation: X:-25.29, Y:37.35, Z:4.15 [[ 9.18272107e-01 2.92163162e-01 -2.67239639e-01 -2.52878898e+01] [-3.10849932e-01 9.50000376e-01 -2.95229717e-02 3.73477890e+01] [ 2.45252232e-01 1.10181545e-01 9.63177746e-01 4.15492231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.064839173 meters Centerline goodness : 0.873617 Centerline is valid? [False, False] Translation: X:-25.29, Y:37.33, Z:4.16 [[ 9.17132813e-01 2.90042970e-01 -2.73390707e-01 -2.52857522e+01] [-3.10407004e-01 9.50015803e-01 -3.34285095e-02 3.73328139e+01] [ 2.50029788e-01 1.15520773e-01 9.61322036e-01 4.15948760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.094839173 meters Centerline goodness : 0.873410 Centerline is valid? [False, False] Translation: X:-25.28, Y:37.32, Z:4.16 [[ 9.16260784e-01 2.89399341e-01 -2.76973280e-01 -2.52840485e+01] [-3.10746944e-01 9.49827726e-01 -3.55475482e-02 3.73235728e+01] [ 2.52789463e-01 1.18639425e-01 9.60219857e-01 4.16192195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.124839173 meters Centerline goodness : 0.870606 Centerline is valid? [False, False] Translation: X:-25.28, Y:37.31, Z:4.16 [[ 9.17616656e-01 2.92640005e-01 -2.68963753e-01 -2.52793529e+01] [-3.12636438e-01 9.49272043e-01 -3.37793771e-02 3.73063610e+01] [ 2.45434574e-01 1.15084389e-01 9.62557766e-01 4.15945731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.154839173 meters Centerline goodness : 0.870757 Centerline is valid? [False, False] Translation: X:-25.28, Y:37.30, Z:4.15 [[ 9.19638456e-01 2.98543141e-01 -2.55219717e-01 -2.52769024e+01] [-3.16215266e-01 9.48204648e-01 -3.02630448e-02 3.73001255e+01] [ 2.32965697e-01 1.08535430e-01 9.66409357e-01 4.15321929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.184839173 meters Centerline goodness : 0.873693 Centerline is valid? [False, False] Translation: X:-25.27, Y:37.29, Z:4.15 [[ 9.21318934e-01 3.03614721e-01 -2.42877589e-01 -2.52725947e+01] [-3.19199220e-01 9.47313633e-01 -2.66221360e-02 3.72911376e+01] [ 2.21998379e-01 1.02053815e-01 9.69691569e-01 4.14742638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.214839173 meters Centerline goodness : 0.871361 Centerline is valid? [False, False] Translation: X:-25.27, Y:37.29, Z:4.15 [[ 9.21052827e-01 3.03422332e-01 -2.44124106e-01 -2.52708705e+01] [-3.19045318e-01 9.47376526e-01 -2.62259953e-02 3.72853989e+01] [ 2.23319894e-01 1.02042180e-01 9.69389302e-01 4.14665486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.244839173 meters Centerline goodness : 0.870648 Centerline is valid? [False, False] Translation: X:-25.27, Y:37.27, Z:4.15 [[ 9.20797503e-01 3.00532640e-01 -2.48620374e-01 -2.52663593e+01] [-3.16970836e-01 9.48022736e-01 -2.79710750e-02 3.72713539e+01] [ 2.27291546e-01 1.04561104e-01 9.68197050e-01 4.14589334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.274839173 meters Centerline goodness : 0.868106 Centerline is valid? [False, False] Translation: X:-25.26, Y:37.27, Z:4.15 [[ 9.20933996e-01 2.98369127e-01 -2.50711866e-01 -2.52648616e+01] [-3.15453089e-01 9.48467248e-01 -2.99871280e-02 3.72663068e+01] [ 2.28844760e-01 1.06703998e-01 9.67597195e-01 4.14607590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.304839173 meters Centerline goodness : 0.865948 Centerline is valid? [False, False] Translation: X:-25.26, Y:37.26, Z:4.15 [[ 9.19292218e-01 3.00922595e-01 -2.53667911e-01 -2.52600712e+01] [-3.18122282e-01 9.47614155e-01 -2.87337393e-02 3.72573418e+01] [ 2.31732672e-01 1.07112118e-01 9.66864501e-01 4.14629488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.334839173 meters Centerline goodness : 0.867424 Centerline is valid? [False, False] Translation: X:-25.25, Y:37.25, Z:4.14 [[ 9.17593597e-01 3.04395951e-01 -2.55665985e-01 -2.52531495e+01] [-3.21498968e-01 9.46526753e-01 -2.69354698e-02 3.72523487e+01] [ 2.33795646e-01 1.06912165e-01 9.66389872e-01 4.14427809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36483917300001 meters Centerline goodness : 0.860833 Centerline is valid? [False, False] Translation: X:-25.23, Y:37.24, Z:4.13 [[ 9.12948033e-01 3.17807279e-01 -2.55977387e-01 -2.52328610e+01] [-3.32770095e-01 9.42868525e-01 -1.62175370e-02 3.72372021e+01] [ 2.36198970e-01 9.99873879e-02 9.66546723e-01 4.13339804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.394839173 meters Centerline goodness : 0.854906 Centerline is valid? [False, False] Translation: X:-25.22, Y:37.22, Z:4.13 [[ 9.11630255e-01 3.17665131e-01 -2.60804798e-01 -2.52240934e+01] [-3.32453189e-01 9.43023804e-01 -1.34529931e-02 3.72197037e+01] [ 2.41671586e-01 9.89695423e-02 9.65297816e-01 4.12900484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.424839173 meters Centerline goodness : 0.853252 Centerline is valid? [False, False] Translation: X:-25.22, Y:37.21, Z:4.13 [[ 9.12182692e-01 3.11890660e-01 -2.65794944e-01 -2.52199157e+01] [-3.28475632e-01 9.44317059e-01 -1.92107325e-02 3.72123907e+01] [ 2.45003051e-01 1.04830860e-01 9.63838158e-01 4.12981276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.454839173 meters Centerline goodness : 0.849735 Centerline is valid? [False, False] Translation: X:-25.22, Y:37.20, Z:4.13 [[ 9.13742340e-01 3.13700825e-01 -2.58199011e-01 -2.52152379e+01] [-3.30511129e-01 9.43513977e-01 -2.33188309e-02 3.72037722e+01] [ 2.36299239e-01 1.06645050e-01 9.65810283e-01 4.12561663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.484839173 meters Centerline goodness : 0.854170 Centerline is valid? [False, False] Translation: X:-25.22, Y:37.20, Z:4.12 [[ 9.18231203e-01 3.12744129e-01 -2.42986765e-01 -2.52156932e+01] [-3.27437738e-01 9.44626915e-01 -2.15527239e-02 3.71987002e+01] [ 2.22791350e-01 9.93534202e-02 9.69790138e-01 4.11666836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.514839173 meters Centerline goodness : 0.855032 Centerline is valid? [False, False] Translation: X:-25.22, Y:37.20, Z:4.11 [[ 9.21477033e-01 3.15284934e-01 -2.26882100e-01 -2.52169321e+01] [-3.27793561e-01 9.44563868e-01 -1.87210973e-02 3.71960188e+01] [ 2.08402154e-01 9.16215528e-02 9.73742283e-01 4.10897977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.544839173 meters Centerline goodness : 0.854502 Centerline is valid? [False, False] Translation: X:-25.22, Y:37.19, Z:4.11 [[ 9.26207388e-01 3.07480427e-01 -2.18164297e-01 -2.52174399e+01] [-3.20859729e-01 9.46715800e-01 -2.78967385e-02 3.71888982e+01] [ 1.97961886e-01 9.58383024e-02 9.75513255e-01 4.10821959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.574839173 meters Centerline goodness : 0.852032 Centerline is valid? [False, False] Translation: X:-25.21, Y:37.18, Z:4.11 [[ 0.93048821 0.29818534 -0.21278437 -25.20985322] [ -0.31576358 0.94734253 -0.05324936 37.17533291] [ 0.18570151 0.11673745 0.97564713 4.11298101] [ 0. 0. 0. 1. ]] SLAMing on 74.604839173 meters Centerline goodness : 0.853189 Centerline is valid? [False, False] Translation: X:-25.21, Y:37.17, Z:4.11 [[ 0.93265717 0.29914139 -0.20165573 -25.21313838] [ -0.31608562 0.9470125 -0.05707195 37.17016028] [ 0.17389792 0.11696904 0.97779229 4.11444564] [ 0. 0. 0. 1. ]] SLAMing on 74.634839173 meters Centerline goodness : 0.856899 Centerline is valid? [False, False] Translation: X:-25.22, Y:37.17, Z:4.11 [[ 0.93345325 0.2973216 -0.20066115 -25.21531327] [ -0.31412938 0.94765916 -0.05713885 37.17162577] [ 0.17316977 0.11637001 0.97799297 4.11465774] [ 0. 0. 0. 1. ]] SLAMing on 74.664839173 meters Centerline goodness : 0.859633 Centerline is valid? [False, False] Translation: X:-25.22, Y:37.17, Z:4.11 [[ 0.93315022 0.30240027 -0.19438299 -25.21614439] [ -0.31675093 0.94735372 -0.04679513 37.1735037 ] [ 0.16999859 0.10523788 0.97980889 4.107855 ] [ 0. 0. 0. 1. ]] SLAMing on 74.694839173 meters Centerline goodness : 0.860479 Centerline is valid? [False, False] Translation: X:-25.22, Y:37.17, Z:4.11 [[ 0.93323956 0.30214667 -0.19434845 -25.215683 ] [ -0.31636054 0.94752061 -0.04605119 37.17323681] [ 0.17023495 0.10446097 0.97985099 4.10736391] [ 0. 0. 0. 1. ]] SLAMing on 74.724839173 meters Centerline goodness : 0.861439 Centerline is valid? [False, False] Translation: X:-25.22, Y:37.18, Z:4.11 [[ 0.93533324 0.29414615 -0.19654458 -25.21927149] [ -0.30998672 0.94916719 -0.05467978 37.17659172] [ 0.17046983 0.11207002 0.97896902 4.1122322 ] [ 0. 0. 0. 1. ]] SLAMing on 74.75483917300001 meters Centerline goodness : 0.861961 Centerline is valid? [False, False] Translation: X:-25.22, Y:37.18, Z:4.12 [[ 0.93627891 0.28973946 -0.19857704 -25.22234215] [ -0.30683644 0.9498143 -0.06086203 37.17934714] [ 0.17097718 0.11791451 0.97819373 4.11785051] [ 0. 0. 0. 1. ]] SLAMing on 74.784839173 meters Centerline goodness : 0.864825 Centerline is valid? [False, False] Translation: X:-25.22, Y:37.18, Z:4.13 [[ 0.93608734 0.28778663 -0.2022853 -25.22363498] [ -0.30652693 0.94945067 -0.06771019 37.18369749] [ 0.17257383 0.12538855 0.9769831 4.1264257 ] [ 0. 0. 0. 1. ]] SLAMing on 74.814839173 meters Centerline goodness : 0.866758 Centerline is valid? [False, False] Translation: X:-25.22, Y:37.19, Z:4.13 [[ 0.93339188 0.29691606 -0.20154517 -25.22213468] [ -0.31482049 0.94707389 -0.06276232 37.18765426] [ 0.17224302 0.12203239 0.97746634 4.12938425] [ 0. 0. 0. 1. ]] SLAMing on 74.844839173 meters Centerline goodness : 0.864842 Centerline is valid? [False, False] Translation: X:-25.22, Y:37.19, Z:4.13 [[ 0.93218311 0.30147446 -0.20036914 -25.22000461] [ -0.31860391 0.9460618 -0.05881003 37.18930682] [ 0.17183187 0.11866011 0.97795378 4.12814769] [ 0. 0. 0. 1. ]] SLAMing on 74.874839173 meters Centerline goodness : 0.865378 Centerline is valid? [False, False] Translation: X:-25.22, Y:37.19, Z:4.13 [[ 0.92987981 0.30894595 -0.1996896 -25.21572179] [ -0.32494787 0.94428901 -0.05222206 37.18796339] [ 0.1724309 0.11344895 0.97846662 4.12656724] [ 0. 0. 0. 1. ]] SLAMing on 74.904839173 meters Centerline goodness : 0.866100 Centerline is valid? [False, False] Translation: X:-25.21, Y:37.19, Z:4.13 [[ 0.92948326 0.30967451 -0.20040599 -25.2137252 ] [ -0.3258426 0.94395855 -0.0526199 37.1890578 ] [ 0.1728799 0.11421013 0.97829882 4.1268308 ] [ 0. 0. 0. 1. ]] SLAMing on 74.934839173 meters Centerline goodness : 0.867679 Centerline is valid? [False, False] Translation: X:-25.21, Y:37.19, Z:4.13 [[ 0.92842204 0.31315356 -0.1999184 -25.21208121] [ -0.32907547 0.94291219 -0.05124398 37.19414779] [ 0.17245826 0.11336428 0.97847161 4.12802465] [ 0. 0. 0. 1. ]] SLAMing on 74.964839173 meters Centerline goodness : 0.867576 Centerline is valid? [False, False] Translation: X:-25.21, Y:37.19, Z:4.13 [[ 0.92682164 0.31760538 -0.20032092 -25.20859235] [ -0.33317906 0.94160977 -0.04860818 37.19411131] [ 0.17318591 0.11179385 0.97852377 4.12797483] [ 0. 0. 0. 1. ]] SLAMing on 74.994839173 meters Centerline goodness : 0.862879 Centerline is valid? [False, False] Translation: X:-25.20, Y:37.19, Z:4.13 [[ 0.9229594 0.32573162 -0.20504846 -25.19799489] [ -0.34161779 0.93868681 -0.04652256 37.19172848] [ 0.17732241 0.11298664 0.97764553 4.12895323] [ 0. 0. 0. 1. ]] SLAMing on 75.024839173 meters Centerline goodness : 0.862685 Centerline is valid? [False, False] Translation: X:-25.20, Y:37.20, Z:4.13 [[ 0.92144662 0.33089221 -0.20358407 -25.19679018] [ -0.34610735 0.93719674 -0.04326641 37.19816034] [ 0.17648181 0.11032963 0.97810099 4.13056468] [ 0. 0. 0. 1. ]] SLAMing on 75.054839173 meters Centerline goodness : 0.865640 Centerline is valid? [False, False] Translation: X:-25.20, Y:37.20, Z:4.13 [[ 0.9214766 0.33251288 -0.20078858 -25.19630545] [ -0.34685709 0.93706394 -0.04001653 37.20401121] [ 0.17484573 0.10651924 0.97881695 4.12842184] [ 0. 0. 0. 1. ]] SLAMing on 75.084839173 meters Centerline goodness : 0.863593 Centerline is valid? [False, False] Translation: X:-25.19, Y:37.21, Z:4.13 [[ 0.92213856 0.33102168 -0.20021267 -25.19451743] [ -0.34537407 0.93758818 -0.04056053 37.20872303] [ 0.17429062 0.10655069 0.97891252 4.12687494] [ 0. 0. 0. 1. ]] SLAMing on 75.11483917300001 meters Centerline goodness : 0.862587 Centerline is valid? [False, False] Translation: X:-25.20, Y:37.21, Z:4.13 [[ 0.92367729 0.32388924 -0.20473403 -25.19743174] [ -0.34025131 0.93902906 -0.04953255 37.20693656] [ 0.17620815 0.11541311 0.97756355 4.13353136] [ 0. 0. 0. 1. ]] SLAMing on 75.144839173 meters Centerline goodness : 0.860024 Centerline is valid? [False, False] Translation: X:-25.20, Y:37.20, Z:4.14 [[ 0.92432397 0.31836645 -0.21039964 -25.1984139 ] [ -0.33688695 0.9397562 -0.05801265 37.20211295] [ 0.17925508 0.12450338 0.97589268 4.14009098] [ 0. 0. 0. 1. ]] SLAMing on 75.174839173 meters Centerline goodness : 0.861162 Centerline is valid? [False, False] Translation: X:-25.20, Y:37.20, Z:4.14 [[ 0.92541746 0.31209235 -0.21494393 -25.19978649] [ -0.33233662 0.94094495 -0.064614 37.19570258] [ 0.18208487 0.13122866 0.9744866 4.14435347] [ 0. 0. 0. 1. ]] SLAMing on 75.204839173 meters Centerline goodness : 0.859550 Centerline is valid? [False, False] Translation: X:-25.20, Y:37.20, Z:4.14 [[ 0.92653782 0.31066147 -0.2121724 -25.19839254] [ -0.32977511 0.94210804 -0.06066969 37.19528033] [ 0.18104159 0.12618194 0.97534715 4.13807031] [ 0. 0. 0. 1. ]] SLAMing on 75.234839173 meters Centerline goodness : 0.859550 Centerline is valid? [False, False] Translation: X:-25.20, Y:37.20, Z:4.14 [[ 0.92653782 0.31066147 -0.2121724 -25.19839254] [ -0.32977511 0.94210804 -0.06066969 37.19528033] [ 0.18104159 0.12618194 0.97534715 4.13807031] [ 0. 0. 0. 1. ]] SLAMing on 75.264839173 meters Centerline goodness : 0.857436 Centerline is valid? [False, False] Translation: X:-25.20, Y:37.19, Z:4.13 [[ 0.92676255 0.31106913 -0.21058767 -25.19641375] [ -0.32936684 0.94245942 -0.0573387 37.19483398] [ 0.18063403 0.12249996 0.97589195 4.13387782] [ 0. 0. 0. 1. ]] SLAMing on 75.294839173 meters Centerline goodness : 0.854339 Centerline is valid? [False, False] Translation: X:-25.20, Y:37.19, Z:4.13 [[ 0.92691971 0.31130433 -0.20954584 -25.19849371] [ -0.32872596 0.94292051 -0.05329302 37.18759094] [ 0.18099473 0.11828151 0.97634543 4.13242123] [ 0. 0. 0. 1. ]] SLAMing on 75.324839173 meters Centerline goodness : 0.848448 Centerline is valid? [False, False] Translation: X:-25.19, Y:37.18, Z:4.13 [[ 0.92721049 0.31204227 -0.20714808 -25.18967909] [ -0.33068335 0.94173155 -0.06156473 37.17741622] [ 0.17586709 0.12558388 0.97637055 4.13199041] [ 0. 0. 0. 1. ]] SLAMing on 75.354839173 meters Centerline goodness : 0.840481 Centerline is valid? [False, False] Translation: X:-25.18, Y:37.17, Z:4.14 [[ 0.9268108 0.31049084 -0.21122781 -25.17547947] [ -0.33212924 0.94022996 -0.07521821 37.1654176 ] [ 0.17524815 0.13986798 0.97453837 4.13583282] [ 0. 0. 0. 1. ]] SLAMing on 75.384839173 meters Centerline goodness : 0.842440 Centerline is valid? [False, False] Translation: X:-25.17, Y:37.16, Z:4.14 [[ 0.92582769 0.31239742 -0.21272266 -25.17423681] [ -0.33434147 0.93941924 -0.07554645 37.16448029] [ 0.17623524 0.14106501 0.97418777 4.13808361] [ 0. 0. 0. 1. ]] SLAMing on 75.414839173 meters Centerline goodness : 0.838682 Centerline is valid? [False, False] Translation: X:-25.17, Y:37.16, Z:4.14 [[ 0.92252426 0.32353798 -0.21040951 -25.17190535] [ -0.3438185 0.93662604 -0.06723462 37.1646881 ] [ 0.17532208 0.13436825 0.97529859 4.13751213] [ 0. 0. 0. 1. ]] SLAMing on 75.444839173 meters Centerline goodness : 0.837425 Centerline is valid? [False, False] Translation: X:-25.17, Y:37.16, Z:4.14 [[ 0.92081297 0.3284389 -0.21031256 -25.17039782] [ -0.3481591 0.93526367 -0.06377387 37.16392681] [ 0.17575187 0.13194603 0.97555191 4.13853562] [ 0. 0. 0. 1. ]] SLAMing on 75.474839173 meters Centerline goodness : 0.831283 Centerline is valid? [False, False] Translation: X:-25.17, Y:37.16, Z:4.14 [[ 0.91946141 0.33086587 -0.21241113 -25.17021566] [ -0.35110391 0.93409035 -0.06481713 37.16298265] [ 0.17696541 0.13417522 0.97502833 4.14308618] [ 0. 0. 0. 1. ]] SLAMing on 75.50483917300001 meters Centerline goodness : 0.830245 Centerline is valid? [False, False] Translation: X:-25.17, Y:37.16, Z:4.15 [[ 0.9189151 0.33147776 -0.21381658 -25.17060668] [ -0.35201731 0.93371039 -0.06533544 37.16136714] [ 0.17798552 0.13530486 0.97468649 4.14591526] [ 0. 0. 0. 1. ]] SLAMing on 75.534839173 meters Centerline goodness : 0.825548 Centerline is valid? [False, False] Translation: X:-25.17, Y:37.15, Z:4.15 [[ 0.91856458 0.328577 -0.21971862 -25.16869453] [ -0.35085397 0.933782 -0.07037521 37.15310056] [ 0.18204561 0.14173333 0.97302161 4.15015484] [ 0. 0. 0. 1. ]] SLAMing on 75.564839173 meters Centerline goodness : 0.821339 Centerline is valid? [False, False] Translation: X:-25.17, Y:37.15, Z:4.15 [[ 0.91777909 0.33005536 -0.22078268 -25.16788487] [ -0.35216284 0.93342832 -0.0685048 37.14701587] [ 0.18347443 0.14062373 0.97291423 4.15017497] [ 0. 0. 0. 1. ]] SLAMing on 75.594839173 meters Centerline goodness : 0.817846 Centerline is valid? [False, False] Translation: X:-25.17, Y:37.15, Z:4.15 [[ 0.91846447 0.32469084 -0.2258293 -25.16913243] [ -0.34566336 0.93647667 -0.05939939 37.14570009] [ 0.19219743 0.13261714 0.97235428 4.14913686] [ 0. 0. 0. 1. ]] SLAMing on 75.624839173 meters Centerline goodness : 0.812411 Centerline is valid? [False, False] Translation: X:-25.17, Y:37.14, Z:4.14 [[ 0.91979023 0.32289867 -0.22298517 -25.16777243] [ -0.3425347 0.9379079 -0.05476086 37.13885609] [ 0.19145734 0.12674867 0.97328252 4.14096683] [ 0. 0. 0. 1. ]] SLAMing on 75.654839173 meters Centerline goodness : 0.811323 Centerline is valid? [False, False] Translation: X:-25.18, Y:37.13, Z:4.14 [[ 0.91943369 0.32203409 -0.22568946 -25.17867177] [ -0.34009589 0.93930236 -0.04523133 37.13456103] [ 0.19742462 0.11834327 0.9731487 4.13949974] [ 0. 0. 0. 