+ python -m lidar_slam --no-model /working/ff8c623c-376f-4e6e-9c31-7f1dda13867f Lidar SLAM 0.0.14 ===================================================== The recording path: /working/ff8c623c-376f-4e6e-9c31-7f1dda13867f 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 0.01538475 Adjusted end_distance from 9.223372036854776e+18 to 193.81538475 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.01538475 meters Centerline goodness : 0.226718 Centerline is valid? [0, False] SLAMing on 0.04538475 meters Centerline goodness : 0.229268 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.00 [[ 9.99994167e-01 -1.29856637e-03 -3.15902297e-03 1.20752074e-02] [ 1.30093273e-03 9.99998875e-01 7.47138969e-04 5.39191942e-05] [ 3.15804920e-03 -7.51244287e-04 9.99994731e-01 -1.78985395e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.07538475 meters Centerline goodness : 0.234109 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.00, Z:-0.00 [[ 0.99998974 0.0028324 -0.00353438 0.04730215] [-0.00282061 0.99999045 0.00333777 -0.00400388] [ 0.0035438 -0.00332777 0.99998818 -0.00105273] [ 0. 0. 0. 1. ]] SLAMing on 0.10538475 meters Centerline goodness : 0.238557 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:-0.00 [[ 9.99979825e-01 5.74943262e-03 -2.70051021e-03 8.02117234e-02] [-5.73827791e-03 9.99975047e-01 4.12033615e-03 -7.51074192e-03] [ 2.72413242e-03 -4.10475674e-03 9.99987865e-01 -4.00584038e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.13538475 meters Centerline goodness : 0.240255 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.01, Z:0.00 [[ 9.99978522e-01 3.89462833e-03 -5.27133234e-03 8.96342053e-02] [-3.86992752e-03 9.99981523e-01 4.68799298e-03 -8.19387991e-03] [ 5.28949293e-03 -4.66749262e-03 9.99975118e-01 3.15784302e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.16538475 meters Centerline goodness : 0.241525 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.01, Z:0.00 [[ 0.99996923 0.00231808 -0.00749478 0.09823888] [-0.00227949 0.99998412 0.00515384 -0.00855255] [ 0.00750661 -0.00513659 0.99995863 0.00108966] [ 0. 0. 0. 1. ]] SLAMing on 0.19538475 meters Centerline goodness : 0.244910 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:0.00 [[ 9.99973732e-01 3.89256817e-03 -6.11414921e-03 1.29998593e-01] [-3.88055083e-03 9.99990518e-01 1.97613111e-03 -9.66380102e-03] [ 6.12178346e-03 -1.95235293e-03 9.99979356e-01 9.11493436e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.22538475 meters Centerline goodness : 0.249072 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.01, Z:0.00 [[ 9.99959977e-01 2.22868407e-03 -8.66469635e-03 1.39745481e-01] [-2.20597446e-03 9.99994109e-01 2.62960940e-03 -1.00426208e-02] [ 8.67050588e-03 -2.61039005e-03 9.99959003e-01 7.82497789e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.25538475 meters Centerline goodness : 0.252817 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:0.00 [[ 0.99995998 0.00409688 -0.00795296 0.17417009] [-0.00407391 0.99998749 0.00290171 -0.01581054] [ 0.00796475 -0.0028692 0.99996416 0.00124924] [ 0. 0. 0. 1. ]] SLAMing on 0.28538475 meters Centerline goodness : 0.258381 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.01, Z:-0.00 [[ 0.99997629 -0.00360098 -0.00586994 0.20357609] [ 0.00363855 0.99997288 0.00640272 -0.01484484] [ 0.00584673 -0.00642392 0.99996227 -0.00301166] [ 0. 0. 0. 1. ]] SLAMing on 0.31538475 meters Centerline goodness : 0.259065 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.02, Z:-0.00 [[ 0.99993965 -0.00553844 -0.00948802 0.21656408] [ 0.00561441 0.99995224 0.00799929 -0.01743113] [ 0.00944327 -0.00805207 0.99992299 -0.0024713 ] [ 0. 0. 0. 1. ]] SLAMing on 0.34538474999999996 meters Centerline goodness : 0.262749 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.02, Z:-0.00 [[ 0.9997982 -0.01859405 -0.00760387 0.24869489] [ 0.01867409 0.99976949 0.01059493 -0.02093672] [ 0.00740512 -0.01073479 0.99991496 -0.00306699] [ 0. 0. 0. 1. ]] SLAMing on 0.37538475 meters Centerline goodness : 0.264555 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.02, Z:-0.00 [[ 0.99970706 -0.02111552 -0.01182904 0.26262412] [ 0.02125749 0.99970193 0.01200718 -0.02362184] [ 0.01157198 -0.01225512 0.99985794 -0.00129852] [ 0. 0. 0. 1. ]] SLAMing on 0.40538475 meters Centerline goodness : 0.266154 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.03, Z:-0.00 [[ 9.99696179e-01 -2.27492999e-02 -9.48784717e-03 2.92787721e-01] [ 2.28423879e-02 9.99690838e-01 9.82110787e-03 -3.11417782e-02] [ 9.26149056e-03 -1.00348491e-02 9.99906759e-01 -4.89148612e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.43538475 meters Centerline goodness : 0.267128 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.03, Z:0.00 [[ 9.99593776e-01 -2.51384763e-02 -1.34290923e-02 3.05862979e-01] [ 2.52814802e-02 9.99624307e-01 1.05873305e-02 -3.16222744e-02] [ 1.31578978e-02 -1.09225370e-02 9.99853773e-01 8.05167320e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.46538474999999996 meters Centerline goodness : 0.268748 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.04, Z:-0.00 [[ 9.99701205e-01 -2.19848416e-02 -1.06849481e-02 3.35270509e-01] [ 2.21188676e-02 9.99676053e-01 1.25914439e-02 -3.64234819e-02] [ 1.04046658e-02 -1.28240205e-02 9.99863634e-01 -1.39981133e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.49538475 meters Centerline goodness : 0.270974 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.04, Z:-0.00 [[ 0.99962058 -0.02380804 -0.01385172 0.34811329] [ 0.0239956 0.99962042 0.01353598 -0.03683174] [ 0.0135242 -0.01386323 0.99981244 -0.00128585] [ 0. 0. 0. 1. ]] SLAMing on 0.52538475 meters Centerline goodness : 0.267011 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.04, Z:-0.00 [[ 0.99972943 -0.02044762 -0.01108879 0.37723633] [ 0.02061437 0.99967289 0.01513811 -0.04059375] [ 0.01077563 -0.0153626 0.99982392 -0.00139001] [ 0. 0. 0. 1. ]] SLAMing on 0.55538475 meters Centerline goodness : 0.257038 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.04, Z:-0.00 [[ 9.99625390e-01 -2.28348844e-02 -1.50880153e-02 3.90365964e-01] [ 2.30691881e-02 9.99613055e-01 1.55419736e-02 -3.94271657e-02] [ 1.47272779e-02 -1.58842197e-02 9.99765372e-01 -3.97824121e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5853847499999999 meters Centerline goodness : 0.272904 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.04, Z:-0.00 [[ 0.99972013 -0.02086572 -0.011148 0.41628044] [ 0.02101436 0.99968955 0.01338684 -0.03958354] [ 0.01086521 -0.01361736 0.99984825 -0.00133616] [ 0. 0. 0. 1. ]] SLAMing on 0.6153847499999999 meters Centerline goodness : 0.276795 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.04, Z:-0.00 [[ 9.99637846e-01 -2.30007503e-02 -1.39693000e-02 4.25913030e-01] [ 2.31845391e-02 9.99644841e-01 1.31403397e-02 -3.73163248e-02] [ 1.36621010e-02 -1.34594527e-02 9.99816078e-01 -6.87112914e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.64538475 meters Centerline goodness : 0.288612 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.04, Z:-0.00 [[ 9.99785677e-01 -1.86323500e-02 -9.02421901e-03 4.48457222e-01] [ 1.87555337e-02 9.99729359e-01 1.37636895e-02 -3.79746166e-02] [ 8.76532680e-03 -1.39299937e-02 9.99864553e-01 -1.64672147e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6753847499999999 meters Centerline goodness : 0.288612 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.04, Z:-0.00 [[ 9.99785677e-01 -1.86323500e-02 -9.02421901e-03 4.48457222e-01] [ 1.87555337e-02 9.99729359e-01 1.37636895e-02 -3.79746166e-02] [ 8.76532680e-03 -1.39299937e-02 9.99864553e-01 -1.64672147e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7053847499999999 meters Centerline goodness : 0.254876 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.04, Z:-0.00 [[ 9.99902798e-01 -1.34909580e-02 -3.51960716e-03 4.70188028e-01] [ 1.35406875e-02 9.99803031e-01 1.45103143e-02 -3.59955292e-02] [ 3.32315587e-03 -1.45565618e-02 9.99888525e-01 -4.23103305e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7353847499999999 meters Centerline goodness : 0.252143 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.03, Z:-0.00 [[ 9.99859558e-01 -1.53303535e-02 -6.77084779e-03 4.80944979e-01] [ 1.54235614e-02 9.99783937e-01 1.39353407e-02 -3.14274911e-02] [ 6.55575116e-03 -1.40378142e-02 9.99879974e-01 -2.11966186e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.76538475 meters Centerline goodness : 0.306683 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.03, Z:-0.00 [[ 0.99994852 -0.01008149 -0.00114573 0.50252005] [ 0.01009503 0.99987097 0.01249542 -0.02569055] [ 0.00101961 -0.01250634 0.99992127 -0.00395914] [ 0. 0. 0. 1. ]] SLAMing on 0.79538475 meters Centerline goodness : 0.310998 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.02, Z:-0.00 [[ 0.9999657 -0.00767563 -0.00311224 0.50951828] [ 0.00772376 0.99984599 0.01575888 -0.02220935] [ 0.0029908 -0.01578238 0.99987098 -0.00447394] [ 0. 0. 0. 1. ]] SLAMing on 0.8253847499999999 meters Centerline goodness : 0.301610 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.01, Z:-0.01 [[ 0.99994976 -0.00631387 -0.0077853 0.52637712] [ 0.00645422 0.99981469 0.01813639 -0.01305172] [ 0.00766934 -0.01818573 0.99980521 -0.00625562] [ 0. 0. 0. 1. ]] SLAMing on 0.8553847499999999 meters Centerline goodness : 0.296317 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.01, Z:-0.01 [[ 0.99991303 -0.00766899 -0.01072947 0.53726554] [ 0.00785651 0.99981519 0.0175462 -0.00811943] [ 0.01059293 -0.01762897 0.99978848 -0.00765318] [ 0. 0. 0. 1. ]] SLAMing on 0.8853847499999999 meters Centerline goodness : 0.227909 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.00, Z:-0.01 [[ 0.9999787 -0.00341791 -0.00556013 0.56259956] [ 0.00351143 0.99985105 0.01689819 -0.00424514] [ 0.00550155 -0.01691736 0.99984176 -0.01051953] [ 0. 0. 0. 1. ]] SLAMing on 0.9153847499999999 meters Centerline goodness : 0.235322 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.00, Z:-0.01 [[ 9.99949342e-01 -5.11276643e-03 -8.67028775e-03 5.74212978e-01] [ 5.25608775e-03 9.99848582e-01 1.65887491e-02 -3.30988155e-04] [ 8.58416052e-03 -1.66334806e-02 9.99824804e-01 -1.12552104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9453847499999999 meters Centerline goodness : 0.240150 Centerline is valid? [False, False] Translation: X:0.61, Y:0.00, Z:-0.01 [[ 0.9999841 -0.00296516 -0.0047973 0.60568131] [ 0.00304271 0.99986352 0.0162384 0.00302113] [ 0.0047485 -0.01625274 0.99985664 -0.01432742] [ 0. 0. 0. 1. ]] SLAMing on 0.9753847499999999 meters Centerline goodness : 0.236263 Centerline is valid? [False, False] Translation: X:0.64, Y:0.01, Z:-0.02 [[ 9.99998141e-01 -1.71119831e-03 -8.88542026e-04 6.41153765e-01] [ 1.72752792e-03 9.99823376e-01 1.87145239e-02 5.06800226e-03] [ 8.56360826e-04 -1.87160241e-02 9.99824473e-01 -1.52414049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.00538475 meters Centerline goodness : 0.275499 Centerline is valid? [False, False] Translation: X:0.66, Y:0.01, Z:-0.01 [[ 0.99995862 -0.00240727 -0.0087729 0.66295922] [ 0.00257628 0.99981032 0.01930504 0.0051953 ] [ 0.00872477 -0.01932684 0.99977515 -0.00818432] [ 0. 0. 0. 1. ]] SLAMing on 1.03538475 meters Centerline goodness : 0.213862 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:-0.01 [[ 0.99998565 -0.0033507 -0.00417954 0.693686 ] [ 0.00341996 0.99985511 0.01667551 0.00773985] [ 0.00412306 -0.01668956 0.99985222 -0.00949781] [ 0. 0. 0. 1. ]] SLAMing on 1.06538475 meters Centerline goodness : 0.228356 Centerline is valid? [False, False] Translation: X:0.71, Y:0.01, Z:-0.00 [[ 0.99993302 -0.00412346 -0.01081466 0.71235698] [ 0.00430974 0.99984178 0.01725836 0.00800037] [ 0.01074178 -0.01730381 0.99979257 -0.00370385] [ 0. 0. 0. 1. ]] SLAMing on 1.09538475 meters Centerline goodness : 0.243794 Centerline is valid? [False, False] Translation: X:0.74, Y:0.01, Z:-0.01 [[ 0.99998385 -0.00152016 -0.00547664 0.73932412] [ 0.00161493 0.99984829 0.01734332 0.01007082] [ 0.00544944 -0.01735189 0.99983459 -0.0050127 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1253847499999998 meters Centerline goodness : 0.175384 Centerline is valid? [False, False] Translation: X:0.75, Y:0.01, Z:-0.01 [[ 0.99996684 -0.00259134 -0.00772047 0.74827686] [ 0.00272248 0.99985137 0.01702431 0.01429053] [ 0.0076752 -0.01704476 0.99982527 -0.00598257] [ 0. 0. 0. 1. ]] SLAMing on 1.1553847499999998 meters Centerline goodness : 0.284568 Centerline is valid? [False, False] Translation: X:0.77, Y:0.02, Z:-0.01 [[ 9.99994718e-01 3.18921571e-03 -6.27243815e-04 7.68690744e-01] [-3.17866254e-03 9.99864339e-01 1.61616676e-02 2.00637121e-02] [ 6.78701767e-04 -1.61595884e-02 9.99869195e-01 -1.15642031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1853847499999999 meters Centerline goodness : 0.303592 Centerline is valid? [False, False] Translation: X:0.78, Y:0.03, Z:-0.01 [[ 0.99997513 0.00605696 -0.00361302 0.78186539] [-0.00598347 0.99978174 0.02001672 0.0268762 ] [ 0.00373347 -0.0199946 0.99979312 -0.01376615] [ 0. 0. 0. 1. ]] SLAMing on 1.21538475 meters Centerline goodness : 0.269164 Centerline is valid? [False, False] Translation: X:0.79, Y:0.03, Z:-0.02 [[ 0.99997512 0.00523069 -0.00473196 0.78731457] [-0.00513826 0.99979976 0.01934009 0.03089991] [ 0.00483217 -0.0193153 0.99980177 -0.01550521] [ 0. 0. 0. 1. ]] SLAMing on 1.24538475 meters Centerline goodness : 0.271670 Centerline is valid? [False, False] Translation: X:0.80, Y:0.03, Z:-0.01 [[ 0.99994658 0.00727955 -0.00733828 0.79700834] [-0.00710832 0.99970799 0.0230958 0.03499901] [ 0.00750426 -0.02304241 0.99970632 -0.01474047] [ 0. 0. 0. 1. ]] SLAMing on 1.27538475 meters Centerline goodness : 0.233000 Centerline is valid? [False, False] Translation: X:0.80, Y:0.04, Z:-0.02 [[ 0.99994386 0.006179 -0.008608 0.80230836] [-0.00598293 0.99972623 0.0226203 0.03789356] [ 0.00874542 -0.02256753 0.99970707 -0.01539504] [ 0. 0. 0. 1. ]] SLAMing on 1.30538475 meters Centerline goodness : 0.177198 Centerline is valid? [False, False] Translation: X:0.81, Y:0.04, Z:-0.02 [[ 0.99992557 0.00452025 -0.01133266 0.81464662] [-0.00426228 0.99973356 0.02268554 0.03978242] [ 0.01143218 -0.02263555 0.99967842 -0.017719 ] [ 0. 0. 0. 1. ]] SLAMing on 1.3353847499999998 meters Centerline goodness : 0.172156 Centerline is valid? [False, False] Translation: X:0.82, Y:0.04, Z:-0.02 [[ 0.9999141 0.00342654 -0.01265122 0.82079377] [-0.00313879 0.9997375 0.02269535 0.04079441] [ 0.01272566 -0.02265369 0.99966238 -0.01884909] [ 0. 0. 0. 1. ]] SLAMing on 1.3653847499999998 meters Centerline goodness : 0.282968 Centerline is valid? [False, False] Translation: X:0.84, Y:0.04, Z:-0.02 [[ 0.99985178 0.00535323 -0.01636351 0.83609543] [-0.00488043 0.99957333 0.02879839 0.03959919] [ 0.01651069 -0.02871426 0.99945129 -0.01775709] [ 0. 0. 0. 1. ]] SLAMing on 1.3953847499999998 meters Centerline goodness : 0.173516 Centerline is valid? [False, False] Translation: X:0.84, Y:0.04, Z:-0.03 [[ 0.99997493 0.006543 -0.00270836 0.84043766] [-0.00647177 0.99965335 0.02552068 0.04087533] [ 0.0028744 -0.02550252 0.99967063 -0.02988577] [ 0. 0. 0. 1. ]] SLAMing on 1.4253847499999999 meters Centerline goodness : 0.173742 Centerline is valid? [False, False] Translation: X:0.87, Y:0.04, Z:-0.03 [[ 0.99994007 0.01012747 0.00415886 0.86600581] [-0.01023375 0.99959949 0.02638431 0.03889252] [-0.00388999 -0.02642529 0.99964322 -0.03477699] [ 0. 0. 0. 1. ]] SLAMing on 1.45538475 meters Centerline goodness : 0.173561 Centerline is valid? [False, False] Translation: X:0.89, Y:0.04, Z:-0.04 [[ 0.99986514 0.01168353 0.01154079 0.88872784] [-0.01195606 0.99964441 0.02383482 0.03830551] [-0.01125821 -0.02396958 0.99964929 -0.03941658] [ 0. 0. 0. 1. ]] SLAMing on 1.48538475 meters Centerline goodness : 0.163001 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.03 [[ 0.99989978 0.01314348 0.00526013 0.9049987 ] [-0.01326776 0.99961584 0.0243337 0.03560527] [-0.00493828 -0.02440105 0.99969005 -0.03197403] [ 0. 0. 0. 1. ]] SLAMing on 1.51538475 meters Centerline goodness : 0.268749 Centerline is valid? [False, False] Translation: X:0.91, Y:0.04, Z:-0.03 [[ 0.99990765 0.01305632 0.00377038 0.91009174] [-0.01314609 0.99960457 0.02485735 0.03639646] [-0.00344434 -0.02490462 0.9996839 -0.03127915] [ 0. 0. 0. 1. ]] SLAMing on 1.54538475 meters Centerline goodness : 0.391434 Centerline is valid? [False, False] Translation: X:0.92, Y:0.04, Z:-0.03 [[ 0.9998559 0.01668153 0.00314681 0.91610972] [-0.01677129 0.99937681 0.03105985 0.03617211] [-0.00262672 -0.03110815 0.99951257 -0.02712463] [ 0. 0. 0. 1. ]] SLAMing on 1.57538475 meters Centerline goodness : 0.401474 Centerline is valid? [False, False] Translation: X:0.92, Y:0.04, Z:-0.03 [[ 0.99985749 0.0167632 0.00199874 0.92023116] [-0.01681753 0.99936935 0.0312742 0.03713361] [-0.00147322 -0.03130336 0.99950884 -0.02705781] [ 0. 0. 0. 1. ]] SLAMing on 1.6053847499999998 meters Centerline goodness : 0.416939 Centerline is valid? [False, False] Translation: X:0.94, Y:0.03, Z:-0.02 [[ 0.99977907 0.02040901 -0.00502859 0.94068036] [-0.02024331 0.99931278 0.03105116 0.0343112 ] [ 0.00565886 -0.0309425 0.99950515 -0.02204126] [ 0. 0. 0. 1. ]] SLAMing on 1.6353847499999998 meters Centerline goodness : 0.353510 Centerline is valid? [False, False] Translation: X:0.94, Y:0.03, Z:-0.02 [[ 0.99977657 0.02027294 -0.00598451 0.9446919 ] [-0.02007755 0.99931527 0.03107854 0.03473549] [ 0.00661047 -0.03095145 0.99949903 -0.02277721] [ 0. 0. 0. 1. ]] SLAMing on 1.6653847499999999 meters Centerline goodness : 0.435143 Centerline is valid? [False, False] Translation: X:0.95, Y:0.03, Z:-0.02 [[ 0.99975199 0.02091193 -0.00765831 0.95336977] [-0.02065011 0.99924848 0.03280314 0.03301618] [ 0.00833853 -0.03263686 0.99943249 -0.02383925] [ 0. 0. 0. 1. ]] SLAMing on 1.6953847499999999 meters Centerline goodness : 0.253672 Centerline is valid? [False, False] Translation: X:0.96, Y:0.03, Z:-0.03 [[ 0.99980026 0.01781748 -0.00905457 0.96063344] [-0.01753309 0.99937875 0.03057281 0.02967778] [ 0.00959368 -0.03040795 0.99949153 -0.02522878] [ 0. 0. 0. 1. ]] SLAMing on 1.72538475 meters Centerline goodness : 0.451630 Centerline is valid? [False, False] Translation: X:0.96, Y:0.03, Z:-0.04 [[ 0.99987397 0.01511654 0.00485176 0.96419672] [-0.01522994 0.99958974 0.02425702 0.02894893] [-0.00448309 -0.02432785 0.99969398 -0.03857477] [ 0. 0. 0. 1. ]] SLAMing on 1.75538475 meters Centerline goodness : 0.269801 Centerline is valid? [False, False] Translation: X:0.97, Y:0.02, Z:-0.04 [[ 0.99994029 0.0103239 0.00358262 0.97449562] [-0.01040365 0.99968121 0.02300539 0.02112987] [-0.00334397 -0.02304129 0.99972892 -0.0413131 ] [ 0. 0. 0. 1. ]] SLAMing on 1.78538475 meters Centerline goodness : 0.293363 Centerline is valid? [False, False] Translation: X:0.98, Y:0.02, Z:-0.04 [[ 0.99997362 0.00642123 0.00339591 0.97870832] [-0.00648816 0.99977737 0.02007776 0.01705561] [-0.00326623 -0.02009927 0.99979265 -0.04445876] [ 0. 0. 0. 1. ]] SLAMing on 1.8153847499999998 meters Centerline goodness : 0.511954 Centerline is valid? [False, False] Translation: X:0.99, Y:0.01, Z:-0.05 [[ 9.99997572e-01 8.50248637e-04 2.03323022e-03 9.91122297e-01] [-8.90391848e-04 9.99803072e-01 1.98248511e-02 6.75606824e-03] [-2.01597377e-03 -1.98266133e-02 9.99801401e-01 -4.67399865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8453847499999998 meters Centerline goodness : 0.303943 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.00, Z:-0.04 [[ 0.99999469 0.0010779 -0.00307441 1.00594056] [-0.00102653 0.99986067 0.01666096 -0.00130603] [ 0.00309194 -0.01665771 0.99985647 -0.04366171] [ 0. 0. 0. 1. ]] SLAMing on 1.8753847499999998 meters Centerline goodness : 0.537408 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.01, Z:-0.04 [[ 0.99996896 -0.00666879 -0.00419587 1.01474526] [ 0.00671884 0.99990509 0.01202755 -0.00931585] [ 0.00411526 -0.01205537 0.99991886 -0.04466393] [ 0. 0. 0. 1. ]] SLAMing on 1.9053847499999998 meters Centerline goodness : 0.533135 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.01, Z:-0.04 [[ 0.99993347 -0.01049951 -0.004777 1.01708119] [ 0.0105434 0.99990157 0.00925655 -0.01389249] [ 0.00467935 -0.0093063 0.99994575 -0.04410942] [ 0. 0. 0. 1. ]] SLAMing on 1.9353847499999999 meters Centerline goodness : 0.568201 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.02, Z:-0.04 [[ 0.9997919 -0.01970896 -0.005265 1.0265052 ] [ 0.01973934 0.99978844 0.00578251 -0.02196037] [ 0.00514991 -0.00588524 0.99996942 -0.04287896] [ 0. 0. 0. 1. ]] SLAMing on 1.96538475 meters Centerline goodness : 0.577028 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.03, Z:-0.04 [[ 0.99970538 -0.02361017 -0.00563134 1.02824094] [ 0.02362766 0.99971615 0.00305993 -0.02576287] [ 0.00555749 -0.00319208 0.99997946 -0.04202972] [ 0. 0. 0. 1. ]] SLAMing on 1.99538475 meters Centerline goodness : 0.567060 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.03, Z:-0.04 [[ 0.99955109 -0.02944422 -0.00553694 1.03182595] [ 0.02946321 0.99956015 0.00337977 -0.03374621] [ 0.00543499 -0.00354139 0.99997896 -0.03582569] [ 0. 0. 0. 1. ]] SLAMing on 2.0253847499999997 meters Centerline goodness : 0.558467 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.04, Z:-0.04 [[ 9.99424304e-01 -3.34126310e-02 -5.88703988e-03 1.03318525e+00] [ 3.34123933e-02 9.99441640e-01 -1.38735669e-04 -3.55934618e-02] [ 5.88838832e-03 -5.80442932e-05 9.99982662e-01 -3.53847667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.05538475 meters Centerline goodness : 0.558323 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.04, Z:-0.03 [[ 0.99939274 -0.03424634 -0.00643022 1.03590362] [ 0.0342605 0.99941072 0.00210584 -0.04084778] [ 0.00635431 -0.00232487 0.99997711 -0.03247321] [ 0. 0. 0. 1. ]] SLAMing on 2.08538475 meters Centerline goodness : 0.685123 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.03 [[ 9.99490058e-01 -2.95446883e-02 -1.21134523e-02 1.05286227e+00] [ 2.95506853e-02 9.99563233e-01 3.16344375e-04 -4.52157083e-02] [ 1.20988152e-02 -6.74143874e-04 9.99926579e-01 -3.01152638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.11538475 meters Centerline goodness : 0.690894 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.04, Z:-0.03 [[ 9.99497066e-01 -2.92185709e-02 -1.23243440e-02 1.05341733e+00] [ 2.92211228e-02 9.99572971e-01 2.70085178e-05 -4.49956400e-02] [ 1.23182920e-02 -3.87126105e-04 9.99924052e-01 -3.09299296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.14538475 meters Centerline goodness : 0.697614 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.05, Z:-0.03 [[ 0.99959026 -0.02543807 -0.01312318 1.0559809 ] [ 0.02549595 0.99966584 0.00426159 -0.04586301] [ 0.01301038 -0.00459443 0.99990481 -0.0311461 ] [ 0. 0. 0. 1. ]] SLAMing on 2.17538475 meters Centerline goodness : 0.705236 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.05, Z:-0.03 [[ 0.99959202 -0.02525538 -0.01334016 1.05670165] [ 0.02531097 0.99967156 0.00401479 -0.04582395] [ 0.01323439 -0.00435081 0.99990296 -0.03200138] [ 0. 0. 0. 1. ]] SLAMing on 2.20538475 meters Centerline goodness : 0.728876 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.05, Z:-0.03 [[ 0.99959074 -0.02513271 -0.01366394 1.05784115] [ 0.02519429 0.9996731 0.00435318 -0.0476658 ] [ 0.01355007 -0.00469565 0.99989717 -0.0321872 ] [ 0. 0. 0. 1. ]] SLAMing on 2.2353847499999997 meters Centerline goodness : 0.739935 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.05, Z:-0.03 [[ 0.99957776 -0.02545728 -0.01400801 1.05923351] [ 0.02552433 0.99966349 0.00462876 -0.04864369] [ 0.01388546 -0.00498435 0.99989117 -0.03218143] [ 0. 0. 0. 1. ]] SLAMing on 2.26538475 meters Centerline goodness : 0.760041 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.05, Z:-0.03 [[ 0.99955693 -0.02610851 -0.0142929 1.06139854] [ 0.02618887 0.99964208 0.0054647 -0.05173435] [ 0.01414511 -0.0058366 0.99988292 -0.03211921] [ 0. 0. 0. 1. ]] SLAMing on 2.2953847499999998 meters Centerline goodness : 0.770351 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.05, Z:-0.03 [[ 0.9995403 -0.02655414 -0.01463128 1.06294341] [ 0.02664645 0.999626 0.00615091 -0.05394332] [ 0.01446248 -0.00653795 0.99987404 -0.03182454] [ 0. 0. 0. 1. ]] SLAMing on 2.32538475 meters Centerline goodness : 0.263694 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.06, Z:-0.03 [[ 0.99941198 -0.03107221 -0.01449879 1.06423495] [ 0.03112032 0.99951082 0.00310445 -0.05700941] [ 0.01439524 -0.00355383 0.99989007 -0.03151297] [ 0. 0. 0. 1. ]] SLAMing on 2.35538475 meters Centerline goodness : 0.238785 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.06, Z:-0.03 [[ 0.99939229 -0.03174841 -0.01439032 1.06436149] [ 0.03184105 0.99947337 0.00625485 -0.06016506] [ 0.01418416 -0.00670925 0.99987689 -0.02571549] [ 0. 0. 0. 1. ]] SLAMing on 2.38538475 meters Centerline goodness : 0.240032 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.06, Z:-0.02 [[ 0.99939857 -0.03156888 -0.01434917 1.06340752] [ 0.03167588 0.9994716 0.0072914 -0.0605666 ] [ 0.01411141 -0.00774154 0.99987046 -0.0231403 ] [ 0. 0. 0. 1. ]] SLAMing on 2.41538475 meters Centerline goodness : 0.211419 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.11, Z:0.10 [[ 0.99927668 0.02403303 -0.02947089 0.93435385] [-0.02060375 0.99353972 0.1115989 -0.10859383] [ 0.03196256 -0.11091097 0.99331624 0.10057186] [ 0. 0. 0. 1. ]] SLAMing on 2.4453847499999997 meters Centerline goodness : 0.204730 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.17, Z:-0.01 [[ 0.99924335 0.0385714 -0.0049968 1.02931754] [-0.0382249 0.99764483 0.0569531 -0.16617481] [ 0.00718179 -0.056719 0.99836435 -0.01105635] [ 0. 0. 0. 1. ]] SLAMing on 2.47538475 meters Centerline goodness : 0.209351 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.16, Z:-0.01 [[ 0.9994214 0.0336154 -0.00518366 1.03112442] [-0.03331011 0.99815948 0.0506763 -0.16209862] [ 0.00687762 -0.05047431 0.99870168 -0.01456964] [ 0. 0. 0. 1. ]] SLAMing on 2.5053847499999997 meters Centerline goodness : 0.184200 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.16, Z:-0.02 [[ 0.99955364 0.02940092 -0.00530186 1.03173915] [-0.02913655 0.99858559 0.04447338 -0.15917064] [ 0.00660192 -0.04429905 0.9989965 -0.01807123] [ 0. 0. 0. 1. ]] SLAMing on 2.53538475 meters Centerline goodness : 0.174739 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.15, Z:-0.03 [[ 0.9997417 0.02200297 -0.00569206 1.03202517] [-0.02181057 0.99925296 0.03190343 -0.15310038] [ 0.00638977 -0.03177104 0.99947475 -0.02531996] [ 0. 0. 0. 1. ]] SLAMing on 2.5653847499999998 meters Centerline goodness : 0.167232 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.15, Z:-0.03 [[ 0.99982328 0.0176622 -0.00643809 1.03339502] [-0.01749974 0.99954733 0.02447222 -0.14810591] [ 0.00686741 -0.02435523 0.99967978 -0.02963594] [ 0. 0. 0. 1. ]] SLAMing on 2.59538475 meters Centerline goodness : 0.167232 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.15, Z:-0.03 [[ 0.99987471 0.01458344 -0.00615507 1.03231123] [-0.01445498 0.99968695 0.02042208 -0.14601295] [ 0.00645096 -0.02033055 0.9997725 -0.0300034 ] [ 0. 0. 0. 1. ]] SLAMing on 2.62538475 meters Centerline goodness : 0.164623 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.14, Z:-0.04 [[ 0.99991917 0.01090934 -0.00653039 1.03268856] [-0.0108246 0.99985852 0.01287497 -0.14133773] [ 0.00666992 -0.01280324 0.99989579 -0.03504684] [ 0. 0. 0. 1. ]] SLAMing on 2.6553847499999996 meters Centerline goodness : 0.160325 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.14, Z:-0.04 [[ 0.99992296 0.01019446 -0.00708113 1.03472588] [-0.01012649 0.99990293 0.0095701 -0.13644849] [ 0.00717801 -0.00949766 0.99992913 -0.03972941] [ 0. 0. 0. 1. ]] SLAMing on 2.68538475 meters Centerline goodness : 0.162374 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.13, Z:-0.04 [[ 0.99992873 0.00914342 -0.00767625 1.03725249] [-0.00908279 0.99992757 0.00789709 -0.13414535] [ 0.00774791 -0.00782681 0.99993935 -0.04238275] [ 0. 0. 0. 1. ]] SLAMing on 2.7153847499999997 meters Centerline goodness : 0.153885 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.13, Z:-0.05 [[ 0.99993488 0.00761518 -0.00849963 1.04081086] [-0.00756823 0.999956 0.00554272 -0.13108681] [ 0.00854146 -0.00547804 0.99994852 -0.04622628] [ 0. 0. 0. 1. ]] SLAMing on 2.74538475 meters Centerline goodness : 0.150120 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.13, Z:-0.05 [[ 0.99993472 0.00701248 -0.00902156 1.04220745] [-0.00696806 0.99996349 0.00494615 -0.13008253] [ 0.00905592 -0.00488297 0.99994707 -0.04675019] [ 0. 0. 0. 1. ]] SLAMing on 2.7753847499999997 meters Centerline goodness : 0.826803 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.13, Z:-0.04 [[ 0.99993562 0.00718996 -0.00877833 1.04111425] [-0.00713724 0.99995639 0.0060223 -0.12952878] [ 0.00882125 -0.00595926 0.99994333 -0.04385977] [ 0. 0. 0. 1. ]] SLAMing on 2.80538475 meters Centerline goodness : 0.851790 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.13, Z:-0.04 [[ 0.99991814 0.00881144 -0.00927729 1.04454237] [-0.00868263 0.9998666 0.01383432 -0.13199349] [ 0.00939795 -0.01375264 0.99986126 -0.03711251] [ 0. 0. 0. 1. ]] SLAMing on 2.83538475 meters Centerline goodness : 0.949035 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.13, Z:-0.03 [[ 0.99995184 0.00595628 -0.0077998 1.05386812] [-0.00577068 0.9997047 0.02360525 -0.13336269] [ 0.0079381 -0.0235591 0.99969093 -0.02757866] [ 0. 0. 0. 1. ]] SLAMing on 2.86538475 meters Centerline goodness : 0.938286 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.13, Z:-0.03 [[ 0.99997112 0.00158958 -0.0074318 1.05338745] [-0.00144803 0.99981817 0.01901404 -0.12851134] [ 0.00746067 -0.01900273 0.9997916 -0.02708623] [ 0. 0. 0. 1. ]] SLAMing on 2.89538475 meters Centerline goodness : 0.938270 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.13, Z:-0.03 [[ 9.99967414e-01 7.79216715e-04 -8.03513880e-03 1.05465466e+00] [-6.29521511e-04 9.99826513e-01 1.86157996e-02 -1.26607143e-01] [ 8.04825055e-03 -1.86101347e-02 9.99794423e-01 -2.64865529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9253847499999996 meters Centerline goodness : 0.944828 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.12, Z:-0.03 [[ 9.99966354e-01 3.93874851e-04 -8.19360853e-03 1.05473479e+00] [-2.52597312e-04 9.99851412e-01 1.72363022e-02 -1.21751075e-01] [ 8.19918001e-03 -1.72336526e-02 9.99817871e-01 -2.65968364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.95538475 meters Centerline goodness : 0.945118 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.12, Z:-0.03 [[ 9.99965110e-01 1.84144094e-05 -8.35335557e-03 1.05541477e+00] [ 1.09002891e-04 9.99883665e-01 1.52527154e-02 -1.17190743e-01] [ 8.35266464e-03 -1.52530937e-02 9.99848777e-01 -2.85777713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9853847499999997 meters Centerline goodness : 0.939740 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.11, Z:-0.03 [[ 0.99995363 0.00283796 -0.00920253 1.05796588] [-0.00269716 0.99987968 0.01527599 -0.10817484] [ 0.00924477 -0.01525046 0.99984097 -0.03262556] [ 0. 0. 0. 1. ]] SLAMing on 3.01538475 meters Centerline goodness : 0.939843 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.10, Z:-0.03 [[ 0.99995228 0.00264053 -0.00940551 1.0585063 ] [-0.00251601 0.99990936 0.01322684 -0.1031998 ] [ 0.00943958 -0.01320255 0.99986828 -0.03450489] [ 0. 0. 0. 1. ]] SLAMing on 3.0453847499999998 meters Centerline goodness : 0.938365 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.10, Z:-0.04 [[ 0.99994936 0.00286974 -0.00964549 1.05822274] [-0.00276421 0.99993637 0.01093674 -0.09624382] [ 0.00967626 -0.01090953 0.99989367 -0.03563679] [ 0. 0. 0. 1. ]] SLAMing on 3.07538475 meters Centerline goodness : 0.938835 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.09, Z:-0.04 [[ 0.99994709 0.00245797 -0.00998882 1.05907097] [-0.00236587 0.99995468 0.00922149 -0.09214953] [ 0.01001103 -0.00919737 0.99990759 -0.03696992] [ 0. 0. 0. 1. ]] SLAMing on 3.10538475 meters Centerline goodness : 0.939126 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.08, Z:-0.04 [[ 0.99992901 0.00471075 -0.01094433 1.06238965] [-0.00460321 0.99994109 0.00983016 -0.08440666] [ 0.01099 -0.00977909 0.99989179 -0.04010115] [ 0. 0. 0. 1. ]] SLAMing on 3.13538475 meters Centerline goodness : 0.937631 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.08, Z:-0.04 [[ 0.99992856 0.00399081 -0.0112675 1.06376665] [-0.00389944 0.99995943 0.00811993 -0.08016401] [ 0.01129945 -0.00807542 0.99990355 -0.04178336] [ 0. 0. 0. 1. ]] SLAMing on 3.16538475 meters Centerline goodness : 0.939003 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.07, Z:-0.04 [[ 0.9999249 0.00358676 -0.01171835 1.06454895] [-0.00351044 0.99997254 0.00652686 -0.07434685] [ 0.01174143 -0.00648523 0.99991004 -0.04232299] [ 0. 0. 0. 1. ]] SLAMing on 3.1953847499999997 meters Centerline goodness : 0.940229 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.07, Z:-0.04 [[ 0.99992455 0.00349798 -0.01177525 1.06440261] [-0.00343083 0.99997777 0.00571799 -0.07173066] [ 0.01179499 -0.00567716 0.99991432 -0.04238989] [ 0. 0. 0. 1. ]] SLAMing on 3.22538475 meters Centerline goodness : 0.943856 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.07, Z:-0.04 [[ 0.99992023 0.00395404 -0.01199581 1.0638094 ] [-0.00389735 0.99998115 0.00474498 -0.06563989] [ 0.01201435 -0.00469785 0.99991679 -0.04192799] [ 0. 0. 0. 1. ]] SLAMing on 3.2553847499999997 meters Centerline goodness : 0.943219 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.06, Z:-0.04 [[ 0.99989463 0.00718684 -0.0126125 1.06478302] [-0.00708918 0.99994467 0.00777114 -0.06077631] [ 0.01266765 -0.00768091 0.99989026 -0.04111829] [ 0. 0. 0. 1. ]] SLAMing on 3.28538475 meters Centerline goodness : 0.944045 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.06, Z:-0.04 [[ 0.99989382 0.00678772 -0.012895 1.06521191] [-0.00669957 0.99995398 0.00686693 -0.05775891] [ 0.01294101 -0.00677981 0.99989328 -0.04119143] [ 0. 0. 0. 1. ]] SLAMing on 3.3153847499999998 meters Centerline goodness : 0.946970 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.05, Z:-0.05 [[ 9.99993222e-01 3.60126854e-03 7.65891570e-04 1.06615578e+00] [-3.60219878e-03 9.99992772e-01 1.21668842e-03 -5.10927079e-02] [-7.61504412e-04 -1.21943906e-03 9.99998967e-01 -4.75742475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.34538475 meters Centerline goodness : 0.947905 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.05, Z:-0.05 [[ 9.99995922e-01 2.83549211e-03 3.40627442e-04 1.06705876e+00] [-2.83571495e-03 9.99995765e-01 6.55505304e-04 -4.92509798e-02] [-3.38767319e-04 -6.56468554e-04 9.99999727e-01 -4.72874196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.37538475 meters Centerline goodness : 0.950078 Centerline is valid? [False, True] Translation: X:1.07, Y:-0.05, Z:-0.05 [[ 9.99998191e-01 1.89698550e-03 1.38959398e-04 1.06752578e+00] [-1.89701510e-03 9.99998178e-01 2.13190641e-04 -4.61660063e-02] [-1.38554725e-04 -2.13453864e-04 9.99999968e-01 -4.63232779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4053847499999996 meters Centerline goodness : 0.951061 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.05, Z:-0.05 [[ 9.99998193e-01 8.58431599e-04 1.69634782e-03 1.09909257e+00] [-8.58199900e-04 9.99999622e-01 -1.37310288e-04 -4.62170603e-02] [-1.69646505e-03 1.35854234e-04 9.99998552e-01 -4.70699488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.43538475 meters Centerline goodness : 0.948873 Centerline is valid? [True, False] Translation: X:1.10, Y:-0.04, Z:-0.05 [[ 9.99998429e-01 1.50233667e-05 1.77244114e-03 1.09950177e+00] [-1.22962532e-05 9.99998816e-01 -1.53862094e-03 -4.11927541e-02] [-1.77246215e-03 1.53859673e-03 9.99997246e-01 -4.76044009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4653847499999997 meters Centerline goodness : 0.949404 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.04, Z:-0.05 [[ 9.99995748e-01 2.77443538e-03 8.98020321e-04 1.10144981e+00] [-2.77660089e-03 9.99993219e-01 2.41923807e-03 -4.10195694e-02] [-8.91302212e-04 -2.42172122e-03 9.99996670e-01 -4.67364724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.49538475 meters Centerline goodness : 0.950358 Centerline is valid? [False, True] Translation: X:1.10, Y:-0.04, Z:-0.05 [[ 9.99998144e-01 1.90295519e-03 3.01967530e-04 1.10294725e+00] [-1.90318579e-03 9.99997896e-01 7.65204950e-04 -3.70046999e-02] [-3.00510744e-04 -7.65778230e-04 9.99999662e-01 -4.75003892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5253847499999997 meters Centerline goodness : 0.949325 Centerline is valid? [True, False] Translation: X:1.10, Y:-0.03, Z:-0.05 [[ 9.99999126e-01 1.31583564e-03 -1.30178077e-04 1.10445964e+00] [-1.31589284e-03 9.99999037e-01 -4.40236695e-04 -3.43072779e-02] [ 1.29598673e-04 4.40407611e-04 9.99999895e-01 -4.87762160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.55538475 meters Centerline goodness : 0.945682 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.03, Z:-0.05 [[ 9.99995633e-01 2.57995225e-03 -1.44131152e-03 1.11029925e+00] [-2.57916467e-03 9.99996524e-01 5.48024272e-04 -2.81272808e-02] [ 1.44272039e-03 -5.44304499e-04 9.99998811e-01 -5.29256210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.58538475 meters Centerline goodness : 0.946059 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.03, Z:-0.05 [[ 0.99998624 0.00443891 -0.00279628 1.11478748] [-0.00442994 0.99998505 0.00320406 -0.02666738] [ 0.00281046 -0.00319163 0.99999096 -0.05464981] [ 0. 0. 0. 1. ]] SLAMing on 3.6153847499999996 meters Centerline goodness : 0.944289 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.02, Z:-0.06 [[ 0.99998847 0.00303832 -0.00371808 1.11741055] [-0.00303203 0.99999397 0.00169518 -0.02372639] [ 0.00372321 -0.00168389 0.99999165 -0.05569465] [ 0. 0. 0. 1. ]] SLAMing on 3.64538475 meters Centerline goodness : 0.943266 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.02, Z:-0.05 [[ 0.99998733 0.00229385 -0.00447991 1.11866148] [-0.00228714 0.99999626 0.00150242 -0.02341607] [ 0.00448334 -0.00149215 0.99998884 -0.05497615] [ 0. 0. 0. 1. ]] SLAMing on 3.6753847499999996 meters Centerline goodness : 0.945562 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.02, Z:-0.05 [[ 9.99985447e-01 8.36984968e-04 -5.32960817e-03 1.11985183e+00] [-8.29679574e-04 9.99998714e-01 1.37278227e-03 -2.16001751e-02] [ 5.33075032e-03 -1.36834043e-03 9.99984855e-01 -5.29349338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.70538475 meters Centerline goodness : 0.945296 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.02, Z:-0.05 [[ 9.99983158e-01 -7.41432192e-04 -5.75627821e-03 1.12109364e+00] [ 7.43842553e-04 9.99999637e-01 4.16606417e-04 -1.66141158e-02] [ 5.75596723e-03 -4.20881165e-04 9.99983346e-01 -5.22966742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7353847499999997 meters Centerline goodness : 0.943597 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.01, Z:-0.05 [[ 9.99982959e-01 -1.04285837e-03 -5.74411931e-03 1.12075056e+00] [ 1.04252768e-03 9.99999455e-01 -6.05656722e-05 -1.34508310e-02] [ 5.74417934e-03 5.45762367e-05 9.99983501e-01 -5.15894388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.76538475 meters Centerline goodness : 0.944583 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.01, Z:-0.05 [[ 9.99984695e-01 -9.63114349e-04 -5.44816749e-03 1.11838024e+00] [ 9.59641023e-04 9.99999335e-01 -6.40100078e-04 -7.70656233e-03] [ 5.44878035e-03 6.34861997e-04 9.99984954e-01 -4.87377895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7953847499999998 meters Centerline goodness : 0.940545 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.00, Z:-0.05 [[ 9.99984960e-01 -9.99857872e-04 -5.39263299e-03 1.11749653e+00] [ 9.93870838e-04 9.99998887e-01 -1.11279026e-03 -4.60740685e-03] [ 5.39373962e-03 1.10741394e-03 9.99984840e-01 -4.75121750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.82538475 meters Centerline goodness : 0.938575 Centerline is valid? [False, False] Translation: X:1.12, Y:0.00, Z:-0.05 [[ 9.99981161e-01 1.62156858e-03 -5.92019982e-03 1.11896070e+00] [-1.61764361e-03 9.99998469e-01 6.67706304e-04 4.24621904e-03] [ 5.92127349e-03 -6.58116952e-04 9.99982253e-01 -4.76571681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.85538475 meters Centerline goodness : 0.937498 Centerline is valid? [False, False] Translation: X:1.12, Y:0.01, Z:-0.05 [[ 0.99996937 0.00439525 -0.00647579 1.12086782] [-0.00437608 0.99998601 0.00297146 0.00915937] [ 0.00648875 -0.00294303 0.99997462 -0.04858353] [ 0. 0. 0. 1. ]] SLAMing on 3.8853847499999996 meters Centerline goodness : 0.931096 Centerline is valid? [False, False] Translation: X:1.12, Y:0.02, Z:-0.05 [[ 0.99995169 0.00712727 -0.00676947 1.1223002 ] [-0.00709926 0.99996618 0.00415227 0.0191267 ] [ 0.00679884 -0.00410401 0.99996847 -0.04964192] [ 0. 0. 0. 1. ]] SLAMing on 3.91538475 meters Centerline goodness : 0.930994 Centerline is valid? [False, False] Translation: X:1.12, Y:0.02, Z:-0.05 [[ 0.99995292 0.00682506 -0.00689723 1.12247147] [-0.00680651 0.99997317 0.00270927 0.02363357] [ 0.00691554 -0.00266219 0.99997254 -0.04988776] [ 0. 0. 0. 1. ]] SLAMing on 3.9453847499999997 meters Centerline goodness : 0.927376 Centerline is valid? [False, False] Translation: X:1.12, Y:0.03, Z:-0.05 [[ 0.99992235 0.01019303 -0.00716936 1.12289449] [-0.01015818 0.99993649 0.00488166 0.0291791 ] [ 0.00721866 -0.00480845 0.99996238 -0.04977298] [ 0. 0. 0. 1. ]] SLAMing on 3.97538475 meters Centerline goodness : 0.924608 Centerline is valid? [False, False] Translation: X:1.12, Y:0.03, Z:-0.05 [[ 0.99992908 0.00923711 -0.00751774 1.1248246 ] [-0.0092153 0.99995324 0.00293099 0.03488003] [ 0.00754446 -0.00286151 0.99996745 -0.05161048] [ 0. 0. 0. 1. ]] SLAMing on 4.00538475 meters Centerline goodness : 0.922871 Centerline is valid? [False, False] Translation: X:1.13, Y:0.04, Z:-0.05 [[ 0.99989471 0.01247832 -0.00740693 1.12710209] [-0.01244207 0.99991049 0.00492016 0.04388728] [ 0.00746766 -0.00482748 0.99996046 -0.05444666] [ 0. 0. 0. 1. ]] SLAMing on 4.0353847499999995 meters Centerline goodness : 0.918969 Centerline is valid? [False, False] Translation: X:1.13, Y:0.05, Z:-0.05 [[ 0.99984521 0.01561941 -0.00809934 1.12882639] [-0.01555619 0.99984849 0.00781056 0.0466902 ] [ 0.00822011 -0.00768335 0.9999367 -0.05477546] [ 0. 0. 0. 1. ]] SLAMing on 4.06538475 meters Centerline goodness : 0.919088 Centerline is valid? [False, False] Translation: X:1.13, Y:0.05, Z:-0.05 [[ 0.99975568 0.02042827 -0.00844228 1.12825296] [-0.02033825 0.9997368 0.01061502 0.05278856] [ 0.0086569 -0.01044072 0.99990802 -0.05369008] [ 0. 0. 0. 1. ]] SLAMing on 4.09538475 meters Centerline goodness : 0.919155 Centerline is valid? [False, False] Translation: X:1.13, Y:0.06, Z:-0.05 [[ 0.99954253 0.02902861 -0.00848941 1.12658619] [-0.02887297 0.99942254 0.01791484 0.05731146] [ 0.00900455 -0.01766153 0.99980347 -0.05123887] [ 0. 0. 0. 1. ]] SLAMing on 4.125384749999999 meters Centerline goodness : 0.918224 Centerline is valid? [False, False] Translation: X:1.13, Y:0.06, Z:-0.05 [[ 0.99950739 0.03026932 -0.00829073 1.12558772] [-0.0301187 0.99938912 0.01772736 0.06186809] [ 0.00882226 -0.01746892 0.99980848 -0.05092258] [ 0. 0. 0. 1. ]] SLAMing on 4.15538475 meters Centerline goodness : 0.919002 Centerline is valid? [False, False] Translation: X:1.13, Y:0.07, Z:-0.05 [[ 0.9992078 0.03944641 -0.00526828 1.13322533] [-0.03938114 0.99915262 0.0119652 0.06585116] [ 0.0057358 -0.01174825 0.99991454 -0.05401784] [ 0. 0. 0. 1. ]] SLAMing on 4.18538475 meters Centerline goodness : 0.915123 Centerline is valid? [False, False] Translation: X:1.13, Y:0.07, Z:-0.05 [[ 0.99920437 0.0395401 -0.00521525 1.13301599] [-0.03947899 0.99915602 0.01134226 0.06791594] [ 0.00565933 -0.01112735 0.99992207 -0.05407612] [ 0. 0. 0. 1. ]] SLAMing on 4.21538475 meters Centerline goodness : 0.917471 Centerline is valid? [False, False] Translation: X:1.13, Y:0.07, Z:-0.05 [[ 0.99919987 0.03963514 -0.00535424 1.13287918] [-0.03957326 0.99915383 0.01120642 0.06862466] [ 0.00579388 -0.01098557 0.99992287 -0.05366379] [ 0. 0. 0. 1. ]] SLAMing on 4.2453847499999995 meters Centerline goodness : 0.919033 Centerline is valid? [False, False] Translation: X:1.13, Y:0.07, Z:-0.05 [[ 0.99931837 0.03656888 -0.00505054 1.13119398] [-0.03653173 0.9993061 0.00726298 0.07014636] [ 0.00531263 -0.00707352 0.99996087 -0.05291832] [ 0. 0. 0. 1. ]] SLAMing on 4.27538475 meters Centerline goodness : 0.921320 Centerline is valid? [False, False] Translation: X:1.13, Y:0.07, Z:-0.05 [[ 0.99932479 0.03634985 -0.00535217 1.13145152] [-0.03630749 0.99931015 0.00780967 0.06753509] [ 0.00563236 -0.00761008 0.99995518 -0.05236549] [ 0. 0. 0. 1. ]] SLAMing on 4.30538475 meters Centerline goodness : 0.921842 Centerline is valid? [False, False] Translation: X:1.13, Y:0.07, Z:-0.05 [[ 0.99944944 0.03279522 -0.00502843 1.13090271] [-0.03277819 0.99945675 0.00343341 0.06902155] [ 0.0051383 -0.00326669 0.99998146 -0.05311725] [ 0. 0. 0. 1. ]] SLAMing on 4.33538475 meters Centerline goodness : 0.916910 Centerline is valid? [False, False] Translation: X:1.13, Y:0.07, Z:-0.05 [[ 0.99946653 0.03222698 -0.00529854 1.13252926] [-0.0322118 0.99947678 0.00292664 0.0684758 ] [ 0.00539009 -0.0027544 0.99998168 -0.05477691] [ 0. 0. 0. 1. ]] SLAMing on 4.36538475 meters Centerline goodness : 0.917710 Centerline is valid? [False, False] Translation: X:1.13, Y:0.07, Z:-0.06 [[ 0.99947003 0.03206269 -0.00562578 1.1334785 ] [-0.03204737 0.99948245 0.00279258 0.06783869] [ 0.00571241 -0.00261081 0.99998028 -0.05544042] [ 0. 0. 0. 1. ]] SLAMing on 4.39538475 meters Centerline goodness : 0.918916 Centerline is valid? [False, False] Translation: X:1.13, Y:0.07, Z:-0.06 [[ 9.99545639e-01 2.97023608e-02 -5.12685049e-03 1.13191864e+00] [-2.97059872e-02 9.99558480e-01 -6.32618368e-04 6.70597649e-02] [ 5.10579662e-03 7.84629087e-04 9.99986658e-01 -5.56881826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.42538475 meters Centerline goodness : 0.918230 Centerline is valid? [False, False] Translation: X:1.13, Y:0.07, Z:-0.06 [[ 9.99531849e-01 3.01452340e-02 -5.22946619e-03 1.13182642e+00] [-3.01462707e-02 9.99545491e-01 -1.19515643e-04 6.55446902e-02] [ 5.22348653e-03 2.77108595e-04 9.99986319e-01 -5.54959671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4553847499999994 meters Centerline goodness : 0.919894 Centerline is valid? [False, False] Translation: X:1.13, Y:0.06, Z:-0.06 [[ 9.99486141e-01 3.17347345e-02 -4.51231710e-03 1.13045675e+00] [-3.17323956e-02 9.99496227e-01 5.89018982e-04 6.44179251e-02] [ 4.52873628e-03 -4.45529678e-04 9.99989646e-01 -5.60719367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.48538475 meters Centerline goodness : 0.919894 Centerline is valid? [False, False] Translation: X:1.13, Y:0.06, Z:-0.06 [[ 9.99486141e-01 3.17347345e-02 -4.51231710e-03 1.13045675e+00] [-3.17323956e-02 9.99496227e-01 5.89018982e-04 6.44179251e-02] [ 4.52873628e-03 -4.45529678e-04 9.99989646e-01 -5.60719367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.51538475 meters Centerline goodness : 0.919452 Centerline is valid? [False, False] Translation: X:1.13, Y:0.06, Z:-0.06 [[ 9.99467079e-01 3.23453060e-02 -4.39765650e-03 1.13021573e+00] [-3.23416705e-02 9.99476470e-01 8.95315961e-04 6.37588014e-02] [ 4.42431346e-03 -7.52611271e-04 9.99989929e-01 -5.63671969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.54538475 meters Centerline goodness : 0.923344 Centerline is valid? [False, False] Translation: X:1.13, Y:0.06, Z:-0.06 [[ 0.99941075 0.03412575 -0.00368477 1.12887188] [-0.03411617 0.99941441 0.00263216 0.05844396] [ 0.00377244 -0.0025049 0.99998975 -0.05688827] [ 0. 0. 0. 1. ]] SLAMing on 4.57538475 meters Centerline goodness : 0.926752 Centerline is valid? [False, False] Translation: X:1.13, Y:0.05, Z:-0.06 [[ 9.99490227e-01 3.17753125e-02 -3.10095571e-03 1.12772339e+00] [-3.17736564e-02 9.99494921e-01 5.81877390e-04 5.15273057e-02] [ 3.11787881e-03 -4.83052063e-04 9.99995023e-01 -5.77251355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.60538475 meters Centerline goodness : 0.929124 Centerline is valid? [False, False] Translation: X:1.13, Y:0.05, Z:-0.06 [[ 0.99959206 0.02840702 -0.00295735 1.12709834] [-0.0284147 0.99959287 -0.002588 0.04865044] [ 0.00288263 0.00267098 0.99999228 -0.05785381] [ 0. 0. 0. 1. ]] SLAMing on 4.63538475 meters Centerline goodness : 0.930321 Centerline is valid? [False, False] Translation: X:1.13, Y:0.04, Z:-0.06 [[ 0.9996839 0.02492451 -0.00329739 1.1274831 ] [-0.02493735 0.99968136 -0.0039131 0.04030772] [ 0.0031988 0.00399409 0.99998691 -0.05731695] [ 0. 0. 0. 1. ]] SLAMing on 4.665384749999999 meters Centerline goodness : 0.932361 Centerline is valid? [False, False] Translation: X:1.13, Y:0.04, Z:-0.06 [[ 0.99976326 0.02155146 -0.00299441 1.12679751] [-0.02157161 0.9997437 -0.00686972 0.037099 ] [ 0.00284559 0.00693269 0.99997192 -0.05758146] [ 0. 0. 0. 1. ]] SLAMing on 4.69538475 meters Centerline goodness : 0.938149 Centerline is valid? [False, False] Translation: X:1.13, Y:0.03, Z:-0.05 [[ 0.99983608 0.01788001 -0.00284867 1.12631084] [-0.01789339 0.99982865 -0.00474257 0.02552536] [ 0.00276338 0.00479276 0.9999847 -0.05213562] [ 0. 0. 0. 1. ]] SLAMing on 4.72538475 meters Centerline goodness : 0.941183 Centerline is valid? [False, False] Translation: X:1.13, Y:0.02, Z:-0.05 [[ 0.99984671 0.01717272 -0.00341334 1.12754468] [-0.0171865 0.9998441 -0.00405 0.01987447] [ 0.00334326 0.00410804 0.99998597 -0.05211181] [ 0. 0. 0. 1. ]] SLAMing on 4.75538475 meters Centerline goodness : 0.938251 Centerline is valid? [False, False] Translation: X:1.13, Y:0.01, Z:-0.06 [[ 0.99989047 0.01427922 -0.0038919 1.13106303] [-0.01430012 0.99988318 -0.00539686 0.01299179] [ 0.00381438 0.00545192 0.99997786 -0.0553107 ] [ 0. 0. 0. 1. ]] SLAMing on 4.7853847499999995 meters Centerline goodness : 0.939771 Centerline is valid? [False, False] Translation: X:1.13, Y:0.01, Z:-0.06 [[ 0.99989399 0.01391851 -0.00427564 1.13262048] [-0.01394015 0.99988995 -0.00507494 0.01022512] [ 0.00420453 0.00513401 0.99997798 -0.05639308] [ 0. 0. 0. 1. ]] SLAMing on 4.81538475 meters Centerline goodness : 0.937004 Centerline is valid? [False, False] Translation: X:1.13, Y:0.01, Z:-0.06 [[ 0.99988871 0.01423622 -0.00446148 1.13341796] [-0.01425335 0.99989108 -0.00383116 0.00515942] [ 0.00440646 0.00389432 0.99998271 -0.05698692] [ 0. 0. 0. 1. ]] SLAMing on 4.84538475 meters Centerline goodness : 0.941421 Centerline is valid? [False, False] Translation: X:1.13, Y:0.00, Z:-0.06 [[ 0.99988122 0.01482085 -0.00422966 1.13264253] [-0.01483434 0.99988492 -0.00317489 0.00334336] [ 0.00418212 0.00323726 0.99998601 -0.0566831 ] [ 0. 0. 0. 1. ]] SLAMing on 4.875384749999999 meters Centerline goodness : 0.941004 Centerline is valid? [False, False] Translation: X:1.13, Y:0.00, Z:-0.06 [[ 0.99986891 0.01560445 -0.00432006 1.13228188] [-0.01561522 0.99987502 -0.00247032 0.00113608] [ 0.00428097 0.00253745 0.99998762 -0.05641046] [ 0. 0. 0. 1. ]] SLAMing on 4.90538475 meters Centerline goodness : 0.941860 Centerline is valid? [False, False] Translation: X:1.13, Y:0.00, Z:-0.06 [[ 9.99863709e-01 1.59460926e-02 -4.27620485e-03 1.13203070e+00] [-1.59556810e-02 9.99870241e-01 -2.21761348e-03 2.87238039e-04] [ 4.24028771e-03 2.28554100e-03 9.99988398e-01 -5.63619257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.93538475 meters Centerline goodness : 0.944706 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.00, Z:-0.06 [[ 0.99986085 0.01590233 -0.00503892 1.13309547] [-0.01590915 0.99987257 -0.00131724 -0.00319826] [ 0.00501733 0.00139722 0.99998644 -0.0556637 ] [ 0. 0. 0. 1. ]] SLAMing on 4.96538475 meters Centerline goodness : 0.944348 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.01, Z:-0.06 [[ 9.99864477e-01 1.54316469e-02 -5.73519906e-03 1.13450484e+00] [-1.54368513e-02 9.99880471e-01 -8.64296677e-04 -6.10017967e-03] [ 5.72117601e-03 9.52712959e-04 9.99983180e-01 -5.55673534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9953847499999995 meters Centerline goodness : 0.948336 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.01, Z:-0.05 [[ 0.99991485 0.01164895 -0.00588214 1.13452794] [-0.01166878 0.99992631 -0.00334775 -0.0109423 ] [ 0.00584271 0.0034161 0.9999771 -0.05496962] [ 0. 0. 0. 1. ]] SLAMing on 5.02538475 meters Centerline goodness : 0.950768 Centerline is valid? [False, True] Translation: X:1.14, Y:-0.02, Z:-0.05 [[ 0.99995667 0.00652103 -0.006644 1.13641246] [-0.0065528 0.99996715 -0.00477121 -0.0171255 ] [ 0.00661267 0.00481454 0.99996655 -0.05277932] [ 0. 0. 0. 1. ]] SLAMing on 5.05538475 meters Centerline goodness : 0.953263 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.02, Z:-0.05 [[ 9.99973332e-01 1.48561597e-03 -7.15045530e-03 1.16831927e+00] [-1.48286699e-03 9.99998825e-01 3.89735488e-04 -2.28076999e-02] [ 7.15102589e-03 -3.79121920e-04 9.99974359e-01 -5.07860795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.085384749999999 meters Centerline goodness : 0.952858 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.03, Z:-0.05 [[ 9.99930666e-01 -9.20513515e-03 -7.34364708e-03 1.19728871e+00] [ 9.20828146e-03 9.99957525e-01 3.94741862e-04 -2.91283123e-02] [ 7.33970150e-03 -4.62336862e-04 9.99972957e-01 -5.02807406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.11538475 meters Centerline goodness : 0.956170 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.03, Z:-0.05 [[ 9.99860265e-01 -1.50310229e-02 -7.31568648e-03 1.22375644e+00] [ 1.50342815e-02 9.99886902e-01 3.90643235e-04 -3.24529773e-02] [ 7.30898732e-03 -5.00574738e-04 9.99973164e-01 -5.00010041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.14538475 meters Centerline goodness : 0.955411 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.04, Z:-0.05 [[ 9.99655406e-01 -2.52060230e-02 -7.32972882e-03 1.25185003e+00] [ 2.52095620e-02 9.99682112e-01 3.90819836e-04 -3.67816272e-02] [ 7.31754777e-03 -5.75464415e-04 9.99973061e-01 -4.96445397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.17538475 meters Centerline goodness : 0.957113 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.04, Z:-0.05 [[ 9.99522733e-01 -2.98845307e-02 -7.82434668e-03 1.27951370e+00] [ 2.98886624e-02 9.99553149e-01 4.11632579e-04 -3.74293392e-02] [ 7.80854892e-03 -6.45295377e-04 9.99969305e-01 -5.02077678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2053847499999994 meters Centerline goodness : 0.954194 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.04, Z:-0.05 [[ 9.99404954e-01 -3.38464367e-02 -6.64498671e-03 1.30755628e+00] [ 3.38494838e-02 9.99426882e-01 3.46596351e-04 -3.56820102e-02] [ 6.62944729e-03 -5.71319479e-04 9.99977862e-01 -5.23303992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.23538475 meters Centerline goodness : 0.953117 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.03, Z:-0.05 [[ 9.99454704e-01 -3.22276388e-02 -7.18847226e-03 1.33453716e+00] [ 3.22311806e-02 9.99480369e-01 3.77372454e-04 -3.11745000e-02] [ 7.17257509e-03 -6.08859622e-04 9.99974091e-01 -5.32475800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.26538475 meters Centerline goodness : 0.950787 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.03, Z:-0.05 [[ 9.99536698e-01 -2.94377261e-02 -7.73368410e-03 1.36331638e+00] [ 2.94417030e-02 9.99566419e-01 4.00861915e-04 -2.87318281e-02] [ 7.71853045e-03 -6.28369025e-04 9.99970014e-01 -5.34705407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.295384749999999 meters Centerline goodness : 0.947690 Centerline is valid? [True, False] Translation: X:1.36, Y:-0.02, Z:-0.05 [[ 0.99974901 -0.02072197 -0.00851599 1.3628848 ] [ 0.02078459 0.99975709 0.00733199 -0.02130689] [ 0.00836199 -0.00750715 0.99993686 -0.05237958] [ 0. 0. 0. 1. ]] SLAMing on 5.32538475 meters Centerline goodness : 0.946314 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.02, Z:-0.05 [[ 0.99983603 -0.01596933 -0.00853796 1.36178455] [ 0.01606021 0.99981395 0.01068382 -0.01653969] [ 0.00836576 -0.01081919 0.99990648 -0.05183116] [ 0. 0. 0. 1. ]] SLAMing on 5.35538475 meters Centerline goodness : 0.944093 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.01, Z:-0.05 [[ 0.99996056 -0.00340065 -0.00820391 1.3570478 ] [ 0.00356627 0.99978842 0.02025807 -0.00875078] [ 0.00813329 -0.02028653 0.99976112 -0.04838606] [ 0. 0. 0. 1. ]] SLAMing on 5.38538475 meters Centerline goodness : 0.942577 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.00, Z:-0.05 [[ 9.99968053e-01 1.48524164e-03 -7.85414794e-03 1.35538230e+00] [-1.29918001e-03 9.99719648e-01 2.36418703e-02 -4.90681018e-03] [ 7.88705990e-03 -2.36309111e-02 9.99689639e-01 -4.78339982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.415384749999999 meters Centerline goodness : 0.936490 Centerline is valid? [False, False] Translation: X:1.35, Y:0.00, Z:-0.05 [[ 9.99919584e-01 1.02551865e-02 -7.46036702e-03 1.35270202e+00] [-1.00206419e-02 9.99474580e-01 3.08245092e-02 7.93942857e-04] [ 7.77255829e-03 -3.07472728e-02 9.99496970e-01 -4.57905641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.44538475 meters Centerline goodness : 0.937946 Centerline is valid? [False, False] Translation: X:1.35, Y:0.00, Z:-0.05 [[ 0.99991639 0.01069441 -0.00726997 1.35194161] [-0.01047159 0.99949424 0.03002691 0.0040901 ] [ 0.00758741 -0.02994827 0.99952265 -0.04603486] [ 0. 0. 0. 1. ]] SLAMing on 5.47538475 meters Centerline goodness : 0.934439 Centerline is valid? [False, False] Translation: X:1.35, Y:0.01, Z:-0.05 [[ 0.99991351 0.01087822 -0.00739139 1.35210877] [-0.01066001 0.99952413 0.02894599 0.0075334 ] [ 0.00770275 -0.02886469 0.99955365 -0.04678609] [ 0. 0. 0. 1. ]] SLAMing on 5.50538475 meters Centerline goodness : 0.933395 Centerline is valid? [False, False] Translation: X:1.35, Y:0.01, Z:-0.05 [[ 0.99994642 0.00750551 -0.00712949 1.35181964] [-0.00733265 0.99968579 0.02396979 0.01043721] [ 0.00730715 -0.02391623 0.99968726 -0.04841216] [ 0. 0. 0. 1. ]] SLAMing on 5.5353847499999995 meters Centerline goodness : 0.930064 Centerline is valid? [False, False] Translation: X:1.35, Y:0.01, Z:-0.05 [[ 0.99996874 0.00432406 -0.00661922 1.35133121] [-0.00419578 0.99980549 0.01927137 0.01233748] [ 0.00670127 -0.019243 0.99979238 -0.05039191] [ 0. 0. 0. 1. ]] SLAMing on 5.56538475 meters Centerline goodness : 0.932513 Centerline is valid? [False, False] Translation: X:1.35, Y:0.01, Z:-0.05 [[ 9.99980907e-01 8.38497345e-04 -6.12233825e-03 1.35072259e+00] [-7.48795326e-04 9.99892561e-01 1.46392154e-02 1.40043808e-02] [ 6.13395541e-03 -1.46343515e-02 9.99874097e-01 -5.17576734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.59538475 meters Centerline goodness : 0.928495 Centerline is valid? [False, False] Translation: X:1.35, Y:0.01, Z:-0.05 [[ 0.9999792 -0.00294042 -0.00574133 1.35043358] [ 0.00299957 0.99994224 0.01032126 0.01397549] [ 0.00571065 -0.01033827 0.99993025 -0.05282393] [ 0. 0. 0. 1. ]] SLAMing on 5.625384749999999 meters Centerline goodness : 0.928307 Centerline is valid? [False, False] Translation: X:1.35, Y:0.01, Z:-0.05 [[ 0.99997556 -0.00333784 -0.00614289 1.35153068] [ 0.00340216 0.99993919 0.01049053 0.01226669] [ 0.0061075 -0.01051117 0.9999261 -0.0530065 ] [ 0. 0. 0. 1. ]] SLAMing on 5.65538475 meters Centerline goodness : 0.928861 Centerline is valid? [False, False] Translation: X:1.35, Y:0.01, Z:-0.05 [[ 0.99997091 -0.00396571 -0.00651564 1.3525474 ] [ 0.00403736 0.99993113 0.01101995 0.00863265] [ 0.00647149 -0.01104594 0.99991805 -0.05272874] [ 0. 0. 0. 1. ]] SLAMing on 5.68538475 meters Centerline goodness : 0.928716 Centerline is valid? [False, False] Translation: X:1.35, Y:0.01, Z:-0.05 [[ 0.99997106 -0.00402601 -0.00645528 1.35243213] [ 0.00410048 0.9999247 0.01156603 0.00643864] [ 0.00640823 -0.01159216 0.99991227 -0.05235668] [ 0. 0. 0. 1. ]] SLAMing on 5.71538475 meters Centerline goodness : 0.928267 Centerline is valid? [False, False] Translation: X:1.35, Y:0.01, Z:-0.05 [[ 0.99997249 -0.0038393 -0.0063473 1.35212778] [ 0.00391453 0.99992173 0.01188359 0.00538314] [ 0.00630118 -0.01190811 0.99990924 -0.05217803] [ 0. 0. 0. 1. ]] SLAMing on 5.7453847499999995 meters Centerline goodness : 0.928760 Centerline is valid? [False, False] Translation: X:1.35, Y:0.00, Z:-0.05 [[ 0.99997937 -0.00286393 -0.00575013 1.35054723] [ 0.00293584 0.99991709 0.01253739 0.00361672] [ 0.00571375 -0.01255402 0.99990487 -0.05195365] [ 0. 0. 0. 1. ]] SLAMing on 5.77538475 meters Centerline goodness : 0.931766 Centerline is valid? [False, False] Translation: X:1.35, Y:0.00, Z:-0.05 [[ 0.99998147 -0.00250745 -0.00554671 1.35016616] [ 0.00257767 0.99991617 0.0126889 0.00287911] [ 0.00551443 -0.01270296 0.99990411 -0.05220312] [ 0. 0. 0. 1. ]] SLAMing on 5.80538475 meters Centerline goodness : 0.929141 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.00, Z:-0.05 [[ 9.99986318e-01 -1.46547770e-03 -5.02152247e-03 1.34916359e+00] [ 1.53302080e-03 9.99908055e-01 1.34733762e-02 -9.98066145e-05] [ 5.00131583e-03 -1.34808900e-02 9.99896621e-01 -5.26956601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.835384749999999 meters Centerline goodness : 0.930856 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.00, Z:-0.05 [[ 0.99998524 -0.00360016 -0.00406897 1.34722677] [ 0.0036424 0.99993906 0.01042154 -0.00261077] [ 0.00403121 -0.0104362 0.99993742 -0.05359113] [ 0. 0. 0. 1. ]] SLAMing on 5.86538475 meters Centerline goodness : 0.930759 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.01, Z:-0.05 [[ 0.99998569 -0.00342222 -0.00411281 1.34735443] [ 0.00346763 0.99993256 0.01108415 -0.00536312] [ 0.0040746 -0.01109826 0.99993011 -0.05352834] [ 0. 0. 0. 1. ]] SLAMing on 5.89538475 meters Centerline goodness : 0.929523 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.01, Z:-0.05 [[ 0.99997233 -0.00638762 -0.00381302 1.34710741] [ 0.00642033 0.99994217 0.00862765 -0.0115989 ] [ 0.00375769 -0.00865189 0.99995551 -0.05408046] [ 0. 0. 0. 1. ]] SLAMing on 5.92538475 meters Centerline goodness : 0.928463 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.02, Z:-0.05 [[ 0.99996841 -0.00675125 -0.00419542 1.34842715] [ 0.00679047 0.99993271 0.00940534 -0.0164672 ] [ 0.00413164 -0.00943353 0.99994697 -0.05431783] [ 0. 0. 0. 1. ]] SLAMing on 5.9553847499999994 meters Centerline goodness : 0.931259 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.02, Z:-0.05 [[ 0.99996188 -0.00734117 -0.00472618 1.35027153] [ 0.00738883 0.99992123 0.01014638 -0.0212631 ] [ 0.00465132 -0.01018091 0.99993736 -0.05468383] [ 0. 0. 0. 1. ]] SLAMing on 5.98538475 meters Centerline goodness : 0.928578 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.03, Z:-0.06 [[ 0.99992909 -0.01098117 -0.0046069 1.35188015] [ 0.01101831 0.99990636 0.00811572 -0.02891987] [ 0.00451735 -0.00816591 0.99995645 -0.05608967] [ 0. 0. 0. 1. ]] SLAMing on 6.01538475 meters Centerline goodness : 0.926805 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.03, Z:-0.06 [[ 0.99992479 -0.01123308 -0.00492218 1.35319539] [ 0.01127693 0.99989615 0.00897286 -0.03370047] [ 0.00482088 -0.00902769 0.99994763 -0.0564591 ] [ 0. 0. 0. 1. ]] SLAMing on 6.045384749999999 meters Centerline goodness : 0.926897 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.04, Z:-0.06 [[ 0.99989583 -0.01378693 -0.00427096 1.35265493] [ 0.01381557 0.99988178 0.00674931 -0.04022052] [ 0.0041774 -0.00680762 0.9999681 -0.057505 ] [ 0. 0. 0. 1. ]] SLAMing on 6.07538475 meters Centerline goodness : 0.928516 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.04, Z:-0.06 [[ 0.99989965 -0.01343203 -0.00450272 1.35304941] [ 0.0134665 0.99987956 0.00771424 -0.04390228] [ 0.00439856 -0.0077741 0.99996011 -0.05728512] [ 0. 0. 0. 1. ]] SLAMing on 6.10538475 meters Centerline goodness : 0.928005 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.05, Z:-0.06 [[ 0.99992454 -0.01165646 -0.00387822 1.35097961] [ 0.0116934 0.99988514 0.00964268 -0.04962902] [ 0.00376537 -0.0096873 0.99994599 -0.05653997] [ 0. 0. 0. 1. ]] SLAMing on 6.13538475 meters Centerline goodness : 0.928480 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.05, Z:-0.06 [[ 0.99995999 -0.00866765 -0.00221145 1.346241 ] [ 0.00869218 0.99989797 0.0113356 -0.05336656] [ 0.00211298 -0.01135437 0.9999333 -0.05617946] [ 0. 0. 0. 1. ]] SLAMing on 6.165384749999999 meters Centerline goodness : 0.929347 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.05, Z:-0.06 [[ 0.99997028 -0.00752125 -0.00169472 1.34462156] [ 0.00754088 0.99990083 0.01189432 -0.05476169] [ 0.00160509 -0.01190675 0.99992782 -0.05611603] [ 0. 0. 0. 1. ]] SLAMing on 6.19538475 meters Centerline goodness : 0.930268 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.06, Z:-0.06 [[ 9.99998802e-01 -1.02737903e-03 1.15762022e-03 1.34962013e+00] [ 1.02454204e-03 9.99996477e-01 2.44863853e-03 -5.92526707e-02] [-1.16013182e-03 -2.44744956e-03 9.99996332e-01 -5.99477569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.22538475 meters Centerline goodness : 0.929814 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.06, Z:-0.06 [[ 9.99999195e-01 -4.52990315e-04 1.18495219e-03 1.34942254e+00] [ 4.49140907e-04 9.99994628e-01 3.24682750e-03 -6.20901918e-02] [-1.18641660e-03 -3.24629267e-03 9.99994027e-01 -5.98637149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.25538475 meters Centerline goodness : 0.932283 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.07, Z:-0.06 [[ 9.99998975e-01 2.47929635e-04 1.41001937e-03 1.34931113e+00] [-2.54337925e-04 9.99989632e-01 4.54646188e-03 -6.81453319e-02] [-1.40887755e-03 -4.54681584e-03 9.99988671e-01 -6.03513105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2853847499999995 meters Centerline goodness : 0.933129 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.07, Z:-0.06 [[ 9.99999108e-01 3.52720453e-04 1.28796242e-03 1.34971825e+00] [-3.59910526e-04 9.99984330e-01 5.58655983e-03 -7.20705292e-02] [-1.28597174e-03 -5.58701840e-03 9.99983566e-01 -6.00513504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.31538475 meters Centerline goodness : 0.932454 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.08, Z:-0.06 [[ 0.99999425 -0.0029131 0.00173513 1.34911257] [ 0.00290672 0.99998905 0.00366628 -0.08019056] [-0.00174579 -0.00366121 0.99999177 -0.05980295] [ 0. 0. 0. 1. ]] SLAMing on 6.34538475 meters Centerline goodness : 0.932394 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.09, Z:-0.06 [[ 0.99999066 -0.00407454 0.00144357 1.35099299] [ 0.00406829 0.99998246 0.00430513 -0.0854743 ] [-0.00146109 -0.00429922 0.99998969 -0.06001873] [ 0. 0. 0. 1. ]] SLAMing on 6.375384749999999 meters Centerline goodness : 0.933274 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.10, Z:-0.05 [[ 0.9999478 -0.00993658 -0.00237866 1.38246336] [ 0.00995905 0.99990405 0.00962873 -0.09744976] [ 0.00228276 -0.00965192 0.99995081 -0.05339518] [ 0. 0. 0. 1. ]] SLAMing on 6.40538475 meters Centerline goodness : 0.933274 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.10, Z:-0.05 [[ 0.9999478 -0.00993658 -0.00237866 1.38246336] [ 0.00995905 0.99990405 0.00962873 -0.09744976] [ 0.00228276 -0.00965192 0.99995081 -0.05339518] [ 0. 0. 0. 1. ]] SLAMing on 6.43538475 meters Centerline goodness : 0.934326 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.10, Z:-0.05 [[ 0.9998909 -0.01451344 -0.002748 1.38442855] [ 0.01453054 0.99987452 0.0063091 -0.1017468 ] [ 0.00265609 -0.00634834 0.99997632 -0.05403269] [ 0. 0. 0. 1. ]] SLAMing on 6.46538475 meters Centerline goodness : 0.936242 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.11, Z:-0.04 [[ 9.99631850e-01 -2.71231611e-02 -7.06623984e-04 1.41000545e+00] [ 2.71317964e-02 9.99440358e-01 1.95662139e-02 -1.13768596e-01] [ 1.75530957e-04 -1.95781825e-02 9.99808314e-01 -4.26203656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4953847499999995 meters Centerline goodness : 0.936130 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.12, Z:-0.04 [[ 9.99488814e-01 -3.19253014e-02 -1.69861185e-03 1.41795470e+00] [ 3.19552828e-02 9.99240164e-01 2.23148866e-02 -1.18610979e-01] [ 9.84911699e-04 -2.23577592e-02 9.99749549e-01 -3.92747186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.52538475 meters Centerline goodness : 0.938427 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.13, Z:-0.03 [[ 9.99118988e-01 -4.19328691e-02 -1.69780060e-03 1.43301527e+00] [ 4.19632289e-02 9.98764302e-01 2.66262321e-02 -1.25782422e-01] [ 5.79188324e-04 -2.66740193e-02 9.99644017e-01 -3.38788251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.55538475 meters Centerline goodness : 0.938553 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.13, Z:-0.03 [[ 9.98841400e-01 -4.80881887e-02 -1.83957739e-03 1.43613080e+00] [ 4.81180572e-02 9.98568893e-01 2.33413430e-02 -1.30194147e-01] [ 7.14501851e-04 -2.34028166e-02 9.99725861e-01 -3.35098343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.585384749999999 meters Centerline goodness : 0.938827 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.13, Z:-0.03 [[ 9.98626991e-01 -5.23660370e-02 -1.38947388e-03 1.43630703e+00] [ 5.23829046e-02 9.98450758e-01 1.87647451e-02 -1.29406239e-01] [ 4.04685910e-04 -1.88117656e-02 9.99822961e-01 -3.46985417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.61538475 meters Centerline goodness : 0.939512 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.13, Z:-0.03 [[ 9.98584425e-01 -5.31616090e-02 -1.72879293e-03 1.43766776e+00] [ 5.31847766e-02 9.98406965e-01 1.88391187e-02 -1.29714659e-01] [ 7.24521040e-04 -1.89043960e-02 9.99821033e-01 -3.45934652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.64538475 meters Centerline goodness : 0.939329 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.13, Z:-0.03 [[ 0.99843085 -0.05573509 -0.00542496 1.41961862] [ 0.05585223 0.99813634 0.02458403 -0.1284099 ] [ 0.00404466 -0.02484845 0.99968305 -0.0290572 ] [ 0. 0. 0. 1. ]] SLAMing on 6.67538475 meters Centerline goodness : 0.940104 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.12, Z:-0.03 [[ 0.99823711 -0.05914768 -0.00492187 1.41840477] [ 0.05923199 0.99805875 0.01924326 -0.12393533] [ 0.00377412 -0.01950087 0.99980272 -0.03045712] [ 0. 0. 0. 1. ]] SLAMing on 6.7053847499999994 meters Centerline goodness : 0.940113 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.12, Z:-0.03 [[ 0.99820278 -0.05972802 -0.00487602 1.41835477] [ 0.0598021 0.99806878 0.01680514 -0.11628876] [ 0.00386286 -0.01706653 0.99984689 -0.03216694] [ 0. 0. 0. 1. ]] SLAMing on 6.73538475 meters Centerline goodness : 0.938700 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.11, Z:-0.03 [[ 0.99831698 -0.0576698 -0.0061157 1.42060882] [ 0.05777446 0.99815642 0.01859783 -0.10848783] [ 0.00503189 -0.01891986 0.99980834 -0.03235707] [ 0. 0. 0. 1. ]] SLAMing on 6.76538475 meters Centerline goodness : 0.939387 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.11, Z:-0.03 [[ 0.9984665 -0.05487771 -0.00728596 1.42255159] [ 0.05502468 0.99824713 0.02179347 -0.10558111] [ 0.00607721 -0.02216096 0.99973594 -0.03180881] [ 0. 0. 0. 1. ]] SLAMing on 6.795384749999999 meters Centerline goodness : 0.937707 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.10, Z:-0.03 [[ 0.9985625 -0.05291818 -0.00852045 1.42488806] [ 0.05309853 0.9983346 0.02255145 -0.09583978] [ 0.00731288 -0.02297146 0.99970937 -0.03298079] [ 0. 0. 0. 1. ]] SLAMing on 6.82538475 meters Centerline goodness : 0.934824 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.09, Z:-0.03 [[ 0.99867136 -0.05057759 -0.00986998 1.42773123] [ 0.05081017 0.99839688 0.02493996 -0.09145596] [ 0.00859276 -0.02540832 0.99964023 -0.03338693] [ 0. 0. 0. 1. ]] SLAMing on 6.85538475 meters Centerline goodness : 0.933400 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.08, Z:-0.04 [[ 0.99872898 -0.0491418 -0.01120305 1.43093894] [ 0.04940736 0.99847058 0.02480755 -0.08064746] [ 0.00996683 -0.02532953 0.99962947 -0.03570846] [ 0. 0. 0. 1. ]] SLAMing on 6.88538475 meters Centerline goodness : 0.933040 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.08, Z:-0.04 [[ 0.99883981 -0.04657247 -0.01224907 1.43308273] [ 0.04689259 0.99852699 0.02729358 -0.07653574] [ 0.0109599 -0.0278363 0.99955241 -0.03605681] [ 0. 0. 0. 1. ]] SLAMing on 6.915384749999999 meters Centerline goodness : 0.931384 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.07, Z:-0.04 [[ 0.99892495 -0.04444205 -0.01318545 1.43552036] [ 0.04478293 0.99863735 0.02679432 -0.06556024] [ 0.01197669 -0.02735599 0.999554 -0.03956568] [ 0. 0. 0. 1. ]] SLAMing on 6.94538475 meters Centerline goodness : 0.932350 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.06, Z:-0.04 [[ 0.99888877 -0.04517098 -0.01344633 1.43665761] [ 0.04548988 0.99866581 0.02443918 -0.05924593] [ 0.01232445 -0.02502369 0.99961089 -0.04172552] [ 0. 0. 0. 1. ]] SLAMing on 6.97538475 meters Centerline goodness : 0.930547 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.05, Z:-0.04 [[ 0.99901226 -0.04217597 -0.01398916 1.43742626] [ 0.04252315 0.99876936 0.02552562 -0.05059907] [ 0.01289538 -0.02609527 0.99957628 -0.04313328] [ 0. 0. 0. 1. ]] SLAMing on 7.005384749999999 meters Centerline goodness : 0.932276 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.05, Z:-0.04 [[ 0.99913889 -0.03881468 -0.0146596 1.43834714] [ 0.03922356 0.9988177 0.02871783 -0.04776127] [ 0.01352759 -0.0292681 0.99948006 -0.04289849] [ 0. 0. 0. 1. ]] SLAMing on 7.0353847499999995 meters Centerline goodness : 0.928832 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.04, Z:-0.04 [[ 0.99927664 -0.03498481 -0.01490843 1.43794031] [ 0.0354246 0.99891188 0.03033415 -0.03923429] [ 0.01383098 -0.03084034 0.99942863 -0.04375567] [ 0. 0. 0. 1. ]] SLAMing on 7.06538475 meters Centerline goodness : 0.928828 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.04, Z:-0.04 [[ 0.99938286 -0.03153701 -0.0154698 1.43873998] [ 0.03204115 0.99892491 0.03350195 -0.03630837] [ 0.01439662 -0.03397694 0.99931892 -0.04370921] [ 0. 0. 0. 1. ]] SLAMing on 7.09538475 meters Centerline goodness : 0.930140 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.03, Z:-0.04 [[ 0.99948092 -0.02808155 -0.01578963 1.43859063] [ 0.0286288 0.99895695 0.03557244 -0.02854476] [ 0.01477423 -0.03600601 0.99924236 -0.04379637] [ 0. 0. 0. 1. ]] SLAMing on 7.125384749999999 meters Centerline goodness : 0.929718 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.02, Z:-0.05 [[ 0.99959155 -0.02419707 -0.0152064 1.44346896] [ 0.02451074 0.99948334 0.02079109 -0.0236321 ] [ 0.01469546 -0.02115532 0.99966819 -0.0493853 ] [ 0. 0. 0. 1. ]] SLAMing on 7.15538475 meters Centerline goodness : 0.932213 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.02, Z:-0.05 [[ 0.99958361 -0.02439205 -0.01541524 1.44323403] [ 0.02468536 0.99951218 0.01913188 -0.01673545] [ 0.01494106 -0.01950445 0.99969813 -0.04957058] [ 0. 0. 0. 1. ]] SLAMing on 7.18538475 meters Centerline goodness : 0.931922 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.01, Z:-0.05 [[ 0.9995588 -0.02515052 -0.01580084 1.44414881] [ 0.02543313 0.99951541 0.017947 -0.01332162] [ 0.01534181 -0.01834095 0.99971408 -0.04994004] [ 0. 0. 0. 1. ]] SLAMing on 7.215384749999999 meters Centerline goodness : 0.929399 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.01, Z:-0.05 [[ 0.99951417 -0.02662563 -0.01620159 1.44555286] [ 0.02688323 0.9995122 0.01589523 -0.00731083] [ 0.01577047 -0.01632306 0.99974239 -0.05077534] [ 0. 0. 0. 1. ]] SLAMing on 7.2453847499999995 meters Centerline goodness : 0.929817 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.00, Z:-0.05 [[ 0.99945917 -0.02813967 -0.01701569 1.44813426] [ 0.02838623 0.99949292 0.01442658 -0.00444506] [ 0.0166011 -0.01490179 0.99975114 -0.05184693] [ 0. 0. 0. 1. ]] SLAMing on 7.27538475 meters Centerline goodness : 0.930031 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.00, Z:-0.05 [[ 9.99347724e-01 -3.11079806e-02 -1.83417643e-02 1.45250397e+00] [ 3.13378349e-02 9.99432172e-01 1.23803443e-02 -3.80101823e-04] [ 1.79462218e-02 -1.29470600e-02 9.99755123e-01 -5.29490004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.30538475 meters Centerline goodness : 0.930829 Centerline is valid? [False, False] Translation: X:1.45, Y:0.00, Z:-0.05 [[ 9.99291750e-01 -3.24110108e-02 -1.91187270e-02 1.45442071e+00] [ 3.26381247e-02 9.99398878e-01 1.16891102e-02 8.36507184e-04] [ 1.87283784e-02 -1.23048308e-02 9.99748888e-01 -5.28911504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.335384749999999 meters Centerline goodness : 0.929457 Centerline is valid? [False, False] Translation: X:1.46, Y:0.00, Z:-0.05 [[ 0.99922533 -0.03411059 -0.01962654 1.45551906] [ 0.03432722 0.9993522 0.01080833 0.00409109] [ 0.01924515 -0.01147368 0.99974896 -0.05195325] [ 0. 0. 0. 1. ]] SLAMing on 7.36538475 meters Centerline goodness : 0.928521 Centerline is valid? [False, False] Translation: X:1.46, Y:0.00, Z:-0.05 [[ 0.99929846 -0.03152703 -0.02021494 1.4570136 ] [ 0.03182177 0.99938941 0.01442831 0.00486192] [ 0.01974771 -0.01506146 0.99969154 -0.0515141 ] [ 0. 0. 0. 1. ]] SLAMing on 7.39538475 meters Centerline goodness : 0.927266 Centerline is valid? [False, False] Translation: X:1.46, Y:0.01, Z:-0.05 [[ 0.99932679 -0.02986251 -0.02131174 1.46025421] [ 0.03021717 0.99940686 0.01651791 0.00873903] [ 0.02080583 -0.01715078 0.99963642 -0.05247181] [ 0. 0. 0. 1. ]] SLAMing on 7.42538475 meters Centerline goodness : 0.922306 Centerline is valid? [False, False] Translation: X:1.46, Y:0.01, Z:-0.05 [[ 0.99929608 -0.03057483 -0.02173777 1.46147262] [ 0.03091432 0.99940251 0.01545708 0.01127773] [ 0.02125219 -0.01611821 0.99964421 -0.05309324] [ 0. 0. 0. 1. ]] SLAMing on 7.4553847499999994 meters Centerline goodness : 0.923998 Centerline is valid? [False, False] Translation: X:1.46, Y:0.02, Z:-0.05 [[ 0.99928339 -0.03111512 -0.02155338 1.46104464] [ 0.03142356 0.99940638 0.01412273 0.01710209] [ 0.02110115 -0.0147899 0.99966795 -0.05318361] [ 0. 0. 0. 1. ]] SLAMing on 7.48538475 meters Centerline goodness : 0.922301 Centerline is valid? [False, False] Translation: X:1.46, Y:0.02, Z:-0.05 [[ 0.99926674 -0.03165669 -0.02153683 1.46127231] [ 0.03194535 0.99940253 0.01319375 0.02026827] [ 0.02110629 -0.01387207 0.99968099 -0.05358435] [ 0. 0. 0. 1. ]] SLAMing on 7.51538475 meters Centerline goodness : 0.920793 Centerline is valid? [False, False] Translation: X:1.46, Y:0.02, Z:-0.05 [[ 0.99929002 -0.03006037 -0.0227117 1.46440268] [ 0.03042498 0.99941086 0.01588269 0.02283803] [ 0.02222088 -0.01656241 0.99961589 -0.05379784] [ 0. 0. 0. 1. ]] SLAMing on 7.545384749999999 meters Centerline goodness : 0.918497 Centerline is valid? [False, False] Translation: X:1.47, Y:0.02, Z:-0.05 [[ 0.99925486 -0.03092145 -0.02309946 1.46600268] [ 0.03127178 0.99939893 0.01496205 0.02481299] [ 0.02262293 -0.01567326 0.9996212 -0.05480609] [ 0. 0. 0. 1. ]] SLAMing on 7.57538475 meters Centerline goodness : 0.915117 Centerline is valid? [False, False] Translation: X:1.47, Y:0.03, Z:-0.06 [[ 0.99926275 -0.02948296 -0.02459095 1.47038942] [ 0.02990756 0.99940671 0.01708124 0.02743781] [ 0.02407276 -0.0178041 0.99955166 -0.05623745] [ 0. 0. 0. 1. ]] SLAMing on 7.60538475 meters Centerline goodness : 0.915601 Centerline is valid? [False, False] Translation: X:1.47, Y:0.03, Z:-0.06 [[ 0.99925047 -0.02978391 -0.02472695 1.47108545] [ 0.03018574 0.99941561 0.01603952 0.0302115 ] [ 0.02423478 -0.01677389 0.99956556 -0.05716237] [ 0. 0. 0. 1. ]] SLAMing on 7.63538475 meters Centerline goodness : 0.912393 Centerline is valid? [False, False] Translation: X:1.47, Y:0.03, Z:-0.06 [[ 0.99931331 -0.02678122 -0.025606 1.47324627] [ 0.02727174 0.99944741 0.01900322 0.0323108 ] [ 0.02508293 -0.01968849 0.99949148 -0.0578561 ] [ 0. 0. 0. 1. ]] SLAMing on 7.665384749999999 meters Centerline goodness : 0.908167 Centerline is valid? [False, False] Translation: X:1.48, Y:0.04, Z:-0.06 [[ 0.99945085 -0.01982373 -0.02655232 1.47517298] [ 0.02048859 0.99947732 0.02500619 0.03905017] [ 0.02604272 -0.02553648 0.99933461 -0.05858226] [ 0. 0. 0. 1. ]] SLAMing on 7.69538475 meters Centerline goodness : 0.909000 Centerline is valid? [False, False] Translation: X:1.47, Y:0.05, Z:-0.06 [[ 0.99956202 -0.01233579 -0.02689967 1.47376941] [ 0.01316577 0.9994358 0.0308989 0.04701983] [ 0.02650333 -0.03123952 0.99916048 -0.05692406] [ 0. 0. 0. 1. ]] SLAMing on 7.72538475 meters Centerline goodness : 0.908756 Centerline is valid? [False, False] Translation: X:1.48, Y:0.05, Z:-0.06 [[ 0.99968255 -0.006811 -0.02425718 1.47972511] [ 0.00728209 0.99978556 0.01938584 0.0522584 ] [ 0.02411994 -0.01955633 0.99951777 -0.06149241] [ 0. 0. 0. 1. ]] SLAMing on 7.755384749999999 meters Centerline goodness : 0.907191 Centerline is valid? [False, False] Translation: X:1.49, Y:0.06, Z:-0.07 [[ 9.99784356e-01 -9.11647316e-04 -2.07463372e-02 1.48561423e+00] [ 1.10768368e-03 9.99954832e-01 9.43967465e-03 5.69698152e-02] [ 2.07367945e-02 -9.46061942e-03 9.99740207e-01 -6.52281050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7853847499999995 meters Centerline goodness : 0.905533 Centerline is valid? [False, False] Translation: X:1.49, Y:0.06, Z:-0.07 [[ 0.99984246 0.00783053 -0.01592936 1.49041906] [-0.00779869 0.99996747 0.00206001 0.06415677] [ 0.01594497 -0.00193545 0.999871 -0.06792692] [ 0. 0. 0. 1. ]] SLAMing on 7.81538475 meters Centerline goodness : 0.904635 Centerline is valid? [False, False] Translation: X:1.49, Y:0.07, Z:-0.07 [[ 0.99983662 0.00902542 -0.01566127 1.48883534] [-0.00899399 0.9999574 0.00207569 0.06798486] [ 0.01567934 -0.0019345 0.9998752 -0.06696895] [ 0. 0. 0. 1. ]] SLAMing on 7.84538475 meters Centerline goodness : 0.901681 Centerline is valid? [False, False] Translation: X:1.49, Y:0.08, Z:-0.07 [[ 0.99979027 0.01349602 -0.01540339 1.48858435] [-0.01341885 0.99989695 0.00510208 0.07562104] [ 0.01547066 -0.00489431 0.99986834 -0.06723912] [ 0. 0. 0. 1. ]] SLAMing on 7.875384749999999 meters Centerline goodness : 0.901159 Centerline is valid? [False, False] Translation: X:1.49, Y:0.08, Z:-0.07 [[ 0.99974154 0.01669975 -0.015426 1.48944745] [-0.01658705 0.999835 0.00740527 0.08036743] [ 0.01554712 -0.00714749 0.99985359 -0.06821227] [ 0. 0. 0. 1. ]] SLAMing on 7.90538475 meters Centerline goodness : 0.902079 Centerline is valid? [False, False] Translation: X:1.49, Y:0.08, Z:-0.07 [[ 0.99974508 0.01627033 -0.01565415 1.49012088] [-0.01616438 0.99984574 0.0068711 0.08103019] [ 0.01576353 -0.00661631 0.99985386 -0.06853625] [ 0. 0. 0. 1. ]] SLAMing on 7.93538475 meters Centerline goodness : 0.900214 Centerline is valid? [False, False] Translation: X:1.49, Y:0.08, Z:-0.07 [[ 0.99980457 0.01206275 -0.01566274 1.49034964] [-0.01202996 0.99992525 0.00218626 0.08225825] [ 0.01568794 -0.00199741 0.99987494 -0.06922941] [ 0. 0. 0. 1. ]] SLAMing on 7.965384749999999 meters Centerline goodness : 0.898896 Centerline is valid? [False, False] Translation: X:1.49, Y:0.08, Z:-0.07 [[ 9.99830649e-01 9.11367902e-03 -1.59879320e-02 1.49333060e+00] [-9.10066185e-03 9.99958195e-01 8.86754787e-04 8.09085804e-02] [ 1.59953452e-02 -7.41103851e-04 9.99871792e-01 -7.09975046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9953847499999995 meters Centerline goodness : 0.898538 Centerline is valid? [False, False] Translation: X:1.50, Y:0.08, Z:-0.07 [[ 9.99829099e-01 7.59443937e-03 -1.68552118e-02 1.49616341e+00] [-7.58925748e-03 9.99971132e-01 3.71379168e-04 8.07572875e-02] [ 1.68575456e-02 -2.43397156e-04 9.99857872e-01 -7.20837624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.02538475 meters Centerline goodness : 0.895062 Centerline is valid? [False, False] Translation: X:1.50, Y:0.08, Z:-0.07 [[ 9.99841554e-01 9.92374173e-04 -1.77730568e-02 1.49978626e+00] [-1.06453608e-03 9.99991227e-01 -4.05118498e-03 7.94972793e-02] [ 1.77688806e-02 4.06946314e-03 9.99833839e-01 -7.31069664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.05538475 meters Centerline goodness : 0.896132 Centerline is valid? [False, False] Translation: X:1.50, Y:0.08, Z:-0.07 [[ 9.99833119e-01 4.08311751e-05 -1.82683663e-02 1.50116693e+00] [-9.99717027e-05 9.99994758e-01 -3.23641738e-03 7.69693879e-02] [ 1.82681384e-02 3.23770361e-03 9.99827881e-01 -7.25686347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.085384750000001 meters Centerline goodness : 0.893949 Centerline is valid? [False, False] Translation: X:1.50, Y:0.08, Z:-0.07 [[ 0.99981925 -0.00501186 -0.01833992 1.50249955] [ 0.00487816 0.99996125 -0.00732749 0.07598116] [ 0.01837593 0.0072367 0.99980496 -0.07351281] [ 0. 0. 0. 1. ]] SLAMing on 8.11538475 meters Centerline goodness : 0.894853 Centerline is valid? [False, False] Translation: X:1.50, Y:0.07, Z:-0.07 [[ 0.99981775 -0.00499381 -0.01842608 1.5024329 ] [ 0.00487172 0.99996592 -0.00666501 0.07478645] [ 0.01845874 0.00657403 0.99980801 -0.07276938] [ 0. 0. 0. 1. ]] SLAMing on 8.14538475 meters Centerline goodness : 0.892591 Centerline is valid? [False, False] Translation: X:1.50, Y:0.07, Z:-0.07 [[ 9.99834284e-01 -6.54806538e-04 -1.81927402e-02 1.50101211e+00] [ 6.21316981e-04 9.99998102e-01 -1.84641105e-03 7.39050901e-02] [ 1.81939147e-02 1.83480162e-03 9.99832794e-01 -7.09897526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.175384750000001 meters Centerline goodness : 0.892054 Centerline is valid? [False, False] Translation: X:1.50, Y:0.07, Z:-0.07 [[ 0.99982818 0.00365669 -0.01817266 1.50031953] [-0.00361099 0.99999024 0.00254693 0.07422562] [ 0.01818179 -0.00248087 0.99983162 -0.06981324] [ 0. 0. 0. 1. ]] SLAMing on 8.20538475 meters Centerline goodness : 0.889390 Centerline is valid? [False, False] Translation: X:1.50, Y:0.08, Z:-0.07 [[ 0.99980791 0.00866442 -0.01758067 1.49890012] [-0.00855675 0.99994423 0.00619083 0.07890304] [ 0.01763333 -0.0060392 0.99982628 -0.06963641] [ 0. 0. 0. 1. ]] SLAMing on 8.23538475 meters Centerline goodness : 0.888025 Centerline is valid? [False, False] Translation: X:1.50, Y:0.08, Z:-0.07 [[ 0.99976179 0.01280241 -0.01767676 1.49907843] [-0.01262458 0.99986894 0.01013511 0.07980839] [ 0.01780419 -0.00990953 0.99979238 -0.06941061] [ 0. 0. 0. 1. ]] SLAMing on 8.26538475 meters Centerline goodness : 0.884475 Centerline is valid? [False, False] Translation: X:1.50, Y:0.08, Z:-0.07 [[ 0.99969046 0.01769733 -0.017487 1.4981853 ] [-0.0174586 0.99975357 0.0137113 0.08165522] [ 0.01772534 -0.01340175 0.99975307 -0.06900166] [ 0. 0. 0. 1. ]] SLAMing on 8.29538475 meters Centerline goodness : 0.884475 Centerline is valid? [False, False] Translation: X:1.50, Y:0.08, Z:-0.07 [[ 0.99969046 0.01769738 -0.01748694 1.49818518] [-0.01745865 0.99975357 0.01371132 0.08165524] [ 0.01772528 -0.01340178 0.99975307 -0.06900162] [ 0. 0. 0. 1. ]] SLAMing on 8.325384750000001 meters Centerline goodness : 0.885348 Centerline is valid? [False, False] Translation: X:1.50, Y:0.08, Z:-0.07 [[ 0.99968058 0.01837367 -0.01735385 1.49786196] [-0.01814962 0.99975101 0.01298105 0.08438698] [ 0.01758803 -0.01266194 0.99976514 -0.06951293] [ 0. 0. 0. 1. ]] SLAMing on 8.35538475 meters Centerline goodness : 0.881675 Centerline is valid? [False, False] Translation: X:1.50, Y:0.09, Z:-0.07 [[ 0.99949849 0.02637261 -0.01752891 1.49940716] [-0.02602542 0.99946621 0.01974785 0.08773687] [ 0.01804036 -0.01928175 0.99965132 -0.07102378] [ 0. 0. 0. 1. ]] SLAMing on 8.38538475 meters Centerline goodness : 0.878867 Centerline is valid? [False, False] Translation: X:1.50, Y:0.09, Z:-0.07 [[ 0.99923961 0.03460948 -0.01795485 1.50118124] [-0.03411664 0.99905132 0.02706519 0.090018 ] [ 0.01887453 -0.02643205 0.99947241 -0.07196758] [ 0. 0. 0. 1. ]] SLAMing on 8.415384750000001 meters Centerline goodness : 0.879592 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:-0.08 [[ 0.99912978 0.03898601 -0.01482469 1.50941239] [-0.03873145 0.99910355 0.01708724 0.09156608] [ 0.01547756 -0.01649819 0.99974409 -0.07621414] [ 0. 0. 0. 1. ]] SLAMing on 8.44538475 meters Centerline goodness : 0.879712 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:-0.08 [[ 0.99910532 0.03960371 -0.01483598 1.50925892] [-0.03935213 0.99908278 0.0168822 0.09248979] [ 0.01549097 -0.01628327 0.99974741 -0.07639157] [ 0. 0. 0. 1. ]] SLAMing on 8.47538475 meters Centerline goodness : 0.879073 Centerline is valid? [False, False] Translation: X:1.52, Y:0.09, Z:-0.08 [[ 0.99892615 0.04467851 -0.01226277 1.51603729] [-0.04459078 0.99897839 0.00733745 0.09109591] [ 0.01257807 -0.00678277 0.99989789 -0.07909252] [ 0. 0. 0. 1. ]] SLAMing on 8.505384750000001 meters Centerline goodness : 0.880721 Centerline is valid? [False, False] Translation: X:1.52, Y:0.09, Z:-0.08 [[ 0.99890513 0.04513163 -0.01231538 1.51572462] [-0.04503708 0.99895448 0.00784969 0.08970596] [ 0.01265677 -0.00728644 0.99989335 -0.07865976] [ 0. 0. 0. 1. ]] SLAMing on 8.53538475 meters Centerline goodness : 0.878904 Centerline is valid? [False, False] Translation: X:1.52, Y:0.09, Z:-0.08 [[ 0.99887483 0.04585641 -0.01209415 1.51525794] [-0.04575158 0.99891403 0.00880633 0.08709284] [ 0.01248485 -0.00824309 0.99988808 -0.07869068] [ 0. 0. 0. 1. ]] SLAMing on 8.56538475 meters Centerline goodness : 0.878077 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:-0.08 [[ 0.99900602 0.04302291 -0.01166185 1.51407542] [-0.04296587 0.99906353 0.00509881 0.08779908] [ 0.0118703 -0.00459268 0.999919 -0.079135 ] [ 0. 0. 0. 1. ]] SLAMing on 8.595384750000001 meters Centerline goodness : 0.878256 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:-0.08 [[ 9.99137321e-01 3.99288219e-02 -1.14149895e-02 1.51296319e+00] [-3.99137647e-02 9.99201935e-01 1.54395515e-03 8.73368870e-02] [ 1.14675279e-02 -1.08700801e-03 9.99933655e-01 -7.91123187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.62538475 meters Centerline goodness : 0.882206 Centerline is valid? [False, False] Translation: X:1.51, Y:0.08, Z:-0.08 [[ 9.99266465e-01 3.82466777e-02 1.92973366e-03 1.51233030e+00] [-3.82456341e-02 9.99268203e-01 -5.74834923e-04 8.03687919e-02] [-1.95030701e-03 5.00609374e-04 9.99997973e-01 -8.12866888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.655384750000001 meters Centerline goodness : 0.885162 Centerline is valid? [False, False] Translation: X:1.51, Y:0.07, Z:-0.08 [[ 0.99934057 0.03621779 0.00258659 1.50981979] [-0.03621204 0.99934163 -0.0022347 0.07365849] [-0.00266582 0.00213956 0.99999416 -0.08037724] [ 0. 0. 0. 1. ]] SLAMing on 8.68538475 meters Centerline goodness : 0.885278 Centerline is valid? [False, False] Translation: X:1.51, Y:0.07, Z:-0.08 [[ 0.99944289 0.03324295 0.00296936 1.50898764] [-0.03322559 0.99943153 -0.00571664 0.07246858] [-0.00315771 0.0056148 0.99997925 -0.08108486] [ 0. 0. 0. 1. ]] SLAMing on 8.71538475 meters Centerline goodness : 0.887232 Centerline is valid? [False, False] Translation: X:1.51, Y:0.07, Z:-0.08 [[ 0.99953505 0.0303075 0.00333806 1.5081361 ] [-0.03027683 0.99950208 -0.0088831 0.07056222] [-0.00360562 0.0087779 0.99995497 -0.08159469] [ 0. 0. 0. 1. ]] SLAMing on 8.745384750000001 meters Centerline goodness : 0.889193 Centerline is valid? [False, False] Translation: X:1.51, Y:0.06, Z:-0.08 [[ 0.99962227 0.02729132 0.00324033 1.50974212] [-0.02725709 0.99957666 -0.01017563 0.06074359] [-0.00351666 0.01008346 0.99994298 -0.08355986] [ 0. 0. 0. 1. ]] SLAMing on 8.77538475 meters Centerline goodness : 0.892091 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:-0.09 [[ 0.99979199 0.02018341 0.00293298 1.51277486] [-0.02013791 0.99968775 -0.01479441 0.04861927] [-0.00323067 0.01473227 0.99988626 -0.0868319 ] [ 0. 0. 0. 1. ]] SLAMing on 8.80538475 meters Centerline goodness : 0.890094 Centerline is valid? [False, False] Translation: X:1.51, Y:0.04, Z:-0.09 [[ 0.99986591 0.01617929 0.00252879 1.5148817 ] [-0.01613349 0.99972209 -0.01718847 0.04158576] [-0.00280619 0.01714537 0.99984907 -0.08850904] [ 0. 0. 0. 1. ]] SLAMing on 8.835384750000001 meters Centerline goodness : 0.892239 Centerline is valid? [False, False] Translation: X:1.52, Y:0.03, Z:-0.09 [[ 0.99992261 0.01227385 0.00203119 1.51773695] [-0.01223219 0.99973718 -0.01938927 0.03436617] [-0.00226864 0.01936292 0.99980995 -0.09077474] [ 0. 0. 0. 1. ]] SLAMing on 8.86538475 meters Centerline goodness : 0.895338 Centerline is valid? [False, False] Translation: X:1.53, Y:0.02, Z:-0.09 [[ 0.99998091 0.00521926 -0.00330829 1.52893192] [-0.00527048 0.99986335 -0.01566856 0.019357 ] [ 0.00322606 0.0156857 0.99987177 -0.08957503] [ 0. 0. 0. 1. ]] SLAMing on 8.89538475 meters Centerline goodness : 0.893671 Centerline is valid? [False, False] Translation: X:1.53, Y:0.01, Z:-0.09 [[ 9.99992906e-01 1.29592839e-03 -3.53687244e-03 1.53000362e+00] [-1.36173803e-03 9.99824807e-01 -1.86681924e-02 1.49907195e-02] [ 3.51206016e-03 1.86728763e-02 9.99819478e-01 -9.03707356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.925384750000001 meters Centerline goodness : 0.898407 Centerline is valid? [False, False] Translation: X:1.53, Y:0.01, Z:-0.09 [[ 0.99997897 -0.00556024 -0.00333739 1.53057339] [ 0.00547877 0.99969826 -0.02394517 0.00640276] [ 0.00346953 0.02392638 0.9997077 -0.09123895] [ 0. 0. 0. 1. ]] SLAMing on 8.95538475 meters Centerline goodness : 0.898852 Centerline is valid? [False, False] Translation: X:1.53, Y:0.00, Z:-0.09 [[ 9.99974657e-01 -5.97808331e-03 -3.86630144e-03 1.53226925e+00] [ 5.88870916e-03 9.99724330e-01 -2.27285459e-02 1.08461751e-03] [ 4.00110876e-03 2.27052024e-02 9.99734197e-01 -9.15062487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.98538475 meters Centerline goodness : 0.900135 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.01, Z:-0.09 [[ 0.99994185 -0.009927 -0.00421283 1.53545391] [ 0.00981919 0.99964216 -0.0248824 -0.00548146] [ 0.00445833 0.02483959 0.99968151 -0.09389217] [ 0. 0. 0. 1. ]] SLAMing on 9.01538475 meters Centerline goodness : 0.899766 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.01, Z:-0.09 [[ 0.99993918 -0.01001569 -0.00461662 1.53647183] [ 0.00990345 0.99966949 -0.02372415 -0.00929848] [ 0.00485271 0.02367698 0.99970788 -0.09366982] [ 0. 0. 0. 1. ]] SLAMing on 9.04538475 meters Centerline goodness : 0.900116 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.01, Z:-0.09 [[ 0.99993545 -0.01022621 -0.00495214 1.53718345] [ 0.01011339 0.99970028 -0.02229497 -0.01401241] [ 0.00517865 0.02224345 0.99973917 -0.09283272] [ 0. 0. 0. 1. ]] SLAMing on 9.075384750000001 meters Centerline goodness : 0.901714 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.02, Z:-0.09 [[ 0.99993506 -0.01011765 -0.0052443 1.53715238] [ 0.01000312 0.99972043 -0.02142435 -0.01577271] [ 0.0054596 0.0213705 0.99975672 -0.09161593] [ 0. 0. 0. 1. ]] SLAMing on 9.10538475 meters Centerline goodness : 0.902170 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.02, Z:-0.08 [[ 0.99995793 -0.00743547 -0.00537205 1.53802472] [ 0.00737391 0.99990795 -0.01138968 -0.02153099] [ 0.00545625 0.01134959 0.9999207 -0.082464 ] [ 0. 0. 0. 1. ]] SLAMing on 9.13538475 meters Centerline goodness : 0.905020 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.02, Z:-0.08 [[ 0.999975 -0.00361251 -0.00607917 1.53835816] [ 0.00357708 0.99997661 -0.00582936 -0.02429867] [ 0.00610009 0.00580746 0.99996453 -0.07980979] [ 0. 0. 0. 1. ]] SLAMing on 9.165384750000001 meters Centerline goodness : 0.907539 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.03, Z:-0.08 [[ 9.99978004e-01 -3.57801340e-04 -6.62288613e-03 1.53897892e+00] [ 3.50773509e-04 9.99999374e-01 -1.06227447e-03 -2.54623582e-02] [ 6.62326207e-03 1.05992797e-03 9.99977504e-01 -7.77990390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.19538475 meters Centerline goodness : 0.906787 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.03, Z:-0.08 [[ 0.99996947 0.00203731 -0.00754348 1.54155469] [-0.00201432 0.99999331 0.00305442 -0.02679601] [ 0.00754965 -0.00303913 0.99996688 -0.07730956] [ 0. 0. 0. 1. ]] SLAMing on 9.22538475 meters Centerline goodness : 0.905612 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.03, Z:-0.08 [[ 0.99996805 0.00164568 -0.00782242 1.5422557 ] [-0.00162445 0.99999498 0.0027189 -0.02566519] [ 0.00782685 -0.00270611 0.99996571 -0.07740143] [ 0. 0. 0. 1. ]] SLAMing on 9.255384750000001 meters Centerline goodness : 0.906301 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.02, Z:-0.08 [[ 9.99963634e-01 8.86337904e-04 -8.48208855e-03 1.54342634e+00] [-8.70463463e-04 9.99997863e-01 1.87503372e-03 -2.25170572e-02] [ 8.48373234e-03 -1.86758219e-03 9.99962268e-01 -7.70346568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.28538475 meters Centerline goodness : 0.905758 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.02, Z:-0.08 [[ 9.99957562e-01 9.64132176e-05 -9.21222052e-03 1.54510980e+00] [-8.80866451e-05 9.99999587e-01 9.04263082e-04 -1.98683707e-02] [ 9.21230390e-03 -9.03413233e-04 9.99957158e-01 -7.73665504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.31538475 meters Centerline goodness : 0.903653 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.01, Z:-0.08 [[ 0.99994418 0.00287403 -0.01016738 1.54719396] [-0.00284029 0.99999042 0.00333121 -0.01465504] [ 0.01017686 -0.00330215 0.99994276 -0.07741466] [ 0. 0. 0. 1. ]] SLAMing on 9.345384750000001 meters Centerline goodness : 0.906919 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.01, Z:-0.08 [[ 0.99994422 0.00316099 -0.01007822 1.54643128] [-0.00313591 0.99999195 0.00250293 -0.01070497] [ 0.01008605 -0.00247118 0.99994608 -0.07709602] [ 0. 0. 0. 1. ]] SLAMing on 9.37538475 meters Centerline goodness : 0.905762 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.01, Z:-0.08 [[ 0.99992122 0.00711934 -0.01033749 1.54565364] [-0.00706415 0.99996066 0.00536518 -0.0050214 ] [ 0.01037528 -0.00529173 0.99993217 -0.07554752] [ 0. 0. 0. 1. ]] SLAMing on 9.40538475 meters Centerline goodness : 0.904026 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.00, Z:-0.08 [[ 9.99921161e-01 7.10944955e-03 -1.03502772e-02 1.54565947e+00] [-7.06739001e-03 9.99966643e-01 4.09453555e-03 -2.17924821e-04] [ 1.03790418e-02 -4.02106329e-03 9.99938051e-01 -7.60115672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.43538475 meters Centerline goodness : 0.901716 Centerline is valid? [False, False] Translation: X:1.55, Y:0.01, Z:-0.08 [[ 0.99988796 0.01025979 -0.0109001 1.54671865] [-0.01019128 0.99992808 0.00632173 0.006023 ] [ 0.01096418 -0.00620994 0.99992061 -0.07597039] [ 0. 0. 0. 1. ]] SLAMing on 9.46538475 meters Centerline goodness : 0.901256 Centerline is valid? [False, False] Translation: X:1.55, Y:0.01, Z:-0.08 [[ 0.99985027 0.01289724 -0.01153655 1.54800838] [-0.01279974 0.99988207 0.0084863 0.01240784] [ 0.01164464 -0.00833737 0.99989744 -0.07569419] [ 0. 0. 0. 1. ]] SLAMing on 9.495384750000001 meters Centerline goodness : 0.902621 Centerline is valid? [False, False] Translation: X:1.55, Y:0.02, Z:-0.08 [[ 0.99985777 0.01189203 -0.01195878 1.5494614 ] [-0.01181228 0.99990767 0.00671746 0.01749296] [ 0.01203756 -0.00657524 0.99990593 -0.07669224] [ 0. 0. 0. 1. ]] SLAMing on 9.52538475 meters Centerline goodness : 0.899595 Centerline is valid? [False, False] Translation: X:1.55, Y:0.02, Z:-0.08 [[ 0.99986513 0.01099352 -0.01220121 1.5506167 ] [-0.01093194 0.99992723 0.00510258 0.02214189] [ 0.01225641 -0.00496851 0.99991254 -0.07767447] [ 0. 0. 0. 1. ]] SLAMing on 9.55538475 meters Centerline goodness : 0.898416 Centerline is valid? [False, False] Translation: X:1.55, Y:0.03, Z:-0.08 [[ 0.99986985 0.01015653 -0.01253541 1.5517923 ] [-0.01011887 0.99994411 0.00306397 0.02818222] [ 0.01256583 -0.00293672 0.99991673 -0.07865926] [ 0. 0. 0. 1. ]] SLAMing on 9.585384750000001 meters Centerline goodness : 0.897020 Centerline is valid? [False, False] Translation: X:1.55, Y:0.03, Z:-0.08 [[ 9.99870658e-01 9.51715969e-03 -1.29650234e-02 1.55299623e+00] [-9.49719902e-03 9.99953620e-01 1.60027944e-03 3.18630822e-02] [ 1.29796522e-02 -1.47694105e-03 9.99914670e-01 -7.94464674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.61538475 meters Centerline goodness : 0.893801 Centerline is valid? [False, False] Translation: X:1.55, Y:0.04, Z:-0.08 [[ 0.99982481 0.01376107 -0.01268812 1.55283358] [-0.01370814 0.99989701 0.00424899 0.03965926] [ 0.01274529 -0.00407432 0.99991047 -0.0799868 ] [ 0. 0. 0. 1. ]] SLAMing on 9.64538475 meters Centerline goodness : 0.894696 Centerline is valid? [False, False] Translation: X:1.55, Y:0.04, Z:-0.08 [[ 0.99976414 0.0173867 -0.01301395 1.55357529] [-0.01729251 0.99982371 0.00731579 0.04278566] [ 0.01313885 -0.00708902 0.99988855 -0.0800348 ] [ 0. 0. 0. 1. ]] SLAMing on 9.675384750000001 meters Centerline goodness : 0.894272 Centerline is valid? [False, False] Translation: X:1.55, Y:0.05, Z:-0.08 [[ 0.99958911 0.02547266 -0.01314382 1.55370425] [-0.02528728 0.99958103 0.01408277 0.04843772] [ 0.01349703 -0.01374461 0.99981444 -0.0796841 ] [ 0. 0. 0. 1. ]] SLAMing on 9.70538475 meters Centerline goodness : 0.890439 Centerline is valid? [False, False] Translation: X:1.55, Y:0.05, Z:-0.08 [[ 0.9994326 0.03119583 -0.01270065 1.55103203] [-0.03096718 0.99936157 0.01781829 0.05344144] [ 0.0132484 -0.01741488 0.99976057 -0.07768072] [ 0. 0. 0. 1. ]] SLAMing on 9.73538475 meters Centerline goodness : 0.890336 Centerline is valid? [False, False] Translation: X:1.55, Y:0.06, Z:-0.08 [[ 0.99941357 0.03192094 -0.01239205 1.54954214] [-0.0317025 0.99934516 0.01744113 0.05577853] [ 0.01294067 -0.01703804 0.9997711 -0.07692008] [ 0. 0. 0. 1. ]] SLAMing on 9.76538475 meters Centerline goodness : 0.893595 Centerline is valid? [False, False] Translation: X:1.55, Y:0.06, Z:-0.08 [[ 0.99939706 0.03253496 -0.01212386 1.5481978 ] [-0.03232433 0.99932974 0.01718186 0.05782699] [ 0.01267474 -0.01677961 0.99977887 -0.07617376] [ 0. 0. 0. 1. ]] SLAMing on 9.79538475 meters Centerline goodness : 0.894653 Centerline is valid? [False, False] Translation: X:1.55, Y:0.06, Z:-0.08 [[ 0.99929244 0.03694152 -0.00706764 1.55367291] [-0.03689182 0.99929449 0.00703745 0.06081717] [ 0.00732263 -0.00677173 0.99995026 -0.07936929] [ 0. 0. 0. 1. ]] SLAMing on 9.825384750000001 meters Centerline goodness : 0.898271 Centerline is valid? [False, False] Translation: X:1.55, Y:0.06, Z:-0.08 [[ 0.99926765 0.03769472 -0.00657761 1.55171378] [-0.03764397 0.99926173 0.00767662 0.06063922] [ 0.00686212 -0.00742339 0.9999489 -0.0780086 ] [ 0. 0. 0. 1. ]] SLAMing on 9.85538475 meters Centerline goodness : 0.899449 Centerline is valid? [False, False] Translation: X:1.55, Y:0.06, Z:-0.08 [[ 0.99938455 0.03450862 -0.0062982 1.55071208] [-0.03448724 0.9993991 0.003473 0.06194232] [ 0.00641427 -0.00325365 0.99997414 -0.07839137] [ 0. 0. 0. 1. ]] SLAMing on 9.88538475 meters Centerline goodness : 0.905121 Centerline is valid? [False, False] Translation: X:1.55, Y:0.06, Z:-0.08 [[ 9.99500349e-01 3.10548894e-02 -5.88606499e-03 1.54982087e+00] [-3.10567960e-02 9.99517594e-01 -2.32770891e-04 6.09589745e-02] [ 5.87599684e-03 4.15456906e-04 9.99982650e-01 -7.88930772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.915384750000001 meters Centerline goodness : 0.906419 Centerline is valid? [False, False] Translation: X:1.55, Y:0.06, Z:-0.08 [[ 0.99960444 0.02761071 -0.00534982 1.54909937] [-0.027633 0.99960957 -0.00413837 0.0608364 ] [ 0.00523347 0.00428456 0.99997713 -0.07983491] [ 0. 0. 0. 1. ]] SLAMing on 9.94538475 meters Centerline goodness : 0.912368 Centerline is valid? [False, False] Translation: X:1.55, Y:0.06, Z:-0.08 [[ 0.99968525 0.02453836 -0.00522165 1.55086783] [-0.02457237 0.99967658 -0.00655198 0.0561611 ] [ 0.00505918 0.00667823 0.9999649 -0.08247985] [ 0. 0. 0. 1. ]] SLAMing on 9.97538475 meters Centerline goodness : 0.914035 Centerline is valid? [False, False] Translation: X:1.55, Y:0.05, Z:-0.08 [[ 0.99969542 0.02403436 -0.00560425 1.55238007] [-0.02406951 0.99969049 -0.00629139 0.05272771] [ 0.00545131 0.00642437 0.9999645 -0.08347214] [ 0. 0. 0. 1. ]] SLAMing on 10.005384750000001 meters Centerline goodness : 0.917255 Centerline is valid? [False, False] Translation: X:1.55, Y:0.05, Z:-0.08 [[ 0.99977417 0.02054083 -0.00544827 1.55249891] [-0.02058825 0.99974935 -0.00879576 0.04707274] [ 0.00526623 0.00890594 0.99994647 -0.08417151] [ 0. 0. 0. 1. ]] SLAMing on 10.03538475 meters Centerline goodness : 0.918115 Centerline is valid? [False, False] Translation: X:1.55, Y:0.04, Z:-0.08 [[ 0.99977614 0.02038019 -0.00568559 1.55332368] [-0.02042444 0.99976068 -0.00783679 0.04308747] [ 0.00552452 0.00795116 0.99995313 -0.08436185] [ 0. 0. 0. 1. ]] SLAMing on 10.06538475 meters Centerline goodness : 0.920967 Centerline is valid? [False, False] Translation: X:1.55, Y:0.04, Z:-0.09 [[ 0.99984641 0.01664493 -0.00548662 1.55410226] [-0.01670391 0.99980123 -0.01088517 0.0391107 ] [ 0.00530434 0.01097515 0.9999257 -0.08603317] [ 0. 0. 0. 1. ]] SLAMing on 10.095384750000001 meters Centerline goodness : 0.923211 Centerline is valid? [False, False] Translation: X:1.56, Y:0.04, Z:-0.09 [[ 0.9998495 0.01629739 -0.00594763 1.55575136] [-0.01635773 0.99981375 -0.0102416 0.03580335] [ 0.00577961 0.01033734 0.99992987 -0.086822 ] [ 0. 0. 0. 1. ]] SLAMing on 10.12538475 meters Centerline goodness : 0.923204 Centerline is valid? [False, False] Translation: X:1.56, Y:0.03, Z:-0.09 [[ 0.99989886 0.0130883 -0.00556443 1.55559514] [-0.01315901 0.99983061 -0.01286788 0.03043975] [ 0.00539507 0.0129398 0.99990172 -0.08787642] [ 0. 0. 0. 1. ]] SLAMing on 10.15538475 meters Centerline goodness : 0.925278 Centerline is valid? [False, False] Translation: X:1.56, Y:0.03, Z:-0.09 [[ 0.99989623 0.01315345 -0.00587464 1.55616614] [-0.01322178 0.99984357 -0.0117486 0.02689336] [ 0.00571919 0.01182505 0.99991373 -0.0875628 ] [ 0. 0. 0. 1. ]] SLAMing on 10.18538475 meters Centerline goodness : 0.925528 Centerline is valid? [False, False] Translation: X:1.56, Y:0.02, Z:-0.09 [[ 0.99989143 0.01354262 -0.00580713 1.55592101] [-0.01360415 0.99985031 -0.01069085 0.02389521] [ 0.00566148 0.01076869 0.99992599 -0.08726009] [ 0. 0. 0. 1. ]] SLAMing on 10.21538475 meters Centerline goodness : 0.925528 Centerline is valid? [False, False] Translation: X:1.56, Y:0.02, Z:-0.09 [[ 0.99989143 0.01354262 -0.00580713 1.55592101] [-0.01360415 0.99985031 -0.01069085 0.02389521] [ 0.00566148 0.01076869 0.99992599 -0.08726009] [ 0. 0. 0. 1. ]] SLAMing on 10.245384750000001 meters Centerline goodness : 0.927377 Centerline is valid? [False, False] Translation: X:1.56, Y:0.02, Z:-0.09 [[ 0.99989315 0.01338278 -0.00588196 1.55732037] [-0.01344227 0.99985767 -0.0101952 0.02068598] [ 0.00574468 0.01027318 0.99993073 -0.08878546] [ 0. 0. 0. 1. ]] SLAMing on 10.27538475 meters Centerline goodness : 0.927289 Centerline is valid? [False, False] Translation: X:1.56, Y:0.02, Z:-0.09 [[ 0.99989113 0.01362439 -0.00566654 1.55764992] [-0.01367719 0.9998624 -0.00938652 0.01731154] [ 0.00553788 0.009463 0.99993989 -0.08972787] [ 0. 0. 0. 1. ]] SLAMing on 10.30538475 meters Centerline goodness : 0.928195 Centerline is valid? [False, False] Translation: X:1.56, Y:0.01, Z:-0.09 [[ 0.99988566 0.01403446 -0.00563009 1.5569671 ] [-0.01408085 0.99986652 -0.00828629 0.01460172] [ 0.00551305 0.00836461 0.99994982 -0.08866048] [ 0. 0. 0. 1. ]] SLAMing on 10.335384750000001 meters Centerline goodness : 0.928345 Centerline is valid? [False, False] Translation: X:1.56, Y:0.01, Z:-0.09 [[ 0.99987731 0.01464283 -0.00556304 1.55602555] [-0.01468174 0.99986758 -0.00701911 0.01184699] [ 0.00545952 0.00709992 0.99995989 -0.08732424] [ 0. 0. 0. 1. ]] SLAMing on 10.36538475 meters Centerline goodness : 0.928235 Centerline is valid? [False, False] Translation: X:1.56, Y:0.01, Z:-0.09 [[ 0.99987493 0.01481897 -0.00552446 1.55611262] [-0.01485249 0.99987123 -0.00607686 0.00890196] [ 0.0054337 0.00615816 0.99996628 -0.08725317] [ 0. 0. 0. 1. ]] SLAMing on 10.39538475 meters Centerline goodness : 0.929109 Centerline is valid? [False, False] Translation: X:1.56, Y:0.01, Z:-0.09 [[ 0.99988092 0.01427233 -0.00586855 1.55745044] [-0.0143092 0.99987784 -0.00628926 0.00877122] [ 0.00577807 0.00637248 0.999963 -0.08801994] [ 0. 0. 0. 1. ]] SLAMing on 10.425384750000001 meters Centerline goodness : 0.927923 Centerline is valid? [False, False] Translation: X:1.56, Y:0.01, Z:-0.09 [[ 0.99989259 0.01308628 -0.0066002 1.56023117] [-0.01312726 0.99989459 -0.00620382 0.00688627] [ 0.00651832 0.0062898 0.99995897 -0.08919019] [ 0. 0. 0. 1. ]] SLAMing on 10.45538475 meters Centerline goodness : 0.926622 Centerline is valid? [False, False] Translation: X:1.56, Y:0.00, Z:-0.09 [[ 0.99990556 0.01183495 -0.00698581 1.56206898] [-0.01187598 0.9999123 -0.00586129 0.00264007] [ 0.00691583 0.0059437 0.99995842 -0.08965759] [ 0. 0. 0. 1. ]] SLAMing on 10.48538475 meters Centerline goodness : 0.927570 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.00, Z:-0.09 [[ 9.99906733e-01 1.15295689e-02 -7.32080947e-03 1.56278320e+00] [-1.15673493e-02 9.99919888e-01 -5.13948640e-03 -4.29747601e-05] [ 7.26096692e-03 5.22368942e-03 9.99959995e-01 -8.92098982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.51538475 meters Centerline goodness : 0.927177 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.00, Z:-0.09 [[ 0.99990997 0.01077224 -0.00800062 1.56445132] [-0.01081195 0.99992936 -0.0049367 -0.00180103] [ 0.00794687 0.00502276 0.99995581 -0.08925259] [ 0. 0. 0. 1. ]] SLAMing on 10.54538475 meters Centerline goodness : 0.927583 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.00, Z:-0.09 [[ 0.99992499 0.00862681 -0.00869478 1.56728899] [-0.00867263 0.99994863 -0.00524616 -0.00176917] [ 0.00864907 0.00532117 0.99994844 -0.08965986] [ 0. 0. 0. 1. ]] SLAMing on 10.57538475 meters Centerline goodness : 0.926003 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.00, Z:-0.09 [[ 0.9999365 0.00674533 -0.00902732 1.56857361] [-0.00678876 0.99996549 -0.00478885 -0.00187536] [ 0.00899471 0.00484983 0.99994779 -0.08799705] [ 0. 0. 0. 1. ]] SLAMing on 10.60538475 meters Centerline goodness : 0.925744 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.00, Z:-0.09 [[ 0.99993434 0.00661488 -0.00935775 1.56815716] [-0.00665063 0.99997069 -0.00379434 -0.00356438] [ 0.00933238 0.00385632 0.99994902 -0.08576234] [ 0. 0. 0. 1. ]] SLAMing on 10.63538475 meters Centerline goodness : 0.924843 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.00, Z:-0.08 [[ 0.9999543 0.00293393 -0.00909838 1.56678918] [-0.00300472 0.99996525 -0.00777636 -0.0029913 ] [ 0.00907525 0.00780334 0.99992837 -0.08480392] [ 0. 0. 0. 1. ]] SLAMing on 10.665384750000001 meters Centerline goodness : 0.923770 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.00, Z:-0.08 [[ 9.99950480e-01 1.08834420e-03 -9.89205184e-03 1.56874925e+00] [-1.16977647e-03 9.99965448e-01 -8.23003586e-03 -2.55094158e-03] [ 9.88275295e-03 8.24119980e-03 9.99917203e-01 -8.39352400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.69538475 meters Centerline goodness : 0.920991 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.00, Z:-0.08 [[ 9.99936895e-01 2.78333312e-03 -1.08838931e-02 1.57235383e+00] [-2.83871461e-03 9.99983087e-01 -5.07625606e-03 -1.44782062e-03] [ 1.08695801e-02 5.10683199e-03 9.99927884e-01 -8.47269502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.72538475 meters Centerline goodness : 0.917012 Centerline is valid? [False, False] Translation: X:1.58, Y:0.01, Z:-0.09 [[ 0.99991674 0.00260578 -0.01263776 1.57983266] [-0.00265631 0.99998854 -0.00398275 0.00563426] [ 0.01262724 0.00401599 0.99991221 -0.08793828] [ 0. 0. 0. 1. ]] SLAMing on 10.755384750000001 meters Centerline goodness : 0.913951 Centerline is valid? [False, False] Translation: X:1.58, Y:0.01, Z:-0.09 [[ 9.99894453e-01 5.38054145e-03 -1.34956726e-02 1.58203822e+00] [-5.38870771e-03 9.99985319e-01 -5.68811723e-04 7.29946186e-03] [ 1.34924140e-02 6.41475922e-04 9.99908767e-01 -8.78735447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.78538475 meters Centerline goodness : 0.912582 Centerline is valid? [False, False] Translation: X:1.58, Y:0.01, Z:-0.09 [[ 0.99985949 0.0078071 -0.01483408 1.58345592] [-0.00778 0.99996796 0.00188419 0.01219424] [ 0.01484832 -0.00176851 0.99988819 -0.08576813] [ 0. 0. 0. 1. ]] SLAMing on 10.81538475 meters Centerline goodness : 0.911475 Centerline is valid? [False, False] Translation: X:1.58, Y:0.02, Z:-0.09 [[ 9.99858437e-01 7.79629268e-03 -1.49105258e-02 1.58309298e+00] [-7.78398050e-03 9.99969314e-01 8.83594646e-04 1.63016258e-02] [ 1.49169570e-02 -7.67406320e-04 9.99888442e-01 -8.53642346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.845384750000001 meters Centerline goodness : 0.908725 Centerline is valid? [False, False] Translation: X:1.59, Y:0.02, Z:-0.09 [[ 0.99977444 0.01298978 -0.01680303 1.58830175] [-0.01288381 0.99989652 0.00639948 0.02345556] [ 0.01688442 -0.00618155 0.99983834 -0.0861243 ] [ 0. 0. 0. 1. ]] SLAMing on 10.87538475 meters Centerline goodness : 0.902561 Centerline is valid? [False, False] Translation: X:1.59, Y:0.03, Z:-0.09 [[ 0.99972233 0.01574933 -0.0175278 1.59085445] [-0.01559894 0.99984062 0.00868408 0.02789525] [ 0.01766177 -0.00840825 0.99980866 -0.08746567] [ 0. 0. 0. 1. ]] SLAMing on 10.90538475 meters Centerline goodness : 0.900172 Centerline is valid? [False, False] Translation: X:1.59, Y:0.04, Z:-0.09 [[ 0.99957926 0.02249773 -0.01830729 1.59268706] [-0.02223297 0.99964709 0.01453908 0.03532257] [ 0.01862792 -0.01412594 0.99972669 -0.0873482 ] [ 0. 0. 0. 1. ]] SLAMing on 10.93538475 meters Centerline goodness : 0.899921 Centerline is valid? [False, False] Translation: X:1.59, Y:0.04, Z:-0.09 [[ 0.99948869 0.02586873 -0.01879264 1.59373376] [-0.02554104 0.99952106 0.01747295 0.03818436] [ 0.01923565 -0.01698403 0.99967071 -0.08719435] [ 0. 0. 0. 1. ]] SLAMing on 10.96538475 meters Centerline goodness : 0.897111 Centerline is valid? [False, False] Translation: X:1.59, Y:0.05, Z:-0.09 [[ 0.99939011 0.0292125 -0.01913225 1.59317801] [-0.02884434 0.99939865 0.01924407 0.04611716] [ 0.01968291 -0.01868048 0.99963174 -0.08578758] [ 0. 0. 0. 1. ]] SLAMing on 10.995384750000001 meters Centerline goodness : 0.896106 Centerline is valid? [False, False] Translation: X:1.59, Y:0.05, Z:-0.09 [[ 0.99938938 0.02919004 -0.01920448 1.59303115] [-0.02884667 0.9994232 0.01792054 0.05155 ] [ 0.01971651 -0.01735561 0.99965496 -0.08574855] [ 0. 0. 0. 1. ]] SLAMing on 11.02538475 meters Centerline goodness : 0.893797 Centerline is valid? [False, False] Translation: X:1.59, Y:0.06, Z:-0.08 [[ 0.99928234 0.03263596 -0.01922776 1.59244767] [-0.03225789 0.9992863 0.01965501 0.060398 ] [ 0.0198555 -0.01902065 0.99962192 -0.08482748] [ 0. 0. 0. 1. ]] SLAMing on 11.05538475 meters Centerline goodness : 0.893269 Centerline is valid? [False, False] Translation: X:1.59, Y:0.06, Z:-0.08 [[ 0.99915045 0.03646612 -0.01919907 1.59188555] [-0.03601247 0.99907578 0.02346673 0.06284076] [ 0.02003707 -0.02275539 0.99954025 -0.08316291] [ 0. 0. 0. 1. ]] SLAMing on 11.085384750000001 meters Centerline goodness : 0.893943 Centerline is valid? [False, False] Translation: X:1.59, Y:0.07, Z:-0.08 [[ 0.99904275 0.03936871 -0.01907062 1.58903645] [-0.03889289 0.99893782 0.02470985 0.07094613] [ 0.02002316 -0.02394449 0.99951275 -0.07986124] [ 0. 0. 0. 1. ]] SLAMing on 11.11538475 meters Centerline goodness : 0.891999 Centerline is valid? [False, False] Translation: X:1.59, Y:0.08, Z:-0.08 [[ 0.99903715 0.0394915 -0.01910987 1.58849496] [-0.03903828 0.99896051 0.02353526 0.07583608] [ 0.02001945 -0.02276658 0.99954035 -0.0793161 ] [ 0. 0. 0. 1. ]] SLAMing on 11.14538475 meters Centerline goodness : 0.893067 Centerline is valid? [False, False] Translation: X:1.59, Y:0.08, Z:-0.08 [[ 0.99901899 0.04000501 -0.01899096 1.58759263] [-0.03957043 0.99895816 0.02273276 0.08023181] [ 0.0198806 -0.02195898 0.99956119 -0.07866684] [ 0. 0. 0. 1. ]] SLAMing on 11.175384750000001 meters Centerline goodness : 0.891504 Centerline is valid? [False, False] Translation: X:1.59, Y:0.09, Z:-0.08 [[ 0.99888753 0.04291779 -0.01953858 1.58908203] [-0.04242951 0.99879274 0.02475493 0.08571823] [ 0.02057742 -0.02389838 0.99950259 -0.07889467] [ 0. 0. 0. 1. ]] SLAMing on 11.20538475 meters Centerline goodness : 0.889938 Centerline is valid? [False, False] Translation: X:1.59, Y:0.09, Z:-0.08 [[ 0.9988992 0.04253413 -0.01977965 1.58967912] [-0.04207497 0.99884789 0.02307773 0.09190018] [ 0.02073845 -0.0222201 0.99953799 -0.07922674] [ 0. 0. 0. 1. ]] SLAMing on 11.23538475 meters Centerline goodness : 0.887799 Centerline is valid? [False, False] Translation: X:1.59, Y:0.09, Z:-0.08 [[ 0.99891116 0.04214172 -0.02001415 1.59033929] [-0.04169427 0.99888217 0.02227119 0.09400859] [ 0.02093032 -0.02141246 0.99955161 -0.0795383 ] [ 0. 0. 0. 1. ]] SLAMing on 11.26538475 meters Centerline goodness : 0.886565 Centerline is valid? [False, False] Translation: X:1.59, Y:0.10, Z:-0.08 [[ 0.99895393 0.04089918 -0.02045264 1.59247045] [-0.04048016 0.99897006 0.02049836 0.09774393] [ 0.02126994 -0.01964899 0.99958067 -0.08126476] [ 0. 0. 0. 1. ]] SLAMing on 11.29538475 meters Centerline goodness : 0.885044 Centerline is valid? [False, False] Translation: X:1.59, Y:0.10, Z:-0.08 [[ 0.99898462 0.03993648 -0.02085207 1.59431518] [-0.03953252 0.99902919 0.01943863 0.09923285] [ 0.02160814 -0.01859456 0.99959358 -0.0826987 ] [ 0. 0. 0. 1. ]] SLAMing on 11.32538475 meters Centerline goodness : 0.882993 Centerline is valid? [False, False] Translation: X:1.60, Y:0.10, Z:-0.08 [[ 0.99914698 0.03534015 -0.021363 1.59565833] [-0.03504279 0.99928582 0.014137 0.10205568] [ 0.02184735 -0.01337632 0.99967183 -0.08379538] [ 0. 0. 0. 1. ]] SLAMing on 11.35538475 meters Centerline goodness : 0.883465 Centerline is valid? [False, False] Translation: X:1.59, Y:0.10, Z:-0.08 [[ 0.99925056 0.03256254 -0.02092829 1.59463483] [-0.03233667 0.99941604 0.01104168 0.10425641] [ 0.02127561 -0.01035665 0.99972 -0.08358164] [ 0. 0. 0. 1. ]] SLAMing on 11.38538475 meters Centerline goodness : 0.884371 Centerline is valid? [False, False] Translation: X:1.60, Y:0.11, Z:-0.08 [[ 0.99927083 0.03165507 -0.02134862 1.59559005] [-0.03144764 0.99945554 0.00998312 0.10682695] [ 0.02165302 -0.00930448 0.99972225 -0.0837206 ] [ 0. 0. 0. 1. ]] SLAMing on 11.415384750000001 meters Centerline goodness : 0.882956 Centerline is valid? [False, False] Translation: X:1.60, Y:0.11, Z:-0.08 [[ 0.99927596 0.0313556 -0.02154952 1.59604154] [-0.0311638 0.99947214 0.00917954 0.1089671 ] [ 0.02182597 -0.00850133 0.99972564 -0.08390783] [ 0. 0. 0. 1. ]] SLAMing on 11.44538475 meters Centerline goodness : 0.886358 Centerline is valid? [False, False] Translation: X:1.59, Y:0.11, Z:-0.08 [[ 0.99911406 0.03633625 -0.02123121 1.59430997] [-0.03607311 0.99926911 0.01264829 0.11419775] [ 0.02167528 -0.01187121 0.99969458 -0.08228861] [ 0. 0. 0. 1. ]] SLAMing on 11.47538475 meters Centerline goodness : 0.885354 Centerline is valid? [False, False] Translation: X:1.59, Y:0.12, Z:-0.08 [[ 0.99894981 0.04065948 -0.02112066 1.59376555] [-0.0403228 0.99905651 0.01612973 0.11691167] [ 0.02175656 -0.01526115 0.99964681 -0.08150832] [ 0. 0. 0. 1. ]] SLAMing on 11.505384750000001 meters Centerline goodness : 0.886298 Centerline is valid? [False, False] Translation: X:1.59, Y:0.12, Z:-0.08 [[ 0.99859721 0.04857133 -0.02108174 1.59149363] [-0.04809855 0.9985918 0.02238183 0.12156878] [ 0.02213917 -0.02133643 0.9995272 -0.07844718] [ 0. 0. 0. 1. ]] SLAMing on 11.53538475 meters Centerline goodness : 0.886864 Centerline is valid? [False, False] Translation: X:1.59, Y:0.12, Z:-0.08 [[ 0.99843874 0.051359 -0.021962 1.59198609] [-0.05087939 0.9984654 0.02186637 0.12373668] [ 0.02305133 -0.02071481 0.99951965 -0.0762684 ] [ 0. 0. 0. 1. ]] SLAMing on 11.56538475 meters Centerline goodness : 0.887917 Centerline is valid? [False, False] Translation: X:1.59, Y:0.13, Z:-0.08 [[ 0.99825442 0.05488297 -0.02181698 1.59137556] [-0.05434645 0.99822231 0.02446797 0.12540245] [ 0.02312107 -0.02323958 0.99946252 -0.07503459] [ 0. 0. 0. 1. ]] SLAMing on 11.595384750000001 meters Centerline goodness : 0.888117 Centerline is valid? [False, False] Translation: X:1.59, Y:0.13, Z:-0.08 [[ 0.99828649 0.05426877 -0.02188558 1.59210774] [-0.05374054 0.99826545 0.02404271 0.12604374] [ 0.02315238 -0.02282537 0.99947135 -0.07584174] [ 0. 0. 0. 1. ]] SLAMing on 11.62538475 meters Centerline goodness : 0.889511 Centerline is valid? [False, False] Translation: X:1.59, Y:0.13, Z:-0.08 [[ 0.99850751 0.05049728 -0.02080309 1.58997286] [-0.05002369 0.99849026 0.02268976 0.12644789] [ 0.02191746 -0.02161525 0.99952609 -0.07602169] [ 0. 0. 0. 1. ]] SLAMing on 11.65538475 meters Centerline goodness : 0.889112 Centerline is valid? [False, False] Translation: X:1.59, Y:0.13, Z:-0.08 [[ 0.99865427 0.04760641 -0.02057352 1.58915051] [-0.0471705 0.99866232 0.02117801 0.12614087] [ 0.02155421 -0.02017905 0.99956402 -0.07594075] [ 0. 0. 0. 1. ]] SLAMing on 11.68538475 meters Centerline goodness : 0.886268 Centerline is valid? [False, False] Translation: X:1.59, Y:0.12, Z:-0.08 [[ 0.99890016 0.04254216 -0.01971382 1.587752 ] [-0.04216403 0.99892591 0.01921535 0.12357128] [ 0.02051011 -0.018363 0.999621 -0.07707432] [ 0. 0. 0. 1. ]] SLAMing on 11.71538475 meters Centerline goodness : 0.888936 Centerline is valid? [False, False] Translation: X:1.59, Y:0.12, Z:-0.08 [[ 0.99904679 0.03870533 -0.02018429 1.58962423] [-0.03838735 0.99913626 0.0159104 0.12278781] [ 0.02078267 -0.01512041 0.99966967 -0.07900698] [ 0. 0. 0. 1. ]] SLAMing on 11.745384750000001 meters Centerline goodness : 0.888279 Centerline is valid? [False, False] Translation: X:1.59, Y:0.12, Z:-0.08 [[ 0.9992002 0.03558545 -0.0182381 1.58711966] [-0.03526546 0.99922341 0.01757626 0.12054111] [ 0.0188494 -0.01691903 0.99967917 -0.08099575] [ 0. 0. 0. 1. ]] SLAMing on 11.77538475 meters Centerline goodness : 0.888144 Centerline is valid? [False, False] Translation: X:1.59, Y:0.12, Z:-0.08 [[ 0.99930837 0.03236185 -0.01831635 1.58744068] [-0.03210101 0.99938146 0.01436022 0.12106316] [ 0.01876975 -0.01376232 0.99972911 -0.08150141] [ 0. 0. 0. 1. ]] SLAMing on 11.80538475 meters Centerline goodness : 0.889574 Centerline is valid? [False, False] Translation: X:1.59, Y:0.12, Z:-0.08 [[ 0.99931585 0.03223884 -0.01812408 1.58676105] [-0.03198847 0.99939104 0.01393874 0.12168409] [ 0.01856241 -0.01334944 0.99973858 -0.08087931] [ 0. 0. 0. 1. ]] SLAMing on 11.835384750000001 meters Centerline goodness : 0.887886 Centerline is valid? [False, False] Translation: X:1.59, Y:0.12, Z:-0.08 [[ 0.99929569 0.03252373 -0.0187174 1.58781384] [-0.0322817 0.99939307 0.01309105 0.12223065] [ 0.0191318 -0.0124776 0.99973911 -0.08072087] [ 0. 0. 0. 1. ]] SLAMing on 11.86538475 meters Centerline goodness : 0.892371 Centerline is valid? [False, False] Translation: X:1.59, Y:0.13, Z:-0.08 [[ 0.99922334 0.03443854 -0.01914927 1.58754722] [-0.03421217 0.99934224 0.01202582 0.12505857] [ 0.01955082 -0.01136134 0.99974431 -0.07864761] [ 0. 0. 0. 1. ]] SLAMing on 11.89538475 meters Centerline goodness : 0.895064 Centerline is valid? [False, False] Translation: X:1.59, Y:0.13, Z:-0.08 [[ 0.99918586 0.0357374 -0.01872034 1.58602088] [-0.03551218 0.99929443 0.01222839 0.12847333] [ 0.01914414 -0.01155364 0.99974998 -0.07792374] [ 0. 0. 0. 1. ]] SLAMing on 11.925384750000001 meters Centerline goodness : 0.895099 Centerline is valid? [False, False] Translation: X:1.59, Y:0.13, Z:-0.08 [[ 0.99918894 0.03563583 -0.01874986 1.58619383] [-0.03542177 0.99930481 0.01162738 0.13008355] [ 0.01915118 -0.0109538 0.99975659 -0.07816856] [ 0. 0. 0. 1. ]] SLAMing on 11.95538475 meters Centerline goodness : 0.894929 Centerline is valid? [False, False] Translation: X:1.59, Y:0.13, Z:-0.08 [[ 0.99919528 0.03539676 -0.0188642 1.58652934] [-0.03519147 0.99931888 0.01110549 0.13124582] [ 0.01924445 -0.0104327 0.99976038 -0.07837882] [ 0. 0. 0. 1. ]] SLAMing on 11.98538475 meters Centerline goodness : 0.894631 Centerline is valid? [False, False] Translation: X:1.59, Y:0.13, Z:-0.08 [[ 0.99931704 0.03170287 -0.01898396 1.58682176] [-0.03158467 0.99947998 0.00649421 0.13337649] [ 0.01917998 -0.00589017 0.9997987 -0.0791905 ] [ 0. 0. 0. 1. ]] SLAMing on 12.01538475 meters Centerline goodness : 0.895122 Centerline is valid? [False, False] Translation: X:1.59, Y:0.14, Z:-0.08 [[ 9.99436318e-01 2.75409697e-02 -1.91974538e-02 1.58775791e+00] [-2.75146813e-02 9.99620067e-01 1.63220665e-03 1.35737143e-01] [ 1.92351126e-02 -1.10307478e-03 9.99814380e-01 -8.04722164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.04538475 meters Centerline goodness : 0.891640 Centerline is valid? [False, False] Translation: X:1.59, Y:0.14, Z:-0.08 [[ 9.99464212e-01 2.63207101e-02 -1.94553189e-02 1.58999457e+00] [-2.63197970e-02 9.99653528e-01 3.03027749e-04 1.37471762e-01] [ 1.94565541e-02 2.09194655e-04 9.99810681e-01 -8.27406198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.07538475 meters Centerline goodness : 0.893864 Centerline is valid? [False, False] Translation: X:1.59, Y:0.14, Z:-0.08 [[ 9.99475015e-01 2.56709387e-02 -1.97660503e-02 1.59123636e+00] [-2.56848255e-02 9.99669990e-01 -4.48968656e-04 1.38526836e-01] [ 1.97480019e-02 9.56420507e-04 9.99804532e-01 -8.36187330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.10538475 meters Centerline goodness : 0.893491 Centerline is valid? [False, False] Translation: X:1.59, Y:0.14, Z:-0.08 [[ 9.99489129e-01 2.48177864e-02 -2.01384736e-02 1.59279627e+00] [-2.48510950e-02 9.99690176e-01 -1.40536968e-03 1.39237997e-01] [ 2.00973560e-02 1.90511484e-03 9.99796213e-01 -8.47499722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.13538475 meters Centerline goodness : 0.893491 Centerline is valid? [False, False] Translation: X:1.59, Y:0.14, Z:-0.08 [[ 9.99489129e-01 2.48177864e-02 -2.01384736e-02 1.59279627e+00] [-2.48510950e-02 9.99690176e-01 -1.40536968e-03 1.39237997e-01] [ 2.00973560e-02 1.90511484e-03 9.99796213e-01 -8.47499722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.165384750000001 meters Centerline goodness : 0.893362 Centerline is valid? [False, False] Translation: X:1.59, Y:0.14, Z:-0.09 [[ 0.99949575 0.02438744 -0.0203348 1.59386281] [-0.02443425 0.99969932 -0.00205691 0.14012429] [ 0.02027853 0.00255274 0.99979111 -0.08571774] [ 0. 0. 0. 1. ]] SLAMing on 12.19538475 meters Centerline goodness : 0.892103 Centerline is valid? [False, False] Translation: X:1.59, Y:0.14, Z:-0.09 [[ 0.9995016 0.02422601 -0.02023973 1.59461937] [-0.02429167 0.9997004 -0.00300466 0.14325811] [ 0.02016087 0.00349482 0.99979064 -0.08700598] [ 0. 0. 0. 1. ]] SLAMing on 12.22538475 meters Centerline goodness : 0.892111 Centerline is valid? [False, False] Translation: X:1.59, Y:0.15, Z:-0.09 [[ 0.99950777 0.02404594 -0.02014949 1.59478431] [-0.02412521 0.9997021 -0.00370028 0.14523127] [ 0.02005451 0.00418457 0.99979013 -0.08749329] [ 0. 0. 0. 1. ]] SLAMing on 12.255384750000001 meters Centerline goodness : 0.893775 Centerline is valid? [False, False] Translation: X:1.59, Y:0.15, Z:-0.09 [[ 9.99393597e-01 2.86194160e-02 -1.98334750e-02 1.59318725e+00] [-2.86255569e-02 9.99590204e-01 -2.57331305e-05 1.48183860e-01] [ 1.98246108e-02 5.93461793e-04 9.99803297e-01 -8.58641786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.28538475 meters Centerline goodness : 0.892997 Centerline is valid? [False, False] Translation: X:1.59, Y:0.15, Z:-0.08 [[ 9.99362852e-01 2.96669198e-02 -1.98434944e-02 1.59207883e+00] [-2.96732854e-02 9.99559651e-01 -2.63653607e-05 1.50663271e-01] [ 1.98339742e-02 6.15170237e-04 9.99803098e-01 -8.47164130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.31538475 meters Centerline goodness : 0.894401 Centerline is valid? [False, False] Translation: X:1.59, Y:0.15, Z:-0.08 [[ 0.99918526 0.03531396 -0.01953836 1.58991614] [-0.03523399 0.99936931 0.00442244 0.15230125] [ 0.01968221 -0.00373043 0.99979933 -0.08247662] [ 0. 0. 0. 1. ]] SLAMing on 12.345384750000001 meters Centerline goodness : 0.893345 Centerline is valid? [False, False] Translation: X:1.59, Y:0.15, Z:-0.08 [[ 0.99915298 0.03614951 -0.01966033 1.58942255] [-0.03607173 0.99933997 0.0042967 0.15406957] [ 0.01980267 -0.00358388 0.99979748 -0.08188181] [ 0. 0. 0. 1. ]] SLAMing on 12.37538475 meters Centerline goodness : 0.893807 Centerline is valid? [False, False] Translation: X:1.59, Y:0.16, Z:-0.08 [[ 0.99895286 0.04151787 -0.01922088 1.58810872] [-0.04136017 0.99910788 0.0085309 0.15611335] [ 0.01955792 -0.00772699 0.99977887 -0.08084191] [ 0. 0. 0. 1. ]] SLAMing on 12.40538475 meters Centerline goodness : 0.893813 Centerline is valid? [False, False] Translation: X:1.59, Y:0.16, Z:-0.08 [[ 0.99891965 0.04227086 -0.01930561 1.58803075] [-0.04211596 0.99907774 0.00836112 0.15791478] [ 0.01964124 -0.00753902 0.99977867 -0.08084882] [ 0. 0. 0. 1. ]] SLAMing on 12.43538475 meters Centerline goodness : 0.890937 Centerline is valid? [False, False] Translation: X:1.60, Y:0.16, Z:-0.08 [[ 0.99862923 0.04964579 -0.01658168 1.59567784] [-0.04961189 0.99876557 0.00244984 0.15738055] [ 0.01668283 -0.00162384 0.99985951 -0.08265732] [ 0. 0. 0. 1. ]] SLAMing on 12.46538475 meters Centerline goodness : 0.891265 Centerline is valid? [False, False] Translation: X:1.60, Y:0.16, Z:-0.08 [[ 0.99860139 0.05020414 -0.0165774 1.59527374] [-0.05016354 0.99873693 0.0028566 0.15677383] [ 0.01669987 -0.00202102 0.9998585 -0.08222557] [ 0. 0. 0. 1. ]] SLAMing on 12.495384750000001 meters Centerline goodness : 0.889808 Centerline is valid? [False, False] Translation: X:1.59, Y:0.15, Z:-0.08 [[ 0.99855385 0.0511303 -0.01661033 1.59481307] [-0.05106775 0.99868649 0.00416855 0.15360893] [ 0.01680165 -0.00331427 0.99985335 -0.08159646] [ 0. 0. 0. 1. ]] SLAMing on 12.52538475 meters Centerline goodness : 0.886632 Centerline is valid? [False, False] Translation: X:1.60, Y:0.15, Z:-0.08 [[ 0.99855365 0.05098395 -0.01706595 1.59636952] [-0.0509062 0.99869112 0.00495991 0.14881086] [ 0.01729649 -0.00408398 0.99984206 -0.08274783] [ 0. 0. 0. 1. ]] SLAMing on 12.55538475 meters Centerline goodness : 0.886198 Centerline is valid? [False, False] Translation: X:1.60, Y:0.15, Z:-0.08 [[ 9.98628689e-01 4.89838547e-02 -1.84749487e-02 1.59876266e+00] [-4.89527907e-02 9.98798822e-01 2.13019115e-03 1.46227787e-01] [ 1.85571020e-02 -1.22286970e-03 9.99827054e-01 -8.32588691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.585384750000001 meters Centerline goodness : 0.884685 Centerline is valid? [False, False] Translation: X:1.60, Y:0.14, Z:-0.08 [[ 9.98730427e-01 4.63982757e-02 -1.96146184e-02 1.60037882e+00] [-4.64177231e-02 9.98921972e-01 -5.37121090e-04 1.42864933e-01] [ 1.95685518e-02 1.44690510e-03 9.99807471e-01 -8.35013567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.61538475 meters Centerline goodness : 0.883169 Centerline is valid? [False, False] Translation: X:1.60, Y:0.14, Z:-0.08 [[ 0.99892921 0.04054505 -0.0222829 1.60364471] [-0.04070984 0.99914655 -0.00699174 0.13652163] [ 0.0219804 0.00789139 0.99972726 -0.08297842] [ 0. 0. 0. 1. ]] SLAMing on 12.64538475 meters Centerline goodness : 0.883158 Centerline is valid? [False, False] Translation: X:1.61, Y:0.13, Z:-0.08 [[ 0.99902648 0.03758463 -0.02309721 1.60508907] [-0.03781896 0.99923661 -0.00979369 0.13409684] [ 0.02271148 0.01065767 0.99968525 -0.0836303 ] [ 0. 0. 0. 1. ]] SLAMing on 12.675384750000001 meters Centerline goodness : 0.881644 Centerline is valid? [False, False] Translation: X:1.61, Y:0.13, Z:-0.08 [[ 0.99901792 0.03782614 -0.02307332 1.60543108] [-0.03801481 0.99924678 -0.00779369 0.12676161] [ 0.02276113 0.00866317 0.9997034 -0.08373302] [ 0. 0. 0. 1. ]] SLAMing on 12.70538475 meters Centerline goodness : 0.883614 Centerline is valid? [False, False] Translation: X:1.60, Y:0.12, Z:-0.08 [[ 0.9989929 0.03868182 -0.02273548 1.60487563] [-0.03883324 0.99922612 -0.00625643 0.12059314] [ 0.02247588 0.00713302 0.99972194 -0.08397785] [ 0. 0. 0. 1. ]] SLAMing on 12.73538475 meters Centerline goodness : 0.882592 Centerline is valid? [False, False] Translation: X:1.60, Y:0.12, Z:-0.08 [[ 0.99895785 0.03964122 -0.02262267 1.60407179] [-0.03976036 0.99919752 -0.00484088 0.11739814] [ 0.02241262 0.00573532 0.99973235 -0.08322431] [ 0. 0. 0. 1. ]] SLAMing on 12.76538475 meters Centerline goodness : 0.883237 Centerline is valid? [False, False] Translation: X:1.60, Y:0.11, Z:-0.08 [[ 0.9989112 0.04098945 -0.0222771 1.60324052] [-0.04106553 0.99915205 -0.00296824 0.11094979] [ 0.02213655 0.00387983 0.99974743 -0.08322415] [ 0. 0. 0. 1. ]] SLAMing on 12.79538475 meters Centerline goodness : 0.882957 Centerline is valid? [False, False] Translation: X:1.60, Y:0.11, Z:-0.08 [[ 0.99889344 0.04139171 -0.02232988 1.60361029] [-0.04145099 0.99913812 -0.00219861 0.10785133] [ 0.02221963 0.00312177 0.99974824 -0.08368025] [ 0. 0. 0. 1. ]] SLAMing on 12.82538475 meters Centerline goodness : 0.883700 Centerline is valid? [False, False] Translation: X:1.60, Y:0.10, Z:-0.08 [[ 9.98879528e-01 4.15790546e-02 -2.26024500e-02 1.60446732e+00] [-4.16220648e-02 9.99132395e-01 -1.43559809e-03 1.04200898e-01] [ 2.25231491e-02 2.37475018e-03 9.99743501e-01 -8.42436932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.85538475 meters Centerline goodness : 0.884752 Centerline is valid? [False, False] Translation: X:1.61, Y:0.10, Z:-0.09 [[ 0.99900527 0.03841735 -0.02264024 1.60551167] [-0.03850623 0.99925222 -0.0035031 0.09618284] [ 0.02248873 0.0043714 0.99973754 -0.0860442 ] [ 0. 0. 0. 1. ]] SLAMing on 12.88538475 meters Centerline goodness : 0.882654 Centerline is valid? [False, False] Translation: X:1.61, Y:0.09, Z:-0.09 [[ 0.99913416 0.03485656 -0.02271472 1.60620049] [-0.03501358 0.99936536 -0.00655181 0.09231337] [ 0.02247193 0.00734146 0.99972052 -0.08726304] [ 0. 0. 0. 1. ]] SLAMing on 12.915384750000001 meters Centerline goodness : 0.886336 Centerline is valid? [False, False] Translation: X:1.61, Y:0.08, Z:-0.09 [[ 0.99924578 0.03110452 -0.02324591 1.60866025] [-0.03130107 0.99947686 -0.00813963 0.08249412] [ 0.02298057 0.00886111 0.99969664 -0.08908998] [ 0. 0. 0. 1. ]] SLAMing on 12.94538475 meters Centerline goodness : 0.888678 Centerline is valid? [False, False] Translation: X:1.61, Y:0.07, Z:-0.09 [[ 0.99934288 0.02789781 -0.02314146 1.60903084] [-0.02812705 0.99955787 -0.00964041 0.07470033] [ 0.02286228 0.01028498 0.99968572 -0.08982243] [ 0. 0. 0. 1. ]] SLAMing on 12.97538475 meters Centerline goodness : 0.888466 Centerline is valid? [False, False] Translation: X:1.61, Y:0.07, Z:-0.09 [[ 0.99933858 0.02806814 -0.02312118 1.60877145] [-0.02826479 0.99956665 -0.00822275 0.07044174] [ 0.02288036 0.00887083 0.99969885 -0.08916606] [ 0. 0. 0. 1. ]] SLAMing on 13.005384750000001 meters Centerline goodness : 0.890522 Centerline is valid? [False, False] Translation: X:1.61, Y:0.07, Z:-0.09 [[ 0.99934136 0.02798062 -0.02310673 1.60868532] [-0.0281524 0.99957812 -0.00714256 0.06595622] [ 0.02289713 0.00778836 0.99970749 -0.08876703] [ 0. 0. 0. 1. ]] SLAMing on 13.03538475 meters Centerline goodness : 0.891909 Centerline is valid? [False, False] Translation: X:1.61, Y:0.06, Z:-0.09 [[ 0.99942674 0.02503192 -0.02279459 1.60708645] [-0.02523527 0.99964388 -0.00867703 0.05771308] [ 0.02256927 0.00924728 0.99970251 -0.08765625] [ 0. 0. 0. 1. ]] SLAMing on 13.06538475 meters Centerline goodness : 0.891221 Centerline is valid? [False, False] Translation: X:1.61, Y:0.05, Z:-0.09 [[ 0.99942328 0.02483584 -0.0231578 1.60783485] [-0.02502134 0.99965683 -0.00775542 0.05322853] [ 0.02295724 0.00833038 0.99970174 -0.08748957] [ 0. 0. 0. 1. ]] SLAMing on 13.095384750000001 meters Centerline goodness : 0.890315 Centerline is valid? [False, False] Translation: X:1.61, Y:0.05, Z:-0.09 [[ 0.99950685 0.02168907 -0.02270759 1.60694519] [-0.02193225 0.99970416 -0.01051514 0.04898478] [ 0.02247281 0.01100799 0.99968685 -0.08791716] [ 0. 0. 0. 1. ]] SLAMing on 13.12538475 meters Centerline goodness : 0.888454 Centerline is valid? [False, False] Translation: X:1.61, Y:0.04, Z:-0.09 [[ 0.99949561 0.02257608 -0.02233472 1.60661445] [-0.02278932 0.99969666 -0.00933951 0.04495509] [ 0.02211709 0.00984379 0.99970692 -0.0885671 ] [ 0. 0. 0. 1. ]] SLAMing on 13.15538475 meters Centerline goodness : 0.891091 Centerline is valid? [False, False] Translation: X:1.61, Y:0.04, Z:-0.09 [[ 0.99948488 0.02328251 -0.02208828 1.60617098] [-0.02348094 0.99968584 -0.00876682 0.04347408] [ 0.02187723 0.00928096 0.99971759 -0.08884084] [ 0. 0. 0. 1. ]] SLAMing on 13.18538475 meters Centerline goodness : 0.890811 Centerline is valid? [False, False] Translation: X:1.60, Y:0.04, Z:-0.09 [[ 0.99945926 0.02474613 -0.02165222 1.60489519] [-0.02490651 0.99966408 -0.00716898 0.0396 ] [ 0.02146755 0.00770439 0.99973986 -0.08858388] [ 0. 0. 0. 1. ]] SLAMing on 13.21538475 meters Centerline goodness : 0.890826 Centerline is valid? [False, False] Translation: X:1.60, Y:0.04, Z:-0.09 [[ 0.99944173 0.02559726 -0.02147093 1.60383798] [-0.0257301 0.99965132 -0.00593375 0.03688232] [ 0.02131155 0.00648288 0.99975186 -0.08770867] [ 0. 0. 0. 1. ]] SLAMing on 13.24538475 meters Centerline goodness : 0.891860 Centerline is valid? [False, False] Translation: X:1.60, Y:0.03, Z:-0.09 [[ 0.99942631 0.02633673 -0.02129403 1.60297769] [-0.02644565 0.99963849 -0.00485003 0.03387139] [ 0.0211586 0.00541038 0.99976149 -0.08711563] [ 0. 0. 0. 1. ]] SLAMing on 13.27538475 meters Centerline goodness : 0.889816 Centerline is valid? [False, False] Translation: X:1.60, Y:0.03, Z:-0.09 [[ 0.99941066 0.02689228 -0.02133415 1.6033182 ] [-0.02697722 0.99962919 -0.00370348 0.02875427] [ 0.02122665 0.00427683 0.99976554 -0.08761627] [ 0. 0. 0. 1. ]] SLAMing on 13.30538475 meters Centerline goodness : 0.889572 Centerline is valid? [False, False] Translation: X:1.61, Y:0.02, Z:-0.09 [[ 0.99942223 0.02593102 -0.0219725 1.60642862] [-0.02601217 0.99965579 -0.00341521 0.02408953] [ 0.02187638 0.00398479 0.99975274 -0.08967963] [ 0. 0. 0. 1. ]] SLAMing on 13.335384750000001 meters Centerline goodness : 0.890115 Centerline is valid? [False, False] Translation: X:1.61, Y:0.02, Z:-0.09 [[ 0.99942461 0.02542079 -0.02245509 1.60788004] [-0.02549155 0.99967092 -0.00287029 0.02027002] [ 0.02237473 0.00344106 0.99974373 -0.09004466] [ 0. 0. 0. 1. ]] SLAMing on 13.36538475 meters Centerline goodness : 0.890285 Centerline is valid? [False, False] Translation: X:1.61, Y:0.01, Z:-0.09 [[ 0.99950624 0.0220133 -0.0224207 1.60725974] [-0.02213438 0.99974165 -0.0051667 0.01499186] [ 0.02230117 0.00566041 0.99973527 -0.08935538] [ 0. 0. 0. 1. ]] SLAMing on 13.39538475 meters Centerline goodness : 0.891811 Centerline is valid? [False, False] Translation: X:1.61, Y:0.01, Z:-0.09 [[ 0.99949935 0.02214741 -0.02259537 1.60733249] [-0.02224422 0.99974439 -0.00404249 0.01227496] [ 0.02250007 0.00454308 0.99973652 -0.08860634] [ 0. 0. 0. 1. ]] SLAMing on 13.425384750000001 meters Centerline goodness : 0.890687 Centerline is valid? [False, False] Translation: X:1.61, Y:0.01, Z:-0.09 [[ 0.99949846 0.02235258 -0.02243182 1.60669397] [-0.02242759 0.99974367 -0.0030982 0.00994777] [ 0.02235682 0.00359974 0.99974357 -0.08785895] [ 0. 0. 0. 1. ]] SLAMing on 13.45538475 meters Centerline goodness : 0.892348 Centerline is valid? [False, False] Translation: X:1.61, Y:0.01, Z:-0.09 [[ 0.99958083 0.01846035 -0.0223022 1.60614749] [-0.01859785 0.9998092 -0.00597377 0.00681667] [ 0.02218766 0.00638604 0.99973343 -0.08721033] [ 0. 0. 0. 1. ]] SLAMing on 13.48538475 meters Centerline goodness : 0.892871 Centerline is valid? [False, False] Translation: X:1.61, Y:0.00, Z:-0.09 [[ 0.99964982 0.0134141 -0.02280995 1.60777639] [-0.01363154 0.99986286 -0.00940406 0.00274137] [ 0.02268067 0.0097117 0.99969559 -0.08736733] [ 0. 0. 0. 1. ]] SLAMing on 13.51538475 meters Centerline goodness : 0.893519 Centerline is valid? [False, False] Translation: X:1.61, Y:0.00, Z:-0.09 [[ 9.99646557e-01 1.22522293e-02 -2.35933183e-02 1.60969279e+00] [-1.24686901e-02 9.99881312e-01 -9.04951230e-03 1.74193666e-04] [ 2.34796414e-02 9.34049158e-03 9.99680680e-01 -8.70291133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.54538475 meters Centerline goodness : 0.893536 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.00, Z:-0.09 [[ 9.99690803e-01 5.82526099e-03 -2.41736512e-02 1.61276474e+00] [-6.15416736e-03 9.99889202e-01 -1.35539699e-02 -1.37891023e-03] [ 2.40920174e-02 1.36985477e-02 9.99615888e-01 -8.81924981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.57538475 meters Centerline goodness : 0.894709 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.00, Z:-0.09 [[ 0.99967856 0.00377144 -0.02507085 1.61585929] [-0.00411638 0.99989739 -0.01372124 -0.00282676] [ 0.02501653 0.01382003 0.99959151 -0.08851324] [ 0. 0. 0. 1. ]] SLAMing on 13.60538475 meters Centerline goodness : 0.897304 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.00, Z:-0.09 [[ 0.99964494 -0.00475748 -0.02621757 1.62145875] [ 0.00424631 0.99980048 -0.01951863 -0.00318304] [ 0.0263052 0.01940037 0.99946569 -0.09030951] [ 0. 0. 0. 1. ]] SLAMing on 13.63538475 meters Centerline goodness : 0.898088 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.00, Z:-0.09 [[ 0.99961715 -0.00649863 -0.0268947 1.62355544] [ 0.0059725 0.99979012 -0.01959687 -0.00484123] [ 0.02701641 0.01942874 0.99944617 -0.0900306 ] [ 0. 0. 0. 1. ]] SLAMing on 13.665384750000001 meters Centerline goodness : 0.898820 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.00, Z:-0.09 [[ 0.99953014 -0.01289329 -0.02780761 1.62680211] [ 0.01220485 0.99961826 -0.02478672 -0.0038035 ] [ 0.02811658 0.02443569 0.99930594 -0.09080479] [ 0. 0. 0. 1. ]] SLAMing on 13.69538475 meters Centerline goodness : 0.899906 Centerline is valid? [False, False] Translation: X:1.64, Y:0.00, Z:-0.09 [[ 9.99401276e-01 -1.63259298e-02 -3.05049670e-02 1.63728463e+00] [ 1.56165455e-02 9.99605372e-01 -2.33500224e-02 7.56311932e-05] [ 3.08741398e-02 2.28596600e-02 9.99261839e-01 -9.09468726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.72538475 meters Centerline goodness : 0.900603 Centerline is valid? [False, False] Translation: X:1.64, Y:0.00, Z:-0.09 [[ 0.9994138 -0.01396452 -0.03125772 1.63975699] [ 0.01333029 0.99970287 -0.02040765 0.00218932] [ 0.03153342 0.01997902 0.999303 -0.0915228 ] [ 0. 0. 0. 1. ]] SLAMing on 13.755384750000001 meters Centerline goodness : 0.896326 Centerline is valid? [False, False] Translation: X:1.64, Y:0.01, Z:-0.09 [[ 0.99942434 -0.01112965 -0.03204863 1.64159297] [ 0.01057766 0.99979367 -0.01734182 0.00540009] [ 0.03223503 0.01699283 0.99933585 -0.09140465] [ 0. 0. 0. 1. ]] SLAMing on 13.78538475 meters Centerline goodness : 0.896880 Centerline is valid? [False, False] Translation: X:1.64, Y:0.01, Z:-0.09 [[ 0.99944764 -0.00494671 -0.03286247 1.64138236] [ 0.00455938 0.99991938 -0.01185092 0.01423213] [ 0.03291844 0.01169454 0.99938962 -0.08886571] [ 0. 0. 0. 1. ]] SLAMing on 13.81538475 meters Centerline goodness : 0.896388 Centerline is valid? [False, False] Translation: X:1.64, Y:0.02, Z:-0.09 [[ 9.99448729e-01 -9.57918331e-04 -3.31861513e-02 1.64067861e+00] [ 6.80706186e-04 9.99964793e-01 -8.36353909e-03 1.84432896e-02] [ 3.31929945e-02 8.33633850e-03 9.99414194e-01 -8.70803179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.845384750000001 meters Centerline goodness : 0.894373 Centerline is valid? [False, False] Translation: X:1.64, Y:0.03, Z:-0.08 [[ 0.99940649 0.0056962 -0.03397389 1.63992411] [-0.00579196 0.99997952 -0.00272086 0.02869949] [ 0.03395769 0.00291602 0.99941902 -0.083832 ] [ 0. 0. 0. 1. ]] SLAMing on 13.87538475 meters Centerline goodness : 0.892534 Centerline is valid? [False, False] Translation: X:1.64, Y:0.03, Z:-0.08 [[ 9.99370993e-01 9.18926680e-03 -3.42516449e-02 1.64007631e+00] [-9.18500938e-03 9.99957777e-01 2.81646570e-04 3.40921978e-02] [ 3.42527869e-02 3.31322675e-05 9.99413201e-01 -8.29418647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.90538475 meters Centerline goodness : 0.888753 Centerline is valid? [False, False] Translation: X:1.64, Y:0.05, Z:-0.08 [[ 0.99925611 0.01548836 -0.03531765 1.64147241] [-0.01526415 0.99986165 0.00660904 0.04547795] [ 0.03541513 -0.00606503 0.99935428 -0.08017823] [ 0. 0. 0. 1. ]] SLAMing on 13.93538475 meters Centerline goodness : 0.887385 Centerline is valid? [False, False] Translation: X:1.64, Y:0.06, Z:-0.08 [[ 0.99910822 0.02228688 -0.03586174 1.64108051] [-0.02189805 0.99969748 0.01119903 0.05715915] [ 0.03610048 -0.01040374 0.99929401 -0.07847246] [ 0. 0. 0. 1. ]] SLAMing on 13.96538475 meters Centerline goodness : 0.886237 Centerline is valid? [False, False] Translation: X:1.64, Y:0.06, Z:-0.08 [[ 0.99901343 0.02608032 -0.03594405 1.6408919 ] [-0.02560163 0.99957815 0.01371447 0.06308194] [ 0.03628656 -0.01278071 0.9992597 -0.0778873 ] [ 0. 0. 0. 1. ]] SLAMing on 13.99538475 meters Centerline goodness : 0.886052 Centerline is valid? [False, False] Translation: X:1.64, Y:0.07, Z:-0.08 [[ 0.99890264 0.03001298 -0.03595467 1.64092401] [-0.02944619 0.99943522 0.0161912 0.06889356] [ 0.03642031 -0.0151147 0.99922225 -0.07781461] [ 0. 0. 0. 1. ]] SLAMing on 14.02538475 meters Centerline goodness : 0.885344 Centerline is valid? [False, False] Translation: X:1.64, Y:0.08, Z:-0.08 [[ 0.9984867 0.04149926 -0.03608506 1.64028457] [-0.04061319 0.99886336 0.02495114 0.07927697] [ 0.03707949 -0.02344785 0.99903719 -0.07633127] [ 0. 0. 0. 1. ]] SLAMing on 14.05538475 meters Centerline goodness : 0.885344 Centerline is valid? [False, False] Translation: X:1.64, Y:0.08, Z:-0.08 [[ 0.9984867 0.04149926 -0.03608506 1.64028457] [-0.04061319 0.99886336 0.02495114 0.07927697] [ 0.03707949 -0.02344785 0.99903719 -0.07633127] [ 0. 0. 0. 1. ]] SLAMing on 14.085384750000001 meters Centerline goodness : 0.882395 Centerline is valid? [False, False] Translation: X:1.64, Y:0.08, Z:-0.08 [[ 0.99830844 0.04573123 -0.0359014 1.64032605] [-0.04476069 0.99862225 0.02738759 0.08492544] [ 0.0371044 -0.02573429 0.99897998 -0.07681519] [ 0. 0. 0. 1. ]] SLAMing on 14.11538475 meters Centerline goodness : 0.883028 Centerline is valid? [False, False] Translation: X:1.64, Y:0.09, Z:-0.08 [[ 0.99768323 0.05796288 -0.03561579 1.64049086] [-0.05664495 0.99770996 0.03696186 0.09287509] [ 0.03767664 -0.03485878 0.9986818 -0.07682834] [ 0. 0. 0. 1. ]] SLAMing on 14.14538475 meters Centerline goodness : 0.883280 Centerline is valid? [False, False] Translation: X:1.64, Y:0.10, Z:-0.08 [[ 0.99712882 0.06722873 -0.03484846 1.63887422] [-0.06567904 0.99687661 0.04385531 0.09897294] [ 0.03768796 -0.04144058 0.99842992 -0.07575831] [ 0. 0. 0. 1. ]] SLAMing on 14.175384750000001 meters Centerline goodness : 0.884131 Centerline is valid? [False, False] Translation: X:1.64, Y:0.10, Z:-0.08 [[ 0.99706123 0.0682727 -0.03475262 1.63779238] [-0.06673573 0.99681692 0.04361625 0.10223599] [ 0.0376198 -0.04116883 0.99844373 -0.07501055] [ 0. 0. 0. 1. ]] SLAMing on 14.20538475 meters Centerline goodness : 0.887274 Centerline is valid? [False, False] Translation: X:1.64, Y:0.10, Z:-0.07 [[ 0.99692491 0.06963426 -0.03594148 1.63990408] [-0.06810101 0.99678326 0.04225392 0.10411342] [ 0.03876818 -0.03967634 0.99846022 -0.0745156 ] [ 0. 0. 0. 1. ]] SLAMing on 14.23538475 meters Centerline goodness : 0.887096 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.07 [[ 0.99689664 0.06338006 -0.04669103 1.63911829] [-0.0617675 0.99746942 0.03520707 0.11213037] [ 0.0488043 -0.03221382 0.99828874 -0.07421236] [ 0. 0. 0. 1. ]] SLAMing on 14.26538475 meters Centerline goodness : 0.888117 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.07 [[ 0.99713965 0.05945018 -0.04667115 1.63866521] [-0.05804825 0.99783727 0.0308412 0.11399006] [ 0.04840372 -0.0280438 0.99843409 -0.07446513] [ 0. 0. 0. 1. ]] SLAMing on 14.29538475 meters Centerline goodness : 0.889740 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.07 [[ 0.99737177 0.05521427 -0.04691419 1.63883382] [-0.05401745 0.99819074 0.02640764 0.11489813] [ 0.04828739 -0.02380405 0.9985498 -0.07485095] [ 0. 0. 0. 1. ]] SLAMing on 14.32538475 meters Centerline goodness : 0.889935 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.07 [[ 0.99777237 0.04768208 -0.04665531 1.63718101] [-0.04682363 0.99871625 0.01932362 0.11412938] [ 0.04751681 -0.017096 0.99872413 -0.07442888] [ 0. 0. 0. 1. ]] SLAMing on 14.35538475 meters Centerline goodness : 0.892621 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.07 [[ 0.99797311 0.04330173 -0.04663304 1.63698837] [-0.04263106 0.998974 0.01528214 0.11366207] [ 0.04724694 -0.01326315 0.99879518 -0.07469868] [ 0. 0. 0. 1. ]] SLAMing on 14.38538475 meters Centerline goodness : 0.893664 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.07 [[ 0.9981523 0.03906531 -0.046539 1.63655906] [-0.03857357 0.99919052 0.01141827 0.11305269] [ 0.04694739 -0.009602 0.99885121 -0.07479147] [ 0. 0. 0. 1. ]] SLAMing on 14.41538475 meters Centerline goodness : 0.895110 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.08 [[ 0.99844738 0.0308638 -0.0463709 1.63610077] [-0.03071765 0.99952064 0.00386129 0.11154974] [ 0.04646785 -0.00243089 0.99891683 -0.07532683] [ 0. 0. 0. 1. ]] SLAMing on 14.44538475 meters Centerline goodness : 0.894120 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.08 [[ 9.98566398e-01 2.67404825e-02 -4.63691136e-02 1.63614210e+00] [-2.67678277e-02 9.99641677e-01 3.12146166e-05 1.11069528e-01] [ 4.63533332e-02 1.21003058e-03 9.98924374e-01 -7.57099408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.47538475 meters Centerline goodness : 0.894022 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.08 [[ 0.99868279 0.02196606 -0.04636996 1.63686465] [-0.02216151 0.99974754 -0.0037051 0.10872741] [ 0.04627686 0.00472785 0.99891746 -0.07666417] [ 0. 0. 0. 1. ]] SLAMing on 14.505384750000001 meters Centerline goodness : 0.893932 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.08 [[ 0.9987027 0.02113668 -0.04632655 1.63734484] [-0.02132906 0.9997658 -0.00366222 0.10686694] [ 0.0462383 0.00464557 0.99891964 -0.07711309] [ 0. 0. 0. 1. ]] SLAMing on 14.53538475 meters Centerline goodness : 0.895113 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.08 [[ 0.99870397 0.02104215 -0.04634225 1.63771958] [-0.02123557 0.99976771 -0.00368549 0.10664098] [ 0.04625393 0.00466482 0.99891882 -0.07754059] [ 0. 0. 0. 1. ]] SLAMing on 14.56538475 meters Centerline goodness : 0.895452 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.08 [[ 0.99870488 0.02095885 -0.04636052 1.63826193] [-0.02115644 0.99976905 -0.00377534 0.10678993] [ 0.04627069 0.00475127 0.99891764 -0.07820973] [ 0. 