1. ]] SLAMing on 75.684839173 meters Centerline goodness : 0.807385 Centerline is valid? [False, False] Translation: X:-25.19, Y:37.13, Z:4.14 [[ 9.18740179e-01 3.21926324e-01 -2.28648039e-01 -2.51905702e+01] [-3.38368021e-01 9.40338088e-01 -3.56561642e-02 3.71310791e+01] [ 2.03527802e-01 1.10125935e-01 9.72855957e-01 4.13849651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.714839173 meters Centerline goodness : 0.806124 Centerline is valid? [False, False] Translation: X:-25.19, Y:37.12, Z:4.14 [[ 9.18475052e-01 3.23347581e-01 -2.27705779e-01 -2.51930983e+01] [-3.39300786e-01 9.40074924e-01 -3.36765926e-02 3.71248807e+01] [ 2.03171248e-01 1.08191860e-01 9.73147453e-01 4.13799552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.744839173 meters Centerline goodness : 0.804738 Centerline is valid? [False, False] Translation: X:-25.21, Y:37.13, Z:4.14 [[ 9.20172999e-01 3.22778202e-01 -2.21575911e-01 -2.52095636e+01] [-3.36950990e-01 9.41094347e-01 -2.83806189e-02 3.71280312e+01] [ 1.99363192e-01 1.00775302e-01 9.74730043e-01 4.13591494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.774839173 meters Centerline goodness : 0.803859 Centerline is valid? [False, False] Translation: X:-25.23, Y:37.13, Z:4.14 [[ 9.18144096e-01 3.28045273e-01 -2.22255973e-01 -2.52251723e+01] [-3.39796390e-01 9.40367250e-01 -1.57431884e-02 3.71277494e+01] [ 2.03837759e-01 8.99762926e-02 9.74861239e-01 4.13637662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.804839173 meters Centerline goodness : 0.802595 Centerline is valid? [False, False] Translation: X:-25.25, Y:37.13, Z:4.13 [[ 9.19207692e-01 3.29298280e-01 -2.15916333e-01 -2.52509854e+01] [-3.38232816e-01 9.41050611e-01 -4.72339845e-03 3.71345316e+01] [ 2.01632790e-01 7.73717735e-02 9.76400444e-01 4.12898097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.834839173 meters Centerline goodness : 0.799021 Centerline is valid? [False, False] Translation: X:-25.27, Y:37.14, Z:4.12 [[ 9.18369360e-01 3.32866642e-01 -2.14003547e-01 -2.52723433e+01] [-3.40403519e-01 9.40277852e-01 1.73347178e-03 3.71364746e+01] [ 2.01799811e-01 7.12555931e-02 9.76831345e-01 4.12428617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86483917300001 meters Centerline goodness : 0.799035 Centerline is valid? [False, False] Translation: X:-25.29, Y:37.14, Z:4.12 [[ 9.20124166e-01 3.31974478e-01 -2.07760595e-01 -2.52946269e+01] [-3.38679401e-01 9.40895344e-01 3.49507771e-03 3.71408212e+01] [ 1.96641253e-01 6.71483283e-02 9.78173461e-01 4.11948772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.894839173 meters Centerline goodness : 0.800742 Centerline is valid? [False, False] Translation: X:-25.31, Y:37.15, Z:4.11 [[ 9.21172291e-01 3.33974080e-01 -1.99757165e-01 -2.53125953e+01] [-3.37195568e-01 9.41248685e-01 1.87099672e-02 3.71465485e+01] [ 1.94269813e-01 5.01221273e-02 9.79666786e-01 4.11187294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.924839173 meters Centerline goodness : 0.800896 Centerline is valid? [False, False] Translation: X:-25.31, Y:37.15, Z:4.10 [[ 9.22535695e-01 3.33467610e-01 -1.94235024e-01 -2.53115716e+01] [-3.35944494e-01 9.41646624e-01 2.10459535e-02 3.71501884e+01] [ 1.89918898e-01 4.58365436e-02 9.80729230e-01 4.10456556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.954839173 meters Centerline goodness : 0.801890 Centerline is valid? [False, False] Translation: X:-25.32, Y:37.15, Z:4.10 [[ 9.23275620e-01 3.27575088e-01 -2.00640701e-01 -2.53180341e+01] [-3.29508549e-01 9.43830450e-01 2.46616602e-02 3.71533792e+01] [ 1.97449349e-01 4.33433167e-02 9.79354436e-01 4.10194040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.984839173 meters Centerline goodness : 0.800407 Centerline is valid? [False, False] Translation: X:-25.32, Y:37.15, Z:4.10 [[ 9.25509099e-01 3.19764168e-01 -2.02937881e-01 -2.53193861e+01] [-3.23083045e-01 9.46209159e-01 1.74806531e-02 3.71537719e+01] [ 1.97611368e-01 4.93872851e-02 9.79035568e-01 4.10226621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.014839173 meters Centerline goodness : 0.799906 Centerline is valid? [False, False] Translation: X:-25.35, Y:37.16, Z:4.09 [[ 9.30095039e-01 3.10318286e-01 -1.96534426e-01 -2.53520437e+01] [-3.15877235e-01 9.48794612e-01 3.21810281e-03 3.71590426e+01] [ 1.87469440e-01 5.90876096e-02 9.80491644e-01 4.09458500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.044839173 meters Centerline goodness : 0.798831 Centerline is valid? [False, False] Translation: X:-25.38, Y:37.16, Z:4.09 [[ 9.31406653e-01 3.11746124e-01 -1.87872298e-01 -2.53822047e+01] [-3.16271794e-01 9.48648533e-01 6.17360698e-03 3.71649836e+01] [ 1.80149378e-01 5.36685700e-02 9.82174061e-01 4.09374937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.074839173 meters Centerline goodness : 0.798636 Centerline is valid? [False, False] Translation: X:-25.39, Y:37.17, Z:4.09 [[ 9.32958316e-01 3.12867467e-01 -1.78052601e-01 -2.53932064e+01] [-3.15746790e-01 9.48758799e-01 1.26769762e-02 3.71697056e+01] [ 1.72895186e-01 4.43924470e-02 9.83939310e-01 4.08995004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.104839173 meters Centerline goodness : 0.798407 Centerline is valid? [False, False] Translation: X:-25.39, Y:37.17, Z:4.09 [[ 9.31705053e-01 3.17448453e-01 -1.76499786e-01 -2.53930439e+01] [-3.19613192e-01 9.47399162e-01 1.67998658e-02 3.71707016e+01] [ 1.72548841e-01 4.07591400e-02 9.84157299e-01 4.09003662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.134839173 meters Centerline goodness : 0.797853 Centerline is valid? [False, False] Translation: X:-25.40, Y:37.17, Z:4.09 [[ 9.31323026e-01 3.19493436e-01 -1.74818094e-01 -2.53971967e+01] [-3.21308915e-01 9.46791780e-01 1.85985776e-02 3.71673693e+01] [ 1.71458458e-01 3.88493286e-02 9.84425074e-01 4.09057133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.164839173 meters Centerline goodness : 0.798284 Centerline is valid? [False, False] Translation: X:-25.40, Y:37.16, Z:4.09 [[ 9.32197838e-01 3.16892214e-01 -1.74890013e-01 -2.54013959e+01] [-3.19022883e-01 9.47602405e-01 1.65554446e-02 3.71635839e+01] [ 1.70972488e-01 4.03609665e-02 9.84448780e-01 4.09180488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.194839173 meters Centerline goodness : 0.799625 Centerline is valid? [False, False] Translation: X:-25.40, Y:37.16, Z:4.09 [[ 9.34538361e-01 3.08870566e-01 -1.76739994e-01 -2.54026705e+01] [-3.12046017e-01 9.50011690e-01 1.02505094e-02 3.71589135e+01] [ 1.71071141e-01 4.55715170e-02 9.84204197e-01 4.09118179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.224839173 meters Centerline goodness : 0.801772 Centerline is valid? [False, False] Translation: X:-25.40, Y:37.16, Z:4.09 [[ 9.35912968e-01 3.03880152e-01 -1.78111679e-01 -2.54013814e+01] [-3.07590689e-01 9.51492407e-01 7.08287810e-03 3.71560977e+01] [ 1.71624256e-01 4.81565366e-02 9.83984788e-01 4.09054893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.25483917300001 meters Centerline goodness : 0.801347 Centerline is valid? [False, False] Translation: X:-25.40, Y:37.15, Z:4.09 [[ 9.36950449e-01 3.00309012e-01 -1.78713049e-01 -2.54032091e+01] [-3.04478916e-01 9.52509444e-01 4.28347824e-03 3.71547935e+01] [ 1.71512234e-01 5.04009485e-02 9.83891914e-01 4.09131768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.284839173 meters Centerline goodness : 0.804415 Centerline is valid? [False, False] Translation: X:-25.41, Y:37.15, Z:4.09 [[ 9.38789137e-01 2.94330819e-01 -1.79009291e-01 -2.54106246e+01] [-2.99281018e-01 9.54164771e-01 -6.79687455e-04 3.71490618e+01] [ 1.70604306e-01 5.42121660e-02 9.83847149e-01 4.09357293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.314839173 meters Centerline goodness : 0.804814 Centerline is valid? [False, False] Translation: X:-25.42, Y:37.15, Z:4.10 [[ 9.39575636e-01 2.91783199e-01 -1.79053590e-01 -2.54150083e+01] [-2.97073089e-01 9.54850439e-01 -2.86685795e-03 3.71468004e+01] [ 1.70132898e-01 5.58856330e-02 9.83835145e-01 4.09537783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.344839173 meters Centerline goodness : 0.805687 Centerline is valid? [False, False] Translation: X:-25.42, Y:37.14, Z:4.10 [[ 9.39355079e-01 2.92878192e-01 -1.78421974e-01 -2.54178814e+01] [-2.97892330e-01 9.54598484e-01 -1.37648343e-03 3.71442600e+01] [ 1.69918204e-01 5.44435442e-02 9.83953101e-01 4.09713304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.374839173 meters Centerline goodness : 0.804356 Centerline is valid? [False, False] Translation: X:-25.42, Y:37.14, Z:4.10 [[ 9.38357910e-01 2.96858886e-01 -1.77085389e-01 -2.54165977e+01] [-3.01209212e-01 9.53554999e-01 2.42384627e-03 3.71449782e+01] [ 1.69580198e-01 5.10653153e-02 9.84192507e-01 4.09641560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.404839173 meters Centerline goodness : 0.804943 Centerline is valid? [False, False] Translation: X:-25.41, Y:37.15, Z:4.09 [[ 9.36933952e-01 3.00072722e-01 -1.79195789e-01 -2.54142588e+01] [-3.01714447e-01 9.53215319e-01 1.86801630e-02 3.71466160e+01] [ 1.76417578e-01 3.65638793e-02 9.83636071e-01 4.09444452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.434839173 meters Centerline goodness : 0.806926 Centerline is valid? [False, False] Translation: X:-25.41, Y:37.15, Z:4.09 [[ 9.37016117e-01 2.99503325e-01 -1.79717986e-01 -2.54119622e+01] [-3.01238349e-01 9.53374864e-01 1.82160628e-02 3.71467781e+01] [ 1.76794382e-01 3.70692050e-02 9.83549501e-01 4.09325768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.464839173 meters Centerline goodness : 0.807611 Centerline is valid? [False, False] Translation: X:-25.41, Y:37.15, Z:4.09 [[ 9.36797179e-01 3.00251486e-01 -1.79610941e-01 -2.54127117e+01] [-3.02096227e-01 9.53113939e-01 1.76547357e-02 3.71482631e+01] [ 1.76490552e-01 3.77208809e-02 9.83579290e-01 4.09306142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.494839173 meters Centerline goodness : 0.810116 Centerline is valid? [False, False] Translation: X:-25.41, Y:37.15, Z:4.09 [[ 9.36540843e-01 3.01061502e-01 -1.79591817e-01 -2.54134908e+01] [-3.02975059e-01 9.52840620e-01 1.73455034e-02 3.71505173e+01] [ 1.76344442e-01 3.81670689e-02 9.83588284e-01 4.09361901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.524839173 meters Centerline goodness : 0.813358 Centerline is valid? [False, False] Translation: X:-25.41, Y:37.15, Z:4.09 [[ 9.36325139e-01 3.01542196e-01 -1.79909806e-01 -2.54127168e+01] [-3.03626346e-01 9.52648102e-01 1.65117191e-02 3.71541180e+01] [ 1.76369715e-01 3.91650193e-02 9.83544521e-01 4.09338860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.554839173 meters Centerline goodness : 0.816890 Centerline is valid? [False, False] Translation: X:-25.41, Y:37.16, Z:4.09 [[ 9.34975773e-01 3.06183903e-01 -1.79085791e-01 -2.54119726e+01] [-3.07861261e-01 9.51240513e-01 1.90507181e-02 3.71594395e+01] [ 1.76186683e-01 3.73216174e-02 9.83648997e-01 4.09363205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.584839173 meters Centerline goodness : 0.817555 Centerline is valid? [False, False] Translation: X:-25.41, Y:37.16, Z:4.09 [[ 9.33766237e-01 3.10522812e-01 -1.77921885e-01 -2.54123378e+01] [-3.11559874e-01 9.49952774e-01 2.28072860e-02 3.71603909e+01] [ 1.76099571e-01 3.41366464e-02 9.83780276e-01 4.09453823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.61483917300001 meters Centerline goodness : 0.820115 Centerline is valid? [False, False] Translation: X:-25.42, Y:37.16, Z:4.10 [[ 9.32712835e-01 3.14905344e-01 -1.75731023e-01 -2.54176367e+01] [-3.15302029e-01 9.48623905e-01 2.64067646e-02 3.71621973e+01] [ 1.75018280e-01 3.07784198e-02 9.84083985e-01 4.09787628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.644839173 meters Centerline goodness : 0.822329 Centerline is valid? [False, False] Translation: X:-25.42, Y:37.16, Z:4.10 [[ 9.32552189e-01 3.16333984e-01 -1.74009266e-01 -2.54226355e+01] [-3.16234613e-01 9.48236291e-01 2.90449042e-02 3.71597995e+01] [ 1.74189791e-01 2.79418639e-02 9.84315584e-01 4.10147860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.674839173 meters Centerline goodness : 0.821864 Centerline is valid? [False, False] Translation: X:-25.42, Y:37.16, Z:4.10 [[ 9.33591189e-01 3.12992258e-01 -1.74480191e-01 -2.54248111e+01] [-3.13289493e-01 9.49286074e-01 2.65639399e-02 3.71589021e+01] [ 1.73945923e-01 2.98629505e-02 9.84302301e-01 4.10260724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.704839173 meters Centerline goodness : 0.821845 Centerline is valid? [False, False] Translation: X:-25.42, Y:37.15, Z:4.10 [[ 9.35878124e-01 3.04857627e-01 -1.76618133e-01 -2.54241305e+01] [-3.06147067e-01 9.51761673e-01 2.05837433e-02 3.71540396e+01] [ 1.74373481e-01 3.48072485e-02 9.84064197e-01 4.10137260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.734839173 meters Centerline goodness : 0.821763 Centerline is valid? [False, False] Translation: X:-25.42, Y:37.15, Z:4.10 [[ 9.36969345e-01 3.01050106e-01 -1.77362006e-01 -2.54249467e+01] [-3.02837365e-01 9.52880366e-01 1.75652524e-02 3.71509940e+01] [ 1.74292794e-01 3.72537393e-02 9.83988913e-01 4.10067648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.764839173 meters Centerline goodness : 0.825726 Centerline is valid? [False, False] Translation: X:-25.43, Y:37.14, Z:4.10 [[ 9.38049252e-01 2.97218887e-01 -1.78113824e-01 -2.54255903e+01] [-2.99376796e-01 9.54012712e-01 1.52734759e-02 3.71444747e+01] [ 1.74462417e-01 3.89958732e-02 9.83891349e-01 4.09970262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.794839173 meters Centerline goodness : 0.828083 Centerline is valid? [False, False] Translation: X:-25.43, Y:37.14, Z:4.10 [[ 9.37975741e-01 2.97448168e-01 -1.78118211e-01 -2.54252458e+01] [-2.99485851e-01 9.53967009e-01 1.59740927e-02 3.71416158e+01] [ 1.74670362e-01 3.83605725e-02 9.83879429e-01 4.09915660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.824839173 meters Centerline goodness : 0.831129 Centerline is valid? [False, False] Translation: X:-25.42, Y:37.14, Z:4.10 [[ 9.37971436e-01 2.97236719e-01 -1.78493466e-01 -2.54221657e+01] [-2.99210452e-01 9.54046252e-01 1.63967943e-02 3.71354356e+01] [ 1.75164752e-01 3.80273860e-02 9.83804466e-01 4.09571497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.854839173 meters Centerline goodness : 0.834752 Centerline is valid? [False, False] Translation: X:-25.42, Y:37.13, Z:4.09 [[ 9.37743016e-01 2.97986301e-01 -1.78443831e-01 -2.54183888e+01] [-2.99805362e-01 9.53843039e-01 1.73263175e-02 3.71327390e+01] [ 1.75370412e-01 3.72507843e-02 9.83797539e-01 4.09235945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.884839173 meters Centerline goodness : 0.834273 Centerline is valid? [False, False] Translation: X:-25.42, Y:37.13, Z:4.09 [[ 9.34405390e-01 3.05966341e-01 -1.82403852e-01 -2.54165555e+01] [-3.05088669e-01 9.51732414e-01 3.35606256e-02 3.71341134e+01] [ 1.83868080e-01 2.42901189e-02 9.82650762e-01 4.08509456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.914839173 meters Centerline goodness : 0.828150 Centerline is valid? [False, False] Translation: X:-25.41, Y:37.14, Z:4.08 [[ 9.33500145e-01 3.08764260e-01 -1.82324193e-01 -2.54105161e+01] [-3.07537963e-01 9.50866322e-01 3.56880938e-02 3.71352312e+01] [ 1.84385143e-01 2.27567703e-02 9.82590580e-01 4.08119036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.944839173 meters Centerline goodness : 0.830419 Centerline is valid? [False, False] Translation: X:-25.41, Y:37.13, Z:4.08 [[ 9.33625519e-01 3.07255928e-01 -1.84220479e-01 -2.54068205e+01] [-3.06543758e-01 9.51282323e-01 3.30585279e-02 3.71316135e+01] [ 1.85403114e-01 2.56073526e-02 9.82328839e-01 4.07738021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.974839173 meters Centerline goodness : 0.833173 Centerline is valid? [False, False] Translation: X:-25.41, Y:37.13, Z:4.08 [[ 9.34440256e-01 3.04432385e-01 -1.84776433e-01 -2.54099999e+01] [-3.04180887e-01 9.52128632e-01 3.04147260e-02 3.71289566e+01] [ 1.85190160e-01 2.77847150e-02 9.82309836e-01 4.07838142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00483917300001 meters Centerline goodness : 0.836836 Centerline is valid? [False, False] Translation: X:-25.42, Y:37.13, Z:4.08 [[ 9.34815606e-01 3.03653241e-01 -1.84158876e-01 -2.54154392e+01] [-3.03413357e-01 9.52380947e-01 3.01805733e-02 3.71289655e+01] [ 1.84553834e-01 2.76629918e-02 9.82433021e-01 4.08217875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.034839173 meters Centerline goodness : 0.834211 Centerline is valid? [False, False] Translation: X:-25.42, Y:37.14, Z:4.08 [[ 9.35398245e-01 3.07501650e-01 -1.74564772e-01 -2.54221425e+01] [-3.05488398e-01 9.51397934e-01 3.89719139e-02 3.71368266e+01] [ 1.78064491e-01 1.68732525e-02 9.83874144e-01 4.07900938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.064839173 meters Centerline goodness : 0.835914 Centerline is valid? [False, False] Translation: X:-25.42, Y:37.14, Z:4.08 [[ 9.35303964e-01 3.07747008e-01 -1.74637553e-01 -2.54213332e+01] [-3.05804923e-01 9.51311042e-01 3.86089347e-02 3.71382346e+01] [ 1.78016417e-01 1.72939339e-02 9.83875538e-01 4.07829164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.094839173 meters Centerline goodness : 0.839480 Centerline is valid? [False, False] Translation: X:-25.42, Y:37.14, Z:4.08 [[ 9.35111917e-01 3.08218284e-01 -1.74834757e-01 -2.54214542e+01] [-3.06280434e-01 9.51156400e-01 3.86496882e-02 3.71372717e+01] [ 1.78207739e-01 1.74066813e-02 9.83838914e-01 4.07816655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.124839173 meters Centerline goodness : 0.843299 Centerline is valid? [False, False] Translation: X:-25.43, Y:37.14, Z:4.08 [[ 9.34357464e-01 3.10984382e-01 -1.73967936e-01 -2.54257820e+01] [-3.08950151e-01 9.50263472e-01 3.93590899e-02 3.71373424e+01] [ 1.77555437e-01 1.69719607e-02 9.83964440e-01 4.07950845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.154839173 meters Centerline goodness : 0.843299 Centerline is valid? [False, False] Translation: X:-25.43, Y:37.14, Z:4.08 [[ 9.34357464e-01 3.10984382e-01 -1.73967936e-01 -2.54257820e+01] [-3.08950151e-01 9.50263472e-01 3.93590899e-02 3.71373424e+01] [ 1.77555437e-01 1.69719607e-02 9.83964440e-01 4.07950845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.184839173 meters Centerline goodness : 0.843414 Centerline is valid? [False, False] Translation: X:-25.43, Y:37.14, Z:4.08 [[ 9.34138983e-01 3.11728640e-01 -1.73809136e-01 -2.54264429e+01] [-3.09658800e-01 9.50022302e-01 3.96112915e-02 3.71399868e+01] [ 1.77470530e-01 1.68190769e-02 9.83982383e-01 4.08046456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.214839173 meters Centerline goodness : 0.841081 Centerline is valid? [False, False] Translation: X:-25.43, Y:37.14, Z:4.08 [[ 9.34235551e-01 3.11607604e-01 -1.73506874e-01 -2.54278312e+01] [-3.09366054e-01 9.50079195e-01 4.05236748e-02 3.71399543e+01] [ 1.77472756e-01 1.58184792e-02 9.83998575e-01 4.08265048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.244839173 meters Centerline goodness : 0.839622 Centerline is valid? [False, False] Translation: X:-25.44, Y:37.14, Z:4.09 [[ 9.36274992e-01 3.05279947e-01 -1.73762175e-01 -2.54351893e+01] [-3.03580576e-01 9.52089396e-01 3.69407136e-02 3.71363262e+01] [ 1.76714383e-01 1.81641549e-02 9.84094553e-01 4.08826923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.274839173 meters Centerline goodness : 0.840988 Centerline is valid? [False, False] Translation: X:-25.44, Y:37.13, Z:4.09 [[ 9.37174865e-01 3.02510445e-01 -1.73754724e-01 -2.54401073e+01] [-3.01101398e-01 9.52947391e-01 3.50602070e-02 3.71342891e+01] [ 1.76185190e-01 1.94602456e-02 9.84164660e-01 4.09113038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.304839173 meters Centerline goodness : 0.840671 Centerline is valid? [False, False] Translation: X:-25.45, Y:37.13, Z:4.10 [[ 9.38662549e-01 2.97599083e-01 -1.74205063e-01 -2.54487089e+01] [-2.96802685e-01 9.54428217e-01 3.12241079e-02 3.71318407e+01] [ 1.75558493e-01 2.23956296e-02 9.84214230e-01 4.09669040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.334839173 meters Centerline goodness : 0.842792 Centerline is valid? [False, False] Translation: X:-25.45, Y:37.13, Z:4.10 [[ 9.39521346e-01 2.94387370e-01 -1.75030618e-01 -2.54501007e+01] [-2.94104771e-01 9.55358444e-01 2.81536395e-02 3.71320118e+01] [ 1.75505054e-01 2.50263945e-02 9.84160381e-01 4.09737725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36483917300001 meters Centerline goodness : 0.843730 Centerline is valid? [False, False] Translation: X:-25.45, Y:37.13, Z:4.10 [[ 9.39595620e-01 2.93517783e-01 -1.76089130e-01 -2.54469876e+01] [-2.93284691e-01 9.55616538e-01 2.79485528e-02 3.71293878e+01] [ 1.76477082e-01 2.53839083e-02 9.83977386e-01 4.09609644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.394839173 meters Centerline goodness : 0.842085 Centerline is valid? [False, False] Translation: X:-25.44, Y:37.12, Z:4.09 [[ 9.39920949e-01 2.90889712e-01 -1.78694671e-01 -2.54435423e+01] [-2.91101857e-01 9.56348786e-01 2.56263324e-02 3.71232118e+01] [ 1.78348868e-01 2.79316241e-02 9.83570793e-01 4.09404557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.424839173 meters Centerline goodness : 0.846167 Centerline is valid? [False, False] Translation: X:-25.45, Y:37.12, Z:4.10 [[ 9.40242765e-01 2.90896630e-01 -1.76982187e-01 -2.54533068e+01] [-2.91075200e-01 9.56359181e-01 2.55410560e-02 3.71170852e+01] [ 1.76688346e-01 2.75003322e-02 9.83882595e-01 4.09679493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.454839173 meters Centerline goodness : 0.843749 Centerline is valid? [False, False] Translation: X:-25.46, Y:37.12, Z:4.09 [[ 9.42491118e-01 2.89229096e-01 -1.67502304e-01 -2.54628104e+01] [-2.88416442e-01 9.57044283e-01 2.97017900e-02 3.71203016e+01] [ 1.68897745e-01 2.03167453e-02 9.85424163e-01 4.09190930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.484839173 meters Centerline goodness : 0.837555 Centerline is valid? [False, False] Translation: X:-25.47, Y:37.12, Z:4.09 [[ 9.44212739e-01 2.89614896e-01 -1.56797689e-01 -2.54707492e+01] [-2.86933485e-01 9.57115866e-01 3.99799288e-02 3.71232318e+01] [ 1.61652339e-01 7.24094911e-03 9.86821205e-01 4.08719356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.514839173 meters Centerline goodness : 0.839720 Centerline is valid? [False, False] Translation: X:-25.47, Y:37.12, Z:4.09 [[ 9.45127227e-01 2.86062619e-01 -1.57805899e-01 -2.54710030e+01] [-2.83931508e-01 9.58154225e-01 3.63782892e-02 3.71237329e+01] [ 1.61608857e-01 1.04239552e-02 9.86799837e-01 4.08696169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.544839173 meters Centerline goodness : 0.841266 Centerline is valid? [False, False] Translation: X:-25.47, Y:37.12, Z:4.09 [[ 9.45935232e-01 2.82859459e-01 -1.58735831e-01 -2.54724431e+01] [-2.81235188e-01 9.59068476e-01 3.30821192e-02 3.71220963e+01] [ 1.61596122e-01 1.33485591e-02 9.86766695e-01 4.08715552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.574839173 meters Centerline goodness : 0.847044 Centerline is valid? [False, False] Translation: X:-25.47, Y:37.12, Z:4.09 [[ 9.46591679e-01 2.79120671e-01 -1.61418226e-01 -2.54711141e+01] [-2.78180937e-01 9.60095016e-01 2.88604631e-02 3.71178959e+01] [ 1.63032386e-01 1.75843990e-02 9.86464003e-01 4.08626328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.604839173 meters Centerline goodness : 0.853386 Centerline is valid? [False, False] Translation: X:-25.47, Y:37.12, Z:4.09 [[ 9.47187251e-01 2.76212303e-01 -1.62920454e-01 -2.54710858e+01] [-2.75890894e-01 9.60862400e-01 2.50532015e-02 3.71180250e+01] [ 1.63464141e-01 2.12181967e-02 9.86321075e-01 4.08572771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.634839173 meters Centerline goodness : 0.854137 Centerline is valid? [False, False] Translation: X:-25.47, Y:37.12, Z:4.09 [[ 9.47065572e-01 2.76833481e-01 -1.62573143e-01 -2.54718680e+01] [-2.76459435e-01 9.60690404e-01 2.53796921e-02 3.71191992e+01] [ 1.63208407e-01 2.09086466e-02 9.86370034e-01 4.08617290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.664839173 meters Centerline goodness : 0.854756 Centerline is valid? [False, False] Translation: X:-25.48, Y:37.12, Z:4.08 [[ 9.47617295e-01 2.79050190e-01 -1.55410595e-01 -2.54762020e+01] [-2.77746905e-01 9.60170409e-01 3.04867537e-02 3.71231949e+01] [ 1.57727989e-01 1.42750365e-02 9.87379413e-01 4.08192326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.694839173 meters Centerline goodness : 0.854303 Centerline is valid? [False, False] Translation: X:-25.47, Y:37.12, Z:4.08 [[ 9.47637377e-01 2.79050037e-01 -1.55288373e-01 -2.54744508e+01] [-2.77785659e-01 9.60167262e-01 3.02317322e-02 3.71239716e+01] [ 1.57538978e-01 1.44881637e-02 9.87406483e-01 4.08002183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.724839173 meters Centerline goodness : 0.853950 Centerline is valid? [False, False] Translation: X:-25.47, Y:37.12, Z:4.08 [[ 9.47488755e-01 2.79270527e-01 -1.55798052e-01 -2.54708487e+01] [-2.78039081e-01 9.60098301e-01 3.00918781e-02 3.71221765e+01] [ 1.57985220e-01 1.48062310e-02 9.87330464e-01 4.07672916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75483917300001 meters Centerline goodness : 0.854197 Centerline is valid? [False, False] Translation: X:-25.47, Y:37.12, Z:4.08 [[ 9.47362767e-01 2.79496656e-01 -1.56158276e-01 -2.54700837e+01] [-2.78213400e-01 9.60035942e-01 3.04679277e-02 3.71204405e+01] [ 1.58433242e-01 1.45811447e-02 9.87262021e-01 4.07653968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.784839173 meters Centerline goodness : 0.854867 Centerline is valid? [False, False] Translation: X:-25.47, Y:37.12, Z:4.08 [[ 9.47234724e-01 2.79525281e-01 -1.56882106e-01 -2.54688516e+01] [-2.78170190e-01 9.60031965e-01 3.09834079e-02 3.71182617e+01] [ 1.59272482e-01 1.42913653e-02 9.87131214e-01 4.07680635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.814839173 meters Centerline goodness : 0.856954 Centerline is valid? [False, False] Translation: X:-25.48, Y:37.12, Z:4.08 [[ 9.47156518e-01 2.76413922e-01 -1.62757102e-01 -2.54787673e+01] [-2.73866738e-01 9.61003178e-01 3.83392878e-02 3.71178163e+01] [ 1.67007605e-01 8.26045015e-03 9.85921003e-01 4.07914607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.844839173 meters Centerline goodness : 0.857938 Centerline is valid? [False, False] Translation: X:-25.50, Y:37.12, Z:4.08 [[ 9.49197646e-01 2.73156142e-01 -1.56235560e-01 -2.54981373e+01] [-2.69943845e-01 9.61966565e-01 4.18407526e-02 3.71243640e+01] [ 1.61722444e-01 2.45968392e-03 9.86833219e-01 4.07932016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.874839173 meters Centerline goodness : 0.861988 Centerline is valid? [False, False] Translation: X:-25.50, Y:37.13, Z:4.08 [[ 9.49115454e-01 2.73931565e-01 -1.55374877e-01 -2.55007322e+01] [-2.70597142e-01 9.61747899e-01 4.26399573e-02 3.71252425e+01] [ 1.61111892e-01 1.57375512e-03 9.86934892e-01 4.08092697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.904839173 meters Centerline goodness : 0.864320 Centerline is valid? [False, False] Translation: X:-25.50, Y:37.13, Z:4.08 [[ 9.49010378e-01 2.74618344e-01 -1.54803319e-01 -2.55030011e+01] [-2.71229279e-01 9.61552615e-01 4.30261236e-02 3.71278801e+01] [ 1.60667299e-01 1.15495467e-03 9.87007946e-01 4.08289569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.934839173 meters Centerline goodness : 0.866811 Centerline is valid? [False, False] Translation: X:-25.50, Y:37.13, Z:4.08 [[ 9.49740634e-01 2.71482825e-01 -1.55851863e-01 -2.55041115e+01] [-2.68652336e-01 9.62432808e-01 3.93574851e-02 3.71300633e+01] [ 1.60681827e-01 4.49056417e-03 9.86996041e-01 4.08376240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.964839173 meters Centerline goodness : 0.868708 Centerline is valid? [False, False] Translation: X:-25.50, Y:37.13, Z:4.08 [[ 9.50452880e-01 2.67398900e-01 -1.58547003e-01 -2.55021374e+01] [-2.65243124e-01 9.63545898e-01 3.50055328e-02 3.71315416e+01] [ 1.62127755e-01 8.78239283e-03 9.86730693e-01 4.08442364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.994839173 meters Centerline goodness : 0.871006 Centerline is valid? [False, False] Translation: X:-25.50, Y:37.13, Z:4.08 [[ 9.50504637e-01 2.66840443e-01 -1.59176359e-01 -2.54998560e+01] [-2.64762550e-01 9.63695542e-01 3.45209132e-02 3.71320899e+01] [ 1.62609124e-01 9.33165084e-03 9.86646438e-01 4.08352023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.024839173 meters Centerline goodness : 0.872607 Centerline is valid? [False, False] Translation: X:-25.50, Y:37.13, Z:4.08 [[ 9.50548150e-01 2.66756096e-01 -1.59057852e-01 -2.54985012e+01] [-2.64703257e-01 9.63717767e-01 3.43547828e-02 3.71332942e+01] [ 1.62451226e-01 9.44725622e-03 9.86671348e-01 4.08228829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.054839173 meters Centerline goodness : 0.871518 Centerline is valid? [False, False] Translation: X:-25.51, Y:37.14, Z:4.08 [[ 9.52387695e-01 2.64341644e-01 -1.51924898e-01 -2.55060928e+01] [-2.61927307e-01 9.64413701e-01 3.60596547e-02 3.71363250e+01] [ 1.56050521e-01 5.45050788e-03 9.87734036e-01 4.07840925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.084839173 meters Centerline goodness : 0.871132 Centerline is valid? [False, False] Translation: X:-25.51, Y:37.13, Z:4.08 [[ 9.52595508e-01 2.63660888e-01 -1.51804919e-01 -2.55062337e+01] [-2.61105379e-01 9.64604978e-01 3.68946785e-02 3.71343434e+01] [ 1.56159464e-01 4.49137593e-03 9.87721646e-01 4.07963932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.11483917300001 meters Centerline goodness : 0.871973 Centerline is valid? [False, False] Translation: X:-25.51, Y:37.13, Z:4.08 [[ 9.53549502e-01 2.59735622e-01 -1.52580319e-01 -2.55070616e+01] [-2.57663256e-01 9.65652023e-01 3.35532031e-02 3.71331068e+01] [ 1.56054456e-01 7.31970177e-03 9.87721332e-01 4.07984126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.144839173 meters Centerline goodness : 0.871498 Centerline is valid? [False, False] Translation: X:-25.51, Y:37.13, Z:4.08 [[ 9.55280648e-01 2.52033215e-01 -1.54654914e-01 -2.55086432e+01] [-2.50929355e-01 9.67630341e-01 2.69440460e-02 3.71275585e+01] [ 1.56439581e-01 1.30683320e-02 9.87601071e-01 4.08025594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.174839173 meters Centerline goodness : 0.871155 Centerline is valid? [False, False] Translation: X:-25.51, Y:37.12, Z:4.08 [[ 9.56012257e-01 2.48952857e-01 -1.55122662e-01 -2.55109843e+01] [-2.48227528e-01 9.68395814e-01 2.43442487e-02 3.71248351e+01] [ 1.56280707e-01 1.52323149e-02 9.87595219e-01 4.08123923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.204839173 meters Centerline goodness : 0.871968 Centerline is valid? [False, False] Translation: X:-25.51, Y:37.12, Z:4.08 [[ 9.55315541e-01 2.52076961e-01 -1.54367815e-01 -2.55089698e+01] [-2.50771289e-01 9.67635577e-01 2.81984065e-02 3.71237860e+01] [ 1.56479959e-01 1.17726399e-02 9.87610970e-01 4.08075801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.234839173 meters Centerline goodness : 0.869346 Centerline is valid? [False, False] Translation: X:-25.51, Y:37.13, Z:4.08 [[ 9.54213761e-01 2.57443995e-01 -1.52311153e-01 -2.55072404e+01] [-2.55386100e-01 9.66266722e-01 3.32650266e-02 3.71264574e+01] [ 1.55737080e-01 7.15620510e-03 9.87772621e-01 4.07933280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.264839173 meters Centerline goodness : 0.868332 Centerline is valid? [False, False] Translation: X:-25.51, Y:37.13, Z:4.08 [[ 9.54609785e-01 2.55910834e-01 -1.52413265e-01 -2.55111379e+01] [-2.54216707e-01 9.66655566e-01 3.08364002e-02 3.71265307e+01] [ 1.55222500e-01 9.30926891e-03 9.87835671e-01 4.08074174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.294839173 meters Centerline goodness : 0.873220 Centerline is valid? [False, False] Translation: X:-25.52, Y:37.12, Z:4.09 [[ 9.55417253e-01 2.52916415e-01 -1.52352092e-01 -2.55235919e+01] [-2.51932352e-01 9.67394076e-01 2.60536350e-02 3.71207053e+01] [ 1.53973903e-01 1.34903285e-02 9.87982818e-01 4.08504080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.324839173 meters Centerline goodness : 0.876173 Centerline is valid? [False, False] Translation: X:-25.52, Y:37.12, Z:4.09 [[ 9.56154504e-01 2.49572924e-01 -1.53238118e-01 -2.55240735e+01] [-2.49059641e-01 9.68218534e-01 2.28509278e-02 3.71206395e+01] [ 1.54070959e-01 1.63164132e-02 9.87925055e-01 4.08525106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.354839173 meters Centerline goodness : 0.874790 Centerline is valid? [False, False] Translation: X:-25.52, Y:37.12, Z:4.08 [[ 9.57987348e-01 2.46105707e-01 -1.47282798e-01 -2.55245411e+01] [-2.44393217e-01 9.69215117e-01 2.99000397e-02 3.71221830e+01] [ 1.50107285e-01 7.35105721e-03 9.88642385e-01 4.07745325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.384839173 meters Centerline goodness : 0.873043 Centerline is valid? [False, False] Translation: X:-25.52, Y:37.12, Z:4.08 [[ 9.58039021e-01 2.45950879e-01 -1.47205296e-01 -2.55235237e+01] [-2.44224587e-01 9.69255301e-01 2.99752030e-02 3.71225029e+01] [ 1.50051941e-01 7.23373862e-03 9.88651651e-01 4.07666407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.414839173 meters Centerline goodness : 0.875248 Centerline is valid? [False, False] Translation: X:-25.52, Y:37.12, Z:4.08 [[ 9.58124988e-01 2.45985484e-01 -1.46586657e-01 -2.55246613e+01] [-2.44174676e-01 9.69251290e-01 3.05067965e-02 3.71222508e+01] [ 1.49583536e-01 6.56342560e-03 9.88727307e-01 4.07734203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.444839173 meters Centerline goodness : 0.874587 Centerline is valid? [False, False] Translation: X:-25.52, Y:37.12, Z:4.08 [[ 9.58996338e-01 2.42026447e-01 -1.47476176e-01 -2.55248462e+01] [-2.40765167e-01 9.70218323e-01 2.66184016e-02 3.71231742e+01] [ 1.49526445e-01 9.98017644e-03 9.88707357e-01 4.07724108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.474839173 meters Centerline goodness : 0.877217 Centerline is valid? [False, False] Translation: X:-25.53, Y:37.12, Z:4.08 [[ 9.60062481e-01 2.32671374e-01 -1.55383602e-01 -2.55259234e+01] [-2.30642172e-01 9.72537719e-01 3.12181690e-02 3.71223679e+01] [ 1.58379988e-01 5.86661863e-03 9.87360806e-01 4.07862987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50483917300001 meters Centerline goodness : 0.873772 Centerline is valid? [False, False] Translation: X:-25.52, Y:37.13, Z:4.07 [[ 9.59876378e-01 2.28074798e-01 -1.63153993e-01 -2.55205003e+01] [-2.25082792e-01 9.73642671e-01 3.68467874e-02 3.71269677e+01] [ 1.67257513e-01 1.35479542e-03 9.85912313e-01 4.07027639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.534839173 meters Centerline goodness : 0.872173 Centerline is valid? [False, False] Translation: X:-25.51, Y:37.13, Z:4.07 [[ 9.59382084e-01 2.29762968e-01 -1.63691766e-01 -2.55129377e+01] [-2.26556179e-01 9.73246542e-01 3.82552860e-02 3.71309952e+01] [ 1.68102093e-01 3.83945065e-04 9.85769516e-01 4.06635279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.564839173 meters Centerline goodness : 0.870282 Centerline is valid? [False, False] Translation: X:-25.51, Y:37.14, Z:4.07 [[ 9.59344349e-01 2.29985222e-01 -1.63600785e-01 -2.55123879e+01] [-2.26894416e-01 9.73193549e-01 3.75930866e-02 3.71365697e+01] [ 1.67861083e-01 1.05538944e-03 9.85810095e-01 4.06624653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.594839173 meters Centerline goodness : 0.874906 Centerline is valid? [False, False] Translation: X:-25.53, Y:37.15, Z:4.07 [[ 9.61977593e-01 2.24135584e-01 -1.56084434e-01 -2.55333924e+01] [-2.23468333e-01 9.74461980e-01 2.20398407e-02 3.71465709e+01] [ 1.57038259e-01 1.36780953e-02 9.87497795e-01 4.07099465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.624839173 meters Centerline goodness : 0.876529 Centerline is valid? [False, False] Translation: X:-25.54, Y:37.15, Z:4.08 [[ 9.62745001e-01 2.20459776e-01 -1.56587199e-01 -2.55418310e+01] [-2.20417089e-01 9.75242237e-01 1.78573612e-02 3.71459870e+01] [ 1.56647280e-01 1.73224092e-02 9.87502691e-01 4.07660926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.654839173 meters Centerline goodness : 0.883321 Centerline is valid? [False, False] Translation: X:-25.54, Y:37.14, Z:4.08 [[ 9.63279825e-01 2.17678518e-01 -1.57187921e-01 -2.55449903e+01] [-2.17967104e-01 9.75831222e-01 1.56130323e-02 3.71439650e+01] [ 1.56787503e-01 1.92220769e-02 9.87445285e-01 4.07937651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.684839173 meters Centerline goodness : 0.881621 Centerline is valid? [False, False] Translation: X:-25.54, Y:37.14, Z:4.08 [[ 9.62665570e-01 2.21527232e-01 -1.55565699e-01 -2.55431026e+01] [-2.21163924e-01 9.75034378e-01 1.98615277e-02 3.71419807e+01] [ 1.56081774e-01 1.52855115e-02 9.87625857e-01 4.07672079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.714839173 meters Centerline goodness : 0.877288 Centerline is valid? [False, False] Translation: X:-25.55, Y:37.14, Z:4.07 [[ 9.62985622e-01 2.22780315e-01 -1.51748551e-01 -2.55452168e+01] [-2.21893792e-01 9.74800232e-01 2.29707115e-02 3.71387590e+01] [ 1.53041945e-01 1.15515965e-02 9.88152176e-01 4.07426443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.744839173 meters Centerline goodness : 0.879572 Centerline is valid? [False, False] Translation: X:-25.54, Y:37.14, Z:4.07 [[ 9.63137776e-01 2.21895046e-01 -1.52079624e-01 -2.55433936e+01] [-2.20936594e-01 9.75007679e-01 2.33890228e-02 3.71361211e+01] [ 1.53468710e-01 1.10731028e-02 9.88091464e-01 4.07376925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.774839173 meters Centerline goodness : 0.881078 Centerline is valid? [False, False] Translation: X:-25.55, Y:37.14, Z:4.08 [[ 9.64731261e-01 2.14085771e-01 -1.53169441e-01 -2.55459473e+01] [-2.14085977e-01 9.76672249e-01 1.66886875e-02 3.71351732e+01] [ 1.53169153e-01 1.66913309e-02 9.88059011e-01 4.07533982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.804839173 meters Centerline goodness : 0.886244 Centerline is valid? [False, False] Translation: X:-25.55, Y:37.13, Z:4.08 [[ 9.65653662e-01 2.09575160e-01 -1.53594458e-01 -2.55534139e+01] [-2.10404906e-01 9.77552232e-01 1.10186125e-02 3.71339579e+01] [ 1.52455833e-01 2.16768639e-02 9.88072534e-01 4.07837887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.834839173 meters Centerline goodness : 0.890302 Centerline is valid? [False, False] Translation: X:-25.56, Y:37.13, Z:4.08 [[ 9.66775965e-01 2.06492254e-01 -1.50682389e-01 -2.55567066e+01] [-2.09931771e-01 9.77690177e-01 -7.11126240e-03 3.71297298e+01] [ 1.45852271e-01 3.85080183e-02 9.88556649e-01 4.07958925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86483917300001 meters Centerline goodness : 0.889549 Centerline is valid? [False, False] Translation: X:-25.56, Y:37.13, Z:4.08 [[ 9.65984241e-01 2.10523120e-01 -1.50181432e-01 -2.55551104e+01] [-2.13435847e-01 9.76951299e-01 -3.36145884e-03 3.71294943e+01] [ 1.46012280e-01 3.53012174e-02 9.88652739e-01 4.07900898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.894839173 meters Centerline goodness : 0.888581 Centerline is valid? [False, False] Translation: X:-25.56, Y:37.14, Z:4.07 [[ 9.62697019e-01 2.23417370e-01 -1.52640518e-01 -2.55573752e+01] [-2.23514953e-01 9.74556682e-01 1.67433361e-02 3.71352802e+01] [ 1.52497589e-01 1.79986785e-02 9.88139936e-01 4.07320944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.924839173 meters Centerline goodness : 0.883106 Centerline is valid? [False, False] Translation: X:-25.55, Y:37.14, Z:4.07 [[ 9.61267921e-01 2.29692990e-01 -1.52332250e-01 -2.55496602e+01] [-2.28977770e-01 9.73172429e-01 2.24634015e-02 3.71362980e+01] [ 1.53405231e-01 1.32873515e-02 9.88074026e-01 4.06876100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.954839173 meters Centerline goodness : 0.877539 Centerline is valid? [False, False] Translation: X:-25.54, Y:37.14, Z:4.06 [[ 9.60449502e-01 2.32789188e-01 -1.52793808e-01 -2.55426338e+01] [-2.32040756e-01 9.72434932e-01 2.29649937e-02 3.71386302e+01] [ 1.53928039e-01 1.33976741e-02 9.87991225e-01 4.06121474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.984839173 meters Centerline goodness : 0.872132 Centerline is valid? [False, False] Translation: X:-25.54, Y:37.14, Z:4.05 [[ 9.59432916e-01 2.36523344e-01 -1.53444414e-01 -2.55364330e+01] [-2.35763809e-01 9.71528769e-01 2.33939685e-02 3.71400539e+01] [ 1.54608882e-01 1.37316961e-02 9.87880324e-01 4.05373723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.014839173 meters Centerline goodness : 0.872720 Centerline is valid? [False, False] Translation: X:-25.54, Y:37.14, Z:4.05 [[ 9.59278681e-01 2.37176934e-01 -1.53399851e-01 -2.55375420e+01] [-2.36354502e-01 9.71374279e-01 2.38444691e-02 3.71398805e+01] [ 1.54664027e-01 1.33832545e-02 9.87876474e-01 4.05490500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.044839173 meters Centerline goodness : 0.872720 Centerline is valid? [False, False] Translation: X:-25.54, Y:37.14, Z:4.05 [[ 9.59278681e-01 2.37176934e-01 -1.53399851e-01 -2.55375420e+01] [-2.36354502e-01 9.71374279e-01 2.38444691e-02 3.71398805e+01] [ 1.54664027e-01 1.33832545e-02 9.87876474e-01 4.05490500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.074839173 meters Centerline goodness : 0.873842 Centerline is valid? [False, False] Translation: X:-25.55, Y:37.14, Z:4.06 [[ 9.59245898e-01 2.37547028e-01 -1.53031750e-01 -2.55458802e+01] [-2.36897542e-01 9.71268621e-01 2.27336999e-02 3.71403359e+01] [ 1.54035260e-01 1.44456372e-02 9.87959747e-01 4.06036790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.104839173 meters Centerline goodness : 0.881610 Centerline is valid? [False, False] Translation: X:-25.57, Y:37.14, Z:4.06 [[ 9.59759392e-01 2.40192741e-01 -1.45496929e-01 -2.55719064e+01] [-2.40673031e-01 9.70497066e-01 