0. 0. 1. ]] SLAMing on 14.595384750000001 meters Centerline goodness : 0.897340 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.08 [[ 0.99871519 0.02131313 -0.04597525 1.63779601] [-0.02150654 0.9997618 -0.00371642 0.10723986] [ 0.04588509 0.00470042 0.99893567 -0.0785853 ] [ 0. 0. 0. 1. ]] SLAMing on 14.62538475 meters Centerline goodness : 0.897689 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.08 [[ 0.99870699 0.02176301 -0.04594261 1.63735136] [-0.02194191 0.99975349 -0.0033932 0.1070514 ] [ 0.04585744 0.00439688 0.99893832 -0.07816165] [ 0. 0. 0. 1. ]] SLAMing on 14.65538475 meters Centerline goodness : 0.898305 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.08 [[ 9.98614232e-01 2.57366663e-02 -4.59046852e-02 1.63797333e+00] [-2.57334146e-02 9.99668622e-01 6.61887349e-04 1.06200031e-01] [ 4.59065082e-02 5.20314170e-04 9.98945605e-01 -7.86781893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.68538475 meters Centerline goodness : 0.897752 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.08 [[ 0.99851602 0.02925017 -0.04593685 1.63925565] [-0.0290764 0.9995673 0.00444675 0.10569477] [ 0.04604705 -0.00310447 0.99893445 -0.07974714] [ 0. 0. 0. 1. ]] SLAMing on 14.71538475 meters Centerline goodness : 0.897183 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.08 [[ 0.99851407 0.0293341 -0.04592552 1.6394582 ] [-0.02916366 0.99956507 0.004377 0.10603812] [ 0.04603394 -0.00303114 0.99893528 -0.08008639] [ 0. 0. 0. 1. ]] SLAMing on 14.74538475 meters Centerline goodness : 0.897236 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.08 [[ 0.99851366 0.02917296 -0.04603711 1.63984189] [-0.0290032 0.99956985 0.00435129 0.10573065] [ 0.04614424 -0.0030096 0.99893025 -0.08029733] [ 0. 0. 0. 1. ]] SLAMing on 14.77538475 meters Centerline goodness : 0.893184 Centerline is valid? [False, False] Translation: X:1.64, Y:0.10, Z:-0.08 [[ 0.99851137 0.02925273 -0.04603599 1.6395009 ] [-0.02906776 0.99956648 0.00468252 0.10481025] [ 0.04615301 -0.00333739 0.99892881 -0.07982209] [ 0. 0. 0. 1. ]] SLAMing on 14.80538475 meters Centerline goodness : 0.893545 Centerline is valid? [False, False] Translation: X:1.64, Y:0.10, Z:-0.08 [[ 0.99851488 0.02910011 -0.04605671 1.63922483] [-0.0289073 0.99957035 0.00484689 0.10408474] [ 0.04617796 -0.00350831 0.99892707 -0.07937665] [ 0. 0. 0. 1. ]] SLAMing on 14.835384750000001 meters Centerline goodness : 0.894949 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.08 [[ 9.98616467e-01 2.59744801e-02 -4.57217585e-02 1.63784655e+00] [-2.59208745e-02 9.99662440e-01 1.76502546e-03 1.06062425e-01] [ 4.57521703e-02 -5.77435524e-04 9.98952654e-01 -7.84797875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.86538475 meters Centerline goodness : 0.894253 Centerline is valid? [False, False] Translation: X:1.63, Y:0.11, Z:-0.08 [[ 0.99876401 0.02419233 -0.04341877 1.63488352] [-0.024079 0.99970516 0.00313121 0.11021518] [ 0.04348172 -0.00208186 0.99905205 -0.0798995 ] [ 0. 0. 0. 1. ]] SLAMing on 14.89538475 meters Centerline goodness : 0.891765 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.08 [[ 9.98774009e-01 2.35193167e-02 -4.35582493e-02 1.63540738e+00] [-2.34371623e-02 9.99722441e-01 2.39587538e-03 1.11760674e-01] [ 4.36025086e-02 -1.37205630e-03 9.99048016e-01 -8.01178528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.925384750000001 meters Centerline goodness : 0.890198 Centerline is valid? [False, False] Translation: X:1.63, Y:0.12, Z:-0.08 [[ 9.98868381e-01 1.96572261e-02 -4.33076281e-02 1.63466142e+00] [-1.97451382e-02 9.99803761e-01 -1.60308079e-03 1.16231782e-01] [ 4.32676173e-02 2.45638182e-03 9.99060498e-01 -7.96242338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.95538475 meters Centerline goodness : 0.890786 Centerline is valid? [False, False] Translation: X:1.63, Y:0.12, Z:-0.08 [[ 0.99887592 0.01913802 -0.04336635 1.63450096] [-0.01925358 0.9998121 -0.00224863 0.11787633] [ 0.04331517 0.00308106 0.99905671 -0.07921418] [ 0. 0. 0. 1. ]] SLAMing on 14.98538475 meters Centerline goodness : 0.889948 Centerline is valid? [False, False] Translation: X:1.63, Y:0.12, Z:-0.08 [[ 0.99889075 0.01870459 -0.04321357 1.6337219 ] [-0.01886339 0.99981672 -0.00326969 0.12159243] [ 0.04314449 0.00408122 0.99906051 -0.07851109] [ 0. 0. 0. 1. ]] SLAMing on 15.01538475 meters Centerline goodness : 0.891872 Centerline is valid? [False, False] Translation: X:1.63, Y:0.13, Z:-0.08 [[ 0.99889309 0.01846718 -0.04326151 1.63399907] [-0.01866605 0.99981696 -0.0041973 0.12512277] [ 0.04317608 0.00500017 0.99905497 -0.07879522] [ 0. 0. 0. 1. ]] SLAMing on 15.04538475 meters Centerline goodness : 0.894168 Centerline is valid? [False, False] Translation: X:1.63, Y:0.13, Z:-0.08 [[ 0.99883246 0.02206137 -0.04297692 1.63459356] [-0.02216168 0.99975267 -0.00185893 0.13220248] [ 0.04292528 0.0028092 0.99907434 -0.07973148] [ 0. 0. 0. 1. ]] SLAMing on 15.07538475 meters Centerline goodness : 0.895371 Centerline is valid? [False, False] Translation: X:1.64, Y:0.13, Z:-0.08 [[ 9.98747443e-01 2.52342135e-02 -4.32062438e-02 1.63556735e+00] [-2.52194157e-02 9.99681546e-01 8.87617244e-04 1.34617471e-01] [ 4.32148829e-02 2.03130771e-04 9.99065780e-01 -8.00657046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.10538475 meters Centerline goodness : 0.899614 Centerline is valid? [False, False] Translation: X:1.64, Y:0.14, Z:-0.08 [[ 9.98664503e-01 2.81251538e-02 -4.33380429e-02 1.63530434e+00] [-2.80478017e-02 9.99603721e-01 2.39199799e-03 1.40843108e-01] [ 4.33881442e-02 -1.17326665e-03 9.99057602e-01 -7.92710391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.13538475 meters Centerline goodness : 0.900486 Centerline is valid? [False, False] Translation: X:1.64, Y:0.14, Z:-0.08 [[ 9.98670082e-01 2.77285065e-02 -4.34649005e-02 1.63576034e+00] [-2.77114060e-02 9.99615469e-01 9.96022217e-04 1.44687726e-01] [ 4.34758051e-02 2.09775914e-04 9.99054458e-01 -7.96680048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.16538475 meters Centerline goodness : 0.903527 Centerline is valid? [False, False] Translation: X:1.64, Y:0.15, Z:-0.08 [[ 9.98568789e-01 3.09160887e-02 -4.36413586e-02 1.63660025e+00] [-3.08271326e-02 9.99521057e-01 2.71002424e-03 1.51136961e-01] [ 4.37042402e-02 -1.36080768e-03 9.99043586e-01 -8.00421102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.19538475 meters Centerline goodness : 0.903178 Centerline is valid? [False, False] Translation: X:1.64, Y:0.15, Z:-0.08 [[ 9.98568264e-01 3.08450598e-02 -4.37035909e-02 1.63668972e+00] [-3.08021254e-02 9.99524131e-01 1.65562409e-03 1.54656951e-01] [ 4.37338615e-02 -3.07090186e-04 9.99043170e-01 -8.00912830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.22538475 meters Centerline goodness : 0.903445 Centerline is valid? [False, False] Translation: X:1.64, Y:0.16, Z:-0.08 [[ 9.98560915e-01 3.06486607e-02 -4.40086137e-02 1.63748437e+00] [-3.06575964e-02 9.99529834e-01 4.72025448e-04 1.57950350e-01] [ 4.40023893e-02 8.77852154e-04 9.99031040e-01 -8.05806668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.255384750000001 meters Centerline goodness : 0.905565 Centerline is valid? [False, False] Translation: X:1.64, Y:0.16, Z:-0.08 [[ 9.98451453e-01 3.39168579e-02 -4.40947103e-02 1.63853502e+00] [-3.38484252e-02 9.99424336e-01 2.29787067e-03 1.63498591e-01] [ 4.41472631e-02 -8.01775810e-04 9.99024713e-01 -8.14294300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.28538475 meters Centerline goodness : 0.904851 Centerline is valid? [False, False] Translation: X:1.64, Y:0.17, Z:-0.08 [[ 0.99834631 0.0365237 -0.04439212 1.64064495] [-0.03637293 0.99932946 0.00419972 0.16766452] [ 0.04451574 -0.00257811 0.99900536 -0.08292164] [ 0. 0. 0. 1. ]] SLAMing on 15.31538475 meters Centerline goodness : 0.904964 Centerline is valid? [False, False] Translation: X:1.64, Y:0.17, Z:-0.08 [[ 0.9983596 0.03601096 -0.04451212 1.64120512] [-0.03589569 0.9993498 0.00338657 0.16926507] [ 0.04460513 -0.00178322 0.9990031 -0.08335837] [ 0. 0. 0. 1. ]] SLAMing on 15.345384750000001 meters Centerline goodness : 0.906934 Centerline is valid? [False, False] Translation: X:1.64, Y:0.17, Z:-0.08 [[ 9.98399288e-01 3.43384550e-02 -4.49414406e-02 1.64328423e+00] [-3.43252162e-02 9.99410147e-01 1.06647584e-03 1.73612467e-01] [ 4.49515529e-02 4.77855948e-04 9.98989054e-01 -8.48991056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.37538475 meters Centerline goodness : 0.904502 Centerline is valid? [False, False] Translation: X:1.64, Y:0.18, Z:-0.09 [[ 9.98422860e-01 3.32221165e-02 -4.52557587e-02 1.64458496e+00] [-3.32730736e-02 9.99446228e-01 -3.72952902e-04 1.76207024e-01] [ 4.52183070e-02 1.87816289e-03 9.98975364e-01 -8.57402614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.40538475 meters Centerline goodness : 0.905779 Centerline is valid? [False, False] Translation: X:1.65, Y:0.18, Z:-0.09 [[ 0.99844516 0.03207577 -0.04558958 1.6457529 ] [-0.032194 0.99947991 -0.00186124 0.17879411] [ 0.04550616 0.00332606 0.99895852 -0.08637826] [ 0. 0. 0. 1. ]] SLAMing on 15.43538475 meters Centerline goodness : 0.905897 Centerline is valid? [False, False] Translation: X:1.65, Y:0.18, Z:-0.09 [[ 0.99848036 0.03012988 -0.04614288 1.64733273] [-0.0303578 0.99953008 -0.00424637 0.18270111] [ 0.04599325 0.00564071 0.99892582 -0.08693699] [ 0. 0. 0. 1. ]] SLAMing on 15.46538475 meters Centerline goodness : 0.909759 Centerline is valid? [False, False] Translation: X:1.65, Y:0.19, Z:-0.09 [[ 0.99853076 0.0284871 -0.04609562 1.64696559] [-0.02881658 0.99956359 -0.0064989 0.18744081] [ 0.04589037 0.00781767 0.99891589 -0.08648285] [ 0. 0. 0. 1. ]] SLAMing on 15.49538475 meters Centerline goodness : 0.910057 Centerline is valid? [False, False] Translation: X:1.65, Y:0.19, Z:-0.09 [[ 0.99855335 0.02795957 -0.04592907 1.64664722] [-0.02832727 0.9995715 -0.00737444 0.18996752] [ 0.04570321 0.00866482 0.99891748 -0.08635083] [ 0. 0. 0. 1. ]] SLAMing on 15.52538475 meters Centerline goodness : 0.913022 Centerline is valid? [False, False] Translation: X:1.65, Y:0.19, Z:-0.08 [[ 0.99856837 0.02794673 -0.04560904 1.64502063] [-0.02833994 0.99956635 -0.00799766 0.19449107] [ 0.04536576 0.00927877 0.99892735 -0.08496185] [ 0. 0. 0. 1. ]] SLAMing on 15.55538475 meters Centerline goodness : 0.913436 Centerline is valid? [False, False] Translation: X:1.64, Y:0.20, Z:-0.08 [[ 0.99856885 0.0278029 -0.04568642 1.64493891] [-0.0282222 0.99956504 -0.00855841 0.19649656] [ 0.0454286 0.00983553 0.99891917 -0.08469841] [ 0. 0. 0. 1. ]] SLAMing on 15.585384750000001 meters Centerline goodness : 0.915229 Centerline is valid? [False, False] Translation: X:1.65, Y:0.20, Z:-0.09 [[ 0.99847128 0.03113694 -0.04566831 1.64547014] [-0.03143619 0.99948865 -0.00584905 0.1992531 ] [ 0.04546283 0.00727574 0.99893953 -0.08500241] [ 0. 0. 0. 1. ]] SLAMing on 15.61538475 meters Centerline goodness : 0.915429 Centerline is valid? [False, False] Translation: X:1.65, Y:0.20, Z:-0.09 [[ 0.99846721 0.03114188 -0.04575392 1.64569281] [-0.03148284 0.9994815 -0.00675032 0.20225819] [ 0.04551998 0.00818043 0.99892993 -0.0851288 ] [ 0. 0. 0. 1. ]] SLAMing on 15.64538475 meters Centerline goodness : 0.916204 Centerline is valid? [False, False] Translation: X:1.65, Y:0.21, Z:-0.09 [[ 0.99834453 0.03435781 -0.0461274 1.64740805] [-0.03462906 0.99938725 -0.00509397 0.20783407] [ 0.04592412 0.00668288 0.99892258 -0.0861344 ] [ 0. 0. 0. 1. ]] SLAMing on 15.675384750000001 meters Centerline goodness : 0.916763 Centerline is valid? [False, False] Translation: X:1.65, Y:0.21, Z:-0.09 [[ 0.99834222 0.03419998 -0.04629451 1.64841024] [-0.03452277 0.99938474 -0.00619077 0.21113563] [ 0.04605431 0.00777873 0.99890865 -0.08704135] [ 0. 0. 0. 1. ]] SLAMing on 15.70538475 meters Centerline goodness : 0.917260 Centerline is valid? [False, False] Translation: X:1.65, Y:0.21, Z:-0.09 [[ 0.99834487 0.03365457 -0.04663572 1.64971947] [-0.03403603 0.99939314 -0.00740948 0.21389908] [ 0.04635806 0.00898451 0.99888448 -0.08792103] [ 0. 0. 0. 1. ]] SLAMing on 15.73538475 meters Centerline goodness : 0.919092 Centerline is valid? [False, False] Translation: X:1.65, Y:0.22, Z:-0.09 [[ 0.9983633 0.03255151 -0.0470226 1.65151248] [-0.03302088 0.99941195 -0.00923954 0.21761665] [ 0.04669418 0.01077715 0.99885109 -0.08919225] [ 0. 0. 0. 1. ]] SLAMing on 15.76538475 meters Centerline goodness : 0.917979 Centerline is valid? [False, False] Translation: X:1.65, Y:0.22, Z:-0.09 [[ 0.99837769 0.0320155 -0.04708491 1.65188041] [-0.03252817 0.99941915 -0.01016228 0.21992744] [ 0.04673221 0.01167738 0.9988392 -0.08945327] [ 0. 0. 0. 1. ]] SLAMing on 15.79538475 meters Centerline goodness : 0.916581 Centerline is valid? [False, False] Translation: X:1.65, Y:0.22, Z:-0.09 [[ 0.99830115 0.03409974 -0.04724428 1.65353692] [-0.0345495 0.99936481 -0.00873598 0.22465312] [ 0.04691637 0.01035341 0.99884516 -0.09059498] [ 0. 0. 0. 1. ]] SLAMing on 15.82538475 meters Centerline goodness : 0.918757 Centerline is valid? [False, False] Translation: X:1.66, Y:0.23, Z:-0.09 [[ 0.9982178 0.03617871 -0.04745864 1.65583165] [-0.0365683 0.99930401 -0.00736632 0.22898013] [ 0.04715911 0.00908868 0.99884604 -0.09238771] [ 0. 0. 0. 1. ]] SLAMing on 15.85538475 meters Centerline goodness : 0.919106 Centerline is valid? [False, False] Translation: X:1.66, Y:0.23, Z:-0.09 [[ 0.99823452 0.03574072 -0.04743887 1.65654852] [-0.03618328 0.999309 -0.00850297 0.2319374 ] [ 0.04710219 0.01020445 0.99883795 -0.09324806] [ 0. 0. 0. 1. ]] SLAMing on 15.88538475 meters Centerline goodness : 0.919588 Centerline is valid? [False, False] Translation: X:1.66, Y:0.24, Z:-0.09 [[ 0.99822885 0.03577776 -0.04753024 1.65724322] [-0.03626285 0.99929824 -0.00938291 0.23538404] [ 0.04716118 0.01108987 0.99882573 -0.09386954] [ 0. 0. 0. 1. ]] SLAMing on 15.91538475 meters Centerline goodness : 0.919588 Centerline is valid? [False, False] Translation: X:1.66, Y:0.24, Z:-0.09 [[ 0.99822885 0.03577776 -0.04753024 1.65724322] [-0.03626285 0.99929824 -0.00938291 0.23538404] [ 0.04716118 0.01108987 0.99882573 -0.09386954] [ 0. 0. 0. 1. ]] SLAMing on 15.94538475 meters Centerline goodness : 0.918041 Centerline is valid? [False, False] Translation: X:1.66, Y:0.24, Z:-0.09 [[ 0.99799728 0.04219259 -0.04712975 1.65658311] [-0.04244918 0.99908869 -0.00445638 0.24151026] [ 0.04689877 0.00644807 0.99887884 -0.09314617] [ 0. 0. 0. 1. ]] SLAMing on 15.97538475 meters Centerline goodness : 0.918599 Centerline is valid? [False, False] Translation: X:1.66, Y:0.24, Z:-0.09 [[ 9.97826060e-01 4.60059643e-02 -4.71869124e-02 1.65663413e+00] [-4.61241532e-02 9.98934708e-01 -1.41834922e-03 2.43921223e-01] [ 4.70713921e-02 3.59172219e-03 9.98885070e-01 -9.26367104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.00538475 meters Centerline goodness : 0.919017 Centerline is valid? [False, False] Translation: X:1.66, Y:0.25, Z:-0.09 [[ 9.97596816e-01 5.08902974e-02 -4.70188388e-02 1.65547081e+00] [-5.08769043e-02 9.98703832e-01 1.48232658e-03 2.49328447e-01] [ 4.70333305e-02 9.13408686e-04 9.98892903e-01 -9.10103716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.03538475 meters Centerline goodness : 0.919107 Centerline is valid? [False, False] Translation: X:1.66, Y:0.25, Z:-0.09 [[ 9.97567961e-01 5.11660688e-02 -4.73307053e-02 1.65598804e+00] [-5.11918400e-02 9.98688615e-01 6.68295067e-04 2.52263814e-01] [ 4.73028305e-02 1.75627614e-03 9.98879051e-01 -9.10312611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.06538475 meters Centerline goodness : 0.919441 Centerline is valid? [False, False] Translation: X:1.66, Y:0.25, Z:-0.09 [[ 9.97350202e-01 5.51845375e-02 -4.74050736e-02 1.65658409e+00] [-5.50665353e-02 9.98475484e-01 3.79258322e-03 2.54349717e-01] [ 4.75420957e-02 -1.17210048e-03 9.98868548e-01 -9.10637928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.095384749999997 meters Centerline goodness : 0.916675 Centerline is valid? [False, False] Translation: X:1.66, Y:0.26, Z:-0.09 [[ 9.97351278e-01 5.51335620e-02 -4.74417323e-02 1.65694562e+00] [-5.50496264e-02 9.98478885e-01 3.07497588e-03 2.56413668e-01] [ 4.75391024e-02 -4.55181482e-04 9.98869274e-01 -9.14538516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.12538475 meters Centerline goodness : 0.918680 Centerline is valid? [False, False] Translation: X:1.66, Y:0.26, Z:-0.09 [[ 9.97327378e-01 5.54829927e-02 -4.75367145e-02 1.65725507e+00] [-5.54219093e-02 9.98459632e-01 2.60306123e-03 2.58965606e-01] [ 4.76079161e-02 3.84712518e-05 9.98866100e-01 -9.16270941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.15538475 meters Centerline goodness : 0.917171 Centerline is valid? [False, False] Translation: X:1.66, Y:0.26, Z:-0.09 [[ 9.97317266e-01 5.56089779e-02 -4.76016066e-02 1.65718146e+00] [-5.55365924e-02 9.98452605e-01 2.84289502e-03 2.58239845e-01] [ 4.76860386e-02 -1.91637264e-04 9.98862355e-01 -9.14224844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.185384749999997 meters Centerline goodness : 0.915962 Centerline is valid? [False, False] Translation: X:1.66, Y:0.26, Z:-0.09 [[ 9.97490561e-01 5.22694115e-02 -4.77544683e-02 1.65689773e+00] [-5.23371855e-02 9.98629456e-01 -1.69084393e-04 2.55573035e-01] [ 4.76801808e-02 2.66799455e-03 9.98859090e-01 -9.13831804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.21538475 meters Centerline goodness : 0.917778 Centerline is valid? [False, False] Translation: X:1.66, Y:0.25, Z:-0.09 [[ 0.9976727 0.04862937 -0.04779505 1.65689142] [-0.04885906 0.99879902 -0.00364851 0.25439901] [ 0.04756023 0.00597524 0.9988505 -0.09179972] [ 0. 0. 0. 1. ]] SLAMing on 16.24538475 meters Centerline goodness : 0.913612 Centerline is valid? [False, False] Translation: X:1.66, Y:0.25, Z:-0.09 [[ 0.99784874 0.04470961 -0.04794727 1.65685451] [-0.04504927 0.99896659 -0.00602654 0.24964365] [ 0.04762827 0.00817357 0.99883169 -0.09184001] [ 0. 0. 0. 1. ]] SLAMing on 16.275384749999997 meters Centerline goodness : 0.914330 Centerline is valid? [False, False] Translation: X:1.66, Y:0.25, Z:-0.09 [[ 0.99800576 0.04091098 -0.0480708 1.65688567] [-0.04139413 0.99910147 -0.00909832 0.24737962] [ 0.04765538 0.01107002 0.99880249 -0.09203708] [ 0. 0. 0. 1. ]] SLAMing on 16.305384749999998 meters Centerline goodness : 0.913242 Centerline is valid? [False, False] Translation: X:1.66, Y:0.24, Z:-0.09 [[ 0.99813524 0.03720143 -0.04839513 1.65709117] [-0.03781516 0.99921474 -0.01182826 0.24398064] [ 0.0479171 0.01363628 0.99875823 -0.09198054] [ 0. 0. 0. 1. ]] SLAMing on 16.33538475 meters Centerline goodness : 0.910387 Centerline is valid? [False, False] Translation: X:1.66, Y:0.24, Z:-0.09 [[ 0.99839287 0.02920969 -0.04856409 1.65658083] [-0.03009249 0.99939308 -0.01754736 0.23630928] [ 0.04802206 0.01898058 0.99866592 -0.0915938 ] [ 0. 0. 0. 1. ]] SLAMing on 16.365384749999997 meters Centerline goodness : 0.911260 Centerline is valid? [False, False] Translation: X:1.66, Y:0.23, Z:-0.09 [[ 0.9985842 0.02140533 -0.04869708 1.65641402] [-0.02257955 0.99946429 -0.02369179 0.23126602] [ 0.04816387 0.02475781 0.99853257 -0.09164549] [ 0. 0. 0. 1. ]] SLAMing on 16.395384749999998 meters Centerline goodness : 0.911697 Centerline is valid? [False, False] Translation: X:1.66, Y:0.23, Z:-0.09 [[ 0.99858991 0.02130955 -0.048622 1.65626315] [-0.02243437 0.99949042 -0.02270681 0.2278931 ] [ 0.04811335 0.0237656 0.99855911 -0.09153427] [ 0. 0. 0. 1. ]] SLAMing on 16.42538475 meters Centerline goodness : 0.909424 Centerline is valid? [False, False] Translation: X:1.66, Y:0.22, Z:-0.09 [[ 0.9985931 0.02111412 -0.04864178 1.65690724] [-0.02220826 0.99950986 -0.02206419 0.22482201] [ 0.04815207 0.0231134 0.99857256 -0.0922421 ] [ 0. 0. 0. 1. ]] SLAMing on 16.455384749999997 meters Centerline goodness : 0.908763 Centerline is valid? [False, False] Translation: X:1.66, Y:0.22, Z:-0.09 [[ 0.99858402 0.02111657 -0.04882668 1.65776357] [-0.02220738 0.99951334 -0.02190689 0.22434363] [ 0.04834032 0.02296019 0.99856699 -0.09286283] [ 0. 0. 0. 1. ]] SLAMing on 16.485384749999998 meters Centerline goodness : 0.909650 Centerline is valid? [False, False] Translation: X:1.66, Y:0.22, Z:-0.09 [[ 0.99851334 0.02456262 -0.04865983 1.65796795] [-0.02546183 0.99951469 -0.01794647 0.22308941] [ 0.04819541 0.01915876 0.99865417 -0.09299759] [ 0. 0. 0. 1. ]] SLAMing on 16.51538475 meters Centerline goodness : 0.909429 Centerline is valid? [False, False] Translation: X:1.66, Y:0.22, Z:-0.09 [[ 0.99851411 0.0246272 -0.04861138 1.65750238] [-0.02552874 0.99951179 -0.01801296 0.22395108] [ 0.04814404 0.01922719 0.99865533 -0.0925052 ] [ 0. 0. 0. 1. ]] SLAMing on 16.54538475 meters Centerline goodness : 0.910011 Centerline is valid? [False, False] Translation: X:1.66, Y:0.23, Z:-0.09 [[ 0.99844804 0.02775502 -0.04828225 1.65704556] [-0.02850507 0.99948235 -0.01491613 0.22570156] [ 0.04784326 0.01626927 0.99872235 -0.0920637 ] [ 0. 0. 0. 1. ]] SLAMing on 16.575384749999998 meters Centerline goodness : 0.908948 Centerline is valid? [False, False] Translation: X:1.66, Y:0.23, Z:-0.09 [[ 0.99845101 0.0275157 -0.04835777 1.65713972] [-0.02828692 0.99948218 -0.01533679 0.22712898] [ 0.04791072 0.01668093 0.99871233 -0.09193981] [ 0. 0. 0. 1. ]] SLAMing on 16.60538475 meters Centerline goodness : 0.909149 Centerline is valid? [False, False] Translation: X:1.66, Y:0.23, Z:-0.09 [[ 0.99846646 0.02670668 -0.04849205 1.656856 ] [-0.02750617 0.99949525 -0.01589515 0.2281336 ] [ 0.04804307 0.01720461 0.99869708 -0.09110962] [ 0. 0. 0. 1. ]] SLAMing on 16.63538475 meters Centerline goodness : 0.911617 Centerline is valid? [False, False] Translation: X:1.66, Y:0.23, Z:-0.09 [[ 0.99847337 0.02631702 -0.0485627 1.6568106 ] [-0.02712376 0.99950357 -0.01602877 0.22822582] [ 0.04811676 0.0173215 0.99869152 -0.09082788] [ 0. 0. 0. 1. ]] SLAMing on 16.665384749999998 meters Centerline goodness : 0.909008 Centerline is valid? [False, False] Translation: X:1.66, Y:0.23, Z:-0.09 [[ 0.9985755 0.02292847 -0.04817938 1.65624218] [-0.02386227 0.99953665 -0.01889656 0.23111782] [ 0.04772379 0.02001931 0.99865994 -0.09057808] [ 0. 0. 0. 1. ]] SLAMing on 16.69538475 meters Centerline goodness : 0.908548 Centerline is valid? [False, False] Translation: X:1.66, Y:0.23, Z:-0.09 [[ 0.99858096 0.02234016 -0.04834243 1.65664527] [-0.02330067 0.9995403 -0.01939738 0.23250621] [ 0.04788687 0.02049626 0.99864245 -0.09060979] [ 0. 0. 0. 1. ]] SLAMing on 16.72538475 meters Centerline goodness : 0.905996 Centerline is valid? [False, False] Translation: X:1.66, Y:0.24, Z:-0.09 [[ 0.9985224 0.02373823 -0.04888268 1.65934459] [-0.02464739 0.99953269 -0.01808063 0.23677866] [ 0.04843063 0.01925874 0.99864086 -0.09198947] [ 0. 0. 0. 1. ]] SLAMing on 16.755384749999997 meters Centerline goodness : 0.908319 Centerline is valid? [False, False] Translation: X:1.66, Y:0.24, Z:-0.09 [[ 0.99843441 0.02630028 -0.0493663 1.66177943] [-0.02710974 0.99950759 -0.01579969 0.23889305] [ 0.04892645 0.01711326 0.99865577 -0.09344746] [ 0. 0. 0. 1. ]] SLAMing on 16.78538475 meters Centerline goodness : 0.903445 Centerline is valid? [False, False] Translation: X:1.66, Y:0.25, Z:-0.09 [[ 0.99832316 0.0300108 -0.04949974 1.6628509 ] [-0.03072926 0.99943223 -0.01381761 0.24666212] [ 0.04905696 0.01531553 0.99867855 -0.09375287] [ 0. 0. 0. 1. ]] SLAMing on 16.81538475 meters Centerline goodness : 0.903236 Centerline is valid? [False, False] Translation: X:1.66, Y:0.25, Z:-0.09 [[ 0.99821065 0.03325086 -0.04969789 1.66372411] [-0.03386316 0.99935997 -0.01152954 0.25066478] [ 0.04928271 0.01319184 0.99869775 -0.09392647] [ 0. 0. 0. 1. ]] SLAMing on 16.845384749999997 meters Centerline goodness : 0.904118 Centerline is valid? [False, False] Translation: X:1.67, Y:0.26, Z:-0.10 [[ 0.99815923 0.04060174 -0.04505172 1.67311195] [-0.04135988 0.99901579 -0.01602529 0.25761817] [ 0.04435672 0.01785912 0.99885611 -0.0963243 ] [ 0. 0. 0. 1. ]] SLAMing on 16.87538475 meters Centerline goodness : 0.904933 Centerline is valid? [False, False] Translation: X:1.67, Y:0.26, Z:-0.10 [[ 0.99800173 0.04412608 -0.04522644 1.67438973] [-0.04477318 0.99890736 -0.01339582 0.26058788] [ 0.04458592 0.01539398 0.99888694 -0.09700176] [ 0. 0. 0. 1. ]] SLAMing on 16.90538475 meters Centerline goodness : 0.903202 Centerline is valid? [False, False] Translation: X:1.68, Y:0.27, Z:-0.10 [[ 0.9976227 0.05177838 -0.04547477 1.67680949] [-0.05219477 0.99860475 -0.00801668 0.26744285] [ 0.04499623 0.01037117 0.99893332 -0.09849012] [ 0. 0. 0. 1. ]] SLAMing on 16.935384749999997 meters Centerline goodness : 0.903125 Centerline is valid? [False, False] Translation: X:1.68, Y:0.27, Z:-0.10 [[ 0.99720623 0.05915336 -0.04561366 1.67937583] [-0.05932217 0.99823611 -0.00235479 0.27276334] [ 0.04539391 0.00505412 0.99895638 -0.100143 ] [ 0. 0. 0. 1. ]] SLAMing on 16.96538475 meters Centerline goodness : 0.903061 Centerline is valid? [False, False] Translation: X:1.68, Y:0.28, Z:-0.10 [[ 0.99707847 0.06038477 -0.04677819 1.68178352] [-0.06063153 0.9981527 -0.00387305 0.27588656] [ 0.0464579 0.00669796 0.99889779 -0.09968792] [ 0. 0. 0. 1. ]] SLAMing on 16.99538475 meters Centerline goodness : 0.902443 Centerline is valid? [False, False] Translation: X:1.68, Y:0.28, Z:-0.10 [[ 0.99698622 0.06120919 -0.04766467 1.68332826] [-0.06153621 0.99809012 -0.0054226 0.27867783] [ 0.04724172 0.00833936 0.99884867 -0.09881586] [ 0. 0. 0. 1. ]] SLAMing on 17.025384749999997 meters Centerline goodness : 0.903039 Centerline is valid? [False, False] Translation: X:1.69, Y:0.28, Z:-0.10 [[ 0.99672518 0.06401048 -0.04941233 1.68578694] [-0.06441739 0.99790065 -0.0066852 0.2813796 ] [ 0.04888067 0.00984632 0.99875609 -0.0967164 ] [ 0. 0. 0. 1. ]] SLAMing on 17.055384749999998 meters Centerline goodness : 0.903467 Centerline is valid? [False, False] Translation: X:1.69, Y:0.28, Z:-0.10 [[ 0.99661512 0.06488949 -0.05047437 1.68757046] [-0.0653401 0.99783615 -0.00732757 0.28225116] [ 0.04988967 0.01060077 0.99869848 -0.096154 ] [ 0. 0. 0. 1. ]] SLAMing on 17.08538475 meters Centerline goodness : 0.904792 Centerline is valid? [False, False] Translation: X:1.69, Y:0.28, Z:-0.10 [[ 0.99619521 0.07034677 -0.0514436 1.68969802] [-0.0706309 0.99749557 -0.00372396 0.28244342] [ 0.0510528 0.0073433 0.99866896 -0.09550264] [ 0. 0. 0. 1. ]] SLAMing on 17.115384749999997 meters Centerline goodness : 0.902629 Centerline is valid? [False, False] Translation: X:1.69, Y:0.28, Z:-0.10 [[ 0.99607994 0.07125097 -0.05242181 1.69144278] [-0.07158146 0.99742482 -0.0044518 0.2834468 ] [ 0.05196962 0.00818678 0.99861511 -0.09501039] [ 0. 0. 0. 1. ]] SLAMing on 17.145384749999998 meters Centerline goodness : 0.903737 Centerline is valid? [False, False] Translation: X:1.69, Y:0.28, Z:-0.09 [[ 0.99579794 0.07397148 -0.05398774 1.69333188] [-0.07428838 0.99722924 -0.00388417 0.28178782] [ 0.05355084 0.00787851 0.99853404 -0.09336201] [ 0. 0. 0. 1. ]] SLAMing on 17.17538475 meters Centerline goodness : 0.904428 Centerline is valid? [False, False] Translation: X:1.69, Y:0.28, Z:-0.09 [[ 0.99564349 0.07528951 -0.05500489 1.69483235] [-0.07561144 0.99713015 -0.00379236 0.28126449] [ 0.05456151 0.00793484 0.99847888 -0.09267848] [ 0. 0. 0. 1. ]] SLAMing on 17.205384749999997 meters Centerline goodness : 0.903583 Centerline is valid? [False, False] Translation: X:1.70, Y:0.28, Z:-0.09 [[ 0.99523828 0.07899413 -0.05710248 1.69825472] [-0.07925466 0.99685173 -0.00230863 0.27794792] [ 0.05674034 0.00682328 0.99836565 -0.09187613] [ 0. 0. 0. 1. ]] SLAMing on 17.235384749999998 meters Centerline goodness : 0.905433 Centerline is valid? [False, False] Translation: X:1.70, Y:0.28, Z:-0.09 [[ 9.95094255e-01 8.02763572e-02 -5.78198038e-02 1.69912289e+00] [-8.04913662e-02 9.96754329e-01 -1.39553457e-03 2.75626629e-01] [ 5.75201113e-02 6.04268344e-03 9.98326060e-01 -9.13744737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.26538475 meters Centerline goodness : 0.903813 Centerline is valid? [False, False] Translation: X:1.70, Y:0.27, Z:-0.09 [[ 9.94766712e-01 8.31393360e-02 -5.93888786e-02 1.70025367e+00] [-8.32333115e-02 9.96529687e-01 8.93918769e-04 2.68038815e-01] [ 5.92571004e-02 4.05389239e-03 9.98234523e-01 -8.97858859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.29538475 meters Centerline goodness : 0.904031 Centerline is valid? [False, False] Translation: X:1.70, Y:0.27, Z:-0.09 [[ 0.99482945 0.08125776 -0.06092241 1.70212782] [-0.08151705 0.99667036 -0.00177871 0.26536233] [ 0.06057502 0.00673573 0.99814092 -0.08933265] [ 0. 0. 0. 1. ]] SLAMing on 17.325384749999998 meters Centerline goodness : 0.905988 Centerline is valid? [False, False] Translation: X:1.70, Y:0.25, Z:-0.09 [[ 9.94711890e-01 8.17972969e-02 -6.21084307e-02 1.70257960e+00] [-8.19445434e-02 9.96636875e-01 1.76959425e-04 2.54325497e-01] [ 6.19140271e-02 4.91342336e-03 9.98069392e-01 -8.88862032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.35538475 meters Centerline goodness : 0.906805 Centerline is valid? [False, False] Translation: X:1.70, Y:0.25, Z:-0.09 [[ 9.94782697e-01 8.02294959e-02 -6.30128057e-02 1.70255825e+00] [-8.04452058e-02 9.96758636e-01 -8.89595452e-04 2.48867321e-01] [ 6.27371864e-02 5.95403229e-03 9.98012322e-01 -8.79568117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.38538475 meters Centerline goodness : 0.906152 Centerline is valid? [False, False] Translation: X:1.70, Y:0.24, Z:-0.09 [[ 0.99477201 0.07815931 -0.06572496 1.70458719] [-0.07851866 0.99690843 -0.00289816 0.23728566] [ 0.06529525 0.00804364 0.99783357 -0.08645311] [ 0. 0. 0. 1. ]] SLAMing on 17.415384749999998 meters Centerline goodness : 0.905212 Centerline is valid? [False, False] Translation: X:1.71, Y:0.23, Z:-0.09 [[ 0.99465564 0.07846111 -0.06711187 1.70567834] [-0.07882431 0.99688466 -0.00277703 0.23104839] [ 0.06668491 0.00805224 0.99774159 -0.08568685] [ 0. 0. 0. 1. ]] SLAMing on 17.44538475 meters Centerline goodness : 0.906743 Centerline is valid? [False, False] Translation: X:1.71, Y:0.22, Z:-0.09 [[ 9.94426659e-01 7.92599356e-02 -6.95232465e-02 1.70849429e+00] [-7.95563502e-02 9.96829241e-01 -1.50070862e-03 2.18648152e-01] [ 6.91838590e-02 7.02336041e-03 9.97579203e-01 -8.53558391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.47538475 meters Centerline goodness : 0.906754 Centerline is valid? [False, False] Translation: X:1.71, Y:0.21, Z:-0.09 [[ 0.99436048 0.07855558 -0.07124791 1.71085185] [-0.07893898 0.99687612 -0.00257716 0.21309222] [ 0.07082289 0.00818686 0.99745531 -0.08525768] [ 0. 0. 0. 1. ]] SLAMing on 17.505384749999997 meters Centerline goodness : 0.908954 Centerline is valid? [False, False] Translation: X:1.71, Y:0.20, Z:-0.08 [[ 9.94171732e-01 7.96213857e-02 -7.26842652e-02 1.70996857e+00] [-7.98750576e-02 9.96804711e-01 -5.85436068e-04 1.98455982e-01] [ 7.24054048e-02 6.38768386e-03 9.97354829e-01 -8.28623397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.53538475 meters Centerline goodness : 0.908833 Centerline is valid? [False, False] Translation: X:1.71, Y:0.19, Z:-0.08 [[ 9.94347521e-01 7.76804791e-02 -7.23792126e-02 1.70842826e+00] [-7.79940237e-02 9.96952681e-01 -1.51151472e-03 1.92046787e-01] [ 7.20412349e-02 7.14811694e-03 9.97376040e-01 -8.25527533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.56538475 meters Centerline goodness : 0.907590 Centerline is valid? [False, False] Translation: X:1.71, Y:0.18, Z:-0.08 [[ 0.99469465 0.07421869 -0.07123304 1.70507907] [-0.0746152 0.99720813 -0.00291803 0.17822372] [ 0.0708176 0.00821761 0.99745543 -0.08252727] [ 0. 0. 0. 1. ]] SLAMing on 17.595384749999997 meters Centerline goodness : 0.905518 Centerline is valid? [False, False] Translation: X:1.71, Y:0.17, Z:-0.08 [[ 0.99490679 0.07106029 -0.07149067 1.70554598] [-0.07157087 0.9974249 -0.00460267 0.17100113] [ 0.0709795 0.00969588 0.99743065 -0.08332281] [ 0. 0. 0. 1. ]] SLAMing on 17.62538475 meters Centerline goodness : 0.896297 Centerline is valid? [False, False] Translation: X:1.71, Y:0.16, Z:-0.08 [[ 0.99527998 0.06477257 -0.07226527 1.70629534] [-0.06537562 0.99784263 -0.00600868 0.15512885] [ 0.07172017 0.01070471 0.99736735 -0.08272073] [ 0. 0. 0. 1. ]] SLAMing on 17.65538475 meters Centerline goodness : 0.896983 Centerline is valid? [False, False] Translation: X:1.71, Y:0.15, Z:-0.08 [[ 0.99552002 0.05884092 -0.07401106 1.70859868] [-0.05982568 0.99814648 -0.01115794 0.14951415] [ 0.07321734 0.01553571 0.997195 -0.0832942 ] [ 0. 0. 0. 1. ]] SLAMing on 17.685384749999997 meters Centerline goodness : 0.893729 Centerline is valid? [False, False] Translation: X:1.71, Y:0.14, Z:-0.08 [[ 0.99562309 0.05305775 -0.07693857 1.71325095] [-0.05429533 0.99842561 -0.01408227 0.1355521 ] [ 0.07607027 0.01819804 0.99693638 -0.08484658] [ 0. 0. 0. 1. ]] SLAMing on 17.71538475 meters Centerline goodness : 0.892091 Centerline is valid? [False, False] Translation: X:1.72, Y:0.13, Z:-0.09 [[ 0.99562005 0.0511422 -0.07826361 1.71598521] [-0.0524926 0.99850419 -0.01529429 0.12939593] [ 0.07736436 0.01933556 0.99681538 -0.08622504] [ 0. 0. 0. 1. ]] SLAMing on 17.74538475 meters Centerline goodness : 0.888708 Centerline is valid? [False, False] Translation: X:1.72, Y:0.12, Z:-0.09 [[ 0.99567687 0.05133141 -0.07741225 1.71514069] [-0.0525968 0.99851207 -0.01439549 0.11699658] [ 0.07655813 0.01840489 0.99689524 -0.08823594] [ 0. 0. 0. 1. ]] SLAMing on 17.775384749999997 meters Centerline goodness : 0.887010 Centerline is valid? [False, False] Translation: X:1.71, Y:0.11, Z:-0.09 [[ 0.99561788 0.05295148 -0.07707901 1.7144836 ] [-0.05402974 0.99846758 -0.0119701 0.11035729] [ 0.07632705 0.01608221 0.99695313 -0.08837671] [ 0. 0. 0. 1. ]] SLAMing on 17.805384749999998 meters Centerline goodness : 0.887520 Centerline is valid? [False, False] Translation: X:1.71, Y:0.10, Z:-0.09 [[ 0.99568738 0.0535518 -0.07575512 1.71222591] [-0.05453107 0.9984524 -0.01091636 0.09773115] [ 0.07505329 0.01500029 0.9970667 -0.08997795] [ 0. 0. 0. 1. ]] SLAMing on 17.83538475 meters Centerline goodness : 0.887520 Centerline is valid? [False, False] Translation: X:1.71, Y:0.10, Z:-0.09 [[ 0.99568738 0.0535518 -0.07575512 1.71222591] [-0.05453107 0.9984524 -0.01091636 0.09773115] [ 0.07505329 0.01500029 0.9970667 -0.08997795] [ 0. 0. 0. 1. ]] SLAMing on 17.865384749999997 meters Centerline goodness : 0.888233 Centerline is valid? [False, False] Translation: X:1.71, Y:0.09, Z:-0.09 [[ 0.99565256 0.05432603 -0.07566143 1.71244919] [-0.0552017 0.99842975 -0.00952924 0.09101085] [ 0.07502494 0.01366446 0.99708803 -0.09085036] [ 0. 0. 0. 1. ]] SLAMing on 17.895384749999998 meters Centerline goodness : 0.891852 Centerline is valid? [False, False] Translation: X:1.71, Y:0.08, Z:-0.09 [[ 0.99574823 0.05402826 -0.07460841 1.71109918] [-0.05484993 0.99845399 -0.00900694 0.07877346] [ 0.07400644 0.01306091 0.99717223 -0.09263356] [ 0. 0. 0. 1. ]] SLAMing on 17.92538475 meters Centerline goodness : 0.892857 Centerline is valid? [False, False] Translation: X:1.71, Y:0.07, Z:-0.09 [[ 0.99571185 0.05501825 -0.07437001 1.71073563] [-0.05569512 0.99842288 -0.00705677 0.07253127] [ 0.07386446 0.01116855 0.99720575 -0.09285748] [ 0. 0. 0. 1. ]] SLAMing on 17.955384749999997 meters Centerline goodness : 0.893736 Centerline is valid? [False, False] Translation: X:1.71, Y:0.06, Z:-0.09 [[ 0.99583307 0.05349829 -0.07385406 1.71035169] [-0.05408853 0.99851803 -0.00601376 0.05975131] [ 0.07342289 0.00998336 0.99725093 -0.09345592] [ 0. 0. 0. 1. ]] SLAMing on 17.985384749999998 meters Centerline goodness : 0.896554 Centerline is valid? [False, False] Translation: X:1.71, Y:0.05, Z:-0.09 [[ 0.99599917 0.05058546 -0.07366657 1.70966396] [-0.05131449 0.99865021 -0.00803626 0.05382154] [ 0.07316061 0.01178427 0.99725055 -0.09377226] [ 0. 0. 0. 1. ]] SLAMing on 18.01538475 meters Centerline goodness : 0.897653 Centerline is valid? [False, False] Translation: X:1.71, Y:0.04, Z:-0.09 [[ 0.99630526 0.04569216 -0.07271904 1.70698438] [-0.04661084 0.99885271 -0.01098596 0.04087094] [ 0.07213364 0.01433487 0.99729196 -0.09362117] [ 0. 0. 0. 1. ]] SLAMing on 18.045384749999997 meters Centerline goodness : 0.901531 Centerline is valid? [False, False] Translation: X:1.71, Y:0.04, Z:-0.09 [[ 0.99646389 0.04294157 -0.07222008 1.7053591 ] [-0.04399559 0.99894627 -0.01306699 0.03561315] [ 0.07158286 0.01619815 0.99730312 -0.09358255] [ 0. 0. 0. 1. ]] SLAMing on 18.075384749999998 meters Centerline goodness : 0.903007 Centerline is valid? [False, False] Translation: X:1.70, Y:0.02, Z:-0.09 [[ 0.9965889 0.04120761 -0.07150167 1.70352906] [-0.04216494 0.99903942 -0.01193088 0.02252212] [ 0.07094135 0.01490505 0.99736912 -0.09243683] [ 0. 0. 0. 1. ]] SLAMing on 18.10538475 meters Centerline goodness : 0.902899 Centerline is valid? [False, False] Translation: X:1.70, Y:0.01, Z:-0.09 [[ 0.9966962 0.0393658 -0.07104231 1.70304874] [-0.04030714 0.99911688 -0.01186535 0.01120186] [ 0.07051248 0.01468967 0.99740273 -0.09307225] [ 0. 0. 0. 1. ]] SLAMing on 18.13538475 meters Centerline goodness : 0.902681 Centerline is valid? [False, False] Translation: X:1.70, Y:0.01, Z:-0.09 [[ 0.99667667 0.03961322 -0.07117867 1.70388972] [-0.0404562 0.99912677 -0.01044019 0.0058557 ] [ 0.07070295 0.01328511 0.99740894 -0.09353362] [ 0. 0. 0. 1. ]] SLAMing on 18.165384749999998 meters Centerline goodness : 0.904507 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.00, Z:-0.10 [[ 0.99680424 0.03754773 -0.07050876 1.70373945] [-0.03842396 0.99919974 -0.0111119 -0.00370205] [ 0.07003511 0.01378562 0.99744927 -0.09512981] [ 0. 0. 0. 1. ]] SLAMing on 18.19538475 meters Centerline goodness : 0.907140 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.01, Z:-0.09 [[ 0.99678136 0.0379809 -0.0706001 1.70390486] [-0.03873088 0.99920655 -0.00928411 -0.01042049] [ 0.07019146 0.01198863 0.99746149 -0.09482426] [ 0. 0. 0. 1. ]] SLAMing on 18.22538475 meters Centerline goodness : 0.906359 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.02, Z:-0.09 [[ 0.99686565 0.03553782 -0.07068197 1.70377122] [-0.03627502 0.99929974 -0.00917342 -0.02217217] [ 0.07030647 0.01170865 0.99745672 -0.09404568] [ 0. 0. 0. 1. ]] SLAMing on 18.255384749999997 meters Centerline goodness : 0.908429 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.03, Z:-0.09 [[ 0.99684763 0.03555284 -0.07092815 1.70462615] [-0.03620588 0.99931279 -0.00794233 -0.0278175 ] [ 0.07059704 0.01048531 0.99744981 -0.09421725] [ 0. 0. 0. 1. ]] SLAMing on 18.28538475 meters Centerline goodness : 0.908855 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.04, Z:-0.10 [[ 0.99695755 0.03317178 -0.07053567 1.70578549] [-0.03387466 0.99938742 -0.00879188 -0.036409 ] [ 0.07020082 0.0111545 0.99747051 -0.09627964] [ 0. 0. 0. 1. ]] SLAMing on 18.31538475 meters Centerline goodness : 0.907545 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.04, Z:-0.10 [[ 0.99693503 0.03353262 -0.07068312 1.70616224] [-0.03413569 0.99939025 -0.007341 -0.04117188] [ 0.07039386 0.00973131 0.99747181 -0.096052 ] [ 0. 0. 0. 1. ]] SLAMing on 18.345384749999997 meters Centerline goodness : 0.912459 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.05, Z:-0.10 [[ 0.99704043 0.03152736 -0.07011714 1.70376368] [-0.03218702 0.99944742 -0.00829786 -0.04988102] [ 0.06981678 0.01053016 0.99750425 -0.09521488] [ 0. 0. 0. 1. ]] SLAMing on 18.37538475 meters Centerline goodness : 0.913219 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.06, Z:-0.09 [[ 0.9970169 0.03207126 -0.070205 1.70342335] [-0.03261617 0.99944597 -0.00662884 -0.05508399] [ 0.06995351 0.00889888 0.99751056 -0.09423694] [ 0. 0. 0. 1. ]] SLAMing on 18.40538475 meters Centerline goodness : 0.913822 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.06, Z:-0.09 [[ 0.99711825 0.02887584 -0.07015254 1.70382216] [-0.0295366 0.99952841 -0.00839968 -0.0622058 ] [ 0.06987691 0.01044754 0.99750091 -0.09487039] [ 0. 0. 0. 1. ]] SLAMing on 18.435384749999997 meters Centerline goodness : 0.912572 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.07, Z:-0.10 [[ 0.99709178 0.02852986 -0.07066843 1.70568868] [-0.02911336 0.99954989 -0.00724041 -0.06683777] [ 0.07043005 0.00927675 0.99747358 -0.09510287] [ 0. 0. 0. 1. ]] SLAMing on 18.46538475 meters Centerline goodness : 0.913203 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.07, Z:-0.10 [[ 0.9971618 0.02508526 -0.07098645 1.70853466] [-0.02578262 0.99962774 -0.00892446 -0.07485606] [ 0.07073615 0.01072934 0.99743736 -0.09718788] [ 0. 0. 0. 1. ]] SLAMing on 18.49538475 meters Centerline goodness : 0.915003 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.08, Z:-0.10 [[ 0.99713141 0.02524326 -0.07135641 1.70948634] [-0.02584055 0.99963824 -0.00745979 -0.07951882] [ 0.07114228 0.00928228 0.99742299 -0.09676912] [ 0. 0. 0. 1. ]] SLAMing on 18.525384749999997 meters Centerline goodness : 0.911847 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.09, Z:-0.10 [[ 0.99721435 0.02219311 -0.07121105 1.70911333] [-0.02292328 0.99969254 -0.00945276 -0.08594668] [ 0.07097937 0.01105882 0.99741648 -0.0969113 ] [ 0. 0. 0. 1. ]] SLAMing on 18.555384749999998 meters Centerline goodness : 0.911081 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.09, Z:-0.10 [[ 0.99717696 0.02259128 -0.07160824 1.70942506] [-0.02321637 0.99969918 -0.00790905 -0.09029295] [ 0.07140803 0.00954921 0.99740148 -0.09581797] [ 0. 0. 0. 1. ]] SLAMing on 18.58538475 meters Centerline goodness : 0.913333 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.10, Z:-0.09 [[ 0.99713558 0.02335751 -0.07193792 1.70957471] [-0.02379902 0.99970279 -0.00528628 -0.09809176] [ 0.07179306 0.00698319 0.9973951 -0.09422148] [ 0. 0. 0. 1. ]] SLAMing on 18.615384749999997 meters Centerline goodness : 0.912959 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.10, Z:-0.09 [[ 0.99713596 0.02403704 -0.0717084 1.70897691] [-0.02441423 0.9996923 -0.00438803 -0.10073319] [ 0.07158086 0.00612616 0.99741599 -0.09414721] [ 0. 0. 0. 1. ]] SLAMing on 18.645384749999998 meters Centerline goodness : 0.914251 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.10, Z:-0.09 [[ 0.99715002 0.0255905 -0.0709716 1.7073875 ] [-0.02587386 0.99966048 -0.00307595 -0.10446519] [ 0.07086879 0.00490349 0.99747359 -0.09462772] [ 0. 0. 0. 1. ]] SLAMing on 18.67538475 meters Centerline goodness : 0.913373 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.11, Z:-0.09 [[ 9.97126558e-01 2.73712569e-02 -7.06359839e-02 1.70552345e+00] [-2.75338600e-02 9.99619988e-01 -1.32917443e-03 -1.08908674e-01] [ 7.05727602e-02 3.27023641e-03 9.97501274e-01 -9.37399495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.705384749999997 meters Centerline goodness : 0.912752 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.11, Z:-0.09 [[ 9.97113873e-01 2.81058595e-02 -7.05264820e-02 1.70473841e+00] [-2.82079706e-02 9.99601974e-01 -4.52117152e-04 -1.11341463e-01] [ 7.04857035e-02 2.44022122e-03 9.97509805e-01 -9.32010593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.735384749999998 meters Centerline goodness : 0.915486 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.11, Z:-0.09 [[ 9.97105140e-01 2.92091324e-02 -7.02008949e-02 1.70336721e+00] [-2.92311083e-02 9.99572425e-01 7.14449254e-04 -1.14274511e-01] [ 7.01917472e-02 1.33966894e-03 9.97532618e-01 -9.25850546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.76538475 meters Centerline goodness : 0.914196 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.12, Z:-0.09 [[ 9.97072708e-01 3.03322943e-02 -7.01852387e-02 1.70297966e+00] [-3.02466347e-02 9.99539858e-01 2.28314656e-03 -1.19838159e-01] [ 7.02221967e-02 -1.53595842e-04 9.97531363e-01 -9.24196677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.795384749999997 meters Centerline goodness : 0.914658 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.12, Z:-0.09 [[ 9.97054068e-01 3.04966913e-02 -7.03785308e-02 1.70367934e+00] [-3.03814043e-02 9.99534710e-01 2.70819427e-03 -1.22177498e-01] [ 7.04283753e-02 -5.62017515e-04 9.97516681e-01 -9.28509985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.825384749999998 meters Centerline goodness : 0.917901 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.13, Z:-0.09 [[ 9.97035801e-01 3.07598063e-02 -7.05226654e-02 1.70503555e+00] [-3.05956663e-02 9.99526037e-01 3.40674322e-03 -1.26304282e-01] [ 7.05940311e-02 -1.23895701e-03 9.97504360e-01 -9.41736972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.85538475 meters Centerline goodness : 0.915407 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.13, Z:-0.09 [[ 0.9970193 0.03083491 -0.07072283 1.70577756] [-0.03063587 0.99952301 0.00389765 -0.1289409 ] [ 0.07080928 -0.00171937 0.99748839 -0.09448082] [ 0. 0. 0. 1. ]] SLAMing on 18.88538475 meters Centerline goodness : 0.915492 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.13, Z:-0.09 [[ 0.99698412 0.03080751 -0.07122892 1.70677402] [-0.03054549 0.99952202 0.00476523 -0.13255844] [ 0.07134168 -0.00257513 0.99744861 -0.09396828] [ 0. 0. 0. 1. ]] SLAMing on 18.915384749999998 meters Centerline goodness : 0.916446 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.14, Z:-0.09 [[ 9.97056349e-01 2.72751508e-02 -7.16568428e-02 1.70659848e+00] [-2.71524920e-02 9.99627696e-01 2.68545996e-03 -1.39632059e-01] [ 7.17034110e-02 -7.31893049e-04 9.97425729e-01 -9.26075876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.94538475 meters Centerline goodness : 0.919036 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.15, Z:-0.09 [[ 9.97134489e-01 2.32440968e-02 -7.19897479e-02 1.70737372e+00] [-2.32899572e-02 9.99728732e-01 2.02415007e-04 -1.45455430e-01] [ 7.19749243e-02 1.47480316e-03 9.97405352e-01 -9.22836326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.97538475 meters Centerline goodness : 0.921461 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.15, Z:-0.09 [[ 9.97109925e-01 2.23878281e-02 -7.25987829e-02 1.70979111e+00] [-2.23957067e-02 9.99748936e-01 7.05603888e-04 -1.48708956e-01] [ 7.25963529e-02 9.22336406e-04 9.97360977e-01 -9.25754593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.005384749999997 meters Centerline goodness : 0.921675 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.15, Z:-0.10 [[ 9.97184352e-01 1.81236753e-02 -7.27660625e-02 1.71396748e+00] [-1.82698391e-02 9.99832190e-01 -1.34353437e-03 -1.54498279e-01] [ 7.27295018e-02 2.66917571e-03 9.97348131e-01 -9.50092707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.03538475 meters Centerline goodness : 0.922075 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.16, Z:-0.09 [[ 9.97165066e-01 1.73787117e-02 -7.32107322e-02 1.71564061e+00] [-1.74493234e-02 9.99847696e-01 -3.24964694e-04 -1.58563369e-01] [ 7.31939345e-02 1.60152119e-03 9.97316441e-01 -9.43137580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.06538475 meters Centerline goodness : 0.928581 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.17, Z:-0.09 [[ 9.97198724e-01 1.23747833e-02 -7.37669980e-02 1.71672691e+00] [-1.24594885e-02 9.99922141e-01 -6.88196483e-04 -1.65972070e-01] [ 7.37527383e-02 1.60536772e-03 9.97275266e-01 -8.95106793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.095384749999997 meters Centerline goodness : 0.930019 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.17, Z:-0.09 [[ 9.97158720e-01 1.16625141e-02 -7.44209160e-02 1.71813671e+00] [-1.16685890e-02 9.99931857e-01 3.53181022e-04 -1.68912957e-01] [ 7.44199637e-02 5.16209548e-04 9.97226856e-01 -8.78893546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.12538475 meters Centerline goodness : 0.929156 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.17, Z:-0.09 [[ 9.97084153e-01 1.02491777e-02 -7.56184193e-02 1.72084169e+00] [-1.01966211e-02 9.99947429e-01 1.08108020e-03 -1.70424754e-01] [ 7.56255241e-02 -3.06875562e-04 9.97136242e-01 -8.58304486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.15538475 meters Centerline goodness : 0.928300 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.17, Z:-0.09 [[ 9.97051954e-01 9.16661344e-03 -7.61798838e-02 1.72322459e+00] [-9.13910481e-03 9.99957986e-01 7.09714902e-04 -1.70231472e-01] [ 7.61831889e-02 -1.14066869e-05 9.97093838e-01 -8.64139498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.185384749999997 meters Centerline goodness : 0.930353 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.17, Z:-0.09 [[ 9.97017974e-01 6.83660576e-03 -7.68662441e-02 1.72746010e+00] [-6.87980621e-03 9.99976290e-01 -2.97227901e-04 -1.69634857e-01] [ 7.68623895e-02 8.25166423e-04 9.97041369e-01 -8.80554188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.21538475 meters Centerline goodness : 0.926460 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.17, Z:-0.09 [[ 9.96968939e-01 5.59966019e-03 -7.75988242e-02 1.73007929e+00] [-5.64256411e-03 9.99984025e-01 -3.33644506e-04 -1.69672062e-01] [ 7.75957163e-02 7.70489550e-04 9.96984609e-01 -8.79608343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.24538475 meters Centerline goodness : 0.930704 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.17, Z:-0.09 [[ 9.96865753e-01 2.59815285e-03 -7.90690891e-02 1.73516572e+00] [-2.59808863e-03 9.99996620e-01 1.03687662e-04 -1.70625299e-01] [ 7.90690912e-02 1.02065822e-04 9.96869133e-01 -8.60268191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.275384749999997 meters Centerline goodness : 0.930520 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.17, Z:-0.08 [[ 9.96793313e-01 1.39928050e-03 -8.00070765e-02 1.73747428e+00] [-1.37442744e-03 9.99998989e-01 3.65705184e-04 -1.71929743e-01] [ 8.00075073e-02 -2.54568560e-04 9.96794229e-01 -8.49383468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.305384749999998 meters Centerline goodness : 0.932542 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.17, Z:-0.08 [[ 9.96656880e-01 -2.09585257e-03 -8.16741740e-02 1.74352219e+00] [ 2.13965752e-03 9.99997610e-01 4.48817893e-04 -1.72324605e-01] [ 8.16730382e-02 -6.22072202e-04 9.96658983e-01 -8.33783697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.33538475 meters Centerline goodness : 0.928664 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.17, Z:-0.08 [[ 9.96541979e-01 -8.70302439e-04 -8.30862597e-02 1.74879619e+00] [ 1.33241662e-03 9.99983951e-01 5.50657380e-03 -1.73629759e-01] [ 8.30801339e-02 -5.59823747e-03 9.96527145e-01 -8.06559300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.365384749999997 meters Centerline goodness : 0.931166 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.17, Z:-0.08 [[ 0.99649363 -0.00200052 -0.0836447 1.75072119] [ 0.00245218 0.99998296 0.00529739 -0.17214352] [ 0.08363268 -0.00548393 0.99648156 -0.08029282] [ 0. 0. 0. 1. ]] SLAMing on 19.395384749999998 meters Centerline goodness : 0.928915 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.17, Z:-0.08 [[ 0.99647427 -0.00233959 -0.08386628 1.75134499] [ 0.00277819 0.99998307 0.00511344 -0.17075222] [ 0.0838529 -0.00532841 0.9964639 -0.08013839] [ 0. 0. 0. 1. ]] SLAMing on 19.42538475 meters Centerline goodness : 0.927495 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.17, Z:-0.08 [[ 9.96412495e-01 1.19536212e-03 -8.46209873e-02 1.75258861e+00] [-4.35430724e-04 9.99959420e-01 8.99829958e-03 -1.68900997e-01] [ 8.46283096e-02 -8.92917155e-03 9.96372580e-01 -7.88019507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.455384749999997 meters Centerline goodness : 0.928353 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.17, Z:-0.08 [[ 9.96426094e-01 1.66519627e-03 -8.44527403e-02 1.75145290e+00] [-9.47017152e-04 9.99963057e-01 8.54326508e-03 -1.66600972e-01] [ 8.44638466e-02 -8.43275406e-03 9.96390861e-01 -7.86902238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.485384749999998 meters Centerline goodness : 0.927173 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.16, Z:-0.08 [[ 0.99637048 0.0068535 -0.08484631 1.74955038] [-0.00578162 0.99990043 0.01287247 -0.16395657] [ 0.08492608 -0.0123352 0.9963109 -0.07592687] [ 0. 0. 0. 1. ]] SLAMing on 19.51538475 meters Centerline goodness : 0.925817 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.16, Z:-0.08 [[ 0.99639997 0.00773021 -0.08442355 1.74768961] [-0.00672662 0.99990337 0.01216554 -0.16041101] [ 0.08450943 -0.01155385 0.99635569 -0.07625133] [ 0. 0. 0. 1. ]] SLAMing on 19.545384749999997 meters Centerline goodness : 0.925459 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.16, Z:-0.08 [[ 0.99637017 0.01289469 -0.08414402 1.74560528] [-0.01160552 0.99980794 0.0157922 -0.15615241] [ 0.0843315 -0.01475834 0.99632845 -0.07535454] [ 0. 0. 0. 1. ]] SLAMing on 19.575384749999998 meters Centerline goodness : 0.921494 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.15, Z:-0.08 [[ 0.99638799 0.01288092 -0.08393484 1.74550322] [-0.01169324 0.99982465 0.01462635 -0.15304616] [ 0.08410852 -0.01359205 0.9963639 -0.07667706] [ 0. 0. 0. 1. ]] SLAMing on 19.60538475 meters Centerline goodness : 0.918878 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.15, Z:-0.08 [[ 0.99638014 0.01289094 -0.08402648 1.74617988] [-0.01181494 0.99984188 0.01329017 -0.14769658] [ 0.08418452 -0.01224929 0.99637489 -0.0783019 ] [ 0. 0. 0. 1. ]] SLAMing on 19.63538475 meters Centerline goodness : 0.919333 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.15, Z:-0.08 [[ 0.99635783 0.0124985 -0.08434964 1.74694647] [-0.0114628 0.99985299 0.01275174 -0.14632167] [ 0.08449662 -0.01173841 0.99635462 -0.07848434] [ 0. 0. 0. 1. ]] SLAMing on 19.665384749999998 meters Centerline goodness : 0.920404 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.14, Z:-0.08 [[ 0.9963937 0.00853545 -0.08442005 1.74614311] [-0.00787552 0.9999358 0.00814718 -0.14441919] [ 0.08448417 -0.00745295 0.99639695 -0.07849524] [ 0. 0. 0. 1. ]] SLAMing on 19.69538475 meters Centerline goodness : 0.922026 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.15, Z:-0.08 [[ 0.99636399 0.00809793 -0.08481285 1.74700599] [-0.00741737 0.99993774 0.00833631 -0.14507297] [ 0.08487508 -0.00767691 0.99636203 -0.07795363] [ 0. 0. 0. 1. ]] SLAMing on 19.72538475 meters Centerline goodness : 0.922026 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.15, Z:-0.08 [[ 0.99636399 0.00809793 -0.08481285 1.74700599] [-0.00741737 0.99993774 0.00833631 -0.14507297] [ 0.08487508 -0.00767691 0.99636203 -0.07795363] [ 0. 0. 0. 1. ]] SLAMing on 19.755384749999997 meters Centerline goodness : 0.921902 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.14, Z:-0.08 [[ 0.9963252 0.00648396 -0.08540518 1.7497365 ] [-0.00584241 0.99995283 0.00775966 -0.14487514] [ 0.08545146 -0.00723217 0.99631609 -0.07847528] [ 0. 0. 0. 1. ]] SLAMing on 19.78538475 meters Centerline goodness : 0.918831 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.15, Z:-0.08 [[ 0.9962814 0.00732084 -0.08584739 1.75353118] [-0.00644139 0.99992395 0.0105169 -0.14568612] [ 0.08591786 -0.00992481 0.99625279 -0.07887203] [ 0. 0. 0. 1. ]] SLAMing on 19.81538475 meters Centerline goodness : 0.920897 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.14, Z:-0.08 [[ 0.99624764 0.00647912 -0.08630568 1.75516156] [-0.00564453 0.99993496 0.00991074 -0.14453432] [ 0.08636428 -0.0093864 0.99621941 -0.0792781 ] [ 0. 0. 0. 1. ]] SLAMing on 19.845384749999997 meters Centerline goodness : 0.922837 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.14, Z:-0.08 [[ 0.99622174 0.0059591 -0.08664138 1.75632729] [-0.00516407 0.99994251 0.00939745 -0.14356097] [ 0.0866924 -0.00891452 0.99619524 -0.07974639] [ 0. 0. 0. 1. ]] SLAMing on 19.87538475 meters Centerline goodness : 0.922056 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.14, Z:-0.08 [[ 0.99617252 0.00528038 -0.08724918 1.75762747] [-0.00449745 0.99994786 0.00916756 -0.14279075] [ 0.08729303 -0.00874007 0.99614434 -0.07925901] [ 0. 0. 0. 1. ]] SLAMing on 19.90538475 meters Centerline goodness : 0.921826 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.14, Z:-0.08 [[ 0.99614963 0.00509026 -0.08752145 1.75767785] [-0.00427601 0.99994584 0.00948837 -0.14292112] [ 0.08756501 -0.0090776 0.99611745 -0.07812226] [ 0. 0. 0. 1. ]] SLAMing on 19.935384749999997 meters Centerline goodness : 0.921456 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.14, Z:-0.08 [[ 0.99612121 0.00413588 -0.08789442 1.75834218] [-0.00327859 0.99994566 0.00989583 -0.14330209] [ 0.08793058 -0.00956928 0.99608064 -0.07642791] [ 0. 0. 0. 1. ]] SLAMing on 19.96538475 meters Centerline goodness : 0.920045 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.14, Z:-0.08 [[ 0.99608278 0.00339877 -0.08836029 1.75950077] [-0.00252033 0.99994631 0.01005123 -0.14356173] [ 0.08838971 -0.00978916 0.99603787 -0.07570971] [ 0. 0. 0. 1. ]] SLAMing on 19.99538475 meters Centerline goodness : 0.921977 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.14, Z:-0.07 [[ 0.9960344 0.00272729 -0.08892715 1.76059891] [-0.00179734 0.99994288 0.01053592 -0.1439524 ] [ 0.08895081 -0.0103343 0.99598241 -0.07439435] [ 0. 0. 0. 1. ]] SLAMing on 20.025384749999997 meters Centerline goodness : 0.920702 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.14, Z:-0.07 [[ 0.99606981 -0.00180828 -0.08855319 1.76004586] [ 0.00232875 0.99998062 0.00577451 -0.14092163] [ 0.08854103 -0.00595804 0.99605471 -0.07489304] [ 0. 0. 0. 1. ]] SLAMing on 20.055384749999998 meters Centerline goodness : 0.919553 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.14, Z:-0.08 [[ 0.99602401 -0.00320135 -0.08902767 1.76206984] [ 0.00364639 0.99998166 0.00483667 -0.13826484] [ 0.08901056 -0.00514207 0.99601741 -0.07528296] [ 0. 0. 0. 1. ]] SLAMing on 20.08538475 meters Centerline goodness : 0.919209 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.14, Z:-0.07 [[ 9.95967534e-01 -6.86996571e-04 -8.97117576e-02 1.76456450e+00] [ 1.49072076e-03 9.99959352e-01 8.89226619e-03 -1.38715556e-01] [ 8.97020020e-02 -8.99014361e-03 9.95928074e-01 -7.43053592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.115384749999997 meters Centerline goodness : 0.914153 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.13, Z:-0.07 [[ 0.99595086 -0.00187146 -0.08987987 1.76567417] [ 0.00255449 0.99996873 0.00748489 -0.13438107] [ 0.08986305 -0.00768418 0.99592449 -0.07495007] [ 0. 0. 0. 1. ]] SLAMing on 20.145384749999998 meters Centerline goodness : 0.916356 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.13, Z:-0.08 [[ 0.99594323 -0.00253385 -0.08994816 1.76617183] [ 0.00316016 0.99997174 0.00682121 -0.13254148] [ 0.08992834 -0.00707778 0.99592309 -0.07513961] [ 0. 0. 0. 1. ]] SLAMing on 20.17538475 meters Centerline goodness : 0.915674 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.13, Z:-0.07 [[ 0.99579376 -0.00227961 -0.09159466 1.77142543] [ 0.00328896 0.99993551 0.01087032 -0.13018305] [ 0.09156397 -0.01112585 0.99573704 -0.07161074] [ 0. 0. 0. 1. ]] SLAMing on 20.205384749999997 meters Centerline goodness : 0.914808 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.13, Z:-0.07 [[ 0.99575992 -0.00311237 -0.09193742 1.77232579] [ 0.00405995 0.99994053 0.01012149 -0.12751174] [ 0.09190045 -0.01045183 0.99571335 -0.07143579] [ 0. 0. 0. 1. ]] SLAMing on 20.235384749999998 meters Centerline goodness : 0.917935 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.12, Z:-0.07 [[ 0.99569121 -0.00550551 -0.0925673 1.77507303] [ 0.00626961 0.99994862 0.00796579 -0.12007361] [ 0.09251868 -0.00851183 0.99567457 -0.07202994] [ 0. 0. 0. 1. ]] SLAMing on 20.26538475 meters Centerline goodness : 0.914780 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.12, Z:-0.07 [[ 0.9955724 -0.00397217 -0.09391391 1.77900332] [ 0.00506804 0.99992179 0.01143334 -0.11827821] [ 0.09386115 -0.01185867 0.99551467 -0.07068659] [ 0. 0. 0. 1. ]] SLAMing on 20.295384749999997 meters Centerline goodness : 0.915899 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.12, Z:-0.07 [[ 0.99551036 -0.00547048 -0.09449443 1.7809568 ] [ 0.00646423 0.99992694 0.01021365 -0.11503793] [ 0.09443165 -0.01077863 0.995473 -0.0710383 ] [ 0. 0. 0. 1. ]] SLAMing on 20.325384749999998 meters Centerline goodness : 0.913176 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.11, Z:-0.07 [[ 0.9952511 -0.01043804 -0.09677963 1.78816497] [ 0.01128858 0.99990229 0.00824499 -0.10823016] [ 0.09668412 -0.00929834 0.99527168 -0.06964237] [ 0. 0. 0. 1. ]] SLAMing on 20.35538475 meters Centerline goodness : 0.915116 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.10, Z:-0.07 [[ 0.99515069 -0.01222536 -0.09759944 1.79051009] [ 0.01297196 0.99989123 0.00701877 -0.10481589] [ 0.09750301 -0.00825079 0.99520103 -0.06963656] [ 0. 0. 0. 1. ]] SLAMing on 20.38538475 meters Centerline goodness : 0.912796 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.09, Z:-0.07 [[ 0.994889 -0.01682133 -0.09956364 1.7969496 ] [ 0.01730241 0.99984242 0.00397027 -0.09458552] [ 0.09948117 -0.00567267 0.99502328 -0.06980644] [ 0. 0. 0. 1. ]] SLAMing on 20.415384749999998 meters Centerline goodness : 0.908761 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.08, Z:-0.07 [[ 0.99481968 -0.01816459 -0.10001924 1.79868346] [ 0.01851272 0.99982536 0.00255349 -0.08173918] [ 0.09995539 -0.00439189 0.99498223 -0.0694223 ] [ 0. 0. 0. 1. ]] SLAMing on 20.44538475 meters Centerline goodness : 0.908244 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.08, Z:-0.07 [[ 0.99479195 -0.0155572 -0.10073211 1.80005457] [ 0.01615187 0.99985659 0.0050905 -0.07665661] [ 0.10063847 -0.006691 0.99490056 -0.06877245] [ 0. 0. 0. 1. ]] SLAMing on 20.47538475 meters Centerline goodness : 0.910151 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.07, Z:-0.07 [[ 0.99470521 -0.0131411 -0.1019257 1.80251486] [ 0.01397223 0.99987467 0.00744461 -0.07071474] [ 0.10181509 -0.00882932 0.99476416 -0.06819853] [ 0. 0. 0. 1. ]] SLAMing on 20.505384749999997 meters Centerline goodness : 0.906318 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.06, Z:-0.07 [[ 0.99459514 -0.01225336 -0.10310365 1.80593975] [ 0.0130807 0.99988742 0.00735203 -0.05557428] [ 0.10300195 -0.00866096 0.99464345 -0.06875347] [ 0. 0. 0. 1. ]] SLAMing on 20.53538475 meters Centerline goodness : 0.904008 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.05, Z:-0.07 [[ 0.99450548 -0.00972444 -0.10423188 1.80803341] [ 0.01076922 0.99989721 0.0094655 -0.04913864] [ 0.10412912 -0.01053599 0.99450798 -0.06824314] [ 0. 0. 0. 1. ]] SLAMing on 20.56538475 meters Centerline goodness : 0.899547 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.03, Z:-0.07 [[ 0.99435615 -0.00500752 -0.1059753 1.81170692] [ 0.00640145 0.99989736 0.01281734 -0.03324885] [ 0.10590024 -0.01342339 0.99428615 -0.06797081] [ 0. 0. 0. 1. ]] SLAMing on 20.595384749999997 meters Centerline goodness : 0.897762 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.02, Z:-0.07 [[ 9.94258686e-01 6.18952479e-04 -1.07001318e-01 1.81347094e+00] [ 1.10845480e-03 9.99870037e-01 1.60835669e-02 -1.70072668e-02] [ 1.06997366e-01 -1.61098322e-02 9.94128783e-01 -6.79840491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.62538475 meters Centerline goodness : 0.896656 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.01, Z:-0.07 [[ 0.99419816 0.0043832 -0.10747471 1.81323415] [-0.0024013 0.99982481 0.01856315 -0.00964064] [ 0.10753725 -0.01819737 0.9940345 -0.06679802] [ 0. 0. 0. 1. ]] SLAMing on 20.65538475 meters Centerline goodness : 0.895854 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.00, Z:-0.07 [[ 0.99415538 0.0088604 -0.10759452 1.81191279] [-0.00657367 0.99974531 0.02158927 -0.00246935] [ 0.10775841 -0.0207558 0.99396042 -0.06515436] [ 0. 0. 0. 1. ]] SLAMing on 20.685384749999997 meters Centerline goodness : 0.890275 Centerline is valid? [False, False] Translation: X:1.81, Y:0.01, Z:-0.06 [[ 0.99396923 0.01943215 -0.10792391 1.81024734] [-0.01637138 0.99944026 0.02917444 0.01259115] [ 0.10843042 -0.02723164 0.99373099 -0.06266001] [ 0. 0. 0. 1. ]] SLAMing on 20.71538475 meters Centerline goodness : 0.888435 Centerline is valid? [False, False] Translation: X:1.81, Y:0.02, Z:-0.06 [[ 0.99388134 0.02321002 -0.1079869 1.8103604 ] [-0.01994953 0.99931479 0.0311765 0.02170536] [ 0.10863651 -0.02883145 0.99366335 -0.0627903 ] [ 0. 0. 0. 1. ]] SLAMing on 20.74538475 meters Centerline goodness : 0.883594 Centerline is valid? [False, False] Translation: X:1.81, Y:0.04, Z:-0.06 [[ 0.99348639 0.03388063 -0.10879747 1.8113299 ] [-0.0298094 0.99880104 0.03883156 0.03527381] [ 0.10998266 -0.03533544 0.9933052 -0.0619771 ] [ 0. 0. 0. 1. ]] SLAMing on 20.775384749999997 meters Centerline goodness : 0.879729 Centerline is valid? [False, False] Translation: X:1.81, Y:0.05, Z:-0.06 [[ 0.99318394 0.04157336 -0.10889128 1.81019171] [-0.03706591 0.99838308 0.04309688 0.04605 ] [ 0.11050689 -0.03876698 0.993119 -0.0609984 ] [ 0. 0. 0. 1. ]] SLAMing on 20.805384749999998 meters Centerline goodness : 0.879634 Centerline is valid? [False, False] Translation: X:1.81, Y:0.05, Z:-0.06 [[ 0.99299933 0.04541633 -0.10903986 1.81042022] [-0.04064398 0.99813267 0.0455987 0.05082855] [ 0.11090717 -0.04084767 0.99299097 -0.06075413] [ 0. 0. 0. 1. ]] SLAMing on 20.83538475 meters Centerline goodness : 0.879362 Centerline is valid? [False, False] Translation: X:1.81, Y:0.06, Z:-0.06 [[ 0.99281536 0.04929069 -0.10903252 1.81072116] [-0.04427283 0.9978669 0.04797465 0.05614613] [ 0.11116464 -0.04280279 0.99287982 -0.060956 ] [ 0. 0. 0. 1. ]] SLAMing on 20.865384749999997 meters Centerline goodness : 0.879457 Centerline is valid? [False, False] Translation: X:1.81, Y:0.07, Z:-0.06 [[ 0.99245384 0.05734081 -0.10838544 1.80921968] [-0.05183172 0.9972494 0.05298215 0.0665577 ] [ 0.11112536 -0.04696454 0.99269607 -0.06026263] [ 0. 0. 0. 1. ]] SLAMing on 20.895384749999998 meters Centerline goodness : 0.878513 Centerline is valid? [False, False] Translation: X:1.81, Y:0.07, Z:-0.06 [[ 0.99207678 0.06390284 -0.10816694 1.80749252] [-0.05792039 0.99665949 0.05757674 0.07475181] [ 0.11148492 -0.05085547 0.99246402 -0.05824923] [ 0. 0. 0. 1. ]] SLAMing on 20.92538475 meters Centerline goodness : 0.881460 Centerline is valid? [False, False] Translation: X:1.81, Y:0.08, Z:-0.06 [[ 0.99209037 0.06417102 -0.10788318 1.80618498] [-0.05829087 0.99668218 0.05680497 0.07872165] [ 0.11117047 -0.05006706 0.99253938 -0.0575856 ] [ 0. 0. 0. 1. ]] SLAMing on 20.955384749999997 meters Centerline goodness : 0.882600 Centerline is valid? [False, False] Translation: X:1.80, Y:0.09, Z:-0.06 [[ 0.99208913 0.06481808 -0.10750711 1.80468299] [-0.05906518 0.99668987 0.05586235 0.08586636] [ 0.11077214 -0.0490705 0.99263368 -0.05682906] [ 0. 0. 0. 1. ]] SLAMing on 20.985384749999998 meters Centerline goodness : 0.884707 Centerline is valid? [False, False] Translation: X:1.80, Y:0.08, Z:-0.06 [[ 0.99290654 0.07430129 -0.09282196 1.80252468] [-0.06880288 0.9957576 0.06109807 0.08479842] [ 0.09696784 -0.05427826 0.99380637 -0.06100011] [ 0. 0. 0. 1. ]] SLAMing on 21.01538475 meters Centerline goodness : 0.884268 Centerline is valid? [False, False] Translation: X:1.80, Y:0.08, Z:-0.07 [[ 0.99337761 0.08402196 -0.07836597 1.80096493] [-0.07896672 0.99472163 0.06552196 0.0835508 ] [ 0.08345761 -0.05889974 0.99476914 -0.06572344] [ 0. 0. 0. 1. ]] SLAMing on 21.045384749999997 meters Centerline goodness : 0.885274 Centerline is valid? [False, False] Translation: X:1.80, Y:0.09, Z:-0.07 [[ 0.99314841 0.08757842 -0.07737094 1.80070324] [-0.08240701 0.99429784 0.06768231 0.08855605] [ 0.08285727 -0.06084267 0.99470239 -0.06641242] [ 0. 0. 0. 1. ]] SLAMing on 21.075384749999998 meters Centerline goodness : 0.883426 Centerline is valid? [False, False] Translation: X:1.80, Y:0.09, Z:-0.07 [[ 0.99311243 0.08784125 -0.07753457 1.80175937] [-0.08274061 0.99433533 0.06671765 0.09075592] [ 0.08295593 -0.05984287 0.99475482 -0.0670611 ] [ 0. 0. 0. 1. ]] SLAMing on 21.10538475 meters Centerline goodness : 0.888070 Centerline is valid? [False, False] Translation: X:1.80, Y:0.09, Z:-0.07 [[ 0.99326418 0.08716353 -0.07634653 1.7998379 ] [-0.08220087 0.99443461 0.0659001 0.0946 ] [ 0.08166572 -0.05918045 0.99490119 -0.06708313] [ 0. 0. 0. 1. ]] SLAMing on 21.135384749999997 meters Centerline goodness : 0.887925 Centerline is valid? [False, False] Translation: X:1.80, Y:0.10, Z:-0.07 [[ 0.99337901 0.08588356 -0.07630306 1.79950615] [-0.08105448 0.99463458 0.06428242 0.09619311] [ 0.08141446 -0.0576721 0.99501036 -0.06675131] [ 0. 0. 0. 1. ]] SLAMing on 21.165384749999998 meters Centerline goodness : 0.889742 Centerline is valid? [False, False] Translation: X:1.80, Y:0.10, Z:-0.07 [[ 0.99356959 0.08419369 -0.07570265 1.79821821] [-0.07958921 0.99490305 0.06191511 0.09981301] [ 0.08052965 -0.05549185 0.99520632 -0.06632479] [ 0. 0. 0. 1. ]] SLAMing on 21.19538475 meters Centerline goodness : 0.890580 Centerline is valid? [False, False] Translation: X:1.80, Y:0.10, Z:-0.07 [[ 0.99362308 0.08340721 -0.07587105 1.79884886] [-0.07889976 0.99503967 0.06058777 0.10165139] [ 0.08054816 -0.05421519 0.99527519 -0.06666668] [ 0. 0. 0. 1. ]] SLAMing on 21.22538475 meters Centerline goodness : 0.893652 Centerline is valid? [False, False] Translation: X:1.80, Y:0.10, Z:-0.07 [[ 0.99360705 0.0839373 -0.07549547 1.79903871] [-0.07950386 0.99503127 0.05993257 0.10467169] [ 0.08015093 -0.05354724 0.99534342 -0.067276 ] [ 0. 0. 0. 1. ]] SLAMing on 21.255384749999997 meters Centerline goodness : 0.893388 Centerline is valid? [False, False] Translation: X:1.80, Y:0.11, Z:-0.07 [[ 0.99363581 0.08364014 -0.07544671 1.79974844] [-0.07924999 0.99508215 0.05942189 0.10566469] [ 0.08004573 -0.05306457 0.99537773 -0.06817663] [ 0. 0. 0. 1. ]] SLAMing on 21.28538475 meters Centerline goodness : 0.894670 Centerline is valid? [False, False] Translation: X:1.80, Y:0.11, Z:-0.07 [[ 0.99396111 0.07901318 -0.07614615 1.80102992] [-0.07500699 0.9957137 0.05411273 0.1095704 ] [ 0.08009539 -0.04807445 0.99562723 -0.06921235] [ 0. 0. 0. 1. ]] SLAMing on 21.31538475 meters Centerline goodness : 0.895453 Centerline is valid? [False, False] Translation: X:1.80, Y:0.11, Z:-0.07 [[ 0.99429962 0.07381503 -0.07693897 1.80325363] [-0.07020645 0.9963479 0.04859963 0.11240214] [ 0.08024536 -0.04292098 0.99585063 -0.07103461] [ 0. 0. 0. 1. ]] SLAMing on 21.345384749999997 meters Centerline goodness : 0.895505 Centerline is valid? [False, False] Translation: X:1.80, Y:0.12, Z:-0.07 [[ 0.99459924 0.06915957 -0.07739065 1.80475715] [-0.06592493 0.99687153 0.04360116 0.11502243] [ 0.08016397 -0.03826371 0.996047 -0.07264563] [ 0. 0. 0. 1. ]] SLAMing on 21.37538475 meters Centerline goodness : 0.895813 Centerline is valid? [False, False] Translation: X:1.81, Y:0.12, Z:-0.08 [[ 0.99493897 0.06325282 -0.07807387 1.80764891] [-0.06045707 0.99745973 0.03766999 0.11896246] [ 0.08025827 -0.03275922 0.99623564 -0.07514458] [ 0. 0. 0. 1. ]] SLAMing on 21.40538475 meters Centerline goodness : 0.895434 Centerline is valid? [False, False] Translation: X:1.81, Y:0.12, Z:-0.08 [[ 0.99520783 0.05831819 -0.07848798 1.80849721] [-0.05590111 0.99790232 0.03264995 0.12110377] [ 0.08022742 -0.02810592 0.99638026 -0.07592684] [ 0. 0. 0. 1. ]] SLAMing on 21.435384749999997 meters Centerline goodness : 0.896731 Centerline is valid? [False, False] Translation: X:1.81, Y:0.12, Z:-0.08 [[ 0.99568051 0.04892704 -0.07890796 1.8083891 ] [-0.04721444 0.99861003 0.02342636 0.12448029] [ 0.07994446 -0.01959957 0.99660661 -0.07592533] [ 0. 0. 0. 1. ]] SLAMing on 21.46538475 meters Centerline goodness : 0.897769 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:-0.08 [[ 0.99589541 0.04376276 -0.07922854 1.80910582] [-0.04245138 0.99893344 0.01816207 0.12711506] [ 0.07993886 -0.01472417 0.99669101 -0.07658474] [ 0. 0. 0. 1. ]] SLAMing on 21.49538475 meters Centerline goodness : 0.898308 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:-0.08 [[ 0.9961005 0.03780036 -0.07971784 1.81063532] [-0.03695662 0.99924442 0.01203348 0.13159653] [ 0.08011248 -0.00904045 0.99674483 -0.07763133] [ 0. 0. 0. 1. ]] SLAMing on 21.525384749999997 meters Centerline goodness : 0.897698 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:-0.08 [[ 0.9961152 0.0368019 -0.08000083 1.81165234] [-0.03605691 0.99929205 0.01073754 0.13397278] [ 0.08033935 -0.00781124 0.99673696 -0.07819692] [ 0. 0. 0. 1. ]] SLAMing on 21.555384749999998 meters Centerline goodness : 0.898752 Centerline is valid? [False, False] Translation: X:1.81, Y:0.14, Z:-0.08 [[ 0.99613903 0.03592608 -0.08010213 1.81262259] [-0.03534552 0.99933768 0.00865436 0.14190128] [ 0.08035999 -0.00578969 0.99674909 -0.07891991] [ 0. 0. 0. 1. ]] SLAMing on 21.58538475 meters Centerline goodness : 0.899074 Centerline is valid? [False, False] Translation: X:1.81, Y:0.15, Z:-0.08 [[ 0.99614649 0.03536993 -0.08025669 1.81319283] [-0.03492035 0.99936559 0.00699877 0.1466996 ] [ 0.08045332 -0.00416921 0.99674966 -0.07935659] [ 0. 0. 0. 1. ]] SLAMing on 21.615384749999997 meters Centerline goodness : 0.898503 Centerline is valid? [False, False] Translation: X:1.81, Y:0.15, Z:-0.08 [[ 0.99604055 0.037837 -0.08044618 1.81415388] [-0.03731934 0.99927193 0.00792921 0.15341074] [ 0.08068763 -0.00489561 0.99672741 -0.07977025] [ 0. 0. 0. 1. ]] SLAMing on 21.645384749999998 meters Centerline goodness : 0.898503 Centerline is valid? [False, False] Translation: X:1.81, Y:0.15, Z:-0.08 [[ 0.99604055 0.037837 -0.08044618 1.81415388] [-0.03731934 0.99927193 0.00792921 0.15341074] [ 0.08068763 -0.00489561 0.99672741 -0.07977025] [ 0. 0. 0. 1. ]] SLAMing on 21.67538475 meters Centerline goodness : 0.898983 Centerline is valid? [False, False] Translation: X:1.82, Y:0.16, Z:-0.08 [[ 0.99604415 0.03702284 -0.08077969 1.81511339] [-0.03663325 0.99930892 0.00630007 0.15699066] [ 0.08095712 -0.00331593 0.99671207 -0.0802464 ] [ 0. 0. 0. 1. ]] SLAMing on 21.705384749999997 meters Centerline goodness : 0.898499 Centerline is valid? [False, False] Translation: X:1.82, Y:0.16, Z:-0.08 [[ 9.96056449e-01 3.61697459e-02 -8.10141957e-02 1.81592329e+00] [-3.59111635e-02 9.99344181e-01 4.64707614e-03 1.60817706e-01] [ 8.11291487e-02 -1.71943613e-03 9.96702114e-01 -8.07111056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.735384749999998 meters Centerline goodness : 0.900139 Centerline is valid? [False, False] Translation: X:1.82, Y:0.17, Z:-0.08 [[ 0.99597604 0.03804014 -0.08114605 1.817491 ] [-0.03772008 0.99927335 0.00547418 0.16775569] [ 0.08129532 -0.00239132 0.99668719 -0.08172328] [ 0. 0. 0. 1. ]] SLAMing on 21.76538475 meters Centerline goodness : 0.899559 Centerline is valid? [False, False] Translation: X:1.82, Y:0.17, Z:-0.08 [[ 9.96018215e-01 3.55774791e-02 -8.17432445e-02 1.82001310e+00] [-3.54831353e-02 9.99366875e-01 2.60700551e-03 1.73592192e-01] [ 8.17842415e-02 3.03881628e-04 9.96650012e-01 -8.31316861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.795384749999997 meters Centerline goodness : 0.898423 Centerline is valid? [False, False] Translation: X:1.82, Y:0.18, Z:-0.08 [[ 9.96047917e-01 3.44470751e-02 -8.18654180e-02 1.82067332e+00] [-3.44387328e-02 9.99405664e-01 1.51436163e-03 1.75269287e-01] [ 8.18689277e-02 1.31096450e-03 9.96642243e-01 -8.35347148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.825384749999998 meters Centerline goodness : 0.897264 Centerline is valid? [False, False] Translation: X:1.82, Y:0.18, Z:-0.08 [[ 9.96059608e-01 3.32078468e-02 -8.22343999e-02 1.82185625e+00] [-3.33021179e-02 9.99445305e-01 2.25357706e-04 1.77144593e-01] [ 8.21962685e-02 2.51410997e-03 9.96612990e-01 -8.40437007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.85538475 meters Centerline goodness : 0.897924 Centerline is valid? [False, False] Translation: X:1.82, Y:0.18, Z:-0.08 [[ 0.99609865 0.03143932 -0.0824564 1.82278465] [-0.03171869 0.99949467 -0.00208005 0.18169764] [ 0.08234934 0.00468734 0.9965925 -0.08449253] [ 0. 0. 0. 1. ]] SLAMing on 21.885384749999997 meters Centerline goodness : 0.897264 Centerline is valid? [False, False] Translation: X:1.82, Y:0.18, Z:-0.08 [[ 0.99610497 0.03061003 -0.08269168 1.8236117 ] [-0.03097578 0.99951519 -0.00314345 0.18371155] [ 0.08255537 0.00569264 0.99657022 -0.08490703] [ 0. 0. 0. 1. ]] SLAMing on 21.915384749999998 meters Centerline goodness : 0.898760 Centerline is valid? [False, False] Translation: X:1.82, Y:0.19, Z:-0.09 [[ 0.99613578 0.02952181 -0.08271626 1.82399532] [-0.03001534 0.99953825 -0.00472909 0.18948515] [ 0.08253846 0.00719357 0.99656192 -0.0850441 ] [ 0. 0. 0. 1. ]] SLAMing on 21.94538475 meters Centerline goodness : 0.900335 Centerline is valid? [False, False] Translation: X:1.83, Y:0.20, Z:-0.09 [[ 0.99605234 0.0316633 -0.08292866 1.82561576] [-0.03206992 0.99947923 -0.00357549 0.19599363] [ 0.08277226 0.0062209 0.99654907 -0.08588131] [ 0. 0. 0. 1. ]] SLAMing on 21.97538475 meters Centerline goodness : 0.900219 Centerline is valid? [False, False] Translation: X:1.83, Y:0.20, Z:-0.09 [[ 9.95947157e-01 3.48101232e-02 -8.29307852e-02 1.82609310e+00] [-3.50002277e-02 9.99386952e-01 -8.39185952e-04 1.98144061e-01] [ 8.28507324e-02 3.73838123e-03 9.96554956e-01 -8.59782390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.005384749999997 meters Centerline goodness : 0.900709 Centerline is valid? [False, False] Translation: X:1.83, Y:0.20, Z:-0.09 [[ 0.9959411 0.03473367 -0.08303556 1.82589708] [-0.03501254 0.99938506 -0.00190419 0.20195196] [ 0.08291836 0.00480374 0.99654477 -0.08555488] [ 0. 0. 0. 1. ]] SLAMing on 22.03538475 meters Centerline goodness : 0.902176 Centerline is valid? [False, False] Translation: X:1.83, Y:0.21, Z:-0.09 [[ 0.99620212 0.04005438 -0.077311 1.83216398] [-0.04082518 0.99913087 -0.00841477 0.20905518] [ 0.07690676 0.01153905 0.99697151 -0.0862493 ] [ 0. 0. 0. 1. ]] SLAMing on 22.06538475 meters Centerline goodness : 0.901019 Centerline is valid? [False, False] Translation: X:1.83, Y:0.21, Z:-0.09 [[ 0.99607014 0.04342921 -0.07718929 1.83212513] [-0.04401287 0.99901369 -0.00587547 0.21211812] [ 0.07685799 0.00924971 0.99699914 -0.08599293] [ 0. 0. 0. 1. ]] SLAMing on 22.095384749999997 meters Centerline goodness : 0.899981 Centerline is valid? [False, False] Translation: X:1.84, Y:0.22, Z:-0.09 [[ 0.9961217 0.0494407 -0.07278163 1.84293415] [-0.05036603 0.99867099 -0.01093272 0.22110686] [ 0.07214438 0.01455604 0.99728798 -0.08900943] [ 0. 0. 0. 1. ]] SLAMing on 22.12538475 meters Centerline goodness : 0.900901 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:-0.09 [[ 0.9958607 0.05460003 -0.07266571 1.84486951] [-0.05526833 0.99844546 -0.00721674 0.22950573] [ 0.07215872 0.01120298 0.99733024 -0.09027699] [ 0. 0. 0. 1. ]] SLAMing on 22.15538475 meters Centerline goodness : 0.902836 Centerline is valid? [False, False] Translation: X:1.85, Y:0.23, Z:-0.09 [[ 0.99589595 0.05389393 -0.07270966 1.84502363] [-0.05465744 0.99846855 -0.00855077 0.23301196] [ 0.07213747 0.0124898 0.99731649 -0.09028163] [ 0. 0. 0. 1. ]] SLAMing on 22.185384749999997 meters Centerline goodness : 0.903732 Centerline is valid? [False, False] Translation: X:1.84, Y:0.23, Z:-0.09 [[ 0.99593315 0.05321817 -0.07269796 1.84480767] [-0.05404311 0.99849411 -0.0094266 0.23469501] [ 0.07208682 0.01331709 0.99730945 -0.09000741] [ 0. 0. 0. 1. ]] SLAMing on 22.21538475 meters Centerline goodness : 0.903155 Centerline is valid? [False, False] Translation: X:1.84, Y:0.24, Z:-0.09 [[ 0.99611247 0.05022235 -0.07237174 1.84380802] [-0.05124021 0.99861091 -0.01227589 0.23804062] [ 0.07165469 0.01593651 0.99730218 -0.08939749] [ 0. 0. 0. 1. ]] SLAMing on 22.24538475 meters Centerline goodness : 0.903415 Centerline is valid? [False, False] Translation: X:1.85, Y:0.24, Z:-0.09 [[ 0.99621697 0.04801865 -0.07242896 1.84526843] [-0.0491608 0.99869178 -0.01406896 0.24060245] [ 0.07165864 0.0175764 0.99727434 -0.09074674] [ 0. 0. 0. 1. ]] SLAMing on 22.275384749999997 meters Centerline goodness : 0.899899 Centerline is valid? [False, False] Translation: X:1.85, Y:0.24, Z:-0.09 [[ 0.99625873 0.04707765 -0.07247237 1.8461328 ] [-0.04826781 0.99872539 -0.01475847 0.24160839] [ 0.0716852 0.01820134 0.99726122 -0.09154039] [ 0. 0. 0. 1. ]] SLAMing on 22.305384749999998 meters Centerline goodness : 0.901132 Centerline is valid? [False, False] Translation: X:1.85, Y:0.24, Z:-0.09 [[ 0.99628937 0.04646743 -0.07244494 1.84686232] [-0.04767801 0.99874906 -0.01507061 0.24201675] [ 0.07165402 0.01846872 0.99725855 -0.09236293] [ 0. 0. 0. 1. ]] SLAMing on 22.33538475 meters Centerline goodness : 0.900505 Centerline is valid? [False, False] Translation: X:1.85, Y:0.24, Z:-0.09 [[ 0.99636848 0.04479934 -0.07240763 1.8478952 ] [-0.0461052 0.9988009 -0.01646436 0.24364121] [ 0.07158322 0.01974294 0.99723922 -0.09344256] [ 0. 0. 0. 1. ]] SLAMing on 22.365384749999997 meters Centerline goodness : 0.899018 Centerline is valid? [False, False] Translation: X:1.85, Y:0.24, Z:-0.09 [[ 0.99637026 0.04465535 -0.07247208 1.84818898] [-0.04599272 0.99879898 -0.01689005 0.24484846] [ 0.07163081 0.02016193 0.99722742 -0.09364019] [ 0. 0. 0. 1. ]] SLAMing on 22.395384749999998 meters Centerline goodness : 0.900579 Centerline is valid? [False, False] Translation: X:1.85, Y:0.25, Z:-0.09 [[ 0.99619415 0.04818993 -0.07262878 1.84910063] [-0.04935609 0.99867819 -0.01434727 0.24799708] [ 0.07184139 0.01787734 0.99725584 -0.09384347] [ 0. 0. 0. 1. ]] SLAMing on 22.42538475 meters Centerline goodness : 0.899556 Centerline is valid? [False, False] Translation: X:1.85, Y:0.25, Z:-0.09 [[ 0.99601166 0.05188399 -0.07258664 1.84967967] [-0.05284666 0.99853752 -0.01140399 0.25050641] [ 0.0718888 0.01519447 0.99729691 -0.09404531] [ 0. 0. 0. 1. ]] SLAMing on 22.455384749999997 meters Centerline goodness : 0.900367 Centerline is valid? [False, False] Translation: X:1.86, Y:0.26, Z:-0.10 [[ 0.99572752 0.06179528 -0.06861516 1.86016573] [-0.06280809 0.9979448 -0.01270085 0.25775128] [ 0.06768929 0.01695618 0.99756235 -0.09640239] [ 0. 0. 0. 1. ]] SLAMing on 22.485384749999998 meters Centerline goodness : 0.902209 Centerline is valid? [False, False] Translation: X:1.86, Y:0.26, Z:-0.10 [[ 0.99550482 0.06543824 -0.06846889 1.86034154] [-0.06628477 0.99774899 -0.0101632 0.26169489] [ 0.06764971 0.01465596 0.99760148 -0.09616101] [ 0. 0. 0. 1. ]] SLAMing on 22.51538475 meters Centerline goodness : 0.901108 Centerline is valid? [False, False] Translation: X:1.86, Y:0.26, Z:-0.10 [[ 0.99527403 0.06895689 -0.06837064 1.86050744] [-0.06962744 0.99754509 -0.00747074 0.26453432] [ 0.06768764 0.0121959 0.99763202 -0.09585252] [ 0. 0. 0. 1. ]] SLAMing on 22.545384749999997 meters Centerline goodness : 0.900869 Centerline is valid? [False, False] Translation: X:1.86, Y:0.27, Z:-0.09 [[ 0.99514883 0.06962238 -0.06950917 1.86252064] [-0.07051943 0.99745479 -0.01053325 0.2703765 ] [ 0.0685989 0.0153839 0.9975257 -0.09463558] [ 0. 0. 0. 1. ]] SLAMing on 22.575384749999998 meters Centerline goodness : 0.902615 Centerline is valid? [False, False] Translation: X:1.86, Y:0.27, Z:-0.10 [[ 0.9951482 0.06938327 -0.06975691 1.86399796] [-0.07036484 0.99745258 -0.01171095 0.27305691] [ 0.06876667 0.01656256 0.99749528 -0.09551753] [ 0. 0. 0. 1. ]] SLAMing on 22.60538475 meters Centerline goodness : 0.900861 Centerline is valid? [False, False] Translation: X:1.86, Y:0.28, Z:-0.10 [[ 0.99526488 0.06799272 -0.06946087 1.86498325] [-0.06906856 0.99752454 -0.0132032 0.27685104] [ 0.0683912 0.01793824 0.9974973 -0.09705848] [ 0. 0. 0. 1. ]] SLAMing on 22.635384749999997 meters Centerline goodness : 0.900412 Centerline is valid? [False, False] Translation: X:1.86, Y:0.28, Z:-0.10 [[ 0.99534925 0.06714939 -0.06907113 1.86456988] [-0.06825059 0.99757406 -0.01370597 0.27795956] [ 0.06798322 0.01835637 0.99751758 -0.0974173 ] [ 0. 0. 0. 1. ]] SLAMing on 22.665384749999998 meters Centerline goodness : 0.900775 Centerline is valid? [False, False] Translation: X:1.86, Y:0.28, Z:-0.10 [[ 0.99556056 0.06487576 -0.06819312 1.86321114] [-0.06605172 0.99770147 -0.01513124 0.27994484] [ 0.06705473 0.01956834 0.99755739 -0.09768926] [ 0. 0. 0. 1. ]] SLAMing on 22.69538475 meters Centerline goodness : 0.899957 Centerline is valid? [False, False] Translation: X:1.86, Y:0.28, Z:-0.10 [[ 0.99560978 0.06432945 -0.06799181 1.86298665] [-0.06555346 0.99772198 -0.01592494 0.28159483] [ 0.06681248 0.02031212 0.99755878 -0.09766297] [ 0. 0. 0. 1. ]] SLAMing on 22.72538475 meters Centerline goodness : 0.899241 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:-0.10 [[ 0.99562452 0.06375159 -0.06831944 1.8640091 ] [-0.06513653 0.9977097 -0.01823704 0.28629763] [ 0.06700033 0.02260733 0.9974968 -0.09746244] [ 0. 0. 0. 1. ]] SLAMing on 22.755384749999997 meters Centerline goodness : 0.899886 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:-0.10 [[ 0.99548092 0.06656663 -0.06772466 1.86352368] [-0.06775175 0.99758408 -0.01535288 0.28747809] [ 0.06653905 0.01987196 0.99758592 -0.0974646 ] [ 0. 0. 0. 1. ]] SLAMing on 22.78538475 meters Centerline goodness : 0.901153 Centerline is valid? [False, False] Translation: X:1.86, Y:0.29, Z:-0.10 [[ 0.99535175 0.06891732 -0.06727033 1.86342834] [-0.07004323 0.99743825 -0.01452173 0.29342533] [ 0.0660972 0.01916606 0.9976291 -0.09689529] [ 0. 0. 0. 1. ]] SLAMing on 22.81538475 meters Centerline goodness : 0.900324 Centerline is valid? [False, False] Translation: X:1.86, Y:0.30, Z:-0.10 [[ 0.99538047 0.06845282 -0.06731964 1.86375784] [-0.06970454 0.99743252 -0.01642111 0.29750471] [ 0.06602273 0.02103774 0.99759632 -0.09652778] [ 0. 0. 0. 1. ]] SLAMing on 22.845384749999997 meters Centerline goodness : 0.901067 Centerline is valid? [False, False] Translation: X:1.87, Y:0.30, Z:-0.10 [[ 0.9953812 0.067836 -0.06793047 1.86504553] [-0.06927517 0.99741556 -0.01905652 0.30303696] [ 0.06646219 0.02367439 0.99750805 -0.0958579 ] [ 0. 0. 0. 1. ]] SLAMing on 22.87538475 meters Centerline goodness : 0.899340 Centerline is valid? [False, False] Translation: X:1.87, Y:0.30, Z:-0.10 [[ 0.99524953 0.06992263 -0.06774358 1.86612319] [-0.07121521 0.99731857 -0.01685428 0.30420323] [ 0.06638344 0.02159859 0.99756039 -0.09687324] [ 0. 0. 0. 1. ]] SLAMing on 22.90538475 meters Centerline goodness : 0.928758 Centerline is valid? [False, False] Translation: X:1.87, Y:0.31, Z:-0.10 [[ 0.99499962 0.07314691 -0.0680094 1.86820151] [-0.07441192 0.99709512 -0.01625368 0.31098135] [ 0.06662294 0.02123311 0.99755227 -0.09715602] [ 0. 0. 0. 1. ]] SLAMing on 22.935384749999997 meters Centerline goodness : 0.924370 Centerline is valid? [False, False] Translation: X:1.87, Y:0.31, Z:-0.10 [[ 0.99472075 0.07686933 -0.06798331 1.86889923] [-0.07797758 0.99685963 -0.01379728 0.3138711 ] [ 0.06670923 0.01902562 0.99759105 -0.09694115] [ 0. 0. 0. 1. ]] SLAMing on 22.96538475 meters Centerline goodness : 0.904323 Centerline is valid? [False, False] Translation: X:1.87, Y:0.32, Z:-0.10 [[ 0.99425153 0.08219849 -0.06860985 1.87076035] [-0.08323079 0.99645413 -0.0123207 0.32053595] [ 0.06735383 0.01796033 0.99756749 -0.09587153] [ 0. 0. 0. 1. ]] SLAMing on 22.99538475 meters Centerline goodness : 0.910334 Centerline is valid? [False, False] Translation: X:1.87, Y:0.33, Z:-0.10 [[ 0.9933992 0.09154443 -0.06912054 1.87328583] [-0.09223916 0.99571283 -0.00692037 0.32676972] [ 0.06819068 0.01325031 0.99758431 -0.09536544] [ 0. 0. 0. 1. ]] SLAMing on 23.025384749999997 meters Centerline goodness : 0.915283 Centerline is valid? [False, False] Translation: X:1.88, Y:0.33, Z:-0.10 [[ 0.99290105 0.09646632 -0.06958272 1.87533625] [-0.09697735 0.99527857 -0.00399597 0.32949953] [ 0.06886871 0.01071555 0.99756818 -0.09543999] [ 0. 0. 0. 1. ]] SLAMing on 23.055384749999998 meters Centerline goodness : 0.914151 Centerline is valid? [False, False] Translation: X:1.88, Y:0.33, Z:-0.10 [[ 9.92403324e-01 1.01217500e-01 -6.99332619e-02 1.87735960e+00] [-1.01510954e-01 9.94834212e-01 -6.45988252e-04 3.31401889e-01] [ 6.95066162e-02 7.74007302e-03 9.97551463e-01 -9.58860064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.08538475 meters Centerline goodness : 0.914267 Centerline is valid? [False, False] Translation: X:1.88, Y:0.33, Z:-0.10 [[ 9.91387508e-01 1.10941798e-01 -6.95896959e-02 1.87859840e+00] [-1.10720427e-01 9.93826642e-01 7.04222466e-03 3.32447418e-01] [ 6.99413708e-02 7.23427267e-04 9.97550841e-01 -9.57235546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.115384749999997 meters Centerline goodness : 0.908610 Centerline is valid? [False, False] Translation: X:1.88, Y:0.33, Z:-0.09 [[ 0.99058822 0.1182784 -0.06888543 1.87720098] [-0.11770029 0.99297167 0.01240579 0.33302674] [ 0.06986862 -0.0041812 0.99754744 -0.09384345] [ 0. 0. 0. 1. ]] SLAMing on 23.145384749999998 meters Centerline goodness : 0.907263 Centerline is valid? [False, False] Translation: X:1.88, Y:0.33, Z:-0.09 [[ 0.99003173 0.12314038 -0.06836382 1.87686408] [-0.12224714 0.99235211 0.01711533 0.33176026] [ 0.06994856 -0.00858744 0.99751364 -0.09354967] [ 0. 0. 0. 1. ]] SLAMing on 23.17538475 meters Centerline goodness : 0.908574 Centerline is valid? [False, False] Translation: X:1.88, Y:0.33, Z:-0.09 [[ 0.98929867 0.12907486 -0.06802806 1.87721157] [-0.1277897 0.99153608 0.02293469 0.32805314] [ 0.07041257 -0.01399597 0.99741976 -0.09365 ] [ 0. 0. 0. 1. ]] SLAMing on 23.205384749999997 meters Centerline goodness : 0.917206 Centerline is valid? [False, False] Translation: X:1.88, Y:0.33, Z:-0.09 [[ 0.98917862 0.12990259 -0.06819806 1.8774739 ] [-0.12855381 0.99141629 0.02382569 0.32624183] [ 0.07070769 -0.01480075 0.99738727 -0.09366062] [ 0. 0. 0. 1. ]] SLAMing on 23.235384749999998 meters Centerline goodness : 0.919288 Centerline is valid? [False, False] Translation: X:1.88, Y:0.32, Z:-0.09 [[ 0.98886279 0.13234344 -0.06808523 1.87632676] [-0.13076401 0.99104105 0.02717358 0.31914562] [ 0.0710715 -0.01796785 0.99730938 -0.09292714] [ 0. 0. 0. 1. ]] SLAMing on 23.26538475 meters Centerline goodness : 0.920307 Centerline is valid? [False, False] Translation: X:1.88, Y:0.32, Z:-0.09 [[ 0.98919633 0.12947066 -0.06876018 1.87617007] [-0.12804769 0.99145957 0.02473267 0.31620695] [ 0.0713751 -0.01566089 0.99732659 -0.0925522 ] [ 0. 0. 0. 1. ]] SLAMing on 23.295384749999997 meters Centerline goodness : 0.920513 Centerline is valid? [False, False] Translation: X:1.88, Y:0.31, Z:-0.09 [[ 0.98980046 0.12423258 -0.06972313 1.87554705] [-0.12302349 0.99217317 0.02139215 0.30730593] [ 0.07183503 -0.01259638 0.99733698 -0.09249223] [ 0. 0. 0. 1. ]] SLAMing on 23.325384749999998 meters Centerline goodness : 0.888753 Centerline is valid? [False, False] Translation: X:1.88, Y:0.30, Z:-0.09 [[ 0.99010055 0.12151574 -0.07024836 1.87530983] [-0.12038758 0.99252362 0.02009204 0.30181858] [ 0.07216465 -0.01143611 0.99732717 -0.09254013] [ 0. 0. 0. 1. ]] SLAMing on 23.35538475 meters Centerline goodness : 0.888928 Centerline is valid? [False, False] Translation: X:1.87, Y:0.30, Z:-0.09 [[ 0.99041254 0.11869401 -0.07067346 1.87471967] [-0.11764126 0.99287645 0.01889129 0.29598388] [ 0.07241229 -0.01039605 0.9973206 -0.09246743] [ 0. 0. 0. 1. ]] SLAMing on 23.385384749999997 meters Centerline goodness : 0.887494 Centerline is valid? [False, False] Translation: X:1.87, Y:0.28, Z:-0.09 [[ 0.99094446 0.11359298 -0.07159413 1.8736356 ] [-0.11266954 0.99349013 0.01682048 0.28403119] [ 0.07303875 -0.00860169 0.99729201 -0.09219663] [ 0. 0. 0. 1. ]] SLAMing on 23.415384749999998 meters Centerline goodness : 0.888139 Centerline is valid? [False, False] Translation: X:1.87, Y:0.28, Z:-0.09 [[ 0.99120227 0.11085122 -0.0723192 1.87372267] [-0.11000685 0.9938089 0.01556834 0.27832984] [ 0.07359724 -0.00747576 0.99726003 -0.09225413] [ 0. 0. 0. 1. ]] SLAMing on 23.44538475 meters Centerline goodness : 0.887078 Centerline is valid? [False, False] Translation: X:1.87, Y:0.27, Z:-0.09 [[ 0.99158955 0.10611086 -0.07409886 1.87442676] [-0.10540047 0.99433898 0.01344362 0.26523238] [ 0.0751059 -0.0055205 0.99716028 -0.09228232] [ 0. 0. 0. 1. ]] SLAMing on 23.47538475 meters Centerline goodness : 0.885369 Centerline is valid? [False, False] Translation: X:1.88, Y:0.26, Z:-0.09 [[ 9.92072482e-01 1.00208871e-01 -7.58312157e-02 1.87544012e+00] [-9.98711269e-02 9.94966239e-01 8.24261005e-03 2.60341155e-01] [ 7.62754821e-02 -6.03917643e-04 9.97086599e-01 -9.19080653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.505384749999997 meters Centerline goodness : 0.885052 Centerline is valid? [False, False] Translation: X:1.88, Y:0.25, Z:-0.09 [[ 0.99255359 0.09420113 -0.07722385 1.87570111] [-0.09422232 0.99554545 0.00337731 0.25488532] [ 0.077198 0.00392405 0.99700806 -0.09137123] [ 0. 0. 0. 1. ]] SLAMing on 23.53538475 meters Centerline goodness : 0.885052 Centerline is valid? [False, False] Translation: X:1.88, Y:0.25, Z:-0.09 [[ 0.99255359 0.09420113 -0.07722385 1.87570111] [-0.09422232 0.99554545 0.00337731 0.25488532] [ 0.077198 0.00392405 0.99700806 -0.09137123] [ 0. 0. 0. 1. ]] SLAMing on 23.56538475 meters Centerline goodness : 0.884462 Centerline is valid? [False, False] Translation: X:1.87, Y:0.24, Z:-0.09 [[ 9.93389382e-01 8.64749664e-02 -7.54957968e-02 1.87128017e+00] [-8.62763000e-02 9.96253807e-01 5.89508434e-03 2.38569593e-01] [ 7.57227522e-02 6.57383827e-04 9.97128694e-01 -8.94393873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.595384749999997 meters Centerline goodness : 0.885234 Centerline is valid? [False, False] Translation: X:1.87, Y:0.22, Z:-0.09 [[ 0.99432697 0.07793986 -0.07238275 1.86567447] [-0.07747586 0.99695178 0.00920024 0.2220309 ] [ 0.07287918 -0.00354013 0.99733449 -0.08874508] [ 0. 0. 0. 1. ]] SLAMing on 23.62538475 meters Centerline goodness : 0.883676 Centerline is valid? [False, False] Translation: X:1.86, Y:0.21, Z:-0.09 [[ 0.99465249 0.07405335 -0.0719898 1.86400041] [-0.07357646 0.99724661 0.00925759 0.21477213] [ 0.07247714 -0.00391133 0.9973624 -0.08946374] [ 0. 0. 0. 1. ]] SLAMing on 23.65538475 meters Centerline goodness : 0.883381 Centerline is valid? [False, False] Translation: X:1.86, Y:0.20, Z:-0.09 [[ 0.99535392 0.06862017 -0.06754149 1.85713577] [-0.06772429 0.99758416 0.01546841 0.19998127] [ 0.06843976 -0.01082235 0.99759655 -0.08883335] [ 0. 0. 0. 1. ]] SLAMing on 23.685384749999997 meters Centerline goodness : 0.885274 Centerline is valid? [False, False] Translation: X:1.86, Y:0.20, Z:-0.09 [[ 0.99555705 0.06538686 -0.06775482 1.85672164] [-0.06463163 0.9978208 0.01328161 0.19543996] [ 0.06847561 -0.0088435 0.99761359 -0.0885136 ] [ 0. 0. 0. 1. ]] SLAMing on 23.71538475 meters Centerline goodness : 0.884448 Centerline is valid? [False, False] Translation: X:1.85, Y:0.19, Z:-0.09 [[ 0.99565755 0.06395173 -0.06764781 1.85481115] [-0.06322623 0.99791695 0.01281404 0.18716956] [ 0.06832637 -0.00848128 0.99762697 -0.08729147] [ 0. 0. 0. 1. ]] SLAMing on 23.74538475 meters Centerline goodness : 0.884335 Centerline is valid? [False, False] Translation: X:1.85, Y:0.19, Z:-0.09 [[ 0.99581647 0.06143814 -0.06763806 1.85386663] [-0.06089165 0.99809314 0.01011379 0.18547143] [ 0.06813046 -0.00595288 0.99765866 -0.08694884] [ 0. 0. 0. 1. ]] SLAMing on 23.775384749999997 meters Centerline goodness : 0.887555 Centerline is valid? [False, False] Translation: X:1.85, Y:0.18, Z:-0.09 [[ 0.99573779 0.06282017 -0.06752685 1.85355834] [-0.06213213 0.99799283 0.01224343 0.18036062] [ 0.06816044 -0.00799566 0.99764233 -0.08684641] [ 0. 0. 0. 1. ]] SLAMing on 23.805384749999998 meters Centerline goodness : 0.887052 Centerline is valid? [False, False] Translation: X:1.85, Y:0.18, Z:-0.09 [[ 0.99593765 0.05947682 -0.06760697 1.85346947] [-0.0590167 0.99821834 0.00878453 0.17988093] [ 0.06800899 -0.0047589 0.99767336 -0.0872206 ] [ 0. 0. 0. 1. ]] SLAMing on 23.83538475 meters Centerline goodness : 0.886121 Centerline is valid? [False, False] Translation: X:1.85, Y:0.18, Z:-0.09 [[ 9.96134320e-01 5.59702892e-02 -6.77033500e-02 1.85317122e+00] [-5.57200243e-02 9.98430836e-01 5.58073108e-03 1.78396004e-01] [ 6.79094675e-02 -1.78672545e-03 9.97689888e-01 -8.72378022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.865384749999997 meters Centerline goodness : 0.888032 Centerline is valid? [False, False] Translation: X:1.85, Y:0.17, Z:-0.09 [[ 9.96491747e-01 4.88526792e-02 -6.79530199e-02 1.85252620e+00] [-4.89716119e-02 9.98800167e-01 -8.45147517e-05 1.73317046e-01] [ 6.78673589e-02 3.41198717e-03 9.97688518e-01 -8.69065432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.895384749999998 meters Centerline goodness : 0.890727 Centerline is valid? [False, False] Translation: X:1.85, Y:0.17, Z:-0.09 [[ 0.99684277 0.04027201 -0.06842989 1.85376254] [-0.04081334 0.99914545 -0.00653055 0.16807084] [ 0.06810842 0.00930278 0.99763455 -0.08802329] [ 0. 0. 0. 1. ]] SLAMing on 23.92538475 meters Centerline goodness : 0.889274 Centerline is valid? [False, False] Translation: X:1.85, Y:0.17, Z:-0.09 [[ 0.99699769 0.03585668 -0.06862873 1.85427342] [-0.03662658 0.99927906 -0.00999281 0.16625551] [ 0.06822094 0.01247645 0.99759222 -0.08854111] [ 0. 0. 0. 1. ]] SLAMing on 23.955384749999997 meters Centerline goodness : 0.890173 Centerline is valid? [False, False] Translation: X:1.85, Y:0.16, Z:-0.09 [[ 0.9971326 0.0315897 -0.06876529 1.85441423] [-0.03259119 0.99937771 -0.01349072 0.16489439] [ 0.06829633 0.01569318 0.99754165 -0.08874174] [ 0. 0. 0. 1. ]] SLAMing on 23.985384749999998 meters Centerline goodness : 0.888815 Centerline is valid? [False, False] Translation: X:1.86, Y:0.16, Z:-0.09 [[ 0.99728851 0.02616156 -0.06878377 1.85518683] [-0.02741396 0.99947399 -0.01732709 0.16261754] [ 0.06829429 0.01916574 0.99748111 -0.08963972] [ 0. 0. 0. 1. ]] SLAMing on 24.01538475 meters Centerline goodness : 0.890252 Centerline is valid? [False, False] Translation: X:1.86, Y:0.16, Z:-0.09 [[ 0.99729882 0.02581718 -0.06876432 1.85531379] [-0.02704468 0.99949 -0.01697991 0.16092469] [ 0.06829088 0.01879375 0.99748842 -0.08973286] [ 0. 0. 0. 1. ]] SLAMing on 24.045384749999997 meters Centerline goodness : 0.888528 Centerline is valid? [False, False] Translation: X:1.86, Y:0.16, Z:-0.09 [[ 0.99733876 0.02479886 -0.06855961 1.85538771] [-0.02605564 0.99950734 -0.017498 0.16107358] [ 0.0680919 0.0192378 0.99749356 -0.09004971] [ 0. 0. 0. 1. ]] SLAMing on 24.075384749999998 meters Centerline goodness : 0.891344 Centerline is valid? [False, False] Translation: X:1.86, Y:0.16, Z:-0.09 [[ 0.99733949 0.02467781 -0.06859261 1.85536247] [-0.02596218 0.99950272 -0.01789652 0.16253172] [ 0.06811685 0.01962972 0.99748422 -0.08993767] [ 0. 0. 0. 1. ]] SLAMing on 24.10538475 meters Centerline goodness : 0.887807 Centerline is valid? [False, False] Translation: X:1.86, Y:0.16, Z:-0.09 [[ 0.9972452 0.02784695 -0.06874993 1.85686233] [-0.02896338 0.99946344 -0.01529575 0.16490665] [ 0.0682871 0.01724485 0.99751666 -0.09095917] [ 0. 0. 0. 1. ]] SLAMing on 24.135384749999997 meters Centerline goodness : 0.888148 Centerline is valid? [False, False] Translation: X:1.86, Y:0.16, Z:-0.09 [[ 0.99713685 0.03146181 -0.06876226 1.8574479 ] [-0.03233704 0.99940909 -0.01165235 0.16491078] [ 0.06835502 0.01384256 0.99756502 -0.09121572] [ 0. 0. 0. 1. ]] SLAMing on 24.165384749999998 meters Centerline goodness : 0.888209 Centerline is valid? [False, False] Translation: X:1.86, Y:0.17, Z:-0.09 [[ 0.99704466 0.03453361 -0.0686249 1.85795894] [-0.03523542 0.99933813 -0.00904241 0.16753434] [ 0.06826721 0.01143371 0.99760155 -0.09160122] [ 0. 0. 0. 1. ]] SLAMing on 24.19538475 meters Centerline goodness : 0.886634 Centerline is valid? [False, False] Translation: X:1.86, Y:0.17, Z:-0.09 [[ 0.99704766 0.03436286 -0.06866699 1.85798516] [-0.03509825 0.99933841 -0.00953141 0.16920675] [ 0.06829404 0.01191336 0.9975941 -0.09153809] [ 0. 0. 0. 1. ]] SLAMing on 24.22538475 meters Centerline goodness : 0.887130 Centerline is valid? [False, False] Translation: X:1.86, Y:0.17, Z:-0.09 [[ 0.99704896 0.03396234 -0.06884718 1.85866702] [-0.03473673 0.99934564 -0.01008179 0.17036599] [ 0.06845973 0.01244356 0.99757627 -0.09194784] [ 0. 0. 0. 1. ]] SLAMing on 24.255384749999997 meters Centerline goodness : 0.887588 Centerline is valid? [False, False] Translation: X:1.86, Y:0.17, Z:-0.09 [[ 0.99706677 0.03286623 -0.06912061 1.86021149] [-0.03373515 0.99936532 -0.01144127 0.17342519] [ 0.06870071 0.0137395 0.9975427 -0.0930892 ] [ 0. 0. 0. 1. ]] SLAMing on 24.28538475 meters Centerline goodness : 0.886525 Centerline is valid? [False, False] Translation: X:1.86, Y:0.18, Z:-0.09 [[ 0.99709344 0.03150602 -0.06936891 1.86137628] [-0.03248159 0.99938804 -0.01298052 0.17637701] [ 0.06891749 0.015196 0.99750662 -0.09380863] [ 0. 0. 0. 1. ]] SLAMing on 24.31538475 meters Centerline goodness : 0.886678 Centerline is valid? [False, False] Translation: X:1.86, Y:0.18, Z:-0.09 [[ 0.99709966 0.03107705 -0.06947289 1.86168142] [-0.03209882 0.99939163 -0.0136396 0.17820421] [ 0.06900675 0.01583004 0.99749059 -0.09389446] [ 0. 0. 0. 1. ]] SLAMing on 24.345384749999997 meters Centerline goodness : 0.886924 Centerline is valid? [False, False] Translation: X:1.86, Y:0.18, Z:-0.09 [[ 0.99702602 0.03313293 -0.06957966 1.86260284] [-0.03406611 0.99934428 -0.01226797 0.18326109] [ 0.06912756 0.01460179 0.99750096 -0.09413187] [ 0. 0. 0. 1. ]] SLAMing on 24.37538475 meters Centerline goodness : 0.888060 Centerline is valid? [False, False] Translation: X:1.86, Y:0.19, Z:-0.09 [[ 0.99692993 0.0359056 -0.06958089 1.86317291] [-0.03667627 0.99927885 -0.00982965 0.18573441] [ 0.06917777 0.01235144 0.99752788 -0.09423566] [ 0. 0. 0. 1. ]] SLAMing on 24.40538475 meters Centerline goodness : 0.888085 Centerline is valid? [False, False] Translation: X:1.86, Y:0.19, Z:-0.09 [[ 0.99682789 0.03797264 -0.06994458 1.8641074 ] [-0.03871783 0.99920664 -0.00932879 0.19350047] [ 0.06953485 0.0120073 0.99750726 -0.09400463] [ 0. 0. 0. 1. ]] SLAMing on 24.435384749999997 meters Centerline goodness : 0.889448 Centerline is valid? [False, False] Translation: X:1.86, Y:0.20, Z:-0.09 [[ 0.9967126 0.04080114 -0.06999474 1.86446891] [-0.04140604 0.99911637 -0.00721243 0.19714845] [ 0.06963861 0.01008693 0.99752129 -0.09381744] [ 0. 0. 0. 1. ]] SLAMing on 24.46538475 meters Centerline goodness : 0.890485 Centerline is valid? [False, False] Translation: X:1.87, Y:0.21, Z:-0.10 [[ 0.99691254 0.04514007 -0.06424766 1.87270447] [-0.04607698 0.99885099 -0.01317587 0.20544391] [ 0.06357908 0.01609553 0.997847 -0.09530103] [ 0. 0. 0. 1. ]] SLAMing on 24.49538475 meters Centerline goodness : 0.887671 Centerline is valid? [False, False] Translation: X:1.87, Y:0.21, Z:-0.09 [[ 0.99690894 0.04541568 -0.06410906 1.87182957] [-0.04638247 0.99883018 -0.01367273 0.20945888] [ 0.06341311 0.016604 0.99784923 -0.09440914] [ 0. 0. 0. 1. ]] SLAMing on 24.525384749999997 meters Centerline goodness : 0.890933 Centerline is valid? [False, False] Translation: X:1.87, Y:0.21, Z:-0.09 [[ 0.99692221 0.04497551 -0.064213 1.87193358] [-0.04601512 0.99883106 -0.01480309 0.21275649] [ 0.06347216 0.0177123 0.99782642 -0.0942518 ] [ 0. 0. 0. 1. ]] SLAMing on 24.555384749999998 meters Centerline goodness : 0.889430 Centerline is valid? [False, False] Translation: X:1.87, Y:0.22, Z:-0.10 [[ 0.99681831 0.04705982 -0.06433218 1.87374645] [-0.04803768 0.99875104 -0.01373801 0.21871963] [ 0.06360533 0.01678467 0.99783397 -0.09544845] [ 0. 0. 0. 1. ]] SLAMing on 24.58538475 meters Centerline goodness : 0.890848 Centerline is valid? [False, False] Translation: X:1.87, Y:0.22, Z:-0.10 [[ 0.99666419 0.05019211 -0.06435258 1.87482083] [-0.05100843 0.99863649 -0.01110449 0.22146007] [ 0.06370748 0.01434997 0.99786544 -0.09609438] [ 0. 0. 0. 1. ]] SLAMing on 24.615384749999997 meters Centerline goodness : 0.890325 Centerline is valid? [False, False] Translation: X:1.88, Y:0.23, Z:-0.10 [[ 0.99649542 0.05307652 -0.06465114 1.87635802] [-0.05381075 0.99850435 -0.00966774 0.22758779] [ 0.06404131 0.01311279 0.9978611 -0.09663841] [ 0. 0. 0. 1. ]] SLAMing on 24.645384749999998 meters Centerline goodness : 0.891598 Centerline is valid? [False, False] Translation: X:1.88, Y:0.23, Z:-0.10 [[ 0.99629445 0.05640668 -0.06492809 1.87734147] [-0.05703501 0.99834121 -0.00786326 0.23302465] [ 0.06437684 0.0115373 0.99785896 -0.0965694 ] [ 0. 0. 0. 1. ]] SLAMing on 24.67538475 meters Centerline goodness : 0.892051 Centerline is valid? [False, False] Translation: X:1.88, Y:0.24, Z:-0.10 [[ 0.9962557 0.05748831 -0.06457299 1.87619855] [-0.05808797 0.9982837 -0.00744619 0.23635785] [ 0.06403409 0.01116922 0.99788521 -0.09572598] [ 0. 0. 0. 1. ]] SLAMing on 24.705384749999997 meters Centerline goodness : 0.891066 Centerline is valid? [False, False] Translation: X:1.88, Y:0.24, Z:-0.10 [[ 0.99626415 0.05694 -0.06492753 1.87710001] [-0.05762351 0.99830046 -0.00870219 0.23962049] [ 0.06432168 0.01241103 0.99785204 -0.09598194] [ 0. 0. 0. 1. ]] SLAMing on 24.735384749999998 meters Centerline goodness : 0.892147 Centerline is valid? [False, False] Translation: X:1.88, Y:0.24, Z:-0.10 [[ 0.99627959 0.0564752 -0.06509626 1.87765567] [-0.05724416 0.99831005 -0.01000708 0.24392187] [ 0.0644211 0.01369623 0.99782881 -0.09616279] [ 0. 0. 0. 1. ]] SLAMing on 24.76538475 meters Centerline goodness : 0.891625 Centerline is valid? [False, False] Translation: X:1.88, Y:0.25, Z:-0.10 [[ 0.99630022 0.05596666 -0.06521972 1.87806068] [-0.05679159 0.99832696 -0.01086251 0.24590184] [ 0.06450267 0.01452625 0.9978118 -0.09631162] [ 0. 0. 0. 1. ]] SLAMing on 24.795384749999997 meters Centerline goodness : 0.892888 Centerline is valid? [False, False] Translation: X:1.88, Y:0.25, Z:-0.10 [[ 0.9963309 0.05520801 -0.06539732 1.87849232] [-0.05611262 0.99835141 -0.01207601 0.24954322] [ 0.06462281 0.01570132 0.99778623 -0.09631888] [ 0. 0. 0. 1. ]] SLAMing on 24.825384749999998 meters Centerline goodness : 0.895748 Centerline is valid? [False, False] Translation: X:1.88, Y:0.25, Z:-0.10 [[ 0.99615266 0.05821078 -0.06550864 1.87922751] [-0.05895357 0.99821588 -0.00946177 0.25226177] [ 0.06484099 0.01328734 0.99780714 -0.09628452] [ 0. 0. 0. 1. ]] SLAMing on 24.85538475 meters Centerline goodness : 0.893832 Centerline is valid? [False, False] Translation: X:1.88, Y:0.25, Z:-0.10 [[ 0.99615055 0.05826181 -0.06549539 1.87892682] [-0.05904315 0.99820478 -0.01005644 0.25425032] [ 0.0647919 0.01388479 0.9978022 -0.09590779] [ 0. 0. 0. 1. ]] SLAMing on 24.885384749999997 meters Centerline goodness : 0.897193 Centerline is valid? [False, False] Translation: X:1.88, Y:0.26, Z:-0.10 [[ 0.99614294 0.05823102 -0.06563826 1.87923582] [-0.05908966 0.99818968 -0.01121517 0.25770467] [ 0.06486637 0.01505045 0.99778046 -0.09586902] [ 0. 0. 0. 1. ]] SLAMing on 24.915384749999998 meters Centerline goodness : 0.896082 Centerline is valid? [False, False] Translation: X:1.88, Y:0.26, Z:-0.10 [[ 0.99614433 0.05794228 -0.06587231 1.87984735] [-0.05885491 0.99819445 -0.01199767 0.25980572] [ 0.0650582 0.01582831 0.99775593 -0.09604727] [ 0. 0. 0. 1. ]] SLAMing on 24.94538475 meters Centerline goodness : 0.897251 Centerline is valid? [False, False] Translation: X:1.88, Y:0.26, Z:-0.10 [[ 0.99610705 0.05887074 -0.06561235 1.87980744] [-0.05974095 0.99814905 -0.01137908 0.26322471] [ 0.06482101 0.01525452 0.9977803 -0.09601502] [ 0. 0. 0. 1. ]] SLAMing on 24.97538475 meters Centerline goodness : 0.897868 Centerline is valid? [False, False] Translation: X:1.88, Y:0.26, Z:-0.10 [[ 0.99611637 0.05867452 -0.06564668 1.87974963] [-0.05956683 0.99815555 -0.01171721 0.26406725] [ 0.0648381 0.01558207 0.99777413 -0.09583372] [ 0. 0. 0. 1. ]] SLAMing on 25.005384749999997 meters Centerline goodness : 0.899086 Centerline is valid? [False, False] Translation: X:1.88, Y:0.26, Z:-0.10 [[ 0.99612578 0.0584938 -0.06566509 1.87950086] [-0.05940346 0.9981621 -0.01198551 0.26466339] [ 0.06484332 0.01583981 0.99776973 -0.0954894 ] [ 0. 0. 0. 1. ]] SLAMing on 25.03538475 meters Centerline goodness : 0.898424 Centerline is valid? [False, False] Translation: X:1.88, Y:0.27, Z:-0.10 [[ 0.99614638 0.05824367 -0.06557495 1.87965926] [-0.05916716 0.99817319 -0.01222849 0.26548465] [ 0.06474293 0.01606125 0.99777271 -0.09584999] [ 0. 0. 0. 1. ]] SLAMing on 25.06538475 meters Centerline goodness : 0.899089 Centerline is valid? [False, False] Translation: X:1.88, Y:0.27, Z:-0.10 [[ 0.99617246 0.05797089 -0.06542022 1.87930831] [-0.05889724 0.99818803 -0.01231977 0.26585738] [ 0.06458749 0.01612569 0.99778175 -0.09574739] [ 0. 0. 0. 1. ]] SLAMing on 25.095384749999997 meters Centerline goodness : 0.899806 Centerline is valid? [False, False] Translation: X:1.88, Y:0.27, Z:-0.10 [[ 0.99622512 0.05738119 -0.06513759 1.87923968] [-0.05832714 0.99821657 -0.01271319 0.26681068] [ 0.06429192 0.01646449 0.9977953 -0.09620164] [ 0. 0. 0. 1. ]] SLAMing on 25.12538475 meters Centerline goodness : 0.901378 Centerline is valid? [False, False] Translation: X:1.88, Y:0.27, Z:-0.10 [[ 0.99611191 0.06026007 -0.06426342 1.87827987] [-0.0609301 0.9981057 -0.00851625 0.26552773] [ 0.0636285 0.01239871 0.99789663 -0.09682668] [ 0. 0. 0. 1. ]] SLAMing on 25.15538475 meters Centerline goodness : 0.900840 Centerline is valid? [False, False] Translation: X:1.88, Y:0.27, Z:-0.10 [[ 0.99612021 0.05987062 -0.0644983 1.87927511] [-0.0605717 0.99812356 -0.00896796 0.26608987] [ 0.06384036 0.01283994 0.99787752 -0.09752828] [ 0. 0. 0. 1. ]] SLAMing on 25.185384749999997 meters Centerline goodness : 0.902670 Centerline is valid? [False, False] Translation: X:1.88, Y:0.27, Z:-0.10 [[ 0.99613267 0.05979447 -0.06437638 1.87924224] [-0.06049352 0.99812835 -0.0089631 0.2663024 ] [ 0.06371994 0.01282279 0.99788544 -0.09773353] [ 0. 0. 0. 1. ]] SLAMing on 25.21538475 meters Centerline goodness : 0.904742 Centerline is valid? [False, False] Translation: X:1.88, Y:0.27, Z:-0.10 [[ 0.99619769 0.05916912 -0.0639467 1.87795471] [-0.05993659 0.99815059 -0.0101491 0.26851751] [ 0.06322792 0.01394325 0.99790171 -0.09671771] [ 0. 0. 0. 1. ]] SLAMing on 25.24538475 meters Centerline goodness : 0.908619 Centerline is valid? [False, False] Translation: X:1.88, Y:0.27, Z:-0.10 [[ 0.99622129 0.05893199 -0.06379786 1.87712926] [-0.05974754 0.99815346 -0.01095035 0.26996488] [ 0.06303472 0.01472073 0.99790276 -0.09575892] [ 0. 0. 0. 1. ]] SLAMing on 25.275384749999997 meters Centerline goodness : 0.910540 Centerline is valid? [False, False] Translation: X:1.88, Y:0.27, Z:-0.10 [[ 0.99624292 0.05858205 -0.06378236 1.87674591] [-0.05945553 0.99816023 -0.01188225 0.27102861] [ 0.06296892 0.01562983 0.99789309 -0.09505838] [ 0. 0. 0. 1. ]] SLAMing on 25.305384749999998 meters Centerline goodness : 0.911587 Centerline is valid? [False, False] Translation: X:1.87, Y:0.27, Z:-0.09 [[ 0.99628618 0.05869058 -0.06300215 1.87424872] [-0.0596097 0.99813959 -0.01280797 0.27357328] [ 0.06213323 0.01651594 0.9979312 -0.09318822] [ 0. 0. 0. 1. ]] SLAMing on 25.33538475 meters Centerline goodness : 0.915448 Centerline is valid? [False, False] Translation: X:1.88, Y:0.28, Z:-0.09 [[ 0.99630287 0.05819594 -0.06319671 1.87517412] [-0.05928578 0.99812059 -0.01550753 0.27881143] [ 0.06217546 0.01919686 0.9978806 -0.09301556] [ 0. 0. 0. 1. ]] SLAMing on 25.365384749999997 meters Centerline goodness : 0.917414 Centerline is valid? [False, False] Translation: X:1.88, Y:0.28, Z:-0.09 [[ 0.99612289 0.06166077 -0.06274663 1.87532816] [-0.06253632 0.99796952 -0.01208493 0.27953515] [ 0.06187406 0.01596202 0.99795632 -0.09360236] [ 0. 0. 0. 1. ]] SLAMing on 25.395384749999998 meters Centerline goodness : 0.917216 Centerline is valid? [False, False] Translation: X:1.88, Y:0.28, Z:-0.09 [[ 0.99592321 0.06499646 -0.06254942 1.87665909] [-0.06571335 0.99779359 -0.00947101 0.28189688] [ 0.06179583 0.01354273 0.99799693 -0.09481215] [ 0. 0. 0. 1. ]] SLAMing on 25.42538475 meters Centerline goodness : 0.917896 Centerline is valid? [False, False] Translation: X:1.88, Y:0.28, Z:-0.10 [[ 0.99588779 0.0649553 -0.06315313 1.87843595] [-0.06574486 0.99778118 -0.01050344 0.28369491] [ 0.06233075 0.01461224 0.99794858 -0.09543876] [ 0. 0. 0. 1. ]] SLAMing on 25.455384749999997 meters Centerline goodness : 0.917896 Centerline is valid? [False, False] Translation: X:1.88, Y:0.28, Z:-0.10 [[ 0.99588779 0.0649553 -0.06315313 1.87843595] [-0.06574486 0.99778118 -0.01050344 0.28369491] [ 0.06233075 0.01461224 0.99794858 -0.09543876] [ 0. 0. 0. 1. ]] SLAMing on 25.485384749999998 meters Centerline goodness : 0.917127 Centerline is valid? [False, False] Translation: X:1.88, Y:0.29, Z:-0.10 [[ 0.99569019 0.06808969 -0.06296702 1.8801833 ] [-0.06872037 0.99760466 -0.00790261 0.28569778] [ 0.06227811 0.01219567 0.99798432 -0.09720178] [ 0. 0. 0. 1. ]] SLAMing on 25.51538475 meters Centerline goodness : 0.917264 Centerline is valid? [False, False] Translation: X:1.88, Y:0.29, Z:-0.10 [[ 0.99570302 0.06788644 -0.06298349 1.88093542] [-0.06860344 0.99760076 -0.00928958 0.28913417] [ 0.06220174 0.01357055 0.99797133 -0.09764587] [ 0. 0. 0. 1. ]] SLAMing on 25.545384749999997 meters Centerline goodness : 0.917372 Centerline is valid? [False, False] Translation: X:1.88, Y:0.29, Z:-0.10 [[ 0.99572551 0.06750279 -0.06304039 1.88126133] [-0.06826755 0.99761638 -0.01005471 0.29059474] [ 0.0622114 0.01431535 0.99796033 -0.09778612] [ 0. 0. 0. 1. ]] SLAMing on 25.575384749999998 meters Centerline goodness : 0.914974 Centerline is valid? [False, False] Translation: X:1.88, Y:0.29, Z:-0.10 [[ 0.99576832 0.06709868 -0.06279504 1.88087257] [-0.06788815 0.99763746 -0.0105217 0.29151224] [ 0.06194069 0.01474022 0.99797098 -0.09774374] [ 0. 0. 0. 1. ]] SLAMing on 25.60538475 meters Centerline goodness : 0.917822 Centerline is valid? [False, False] Translation: X:1.88, Y:0.29, Z:-0.10 [[ 0.9958933 0.06597774 -0.0619958 1.87936994] [-0.06678701 0.99770583 -0.01107111 0.29188993] [ 0.06112313 0.01516616 0.99801501 -0.0977418 ] [ 0. 0. 0. 1. ]] SLAMing on 25.635384749999997 meters Centerline goodness : 0.918496 Centerline is valid? [False, False] Translation: X:1.88, Y:0.29, Z:-0.10 [[ 0.99594179 0.06556945 -0.061649 1.87883414] [-0.06637618 0.99773262 -0.01112794 0.29195152] [ 0.06077956 0.0151748 0.99803586 -0.09788975] [ 0. 0. 0. 1. ]] SLAMing on 25.665384749999998 meters Centerline goodness : 0.917547 Centerline is valid? [False, False] Translation: X:1.88, Y:0.29, Z:-0.10 [[ 0.99608719 0.06398964 -0.06095605 1.87796591] [-0.06484187 0.99782213 -0.01210504 0.29357934] [ 0.0600487 0.01601018 0.99806705 -0.09841338] [ 0. 0. 0. 1. ]] SLAMing on 25.69538475 meters Centerline goodness : 0.916591 Centerline is valid? [False, False] Translation: X:1.88, Y:0.29, Z:-0.10 [[ 0.9961592 0.06333864 -0.06045709 1.8772264 ] [-0.06420878 0.99785747 -0.01255817 0.29432779] [ 0.05953214 0.01639182 0.9980918 -0.09854314] [ 0. 0. 0. 1. ]] SLAMing on 25.725384749999996 meters Centerline goodness : 0.916512 Centerline is valid? [False, False] Translation: X:1.88, Y:0.30, Z:-0.10 [[ 0.99618879 0.06301422 -0.06030834 1.87704556] [-0.063906 0.9978716 -0.01297243 0.29520965] [ 0.05936253 0.01677705 0.9980955 -0.09859768] [ 0. 0. 0. 1. ]] SLAMing on 25.755384749999997 meters Centerline goodness : 0.915969 Centerline is valid? [False, False] Translation: X:1.88, Y:0.30, Z:-0.10 [[ 0.99620217 0.06253941 -0.06058102 1.87857512] [-0.06351779 0.9978774 -0.0143593 0.29825593] [ 0.05955441 0.01815274 0.99805999 -0.09955011] [ 0. 0. 0. 1. ]] SLAMing on 25.78538475 meters Centerline goodness : 0.913612 Centerline is valid? [False, False] Translation: X:1.88, Y:0.30, Z:-0.10 [[ 0.99618841 0.06242935 -0.06091981 1.87976335] [-0.06346297 0.99786873 -0.01518038 0.30007768] [ 0.05984228 0.01898867 0.99802722 -0.10004502] [ 0. 0. 0. 1. ]] SLAMing on 25.81538475 meters Centerline goodness : 0.912339 Centerline is valid? [False, False] Translation: X:1.88, Y:0.30, Z:-0.10 [[ 0.99597042 0.06596112 -0.06076232 1.88043415] [-0.06684865 0.99768244 -0.01268918 0.30258738] [ 0.05978451 0.01669993 0.9980716 -0.10027124] [ 0. 0. 0. 1. ]] SLAMing on 25.845384749999997 meters Centerline goodness : 0.911794 Centerline is valid? [False, False] Translation: X:1.88, Y:0.31, Z:-0.10 [[ 0.99594597 0.06611913 -0.0609908 1.88097483] [-0.06707635 0.99765267 -0.01378068 0.30525747] [ 0.05993647 0.01781586 0.99804319 -0.09994252] [ 0. 0. 0. 1. ]] SLAMing on 25.87538475 meters Centerline goodness : 0.913022 Centerline is valid? [False, False] Translation: X:1.88, Y:0.31, Z:-0.10 [[ 0.99571473 0.06962455 -0.06086545 1.88148698] [-0.07046358 0.99744519 -0.01174629 0.30896528] [ 0.05989212 0.01598475 0.99807686 -0.09967406] [ 0. 0. 0. 1. ]] SLAMing on 25.90538475 meters Centerline goodness : 0.911420 Centerline is valid? [False, False] Translation: X:1.88, Y:0.31, Z:-0.10 [[ 0.99570835 0.06953916 -0.06106706 1.88199919] [-0.07044378 0.99743381 -0.01278521 0.31147177] [ 0.06002128 0.01703214 0.99805178 -0.09953044] [ 0. 0. 0. 1. ]] SLAMing on 25.935384749999997 meters Centerline goodness : 0.909312 Centerline is valid? [False, False] Translation: X:1.88, Y:0.31, Z:-0.10 [[ 0.99571068 0.06917448 -0.06144204 1.88315148] [-0.07013812 0.99744368 -0.01366537 0.31290665] [ 0.06033968 0.01791619 0.9980171 -0.09997336] [ 0. 0. 0. 1. ]] SLAMing on 25.96538475 meters Centerline goodness : 0.908939 Centerline is valid? [False, False] Translation: X:1.88, Y:0.31, Z:-0.10 [[ 0.99574644 0.06892762 -0.06113933 1.88272345] [-0.06986813 0.99746652 -0.01337841 0.31205404] [ 0.06006229 0.01759319 0.99803958 -0.10028457] [ 0. 0. 0. 1. ]] SLAMing on 25.99538475 meters Centerline goodness : 0.908198 Centerline is valid? [False, False] Translation: X:1.88, Y:0.31, Z:-0.10 [[ 0.9960796 0.0637768 -0.06130214 1.88332728] [-0.06498017 0.99772709 -0.01783916 0.31271138] [ 0.06002508 0.02175264 0.99795983 -0.10142727] [ 0. 0. 0. 1. ]] SLAMing on 26.025384749999997 meters Centerline goodness : 0.907743 Centerline is valid? [False, False] Translation: X:1.88, Y:0.31, Z:-0.10 [[ 0.99613913 0.06317448 -0.06095757 1.88320341] [-0.06437381 0.99776506 -0.01791387 0.31281092] [ 0.05968963 0.02176878 0.99797959 -0.10219194] [ 0. 0. 0. 1. ]] SLAMing on 26.055384749999998 meters Centerline goodness : 0.908042 Centerline is valid? [False, False] Translation: X:1.88, Y:0.31, Z:-0.10 [[ 0.99622912 0.06185442 -0.06084055 1.88330293] [-0.06311393 0.99782543 -0.01900088 0.31471671] [ 0.05953296 0.02276911 0.99796663 -0.10248279] [ 0. 0. 0. 1. ]] SLAMing on 26.08538475 meters Centerline goodness : 0.906342 Centerline is valid? [False, False] Translation: X:1.88, Y:0.32, Z:-0.10 [[ 0.99625196 0.06158793 -0.0607368 1.8829349 ] [-0.0628679 0.99783345 -0.01939134 0.31556089] [ 0.05941094 0.02313705 0.99796544 -0.10210996] [ 0. 0. 0. 1. ]] SLAMing on 26.115384749999997 meters Centerline goodness : 0.908616 Centerline is valid? [False, False] Translation: X:1.88, Y:0.32, Z:-0.10 [[ 0.99612613 0.06417299 -0.06012115 1.88173483] [-0.06528146 0.99772787 -0.01665619 0.31649052] [ 0.05891567 0.02051646 0.99805211 -0.10149305] [ 0. 0. 0. 1. ]] SLAMing on 26.145384749999998 meters Centerline goodness : 0.907653 Centerline is valid? [False, False] Translation: X:1.88, Y:0.32, Z:-0.10 [[ 0.99612494 0.0641133 -0.06020452 1.88206401] [-0.06525955 0.9977189 -0.01726798 0.31794816] [ 0.05896008 0.02112998 0.99803669 -0.10151365] [ 0. 0. 0. 1. ]] SLAMing on 26.17538475 meters Centerline goodness : 0.907567 Centerline is valid? [False, False] Translation: X:1.88, Y:0.32, Z:-0.10 [[ 0.99608162 0.06414166 -0.06088727 1.88361309] [-0.06546917 0.99765289 -0.02006218 0.3238528 ] [ 0.05945754 0.0239698 0.99794301 -0.10081158] [ 0. 0. 0. 1. ]] SLAMing on 26.205384749999997 meters Centerline goodness : 0.906971 Centerline is valid? [False, False] Translation: X:1.88, Y:0.32, Z:-0.10 [[ 0.99585265 0.06788705 -0.06057098 1.88356446] [-0.06900462 0.99747903 -0.0165512 0.32476373] [ 0.05929467 0.02066224 0.99802666 -0.10072814] [ 0. 0. 0. 1. ]] SLAMing on 26.235384749999998 meters Centerline goodness : 0.907779 Centerline is valid? [False, False] Translation: X:1.88, Y:0.33, Z:-0.10 [[ 0.99559481 0.07181121 -0.06028367 1.88351168] [-0.07274848 0.99725899 -0.01349682 0.32694799] [ 0.05914921 0.0178229 0.99809003 -0.10031649] [ 0. 0. 0. 1. ]] SLAMing on 26.26538475 meters Centerline goodness : 0.906653 Centerline is valid? [False, False] Translation: X:1.88, Y:0.33, Z:-0.10 [[ 0.99560052 0.0715299 -0.0605233 1.88410069] [-0.07253387 0.99725975 -0.01455419 0.32887457] [ 0.0593164 0.01888015 0.99806067 -0.10025812] [ 0. 0. 0. 1. ]] SLAMing on 26.295384749999997 meters Centerline goodness : 0.905401 Centerline is valid? [False, False] Translation: X:1.88, Y:0.33, Z:-0.10 [[ 0.99536717 0.07490779 -0.06027461 1.88483525] [-0.0757148 0.99706644 -0.011215 0.32960503] [ 0.0592577 0.01572673 0.99811883 -0.1011267 ] [ 0. 0. 0. 1. ]] SLAMing on 26.325384749999998 meters Centerline goodness : 0.905327 Centerline is valid? [False, False] Translation: X:1.89, Y:0.33, Z:-0.10 [[ 0.99535913 0.07478849 -0.06055483 1.88594849] [-0.07563957 0.99706441 -0.01188336 0.33144241] [ 0.05948833 0.01640855 0.99809413 -0.10170818] [ 0. 0. 0. 1. ]] SLAMing on 26.35538475 meters Centerline goodness : 0.907759 Centerline is valid? [False, False] Translation: X:1.89, Y:0.33, Z:-0.10 [[ 0.99538095 0.0742706 -0.06083297 1.88669983] [-0.0752157 0.99707734 -0.01339311 0.33447108] [ 0.05966046 0.01790684 0.9980581 -0.10165292] [ 0. 0. 0. 1. ]] SLAMing on 26.385384749999997 meters Centerline goodness : 0.903279 Centerline is valid? [False, False] Translation: X:1.89, Y:0.34, Z:-0.10 [[ 0.99536878 0.07429477 -0.06100234 1.88717721] [-0.07525955 0.99707027 -0.01367001 0.33523828] [ 0.05980801 0.01819771 0.99804401 -0.10176611] [ 0. 0. 0. 1. ]] SLAMing on 26.415384749999998 meters Centerline goodness : 0.905280 Centerline is valid? [False, False] Translation: X:1.89, Y:0.34, Z:-0.10 [[ 0.99532143 0.07458895 -0.06141455 1.88837025] [-0.07558434 0.99704051 -0.01404407 0.33656951] [ 0.06018527 0.01862034 0.99801354 -0.10212898] [ 0. 0. 0. 1. ]] SLAMing on 26.44538475 meters Centerline goodness : 0.906587 Centerline is valid? [False, False] Translation: X:1.89, Y:0.34, Z:-0.10 [[ 0.99525931 0.0751732 -0.0617082 1.88924262] [-0.07622331 0.99698033 -0.01484003 0.33909866] [ 0.06040629 0.01947328 0.9979839 -0.10208591] [ 0. 0. 0. 1. ]] SLAMing on 26.475384749999996 meters Centerline goodness : 0.907093 Centerline is valid? [False, False] Translation: X:1.89, Y:0.34, Z:-0.10 [[ 0.99498217 0.07890892 -0.06151311 1.88959448] [-0.07974311 0.99675227 -0.01122252 0.33949387] [ 0.06042777 0.01607145 0.99804318 -0.10225555] [ 0. 0. 0. 1. ]] SLAMing on 26.505384749999997 meters Centerline goodness : 0.911996 Centerline is valid? [False, False] Translation: X:1.89, Y:0.34, Z:-0.10 [[ 0.99465297 0.082799 -0.06172353 1.89093368] [-0.08347327 0.99647442 -0.00842222 0.34224949] [ 0.06080857 0.01352945 0.99805775 -0.10235427] [ 0. 0. 0. 1. ]] SLAMing on 26.53538475 meters Centerline goodness : 0.907143 Centerline is valid? [False, False] Translation: X:1.89, Y:0.34, Z:-0.10 [[ 0.99464465 0.0827678 -0.06189915 1.89128754] [-0.08347251 0.99647049 -0.00888242 0.34343045] [ 0.0609455 0.01400173 0.99804288 -0.1022352 ] [ 0. 0. 0. 1. ]] SLAMing on 26.56538475 meters Centerline goodness : 0.909946 Centerline is valid? [False, False] Translation: X:1.89, Y:0.34, Z:-0.10 [[ 0.9946445 0.08280009 -0.06185836 1.89094389] [-0.08349779 0.99646932 -0.00877601 0.34291639] [ 0.0609133 0.01389405 0.99804635 -0.10194172] [ 0. 0. 0. 1. ]] SLAMing on 26.595384749999997 meters Centerline goodness : 0.915065 Centerline is valid? [False, False] Translation: X:1.89, Y:0.34, Z:-0.10 [[ 0.99497778 0.07863578 -0.0619324 1.88988098] [-0.07956987 0.99674763 -0.01275956 0.34283232] [ 0.06072762 0.01762343 0.99799878 -0.101187 ] [ 0. 0. 0. 1. ]] SLAMing on 26.62538475 meters Centerline goodness : 0.914940 Centerline is valid? [False, False] Translation: X:1.89, Y:0.34, Z:-0.10 [[ 0.99503093 0.07809795 -0.06175895 1.88915798] [-0.07902078 0.99679283 -0.01264024 0.34175138] [ 0.0605737 0.01745767 0.99801105 -0.1008975 ] [ 0. 0. 0. 1. ]] SLAMing on 26.65538475 meters Centerline goodness : 0.918200 Centerline is valid? [False, False] Translation: X:1.89, Y:0.34, Z:-0.10 [[ 0.99515017 0.07673996 -0.06153952 1.88860461] [-0.07766301 0.99689818 -0.01274672 0.33985034] [ 0.06037045 0.01746424 0.99802325 -0.10115276] [ 0. 0. 0. 1. ]] SLAMing on 26.685384749999997 meters Centerline goodness : 0.917238 Centerline is valid? [False, False] Translation: X:1.89, Y:0.34, Z:-0.10 [[ 0.99516093 0.07667447 -0.06144718 1.88870146] [-0.07760606 0.99690042 -0.01291683 0.34024468] [ 0.06026633 0.017623 0.99802675 -0.10140956] [ 0. 0. 0. 1. ]] SLAMing on 26.71538475 meters Centerline goodness : 0.919232 Centerline is valid? [False, False] Translation: X:1.89, Y:0.34, Z:-0.10 [[ 0.99490709 0.08025184 -0.06098787 1.88840158] [-0.08096396 0.99667371 -0.00929245 0.34035311] [ 0.06003927 0.01418294 0.99809525 -0.10142216] [ 0. 0. 0. 1. ]] SLAMing on 26.74538475 meters Centerline goodness : 0.923090 Centerline is valid? [False, False] Translation: X:1.89, Y:0.34, Z:-0.10 [[ 0.99490585 0.08024164 -0.06102156 1.88849107] [-0.08099385 0.99666492 -0.00995107 0.34220955] [ 0.06001956 0.01484275 0.99808684 -0.10117761] [ 0. 0. 0. 1. ]] SLAMing on 26.775384749999997 meters Centerline goodness : 0.921080 Centerline is valid? [False, False] Translation: X:1.89, Y:0.35, Z:-0.10 [[ 0.99489961 0.0803141 -0.06102803 1.88897813] [-0.08112936 0.99664292 -0.01099645 0.34530659] [ 0.05993999 0.01589153 0.99807548 -0.10126492] [ 0. 0. 0. 1. ]] SLAMing on 26.805384749999998 meters Centerline goodness : 0.920211 Centerline is valid? [False, False] Translation: X:1.89, Y:0.35, Z:-0.10 [[ 0.9948923 0.08026066 -0.06121707 1.88993762] [-0.08110478 0.99664007 -0.0114271 0.34647419] [ 0.06009424 0.01633373 0.99805906 -0.10194568] [ 0. 0. 0. 1. ]] SLAMing on 26.83538475 meters Centerline goodness : 0.919551 Centerline is valid? [False, False] Translation: X:1.89, Y:0.35, Z:-0.10 [[ 0.9948508 0.08051295 -0.06155927 1.89321663] [-0.08133849 0.99662561 -0.01102015 0.34681927] [ 0.06046428 0.01597055 0.99804259 -0.10483815] [ 0. 0. 0. 1. ]] SLAMing on 26.865384749999997 meters Centerline goodness : 0.918727 Centerline is valid? [False, False] Translation: X:1.89, Y:0.35, Z:-0.11 [[ 0.99486068 0.08044998 -0.06148199 1.89331049] [-0.08127796 0.99662985 -0.0110829 0.34682384] [ 0.06038317 0.01602308 0.99804666 -0.10514175] [ 0. 0. 0. 1. ]] SLAMing on 26.895384749999998 meters Centerline goodness : 0.917968 Centerline is valid? [False, False] Translation: X:1.89, Y:0.35, Z:-0.11 [[ 0.99484266 0.08058353 -0.06159855 1.89433075] [-0.0814364 0.99661267 -0.01145862 0.34840936] [ 0.06046651 0.01641589 0.99803523 -0.10590517] [ 0. 0. 0. 1. ]] SLAMing on 26.92538475 meters Centerline goodness : 0.915469 Centerline is valid? [False, False] Translation: X:1.90, Y:0.35, Z:-0.11 [[ 0.99482314 0.08062944 -0.06185323 1.89506371] [-0.08151089 0.99660191 -0.01185806 0.34987459] [ 0.06068694 0.01683839 0.99801481 -0.10609444] [ 0. 0. 0. 1. ]] SLAMing on 26.955384749999997 meters Centerline goodness : 0.931564 Centerline is valid? [False, False] Translation: X:1.90, Y:0.35, Z:-0.11 [[ 0.99459869 0.08314295 -0.06213445 1.89738839] [-0.08387093 0.99643419 -0.00919676 0.34977084] [ 0.06114824 0.01435836 0.99802542 -0.10770542] [ 0. 0. 0. 1. ]] SLAMing on 26.985384749999998 meters Centerline goodness : 0.916041 Centerline is valid? [False, False] Translation: X:1.90, Y:0.35, Z:-0.11 [[ 0.99459437 0.08313465 -0.06221463 1.89737183] [-0.08385911 0.99643588 -0.00912092 0.34929786] [ 0.06123463 0.01428888 0.99802112 -0.10756529] [ 0. 0. 0. 1. ]] SLAMing on 27.01538475 meters Centerline goodness : 0.917237 Centerline is valid? [False, False] Translation: X:1.90, Y:0.35, Z:-0.11 [[ 0.99462624 0.08295245 -0.06194786 1.89616096] [-0.08366713 0.99645285 -0.00902888 0.34879417] [ 0.06097916 0.01416336 0.99803855 -0.10664233] [ 0. 0. 0. 1. ]] SLAMing on 27.045384749999997 meters Centerline goodness : 0.917761 Centerline is valid? [False, False] Translation: X:1.90, Y:0.35, Z:-0.11 [[ 0.99464325 0.08280796 -0.06186797 1.89563308] [-0.08353243 0.99646248 -0.00921226 0.34900026] [ 0.06088626 0.01433089 0.99804183 -0.10612743] [ 0. 0. 0. 1. ]] SLAMing on 27.075384749999998 meters Centerline goodness : 0.918218 Centerline is valid? [False, False] Translation: X:1.90, Y:0.35, Z:-0.11 [[ 0.99465326 0.08267753 -0.06188142 1.89570473] [-0.0834079 0.996472 -0.00930956 0.34886574] [ 0.06089341 0.01442118 0.99804009 -0.10622317] [ 0. 0. 0. 1. ]] SLAMing on 27.10538475 meters Centerline goodness : 0.920666 Centerline is valid? [False, False] Translation: X:1.90, Y:0.35, Z:-0.11 [[ 0.99465359 0.08255104 -0.06204479 1.8961465 ] [-0.08329869 0.99647879 -0.00955739 0.34950895] [ 0.06103734 0.01467454 0.99802761 -0.10639001] [ 0. 0. 0. 1. ]] SLAMing on 27.135384749999997 meters Centerline goodness : 0.923320 Centerline is valid? [False, False] Translation: X:1.90, Y:0.35, Z:-0.11 [[ 0.99441066 0.08574429 -0.06160652 1.89612064] [-0.086326 0.99624347 -0.00683869 0.35196879] [ 0.06078871 0.01211871 0.99807709 -0.10642011] [ 0. 0. 0. 1. ]] SLAMing on 27.165384749999998 meters Centerline goodness : 0.925378 Centerline is valid? [False, False] Translation: X:1.90, Y:0.35, Z:-0.11 [[ 0.99441809 0.08568924 -0.06156313 1.89592496] [-0.08631798 0.99623848 -0.0076221 0.35410708] [ 0.06067843 0.01289356 0.99807409 -0.1059964 ] [ 0. 0. 0. 1. ]] SLAMing on 27.19538475 meters Centerline goodness : 0.924051 Centerline is valid? [False, False] Translation: X:1.90, Y:0.36, Z:-0.11 [[ 0.99441658 0.08560814 -0.0617001 1.89571681] [-0.08627823 0.99623672 -0.00827438 0.35564466] [ 0.06075955 0.01355156 0.99806044 -0.1052227 ] [ 0. 0. 0. 1. ]] SLAMing on 27.225384749999996 meters Centerline goodness : 0.924817 Centerline is valid? [False, False] Translation: X:1.90, Y:0.36, Z:-0.10 [[ 0.99438028 0.0857344 -0.06210848 1.89610902] [-0.08646967 0.99621159 -0.00924411 0.35826913] [ 0.06108065 0.01456267 0.99802659 -0.10441015] [ 0. 0. 0. 1. ]] SLAMing on 27.255384749999997 meters Centerline goodness : 0.925189 Centerline is valid? [False, False] Translation: X:1.90, Y:0.36, Z:-0.10 [[ 0.99438719 0.08559831 -0.06218565 1.89642288] [-0.08636676 0.99621549 -0.00977133 0.35941874] [ 0.0611139 0.01508726 0.99801677 -0.1045051 ] [ 0. 0. 0. 1. ]] SLAMing on 27.28538475 meters Centerline goodness : 0.927306 Centerline is valid? [False, False] Translation: X:1.90, Y:0.36, Z:-0.11 [[ 0.99438994 0.08525174 -0.06261621 1.89795952] [-0.08606888 0.99623422 -0.01046581 0.36078398] [ 0.06148819 0.01579641 0.9979828 -0.10536648] [ 0. 0. 0. 1. ]] SLAMing on 27.31538475 meters Centerline goodness : 0.926226 Centerline is valid? [False, False] Translation: X:1.90, Y:0.36, Z:-0.11 [[ 0.99438646 0.08525425 -0.06266809 1.89842499] [-0.08607895 0.99623219 -0.01057494 0.36122129] [ 0.06153041 0.01590998 0.9979784 -0.10576824] [ 0. 0. 0. 1. ]] SLAMing on 27.345384749999997 meters Centerline goodness : 0.926226 Centerline is valid? [False, False] Translation: X:1.90, Y:0.36, Z:-0.11 [[ 0.99438646 0.08525425 -0.06266809 1.89842499] [-0.08607895 0.99623219 -0.01057494 0.36122129] [ 0.06153041 0.01590998 0.9979784 -0.10576824] [ 0. 0. 0. 1. ]] SLAMing on 27.37538475 meters Centerline goodness : 0.926325 Centerline is valid? [False, False] Translation: X:1.90, Y:0.36, Z:-0.11 [[ 0.99438109 0.08516923 -0.06286853 1.89890179] [-0.08600884 0.99623619 -0.01076689 0.36194823] [ 0.0617149 0.01611364 0.99796374 -0.10583488] [ 0. 0. 0. 1. ]] SLAMing on 27.40538475 meters Centerline goodness : 0.926675 Centerline is valid? [False, False] Translation: X:1.90, Y:0.36, Z:-0.11 [[ 0.99435968 0.08531795 -0.06300535 1.89879437] [-0.086157 0.99622392 -0.0107176 0.361918 ] [ 0.06185303 0.0160855 0.99795564 -0.10533935] [ 0. 0. 0. 1. ]] SLAMing on 27.435384749999997 meters Centerline goodness : 0.923863 Centerline is valid? [False, False] Translation: X:1.90, Y:0.36, Z:-0.10 [[ 0.99415943 0.08797646 -0.06250744 1.8971623 ] [-0.08866001 0.99602785 -0.00824193 0.36193249] [ 0.06153406 0.01373571 0.99801047 -0.10416348] [ 0. 0. 0. 1. ]] SLAMing on 27.46538475 meters Centerline goodness : 0.927794 Centerline is valid? [False, False] Translation: X:1.90, Y:0.36, Z:-0.10 [[ 9.93354250e-01 9.70486892e-02 -6.18779861e-02 1.89759900e+00] [-9.72560259e-02 9.95259338e-01 -3.40550223e-04 3.62942558e-01] [ 6.15515935e-02 6.35629403e-03 9.98083663e-01 -1.04285188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.49538475 meters Centerline goodness : 0.925826 Centerline is valid? [False, False] Translation: X:1.90, Y:0.36, Z:-0.10 [[ 0.99291672 0.10160202 -0.06159073 1.89778317] [-0.10158823 0.99482085 0.00336353 0.36432262] [ 0.06161348 0.00291719 0.99809582 -0.10416663] [ 0. 0. 0. 1. ]] SLAMing on 27.525384749999997 meters Centerline goodness : 0.926878 Centerline is valid? [False, False] Translation: X:1.90, Y:0.37, Z:-0.10 [[ 9.92449478e-01 1.06231604e-01 -6.13097006e-02 1.89813651e+00] [-1.05983149e-01 9.94341133e-01 7.29953383e-03 3.65088991e-01] [ 6.17381983e-02 -7.46623419e-04 9.98092099e-01 -1.04174618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.555384749999998 meters Centerline goodness : 0.926221 Centerline is valid? [False, False] Translation: X:1.90, Y:0.37, Z:-0.10 [[ 0.99186923 0.11172115 -0.06094103 1.89833219] [-0.11121069 0.9937278 0.0117154 0.36552172] [ 0.06186766 -0.00484285 0.99807261 -0.1041151 ] [ 0. 0. 0. 1. ]] SLAMing on 27.58538475 meters Centerline goodness : 0.927131 Centerline is valid? [False, False] Translation: X:1.90, Y:0.36, Z:-0.10 [[ 0.99162494 0.1141716 -0.06037235 1.89598339] [-0.11353279 0.99343675 0.01391899 0.36384387] [ 0.06156526 -0.00694818 0.99807888 -0.1022517 ] [ 0. 0. 0. 1. ]] SLAMing on 27.615384749999997 meters Centerline goodness : 0.926444 Centerline is valid? [False, False] Translation: X:1.90, Y:0.36, Z:-0.10 [[ 0.99156778 0.11466532 -0.06037546 1.89534809] [-0.11397984 0.99337446 0.01468913 0.36237343] [ 0.06165978 -0.00768369 0.99806765 -0.10149333] [ 0. 0. 0. 1. ]] SLAMing on 27.645384749999998 meters Centerline goodness : 0.928589 Centerline is valid? [False, False] Translation: X:1.89, Y:0.36, Z:-0.10 [[ 0.99146085 0.11562033 -0.06031018 1.89467665] [-0.1148308 0.99324954 0.01640833 0.35890325] [ 0.0618002 -0.00934275 0.99804481 -0.10088661] [ 0. 0. 0. 1. ]] SLAMing on 27.67538475 meters Centerline goodness : 0.928736 Centerline is valid? [False, False] Translation: X:1.89, Y:0.36, Z:-0.10 [[ 0.99139319 0.11623902 -0.06023318 1.8944974 ] [-0.11538989 0.99316785 0.0174007 0.3571056 ] [ 0.06184429 -0.01030064 0.99803265 -0.10086377] [ 0. 0. 0. 1. ]] SLAMing on 27.705384749999997 meters Centerline goodness : 0.926462 Centerline is valid? [False, False] Translation: X:1.89, Y:0.36, Z:-0.10 [[ 0.99175432 0.112911 -0.06061742 1.89429382] [-0.11227948 0.99358172 0.01373617 0.35732035] [ 0.06177932 -0.00681681 0.99806655 -0.10065545] [ 0. 0. 0. 1. ]] SLAMing on 27.735384749999998 meters Centerline goodness : 0.932913 Centerline is valid? [False, False] Translation: X:1.89, Y:0.35, Z:-0.10 [[ 0.99207547 0.10984315 -0.06099789 1.89393042] [-0.10933739 0.99393726 0.0115783 0.35305509] [ 0.06189987 -0.0048172 0.99807074 -0.10057217] [ 0. 0. 0. 1. ]] SLAMing on 27.76538475 meters Centerline goodness : 0.934943 Centerline is valid? [False, False] Translation: X:1.89, Y:0.35, Z:-0.10 [[ 9.92739315e-01 1.03355852e-01 -6.15322672e-02 1.89281529e+00] [-1.03122452e-01 9.94644280e-01 6.96536773e-03 3.45980901e-01] [ 6.19226291e-02 -5.69436140e-04 9.98080790e-01 -1.00378121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.795384749999997 meters Centerline goodness : 0.937143 Centerline is valid? [False, False] Translation: X:1.89, Y:0.34, Z:-0.10 [[ 9.93111716e-01 9.96210588e-02 -6.16827723e-02 1.89212457e+00] [-9.95380624e-02 9.95023918e-01 4.42457912e-03 3.42446565e-01] [ 6.18166150e-02 1.74568228e-03 9.98085998e-01 -1.00429234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.825384749999998 meters Centerline goodness : 0.938519 Centerline is valid? [False, False] Translation: X:1.89, Y:0.34, Z:-0.10 [[ 9.93790832e-01 9.23678864e-02 -6.20319001e-02 1.89093775e+00] [-9.25481934e-02 9.95708206e-01 -3.35897994e-05 3.35325024e-01] [ 6.17625693e-02 5.77432152e-03 9.98074167e-01 -1.00509842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.85538475 meters Centerline goodness : 0.938395 Centerline is valid? [False, False] Translation: X:1.89, Y:0.33, Z:-0.10 [[ 0.99409901 0.08873508 -0.0623958 1.89083384] [-0.0890604 0.99602322 -0.00244652 0.33219056] [ 0.06193057 0.00798908 0.99804849 -0.1007908 ] [ 0. 0. 0. 1. ]] SLAMing on 27.885384749999997 meters Centerline goodness : 0.929996 Centerline is valid? [False, False] Translation: X:1.89, Y:0.33, Z:-0.10 [[ 0.99435169 0.08578345 -0.06249726 1.89005977] [-0.08614375 0.99627793 -0.00308853 0.32548399] [ 0.0619997 0.00845484 0.99804036 -0.10110263] [ 0. 0. 0. 1. ]] SLAMing on 27.915384749999998 meters Centerline goodness : 0.941148 Centerline is valid? [False, False] Translation: X:1.89, Y:0.32, Z:-0.10 [[ 0.99461886 0.0822065 -0.06305088 1.89033163] [-0.08279286 0.99654399 -0.00673965 0.32494598] [ 0.06227893 0.01192355 0.99798756 -0.10096838] [ 0. 0. 0. 1. ]] SLAMing on 27.94538475 meters Centerline goodness : 0.944625 Centerline is valid? [False, False] Translation: X:1.89, Y:0.32, Z:-0.10 [[ 0.99481097 0.07960047 -0.06336317 1.88932266] [-0.08028108 0.996738 -0.0082647 0.32051019] [ 0.0624986 0.01330867 0.99795631 -0.10018923] [ 0. 0. 0. 1. ]] SLAMing on 27.975384749999996 meters Centerline goodness : 0.942081 Centerline is valid? [False, False] Translation: X:1.89, Y:0.32, Z:-0.10 [[ 0.9947907 0.07984356 -0.06337562 1.8891289 ] [-0.08043941 0.9967356 -0.00690266 0.31738251] [ 0.0626176 0.0119646 0.99796587 -0.10035223] [ 0. 0. 0. 1. ]] SLAMing on 28.005384749999997 meters Centerline goodness : 0.945407 Centerline is valid? [False, False] Translation: X:1.89, Y:0.32, Z:-0.10 [[ 0.99508099 0.07597445 -0.06357443 1.88882685] [-0.07676476 0.99699829 -0.01007882 0.31569676] [ 0.06261787 0.01490952 0.9979262 -0.1004875 ] [ 0. 0. 0. 1. ]] SLAMing on 28.03538475 meters Centerline goodness : 0.927698 Centerline is valid? [False, False] Translation: X:1.89, Y:0.31, Z:-0.10 [[ 0.99509661 0.07595428 -0.06335366 1.88825331] [-0.07668405 0.99701332 -0.0091645 0.31411037] [ 0.06246836 0.01397778 0.99794906 -0.10053438] [ 0. 0. 0. 1. ]] SLAMing on 28.06538475 meters Centerline goodness : 0.945815 Centerline is valid? [False, False] Translation: X:1.89, Y:0.31, Z:-0.10 [[ 0.99540169 0.07178997 -0.06341667 1.88726101] [-0.07268788 0.99728298 -0.01196406 0.31138562] [ 0.06238546 0.01651866 0.99791542 -0.10024528] [ 0. 0. 0. 1. ]] SLAMing on 28.095384749999997 meters Centerline goodness : 0.945404 Centerline is valid? [False, False] Translation: X:1.89, Y:0.31, Z:-0.10 [[ 0.995447 0.07146914 -0.06306694 1.88627233] [-0.07230463 0.99732123 -0.01106345 0.3089549 ] [ 0.0621073 0.01557311 0.99794798 -0.10016564] [ 0. 0. 0. 1. ]] SLAMing on 28.12538475 meters Centerline goodness : 0.927465 Centerline is valid? [False, False] Translation: X:1.89, Y:0.31, Z:-0.10 [[ 0.9954781 0.07125892 -0.0628133 1.88550978] [-0.07206794 0.99734226 -0.01070667 0.30790329] [ 0.06188341 0.01518508 0.99796786 -0.09994059] [ 0. 0. 0. 1. ]] SLAMing on 28.15538475 meters Centerline goodness : 0.948772 Centerline is valid? [False, False] Translation: X:1.88, Y:0.31, Z:-0.10 [[ 0.99551888 0.07098041 -0.0624816 1.88477246] [-0.07178082 0.99736349 -0.01065753 0.30747917] [ 0.0615604 0.01509475 0.99798921 -0.09978901] [ 0. 0. 0. 1. ]] SLAMing on 28.185384749999997 meters Centerline goodness : 0.924323 Centerline is valid? [False, False] Translation: X:1.89, Y:0.31, Z:-0.10 [[ 0.99545959 0.07141509 -0.06292928 1.88634394] [-0.07219837 0.99733753 -0.01025934 0.30699897] [ 0.06202906 0.01475615 0.99796526 -0.10081018] [ 0. 0. 0. 1. ]] SLAMing on 28.21538475 meters Centerline goodness : 0.919812 Centerline is valid? [False, False] Translation: X:1.89, Y:0.31, Z:-0.10 [[ 0.99542721 0.07161261 -0.06321638 1.88742599] [-0.07240694 0.99732134 -0.01036205 0.30753206] [ 0.06230499 0.01489197 0.99794605 -0.10147877] [ 0. 0. 0. 1. ]] SLAMing on 28.24538475 meters Centerline goodness : 0.920858 Centerline is valid? [False, False] Translation: X:1.89, Y:0.31, Z:-0.10 [[ 0.9953943 0.07163553 -0.06370664 1.8888049 ] [-0.07247282 0.99731052 -0.01092754 0.30870427] [ 0.0627525 0.01549422 0.99790884 -0.10194969] [ 0. 0. 0. 1. ]] SLAMing on 28.275384749999997 meters Centerline goodness : 0.948760 Centerline is valid? [False, False] Translation: X:1.89, Y:0.31, Z:-0.10 [[ 0.99535319 0.0717996 -0.06416263 1.88996616] [-0.07266983 0.99729169 -0.01133063 0.30942738] [ 0.06317532 0.01594067 0.99787513 -0.10224793] [ 0. 0. 0. 1. ]] SLAMing on 28.305384749999998 meters Centerline goodness : 0.914104 Centerline is valid? [False, False] Translation: X:1.89, Y:0.31, Z:-0.10 [[ 0.99531577 0.07208914 -0.06441803 1.89053673] [-0.07293442 0.99727756 -0.01086489 0.30858525] [ 0.06345941 0.01551229 0.99786385 -0.1024835 ] [ 0. 0. 0. 1. ]] SLAMing on 28.33538475 meters Centerline goodness : 0.913798 Centerline is valid? [False, False] Translation: X:1.89, Y:0.31, Z:-0.10 [[ 0.9952425 0.07305062 -0.06446689 1.89257867] [-0.07379346 0.99723097 -0.00921488 0.30749212] [ 0.06361522 0.01392827 0.9978773 -0.10481241] [ 0. 0. 0. 1. ]] SLAMing on 28.365384749999997 meters Centerline goodness : 0.912677 Centerline is valid? [False, False] Translation: X:1.89, Y:0.31, Z:-0.11 [[ 0.99526222 0.07250066 -0.0647825 1.89404719] [-0.07319284 0.99728266 -0.00837292 0.30553534] [ 0.06399942 0.01307486 0.99786428 -0.10652939] [ 0. 0. 0. 1. ]] SLAMing on 28.395384749999998 meters Centerline goodness : 0.909953 Centerline is valid? [False, False] Translation: X:1.89, Y:0.30, Z:-0.11 [[ 0.99528744 0.07235053 -0.06456251 1.89382035] [-0.07297361 0.99730684 -0.00734237 0.30311181] [ 0.06385741 0.01201913 0.99788665 -0.10718781] [ 0. 0. 0. 1. ]] SLAMing on 28.42538475 meters Centerline goodness : 0.945747 Centerline is valid? [False, False] Translation: X:1.90, Y:0.30, Z:-0.11 [[ 0.99534885 0.07113319 -0.0649672 1.89501955] [-0.07174971 0.99739666 -0.0072034 0.30105009] [ 0.06428567 0.01183127 0.9978614 -0.1082809 ] [ 0. 0. 0. 1. ]] SLAMing on 28.455384749999997 meters Centerline goodness : 0.911658 Centerline is valid? [False, False] Translation: X:1.89, Y:0.30, Z:-0.11 [[ 0.99540873 0.07082025 -0.06438902 1.89370852] [-0.07136966 0.99743023 -0.00627019 0.29889456] [ 0.0637795 0.01083683 0.99790518 -0.10828513] [ 0. 0. 0. 1. ]] SLAMing on 28.485384749999998 meters Centerline goodness : 0.911494 Centerline is valid? [False, False] Translation: X:1.89, Y:0.30, Z:-0.11 [[ 0.99563995 0.06711743 -0.06477909 1.89293652] [-0.06796971 0.99762629 -0.01104137 0.3008047 ] [ 0.06388426 0.01539624 0.99783854 -0.10651215] [ 0. 0. 0. 1. ]] SLAMing on 28.51538475 meters Centerline goodness : 0.913892 Centerline is valid? [False, False] Translation: X:1.89, Y:0.30, Z:-0.11 [[ 0.99566969 0.06702443 -0.06441734 1.8917737 ] [-0.06788379 0.99762988 -0.01124316 0.3011043 ] [ 0.0635111 0.01556737 0.99785971 -0.10574526] [ 0. 0. 0. 1. ]] SLAMing on 28.545384749999997 meters Centerline goodness : 0.911344 Centerline is valid? [False, False] Translation: X:1.89, Y:0.31, Z:-0.10 [[ 0.99560155 0.06807529 -0.06436847 1.8912413 ] [-0.06899591 0.9975425 -0.01218679 0.30510384] [ 0.06338066 0.01657435 0.99785178 -0.10432239] [ 0. 0. 0. 1. ]] SLAMing on 28.575384749999998 meters Centerline goodness : 0.915440 Centerline is valid? [False, False] Translation: X:1.89, Y:0.31, Z:-0.10 [[ 0.99535671 0.07178731 -0.0641217 1.89140871] [-0.07249992 0.99732912 -0.00885358 0.3061421 ] [ 0.06331486 0.01346129 0.99790281 -0.10428004] [ 0. 0. 0. 1. ]] SLAMing on 28.60538475 meters Centerline goodness : 0.940319 Centerline is valid? [False, False] Translation: X:1.89, Y:0.31, Z:-0.10 [[ 0.99533467 0.0716805 -0.06458168 1.89219696] [-0.07249548 0.99731491 -0.01036264 0.30900952] [ 0.06366547 0.01499617 0.99785862 -0.1037436 ] [ 0. 0. 0. 1. ]] SLAMing on 28.635384749999997 meters Centerline goodness : 0.938325 Centerline is valid? [False, False] Translation: X:1.89, Y:0.31, Z:-0.10 [[ 0.99511359 0.07512427 -0.06407249 1.89148764] [-0.07574999 0.99709946 -0.00738978 0.31032393] [ 0.0633315 0.01220716 0.99791789 -0.10309105] [ 0. 0. 0. 1. ]] SLAMing on 28.665384749999998 meters Centerline goodness : 0.913827 Centerline is valid? [False, False] Translation: X:1.89, Y:0.31, Z:-0.10 [[ 0.99511033 0.07493789 -0.06434081 1.89183394] [-0.0756316 0.99710035 -0.00841137 0.31207783] [ 0.06352391 0.01323644 0.99789253 -0.10260698] [ 0. 0. 0. 1. ]] SLAMing on 28.69538475 meters Centerline goodness : 0.940776 Centerline is valid? [False, False] Translation: X:1.89, Y:0.31, Z:-0.10 [[ 0.99485267 0.07851471 -0.06405932 1.89201406] [-0.07900358 0.99686113 -0.00513055 0.31318927] [ 0.06345542 0.01016506 0.9979329 -0.10262532] [ 0. 0. 0. 1. ]] SLAMing on 28.725384749999996 meters Centerline goodness : 0.940207 Centerline is valid? [False, False] Translation: X:1.89, Y:0.31, Z:-0.10 [[ 0.99486582 0.0781873 -0.06425529 1.89313923] [-0.07872639 0.99687882 -0.0058973 0.31469086] [ 0.06359364 0.01092561 0.99791607 -0.10343385] [ 0. 0. 0. 1. ]] SLAMing on 28.755384749999997 meters Centerline goodness : 0.940333 Centerline is valid? [False, False] Translation: X:1.89, Y:0.31, Z:-0.10 [[ 0.99486686 0.07811297 -0.06432965 1.89354422] [-0.07865229 0.99688471 -0.0058905 0.31456458] [ 0.06366912 0.01091994 0.99791132 -0.10382223] [ 0. 0. 0. 1. ]] SLAMing on 28.78538475 meters Centerline goodness : 0.913112 Centerline is valid? [False, False] Translation: X:1.90, Y:0.31, Z:-0.11 [[ 0.9948924 0.07724446 -0.06498005 1.89679936] [-0.07777994 0.99695398 -0.00574799 0.31305834] [ 0.06433812 0.01077277 0.99787001 -0.10662565] [ 0. 0. 0. 1. ]] SLAMing on 28.815384749999996 meters Centerline goodness : 0.909655 Centerline is valid? [False, False] Translation: X:1.90, Y:0.31, Z:-0.11 [[ 0.99489316 0.07707105 -0.06517403 1.89779976] [-0.0776052 0.99696787 -0.00570045 0.31279688] [ 0.06453708 0.01072918 0.99785763 -0.10754295] [ 0. 0. 0. 1. ]] SLAMing on 28.845384749999997 meters Centerline goodness : 0.935757 Centerline is valid? [False, False] Translation: X:1.90, Y:0.31, Z:-0.11 [[ 0.99488985 0.07685636 -0.06547736 1.89898378] [-0.07741726 0.99698031 -0.00606878 0.31357741] [ 0.06481321 0.01110685 0.9978356 -0.10829098] [ 0. 0. 0. 1. ]] SLAMing on 28.87538475 meters Centerline goodness : 0.937340 Centerline is valid? [False, False] Translation: X:1.90, Y:0.31, Z:-0.11 [[ 0.99484321 0.07707874 -0.06592305 1.89987636] [-0.07765753 0.99696045 -0.00625887 0.3140814 ] [ 0.06524025 0.01134601 0.99780508 -0.1083044 ] [ 0. 0. 0. 1. ]] SLAMing on 28.90538475 meters Centerline goodness : 0.938620 Centerline is valid? [False, False] Translation: X:1.90, Y:0.32, Z:-0.11 [[ 0.99501576 0.07406906 -0.06676389 1.90071094] [-0.07493291 0.99713303 -0.01052546 0.31526075] [ 0.06579287 0.01547581 0.99771328 -0.10771508] [ 0. 0. 0. 1. ]] SLAMing on 28.935384749999997 meters Centerline goodness : 0.916051 Centerline is valid? [False, False] Translation: X:1.90, Y:0.32, Z:-0.11 [[ 0.99501559 0.07399719 -0.06684607 1.90083992] [-0.07489722 0.99712996 -0.01105662 0.31640323] [ 0.06583606 0.0160081 0.99770204 -0.10752139] [ 0. 0. 0. 1. ]] SLAMing on 28.96538475 meters Centerline goodness : 0.938348 Centerline is valid? [False, False] Translation: X:1.90, Y:0.32, Z:-0.11 [[ 0.99474096 0.07776631 -0.06665448 1.90127421] [-0.07849904 0.99687845 -0.00844126 0.31948585] [ 0.06578997 0.01362918 0.99774041 -0.10734274] [ 0. 0. 0. 1. ]] SLAMing on 28.99538475 meters Centerline goodness : 0.940634 Centerline is valid? [False, False] Translation: X:1.90, Y:0.32, Z:-0.11 [[ 0.99472201 0.07759972 -0.06712984 1.9021257 ] [-0.07840855 0.99687609 -0.00949514 0.32159427] [ 0.06618332 0.01470858 0.99769907 -0.10704132] [ 0. 0. 0. 1. ]] SLAMing on 29.025384749999997 meters Centerline goodness : 0.941296 Centerline is valid? [False, False] Translation: X:1.90, Y:0.32, Z:-0.11 [[ 0.99470901 0.07763272 -0.06728403 1.90235757] [-0.07846881 0.99686771 -0.00986979 0.32256456] [ 0.06630706 0.01509726 0.99768504 -0.10683496] [ 0. 0. 0. 1. ]] SLAMing on 29.055384749999998 meters Centerline goodness : 0.935595 Centerline is valid? [False, False] Translation: X:1.90, Y:0.32, Z:-0.11 [[ 0.99471738 0.07742167 -0.06740339 1.90209508] [-0.07827119 0.99688143 -0.01005126 0.32236955] [ 0.066415 0.01527391 0.99767518 -0.10621176] [ 0. 0. 0. 1. ]] SLAMing on 29.08538475 meters Centerline goodness : 0.907578 Centerline is valid? [False, False] Translation: X:1.90, Y:0.32, Z:-0.11 [[ 0.99475044 0.07711967 -0.06726158 1.90099955] [-0.07791654 0.99691649 -0.00930166 0.32024736] [ 0.06633684 0.01449362 0.99769202 -0.10546019] [ 0. 0. 0. 1. ]] SLAMing on 29.115384749999997 meters Centerline goodness : 0.935898 Centerline is valid? [False, False] Translation: X:1.90, Y:0.32, Z:-0.11 [[ 0.99477207 0.07707173 -0.06699609 1.90014628] [-0.07783727 0.99692645 -0.00888844 0.31926762] [ 0.06610513 0.01405677 0.99771365 -0.10510033] [ 0. 0. 0. 1. ]] SLAMing on 29.145384749999998 meters Centerline goodness : 0.934404 Centerline is valid? [False, False] Translation: X:1.90, Y:0.32, Z:-0.10 [[ 0.99498837 0.0738285 -0.06743517 1.90007408] [-0.07485196 0.99711282 -0.01277511 0.32063966] [ 0.06629731 0.01775874 0.99764187 -0.10434327] [ 0. 0. 0. 1. ]] SLAMing on 29.17538475 meters Centerline goodness : 0.931058 Centerline is valid? [False, False] Translation: X:1.90, Y:0.32, Z:-0.10 [[ 0.9949659 0.07388469 -0.06770453 1.90062881] [-0.07492246 0.99710572 -0.01291558 0.32084878] [ 0.06655431 0.01792315 0.99762181 -0.10441253] [ 0. 0. 0. 1. ]] SLAMing on 29.205384749999997 meters Centerline goodness : 0.935968 Centerline is valid? [False, False] Translation: X:1.90, Y:0.32, Z:-0.11 [[ 0.99489339 0.0745212 -0.06807158 1.90170872] [-0.07552307 0.99706867 -0.01226137 0.32002225] [ 0.0669583 0.01733973 0.99760509 -0.10502356] [ 0. 0. 0. 1. ]] SLAMing on 29.235384749999998 meters Centerline goodness : 0.936248 Centerline is valid? [False, False] Translation: X:1.90, Y:0.32, Z:-0.11 [[ 0.99484561 0.07498569 -0.06825954 1.90206538] [-0.07595467 0.99704252 -0.01170892 0.31929805] [ 0.06717966 0.0168332 0.99759889 -0.10512636] [ 0. 0. 0. 1. ]] SLAMing on 29.26538475 meters Centerline goodness : 0.936248 Centerline is valid? [False, False] Translation: X:1.90, Y:0.32, Z:-0.11 [[ 0.99484561 0.07498569 -0.06825954 1.90206538] [-0.07595467 0.99704252 -0.01170892 0.31929805] [ 0.06717966 0.0168332 0.99759889 -0.10512636] [ 0. 0. 0. 