1.45580266e-02 3.71411319e+01] [ 1.44701075e-01 2.10449841e-02 9.89251590e-01 4.06163708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.134839173 meters Centerline goodness : 0.879731 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.14, Z:4.06 [[ 9.59238527e-01 2.43193011e-01 -1.43939599e-01 -2.55772383e+01] [-2.43407405e-01 9.69785630e-01 1.63910928e-02 3.71391222e+01] [ 1.43576754e-01 1.93129965e-02 9.89450718e-01 4.06306816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.164839173 meters Centerline goodness : 0.883080 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.14, Z:4.06 [[ 9.58176712e-01 2.48332061e-01 -1.42227197e-01 -2.55779870e+01] [-2.47902196e-01 9.68556995e-01 2.10201923e-02 3.71373365e+01] [ 1.42975134e-01 1.51173758e-02 9.89610820e-01 4.06232022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.194839173 meters Centerline goodness : 0.880457 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.14, Z:4.05 [[ 9.58218150e-01 2.53689797e-01 -1.32134262e-01 -2.55794194e+01] [-2.51668860e-01 9.67282306e-01 3.20581715e-02 3.71360696e+01] [ 1.35943965e-01 2.53535722e-03 9.90713284e-01 4.05072624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.224839173 meters Centerline goodness : 0.877205 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.13, Z:4.05 [[ 9.58295038e-01 2.53625986e-01 -1.31698439e-01 -2.55769048e+01] [-2.51577445e-01 9.67299792e-01 3.22475066e-02 3.71348407e+01] [ 1.35570678e-01 2.22973114e-03 9.90765169e-01 4.04761349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.25483917300001 meters Centerline goodness : 0.879377 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.13, Z:4.05 [[ 9.59898034e-01 2.47235185e-01 -1.32176126e-01 -2.55802659e+01] [-2.45865344e-01 9.68932145e-01 2.68464389e-02 3.71273289e+01] [ 1.34707081e-01 6.72768468e-03 9.90862624e-01 4.04714609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.284839173 meters Centerline goodness : 0.886481 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.12, Z:4.05 [[ 9.62941385e-01 2.37303573e-01 -1.28183084e-01 -2.55811755e+01] [-2.38150228e-01 9.71187499e-01 8.90564810e-03 3.71157367e+01] [ 1.26603151e-01 2.19512137e-02 9.91710536e-01 4.05231793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.314839173 meters Centerline goodness : 0.889998 Centerline is valid? [False, False] Translation: X:-25.59, Y:37.11, Z:4.06 [[ 9.63571975e-01 2.34909303e-01 -1.27854091e-01 -2.55864575e+01] [-2.35907351e-01 9.71746627e-01 7.49769484e-03 3.71106941e+01] [ 1.26003060e-01 2.29371512e-02 9.91764647e-01 4.05528740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.344839173 meters Centerline goodness : 0.893507 Centerline is valid? [False, False] Translation: X:-25.59, Y:37.11, Z:4.05 [[ 9.63735355e-01 2.34677035e-01 -1.27046662e-01 -2.55856299e+01] [-2.35567790e-01 9.71823468e-01 8.18314689e-03 3.71084686e+01] [ 1.25387325e-01 2.20417135e-02 9.91862985e-01 4.05365895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.374839173 meters Centerline goodness : 0.890215 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.11, Z:4.05 [[ 9.63292048e-01 2.36685061e-01 -1.26683120e-01 -2.55801367e+01] [-2.37228935e-01 9.71391528e-01 1.09968597e-02 3.71077485e+01] [ 1.25661702e-01 1.94597141e-02 9.91882279e-01 4.05007685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.404839173 meters Centerline goodness : 0.886840 Centerline is valid? [False, False] Translation: X:-25.57, Y:37.11, Z:4.04 [[ 9.63005348e-01 2.37763603e-01 -1.26843090e-01 -2.55720671e+01] [-2.38062512e-01 9.71162547e-01 1.30210834e-02 3.71072811e+01] [ 1.26281198e-01 1.76572116e-02 9.91837326e-01 4.04496812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.434839173 meters Centerline goodness : 0.877316 Centerline is valid? [False, False] Translation: X:-25.57, Y:37.11, Z:4.03 [[ 9.62551641e-01 2.35690842e-01 -1.33955831e-01 -2.55674980e+01] [-2.35122866e-01 9.71754212e-01 2.02728655e-02 3.71064223e+01] [ 1.34950272e-01 1.19823989e-02 9.90779918e-01 4.03444175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.464839173 meters Centerline goodness : 0.877168 Centerline is valid? [False, False] Translation: X:-25.57, Y:37.11, Z:4.03 [[ 9.63366980e-01 2.31510339e-01 -1.35377341e-01 -2.55653880e+01] [-2.31555688e-01 9.72696064e-01 1.56310587e-02 3.71060319e+01] [ 1.35299759e-01 1.62889477e-02 9.90670806e-01 4.03183425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.494839173 meters Centerline goodness : 0.883879 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.10, Z:4.04 [[ 9.65181601e-01 2.23132157e-01 -1.36515632e-01 -2.55757029e+01] [-2.24368636e-01 9.74482926e-01 6.46077924e-03 3.70991724e+01] [ 1.34473760e-01 2.43940009e-02 9.90616849e-01 4.03547139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.524839173 meters Centerline goodness : 0.890423 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.09, Z:4.04 [[ 9.66978768e-01 2.19829913e-01 -1.28945229e-01 -2.55813768e+01] [-2.22250101e-01 9.74979258e-01 -4.50984540e-03 3.70901293e+01] [ 1.24727525e-01 3.30190149e-02 9.91641462e-01 4.04399578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.554839173 meters Centerline goodness : 0.893361 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.09, Z:4.04 [[ 9.66841574e-01 2.21262656e-01 -1.27515522e-01 -2.55846842e+01] [-2.23408366e-01 9.74721479e-01 -2.59602290e-03 3.70862808e+01] [ 1.23717715e-01 3.09979773e-02 9.91833178e-01 4.04463495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.584839173 meters Centerline goodness : 0.887391 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.08, Z:4.03 [[ 9.67016080e-01 2.24764347e-01 -1.19836927e-01 -2.55795441e+01] [-2.24657005e-01 9.74328795e-01 1.45818099e-02 3.70848199e+01] [ 1.20038040e-01 1.28213604e-02 9.92686497e-01 4.03475099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.61483917300001 meters Centerline goodness : 0.885998 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.08, Z:4.03 [[ 9.66594976e-01 2.26806791e-01 -1.19385222e-01 -2.55750586e+01] [-2.26305892e-01 9.73891479e-01 1.79173145e-02 3.70842747e+01] [ 1.20332019e-01 9.69879291e-03 9.92686324e-01 4.03270812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.644839173 meters Centerline goodness : 0.885518 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.08, Z:4.03 [[ 9.67469198e-01 2.22751152e-01 -1.19938631e-01 -2.55751160e+01] [-2.22645612e-01 9.74792324e-01 1.44519094e-02 3.70841748e+01] [ 1.20134437e-01 1.27220327e-02 9.92676114e-01 4.03243926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.674839173 meters Centerline goodness : 0.886816 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.08, Z:4.03 [[ 9.68979728e-01 2.15218382e-01 -1.21488000e-01 -2.55827192e+01] [-2.16306953e-01 9.76315878e-01 4.31376692e-03 3.70791751e+01] [ 1.19539066e-01 2.20987464e-02 9.92583527e-01 4.03285369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.704839173 meters Centerline goodness : 0.891609 Centerline is valid? [False, False] Translation: X:-25.60, Y:37.07, Z:4.03 [[ 9.69986525e-01 2.11104596e-01 -1.20668931e-01 -2.56003877e+01] [-2.13381865e-01 9.76949680e-01 -6.12391528e-03 3.70743955e+01] [ 1.16594687e-01 3.16886768e-02 9.92673918e-01 4.03395382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.734839173 meters Centerline goodness : 0.893436 Centerline is valid? [False, False] Translation: X:-25.60, Y:37.07, Z:4.04 [[ 9.69750368e-01 2.12732899e-01 -1.19703541e-01 -2.56047490e+01] [-2.14778974e-01 9.76653178e-01 -4.30837067e-03 3.70727194e+01] [ 1.15992311e-01 2.98878476e-02 9.92800333e-01 4.03714187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.764839173 meters Centerline goodness : 0.897311 Centerline is valid? [False, False] Translation: X:-25.60, Y:37.07, Z:4.04 [[ 9.69006974e-01 2.16611835e-01 -1.18763619e-01 -2.56041981e+01] [-2.18151262e-01 9.75914968e-01 3.90488450e-05 3.70729602e+01] [ 1.15911652e-01 2.58705948e-02 9.92922556e-01 4.03789543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.794839173 meters Centerline goodness : 0.893914 Centerline is valid? [False, False] Translation: X:-25.59, Y:37.07, Z:4.03 [[ 9.67991849e-01 2.21455195e-01 -1.18107482e-01 -2.55919095e+01] [-2.22150932e-01 9.74984141e-01 7.40860633e-03 3.70743096e+01] [ 1.16793596e-01 1.90662167e-02 9.92973180e-01 4.03323207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.824839173 meters Centerline goodness : 0.890480 Centerline is valid? [False, False] Translation: X:-25.59, Y:37.07, Z:4.03 [[ 9.67899453e-01 2.21622807e-01 -1.18549483e-01 -2.55857023e+01] [-2.22244660e-01 9.74957141e-01 8.11689128e-03 3.70717188e+01] [ 1.17379553e-01 1.84906550e-02 9.92914969e-01 4.02852171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.854839173 meters Centerline goodness : 0.890198 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.06, Z:4.02 [[ 9.68699223e-01 2.17153498e-01 -1.20275406e-01 -2.55804710e+01] [-2.18154376e-01 9.75901756e-01 4.94286718e-03 3.70624749e+01] [ 1.18450341e-01 2.14504545e-02 9.92728258e-01 4.02361194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.884839173 meters Centerline goodness : 0.889945 Centerline is valid? [False, False] Translation: X:-25.59, Y:37.06, Z:4.03 [[ 9.69163618e-01 2.15419479e-01 -1.19650868e-01 -2.55863511e+01] [-2.16508956e-01 9.76272543e-01 3.97422269e-03 3.70562277e+01] [ 1.17667982e-01 2.20538124e-02 9.92808076e-01 4.02645653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.914839173 meters Centerline goodness : 0.890958 Centerline is valid? [False, False] Translation: X:-25.59, Y:37.06, Z:4.03 [[ 9.69106855e-01 2.15995292e-01 -1.19071147e-01 -2.55872995e+01] [-2.17008115e-01 9.76159197e-01 4.54971243e-03 3.70560341e+01] [ 1.17215112e-01 2.14302477e-02 9.92875300e-01 4.02657240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.944839173 meters Centerline goodness : 0.888469 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.06, Z:4.02 [[ 9.68638612e-01 2.18142061e-01 -1.18967560e-01 -2.55824762e+01] [-2.18862054e-01 9.75729686e-01 7.14016589e-03 3.70567927e+01] [ 1.17637750e-01 1.91212441e-02 9.92872468e-01 4.02418241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.974839173 meters Centerline goodness : 0.889569 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.06, Z:4.02 [[ 9.68585839e-01 2.18319579e-01 -1.19071549e-01 -2.55820680e+01] [-2.19045377e-01 9.75688700e-01 7.11921760e-03 3.70571240e+01] [ 1.17731030e-01 1.91864990e-02 9.92860153e-01 4.02393230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00483917300001 meters Centerline goodness : 0.861344 Centerline is valid? [False, False] Translation: X:-25.59, Y:37.05, Z:4.03 [[ 9.69104793e-01 2.16042879e-01 -1.19001572e-01 -2.55876533e+01] [-2.16946269e-01 9.76168240e-01 5.46654545e-03 3.70530441e+01] [ 1.17346563e-01 2.05192917e-02 9.92879017e-01 4.02815220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.034839173 meters Centerline goodness : 0.855000 Centerline is valid? [False, False] Translation: X:-25.59, Y:37.05, Z:4.03 [[ 9.69790011e-01 2.12849003e-01 -1.19174813e-01 -2.55899368e+01] [-2.14087103e-01 9.76811463e-01 2.46538425e-03 3.70516573e+01] [ 1.16936078e-01 2.31228853e-02 9.92870226e-01 4.02894169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.064839173 meters Centerline goodness : 0.892949 Centerline is valid? [False, False] Translation: X:-25.59, Y:37.05, Z:4.03 [[ 9.69826117e-01 2.12805261e-01 -1.18958915e-01 -2.55886762e+01] [-2.13989780e-01 9.76831668e-01 2.87528116e-03 3.70488346e+01] [ 1.16814710e-01 2.26674692e-02 9.92895014e-01 4.02731138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.094839173 meters Centerline goodness : 0.878177 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.05, Z:4.03 [[ 9.69274631e-01 2.15385930e-01 -1.18809054e-01 -2.55839520e+01] [-2.16190621e-01 9.76331310e-01 6.22800322e-03 3.70488041e+01] [ 1.17338424e-01 1.96487576e-02 9.92897588e-01 4.02514477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.124839173 meters Centerline goodness : 0.885162 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.05, Z:4.02 [[ 9.68042942e-01 2.21409934e-01 -1.17773104e-01 -2.55773047e+01] [-2.21485106e-01 9.75082147e-01 1.26156157e-02 3.70539248e+01] [ 1.17631674e-01 1.38725307e-02 9.92960393e-01 4.02288272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.154839173 meters Centerline goodness : 0.883150 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.06, Z:4.02 [[ 9.67843011e-01 2.22282911e-01 -1.17771870e-01 -2.55780172e+01] [-2.22374587e-01 9.74880787e-01 1.25297207e-02 3.70565081e+01] [ 1.17598677e-01 1.40626685e-02 9.92961627e-01 4.02350060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.184839173 meters Centerline goodness : 0.885814 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.05, Z:4.02 [[ 9.68296581e-01 2.19071527e-01 -1.20039149e-01 -2.55774380e+01] [-2.19697034e-01 9.75534000e-01 8.16263557e-03 3.70540877e+01] [ 1.18890472e-01 1.84683928e-02 9.92735601e-01 4.02294780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.214839173 meters Centerline goodness : 0.882563 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.05, Z:4.02 [[ 9.69033650e-01 2.15187724e-01 -1.21111634e-01 -2.55767176e+01] [-2.16293229e-01 9.76319837e-01 4.10056993e-03 3.70529584e+01] [ 1.19126083e-01 2.22220362e-02 9.92630423e-01 4.02144828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.244839173 meters Centerline goodness : 0.857339 Centerline is valid? [False, False] Translation: X:-25.57, Y:37.05, Z:4.02 [[ 9.69110876e-01 2.14646678e-01 -1.21453339e-01 -2.55747683e+01] [-2.15738856e-01 9.76441886e-01 4.24142696e-03 3.70511138e+01] [ 1.19502535e-01 2.20917913e-02 9.92588080e-01 4.02040613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.274839173 meters Centerline goodness : 0.878261 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.05, Z:4.01 [[ 9.70640563e-01 2.12729808e-01 -1.12262757e-01 -2.55761235e+01] [-2.12591160e-01 9.77050114e-01 1.33444072e-02 3.70540053e+01] [ 1.12525093e-01 1.09134468e-02 9.93588949e-01 4.01206155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.304839173 meters Centerline goodness : 0.878140 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.05, Z:4.01 [[ 9.70809013e-01 2.12254450e-01 -1.11704563e-01 -2.55760159e+01] [-2.12006509e-01 9.77164627e-01 1.42313836e-02 3.70525249e+01] [ 1.12174422e-01 9.86613894e-03 9.93639552e-01 4.01269158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.334839173 meters Centerline goodness : 0.878853 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.05, Z:4.01 [[ 9.71376491e-01 2.09591450e-01 -1.11799534e-01 -2.55793527e+01] [-2.09637971e-01 9.77711768e-01 1.14725918e-02 3.70523045e+01] [ 1.11712277e-01 1.22932215e-02 9.93664553e-01 4.01458217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36483917300001 meters Centerline goodness : 0.883491 Centerline is valid? [False, False] Translation: X:-25.59, Y:37.05, Z:4.02 [[ 9.72322745e-01 2.04735078e-01 -1.12570100e-01 -2.55868065e+01] [-2.05475601e-01 9.78648901e-01 5.10934054e-03 3.70498123e+01] [ 1.11212666e-01 1.81624810e-02 9.93630649e-01 4.01749274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.394839173 meters Centerline goodness : 0.857831 Centerline is valid? [False, False] Translation: X:-25.59, Y:37.05, Z:4.02 [[ 9.72842504e-01 2.01730542e-01 -1.13500005e-01 -2.55878399e+01] [-2.02864632e-01 9.79205503e-01 1.58872042e-03 3.70494610e+01] [ 1.11460323e-01 2.14795620e-02 9.93536725e-01 4.01778438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.424839173 meters Centerline goodness : 0.857962 Centerline is valid? [False, False] Translation: X:-25.59, Y:37.05, Z:4.02 [[ 9.71998389e-01 2.06165513e-01 -1.12760418e-01 -2.55863999e+01] [-2.06877221e-01 9.78351560e-01 5.48087370e-03 3.70483194e+01] [ 1.11449298e-01 1.80001616e-02 9.93607089e-01 4.01619874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.454839173 meters Centerline goodness : 0.860135 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.05, Z:4.01 [[ 9.72157493e-01 2.05373441e-01 -1.12834205e-01 -2.55839946e+01] [-2.06141698e-01 9.78509668e-01 4.94265721e-03 3.70503648e+01] [ 1.11424451e-01 1.84547934e-02 9.93601536e-01 4.01460529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.484839173 meters Centerline goodness : 0.879735 Centerline is valid? [False, False] Translation: X:-25.59, Y:37.06, Z:4.01 [[ 9.73230148e-01 2.04710794e-01 -1.04482395e-01 -2.55860998e+01] [-2.04722441e-01 9.78761268e-01 1.07285538e-02 3.70573436e+01] [ 1.04459572e-01 1.09485389e-02 9.94468867e-01 4.00717358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.514839173 meters Centerline goodness : 0.878837 Centerline is valid? [False, False] Translation: X:-25.59, Y:37.06, Z:4.01 [[ 9.73241095e-01 2.04497838e-01 -1.04796972e-01 -2.55853881e+01] [-2.04498869e-01 9.78806656e-01 1.08509007e-02 3.70572450e+01] [ 1.04794959e-01 1.08703197e-02 9.94434439e-01 4.00752231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.544839173 meters Centerline goodness : 0.851784 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.05, Z:4.01 [[ 9.74538655e-01 1.99307763e-01 -1.02717208e-01 -2.55759768e+01] [-2.00649634e-01 9.79659078e-01 -2.79568288e-03 3.70509727e+01] [ 1.00070644e-01 2.33346713e-02 9.94706670e-01 4.01019027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.574839173 meters Centerline goodness : 0.865138 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.05, Z:4.01 [[ 9.75079443e-01 1.96476456e-01 -1.03039225e-01 -2.55793290e+01] [-1.98027390e-01 9.80184022e-01 -4.94329878e-03 3.70463078e+01] [ 1.00026161e-01 2.52246979e-02 9.94665010e-01 4.01240934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.604839173 meters Centerline goodness : 0.601619 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.04, Z:4.01 [[ 9.75157297e-01 1.96321569e-01 -1.02596726e-01 -2.55783756e+01] [-1.97793828e-01 9.80234307e-01 -4.27847555e-03 3.70429161e+01] [ 9.97288734e-02 2.44651858e-02 9.94713831e-01 4.01099745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.634839173 meters Centerline goodness : 0.848311 Centerline is valid? [False, False] Translation: X:-25.57, Y:37.04, Z:4.01 [[ 9.74175060e-01 2.01511538e-01 -1.01862911e-01 -2.55710010e+01] [-2.02367213e-01 9.79307729e-01 1.97043660e-03 3.70441856e+01] [ 1.00152202e-01 1.86941633e-02 9.94796494e-01 4.00732305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.664839173 meters Centerline goodness : 0.875790 Centerline is valid? [False, False] Translation: X:-25.57, Y:37.05, Z:4.00 [[ 9.74357770e-01 2.04838499e-01 -9.31027698e-02 -2.55665271e+01] [-2.04617224e-01 9.78768269e-01 1.20194193e-02 3.70536456e+01] [ 9.35880767e-02 7.33921566e-03 9.95583953e-01 3.99603608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.694839173 meters Centerline goodness : 0.875170 Centerline is valid? [False, False] Translation: X:-25.56, Y:37.06, Z:3.99 [[ 9.73640691e-01 2.08100510e-01 -9.33701346e-02 -2.55627773e+01] [-2.07670998e-01 9.78092714e-01 1.44013716e-02 3.70569674e+01] [ 9.43215811e-02 5.36850772e-03 9.95527307e-01 3.99418678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.724839173 meters Centerline goodness : 0.877801 Centerline is valid? [False, False] Translation: X:-25.57, Y:37.06, Z:3.99 [[ 9.73834602e-01 2.06723698e-01 -9.44006397e-02 -2.55732141e+01] [-2.07170987e-01 9.78291219e-01 5.14512935e-03 3.70592175e+01] [ 9.34149371e-02 1.45465687e-02 9.95520993e-01 3.99333690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.75483917300001 meters Centerline goodness : 0.840626 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.06, Z:4.00 [[ 9.73902161e-01 2.06468986e-01 -9.42610097e-02 -2.55814807e+01] [-2.07123725e-01 9.78310484e-01 2.89123125e-03 3.70556451e+01] [ 9.28134836e-02 1.67079151e-02 9.95543320e-01 3.99674444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.784839173 meters Centerline goodness : 0.876296 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.05, Z:4.00 [[ 9.74455753e-01 2.03841436e-01 -9.42584468e-02 -2.55845271e+01] [-2.04734178e-01 9.78817590e-01 2.03552137e-04 3.70537728e+01] [ 9.23033181e-02 1.90995730e-02 9.95547741e-01 3.99795091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.814839173 meters Centerline goodness : 0.877168 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.06, Z:4.00 [[ 9.74041497e-01 2.05986894e-01 -9.38752434e-02 -2.55794719e+01] [-2.06568386e-01 9.78425593e-01 3.58633952e-03 3.70552742e+01] [ 9.25886796e-02 1.58984140e-02 9.95577509e-01 3.99580839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.844839173 meters Centerline goodness : 0.872832 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.06, Z:3.99 [[ 9.76573795e-01 1.98771687e-01 -8.24223215e-02 -2.55762080e+01] [-1.97105215e-01 9.79983341e-01 2.79675921e-02 3.70577686e+01] [ 8.63316674e-02 -1.10665481e-02 9.96204986e-01 3.99089832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.874839173 meters Centerline goodness : 0.868340 Centerline is valid? [False, False] Translation: X:-25.57, Y:37.06, Z:3.99 [[ 9.77224832e-01 1.94791419e-01 -8.41898464e-02 -2.55668061e+01] [-1.93222146e-01 9.80797599e-01 2.64815444e-02 3.70578792e+01] [ 8.77315768e-02 -9.61108004e-03 9.96097785e-01 3.98728111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.904839173 meters Centerline goodness : 0.811315 Centerline is valid? [False, False] Translation: X:-25.57, Y:37.06, Z:3.99 [[ 9.78500957e-01 1.87674099e-01 -8.55237350e-02 -2.55694750e+01] [-1.86721420e-01 9.82227647e-01 1.90777473e-02 3.70563474e+01] [ 8.75841760e-02 -2.69848071e-03 9.96153467e-01 3.98849309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.934839173 meters Centerline goodness : 0.869456 Centerline is valid? [False, False] Translation: X:-25.57, Y:37.05, Z:3.99 [[ 9.80926286e-01 1.76096407e-01 -8.23023539e-02 -2.55708123e+01] [-1.76944911e-01 9.84215956e-01 -3.07428413e-03 3.70483359e+01] [ 8.04619195e-02 1.75786288e-02 9.96602665e-01 3.99442308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.964839173 meters Centerline goodness : 0.869456 Centerline is valid? [False, False] Translation: X:-25.57, Y:37.05, Z:3.99 [[ 9.80926286e-01 1.76096407e-01 -8.23023539e-02 -2.55708123e+01] [-1.76944911e-01 9.84215956e-01 -3.07428413e-03 3.70483359e+01] [ 8.04619195e-02 1.75786288e-02 9.96602665e-01 3.99442308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.994839173 meters Centerline goodness : 0.871033 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.04, Z:4.00 [[ 9.81378511e-01 1.73687937e-01 -8.20287689e-02 -2.55760607e+01] [-1.74599715e-01 9.84631287e-01 -4.02092103e-03 3.70431514e+01] [ 8.00697069e-02 1.82682452e-02 9.96621851e-01 3.99966918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.024839173 meters Centerline goodness : 0.879100 Centerline is valid? [False, False] Translation: X:-25.58, Y:37.04, Z:4.00 [[ 9.81433356e-01 1.73686116e-01 -8.13738284e-02 -2.55768481e+01] [-1.74507643e-01 9.84651126e-01 -3.04018685e-03 3.70420268e+01] [ 7.95967935e-02 1.71840957e-02 9.96679014e-01 4.00086932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.054839173 meters Centerline goodness : 0.872009 Centerline is valid? [False, False] Translation: X:-25.57, Y:37.04, Z:4.00 [[ 9.81060294e-01 1.75540148e-01 -8.18923426e-02 -2.55694398e+01] [-1.76165273e-01 9.84360515e-01 -4.14740173e-04 3.70433699e+01] [ 8.05387850e-02 1.48334720e-02 9.96641095e-01 3.99681041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.084839173 meters Centerline goodness : 0.871265 Centerline is valid? [False, False] Translation: X:-25.56, Y:37.04, Z:3.99 [[ 9.80199555e-01 1.77210298e-01 -8.83478475e-02 -2.55625769e+01] [-1.76799694e-01 9.84167295e-01 1.25141506e-02 3.70447735e+01] [ 8.91666984e-02 3.35350758e-03 9.96011071e-01 3.98737176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.11483917300001 meters Centerline goodness : 0.869182 Centerline is valid? [False, False] Translation: X:-25.56, Y:37.04, Z:3.98 [[ 9.79627294e-01 1.80033992e-01 -8.89838532e-02 -2.55574100e+01] [-1.79355357e-01 9.83660176e-01 1.56305344e-02 3.70432589e+01] [ 9.03439003e-02 6.47632711e-04 9.95910418e-01 3.98488506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.144839173 meters Centerline goodness : 0.871519 Centerline is valid? [False, False] Translation: X:-25.56, Y:37.04, Z:3.99 [[ 9.79097337e-01 1.82903790e-01 -8.89640824e-02 -2.55610278e+01] [-1.82205177e-01 9.83130656e-01 1.59808197e-02 3.70430256e+01] [ 9.03862692e-02 5.62938373e-04 9.95906625e-01 3.98596985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.174839173 meters Centerline goodness : 0.857193 Centerline is valid? [False, False] Translation: X:-25.56, Y:37.04, Z:3.99 [[ 9.79342300e-01 1.81428368e-01 -8.92883389e-02 -2.55648331e+01] [-1.81006723e-01 9.83397710e-01 1.28650660e-02 3.70448386e+01] [ 9.01400359e-02 3.56248635e-03 9.95922729e-01 3.98783649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.204839173 meters Centerline goodness : 0.841600 Centerline is valid? [False, False] Translation: X:-25.57, Y:37.05, Z:3.99 [[ 9.79005720e-01 1.83259669e-01 -8.92395273e-02 -2.55664961e+01] [-1.82892453e-01 9.83055418e-01 1.23448993e-02 3.70491336e+01] [ 8.99897229e-02 4.23550897e-03 9.95933688e-01 3.98819332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.234839173 meters Centerline goodness : 0.793954 Centerline is valid? [False, False] Translation: X:-25.56, Y:37.05, Z:3.99 [[ 9.78425937e-01 1.86183503e-01 -8.95454593e-02 -2.55624571e+01] [-1.85560807e-01 9.82513615e-01 1.53030650e-02 3.70500964e+01] [ 9.08288112e-02 1.64321205e-03 9.95865165e-01 3.98653150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.264839173 meters Centerline goodness : 0.795694 Centerline is valid? [False, False] Translation: X:-25.56, Y:37.05, Z:3.99 [[ 9.78496861e-01 1.85619118e-01 -8.99412979e-02 -2.55614292e+01] [-1.84933084e-01 9.82621260e-01 1.59754173e-02 3.70482192e+01] [ 9.13435744e-02 1.00122587e-03 9.95818934e-01 3.98778458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.294839173 meters Centerline goodness : 0.877049 Centerline is valid? [False, False] Translation: X:-25.56, Y:37.04, Z:3.99 [[ 9.81257694e-01 1.76050582e-01 -7.83551542e-02 -2.55627397e+01] [-1.75637426e-01 9.84379472e-01 1.21881268e-02 3.70407202e+01] [ 7.92769321e-02 1.80240442e-03 9.96851002e-01 3.99073175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.324839173 meters Centerline goodness : 0.880199 Centerline is valid? [False, False] Translation: X:-25.56, Y:37.04, Z:3.99 [[ 9.81460100e-01 1.75354761e-01 -7.73742896e-02 -2.55639191e+01] [-1.74756222e-01 9.84505060e-01 1.44930679e-02 3.70355150e+01] [ 7.87168082e-02 -7.02729362e-04 9.96896770e-01 3.99388127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.354839173 meters Centerline goodness : 0.877671 Centerline is valid? [False, False] Translation: X:-25.57, Y:37.04, Z:3.99 [[ 9.83183100e-01 1.69327301e-01 -6.84050904e-02 -2.55683910e+01] [-1.68360672e-01 9.85528601e-01 1.96992732e-02 3.70354239e+01] [ 7.07507978e-02 -7.85126556e-03 9.97463123e-01 3.98584061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.384839173 meters Centerline goodness : 0.877978 Centerline is valid? [False, False] Translation: X:-25.57, Y:37.03, Z:3.98 [[ 9.83313390e-01 1.68356817e-01 -6.89257488e-02 -2.55652272e+01] [-1.67410278e-01 9.85697842e-01 1.93277997e-02 3.70335102e+01] [ 7.11939286e-02 -7.46640544e-03 9.97434548e-01 3.98359073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.414839173 meters Centerline goodness : 0.881361 Centerline is valid? [False, False] Translation: X:-25.56, Y:37.03, Z:3.98 [[ 9.84148674e-01 1.64367495e-01 -6.65936493e-02 -2.55560517e+01] [-1.64541365e-01 9.86365911e-01 2.90308933e-03 3.70281240e+01] [ 6.61628791e-02 8.10033846e-03 9.97775956e-01 3.98001254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.444839173 meters Centerline goodness : 0.885508 Centerline is valid? [False, False] Translation: X:-25.56, Y:37.02, Z:3.98 [[ 9.84572625e-01 1.61672662e-01 -6.69230697e-02 -2.55594510e+01] [-1.62006170e-01 9.86789643e-01 4.49302580e-04 3.70238920e+01] [ 6.61116320e-02 1.03995792e-02 9.97758037e-01 3.98259606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.474839173 meters Centerline goodness : 0.888852 Centerline is valid? [False, False] Translation: X:-25.56, Y:37.02, Z:3.98 [[ 9.85054351e-01 1.58457484e-01 -6.75214868e-02 -2.55600982e+01] [-1.59004204e-01 9.87274029e-01 -2.76688213e-03 3.70221804e+01] [ 6.62237771e-02 1.34617295e-02 9.97713984e-01 3.98273677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50483917300001 meters Centerline goodness : 0.885861 Centerline is valid? [False, False] Translation: X:-25.55, Y:37.02, Z:3.98 [[ 9.85812058e-01 1.53403616e-01 -6.81316181e-02 -2.55504648e+01] [-1.52902534e-01 9.88161701e-01 1.25406687e-02 3.70196620e+01] [ 6.92488396e-02 -1.94524539e-03 9.97597521e-01 3.98021373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.534839173 meters Centerline goodness : 0.870314 Centerline is valid? [False, False] Translation: X:-25.54, Y:37.02, Z:3.97 [[ 9.86117303e-01 1.49109540e-01 -7.30685212e-02 -2.55352997e+01] [-1.47490520e-01 9.88692021e-01 2.71041349e-02 3.70195984e+01] [ 7.62837490e-02 -1.59509423e-02 9.96958553e-01 3.97323051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.564839173 meters Centerline goodness : 0.874108 Centerline is valid? [False, False] Translation: X:-25.53, Y:37.02, Z:3.97 [[ 9.86250534e-01 1.47595091e-01 -7.43342048e-02 -2.55298292e+01] [-1.46046492e-01 9.88939031e-01 2.58846612e-02 3.70190471e+01] [ 7.73324454e-02 -1.46725111e-02 9.96897392e-01 3.96976061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.594839173 meters Centerline goodness : 0.885403 Centerline is valid? [False, False] Translation: X:-25.53, Y:37.02, Z:3.97 [[ 9.86717481e-01 1.43933087e-01 -7.53118856e-02 -2.55294783e+01] [-1.42697419e-01 9.89531355e-01 2.15671827e-02 3.70184296e+01] [ 7.76277034e-02 -1.05339045e-02 9.96926766e-01 3.96881146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.624839173 meters Centerline goodness : 0.880110 Centerline is valid? [False, False] Translation: X:-25.53, Y:37.02, Z:3.97 [[ 9.86924636e-01 1.44176118e-01 -7.20625463e-02 -2.55265220e+01] [-1.44182144e-01 9.89537787e-01 5.14561953e-03 3.70192683e+01] [ 7.20504880e-02 5.31179375e-03 9.97386842e-01 3.96616976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.654839173 meters Centerline goodness : 0.884112 Centerline is valid? [False, False] Translation: X:-25.52, Y:37.02, Z:3.97 [[ 9.86510182e-01 1.49357604e-01 -6.70072157e-02 -2.55203417e+01] [-1.49846029e-01 9.88706681e-01 -2.29487160e-03 3.70212581e+01] [ 6.59077253e-02 1.23046794e-02 9.97749852e-01 3.96800223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.684839173 meters Centerline goodness : 0.884191 Centerline is valid? [False, False] Translation: X:-25.52, Y:37.02, Z:3.97 [[ 9.86333194e-01 1.50615475e-01 -6.67967711e-02 -2.55225431e+01] [-1.51065501e-01 9.88522277e-01 -1.70915237e-03 3.70235587e+01] [ 6.57726715e-02 1.17764814e-02 9.97765138e-01 3.97017229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.714839173 meters Centerline goodness : 0.882402 Centerline is valid? [False, False] Translation: X:-25.52, Y:37.03, Z:3.97 [[ 9.85300680e-01 1.57401173e-01 -6.63885531e-02 -2.55183218e+01] [-1.57405348e-01 9.87520384e-01 5.20074689e-03 3.70295459e+01] [ 6.63786531e-02 5.32561389e-03 9.97780293e-01 3.96979291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.744839173 meters Centerline goodness : 0.880716 Centerline is valid? [False, False] Translation: X:-25.51, Y:37.03, Z:3.97 [[ 9.84886189e-01 1.59933595e-01 -6.64863956e-02 -2.55126294e+01] [-1.59782556e-01 9.87122842e-01 7.61768168e-03 3.70345773e+01] [ 6.68485630e-02 3.12081673e-03 9.97758252e-01 3.96626072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.774839173 meters Centerline goodness : 0.876960 Centerline is valid? [False, False] Translation: X:-25.51, Y:37.04, Z:3.97 [[ 9.83816946e-01 1.66778414e-01 -6.54918098e-02 -2.55085653e+01] [-1.66198148e-01 9.85989422e-01 1.42490750e-02 3.70419898e+01] [ 6.69506698e-02 -3.13386396e-03 9.97751365e-01 3.96500907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.804839173 meters Centerline goodness : 0.878008 Centerline is valid? [False, False] Translation: X:-25.51, Y:37.04, Z:3.97 [[ 9.83618435e-01 1.68366971e-01 -6.43998175e-02 -2.55130147e+01] [-1.67732613e-01 9.85715768e-01 1.51722144e-02 3.70437904e+01] [ 6.60344154e-02 -4.12172012e-03 9.97808833e-01 3.96838457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.834839173 meters Centerline goodness : 0.887948 Centerline is valid? [False, False] Translation: X:-25.52, Y:37.04, Z:3.98 [[ 9.84013642e-01 1.68565730e-01 -5.74695285e-02 -2.55218918e+01] [-1.68677813e-01 9.85666886e-01 2.93004778e-03 3.70427523e+01] [ 5.71397168e-02 6.81062741e-03 9.98342961e-01 3.97978145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86483917300001 meters Centerline goodness : 0.888860 Centerline is valid? [False, False] Translation: X:-25.53, Y:37.04, Z:3.98 [[ 9.84386288e-01 1.66260089e-01 -5.78032751e-02 -2.55259816e+01] [-1.66510783e-01 9.86039514e-01 4.85876217e-04 3.70405617e+01] [ 5.70770951e-02 9.14657871e-03 9.98327875e-01 3.98324328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.894839173 meters Centerline goodness : 0.885462 Centerline is valid? [False, False] Translation: X:-25.52, Y:37.04, Z:3.97 [[ 9.84222487e-01 1.66513185e-01 -5.98285563e-02 -2.55156239e+01] [-1.66828003e-01 9.85985976e-01 -2.70891138e-04 3.70410513e+01] [ 5.89450105e-02 1.02476957e-02 9.98208631e-01 3.97409060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.924839173 meters Centerline goodness : 0.880568 Centerline is valid? [False, False] Translation: X:-25.50, Y:37.04, Z:3.97 [[ 9.83928581e-01 1.68056719e-01 -6.03447309e-02 -2.55023053e+01] [-1.68137489e-01 9.85756333e-01 3.77322423e-03 3.70431034e+01] [ 6.01193163e-02 6.43362835e-03 9.98170465e-01 3.96711572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.954839173 meters Centerline goodness : 0.884166 Centerline is valid? [False, False] Translation: X:-25.49, Y:37.05, Z:3.96 [[ 9.83591245e-01 1.67752503e-01 -6.63879547e-02 -2.54944660e+01] [-1.66955560e-01 9.85810604e-01 1.74153486e-02 3.70474141e+01] [ 6.83674181e-02 -6.04574628e-03 9.97641892e-01 3.96089705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.984839173 meters Centerline goodness : 0.875618 Centerline is valid? [False, False] Translation: X:-25.49, Y:37.05, Z:3.96 [[ 9.83568631e-01 1.67583905e-01 -6.71445000e-02 -2.54924084e+01] [-1.66826354e-01 9.85843582e-01 1.67749945e-02 3.70478974e+01] [ 6.90051934e-02 -5.29788629e-03 9.97602233e-01 3.95966920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.014839173 meters Centerline goodness : 0.882954 Centerline is valid? [False, False] Translation: X:-25.49, Y:37.05, Z:3.96 [[ 9.83242864e-01 1.68980474e-01 -6.84037304e-02 -2.54927014e+01] [-1.68262301e-01 9.85609626e-01 1.61697969e-02 3.70498001e+01] [ 7.01517551e-02 -4.38906834e-03 9.97526675e-01 3.96092523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.044839173 meters Centerline goodness : 0.881845 Centerline is valid? [False, False] Translation: X:-25.49, Y:37.06, Z:3.96 [[ 9.82804034e-01 1.71217079e-01 -6.91443607e-02 -2.54938155e+01] [-1.70509591e-01 9.85225266e-01 1.60516089e-02 3.70552391e+01] [ 7.08710807e-02 -3.98580929e-03 9.97477520e-01 3.96282339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.074839173 meters Centerline goodness : 0.883810 Centerline is valid? [False, False] Translation: X:-25.49, Y:37.06, Z:3.96 [[ 9.82704424e-01 1.71837972e-01 -6.90197598e-02 -2.54940957e+01] [-1.71135103e-01 9.85117402e-01 1.60150383e-02 3.70580346e+01] [ 7.07445581e-02 -3.92634526e-03 9.97486737e-01 3.96293051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.104839173 meters Centerline goodness : 0.884308 Centerline is valid? [False, False] Translation: X:-25.49, Y:37.06, Z:3.96 [[ 9.82712059e-01 1.72113470e-01 -6.82199533e-02 -2.54925719e+01] [-1.71369429e-01 9.85066023e-01 1.66568189e-02 3.70612259e+01] [ 7.00680209e-02 -4.67804233e-03 9.97531247e-01 3.96142407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.134839173 meters Centerline goodness : 0.873402 Centerline is valid? [False, False] Translation: X:-25.49, Y:37.07, Z:3.95 [[ 9.83252876e-01 1.72486853e-01 -5.88393279e-02 -2.54941585e+01] [-1.71168307e-01 9.84877343e-01 2.67960801e-02 3.70696121e+01] [ 6.25714925e-02 -1.62758947e-02 9.97907763e-01 3.95257374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.164839173 meters Centerline goodness : 0.872566 Centerline is valid? [False, False] Translation: X:-25.49, Y:37.07, Z:3.95 [[ 9.83252675e-01 1.72663744e-01 -5.83215899e-02 -2.54918882e+01] [-1.71336382e-01 9.84840388e-01 2.70786845e-02 3.70737672e+01] [ 6.21129642e-02 -1.66325787e-02 9.97930527e-01 3.95052966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.194839173 meters Centerline goodness : 0.882851 Centerline is valid? [False, False] Translation: X:-25.49, Y:37.07, Z:3.95 [[ 9.83436282e-01 1.73338066e-01 -5.29810836e-02 -2.54870126e+01] [-1.72764480e-01 9.84845010e-01 1.52558508e-02 3.70740174e+01] [ 5.48225755e-02 -5.84990780e-03 9.98478975e-01 3.95099247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.224839173 meters Centerline goodness : 0.877542 Centerline is valid? [False, False] Translation: X:-25.48, Y:37.07, Z:3.95 [[ 9.84036620e-01 1.71270623e-01 -4.83560154e-02 -2.54823445e+01] [-1.71445486e-01 9.85193461e-01 5.38950452e-04 3.70726544e+01] [ 4.77323365e-02 7.76007358e-03 9.98830018e-01 3.95091022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.25483917300001 meters Centerline goodness : 0.879865 Centerline is valid? [False, False] Translation: X:-25.49, Y:37.07, Z:3.96 [[ 9.84599060e-01 1.68013005e-01 -4.83355067e-02 -2.54900512e+01] [-1.68403745e-01 9.85709579e-01 -4.09925559e-03 3.70703708e+01] [ 4.69560437e-02 1.21760035e-02 9.98822744e-01 3.95501706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.284839173 meters Centerline goodness : 0.881665 Centerline is valid? [False, False] Translation: X:-25.49, Y:37.07, Z:3.96 [[ 9.85143883e-01 1.64603185e-01 -4.89624528e-02 -2.54907655e+01] [-1.65148003e-01 9.86241999e-01 -7.27028646e-03 3.70679022e+01] [ 4.70921150e-02 1.52483296e-02 9.98774159e-01 3.95549103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.314839173 meters Centerline goodness : 0.878273 Centerline is valid? [False, False] Translation: X:-25.49, Y:37.06, Z:3.95 [[ 9.85323111e-01 1.63389886e-01 -4.94177246e-02 -2.54853351e+01] [-1.63940853e-01 9.86443293e-01 -7.28188737e-03 3.70621808e+01] [ 4.75579963e-02 1.52765958e-02 9.98751652e-01 3.95009272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.344839173 meters Centerline goodness : 0.879394 Centerline is valid? [False, False] Translation: X:-25.48, Y:37.06, Z:3.95 [[ 9.85428107e-01 1.62575703e-01 -5.00058695e-02 -2.54810561e+01] [-1.63127054e-01 9.86579363e-01 -7.12216298e-03 3.70588735e+01] [ 4.81768682e-02 1.51756897e-02 9.98723529e-01 3.94659583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.374839173 meters Centerline goodness : 0.885201 Centerline is valid? [False, False] Translation: X:-25.47, Y:37.05, Z:3.95 [[ 9.87083222e-01 1.51248318e-01 -5.28266891e-02 -2.54711309e+01] [-1.51248219e-01 9.88487629e-01 4.02280973e-03 3.70487595e+01] [ 5.28269719e-02 4.01909466e-03 9.98595593e-01 3.94530639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.404839173 meters Centerline goodness : 0.885006 Centerline is