1. ]] SLAMing on 29.295384749999997 meters Centerline goodness : 0.935238 Centerline is valid? [False, False] Translation: X:1.90, Y:0.32, Z:-0.11 [[ 0.99479538 0.07534409 -0.06859603 1.90285764] [-0.07630671 0.99701785 -0.01151906 0.31869871] [ 0.06752357 0.01669345 0.99757801 -0.10539815] [ 0. 0. 0. 1. ]] SLAMing on 29.325384749999998 meters Centerline goodness : 0.936505 Centerline is valid? [False, False] Translation: X:1.90, Y:0.32, Z:-0.11 [[ 0.99478098 0.07548071 -0.06865467 1.9031801 ] [-0.07642547 0.99701198 -0.01123649 0.31803158] [ 0.06760139 0.01642481 0.9975772 -0.10572878] [ 0. 0. 0. 1. ]] SLAMing on 29.35538475 meters Centerline goodness : 0.938307 Centerline is valid? [False, False] Translation: X:1.90, Y:0.32, Z:-0.11 [[ 0.99475933 0.07572728 -0.0686969 1.90349618] [-0.07661574 0.99700658 -0.01038815 0.31644787] [ 0.06770459 0.01559698 0.99758349 -0.10626314] [ 0. 0. 0. 1. ]] SLAMing on 29.385384749999997 meters Centerline goodness : 0.935163 Centerline is valid? [False, False] Translation: X:1.90, Y:0.32, Z:-0.11 [[ 0.99477395 0.07542433 -0.0688183 1.90404439] [-0.07632932 0.99702618 -0.01061322 0.31659603] [ 0.06781315 0.01581061 0.99757275 -0.10671071] [ 0. 0. 0. 1. ]] SLAMing on 29.415384749999998 meters Centerline goodness : 0.902628 Centerline is valid? [False, False] Translation: X:1.90, Y:0.32, Z:-0.11 [[ 0.99479776 0.07527397 -0.06863847 1.90388313] [-0.07617615 0.99703783 -0.01061887 0.3167442 ] [ 0.06763583 0.01579224 0.99758508 -0.10692906] [ 0. 0. 0. 1. ]] SLAMing on 29.44538475 meters Centerline goodness : 0.904174 Centerline is valid? [False, False] Translation: X:1.90, Y:0.32, Z:-0.11 [[ 0.99480241 0.07513729 -0.06872087 1.90444992] [-0.07605868 0.9970439 -0.01088729 0.31739073] [ 0.06769969 0.01605752 0.99757652 -0.10741083] [ 0. 0. 0. 1. ]] SLAMing on 29.475384749999996 meters Centerline goodness : 0.936552 Centerline is valid? [False, False] Translation: X:1.91, Y:0.32, Z:-0.11 [[ 0.99478028 0.07509441 -0.06908709 1.90553373] [-0.07605488 0.99703875 -0.01137494 0.31835222] [ 0.06802831 0.01656997 0.99754578 -0.10784267] [ 0. 0. 0. 1. ]] SLAMing on 29.505384749999997 meters Centerline goodness : 0.939180 Centerline is valid? [False, False] Translation: X:1.91, Y:0.32, Z:-0.11 [[ 0.99479193 0.07506468 -0.06895155 1.9050313 ] [-0.07608406 0.99702585 -0.01227498 0.32042319] [ 0.06782506 0.01745717 0.99754449 -0.10711549] [ 0. 0. 0. 1. ]] SLAMing on 29.53538475 meters Centerline goodness : 0.940427 Centerline is valid? [False, False] Translation: X:1.90, Y:0.32, Z:-0.11 [[ 0.99484854 0.07470516 -0.06852392 1.90415332] [-0.07577849 0.99703735 -0.01319661 0.32223981] [ 0.06733505 0.01832126 0.99756219 -0.10664376] [ 0. 0. 0. 1. ]] SLAMing on 29.565384749999996 meters Centerline goodness : 0.938770 Centerline is valid? [False, False] Translation: X:1.90, Y:0.32, Z:-0.11 [[ 0.99486694 0.07441135 -0.06857643 1.9042893 ] [-0.07553707 0.99704516 -0.01396779 0.32369369] [ 0.06733444 0.01907615 0.99754808 -0.10648623] [ 0. 0. 0. 1. ]] SLAMing on 29.595384749999997 meters Centerline goodness : 0.940990 Centerline is valid? [False, False] Translation: X:1.90, Y:0.33, Z:-0.11 [[ 0.99489131 0.07413968 -0.06851707 1.90426466] [-0.07531224 0.99705182 -0.01468813 0.32546486] [ 0.0672261 0.01977326 0.99754181 -0.10636773] [ 0. 0. 0. 1. ]] SLAMing on 29.62538475 meters Centerline goodness : 0.941369 Centerline is valid? [False, False] Translation: X:1.90, Y:0.33, Z:-0.11 [[ 0.99479105 0.07592867 -0.06801177 1.90311661] [-0.07700056 0.99694265 -0.01327626 0.3280451 ] [ 0.06679579 0.01844405 0.99759618 -0.10550196] [ 0. 0. 0. 1. ]] SLAMing on 29.65538475 meters Centerline goodness : 0.939623 Centerline is valid? [False, False] Translation: X:1.90, Y:0.33, Z:-0.11 [[ 0.99461332 0.07864964 -0.06751718 1.90283589] [-0.07950686 0.99678315 -0.0101003 0.3278557 ] [ 0.0665056 0.01541397 0.99766699 -0.10574566] [ 0. 0. 0. 1. ]] SLAMing on 29.685384749999997 meters Centerline goodness : 0.940144 Centerline is valid? [False, False] Translation: X:1.90, Y:0.33, Z:-0.11 [[ 0.99462827 0.07826528 -0.06774321 1.90354875] [-0.07916398 0.99680438 -0.01068102 0.32866728] [ 0.06669078 0.01598647 0.99764561 -0.1060646 ] [ 0. 0. 0. 1. ]] SLAMing on 29.71538475 meters Centerline goodness : 0.940154 Centerline is valid? [False, False] Translation: X:1.90, Y:0.33, Z:-0.11 [[ 0.99465635 0.07792521 -0.06772298 1.90375678] [-0.07885881 0.99682266 -0.01121929 0.32998051] [ 0.06663353 0.01649989 0.99764108 -0.10626511] [ 0. 0. 0. 1. ]] SLAMing on 29.74538475 meters Centerline goodness : 0.938966 Centerline is valid? [False, False] Translation: X:1.90, Y:0.33, Z:-0.11 [[ 0.9947504 0.07688153 -0.06753427 1.90375875] [-0.07787263 0.99688911 -0.01216376 0.33125008] [ 0.06638901 0.01735898 0.9976428 -0.10666659] [ 0. 0. 0. 1. ]] SLAMing on 29.775384749999997 meters Centerline goodness : 0.918701 Centerline is valid? [False, False] Translation: X:1.90, Y:0.33, Z:-0.11 [[ 0.99478686 0.07649875 -0.06743174 1.90375392] [-0.07750125 0.99691546 -0.01237462 0.33110563] [ 0.0662771 0.01753615 0.99764715 -0.10696938] [ 0. 0. 0. 1. ]] SLAMing on 29.805384749999998 meters Centerline goodness : 0.915845 Centerline is valid? [False, False] Translation: X:1.90, Y:0.33, Z:-0.11 [[ 0.99482742 0.07600591 -0.06739075 1.90412919] [-0.07701159 0.99695247 -0.01244917 0.33094627] [ 0.06623916 0.01757464 0.99764899 -0.10767603] [ 0. 0. 0. 1. ]] SLAMing on 29.83538475 meters Centerline goodness : 0.917120 Centerline is valid? [False, False] Translation: X:1.91, Y:0.33, Z:-0.11 [[ 0.99480288 0.07613376 -0.06760822 1.90516775] [-0.07717308 0.99693435 -0.01289255 0.3324853 ] [ 0.0664194 0.01804308 0.99762864 -0.10830685] [ 0. 0. 0. 1. ]] SLAMing on 29.865384749999997 meters Centerline goodness : 0.942231 Centerline is valid? [False, False] Translation: X:1.91, Y:0.33, Z:-0.11 [[ 0.99475451 0.07649039 -0.06791676 1.90607639] [-0.07753743 0.99690582 -0.01291265 0.33299768] [ 0.06671892 0.01811101 0.99760743 -0.1086168 ] [ 0. 0. 0. 1. ]] SLAMing on 29.895384749999998 meters Centerline goodness : 0.916706 Centerline is valid? [False, False] Translation: X:1.91, Y:0.33, Z:-0.11 [[ 0.9946988 0.07695241 -0.06821018 1.90694454] [-0.07801566 0.99686659 -0.01305961 0.33370909] [ 0.06699148 0.01831184 0.99758549 -0.10882231] [ 0. 0. 0. 1. ]] SLAMing on 29.92538475 meters Centerline goodness : 0.920193 Centerline is valid? [False, False] Translation: X:1.91, Y:0.34, Z:-0.11 [[ 0.99430146 0.08208995 -0.06801351 1.90724191] [-0.08290596 0.99651437 -0.0092584 0.3350779 ] [ 0.06701642 0.01484437 0.99764144 -0.10849131] [ 0. 0. 0. 1. ]] SLAMing on 29.955384749999997 meters Centerline goodness : 0.919699 Centerline is valid? [False, False] Translation: X:1.91, Y:0.33, Z:-0.11 [[ 0.99394033 0.08659961 -0.06769883 1.90727495] [-0.08712006 0.99618641 -0.00476797 0.33412369] [ 0.06702775 0.01063701 0.99769441 -0.10852247] [ 0. 0. 0. 1. ]] SLAMing on 29.985384749999998 meters Centerline goodness : 0.920333 Centerline is valid? [False, False] Translation: X:1.91, Y:0.33, Z:-0.11 [[ 0.99371075 0.08884645 -0.06815605 1.90820748] [-0.0893026 0.99599778 -0.00366937 0.33306117] [ 0.06755726 0.0097328 0.99766793 -0.10835688] [ 0. 0. 0. 1. ]] SLAMing on 30.01538475 meters Centerline goodness : 0.919078 Centerline is valid? [False, False] Translation: X:1.91, Y:0.33, Z:-0.11 [[ 0.99364341 0.08945554 -0.06834092 1.90842315] [-0.08989308 0.9959458 -0.00334783 0.33267233] [ 0.06776437 0.00946993 0.99765641 -0.10816145] [ 0. 0. 0. 1. ]] SLAMing on 30.045384749999997 meters Centerline goodness : 0.938490 Centerline is valid? [False, False] Translation: X:1.91, Y:0.33, Z:-0.11 [[ 9.93500307e-01 9.11814820e-02 -6.81401306e-02 1.90752473e+00] [-9.15214008e-02 9.95801341e-01 -1.87698129e-03 3.30591214e-01] [ 6.76828875e-02 8.10106169e-03 9.97673995e-01 -1.07450373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.075384749999998 meters Centerline goodness : 0.921355 Centerline is valid? [False, False] Translation: X:1.91, Y:0.33, Z:-0.11 [[ 9.93435654e-01 9.18963591e-02 -6.81223899e-02 1.90711664e+00] [-9.21803563e-02 9.95741794e-01 -1.03060297e-03 3.28941860e-01] [ 6.77376020e-02 7.30338391e-03 9.97676439e-01 -1.07091841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.10538475 meters Centerline goodness : 0.940777 Centerline is valid? [False, False] Translation: X:1.91, Y:0.33, Z:-0.11 [[ 9.93315557e-01 9.33567988e-02 -6.78874927e-02 1.90639684e+00] [-9.35008985e-02 9.95618632e-01 1.05868094e-03 3.25045208e-01] [ 6.76888877e-02 5.29593731e-03 9.97692421e-01 -1.06985842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.135384749999997 meters Centerline goodness : 0.940213 Centerline is valid? [False, False] Translation: X:1.91, Y:0.33, Z:-0.11 [[ 0.99353097 0.09080116 -0.06820087 1.90635967] [-0.09115784 0.99583418 -0.00212962 0.325115 ] [ 0.06772339 0.00833289 0.99766934 -0.10684094] [ 0. 0. 0. 1. ]] SLAMing on 30.165384749999998 meters Centerline goodness : 0.940565 Centerline is valid? [False, False] Translation: X:1.91, Y:0.32, Z:-0.11 [[ 0.993704 0.08859613 -0.06857908 1.90630101] [-0.08904033 0.99602208 -0.00344168 0.31969615] [ 0.06800135 0.00952632 0.99763975 -0.10715614] [ 0. 0. 0. 1. ]] SLAMing on 30.19538475 meters Centerline goodness : 0.940521 Centerline is valid? [False, False] Translation: X:1.91, Y:0.32, Z:-0.11 [[ 0.99378519 0.08728624 -0.06908051 1.90817207] [-0.08773472 0.9961378 -0.00347916 0.31561095] [ 0.06851003 0.0095183 0.99760502 -0.10900526] [ 0. 0. 0. 1. ]] SLAMing on 30.225384749999996 meters Centerline goodness : 0.942899 Centerline is valid? [False, False] Translation: X:1.91, Y:0.31, Z:-0.11 [[ 0.99395589 0.08521873 -0.06920586 1.90892889] [-0.08566589 0.99631772 -0.00351401 0.30878397] [ 0.06865156 0.00942135 0.99759621 -0.11108061] [ 0. 0. 0. 1. ]] SLAMing on 30.255384749999997 meters Centerline goodness : 0.923227 Centerline is valid? [False, False] Translation: X:1.91, Y:0.31, Z:-0.11 [[ 0.99417837 0.08191049 -0.07000033 1.91004615] [-0.08255545 0.99656614 -0.00636598 0.30672985] [ 0.06923852 0.01210783 0.99752666 -0.11165889] [ 0. 0. 0. 1. ]] SLAMing on 30.28538475 meters Centerline goodness : 0.924578 Centerline is valid? [False, False] Translation: X:1.91, Y:0.30, Z:-0.11 [[ 0.99432199 0.07983268 -0.07036002 1.91058378] [-0.08047708 0.99673612 -0.0063674 0.2998248 ] [ 0.06962204 0.01199362 0.99750134 -0.11296285] [ 0. 0. 0. 1. ]] SLAMing on 30.315384749999996 meters Centerline goodness : 0.938527 Centerline is valid? [False, False] Translation: X:1.91, Y:0.30, Z:-0.11 [[ 0.99432161 0.08010787 -0.07005184 1.90965165] [-0.08060685 0.99673661 -0.00432092 0.29516505] [ 0.0694771 0.00994304 0.99753399 -0.11315121] [ 0. 0. 0. 1. ]] SLAMing on 30.345384749999997 meters Centerline goodness : 0.912931 Centerline is valid? [False, False] Translation: X:1.91, Y:0.29, Z:-0.11 [[ 0.99457836 0.07645545 -0.07048728 1.90949499] [-0.07716102 0.99699164 -0.00733793 0.29329562] [ 0.06971421 0.01273702 0.99748569 -0.11291869] [ 0. 0. 0. 1. ]] SLAMing on 30.37538475 meters Centerline goodness : 0.925681 Centerline is valid? [False, False] Translation: X:1.91, Y:0.29, Z:-0.11 [[ 0.99491481 0.07277012 -0.06963503 1.9060753 ] [-0.07354055 0.99725548 -0.0085615 0.28778157] [ 0.06882089 0.01363896 0.9975358 -0.11194341] [ 0. 0. 0. 1. ]] SLAMing on 30.40538475 meters Centerline goodness : 0.926094 Centerline is valid? [False, False] Translation: X:1.90, Y:0.28, Z:-0.11 [[ 0.99518685 0.06918707 -0.06939951 1.90442319] [-0.07003169 0.99749654 -0.00980914 0.28219292] [ 0.06854711 0.0146221 0.99754072 -0.11182322] [ 0. 0. 0. 1. ]] SLAMing on 30.435384749999997 meters Centerline goodness : 0.926083 Centerline is valid? [False, False] Translation: X:1.90, Y:0.28, Z:-0.11 [[ 0.99538862 0.06568582 -0.06990616 1.90461985] [-0.06673858 0.99768801 -0.01282962 0.28053741] [ 0.06890182 0.0174359 0.99747107 -0.111782 ] [ 0. 0. 0. 1. ]] SLAMing on 30.46538475 meters Centerline goodness : 0.925417 Centerline is valid? [False, False] Translation: X:1.90, Y:0.28, Z:-0.11 [[ 0.99541599 0.06577113 -0.06943468 1.90386188] [-0.06671065 0.9977084 -0.0112975 0.27758461] [ 0.06853252 0.01587775 0.99752253 -0.11241381] [ 0. 0. 0. 1. ]] SLAMing on 30.49538475 meters Centerline goodness : 0.925836 Centerline is valid? [False, False] Translation: X:1.90, Y:0.27, Z:-0.11 [[ 0.99547538 0.06558851 -0.06875257 1.90301119] [-0.06638679 0.99774979 -0.00938864 0.27406732] [ 0.06798207 0.01391042 0.99758956 -0.11359739] [ 0. 0. 0. 1. ]] SLAMing on 30.525384749999997 meters Centerline goodness : 0.925872 Centerline is valid? [False, False] Translation: X:1.90, Y:0.27, Z:-0.11 [[ 0.99546242 0.06573158 -0.06880354 1.90331483] [-0.06648396 0.99774956 -0.00870058 0.27267718] [ 0.0680768 0.01323543 0.99759229 -0.11405169] [ 0. 0. 0. 1. ]] SLAMing on 30.555384749999998 meters Centerline goodness : 0.922899 Centerline is valid? [False, False] Translation: X:1.90, Y:0.27, Z:-0.11 [[ 0.99531986 0.06706948 -0.0695706 1.90468087] [-0.06773321 0.99767732 -0.00722299 0.26966816] [ 0.06892457 0.01190142 0.99755088 -0.11423808] [ 0. 0. 0. 1. ]] SLAMing on 30.58538475 meters Centerline goodness : 0.923698 Centerline is valid? [False, False] Translation: X:1.91, Y:0.27, Z:-0.11 [[ 0.99525698 0.06776354 -0.06979717 1.90546712] [-0.06836621 0.99764053 -0.00627953 0.26807429] [ 0.06920696 0.01102152 0.99754144 -0.11485283] [ 0. 0. 0. 1. ]] SLAMing on 30.615384749999997 meters Centerline goodness : 0.920494 Centerline is valid? [False, False] Translation: X:1.91, Y:0.26, Z:-0.12 [[ 0.99518168 0.06862577 -0.07002802 1.90648587] [-0.06909028 0.99760144 -0.00422995 0.26376498] [ 0.06956977 0.00904782 0.99753606 -0.11613831] [ 0. 0. 0. 1. ]] SLAMing on 30.645384749999998 meters Centerline goodness : 0.921558 Centerline is valid? [False, False] Translation: X:1.91, Y:0.26, Z:-0.12 [[ 0.99514493 0.0689344 -0.07024681 1.9070418 ] [-0.06932408 0.99758931 -0.00312167 0.26136584] [ 0.06986227 0.00797631 0.99752476 -0.11670364] [ 0. 0. 0. 1. ]] SLAMing on 30.67538475 meters Centerline goodness : 0.920013 Centerline is valid? [False, False] Translation: X:1.91, Y:0.26, Z:-0.12 [[ 9.95147582e-01 6.92562472e-02 -6.98917865e-02 1.90615112e+00] [-6.94559548e-02 9.97584927e-01 -4.28335623e-04 2.56150588e-01] [ 6.96933278e-02 5.28065792e-03 9.97554487e-01 -1.17241846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.705384749999997 meters Centerline goodness : 0.920094 Centerline is valid? [False, False] Translation: X:1.91, Y:0.25, Z:-0.12 [[ 9.95378083e-01 6.58369201e-02 -6.99140318e-02 1.90531920e+00] [-6.61003174e-02 9.97811917e-01 -1.45812953e-03 2.50333483e-01] [ 6.96650553e-02 6.07272987e-03 9.97551955e-01 -1.17622943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.735384749999998 meters Centerline goodness : 0.920705 Centerline is valid? [False, False] Translation: X:1.91, Y:0.25, Z:-0.12 [[ 9.95465170e-01 6.44969438e-02 -6.99230906e-02 1.90599447e+00] [-6.46941379e-02 9.97904985e-01 -5.56886709e-04 2.46442181e-01] [ 6.97406831e-02 5.07797538e-03 9.97552230e-01 -1.19183465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.76538475 meters Centerline goodness : 0.922797 Centerline is valid? [False, False] Translation: X:1.91, Y:0.24, Z:-0.12 [[ 9.95512013e-01 6.42860781e-02 -6.94487714e-02 1.90527715e+00] [-6.43669257e-02 9.97925720e-01 1.07536690e-03 2.43369985e-01] [ 6.93738463e-02 3.39966325e-03 9.97584940e-01 -1.20002965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.795384749999997 meters Centerline goodness : 0.919072 Centerline is valid? [False, False] Translation: X:1.91, Y:0.24, Z:-0.12 [[ 9.95753267e-01 6.02707689e-02 -6.95907082e-02 1.90528681e+00] [-6.05457145e-02 9.98163718e-01 -1.84648585e-03 2.41853046e-01] [ 6.93516309e-02 6.05206347e-03 9.97573919e-01 -1.20597020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.825384749999998 meters Centerline goodness : 0.920538 Centerline is valid? [False, False] Translation: X:1.90, Y:0.24, Z:-0.12 [[ 0.99578914 0.05984287 -0.06944655 1.90482816] [-0.06012529 0.99818887 -0.00198172 0.24167844] [ 0.06920218 0.00614886 0.99758371 -0.12038069] [ 0. 0. 0. 1. ]] SLAMing on 30.85538475 meters Centerline goodness : 0.923938 Centerline is valid? [False, False] Translation: X:1.90, Y:0.24, Z:-0.12 [[ 0.99578771 0.0598354 -0.06947351 1.90392216] [-0.06013436 0.99818783 -0.00221796 0.2425244 ] [ 0.0692149 0.00638636 0.99758133 -0.11924329] [ 0. 0. 0. 1. ]] SLAMing on 30.885384749999997 meters Centerline goodness : 0.923156 Centerline is valid? [False, False] Translation: X:1.90, Y:0.24, Z:-0.12 [[ 0.99578962 0.05944321 -0.06978212 1.90423742] [-0.05983282 0.99820226 -0.00350458 0.24420582] [ 0.06944834 0.00766509 0.9975561 -0.1185937 ] [ 0. 0. 0. 1. ]] SLAMing on 30.915384749999998 meters Centerline goodness : 0.924289 Centerline is valid? [False, False] Translation: X:1.90, Y:0.25, Z:-0.12 [[ 0.99576871 0.0595047 -0.07002764 1.90438908] [-0.06002977 0.9981819 -0.00541568 0.24779997] [ 0.06957806 0.00959651 0.99753035 -0.11748524] [ 0. 0. 0. 1. ]] SLAMing on 30.94538475 meters Centerline goodness : 0.926979 Centerline is valid? [False, False] Translation: X:1.91, Y:0.25, Z:-0.12 [[ 0.99575579 0.05941976 -0.07028298 1.9052178 ] [-0.05998919 0.99818089 -0.0060173 0.24886155] [ 0.06979759 0.01020798 0.99750894 -0.11772858] [ 0. 0. 0. 1. ]] SLAMing on 30.975384749999996 meters Centerline goodness : 0.926862 Centerline is valid? [False, False] Translation: X:1.91, Y:0.25, Z:-0.12 [[ 0.99580184 0.0589083 -0.07006072 1.90518656] [-0.05948954 0.99820944 -0.00623704 0.24962755] [ 0.06956786 0.01037873 0.99752323 -0.11821808] [ 0. 0. 0. 1. ]] SLAMing on 31.005384749999997 meters Centerline goodness : 0.927035 Centerline is valid? [False, False] Translation: X:1.90, Y:0.25, Z:-0.12 [[ 0.99585473 0.05848978 -0.06965854 1.90467327] [-0.0590619 0.99823519 -0.0061804 0.24957562] [ 0.06917411 0.01026895 0.99755175 -0.11855471] [ 0. 0. 0. 1. ]] SLAMing on 31.03538475 meters Centerline goodness : 0.929157 Centerline is valid? [False, False] Translation: X:1.90, Y:0.25, Z:-0.12 [[ 0.99598647 0.05716943 -0.06886665 1.90275688] [-0.05772857 0.99831334 -0.00615492 0.24894946] [ 0.06839862 0.01010579 0.99760689 -0.11821818] [ 0. 0. 0. 1. ]] SLAMing on 31.065384749999996 meters Centerline goodness : 0.929768 Centerline is valid? [False, False] Translation: X:1.90, Y:0.25, Z:-0.12 [[ 0.99602956 0.05672366 -0.06861156 1.90212358] [-0.05726888 0.99834074 -0.00600417 0.24839416] [ 0.06815713 0.00990963 0.99762538 -0.1181537 ] [ 0. 0. 0. 1. ]] SLAMing on 31.095384749999997 meters Centerline goodness : 0.931293 Centerline is valid? [False, False] Translation: X:1.90, Y:0.25, Z:-0.12 [[ 0.99608458 0.05578246 -0.06858444 1.90264165] [-0.05635519 0.99838999 -0.00644288 0.24826207] [ 0.06811461 0.01028275 0.99762451 -0.11875141] [ 0. 0. 0. 1. ]] SLAMing on 31.12538475 meters Centerline goodness : 0.932071 Centerline is valid? [False, False] Translation: X:1.90, Y:0.25, Z:-0.12 [[ 0.99609565 0.05556299 -0.06860179 1.90278053] [-0.05615266 0.99839974 -0.00669576 0.24883187] [ 0.06811998 0.01052179 0.99762165 -0.1188272 ] [ 0. 0. 0. 1. ]] SLAMing on 31.15538475 meters Centerline goodness : 0.932071 Centerline is valid? [False, False] Translation: X:1.90, Y:0.25, Z:-0.12 [[ 0.99609565 0.05556299 -0.06860179 1.90278053] [-0.05615266 0.99839974 -0.00669576 0.24883187] [ 0.06811998 0.01052179 0.99762165 -0.1188272 ] [ 0. 0. 0. 1. ]] SLAMing on 31.185384749999997 meters Centerline goodness : 0.932589 Centerline is valid? [False, False] Translation: X:1.90, Y:0.25, Z:-0.12 [[ 0.99608719 0.05547892 -0.06879244 1.90289269] [-0.05608997 0.99840131 -0.00698143 0.24946472] [ 0.06829514 0.01081268 0.99760657 -0.1185434 ] [ 0. 0. 0. 1. ]] SLAMing on 31.21538475 meters Centerline goodness : 0.934087 Centerline is valid? [False, False] Translation: X:1.90, Y:0.25, Z:-0.12 [[ 0.99605967 0.05555532 -0.06912849 1.90356804] [-0.05620288 0.99839152 -0.00745655 0.25011795] [ 0.06860305 0.01131239 0.9975799 -0.1184511 ] [ 0. 0. 0. 1. ]] SLAMing on 31.24538475 meters Centerline goodness : 0.934249 Centerline is valid? [False, False] Translation: X:1.90, Y:0.25, Z:-0.12 [[ 0.99603979 0.05566576 -0.06932579 1.90451608] [-0.05637769 0.99837456 -0.00835401 0.25362402] [ 0.06874808 0.01222935 0.99755909 -0.11897398] [ 0. 0. 0. 1. ]] SLAMing on 31.275384749999997 meters Centerline goodness : 0.936059 Centerline is valid? [False, False] Translation: X:1.91, Y:0.25, Z:-0.12 [[ 0.99595932 0.05675054 -0.06960177 1.90687584] [-0.05741103 0.99832227 -0.00752454 0.25496283] [ 0.06905798 0.01149005 0.99754648 -0.1206277 ] [ 0. 0. 0. 1. ]] SLAMing on 31.305384749999998 meters Centerline goodness : 0.938167 Centerline is valid? [False, False] Translation: X:1.91, Y:0.26, Z:-0.12 [[ 0.99595504 0.05661236 -0.06977541 1.90774334] [-0.05736113 0.99831495 -0.00877295 0.25889444] [ 0.06916118 0.01273986 0.99752415 -0.12111953] [ 0. 0. 0. 1. ]] SLAMing on 31.33538475 meters Centerline goodness : 0.939051 Centerline is valid? [False, False] Translation: X:1.91, Y:0.26, Z:-0.12 [[ 0.99595326 0.05656976 -0.06983522 1.90779443] [-0.05736072 0.99830953 -0.00937144 0.26073097] [ 0.06918703 0.01333932 0.99751452 -0.12102005] [ 0. 0. 0. 1. ]] SLAMing on 31.365384749999997 meters Centerline goodness : 0.939938 Centerline is valid? [False, False] Translation: X:1.91, Y:0.26, Z:-0.12 [[ 0.99577619 0.05976105 -0.06970226 1.90825355] [-0.06043712 0.99814285 -0.00762938 0.26438294] [ 0.06911687 0.01180976 0.99753866 -0.12076434] [ 0. 0. 0. 1. ]] SLAMing on 31.395384749999998 meters Centerline goodness : 0.939040 Centerline is valid? [False, False] Translation: X:1.91, Y:0.27, Z:-0.12 [[ 0.99574665 0.05995771 -0.06995481 1.9089308 ] [-0.06071572 0.99811667 -0.00875832 0.26700305] [ 0.06929793 0.01296843 0.99751171 -0.12054051] [ 0. 0. 0. 1. ]] SLAMing on 31.42538475 meters Centerline goodness : 0.940570 Centerline is valid? [False, False] Translation: X:1.91, Y:0.27, Z:-0.12 [[ 0.99554643 0.06315237 -0.06999346 1.91059869] [-0.06374024 0.99794729 -0.00619541 0.26867405] [ 0.06945852 0.01062922 0.99752821 -0.12171261] [ 0. 0. 0. 1. ]] SLAMing on 31.455384749999997 meters Centerline goodness : 0.939713 Centerline is valid? [False, False] Translation: X:1.91, Y:0.27, Z:-0.12 [[ 0.99553884 0.06306028 -0.07018417 1.91123009] [-0.06367992 0.99794839 -0.00662442 0.26956441] [ 0.06962245 0.01106419 0.99751205 -0.12193818] [ 0. 0. 0. 1. ]] SLAMing on 31.485384749999998 meters Centerline goodness : 0.941650 Centerline is valid? [False, False] Translation: X:1.91, Y:0.27, Z:-0.12 [[ 0.99568285 0.06153928 -0.06948799 1.91082247] [-0.06222641 0.99803185 -0.00776555 0.27175967] [ 0.06887334 0.01205601 0.99755256 -0.12289076] [ 0. 0. 0. 1. ]] SLAMing on 31.51538475 meters Centerline goodness : 0.940499 Centerline is valid? [False, False] Translation: X:1.91, Y:0.27, Z:-0.12 [[ 0.99576004 0.06086743 -0.06897178 1.91008035] [-0.06155504 0.99807253 -0.00788647 0.27195392] [ 0.06835881 0.01209859 0.99758744 -0.12322634] [ 0. 0. 0. 1. ]] SLAMing on 31.545384749999997 meters Centerline goodness : 0.938480 Centerline is valid? [False, False] Translation: X:1.91, Y:0.27, Z:-0.12 [[ 0.99604449 0.05611145 -0.06889763 1.90895142] [-0.05706114 0.99829985 -0.01189272 0.27161974] [ 0.06811318 0.01577705 0.99755285 -0.12266834] [ 0. 0. 0. 1. ]] SLAMing on 31.575384749999998 meters Centerline goodness : 0.938862 Centerline is valid? [False, False] Translation: X:1.91, Y:0.27, Z:-0.12 [[ 0.99611605 0.05559644 -0.0682777 1.90767438] [-0.05647773 0.99834277 -0.01104423 0.26969504] [ 0.06755053 0.01485751 0.99760522 -0.1228632 ] [ 0. 0. 0. 1. ]] SLAMing on 31.60538475 meters Centerline goodness : 0.939196 Centerline is valid? [False, False] Translation: X:1.90, Y:0.27, Z:-0.13 [[ 0.99687402 0.05324732 -0.05836873 1.90458653] [-0.05350694 0.99856329 -0.00289286 0.2674365 ] [ 0.05813083 0.00600695 0.9982909 -0.12520893] [ 0. 0. 0. 1. ]] SLAMing on 31.635384749999997 meters Centerline goodness : 0.940017 Centerline is valid? [False, False] Translation: X:1.90, Y:0.27, Z:-0.13 [[ 0.99690329 0.05283031 -0.05824773 1.90435679] [-0.05312296 0.99858189 -0.00348616 0.26897291] [ 0.05798096 0.00656966 0.99829607 -0.12516385] [ 0. 0. 0. 1. ]] SLAMing on 31.665384749999998 meters Centerline goodness : 0.939648 Centerline is valid? [False, False] Translation: X:1.90, Y:0.27, Z:-0.12 [[ 0.99690313 0.05303401 -0.05806498 1.9039409 ] [-0.05337608 0.99856498 -0.00435504 0.27270839] [ 0.05775069 0.00744083 0.99830331 -0.12494324] [ 0. 0. 0. 1. ]] SLAMing on 31.69538475 meters Centerline goodness : 0.938221 Centerline is valid? [False, False] Translation: X:1.90, Y:0.27, Z:-0.12 [[ 0.99686232 0.05323355 -0.05858072 1.90492557] [-0.05364911 0.99854447 -0.00554292 0.27487847] [ 0.05820039 0.00866833 0.99826729 -0.12454815] [ 0. 0. 0. 1. ]] SLAMing on 31.725384749999996 meters Centerline goodness : 0.938421 Centerline is valid? [False, False] Translation: X:1.91, Y:0.28, Z:-0.12 [[ 0.99659012 0.05771415 -0.05896783 1.90626322] [-0.05805119 0.99830553 -0.00401722 0.2795283 ] [ 0.05863606 0.00742667 0.9982518 -0.12393188] [ 0. 0. 0. 1. ]] SLAMing on 31.755384749999997 meters Centerline goodness : 0.937473 Centerline is valid? [False, False] Translation: X:1.91, Y:0.28, Z:-0.12 [[ 0.99649384 0.05849967 -0.05981485 1.90814933] [-0.05894053 0.99824561 -0.00563132 0.2836494 ] [ 0.05938048 0.00913709 0.9981936 -0.12359954] [ 0. 0. 0. 1. ]] SLAMing on 31.78538475 meters Centerline goodness : 0.935625 Centerline is valid? [False, False] Translation: X:1.91, Y:0.29, Z:-0.12 [[ 0.99614074 0.06351824 -0.0605727 1.91062422] [-0.06383223 0.99795532 -0.00326073 0.28717279] [ 0.06024174 0.00711464 0.99815846 -0.12379554] [ 0. 0. 0. 1. ]] SLAMing on 31.815384749999996 meters Centerline goodness : 0.935217 Centerline is valid? [False, False] Translation: X:1.91, Y:0.29, Z:-0.12 [[ 0.9960633 0.06399924 -0.06133507 1.91233322] [-0.0643814 0.99791622 -0.00427272 0.28923561] [ 0.06093381 0.00820474 0.99810809 -0.12380933] [ 0. 0. 0. 1. ]] SLAMing on 31.845384749999997 meters Centerline goodness : 0.932367 Centerline is valid? [False, False] Translation: X:1.91, Y:0.29, Z:-0.12 [[ 0.99601079 0.06439043 -0.06177681 1.91356803] [-0.06484072 0.9978815 -0.00530995 0.29157533] [ 0.06130402 0.00929442 0.99807586 -0.12393145] [ 0. 0. 0. 1. ]] SLAMing on 31.87538475 meters Centerline goodness : 0.931014 Centerline is valid? [False, False] Translation: X:1.91, Y:0.30, Z:-0.12 [[ 0.99594274 0.06500343 -0.0622303 1.91451513] [-0.06555074 0.99782612 -0.00679182 0.29556857] [ 0.06165353 0.0108435 0.99803871 -0.12331844] [ 0. 0. 0. 1. ]] SLAMing on 31.90538475 meters Centerline goodness : 0.933245 Centerline is valid? [False, False] Translation: X:1.92, Y:0.30, Z:-0.12 [[ 0.99591223 0.06522197 -0.06248946 1.91538142] [-0.06576143 0.99781346 -0.00661328 0.29501907] [ 0.06192149 0.01069564 0.99802371 -0.1238861 ] [ 0. 0. 0. 1. ]] SLAMing on 31.935384749999997 meters Centerline goodness : 0.926495 Centerline is valid? [False, False] Translation: X:1.92, Y:0.29, Z:-0.12 [[ 0.9958807 0.06563458 -0.06255981 1.91556441] [-0.06612512 0.99779448 -0.00580104 0.29365048] [ 0.06204109 0.00991392 0.99802436 -0.12411752] [ 0. 0. 0. 1. ]] SLAMing on 31.96538475 meters Centerline goodness : 0.924242 Centerline is valid? [False, False] Translation: X:1.92, Y:0.29, Z:-0.12 [[ 0.99585859 0.0657415 -0.06279907 1.91586389] [-0.06622689 0.99778844 -0.00567688 0.29295454] [ 0.06228698 0.00981236 0.99801005 -0.12403797] [ 0. 0. 0. 1. ]] SLAMing on 31.99538475 meters Centerline goodness : 0.929525 Centerline is valid? [False, False] Translation: X:1.92, Y:0.29, Z:-0.12 [[ 0.995806 0.0661128 -0.06324163 1.91653977] [-0.0666004 0.99776384 -0.00563109 0.29252934] [ 0.06272792 0.00981939 0.99798236 -0.123846 ] [ 0. 0. 0. 1. ]] SLAMing on 32.02538475 meters Centerline goodness : 0.928472 Centerline is valid? [False, False] Translation: X:1.92, Y:0.29, Z:-0.12 [[ 0.99568113 0.06754688 -0.06369073 1.91803447] [-0.06797164 0.997677 -0.0045236 0.29169852] [ 0.06323722 0.00883323 0.99795943 -0.12453815] [ 0. 0. 0. 1. ]] SLAMing on 32.05538475 meters Centerline goodness : 0.929994 Centerline is valid? [False, False] Translation: X:1.92, Y:0.29, Z:-0.12 [[ 0.99561654 0.06798906 -0.06422769 1.91921983] [-0.06840776 0.99764801 -0.00433999 0.29114833] [ 0.06378155 0.00871464 0.99792583 -0.12482081] [ 0. 0. 0. 1. ]] SLAMing on 32.08538475 meters Centerline goodness : 0.915921 Centerline is valid? [False, False] Translation: X:1.92, Y:0.29, Z:-0.12 [[ 0.9955809 0.0683041 -0.06444553 1.91967121] [-0.06871358 0.99762777 -0.0041564 0.29062442] [ 0.06400876 0.00856632 0.99791257 -0.12491441] [ 0. 0. 0. 1. ]] SLAMing on 32.115384750000004 meters Centerline goodness : 0.912640 Centerline is valid? [False, False] Translation: X:1.92, Y:0.29, Z:-0.12 [[ 0.99557169 0.06851555 -0.06436333 1.91881901] [-0.06886262 0.99762106 -0.00318687 0.2880439 ] [ 0.06399187 0.00760498 0.99792144 -0.12429922] [ 0. 0. 0. 1. ]] SLAMing on 32.14538475 meters Centerline goodness : 0.917121 Centerline is valid? [False, False] Translation: X:1.92, Y:0.29, Z:-0.12 [[ 0.99576444 0.06494775 -0.06507659 1.91944395] [-0.06556157 0.99782153 -0.00733931 0.28853063] [ 0.06445816 0.01157475 0.99785328 -0.12392266] [ 0. 0. 0. 1. ]] SLAMing on 32.17538475 meters Centerline goodness : 0.915060 Centerline is valid? [False, False] Translation: X:1.92, Y:0.28, Z:-0.12 [[ 0.99580066 0.06477218 -0.06469631 1.91860571] [-0.06528369 0.99784976 -0.00582159 0.28496509] [ 0.06418012 0.01002076 0.99788802 -0.12433266] [ 0. 0. 0. 1. ]] SLAMing on 32.20538475 meters Centerline goodness : 0.921733 Centerline is valid? [False, False] Translation: X:1.92, Y:0.28, Z:-0.12 [[ 0.99599356 0.06140612 -0.06500854 1.91825637] [-0.06207868 0.99803612 -0.00837495 0.28193863] [ 0.0643666 0.01237704 0.99784956 -0.12406372] [ 0. 0. 0. 1. ]] SLAMing on 32.23538475 meters Centerline goodness : 0.913233 Centerline is valid? [False, False] Translation: X:1.92, Y:0.28, Z:-0.12 [[ 0.99600206 0.06145719 -0.06482992 1.91794469] [-0.06203606 0.99804969 -0.00695229 0.27880315] [ 0.06427621 0.01094629 0.99787211 -0.12456102] [ 0. 0. 0. 1. ]] SLAMing on 32.26538475 meters Centerline goodness : 0.921421 Centerline is valid? [False, False] Translation: X:1.92, Y:0.28, Z:-0.13 [[ 0.99599434 0.06159961 -0.06481325 1.91797561] [-0.06210342 0.99805295 -0.0057857 0.27609198] [ 0.06433066 0.00978765 0.99788064 -0.12506698] [ 0. 0. 0. 1. ]] SLAMing on 32.295384750000004 meters Centerline goodness : 0.911560 Centerline is valid? [False, False] Translation: X:1.92, Y:0.27, Z:-0.13 [[ 0.99587335 0.06286408 -0.06545516 1.91993542] [-0.0631517 0.99800121 -0.00233246 0.26863582] [ 0.0651777 0.00645644 0.99785279 -0.12706541] [ 0. 0. 0. 1. ]] SLAMing on 32.325384750000005 meters Centerline goodness : 0.909529 Centerline is valid? [False, False] Translation: X:1.92, Y:0.26, Z:-0.13 [[ 9.95802730e-01 6.37503227e-02 -6.56720548e-02 1.92036086e+00] [-6.39170136e-02 9.97955121e-01 -4.38172897e-04 2.64824256e-01] [ 6.55098297e-02 4.63389539e-03 9.97841164e-01 -1.27615588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.35538475 meters Centerline goodness : 0.910779 Centerline is valid? [False, False] Translation: X:1.92, Y:0.26, Z:-0.13 [[ 9.95752561e-01 6.33428791e-02 -6.68170403e-02 1.92263814e+00] [-6.34887596e-02 9.97982552e-01 -5.99677941e-05 2.59261325e-01] [ 6.66784418e-02 4.30184409e-03 9.97765243e-01 -1.28633296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.38538475 meters Centerline goodness : 0.909151 Centerline is valid? [False, False] Translation: X:1.92, Y:0.26, Z:-0.13 [[ 9.95723637e-01 6.36949215e-02 -6.69133509e-02 1.92252696e+00] [-6.37826118e-02 9.97963473e-01 8.27202481e-04 2.57356870e-01] [ 6.68297687e-02 3.44424322e-03 9.97758447e-01 -1.28525074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.41538475 meters Centerline goodness : 0.910189 Centerline is valid? [False, False] Translation: X:1.92, Y:0.26, Z:-0.13 [[ 9.95773237e-01 6.16907257e-02 -6.80434833e-02 1.92407907e+00] [-6.19298146e-02 9.98079514e-01 -1.40795927e-03 2.55006219e-01] [ 6.78259487e-02 5.61592846e-03 9.97681363e-01 -1.28522724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.44538475 meters Centerline goodness : 0.908081 Centerline is valid? [False, False] Translation: X:1.92, Y:0.25, Z:-0.13 [[ 9.95713176e-01 6.23146600e-02 -6.83531543e-02 1.92492239e+00] [-6.24414894e-02 9.98048587e-01 2.81546770e-04 2.51563573e-01] [ 6.82373135e-02 3.98773293e-03 9.97661148e-01 -1.29354722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.47538475 meters Centerline goodness : 0.907350 Centerline is valid? [False, False] Translation: X:1.93, Y:0.24, Z:-0.13 [[ 9.95735044e-01 6.06251376e-02 -6.95436139e-02 1.92609854e+00] [-6.07805902e-02 9.98151144e-01 -1.19539523e-04 2.44432054e-01] [ 6.94077906e-02 4.34593159e-03 9.97578905e-01 -1.29418736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.505384750000005 meters Centerline goodness : 0.907420 Centerline is valid? [False, False] Translation: X:1.93, Y:0.24, Z:-0.13 [[ 0.99585404 0.05769246 -0.07033002 1.92681682] [-0.05801472 0.99831248 -0.00254657 0.24141948] [ 0.07006442 0.00661618 0.99752053 -0.12937537] [ 0. 0. 0. 1. ]] SLAMing on 32.53538475 meters Centerline goodness : 0.906667 Centerline is valid? [False, False] Translation: X:1.93, Y:0.24, Z:-0.13 [[ 0.99609719 0.05356022 -0.0701548 1.92594057] [-0.05402066 0.99852885 -0.00468114 0.23527651] [ 0.06980087 0.00845268 0.99752513 -0.12917958] [ 0. 0. 0. 1. ]] SLAMing on 32.56538475 meters Centerline goodness : 0.907825 Centerline is valid? [False, False] Translation: X:1.93, Y:0.23, Z:-0.13 [[ 0.99614965 0.05276057 -0.07001576 1.92592669] [-0.05313151 0.99858158 -0.00344498 0.23060074] [ 0.06973469 0.00715176 0.99753994 -0.12925293] [ 0. 0. 0. 1. ]] SLAMing on 32.59538475 meters Centerline goodness : 0.906956 Centerline is valid? [False, False] Translation: X:1.93, Y:0.23, Z:-0.13 [[ 0.99615347 0.05271546 -0.06999531 1.9257988 ] [-0.05304022 0.99858849 -0.00278795 0.22824598] [ 0.06974954 0.00648979 0.99754342 -0.12914375] [ 0. 0. 0. 1. ]] SLAMing on 32.62538475 meters Centerline goodness : 0.906288 Centerline is valid? [False, False] Translation: X:1.93, Y:0.23, Z:-0.13 [[ 0.99614231 0.05267893 -0.07018144 1.9259317 ] [-0.05296148 0.9985942 -0.00217015 0.22561638] [ 0.06996846 0.0058787 0.99753188 -0.12892936] [ 0. 0. 0. 1. ]] SLAMing on 32.65538475 meters Centerline goodness : 0.907046 Centerline is valid? [False, False] Translation: X:1.92, Y:0.22, Z:-0.13 [[ 0.99629003 0.04964978 -0.07029272 1.92484034] [-0.05009162 0.99873433 -0.00453592 0.222021 ] [ 0.06997855 0.00804016 0.99751609 -0.12796717] [ 0. 0. 0. 1. ]] SLAMing on 32.685384750000004 meters Centerline goodness : 0.907610 Centerline is valid? [False, False] Translation: X:1.92, Y:0.22, Z:-0.13 [[ 0.99628882 0.04963156 -0.07032283 1.92464288] [-0.05003901 0.99873908 -0.00404329 0.21995284] [ 0.07003348 0.00754717 0.99751609 -0.12769995] [ 0. 0. 0. 1. ]] SLAMing on 32.71538475 meters Centerline goodness : 0.909871 Centerline is valid? [False, False] Translation: X:1.92, Y:0.22, Z:-0.13 [[ 0.99630061 0.04958745 -0.07018673 1.92417445] [-0.04993366 0.99874746 -0.00318585 0.21735449] [ 0.06994084 0.00667875 0.99752878 -0.12738081] [ 0. 0. 0. 1. ]] SLAMing on 32.74538475 meters Centerline goodness : 0.911287 Centerline is valid? [False, False] Translation: X:1.92, Y:0.22, Z:-0.13 [[ 0.99631011 0.04935936 -0.07021264 1.92453412] [-0.04969847 0.99875949 -0.00309009 0.21676903] [ 0.06997302 0.00656815 0.99752726 -0.12772552] [ 0. 0. 0. 1. ]] SLAMing on 32.77538475 meters Centerline goodness : 0.910458 Centerline is valid? [False, False] Translation: X:1.93, Y:0.21, Z:-0.13 [[ 0.99633662 0.04885943 -0.07018617 1.92534743] [-0.04917445 0.99878637 -0.00276649 0.21452557] [ 0.06996582 0.00620772 0.99753007 -0.12869851] [ 0. 0. 0. 1. ]] SLAMing on 32.80538475 meters Centerline goodness : 0.909917 Centerline is valid? [False, False] Translation: X:1.93, Y:0.21, Z:-0.13 [[ 0.99649989 0.04513215 -0.07036369 1.92565485] [-0.04564609 0.99894134 -0.00571258 0.21203909] [ 0.07003138 0.00890441 0.99750505 -0.12915821] [ 0. 0. 0. 1. ]] SLAMing on 32.83538475 meters Centerline goodness : 0.911139 Centerline is valid? [False, False] Translation: X:1.93, Y:0.21, Z:-0.13 [[ 0.99651231 0.04428985 -0.0707222 1.92726781] [-0.04482106 0.99897736 -0.00594126 0.21029281] [ 0.07038674 0.00909039 0.99747836 -0.1302558 ] [ 0. 0. 0. 1. ]] SLAMing on 32.865384750000004 meters Centerline goodness : 0.912430 Centerline is valid? [False, False] Translation: X:1.93, Y:0.21, Z:-0.13 [[ 0.99652826 0.04415785 -0.07057986 1.92742661] [-0.04467231 0.99898528 -0.00572646 0.209009 ] [ 0.07025538 0.00885954 0.99748969 -0.13074412] [ 0. 0. 0. 1. ]] SLAMing on 32.89538475 meters Centerline goodness : 0.914568 Centerline is valid? [False, False] Translation: X:1.93, Y:0.21, Z:-0.13 [[ 0.99654484 0.0436338 -0.07067165 1.92839675] [-0.04417298 0.99900537 -0.00608388 0.20909046] [ 0.07033589 0.00918463 0.99748108 -0.13163955] [ 0. 0. 0. 1. ]] SLAMing on 32.92538475 meters Centerline goodness : 0.915495 Centerline is valid? [False, False] Translation: X:1.93, Y:0.21, Z:-0.13 [[ 0.99654603 0.04332402 -0.07084514 1.92898998] [-0.04390272 0.9990138 -0.00663115 0.21063636] [ 0.07048798 0.00971854 0.99746528 -0.13189734] [ 0. 0. 0. 1. ]] SLAMing on 32.95538475 meters Centerline goodness : 0.916944 Centerline is valid? [False, False] Translation: X:1.93, Y:0.21, Z:-0.13 [[ 0.99643241 0.04615833 -0.07065309 1.9289944 ] [-0.04659848 0.99890314 -0.00459338 0.21496855] [ 0.07036357 0.00786932 0.99749037 -0.13170389] [ 0. 0. 0. 1. ]] SLAMing on 32.98538475 meters Centerline goodness : 0.921771 Centerline is valid? [False, False] Translation: X:1.93, Y:0.22, Z:-0.13 [[ 0.99628781 0.04906743 -0.07073175 1.92957232] [-0.04938304 0.99877621 -0.0027193 0.21967418] [ 0.07051176 0.00620216 0.99749167 -0.13157284] [ 0. 0. 0. 1. ]] SLAMing on 33.01538475 meters Centerline goodness : 0.920696 Centerline is valid? [False, False] Translation: X:1.93, Y:0.22, Z:-0.13 [[ 0.99628374 0.04872204 -0.07102719 1.93028598] [-0.04911663 0.99878575 -0.00381854 0.22268022] [ 0.0707549 0.00729297 0.99746707 -0.13173724] [ 0. 0. 0. 1. ]] SLAMing on 33.045384750000004 meters Centerline goodness : 0.925193 Centerline is valid? [False, False] Translation: X:1.93, Y:0.23, Z:-0.13 [[ 0.99615505 0.0512296 -0.07106791 1.93104887] [-0.05155746 0.99866615 -0.00278548 0.22912566] [ 0.07083042 0.00643885 0.99746759 -0.13187863] [ 0. 0. 0. 1. ]] SLAMing on 33.075384750000005 meters Centerline goodness : 0.925865 Centerline is valid? [False, False] Translation: X:1.93, Y:0.23, Z:-0.13 [[ 9.96016223e-01 5.42533562e-02 -7.07690356e-02 1.93121079e+00] [-5.44359921e-02 9.98517048e-01 -6.53253967e-04 2.32238373e-01] [ 7.06286473e-02 4.50303421e-03 9.97492515e-01 -1.31896322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.10538475 meters Centerline goodness : 0.925865 Centerline is valid? [False, False] Translation: X:1.93, Y:0.23, Z:-0.13 [[ 9.96016223e-01 5.42533562e-02 -7.07690356e-02 1.93121079e+00] [-5.44359921e-02 9.98517048e-01 -6.53253967e-04 2.32238373e-01] [ 7.06286473e-02 4.50303421e-03 9.97492515e-01 -1.31896322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.13538475 meters Centerline goodness : 0.928302 Centerline is valid? [False, False] Translation: X:1.93, Y:0.24, Z:-0.13 [[ 9.95831793e-01 5.72025303e-02 -7.10416101e-02 1.93353331e+00] [-5.73713177e-02 9.98352853e-01 -3.36039885e-04 2.39238963e-01] [ 7.09053717e-02 4.41038998e-03 9.97473296e-01 -1.32677880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.16538475 meters Centerline goodness : 0.927022 Centerline is valid? [False, False] Translation: X:1.94, Y:0.24, Z:-0.13 [[ 9.95809615e-01 5.71796951e-02 -7.13701147e-02 1.93511570e+00] [-5.74599616e-02 9.98346044e-01 -1.87837489e-03 2.43214302e-01] [ 7.11446668e-02 5.97142783e-03 9.97448133e-01 -1.33259424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.19538475 meters Centerline goodness : 0.929179 Centerline is valid? [False, False] Translation: X:1.94, Y:0.25, Z:-0.13 [[ 0.995814 0.05693875 -0.07150141 1.93619666] [-0.05732154 0.99835028 -0.00331151 0.24677844] [ 0.0711949 0.00739622 0.997435 -0.13379106] [ 0. 0. 0. 1. ]] SLAMing on 33.22538475 meters Centerline goodness : 0.931403 Centerline is valid? [False, False] Translation: X:1.94, Y:0.25, Z:-0.13 [[ 0.99587602 0.05569163 -0.07161981 1.93750002] [-0.05626405 0.9983979 -0.00599858 0.25191801] [ 0.07117099 0.01000346 0.99741397 -0.13450281] [ 0. 0. 0. 1. ]] SLAMing on 33.255384750000005 meters Centerline goodness : 0.934560 Centerline is valid? [False, False] Translation: X:1.94, Y:0.26, Z:-0.13 [[ 0.99600286 0.05399545 -0.07115334 1.93715735] [-0.0547297 0.9984658 -0.00840907 0.25677782] [ 0.07059013 0.01226966 0.99742994 -0.1346616 ] [ 0. 0. 0. 1. ]] SLAMing on 33.28538475 meters Centerline goodness : 0.940731 Centerline is valid? [False, False] Translation: X:1.94, Y:0.26, Z:-0.13 [[ 0.99607162 0.05300973 -0.0709316 1.93713079] [-0.05383281 0.99850244 -0.00974161 0.25980139] [ 0.07030898 0.01352179 0.99743361 -0.13487119] [ 0. 0. 0. 1. ]] SLAMing on 33.31538475 meters Centerline goodness : 0.944299 Centerline is valid? [False, False] Translation: X:1.94, Y:0.26, Z:-0.14 [[ 9.96798437e-01 5.23865431e-02 -6.04030335e-02 1.93628977e+00] [-5.25578931e-02 9.98617096e-01 -1.25040338e-03 2.62880118e-01] [ 6.02539976e-02 4.42105631e-03 9.98173287e-01 -1.38056603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.34538475 meters Centerline goodness : 0.940475 Centerline is valid? [False, False] Translation: X:1.94, Y:0.27, Z:-0.14 [[ 0.99681585 0.0517045 -0.06070255 1.93661603] [-0.05200081 0.99864155 -0.00331078 0.26623717] [ 0.06044891 0.00645682 0.99815041 -0.13728413] [ 0. 0. 0. 1. ]] SLAMing on 33.37538475 meters Centerline goodness : 0.944106 Centerline is valid? [False, False] Translation: X:1.94, Y:0.27, Z:-0.14 [[ 0.99659712 0.05530055 -0.06112305 1.93783955] [-0.0555655 0.99845155 -0.0026421 0.27228238] [ 0.0608823 0.00602944 0.99812674 -0.13638571] [ 0. 0. 0. 1. ]] SLAMing on 33.40538475 meters Centerline goodness : 0.943307 Centerline is valid? [False, False] Translation: X:1.94, Y:0.28, Z:-0.14 [[ 9.96324191e-01 5.95126189e-02 -6.16145683e-02 1.93954922e+00] [-5.96531814e-02 9.98219065e-01 -4.42701810e-04 2.75893359e-01] [ 6.14784904e-02 4.11657955e-03 9.98099919e-01 -1.36252818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.435384750000004 meters Centerline goodness : 0.917590 Centerline is valid? [False, False] Translation: X:1.95, Y:0.29, Z:-0.14 [[ 9.95320532e-01 6.95551438e-02 -6.70754776e-02 1.94795022e+00] [-6.96638323e-02 9.97570264e-01 7.20092010e-04 2.85360833e-01] [ 6.69625880e-02 3.95601246e-03 9.97747644e-01 -1.37180948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.46538475 meters Centerline goodness : 0.944306 Centerline is valid? [False, False] Translation: X:1.95, Y:0.29, Z:-0.14 [[ 9.94895047e-01 7.46523114e-02 -6.79034476e-02 1.95060366e+00] [-7.46006271e-02 9.97208030e-01 3.30012737e-03 2.88724162e-01] [ 6.79602254e-02 1.78235940e-03 9.97686439e-01 -1.37247027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.49538475 meters Centerline goodness : 0.945080 Centerline is valid? [False, False] Translation: X:1.96, Y:0.30, Z:-0.14 [[ 0.99339096 0.08667603 -0.07524411 1.96276508] [-0.08672874 0.99622864 0.00257286 0.29551905] [ 0.07518334 0.00396997 0.99716182 -0.13544939] [ 0. 0. 0. 1. ]] SLAMing on 33.52538475 meters Centerline goodness : 0.944501 Centerline is valid? [False, False] Translation: X:1.96, Y:0.30, Z:-0.14 [[ 9.92970219e-01 9.11352063e-02 -7.55282625e-02 1.96445297e+00] [-9.09632721e-02 9.95837817e-01 5.72056977e-03 2.97488329e-01] [ 7.57352454e-02 1.18994247e-03 9.97127252e-01 -1.35744265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.55538475 meters Centerline goodness : 0.944085 Centerline is valid? [False, False] Translation: X:1.97, Y:0.30, Z:-0.14 [[ 0.99243885 0.0963894 -0.07598822 1.9659007 ] [-0.09593043 0.99534101 0.00967569 0.29769206] [ 0.07656682 -0.00231295 0.99706177 -0.13534052] [ 0. 0. 0. 1. ]] SLAMing on 33.58538475 meters Centerline goodness : 0.940218 Centerline is valid? [False, False] Translation: X:1.97, Y:0.30, Z:-0.14 [[ 9.92578776e-01 9.40625999e-02 -7.70688037e-02 1.96756146e+00] [-9.38504216e-02 9.95565876e-01 6.37843231e-03 2.97959357e-01] [ 7.73270430e-02 9.01843177e-04 9.97005374e-01 -1.35425633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.615384750000004 meters Centerline goodness : 0.942672 Centerline is valid? [False, False] Translation: X:1.97, Y:0.30, Z:-0.13 [[ 0.99273447 0.09173996 -0.07785918 1.96809484] [-0.09179021 0.99577403 0.00294071 0.29802023] [ 0.07779993 0.00422737 0.99696003 -0.13483898] [ 0. 0. 0. 1. ]] SLAMing on 33.64538475 meters Centerline goodness : 0.944162 Centerline is valid? [False, False] Translation: X:1.97, Y:0.30, Z:-0.13 [[ 0.9927055 0.09198691 -0.07793714 1.96813648] [-0.09200772 0.99575272 0.00333156 0.29719003] [ 0.07791258 0.00386356 0.99695271 -0.13480117] [ 0. 0. 0. 1. ]] SLAMing on 33.67538475 meters Centerline goodness : 0.940802 Centerline is valid? [False, False] Translation: X:1.97, Y:0.29, Z:-0.13 [[ 9.92944056e-01 8.93163459e-02 -7.80044336e-02 1.96606923e+00] [-8.94803580e-02 9.95987607e-01 1.39715135e-03 2.93751820e-01] [ 7.78162376e-02 5.59257152e-03 9.96952033e-01 -1.33226403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.70538475 meters Centerline goodness : 0.940276 Centerline is valid? [False, False] Translation: X:1.97, Y:0.29, Z:-0.13 [[ 0.99346389 0.08241602 -0.07897527 1.96593527] [-0.08313591 0.99652096 -0.00586546 0.29322441] [ 0.07821711 0.01239281 0.99685932 -0.13234929] [ 0. 0. 0. 1. ]] SLAMing on 33.73538475 meters Centerline goodness : 0.934726 Centerline is valid? [False, False] Translation: X:1.97, Y:0.29, Z:-0.13 [[ 0.9937523 0.07863931 -0.07919734 1.96539505] [-0.07953566 0.99679811 -0.00822278 0.28974454] [ 0.07829712 0.01447042 0.99682504 -0.13239161] [ 0. 0. 0. 1. ]] SLAMing on 33.76538475 meters Centerline goodness : 0.934573 Centerline is valid? [False, False] Translation: X:1.96, Y:0.28, Z:-0.13 [[ 0.99440452 0.07001119 -0.07910805 1.96344554] [-0.07123186 0.99737878 -0.01271188 0.28211387] [ 0.07801071 0.01827577 0.99678499 -0.13252653] [ 0. 0. 0. 1. ]] SLAMing on 33.795384750000004 meters Centerline goodness : 0.932158 Centerline is valid? [False, False] Translation: X:1.96, Y:0.27, Z:-0.13 [[ 0.99497808 0.06173152 -0.07878982 1.96121518] [-0.06325425 0.99785304 -0.01697693 0.27470282] [ 0.07757265 0.02187546 0.99674668 -0.13272864] [ 0. 0. 0. 1. ]] SLAMing on 33.825384750000005 meters Centerline goodness : 0.936112 Centerline is valid? [False, False] Translation: X:1.96, Y:0.27, Z:-0.13 [[ 0.99506397 0.061432 -0.07793467 1.95903279] [-0.06279059 0.99791247 -0.01510103 0.27074634] [ 0.0768443 0.01992005 0.99684409 -0.13263011] [ 0. 0. 0. 1. ]] SLAMing on 33.85538475 meters Centerline goodness : 0.937460 Centerline is valid? [False, False] Translation: X:1.96, Y:0.27, Z:-0.13 [[ 0.99524462 0.05894846 -0.07754494 1.95553861] [-0.06039827 0.99803824 -0.01648379 0.26676736] [ 0.07642113 0.02108898 0.99685258 -0.13007333] [ 0. 0. 0. 1. ]] SLAMing on 33.88538475 meters Centerline goodness : 0.936537 Centerline is valid? [False, False] Translation: X:1.95, Y:0.26, Z:-0.13 [[ 0.99516303 0.06008826 -0.0777171 1.95468284] [-0.06143241 0.99799823 -0.01501967 0.26386676] [ 0.07665903 0.01972137 0.99686231 -0.12890327] [ 0. 0. 0. 1. ]] SLAMing on 33.91538475 meters Centerline goodness : 0.933522 Centerline is valid? [False, False] Translation: X:1.96, Y:0.26, Z:-0.13 [[ 0.99490454 0.06306354 -0.07866349 1.95560279] [-0.06417732 0.99786981 -0.01170941 0.25795972] [ 0.07775749 0.01669816 0.99683246 -0.12841603] [ 0. 0. 0. 1. ]] SLAMing on 33.94538475 meters Centerline goodness : 0.942676 Centerline is valid? [False, False] Translation: X:1.96, Y:0.25, Z:-0.13 [[ 0.99477359 0.06446569 -0.07918129 1.95633939] [-0.0654416 0.99780838 -0.00978979 0.2544241 ] [ 0.07837665 0.01492037 0.99681216 -0.12851421] [ 0. 0. 0. 1. ]] SLAMing on 33.97538475 meters Centerline goodness : 0.928944 Centerline is valid? [False, False] Translation: X:1.96, Y:0.25, Z:-0.13 [[ 0.99478936 0.06281418 -0.08030256 1.95660221] [-0.06386317 0.9979028 -0.01055948 0.24806906] [ 0.07947086 0.01563284 0.9967146 -0.12752667] [ 0. 0. 0. 1. ]] SLAMing on 34.005384750000005 meters Centerline goodness : 0.927730 Centerline is valid? [False, False] Translation: X:1.96, Y:0.24, Z:-0.13 [[ 0.9948123 0.06297723 -0.07988964 1.95507556] [-0.06384185 0.99792541 -0.00831251 0.24325259] [ 0.0792004 0.01336969 0.99676905 -0.12735367] [ 0. 0. 0. 1. ]] SLAMing on 34.03538475 meters Centerline goodness : 0.904243 Centerline is valid? [False, False] Translation: X:1.95, Y:0.24, Z:-0.13 [[ 0.99503586 0.05945659 -0.07980324 1.9539133 ] [-0.06033417 0.99814094 -0.00862882 0.23641508] [ 0.07914184 0.01340085 0.99677329 -0.12775884] [ 0. 0. 0. 1. ]] SLAMing on 34.06538475 meters Centerline goodness : 0.941949 Centerline is valid? [False, False] Translation: X:1.95, Y:0.23, Z:-0.13 [[ 0.99506297 0.05877742 -0.07996816 1.954765 ] [-0.05962186 0.99818726 -0.00821127 0.23254806] [ 0.07934056 0.01293859 0.9967636 -0.12848192] [ 0. 0. 0. 1. ]] SLAMing on 34.09538475 meters Centerline goodness : 0.942790 Centerline is valid? [False, False] Translation: X:1.96, Y:0.23, Z:-0.13 [[ 0.99526134 0.05449165 -0.08053281 1.9559241 ] [-0.05553273 0.99839907 -0.01074308 0.22514675] [ 0.07981847 0.01516438 0.99669406 -0.12942211] [ 0. 0. 0. 1. ]] SLAMing on 34.12538475 meters Centerline goodness : 0.947701 Centerline is valid? [False, False] Translation: X:1.96, Y:0.22, Z:-0.13 [[ 0.99543551 0.05089165 -0.08073525 1.95547788] [-0.05215525 0.99854612 -0.01361906 0.22263186] [ 0.07992478 0.01776766 0.99664253 -0.12910097] [ 0. 0. 0. 1. ]] SLAMing on 34.15538475 meters Centerline goodness : 0.947460 Centerline is valid? [False, False] Translation: X:1.95, Y:0.22, Z:-0.13 [[ 0.9956115 0.04746678 -0.08065135 1.95385394] [-0.0488816 0.99868183 -0.01565842 0.21824831] [ 0.07980178 0.01953207 0.99661937 -0.12788293] [ 0. 0. 0. 1. ]] SLAMing on 34.185384750000004 meters Centerline goodness : 0.943690 Centerline is valid? [False, False] Translation: X:1.95, Y:0.22, Z:-0.13 [[ 0.99558015 0.0479829 -0.08073291 1.95360458] [-0.04931566 0.9986766 -0.01459499 0.21568851] [ 0.07992576 0.01851188 0.99662891 -0.12748474] [ 0. 0. 0. 1. ]] SLAMing on 34.21538475 meters Centerline goodness : 0.944487 Centerline is valid? [False, False] Translation: X:1.95, Y:0.21, Z:-0.13 [[ 0.99550761 0.04905478 -0.08098291 1.95402001] [-0.05029949 0.99864427 -0.01340098 0.21320593] [ 0.08021574 0.01741418 0.9966254 -0.12750597] [ 0. 0. 0. 1. ]] SLAMing on 34.24538475 meters Centerline goodness : 0.946179 Centerline is valid? [False, False] Translation: X:1.95, Y:0.21, Z:-0.13 [[ 0.99527476 0.05370854 -0.08089212 1.95431365] [-0.05460798 0.99846779 -0.00894644 0.2121259 ] [ 0.08028768 0.01332153 0.99668271 -0.1275518 ] [ 0. 0. 0. 1. ]] SLAMing on 34.27538475 meters Centerline goodness : 0.950172 Centerline is valid? [False, True] Translation: X:1.96, Y:0.21, Z:-0.13 [[ 0.99480835 0.0655616 -0.07783336 1.96288144] [-0.0665187 0.99773739 -0.00976577 0.2127387 ] [ 0.077017 0.01489244 0.99691855 -0.12863521] [ 0. 0. 0. 1. ]] SLAMing on 34.30538475 meters Centerline goodness : 0.948337 Centerline is valid? [True, False] Translation: X:1.96, Y:0.21, Z:-0.13 [[ 0.994489 0.0703761 -0.07770988 1.96315726] [-0.0710261 0.99745857 -0.00562901 0.21288488] [ 0.07711624 0.01111742 0.99696012 -0.12859083] [ 0. 0. 0. 1. ]] SLAMing on 34.33538475 meters Centerline goodness : 0.944035 Centerline is valid? [False, False] Translation: X:1.97, Y:0.21, Z:-0.13 [[ 9.93724367e-01 7.84139027e-02 -7.97693127e-02 1.96699649e+00] [-7.87883495e-02 9.96890157e-01 -1.55266400e-03 2.12522661e-01] [ 7.93994923e-02 7.82781255e-03 9.96812142e-01 -1.27173671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.365384750000004 meters Centerline goodness : 0.950614 Centerline is valid? [False, True] Translation: X:1.97, Y:0.21, Z:-0.13 [[ 9.93221238e-01 8.29675260e-02 -8.14122932e-02 1.96969157e+00] [-8.31534833e-02 9.96536134e-01 1.10956294e-03 2.09154850e-01] [ 8.12223496e-02 5.66767428e-03 9.96679892e-01 -1.26327578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.39538475 meters Centerline goodness : 0.951497 Centerline is valid? [True, True] Translation: X:2.00, Y:0.20, Z:-0.12 [[ 9.93018147e-01 8.53129839e-02 -8.14656636e-02 1.99731614e+00] [-8.50456345e-02 9.96354177e-01 6.75240806e-03 2.01906733e-01] [ 8.17447223e-02 2.23035319e-04 9.96653275e-01 -1.23239773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.42538475 meters Centerline goodness : 0.953454 Centerline is valid? [True, True] Translation: X:2.02, Y:0.19, Z:-0.12 [[ 9.92843477e-01 8.75974303e-02 -8.11697066e-02 2.02469872e+00] [-8.73405743e-02 9.96155868e-01 6.71648051e-03 1.93121625e-01] [ 8.14460259e-02 4.20994926e-04 9.96677665e-01 -1.21638144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.45538475 meters Centerline goodness : 0.953495 Centerline is valid? [True, True] Translation: X:2.05, Y:0.19, Z:-0.12 [[ 9.92828883e-01 8.78155650e-02 -8.11124824e-02 2.05205914e+00] [-8.75607376e-02 9.96136649e-01 6.70024267e-03 1.87362226e-01] [ 8.13875020e-02 4.50074330e-04 9.96682433e-01 -1.20381084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.48538475 meters Centerline goodness : 0.954512 Centerline is valid? [True, True] Translation: X:2.08, Y:0.18, Z:-0.12 [[ 9.92860065e-01 8.76306983e-02 -8.09305400e-02 2.07936304e+00] [-8.73773364e-02 9.96152931e-01 6.67373614e-03 1.81374368e-01] [ 8.12040188e-02 4.45408928e-04 9.96697401e-01 -1.19232371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.51538475 meters Centerline goodness : 0.953799 Centerline is valid? [True, True] Translation: X:2.11, Y:0.17, Z:-0.12 [[ 9.92914066e-01 8.58168244e-02 -8.22017686e-02 2.10644580e+00] [-8.55501962e-02 9.96310882e-01 6.76679980e-03 1.70575045e-01] [ 8.24792219e-02 3.13526732e-04 9.96592735e-01 -1.17544641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.545384750000004 meters Centerline goodness : 0.953347 Centerline is valid? [True, True] Translation: X:2.13, Y:0.16, Z:-0.11 [[ 9.93194284e-01 8.25143932e-02 -8.21978622e-02 2.13252228e+00] [-8.22376871e-02 9.96589872e-01 6.75209391e-03 1.58907913e-01] [ 8.24747019e-02 5.36209953e-05 9.96593157e-01 -1.14645304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.575384750000005 meters Centerline goodness : 0.952489 Centerline is valid? [True, True] Translation: X:2.16, Y:0.15, Z:-0.11 [[ 9.93387117e-01 8.01437574e-02 -8.22132185e-02 2.16022469e+00] [-7.98600082e-02 9.96783307e-01 6.73925936e-03 1.52689165e-01] [ 8.24888734e-02 -1.29145130e-04 9.96591977e-01 -1.12756179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.60538475 meters Centerline goodness : 0.953614 Centerline is valid? [True, True] Translation: X:2.19, Y:0.14, Z:-0.11 [[ 9.93389000e-01 7.75259705e-02 -8.46641565e-02 2.18744321e+00] [-7.72165798e-02 9.96990273e-01 6.92781403e-03 1.44125980e-01] [ 8.49464261e-02 -3.44537648e-04 9.96385461e-01 -1.10826255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.63538475 meters Centerline goodness : 0.952665 Centerline is valid? [True, True] Translation: X:2.22, Y:0.14, Z:-0.11 [[ 9.93416239e-01 7.81115943e-02 -8.38018748e-02 2.21542249e+00] [-7.78115823e-02 9.96944583e-01 6.84520785e-03 1.38647123e-01] [ 8.40805152e-02 -2.79384163e-04 9.96458925e-01 -1.10554468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.66538475 meters Centerline goodness : 0.953478 Centerline is valid? [True, True] Translation: X:2.24, Y:0.13, Z:-0.11 [[ 9.93373585e-01 7.92251298e-02 -8.32604275e-02 2.24333581e+00] [-7.89339020e-02 9.96856735e-01 6.78895086e-03 1.33524653e-01] [ 8.35365734e-02 -1.71894029e-04 9.96504697e-01 -1.08849202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.69538475 meters Centerline goodness : 0.954191 Centerline is valid? [True, True] Translation: X:2.27, Y:0.13, Z:-0.11 [[ 9.93263323e-01 8.40167412e-02 -7.98070013e-02 2.27105241e+00] [-8.37654790e-02 9.96464316e-01 6.49700460e-03 1.25265253e-01] [ 8.00706862e-02 2.31835317e-04 9.96789161e-01 -1.07816227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.72538475 meters Centerline goodness : 0.953186 Centerline is valid? [True, True] Translation: X:2.30, Y:0.12, Z:-0.11 [[ 9.92928916e-01 9.11308167e-02 -7.60745794e-02 2.29890854e+00] [-9.09239471e-02 9.95838628e-01 6.18565659e-03 1.16783373e-01] [ 7.63217088e-02 7.75083744e-04 9.97082943e-01 -1.06892765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.755384750000005 meters Centerline goodness : 0.953752 Centerline is valid? [True, True] Translation: X:2.33, Y:0.11, Z:-0.11 [[ 9.92697461e-01 9.47134385e-02 -7.47068626e-02 2.32697797e+00] [-9.45245248e-02 9.95504037e-01 6.06844779e-03 1.10751619e-01] [ 7.49457469e-02 1.03749797e-03 9.97187073e-01 -1.06262563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.78538475 meters Centerline goodness : 0.952515 Centerline is valid? [True, True] Translation: X:2.36, Y:0.10, Z:-0.11 [[ 9.92176826e-01 1.00036208e-01 -7.46853592e-02 2.35564334e+00] [-9.98627920e-02 9.94982750e-01 6.06214060e-03 9.90554055e-02] [ 7.49170776e-02 1.44357307e-03 9.97188722e-01 -1.06145626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.81538475 meters Centerline goodness : 0.951327 Centerline is valid? [True, True] Translation: X:2.39, Y:0.09, Z:-0.11 [[ 9.92014063e-01 1.01801478e-01 -7.44617871e-02 2.38582673e+00] [-1.01634177e-01 9.94803490e-01 6.04246184e-03 9.14428614e-02] [ 7.46899772e-02 1.57365532e-03 9.97205561e-01 -1.05628725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.84538475 meters Centerline goodness : 0.950579 Centerline is valid? [True, True] Translation: X:2.42, Y:0.08, Z:-0.10 [[ 9.92127531e-01 1.02017244e-01 -7.26322501e-02 2.41658896e+00] [-1.01857927e-01 9.94781437e-01 5.90381214e-03 7.64787642e-02] [ 7.28555048e-02 1.54083585e-03 9.97341316e-01 -1.04904990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.87538475 meters Centerline goodness : 0.949226 Centerline is valid? [True, False] Translation: X:2.42, Y:0.07, Z:-0.10 [[ 0.99227508 0.09965918 -0.07387974 2.41745459] [-0.09961039 0.99501699 0.00435392 0.07065901] [ 0.0739455 0.0030389 0.99725765 -0.10465176] [ 0. 0. 0. 1. ]] SLAMing on 34.90538475 meters Centerline goodness : 0.948268 Centerline is valid? [False, False] Translation: X:2.42, Y:0.07, Z:-0.10 [[ 0.9924191 0.09726746 -0.07512232 2.41854933] [-0.09732292 0.99524854 0.00293079 0.06504196] [ 0.07505045 0.00440255 0.99717002 -0.10470158] [ 0. 0. 0. 1. ]] SLAMing on 34.935384750000004 meters Centerline goodness : 0.945611 Centerline is valid? [False, False] Translation: X:2.42, Y:0.06, Z:-0.11 [[ 9.92967366e-01 9.15840843e-02 -7.50211024e-02 2.41826350e+00] [-9.19190705e-02 9.95765961e-01 -1.01736155e-03 5.54461057e-02] [ 7.46102860e-02 7.90607682e-03 9.97181427e-01 -1.06334605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.96538475 meters Centerline goodness : 0.945611 Centerline is valid? [False, False] Translation: X:2.42, Y:0.06, Z:-0.11 [[ 9.92967366e-01 9.15840843e-02 -7.50211024e-02 2.41826350e+00] [-9.19190705e-02 9.95765961e-01 -1.01736155e-03 5.54461057e-02] [ 7.46102860e-02 7.90607682e-03 9.97181427e-01 -1.06334605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.99538475 meters Centerline goodness : 0.939840 Centerline is valid? [False, False] Translation: X:2.42, Y:0.04, Z:-0.11 [[ 0.99328864 0.08569684 -0.07767703 2.42218109] [-0.08628341 0.99626169 -0.00422064 0.044272 ] [ 0.07702495 0.01089455 0.99696964 -0.10818446] [ 0. 0. 0. 1. ]] SLAMing on 35.02538475 meters Centerline goodness : 0.935106 Centerline is valid? [False, False] Translation: X:2.42, Y:0.04, Z:-0.11 [[ 0.99357267 0.08044598 -0.07963542 2.42482722] [-0.08145387 0.99663198 -0.00948451 0.03958537] [ 0.07860422 0.01591017 0.99677893 -0.10878467] [ 0. 0. 0. 1. ]] SLAMing on 35.05538475 meters Centerline goodness : 0.930933 Centerline is valid? [False, False] Translation: X:2.43, Y:0.03, Z:-0.11 [[ 0.9940309 0.07139383 -0.08249539 2.42852234] [-0.07308582 0.99716908 -0.01767178 0.02975602] [ 0.0810002 0.02359554 0.99643475 -0.10983087] [ 0. 0. 0. 1. ]] SLAMing on 35.08538475 meters Centerline goodness : 0.928817 Centerline is valid? [False, False] Translation: X:2.43, Y:0.03, Z:-0.11 [[ 0.99416528 0.06821883 -0.08355585 2.42958956] [-0.0701285 0.99733475 -0.02013405 0.02546805] [ 0.08195963 0.02587622 0.99629967 -0.10994983] [ 0. 0. 0. 1. ]] SLAMing on 35.115384750000004 meters Centerline goodness : 0.927109 Centerline is valid? [False, False] Translation: X:2.43, Y:0.02, Z:-0.11 [[ 0.99427925 0.06437996 -0.08522911 2.43184127] [-0.06657351 0.99751299 -0.02314724 0.01824263] [ 0.08352693 0.02868882 0.99609247 -0.11067408] [ 0. 0. 0. 1. ]] SLAMing on 35.14538475 meters Centerline goodness : 0.928422 Centerline is valid? [False, False] Translation: X:2.43, Y:0.01, Z:-0.11 [[ 0.99420798 0.06617502 -0.08468392 2.42983021] [-0.0681021 0.99747646 -0.02007016 0.01083228] [ 0.08314207 0.02572107 0.99620571 -0.1094696 ] [ 0. 0. 0. 1. ]] SLAMing on 35.17538475 meters Centerline goodness : 0.926561 Centerline is valid? [False, False] Translation: X:2.43, Y:0.01, Z:-0.11 [[ 0.994155 0.06740713 -0.08433333 2.42824403] [-0.06917285 0.99743884 -0.0181902 0.00716595] [ 0.08289119 0.02391746 0.99627155 -0.10826357] [ 0. 0. 0. 1. ]] SLAMing on 35.20538475 meters Centerline goodness : 0.926271 Centerline is valid? [False, False] Translation: X:2.43, Y:0.00, Z:-0.11 [[ 0.99410739 0.0684396 -0.08406255 2.42707667] [-0.07007825 0.99740176 -0.01669622 0.00409628] [ 0.08270145 0.02248879 0.99632059 -0.10747866] [ 0. 0. 0. 1. ]] SLAMing on 35.23538475 meters Centerline goodness : 0.927993 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.00, Z:-0.11 [[ 9.93784010e-01 7.33370817e-02 -8.37556823e-02 2.42712306e+00] [-7.45174150e-02 9.97158486e-01 -1.10502609e-02 -1.92561770e-03] [ 8.27072955e-02 1.72228295e-02 9.96425049e-01 -1.07514450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.26538475 meters Centerline goodness : 0.925012 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.00, Z:-0.11 [[ 0.99374982 0.07402848 -0.08355282 2.42690202] [-0.07514349 0.99711978 -0.01027575 -0.00370892] [ 0.08255147 0.01648998 0.99645037 -0.10783997] [ 0. 0. 0. 1. ]] SLAMing on 35.295384750000004 meters Centerline goodness : 0.925379 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:-0.11 [[ 0.99363604 0.07585541 -0.08326693 2.42838418] [-0.07677734 0.99701679 -0.00792166 -0.00884996] [ 0.08241763 0.01426426 0.99649579 -0.10995782] [ 0. 0. 0. 1. ]] SLAMing on 35.32538475 meters Centerline goodness : 0.924392 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:-0.11 [[ 0.99362108 0.07591404 -0.08339193 2.42951517] [-0.07681025 0.99701686 -0.00758712 -0.01065038] [ 0.08256719 0.01394408 0.99648794 -0.1110468 ] [ 0. 0. 0. 1. ]] SLAMing on 35.35538475 meters Centerline goodness : 0.923936 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.02, Z:-0.11 [[ 0.99364444 0.07550958 -0.08348071 2.43059 ] [-0.07636785 0.99705421 -0.00713153 -0.0159992 ] [ 0.0826963 0.01346145 0.99648387 -0.11238085] [ 0. 0. 0. 1. ]] SLAMing on 35.38538475 meters Centerline goodness : 0.922572 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.02, Z:-0.11 [[ 0.99362099 0.07554041 -0.08373158 2.43129397] [-0.07629669 0.99706791 -0.00586485 -0.02186153] [ 0.08304304 0.01221588 0.99647109 -0.1126126 ] [ 0. 0. 0. 1. ]] SLAMing on 35.41538475 meters Centerline goodness : 0.923787 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.02, Z:-0.11 [[ 0.99360855 0.07563698 -0.08379198 2.43167294] [-0.07635609 0.99706596 -0.00540634 -0.02358147] [ 0.08313721 0.01176981 0.9964686 -0.11290138] [ 0. 0. 0. 1. ]] SLAMing on 35.44538475 meters Centerline goodness : 0.922147 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.03, Z:-0.11 [[ 0.99360266 0.07564215 -0.08385709 2.4324017 ] [-0.07633417 0.99706939 -0.00507257 -0.02524668] [ 0.08322763 0.01144128 0.99646488 -0.11360737] [ 0. 0. 0. 1. ]] SLAMing on 35.47538475 meters Centerline goodness : 0.922713 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.03, Z:-0.11 [[ 0.99389392 0.07178588 -0.08379532 2.43245214] [-0.07273243 0.997317 -0.00829446 -0.02832721] [ 0.08297507 0.01433845 0.99644847 -0.11462237] [ 0. 0. 0. 1. ]] SLAMing on 35.505384750000005 meters Centerline goodness : 0.921062 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.03, Z:-0.11 [[ 0.99387703 0.07196595 -0.08384118 2.43218924] [-0.0728213 0.99731912 -0.00718494 -0.03144742] [ 0.08309934 0.01324637 0.99645323 -0.11394424] [ 0. 0. 0. 1. ]] SLAMing on 35.53538475 meters Centerline goodness : 0.920519 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.03, Z:-0.11 [[ 0.99415556 0.06860503 -0.08335505 2.42971587] [-0.06963863 0.99752654 -0.00955311 -0.03474453] [ 0.08249348 0.01530201 0.99647412 -0.11267831] [ 0. 0. 0. 1. ]] SLAMing on 35.56538475 meters Centerline goodness : 0.921828 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.04, Z:-0.11 [[ 0.99422893 0.06831519 -0.08271564 2.42848749] [-0.06920947 0.99757016 -0.00798954 -0.04024824] [ 0.08196884 0.01366814 0.99654116 -0.11173987] [ 0. 0. 0. 1. ]] SLAMing on 35.59538475 meters Centerline goodness : 0.921271 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.04, Z:-0.11 [[ 0.99424448 0.06829578 -0.08254454 2.42817319] [-0.06913405 0.9975804 -0.00733679 -0.0425006 ] [ 0.08184374 0.0130012 0.99656037 -0.11160154] [ 0. 0. 0. 1. ]] SLAMing on 35.62538475 meters Centerline goodness : 0.920547 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.04, Z:-0.11 [[ 0.99423904 0.06841847 -0.08250843 2.42788276] [-0.06918466 0.99758296 -0.00645976 -0.04452066] [ 0.08186703 0.01213086 0.99656943 -0.11099985] [ 0. 0. 0. 1. ]] SLAMing on 35.65538475 meters Centerline goodness : 0.918933 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.05, Z:-0.11 [[ 0.99452249 0.06501135 -0.08184459 2.42537881] [-0.06599594 0.9977758 -0.00937986 -0.04634293] [ 0.08105275 0.0147299 0.99660096 -0.1101921 ] [ 0. 0. 0. 1. ]] SLAMing on 35.685384750000004 meters Centerline goodness : 0.917986 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.05, Z:-0.11 [[ 0.99451236 0.06532071 -0.08172128 2.42453518] [-0.06623025 0.99776845 -0.00846599 -0.04860494] [ 0.08098591 0.01383195 0.99661926 -0.10935757] [ 0. 0. 0. 1. ]] SLAMing on 35.71538475 meters Centerline goodness : 0.919554 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.05, Z:-0.11 [[ 0.99453682 0.06506338 -0.08162891 2.42463149] [-0.06592513 0.99779327 -0.00790376 -0.05087543] [ 0.08093453 0.01324197 0.99663145 -0.10938263] [ 0. 0. 0. 1. ]] SLAMing on 35.74538475 meters Centerline goodness : 0.918021 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.05, Z:-0.11 [[ 0.99454306 0.065005 -0.08159928 2.42488068] [-0.06585097 0.99779963 -0.00771649 -0.05159998] [ 0.08091813 0.01304777 0.99663535 -0.10968898] [ 0. 0. 0. 1. ]] SLAMing on 35.77538475 meters Centerline goodness : 0.916945 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.05, Z:-0.11 [[ 0.99454103 0.06451296 -0.08201348 2.4263541 ] [-0.06534004 0.99783533 -0.00743825 -0.05370516] [ 0.08135609 0.0127564 0.99660346 -0.11029008] [ 0. 0. 0. 1. ]] SLAMing on 35.80538475 meters Centerline goodness : 0.913650 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.06, Z:-0.11 [[ 0.99455575 0.06370152 -0.08246808 2.42904362] [-0.06455189 0.99788477 -0.00768389 -0.05547887] [ 0.08180416 0.01296553 0.99656408 -0.11232179] [ 0. 0. 0. 1. ]] SLAMing on 35.83538475 meters Centerline goodness : 0.910880 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.06, Z:-0.11 [[ 0.99455002 0.06358898 -0.08262386 2.42986032] [-0.0644345 0.99789296 -0.0076049 -0.05627127] [ 0.08196618 0.01288728 0.99655179 -0.11293885] [ 0. 0. 0. 1. ]] SLAMing on 35.865384750000004 meters Centerline goodness : 0.912245 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.06, Z:-0.11 [[ 0.99453832 0.0637063 -0.08267427 2.43035999] [-0.06453118 0.99788869 -0.00734131 -0.05715936] [ 0.08203203 0.01263628 0.99654958 -0.11343632] [ 0. 0. 0. 1. ]] SLAMing on 35.89538475 meters Centerline goodness : 0.910818 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.06, Z:-0.11 [[ 0.99452747 0.06348327 -0.08297581 2.4320915 ] [-0.06429837 0.99790485 -0.00718564 -0.05871568] [ 0.08234579 0.01248152 0.99652566 -0.11481421] [ 0. 0. 0. 1. ]] SLAMing on 35.92538475 meters Centerline goodness : 0.909604 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.06, Z:-0.11 [[ 0.99451131 0.06399012 -0.08277998 2.43154631] [-0.0647534 0.99787969 -0.00656617 -0.06007506] [ 0.08218429 0.01189042 0.99654622 -0.11466182] [ 0. 0. 0. 1. ]] SLAMing on 35.95538475 meters Centerline goodness : 0.911619 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.06, Z:-0.11 [[ 0.99448318 0.06445285 -0.08275884 2.43093497] [-0.06518212 0.99785451 -0.00613779 -0.06064313] [ 0.08218568 0.01149833 0.9965507 -0.11407036] [ 0. 0. 0. 1. ]] SLAMing on 35.98538475 meters Centerline goodness : 0.910980 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.06, Z:-0.11 [[ 0.99441457 0.06616556 -0.0822301 2.42848852] [-0.06681681 0.99775176 -0.0051903 -0.06057532] [ 0.08170181 0.01065566 0.99659986 -0.11275341] [ 0. 0. 0. 1. ]] SLAMing on 36.01538475 meters Centerline goodness : 0.910866 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.06, Z:-0.11 [[ 0.9943769 0.06732129 -0.08174615 2.42681483] [-0.06794365 0.99767736 -0.00485243 -0.05919667] [ 0.08122961 0.01037928 0.99664137 -0.11216194] [ 0. 0. 0. 1. ]] SLAMing on 36.045384750000004 meters Centerline goodness : 0.906673 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.06, Z:-0.11 [[ 9.94029633e-01 7.32035406e-02 -8.09093972e-02 2.42500363e+00] [-7.34958947e-02 9.97295316e-01 -6.37121522e-04 -5.68677912e-02] [ 8.06439233e-02 6.57982621e-03 9.96721257e-01 -1.11699504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.07538475 meters Centerline goodness : 0.905526 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.06, Z:-0.11 [[ 9.93935965e-01 7.49850587e-02 -8.04272191e-02 2.42318042e+00] [-7.52266400e-02 9.97166461e-01 2.63911037e-05 -5.57300666e-02] [ 8.02013044e-02 6.02403839e-03 9.96760484e-01 -1.11098055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.10538475 meters Centerline goodness : 0.904053 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.06, Z:-0.11 [[ 9.93525171e-01 8.07230677e-02 -7.99469832e-02 2.42241232e+00] [-8.06446477e-02 9.96734006e-01 4.21453333e-03 -5.52493252e-02] [ 8.00260869e-02 2.26005135e-03 9.96790207e-01 -1.11210107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.13538475 meters Centerline goodness : 0.903080 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.05, Z:-0.11 [[ 9.93452380e-01 8.22925872e-02 -7.92483394e-02 2.42070932e+00] [-8.21866582e-02 9.96606324e-01 4.60301942e-03 -5.40558445e-02] [ 7.93581906e-02 1.94027558e-03 9.96844277e-01 -1.11215263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.16538475 meters Centerline goodness : 0.903379 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.05, Z:-0.11 [[ 9.93042759e-01 8.77757990e-02 -7.84951427e-02 2.41967463e+00] [-8.73304980e-02 9.96137878e-01 9.09456994e-03 -5.44471274e-02] [ 7.89902680e-02 -2.17627693e-03 9.96873012e-01 -1.11299497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.19538475 meters Centerline goodness : 0.902508 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.05, Z:-0.11 [[ 9.93011485e-01 8.85072534e-02 -7.80682802e-02 2.41899017e+00] [-8.80565755e-02 9.96072958e-01 9.20336581e-03 -5.41336985e-02] [ 7.85762674e-02 -2.26462255e-03 9.96905533e-01 -1.11759074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.22538475 meters Centerline goodness : 0.901865 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.06, Z:-0.11 [[ 0.99291369 0.08999287 -0.07761237 2.41768201] [-0.08945185 0.99593657 0.01042646 -0.05735429] [ 0.0782353 -0.00341001 0.99692909 -0.11175677] [ 0. 0. 0. 1. ]] SLAMing on 36.255384750000005 meters Centerline goodness : 0.902698 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.06, Z:-0.11 [[ 9.93179128e-01 8.71219022e-02 -7.74918991e-02 2.41659737e+00] [-8.68341005e-02 9.96197611e-01 7.08222058e-03 -5.86437075e-02] [ 7.78142613e-02 -3.04974306e-04 9.96967827e-01 -1.12197603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.28538475 meters Centerline goodness : 0.904002 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.06, Z:-0.11 [[ 9.93399134e-01 8.51204744e-02 -7.68938538e-02 2.41551598e+00] [-8.49705809e-02 9.96369761e-01 5.22493343e-03 -6.49782377e-02] [ 7.70594596e-02 1.34327108e-03 9.97025594e-01 -1.13549289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.31538475 meters Centerline goodness : 0.904138 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.07, Z:-0.11 [[ 9.93648356e-01 8.24756790e-02 -7.65552484e-02 2.41398224e+00] [-8.25336933e-02 9.96585358e-01 2.41113973e-03 -6.74330148e-02] [ 7.64927000e-02 3.92256237e-03 9.97062425e-01 -1.13854205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.34538475 meters Centerline goodness : 0.905147 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.07, Z:-0.11 [[ 9.93837089e-01 8.14745637e-02 -7.51647322e-02 2.41068354e+00] [-8.16057308e-02 9.96663803e-01 1.32970114e-03 -7.44402234e-02] [ 7.50223047e-02 4.81236659e-03 9.97170244e-01 -1.14572272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.37538475 meters Centerline goodness : 0.908156 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.08, Z:-0.11 [[ 0.99375774 0.08274335 -0.07482707 2.40934602] [-0.08275806 0.99656542 0.00290942 -0.0790031 ] [ 0.07481081 0.00330128 0.99719228 -0.11410315] [ 0. 0. 0. 1. ]] SLAMing on 36.40538475 meters Centerline goodness : 0.911463 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.09, Z:-0.11 [[ 9.93594918e-01 8.53525567e-02 -7.40545750e-02 2.40643721e+00] [-8.51723240e-02 9.96350531e-01 5.59421034e-03 -8.85899225e-02] [ 7.42617953e-02 7.49021297e-04 9.97238499e-01 -1.13716266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.435384750000004 meters Centerline goodness : 0.915970 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.09, Z:-0.11 [[ 9.93502493e-01 8.68143390e-02 -7.35939365e-02 2.40482096e+00] [-8.65111532e-02 9.96224111e-01 7.30347244e-03 -9.34820038e-02] [ 7.39501001e-02 -8.89321750e-04 9.97261546e-01 -1.13291386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.46538475 meters Centerline goodness : 0.917371 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.10, Z:-0.11 [[ 9.93441648e-01 8.77527367e-02 -7.33017671e-02 2.40419581e+00] [-8.73621848e-02 9.96140150e-01 8.52355133e-03 -9.75552393e-02] [ 7.37667982e-02 -2.06384835e-03 9.97273383e-01 -1.13532469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.49538475 meters Centerline goodness : 0.919309 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.11, Z:-0.12 [[ 9.93648005e-01 8.68294970e-02 -7.15840755e-02 2.40112788e+00] [-8.65156902e-02 9.96222418e-01 7.47859640e-03 -1.05293019e-01] [ 7.19630236e-02 -1.23794670e-03 9.97406532e-01 -1.15282693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.52538475 meters Centerline goodness : 0.920900 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.11, Z:-0.12 [[ 9.93919597e-01 8.39177478e-02 -7.12856619e-02 2.39968057e+00] [-8.37968658e-02 9.96471821e-01 4.68991748e-03 -1.09228593e-01] [ 7.14277206e-02 1.31211415e-03 9.97444915e-01 -1.15710708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.55538475 meters Centerline goodness : 0.924550 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.12, Z:-0.12 [[ 9.94417758e-01 7.89755128e-02 -6.99727910e-02 2.39611222e+00] [-7.91683911e-02 9.96861257e-01 1.67918521e-05 -1.18489192e-01] [ 6.97544905e-02 5.52293517e-03 9.97548900e-01 -1.16937787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.58538475 meters Centerline goodness : 0.926525 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.12, Z:-0.12 [[ 9.94403931e-01 7.89630797e-02 -7.01830028e-02 2.39641424e+00] [-7.90624351e-02 9.96868731e-01 1.36541382e-03 -1.24628034e-01] [ 7.00710582e-02 4.19106623e-03 9.97533198e-01 -1.16548041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.615384750000004 meters Centerline goodness : 0.928869 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.13, Z:-0.12 [[ 9.94648610e-01 7.52375203e-02 -7.08057804e-02 2.39679638e+00] [-7.53863370e-02 9.97154237e-01 5.71942109e-04 -1.34829810e-01] [ 7.06473155e-02 4.76890700e-03 9.97489957e-01 -1.15204592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.64538475 meters Centerline goodness : 0.931191 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.14, Z:-0.12 [[ 9.94907112e-01 7.17423682e-02 -7.08016350e-02 2.39593879e+00] [-7.20900077e-02 9.97395330e-01 -2.36376411e-03 -1.38514003e-01] [ 7.04476380e-02 7.45581613e-03 9.97487615e-01 -1.15220766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.67538475 meters Centerline goodness : 0.935168 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.15, Z:-0.12 [[ 0.99519497 0.06733752 -0.0710818 2.39668876] [-0.06781285 0.99768883 -0.00429253 -0.14792976] [ 0.07062847 0.00909216 0.99746125 -0.11548899] [ 0. 0. 0. 1. ]] SLAMing on 36.70538475 meters Centerline goodness : 0.937011 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.16, Z:-0.12 [[ 0.99564168 0.05998128 -0.07141358 2.39970452] [-0.06081512 0.99810329 -0.00955774 -0.15607906] [ 0.07070484 0.01385911 0.997401 -0.11874621] [ 0. 0. 0. 1. ]] SLAMing on 36.73538475 meters Centerline goodness : 0.938261 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.16, Z:-0.12 [[ 0.99566716 0.05887445 -0.07197711 2.40184043] [-0.0596314 0.99818503 -0.00841142 -0.16167972] [ 0.07135126 0.01266707 0.99737082 -0.118564 ] [ 0. 0. 0. 1. ]] SLAMing on 36.76538475 meters Centerline goodness : 0.939955 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.17, Z:-0.12 [[ 0.99565689 0.05851503 -0.07241103 2.40303562] [-0.0591567 0.99822591 -0.00674708 -0.16738555] [ 0.07188776 0.01100138 0.99735205 -0.11772676] [ 0. 0. 0. 1. ]] SLAMing on 36.795384750000004 meters Centerline goodness : 0.943494 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.17, Z:-0.12 [[ 0.99584467 0.05531106 -0.07234688 2.40221241] [-0.05607707 0.99838942 -0.0085984 -0.17439611] [ 0.07175478 0.01261967 0.99734247 -0.11741769] [ 0. 0. 0. 1. ]] SLAMing on 36.82538475 meters Centerline goodness : 0.945223 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.18, Z:-0.12 [[ 0.99581553 0.05589146 -0.07230196 2.40181194] [-0.0565725 0.99837104 -0.00740452 -0.17793044] [ 0.07177034 0.01146384 0.9973553 -0.11695811] [ 0. 0. 0. 1. ]] SLAMing on 36.85538475 meters Centerline goodness : 0.947853 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.18, Z:-0.12 [[ 0.99575461 0.05776787 -0.07166334 2.39938712] [-0.05827816 0.99828762 -0.00504846 -0.18392418] [ 0.07124899 0.00920343 0.9974161 -0.11582836] [ 0. 0. 0. 1. ]] SLAMing on 36.88538475 meters Centerline goodness : 0.947853 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.18, Z:-0.12 [[ 0.99575461 0.05776787 -0.07166334 2.39938712] [-0.05827816 0.99828762 -0.00504846 -0.18392418] [ 0.07124899 0.00920343 0.9974161 -0.11582836] [ 0. 0. 0. 1. ]] SLAMing on 36.91538475 meters Centerline goodness : 0.952440 Centerline is valid? [False, True] Translation: X:2.40, Y:-0.19, Z:-0.12 [[ 0.99572201 0.0585791 -0.07145749 2.39865215] [-0.05902133 0.99824834 -0.00409113 -0.18626425] [ 0.07109267 0.00829114 0.99743526 -0.11558033] [ 0. 0. 0. 1. ]] SLAMing on 36.94538475 meters Centerline goodness : 0.952833 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.20, Z:-0.11 [[ 9.95497511e-01 6.23484933e-02 -7.13958729e-02 2.43121666e+00] [-6.22643977e-02 9.98053882e-01 3.40499898e-03 -1.96176389e-01] [ 7.14692246e-02 1.05575301e-03 9.97442247e-01 -1.09812907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.97538475 meters Centerline goodness : 0.953582 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.20, Z:-0.11 [[ 9.95414145e-01 6.40614739e-02 -7.10408806e-02 2.46393184e+00] [-6.39810950e-02 9.97945289e-01 3.40872876e-03 -2.00790093e-01] [ 7.11132803e-02 1.15217650e-03 9.97467580e-01 -1.08197064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.005384750000005 meters Centerline goodness : 0.955617 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.21, Z:-0.11 [[ 9.95264509e-01 6.58688690e-02 -7.14832109e-02 2.49581647e+00] [-6.57906422e-02 9.97827482e-01 3.45083002e-03 -2.05073385e-01] [ 7.15552146e-02 1.26843771e-03 9.97435834e-01 -1.06005770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.03538475 meters Centerline goodness : 0.956113 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.21, Z:-0.11 [[ 9.95113487e-01 6.89040648e-02 -7.07204237e-02 2.52727747e+00] [-6.88337851e-02 9.97622235e-01 3.43322680e-03 -2.11476918e-01] [ 7.07888304e-02 1.45150415e-03 9.97490268e-01 -1.05669750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.06538475 meters Centerline goodness : 0.955195 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.22, Z:-0.11 [[ 9.94987705e-01 6.96639537e-02 -7.17384126e-02 2.55962878e+00] [-6.95921622e-02 9.97569377e-01 3.50274139e-03 -2.18463140e-01] [ 7.18080583e-02 1.50724662e-03 9.97417330e-01 -1.05852132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.09538475 meters Centerline goodness : 0.957438 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.22, Z:-0.10 [[ 9.94920972e-01 7.00625200e-02 -7.22738014e-02 2.59235641e+00] [-6.99891464e-02 9.97541435e-01 3.55034836e-03 -2.22860506e-01] [ 7.23448579e-02 1.52606562e-03 9.97378510e-01 -1.04958587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.12538475 meters Centerline goodness : 0.956036 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.23, Z:-0.10 [[ 9.95031954e-01 6.77408777e-02 -7.29560406e-02 2.62446245e+00] [-6.76582731e-02 9.97702038e-01 3.60584291e-03 -2.30556993e-01] [ 7.30326534e-02 1.34815081e-03 9.97328639e-01 -1.03281041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.15538475 meters Centerline goodness : 0.959215 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.24, Z:-0.10 [[ 9.95149430e-01 6.54577175e-02 -7.34363675e-02 2.65632195e+00] [-6.53663282e-02 9.97854660e-01 3.64974673e-03 -2.35464854e-01] [ 7.35177256e-02 1.16822233e-03 9.97293226e-01 -1.00235610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.185384750000004 meters Centerline goodness : 0.959346 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.24, Z:-0.10 [[ 9.95210612e-01 6.46286988e-02 -7.33414595e-02 2.68863096e+00] [-6.45341615e-02 9.97908785e-01 3.66046606e-03 -2.40213870e-01] [ 7.34246579e-02 1.09009493e-03 9.97300171e-01 -9.77984582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.21538475 meters Centerline goodness : 0.959807 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.24, Z:-0.10 [[ 9.95386493e-01 6.10474022e-02 -7.40198843e-02 2.71988643e+00] [-6.09395904e-02 9.98134538e-01 3.71623701e-03 -2.44687515e-01] [ 7.41086696e-02 8.11649306e-04 9.97249841e-01 -9.57836512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.24538475 meters Centerline goodness : 0.959516 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.25, Z:-0.09 [[ 9.95495957e-01 5.72532591e-02 -7.55636467e-02 2.75252145e+00] [-5.71283489e-02 9.98359552e-01 3.81529775e-03 -2.49060384e-01] [ 7.56581267e-02 5.18712892e-04 9.97133682e-01 -9.33215048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.27538475 meters Centerline goodness : 0.961595 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.25, Z:-0.09 [[ 9.95511350e-01 5.60837866e-02 -7.62349101e-02 2.78501618e+00] [-5.59515234e-02 9.98425981e-01 3.87136370e-03 -2.52939288e-01] [ 7.63320357e-02 4.11472857e-04 9.97082369e-01 -9.11292045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.30538475 meters Centerline goodness : 0.961150 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.26, Z:-0.09 [[ 9.95784844e-01 5.25848520e-02 -7.51490322e-02 2.81629450e+00] [-5.24447632e-02 9.98616452e-01 3.83767977e-03 -2.57851561e-01] [ 7.52468638e-02 1.19669850e-04 9.97164929e-01 -8.83430499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.33538475 meters Centerline goodness : 0.962176 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.26, Z:-0.09 [[ 9.95976431e-01 5.06291016e-02 -7.39435105e-02 2.84892150e+00] [-5.04865785e-02 9.98717524e-01 3.79652910e-03 -2.61209448e-01] [ 7.40408945e-02 -4.80986615e-05 9.97255205e-01 -8.59629925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.365384750000004 meters Centerline goodness : 0.965483 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.27, Z:-0.08 [[ 9.96376625e-01 4.69271480e-02 -7.09328138e-02 2.88036430e+00] [-4.67852031e-02 9.98898260e-01 3.66210876e-03 -2.66624388e-01] [ 7.10265166e-02 -3.30233470e-04 9.97474373e-01 -8.28782489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.39538475 meters Centerline goodness : 0.966115 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.27, Z:-0.08 [[ 9.96563691e-01 4.46721363e-02 -6.97510576e-02 2.91319700e+00] [-4.45280154e-02 9.99001576e-01 3.62046439e-03 -2.69595632e-01] [ 6.98431503e-02 -5.02147193e-04 9.97557859e-01 -8.11594283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.42538475 meters Centerline goodness : 0.966878 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.27, Z:-0.08 [[ 9.96834156e-01 4.06563951e-02 -6.83280608e-02 2.94490304e+00] [-4.05073400e-02 9.99172877e-01 3.56613724e-03 -2.73992944e-01] [ 6.84165313e-02 -7.87059415e-04 9.97656533e-01 -7.97393382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.45538475 meters Centerline goodness : 0.966531 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.28, Z:-0.08 [[ 9.96907500e-01 3.77258650e-02 -6.89361711e-02 2.97611410e+00] [-3.75660294e-02 9.99287613e-01 3.61396907e-03 -2.76508275e-01] [ 6.90234019e-02 -1.01313464e-03 9.97614527e-01 -7.74465687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.48538475 meters Centerline goodness : 0.966843 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.28, Z:-0.08 [[ 9.96957199e-01 3.22543354e-02 -7.09647827e-02 3.00606189e+00] [-3.20709404e-02 9.99478663e-01 3.72248106e-03 -2.80612216e-01] [ 7.10478523e-02 -1.43524698e-03 9.97471876e-01 -7.52094786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.51538475 meters Centerline goodness : 0.968650 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.28, Z:-0.07 [[ 9.96982589e-01 2.92906546e-02 -7.18872413e-02 3.03454753e+00] [-2.90948411e-02 9.99569547e-01 3.76974220e-03 -2.82294986e-01] [ 7.19667155e-02 -1.66681948e-03 9.97405641e-01 -7.39042055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.545384750000004 meters Centerline goodness : 0.968727 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.28, Z:-0.07 [[ 9.96964964e-01 2.39146113e-02 -7.40874662e-02 3.06333753e+00] [-2.36922028e-02 9.99711773e-01 3.87950013e-03 -2.84509321e-01] [ 7.41588890e-02 -2.11243042e-03 9.97244201e-01 -7.31008354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.57538475 meters Centerline goodness : 0.967643 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.29, Z:-0.07 [[ 9.96939652e-01 2.18406581e-02 -7.50620831e-02 3.09127666e+00] [-2.16069515e-02 9.99758841e-01 3.92427496e-03 -2.86123469e-01] [ 7.51296899e-02 -2.29040253e-03 9.97171141e-01 -7.12242642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.60538475 meters Centerline goodness : 0.967562 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.29, Z:-0.07 [[ 9.96905053e-01 1.97166550e-02 -7.61023597e-02 3.11810529e+00] [-1.94709116e-02 9.99802543e-01 3.96980768e-03 -2.86745265e-01] [ 7.61656041e-02 -2.47573902e-03 9.97092108e-01 -6.94110434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.63538475 meters Centerline goodness : 0.967219 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.29, Z:-0.07 [[ 9.96859180e-01 1.90594075e-02 -7.68668667e-02 3.14643726e+00] [-1.88074765e-02 9.99815122e-01 4.00013976e-03 -2.86993303e-01] [ 7.69288960e-02 -2.54190425e-03 9.97033341e-01 -6.91259136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.66538475 meters Centerline goodness : 0.967779 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.29, Z:-0.07 [[ 9.96745397e-01 2.17645833e-02 -7.76203294e-02 3.17376916e+00] [-2.15165528e-02 9.99760368e-01 4.03042460e-03 -2.87068276e-01] [ 7.76894496e-02 -2.34718526e-03 9.96974844e-01 -6.64642094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.69538475 meters Centerline goodness : 0.968166 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.29, Z:-0.06 [[ 9.96652167e-01 2.44583406e-02 -7.80144029e-02 3.20171491e+00] [-2.42167537e-02 9.99698563e-01 4.04140531e-03 -2.87104632e-01] [ 7.80897325e-02 -2.13861978e-03 9.96944041e-01 -6.48859660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.72538475 meters Centerline goodness : 0.966224 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.28, Z:-0.06 [[ 9.96454183e-01 3.08790648e-02 -7.82658591e-02 3.22851382e+00] [-3.06564775e-02 9.99521798e-01 4.04420399e-03 -2.84946790e-01] [ 7.83533135e-02 -1.63050843e-03 9.96924320e-01 -6.25391909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.755384750000005 meters Centerline goodness : 0.965800 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.28, Z:-0.06 [[ 9.96343121e-01 3.49889056e-02 -7.79497356e-02 3.25678393e+00] [-3.47817045e-02 9.99386870e-01 4.01464824e-03 -2.84544466e-01] [ 7.80424105e-02 -1.28874249e-03 9.96949207e-01 -6.02627912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.78538475 meters Centerline goodness : 0.967714 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.28, Z:-0.06 [[ 9.96249384e-01 4.19124928e-02 -7.57001137e-02 3.28494639e+00] [-4.17376411e-02 9.99121028e-01 3.89105956e-03 -2.82503227e-01] [ 7.57966595e-02 -7.16921514e-04 9.97123038e-01 -5.87830302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.81538475 meters Centerline goodness : 0.966005 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.28, Z:-0.06 [[ 9.96157541e-01 4.48335260e-02 -7.52336961e-02 3.31424993e+00] [-4.46696017e-02 9.98994354e-01 3.86101953e-03 -2.82538198e-01] [ 7.53311408e-02 -4.85524486e-04 9.97158455e-01 -5.69268724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.84538475 meters Centerline goodness : 0.967725 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.28, Z:-0.05 [[ 9.96082563e-01 4.86164609e-02 -7.38645195e-02 3.34461967e+00] [-4.84689950e-02 9.98817502e-01 3.78870946e-03 -2.82492207e-01] [ 7.39613685e-02 -1.93728406e-04 9.97261088e-01 -5.41740969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.87538475 meters Centerline goodness : 0.966752 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.28, Z:-0.05 [[ 9.96084665e-01 4.94512436e-02 -7.32797060e-02 3.37721783e+00] [-4.93080002e-02 9.98776530e-01 3.76364146e-03 -2.83516107e-01] [ 7.33761672e-02 -1.35629781e-04 9.97304327e-01 -5.27568777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.90538475 meters Centerline goodness : 0.965263 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.29, Z:-0.05 [[ 9.96062342e-01 5.00705506e-02 -7.31624908e-02 3.40844426e+00] [-4.99278617e-02 9.98745677e-01 3.77902809e-03 -2.85590410e-01] [ 7.32599394e-02 -1.11300855e-04 9.97312874e-01 -5.06134253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.935384750000004 meters Centerline goodness : 0.964762 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.29, Z:-0.05 [[ 9.96281460e-01 4.62451393e-02 -7.26955197e-02 3.44007452e+00] [-4.60926436e-02 9.98930037e-01 3.77481932e-03 -2.87854919e-01] [ 7.27923053e-02 -4.10053820e-04 9.97347037e-01 -4.88308235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.96538475 meters Centerline goodness : 0.966116 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.29, Z:-0.05 [[ 9.96348263e-01 4.40545814e-02 -7.31391375e-02 3.47153646e+00] [-4.38928734e-02 9.99028949e-01 3.81757255e-03 -2.90512288e-01] [ 7.32362973e-02 -5.93344872e-04 9.97314440e-01 -4.71192758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.99538475 meters Centerline goodness : 0.965790 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.29, Z:-0.04 [[ 9.96524897e-01 3.70875718e-02 -7.45831221e-02 3.50200212e+00] [-3.68984700e-02 9.99311361e-01 3.91225088e-03 -2.93374917e-01] [ 7.46768572e-02 -1.14665231e-03 9.97207126e-01 -4.49299120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.02538475 meters Centerline goodness : 0.964930 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.30, Z:-0.04 [[ 9.96542705e-01 3.35452704e-02 -7.60088881e-02 3.53020832e+00] [-3.33375917e-02 9.99436144e-01 3.99981996e-03 -2.96159644e-01] [ 7.61002051e-02 -1.45203813e-03 9.97099118e-01 -4.31173740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.05538475 meters Centerline goodness : 0.966632 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.30, Z:-0.04 [[ 9.96742287e-01 2.56700135e-02 -7.64582512e-02 3.55902098e+00] [-2.54370870e-02 9.99668346e-01 4.01892177e-03 -2.99733139e-01] [ 7.65360593e-02 -2.06095409e-03 9.97064684e-01 -4.04924292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.08538475 meters Centerline goodness : 0.966267 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.30, Z:-0.04 [[ 9.96787621e-01 2.21584742e-02 -7.69638926e-02 3.58733053e+00] [-2.19124962e-02 9.99751733e-01 4.03914012e-03 -3.01924673e-01] [ 7.70342862e-02 -2.33969386e-03 9.97025699e-01 -3.88276210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.115384750000004 meters Centerline goodness : 0.965174 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.30, Z:-0.04 [[ 9.96820416e-01 1.74711673e-02 -7.77419871e-02 3.61584802e+00] [-1.72066223e-02 9.99843665e-01 4.07146295e-03 -3.03083485e-01] [ 7.78009666e-02 -2.72084038e-03 9.96965198e-01 -3.78501404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.14538475 meters Centerline goodness : 0.965275 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.30, Z:-0.04 [[ 9.96712002e-01 1.69494819e-02 -7.92331954e-02 3.64439343e+00] [-1.66740348e-02 9.99852421e-01 4.13677558e-03 -3.03215238e-01] [ 7.92916184e-02 -2.80203682e-03 9.96847525e-01 -3.55877609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.17538475 meters Centerline goodness : 0.968077 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.30, Z:-0.03 [[ 9.96586742e-01 1.44757202e-02 -8.12731176e-02 3.67243967e+00] [-1.41796241e-02 9.99890562e-01 4.21923805e-03 -3.02030470e-01] [ 8.13252997e-02 -3.05241445e-03 9.96682938e-01 -3.30117658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.20538475 meters Centerline goodness : 0.968228 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.30, Z:-0.03 [[ 9.96584330e-01 1.35259668e-02 -8.14660798e-02 3.69966822e+00] [-1.32269179e-02 9.99903660e-01 4.20941602e-03 -3.02048065e-01] [ 8.15151678e-02 -3.11749290e-03 9.96667226e-01 -3.13769646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.23538475 meters Centerline goodness : 0.967523 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.30, Z:-0.03 [[ 9.96564014e-01 1.25651694e-02 -8.18674689e-02 3.72822078e+00] [-1.22611193e-02 9.99915943e-01 4.21562981e-03 -3.02759461e-01] [ 8.19135575e-02 -3.19735816e-03 9.96634309e-01 -2.92433688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.26538475 meters Centerline goodness : 0.966207 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.30, Z:-0.03 [[ 9.96565088e-01 9.81261002e-03 -8.22297869e-02 3.75602852e+00] [-9.49848238e-03 9.99946024e-01 4.21045051e-03 -3.00115110e-01] [ 8.22666639e-02 -3.41492980e-03 9.96604502e-01 -2.71491518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.295384750000004 meters Centerline goodness : 0.963814 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.30, Z:-0.03 [[ 9.96605454e-01 8.18986875e-03 -8.19176082e-02 3.78338218e+00] [-7.87441576e-03 9.99960288e-01 4.17319097e-03 -2.97059694e-01] [ 8.19485330e-02 -3.51397158e-03 9.96630368e-01 -2.64834737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.32538475 meters Centerline goodness : 0.964413 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.30, Z:-0.02 [[ 9.96633105e-01 7.14152349e-03 -8.16789560e-02 3.81199902e+00] [-6.82590284e-03 9.99968122e-01 4.14274505e-03 -2.95902843e-01] [ 8.17059378e-02 -3.57126424e-03 9.96650082e-01 -2.47630552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.35538475 meters Centerline goodness : 0.963842 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.29, Z:-0.02 [[ 9.96658899e-01 8.21779133e-03 -8.12619709e-02 3.84063831e+00] [-7.91086188e-03 9.99960310e-01 4.09827963e-03 -2.93196193e-01] [ 8.12924244e-02 -3.44173464e-03 9.96684351e-01 -2.30805825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.38538475 meters Centerline goodness : 0.962273 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.29, Z:-0.02 [[ 9.96705987e-01 8.15083906e-03 -8.06891583e-02 3.86872912e+00] [-7.84988736e-03 9.99961003e-01 4.04628685e-03 -2.91425020e-01] [ 8.07189923e-02 -3.39955753e-03 9.96731101e-01 -2.15751532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.41538475 meters Centerline goodness : 0.961632 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.29, Z:-0.02 [[ 9.96701244e-01 8.88771262e-03 -8.06699371e-02 3.89701363e+00] [-8.59119450e-03 9.99955006e-01 4.02204955e-03 -2.89901134e-01] [ 8.07020543e-02 -3.31573067e-03 9.96732755e-01 -1.93547638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.44538475 meters Centerline goodness : 0.958227 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.29, Z:-0.02 [[ 9.96886845e-01 1.10385016e-02 -7.80690002e-02 3.92518571e+00] [-1.07691787e-02 9.99934522e-01 3.86999050e-03 -2.85645857e-01] [ 7.81066073e-02 -3.01720360e-03 9.96940447e-01 -1.95689244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.47538475 meters Centerline goodness : 0.957906 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.28, Z:-0.02 [[ 9.96779036e-01 1.28530649e-02 -7.91602986e-02 3.95185480e+00] [-1.25834286e-02 9.99913204e-01 3.90412263e-03 -2.84168961e-01] [ 7.92036077e-02 -2.89543963e-03 9.96854255e-01 -1.76744867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.505384750000005 meters Centerline goodness : 0.954993 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.28, Z:-0.02 [[ 9.96839647e-01 1.60685399e-02 -7.77979508e-02 3.98007778e+00] [-1.58189420e-02 9.99867562e-01 3.82353604e-03 -2.80684498e-01] [ 7.78490860e-02 -2.58077104e-03 9.96961814e-01 -1.76021269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.53538475 meters Centerline goodness : 0.953297 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.28, Z:-0.02 [[ 9.96884680e-01 1.90413642e-02 -7.65399350e-02 4.00796875e+00] [-1.88102552e-02 9.99816079e-01 3.73931416e-03 -2.77993934e-01] [ 7.65970594e-02 -2.28792929e-03 9.97059505e-01 -1.68927656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.56538475 meters Centerline goodness : 0.952000 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.28, Z:-0.02 [[ 9.96897217e-01 2.07087333e-02 -7.59413452e-02 4.03513063e+00] [-2.04875279e-02 9.99783296e-01 3.69082431e-03 -2.77670933e-01] [ 7.60013207e-02 -2.12352206e-03 9.97105456e-01 -1.51327720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.59538475 meters Centerline goodness : 0.949891 Centerline is valid? [True, False] Translation: X:4.04, Y:-0.28, Z:-0.01 [[ 0.99676199 0.02421498 -0.07667575 4.03658608] [-0.02367272 0.99968797 0.0079734 -0.27742572] [ 0.0768449 -0.00613246 0.9970242 -0.0137359 ] [ 0. 0. 0. 1. ]] SLAMing on 38.62538475 meters Centerline goodness : 0.948755 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.27, Z:-0.01 [[ 0.99676908 0.02578353 -0.07606977 4.03520221] [-0.02520283 0.9996455 0.00858405 -0.27370963] [ 0.07626413 -0.00663915 0.99706555 -0.01387172] [ 0. 0. 0. 1. ]] SLAMing on 38.65538475 meters Centerline goodness : 0.947159 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.27, Z:-0.01 [[ 0.99678108 0.02587725 -0.07588042 4.03495248] [-0.02533312 0.99964605 0.0081249 -0.27218695] [ 0.07606381 -0.00617646 0.99708382 -0.01436261] [ 0. 0. 0. 1. ]] SLAMing on 38.685384750000004 meters Centerline goodness : 0.946955 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.27, Z:-0.02 [[ 0.99679024 0.02553214 -0.0758771 4.03563674] [-0.02502613 0.99965781 0.00761234 -0.27170835] [ 0.0760455 -0.005689 0.99708812 -0.01524922] [ 0. 0. 0. 1. ]] SLAMing on 38.71538475 meters Centerline goodness : 0.943339 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.27, Z:-0.02 [[ 0.99679972 0.02538025 -0.07580338 4.03566264] [-0.02486599 0.99966098 0.00772051 -0.27173944] [ 0.07597363 -0.00581088 0.9970929 -0.01508249] [ 0. 0. 0. 1. ]] SLAMing on 38.74538475 meters Centerline goodness : 0.944160 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.27, Z:-0.01 [[ 0.99680001 0.02546408 -0.07577156 4.0352775 ] [-0.02493725 0.99965787 0.00789111 -0.27203932] [ 0.07594658 -0.00597633 0.99709398 -0.01464893] [ 0. 0. 0. 1. ]] SLAMing on 38.77538475 meters Centerline goodness : 0.942991 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.27, Z:-0.02 [[ 0.9968281 0.0251765 -0.07549754 4.03552448] [-0.02469952 0.99966867 0.00724501 -0.2706953 ] [ 0.07565493 -0.00535728 0.99711967 -0.01571248] [ 0. 0. 0. 1. ]] SLAMing on 38.80538475 meters Centerline goodness : 0.942991 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.27, Z:-0.02 [[ 0.9968281 0.0251765 -0.07549754 4.03552448] [-0.02469952 0.99966867 0.00724501 -0.2706953 ] [ 0.07565493 -0.00535728 0.99711967 -0.01571248] [ 0. 0. 0. 1. ]] SLAMing on 38.83538475 meters Centerline goodness : 0.941751 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.27, Z:-0.02 [[ 0.99684731 0.02521637 -0.07523021 4.03514689] [-0.02476746 0.99966947 0.00689427 -0.269582 ] [ 0.07537919 -0.00500928 0.99714236 -0.01609544] [ 0. 0. 0. 1. ]] SLAMing on 38.865384750000004 meters Centerline goodness : 0.939121 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.27, Z:-0.02 [[ 0.99687797 0.02536474 -0.07477257 4.03400168] [-0.02495581 0.99966808 0.00639836 -0.26725631] [ 0.07491005 -0.00451237 0.99718009 -0.0160667 ] [ 0. 0. 0. 1. ]] SLAMing on 38.89538475 meters Centerline goodness : 0.938623 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.27, Z:-0.02 [[ 0.99688874 0.02535319 -0.07463285 4.03359762] [-0.02496618 0.9996696 0.00611403 -0.26592924] [ 0.07476321 -0.00423171 0.99719234 -0.01598079] [ 0. 0. 0. 1. ]] SLAMing on 38.92538475 meters Centerline goodness : 0.936353 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.26, Z:-0.02 [[ 9.96923861e-01 2.49167108e-02 -7.43099757e-02 4.03390612e+00] [-2.46258505e-02 9.99685080e-01 4.82796664e-03 -2.61501973e-01] [ 7.44068710e-02 -2.98316879e-03 9.97223505e-01 -1.73647386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.95538475 meters Centerline goodness : 0.935862 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.26, Z:-0.02 [[ 9.96948121e-01 2.46329401e-02 -7.40787535e-02 4.03405339e+00] [-2.43981441e-02 9.99694024e-01 4.07295085e-03 -2.59269857e-01] [ 7.41564160e-02 -2.25313660e-03 9.97244077e-01 -1.82233702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.98538475 meters Centerline goodness : 0.934732 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.26, Z:-0.02 [[ 9.96963169e-01 2.37148391e-02 -7.41757787e-02 4.03472947e+00] [-2.35391059e-02 9.99717658e-01 3.24259200e-03 -2.57312714e-01] [ 7.42317334e-02 -1.48671328e-03 9.97239911e-01 -1.84177347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.01538475 meters Centerline goodness : 0.932972 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.26, Z:-0.02 [[ 9.96946906e-01 2.28915579e-02 -7.46514848e-02 4.03608435e+00] [-2.27323154e-02 9.99737139e-01 2.98224651e-03 -2.57213529e-01] [ 7.47001301e-02 -1.27614033e-03 9.97205226e-01 -1.83497505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.045384750000004 meters Centerline goodness : 0.932890 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.26, Z:-0.02 [[ 9.96954675e-01 2.00158892e-02 -7.53706797e-02 4.03995831e+00] [-1.99338655e-02 9.99799607e-01 1.84047308e-03 -2.56991587e-01] [ 7.53924146e-02 -3.32439248e-04 9.97153886e-01 -1.93353774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.07538475 meters Centerline goodness : 0.933460 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.26, Z:-0.02 [[ 9.96940219e-01 1.90016623e-02 -7.58230585e-02 4.04162533e+00] [-1.89359502e-02 9.99819442e-01 1.58554718e-03 -2.57280029e-01] [ 7.58394961e-02 -1.44914094e-04 9.97120028e-01 -1.95483618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.10538475 meters Centerline goodness : 0.930628 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.26, Z:-0.02 [[ 9.96955187e-01 1.62810603e-02 -7.62579939e-02 4.04491941e+00] [-1.62897563e-02 9.99867184e-01 5.08022598e-04 -2.57247460e-01] [ 7.62561368e-02 7.35748376e-04 9.97087990e-01 -2.05946039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.13538475 meters Centerline goodness : 0.931615 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.26, Z:-0.02 [[ 9.96938257e-01 1.54457423e-02 -7.66520802e-02 4.04629247e+00] [-1.54476166e-02 9.99880517e-01 5.68502807e-04 -2.57572546e-01] [ 7.66517025e-02 6.17329745e-04 9.97057739e-01 -2.04398738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.16538475 meters Centerline goodness : 0.929525 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.26, Z:-0.02 [[ 9.97021452e-01 1.08277551e-02 -7.63608742e-02 4.04558575e+00] [-1.11501408e-02 9.99930627e-01 -3.79678349e-03 -2.55738483e-01] [ 7.63144661e-02 4.63690909e-03 9.97073017e-01 -2.02236342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.19538475 meters Centerline goodness : 0.929882 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.26, Z:-0.02 [[ 9.96991689e-01 1.01231418e-02 -7.68446045e-02 4.04684546e+00] [-1.04511583e-02 9.99937906e-01 -3.86760685e-03 -2.55479760e-01] [ 7.68006806e-02 4.65908702e-03 9.97035580e-01 -1.99684684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.22538475 meters Centerline goodness : 0.928473 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.25, Z:-0.02 [[ 0.99692179 0.00721012 -0.07807021 4.05166534] [-0.00766381 0.99995543 -0.00551324 -0.25235543] [ 0.07802698 0.00609459 0.99693262 -0.02105886] [ 0. 0. 0. 1. ]] SLAMing on 39.255384750000005 meters Centerline goodness : 0.926827 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.25, Z:-0.02 [[ 0.99688752 0.00639057 -0.07857754 4.0527339 ] [-0.00686242 0.99996 -0.00573638 -0.25136022] [ 0.07853774 0.00625776 0.9968915 -0.02042512] [ 0. 0. 0. 1. ]] SLAMing on 39.28538475 meters Centerline goodness : 0.927956 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.25, Z:-0.02 [[ 0.99679903 0.00460482 -0.07981541 4.05486895] [-0.00513098 0.99996643 -0.00638844 -0.24878694] [ 0.07978331 0.00677752 0.99678919 -0.01868892] [ 0. 0. 0. 1. ]] SLAMing on 39.31538475 meters Centerline goodness : 0.926112 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.25, Z:-0.02 [[ 9.96768197e-01 3.80209710e-03 -8.02415424e-02 4.05601121e+00] [-4.38783087e-03 9.99964993e-01 -7.12456734e-03 -2.46350654e-01] [ 8.02116451e-02 7.45362846e-03 9.96749986e-01 -1.86933321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.34538475 meters Centerline goodness : 0.925273 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.24, Z:-0.02 [[ 9.96696624e-01 1.31679780e-03 -8.12040948e-02 4.05946835e+00] [-2.09048827e-03 9.99953225e-01 -9.44344491e-03 -2.38868058e-01] [ 8.11878613e-02 9.58200587e-03 9.96652756e-01 -1.95131473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.37538475 meters Centerline goodness : 0.924288 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.24, Z:-0.02 [[ 9.96600870e-01 3.50156619e-03 -8.23070158e-02 4.06248077e+00] [-4.00975083e-03 9.99973902e-01 -6.00977157e-03 -2.37478871e-01] [ 8.22838241e-02 6.31937420e-03 9.96588901e-01 -1.87293959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.40538475 meters Centerline goodness : 0.922709 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.23, Z:-0.02 [[ 9.96559184e-01 2.35151468e-03 -8.28508490e-02 4.06384496e+00] [-2.95077501e-03 9.99970361e-01 -7.11129657e-03 -2.33782100e-01] [ 8.28316710e-02 7.33130213e-03 9.96536586e-01 -1.86374243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.435384750000004 meters Centerline goodness : 0.921135 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.23, Z:-0.02 [[ 9.96457986e-01 -7.89619200e-04 -8.40883930e-02 4.06743184e+00] [-4.91292802e-06 9.99955365e-01 -9.44814681e-03 -2.25468038e-01] [ 8.40921001e-02 9.41509447e-03 9.96413506e-01 -1.82119314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.46538475 meters Centerline goodness : 0.917157 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.21, Z:-0.02 [[ 9.96385084e-01 -3.21141770e-03 -8.48908189e-02 4.07002033e+00] [ 2.21247862e-03 9.99927234e-01 -1.18588010e-02 -2.14148976e-01] [ 8.49227253e-02 1.16281133e-02 9.96319687e-01 -1.80178478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.49538475 meters Centerline goodness : 0.917210 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.21, Z:-0.02 [[ 9.96294919e-01 -3.30815457e-04 -8.60018883e-02 4.07154090e+00] [-4.11067635e-04 9.99962862e-01 -8.60850596e-03 -2.10522095e-01] [ 8.60015421e-02 8.61196334e-03 9.96257782e-01 -1.62561323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.52538475 meters Centerline goodness : 0.918831 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.20, Z:-0.01 [[ 9.96194034e-01 5.49503674e-03 -8.69899498e-02 4.07136834e+00] [-5.81306183e-03 9.99977314e-01 -3.40298439e-03 -1.99952381e-01] [ 8.69692768e-02 3.89571071e-03 9.96203377e-01 -1.25682713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.55538475 meters Centerline goodness : 0.917681 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.19, Z:-0.01 [[ 9.96163309e-01 9.71786096e-03 -8.69725484e-02 4.07019964e+00] [-9.77755602e-03 9.99952165e-01 -2.60386367e-04 -1.93368773e-01] [ 8.69658577e-02 1.10976631e-03 9.96210675e-01 -1.10255190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.58538475 meters Centerline goodness : 0.918579 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.19, Z:-0.01 [[ 9.96105034e-01 1.56815054e-02 -8.67689548e-02 4.06843659e+00] [-1.53115687e-02 9.99870630e-01 4.92740817e-03 -1.86770047e-01] [ 8.68349987e-02 -3.57964728e-03 9.96216276e-01 -8.66054095e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.615384750000004 meters Centerline goodness : 0.915366 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.17, Z:-0.01 [[ 0.99593574 0.02308257 -0.08705859 4.06751886] [-0.02226685 0.9996987 0.01032937 -0.17279816] [ 0.08727079 -0.00834887 0.99614964 -0.00628059] [ 0. 0. 0. 1. ]] SLAMing on 39.64538475 meters Centerline goodness : 0.915789 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.16, Z:-0.01 [[ 0.99584505 0.02604332 -0.0872604 4.0681718 ] [-0.02510206 0.99961446 0.01186704 -0.15983179] [ 0.08753581 -0.00962732 0.99611485 -0.00580802] [ 0. 0. 0. 1. ]] SLAMing on 39.67538475 meters Centerline goodness : 0.913610 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.15, Z:-0.01 [[ 0.99584701 0.02529246 -0.08745872 4.06858176] [-0.02447754 0.99964651 0.01037792 -0.15289646] [ 0.08769029 -0.00819404 0.99611409 -0.00567264] [ 0. 0. 0. 1. ]] SLAMing on 39.70538475 meters Centerline goodness : 0.920738 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.15, Z:-0.01 [[ 0.99584505 0.02438299 -0.08773881 4.06945162] [-0.02369731 0.99968002 0.00884827 -0.14651077] [ 0.08792648 -0.00673233 0.99610422 -0.00579258] [ 0. 0. 0. 1. ]] SLAMing on 39.73538475 meters Centerline goodness : 0.920543 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.13, Z:-0.01 [[ 0.99588747 0.01909327 -0.08856407 4.06592488] [-0.01770785 0.99970865 0.01640266 -0.13282047] [ 0.08885145 -0.01476692 0.99593542 -0.00633093] [ 0. 0. 0. 1. ]] SLAMing on 39.76538475 meters Centerline goodness : 0.924541 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.13, Z:-0.01 [[ 0.99590359 0.01801086 -0.08860958 4.0669175 ] [-0.01676419 0.99975003 0.01479351 -0.12577573] [ 0.08885388 -0.01324744 0.99595657 -0.00701664] [ 0. 0. 0. 1. ]] SLAMing on 39.795384750000004 meters Centerline goodness : 0.919140 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.11, Z:-0.00 [[ 9.96588113e-01 2.21272606e-02 -7.95142613e-02 4.04768594e+00] [-1.95458636e-02 9.99260980e-01 3.30976207e-02 -1.12533530e-01] [ 8.01878583e-02 -3.14305205e-02 9.96284111e-01 -1.45171345e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.82538475 meters Centerline goodness : 0.898825 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.11, Z:-0.00 [[ 9.96751278e-01 2.51820273e-02 -7.65032961e-02 4.04193998e+00] [-2.24036275e-02 9.99065538e-01 3.69611691e-02 -1.05812000e-01] [ 7.73625639e-02 -3.51271412e-02 9.96384021e-01 -5.74072602e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.85538475 meters Centerline goodness : 0.906111 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.09, Z:-0.00 [[ 9.96749380e-01 2.71724654e-02 -7.58441156e-02 4.04098891e+00] [-2.44954086e-02 9.99051293e-01 3.60067928e-02 -9.06247648e-02] [ 7.67505551e-02 -3.40319158e-02 9.96469358e-01 -1.37520470e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.88538475 meters Centerline goodness : 0.908157 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.08, Z:-0.00 [[ 9.96658904e-01 2.95415637e-02 -7.61467352e-02 4.04177523e+00] [-2.67802346e-02 9.98955144e-01 3.70329432e-02 -8.31025903e-02] [ 7.71611839e-02 -3.48699851e-02 9.96408669e-01 -1.57460475e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.91538475 meters Centerline goodness : 0.913886 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.07, Z:-0.00 [[ 9.96448057e-01 3.59218374e-02 -7.61635813e-02 4.04210265e+00] [-3.31376818e-02 9.98746690e-01 3.75092340e-02 -6.54724732e-02] [ 7.74155254e-02 -3.48521189e-02 9.96389566e-01 -3.66198471e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.94538475 meters Centerline goodness : 0.913660 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.06, Z:-0.01 [[ 0.9962992 0.04161578 -0.07520655 4.049553 ] [-0.03970584 0.9988542 0.02671567 -0.05565582] [ 0.07623217 -0.02363066 0.99681004 -0.00657835] [ 0. 0. 0. 1. ]] SLAMing on 39.97538475 meters Centerline goodness : 0.914064 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.05, Z:-0.01 [[ 0.99614683 0.04896616 -0.07275852 4.05833231] [-0.04771445 0.99868324 0.01884432 -0.04663856] [ 0.07358544 -0.01530008 0.99717154 -0.00982513] [ 0. 0. 0. 1. ]] SLAMing on 40.005384750000005 meters Centerline goodness : 0.913532 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.03, Z:-0.01 [[ 0.9952647 0.06115779 -0.07555063 4.06248173] [-0.06017347 0.9980716 0.01523909 -0.02885282] [ 0.07633692 -0.01062079 0.99702551 -0.00831838] [ 0. 0. 0. 1. ]] SLAMing on 40.03538475 meters Centerline goodness : 0.914527 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.01, Z:-0.01 [[ 9.94651371e-01 7.31636864e-02 -7.29090146e-02 4.07098057e+00] [-7.26750541e-02 9.97311975e-01 9.33599738e-03 -1.30652026e-02] [ 7.33960893e-02 -3.98739602e-03 9.97294899e-01 -1.16274410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.06538475 meters Centerline goodness : 0.915238 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.01, Z:-0.01 [[ 0.99431692 0.07784155 -0.07262617 4.07088052] [-0.07715268 0.99694407 0.01224702 -0.00570192] [ 0.07335755 -0.00657412 0.99728404 -0.01113004] [ 0. 0. 0. 1. ]] SLAMing on 40.09538475 meters Centerline goodness : 0.914455 Centerline is valid? [False, False] Translation: X:4.07, Y:0.01, Z:-0.01 [[ 0.99378804 0.08451785 -0.07240206 4.07169072] [-0.08357024 0.99637304 0.01602453 0.00544966] [ 0.07349382 -0.00987433 0.99724679 -0.01115315] [ 0. 0. 0. 1. ]] SLAMing on 40.12538475 meters Centerline goodness : 0.913977 Centerline is valid? [False, False] Translation: X:4.07, Y:0.01, Z:-0.01 [[ 0.9936514 0.08520863 -0.07346005 4.07463166] [-0.08440382 0.99633332 0.01399705 0.00933941] [ 0.07438336 -0.00770788 0.99719993 -0.0115558 ] [ 0. 0. 0. 1. ]] SLAMing on 40.15538475 meters Centerline goodness : 0.910825 Centerline is valid? [False, False] Translation: X:4.08, Y:0.02, Z:-0.01 [[ 0.99379059 0.08285084 -0.07426979 4.07765042] [-0.0822891 0.99655216 0.01059728 0.01627468] [ 0.07489171 -0.00441988 0.99718188 -0.0132911 ] [ 0. 0. 0. 1. ]] SLAMing on 40.185384750000004 meters Centerline goodness : 0.912062 Centerline is valid? [False, False] Translation: X:4.08, Y:0.02, Z:-0.01 [[ 9.94146504e-01 7.81253831e-02 -7.46267561e-02 4.07808626e+00] [-7.79397889e-02 9.96943441e-01 5.40046984e-03 2.06253535e-02] [ 7.48205688e-02 4.47535409e-04 9.97196912e-01 -1.36330325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.21538475 meters Centerline goodness : 0.911112 Centerline is valid? [False, False] Translation: X:4.08, Y:0.03, Z:-0.01 [[ 9.94588360e-01 7.16920309e-02 -7.51947300e-02 4.07918463e+00] [-7.19646355e-02 9.97406761e-01 -9.18579612e-04 2.50497592e-02] [ 7.49338773e-02 6.32496992e-03 9.97168446e-01 -1.41766407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.24538475 meters Centerline goodness : 0.910629 Centerline is valid? [False, False] Translation: X:4.08, Y:0.03, Z:-0.01 [[ 0.99487962 0.06709693 -0.07558135 4.07958388] [-0.0677111 0.99768931 -0.00559005 0.02740502] [ 0.07503163 0.01067912 0.99712397 -0.01438606] [ 0. 0. 0. 1. ]] SLAMing on 40.27538475 meters Centerline goodness : 0.909984 Centerline is valid? [False, False] Translation: X:4.08, Y:0.03, Z:-0.02 [[ 0.99499909 0.06457267 -0.07620488 4.08181647] [-0.06536853 0.99782917 -0.00799349 0.03052756] [ 0.0755233 0.01293491 0.99706014 -0.01541144] [ 0. 0. 0. 1. ]] SLAMing on 40.30538475 meters Centerline goodness : 0.911858 Centerline is valid? [False, False] Translation: X:4.08, Y:0.03, Z:-0.02 [[ 0.99502842 0.06407213 -0.07624437 4.08212891] [-0.06494291 0.99784845 -0.00899423 0.03304622] [ 0.07550404 0.01390104 0.99704859 -0.01558077] [ 0. 0. 0. 1. ]] SLAMing on 40.33538475 meters Centerline goodness : 0.911013 Centerline is valid? [False, False] Translation: X:4.08, Y:0.04, Z:-0.02 [[ 0.99482334 0.06710781 -0.07630903 4.08347555] [-0.0678576 0.99766851 -0.0072727 0.0381991 ] [ 0.07564306 0.0124132 0.99705769 -0.01623474] [ 0. 0. 0. 1. ]] SLAMing on 40.365384750000004 meters Centerline goodness : 0.913173 Centerline is valid? [False, False] Translation: X:4.08, Y:0.04, Z:-0.02 [[ 0.99475114 0.06863464 -0.07589108 4.08225948] [-0.06932892 0.99757236 -0.00654886 0.04181836] [ 0.07525736 0.01177593 0.99709461 -0.01534257] [ 0. 0. 0. 1. ]] SLAMing on 40.39538475 meters Centerline goodness : 0.915842 Centerline is valid? [False, False] Translation: X:4.08, Y:0.05, Z:-0.02 [[ 0.99449737 0.07212965 -0.07597567 4.08294776] [-0.07269582 0.99734304 -0.00470934 0.04760374] [ 0.07543412 0.01020654 0.99709855 -0.01521694] [ 0. 0. 0. 1. ]] SLAMing on 40.42538475 meters Centerline goodness : 0.915504 Centerline is valid? [False, False] Translation: X:4.09, Y:0.05, Z:-0.02 [[ 0.99439372 0.07269842 -0.07678585 4.08507693] [-0.0733542 0.99728937 -0.00575108 0.0496089 ] [ 0.07615962 0.01135141 0.99703102 -0.01547197] [ 0. 0. 0. 1. ]] SLAMing on 40.45538475 meters Centerline goodness : 0.913829 Centerline is valid? [False, False] Translation: X:4.09, Y:0.05, Z:-0.02 [[ 0.99440705 0.07241296 -0.07688289 4.08573817] [-0.07312756 0.9973013 -0.00651674 0.05171335] [ 0.07620351 0.01210255 0.99701883 -0.01598335] [ 0. 0. 0. 1. ]] SLAMing on 40.48538475 meters Centerline goodness : 0.912208 Centerline is valid? [False, False] Translation: X:4.09, Y:0.05, Z:-0.02 [[ 0.99446705 0.07158559 -0.07688163 4.08766576] [-0.07238312 0.99734769 -0.00763395 0.0547596 ] [ 0.07613124 0.01315665 0.997011 -0.01804053] [ 0. 0. 0. 1. ]] SLAMing on 40.51538475 meters Centerline goodness : 0.924765 Centerline is valid? [False, False] Translation: X:4.09, Y:0.05, Z:-0.02 [[ 0.99454283 0.07107889 -0.07636989 4.08692337] [-0.07185714 0.99738683 -0.00748793 0.05499694] [ 0.07563809 0.01293479 0.99705144 -0.01842311] [ 0. 0. 0. 1. ]] SLAMing on 40.545384750000004 meters Centerline goodness : 0.912227 Centerline is valid? [False, False] Translation: X:4.08, Y:0.05, Z:-0.02 [[ 0.99478786 0.06878376 -0.0752722 4.08485143] [-0.06954256 0.99755077 -0.00750348 0.05448404] [ 0.07457173 0.012699 0.99713479 -0.01894727] [ 0. 0. 0. 1. ]] SLAMing on 40.57538475 meters Centerline goodness : 0.913739 Centerline is valid? [False, False] Translation: X:4.08, Y:0.05, Z:-0.02 [[ 9.95976358e-01 6.40224867e-02 -6.27073757e-02 4.08024471e+00] [-6.43453494e-02 9.97922748e-01 -3.14079271e-03 5.36878603e-02] [ 6.23760353e-02 7.16308328e-03 9.98027014e-01 -2.29533775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.60538475 meters Centerline goodness : 0.913512 Centerline is valid? [False, False] Translation: X:4.08, Y:0.06, Z:-0.02 [[ 0.99619253 0.06050801 -0.06276316 4.07923009] [-0.06104399 0.99811289 -0.00665576 0.05547025] [ 0.06224199 0.01046173 0.99800626 -0.02207506] [ 0. 0. 0. 1. ]] SLAMing on 40.63538475 meters Centerline goodness : 0.912383 Centerline is valid? [False, False] Translation: X:4.08, Y:0.06, Z:-0.02 [[ 0.99623301 0.05965104 -0.06294081 4.07963887] [-0.06022771 0.99815795 -0.00730318 0.05628282] [ 0.06238923 0.01106645 0.99799054 -0.0220822 ] [ 0. 0. 0. 1. ]] SLAMing on 40.66538475 meters Centerline goodness : 0.912146 Centerline is valid? [False, False] Translation: X:4.08, Y:0.06, Z:-0.02 [[ 0.99632548 0.05783149 -0.06317475 4.07991759] [-0.05852979 0.99824274 -0.00925771 0.06020768] [ 0.06252835 0.01292129 0.99795954 -0.02169869] [ 0. 0. 0. 1. ]] SLAMing on 40.69538475 meters Centerline goodness : 0.913766 Centerline is valid? [False, False] Translation: X:4.08, Y:0.06, Z:-0.02 [[ 0.99633813 0.05727296 -0.06348331 4.08065771] [-0.05804458 0.99826007 -0.01037628 0.06311513] [ 0.06277858 0.01402314 0.99792896 -0.02179903] [ 0. 0. 0. 1. ]] SLAMing on 40.72538475 meters Centerline goodness : 0.913766 Centerline is valid? [False, False] Translation: X:4.08, Y:0.06, Z:-0.02 [[ 0.99633813 0.05727296 -0.06348331 4.08065771] [-0.05804458 0.99826007 -0.01037628 0.06311513] [ 0.06277858 0.01402314 0.99792896 -0.02179903] [ 0. 0. 0. 1. ]] SLAMing on 40.755384750000005 meters Centerline goodness : 0.896556 Centerline is valid? [False, False] Translation: X:4.08, Y:0.07, Z:-0.02 [[ 0.99613965 0.0604666 -0.06363644 4.0813671 ] [-0.06113069 0.99809324 -0.00853918 0.06839924] [ 0.06299877 0.01239635 0.99793661 -0.02154408] [ 0. 0. 0. 1. ]] SLAMing on 40.78538475 meters Centerline goodness : 0.913541 Centerline is valid? [False, False] Translation: X:4.09, Y:0.08, Z:-0.02 [[ 0.99588949 0.0689382 -0.0587507 4.09036459] [-0.06978211 0.99748477 -0.01243341 0.07596982] [ 0.05774579 0.01648205 0.99819525 -0.02287526] [ 0. 0. 0. 1. ]] SLAMing on 40.81538475 meters Centerline goodness : 0.934309 Centerline is valid? [False, False] Translation: X:4.09, Y:0.08, Z:-0.02 [[ 0.99556042 0.07364182 -0.05862027 4.09022262] [-0.07432308 0.99718873 -0.0095243 0.08082571] [ 0.05775408 0.01383885 0.99823492 -0.02213161] [ 0. 0. 0. 1. ]] SLAMing on 40.84538475 meters Centerline goodness : 0.916351 Centerline is valid? [False, False] Translation: X:4.09, Y:0.09, Z:-0.02 [[ 0.99508075 0.0789555 -0.05983589 4.0928642 ] [-0.07959372 0.99679237 -0.00835525 0.08610069] [ 0.05898426 0.01307671 0.99817326 -0.02066153] [ 0. 0. 0. 1. ]] SLAMing on 40.87538475 meters Centerline goodness : 0.915462 Centerline is valid? [False, False] Translation: X:4.10, Y:0.09, Z:-0.02 [[ 0.99387125 0.09002931 -0.06414563 4.1001233 ] [-0.09061732 0.99586579 -0.00631139 0.09468104] [ 0.06331223 0.01208542 0.99792059 -0.01943232] [ 0. 0. 0. 1. ]] SLAMing on 40.90538475 meters Centerline goodness : 0.915740 Centerline is valid? [False, False] Translation: X:4.10, Y:0.10, Z:-0.02 [[ 9.93341329e-01 9.50322731e-02 -6.51296531e-02 4.10274488e+00] [-9.54646877e-02 9.95426478e-01 -3.55258843e-03 9.67552425e-02] [ 6.44941706e-02 9.74651490e-03 9.97870486e-01 -1.89985324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.935384750000004 meters Centerline goodness : 0.914641 Centerline is valid? [False, False] Translation: X:4.11, Y:0.10, Z:-0.02 [[ 9.92590639e-01 1.01505472e-01 -6.67866916e-02 4.10667776e+00] [-1.01745039e-01 9.94810491e-01 -1.86630940e-04 9.80346874e-02] [ 6.64211574e-02 6.98046265e-03 9.97767259e-01 -1.86468531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.96538475 meters Centerline goodness : 0.915046 Centerline is valid? [False, False] Translation: X:4.11, Y:0.10, Z:-0.01 [[ 0.99198976 0.09747543 -0.0803421 4.10580563] [-0.09823118 0.99514843 -0.00549904 0.10251903] [ 0.0794163 0.01334709 0.99675218 -0.01388073] [ 0. 0. 0. 1. ]] SLAMing on 40.99538475 meters Centerline goodness : 0.914485 Centerline is valid? [False, False] Translation: X:4.11, Y:0.10, Z:-0.01 [[ 0.99160596 0.10002295 -0.08193303 4.10912195] [-0.10073567 0.99490258 -0.00460135 0.10149763] [ 0.08105515 0.0128163 0.99662721 -0.01398757] [ 0. 0. 0. 1. ]] SLAMing on 41.02538475 meters Centerline goodness : 0.912342 Centerline is valid? [False, False] Translation: X:4.11, Y:0.10, Z:-0.01 [[ 0.9914528 0.10087059 -0.08274339 4.11081557] [-0.10157513 0.99481841 -0.00433909 0.10104903] [ 0.08187696 0.01270668 0.99656144 -0.01413467] [ 0. 0. 0. 1. ]] SLAMing on 41.05538475 meters Centerline goodness : 0.913130 Centerline is valid? [False, False] Translation: X:4.11, Y:0.10, Z:-0.01 [[ 9.91159237e-01 1.02832898e-01 -8.38377084e-02 4.11234076e+00] [-1.03389583e-01 9.94638245e-01 -2.31406845e-03 9.68336878e-02] [ 8.31502288e-02 1.09615560e-02 9.96476735e-01 -1.38352143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.08538475 meters Centerline goodness : 0.913148 Centerline is valid? [False, False] Translation: X:4.11, Y:0.10, Z:-0.01 [[ 0.99132356 0.10017054 -0.08510856 4.11367937] [-0.10101959 0.99486801 -0.00571774 0.09571669] [ 0.08409903 0.01426576 0.99635528 -0.01340012] [ 0. 0. 0. 1. ]] SLAMing on 41.115384750000004 meters Centerline goodness : 0.911879 Centerline is valid? [False, False] Translation: X:4.11, Y:0.09, Z:-0.01 [[ 0.99140129 0.09833759 -0.08633191 4.11392684] [-0.09929063 0.99503521 -0.00680507 0.0896768 ] [ 0.08523409 0.0153185 0.99624319 -0.01240705] [ 0. 0. 0. 1. ]] SLAMing on 41.14538475 meters Centerline goodness : 0.876903 Centerline is valid? [False, False] Translation: X:4.11, Y:0.09, Z:-0.01 [[ 0.99156797 0.09559992 -0.08748497 4.11466622] [-0.09677207 0.99526361 -0.00924687 0.08628701] [ 0.08618661 0.01763501 0.99612292 -0.01184131] [ 0. 0. 0. 1. ]] SLAMing on 41.17538475 meters Centerline goodness : 0.871953 Centerline is valid? [False, False] Translation: X:4.11, Y:0.08, Z:-0.01 [[ 0.99165878 0.09388149 -0.08831272 4.11273694] [-0.09502065 0.99543662 -0.00877543 0.07611729] [ 0.08708587 0.01709377 0.99605414 -0.00968937] [ 0. 0. 0. 1. ]] SLAMing on 41.20538475 meters Centerline goodness : 0.883840 Centerline is valid? [False, False] Translation: X:4.11, Y:0.07, Z:-0.01 [[ 0.99183177 0.09096695 -0.08941334 4.11316595] [-0.09235078 0.99566064 -0.01145488 0.07307757] [ 0.08798333 0.01961871 0.99592873 -0.00884184] [ 0. 0. 0. 1. ]] SLAMing on 41.23538475 meters Centerline goodness : 0.909339 Centerline is valid? [False, False] Translation: X:4.11, Y:0.06, Z:-0.01 [[ 0.99188799 0.08969937 -0.09006794 4.11246445] [-0.09103873 0.99578807 -0.01086585 0.06496856] [ 0.08871392 0.01897737 0.99587635 -0.00833034] [ 0. 0. 0. 1. ]] SLAMing on 41.26538475 meters Centerline goodness : 0.914893 Centerline is valid? [False, False] Translation: X:4.11, Y:0.06, Z:-0.01 [[ 0.99174074 0.09120784 -0.09017452 4.1115813 ] [-0.09230777 0.99569762 -0.00809483 0.05914453] [ 0.08904824 0.01635178 0.99589308 -0.00774963] [ 0. 0. 0. 1. ]] SLAMing on 41.295384750000004 meters Centerline goodness : 0.916517 Centerline is valid? [False, False] Translation: X:4.11, Y:0.05, Z:-0.00 [[ 9.91374435e-01 9.31207294e-02 -9.22239637e-02 4.11080200e+00] [-9.41462436e-02 9.95534998e-01 -6.82288956e-03 4.75459688e-02] [ 9.11768311e-02 1.54465780e-02 9.95714913e-01 -3.92148676e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.32538475 meters Centerline goodness : 0.930830 Centerline is valid? [False, False] Translation: X:4.11, Y:0.04, Z:-0.00 [[ 9.91092696e-01 9.51521039e-02 -9.31737368e-02 4.11140135e+00] [-9.59872343e-02 9.95372335e-01 -4.51280550e-03 4.12032881e-02] [ 9.23131570e-02 1.34160979e-02 9.95639638e-01 -3.12138502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.35538475 meters Centerline goodness : 0.917568 Centerline is valid? [False, False] Translation: X:4.11, Y:0.03, Z:-0.00 [[ 9.90440392e-01 9.94233283e-02 -9.56181550e-02 4.11329330e+00] [-1.00079865e-01 9.94977226e-01 -2.08321296e-03 2.97952241e-02] [ 9.49307666e-02 1.16327503e-02 9.95415907e-01 -1.00552862e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.38538475 meters Centerline goodness : 0.918496 Centerline is valid? [False, False] Translation: X:4.11, Y:0.02, Z:-0.00 [[ 9.90053910e-01 1.02045027e-01 -9.68507459e-02 4.11494349e+00] [-1.02486560e-01 9.94734301e-01 4.17849579e-04 2.35761620e-02] [ 9.63833985e-02 9.51220617e-03 9.95298829e-01 -6.48906101e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.41538475 meters Centerline goodness : 0.918431 Centerline is valid? [False, False] Translation: X:4.12, Y:0.01, Z:0.00 [[ 9.89073802e-01 1.07732777e-01 -1.00631324e-01 4.12013140e+00] [-1.07890503e-01 9.94155174e-01 3.88971840e-03 1.02956314e-02] [ 1.00462201e-01 7.00994556e-03 9.94916181e-01 9.40135862e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.44538475 meters Centerline goodness : 0.919336 Centerline is valid? [False, False] Translation: X:4.12, Y:0.00, Z:0.00 [[ 9.88745855e-01 1.08883971e-01 -1.02595884e-01 4.12213908e+00] [-1.09058573e-01 9.94027585e-01 3.92275021e-03 3.49984355e-03] [ 1.02410264e-01 7.31035777e-03 9.94715385e-01 2.02578717e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.47538475 meters Centerline goodness : 0.920298 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.00, Z:0.00 [[ 9.88592098e-01 1.08525250e-01 -1.04441051e-01 4.12303745e+00] [-1.08794679e-01 9.94059312e-01 3.13071583e-03 -3.69815167e-03] [ 1.04160361e-01 8.26762964e-03 9.94526151e-01 3.71034413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.505384750000005 meters Centerline goodness : 0.919505 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.02, Z:0.01 [[ 9.88458553e-01 1.07206433e-01 -1.07034902e-01 4.12273456e+00] [-1.07523652e-01 9.94198528e-01 2.81968006e-03 -2.07806789e-02] [ 1.06716230e-01 8.72164671e-03 9.94251266e-01 6.79004162e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.53538475 meters Centerline goodness : 0.917830 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.04, Z:0.01 [[ 9.88610559e-01 1.01592078e-01 -1.11032482e-01 4.12608172e+00] [-1.02327790e-01 9.94750297e-01 -9.32917347e-04 -3.74433852e-02] [ 1.10354817e-01 1.22840005e-02 9.93816340e-01 7.94282331e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.56538475 meters Centerline goodness : 0.916860 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.05, Z:0.01 [[ 9.88746039e-01 9.84248460e-02 -1.12666855e-01 4.12839976e+00] [-9.93139984e-02 9.95053502e-01 -2.29290831e-03 -4.53918953e-02] [ 1.11883870e-01 1.34564999e-02 9.93630174e-01 6.92293565e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.59538475 meters Centerline goodness : 0.912336 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.05, Z:0.01 [[ 0.98897503 0.09328834 -0.11500297 4.13147248] [-0.09473495 0.99547674 -0.00716621 -0.05162409] [ 0.11381425 0.01798201 0.9933393 0.00644026] [ 0. 0. 0. 1. ]] SLAMing on 41.62538475 meters Centerline goodness : 0.909119 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.07, Z:0.01 [[ 0.98924234 0.08455316 -0.11937489 4.13780488] [-0.08694735 0.99610023 -0.01498287 -0.0662259 ] [ 0.1176425 0.02520102 0.99273619 0.00534874] [ 0. 0. 0. 1. ]] SLAMing on 41.65538475 meters Centerline goodness : 0.907812 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.08, Z:0.00 [[ 9.89705321e-01 7.93917773e-02 -1.19081162e-01 4.13703850e+00] [-8.20699871e-02 9.96468490e-01 -1.77500656e-02 -8.06326886e-02] [ 1.17251416e-01 2.73403238e-02 9.92725849e-01 3.92928909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.685384750000004 meters Centerline goodness : 0.908058 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.09, Z:0.00 [[ 9.89955277e-01 7.68156274e-02 -1.18692494e-01 4.13558710e+00] [-7.96396982e-02 9.96638230e-01 -1.92290899e-02 -8.70183538e-02] [ 1.16816383e-01 2.84885734e-02 9.92744848e-01 3.76925067e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.71538475 meters Centerline goodness : 0.912033 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.10, Z:0.01 [[ 0.99019024 0.07490961 -0.11794846 4.13305889] [-0.07739962 0.99686082 -0.01666734 -0.10246086] [ 0.11632966 0.025633 0.99287983 0.00641225] [ 0. 0. 0. 1. ]] SLAMing on 41.74538475 meters Centerline goodness : 0.911595 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.11, Z:0.01 [[ 0.99043968 0.07199614 -0.11766815 4.13190802] [-0.07469303 0.99703185 -0.01866684 -0.1079296 ] [ 0.11597495 0.02727737 0.99287751 0.00614654] [ 0. 0. 0. 1. ]] SLAMing on 41.77538475 meters Centerline goodness : 0.914689 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.11, Z:0.01 [[ 0.99041212 0.07224295 -0.11774885 4.1322399 ] [-0.07476843 0.99705313 -0.01716792 -0.11481159] [ 0.1161616 0.02580721 0.992895 0.00581893] [ 0. 0. 0. 1. ]] SLAMing on 41.80538475 meters Centerline goodness : 0.915848 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.13, Z:0.00 [[ 9.90595157e-01 7.01300620e-02 -1.17486206e-01 4.13281847e+00] [-7.26228442e-02 9.97213429e-01 -1.70675201e-02 -1.27816708e-01] [ 1.15961876e-01 2.54391852e-02 9.92927838e-01 4.00934041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.83538475 meters Centerline goodness : 0.921306 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.14, Z:0.00 [[ 9.91089429e-01 6.48275449e-02 -1.16357778e-01 4.13069378e+00] [-6.77050110e-02 9.97485495e-01 -2.09456133e-02 -1.38987595e-01] [ 1.14707343e-01 2.86369806e-02 9.92986480e-01 2.31295133e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.865384750000004 meters Centerline goodness : 0.923133 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.14, Z:0.00 [[ 9.91328278e-01 6.17651482e-02 -1.15988408e-01 4.12935802e+00] [-6.48626107e-02 9.97626347e-01 -2.31195613e-02 -1.43890390e-01] [ 1.14285108e-01 3.04423859e-02 9.92981458e-01 2.11031238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.89538475 meters Centerline goodness : 0.927015 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.16, Z:0.00 [[ 9.91710611e-01 5.49558227e-02 -1.16146122e-01 4.13036147e+00] [-5.83402661e-02 9.97959653e-01 -2.59411771e-02 -1.55208632e-01] [ 1.14483525e-01 3.25021362e-02 9.92893314e-01 1.87111858e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.92538475 meters Centerline goodness : 0.931672 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.16, Z:0.00 [[ 9.91936267e-01 5.06019490e-02 -1.16197609e-01 4.13065972e+00] [-5.42620766e-02 9.98118408e-01 -2.85529535e-02 -1.60892802e-01] [ 1.14534138e-01 3.46278337e-02 9.92815615e-01 1.32985159e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.95538475 meters Centerline goodness : 0.935493 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.17, Z:0.01 [[ 0.99243307 0.0409489 -0.11575746 4.13138529] [-0.04465435 0.9985639 -0.02959944 -0.17407836] [ 0.11437916 0.03454453 0.99283638 0.00596227] [ 0. 0. 0. 1. ]] SLAMing on 41.98538475 meters Centerline goodness : 0.933369 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.18, Z:0.01 [[ 0.99261204 0.03645852 -0.11572432 4.13120681] [-0.04042803 0.99866538 -0.03214092 -0.17963169] [ 0.11439807 0.03658197 0.99276122 0.00621146] [ 0. 0. 0. 1. ]] SLAMing on 42.01538475 meters Centerline goodness : 0.938756 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.18, Z:0.01 [[ 0.99274056 0.03203412 -0.11593096 4.13142233] [-0.03629534 0.99873383 -0.03483367 -0.18416346] [ 0.11466831 0.03878855 0.99264627 0.00647963] [ 0. 0. 0. 1. ]] SLAMing on 42.045384750000004 meters Centerline goodness : 0.937090 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.19, Z:0.01 [[ 0.99293238 0.02689875 -0.11559301 4.13176881] [-0.0314311 0.99879968 -0.03756706 -0.19099716] [ 0.11444375 0.04093477 0.992586 0.00589196] [ 0. 0. 0. 1. ]] SLAMing on 42.07538475 meters Centerline goodness : 0.943670 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.19, Z:0.01 [[ 0.99297901 0.02633155 -0.11532274 4.13183205] [-0.0307512 0.99885257 -0.03671397 -0.19410604] [ 0.11422368 0.04000251 0.99264936 0.0061578 ] [ 0. 0. 0. 1. ]] SLAMing on 42.10538475 meters Centerline goodness : 0.941049 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.19, Z:0.01 [[ 0.99299239 0.02649345 -0.11517037 4.1313778 ] [-0.03086435 0.99886292 -0.03633527 -0.19463919] [ 0.11407677 0.0396353 0.99268098 0.00642867] [ 0. 0. 0. 1. ]] SLAMing on 42.13538475 meters Centerline goodness : 0.939286 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.19, Z:0.01 [[ 0.99300009 0.02607728 -0.11519895 4.13152855] [-0.0304432 0.99887701 -0.03630337 -0.19468889] [ 0.11412289 0.03955627 0.99267883 0.00672702] [ 0. 0. 0. 1. ]] SLAMing on 42.16538475 meters Centerline goodness : 0.941623 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.20, Z:0.01 [[ 0.9928562 0.02916549 -0.11569759 4.13279061] [-0.03309246 0.99893452 -0.032167 -0.19656631] [ 0.11463615 0.03576592 0.99276349 0.00765856] [ 0. 0. 0. 1. ]] SLAMing on 42.19538475 meters Centerline goodness : 0.939821 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.19, Z:0.01 [[ 0.99284357 0.02843306 -0.11598794 4.13369564] [-0.03246599 0.99892691 -0.03303017 -0.19412555] [ 0.11492432 0.03655945 0.99270127 0.00751132] [ 0. 0. 0. 1. ]] SLAMing on 42.22538475 meters Centerline goodness : 0.938969 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.19, Z:0.01 [[ 0.99269666 0.03190317 -0.11634233 4.13489694] [-0.03551731 0.99894458 -0.02912451 -0.19449125] [ 0.11529037 0.03304397 0.99278206 0.00790431] [ 0. 0. 0. 1. ]] SLAMing on 42.25538475 meters Centerline goodness : 0.936293 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.19, Z:0.01 [[ 0.99256464 0.03520466 -0.11651635 4.13680828] [-0.03850268 0.9989156 -0.02617583 -0.19184187] [ 0.11546849 0.03046739 0.99284378 0.00701207] [ 0. 0. 0. 1. ]] SLAMing on 42.28538475 meters Centerline goodness : 0.935413 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.19, Z:0.01 [[ 0.99238927 0.03912906 -0.11675808 4.13788677] [-0.04199612 0.99887119 -0.0221964 -0.19150102] [ 0.11575775 0.02693086 0.99291232 0.0071207 ] [ 0. 0. 0. 1. ]] SLAMing on 42.31538475 meters Centerline goodness : 0.932190 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.19, Z:0.01 [[ 0.9920486 0.04699784 -0.11675088 4.13866498] [-0.04899414 0.99869688 -0.0142866 -0.19085497] [ 0.1159273 0.01989311 0.99305847 0.00801828] [ 0. 0. 0. 1. ]] SLAMing on 42.34538475 meters Centerline goodness : 0.930474 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.19, Z:0.01 [[ 0.99203998 0.04747855 -0.11662959 4.13818527] [-0.04949762 0.99866934 -0.01447532 -0.18902293] [ 0.11578713 0.02013298 0.99306999 0.00804905] [ 0. 0. 0. 1. ]] SLAMing on 42.37538475 meters Centerline goodness : 0.928890 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.19, Z:0.01 [[ 0.99179979 0.0518161 -0.11682581 4.13911954] [-0.05343958 0.99851262 -0.01080531 -0.18744344] [ 0.11609216 0.01695983 0.99309364 0.00798794] [ 0. 0. 0. 1. ]] SLAMing on 42.40538475 meters Centerline goodness : 0.926337 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.19, Z:0.01 [[ 0.99156844 0.05592973 -0.11689263 4.13991832] [-0.05712533 0.99834317 -0.00690046 -0.18728337] [ 0.11631302 0.01351981 0.99312059 0.00798175] [ 0. 0. 0. 1. ]] SLAMing on 42.435384750000004 meters Centerline goodness : 0.923175 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.19, Z:0.01 [[ 9.91306253e-01 6.06568710e-02 -1.16758965e-01 4.13932680e+00] [-6.14152339e-02 9.98108075e-01 -2.90506718e-03 -1.86093261e-01] [ 1.16361853e-01 1.00505904e-02 9.93156032e-01 8.90001914e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.46538475 meters Centerline goodness : 0.924904 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.18, Z:0.01 [[ 9.91027638e-01 6.51981574e-02 -1.16676566e-01 4.13895100e+00] [-6.55368921e-02 9.97849709e-01 9.34986560e-04 -1.84202611e-01] [ 1.16486636e-01 6.72002197e-03 9.93169525e-01 9.80473926e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.49538475 meters Centerline goodness : 0.919115 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.18, Z:0.01 [[ 9.91050019e-01 6.52633192e-02 -1.16449813e-01 4.13877907e+00] [-6.56685129e-02 9.97841429e-01 3.57774382e-04 -1.81254775e-01] [ 1.16221798e-01 7.29251375e-03 9.93196513e-01 9.38509160e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.52538475 meters Centerline goodness : 0.921256 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.18, Z:0.01 [[ 9.91039481e-01 6.52513953e-02 -1.16546143e-01 4.13905778e+00] [-6.57065484e-02 9.97838988e-01 -6.34717578e-05 -1.78794331e-01] [ 1.16290144e-01 7.72074781e-03 9.93185276e-01 9.24425586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.55538475 meters Centerline goodness : 0.918265 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.18, Z:0.01 [[ 9.91034694e-01 6.49235787e-02 -1.16769706e-01 4.13949613e+00] [-6.54512355e-02 9.97855533e-01 -6.85905297e-04 -1.76707233e-01] [ 1.16474765e-01 8.32247745e-03 9.93158782e-01 9.25760453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.58538475 meters Centerline goodness : 0.917457 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.18, Z:0.01 [[ 9.91031776e-01 6.45905770e-02 -1.16978959e-01 4.14010396e+00] [-6.51489258e-02 9.97875098e-01 -9.51686337e-04 -1.76674318e-01] [ 1.16668921e-01 8.56420494e-03 9.93133937e-01 9.05600695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.615384750000004 meters Centerline goodness : 0.917457 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.18, Z:0.01 [[ 9.91031776e-01 6.45905770e-02 -1.16978959e-01 4.14010396e+00] [-6.51489258e-02 9.97875098e-01 -9.51686337e-04 -1.76674318e-01] [ 1.16668921e-01 8.56420494e-03 9.93133937e-01 9.05600695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.64538475 meters Centerline goodness : 0.916132 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.18, Z:0.01 [[ 9.91060865e-01 6.32161005e-02 -1.17482281e-01 4.14190651e+00] [-6.38652563e-02 9.97956969e-01 -1.76544165e-03 -1.76455477e-01] [ 1.17130657e-01 9.25269614e-03 9.93073410e-01 8.55071408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.67538475 meters Centerline goodness : 0.915941 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.17, Z:0.01 [[ 9.91105220e-01 6.16596559e-02 -1.17934431e-01 4.14397710e+00] [-6.24287022e-02 9.98045401e-01 -2.83442734e-03 -1.74750953e-01] [ 1.17529147e-01 1.01717092e-02 9.93017339e-01 7.71628116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.70538475 meters Centerline goodness : 0.918088 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.17, Z:0.01 [[ 9.91113276e-01 6.14735165e-02 -1.17963894e-01 4.14407298e+00] [-6.22664427e-02 9.98054919e-01 -3.04459667e-03 -1.73664270e-01] [ 1.17547283e-01 1.03627323e-02 9.93013217e-01 7.81316249e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.73538475 meters Centerline goodness : 0.916983 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.17, Z:0.01 [[ 9.91151771e-01 6.17716958e-02 -1.17483720e-01 4.14227386e+00] [-6.25654350e-02 9.98036122e-01 -3.07666452e-03 -1.71148910e-01] [ 1.17062946e-01 1.03998615e-02 9.93070043e-01 8.94693321e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.76538475 meters Centerline goodness : 0.914791 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.17, Z:0.01 [[ 9.91157493e-01 6.20243556e-02 -1.17302187e-01 4.14137458e+00] [-6.28123457e-02 9.98020758e-01 -3.02920815e-03 -1.70319160e-01] [ 1.16882133e-01 1.03704479e-02 9.93091648e-01 9.53258338e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.795384750000004 meters Centerline goodness : 0.916673 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.17, Z:0.01 [[ 9.90961796e-01 6.52998341e-02 -1.17177860e-01 4.14148421e+00] [-6.56164949e-02 9.97844244e-01 1.15741979e-03 -1.71321263e-01] [ 1.17000833e-01 6.54184167e-03 9.93110271e-01 1.08403250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.82538475 meters Centerline goodness : 0.916800 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.17, Z:0.01 [[ 9.90974698e-01 6.53842172e-02 -1.17021585e-01 4.14088795e+00] [-6.56837075e-02 9.97839647e-01 1.29952109e-03 -1.71229328e-01] [ 1.16853745e-01 6.39861904e-03 9.93128521e-01 1.12182016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.85538475 meters Centerline goodness : 0.915779 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.17, Z:0.01 [[ 9.91005210e-01 6.48762132e-02 -1.17045936e-01 4.14079288e+00] [-6.51541861e-02 9.97874150e-01 1.45377306e-03 -1.71634176e-01] [ 1.16891430e-01 6.18533605e-03 9.93125438e-01 1.18280236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.88538475 meters Centerline goodness : 0.914084 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.17, Z:0.01 [[ 9.91001713e-01 6.46421704e-02 -1.17204925e-01 4.14138298e+00] [-6.49131435e-02 9.97889779e-01 1.50782621e-03 -1.71811000e-01] [ 1.17055066e-01 6.11388178e-03 9.93106607e-01 1.16988783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.91538475 meters Centerline goodness : 0.913830 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.17, Z:0.01 [[ 9.91008816e-01 6.36601399e-02 -1.17681409e-01 4.14372316e+00] [-6.39999847e-02 9.97949500e-01 8.92713344e-04 -1.70965898e-01] [ 1.17496933e-01 6.64692157e-03 9.93051000e-01 1.04857868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.94538475 meters Centerline goodness : 0.913286 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.17, Z:0.01 [[ 9.90996501e-01 6.31496618e-02 -1.18059544e-01 4.14495175e+00] [-6.35452206e-02 9.97978874e-01 4.14512304e-04 -1.69815717e-01] [ 1.17847107e-01 7.09133953e-03 9.93006431e-01 1.00648911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.97538475 meters Centerline goodness : 0.908671 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.17, Z:0.01 [[ 9.91011962e-01 6.19503480e-02 -1.18564099e-01 4.14724591e+00] [-6.24799658e-02 9.98045935e-01 -7.51495811e-04 -1.67165781e-01] [ 1.18285862e-01 8.15262221e-03 9.92946116e-01 8.88142868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.00538475 meters Centerline goodness : 0.908127 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.17, Z:0.01 [[ 9.91007957e-01 6.14889117e-02 -1.18837466e-01 4.14823528e+00] [-6.20773349e-02 9.98070556e-01 -1.25263974e-03 -1.65945899e-01] [ 1.18531152e-01 8.61848911e-03 9.92912931e-01 8.46793436e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.03538475 meters Centerline goodness : 0.906835 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.16, Z:0.01 [[ 9.90816824e-01 6.38123905e-02 -1.19205702e-01 4.15066234e+00] [-6.40918125e-02 9.97942891e-01 1.49217117e-03 -1.64824316e-01] [ 1.19055701e-01 6.16164117e-03 9.92868458e-01 7.93261718e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.06538475 meters Centerline goodness : 0.905633 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.16, Z:0.01 [[ 9.90573817e-01 6.68388708e-02 -1.19566208e-01 4.15273248e+00] [-6.67315891e-02 9.97758905e-01 4.90534602e-03 -1.64908182e-01] [ 1.19626116e-01 3.11973571e-03 9.92814111e-01 7.57233831e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.09538475 meters Centerline goodness : 0.901261 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.16, Z:0.01 [[ 9.90324700e-01 7.01305692e-02 -1.19744275e-01 4.15463605e+00] [-6.97195651e-02 9.97537501e-01 7.62345649e-03 -1.62187485e-01] [ 1.19984042e-01 7.98821511e-04 9.92775499e-01 6.68747976e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.12538475 meters Centerline goodness : 0.900853 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.16, Z:0.01 [[ 9.90024935e-01 7.39545116e-02 -1.19922298e-01 4.15561528e+00] [-7.31096621e-02 9.97258346e-01 1.14354500e-02 -1.61939357e-01] [ 1.20439215e-01 -2.55390194e-03 9.92717418e-01 7.02671767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.15538475 meters Centerline goodness : 0.899583 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.16, Z:0.01 [[ 0.98969332 0.07797738 -0.12011103 4.15678368] [-0.07681137 0.99694289 0.01431421 -0.15902148] [ 0.12086002 -0.00494078 0.99265726 0.00671449] [ 0. 0. 0. 1. ]] SLAMing on 43.185384750000004 meters Centerline goodness : 0.900094 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.16, Z:0.01 [[ 0.98964224 0.07881084 -0.11998788 4.15606949] [-0.07768369 0.99687905 0.01404987 -0.15641017] [ 0.12072069 -0.00458325 0.99267593 0.0069199 ] [ 0. 0. 0. 1. ]] SLAMing on 43.21538475 meters Centerline goodness : 0.896500 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.15, Z:0.01 [[ 0.98925745 0.08409372 -0.11957404 4.15546163] [-0.08261138 0.99643151 0.01730904 -0.15276968] [ 0.12060292 -0.00724492 0.99267439 0.00697808] [ 0. 0. 0. 1. ]] SLAMing on 43.24538475 meters Centerline goodness : 0.897734 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.15, Z:0.01 [[ 0.98888449 0.08857035 -0.11942676 4.15593882] [-0.08668035 0.99601611 0.02093866 -0.15142642] [ 0.12080552 -0.01035396 0.9926222 0.00690466] [ 0. 0. 0. 1. ]] SLAMing on 43.27538475 meters Centerline goodness : 0.896597 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.15, Z:0.01 [[ 0.98805556 0.09790725 -0.11899739 4.15647773] [-0.09516976 0.99505336 0.02848748 -0.14871753] [ 0.12119789 -0.01682226 0.99248581 0.00689473] [ 0. 0. 0. 1. ]] SLAMing on 43.30538475 meters Centerline goodness : 0.895009 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.15, Z:0.01 [[ 0.98793613 0.09888269 -0.11918225 4.15642458] [-0.09617173 0.99496233 0.02830138 -0.14684599] [ 0.12138037 -0.016498 0.99246895 0.00685688] [ 0. 0. 0. 1. ]] SLAMing on 43.33538475 meters Centerline goodness : 0.897185 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.15, Z:0.00 [[ 0.987392 0.10562788 -0.1178974 4.16275179] [-0.1040026 0.9943785 0.01987114 -0.14704158] [ 0.11933359 -0.00735897 0.99282694 0.00484062] [ 0. 