valid? [False, False] Translation: X:-25.47, Y:37.04, Z:3.94 [[ 9.87791406e-01 1.46214759e-01 -5.37529832e-02 -2.54687638e+01] [-1.46382808e-01 9.89227680e-01 8.18692570e-04 3.70433853e+01] [ 5.32936438e-02 7.05981514e-03 9.98553928e-01 3.94400899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.434839173 meters Centerline goodness : 0.887996 Centerline is valid? [False, False] Translation: X:-25.47, Y:37.03, Z:3.95 [[ 9.89271983e-01 1.35711399e-01 -5.40681015e-02 -2.54735722e+01] [-1.36222067e-01 9.90661013e-01 -5.85709973e-03 3.70302116e+01] [ 5.27682851e-02 1.31595332e-02 9.98520072e-01 3.94943052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.464839173 meters Centerline goodness : 0.885275 Centerline is valid? [False, False] Translation: X:-25.48, Y:37.02, Z:3.96 [[ 9.89857622e-01 1.31392491e-01 -5.40176087e-02 -2.54751829e+01] [-1.31779966e-01 9.91272238e-01 -3.65945193e-03 3.70187385e+01] [ 5.30653314e-02 1.07407750e-02 9.98533278e-01 3.95920634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.494839173 meters Centerline goodness : 0.887600 Centerline is valid? [False, False] Translation: X:-25.47, Y:37.02, Z:3.96 [[ 9.89899028e-01 1.31063090e-01 -5.40590539e-02 -2.54743474e+01] [-1.31414777e-01 9.91322970e-01 -2.98764332e-03 3.70170037e+01] [ 5.31984121e-02 1.00616238e-02 9.98533271e-01 3.95948550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.524839173 meters Centerline goodness : 0.884581 Centerline is valid? [False, False] Translation: X:-25.47, Y:37.02, Z:3.96 [[ 9.89754269e-01 1.32259203e-01 -5.37958213e-02 -2.54695090e+01] [-1.32457611e-01 9.91188663e-01 -1.23851526e-04 3.70163301e+01] [ 5.33054277e-02 7.24824853e-03 9.98551949e-01 3.95682593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.554839173 meters Centerline goodness : 0.881031 Centerline is valid? [False, False] Translation: X:-25.47, Y:37.02, Z:3.95 [[ 9.89771955e-01 1.32018557e-01 -5.40608674e-02 -2.54675104e+01] [-1.32259387e-01 9.91214745e-01 -8.85878656e-04 3.70188774e+01] [ 5.34689764e-02 8.02687503e-03 9.98537249e-01 3.95490372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.584839173 meters Centerline goodness : 0.879800 Centerline is valid? [False, False] Translation: X:-25.47, Y:37.02, Z:3.95 [[ 9.89322711e-01 1.35254830e-01 -5.42835481e-02 -2.54650177e+01] [-1.35306800e-01 9.90799978e-01 2.73366068e-03 3.70191120e+01] [ 5.41538791e-02 4.64046058e-03 9.98521819e-01 3.95468617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.61483917300001 meters Centerline goodness : 0.879913 Centerline is valid? [False, False] Translation: X:-25.47, Y:37.02, Z:3.96 [[ 9.89015768e-01 1.37700902e-01 -5.37240388e-02 -2.54697052e+01] [-1.37721746e-01 9.90465355e-01 3.33174852e-03 3.70217098e+01] [ 5.36705839e-02 4.10381659e-03 9.98550263e-01 3.95788430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.644839173 meters Centerline goodness : 0.883170 Centerline is valid? [False, False] Translation: X:-25.47, Y:37.02, Z:3.96 [[ 9.88949908e-01 1.38011767e-01 -5.41371646e-02 -2.54744230e+01] [-1.38074337e-01 9.90418454e-01 2.60075516e-03 3.70220173e+01] [ 5.39773817e-02 4.90293656e-03 9.98530121e-01 3.96248917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.674839173 meters Centerline goodness : 0.887443 Centerline is valid? [False, False] Translation: X:-25.48, Y:37.02, Z:3.97 [[ 9.89148153e-01 1.36401999e-01 -5.45932839e-02 -2.54776641e+01] [-1.36601108e-01 9.90626130e-01 8.52019351e-05 3.70225827e+01] [ 5.40931553e-02 7.37322571e-03 9.98508671e-01 3.96528814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.704839173 meters Centerline goodness : 0.884258 Centerline is valid? [False, False] Translation: X:-25.48, Y:37.03, Z:3.95 [[ 9.89995118e-01 1.33303083e-01 -4.62596450e-02 -2.54773982e+01] [-1.33087582e-01 9.91074203e-01 7.72142805e-03 3.70266262e+01] [ 4.68760309e-02 -1.48759179e-03 9.98899607e-01 3.95473622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.734839173 meters Centerline goodness : 0.879812 Centerline is valid? [False, False] Translation: X:-25.48, Y:37.03, Z:3.95 [[ 9.90482123e-01 1.32947991e-01 -3.56369908e-02 -2.54836228e+01] [-1.32373694e-01 9.91035924e-01 1.80278325e-02 3.70349391e+01] [ 3.77143022e-02 -1.31388458e-02 9.99202183e-01 3.94935367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.764839173 meters Centerline goodness : 0.879986 Centerline is valid? [False, False] Translation: X:-25.48, Y:37.04, Z:3.95 [[ 9.90419505e-01 1.33392926e-01 -3.57145730e-02 -2.54844619e+01] [-1.32819067e-01 9.90976914e-01 1.79958811e-02 3.70372670e+01] [ 3.77928405e-02 -1.30798954e-02 9.99199989e-01 3.95075887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.794839173 meters Centerline goodness : 0.878244 Centerline is valid? [False, False] Translation: X:-25.49, Y:37.04, Z:3.95 [[ 9.90663175e-01 1.31383893e-01 -3.63970540e-02 -2.54867925e+01] [-1.30959683e-01 9.91291446e-01 1.38141289e-02 3.70395063e+01] [ 3.78950423e-02 -8.91860211e-03 9.99241925e-01 3.95148070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.824839173 meters Centerline goodness : 0.878395 Centerline is valid? [False, False] Translation: X:-25.49, Y:37.04, Z:3.95 [[ 9.90659985e-01 1.31066791e-01 -3.76070479e-02 -2.54915811e+01] [-1.30881997e-01 9.91370745e-01 7.34504383e-03 3.70403015e+01] [ 3.82452185e-02 -2.35435549e-03 9.99265610e-01 3.94933884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.854839173 meters Centerline goodness : 0.878395 Centerline is valid? [False, False] Translation: X:-25.49, Y:37.04, Z:3.95 [[ 9.90659985e-01 1.31066791e-01 -3.76070479e-02 -2.54915811e+01] [-1.30881997e-01 9.91370745e-01 7.34504383e-03 3.70403015e+01] [ 3.82452185e-02 -2.35435549e-03 9.99265610e-01 3.94933884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.884839173 meters Centerline goodness : 0.882389 Centerline is valid? [False, False] Translation: X:-25.49, Y:37.04, Z:3.95 [[ 9.90525056e-01 1.31981804e-01 -3.79594204e-02 -2.54926257e+01] [-1.31797569e-01 9.91249576e-01 7.32659834e-03 3.70400202e+01] [ 3.85942371e-02 -2.25421991e-03 9.99252422e-01 3.95026625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.914839173 meters Centerline goodness : 0.880783 Centerline is valid? [False, False] Translation: X:-25.49, Y:37.04, Z:3.95 [[ 9.90402619e-01 1.32954140e-01 -3.77604107e-02 -2.54941864e+01] [-1.32781070e-01 9.91120204e-01 7.06600458e-03 3.70417471e+01] [ 3.83645605e-02 -1.98432171e-03 9.99261839e-01 3.95069501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.944839173 meters Centerline goodness : 0.877958 Centerline is valid? [False, False] Translation: X:-25.49, Y:37.04, Z:3.95 [[ 9.90470908e-01 1.32361015e-01 -3.80518243e-02 -2.54917817e+01] [-1.32204256e-01 9.91200403e-01 6.61785741e-03 3.70422442e+01] [ 3.85929299e-02 -1.52418211e-03 9.99253853e-01 3.94864335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.974839173 meters Centerline goodness : 0.874465 Centerline is valid? [False, False] Translation: X:-25.48, Y:37.04, Z:3.94 [[ 9.91206579e-01 1.26084873e-01 -4.01512527e-02 -2.54790031e+01] [-1.25295039e-01 9.91883816e-01 2.16251759e-02 3.70395978e+01] [ 4.25519853e-02 -1.64042638e-02 9.98959573e-01 3.94389824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00483917300001 meters Centerline goodness : 0.890949 Centerline is valid? [False, False] Translation: X:-25.48, Y:37.04, Z:3.94 [[ 9.92205563e-01 1.20372563e-01 -3.22267942e-02 -2.54804917e+01] [-1.19522484e-01 9.92460859e-01 2.71259934e-02 3.70427610e+01] [ 3.52490572e-02 -2.30627350e-02 9.99112413e-01 3.93623576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.034839173 meters Centerline goodness : 0.890358 Centerline is valid? [False, False] Translation: X:-25.48, Y:37.04, Z:3.94 [[ 9.92562861e-01 1.17510707e-01 -3.17836514e-02 -2.54839780e+01] [-1.16782677e-01 9.92870529e-01 2.38729808e-02 3.70436532e+01] [ 3.43623817e-02 -1.99836543e-02 9.99209628e-01 3.93816715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.064839173 meters Centerline goodness : 0.876551 Centerline is valid? [False, False] Translation: X:-25.48, Y:37.04, Z:3.94 [[ 9.92786118e-01 1.16851060e-01 -2.68617403e-02 -2.54754527e+01] [-1.16574242e-01 9.93113586e-01 1.16554992e-02 3.70434180e+01] [ 2.80387166e-02 -8.44003081e-03 9.99571206e-01 3.93682712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.094839173 meters Centerline goodness : 0.886898 Centerline is valid? [False, False] Translation: X:-25.47, Y:37.04, Z:3.94 [[ 9.93083612e-01 1.15257629e-01 -2.23745011e-02 -2.54702961e+01] [-1.15370275e-01 9.93315262e-01 -3.80647258e-03 3.70417889e+01] [ 2.17862084e-02 6.36149788e-03 9.99742413e-01 3.93536453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.124839173 meters Centerline goodness : 0.885871 Centerline is valid? [False, False] Translation: X:-25.47, Y:37.04, Z:3.93 [[ 9.92968351e-01 1.16285384e-01 -2.21712327e-02 -2.54710806e+01] [-1.16406704e-01 9.93192504e-01 -4.25782011e-03 3.70449974e+01] [ 2.15251798e-02 6.80876073e-03 9.99745121e-01 3.93474754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.154839173 meters Centerline goodness : 0.884395 Centerline is valid? [False, False] Translation: X:-25.47, Y:37.05, Z:3.93 [[ 9.92923906e-01 1.16737324e-01 -2.17833468e-02 -2.54716071e+01] [-1.16862982e-01 9.93137472e-01 -4.58323803e-03 3.70477397e+01] [ 2.10988230e-02 7.09647347e-03 9.99752209e-01 3.93416890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.184839173 meters Centerline goodness : 0.880989 Centerline is valid? [False, False] Translation: X:-25.47, Y:37.05, Z:3.93 [[ 9.92601639e-01 1.19435324e-01 -2.18446474e-02 -2.54666198e+01] [-1.19524545e-01 9.92827239e-01 -2.82064148e-03 3.70534008e+01] [ 2.13510768e-02 5.41074490e-03 9.99757398e-01 3.92915528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.214839173 meters Centerline goodness : 0.875638 Centerline is valid? [False, False] Translation: X:-25.46, Y:37.06, Z:3.93 [[ 9.92299508e-01 1.21819509e-01 -2.23985394e-02 -2.54614720e+01] [-1.21863902e-01 9.92546624e-01 -6.22700974e-04 3.70565072e+01] [ 2.21557376e-02 3.34747929e-03 9.99748927e-01 3.92552808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.244839173 meters Centerline goodness : 0.885684 Centerline is valid? [False, False] Translation: X:-25.46, Y:37.06, Z:3.92 [[ 9.91894030e-01 1.25005304e-01 -2.28014550e-02 -2.54584121e+01] [-1.25002618e-01 9.92155203e-01 1.54868891e-03 3.70610274e+01] [ 2.28161766e-02 1.31410630e-03 9.99738813e-01 3.92351754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.274839173 meters Centerline goodness : 0.886398 Centerline is valid? [False, False] Translation: X:-25.46, Y:37.06, Z:3.92 [[ 9.92186209e-01 1.22590795e-01 -2.31953385e-02 -2.54604064e+01] [-1.22671385e-01 9.92445168e-01 -2.07861568e-03 3.70625462e+01] [ 2.27652824e-02 4.90777811e-03 9.99728791e-01 3.92466718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.304839173 meters Centerline goodness : 0.871567 Centerline is valid? [False, False] Translation: X:-25.46, Y:37.06, Z:3.93 [[ 9.92206456e-01 1.22236227e-01 -2.41796194e-02 -2.54588232e+01] [-1.22315875e-01 9.92489522e-01 -1.83736530e-03 3.70599247e+01] [ 2.37734263e-02 4.78059702e-03 9.99705942e-01 3.92540584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.334839173 meters Centerline goodness : 0.882651 Centerline is valid? [False, False] Translation: X:-25.45, Y:37.06, Z:3.92 [[ 9.92236121e-01 1.21579747e-01 -2.61886493e-02 -2.54490751e+01] [-1.21696693e-01 9.92563061e-01 -2.91304672e-03 3.70608855e+01] [ 2.56397184e-02 6.07750217e-03 9.99652774e-01 3.91771881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36483917300001 meters Centerline goodness : 0.879746 Centerline is valid? [False, False] Translation: X:-25.44, Y:37.06, Z:3.91 [[ 9.91503201e-01 1.27313168e-01 -2.66975446e-02 -2.54422361e+01] [-1.27281843e-01 9.91862419e-01 2.87636775e-03 3.70636037e+01] [ 2.68464907e-02 5.46184844e-04 9.99639419e-01 3.91351460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.394839173 meters Centerline goodness : 0.879392 Centerline is valid? [False, False] Translation: X:-25.44, Y:37.06, Z:3.91 [[ 9.91447640e-01 1.27761097e-01 -2.66210177e-02 -2.54432221e+01] [-1.27716719e-01 9.91804970e-01 3.36770559e-03 3.70636651e+01] [ 2.68331194e-02 6.10452817e-05 9.99639925e-01 3.91489049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.424839173 meters Centerline goodness : 0.879314 Centerline is valid? [False, False] Translation: X:-25.43, Y:37.06, Z:3.92 [[ 9.91574135e-01 1.27833974e-01 -2.09573235e-02 -2.54338024e+01] [-1.27966831e-01 9.91765230e-01 -5.12039353e-03 3.70613226e+01] [ 2.01301845e-02 7.75909207e-03 9.99767259e-01 3.91610480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.454839173 meters Centerline goodness : 0.881061 Centerline is valid? [False, False] Translation: X:-25.44, Y:37.06, Z:3.92 [[ 9.91837223e-01 1.25861982e-01 -2.04373486e-02 -2.54380186e+01] [-1.26026992e-01 9.92002171e-01 -6.99220763e-03 3.70611884e+01] [ 1.93938411e-02 9.51078936e-03 9.99766685e-01 3.91952068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.484839173 meters Centerline goodness : 0.868507 Centerline is valid? [False, False] Translation: X:-25.44, Y:37.06, Z:3.92 [[ 9.92635483e-01 1.20871847e-01 -8.04948826e-03 -2.54374812e+01] [-1.20930249e-01 9.92634808e-01 -7.21198991e-03 3.70579736e+01] [ 7.11847569e-03 8.13230371e-03 9.99941595e-01 3.92091665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.514839173 meters Centerline goodness : 0.874119 Centerline is valid? [False, False] Translation: X:-25.44, Y:37.05, Z:3.93 [[ 9.93001626e-01 1.17847183e-01 -7.73381939e-03 -2.54409717e+01] [-1.17900329e-01 9.93002030e-01 -6.81764470e-03 3.70503528e+01] [ 6.87625813e-03 7.68175213e-03 9.99946852e-01 3.92789566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.544839173 meters Centerline goodness : 0.875475 Centerline is valid? [False, False] Translation: X:-25.44, Y:37.05, Z:3.93 [[ 9.93367961e-01 1.14715041e-01 -7.78163458e-03 -2.54427974e+01] [-1.14784446e-01 9.93348281e-01 -9.15010552e-03 3.70466134e+01] [ 6.68021861e-03 9.98263228e-03 9.99927858e-01 3.92968372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.574839173 meters Centerline goodness : 0.877736 Centerline is valid? [False, False] Translation: X:-25.44, Y:37.04, Z:3.93 [[ 9.93808237e-01 1.10802541e-01 -8.24531594e-03 -2.54423622e+01] [-1.10897580e-01 9.93757773e-01 -1.21332602e-02 3.70433194e+01] [ 6.84945074e-03 1.29725196e-02 9.99892394e-01 3.92969691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.604839173 meters Centerline goodness : 0.877774 Centerline is valid? [False, False] Translation: X:-25.44, Y:37.04, Z:3.92 [[ 9.94314212e-01 1.06135285e-01 -8.63419687e-03 -2.54367632e+01] [-1.06252510e-01 9.94233584e-01 -1.44908152e-02 3.70376407e+01] [ 7.04642170e-03 1.53258286e-02 9.99857723e-01 3.92494719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.634839173 meters Centerline goodness : 0.877508 Centerline is valid? [False, False] Translation: X:-25.44, Y:37.03, Z:3.93 [[ 9.94411448e-01 1.05241914e-01 -8.36733482e-03 -2.54360041e+01] [-1.05348756e-01 9.94342883e-01 -1.35599187e-02 3.70335820e+01] [ 6.89292802e-03 1.43656267e-02 9.99873050e-01 3.92519325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.664839173 meters Centerline goodness : 0.881846 Centerline is valid? [False, False] Translation: X:-25.43, Y:37.03, Z:3.93 [[ 9.94941401e-01 1.00264186e-01 -6.22111733e-03 -2.54314343e+01] [-1.00311057e-01 9.94925984e-01 -7.74453477e-03 3.70250623e+01] [ 5.41305181e-03 8.32940513e-03 9.99950659e-01 3.93440285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.694839173 meters Centerline goodness : 0.882020 Centerline is valid? [False, False] Translation: X:-25.43, Y:37.02, Z:3.93 [[ 9.95058764e-01 9.90722463e-02 -6.53813252e-03 -2.54293663e+01] [-9.91177207e-02 9.95050800e-01 -7.04155850e-03 3.70216351e+01] [ 5.80815097e-03 7.65480928e-03 9.99953834e-01 3.93461971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.724839173 meters Centerline goodness : 0.875924 Centerline is valid? [False, False] Translation: X:-25.42, Y:37.02, Z:3.93 [[ 9.95266780e-01 9.62287988e-02 -1.35666946e-02 -2.54170206e+01] [-9.61283868e-02 9.95337828e-01 7.87028079e-03 3.70239320e+01] [ 1.42607920e-02 -6.52888455e-03 9.99876994e-01 3.92972138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.75483917300001 meters Centerline goodness : 0.871363 Centerline is valid? [False, False] Translation: X:-25.40, Y:37.03, Z:3.92 [[ 9.95007328e-01 9.80714977e-02 -1.85039999e-02 -2.53991947e+01] [-9.79509668e-02 9.95164368e-01 7.31356830e-03 3.70339808e+01] [ 1.91317740e-02 -5.46456937e-03 9.99802037e-01 3.91606559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.784839173 meters Centerline goodness : 0.874970 Centerline is valid? [False, False] Translation: X:-25.40, Y:37.04, Z:3.91 [[ 9.95312741e-01 9.47170578e-02 -1.95250035e-02 -2.53988064e+01] [-9.47050568e-02 9.95504183e-01 1.54046596e-03 3.70370353e+01] [ 1.95831311e-02 3.15871167e-04 9.99808182e-01 3.91403788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.814839173 meters Centerline goodness : 0.864079 Centerline is valid? [False, False] Translation: X:-25.39, Y:37.04, Z:3.91 [[ 9.95614829e-01 9.19020769e-02 -1.74676843e-02 -2.53896222e+01] [-9.21681392e-02 9.95629115e-01 -1.50897383e-02 3.70377310e+01] [ 1.60045568e-02 1.66335312e-02 9.99733554e-01 3.91397313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.844839173 meters Centerline goodness : 0.861729 Centerline is valid? [False, False] Translation: X:-25.39, Y:37.04, Z:3.92 [[ 9.95548820e-01 9.25984927e-02 -1.75518381e-02 -2.53910331e+01] [-9.28592965e-02 9.95571083e-01 -1.46754612e-02 3.70382656e+01] [ 1.61151769e-02 1.62399894e-02 9.99738248e-01 3.91598584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.874839173 meters Centerline goodness : 0.867729 Centerline is valid? [False, False] Translation: X:-25.39, Y:37.04, Z:3.92 [[ 9.95230071e-01 9.59447837e-02 -1.76551238e-02 -2.53895764e+01] [-9.61345058e-02 9.95315792e-01 -1.02289133e-02 3.70392426e+01] [ 1.65910127e-02 1.18773887e-02 9.99791811e-01 3.91761061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.904839173 meters Centerline goodness : 0.875455 Centerline is valid? [False, False] Translation: X:-25.40, Y:37.05, Z:3.91 [[ 9.95493143e-01 9.48056364e-02 -2.30095286e-03 -2.54004195e+01] [-9.47800544e-02 9.95453522e-01 9.43541708e-03 3.70534182e+01] [ 3.18502235e-03 -9.17480856e-03 9.99952838e-01 3.90824743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.934839173 meters Centerline goodness : 0.863770 Centerline is valid? [False, False] Translation: X:-25.39, Y:37.07, Z:3.90 [[ 9.95527024e-01 9.44759122e-02 4.96662029e-04 -2.53882292e+01] [-9.44481293e-02 9.95076321e-01 3.00444043e-02 3.70656385e+01] [ 2.34425588e-03 -2.99569252e-02 9.99548442e-01 3.90214482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.964839173 meters Centerline goodness : 0.861695 Centerline is valid? [False, False] Translation: X:-25.38, Y:37.07, Z:3.90 [[ 9.95608479e-01 9.36130334e-02 -5.97500513e-04 -2.53846335e+01] [-9.35630115e-02 9.95248500e-01 2.69515345e-02 3.70727858e+01] [ 3.11767639e-03 -2.67772723e-02 9.99636563e-01 3.89807904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.994839173 meters Centerline goodness : 0.867549 Centerline is valid? [False, False] Translation: X:-25.40, Y:37.09, Z:3.89 [[ 9.95109142e-01 9.87743474e-02 1.19334182e-03 -2.53955190e+01] [-9.87812676e-02 9.95004439e-01 1.44370323e-02 3.70908633e+01] [ 2.38628037e-04 -1.44843026e-02 9.99895069e-01 3.89338764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.024839173 meters Centerline goodness : 0.868417 Centerline is valid? [False, False] Translation: X:-25.40, Y:37.10, Z:3.90 [[ 9.94747246e-01 1.02357630e-01 9.11931850e-04 -2.53996142e+01] [-1.02359674e-01 9.94632218e-01 1.51409611e-02 3.70970731e+01] [ 6.42756093e-04 -1.51547744e-02 9.99884953e-01 3.89780486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.054839173 meters Centerline goodness : 0.866434 Centerline is valid? [False, False] Translation: X:-25.42, Y:37.11, Z:3.90 [[ 9.94420917e-01 1.05317906e-01 5.93114212e-03 -2.54164978e+01] [-1.05330625e-01 9.94435493e-01 1.87358812e-03 3.71129287e+01] [-5.70081586e-03 -2.48786612e-03 9.99980655e-01 3.90097290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.084839173 meters Centerline goodness : 0.867448 Centerline is valid? [False, False] Translation: X:-25.42, Y:37.11, Z:3.90 [[ 9.94412072e-01 1.05426512e-01 5.46647435e-03 -2.54165169e+01] [-1.05436793e-01 9.94424675e-01 1.62727494e-03 3.71142364e+01] [-5.26443906e-03 -2.19454938e-03 9.99983735e-01 3.90224051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.11483917300001 meters Centerline goodness : 0.867610 Centerline is valid? [False, False] Translation: X:-25.41, Y:37.11, Z:3.90 [[ 9.94502934e-01 1.04604871e-01 4.66206512e-03 -2.54136388e+01] [-1.04610391e-01 9.94512822e-01 9.55715241e-04 3.71139002e+01] [-4.53651107e-03 -1.43816207e-03 9.99988676e-01 3.90043444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.144839173 meters Centerline goodness : 0.869893 Centerline is valid? [False, False] Translation: X:-25.40, Y:37.11, Z:3.89 [[ 9.95236920e-01 9.74155928e-02 3.69807301e-03 -2.54015914e+01] [-9.74595295e-02 9.95132922e-01 1.45639196e-02 3.71113001e+01] [-2.26132134e-03 -1.48549630e-02 9.99887102e-01 3.89268292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.174839173 meters Centerline goodness : 0.866556 Centerline is valid? [False, False] Translation: X:-25.40, Y:37.11, Z:3.89 [[ 9.96265789e-01 8.52039944e-02 1.39555109e-02 -2.54024620e+01] [-8.56235312e-02 9.95784611e-01 3.28879704e-02 3.71110259e+01] [-1.10944965e-02 -3.39600799e-02 9.99361609e-01 3.88780518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.204839173 meters Centerline goodness : 0.869583 Centerline is valid? [False, False] Translation: X:-25.40, Y:37.11, Z:3.89 [[ 9.96605313e-01 8.11291265e-02 1.39969596e-02 -2.54035725e+01] [-8.15167216e-02 9.96226597e-01 2.97924870e-02 3.71115419e+01] [-1.15271050e-02 -3.08323371e-02 9.99458100e-01 3.88999357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.234839173 meters Centerline goodness : 0.865553 Centerline is valid? [False, False] Translation: X:-25.40, Y:37.11, Z:3.90 [[ 9.97234886e-01 7.16592239e-02 1.96859630e-02 -2.54017394e+01] [-7.18822990e-02 9.97353920e-01 1.08670508e-02 3.71056961e+01] [-1.88551480e-02 -1.22520744e-02 9.99747153e-01 3.89844321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.264839173 meters Centerline goodness : 0.867893 Centerline is valid? [False, False] Translation: X:-25.41, Y:37.10, Z:3.90 [[ 9.97627625e-01 6.60021801e-02 1.95661693e-02 -2.54104586e+01] [-6.60634500e-02 9.97812290e-01 2.50106182e-03 3.71026915e+01] [-1.93582887e-02 -3.78773701e-03 9.99805436e-01 3.90443892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.294839173 meters Centerline goodness : 0.869905 Centerline is valid? [False, False] Translation: X:-25.42, Y:37.10, Z:3.91 [[ 9.97627471e-01 6.60444674e-02 1.94308166e-02 -2.54153271e+01] [-6.60617119e-02 9.97815509e-01 2.46249669e-04 3.71044484e+01] [-1.93721067e-02 -1.52929844e-03 9.99811174e-01 3.90867847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.324839173 meters Centerline goodness : 0.869486 Centerline is valid? [False, False] Translation: X:-25.41, Y:37.11, Z:3.90 [[ 9.97389707e-01 6.95164894e-02 1.95251173e-02 -2.54119982e+01] [-6.95686489e-02 9.97575153e-01 2.00417766e-03 3.71123321e+01] [-1.93384485e-02 -3.35728220e-03 9.99807358e-01 3.90359667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.354839173 meters Centerline goodness : 0.875496 Centerline is valid? [False, False] Translation: X:-25.40, Y:37.13, Z:3.89 [[ 9.96303739e-01 8.38224576e-02 1.87791168e-02 -2.54043827e+01] [-8.40333265e-02 9.96405120e-01 1.07348721e-02 3.71250467e+01] [-1.78117847e-02 -1.22732648e-02 9.99766026e-01 3.89032820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.384839173 meters Centerline goodness : 0.863519 Centerline is valid? [False, False] Translation: X:-25.40, Y:37.14, Z:3.88 [[ 9.94781317e-01 1.00247085e-01 1.89908546e-02 -2.54027683e+01] [-1.00598915e-01 9.94753638e-01 1.85757489e-02 3.71367277e+01] [-1.70290571e-02 -2.03892674e-02 9.99647082e-01 3.87870820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.414839173 meters Centerline goodness : 0.817716 Centerline is valid? [False, False] Translation: X:-25.40, Y:37.14, Z:3.88 [[ 9.94313346e-01 1.04844407e-01 1.86713980e-02 -2.54015632e+01] [-1.05209860e-01 9.94252886e-01 1.98010934e-02 3.71430700e+01] [-1.64880575e-02 -2.16529066e-02 9.99629579e-01 3.87543806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.444839173 meters Centerline goodness : 0.855019 Centerline is valid? [False, False] Translation: X:-25.40, Y:37.15, Z:3.88 [[ 9.93775563e-01 1.10008810e-01 1.75554112e-02 -2.54016094e+01] [-1.10372310e-01 9.93662337e-01 2.12864738e-02 3.71494761e+01] [-1.51024513e-02 -2.30916088e-02 9.99619274e-01 3.87623029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.474839173 meters Centerline goodness : 0.844549 Centerline is valid? [False, False] Translation: X:-25.40, Y:37.15, Z:3.88 [[ 9.93731399e-01 1.10509352e-01 1.68994113e-02 -2.54015341e+01] [-1.10850448e-01 9.93619665e-01 2.07879826e-02 3.71512468e+01] [-1.44943209e-02 -2.25309783e-02 9.99641070e-01 3.87719474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.504839173 meters Centerline goodness : 0.848689 Centerline is valid? [False, False] Translation: X:-25.40, Y:37.15, Z:3.88 [[ 9.93678732e-01 1.11049878e-01 1.64469749e-02 -2.54020901e+01] [-1.11381418e-01 9.93559249e-01 2.08374312e-02 3.71517803e+01] [-1.40270498e-02 -2.25375996e-02 9.99647587e-01 3.87883012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.534839173 meters Centerline goodness : 0.843147 Centerline is valid? [False, False] Translation: X:-25.41, Y:37.15, Z:3.88 [[ 9.93503343e-01 1.12344977e-01 1.81580274e-02 -2.54123958e+01] [-1.12701667e-01 9.93427917e-01 1.99826877e-02 3.71496923e+01] [-1.57937368e-02 -2.18993070e-02 9.99635423e-01 3.88492092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.564839173 meters Centerline goodness : 0.868840 Centerline is valid? [False, False] Translation: X:-25.41, Y:37.15, Z:3.89 [[ 9.93897082e-01 1.08725148e-01 1.86395450e-02 -2.54133765e+01] [-1.09058194e-01 9.93874344e-01 1.78912759e-02 3.71467116e+01] [-1.65801340e-02 -1.98148820e-02 9.99666179e-01 3.88561991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.594839173 meters Centerline goodness : 0.830401 Centerline is valid? [False, False] Translation: X:-25.41, Y:37.14, Z:3.88 [[ 9.94104525e-01 1.06816123e-01 1.86147849e-02 -2.54102444e+01] [-1.07152965e-01 9.94076921e-01 1.81471188e-02 3.71444093e+01] [-1.65661231e-02 -2.00347623e-02 9.99662029e-01 3.88345415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.624839173 meters Centerline goodness : 0.862232 Centerline is valid? [False, False] Translation: X:-25.42, Y:37.14, Z:3.88 [[ 9.95413799e-01 9.11072794e-02 2.91690232e-02 -2.54155929e+01] [-9.20894327e-02 9.95159423e-01 3.43112114e-02 3.71390376e+01] [-2.59018272e-02 -3.68400121e-02 9.98985440e-01 3.87820345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.654839173 meters Centerline goodness : 0.861187 Centerline is valid? [False, False] Translation: X:-25.41, Y:37.14, Z:3.87 [[ 9.95961176e-01 8.52105969e-02 2.82929169e-02 -2.54107516e+01] [-8.60326300e-02 9.95863397e-01 2.92315163e-02 3.71389082e+01] [-2.56850454e-02 -3.15475694e-02 9.99172172e-01 3.87357039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.684839173 meters Centerline goodness : 0.838579 Centerline is valid? [False, False] Translation: X:-25.41, Y:37.14, Z:3.87 [[ 9.96441826e-01 7.97504694e-02 2.72681216e-02 -2.54067401e+01] [-8.04120971e-02 9.96470466e-01 2.40936844e-02 3.71377904e+01] [-2.52503952e-02 -2.62006417e-02 9.99337753e-01 3.86981963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.714839173 meters Centerline goodness : 0.872865 Centerline is valid? [False, False] Translation: X:-25.41, Y:37.14, Z:3.87 [[ 9.96946517e-01 7.32026055e-02 2.71849237e-02 -2.54147961e+01] [-7.34917937e-02 9.97247727e-01 9.79424902e-03 3.71354664e+01] [-2.63931388e-02 -1.17622113e-02 9.99582439e-01 3.86726758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.744839173 meters Centerline goodness : 0.872730 Centerline is valid? [False, False] Translation: X:-25.42, Y:37.13, Z:3.87 [[ 9.96923561e-01 7.35049463e-02 2.72109747e-02 -2.54214941e+01] [-7.37175694e-02 9.97255332e-01 6.89361952e-03 3.71334227e+01] [-2.66295744e-02 -8.87833863e-03 9.99605943e-01 3.87143698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.774839173 meters Centerline goodness : 0.852551 Centerline is valid? [False, False] Translation: X:-25.43, Y:37.14, Z:3.88 [[ 9.95840650e-01 8.73935231e-02 2.57637772e-02 -2.54342240e+01] [-8.72636659e-02 9.96166424e-01 -6.12439992e-03 3.71352697e+01] [-2.62002427e-02 3.85068476e-03 9.99649298e-01 3.87775529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.804839173 meters Centerline goodness : 0.852551 Centerline is valid? [False, False] Translation: X:-25.43, Y:37.14, Z:3.88 [[ 9.95840650e-01 8.73935231e-02 2.57637772e-02 -2.54342240e+01] [-8.72636659e-02 9.96166424e-01 -6.12439992e-03 3.71352697e+01] [-2.62002427e-02 3.85068476e-03 9.99649298e-01 3.87775529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.834839173 meters Centerline goodness : 0.872698 Centerline is valid? [False, False] Translation: X:-25.45, Y:37.13, Z:3.88 [[ 9.94751068e-01 9.81716534e-02 2.88554876e-02 -2.54466833e+01] [-9.82761817e-02 9.95156695e-01 2.22344198e-03 3.71311456e+01] [-2.84974527e-02 -5.04757843e-03 9.99581121e-01 3.88429003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86483917300001 meters Centerline goodness : 0.873788 Centerline is valid? [False, False] Translation: X:-25.44, Y:37.13, Z:3.88 [[ 9.94461684e-01 1.00913452e-01 2.93672230e-02 -2.54441058e+01] [-1.01157484e-01 9.94846203e-01 6.94236302e-03 3.71266478e+01] [-2.85152924e-02 -9.87462841e-03 9.99544581e-01 3.88177729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.894839173 meters Centerline goodness : 0.871444 Centerline is valid? [False, False] Translation: X:-25.43, Y:37.11, Z:3.87 [[ 9.95972257e-01 8.49537375e-02 2.86727330e-02 -2.54282159e+01] [-8.59853209e-02 9.95612922e-01 3.68976069e-02 3.71125873e+01] [-2.54123538e-02 -3.92144269e-02 9.98907624e-01 3.87345889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.924839173 meters Centerline goodness : 0.862763 Centerline is valid? [False, False] Translation: X:-25.41, Y:37.11, Z:3.87 [[ 9.97059294e-01 7.14827313e-02 2.76221617e-02 -2.54144518e+01] [-7.27306112e-02 9.96235232e-01 4.71764821e-02 3.71071828e+01] [-2.41458668e-02 -4.90467266e-02 9.98504580e-01 3.86636738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.954839173 meters Centerline goodness : 0.863403 Centerline is valid? [False, False] Translation: X:-25.39, Y:37.10, Z:3.87 [[ 9.98424246e-01 5.01293163e-02 2.52205616e-02 -2.53922495e+01] [-5.11473372e-02 9.97829161e-01 4.14839284e-02 3.71018098e+01] [-2.30862509e-02 -4.27085245e-02 9.98820808e-01 3.86763410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.984839173 meters Centerline goodness : 0.869438 Centerline is valid? [False, False] Translation: X:-25.41, Y:37.10, Z:3.88 [[ 9.98672434e-01 3.92996185e-02 3.33002996e-02 -2.54062932e+01] [-3.98062978e-02 9.99099406e-01 1.46913642e-02 3.70988457e+01] [-3.26929445e-02 -1.59974221e-02 9.99337407e-01 3.88314614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.014839173 meters Centerline goodness : 0.872429 Centerline is valid? [False, False] Translation: X:-25.41, Y:37.10, Z:3.89 [[ 9.98467457e-01 4.00081552e-02 3.82372203e-02 -2.54132372e+01] [-3.98637789e-02 9.99194850e-01 -4.53110039e-03 3.70986698e+01] [-3.83877146e-02 2.99987618e-03 9.99258417e-01 3.88800035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.044839173 meters Centerline goodness : 0.874666 Centerline is valid? [False, False] Translation: X:-25.42, Y:37.10, Z:3.90 [[ 9.98467880e-01 4.02337925e-02 3.79886082e-02 -2.54201556e+01] [-4.00312312e-02 9.99179942e-01 -6.07813701e-03 3.70962140e+01] [-3.82020018e-02 4.54809382e-03 9.99259687e-01 3.89561845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.074839173 meters Centerline goodness : 0.871528 Centerline is valid? [False, False] Translation: X:-25.41, Y:37.10, Z:3.89 [[ 9.98659006e-01 4.64770782e-02 2.28050787e-02 -2.54121935e+01] [-4.65692378e-02 9.98908839e-01 3.52660578e-03 3.71016534e+01] [-2.26162884e-02 -4.58389176e-03 9.99733710e-01 3.89234793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.104839173 meters Centerline goodness : 0.870920 Centerline is valid? [False, False] Translation: X:-25.41, Y:37.11, Z:3.88 [[ 9.98720744e-01 4.82603982e-02 1.50933868e-02 -2.54065618e+01] [-4.85203513e-02 9.98671339e-01 1.73589118e-02 3.71072612e+01] [-1.42355848e-02 -1.80690417e-02 9.99735394e-01 3.88225459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.134839173 meters Centerline goodness : 0.870803 Centerline is valid? [False, False] Translation: X:-25.39, Y:37.12, Z:3.87 [[ 9.98661063e-01 5.10931864e-02 8.09734044e-03 -2.53949340e+01] [-5.13482908e-02 9.98057849e-01 3.52687376e-02 3.71153547e+01] [-6.27962200e-03 -3.56372996e-02 9.99345060e-01 3.86913797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.164839173 meters Centerline goodness : 0.870811 Centerline is valid? [False, False] Translation: X:-25.39, Y:37.12, Z:3.87 [[ 9.98878518e-01 4.67278767e-02 7.62969882e-03 -2.53928518e+01] [-4.69377737e-02 9.98442742e-01 3.01485669e-02 3.71171661e+01] [-6.20903890e-03 -3.04728769e-02 9.99516309e-01 3.86605316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.194839173 meters Centerline goodness : 0.871196 Centerline is valid? [False, False] Translation: X:-25.39, Y:37.11, Z:3.87 [[ 9.99390592e-01 3.43975089e-02 5.93765457e-03 -2.53912218e+01] [-3.44998454e-02 9.99240939e-01 1.80916346e-02 3.71148253e+01] [-5.31084037e-03 -1.82854576e-02 9.99818702e-01 3.86707896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.224839173 meters Centerline goodness : 0.872315 Centerline is valid? [False, False] Translation: X:-25.39, Y:37.12, Z:3.87 [[ 9.99609526e-01 2.75150063e-02 4.87033866e-03 -2.53916494e+01] [-2.75606133e-02 9.99574430e-01 9.55887161e-03 3.71162242e+01] [-4.60525358e-03 -9.68936864e-03 9.99942452e-01 3.86773772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.254839173 meters Centerline goodness : 0.870499 Centerline is valid? [False, False] Translation: X:-25.40, Y:37.11, Z:3.88 [[ 9.99572167e-01 2.86665747e-02 5.80605470e-03 -2.54019642e+01] [-2.87128717e-02 9.99555253e-01 8.05400552e-03 3.71149157e+01] [-5.57259172e-03 -8.21726826e-03 9.99950710e-01 3.87602273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.284839173 meters Centerline goodness : 0.865381 Centerline is valid? [False, False] Translation: X:-25.41, Y:37.12, Z:3.88 [[ 9.99396898e-01 3.41489210e-02 6.30005317e-03 -2.54051995e+01] [-3.42284488e-02 9.99329745e-01 1.29797387e-02 3.71161108e+01] [-5.85258646e-03 -1.31875516e-02 9.99895912e-01 3.87928939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.314839173 meters Centerline goodness : 0.865805 Centerline is valid? [False, False] Translation: X:-25.41, Y:37.12, Z:3.88 [[ 9.99040157e-01 4.30228152e-02 8.23416604e-03 -2.54121904e+01] [-4.31821119e-02 9.98861787e-01 2.02592189e-02 3.71184416e+01] [-7.35318517e-03 -2.05953419e-02 9.99760853e-01 3.88325599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.344839173 meters Centerline goodness : 0.866179 Centerline is valid? [False, False] Translation: X:-25.41, Y:37.12, Z:3.88 [[ 9.99162031e-01 4.00512238e-02 8.43413279e-03 -2.54129326e+01] [-4.01827676e-02 9.99063402e-01 1.60518848e-02 3.71190952e+01] [-7.78333577e-03 -1.63773406e-02 9.99835588e-01 3.88163552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.374839173 meters Centerline goodness : 0.865820 Centerline is valid? [False, False] Translation: X:-25.41, Y:37.11, Z:3.88 [[ 9.99439838e-01 3.25578708e-02 7.74565340e-03 -2.54058075e+01] [-3.26378003e-02 9.99412854e-01 1.04269143e-02 3.71137885e+01] [-7.40162744e-03 -1.06738747e-02 9.99915639e-01 3.87500726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.404839173 meters Centerline goodness : 0.872642 Centerline is valid? [False, False] Translation: X:-25.40, Y:37.11, Z:3.87 [[ 9.99562469e-01 2.87756543e-02 6.84342762e-03 -2.53967071e+01] [-2.88387880e-02 9.99540691e-01 9.31298245e-03 3.71130064e+01] [-6.57229721e-03 -9.50626389e-03 9.99933216e-01 3.86882340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.434839173 meters Centerline goodness : 0.873108 Centerline is valid? [False, False] Translation: X:-25.40, Y:37.11, Z:3.87 [[ 9.99570617e-01 2.85520434e-02 6.58501955e-03 -2.53957884e+01] [-2.86109853e-02 9.99549767e-01 9.03746156e-03 3.71139276e+01] [-6.32401676e-03 -9.22198492e-03 9.99937479e-01 3.86827388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.464839173 meters Centerline goodness : 0.872899 Centerline is valid? [False, False] Translation: X:-25.40, Y:37.12, Z:3.87 [[ 9.99547155e-01 2.93888139e-02 6.46398760e-03 -2.53969153e+01] [-2.94472054e-02 9.99524624e-01 9.13169723e-03 3.71153731e+01] [-6.19254503e-03 -9.31790835e-03 9.99937413e-01 3.86945378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.494839173 meters Centerline goodness : 0.863996 Centerline is valid? [False, False] Translation: X:-25.40, Y:37.12, Z:3.87 [[ 9.99291149e-01 3.70443731e-02 6.70174696e-03 -2.54016668e+01] [-3.71258137e-02 9.99232844e-01 1.24658116e-02 3.71178344e+01] [-6.23481750e-03 -1.27057830e-02 9.99899840e-01 3.87018311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.524839173 meters Centerline goodness : 0.871226 Centerline is valid? [False, False] Translation: X:-25.40, Y:37.12, Z:3.87 [[ 9.99228499e-01 3.88142692e-02 5.98822136e-03 -2.54019613e+01] [-3.88732923e-02 9.99193337e-01 1.00768455e-02 3.71233391e+01] [-5.59226549e-03 -1.03018531e-02 9.99931297e-01 3.86724655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.554839173 meters Centerline goodness : 0.825486 Centerline is valid? [False, False] Translation: X:-25.40, Y:37.13, Z:3.87 [[ 9.99196280e-01 3.97799812e-02 4.93433039e-03 -2.54009493e+01] [-3.98198527e-02 9.99172700e-01 8.26402059e-03 3.71266822e+01] [-4.60150563e-03 -8.45386294e-03 9.99953678e-01 3.86524805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.584839173 meters Centerline goodness : 0.871411 Centerline is valid? [False, False] Translation: X:-25.39, Y:37.12, Z:3.86 [[ 9.99540743e-01 3.01441295e-02 3.10399007e-03 -2.53901325e+01] [-3.01503490e-02 9.99543420e-01 1.97678974e-03 3.71229268e+01] [-3.04298425e-03 -2.06946827e-03 9.99993229e-01 3.85968631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.61483917300001 meters Centerline goodness : 0.871099 Centerline is valid? [False, False] Translation: X:-25.39, Y:37.12, Z:3.85 [[ 9.99735038e-01 2.07930316e-02 9.87442080e-03 -2.53918874e+01] [-2.08315618e-02 9.99775720e-01 3.81532089e-03 3.71222594e+01] [-9.79287407e-03 -4.02000958e-03 9.99943968e-01 3.85015855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.644839173 meters Centerline goodness : 0.872888 Centerline is valid? [False, False] Translation: X:-25.36, Y:37.12, Z:3.85 [[ 9.99943989e-01 7.78145722e-03 7.17411925e-03 -2.53645855e+01] [-7.86722240e-03 9.99896987e-01 1.20051133e-02 3.71188607e+01] [-7.07996295e-03 -1.20608813e-02 9.99902200e-01 