0. 0. 1. ]] SLAMing on 43.365384750000004 meters Centerline goodness : 0.893851 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.15, Z:0.01 [[ 0.98732114 0.10647095 -0.1177323 4.16192777] [-0.104808 0.99428639 0.02024476 -0.14718671] [ 0.1192151 -0.00764879 0.99283899 0.0051747 ] [ 0. 0. 0. 1. ]] SLAMing on 43.39538475 meters Centerline goodness : 0.896846 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.15, Z:0.01 [[ 0.98717707 0.10840679 -0.11717254 4.15941953] [-0.10658442 0.99406624 0.02172723 -0.1493316 ] [ 0.11883264 -0.00895985 0.99287387 0.00639219] [ 0. 0. 0. 1. ]] SLAMing on 43.42538475 meters Centerline goodness : 0.900017 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.15, Z:0.00 [[ 9.87503920e-01 1.10486273e-01 -1.12377896e-01 4.16573461e+00] [-1.09879220e-01 9.93877249e-01 1.16004388e-02 -1.53335252e-01] [ 1.12971523e-01 8.92516758e-04 9.93597825e-01 3.54346323e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.45538475 meters Centerline goodness : 0.900134 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.15, Z:0.00 [[ 9.87779053e-01 1.08535803e-01 -1.11859382e-01 4.16286588e+00] [-1.08202915e-01 9.94087539e-01 9.06063079e-03 -1.54500434e-01] [ 1.12181420e-01 3.15360981e-03 9.93682738e-01 4.11371839e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.48538475 meters Centerline goodness : 0.902427 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.16, Z:0.00 [[ 9.87693907e-01 1.09773913e-01 -1.11402125e-01 4.16120140e+00] [-1.09293608e-01 9.93954812e-01 1.04277912e-02 -1.57969665e-01] [ 1.11873378e-01 1.87607438e-03 9.93720699e-01 4.73229503e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.51538475 meters Centerline goodness : 0.906172 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.17, Z:0.00 [[ 9.87933591e-01 1.13410864e-01 -1.05476046e-01 4.16663947e+00] [-1.13765454e-01 9.93504052e-01 2.66827563e-03 -1.65386026e-01] [ 1.05093491e-01 9.36345117e-03 9.94418264e-01 2.10747743e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.545384750000004 meters Centerline goodness : 0.908415 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.17, Z:0.00 [[ 9.87815521e-01 1.15107875e-01 -1.04740986e-01 4.16423087e+00] [-1.15285181e-01 9.93322778e-01 4.38017101e-03 -1.69035571e-01] [ 1.04545800e-01 7.74828264e-03 9.94489889e-01 2.86873362e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.57538475 meters Centerline goodness : 0.911082 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.18, Z:0.00 [[ 9.87657753e-01 1.17974714e-01 -1.03024901e-01 4.16163154e+00] [-1.17920975e-01 9.93000825e-01 6.63357916e-03 -1.76221250e-01] [ 1.03086406e-01 5.59709081e-03 9.94656657e-01 1.08533252e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.60538475 meters Centerline goodness : 0.908482 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.18, Z:0.00 [[ 9.87549380e-01 1.19042572e-01 -1.02835247e-01 4.16141494e+00] [-1.18869282e-01 9.92879009e-01 7.83375031e-03 -1.80867191e-01] [ 1.03035507e-01 4.48773664e-03 9.94667555e-01 4.06897811e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.63538475 meters Centerline goodness : 0.910221 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.19, Z:-0.00 [[ 9.87732083e-01 1.18588883e-01 -1.01597290e-01 4.15934941e+00] [-1.18499804e-01 9.92929871e-01 6.93311686e-03 -1.90391362e-01] [ 1.01701175e-01 5.19119705e-03 9.94801449e-01 -2.17804474e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.66538475 meters Centerline goodness : 0.907620 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.20, Z:-0.01 [[ 9.87560494e-01 1.20575136e-01 -1.00925258e-01 4.16096698e+00] [-1.20241509e-01 9.92700120e-01 9.40486813e-03 -2.00337686e-01] [ 1.01322509e-01 2.84752907e-03 9.94849557e-01 -5.84422385e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.69538475 meters Centerline goodness : 0.906862 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.21, Z:-0.01 [[ 9.87475630e-01 1.21245618e-01 -1.00952365e-01 4.16190521e+00] [-1.20809388e-01 9.92620755e-01 1.04464148e-02 -2.05315448e-01] [ 1.01473995e-01 1.88041343e-03 9.94836415e-01 -7.23665939e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.72538475 meters Centerline goodness : 0.908017 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.21, Z:-0.01 [[ 9.87363991e-01 1.21943180e-01 -1.01203806e-01 4.16272524e+00] [-1.21375390e-01 9.92536863e-01 1.17724110e-02 -2.11177420e-01] [ 1.01884074e-01 6.59996679e-04 9.94796059e-01 -7.94253437e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.75538475 meters Centerline goodness : 0.909503 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.22, Z:-0.01 [[ 9.87572221e-01 1.20869775e-01 -1.00456983e-01 4.16171155e+00] [-1.20390176e-01 9.92667408e-01 1.08453683e-02 -2.21926432e-01] [ 1.01031250e-01 1.38344938e-03 9.94882291e-01 -1.05954410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.78538475 meters Centerline goodness : 0.909894 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.23, Z:-0.01 [[ 9.87891472e-01 1.18940869e-01 -9.96168107e-02 4.16041130e+00] [-1.18658422e-01 9.92896343e-01 8.77673378e-03 -2.26221793e-01] [ 9.99530793e-02 3.14991315e-03 9.94987166e-01 -1.23286597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.81538475 meters Centerline goodness : 0.909373 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.24, Z:-0.01 [[ 9.88149410e-01 1.17587438e-01 -9.86607180e-02 4.15901667e+00] [-1.17362969e-01 9.93056084e-01 8.09615489e-03 -2.35183869e-01] [ 9.89276324e-02 3.57890409e-03 9.95088195e-01 -1.41927869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.84538475 meters Centerline goodness : 0.912748 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.25, Z:-0.01 [[ 9.88405274e-01 1.15800945e-01 -9.82097499e-02 4.15419501e+00] [-1.15582870e-01 9.93266214e-01 7.92637969e-03 -2.46936357e-01] [ 9.84663087e-02 3.51688928e-03 9.95134171e-01 -1.13941547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.87538475 meters Centerline goodness : 0.915486 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.25, Z:-0.01 [[ 0.9887306 0.11329526 -0.09785693 4.15106849] [-0.11327537 0.99354684 0.00577698 -0.25161375] [ 0.09787995 0.0053729 0.99518373 -0.01032014] [ 0. 0. 0. 1. ]] SLAMing on 43.90538475 meters Centerline goodness : 0.917921 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.26, Z:-0.01 [[ 0.98901864 0.11085279 -0.09774346 4.14864447] [-0.11089488 0.99381947 0.00501884 -0.2602673 ] [ 0.09769571 0.00587552 0.99519899 -0.00864242] [ 0. 0. 0. 1. ]] SLAMing on 43.935384750000004 meters Centerline goodness : 0.919699 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.26, Z:-0.01 [[ 9.89381446e-01 1.07661189e-01 -9.76392488e-02 4.14708873e+00] [-1.07990198e-01 9.94150097e-01 1.92425626e-03 -2.62639003e-01] [ 9.72752363e-02 8.64025836e-03 9.95220013e-01 -8.68610449e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.96538475 meters Centerline goodness : 0.917100 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.26, Z:-0.01 [[ 9.89753085e-01 1.04355406e-01 -9.74616843e-02 4.14551239e+00] [-1.04979279e-01 9.94473584e-01 -1.28122785e-03 -2.64920165e-01] [ 9.67893675e-02 1.14995566e-02 9.95238453e-01 -8.84860256e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.99538475 meters Centerline goodness : 0.916598 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.27, Z:-0.01 [[ 9.90126265e-01 1.00759238e-01 -9.74554043e-02 4.14527694e+00] [-1.01634751e-01 9.94813543e-01 -4.04883925e-03 -2.69948214e-01] [ 9.65419981e-02 1.39137178e-02 9.95231657e-01 -9.86617829e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.02538475 meters Centerline goodness : 0.914921 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.27, Z:-0.01 [[ 0.9905197 0.09638235 -0.09788348 4.1469015 ] [-0.0975614 0.99520259 -0.00732022 -0.27428049] [ 0.09670835 0.01680047 0.99517096 -0.01156694] [ 0. 0. 0. 1. ]] SLAMing on 44.05538475 meters Centerline goodness : 0.913687 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.28, Z:-0.01 [[ 0.99086668 0.09245615 -0.09815844 4.14679962] [-0.09396737 0.99551587 -0.01087599 -0.27607433] [ 0.09671273 0.02000034 0.99511137 -0.01202416] [ 0. 0. 0. 1. ]] SLAMing on 44.08538475 meters Centerline goodness : 0.914386 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.28, Z:-0.01 [[ 0.99121081 0.0877865 -0.09896797 4.14783884] [-0.08953189 0.9958948 -0.01332607 -0.2823012 ] [ 0.09739183 0.02206973 0.99500139 -0.0113564 ] [ 0. 0. 0. 1. ]] SLAMing on 44.115384750000004 meters Centerline goodness : 0.914271 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.29, Z:-0.01 [[ 0.99118975 0.08731922 -0.09959031 4.14904725] [-0.08896712 0.99595961 -0.01221891 -0.28619624] [ 0.09812098 0.02097152 0.9949535 -0.01042697] [ 0. 0. 0. 1. ]] SLAMing on 44.14538475 meters Centerline goodness : 0.915738 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.29, Z:-0.01 [[ 0.9911462 0.08688012 -0.1004045 4.15059627] [-0.08840506 0.99602572 -0.0108312 -0.29016084] [ 0.09906444 0.01961157 0.99488774 -0.00913977] [ 0. 0. 0. 1. ]] SLAMing on 44.17538475 meters Centerline goodness : 0.910974 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.29, Z:-0.01 [[ 0.9914726 0.08238792 -0.10096692 4.15152053] [-0.08418675 0.9963561 -0.01367926 -0.29499869] [ 0.099472 0.02206269 0.99479574 -0.009138 ] [ 0. 0. 0. 1. ]] SLAMing on 44.20538475 meters Centerline goodness : 0.909096 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.30, Z:-0.01 [[ 0.99153169 0.0805921 -0.10183234 4.1546242 ] [-0.08217309 0.99655264 -0.01142029 -0.30157511] [ 0.1005609 0.01969146 0.99473602 -0.00696076] [ 0. 0. 0. 1. ]] SLAMing on 44.23538475 meters Centerline goodness : 0.909373 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.30, Z:-0.01 [[ 0.99152255 0.08008723 -0.10231851 4.15567442] [-0.08155362 0.99661653 -0.01022289 -0.30496978] [ 0.10115359 0.01848068 0.99469916 -0.00576526] [ 0. 0. 0. 1. ]] SLAMing on 44.26538475 meters Centerline goodness : 0.909727 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.31, Z:-0.00 [[ 9.91854990e-01 7.49212459e-02 -1.03007211e-01 4.15677040e+00] [-7.65786989e-02 9.96988583e-01 -1.22257250e-02 -3.09711384e-01] [ 1.01781047e-01 2.00143046e-02 9.94605473e-01 -3.67619759e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.295384750000004 meters Centerline goodness : 0.911621 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.31, Z:-0.00 [[ 9.92135288e-01 7.03797098e-02 -1.03509741e-01 4.15722807e+00] [-7.23706522e-02 9.97255776e-01 -1.56014868e-02 -3.11817024e-01] [ 1.02127659e-01 2.29698530e-02 9.94506072e-01 -3.29761198e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.32538475 meters Centerline goodness : 0.913155 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.31, Z:-0.00 [[ 9.92400907e-01 6.55584091e-02 -1.04127498e-01 4.15825019e+00] [-6.78884437e-02 9.97512201e-01 -1.89886449e-02 -3.14071067e-01] [ 1.02623584e-01 2.59134022e-02 9.94382671e-01 -2.96134112e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.35538475 meters Centerline goodness : 0.916404 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.32, Z:-0.00 [[ 9.92862887e-01 5.55689869e-02 -1.05524287e-01 4.16554388e+00] [-5.83274504e-02 9.98027086e-01 -2.32345252e-02 -3.18324358e-01] [ 1.04024978e-01 2.92236604e-02 9.94145252e-01 -2.47957133e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.38538475 meters Centerline goodness : 0.915497 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.32, Z:-0.00 [[ 9.92891980e-01 5.31222955e-02 -1.06506047e-01 4.16959975e+00] [-5.58473694e-02 9.98179714e-01 -2.27668522e-02 -3.21066404e-01] [ 1.05102748e-01 2.85531075e-02 9.94051373e-01 -1.86910669e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.41538475 meters Centerline goodness : 0.918024 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.32, Z:0.00 [[ 9.93170375e-01 4.52628761e-02 -1.07535477e-01 4.18060770e+00] [-4.77436345e-02 9.98647044e-01 -2.06064644e-02 -3.24144963e-01] [ 1.06457278e-01 2.55998645e-02 9.93987673e-01 3.03826304e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.44538475 meters Centerline goodness : 0.922938 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.33, Z:0.01 [[ 0.99318888 0.04142223 -0.10890388 4.18619198] [-0.04374566 0.99886141 -0.01903177 -0.32617135] [ 0.10799154 0.02366621 0.99387008 0.00662409] [ 0. 0. 0. 1. ]] SLAMing on 44.47538475 meters Centerline goodness : 0.921561 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.33, Z:0.01 [[ 0.99313524 0.04014417 -0.10986741 4.18884327] [-0.04248858 0.99891474 -0.0190803 -0.32593192] [ 0.10898221 0.02361743 0.9937631 0.00722297] [ 0. 0. 0. 1. ]] SLAMing on 44.50538475 meters Centerline goodness : 0.921561 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.33, Z:0.01 [[ 0.99313524 0.04014417 -0.10986741 4.18884327] [-0.04248858 0.99891474 -0.0190803 -0.32593192] [ 0.10898221 0.02361743 0.9937631 0.00722297] [ 0. 0. 0. 1. ]] SLAMing on 44.53538475 meters Centerline goodness : 0.923240 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.32, Z:0.01 [[ 0.99310153 0.0392287 -0.11050095 4.19083795] [-0.04164271 0.99893986 -0.01962267 -0.32467329] [ 0.10961404 0.02408887 0.99368229 0.00699962] [ 0. 0. 0. 1. ]] SLAMing on 44.56538475 meters Centerline goodness : 0.923072 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.32, Z:0.01 [[ 0.9928899 0.04200807 -0.11137756 4.19398649] [-0.04416897 0.99887934 -0.0170046 -0.32072475] [ 0.11053841 0.02180312 0.99363267 0.00675735] [ 0. 0. 0. 1. ]] SLAMing on 44.59538475 meters Centerline goodness : 0.925769 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.32, Z:0.01 [[ 0.99242319 0.04988268 -0.11228505 4.19499632] [-0.05127505 0.99863895 -0.00954504 -0.31728676] [ 0.11165609 0.01523014 0.99363019 0.00943166] [ 0. 0. 0. 1. ]] SLAMing on 44.62538475 meters Centerline goodness : 0.924677 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.32, Z:0.01 [[ 0.99218016 0.05449587 -0.11228861 4.19456786] [-0.05547699 0.9984441 -0.00562907 -0.31520878] [ 0.11180714 0.01181448 0.99365969 0.01054229] [ 0. 0. 0. 1. ]] SLAMing on 44.65538475 meters Centerline goodness : 0.923662 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.31, Z:0.01 [[ 9.91926079e-01 5.90574042e-02 -1.12226901e-01 4.19441824e+00] [-5.96441379e-02 9.98217943e-01 -1.87490926e-03 -3.13013052e-01] [ 1.11916179e-01 8.55344812e-03 9.93680838e-01 1.11236947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.685384750000004 meters Centerline goodness : 0.922748 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.31, Z:0.01 [[ 9.91399930e-01 6.68868584e-02 -1.12482564e-01 4.19676006e+00] [-6.67460630e-02 9.97757360e-01 5.02133886e-03 -3.09068306e-01] [ 1.12566168e-01 2.52961332e-03 9.93641011e-01 1.08264158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.71538475 meters Centerline goodness : 0.920661 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.31, Z:0.01 [[ 9.91089284e-01 7.05683453e-02 -1.12969643e-01 4.19867796e+00] [-7.00271646e-02 9.97506651e-01 8.75652400e-03 -3.08093654e-01] [ 1.13305903e-01 -7.67553336e-04 9.93559854e-01 1.10356491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.74538475 meters Centerline goodness : 0.922266 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.30, Z:0.01 [[ 9.91061340e-01 7.11286516e-02 -1.12863347e-01 4.19798863e+00] [-7.06357141e-02 9.97467099e-01 8.36555252e-03 -3.04305255e-01] [ 1.13172506e-01 -3.18592556e-04 9.93575303e-01 1.12202678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.77538475 meters Centerline goodness : 0.920459 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.30, Z:0.01 [[ 9.91035441e-01 7.15883272e-02 -1.12800120e-01 4.19606161e+00] [-7.09771415e-02 9.97433365e-01 9.43016245e-03 -3.04476146e-01] [ 1.13185693e-01 -1.33939513e-03 9.93572949e-01 1.41345939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.80538475 meters Centerline goodness : 0.919021 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.30, Z:0.02 [[ 9.91033610e-01 7.17270165e-02 -1.12728076e-01 4.19518219e+00] [-7.10710725e-02 9.97422796e-01 9.83197657e-03 -3.04450768e-01] [ 1.13142771e-01 -1.73211397e-03 9.93577231e-01 1.53646692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.83538475 meters Centerline goodness : 0.922092 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.30, Z:0.02 [[ 9.91037963e-01 7.18135122e-02 -1.12634695e-01 4.19456040e+00] [-7.11548518e-02 9.97416525e-01 9.86218633e-03 -3.03538322e-01] [ 1.13051944e-01 -1.75929602e-03 9.93587521e-01 1.59678126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.865384750000004 meters Centerline goodness : 0.921653 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.30, Z:0.02 [[ 0.99077197 0.07439071 -0.11330014 4.19788419] [-0.0733938 0.99721895 0.01295059 -0.30153501] [ 0.11394845 -0.00451555 0.9934764 0.01577856] [ 0. 0. 0. 1. ]] SLAMing on 44.89538475 meters Centerline goodness : 0.920432 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.30, Z:0.01 [[ 9.90765110e-01 7.43009724e-02 -1.13418968e-01 4.19863041e+00] [-7.33842217e-02 9.97228599e-01 1.22424680e-02 -2.99536181e-01] [ 1.14014266e-01 -3.80624747e-03 9.93471821e-01 1.48797713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.92538475 meters Centerline goodness : 0.922006 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.30, Z:0.01 [[ 9.90706935e-01 7.57054492e-02 -1.12997580e-01 4.19718554e+00] [-7.47886411e-02 9.97123093e-01 1.23367797e-02 -2.96724575e-01] [ 1.13606458e-01 -3.77119780e-03 9.93518672e-01 1.48387482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.95538475 meters Centerline goodness : 0.921663 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.30, Z:0.01 [[ 9.90696028e-01 7.63391817e-02 -1.12666367e-01 4.19621428e+00] [-7.54532461e-02 9.97075767e-01 1.21129040e-02 -2.95173105e-01] [ 1.13261593e-01 -3.49916273e-03 9.93559041e-01 1.46508393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.98538475 meters Centerline goodness : 0.920866 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.29, Z:0.01 [[ 0.99054372 0.07913091 -0.11207786 4.19417122] [-0.07812107 0.99685408 0.01338031 -0.29270026] [ 0.11278407 -0.00449814 0.99360934 0.01488011] [ 0. 0. 0. 1. ]] SLAMing on 45.01538475 meters Centerline goodness : 0.921077 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.29, Z:0.01 [[ 9.90525465e-01 8.00061532e-02 -1.11616843e-01 4.19294405e+00] [-7.90317186e-02 9.96785568e-01 1.31346582e-02 -2.91001949e-01] [ 1.12308911e-01 -4.18894251e-03 9.93664511e-01 1.45047903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.045384750000004 meters Centerline goodness : 0.922555 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.29, Z:0.01 [[ 0.99013711 0.08569104 -0.11084019 4.19147173] [-0.08433599 0.99629464 0.01686515 -0.28892671] [ 0.11187468 -0.00735099 0.99369513 0.01409927] [ 0. 0. 0. 1. ]] SLAMing on 45.07538475 meters Centerline goodness : 0.921575 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.29, Z:0.01 [[ 0.99008906 0.08718148 -0.11010467 4.18943296] [-0.08584362 0.99616626 0.0168423 -0.28711324] [ 0.11115089 -0.00722359 0.99377729 0.01368258] [ 0. 0. 0. 1. ]] SLAMing on 45.10538475 meters Centerline goodness : 0.919770 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.29, Z:0.01 [[ 0.99005161 0.08860783 -0.10929991 4.18708374] [-0.08727617 0.9960405 0.01691746 -0.28603549] [ 0.11036615 -0.00720988 0.99386484 0.01354175] [ 0. 0. 0. 1. ]] SLAMing on 45.13538475 meters Centerline goodness : 0.919260 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.29, Z:0.01 [[ 0.98990498 0.09200904 -0.10780759 4.18181113] [-0.09059557 0.99572605 0.01794669 -0.28651521] [ 0.10899809 -0.00799863 0.99400978 0.01396567] [ 0. 0. 0. 1. ]] SLAMing on 45.16538475 meters Centerline goodness : 0.920414 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.29, Z:0.01 [[ 0.9898362 0.09444497 -0.10632238 4.17782771] [-0.09295715 0.9954912 0.01887453 -0.28788498] [ 0.1076256 -0.00879927 0.99415256 0.01376269] [ 0. 0. 0. 1. ]] SLAMing on 45.19538475 meters Centerline goodness : 0.920502 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.29, Z:0.01 [[ 0.9898124 0.09516296 -0.10590294 4.17699006] [-0.09365094 0.99542049 0.01917138 -0.28904325] [ 0.10724236 -0.00905816 0.99419164 0.01324937] [ 0. 0. 0. 1. ]] SLAMing on 45.22538475 meters Centerline goodness : 0.920951 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.29, Z:0.01 [[ 0.98979052 0.09643564 -0.10495189 4.17563403] [-0.09487264 0.99529257 0.01979609 -0.29160127] [ 0.10636689 -0.00963692 0.99428025 0.01189089] [ 0. 0. 0. 1. ]] SLAMing on 45.25538475 meters Centerline goodness : 0.918751 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.29, Z:0.01 [[ 0.98975257 0.0970797 -0.10471573 4.17507294] [-0.09545014 0.99522363 0.02047438 -0.29384991] [ 0.10620322 -0.01026943 0.99429141 0.0117811 ] [ 0. 0. 0. 1. ]] SLAMing on 45.28538475 meters Centerline goodness : 0.917420 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.30, Z:0.01 [[ 0.99004534 0.09484096 -0.10399719 4.17273331] [-0.09346701 0.99545934 0.01801719 -0.29872977] [ 0.10523374 -0.00811753 0.99441438 0.01096304] [ 0. 0. 0. 1. ]] SLAMing on 45.31538475 meters Centerline goodness : 0.914757 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.30, Z:0.01 [[ 0.9903684 0.09178916 -0.10365894 4.17125668] [-0.09075517 0.99576536 0.01465772 -0.30061105] [ 0.1045654 -0.00510896 0.99450489 0.01016023] [ 0. 0. 0. 1. ]] SLAMing on 45.34538475 meters Centerline goodness : 0.915886 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.31, Z:0.01 [[ 9.90701610e-01 8.89071265e-02 -1.02984671e-01 4.16994320e+00] [-8.81484285e-02 9.96036219e-01 1.19039861e-02 -3.05172904e-01] [ 1.03634811e-01 -2.71536136e-03 9.94611710e-01 8.77437548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.37538475 meters Centerline goodness : 0.916407 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.31, Z:0.01 [[ 9.90677410e-01 8.90674518e-02 -1.03078890e-01 4.17038622e+00] [-8.82400625e-02 9.96019945e-01 1.25682558e-02 -3.07837579e-01] [ 1.03788053e-01 -3.35539939e-03 9.94593777e-01 8.66519211e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.40538475 meters Centerline goodness : 0.915386 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.31, Z:0.01 [[ 0.99064639 0.09006114 -0.10251209 4.16929258] [-0.08911999 0.99592621 0.01373351 -0.3126971 ] [ 0.10333133 -0.00446917 0.99463695 0.0082529 ] [ 0. 0. 0. 1. ]] SLAMing on 45.435384750000004 meters Centerline goodness : 0.916970 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.32, Z:0.01 [[ 0.99060433 0.09083222 -0.10223782 4.16841474] [-0.08981074 0.99585242 0.01456001 -0.3152393 ] [ 0.1031363 -0.00524116 0.99465342 0.00841347] [ 0. 0. 0. 1. ]] SLAMing on 45.46538475 meters Centerline goodness : 0.915384 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.32, Z:0.01 [[ 0.99054342 0.09186053 -0.10190872 4.16753903] [-0.09074026 0.99575264 0.01558452 -0.31976123] [ 0.10290748 -0.00618992 0.99467167 0.00812962] [ 0. 0. 0. 1. ]] SLAMing on 45.49538475 meters Centerline goodness : 0.917133 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.32, Z:0.01 [[ 0.99052282 0.0923314 -0.10168307 4.16727824] [-0.09117755 0.99570695 0.01594736 -0.32156962] [ 0.10271898 -0.00652502 0.99468901 0.00763507] [ 0. 0. 0. 1. ]] SLAMing on 45.52538475 meters Centerline goodness : 0.915908 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.33, Z:0.01 [[ 0.99046555 0.09358809 -0.10109038 4.16584052] [-0.09231801 0.99558135 0.01718022 -0.32612551] [ 0.10225156 -0.00768396 0.9947289 0.00743546] [ 0. 0. 0. 1. ]] SLAMing on 45.55538475 meters Centerline goodness : 0.915828 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.33, Z:0.01 [[ 0.99044547 0.09372711 -0.10115825 4.16636635] [-0.09241686 0.99556533 0.01757251 -0.32879575] [ 0.10235666 -0.00805588 0.99471514 0.00688891] [ 0. 0. 0. 1. ]] SLAMing on 45.58538475 meters Centerline goodness : 0.916011 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.33, Z:0.00 [[ 9.90814180e-01 9.06283568e-02 -1.00368128e-01 4.16588103e+00] [-8.96523066e-02 9.95871859e-01 1.42022529e-02 -3.33066446e-01] [ 1.01240921e-01 -5.07355940e-03 9.94849001e-01 4.03353461e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.615384750000004 meters Centerline goodness : 0.913232 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.33, Z:0.00 [[ 9.91165025e-01 8.69075601e-02 -1.00194659e-01 4.16559055e+00] [-8.63105797e-02 9.96215179e-01 1.02860036e-02 -3.34538197e-01] [ 1.00709371e-01 -1.54726793e-03 9.94914684e-01 2.40185459e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.64538475 meters Centerline goodness : 0.914367 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.34, Z:0.00 [[ 9.91365918e-01 8.41974152e-02 -1.00520708e-01 4.16829207e+00] [-8.37086168e-02 9.96448921e-01 9.07826691e-03 -3.40839129e-01] [ 1.00928118e-01 -5.85434978e-04 9.94893548e-01 6.72285906e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.67538475 meters Centerline goodness : 0.914775 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.34, Z:0.00 [[ 9.91331624e-01 8.40735114e-02 -1.00961657e-01 4.16958123e+00] [-8.35064636e-02 9.96458679e-01 9.83721892e-03 -3.44935602e-01] [ 1.01431169e-01 -1.32099526e-03 9.94841682e-01 5.46138677e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.70538475 meters Centerline goodness : 0.911858 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.35, Z:-0.00 [[ 9.91649448e-01 7.99126901e-02 -1.01219234e-01 4.17038644e+00] [-7.95897840e-02 9.96801474e-01 7.23105471e-03 -3.51457401e-01] [ 1.01473334e-01 8.85345541e-04 9.94837865e-01 -3.30372692e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.73538475 meters Centerline goodness : 0.911038 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.35, Z:-0.00 [[ 9.91984115e-01 7.53228349e-02 -1.01459282e-01 4.17084137e+00] [-7.53516104e-02 9.97150692e-01 3.55429574e-03 -3.53702368e-01] [ 1.01437913e-01 4.11931539e-03 9.94833343e-01 -4.66743836e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.76538475 meters Centerline goodness : 0.909761 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.36, Z:-0.00 [[ 9.92318376e-01 7.03465872e-02 -1.01762458e-01 4.17247565e+00] [-7.06897091e-02 9.97498326e-01 2.34915983e-04 -3.57885776e-01] [ 1.01524407e-01 6.96044710e-03 9.94808699e-01 -1.34378639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.795384750000004 meters Centerline goodness : 0.909867 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.36, Z:-0.00 [[ 9.92312853e-01 6.97186235e-02 -1.02247328e-01 4.17445948e+00] [-7.00178037e-02 9.97545521e-01 6.64409159e-04 -3.60470689e-01] [ 1.02042685e-01 6.49983158e-03 9.94758786e-01 -1.62071974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.82538475 meters Centerline goodness : 0.909511 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.36, Z:-0.00 [[ 9.92327502e-01 6.96440703e-02 -1.02155919e-01 4.17467012e+00] [-6.97946531e-02 9.97559161e-01 2.10390759e-03 -3.64708736e-01] [ 1.02053098e-01 5.04217158e-03 9.94766174e-01 -6.64538830e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.85538475 meters Centerline goodness : 0.907124 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.37, Z:0.00 [[ 9.92284269e-01 7.02071589e-02 -1.02190436e-01 4.17375003e+00] [-7.02071978e-02 9.97525931e-01 3.60076438e-03 -3.67499148e-01] [ 1.02190409e-01 3.60152228e-03 9.94758337e-01 1.22329703e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.88538475 meters Centerline goodness : 0.907639 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.37, Z:0.00 [[ 9.92250588e-01 7.07119736e-02 -1.02169407e-01 4.17271985e+00] [-7.05543122e-02 9.97494590e-01 5.16057971e-03 -3.70404217e-01] [ 1.02278345e-01 2.08790396e-03 9.94753628e-01 3.34537136e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.91538475 meters Centerline goodness : 0.910269 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.37, Z:0.01 [[ 9.92516701e-01 6.69519490e-02 -1.02117746e-01 4.17133945e+00] [-6.69887603e-02 9.97748999e-01 3.07269505e-03 -3.74549387e-01] [ 1.02093601e-01 3.79104003e-03 9.94767573e-01 5.45370893e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.94538475 meters Centerline goodness : 0.908310 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.38, Z:0.01 [[ 9.92834091e-01 6.15238282e-02 -1.02446509e-01 4.17268360e+00] [-6.18970414e-02 9.98082431e-01 -4.65030901e-04 -3.78109769e-01] [ 1.02221450e-01 6.80283435e-03 9.94738406e-01 5.45372990e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.97538475 meters Centerline goodness : 0.908831 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.38, Z:0.01 [[ 9.92842635e-01 6.01511065e-02 -1.03176288e-01 4.17523481e+00] [-6.04655015e-02 9.98170284e-01 8.06308414e-05 -3.80565592e-01] [ 1.02992354e-01 6.15855224e-03 9.94663082e-01 6.20670949e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.00538475 meters Centerline goodness : 0.904614 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.38, Z:0.01 [[ 9.93096416e-01 5.40720213e-02 -1.04094790e-01 4.17874346e+00] [-5.47760124e-02 9.98490996e-01 -3.91407887e-03 -3.82156997e-01] [ 1.03726069e-01 9.58895521e-03 9.94559679e-01 5.66406757e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.03538475 meters Centerline goodness : 0.905048 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.38, Z:0.01 [[ 9.93072407e-01 5.25559743e-02 -1.05095502e-01 4.18186011e+00] [-5.32458131e-02 9.98574330e-01 -3.76705887e-03 -3.83719345e-01] [ 1.04747690e-01 9.33685770e-03 9.94454999e-01 6.16961021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.06538475 meters Centerline goodness : 0.905403 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.39, Z:0.01 [[ 0.9932555 0.04737439 -0.10582621 4.18361441] [-0.04846215 0.99879511 -0.00772957 -0.38528296] [ 0.10533252 0.01280601 0.9943546 0.00613179] [ 0. 0. 0. 1. ]] SLAMing on 46.09538475 meters Centerline goodness : 0.902158 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.39, Z:0.01 [[ 0.99320664 0.04695087 -0.10647151 4.18483556] [-0.04798612 0.99882219 -0.00718091 -0.38629944] [ 0.10600895 0.01224129 0.99428982 0.00726807] [ 0. 0. 0. 1. ]] SLAMing on 46.12538475 meters Centerline goodness : 0.900608 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.39, Z:0.01 [[ 0.99320456 0.04551839 -0.10711108 4.18824689] [-0.04663319 0.99888064 -0.00792503 -0.38594994] [ 0.10663045 0.01286611 0.99421548 0.00574965] [ 0. 0. 0. 1. ]] SLAMing on 46.15538475 meters Centerline goodness : 0.896943 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.39, Z:0.00 [[ 0.99318889 0.04458388 -0.10764808 4.19088188] [-0.04578513 0.99891332 -0.00871216 -0.38522217] [ 0.10714268 0.01358151 0.99415089 0.00424586] [ 0. 0. 0. 1. ]] SLAMing on 46.185384750000004 meters Centerline goodness : 0.892791 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.39, Z:0.00 [[ 9.92969444e-01 4.64664658e-02 -1.08869423e-01 4.19631471e+00] [-4.73448322e-02 9.98863486e-01 -5.49571902e-03 -3.85154988e-01] [ 1.08490324e-01 1.06114856e-02 9.94040867e-01 3.60126983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.21538475 meters Centerline goodness : 0.891637 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.38, Z:0.00 [[ 9.92949320e-01 4.63725484e-02 -1.09092781e-01 4.19710212e+00] [-4.73150300e-02 9.98861603e-01 -6.06519362e-03 -3.83932271e-01] [ 1.08687331e-01 1.11841581e-02 9.94013068e-01 2.81773967e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.24538475 meters Centerline goodness : 0.890608 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.38, Z:0.00 [[ 9.92695727e-01 5.07417591e-02 -1.09455324e-01 4.19740417e+00] [-5.12200015e-02 9.98686175e-01 -1.56030129e-03 -3.83835660e-01] [ 1.09232346e-01 7.15520627e-03 9.93990492e-01 4.53143851e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.27538475 meters Centerline goodness : 0.892353 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.38, Z:0.00 [[ 9.92686225e-01 5.09880550e-02 -1.09427042e-01 4.19724968e+00] [-5.15098621e-02 9.98670591e-01 -1.94521846e-03 -3.82566935e-01] [ 1.09182385e-01 7.56756340e-03 9.93992927e-01 4.07278263e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.30538475 meters Centerline goodness : 0.889933 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.38, Z:0.00 [[ 9.92413157e-01 5.49150565e-02 -1.10002102e-01 4.19906186e+00] [-5.50434113e-02 9.98482208e-01 1.87179361e-03 -3.81704661e-01] [ 1.09937932e-01 4.19729835e-03 9.93929592e-01 4.31148438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.33538475 meters Centerline goodness : 0.888083 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.38, Z:0.00 [[ 9.92412996e-01 5.52795163e-02 -1.09820860e-01 4.19884174e+00] [-5.54725591e-02 9.98459367e-01 1.29904605e-03 -3.79605173e-01] [ 1.09723477e-01 4.80285396e-03 9.93950548e-01 3.37655052e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.365384750000004 meters Centerline goodness : 0.886540 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.38, Z:0.00 [[ 9.92169526e-01 6.03586003e-02 -1.09345650e-01 4.19760931e+00] [-6.01118383e-02 9.98176193e-01 5.55471306e-03 -3.78340019e-01] [ 1.09481500e-01 1.06175103e-03 9.93988266e-01 4.08782679e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.39538475 meters Centerline goodness : 0.886540 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.38, Z:0.00 [[ 9.92169526e-01 6.03586003e-02 -1.09345650e-01 4.19760931e+00] [-6.01118383e-02 9.98176193e-01 5.55471306e-03 -3.78340019e-01] [ 1.09481500e-01 1.06175103e-03 9.93988266e-01 4.08782679e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.42538475 meters Centerline goodness : 0.885250 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.38, Z:0.00 [[ 9.92150979e-01 6.11778839e-02 -1.09058246e-01 4.19641991e+00] [-6.09589097e-02 9.98125971e-01 5.34386728e-03 -3.76891642e-01] [ 1.09180794e-01 1.34614862e-03 9.94020997e-01 3.81172296e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.45538475 meters Centerline goodness : 0.886168 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.38, Z:0.00 [[ 9.91822104e-01 6.62151765e-02 -1.09107582e-01 4.19592108e+00] [-6.55893415e-02 9.97803186e-01 9.31883379e-03 -3.75819718e-01] [ 1.09484941e-01 -2.08633087e-03 9.93986265e-01 4.49332169e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.48538475 meters Centerline goodness : 0.884499 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.37, Z:0.00 [[ 9.91792621e-01 6.68157842e-02 -1.09009389e-01 4.19555901e+00] [-6.62475671e-02 9.97764147e-01 8.82993342e-03 -3.74016867e-01] [ 1.09355639e-01 -1.53585598e-03 9.94001502e-01 3.70724600e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.51538475 meters Centerline goodness : 0.885358 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.37, Z:0.00 [[ 9.91469330e-01 7.14457017e-02 -1.09014129e-01 4.19612533e+00] [-7.05353200e-02 9.97434803e-01 1.21894564e-02 -3.72169670e-01] [ 1.09605370e-01 -4.39612573e-03 9.93965461e-01 2.98180702e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.545384750000004 meters Centerline goodness : 0.882289 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.37, Z:0.00 [[ 9.91462841e-01 7.17091666e-02 -1.08900095e-01 4.19608826e+00] [-7.08574709e-02 9.97418117e-01 1.16755868e-02 -3.70668963e-01] [ 1.09456174e-01 -3.85952516e-03 9.93984130e-01 2.08221428e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.57538475 meters Centerline goodness : 0.885101 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.37, Z:0.00 [[ 9.91449137e-01 7.20240532e-02 -1.08817025e-01 4.19494450e+00] [-7.10634886e-02 9.97391136e-01 1.26847596e-02 -3.72378710e-01] [ 1.09446744e-01 -4.84337652e-03 9.93980861e-01 3.90458782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.60538475 meters Centerline goodness : 0.882396 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.37, Z:0.00 [[ 0.99142031 0.07227781 -0.10891134 4.19467604] [-0.07127143 0.9973708 0.01311006 -0.37318614] [ 0.10957256 -0.00523531 0.99396501 0.00452566] [ 0. 0. 0. 1. ]] SLAMing on 46.63538475 meters Centerline goodness : 0.884540 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.37, Z:0.01 [[ 0.99139484 0.07213656 -0.10923642 4.19516811] [-0.07107867 0.99737864 0.01355267 -0.37433871] [ 0.10992771 -0.00567166 0.9939234 0.00523542] [ 0. 0. 0. 1. ]] SLAMing on 46.66538475 meters Centerline goodness : 0.886835 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.38, Z:0.01 [[ 9.91682716e-01 6.83924353e-02 -1.09031487e-01 4.19383449e+00] [-6.76968223e-02 9.97655086e-01 1.00731671e-02 -3.75587530e-01] [ 1.09464746e-01 -2.60830054e-03 9.93987257e-01 5.39726613e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.69538475 meters Centerline goodness : 0.891049 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.38, Z:0.01 [[ 0.99170429 0.06686548 -0.10977981 4.19593291] [-0.06590918 0.99774956 0.01232092 -0.37932918] [ 0.1103566 -0.00498321 0.99387956 0.00940911] [ 0. 0. 0. 1. ]] SLAMing on 46.72538475 meters Centerline goodness : 0.888543 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.38, Z:0.01 [[ 0.991706 0.06618809 -0.11017418 4.19763979] [-0.06526796 0.99779632 0.01194107 -0.37947647] [ 0.11072174 -0.00465118 0.99384056 0.00868245] [ 0. 0. 0. 1. ]] SLAMing on 46.75538475 meters Centerline goodness : 0.886240 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.38, Z:0.01 [[ 9.91722788e-01 6.52366166e-02 -1.10589761e-01 4.20049313e+00] [-6.44186259e-02 9.97862804e-01 1.09573786e-02 -3.78923207e-01] [ 1.11068232e-01 -3.74264165e-03 9.93805736e-01 6.47487058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.78538475 meters Centerline goodness : 0.886916 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.38, Z:0.01 [[ 9.91713065e-01 6.54208145e-02 -1.10568144e-01 4.20018397e+00] [-6.46110982e-02 9.97851052e-01 1.08942612e-02 -3.78928976e-01] [ 1.11043251e-01 -3.66005192e-03 9.93808835e-01 6.44917122e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.81538475 meters Centerline goodness : 0.887758 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.38, Z:0.01 [[ 9.91685232e-01 6.56487547e-02 -1.10682614e-01 4.19976565e+00] [-6.48260030e-02 9.97835736e-01 1.10196494e-02 -3.79484983e-01] [ 1.11166494e-01 -3.75291210e-03 9.93794710e-01 7.00478310e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.84538475 meters Centerline goodness : 0.885901 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.38, Z:0.00 [[ 9.91682198e-01 6.45966159e-02 -1.11326972e-01 4.20279996e+00] [-6.39092074e-02 9.97908225e-01 9.73592467e-03 -3.77963411e-01] [ 1.11723008e-01 -2.54012466e-03 9.93736141e-01 4.92479474e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.87538475 meters Centerline goodness : 0.884876 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.38, Z:0.00 [[ 9.91705478e-01 6.36973166e-02 -1.11637347e-01 4.20522339e+00] [-6.31281969e-02 9.97968122e-01 8.62894691e-03 -3.76472864e-01] [ 1.11960154e-01 -1.50990949e-03 9.93711550e-01 2.89485859e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.90538475 meters Centerline goodness : 0.880860 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.37, Z:0.00 [[ 9.91722226e-01 6.26558256e-02 -1.12077092e-01 4.20794508e+00] [-6.22147693e-02 9.98035114e-01 7.43189016e-03 -3.74948715e-01] [ 1.12322524e-01 -3.97520241e-04 9.93671723e-01 8.68300736e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.935384750000004 meters Centerline goodness : 0.883738 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.38, Z:0.00 [[ 9.91720100e-01 6.19061818e-02 -1.12511635e-01 4.20911610e+00] [-6.14437577e-02 9.98081792e-01 7.57631259e-03 -3.75393769e-01] [ 1.12764835e-01 -6.00443821e-04 9.93621523e-01 1.60461983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.96538475 meters Centerline goodness : 0.886303 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.38, Z:0.00 [[ 9.91697862e-01 6.13938036e-02 -1.12987391e-01 4.21023548e+00] [-6.09326549e-02 9.98113449e-01 7.53356088e-03 -3.75575271e-01] [ 1.13236748e-01 -5.86394517e-04 9.93567861e-01 1.95871825e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.99538475 meters Centerline goodness : 0.883623 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.38, Z:0.00 [[ 9.91687218e-01 6.06355013e-02 -1.13489193e-01 4.21171810e+00] [-6.01904192e-02 9.98159871e-01 7.34743770e-03 -3.75091813e-01] [ 1.13725874e-01 -4.55397972e-04 9.93512062e-01 2.23587881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.02538475 meters Centerline goodness : 0.888009 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.37, Z:0.00 [[ 9.91676340e-01 6.01176447e-02 -1.13859152e-01 4.21300192e+00] [-5.97144664e-02 9.98191294e-01 6.95144936e-03 -3.74143434e-01] [ 1.14071119e-01 -9.45493546e-05 9.93472582e-01 1.92203645e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.05538475 meters Centerline goodness : 0.885077 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.37, Z:0.00 [[ 9.91699416e-01 6.00099697e-02 -1.13714875e-01 4.21283998e+00] [-5.96197190e-02 9.98197778e-01 6.83268439e-03 -3.72678709e-01] [ 1.13919965e-01 3.67978332e-06 9.93489930e-01 2.10991881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.08538475 meters Centerline goodness : 0.887455 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.37, Z:0.00 [[ 9.91692229e-01 6.00151190e-02 -1.13774817e-01 4.21260504e+00] [-5.95998743e-02 9.98197446e-01 7.05082500e-03 -3.72790625e-01] [ 1.13992888e-01 -2.11283577e-04 9.93481543e-01 2.81090971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.115384750000004 meters Centerline goodness : 0.887487 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.37, Z:0.01 [[ 9.91665816e-01 5.96740392e-02 -1.14183701e-01 4.21277392e+00] [-5.90641104e-02 9.98216102e-01 8.72039983e-03 -3.74386743e-01] [ 1.14500390e-01 -1.90356373e-03 9.93421379e-01 6.18974118e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.14538475 meters Centerline goodness : 0.889143 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.38, Z:0.01 [[ 9.91651889e-01 5.92803698e-02 -1.14509254e-01 4.21335050e+00] [-5.86373091e-02 9.98238971e-01 8.97898670e-03 -3.75026058e-01] [ 1.14839877e-01 -2.18951460e-03 9.93381603e-01 6.98503357e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.17538475 meters Centerline goodness : 0.889784 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.38, Z:0.01 [[ 9.91631228e-01 5.89324418e-02 -1.14867203e-01 4.21400307e+00] [-5.82570022e-02 9.98258937e-01 9.23130428e-03 -3.75508932e-01] [ 1.15211235e-01 -2.46223070e-03 9.93337963e-01 7.70324523e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.20538475 meters Centerline goodness : 0.892015 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.38, Z:0.01 [[ 9.91658340e-01 5.71797061e-02 -1.15517179e-01 4.21702110e+00] [-5.65507219e-02 9.98361668e-01 8.71759243e-03 -3.75351447e-01] [ 1.15826393e-01 -2.11229336e-03 9.93267227e-01 7.39799175e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.23538475 meters Centerline goodness : 0.889476 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.38, Z:0.01 [[ 9.91692234e-01 5.49845228e-02 -1.16289363e-01 4.22107390e+00] [-5.44410659e-02 9.98486153e-01 7.84682536e-03 -3.75218694e-01] [ 1.16544773e-01 -1.45071888e-03 9.93184379e-01 6.27360185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.26538475 meters Centerline goodness : 0.888742 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.38, Z:0.01 [[ 9.91675441e-01 5.40725769e-02 -1.16858790e-01 4.22315463e+00] [-5.35375899e-02 9.98536035e-01 7.71446890e-03 -3.76006671e-01] [ 1.17104854e-01 -1.39391138e-03 9.93118578e-01 6.05925736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.295384750000004 meters Centerline goodness : 0.888318 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.38, Z:0.01 [[ 9.91662520e-01 5.23739206e-02 -1.17738772e-01 4.22626342e+00] [-5.18538741e-02 9.98626685e-01 7.47800600e-03 -3.76942860e-01] [ 1.17968732e-01 -1.31044683e-03 9.93016446e-01 6.23087325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.32538475 meters Centerline goodness : 0.887872 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.38, Z:0.01 [[ 9.91643555e-01 5.17670414e-02 -1.18166129e-01 4.22791704e+00] [-5.12709596e-02 9.98658563e-01 7.23627469e-03 -3.77029502e-01] [ 1.18382217e-01 -1.11731434e-03 9.92967473e-01 5.78386953e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.35538475 meters Centerline goodness : 0.886709 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.38, Z:0.00 [[ 9.91639958e-01 5.11617876e-02 -1.18459549e-01 4.22945760e+00] [-5.07240522e-02 9.98690170e-01 6.70927171e-03 -3.76492091e-01] [ 1.18647645e-01 -6.44433587e-04 9.92936212e-01 4.89675903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.38538475 meters Centerline goodness : 0.887058 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.38, Z:0.00 [[ 9.91612547e-01 5.02932991e-02 -1.19059396e-01 4.23206414e+00] [-4.99199161e-02 9.98734484e-01 6.11826499e-03 -3.75692236e-01] [ 1.19216432e-01 -1.23513280e-04 9.92868283e-01 3.86554510e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.41538475 meters Centerline goodness : 0.886838 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.37, Z:0.00 [[ 9.91597540e-01 5.03315224e-02 -1.19168183e-01 4.23306499e+00] [-5.00667807e-02 9.98732250e-01 5.21630850e-03 -3.73524032e-01] [ 1.19279653e-01 7.93888627e-04 9.92860380e-01 2.20745112e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.44538475 meters Centerline goodness : 0.886095 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.37, Z:0.00 [[ 9.91611826e-01 5.05803848e-02 -1.18943733e-01 4.23296422e+00] [-5.03969132e-02 9.98718895e-01 4.55182404e-03 -3.71122316e-01] [ 1.19021587e-01 1.48075444e-03 9.92890563e-01 1.13561422e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.47538475 meters Centerline goodness : 0.885610 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.37, Z:0.00 [[ 9.91374123e-01 5.54815484e-02 -1.18739826e-01 4.23212943e+00] [-5.48571834e-02 9.98457837e-01 8.52279056e-03 -3.69011345e-01] [ 1.19029567e-01 -1.93554163e-03 9.92888824e-01 1.91464935e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.50538475 meters Centerline goodness : 0.884562 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.37, Z:0.00 [[ 9.91365933e-01 5.60320192e-02 -1.18549563e-01 4.23125910e+00] [-5.54688499e-02 9.98427988e-01 8.04733525e-03 -3.66643985e-01] [ 1.18814110e-01 -1.40204613e-03 9.92915526e-01 1.59020330e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.53538475 meters Centerline goodness : 0.884799 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.36, Z:0.00 [[ 9.91378496e-01 5.68519822e-02 -1.18053076e-01 4.22985644e+00] [-5.63348320e-02 9.98382119e-01 7.71569364e-03 -3.64398229e-01] [ 1.18300733e-01 -9.98672522e-04 9.92977311e-01 1.08816300e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.56538475 meters Centerline goodness : 0.883949 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.36, Z:0.00 [[ 9.91105011e-01 6.14309049e-02 -1.18055500e-01 4.23008230e+00] [-6.05303160e-02 9.98103496e-01 1.12023696e-02 -3.62040818e-01] [ 1.18519779e-01 -3.95678795e-03 9.92943808e-01 9.99134692e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.59538475 meters Centerline goodness : 0.883482 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.36, Z:0.00 [[ 9.91055392e-01 6.26271541e-02 -1.17843328e-01 4.22859716e+00] [-6.17993120e-02 9.98031566e-01 1.06695495e-02 -3.59208466e-01] [ 1.18279565e-01 -3.29147800e-03 9.92974879e-01 5.43443336e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.62538475 meters Centerline goodness : 0.884354 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.36, Z:-0.00 [[ 9.91065277e-01 6.28437617e-02 -1.17644712e-01 4.22827053e+00] [-6.20823833e-02 9.98019630e-01 1.01289162e-02 -3.57705714e-01] [ 1.18048272e-01 -2.73475298e-03 9.93004092e-01 -1.64710165e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.65538475 meters Centerline goodness : 0.886334 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.36, Z:-0.00 [[ 9.91071099e-01 6.32067898e-02 -1.17400932e-01 4.22795854e+00] [-6.25187106e-02 9.97998215e-01 9.53805132e-03 -3.56323703e-01] [ 1.17768790e-01 -2.11313212e-03 9.93038794e-01 -1.29582701e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.685384750000004 meters Centerline goodness : 0.886428 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.36, Z:-0.00 [[ 9.91061134e-01 6.32902273e-02 -1.17440091e-01 4.22806317e+00] [-6.25960176e-02 9.97992833e-01 9.59393830e-03 -3.56583982e-01] [ 1.17811572e-01 -2.15689735e-03 9.93033625e-01 -1.37550712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.71538475 meters Centerline goodness : 0.884692 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.36, Z:-0.00 [[ 9.91044445e-01 6.31029860e-02 -1.17681436e-01 4.22873804e+00] [-6.23996963e-02 9.98004540e-01 9.65482951e-03 -3.56879293e-01] [ 1.18055856e-01 -2.22507928e-03 9.93004463e-01 -1.32055356e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.74538475 meters Centerline goodness : 0.886120 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.36, Z:-0.00 [[ 9.91045601e-01 6.24010631e-02 -1.18045434e-01 4.23030223e+00] [-6.16767386e-02 9.98048234e-01 9.78276154e-03 -3.57796998e-01] [ 1.18425492e-01 -2.41450541e-03 9.92960006e-01 -1.32968814e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.77538475 meters Centerline goodness : 0.889940 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.36, Z:0.00 [[ 9.91006054e-01 6.20903711e-02 -1.18540230e-01 4.23083223e+00] [-6.12245993e-02 9.98064115e-01 1.09348763e-02 -3.60911087e-01] [ 1.18989701e-01 -3.57895047e-03 9.92889038e-01 5.59471708e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.80538475 meters Centerline goodness : 0.890597 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.36, Z:0.00 [[ 9.90984244e-01 6.21865410e-02 -1.18672082e-01 4.23067483e+00] [-6.12493882e-02 9.98055879e-01 1.15314753e-02 -3.62468140e-01] [ 1.19158472e-01 -4.15891787e-03 9.92866538e-01 1.44542200e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.83538475 meters Centerline goodness : 0.891787 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.36, Z:0.00 [[ 9.90966468e-01 6.28872408e-02 -1.18451064e-01 4.22918611e+00] [-6.18354443e-02 9.98007608e-01 1.25376073e-02 -3.64796044e-01] [ 1.19003519e-01 -5.09987424e-03 9.92880735e-01 2.69084718e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.865384750000004 meters Centerline goodness : 0.891107 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.36, Z:0.00 [[ 9.91227197e-01 5.88268122e-02 -1.18355610e-01 4.22837806e+00] [-5.82166558e-02 9.98266851e-01 8.60900549e-03 -3.64726101e-01] [ 1.18656923e-01 -1.64321255e-03 9.92933953e-01 2.46783262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.89538475 meters Centerline goodness : 0.892529 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.37, Z:0.01 [[ 9.91205247e-01 5.80680669e-02 -1.18912818e-01 4.22944352e+00] [-5.72238371e-02 9.98306108e-01 1.05046564e-02 -3.69337166e-01] [ 1.19321378e-01 -3.60762280e-03 9.92849129e-01 5.34407263e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.92538475 meters Centerline goodness : 0.893741 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.37, Z:0.01 [[ 9.91171562e-01 5.77294216e-02 -1.19357652e-01 4.23069341e+00] [-5.68451435e-02 9.98324560e-01 1.08029082e-02 -3.70711351e-01] [ 1.19781321e-01 -3.92263254e-03 9.92792550e-01 5.49121212e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.95538475 meters Centerline goodness : 0.895269 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.37, Z:0.00 [[ 9.91434027e-01 5.31519076e-02 -1.19303999e-01 4.23151756e+00] [-5.27562228e-02 9.98586430e-01 6.47471361e-03 -3.71251590e-01] [ 1.19479498e-01 -1.25223042e-04 9.92836660e-01 3.70398796e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.98538475 meters Centerline goodness : 0.893988 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.37, Z:0.00 [[ 9.91434155e-01 5.29762292e-02 -1.19381053e-01 4.23224643e+00] [-5.25797937e-02 9.98595764e-01 6.47032966e-03 -3.71801126e-01] [ 1.19556188e-01 -1.37874669e-04 9.92827427e-01 3.25041261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.01538475 meters Centerline goodness : 0.895973 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.37, Z:0.00 [[ 9.91403704e-01 5.20354061e-02 -1.20045871e-01 4.23510609e+00] [-5.16890933e-02 9.98645207e-01 5.99895956e-03 -3.72561398e-01] [ 1.20195392e-01 2.57671515e-04 9.92750221e-01 2.02395104e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.045384750000004 meters Centerline goodness : 0.894094 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.37, Z:0.00 [[ 9.91391720e-01 5.16071955e-02 -1.20329361e-01 4.23646331e+00] [-5.13215252e-02 9.98667180e-01 5.47395293e-03 -3.72079762e-01] [ 1.20451479e-01 7.48654710e-04 9.92718933e-01 1.12937901e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.07538475 meters Centerline goodness : 0.893555 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.37, Z:-0.00 [[ 9.91384095e-01 5.10264667e-02 -1.20639444e-01 4.23838776e+00] [-5.08496265e-02 9.98695975e-01 4.54590930e-03 -3.70771122e-01] [ 1.20714089e-01 1.62772850e-03 9.92685982e-01 -5.28375505e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.10538475 meters Centerline goodness : 0.892529 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.37, Z:-0.00 [[ 9.91374596e-01 5.07241391e-02 -1.20844826e-01 4.23885549e+00] [-5.05550188e-02 9.98711288e-01 4.46695961e-03 -3.70569536e-01] [ 1.20915675e-01 1.68088219e-03 9.92661359e-01 -2.70058826e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.13538475 meters Centerline goodness : 0.893086 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.37, Z:-0.00 [[ 9.91140286e-01 5.31879426e-02 -1.21704466e-01 4.24430491e+00] [-5.27828659e-02 9.98584517e-01 6.55219310e-03 -3.65049626e-01] [ 1.21880693e-01 -7.02320562e-05 9.92544756e-01 -2.88878651e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.16538475 meters Centerline goodness : 0.892149 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.36, Z:-0.00 [[ 9.90886302e-01 5.53555340e-02 -1.22801066e-01 4.24602582e+00] [-5.47730592e-02 9.98465839e-01 8.11666910e-03 -3.56471985e-01] [ 1.23061972e-01 -1.31650619e-03 9.92398115e-01 -1.34002124e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.19538475 meters Centerline goodness : 0.891476 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.35, Z:-0.00 [[ 9.90861992e-01 5.52896774e-02 -1.23026678e-01 4.24546341e+00] [-5.47703644e-02 9.98470040e-01 7.60171712e-03 -3.54015760e-01] [ 1.23258749e-01 -7.94036561e-04 9.92374249e-01 -4.31139782e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.22538475 meters Centerline goodness : 0.893204 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.35, Z:-0.00 [[ 9.90837370e-01 5.48253754e-02 -1.23432101e-01 4.24681847e+00] [-5.44740149e-02 9.98495802e-01 6.22218588e-03 -3.49273214e-01] [ 1.23587568e-01 5.58667808e-04 9.92333513e-01 -1.44759630e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.25538475 meters Centerline goodness : 0.889810 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.34, Z:-0.00 [[ 9.90304499e-01 6.04495680e-02 -1.25071373e-01 4.25350896e+00] [-5.94440395e-02 9.98162371e-01 1.17595603e-02 -3.41704907e-01] [ 1.25552398e-01 -4.21079781e-03 9.92078054e-01 -2.07552745e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.28538475 meters Centerline goodness : 0.888452 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.34, Z:-0.00 [[ 9.90311556e-01 6.10310426e-02 -1.24732651e-01 4.25205296e+00] [-6.01003872e-02 9.98129344e-01 1.12141171e-02 -3.38172336e-01] [ 1.25183729e-01 -3.60898915e-03 9.92127013e-01 -1.98907010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.31538475 meters Centerline goodness : 0.888452 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.34, Z:-0.00 [[ 9.90311556e-01 6.10310426e-02 -1.24732651e-01 4.25205296e+00] [-6.01003872e-02 9.98129344e-01 1.12141171e-02 -3.38172336e-01] [ 1.25183729e-01 -3.60898915e-03 9.92127013e-01 -1.98907010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.34538475 meters Centerline goodness : 0.892305 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:0.00 [[ 9.90052819e-01 6.57957961e-02 -1.24363696e-01 4.25015813e+00] [-6.43922481e-02 9.97807732e-01 1.52763822e-02 -3.34934346e-01] [ 1.25096179e-01 -7.11636730e-03 9.92119097e-01 2.27053276e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.37538475 meters Centerline goodness : 0.889551 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:0.00 [[ 9.90070586e-01 6.60944712e-02 -1.24063515e-01 4.24921374e+00] [-6.47493286e-02 9.97791094e-01 1.48477900e-02 -3.31356281e-01] [ 1.24770827e-01 -6.66733081e-03 9.92163186e-01 2.83122488e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.40538475 meters Centerline goodness : 0.888104 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:0.00 [[ 9.90090534e-01 6.68612653e-02 -1.23492126e-01 4.24655509e+00] [-6.55377394e-02 9.97741019e-01 1.47534231e-02 -3.27223915e-01] [ 1.24199593e-01 -6.51382973e-03 9.92235875e-01 1.62500188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.435384750000004 meters Centerline goodness : 0.892424 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.33, Z:0.00 [[ 9.90092655e-01 6.70523077e-02 -1.23371478e-01 4.24480769e+00] [-6.56747442e-02 9.97725251e-01 1.52036652e-02 -3.26567440e-01] [ 1.24110280e-01 -6.95064695e-03 9.92244086e-01 3.75977303e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.46538475 meters Centerline goodness : 0.890819 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.33, Z:0.00 [[ 9.90082198e-01 6.69550231e-02 -1.23508165e-01 4.24485160e+00] [-6.55764156e-02 9.97731800e-01 1.51982994e-02 -3.26220479e-01] [ 1.24245626e-01 -6.94834293e-03 9.92227164e-01 4.16272885e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.49538475 meters Centerline goodness : 0.893267 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:0.00 [[ 9.90080161e-01 6.68080446e-02 -1.23604045e-01 4.24507048e+00] [-6.54592339e-02 9.97743306e-01 1.49460360e-02 -3.25434814e-01] [ 1.24323624e-01 -6.70674761e-03 9.92219056e-01 4.12190580e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.52538475 meters Centerline goodness : 0.892410 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.32, Z:0.00 [[ 9.90083167e-01 6.64926099e-02 -1.23749973e-01 4.24610787e+00] [-6.52468538e-02 9.97769575e-01 1.40969048e-02 -3.23257248e-01] [ 1.24411298e-01 -5.88281171e-03 9.92213294e-01 2.97762330e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.55538475 meters Centerline goodness : 0.891696 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.32, Z:0.00 [[ 9.90081564e-01 6.63699312e-02 -1.23828630e-01 4.24682004e+00] [-6.51920417e-02 9.97780809e-01 1.35445666e-02 -3.22082672e-01] [ 1.24452782e-01 -5.33758451e-03 9.92211175e-01 2.04667847e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.58538475 meters Centerline goodness : 0.891841 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.32, Z:-0.00 [[ 9.90103176e-01 6.61854379e-02 -1.23754547e-01 4.24813185e+00] [-6.51283952e-02 9.97797693e-01 1.25720337e-02 -3.20519087e-01] [ 1.24314087e-01 -4.38767543e-03 9.92233217e-01 -1.69708462e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.615384750000004 meters Centerline goodness : 0.895450 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.32, Z:-0.00 [[ 9.90077479e-01 6.63291743e-02 -1.23883115e-01 4.24828746e+00] [-6.52536425e-02 9.97787586e-01 1.27238073e-02 -3.21621701e-01] [ 1.24452994e-01 -4.51373055e-03 9.92215238e-01 -1.62267589e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.64538475 meters Centerline goodness : 0.896062 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.32, Z:-0.00 [[ 9.90057769e-01 6.64941947e-02 -1.23952150e-01 4.24830449e+00] [-6.53922767e-02 9.97775707e-01 1.29417729e-02 -3.22469448e-01] [ 1.24536997e-01 -4.70758950e-03 9.92203797e-01 -5.92586939e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.67538475 meters Centerline goodness : 0.895742 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.32, Z:-0.00 [[ 9.90044629e-01 6.69089616e-02 -1.23833853e-01 4.24795292e+00] [-6.57604513e-02 9.97746217e-01 1.33435372e-02 -3.23698399e-01] [ 1.24447561e-01 -5.06732728e-03 9.92213247e-01 -8.10958674e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.70538475 meters Centerline goodness : 0.892760 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.32, Z:-0.00 [[ 9.90036504e-01 6.71282397e-02 -1.23780125e-01 4.24788229e+00] [-6.59625085e-02 9.97730819e-01 1.34966924e-02 -3.24315738e-01] [ 1.24405255e-01 -5.19737060e-03 9.92217879e-01 -2.17480581e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.73538475 meters Centerline goodness : 0.895963 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:-0.00 [[ 9.90005658e-01 6.77130198e-02 -1.23708303e-01 4.24741467e+00] [-6.65045452e-02 9.97689618e-01 1.38770060e-02 -3.25679572e-01] [ 1.24362143e-01 -5.51115004e-03 9.92221590e-01 -1.58993962e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.76538475 meters Centerline goodness : 0.894970 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:-0.00 [[ 9.90002166e-01 6.82533724e-02 -1.23439010e-01 4.24674554e+00] [-6.70352004e-02 9.97652385e-01 1.40000004e-02 -3.25946734e-01] [ 1.24104770e-01 -5.58527195e-03 9.92253400e-01 -4.40446215e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.795384750000004 meters Centerline goodness : 0.895447 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:-0.00 [[ 9.90002031e-01 6.86719104e-02 -1.23207739e-01 4.24635630e+00] [-6.74642983e-02 9.97624136e-01 1.39517445e-02 -3.25868041e-01] [ 1.23873107e-01 -5.50013172e-03 9.92282824e-01 -9.52218262e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.82538475 meters Centerline goodness : 0.894334 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:-0.00 [[ 9.90022609e-01 6.94496507e-02 -1.22604974e-01 4.24570565e+00] [-6.82583476e-02 9.97570908e-01 1.38953882e-02 -3.26364941e-01] [ 1.23272185e-01 -5.38793550e-03 9.92358271e-01 -2.46536656e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.85538475 meters Centerline goodness : 0.894553 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:-0.00 [[ 9.90286886e-01 6.46370184e-02 -1.23101337e-01 4.24617833e+00] [-6.38369262e-02 9.97905767e-01 1.04367882e-02 -3.28455042e-01] [ 1.23518137e-01 -2.47700351e-03 9.92339223e-01 -1.68612522e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.88538475 meters Centerline goodness : 0.897957 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:-0.00 [[ 9.90270213e-01 6.45170758e-02 -1.23298224e-01 4.24660669e+00] [-6.36601271e-02 9.97912313e-01 1.08813949e-02 -3.30239757e-01] [ 1.23742852e-01 -2.92634062e-03 9.92310004e-01 -1.30501024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.91538475 meters Centerline goodness : 0.896109 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:-0.00 [[ 9.90226357e-01 6.42386825e-02 -1.23794803e-01 4.24769218e+00] [-6.33480042e-02 9.97929525e-01 1.11217465e-02 -3.31349366e-01] [ 1.24252935e-01 -3.17089287e-03 9.92245511e-01 -9.73388312e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.94538475 meters Centerline goodness : 0.894668 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:-0.00 [[ 9.90215917e-01 6.40746234e-02 -1.23963219e-01 4.24894504e+00] [-6.32243541e-02 9.97941063e-01 1.07849416e-02 -3.31736367e-01] [ 1.24399028e-01 -2.84192636e-03 9.92228202e-01 -2.16200057e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.97538475 meters Centerline goodness : 0.894789 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:-0.00 [[ 9.90200864e-01 6.43683188e-02 -1.23931302e-01 4.24854338e+00] [-6.34557750e-02 9.97920667e-01 1.13007153e-02 -3.33289953e-01] [ 1.24401016e-01 -3.32582127e-03 9.92226449e-01 -1.62969306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.00538475 meters Centerline goodness : 0.893786 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:-0.00 [[ 9.90185583e-01 6.46526535e-02 -1.23905393e-01 4.24823709e+00] [-6.37130515e-02 9.97901594e-01 1.15349378e-02 -3.34074879e-01] [ 1.24391153e-01 -3.52733843e-03 9.92226990e-01 -1.47159779e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.03538475 meters Centerline goodness : 0.895419 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:-0.00 [[ 9.90163810e-01 6.46360153e-02 -1.24087929e-01 4.24866589e+00] [-6.36946004e-02 9.97902678e-01 1.15431416e-02 -3.34605224e-01] [ 1.24573779e-01 -3.52586999e-03 9.92204083e-01 -1.55919031e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.06538475 meters Centerline goodness : 0.896700 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:-0.00 [[ 9.90422304e-01 6.12364271e-02 -1.23748779e-01 4.24678106e+00] [-6.07713604e-02 9.98123287e-01 7.53294782e-03 -3.34011402e-01] [ 1.23977829e-01 5.95821037e-05 9.92284987e-01 -1.87471084e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.09538475 meters Centerline goodness : 0.895914 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:-0.00 [[ 9.90402231e-01 6.06545416e-02 -1.24195197e-01 4.24814964e+00] [-6.02273456e-02 9.98158755e-01 7.19483793e-03 -3.33374262e-01] [ 1.24402923e-01 3.54163514e-04 9.92231721e-01 -2.04521739e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.12538475 meters Centerline goodness : 0.893618 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:-0.00 [[ 9.90129531e-01 6.31514689e-02 -1.25121560e-01 4.25282166e+00] [-6.23736393e-02 9.98001476e-01 1.01283662e-02 -3.32698102e-01] [ 1.25511123e-01 -2.22410740e-03 9.92089719e-01 -3.35502431e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.15538475 meters Centerline goodness : 0.894124 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:-0.00 [[ 9.90115194e-01 6.28503426e-02 -1.25386355e-01 4.25375308e+00] [-6.21409306e-02 9.98021551e-01 9.56497117e-03 -3.31163971e-01] [ 1.25739446e-01 -1.67879850e-03 9.92061880e-01 -3.79275957e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.185384750000004 meters Centerline goodness : 0.892894 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:-0.00 [[ 9.90091461e-01 6.27369417e-02 -1.25630308e-01 4.25381768e+00] [-6.20137925e-02 9.98028517e-01 9.66271981e-03 -3.31161609e-01] [ 1.25988840e-01 -1.77616450e-03 9.92030069e-01 -3.10383462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.21538475 meters Centerline goodness : 0.894768 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:-0.00 [[ 9.90079747e-01 6.27302532e-02 -1.25725935e-01 4.25372894e+00] [-6.20261368e-02 9.98029206e-01 9.51118799e-03 -3.30135744e-01] [ 1.26074794e-01 -1.61854056e-03 9.92019418e-01 -2.80133081e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.24538475 meters Centerline goodness : 0.895080 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:-0.00 [[ 9.90087598e-01 6.28313145e-02 -1.25613590e-01 4.25375725e+00] [-6.22048575e-02 9.98023655e-01 8.90731788e-03 -3.27385053e-01] [ 1.25924993e-01 -1.00524950e-03 9.92039256e-01 -3.42887516e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.27538475 meters Centerline goodness : 0.894686 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:-0.00 [[ 9.90097171e-01 6.25783668e-02 -1.25664393e-01 4.25467775e+00] [-6.20329722e-02 9.98039983e-01 8.25247178e-03 -3.25711088e-01] [ 1.25934515e-01 -3.75413160e-04 9.92038486e-01 -4.47745285e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.30538475 meters Centerline goodness : 0.893586 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.32, Z:-0.00 [[ 9.90095406e-01 6.29990510e-02 -1.25467950e-01 4.25405772e+00] [-6.24733553e-02 9.98013566e-01 8.12418957e-03 -3.24495554e-01] [ 1.25730532e-01 -2.05318958e-04 9.92064409e-01 -4.62747757e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.33538475 meters Centerline goodness : 0.894381 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.32, Z:-0.00 [[ 9.90078867e-01 6.34334362e-02 -1.25379567e-01 4.25301398e+00] [-6.28608419e-02 9.97985917e-01 8.52200097e-03 -3.24698745e-01] [ 1.25667622e-01 -5.55987911e-04 9.92072245e-01 -3.71025640e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.365384750000004 meters Centerline goodness : 0.895081 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:-0.00 [[ 9.90030861e-01 6.41126163e-02 -1.25413186e-01 4.25151112e+00] [-6.34086025e-02 9.97941461e-01 9.60157918e-03 -3.25934540e-01] [ 1.25770600e-01 -1.55358482e-03 9.92058135e-01 -1.52470875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.39538475 meters Centerline goodness : 0.897830 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:-0.00 [[ 9.90024410e-01 6.45325116e-02 -1.25248642e-01 4.25090994e+00] [-6.38254145e-02 9.97914379e-01 9.65441884e-03 -3.25263938e-01] [ 1.25610445e-01 -1.56406380e-03 9.92078409e-01 -1.46547207e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.42538475 meters Centerline goodness : 0.895747 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.32, Z:-0.00 [[ 9.90026000e-01 6.44950568e-02 -1.25255364e-01 4.25131369e+00] [-6.38127671e-02 9.97917088e-01 9.45604786e-03 -3.24761701e-01] [ 1.25604336e-01 -1.36884189e-03 9.92079471e-01 -1.96415594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.45538475 meters Centerline goodness : 0.895429 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:-0.00 [[ 9.90022049e-01 6.46689452e-02 -1.25196929e-01 4.25123183e+00] [-6.39780738e-02 9.97905748e-01 9.53544528e-03 -3.25067671e-01] [ 1.25551382e-01 -1.43044273e-03 9.92086087e-01 -2.07739737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.48538475 meters Centerline goodness : 0.897812 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:-0.00 [[ 9.89967512e-01 6.48993277e-02 -1.25508574e-01 4.25124483e+00] [-6.41559767e-02 9.97890179e-01 9.96002925e-03 -3.26367758e-01] [ 1.25890172e-01 -1.80798026e-03 9.92042537e-01 -1.33886965e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.51538475 meters Centerline goodness : 0.896698 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:-0.00 [[ 9.89971753e-01 6.53240811e-02 -1.25254514e-01 4.25089218e+00] [-6.45918559e-02 9.97862631e-01 9.90261033e-03 -3.26415900e-01] [ 1.25633678e-01 -1.71288298e-03 9.92075221e-01 -1.97284311e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.545384750000004 meters Centerline goodness : 0.896941 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:-0.00 [[ 9.89974241e-01 6.55205498e-02 -1.25132171e-01 4.25076325e+00] [-6.47959695e-02 9.97849857e-01 9.85622314e-03 -3.26475404e-01] [ 1.25508904e-01 -1.64934672e-03 9.92091122e-01 -2.33285397e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.57538475 meters Centerline goodness : 0.894546 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:-0.00 [[ 9.89954329e-01 6.62782531e-02 -1.24890431e-01 4.24980059e+00] [-6.55342831e-02 9.97799601e-01 1.00605566e-02 -3.27051072e-01] [ 1.25282419e-01 -1.77488670e-03 9.92119532e-01 -2.44476667e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.60538475 meters Centerline goodness : 0.898368 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:-0.00 [[ 9.89938090e-01 6.66170790e-02 -1.24838869e-01 4.24950668e+00] [-6.58699775e-02 9.97777023e-01 1.01073577e-02 -3.27037673e-01] [ 1.25234678e-01 -1.78252484e-03 9.92125546e-01 -2.54350636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.63538475 meters Centerline goodness : 0.897307 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:-0.00 [[ 9.89950674e-01 6.67491588e-02 -1.24668409e-01 4.24936558e+00] [-6.60059767e-02 9.97768241e-01 1.00869947e-02 -3.26825380e-01] [ 1.25063478e-01 -1.75676708e-03 9.92147187e-01 -2.84728241e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.66538475 meters Centerline goodness : 0.896184 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:-0.00 [[ 9.89931737e-01 6.66872114e-02 -1.24851802e-01 4.25006395e+00] [-6.59683135e-02 9.97772723e-01 9.88814947e-03 -3.26387616e-01] [ 1.25233135e-01 -1.55233017e-03 9.92126127e-01 -3.28743595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.69538475 meters Centerline goodness : 0.895793 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:-0.00 [[ 9.89913148e-01 6.63760058e-02 -1.25164633e-01 4.25127597e+00] [-6.57038123e-02 9.97793988e-01 9.49558887e-03 -3.26068106e-01] [ 1.25518798e-01 -1.17601470e-03 9.92090544e-01 -3.95322036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.72538475 meters Centerline goodness : 0.894234 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:-0.01 [[ 9.89927333e-01 6.60259524e-02 -1.25237567e-01 4.25276747e+00] [-6.54392402e-02 9.97817774e-01 8.79749016e-03 -3.25294104e-01] [ 1.25545133e-01 -5.13424735e-04 9.92087776e-01 -5.65826350e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.75538475 meters Centerline goodness : 0.897716 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:0.00 [[ 9.90144055e-01 6.11419137e-02 -1.26001655e-01 4.25212041e+00] [-6.06749217e-02 9.98129068e-01 7.54441107e-03 -3.27840488e-01] [ 1.26227194e-01 1.75086766e-04 9.92001343e-01 4.62074351e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.78538475 meters Centerline goodness : 0.896538 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:0.00 [[ 9.90109955e-01 6.05334282e-02 -1.26562163e-01 4.25325957e+00] [-6.00223634e-02 9.98166155e-01 7.85131716e-03 -3.28839425e-01] [ 1.26805335e-01 -1.77107105e-04 9.91927606e-01 9.00940690e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.81538475 meters Centerline goodness : 0.896268 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.33, Z:0.00 [[ 9.90098283e-01 5.95864442e-02 -1.27101716e-01 4.25543861e+00] [-5.91207190e-02 9.98223138e-01 7.43691662e-03 -3.28551957e-01] [ 1.27319013e-01 1.51066453e-04 9.91861808e-01 3.60532329e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.84538475 meters Centerline goodness : 0.896916 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.33, Z:-0.00 [[ 9.89864108e-01 6.17292816e-02 -1.27900523e-01 4.26003427e+00] [-6.08693813e-02 9.98089191e-01 1.06247643e-02 -3.27221742e-01] [ 1.28311988e-01 -2.73184713e-03 9.91730090e-01 -3.42756848e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.87538475 meters Centerline goodness : 0.894253 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.33, Z:-0.00 [[ 9.89870586e-01 6.16709986e-02 -1.27878498e-01 4.26040513e+00] [-6.08572835e-02 9.98093699e-01 1.02644324e-02 -3.26110480e-01] [ 1.28267741e-01 -2.37812177e-03 9.91736725e-01 -9.44867632e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.90538475 meters Centerline goodness : 0.892531 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.33, Z:0.00 [[ 9.89840723e-01 6.23114221e-02 -1.27799175e-01 4.25904257e+00] [-6.14110868e-02 9.98052195e-01 1.09770425e-02 -3.27037221e-01] [ 1.28234242e-01 -3.01723748e-03 9.91739318e-01 4.27654923e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.935384750000004 meters Centerline goodness : 0.893613 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.33, Z:0.00 [[ 9.89816778e-01 6.33554601e-02 -1.27470905e-01 4.25639841e+00] [-6.23387857e-02 9.97983461e-01 1.19535149e-02 -3.27072048e-01] [ 1.27971176e-01 -3.88540813e-03 9.91770277e-01 2.56748788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.96538475 meters Centerline goodness : 0.895332 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.33, Z:0.00 [[ 9.89818450e-01 6.38667887e-02 -1.27202477e-01 4.25528551e+00] [-6.28252327e-02 9.97950125e-01 1.21876189e-02 -3.26891174e-01] [ 1.27720112e-01 -4.07200484e-03 9.91801891e-01 2.95364319e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.99538475 meters Centerline goodness : 0.895083 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.33, Z:0.00 [[ 9.89821715e-01 6.40442838e-02 -1.27087774e-01 4.25513542e+00] [-6.30332213e-02 9.97939696e-01 1.19656034e-02 -3.25856936e-01] [ 1.27592263e-01 -3.83306232e-03 9.91819299e-01 2.63065843e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.02538475 meters Centerline goodness : 0.894627 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:0.00 [[ 9.89823664e-01 6.40267141e-02 -1.27081445e-01 4.25564190e+00] [-6.30780373e-02 9.97942573e-01 1.14796449e-02 -3.24604901e-01] [ 1.27554988e-01 -3.34677603e-03 9.91825854e-01 1.72443492e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.05538475 meters Centerline goodness : 0.896690 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:0.00 [[ 9.89837410e-01 6.43624412e-02 -1.26804490e-01 4.25548470e+00] [-6.34476370e-02 9.97921821e-01 1.12443960e-02 -3.22976768e-01] [ 1.27264685e-01 -3.08467857e-03 9.91863995e-01 9.29956798e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.08538475 meters Centerline goodness : 0.896100 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:0.00 [[ 9.89807683e-01 6.43859050e-02 -1.27024431e-01 4.25567026e+00] [-6.34525966e-02 9.97919917e-01 1.13844979e-02 -3.23496422e-01] [ 1.27493211e-01 -3.20843349e-03 9.91834254e-01 1.24832399e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.115384750000004 meters Centerline goodness : 0.899298 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:0.00 [[ 9.89795299e-01 6.44299044e-02 -1.27098596e-01 4.25580347e+00] [-6.34939882e-02 9.97917042e-01 1.14057004e-02 -3.24148105e-01] [ 1.27568723e-01 -3.21931191e-03 9.91824509e-01 1.18716111e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.14538475 meters Centerline goodness : 0.898518 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:0.00 [[ 9.89808521e-01 6.44935141e-02 -1.26963295e-01 4.25586690e+00] [-6.35806292e-02 9.97913474e-01 1.12339411e-02 -3.23789324e-01] [ 1.27422899e-01 -3.04704450e-03 9.91843798e-01 6.22700909e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.17538475 meters Centerline goodness : 0.904793 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.32, Z:0.00 [[ 9.89807203e-01 6.49501351e-02 -1.26740604e-01 4.25495617e+00] [-6.39932765e-02 9.97882779e-01 1.16112381e-02 -3.24181310e-01] [ 1.27226418e-01 -3.38234061e-03 9.91867934e-01 9.63970951e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.20538475 meters Centerline goodness : 0.904793 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.32, Z:0.00 [[ 9.89807203e-01 6.49501351e-02 -1.26740604e-01 4.25495617e+00] [-6.39932765e-02 9.97882779e-01 1.16112381e-02 -3.24181310e-01] [ 1.27226418e-01 -3.38234061e-03 9.91867934e-01 9.63970951e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.23538475 meters Centerline goodness : 0.906094 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.32, Z:0.00 [[ 9.89784527e-01 6.52467683e-02 -1.26765331e-01 4.25447887e+00] [-6.42325794e-02 9.97861884e-01 1.20762507e-02 -3.24929351e-01] [ 1.27282228e-01 -3.81042188e-03 9.91859221e-01 1.63537485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.26538475 meters Centerline goodness : 0.909903 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:0.00 [[ 9.89802654e-01 6.61244159e-02 -1.26167618e-01 4.25256957e+00] [-6.50555242e-02 9.97802368e-01 1.25782539e-02 -3.25191322e-01] [ 1.26722077e-01 -4.24208864e-03 9.91929191e-01 2.04196456e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.295384750000004 meters Centerline goodness : 0.912949 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.32, Z:0.00 [[ 9.89793665e-01 6.63710506e-02 -1.26108622e-01 4.25232849e+00] [-6.53004744e-02 9.97785979e-01 1.26090336e-02 -3.24872922e-01] [ 1.26666290e-01 -4.24538872e-03 9.91936302e-01 1.97113145e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.32538475 meters Centerline goodness : 0.916827 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:0.00 [[ 9.89768051e-01 6.67115368e-02 -1.26129998e-01 4.25185240e+00] [-6.55834056e-02 9.97761354e-01 1.30804234e-02 -3.26151274e-01] [ 1.26720252e-01 -4.67455042e-03 9.91927480e-01 2.53034813e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.35538475 meters Centerline goodness : 0.920005 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:0.00 [[ 9.90032126e-01 6.27394984e-02 -1.26095779e-01 4.25076984e+00] [-6.20319818e-02 9.98028628e-01 9.53371046e-03 -3.27601690e-01] [ 1.26445337e-01 -1.61670857e-03 9.91972259e-01 2.81850951e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.38538475 meters Centerline goodness : 0.923399 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:0.00 [[ 9.90011540e-01 6.18679154e-02 -1.26686668e-01 4.25252383e+00] [-6.11343642e-02 9.98082663e-01 9.67400754e-03 -3.28696677e-01] [ 1.27042277e-01 -1.83247022e-03 9.91895610e-01 3.14368276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.41538475 meters Centerline goodness : 0.922243 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.33, Z:0.00 [[ 9.90026209e-01 6.04384260e-02 -1.27260764e-01 4.25551198e+00] [-5.97253001e-02 9.98170444e-01 9.41561238e-03 -3.29818420e-01] [ 1.27596998e-01 -1.72101573e-03 9.91824604e-01 2.30229320e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.44538475 meters Centerline goodness : 0.924182 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.33, Z:0.00 [[ 9.90012442e-01 6.04309134e-02 -1.27371386e-01 4.25600831e+00] [-5.97049910e-02 9.98170735e-01 9.51301043e-03 -3.30372999e-01] [ 1.27713270e-01 -1.81329121e-03 9.91809474e-01 2.05672042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.47538475 meters Centerline goodness : 0.923611 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.33, Z:0.00 [[ 9.90015660e-01 6.07251324e-02 -1.27206335e-01 4.25578655e+00] [-5.99949897e-02 9.98152831e-01 9.56700411e-03 -3.30402117e-01] [ 1.27552321e-01 -1.83974113e-03 9.91830137e-01 1.71667484e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.50538475 meters Centerline goodness : 0.926915 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:0.00 [[ 9.90000819e-01 6.18679687e-02 -1.26770396e-01 4.25380428e+00] [-6.10672087e-02 9.98081567e-01 1.01971173e-02 -3.30670913e-01] [ 1.27158070e-01 -2.35364024e-03 9.91879673e-01 2.34988347e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.53538475 meters Centerline goodness : 0.930030 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:0.00 [[ 9.89969396e-01 6.22572247e-02 -1.26825204e-01 4.25305281e+00] [-6.13736133e-02 9.98055706e-01 1.08667635e-02 -3.32026845e-01] [ 1.27255153e-01 -2.97404225e-03 9.91865556e-01 3.46577254e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.56538475 meters Centerline goodness : 0.932812 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:0.00 [[ 9.89914841e-01 6.15801457e-02 -1.27579357e-01 4.25462666e+00] [-6.06209861e-02 9.98095856e-01 1.13911401e-02 -3.33832283e-01] [ 1.28037896e-01 -3.54227215e-03 9.91762950e-01 4.59615514e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.59538475 meters Centerline goodness : 0.932327 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.33, Z:0.00 [[ 9.89935160e-01 6.11998212e-02 -1.27604707e-01 4.25559161e+00] [-6.02886980e-02 9.98120436e-01 1.09940324e-02 -3.33496889e-01] [ 1.28037699e-01 -3.19025754e-03 9.91764170e-01 3.63644482e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.62538475 meters Centerline goodness : 0.934984 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.33, Z:0.00 [[ 9.89941745e-01 6.13710565e-02 -1.27471310e-01 4.25555559e+00] [-6.04871894e-02 9.98110577e-01 1.07969929e-02 -3.33332550e-01] [ 1.27893085e-01 -2.97801270e-03 9.91783490e-01 2.99686967e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.65538475 meters Centerline goodness : 0.933779 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.33, Z:0.00 [[ 9.89925679e-01 6.20320726e-02 -1.27275966e-01 4.25531803e+00] [-6.11702529e-02 9.98070286e-01 1.06725903e-02 -3.32776620e-01] [ 1.27692403e-01 -2.77956818e-03 9.91809923e-01 2.08567980e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.68538475 meters Centerline goodness : 0.936508 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:0.00 [[ 9.90155933e-01 5.91630836e-02 -1.26850140e-01 4.25279538e+00] [-5.87671919e-02 9.98248114e-01 6.86442181e-03 -3.31733148e-01] [ 1.27034033e-01 6.57778532e-04 9.91898141e-01 1.85016052e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.71538475 meters Centerline goodness : 0.934602 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:0.00 [[ 9.90120251e-01 5.94504760e-02 -1.26994209e-01 4.25202675e+00] [-5.89544861e-02 9.98231251e-01 7.66406920e-03 -3.32567994e-01] [ 1.27225221e-01 -1.01471790e-04 9.91873849e-01 3.47982553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.74538475 meters Centerline goodness : 0.937797 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:0.00 [[ 9.90099601e-01 5.92649272e-02 -1.27241696e-01 4.25271481e+00] [-5.88067686e-02 9.98242270e-01 7.35762976e-03 -3.32011648e-01] [ 1.27454089e-01 1.97886711e-04 9.91844452e-01 3.22042833e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.77538475 meters Centerline goodness : 0.934659 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:0.00 [[ 9.90089248e-01 5.86687718e-02 -1.27598025e-01 4.25461725e+00] [-5.83298124e-02 9.98276885e-01 6.39475990e-03 -3.30435731e-01] [ 1.27753332e-01 1.11138585e-03 9.91805349e-01 1.74013078e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.80538475 meters Centerline goodness : 0.935290 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:0.00 [[ 9.90075283e-01 5.88545669e-02 -1.27620823e-01 4.25480423e+00] [-5.85396266e-02 9.98265705e-01 6.22044595e-03 -3.29718578e-01] [ 1.27765592e-01 1.31216553e-03 9.91803525e-01 1.27316684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.83538475 meters Centerline goodness : 0.935209 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:0.00 [[ 9.90093068e-01 5.89722744e-02 -1.27428365e-01 4.25458208e+00] [-5.86786401e-02 9.98258528e-01 6.06035469e-03 -3.29221645e-01] [ 1.27563845e-01 1.47700799e-03 9.91829261e-01 8.94273741e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.865384750000004 meters Centerline goodness : 0.932857 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:0.00 [[ 9.90080381e-01 5.90861101e-02 -1.27474199e-01 4.25452956e+00] [-5.87526199e-02 9.98252198e-01 6.37794201e-03 -3.29774016e-01] [ 1.27628247e-01 1.17476789e-03 9.91821380e-01 1.25256753e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.89538475 meters Centerline goodness : 0.935913 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.33, Z:0.00 [[ 9.90048343e-01 5.89106833e-02 -1.27803796e-01 4.25522685e+00] [-5.85803029e-02 9.98262531e-01 6.34563337e-03 -3.30134330e-01] [ 1.27955566e-01 1.20430127e-03 9.91779170e-01 1.29567397e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.92538475 meters Centerline goodness : 0.933201 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.33, Z:0.00 [[ 9.90018549e-01 5.86220243e-02 -1.28166806e-01 4.25638654e+00] [-5.83303185e-02 9.98279116e-01 6.03155600e-03 -3.29798812e-01] [ 1.28299828e-01 1.50465828e-03 9.91734284e-01 8.43161165e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.95538475 meters Centerline goodness : 0.935669 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.33, Z:0.00 [[ 9.90011978e-01 5.89555687e-02 -1.28064529e-01 4.25597103e+00] [-5.86647347e-02 9.98259438e-01 6.04509927e-03 -3.29417148e-01] [ 1.28198017e-01 1.52815090e-03 9.91747414e-01 8.05071253e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.98538475 meters Centerline goodness : 0.935762 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:0.00 [[ 9.90006756e-01 5.98548121e-02 -1.27687212e-01 4.25469299e+00] [-5.95701136e-02 9.98205785e-01 6.05076062e-03 -3.27366226e-01] [ 1.27820281e-01 1.61604782e-03 9.91796030e-01 6.53566903e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.01538475 meters Centerline goodness : 0.935326 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:0.00 [[ 9.89986889e-01 6.02651394e-02 -1.27648239e-01 4.25334315e+00] [-5.99248728e-02 9.98181675e-01 6.50787991e-03 -3.27131793e-01] [ 1.27808331e-01 1.20658868e-03 9.91798152e-01 2.19578156e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.045384750000004 meters Centerline goodness : 0.936410 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:0.00 [[ 9.89925005e-01 5.97948727e-02 -1.28347414e-01 4.25396983e+00] [-5.93356768e-02 9.98210644e-01 7.40184961e-03 -3.28162211e-01] [ 1.28560347e-01 2.88304645e-04 9.91701646e-01 4.52688533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.07538475 meters Centerline goodness : 0.935337 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.33, Z:0.00 [[ 9.89926155e-01 5.83914545e-02 -1.28983120e-01 4.25657020e+00] [-5.80613749e-02 9.98293004e-01 6.32103568e-03 -3.25862235e-01] [ 1.29132041e-01 1.23157873e-03 9.91626643e-01 3.72677540e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.10538475 meters Centerline goodness : 0.933081 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:0.00 [[ 9.89908048e-01 5.77485705e-02 -1.29410819e-01 4.25823960e+00] [-5.74809540e-02 9.98329725e-01 5.80519919e-03 -3.24691089e-01] [ 1.29529909e-01 1.69204392e-03 9.91574072e-01 3.16816029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.13538475 meters Centerline goodness : 0.931966 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:0.00 [[ 9.89913576e-01 5.70084693e-02 -1.29696360e-01 4.26012578e+00] [-5.68678652e-02 9.98370221e-01 4.79031406e-03 -3.22976375e-01] [ 1.29758072e-01 2.63355821e-03 9.91542186e-01 1.64111344e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.16538475 meters Centerline goodness : 0.932369 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:0.00 [[ 9.89897634e-01 5.65041770e-02 -1.30038274e-01 4.26163637e+00] [-5.64314050e-02 9.98397444e-01 4.24730085e-03 -3.22035972e-01] [ 1.30069871e-01 3.13384946e-03 9.91499878e-01 8.45550592e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.19538475 meters Centerline goodness : 0.929988 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:0.00 [[ 9.89908571e-01 5.64475584e-02 -1.29979591e-01 4.26203162e+00] [-5.64080185e-02 9.98399833e-01 3.98871741e-03 -3.21471803e-01] [ 1.29996756e-01 3.38342565e-03 9.91508646e-01 1.98994959e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.22538475 meters Centerline goodness : 0.929814 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:0.00 [[ 9.89895805e-01 5.67699700e-02 -1.29936391e-01 4.26132300e+00] [-5.67109074e-02 9.98381985e-01 4.15761876e-03 -3.20751529e-01] [ 1.29962180e-01 3.25320129e-03 9.91513615e-01 8.51323509e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.25538475 meters Centerline goodness : 0.931047 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:0.00 [[ 9.89897405e-01 5.73113678e-02 -1.29686293e-01 4.26008328e+00] [-5.71953138e-02 9.98352308e-01 4.62225880e-03 -3.20797725e-01] [ 1.29737518e-01 2.84188623e-03 9.91544301e-01 1.64808457e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.28538475 meters Centerline goodness : 0.928631 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:0.00 [[ 9.89912949e-01 5.83367782e-02 -1.29109155e-01 4.25756979e+00] [-5.81313189e-02 9.98294543e-01 5.36245456e-03 -3.20417842e-01] [ 1.29201793e-01 2.19692224e-03 9.91615888e-01 3.01891998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.31538475 meters Centerline goodness : 0.929174 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:0.00 [[ 9.89910947e-01 5.87499369e-02 -1.28937045e-01 4.25659250e+00] [-5.85119537e-02 9.98270797e-01 5.63626069e-03 -3.20306477e-01] [ 1.29045217e-01 1.96496225e-03 9.91636764e-01 3.58968691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.34538475 meters Centerline goodness : 0.926580 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:0.00 [[ 9.89921185e-01 5.92936589e-02 -1.28609132e-01 4.25511746e+00] [-5.89907544e-02 9.98239483e-01 6.16654387e-03 -3.20823901e-01] [ 1.28748350e-01 1.48235728e-03 9.91676190e-01 4.48544547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.37538475 meters Centerline goodness : 0.926168 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:0.00 [[ 9.89933536e-01 5.91084766e-02 -1.28599310e-01 4.25557822e+00] [-5.87727896e-02 9.98250825e-01 6.40695552e-03 -3.21846658e-01] [ 1.28753073e-01 1.21568005e-03 9.91675939e-01 4.44340454e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.40538475 meters Centerline goodness : 0.925395 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:0.00 [[ 9.89934850e-01 5.90310593e-02 -1.28624749e-01 4.25606892e+00] [-5.86787498e-02 9.98255559e-01 6.53018728e-03 -3.22603814e-01] [ 1.28785855e-01 1.08307952e-03 9.91671836e-01 4.14678198e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.43538475 meters Centerline goodness : 0.923222 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:0.00 [[ 9.89955324e-01 5.85972082e-02 -1.28665547e-01 4.25747474e+00] [-5.82451579e-02 9.98281146e-01 6.50044969e-03 -3.23107820e-01] [ 1.28825298e-01 1.05899035e-03 9.91666739e-01 3.21340489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.46538475 meters Centerline goodness : 0.922805 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:0.00 [[ 9.89951458e-01 5.86268631e-02 -1.28681787e-01 4.25801038e+00] [-5.82697133e-02 9.98279443e-01 6.54175468e-03 -3.23884292e-01] [ 1.28843905e-01 1.02223125e-03 9.91664360e-01 2.60761080e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.49538475 meters Centerline goodness : 0.920955 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.09, Z:-0.29 [[ 0.99157277 -0.12699972 -0.0255834 3.31779365] [ 0.10579333 0.90776871 -0.40591101 -0.09347004] [ 0.07477439 0.39978375 0.91355446 -0.290566 ] [ 0. 0. 0. 1. ]] SLAMing on 51.52538475 meters Centerline goodness : 0.920328 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.36, Z:-0.10 [[ 0.99294505 0.09109263 -0.0759096 3.7043277 ] [-0.0949228 0.99430393 -0.04847026 -0.35574744] [ 0.07106193 0.05533385 0.99593592 -0.09658943] [ 0. 0. 0. 1. ]] SLAMing on 51.55538475 meters Centerline goodness : 0.919257 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.36, Z:-0.10 [[ 0.99291807 0.091409 -0.07588208 3.70389087] [-0.09518951 0.99431138 -0.04778955 -0.35691437] [ 0.07108202 0.05467429 0.99597092 -0.09587451] [ 0. 0. 0. 1. ]] SLAMing on 51.58538475 meters Centerline goodness : 0.919558 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.36, Z:-0.09 [[ 0.99287355 0.09193027 -0.07583489 3.70304632] [-0.09564589 0.99430965 -0.0469062 -0.35819572] [ 0.07109127 0.05382522 0.9960165 -0.09476822] [ 0. 0. 0. 1. ]] SLAMing on 51.615384750000004 meters Centerline goodness : 0.920751 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.36, Z:-0.09 [[ 0.99250979 0.09548222 -0.07620665 3.70487567] [-0.09886357 0.99421858 -0.04189751 -0.36058484] [ 0.0717656 0.04911775 0.9962114 -0.09350309] [ 0. 0. 0. 1. ]] SLAMing on 51.64538475 meters Centerline goodness : 0.918608 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.36, Z:-0.09 [[ 0.99215086 0.09888882 -0.0765354 3.70665856] [-0.10194615 0.99409719 -0.03711832 -0.3629364 ] [ 0.07241304 0.04462946 0.99637571 -0.09242662] [ 0. 0. 0. 1. ]] SLAMing on 51.67538475 meters Centerline goodness : 0.914074 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.36, Z:-0.09 [[ 0.99214098 0.09893837 -0.0765994 3.70698833] [-0.10197656 0.99410537 -0.03681438 -0.36382549] [ 0.07250552 0.0443364 0.99638207 -0.09251794] [ 0. 0. 0. 1. ]] SLAMing on 51.70538475 meters Centerline goodness : 0.919813 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.36, Z:-0.09 [[ 0.99211537 0.09904445 -0.07679379 3.70725596] [-0.10204271 0.99412312 -0.03614555 -0.36493575] [ 0.07276247 0.0436968 0.9963916 -0.09188588] [ 0. 0. 0. 1. ]] SLAMing on 51.73538475 meters Centerline goodness : 0.916428 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.37, Z:-0.09 [[ 0.99209777 0.09883462 -0.07728996 3.70821009] [-0.1017771 0.99418792 -0.03509704 -0.36750908] [ 0.07337195 0.04268604 0.99639072 -0.09086294] [ 0. 0. 0. 1. ]] SLAMing on 51.76538475 meters Centerline goodness : 0.916285 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.37, Z:-0.09 [[ 0.99208528 0.09872438 -0.07759059 3.70891847] [-0.10164153 0.99421979 -0.03458324 -0.36856468] [ 0.07372789 0.04219595 0.99638532 -0.09045896] [ 0. 0. 0. 1. ]] SLAMing on 51.795384750000004 meters Centerline goodness : 0.914570 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.37, Z:-0.09 [[ 0.9920951 0.09828063 -0.07802709 3.7104259 ] [-0.10118841 0.99427853 -0.03422159 -0.36964337] [ 0.07421734 0.04184651 0.99636372 -0.09044591] [ 0. 0. 0. 1. ]] SLAMing on 51.82538475 meters Centerline goodness : 0.913871 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.37, Z:-0.09 [[ 0.99206081 0.09860164 -0.07805812 3.709919 ] [-0.10143624 0.99428748 -0.03321296 -0.37109389] [ 0.07433735 0.0408672 0.99639542 -0.08916353] [ 0. 0. 0. 1. ]] SLAMing on 51.85538475 meters Centerline goodness : 0.916071 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.37, Z:-0.09 [[ 0.99198917 0.099408 -0.07794571 3.70794341] [-0.10206205 0.99430019 -0.0308298 -0.37431941] [ 0.07443671 0.03853813 0.9964808 -0.08552783] [ 0. 0. 0. 1. ]] SLAMing on 51.88538475 meters Centerline goodness : 0.918201 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.38, Z:-0.08 [[ 0.99193528 0.09998964 -0.07788755 3.70673922] [-0.10255424 0.9942856 -0.02964422 -0.37553686] [ 0.07447835 0.03739285 0.99652132 -0.08364578] [ 0. 0. 0. 1. ]] SLAMing on 51.91538475 meters Centerline goodness : 0.921538 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.38, Z:-0.08 [[ 0.9918857 0.10068909 -0.07761737 3.70533309] [-0.1031566 0.99425803 -0.02845514 -0.37686482] [ 0.07430657 0.03623099 0.99657707 -0.08210629] [ 0. 0. 0. 1. ]] SLAMing on 51.94538475 meters Centerline goodness : 0.920769 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.38, Z:-0.08 [[ 0.99186769 0.10069125 -0.07784447 3.70578248] [-0.10315399 0.99426328 -0.02828064 -0.37669013] [ 0.07455028 0.03608063 0.99656432 -0.08185984] [ 0. 0. 0. 1. ]] SLAMing on 51.97538475 meters Centerline goodness : 0.921857 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.38, Z:-0.08 [[ 0.99184958 0.10051895 -0.07829659 3.70707576] [-0.10298654 0.99428483 -0.02813256 -0.37699732] [ 0.07502126 0.03596676 0.99653309 -0.08201952] [ 0. 0. 0. 1. ]] SLAMing on 52.00538475 meters Centerline goodness : 0.921939 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.38, Z:-0.08 [[ 0.99184653 0.09998971 -0.07900964 3.70884582] [-0.10246384 0.99434548 -0.02789654 -0.37780983] [ 0.07577351 0.03576472 0.99648345 -0.08177133] [ 0. 0. 0. 1. ]] SLAMing on 52.03538475 meters Centerline goodness : 0.922978 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.38, Z:-0.08 [[ 0.99188267 0.0986337 -0.08025068 3.71239807] [-0.10112511 0.99449115 -0.02758741 -0.3799171 ] [ 0.07708754 0.03547883 0.99639288 -0.08162236] [ 0. 0. 0. 1. ]] SLAMing on 52.06538475 meters Centerline goodness : 0.923429 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.38, Z:-0.08 [[ 0.99195874 0.09727461 -0.08096607 3.71525663] [-0.09978621 0.994627 -0.02756527 -0.38200781] [ 0.07784964 0.0354229 0.99633561 -0.08213378] [ 0. 0. 0. 1. ]] SLAMing on 52.09538475 meters Centerline goodness : 0.926484 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.38, Z:-0.08 [[ 0.99193974 0.09702839 -0.08149264 3.71631939] [-0.0995018 0.99467506 -0.02684993 -0.38343936] [ 0.07845349 0.03474218 0.99631222 -0.08134374] [ 0. 0. 0. 1. ]] SLAMing on 52.12538475 meters Centerline goodness : 0.928546 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.39, Z:-0.08 [[ 0.99191841 0.09686653 -0.08194349 3.71700139] [-0.0992562 0.99473255 -0.02560012 -0.38601768] [ 0.07903206 0.03352663 0.99630813 -0.07983983] [ 0. 0. 0. 1. ]] SLAMing on 52.15538475 meters Centerline goodness : 0.928546 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.39, Z:-0.08 [[ 0.99191841 0.09686653 -0.08194349 3.71700139] [-0.0992562 0.99473255 -0.02560012 -0.38601768] [ 0.07903206 0.03352663 0.99630813 -0.07983983] [ 0. 0. 0. 1. ]] SLAMing on 52.18538475 meters Centerline goodness : 0.928147 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.39, Z:-0.08 [[ 0.99186765 0.09719009 -0.08217458 3.71677745] [-0.09950664 0.99473346 -0.02457194 -0.38750567] [ 0.07935365 0.03254903 0.99631499 -0.07840314] [ 0. 0. 0. 1. ]] SLAMing on 52.21538475 meters Centerline goodness : 0.930555 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.39, Z:-0.08 [[ 0.99181198 0.09754973 -0.08241995 3.71658882] [-0.09980644 0.99472435 -0.02370943 -0.38856228] [ 0.07967228 0.03174133 0.99631562 -0.07714413] [ 0. 0. 0. 1. ]] SLAMing on 52.24538475 meters Centerline goodness : 0.932292 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.39, Z:-0.07 [[ 0.99134583 0.10186744 -0.08280385 3.71696551] [-0.10368488 0.99444836 -0.01794193 -0.39187004] [ 0.08051645 0.02637216 0.99640434 -0.0741136 ] [ 0. 0. 0. 1. ]] SLAMing on 52.27538475 meters Centerline goodness : 0.933856 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.39, Z:-0.07 [[ 0.99123015 0.10303775 -0.08274064 3.7152427 ] [-0.10476164 0.99435613 -0.01675936 -0.39298656] [ 0.08054681 0.02528043 0.99643018 -0.07232235] [ 0. 0. 0. 1. ]] SLAMing on 52.30538475 meters Centerline goodness : 0.937204 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.39, Z:-0.07 [[ 0.99118559 0.10326689 -0.08298846 3.71496138] [-0.10490859 0.99435857 -0.01565959 -0.3942736 ] [ 0.08090317 0.02422776 0.99642747 -0.07048384] [ 0. 0. 0. 1. ]] SLAMing on 52.33538475 meters Centerline goodness : 0.938370 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.39, Z:-0.07 [[ 0.99115361 0.10356531 -0.08299851 3.71448421] [-0.1051775 0.99433605 -0.01528148 -0.39444632] [ 0.08094578 0.02387587 0.9964325 -0.06983359] [ 0. 0. 0. 1. ]] SLAMing on 52.365384750000004 meters Centerline goodness : 0.939970 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.40, Z:-0.07 [[ 0.99116609 0.10320501 -0.08329776 3.71521302] [-0.1047671 0.99438971 -0.01459338 -0.39543348] [ 0.08132432 0.02319133 0.99641784 -0.06880239] [ 0. 0. 0. 1. ]] SLAMing on 52.39538475 meters Centerline goodness : 0.943332 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.40, Z:-0.07 [[ 0.99117819 0.10249568 -0.08402636 3.71701394] [-0.10405623 0.99446722 -0.01439641 -0.39587452] [ 0.08208589 0.02301287 0.99635953 -0.06828459] [ 0. 0. 0. 1. ]] SLAMing on 52.42538475 meters Centerline goodness : 0.943481 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.40, Z:-0.07 [[ 0.99122355 0.10134248 -0.08488568 3.72012906] [-0.10295452 0.99457563 -0.01482204 -0.39561646] [ 0.08292313 0.02343132 0.99628045 -0.06911184] [ 0. 0. 0. 1. ]] SLAMing on 52.45538475 meters Centerline goodness : 0.945879 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.39, Z:-0.07 [[ 0.99123078 0.10104262 -0.08515824 3.72135584] [-0.10269095 0.99459729 -0.01519188 -0.39471646] [ 0.08316313 0.02380364 0.99625162 -0.06982971] [ 0. 0. 0. 1. ]] SLAMing on 52.48538475 meters Centerline goodness : 0.946002 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.39, Z:-0.07 [[ 0.99117079 0.10178926 -0.08496716 3.72052886] [-0.10342183 0.99452406 -0.01502729 -0.39397828] [ 0.08297227 0.02368207 0.99627043 -0.06972823] [ 0. 0. 0. 1. ]] SLAMing on 52.51538475 meters Centerline goodness : 0.947838 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.39, Z:-0.07 [[ 0.99112399 0.1022599 -0.08494796 3.719738 ] [-0.10384991 0.99448724 -0.01450271 -0.39406432] [ 0.08299662 0.02319582 0.99627984 -0.06871675] [ 0. 0. 0. 1. ]] SLAMing on 52.545384750000004 meters Centerline goodness : 0.949769 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.40, Z:-0.07 [[ 0.99107231 0.10241229 -0.0853663 3.71906386] [-0.103874 0.99450747 -0.0128488 -0.39592288] [ 0.08358155 0.02160143 0.99626678 -0.06531176] [ 0. 0. 0. 1. ]] SLAMing on 52.57538475 meters Centerline goodness : 0.952619 Centerline is valid? [False, True] Translation: X:3.72, Y:-0.40, Z:-0.07 [[ 0.99104403 0.10247846 -0.08561486 3.71952761] [-0.10392836 0.99450444 -0.01264149 -0.39587656] [ 0.08384888 0.02142609 0.99624811 -0.06502031] [ 0. 0. 0. 1. ]] SLAMing on 52.60538475 meters Centerline goodness : 0.953321 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.40, Z:-0.05 [[ 9.90955379e-01 1.04411644e-01 -8.42949882e-02 3.75042735e+00] [-1.04143152e-01 9.94533370e-01 7.58819924e-03 -4.04767153e-01] [ 8.46264750e-02 1.25917889e-03 9.96411950e-01 -4.97833432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.63538475 meters Centerline goodness : 0.952739 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.41, Z:-0.05 [[ 9.90987860e-01 1.04055986e-01 -8.43529021e-02 3.78243761e+00] [-1.03783754e-01 9.94570711e-01 7.61795272e-03 -4.07421335e-01] [ 8.46876194e-02 1.20516214e-03 9.96406822e-01 -4.78367417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.66538475 meters Centerline goodness : 0.953344 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.41, Z:-0.05 [[ 9.91154592e-01 1.02951040e-01 -8.37475815e-02 3.81479799e+00] [-1.02676796e-01 9.94685839e-01 7.58664718e-03 -4.11739092e-01] [ 8.40835866e-02 1.07939318e-03 9.96458120e-01 -4.61087186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.69538475 meters Centerline goodness : 0.953827 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.42, Z:-0.04 [[ 9.91433878e-01 1.01063171e-01 -8.27351267e-02 3.84756433e+00] [-1.00786968e-01 9.94879618e-01 7.51887235e-03 -4.16347581e-01] [ 8.30713724e-02 8.84157773e-04 9.96543208e-01 -4.34799453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.72538475 meters Centerline goodness : 0.955291 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.42, Z:-0.04 [[ 9.91777550e-01 9.79869348e-02 -8.23155665e-02 3.87895553e+00] [-9.77011680e-02 9.95187519e-01 7.50222138e-03 -4.20968214e-01] [ 8.26545441e-02 6.01792257e-04 9.96578077e-01 -4.11117789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.75538475 meters Centerline goodness : 0.954383 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.42, Z:-0.04 [[ 9.91881991e-01 9.69246241e-02 -8.23148431e-02 3.91201737e+00] [-9.66337513e-02 9.95291601e-01 7.51974609e-03 -4.24308269e-01] [ 8.26561205e-02 4.95691349e-04 9.96578005e-01 -4.00831587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.78538475 meters Centerline goodness : 0.952366 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.43, Z:-0.04 [[ 9.91771268e-01 9.82586028e-02 -8.20670342e-02 3.94435632e+00] [-9.79720414e-02 9.95160746e-01 7.52127455e-03 -4.27493495e-01] [ 8.24089209e-02 5.80890865e-04 9.96598431e-01 -3.98484297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.81538475 meters Centerline goodness : 0.952892 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.43, Z:-0.04 [[ 9.91939330e-01 9.76387701e-02 -8.07653191e-02 3.97650384e+00] [-9.73574336e-02 9.95221795e-01 7.42354046e-03 -4.30934360e-01] [ 8.11042312e-02 4.99402447e-04 9.96705500e-01 -3.79990692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.84538475 meters Centerline goodness : 0.951226 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.44, Z:-0.04 [[ 9.92265575e-01 9.64391895e-02 -7.81569653e-02 4.00887711e+00] [-9.61707531e-02 9.95338809e-01 7.20013020e-03 -4.35751215e-01] [ 7.84870355e-02 3.71972888e-04 9.96915065e-01 -3.66534777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.87538475 meters Centerline goodness : 0.949289 Centerline is valid? [True, False] Translation: X:4.01, Y:-0.44, Z:-0.04 [[ 9.92287410e-01 9.61837480e-02 -7.81945123e-02 4.00949936e+00] [-9.59499425e-02 9.95363270e-01 6.75047389e-03 -4.35013714e-01] [ 7.84812313e-02 8.04348701e-04 9.96915267e-01 -3.74156110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.90538475 meters Centerline goodness : 0.947014 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.43, Z:-0.04 [[ 9.92358725e-01 9.52824243e-02 -7.83927292e-02 4.01169396e+00] [-9.51263399e-02 9.95448707e-01 5.73156069e-03 -4.34238246e-01] [ 7.85820579e-02 1.76944914e-03 9.96906078e-01 -3.95765120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.93538475 meters Centerline goodness : 0.945814 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.43, Z:-0.04 [[ 9.92383289e-01 9.47353278e-02 -7.87440542e-02 4.01326306e+00] [-9.46158287e-02 9.95499987e-01 5.25563873e-03 -4.34043593e-01] [ 7.88875995e-02 2.23482589e-03 9.96881012e-01 -4.05611388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.96538475 meters Centerline goodness : 0.943693 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.43, Z:-0.04 [[ 9.92395130e-01 9.46278893e-02 -7.87240043e-02 4.01387200e+00] [-9.45535202e-02 9.95508778e-01 4.68016770e-03 -4.33147863e-01] [ 7.88133118e-02 2.79905610e-03 9.96885463e-01 -4.16952901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.99538475 meters Centerline goodness : 0.942003 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.43, Z:-0.04 [[ 9.92361748e-01 9.52611383e-02 -7.83803275e-02 4.01228797e+00] [-9.51377227e-02 9.95449926e-01 5.31582760e-03 -4.34074436e-01] [ 7.85300830e-02 2.18170189e-03 9.96909357e-01 -4.05801889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.02538475 meters Centerline goodness : 0.942003 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.43, Z:-0.04 [[ 9.92361748e-01 9.52611383e-02 -7.83803275e-02 4.01228797e+00] [-9.51377227e-02 9.95449926e-01 5.31582760e-03 -4.34074436e-01] [ 7.85300830e-02 2.18170189e-03 9.96909357e-01 -4.05801889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.05538475 meters Centerline goodness : 0.940529 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.43, Z:-0.04 [[ 9.92336914e-01 9.58511994e-02 -7.79743311e-02 4.01109321e+00] [-9.57455336e-02 9.95392772e-01 5.10121360e-03 -4.32894962e-01] [ 7.81040431e-02 2.40357138e-03 9.96942316e-01 -4.07216469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.08538475 meters Centerline goodness : 0.941472 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.43, Z:-0.04 [[ 9.92327946e-01 9.59772837e-02 -7.79333645e-02 4.01067674e+00] [-9.58716193e-02 9.95380617e-01 5.10488556e-03 -4.32107117e-01] [ 7.80633134e-02 2.40587725e-03 9.96945500e-01 -4.02871159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.115384750000004 meters Centerline goodness : 0.940854 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.43, Z:-0.04 [[ 9.92329860e-01 9.63032315e-02 -7.75057200e-02 4.00963372e+00] [-9.62157811e-02 9.95348583e-01 4.87051113e-03 -4.30143196e-01] [ 7.76142545e-02 2.62411976e-03 9.96980011e-01 -4.02010066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.14538475 meters Centerline goodness : 0.936754 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.43, Z:-0.04 [[ 9.92317755e-01 9.66919236e-02 -7.71760684e-02 4.00884572e+00] [-9.66308031e-02 9.95309964e-01 4.53473999e-03 -4.27405764e-01] [ 7.72525826e-02 2.95768247e-03 9.97007167e-01 -4.02925858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.17538475 meters Centerline goodness : 0.936630 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.43, Z:-0.04 [[ 9.92330390e-01 9.65625759e-02 -7.71755512e-02 4.00904599e+00] [-9.65140893e-02 9.95322040e-01 4.36661825e-03 -4.27091840e-01] [ 7.72361790e-02 3.11540005e-03 9.97007957e-01 -4.04848798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.20538475 meters Centerline goodness : 0.933583 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.43, Z:-0.04 [[ 9.92357631e-01 9.62905453e-02 -7.71651695e-02 4.00986871e+00] [-9.63184889e-02 9.95344867e-01 3.36826225e-03 -4.25262869e-01] [ 7.71302872e-02 4.08991178e-03 9.97012634e-01 -4.20452352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.23538475 meters Centerline goodness : 0.932335 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.42, Z:-0.04 [[ 9.92356554e-01 9.62449822e-02 -7.72358295e-02 4.01012776e+00] [-9.62914897e-02 9.95348255e-01 3.13046634e-03 -4.24684803e-01] [ 7.71778398e-02 4.33061429e-03 9.97007937e-01 -4.23124526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.26538475 meters Centerline goodness : 0.933811 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.42, Z:-0.04 [[ 9.92349659e-01 9.64058134e-02 -7.71237590e-02 4.00980879e+00] [-9.64606728e-02 9.95332208e-01 3.02235473e-03 -4.24327255e-01] [ 7.70551339e-02 4.44017699e-03 9.97016946e-01 -4.24227443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.295384750000004 meters Centerline goodness : 0.934771 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.42, Z:-0.04 [[ 9.92336330e-01 9.62758104e-02 -7.74569354e-02 4.01017649e+00] [-9.63114472e-02 9.95345829e-01 3.28412644e-03 -4.24783053e-01] [ 7.74126195e-02 4.20103156e-03 9.96990290e-01 -4.16869142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.32538475 meters Centerline goodness : 0.928640 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.42, Z:-0.04 [[ 9.92395872e-01 9.53550769e-02 -7.78321405e-02 4.01285219e+00] [-9.54830319e-02 9.95428875e-01 2.08436026e-03 -4.23906453e-01] [ 7.76751144e-02 5.36313824e-03 9.96964299e-01 -4.42054632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.35538475 meters Centerline goodness : 0.929250 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.42, Z:-0.05 [[ 9.92433493e-01 9.46076989e-02 -7.82633080e-02 4.01506993e+00] [-9.47975321e-02 9.95495732e-01 1.29453448e-03 -4.23199961e-01] [ 7.80332620e-02 6.13442907e-03 9.96931883e-01 -4.57943265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.38538475 meters Centerline goodness : 0.927038 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.42, Z:-0.05 [[ 9.92474482e-01 9.36852024e-02 -7.88510306e-02 4.01741100e+00] [-9.39276181e-02 9.95578825e-01 6.37145445e-04 -4.23191408e-01] [ 7.85621075e-02 6.77393889e-03 9.96886207e-01 -4.69783727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.41538475 meters Centerline goodness : 0.931197 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.42, Z:-0.05 [[ 9.92447824e-01 9.37266014e-02 -7.91368521e-02 4.01737663e+00] [-9.39301625e-02 9.95578119e-01 1.15456023e-03 -4.24237025e-01] [ 7.88951314e-02 6.28749658e-03 9.96863093e-01 -4.58944756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.44538475 meters Centerline goodness : 0.928665 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.42, Z:-0.05 [[ 9.92427231e-01 9.39004587e-02 -7.91889835e-02 4.01712672e+00] [-9.41034636e-02 9.95561732e-01 1.17268169e-03 -4.23813024e-01] [ 7.89476369e-02 6.28815638e-03 9.96858932e-01 -4.55139875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.47538475 meters Centerline goodness : 0.926901 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.42, Z:-0.05 [[ 9.92405360e-01 9.42215959e-02 -7.90815603e-02 4.01671856e+00] [-9.44217712e-02 9.95531546e-01 1.21266168e-03 -4.23645607e-01] [ 7.88424469e-02 6.26356905e-03 9.96867412e-01 -4.55426575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.50538475 meters Centerline goodness : 0.926951 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.42, Z:-0.04 [[ 9.92335978e-01 9.52044618e-02 -7.87744659e-02 4.01476128e+00] [-9.52881359e-02 9.95446059e-01 2.70469296e-03 -4.24776576e-01] [ 7.86732304e-02 4.82230787e-03 9.96888794e-01 -4.31857659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.53538475 meters Centerline goodness : 0.928081 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.43, Z:-0.04 [[ 9.92336601e-01 9.52146831e-02 -7.87542666e-02 4.01448131e+00] [-9.52764490e-02 9.95446387e-01 2.98148579e-03 -4.25176113e-01] [ 7.86795313e-02 4.54478939e-03 9.96889601e-01 -4.26190930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.56538475 meters Centerline goodness : 0.925723 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.43, Z:-0.04 [[ 9.92337359e-01 9.54398876e-02 -7.84716170e-02 4.01342355e+00] [-9.54407271e-02 9.95428057e-01 3.74839866e-03 -4.25996428e-01] [ 7.84705960e-02 3.76971216e-03 9.96909301e-01 -4.12563057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.59538475 meters Centerline goodness : 0.927514 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.43, Z:-0.04 [[ 9.92317639e-01 9.57090261e-02 -7.83931513e-02 4.01271759e+00] [-9.56864577e-02 9.95403273e-01 4.05288072e-03 -4.26417065e-01] [ 7.84206967e-02 3.47941793e-03 9.96914283e-01 -4.05992936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.62538475 meters Centerline goodness : 0.925328 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.43, Z:-0.04 [[ 9.92310480e-01 9.59325908e-02 -7.82102943e-02 4.01227685e+00] [-9.59049680e-02 9.95381977e-01 4.11796247e-03 -4.27068808e-01] [ 7.82441642e-02 3.41445846e-03 9.96928379e-01 -4.07387786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.65538475 meters Centerline goodness : 0.926890 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.43, Z:-0.04 [[ 9.92318405e-01 9.59897404e-02 -7.80394336e-02 4.01216946e+00] [-9.59536443e-02 9.95376854e-01 4.22092576e-03 -4.27482382e-01] [ 7.80838115e-02 3.29966573e-03 9.96941338e-01 -4.09382333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.68538475 meters Centerline goodness : 0.925893 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.43, Z:-0.04 [[ 9.92735687e-01 9.17546272e-02 -7.78263739e-02 4.01116867e+00] [-9.19822591e-02 9.95760426e-01 6.62441078e-04 -4.28916759e-01] [ 7.75572052e-02 6.50101679e-03 9.96966708e-01 -4.07030782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.71538475 meters Centerline goodness : 0.927377 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.43, Z:-0.04 [[ 9.92749831e-01 9.11276260e-02 -7.83806693e-02 4.01256003e+00] [-9.13212166e-02 9.95820860e-01 1.11849705e-03 -4.30593444e-01] [ 7.81550314e-02 6.04743032e-03 9.96922875e-01 -4.00624807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.74538475 meters Centerline goodness : 0.922752 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.43, Z:-0.04 [[ 9.92836311e-01 8.97789746e-02 -7.88403117e-02 4.01545791e+00] [-9.00184952e-02 9.95939959e-01 5.17977199e-04 -4.31205859e-01] [ 7.85667203e-02 6.58281965e-03 9.96887123e-01 -4.16468580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.77538475 meters Centerline goodness : 0.918461 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.43, Z:-0.04 [[ 9.92901153e-01 8.89950210e-02 -7.89125275e-02 4.01737730e+00] [-8.92922731e-02 9.96005438e-01 -2.39200923e-04 -4.31052953e-01] [ 7.85760189e-02 7.28378183e-03 9.96881515e-01 -4.37045780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.80538475 meters Centerline goodness : 0.919719 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.43, Z:-0.04 [[ 9.92899719e-01 8.90357534e-02 -7.88846097e-02 4.01733400e+00] [-8.93189101e-02 9.96003077e-01 -6.13106867e-05 -4.31515404e-01] [ 7.85638551e-02 7.10676273e-03 9.96883752e-01 -4.36054553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.83538475 meters Centerline goodness : 0.918681 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.43, Z:-0.04 [[ 9.92885798e-01 8.93923482e-02 -7.86562204e-02 4.01645055e+00] [-8.96313551e-02 9.95974887e-01 4.93723486e-04 -4.32221536e-01] [ 7.83837554e-02 6.55985258e-03 9.96901678e-01 -4.28417454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.865384750000004 meters Centerline goodness : 0.918246 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.43, Z:-0.04 [[ 9.92873027e-01 8.98260563e-02 -7.83226189e-02 4.01519847e+00] [-9.00304472e-02 9.95938584e-01 9.24799553e-04 -4.32506598e-01] [ 7.80875893e-02 6.13321187e-03 9.96927636e-01 -4.20040701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.89538475 meters Centerline goodness : 0.917855 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.43, Z:-0.04 [[ 9.92840662e-01 9.04581971e-02 -7.80047128e-02 4.01404390e+00] [-9.06482258e-02 9.95882358e-01 1.10862606e-03 -4.32780814e-01] [ 7.77838016e-02 5.97029979e-03 9.96952374e-01 -4.18835712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.92538475 meters Centerline goodness : 0.916112 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.43, Z:-0.04 [[ 9.92843186e-01 9.08114513e-02 -7.75608737e-02 4.01346495e+00] [-9.10451507e-02 9.95846627e-01 5.25007418e-04 -4.31646873e-01] [ 7.72864111e-02 6.54029140e-03 9.96987480e-01 -4.31076568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.95538475 meters Centerline goodness : 0.914793 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.43, Z:-0.04 [[ 9.92502417e-01 9.46314190e-02 -7.73553300e-02 4.01496581e+00] [-9.45981935e-02 9.95507085e-01 4.10201044e-03 -4.31105007e-01] [ 7.73959582e-02 3.24641920e-03 9.96995149e-01 -4.42685934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.98538475 meters Centerline goodness : 0.912185 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.43, Z:-0.05 [[ 9.92514315e-01 9.45642612e-02 -7.72847659e-02 4.01533353e+00] [-9.45627037e-02 9.95512076e-01 3.68800969e-03 -4.30574090e-01] [ 7.72866716e-02 3.64785400e-03 9.97002238e-01 -4.51950485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.01538475 meters Centerline goodness : 0.912115 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.43, Z:-0.05 [[ 9.92514459e-01 9.45015438e-02 -7.73595954e-02 4.01560009e+00] [-9.45009329e-02 9.95517983e-01 3.67690498e-03 -4.31070081e-01] [ 7.73603416e-02 3.66117259e-03 9.96996476e-01 -4.53600743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.045384750000004 meters Centerline goodness : 0.912115 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.43, Z:-0.05 [[ 9.92514459e-01 9.45015438e-02 -7.73595954e-02 4.01560009e+00] [-9.45009329e-02 9.95517983e-01 3.67690498e-03 -4.31070081e-01] [ 7.73603416e-02 3.66117259e-03 9.96996476e-01 -4.53600743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.07538475 meters Centerline goodness : 0.909960 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.43, Z:-0.05 [[ 9.92523748e-01 9.40617233e-02 -7.77753354e-02 4.01707475e+00] [-9.41061380e-02 9.95557337e-01 3.10203732e-03 -4.30965736e-01] [ 7.77215888e-02 4.24029075e-03 9.96966085e-01 -4.63988606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.10538475 meters Centerline goodness : 0.912522 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.43, Z:-0.05 [[ 9.92513735e-01 9.40881218e-02 -7.78711129e-02 4.01724372e+00] [-9.41385253e-02 9.95554493e-01 3.03158626e-03 -4.31050512e-01] [ 7.78101725e-02 4.32178073e-03 9.96958825e-01 -4.65236949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.13538475 meters Centerline goodness : 0.911909 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.43, Z:-0.05 [[ 9.92495694e-01 9.45634206e-02 -7.75245548e-02 4.01613322e+00] [-9.46003092e-02 9.95510176e-01 3.20476378e-03 -4.30689847e-01] [ 7.74795366e-02 4.15313260e-03 9.96985292e-01 -4.62144392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.16538475 meters Centerline goodness : 0.912732 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.43, Z:-0.05 [[ 9.92499756e-01 9.45032167e-02 -7.75459589e-02 4.01623176e+00] [-9.45433916e-02 9.95515722e-01 3.16128469e-03 -4.30308079e-01] [ 7.74969729e-02 4.19388368e-03 9.96983766e-01 -4.62009600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.19538475 meters Centerline goodness : 0.907718 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.43, Z:-0.05 [[ 9.92541852e-01 9.42095072e-02 -7.73643316e-02 4.01667522e+00] [-9.42901943e-02 9.95541314e-01 2.61738902e-03 -4.28602878e-01] [ 7.72659713e-02 4.69682971e-03 9.96999453e-01 -4.70528640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.22538475 meters Centerline goodness : 0.909942 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.43, Z:-0.05 [[ 9.92538479e-01 9.41627051e-02 -7.74645235e-02 4.01687509e+00] [-9.42476519e-02 9.95545474e-01 2.56677319e-03 -4.28218461e-01] [ 7.73611501e-02 4.75322829e-03 9.96991805e-01 -4.69620246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.25538475 meters Centerline goodness : 0.911092 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.43, Z:-0.05 [[ 9.92544432e-01 9.40604332e-02 -7.75124892e-02 4.01745846e+00] [-9.42050918e-02 9.95551191e-01 1.79631698e-03 -4.26505079e-01] [ 7.73366133e-02 5.51914675e-03 9.96989763e-01 -4.80239346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.28538475 meters Centerline goodness : 0.911289 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.43, Z:-0.05 [[ 9.92154223e-01 9.80586984e-02 -7.75531440e-02 4.01836604e+00] [-9.79226548e-02 9.95178472e-01 5.56431683e-03 -4.25206071e-01] [ 7.77248491e-02 2.07354931e-03 9.96972692e-01 -4.77308790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.31538475 meters Centerline goodness : 0.909540 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.42, Z:-0.05 [[ 9.92131217e-01 9.85037247e-02 -7.72830159e-02 4.01748700e+00] [-9.83865202e-02 9.95133993e-01 5.33191961e-03 -4.24066614e-01] [ 7.74321701e-02 2.31364311e-03 9.96994938e-01 -4.78527028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.34538475 meters Centerline goodness : 0.910777 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.42, Z:-0.05 [[ 9.92080503e-01 9.91452666e-02 -7.71134978e-02 4.01668643e+00] [-9.90462729e-02 9.95069673e-01 5.11676660e-03 -4.23001890e-01] [ 7.72406062e-02 2.56156017e-03 9.97009191e-01 -4.81002534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.37538475 meters Centerline goodness : 0.912118 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.42, Z:-0.05 [[ 9.92100471e-01 9.88782710e-02 -7.71993761e-02 4.01757691e+00] [-9.88153102e-02 9.95094952e-01 4.64449980e-03 -4.22370678e-01] [ 7.72799495e-02 3.02066985e-03 9.97004857e-01 -4.91037811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.40538475 meters Centerline goodness : 0.913227 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.42, Z:-0.05 [[ 9.92136716e-01 9.81739685e-02 -7.76312397e-02 4.01946868e+00] [-9.81427444e-02 9.95163372e-01 4.22661610e-03 -4.22444736e-01] [ 7.76707099e-02 3.42556190e-03 9.96973182e-01 -5.00685370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.43538475 meters Centerline goodness : 0.909038 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.42, Z:-0.05 [[ 9.92165642e-01 9.76310769e-02 -7.79455623e-02 4.02128943e+00] [-9.76526489e-02 9.95214249e-01 3.54395634e-03 -4.21970322e-01] [ 7.79185345e-02 4.09539892e-03 9.96951318e-01 -5.16045057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.46538475 meters Centerline goodness : 0.908016 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.42, Z:-0.05 [[ 9.92229172e-01 9.67590640e-02 -7.82237432e-02 4.02371138e+00] [-9.68504361e-02 9.95295462e-01 2.63384513e-03 -4.21777039e-01] [ 7.81105849e-02 4.96262567e-03 9.96932349e-01 -5.38955619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.49538475 meters Centerline goodness : 0.909228 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.42, Z:-0.05 [[ 9.92227707e-01 9.66468339e-02 -7.83809055e-02 4.02431960e+00] [-9.67376516e-02 9.95306396e-01 2.64648286e-03 -4.22095156e-01] [ 7.82687908e-02 4.95647111e-03 9.96919972e-01 -5.41265094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.52538475 meters Centerline goodness : 0.910996 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.42, Z:-0.05 [[ 9.92222682e-01 9.65489460e-02 -7.85649429e-02 4.02504928e+00] [-9.66584512e-02 9.95314675e-01 2.41679311e-03 -4.22294536e-01] [ 7.84301794e-02 5.19596875e-03 9.96906068e-01 -5.47800128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.55538475 meters Centerline goodness : 0.912232 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.42, Z:-0.05 [[ 9.92241482e-01 9.58205585e-02 -7.92165492e-02 4.02698919e+00] [-9.59331053e-02 9.95384908e-01 2.39257066e-03 -4.23093827e-01] [ 7.90802150e-02 5.22548170e-03 9.96854560e-01 -5.48791749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.58538475 meters Centerline goodness : 0.912696 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.42, Z:-0.06 [[ 9.92245247e-01 9.57524153e-02 -7.92517809e-02 4.02731827e+00] [-9.58822521e-02 9.95390308e-01 2.17430094e-03 -4.22493436e-01] [ 7.90946492e-02 5.44139947e-03 9.96852260e-01 -5.52379118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.615384750000004 meters Centerline goodness : 0.913124 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.42, Z:-0.05 [[ 9.92228910e-01 9.60310808e-02 -7.91190316e-02 4.02660441e+00] [-9.61314143e-02 9.95365388e-01 2.54863516e-03 -4.22765055e-01] [ 7.89970937e-02 5.07699491e-03 9.96861918e-01 -5.45732829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.64538475 meters Centerline goodness : 0.915711 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.42, Z:-0.05 [[ 9.92214298e-01 9.63487380e-02 -7.89158318e-02 4.02568463e+00] [-9.64583665e-02 9.95334052e-01 2.43055825e-03 -4.20851482e-01] [ 7.87817959e-02 5.20045758e-03 9.96878319e-01 -5.40056499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.67538475 meters Centerline goodness : 0.914645 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.42, Z:-0.05 [[ 9.91791665e-01 1.00431848e-01 -7.91374603e-02 4.02737336e+00] [-1.00301205e-01 9.94941166e-01 5.63426366e-03 -4.18214783e-01] [ 7.93029765e-02 2.34956688e-03 9.96847791e-01 -5.47876259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.70538475 meters Centerline goodness : 0.910045 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.42, Z:-0.06 [[ 9.91788506e-01 1.00396334e-01 -7.92220666e-02 4.02775351e+00] [-1.00306653e-01 9.94943392e-01 5.12084703e-03 -4.16895031e-01] [ 7.93355859e-02 2.86770310e-03 9.96843840e-01 -5.53728655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.73538475 meters Centerline goodness : 0.909538 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.41, Z:-0.06 [[ 9.91767458e-01 1.00711392e-01 -7.90855583e-02 4.02704599e+00] [-1.00655414e-01 9.94910226e-01 4.70413789e-03 -4.13996954e-01] [ 7.91567910e-02 3.29497873e-03 9.96856733e-01 -5.51278970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.76538475 meters Centerline goodness : 0.908676 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.41, Z:-0.06 [[ 9.91754859e-01 1.00998839e-01 -7.88767019e-02 4.02659874e+00] [-1.00963382e-01 9.94880200e-01 4.44771057e-03 -4.12802528e-01] [ 7.89220826e-02 3.55262002e-03 9.96874457e-01 -5.54648366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.795384750000004 meters Centerline goodness : 0.909097 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.41, Z:-0.05 [[ 9.91736534e-01 1.01101085e-01 -7.89760522e-02 4.02610452e+00] [-1.01041151e-01 9.94870836e-01 4.76499624e-03 -4.12653116e-01] [ 7.90527174e-02 3.25421033e-03 9.96865125e-01 -5.43450955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.82538475 meters Centerline goodness : 0.907305 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.41, Z:-0.05 [[ 9.91739607e-01 1.01096808e-01 -7.89429315e-02 4.02627213e+00] [-1.01057777e-01 9.94870383e-01 4.49970349e-03 -4.10829388e-01] [ 7.89928901e-02 3.51526299e-03 9.96868981e-01 -5.44671843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.85538475 meters Centerline goodness : 0.908757 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.41, Z:-0.05 [[ 9.91735683e-01 1.01222518e-01 -7.88310633e-02 4.02622210e+00] [-1.01196306e-01 9.94857021e-01 4.33768591e-03 -4.09986780e-01] [ 7.88647083e-02 3.67557454e-03 9.96878552e-01 -5.48043970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.88538475 meters Centerline goodness : 0.915835 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.41, Z:-0.05 [[ 9.91739327e-01 1.01266585e-01 -7.87285583e-02 4.02602878e+00] [-1.01232271e-01 9.94852923e-01 4.43719075e-03 -4.09613907e-01] [ 7.87726755e-02 3.56933422e-03 9.96886215e-01 -5.45860822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.91538475 meters Centerline goodness : 0.916313 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.41, Z:-0.05 [[ 9.91747455e-01 1.01187869e-01 -7.87273844e-02 4.02599146e+00] [-1.01151699e-01 9.94861028e-01 4.45749882e-03 -4.09401626e-01] [ 7.87738514e-02 3.54269560e-03 9.96886217e-01 -5.43975242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.94538475 meters Centerline goodness : 0.918067 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.41, Z:-0.05 [[ 9.92167566e-01 9.66193053e-02 -7.91721589e-02 4.02622282e+00] [-9.69229194e-02 9.95291891e-01 8.00888604e-06 -4.07479857e-01] [ 7.88001816e-02 7.66565062e-03 9.96860958e-01 -5.44407766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.97538475 meters Centerline goodness : 0.919177 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.41, Z:-0.06 [[ 9.92209660e-01 9.54950672e-02 -8.00042647e-02 4.02935307e+00] [-9.58615871e-02 9.95394395e-01 -7.44186026e-04 -4.07324267e-01] [ 7.95647306e-02 8.40772435e-03 9.96794243e-01 -5.58519875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.00538475 meters Centerline goodness : 0.920252 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.41, Z:-0.06 [[ 9.92231546e-01 9.48854419e-02 -8.04568975e-02 4.03138430e+00] [-9.53226025e-02 9.95445145e-01 -1.60136357e-03 -4.06294194e-01] [ 7.99384819e-02 9.25828430e-03 9.96756802e-01 -5.73724259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.03538475 meters Centerline goodness : 0.918892 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.40, Z:-0.06 [[ 9.92242024e-01 9.47692246e-02 -8.04646509e-02 4.03229430e+00] [-9.52675082e-02 9.95448892e-01 -2.36756727e-03 -4.04773993e-01] [ 7.98740750e-02 1.00148665e-02 9.96754651e-01 -5.89086181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.06538475 meters Centerline goodness : 0.918724 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.40, Z:-0.06 [[ 9.91818021e-01 9.92341124e-02 -8.03094222e-02 4.03274585e+00] [-9.94157438e-02 9.95044456e-01 1.74359480e-03 -4.04581886e-01] [ 8.00844695e-02 6.25469220e-03 9.96768457e-01 -5.88453239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.09538475 meters Centerline goodness : 0.922034 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.40, Z:-0.06 [[ 9.91786708e-01 9.93889517e-02 -8.05044228e-02 4.03260727e+00] [-9.95474108e-02 9.95030703e-01 2.05280187e-03 -4.04662696e-01] [ 8.03083982e-02 5.97806524e-03 9.96752138e-01 -5.80140920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.12538475 meters Centerline goodness : 0.922946 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.41, Z:-0.06 [[ 9.91797767e-01 9.87617712e-02 -8.11375491e-02 4.03382328e+00] [-9.88770544e-02 9.95096246e-01 2.60577111e-03 -4.06199666e-01] [ 8.09970211e-02 5.43824389e-03 9.96699507e-01 -5.68955245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.15538475 meters Centerline goodness : 0.924085 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.41, Z:-0.06 [[ 9.92192406e-01 9.45751585e-02 -8.13004889e-02 4.03332081e+00] [-9.50236129e-02 9.95473641e-01 -1.65595168e-03 -4.05116710e-01] [ 8.07758818e-02 9.36848886e-03 9.96688260e-01 -5.70917038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.18538475 meters Centerline goodness : 0.926505 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.40, Z:-0.06 [[ 9.92215794e-01 9.40422938e-02 -8.16325023e-02 4.03493569e+00] [-9.45321362e-02 9.95519493e-01 -2.14794208e-03 -4.04206776e-01] [ 8.10647499e-02 9.84811688e-03 9.96660183e-01 -5.79996669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.21538475 meters Centerline goodness : 0.920905 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.40, Z:-0.06 [[ 9.91892098e-01 9.69348457e-02 -8.21809044e-02 4.03877040e+00] [-9.71624724e-02 9.95267768e-01 1.23433722e-03 -4.03705102e-01] [ 8.19116556e-02 6.76057051e-03 9.96616664e-01 -5.92959330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.24538475 meters Centerline goodness : 0.924284 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.40, Z:-0.06 [[ 9.91872361e-01 9.73476761e-02 -8.19307575e-02 4.03830568e+00] [-9.75741740e-02 9.95227478e-01 1.24441441e-03 -4.03386740e-01] [ 8.16608820e-02 6.76002573e-03 9.96637247e-01 -5.96440728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.27538475 meters Centerline goodness : 0.928657 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.41, Z:-0.06 [[ 9.91800502e-01 9.79160919e-02 -8.21230971e-02 4.03646591e+00] [-9.79738104e-02 9.95183401e-01 3.33639399e-03 -4.06314830e-01] [ 8.20542297e-02 4.73687551e-03 9.96616609e-01 -5.54551491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.30538475 meters Centerline goodness : 0.930730 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.41, Z:-0.05 [[ 9.91777339e-01 9.79099698e-02 -8.24096337e-02 4.03628307e+00] [-9.79173316e-02 9.95186665e-01 3.96198647e-03 -4.06899855e-01] [ 8.24008865e-02 4.13992303e-03 9.96590666e-01 -5.38959498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.33538475 meters Centerline goodness : 0.932513 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.41, Z:-0.05 [[ 9.91794315e-01 9.77351398e-02 -8.24128604e-02 4.03660420e+00] [-9.77476535e-02 9.95203619e-01 3.89256961e-03 -4.06258504e-01] [ 8.23980178e-02 4.19503532e-03 9.96590672e-01 -5.39427335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.365384750000004 meters Centerline goodness : 0.930621 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.40, Z:-0.05 [[ 9.91814385e-01 9.74406638e-02 -8.25199579e-02 4.03762793e+00] [-9.75005694e-02 9.95229954e-01 3.31313939e-03 -4.04567781e-01] [ 8.24491684e-02 4.75972358e-03 9.96583905e-01 -5.48998115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.39538475 meters Centerline goodness : 0.931268 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.40, Z:-0.06 [[ 9.91832800e-01 9.73117844e-02 -8.24506749e-02 4.03816382e+00] [-9.74146382e-02 9.95239990e-01 2.78404035e-03 -4.02735969e-01] [ 8.23291288e-02 5.27060013e-03 9.96591258e-01 -5.57227154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.42538475 meters Centerline goodness : 0.928945 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.40, Z:-0.05 [[ 9.91806289e-01 9.77520694e-02 -8.22485182e-02 4.03648407e+00] [-9.78224400e-02 9.95198792e-01 3.18340342e-03 -4.01381884e-01] [ 8.21648103e-02 4.88843122e-03 9.96606767e-01 -5.39041894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.45538475 meters Centerline goodness : 0.933866 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.40, Z:-0.05 [[ 9.91765760e-01 9.83026276e-02 -8.20808753e-02 4.03392579e+00] [-9.83156485e-02 9.95147667e-01 3.89294761e-03 -4.00133758e-01] [ 8.20652785e-02 4.20894234e-03 9.96618069e-01 -5.06446490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.48538475 meters Centerline goodness : 0.933275 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.40, Z:-0.05 [[ 9.91833651e-01 9.66589933e-02 -8.32048492e-02 4.03789308e+00] [-9.68127228e-02 9.95300196e-01 2.19456760e-03 -3.97004583e-01] [ 8.30259274e-02 5.87864200e-03 9.96530048e-01 -5.24186342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.51538475 meters Centerline goodness : 0.931302 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.39, Z:-0.05 [[ 9.91894307e-01 9.54960558e-02 -8.38223557e-02 4.04106269e+00] [-9.57549387e-02 9.95404499e-01 9.35609560e-04 -3.94882249e-01] [ 8.35264970e-02 7.09837874e-03 9.96480274e-01 -5.45072858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.545384750000004 meters Centerline goodness : 0.929696 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.39, Z:-0.06 [[ 9.91948976e-01 9.47009720e-02 -8.40770816e-02 4.04344443e+00] [-9.50623023e-02 9.95471281e-01 -2.95627687e-04 -3.92368335e-01] [ 8.36683238e-02 8.28580852e-03 9.96459210e-01 -5.67613741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.57538475 meters Centerline goodness : 0.928705 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.39, Z:-0.06 [[ 9.91644637e-01 9.73672368e-02 -8.46199418e-02 4.04707350e+00] [-9.74597391e-02 9.95234804e-01 3.04697981e-03 -3.91757399e-01] [ 8.45133872e-02 5.22551626e-03 9.96408642e-01 -5.75397681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.60538475 meters Centerline goodness : 0.927513 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.39, Z:-0.06 [[ 9.91596752e-01 9.78821898e-02 -8.45869876e-02 4.04614060e+00] [-9.79613559e-02 9.95184997e-01 3.22418827e-03 -3.91598974e-01] [ 8.44952916e-02 5.08916139e-03 9.96410882e-01 -5.68578305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.63538475 meters Centerline goodness : 0.928199 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.39, Z:-0.05 [[ 0.99146583 0.09978217 -0.08389896 4.04201314] [-0.0997856 0.99500025 0.00416312 -0.39076471] [ 0.08389489 0.00424431 0.99646557 -0.05425665] [ 0. 0. 0. 1. ]] SLAMing on 55.66538475 meters Centerline goodness : 0.928249 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.39, Z:-0.05 [[ 0.99141144 0.10070643 -0.08343599 4.04050388] [-0.10071731 0.99490668 0.00408939 -0.38903881] [ 0.08342286 0.00434918 0.99650475 -0.05425573] [ 0. 0. 0. 1. ]] SLAMing on 55.69538475 meters Centerline goodness : 0.928975 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.39, Z:-0.06 [[ 9.91005643e-01 1.05052183e-01 -8.28966552e-02 4.04076162e+00] [-1.04793573e-01 9.94465890e-01 7.47665731e-03 -3.86786610e-01] [ 8.32233352e-02 1.27762713e-03 9.96530102e-01 -5.50400083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.72538475 meters Centerline goodness : 0.926515 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.39, Z:-0.06 [[ 9.90988967e-01 1.05482213e-01 -8.25492026e-02 4.04027273e+00] [-1.05258209e-01 9.94419771e-01 7.07305037e-03 -3.85098360e-01] [ 8.28346402e-02 1.67966635e-03 9.96561890e-01 -5.58095852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.75538475 meters Centerline goodness : 0.922497 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.38, Z:-0.05 [[ 9.90969349e-01 1.05605698e-01 -8.26267845e-02 4.03977314e+00] [-1.05374860e-01 9.94406781e-01 7.16190558e-03 -3.84471387e-01] [ 8.29209728e-02 1.60955695e-03 9.96554826e-01 -5.48890195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.78538475 meters Centerline goodness : 0.925936 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.38, Z:-0.05 [[ 9.90954384e-01 1.05665432e-01 -8.27298348e-02 4.03981314e+00] [-1.05432392e-01 9.94400459e-01 7.19284977e-03 -3.84300197e-01] [ 8.30266213e-02 1.59461836e-03 9.96546054e-01 -5.46684460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.81538475 meters Centerline goodness : 0.923602 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.38, Z:-0.05 [[ 9.90949574e-01 1.05320770e-01 -8.32254594e-02 4.04074016e+00] [-1.05085210e-01 9.94437026e-01 7.21809016e-03 -3.84386439e-01] [ 8.35226931e-02 1.59300153e-03 9.96504602e-01 -5.41085754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.84538475 meters Centerline goodness : 0.922446 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.38, Z:-0.05 [[ 9.90976212e-01 1.04952616e-01 -8.33732288e-02 4.04123174e+00] [-1.04731418e-01 9.94475665e-01 7.03437521e-03 -3.83911227e-01] [ 8.36509232e-02 1.76089799e-03 9.96493564e-01 -5.40687940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.87538475 meters Centerline goodness : 0.919325 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.38, Z:-0.05 [[ 9.91141467e-01 1.02477096e-01 -8.44809810e-02 4.04490493e+00] [-1.02225394e-01 9.94734394e-01 7.31128806e-03 -3.84458833e-01] [ 8.47853770e-02 1.38958083e-03 9.96398268e-01 -5.25855034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.90538475 meters Centerline goodness : 0.921838 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.38, Z:-0.05 [[ 9.91217753e-01 1.01145369e-01 -8.51879158e-02 4.04780605e+00] [-1.00959004e-01 9.94869326e-01 6.50406534e-03 -3.83704436e-01] [ 8.54087005e-02 2.15354214e-03 9.96343674e-01 -5.37414779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.93538475 meters Centerline goodness : 0.921838 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.38, Z:-0.05 [[ 9.91217753e-01 1.01145369e-01 -8.51879158e-02 4.04780605e+00] [-1.00959004e-01 9.94869326e-01 6.50406534e-03 -3.83704436e-01] [ 8.54087005e-02 2.15354214e-03 9.96343674e-01 -5.37414779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.96538475 meters Centerline goodness : 0.918617 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.38, Z:-0.05 [[ 9.91273866e-01 9.99239218e-02 -8.59728576e-02 4.05083983e+00] [-9.97985737e-02 9.94990956e-01 5.76554620e-03 -3.83347977e-01] [ 8.61183317e-02 2.86473330e-03 9.96280797e-01 -5.49843083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.99538475 meters Centerline goodness : 0.915604 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.38, Z:-0.06 [[ 9.91354601e-01 9.84500943e-02 -8.67388796e-02 4.05420857e+00] [-9.84175345e-02 9.95134289e-01 4.66214074e-03 -3.82318636e-01] [ 8.67758215e-02 3.91479200e-03 9.96220172e-01 -5.66754104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.02538475 meters Centerline goodness : 0.914437 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.38, Z:-0.06 [[ 0.99138147 0.09800445 -0.08693626 4.05477817] [-0.09798701 0.99517762 0.00447831 -0.38197822] [ 0.08695591 0.00407891 0.99620381 -0.05647906] [ 0. 0. 0. 1. ]] SLAMing on 56.05538475 meters Centerline goodness : 0.914621 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.38, Z:-0.06 [[ 0.99138077 0.09766732 -0.08732278 4.05561084] [-0.09765622 0.99521044 0.00440942 -0.38225208] [ 0.0873352 0.00415619 0.99617031 -0.05628656] [ 0. 0. 0. 1. ]] SLAMing on 56.08538475 meters Centerline goodness : 0.912748 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.38, Z:-0.06 [[ 9.91360771e-01 9.76887848e-02 -8.75255511e-02 4.05570452e+00] [-9.76562444e-02 9.95209277e-01 4.66395275e-03 -3.82881624e-01] [ 8.75618563e-02 3.92375681e-03 9.96151357e-01 -5.57299354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.115384750000004 meters Centerline goodness : 0.913797 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.38, Z:-0.05 [[ 9.91318656e-01 9.80838213e-02 -8.75607539e-02 4.05476298e+00] [-9.80150510e-02 9.95171891e-01 5.09489942e-03 -3.82919329e-01] [ 8.76377282e-02 3.53160290e-03 9.96146152e-01 -5.44417408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.14538475 meters Centerline goodness : 0.910990 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.38, Z:-0.05 [[ 9.91322505e-01 9.80955461e-02 -8.75040270e-02 4.05472312e+00] [-9.80404450e-02 9.95170182e-01 4.93763552e-03 -3.82163467e-01] [ 8.75657585e-02 3.68414453e-03 9.96151929e-01 -5.45318326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.17538475 meters Centerline goodness : 0.910303 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.38, Z:-0.05 [[ 9.91339654e-01 9.77883046e-02 -8.76535161e-02 4.05479459e+00] [-9.76984721e-02 9.95201817e-01 5.32470264e-03 -3.82034364e-01] [ 8.77536321e-02 3.28502573e-03 9.96136792e-01 -5.34046525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.20538475 meters Centerline goodness : 0.907826 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.38, Z:-0.05 [[ 9.91754440e-01 9.29638779e-02 -8.82091202e-02 4.05540521e+00] [-9.32154006e-02 9.95645153e-01 1.27251049e-03 -3.82060876e-01] [ 8.79432804e-02 6.96043055e-03 9.96101165e-01 -5.32422917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.23538475 meters Centerline goodness : 0.910114 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.38, Z:-0.05 [[ 9.91795989e-01 9.21529491e-02 -8.85920459e-02 4.05625166e+00] [-9.23560551e-02 9.95724397e-01 1.81251759e-03 -3.83802464e-01] [ 8.83802903e-02 6.38436420e-03 9.96066345e-01 -5.21076766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.26538475 meters Centerline goodness : 0.909290 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.38, Z:-0.05 [[ 9.92163422e-01 8.79466513e-02 -8.87531979e-02 4.05576984e+00] [-8.84926453e-02 9.96074338e-01 -2.22823911e-03 -3.83248761e-01] [ 8.82088166e-02 1.00647826e-02 9.96051156e-01 -5.21332216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.295384750000004 meters Centerline goodness : 0.908422 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.38, Z:-0.05 [[ 0.99260025 0.08221721 -0.08935925 4.05751674] [-0.08312204 0.99651853 -0.0064457 -0.38345492] [ 0.0885182 0.01382573 0.9959786 -0.05223859] [ 0. 0. 0. 1. ]] SLAMing on 56.32538475 meters Centerline goodness : 0.907326 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.38, Z:-0.05 [[ 0.99298489 0.07657379 -0.09009697 4.05980626] [-0.07786405 0.99690452 -0.01088895 -0.38351346] [ 0.08898427 0.01782788 0.99587347 -0.05313473] [ 0. 0. 0. 1. ]] SLAMing on 56.35538475 meters Centerline goodness : 0.908329 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.38, Z:-0.05 [[ 0.99302201 0.07528189 -0.09077408 4.0624727 ] [-0.07660937 0.996998 -0.01122454 -0.38394555] [ 0.08965657 0.01810036 0.99580825 -0.05372557] [ 0. 0. 0. 1. ]] SLAMing on 56.38538475 meters Centerline goodness : 0.904723 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.38, Z:-0.05 [[ 0.99306522 0.07425194 -0.09114884 4.06464599] [-0.0756341 0.99706582 -0.0117996 -0.38377321] [ 0.09000525 0.01861174 0.99576737 -0.05489674] [ 0. 0. 0. 1. ]] SLAMing on 56.41538475 meters Centerline goodness : 0.903229 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.38, Z:-0.06 [[ 0.99312497 0.0724502 -0.09194439 4.06841233] [-0.07396138 0.99717464 -0.01313184 -0.38074521] [ 0.09073321 0.01984189 0.99567755 -0.05646948] [ 0. 0. 0. 1. ]] SLAMing on 56.44538475 meters Centerline goodness : 0.903238 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.38, Z:-0.06 [[ 0.99311876 0.07199408 -0.09236872 4.06959599] [-0.07360604 0.99718686 -0.01416041 -0.37734568] [ 0.09108941 0.02086186 0.99562418 -0.05693447] [ 0. 0. 0. 1. ]] SLAMing on 56.47538475 meters Centerline goodness : 0.900860 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.37, Z:-0.06 [[ 0.99309433 0.07195431 -0.0926619 4.07012898] [-0.07363497 0.99717479 -0.01484372 -0.3749014 ] [ 0.09133204 0.02156437 0.99558698 -0.0572135 ] [ 0. 0. 0. 1. ]] SLAMing on 56.50538475 meters Centerline goodness : 0.899517 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.37, Z:-0.06 [[ 0.99280949 0.07559812 -0.09281296 4.07131358] [-0.07702408 0.99695853 -0.01187387 -0.37074905] [ 0.09163302 0.01893733 0.99561276 -0.0570724 ] [ 0. 0. 0. 1. ]] SLAMing on 56.53538475 meters Centerline goodness : 0.897785 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.37, Z:-0.06 [[ 0.99280098 0.07564489 -0.09286586 4.07129495] [-0.07712554 0.99694359 -0.01245481 -0.36771216] [ 0.09163988 0.01952747 0.99560073 -0.05706009] [ 0. 0. 0. 1. ]] SLAMing on 56.56538475 meters Centerline goodness : 0.896440 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.36, Z:-0.06 [[ 0.99252398 0.0787513 -0.09324368 4.0731797 ] [-0.07996347 0.99675413 -0.00933016 -0.3643997 ] [ 0.09220626 0.01671649 0.9955996 -0.05668492] [ 0. 0. 0. 1. ]] SLAMing on 56.59538475 meters Centerline goodness : 0.896325 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.36, Z:-0.06 [[ 0.99245884 0.08013513 -0.09275678 4.07356931] [-0.08120914 0.99666612 -0.00785669 -0.36040301] [ 0.09181794 0.01533014 0.9956578 -0.05652217] [ 0. 0. 0. 