3.85344302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.674839173 meters Centerline goodness : 0.874227 Centerline is valid? [False, False] Translation: X:-25.36, Y:37.11, Z:3.86 [[ 9.99963888e-01 5.06104491e-03 6.82705035e-03 -2.53611910e+01] [-5.16687484e-03 9.99865367e-01 1.55740358e-02 3.71138410e+01] [-6.74731031e-03 -1.56087479e-02 9.99855410e-01 3.85951323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.704839173 meters Centerline goodness : 0.869101 Centerline is valid? [False, False] Translation: X:-25.36, Y:37.11, Z:3.87 [[ 9.99907603e-01 3.11277856e-04 1.35899931e-02 -2.53595285e+01] [-3.31096160e-04 9.99998885e-01 1.45607569e-03 3.71057041e+01] [-1.35895247e-02 -1.46044075e-03 9.99906592e-01 3.86809465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.734839173 meters Centerline goodness : 0.872293 Centerline is valid? [False, False] Translation: X:-25.36, Y:37.10, Z:3.87 [[ 9.99914517e-01 1.56156450e-03 1.29814965e-02 -2.53611432e+01] [-1.60069708e-03 9.99994205e-01 3.00464628e-03 3.71023492e+01] [-1.29767293e-02 -3.02516888e-03 9.99911222e-01 3.87211260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.764839173 meters Centerline goodness : 0.878172 Centerline is valid? [False, False] Translation: X:-25.36, Y:37.11, Z:3.86 [[ 9.99868811e-01 1.14067265e-02 1.14999125e-02 -2.53598612e+01] [-1.14785215e-02 9.99914920e-01 6.19653603e-03 3.71113806e+01] [-1.14282519e-02 -6.32772510e-03 9.99914674e-01 3.86480923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.794839173 meters Centerline goodness : 0.877104 Centerline is valid? [False, False] Translation: X:-25.36, Y:37.12, Z:3.86 [[ 9.99755711e-01 1.91647160e-02 1.10104988e-02 -2.53574990e+01] [-1.92998241e-02 9.99738097e-01 1.22985078e-02 3.71162495e+01] [-1.07719177e-02 -1.25080041e-02 9.99863749e-01 3.86147130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.824839173 meters Centerline goodness : 0.873794 Centerline is valid? [False, False] Translation: X:-25.36, Y:37.12, Z:3.86 [[ 9.99369251e-01 3.35804136e-02 1.15523308e-02 -2.53600795e+01] [-3.38546313e-02 9.99128326e-01 2.44223533e-02 3.71188064e+01] [-1.07221482e-02 -2.47980489e-02 9.99634980e-01 3.86167382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.854839173 meters Centerline goodness : 0.876408 Centerline is valid? [False, False] Translation: X:-25.36, Y:37.12, Z:3.86 [[ 9.99192867e-01 3.85311687e-02 1.13562234e-02 -2.53597223e+01] [-3.88350497e-02 9.98856672e-01 2.78780875e-02 3.71203642e+01] [-1.02690643e-02 -2.82966057e-02 9.99546822e-01 3.86019533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.884839173 meters Centerline goodness : 0.876070 Centerline is valid? [False, False] Translation: X:-25.36, Y:37.12, Z:3.86 [[ 9.99323565e-01 3.50316958e-02 1.11889751e-02 -2.53597962e+01] [-3.52861352e-02 9.99102894e-01 2.34157039e-02 3.71220851e+01] [-1.03586456e-02 -2.37946803e-02 9.99663199e-01 3.85918564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.914839173 meters Centerline goodness : 0.877976 Centerline is valid? [False, False] Translation: X:-25.36, Y:37.12, Z:3.86 [[ 9.99281186e-01 2.80751533e-02 2.54734437e-02 -2.53612519e+01] [-2.85120124e-02 9.99449704e-01 1.69515329e-02 3.71193018e+01] [-2.49835089e-02 -1.76656471e-02 9.99531765e-01 3.85910471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.944839173 meters Centerline goodness : 0.869375 Centerline is valid? [False, False] Translation: X:-25.37, Y:37.12, Z:3.87 [[ 9.99374442e-01 2.43133167e-02 2.56824225e-02 -2.53668633e+01] [-2.46510457e-02 9.99612671e-01 1.29164486e-02 3.71160699e+01] [-2.53584332e-02 -1.35414672e-02 9.99586704e-01 3.86509885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.974839173 meters Centerline goodness : 0.872432 Centerline is valid? [False, False] Translation: X:-25.37, Y:37.11, Z:3.87 [[ 9.99526985e-01 1.73080905e-02 2.54211628e-02 -2.53682618e+01] [-1.74861578e-02 9.99823987e-01 6.79915849e-03 3.71124462e+01] [-2.52990079e-02 -7.24046085e-03 9.99653708e-01 3.86822774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.004839173 meters Centerline goodness : 0.880339 Centerline is valid? [False, False] Translation: X:-25.36, Y:37.11, Z:3.87 [[ 9.99568807e-01 1.63005799e-02 2.44231715e-02 -2.53645250e+01] [-1.64717214e-02 9.99841055e-01 6.82261483e-03 3.71104931e+01] [-2.43080770e-02 -7.22196464e-03 9.99678429e-01 3.86678023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.034839173 meters Centerline goodness : 0.880046 Centerline is valid? [False, False] Translation: X:-25.36, Y:37.11, Z:3.86 [[ 9.99566676e-01 1.62841671e-02 2.45211437e-02 -2.53591447e+01] [-1.64883419e-02 9.99830863e-01 8.14742730e-03 3.71070584e+01] [-2.43843221e-02 -8.54820982e-03 9.99666111e-01 3.86098658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.064839173 meters Centerline goodness : 0.880097 Centerline is valid? [False, False] Translation: X:-25.36, Y:37.11, Z:3.86 [[ 9.99583825e-01 1.55955159e-02 2.42684387e-02 -2.53564407e+01] [-1.57754493e-02 9.99849343e-01 7.24057962e-03 3.71079083e+01] [-2.41518619e-02 -7.62041179e-03 9.99679257e-01 3.85769078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.094839173 meters Centerline goodness : 0.870242 Centerline is valid? [False, False] Translation: X:-25.36, Y:37.10, Z:3.86 [[ 9.99585696e-01 1.59329877e-02 2.39703291e-02 -2.53553258e+01] [-1.61292555e-02 9.99837774e-01 8.01700022e-03 3.71028116e+01] [-2.38387057e-02 -8.40030230e-03 9.99680524e-01 3.85705008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.124839173 meters Centerline goodness : 0.151828 Centerline is valid? [False, False] Translation: X:-25.36, Y:37.10, Z:3.86 [[ 9.99594909e-01 1.49116634e-02 2.42416863e-02 -2.53593510e+01] [-1.50604447e-02 9.99868784e-01 5.96646616e-03 3.70982513e+01] [-2.41495355e-02 -6.32913977e-03 9.99688322e-01 3.85976238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.154839173 meters Centerline goodness : 0.154904 Centerline is valid? [False, False] Translation: X:-25.35, Y:37.09, Z:3.86 [[ 9.99408822e-01 1.70576343e-02 2.98503546e-02 -2.53503008e+01] [-1.70215444e-02 9.99854053e-01 -1.46273308e-03 3.70914037e+01] [-2.98709488e-02 9.53769208e-04 9.99553309e-01 3.86098127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.184839173 meters Centerline goodness : 0.156827 Centerline is valid? [False, False] Translation: X:-25.35, Y:37.09, Z:3.86 [[ 9.99429582e-01 1.63611127e-02 2.95435894e-02 -2.53479431e+01] [-1.63052821e-02 9.99864792e-01 -2.12971006e-03 3.70926995e+01] [-2.95744392e-02 1.64677868e-03 9.99561224e-01 3.85882888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.214839173 meters Centerline goodness : 0.159630 Centerline is valid? [False, False] Translation: X:-25.34, Y:37.10, Z:3.85 [[ 9.99603247e-01 1.75768461e-02 2.20091563e-02 -2.53422893e+01] [-1.78283032e-02 9.99777415e-01 1.12814847e-02 3.70996915e+01] [-2.18059645e-02 -1.16693946e-02 9.99694116e-01 3.84837268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.244839173 meters Centerline goodness : 0.163882 Centerline is valid? [False, False] Translation: X:-25.35, Y:37.10, Z:3.85 [[ 9.99707940e-01 1.95436318e-02 1.42155178e-02 -2.53465999e+01] [-1.98640844e-02 9.99543554e-01 2.27618664e-02 3.71024197e+01] [-1.37641797e-02 -2.30375968e-02 9.99639843e-01 3.84593476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.274839173 meters Centerline goodness : 0.164568 Centerline is valid? [False, False] Translation: X:-25.33, Y:37.11, Z:3.84 [[ 9.99611408e-01 2.75397480e-02 4.31212919e-03 -2.53329208e+01] [-2.76110646e-02 9.99466261e-01 1.74591836e-02 3.71107103e+01] [-3.82900612e-03 -1.75714616e-02 9.99838278e-01 3.84227731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.304839173 meters Centerline goodness : 0.165778 Centerline is valid? [False, False] Translation: X:-25.32, Y:37.11, Z:3.84 [[ 9.99477764e-01 3.13449320e-02 7.85463302e-03 -2.53221648e+01] [-3.14028412e-02 9.99479703e-01 7.36103492e-03 3.71130997e+01] [-7.61981514e-03 -7.60384851e-03 9.99942058e-01 3.83925073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.334839173 meters Centerline goodness : 0.168382 Centerline is valid? [False, False] Translation: X:-25.32, Y:37.11, Z:3.84 [[ 9.99246683e-01 3.69474703e-02 1.18723137e-02 -2.53150037e+01] [-3.69566762e-02 9.99316714e-01 5.56885584e-04 3.71116484e+01] [-1.18436260e-02 -9.95227327e-04 9.99929367e-01 3.84413870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36483917300001 meters Centerline goodness : 0.168906 Centerline is valid? [False, False] Translation: X:-25.32, Y:37.11, Z:3.85 [[ 9.99319637e-01 3.49118903e-02 1.18921829e-02 -2.53174954e+01] [-3.48799373e-02 9.99387349e-01 -2.88385427e-03 3.71127769e+01] [-1.19855779e-02 2.46709361e-03 9.99925127e-01 3.84524090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.394839173 meters Centerline goodness : 0.165438 Centerline is valid? [False, False] Translation: X:-25.32, Y:37.11, Z:3.84 [[ 9.99411615e-01 2.76145985e-02 2.03435018e-02 -2.53226443e+01] [-2.76646940e-02 9.99614871e-01 2.18512913e-03 3.71111264e+01] [-2.02753255e-02 -2.74664019e-03 9.99790662e-01 3.83617156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.424839173 meters Centerline goodness : 0.174420 Centerline is valid? [False, False] Translation: X:-25.30, Y:37.11, Z:3.83 [[ 9.99606341e-01 1.46853096e-02 2.39061520e-02 -2.53028391e+01] [-1.51648366e-02 9.99684913e-01 2.00025675e-02 3.71055120e+01] [-2.36048756e-02 -2.03572262e-02 9.99514079e-01 3.83453267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.454839173 meters Centerline goodness : 0.159750 Centerline is valid? [False, False] Translation: X:-25.30, Y:37.11, Z:3.83 [[ 9.99641645e-01 1.07357992e-02 2.45219213e-02 -2.53030538e+01] [-1.11517594e-02 9.99795171e-01 1.68894972e-02 3.71052270e+01] [-2.43355762e-02 -1.71569073e-02 9.99556612e-01 3.83452936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.484839173 meters Centerline goodness : 0.169126 Centerline is valid? [False, False] Translation: X:-25.30, Y:37.10, Z:3.84 [[ 9.99446167e-01 1.09925817e-02 3.14089637e-02 -2.52956201e+01] [-1.13533596e-02 9.99871343e-01 1.13312972e-02 3.71005661e+01] [-3.12803625e-02 -1.16816188e-02 9.99442384e-01 3.84238884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.514839173 meters Centerline goodness : 0.170830 Centerline is valid? [False, False] Translation: X:-25.29, Y:37.10, Z:3.85 [[ 9.99622460e-01 1.42830568e-02 2.34719293e-02 -2.52891018e+01] [-1.44328301e-02 9.99876470e-01 6.22397653e-03 3.70975813e+01] [-2.33801324e-02 -6.56039310e-03 9.99705122e-01 3.85061428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.544839173 meters Centerline goodness : 0.336920 Centerline is valid? [False, False] Translation: X:-25.28, Y:37.10, Z:3.85 [[ 9.99677133e-01 2.13871380e-02 1.37193429e-02 -2.52757048e+01] [-2.13502123e-02 9.99768046e-01 -2.83235815e-03 3.70974200e+01] [-1.37767367e-02 2.53853279e-03 9.99901874e-01 3.84744220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.574839173 meters Centerline goodness : 0.355470 Centerline is valid? [False, False] Translation: X:-25.28, Y:37.10, Z:3.85 [[ 9.99667676e-01 2.19699560e-02 1.34854999e-02 -2.52751139e+01] [-2.19210863e-02 9.99752630e-01 -3.76106581e-03 3.70997353e+01] [-1.35647945e-02 3.46419911e-03 9.99901993e-01 3.84569780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.604839173 meters Centerline goodness : 0.780304 Centerline is valid? [False, False] Translation: X:-25.27, Y:37.10, Z:3.84 [[ 9.99625818e-01 2.41988603e-02 1.27530174e-02 -2.52688716e+01] [-2.41896663e-02 9.99707005e-01 -8.74712816e-04 3.71021690e+01] [-1.27704479e-02 5.65894279e-04 9.99918294e-01 3.84270341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.634839173 meters Centerline goodness : 0.105657 Centerline is valid? [False, False] Translation: X:-25.27, Y:37.10, Z:3.84 [[ 9.99718702e-01 2.27715093e-02 6.63138039e-03 -2.52741625e+01] [-2.28196930e-02 9.99713066e-01 7.28332300e-03 3.71036510e+01] [-6.46362537e-03 -7.43260028e-03 9.99951488e-01 3.83813780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.664839173 meters Centerline goodness : 0.241863 Centerline is valid? [False, False] Translation: X:-25.25, Y:37.11, Z:3.83 [[ 9.99626522e-01 2.70488699e-02 3.89547234e-03 -2.52549424e+01] [-2.71638503e-02 9.99075032e-01 3.33347536e-02 3.71141544e+01] [-2.99020174e-03 -3.34281198e-02 9.99436651e-01 3.82803912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.694839173 meters Centerline goodness : 0.241863 Centerline is valid? [False, False] Translation: X:-25.25, Y:37.11, Z:3.83 [[ 9.99626522e-01 2.70488699e-02 3.89547234e-03 -2.52549424e+01] [-2.71638503e-02 9.99075032e-01 3.33347536e-02 3.71141544e+01] [-2.99020174e-03 -3.34281198e-02 9.99436651e-01 3.82803912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.724839173 meters Centerline goodness : 0.243260 Centerline is valid? [False, False] Translation: X:-25.26, Y:37.12, Z:3.83 [[ 9.99570666e-01 2.86188400e-02 6.28053513e-03 -2.52562394e+01] [-2.88426411e-02 9.98821605e-01 3.90320696e-02 3.71222721e+01] [-5.15608162e-03 -3.91964591e-02 9.99218221e-01 3.82509470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.754839173 meters Centerline goodness : 0.384186 Centerline is valid? [False, False] Translation: X:-25.25, Y:37.14, Z:3.83 [[ 9.99706426e-01 2.42149680e-02 -8.34501236e-04 -2.52471047e+01] [-2.42039800e-02 9.99642937e-01 1.13210576e-02 3.71356759e+01] [ 1.10834232e-03 -1.12975358e-02 9.99935567e-01 3.83448989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.784839173 meters Centerline goodness : 0.259131 Centerline is valid? [False, False] Translation: X:-25.24, Y:37.13, Z:3.83 [[ 9.99745951e-01 2.24360462e-02 2.15816040e-03 -2.52434292e+01] [-2.24164560e-02 9.99710783e-01 -8.70933265e-03 3.71345275e+01] [-2.35293921e-03 8.65874174e-03 9.99959744e-01 3.83276614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.814839173 meters Centerline goodness : 0.177307 Centerline is valid? [False, False] Translation: X:-25.23, Y:37.14, Z:3.83 [[ 9.99854095e-01 1.62335305e-02 5.31620388e-03 -2.52253007e+01] [-1.60828686e-02 9.99499201e-01 -2.72522949e-02 3.71351518e+01] [-5.75594249e-03 2.71628188e-02 9.99614451e-01 3.82683574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.844839173 meters Centerline goodness : 0.182656 Centerline is valid? [False, False] Translation: X:-25.21, Y:37.13, Z:3.83 [[ 9.99876828e-01 1.44472949e-02 6.13226958e-03 -2.52145637e+01] [-1.43142984e-02 9.99672685e-01 -2.12043552e-02 3.71346777e+01] [-6.43660797e-03 2.11139643e-02 9.99756356e-01 3.82844174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.874839173 meters Centerline goodness : 0.156133 Centerline is valid? [False, False] Translation: X:-25.18, Y:37.13, Z:3.82 [[ 9.99850978e-01 9.71602141e-03 1.42695859e-02 -2.51829480e+01] [-9.62202994e-03 9.99931656e-01 -6.64079067e-03 3.71322190e+01] [-1.43331327e-02 6.50249866e-03 9.99876132e-01 3.82483037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.904839173 meters Centerline goodness : 0.139076 Centerline is valid? [False, False] Translation: X:-25.17, Y:37.13, Z:3.82 [[ 9.99872025e-01 7.60376795e-03 1.40753653e-02 -2.51710681e+01] [-7.56475379e-03 9.99967402e-01 -2.82297362e-03 3.71311431e+01] [-1.40963717e-02 2.71613568e-03 9.99896952e-01 3.82129677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.934839173 meters Centerline goodness : 0.109750 Centerline is valid? [False, False] Translation: X:-25.14, Y:37.13, Z:3.82 [[ 9.99905530e-01 2.97463241e-03 1.34195179e-02 -2.51427795e+01] [-3.05696862e-03 9.99976605e-01 6.11922168e-03 3.71258724e+01] [-1.34010016e-02 -6.15966664e-03 9.99891230e-01 3.81740216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.964839173 meters Centerline goodness : 0.201261 Centerline is valid? [False, False] Translation: X:-25.14, Y:37.12, Z:3.81 [[ 9.99908335e-01 8.56802598e-04 1.35125085e-02 -2.51372186e+01] [-9.32333457e-04 9.99983973e-01 5.58439084e-03 3.71245556e+01] [-1.35075072e-02 -5.59647711e-03 9.99893108e-01 3.81431695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.994839173 meters Centerline goodness : 0.225967 Centerline is valid? [False, False] Translation: X:-25.12, Y:37.12, Z:3.81 [[ 9.99815638e-01 -5.95951346e-04 1.91920364e-02 -2.51152417e+01] [ 6.24865637e-04 9.99998679e-01 -1.50061604e-03 3.71199889e+01] [-1.91911168e-02 1.51233183e-03 9.99814690e-01 3.81301616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.024839173 meters Centerline goodness : 0.259477 Centerline is valid? [False, False] Translation: X:-25.11, Y:37.12, Z:3.81 [[ 9.99828240e-01 -1.68688560e-03 1.84565758e-02 -2.51101615e+01] [ 1.73460824e-03 9.99995193e-01 -2.56996849e-03 3.71164362e+01] [-1.84521519e-02 2.60154200e-03 9.99826360e-01 3.81133962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.054839173 meters Centerline goodness : 0.262417 Centerline is valid? [False, False] Translation: X:-25.08, Y:37.11, Z:3.81 [[ 9.99910631e-01 7.31885454e-04 1.33489129e-02 -2.50809193e+01] [-6.06509885e-04 9.99955693e-01 -9.39382446e-03 3.71127001e+01] [-1.33551966e-02 9.38488870e-03 9.99866772e-01 3.80589220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.084839173 meters Centerline goodness : 0.268372 Centerline is valid? [False, False] Translation: X:-25.06, Y:37.11, Z:3.80 [[ 9.99956299e-01 1.77838799e-03 9.17814069e-03 -2.50627842e+01] [-1.71923756e-03 9.99977730e-01 -6.44857806e-03 3.71116087e+01] [-9.18940437e-03 6.43251685e-03 9.99937087e-01 3.79996884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.11483917300001 meters Centerline goodness : 0.270525 Centerline is valid? [False, False] Translation: X:-25.06, Y:37.11, Z:3.80 [[ 9.99969369e-01 -1.42181263e-04 7.82561402e-03 -2.50559630e+01] [ 1.98511141e-04 9.99974076e-01 -7.19783566e-03 3.71078681e+01] [-7.82438775e-03 7.19916865e-03 9.99943474e-01 3.79706471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.144839173 meters Centerline goodness : 0.280686 Centerline is valid? [False, False] Translation: X:-25.04, Y:37.10, Z:3.80 [[ 9.99933588e-01 -1.03505532e-02 5.06812376e-03 -2.50392429e+01] [ 1.04197158e-02 9.99850265e-01 -1.38158571e-02 3.70950040e+01] [-4.92436311e-03 1.38677480e-02 9.99891712e-01 3.79738658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.174839173 meters Centerline goodness : 0.283146 Centerline is valid? [False, False] Translation: X:-25.03, Y:37.09, Z:3.80 [[ 9.99857259e-01 -1.65446634e-02 3.42585922e-03 -2.50311038e+01] [ 1.65944596e-02 9.99748931e-01 -1.50564897e-02 3.70857799e+01] [-3.17589454e-03 1.51111908e-02 9.99880776e-01 3.80014180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.204839173 meters Centerline goodness : 0.292377 Centerline is valid? [False, False] Translation: X:-25.00, Y:37.08, Z:3.80 [[ 9.99708467e-01 -2.37449341e-02 4.37708197e-03 -2.50015042e+01] [ 2.37627998e-02 9.99709316e-01 -4.07586808e-03 3.70773364e+01] [-4.27902841e-03 4.17869156e-03 9.99982114e-01 3.80359680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.234839173 meters Centerline goodness : 0.296386 Centerline is valid? [False, False] Translation: X:-24.99, Y:37.08, Z:3.80 [[ 9.99725139e-01 -2.28792543e-02 5.11727915e-03 -2.49875995e+01] [ 2.28603530e-02 9.99731739e-01 3.72211436e-03 3.70842097e+01] [-5.20106559e-03 -3.60410849e-03 9.99979979e-01 3.80098399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.264839173 meters Centerline goodness : 0.292661 Centerline is valid? [False, False] Translation: X:-24.95, Y:37.10, Z:3.79 [[ 9.99714356e-01 -1.94650447e-02 1.38679148e-02 -2.49540372e+01] [ 1.89767302e-02 9.99224048e-01 3.45135572e-02 3.71039256e+01] [-1.45289619e-02 -3.42405309e-02 9.99308008e-01 3.79412077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 8159.68 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%| | 0/2903 [00:00