1. ]] SLAMing on 56.62538475 meters Centerline goodness : 0.894999 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.36, Z:-0.06 [[ 0.99245332 0.07983966 -0.09307006 4.07402905] [-0.08093536 0.99668683 -0.00805231 -0.35885099] [ 0.0921188 0.0155242 0.995627 -0.05596099] [ 0. 0. 0. 1. ]] SLAMing on 56.65538475 meters Centerline goodness : 0.895037 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.36, Z:-0.06 [[ 0.99245667 0.07956066 -0.09327308 4.07417446] [-0.08065941 0.9967091 -0.00806385 -0.35776962] [ 0.09232457 0.01552637 0.99560791 -0.05515178] [ 0. 0. 0. 1. ]] SLAMing on 56.68538475 meters Centerline goodness : 0.894454 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.36, Z:-0.05 [[ 0.99251877 0.07783484 -0.09406505 4.07612489] [-0.07897483 0.99684078 -0.00845222 -0.35562062] [ 0.09311 0.01581776 0.99553017 -0.05379767] [ 0. 0. 0. 1. ]] SLAMing on 56.71538475 meters Centerline goodness : 0.895377 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.35, Z:-0.05 [[ 0.99252218 0.0772899 -0.09447751 4.07683632] [-0.07843302 0.99688365 -0.00844093 -0.35473192] [ 0.09353068 0.01578797 0.99549121 -0.05296788] [ 0. 0. 0. 1. ]] SLAMing on 56.74538475 meters Centerline goodness : 0.896687 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.35, Z:-0.05 [[ 0.99256142 0.07590528 -0.09518515 4.07834063] [-0.07712326 0.99697933 -0.00917762 -0.35158402] [ 0.094201 0.01645034 0.99541728 -0.05190278] [ 0. 0. 0. 1. ]] SLAMing on 56.77538475 meters Centerline goodness : 0.894284 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.35, Z:-0.05 [[ 0.9925483 0.07537818 -0.09573922 4.07939047] [-0.07663337 0.99701411 -0.00949672 -0.34974452] [ 0.09473751 0.01676277 0.99536115 -0.0513176 ] [ 0. 0. 0. 1. ]] SLAMing on 56.80538475 meters Centerline goodness : 0.893350 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.35, Z:-0.05 [[ 0.99229244 0.07741129 -0.09676363 4.08303065] [-0.07844675 0.99689417 -0.00693705 -0.34582298] [ 0.09592609 0.01447437 0.99528321 -0.05098976] [ 0. 0. 0. 1. ]] SLAMing on 56.83538475 meters Centerline goodness : 0.892132 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.34, Z:-0.05 [[ 9.91982506e-01 8.05370380e-02 -9.73883667e-02 4.08523023e+00] [-8.12233120e-02 9.96691119e-01 -3.09640660e-03 -3.44772205e-01] [ 9.68167447e-02 1.09817869e-02 9.95241638e-01 -5.00873434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.865384750000004 meters Centerline goodness : 0.893798 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.34, Z:-0.05 [[ 9.91690851e-01 8.31080653e-02 -9.81952426e-02 4.08796239e+00] [-8.35545296e-02 9.96503111e-01 -4.36038570e-04 -3.40359933e-01] [ 9.78156264e-02 8.63707276e-03 9.95167074e-01 -4.94931540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.89538475 meters Centerline goodness : 0.890855 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.34, Z:-0.05 [[ 9.91693438e-01 8.27750240e-02 -9.84500914e-02 4.08850501e+00] [-8.32884834e-02 9.96524860e-01 -1.10993511e-03 -3.37382305e-01] [ 9.80160887e-02 9.30047417e-03 9.95141371e-01 -4.94039941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.92538475 meters Centerline goodness : 0.890099 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.33, Z:-0.05 [[ 9.91686374e-01 8.25173031e-02 -9.87371817e-02 4.08899967e+00] [-8.31035313e-02 9.96539235e-01 -1.83223243e-03 -3.34476847e-01] [ 9.82442846e-02 1.00224084e-02 9.95111859e-01 -4.93396342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.95538475 meters Centerline goodness : 0.890344 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.33, Z:-0.05 [[ 9.91386465e-01 8.55356460e-02 -9.91792844e-02 4.09074709e+00] [-8.58457292e-02 9.96307784e-01 1.14475390e-03 -3.30943747e-01] [ 9.89110103e-02 7.37922447e-03 9.95068922e-01 -4.86318879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.98538475 meters Centerline goodness : 0.890674 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.33, Z:-0.05 [[ 9.91372892e-01 8.52816476e-02 -9.95330606e-02 4.09155860e+00] [-8.56601594e-02 9.96324302e-01 4.72386532e-04 -3.28314987e-01] [ 9.92074930e-02 8.05770663e-03 9.95034143e-01 -4.87528905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.01538475 meters Centerline goodness : 0.887586 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.32, Z:-0.05 [[ 9.91023175e-01 8.87299600e-02 -1.00000301e-01 4.09368030e+00] [-8.88526084e-02 9.96039530e-01 3.23552604e-03 -3.24744496e-01] [ 9.98913412e-02 5.67880632e-03 9.94982146e-01 -4.91026319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.045384750000004 meters Centerline goodness : 0.884596 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.32, Z:-0.05 [[ 9.90986787e-01 8.91542286e-02 -9.99835574e-02 4.09355844e+00] [-8.93323032e-02 9.95998208e-01 2.70364222e-03 -3.21625585e-01] [ 9.98244851e-02 6.25248776e-03 9.94985416e-01 -4.93767068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.07538475 meters Centerline goodness : 0.884319 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.32, Z:-0.05 [[ 9.90558753e-01 9.40752483e-02 -9.97156175e-02 4.09286973e+00] [-9.39167257e-02 9.95560166e-01 6.29324765e-03 -3.18129210e-01] [ 9.98649355e-02 3.13113275e-03 9.94996076e-01 -4.85698195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.10538475 meters Centerline goodness : 0.885550 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.32, Z:-0.05 [[ 9.90497561e-01 9.50698843e-02 -9.93795659e-02 4.09205478e+00] [-9.49383904e-02 9.95464691e-01 6.06230015e-03 -3.15140950e-01] [ 9.95051910e-02 3.43024252e-03 9.95031130e-01 -4.88905660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.13538475 meters Centerline goodness : 0.882906 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.31, Z:-0.05 [[ 9.90024040e-01 1.00039158e-01 -9.92197896e-02 4.09244820e+00] [-9.96002309e-02 9.94983322e-01 9.37988692e-03 -3.12248422e-01] [ 9.96603918e-02 5.96000406e-04 9.95021332e-01 -4.95050267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.16538475 meters Centerline goodness : 0.881727 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.31, Z:-0.05 [[ 9.89511734e-01 1.05380852e-01 -9.87998177e-02 4.09167831e+00] [-1.04568230e-01 9.94427677e-01 1.33820657e-02 -3.10972306e-01] [ 9.96594867e-02 -2.91038904e-03 9.95017345e-01 -4.91833132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.19538475 meters Centerline goodness : 0.883718 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.31, Z:-0.05 [[ 9.89421651e-01 1.06589065e-01 -9.84051168e-02 4.09002891e+00] [-1.05765478e-01 9.94298596e-01 1.35633603e-02 -3.09708847e-01] [ 9.92897755e-02 -3.01201812e-03 9.95054003e-01 -4.87919640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.22538475 meters Centerline goodness : 0.881376 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.31, Z:-0.05 [[ 9.89345567e-01 1.07965705e-01 -9.76665500e-02 4.08788526e+00] [-1.07118141e-01 9.94149189e-01 1.38958521e-02 -3.08113479e-01] [ 9.85953969e-02 -3.28594037e-03 9.95122179e-01 -4.84429110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.25538475 meters Centerline goodness : 0.885376 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.31, Z:-0.05 [[ 0.98883901 0.1131231 -0.09695655 4.08637857] [-0.11184273 0.99355262 0.01855776 -0.30801772] [ 0.09843075 -0.00750676 0.99511559 -0.04717557] [ 0. 0. 0. 1. ]] SLAMing on 57.28538475 meters Centerline goodness : 0.886226 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.31, Z:-0.05 [[ 0.98879296 0.1138775 -0.09654225 4.08507674] [-0.11256869 0.9934639 0.01891456 -0.30847303] [ 0.09806519 -0.00783495 0.99514915 -0.04684064] [ 0. 0. 0. 1. ]] SLAMing on 57.31538475 meters Centerline goodness : 0.886478 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.31, Z:-0.05 [[ 0.98917935 0.11080629 -0.09615701 4.08314283] [-0.1098555 0.99383221 0.01514262 -0.30784846] [ 0.09724183 -0.00441539 0.99525099 -0.04715901] [ 0. 0. 0. 1. ]] SLAMing on 57.34538475 meters Centerline goodness : 0.890692 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.31, Z:-0.05 [[ 9.89588035e-01 1.07710822e-01 -9.54667481e-02 4.08067519e+00] [-1.07073383e-01 9.94181216e-01 1.17898353e-02 -3.09288554e-01] [ 9.61811405e-02 -1.44513223e-03 9.95362798e-01 -4.73765977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.37538475 meters Centerline goodness : 0.891896 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.31, Z:-0.05 [[ 9.89593558e-01 1.07375368e-01 -9.57868533e-02 4.08131977e+00] [-1.06677097e-01 9.94216441e-01 1.23961493e-02 -3.11445927e-01] [ 9.65639055e-02 -2.04888601e-03 9.95324678e-01 -4.68306230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.40538475 meters Centerline goodness : 0.891956 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.32, Z:-0.05 [[ 9.90032442e-01 1.03709763e-01 -9.52892872e-02 4.07934203e+00] [-1.03275705e-01 9.94607503e-01 9.48911021e-03 -3.15270017e-01] [ 9.57595534e-02 4.46541316e-04 9.95404394e-01 -4.66921520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.43538475 meters Centerline goodness : 0.892739 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.32, Z:-0.05 [[ 9.90428385e-01 9.97350301e-02 -9.54177036e-02 4.07937663e+00] [-9.96585756e-02 9.95006055e-01 5.57838564e-03 -3.16050039e-01] [ 9.54975533e-02 3.98420096e-03 9.95421691e-01 -4.77335826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.46538475 meters Centerline goodness : 0.892389 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.32, Z:-0.05 [[ 9.90434983e-01 9.95783129e-02 -9.55128506e-02 4.08019397e+00] [-9.94584800e-02 9.95023464e-01 6.02641348e-03 -3.19026565e-01] [ 9.56376275e-02 3.53079220e-03 9.95409955e-01 -4.83564700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.49538475 meters Centerline goodness : 0.892844 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.32, Z:-0.05 [[ 9.90728499e-01 9.74036850e-02 -9.47077825e-02 4.07927409e+00] [-9.74866325e-02 9.95229725e-01 3.76165096e-03 -3.23503491e-01] [ 9.46223990e-02 5.50596798e-03 9.95498009e-01 -5.03136657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.52538475 meters Centerline goodness : 0.891247 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.33, Z:-0.05 [[ 0.99070549 0.09772859 -0.09461376 4.07968864] [-0.09777498 0.99519987 0.00415655 -0.32569813] [ 0.09456581 0.00513294 0.99550538 -0.05121695] [ 0. 0. 0. 1. ]] SLAMing on 57.55538475 meters Centerline goodness : 0.889974 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.33, Z:-0.05 [[ 0.99063673 0.09931493 -0.09367718 4.07975151] [-0.09928617 0.99504646 0.00497923 -0.32859429] [ 0.09370766 0.00436824 0.99559017 -0.05395448] [ 0. 0. 0. 1. ]] SLAMing on 57.58538475 meters Centerline goodness : 0.891223 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.33, Z:-0.05 [[ 0.99059347 0.09998664 -0.09341974 4.07965947] [-0.09993082 0.99498034 0.00528709 -0.33002577] [ 0.09347944 0.00409816 0.99561278 -0.05490894] [ 0. 0. 0. 1. ]] SLAMing on 57.61538475 meters Centerline goodness : 0.888226 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.33, Z:-0.06 [[ 9.90459636e-01 1.02139801e-01 -9.25049728e-02 4.07912086e+00] [-1.01991101e-01 9.94765069e-01 6.34601162e-03 -3.33509675e-01] [ 9.26688961e-02 3.14921566e-03 9.95692000e-01 -5.74057759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.64538475 meters Centerline goodness : 0.884189 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.34, Z:-0.06 [[ 9.90000282e-01 1.06667582e-01 -9.23117991e-02 4.08092100e+00] [-1.06117531e-01 9.94294279e-01 1.08608106e-02 -3.37951159e-01] [ 9.29435901e-02 -9.56305363e-04 9.95670917e-01 -5.92592125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.67538475 meters Centerline goodness : 0.884312 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.34, Z:-0.06 [[ 9.89919503e-01 1.07644265e-01 -9.20439554e-02 4.08002554e+00] [-1.07032771e-01 9.94188187e-01 1.15687021e-02 -3.39863062e-01] [ 9.27543175e-02 -1.60036419e-03 9.95687740e-01 -5.93090056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.70538475 meters Centerline goodness : 0.884527 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.34, Z:-0.06 [[ 9.90033729e-01 1.08293463e-01 -9.00318937e-02 4.07210977e+00] [-1.07818231e-01 9.94118914e-01 1.01396784e-02 -3.44155892e-01] [ 9.06004693e-02 -3.31544083e-04 9.95887265e-01 -5.87206714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.73538475 meters Centerline goodness : 0.882880 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.35, Z:-0.06 [[ 9.89959687e-01 1.09364387e-01 -8.95502587e-02 4.07026629e+00] [-1.08773803e-01 9.94000425e-01 1.14635884e-02 -3.47221114e-01] [ 9.02667035e-02 -1.60776812e-03 9.95916330e-01 -5.77363499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.76538475 meters Centerline goodness : 0.882603 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.35, Z:-0.06 [[ 9.89880209e-01 1.10385551e-01 -8.91751199e-02 4.06853357e+00] [-1.09676788e-01 9.93884570e-01 1.28243572e-02 -3.50266897e-01] [ 9.00453994e-02 -2.91413668e-03 9.95933398e-01 -5.66318668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.795384750000004 meters Centerline goodness : 0.882473 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.36, Z:-0.06 [[ 9.90165018e-01 1.08668256e-01 -8.81160982e-02 4.06459213e+00] [-1.08125683e-01 9.94077238e-01 1.09216282e-02 -3.55141089e-01] [ 8.87810418e-02 -1.28660086e-03 9.96050336e-01 -5.64072766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.82538475 meters Centerline goodness : 0.882473 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.36, Z:-0.06 [[ 9.90165018e-01 1.08668256e-01 -8.81160982e-02 4.06459213e+00] [-1.08125683e-01 9.94077238e-01 1.09216282e-02 -3.55141089e-01] [ 8.87810418e-02 -1.28660086e-03 9.96050336e-01 -5.64072766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.85538475 meters Centerline goodness : 0.881690 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.36, Z:-0.06 [[ 9.90130909e-01 1.08913480e-01 -8.81965769e-02 4.06429206e+00] [-1.08278841e-01 9.94048584e-01 1.19626330e-02 -3.58715971e-01] [ 8.89745744e-02 -2.29474956e-03 9.96031254e-01 -5.56226524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.88538475 meters Centerline goodness : 0.881708 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.36, Z:-0.06 [[ 9.90486283e-01 1.05737764e-01 -8.80706967e-02 4.06273768e+00] [-1.05288907e-01 9.94393979e-01 9.73964537e-03 -3.63946446e-01] [ 8.86068188e-02 -3.74117756e-04 9.96066610e-01 -5.50816223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.91538475 meters Centerline goodness : 0.884415 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.37, Z:-0.06 [[ 9.90892595e-01 1.01385259e-01 -8.86165575e-02 4.06429341e+00] [-1.01195719e-01 9.94844374e-01 6.64059138e-03 -3.69038123e-01] [ 8.88329418e-02 2.38750344e-03 9.96043678e-01 -5.63968107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.94538475 meters Centerline goodness : 0.882642 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.37, Z:-0.06 [[ 9.91286535e-01 9.71240427e-02 -8.89827314e-02 4.06519945e+00] [-9.72724918e-02 9.95254187e-01 2.67691010e-03 -3.70758439e-01] [ 8.88204283e-02 6.00198708e-03 9.96029572e-01 -5.78721079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.97538475 meters Centerline goodness : 0.880834 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.38, Z:-0.06 [[ 9.91365451e-01 9.56639014e-02 -8.96825490e-02 4.06803146e+00] [-9.57628827e-02 9.95399004e-01 3.20841348e-03 -3.75073050e-01] [ 8.95768493e-02 5.40754914e-03 9.95965234e-01 -5.80406035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.00538475 meters Centerline goodness : 0.883574 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.38, Z:-0.06 [[ 9.92099009e-01 8.72385539e-02 -9.01609163e-02 4.06956309e+00] [-8.78873343e-02 9.96125141e-01 -3.24331716e-03 -3.81171527e-01] [ 8.95286132e-02 1.11416943e-02 9.95921930e-01 -5.95366385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.03538475 meters Centerline goodness : 0.883558 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.39, Z:-0.06 [[ 9.92271896e-01 8.47106120e-02 -9.06675105e-02 4.07248821e+00] [-8.53433555e-02 9.96346723e-01 -3.11768214e-03 -3.85776387e-01] [ 9.00721762e-02 1.08314579e-02 9.95876339e-01 -5.93937570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.06538475 meters Centerline goodness : 0.884914 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.39, Z:-0.06 [[ 0.99293321 0.0758481 -0.09127265 4.07359017] [-0.07706984 0.99697623 -0.00993124 -0.39147938] [ 0.09024339 0.01689543 0.99577642 -0.06005559] [ 0. 0. 0. 1. ]] SLAMing on 58.09538475 meters Centerline goodness : 0.885421 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.40, Z:-0.06 [[ 0.99296359 0.07453183 -0.09202341 4.07602 ] [-0.0756975 0.99708804 -0.00923749 -0.39535522] [ 0.09106696 0.01613844 0.995714 -0.05947869] [ 0. 0. 0. 1. ]] SLAMing on 58.12538475 meters Centerline goodness : 0.886857 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.40, Z:-0.06 [[ 0.99325207 0.06926273 -0.09302151 4.07932154] [-0.07075814 0.99741046 -0.01287125 -0.39896157] [ 0.09188913 0.01936643 0.9955809 -0.06083928] [ 0. 0. 0. 1. ]] SLAMing on 58.15538475 meters Centerline goodness : 0.885692 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.40, Z:-0.06 [[ 0.99323418 0.06879653 -0.09355695 4.08091548] [-0.07022549 0.99745819 -0.0120642 -0.40154211] [ 0.09248917 0.01855266 0.99554083 -0.06036938] [ 0. 0. 0. 1. ]] SLAMing on 58.18538475 meters Centerline goodness : 0.884809 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.41, Z:-0.06 [[ 0.99323695 0.0684736 -0.0937642 4.08140527] [-0.06974206 0.99751173 -0.01031493 -0.40600627] [ 0.09282459 0.01678448 0.995541 -0.05845864] [ 0. 0. 0. 1. ]] SLAMing on 58.21538475 meters Centerline goodness : 0.884601 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.41, Z:-0.06 [[ 0.99321649 0.06868511 -0.09382624 4.08125616] [-0.06988067 0.99751 -0.00951275 -0.40752823] [ 0.09293923 0.01600486 0.99554314 -0.05762069] [ 0. 0. 0. 1. ]] SLAMing on 58.24538475 meters Centerline goodness : 0.886714 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.41, Z:-0.06 [[ 0.99318442 0.06902887 -0.0939134 4.0809676 ] [-0.07012915 0.99750202 -0.0084625 -0.40889251] [ 0.09309465 0.01499089 0.9955444 -0.05627182] [ 0. 0. 0. 1. ]] SLAMing on 58.27538475 meters Centerline goodness : 0.885379 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.41, Z:-0.06 [[ 0.99316236 0.06939175 -0.09387927 4.0805007 ] [-0.07045719 0.99748209 -0.00807845 -0.40866915] [ 0.09308231 0.01463768 0.99555081 -0.05563491] [ 0. 0. 0. 1. ]] SLAMing on 58.30538475 meters Centerline goodness : 0.885838 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.41, Z:-0.05 [[ 9.92867555e-01 7.38500610e-02 -9.35958733e-02 4.08005169e+00] [-7.45123785e-02 9.97213603e-01 -3.59671480e-03 -4.08419910e-01] [ 9.30694604e-02 1.05451126e-02 9.95603775e-01 -5.42893373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.33538475 meters Centerline goodness : 0.886924 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.41, Z:-0.05 [[ 9.92532988e-01 7.79051014e-02 -9.38566045e-02 4.08075970e+00] [-7.81489974e-02 9.96941106e-01 1.07973251e-03 -4.08747651e-01] [ 9.36536238e-02 6.26312941e-03 9.95585140e-01 -5.25654324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.36538475 meters Centerline goodness : 0.888094 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.41, Z:-0.05 [[ 9.92167474e-01 8.28366699e-02 -9.34975420e-02 4.07957223e+00] [-8.27360508e-02 9.96559159e-01 4.95867216e-03 -4.06075638e-01] [ 9.35865917e-02 2.81578415e-03 9.95607162e-01 -5.14443061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.39538475 meters Centerline goodness : 0.886155 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.40, Z:-0.05 [[ 9.92127778e-01 8.36772112e-02 -9.31697144e-02 4.07830676e+00] [-8.36200745e-02 9.96487440e-01 4.52390813e-03 -4.03119732e-01] [ 9.32209981e-02 3.30256353e-03 9.95639964e-01 -5.16107295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.42538475 meters Centerline goodness : 0.885953 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.40, Z:-0.05 [[ 9.92093007e-01 8.41222741e-02 -9.31391938e-02 4.07786057e+00] [-8.41052167e-02 9.96448381e-01 4.11541621e-03 -4.00230216e-01] [ 9.31545970e-02 3.75061644e-03 9.95644592e-01 -5.15931532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.45538475 meters Centerline goodness : 0.886362 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.40, Z:-0.05 [[ 9.92088530e-01 8.39397405e-02 -9.33513234e-02 4.07858520e+00] [-8.40039810e-02 9.96460125e-01 3.24814274e-03 -3.96445962e-01] [ 9.32935197e-02 4.61943765e-03 9.95627933e-01 -5.20066405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.48538475 meters Centerline goodness : 0.885460 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.40, Z:-0.05 [[ 9.92151911e-01 8.18299735e-02 -9.45433305e-02 4.08230381e+00] [-8.19719876e-02 9.96631775e-01 2.38713364e-03 -3.95121697e-01] [ 9.44202264e-02 5.38150551e-03 9.95517885e-01 -5.19796544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.51538475 meters Centerline goodness : 0.885721 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.39, Z:-0.05 [[ 9.92179833e-01 8.04752966e-02 -9.54091442e-02 4.08507917e+00] [-8.06492801e-02 9.96740459e-01 2.03748518e-03 -3.94939417e-01] [ 9.52621214e-02 5.67312709e-03 9.95436057e-01 -5.20900036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.545384750000004 meters Centerline goodness : 0.883494 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.39, Z:-0.05 [[ 9.92574815e-01 7.34904988e-02 -9.69246229e-02 4.09034724e+00] [-7.41709521e-02 9.97239638e-01 -3.43133361e-03 -3.92313738e-01] [ 9.64049055e-02 1.05948469e-02 9.95285810e-01 -5.37272409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.57538475 meters Centerline goodness : 0.883756 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.39, Z:-0.05 [[ 9.92600557e-01 7.20962569e-02 -9.77049841e-02 4.09301735e+00] [-7.28165896e-02 9.97338024e-01 -3.82221010e-03 -3.92313662e-01] [ 9.71693287e-02 1.09084716e-02 9.95208082e-01 -5.39465563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.60538475 meters Centerline goodness : 0.881839 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.39, Z:-0.05 [[ 0.99264527 0.06907394 -0.09941912 4.09862151] [-0.06983313 0.99754996 -0.00417235 -0.391838 ] [ 0.09888733 0.01108442 0.9950369 -0.05319921] [ 0. 0. 0. 1. ]] SLAMing on 58.63538475 meters Centerline goodness : 0.882612 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.39, Z:-0.05 [[ 0.99264683 0.06805908 -0.10010112 4.10067295] [-0.06885218 0.99761679 -0.00448568 -0.39116152] [ 0.09955727 0.01134488 0.99496716 -0.05314949] [ 0. 0. 0. 1. ]] SLAMing on 58.66538475 meters Centerline goodness : 0.880342 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.39, Z:-0.05 [[ 0.99268593 0.06656712 -0.10071473 4.10339514] [-0.06745075 0.99770805 -0.00539004 -0.38811709] [ 0.1001251 0.0121439 0.99490074 -0.05361297] [ 0. 0. 0. 1. ]] SLAMing on 58.69538475 meters Centerline goodness : 0.881828 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.39, Z:-0.05 [[ 0.99268695 0.06658 -0.10069619 4.1033704 ] [-0.067497 0.99770306 -0.00572337 -0.38605532] [ 0.10008383 0.01247821 0.99490076 -0.05364441] [ 0. 0. 0. 1. ]] SLAMing on 58.72538475 meters Centerline goodness : 0.882583 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.38, Z:-0.05 [[ 9.92423611e-01 7.06537300e-02 -1.00515800e-01 4.10325006e+00] [-7.12348173e-02 9.97457149e-01 -2.19912222e-03 -3.82555081e-01] [ 1.00104827e-01 9.34268548e-03 9.94933032e-01 -5.26494797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.75538475 meters Centerline goodness : 0.881963 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.38, Z:-0.05 [[ 9.92126813e-01 7.46700780e-02 -1.00542358e-01 4.10374554e+00] [-7.48763268e-02 9.97191334e-01 1.72607034e-03 -3.80949686e-01] [ 1.00388854e-01 5.81576179e-03 9.94931282e-01 -5.17252520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.78538475 meters Centerline goodness : 0.879454 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.38, Z:-0.05 [[ 9.91593317e-01 8.23423377e-02 -9.98119890e-02 4.10103007e+00] [-8.20177166e-02 9.96603706e-01 7.35842745e-03 -3.75088418e-01] [ 1.00078908e-01 8.89783948e-04 9.94979106e-01 -4.96889427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.81538475 meters Centerline goodness : 0.878544 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.37, Z:-0.05 [[ 9.91225809e-01 8.68668815e-02 -9.96270104e-02 4.10077906e+00] [-8.61951762e-02 9.96217154e-01 1.10351028e-02 -3.72586282e-01] [ 1.00208722e-01 -2.35091102e-03 9.94963660e-01 -4.90198455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.84538475 meters Centerline goodness : 0.876419 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.37, Z:-0.05 [[ 0.990448 0.09583288 -0.09914037 4.10041401] [-0.09446511 0.99535792 0.01841061 -0.36827355] [ 0.10044449 -0.00886944 0.99490313 -0.04797984] [ 0. 0. 0. 1. ]] SLAMing on 58.87538475 meters Centerline goodness : 0.878219 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.36, Z:-0.05 [[ 0.99037199 0.09688092 -0.09888078 4.09963477] [-0.09555516 0.99526015 0.01806786 -0.36449435] [ 0.10016253 -0.00844534 0.99493525 -0.04841747] [ 0. 0. 0. 1. ]] SLAMing on 58.90538475 meters Centerline goodness : 0.876324 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.36, Z:-0.05 [[ 0.99032674 0.09763333 -0.09859349 4.09886579] [-0.09637008 0.99519161 0.01750625 -0.36138706] [ 0.09982861 -0.00783545 0.9949738 -0.04900239] [ 0. 0. 0. 1. ]] SLAMing on 58.93538475 meters Centerline goodness : 0.877608 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.36, Z:-0.05 [[ 0.99021934 0.09877191 -0.09853814 4.09806596] [-0.09754674 0.99508254 0.01718662 -0.35708776] [ 0.09975113 -0.00740645 0.99498485 -0.04896643] [ 0. 0. 0. 1. ]] SLAMing on 58.96538475 meters Centerline goodness : 0.877170 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.36, Z:-0.05 [[ 0.9901996 0.09882765 -0.09868053 4.09814999] [-0.09763348 0.99507945 0.01686988 -0.35553282] [ 0.09986218 -0.00707003 0.99497616 -0.04886764] [ 0. 0. 0. 1. ]] SLAMing on 58.99538475 meters Centerline goodness : 0.876773 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.35, Z:-0.05 [[ 0.99020279 0.09863953 -0.09883666 4.09866493] [-0.0975192 0.99510317 0.01611476 -0.35268006] [ 0.09994223 -0.00631841 0.99497318 -0.04921471] [ 0. 0. 0. 1. ]] SLAMing on 59.02538475 meters Centerline goodness : 0.874608 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.35, Z:-0.05 [[ 0.99025806 0.0978396 -0.09907764 4.09991316] [-0.09678383 0.99518599 0.01541847 -0.3510707 ] [ 0.10010922 -0.00567915 0.99496025 -0.04968646] [ 0. 0. 0. 1. ]] SLAMing on 59.05538475 meters Centerline goodness : 0.875573 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.35, Z:-0.05 [[ 0.99027058 0.0973051 -0.09947814 4.10096496] [-0.09625515 0.99523891 0.01531172 -0.3510798 ] [ 0.10049442 -0.00558746 0.99492193 -0.04957245] [ 0. 0. 0. 1. ]] SLAMing on 59.08538475 meters Centerline goodness : 0.875431 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.35, Z:-0.05 [[ 0.9902937 0.09645562 -0.1000735 4.10272539] [-0.09542196 0.99532274 0.01507599 -0.35130017] [ 0.1010596 -0.00538045 0.99486582 -0.04971808] [ 0. 0. 0. 1. ]] SLAMing on 59.11538475 meters Centerline goodness : 0.876684 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.35, Z:-0.05 [[ 9.90681484e-01 9.18933421e-02 -1.00527665e-01 4.10333093e+00] [-9.12701064e-02 9.95767702e-01 1.07912351e-02 -3.50819085e-01] [ 1.01093845e-01 -1.51550612e-03 9.94875740e-01 -5.03000078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.14538475 meters Centerline goodness : 0.874361 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.35, Z:-0.05 [[ 9.90753942e-01 9.03277682e-02 -1.01230042e-01 4.10571490e+00] [-8.97060762e-02 9.95910952e-01 1.06862052e-02 -3.51301001e-01] [ 1.01781368e-01 -1.50645013e-03 9.94805651e-01 -4.99735032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.17538475 meters Centerline goodness : 0.876106 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.35, Z:-0.05 [[ 9.90787721e-01 8.94821441e-02 -1.01649585e-01 4.10748928e+00] [-8.88769056e-02 9.95987517e-01 1.04766958e-02 -3.51423122e-01] [ 1.02179195e-01 -1.34588099e-03 9.94765098e-01 -5.04137481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.20538475 meters Centerline goodness : 0.877151 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.35, Z:-0.05 [[ 9.91171348e-01 8.38940624e-02 -1.02670075e-01 4.11065464e+00] [-8.37365764e-02 9.96470750e-01 5.85062319e-03 -3.51452665e-01] [ 1.02798559e-01 2.79827053e-03 9.94698259e-01 -5.20634423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.23538475 meters Centerline goodness : 0.878111 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.35, Z:-0.05 [[ 9.91181350e-01 8.29988097e-02 -1.03299218e-01 4.11280939e+00] [-8.28286729e-02 9.96546081e-01 5.94295628e-03 -3.53195692e-01] [ 1.03435689e-01 2.66558973e-03 9.94632572e-01 -5.24081113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.26538475 meters Centerline goodness : 0.877850 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.35, Z:-0.05 [[ 9.91175771e-01 8.22394144e-02 -1.03958020e-01 4.11486874e+00] [-8.20620392e-02 9.96609225e-01 5.98947628e-03 -3.54402566e-01] [ 1.04098092e-01 2.59438331e-03 9.94563651e-01 -5.27065540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.295384750000004 meters Centerline goodness : 0.877044 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.35, Z:-0.05 [[ 9.91188716e-01 8.10917077e-02 -1.04733303e-01 4.11811007e+00] [-8.09681921e-02 9.96701853e-01 5.43759171e-03 -3.54508104e-01] [ 1.04828821e-01 3.09038665e-03 9.94485479e-01 -5.41409639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.32538475 meters Centerline goodness : 0.878861 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.35, Z:-0.05 [[ 9.91155602e-01 8.08421998e-02 -1.05238352e-01 4.11952382e+00] [-8.07296118e-02 9.96721754e-01 5.33619275e-03 -3.53899913e-01] [ 1.05324745e-01 3.20685400e-03 9.94432710e-01 -5.43843769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.35538475 meters Centerline goodness : 0.881124 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.35, Z:-0.05 [[ 9.90803437e-01 8.44046312e-02 -1.05756363e-01 4.12154602e+00] [-8.38727743e-02 9.96431428e-01 9.47455217e-03 -3.54042290e-01] [ 1.06178660e-01 -5.17339251e-04 9.94346934e-01 -5.35531190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.38538475 meters Centerline goodness : 0.880258 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.35, Z:-0.05 [[ 9.90766928e-01 8.49654037e-02 -1.05649301e-01 4.12094276e+00] [-8.44448537e-02 9.96383825e-01 9.39888502e-03 -3.52550841e-01] [ 1.06065834e-01 -3.90564694e-04 9.94359033e-01 -5.34562951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.41538475 meters Centerline goodness : 0.880874 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.35, Z:-0.05 [[ 9.90403386e-01 8.97327494e-02 -1.05115018e-01 4.12005173e+00] [-8.88171517e-02 9.95958226e-01 1.33688052e-02 -3.50268807e-01] [ 1.05889787e-01 -3.90449347e-03 9.94370207e-01 -5.25648679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.44538475 meters Centerline goodness : 0.883743 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.35, Z:-0.05 [[ 9.90371238e-01 9.03244200e-02 -1.04910963e-01 4.11940851e+00] [-8.94336875e-02 9.95905655e-01 1.31735414e-02 -3.47589934e-01] [ 1.05671314e-01 -3.66412220e-03 9.94394362e-01 -5.25743030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.47538475 meters Centerline goodness : 0.883025 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.34, Z:-0.05 [[ 0.99001671 0.09424898 -0.10480476 4.11999857] [-0.0930208 0.9955265 0.01655662 -0.34472814] [ 0.10589636 -0.00664231 0.99435499 -0.05220139] [ 0. 0. 0. 1. ]] SLAMing on 59.50538475 meters Centerline goodness : 0.888144 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.34, Z:-0.05 [[ 0.99000368 0.09443908 -0.10475674 4.11937077] [-0.09327143 0.99551214 0.0160008 -0.34196764] [ 0.10579771 -0.00607004 0.99436915 -0.05182065] [ 0. 0. 0. 1. ]] SLAMing on 59.53538475 meters Centerline goodness : 0.890817 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.34, Z:-0.05 [[ 0.98999308 0.09438738 -0.10490344 4.11941364] [-0.09324095 0.99551835 0.01579048 -0.34111221] [ 0.10592372 -0.00585117 0.99435704 -0.05154134] [ 0. 0. 0. 1. ]] SLAMing on 59.56538475 meters Centerline goodness : 0.890850 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.34, Z:-0.05 [[ 0.9899971 0.09396804 -0.10524136 4.12032164] [-0.09286802 0.99556063 0.01531541 -0.33996553] [ 0.10621331 -0.00538865 0.99432877 -0.05170591] [ 0. 0. 0. 1. ]] SLAMing on 59.59538475 meters Centerline goodness : 0.890064 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.34, Z:-0.05 [[ 0.99001765 0.09299402 -0.10591111 4.12207221] [-0.09194023 0.99565454 0.01479981 -0.33915431] [ 0.10682717 -0.00491458 0.99426546 -0.05164586] [ 0. 0. 0. 1. ]] SLAMing on 59.62538475 meters Centerline goodness : 0.891062 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.34, Z:-0.05 [[ 0.99002232 0.09235982 -0.10642124 4.12344667] [-0.0913192 0.99571434 0.01462062 -0.33939238] [ 0.10731551 -0.00475644 0.99421364 -0.05171057] [ 0. 0. 0. 1. ]] SLAMing on 59.65538475 meters Centerline goodness : 0.893310 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.34, Z:-0.05 [[ 0.99013501 0.09013487 -0.10727708 4.12691997] [-0.08915503 0.9959207 0.01390479 -0.34019362] [ 0.10809277 -0.00420332 0.99413193 -0.05237862] [ 0. 0. 0. 1. ]] SLAMing on 59.68538475 meters Centerline goodness : 0.894302 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.34, Z:-0.05 [[ 9.90368538e-01 8.58197291e-02 -1.08651428e-01 4.13353370e+00] [-8.49962866e-02 9.96306624e-01 1.21960333e-02 -3.40826878e-01] [ 1.09296797e-01 -2.84359983e-03 9.94005093e-01 -5.41680002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.71538475 meters Centerline goodness : 0.894635 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.34, Z:-0.05 [[ 9.90415758e-01 8.44044508e-02 -1.09327558e-01 4.13605364e+00] [-8.35845693e-02 9.96427601e-01 1.20687766e-02 -3.42407710e-01] [ 1.09955655e-01 -2.81500970e-03 9.93932508e-01 -5.44655615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.74538475 meters Centerline goodness : 0.894635 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.34, Z:-0.05 [[ 9.90415758e-01 8.44044508e-02 -1.09327558e-01 4.13605364e+00] [-8.35845693e-02 9.96427601e-01 1.20687766e-02 -3.42407710e-01] [ 1.09955655e-01 -2.81500970e-03 9.93932508e-01 -5.44655615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.77538475 meters Centerline goodness : 0.898095 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.34, Z:-0.05 [[ 9.90449346e-01 8.30439061e-02 -1.10062725e-01 4.13826069e+00] [-8.21977720e-02 9.96541231e-01 1.22107353e-02 -3.44156814e-01] [ 1.10696070e-01 -3.04720406e-03 9.93849634e-01 -5.41046520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.80538475 meters Centerline goodness : 0.900510 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.35, Z:-0.05 [[ 9.90813745e-01 7.70556863e-02 -1.11133005e-01 4.14044018e+00] [-7.65815890e-02 9.97026789e-01 8.53475106e-03 -3.45787381e-01] [ 1.11460235e-01 5.43934841e-05 9.93768893e-01 -5.31546028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.83538475 meters Centerline goodness : 0.899867 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.35, Z:-0.05 [[ 9.90826060e-01 7.59644428e-02 -1.11772640e-01 4.14207869e+00] [-7.54755103e-02 9.97110523e-01 8.60535154e-03 -3.46703175e-01] [ 1.12103376e-01 -9.03095367e-05 9.93696546e-01 -5.25196373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.86538475 meters Centerline goodness : 0.901788 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.35, Z:-0.05 [[ 9.90862755e-01 7.34375134e-02 -1.13127949e-01 4.14643853e+00] [-7.30172158e-02 9.97299709e-01 7.85987084e-03 -3.45735959e-01] [ 1.13399679e-01 4.72234558e-04 9.93549339e-01 -5.24496807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.89538475 meters Centerline goodness : 0.900932 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.34, Z:-0.05 [[ 9.90870678e-01 7.26559381e-02 -1.13562376e-01 4.14777671e+00] [-7.22718933e-02 9.97356764e-01 7.50064735e-03 -3.44856161e-01] [ 1.13807171e-01 7.75196418e-04 9.93502555e-01 -5.24288761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.92538475 meters Centerline goodness : 0.907922 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.34, Z:-0.05 [[ 9.90885960e-01 7.12400929e-02 -1.14323507e-01 4.14976822e+00] [-7.09320213e-02 9.97458207e-01 6.76563635e-03 -3.42444739e-01] [ 1.14514905e-01 1.40522337e-03 9.93420536e-01 -5.18497849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.95538475 meters Centerline goodness : 0.910537 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.34, Z:-0.05 [[ 9.90906985e-01 6.97061781e-02 -1.15084300e-01 4.15280196e+00] [-6.95906444e-02 9.97562970e-01 5.02628465e-03 -3.37336129e-01] [ 1.15154199e-01 3.02821003e-03 9.93343012e-01 -5.30827860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.98538475 meters Centerline goodness : 0.907797 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.33, Z:-0.05 [[ 9.90899278e-01 6.91578120e-02 -1.15480810e-01 4.15424882e+00] [-6.91463725e-02 9.97598060e-01 4.10984666e-03 -3.33900852e-01] [ 1.15487660e-01 3.91263503e-03 9.93301209e-01 -5.36636778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.01538475 meters Centerline goodness : 0.908141 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.33, Z:-0.05 [[ 9.90632388e-01 7.18765664e-02 -1.16108707e-01 4.15673688e+00] [-7.16410149e-02 9.97411174e-01 6.20608836e-03 -3.27204975e-01] [ 1.16254194e-01 2.17019344e-03 9.93217123e-01 -5.36088717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.045384750000004 meters Centerline goodness : 0.909362 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.32, Z:-0.05 [[ 9.90607104e-01 7.16807664e-02 -1.16444976e-01 4.15721166e+00] [-7.15446196e-02 9.97423031e-01 5.35393559e-03 -3.22496539e-01] [ 1.16528675e-01 3.02736484e-03 9.93182714e-01 -5.32845168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.07538475 meters Centerline goodness : 0.908512 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.32, Z:-0.05 [[ 9.90602796e-01 7.13156441e-02 -1.16705528e-01 4.15781055e+00] [-7.12886922e-02 9.97445974e-01 4.41045342e-03 -3.17598819e-01] [ 1.16721993e-01 3.95077695e-03 9.93156769e-01 -5.31319896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.10538475 meters Centerline goodness : 0.909277 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.31, Z:-0.05 [[ 9.90601397e-01 7.11895156e-02 -1.16794369e-01 4.15836821e+00] [-7.12482622e-02 9.97451835e-01 3.67727454e-03 -3.09035803e-01] [ 1.16758541e-01 4.67868252e-03 9.93149311e-01 -5.23374884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.13538475 meters Centerline goodness : 0.912086 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.30, Z:-0.05 [[ 9.90598402e-01 7.04503469e-02 -1.17267019e-01 4.15907631e+00] [-7.06498337e-02 9.97498145e-01 2.46000924e-03 -3.01078545e-01] [ 1.17146943e-01 5.84801418e-03 9.93097374e-01 -5.11718702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.16538475 meters Centerline goodness : 0.909022 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.30, Z:-0.05 [[ 9.90583623e-01 6.97313989e-02 -1.17820275e-01 4.16033851e+00] [-7.00546541e-02 9.97542171e-01 1.40059030e-03 -2.96608968e-01] [ 1.17628358e-01 6.86645680e-03 9.93033948e-01 -5.10463890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.19538475 meters Centerline goodness : 0.908183 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.29, Z:-0.05 [[ 9.90545762e-01 6.96335405e-02 -1.18195868e-01 4.16269705e+00] [-6.99787891e-02 9.97547719e-01 1.23173960e-03 -2.88217443e-01] [ 1.17991789e-01 7.05110925e-03 9.92989537e-01 -5.10892730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.22538475 meters Centerline goodness : 0.907979 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.28, Z:-0.05 [[ 9.90532849e-01 6.86980144e-02 -1.18849727e-01 4.16443448e+00] [-6.91727760e-02 9.97604686e-01 1.30873404e-04 -2.84620576e-01] [ 1.18574035e-01 8.09153114e-03 9.92912244e-01 -5.12609375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.25538475 meters Centerline goodness : 0.906720 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.28, Z:-0.05 [[ 9.90534446e-01 6.80415495e-02 -1.19213501e-01 4.16649588e+00] [-6.85971209e-02 9.97644287e-01 -5.58225957e-04 -2.76659376e-01] [ 1.18894685e-01 8.73064497e-03 9.92868486e-01 -5.11378879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.28538475 meters Centerline goodness : 0.907166 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.27, Z:-0.05 [[ 9.90271294e-01 7.09809426e-02 -1.19684882e-01 4.16785236e+00] [-7.11639046e-02 9.97460844e-01 2.75004676e-03 -2.74369349e-01] [ 1.19576184e-01 5.79395116e-03 9.92808122e-01 -4.99933371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.31538475 meters Centerline goodness : 0.906304 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.27, Z:-0.05 [[ 9.90098231e-01 7.28825886e-02 -1.19973415e-01 4.16812152e+00] [-7.29248458e-02 9.97329240e-01 4.04402796e-03 -2.66100615e-01] [ 1.19947734e-01 4.74505789e-03 9.92768868e-01 -4.83117731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.34538475 meters Centerline goodness : 0.906318 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.26, Z:-0.05 [[ 0.99004849 0.07387716 -0.11977542 4.16773663] [-0.07385748 0.99725815 0.00460963 -0.26099366] [ 0.11978756 0.00428255 0.99279031 -0.0474825 ] [ 0. 0. 0. 1. ]] SLAMing on 60.37538475 meters Centerline goodness : 0.903592 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.25, Z:-0.05 [[ 9.89783560e-01 7.65722445e-02 -1.20271338e-01 4.16853185e+00] [-7.63955571e-02 9.97059015e-01 6.08607261e-03 -2.51161025e-01] [ 1.20383646e-01 3.16430129e-03 9.92722401e-01 -4.60585968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.40538475 meters Centerline goodness : 0.901625 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.25, Z:-0.05 [[ 9.89501472e-01 7.97093675e-02 -1.20553949e-01 4.16996797e+00] [-7.92372218e-02 9.96817711e-01 8.71279413e-03 -2.47371150e-01] [ 1.20864803e-01 9.31037370e-04 9.92668541e-01 -4.59210232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.43538475 meters Centerline goodness : 0.896862 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.24, Z:-0.05 [[ 9.89221838e-01 8.26081789e-02 -1.20896835e-01 4.17233976e+00] [-8.19450971e-02 9.96582008e-01 1.04547425e-02 -2.37611676e-01] [ 1.21347258e-01 -4.35156659e-04 9.92610021e-01 -4.60856491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.46538475 meters Centerline goodness : 0.895511 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.23, Z:-0.05 [[ 9.88938639e-01 8.57318862e-02 -1.21038888e-01 4.17387327e+00] [-8.47707771e-02 9.96314661e-01 1.30771050e-02 -2.34044144e-01] [ 1.21713944e-01 -2.67189385e-03 9.92561624e-01 -4.61889601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.49538475 meters Centerline goodness : 0.890586 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.22, Z:-0.05 [[ 9.88656540e-01 8.82196881e-02 -1.21554650e-01 4.17650578e+00] [-8.70863774e-02 9.96093549e-01 1.46152014e-02 -2.24391853e-01] [ 1.22369151e-01 -3.86366031e-03 9.92477135e-01 -4.62197154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.52538475 meters Centerline goodness : 0.888339 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.22, Z:-0.05 [[ 0.98834468 0.09114494 -0.12193188 4.17873154] [-0.08971638 0.9958194 0.01716687 -0.22100778] [ 0.12298681 -0.0060275 0.99239 -0.04654671] [ 0. 0. 0. 1. ]] SLAMing on 60.55538475 meters Centerline goodness : 0.886259 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.21, Z:-0.05 [[ 0.98803349 0.09415956 -0.12216297 4.18113454] [-0.09253145 0.99552951 0.01894554 -0.21157903] [ 0.12340075 -0.00741491 0.99232922 -0.04710357] [ 0. 0. 0. 1. ]] SLAMing on 60.58538475 meters Centerline goodness : 0.886072 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.21, Z:-0.05 [[ 0.98764667 0.09787275 -0.12237226 4.18185368] [-0.09590748 0.99515013 0.0218626 -0.20801071] [ 0.12391853 -0.00985611 0.99224345 -0.04635129] [ 0. 0. 0. 1. ]] SLAMing on 60.61538475 meters Centerline goodness : 0.886929 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.20, Z:-0.04 [[ 0.98721056 0.10299131 -0.12168857 4.17929516] [-0.10071547 0.99460803 0.02472383 -0.19818227] [ 0.12357876 -0.0121517 0.99226036 -0.04363593] [ 0. 0. 0. 1. ]] SLAMing on 60.64538475 meters Centerline goodness : 0.886605 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.19, Z:-0.04 [[ 0.98681973 0.10667056 -0.12168901 4.1795426 ] [-0.10407273 0.9941887 0.02752622 -0.19433456] [ 0.12391808 -0.01449891 0.99218652 -0.04278625] [ 0. 0. 0. 1. ]] SLAMing on 60.67538475 meters Centerline goodness : 0.886407 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.19, Z:-0.04 [[ 0.98641974 0.11015436 -0.12182823 4.18030926] [-0.10724795 0.99377407 0.03018229 -0.19044462] [ 0.12439444 -0.01670658 0.99209219 -0.04223266] [ 0. 0. 0. 1. ]] SLAMing on 60.70538475 meters Centerline goodness : 0.889749 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.18, Z:-0.04 [[ 0.9858493 0.11708734 -0.11996546 4.17864269] [-0.11364821 0.99289932 0.03514284 -0.18287544] [ 0.12322841 -0.02101169 0.99215587 -0.04164239] [ 0. 0. 0. 1. ]] SLAMing on 60.73538475 meters Centerline goodness : 0.890998 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.18, Z:-0.04 [[ 0.98562241 0.11991477 -0.11903321 4.17688871] [-0.11639626 0.99254624 0.03610919 -0.17644089] [ 0.12247599 -0.02173501 0.99223345 -0.04000148] [ 0. 0. 0. 1. ]] SLAMing on 60.76538475 meters Centerline goodness : 0.892548 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.18, Z:-0.04 [[ 0.98624914 0.12803314 -0.1044995 4.17515202] [-0.12457195 0.99144266 0.03902921 -0.17727449] [ 0.10860229 -0.02547482 0.99375881 -0.0435355 ] [ 0. 0. 0. 1. ]] SLAMing on 60.795384750000004 meters Centerline goodness : 0.895549 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.17, Z:-0.04 [[ 0.98600665 0.13065963 -0.10353232 4.17374365] [-0.12695986 0.99103587 0.04158231 -0.17483401] [ 0.10803737 -0.02785598 0.99375649 -0.04290375] [ 0. 0. 0. 1. ]] SLAMing on 60.82538475 meters Centerline goodness : 0.895686 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.17, Z:-0.04 [[ 0.98575089 0.13347905 -0.10236473 4.17373683] [-0.12966809 0.99062243 0.04305101 -0.16914239] [ 0.1071512 -0.02916413 0.99381491 -0.04371116] [ 0. 0. 0. 1. ]] SLAMing on 60.85538475 meters Centerline goodness : 0.897568 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.16, Z:-0.04 [[ 0.98535609 0.13705919 -0.10143053 4.17311088] [-0.13308384 0.99008242 0.0450054 -0.16390788] [ 0.10659299 -0.03084758 0.99382411 -0.04314259] [ 0. 0. 0. 1. ]] SLAMing on 60.88538475 meters Centerline goodness : 0.900262 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.16, Z:-0.04 [[ 0.98527572 0.13710465 -0.10214726 4.17576813] [-0.1332699 0.99012481 0.0434971 -0.16102123] [ 0.10710219 -0.02924348 0.99381786 -0.04420992] [ 0. 0. 0. 1. ]] SLAMing on 60.91538475 meters Centerline goodness : 0.899375 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.16, Z:-0.05 [[ 0.98521141 0.13713867 -0.10272027 4.17836273] [-0.13341067 0.9901553 0.04235645 -0.15843371] [ 0.10751773 -0.02802608 0.99380807 -0.04553676] [ 0. 0. 0. 1. ]] SLAMing on 60.94538475 meters Centerline goodness : 0.901078 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.15, Z:-0.05 [[ 0.98480156 0.13991233 -0.10290981 4.18099859] [-0.13603336 0.98973439 0.04382651 -0.15481115] [ 0.10798525 -0.02916125 0.99372471 -0.04665408] [ 0. 0. 0. 1. ]] SLAMing on 60.97538475 meters Centerline goodness : 0.901374 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.15, Z:-0.05 [[ 0.98473462 0.13978704 -0.10371746 4.1833976 ] [-0.13603792 0.98979521 0.04241611 -0.15280622] [ 0.10858826 -0.0276591 0.99370195 -0.04736007] [ 0. 0. 0. 1. ]] SLAMing on 61.00538475 meters Centerline goodness : 0.902573 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.15, Z:-0.05 [[ 0.98486331 0.13864678 -0.10402567 4.18466739] [-0.13519881 0.99002965 0.0395295 -0.14738604] [ 0.10846913 -0.02486701 0.99378875 -0.04745022] [ 0. 0. 0. 1. ]] SLAMing on 61.03538475 meters Centerline goodness : 0.904641 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.14, Z:-0.05 [[ 0.98493239 0.137804 -0.10449042 4.18596232] [-0.13451937 0.99018629 0.03789008 -0.14460674] [ 0.10868639 -0.02326318 0.99380385 -0.04768175] [ 0. 0. 0. 1. ]] SLAMing on 61.06538475 meters Centerline goodness : 0.904795 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.14, Z:-0.06 [[ 9.84737662e-01 1.35327374e-01 -1.09445144e-01 4.19061278e+00] [-1.35832856e-01 9.90727644e-01 2.85842608e-03 -1.37980680e-01] [ 1.08817153e-01 1.20514467e-02 9.93988727e-01 -6.02052303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.09538475 meters Centerline goodness : 0.907360 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.14, Z:-0.06 [[ 9.84950541e-01 1.34092549e-01 -1.09048706e-01 4.19024005e+00] [-1.34726110e-01 9.90881632e-01 1.57074971e-03 -1.35721213e-01] [ 1.08264985e-01 1.31445971e-02 9.94035167e-01 -6.04608621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.12538475 meters Centerline goodness : 0.905290 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.14, Z:-0.06 [[ 9.85822397e-01 1.38270718e-01 -9.50547707e-02 4.19011508e+00] [-1.38597375e-01 9.90343677e-01 3.18906033e-03 -1.35596216e-01] [ 9.45778448e-02 1.00304946e-02 9.95466936e-01 -6.47210241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.15538475 meters Centerline goodness : 0.903647 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.13, Z:-0.07 [[ 9.85961361e-01 1.37192549e-01 -9.51756273e-02 4.19129668e+00] [-1.37641125e-01 9.90480406e-01 1.86707785e-03 -1.33419529e-01] [ 9.45257431e-02 1.12592138e-02 9.95458745e-01 -6.56061582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.18538475 meters Centerline goodness : 0.903634 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.13, Z:-0.07 [[ 9.86214316e-01 1.35922884e-01 -9.43731560e-02 4.19290186e+00] [-1.36405406e-01 9.90652181e-01 1.34930135e-03 -1.28360207e-01] [ 9.36743738e-02 1.15423083e-02 9.95535980e-01 -6.83874438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.21538475 meters Centerline goodness : 0.901932 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.13, Z:-0.07 [[ 9.86285543e-01 1.35218933e-01 -9.46396716e-02 4.19477342e+00] [-1.35805282e-01 9.90735517e-01 2.47385591e-04 -1.26223283e-01] [ 9.37963352e-02 1.26085745e-02 9.95511563e-01 -6.96644651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.24538475 meters Centerline goodness : 0.900587 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.12, Z:-0.07 [[ 9.86523611e-01 1.33593616e-01 -9.44664568e-02 4.19460354e+00] [-1.34395239e-01 9.90925483e-01 -2.14634599e-03 -1.22017565e-01] [ 9.33224812e-02 1.48132630e-02 9.95525731e-01 -6.94309960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.27538475 meters Centerline goodness : 0.903113 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.12, Z:-0.07 [[ 0.98669475 0.13224684 -0.09457403 4.19506062] [-0.13329426 0.9910648 -0.00481695 -0.11728578] [ 0.09309197 0.01735903 0.99550618 -0.06906012] [ 0. 0. 0. 1. ]] SLAMing on 61.30538475 meters Centerline goodness : 0.903056 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.12, Z:-0.07 [[ 0.98676173 0.13151366 -0.09489701 4.19695287] [-0.13267198 0.991142 -0.00597409 -0.11503883] [ 0.09327074 0.01848518 0.99546917 -0.07025861] [ 0. 0. 0. 1. ]] SLAMing on 61.33538475 meters Centerline goodness : 0.901715 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.11, Z:-0.07 [[ 0.98682976 0.13084096 -0.09511927 4.19801109] [-0.13214432 0.99120206 -0.00750764 -0.1121197 ] [ 0.09330011 0.01997823 0.99543757 -0.07062661] [ 0. 0. 0. 1. ]] SLAMing on 61.36538475 meters Centerline goodness : 0.904580 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.11, Z:-0.07 [[ 0.98679876 0.13051581 -0.09588445 4.19924322] [-0.13210774 0.99118061 -0.01041893 -0.10764127] [ 0.09367898 0.02294846 0.99533794 -0.06943019] [ 0. 0. 0. 1. ]] SLAMing on 61.39538475 meters Centerline goodness : 0.901692 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.11, Z:-0.07 [[ 0.98669226 0.1307441 -0.09666631 4.20055396] [-0.13250831 0.99110884 -0.01203412 -0.10555 ] [ 0.09423344 0.02468307 0.99524409 -0.06867762] [ 0. 0. 0. 1. ]] SLAMing on 61.42538475 meters Centerline goodness : 0.901430 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.10, Z:-0.07 [[ 0.9861644 0.13455369 -0.09682496 4.20215745] [-0.13622076 0.99061977 -0.01078766 -0.10131974] [ 0.0944652 0.02382797 0.99524296 -0.06815957] [ 0. 0. 0. 1. ]] SLAMing on 61.45538475 meters Centerline goodness : 0.901448 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.10, Z:-0.07 [[ 0.98590031 0.13583363 -0.09772314 4.20523195] [-0.13760705 0.99041885 -0.01161079 -0.09899617] [ 0.09520971 0.02489447 0.99514591 -0.06893 ] [ 0. 0. 0. 1. ]] SLAMing on 61.48538475 meters Centerline goodness : 0.899284 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.10, Z:-0.07 [[ 0.98477156 0.14256205 -0.09950391 4.21099455] [-0.14420919 0.98950138 -0.00952494 -0.09595367] [ 0.09710136 0.02372927 0.99499158 -0.06961216] [ 0. 0. 0. 1. ]] SLAMing on 61.51538475 meters Centerline goodness : 0.901880 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.09, Z:-0.07 [[ 0.98401571 0.14725508 -0.100145 4.21359337] [-0.14868343 0.9888607 -0.0069107 -0.09454763] [ 0.09801182 0.02169014 0.99494885 -0.06948401] [ 0. 0. 0. 1. ]] SLAMing on 61.545384750000004 meters Centerline goodness : 0.901125 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.09, Z:-0.07 [[ 0.98273108 0.1541398 -0.1023745 4.21877957] [-0.15552472 0.98781591 -0.0056385 -0.09119146] [ 0.10025805 0.02146289 0.99472995 -0.06836867] [ 0. 0. 0. 1. ]] SLAMing on 61.57538475 meters Centerline goodness : 0.898303 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.09, Z:-0.07 [[ 0.9822334 0.15604747 -0.10424365 4.22244723] [-0.15763283 0.9874723 -0.00709562 -0.08914856] [ 0.10183046 0.02340178 0.99452648 -0.06750557] [ 0. 0. 0. 1. ]] SLAMing on 61.60538475 meters Centerline goodness : 0.899419 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.09, Z:-0.07 [[ 0.98078455 0.16353648 -0.10638366 4.22761847] [-0.16497182 0.98628672 -0.00477472 -0.08744704] [ 0.10414395 0.02223327 0.99431369 -0.06627556] [ 0. 0. 0. 1. ]] SLAMing on 61.63538475 meters Centerline goodness : 0.899419 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.09, Z:-0.07 [[ 0.98078455 0.16353648 -0.10638366 4.22761847] [-0.16497182 0.98628672 -0.00477472 -0.08744704] [ 0.10414395 0.02223327 0.99431369 -0.06627556] [ 0. 0. 0. 1. ]] SLAMing on 61.66538475 meters Centerline goodness : 0.897006 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.09, Z:-0.06 [[ 9.79164031e-01 1.73551610e-01 -1.05440216e-01 4.22749909e+00] [-1.74128677e-01 9.84715656e-01 3.77892388e-03 -8.85614142e-02] [ 1.04484469e-01 1.46599789e-02 9.94418464e-01 -6.49716578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.69538475 meters Centerline goodness : 0.898437 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.08, Z:-0.06 [[ 9.78472220e-01 1.68973567e-01 -1.18490707e-01 4.22687974e+00] [-1.70213187e-01 9.85407200e-01 -3.46910700e-04 -8.48470746e-02] [ 1.16702977e-01 2.05081233e-02 9.92955101e-01 -6.08246679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.72538475 meters Centerline goodness : 0.898415 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.09, Z:-0.06 [[ 9.78174275e-01 1.70022734e-01 -1.19446047e-01 4.22820359e+00] [-1.71206228e-01 9.85235149e-01 3.58705658e-04 -8.72284647e-02] [ 1.17743432e-01 2.00990305e-02 9.92840628e-01 -6.03871956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.75538475 meters Centerline goodness : 0.897625 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.09, Z:-0.06 [[ 9.78344123e-01 1.67949183e-01 -1.20978716e-01 4.22817242e+00] [-1.69362051e-01 9.85552883e-01 -1.41814707e-03 -9.39000137e-02] [ 1.18992745e-01 2.18766392e-02 9.92654088e-01 -5.92261949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.78538475 meters Centerline goodness : 0.896395 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.10, Z:-0.06 [[ 9.78666950e-01 1.65229923e-01 -1.22106813e-01 4.22827421e+00] [-1.66969690e-01 9.85953571e-01 -4.08400408e-03 -9.65174313e-02] [ 1.19716848e-01 2.43850164e-02 9.92508563e-01 -5.84227097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.81538475 meters Centerline goodness : 0.899969 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.10, Z:-0.06 [[ 0.9790034 0.16269542 -0.12281096 4.22788594] [-0.16460074 0.98634515 -0.00546236 -0.10148273] [ 0.12024529 0.02556244 0.99241505 -0.05827056] [ 0. 0. 0. 1. ]] SLAMing on 61.84538475 meters Centerline goodness : 0.898172 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.11, Z:-0.06 [[ 0.9790826 0.16088505 -0.12455224 4.22873181] [-0.16302792 0.98659562 -0.00714016 -0.10755656] [ 0.12173395 0.0272963 0.99218736 -0.0573713 ] [ 0. 0. 0. 1. ]] SLAMing on 61.87538475 meters Centerline goodness : 0.896962 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.11, Z:-0.06 [[ 0.9791485 0.15915315 -0.12624775 4.23038842] [-0.16165257 0.98679967 -0.00973955 -0.11048999] [ 0.12303116 0.02994474 0.99195093 -0.05686794] [ 0. 0. 0. 1. ]] SLAMing on 61.90538475 meters Centerline goodness : 0.897022 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.12, Z:-0.06 [[ 0.97866113 0.15999298 -0.12893658 4.23279316] [-0.16268685 0.98662114 -0.01056985 -0.11876704] [ 0.12552046 0.03132059 0.99159651 -0.05550906] [ 0. 0. 0. 1. ]] SLAMing on 61.93538475 meters Centerline goodness : 0.896964 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.12, Z:-0.06 [[ 0.97859591 0.15862803 -0.13109996 4.23543135] [-0.16172624 0.98674651 -0.01326452 -0.12197469] [ 0.12725831 0.03418291 0.99128041 -0.05503593] [ 0. 0. 0. 1. ]] SLAMing on 61.96538475 meters Centerline goodness : 0.896524 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.13, Z:-0.05 [[ 0.97762973 0.16151715 -0.13473053 4.23963586] [-0.16481919 0.98622933 -0.01365085 -0.13152915] [ 0.13067036 0.03555166 0.99078824 -0.05340358] [ 0. 0. 0. 1. ]] SLAMing on 61.99538475 meters Centerline goodness : 0.895802 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.14, Z:-0.05 [[ 0.97708618 0.16327454 -0.13654314 4.24270714] [-0.16650388 0.98596162 -0.01249576 -0.137222 ] [ 0.13258606 0.03494439 0.99055531 -0.05368055] [ 0. 0. 0. 1. ]] SLAMing on 62.02538475 meters Centerline goodness : 0.891884 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.15, Z:-0.06 [[ 0.9762487 0.16642045 -0.1387181 4.2476533 ] [-0.16923573 0.98553747 -0.00866917 -0.14943174] [ 0.13526916 0.03193933 0.99029396 -0.05607923] [ 0. 0. 0. 1. ]] SLAMing on 62.05538475 meters Centerline goodness : 0.885261 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.16, Z:-0.06 [[ 0.9756764 0.16671908 -0.14233873 4.25369852] [-0.16966562 0.98546298 -0.00873447 -0.16295654] [ 0.13881335 0.03267201 0.98977947 -0.0576197 ] [ 0. 0. 0. 1. ]] SLAMing on 62.08538475 meters Centerline goodness : 0.883222 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.17, Z:-0.06 [[ 0.97557151 0.16512026 -0.14489833 4.25745285] [-0.16844912 0.98564978 -0.01092773 -0.16928201] [ 0.14101461 0.03506878 0.9893862 -0.05811824] [ 0. 0. 0. 1. ]] SLAMing on 62.11538475 meters Centerline goodness : 0.882094 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.18, Z:-0.06 [[ 0.97555598 0.16291849 -0.14747236 4.26060976] [-0.16674086 0.98590341 -0.01385449 -0.17502402] [ 0.14313635 0.0381055 0.98896914 -0.05800475] [ 0. 0. 0. 1. ]] SLAMing on 62.14538475 meters Centerline goodness : 0.879094 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.19, Z:-0.06 [[ 0.97610995 0.16338261 -0.14323228 4.26839071] [-0.16838881 0.98544114 -0.02347271 -0.19012711] [ 0.13731195 0.04703066 0.98941071 -0.06220598] [ 0. 0. 0. 1. ]] SLAMing on 62.17538475 meters Centerline goodness : 0.881973 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.19, Z:-0.06 [[ 0.97632709 0.16048903 -0.14501267 4.26886795] [-0.16592164 0.9857935 -0.02609943 -0.194923 ] [ 0.13876387 0.04954232 0.98908551 -0.06100344] [ 0. 0. 0. 1. ]] SLAMing on 62.20538475 meters Centerline goodness : 0.880637 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.21, Z:-0.06 [[ 0.97665733 0.15986466 -0.14347037 4.26331873] [-0.16483514 0.98604407 -0.02337659 -0.2082906 ] [ 0.13773102 0.04647988 0.98937849 -0.05814776] [ 0. 0. 0. 1. ]] SLAMing on 62.23538475 meters Centerline goodness : 0.882352 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.21, Z:-0.06 [[ 0.97710645 0.15739064 -0.14314741 4.26105502] [-0.16254504 0.98638483 -0.02498173 -0.21378972] [ 0.13726654 0.04767771 0.98938604 -0.05816029] [ 0. 0. 0. 1. ]] SLAMing on 62.26538475 meters Centerline goodness : 0.882267 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.23, Z:-0.06 [[ 0.97754718 0.15516583 -0.14256605 4.25861198] [-0.1600703 0.98682511 -0.02353106 -0.22751634] [ 0.13703654 0.04582332 0.98950554 -0.05690092] [ 0. 0. 0. 1. ]] SLAMing on 62.295384750000004 meters Centerline goodness : 0.882941 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.23, Z:-0.06 [[ 0.97802128 0.15220053 -0.14251094 4.25719666] [-0.15736626 0.98720739 -0.02564056 -0.23253411] [ 0.13678534 0.04750343 0.98946106 -0.05726702] [ 0. 0. 0. 1. ]] SLAMing on 62.32538475 meters Centerline goodness : 0.883201 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.25, Z:-0.06 [[ 0.97849955 0.14983273 -0.14173492 4.25462416] [-0.15480025 0.98763864 -0.02463315 -0.2453821 ] [ 0.13629203 0.04604413 0.98959811 -0.056419 ] [ 0. 0. 0. 1. ]] SLAMing on 62.35538475 meters Centerline goodness : 0.883131 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.25, Z:-0.06 [[ 0.97899495 0.1463302 -0.14197307 4.25457897] [-0.1516302 0.98806296 -0.02720059 -0.24946029] [ 0.13629807 0.04815664 0.98949673 -0.05738403] [ 0. 0. 0. 1. ]] SLAMing on 62.38538475 meters Centerline goodness : 0.885326 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.26, Z:-0.06 [[ 0.97944007 0.14286984 -0.14242671 4.25560522] [-0.14815455 0.98859114 -0.02716236 -0.26156624] [ 0.1369211 0.04770507 0.98943258 -0.05819894] [ 0. 0. 0. 1. ]] SLAMing on 62.41538475 meters Centerline goodness : 0.887151 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.27, Z:-0.06 [[ 0.97989044 0.13947376 -0.14269475 4.25498777] [-0.14506959 0.98898032 -0.02954204 -0.26659058] [ 0.13700196 0.04964863 0.98932577 -0.05866516] [ 0. 0. 0. 1. ]] SLAMing on 62.44538475 meters Centerline goodness : 0.885302 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.28, Z:-0.06 [[ 0.98035153 0.13603545 -0.14284686 4.25466586] [-0.14170806 0.98944556 -0.03027045 -0.27742648] [ 0.13722134 0.04991823 0.9892818 -0.05909188] [ 0. 0. 0. 1. ]] SLAMing on 62.47538475 meters Centerline goodness : 0.887202 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.28, Z:-0.06 [[ 0.98039027 0.13574712 -0.14285528 4.25511924] [-0.14129686 0.98953057 -0.02940142 -0.28297482] [ 0.13736851 0.04900987 0.98930679 -0.05981011] [ 0. 0. 0. 1. ]] SLAMing on 62.50538475 meters Centerline goodness : 0.889267 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.29, Z:-0.06 [[ 0.98080606 0.13251519 -0.14303562 4.25403645] [-0.13815005 0.98995182 -0.0301656 -0.29250707] [ 0.13760098 0.04934698 0.98925773 -0.05931233] [ 0. 0. 0. 1. ]] SLAMing on 62.53538475 meters Centerline goodness : 0.887694 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.30, Z:-0.06 [[ 0.98076465 0.13272303 -0.14312683 4.25422793] [-0.13818461 0.98998549 -0.02887446 -0.29718577] [ 0.13786119 0.04809697 0.98928306 -0.05929908] [ 0. 0. 0. 1. ]] SLAMing on 62.56538475 meters Centerline goodness : 0.889458 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.30, Z:-0.06 [[ 0.98110845 0.12998806 -0.14328057 4.2547298 ] [-0.13564045 0.99029247 -0.0303725 -0.30363645] [ 0.13794161 0.04923335 0.98921595 -0.06063655] [ 0. 0. 0. 1. ]] SLAMing on 62.59538475 meters Centerline goodness : 0.889257 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.31, Z:-0.06 [[ 0.98103411 0.13041192 -0.14340431 4.25493777] [-0.13593355 0.99028273 -0.02936295 -0.30691931] [ 0.13818154 0.04829951 0.9892285 -0.06067322] [ 0. 0. 0. 1. ]] SLAMing on 62.62538475 meters Centerline goodness : 0.888145 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.31, Z:-0.06 [[ 0.9809284 0.13135165 -0.14326976 4.25445097] [-0.13665467 0.99022912 -0.02778129 -0.31159709] [ 0.13822077 0.04682993 0.98929368 -0.06057526] [ 0. 0. 0. 1. ]] SLAMing on 62.65538475 meters Centerline goodness : 0.889070 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.31, Z:-0.06 [[ 0.98086878 0.1316329 -0.14341969 4.25486005] [-0.13686061 0.99021756 -0.0271726 -0.31319693] [ 0.13843989 0.04628126 0.98928886 -0.06065221] [ 0. 0. 0. 1. ]] SLAMing on 62.68538475 meters Centerline goodness : 0.886654 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:-0.06 [[ 0.98082195 0.13154675 -0.14381846 4.25625292] [-0.13666074 0.99027047 -0.02623442 -0.31722025] [ 0.13896813 0.04538563 0.98925629 -0.06110471] [ 0. 0. 0. 1. ]] SLAMing on 62.71538475 meters Centerline goodness : 0.887275 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:-0.06 [[ 0.98077728 0.13172612 -0.14395885 4.25641098] [-0.13673834 0.99028016 -0.02545238 -0.319852 ] [ 0.13920685 0.04464781 0.9892563 -0.0609088 ] [ 0. 0. 0. 1. ]] SLAMing on 62.74538475 meters Centerline goodness : 0.886611 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:-0.06 [[ 0.98092041 0.1306751 -0.14394155 4.25705812] [-0.13561703 0.99044509 -0.02503098 -0.32398735] [ 0.13929528 0.04407433 0.98926957 -0.06108077] [ 0. 0. 0. 1. ]] SLAMing on 62.77538475 meters Centerline goodness : 0.886403 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.33, Z:-0.06 [[ 0.98090777 0.13041294 -0.14426507 4.25792754] [-0.13530996 0.99049719 -0.02462782 -0.32566447] [ 0.13968236 0.04367812 0.98923256 -0.06106488] [ 0. 0. 0. 1. ]] SLAMing on 62.80538475 meters Centerline goodness : 0.886044 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.33, Z:-0.06 [[ 0.98095352 0.13028746 -0.14406724 4.2574631 ] [-0.13504223 0.99055658 -0.02369073 -0.32850852] [ 0.13962015 0.04269467 0.98928428 -0.06030153] [ 0. 0. 0. 1. ]] SLAMing on 62.83538475 meters Centerline goodness : 0.886373 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.33, Z:-0.06 [[ 0.98091095 0.13051874 -0.1441477 4.25715651] [-0.13517108 0.99055704 -0.02292463 -0.33031106] [ 0.13979443 0.04197162 0.98929061 -0.05958658] [ 0. 0. 0. 1. ]] SLAMing on 62.86538475 meters Centerline goodness : 0.887984 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.33, Z:-0.06 [[ 0.9809161 0.13030282 -0.14430793 4.25695984] [-0.13481714 0.9906281 -0.02191611 -0.33353917] [ 0.14009976 0.04095305 0.9892901 -0.0582434 ] [ 0. 0. 0. 1. ]] SLAMing on 62.89538475 meters Centerline goodness : 0.889033 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.34, Z:-0.06 [[ 0.98086782 0.13087018 -0.14412256 4.25584224] [-0.13527107 0.99058331 -0.02112941 -0.33513393] [ 0.1400002 0.04022078 0.98933424 -0.05738268] [ 0. 0. 0. 1. ]] SLAMing on 62.92538475 meters Centerline goodness : 0.891538 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.34, Z:-0.06 [[ 0.9808152 0.13163001 -0.14378831 4.25438179] [-0.13589731 0.99051642 -0.02022733 -0.33617365] [ 0.13976215 0.03937972 0.98940173 -0.05631508] [ 0. 0. 0. 1. ]] SLAMing on 62.95538475 meters Centerline goodness : 0.890836 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.34, Z:-0.06 [[ 0.98077367 0.13177703 -0.14393684 4.25478642] [-0.13602689 0.99050221 -0.02005154 -0.33602723] [ 0.13992743 0.0392453 0.98938371 -0.05625806] [ 0. 0. 0. 1. ]] SLAMing on 62.98538475 meters Centerline goodness : 0.890255 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.34, Z:-0.06 [[ 0.98077423 0.13162444 -0.14407259 4.25605909] [-0.13588238 0.99052145 -0.02008093 -0.33596524] [ 0.14006385 0.03927178 0.98936335 -0.05700232] [ 0. 0. 0. 1. ]] SLAMing on 63.01538475 meters Centerline goodness : 0.888408 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.34, Z:-0.06 [[ 0.98076426 0.1314757 -0.14427616 4.25686077] [-0.13570618 0.99055045 -0.01984013 -0.33692925] [ 0.14030432 0.03903766 0.98933855 -0.05721092] [ 0. 0. 0. 1. ]] SLAMing on 63.045384750000004 meters Centerline goodness : 0.888756 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.34, Z:-0.06 [[ 0.98132087 0.12589332 -0.14546556 4.26034798] [-0.13073406 0.99112273 -0.02417293 -0.33843393] [ 0.14113101 0.0427387 0.98906797 -0.05913077] [ 0. 0. 0. 1. ]] SLAMing on 63.07538475 meters Centerline goodness : 0.888418 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.34, Z:-0.06 [[ 0.98134529 0.12474288 -0.14628954 4.26314918] [-0.1295797 0.9912791 -0.02397585 -0.34065978] [ 0.14202295 0.04248474 0.98895123 -0.059644 ] [ 0. 0. 0. 1. ]] SLAMing on 63.10538475 meters Centerline goodness : 0.887927 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.34, Z:-0.06 [[ 0.98269865 0.11735814 -0.14328441 4.26392865] [-0.12046955 0.99262919 -0.01320553 -0.34299099] [ 0.14067851 0.03023847 0.98959345 -0.05855547] [ 0. 0. 0. 1. ]] SLAMing on 63.13538475 meters Centerline goodness : 0.885067 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.34, Z:-0.06 [[ 0.98272578 0.11651878 -0.14378255 4.26574759] [-0.11964436 0.9927283 -0.01325689 -0.34404367] [ 0.14119233 0.03023066 0.98952051 -0.05892439] [ 0. 0. 0. 1. ]] SLAMing on 63.16538475 meters Centerline goodness : 0.885860 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.34, Z:-0.06 [[ 0.98271958 0.11602946 -0.14421992 4.2670737 ] [-0.11915585 0.99278777 -0.01320312 -0.34474611] [ 0.14164782 0.03015961 0.98945758 -0.05904043] [ 0. 0. 0. 1. ]] SLAMing on 63.19538475 meters Centerline goodness : 0.889399 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.34, Z:-0.06 [[ 0.98272934 0.11595759 -0.14421126 4.26757119] [-0.11910411 0.99279201 -0.01335078 -0.3433595 ] [ 0.14162367 0.03029636 0.98945686 -0.05920409] [ 0. 0. 0. 1. ]] SLAMing on 63.22538475 meters Centerline goodness : 0.888934 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.34, Z:-0.06 [[ 0.98227749 0.12065443 -0.14343444 4.266647 ] [-0.12325714 0.99233055 -0.00936756 -0.34135805] [ 0.14120414 0.02688086 0.98961549 -0.05826359] [ 0. 0. 0. 1. ]] SLAMing on 63.25538475 meters Centerline goodness : 0.890285 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.34, Z:-0.06 [[ 0.98180682 0.12460546 -0.14327894 4.26725691] [-0.12669665 0.9919261 -0.00552922 -0.34100786] [ 0.14143315 0.02358159 0.9896669 -0.05767044] [ 0. 0. 0. 1. ]] SLAMing on 63.28538475 meters Centerline goodness : 0.886108 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.34, Z:-0.06 [[ 9.81312676e-01 1.29593297e-01 -1.42235755e-01 4.26582117e+00] [-1.31169270e-01 9.91358494e-01 -1.72004429e-03 -3.38004878e-01] [ 1.40783717e-01 2.03448614e-02 9.89831315e-01 -5.68093444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.31538475 meters Centerline goodness : 0.886029 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.33, Z:-0.06 [[ 9.81235755e-01 1.30359527e-01 -1.42066133e-01 4.26530328e+00] [-1.31956691e-01 9.91253777e-01 -1.83893316e-03 -3.34956910e-01] [ 1.40583869e-01 2.05510038e-02 9.89855460e-01 -5.66163997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.34538475 meters Centerline goodness : 0.885910 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.33, Z:-0.06 [[ 9.80648601e-01 1.35817052e-01 -1.41003720e-01 4.26312959e+00] [-1.36898064e-01 9.90583017e-01 2.05080368e-03 -3.31501368e-01] [ 1.39954424e-01 1.72920184e-02 9.90006942e-01 -5.51287772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.37538475 meters Centerline goodness : 0.885643 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.33, Z:-0.05 [[ 9.80537029e-01 1.36807570e-01 -1.40821957e-01 4.26225056e+00] [-1.37893822e-01 9.90444871e-01 2.06187272e-03 -3.29047454e-01] [ 1.39758465e-01 1.73967353e-02 9.90032790e-01 -5.47867701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.40538475 meters Centerline goodness : 0.887382 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.33, Z:-0.05 [[ 9.80376431e-01 1.38794810e-01 -1.39993051e-01 4.26136418e+00] [-1.39698307e-01 9.90188274e-01 3.40064352e-03 -3.26511870e-01] [ 1.39091470e-01 1.62228814e-02 9.90146646e-01 -5.47238139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.43538475 meters Centerline goodness : 0.887928 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:-0.05 [[ 0.97984757 0.14287123 -0.13959425 4.26182545] [-0.14331372 0.98965305 0.00692968 -0.32467888] [ 0.13913993 0.01321574 0.99018454 -0.05430342] [ 0. 0. 0. 1. ]] SLAMing on 63.46538475 meters Centerline goodness : 0.884390 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:-0.05 [[ 0.9798487 0.14272658 -0.1397342 4.26246352] [-0.14319346 0.98967163 0.00675938 -0.32445588] [ 0.13925571 0.01338586 0.99016598 -0.05461098] [ 0. 0. 0. 1. ]] SLAMing on 63.49538475 meters Centerline goodness : 0.883762 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:-0.06 [[ 0.979913 0.14202085 -0.14000209 4.26408502] [-0.14253066 0.9897695 0.00643036 -0.32494268] [ 0.13948304 0.01365339 0.99013033 -0.05544201] [ 0. 0. 0. 1. ]] SLAMing on 63.52538475 meters Centerline goodness : 0.884117 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.33, Z:-0.06 [[ 0.97993965 0.14144795 -0.14039504 4.26568372] [-0.14198646 0.98984903 0.00622499 -0.32503928] [ 0.1398504 0.01383408 0.990076 -0.05601669] [ 0. 0. 0. 1. ]] SLAMing on 63.55538475 meters Centerline goodness : 0.881607 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.33, Z:-0.06 [[ 9.80506816e-01 1.36470422e-01 -1.41358435e-01 4.26765433e+00] [-1.37575898e-01 9.90489270e-01 1.96934437e-03 -3.25330448e-01] [ 1.40282770e-01 1.75165580e-02 9.89956522e-01 -5.72175082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.58538475 meters Centerline goodness : 0.881607 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.33, Z:-0.06 [[ 9.80506816e-01 1.36470422e-01 -1.41358435e-01 4.26765433e+00] [-1.37575898e-01 9.90489270e-01 1.96934437e-03 -3.25330448e-01] [ 1.40282770e-01 1.75165580e-02 9.89956522e-01 -5.72175082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61538475 meters Centerline goodness : 0.885286 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.33, Z:-0.06 [[ 9.80497519e-01 1.36195462e-01 -1.41687721e-01 4.26835492e+00] [-1.37253802e-01 9.90533189e-01 2.32280882e-03 -3.27122657e-01] [ 1.40662746e-01 1.71696701e-02 9.89908680e-01 -5.70667763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.64538475 meters Centerline goodness : 0.882908 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.33, Z:-0.06 [[ 9.80571371e-01 1.35294614e-01 -1.42039270e-01 4.27029788e+00] [-1.36368388e-01 9.90655770e-01 2.19272414e-03 -3.28659025e-01] [ 1.41008687e-01 1.72195438e-02 9.89858595e-01 -5.79826394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.67538475 meters Centerline goodness : 0.885703 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.33, Z:-0.06 [[ 9.80571280e-01 1.35160502e-01 -1.42167517e-01 4.27110589e+00] [-1.36230400e-01 9.90674681e-01 2.22602612e-03 -3.29047442e-01] [ 1.41142630e-01 1.71847604e-02 9.89840109e-01 -5.84857448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.70538475 meters Centerline goodness : 0.882308 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.33, Z:-0.06 [[ 9.80566187e-01 1.35064280e-01 -1.42294036e-01 4.27186987e+00] [-1.36112687e-01 9.90690490e-01 2.38519337e-03 -3.30390488e-01] [ 1.41291503e-01 1.70291837e-02 9.89821559e-01 -5.89791170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.73538475 meters Centerline goodness : 0.882509 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.33, Z:-0.06 [[ 9.80532658e-01 1.35375286e-01 -1.42229525e-01 4.27142975e+00] [-1.36367256e-01 9.90654409e-01 2.79531245e-03 -3.31054592e-01] [ 1.41278722e-01 1.66545549e-02 9.89829757e-01 -5.85576620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.76538475 meters Centerline goodness : 0.886599 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.33, Z:-0.06 [[ 9.80480710e-01 1.36118458e-01 -1.41877918e-01 4.27042850e+00] [-1.37048018e-01 9.90559089e-01 3.24530923e-03 -3.30284491e-01] [ 1.40980207e-01 1.62621243e-02 9.89878843e-01 -5.79595058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.795384750000004 meters Centerline goodness : 0.885847 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.33, Z:-0.06 [[ 9.80428350e-01 1.36512661e-01 -1.41861001e-01 4.27017596e+00] [-1.37425323e-01 9.90506328e-01 3.39044202e-03 -3.29621786e-01] [ 1.40977057e-01 1.61712084e-02 9.89880781e-01 -5.76427882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.82538475 meters Centerline goodness : 0.889054 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.33, Z:-0.06 [[ 9.80333117e-01 1.37376984e-01 -1.41684666e-01 4.26928237e+00] [-1.38249264e-01 9.90390494e-01 3.71618873e-03 -3.29106547e-01] [ 1.40833665e-01 1.59446979e-02 9.89904867e-01 -5.71664399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.85538475 meters Centerline goodness : 0.889172 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.33, Z:-0.06 [[ 9.80297452e-01 1.37396607e-01 -1.41912221e-01 4.26977661e+00] [-1.38278310e-01 9.90386584e-01 3.67748874e-03 -3.28605749e-01] [ 1.41053234e-01 1.60183493e-02 9.89872415e-01 -5.70632537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.88538475 meters Centerline goodness : 0.890093 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.33, Z:-0.06 [[ 9.80259846e-01 1.37723428e-01 -1.41855178e-01 4.26959172e+00] [-1.38595415e-01 9.90341937e-01 3.76275103e-03 -3.27848539e-01] [ 1.41003351e-01 1.59720036e-02 9.89880271e-01 -5.69028349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.91538475 meters Centerline goodness : 0.891132 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.33, Z:-0.06 [[ 9.80139961e-01 1.38855642e-01 -1.41579544e-01 4.26916281e+00] [-1.39699845e-01 9.90185784e-01 4.00821666e-03 -3.25576491e-01] [ 1.40746615e-01 1.58500271e-02 9.89918768e-01 -5.70108699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.94538475 meters Centerline goodness : 0.891229 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.33, Z:-0.06 [[ 0.98004337 0.13942377 -0.14168981 4.26873442] [-0.14022816 0.9901097 0.00434154 -0.32522851] [ 0.14089377 0.015614 0.98990159 -0.05630546] [ 0. 0. 0. 1. ]] SLAMing on 63.97538475 meters Centerline goodness : 0.893655 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.33, Z:-0.06 [[ 0.97993546 0.14041198 -0.14146012 4.26762824] [-0.14117061 0.98997408 0.00470901 -0.32516505] [ 0.14070306 0.01535548 0.98993276 -0.05585945] [ 0. 0. 0. 1. ]] SLAMing on 64.00538474999999 meters Centerline goodness : 0.892024 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.33, Z:-0.06 [[ 0.97993233 0.14007204 -0.1418184 4.26865905] [-0.14084795 0.99002054 0.00460265 -0.32508949] [ 0.14104783 0.01546455 0.98988199 -0.05599263] [ 0. 0. 0. 1. ]] SLAMing on 64.03538474999999 meters Centerline goodness : 0.891929 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.33, Z:-0.06 [[ 9.80431884e-01 1.36150675e-01 -1.42184084e-01 4.27121830e+00] [-1.37279557e-01 9.90530548e-01 1.88592639e-03 -3.26734769e-01] [ 1.41094449e-01 1.76699456e-02 9.89838436e-01 -5.77526669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.06538474999999 meters Centerline goodness : 0.890842 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.33, Z:-0.06 [[ 9.80493014e-01 1.35019946e-01 -1.42839291e-01 4.27360636e+00] [-1.36165163e-01 9.90684565e-01 1.77251846e-03 -3.28740415e-01] [ 1.41748006e-01 1.77117933e-02 9.89744308e-01 -5.84234175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.09538475 meters Centerline goodness : 0.890326 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.33, Z:-0.06 [[ 9.81148994e-01 1.29057860e-01 -1.43842692e-01 4.27638928e+00] [-1.30771375e-01 9.91409445e-01 -2.48202737e-03 -3.31122707e-01] [ 1.42286678e-01 2.12457452e-02 9.89597453e-01 -5.98597496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.12538475 meters Centerline goodness : 0.886199 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.33, Z:-0.06 [[ 0.98154533 0.12598395 -0.14386387 4.27772385] [-0.12796602 0.99176802 -0.00457096 -0.33263497] [ 0.14210372 0.02289629 0.98958693 -0.06104142] [ 0. 0. 0. 1. ]] SLAMing on 64.15538475 meters Centerline goodness : 0.884737 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.34, Z:-0.06 [[ 0.98209472 0.12091003 -0.14446705 4.27862807] [-0.12336312 0.99232845 -0.00811118 -0.33511363] [ 0.14237804 0.02578785 0.98947637 -0.06122569] [ 0. 0. 0. 1. ]] SLAMing on 64.18538475 meters Centerline goodness : 0.886387 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.34, Z:-0.06 [[ 0.98213911 0.12015968 -0.14479095 4.27997573] [-0.12261017 0.99242195 -0.00808843 -0.3360548 ] [ 0.14272181 0.02569681 0.98942921 -0.06142674] [ 0. 0. 0. 1. ]] SLAMing on 64.21538475 meters Centerline goodness : 0.885011 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.34, Z:-0.06 [[ 0.98231478 0.11783546 -0.14550764 4.28342972] [-0.12036664 0.99269152 -0.00868458 -0.33686057] [ 0.14342085 0.02604525 0.98931901 -0.06210394] [ 0. 0. 0. 1. ]] SLAMing on 64.24538475 meters Centerline goodness : 0.884545 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.34, Z:-0.06 [[ 0.98238342 0.11681026 -0.14587045 4.28470431] [-0.11934727 0.99281416 -0.00873307 -0.33792593] [ 0.14380214 0.02598846 0.98926515 -0.06196542] [ 0. 0. 0. 1. ]] SLAMing on 64.27538474999999 meters Centerline goodness : 0.886395 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.34, Z:-0.06 [[ 0.98297837 0.11046129 -0.1468054 4.28689727] [-0.11361681 0.99343615 -0.01325993 -0.33718417] [ 0.14437709 0.02971379 0.98907651 -0.06185192] [ 0. 0. 0. 1. ]] SLAMing on 64.30538474999999 meters Centerline goodness : 0.884119 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.34, Z:-0.06 [[ 0.98303833 0.10870223 -0.14771415 4.28973939] [-0.11192365 0.99362306 -0.01364929 -0.33682865] [ 0.14528848 0.02995049 0.98893591 -0.06163932] [ 0. 0. 0. 1. ]] SLAMing on 64.33538474999999 meters Centerline goodness : 0.884854 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.33, Z:-0.06 [[ 0.9834016 0.10210762 -0.14998446 4.30051157] [-0.10512739 0.9943824 -0.01232412 -0.33464139] [ 0.14788352 0.02788703 0.98861154 -0.05675548] [ 0. 0. 0. 1. ]] SLAMing on 64.36538474999999 meters Centerline goodness : 0.887158 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.33, Z:-0.06 [[ 0.98340841 0.10091401 -0.15074568 4.30223858] [-0.10401977 0.99449233 -0.01284089 -0.33300235] [ 0.1486196 0.02830837 0.98848918 -0.05608051] [ 0. 0. 0. 1. ]] SLAMing on 64.39538474999999 meters Centerline goodness : 0.889155 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.33, Z:-0.05 [[ 0.98312264 0.10034646 -0.15297212 4.30931442] [-0.10306031 0.99462588 -0.00989551 -0.328452 ] [ 0.15115705 0.02549385 0.98818096 -0.05256315] [ 0. 0. 0. 1. ]] SLAMing on 64.42538474999999 meters Centerline goodness : 0.891081 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.32, Z:-0.05 [[ 0.98309843 0.09933987 -0.15378252 4.31130398] [-0.10222848 0.99470044 -0.01097161 -0.32367139] [ 0.15187762 0.02650713 0.9880438 -0.05223273] [ 0. 0. 0. 1. ]] SLAMing on 64.45538475 meters Centerline goodness : 0.888874 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.31, Z:-0.05 [[ 0.98274512 0.09948494 -0.15593195 4.31838604] [-0.10216344 0.99472473 -0.00923799 -0.31497104] [ 0.15419033 0.02500914 0.9877246 -0.05052353] [ 0. 0. 0. 1. ]] SLAMing on 64.48538475 meters Centerline goodness : 0.888686 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.31, Z:-0.05 [[ 0.98234155 0.10186246 -0.1569367 4.32114133] [-0.10418713 0.99453557 -0.00663648 -0.31148445] [ 0.15540312 0.02287007 0.98758637 -0.04937989] [ 0. 0. 0. 1. ]] SLAMing on 64.51538475 meters Centerline goodness : 0.888453 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.31, Z:-0.05 [[ 9.81920132e-01 1.04292887e-01 -1.57974203e-01 4.32419774e+00] [-1.06216246e-01 9.94335952e-01 -3.75822466e-03 -3.07843590e-01] [ 1.56687473e-01 2.04697032e-02 9.87436088e-01 -4.81091878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.54538475 meters Centerline goodness : 0.883367 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.30, Z:-0.05 [[ 9.81553511e-01 1.04596269e-01 -1.60038512e-01 4.32978320e+00] [-1.06373757e-01 9.94322931e-01 -2.55604754e-03 -2.97148490e-01] [ 1.58862609e-01 1.95327952e-02 9.87107462e-01 -4.58457893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.57538475 meters Centerline goodness : 0.886045 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.29, Z:-0.04 [[ 9.81119466e-01 1.04442797e-01 -1.62776831e-01 4.33653682e+00] [-1.06067291e-01 9.94358108e-01 -1.29712680e-03 -2.86397784e-01] [ 1.61722986e-01 1.85379338e-02 9.86662060e-01 -4.27491744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.60538475 meters Centerline goodness : 0.884409 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.28, Z:-0.04 [[ 9.80664691e-01 1.07186168e-01 -1.63731147e-01 4.33906281e+00] [-1.08399199e-01 9.94106262e-01 1.53406477e-03 -2.81898756e-01] [ 1.62930589e-01 1.62439220e-02 9.86503805e-01 -4.12104227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.63538475 meters Centerline goodness : 0.882526 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.27, Z:-0.04 [[ 9.80180686e-01 1.09947509e-01 -1.64794925e-01 4.34319513e+00] [-1.10809470e-01 9.93833690e-01 3.98214298e-03 -2.69156687e-01] [ 1.64216575e-01 1.43576186e-02 9.86319814e-01 -3.94958597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.66538474999999 meters Centerline goodness : 0.881366 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.26, Z:-0.04 [[ 0.9797406 0.11303255 -0.16532394 4.34541499] [-0.11356088 0.99351117 0.00628398 -0.26364984] [ 0.16496147 0.01261766 0.9862193 -0.03906033] [ 0. 0. 0. 1. ]] SLAMing on 64.69538474999999 meters Centerline goodness : 0.881102 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.25, Z:-0.04 [[ 0.97873911 0.1208678 -0.16571276 4.34667929] [-0.12056579 0.99263379 0.01191826 -0.25087941] [ 0.16593262 0.00831442 0.98610204 -0.03613677] [ 0. 0. 0. 1. ]] SLAMing on 64.72538474999999 meters Centerline goodness : 0.881108 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.24, Z:-0.03 [[ 0.97812642 0.12623909 -0.16532514 4.34629458] [-0.12536558 0.99198558 0.01575066 -0.24424604] [ 0.16598851 0.00531994 0.98611334 -0.03453722] [ 0. 0. 0. 1. ]] SLAMing on 64.75538474999999 meters Centerline goodness : 0.886124 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.23, Z:-0.03 [[ 9.76153425e-01 1.43073731e-01 -1.63261747e-01 4.34356500e+00] [-1.40731261e-01 9.89709378e-01 2.58854907e-02 -2.30769666e-01] [ 1.65285216e-01 -2.29217886e-03 9.86243146e-01 -2.94556387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.78538474999999 meters Centerline goodness : 0.886283 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.23, Z:-0.03 [[ 0.9760999 0.15864373 -0.14852995 4.34311655] [-0.15552708 0.98729872 0.03244323 -0.22778774] [ 0.15179035 -0.0085674 0.98837558 -0.03259269] [ 0. 0. 0. 1. ]] SLAMing on 64.81538474999999 meters Centerline goodness : 0.894655 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.22, Z:-0.03 [[ 0.97411406 0.17953348 -0.13736643 4.34903812] [-0.17575099 0.98365042 0.03928671 -0.21775099] [ 0.14217383 -0.01412745 0.98974088 -0.03399145] [ 0. 0. 0. 1. ]] SLAMing on 64.84538475 meters Centerline goodness : 0.896792 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.21, Z:-0.03 [[ 0.9729084 0.18554634 -0.13791953 4.35292591] [-0.18166543 0.98253323 0.04032511 -0.21165444] [ 0.1429927 -0.01417743 0.9896222 -0.03419145] [ 0. 0. 0. 1. ]] SLAMing on 64.87538475 meters Centerline goodness : 0.898130 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.20, Z:-0.04 [[ 0.97009954 0.19544647 -0.14390122 4.36525302] [-0.19187538 0.98066673 0.03842655 -0.20190877] [ 0.14862947 -0.00966648 0.98884571 -0.03600213] [ 0. 0. 0. 1. ]] SLAMing on 64.90538475 meters Centerline goodness : 0.897100 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.20, Z:-0.04 [[ 0.96915072 0.199619 -0.14456531 4.36864026] [-0.19589001 0.97982063 0.039732 -0.19845031] [ 0.14957933 -0.0101874 0.98869724 -0.03602795] [ 0. 0. 0. 1. ]] SLAMing on 64.93538475 meters Centerline goodness : 0.898400 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.19, Z:-0.04 [[ 9.67210474e-01 2.03136481e-01 -1.52444969e-01 4.38098141e+00] [-2.00507226e-01 9.79149966e-01 3.25913673e-02 -1.90573710e-01] [ 1.55886982e-01 -9.56394096e-04 9.87774435e-01 -3.65427358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.96538475 meters Centerline goodness : 0.897928 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.19, Z:-0.04 [[ 9.66798819e-01 2.04198677e-01 -1.53632498e-01 4.38440257e+00] [-2.01842061e-01 9.78928866e-01 3.09525216e-02 -1.87154386e-01] [ 1.56715751e-01 1.08463866e-03 9.87643153e-01 -3.66842514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.99538475 meters Centerline goodness : 0.901577 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.18, Z:-0.04 [[ 9.65348948e-01 2.09878731e-01 -1.55088126e-01 4.38872096e+00] [-2.07412713e-01 9.77726714e-01 3.21004426e-02 -1.83661734e-01] [ 1.58371004e-01 1.17912052e-03 9.87378972e-01 -3.54750720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02538474999999 meters Centerline goodness : 0.902239 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.19, Z:-0.03 [[ 9.63651983e-01 2.15852559e-01 -1.57424677e-01 4.39334453e+00] [-2.13229569e-01 9.76425210e-01 3.35702355e-02 -1.85118858e-01] [ 1.60959644e-01 1.21757188e-03 9.86960238e-01 -3.37128481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05538474999999 meters Centerline goodness : 0.901154 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.19, Z:-0.03 [[ 9.63080870e-01 2.17347266e-01 -1.58856552e-01 4.39579163e+00] [-2.14734207e-01 9.76092846e-01 3.36448494e-02 -1.86691845e-01] [ 1.62371361e-01 1.70922507e-03 9.86728240e-01 -3.31142543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08538474999999 meters Centerline goodness : 0.906573 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.19, Z:-0.03 [[ 9.62425971e-01 2.18692693e-01 -1.60965075e-01 4.39880229e+00] [-2.16207908e-01 9.75789078e-01 3.30123497e-02 -1.90480944e-01] [ 1.64287522e-01 3.02997942e-03 9.86407841e-01 -3.21841103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11538474999999 meters Centerline goodness : 0.908212 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.19, Z:-0.03 [[ 0.9625257 0.216743 -0.16299309 4.40114857] [-0.21472422 0.97621021 0.03011875 -0.19255588] [ 0.16564354 0.00600849 0.98616739 -0.03182374] [ 0. 0. 0. 1. ]] SLAMing on 65.14538474999999 meters Centerline goodness : 0.910339 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.20, Z:-0.03 [[ 0.96238709 0.21588075 -0.16494421 4.40167059] [-0.21417154 0.97638617 0.02829475 -0.19879161] [ 0.16715754 0.00809585 0.98589696 -0.03015081] [ 0. 0. 0. 1. ]] SLAMing on 65.17538474999999 meters Centerline goodness : 0.911558 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.20, Z:-0.03 [[ 0.96250686 0.21364441 -0.16714247 4.40319956] [-0.2124716 0.9768453 0.02508139 -0.20213826] [ 0.16863084 0.01137201 0.98561368 -0.0289921 ] [ 0. 0. 0. 1. ]] SLAMing on 65.20538475 meters Centerline goodness : 0.912282 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.21, Z:-0.03 [[ 0.96257889 0.21221526 -0.16854245 4.40360477] [-0.21141396 0.9771284 0.02289598 -0.20546303] [ 0.16954649 0.01359304 0.98542844 -0.02795239] [ 0. 0. 0. 1. ]] SLAMing on 65.23538475 meters Centerline goodness : 0.914837 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.21, Z:-0.03 [[ 0.9621233 0.21203493 -0.17134745 4.40748896] [-0.21144771 0.97714426 0.02188505 -0.21329332] [ 0.17207157 0.01517491 0.98496756 -0.02817112] [ 0. 0. 0. 1. ]] SLAMing on 65.26538475 meters Centerline goodness : 0.912019 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.23, Z:-0.03 [[ 0.96059213 0.216531 -0.17429022 4.41775668] [-0.21716311 0.97600954 0.01567008 -0.22501228] [ 0.17350198 0.02279685 0.98456964 -0.02778783] [ 0. 0. 0. 1. ]] SLAMing on 65.29538475 meters Centerline goodness : 0.909864 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.23, Z:-0.03 [[ 0.96031953 0.21557255 -0.17696009 4.42031996] [-0.2167277 0.9761454 0.01301034 -0.22940801] [ 0.17554345 0.02585807 0.98413203 -0.02660085] [ 0. 0. 0. 1. ]] SLAMing on 65.32538475 meters Centerline goodness : 0.904755 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.24, Z:-0.03 [[ 9.59620689e-01 2.15560429e-01 -1.80725856e-01 4.43442401e+00] [-2.19258380e-01 9.75666704e-01 -4.96574994e-04 -2.42518545e-01] [ 1.76221158e-01 4.01021820e-02 9.83533384e-01 -2.74474260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.35538475 meters Centerline goodness : 0.905044 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.25, Z:-0.03 [[ 9.59636248e-01 2.13529748e-01 -1.83039115e-01 4.43711296e+00] [-2.17732393e-01 9.76004081e-01 -2.93921693e-03 -2.47493282e-01] [ 1.78019313e-01 4.26741237e-02 9.83101238e-01 -2.75235828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.38538475 meters Centerline goodness : 0.907765 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.26, Z:-0.03 [[ 0.95910205 0.21222088 -0.18731139 4.44102951] [-0.21703717 0.97614869 -0.0053476 -0.26018898] [ 0.18170889 0.04578243 0.98228603 -0.02670597] [ 0. 0. 0. 1. ]] SLAMing on 65.41538474999999 meters Centerline goodness : 0.904432 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.27, Z:-0.03 [[ 9.58911715e-01 2.13378446e-01 -1.86970485e-01 4.44000620e+00] [-2.17881693e-01 9.75968438e-01 -3.62987091e-03 -2.67110170e-01] [ 1.81702756e-01 4.42181714e-02 9.82358825e-01 -2.72864186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44538474999999 meters Centerline goodness : 0.904432 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.27, Z:-0.03 [[ 9.58911715e-01 2.13378446e-01 -1.86970485e-01 4.44000620e+00] [-2.17881693e-01 9.75968438e-01 -3.62987091e-03 -2.67110170e-01] [ 1.81702756e-01 4.42181714e-02 9.82358825e-01 -2.72864186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47538474999999 meters Centerline goodness : 0.908081 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.28, Z:-0.03 [[ 9.59205518e-01 2.12747270e-01 -1.86181023e-01 4.43790960e+00] [-2.17036565e-01 9.76159671e-01 -2.72511875e-03 -2.79394077e-01] [ 1.81162644e-01 4.30220385e-02 9.82511680e-01 -2.87953839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.50538474999999 meters Centerline goodness : 0.909067 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.29, Z:-0.03 [[ 9.59221714e-01 2.12732390e-01 -1.86114571e-01 4.43794910e+00] [-2.16849781e-01 9.76203306e-01 -1.81047651e-03 -2.85733690e-01] [ 1.81300513e-01 4.20955525e-02 9.82526381e-01 -2.97352571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53538474999999 meters Centerline goodness : 0.912534 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.30, Z:-0.03 [[ 0.96044702 0.2075473 -0.18564921 4.43493568] [-0.21220098 0.97721149 -0.00533365 -0.29889743] [ 0.18031156 0.04451763 0.98260161 -0.03225215] [ 0. 0. 0. 1. ]] SLAMing on 65.56538474999999 meters Centerline goodness : 0.915293 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.31, Z:-0.03 [[ 0.96107869 0.20442457 -0.18584494 4.43332453] [-0.2093678 0.97781076 -0.00715863 -0.30629379] [ 0.18025778 0.04578996 0.98255301 -0.03276165] [ 0. 0. 0. 1. ]] SLAMing on 65.59538475 meters Centerline goodness : 0.922230 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.32, Z:-0.03 [[ 0.96228833 0.19879977 -0.18568742 4.43025588] [-0.20388063 0.978959 -0.00848272 -0.32074607] [ 0.18009401 0.04602089 0.98257225 -0.03184599] [ 0. 0. 0. 1. ]] SLAMing on 65.62538475 meters Centerline goodness : 0.924516 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.33, Z:-0.03 [[ 0.96291852 0.19539574 -0.18603341 4.42958626] [-0.2007868 0.97957971 -0.01040471 -0.32700625] [ 0.18020152 0.04737194 0.98248833 -0.03247367] [ 0. 0. 0. 1. ]] SLAMing on 65.65538475 meters Centerline goodness : 0.926885 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.34, Z:-0.03 [[ 0.96415131 0.18969246 -0.18555059 4.42542246] [-0.19525718 0.98067843 -0.01201914 -0.34044543] [ 0.17968552 0.04781835 0.9825612 -0.03074447] [ 0. 0. 0. 1. ]] SLAMing on 65.68538475 meters Centerline goodness : 0.930023 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.35, Z:-0.03 [[ 0.96470862 0.1866485 -0.18574072 4.42390698] [-0.19251984 0.98119422 -0.0139287 -0.34593146] [ 0.17964795 0.04919591 0.98250006 -0.03081241] [ 0. 0. 0. 1. ]] SLAMing on 65.71538475 meters Centerline goodness : 0.932538 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.36, Z:-0.03 [[ 0.96518467 0.18450935 -0.18540458 4.4207276 ] [-0.19017147 0.9816638 -0.0130765 -0.35781639] [ 0.17959223 0.0478799 0.98257526 -0.02913455] [ 0. 0. 0. 1. ]] SLAMing on 65.74538475 meters Centerline goodness : 0.932069 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.36, Z:-0.03 [[ 0.96505487 0.18559666 -0.18499453 4.41898565] [-0.19086994 0.98155419 -0.01095591 -0.36374468] [ 0.17954878 0.04588295 0.98267848 -0.02825613] [ 0. 0. 0. 1. ]] SLAMing on 65.77538474999999 meters Centerline goodness : 0.935898 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.37, Z:-0.03 [[ 0.96543874 0.18432744 -0.18425913 4.4158172 ] [-0.18967799 0.98177675 -0.01169051 -0.37143102] [ 0.17874644 0.04623637 0.98280817 -0.02881201] [ 0. 0. 0. 1. ]] SLAMing on 65.80538474999999 meters Centerline goodness : 0.938052 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.38, Z:-0.03 [[ 0.96527129 0.18567793 -0.18377987 4.4145807 ] [-0.19067892 0.98160388 -0.00976555 -0.37776205] [ 0.17858579 0.04446935 0.98291891 -0.02907223] [ 0. 0. 0. 1. ]] SLAMing on 65.83538474999999 meters Centerline goodness : 0.939301 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.38, Z:-0.03 [[ 0.96514504 0.18648246 -0.18362829 4.41425838] [-0.19130002 0.98149288 -0.00871901 -0.38026319] [ 0.17860392 0.04354321 0.98295708 -0.02913771] [ 0. 0. 0. 1. ]] SLAMing on 65.86538474999999 meters Centerline goodness : 0.940628 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.39, Z:-0.03 [[ 0.96490938 0.18868315 -0.18261585 4.41079778] [-0.19298897 0.98118296 -0.00593692 -0.38653356] [ 0.17805937 0.04097144 0.98316642 -0.02769782] [ 0. 0. 0. 1. ]] SLAMing on 65.89538474999999 meters Centerline goodness : 0.938996 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.39, Z:-0.03 [[ 9.64707681e-01 1.89941937e-01 -1.82376398e-01 4.40915761e+00] [-1.93962531e-01 9.80999515e-01 -4.29987535e-03 -3.90152517e-01] [ 1.78094431e-01 3.95223105e-02 9.83219386e-01 -2.66717397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.92538474999999 meters Centerline goodness : 0.936929 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.40, Z:-0.03 [[ 9.64536303e-01 1.91088967e-01 -1.82084396e-01 4.40806738e+00] [-1.94841313e-01 9.80830849e-01 -2.77654940e-03 -3.95727363e-01] [ 1.78063425e-01 3.81556456e-02 9.83278986e-01 -2.67030403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95538475 meters Centerline goodness : 0.936846 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.40, Z:-0.03 [[ 9.64416048e-01 1.91800294e-01 -1.81973443e-01 4.40774189e+00] [-1.95404085e-01 9.80720949e-01 -1.91384628e-03 -3.98208677e-01] [ 1.78098091e-01 3.74040982e-02 9.83301583e-01 -2.68337717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.98538475 meters Centerline goodness : 0.936548 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.40, Z:-0.03 [[ 9.64168399e-01 1.93646197e-01 -1.81329669e-01 4.40625683e+00] [-1.96962546e-01 9.80410971e-01 -2.87906039e-04 -4.02477853e-01] [ 1.77721845e-01 3.59927430e-02 9.83422325e-01 -2.72307981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.01538475 meters Centerline goodness : 0.935191 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.40, Z:-0.03 [[ 9.63999110e-01 1.94676205e-01 -1.81126729e-01 4.40558581e+00] [-1.97872605e-01 9.80227651e-01 4.30548808e-04 -4.03556619e-01] [ 1.77629246e-01 3.54249691e-02 9.83459670e-01 -2.72348235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.04538475 meters Centerline goodness : 0.936497 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.41, Z:-0.03 [[ 0.96310184 0.1999018 -0.18020575 4.40472839] [-0.20223066 0.97932221 0.00554673 -0.40852597] [ 0.17758829 0.03110106 0.9836133 -0.02689147] [ 0. 0. 0. 1. ]] SLAMing on 66.07538475 meters Centerline goodness : 0.935781 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.41, Z:-0.03 [[ 0.96294178 0.20091175 -0.17993775 4.40364738] [-0.2030957 0.979138 0.00639661 -0.4106036 ] [ 0.17746904 0.03038502 0.9836572 -0.02678496] [ 0. 0. 0. 1. ]] SLAMing on 66.10538475 meters Centerline goodness : 0.937058 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.41, Z:-0.03 [[ 0.96270731 0.20249962 -0.17941164 4.40281433] [-0.20448461 0.9788406 0.00755815 -0.41359142] [ 0.17714592 0.02941063 0.98374506 -0.02764909] [ 0. 0. 0. 1. ]] SLAMing on 66.13538475 meters Centerline goodness : 0.937962 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.42, Z:-0.03 [[ 0.96259616 0.20326259 -0.17914504 4.40226378] [-0.20515114 0.97869662 0.00812028 -0.41524465] [ 0.17697919 0.02893526 0.98378916 -0.02804319] [ 0. 0. 0. 1. ]] SLAMing on 66.16538474999999 meters Centerline goodness : 0.937861 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.42, Z:-0.03 [[ 0.96236662 0.2048444 -0.17857567 4.40045283] [-0.20645151 0.97840835 0.00974058 -0.42045022] [ 0.17671523 0.0274932 0.98387797 -0.02813347] [ 0. 0. 0. 1. ]] SLAMing on 66.19538474999999 meters Centerline goodness : 0.936539 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.42, Z:-0.03 [[ 0.96224469 0.20571609 -0.17823033 4.39948055] [-0.20717094 0.97824716 0.01061573 -0.4231361 ] [ 0.17653714 0.02670921 0.98393153 -0.02824006] [ 0. 0. 0. 1. ]] SLAMing on 66.22538474999999 meters Centerline goodness : 0.933002 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.43, Z:-0.03 [[ 0.96207888 0.20687273 -0.17778609 4.3984199 ] [-0.20808948 0.97803638 0.01198385 -0.42721386] [ 0.17636039 0.025466 0.98399619 -0.02845862] [ 0. 0. 0. 1. ]] SLAMing on 66.25538474999999 meters Centerline goodness : 0.934165 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.43, Z:-0.03 [[ 0.96199065 0.20746868 -0.17756894 4.39773447] [-0.2085485 0.97792863 0.01277169 -0.42967483] [ 0.17629948 0.0247455 0.98402548 -0.02845774] [ 0. 0. 0. 1. ]] SLAMing on 66.28538474999999 meters Centerline goodness : 0.936809 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.43, Z:-0.03 [[ 0.96253362 0.20530848 -0.17713683 4.39471075] [-0.20675862 0.97833632 0.01043611 -0.43322359] [ 0.17544202 0.02657946 0.9841309 -0.0289496 ] [ 0. 0. 0. 1. ]] SLAMing on 66.31538474999999 meters Centerline goodness : 0.934056 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.44, Z:-0.03 [[ 0.96247318 0.20562163 -0.177102 4.39461336] [-0.2069461 0.97828864 0.01116437 -0.43604458] [ 0.17555251 0.02590517 0.98412918 -0.02906472] [ 0. 0. 0. 1. ]] SLAMing on 66.34538475 meters Centerline goodness : 0.934531 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.44, Z:-0.03 [[ 0.96245926 0.20597039 -0.17677208 4.3939242 ] [-0.20709923 0.97824331 0.01224506 -0.44118368] [ 0.17544822 0.02482399 0.98417564 -0.02922583] [ 0. 0. 0. 1. ]] SLAMing on 66.37538475 meters Centerline goodness : 0.936969 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.44, Z:-0.03 [[ 0.96238093 0.20634212 -0.17676502 4.393667 ] [-0.20733801 0.97818267 0.01302375 -0.44369101] [ 0.17559583 0.0241163 0.98416691 -0.0290363 ] [ 0. 0. 0. 1. ]] SLAMing on 66.40538475 meters Centerline goodness : 0.933876 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.45, Z:-0.03 [[ 0.9629932 0.20389622 -0.17626806 4.39011257] [-0.20528242 0.9786461 0.01053323 -0.44747004] [ 0.17465174 0.0260413 0.98428584 -0.02918456] [ 0. 0. 0. 1. ]] SLAMing on 66.43538475 meters Centerline goodness : 0.932726 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.45, Z:-0.03 [[ 0.96289787 0.20437273 -0.17623698 4.38952009] [-0.20557428 0.97857262 0.01161233 -0.45049957] [ 0.17483392 0.02504831 0.98427927 -0.02851365] [ 0. 0. 0. 1. ]] SLAMing on 66.46538475 meters Centerline goodness : 0.933683 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.46, Z:-0.03 [[ 0.96280035 0.20522726 -0.17577617 4.38814455] [-0.20617049 0.97842865 0.01308033 -0.45638707] [ 0.17466888 0.02364611 0.98434325 -0.0284624 ] [ 0. 0. 0. 1. ]] SLAMing on 66.49538475 meters Centerline goodness : 0.933606 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.46, Z:-0.03 [[ 0.96272274 0.20560743 -0.17575697 4.38805519] [-0.20641601 0.978366 0.01387108 -0.45903849] [ 0.17480664 0.02292505 0.98433586 -0.02848942] [ 0. 0. 0. 1. ]] SLAMing on 66.52538474999999 meters Centerline goodness : 0.932605 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.46, Z:-0.03 [[ 0.96277881 0.20563944 -0.17541201 4.38799497] [-0.20623623 0.97838691 0.01502218 -0.4644534 ] [ 0.17470997 0.02171328 0.9843805 -0.02893481] [ 0. 0. 0. 1. ]] SLAMing on 66.55538474999999 meters Centerline goodness : 0.933577 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.47, Z:-0.03 [[ 0.96275998 0.20557526 -0.17559055 4.38845632] [-0.20602686 0.97841787 0.01585559 -0.46768008] [ 0.17506044 0.02091124 0.98433559 -0.02875109] [ 0. 0. 0. 1. ]] SLAMing on 66.58538474999999 meters Centerline goodness : 0.930776 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.47, Z:-0.03 [[ 0.96351037 0.20199386 -0.17563101 4.38811983] [-0.20286211 0.97911851 0.01318777 -0.47294512] [ 0.17462742 0.02292232 0.98436773 -0.03033852] [ 0. 0. 0. 1. ]] SLAMing on 66.61538474999999 meters Centerline goodness : 0.929041 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.48, Z:-0.03 [[ 0.96420553 0.19864587 -0.17563464 4.3886249 ] [-0.19990312 0.97975738 0.01068729 -0.47809497] [ 0.17420232 0.02480517 0.98439741 -0.0325004 ] [ 0. 0. 0. 1. ]] SLAMing on 66.64538474999999 meters Centerline goodness : 0.927923 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.48, Z:-0.03 [[ 0.96420441 0.19851911 -0.17578402 4.38934608] [-0.19967659 0.97979715 0.01126048 -0.48080945] [ 0.1744681 0.02424255 0.98436435 -0.03269752] [ 0. 0. 0. 1. ]] SLAMing on 66.67538474999999 meters Centerline goodness : 0.927950 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.48, Z:-0.03 [[ 0.96419857 0.19851648 -0.17581902 4.38974452] [-0.19957785 0.97981084 0.01180712 -0.48320885] [ 0.17461329 0.02370517 0.9843517 -0.03285397] [ 0. 0. 0. 1. ]] SLAMing on 66.70538475 meters Centerline goodness : 0.926904 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.49, Z:-0.03 [[ 0.96422674 0.19875176 -0.17539821 4.389408 ] [-0.19966318 0.97978335 0.01261751 -0.48758758] [ 0.17436 0.02285442 0.98441671 -0.03349895] [ 0. 0. 0. 1. ]] SLAMing on 66.73538475 meters Centerline goodness : 0.926447 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.49, Z:-0.03 [[ 0.96420712 0.19872451 -0.17553687 4.39010295] [-0.19956364 0.97979808 0.01304121 -0.49007127] [ 0.1745823 0.02245635 0.98438648 -0.03392367] [ 0. 0. 0. 1. ]] SLAMing on 66.76538475 meters Centerline goodness : 0.923766 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.50, Z:-0.03 [[ 0.96431249 0.19791211 -0.17587555 4.3916755 ] [-0.19869477 0.97997078 0.01332897 -0.49503875] [ 0.17499087 0.02209226 0.98432217 -0.03482728] [ 0. 0. 0. 1. ]] SLAMing on 66.79538475 meters Centerline goodness : 0.924374 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.50, Z:-0.03 [[ 0.96426772 0.19810086 -0.17590852 4.39158182] [-0.19875417 0.97994826 0.01407759 -0.49764699] [ 0.17517003 0.02138798 0.98430585 -0.03448109] [ 0. 0. 0. 1. ]] SLAMing on 66.82538475 meters Centerline goodness : 0.922116 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.50, Z:-0.03 [[ 0.96425315 0.19828546 -0.17578039 4.39137291] [-0.19873879 0.97993458 0.01520235 -0.50237909] [ 0.17526768 0.02027547 0.98431202 -0.03431126] [ 0. 0. 0. 1. ]] SLAMing on 66.85538475 meters Centerline goodness : 0.922301 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.51, Z:-0.03 [[ 0.96417877 0.19882423 -0.17557969 4.39091005] [-0.19904841 0.97985048 0.0165154 -0.50766623] [ 0.1753255 0.01902506 0.98432668 -0.03426382] [ 0. 0. 0. 1. ]] SLAMing on 66.88538475 meters Centerline goodness : 0.921502 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.51, Z:-0.03 [[ 0.96409507 0.19940881 -0.17537622 4.39038606] [-0.19949903 0.97974532 0.0172989 -0.51018401] [ 0.17527358 0.0183096 0.9843495 -0.03431587] [ 0. 0. 0. 1. ]] SLAMing on 66.91538474999999 meters Centerline goodness : 0.920444 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.51, Z:-0.03 [[ 0.96391 0.20116106 -0.17438962 4.38752031] [-0.20097011 0.97941426 0.01893984 -0.51427223] [ 0.17460964 0.0167908 0.98449456 -0.03395625] [ 0. 0. 0. 1. ]] SLAMing on 66.94538474999999 meters Centerline goodness : 0.919387 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.52, Z:-0.03 [[ 0.96377965 0.20196187 -0.17418435 4.38630975] [-0.20161641 0.97926311 0.01986409 -0.51668402] [ 0.17458409 0.01597382 0.98451269 -0.03337576] [ 0. 0. 0. 1. ]] SLAMing on 66.97538474999999 meters Centerline goodness : 0.921834 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.52, Z:-0.03 [[ 0.96540876 0.19344268 -0.17483094 4.38467508] [-0.19421308 0.98087509 0.01285873 -0.52065326] [ 0.17397474 0.02154053 0.9845145 -0.03400944] [ 0. 0. 0. 1. ]] SLAMing on 67.00538474999999 meters Centerline goodness : 0.921924 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.52, Z:-0.03 [[ 0.9661934 0.18894214 -0.17541714 4.38429642] [-0.19030753 0.98168177 0.00916203 -0.52235228] [ 0.17393491 0.02453091 0.98445156 -0.03420813] [ 0. 0. 0. 1. ]] SLAMing on 67.03538474999999 meters Centerline goodness : 0.920423 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.53, Z:-0.04 [[ 0.96710036 0.18313803 -0.17657109 4.38737775] [-0.18520659 0.9826877 0.00483733 -0.5250912 ] [ 0.17440014 0.02802395 0.984276 -0.03627683] [ 0. 0. 0. 1. ]] SLAMing on 67.06538474999999 meters Centerline goodness : 0.921500 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.53, Z:-0.04 [[ 9.67157160e-01 1.82288203e-01 -1.77138472e-01 4.39036372e+00] [-1.84454517e-01 9.82831634e-01 4.30231873e-03 -5.25628720e-01] [ 1.74881556e-01 2.85129729e-02 9.84176535e-01 -3.79228694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.09538475 meters Centerline goodness : 0.915495 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.53, Z:-0.04 [[ 0.96710403 0.18256948 -0.17713886 4.39588047] [-0.18451679 0.98281364 0.00555976 -0.52740116] [ 0.17510953 0.02730823 0.98417016 -0.0410399 ] [ 0. 0. 0. 1. ]] SLAMing on 67.12538475 meters Centerline goodness : 0.914128 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.53, Z:-0.04 [[ 0.96711685 0.18188661 -0.17777022 4.39779576] [-0.18384238 0.98294007 0.00554971 -0.52854017] [ 0.17574689 0.02731448 0.98405638 -0.04118 ] [ 0. 0. 0. 1. ]] SLAMing on 67.15538475 meters Centerline goodness : 0.915539 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.53, Z:-0.04 [[ 0.96709616 0.18106641 -0.17871756 4.40044664] [-0.18306347 0.9830863 0.00539357 -0.52966573] [ 0.17667138 0.02750055 0.98388564 -0.04141628] [ 0. 0. 0. 1. ]] SLAMing on 67.18538475 meters Centerline goodness : 0.915119 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.53, Z:-0.04 [[ 0.9670614 0.18088549 -0.17908847 4.40107267] [-0.18287839 0.98312039 0.00545864 -0.53007361] [ 0.17705291 0.02747257 0.98381783 -0.04108617] [ 0. 0. 0. 1. ]] SLAMing on 67.21538475 meters Centerline goodness : 0.915956 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.53, Z:-0.04 [[ 0.96703563 0.18083622 -0.17927733 4.40159962] [-0.18283326 0.98312877 0.00546088 -0.52988629] [ 0.17724022 0.02749699 0.98378342 -0.04103396] [ 0. 0. 0. 1. ]] SLAMing on 67.24538475 meters Centerline goodness : 0.916774 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.53, Z:-0.04 [[ 0.96713551 0.17959576 -0.1799841 4.40414147] [-0.18163738 0.98335177 0.00521072 -0.52935849] [ 0.17792351 0.02765237 0.98365572 -0.0407851 ] [ 0. 0. 0. 1. ]] SLAMing on 67.27538474999999 meters Centerline goodness : 0.916981 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.53, Z:-0.04 [[ 9.67896728e-01 1.74306818e-01 -1.81088532e-01 4.40584284e+00] [-1.77130815e-01 9.84187142e-01 5.86415518e-04 -5.27306733e-01] [ 1.78327221e-01 3.15087695e-02 9.83466624e-01 -4.11906023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.30538474999999 meters Centerline goodness : 0.915132 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.53, Z:-0.04 [[ 9.67920063e-01 1.73662227e-01 -1.81582437e-01 4.40767469e+00] [-1.76565736e-01 9.84288834e-01 1.77733198e-04 -5.26044981e-01] [ 1.78760431e-01 3.18892051e-02 9.83375710e-01 -4.14278074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33538474999999 meters Centerline goodness : 0.913568 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.52, Z:-0.04 [[ 9.67916571e-01 1.73072259e-01 -1.82163400e-01 4.40995914e+00] [-1.76061031e-01 9.84379224e-01 -2.39642648e-04 -5.23802225e-01] [ 1.79276391e-01 3.23038302e-02 9.83268243e-01 -4.16780732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.36538474999999 meters Centerline goodness : 0.913568 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.52, Z:-0.04 [[ 9.67916571e-01 1.73072259e-01 -1.82163400e-01 4.40995914e+00] [-1.76061031e-01 9.84379224e-01 -2.39642648e-04 -5.23802225e-01] [ 1.79276391e-01 3.23038302e-02 9.83268243e-01 -4.16780732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39538474999999 meters Centerline goodness : 0.912409 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.52, Z:-0.04 [[ 9.67865587e-01 1.72898985e-01 -1.82598318e-01 4.41065827e+00] [-1.75862560e-01 9.84414729e-01 -3.84068452e-05 -5.23679033e-01] [ 1.79745833e-01 3.21493803e-02 9.83187598e-01 -4.09276964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.42538474999999 meters Centerline goodness : 0.910553 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.52, Z:-0.04 [[ 9.67843811e-01 1.72632706e-01 -1.82965315e-01 4.41075020e+00] [-1.75459247e-01 9.84486409e-01 7.51000056e-04 -5.24602863e-01] [ 1.80256513e-01 3.13761055e-02 9.83119082e-01 -3.88776236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45538475 meters Centerline goodness : 0.911445 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.52, Z:-0.04 [[ 9.67835971e-01 1.72446197e-01 -1.83182539e-01 4.41094598e+00] [-1.75210736e-01 9.84530328e-01 1.10959087e-03 -5.24813486e-01] [ 1.80540110e-01 3.10216456e-02 9.83078291e-01 -3.79275317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.48538475 meters Centerline goodness : 0.913479 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.52, Z:-0.04 [[ 9.68577376e-01 1.67277039e-01 -1.84055043e-01 4.41213573e+00] [-1.70713885e-01 9.85316454e-01 -2.87298610e-03 -5.23197146e-01] [ 1.80871878e-01 3.42034607e-02 9.82911739e-01 -3.74759637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.51538475 meters Centerline goodness : 0.911133 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.52, Z:-0.04 [[ 0.96933583 0.16122987 -0.18545344 4.41475142] [-0.16537405 0.98620612 -0.00699423 -0.52256949] [ 0.18176764 0.03744895 0.98262816 -0.03692995] [ 0. 0. 0. 1. ]] SLAMing on 67.54538475 meters Centerline goodness : 0.913014 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.52, Z:-0.04 [[ 0.96942122 0.15997817 -0.18608999 4.41694187] [-0.16411412 0.98641698 -0.006935 -0.52325908] [ 0.18245288 0.03726293 0.98250823 -0.03637196] [ 0. 0. 0. 1. ]] SLAMing on 67.57538475 meters Centerline goodness : 0.911991 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.52, Z:-0.04 [[ 0.96947859 0.1586588 -0.1869188 4.41937365] [-0.16280288 0.98663426 -0.00693186 -0.52345372] [ 0.18332069 0.03715121 0.98235091 -0.03560045] [ 0. 0. 0. 1. ]] SLAMing on 67.60538475 meters Centerline goodness : 0.911450 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.52, Z:-0.03 [[ 0.96962878 0.15631106 -0.18811403 4.42336887] [-0.16036227 0.98703737 -0.00641635 -0.52399712] [ 0.18467263 0.03638787 0.98212623 -0.03334336] [ 0. 0. 0. 1. ]] SLAMing on 67.63538475 meters Centerline goodness : 0.914215 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.52, Z:-0.03 [[ 0.9696136 0.15585095 -0.18857347 4.4243884 ] [-0.15989289 0.98711414 -0.00631927 -0.52370232] [ 0.18515867 0.03627881 0.98203875 -0.03261182] [ 0. 0. 0. 1. ]] SLAMing on 67.66538474999999 meters Centerline goodness : 0.915320 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.52, Z:-0.03 [[ 0.96957204 0.15536748 -0.1891851 4.42602436] [-0.15954922 0.98716528 -0.00698301 -0.51994135] [ 0.18567203 0.03695487 0.98191661 -0.03234549] [ 0. 0. 0. 1. ]] SLAMing on 67.69538474999999 meters Centerline goodness : 0.917046 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.52, Z:-0.03 [[ 9.68971599e-01 1.58564298e-01 -1.89608556e-01 4.42936106e+00] [-1.62188921e-01 9.86752962e-01 -3.65314006e-03 -5.17869736e-01] [ 1.86517547e-01 3.42921960e-02 9.81852968e-01 -3.20716545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.72538474999999 meters Centerline goodness : 0.917050 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.52, Z:-0.03 [[ 9.68322797e-01 1.62029264e-01 -1.89993364e-01 4.43200372e+00] [-1.64970064e-01 9.86298515e-01 3.41848824e-04 -5.17937631e-01] [ 1.87445562e-01 3.10121973e-02 9.81785315e-01 -3.11725849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75538474999999 meters Centerline goodness : 0.916122 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.52, Z:-0.03 [[ 9.67670265e-01 1.65376572e-01 -1.90433313e-01 4.43560887e+00] [-1.67806596e-01 9.85814043e-01 3.40851042e-03 -5.15524086e-01] [ 1.88295522e-01 2.86576519e-02 9.81694217e-01 -3.15622332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.78538474999999 meters Centerline goodness : 0.915177 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.52, Z:-0.03 [[ 0.96696432 0.16890522 -0.19092153 4.43819639] [-0.17065175 0.98530378 0.00737895 -0.51570125] [ 0.18936205 0.02544591 0.98157757 -0.03054279] [ 0. 0. 0. 1. ]] SLAMing on 67.81538474999999 meters Centerline goodness : 0.913728 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.51, Z:-0.03 [[ 0.96692811 0.16863884 -0.19133991 4.4395567 ] [-0.17053047 0.9853299 0.00665932 -0.51338965] [ 0.18965596 0.0261902 0.98150124 -0.03109104] [ 0. 0. 0. 1. ]] SLAMing on 67.84538475 meters Centerline goodness : 0.916882 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.51, Z:-0.03 [[ 0.96616948 0.17258182 -0.19165605 4.44217911] [-0.17394514 0.98470639 0.00981937 -0.51050378] [ 0.19041958 0.02385046 0.98141303 -0.03114421] [ 0. 0. 0. 1. ]] SLAMing on 67.87538475 meters Centerline goodness : 0.918163 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.51, Z:-0.03 [[ 0.965433 0.17657196 -0.19173281 4.44410219] [-0.17724796 0.98407004 0.01375948 -0.50985528] [ 0.19110806 0.02070039 0.9813507 -0.03049557] [ 0. 0. 0. 1. ]] SLAMing on 67.90538475 meters Centerline goodness : 0.920784 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.51, Z:-0.03 [[ 0.96455966 0.18134768 -0.19167077 4.44581861] [-0.18146455 0.9832489 0.01709454 -0.5056973 ] [ 0.19156013 0.01829275 0.98131039 -0.0306451 ] [ 0. 0. 0. 1. ]] SLAMing on 67.93538475 meters Centerline goodness : 0.917214 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.50, Z:-0.03 [[ 0.96358434 0.18718186 -0.19096642 4.44487282] [-0.1866131 0.98220638 0.02112283 -0.50168085] [ 0.19152225 0.01528321 0.98136927 -0.02967713] [ 0. 0. 0. 1. ]] SLAMing on 67.96538475 meters Centerline goodness : 0.923310 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.50, Z:-0.03 [[ 0.96339754 0.18844515 -0.19066622 4.44286435] [-0.18784004 0.98196626 0.0214099 -0.49937947] [ 0.19126239 0.01518851 0.98142142 -0.02867453] [ 0. 0. 0. 1. ]] SLAMing on 67.99538475 meters Centerline goodness : 0.929693 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.50, Z:-0.02 [[ 0.96272676 0.19291288 -0.18958324 4.4361185 ] [-0.19186532 0.98112672 0.02404277 -0.49711778] [ 0.19064334 0.01322783 0.98157024 -0.02478811] [ 0. 0. 0. 1. ]] SLAMing on 68.02538474999999 meters Centerline goodness : 0.932560 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.50, Z:-0.02 [[ 0.96257454 0.1937868 -0.18946487 4.43487532] [-0.19271766 0.98095501 0.02423151 -0.49527878] [ 0.19055226 0.01318859 0.98158846 -0.02397276] [ 0. 0. 0. 1. ]] SLAMing on 68.05538474999999 meters Centerline goodness : 0.932750 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.49, Z:-0.02 [[ 0.96238294 0.19529055 -0.18889331 4.43241647] [-0.1941561 0.98066024 0.02467619 -0.4930223 ] [ 0.19005919 0.01292685 0.98168753 -0.02295887] [ 0. 0. 0. 1. ]] SLAMing on 68.08538474999999 meters Centerline goodness : 0.936879 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.49, Z:-0.02 [[ 0.96234564 0.19538295 -0.18898777 4.43232171] [-0.19421614 0.98064373 0.02485878 -0.49298904] [ 0.19018665 0.01278173 0.98166474 -0.02248333] [ 0. 0. 0. 1. ]] SLAMing on 68.11538474999999 meters Centerline goodness : 0.939175 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.49, Z:-0.02 [[ 0.96234912 0.19545403 -0.18889654 4.4314333 ] [-0.19411822 0.9806406 0.02573186 -0.49475095] [ 0.19026901 0.01190523 0.9816598 -0.02095738] [ 0. 0. 0. 1. ]] SLAMing on 68.14538474999999 meters Centerline goodness : 0.941435 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.50, Z:-0.02 [[ 0.96237126 0.19512771 -0.18912097 4.43202782] [-0.19372394 0.98070979 0.02606428 -0.49608523] [ 0.19055865 0.01155374 0.98160782 -0.02061648] [ 0. 0. 0. 1. ]] SLAMing on 68.17538474999999 meters Centerline goodness : 0.941403 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.50, Z:-0.02 [[ 0.96322281 0.18996745 -0.19003734 4.43334787] [-0.189269 0.98167902 0.02198956 -0.49739176] [ 0.19073297 0.01478733 0.98153057 -0.02147164] [ 0. 0. 0. 1. ]] SLAMing on 68.20538475 meters Centerline goodness : 0.945075 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.50, Z:-0.02 [[ 0.96325037 0.18926618 -0.19059655 4.43486277] [-0.18848405 0.9818209 0.0223937 -0.49981252] [ 0.19137005 0.01435367 0.981413 -0.02110769] [ 0. 0. 0. 1. ]] SLAMing on 68.23538475 meters Centerline goodness : 0.943020 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.50, Z:-0.02 [[ 0.96342965 0.18737697 -0.19155463 4.43871103] [-0.18660446 0.98218358 0.02223026 -0.5026483 ] [ 0.19230725 0.01432765 0.98123017 -0.02167767] [ 0. 0. 0. 1. ]] SLAMing on 68.26538475 meters Centerline goodness : 0.943977 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.50, Z:-0.02 [[ 0.96348124 0.18660798 -0.19204522 4.44093435] [-0.1858579 0.98232859 0.02207685 -0.50393131] [ 0.19277123 0.01442249 0.98113773 -0.02247265] [ 0. 0. 0. 1. ]] SLAMing on 68.29538475 meters Centerline goodness : 0.945058 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.51, Z:-0.02 [[ 0.96359969 0.1853295 -0.19268788 4.44385408] [-0.18458349 0.98257108 0.02197758 -0.50641288] [ 0.19340263 0.01438942 0.98101395 -0.02324043] [ 0. 0. 0. 1. ]] SLAMing on 68.32538475 meters Centerline goodness : 0.943646 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.51, Z:-0.02 [[ 0.96357067 0.1851194 -0.19303466 4.44485247] [-0.18432245 0.98261416 0.02224076 -0.50770571] [ 0.19379578 0.01415008 0.98093984 -0.0231993 ] [ 0. 0. 0. 1. ]] SLAMing on 68.35538475 meters Centerline goodness : 0.948739 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.51, Z:-0.02 [[ 0.96352661 0.1850184 -0.19335117 4.44564741] [-0.1841321 0.98263921 0.02270562 -0.50981198] [ 0.19419539 0.01372469 0.98086685 -0.02306242] [ 0. 0. 0. 1. ]] SLAMing on 68.38538475 meters Centerline goodness : 0.947274 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.51, Z:-0.02 [[ 0.96350152 0.1851929 -0.19330908 4.44567705] [-0.18427067 0.98260869 0.02290158 -0.51047056] [ 0.19418839 0.01355549 0.98087059 -0.02314699] [ 0. 0. 0. 1. ]] SLAMing on 68.41538474999999 meters Centerline goodness : 0.950390 Centerline is valid? [False, True] Translation: X:4.45, Y:-0.51, Z:-0.02 [[ 0.96346964 0.18539522 -0.19327409 4.4456444 ] [-0.18444181 0.98257248 0.02307686 -0.51054978] [ 0.19418414 0.01341397 0.98087338 -0.02306715] [ 0. 0. 0. 1. ]] SLAMing on 68.44538474999999 meters Centerline goodness : 0.950054 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.52, Z:-0.01 [[ 9.63253068e-01 1.90767442e-01 -1.89080170e-01 4.47419098e+00] [-1.87294991e-01 9.81635128e-01 3.62362034e-02 -5.22138099e-01] [ 1.92520425e-01 5.09134808e-04 9.81292834e-01 -9.54130711e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47538474999999 meters Centerline goodness : 0.952345 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.53, Z:-0.00 [[ 9.62514835e-01 1.94383974e-01 -1.89156189e-01 4.50556766e+00] [-1.90967194e-01 9.80924809e-01 3.63049467e-02 -5.30117508e-01] [ 1.92605098e-01 1.17857698e-03 9.81275643e-01 -3.52804221e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.50538474999999 meters Centerline goodness : 0.953191 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.54, Z:0.00 [[ 9.62285031e-01 1.96060336e-01 -1.88594444e-01 4.53751351e+00] [-1.92684512e-01 9.80590760e-01 3.62552194e-02 -5.36976581e-01] [ 1.92042179e-01 1.45137335e-03 9.81385600e-01 2.30930840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53538474999999 meters Centerline goodness : 0.953112 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.54, Z:0.01 [[ 9.61986372e-01 1.98998788e-01 -1.87033964e-01 4.56781167e+00] [-1.95722933e-01 9.79997769e-01 3.60125716e-02 -5.44131127e-01] [ 1.90459325e-01 1.96323283e-03 9.81693125e-01 9.11930107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.56538474999999 meters Centerline goodness : 0.953338 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.55, Z:0.01 [[ 9.62087895e-01 2.00332059e-01 -1.85078222e-01 4.59916589e+00] [-1.97139124e-01 9.79725698e-01 3.56892439e-02 -5.50381309e-01] [ 1.88475590e-01 2.14996908e-03 9.82075521e-01 1.42588254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.59538475 meters Centerline goodness : 0.952729 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.56, Z:0.02 [[ 9.62276593e-01 2.00367140e-01 -1.84056425e-01 4.62959798e+00] [-1.97199626e-01 9.79718657e-01 3.55480162e-02 -5.56315433e-01] [ 1.87446168e-01 2.08883429e-03 9.82272656e-01 1.90296908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.62538475 meters Centerline goodness : 0.952843 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.56, Z:0.02 [[ 9.62218786e-01 2.00865546e-01 -1.83815232e-01 4.66084930e+00] [-1.97705387e-01 9.79616503e-01 3.55539985e-02 -5.62925174e-01] [ 1.87210008e-01 2.13053620e-03 9.82317603e-01 2.46323123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.65538475 meters Centerline goodness : 0.950687 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.57, Z:0.03 [[ 9.61926564e-01 2.01429488e-01 -1.84725327e-01 4.69118262e+00] [-1.98237371e-01 9.79500555e-01 3.57855757e-02 -5.69839165e-01] [ 1.88146830e-01 2.19636718e-03 9.82138456e-01 3.01319403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.68538475 meters Centerline goodness : 0.949683 Centerline is valid? [True, False] Translation: X:4.69, Y:-0.57, Z:0.03 [[ 9.61934953e-01 2.00977501e-01 -1.85173407e-01 4.69267766e+00] [-1.97842340e-01 9.79592581e-01 3.54511319e-02 -5.69709043e-01] [ 1.88519376e-01 2.53345730e-03 9.82066203e-01 2.96383470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.71538475 meters Centerline goodness : 0.947408 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.57, Z:0.03 [[ 9.62031426e-01 1.99734468e-01 -1.86015262e-01 4.69611146e+00] [-1.96738081e-01 9.79844547e-01 3.46235713e-02 -5.70405721e-01] [ 1.89181560e-01 3.28732190e-03 9.81936623e-01 2.80246436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.74538475 meters Centerline goodness : 0.947050 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.57, Z:0.03 [[ 9.62054871e-01 1.99106193e-01 -1.86566743e-01 4.69805295e+00] [-1.96153008e-01 9.79971491e-01 3.43492940e-02 -5.70990727e-01] [ 1.89669246e-01 3.54972228e-03 9.81841625e-01 2.74252220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77538474999999 meters Centerline goodness : 0.946047 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.57, Z:0.03 [[ 9.62113013e-01 1.98412034e-01 -1.87005921e-01 4.70020229e+00] [-1.95483949e-01 9.80111754e-01 3.41610312e-02 -5.72153358e-01] [ 1.90064661e-01 3.68988335e-03 9.81764641e-01 2.65151533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80538474999999 meters Centerline goodness : 0.946329 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.57, Z:0.03 [[ 9.62106705e-01 1.98318040e-01 -1.87138029e-01 4.70079830e+00] [-1.95373781e-01 9.80131033e-01 3.42380505e-02 -5.72822407e-01] [ 1.90209813e-01 3.62120637e-03 9.81736784e-01 2.63188571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83538474999999 meters Centerline goodness : 0.944962 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.57, Z:0.03 [[ 9.62022967e-01 1.98915932e-01 -1.86933849e-01 4.69998282e+00] [-1.95853651e-01 9.80011855e-01 3.49014419e-02 -5.74087098e-01] [ 1.90139841e-01 3.03568811e-03 9.81752324e-01 2.67889229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.86538474999999 meters Centerline goodness : 0.942444 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.57, Z:0.03 [[ 9.61826508e-01 2.00687343e-01 -1.86049344e-01 4.69691266e+00] [-1.97481472e-01 9.79652629e-01 3.58021567e-02 -5.74350848e-01] [ 1.89448769e-01 2.30583499e-03 9.81887900e-01 2.74058813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89538474999999 meters Centerline goodness : 0.943313 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.57, Z:0.03 [[ 9.61702836e-01 2.01898954e-01 -1.85376558e-01 4.69434903e+00] [-1.98584407e-01 9.79404821e-01 3.64750656e-02 -5.74011467e-01] [ 1.88922973e-01 1.73471979e-03 9.81990377e-01 2.83839376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.92538474999999 meters Centerline goodness : 0.941990 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.57, Z:0.03 [[ 9.61343898e-01 2.05142266e-01 -1.83669707e-01 4.68799284e+00] [-2.01672609e-01 9.78731739e-01 3.75811283e-02 -5.73356400e-01] [ 1.87472850e-01 9.12760645e-04 9.82269361e-01 2.94400787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95538475 meters Centerline goodness : 0.941103 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.57, Z:0.03 [[ 9.61226200e-01 2.05835931e-01 -1.83509570e-01 4.68721499e+00] [-2.02358381e-01 9.78586094e-01 3.76874187e-02 -5.72586468e-01] [ 1.87337338e-01 9.08565208e-04 9.82295218e-01 2.95174034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.98538475 meters Centerline goodness : 0.939475 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.57, Z:0.03 [[ 9.61158879e-01 2.06280366e-01 -1.83363081e-01 4.68769221e+00] [-2.02892789e-01 9.78491936e-01 3.72565131e-02 -5.71790786e-01] [ 1.87104583e-01 1.39361858e-03 9.82339011e-01 2.79795488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.01538475 meters Centerline goodness : 0.939798 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.57, Z:0.03 [[ 9.61152897e-01 2.06086792e-01 -1.83611938e-01 4.68885707e+00] [-2.02726154e-01 9.78532465e-01 3.70988190e-02 -5.72201765e-01] [ 1.87315818e-01 1.56530458e-03 9.82298495e-01 2.72766725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.04538475 meters Centerline goodness : 0.938336 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.57, Z:0.03 [[ 0.96200799 0.20155542 -0.18416308 4.68953082] [-0.19896703 0.979463 0.03262437 -0.57222178] [ 0.18695654 0.00525747 0.98235412 0.02537786] [ 0. 0. 0. 1. ]] SLAMing on 69.07538475 meters Centerline goodness : 0.938397 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.57, Z:0.03 [[ 0.96203581 0.20100732 -0.18461626 4.69075851] [-0.19839029 0.97957629 0.03273514 -0.57333435] [ 0.18742571 0.00513369 0.98226537 0.02554804] [ 0. 0. 0. 1. ]] SLAMing on 69.10538475 meters Centerline goodness : 0.939746 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.57, Z:0.02 [[ 0.96279297 0.19684985 -0.18514812 4.69084069] [-0.19499405 0.98039421 0.02836404 -0.57226898] [ 0.1871016 0.00879408 0.9823012 0.02415679] [ 0. 0. 0. 1. ]] SLAMing on 69.13538475 meters Centerline goodness : 0.940120 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.57, Z:0.02 [[ 0.96277453 0.19679146 -0.18530605 4.69135272] [-0.19494413 0.98040536 0.02832156 -0.57208769] [ 0.18724848 0.00885705 0.98227265 0.02408994] [ 0. 0. 0. 1. ]] SLAMing on 69.16538474999999 meters Centerline goodness : 0.939011 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.57, Z:0.02 [[ 0.96264487 0.19762808 -0.18508915 4.69082777] [-0.1958486 0.98023332 0.02803503 -0.57048052] [ 0.18697106 0.00926167 0.98232176 0.02334603] [ 0. 0. 0. 1. ]] SLAMing on 69.19538474999999 meters Centerline goodness : 0.937646 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.57, Z:0.02 [[ 0.96259503 0.19787555 -0.18508397 4.69088236] [-0.19610749 0.9801826 0.0279985 -0.56991735] [ 0.18695631 0.00934514 0.98232378 0.02316016] [ 0. 0. 0. 1. ]] SLAMing on 69.22538474999999 meters Centerline goodness : 0.938825 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.57, Z:0.02 [[ 0.96256297 0.19811144 -0.18499833 4.69053659] [-0.19632491 0.98013578 0.0281139 -0.56921966] [ 0.18689317 0.00925838 0.98233662 0.02355415] [ 0. 0. 0. 1. ]] SLAMing on 69.25538474999999 meters Centerline goodness : 0.938825 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.57, Z:0.02 [[ 0.96256297 0.19811144 -0.18499833 4.69053659] [-0.19632491 0.98013578 0.0281139 -0.56921966] [ 0.18689317 0.00925838 0.98233662 0.02355415] [ 0. 0. 0. 1. ]] SLAMing on 69.28538474999999 meters Centerline goodness : 0.939726 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.57, Z:0.02 [[ 0.96253766 0.19805312 -0.18519239 4.69104678] [-0.19629681 0.98014582 0.02795941 -0.56851753] [ 0.18705299 0.00944069 0.98230446 0.02351475] [ 0. 0. 0. 1. ]] SLAMing on 69.31538474999999 meters Centerline goodness : 0.938836 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.57, Z:0.02 [[ 0.96250953 0.19789804 -0.18550412 4.69164149] [-0.19613106 0.98017737 0.02801645 -0.56827082] [ 0.18737134 0.00941702 0.98224401 0.02387158] [ 0. 0. 0. 1. ]] SLAMing on 69.34538475 meters Centerline goodness : 0.941138 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.57, Z:0.02 [[ 0.96247954 0.19772918 -0.18583944 4.6922958 ] [-0.19594734 0.98021187 0.02809511 -0.56845496] [ 0.18771725 0.00937378 0.98217838 0.0241511 ] [ 0. 0. 0. 1. ]] SLAMing on 69.37538475 meters Centerline goodness : 0.939520 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.57, Z:0.02 [[ 0.96251113 0.19730326 -0.18612831 4.69394997] [-0.19558076 0.98029466 0.02775867 -0.56840524] [ 0.18793746 0.00968509 0.98213324 0.02323499] [ 0. 0. 0. 1. ]] SLAMing on 69.40538475 meters Centerline goodness : 0.938018 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.57, Z:0.02 [[ 0.96252732 0.19705995 -0.18630227 4.69500015] [-0.19538739 0.98034097 0.02748351 -0.56862621] [ 0.18805565 0.00994748 0.982108 0.02245318] [ 0. 0. 0. 1. ]] SLAMing on 69.43538475 meters Centerline goodness : 0.935713 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.57, Z:0.02 [[ 0.96264491 0.19618126 -0.18662177 4.69695517] [-0.19453641 0.98051612 0.02727123 -0.56938524] [ 0.18833576 0.01005222 0.98205325 0.02174489] [ 0. 0. 0. 1. ]] SLAMing on 69.46538475 meters Centerline goodness : 0.936897 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.57, Z:0.02 [[ 0.96345285 0.19181519 -0.18699073 4.69662005] [-0.19094097 0.98133557 0.02284845 -0.56824716] [ 0.18788334 0.01369079 0.98209593 0.02068507] [ 0. 0. 0. 1. ]] SLAMing on 69.49538475 meters Centerline goodness : 0.935763 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.57, Z:0.02 [[ 0.96421284 0.18764663 -0.18730282 4.69562499] [-0.18744747 0.98209207 0.0189373 -0.56807668] [ 0.18750214 0.01684985 0.98211966 0.0204553 ] [ 0. 0. 0. 1. ]] SLAMing on 69.52538474999999 meters Centerline goodness : 0.936523 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.57, Z:0.02 [[ 0.96419764 0.18713909 -0.18788793 4.6975294 ] [-0.18701667 0.98218176 0.01854068 -0.56733832] [ 0.18800978 0.01726129 0.98201546 0.01999453] [ 0. 0. 0. 1. ]] SLAMing on 69.55538474999999 meters Centerline goodness : 0.934410 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.57, Z:0.02 [[ 0.96417014 0.18728064 -0.18788799 4.69782533] [-0.187234 0.98214749 0.01815856 -0.56589604] [ 0.18793447 0.01767108 0.98202259 0.01947452] [ 0. 0. 0. 1. ]] SLAMing on 69.58538474999999 meters Centerline goodness : 0.932421 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.56, Z:0.02 [[ 0.96334122 0.19221921 -0.18715092 4.69750185] [-0.1914711 0.98124623 0.02224073 -0.56440495] [ 0.18791623 0.01440858 0.98207937 0.02026356] [ 0. 0. 0. 1. ]] SLAMing on 69.61538474999999 meters Centerline goodness : 0.928876 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.56, Z:0.02 [[ 0.96330791 0.19266378 -0.18686503 4.69716886] [-0.19200442 0.98115198 0.02179683 -0.56229491] [ 0.18754246 0.01488185 0.98214376 0.01958064] [ 0. 0. 0. 1. ]] SLAMing on 69.64538474999999 meters Centerline goodness : 0.931295 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.56, Z:0.02 [[ 0.96324256 0.1932411 -0.18660558 4.69656102] [-0.19262134 0.98103487 0.02162413 -0.56048702] [ 0.18724525 0.01511493 0.9821969 0.01935345] [ 0. 0. 0. 1. ]] SLAMing on 69.67538474999999 meters Centerline goodness : 0.930138 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.56, Z:0.02 [[ 0.96311486 0.19443224 -0.18602655 4.69470833] [-0.19383739 0.98079672 0.02156058 -0.55735234] [ 0.1866463 0.01529358 0.98230813 0.01963815] [ 0. 0. 0. 1. ]] SLAMing on 69.70538475 meters Centerline goodness : 0.928571 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.55, Z:0.02 [[ 0.96306795 0.19473491 -0.18595279 4.69450459] [-0.1942372 0.98072824 0.02107202 -0.55432141] [ 0.18647261 0.01582516 0.9823327 0.01961349] [ 0. 0. 0. 1. ]] SLAMing on 69.73538475 meters Centerline goodness : 0.927973 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.55, Z:0.02 [[ 0.96305863 0.19478964 -0.18594373 4.69452615] [-0.1943471 0.98071257 0.02078583 -0.55318008] [ 0.18640621 0.01611965 0.98234051 0.01947275] [ 0. 0. 0. 1. ]] SLAMing on 69.76538475 meters Centerline goodness : 0.927519 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.55, Z:0.02 [[ 0.96308705 0.19443728 -0.18616521 4.69604839] [-0.19415117 0.98076879 0.01994755 -0.5512308 ] [ 0.18646357 0.01693297 0.98231594 0.01828466] [ 0. 0. 0. 1. ]] SLAMing on 69.79538475 meters Centerline goodness : 0.927046 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.55, Z:0.02 [[ 0.96311657 0.19405066 -0.18641568 4.69776487] [-0.19390593 0.98083243 0.0191892 -0.54973004] [ 0.18656622 0.01766566 0.98228355 0.01695392] [ 0. 0. 0. 1. ]] SLAMing on 69.82538475 meters Centerline goodness : 0.927862 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.55, Z:0.02 [[ 0.96309424 0.195266 -0.1852584 4.69858493] [-0.19498601 0.9806039 0.01991109 -0.54747762] [ 0.18555307 0.01694655 0.9824881 0.01523601] [ 0. 0. 0. 1. ]] SLAMing on 69.85538475 meters Centerline goodness : 0.929182 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.55, Z:0.02 [[ 0.96306536 0.19544451 -0.18522031 4.69876936] [-0.19517592 0.98056706 0.01986434 -0.54686211] [ 0.18550331 0.01701989 0.98249623 0.01502132] [ 0. 0. 0. 1. ]] SLAMing on 69.88538474999999 meters Centerline goodness : 0.927134 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.55, Z:0.02 [[ 0.96296801 0.19625904 -0.18486484 4.69719233] [-0.1959013 0.98041177 0.02038237 -0.54686548] [ 0.18524389 0.01658769 0.98255257 0.015831 ] [ 0. 0. 0. 1. ]] SLAMing on 69.91538474999999 meters Centerline goodness : 0.928885 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.55, Z:0.02 [[ 0.96291522 0.19656067 -0.18481931 4.69679888] [-0.19614217 0.98035633 0.0207295 -0.54719882] [ 0.18526338 0.01629011 0.98255387 0.01626415] [ 0. 0. 0. 1. ]] SLAMing on 69.94538474999999 meters Centerline goodness : 0.931128 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.55, Z:0.02 [[ 0.96289302 0.19643365 -0.18506983 4.6969517 ] [-0.19588274 0.9803929 0.02144071 -0.5482907 ] [ 0.18565283 0.01560687 0.98249145 0.01764957] [ 0. 0. 0. 1. ]] SLAMing on 69.97538474999999 meters Centerline goodness : 0.931830 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.55, Z:0.02 [[ 0.96284911 0.19641971 -0.18531294 4.69717044] [-0.19578314 0.98040236 0.02191275 -0.54927448] [ 0.18598534 0.01518248 0.98243521 0.01839197] [ 0. 0. 0. 1. ]] SLAMing on 70.00538474999999 meters Centerline goodness : 0.933754 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.55, Z:0.02 [[ 0.9629354 0.19557694 -0.18575543 4.69940378] [-0.19498729 0.98056743 0.02162096 -0.54982597] [ 0.18637429 0.01540036 0.98235811 0.0176108 ] [ 0. 0. 0. 1. ]] SLAMing on 70.03538474999999 meters Centerline goodness : 0.933777 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.55, Z:0.02 [[ 0.96296682 0.19501252 -0.18618546 4.70109031] [-0.19444788 0.98067783 0.02147106 -0.5502119 ] [ 0.18677508 0.01552745 0.98227998 0.01718211] [ 0. 0. 0. 1. ]] SLAMing on 70.06538474999999 meters Centerline goodness : 0.934903 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.55, Z:0.02 [[ 0.96305179 0.19420857 -0.18658585 4.7028837 ] [-0.19362114 0.98083974 0.02154661 -0.55222784] [ 0.18719535 0.01537646 0.98220235 0.01690376] [ 0. 0. 0. 1. ]] SLAMing on 70.09538475 meters Centerline goodness : 0.938072 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.55, Z:0.02 [[ 0.96301253 0.19414545 -0.18685398 4.70314542] [-0.19346738 0.98085917 0.02203772 -0.55322795] [ 0.18755596 0.01492755 0.98214048 0.01769923] [ 0. 0. 0. 1. ]] SLAMing on 70.12538475 meters Centerline goodness : 0.937666 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.55, Z:0.02 [[ 0.96299562 0.19464757 -0.18641826 4.70172893] [-0.19383365 0.98077027 0.02276385 -0.55445427] [ 0.18726441 0.01421264 0.98220672 0.01857922] [ 0. 0. 0. 1. ]] SLAMing on 70.15538475 meters Centerline goodness : 0.939362 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.56, Z:0.02 [[ 0.96293968 0.19504771 -0.18628891 4.70099824] [-0.19414328 0.98069721 0.02326746 -0.55513674] [ 0.18723128 0.01376158 0.98221946 0.01923868] [ 0. 0. 0. 1. ]] SLAMing on 70.18538475 meters Centerline goodness : 0.939095 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.56, Z:0.02 [[ 0.96290368 0.19532917 -0.18618008 4.70066863] [-0.19440328 0.98064257 0.02339919 -0.55556847] [ 0.18714665 0.01366286 0.98223697 0.01926359] [ 0. 0. 0. 1. ]] SLAMing on 70.21538475 meters Centerline goodness : 0.939870 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.56, Z:0.02 [[ 0.9628994 0.19510961 -0.18643226 4.70181092] [-0.19421951 0.9806835 0.02320909 -0.55558328] [ 0.18735936 0.01386076 0.98219364 0.0186941 ] [ 0. 0. 0. 1. ]] SLAMing on 70.24538475 meters Centerline goodness : 0.940381 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.56, Z:0.02 [[ 0.96296246 0.19434254 -0.18690713 4.70414217] [-0.19355133 0.98082859 0.02265324 -0.55636172] [ 0.18772634 0.0143619 0.98211637 0.01737575] [ 0. 0. 0. 1. ]] SLAMing on 70.27538474999999 meters Centerline goodness : 0.938681 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.56, Z:0.02 [[ 0.96296472 0.19404417 -0.18720525 4.70560604] [-0.19329557 0.98088427 0.02242489 -0.55685992] [ 0.1879781 0.01459157 0.98206482 0.01654094] [ 0. 0. 0. 1. ]] SLAMing on 70.30538474999999 meters Centerline goodness : 0.939651 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.56, Z:0.02 [[ 0.96295379 0.19386188 -0.18745019 4.70657417] [-0.19313162 0.98091871 0.02233083 -0.55736362] [ 0.1882025 0.014699 0.98202024 0.01607573] [ 0. 0. 0. 1. ]] SLAMing on 70.33538474999999 meters Centerline goodness : 0.937785 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.56, Z:0.02 [[ 0.96290382 0.19386792 -0.18770045 4.70726485] [-0.1931272 0.98091787 0.02240588 -0.55810456] [ 0.18846251 0.01467536 0.98197073 0.01584461] [ 0. 0. 0. 1. ]] SLAMing on 70.36538474999999 meters Centerline goodness : 0.936671 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.56, Z:0.02 [[ 0.96287167 0.19374154 -0.18799565 4.70842778] [-0.19297358 0.9809446 0.02255867 -0.55958467] [ 0.18878387 0.01455709 0.98191076 0.01544584] [ 0. 0. 0. 1. ]] SLAMing on 70.39538474999999 meters Centerline goodness : 0.939069 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.56, Z:0.02 [[ 0.96284937 0.1934897 -0.18836885 4.70969206] [-0.19273174 0.98099323 0.02251144 -0.5598853 ] [ 0.1891443 0.01462953 0.98184032 0.0151352 ] [ 0. 0. 0. 1. ]] SLAMing on 70.42538474999999 meters Centerline goodness : 0.937232 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.56, Z:0.02 [[ 0.96282486 0.19349114 -0.18849264 4.71014961] [-0.19268161 0.98099667 0.02278879 -0.56115948] [ 0.18932008 0.01437745 0.98181016 0.01514032] [ 0. 0. 0. 1. ]] SLAMing on 70.45538475 meters Centerline goodness : 0.935583 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.56, Z:0.02 [[ 0.96281051 0.19334521 -0.18871552 4.71062332] [-0.19248725 0.9810289 0.02304255 -0.56137589] [ 0.18959055 0.01413972 0.98176142 0.01561011] [ 0. 0. 0. 1. ]] SLAMing on 70.48538475 meters Centerline goodness : 0.933280 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.56, Z:0.02 [[ 0.96353941 0.1891943 -0.18920182 4.70964825] [-0.18901756 0.98178702 0.019147 -0.56063844] [ 0.1893784 0.01731358 0.98175153 0.0157831 ] [ 0. 0. 0. 1. ]] SLAMing on 70.51538475 meters Centerline goodness : 0.935999 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.56, Z:0.02 [[ 0.96356634 0.18876976 -0.18948848 4.71110287] [-0.18866883 0.98186196 0.01873947 -0.55980167] [ 0.18958898 0.01769385 0.9817041 0.01511617] [ 0. 0. 0. 1. ]] SLAMing on 70.54538475 meters Centerline goodness : 0.933520 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.56, Z:0.01 [[ 0.9635163 0.18897246 -0.18954091 4.71165945] [-0.18893397 0.98181662 0.0184411 -0.55839278] [ 0.18957928 0.01804242 0.98169963 0.0145121 ] [ 0. 0. 0. 1. ]] SLAMing on 70.57538475 meters Centerline goodness : 0.932890 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.56, Z:0.01 [[ 0.96345014 0.18944417 -0.18940627 4.71118863] [-0.18939022 0.98172658 0.01855451 -0.5578184 ] [ 0.18946021 0.01799535 0.98172348 0.01459252] [ 0. 0. 0. 1. ]] SLAMing on 70.60538475 meters Centerline goodness : 0.932400 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.56, Z:0.01 [[ 0.96362898 0.18772343 -0.19020804 4.71415673] [-0.18781326 0.98204489 0.01772024 -0.55550606] [ 0.19011934 0.01864786 0.98158387 0.01472921] [ 0. 0. 0. 1. ]] SLAMing on 70.63538474999999 meters Centerline goodness : 0.930914 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.56, Z:0.02 [[ 0.96362111 0.18763835 -0.19033185 4.71364289] [-0.18767094 0.98206666 0.01801953 -0.55549734] [ 0.19029972 0.01835576 0.98155442 0.01597958] [ 0. 0. 0. 1. ]] SLAMing on 70.66538474999999 meters Centerline goodness : 0.931295 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.55, Z:0.02 [[ 0.96372627 0.18623457 -0.19117628 4.71581106] [-0.18635586 0.98232631 0.01750783 -0.5540564 ] [ 0.19105805 0.01875406 0.98139957 0.01680406] [ 0. 0. 0. 1. ]] SLAMing on 70.69538474999999 meters Centerline goodness : 0.928512 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.55, Z:0.02 [[ 0.96380555 0.18487532 -0.19209367 4.71885568] [-0.18519572 0.98256403 0.01644603 -0.55131752] [ 0.1917848 0.01972415 0.98123878 0.01649156] [ 0. 0. 0. 1. ]] SLAMing on 70.72538474999999 meters Centerline goodness : 0.929545 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.55, Z:0.02 [[ 0.96380241 0.18458416 -0.1923892 4.71981715] [-0.18500545 0.98260833 0.01593247 -0.54938613] [ 0.19198412 0.0202373 0.98118936 0.01631142] [ 0. 0. 0. 1. ]] SLAMing on 70.75538474999999 meters Centerline goodness : 0.930301 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.55, Z:0.02 [[ 0.96379643 0.1844208 -0.19257574 4.72083563] [-0.18496693 0.98262566 0.01529862 -0.54675495] [ 0.19205125 0.02087539 0.98116285 0.01579694] [ 0. 0. 0. 1. ]] SLAMing on 70.78538474999999 meters Centerline goodness : 0.928431 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.54, Z:0.02 [[ 0.96304479 0.18769992 -0.19316696 4.72455216] [-0.1877115 0.98205164 0.01841119 -0.54406977] [ 0.19315571 0.01852886 0.98099315 0.01601767] [ 0. 0. 0. 1. ]] SLAMing on 70.81538474999999 meters Centerline goodness : 0.926682 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.54, Z:0.02 [[ 0.9630027 0.18753758 -0.19353413 4.72583154] [-0.18767819 0.9820697 0.01777657 -0.54160038] [ 0.19339778 0.01920325 0.98093248 0.01552417] [ 0. 0. 0. 1. ]] SLAMing on 70.84538475 meters Centerline goodness : 0.927758 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.54, Z:0.02 [[ 0.96222253 0.19137726 -0.19365572 4.7276199 ] [-0.19089559 0.9813787 0.02132406 -0.53902821] [ 0.19413054 0.01644953 0.98083778 0.01667246] [ 0. 0. 0. 1. ]] SLAMing on 70.87538475 meters Centerline goodness : 0.926004 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.53, Z:0.02 [[ 0.96202603 0.19238612 -0.19363239 4.72648673] [-0.1918995 0.98118018 0.02144853 -0.53499825] [ 0.19411466 0.01652391 0.98083967 0.01798008] [ 0. 0. 0. 1. ]] SLAMing on 70.90538475 meters Centerline goodness : 0.928488 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.53, Z:0.02 [[ 0.96192347 0.1928961 -0.19363454 4.72546272] [-0.1923806 0.98108163 0.02164595 -0.53312836] [ 0.19414671 0.01642979 0.98083491 0.01918361] [ 0. 0. 0. 1. ]] SLAMing on 70.93538475 meters Centerline goodness : 0.930830 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.53, Z:0.02 [[ 0.96184136 0.19363886 -0.19330077 4.72409191] [-0.19312128 0.98093485 0.02170227 -0.5292999 ] [ 0.19381786 0.01645635 0.9808995 0.02029261] [ 0. 0. 0. 1. ]] SLAMing on 70.96538475 meters Centerline goodness : 0.930095 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.53, Z:0.02 [[ 0.96184283 0.19343546 -0.193497 4.7246892 ] [-0.19299242 0.98096855 0.02132189 -0.52727634] [ 0.19393889 0.01683514 0.98086915 0.02038221] [ 0. 0. 0. 1. ]] SLAMing on 70.99538475 meters Centerline goodness : 0.930748 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.52, Z:0.02 [[ 0.9618486 0.19311157 -0.19379163 4.72556684] [-0.19273425 0.98102661 0.02098347 -0.52430045] [ 0.1941669 0.01716736 0.98081828 0.02089882] [ 0. 0. 0. 1. ]] SLAMing on 71.02538474999999 meters Centerline goodness : 0.931164 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.52, Z:0.02 [[ 0.96183491 0.19294361 -0.19402671 4.72593616] [-0.19259357 0.98105708 0.0208501 -0.5232809 ] [ 0.19437417 0.01731394 0.98077465 0.02130629] [ 0. 0. 0. 1. ]] SLAMing on 71.05538474999999 meters Centerline goodness : 0.933296 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.52, Z:0.02 [[ 0.96187679 0.19236845 -0.19438986 4.72705211] [-0.19212151 0.98116105 0.02030564 -0.52098367] [ 0.19463393 0.01781495 0.98071416 0.02151136] [ 0. 0. 0. 1. ]] SLAMing on 71.08538474999999 meters Centerline goodness : 0.934794 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.52, Z:0.02 [[ 0.96193245 0.19169196 -0.19478231 4.72868743] [-0.19159502 0.98127995 0.01951929 -0.51882266] [ 0.19487767 0.01854308 0.98065226 0.02095794] [ 0. 0. 0. 1. ]] SLAMing on 71.11538474999999 meters Centerline goodness : 0.938446 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.52, Z:0.02 [[ 0.96201432 0.19059552 -0.19545279 4.73128213] [-0.19072653 0.98147207 0.01832937 -0.5152109 ] [ 0.19532496 0.01964491 0.98054181 0.02035785] [ 0. 0. 0. 1. ]] SLAMing on 71.14538474999999 meters Centerline goodness : 0.934545 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.51, Z:0.02 [[ 0.96204827 0.19007336 -0.19579389 4.73240105] [-0.19030896 0.9815631 0.01778699 -0.51393759] [ 0.19556489 0.02014939 0.98048374 0.02013639] [ 0. 0. 0. 1. ]] SLAMing on 71.17538474999999 meters Centerline goodness : 0.934545 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.51, Z:0.02 [[ 0.96204827 0.19007336 -0.19579389 4.73240105] [-0.19030896 0.9815631 0.01778699 -0.51393759] [ 0.19556489 0.02014939 0.98048374 0.02013639] [ 0. 0. 0. 1. ]] SLAMing on 71.20538475 meters Centerline goodness : 0.938910 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.51, Z:0.02 [[ 0.96209263 0.18920962 -0.19641152 4.73380643] [-0.18955144 0.98171955 0.01723286 -0.51162938] [ 0.19608165 0.02065048 0.98037011 0.02087017] [ 0. 0. 0. 1. ]] SLAMing on 71.23538475 meters Centerline goodness : 0.936655 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.51, Z:0.02 [[ 0.96213406 0.18863118 -0.19676463 4.73521407] [-0.18908558 0.98181945 0.01664976 -0.51007299] [ 0.19632801 0.02118605 0.98030937 0.02051332] [ 0. 0. 0. 1. ]] SLAMing on 71.26538475 meters Centerline goodness : 0.935489 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.51, Z:0.02 [[ 0.96221787 0.18736158 -0.19756619 4.73863629] [-0.18808005 0.98203462 0.01529399 -0.50600523] [ 0.19688234 0.02244211 0.98017024 0.01944601] [ 0. 0. 0. 1. ]] SLAMing on 71.29538475 meters Centerline goodness : 0.933739 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.50, Z:0.02 [[ 0.96223331 0.18668265 -0.1981329 4.74069663] [-0.18755003 0.98214727 0.01455067 -0.5033596 ] [ 0.19731204 0.02315869 0.98006716 0.0190672 ] [ 0. 0. 0. 1. ]] SLAMing on 71.32538475 meters Centerline goodness : 0.936191 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.50, Z:0.02 [[ 0.96219413 0.1864545 -0.1985376 4.74158352] [-0.18738747 0.9821827 0.01425053 -0.50201332] [ 0.19765728 0.02349168 0.97998966 0.01920353] [ 0. 0. 0. 1. ]] SLAMing on 71.35538475 meters Centerline goodness : 0.938278 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.50, Z:0.02 [[ 0.96207143 0.18689405 -0.19871882 4.74146855] [-0.18784099 0.98209609 0.01424861 -0.49987051] [ 0.19782396 0.02361936 0.97995296 0.01984974] [ 0. 0. 0. 1. ]] SLAMing on 71.38538474999999 meters Centerline goodness : 0.936851 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.50, Z:0.02 [[ 0.96200464 0.18711636 -0.19883296 4.74171897] [-0.18809058 0.98204974 0.01415037 -0.49886054] [ 0.19791162 0.02378589 0.97993123 0.01980284] [ 0. 0. 0. 1. ]] SLAMing on 71.41538474999999 meters Centerline goodness : 0.936926 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.50, Z:0.02 [[ 0.9612078 0.19127434 -0.19873021 4.74283775] [-0.19152585 0.9813199 0.01814104 -0.49786579] [ 0.19848783 0.02062466 0.97988632 0.02093318] [ 0. 0. 0. 1. ]] SLAMing on 71.44538474999999 meters Centerline goodness : 0.938913 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.50, Z:0.02 [[ 0.96112028 0.19180104 -0.19864586 4.74207447] [-0.19203106 0.98121835 0.01829264 -0.49649488] [ 0.19842351 0.02056474 0.97990061 0.02157632] [ 0. 0. 0. 1. ]] SLAMing on 71.47538474999999 meters Centerline goodness : 0.940951 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.49, Z:0.02 [[ 0.96090626 0.19318149 -0.1983433 4.74016218] [-0.19336202 0.98095025 0.01864776 -0.49369533] [ 0.19816731 0.02043332 0.9799552 0.02275857] [ 0. 0. 0. 1. ]] SLAMing on 71.50538474999999 meters Centerline goodness : 0.941723 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.49, Z:0.02 [[ 0.96080177 0.19366392 -0.19837904 4.73983856] [-0.19386876 0.98085149 0.01858109 -0.49181907] [ 0.19817886 0.02060676 0.97994923 0.02311818] [ 0. 0. 0. 1. ]] SLAMing on 71.53538474999999 meters Centerline goodness : 0.941883 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.49, Z:0.02 [[ 0.95999714 0.19794653 -0.19804712 4.74097131] [-0.19753625 0.98004803 0.02202945 -0.48911993] [ 0.19845634 0.01797328 0.97994492 0.02351033] [ 0. 0. 0. 1. ]] SLAMing on 71.56538474999999 meters Centerline goodness : 0.942831 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.49, Z:0.02 [[ 0.95993114 0.19808398 -0.19822954 4.74173755] [-0.19778792 0.98000909 0.02149693 -0.48678427] [ 0.19852495 0.01857183 0.97991986 0.02301995] [ 0. 0. 0. 1. ]] SLAMing on 71.59538475 meters Centerline goodness : 0.940637 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.48, Z:0.02 [[ 0.95981993 0.19824079 -0.19861089 4.74272774] [-0.19807115 0.97996423 0.0209266 -0.4834314 ] [ 0.19878007 0.01925332 0.97985499 0.02286493] [ 0. 0. 0. 1. ]] SLAMing on 71.62538475 meters Centerline goodness : 0.942132 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.48, Z:0.02 [[ 0.95983021 0.19798294 -0.19881832 4.74336358] [-0.1978626 0.98001165 0.02067763 -0.48253975] [ 0.19893808 0.0194917 0.9798182 0.02291175] [ 0. 0. 0. 1. ]] SLAMing on 71.65538475 meters Centerline goodness : 0.942607 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.48, Z:0.02 [[ 0.95989338 0.19714869 -0.19934165 4.74438813] [-0.19702724 0.98018054 0.02064881 -0.48223533] [ 0.19946169 0.01945508 0.97971247 0.02385621] [ 0. 0. 0. 1. ]] SLAMing on 71.68538475 meters Centerline goodness : 0.939606 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.48, Z:0.02 [[ 0.95993751 0.19651218 -0.1997572 4.74571128] [-0.19642241 0.9803057 0.02046868 -0.48210824] [ 0.19984547 0.01958814 0.97963161 0.02387963] [ 0. 0. 0. 1. ]] SLAMing on 71.71538475 meters Centerline goodness : 0.937928 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.48, Z:0.02 [[ 0.96008198 0.19513506 -0.20041184 4.74825788] [-0.1951766 0.98056926 0.01974883 -0.48124751] [ 0.20037138 0.0201552 0.97951267 0.02341868] [ 0. 0. 0. 1. ]] SLAMing on 71.74538475 meters Centerline goodness : 0.941581 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.48, Z:0.02 [[ 0.96007202 0.19474192 -0.20084147 4.74925363] [-0.19479141 0.98064657 0.01971316 -0.48110357] [ 0.20079348 0.02019614 0.97942539 0.02370008] [ 0. 0. 0. 1. ]] SLAMing on 71.77538474999999 meters Centerline goodness : 0.939566 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.48, Z:0.02 [[ 0.96005002 0.19457727 -0.20110605 4.74987161] [-0.19461095 0.98068065 0.01980011 -0.4815847 ] [ 0.20107347 0.02012834 0.97936934 0.02392236] [ 0. 0. 0. 1. ]] SLAMing on 71.80538474999999 meters Centerline goodness : 0.940082 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.48, Z:0.02 [[ 0.96003505 0.1945551 -0.20119892 4.75042428] [-0.19463909 0.98067984 0.01956231 -0.48091389] [ 0.20111767 0.02038068 0.97935505 0.02357461] [ 0. 0. 0. 1. ]] SLAMing on 71.83538474999999 meters Centerline goodness : 0.940992 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.48, Z:0.02 [[ 0.96006886 0.19429651 -0.20128747 4.75184602] [-0.19450204 0.980719 0.01895265 -0.4796227 ] [ 0.20108889 0.02095497 0.97934884 0.02229702] [ 0. 0. 0. 1. ]] SLAMing on 71.86538474999999 meters Centerline goodness : 0.942226 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.48, Z:0.02 [[ 0.96003438 0.19490164 -0.20086647 4.75045051] [-0.19494311 0.98061525 0.01977153 -0.48179394] [ 0.20082622 0.02017618 0.97941909 0.02287289] [ 0. 0. 0. 1. ]] SLAMing on 71.89538474999999 meters Centerline goodness : 0.941117 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.48, Z:0.02 [[ 0.95996193 0.19526236 -0.20086242 4.74998911] [-0.19520553 0.98055249 0.02028811 -0.48284538] [ 0.20091765 0.01973364 0.97940935 0.02335906] [ 0. 0. 0. 1. ]] SLAMing on 71.92538474999999 meters Centerline goodness : 0.943752 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.48, Z:0.02 [[ 0.95992223 0.19562267 -0.20070148 4.74964134] [-0.19550479 0.98048621 0.02060742 -0.48309902] [ 0.20081632 0.01945658 0.97943568 0.02341004] [ 0. 0. 0. 1. ]] SLAMing on 71.95538475 meters Centerline goodness : 0.943262 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.48, Z:0.02 [[ 0.9598892 0.19642261 -0.20007717 4.74814509] [-0.19619088 0.98033683 0.02118589 -0.48313777] [ 0.2003044 0.01891721 0.97955106 0.02371363] [ 0. 0. 0. 1. ]] SLAMing on 71.98538475 meters Centerline goodness : 0.944367 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.48, Z:0.02 [[ 0.95984483 0.19666322 -0.20005371 4.74777867] [-0.19631529 0.98029897 0.02177687 -0.48466072] [ 0.20039516 0.01837119 0.97954289 0.02417885] [ 0. 0. 0. 1. ]] SLAMing on 72.01538475 meters Centerline goodness : 0.943416 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.49, Z:0.02 [[ 0.95987469 0.19633414 -0.20023358 4.74855144] [-0.1959086 0.98037223 0.02213835 -0.48645669] [ 0.20064995 0.01797744 0.97949804 0.02423386] [ 0. 0. 0. 1. ]] SLAMing on 72.04538475 meters Centerline goodness : 0.942526 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.49, Z:0.02 [[ 0.959908 0.19612175 -0.20028202 4.7491222 ] [-0.19570519 0.98041425 0.02207678 -0.48650123] [ 0.20068909 0.01800456 0.97948952 0.02394861] [ 0. 0. 0. 1. ]] SLAMing on 72.07538475 meters Centerline goodness : 0.940768 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.49, Z:0.02 [[ 0.95999314 0.19572501 -0.20026207 4.74940094] [-0.19526751 0.98049797 0.02223338 -0.4874621 ] [ 0.20070819 0.01776078 0.97949006 0.02407234] [ 0. 0. 0. 1. ]] SLAMing on 72.10538475 meters Centerline goodness : 0.939956 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.49, Z:0.02 [[ 0.95999353 0.19559998 -0.20038229 4.74969478] [-0.19512232 0.98052469 0.02232954 -0.48799471] [ 0.20084744 0.01766284 0.97946329 0.02416174] [ 0. 0. 0. 1. ]] SLAMing on 72.13538474999999 meters Centerline goodness : 0.939865 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.49, Z:0.02 [[ 0.96008258 0.1948839 -0.20065322 4.7508156 ] [-0.19442746 0.9806662 0.02217578 -0.48869472] [ 0.20109553 0.01772191 0.97941131 0.02399962] [ 0. 0. 0. 1. ]] SLAMing on 72.16538474999999 meters Centerline goodness : 0.940796 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.49, Z:0.02 [[ 0.96009688 0.19461022 -0.20085032 4.75154536] [-0.19413987 0.98072189 0.02223254 -0.48919566] [ 0.20130499 0.01764766 0.97936963 0.02397391] [ 0. 0. 0. 1. ]] SLAMing on 72.19538474999999 meters Centerline goodness : 0.938624 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.49, Z:0.02 [[ 0.96018348 0.19342854 -0.20157652 4.75419113] [-0.19302492 0.98095053 0.02185018 -0.48985361] [ 0.20196304 0.01792911 0.97922902 0.02343816] [ 0. 0. 0. 1. ]] SLAMing on 72.22538474999999 meters Centerline goodness : 0.936723 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.49, Z:0.02 [[ 0.96023507 0.19290882 -0.20182861 4.75539064] [-0.19253117 0.98105106 0.02169279 -0.49038338] [ 0.20218891 0.01802812 0.97918059 0.02299171] [ 0. 0. 0. 1. ]] SLAMing on 72.25538474999999 meters Centerline goodness : 0.935880 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.49, Z:0.02 [[ 0.96031482 0.19240395 -0.20193108 4.75622881] [-0.19197242 0.98115572 0.02190984 -0.49208392] [ 0.20234138 0.01772485 0.97915463 0.02287677] [ 0. 0. 0. 1. ]] SLAMing on 72.28538474999999 meters Centerline goodness : 0.934157 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.49, Z:0.02 [[ 0.96098317 0.18907807 -0.20189312 4.75372061] [-0.18926405 0.98175073 0.01856413 -0.49275808] [ 0.20171879 0.02037129 0.97923161 0.02299037] [ 0. 0. 0. 1. ]] SLAMing on 72.31538474999999 meters Centerline goodness : 0.933673 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.49, Z:0.02 [[ 0.96094073 0.18941187 -0.20178219 4.75314323] [-0.18950738 0.98169492 0.01902698 -0.49381949] [ 0.20169249 0.01995542 0.97924559 0.02331741] [ 0. 0. 0. 1. ]] SLAMing on 72.34538475 meters Centerline goodness : 0.932507 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.49, Z:0.02 [[ 0.96091918 0.1897751 -0.20154342 4.75281823] [-0.18980768 0.98163066 0.01934678 -0.49440728] [ 0.20151274 0.01966379 0.97928849 0.02316777] [ 0. 0. 0. 1. ]] SLAMing on 72.37538475 meters Centerline goodness : 0.932808 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.49, Z:0.02 [[ 0.96085231 0.19007632 -0.20157835 4.75270235] [-0.19006374 0.98157606 0.01960124 -0.49466281] [ 0.20159021 0.01947884 0.97927624 0.02337272] [ 0. 0. 0. 1. ]] SLAMing on 72.40538475 meters Centerline goodness : 0.930247 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.50, Z:0.02 [[ 0.96071582 0.19131777 -0.2010538 4.75058352] [-0.19118641 0.98134468 0.0202576 -0.49552939] [ 0.20117871 0.01897695 0.97937072 0.02386357] [ 0. 0. 0. 1. ]] SLAMing on 72.43538475 meters Centerline goodness : 0.929648 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.50, Z:0.02 [[ 0.96066117 0.19159997 -0.20104617 4.75064482] [-0.19147539 0.98128843 0.02025333 -0.49529911] [ 0.20116482 0.01903881 0.97937237 0.02362768] [ 0. 0. 0. 1. ]] SLAMing on 72.46538475 meters Centerline goodness : 0.929378 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.49, Z:0.02 [[ 0.96063936 0.1916981 -0.20105686 4.75125871] [-0.19163749 0.98126293 0.01995318 -0.49430003] [ 0.20111464 0.01936222 0.97937634 0.02289744] [ 0. 0. 0. 1. ]] SLAMing on 72.49538475 meters Centerline goodness : 0.926304 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.49, Z:0.02 [[ 0.95992719 0.19541112 -0.20088373 4.75370274] [-0.19465549 0.98058517 0.02370598 -0.49485492] [ 0.20161602 0.01634711 0.97932821 0.02245344] [ 0. 0. 0. 1. ]] SLAMing on 72.52538474999999 meters Centerline goodness : 0.923791 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.49, Z:0.02 [[ 0.95983843 0.19559975 -0.20112415 4.75427501] [-0.19486271 0.98054523 0.02365545 -0.49490702] [ 0.20183832 0.01648618 0.97928009 0.02219793] [ 0. 0. 0. 1. ]] SLAMing on 72.55538474999999 meters Centerline goodness : 0.924094 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.50, Z:0.02 [[ 0.95980541 0.19555202 -0.20132804 4.75493428] [-0.19482228 0.98055382 0.02363209 -0.49504184] [ 0.20203428 0.01654098 0.97923876 0.02198122] [ 0. 0. 0. 1. ]] SLAMing on 72.58538474999999 meters Centerline goodness : 0.920719 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.50, Z:0.02 [[ 0.95975218 0.19610392 -0.20104476 4.75413631] [-0.19528307 0.98045057 0.02410831 -0.49520855] [ 0.20184218 0.01612264 0.97928535 0.02233421] [ 0. 0. 0. 1. ]] SLAMing on 72.61538474999999 meters Centerline goodness : 0.920659 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.50, Z:0.02 [[ 0.95968576 0.19656244 -0.20091404 4.75340679] [-0.19566407 0.98036435 0.02452187 -0.49574138] [ 0.20178904 0.01577837 0.97930191 0.02275291] [ 0. 0. 0. 1. ]] SLAMing on 72.64538474999999 meters Centerline goodness : 0.922029 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.50, Z:0.02 [[ 0.959604 0.19749608 -0.20038828 4.75184277] [-0.19652751 0.98018161 0.02491882 -0.49628618] [ 0.20133827 0.01546961 0.97939961 0.02282655] [ 0. 0. 0. 1. ]] SLAMing on 72.67538474999999 meters Centerline goodness : 0.919640 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.50, Z:0.02 [[ 0.95958217 0.1976907 -0.20030088 4.75194546] [-0.19674081 0.98014079 0.02484133 -0.49597199] [ 0.20123396 0.01557006 0.97941945 0.02242832] [ 0. 0. 0. 1. ]] SLAMing on 72.70538475 meters Centerline goodness : 0.920221 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.50, Z:0.02 [[ 0.95953159 0.19817409 -0.2000654 4.75154792] [-0.19720581 0.98004425 0.02496268 -0.49609895] [ 0.2010199 0.01550158 0.9794645 0.02211846] [ 0. 0. 0. 1. ]] SLAMing on 72.73538475 meters Centerline goodness : 0.918840 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.50, Z:0.02 [[ 0.95947339 0.19846479 -0.20005634 4.75116893] [-0.19742385 0.97999051 0.02534622 -0.49676915] [ 0.20108365 0.01517687 0.9794565 0.02254667] [ 0. 0. 0. 1. ]] SLAMing on 72.76538475 meters Centerline goodness : 0.916594 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.50, Z:0.02 [[ 0.95944128 0.1985181 -0.2001574 4.75153276] [-0.19744057 0.97998217 0.02553773 -0.4980117 ] [ 0.20122039 0.01501724 0.97943087 0.02235234] [ 0. 0. 0. 1. ]] SLAMing on 72.79538475 meters Centerline goodness : 0.915311 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.50, Z:0.02 [[ 0.95944053 0.19820663 -0.20046944 4.75293753] [-0.19717314 0.98004179 0.02531496 -0.49821028] [ 0.20148603 0.01523899 0.97937284 0.02166752] [ 0. 0. 0. 1. ]] SLAMing on 72.82538475 meters Centerline goodness : 0.912158 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.50, Z:0.02 [[ 0.95946992 0.1976236 -0.20090394 4.75576129] [-0.19671533 0.98014997 0.02468008 -0.49871539] [ 0.20179336 0.01584109 0.9793 0.01959542] [ 0. 0. 0. 1. ]] SLAMing on 72.85538475 meters Centerline goodness : 0.914350 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.50, Z:0.02 [[ 0.95943231 0.19740366 -0.20129937 4.75716343] [-0.19651193 0.98019257 0.02460865 -0.49925407] [ 0.20216999 0.01594739 0.9792206 0.01908504] [ 0. 0. 0. 1. ]] SLAMing on 72.88538474999999 meters Centerline goodness : 0.913609 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.50, Z:0.02 [[ 0.95933541 0.19772865 -0.2014422 4.75798657] [-0.19682981 0.98012678 0.02468867 -0.50025805] [ 0.20232055 0.01596512 0.97918921 0.01823223] [ 0. 0. 0. 1. ]] SLAMing on 72.91538474999999 meters Centerline goodness : 0.916006 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.50, Z:0.02 [[ 0.95921365 0.19887824 -0.20088958 4.75614901] [-0.19782766 0.97990506 0.0255006 -0.50155969] [ 0.20192423 0.01528099 0.97928193 0.01865469] [ 0. 0. 0. 1. ]] SLAMing on 72.94538474999999 meters Centerline goodness : 0.917923 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.50, Z:0.02 [[ 0.95912051 0.19962897 -0.20058945 4.7549304 ] [-0.19845514 0.97976095 0.02615427 -0.50237498] [ 0.20175086 0.01472291 0.97932621 0.01919041] [ 0. 0. 0. 1. ]] SLAMing on 72.97538474999999 meters Centerline goodness : 0.919480 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.50, Z:0.02 [[ 0.95903239 0.20024298 -0.20039868 4.75409111] [-0.19895046 0.97964356 0.02678067 -0.5032536 ] [ 0.20168192 0.01418588 0.97934834 0.01966084] [ 0. 0. 0. 1. ]] SLAMing on 73.00538474999999 meters Centerline goodness : 0.924039 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.50, Z:0.02 [[ 0.95893669 0.20171539 -0.19937734 4.75139883] [-0.20026221 0.97935226 0.02764427 -0.5040895 ] [ 0.20083692 0.01341864 0.97953278 0.019944 ] [ 0. 0. 0. 1. ]] SLAMing on 73.03538474999999 meters Centerline goodness : 0.925082 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.51, Z:0.02 [[ 0.95884571 0.20252906 -0.19898968 4.74986731] [-0.20093272 0.97919324 0.02840153 -0.50500218] [ 0.20060148 0.01275085 0.97958995 0.02065718] [ 0. 0. 0. 1. ]] SLAMing on 73.06538474999999 meters Centerline goodness : 0.925082 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.51, Z:0.02 [[ 0.95884571 0.20252906 -0.19898968 4.74986731] [-0.20093272 0.97919324 0.02840153 -0.50500218] [ 0.20060148 0.01275085 0.97958995 0.02065718] [ 0. 0. 0. 1. ]] SLAMing on 73.09538475 meters Centerline goodness : 0.929765 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.51, Z:0.02 [[ 0.95871608 0.20370806 -0.19840994 4.74739931] [-0.20187656 0.97896247 0.02963683 -0.50705678] [ 0.20027314 0.01164101 0.97967094 0.02203446] [ 0. 0. 0. 1. ]] SLAMing on 73.12538475 meters Centerline goodness : 0.932388 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.51, Z:0.02 [[ 0.95870982 0.20380938 -0.19833613 4.74753055] [-0.20196647 0.97894205 0.02969876 -0.50699406] [ 0.20021246 0.01158476 0.97968401 0.02189039] [ 0. 0. 0. 1. ]] SLAMing on 73.15538475 meters Centerline goodness : 0.935623 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.51, Z:0.02 [[ 0.95869079 0.20394948 -0.19828411 4.7482276 ] [-0.20213856 0.97891092 0.02955353 -0.50630879] [ 0.20012991 0.01174817 0.97969893 0.02123556] [ 0. 0. 0. 1. ]] SLAMing on 73.18538475 meters Centerline goodness : 0.939424 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.51, Z:0.02 [[ 0.95873205 0.20386406 -0.19817242 4.74867151] [-0.2020507 0.97892917 0.02954997 -0.50661784] [ 0.20002094 0.01171037 0.97972164 0.02082583] [ 0. 0. 0. 1. ]] SLAMing on 73.21538475 meters Centerline goodness : 0.940358 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.51, Z:0.02 [[ 0.95875875 0.20349205 -0.19842539 4.74970158] [-0.20168655 0.97900612 0.02948828 -0.50638407] [ 0.2002603 0.01174758 0.9796723 0.02074876] [ 0. 0. 0. 1. ]] SLAMing on 73.24538475 meters Centerline goodness : 0.940652 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.51, Z:0.02 [[ 0.95899515 0.20213831 -0.19866658 4.75219476] [-0.20040595 0.97928349 0.02900524 -0.50621526] [ 0.20041397 0.01199808 0.97963783 0.01986295] [ 0. 0. 0. 1. ]] SLAMing on 73.27538474999999 meters Centerline goodness : 0.940578 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.51, Z:0.02 [[ 0.9590288 0.20174661 -0.19890214 4.75308582] [-0.19995731 0.9793677 0.02925709 -0.5076041 ] [ 0.20070085 0.01171354 0.97958255 0.01994453] [ 0. 0. 0. 1. ]] SLAMing on 73.30538474999999 meters Centerline goodness : 0.942627 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.51, Z:0.02 [[ 0.95905691 0.2011321 -0.19938837 4.75429785] [-0.1992663 0.97949839 0.02959475 -0.50925217] [ 0.20125304 0.01134833 0.97947355 0.0204218 ] [ 0. 0. 0. 1. ]] SLAMing on 73.33538474999999 meters Centerline goodness : 0.940874 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.51, Z:0.02 [[ 0.95932338 0.19915401 -0.20009084 4.75730161] [-0.19734384 0.97990057 0.02915958 -0.51084133] [ 0.20187637 0.01151323 0.97934334 0.02011845] [ 0. 0. 0. 1. ]] SLAMing on 73.36538474999999 meters Centerline goodness : 0.940087 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.51, Z:0.02 [[ 0.95944991 0.19853182 -0.20010244 4.75811828] [-0.19670341 0.9800286 0.02918401 -0.51167017] [ 0.20190007 0.01136024 0.97934024 0.02015083] [ 0. 0. 0. 1. ]] SLAMing on 73.39538474999999 meters Centerline goodness : 0.938891 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.51, Z:0.02 [[ 0.95944307 0.19890532 -0.19976405 4.7574204 ] [-0.19703959 0.97995507 0.02938467 -0.51176673] [ 0.20160456 0.01116851 0.97940332 0.02016104] [ 0. 0. 0. 1. ]] SLAMing on 73.42538474999999 meters Centerline goodness : 0.935107 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.51, Z:0.02 [[ 0.95932483 0.20027556 -0.19896124 4.75558292] [-0.19838136 0.97967724 0.02962006 -0.51031553] [ 0.20084997 0.01105494 0.97955963 0.02003587] [ 0. 0. 0. 1. ]] SLAMing on 73.45538475 meters Centerline goodness : 0.935232 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.51, Z:0.02 [[ 0.9593046 0.20060175 -0.19873002 4.75573528] [-0.19877718 0.9796066 0.0293007 -0.5086657 ] [ 0.20055502 0.0113947 0.97961617 0.01929915] [ 0. 0. 0. 1. ]] SLAMing on 73.48538475 meters Centerline goodness : 0.928872 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.51, Z:0.02 [[ 0.95860059 0.20531484 -0.19730869 4.75570748] [-0.20286343 0.97865817 0.03278132 -0.50670014] [ 0.19982825 0.00860253 0.97979317 0.01844249] [ 0. 0. 0. 1. ]] SLAMing on 73.51538475 meters Centerline goodness : 0.926057 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.50, Z:0.02 [[ 0.95855516 0.2061862 -0.1966196 4.75442561] [-0.20375013 0.9784745 0.03276477 -0.50491924] [ 0.19914291 0.00865443 0.97993224 0.01809631] [ 0. 0. 0. 1. ]] SLAMing on 73.54538475 meters Centerline goodness : 0.921153 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.50, Z:0.02 [[ 0.95844198 0.20833943 -0.19489393 4.75258057] [-0.20569328 0.97802745 0.03394979 -0.50242146] [ 0.19768469 0.00754947 0.98023659 0.01756442] [ 0. 0. 0. 1. ]] SLAMing on 73.57538475 meters Centerline goodness : 0.918984 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.50, Z:0.02 [[ 0.95851858 0.20816649 -0.19470192 4.753296 ] [-0.20560832 0.97806123 0.03348799 -0.50108342] [ 0.19740148 0.00793348 0.98029063 0.01664013] [ 0. 0. 0. 1. ]] SLAMing on 73.60538475 meters Centerline goodness : 0.914378 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.50, Z:0.01 [[ 0.95875573 0.20758571 -0.19415363 4.75502968] [-0.20516979 0.97818003 0.03269824 -0.49957284] [ 0.19670489 0.00848483 0.98042603 0.01443479] [ 0. 0. 0. 1. ]] SLAMing on 73.63538474999999 meters Centerline goodness : 0.910981 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.50, Z:0.01 [[ 0.95885828 0.20728005 -0.19397366 4.75609313] [-0.20491227 0.9782433 0.03241931 -0.49924513] [ 0.19647331 0.00866206 0.98047091 0.01328911] [ 0. 0. 0. 1. ]] SLAMing on 73.66538474999999 meters Centerline goodness : 0.907063 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.50, Z:0.01 [[ 0.9590995 0.20657074 -0.1935373 4.75789747] [-0.2042952 0.9783905 0.03186684 -0.49913153] [ 0.19593782 0.00897527 0.98057525 0.01121249] [ 0. 0. 0. 1. ]] SLAMing on 73.69538474999999 meters Centerline goodness : 0.905945 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.50, Z:0.01 [[ 0.95916141 0.20635361 -0.1934621 4.75864889] [-0.20410358 0.97843547 0.03171379 -0.49902008] [ 0.19583444 0.00906767 0.98059505 0.01053903] [ 0. 0. 0. 1. ]] SLAMing on 73.72538474999999 meters Centerline goodness : 0.898539 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.50, Z:0.01 [[ 0.95873469 0.20847359 -0.19330431 4.7631561 ] [-0.20573523 0.97800419 0.03436314 -0.49934235] [ 0.19621623 0.00682438 0.9805369 0.0087011 ] [ 0. 0. 0. 1. ]] SLAMing on 73.75538474999999 meters Centerline goodness : 0.895402 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.50, Z:0.01 [[ 0.95873977 0.20933997 -0.19234041 4.76490264] [-0.20654068 0.97782173 0.03472185 -0.49806003] [ 0.1953433 0.0064369 0.9807138 0.00622425] [ 0. 0. 0. 1. ]] SLAMing on 73.78538474999999 meters Centerline goodness : 0.893953 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.50, Z:0.01 [[ 0.95875932 0.20926923 -0.19231994 4.76595508] [-0.20655138 0.97783418 0.03430506 -0.49713503] [ 0.195236 0.00683365 0.98073248 0.00514056] [ 0. 0. 0. 1. ]] SLAMing on 73.81538474999999 meters Centerline goodness : 0.892426 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.50, Z:0.00 [[ 9.58800302e-01 2.09447964e-01 -1.91920639e-01 4.76716147e+00] [-2.06799304e-01 9.77793814e-01 3.39603327e-02 -4.96158574e-01] [ 1.94771737e-01 7.12787740e-03 9.80822698e-01 3.24850570e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.84538475 meters Centerline goodness : 0.894734 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.50, Z:0.00 [[ 9.58815087e-01 2.09579366e-01 -1.91703202e-01 4.76747614e+00] [-2.06938567e-01 9.77765553e-01 3.39256978e-02 -4.95968746e-01] [ 1.94550914e-01 7.14231496e-03 9.80866418e-01 2.54581652e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.87538475 meters Centerline goodness : 0.892517 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.50, Z:0.00 [[ 9.58901684e-01 2.09733511e-01 -1.91100536e-01 4.76700808e+00] [-2.07068070e-01 9.77734051e-01 3.40432068e-02 -4.96479336e-01] [ 1.93985502e-01 6.92673072e-03 9.80979941e-01 1.99714918e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.90538475 meters Centerline goodness : 0.903916 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.50, Z:0.00 [[ 9.58923677e-01 2.09604399e-01 -1.91131833e-01 4.76745079e+00] [-2.06910681e-01 9.77762791e-01 3.41744777e-02 -4.97234203e-01] [ 1.94044715e-01 6.77650197e-03 9.80969280e-01 1.80158379e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.93538475 meters Centerline goodness : 0.909199 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.50, Z:0.00 [[ 9.59777981e-01 2.05655587e-01 -1.91133478e-01 4.76631430e+00] [-2.03636842e-01 9.78575561e-01 3.03629426e-02 -4.97714486e-01] [ 1.93282859e-01 9.78013412e-03 9.81094330e-01 9.09672379e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.96538475 meters Centerline goodness : 0.904342 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.50, Z:0.00 [[ 9.60534144e-01 2.01616262e-01 -1.91637787e-01 4.76621450e+00] [-2.00299602e-01 9.79378273e-01 2.64247469e-02 -4.97247774e-01] [ 1.93013544e-01 1.30031008e-02 9.81109928e-01 6.78189292e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.99538475 meters Centerline goodness : 0.900871 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.50, Z:-0.00 [[ 9.60670996e-01 2.00415722e-01 -1.92210241e-01 4.76949678e+00] [-1.99170812e-01 9.79620338e-01 2.59803780e-02 -4.99387222e-01] [ 1.93499938e-01 1.33240742e-02 9.81009808e-01 -1.74314080e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.02538474999999 meters Centerline goodness : 0.901407 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.50, Z:-0.00 [[ 9.60672697e-01 2.00049320e-01 -1.92583073e-01 4.77135845e+00] [-1.98825212e-01 9.79693604e-01 2.58646126e-02 -4.99993255e-01] [ 1.93846602e-01 1.34429430e-02 9.80939744e-01 -2.64180005e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05538474999999 meters Centerline goodness : 0.898283 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.50, Z:-0.00 [[ 9.60672827e-01 1.99596444e-01 -1.93051751e-01 4.77435936e+00] [-1.98444649e-01 9.79780650e-01 2.54872136e-02 -5.00871020e-01] [ 1.94235527e-01 1.38252136e-02 9.80857494e-01 -4.60669660e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.08538474999999 meters Centerline goodness : 0.900285 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.50, Z:-0.01 [[ 0.96068033 0.19906597 -0.19356145 4.77660551] [-0.19793355 0.97988699 0.02537327 -0.501891 ] [ 0.1947193 0.01393671 0.98075999 -0.0054843 ] [ 0. 0. 0. 1. ]] SLAMing on 74.11538474999999 meters Centerline goodness : 0.899319 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.50, Z:-0.01 [[ 0.96071659 0.19803212 -0.19444 4.78052809] [-0.19700776 0.98008844 0.02479101 -0.504065 ] [ 0.19547782 0.01448906 0.98060109 -0.0075136 ] [ 0. 0. 0. 1. ]] SLAMing on 74.14538474999999 meters Centerline goodness : 0.899833 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.50, Z:-0.01 [[ 0.96069271 0.19777681 -0.19481748 4.78254719] [-0.19677688 0.98013784 0.0246714 -0.50480217] [ 0.19582741 0.01463394 0.98052918 -0.00860273] [ 0. 0. 0. 1. ]] SLAMing on 74.17538474999999 meters Centerline goodness : 0.899011 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.51, Z:-0.01 [[ 0.96057948 0.19779391 -0.19535771 4.7872514 ] [-0.19670996 0.98013952 0.02513379 -0.50590237] [ 0.19644912 0.0142858 0.98040994 -0.01095006] [ 0. 0. 0. 1. ]] SLAMing on 74.20538475 meters Centerline goodness : 0.898910 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.51, Z:-0.01 [[ 0.96056222 0.19731066 -0.19593038 4.79020287] [-0.19621656 0.98023729 0.02517758 -0.50737185] [ 0.19702607 0.01426015 0.98029453 -0.01216284] [ 0. 0. 0. 1. ]] SLAMing on 74.23538475 meters Centerline goodness : 0.896125 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.51, Z:-0.01 [[ 0.96053276 0.19724154 -0.19614433 4.79090347] [-0.19609956 0.98025434 0.02542426 -0.50860575] [ 0.19728605 0.01404299 0.98024538 -0.01219031] [ 0. 0. 0. 1. ]] SLAMing on 74.26538475 meters Centerline goodness : 0.898941 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.51, Z:-0.01 [[ 0.96044129 0.19755973 -0.19627197 4.79093098] [-0.19626204 0.98020035 0.02623883 -0.51145116] [ 0.19756959 0.01331988 0.98019837 -0.01168194] [ 0. 0. 0. 1. ]] SLAMing on 74.29538475 meters Centerline goodness : 0.901213 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.51, Z:-0.01 [[ 0.96038331 0.19777522 -0.19633863 4.79110015] [-0.19639851 0.98016173 0.02665728 -0.51234133] [ 0.19771576 0.01295941 0.98017373 -0.01143655] [ 0. 0. 0. 1. ]] SLAMing on 74.32538475 meters Centerline goodness : 0.898210 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.51, Z:-0.01 [[ 0.96029059 0.19851932 -0.19604096 4.79056961] [-0.19699877 0.98002002 0.02742713 -0.51410344] [ 0.19756888 0.01228181 0.98021207 -0.01139652] [ 0. 0. 0. 1. ]] SLAMing on 74.35538475 meters Centerline goodness : 0.901589 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.51, Z:-0.01 [[ 0.96025308 0.19852648 -0.19621736 4.79122735] [-0.19697219 0.98002033 0.02760631 -0.51491481] [ 0.19777758 0.01214032 0.98017174 -0.01151845] [ 0. 0. 0. 1. ]] SLAMing on 74.38538474999999 meters Centerline goodness : 0.904885 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.52, Z:-0.01 [[ 0.96009478 0.19916996 -0.19633985 4.79109129] [-0.19740034 0.97990142 0.02874551 -0.51792839] [ 0.19811894 0.01115914 0.98011446 -0.01079883] [ 0. 0. 0. 1. ]] SLAMing on 74.41538474999999 meters Centerline goodness : 0.907000 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.52, Z:-0.01 [[ 0.96006177 0.19892254 -0.19675165 4.79264932] [-0.19710595 0.9799539 0.02897576 -0.51918829] [ 0.19857148 0.0109624 0.9800251 -0.01108153] [ 0. 0. 0. 1. ]] SLAMing on 74.44538474999999 meters Centerline goodness : 0.906928 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.52, Z:-0.01 [[ 0.96011318 0.19765918 -0.19777139 4.79663424] [-0.19580999 0.98021107 0.02906369 -0.52259082] [ 0.19960241 0.01082118 0.97981722 -0.01200857] [ 0. 0. 0. 1. ]] SLAMing on 74.47538474999999 meters Centerline goodness : 0.908832 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.52, Z:-0.01 [[ 0.9600707 0.1971661 -0.19846858 4.79861372] [-0.19524565 0.98031361 0.02940003 -0.52488691] [ 0.20035814 0.01052402 0.9796662 -0.01201612] [ 0. 0. 0. 1. ]] SLAMing on 74.50538474999999 meters Centerline goodness : 0.910111 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.53, Z:-0.01 [[ 0.96009959 0.1962664 -0.19921916 4.80129949] [-0.19429657 0.98049651 0.02958784 -0.52834759] [ 0.20114079 0.01030032 0.97950819 -0.0125641 ] [ 0. 0. 0. 1. ]] SLAMing on 74.53538474999999 meters Centerline goodness : 0.909502 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.53, Z:-0.01 [[ 0.96009331 0.1958264 -0.19968187 4.80303654] [-0.19382457 0.98058587 0.02972191 -0.52973513] [ 0.20162555 0.01016744 0.9794099 -0.01285888] [ 0. 0. 0. 1. ]] SLAMing on 74.56538474999999 meters Centerline goodness : 0.913538 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.53, Z:-0.01 [[ 0.96005804 0.19498471 -0.20067269 4.8065558 ] [-0.19293976 0.98075512 0.02989387 -0.53220131] [ 0.20263962 0.01001789 0.97920214 -0.01349629] [ 0. 0. 0. 1. ]] SLAMing on 74.59538475 meters Centerline goodness : 0.916073 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.53, Z:-0.01 [[ 0.95997949 0.19471991 -0.20130457 4.80902943] [-0.19262593 0.98080945 0.03013433 -0.53406041] [ 0.20330917 0.00984814 0.97906506 -0.01417924] [ 0. 0. 0. 1. ]] SLAMing on 74.62538475 meters Centerline goodness : 0.913898 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.54, Z:-0.01 [[ 0.95991956 0.19458831 -0.2017172 4.81019652] [-0.19245204 0.98083711 0.03034424 -0.53500377] [ 0.20375635 0.00969285 0.97897365 -0.01412128] [ 0. 0. 0. 1. ]] SLAMing on 74.65538475 meters Centerline goodness : 0.914377 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.54, Z:-0.01 [[ 0.95984065 0.19444076 -0.20223429 4.81071731] [-0.1921536 0.98087269 0.03107683 -0.53799622] [ 0.2044087 0.00903124 0.97884397 -0.01296201] [ 0. 0. 0. 1. ]] SLAMing on 74.68538475 meters Centerline goodness : 0.917171 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.54, Z:-0.01 [[ 0.9597596 0.19444924 -0.20261047 4.81126738] [-0.19203298 0.98087599 0.03171158 -0.53936019] [ 0.20490204 0.0084724 0.97874582 -0.0120537 ] [ 0. 0. 0. 1. ]] SLAMing on 74.71538475 meters Centerline goodness : 0.918199 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.54, Z:-0.01 [[ 0.95963377 0.19443501 -0.20321921 4.81323432] [-0.19192463 0.98088181 0.032184 -0.54084051] [ 0.20559173 0.00811791 0.97860418 -0.01219999] [ 0. 0. 0. 1. ]] SLAMing on 74.74538475 meters Centerline goodness : 0.917946 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.54, Z:-0.01 [[ 0.95958481 0.1942798 -0.2035985 4.81487917] [-0.19174455 0.98091318 0.03230113 -0.54142711] [ 0.20598791 0.00804323 0.97852148 -0.01255068] [ 0. 0. 0. 1. ]] SLAMing on 74.77538474999999 meters Centerline goodness : 0.918656 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.54, Z:-0.01 [[ 0.95938464 0.19481611 -0.2040289 4.81614581] [-0.19219187 0.98080918 0.0327968 -0.54252092] [ 0.20650276 0.00774794 0.97841534 -0.01282398] [ 0. 0. 0. 1. ]] SLAMing on 74.80538474999999 meters Centerline goodness : 0.919816 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.54, Z:-0.01 [[ 0.95928522 0.19494847 -0.20436965 4.81710113] [-0.19225843 0.98078477 0.03313513 -0.54306073] [ 0.20690228 0.00750575 0.97833282 -0.01267311] [ 0. 0. 0. 1. ]] SLAMing on 74.83538474999999 meters Centerline goodness : 0.925969 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.54, Z:-0.01 [[ 0.95909905 0.19577746 -0.20445095 4.81681253] [-0.1928764 0.98062607 0.03422292 -0.54486902] [ 0.20719001 0.0066106 0.97827839 -0.01172824] [ 0. 0. 0. 1. ]] SLAMing on 74.86538474999999 meters Centerline goodness : 0.923713 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.55, Z:-0.01 [[ 0.95898824 0.1960146 -0.20474333 4.81728933] [-0.19301867 0.98058114 0.03470488 -0.54579264] [ 0.20757011 0.00623771 0.97820026 -0.01127465] [ 0. 0. 0. 1. ]] SLAMing on 74.89538474999999 meters Centerline goodness : 0.924502 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.55, Z:-0.01 [[ 0.95882019 0.19629243 -0.20526356 4.81843503] [-0.19319613 0.98052774 0.03522214 -0.54705158] [ 0.20818046 0.00588443 0.97807273 -0.01101223] [ 0. 0. 0. 1. ]] SLAMing on 74.92538474999999 meters Centerline goodness : 0.927344 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.55, Z:-0.01 [[ 0.95873116 0.19645193 -0.20552665 4.81919195] [-0.19331821 0.98049647 0.03542235 -0.54764075] [ 0.20847695 0.00577153 0.97801025 -0.01105693] [ 0. 0. 0. 1. ]] SLAMing on 74.95538475 meters Centerline goodness : 0.930108 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.55, Z:-0.01 [[ 0.95862944 0.19655816 -0.20589919 4.82050847] [-0.1933604 0.98047647 0.03574408 -0.54902958] [ 0.20890511 0.00554742 0.97792018 -0.01134272] [ 0. 0. 0. 1. ]] SLAMing on 74.98538475 meters Centerline goodness : 0.930108 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.55, Z:-0.01 [[ 0.95862944 0.19655816 -0.20589919 4.82050847] [-0.1933604 0.98047647 0.03574408 -0.54902958] [ 0.20890511 0.00554742 0.97792018 -0.01134272] [ 0. 0. 0. 1. ]] SLAMing on 75.01538475 meters Centerline goodness : 0.929427 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.55, Z:-0.01 [[ 0.95858032 0.19628222 -0.20639055 4.82203657] [-0.19303746 0.98053267 0.0359475 -0.55049605] [ 0.20942853 0.00538254 0.97780914 -0.01144093] [ 0. 0. 0. 1. ]] SLAMing on 75.04538475 meters Centerline goodness : 0.932139 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.55, Z:-0.01 [[ 0.95860575 0.19512498 -0.20736743 4.82485054] [-0.19179914 0.9807654 0.03622589 -0.55448198] [ 0.21044738 0.00504655 0.97759216 -0.01120762] [ 0. 0. 0. 1. ]] SLAMing on 75.07538475 meters Centerline goodness : 0.933847 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.56, Z:-0.01 [[ 9.58630152e-01 1.94523519e-01 -2.07819230e-01 4.82683740e+00] [-1.91079213e-01 9.80887496e-01 3.67213034e-02 -5.57726476e-01] [ 2.10990441e-01 4.50778611e-03 9.77477731e-01 -1.13239326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.10538475 meters Centerline goodness : 0.934639 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.56, Z:-0.01 [[ 9.58639090e-01 1.94236852e-01 -2.08046004e-01 4.82827617e+00] [-1.90751844e-01 9.80945117e-01 3.68837534e-02 -5.59204011e-01] [ 2.11245896e-01 4.32695114e-03 9.77423372e-01 -1.18202141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13538474999999 meters Centerline goodness : 0.933084 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.56, Z:-0.01 [[ 9.58632523e-01 1.93429851e-01 -2.08826670e-01 4.83121038e+00] [-1.89878149e-01 9.81105680e-01 3.71205307e-02 -5.62839254e-01] [ 2.12061251e-01 4.06667343e-03 9.77247915e-01 -1.23514852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.16538474999999 meters Centerline goodness : 0.936813 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.56, Z:-0.01 [[ 9.58571185e-01 1.93224091e-01 -2.09298192e-01 4.83251343e+00] [-1.89611177e-01 9.81147117e-01 3.73889958e-02 -5.64648311e-01] [ 2.12576772e-01 3.84526247e-03 9.77136802e-01 -1.23695358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19538474999999 meters Centerline goodness : 0.938854 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.57, Z:-0.01 [[ 9.58474384e-01 1.93318113e-01 -2.09654389e-01 4.83329049e+00] [-1.89582304e-01 9.81130399e-01 3.79696082e-02 -5.66485003e-01] [ 2.13038508e-01 3.35386533e-03 9.77038047e-01 -1.18942745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.22538474999999 meters Centerline goodness : 0.941423 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.57, Z:-0.01 [[ 0.9590683 0.18980593 -0.21014688 4.83243819] [-0.18668841 0.98180395 0.03476272 -0.56843149] [ 0.21292121 0.00589217 0.97705161 -0.01206742] [ 0. 0. 0. 1. ]] SLAMing on 75.25538474999999 meters Centerline goodness : 0.942312 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.57, Z:-0.01 [[ 0.95901 0.18978338 -0.21043312 4.83309772] [-0.1865211 0.98181184 0.03543153 -0.57060684] [ 0.21333004 0.00527103 0.97696597 -0.01142443] [ 0. 0. 0. 1. ]] SLAMing on 75.28538474999999 meters Centerline goodness : 0.947207 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.57, Z:-0.01 [[ 9.59041879e-01 1.89059480e-01 -2.10938823e-01 4.83452440e+00] [-1.85684484e-01 9.81954113e-01 3.58802464e-02 -5.73749880e-01] [ 2.13915745e-01 4.75740757e-03 9.76840530e-01 -1.07658871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31538474999999 meters Centerline goodness : 0.949435 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.58, Z:-0.01 [[ 9.59109445e-01 1.87714406e-01 -2.11831006e-01 4.83862040e+00] [-1.84313849e-01 9.82212690e-01 3.58697209e-02 -5.75920538e-01] [ 2.14796365e-01 4.64039978e-03 9.76647832e-01 -1.14320491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.34538475 meters Centerline goodness : 0.948514 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.58, Z:-0.01 [[ 9.59110011e-01 1.86976682e-01 -2.12479899e-01 4.84124159e+00] [-1.83608489e-01 9.82352554e-01 3.56564599e-02 -5.76294518e-01] [ 2.15397098e-01 4.81464559e-03 9.76514674e-01 -1.19095287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.37538475 meters Centerline goodness : 0.946995 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.58, Z:-0.01 [[ 0.95904064 0.18632443 -0.21336415 4.8443386 ] [-0.18300319 0.98247502 0.03539303 -0.57640863] [ 0.21621953 0.00510297 0.97633144 -0.01233059] [ 0. 0. 0. 1. ]] SLAMing on 75.40538475 meters Centerline goodness : 0.947746 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.58, Z:-0.01 [[ 0.95897121 0.18642519 -0.21358807 4.84505124] [-0.18309838 0.98245578 0.03543472 -0.57599807] [ 0.21644676 0.00512675 0.97628096 -0.01232602] [ 0. 0. 0. 1. ]] SLAMing on 75.43538475 meters Centerline goodness : 0.949309 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.58, Z:-0.01 [[ 0.95963996 0.18202887 -0.21437501 4.84402922] [-0.17917632 0.98326896 0.03283302 -0.57666349] [ 0.21676485 0.00690305 0.97619944 -0.0095173 ] [ 0. 0. 0. 1. ]] SLAMing on 75.46538475 meters Centerline goodness : 0.951130 Centerline is valid? [False, True] Translation: X:4.85, Y:-0.58, Z:-0.01 [[ 0.95965792 0.18115637 -0.21503267 4.84572947] [-0.17827624 0.98343093 0.03288136 -0.57701259] [ 0.21742645 0.00678036 0.97605316 -0.00869184] [ 0. 0. 0. 1. ]] SLAMing on 75.49538475 meters Centerline goodness : 0.950747 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.58, Z:-0.00 [[ 9.59855004e-01 1.79024039e-01 -2.15936945e-01 4.87687655e+00] [-1.75896333e-01 9.83828990e-01 3.37786717e-02 -5.79062137e-01] [ 2.18492221e-01 5.55988979e-03 9.75822851e-01 -3.63041535e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.52538474999999 meters Centerline goodness : 0.948491 Centerline is valid? [True, False] Translation: X:4.88, Y:-0.58, Z:-0.00 [[ 9.59842434e-01 1.78475709e-01 -2.16446119e-01 4.87967512e+00] [-1.75393148e-01 9.83927341e-01 3.35295609e-02 -5.77700047e-01] [ 2.18951466e-01 5.78007084e-03 9.75718631e-01 -4.27933420e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55538474999999 meters Centerline goodness : 0.950101 Centerline is valid? [False, True] Translation: X:4.88, Y:-0.58, Z:-0.00 [[ 9.59743224e-01 1.78739682e-01 -2.16668111e-01 4.88043121e+00] [-1.75662036e-01 9.83878905e-01 3.35432583e-02 -5.75960822e-01] [ 2.19170696e-01 5.86744669e-03 9.75668888e-01 -4.09272121e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.58538474999999 meters Centerline goodness : 0.948900 Centerline is valid? [True, False] Translation: X:4.88, Y:-0.58, Z:-0.00 [[ 9.59627130e-01 1.78972142e-01 -2.16990191e-01 4.88063409e+00] [-1.75815688e-01 9.83838252e-01 3.39284236e-02 -5.75969298e-01] [ 2.19555493e-01 5.59164407e-03 9.75583989e-01 -3.13122509e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61538474999999 meters Centerline goodness : 0.949980 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.58, Z:-0.00 [[ 9.59478159e-01 1.79148943e-01 -2.17502457e-01 4.88075454e+00] [-1.75974150e-01 9.83805962e-01 3.40430404e-02 -5.75507123e-01] [ 2.20078988e-01 5.61125614e-03 9.75465916e-01 -1.97787057e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.64538474999999 meters Centerline goodness : 0.950273 Centerline is valid? [False, True] Translation: X:4.88, Y:-0.57, Z:-0.00 [[ 9.59412472e-01 1.79132189e-01 -2.17805804e-01 4.88185121e+00] [-1.75969915e-01 9.83808425e-01 3.39937037e-02 -5.74699750e-01] [ 2.20368551e-01 5.71328537e-03 9.75399949e-01 -2.01114702e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67538474999999 meters Centerline goodness : 0.951358 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.58, Z:0.00 [[ 9.60875817e-01 1.72539937e-01 -2.16674029e-01 4.91310829e+00] [-1.69501741e-01 9.84988098e-01 3.26742479e-02 -5.78608020e-01] [ 2.19058952e-01 5.33073045e-03 9.75697063e-01 4.48543453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.70538475 meters Centerline goodness : 0.951961 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.58, Z:0.01 [[ 9.61191896e-01 1.68675489e-01 -2.18308769e-01 4.94422296e+00] [-1.65478486e-01 9.85661716e-01 3.29826057e-02 -5.79531503e-01] [ 2.20741953e-01 4.42279140e-03 9.75322218e-01 1.07873647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.73538475 meters Centerline goodness : 0.949151 Centerline is valid? [True, False] Translation: X:4.95, Y:-0.58, Z:0.01 [[ 0.96122691 0.16742858 -0.21911299 4.94895987] [-0.16439572 0.98587085 0.03213579 -0.57730812] [ 0.22139756 0.00513146 0.97517013 0.00925711] [ 0. 0. 0. 1. ]] SLAMing on 75.76538475 meters Centerline goodness : 0.950081 Centerline is valid? [False, True] Translation: X:4.96, Y:-0.58, Z:0.01 [[ 9.60627601e-01 1.69765861e-01 -2.19941275e-01 4.95514334e+00] [-1.66178414e-01 9.85479642e-01 3.48512507e-02 -5.75546336e-01] [ 2.22664201e-01 3.07041888e-03 9.74890366e-01 8.42104326e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.79538475 meters Centerline goodness : 0.952396 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.58, Z:0.01 [[ 0.96039956 0.17086099 -0.22008907 4.98362166] [-0.16768528 0.98528223 0.0331749 -0.57839416] [ 0.22251814 0.00504454 0.9749155 0.01309449] [ 0. 0. 0. 1. ]] SLAMing on 75.82538475 meters Centerline goodness : 0.953328 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.58, Z:0.02 [[ 0.95968294 0.17579749 -0.21932602 5.01057923] [-0.17277316 0.98440698 0.03305044 -0.5819233 ] [ 0.22171625 0.00617571 0.97509167 0.02105814] [ 0. 0. 0. 1. ]] SLAMing on 75.85538475 meters Centerline goodness : 0.955043 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.59, Z:0.03 [[ 0.96003278 0.17557101 -0.21797222 5.04098131] [-0.17258065 0.98444791 0.03283645 -0.58556371] [ 0.22034743 0.00609372 0.97540242 0.02798065] [ 0. 0. 0. 1. ]] SLAMing on 75.88538474999999 meters Centerline goodness : 0.955047 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.59, Z:0.04 [[ 0.96032879 0.17597083 -0.21633974 5.07108184] [-0.17303356 0.9843763 0.03259874 -0.58861706] [ 0.21869614 0.00612853 0.97577376 0.03619113] [ 0. 0. 0. 1. ]] SLAMing on 75.91538474999999 meters Centerline goodness : 0.954396 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.59, Z:0.04 [[ 0.96028173 0.17779622 -0.21505233 5.10182975] [-0.17493738 0.98404589 0.03241291 -0.58896829] [ 0.21738425 0.00649517 0.9760645 0.04174195] [ 0. 0. 0. 1. ]] SLAMing on 75.94538474999999 meters Centerline goodness : 0.954652 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.59, Z:0.05 [[ 0.96038453 0.17916247 -0.21345341 5.13404589] [-0.17637689 0.98379642 0.03218388 -0.59150879] [ 0.21576084 0.00673935 0.97642298 0.0458695 ] [ 0. 0. 0. 1. ]] SLAMing on 75.97538474999999 meters Centerline goodness : 0.952590 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.59, Z:0.05 [[ 0.95935409 0.18250504 -0.21524786 5.16444808] [-0.17974236 0.98317632 0.03251168 -0.59437217] [ 0.21756014 0.00749894 0.97601811 0.05434227] [ 0. 0. 0. 1. ]] SLAMing on 76.00538474999999 meters Centerline goodness : 0.950690 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.60, Z:0.06 [[ 0.95903727 0.18360237 -0.21572593 5.19497109] [-0.18084192 0.98297037 0.03264116 -0.59893921] [ 0.21804519 0.00770821 0.97590823 0.06189202] [ 0. 0. 0. 1. ]] SLAMing on 76.03538474999999 meters Centerline goodness : 0.953711 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.60, Z:0.07 [[ 0.95914983 0.18396312 -0.21491665 5.2266764 ] [-0.18121894 0.982903 0.03257909 -0.60296875] [ 0.21723557 0.00769874 0.97608885 0.06813689] [ 0. 0. 0. 1. ]] SLAMing on 76.06538474999999 meters Centerline goodness : 0.953451 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.61, Z:0.07 [[ 0.95868237 0.18482463 -0.21625904 5.25909926] [-0.18205294 0.98273993 0.03284763 -0.60608361] [ 0.21859744 0.00788015 0.97578331 0.07464934] [ 0. 0. 0. 1. ]] SLAMing on 76.09538475 meters Centerline goodness : 0.952305 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.61, Z:0.08 [[ 0.95879382 0.18458673 -0.21596793 5.29032028] [-0.18180235 0.98278567 0.03286702 -0.61027472] [ 0.218317 0.00775078 0.97584713 0.08088083] [ 0. 0. 0. 1. ]] SLAMing on 76.12538475 meters Centerline goodness : 0.954806 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.61, Z:0.09 [[ 0.95877998 0.18406388 -0.21647503 5.3215102 ] [-0.18124048 0.98288495 0.03300093 -0.61371391] [ 0.21884433 0.00759341 0.97573024 0.08562431] [ 0. 0. 0. 1. ]] SLAMing on 76.15538475 meters Centerline goodness : 0.952200 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.62, Z:0.09 [[ 0.95868745 0.18383258 -0.21708051 5.35027906] [-0.18097592 0.98292887 0.03314444 -0.61836183] [ 0.21946773 0.00751119 0.97559085 0.09232361] [ 0. 0. 0. 1. ]] SLAMing on 76.18538475 meters Centerline goodness : 0.953345 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.62, Z:0.10 [[ 0.95838674 0.18347245 -0.21870693 5.37958195] [-0.18056244 0.98299637 0.03339678 -0.6247139 ] [ 0.22111551 0.00748322 0.97521891 0.09911259] [ 0. 0. 0. 1. ]] SLAMing on 76.21538475 meters Centerline goodness : 0.953902 Centerline is valid? [True, True] Translation: X:5.41, Y:-0.63, Z:0.10 [[ 0.95832089 0.18316449 -0.21925292 5.40854971] [-0.18023129 0.98305421 0.03348287 -0.62919506] [ 0.22167038 0.0074289 0.97509336 0.10487844] [ 0. 0. 0. 1. ]] SLAMing on 76.24538475 meters Centerline goodness : 0.954284 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.63, Z:0.11 [[ 0.95807625 0.18389211 -0.21971253 5.43637627] [-0.18096729 0.98291688 0.03354472 -0.63423934] [ 0.22212776 0.00762238 0.97498777 0.11132956] [ 0. 0. 0. 1. ]] SLAMing on 76.27538474999999 meters Centerline goodness : 0.954130 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.64, Z:0.12 [[ 0.95767468 0.18502585 -0.22050995 5.46527974] [-0.18211189 0.98270168 0.03365503 -0.63897185] [ 0.22292255 0.00792691 0.97480393 0.11714978] [ 0. 0. 0. 1. ]] SLAMing on 76.30538474999999 meters Centerline goodness : 0.953358 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.64, Z:0.12 [[ 0.95724304 0.1862151 -0.22138135 5.49319054] [-0.18331121 0.98247439 0.03377969 -0.64297378] [ 0.2237918 0.0082463 0.97460209 0.12272375] [ 0. 0. 0. 1. ]] SLAMing on 76.33538474999999 meters Centerline goodness : 0.953452 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.65, Z:0.13 [[ 0.95723838 0.18683055 -0.22088237 5.52286544] [-0.18395831 0.98235641 0.03369322 -0.64762969] [ 0.22328014 0.0083807 0.97471829 0.12851973] [ 0. 0. 0. 1. ]] SLAMing on 76.36538474999999 meters Centerline goodness : 0.954320 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.65, Z:0.14 [[ 0.95710855 0.18889385 -0.21968692 5.55073732] [-0.18610619 0.98195798 0.03351134 -0.6518242 ] [ 0.22205341 0.00881111 0.97499469 0.13573621] [ 0. 0. 0. 1. ]] SLAMing on 76.39538474999999 meters Centerline goodness : 0.953302 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.66, Z:0.14 [[ 0.95674495 0.19033816 -0.22002381 5.58001577] [-0.18757865 0.98167588 0.0335666 -0.65588689] [ 0.22238107 0.0091571 0.97491682 0.14268619] [ 0. 0. 0. 1. ]] SLAMing on 76.42538474999999 meters Centerline goodness : 0.954549 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.66, Z:0.15 [[ 0.95645165 0.19244355 -0.21946692 5.60997848] [-0.18975263 0.98126088 0.03348164 -0.65980531] [ 0.22179763 0.00962086 0.97504526 0.14790158] [ 0. 0. 0. 1. ]] SLAMing on 76.45538475 meters Centerline goodness : 0.955405 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.66, Z:0.15 [[ 0.95618913 0.19290028 -0.22020862 5.63993889] [-0.19020303 0.98116981 0.03359479 -0.66245783] [ 0.2225425 0.00976137 0.97487412 0.15489973] [ 0. 0. 0. 1. ]] SLAMing on 76.48538475 meters Centerline goodness : 0.954631 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.67, Z:0.16 [[ 0.95625439 0.19244548 -0.2203231 5.66852876] [-0.18973362 0.98126011 0.03361184 -0.66565999] [ 0.22266272 0.00966123 0.97484767 0.15998239] [ 0. 0. 0. 1. ]] SLAMing on 76.51538475 meters Centerline goodness : 0.953474 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.67, Z:0.17 [[ 0.95594002 0.19305476 -0.22115276 5.69703196] [-0.19033943 0.98113858 0.03373415 -0.67050926] [ 0.22349404 0.00984626 0.97465556 0.16565792] [ 0. 0. 0. 1. ]] SLAMing on 76.54538475 meters Centerline goodness : 0.953455 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.68, Z:0.17 [[ 0.95593361 0.19253845 -0.22163006 5.72548435] [-0.18979943 0.98124094 0.03379937 -0.67536582] [ 0.22398017 0.00975531 0.97454488 0.17283781] [ 0. 0. 0. 1. ]] SLAMing on 76.57538475 meters Centerline goodness : 0.956183 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.68, Z:0.18 [[ 0.95683864 0.18976 -0.22011578 5.75424492] [-0.18698757 0.98178883 0.03356102 -0.68115354] [ 0.22247575 0.00904643 0.97489625 0.17911059] [ 0. 0. 0. 1. ]] SLAMing on 76.60538475 meters Centerline goodness : 0.956151 Centerline is valid? [True, True] Translation: X:5.78, Y:-0.69, Z:0.19 [[ 0.95728875 0.18839064 -0.21933355 5.782737 ] [-0.18560419 0.98205561 0.03343439 -0.68651538] [ 0.22169647 0.00870286 0.97507689 0.18556928] [ 0. 0. 0. 1. ]] SLAMing on 76.63538474999999 meters Centerline goodness : 0.957657 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.69, Z:0.19 [[ 0.95803068 0.18589204 -0.21822319 5.8106026 ] [-0.18307147 0.98253689 0.03325817 -0.69278469] [ 0.22059477 0.00808809 0.97533201 0.19128683] [ 0. 0. 0. 1. ]] SLAMing on 76.66538474999999 meters Centerline goodness : 0.959231 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.70, Z:0.20 [[ 0.95925198 0.18207428 -0.21606619 5.83849042] [-0.17921478 0.98325886 0.03292519 -0.69855002] [ 0.21844383 0.0071387 0.97582341 0.19690062] [ 0. 0. 0. 1. ]] SLAMing on 76.69538474999999 meters Centerline goodness : 0.961001 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.70, Z:0.20 [[ 0.95951585 0.18026217 -0.2164137 5.86601378] [-0.17735039 0.98359545 0.03296713 -0.70397703] [ 0.21880626 0.00674857 0.97574499 0.20359328] [ 0. 0. 0. 1. ]] SLAMing on 76.72538474999999 meters Centerline goodness : 0.959773 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.71, Z:0.21 [[ 0.96010111 0.17700068 -0.21651009 5.89227886] [-0.17400765 0.9841923 0.03296735 -0.71056624] [ 0.2189228 0.00602242 0.9757236 0.20950324] [ 0. 0. 0. 1. ]] SLAMing on 76.75538474999999 meters Centerline goodness : 0.960284 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.72, Z:0.21 [[ 9.60262925e-01 1.76181295e-01 -2.16460774e-01 5.92047424e+00] [-1.73172960e-01 9.84340343e-01 3.29426111e-02 -7.16217533e-01] [ 2.18874944e-01 5.85158499e-03 9.75735373e-01 2.14737453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.78538474999999 meters Centerline goodness : 0.961760 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.72, Z:0.22 [[ 9.59979276e-01 1.74721591e-01 -2.18888454e-01 5.94961262e+00] [-1.71610347e-01 9.84601971e-01 3.32993629e-02 -7.24262047e-01] [ 2.21336121e-01 5.59682524e-03 9.75181520e-01 2.22115322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81538474999999 meters Centerline goodness : 0.961226 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.73, Z:0.23 [[ 9.59802039e-01 1.74986079e-01 -2.19453682e-01 5.97690764e+00] [-1.71865942e-01 9.84554550e-01 3.33831656e-02 -7.29751643e-01] [ 2.21905710e-01 5.67538337e-03 9.75051612e-01 2.27475491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.84538475 meters Centerline goodness : 0.957281 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.74, Z:0.23 [[ 9.59747890e-01 1.74231957e-01 -2.20288932e-01 6.00467171e+00] [-1.71072810e-01 9.84689036e-01 3.34902413e-02 -7.35315494e-01] [ 2.22751166e-01 5.54325826e-03 9.74859575e-01 2.32576479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.87538475 meters Centerline goodness : 0.957281 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.74, Z:0.24 [[ 9.59756522e-01 1.74181619e-01 -2.20291129e-01 6.03313882e+00] [-1.71024480e-01 9.84697923e-01 3.34757826e-02 -7.39553331e-01] [ 2.22751083e-01 5.54657519e-03 9.74859575e-01 2.38390033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.90538475 meters Centerline goodness : 0.960172 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.74, Z:0.24 [[ 9.60041327e-01 1.73472798e-01 -2.19608374e-01 6.06109951e+00] [-1.70319715e-01 9.84823986e-01 3.33603275e-02 -7.44557873e-01] [ 2.22062704e-01 5.37634263e-03 9.75017564e-01 2.44227213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.93538475 meters Centerline goodness : 0.959329 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.75, Z:0.25 [[ 9.60005065e-01 1.73367885e-01 -2.19849611e-01 6.09113446e+00] [-1.70207965e-01 9.84842490e-01 3.33844183e-02 -7.51106035e-01] [ 2.22305024e-01 5.37094414e-03 9.74962373e-01 2.51224347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.96538475 meters Centerline goodness : 0.960554 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.76, Z:0.26 [[ 9.59978572e-01 1.73458080e-01 -2.19894148e-01 6.12063329e+00] [-1.70297436e-01 9.84826530e-01 3.33989293e-02 -7.56971328e-01] [ 2.22350905e-01 5.38515316e-03 9.74951832e-01 2.57136391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.99538475 meters Centerline goodness : 0.960974 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.76, Z:0.26 [[ 9.60053659e-01 1.73659100e-01 -2.19407132e-01 6.15057134e+00] [-1.70516909e-01 9.84790937e-01 3.33285673e-02 -7.61529659e-01] [ 2.21857965e-01 5.41541309e-03 9.75063955e-01 2.62153085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.02538474999999 meters Centerline goodness : 0.959141 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.77, Z:0.27 [[ 9.59869317e-01 1.74731684e-01 -2.19362103e-01 6.17976933e+00] [-1.71618325e-01 9.84599809e-01 3.33221571e-02 -7.67335641e-01] [ 2.21806321e-01 5.66164043e-03 9.75074306e-01 2.68445104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05538474999999 meters Centerline goodness : 0.959504 Centerline is valid? [True, True] Translation: X:6.21, Y:-0.77, Z:0.28 [[ 9.59677770e-01 1.74692933e-01 -2.20229328e-01 6.20767660e+00] [-1.71553256e-01 9.84606613e-01 3.34559019e-02 -7.73001176e-01] [ 2.22683762e-01 5.67417300e-03 9.74874220e-01 2.75426858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.08538474999999 meters Centerline goodness : 0.958320 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.78, Z:0.28 [[ 9.59842604e-01 1.73866284e-01 -2.20165143e-01 6.23688039e+00] [-1.70709959e-01 9.84753946e-01 3.34331648e-02 -7.78271730e-01] [ 2.22621393e-01 5.49380651e-03 9.74889498e-01 2.81422967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11538474999999 meters Centerline goodness : 0.959799 Centerline is valid? [True, True] Translation: X:6.27, Y:-0.78, Z:0.29 [[ 9.59900218e-01 1.73376486e-01 -2.20300173e-01 6.26766356e+00] [-1.70203325e-01 9.84840911e-01 3.34545727e-02 -7.83226144e-01] [ 2.22760860e-01 5.38277037e-03 9.74858259e-01 2.87523314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.14538474999999 meters Centerline goodness : 0.959647 Centerline is valid? [True, True] Translation: X:6.30, Y:-0.79, Z:0.29 [[ 9.59834246e-01 1.73949743e-01 -2.20135656e-01 6.29689093e+00] [-1.70794455e-01 9.84739152e-01 3.34373576e-02 -7.88496859e-01] [ 2.22592619e-01 5.50362854e-03 9.74896013e-01 2.91850497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17538474999999 meters Centerline goodness : 0.957722 Centerline is valid? [True, True] Translation: X:6.33, Y:-0.79, Z:0.30 [[ 9.59821820e-01 1.73911906e-01 -2.20219717e-01 6.32604654e+00] [-1.70752277e-01 9.84745894e-01 3.34541959e-02 -7.93778560e-01] [ 2.22678545e-01 5.49295100e-03 9.74876450e-01 2.98168207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.20538475 meters Centerline goodness : 0.958155 Centerline is valid? [True, True] Translation: X:6.36, Y:-0.80, Z:0.30 [[ 9.61009822e-01 1.71357957e-01 -2.17017448e-01 6.35546131e+00] [-1.68225849e-01 9.85197020e-01 3.29681126e-02 -8.00011886e-01] [ 2.19454292e-01 4.82526433e-03 9.75610850e-01 3.03067919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.23538475 meters Centerline goodness : 0.956403 Centerline is valid? [True, True] Translation: X:6.39, Y:-0.81, Z:0.31 [[ 9.61788267e-01 1.69448089e-01 -2.15059701e-01 6.38576701e+00] [-1.66324591e-01 9.85529543e-01 3.26749148e-02 -8.06107644e-01] [ 2.17484391e-01 4.34336731e-03 9.76054135e-01 3.09566150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.26538475 meters Centerline goodness : 0.958341 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.81, Z:0.32 [[ 9.63208645e-01 1.64873319e-01 -2.12240185e-01 6.41421081e+00] [-1.61720476e-01 9.86309375e-01 3.22537374e-02 -8.12985149e-01] [ 2.14652265e-01 3.25650503e-03 9.76685108e-01 3.15938185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.29538475 meters Centerline goodness : 0.960489 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.82, Z:0.32 [[ 9.63991435e-01 1.61812002e-01 -2.11038833e-01 6.44324816e+00] [-1.58621908e-01 9.86818292e-01 3.20741092e-02 -8.17316435e-01] [ 2.13446957e-01 2.55621594e-03 9.76951310e-01 3.21976915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.32538475 meters Centerline goodness : 0.958894 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.82, Z:0.33 [[ 9.64983140e-01 1.56609204e-01 -2.10430743e-01 6.47310656e+00] [-1.53316659e-01 9.87659647e-01 3.19753653e-02 -8.22996922e-01] [ 2.12841590e-01 1.40685009e-03 9.77085707e-01 3.27469276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.35538475 meters Centerline goodness : 0.959733 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.83, Z:0.33 [[ 9.64856166e-01 1.55739498e-01 -2.11654880e-01 6.50248539e+00] [-1.52385852e-01 9.87797415e-01 3.21686157e-02 -8.29074738e-01] [ 2.14082068e-01 1.21512202e-03 9.76814922e-01 3.33966218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38538474999999 meters Centerline goodness : 0.956316 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.83, Z:0.34 [[ 9.64509455e-01 1.55510403e-01 -2.13396404e-01 6.52986405e+00] [-1.52095396e-01 9.87833555e-01 3.24323475e-02 -8.34462913e-01] [ 2.15843696e-01 1.17530486e-03 9.76427221e-01 3.38601309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41538474999999 meters Centerline goodness : 0.956559 Centerline is valid? [True, True] Translation: X:6.56, Y:-0.84, Z:0.34 [[ 9.64002960e-01 1.57496241e-01 -2.14227046e-01 6.55838617e+00] [-1.54105427e-01 9.87518227e-01 3.25464059e-02 -8.38750897e-01] [ 2.16679049e-01 1.63871883e-03 9.76241519e-01 3.42839280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44538474999999 meters Centerline goodness : 0.954156 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.84, Z:0.35 [[ 9.64184461e-01 1.56896338e-01 -2.13850096e-01 6.58755930e+00] [-1.53506412e-01 9.87613912e-01 3.24737221e-02 -8.43832837e-01] [ 2.16296338e-01 1.51670265e-03 9.76326582e-01 3.48390440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47538474999999 meters Centerline goodness : 0.955432 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.85, Z:0.35 [[ 9.63864941e-01 1.57755481e-01 -2.14656900e-01 6.61669736e+00] [-1.54362469e-01 9.87476701e-01 3.25882377e-02 -8.48112848e-01] [ 2.17109660e-01 1.72430927e-03 9.76145697e-01 3.53565247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.50538474999999 meters Centerline goodness : 0.955834 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.85, Z:0.36 [[ 9.63702310e-01 1.57815834e-01 -2.15341636e-01 6.64517134e+00] [-1.54404192e-01 9.87467009e-01 3.26841233e-02 -8.52154423e-01] [ 2.17800833e-01 1.75188624e-03 9.75991664e-01 3.58940831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53538474999999 meters Centerline goodness : 0.953975 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.86, Z:0.36 [[ 9.63398887e-01 1.58665468e-01 -2.16073722e-01 6.67275004e+00] [-1.55253567e-01 9.87330454e-01 3.27857285e-02 -8.56404618e-01] [ 2.18538130e-01 1.96048180e-03 9.75826441e-01 3.63900750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.56538474999999 meters Centerline goodness : 0.955165 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.86, Z:0.37 [[ 9.62985400e-01 1.60460560e-01 -2.16590692e-01 6.70070719e+00] [-1.57081972e-01 9.87039344e-01 3.28418525e-02 -8.60179638e-01] [ 2.19053356e-01 2.39626857e-03 9.75709939e-01 3.70452536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.59538475 meters Centerline goodness : 0.955070 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.86, Z:0.38 [[ 9.63102111e-01 1.61193555e-01 -2.15524852e-01 6.72881619e+00] [-1.57870056e-01 9.86919478e-01 3.26647949e-02 -8.64361245e-01] [ 2.17971029e-01 2.56538744e-03 9.75951868e-01 3.76124270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.62538475 meters Centerline goodness : 0.955877 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.87, Z:0.38 [[ 9.62967330e-01 1.62860082e-01 -2.14873252e-01 6.75752253e+00] [-1.59600367e-01 9.86644780e-01 3.25545878e-02 -8.68275526e-01] [ 2.17305415e-01 2.94484544e-03 9.76099219e-01 3.82715865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.65538475 meters Centerline goodness : 0.955662 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.87, Z:0.39 [[ 9.62756867e-01 1.63940435e-01 -2.14994766e-01 6.78657760e+00] [-1.60705341e-01 9.86465054e-01 3.25651627e-02 -8.71659465e-01] [ 2.17423570e-01 3.19847328e-03 9.76072108e-01 3.88496761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.68538475 meters Centerline goodness : 0.955727 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.87, Z:0.39 [[ 9.62459815e-01 1.66616732e-01 -2.14266117e-01 6.81567538e+00] [-1.63470929e-01 9.86014424e-01 3.24470387e-02 -8.73455478e-01] [ 2.16675702e-01 3.79731029e-03 9.76236252e-01 3.93358740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.71538475 meters Centerline goodness : 0.957070 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.88, Z:0.40 [[ 9.62165788e-01 1.68320849e-01 -2.14254728e-01 6.84562535e+00] [-1.65218690e-01 9.85723365e-01 3.24381309e-02 -8.77173270e-01] [ 2.16655906e-01 4.18802581e-03 9.76239048e-01 4.00292034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.74538475 meters Centerline goodness : 0.955466 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.88, Z:0.41 [[ 9.62331910e-01 1.68674469e-01 -2.13228089e-01 6.87759744e+00] [-1.65609608e-01 9.85662690e-01 3.22880536e-02 -8.81026256e-01] [ 2.15617142e-01 4.24079591e-03 9.76468773e-01 4.06912712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77538474999999 meters Centerline goodness : 0.957036 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.89, Z:0.41 [[ 9.63086638e-01 1.66687240e-01 -2.11375240e-01 6.90902444e+00] [-1.63614264e-01 9.86002896e-01 3.20727689e-02 -8.86051874e-01] [ 2.13762720e-01 3.69514917e-03 9.76878624e-01 4.14709551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80538474999999 meters Centerline goodness : 0.955840 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.89, Z:0.42 [[ 9.62852452e-01 1.66659594e-01 -2.12461141e-01 6.93990625e+00] [-1.63539365e-01 9.86007768e-01 3.23041436e-02 -8.88986029e-01] [ 2.14872131e-01 3.64163623e-03 9.76635401e-01 4.20754759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83538474999999 meters Centerline goodness : 0.956102 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.89, Z:0.43 [[ 9.63138660e-01 1.65296391e-01 -2.12228710e-01 6.96921887e+00] [-1.62137773e-01 9.86238496e-01 3.23260070e-02 -8.92783022e-01] [ 2.14651496e-01 3.27586335e-03 9.76685212e-01 4.26100320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.86538474999999 meters Centerline goodness : 0.955563 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.90, Z:0.43 [[ 9.63443835e-01 1.64477317e-01 -2.11478576e-01 7.00066753e+00] [-1.61320000e-01 9.86376075e-01 3.22194886e-02 -8.96918104e-01] [ 2.13896783e-01 3.07405613e-03 9.76851430e-01 4.31326886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89538474999999 meters Centerline goodness : 0.954289 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.90, Z:0.44 [[ 9.63356194e-01 1.65165556e-01 -2.11341387e-01 7.03043543e+00] [-1.62016449e-01 9.86260768e-01 3.22547257e-02 -9.00920464e-01] [ 2.13765088e-01 3.16799127e-03 9.76879957e-01 4.37148062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.92538474999999 meters Centerline goodness : 0.955407 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.91, Z:0.44 [[ 9.63117045e-01 1.67258332e-01 -2.10784742e-01 7.06080076e+00] [-1.64164834e-01 9.85906629e-01 3.22184055e-02 -9.06692161e-01] [ 2.13202871e-01 3.57334669e-03 9.77001416e-01 4.43694802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95538475 meters Centerline goodness : 0.957774 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.91, Z:0.45 [[ 9.63258718e-01 1.67415578e-01 -2.10011110e-01 7.09199923e+00] [-1.64346254e-01 9.85879904e-01 3.21111215e-02 -9.11955563e-01] [ 2.12421635e-01 3.58322154e-03 9.77171535e-01 4.50262853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.98538475 meters Centerline goodness : 0.956500 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.92, Z:0.46 [[ 9.63695152e-01 1.65605847e-01 -2.09442971e-01 7.12344496e+00] [-1.62499055e-01 9.86187088e-01 3.20793598e-02 -9.19036293e-01] [ 2.11862483e-01 3.11956129e-03 9.77294509e-01 4.57269198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.01538475 meters Centerline goodness : 0.956866 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.92, Z:0.46 [[ 9.64072273e-01 1.63566785e-01 -2.09309721e-01 7.15445091e+00] [-1.60403109e-01 9.86528818e-01 3.21206190e-02 -9.24423379e-01] [ 2.11743938e-01 2.60733174e-03 9.77321701e-01 4.63783038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.04538475 meters Centerline goodness : 0.958675 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.93, Z:0.47 [[ 9.63443485e-01 1.63404460e-01 -2.12310230e-01 7.18328369e+00] [-1.60133412e-01 9.86555845e-01 3.26321182e-02 -9.28778193e-01] [ 2.14788132e-01 2.55875988e-03 9.76657315e-01 4.66888884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.07538475 meters Centerline goodness : 0.956685 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.93, Z:0.47 [[ 9.62953732e-01 1.63721371e-01 -2.14278843e-01 7.21262640e+00] [-1.60397463e-01 9.86503036e-01 3.29304288e-02 -9.32776426e-01] [ 2.16778144e-01 2.65930334e-03 9.76217273e-01 4.71888123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.10538475 meters Centerline goodness : 0.956414 Centerline is valid? [True, True] Translation: X:7.24, Y:-0.94, Z:0.48 [[ 9.62870123e-01 1.62856476e-01 -2.15311157e-01 7.23990218e+00] [-1.59480605e-01 9.86646640e-01 3.30808908e-02 -9.38320723e-01] [ 2.17823467e-01 2.48535215e-03 9.75985021e-01 4.76969268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13538474999999 meters Centerline goodness : 0.957980 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.94, Z:0.48 [[ 9.62993883e-01 1.61741821e-01 -2.15597691e-01 7.26701108e+00] [-1.58331812e-01 9.86830548e-01 3.31135405e-02 -9.43642541e-01] [ 2.18114232e-01 2.24783614e-03 9.75920657e-01 4.83358842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16538474999999 meters Centerline goodness : 0.960232 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.95, Z:0.49 [[ 9.63441372e-01 1.60790823e-01 -2.14305933e-01 7.29472215e+00] [-1.57400667e-01 9.86986422e-01 3.29064395e-02 -9.49422170e-01] [ 2.16808099e-01 2.02847143e-03 9.76212135e-01 4.91295623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19538474999999 meters Centerline goodness : 0.957863 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.95, Z:0.50 [[ 9.63595724e-01 1.61295088e-01 -2.13230335e-01 7.32345625e+00] [-1.57954752e-01 9.86903891e-01 3.27262346e-02 -9.53018569e-01] [ 2.15716429e-01 2.14588510e-03 9.76453695e-01 4.95848884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.22538474999999 meters Centerline goodness : 0.959544 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.96, Z:0.50 [[ 9.63813360e-01 1.61007367e-01 -2.12462784e-01 7.35023510e+00] [-1.57687741e-01 9.86950993e-01 3.25931409e-02 -9.56871697e-01] [ 2.14938092e-01 2.08907196e-03 9.76625441e-01 5.01337207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25538474999999 meters Centerline goodness : 0.961327 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.96, Z:0.51 [[ 9.63873034e-01 1.61591575e-01 -2.11747344e-01 7.37839271e+00] [-1.58312437e-01 9.86855202e-01 3.24650947e-02 -9.61145063e-01] [ 2.14210054e-01 2.23000878e-03 9.76785074e-01 5.06648461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28538474999999 meters Centerline goodness : 0.962544 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.97, Z:0.51 [[ 9.63725532e-01 1.63617017e-01 -2.10861496e-01 7.40557072e+00] [-1.60416660e-01 9.86520284e-01 3.23144578e-02 -9.65282555e-01] [ 2.13306338e-01 2.68342879e-03 9.76981681e-01 5.13211961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31538474999999 meters Centerline goodness : 0.963177 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.97, Z:0.52 [[ 9.64688553e-01 1.60863138e-01 -2.08564250e-01 7.43418858e+00] [-1.57672834e-01 9.86974557e-01 3.19452942e-02 -9.69336260e-01] [ 2.10986429e-01 2.06765673e-03 9.77486804e-01 5.20392522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.34538475 meters Centerline goodness : 0.963367 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.97, Z:0.53 [[ 9.64728854e-01 1.61023437e-01 -2.08253910e-01 7.46367196e+00] [-1.57847939e-01 9.86948334e-01 3.18906468e-02 -9.72816094e-01] [ 2.10670991e-01 2.10662333e-03 9.77554753e-01 5.25714405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.37538475 meters Centerline goodness : 0.961815 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.97, Z:0.53 [[ 9.63808060e-01 1.63222480e-01 -2.10790049e-01 7.49368877e+00] [-1.60021958e-01 9.86585789e-01 3.22715729e-02 -9.73542797e-01] [ 2.13229913e-01 2.62743440e-03 9.76998516e-01 5.28687379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.40538475 meters Centerline goodness : 0.958658 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.98, Z:0.53 [[ 9.63832027e-01 1.62988229e-01 -2.10861711e-01 7.52320784e+00] [-1.59781498e-01 9.86624631e-01 3.22755437e-02 -9.77602522e-01] [ 2.13301891e-01 2.58359735e-03 9.76982921e-01 5.33714066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.43538475 meters Centerline goodness : 0.961402 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.98, Z:0.54 [[ 9.63734412e-01 1.62793045e-01 -2.11457814e-01 7.55086243e+00] [-1.59563523e-01 9.86656946e-01 3.23659376e-02 -9.81286086e-01] [ 2.13905271e-01 2.54878590e-03 9.76851083e-01 5.38912843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.46538475 meters Centerline goodness : 0.959299 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.99, Z:0.55 [[ 9.63264131e-01 1.65475080e-01 -2.11518822e-01 7.57780167e+00] [-1.62310073e-01 9.86208919e-01 3.23636836e-02 -9.86536904e-01] [ 2.13957132e-01 3.15685995e-03 9.76837950e-01 5.46381484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.49538475 meters Centerline goodness : 0.960954 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.99, Z:0.55 [[ 9.62628657e-01 1.66698799e-01 -2.13442216e-01 7.60727325e+00] [-1.63507516e-01 9.86001751e-01 3.26471843e-02 -9.92162222e-01] [ 2.15896646e-01 3.47229149e-03 9.76410048e-01 5.53926508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.52538474999999 meters Centerline goodness : 0.961617 Centerline is valid? [True, True] Translation: X:7.64, Y:-1.00, Z:0.56 [[ 9.62279763e-01 1.68259179e-01 -2.13790799e-01 7.63555461e+00] [-1.65095465e-01 9.85735353e-01 3.27001745e-02 -9.96763738e-01] [ 2.16243253e-01 3.82917506e-03 9.76332010e-01 5.60551441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55538474999999 meters Centerline goodness : 0.963133 Centerline is valid? [True, True] Translation: X:7.67, Y:-1.00, Z:0.57 [[ 9.62427862e-01 1.68908125e-01 -2.12609163e-01 7.66548524e+00] [-1.65796020e-01 9.85623863e-01 3.25158588e-02 -1.00061349e+00] [ 2.15044858e-01 3.95558466e-03 9.76596161e-01 5.65620623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.58538474999999 meters Centerline goodness : 0.962332 Centerline is valid? [True, True] Translation: X:7.70, Y:-1.01, Z:0.57 [[ 9.62739763e-01 1.69981213e-01 -2.10329590e-01 7.69715220e+00] [-1.66960517e-01 9.85438588e-01 3.21710215e-02 -1.00525944e+00] [ 2.12735364e-01 4.14441559e-03 9.77101064e-01 5.70791060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61538474999999 meters Centerline goodness : 0.962660 Centerline is valid? [True, True] Translation: X:7.73, Y:-1.01, Z:0.58 [[ 9.62918899e-01 1.69179677e-01 -2.10155732e-01 7.72885443e+00] [-1.66132955e-01 9.85577480e-01 3.22004904e-02 -1.01060984e+00] [ 2.12572425e-01 3.90733194e-03 9.77137501e-01 5.78338737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.64538474999999 meters Centerline goodness : 0.963196 Centerline is valid? [True, True] Translation: X:7.76, Y:-1.02, Z:0.59 [[ 9.63100097e-01 1.68037086e-01 -2.10242099e-01 7.76013291e+00] [-1.64947120e-01 9.85774128e-01 3.22771892e-02 -1.01728303e+00] [ 2.12674987e-01 3.59266476e-03 9.77116392e-01 5.85795457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67538474999999 meters Centerline goodness : 0.962764 Centerline is valid? [True, True] Translation: X:7.79, Y:-1.02, Z:0.59 [[ 9.62970835e-01 1.68730605e-01 -2.10278750e-01 7.79154638e+00] [-1.65642206e-01 9.85655324e-01 3.23456650e-02 -1.02334614e+00] [ 2.12720073e-01 3.68310401e-03 9.77106240e-01 5.91996401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.70538475 meters Centerline goodness : 0.962904 Centerline is valid? [True, True] Translation: X:7.82, Y:-1.03, Z:0.60 [[ 9.62806642e-01 1.68760991e-01 -2.11004973e-01 7.82243996e+00] [-1.65638023e-01 9.85650283e-01 3.25202260e-02 -1.02924496e+00] [ 2.13465257e-01 3.63975699e-03 9.76943876e-01 5.97977021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.73538475 meters Centerline goodness : 0.962073 Centerline is valid? [True, True] Translation: X:7.85, Y:-1.03, Z:0.60 [[ 9.62560747e-01 1.69344378e-01 -2.11658427e-01 7.85292965e+00] [-1.66203667e-01 9.85549898e-01 3.26762755e-02 -1.03488725e+00] [ 2.14133485e-01 3.72550648e-03 9.76797303e-01 6.03444372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.76538475 meters Centerline goodness : 0.962051 Centerline is valid? [True, True] Translation: X:7.88, Y:-1.04, Z:0.61 [[ 9.62743924e-01 1.68781510e-01 -2.11274559e-01 7.88319497e+00] [-1.65637214e-01 9.85646968e-01 3.26246630e-02 -1.04009241e+00] [ 2.13748568e-01 3.58573339e-03 9.76882128e-01 6.09432362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.79538475 meters Centerline goodness : 0.962051 Centerline is valid? [True, True] Translation: X:7.91, Y:-1.04, Z:0.62 [[ 9.62735169e-01 1.68832929e-01 -2.11273367e-01 7.91399187e+00] [-1.65688164e-01 9.85638149e-01 3.26323802e-02 -1.04490009e+00] [ 2.13748511e-01 3.58915635e-03 9.76882128e-01 6.15742603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.82538475 meters Centerline goodness : 0.962384 Centerline is valid? [True, True] Translation: X:7.94, Y:-1.05, Z:0.62 [[ 9.62536517e-01 1.69519279e-01 -2.11628608e-01 7.94376110e+00] [-1.66377769e-01 9.85519787e-01 3.26984392e-02 -1.05182147e+00] [ 2.14107196e-01 3.73685390e-03 9.76803022e-01 6.22704065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.85538475 meters Centerline goodness : 0.962845 Centerline is valid? [True, True] Translation: X:7.97, Y:-1.06, Z:0.63 [[ 9.62565191e-01 1.69485823e-01 -2.11524962e-01 7.97464676e+00] [-1.66344196e-01 9.85525618e-01 3.26934854e-02 -1.05684836e+00] [ 2.14004352e-01 3.71633870e-03 9.76825638e-01 6.27869813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88538474999999 meters Centerline goodness : 0.960806 Centerline is valid? [True, True] Translation: X:8.00, Y:-1.06, Z:0.63 [[ 9.62548156e-01 1.68767957e-01 -2.12175458e-01 8.00418195e+00] [-1.65578479e-01 9.85649535e-01 3.28445096e-02 -1.06197917e+00] [ 2.14673742e-01 3.51726734e-03 9.76679483e-01 6.32752735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91538474999999 meters Centerline goodness : 0.961813 Centerline is valid? [True, True] Translation: X:8.03, Y:-1.07, Z:0.64 [[ 9.62411013e-01 1.69011498e-01 -2.12603284e-01 8.03429619e+00] [-1.65813981e-01 9.85607596e-01 3.29148964e-02 -1.06675731e+00] [ 2.15106408e-01 3.57493816e-03 9.76584074e-01 6.38225294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.94538474999999 meters Centerline goodness : 0.960553 Centerline is valid? [True, True] Translation: X:8.06, Y:-1.07, Z:0.64 [[ 9.62165557e-01 1.69481365e-01 -2.13338953e-01 8.06458941e+00] [-1.66270289e-01 9.85526516e-01 3.30405359e-02 -1.07322162e+00] [ 2.15850950e-01 3.68146378e-03 9.76419384e-01 6.44913613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97538474999999 meters Centerline goodness : 0.960844 Centerline is valid? [True, True] Translation: X:8.09, Y:-1.08, Z:0.65 [[ 9.62278802e-01 1.69778662e-01 -2.12590485e-01 8.09479510e+00] [-1.66585357e-01 9.85475353e-01 3.29795063e-02 -1.07895391e+00] [ 2.15101899e-01 3.67898192e-03 9.76584680e-01 6.51261845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.00538474999999 meters Centerline goodness : 0.963205 Centerline is valid? [True, True] Translation: X:8.12, Y:-1.09, Z:0.66 [[ 9.62216796e-01 1.69920750e-01 -2.12757552e-01 8.12426553e+00] [-1.66715288e-01 9.85450913e-01 3.30531522e-02 -1.08601626e+00] [ 2.15278540e-01 3.66563843e-03 9.76545807e-01 6.58411240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03538474999999 meters Centerline goodness : 0.963729 Centerline is valid? [True, True] Translation: X:8.15, Y:-1.09, Z:0.66 [[ 9.62289571e-01 1.69479840e-01 -2.12780085e-01 8.15412353e+00] [-1.66261359e-01 9.85527226e-01 3.30642986e-02 -1.09151536e+00] [ 2.15304299e-01 3.55967644e-03 9.76540520e-01 6.64207564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.06538474999999 meters Centerline goodness : 0.961121 Centerline is valid? [True, True] Translation: X:8.19, Y:-1.10, Z:0.67 [[ 9.62344930e-01 1.68629046e-01 -2.13205256e-01 8.18502408e+00] [-1.65375222e-01 9.85673829e-01 3.31381681e-02 -1.09701261e+00] [ 2.15738898e-01 3.36851842e-03 9.76445278e-01 6.68567400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.09538475 meters Centerline goodness : 0.961516 Centerline is valid? [True, True] Translation: X:8.22, Y:-1.10, Z:0.68 [[ 9.62376563e-01 1.67973897e-01 -2.13579307e-01 8.21504660e+00] [-1.64690859e-01 9.85786186e-01 3.32041735e-02 -1.10252638e+00] [ 2.16120965e-01 3.21964135e-03 9.76361287e-01 6.75476149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.12538475 meters Centerline goodness : 0.960833 Centerline is valid? [True, True] Translation: X:8.24, Y:-1.11, Z:0.68 [[ 9.62384666e-01 1.67785871e-01 -2.13690562e-01 8.24480871e+00] [-1.64493145e-01 9.85818362e-01 3.32289472e-02 -1.10804141e+00] [ 2.16235428e-01 3.17160338e-03 9.76336100e-01 6.80833062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.15538475 meters Centerline goodness : 0.961561 Centerline is valid? [True, True] Translation: X:8.27, Y:-1.11, Z:0.69 [[ 9.62223102e-01 1.68512432e-01 -2.13846353e-01 8.27367845e+00] [-1.65231938e-01 9.85693888e-01 3.32560574e-02 -1.11275783e+00] [ 2.16391102e-01 3.33450060e-03 9.76301066e-01 6.87421647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.18538475 meters Centerline goodness : 0.960956 Centerline is valid? [True, True] Translation: X:8.30, Y:-1.12, Z:0.69 [[ 9.62870357e-01 1.66262761e-01 -2.12690784e-01 8.30365501e+00] [-1.62965108e-01 9.86077455e-01 3.30700182e-02 -1.11880072e+00] [ 2.15227900e-01 2.81903648e-03 9.76559780e-01 6.94671631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.21538475 meters Centerline goodness : 0.962082 Centerline is valid? [True, True] Translation: X:8.33, Y:-1.12, Z:0.70 [[ 9.62926277e-01 1.65759379e-01 -2.12830478e-01 8.33298015e+00] [-1.62443577e-01 9.86162529e-01 3.30991105e-02 -1.12337192e+00] [ 2.15371930e-01 2.70094095e-03 9.76528359e-01 7.00609576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.24538475 meters Centerline goodness : 0.961045 Centerline is valid? [True, True] Translation: X:8.36, Y:-1.13, Z:0.71 [[ 9.63639239e-01 1.61419134e-01 -2.12939618e-01 8.36329387e+00] [-1.57993388e-01 9.86884437e-01 3.31239551e-02 -1.12897823e+00] [ 2.15493635e-01 1.72350886e-03 9.76503724e-01 7.07757715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27538474999999 meters Centerline goodness : 0.962765 Centerline is valid? [True, True] Translation: X:8.39, Y:-1.13, Z:0.71 [[ 9.63514307e-01 1.60906083e-01 -2.13891123e-01 8.39137655e+00] [-1.57425789e-01 9.86968480e-01 3.33217793e-02 -1.13218140e+00] [ 2.16465473e-01 1.56596756e-03 9.76289018e-01 7.13042195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.30538474999999 meters Centerline goodness : 0.959360 Centerline is valid? [True, True] Translation: X:8.42, Y:-1.14, Z:0.72 [[ 9.63066525e-01 1.62434948e-01 -2.14750451e-01 8.42050205e+00] [-1.58965716e-01 9.86717375e-01 3.34473151e-02 -1.13546932e+00] [ 2.17331014e-01 1.92596975e-03 9.76096061e-01 7.17105252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33538474999999 meters Centerline goodness : 0.960711 Centerline is valid? [True, True] Translation: X:8.45, Y:-1.14, Z:0.72 [[ 9.63078038e-01 1.62736233e-01 -2.14470538e-01 8.44872970e+00] [-1.59285260e-01 9.86667584e-01 3.33958693e-02 -1.14040479e+00] [ 2.17045845e-01 1.99916706e-03 9.76159364e-01 7.24442825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.36538474999999 meters Centerline goodness : 0.961063 Centerline is valid? [True, True] Translation: X:8.48, Y:-1.14, Z:0.73 [[ 9.63123015e-01 1.62886123e-01 -2.14154545e-01 8.47788942e+00] [-1.59450831e-01 9.86642771e-01 3.33387782e-02 -1.14489292e+00] [ 2.16724458e-01 2.03777560e-03 9.76230688e-01 7.29919380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39538474999999 meters Centerline goodness : 0.960334 Centerline is valid? [True, True] Translation: X:8.51, Y:-1.15, Z:0.74 [[ 9.62729070e-01 1.64512443e-01 -2.14682076e-01 8.50677881e+00] [-1.61101550e-01 9.86372046e-01 3.34137341e-02 -1.14955204e+00] [ 2.17253373e-01 2.41724196e-03 9.76112252e-01 7.36649644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.42538474999999 meters Centerline goodness : 0.961116 Centerline is valid? [True, True] Translation: X:8.54, Y:-1.15, Z:0.74 [[ 9.62647464e-01 1.65014426e-01 -2.14662756e-01 8.53579546e+00] [-1.61616402e-01 9.86287909e-01 3.34110745e-02 -1.15385730e+00] [ 2.17232589e-01 2.52993602e-03 9.76116592e-01 7.43608912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45538475 meters Centerline goodness : 0.959836 Centerline is valid? [True, True] Translation: X:8.57, Y:-1.16, Z:0.75 [[ 9.62922595e-01 1.65464581e-01 -2.13076391e-01 8.56561558e+00] [-1.62127191e-01 9.86212286e-01 3.31677635e-02 -1.15738877e+00] [ 2.15626644e-01 2.60748767e-03 9.76472402e-01 7.49343270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.48538475 meters Centerline goodness : 0.962401 Centerline is valid? [True, True] Translation: X:8.59, Y:-1.16, Z:0.76 [[ 9.63212530e-01 1.64688987e-01 -2.12365629e-01 8.59497550e+00] [-1.61355351e-01 9.86342566e-01 3.30574291e-02 -1.16109042e+00] [ 2.14909454e-01 2.42500070e-03 9.76630967e-01 7.55086990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.51538475 meters Centerline goodness : 0.959366 Centerline is valid? [True, True] Translation: X:8.62, Y:-1.17, Z:0.76 [[ 9.62623337e-01 1.66257440e-01 -2.13810135e-01 8.62368007e+00] [-1.62915378e-01 9.86078430e-01 3.32852823e-02 -1.16507707e+00] [ 2.16367488e-01 2.79176956e-03 9.76308003e-01 7.61034257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.54538475 meters Centerline goodness : 0.958984 Centerline is valid? [True, True] Translation: X:8.65, Y:-1.17, Z:0.77 [[ 9.62657355e-01 1.65799888e-01 -2.14012180e-01 8.65315208e+00] [-1.62441825e-01 9.86155725e-01 3.33097444e-02 -1.16838055e+00] [ 2.16572088e-01 2.69865864e-03 9.76262899e-01 7.67209529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.57538475 meters Centerline goodness : 0.959149 Centerline is valid? [True, True] Translation: X:8.68, Y:-1.17, Z:0.77 [[ 9.63596888e-01 1.63364988e-01 -2.11643374e-01 8.68222622e+00] [-1.60023641e-01 9.86563408e-01 3.29404898e-02 -1.17217311e+00] [ 2.14180931e-01 2.12658991e-03 9.76791690e-01 7.71465638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.60538475 meters Centerline goodness : 0.958344 Centerline is valid? [True, True] Translation: X:8.71, Y:-1.18, Z:0.78 [[ 9.63475372e-01 1.63303423e-01 -2.12243253e-01 8.71099904e+00] [-1.59943114e-01 9.86573600e-01 3.30262338e-02 -1.17653019e+00] [ 2.14786888e-01 2.12688384e-03 9.76658625e-01 7.78339863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63538474999999 meters Centerline goodness : 0.958615 Centerline is valid? [True, True] Translation: X:8.74, Y:-1.18, Z:0.78 [[ 9.63322103e-01 1.64615123e-01 -2.11925430e-01 8.73998038e+00] [-1.61298001e-01 9.86354900e-01 3.29691610e-02 -1.18059708e+00] [ 2.14460909e-01 2.42322675e-03 9.76729567e-01 7.83831877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.66538474999999 meters Centerline goodness : 0.961020 Centerline is valid? [True, True] Translation: X:8.77, Y:-1.19, Z:0.79 [[ 9.63010444e-01 1.66719369e-01 -2.11696805e-01 8.76959089e+00] [-1.63461219e-01 9.86000136e-01 3.29266127e-02 -1.18517340e+00] [ 2.14222582e-01 2.89554586e-03 9.76780580e-01 7.89811549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69538474999999 meters Centerline goodness : 0.960158 Centerline is valid? [True, True] Translation: X:8.80, Y:-1.19, Z:0.80 [[ 9.63181502e-01 1.65998121e-01 -2.11485268e-01 8.79945341e+00] [-1.62728552e-01 9.86122294e-01 3.28974034e-02 -1.19069654e+00] [ 2.14011245e-01 2.72852105e-03 9.76827386e-01 7.97035628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.72538474999999 meters Centerline goodness : 0.959949 Centerline is valid? [True, True] Translation: X:8.83, Y:-1.19, Z:0.80 [[ 9.62870873e-01 1.66959515e-01 -2.12141940e-01 8.82725186e+00] [-1.63682416e-01 9.85959471e-01 3.30452540e-02 -1.19468695e+00] [ 2.14680574e-01 2.90559264e-03 9.76679993e-01 8.03372102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75538474999999 meters Centerline goodness : 0.959659 Centerline is valid? [True, True] Translation: X:8.86, Y:-1.20, Z:0.81 [[ 9.62793091e-01 1.67062497e-01 -2.12413716e-01 8.85618335e+00] [-1.63781779e-01 9.85941914e-01 3.30767387e-02 -1.19824238e+00] [ 2.14953468e-01 2.94344069e-03 9.76619856e-01 8.08794260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.78538474999999 meters Centerline goodness : 0.958934 Centerline is valid? [True, True] Translation: X:8.89, Y:-1.20, Z:0.81 [[ 9.62263745e-01 1.68750237e-01 -2.13475623e-01 8.88666604e+00] [-1.65478835e-01 9.85653170e-01 3.32352842e-02 -1.20125037e+00] [ 2.16021387e-01 3.34458835e-03 9.76382903e-01 8.13901845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81538474999999 meters Centerline goodness : 0.961267 Centerline is valid? [True, True] Translation: X:8.92, Y:-1.21, Z:0.82 [[ 9.62134870e-01 1.69295695e-01 -2.13624577e-01 8.91508070e+00] [-1.66033032e-01 9.85559195e-01 3.32581541e-02 -1.20531240e+00] [ 2.16170128e-01 3.46990639e-03 9.76349546e-01 8.19464782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.84538475 meters Centerline goodness : 0.958426 Centerline is valid? [True, True] Translation: X:8.95, Y:-1.21, Z:0.83 [[ 9.62108883e-01 1.69932539e-01 -2.13235619e-01 8.94637457e+00] [-1.66697074e-01 9.85449104e-01 3.31986390e-02 -1.21119798e+00] [ 2.15774379e-01 3.60504826e-03 9.76436594e-01 8.26073238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.87538475 meters Centerline goodness : 0.959231 Centerline is valid? [True, True] Translation: X:8.98, Y:-1.22, Z:0.83 [[ 9.62375157e-01 1.70218542e-01 -2.11801097e-01 8.97686524e+00] [-1.67021472e-01 9.85399807e-01 3.30310033e-02 -1.21620636e+00] [ 2.14331250e-01 3.58711415e-03 9.76754446e-01 8.32549698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.90538475 meters Centerline goodness : 0.960675 Centerline is valid? [True, True] Translation: X:9.01, Y:-1.22, Z:0.84 [[ 9.62763624e-01 1.70419602e-01 -2.09865110e-01 9.00799311e+00] [-1.67273312e-01 9.85365231e-01 3.27872079e-02 -1.22253439e+00] [ 2.12381365e-01 3.53850088e-03 9.77180451e-01 8.38730577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.93538475 meters Centerline goodness : 0.961658 Centerline is valid? [True, True] Translation: X:9.04, Y:-1.23, Z:0.84 [[ 9.62949677e-01 1.70148736e-01 -2.09230321e-01 9.04022423e+00] [-1.67002721e-01 9.85412495e-01 3.27460867e-02 -1.22822093e+00] [ 2.11749878e-01 3.40919939e-03 9.77317945e-01 8.44691869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.96538475 meters Centerline goodness : 0.959651 Centerline is valid? [True, True] Translation: X:9.07, Y:-1.23, Z:0.85 [[ 9.63141611e-01 1.70405983e-01 -2.08134663e-01 9.07172495e+00] [-1.67285510e-01 9.85368131e-01 3.26374745e-02 -1.23383956e+00] [ 2.10650885e-01 3.38340338e-03 9.77555501e-01 8.50742483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.99538475 meters Centerline goodness : 0.958698 Centerline is valid? [True, True] Translation: X:9.10, Y:-1.24, Z:0.86 [[ 9.63501286e-01 1.69206145e-01 -2.07447708e-01 9.10339801e+00] [-1.66065426e-01 9.85575972e-01 3.25925992e-02 -1.24001450e+00] [ 2.09970344e-01 3.04688059e-03 9.77703008e-01 8.56795131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.02538474999999 meters Centerline goodness : 0.958777 Centerline is valid? [True, True] Translation: X:9.14, Y:-1.25, Z:0.86 [[ 9.63498923e-01 1.66889016e-01 -2.09327213e-01 9.13532948e+00] [-1.63622679e-01 9.85972514e-01 3.29517982e-02 -1.24545873e+00] [ 2.11890172e-01 2.50165739e-03 9.77290283e-01 8.62724609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05538474999999 meters Centerline goodness : 0.958145 Centerline is valid? [True, True] Translation: X:9.17, Y:-1.25, Z:0.87 [[ 9.63147589e-01 1.66928177e-01 -2.10906865e-01 9.16616655e+00] [-1.63598782e-01 9.85965976e-01 3.32645926e-02 -1.25015452e+00] [ 2.13499790e-01 2.46539397e-03 9.76939999e-01 8.68601052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.08538474999999 meters Centerline goodness : 0.957201 Centerline is valid? [True, True] Translation: X:9.20, Y:-1.26, Z:0.88 [[ 9.62798844e-01 1.67253099e-01 -2.12237573e-01 9.19714830e+00] [-1.63876072e-01 9.85910835e-01 3.35329404e-02 -1.25532125e+00] [ 2.14855811e-01 2.49518338e-03 9.76642593e-01 8.75458493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11538474999999 meters Centerline goodness : 0.958131 Centerline is valid? [True, True] Translation: X:9.23, Y:-1.26, Z:0.88 [[ 9.62917564e-01 1.66135714e-01 -2.12576315e-01 9.22698044e+00] [-1.62712774e-01 9.86100416e-01 3.36232608e-02 -1.25945768e+00] [ 2.15207617e-01 2.21245352e-03 9.76565813e-01 8.81494448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.14538474999999 meters Centerline goodness : 0.960784 Centerline is valid? [True, True] Translation: X:9.26, Y:-1.26, Z:0.89 [[ 9.63177901e-01 1.66354906e-01 -2.11221155e-01 9.25768622e+00] [-1.62980210e-01 9.86063395e-01 3.34130692e-02 -1.26430322e+00] [ 2.13835877e-01 2.24213823e-03 9.76867028e-01 8.87235393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17538474999999 meters Centerline goodness : 0.959372 Centerline is valid? [True, True] Translation: X:9.29, Y:-1.27, Z:0.89 [[ 9.63375190e-01 1.66253911e-01 -2.10399335e-01 9.28760268e+00] [-1.62901268e-01 9.86080520e-01 3.32924204e-02 -1.26942189e+00] [ 2.13005681e-01 2.20122664e-03 9.77048481e-01 8.94387690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.20538475 meters Centerline goodness : 0.960960 Centerline is valid? [True, True] Translation: X:9.32, Y:-1.27, Z:0.90 [[ 9.63859119e-01 1.65033772e-01 -2.09139794e-01 9.31768065e+00] [-1.61686962e-01 9.86286105e-01 3.31216868e-02 -1.27428094e+00] [ 2.11737870e-01 1.89053821e-03 9.77324665e-01 9.00133153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.23538475 meters Centerline goodness : 0.959101 Centerline is valid? [True, True] Translation: X:9.35, Y:-1.28, Z:0.91 [[ 9.64253940e-01 1.64346207e-01 -2.07857313e-01 9.34650265e+00] [-1.61023189e-01 9.86401219e-01 3.29266941e-02 -1.27844958e+00] [ 2.10442084e-01 1.72015291e-03 9.77604813e-01 9.06822783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.26538475 meters Centerline goodness : 0.961101 Centerline is valid? [True, True] Translation: X:9.38, Y:-1.28, Z:0.91 [[ 9.64218759e-01 1.64695011e-01 -2.07744408e-01 9.37663738e+00] [-1.61379836e-01 9.86342939e-01 3.29264999e-02 -1.28348500e+00] [ 2.10330060e-01 1.77740958e-03 9.77628818e-01 9.13024766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.29538475 meters Centerline goodness : 0.957666 Centerline is valid? [True, True] Translation: X:9.41, Y:-1.29, Z:0.92 [[ 9.64522342e-01 1.63515442e-01 -2.07266380e-01 9.40743606e+00] [-1.60187147e-01 9.86539621e-01 3.28581006e-02 -1.28708241e+00] [ 2.09849303e-01 1.50903800e-03 9.77732577e-01 9.19971261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.32538475 meters Centerline goodness : 0.957359 Centerline is valid? [True, True] Translation: X:9.44, Y:-1.29, Z:0.93 [[ 9.64421551e-01 1.61089297e-01 -2.09621826e-01 9.43741609e+00] [-1.57625934e-01 9.86939343e-01 3.32385110e-02 -1.28766396e+00] [ 2.12238395e-01 9.85899704e-04 9.77217423e-01 9.25583233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.35538475 meters Centerline goodness : 0.955052 Centerline is valid? [True, True] Translation: X:9.47, Y:-1.29, Z:0.93 [[ 9.64291987e-01 1.61511795e-01 -2.09892601e-01 9.46642031e+00] [-1.58049380e-01 9.86870190e-01 3.32809524e-02 -1.29085951e+00] [ 2.12512018e-01 1.08083969e-03 9.77157855e-01 9.30845706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38538474999999 meters Centerline goodness : 0.954133 Centerline is valid? [True, True] Translation: X:9.49, Y:-1.29, Z:0.94 [[ 9.63732151e-01 1.62431692e-01 -2.11745809e-01 9.49472293e+00] [-1.58930947e-01 9.86718929e-01 3.35664796e-02 -1.29089567e+00] [ 2.14385858e-01 1.30386642e-03 9.76748178e-01 9.35184332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41538474999999 meters Centerline goodness : 0.956816 Centerline is valid? [True, True] Translation: X:9.52, Y:-1.29, Z:0.94 [[ 9.63524418e-01 1.63962336e-01 -2.11511343e-01 9.52351758e+00] [-1.60509730e-01 9.86465202e-01 3.35116540e-02 -1.29377952e+00] [ 2.14143229e-01 1.66033168e-03 9.76800860e-01 9.40158869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44538474999999 meters Centerline goodness : 0.954302 Centerline is valid? [True, True] Translation: X:9.55, Y:-1.30, Z:0.95 [[ 9.62818748e-01 1.67774437e-01 -2.11735206e-01 9.55208680e+00] [-1.64407141e-01 9.85822193e-01 3.35394646e-02 -1.29765649e+00] [ 2.14360330e-01 2.51835447e-03 9.76751405e-01 9.47057048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47538474999999 meters Centerline goodness : 0.955553 Centerline is valid? [True, True] Translation: X:9.58, Y:-1.30, Z:0.95 [[ 9.62384280e-01 1.69625102e-01 -2.12235298e-01 9.57959227e+00] [-1.66287165e-01 9.85504271e-01 3.36141462e-02 -1.30133879e+00] [ 2.14860596e-01 2.94228017e-03 9.76640296e-01 9.53114937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.50538474999999 meters Centerline goodness : 0.954267 Centerline is valid? [True, True] Translation: X:9.61, Y:-1.30, Z:0.96 [[ 9.62398239e-01 1.70499895e-01 -2.11469657e-01 9.60743209e+00] [-1.67209598e-01 9.85352700e-01 3.34814429e-02 -1.30450048e+00] [ 2.14080780e-01 3.13727459e-03 9.76810922e-01 9.58798113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53538474999999 meters Centerline goodness : 0.954715 Centerline is valid? [True, True] Translation: X:9.64, Y:-1.31, Z:0.96 [[ 9.62139012e-01 1.73569141e-01 -2.10148219e-01 9.63757980e+00] [-1.70395377e-01 9.84814322e-01 3.32590810e-02 -1.30732675e+00] [ 2.12729726e-01 3.80842559e-03 9.77103659e-01 9.64595619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.56538474999999 meters Centerline goodness : 0.955077 Centerline is valid? [True, True] Translation: X:9.67, Y:-1.31, Z:0.97 [[ 9.61715308e-01 1.76386879e-01 -2.09741115e-01 9.66797832e+00] [-1.73291622e-01 9.84310983e-01 3.31949035e-02 -1.30929577e+00] [ 2.12305629e-01 4.42233130e-03 9.77193309e-01 9.69939853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.59538475 meters Centerline goodness : 0.953965 Centerline is valid? [True, True] Translation: X:9.70, Y:-1.31, Z:0.98 [[ 9.61157894e-01 1.78031103e-01 -2.10903840e-01 9.69887357e+00] [-1.74938619e-01 9.84013126e-01 3.33863447e-02 -1.31308087e+00] [ 2.13475955e-01 4.80567773e-03 9.76936499e-01 9.77706632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.62538475 meters Centerline goodness : 0.953445 Centerline is valid? [True, True] Translation: X:9.73, Y:-1.32, Z:0.98 [[ 9.60544887e-01 1.81693945e-01 -2.10572627e-01 9.72816166e+00] [-1.78687179e-01 9.83339412e-01 3.33840211e-02 -1.31624265e+00] [ 2.13130038e-01 5.55977794e-03 9.77008022e-01 9.83002844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.65538475 meters Centerline goodness : 0.953855 Centerline is valid? [True, True] Translation: X:9.76, Y:-1.32, Z:0.99 [[ 9.60342053e-01 1.82831210e-01 -2.10513394e-01 9.75953979e+00] [-1.79851549e-01 9.83127190e-01 3.33818585e-02 -1.31999714e+00] [ 2.13064688e-01 5.80315750e-03 9.77020861e-01 9.87816803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.68538475 meters Centerline goodness : 0.953855 Centerline is valid? [True, True] Translation: X:9.79, Y:-1.33, Z:0.99 [[ 9.60318145e-01 1.82965883e-01 -2.10505452e-01 9.79106329e+00] [-1.79978462e-01 9.83102265e-01 3.34318726e-02 -1.32512727e+00] [ 2.13065279e-01 5.78121360e-03 9.77020862e-01 9.94309430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.71538475 meters Centerline goodness : 0.954668 Centerline is valid? [True, True] Translation: X:9.82, Y:-1.33, Z:1.00 [[ 9.59679141e-01 1.84693011e-01 -2.11906674e-01 9.82200669e+00] [-1.81700195e-01 9.82776853e-01 3.36852495e-02 -1.32988080e+00] [ 2.14478405e-01 6.17645271e-03 9.76709202e-01 1.00098268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.74538475 meters Centerline goodness : 0.954000 Centerline is valid? [True, True] Translation: X:9.85, Y:-1.34, Z:1.01 [[ 9.59729982e-01 1.84804995e-01 -2.11578535e-01 9.85282096e+00] [-1.81812462e-01 9.82756045e-01 3.36865713e-02 -1.33603725e+00] [ 2.14155530e-01 6.13760183e-03 9.76780292e-01 1.00762130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77538474999999 meters Centerline goodness : 0.952341 Centerline is valid? [True, True] Translation: X:9.88, Y:-1.34, Z:1.01 [[ 9.60169261e-01 1.84154999e-01 -2.10147392e-01 9.88284630e+00] [-1.81175600e-01 9.82879542e-01 3.35142864e-02 -1.34221582e+00] [ 2.12721396e-01 5.89419210e-03 9.77095116e-01 1.01370512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.80538474999999 meters Centerline goodness : 0.952671 Centerline is valid? [True, True] Translation: X:9.91, Y:-1.35, Z:1.02 [[ 9.60337412e-01 1.84201146e-01 -2.09337034e-01 9.91455125e+00] [-1.81235431e-01 9.82871266e-01 3.34334011e-02 -1.34835570e+00] [ 2.11909826e-01 5.83194174e-03 9.77271822e-01 1.02002786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83538474999999 meters Centerline goodness : 0.952041 Centerline is valid? [True, True] Translation: X:9.95, Y:-1.35, Z:1.03 [[ 9.60016870e-01 1.85335250e-01 -2.09805752e-01 9.94500841e+00] [-1.82369488e-01 9.82656822e-01 3.35699235e-02 -1.35402875e+00] [ 2.12388744e-01 6.03447461e-03 9.77166622e-01 1.02630953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.86538474999999 meters Centerline goodness : 0.953913 Centerline is valid? [True, True] Translation: X:9.98, Y:-1.36, Z:1.03 [[ 9.59714757e-01 1.85732529e-01 -2.10834090e-01 9.97739541e+00] [-1.82737826e-01 9.82581330e-01 3.37759727e-02 -1.35948051e+00] [ 2.13434937e-01 6.11206385e-03 9.76938161e-01 1.03204767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89538474999999 meters Centerline goodness : 0.951170 Centerline is valid? [True, True] Translation: X:10.01, Y:-1.37, Z:1.04 [[ 9.60159612e-01 1.83587603e-01 -2.10687236e-01 1.00092836e+01] [-1.80532244e-01 9.82987588e-01 3.38158356e-02 -1.36602694e+00] [ 2.13311106e-01 5.56723994e-03 9.76968463e-01 1.03879088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.92538474999999 meters Centerline goodness : 0.948978 Centerline is valid? [True, False] Translation: X:10.01, Y:-1.37, Z:1.04 [[ 9.60122559e-01 1.83276700e-01 -2.11126319e-01 1.00101424e+01] [-1.80182442e-01 9.83046401e-01 3.39714795e-02 -1.36680143e+00] [ 2.13773149e-01 5.42447192e-03 9.76868269e-01 1.03932427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95538475 meters Centerline goodness : 0.948408 Centerline is valid? [False, False] Translation: X:10.01, Y:-1.37, Z:1.04 [[ 9.60064465e-01 1.82799517e-01 -2.11803116e-01 1.00123650e+01] [-1.79751194e-01 9.83133739e-01 3.37277301e-02 -1.36717165e+00] [ 2.14396202e-01 5.69106778e-03 9.76730198e-01 1.03880306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.98538475 meters Centerline goodness : 0.947372 Centerline is valid? [False, False] Translation: X:10.01, Y:-1.37, Z:1.04 [[ 9.59994388e-01 1.82855508e-01 -2.12072249e-01 1.00133427e+01] [-1.79736033e-01 9.83124886e-01 3.40648875e-02 -1.36805745e+00] [ 2.14722458e-01 5.41492381e-03 9.76660097e-01 1.03881071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.01538475 meters Centerline goodness : 0.947478 Centerline is valid? [False, False] Translation: X:10.01, Y:-1.37, Z:1.04 [[ 9.59978718e-01 1.82524043e-01 -2.12428424e-01 1.00144106e+01] [-1.79332027e-01 9.83188145e-01 3.43670837e-02 -1.36925456e+00] [ 2.15129927e-01 5.10355092e-03 9.76572101e-01 1.03915528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.04538475 meters Centerline goodness : 0.947988 Centerline is valid? [False, False] Translation: X:10.02, Y:-1.37, Z:1.04 [[ 9.59946598e-01 1.82425307e-01 -2.12658263e-01 1.00152512e+01] [-1.79173044e-01 9.83207729e-01 3.46349940e-02 -1.37019542e+00] [ 2.15405547e-01 4.85488355e-03 9.76512612e-01 1.03919365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.07538475 meters Centerline goodness : 0.947621 Centerline is valid? [False, False] Translation: X:10.02, Y:-1.37, Z:1.04 [[ 9.59923442e-01 1.82266092e-01 -2.12899171e-01 1.00160899e+01] [-1.78983511e-01 9.83237826e-01 3.47603407e-02 -1.37121125e+00] [ 2.15666149e-01 4.73817522e-03 9.76455663e-01 1.03907638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.10538475 meters Centerline goodness : 0.950329 Centerline is valid? [False, True] Translation: X:10.02, Y:-1.37, Z:1.04 [[ 9.59917673e-01 1.81719475e-01 -2.13391878e-01 1.00175233e+01] [-1.78334517e-01 9.83341048e-01 3.51736213e-02 -1.37342913e+00] [ 2.16228725e-01 4.29135672e-03 9.76333305e-01 1.03952566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13538474999999 meters Centerline goodness : 0.946116 Centerline is valid? [True, False] Translation: X:10.02, Y:-1.37, Z:1.04 [[ 9.59858615e-01 1.82437653e-01 -2.13044461e-01 1.00164341e+01] [-1.78912858e-01 9.83210542e-01 3.58778431e-02 -1.37365838e+00] [ 2.16013029e-01 3.67873662e-03 9.76383551e-01 1.04020476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16538474999999 meters Centerline goodness : 0.946940 Centerline is valid? [False, False] Translation: X:10.02, Y:-1.37, Z:1.04 [[ 9.59797827e-01 1.82973795e-01 -2.12858455e-01 1.00153723e+01] [-1.79358767e-01 9.83112261e-01 3.63416455e-02 -1.37391683e+00] [ 2.15913325e-01 3.29739759e-03 9.76406966e-01 1.04094614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19538474999999 meters Centerline goodness : 0.946865 Centerline is valid? [False, False] Translation: X:10.01, Y:-1.37, Z:1.04 [[ 9.59650994e-01 1.84176295e-01 -2.12483088e-01 1.00132800e+01] [-1.80484298e-01 9.82888589e-01 3.68163061e-02 -1.37363705e+00] [ 2.15627894e-01 3.01905630e-03 9.76470940e-01 1.04169763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22538474999999 meters Centerline goodness : 0.942995 Centerline is valid? [False, False] Translation: X:10.01, Y:-1.37, Z:1.04 [[ 9.59534190e-01 1.84879892e-01 -2.12399538e-01 1.00129869e+01] [-1.81134386e-01 9.82757017e-01 3.71346123e-02 -1.37298181e+00] [ 2.15602580e-01 2.84092976e-03 9.76477064e-01 1.04184261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25538474999999 meters Centerline goodness : 0.940549 Centerline is valid? [False, False] Translation: X:10.01, Y:-1.37, Z:1.04 [[ 9.59458513e-01 1.85627729e-01 -2.12088914e-01 1.00121234e+01] [-1.81875439e-01 9.82616038e-01 3.72430824e-02 -1.37196397e+00] [ 2.15315317e-01 2.84057192e-03 9.76540447e-01 1.04176714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28538474999999 meters Centerline goodness : 0.942163 Centerline is valid? [False, False] Translation: X:10.01, Y:-1.37, Z:1.04 [[ 9.59429461e-01 1.85426788e-01 -2.12395892e-01 1.00124005e+01] [-1.81598870e-01 9.82654832e-01 3.75676919e-02 -1.37297365e+00] [ 2.15677906e-01 2.52730358e-03 9.76461291e-01 1.04265931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31538474999999 meters Centerline goodness : 0.943221 Centerline is valid? [False, False] Translation: X:10.01, Y:-1.37, Z:1.04 [[ 9.59388848e-01 1.85209480e-01 -2.12768622e-01 1.00129941e+01] [-1.81319616e-01 9.82696402e-01 3.78282828e-02 -1.37348581e+00] [ 2.16093116e-01 2.28709233e-03 9.76370081e-01 1.04345073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.34538475 meters Centerline goodness : 0.944347 Centerline is valid? [False, False] Translation: X:10.01, Y:-1.37, Z:1.04 [[ 9.60076147e-01 1.80640832e-01 -2.13594666e-01 1.00132415e+01] [-1.77530325e-01 9.83534031e-01 3.38200210e-02 -1.37341610e+00] [ 2.16186899e-01 5.44973489e-03 9.76336789e-01 1.04325743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.37538475 meters Centerline goodness : 0.945458 Centerline is valid? [False, False] Translation: X:10.02, Y:-1.37, Z:1.04 [[ 9.60077453e-01 1.79833419e-01 -2.14269051e-01 1.00161319e+01] [-1.76770915e-01 9.83680661e-01 3.35320818e-02 -1.37330260e+00] [ 2.16802510e-01 5.68314046e-03 9.76198942e-01 1.04268171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.40538475 meters Centerline goodness : 0.943233 Centerline is valid? [False, False] Translation: X:10.02, Y:-1.37, Z:1.04 [[ 9.59495590e-01 1.82211487e-01 -2.14865507e-01 1.00215727e+01] [-1.78501512e-01 9.83254394e-01 3.67152086e-02 -1.37440738e+00] [ 2.17957386e-01 3.12573715e-03 9.75953281e-01 1.04175337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.43538475 meters Centerline goodness : 0.945590 Centerline is valid? [False, False] Translation: X:8.99, Y:-0.90, Z:0.61 [[ 0.9470922 -0.23251353 0.22125511 8.99005933] [ 0.31327768 0.81961039 -0.47968313 -0.90447975] [-0.06981017 0.52361844 0.84908791 0.60760377] [ 0. 0. 0. 1. ]] SLAMing on 81.46538475 meters Centerline goodness : 0.943946 Centerline is valid? [False, False] Translation: X:9.40, Y:-1.05, Z:0.66 [[ 0.96545149 -0.15491024 0.20953816 9.40372393] [ 0.18408791 0.97458069 -0.12768757 -1.04940584] [-0.18443173 0.1618496 0.96942748 0.66371309] [ 0. 0. 0. 1. ]] SLAMing on 81.49538475 meters Centerline goodness : 0.942721 Centerline is valid? [False, False] Translation: X:9.40, Y:-1.06, Z:0.68 [[ 0.96621047 -0.15946458 0.20250523 9.40051466] [ 0.18404023 0.97687164 -0.10886223 -1.0594721 ] [-0.18046195 0.14245293 0.97321151 0.67768781] [ 0. 0. 0. 1. ]] SLAMing on 81.52538474999999 meters Centerline goodness : 0.946504 Centerline is valid? [False, False] Translation: X:9.41, Y:-1.07, Z:0.69 [[ 0.96686877 -0.1586899 0.19995573 9.40604735] [ 0.18115452 0.97841187 -0.09946486 -1.06700564] [-0.17985499 0.13239235 0.97474327 0.68501016] [ 0. 0. 0. 1. ]] SLAMing on 81.55538474999999 meters Centerline goodness : 0.949525 Centerline is valid? [False, False] Translation: X:9.40, Y:-1.08, Z:0.70 [[ 0.96780537 -0.16238175 0.19231465 9.40222031] [ 0.1805175 0.98025076 -0.08075815 -1.07654545] [-0.17540293 0.11287433 0.9780047 0.69858804] [ 0. 0. 0. 1. ]] SLAMing on 81.58538474999999 meters Centerline goodness : 0.948061 Centerline is valid? [False, False] Translation: X:9.40, Y:-1.09, Z:0.71 [[ 0.96841791 -0.16750413 0.18468655 9.40096929] [ 0.18151648 0.9814534 -0.06165211 -1.08651503] [-0.17093426 0.09322866 0.98086181 0.71147169] [ 0. 0. 0. 1. ]] SLAMing on 81.61538474999999 meters Centerline goodness : 0.947178 Centerline is valid? [False, False] Translation: X:9.40, Y:-1.09, Z:0.72 [[ 0.96932292 -0.1712709 0.17629339 9.39712319] [ 0.18188144 0.98225433 -0.0457775 -1.09459119] [-0.16532459 0.07643767 0.98327263 0.7229674 ] [ 0. 0. 0. 1. ]] SLAMing on 81.64538474999999 meters Centerline goodness : 0.952159 Centerline is valid? [False, True] Translation: X:9.39, Y:-1.10, Z:0.74 [[ 0.96916293 -0.17879332 0.16957641 9.39340538] [ 0.18676112 0.98187982 -0.03212947 -1.10453636] [-0.16075912 0.06280897 0.98499317 0.73534747] [ 0. 0. 0. 1. ]] SLAMing on 81.67538474999999 meters Centerline goodness : 0.951490 Centerline is valid? [True, True] Translation: X:9.43, Y:-1.12, Z:0.77 [[ 9.68908457e-01 -1.92325583e-01 1.55651123e-01 9.43168495e+00] [ 1.89691366e-01 9.81330397e-01 3.17464545e-02 -1.12274430e+00] [-1.58850834e-01 -1.23373402e-03 9.87301823e-01 7.71392622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.70538475 meters Centerline goodness : 0.949015 Centerline is valid? [True, False] Translation: X:9.43, Y:-1.13, Z:0.77 [[ 9.69521262e-01 -1.89904045e-01 1.54806252e-01 9.43234725e+00] [ 1.86561035e-01 9.81784306e-01 3.59799444e-02 -1.12536782e+00] [-1.58819086e-01 -6.00250649e-03 9.87289455e-01 7.71709459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.73538475 meters Centerline goodness : 0.950146 Centerline is valid? [False, True] Translation: X:9.43, Y:-1.13, Z:0.77 [[ 9.69724640e-01 -1.89211276e-01 1.54380098e-01 9.43276045e+00] [ 1.85761717e-01 9.81912716e-01 3.66060395e-02 -1.12600191e+00] [-1.58514057e-01 -6.81986640e-03 9.87333167e-01 7.72400776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.76538475 meters Centerline goodness : 0.945737 Centerline is valid? [True, False] Translation: X:9.43, Y:-1.13, Z:0.77 [[ 0.97066293 -0.18582341 0.15258814 9.43400515] [ 0.18185943 0.98252437 0.03966112 -1.12664488] [-0.15729153 -0.01074798 0.98749372 0.77486076] [ 0. 0. 0. 1. ]] SLAMing on 81.79538475 meters Centerline goodness : 0.947239 Centerline is valid? [False, False] Translation: X:9.44, Y:-1.12, Z:0.77 [[ 9.70918445e-01 -1.85271484e-01 1.51630636e-01 9.43599092e+00] [ 1.81754343e-01 9.82652933e-01 3.68588014e-02 -1.12394196e+00] [-1.55829174e-01 -8.22736359e-03 9.87749755e-01 7.74347845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.82538475 meters Centerline goodness : 0.944314 Centerline is valid? [False, False] Translation: X:9.44, Y:-1.12, Z:0.78 [[ 0.97184145 -0.18170251 0.15002797 9.43630598] [ 0.17784906 0.98329142 0.03882896 -1.1220489 ] [-0.15457654 -0.01105326 0.98791898 0.77760436] [ 0. 0. 0. 1. ]] SLAMing on 81.85538475 meters Centerline goodness : 0.945626 Centerline is valid? [False, False] Translation: X:9.44, Y:-1.12, Z:0.78 [[ 9.71985991e-01 -1.81178360e-01 1.49725202e-01 9.43730949e+00] [ 1.77653579e-01 9.83408367e-01 3.67040760e-02 -1.11909602e+00] [-1.53891000e-01 -9.07662974e-03 9.88046140e-01 7.76253907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.88538474999999 meters Centerline goodness : 0.946458 Centerline is valid? [False, False] Translation: X:9.44, Y:-1.12, Z:0.78 [[ 0.97291637 -0.17704332 0.14862503 9.43711426] [ 0.17303446 0.98411984 0.03958812 -1.1182442 ] [-0.15327365 -0.01279867 0.9881009 0.77826527] [ 0. 0. 0. 1. ]] SLAMing on 81.91538474999999 meters Centerline goodness : 0.945735 Centerline is valid? [False, False] Translation: X:9.44, Y:-1.12, Z:0.78 [[ 0.97362002 -0.17425943 0.14730145 9.43786719] [ 0.16970124 0.98455422 0.0430636 -1.11875231] [-0.1525305 -0.01693034 0.98815374 0.7801395 ] [ 0. 0. 0. 1. ]] SLAMing on 81.94538474999999 meters Centerline goodness : 0.945768 Centerline is valid? [False, False] Translation: X:9.44, Y:-1.12, Z:0.78 [[ 0.97373035 -0.17403369 0.14683829 9.43872101] [ 0.1696566 0.98461119 0.0419219 -1.1156304 ] [-0.15187445 -0.01590854 0.98827176 0.77830123] [ 0. 0. 0. 1. ]] SLAMing on 81.97538474999999 meters Centerline goodness : 0.944363 Centerline is valid? [False, False] Translation: X:9.44, Y:-1.11, Z:0.78 [[ 0.9732017 -0.17577582 0.14826097 9.43668519] [ 0.17221868 0.98437855 0.03660059 -1.11273016] [-0.15237842 -0.01008645 0.98827075 0.77516429] [ 0. 0. 0. 1. ]] SLAMing on 82.00538474999999 meters Centerline goodness : 0.945213 Centerline is valid? [False, False] Translation: X:9.44, Y:-1.11, Z:0.77 [[ 0.97323204 -0.17608236 0.14769696 9.43818728] [ 0.17259123 0.98432695 0.03623163 -1.11197439] [-0.15176185 -0.00977058 0.9883688 0.77446587] [ 0. 0. 0. 1. ]] SLAMing on 82.03538474999999 meters Centerline goodness : 0.943755 Centerline is valid? [False, False] Translation: X:9.44, Y:-1.11, Z:0.77 [[ 9.72925098e-01 -1.78151831e-01 1.47236813e-01 9.43943658e+00] [ 1.75204451e-01 9.83983664e-01 3.28564805e-02 -1.11082007e+00] [-1.50732061e-01 -6.17034953e-03 9.88555397e-01 7.74064677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.06538474999999 meters Centerline goodness : 0.945701 Centerline is valid? [False, False] Translation: X:9.44, Y:-1.11, Z:0.77 [[ 9.72912714e-01 -1.78822207e-01 1.46504164e-01 9.44127548e+00] [ 1.75943025e-01 9.83864125e-01 3.24874603e-02 -1.11047411e+00] [-1.49949670e-01 -5.83107737e-03 9.88676436e-01 7.74131206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.09538475 meters Centerline goodness : 0.943011 Centerline is valid? [False, False] Translation: X:9.44, Y:-1.11, Z:0.77 [[ 9.72924455e-01 -1.79021307e-01 1.46182685e-01 9.44236122e+00] [ 1.76197422e-01 9.83829700e-01 3.21494901e-02 -1.10979649e+00] [-1.49574310e-01 -5.52201299e-03 9.88735067e-01 7.73378765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.12538475 meters Centerline goodness : 0.943190 Centerline is valid? [False, False] Translation: X:9.44, Y:-1.11, Z:0.77 [[ 9.72891405e-01 -1.79565656e-01 1.45734311e-01 9.44408499e+00] [ 1.76852216e-01 9.83734048e-01 3.14740501e-02 -1.10871074e+00] [-1.49015462e-01 -4.84739703e-03 9.88822985e-01 7.72036738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.15538475 meters Centerline goodness : 0.943776 Centerline is valid? [False, False] Translation: X:9.44, Y:-1.11, Z:0.77 [[ 9.72194819e-01 -1.82763116e-01 1.46406550e-01 9.44493011e+00] [ 1.80935824e-01 9.83155994e-01 2.58170320e-02 -1.10748205e+00] [-1.48658879e-01 1.39100508e-03 9.88887558e-01 7.70298516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.18538475 meters Centerline goodness : 0.942468 Centerline is valid? [False, False] Translation: X:9.45, Y:-1.11, Z:0.77 [[ 9.72154924e-01 -1.83014987e-01 1.46356822e-01 9.44510740e+00] [ 1.81125246e-01 9.83109626e-01 2.62508801e-02 -1.10678983e+00] [-1.48689105e-01 9.88993037e-04 9.88883498e-01 7.70208726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.21538475 meters Centerline goodness : 0.942189 Centerline is valid? [False, False] Translation: X:9.44, Y:-1.11, Z:0.77 [[ 9.72457813e-01 -1.81500103e-01 1.46231028e-01 9.44436223e+00] [ 1.78929768e-01 9.83384169e-01 3.06547622e-02 -1.10818237e+00] [-1.49365121e-01 -3.64537906e-03 9.88775390e-01 7.70967918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.24538475 meters Centerline goodness : 0.941830 Centerline is valid? [False, False] Translation: X:9.44, Y:-1.11, Z:0.77 [[ 9.72496174e-01 -1.81354017e-01 1.46157146e-01 9.44411180e+00] [ 1.78892880e-01 9.83413444e-01 2.99221569e-02 -1.10712070e+00] [-1.49159405e-01 -2.95271047e-03 9.88808755e-01 7.71992959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27538474999999 meters Centerline goodness : 0.944666 Centerline is valid? [False, False] Translation: X:9.44, Y:-1.11, Z:0.77 [[ 9.72655905e-01 -1.80462098e-01 1.46198230e-01 9.44271124e+00] [ 1.78060157e-01 9.83578437e-01 2.94625014e-02 -1.10549710e+00] [-1.49114291e-01 -2.62479618e-03 9.88816484e-01 7.74735259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30538474999999 meters Centerline goodness : 0.944670 Centerline is valid? [False, False] Translation: X:9.44, Y:-1.10, Z:0.78 [[ 9.72824429e-01 -1.79722355e-01 1.45988028e-01 9.44274677e+00] [ 1.77464876e-01 9.83715782e-01 2.84513082e-02 -1.10318973e+00] [-1.48724064e-01 -1.77038028e-03 9.88877150e-01 7.75068461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33538474999999 meters Centerline goodness : 0.942757 Centerline is valid? [False, False] Translation: X:9.44, Y:-1.10, Z:0.78 [[ 9.73846207e-01 -1.75269298e-01 1.44582981e-01 9.44335890e+00] [ 1.72516753e-01 9.84504064e-01 3.14597970e-02 -1.10100124e+00] [-1.47856469e-01 -5.69401759e-03 9.88992438e-01 7.75887483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.36538474999999 meters Centerline goodness : 0.942272 Centerline is valid? [False, False] Translation: X:9.44, Y:-1.10, Z:0.78 [[ 9.74652904e-01 -1.71857875e-01 1.43236122e-01 9.44459896e+00] [ 1.68775614e-01 9.85085369e-01 3.34904072e-02 -1.10025591e+00] [-1.46855399e-01 -8.46675820e-03 9.89121735e-01 7.76316684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39538474999999 meters Centerline goodness : 0.939814 Centerline is valid? [False, False] Translation: X:9.45, Y:-1.10, Z:0.78 [[ 0.97557689 -0.1677581 0.141799 9.44523261] [ 0.16416227 0.98574772 0.03677211 -1.0981956 ] [-0.14594686 -0.01259597 0.98921224 0.77764347] [ 0. 0. 0. 1. ]] SLAMing on 82.42538474999999 meters Centerline goodness : 0.937768 Centerline is valid? [False, False] Translation: X:9.45, Y:-1.10, Z:0.78 [[ 0.97629908 -0.16441545 0.14073969 9.4451078 ] [ 0.16022023 0.98624117 0.04071649 -1.09979728] [-0.1454977 -0.01720212 0.98920903 0.78030598] [ 0. 0. 0. 1. ]] SLAMing on 82.45538475 meters Centerline goodness : 0.939205 Centerline is valid? [False, False] Translation: X:9.45, Y:-1.10, Z:0.78 [[ 0.97742431 -0.1621171 0.13549818 9.4510321 ] [ 0.15812021 0.98661624 0.03982948 -1.09903934] [-0.14014175 -0.0175053 0.98997669 0.78345269] [ 0. 0. 0. 1. ]] SLAMing on 82.48538475 meters Centerline goodness : 0.942003 Centerline is valid? [False, False] Translation: X:9.45, Y:-1.10, Z:0.78 [[ 0.97746592 -0.16225856 0.1350279 9.45192928] [ 0.15831715 0.9865977 0.03950516 -1.0981455 ] [-0.13962827 -0.01723772 0.99005394 0.78338517] [ 0. 0. 0. 1. ]] SLAMing on 82.51538475 meters Centerline goodness : 0.941109 Centerline is valid? [False, False] Translation: X:9.45, Y:-1.10, Z:0.78 [[ 0.97749371 -0.16228405 0.13479588 9.45224296] [ 0.15839737 0.9865991 0.0391471 -1.0969935 ] [-0.13934244 -0.01691473 0.99009978 0.783265 ] [ 0. 0. 0. 1. ]] SLAMing on 82.54538475 meters Centerline goodness : 0.939847 Centerline is valid? [False, False] Translation: X:9.45, Y:-1.10, Z:0.78 [[ 0.97751265 -0.16261965 0.13425303 9.45347918] [ 0.15883024 0.98655333 0.03854207 -1.09543104] [-0.13871547 -0.01635192 0.99019727 0.78283955] [ 0. 0. 0. 1. ]] SLAMing on 82.57538475 meters Centerline goodness : 0.941952 Centerline is valid? [False, False] Translation: X:9.46, Y:-1.09, Z:0.78 [[ 0.97748024 -0.16325595 0.13371568 9.45524707] [ 0.15959138 0.98646099 0.03775327 -1.09445307] [-0.13806875 -0.01556321 0.99030036 0.78187041] [ 0. 0. 0. 1. ]] SLAMing on 82.60538475 meters Centerline goodness : 0.941952 Centerline is valid? [False, False] Translation: X:9.46, Y:-1.09, Z:0.78 [[ 0.97748024 -0.16325595 0.13371568 9.45524707] [ 0.15959138 0.98646099 0.03775327 -1.09445307] [-0.13806875 -0.01556321 0.99030036 0.78187041] [ 0. 0. 0. 1. ]] SLAMing on 82.63538474999999 meters Centerline goodness : 0.939253 Centerline is valid? [False, False] Translation: X:9.45, Y:-1.09, Z:0.78 [[ 0.97686414 -0.1660584 0.134763 9.45432371] [ 0.16308101 0.98606338 0.03291791 -1.0922205 ] [-0.13835115 -0.01017904 0.99033093 0.7802733 ] [ 0. 0. 0. 1. ]] SLAMing on 82.66538474999999 meters Centerline goodness : 0.940456 Centerline is valid? [False, False] Translation: X:9.45, Y:-1.09, Z:0.78 [[ 9.76203140e-01 -1.69509281e-01 1.35255437e-01 9.45461400e+00] [ 1.67166048e-01 9.85514386e-01 2.85815805e-02 -1.09141105e+00] [-1.38141022e-01 -5.29131175e-03 9.90398435e-01 7.80139993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69538474999999 meters Centerline goodness : 0.944054 Centerline is valid? [False, False] Translation: X:9.46, Y:-1.09, Z:0.78 [[ 9.75476461e-01 -1.73609662e-01 1.35297302e-01 9.45645222e+00] [ 1.71945382e-01 9.84814535e-01 2.39815989e-02 -1.08986139e+00] [-1.37406187e-01 -1.29738906e-04 9.90514777e-01 7.79563939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72538474999999 meters Centerline goodness : 0.942082 Centerline is valid? [False, False] Translation: X:9.46, Y:-1.09, Z:0.78 [[ 9.75344030e-01 -1.74051603e-01 1.35683689e-01 9.45633149e+00] [ 1.72322462e-01 9.84736409e-01 2.44780104e-02 -1.09013813e+00] [-1.37873105e-01 -4.93134082e-04 9.90449778e-01 7.78695274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75538474999999 meters Centerline goodness : 0.938291 Centerline is valid? [False, False] Translation: X:9.46, Y:-1.09, Z:0.78 [[ 9.75357925e-01 -1.74088652e-01 1.35536195e-01 9.45726746e+00] [ 1.72179515e-01 9.84728334e-01 2.57744742e-02 -1.09076464e+00] [-1.37953375e-01 -1.80278141e-03 9.90437084e-01 7.77122886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.78538474999999 meters Centerline goodness : 0.938654 Centerline is valid? [False, False] Translation: X:9.46, Y:-1.09, Z:0.78 [[ 9.75365038e-01 -1.74259842e-01 1.35264743e-01 9.45865686e+00] [ 1.72503867e-01 9.84699422e-01 2.46873266e-02 -1.08981550e+00] [-1.37497124e-01 -7.45463939e-04 9.90501886e-01 7.75603804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81538474999999 meters Centerline goodness : 0.936037 Centerline is valid? [False, False] Translation: X:9.46, Y:-1.09, Z:0.78 [[ 9.75675893e-01 -1.72956702e-01 1.34694216e-01 9.45894064e+00] [ 1.71203631e-01 9.84928997e-01 2.45802368e-02 -1.08913207e+00] [-1.36915556e-01 -9.22205550e-04 9.90582293e-01 7.76641161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.84538475 meters Centerline goodness : 0.940181 Centerline is valid? [False, False] Translation: X:9.46, Y:-1.09, Z:0.78 [[ 9.75894327e-01 -1.71991585e-01 1.34347155e-01 9.45892783e+00] [ 1.70264761e-01 9.85098039e-01 2.43262240e-02 -1.08880946e+00] [-1.36529024e-01 -8.65237825e-04 9.90635693e-01 7.77962387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.87538475 meters Centerline goodness : 0.940576 Centerline is valid? [False, False] Translation: X:9.46, Y:-1.09, Z:0.78 [[ 9.76745492e-01 -1.68581336e-01 1.32471045e-01 9.46069648e+00] [ 1.66657235e-01 9.85683510e-01 2.55613661e-02 -1.08863678e+00] [-1.34883694e-01 -2.88969107e-03 9.90857224e-01 7.79727630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.90538475 meters Centerline goodness : 0.939116 Centerline is valid? [False, False] Translation: X:9.46, Y:-1.09, Z:0.78 [[ 9.77624409e-01 -1.64765234e-01 1.30778184e-01 9.46267049e+00] [ 1.62401566e-01 9.86309830e-01 2.86120756e-02 -1.08925238e+00] [-1.33702084e-01 -6.73328159e-03 9.90998696e-01 7.79889434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.93538475 meters Centerline goodness : 0.937850 Centerline is valid? [False, False] Translation: X:9.46, Y:-1.09, Z:0.78 [[ 9.77618156e-01 -1.65002818e-01 1.30525139e-01 9.46384641e+00] [ 1.62747739e-01 9.86275038e-01 2.78338387e-02 -1.08785958e+00] [-1.33326348e-01 -5.96819476e-03 9.91054219e-01 7.78364536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.96538475 meters Centerline goodness : 0.938336 Centerline is valid? [False, False] Translation: X:9.47, Y:-1.09, Z:0.78 [[ 9.77640314e-01 -1.65295559e-01 1.29987667e-01 9.46530202e+00] [ 1.63126137e-01 9.86229158e-01 2.72380601e-02 -1.08661103e+00] [-1.32699958e-01 -5.42463959e-03 9.91141410e-01 7.77494589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.99538475 meters Centerline goodness : 0.936297 Centerline is valid? [False, False] Translation: X:9.46, Y:-1.09, Z:0.78 [[ 9.77779758e-01 -1.64471643e-01 1.29983933e-01 9.46437675e+00] [ 1.62274799e-01 9.86365416e-01 2.73889729e-02 -1.08650718e+00] [-1.32716366e-01 -5.68726662e-03 9.91137741e-01 7.79017588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02538474999999 meters Centerline goodness : 0.937447 Centerline is valid? [False, False] Translation: X:9.46, Y:-1.09, Z:0.78 [[ 9.77325799e-01 -1.66411061e-01 1.30926093e-01 9.46259307e+00] [ 1.64755129e-01 9.86055538e-01 2.34568230e-02 -1.08525199e+00] [-1.33003873e-01 -1.35421299e-03 9.91114593e-01 7.78831228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05538474999999 meters Centerline goodness : 0.940064 Centerline is valid? [False, False] Translation: X:9.46, Y:-1.09, Z:0.78 [[ 9.77389577e-01 -1.66654710e-01 1.30137706e-01 9.46364722e+00] [ 1.64895933e-01 9.86012763e-01 2.42520452e-02 -1.08716057e+00] [-1.32359157e-01 -2.24451777e-03 9.91199282e-01 7.81182648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.08538474999999 meters Centerline goodness : 0.939977 Centerline is valid? [False, False] Translation: X:9.47, Y:-1.09, Z:0.78 [[ 9.77366700e-01 -1.67379155e-01 1.29377553e-01 9.46572290e+00] [ 1.65648371e-01 9.85890309e-01 2.41022128e-02 -1.08734298e+00] [-1.31586284e-01 -2.12551930e-03 9.91302442e-01 7.81191580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11538474999999 meters Centerline goodness : 0.938881 Centerline is valid? [False, False] Translation: X:9.47, Y:-1.09, Z:0.78 [[ 9.76753449e-01 -1.70546843e-01 1.29870994e-01 9.46667251e+00] [ 1.69408569e-01 9.85346092e-01 1.98447832e-02 -1.08703826e+00] [-1.31352341e-01 2.61779872e-03 9.91332290e-01 7.79408494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.14538474999999 meters Centerline goodness : 0.941145 Centerline is valid? [False, False] Translation: X:9.47, Y:-1.09, Z:0.78 [[ 9.76632657e-01 -1.71160941e-01 1.29971480e-01 9.46698645e+00] [ 1.69979032e-01 9.85240284e-01 2.02165883e-02 -1.08862271e+00] [-1.31513428e-01 2.34824605e-03 9.91311608e-01 7.79118640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17538474999999 meters Centerline goodness : 0.941078 Centerline is valid? [False, False] Translation: X:9.47, Y:-1.09, Z:0.78 [[ 9.76687679e-01 -1.71214663e-01 1.29486360e-01 9.46801560e+00] [ 1.69914297e-01 9.85232773e-01 2.11072194e-02 -1.09170626e+00] [-1.31188071e-01 1.38642265e-03 9.91356529e-01 7.79673516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.20538475 meters Centerline goodness : 0.940459 Centerline is valid? [False, False] Translation: X:9.47, Y:-1.09, Z:0.78 [[ 9.76778939e-01 -1.70839956e-01 1.29292747e-01 9.46877519e+00] [ 1.69576795e-01 9.85297478e-01 2.07988199e-02 -1.09275991e+00] [-1.30945087e-01 1.60920033e-03 9.91388317e-01 7.79085875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.23538475 meters Centerline goodness : 0.939760 Centerline is valid? [False, False] Translation: X:9.48, Y:-1.10, Z:0.78 [[ 9.77481856e-01 -1.65046709e-01 1.31486902e-01 9.48192198e+00] [ 1.62981300e-01 9.86276075e-01 2.63931766e-02 -1.09849461e+00] [-1.34038492e-01 -4.36894513e-03 9.90966495e-01 7.79064337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.26538475 meters Centerline goodness : 0.945770 Centerline is valid? [False, False] Translation: X:9.48, Y:-1.10, Z:0.78 [[ 9.77507288e-01 -1.65217973e-01 1.31082126e-01 9.48333646e+00] [ 1.63177874e-01 9.86247917e-01 2.62302809e-02 -1.09939880e+00] [-1.33613188e-01 -4.25058808e-03 9.91024444e-01 7.78266411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.29538475 meters Centerline goodness : 0.941765 Centerline is valid? [False, False] Translation: X:9.49, Y:-1.10, Z:0.78 [[ 9.77607346e-01 -1.65139599e-01 1.30433083e-01 9.48589497e+00] [ 1.63105293e-01 9.86260645e-01 2.62031258e-02 -1.10062753e+00] [-1.32968191e-01 -4.34204197e-03 9.91110794e-01 7.76119682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.32538475 meters Centerline goodness : 0.939368 Centerline is valid? [False, False] Translation: X:9.48, Y:-1.10, Z:0.77 [[ 9.77174486e-01 -1.66787809e-01 1.31574505e-01 9.48455775e+00] [ 1.65346903e-01 9.85992741e-01 2.18795762e-02 -1.09979448e+00] [-1.33380754e-01 3.75273366e-04 9.91064798e-01 7.73605523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.35538475 meters Centerline goodness : 0.939733 Centerline is valid? [False, False] Translation: X:9.50, Y:-1.10, Z:0.78 [[ 9.79215283e-01 -1.60475795e-01 1.24036077e-01 9.49594835e+00] [ 1.59488007e-01 9.87037242e-01 1.79181126e-02 -1.10348203e+00] [-1.25303651e-01 2.23657697e-03 9.92115917e-01 7.75433919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38538474999999 meters Centerline goodness : 0.938397 Centerline is valid? [False, False] Translation: X:9.50, Y:-1.11, Z:0.78 [[ 9.78688000e-01 -1.63395637e-01 1.24385145e-01 9.49633618e+00] [ 1.62829538e-01 9.86543605e-01 1.47735165e-02 -1.10531870e+00] [-1.25125297e-01 5.79491231e-03 9.92124024e-01 7.75936004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41538474999999 meters Centerline goodness : 0.944359 Centerline is valid? [False, False] Translation: X:9.50, Y:-1.11, Z:0.78 [[ 9.78192190e-01 -1.66267391e-01 1.24479696e-01 9.49663553e+00] [ 1.65945627e-01 9.86048912e-01 1.30227158e-02 -1.11051984e+00] [-1.24908322e-01 7.91814238e-03 9.92136691e-01 7.79079056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44538474999999 meters Centerline goodness : 0.943752 Centerline is valid? [False, False] Translation: X:9.50, Y:-1.11, Z:0.78 [[ 9.78197153e-01 -1.66464066e-01 1.24177471e-01 9.49780082e+00] [ 1.66080010e-01 9.86019707e-01 1.35117617e-02 -1.11230862e+00] [-1.24690656e-01 7.40622882e-03 9.92168024e-01 7.79013817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47538474999999 meters Centerline goodness : 0.947343 Centerline is valid? [False, False] Translation: X:9.50, Y:-1.12, Z:0.78 [[ 0.9774 -0.1710497 0.12422258 9.50088269] [ 0.17106915 0.98520211 0.01059017 -1.11732769] [-0.12419579 0.01089982 0.99219786 0.77931739] [ 0. 0. 0. 1. ]] SLAMing on 83.50538474999999 meters Centerline goodness : 0.945948 Centerline is valid? [False, False] Translation: X:9.50, Y:-1.12, Z:0.78 [[ 0.97739565 -0.17147695 0.12366651 9.50277655] [ 0.17144433 0.98513255 0.01098587 -1.11910156] [-0.12371172 0.01046438 0.99226302 0.77911329] [ 0. 0. 0. 1. ]] SLAMing on 83.53538474999999 meters Centerline goodness : 0.945211 Centerline is valid? [False, False] Translation: X:9.50, Y:-1.12, Z:0.78 [[ 9.76735568e-01 -1.74877315e-01 1.24119119e-01 9.50458278e+00] [ 1.75307875e-01 9.84484863e-01 7.53012612e-03 -1.12115828e+00] [-1.23510242e-01 1.44041170e-02 9.92238752e-01 7.77507569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.56538474999999 meters Centerline goodness : 0.944962 Centerline is valid? [False, False] Translation: X:9.51, Y:-1.12, Z:0.78 [[ 9.76763658e-01 -1.75410582e-01 1.23141720e-01 9.50731235e+00] [ 1.75789073e-01 9.84396394e-01 7.87033223e-03 -1.12305495e+00] [-1.22600804e-01 1.39595143e-02 9.92357886e-01 7.77423173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.59538475 meters Centerline goodness : 0.944661 Centerline is valid? [False, False] Translation: X:9.51, Y:-1.13, Z:0.78 [[ 9.76133468e-01 -1.78978299e-01 1.23004967e-01 9.50980017e+00] [ 1.79786430e-01 9.83694962e-01 4.58924395e-03 -1.12716062e+00] [-1.21820741e-01 1.76349093e-02 9.92395444e-01 7.77226330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.62538475 meters Centerline goodness : 0.946602 Centerline is valid? [False, False] Translation: X:9.51, Y:-1.13, Z:0.78 [[ 9.76114964e-01 -1.78859239e-01 1.23324572e-01 9.50953955e+00] [ 1.79558833e-01 9.83731808e-01 5.50951539e-03 -1.12876905e+00] [-1.22303732e-01 1.67660957e-02 9.92351095e-01 7.76887509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.65538475 meters Centerline goodness : 0.947933 Centerline is valid? [False, False] Translation: X:9.51, Y:-1.13, Z:0.78 [[ 9.76004570e-01 -1.79297744e-01 1.23561314e-01 9.50957944e+00] [ 1.79935537e-01 9.83659674e-01 6.07029389e-03 -1.13030427e+00] [-1.22630672e-01 1.63084369e-02 9.92318373e-01 7.76563097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.68538475 meters Centerline goodness : 0.946823 Centerline is valid? [False, False] Translation: X:9.51, Y:-1.13, Z:0.78 [[ 9.75864012e-01 -1.80152080e-01 1.23428756e-01 9.50976362e+00] [ 1.80681959e-01 9.83516804e-01 6.98035727e-03 -1.13280253e+00] [-1.22651782e-01 1.54894700e-02 9.92328885e-01 7.77885974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.71538475 meters Centerline goodness : 0.945409 Centerline is valid? [False, False] Translation: X:9.51, Y:-1.13, Z:0.78 [[ 9.75780732e-01 -1.80589792e-01 1.23447519e-01 9.51023038e+00] [ 1.81009858e-01 9.83449566e-01 7.89826339e-03 -1.13357708e+00] [-1.22830754e-01 1.46382446e-02 9.92319670e-01 7.77194240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.74538475 meters Centerline goodness : 0.940408 Centerline is valid? [False, False] Translation: X:9.51, Y:-1.13, Z:0.77 [[ 9.76070822e-01 -1.79738250e-01 1.22392447e-01 9.51344879e+00] [ 1.80244095e-01 9.83596874e-01 7.01823426e-03 -1.13291357e+00] [-1.21646274e-01 1.52102223e-02 9.92456968e-01 7.73974452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77538474999999 meters Centerline goodness : 0.946541 Centerline is valid? [False, False] Translation: X:9.51, Y:-1.13, Z:0.78 [[ 9.76221641e-01 -1.79197276e-01 1.21982145e-01 9.51374096e+00] [ 1.79684072e-01 9.83698830e-01 7.08849999e-03 -1.13314889e+00] [-1.21263933e-01 1.49983014e-02 9.92506982e-01 7.75052348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.80538474999999 meters Centerline goodness : 0.943084 Centerline is valid? [False, False] Translation: X:9.51, Y:-1.13, Z:0.78 [[ 9.76349769e-01 -1.78686526e-01 1.21705605e-01 9.51400166e+00] [ 1.79180157e-01 9.83791617e-01 6.96600553e-03 -1.13249937e+00] [-1.20977685e-01 1.50059715e-02 9.92541798e-01 7.75559919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83538474999999 meters Centerline goodness : 0.946332 Centerline is valid? [False, False] Translation: X:9.52, Y:-1.13, Z:0.77 [[ 0.97685085 -0.17133938 0.1280829 9.52232392] [ 0.17143727 0.98514074 0.01034304 -1.13494911] [-0.12795186 0.01185457 0.99170953 0.77270464] [ 0. 0. 0. 1. ]] SLAMing on 83.86538474999999 meters Centerline goodness : 0.945231 Centerline is valid? [False, False] Translation: X:9.52, Y:-1.13, Z:0.77 [[ 9.77022604e-01 -1.70655340e-01 1.27685496e-01 9.52294090e+00] [ 1.70872191e-01 9.85248975e-01 9.33548714e-03 -1.13428647e+00] [-1.27395154e-01 1.26969184e-02 9.91770771e-01 7.73027678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89538474999999 meters Centerline goodness : 0.947130 Centerline is valid? [False, False] Translation: X:9.52, Y:-1.13, Z:0.78 [[ 9.77590427e-01 -1.67924127e-01 1.26958433e-01 9.52249344e+00] [ 1.67714275e-01 9.85757431e-01 1.24181256e-02 -1.13386730e+00] [-1.27235522e-01 9.15290087e-03 9.91830301e-01 7.75364561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.92538474999999 meters Centerline goodness : 0.944730 Centerline is valid? [False, False] Translation: X:9.52, Y:-1.13, Z:0.78 [[ 9.78059984e-01 -1.65657998e-01 1.26317436e-01 9.52216976e+00] [ 1.65032174e-01 9.86166739e-01 1.54772142e-02 -1.13386754e+00] [-1.27133978e-01 5.70879716e-03 9.91869125e-01 7.77148172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95538475 meters Centerline goodness : 0.944058 Centerline is valid? [False, False] Translation: X:9.52, Y:-1.13, Z:0.78 [[ 9.78531539e-01 -1.63182955e-01 1.25886257e-01 9.52115091e+00] [ 1.62096597e-01 9.86593965e-01 1.88955237e-02 -1.13277665e+00] [-1.27282048e-01 1.91586782e-03 9.91864713e-01 7.79576294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.98538475 meters Centerline goodness : 0.947013 Centerline is valid? [False, False] Translation: X:9.52, Y:-1.13, Z:0.78 [[ 9.78711604e-01 -1.62513171e-01 1.25351767e-01 9.52170194e+00] [ 1.61502625e-01 9.86703499e-01 1.82512123e-02 -1.13169629e+00] [-1.26651090e-01 2.38196615e-03 9.91944468e-01 7.80337372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.01538475 meters Centerline goodness : 0.944080 Centerline is valid? [False, False] Translation: X:9.52, Y:-1.13, Z:0.78 [[ 9.78892543e-01 -1.61800341e-01 1.24860078e-01 9.52188905e+00] [ 1.60852918e-01 9.86819662e-01 1.77000968e-02 -1.13006125e+00] [-1.26078262e-01 2.75761514e-03 9.92016465e-01 7.81696672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.04538475 meters Centerline goodness : 0.943268 Centerline is valid? [False, False] Translation: X:9.52, Y:-1.13, Z:0.78 [[ 9.79606337e-01 -1.58808768e-01 1.23090208e-01 9.52375537e+00] [ 1.57327571e-01 9.87307503e-01 2.17239319e-02 -1.12929030e+00] [-1.24977837e-01 -1.91541794e-03 9.92157685e-01 7.83236310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.07538475 meters Centerline goodness : 0.945804 Centerline is valid? [False, False] Translation: X:9.52, Y:-1.13, Z:0.78 [[ 9.79830118e-01 -1.58010623e-01 1.22333900e-01 9.52424809e+00] [ 1.56501608e-01 9.87434683e-01 2.19087327e-02 -1.12799170e+00] [-1.24258548e-01 -2.32138411e-03 9.92247159e-01 7.83895535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.10538475 meters Centerline goodness : 0.946019 Centerline is valid? [False, False] Translation: X:9.52, Y:-1.13, Z:0.78 [[ 9.79335229e-01 -1.60457215e-01 1.23109670e-01 9.52317911e+00] [ 1.59521720e-01 9.87039589e-01 1.74834628e-02 -1.12668784e+00] [-1.24319466e-01 2.51649533e-03 9.92239053e-01 7.83263070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13538474999999 meters Centerline goodness : 0.947142 Centerline is valid? [False, False] Translation: X:9.53, Y:-1.12, Z:0.78 [[ 9.79902262e-01 -1.58360447e-01 1.21299321e-01 9.52715400e+00] [ 1.57066133e-01 9.87381076e-01 2.02198069e-02 -1.12450024e+00] [-1.22970672e-01 -7.61419255e-04 9.92410013e-01 7.81381266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.16538474999999 meters Centerline goodness : 0.946457 Centerline is valid? [False, False] Translation: X:9.53, Y:-1.12, Z:0.78 [[ 9.79974443e-01 -1.58074849e-01 1.21088533e-01 9.52768211e+00] [ 1.56870290e-01 9.87427128e-01 1.94776421e-02 -1.12240907e+00] [-1.22645028e-01 -9.23980803e-05 9.92450598e-01 7.79893720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19538474999999 meters Centerline goodness : 0.942632 Centerline is valid? [False, False] Translation: X:9.53, Y:-1.12, Z:0.78 [[ 9.80150900e-01 -1.57653243e-01 1.20206771e-01 9.52883586e+00] [ 1.56447644e-01 9.87494497e-01 1.94615584e-02 -1.12115176e+00] [-1.21771703e-01 -2.69197866e-04 9.92558099e-01 7.80139913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.22538474999999 meters Centerline goodness : 0.943996 Centerline is valid? [False, False] Translation: X:9.53, Y:-1.12, Z:0.78 [[ 9.80174561e-01 -1.57931820e-01 1.19646855e-01 9.53004752e+00] [ 1.56730095e-01 9.87449970e-01 1.94482270e-02 -1.12136768e+00] [-1.21216777e-01 -3.10394404e-04 9.92626010e-01 7.80603324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25538474999999 meters Centerline goodness : 0.944973 Centerline is valid? [False, False] Translation: X:9.53, Y:-1.12, Z:0.78 [[ 9.80267929e-01 -1.57961088e-01 1.18840576e-01 9.53144784e+00] [ 1.56793397e-01 9.87445325e-01 1.91719000e-02 -1.12081833e+00] [-1.20376986e-01 -1.60181076e-04 9.92728239e-01 7.80825830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.28538474999999 meters Centerline goodness : 0.944308 Centerline is valid? [False, False] Translation: X:9.53, Y:-1.12, Z:0.78 [[ 9.80333737e-01 -1.57986262e-01 1.18262865e-01 9.53282421e+00] [ 1.56835774e-01 9.87441304e-01 1.90318378e-02 -1.12006681e+00] [-1.19784406e-01 -1.09704696e-04 9.92799921e-01 7.80420137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31538474999999 meters Centerline goodness : 0.944323 Centerline is valid? [False, False] Translation: X:9.53, Y:-1.12, Z:0.78 [[ 9.80458605e-01 -1.57263413e-01 1.18191128e-01 9.53237220e+00] [ 1.56117250e-01 9.87556683e-01 1.89526344e-02 -1.11886412e+00] [-1.19700994e-01 -1.30599693e-04 9.92809979e-01 7.80323589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.34538475 meters Centerline goodness : 0.945988 Centerline is valid? [False, False] Translation: X:9.53, Y:-1.12, Z:0.78 [[ 9.80511458e-01 -1.57316525e-01 1.17680889e-01 9.53322328e+00] [ 1.56162118e-01 9.87548193e-01 1.90252095e-02 -1.11832843e+00] [-1.19208529e-01 -2.77139043e-04 9.92869201e-01 7.80801664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.37538475 meters Centerline goodness : 0.945202 Centerline is valid? [False, False] Translation: X:9.53, Y:-1.12, Z:0.78 [[ 9.80650271e-01 -1.56738892e-01 1.17294356e-01 9.53340880e+00] [ 1.55591070e-01 9.87640024e-01 1.89367824e-02 -1.11779601e+00] [-1.18812731e-01 -3.20406340e-04 9.92916629e-01 7.81010372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.40538475 meters Centerline goodness : 0.947267 Centerline is valid? [False, False] Translation: X:9.53, Y:-1.12, Z:0.78 [[ 9.80640047e-01 -1.57069126e-01 1.16937541e-01 9.53440175e+00] [ 1.55942080e-01 9.87587594e-01 1.87832962e-02 -1.11787746e+00] [-1.18436340e-01 -1.84169134e-04 9.92961630e-01 7.80946828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.43538475 meters Centerline goodness : 0.951030 Centerline is valid? [False, True] Translation: X:9.54, Y:-1.12, Z:0.78 [[ 9.80503284e-01 -1.59011713e-01 1.15449491e-01 9.53936504e+00] [ 1.57989358e-01 9.87276526e-01 1.80117506e-02 -1.11764509e+00] [-1.16844651e-01 5.79210235e-04 9.93150035e-01 7.79929882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.46538475 meters Centerline goodness : 0.946885 Centerline is valid? [True, False] Translation: X:9.54, Y:-1.12, Z:0.78 [[ 9.81000978e-01 -1.57282026e-01 1.13575724e-01 9.54452438e+00] [ 1.55947941e-01 9.87550588e-01 2.05930892e-02 -1.11575555e+00] [-1.15400696e-01 -2.48994028e-03 9.93315901e-01 7.76894330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49538474999999 meters Centerline goodness : 0.946885 Centerline is valid? [False, False] Translation: X:9.54, Y:-1.12, Z:0.78 [[ 9.81000978e-01 -1.57282026e-01 1.13575724e-01 9.54452438e+00] [ 1.55947941e-01 9.87550588e-01 2.05930892e-02 -1.11575555e+00] [-1.15400696e-01 -2.48994028e-03 9.93315901e-01 7.76894330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.52538474999999 meters Centerline goodness : 0.948045 Centerline is valid? [False, False] Translation: X:9.55, Y:-1.11, Z:0.78 [[ 9.81091520e-01 -1.57152955e-01 1.12970699e-01 9.54590314e+00] [ 1.55866434e-01 9.87571830e-01 2.01874908e-02 -1.11422816e+00] [-1.14739204e-01 -2.19743595e-03 9.93393218e-01 7.75892869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55538474999999 meters Centerline goodness : 0.943843 Centerline is valid? [False, False] Translation: X:9.55, Y:-1.11, Z:0.78 [[ 9.81132156e-01 -1.57149901e-01 1.12621498e-01 9.54690532e+00] [ 1.55908869e-01 9.87572997e-01 1.97990113e-02 -1.11354273e+00] [-1.14333363e-01 -1.86675621e-03 9.93440686e-01 7.75181926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.58538474999999 meters Centerline goodness : 0.947084 Centerline is valid? [False, False] Translation: X:9.55, Y:-1.11, Z:0.78 [[ 9.81597464e-01 -1.55687249e-01 1.10579828e-01 9.54974111e+00] [ 1.54374593e-01 9.87802018e-01 2.03877103e-02 -1.11267503e+00] [-1.12405084e-01 -2.94180877e-03 9.93658112e-01 7.75002982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61538474999999 meters Centerline goodness : 0.943366 Centerline is valid? [False, False] Translation: X:9.55, Y:-1.11, Z:0.78 [[ 9.81699314e-01 -1.55541308e-01 1.09878832e-01 9.55091206e+00] [ 1.54236325e-01 9.87824800e-01 2.03302801e-02 -1.11177392e+00] [-1.11703234e-01 -3.01091480e-03 9.93737049e-01 7.75088466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.64538474999999 meters Centerline goodness : 0.946081 Centerline is valid? [False, False] Translation: X:9.55, Y:-1.11, Z:0.77 [[ 9.81905048e-01 -1.54762504e-01 1.09137730e-01 9.55177546e+00] [ 1.53453002e-01 9.87946414e-01 2.03484413e-02 -1.11069883e+00] [-1.10971404e-01 -3.23272495e-03 9.93818342e-01 7.74900854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67538474999999 meters Centerline goodness : 0.945981 Centerline is valid? [False, False] Translation: X:9.55, Y:-1.11, Z:0.77 [[ 9.81901263e-01 -1.55057607e-01 1.08752230e-01 9.55295479e+00] [ 1.53761702e-01 9.87900359e-01 2.02539012e-02 -1.11048715e+00] [-1.10576889e-01 -3.16540320e-03 9.93862532e-01 7.74633389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.70538475 meters Centerline goodness : 0.945331 Centerline is valid? [False, False] Translation: X:9.55, Y:-1.11, Z:0.77 [[ 9.81994515e-01 -1.54869780e-01 1.08176353e-01 9.55398030e+00] [ 1.53562627e-01 9.87929098e-01 2.03621570e-02 -1.11048731e+00] [-1.10024050e-01 -3.38368147e-03 9.93923166e-01 7.74804991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.73538475 meters Centerline goodness : 0.946156 Centerline is valid? [False, False] Translation: X:9.56, Y:-1.11, Z:0.78 [[ 9.82078194e-01 -1.54854262e-01 1.07436394e-01 9.55528449e+00] [ 1.53516450e-01 9.87930017e-01 2.06635334e-02 -1.11068621e+00] [-1.09339474e-01 -3.79995178e-03 9.93997203e-01 7.75413101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.76538475 meters Centerline goodness : 0.951657 Centerline is valid? [False, True] Translation: X:9.56, Y:-1.11, Z:0.78 [[ 9.81596477e-01 -1.58160954e-01 1.07020883e-01 9.55670540e+00] [ 1.57178000e-01 9.87413234e-01 1.76119673e-02 -1.11267232e+00] [-1.08459362e-01 -4.66516691e-04 9.94100774e-01 7.77399146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.79538475 meters Centerline goodness : 0.952683 Centerline is valid? [True, True] Translation: X:9.58, Y:-1.11, Z:0.78 [[ 9.79762300e-01 -1.68091239e-01 1.08679210e-01 9.58440987e+00] [ 1.66926730e-01 9.85770650e-01 1.97912139e-02 -1.10904850e+00] [-1.10459505e-01 -1.24922010e-03 9.93879840e-01 7.76363789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.82538475 meters Centerline goodness : 0.953417 Centerline is valid? [True, True] Translation: X:9.61, Y:-1.10, Z:0.77 [[ 9.79295743e-01 -1.71450757e-01 1.07631249e-01 9.61142692e+00] [ 1.70325405e-01 9.85192286e-01 1.96320232e-02 -1.10262400e+00] [-1.09403402e-01 -8.93220641e-04 9.93997031e-01 7.71547054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.85538475 meters Centerline goodness : 0.952716 Centerline is valid? [True, True] Translation: X:9.64, Y:-1.10, Z:0.77 [[ 9.79082797e-01 -1.73351903e-01 1.06517582e-01 9.63873062e+00] [ 1.72257664e-01 9.84859697e-01 1.94595740e-02 -1.09581619e+00] [-1.08278228e-01 -7.04064186e-04 9.94120380e-01 7.65971287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.88538474999999 meters Centerline goodness : 0.946391 Centerline is valid? [True, False] Translation: X:9.64, Y:-1.10, Z:0.76 [[ 9.79561576e-01 -1.70915373e-01 1.06052128e-01 9.64006384e+00] [ 1.69202016e-01 9.85263874e-01 2.50155116e-02 -1.09812158e+00] [-1.08764866e-01 -6.56000014e-03 9.94045859e-01 7.63282392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91538474999999 meters Centerline goodness : 0.945521 Centerline is valid? [False, False] Translation: X:9.64, Y:-1.10, Z:0.76 [[ 9.79578691e-01 -1.70852287e-01 1.05995676e-01 9.64037221e+00] [ 1.69031691e-01 9.85267742e-01 2.59954429e-02 -1.09861715e+00] [-1.08875501e-01 -7.54795359e-03 9.94026737e-01 7.63009138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.94538474999999 meters Centerline goodness : 0.948068 Centerline is valid? [False, False] Translation: X:9.64, Y:-1.10, Z:0.76 [[ 9.79155599e-01 -1.73208449e-01 1.06080844e-01 9.64064991e+00] [ 1.71968725e-01 9.84882909e-01 2.07945265e-02 -1.09855663e+00] [-1.08078998e-01 -2.11848953e-03 9.94140052e-01 7.64499516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97538474999999 meters Centerline goodness : 0.949703 Centerline is valid? [False, False] Translation: X:9.64, Y:-1.10, Z:0.77 [[ 9.79321107e-01 -1.72496889e-01 1.05711840e-01 9.64049100e+00] [ 1.71662008e-01 9.85008946e-01 1.70156038e-02 -1.09813521e+00] [-1.07062246e-01 1.48296671e-03 9.94251214e-01 7.66531313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.00538474999999 meters Centerline goodness : 0.949194 Centerline is valid? [False, False] Translation: X:9.64, Y:-1.10, Z:0.77 [[ 9.79488273e-01 -1.71992276e-01 1.04982763e-01 9.64222031e+00] [ 1.71330410e-01 9.85093902e-01 1.53588479e-02 -1.09634273e+00] [-1.06059483e-01 2.94292836e-03 9.94355432e-01 7.65760383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03538474999999 meters Centerline goodness : 0.950432 Centerline is valid? [False, True] Translation: X:9.65, Y:-1.10, Z:0.77 [[ 9.80598140e-01 -1.63604851e-01 1.07984910e-01 9.65346541e+00] [ 1.61713357e-01 9.86492389e-01 2.61066392e-02 -1.09931420e+00] [-1.10797465e-01 -8.13751951e-03 9.93809691e-01 7.66235657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.06538474999999 meters Centerline goodness : 0.945353 Centerline is valid? [True, False] Translation: X:9.66, Y:-1.10, Z:0.77 [[ 9.80614326e-01 -1.63903790e-01 1.07382923e-01 9.65515013e+00] [ 1.62050085e-01 9.86444498e-01 2.58267914e-02 -1.09894452e+00] [-1.10160402e-01 -7.92470983e-03 9.93882229e-01 7.65662764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.09538475 meters Centerline goodness : 0.949226 Centerline is valid? [False, False] Translation: X:9.66, Y:-1.10, Z:0.77 [[ 9.80807671e-01 -1.63127757e-01 1.06797224e-01 9.65571207e+00] [ 1.61281141e-01 9.86572152e-01 2.57639855e-02 -1.09881306e+00] [-1.09565988e-01 -8.04513651e-03 9.93946965e-01 7.66804265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.12538475 meters Centerline goodness : 0.946845 Centerline is valid? [False, False] Translation: X:9.66, Y:-1.10, Z:0.77 [[ 9.80909799e-01 -1.63072395e-01 1.05940361e-01 9.65769992e+00] [ 1.61228814e-01 9.86579825e-01 2.57976368e-02 -1.09823235e+00] [-1.08725506e-01 -8.22451586e-03 9.94037787e-01 7.66288726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.15538475 meters Centerline goodness : 0.946505 Centerline is valid? [False, False] Translation: X:9.66, Y:-1.10, Z:0.77 [[ 9.81037226e-01 -1.62431602e-01 1.05744675e-01 9.65786121e+00] [ 1.60604753e-01 9.86686093e-01 2.56255070e-02 -1.09743815e+00] [-1.08499192e-01 -8.15647897e-03 9.94063075e-01 7.66624725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.18538475 meters Centerline goodness : 0.947262 Centerline is valid? [False, False] Translation: X:9.66, Y:-1.10, Z:0.77 [[ 9.81273884e-01 -1.61501987e-01 1.04969863e-01 9.65830569e+00] [ 1.59607447e-01 9.86831211e-01 2.62607003e-02 -1.09727239e+00] [-1.07828693e-01 -9.01496752e-03 9.94128615e-01 7.67743231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.21538475 meters Centerline goodness : 0.946095 Centerline is valid? [False, False] Translation: X:9.67, Y:-1.10, Z:0.76 [[ 9.82058090e-01 -1.53873238e-01 1.09018043e-01 9.66879282e+00] [ 1.51856033e-01 9.88044080e-01 2.66203301e-02 -1.09763210e+00] [-1.11810788e-01 -9.58766304e-03 9.93683262e-01 7.62259160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24538474999999 meters Centerline goodness : 0.942897 Centerline is valid? [False, False] Translation: X:9.67, Y:-1.10, Z:0.76 [[ 9.82110098e-01 -1.53783630e-01 1.08675432e-01 9.66938777e+00] [ 1.51819708e-01 9.88061690e-01 2.61700833e-02 -1.09619694e+00] [-1.11402561e-01 -9.20283074e-03 9.93732749e-01 7.61819323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27538474999999 meters Centerline goodness : 0.942687 Centerline is valid? [False, False] Translation: X:9.67, Y:-1.10, Z:0.76 [[ 0.98277771 -0.15059858 0.10708897 9.6710584 ] [ 0.14820711 0.98850133 0.0299961 -1.09549555] [-0.11037496 -0.01360815 0.99379685 0.76274101] [ 0. 0. 0. 1. ]] SLAMing on 85.30538474999999 meters Centerline goodness : 0.944323 Centerline is valid? [False, False] Translation: X:9.67, Y:-1.09, Z:0.76 [[ 0.9829047 -0.15018643 0.1065006 9.67169083] [ 0.14779693 0.9885617 0.03003047 -1.09426081] [-0.10979258 -0.01377662 0.99385904 0.76286047] [ 0. 0. 0. 1. ]] SLAMing on 85.33538474999999 meters Centerline goodness : 0.945334 Centerline is valid? [False, False] Translation: X:9.67, Y:-1.09, Z:0.76 [[ 0.98299407 -0.15002009 0.10590859 9.67277833] [ 0.14764675 0.98858658 0.02995003 -1.0933081 ] [-0.10919291 -0.01380365 0.99392473 0.76267214] [ 0. 0. 0. 1. ]] SLAMing on 85.36538474999999 meters Centerline goodness : 0.942676 Centerline is valid? [False, False] Translation: X:9.68, Y:-1.09, Z:0.77 [[ 0.98464176 -0.14454336 0.09791747 9.68360029] [ 0.14276647 0.98944178 0.02495376 -1.09387903] [-0.10049054 -0.01059118 0.99488164 0.76592398] [ 0. 0. 0. 1. ]] SLAMing on 85.39538474999999 meters Centerline goodness : 0.945766 Centerline is valid? [False, False] Translation: X:9.69, Y:-1.10, Z:0.77 [[ 0.98469538 -0.14477861 0.09702662 9.68541537] [ 0.14295729 0.98940019 0.02550433 -1.0963471 ] [-0.09969064 -0.01124333 0.99495496 0.76698503] [ 0. 0. 0. 1. ]] SLAMing on 85.42538474999999 meters Centerline goodness : 0.945334 Centerline is valid? [False, False] Translation: X:9.69, Y:-1.10, Z:0.77 [[ 0.98468152 -0.14528828 0.09640344 9.68726288] [ 0.1434819 0.98932566 0.02544976 -1.09708209] [-0.09907195 -0.01122776 0.99501693 0.76679213] [ 0. 0. 0. 1. ]] SLAMing on 85.45538475 meters Centerline goodness : 0.943490 Centerline is valid? [False, False] Translation: X:9.69, Y:-1.10, Z:0.77 [[ 9.84122188e-01 -1.49009886e-01 9.64342962e-02 9.68915324e+00] [ 1.47658313e-01 9.88814538e-01 2.10435562e-02 -1.09654750e+00] [-9.84913320e-02 -6.47010515e-03 9.95116875e-01 7.65286183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.48538475 meters Centerline goodness : 0.946452 Centerline is valid? [False, False] Translation: X:9.69, Y:-1.10, Z:0.76 [[ 9.84111684e-01 -1.49605416e-01 9.56159642e-02 9.69177525e+00] [ 1.48291573e-01 9.88726129e-01 2.07425085e-02 -1.09661169e+00] [-9.76411937e-02 -6.23390333e-03 9.95202158e-01 7.64232901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.51538475 meters Centerline goodness : 0.946332 Centerline is valid? [False, False] Translation: X:9.70, Y:-1.10, Z:0.76 [[ 9.84064823e-01 -1.50511590e-01 9.46714627e-02 9.69511531e+00] [ 1.49241341e-01 9.88590372e-01 2.03984935e-02 -1.09753271e+00] [-9.66615062e-02 -5.94454388e-03 9.95299561e-01 7.62908992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.54538475 meters Centerline goodness : 0.947602 Centerline is valid? [False, False] Translation: X:9.70, Y:-1.10, Z:0.76 [[ 9.83509423e-01 -1.53970810e-01 9.48799475e-02 9.69554405e+00] [ 1.53050314e-01 9.88073065e-01 1.69475635e-02 -1.09871573e+00] [-9.63577506e-02 -2.14668259e-03 9.95344451e-01 7.64011782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.57538475 meters Centerline goodness : 0.946949 Centerline is valid? [False, False] Translation: X:9.70, Y:-1.10, Z:0.76 [[ 9.82884991e-01 -1.57725526e-01 9.51827322e-02 9.69737799e+00] [ 1.57323461e-01 9.87477088e-01 1.17613216e-02 -1.09712849e+00] [-9.58458279e-02 3.41445035e-03 9.95390335e-01 7.60985660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.60538475 meters Centerline goodness : 0.944426 Centerline is valid? [False, False] Translation: X:9.70, Y:-1.10, Z:0.76 [[ 9.82834866e-01 -1.58438031e-01 9.45146324e-02 9.70014659e+00] [ 1.58113749e-01 9.87360099e-01 1.09579356e-02 -1.09666288e+00] [-9.50561306e-02 4.17422167e-03 9.95463163e-01 7.58998153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63538474999999 meters Centerline goodness : 0.942759 Centerline is valid? [False, False] Translation: X:9.70, Y:-1.09, Z:0.76 [[ 9.82876082e-01 -1.58777060e-01 9.35117734e-02 9.70338182e+00] [ 1.58535214e-01 9.87302102e-01 1.00570740e-02 -1.09493213e+00] [-9.39212031e-02 4.94005152e-03 9.95567378e-01 7.56321337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.66538474999999 meters Centerline goodness : 0.944623 Centerline is valid? [False, False] Translation: X:9.71, Y:-1.10, Z:0.76 [[ 9.84334110e-01 -1.53925648e-01 8.59840345e-02 9.71298870e+00] [ 1.53977699e-01 9.88055700e-01 6.06639471e-03 -1.09718706e+00] [-8.58907892e-02 7.26826453e-03 9.96278046e-01 7.60512582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69538474999999 meters Centerline goodness : 0.944478 Centerline is valid? [False, False] Translation: X:9.71, Y:-1.10, Z:0.76 [[ 9.84352567e-01 -1.54342173e-01 8.50206842e-02 9.71464191e+00] [ 1.54320043e-01 9.87997013e-01 6.87215839e-03 -1.09982237e+00] [-8.50608459e-02 6.35576887e-03 9.96355487e-01 7.62550086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.72538474999999 meters Centerline goodness : 0.946309 Centerline is valid? [False, False] Translation: X:9.72, Y:-1.10, Z:0.76 [[ 9.84363395e-01 -1.54660673e-01 8.43136040e-02 9.71635175e+00] [ 1.54620461e-01 9.87948815e-01 7.04638764e-03 -1.10048147e+00] [-8.43873242e-02 6.10040227e-03 9.96414354e-01 7.62819576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75538474999999 meters Centerline goodness : 0.944662 Centerline is valid? [False, False] Translation: X:9.72, Y:-1.10, Z:0.76 [[ 9.84386805e-01 -1.55046186e-01 8.33264527e-02 9.71902803e+00] [ 1.54992439e-01 9.87889761e-01 7.15291899e-03 -1.10071085e+00] [-8.34263823e-02 5.87373110e-03 9.96496632e-01 7.62255011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.78538474999999 meters Centerline goodness : 0.943150 Centerline is valid? [False, False] Translation: X:9.72, Y:-1.10, Z:0.76 [[ 9.84380534e-01 -1.55462498e-01 8.26218824e-02 9.72116755e+00] [ 1.55414435e-01 9.87824184e-01 7.05225639e-03 -1.10052889e+00] [-8.27122550e-02 5.89852929e-03 9.96556015e-01 7.61578677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81538474999999 meters Centerline goodness : 0.946105 Centerline is valid? [False, False] Translation: X:9.72, Y:-1.10, Z:0.76 [[ 9.84302180e-01 -1.56430944e-01 8.17225732e-02 9.72442073e+00] [ 1.56378426e-01 9.87671820e-01 7.08260726e-03 -1.10222703e+00] [-8.18230216e-02 5.80822163e-03 9.96629950e-01 7.60813179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.84538475 meters Centerline goodness : 0.942762 Centerline is valid? [False, False] Translation: X:9.73, Y:-1.10, Z:0.76 [[ 9.84299547e-01 -1.57123074e-01 8.04160505e-02 9.72770968e+00] [ 1.57066265e-01 9.87562750e-01 7.07125233e-03 -1.10325650e+00] [-8.05269529e-02 5.67041819e-03 9.96736302e-01 7.60696312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.87538475 meters Centerline goodness : 0.944537 Centerline is valid? [False, False] Translation: X:9.73, Y:-1.10, Z:0.76 [[ 9.84337888e-01 -1.57382696e-01 7.94330442e-02 9.72954774e+00] [ 1.57277100e-01 9.87525087e-01 7.62341608e-03 -1.10484625e+00] [-7.96419177e-02 4.98898158e-03 9.96811053e-01 7.61908323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.90538475 meters Centerline goodness : 0.942902 Centerline is valid? [False, False] Translation: X:9.73, Y:-1.11, Z:0.76 [[ 9.84376247e-01 -1.57547173e-01 7.86275527e-02 9.73107905e+00] [ 1.57402559e-01 9.87501527e-01 8.07265669e-03 -1.10591630e+00] [-7.89166526e-02 4.42964652e-03 9.96871376e-01 7.62733335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.93538475 meters Centerline goodness : 0.946799 Centerline is valid? [False, False] Translation: X:9.73, Y:-1.11, Z:0.76 [[ 9.84354983e-01 -1.58126445e-01 7.77257729e-02 9.73367159e+00] [ 1.57965640e-01 9.87410129e-01 8.25194085e-03 -1.10653932e+00] [-7.80520655e-02 4.15516237e-03 9.96940625e-01 7.62565005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.96538475 meters Centerline goodness : 0.944796 Centerline is valid? [False, False] Translation: X:9.73, Y:-1.11, Z:0.76 [[ 9.84362562e-01 -1.58215789e-01 7.74474652e-02 9.73462239e+00] [ 1.58042264e-01 9.87396588e-01 8.40366442e-03 -1.10705346e+00] [-7.78009553e-02 3.96772009e-03 9.96961017e-01 7.62304372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99538474999999 meters Centerline goodness : 0.945476 Centerline is valid? [False, False] Translation: X:9.74, Y:-1.11, Z:0.76 [[ 9.83759905e-01 -1.61935290e-01 7.74171225e-02 9.73585735e+00] [ 1.62014228e-01 9.86774179e-01 5.30194422e-03 -1.10829195e+00] [-7.72517893e-02 7.32683516e-03 9.96984693e-01 7.63460390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.02538474999999 meters Centerline goodness : 0.945270 Centerline is valid? [False, False] Translation: X:9.74, Y:-1.11, Z:0.76 [[ 9.83736329e-01 -1.62379021e-01 7.67846912e-02 9.73748994e+00] [ 1.62432364e-01 9.86703834e-01 5.59206407e-03 -1.10920677e+00] [-7.66717831e-02 6.97120234e-03 9.97032016e-01 7.63800959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05538474999999 meters Centerline goodness : 0.945515 Centerline is valid? [False, False] Translation: X:9.74, Y:-1.11, Z:0.76 [[ 9.83626032e-01 -1.63673381e-01 7.54377464e-02 9.74215264e+00] [ 1.63787583e-01 9.86484374e-01 4.71253102e-03 -1.10824991e+00] [-7.51894739e-02 7.72039794e-03 9.97139378e-01 7.61692075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.08538474999999 meters Centerline goodness : 0.945009 Centerline is valid? [False, False] Translation: X:9.74, Y:-1.11, Z:0.76 [[ 9.83567521e-01 -1.64429327e-01 7.45515116e-02 9.74486368e+00] [ 1.64553194e-01 9.86357853e-01 4.52010349e-03 -1.10881307e+00] [-7.42777065e-02 7.82186239e-03 9.97206920e-01 7.61186734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11538474999999 meters Centerline goodness : 0.949368 Centerline is valid? [False, False] Translation: X:9.75, Y:-1.11, Z:0.76 [[ 9.83491398e-01 -1.65449291e-01 7.32884903e-02 9.74897370e+00] [ 1.65603552e-01 9.86184258e-01 4.00905503e-03 -1.10819087e+00] [-7.29392508e-02 8.19396321e-03 9.97302725e-01 7.59620189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.14538474999999 meters Centerline goodness : 0.950824 Centerline is valid? [False, True] Translation: X:9.75, Y:-1.11, Z:0.76 [[ 9.83486757e-01 -1.65747585e-01 7.26741885e-02 9.75035524e+00] [ 1.65884213e-01 9.86136319e-01 4.19387301e-03 -1.10884324e+00] [-7.23617810e-02 7.93088201e-03 9.97346917e-01 7.59956914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17538474999999 meters Centerline goodness : 0.953211 Centerline is valid? [True, True] Translation: X:9.78, Y:-1.11, Z:0.76 [[ 9.83040017e-01 -1.68542325e-01 7.22897589e-02 9.77835816e+00] [ 1.68060979e-01 9.85694348e-01 1.27341635e-02 -1.10806103e+00] [-7.34018523e-02 -3.69104611e-04 9.97302377e-01 7.62898765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.20538475 meters Centerline goodness : 0.953582 Centerline is valid? [True, True] Translation: X:9.81, Y:-1.11, Z:0.76 [[ 9.82977419e-01 -1.69411223e-01 7.11001556e-02 9.80697475e+00] [ 1.68947501e-01 9.85545405e-01 1.25298389e-02 -1.10534603e+00] [-7.21951269e-02 -3.04355063e-04 9.97390481e-01 7.62927410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.23538475 meters Centerline goodness : 0.952123 Centerline is valid? [True, True] Translation: X:9.84, Y:-1.10, Z:0.76 [[ 9.82815818e-01 -1.70254859e-01 7.13186577e-02 9.83503792e+00] [ 1.69789062e-01 9.85400027e-01 1.25881095e-02 -1.10111849e+00] [-7.24205941e-02 -2.62665148e-04 9.97374147e-01 7.60227179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.26538475 meters Centerline goodness : 0.955753 Centerline is valid? [True, True] Translation: X:9.86, Y:-1.10, Z:0.76 [[ 9.82626599e-01 -1.71265764e-01 7.15052784e-02 9.86302760e+00] [ 1.70798765e-01 9.85224845e-01 1.26406940e-02 -1.09620913e+00] [-7.26136949e-02 -2.08068847e-04 9.97360120e-01 7.57840213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.29538475 meters Centerline goodness : 0.953580 Centerline is valid? [True, True] Translation: X:9.89, Y:-1.09, Z:0.75 [[ 9.82390840e-01 -1.72103418e-01 7.27231131e-02 9.88895930e+00] [ 1.71620916e-01 9.85078872e-01 1.28793271e-02 -1.09010805e+00] [-7.38545785e-02 -1.71725706e-04 9.97269007e-01 7.54043160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.32538475 meters Centerline goodness : 0.953170 Centerline is valid? [True, True] Translation: X:9.92, Y:-1.09, Z:0.75 [[ 9.82481364e-01 -1.71473796e-01 7.29870319e-02 9.91523984e+00] [ 1.70985397e-01 9.85188655e-01 1.29347919e-02 -1.08506340e+00] [-7.41239737e-02 -2.28475320e-04 9.97249008e-01 7.51228219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.35538475 meters Centerline goodness : 0.954221 Centerline is valid? [True, True] Translation: X:9.94, Y:-1.08, Z:0.75 [[ 9.82822908e-01 -1.69806092e-01 7.22843160e-02 9.94215655e+00] [ 1.69321942e-01 9.85477428e-01 1.28186598e-02 -1.08007669e+00] [-7.34112484e-02 -3.59151737e-04 9.97301689e-01 7.49744937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.38538474999999 meters Centerline goodness : 0.953529 Centerline is valid? [True, True] Translation: X:9.97, Y:-1.07, Z:0.75 [[ 9.82936873e-01 -1.69044233e-01 7.25199981e-02 9.96965833e+00] [ 1.68554438e-01 9.85608375e-01 1.28659624e-02 -1.07484470e+00] [-7.36512342e-02 -4.22861362e-04 9.97283970e-01 7.47528034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41538474999999 meters Centerline goodness : 0.953529 Centerline is valid? [True, True] Translation: X:10.00, Y:-1.07, Z:0.74 [[ 9.82909832e-01 -1.69202961e-01 7.25163502e-02 9.99766517e+00] [ 1.68712083e-01 9.85581134e-01 1.28864869e-02 -1.06970900e+00] [-7.36511784e-02 -4.31870173e-04 9.97283970e-01 7.44863719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.44538474999999 meters Centerline goodness : 0.954166 Centerline is valid? [True, True] Translation: X:10.02, Y:-1.06, Z:0.74 [[ 9.83145055e-01 -1.67559535e-01 7.31409840e-02 1.00238272e+01] [ 1.67054720e-01 9.85861793e-01 1.30094226e-02 -1.06382635e+00] [-7.42867544e-02 -5.71602887e-04 9.97236758e-01 7.42624819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47538474999999 meters Centerline goodness : 0.954923 Centerline is valid? [True, True] Translation: X:10.05, Y:-1.06, Z:0.74 [[ 9.83373105e-01 -1.66537187e-01 7.24065021e-02 1.00514269e+01] [ 1.66038904e-01 9.86034958e-01 1.28896690e-02 -1.05763254e+00] [-7.35419515e-02 -6.53057549e-04 9.97291911e-01 7.39292522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.50538474999999 meters Centerline goodness : 0.955952 Centerline is valid? [True, True] Translation: X:10.08, Y:-1.05, Z:0.74 [[ 9.83262239e-01 -1.67281254e-01 7.21966177e-02 1.00792633e+01] [ 1.66786375e-01 9.85909024e-01 1.28725325e-02 -1.05126546e+00] [-7.33326303e-02 -6.15662956e-04 9.97307348e-01 7.36982770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53538474999999 meters Centerline goodness : 0.955519 Centerline is valid? [True, True] Translation: X:10.11, Y:-1.04, Z:0.73 [[ 9.83322764e-01 -1.67285613e-01 7.13573069e-02 1.01071166e+01] [ 1.66800784e-01 9.85908277e-01 1.27423899e-02 -1.04489143e+00] [-7.24833780e-02 -6.27427327e-04 9.97369423e-01 7.34804738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.56538474999999 meters Centerline goodness : 0.953235 Centerline is valid? [True, True] Translation: X:10.13, Y:-1.04, Z:0.73 [[ 9.83893293e-01 -1.64276347e-01 7.04788577e-02 1.01334763e+01] [ 1.63794067e-01 9.86413980e-01 1.26080499e-02 -1.03783049e+00] [-7.15925349e-02 -8.60957000e-04 9.97433591e-01 7.29765221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.59538475 meters Centerline goodness : 0.953073 Centerline is valid? [True, True] Translation: X:10.16, Y:-1.03, Z:0.73 [[ 9.84162535e-01 -1.62471851e-01 7.09013525e-02 1.01594957e+01] [ 1.61978468e-01 9.86712665e-01 1.26921939e-02 -1.03276560e+00] [-7.20213867e-02 -1.00668928e-03 9.97402580e-01 7.26563727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.62538475 meters Centerline goodness : 0.953809 Centerline is valid? [True, True] Translation: X:10.19, Y:-1.03, Z:0.72 [[ 9.84121096e-01 -1.62552469e-01 7.12906964e-02 1.01875872e+01] [ 1.62053467e-01 9.86699383e-01 1.27672334e-02 -1.02760671e+00] [-7.24178314e-02 -1.01159921e-03 9.97373869e-01 7.24788183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.65538475 meters Centerline goodness : 0.953623 Centerline is valid? [True, True] Translation: X:10.21, Y:-1.02, Z:0.72 [[ 9.84134881e-01 -1.62057757e-01 7.22206290e-02 1.02148660e+01] [ 1.61542844e-01 9.86780682e-01 1.29535887e-02 -1.02271692e+00] [-7.33651511e-02 -1.08135262e-03 9.97304560e-01 7.22759131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.68538475 meters Centerline goodness : 0.954200 Centerline is valid? [True, True] Translation: X:10.24, Y:-1.02, Z:0.72 [[ 9.83494309e-01 -1.65529404e-01 7.30681902e-02 1.02426939e+01] [ 1.65010400e-01 9.86204487e-01 1.31254346e-02 -1.01772263e+00] [-7.42328224e-02 -8.51778919e-04 9.97240574e-01 7.21755486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.71538475 meters Centerline goodness : 0.955880 Centerline is valid? [True, True] Translation: X:10.27, Y:-1.01, Z:0.72 [[ 9.83089297e-01 -1.67974809e-01 7.29376337e-02 1.02701078e+01] [ 1.67462932e-01 9.85791050e-01 1.31214534e-02 -1.01203820e+00] [-7.41053401e-02 -6.85210392e-04 9.97250184e-01 7.20240797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.74538474999999 meters Centerline goodness : 0.952949 Centerline is valid? [True, True] Translation: X:10.30, Y:-1.00, Z:0.72 [[ 9.83134404e-01 -1.68366720e-01 7.14100165e-02 1.02969251e+01] [ 1.67875780e-01 9.85724207e-01 1.28650941e-02 -1.00443601e+00] [-7.25566355e-02 -6.60104411e-04 9.97364075e-01 7.16688014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77538474999999 meters Centerline goodness : 0.954714 Centerline is valid? [True, True] Translation: X:10.32, Y:-1.00, Z:0.71 [[ 9.83347818e-01 -1.67388968e-01 7.07672362e-02 1.03242033e+01] [ 1.66903011e-01 9.85890654e-01 1.27673102e-02 -9.97903854e-01] [-7.19058636e-02 -7.43441852e-04 9.97411146e-01 7.12599856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.80538474999999 meters Centerline goodness : 0.955614 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.99, Z:0.71 [[ 9.83299857e-01 -1.67342578e-01 7.15391670e-02 1.03506806e+01] [ 1.66844181e-01 9.85898503e-01 1.29291081e-02 -9.94555739e-01] [-7.26939478e-02 -7.77296405e-04 9.97353992e-01 7.10717264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83538474999999 meters Centerline goodness : 0.956817 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.99, Z:0.71 [[ 9.83286292e-01 -1.67768581e-01 7.07232056e-02 1.03789054e+01] [ 1.67281768e-01 9.85826122e-01 1.27932558e-02 -9.89857055e-01] [-7.18670898e-02 -7.48730122e-04 9.97413937e-01 7.09258312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.86538474999999 meters Centerline goodness : 0.956557 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.98, Z:0.71 [[ 9.83365170e-01 -1.67233782e-01 7.08929074e-02 1.04069218e+01] [ 1.66741809e-01 9.85916937e-01 1.28437474e-02 -9.84776824e-01] [-7.20424266e-02 -8.09282233e-04 9.97401240e-01 7.06841560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89538474999999 meters Centerline goodness : 0.957044 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.98, Z:0.70 [[ 9.83333287e-01 -1.67335026e-01 7.10959566e-02 1.04340826e+01] [ 1.66839051e-01 9.85899747e-01 1.29004106e-02 -9.79716761e-01] [-7.22521762e-02 -8.23821234e-04 9.97386056e-01 7.04881095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.92538474999999 meters Centerline goodness : 0.957240 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.97, Z:0.70 [[ 9.83540598e-01 -1.65940497e-01 7.14957558e-02 1.04604670e+01] [ 1.65433646e-01 9.86135307e-01 1.29948329e-02 -9.73735037e-01] [-7.26608581e-02 -9.53142223e-04 9.97356251e-01 7.02132303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95538475 meters Centerline goodness : 0.955875 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.97, Z:0.70 [[ 9.83813146e-01 -1.64511898e-01 7.10459702e-02 1.04877377e+01] [ 1.64006858e-01 9.86374526e-01 1.29246269e-02 -9.67886528e-01] [-7.22041901e-02 -1.06339158e-03 9.97389304e-01 6.99042336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.98538475 meters Centerline goodness : 0.954929 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.96, Z:0.70 [[ 9.84273329e-01 -1.62315150e-01 6.97123102e-02 1.05150207e+01] [ 1.61822095e-01 9.86738215e-01 1.27006196e-02 -9.61223302e-01] [-7.08493035e-02 -1.21988908e-03 9.97486285e-01 6.96540823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.01538475 meters Centerline goodness : 0.955856 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.95, Z:0.69 [[ 9.84442162e-01 -1.61488348e-01 6.92469663e-02 1.05424092e+01] [ 1.60998538e-01 9.86873777e-01 1.26340175e-02 -9.54584906e-01] [-7.03782618e-02 -1.28879916e-03 9.97519543e-01 6.93835225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.04538475 meters Centerline goodness : 0.954382 Centerline is valid? [True, True] Translation: X:10.57, Y:-0.95, Z:0.69 [[ 9.84344581e-01 -1.62103692e-01 6.91963789e-02 1.05687338e+01] [ 1.61614425e-01 9.86772915e-01 1.26487703e-02 -9.49180239e-01] [-7.03315249e-02 -1.26761551e-03 9.97522867e-01 6.91143065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.07538475 meters Centerline goodness : 0.955914 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.94, Z:0.69 [[ 9.84455730e-01 -1.61602004e-01 6.87874157e-02 1.05950440e+01] [ 1.61116670e-01 9.86855152e-01 1.25828447e-02 -9.43931021e-01] [-6.99166285e-02 -1.30445428e-03 9.97551985e-01 6.88340530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.10538475 meters Centerline goodness : 0.956936 Centerline is valid? [True, True] Translation: X:10.62, Y:-0.94, Z:0.69 [[ 9.83503837e-01 -1.66219248e-01 7.13537986e-02 1.06230252e+01] [ 1.65708712e-01 9.86088295e-01 1.30574789e-02 -9.38615979e-01] [-7.25315499e-02 -1.01813458e-03 9.97365599e-01 6.86648042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13538474999999 meters Centerline goodness : 0.956546 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.93, Z:0.68 [[ 9.82669825e-01 -1.70802508e-01 7.20174919e-02 1.06502299e+01] [ 1.70293171e-01 9.85305031e-01 1.31997124e-02 -9.31789647e-01] [-7.32137411e-02 -7.06872029e-04 9.97316022e-01 6.84254317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.16538474999999 meters Centerline goodness : 0.956581 Centerline is valid? [True, True] Translation: X:10.68, Y:-0.93, Z:0.68 [[ 9.82755671e-01 -1.70960995e-01 7.04530283e-02 1.06774119e+01] [ 1.70472589e-01 9.85277550e-01 1.29323927e-02 -9.26305325e-01] [-7.16267218e-02 -6.99072174e-04 9.97431263e-01 6.81618142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19538474999999 meters Centerline goodness : 0.956077 Centerline is valid? [True, True] Translation: X:10.70, Y:-0.92, Z:0.68 [[ 9.82711037e-01 -1.71350376e-01 7.01289269e-02 1.07039504e+01] [ 1.70865810e-01 9.85209913e-01 1.28958408e-02 -9.21314512e-01] [-7.13014211e-02 -6.90249163e-04 9.97454576e-01 6.78151531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.22538474999999 meters Centerline goodness : 0.955406 Centerline is valid? [True, True] Translation: X:10.73, Y:-0.92, Z:0.68 [[ 9.82582653e-01 -1.71992936e-01 7.03545317e-02 1.07316072e+01] [ 1.71506515e-01 9.85097968e-01 1.29425231e-02 -9.15978493e-01] [-7.15321287e-02 -6.50838193e-04 9.97438084e-01 6.75838926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25538474999999 meters Centerline goodness : 0.956718 Centerline is valid? [True, True] Translation: X:10.76, Y:-0.91, Z:0.67 [[ 9.82522725e-01 -1.71823167e-01 7.15953446e-02 1.07592655e+01] [ 1.71317477e-01 9.85127563e-01 1.31911218e-02 -9.10919040e-01] [-7.27970877e-02 -6.95043098e-04 9.97346530e-01 6.72854036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.28538474999999 meters Centerline goodness : 0.957068 Centerline is valid? [True, True] Translation: X:10.79, Y:-0.91, Z:0.67 [[ 9.82316712e-01 -1.72272024e-01 7.33227584e-02 1.07869232e+01] [ 1.71741298e-01 9.85049167e-01 1.35301271e-02 -9.06648342e-01] [-7.45573844e-02 -6.98324239e-04 9.97216480e-01 6.71529445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31538474999999 meters Centerline goodness : 0.958225 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.90, Z:0.67 [[ 9.82466825e-01 -1.71201395e-01 7.38174786e-02 1.08133456e+01] [ 1.70658713e-01 9.85235723e-01 1.36445498e-02 -9.02343670e-01] [-7.50635829e-02 -8.07721634e-04 9.97178422e-01 6.69019882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.34538475 meters Centerline goodness : 0.958321 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.90, Z:0.67 [[ 9.82652565e-01 -1.70481526e-01 7.30067479e-02 1.08395778e+01] [ 1.69948101e-01 9.85360496e-01 1.35031785e-02 -8.96459402e-01] [-7.42400078e-02 -8.61574834e-04 9.97240031e-01 6.67131865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.37538475 meters Centerline goodness : 0.957633 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.89, Z:0.66 [[ 9.82876838e-01 -1.69620193e-01 7.19868816e-02 1.08671618e+01] [ 1.69098894e-01 9.85509079e-01 1.33198441e-02 -8.91177289e-01] [-7.32030399e-02 -9.18864134e-04 9.97316635e-01 6.64694151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.40538475 meters Centerline goodness : 0.958784 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.89, Z:0.66 [[ 9.82771884e-01 -1.70113330e-01 7.22556451e-02 1.08948408e+01] [ 1.69588026e-01 9.85424090e-01 1.33889879e-02 -8.85154903e-01] [-7.34800986e-02 -9.04628630e-04 9.97296273e-01 6.62668140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.43538475 meters Centerline goodness : 0.958819 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.88, Z:0.66 [[ 9.83028203e-01 -1.68815622e-01 7.18111231e-02 1.09220212e+01] [ 1.68291930e-01 9.85647126e-01 1.33254959e-02 -8.78646450e-01] [-7.30299790e-02 -1.01410573e-03 9.97329230e-01 6.58803593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.46538475 meters Centerline goodness : 0.958767 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.87, Z:0.66 [[ 9.83296834e-01 -1.67325367e-01 7.16209283e-02 1.09480414e+01] [ 1.66798897e-01 9.85901067e-01 1.33121716e-02 -8.72479469e-01] [-7.28386137e-02 -1.14352435e-03 9.97343085e-01 6.55011298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49538474999999 meters Centerline goodness : 0.956965 Centerline is valid? [True, True] Translation: X:10.98, Y:-0.87, Z:0.65 [[ 9.83524398e-01 -1.66538409e-01 7.03186835e-02 1.09752279e+01] [ 1.66028598e-01 9.86034257e-01 1.30747520e-02 -8.66912723e-01] [-7.15140793e-02 -1.18442507e-03 9.97438887e-01 6.52870848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.52538474999999 meters Centerline goodness : 0.956796 Centerline is valid? [True, True] Translation: X:11.00, Y:-0.86, Z:0.65 [[ 9.83941621e-01 -1.64451621e-01 6.93869595e-02 1.10018832e+01] [ 1.63948567e-01 9.86384241e-01 1.29227145e-02 -8.60495004e-01] [-7.05673647e-02 -1.33930406e-03 9.97506117e-01 6.49655044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55538474999999 meters Centerline goodness : 0.956408 Centerline is valid? [True, True] Translation: X:11.03, Y:-0.85, Z:0.65 [[ 9.84119283e-01 -1.63341892e-01 6.94885872e-02 1.10295988e+01] [ 1.62834299e-01 9.86568495e-01 1.29458882e-02 -8.54556467e-01] [-7.06698567e-02 -1.42517283e-03 9.97498742e-01 6.47464684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58538474999999 meters Centerline goodness : 0.956237 Centerline is valid? [True, True] Translation: X:11.06, Y:-0.85, Z:0.65 [[ 9.84475849e-01 -1.60641418e-01 7.07222533e-02 1.10564855e+01] [ 1.60106975e-01 9.87011420e-01 1.31990001e-02 -8.49445759e-01] [-7.19239777e-02 -1.67097077e-03 9.97408717e-01 6.45744904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61538474999999 meters Centerline goodness : 0.957511 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.84, Z:0.64 [[ 9.84522676e-01 -1.60013107e-01 7.14905999e-02 1.10835575e+01] [ 1.59464914e-01 9.87113354e-01 1.33479158e-02 -8.44428410e-01] [-7.27051674e-02 -1.74108341e-03 9.97351958e-01 6.42924393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.64538474999999 meters Centerline goodness : 0.955564 Centerline is valid? [True, True] Translation: X:11.11, Y:-0.84, Z:0.64 [[ 9.84708122e-01 -1.58499990e-01 7.23026082e-02 1.11097572e+01] [ 1.57933476e-01 9.87357157e-01 1.35226491e-02 -8.40043309e-01] [-7.35318375e-02 -1.89686016e-03 9.97291066e-01 6.41341246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67538474999999 meters Centerline goodness : 0.957918 Centerline is valid? [True, True] Translation: X:11.14, Y:-0.83, Z:0.64 [[ 9.84650893e-01 -1.58682539e-01 7.26806141e-02 1.11368249e+01] [ 1.58110148e-01 9.87327831e-01 1.35990688e-02 -8.34617720e-01] [-7.39175279e-02 -1.89879257e-03 9.97262550e-01 6.37957622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.70538475 meters Centerline goodness : 0.956198 Centerline is valid? [True, True] Translation: X:11.16, Y:-0.83, Z:0.64 [[ 9.84040598e-01 -1.61650973e-01 7.43845754e-02 1.11631344e+01] [ 1.61058166e-01 9.86846465e-01 1.39399424e-02 -8.30958595e-01] [-7.56595605e-02 -1.73722592e-03 9.97132194e-01 6.35842139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.73538475 meters Centerline goodness : 0.956792 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.83, Z:0.63 [[ 9.83574707e-01 -1.64495280e-01 7.43108182e-02 1.11907038e+01] [ 1.63910857e-01 9.86376686e-01 1.39378841e-02 -8.25612457e-01] [-7.55911747e-02 -1.52860035e-03 9.97137723e-01 6.33315341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.76538475 meters Centerline goodness : 0.955163 Centerline is valid? [True, True] Translation: X:11.22, Y:-0.82, Z:0.63 [[ 9.82991382e-01 -1.68780912e-01 7.23943801e-02 1.12174142e+01] [ 1.68236191e-01 9.85652873e-01 1.36013997e-02 -8.20892681e-01] [-7.36513853e-02 -1.19070395e-03 9.97283338e-01 6.29742193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.79538475 meters Centerline goodness : 0.957317 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.82, Z:0.63 [[ 9.82737531e-01 -1.70666307e-01 7.14139850e-02 1.12437288e+01] [ 1.70140595e-01 9.85328332e-01 1.34259412e-02 -8.16198335e-01] [-7.26575785e-02 -1.04375846e-03 9.97356399e-01 6.26713549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.82538475 meters Centerline goodness : 0.956025 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.81, Z:0.63 [[ 9.82107158e-01 -1.74635272e-01 7.04844077e-02 1.12724233e+01] [ 1.74133052e-01 9.84632910e-01 1.32556781e-02 -8.14609385e-01] [-7.17161764e-02 -7.44831289e-04 9.97424802e-01 6.25218803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.85538475 meters Centerline goodness : 0.957852 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.81, Z:0.62 [[ 9.81614554e-01 -1.77051596e-01 7.13133963e-02 1.12997067e+01] [ 1.76542413e-01 9.84201392e-01 1.34312085e-02 -8.10079652e-01] [-7.25647607e-02 -5.94430702e-04 9.97363526e-01 6.23588166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.88538474999999 meters Centerline goodness : 0.958505 Centerline is valid? [True, True] Translation: X:11.33, Y:-0.81, Z:0.62 [[ 9.81393039e-01 -1.78172268e-01 7.15705607e-02 1.13261121e+01] [ 1.77660702e-01 9.83999164e-01 1.35025663e-02 -8.06120624e-01] [-7.28311548e-02 -5.36048486e-04 9.97344141e-01 6.21053661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91538474999999 meters Centerline goodness : 0.958293 Centerline is valid? [True, True] Translation: X:11.35, Y:-0.80, Z:0.62 [[ 9.81710156e-01 -1.75916377e-01 7.27914658e-02 1.13538550e+01] [ 1.75380570e-01 9.84404850e-01 1.37385292e-02 -8.00745949e-01] [-7.40731042e-02 -7.21044943e-04 9.97252553e-01 6.16956697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94538474999999 meters Centerline goodness : 0.956998 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.80, Z:0.62 [[ 9.81723792e-01 -1.75938610e-01 7.25534465e-02 1.13801746e+01] [ 1.75404615e-01 9.84400862e-01 1.37172798e-02 -7.96151966e-01] [-7.38350744e-02 -7.40370554e-04 9.97270191e-01 6.15293265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97538474999999 meters Centerline goodness : 0.956090 Centerline is valid? [True, True] Translation: X:11.41, Y:-0.79, Z:0.61 [[ 9.81272544e-01 -1.77998749e-01 7.36249926e-02 1.14083906e+01] [ 1.77454145e-01 9.84030531e-01 1.39262917e-02 -7.92341827e-01] [-7.49281030e-02 -6.00427593e-04 9.97188758e-01 6.13358701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.00538474999999 meters Centerline goodness : 0.957106 Centerline is valid? [True, True] Translation: X:11.44, Y:-0.79, Z:0.61 [[ 9.80763574e-01 -1.80481551e-01 7.43587357e-02 1.14362606e+01] [ 1.79931545e-01 9.83578273e-01 1.40861279e-02 -7.88381692e-01] [-7.56799231e-02 -4.35678877e-04 9.97132067e-01 6.10786890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03538474999999 meters Centerline goodness : 0.958349 Centerline is valid? [True, True] Translation: X:11.46, Y:-0.78, Z:0.61 [[ 9.80475213e-01 -1.81904291e-01 7.46939496e-02 1.14637566e+01] [ 1.81351823e-01 9.83316179e-01 1.41706914e-02 -7.83918720e-01] [-7.60254787e-02 -3.48127763e-04 9.97105815e-01 6.07436778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.06538474999999 meters Centerline goodness : 0.958225 Centerline is valid? [True, True] Translation: X:11.49, Y:-0.78, Z:0.60 [[ 9.80311477e-01 -1.83076813e-01 7.39749134e-02 1.14897383e+01] [ 1.82536529e-01 9.83098573e-01 1.40574591e-02 -7.78489679e-01] [-7.52982266e-02 -2.77564649e-04 9.97161020e-01 6.04011938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.09538475 meters Centerline goodness : 0.957978 Centerline is valid? [True, True] Translation: X:11.52, Y:-0.77, Z:0.60 [[ 9.79600220e-01 -1.86719785e-01 7.42908516e-02 1.15174408e+01] [ 1.86184847e-01 9.82413213e-01 1.41237718e-02 -7.74301631e-01] [-7.56215019e-02 -3.81908133e-06 9.97136595e-01 6.01850054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.12538475 meters Centerline goodness : 0.957302 Centerline is valid? [True, True] Translation: X:11.54, Y:-0.77, Z:0.60 [[ 9.79282890e-01 -1.89492534e-01 7.13974794e-02 1.15445091e+01] [ 1.89004269e-01 9.81882145e-01 1.35955686e-02 -7.69927515e-01] [-7.26801690e-02 1.80520673e-04 9.97355283e-01 5.99454162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.15538475 meters Centerline goodness : 0.957944 Centerline is valid? [True, True] Translation: X:11.57, Y:-0.76, Z:0.60 [[ 9.78875671e-01 -1.92109413e-01 6.99742445e-02 1.15704095e+01] [ 1.91646540e-01 9.81373448e-01 1.33326424e-02 -7.64442874e-01] [-7.12321917e-02 3.59322513e-04 9.97459696e-01 5.96774414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.18538475 meters Centerline goodness : 0.959118 Centerline is valid? [True, True] Translation: X:11.60, Y:-0.76, Z:0.59 [[ 9.78833883e-01 -1.92407398e-01 6.97396808e-02 1.15985070e+01] [ 1.91948038e-01 9.81315063e-01 1.32927944e-02 -7.59354490e-01] [-7.09942313e-02 3.74957297e-04 9.97476656e-01 5.94422843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.21538475 meters Centerline goodness : 0.956866 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.75, Z:0.59 [[ 9.78731681e-01 -1.92789136e-01 7.01187888e-02 1.16246501e+01] [ 1.92324153e-01 9.81240135e-01 1.33872364e-02 -7.53154284e-01] [-7.13842835e-02 3.83024239e-04 9.97448814e-01 5.92233283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24538474999999 meters Centerline goodness : 0.958412 Centerline is valid? [True, True] Translation: X:11.65, Y:-0.75, Z:0.59 [[ 9.78863369e-01 -1.91992105e-01 7.04665557e-02 1.16524721e+01] [ 1.91520061e-01 9.81396417e-01 1.34587520e-02 -7.47650607e-01] [-7.17395994e-02 3.21479737e-04 9.97423344e-01 5.89866150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27538474999999 meters Centerline goodness : 0.957030 Centerline is valid? [True, True] Translation: X:11.68, Y:-0.74, Z:0.59 [[ 9.78977570e-01 -1.91125165e-01 7.12326440e-02 1.16800031e+01] [ 1.90639159e-01 9.81565644e-01 1.36234502e-02 -7.41235616e-01] [-7.25233002e-02 2.42679195e-04 9.97366689e-01 5.87990744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.30538474999999 meters Centerline goodness : 0.957030 Centerline is valid? [True, True] Translation: X:11.71, Y:-0.74, Z:0.59 [[ 9.78944693e-01 -1.91295048e-01 7.12284526e-02 1.17079482e+01] [ 1.90807900e-01 9.81532552e-01 1.36453248e-02 -7.35737997e-01] [-7.25233279e-02 2.32933167e-04 9.97366689e-01 5.85326856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33538474999999 meters Centerline goodness : 0.958985 Centerline is valid? [True, True] Translation: X:11.73, Y:-0.73, Z:0.58 [[ 9.79184830e-01 -1.89213413e-01 7.34530706e-02 1.17343988e+01] [ 1.88688468e-01 9.81935986e-01 1.40848197e-02 -7.28751917e-01] [-7.47912501e-02 6.81055994e-05 9.97199210e-01 5.82450094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.36538474999999 meters Centerline goodness : 0.957882 Centerline is valid? [True, True] Translation: X:11.76, Y:-0.72, Z:0.58 [[ 9.79403827e-01 -1.87893274e-01 7.39206419e-02 1.17608943e+01] [ 1.87356665e-01 9.82189450e-01 1.41902965e-02 -7.22707048e-01] [-7.52703359e-02 -4.85057223e-05 9.97163163e-01 5.79149515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39538474999999 meters Centerline goodness : 0.957329 Centerline is valid? [True, True] Translation: X:11.79, Y:-0.72, Z:0.58 [[ 9.80006399e-01 -1.84777056e-01 7.37895427e-02 1.17873117e+01] [ 1.84232845e-01 9.82780419e-01 1.41741708e-02 -7.16540527e-01] [-7.51379792e-02 -2.96320701e-04 9.97173102e-01 5.77329207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.42538474999999 meters Centerline goodness : 0.959304 Centerline is valid? [True, True] Translation: X:11.82, Y:-0.71, Z:0.58 [[ 9.80340773e-01 -1.83238135e-01 7.31830157e-02 1.18150002e+01] [ 1.82698129e-01 9.83068468e-01 1.40634708e-02 -7.10522632e-01] [-7.45208792e-02 -4.16593789e-04 9.97219367e-01 5.75775208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45538475 meters Centerline goodness : 0.960521 Centerline is valid? [True, True] Translation: X:11.84, Y:-0.70, Z:0.57 [[ 9.80569306e-01 -1.82022126e-01 7.31558721e-02 1.18410335e+01] [ 1.81477433e-01 9.83294291e-01 1.40811253e-02 -7.04997051e-01] [-7.44968278e-02 -5.31379405e-04 9.97221109e-01 5.72974648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.48538475 meters Centerline goodness : 0.959333 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.70, Z:0.57 [[ 9.80598715e-01 -1.82129496e-01 7.24914324e-02 1.18688163e+01] [ 1.81594547e-01 9.83274413e-01 1.39588023e-02 -6.99071576e-01] [-7.38212803e-02 -5.23934735e-04 9.97271349e-01 5.70837209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.51538475 meters Centerline goodness : 0.958807 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.69, Z:0.57 [[ 9.80531257e-01 -1.82718704e-01 7.19189093e-02 1.18964583e+01] [ 1.82192383e-01 9.83165109e-01 1.38674085e-02 -6.93091612e-01] [-7.32419971e-02 -4.94350091e-04 9.97314076e-01 5.68009689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.54538475 meters Centerline goodness : 0.957980 Centerline is valid? [True, True] Translation: X:11.92, Y:-0.69, Z:0.56 [[ 9.80593547e-01 -1.82564990e-01 7.14585194e-02 1.19223270e+01] [ 1.82043266e-01 9.83193647e-01 1.38022261e-02 -6.88189564e-01] [-7.27773656e-02 -5.25831615e-04 9.97348073e-01 5.64059208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.57538475 meters Centerline goodness : 0.957831 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.68, Z:0.56 [[ 9.80491604e-01 -1.83146057e-01 7.13704127e-02 1.19495712e+01] [ 1.82626746e-01 9.83085593e-01 1.37908550e-02 -6.82647555e-01] [-7.26889653e-02 -4.87671298e-04 9.97354539e-01 5.61224225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.60538475 meters Centerline goodness : 0.959020 Centerline is valid? [True, True] Translation: X:11.98, Y:-0.68, Z:0.56 [[ 9.80594071e-01 -1.82759925e-01 7.09512410e-02 1.19777324e+01] [ 1.82244315e-01 9.83157427e-01 1.37289109e-02 -6.78165116e-01] [-7.22653343e-02 -5.32028333e-04 9.97385301e-01 5.59091740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63538474999999 meters Centerline goodness : 0.959553 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.67, Z:0.56 [[ 9.80614447e-01 -1.82598876e-01 7.10841488e-02 1.20040441e+01] [ 1.82079179e-01 9.83187331e-01 1.37784313e-02 -6.73693328e-01] [-7.24049606e-02 -5.68385375e-04 9.97375154e-01 5.56977569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.66538474999999 meters Centerline goodness : 0.961985 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.67, Z:0.56 [[ 9.80637076e-01 -1.82484391e-01 7.10659679e-02 1.20316940e+01] [ 1.81964238e-01 9.83208578e-01 1.37807284e-02 -6.69053820e-01] [-7.23874371e-02 -5.82428578e-04 9.97376418e-01 5.55196760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69538474999999 meters Centerline goodness : 0.961821 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.66, Z:0.55 [[ 9.80753569e-01 -1.82230623e-01 7.01030440e-02 1.20596737e+01] [ 1.81722558e-01 9.83255626e-01 1.36119421e-02 -6.63839745e-01] [-7.14097252e-02 -6.10656289e-04 9.97446880e-01 5.52934625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72538474999999 meters Centerline goodness : 0.958638 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.66, Z:0.55 [[ 9.80956003e-01 -1.81349821e-01 6.95525942e-02 1.20875895e+01] [ 1.80846047e-01 9.83418409e-01 1.35255574e-02 -6.58120352e-01] [-7.08521590e-02 -6.89665063e-04 9.97486589e-01 5.49929906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75538474999999 meters Centerline goodness : 0.960045 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.65, Z:0.55 [[ 9.81041584e-01 -1.80714219e-01 6.99984376e-02 1.21155174e+01] [ 1.80200863e-01 9.83535354e-01 1.36329205e-02 -6.53054472e-01] [-7.13096007e-02 -7.60683021e-04 9.97453940e-01 5.48106843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.78538474999999 meters Centerline goodness : 0.957953 Centerline is valid? [True, True] Translation: X:12.14, Y:-0.65, Z:0.55 [[ 9.80956289e-01 -1.81082413e-01 7.02418549e-02 1.21421812e+01] [ 1.80564772e-01 9.83467632e-01 1.37032641e-02 -6.47485852e-01] [-7.15620108e-02 -7.59098563e-04 9.97435864e-01 5.45799947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81538474999999 meters Centerline goodness : 0.959331 Centerline is valid? [True, True] Translation: X:12.17, Y:-0.64, Z:0.54 [[ 9.80994005e-01 -1.80896332e-01 7.01945777e-02 1.21695990e+01] [ 1.80378043e-01 9.83501857e-01 1.37061851e-02 -6.41714507e-01] [-7.15158961e-02 -7.84124888e-04 9.97439152e-01 5.43553187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.84538475 meters Centerline goodness : 0.959533 Centerline is valid? [True, True] Translation: X:12.20, Y:-0.64, Z:0.54 [[ 9.81247758e-01 -1.79326554e-01 7.06740737e-02 1.21962829e+01] [ 1.78795319e-01 9.83789167e-01 1.38242479e-02 -6.35376511e-01] [-7.20074429e-02 -9.28818749e-04 9.97403662e-01 5.40528581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.87538475 meters Centerline goodness : 0.957392 Centerline is valid? [True, True] Translation: X:12.22, Y:-0.63, Z:0.54 [[ 9.81368991e-01 -1.78511553e-01 7.10530071e-02 1.22226964e+01] [ 1.77971797e-01 9.83937305e-01 1.39075497e-02 -6.29571687e-01] [-7.23943626e-02 -1.00300665e-03 9.97375581e-01 5.37934725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.90538475 meters Centerline goodness : 0.958478 Centerline is valid? [True, True] Translation: X:12.25, Y:-0.62, Z:0.53 [[ 9.81660989e-01 -1.76399963e-01 7.22824647e-02 1.22495072e+01] [ 1.75835178e-01 9.84317860e-01 1.41541835e-02 -6.22796072e-01] [-7.36457184e-02 -1.18480975e-03 9.97283763e-01 5.33773206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.93538475 meters Centerline goodness : 0.957459 Centerline is valid? [True, True] Translation: X:12.28, Y:-0.62, Z:0.53 [[ 9.81601552e-01 -1.76541207e-01 7.27433463e-02 1.22772875e+01] [ 1.75968006e-01 9.84292516e-01 1.42655138e-02 -6.16915865e-01] [-7.41191824e-02 -1.20254893e-03 9.97248665e-01 5.30919158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.96538475 meters Centerline goodness : 0.956555 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.61, Z:0.53 [[ 9.81010910e-01 -1.79648527e-01 7.31026806e-02 1.23041914e+01] [ 1.79076453e-01 9.83730356e-01 1.43600125e-02 -6.14627612e-01] [-7.44930812e-02 -9.96360148e-04 9.97221033e-01 5.30072528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99538474999999 meters Centerline goodness : 0.957788 Centerline is valid? [True, True] Translation: X:12.33, Y:-0.61, Z:0.53 [[ 9.80818436e-01 -1.80980599e-01 7.23962522e-02 1.23313958e+01] [ 1.80422204e-01 9.83486255e-01 1.42342642e-02 -6.08671279e-01] [-7.37768447e-02 -8.99337344e-04 9.97274370e-01 5.27821592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02538474999999 meters Centerline goodness : 0.953921 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.60, Z:0.52 [[ 9.80767720e-01 -1.81896718e-01 7.07690866e-02 1.23588090e+01] [ 1.81364165e-01 9.83317291e-01 1.39336238e-02 -6.03030401e-01] [-7.21229470e-02 -8.30672121e-04 9.97395403e-01 5.24309318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05538474999999 meters Centerline goodness : 0.956339 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.60, Z:0.52 [[ 9.80464509e-01 -1.83681723e-01 7.03588770e-02 1.23852873e+01] [ 1.83158271e-01 9.82985508e-01 1.38758332e-02 -5.98097366e-01] [-7.17104934e-02 -7.17951755e-04 9.97425230e-01 5.21154401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.08538474999999 meters Centerline goodness : 0.955577 Centerline is valid? [True, True] Translation: X:12.41, Y:-0.59, Z:0.52 [[ 9.79876703e-01 -1.87039215e-01 6.96992015e-02 1.24119678e+01] [ 1.86532899e-01 9.82352329e-01 1.37615183e-02 -5.92981741e-01] [-7.10431165e-02 -4.83397056e-04 9.97473128e-01 5.21020147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11538474999999 meters Centerline goodness : 0.954420 Centerline is valid? [True, True] Translation: X:12.44, Y:-0.59, Z:0.52 [[ 9.80076515e-01 -1.86565573e-01 6.81418562e-02 1.24397706e+01] [ 1.86080198e-01 9.82442378e-01 1.34585863e-02 -5.87161968e-01] [-6.94563561e-02 -5.10594233e-04 9.97584860e-01 5.18186541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.14538474999999 meters Centerline goodness : 0.952264 Centerline is valid? [True, True] Translation: X:12.47, Y:-0.58, Z:0.52 [[ 9.80303914e-01 -1.85614710e-01 6.74641824e-02 1.24675408e+01] [ 1.85135389e-01 9.82622425e-01 1.33438326e-02 -5.81293347e-01] [-6.87686301e-02 -5.91003728e-04 9.97632460e-01 5.15111472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17538474999999 meters Centerline goodness : 0.956342 Centerline is valid? [True, True] Translation: X:12.50, Y:-0.58, Z:0.51 [[ 9.80279009e-01 -1.85433055e-01 6.83201787e-02 1.24950659e+01] [ 1.84939625e-01 9.82656697e-01 1.35333533e-02 -5.75888161e-01] [-6.96448121e-02 -6.31353911e-04 9.97571652e-01 5.11904067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.20538475 meters Centerline goodness : 0.952250 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.57, Z:0.51 [[ 9.80286440e-01 -1.85094789e-01 6.91260815e-02 1.25224030e+01] [ 1.84587379e-01 9.82720435e-01 1.37130101e-02 -5.70901831e-01] [-7.04698195e-02 -6.82875698e-04 9.97513678e-01 5.09502953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.23538475 meters Centerline goodness : 0.953513 Centerline is valid? [True, True] Translation: X:12.55, Y:-0.57, Z:0.51 [[ 9.80391823e-01 -1.84947687e-01 6.80163645e-02 1.25489363e+01] [ 1.84454436e-01 9.82748114e-01 1.35168910e-02 -5.66071406e-01] [-6.93428716e-02 -7.05929254e-04 9.97592636e-01 5.07886817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.26538475 meters Centerline goodness : 0.952689 Centerline is valid? [True, True] Translation: X:12.58, Y:-0.56, Z:0.51 [[ 9.79051452e-01 -1.91074721e-01 7.03470387e-02 1.25773190e+01] [ 1.90562383e-01 9.81575452e-01 1.39860545e-02 -5.62611925e-01] [-7.17233077e-02 -2.87567646e-04 9.97424526e-01 5.06295325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.29538475 meters Centerline goodness : 0.955312 Centerline is valid? [True, True] Translation: X:12.61, Y:-0.56, Z:0.50 [[ 9.78565117e-01 -1.93448844e-01 7.06247562e-02 1.26051736e+01] [ 1.92937102e-01 9.81110354e-01 1.40622995e-02 -5.56515359e-01] [-7.20110152e-02 -1.34739995e-04 9.97403828e-01 5.03917659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.32538475 meters Centerline goodness : 0.952638 Centerline is valid? [True, True] Translation: X:12.63, Y:-0.55, Z:0.50 [[ 9.78399275e-01 -1.94499993e-01 7.00329254e-02 1.26315935e+01] [ 1.93997871e-01 9.80902516e-01 1.39670992e-02 -5.49958623e-01] [-7.14120735e-02 -7.91613232e-05 9.97446896e-01 4.98368427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.35538475 meters Centerline goodness : 0.952690 Centerline is valid? [True, True] Translation: X:12.66, Y:-0.54, Z:0.49 [[ 9.78631126e-01 -1.93253420e-01 7.02441133e-02 1.26575725e+01] [ 1.92743915e-01 9.81148858e-01 1.40250612e-02 -5.44763300e-01] [-7.16303226e-02 -1.86236049e-04 9.97431232e-01 4.94938457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.38538474999999 meters Centerline goodness : 0.952404 Centerline is valid? [True, True] Translation: X:12.69, Y:-0.54, Z:0.49 [[ 9.78021554e-01 -1.95478162e-01 7.25405219e-02 1.26859382e+01] [ 1.94940394e-01 9.80708054e-01 1.44898504e-02 -5.41149156e-01] [-7.39735234e-02 -3.03080712e-05 9.97260205e-01 4.93221215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41538474999999 meters Centerline goodness : 0.954437 Centerline is valid? [True, True] Translation: X:12.71, Y:-0.54, Z:0.49 [[ 9.78015829e-01 -1.95414376e-01 7.27891459e-02 1.27135481e+01] [ 1.94871174e-01 9.80720765e-01 1.45604542e-02 -5.36420753e-01] [-7.42311489e-02 -5.58483577e-05 9.97241061e-01 4.90710926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.44538474999999 meters Centerline goodness : 0.953543 Centerline is valid? [True, True] Translation: X:12.74, Y:-0.53, Z:0.49 [[ 9.78167232e-01 -1.94996711e-01 7.18689704e-02 1.27395021e+01] [ 1.94464303e-01 9.80803890e-01 1.44001460e-02 -5.30637894e-01] [-7.32973468e-02 -1.09801734e-04 9.97310126e-01 4.87690884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47538474999999 meters Centerline goodness : 0.953281 Centerline is valid? [True, True] Translation: X:12.77, Y:-0.53, Z:0.49 [[ 9.78473813e-01 -1.94267445e-01 6.96358921e-02 1.27674184e+01] [ 1.93765464e-01 9.80948588e-01 1.39575068e-02 -5.25631167e-01] [-7.10207192e-02 -1.64023922e-04 9.97474827e-01 4.85219017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.50538474999999 meters Centerline goodness : 0.951368 Centerline is valid? [True, True] Translation: X:12.79, Y:-0.52, Z:0.48 [[ 9.78463233e-01 -1.93911623e-01 7.07671075e-02 1.27949673e+01] [ 1.93390743e-01 9.81018979e-01 1.42050590e-02 -5.20038263e-01] [-7.21784016e-02 -2.13424473e-04 9.97391715e-01 4.81498511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53538474999999 meters Centerline goodness : 0.951089 Centerline is valid? [True, True] Translation: X:12.82, Y:-0.51, Z:0.48 [[ 9.78483546e-01 -1.93685405e-01 7.11049463e-02 1.28210160e+01] [ 1.93157178e-01 9.81063657e-01 1.42970525e-02 -5.14295570e-01] [-7.25276090e-02 -2.54999894e-04 9.97366372e-01 4.78404005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.56538474999999 meters Centerline goodness : 0.953592 Centerline is valid? [True, True] Translation: X:12.85, Y:-0.51, Z:0.48 [[ 9.78509949e-01 -1.93483146e-01 7.12920169e-02 1.28471577e+01] [ 1.92951040e-01 9.81103560e-01 1.43422944e-02 -5.08873906e-01] [-7.27198438e-02 -2.78208957e-04 9.97352368e-01 4.76855411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.59538475 meters Centerline goodness : 0.951584 Centerline is valid? [True, True] Translation: X:12.87, Y:-0.50, Z:0.47 [[ 9.78338713e-01 -1.94052415e-01 7.20903817e-02 1.28746048e+01] [ 1.93508955e-01 9.80991130e-01 1.45150652e-02 -5.04048031e-01] [-7.35367085e-02 -2.50515807e-04 9.97292480e-01 4.74998134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.62538475 meters Centerline goodness : 0.953350 Centerline is valid? [True, True] Translation: X:12.90, Y:-0.50, Z:0.47 [[ 9.77824802e-01 -1.95921620e-01 7.39822644e-02 1.29007841e+01] [ 1.95352637e-01 9.80619549e-01 1.49213674e-02 -4.97984602e-01] [-7.54718732e-02 -1.37852624e-04 9.97147922e-01 4.73419187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.65538475 meters Centerline goodness : 0.953917 Centerline is valid? [True, True] Translation: X:12.93, Y:-0.49, Z:0.47 [[ 9.77762986e-01 -1.96465445e-01 7.33544305e-02 1.29283086e+01] [ 1.95907152e-01 9.80510744e-01 1.48009809e-02 -4.91680355e-01] [-7.48326885e-02 -1.01193778e-04 9.97196098e-01 4.70732987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.68538475 meters Centerline goodness : 0.952076 Centerline is valid? [True, True] Translation: X:12.96, Y:-0.49, Z:0.47 [[ 9.77274783e-01 -1.98664031e-01 7.39364728e-02 1.29551357e+01] [ 1.98101251e-01 9.80067651e-01 1.49430115e-02 -4.85912804e-01] [-7.54313842e-02 4.34794631e-05 9.97150994e-01 4.68234929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.71538475 meters Centerline goodness : 0.953997 Centerline is valid? [True, True] Translation: X:12.98, Y:-0.48, Z:0.46 [[ 9.77309630e-01 -1.98741667e-01 7.32641576e-02 1.29821716e+01] [ 1.98188846e-01 9.80051911e-01 1.48132910e-02 -4.79127553e-01] [-7.47466958e-02 4.29668461e-05 9.97202552e-01 4.64337487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.74538474999999 meters Centerline goodness : 0.953656 Centerline is valid? [True, True] Translation: X:13.01, Y:-0.47, Z:0.46 [[ 9.77545131e-01 -1.97711755e-01 7.29080179e-02 1.30083649e+01] [ 1.97159674e-01 9.80260199e-01 1.47649832e-02 -4.74209905e-01] [-7.43880389e-02 -5.89163958e-05 9.97229370e-01 4.62053083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77538474999999 meters Centerline goodness : 0.954298 Centerline is valid? [True, True] Translation: X:13.04, Y:-0.47, Z:0.46 [[ 9.77543320e-01 -1.97855489e-01 7.25414618e-02 1.30355853e+01] [ 1.97308935e-01 9.80231199e-01 1.46962996e-02 -4.68638571e-01] [-7.40151476e-02 -5.31908475e-05 9.97257116e-01 4.59269285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.80538474999999 meters Centerline goodness : 0.954588 Centerline is valid? [True, True] Translation: X:13.06, Y:-0.46, Z:0.46 [[ 9.77890645e-01 -1.96201770e-01 7.23515855e-02 1.30622576e+01] [ 1.95651845e-01 9.80563524e-01 1.46809423e-02 -4.63128494e-01] [-7.38257525e-02 -2.00634875e-04 9.97271136e-01 4.57576081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83538474999999 meters Centerline goodness : 0.954588 Centerline is valid? [True, True] Translation: X:13.09, Y:-0.46, Z:0.46 [[ 9.78024677e-01 -1.95532830e-01 7.23508294e-02 1.30895319e+01] [ 1.94980154e-01 9.80697121e-01 1.46934195e-02 -4.56985824e-01] [-7.38272960e-02 -2.63551010e-04 9.97271007e-01 4.55033938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.86538474999999 meters Centerline goodness : 0.955076 Centerline is valid? [True, True] Translation: X:13.12, Y:-0.45, Z:0.45 [[ 9.78239504e-01 -1.94094919e-01 7.33119047e-02 1.31153934e+01] [ 1.93521538e-01 9.80982671e-01 1.49135314e-02 -4.49651803e-01] [-7.48123488e-02 -4.01573043e-04 9.97197549e-01 4.50818869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89538474999999 meters Centerline goodness : 0.953657 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.44, Z:0.45 [[ 9.78338969e-01 -1.93509435e-01 7.35320346e-02 1.31427049e+01] [ 1.92930443e-01 9.81098309e-01 1.49650211e-02 -4.43287092e-01] [-7.50380276e-02 -4.54295255e-04 9.97180569e-01 4.48613753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.92538474999999 meters Centerline goodness : 0.953972 Centerline is valid? [True, True] Translation: X:13.17, Y:-0.44, Z:0.45 [[ 9.78454610e-01 -1.92903301e-01 7.35859574e-02 1.31697762e+01] [ 1.92320244e-01 9.81217634e-01 1.49959553e-02 -4.36574254e-01] [-7.50966083e-02 -5.20792325e-04 9.97176127e-01 4.46489198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95538475 meters Centerline goodness : 0.953067 Centerline is valid? [True, True] Translation: X:13.20, Y:-0.43, Z:0.44 [[ 9.78254780e-01 -1.93757840e-01 7.39965245e-02 1.31975009e+01] [ 1.93169018e-01 9.81049270e-01 1.51016856e-02 -4.31351721e-01] [-7.55203063e-02 -4.79460174e-04 9.97144149e-01 4.44630105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.98538475 meters Centerline goodness : 0.955789 Centerline is valid? [True, True] Translation: X:13.22, Y:-0.42, Z:0.44 [[ 9.78155528e-01 -1.94327113e-01 7.38155612e-02 1.32244587e+01] [ 1.93741137e-01 9.80936678e-01 1.50866294e-02 -4.23861918e-01] [-7.53401324e-02 -4.55959171e-04 9.97157789e-01 4.40717810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.01538475 meters Centerline goodness : 0.953071 Centerline is valid? [True, True] Translation: X:13.25, Y:-0.42, Z:0.44 [[ 9.78342467e-01 -1.93564346e-01 7.33407188e-02 1.32504817e+01] [ 1.92981899e-01 9.81087436e-01 1.50143175e-02 -4.18207991e-01] [-7.48598943e-02 -5.35713309e-04 9.97193918e-01 4.37333984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.04538475 meters Centerline goodness : 0.957188 Centerline is valid? [True, True] Translation: X:13.28, Y:-0.41, Z:0.43 [[ 9.78187450e-01 -1.93722545e-01 7.49725819e-02 1.32774671e+01] [ 1.93113771e-01 9.81056207e-01 1.53554504e-02 -4.13000859e-01] [-7.65270138e-02 -5.42270862e-04 9.97067361e-01 4.34019847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.07538475 meters Centerline goodness : 0.954611 Centerline is valid? [True, True] Translation: X:13.31, Y:-0.41, Z:0.43 [[ 9.77969238e-01 -1.94580338e-01 7.55953803e-02 1.33050425e+01] [ 1.93962214e-01 9.80886457e-01 1.55054507e-02 -4.07806804e-01] [-7.71675406e-02 -5.01206454e-04 9.97018014e-01 4.31628463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.10538475 meters Centerline goodness : 0.955796 Centerline is valid? [True, True] Translation: X:13.33, Y:-0.40, Z:0.43 [[ 9.77755088e-01 -1.95821941e-01 7.51581976e-02 1.33322868e+01] [ 1.95212733e-01 9.80639377e-01 1.54402771e-02 -4.04021708e-01] [-7.67266331e-02 -4.24972351e-04 9.97052076e-01 4.29931802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13538474999999 meters Centerline goodness : 0.956465 Centerline is valid? [True, True] Translation: X:13.36, Y:-0.40, Z:0.43 [[ 9.77502262e-01 -1.97182931e-01 7.48880511e-02 1.33602014e+01] [ 1.96581574e-01 9.80366659e-01 1.53914811e-02 -3.98619875e-01] [-7.64526859e-02 -3.23596558e-04 9.97073158e-01 4.27416245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16538474999999 meters Centerline goodness : 0.953626 Centerline is valid? [True, True] Translation: X:13.39, Y:-0.39, Z:0.42 [[ 9.77432747e-01 -1.98024262e-01 7.35636952e-02 1.33874800e+01] [ 1.97444860e-01 9.80197081e-01 1.51396897e-02 -3.94050267e-01] [-7.51049451e-02 -2.73255006e-04 9.97175598e-01 4.24074153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19538474999999 meters Centerline goodness : 0.952053 Centerline is valid? [True, True] Translation: X:13.42, Y:-0.39, Z:0.42 [[ 9.77347793e-01 -1.98812219e-01 7.25602774e-02 1.34153189e+01] [ 1.98249139e-01 9.80037575e-01 1.49542850e-02 -3.88224826e-01] [-7.40848929e-02 -2.30524924e-04 9.97251912e-01 4.20942948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22538474999999 meters Centerline goodness : 0.952053 Centerline is valid? [True, True] Translation: X:13.44, Y:-0.38, Z:0.42 [[ 9.77312598e-01 -1.98986864e-01 7.25555930e-02 1.34431866e+01] [ 1.98422580e-01 9.80002128e-01 1.49769744e-02 -3.82328890e-01] [-7.40848567e-02 -2.40517765e-04 9.97251912e-01 4.18279245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25538474999999 meters Centerline goodness : 0.952658 Centerline is valid? [True, True] Translation: X:13.47, Y:-0.38, Z:0.42 [[ 9.77388706e-01 -1.98720526e-01 7.22597376e-02 1.34698361e+01] [ 1.98159155e-01 9.80056161e-01 1.49288654e-02 -3.76992835e-01] [-7.37852730e-02 -2.72375868e-04 9.97274114e-01 4.15590683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.28538474999999 meters Centerline goodness : 0.953832 Centerline is valid? [True, True] Translation: X:13.50, Y:-0.37, Z:0.41 [[ 9.77420001e-01 -1.98637128e-01 7.20654734e-02 1.34967577e+01] [ 1.98077614e-01 9.80073062e-01 1.49014060e-02 -3.71041380e-01] [-7.35894017e-02 -2.90375284e-04 9.97288582e-01 4.13169414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31538474999999 meters Centerline goodness : 0.949579 Centerline is valid? [True, False] Translation: X:13.50, Y:-0.37, Z:0.41 [[ 9.77784554e-01 -1.97034059e-01 7.15188537e-02 1.34966096e+01] [ 1.96509437e-01 9.80396644e-01 1.43687803e-02 -3.70491193e-01] [-7.29479832e-02 4.55820545e-06 9.97335747e-01 4.14688449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.34538475 meters Centerline goodness : 0.952551 Centerline is valid? [False, True] Translation: X:13.51, Y:-0.37, Z:0.41 [[ 9.78564138e-01 -1.91109995e-01 7.67411115e-02 1.35065300e+01] [ 1.90178298e-01 9.81559077e-01 1.93388984e-02 -3.73773162e-01] [-7.90217914e-02 -4.32985841e-03 9.96863486e-01 4.13170288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.37538475 meters Centerline goodness : 0.951299 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.37, Z:0.41 [[ 9.77725817e-01 -1.94091501e-01 7.98793780e-02 1.35321143e+01] [ 1.93428454e-01 9.80983404e-01 1.60310286e-02 -3.67010110e-01] [-8.14718306e-02 -2.23005942e-04 9.96675620e-01 4.08528230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.40538475 meters Centerline goodness : 0.953586 Centerline is valid? [True, True] Translation: X:13.56, Y:-0.36, Z:0.40 [[ 9.77670085e-01 -1.94470162e-01 7.96401902e-02 1.35587931e+01] [ 1.93811760e-01 9.80908414e-01 1.59901485e-02 -3.60201036e-01] [-8.12293395e-02 -1.97884410e-04 9.96695417e-01 4.04810272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.43538475 meters Centerline goodness : 0.952680 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.35, Z:0.40 [[ 9.77992841e-01 -1.92635250e-01 8.01352784e-02 1.35850744e+01] [ 1.91960271e-01 9.81270359e-01 1.61163713e-02 -3.54229227e-01] [-8.17389546e-02 -3.78905969e-04 9.96653701e-01 4.00871786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.46538475 meters Centerline goodness : 0.952982 Centerline is valid? [True, True] Translation: X:13.61, Y:-0.35, Z:0.40 [[ 9.77915174e-01 -1.92548531e-01 8.12832991e-02 1.36119440e+01] [ 1.91852850e-01 9.81287369e-01 1.63579533e-02 -3.49065313e-01] [-8.29119747e-02 -4.02258140e-04 9.96556793e-01 3.98311290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49538474999999 meters Centerline goodness : 0.953830 Centerline is valid? [True, True] Translation: X:13.64, Y:-0.34, Z:0.40 [[ 9.77853707e-01 -1.92503130e-01 8.21259605e-02 1.36400253e+01] [ 1.91792080e-01 9.81296270e-01 1.65356536e-02 -3.43758156e-01] [-8.37730638e-02 -4.18341343e-04 9.96484771e-01 3.96015620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52538474999999 meters Centerline goodness : 0.951957 Centerline is valid? [True, True] Translation: X:13.67, Y:-0.34, Z:0.39 [[ 9.77839421e-01 -1.92540229e-01 8.22090391e-02 1.36679331e+01] [ 1.91825857e-01 9.81288983e-01 1.65762872e-02 -3.39127302e-01] [-8.38624265e-02 -4.39127712e-04 9.96477245e-01 3.94065072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55538474999999 meters Centerline goodness : 0.954382 Centerline is valid? [True, True] Translation: X:13.69, Y:-0.33, Z:0.39 [[ 9.77690298e-01 -1.92973291e-01 8.29637855e-02 1.36945381e+01] [ 1.92244955e-01 9.81203914e-01 1.67557617e-02 -3.33888680e-01] [-8.46378055e-02 -4.32576382e-04 9.96411689e-01 3.90286831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58538474999999 meters Centerline goodness : 0.950244 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.33, Z:0.39 [[ 9.77550425e-01 -1.93668276e-01 8.29925674e-02 1.37220911e+01] [ 1.92941216e-01 9.81066998e-01 1.67700130e-02 -3.29492691e-01] [-8.46690884e-02 -3.80846509e-04 9.96409053e-01 3.86742413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61538474999999 meters Centerline goodness : 0.950056 Centerline is valid? [True, True] Translation: X:13.75, Y:-0.32, Z:0.38 [[ 9.77361901e-01 -1.94880937e-01 8.23719335e-02 1.37497882e+01] [ 1.94166982e-01 9.80826861e-01 1.66688636e-02 -3.24192101e-01] [-8.40410487e-02 -2.97602426e-04 9.96462249e-01 3.83643071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.64538474999999 meters Centerline goodness : 0.950327 Centerline is valid? [True, True] Translation: X:13.78, Y:-0.32, Z:0.38 [[ 9.77326330e-01 -1.95305647e-01 8.17859954e-02 1.37772884e+01] [ 1.94601348e-01 9.80742384e-01 1.65737908e-02 -3.18970757e-01] [-8.34479471e-02 -2.82337142e-04 9.96512097e-01 3.80389083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67538474999999 meters Centerline goodness : 0.949497 Centerline is valid? [True, False] Translation: X:13.78, Y:-0.32, Z:0.38 [[ 9.76767455e-01 -1.97952837e-01 8.20975800e-02 1.37777357e+01] [ 1.97575242e-01 9.80204419e-01 1.27796570e-02 -3.20316946e-01] [-8.30021801e-02 3.73769620e-03 9.96542356e-01 3.81038598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.70538475 meters Centerline goodness : 0.951352 Centerline is valid? [False, True] Translation: X:13.78, Y:-0.32, Z:0.38 [[ 9.76630255e-01 -1.98466892e-01 8.24878020e-02 1.37778912e+01] [ 1.98029555e-01 9.80102630e-01 1.35325296e-02 -3.21933282e-01] [-8.35322708e-02 3.11874485e-03 9.96500192e-01 3.79993620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.73538475 meters Centerline goodness : 0.950213 Centerline is valid? [True, True] Translation: X:13.81, Y:-0.32, Z:0.38 [[ 9.75853579e-01 -2.02237750e-01 8.25208173e-02 1.38050411e+01] [ 2.01556963e-01 9.79336353e-01 1.65860704e-02 -3.18348845e-01] [-8.41699658e-02 4.47069144e-04 9.96451312e-01 3.78717945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.76538475 meters Centerline goodness : 0.947654 Centerline is valid? [True, False] Translation: X:13.81, Y:-0.32, Z:0.38 [[ 9.76776722e-01 -1.95466708e-01 8.77496500e-02 1.38132358e+01] [ 1.93766834e-01 9.80660074e-01 2.75723402e-02 -3.23213565e-01] [-9.14420528e-02 -9.92904821e-03 9.95760897e-01 3.77746729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.79538475 meters Centerline goodness : 0.948427 Centerline is valid? [False, False] Translation: X:13.81, Y:-0.32, Z:0.38 [[ 9.76971852e-01 -1.94562553e-01 8.75866020e-02 1.38143161e+01] [ 1.92880279e-01 9.80840803e-01 2.73590550e-02 -3.21471658e-01] [-9.12315606e-02 -9.83529838e-03 9.95781135e-01 3.75475566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.82538475 meters Centerline goodness : 0.946286 Centerline is valid? [False, False] Translation: X:13.82, Y:-0.32, Z:0.37 [[ 0.97788905 -0.18643762 0.09473133 13.82142253] [ 0.18418201 0.98236788 0.03209877 -0.32488739] [-0.09904544 -0.01394122 0.99498525 0.37336276] [ 0. 0. 0. 1. ]] SLAMing on 90.85538475 meters Centerline goodness : 0.945470 Centerline is valid? [False, False] Translation: X:13.83, Y:-0.33, Z:0.37 [[ 9.78730471e-01 -1.77947222e-01 1.02085505e-01 1.38283253e+01] [ 1.75819116e-01 9.83978836e-01 2.95514498e-02 -3.26335891e-01] [-1.05708575e-01 -1.09743212e-02 9.94336594e-01 3.69106228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88538474999999 meters Centerline goodness : 0.944089 Centerline is valid? [False, False] Translation: X:13.83, Y:-0.32, Z:0.37 [[ 9.78892483e-01 -1.77626771e-01 1.01085295e-01 1.38304631e+01] [ 1.75803617e-01 9.84062047e-01 2.67390533e-02 -3.23773406e-01] [-1.04223774e-01 -8.40349789e-03 9.94518369e-01 3.68576371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91538474999999 meters Centerline goodness : 0.945797 Centerline is valid? [False, False] Translation: X:13.83, Y:-0.32, Z:0.37 [[ 9.79477631e-01 -1.74677470e-01 1.00555213e-01 1.38295315e+01] [ 1.72449214e-01 9.84545823e-01 3.05088682e-02 -3.24688320e-01] [-1.04330427e-01 -1.25420864e-02 9.94463603e-01 3.70597260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.94538474999999 meters Centerline goodness : 0.943235 Centerline is valid? [False, False] Translation: X:13.83, Y:-0.32, Z:0.37 [[ 9.79505321e-01 -1.74528419e-01 1.00544304e-01 1.38297595e+01] [ 1.72379277e-01 9.84581349e-01 2.97481421e-02 -3.22963395e-01] [-1.04185943e-01 -1.18067089e-02 9.94487753e-01 3.69339174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97538474999999 meters Centerline goodness : 0.944484 Centerline is valid? [False, False] Translation: X:13.83, Y:-0.32, Z:0.37 [[ 9.79625683e-01 -1.74653857e-01 9.91440930e-02 1.38333577e+01] [ 1.72588514e-01 9.84563872e-01 2.91064897e-02 -3.21422663e-01] [-1.02697253e-01 -1.14023332e-02 9.94647305e-01 3.67457650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.00538474999999 meters Centerline goodness : 0.943919 Centerline is valid? [False, False] Translation: X:13.83, Y:-0.32, Z:0.37 [[ 9.79583234e-01 -1.75142276e-01 9.87009181e-02 1.38349395e+01] [ 1.73142792e-01 9.84483158e-01 2.85391929e-02 -3.20664738e-01] [-1.02167811e-01 -1.08671624e-02 9.94707818e-01 3.66541127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03538474999999 meters Centerline goodness : 0.944976 Centerline is valid? [False, False] Translation: X:13.84, Y:-0.32, Z:0.37 [[ 9.79621982e-01 -1.75167065e-01 9.82714192e-02 1.38358619e+01] [ 1.73200119e-01 9.84480884e-01 2.82684821e-02 -3.20613160e-01] [-1.01698041e-01 -1.06718050e-02 9.94758072e-01 3.66328883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.06538474999999 meters Centerline goodness : 0.943247 Centerline is valid? [False, False] Translation: X:13.84, Y:-0.32, Z:0.37 [[ 9.79634609e-01 -1.75213609e-01 9.80623464e-02 1.38363784e+01] [ 1.73287659e-01 9.84476249e-01 2.78909121e-02 -3.19988282e-01] [-1.01426918e-01 -1.03299084e-02 9.94789361e-01 3.65854128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.09538475 meters Centerline goodness : 0.946028 Centerline is valid? [False, False] Translation: X:13.84, Y:-0.32, Z:0.37 [[ 9.78998951e-01 -1.78368749e-01 9.87200197e-02 1.38359407e+01] [ 1.76827697e-01 9.83943851e-01 2.42170154e-02 -3.20243426e-01] [-1.01454515e-01 -6.25199896e-03 9.94820534e-01 3.66518164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.12538475 meters Centerline goodness : 0.947951 Centerline is valid? [False, False] Translation: X:13.84, Y:-0.32, Z:0.37 [[ 9.78788263e-01 -1.80076489e-01 9.77036078e-02 1.38396671e+01] [ 1.78585594e-01 9.83634834e-01 2.38683523e-02 -3.20535853e-01] [-1.00402801e-01 -5.91360618e-03 9.94929297e-01 3.66228621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.15538475 meters Centerline goodness : 0.946261 Centerline is valid? [False, False] Translation: X:13.84, Y:-0.32, Z:0.36 [[ 9.78673399e-01 -1.81032614e-01 9.70853731e-02 1.38425260e+01] [ 1.79656640e-01 9.83465001e-01 2.28053441e-02 -3.19231350e-01] [-9.96085776e-02 -4.87695169e-03 9.95014747e-01 3.63969062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.18538475 meters Centerline goodness : 0.941458 Centerline is valid? [False, False] Translation: X:13.84, Y:-0.32, Z:0.36 [[ 9.78714693e-01 -1.80791345e-01 9.71186854e-02 1.38434244e+01] [ 1.79246723e-01 9.83499701e-01 2.44734809e-02 -3.20243235e-01] [-9.99407915e-02 -6.54434924e-03 9.94971864e-01 3.61885996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.21538475 meters Centerline goodness : 0.943254 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.32, Z:0.36 [[ 9.78756431e-01 -1.80802733e-01 9.66758522e-02 1.38454701e+01] [ 1.79298555e-01 9.83499502e-01 2.40989210e-02 -3.21937029e-01] [-9.94378033e-02 -6.25313321e-03 9.95024131e-01 3.60243785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24538474999999 meters Centerline goodness : 0.942283 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.32, Z:0.36 [[ 9.78936756e-01 -1.80376994e-01 9.56397858e-02 1.38477451e+01] [ 1.78963524e-01 9.83581480e-01 2.32277673e-02 -3.22217940e-01] [-9.82592769e-02 -5.62248198e-03 9.95144965e-01 3.59958532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27538474999999 meters Centerline goodness : 0.947642 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.33, Z:0.35 [[ 9.79464291e-01 -1.73798602e-01 1.02194662e-01 1.38563834e+01] [ 1.72635207e-01 9.84778910e-01 2.01886987e-02 -3.25008938e-01] [-1.04147916e-01 -2.13171283e-03 9.94559534e-01 3.54734346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30538474999999 meters Centerline goodness : 0.948934 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.33, Z:0.36 [[ 9.79525041e-01 -1.73651733e-01 1.01861521e-01 1.38568034e+01] [ 1.72457406e-01 9.84803958e-01 2.04843438e-02 -3.25231425e-01] [-1.03870771e-01 -2.49815405e-03 9.94587664e-01 3.55286737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33538474999999 meters Centerline goodness : 0.947468 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.32, Z:0.36 [[ 9.79607140e-01 -1.73295303e-01 1.01678849e-01 1.38564296e+01] [ 1.72076223e-01 9.84865960e-01 2.07078314e-02 -3.24839181e-01] [-1.03728607e-01 -2.78902722e-03 9.94601728e-01 3.56134833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.36538474999999 meters Centerline goodness : 0.948188 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.32, Z:0.36 [[ 9.79592938e-01 -1.73614216e-01 1.01270824e-01 1.38577336e+01] [ 1.72448280e-01 9.84810944e-01 2.02236176e-02 -3.23550671e-01] [-1.03243724e-01 -2.34693353e-03 9.94653319e-01 3.55268743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39538474999999 meters Centerline goodness : 0.945477 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.32, Z:0.35 [[ 9.79592898e-01 -1.73773861e-01 1.00997030e-01 1.38586120e+01] [ 1.72632785e-01 9.84783227e-01 1.99979484e-02 -3.23249015e-01] [-1.02935302e-01 -2.15444954e-03 9.94685720e-01 3.54779228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.42538474999999 meters Centerline goodness : 0.944898 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.32, Z:0.35 [[ 9.79642327e-01 -1.73830050e-01 1.00419244e-01 1.38598900e+01] [ 1.72689700e-01 9.84773079e-01 2.00062665e-02 -3.23133371e-01] [-1.02367859e-01 -2.25761631e-03 9.94744050e-01 3.54782530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45538475 meters Centerline goodness : 0.946024 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.32, Z:0.35 [[ 9.79653669e-01 -1.73990253e-01 1.00030401e-01 1.38607717e+01] [ 1.72872198e-01 9.84745114e-01 1.98056605e-02 -3.23204493e-01] [-1.01950440e-01 -2.11021270e-03 9.94787241e-01 3.54717525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.48538475 meters Centerline goodness : 0.945890 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.32, Z:0.35 [[ 9.79646330e-01 -1.74477940e-01 9.92497663e-02 1.38628956e+01] [ 1.73383291e-01 9.84659033e-01 1.96169229e-02 -3.23297333e-01] [-1.01149899e-01 -2.00939538e-03 9.94869167e-01 3.54402268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.51538475 meters Centerline goodness : 0.945432 Centerline is valid? [False, False] Translation: X:13.87, Y:-0.32, Z:0.35 [[ 9.79544317e-01 -1.75436522e-01 9.85644856e-02 1.38658582e+01] [ 1.74405425e-01 9.84489648e-01 1.90494247e-02 -3.22879905e-01] [-1.00377681e-01 -1.46957473e-03 9.94948321e-01 3.52866595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.54538475 meters Centerline goodness : 0.945697 Centerline is valid? [False, False] Translation: X:13.87, Y:-0.32, Z:0.35 [[ 9.79470552e-01 -1.76192070e-01 9.79479081e-02 1.38682145e+01] [ 1.75213878e-01 9.84355273e-01 1.85686324e-02 -3.22766347e-01] [-9.96871856e-02 -1.02559573e-03 9.95018298e-01 3.51762824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.57538475 meters Centerline goodness : 0.944848 Centerline is valid? [False, False] Translation: X:13.87, Y:-0.32, Z:0.35 [[ 9.79386258e-01 -1.76963647e-01 9.73982780e-02 1.38704837e+01] [ 1.76023046e-01 9.84217129e-01 1.82354361e-02 -3.23216212e-01] [-9.90880627e-02 -7.15193989e-04 9.95078411e-01 3.50826011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.60538475 meters Centerline goodness : 0.947960 Centerline is valid? [False, False] Translation: X:13.87, Y:-0.32, Z:0.35 [[ 9.78914786e-01 -1.79758794e-01 9.70186411e-02 1.38735217e+01] [ 1.79055501e-01 9.83709198e-01 1.59794233e-02 -3.24856631e-01] [-9.83105715e-02 1.72922765e-03 9.95154280e-01 3.49993847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63538474999999 meters Centerline goodness : 0.950609 Centerline is valid? [False, True] Translation: X:13.87, Y:-0.33, Z:0.35 [[ 9.78720449e-01 -1.80769372e-01 9.71015808e-02 1.38739376e+01] [ 1.80213206e-01 9.83520085e-01 1.45410455e-02 -3.25808210e-01] [-9.81299307e-02 3.26736857e-03 9.95168248e-01 3.50057622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66538474999999 meters Centerline goodness : 0.950648 Centerline is valid? [True, True] Translation: X:13.90, Y:-0.32, Z:0.35 [[ 9.78047477e-01 -1.84304507e-01 9.72367278e-02 1.39013346e+01] [ 1.83532478e-01 9.82868313e-01 1.69029039e-02 -3.23148176e-01] [-9.86861800e-02 1.31425514e-03 9.95117737e-01 3.49155283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69538474999999 meters Centerline goodness : 0.950755 Centerline is valid? [True, True] Translation: X:13.93, Y:-0.32, Z:0.35 [[ 9.77919279e-01 -1.85422631e-01 9.63967363e-02 1.39291539e+01] [ 1.84667612e-01 9.82657873e-01 1.67743224e-02 -3.18592951e-01] [-9.78353508e-02 1.39742187e-03 9.95201634e-01 3.46072505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72538474999999 meters Centerline goodness : 0.949447 Centerline is valid? [True, False] Translation: X:13.94, Y:-0.32, Z:0.35 [[ 9.78392251e-01 -1.79868609e-01 1.01960225e-01 1.39375445e+01] [ 1.78065875e-01 9.83659241e-01 2.65902450e-02 -3.23919596e-01] [-1.05076868e-01 -7.86005298e-03 9.94433040e-01 3.45552056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75538474999999 meters Centerline goodness : 0.948355 Centerline is valid? [False, False] Translation: X:13.94, Y:-0.32, Z:0.35 [[ 9.78652955e-01 -1.79100206e-01 1.00804319e-01 1.39398787e+01] [ 1.77432472e-01 9.83806497e-01 2.53474639e-02 -3.23544481e-01] [-1.03711680e-01 -6.92041103e-03 9.94583328e-01 3.45100333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.78538474999999 meters Centerline goodness : 0.948257 Centerline is valid? [False, False] Translation: X:13.95, Y:-0.33, Z:0.34 [[ 9.79401747e-01 -1.72076188e-01 1.05650386e-01 1.39495907e+01] [ 1.70201294e-01 9.85050735e-01 2.65813584e-02 -3.25932583e-01] [-1.08645009e-01 -8.05199649e-03 9.94048001e-01 3.40561337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81538474999999 meters Centerline goodness : 0.948830 Centerline is valid? [False, False] Translation: X:13.95, Y:-0.33, Z:0.34 [[ 9.79657557e-01 -1.70912006e-01 1.05167283e-01 1.39492350e+01] [ 1.68995995e-01 9.85248645e-01 2.69344022e-02 -3.25126547e-01] [-1.08219336e-01 -8.61364089e-03 9.94089725e-01 3.41122755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.84538475 meters Centerline goodness : 0.948780 Centerline is valid? [False, False] Translation: X:13.95, Y:-0.32, Z:0.34 [[ 9.79714921e-01 -1.70731499e-01 1.04925820e-01 1.39496436e+01] [ 1.68868647e-01 9.85283474e-01 2.64547978e-02 -3.24082865e-01] [-1.07898344e-01 -8.19947887e-03 9.94128118e-01 3.40426960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.87538475 meters Centerline goodness : 0.952275 Centerline is valid? [False, True] Translation: X:13.96, Y:-0.33, Z:0.34 [[ 9.79839796e-01 -1.65769315e-01 1.11510123e-01 1.39574033e+01] [ 1.63269712e-01 9.86086420e-01 3.12501624e-02 -3.29058887e-01] [-1.15138936e-01 -1.24139271e-02 9.93271826e-01 3.41393492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.90538475 meters Centerline goodness : 0.952421 Centerline is valid? [True, True] Translation: X:13.98, Y:-0.32, Z:0.33 [[ 9.79415341e-01 -1.65914732e-01 1.14969089e-01 1.39819663e+01] [ 1.64914894e-01 9.86139473e-01 1.82213248e-02 -3.20514578e-01] [-1.16398743e-01 1.11387000e-03 9.93201939e-01 3.29652880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.93538475 meters Centerline goodness : 0.951543 Centerline is valid? [True, True] Translation: X:14.01, Y:-0.31, Z:0.32 [[ 9.78898044e-01 -1.68449581e-01 1.15686467e-01 1.40086927e+01] [ 1.67453339e-01 9.85709260e-01 1.83475727e-02 -3.13982908e-01] [-1.17123863e-01 1.41168211e-03 9.93116311e-01 3.24974571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.96538475 meters Centerline goodness : 0.953560 Centerline is valid? [True, True] Translation: X:14.04, Y:-0.31, Z:0.32 [[ 9.78799960e-01 -1.69091239e-01 1.15580238e-01 1.40353500e+01] [ 1.68097029e-01 9.85599334e-01 1.83668736e-02 -3.08809561e-01] [-1.17021483e-01 1.45119949e-03 9.93128323e-01 3.21138816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99538474999999 meters Centerline goodness : 0.951136 Centerline is valid? [True, True] Translation: X:14.06, Y:-0.30, Z:0.32 [[ 9.78895402e-01 -1.68522835e-01 1.15602099e-01 1.40628877e+01] [ 1.67522792e-01 9.85696797e-01 1.83831232e-02 -3.02062986e-01] [-1.17046594e-01 1.37083147e-03 9.93125478e-01 3.16729694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.02538474999999 meters Centerline goodness : 0.953083 Centerline is valid? [True, True] Translation: X:14.09, Y:-0.30, Z:0.31 [[ 9.78980941e-01 -1.68063677e-01 1.15546175e-01 1.40903446e+01] [ 1.67057468e-01 9.85775308e-01 1.84077562e-02 -2.96457590e-01] [-1.16996241e-01 1.28200889e-03 9.93131530e-01 3.13429316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05538474999999 meters Centerline goodness : 0.952588 Centerline is valid? [True, True] Translation: X:14.12, Y:-0.29, Z:0.31 [[ 9.79332164e-01 -1.65799154e-01 1.15841066e-01 1.41166834e+01] [ 1.64767889e-01 9.86159055e-01 1.84894991e-02 -2.90868295e-01] [-1.17303259e-01 9.79526686e-04 9.93095658e-01 3.09890477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08538474999999 meters Centerline goodness : 0.952048 Centerline is valid? [True, True] Translation: X:14.14, Y:-0.29, Z:0.31 [[ 9.79445981e-01 -1.64811023e-01 1.16287996e-01 1.41440968e+01] [ 1.63762205e-01 9.86324803e-01 1.85828789e-02 -2.85352029e-01] [-1.17760398e-01 8.42652557e-04 9.93041680e-01 3.06826432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11538474999999 meters Centerline goodness : 0.952048 Centerline is valid? [True, True] Translation: X:14.17, Y:-0.28, Z:0.30 [[ 9.79402994e-01 -1.65069968e-01 1.16282764e-01 1.41721353e+01] [ 1.64019090e-01 9.86281501e-01 1.86155559e-02 -2.80700358e-01] [-1.17760408e-01 8.40461891e-04 9.93041681e-01 3.03140604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.14538474999999 meters Centerline goodness : 0.951660 Centerline is valid? [True, True] Translation: X:14.20, Y:-0.27, Z:0.30 [[ 9.79593019e-01 -1.63571458e-01 1.16798527e-01 1.41994983e+01] [ 1.62496851e-01 9.86531286e-01 1.87295194e-02 -2.73024421e-01] [-1.18289016e-01 6.32086299e-04 9.92979007e-01 2.98321652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17538474999999 meters Centerline goodness : 0.949779 Centerline is valid? [True, False] Translation: X:14.20, Y:-0.27, Z:0.30 [[ 9.79605673e-01 -1.63675683e-01 1.16546114e-01 1.42003251e+01] [ 1.62690170e-01 9.86513288e-01 1.79844873e-02 -2.71217449e-01] [-1.17917913e-01 1.34320127e-03 9.93022438e-01 2.97149833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.20538475 meters Centerline goodness : 0.949831 Centerline is valid? [False, False] Translation: X:14.20, Y:-0.27, Z:0.30 [[ 9.79680398e-01 -1.63601243e-01 1.16021336e-01 1.42014320e+01] [ 1.62714070e-01 9.86524347e-01 1.71418858e-02 -2.69263058e-01] [-1.17262306e-01 2.08473417e-03 9.93098789e-01 2.96103427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.23538475 meters Centerline goodness : 0.952138 Centerline is valid? [False, True] Translation: X:14.20, Y:-0.27, Z:0.30 [[ 9.79711699e-01 -1.63857335e-01 1.15393940e-01 1.42030678e+01] [ 1.63031169e-01 9.86480818e-01 1.66262983e-02 -2.67951508e-01] [-1.16558249e-01 2.52382994e-03 9.93180651e-01 2.95225186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.26538475 meters Centerline goodness : 0.950889 Centerline is valid? [True, True] Translation: X:14.23, Y:-0.26, Z:0.29 [[ 9.80147915e-01 -1.62697987e-01 1.13311211e-01 1.42296012e+01] [ 1.61627176e-01 9.86675916e-01 1.86358103e-02 -2.63413509e-01] [-1.14833451e-01 4.83203869e-05 9.93384757e-01 2.92548619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.29538475 meters Centerline goodness : 0.950337 Centerline is valid? [True, True] Translation: X:14.26, Y:-0.26, Z:0.29 [[ 9.80247923e-01 -1.62287771e-01 1.13034018e-01 1.42567694e+01] [ 1.61218163e-01 9.86743472e-01 1.86017361e-02 -2.58324933e-01] [-1.14554414e-01 -1.11764588e-05 9.93416975e-01 2.88282860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.32538475 meters Centerline goodness : 0.948403 Centerline is valid? [True, False] Translation: X:14.26, Y:-0.26, Z:0.29 [[ 9.80425153e-01 -1.61810132e-01 1.12178430e-01 1.42579296e+01] [ 1.60713081e-01 9.86821821e-01 1.88148691e-02 -2.57580464e-01] [-1.13744559e-01 -4.18029782e-04 9.93509940e-01 2.88676759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.35538475 meters Centerline goodness : 0.950978 Centerline is valid? [False, True] Translation: X:14.26, Y:-0.26, Z:0.29 [[ 9.80459130e-01 -1.61806301e-01 1.11886621e-01 1.42583987e+01] [ 1.60731976e-01 9.86822501e-01 1.86167520e-02 -2.57052917e-01] [-1.13424543e-01 -2.69206734e-04 9.93546577e-01 2.88711275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.38538474999999 meters Centerline goodness : 0.948137 Centerline is valid? [True, False] Translation: X:14.26, Y:-0.26, Z:0.29 [[ 9.80574809e-01 -1.61672018e-01 1.11063953e-01 1.42598620e+01] [ 1.60591945e-01 9.86844437e-01 1.86623656e-02 -2.56679697e-01] [-1.12620026e-01 -4.63869419e-04 9.93638020e-01 2.89005558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41538474999999 meters Centerline goodness : 0.950063 Centerline is valid? [False, True] Translation: X:14.26, Y:-0.26, Z:0.29 [[ 9.80658452e-01 -1.61887221e-01 1.10006949e-01 1.42616923e+01] [ 1.60741949e-01 9.86808531e-01 1.92600554e-02 -2.58346009e-01] [-1.11673752e-01 -1.20480474e-03 9.93744193e-01 2.90786615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.44538474999999 meters Centerline goodness : 0.950852 Centerline is valid? [True, True] Translation: X:14.29, Y:-0.25, Z:0.29 [[ 9.80217565e-01 -1.63985974e-01 1.10824749e-01 1.42893038e+01] [ 1.62956645e-01 9.86462667e-01 1.83449633e-02 -2.52937652e-01] [-1.12332794e-01 7.75739847e-05 9.93670638e-01 2.86041763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47538474999999 meters Centerline goodness : 0.949621 Centerline is valid? [True, False] Translation: X:14.29, Y:-0.25, Z:0.29 [[ 9.80195619e-01 -1.64312386e-01 1.10535013e-01 1.42904263e+01] [ 1.63276262e-01 9.86408353e-01 1.84234245e-02 -2.53561830e-01] [-1.12059857e-01 -1.08162208e-05 9.93701458e-01 2.85853394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.50538474999999 meters Centerline goodness : 0.947971 Centerline is valid? [False, False] Translation: X:14.29, Y:-0.25, Z:0.29 [[ 9.80148832e-01 -1.65415811e-01 1.09297197e-01 1.42945226e+01] [ 1.64369337e-01 9.86223884e-01 1.85787937e-02 -2.54163162e-01] [-1.10864732e-01 -2.44875181e-04 9.93835475e-01 2.85314722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53538474999999 meters Centerline goodness : 0.948476 Centerline is valid? [False, False] Translation: X:14.29, Y:-0.26, Z:0.28 [[ 9.79983955e-01 -1.65991644e-01 1.09900968e-01 1.42940559e+01] [ 1.64879094e-01 9.86126915e-01 1.91987582e-02 -2.55426022e-01] [-1.11563136e-01 -6.94102988e-04 9.93757106e-01 2.84553372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.56538474999999 meters Centerline goodness : 0.950284 Centerline is valid? [False, True] Translation: X:14.30, Y:-0.26, Z:0.28 [[ 9.79528067e-01 -1.68726918e-01 1.09799787e-01 1.42955347e+01] [ 1.67915596e-01 9.85660564e-01 1.66615016e-02 -2.56424807e-01] [-1.11036564e-01 2.11668839e-03 9.93814068e-01 2.83935527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.59538475 meters Centerline goodness : 0.950950 Centerline is valid? [True, True] Translation: X:14.32, Y:-0.25, Z:0.28 [[ 9.78754061e-01 -1.73498628e-01 1.09264421e-01 1.43221649e+01] [ 1.72626199e-01 9.84832527e-01 1.74667923e-02 -2.53955679e-01] [-1.10637620e-01 1.76620781e-03 9.93859244e-01 2.82767488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.62538475 meters Centerline goodness : 0.949515 Centerline is valid? [True, False] Translation: X:14.33, Y:-0.25, Z:0.28 [[ 9.78357425e-01 -1.76014767e-01 1.08791319e-01 1.43253871e+01] [ 1.75720203e-01 9.84362497e-01 1.23646781e-02 -2.52775697e-01] [-1.09266460e-01 7.01975802e-03 9.93987708e-01 2.80097998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.65538475 meters Centerline goodness : 0.949603 Centerline is valid? [False, False] Translation: X:14.32, Y:-0.25, Z:0.28 [[ 9.78149617e-01 -1.76910919e-01 1.09205556e-01 1.43247545e+01] [ 1.76529081e-01 9.84206480e-01 1.32321075e-02 -2.53354209e-01] [-1.09821720e-01 6.33497553e-03 9.93931113e-01 2.80801447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.68538475 meters Centerline goodness : 0.948975 Centerline is valid? [False, False] Translation: X:14.33, Y:-0.25, Z:0.28 [[ 9.78187719e-01 -1.77041631e-01 1.08651038e-01 1.43270414e+01] [ 1.76857660e-01 9.84170362e-01 1.14047265e-02 -2.52165835e-01] [-1.08950242e-01 8.05980481e-03 9.94014529e-01 2.78877813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.71538475 meters Centerline goodness : 0.948860 Centerline is valid? [False, False] Translation: X:14.33, Y:-0.25, Z:0.28 [[ 9.78417561e-01 -1.75975518e-01 1.08312945e-01 1.43280010e+01] [ 1.75773974e-01 9.84363599e-01 1.14811006e-02 -2.51748402e-01] [-1.08639713e-01 7.80528633e-03 9.94050547e-01 2.78146479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74538474999999 meters Centerline goodness : 0.947030 Centerline is valid? [False, False] Translation: X:14.33, Y:-0.25, Z:0.28 [[ 9.79265008e-01 -1.66950045e-01 1.14750717e-01 1.43329724e+01] [ 1.65564396e-01 9.85963068e-01 2.15698769e-02 -2.53351878e-01] [-1.16741061e-01 -2.12399245e-03 9.93160115e-01 2.80442565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77538474999999 meters Centerline goodness : 0.942474 Centerline is valid? [False, False] Translation: X:14.33, Y:-0.25, Z:0.28 [[ 9.79763978e-01 -1.64388392e-01 1.14188455e-01 1.43333895e+01] [ 1.63054515e-01 9.86393771e-01 2.09893817e-02 -2.51332630e-01] [-1.16085191e-01 -1.94569688e-03 9.93237355e-01 2.81009279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80538474999999 meters Centerline goodness : 0.942910 Centerline is valid? [False, False] Translation: X:14.34, Y:-0.25, Z:0.28 [[ 9.80671532e-01 -1.55458535e-01 1.18810730e-01 1.43427000e+01] [ 1.53126153e-01 9.87793556e-01 2.85704818e-02 -2.51205270e-01] [-1.21801999e-01 -9.82522813e-03 9.92505787e-01 2.83711066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83538474999999 meters Centerline goodness : 0.941906 Centerline is valid? [False, False] Translation: X:14.34, Y:-0.25, Z:0.29 [[ 9.81372676e-01 -1.52527880e-01 1.16802895e-01 1.43443820e+01] [ 1.50106005e-01 9.88235348e-01 2.93101515e-02 -2.48874277e-01] [-1.19899365e-01 -1.12313659e-02 9.92722518e-01 2.86589796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86538474999999 meters Centerline goodness : 0.942055 Centerline is valid? [False, False] Translation: X:14.35, Y:-0.25, Z:0.29 [[ 9.81464594e-01 -1.52337266e-01 1.16278147e-01 1.43453451e+01] [ 1.50002005e-01 9.88271122e-01 2.86284563e-02 -2.47765692e-01] [-1.19275516e-01 -1.06558610e-02 9.92804011e-01 2.86871669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89538474999999 meters Centerline goodness : 0.945467 Centerline is valid? [False, False] Translation: X:14.35, Y:-0.25, Z:0.29 [[ 9.81432104e-01 -1.53023258e-01 1.15649939e-01 1.43470357e+01] [ 1.50743999e-01 9.88168930e-01 2.82562085e-02 -2.47461598e-01] [-1.18605533e-01 -1.02980159e-02 9.92888049e-01 2.86546213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.92538474999999 meters Centerline goodness : 0.945357 Centerline is valid? [False, False] Translation: X:14.35, Y:-0.25, Z:0.28 [[ 9.81117153e-01 -1.55250648e-01 1.15353234e-01 1.43496110e+01] [ 1.53459927e-01 9.87856034e-01 2.43003389e-02 -2.45760987e-01] [-1.17725031e-01 -6.13938056e-03 9.93027253e-01 2.83926209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95538475 meters Centerline goodness : 0.942865 Centerline is valid? [False, False] Translation: X:14.35, Y:-0.25, Z:0.28 [[ 9.80824300e-01 -1.56996821e-01 1.15480263e-01 1.43498073e+01] [ 1.55086127e-01 9.87574240e-01 2.54049860e-02 -2.47247691e-01] [-1.18033835e-01 -7.00844077e-03 9.92984841e-01 2.84089329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.98538475 meters Centerline goodness : 0.942382 Centerline is valid? [False, False] Translation: X:14.35, Y:-0.25, Z:0.28 [[ 9.80659580e-01 -1.58268232e-01 1.15143192e-01 1.43519339e+01] [ 1.56411998e-01 9.87374462e-01 2.50391425e-02 -2.49414967e-01] [-1.17652348e-01 -6.54509819e-03 9.93033276e-01 2.82238469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.01538475 meters Centerline goodness : 0.940602 Centerline is valid? [False, False] Translation: X:14.35, Y:-0.25, Z:0.28 [[ 9.80615324e-01 -1.58750081e-01 1.14856423e-01 1.43534223e+01] [ 1.56992623e-01 9.87302083e-01 2.42469076e-02 -2.49728800e-01] [-1.17247185e-01 -5.74527796e-03 9.93086144e-01 2.81012395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.04538475 meters Centerline goodness : 0.941598 Centerline is valid? [False, False] Translation: X:14.35, Y:-0.25, Z:0.28 [[ 9.80529563e-01 -1.59385358e-01 1.14708691e-01 1.43540909e+01] [ 1.57444154e-01 9.87189573e-01 2.58473509e-02 -2.51146651e-01] [-1.17358913e-01 -7.28387882e-03 9.93062853e-01 2.80500953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.07538475 meters Centerline goodness : 0.942445 Centerline is valid? [False, False] Translation: X:14.36, Y:-0.25, Z:0.28 [[ 9.80587287e-01 -1.59780131e-01 1.13661261e-01 1.43561154e+01] [ 1.57857676e-01 9.87125385e-01 2.57765228e-02 -2.51186844e-01] [-1.16316493e-01 -7.33382790e-03 9.93185123e-01 2.80718057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.10538475 meters Centerline goodness : 0.942434 Centerline is valid? [False, False] Translation: X:14.36, Y:-0.25, Z:0.28 [[ 9.80491291e-01 -1.60637852e-01 1.13279777e-01 1.43569212e+01] [ 1.58696113e-01 9.86984689e-01 2.60147363e-02 -2.51476968e-01] [-1.15984356e-01 -7.53016214e-03 9.93222496e-01 2.81412026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13538474999999 meters Centerline goodness : 0.942104 Centerline is valid? [False, False] Translation: X:14.36, Y:-0.25, Z:0.28 [[ 9.80430744e-01 -1.61166824e-01 1.13052249e-01 1.43573485e+01] [ 1.59233935e-01 9.86898882e-01 2.59836756e-02 -2.51283556e-01] [-1.15758845e-01 -7.47343990e-03 9.93249232e-01 2.81961718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16538474999999 meters Centerline goodness : 0.943246 Centerline is valid? [False, False] Translation: X:14.36, Y:-0.25, Z:0.28 [[ 9.80413897e-01 -1.61656769e-01 1.12497462e-01 1.43587501e+01] [ 1.59833366e-01 9.86824768e-01 2.51032385e-02 -2.50908881e-01] [-1.15073390e-01 -6.63071586e-03 9.93334862e-01 2.82035399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19538474999999 meters Centerline goodness : 0.943061 Centerline is valid? [False, False] Translation: X:14.36, Y:-0.25, Z:0.28 [[ 9.80393288e-01 -1.62220782e-01 1.11863396e-01 1.43597612e+01] [ 1.60565137e-01 9.86740316e-01 2.37146667e-02 -2.49672361e-01] [-1.14227135e-01 -5.28833852e-03 9.93440585e-01 2.82896483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22538474999999 meters Centerline goodness : 0.946268 Centerline is valid? [False, False] Translation: X:14.36, Y:-0.25, Z:0.28 [[ 9.80448761e-01 -1.62360476e-01 1.11172401e-01 1.43611652e+01] [ 1.60973638e-01 9.86726689e-01 2.13992988e-02 -2.47044510e-01] [-1.13171176e-01 -3.08509020e-03 9.93570716e-01 2.82974881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25538474999999 meters Centerline goodness : 0.947253 Centerline is valid? [False, False] Translation: X:14.36, Y:-0.25, Z:0.28 [[ 9.80674011e-01 -1.61585159e-01 1.10311923e-01 1.43621006e+01] [ 1.60282217e-01 9.86855457e-01 2.06377625e-02 -2.45079011e-01] [-1.12196679e-01 -2.55787781e-03 9.93682727e-01 2.84284998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.28538474999999 meters Centerline goodness : 0.946268 Centerline is valid? [False, False] Translation: X:14.36, Y:-0.24, Z:0.29 [[ 9.81320453e-01 -1.58484748e-01 1.09053896e-01 1.43627785e+01] [ 1.57069541e-01 9.87353438e-01 2.15022829e-02 -2.41456606e-01] [-1.11082523e-01 -3.97158462e-03 9.93803250e-01 2.86150471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31538474999999 meters Centerline goodness : 0.949320 Centerline is valid? [False, False] Translation: X:14.36, Y:-0.24, Z:0.29 [[ 9.81819089e-01 -1.55996069e-01 1.08150370e-01 1.43627333e+01] [ 1.54298257e-01 9.87734115e-01 2.39450457e-02 -2.40141066e-01] [-1.10559143e-01 -6.82228939e-03 9.93846131e-01 2.88173994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.34538475 meters Centerline goodness : 0.945761 Centerline is valid? [False, False] Translation: X:14.36, Y:-0.24, Z:0.29 [[ 9.82781748e-01 -1.50993773e-01 1.06493737e-01 1.43638913e+01] [ 1.49005987e-01 9.88483067e-01 2.64280639e-02 -2.37270629e-01] [-1.09257728e-01 -1.01048144e-02 9.93962093e-01 2.89493760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.37538475 meters Centerline goodness : 0.944205 Centerline is valid? [False, False] Translation: X:14.36, Y:-0.24, Z:0.29 [[ 9.83395357e-01 -1.47614045e-01 1.05563562e-01 1.43640882e+01] [ 1.45329206e-01 9.88956456e-01 2.90611282e-02 -2.36692605e-01] [-1.08687597e-01 -1.32371098e-02 9.93987819e-01 2.91006231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.40538475 meters Centerline goodness : 0.947189 Centerline is valid? [False, False] Translation: X:14.37, Y:-0.24, Z:0.29 [[ 9.84277460e-01 -1.43176134e-01 1.03433441e-01 1.43660041e+01] [ 1.40990155e-01 9.89609768e-01 2.81830456e-02 -2.35069864e-01] [-1.06393883e-01 -1.31568396e-02 9.94237014e-01 2.93497494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.43538475 meters Centerline goodness : 0.952250 Centerline is valid? [False, True] Translation: X:14.37, Y:-0.23, Z:0.29 [[ 9.84407985e-01 -1.42792401e-01 1.02719276e-01 1.43669167e+01] [ 1.40605444e-01 9.89662230e-01 2.82626925e-02 -2.34242741e-01] [-1.05693085e-01 -1.33791307e-02 9.94308790e-01 2.93793800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.46538475 meters Centerline goodness : 0.950222 Centerline is valid? [True, True] Translation: X:14.39, Y:-0.22, Z:0.28 [[ 9.84906875e-01 -1.37818251e-01 1.04711877e-01 1.43927723e+01] [ 1.37035369e-01 9.90457531e-01 1.46692801e-02 -2.23543127e-01] [-1.05734362e-01 -9.86440582e-05 9.94394406e-01 2.80264635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49538474999999 meters Centerline goodness : 0.950589 Centerline is valid? [True, True] Translation: X:14.42, Y:-0.22, Z:0.28 [[ 9.85330075e-01 -1.35035781e-01 1.04355069e-01 1.44193533e+01] [ 1.34239178e-01 9.90840630e-01 1.46522709e-02 -2.19852822e-01] [-1.05377823e-01 -4.28784574e-04 9.94432165e-01 2.76046147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52538474999999 meters Centerline goodness : 0.948937 Centerline is valid? [True, False] Translation: X:14.42, Y:-0.22, Z:0.28 [[ 9.86018416e-01 -1.31267059e-01 1.02648154e-01 1.44213268e+01] [ 1.29948901e-01 9.91329822e-01 1.94542233e-02 -2.20793892e-01] [-1.04311875e-01 -5.84320763e-03 9.94527471e-01 2.77173327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55538474999999 meters Centerline goodness : 0.949453 Centerline is valid? [False, False] Translation: X:14.42, Y:-0.22, Z:0.28 [[ 9.86178697e-01 -1.30467598e-01 1.02126313e-01 1.44215780e+01] [ 1.29088248e-01 9.91430811e-01 2.00292830e-02 -2.20973012e-01] [-1.03864346e-01 -6.56914537e-03 9.94569778e-01 2.77780791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58538474999999 meters Centerline goodness : 0.949396 Centerline is valid? [False, False] Translation: X:14.43, Y:-0.22, Z:0.28 [[ 9.87861992e-01 -1.23212560e-01 9.45904289e-02 1.44294720e+01] [ 1.22049430e-01 9.92360660e-01 1.80071435e-02 -2.24328140e-01] [-9.60865267e-02 -6.24386471e-03 9.95353401e-01 2.83084681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61538474999999 meters Centerline goodness : 0.949570 Centerline is valid? [False, False] Translation: X:14.43, Y:-0.23, Z:0.28 [[ 9.87953079e-01 -1.22811038e-01 9.41603022e-02 1.44299572e+01] [ 1.21590902e-01 9.92405832e-01 1.86095885e-02 -2.25784863e-01] [-9.57306959e-02 -6.93636417e-03 9.95383102e-01 2.83754951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.64538474999999 meters Centerline goodness : 0.952843 Centerline is valid? [False, True] Translation: X:14.43, Y:-0.23, Z:0.28 [[ 9.87999559e-01 -1.22995552e-01 9.34289331e-02 1.44317611e+01] [ 1.21684892e-01 9.92374850e-01 1.96199784e-02 -2.29641008e-01] [-9.51296936e-02 -8.01564038e-03 9.95432615e-01 2.84733970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67538474999999 meters Centerline goodness : 0.951509 Centerline is valid? [True, True] Translation: X:14.46, Y:-0.23, Z:0.28 [[ 9.87807894e-01 -1.23505923e-01 9.47726275e-02 1.44587030e+01] [ 1.22784790e-01 9.92342504e-01 1.34257340e-02 -2.25540640e-01] [-9.57050642e-02 -1.62540888e-03 9.95408408e-01 2.77016810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.70538475 meters Centerline goodness : 0.950801 Centerline is valid? [True, True] Translation: X:14.49, Y:-0.23, Z:0.27 [[ 9.87334244e-01 -1.27796750e-01 9.40163904e-02 1.44854428e+01] [ 1.27103819e-01 9.91799618e-01 1.33467747e-02 -2.26012420e-01] [-9.49510945e-02 -1.22788545e-03 9.95481181e-01 2.73739008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.73538475 meters Centerline goodness : 0.950126 Centerline is valid? [True, True] Translation: X:14.51, Y:-0.22, Z:0.27 [[ 9.87006631e-01 -1.30832201e-01 9.32783246e-02 1.45136039e+01] [ 1.30162808e-01 9.91404083e-01 1.32509202e-02 -2.24186350e-01] [-9.42101589e-02 -9.37377441e-04 9.95551891e-01 2.70319386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.76538475 meters Centerline goodness : 0.953161 Centerline is valid? [True, True] Translation: X:14.54, Y:-0.22, Z:0.27 [[ 9.86239057e-01 -1.37813471e-01 9.13234392e-02 1.45405019e+01] [ 1.37199228e-01 9.90458158e-01 1.30003738e-02 -2.24610788e-01] [-9.22436720e-02 -2.91970976e-04 9.95736421e-01 2.67133300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.79538475 meters Centerline goodness : 0.951301 Centerline is valid? [True, True] Translation: X:14.57, Y:-0.22, Z:0.26 [[ 9.85790930e-01 -1.41669360e-01 9.02553812e-02 1.45687353e+01] [ 1.41084820e-01 9.89914031e-01 1.28563157e-02 -2.23451755e-01] [-9.11664143e-02 6.00247539e-05 9.95835670e-01 2.64293482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.82538475 meters Centerline goodness : 0.948501 Centerline is valid? [True, False] Translation: X:14.58, Y:-0.23, Z:0.26 [[ 9.85076915e-01 -1.47488884e-01 8.87158477e-02 1.45776177e+01] [ 1.47225506e-01 9.89056933e-01 9.54120216e-03 -2.27363485e-01] [-8.91522454e-02 3.66241757e-03 9.96011277e-01 2.61236962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.85538475 meters Centerline goodness : 0.948282 Centerline is valid? [False, False] Translation: X:14.58, Y:-0.23, Z:0.26 [[ 9.84961370e-01 -1.48985137e-01 8.74901587e-02 1.45821020e+01] [ 1.48729415e-01 9.88832574e-01 9.47110768e-03 -2.29492842e-01] [-8.79241731e-02 3.68368491e-03 9.96120359e-01 2.60266148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.88538474999999 meters Centerline goodness : 0.948981 Centerline is valid? [False, False] Translation: X:14.59, Y:-0.23, Z:0.26 [[ 9.84826472e-01 -1.50820753e-01 8.58482456e-02 1.45872706e+01] [ 1.50573136e-01 9.88554280e-01 9.38971927e-03 -2.30595155e-01] [-8.62818151e-02 3.67919545e-03 9.96263977e-01 2.60101403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91538474999999 meters Centerline goodness : 0.949693 Centerline is valid? [False, False] Translation: X:14.59, Y:-0.23, Z:0.26 [[ 9.84626164e-01 -1.51963649e-01 8.61299407e-02 1.45875632e+01] [ 1.51816053e-01 9.88373918e-01 8.29966301e-03 -2.31327589e-01] [-8.63898340e-02 4.90384225e-03 9.96249341e-01 2.59720865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.94538474999999 meters Centerline goodness : 0.952017 Centerline is valid? [False, True] Translation: X:14.59, Y:-0.23, Z:0.26 [[ 9.84476538e-01 -1.52708467e-01 8.65220790e-02 1.45869929e+01] [ 1.52479253e-01 9.88262998e-01 9.29104280e-03 -2.31940555e-01] [-8.69253901e-02 4.04600831e-03 9.96206608e-01 2.60134111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97538474999999 meters Centerline goodness : 0.950332 Centerline is valid? [True, True] Translation: X:14.61, Y:-0.23, Z:0.26 [[ 9.84095176e-01 -1.54935425e-01 8.69005077e-02 1.46147522e+01] [ 1.54495393e-01 9.87922949e-01 1.18076600e-02 -2.26228318e-01] [-8.76804306e-02 1.80586683e-03 9.96147018e-01 2.58050945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.00538474999999 meters Centerline goodness : 0.952996 Centerline is valid? [True, True] Translation: X:14.64, Y:-0.22, Z:0.26 [[ 9.83921988e-01 -1.55546998e-01 8.77647615e-02 1.46412622e+01] [ 1.55097978e-01 9.87826761e-01 1.19544219e-02 -2.21159248e-01] [-8.85558545e-02 1.84991841e-03 9.96069495e-01 2.55797829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03538474999999 meters Centerline goodness : 0.952996 Centerline is valid? [True, True] Translation: X:14.67, Y:-0.22, Z:0.25 [[ 9.83880376e-01 -1.55810649e-01 8.77635931e-02 1.46694836e+01] [ 1.55361910e-01 9.87785181e-01 1.19629945e-02 -2.17157415e-01] [-8.85555386e-02 1.86496391e-03 9.96069495e-01 2.52761826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.06538474999999 meters Centerline goodness : 0.953257 Centerline is valid? [True, True] Translation: X:14.70, Y:-0.21, Z:0.25 [[ 9.83771257e-01 -1.55801973e-01 8.89935930e-02 1.46968598e+01] [ 1.55338311e-01 9.87786547e-01 1.21551193e-02 -2.13023159e-01] [-8.98004655e-02 1.86625745e-03 9.95958028e-01 2.49935658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.09538475 meters Centerline goodness : 0.954915 Centerline is valid? [True, True] Translation: X:14.72, Y:-0.21, Z:0.25 [[ 9.83419144e-01 -1.56865856e-01 9.09938995e-02 1.47231034e+01] [ 1.56382910e-01 9.87617936e-01 1.24578248e-02 -2.07834355e-01] [-9.18214146e-02 1.97862734e-03 9.95773525e-01 2.49026085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.12538475 meters Centerline goodness : 0.956137 Centerline is valid? [True, True] Translation: X:14.75, Y:-0.20, Z:0.25 [[ 9.83232701e-01 -1.57067262e-01 9.26462646e-02 1.47508771e+01] [ 1.56566551e-01 9.87585833e-01 1.26939770e-02 -2.03036139e-01] [-9.34899466e-02 2.02417282e-03 9.95618166e-01 2.45357838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.15538475 meters Centerline goodness : 0.953745 Centerline is valid? [True, True] Translation: X:14.78, Y:-0.20, Z:0.24 [[ 9.83054179e-01 -1.57823541e-01 9.32534781e-02 1.47786868e+01] [ 1.57317092e-01 9.87465133e-01 1.28040185e-02 -1.97953456e-01] [-9.41053337e-02 2.08332210e-03 9.95560066e-01 2.42807544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.18538475 meters Centerline goodness : 0.954957 Centerline is valid? [True, True] Translation: X:14.81, Y:-0.19, Z:0.24 [[ 9.82998806e-01 -1.58176228e-01 9.32396265e-02 1.48051546e+01] [ 1.57668900e-01 9.87408687e-01 1.28297490e-02 -1.91439441e-01] [-9.40949785e-02 2.08936142e-03 9.95561033e-01 2.38536835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.21538475 meters Centerline goodness : 0.953122 Centerline is valid? [True, True] Translation: X:14.83, Y:-0.19, Z:0.24 [[ 9.83185195e-01 -1.57633039e-01 9.21883769e-02 1.48313454e+01] [ 1.57132991e-01 9.87495743e-01 1.27036028e-02 -1.85968103e-01] [-9.30381372e-02 1.99584122e-03 9.95660545e-01 2.35148611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.24538474999999 meters Centerline goodness : 0.950585 Centerline is valid? [True, True] Translation: X:14.86, Y:-0.18, Z:0.23 [[ 9.83298647e-01 -1.57938470e-01 9.04389904e-02 1.48589715e+01] [ 1.57457753e-01 9.87446975e-01 1.24710513e-02 -1.81385847e-01] [-9.12733663e-02 1.97755229e-03 9.95823911e-01 2.32380388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27538474999999 meters Centerline goodness : 0.949433 Centerline is valid? [True, False] Translation: X:14.86, Y:-0.18, Z:0.23 [[ 9.83510586e-01 -1.57300555e-01 8.92382391e-02 1.48624479e+01] [ 1.56993495e-01 9.87543885e-01 1.04936736e-02 -1.80314140e-01] [-8.97773380e-02 3.68918400e-03 9.95955029e-01 2.30101292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.30538474999999 meters Centerline goodness : 0.950352 Centerline is valid? [False, True] Translation: X:14.86, Y:-0.18, Z:0.23 [[ 9.83574740e-01 -1.56837986e-01 8.93452651e-02 1.48625561e+01] [ 1.56451635e-01 9.87620348e-01 1.13549424e-02 -1.80494530e-01] [-9.00200881e-02 2.80977830e-03 9.95935986e-01 2.29886432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33538474999999 meters Centerline goodness : 0.948166 Centerline is valid? [True, False] Translation: X:14.86, Y:-0.18, Z:0.23 [[ 9.83572795e-01 -1.56986785e-01 8.91050285e-02 1.48638256e+01] [ 1.56478181e-01 9.87599649e-01 1.27087242e-02 -1.80712235e-01] [-8.99951966e-02 1.44303743e-03 9.95941154e-01 2.28845579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.36538474999999 meters Centerline goodness : 0.950137 Centerline is valid? [False, True] Translation: X:14.87, Y:-0.18, Z:0.23 [[ 9.83435692e-01 -1.57885066e-01 8.90311543e-02 1.48653373e+01] [ 1.57467979e-01 9.87454381e-01 1.17337539e-02 -1.79652484e-01] [-8.97667878e-02 2.48016357e-03 9.95959724e-01 2.27000726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39538474999999 meters Centerline goodness : 0.951156 Centerline is valid? [True, True] Translation: X:14.89, Y:-0.17, Z:0.22 [[ 9.83319188e-01 -1.58121442e-01 8.98942990e-02 1.48912692e+01] [ 1.57681075e-01 9.87416875e-01 1.20247173e-02 -1.74797305e-01] [-9.06645135e-02 2.35049439e-03 9.95878718e-01 2.23378660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.42538474999999 meters Centerline goodness : 0.950449 Centerline is valid? [True, True] Translation: X:14.92, Y:-0.17, Z:0.22 [[ 9.83491273e-01 -1.57022100e-01 8.99387355e-02 1.49174137e+01] [ 1.56575687e-01 9.87592551e-01 1.20419070e-02 -1.70813717e-01] [-9.07136707e-02 2.23910886e-03 9.95874498e-01 2.20668172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45538475 meters Centerline goodness : 0.953622 Centerline is valid? [True, True] Translation: X:14.95, Y:-0.17, Z:0.22 [[ 9.83905307e-01 -1.53334088e-01 9.17551276e-02 1.49450204e+01] [ 1.52852596e-01 9.88172524e-01 1.22941678e-02 -1.67000430e-01] [-9.25550111e-02 1.92871250e-03 9.95705705e-01 2.18959883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.48538475 meters Centerline goodness : 0.950805 Centerline is valid? [True, True] Translation: X:14.97, Y:-0.16, Z:0.22 [[ 9.84194645e-01 -1.51109578e-01 9.23406519e-02 1.49724329e+01] [ 1.50609718e-01 9.88515548e-01 1.23985357e-02 -1.63665705e-01] [-9.31537076e-02 1.70482707e-03 9.95650280e-01 2.16480581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.51538475 meters Centerline goodness : 0.951274 Centerline is valid? [True, True] Translation: X:15.00, Y:-0.16, Z:0.21 [[ 9.84654945e-01 -1.46789451e-01 9.43795297e-02 1.49997397e+01] [ 1.46244859e-01 9.89166908e-01 1.26991962e-02 -1.59399358e-01] [-9.52212156e-02 1.29819467e-03 9.95455290e-01 2.13755293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.54538475 meters Centerline goodness : 0.950060 Centerline is valid? [True, True] Translation: X:15.03, Y:-0.16, Z:0.21 [[ 9.84972809e-01 -1.44355386e-01 9.48160711e-02 1.50278368e+01] [ 1.43791957e-01 9.89525360e-01 1.27842027e-02 -1.55266994e-01] [-9.56683753e-02 1.04169634e-03 9.95412717e-01 2.09866963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.57538475 meters Centerline goodness : 0.950407 Centerline is valid? [True, True] Translation: X:15.05, Y:-0.15, Z:0.21 [[ 9.85634010e-01 -1.39980947e-01 9.45036153e-02 1.50540037e+01] [ 1.39398452e-01 9.90154023e-01 1.27703376e-02 -1.51324353e-01] [-9.53607389e-02 5.86778616e-04 9.95442608e-01 2.07031952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.60538475 meters Centerline goodness : 0.952152 Centerline is valid? [True, True] Translation: X:15.08, Y:-0.15, Z:0.20 [[ 9.85785992e-01 -1.38888695e-01 9.45299317e-02 1.50817910e+01] [ 1.38299977e-01 9.90307885e-01 1.27831393e-02 -1.47745864e-01] [-9.53891703e-02 4.72047699e-04 9.95439945e-01 2.03849421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63538474999999 meters Centerline goodness : 0.951940 Centerline is valid? [True, True] Translation: X:15.11, Y:-0.15, Z:0.20 [[ 9.85825900e-01 -1.39066533e-01 9.38498453e-02 1.51085642e+01] [ 1.38484556e-01 9.90282933e-01 1.27176812e-02 -1.45401326e-01] [-9.47065039e-02 4.59334681e-04 9.95505132e-01 1.99730047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.66538474999999 meters Centerline goodness : 0.951434 Centerline is valid? [True, True] Translation: X:15.14, Y:-0.14, Z:0.20 [[ 9.85660661e-01 -1.40512321e-01 9.34309894e-02 1.51365314e+01] [ 1.39940504e-01 9.90078760e-01 1.26768891e-02 -1.42490857e-01] [-9.42852973e-02 5.79668935e-04 9.95545050e-01 1.96016883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69538474999999 meters Centerline goodness : 0.949080 Centerline is valid? [True, False] Translation: X:15.14, Y:-0.14, Z:0.19 [[ 9.85549888e-01 -1.42200091e-01 9.20356034e-02 1.51418710e+01] [ 1.41664344e-01 9.89837564e-01 1.23616666e-02 -1.44575762e-01] [-9.28581276e-02 8.55124246e-04 9.95678983e-01 1.94511534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72538474999999 meters Centerline goodness : 0.950385 Centerline is valid? [False, True] Translation: X:15.14, Y:-0.15, Z:0.19 [[ 9.85547334e-01 -1.42809260e-01 9.11151287e-02 1.51446668e+01] [ 1.42281135e-01 9.89749870e-01 1.22993168e-02 -1.45507807e-01] [-9.19376431e-02 8.42405052e-04 9.95764410e-01 1.93949002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75538474999999 meters Centerline goodness : 0.948777 Centerline is valid? [True, False] Translation: X:15.16, Y:-0.15, Z:0.20 [[ 9.87012112e-01 -1.37685522e-01 8.27634487e-02 1.51574638e+01] [ 1.37401817e-01 9.90473209e-01 9.14127104e-03 -1.48957845e-01] [-8.32335993e-02 2.34930300e-03 9.96527295e-01 1.96772955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.78538474999999 meters Centerline goodness : 0.948305 Centerline is valid? [False, False] Translation: X:15.16, Y:-0.15, Z:0.20 [[ 9.87078045e-01 -1.37663434e-01 8.20104351e-02 1.51593770e+01] [ 1.37346657e-01 9.90477304e-01 9.51875285e-03 -1.50442069e-01] [-8.25398589e-02 1.86810713e-03 9.96586013e-01 1.96690529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81538474999999 meters Centerline goodness : 0.945074 Centerline is valid? [False, False] Translation: X:15.16, Y:-0.15, Z:0.20 [[ 9.87099492e-01 -1.37880812e-01 8.13847330e-02 1.51610170e+01] [ 1.37538049e-01 9.90447707e-01 9.82980208e-03 -1.51224638e-01] [-8.19626632e-02 1.49050479e-03 9.96634286e-01 1.96822214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.84538475 meters Centerline goodness : 0.947585 Centerline is valid? [False, False] Translation: X:15.16, Y:-0.15, Z:0.20 [[ 9.87205023e-01 -1.37519458e-01 8.07133215e-02 1.51624796e+01] [ 1.37095877e-01 9.90498980e-01 1.07930667e-02 -1.53032243e-01] [-8.14307193e-02 4.10493925e-04 9.96678920e-01 1.97364161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.87538475 meters Centerline goodness : 0.948450 Centerline is valid? [False, False] Translation: X:15.16, Y:-0.15, Z:0.20 [[ 9.87288881e-01 -1.37112841e-01 8.03786955e-02 1.51629698e+01] [ 1.36668457e-01 9.90555430e-01 1.10305448e-02 -1.53449179e-01] [-8.11319826e-02 9.48981202e-05 9.96703362e-01 1.97300258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.90538475 meters Centerline goodness : 0.952093 Centerline is valid? [False, True] Translation: X:15.17, Y:-0.16, Z:0.20 [[ 9.89041661e-01 -1.28706143e-01 7.23278715e-02 1.51714410e+01] [ 1.28501493e-01 9.91680992e-01 7.49511436e-03 -1.56081819e-01] [-7.26908426e-02 1.88125910e-03 9.97352747e-01 2.03277890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.93538475 meters Centerline goodness : 0.951736 Centerline is valid? [True, True] Translation: X:15.20, Y:-0.15, Z:0.20 [[ 9.89256832e-01 -1.26951738e-01 7.24857009e-02 1.52000813e+01] [ 1.26616698e-01 9.91908893e-01 9.21732591e-03 -1.53587226e-01] [-7.30693670e-02 5.95975026e-05 9.97326859e-01 2.03685471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.96538475 meters Centerline goodness : 0.952703 Centerline is valid? [True, True] Translation: X:15.23, Y:-0.15, Z:0.20 [[ 9.89262766e-01 -1.27032956e-01 7.22620827e-02 1.52271563e+01] [ 1.26698581e-01 9.91898496e-01 9.21104461e-03 -1.49359236e-01] [-7.28467573e-02 4.33598901e-05 9.97343145e-01 2.01543474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99538474999999 meters Centerline goodness : 0.953488 Centerline is valid? [True, True] Translation: X:15.25, Y:-0.14, Z:0.20 [[ 9.88113945e-01 -1.33851862e-01 7.55943852e-02 1.52549849e+01] [ 1.33505249e-01 9.91001191e-01 9.64299782e-03 -1.44646583e-01] [-7.62048590e-02 5.63866607e-04 9.97092023e-01 2.00848779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02538474999999 meters Centerline goodness : 0.954417 Centerline is valid? [True, True] Translation: X:15.28, Y:-0.14, Z:0.20 [[ 9.87752913e-01 -1.37572355e-01 7.36072729e-02 1.52810529e+01] [ 1.37252359e-01 9.90491392e-01 9.41234287e-03 -1.37653104e-01] [-7.42022483e-02 8.05702723e-04 9.97242888e-01 1.95325539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05538474999999 meters Centerline goodness : 0.950184 Centerline is valid? [True, True] Translation: X:15.31, Y:-0.13, Z:0.19 [[ 9.87843520e-01 -1.37785487e-01 7.19745708e-02 1.53089347e+01] [ 1.37479672e-01 9.90461773e-01 9.20956412e-03 -1.32355482e-01] [-7.25570053e-02 7.97432149e-04 9.97363948e-01 1.90820527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08538474999999 meters Centerline goodness : 0.949273 Centerline is valid? [True, False] Translation: X:15.31, Y:-0.13, Z:0.19 [[ 9.88088301e-01 -1.36956178e-01 7.01748834e-02 1.53130124e+01] [ 1.36584979e-01 9.90577035e-01 1.00837360e-02 -1.31893226e-01] [-7.08946579e-02 -3.78786559e-04 9.97483736e-01 1.89519682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11538474999999 meters Centerline goodness : 0.950853 Centerline is valid? [False, True] Translation: X:15.31, Y:-0.13, Z:0.19 [[ 9.88160898e-01 -1.36691805e-01 6.96662791e-02 1.53137216e+01] [ 1.36282212e-01 9.90613117e-01 1.06212324e-02 -1.32265835e-01] [-7.04641653e-02 -1.00121194e-03 9.97513809e-01 1.90355614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.14538474999999 meters Centerline goodness : 0.951471 Centerline is valid? [True, True] Translation: X:15.34, Y:-0.13, Z:0.19 [[ 9.88197493e-01 -1.35369158e-01 7.17001166e-02 1.53411474e+01] [ 1.35053565e-01 9.90795085e-01 9.25385243e-03 -1.30658460e-01] [-7.22928093e-02 5.38722584e-04 9.97383306e-01 1.88866021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17538474999999 meters Centerline goodness : 0.954811 Centerline is valid? [True, True] Translation: X:15.37, Y:-0.13, Z:0.19 [[ 9.88137128e-01 -1.35997376e-01 7.13423423e-02 1.53691982e+01] [ 1.35686169e-01 9.90709030e-01 9.21314812e-03 -1.27542007e-01] [-7.19324667e-02 5.76315382e-04 9.97409338e-01 1.86792596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.20538475 meters Centerline goodness : 0.953522 Centerline is valid? [True, True] Translation: X:15.40, Y:-0.12, Z:0.18 [[ 9.88002483e-01 -1.36685251e-01 7.18904483e-02 1.53965758e+01] [ 1.36369633e-01 9.90614339e-01 9.30350630e-03 -1.23864849e-01] [-7.24873610e-02 6.11786759e-04 9.97369143e-01 1.83485546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.23538475 meters Centerline goodness : 0.952274 Centerline is valid? [True, True] Translation: X:15.42, Y:-0.12, Z:0.18 [[ 9.88003931e-01 -1.36738907e-01 7.17684089e-02 1.54231625e+01] [ 1.36422939e-01 9.90606945e-01 9.30926443e-03 -1.20530518e-01] [-7.23672229e-02 5.93267428e-04 9.97377879e-01 1.80451064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.26538475 meters Centerline goodness : 0.951681 Centerline is valid? [True, True] Translation: X:15.45, Y:-0.12, Z:0.18 [[ 9.87836624e-01 -1.38049578e-01 7.15619900e-02 1.54505697e+01] [ 1.37738260e-01 9.90425087e-01 9.29079638e-03 -1.18332893e-01] [-7.21593807e-02 6.79035046e-04 9.97392883e-01 1.78565454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.29538475 meters Centerline goodness : 0.951867 Centerline is valid? [True, True] Translation: X:15.48, Y:-0.12, Z:0.18 [[ 9.87887559e-01 -1.37830816e-01 7.12799885e-02 1.54790875e+01] [ 1.37520962e-01 9.90455571e-01 9.25999450e-03 -1.16007312e-01] [-7.18759742e-02 6.54659240e-04 9.97413363e-01 1.76649708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.32538475 meters Centerline goodness : 0.953566 Centerline is valid? [True, True] Translation: X:15.51, Y:-0.11, Z:0.18 [[ 9.87822459e-01 -1.38133002e-01 7.15965281e-02 1.55064143e+01] [ 1.37819631e-01 9.90413469e-01 9.32249763e-03 -1.14608971e-01] [-7.21979104e-02 6.58434544e-04 9.97390108e-01 1.75927305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.35538475 meters Centerline goodness : 0.952792 Centerline is valid? [True, True] Translation: X:15.53, Y:-0.11, Z:0.17 [[ 9.87755167e-01 -1.38634083e-01 7.15564190e-02 1.55343466e+01] [ 1.38321953e-01 9.90343434e-01 9.32313699e-03 -1.11406918e-01] [-7.21579342e-02 6.88846901e-04 9.97392981e-01 1.72923828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.38538474999999 meters Centerline goodness : 0.949641 Centerline is valid? [True, False] Translation: X:15.54, Y:-0.11, Z:0.17 [[ 9.87751526e-01 -1.39116078e-01 7.06656933e-02 1.55372841e+01] [ 1.38816181e-01 9.90275789e-01 9.16129177e-03 -1.10561384e-01] [-7.12530081e-02 7.60461779e-04 9.97457984e-01 1.71614887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41538474999999 meters Centerline goodness : 0.947013 Centerline is valid? [False, False] Translation: X:15.54, Y:-0.11, Z:0.17 [[ 9.87748891e-01 -1.39529885e-01 6.98823230e-02 1.55395558e+01] [ 1.39250983e-01 9.90217386e-01 8.87081986e-03 -1.09519031e-01] [-7.04364357e-02 9.69039710e-04 9.97515799e-01 1.70781289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44538474999999 meters Centerline goodness : 0.946326 Centerline is valid? [False, False] Translation: X:15.55, Y:-0.11, Z:0.18 [[ 9.89394175e-01 -1.31654585e-01 6.13696660e-02 1.55480643e+01] [ 1.31362825e-01 9.91295454e-01 8.78247191e-03 -1.08050604e-01] [-6.19917236e-02 -6.27633869e-04 9.98076466e-01 1.76705137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47538474999999 meters Centerline goodness : 0.946447 Centerline is valid? [False, False] Translation: X:15.55, Y:-0.11, Z:0.18 [[ 9.90002923e-01 -1.27599066e-01 6.01056586e-02 1.55487200e+01] [ 1.27085831e-01 9.91815441e-01 1.23013336e-02 -1.05019120e-01] [-6.11833590e-02 -4.53977861e-03 9.98116219e-01 1.77190971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.50538474999999 meters Centerline goodness : 0.947323 Centerline is valid? [False, False] Translation: X:15.55, Y:-0.10, Z:0.18 [[ 9.90043789e-01 -1.27508812e-01 5.96221270e-02 1.55496432e+01] [ 1.27001919e-01 9.91827061e-01 1.22308493e-02 -1.03037532e-01] [-6.06943801e-02 -4.53695180e-03 9.98146086e-01 1.77022398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53538474999999 meters Centerline goodness : 0.946623 Centerline is valid? [False, False] Translation: X:15.55, Y:-0.10, Z:0.18 [[ 9.90064467e-01 -1.27496375e-01 5.93045162e-02 1.55504837e+01] [ 1.27019188e-01 9.91830506e-01 1.17631709e-02 -1.01357404e-01] [-6.03197900e-02 -4.11348603e-03 9.98170628e-01 1.76180588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.56538474999999 meters Centerline goodness : 0.946413 Centerline is valid? [False, False] Translation: X:15.55, Y:-0.10, Z:0.18 [[ 9.90165701e-01 -1.27074749e-01 5.85140462e-02 1.55517620e+01] [ 1.26586810e-01 9.91883110e-01 1.19865166e-02 -9.98805656e-02] [-5.95622777e-02 -4.46153119e-03 9.98214621e-01 1.76265423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.59538475 meters Centerline goodness : 0.945797 Centerline is valid? [False, False] Translation: X:15.55, Y:-0.10, Z:0.18 [[ 9.90228047e-01 -1.26975965e-01 5.76673168e-02 1.55533825e+01] [ 1.26471602e-01 9.91893621e-01 1.23279918e-02 -1.00623948e-01] [-5.87652023e-02 -4.91424530e-03 9.98259736e-01 1.76777019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.62538475 meters Centerline goodness : 0.941599 Centerline is valid? [False, False] Translation: X:15.55, Y:-0.10, Z:0.18 [[ 9.90242032e-01 -1.27027959e-01 5.73115585e-02 1.55543289e+01] [ 1.26530309e-01 9.91887163e-01 1.22448516e-02 -1.00558633e-01] [-5.84020377e-02 -4.87371755e-03 9.98281247e-01 1.76428273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.65538475 meters Centerline goodness : 0.941860 Centerline is valid? [False, False] Translation: X:15.56, Y:-0.10, Z:0.18 [[ 9.90233647e-01 -1.27407924e-01 5.66086982e-02 1.55562017e+01] [ 1.26915184e-01 9.91838167e-01 1.22305722e-02 -1.00280923e-01] [-5.77049393e-02 -4.92662080e-03 9.98321526e-01 1.76296240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.68538475 meters Centerline goodness : 0.942989 Centerline is valid? [False, False] Translation: X:15.56, Y:-0.10, Z:0.18 [[ 9.90223826e-01 -1.27832999e-01 5.58166591e-02 1.55586468e+01] [ 1.27334626e-01 9.91782171e-01 1.24104315e-02 -1.00717088e-01] [-5.69444300e-02 -5.18171152e-03 9.98363902e-01 1.75978004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.71538475 meters Centerline goodness : 0.939793 Centerline is valid? [False, False] Translation: X:15.56, Y:-0.10, Z:0.18 [[ 9.90223088e-01 -1.27971206e-01 5.55122123e-02 1.55596997e+01] [ 1.27472241e-01 9.91763964e-01 1.24526400e-02 -1.01321538e-01] [-5.66485910e-02 -5.25462551e-03 9.98380351e-01 1.75635007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74538474999999 meters Centerline goodness : 0.940868 Centerline is valid? [False, False] Translation: X:15.56, Y:-0.10, Z:0.18 [[ 9.90266678e-01 -1.28022819e-01 5.46082873e-02 1.55615131e+01] [ 1.27484551e-01 9.91752137e-01 1.32434494e-02 -1.03599707e-01] [-5.58533494e-02 -6.15283365e-03 9.98420025e-01 1.76844226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77538474999999 meters Centerline goodness : 0.943369 Centerline is valid? [False, False] Translation: X:15.57, Y:-0.11, Z:0.18 [[ 9.91195232e-01 -1.23850200e-01 4.68309667e-02 1.55723445e+01] [ 1.23585928e-01 9.92297399e-01 8.50822347e-03 -1.06489647e-01] [-4.75239916e-02 -2.64566205e-03 9.98866593e-01 1.80078336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80538474999999 meters Centerline goodness : 0.942794 Centerline is valid? [False, False] Translation: X:15.57, Y:-0.11, Z:0.18 [[ 9.91154349e-01 -1.24430040e-01 4.61543312e-02 1.55746980e+01] [ 1.24172958e-01 9.92224973e-01 8.40712516e-03 -1.07446294e-01] [-4.68415790e-02 -2.60163881e-03 9.98898943e-01 1.79416256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83538474999999 meters Centerline goodness : 0.940697 Centerline is valid? [False, False] Translation: X:15.58, Y:-0.11, Z:0.18 [[ 9.91057078e-01 -1.25589978e-01 4.50890755e-02 1.55784868e+01] [ 1.25337977e-01 9.92078672e-01 8.38451033e-03 -1.09586678e-01] [-4.57849206e-02 -2.65815483e-03 9.98947784e-01 1.78887526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.86538474999999 meters Centerline goodness : 0.944384 Centerline is valid? [False, False] Translation: X:15.58, Y:-0.11, Z:0.18 [[ 9.91010003e-01 -1.26226013e-01 4.43414974e-02 1.55810620e+01] [ 1.25976517e-01 9.91997762e-01 8.38794264e-03 -1.10837797e-01] [-4.50454427e-02 -2.72654768e-03 9.98981218e-01 1.78330236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89538474999999 meters Centerline goodness : 0.943136 Centerline is valid? [False, False] Translation: X:15.59, Y:-0.11, Z:0.18 [[ 9.90887661e-01 -1.27684848e-01 4.28744941e-02 1.55865210e+01] [ 1.27447912e-01 9.91811151e-01 8.22617202e-03 -1.12663740e-01] [-4.35737589e-02 -2.68694760e-03 9.99046599e-01 1.76759291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.92538474999999 meters Centerline goodness : 0.943136 Centerline is valid? [False, False] Translation: X:15.59, Y:-0.11, Z:0.18 [[ 9.90887661e-01 -1.27684848e-01 4.28744941e-02 1.55865210e+01] [ 1.27447912e-01 9.91811151e-01 8.22617202e-03 -1.12663740e-01] [-4.35737589e-02 -2.68694760e-03 9.99046599e-01 1.76759291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95538475 meters Centerline goodness : 0.941191 Centerline is valid? [False, False] Translation: X:15.59, Y:-0.11, Z:0.18 [[ 9.90832882e-01 -1.28336788e-01 4.21884939e-02 1.55888245e+01] [ 1.28106556e-01 9.91727107e-01 8.12739952e-03 -1.13347740e-01] [-4.28825174e-02 -2.64827201e-03 9.99076612e-01 1.76216403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.98538475 meters Centerline goodness : 0.948488 Centerline is valid? [False, False] Translation: X:15.59, Y:-0.12, Z:0.18 [[ 9.89712562e-01 -1.36693371e-01 4.22370396e-02 1.55907286e+01] [ 1.36684717e-01 9.90609731e-01 3.10633797e-03 -1.17449139e-01] [-4.22650383e-02 2.69877609e-03 9.99102789e-01 1.81612988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.01538475 meters Centerline goodness : 0.947948 Centerline is valid? [False, False] Translation: X:15.59, Y:-0.12, Z:0.18 [[ 9.89610992e-01 -1.37708483e-01 4.13093086e-02 1.55940242e+01] [ 1.37716835e-01 9.90468078e-01 2.65709480e-03 -1.16298967e-01] [-4.12814559e-02 3.05949701e-03 9.99142873e-01 1.80465216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.04538475 meters Centerline goodness : 0.942140 Centerline is valid? [False, False] Translation: X:15.60, Y:-0.12, Z:0.18 [[ 9.90839804e-01 -1.32692728e-01 2.50823368e-02 1.55992422e+01] [ 1.32508397e-01 9.91142096e-01 8.88093245e-03 -1.15566455e-01] [-2.60385950e-02 -5.47596114e-03 9.99645940e-01 1.82087442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.07538475 meters Centerline goodness : 0.939072 Centerline is valid? [False, False] Translation: X:15.60, Y:-0.12, Z:0.18 [[ 9.90754707e-01 -1.33483075e-01 2.42358923e-02 1.56019644e+01] [ 1.33307397e-01 9.91036268e-01 8.73235788e-03 -1.15686642e-01] [-2.51842702e-02 -5.42080096e-03 9.99668129e-01 1.81715571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.10538475 meters Centerline goodness : 0.942211 Centerline is valid? [False, False] Translation: X:15.61, Y:-0.12, Z:0.19 [[ 9.91654284e-01 -1.27939011e-01 1.59182463e-02 1.56115940e+01] [ 1.27866044e-01 9.91776061e-01 5.52436481e-03 -1.18108458e-01] [-1.64941174e-02 -3.44285684e-03 9.99858035e-01 1.87746050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13538474999999 meters Centerline goodness : 0.944056 Centerline is valid? [False, False] Translation: X:15.61, Y:-0.12, Z:0.19 [[ 9.91679356e-01 -1.27823764e-01 1.52689581e-02 1.56124220e+01] [ 1.27745533e-01 9.91788843e-01 5.99744685e-03 -1.18330912e-01] [-1.59101985e-02 -3.99700305e-03 9.99865436e-01 1.88792147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16538474999999 meters Centerline goodness : 0.945768 Centerline is valid? [False, False] Translation: X:15.62, Y:-0.12, Z:0.20 [[ 9.92521921e-01 -1.21855190e-01 7.17981086e-03 1.56206867e+01] [ 1.21828284e-01 9.92542830e-01 4.07423027e-03 -1.19733116e-01] [-7.62273590e-03 -3.16905881e-03 9.99965925e-01 1.95388775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19538474999999 meters Centerline goodness : 0.944895 Centerline is valid? [False, False] Translation: X:15.62, Y:-0.12, Z:0.20 [[ 9.92556302e-01 -1.21592514e-01 6.87367536e-03 1.56211788e+01] [ 1.21565170e-01 9.92574283e-01 4.26648430e-03 -1.18718487e-01] [-7.34140594e-03 -3.39912637e-03 9.99967274e-01 1.95524911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22538474999999 meters Centerline goodness : 0.945279 Centerline is valid? [False, False] Translation: X:15.62, Y:-0.12, Z:0.20 [[ 9.92922985e-01 -1.18646296e-01 5.19638151e-03 1.56244071e+01] [ 1.18602702e-01 9.92909403e-01 8.01975243e-03 -1.17010918e-01] [-6.11104999e-03 -7.34669164e-03 9.99954340e-01 1.95953350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25538474999999 meters Centerline goodness : 0.940167 Centerline is valid? [False, False] Translation: X:15.63, Y:-0.12, Z:0.20 [[ 9.92956911e-01 -1.18383008e-01 4.69433109e-03 1.56250743e+01] [ 1.18343425e-01 9.92940774e-01 7.96569931e-03 -1.15099668e-01] [-5.60419620e-03 -7.35405295e-03 9.99957255e-01 1.95928664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.28538474999999 meters Centerline goodness : 0.937929 Centerline is valid? [False, False] Translation: X:15.63, Y:-0.11, Z:0.20 [[ 9.93397600e-01 -1.14682571e-01 3.01921100e-03 1.56269362e+01] [ 1.14638609e-01 9.93334130e-01 1.20538188e-02 -1.13711130e-01] [-4.38144827e-03 -1.16281165e-02 9.99922792e-01 1.97482020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31538474999999 meters Centerline goodness : 0.939322 Centerline is valid? [False, False] Translation: X:15.63, Y:-0.11, Z:0.20 [[ 9.93787563e-01 -1.11284168e-01 1.45376541e-03 1.56289389e+01] [ 1.11245648e-01 9.93657723e-01 1.63931207e-02 -1.14013642e-01] [-3.26884004e-03 -1.61295544e-02 9.99864567e-01 1.99123210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.34538475 meters Centerline goodness : 0.936770 Centerline is valid? [False, False] Translation: X:15.63, Y:-0.11, Z:0.20 [[ 9.94223408e-01 -1.07330364e-01 -9.01064880e-05 1.56304458e+01] [ 1.07310275e-01 9.94020355e-01 2.01999468e-02 -1.11493976e-01] [-2.07849996e-03 -2.00929293e-02 9.99795956e-01 2.00296189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.37538475 meters Centerline goodness : 0.937067 Centerline is valid? [False, False] Translation: X:15.63, Y:-0.11, Z:0.20 [[ 9.94640887e-01 -1.03373496e-01 -1.85107862e-03 1.56320533e+01] [ 1.03387865e-01 9.94343415e-01 2.43335719e-02 -1.09558968e-01] [-6.74838552e-04 -2.43945446e-02 9.99702181e-01 2.02244568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.40538475 meters Centerline goodness : 0.935583 Centerline is valid? [False, False] Translation: X:15.63, Y:-0.11, Z:0.20 [[ 9.94680232e-01 -1.02983818e-01 -2.35973299e-03 1.56328666e+01] [ 1.03010736e-01 9.94384079e-01 2.42712234e-02 -1.07985380e-01] [-1.53062348e-04 -2.43851839e-02 9.99702625e-01 2.02039721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.43538475 meters Centerline goodness : 0.935910 Centerline is valid? [False, False] Translation: X:15.63, Y:-0.11, Z:0.20 [[ 9.94680185e-01 -1.02971986e-01 -2.84602029e-03 1.56339665e+01] [ 1.03010736e-01 9.94387110e-01 2.41467126e-02 -1.06683775e-01] [ 3.43610939e-04 -2.43114272e-02 9.99704375e-01 2.01853344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.46538475 meters Centerline goodness : 0.936297 Centerline is valid? [False, False] Translation: X:15.64, Y:-0.11, Z:0.20 [[ 9.94968423e-01 -1.00083138e-01 -4.60455669e-03 1.56373615e+01] [ 1.00173414e-01 9.94573148e-01 2.80987528e-02 -1.07160298e-01] [ 1.76735708e-03 -2.84186260e-02 9.99594547e-01 2.02679593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49538474999999 meters Centerline goodness : 0.938179 Centerline is valid? [False, False] Translation: X:15.64, Y:-0.11, Z:0.20 [[ 9.94909412e-01 -1.00639563e-01 -5.19038169e-03 1.56389657e+01] [ 1.00746471e-01 9.94512992e-01 2.81790136e-02 -1.07887405e-01] [ 2.32597841e-03 -2.85584785e-02 9.99589417e-01 2.03159968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.52538474999999 meters Centerline goodness : 0.940793 Centerline is valid? [False, False] Translation: X:15.64, Y:-0.11, Z:0.20 [[ 9.94819447e-01 -1.01463170e-01 -6.28428417e-03 1.56423575e+01] [ 1.01600542e-01 9.94430364e-01 2.80282190e-02 -1.08132661e-01] [ 3.40545105e-03 -2.85215040e-02 9.99587378e-01 2.02719653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55538474999999 meters Centerline goodness : 0.940445 Centerline is valid? [False, False] Translation: X:15.65, Y:-0.11, Z:0.20 [[ 9.94716117e-01 -1.02422532e-01 -7.03358304e-03 1.56450561e+01] [ 1.02579579e-01 9.94338999e-01 2.77017220e-02 -1.08846772e-01] [ 4.15648542e-03 -2.82768513e-02 9.99591488e-01 2.02115874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58538474999999 meters Centerline goodness : 0.937781 Centerline is valid? [False, False] Translation: X:15.65, Y:-0.11, Z:0.20 [[ 9.94564003e-01 -1.03795078e-01 -8.30819613e-03 1.56496617e+01] [ 1.03986069e-01 9.94201460e-01 2.73925947e-02 -1.10063048e-01] [ 5.41680422e-03 -2.81076253e-02 9.99590226e-01 2.01156060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61538474999999 meters Centerline goodness : 0.939573 Centerline is valid? [False, False] Translation: X:15.65, Y:-0.11, Z:0.20 [[ 9.94482970e-01 -1.04514641e-01 -8.96169587e-03 1.56522628e+01] [ 1.04721952e-01 9.94132408e-01 2.70936912e-02 -1.10595197e-01] [ 6.07742488e-03 -2.78827008e-02 9.99592727e-01 2.00185757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.64538474999999 meters Centerline goodness : 0.938867 Centerline is valid? [False, False] Translation: X:15.66, Y:-0.11, Z:0.20 [[ 9.94701915e-01 -1.01379972e-01 -1.70353162e-02 1.56637349e+01] [ 1.01751282e-01 9.94554004e-01 2.25612551e-02 -1.13322385e-01] [ 1.46552825e-02 -2.41750889e-02 9.99600314e-01 2.03335750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67538474999999 meters Centerline goodness : 0.937857 Centerline is valid? [False, False] Translation: X:15.68, Y:-0.12, Z:0.21 [[ 0.99491712 -0.09747024 -0.02528773 15.6753518 ] [ 0.0979399 0.99502866 0.01804838 -0.11563118] [ 0.02340284 -0.02043332 0.99951728 0.20655015] [ 0. 0. 0. 1. ]] SLAMing on 96.70538475 meters Centerline goodness : 0.938905 Centerline is valid? [False, False] Translation: X:15.68, Y:-0.12, Z:0.21 [[ 0.9948767 -0.09772185 -0.02589979 15.67719908] [ 0.09820739 0.99499978 0.01818651 -0.11596097] [ 0.02399306 -0.02063688 0.9994991 0.20638691] [ 0. 0. 0. 1. ]] SLAMing on 96.73538475 meters Centerline goodness : 0.940647 Centerline is valid? [False, False] Translation: X:15.68, Y:-0.12, Z:0.21 [[ 0.99483573 -0.09794475 -0.02662135 15.67903777] [ 0.09845022 0.99497208 0.01838773 -0.11625169] [ 0.02468652 -0.02091365 0.99947646 0.20653803] [ 0. 0. 0. 1. ]] SLAMing on 96.76538475 meters Centerline goodness : 0.939054 Centerline is valid? [False, False] Translation: X:15.68, Y:-0.12, Z:0.21 [[ 0.9948 -0.0980146 -0.02767841 15.68153464] [ 0.09855061 0.9949561 0.018712 -0.11612409] [ 0.02570476 -0.02134243 0.99944173 0.20683062] [ 0. 0. 0. 1. ]] SLAMing on 96.79538475 meters Centerline goodness : 0.937064 Centerline is valid? [False, False] Translation: X:15.68, Y:-0.12, Z:0.21 [[ 0.99477113 -0.09802161 -0.0286733 15.68388274] [ 0.09858549 0.99494798 0.01895815 -0.11581229] [ 0.02667014 -0.02168579 0.99940904 0.20699213] [ 0. 0. 0. 1. ]] SLAMing on 96.82538475 meters Centerline goodness : 0.937002 Centerline is valid? [False, False] Translation: X:15.69, Y:-0.12, Z:0.21 [[ 0.99473979 -0.09816542 -0.02926268 15.6853281 ] [ 0.09874289 0.99493184 0.01898592 -0.11514919] [ 0.02725061 -0.02177554 0.99939143 0.20704498] [ 0. 0. 0. 1. ]] SLAMing on 96.85538475 meters Centerline goodness : 0.937090 Centerline is valid? [False, False] Translation: X:15.69, Y:-0.11, Z:0.21 [[ 0.99481616 -0.09671221 -0.03142553 15.68913138] [ 0.09738167 0.9950356 0.02051756 -0.11498836] [ 0.02928523 -0.02347148 0.99929548 0.20752721] [ 0. 0. 0. 1. ]] SLAMing on 96.88538474999999 meters Centerline goodness : 0.939255 Centerline is valid? [False, False] Translation: X:15.69, Y:-0.11, Z:0.21 [[ 0.99470044 -0.09759306 -0.03235167 15.69201119] [ 0.09827112 0.9949572 0.02007369 -0.11459434] [ 0.03022947 -0.02314654 0.99927495 0.20700788] [ 0. 0. 0. 1. ]] SLAMing on 96.91538474999999 meters Centerline goodness : 0.933611 Centerline is valid? [False, False] Translation: X:15.69, Y:-0.11, Z:0.21 [[ 0.99463949 -0.09798548 -0.03303222 15.69425231] [ 0.09867088 0.99492319 0.01979673 -0.11383927] [ 0.03092473 -0.02294993 0.99925821 0.20626185] [ 0. 0. 0. 1. ]] SLAMing on 96.94538474999999 meters Centerline goodness : 0.933329 Centerline is valid? [False, False] Translation: X:15.70, Y:-0.11, Z:0.21 [[ 0.99453136 -0.0986535 -0.03427633 15.69757043] [ 0.09936803 0.99485364 0.01980471 -0.11414329] [ 0.03214612 -0.02310238 0.99921615 0.20643874] [ 0. 0. 0. 1. ]] SLAMing on 96.97538474999999 meters Centerline goodness : 0.932709 Centerline is valid? [False, False] Translation: X:15.70, Y:-0.11, Z:0.21 [[ 0.99432881 -0.10014089 -0.03580532 15.70236974] [ 0.1008727 0.99471314 0.01924775 -0.11350654] [ 0.03368854 -0.02275037 0.99917341 0.20590093] [ 0. 0. 0. 1. ]] SLAMing on 97.00538474999999 meters Centerline goodness : 0.932686 Centerline is valid? [False, False] Translation: X:15.70, Y:-0.11, Z:0.21 [[ 0.99423278 -0.10079851 -0.03661758 15.70486388] [ 0.10154157 0.99464929 0.01902882 -0.11289257] [ 0.03450357 -0.02263728 0.99914817 0.20564154] [ 0. 0. 0. 1. ]] SLAMing on 97.03538474999999 meters Centerline goodness : 0.935023 Centerline is valid? [False, False] Translation: X:15.71, Y:-0.11, Z:0.21 [[ 0.99431743 -0.09911224 -0.03885379 15.70900395] [ 0.09996498 0.99477662 0.02065121 -0.1128948 ] [ 0.03660406 -0.02441787 0.99903149 0.20587757] [ 0. 0. 0. 1. ]] SLAMing on 97.06538474999999 meters Centerline goodness : 0.933098 Centerline is valid? [False, False] Translation: X:15.71, Y:-0.11, Z:0.21 [[ 0.99428261 -0.09920647 -0.03949908 15.71060653] [ 0.10007347 0.99476659 0.02060881 -0.11207376] [ 0.03724784 -0.02444379 0.99900706 0.20576902] [ 0. 0. 0. 1. ]] SLAMing on 97.09538475 meters Centerline goodness : 0.931382 Centerline is valid? [False, False] Translation: X:15.71, Y:-0.11, Z:0.21 [[ 0.99424169 -0.09917844 -0.04058444 15.71317407] [ 0.10007275 0.99476629 0.02062698 -0.11169371] [ 0.03832628 -0.0245696 0.99896318 0.20568048] [ 0. 0. 0. 1. ]] SLAMing on 97.12538475 meters Centerline goodness : 0.932430 Centerline is valid? [False, False] Translation: X:15.72, Y:-0.11, Z:0.21 [[ 0.99418962 -0.09937993 -0.04135965 15.71512101] [ 0.10029545 0.99474281 0.02067771 -0.11133635] [ 0.03908726 -0.02470575 0.99893033 0.20572488] [ 0. 0. 0. 1. ]] SLAMing on 97.15538475 meters Centerline goodness : 0.936122 Centerline is valid? [False, False] Translation: X:15.72, Y:-0.11, Z:0.21 [[ 0.99418889 -0.0989091 -0.04249048 15.71710065] [ 0.09987135 0.99477557 0.0211489 -0.11114804] [ 0.04017668 -0.02526958 0.99887301 0.20637213] [ 0. 0. 0. 1. ]] SLAMing on 97.18538475 meters Centerline goodness : 0.935994 Centerline is valid? [False, False] Translation: X:15.72, Y:-0.11, Z:0.21 [[ 0.99415656 -0.09901758 -0.04299126 15.71846717] [ 0.09998606 0.99476744 0.02098893 -0.11094959] [ 0.04068803 -0.02516481 0.99885495 0.20614441] [ 0. 0. 0. 1. ]] SLAMing on 97.21538475 meters Centerline goodness : 0.936733 Centerline is valid? [False, False] Translation: X:15.73, Y:-0.11, Z:0.21 [[ 0.99430387 -0.09327683 -0.05156796 15.72949885] [ 0.09427861 0.99539479 0.01734255 -0.11240739] [ 0.04971282 -0.02210552 0.99851889 0.21141266] [ 0. 0. 0. 1. ]] SLAMing on 97.24538474999999 meters Centerline goodness : 0.938492 Centerline is valid? [False, False] Translation: X:15.73, Y:-0.11, Z:0.21 [[ 0.99455718 -0.08962996 -0.05312704 15.73186157] [ 0.09089618 0.99561927 0.02191228 -0.11360062] [ 0.05093031 -0.02662206 0.99834732 0.21337436] [ 0. 0. 0. 1. ]] SLAMing on 97.27538474999999 meters Centerline goodness : 0.935318 Centerline is valid? [False, False] Translation: X:15.73, Y:-0.11, Z:0.21 [[ 0.99453427 -0.08941935 -0.05390512 15.73332999] [ 0.09071456 0.99563225 0.0220749 -0.11293775] [ 0.05169575 -0.02684422 0.99830203 0.21361624] [ 0. 0. 0. 1. ]] SLAMing on 97.30538474999999 meters Centerline goodness : 0.936429 Centerline is valid? [False, False] Translation: X:15.74, Y:-0.11, Z:0.21 [[ 0.99467067 -0.08646848 -0.0561557 15.73808711] [ 0.08802662 0.99578166 0.0258881 -0.11263501] [ 0.05368031 -0.03069333 0.99808634 0.21457554] [ 0. 0. 0. 1. ]] SLAMing on 97.33538474999999 meters Centerline goodness : 0.938015 Centerline is valid? [False, False] Translation: X:15.74, Y:-0.11, Z:0.21 [[ 0.99463749 -0.08646576 -0.05674448 15.73983057] [ 0.08803193 0.995786 0.02570242 -0.11121355] [ 0.05428298 -0.03055992 0.99805784 0.21391263] [ 0. 0. 0. 1. ]] SLAMing on 97.36538474999999 meters Centerline goodness : 0.936168 Centerline is valid? [False, False] Translation: X:15.74, Y:-0.11, Z:0.21 [[ 0.99459267 -0.08660135 -0.05732044 15.74151671] [ 0.08817287 0.99577937 0.02547524 -0.10963226] [ 0.05487232 -0.03039159 0.99803075 0.21342318] [ 0. 0. 0. 1. ]] SLAMing on 97.39538474999999 meters Centerline goodness : 0.937032 Centerline is valid? [False, False] Translation: X:15.74, Y:-0.11, Z:0.22 [[ 0.99480612 -0.08289291 -0.05907232 15.74410141] [ 0.08476829 0.99594964 0.02997754 -0.11078424] [ 0.05634813 -0.0348293 0.99780349 0.21554681] [ 0. 0. 0. 1. ]] SLAMing on 97.42538474999999 meters Centerline goodness : 0.937011 Centerline is valid? [False, False] Translation: X:15.75, Y:-0.11, Z:0.22 [[ 0.99483005 -0.07613841 -0.06720198 15.75263064] [ 0.07815974 0.99654823 0.02797626 -0.11200015] [ 0.06483994 -0.03308411 0.99734709 0.22190111] [ 0. 0. 0. 1. ]] SLAMing on 97.45538475 meters Centerline goodness : 0.939060 Centerline is valid? [False, False] Translation: X:15.75, Y:-0.11, Z:0.22 [[ 0.99483155 -0.075654 -0.0677249 15.75336419] [ 0.07770867 0.99657628 0.02823266 -0.11115774] [ 0.06535712 -0.03334955 0.99730449 0.22221859] [ 0. 0. 0. 1. ]] SLAMing on 97.48538475 meters Centerline goodness : 0.935083 Centerline is valid? [False, False] Translation: X:15.76, Y:-0.11, Z:0.23 [[ 0.99476865 -0.06777698 -0.07643048 15.76370659] [ 0.07006135 0.99716049 0.02761083 -0.11208593] [ 0.07434208 -0.03282121 0.99669254 0.22808949] [ 0. 0. 0. 1. ]] SLAMing on 97.51538475 meters Centerline goodness : 0.934533 Centerline is valid? [False, False] Translation: X:15.76, Y:-0.11, Z:0.23 [[ 0.99475571 -0.0674942 -0.07684792 15.76470762] [ 0.06980156 0.99717505 0.02774279 -0.11150495] [ 0.07475835 -0.0329614 0.99665678 0.22792944] [ 0. 0. 0. 1. ]] SLAMing on 97.54538475 meters Centerline goodness : 0.931877 Centerline is valid? [False, False] Translation: X:15.78, Y:-0.11, Z:0.22 [[ 0.99523845 -0.06555701 -0.07212979 15.77929468] [ 0.06708952 0.99756546 0.01903037 -0.10802952] [ 0.07070661 -0.02377891 0.99721369 0.22252707] [ 0. 0. 0. 1. ]] SLAMing on 97.57538475 meters Centerline goodness : 0.933609 Centerline is valid? [False, False] Translation: X:15.78, Y:-0.11, Z:0.22 [[ 0.99517822 -0.06578067 -0.07275448 15.7810478 ] [ 0.0673415 0.99754504 0.01921001 -0.10809469] [ 0.07131222 -0.02401678 0.99716486 0.22261699] [ 0. 0. 0. 1. ]] SLAMing on 97.60538475 meters Centerline goodness : 0.931382 Centerline is valid? [False, False] Translation: X:15.78, Y:-0.11, Z:0.22 [[ 0.99512623 -0.06592211 -0.07333529 15.7827137 ] [ 0.06751458 0.9975287 0.01944942 -0.10862627] [ 0.07187191 -0.02430583 0.99711767 0.22264138] [ 0. 0. 0. 1. ]] SLAMing on 97.63538474999999 meters Centerline goodness : 0.930273 Centerline is valid? [False, False] Translation: X:15.80, Y:-0.11, Z:0.22 [[ 9.94768717e-01 -6.58976630e-02 -7.80557320e-02 1.58004979e+01] [ 6.69902956e-02 9.97687806e-01 1.14604736e-02 -1.10895944e-01] [ 7.71200336e-02 -1.66294972e-02 9.96883123e-01 2.24537248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66538474999999 meters Centerline goodness : 0.929778 Centerline is valid? [False, False] Translation: X:15.80, Y:-0.11, Z:0.22 [[ 9.94640081e-01 -6.65321071e-02 -7.91491447e-02 1.58043435e+01] [ 6.76436781e-02 9.97643911e-01 1.14437365e-02 -1.11820754e-01] [ 7.82012864e-02 -1.67363383e-02 9.96797098e-01 2.23771878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69538474999999 meters Centerline goodness : 0.931613 Centerline is valid? [False, False] Translation: X:15.81, Y:-0.11, Z:0.22 [[ 9.94574493e-01 -6.68558054e-02 -7.96986820e-02 1.58068273e+01] [ 6.79507922e-02 9.97626879e-01 1.11040255e-02 -1.11406679e-01] [ 7.87671789e-02 -1.64593691e-02 9.96757152e-01 2.22420143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72538474999999 meters Centerline goodness : 0.929744 Centerline is valid? [False, False] Translation: X:15.81, Y:-0.11, Z:0.22 [[ 9.94407650e-01 -6.77975862e-02 -8.09747623e-02 1.58119594e+01] [ 6.88948995e-02 9.97565117e-01 1.08318709e-02 -1.12394096e-01] [ 8.00432235e-02 -1.63500434e-02 9.96657292e-01 2.20770275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75538474999999 meters Centerline goodness : 0.931025 Centerline is valid? [False, False] Translation: X:15.81, Y:-0.11, Z:0.22 [[ 9.94367368e-01 -6.77501763e-02 -8.15073640e-02 1.58133313e+01] [ 6.88983587e-02 9.97559066e-01 1.13545201e-02 -1.13705950e-01] [ 8.05391392e-02 -1.69062878e-02 9.96608060e-01 2.21130096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.78538474999999 meters Centerline goodness : 0.928902 Centerline is valid? [False, False] Translation: X:15.83, Y:-0.11, Z:0.22 [[ 9.94683629e-01 -6.70493130e-02 -7.81592443e-02 1.58304998e+01] [ 6.76633443e-02 9.97694494e-01 5.23150538e-03 -1.13869625e-01] [ 7.76282789e-02 -1.04922086e-02 9.96927161e-01 2.20480816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81538474999999 meters Centerline goodness : 0.928088 Centerline is valid? [False, False] Translation: X:15.83, Y:-0.12, Z:0.22 [[ 9.94651351e-01 -6.68397925e-02 -7.87472722e-02 1.58307252e+01] [ 6.75680019e-02 9.97692732e-01 6.61647240e-03 -1.16437798e-01] [ 7.81233375e-02 -1.19018790e-02 9.96872655e-01 2.22967669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.84538475 meters Centerline goodness : 0.928088 Centerline is valid? [False, False] Translation: X:15.83, Y:-0.12, Z:0.22 [[ 9.94651351e-01 -6.68397925e-02 -7.87472722e-02 1.58307252e+01] [ 6.75680019e-02 9.97692732e-01 6.61647240e-03 -1.16437798e-01] [ 7.81233375e-02 -1.19018790e-02 9.96872655e-01 2.22967669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.87538475 meters Centerline goodness : 0.931821 Centerline is valid? [False, False] Translation: X:15.85, Y:-0.12, Z:0.22 [[ 9.94848188e-01 -6.67828631e-02 -7.62701296e-02 1.58513957e+01] [ 6.71775062e-02 9.97737606e-01 2.61762170e-03 -1.15501719e-01] [ 7.59227642e-02 -7.72777331e-03 9.97083755e-01 2.24183911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.90538475 meters Centerline goodness : 0.931166 Centerline is valid? [False, False] Translation: X:15.85, Y:-0.12, Z:0.23 [[ 9.94979882e-01 -6.34861379e-02 -7.73598442e-02 1.58537428e+01] [ 6.42566231e-02 9.97905156e-01 7.50910152e-03 -1.17663477e-01] [ 7.67210635e-02 -1.24422873e-02 9.96974959e-01 2.25883955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.93538475 meters Centerline goodness : 0.929138 Centerline is valid? [False, False] Translation: X:15.87, Y:-0.12, Z:0.23 [[ 9.95138954e-01 -6.31203332e-02 -7.55928975e-02 1.58749027e+01] [ 6.35096869e-02 9.97977418e-01 2.75549978e-03 -1.17018446e-01] [ 7.52660766e-02 -7.54298642e-03 9.97134956e-01 2.25515308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.96538475 meters Centerline goodness : 0.929198 Centerline is valid? [False, False] Translation: X:15.88, Y:-0.12, Z:0.23 [[ 9.95130105e-01 -6.28106813e-02 -7.59663941e-02 1.58755673e+01] [ 6.32511936e-02 9.97991832e-01 3.40440005e-03 -1.17783136e-01] [ 7.56000082e-02 -8.19278608e-03 9.97104567e-01 2.26096428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99538474999999 meters Centerline goodness : 0.927190 Centerline is valid? [False, False] Translation: X:15.88, Y:-0.12, Z:0.23 [[ 9.95021853e-01 -6.32716920e-02 -7.69948339e-02 1.58784812e+01] [ 6.37979906e-02 9.97953166e-01 4.39262554e-03 -1.21134298e-01] [ 7.65593094e-02 -9.28287409e-03 9.97021815e-01 2.27006646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02538474999999 meters Centerline goodness : 0.932737 Centerline is valid? [False, False] Translation: X:15.88, Y:-0.12, Z:0.23 [[ 9.94983896e-01 -6.31854907e-02 -7.75541098e-02 1.58796839e+01] [ 6.37685478e-02 9.97951875e-01 5.06226218e-03 -1.23019059e-01] [ 7.70754079e-02 -9.98238231e-03 9.96975292e-01 2.27632976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05538474999999 meters Centerline goodness : 0.927608 Centerline is valid? [False, False] Translation: X:15.88, Y:-0.13, Z:0.23 [[ 9.95021415e-01 -6.07784091e-02 -7.89833420e-02 1.58844479e+01] [ 6.16631269e-02 9.98058147e-01 8.80876220e-03 -1.25990151e-01] [ 7.82945854e-02 -1.36352669e-02 9.96837016e-01 2.27382821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08538474999999 meters Centerline goodness : 0.927006 Centerline is valid? [False, False] Translation: X:15.89, Y:-0.13, Z:0.23 [[ 9.94996613e-01 -6.06790538e-02 -7.93712339e-02 1.58855316e+01] [ 6.15811074e-02 9.98061822e-01 8.96478937e-03 -1.26487245e-01] [ 7.86734234e-02 -1.38077035e-02 9.96804815e-01 2.27186713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11538474999999 meters Centerline goodness : 0.926318 Centerline is valid? [False, False] Translation: X:15.89, Y:-0.13, Z:0.23 [[ 9.94781506e-01 -6.22447969e-02 -8.08414581e-02 1.58908418e+01] [ 6.31641543e-02 9.97963797e-01 8.86276271e-03 -1.27314936e-01] [ 8.01251877e-02 -1.39227948e-02 9.96687569e-01 2.26726940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.14538474999999 meters Centerline goodness : 0.928804 Centerline is valid? [False, False] Translation: X:15.89, Y:-0.13, Z:0.23 [[ 9.94727054e-01 -6.24649972e-02 -8.13401002e-02 1.58922987e+01] [ 6.33847144e-02 9.97950616e-01 8.77190765e-03 -1.27135470e-01] [ 8.06254659e-02 -1.38813729e-02 9.96647802e-01 2.26510399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17538474999999 meters Centerline goodness : 0.926118 Centerline is valid? [False, False] Translation: X:15.90, Y:-0.13, Z:0.23 [[ 9.94498438e-01 -6.45579023e-02 -8.24932376e-02 1.58970026e+01] [ 6.55213767e-02 9.97810367e-01 9.02331633e-03 -1.29189958e-01] [ 8.17300813e-02 -1.43787445e-02 9.96550774e-01 2.26987220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.20538475 meters Centerline goodness : 0.925683 Centerline is valid? [False, False] Translation: X:15.90, Y:-0.13, Z:0.23 [[ 9.94371903e-01 -6.55097431e-02 -8.32645940e-02 1.59001155e+01] [ 6.64697423e-02 9.97749571e-01 8.80717699e-03 -1.29020935e-01] [ 8.25002570e-02 -1.42921854e-02 9.96488555e-01 2.26316065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.23538475 meters Centerline goodness : 0.920495 Centerline is valid? [False, False] Translation: X:15.91, Y:-0.13, Z:0.23 [[ 9.94347950e-01 -6.41506525e-02 -8.45981608e-02 1.59061588e+01] [ 6.53773565e-02 9.97790749e-01 1.18077366e-02 -1.29945761e-01] [ 8.36537882e-02 -1.72718028e-02 9.96345185e-01 2.25021886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.26538475 meters Centerline goodness : 0.923715 Centerline is valid? [False, False] Translation: X:15.92, Y:-0.13, Z:0.22 [[ 9.94786048e-01 -6.23883003e-02 -8.06747758e-02 1.59198006e+01] [ 6.28138310e-02 9.98021486e-01 2.74507697e-03 -1.27568833e-01] [ 8.03438990e-02 -7.79825600e-03 9.96736698e-01 2.20737738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.29538475 meters Centerline goodness : 0.928750 Centerline is valid? [False, False] Translation: X:15.94, Y:-0.13, Z:0.22 [[ 9.95144600e-01 -6.17108635e-02 -7.66746065e-02 1.59360303e+01] [ 6.16177882e-02 9.98093394e-01 -3.58131658e-03 -1.27269852e-01] [ 7.67494244e-02 -1.16059181e-03 9.97049737e-01 2.20437969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.32538475 meters Centerline goodness : 0.929230 Centerline is valid? [False, False] Translation: X:15.94, Y:-0.13, Z:0.22 [[ 9.95269923e-01 -5.80832549e-02 -7.78724305e-02 1.59378926e+01] [ 5.84094549e-02 9.98290872e-01 1.91583237e-03 -1.30282801e-01] [ 7.76280588e-02 -6.45525655e-03 9.96961491e-01 2.23204731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.35538475 meters Centerline goodness : 0.930191 Centerline is valid? [False, False] Translation: X:15.95, Y:-0.13, Z:0.23 [[ 9.95131153e-01 -5.67505835e-02 -8.05813843e-02 1.59455972e+01] [ 5.76126411e-02 9.98303575e-01 8.41166493e-03 -1.32225601e-01] [ 7.99673171e-02 -1.30132162e-02 9.96712538e-01 2.28396225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.38538474999999 meters Centerline goodness : 0.930539 Centerline is valid? [False, False] Translation: X:15.96, Y:-0.13, Z:0.23 [[ 9.95544372e-01 -5.57838225e-02 -7.60234726e-02 1.59615871e+01] [ 5.60267706e-02 9.98428699e-01 1.06502387e-03 -1.29279954e-01] [ 7.58446057e-02 -5.31962818e-03 9.97105459e-01 2.25033083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41538474999999 meters Centerline goodness : 0.928655 Centerline is valid? [False, False] Translation: X:15.96, Y:-0.13, Z:0.23 [[ 9.95649400e-01 -5.21157977e-02 -7.72412791e-02 1.59637326e+01] [ 5.27007672e-02 9.98594910e-01 5.55294908e-03 -1.29217168e-01] [ 7.68433518e-02 -9.59946509e-03 9.96996966e-01 2.26606057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44538474999999 meters Centerline goodness : 0.928277 Centerline is valid? [False, False] Translation: X:15.97, Y:-0.13, Z:0.23 [[ 9.95697830e-01 -4.90187971e-02 -7.86319894e-02 1.59669121e+01] [ 4.99273754e-02 9.98706428e-01 9.62956145e-03 -1.29461982e-01] [ 7.80582437e-02 -1.35140223e-02 9.96857202e-01 2.27577175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47538474999999 meters Centerline goodness : 0.930367 Centerline is valid? [False, False] Translation: X:15.99, Y:-0.13, Z:0.23 [[ 9.95949561e-01 -5.09351962e-02 -7.40950604e-02 1.59880866e+01] [ 5.13980982e-02 9.98668758e-01 4.35284345e-03 -1.25872099e-01] [ 7.37747091e-02 -8.14355771e-03 9.97241683e-01 2.27845990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.50538474999999 meters Centerline goodness : 0.931774 Centerline is valid? [False, False] Translation: X:15.99, Y:-0.13, Z:0.23 [[ 9.95961018e-01 -4.82974797e-02 -7.56901886e-02 1.59916147e+01] [ 4.91226705e-02 9.98751501e-01 9.07759028e-03 -1.26942044e-01] [ 7.51572647e-02 -1.27590302e-02 9.97090062e-01 2.30353355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53538474999999 meters Centerline goodness : 0.931889 Centerline is valid? [False, False] Translation: X:15.99, Y:-0.13, Z:0.23 [[ 9.96016670e-01 -4.48955183e-02 -7.70401552e-02 1.59944054e+01] [ 4.60055808e-02 9.98860522e-01 1.26942178e-02 -1.25201479e-01] [ 7.63824562e-02 -1.61879296e-02 9.96947176e-01 2.30977268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.56538474999999 meters Centerline goodness : 0.931093 Centerline is valid? [False, False] Translation: X:16.01, Y:-0.12, Z:0.23 [[ 9.96425452e-01 -4.30817703e-02 -7.26655262e-02 1.60098237e+01] [ 4.35161781e-02 9.99043012e-01 4.40492108e-03 -1.20747422e-01] [ 7.24062144e-02 -7.55130146e-03 9.97346639e-01 2.25973921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.59538475 meters Centerline goodness : 0.930570 Centerline is valid? [False, False] Translation: X:16.01, Y:-0.12, Z:0.23 [[ 9.96502680e-01 -3.92349564e-02 -7.37768793e-02 1.60123552e+01] [ 3.99233532e-02 9.99171682e-01 7.87876989e-03 -1.19873458e-01] [ 7.34066455e-02 -1.07966357e-02 9.97243650e-01 2.25740418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.62538475 meters Centerline goodness : 0.929534 Centerline is valid? [False, False] Translation: X:16.03, Y:-0.12, Z:0.22 [[ 9.96902785e-01 -3.71634918e-02 -6.93088160e-02 1.60272796e+01] [ 3.72546042e-02 9.99305806e-01 2.20099941e-05 -1.16830063e-01] [ 6.92598843e-02 -2.60401433e-03 9.97595252e-01 2.21281639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.65538475 meters Centerline goodness : 0.934142 Centerline is valid? [False, False] Translation: X:16.03, Y:-0.12, Z:0.22 [[ 9.96893986e-01 -3.64475944e-02 -6.98137042e-02 1.60273163e+01] [ 3.66002224e-02 9.99329575e-01 9.07881452e-04 -1.17629557e-01] [ 6.97338092e-02 -3.46025866e-03 9.97559634e-01 2.22873788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.68538475 meters Centerline goodness : 0.933596 Centerline is valid? [False, False] Translation: X:16.03, Y:-0.12, Z:0.22 [[ 9.96902713e-01 -3.36810918e-02 -7.10673287e-02 1.60306491e+01] [ 3.41158081e-02 9.99405817e-01 4.91171740e-03 -1.18995492e-01] [ 7.08596696e-02 -7.32102375e-03 9.97459428e-01 2.23627056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.71538475 meters Centerline goodness : 0.933675 Centerline is valid? [False, False] Translation: X:16.04, Y:-0.12, Z:0.22 [[ 9.96843446e-01 -3.22911925e-02 -7.25287692e-02 1.60361896e+01] [ 3.30053461e-02 9.99417575e-01 8.66935472e-03 -1.20543188e-01] [ 7.22065828e-02 -1.10358266e-02 9.97328642e-01 2.24276572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74538474999999 meters Centerline goodness : 0.932894 Centerline is valid? [False, False] Translation: X:16.04, Y:-0.12, Z:0.22 [[ 9.96805490e-01 -3.26473341e-02 -7.28901037e-02 1.60378101e+01] [ 3.33576026e-02 9.99406925e-01 8.54806800e-03 -1.20700343e-01] [ 7.25678027e-02 -1.09522002e-02 9.97303346e-01 2.23687447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77538474999999 meters Centerline goodness : 0.931650 Centerline is valid? [False, False] Translation: X:16.04, Y:-0.12, Z:0.23 [[ 9.96714155e-01 -3.12923520e-02 -7.47106601e-02 1.60437653e+01] [ 3.23746575e-02 9.99387048e-01 1.33194926e-02 -1.23044884e-01] [ 7.42480678e-02 -1.56944588e-02 9.97116296e-01 2.26210326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80538474999999 meters Centerline goodness : 0.931629 Centerline is valid? [False, False] Translation: X:16.06, Y:-0.12, Z:0.22 [[ 9.97054643e-01 -3.17272019e-02 -6.98242339e-02 1.60584922e+01] [ 3.20286872e-02 9.99481820e-01 3.20217912e-03 -1.20385218e-01] [ 6.96864563e-02 -5.42912610e-03 9.97554170e-01 2.21411407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83538474999999 meters Centerline goodness : 0.933364 Centerline is valid? [False, False] Translation: X:16.06, Y:-0.12, Z:0.23 [[ 9.96878958e-01 -3.33384423e-02 -7.15604049e-02 1.60630338e+01] [ 3.37925877e-02 9.99415626e-01 5.14473655e-03 -1.23485863e-01] [ 7.13470693e-02 -7.54689086e-03 9.97423000e-01 2.25094235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.86538474999999 meters Centerline goodness : 0.932395 Centerline is valid? [False, False] Translation: X:16.06, Y:-0.12, Z:0.22 [[ 9.96845716e-01 -3.33689112e-02 -7.20078721e-02 1.60645348e+01] [ 3.38542003e-02 9.99411488e-01 5.52913638e-03 -1.23979374e-01] [ 7.17809933e-02 -7.94946484e-03 9.97388738e-01 2.24946948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89538474999999 meters Centerline goodness : 0.929413 Centerline is valid? [False, False] Translation: X:16.07, Y:-0.13, Z:0.23 [[ 9.96826995e-01 -3.11815130e-02 -7.32369785e-02 1.60693050e+01] [ 3.19849023e-02 9.99440087e-01 9.82235940e-03 -1.26093506e-01] [ 7.28896961e-02 -1.21336706e-02 9.97266196e-01 2.25395543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.92538474999999 meters Centerline goodness : 0.927804 Centerline is valid? [False, False] Translation: X:16.07, Y:-0.13, Z:0.23 [[ 9.96747149e-01 -3.18376027e-02 -7.40370770e-02 1.60717828e+01] [ 3.26702608e-02 9.99415530e-01 1.00624539e-02 -1.27295932e-01] [ 7.36734402e-02 -1.24485328e-02 9.97204722e-01 2.25534886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95538475 meters Centerline goodness : 0.930009 Centerline is valid? [False, False] Translation: X:16.07, Y:-0.13, Z:0.23 [[ 9.96649177e-01 -3.26546275e-02 -7.49939489e-02 1.60747109e+01] [ 3.35111720e-02 9.99386380e-01 1.01913825e-02 -1.29647926e-01] [ 7.46151354e-02 -1.26703681e-02 9.97131909e-01 2.25722764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.98538475 meters Centerline goodness : 0.932937 Centerline is valid? [False, False] Translation: X:16.08, Y:-0.13, Z:0.23 [[ 9.96586315e-01 -3.28918375e-02 -7.57221459e-02 1.60764928e+01] [ 3.37635913e-02 9.99377172e-01 1.02609546e-02 -1.30520901e-01] [ 7.53374824e-02 -1.27825785e-02 9.97076160e-01 2.25803155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.01538475 meters Centerline goodness : 0.937933 Centerline is valid? [False, False] Translation: X:16.08, Y:-0.13, Z:0.23 [[ 9.96498614e-01 -3.32435817e-02 -7.67162062e-02 1.60791880e+01] [ 3.41229109e-02 9.99365801e-01 1.01795290e-02 -1.30663447e-01] [ 7.63291488e-02 -1.27616668e-02 9.97001003e-01 2.25610209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.04538475 meters Centerline goodness : 0.933444 Centerline is valid? [False, False] Translation: X:16.08, Y:-0.13, Z:0.23 [[ 9.96398987e-01 -3.42431214e-02 -7.75658966e-02 1.60822426e+01] [ 3.51125408e-02 9.99334601e-01 9.87243206e-03 -1.30536526e-01] [ 7.71762214e-02 -1.25604170e-02 9.96938347e-01 2.25128693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.07538475 meters Centerline goodness : 0.933604 Centerline is valid? [False, False] Translation: X:16.09, Y:-0.13, Z:0.23 [[ 9.96134278e-01 -3.75347842e-02 -7.94206573e-02 1.60894151e+01] [ 3.84127367e-02 9.99216273e-01 9.55515343e-03 -1.31319514e-01] [ 7.89997626e-02 -1.25689807e-02 9.96795394e-01 2.25648981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.10538475 meters Centerline goodness : 0.932493 Centerline is valid? [False, False] Translation: X:16.09, Y:-0.13, Z:0.22 [[ 9.96025024e-01 -3.85876315e-02 -8.02816651e-02 1.60932470e+01] [ 3.94116375e-02 9.99185148e-01 8.70421663e-03 -1.29758487e-01] [ 7.98803723e-02 -1.18336495e-02 9.96734213e-01 2.23768116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13538474999999 meters Centerline goodness : 0.924264 Centerline is valid? [False, False] Translation: X:16.10, Y:-0.13, Z:0.22 [[ 9.95884915e-01 -3.96447560e-02 -8.14955790e-02 1.60981074e+01] [ 4.04343214e-02 9.99149686e-01 8.06037897e-03 -1.28657017e-01] [ 8.11067305e-02 -1.13224283e-02 9.96641109e-01 2.21811640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.16538474999999 meters Centerline goodness : 0.924703 Centerline is valid? [False, False] Translation: X:16.10, Y:-0.13, Z:0.22 [[ 9.95791745e-01 -4.02277659e-02 -8.23439572e-02 1.61002952e+01] [ 4.10546708e-02 9.99121818e-01 8.37297222e-03 -1.29757570e-01] [ 8.19348183e-02 -1.17183407e-02 9.96568796e-01 2.22501299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19538474999999 meters Centerline goodness : 0.927762 Centerline is valid? [False, False] Translation: X:16.10, Y:-0.13, Z:0.22 [[ 9.95677762e-01 -4.08713689e-02 -8.33985886e-02 1.61026889e+01] [ 4.18013878e-02 9.99081388e-01 9.43527095e-03 -1.32013812e-01] [ 8.29363452e-02 -1.28806662e-02 9.96471601e-01 2.24586958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22538474999999 meters Centerline goodness : 0.930091 Centerline is valid? [False, False] Translation: X:16.11, Y:-0.13, Z:0.22 [[ 9.96416785e-01 -4.45589088e-02 -7.18894606e-02 1.61105638e+01] [ 4.51702881e-02 9.98955469e-01 6.90042170e-03 -1.30503680e-01] [ 7.15068946e-02 -1.01229636e-02 9.97388735e-01 2.18445682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25538474999999 meters Centerline goodness : 0.934266 Centerline is valid? [False, False] Translation: X:16.11, Y:-0.13, Z:0.22 [[ 9.96307059e-01 -4.50970107e-02 -7.30650665e-02 1.61132103e+01] [ 4.57975016e-02 9.98919192e-01 7.93956287e-03 -1.32794962e-01] [ 7.26280467e-02 -1.12564400e-02 9.97295573e-01 2.20323965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.28538474999999 meters Centerline goodness : 0.933417 Centerline is valid? [False, False] Translation: X:16.11, Y:-0.13, Z:0.22 [[ 9.96274445e-01 -4.50984981e-02 -7.35075266e-02 1.61142623e+01] [ 4.58330793e-02 9.98914327e-01 8.33642199e-03 -1.33574013e-01] [ 7.30517613e-02 -1.16744405e-02 9.97259820e-01 2.20633493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31538474999999 meters Centerline goodness : 0.930865 Centerline is valid? [False, False] Translation: X:16.12, Y:-0.13, Z:0.22 [[ 9.96201780e-01 -4.55609091e-02 -7.42038845e-02 1.61167374e+01] [ 4.63170321e-02 9.98890625e-01 8.50015937e-03 -1.34322523e-01] [ 7.37342895e-02 -1.19047776e-02 9.97206865e-01 2.20315044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.34538475 meters Centerline goodness : 0.932558 Centerline is valid? [False, False] Translation: X:16.12, Y:-0.14, Z:0.22 [[ 9.96194658e-01 -4.29366595e-02 -7.58462064e-02 1.61206166e+01] [ 4.40705296e-02 9.98939368e-01 1.33389228e-02 -1.36457046e-01] [ 7.51930328e-02 -1.66307462e-02 9.97030304e-01 2.22625703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.37538475 meters Centerline goodness : 0.933195 Centerline is valid? [False, False] Translation: X:16.12, Y:-0.14, Z:0.22 [[ 9.96100577e-01 -4.34711840e-02 -7.67717124e-02 1.61231387e+01] [ 4.46174551e-02 9.98915894e-01 1.32785394e-02 -1.36993898e-01] [ 7.61112498e-02 -1.66521192e-02 9.96960272e-01 2.22755355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.40538475 meters Centerline goodness : 0.931977 Centerline is valid? [False, False] Translation: X:16.14, Y:-0.13, Z:0.22 [[ 9.96441735e-01 -4.35772069e-02 -7.21449650e-02 1.61389747e+01] [ 4.39714083e-02 9.99025240e-01 3.88408084e-03 -1.33982148e-01] [ 7.19053835e-02 -7.04257596e-03 9.97386594e-01 2.18001669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.43538475 meters Centerline goodness : 0.929483 Centerline is valid? [False, False] Translation: X:16.14, Y:-0.13, Z:0.22 [[ 9.96414477e-01 -4.34327985e-02 -7.26070351e-02 1.61400426e+01] [ 4.38615921e-02 9.99028273e-01 4.32095537e-03 -1.33837126e-01] [ 7.23488097e-02 -7.49012264e-03 9.97351266e-01 2.18380144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.46538475 meters Centerline goodness : 0.929749 Centerline is valid? [False, False] Translation: X:16.14, Y:-0.14, Z:0.22 [[ 9.96406015e-01 -4.09537195e-02 -7.41474687e-02 1.61443180e+01] [ 4.16935275e-02 9.99094658e-01 8.45665011e-03 -1.35191819e-01] [ 7.37340085e-02 -1.15177266e-02 9.97211431e-01 2.19330192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49538474999999 meters Centerline goodness : 0.929822 Centerline is valid? [False, False] Translation: X:16.15, Y:-0.13, Z:0.22 [[ 9.96307465e-01 -4.14875514e-02 -7.51679352e-02 1.61473294e+01] [ 4.22279616e-02 9.99073634e-01 8.28697251e-03 -1.34616783e-01] [ 7.47544959e-02 -1.14305613e-02 9.97136454e-01 2.18974701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.52538474999999 meters Centerline goodness : 0.929463 Centerline is valid? [False, False] Translation: X:16.15, Y:-0.13, Z:0.22 [[ 9.96236681e-01 -4.19087508e-02 -7.58691791e-02 1.61493243e+01] [ 4.26507298e-02 9.99056513e-01 8.18528723e-03 -1.34331182e-01] [ 7.54545624e-02 -1.13903592e-02 9.97084183e-01 2.18882996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55538474999999 meters Centerline goodness : 0.930130 Centerline is valid? [False, False] Translation: X:16.15, Y:-0.13, Z:0.22 [[ 9.96175250e-01 -4.13079806e-02 -7.69968911e-02 1.61542654e+01] [ 4.21647235e-02 9.99065182e-01 9.53400584e-03 -1.33949012e-01] [ 7.65310825e-02 -1.27440933e-02 9.96985748e-01 2.17468148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58538474999999 meters Centerline goodness : 0.932290 Centerline is valid? [False, False] Translation: X:16.16, Y:-0.13, Z:0.22 [[ 9.96111893e-01 -4.16284548e-02 -7.76412815e-02 1.61560900e+01] [ 4.24782822e-02 9.99053867e-01 9.32562373e-03 -1.33566583e-01] [ 7.71796112e-02 -1.25874330e-02 9.96937743e-01 2.17253168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61538474999999 meters Centerline goodness : 0.931583 Centerline is valid? [False, False] Translation: X:16.16, Y:-0.13, Z:0.22 [[ 9.96067657e-01 -4.09551412e-02 -7.85614337e-02 1.61606165e+01] [ 4.19450836e-02 9.99059454e-01 1.09916544e-02 -1.33558006e-01] [ 7.80373783e-02 -1.42436973e-02 9.96848677e-01 2.16092910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.64538474999999 meters Centerline goodness : 0.931257 Centerline is valid? [False, False] Translation: X:16.16, Y:-0.13, Z:0.22 [[ 9.95992609e-01 -4.15332473e-02 -7.92067717e-02 1.61628814e+01] [ 4.25067747e-02 9.99039478e-01 1.06440359e-02 -1.32842845e-01] [ 7.86886104e-02 -1.39682055e-02 9.96801380e-01 2.15487718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67538474999999 meters Centerline goodness : 0.932110 Centerline is valid? [False, False] Translation: X:16.17, Y:-0.13, Z:0.22 [[ 9.95857886e-01 -4.24889097e-02 -8.03850947e-02 1.61662362e+01] [ 4.34974479e-02 9.98994768e-01 1.08363120e-02 -1.33883599e-01] [ 7.98438660e-02 -1.42879733e-02 9.96704977e-01 2.16075272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.70538475 meters Centerline goodness : 0.933672 Centerline is valid? [False, False] Translation: X:16.17, Y:-0.14, Z:0.22 [[ 9.95721085e-01 -4.30859889e-02 -8.17503373e-02 1.61690651e+01] [ 4.42113005e-02 9.98950075e-01 1.20045040e-02 -1.36056944e-01] [ 8.11472796e-02 -1.55674265e-02 9.96580541e-01 2.18449391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.73538475 meters Centerline goodness : 0.933672 Centerline is valid? [False, False] Translation: X:16.17, Y:-0.14, Z:0.22 [[ 9.95721085e-01 -4.30859889e-02 -8.17503373e-02 1.61690651e+01] [ 4.42113005e-02 9.98950075e-01 1.20045040e-02 -1.36056944e-01] [ 8.11472796e-02 -1.55674265e-02 9.96580541e-01 2.18449391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.76538475 meters Centerline goodness : 0.932785 Centerline is valid? [False, False] Translation: X:16.17, Y:-0.14, Z:0.22 [[ 0.99567841 -0.04067677 -0.08348595 16.17356641] [ 0.04221896 0.99896729 0.01679023 -0.13814135] [ 0.08271676 -0.02024236 0.99636749 0.22073879] [ 0. 0. 0. 1. ]] SLAMing on 99.79538475 meters Centerline goodness : 0.938233 Centerline is valid? [False, False] Translation: X:16.18, Y:-0.14, Z:0.22 [[ 0.99559092 -0.04132224 -0.08420927 16.17569355] [ 0.04288021 0.99893935 0.0167766 -0.13877806] [ 0.08342671 -0.02031354 0.99630685 0.22089742] [ 0. 0. 0. 1. ]] SLAMing on 99.82538475 meters Centerline goodness : 0.936581 Centerline is valid? [False, False] Translation: X:16.18, Y:-0.14, Z:0.22 [[ 0.99548747 -0.04074127 -0.08570206 16.1818367 ] [ 0.04258402 0.99889699 0.0197839 -0.13960374] [ 0.08480151 -0.02334416 0.99612437 0.22129592] [ 0. 0. 0. 1. ]] SLAMing on 99.85538475 meters Centerline goodness : 0.937299 Centerline is valid? [False, False] Translation: X:16.18, Y:-0.14, Z:0.22 [[ 0.99539869 -0.04137596 -0.08642609 16.1841641 ] [ 0.04319476 0.99888061 0.01928072 -0.13878839] [ 0.08553158 -0.02292515 0.99607168 0.22075336] [ 0. 0. 0. 1. ]] SLAMing on 99.88538474999999 meters Centerline goodness : 0.938679 Centerline is valid? [False, False] Translation: X:16.19, Y:-0.14, Z:0.22 [[ 0.99531059 -0.0416759 -0.08729236 16.186404 ] [ 0.04343643 0.99888736 0.01836605 -0.13677224] [ 0.08642981 -0.02207159 0.99601342 0.21975794] [ 0. 0. 0. 1. ]] SLAMing on 99.91538474999999 meters Centerline goodness : 0.941178 Centerline is valid? [False, False] Translation: X:16.20, Y:-0.13, Z:0.21 [[ 9.95767826e-01 -4.13015374e-02 -8.21012756e-02 1.62008428e+01] [ 4.21162844e-02 9.99078934e-01 8.21601158e-03 -1.32374811e-01] [ 8.16863210e-02 -1.16390407e-02 9.96590125e-01 2.13865220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94538474999999 meters Centerline goodness : 0.941820 Centerline is valid? [False, False] Translation: X:16.22, Y:-0.13, Z:0.21 [[ 9.96241832e-01 -3.90729098e-02 -7.73014806e-02 1.62162376e+01] [ 3.92874742e-02 9.99227159e-01 1.25628429e-03 -1.27990439e-01] [ 7.71926522e-02 -4.28854288e-03 9.97006972e-01 2.10545418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97538474999999 meters Centerline goodness : 0.943693 Centerline is valid? [False, False] Translation: X:16.22, Y:-0.13, Z:0.21 [[ 9.96180497e-01 -3.89726141e-02 -7.81380392e-02 1.62162674e+01] [ 3.92949096e-02 9.99224298e-01 2.59079445e-03 -1.27671106e-01] [ 7.79764573e-02 -5.65132609e-03 9.96939183e-01 2.14409427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.00538474999999 meters Centerline goodness : 0.941988 Centerline is valid? [False, False] Translation: X:16.22, Y:-0.13, Z:0.21 [[ 9.96124395e-01 -3.92725334e-02 -7.87010723e-02 1.62176985e+01] [ 3.95989627e-02 9.99212295e-01 2.59074682e-03 -1.26167894e-01] [ 7.85373339e-02 -5.69718694e-03 9.96894894e-01 2.14730124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03538474999999 meters Centerline goodness : 0.942024 Centerline is valid? [False, False] Translation: X:16.22, Y:-0.12, Z:0.21 [[ 9.96037489e-01 -3.97311943e-02 -7.95660223e-02 1.62199220e+01] [ 4.00428661e-02 9.99195258e-01 2.32479763e-03 -1.24023661e-01] [ 7.94096253e-02 -5.50163718e-03 9.96826887e-01 2.14903031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.06538474999999 meters Centerline goodness : 0.942037 Centerline is valid? [False, False] Translation: X:16.22, Y:-0.12, Z:0.22 [[ 9.96073806e-01 -3.63479743e-02 -8.07204891e-02 1.62224354e+01] [ 3.69730098e-02 9.99296647e-01 6.26157845e-03 -1.23884239e-01] [ 8.04361184e-02 -9.22147371e-03 9.96717109e-01 2.15567209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.09538475 meters Centerline goodness : 0.938678 Centerline is valid? [False, False] Translation: X:16.23, Y:-0.12, Z:0.22 [[ 9.96093326e-01 -3.30519150e-02 -8.18880787e-02 1.62254047e+01] [ 3.39805864e-02 9.99372735e-01 9.97278918e-03 -1.23408162e-01] [ 8.15070934e-02 -1.27164337e-02 9.96591635e-01 2.15740112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.12538475 meters Centerline goodness : 0.936929 Centerline is valid? [False, False] Translation: X:16.24, Y:-0.12, Z:0.21 [[ 9.96474467e-01 -3.11277401e-02 -7.79082799e-02 1.62435419e+01] [ 3.14466782e-02 9.99501310e-01 2.86997597e-03 -1.18790004e-01] [ 7.77800920e-02 -5.30981438e-03 9.96956400e-01 2.11170914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.15538475 meters Centerline goodness : 0.939783 Centerline is valid? [False, False] Translation: X:16.24, Y:-0.12, Z:0.21 [[ 9.96412016e-01 -3.09456091e-02 -7.87747665e-02 1.62446684e+01] [ 3.12829045e-02 9.99505914e-01 3.05101076e-03 -1.17732383e-01] [ 7.86414296e-02 -5.50436728e-03 9.96887771e-01 2.12237897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.18538475 meters Centerline goodness : 0.937772 Centerline is valid? [False, False] Translation: X:16.25, Y:-0.12, Z:0.21 [[ 9.96314902e-01 -3.15982765e-02 -7.97381002e-02 1.62465942e+01] [ 3.19631610e-02 9.99483588e-01 3.30349982e-03 -1.17873678e-01] [ 7.95925377e-02 -5.84000783e-03 9.96810374e-01 2.13589989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.21538475 meters Centerline goodness : 0.939050 Centerline is valid? [False, False] Translation: X:16.25, Y:-0.12, Z:0.21 [[ 9.96201043e-01 -3.00034034e-02 -8.17513107e-02 1.62529646e+01] [ 3.06604911e-02 9.99506767e-01 6.79387877e-03 -1.17117800e-01] [ 8.15071488e-02 -9.27460446e-03 9.96629603e-01 2.14192669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.24538474999999 meters Centerline goodness : 0.936726 Centerline is valid? [False, False] Translation: X:16.26, Y:-0.12, Z:0.21 [[ 9.96124741e-01 -3.04273309e-02 -8.25207677e-02 1.62554285e+01] [ 3.10588793e-02 9.99497194e-01 6.38004639e-03 -1.15517789e-01] [ 8.22851480e-02 -8.91832463e-03 9.96568923e-01 2.13442637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27538474999999 meters Centerline goodness : 0.933197 Centerline is valid? [False, False] Translation: X:16.26, Y:-0.12, Z:0.22 [[ 9.96066620e-01 -2.71808375e-02 -8.43355866e-02 1.62589181e+01] [ 2.82382866e-02 9.99536543e-01 1.13709335e-02 -1.16544921e-01] [ 8.39874292e-02 -1.37076997e-02 9.96372526e-01 2.16420546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30538474999999 meters Centerline goodness : 0.932563 Centerline is valid? [False, False] Translation: X:16.27, Y:-0.11, Z:0.21 [[ 9.96523027e-01 -2.62348499e-02 -7.90796331e-02 1.62723158e+01] [ 2.65546525e-02 9.99642876e-01 2.99497987e-03 -1.13954173e-01] [ 7.89728191e-02 -5.08449859e-03 9.96863803e-01 2.13426976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33538474999999 meters Centerline goodness : 0.937386 Centerline is valid? [False, False] Translation: X:16.27, Y:-0.12, Z:0.22 [[ 9.96496294e-01 -2.28286791e-02 -8.04610868e-02 1.62747076e+01] [ 2.35249038e-02 9.99693478e-01 7.71550426e-03 -1.15114419e-01] [ 8.02602889e-02 -9.58131073e-03 9.96727889e-01 2.15864496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.36538474999999 meters Centerline goodness : 0.935210 Centerline is valid? [False, False] Translation: X:16.28, Y:-0.12, Z:0.22 [[ 9.96458130e-01 -1.93039664e-02 -8.18446768e-02 1.62772195e+01] [ 2.03641417e-02 9.99718939e-01 1.21385252e-02 -1.15239827e-01] [ 8.15873518e-02 -1.37622287e-02 9.96571174e-01 2.17932834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39538474999999 meters Centerline goodness : 0.935371 Centerline is valid? [False, False] Translation: X:16.30, Y:-0.11, Z:0.21 [[ 9.96817807e-01 -1.75584224e-02 -7.77557851e-02 1.62954447e+01] [ 1.80673297e-02 9.99819680e-01 5.84625016e-03 -1.10949703e-01] [ 7.76391133e-02 -7.23248567e-03 9.96955295e-01 2.14463601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.42538474999999 meters Centerline goodness : 0.936129 Centerline is valid? [False, False] Translation: X:16.30, Y:-0.11, Z:0.21 [[ 9.96809536e-01 -1.73258348e-02 -7.79138208e-02 1.62957756e+01] [ 1.78345970e-02 9.99823903e-01 5.83866270e-03 -1.10069099e-01] [ 7.77989407e-02 -7.20959626e-03 9.96943001e-01 2.14310335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45538475 meters Centerline goodness : 0.935904 Centerline is valid? [False, False] Translation: X:16.30, Y:-0.11, Z:0.22 [[ 9.96669532e-01 -1.87767477e-02 -7.93553882e-02 1.62994226e+01] [ 1.93324780e-02 9.99793634e-01 6.24052068e-03 -1.11022811e-01] [ 7.92218353e-02 -7.75387313e-03 9.96826855e-01 2.16107817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.48538475 meters Centerline goodness : 0.936874 Centerline is valid? [False, False] Translation: X:16.30, Y:-0.11, Z:0.22 [[ 9.96566098e-01 -1.97998269e-02 -8.03988695e-02 1.63025173e+01] [ 2.03388984e-02 9.99775785e-01 5.89149057e-03 -1.10984969e-01] [ 8.02641923e-02 -7.50648421e-03 9.96745360e-01 2.16011408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.51538475 meters Centerline goodness : 0.935727 Centerline is valid? [False, False] Translation: X:16.31, Y:-0.11, Z:0.22 [[ 9.96408918e-01 -2.09921573e-02 -8.20280328e-02 1.63112442e+01] [ 2.16961882e-02 9.99734951e-01 7.70080735e-03 -1.10186337e-01] [ 8.18446348e-02 -9.45284876e-03 9.96600271e-01 2.15076584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.54538475 meters Centerline goodness : 0.934616 Centerline is valid? [False, False] Translation: X:16.31, Y:-0.11, Z:0.21 [[ 9.96336168e-01 -2.15919963e-02 -8.27528056e-02 1.63138239e+01] [ 2.22745154e-02 9.99724997e-01 7.33324839e-03 -1.08792153e-01] [ 8.25717089e-02 -9.14965924e-03 9.96543123e-01 2.14418646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.57538475 meters Centerline goodness : 0.936282 Centerline is valid? [False, False] Translation: X:16.32, Y:-0.11, Z:0.21 [[ 9.96266955e-01 -1.85994712e-02 -8.42983592e-02 1.63178652e+01] [ 1.95952247e-02 9.99747479e-01 1.10002197e-02 -1.08487838e-01] [ 8.40724739e-02 -1.26110007e-02 9.96379838e-01 2.14871167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.60538474999998 meters Centerline goodness : 0.933779 Centerline is valid? [False, False] Translation: X:16.32, Y:-0.11, Z:0.21 [[ 9.96190303e-01 -1.89708491e-02 -8.51174921e-02 1.63201771e+01] [ 1.99569138e-02 9.99743060e-01 1.07487810e-02 -1.07402739e-01] [ 8.48917085e-02 -1.24065138e-02 9.96312941e-01 2.14529925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63538474999999 meters Centerline goodness : 0.938062 Centerline is valid? [False, False] Translation: X:16.32, Y:-0.11, Z:0.22 [[ 9.96064020e-01 -1.66052410e-02 -8.70674147e-02 1.63248466e+01] [ 1.80767070e-02 9.99706337e-01 1.61391353e-02 -1.09634816e-01] [ 8.67738520e-02 -1.76495041e-02 9.96071681e-01 2.18216526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.66538474999999 meters Centerline goodness : 0.940448 Centerline is valid? [False, False] Translation: X:16.33, Y:-0.11, Z:0.22 [[ 9.96016051e-01 -1.67885612e-02 -8.75795118e-02 1.63261482e+01] [ 1.82781661e-02 9.99701131e-01 1.62344275e-02 -1.10271357e-01] [ 8.72807843e-02 -1.77705432e-02 9.96025237e-01 2.18362349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69538474999999 meters Centerline goodness : 0.942601 Centerline is valid? [False, False] Translation: X:16.34, Y:-0.11, Z:0.21 [[ 9.96379738e-01 -1.77742387e-02 -8.31353981e-02 1.63426338e+01] [ 1.84124482e-02 9.99806555e-01 6.91630751e-03 -1.09302138e-01] [ 8.29963838e-02 -8.42199488e-03 9.96514260e-01 2.14896869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72538474999999 meters Centerline goodness : 0.945819 Centerline is valid? [False, False] Translation: X:16.34, Y:-0.11, Z:0.22 [[ 9.96325942e-01 -1.79864454e-02 -8.37323418e-02 1.63441290e+01] [ 1.86695509e-02 9.99798454e-01 7.38230435e-03 -1.10369605e-01] [ 8.35826845e-02 -8.91842656e-03 9.96460936e-01 2.15491287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75538474999999 meters Centerline goodness : 0.944827 Centerline is valid? [False, False] Translation: X:16.35, Y:-0.11, Z:0.22 [[ 9.96230526e-01 -1.86044166e-02 -8.47267061e-02 1.63466070e+01] [ 1.93783276e-02 9.99777597e-01 8.32090192e-03 -1.13115817e-01] [ 8.45530571e-02 -9.93139836e-03 9.96369484e-01 2.16833374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.78538474999999 meters Centerline goodness : 0.947828 Centerline is valid? [False, False] Translation: X:16.35, Y:-0.11, Z:0.22 [[ 9.96174404e-01 -1.89475555e-02 -8.53085428e-02 1.63482828e+01] [ 1.97714796e-02 9.99765589e-01 8.82359348e-03 -1.14639430e-01] [ 8.51213600e-02 -1.04765141e-02 9.96315511e-01 2.17457281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81538474999999 meters Centerline goodness : 0.948383 Centerline is valid? [False, False] Translation: X:16.35, Y:-0.11, Z:0.22 [[ 9.96116905e-01 -1.92851108e-02 -8.59022472e-02 1.63498386e+01] [ 2.01230625e-02 9.99757902e-01 8.89942741e-03 -1.14646495e-01] [ 8.57098240e-02 -1.05934864e-02 9.96263823e-01 2.17688289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.84538475 meters Centerline goodness : 0.946505 Centerline is valid? [False, False] Translation: X:16.35, Y:-0.11, Z:0.22 [[ 9.96050152e-01 -1.98331920e-02 -8.65490564e-02 1.63518133e+01] [ 2.06713854e-02 9.99747603e-01 8.79906135e-03 -1.14769945e-01] [ 8.63526983e-02 -1.05533953e-02 9.96208732e-01 2.17656635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.87538475 meters Centerline goodness : 0.950239 Centerline is valid? [False, True] Translation: X:16.36, Y:-0.12, Z:0.22 [[ 9.95909754e-01 -2.12078492e-02 -8.78293184e-02 1.63550622e+01] [ 2.21881222e-02 9.99701781e-01 1.01998138e-02 -1.18354218e-01] [ 8.75868099e-02 -1.21068617e-02 9.96083317e-01 2.20654711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.90538475 meters Centerline goodness : 0.948819 Centerline is valid? [True, False] Translation: X:16.36, Y:-0.12, Z:0.22 [[ 9.95717877e-01 -2.33651284e-02 -8.94426133e-02 1.63603707e+01] [ 2.43411915e-02 9.99655306e-01 9.83742346e-03 -1.19097414e-01] [ 8.91819303e-02 -1.19724382e-02 9.95943394e-01 2.20921647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.93538475 meters Centerline goodness : 0.946400 Centerline is valid? [False, False] Translation: X:16.36, Y:-0.12, Z:0.22 [[ 9.95664636e-01 -2.39462503e-02 -8.98805307e-02 1.63624801e+01] [ 2.48812544e-02 9.99647186e-01 9.29660009e-03 -1.18020215e-01] [ 8.96262009e-02 -1.14926363e-02 9.95909164e-01 2.19815635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.96538475 meters Centerline goodness : 0.946286 Centerline is valid? [False, False] Translation: X:16.36, Y:-0.12, Z:0.22 [[ 9.95569986e-01 -2.48622291e-02 -9.06767469e-02 1.63647617e+01] [ 2.58196152e-02 9.99622419e-01 9.40034110e-03 -1.18495768e-01] [ 9.04087957e-02 -1.16999362e-02 9.95836011e-01 2.20490475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99538474999999 meters Centerline goodness : 0.948904 Centerline is valid? [False, False] Translation: X:16.37, Y:-0.12, Z:0.22 [[ 9.95438900e-01 -2.34704411e-02 -9.24691058e-02 1.63710392e+01] [ 2.47355791e-02 9.99615133e-01 1.25593249e-02 -1.17308716e-01] [ 9.21387446e-02 -1.47893174e-02 9.95636343e-01 2.20566714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.02538474999999 meters Centerline goodness : 0.945199 Centerline is valid? [False, False] Translation: X:16.37, Y:-0.12, Z:0.22 [[ 9.95366383e-01 -2.39062279e-02 -9.31356856e-02 1.63737080e+01] [ 2.51202433e-02 9.99613794e-01 1.18842804e-02 -1.15115269e-01] [ 9.28156078e-02 -1.41688043e-02 9.95582497e-01 2.19234916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05538474999999 meters Centerline goodness : 0.944468 Centerline is valid? [False, False] Translation: X:16.38, Y:-0.12, Z:0.22 [[ 9.95320687e-01 -2.09298181e-02 -9.43327727e-02 1.63766726e+01] [ 2.25234890e-02 9.99620487e-01 1.58610795e-02 -1.15879664e-01] [ 9.39650027e-02 -1.79115637e-02 9.95414363e-01 2.20331364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08538474999999 meters Centerline goodness : 0.946280 Centerline is valid? [False, False] Translation: X:16.39, Y:-0.11, Z:0.22 [[ 9.95766445e-01 -1.97549849e-02 -8.97715334e-02 1.63931923e+01] [ 2.06299112e-02 9.99748199e-01 8.82866436e-03 -1.13134555e-01] [ 8.95745187e-02 -1.06432665e-02 9.95923253e-01 2.17537479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11538474999999 meters Centerline goodness : 0.947425 Centerline is valid? [False, False] Translation: X:16.40, Y:-0.11, Z:0.22 [[ 9.95715613e-01 -1.77890996e-02 -9.07412012e-02 1.63959441e+01] [ 1.89534938e-02 9.99748514e-01 1.19864386e-02 -1.14560131e-01] [ 9.05051531e-02 -1.36549468e-02 9.95802370e-01 2.18587270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.14538474999999 meters Centerline goodness : 0.948262 Centerline is valid? [False, False] Translation: X:16.40, Y:-0.11, Z:0.22 [[ 9.95696772e-01 -1.74163990e-02 -9.10198157e-02 1.63958710e+01] [ 1.85970911e-02 9.99753357e-01 1.21397763e-02 -1.14993514e-01] [ 9.07859350e-02 -1.37802399e-02 9.95775085e-01 2.19181820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17538474999999 meters Centerline goodness : 0.945919 Centerline is valid? [False, False] Translation: X:16.40, Y:-0.12, Z:0.22 [[ 9.95644453e-01 -1.44510706e-02 -9.21047800e-02 1.63989114e+01] [ 1.59999278e-02 9.99742362e-01 1.61000540e-02 -1.15157324e-01] [ 9.18483873e-02 -1.75035992e-02 9.95619153e-01 2.20081655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.20538475 meters Centerline goodness : 0.947196 Centerline is valid? [False, False] Translation: X:16.40, Y:-0.11, Z:0.22 [[ 9.95597589e-01 -1.45855084e-02 -9.25888960e-02 1.63998619e+01] [ 1.61336872e-02 9.99741906e-01 1.59945324e-02 -1.14049236e-01] [ 9.23317110e-02 -1.74179182e-02 9.95575950e-01 2.20364686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.23538475 meters Centerline goodness : 0.945776 Centerline is valid? [False, False] Translation: X:16.40, Y:-0.11, Z:0.22 [[ 9.95550131e-01 -1.44405143e-02 -9.31204003e-02 1.64007798e+01] [ 1.59761187e-02 9.99748064e-01 1.57661565e-02 -1.12242464e-01] [ 9.28692685e-02 -1.71837018e-02 9.95530019e-01 2.20513861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.26538475 meters Centerline goodness : 0.942469 Centerline is valid? [False, False] Translation: X:16.40, Y:-0.11, Z:0.22 [[ 9.95524201e-01 -1.46748207e-02 -9.33606684e-02 1.64019129e+01] [ 1.61546731e-02 9.99755253e-01 1.51149186e-02 -1.10211932e-01] [ 9.31160099e-02 -1.65554783e-02 9.95517617e-01 2.19608636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.29538475 meters Centerline goodness : 0.945389 Centerline is valid? [False, False] Translation: X:16.40, Y:-0.11, Z:0.22 [[ 9.95477170e-01 -1.49546833e-02 -9.38166349e-02 1.64034415e+01] [ 1.63886149e-02 9.99760080e-01 1.45325676e-02 -1.08011797e-01] [ 9.35767965e-02 -1.60043639e-02 9.95483422e-01 2.18870202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.32538475 meters Centerline goodness : 0.944318 Centerline is valid? [False, False] Translation: X:16.40, Y:-0.11, Z:0.22 [[ 9.95435564e-01 -1.47278488e-02 -9.42927823e-02 1.64042303e+01] [ 1.61299850e-02 9.99770126e-01 1.41251261e-02 -1.05716995e-01] [ 9.40630741e-02 -1.55815940e-02 9.95444299e-01 2.18666637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35538474999998 meters Centerline goodness : 0.944292 Centerline is valid? [False, False] Translation: X:16.41, Y:-0.10, Z:0.22 [[ 9.95393087e-01 -1.47764295e-02 -9.47325663e-02 1.64052483e+01] [ 1.61606397e-02 9.99773324e-01 1.38612206e-02 -1.04912821e-01] [ 9.45062734e-02 -1.53283020e-02 9.95406252e-01 2.18509336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.38538474999999 meters Centerline goodness : 0.940281 Centerline is valid? [False, False] Translation: X:16.41, Y:-0.10, Z:0.22 [[ 9.95346364e-01 -1.11674922e-02 -9.57126036e-02 1.64074109e+01] [ 1.29235592e-02 9.99758983e-01 1.77470560e-02 -1.04304521e-01] [ 9.54913451e-02 -1.89014152e-02 9.95250792e-01 2.19320362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41538474999999 meters Centerline goodness : 0.942736 Centerline is valid? [False, False] Translation: X:16.42, Y:-0.10, Z:0.22 [[ 9.95797819e-01 -9.60978802e-03 -9.10733537e-02 1.64212071e+01] [ 1.04518627e-02 9.99906886e-01 8.77368469e-03 -1.01148521e-01] [ 9.09805602e-02 -9.68870227e-03 9.95805537e-01 2.15128772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44538474999999 meters Centerline goodness : 0.943608 Centerline is valid? [False, False] Translation: X:16.42, Y:-0.10, Z:0.22 [[ 9.95740014e-01 -1.01992152e-02 -9.16395130e-02 1.64226466e+01] [ 1.10453311e-02 9.99900883e-01 8.73066419e-03 -1.01633394e-01] [ 9.15413841e-02 -9.70566044e-03 9.95753973e-01 2.15534890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47538474999999 meters Centerline goodness : 0.945174 Centerline is valid? [False, False] Translation: X:16.43, Y:-0.10, Z:0.22 [[ 9.95572798e-01 -1.34653848e-02 -9.30241181e-02 1.64281329e+01] [ 1.45801829e-02 9.99829683e-01 1.13147217e-02 -1.04663415e-01] [ 9.28559174e-02 -1.26209378e-02 9.95599563e-01 2.21164975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.50538474999999 meters Centerline goodness : 0.944498 Centerline is valid? [False, False] Translation: X:16.43, Y:-0.10, Z:0.22 [[ 9.95509609e-01 -1.45557168e-02 -9.35347515e-02 1.64308744e+01] [ 1.56268975e-02 9.99820318e-01 1.07299721e-02 -1.04085449e-01] [ 9.33617625e-02 -1.21434483e-02 9.95558194e-01 2.20055859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53538474999999 meters Centerline goodness : 0.940896 Centerline is valid? [False, False] Translation: X:16.44, Y:-0.10, Z:0.22 [[ 9.95408930e-01 -1.57115460e-02 -9.44150858e-02 1.64352600e+01] [ 1.67185758e-02 9.99811376e-01 9.88440824e-03 -1.03271897e-01] [ 9.42419775e-02 -1.14175140e-02 9.95483847e-01 2.17643325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.56538474999999 meters Centerline goodness : 0.942059 Centerline is valid? [False, False] Translation: X:16.44, Y:-0.10, Z:0.22 [[ 9.95351250e-01 -1.62847938e-02 -9.49246820e-02 1.64372651e+01] [ 1.72809820e-02 9.99803795e-01 9.68186962e-03 -1.03217066e-01] [ 9.47483901e-02 -1.12772527e-02 9.95437374e-01 2.17117953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.59538475 meters Centerline goodness : 0.941920 Centerline is valid? [False, False] Translation: X:16.44, Y:-0.10, Z:0.22 [[ 9.95262266e-01 -1.72802688e-02 -9.56787053e-02 1.64391231e+01] [ 1.83440052e-02 9.99779200e-01 1.02493321e-02 -1.04462737e-01] [ 9.54804682e-02 -1.19559042e-02 9.95359501e-01 2.18833106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.62538475 meters Centerline goodness : 0.947762 Centerline is valid? [False, False] Translation: X:16.44, Y:-0.11, Z:0.22 [[ 9.95207304e-01 -2.09341099e-02 -9.55206019e-02 1.64371139e+01] [ 2.17262557e-02 9.99737594e-01 7.26033714e-03 -1.05790698e-01] [ 9.53435480e-02 -9.30084558e-03 9.95400976e-01 2.21348127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.65538475 meters Centerline goodness : 0.947762 Centerline is valid? [False, False] Translation: X:16.44, Y:-0.11, Z:0.22 [[ 9.95207304e-01 -2.09341099e-02 -9.55206019e-02 1.64371139e+01] [ 2.17262557e-02 9.99737594e-01 7.26033714e-03 -1.05790698e-01] [ 9.53435480e-02 -9.30084558e-03 9.95400976e-01 2.21348127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.68538475 meters Centerline goodness : 0.946622 Centerline is valid? [False, False] Translation: X:16.44, Y:-0.10, Z:0.22 [[ 9.95079712e-01 -2.22197911e-02 -9.65538564e-02 1.64406141e+01] [ 2.29610549e-02 9.99714754e-01 6.57277707e-03 -1.04599393e-01] [ 9.63802690e-02 -8.75741552e-03 9.95306059e-01 2.20787809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.71538475 meters Centerline goodness : 0.944984 Centerline is valid? [False, False] Translation: X:16.44, Y:-0.10, Z:0.22 [[ 9.95020756e-01 -1.93698849e-02 -9.77675982e-02 1.64449337e+01] [ 2.04333343e-02 9.99742323e-01 9.88771294e-03 -1.03956079e-01] [ 9.75508818e-02 -1.18361976e-02 9.95160153e-01 2.19739106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.74538474999999 meters Centerline goodness : 0.942434 Centerline is valid? [False, False] Translation: X:16.45, Y:-0.10, Z:0.22 [[ 9.94990991e-01 -2.00546067e-02 -9.79323263e-02 1.64496728e+01] [ 2.11394397e-02 9.99726001e-01 1.00522516e-02 -1.02103890e-01] [ 9.77038989e-02 -1.20721343e-02 9.95142307e-01 2.16758789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77538474999999 meters Centerline goodness : 0.944544 Centerline is valid? [False, False] Translation: X:16.45, Y:-0.10, Z:0.22 [[ 9.94946718e-01 -1.68846587e-02 -9.89744262e-02 1.64524881e+01] [ 1.83723888e-02 9.99731232e-01 1.41392816e-02 -1.03000106e-01] [ 9.87090881e-02 -1.58862284e-02 9.94989519e-01 2.17576593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80538474999999 meters Centerline goodness : 0.942894 Centerline is valid? [False, False] Translation: X:16.45, Y:-0.10, Z:0.22 [[ 9.94922602e-01 -1.65957607e-02 -9.92652799e-02 1.64522256e+01] [ 1.80841162e-02 9.99736863e-01 1.41127101e-02 -1.02117506e-01] [ 9.90049484e-02 -1.58361791e-02 9.94960922e-01 2.18409265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83538474999999 meters Centerline goodness : 0.942698 Centerline is valid? [False, False] Translation: X:16.47, Y:-0.10, Z:0.22 [[ 9.95346463e-01 -1.52066352e-02 -9.51534360e-02 1.64677196e+01] [ 1.59012738e-02 9.99852138e-01 6.54616311e-03 -9.92168018e-02] [ 9.50398213e-02 -8.02876114e-03 9.95441094e-01 2.15820399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.86538474999999 meters Centerline goodness : 0.943040 Centerline is valid? [False, False] Translation: X:16.47, Y:-0.10, Z:0.22 [[ 9.95274149e-01 -1.22241106e-02 -9.63324412e-02 1.64708982e+01] [ 1.32846141e-02 9.99857928e-01 1.03751036e-02 -9.99944785e-02] [ 9.61919286e-02 -1.16058118e-02 9.95295141e-01 2.16466006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89538474999999 meters Centerline goodness : 0.939640 Centerline is valid? [False, False] Translation: X:16.47, Y:-0.10, Z:0.22 [[ 9.95261978e-01 -1.21052584e-02 -9.64730899e-02 1.64718330e+01] [ 1.31108093e-02 9.99866063e-01 9.79602615e-03 -9.73734814e-02] [ 9.63415852e-02 -1.10144527e-02 9.95287386e-01 2.15278966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.92538474999999 meters Centerline goodness : 0.938371 Centerline is valid? [False, False] Translation: X:16.47, Y:-0.10, Z:0.22 [[ 9.95255102e-01 -1.20497768e-02 -9.65509479e-02 1.64721337e+01] [ 1.30354213e-02 9.99869101e-01 9.58426687e-03 -9.61440843e-02] [ 9.64228212e-02 -1.07973728e-02 9.95281898e-01 2.15071794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95538475 meters Centerline goodness : 0.940875 Centerline is valid? [False, False] Translation: X:16.47, Y:-0.10, Z:0.22 [[ 9.95219084e-01 -8.48444496e-03 -9.72984550e-02 1.64738840e+01] [ 9.89097755e-03 9.99853316e-01 1.39826390e-02 -9.73842974e-02] [ 9.71655480e-02 -1.48781661e-02 9.95157021e-01 2.16292013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.98538475 meters Centerline goodness : 0.941526 Centerline is valid? [False, False] Translation: X:16.47, Y:-0.10, Z:0.22 [[ 9.95204706e-01 -8.03070327e-03 -9.74838453e-02 1.64735927e+01] [ 9.45292494e-03 9.99855394e-01 1.41362233e-02 -9.57135965e-02] [ 9.73562248e-02 -1.49899435e-02 9.95136708e-01 2.17021457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.01538475 meters Centerline goodness : 0.940213 Centerline is valid? [False, False] Translation: X:16.47, Y:-0.09, Z:0.22 [[ 9.95190293e-01 -8.03436152e-03 -9.76305796e-02 1.64739552e+01] [ 9.43271072e-03 9.99859317e-01 1.38697417e-02 -9.47283703e-02] [ 9.75054101e-02 -1.47239533e-02 9.95126073e-01 2.16834444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.04538475 meters Centerline goodness : 0.941205 Centerline is valid? [False, False] Translation: X:16.48, Y:-0.09, Z:0.22 [[ 9.95129117e-01 -8.60517297e-03 -9.82038284e-02 1.64754252e+01] [ 1.00188970e-02 9.99853032e-01 1.39117574e-02 -9.49107722e-02] [ 9.80696825e-02 -1.48278889e-02 9.95069079e-01 2.17473775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.07538475 meters Centerline goodness : 0.941040 Centerline is valid? [False, False] Translation: X:16.48, Y:-0.09, Z:0.22 [[ 9.95075761e-01 -9.35866588e-03 -9.86744449e-02 1.64775298e+01] [ 1.07040268e-02 9.99856716e-01 1.31137566e-02 -9.37421719e-02] [ 9.85375792e-02 -1.41053952e-02 9.95033358e-01 2.16372974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.10538474999998 meters Centerline goodness : 0.938469 Centerline is valid? [False, False] Translation: X:16.48, Y:-0.09, Z:0.21 [[ 9.94964458e-01 -1.16988285e-02 -9.95432786e-02 1.64825867e+01] [ 1.29342517e-02 9.99847020e-01 1.17745967e-02 -9.32025953e-02] [ 9.93903015e-02 -1.30028230e-02 9.94963564e-01 2.14280256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13538474999999 meters Centerline goodness : 0.939187 Centerline is valid? [False, False] Translation: X:16.49, Y:-0.09, Z:0.21 [[ 9.94897335e-01 -1.25249990e-02 -1.00112027e-01 1.64850411e+01] [ 1.37056298e-02 9.99844305e-01 1.11140051e-02 -9.25423807e-02] [ 9.99572371e-02 -1.24293924e-02 9.94914097e-01 2.13279390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.16538474999999 meters Centerline goodness : 0.937348 Centerline is valid? [False, False] Translation: X:16.49, Y:-0.09, Z:0.21 [[ 9.94826880e-01 -1.29543608e-02 -1.00755461e-01 1.64874933e+01] [ 1.41022458e-02 9.99843425e-01 1.06888563e-02 -9.20465645e-02] [ 1.00601218e-01 -1.20544398e-02 9.94853801e-01 2.12231360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19538474999999 meters Centerline goodness : 0.940629 Centerline is valid? [False, False] Translation: X:16.49, Y:-0.09, Z:0.21 [[ 9.94771064e-01 -1.29994800e-02 -1.01299274e-01 1.64884965e+01] [ 1.41880074e-02 9.99838604e-01 1.10211772e-02 -9.35318038e-02] [ 1.01139655e-01 -1.24007830e-02 9.94794949e-01 2.12837512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22538474999999 meters Centerline goodness : 0.939462 Centerline is valid? [False, False] Translation: X:16.49, Y:-0.10, Z:0.21 [[ 9.94722295e-01 -1.32275809e-02 -1.01747665e-01 1.64894324e+01] [ 1.44856294e-02 9.99827376e-01 1.16354621e-02 -9.50016463e-02] [ 1.01576192e-01 -1.30479326e-02 9.94742192e-01 2.13924946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25538474999999 meters Centerline goodness : 0.940068 Centerline is valid? [False, False] Translation: X:16.49, Y:-0.10, Z:0.21 [[ 9.94627683e-01 -1.43463657e-02 -1.02518071e-01 1.64920347e+01] [ 1.56480307e-02 9.99806699e-01 1.19039693e-02 -9.64718485e-02] [ 1.02327476e-01 -1.34442233e-02 9.94659912e-01 2.14545030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.28538474999999 meters Centerline goodness : 0.941944 Centerline is valid? [False, False] Translation: X:16.49, Y:-0.10, Z:0.21 [[ 9.94532357e-01 -1.94930280e-02 -1.02593433e-01 1.64938306e+01] [ 2.04170358e-02 9.99759831e-01 7.96402143e-03 -9.72725499e-02] [ 1.02413551e-01 -1.00151308e-02 9.94691491e-01 2.13911017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31538474999999 meters Centerline goodness : 0.942124 Centerline is valid? [False, False] Translation: X:16.50, Y:-0.10, Z:0.21 [[ 9.94436296e-01 -2.07058001e-02 -1.03284670e-01 1.64967030e+01] [ 2.16297123e-02 9.99735363e-01 7.83320880e-03 -9.77277162e-02] [ 1.03095145e-01 -1.00236449e-02 9.94620992e-01 2.13761052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.34538475 meters Centerline goodness : 0.941605 Centerline is valid? [False, False] Translation: X:16.50, Y:-0.10, Z:0.21 [[ 9.94368328e-01 -2.14313903e-02 -1.03789810e-01 1.64986704e+01] [ 2.24057826e-02 9.99715073e-01 8.23121872e-03 -9.91914684e-02] [ 1.03583831e-01 -1.05103551e-02 9.94565193e-01 2.14223636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.37538475 meters Centerline goodness : 0.941352 Centerline is valid? [False, False] Translation: X:16.50, Y:-0.10, Z:0.22 [[ 9.94292750e-01 -2.16683845e-02 -1.04462476e-01 1.64998936e+01] [ 2.27462709e-02 9.99699507e-01 9.13800793e-03 -1.01261064e-01] [ 1.04233080e-01 -1.14619868e-02 9.94486847e-01 2.15880755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.40538475 meters Centerline goodness : 0.942556 Centerline is valid? [False, False] Translation: X:16.50, Y:-0.10, Z:0.22 [[ 9.94202519e-01 -2.24997717e-02 -1.05143286e-01 1.65018788e+01] [ 2.36131346e-02 9.99677390e-01 9.35604025e-03 -1.02348414e-01] [ 1.04898857e-01 -1.17845614e-02 9.94413070e-01 2.16625383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.43538475 meters Centerline goodness : 0.943164 Centerline is valid? [False, False] Translation: X:16.50, Y:-0.10, Z:0.22 [[ 9.94154750e-01 -2.31215155e-02 -1.05459605e-01 1.65035533e+01] [ 2.42114121e-02 9.99665751e-01 9.06606132e-03 -1.02514113e-01] [ 1.05214734e-01 -1.15663939e-02 9.94382260e-01 2.16065717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.46538475 meters Centerline goodness : 0.944699 Centerline is valid? [False, False] Translation: X:16.51, Y:-0.10, Z:0.21 [[ 9.94074630e-01 -2.12519225e-02 -1.06602002e-01 1.65088665e+01] [ 2.26732324e-02 9.99669236e-01 1.21385340e-02 -1.03366826e-01] [ 1.06308774e-01 -1.44836206e-02 9.94227675e-01 2.14921208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49538474999999 meters Centerline goodness : 0.943679 Centerline is valid? [False, False] Translation: X:16.51, Y:-0.10, Z:0.21 [[ 9.93986560e-01 -2.21267465e-02 -1.07243302e-01 1.65115126e+01] [ 2.35150958e-02 9.99655034e-01 1.16984054e-02 -1.03474267e-01] [ 1.06947459e-01 -1.41498943e-02 9.94163981e-01 2.14104430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.52538474999999 meters Centerline goodness : 0.944201 Centerline is valid? [False, False] Translation: X:16.51, Y:-0.10, Z:0.21 [[ 9.93903274e-01 -2.32207430e-02 -1.07782552e-01 1.65145300e+01] [ 2.45610306e-02 9.99636439e-01 1.11241374e-02 -1.03609148e-01] [ 1.07485055e-01 -1.37035671e-02 9.94112255e-01 2.12922380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55538474999999 meters Centerline goodness : 0.945346 Centerline is valid? [False, False] Translation: X:16.52, Y:-0.10, Z:0.21 [[ 9.93799304e-01 -2.40480931e-02 -1.08557046e-01 1.65172182e+01] [ 2.53759549e-02 9.99618913e-01 1.08668922e-02 -1.03966409e-01] [ 1.08254348e-01 -1.35542486e-02 9.94030824e-01 2.12546544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58538474999999 meters Centerline goodness : 0.946330 Centerline is valid? [False, False] Translation: X:16.52, Y:-0.10, Z:0.21 [[ 9.93709593e-01 -2.51683447e-02 -1.09122862e-01 1.65202346e+01] [ 2.64595372e-02 9.99595780e-01 1.04004310e-02 -1.04950471e-01] [ 1.08816990e-01 -1.32223485e-02 9.93973859e-01 2.11498575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61538474999999 meters Centerline goodness : 0.945239 Centerline is valid? [False, False] Translation: X:16.52, Y:-0.10, Z:0.21 [[ 9.93654223e-01 -2.57274907e-02 -1.09496030e-01 1.65221504e+01] [ 2.69938023e-02 9.99584595e-01 1.00981036e-02 -1.04514073e-01] [ 1.09190746e-01 -1.29897374e-02 9.93935937e-01 2.10783742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.64538474999999 meters Centerline goodness : 0.945694 Centerline is valid? [False, False] Translation: X:16.52, Y:-0.10, Z:0.21 [[ 9.93622258e-01 -2.59692854e-02 -1.09728774e-01 1.65235184e+01] [ 2.71922294e-02 9.99583516e-01 9.66323411e-03 -1.03305883e-01] [ 1.09432127e-01 -1.25853745e-02 9.93914593e-01 2.09855466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67538474999999 meters Centerline goodness : 0.944571 Centerline is valid? [False, False] Translation: X:16.52, Y:-0.10, Z:0.21 [[ 9.93592028e-01 -2.62704658e-02 -1.09930634e-01 1.65246407e+01] [ 2.74675019e-02 9.99578606e-01 9.38860514e-03 -1.02350346e-01] [ 1.09637666e-01 -1.23479631e-02 9.93894919e-01 2.09366723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.70538475 meters Centerline goodness : 0.945654 Centerline is valid? [False, False] Translation: X:16.52, Y:-0.10, Z:0.21 [[ 9.93587872e-01 -2.58034323e-02 -1.10078715e-01 1.65244668e+01] [ 2.70251815e-02 9.99588452e-01 9.62111183e-03 -1.01252075e-01] [ 1.09785154e-01 -1.25343173e-02 9.93876306e-01 2.09858514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.73538475 meters Centerline goodness : 0.946343 Centerline is valid? [False, False] Translation: X:16.53, Y:-0.10, Z:0.21 [[ 9.93571030e-01 -2.24575290e-02 -1.10960659e-01 1.65265549e+01] [ 2.41351310e-02 9.99613470e-01 1.37987510e-02 -1.02033831e-01] [ 1.10607883e-01 -1.63880892e-02 9.93729001e-01 2.11094330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.76538475 meters Centerline goodness : 0.946909 Centerline is valid? [False, False] Translation: X:16.54, Y:-0.10, Z:0.21 [[ 9.94211254e-01 -2.06822277e-02 -1.05433526e-01 1.65403112e+01] [ 2.15104634e-02 9.99746009e-01 6.72433307e-03 -9.82379085e-02] [ 1.05267673e-01 -8.95333162e-03 9.94403618e-01 2.08631769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.79538475 meters Centerline goodness : 0.947197 Centerline is valid? [False, False] Translation: X:16.54, Y:-0.10, Z:0.21 [[ 9.94182164e-01 -2.05398932e-02 -1.05735219e-01 1.65406188e+01] [ 2.14529243e-02 9.99741691e-01 7.50485245e-03 -9.87722965e-02] [ 1.05553758e-01 -9.72952012e-03 9.94365999e-01 2.09922550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.82538475 meters Centerline goodness : 0.945974 Centerline is valid? [False, False] Translation: X:16.54, Y:-0.10, Z:0.21 [[ 9.94168298e-01 -2.08539595e-02 -1.05804096e-01 1.65415218e+01] [ 2.17576229e-02 9.99735934e-01 7.39372321e-03 -9.85233266e-02] [ 1.05621968e-01 -9.65265084e-03 9.94359506e-01 2.09567515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85538474999998 meters Centerline goodness : 0.947304 Centerline is valid? [False, False] Translation: X:16.54, Y:-0.10, Z:0.21 [[ 9.94102487e-01 -2.13446186e-02 -1.06323344e-01 1.65434288e+01] [ 2.22517129e-02 9.99725364e-01 7.35235102e-03 -9.84954483e-02] [ 1.06137211e-01 -9.67486697e-03 9.94304425e-01 2.09311629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.88538474999999 meters Centerline goodness : 0.947603 Centerline is valid? [False, False] Translation: X:16.55, Y:-0.10, Z:0.21 [[ 9.93954000e-01 -2.30789049e-02 -1.07344354e-01 1.65476592e+01] [ 2.39834683e-02 9.99686835e-01 7.14324341e-03 -9.92991947e-02] [ 1.07145879e-01 -9.67454527e-03 9.94196240e-01 2.09174824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91538474999999 meters Centerline goodness : 0.947270 Centerline is valid? [False, False] Translation: X:16.55, Y:-0.10, Z:0.21 [[ 9.93861578e-01 -2.38889268e-02 -1.08020754e-01 1.65501381e+01] [ 2.47765113e-02 9.99669327e-01 6.88196750e-03 -9.92852066e-02] [ 1.07820632e-01 -9.51610052e-03 9.94124819e-01 2.08787225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94538474999999 meters Centerline goodness : 0.949592 Centerline is valid? [False, False] Translation: X:16.55, Y:-0.10, Z:0.21 [[ 9.93775933e-01 -2.48778171e-02 -1.08584021e-01 1.65534457e+01] [ 2.57038297e-02 9.99650289e-01 6.21389994e-03 -9.91762706e-02] [ 1.08391460e-01 -8.96624939e-03 9.94067854e-01 2.07033295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97538474999999 meters Centerline goodness : 0.952404 Centerline is valid? [False, True] Translation: X:16.56, Y:-0.10, Z:0.21 [[ 9.93701973e-01 -2.53847473e-02 -1.09142124e-01 1.65554815e+01] [ 2.62356803e-02 9.99635506e-01 6.36740936e-03 -1.00292067e-01] [ 1.08940708e-01 -9.19072512e-03 9.94005761e-01 2.06978342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.00538474999999 meters Centerline goodness : 0.951587 Centerline is valid? [True, True] Translation: X:16.58, Y:-0.10, Z:0.20 [[ 9.93739873e-01 -2.67335507e-02 -1.08472957e-01 1.65840824e+01] [ 2.65231363e-02 9.99642478e-01 -3.38236099e-03 -9.61387828e-02] [ 1.08524598e-01 4.84143948e-04 9.94093646e-01 2.03313608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03538474999999 meters Centerline goodness : 0.950209 Centerline is valid? [True, True] Translation: X:16.61, Y:-0.10, Z:0.21 [[ 9.93626789e-01 -2.69039125e-02 -1.09462251e-01 1.66116676e+01] [ 2.66875053e-02 9.99637900e-01 -3.44182908e-03 -9.59783143e-02] [ 1.09515213e-01 4.98619184e-04 9.93984995e-01 2.06672239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.06538474999999 meters Centerline goodness : 0.950831 Centerline is valid? [True, True] Translation: X:16.64, Y:-0.10, Z:0.21 [[ 9.93698728e-01 -2.96081937e-02 -1.08102698e-01 1.66400509e+01] [ 2.94100608e-02 9.99561556e-01 -3.42703880e-03 -9.62870022e-02] [ 1.08156770e-01 2.26137165e-04 9.94133825e-01 2.10520373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.09538475 meters Centerline goodness : 0.951496 Centerline is valid? [True, True] Translation: X:16.67, Y:-0.10, Z:0.21 [[ 9.93627472e-01 -2.98782302e-02 -1.08681823e-01 1.66667868e+01] [ 2.96766435e-02 9.99553521e-01 -3.47217199e-03 -9.52923249e-02] [ 1.08737041e-01 2.24733765e-04 9.94070523e-01 2.13936338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.12538475 meters Centerline goodness : 0.950476 Centerline is valid? [True, True] Translation: X:16.69, Y:-0.09, Z:0.21 [[ 9.93698986e-01 -2.90783915e-02 -1.08244039e-01 1.66938712e+01] [ 2.88723257e-02 9.99577082e-01 -3.47079566e-03 -9.24293694e-02] [ 1.08299186e-01 3.23668971e-04 9.94118294e-01 2.14074940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.15538475 meters Centerline goodness : 0.949543 Centerline is valid? [True, False] Translation: X:16.70, Y:-0.09, Z:0.22 [[ 9.93682732e-01 -2.54136398e-02 -1.09310453e-01 1.66955213e+01] [ 2.57542593e-02 9.99666850e-01 1.70513910e-03 -9.37166583e-02] [ 1.09230703e-01 -4.50957703e-03 9.94006196e-01 2.16953442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.18538475 meters Centerline goodness : 0.953074 Centerline is valid? [False, True] Translation: X:16.70, Y:-0.09, Z:0.22 [[ 9.93681140e-01 -2.49927968e-02 -1.09421902e-01 1.66952070e+01] [ 2.54028830e-02 9.99674520e-01 2.35513658e-03 -9.37892643e-02] [ 1.09327426e-01 -5.11988656e-03 9.93992606e-01 2.17904064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.21538475 meters Centerline goodness : 0.950789 Centerline is valid? [True, True] Translation: X:16.72, Y:-0.09, Z:0.22 [[ 9.93714877e-01 -2.43688742e-02 -1.09256124e-01 1.67238113e+01] [ 2.41657232e-02 9.99702898e-01 -3.18330411e-03 -9.07903512e-02] [ 1.09301237e-01 5.23043393e-04 9.94008534e-01 2.17280737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.24538474999999 meters Centerline goodness : 0.950434 Centerline is valid? [True, True] Translation: X:16.75, Y:-0.09, Z:0.22 [[ 9.93757494e-01 -2.36172916e-02 -1.09033324e-01 1.67519229e+01] [ 2.34072697e-02 9.99720872e-01 -3.20589767e-03 -8.95283222e-02] [ 1.09078605e-01 6.33712405e-04 9.94032925e-01 2.19480061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27538474999999 meters Centerline goodness : 0.946765 Centerline is valid? [True, False] Translation: X:16.75, Y:-0.09, Z:0.22 [[ 9.93773197e-01 -1.97755858e-02 -1.09652906e-01 1.67530408e+01] [ 2.00223989e-02 9.99798870e-01 1.15012908e-03 -9.04834004e-02] [ 1.09608107e-01 -3.33848167e-03 9.93969274e-01 2.20763570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30538474999999 meters Centerline goodness : 0.947800 Centerline is valid? [False, False] Translation: X:16.76, Y:-0.09, Z:0.22 [[ 9.93691340e-01 -1.67148697e-02 -1.10896948e-01 1.67562625e+01] [ 1.74089314e-02 9.99834442e-01 5.29321961e-03 -9.11420911e-02] [ 1.10790113e-01 -7.19042385e-03 9.93817815e-01 2.21862656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33538474999999 meters Centerline goodness : 0.945851 Centerline is valid? [False, False] Translation: X:16.76, Y:-0.09, Z:0.22 [[ 9.93680200e-01 -1.66463049e-02 -1.11007030e-01 1.67569944e+01] [ 1.73167508e-02 9.99837158e-01 5.07822058e-03 -8.97766075e-02] [ 1.10904420e-01 -6.96840832e-03 9.93806647e-01 2.21215451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.36538474999999 meters Centerline goodness : 0.943837 Centerline is valid? [False, False] Translation: X:16.76, Y:-0.09, Z:0.22 [[ 9.93669781e-01 -1.64169326e-02 -1.11134383e-01 1.67577617e+01] [ 1.70586112e-02 9.99842847e-01 4.82545352e-03 -8.78758731e-02] [ 1.11037698e-01 -6.69070556e-03 9.93793673e-01 2.20427650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39538474999999 meters Centerline goodness : 0.944179 Centerline is valid? [False, False] Translation: X:16.76, Y:-0.09, Z:0.22 [[ 9.93575664e-01 -1.28994074e-02 -1.12432224e-01 1.67606092e+01] [ 1.39982746e-02 9.99861608e-01 8.98961825e-03 -8.85399856e-02] [ 1.12300703e-01 -1.05057231e-02 9.93618731e-01 2.21608603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.42538474999999 meters Centerline goodness : 0.942107 Centerline is valid? [False, False] Translation: X:16.76, Y:-0.09, Z:0.22 [[ 9.93538766e-01 -1.31564916e-02 -1.12728113e-01 1.67614677e+01] [ 1.42239937e-02 9.99861240e-01 8.67062431e-03 -8.75255495e-02] [ 1.12598396e-01 -1.02180453e-02 9.93588040e-01 2.21474475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45538475 meters Centerline goodness : 0.943213 Centerline is valid? [False, False] Translation: X:16.76, Y:-0.09, Z:0.22 [[ 9.93452724e-01 -1.01507271e-02 -1.13792124e-01 1.67646500e+01] [ 1.16399141e-02 9.99854992e-01 1.24301150e-02 -8.82222336e-02] [ 1.13649448e-01 -1.36732622e-02 9.93426819e-01 2.21941889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.48538475 meters Centerline goodness : 0.944994 Centerline is valid? [False, False] Translation: X:16.77, Y:-0.09, Z:0.22 [[ 9.93418047e-01 -1.05220715e-02 -1.14060821e-01 1.67657284e+01] [ 1.20065202e-02 9.99851830e-01 1.23353611e-02 -8.84763553e-02] [ 1.13914127e-01 -1.36236438e-02 9.93397185e-01 2.21769758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.51538475 meters Centerline goodness : 0.943031 Centerline is valid? [False, False] Translation: X:16.77, Y:-0.09, Z:0.22 [[ 9.93258749e-01 -1.60818675e-02 -1.14797344e-01 1.67679688e+01] [ 1.72089424e-02 9.99812892e-01 8.83360274e-03 -9.06784870e-02] [ 1.14633804e-01 -1.07495941e-02 9.93349655e-01 2.23042072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.54538475 meters Centerline goodness : 0.943031 Centerline is valid? [False, False] Translation: X:16.77, Y:-0.09, Z:0.22 [[ 9.93258749e-01 -1.60818675e-02 -1.14797344e-01 1.67679688e+01] [ 1.72089424e-02 9.99812892e-01 8.83360274e-03 -9.06784870e-02] [ 1.14633804e-01 -1.07495941e-02 9.93349655e-01 2.23042072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.57538475 meters Centerline goodness : 0.943980 Centerline is valid? [False, False] Translation: X:16.77, Y:-0.09, Z:0.22 [[ 9.93105794e-01 -1.77332772e-02 -1.15872399e-01 1.67714504e+01] [ 1.89021544e-02 9.99780862e-01 8.99651597e-03 -9.24978001e-02] [ 1.15687470e-01 -1.11247301e-02 9.93223363e-01 2.23845848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.60538474999998 meters Centerline goodness : 0.942084 Centerline is valid? [False, False] Translation: X:16.78, Y:-0.09, Z:0.22 [[ 9.92942772e-01 -1.95717236e-02 -1.16968365e-01 1.67765729e+01] [ 2.06972574e-02 9.99750370e-01 8.41555994e-03 -9.30116842e-02] [ 1.16774459e-01 -1.07770938e-02 9.93099985e-01 2.22425895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63538474999999 meters Centerline goodness : 0.941184 Centerline is valid? [False, False] Translation: X:16.78, Y:-0.09, Z:0.22 [[ 9.92892920e-01 -2.00401573e-02 -1.17311726e-01 1.67787346e+01] [ 2.11374762e-02 9.99743627e-01 8.11709954e-03 -9.25292290e-02] [ 1.17118983e-01 -1.05390845e-02 9.93061968e-01 2.21207991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66538474999999 meters Centerline goodness : 0.941069 Centerline is valid? [False, False] Translation: X:16.78, Y:-0.09, Z:0.22 [[ 9.92855509e-01 -2.04194922e-02 -1.17562679e-01 1.67800312e+01] [ 2.15651037e-02 9.99731475e-01 8.48077780e-03 -9.44730644e-02] [ 1.17357937e-01 -1.09554383e-02 9.93029251e-01 2.21308336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69538474999999 meters Centerline goodness : 0.941414 Centerline is valid? [False, False] Translation: X:16.78, Y:-0.10, Z:0.22 [[ 9.92772752e-01 -2.06230753e-02 -1.18224162e-01 1.67810981e+01] [ 2.18573074e-02 9.99719205e-01 9.15256886e-03 -9.56360576e-02] [ 1.18002211e-01 -1.16704828e-02 9.92944751e-01 2.22693279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72538474999999 meters Centerline goodness : 0.943068 Centerline is valid? [False, False] Translation: X:16.78, Y:-0.10, Z:0.22 [[ 9.92677181e-01 -2.08705431e-02 -1.18980815e-01 1.67825086e+01] [ 2.21767535e-02 9.99707349e-01 9.66476719e-03 -9.72752332e-02] [ 1.18744287e-01 -1.22326021e-02 9.92849514e-01 2.23865030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75538474999999 meters Centerline goodness : 0.940695 Centerline is valid? [False, False] Translation: X:16.78, Y:-0.10, Z:0.22 [[ 9.92628309e-01 -2.10345937e-02 -1.19359064e-01 1.67836114e+01] [ 2.23575654e-02 9.99702440e-01 9.75558702e-03 -9.73173599e-02] [ 1.19118343e-01 -1.23522499e-02 9.92803224e-01 2.23947230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.78538474999999 meters Centerline goodness : 0.941931 Centerline is valid? [False, False] Translation: X:16.79, Y:-0.10, Z:0.23 [[ 9.92512134e-01 -1.82716438e-02 -1.20771732e-01 1.67875578e+01] [ 2.00867594e-02 9.99702597e-01 1.38289201e-02 -9.84921591e-02] [ 1.20483137e-01 -1.61512837e-02 9.92583976e-01 2.25088641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81538474999999 meters Centerline goodness : 0.942832 Centerline is valid? [False, False] Translation: X:16.79, Y:-0.10, Z:0.22 [[ 9.92449124e-01 -1.86618726e-02 -1.21229003e-01 1.67890935e+01] [ 2.04481631e-02 9.99699666e-01 1.35074420e-02 -9.75115941e-02] [ 1.20940520e-01 -1.58843594e-02 9.92532658e-01 2.24757476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.84538475 meters Centerline goodness : 0.942956 Centerline is valid? [False, False] Translation: X:16.80, Y:-0.09, Z:0.22 [[ 9.93665768e-01 -2.07426335e-02 -1.10444936e-01 1.67982546e+01] [ 2.22696986e-02 9.99672461e-01 1.26107876e-02 -9.38047707e-02] [ 1.10147180e-01 -1.49904833e-02 9.93802236e-01 2.18378494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.87538475 meters Centerline goodness : 0.941334 Centerline is valid? [False, False] Translation: X:16.80, Y:-0.09, Z:0.22 [[ 9.93680741e-01 -2.03619475e-02 -1.10381050e-01 1.67978100e+01] [ 2.18739177e-02 9.99682540e-01 1.25040236e-02 -9.26170899e-02] [ 1.10091402e-01 -1.48394734e-02 9.93810683e-01 2.18304840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.90538475 meters Centerline goodness : 0.942502 Centerline is valid? [False, False] Translation: X:16.81, Y:-0.09, Z:0.22 [[ 9.94295650e-01 -1.78908348e-02 -1.05147889e-01 1.68118041e+01] [ 1.85419834e-02 9.99814465e-01 5.21834608e-03 -8.83188881e-02] [ 1.05035020e-01 -7.13822922e-03 9.94442904e-01 2.15014802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.93538475 meters Centerline goodness : 0.943617 Centerline is valid? [False, False] Translation: X:16.81, Y:-0.09, Z:0.22 [[ 9.94282485e-01 -1.73029950e-02 -1.05370515e-01 1.68115395e+01] [ 1.79738921e-02 9.99823762e-01 5.42068618e-03 -8.67918371e-02] [ 1.05258151e-01 -7.28361160e-03 9.94418257e-01 2.15529288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.96538475 meters Centerline goodness : 0.940327 Centerline is valid? [False, False] Translation: X:16.83, Y:-0.08, Z:0.21 [[ 9.94847817e-01 -1.26054459e-02 -1.00592863e-01 1.68275505e+01] [ 1.28012330e-02 9.99917214e-01 1.30104995e-03 -8.15849875e-02] [ 1.00568135e-01 -2.58205939e-03 9.94926823e-01 2.12828387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99538474999999 meters Centerline goodness : 0.941043 Centerline is valid? [False, False] Translation: X:16.83, Y:-0.08, Z:0.21 [[ 9.94841671e-01 -7.90749226e-03 -1.01131212e-01 1.68277680e+01] [ 8.47032755e-03 9.99950930e-01 5.13719317e-03 -7.84308432e-02] [ 1.01085627e-01 -5.96730833e-03 9.94859833e-01 2.13676412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.02538474999999 meters Centerline goodness : 0.939834 Centerline is valid? [False, False] Translation: X:16.83, Y:-0.08, Z:0.21 [[ 9.94830796e-01 -7.41083426e-03 -1.01275695e-01 1.68278682e+01] [ 7.95701434e-03 9.99955891e-01 4.99009685e-03 -7.64455792e-02] [ 1.01234248e-01 -5.77015419e-03 9.94845884e-01 2.13443346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05538474999999 meters Centerline goodness : 0.942287 Centerline is valid? [False, False] Translation: X:16.83, Y:-0.08, Z:0.21 [[ 9.94778343e-01 -3.48675924e-03 -1.01999460e-01 1.68291979e+01] [ 4.43098506e-03 9.99949393e-01 9.03205956e-03 -7.65872286e-02] [ 1.01962805e-01 -9.43685533e-03 9.94743450e-01 2.14438304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08538474999999 meters Centerline goodness : 0.943130 Centerline is valid? [False, False] Translation: X:16.83, Y:-0.08, Z:0.21 [[ 9.94739431e-01 -3.75369602e-03 -1.02368814e-01 1.68299794e+01] [ 4.69487990e-03 9.99948885e-01 8.95466088e-03 -7.65531401e-02] [ 1.02329968e-01 -9.38816356e-03 9.94706208e-01 2.14775091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11538474999999 meters Centerline goodness : 0.943557 Centerline is valid? [False, False] Translation: X:16.83, Y:-0.08, Z:0.22 [[ 9.94624238e-01 -9.30496842e-03 -1.03131197e-01 1.68321285e+01] [ 9.91669148e-03 9.99936137e-01 5.42035333e-03 -7.80013254e-02] [ 1.03074174e-01 -6.41393505e-03 9.94652993e-01 2.16240523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.14538474999999 meters Centerline goodness : 0.947005 Centerline is valid? [False, False] Translation: X:16.83, Y:-0.08, Z:0.22 [[ 9.94540759e-01 -1.05305075e-02 -1.03816125e-01 1.68345425e+01] [ 1.11438022e-02 9.99923705e-01 5.32924398e-03 -7.92014811e-02] [ 1.03752085e-01 -6.45705671e-03 9.94582230e-01 2.16475230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17538474999999 meters Centerline goodness : 0.943038 Centerline is valid? [False, False] Translation: X:16.84, Y:-0.08, Z:0.21 [[ 9.94373408e-01 -1.29315916e-02 -1.05139428e-01 1.68409309e+01] [ 1.34718220e-02 9.99899439e-01 4.42964532e-03 -7.93736989e-02] [ 1.05071573e-01 -5.82114117e-03 9.94447625e-01 2.14564441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.20538475 meters Centerline goodness : 0.942967 Centerline is valid? [False, False] Translation: X:16.84, Y:-0.08, Z:0.21 [[ 9.94340935e-01 -1.32686370e-02 -1.05404212e-01 1.68426048e+01] [ 1.37914534e-02 9.99895934e-01 4.23275750e-03 -7.89000741e-02] [ 1.05337080e-01 -5.66248133e-03 9.94420452e-01 2.13643203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.23538475 meters Centerline goodness : 0.944931 Centerline is valid? [False, False] Translation: X:16.84, Y:-0.08, Z:0.22 [[ 9.94232856e-01 -1.37338545e-02 -1.06359813e-01 1.68444809e+01] [ 1.44261134e-02 9.99879451e-01 5.74199002e-03 -8.22607271e-02] [ 1.06268132e-01 -7.24323387e-03 9.94311128e-01 2.16068379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.26538475 meters Centerline goodness : 0.945040 Centerline is valid? [False, False] Translation: X:16.85, Y:-0.09, Z:0.22 [[ 9.94113964e-01 -1.45929062e-02 -1.07352101e-01 1.68465477e+01] [ 1.54166773e-02 9.99857708e-01 6.84760169e-03 -8.50303479e-02] [ 1.07236899e-01 -8.46230917e-03 9.94197484e-01 2.18353968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.29538475 meters Centerline goodness : 0.945648 Centerline is valid? [False, False] Translation: X:16.85, Y:-0.09, Z:0.22 [[ 9.93983516e-01 -1.58720766e-02 -1.08373645e-01 1.68505879e+01] [ 1.66772341e-02 9.99839621e-01 6.52709178e-03 -8.55396479e-02] [ 1.08252665e-01 -8.29519428e-03 9.94088804e-01 2.17629332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.32538475 meters Centerline goodness : 0.943999 Centerline is valid? [False, False] Translation: X:16.85, Y:-0.09, Z:0.22 [[ 9.93914727e-01 -1.30110797e-02 -1.09381109e-01 1.68541590e+01] [ 1.42508804e-02 9.99842681e-01 1.05605721e-02 -8.72334263e-02] [ 1.09226497e-01 -1.20550852e-02 9.93943785e-01 2.17862243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35538474999998 meters Centerline goodness : 0.945136 Centerline is valid? [False, False] Translation: X:16.86, Y:-0.09, Z:0.22 [[ 9.93862390e-01 -1.35429235e-02 -1.09791343e-01 1.68557385e+01] [ 1.47776242e-02 9.99836301e-01 1.04399709e-02 -8.76729854e-02] [ 1.09631983e-01 -1.19983496e-02 9.93899828e-01 2.17673973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.38538474999999 meters Centerline goodness : 0.943152 Centerline is valid? [False, False] Translation: X:16.86, Y:-0.09, Z:0.22 [[ 9.93794556e-01 -1.41692403e-02 -1.10325034e-01 1.68576353e+01] [ 1.53956162e-02 9.99828715e-01 1.02720684e-02 -8.73196639e-02] [ 1.10160589e-01 -1.19068475e-02 9.93842478e-01 2.17533361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41538474999999 meters Centerline goodness : 0.943735 Centerline is valid? [False, False] Translation: X:16.86, Y:-0.09, Z:0.22 [[ 9.93726407e-01 -1.47152068e-02 -1.10866097e-01 1.68598695e+01] [ 1.59260460e-02 9.99822724e-01 1.00439568e-02 -8.71183401e-02] [ 1.10698645e-01 -1.17466036e-02 9.93784598e-01 2.16965326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44538474999999 meters Centerline goodness : 0.946467 Centerline is valid? [False, False] Translation: X:16.86, Y:-0.09, Z:0.22 [[ 9.93678392e-01 -1.49287260e-02 -1.11267187e-01 1.68609941e+01] [ 1.61510331e-02 9.99818631e-01 1.00920511e-02 -8.73735590e-02] [ 1.11096345e-01 -1.18253331e-02 9.93739284e-01 2.17117320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47538474999999 meters Centerline goodness : 0.948661 Centerline is valid? [False, False] Translation: X:16.86, Y:-0.09, Z:0.22 [[ 9.93600519e-01 -1.52282975e-02 -1.11920093e-01 1.68628867e+01] [ 1.64769591e-02 9.99811806e-01 1.02401944e-02 -8.75460167e-02] [ 1.11743090e-01 -1.20187652e-02 9.93664446e-01 2.17355135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.50538474999999 meters Centerline goodness : 0.948756 Centerline is valid? [False, False] Translation: X:16.86, Y:-0.09, Z:0.22 [[ 9.93546246e-01 -1.56116868e-02 -1.12348267e-01 1.68644300e+01] [ 1.68450401e-02 9.99807733e-01 1.00370144e-02 -8.67925313e-02] [ 1.12169971e-01 -1.18647491e-02 9.93618199e-01 2.17084471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53538474999999 meters Centerline goodness : 0.948197 Centerline is valid? [False, False] Translation: X:16.87, Y:-0.09, Z:0.22 [[ 9.93461940e-01 -1.25348727e-02 -1.13473567e-01 1.68674004e+01] [ 1.42297641e-02 9.99798784e-01 1.41387861e-02 -8.82077142e-02] [ 1.13273506e-01 -1.56610480e-02 9.93440408e-01 2.18233943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.56538474999999 meters Centerline goodness : 0.946781 Centerline is valid? [False, False] Translation: X:16.87, Y:-0.09, Z:0.22 [[ 9.93403852e-01 -1.24469817e-02 -1.13990613e-01 1.68686051e+01] [ 1.41281209e-02 9.99802849e-01 1.39520431e-02 -8.66587464e-02] [ 1.13794478e-01 -1.54704865e-02 9.93383854e-01 2.18161896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.59538475 meters Centerline goodness : 0.945398 Centerline is valid? [False, False] Translation: X:16.87, Y:-0.08, Z:0.22 [[ 9.93385595e-01 -1.23414994e-02 -1.14161056e-01 1.68690597e+01] [ 1.40017528e-02 9.99807389e-01 1.37526519e-02 -8.49291578e-02] [ 1.13969339e-01 -1.52601411e-02 9.93367061e-01 2.17989392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.62538475 meters Centerline goodness : 0.945239 Centerline is valid? [False, False] Translation: X:16.87, Y:-0.09, Z:0.22 [[ 9.93284508e-01 -9.11055701e-03 -1.15338128e-01 1.68719083e+01] [ 1.12556036e-02 9.99775344e-01 1.79602917e-02 -8.53978798e-02] [ 1.15148589e-01 -1.91378797e-02 9.93163906e-01 2.19372879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.65538475 meters Centerline goodness : 0.948333 Centerline is valid? [False, False] Translation: X:16.88, Y:-0.08, Z:0.22 [[ 9.93864724e-01 -9.85365413e-03 -1.10162675e-01 1.68848603e+01] [ 1.08517009e-02 9.99905297e-01 8.46386301e-03 -8.31912335e-02] [ 1.10068842e-01 -9.60738728e-03 9.93877532e-01 2.18082070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.68538475 meters Centerline goodness : 0.951032 Centerline is valid? [False, True] Translation: X:16.89, Y:-0.08, Z:0.22 [[ 9.93802803e-01 -1.02917781e-02 -1.10680030e-01 1.68861271e+01] [ 1.13014150e-02 9.99900021e-01 8.49863093e-03 -8.25175960e-02] [ 1.10581498e-01 -9.69680418e-03 9.93819754e-01 2.18645868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.71538475 meters Centerline goodness : 0.947036 Centerline is valid? [True, False] Translation: X:16.89, Y:-0.08, Z:0.22 [[ 9.93694155e-01 -8.29407568e-03 -1.11817416e-01 1.68910335e+01] [ 9.63886475e-03 9.99887513e-01 1.14914197e-02 -8.14382431e-02] [ 1.11709527e-01 -1.24967496e-02 9.93662323e-01 2.17924671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74538474999999 meters Centerline goodness : 0.947663 Centerline is valid? [False, False] Translation: X:16.89, Y:-0.08, Z:0.22 [[ 9.93612064e-01 -8.95895702e-03 -1.12493568e-01 1.68932365e+01] [ 1.02963048e-02 9.99882996e-01 1.13128594e-02 -8.13702429e-02] [ 1.12379054e-01 -1.23988616e-02 9.93588052e-01 2.17814433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77538474999999 meters Centerline goodness : 0.949767 Centerline is valid? [False, False] Translation: X:16.89, Y:-0.08, Z:0.22 [[ 9.93560125e-01 -9.06704822e-03 -1.12942761e-01 1.68949268e+01] [ 1.03875481e-02 9.99884340e-01 1.11087602e-02 -8.02169019e-02] [ 1.12828975e-01 -1.22104195e-02 9.93539394e-01 2.17244710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80538474999999 meters Centerline goodness : 0.951100 Centerline is valid? [False, True] Translation: X:16.90, Y:-0.08, Z:0.22 [[ 9.93512459e-01 -9.32970526e-03 -1.13339978e-01 1.68962186e+01] [ 1.06473554e-02 9.99882525e-01 1.10258623e-02 -8.00396588e-02] [ 1.13223796e-01 -1.21611026e-02 9.93495083e-01 2.17132876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83538474999999 meters Centerline goodness : 0.949963 Centerline is valid? [True, False] Translation: X:16.90, Y:-0.08, Z:0.22 [[ 9.93454130e-01 -9.39713992e-03 -1.13844569e-01 1.68974767e+01] [ 1.07312395e-02 9.99880681e-01 1.11114264e-02 -8.05637712e-02] [ 1.13726570e-01 -1.22603857e-02 9.93436435e-01 2.17205135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.86538474999999 meters Centerline goodness : 0.950971 Centerline is valid? [False, True] Translation: X:16.90, Y:-0.08, Z:0.22 [[ 9.93383457e-01 -9.95972461e-03 -1.14412024e-01 1.68995251e+01] [ 1.12846986e-02 9.99876491e-01 1.09388714e-02 -8.04928046e-02] [ 1.14288945e-01 -1.21575991e-02 9.93373157e-01 2.16892558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89538474999999 meters Centerline goodness : 0.950020 Centerline is valid? [True, True] Translation: X:16.93, Y:-0.08, Z:0.21 [[ 9.93337456e-01 -1.13860629e-02 -1.14678050e-01 1.69277647e+01] [ 1.11912834e-02 9.99934633e-01 -2.34218833e-03 -7.67719264e-02] [ 1.14697222e-01 1.04318884e-03 9.93399949e-01 2.11782300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.92538474999999 meters Centerline goodness : 0.951622 Centerline is valid? [True, True] Translation: X:16.95, Y:-0.08, Z:0.21 [[ 9.93360422e-01 -1.12494792e-02 -1.14492447e-01 1.69544294e+01] [ 1.10509088e-02 9.99936131e-01 -2.36893531e-03 -7.64293367e-02] [ 1.14511784e-01 1.08796099e-03 9.93421294e-01 2.14083139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95538475 meters Centerline goodness : 0.953488 Centerline is valid? [True, True] Translation: X:16.98, Y:-0.08, Z:0.22 [[ 9.93210675e-01 -1.13396179e-02 -1.15775510e-01 1.69827825e+01] [ 1.11350753e-02 9.99935091e-01 -2.41334486e-03 -7.57226076e-02] [ 1.15795361e-01 1.10779085e-03 9.93272474e-01 2.15644783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.98538475 meters Centerline goodness : 0.952454 Centerline is valid? [True, True] Translation: X:17.01, Y:-0.08, Z:0.22 [[ 9.93264368e-01 -1.10582988e-02 -1.15341269e-01 1.70103926e+01] [ 1.08495845e-02 9.99938171e-01 -2.43719677e-03 -7.57144332e-02] [ 1.15361089e-01 1.16937588e-03 9.93322934e-01 2.18206820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.01538475 meters Centerline goodness : 0.953952 Centerline is valid? [True, True] Translation: X:17.04, Y:-0.07, Z:0.22 [[ 9.93220329e-01 -1.02456647e-02 -1.15794669e-01 1.70384518e+01] [ 1.00259077e-02 9.99946664e-01 -2.48010434e-03 -7.49682457e-02] [ 1.15813903e-01 1.30234339e-03 9.93270076e-01 2.21200860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.04538475 meters Centerline goodness : 0.954063 Centerline is valid? [True, True] Translation: X:17.07, Y:-0.07, Z:0.22 [[ 9.93281163e-01 -9.60819333e-03 -1.15326553e-01 1.70655281e+01] [ 9.38246125e-03 9.99952859e-01 -2.50001719e-03 -7.42374913e-02] [ 1.15345137e-01 1.40117307e-03 9.93324487e-01 2.23852953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.07538475 meters Centerline goodness : 0.954215 Centerline is valid? [True, True] Translation: X:17.09, Y:-0.07, Z:0.23 [[ 9.93294661e-01 -9.26552421e-03 -1.15238301e-01 1.70927183e+01] [ 9.03603083e-03 9.99956015e-01 -2.51370835e-03 -7.33437688e-02] [ 1.15256523e-01 1.45555624e-03 9.93334694e-01 2.26625460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10538474999998 meters Centerline goodness : 0.953784 Centerline is valid? [True, True] Translation: X:17.12, Y:-0.07, Z:0.23 [[ 9.93391176e-01 -9.56853176e-03 -1.14378381e-01 1.71207362e+01] [ 9.34175470e-03 9.99953193e-01 -2.51854591e-03 -7.22836945e-02] [ 1.14397126e-01 1.43340651e-03 9.93434066e-01 2.28439087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13538474999999 meters Centerline goodness : 0.952430 Centerline is valid? [True, True] Translation: X:17.15, Y:-0.07, Z:0.23 [[ 9.93463677e-01 -1.05987798e-02 -1.13655567e-01 1.71475294e+01] [ 1.03782087e-02 9.99942939e-01 -2.53222630e-03 -7.14917235e-02] [ 1.13675920e-01 1.33613366e-03 9.93516985e-01 2.30764279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16538474999999 meters Centerline goodness : 0.952208 Centerline is valid? [True, True] Translation: X:17.17, Y:-0.07, Z:0.23 [[ 9.93523985e-01 -1.22258348e-02 -1.12962917e-01 1.71744582e+01] [ 1.20167342e-02 9.99924591e-01 -2.53179666e-03 -7.13284588e-02] [ 1.12985352e-01 1.15795536e-03 9.93595979e-01 2.33053766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19538474999999 meters Centerline goodness : 0.952884 Centerline is valid? [True, True] Translation: X:17.20, Y:-0.07, Z:0.24 [[ 9.93551118e-01 -1.44766804e-02 -1.12457108e-01 1.72021419e+01] [ 1.42812549e-02 9.99894783e-01 -2.54319598e-03 -7.09501922e-02] [ 1.12482093e-01 9.20766587e-04 9.93653325e-01 2.36561912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22538474999999 meters Centerline goodness : 0.954182 Centerline is valid? [True, True] Translation: X:17.23, Y:-0.07, Z:0.24 [[ 9.93579282e-01 -1.61438861e-02 -1.11980286e-01 1.72300546e+01] [ 1.59571912e-02 9.99869390e-01 -2.56333439e-03 -6.98494138e-02] [ 1.12007043e-01 7.59985101e-04 9.93707122e-01 2.39397119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25538474999999 meters Centerline goodness : 0.953765 Centerline is valid? [True, True] Translation: X:17.26, Y:-0.07, Z:0.24 [[ 9.93641812e-01 -1.49572582e-02 -1.11589561e-01 1.72574844e+01] [ 1.47609811e-02 9.99887709e-01 -2.58492447e-03 -6.94647421e-02] [ 1.11615694e-01 9.21317637e-04 9.93751019e-01 2.40761136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.28538474999999 meters Centerline goodness : 0.952714 Centerline is valid? [True, True] Translation: X:17.29, Y:-0.07, Z:0.24 [[ 9.93550324e-01 -1.54778115e-02 -1.12330719e-01 1.72858287e+01] [ 1.52795756e-02 9.99879813e-01 -2.62549706e-03 -6.90693954e-02] [ 1.12357856e-01 8.92197734e-04 9.93667407e-01 2.43951941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31538474999999 meters Centerline goodness : 0.953436 Centerline is valid? [True, True] Translation: X:17.31, Y:-0.07, Z:0.25 [[ 9.93526964e-01 -1.66737869e-02 -1.12366173e-01 1.73122432e+01] [ 1.64797387e-02 9.99860673e-01 -2.65559488e-03 -6.97660455e-02] [ 1.12394796e-01 7.86639955e-04 9.93663319e-01 2.47600981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.34538475 meters Centerline goodness : 0.956011 Centerline is valid? [True, True] Translation: X:17.34, Y:-0.07, Z:0.25 [[ 9.93620168e-01 -1.78780635e-02 -1.11352307e-01 1.73400720e+01] [ 1.76932775e-02 9.99839957e-01 -2.64749734e-03 -7.00056468e-02] [ 1.11381818e-01 6.60419486e-04 9.93777467e-01 2.50644949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.37538475 meters Centerline goodness : 0.953179 Centerline is valid? [True, True] Translation: X:17.37, Y:-0.07, Z:0.25 [[ 9.93354005e-01 -1.73273016e-02 -1.13787458e-01 1.73681668e+01] [ 1.71270151e-02 9.99849574e-01 -2.73761386e-03 -7.01992882e-02] [ 1.13817777e-01 7.70580177e-04 9.93501344e-01 2.53151241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.40538475 meters Centerline goodness : 0.953079 Centerline is valid? [True, True] Translation: X:17.40, Y:-0.07, Z:0.26 [[ 9.93271935e-01 -1.79665391e-02 -1.14403090e-01 1.73966846e+01] [ 1.77646488e-02 9.99838320e-01 -2.78407845e-03 -6.88693073e-02] [ 1.14434613e-01 7.33016282e-04 9.93430512e-01 2.55524405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.43538475 meters Centerline goodness : 0.951356 Centerline is valid? [True, True] Translation: X:17.42, Y:-0.07, Z:0.26 [[ 9.93367148e-01 -1.83369484e-02 -1.13514161e-01 1.74245883e+01] [ 1.81370800e-02 9.99831608e-01 -2.79331746e-03 -6.82498591e-02] [ 1.13546267e-01 7.15974364e-04 9.93532452e-01 2.56832439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.46538475 meters Centerline goodness : 0.951356 Centerline is valid? [True, True] Translation: X:17.45, Y:-0.07, Z:0.26 [[ 9.93364070e-01 -1.85074215e-02 -1.13513437e-01 1.74530462e+01] [ 1.83053331e-02 9.99828460e-01 -2.82245423e-03 -6.73815357e-02] [ 1.13546202e-01 7.25823331e-04 9.93532452e-01 2.59582775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49538474999999 meters Centerline goodness : 0.950865 Centerline is valid? [True, True] Translation: X:17.48, Y:-0.07, Z:0.26 [[ 9.93305859e-01 -1.84806916e-02 -1.14026026e-01 1.74798499e+01] [ 1.82743303e-02 9.99828935e-01 -2.85488212e-03 -6.68990644e-02] [ 1.14059280e-01 7.52021871e-04 9.93473661e-01 2.62388777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.52538474999999 meters Centerline goodness : 0.950863 Centerline is valid? [True, True] Translation: X:17.51, Y:-0.07, Z:0.27 [[ 9.93434367e-01 -1.80539620e-02 -1.12969967e-01 1.75068923e+01] [ 1.78464419e-02 9.99836683e-01 -2.84805609e-03 -6.67433563e-02] [ 1.13002936e-01 8.13244838e-04 9.93594321e-01 2.65611978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55538474999999 meters Centerline goodness : 0.947960 Centerline is valid? [True, False] Translation: X:17.51, Y:-0.07, Z:0.27 [[ 9.93377587e-01 -1.85681217e-02 -1.13385157e-01 1.75080478e+01] [ 1.84037817e-02 9.99827520e-01 -2.49604823e-03 -6.77856806e-02] [ 1.13411947e-01 3.92802690e-04 9.93547974e-01 2.66326361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58538474999999 meters Centerline goodness : 0.952696 Centerline is valid? [False, True] Translation: X:17.52, Y:-0.07, Z:0.27 [[ 9.93108340e-01 -2.30996660e-02 -1.14900963e-01 1.75161710e+01] [ 2.32775052e-02 9.99729021e-01 2.06073277e-04 -7.08535898e-02] [ 1.14865067e-01 -2.87926086e-03 9.93376931e-01 2.72032390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61538474999999 meters Centerline goodness : 0.953629 Centerline is valid? [True, True] Translation: X:17.54, Y:-0.07, Z:0.27 [[ 9.92949560e-01 -2.52842580e-02 -1.15809665e-01 1.75446906e+01] [ 2.51646708e-02 9.99680206e-01 -2.49481285e-03 -6.88974255e-02] [ 1.15835709e-01 -4.37088771e-04 9.93268291e-01 2.71717583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.64538474999999 meters Centerline goodness : 0.953784 Centerline is valid? [True, True] Translation: X:17.57, Y:-0.07, Z:0.27 [[ 9.92663393e-01 -2.55365197e-02 -1.18183225e-01 1.75720879e+01] [ 2.54100285e-02 9.99673791e-01 -2.57722099e-03 -6.79420249e-02] [ 1.18210486e-01 -4.44726200e-04 9.92988461e-01 2.73277266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67538474999999 meters Centerline goodness : 0.951459 Centerline is valid? [True, True] Translation: X:17.60, Y:-0.07, Z:0.28 [[ 9.92608763e-01 -2.38194590e-02 -1.18997805e-01 1.75996790e+01] [ 2.36767989e-02 9.99716251e-01 -2.61267193e-03 -6.73941352e-02] [ 1.19026272e-01 -2.24126050e-04 9.92891080e-01 2.75707245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.70538475 meters Centerline goodness : 0.953829 Centerline is valid? [True, True] Translation: X:17.63, Y:-0.07, Z:0.28 [[ 9.92839986e-01 -2.27834784e-02 -1.17259013e-01 1.76265459e+01] [ 2.26342092e-02 9.99740421e-01 -2.60463009e-03 -6.87029985e-02] [ 1.17287918e-01 -6.80841237e-05 9.93097951e-01 2.79259253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.73538475 meters Centerline goodness : 0.955237 Centerline is valid? [True, True] Translation: X:17.65, Y:-0.07, Z:0.28 [[ 9.92845472e-01 -2.11637598e-02 -1.17515804e-01 1.76543402e+01] [ 2.10004954e-02 9.99776013e-01 -2.62749874e-03 -6.95003067e-02] [ 1.17545089e-01 1.40810133e-04 9.93067537e-01 2.83417211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.76538475 meters Centerline goodness : 0.952115 Centerline is valid? [True, True] Translation: X:17.68, Y:-0.07, Z:0.29 [[ 9.92840520e-01 -2.04351061e-02 -1.17686487e-01 1.76823223e+01] [ 2.02623673e-02 9.99791147e-01 -2.66418781e-03 -6.84741187e-02] [ 1.17716351e-01 2.60506783e-04 9.93047226e-01 2.85920308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.79538475 meters Centerline goodness : 0.954346 Centerline is valid? [True, True] Translation: X:17.71, Y:-0.07, Z:0.29 [[ 9.92834403e-01 -2.02388479e-02 -1.17771968e-01 1.77096267e+01] [ 2.00608936e-02 9.99795124e-01 -2.69636484e-03 -6.69201158e-02] [ 1.17802411e-01 3.14432862e-04 9.93037005e-01 2.88397468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.82538475 meters Centerline goodness : 0.951593 Centerline is valid? [True, True] Translation: X:17.74, Y:-0.06, Z:0.29 [[ 9.92892301e-01 -1.94578775e-02 -1.17414949e-01 1.77377780e+01] [ 1.92735785e-02 9.99810588e-01 -2.70497322e-03 -6.41227262e-02] [ 1.17445342e-01 4.22740845e-04 9.93079258e-01 2.89301439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85538474999998 meters Centerline goodness : 0.948047 Centerline is valid? [True, False] Translation: X:17.74, Y:-0.07, Z:0.29 [[ 9.92787621e-01 -1.62910727e-02 -1.18774327e-01 1.77408427e+01] [ 1.66743048e-02 9.99858480e-01 2.23344796e-03 -6.54846871e-02] [ 1.18721132e-01 -4.19781882e-03 9.92918764e-01 2.91757815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88538474999999 meters Centerline goodness : 0.950588 Centerline is valid? [False, True] Translation: X:17.74, Y:-0.07, Z:0.29 [[ 9.92662298e-01 -1.70518126e-02 -1.19711314e-01 1.77427714e+01] [ 1.75127033e-02 9.99842723e-01 2.79898039e-03 -6.67285632e-02] [ 1.19644758e-01 -4.87491103e-03 9.92804798e-01 2.93526096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91538474999999 meters Centerline goodness : 0.951877 Centerline is valid? [True, True] Translation: X:17.77, Y:-0.06, Z:0.29 [[ 9.92649884e-01 -1.75103424e-02 -1.19748052e-01 1.77706867e+01] [ 1.73455814e-02 9.99846630e-01 -2.41813909e-03 -6.39451305e-02] [ 1.19772028e-01 3.23265901e-04 9.92801368e-01 2.92504974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94538474999999 meters Centerline goodness : 0.950217 Centerline is valid? [True, True] Translation: X:17.80, Y:-0.06, Z:0.29 [[ 9.92509214e-01 -1.80089369e-02 -1.20835166e-01 1.77980477e+01] [ 1.78411442e-02 9.99837782e-01 -2.47043561e-03 -6.32205477e-02] [ 1.20860055e-01 2.96092474e-04 9.92669512e-01 2.94529938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97538474999999 meters Centerline goodness : 0.950892 Centerline is valid? [True, True] Translation: X:17.83, Y:-0.06, Z:0.30 [[ 9.92515226e-01 -1.86814593e-02 -1.20683590e-01 1.78259517e+01] [ 1.85169598e-02 9.99825460e-01 -2.48446476e-03 -6.18026845e-02] [ 1.20708939e-01 2.31175933e-04 9.92687916e-01 2.95586412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.00538474999999 meters Centerline goodness : 0.950430 Centerline is valid? [True, True] Translation: X:17.85, Y:-0.06, Z:0.30 [[ 9.92467125e-01 -2.35589997e-02 -1.20224702e-01 1.78529764e+01] [ 2.34277064e-02 9.99722394e-01 -2.50556764e-03 -6.36908437e-02] [ 1.20250356e-01 -3.29895513e-04 9.92743543e-01 2.98751263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03538474999999 meters Centerline goodness : 0.949470 Centerline is valid? [True, False] Translation: X:17.85, Y:-0.06, Z:0.30 [[ 9.92421433e-01 -2.34915305e-02 -1.20614461e-01 1.78536366e+01] [ 2.34424169e-02 9.99723521e-01 -1.82630338e-03 -6.44857561e-02] [ 1.20624017e-01 -1.01503188e-03 9.92697747e-01 2.99713106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.06538474999999 meters Centerline goodness : 0.952600 Centerline is valid? [False, True] Translation: X:17.86, Y:-0.07, Z:0.30 [[ 9.92377946e-01 -2.01916513e-02 -1.21566073e-01 1.78556148e+01] [ 2.07607912e-02 9.99778633e-01 3.41682274e-03 -6.78790018e-02] [ 1.21470171e-01 -5.91458739e-03 9.92577461e-01 3.02578665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.09538475 meters Centerline goodness : 0.950773 Centerline is valid? [True, True] Translation: X:17.88, Y:-0.07, Z:0.30 [[ 9.92386734e-01 -2.34144071e-02 -1.20914576e-01 1.78829708e+01] [ 2.33189607e-02 9.99725645e-01 -2.20449860e-03 -6.70291463e-02] [ 1.20933020e-01 -6.31887084e-04 9.92660468e-01 3.03021136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.12538475 meters Centerline goodness : 0.948642 Centerline is valid? [True, False] Translation: X:17.89, Y:-0.07, Z:0.30 [[ 9.92244192e-01 -2.46095458e-02 -1.21843477e-01 1.78861654e+01] [ 2.45166941e-02 9.99696863e-01 -2.26141265e-03 -6.69603744e-02] [ 1.21862194e-01 -7.43325684e-04 9.92546751e-01 3.03297554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.15538475 meters Centerline goodness : 0.946238 Centerline is valid? [False, False] Translation: X:17.89, Y:-0.07, Z:0.30 [[ 9.92127370e-01 -2.26018125e-02 -1.23176457e-01 1.78917354e+01] [ 2.28477176e-02 9.99738786e-01 5.84018718e-04 -6.65460945e-02] [ 1.23131082e-01 -3.39372186e-03 9.92384613e-01 3.01938057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.18538475 meters Centerline goodness : 0.945439 Centerline is valid? [False, False] Translation: X:17.90, Y:-0.07, Z:0.30 [[ 9.92021241e-01 -1.95756425e-02 -1.24541765e-01 1.78952557e+01] [ 2.03459940e-02 9.99780910e-01 4.91645980e-03 -6.80162660e-02] [ 1.24418236e-01 -7.41115855e-03 9.92202186e-01 3.03367428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.21538475 meters Centerline goodness : 0.947067 Centerline is valid? [False, False] Translation: X:17.90, Y:-0.07, Z:0.31 [[ 9.91928541e-01 -1.64030085e-02 -1.25732698e-01 1.78979940e+01] [ 1.76785874e-02 9.99802890e-01 9.03599605e-03 -6.86182846e-02] [ 1.25559698e-01 -1.11858389e-02 9.92023003e-01 3.05019709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24538474999999 meters Centerline goodness : 0.947409 Centerline is valid? [False, False] Translation: X:17.90, Y:-0.07, Z:0.31 [[ 9.91839107e-01 -1.31410861e-02 -1.26816784e-01 1.79004337e+01] [ 1.49640965e-02 9.99797793e-01 1.34331372e-02 -6.97753623e-02] [ 1.26614615e-01 -1.52212094e-02 9.91835195e-01 3.06937801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27538474999999 meters Centerline goodness : 0.946217 Centerline is valid? [False, False] Translation: X:17.90, Y:-0.07, Z:0.31 [[ 9.91804648e-01 -1.30301514e-02 -1.27097428e-01 1.79007697e+01] [ 1.48448426e-02 9.99800802e-01 1.33411671e-02 -6.90061203e-02] [ 1.26898273e-01 -1.51185729e-02 9.91800513e-01 3.07155371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30538474999999 meters Centerline goodness : 0.948841 Centerline is valid? [False, False] Translation: X:17.90, Y:-0.07, Z:0.31 [[ 9.91690427e-01 -9.73986995e-03 -1.28277945e-01 1.79034030e+01] [ 1.20390191e-02 9.99780274e-01 1.71600046e-02 -6.89894319e-02] [ 1.28082623e-01 -1.85617529e-02 9.91589786e-01 3.08443298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33538474999999 meters Centerline goodness : 0.946806 Centerline is valid? [False, False] Translation: X:17.90, Y:-0.07, Z:0.31 [[ 9.91663327e-01 -9.62428979e-03 -1.28495989e-01 1.79043139e+01] [ 1.18233456e-02 9.99796226e-01 1.63619866e-02 -6.51850707e-02] [ 1.28312333e-01 -1.77448346e-02 9.91575043e-01 3.07247560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.36538474999999 meters Centerline goodness : 0.945458 Centerline is valid? [False, False] Translation: X:17.91, Y:-0.06, Z:0.31 [[ 9.91625301e-01 -9.77167929e-03 -1.28778014e-01 1.79053901e+01] [ 1.19101942e-02 9.99803497e-01 1.58465778e-02 -6.27980955e-02] [ 1.28597861e-01 -1.72476386e-02 9.91546826e-01 3.06609481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39538474999999 meters Centerline goodness : 0.942559 Centerline is valid? [False, False] Translation: X:17.91, Y:-0.06, Z:0.31 [[ 9.91561961e-01 -1.00096684e-02 -1.29246604e-01 1.79065981e+01] [ 1.20820193e-02 9.99810561e-01 1.52599640e-02 -6.09479460e-02] [ 1.29069373e-01 -1.66927598e-02 9.91495057e-01 3.06218263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.42538474999999 meters Centerline goodness : 0.944097 Centerline is valid? [False, False] Translation: X:17.91, Y:-0.06, Z:0.31 [[ 9.91573311e-01 -9.45445128e-03 -1.29201328e-01 1.79059910e+01] [ 1.14249923e-02 9.99829319e-01 1.45190446e-02 -5.80102862e-02] [ 1.29042006e-01 -1.58728213e-02 9.91512085e-01 3.05537126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45538475 meters Centerline goodness : 0.942263 Centerline is valid? [False, False] Translation: X:17.91, Y:-0.06, Z:0.31 [[ 9.91473226e-01 -5.91793616e-03 -1.30176111e-01 1.79085098e+01] [ 8.31815920e-03 9.99805139e-01 1.79022797e-02 -5.65302197e-02] [ 1.30044800e-01 -1.88324567e-02 9.91329253e-01 3.05739447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.48538475 meters Centerline goodness : 0.941121 Centerline is valid? [False, False] Translation: X:17.91, Y:-0.06, Z:0.31 [[ 9.91411549e-01 -6.01226176e-03 -1.30640701e-01 1.79097740e+01] [ 8.35843969e-03 9.99813356e-01 1.74181095e-02 -5.50572390e-02] [ 1.30511595e-01 -1.83604673e-02 9.91276761e-01 3.05260551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.51538475 meters Centerline goodness : 0.943656 Centerline is valid? [False, False] Translation: X:17.91, Y:-0.05, Z:0.31 [[ 9.91321745e-01 -1.95421955e-03 -1.31443444e-01 1.79110099e+01] [ 4.81416513e-03 9.99758466e-01 2.14437401e-02 -5.48567875e-02] [ 1.31369790e-01 -2.18904363e-02 9.91091715e-01 3.06591354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.54538475 meters Centerline goodness : 0.942469 Centerline is valid? [False, False] Translation: X:17.91, Y:-0.05, Z:0.31 [[ 9.91268610e-01 -1.95881218e-03 -1.31843492e-01 1.79119095e+01] [ 4.77006773e-03 9.99767882e-01 2.10102210e-02 -5.28956240e-02] [ 1.31771734e-01 -2.14556749e-02 9.91047862e-01 3.06300002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.57538475 meters Centerline goodness : 0.942601 Centerline is valid? [False, False] Translation: X:17.91, Y:-0.05, Z:0.31 [[ 9.91240078e-01 -1.80016742e-03 -1.32060091e-01 1.79124476e+01] [ 4.53620282e-03 9.99781195e-01 2.04201926e-02 -5.08350463e-02] [ 1.31994436e-01 -2.08403647e-02 9.91031356e-01 3.05633976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60538474999998 meters Centerline goodness : 0.942755 Centerline is valid? [False, False] Translation: X:17.93, Y:-0.05, Z:0.30 [[ 9.91812104e-01 1.47000121e-03 -1.27697259e-01 1.79275678e+01] [ 2.35558765e-04 9.99910989e-01 1.33401485e-02 -4.62954571e-02] [ 1.27705502e-01 -1.32610009e-02 9.91723475e-01 3.01742745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63538474999999 meters Centerline goodness : 0.941094 Centerline is valid? [False, False] Translation: X:17.93, Y:-0.04, Z:0.30 [[ 9.91745998e-01 1.08633046e-03 -1.28213473e-01 1.79291441e+01] [ 5.67627468e-04 9.99917110e-01 1.28627877e-02 -4.47249396e-02] [ 1.28216818e-01 -1.28293958e-02 9.91663176e-01 3.01429085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66538474999999 meters Centerline goodness : 0.936994 Centerline is valid? [False, False] Translation: X:17.93, Y:-0.04, Z:0.30 [[ 9.91740604e-01 9.60187126e-04 -1.28256201e-01 1.79295700e+01] [ 6.50707436e-04 9.99921442e-01 1.25174819e-02 -4.27788151e-02] [ 1.28258145e-01 -1.24975524e-02 9.91662069e-01 3.01178642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69538474999999 meters Centerline goodness : 0.939689 Centerline is valid? [False, False] Translation: X:17.93, Y:-0.04, Z:0.30 [[ 9.91623464e-01 -1.96252131e-04 -1.29162171e-01 1.79327276e+01] [ 1.73668338e-03 9.99928706e-01 1.18138140e-02 -4.16328673e-02] [ 1.29150644e-01 -1.19391689e-02 9.91553109e-01 3.00668966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72538474999999 meters Centerline goodness : 0.939557 Centerline is valid? [False, False] Translation: X:17.93, Y:-0.04, Z:0.30 [[ 9.91550376e-01 -5.05070712e-04 -1.29721226e-01 1.79338241e+01] [ 2.06746141e-03 9.99926938e-01 1.19098345e-02 -4.17826223e-02] [ 1.29705733e-01 -1.20773945e-02 9.91478976e-01 3.01379363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75538474999999 meters Centerline goodness : 0.941388 Centerline is valid? [False, False] Translation: X:17.93, Y:-0.04, Z:0.30 [[ 9.91451661e-01 -6.53505926e-04 -1.30472900e-01 1.79347058e+01] [ 2.33367738e-03 9.99916310e-01 1.27250722e-02 -4.32242570e-02] [ 1.30453665e-01 -1.29207757e-02 9.91370211e-01 3.03345381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.78538474999999 meters Centerline goodness : 0.941931 Centerline is valid? [False, False] Translation: X:17.94, Y:-0.04, Z:0.30 [[ 9.91375469e-01 -1.33216322e-03 -1.31045429e-01 1.79364965e+01] [ 3.00236061e-03 9.99916758e-01 1.25484295e-02 -4.35411769e-02] [ 1.31017804e-01 -1.28336508e-02 9.91296945e-01 3.03412771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81538474999999 meters Centerline goodness : 0.943572 Centerline is valid? [False, False] Translation: X:17.94, Y:-0.04, Z:0.30 [[ 9.91235940e-01 -2.67853359e-03 -1.32076255e-01 1.79404220e+01] [ 4.29317436e-03 9.99919478e-01 1.19418196e-02 -4.34382630e-02] [ 1.32033633e-01 -1.24041872e-02 9.91167623e-01 3.02602949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.84538475 meters Centerline goodness : 0.943970 Centerline is valid? [False, False] Translation: X:17.94, Y:-0.04, Z:0.30 [[ 9.91190670e-01 -3.06724485e-03 -1.32407132e-01 1.79418466e+01] [ 4.66329548e-03 9.99920143e-01 1.17457046e-02 -4.39248639e-02] [ 1.32360531e-01 -1.22596864e-02 9.91125819e-01 3.02109967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.87538475 meters Centerline goodness : 0.943333 Centerline is valid? [False, False] Translation: X:17.94, Y:-0.05, Z:0.30 [[ 9.91077178e-01 -3.51117290e-03 -1.33243010e-01 1.79439640e+01] [ 5.18180273e-03 9.99912230e-01 1.21935229e-02 -4.53620629e-02] [ 1.33188502e-01 -1.27751612e-02 9.91008385e-01 3.02849642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.90538475 meters Centerline goodness : 0.944579 Centerline is valid? [False, False] Translation: X:17.95, Y:-0.05, Z:0.30 [[ 9.90998112e-01 -3.81794650e-03 -1.33821390e-01 1.79455870e+01] [ 5.51099729e-03 9.99909369e-01 1.22834431e-02 -4.58264977e-02] [ 1.33762364e-01 -1.29103582e-02 9.90929338e-01 3.02992424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.93538475 meters Centerline goodness : 0.940448 Centerline is valid? [False, False] Translation: X:17.95, Y:-0.05, Z:0.30 [[ 9.90887925e-01 -4.52964179e-03 -1.34612787e-01 1.79480801e+01] [ 6.28606541e-03 9.99900532e-01 1.26258071e-02 -4.78285049e-02] [ 1.34542207e-01 -1.33569446e-02 9.90817837e-01 3.03441581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.96538475 meters Centerline goodness : 0.941217 Centerline is valid? [False, False] Translation: X:17.95, Y:-0.05, Z:0.30 [[ 9.90753319e-01 -5.44269069e-03 -1.35566362e-01 1.79504631e+01] [ 7.26358675e-03 9.99889882e-01 1.29407569e-02 -4.93692730e-02] [ 1.35481001e-01 -1.38057959e-02 9.90683753e-01 3.04526898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99538474999999 meters Centerline goodness : 0.941777 Centerline is valid? [False, False] Translation: X:17.95, Y:-0.05, Z:0.30 [[ 9.90630948e-01 -6.21177600e-03 -1.36424847e-01 1.79532243e+01] [ 8.02857004e-03 9.99886215e-01 1.27709929e-02 -4.96096928e-02] [ 1.36329994e-01 -1.37466373e-02 9.90568101e-01 3.04381855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02538474999999 meters Centerline goodness : 0.940832 Centerline is valid? [False, False] Translation: X:17.96, Y:-0.05, Z:0.30 [[ 9.90508872e-01 -7.14461596e-03 -1.37262995e-01 1.79563319e+01] [ 8.95175750e-03 9.99881140e-01 1.25527530e-02 -4.99264392e-02] [ 1.37156995e-01 -1.36623582e-02 9.90455097e-01 3.04015040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05538474999999 meters Centerline goodness : 0.939832 Centerline is valid? [False, False] Translation: X:17.96, Y:-0.05, Z:0.30 [[ 9.90427244e-01 -7.52708184e-03 -1.37830397e-01 1.79582497e+01] [ 9.34837408e-03 9.99877276e-01 1.25714380e-02 -5.00256123e-02] [ 1.37718855e-01 -1.37395848e-02 9.90376060e-01 3.03849580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08538474999999 meters Centerline goodness : 0.944011 Centerline is valid? [False, False] Translation: X:17.96, Y:-0.05, Z:0.30 [[ 9.90331548e-01 -7.83032115e-03 -1.38499500e-01 1.79599160e+01] [ 9.68339090e-03 9.99872325e-01 1.27108480e-02 -5.04369126e-02] [ 1.38382287e-01 -1.39290986e-02 9.90280931e-01 3.04264396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11538474999999 meters Centerline goodness : 0.941285 Centerline is valid? [False, False] Translation: X:17.96, Y:-0.05, Z:0.30 [[ 9.90299790e-01 -7.91340468e-03 -1.38721679e-01 1.79607222e+01] [ 9.77918689e-03 9.99870596e-01 1.27733897e-02 -5.06438594e-02] [ 1.38602647e-01 -1.40060704e-02 9.90249027e-01 3.04216965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.14538474999999 meters Centerline goodness : 0.943080 Centerline is valid? [False, False] Translation: X:17.96, Y:-0.05, Z:0.30 [[ 9.90181662e-01 -8.30994906e-03 -1.39539316e-01 1.79627524e+01] [ 1.02235243e-02 9.99863200e-01 1.30023138e-02 -5.18825205e-02] [ 1.39412179e-01 -1.43012363e-02 9.90131163e-01 3.04680681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17538474999999 meters Centerline goodness : 0.943701 Centerline is valid? [False, False] Translation: X:17.96, Y:-0.05, Z:0.30 [[ 9.90081089e-01 -8.81566477e-03 -1.40220262e-01 1.79648321e+01] [ 1.07465903e-02 9.99857493e-01 1.30194266e-02 -5.24074720e-02] [ 1.40085504e-01 -1.43971777e-02 9.90034733e-01 3.04756282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.20538475 meters Centerline goodness : 0.945781 Centerline is valid? [False, False] Translation: X:17.97, Y:-0.05, Z:0.30 [[ 9.89996737e-01 -9.33795781e-03 -1.40780906e-01 1.79671897e+01] [ 1.12224085e-02 9.99857667e-01 1.25977245e-02 -5.27217835e-02] [ 1.40643231e-01 -1.40516070e-02 9.89960622e-01 3.03812341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.23538475 meters Centerline goodness : 0.948089 Centerline is valid? [False, False] Translation: X:17.97, Y:-0.05, Z:0.30 [[ 9.89915756e-01 -9.50835048e-03 -1.41337847e-01 1.79686948e+01] [ 1.14201953e-02 9.99853857e-01 1.27217897e-02 -5.34364743e-02] [ 1.41196229e-01 -1.42076059e-02 9.89879674e-01 3.04004302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.26538475 meters Centerline goodness : 0.947013 Centerline is valid? [False, False] Translation: X:17.97, Y:-0.05, Z:0.30 [[ 9.89847051e-01 -9.83082135e-03 -1.41796228e-01 1.79703473e+01] [ 1.17294316e-02 9.99852321e-01 1.25600922e-02 -5.34019384e-02] [ 1.41651811e-01 -1.40957594e-02 9.89816182e-01 3.03662430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.29538475 meters Centerline goodness : 0.946751 Centerline is valid? [False, False] Translation: X:17.97, Y:-0.05, Z:0.30 [[ 9.89802833e-01 -1.01325522e-02 -1.42083364e-01 1.79712964e+01] [ 1.20437061e-02 9.99848116e-01 1.25974016e-02 -5.37139305e-02] [ 1.41934140e-01 -1.41801541e-02 9.89774531e-01 3.03787860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.32538475 meters Centerline goodness : 0.946341 Centerline is valid? [False, False] Translation: X:17.97, Y:-0.05, Z:0.30 [[ 9.89735191e-01 -1.06913954e-02 -1.42512964e-01 1.79732890e+01] [ 1.25376663e-02 9.99848629e-01 1.20634110e-02 -5.33426738e-02] [ 1.42362417e-01 -1.37263623e-02 9.89719419e-01 3.02829881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35538474999998 meters Centerline goodness : 0.946341 Centerline is valid? [False, False] Translation: X:17.97, Y:-0.05, Z:0.30 [[ 9.89735191e-01 -1.06913954e-02 -1.42512964e-01 1.79732890e+01] [ 1.25376663e-02 9.99848629e-01 1.20634110e-02 -5.33426738e-02] [ 1.42362417e-01 -1.37263623e-02 9.89719419e-01 3.02829881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.38538474999999 meters Centerline goodness : 0.945721 Centerline is valid? [False, False] Translation: X:17.97, Y:-0.05, Z:0.30 [[ 9.89674612e-01 -1.09847337e-02 -1.42910806e-01 1.79746499e+01] [ 1.28092282e-02 9.99847705e-01 1.18528976e-02 -5.33172039e-02] [ 1.42758841e-01 -1.35610890e-02 9.89664595e-01 3.02463913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41538474999999 meters Centerline goodness : 0.947081 Centerline is valid? [False, False] Translation: X:17.98, Y:-0.06, Z:0.30 [[ 9.89497962e-01 -1.20442133e-02 -1.44044159e-01 1.79774072e+01] [ 1.40067352e-02 9.99822282e-01 1.26180969e-02 -5.57221084e-02] [ 1.43866585e-01 -1.45031695e-02 9.89490810e-01 3.04382709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44538474999999 meters Centerline goodness : 0.947155 Centerline is valid? [False, False] Translation: X:17.98, Y:-0.06, Z:0.30 [[ 9.89388976e-01 -1.26545236e-02 -1.44738787e-01 1.79794319e+01] [ 1.46347334e-02 9.99813203e-01 1.26247027e-02 -5.58778914e-02] [ 1.44551991e-01 -1.46089552e-02 9.89389357e-01 3.04679650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47538474999999 meters Centerline goodness : 0.948246 Centerline is valid? [False, False] Translation: X:17.98, Y:-0.06, Z:0.31 [[ 9.89259370e-01 -1.34856440e-02 -1.45547368e-01 1.79819314e+01] [ 1.55292619e-02 9.99796017e-01 1.29138356e-02 -5.68274385e-02] [ 1.45343527e-01 -1.50353760e-02 9.89267000e-01 3.05339261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.50538474999999 meters Centerline goodness : 0.950064 Centerline is valid? [False, True] Translation: X:17.98, Y:-0.06, Z:0.31 [[ 9.89163487e-01 -1.34920844e-02 -1.46196991e-01 1.79829206e+01] [ 1.57137537e-02 9.99777783e-01 1.40521714e-02 -5.91967541e-02] [ 1.45974911e-01 -1.61971984e-02 9.89155689e-01 3.07147975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53538474999999 meters Centerline goodness : 0.948187 Centerline is valid? [True, False] Translation: X:17.98, Y:-0.06, Z:0.31 [[ 9.89087585e-01 -1.35931619e-02 -1.46700290e-01 1.79839925e+01] [ 1.58962451e-02 9.99767947e-01 1.45382887e-02 -6.02356623e-02] [ 1.46468627e-01 -1.67116246e-02 9.89074144e-01 3.07924363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.56538474999999 meters Centerline goodness : 0.949642 Centerline is valid? [False, False] Translation: X:17.98, Y:-0.06, Z:0.31 [[ 9.89007819e-01 -1.32390449e-02 -1.47269348e-01 1.79843017e+01] [ 1.56995380e-02 9.99755713e-01 1.55575829e-02 -6.15405285e-02] [ 1.47027404e-01 -1.76986318e-02 9.88974065e-01 3.09777069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.59538475 meters Centerline goodness : 0.951582 Centerline is valid? [False, True] Translation: X:17.99, Y:-0.06, Z:0.31 [[ 9.88956236e-01 -1.32291666e-02 -1.47616237e-01 1.79852104e+01] [ 1.57157692e-02 9.99753367e-01 1.56913906e-02 -6.15811121e-02] [ 1.47372246e-01 -1.78380012e-02 9.88920233e-01 3.09944953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.62538475 meters Centerline goodness : 0.951814 Centerline is valid? [True, True] Translation: X:18.01, Y:-0.05, Z:0.30 [[ 9.88980106e-01 -1.50167866e-02 -1.47284917e-01 1.80132494e+01] [ 1.47570138e-02 9.99887030e-01 -2.85634903e-03 -5.29943340e-02] [ 1.47311171e-01 6.51386817e-04 9.89089983e-01 3.01082137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.65538475 meters Centerline goodness : 0.951705 Centerline is valid? [True, True] Translation: X:18.04, Y:-0.05, Z:0.30 [[ 9.88934204e-01 -1.33498544e-02 -1.47752905e-01 1.80412043e+01] [ 1.30655537e-02 9.99910452e-01 -2.89460270e-03 -5.07131444e-02] [ 1.47778316e-01 9.32098100e-04 9.89020071e-01 3.04419249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.68538475 meters Centerline goodness : 0.950709 Centerline is valid? [True, True] Translation: X:18.07, Y:-0.05, Z:0.31 [[ 9.88980966e-01 -1.20651010e-02 -1.47550269e-01 1.80687626e+01] [ 1.17613288e-02 9.99926537e-01 -2.93109867e-03 -4.92302263e-02] [ 1.47574793e-01 1.16341357e-03 9.89050215e-01 3.07575551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.71538475 meters Centerline goodness : 0.950263 Centerline is valid? [True, True] Translation: X:18.10, Y:-0.05, Z:0.31 [[ 9.88811906e-01 -9.86349970e-03 -1.48841281e-01 1.80957018e+01] [ 9.52368826e-03 9.99950162e-01 -2.99561909e-03 -4.71988664e-02] [ 1.48863410e-01 1.54458586e-03 9.88856562e-01 3.11046123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74538474999999 meters Centerline goodness : 0.950313 Centerline is valid? [True, True] Translation: X:18.12, Y:-0.05, Z:0.32 [[ 9.88535234e-01 -1.18632815e-02 -1.50523601e-01 1.81238312e+01] [ 1.15355441e-02 9.99928811e-01 -3.05031972e-03 -4.62479176e-02] [ 1.50549072e-01 1.27897687e-03 9.88601710e-01 3.15401713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77538474999999 meters Centerline goodness : 0.951543 Centerline is valid? [True, True] Translation: X:18.15, Y:-0.04, Z:0.32 [[ 9.88259037e-01 -1.23027021e-02 -1.52291557e-01 1.81516208e+01] [ 1.19659507e-02 9.99923514e-01 -3.12756792e-03 -4.45036500e-02] [ 1.52318387e-01 1.26853400e-03 9.88330663e-01 3.19167753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80538474999999 meters Centerline goodness : 0.952594 Centerline is valid? [True, True] Translation: X:18.18, Y:-0.04, Z:0.32 [[ 9.88216256e-01 -1.21765533e-02 -1.52579035e-01 1.81796563e+01] [ 1.18306642e-02 9.99924976e-01 -3.17465053e-03 -4.29926656e-02] [ 1.52606245e-01 1.33212993e-03 9.88286173e-01 3.21468399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83538474999999 meters Centerline goodness : 0.949710 Centerline is valid? [True, False] Translation: X:18.18, Y:-0.04, Z:0.32 [[ 9.88084652e-01 -1.24278162e-02 -1.53408832e-01 1.81810896e+01] [ 1.22154532e-02 9.99922681e-01 -2.32681179e-03 -4.43774612e-02] [ 1.53425888e-01 4.25128609e-04 9.88160066e-01 3.23175327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.86538474999999 meters Centerline goodness : 0.952515 Centerline is valid? [False, True] Translation: X:18.18, Y:-0.05, Z:0.33 [[ 9.87937184e-01 -1.24163150e-02 -1.54356584e-01 1.81824722e+01] [ 1.23966666e-02 9.99922564e-01 -1.08985100e-03 -4.62783698e-02] [ 1.54358164e-01 -8.36802776e-04 9.88014604e-01 3.25354386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89538474999999 meters Centerline goodness : 0.951372 Centerline is valid? [True, True] Translation: X:18.21, Y:-0.05, Z:0.33 [[ 9.87903902e-01 -1.47326533e-02 -1.54365896e-01 1.82088970e+01] [ 1.44568302e-02 9.99891262e-01 -2.90927149e-03 -4.63765262e-02] [ 1.54391971e-01 6.42439113e-04 9.88009467e-01 3.29198760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.92538474999999 meters Centerline goodness : 0.951452 Centerline is valid? [True, True] Translation: X:18.24, Y:-0.05, Z:0.33 [[ 9.87992704e-01 -1.55634730e-02 -1.53714657e-01 1.82355801e+01] [ 1.52970766e-02 9.99878742e-01 -2.91569942e-03 -4.66547737e-02] [ 1.53741396e-01 5.29304866e-04 9.88110977e-01 3.32726259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95538475 meters Centerline goodness : 0.951658 Centerline is valid? [True, True] Translation: X:18.26, Y:-0.05, Z:0.34 [[ 9.88021859e-01 -1.77072945e-02 -1.53294679e-01 1.82636221e+01] [ 1.74635066e-02 9.99843188e-01 -2.93677236e-03 -4.60811604e-02] [ 1.53322643e-01 2.24532644e-04 9.88176157e-01 3.35656777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.98538475 meters Centerline goodness : 0.952908 Centerline is valid? [True, True] Translation: X:18.29, Y:-0.05, Z:0.34 [[ 9.88132305e-01 -1.80282212e-02 -1.52543540e-01 1.82911542e+01] [ 1.77842178e-02 9.99837455e-01 -2.96394467e-03 -4.61384833e-02] [ 1.52572179e-01 2.15901945e-04 9.88292307e-01 3.39098202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.01538475 meters Centerline goodness : 0.951381 Centerline is valid? [True, True] Translation: X:18.32, Y:-0.05, Z:0.34 [[ 9.88106316e-01 -1.87991839e-02 -1.52618805e-01 1.83190152e+01] [ 1.85595098e-02 9.99823272e-01 -2.99499543e-03 -4.65260235e-02] [ 1.52648137e-01 1.26843685e-04 9.88280593e-01 3.42235942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.04538475 meters Centerline goodness : 0.953020 Centerline is valid? [True, True] Translation: X:18.35, Y:-0.05, Z:0.35 [[ 9.88055404e-01 -2.02982346e-02 -1.52756344e-01 1.83459575e+01] [ 2.00695149e-02 9.99793968e-01 -3.03921840e-03 -4.86184533e-02] [ 1.52786562e-01 -6.28295654e-05 9.88259208e-01 3.46558903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.07538475 meters Centerline goodness : 0.953745 Centerline is valid? [True, True] Translation: X:18.37, Y:-0.05, Z:0.35 [[ 9.87851788e-01 -2.24632463e-02 -1.53766863e-01 1.83736111e+01] [ 2.22540421e-02 9.99747598e-01 -3.08181632e-03 -5.06541861e-02] [ 1.53797280e-01 -3.77556498e-04 9.88102350e-01 3.51469662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10538474999998 meters Centerline goodness : 0.952773 Centerline is valid? [True, True] Translation: X:18.40, Y:-0.05, Z:0.35 [[ 9.87735157e-01 -2.31421563e-02 -1.54414057e-01 1.84009251e+01] [ 2.29329662e-02 9.99732086e-01 -3.13610853e-03 -5.06188754e-02] [ 1.54445264e-01 -4.43527699e-04 9.88001247e-01 3.54516732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13538474999999 meters Centerline goodness : 0.952486 Centerline is valid? [True, True] Translation: X:18.43, Y:-0.05, Z:0.36 [[ 9.87501363e-01 -2.41698682e-02 -1.55746191e-01 1.84287656e+01] [ 2.39661358e-02 9.99707694e-01 -3.18602654e-03 -5.05748217e-02] [ 1.55777671e-01 -5.86428812e-04 9.87791969e-01 3.58308338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16538474999999 meters Centerline goodness : 0.952049 Centerline is valid? [True, True] Translation: X:18.46, Y:-0.05, Z:0.36 [[ 9.87452888e-01 -2.43294256e-02 -1.56028439e-01 1.84562630e+01] [ 2.41199030e-02 9.99703835e-01 -3.23628329e-03 -4.95859505e-02] [ 1.56060966e-01 -5.67713543e-04 9.87747261e-01 3.61427260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19538474999999 meters Centerline goodness : 0.950463 Centerline is valid? [True, True] Translation: X:18.48, Y:-0.05, Z:0.37 [[ 9.87233416e-01 -2.27566138e-02 -1.57646185e-01 1.84838904e+01] [ 2.25155273e-02 9.99740996e-01 -3.31526466e-03 -4.80456738e-02] [ 1.57680798e-01 -2.76546929e-04 9.87490096e-01 3.65631015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22538474999999 meters Centerline goodness : 0.948819 Centerline is valid? [True, False] Translation: X:18.49, Y:-0.05, Z:0.37 [[ 9.87085050e-01 -1.89678497e-02 -1.59070188e-01 1.84862946e+01] [ 1.94806394e-02 9.99808848e-01 1.66482413e-03 -4.92415501e-02] [ 1.59008203e-01 -4.74211197e-03 9.87265873e-01 3.68429814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25538474999999 meters Centerline goodness : 0.947792 Centerline is valid? [False, False] Translation: X:18.49, Y:-0.05, Z:0.37 [[ 9.86981907e-01 -1.44798292e-02 -1.60178183e-01 1.84873525e+01] [ 1.56435260e-02 9.99859592e-01 6.00631761e-03 -4.77964086e-02] [ 1.60068722e-01 -8.43387838e-03 9.87069843e-01 3.70562675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.28538474999999 meters Centerline goodness : 0.947713 Centerline is valid? [False, False] Translation: X:18.49, Y:-0.05, Z:0.37 [[ 9.86889097e-01 -1.04188578e-02 -1.61063213e-01 1.84887289e+01] [ 1.22493302e-02 9.99871136e-01 1.03761448e-02 -4.76906833e-02] [ 1.60934350e-01 -1.22130206e-02 9.86889547e-01 3.72323675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31538474999999 meters Centerline goodness : 0.948138 Centerline is valid? [False, False] Translation: X:18.49, Y:-0.04, Z:0.37 [[ 9.86836703e-01 -5.26409787e-03 -1.61634191e-01 1.84879669e+01] [ 7.72950919e-03 9.99863129e-01 1.46280065e-02 -4.42583581e-02] [ 1.61535064e-01 -1.56848067e-02 9.86742322e-01 3.74504352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.34538475 meters Centerline goodness : 0.947307 Centerline is valid? [False, False] Translation: X:18.49, Y:-0.04, Z:0.37 [[ 9.86821055e-01 -4.54474338e-03 -1.61751508e-01 1.84874750e+01] [ 7.02483333e-03 9.99866327e-01 1.47641132e-02 -4.17564154e-02] [ 1.61662787e-01 -1.57058151e-02 9.86721070e-01 3.74939528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.37538475 meters Centerline goodness : 0.949253 Centerline is valid? [False, False] Translation: X:18.49, Y:-0.04, Z:0.38 [[ 9.86681352e-01 -4.83556266e-03 -1.62593132e-01 1.84877021e+01] [ 7.46453441e-03 9.99851041e-01 1.55620014e-02 -4.09189326e-02] [ 1.62493661e-01 -1.65684186e-02 9.86570473e-01 3.78128695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.40538475 meters Centerline goodness : 0.950798 Centerline is valid? [False, True] Translation: X:18.49, Y:-0.04, Z:0.38 [[ 9.86580753e-01 -5.21104234e-03 -1.63190881e-01 1.84888039e+01] [ 7.85284064e-03 9.99848293e-01 1.55474965e-02 -4.01879331e-02] [ 1.63085105e-01 -1.66203728e-02 9.86472003e-01 3.78959859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.43538475 meters Centerline goodness : 0.950188 Centerline is valid? [True, True] Translation: X:18.52, Y:-0.03, Z:0.37 [[ 9.86921579e-01 -7.38119005e-03 -1.61032029e-01 1.85175612e+01] [ 6.93624379e-03 9.99970416e-01 -3.32507150e-03 -3.02459344e-02] [ 1.61051808e-01 2.16462740e-03 9.86943580e-01 3.69246525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.46538475 meters Centerline goodness : 0.947991 Centerline is valid? [True, False] Translation: X:18.52, Y:-0.03, Z:0.37 [[ 9.86763770e-01 -3.21497847e-03 -1.62132432e-01 1.85190831e+01] [ 3.56004138e-03 9.99991974e-01 1.83780123e-03 -3.14739252e-02] [ 1.62125223e-01 -2.39067384e-03 9.86767296e-01 3.71996871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49538474999999 meters Centerline goodness : 0.943846 Centerline is valid? [False, False] Translation: X:18.52, Y:-0.03, Z:0.37 [[ 9.86655174e-01 1.62352117e-03 -1.62815636e-01 1.85195800e+01] [-5.28857040e-04 9.99976967e-01 6.76645231e-03 -3.20780473e-02] [ 1.62822872e-01 -6.59004899e-03 9.86633308e-01 3.74053639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52538474999999 meters Centerline goodness : 0.947610 Centerline is valid? [False, False] Translation: X:18.52, Y:-0.03, Z:0.37 [[ 9.86621387e-01 2.42747508e-03 -1.63010266e-01 1.85191402e+01] [-1.24409217e-03 9.99972132e-01 7.36125101e-03 -3.23958064e-02] [ 1.63023593e-01 -7.05996789e-03 9.86596911e-01 3.74833218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55538474999999 meters Centerline goodness : 0.947356 Centerline is valid? [False, False] Translation: X:18.52, Y:-0.03, Z:0.38 [[ 9.86539795e-01 2.49189676e-03 -1.63502368e-01 1.85197400e+01] [-1.20000897e-03 9.99967282e-01 7.99963117e-03 -3.32088624e-02] [ 1.63516952e-01 -7.69575019e-03 9.86510508e-01 3.76030531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58538474999999 meters Centerline goodness : 0.948108 Centerline is valid? [False, False] Translation: X:18.52, Y:-0.03, Z:0.38 [[ 9.86439639e-01 2.66066459e-03 -1.64102892e-01 1.85212213e+01] [-1.38188034e-03 9.99967790e-01 7.90624307e-03 -3.21369436e-02] [ 1.64118642e-01 -7.57226100e-03 9.86411543e-01 3.75742434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61538474999999 meters Centerline goodness : 0.948721 Centerline is valid? [False, False] Translation: X:18.52, Y:-0.03, Z:0.37 [[ 9.86398774e-01 2.64318421e-03 -1.64348629e-01 1.85224601e+01] [-1.41462932e-03 9.99970181e-01 7.59189032e-03 -3.05660238e-02] [ 1.64363795e-01 -7.25613892e-03 9.86373100e-01 3.74949577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.64538474999999 meters Centerline goodness : 0.948929 Centerline is valid? [False, False] Translation: X:18.52, Y:-0.03, Z:0.38 [[ 9.86335647e-01 2.79004684e-03 -1.64724640e-01 1.85231251e+01] [-1.49656527e-03 9.99967072e-01 7.97597302e-03 -3.07921377e-02] [ 1.64741470e-01 -7.62046533e-03 9.86307344e-01 3.75510461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67538474999999 meters Centerline goodness : 0.951391 Centerline is valid? [False, True] Translation: X:18.53, Y:-0.03, Z:0.38 [[ 9.86164076e-01 2.22077755e-03 -1.65757304e-01 1.85250928e+01] [-8.14086535e-04 9.99963083e-01 8.55390765e-03 -3.22198777e-02] [ 1.65770181e-01 -8.30061564e-03 9.86129478e-01 3.77186945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.70538475 meters Centerline goodness : 0.948420 Centerline is valid? [True, False] Translation: X:18.53, Y:-0.03, Z:0.38 [[ 9.86042839e-01 1.04845571e-03 -1.66488497e-01 1.85274375e+01] [ 3.47556485e-04 9.99965030e-01 8.35568014e-03 -3.27604530e-02] [ 1.66491436e-01 -8.29692273e-03 9.86007993e-01 3.77689754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.73538475 meters Centerline goodness : 0.949183 Centerline is valid? [False, False] Translation: X:18.53, Y:-0.03, Z:0.38 [[ 9.85937893e-01 4.55480092e-04 -1.67111532e-01 1.85289372e+01] [ 1.03396254e-03 9.99960518e-01 8.82575215e-03 -3.34492208e-02] [ 1.67108954e-01 -8.87443054e-03 9.85898495e-01 3.78834063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.76538475 meters Centerline goodness : 0.948007 Centerline is valid? [False, False] Translation: X:18.53, Y:-0.03, Z:0.38 [[ 9.85744557e-01 1.33278974e-03 -1.68243552e-01 1.85347121e+01] [ 6.41881644e-04 9.99931556e-01 1.16820516e-02 -3.36880778e-02] [ 1.68247607e-01 -1.16235112e-02 9.85676233e-01 3.78972242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.79538475 meters Centerline goodness : 0.946475 Centerline is valid? [False, False] Translation: X:18.54, Y:-0.03, Z:0.38 [[ 9.85669222e-01 1.12479162e-03 -1.68685861e-01 1.85363351e+01] [ 8.45140558e-04 9.99932293e-01 1.16058601e-02 -3.31605236e-02] [ 1.68687494e-01 -1.15821023e-02 9.85601534e-01 3.78612329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.82538475 meters Centerline goodness : 0.948914 Centerline is valid? [False, False] Translation: X:18.54, Y:-0.04, Z:0.38 [[ 9.85597867e-01 1.06812723e-03 -1.69102645e-01 1.85362602e+01] [ 1.21322383e-03 9.99909654e-01 1.33870262e-02 -3.60115291e-02] [ 1.69101666e-01 -1.33993839e-02 9.85507526e-01 3.81834481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85538474999998 meters Centerline goodness : 0.948431 Centerline is valid? [False, False] Translation: X:18.54, Y:-0.04, Z:0.39 [[ 9.85348919e-01 4.65243096e-03 -1.70487136e-01 1.85389153e+01] [-1.42892853e-03 9.99817979e-01 1.90254292e-02 -3.84551963e-02] [ 1.70544618e-01 -1.85030721e-02 9.85176212e-01 3.85683491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.88538474999999 meters Centerline goodness : 0.948435 Centerline is valid? [False, False] Translation: X:18.54, Y:-0.04, Z:0.39 [[ 9.85334376e-01 4.72223156e-03 -1.70569246e-01 1.85390042e+01] [-1.50513068e-03 9.99818629e-01 1.89853573e-02 -3.82075011e-02] [ 1.70627963e-01 -1.84501962e-02 9.85162773e-01 3.85762452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91538474999999 meters Centerline goodness : 0.948791 Centerline is valid? [False, False] Translation: X:18.54, Y:-0.04, Z:0.39 [[ 9.85235210e-01 4.59739880e-03 -1.71144513e-01 1.85398356e+01] [-1.33680224e-03 9.99815497e-01 1.91620862e-02 -3.86967027e-02] [ 1.71201032e-01 -1.86503757e-02 9.85059577e-01 3.86668820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94538474999999 meters Centerline goodness : 0.949534 Centerline is valid? [False, False] Translation: X:18.54, Y:-0.04, Z:0.39 [[ 9.85187840e-01 -2.76149130e-04 -1.71478408e-01 1.85412402e+01] [ 2.88026138e-03 9.99884279e-01 1.49376318e-02 -3.87372643e-02] [ 1.71454439e-01 -1.52102758e-02 9.85074628e-01 3.86062778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97538474999999 meters Centerline goodness : 0.949945 Centerline is valid? [False, False] Translation: X:18.54, Y:-0.04, Z:0.39 [[ 9.85039618e-01 -1.40839435e-03 -1.72322278e-01 1.85446735e+01] [ 3.96468813e-03 9.99887138e-01 1.44911006e-02 -3.82268890e-02] [ 1.72282421e-01 -1.49575123e-02 9.84934028e-01 3.85468836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.00538474999999 meters Centerline goodness : 0.949351 Centerline is valid? [False, False] Translation: X:18.55, Y:-0.04, Z:0.38 [[ 9.84897943e-01 -2.39903057e-03 -1.73119282e-01 1.85479685e+01] [ 4.92701711e-03 9.99887400e-01 1.41743227e-02 -3.79215466e-02] [ 1.73065784e-01 -1.48132229e-02 9.84798864e-01 3.84936570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03538474999999 meters Centerline goodness : 0.947049 Centerline is valid? [False, False] Translation: X:18.55, Y:-0.04, Z:0.38 [[ 9.84777364e-01 -3.36762168e-03 -1.73787811e-01 1.85509435e+01] [ 5.86381891e-03 9.99886862e-01 1.38520385e-02 -3.88746813e-02] [ 1.73721501e-01 -1.46602342e-02 9.84685695e-01 3.84249993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.06538474999999 meters Centerline goodness : 0.946295 Centerline is valid? [False, False] Translation: X:18.55, Y:-0.04, Z:0.38 [[ 9.84683290e-01 -3.76084804e-03 -1.74312005e-01 1.85527934e+01] [ 6.25496352e-03 9.99885746e-01 1.37611848e-02 -3.90967567e-02] [ 1.74240336e-01 -1.46407239e-02 9.84594310e-01 3.84012995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.09538475 meters Centerline goodness : 0.948936 Centerline is valid? [False, False] Translation: X:18.55, Y:-0.04, Z:0.39 [[ 9.84551456e-01 -8.68980960e-03 -1.74879724e-01 1.85533732e+01] [ 1.08199956e-02 9.99878388e-01 1.12310880e-02 -4.28694903e-02] [ 1.74760860e-01 -1.29497819e-02 9.84525746e-01 3.86766043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.12538475 meters Centerline goodness : 0.951905 Centerline is valid? [False, True] Translation: X:18.56, Y:-0.05, Z:0.39 [[ 9.84370322e-01 -9.49148898e-03 -1.75855000e-01 1.85554461e+01] [ 1.17884878e-02 9.99858244e-01 1.20218022e-02 -4.50064250e-02] [ 1.75715966e-01 -1.39069698e-02 9.84342672e-01 3.88734647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.15538475 meters Centerline goodness : 0.947893 Centerline is valid? [True, False] Translation: X:18.56, Y:-0.05, Z:0.39 [[ 9.84156078e-01 -1.08924330e-02 -1.76969403e-01 1.85599312e+01] [ 1.31551138e-02 9.99845977e-01 1.16174313e-02 -4.50899414e-02] [ 1.76815603e-01 -1.37614182e-02 9.84147787e-01 3.88082391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.18538475 meters Centerline goodness : 0.948357 Centerline is valid? [False, False] Translation: X:18.56, Y:-0.05, Z:0.39 [[ 9.84134707e-01 -9.94931302e-03 -1.77143695e-01 1.85632375e+01] [ 1.26536917e-02 9.99819908e-01 1.41434103e-02 -4.55643657e-02] [ 1.76971076e-01 -1.61605426e-02 9.84083368e-01 3.88128495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.21538475 meters Centerline goodness : 0.946443 Centerline is valid? [False, False] Translation: X:18.56, Y:-0.05, Z:0.39 [[ 9.84067781e-01 -1.01654306e-02 -1.77502860e-01 1.85647654e+01] [ 1.28860450e-02 9.99816407e-01 1.41810527e-02 -4.56474686e-02] [ 1.77326116e-01 -1.62424269e-02 9.84018106e-01 3.87873333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24538474999999 meters Centerline goodness : 0.948415 Centerline is valid? [False, False] Translation: X:18.57, Y:-0.05, Z:0.39 [[ 9.83894457e-01 -1.03219887e-02 -1.78452104e-01 1.85664902e+01] [ 1.31404878e-02 9.99806782e-01 1.46193786e-02 -4.65946258e-02] [ 1.78266723e-01 -1.67288732e-02 9.83839987e-01 3.89056572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27538474999999 meters Centerline goodness : 0.948415 Centerline is valid? [False, False] Translation: X:18.57, Y:-0.05, Z:0.39 [[ 9.83894457e-01 -1.03219887e-02 -1.78452104e-01 1.85664902e+01] [ 1.31404878e-02 9.99806782e-01 1.46193786e-02 -4.65946258e-02] [ 1.78266723e-01 -1.67288732e-02 9.83839987e-01 3.89056572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30538474999999 meters Centerline goodness : 0.946613 Centerline is valid? [False, False] Translation: X:18.57, Y:-0.05, Z:0.39 [[ 9.83632040e-01 -7.00325772e-03 -1.80052669e-01 1.85699330e+01] [ 1.07730604e-02 9.99742579e-01 1.99678929e-02 -4.86577734e-02] [ 1.79866480e-01 -2.15807775e-02 9.83454279e-01 3.92610062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33538474999999 meters Centerline goodness : 0.946092 Centerline is valid? [False, False] Translation: X:18.57, Y:-0.05, Z:0.39 [[ 9.83580504e-01 -7.13272093e-03 -1.80328912e-01 1.85706258e+01] [ 1.08879568e-02 9.99743819e-01 1.98431209e-02 -4.78999721e-02] [ 1.80141180e-01 -2.14807203e-02 9.83406190e-01 3.92729717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.36538474999999 meters Centerline goodness : 0.947189 Centerline is valid? [False, False] Translation: X:18.57, Y:-0.05, Z:0.39 [[ 9.83503648e-01 -7.27708564e-03 -1.80741858e-01 1.85719561e+01] [ 1.09617866e-02 9.99751785e-01 1.93960477e-02 -4.58080646e-02] [ 1.80555849e-01 -2.10573374e-02 9.83339298e-01 3.92181191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39538474999999 meters Centerline goodness : 0.947280 Centerline is valid? [False, False] Translation: X:18.57, Y:-0.04, Z:0.39 [[ 9.83439075e-01 -7.49320213e-03 -1.81084061e-01 1.85729777e+01] [ 1.11457588e-02 9.99754277e-01 1.91613433e-02 -4.46552445e-02] [ 1.80895985e-01 -2.08623330e-02 9.83280939e-01 3.92114000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.42538474999999 meters Centerline goodness : 0.947495 Centerline is valid? [False, False] Translation: X:18.57, Y:-0.05, Z:0.39 [[ 9.83277671e-01 -3.56897220e-03 -1.82077689e-01 1.85743901e+01] [ 8.01208469e-03 9.99687659e-01 2.36725682e-02 -4.50065057e-02] [ 1.81936332e-01 -2.47355296e-02 9.82999148e-01 3.94660790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45538475 meters Centerline goodness : 0.950376 Centerline is valid? [False, True] Translation: X:18.57, Y:-0.04, Z:0.40 [[ 9.83209378e-01 -3.68493131e-03 -1.82443800e-01 1.85746958e+01] [ 8.09027350e-03 9.99693261e-01 2.34079304e-02 -4.36086003e-02] [ 1.82301581e-01 -2.44909169e-02 9.82937602e-01 3.95196334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.48538475 meters Centerline goodness : 0.949264 Centerline is valid? [True, False] Translation: X:18.59, Y:-0.04, Z:0.39 [[ 9.84154612e-01 -1.56783463e-03 -1.77305501e-01 1.85882540e+01] [ 4.52474546e-03 9.99857335e-01 1.62738220e-02 -3.97597929e-02] [ 1.77254691e-01 -1.68182193e-02 9.84021302e-01 3.93344550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.51538475 meters Centerline goodness : 0.948660 Centerline is valid? [False, False] Translation: X:18.59, Y:-0.04, Z:0.39 [[ 9.84155641e-01 -1.23384229e-03 -1.77302431e-01 1.85880823e+01] [ 4.14044721e-03 9.99863028e-01 1.60244345e-02 -3.74096432e-02] [ 1.77258373e-01 -1.65046490e-02 9.84025948e-01 3.93117135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.54538475 meters Centerline goodness : 0.950092 Centerline is valid? [False, True] Translation: X:18.59, Y:-0.04, Z:0.39 [[ 9.84036359e-01 3.17931081e-03 -1.77939138e-01 1.85891744e+01] [ 3.25989742e-04 9.99806538e-01 1.96667329e-02 -3.52440083e-02] [ 1.77967240e-01 -1.94107866e-02 9.83844949e-01 3.93684904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.57538475 meters Centerline goodness : 0.949272 Centerline is valid? [True, False] Translation: X:18.59, Y:-0.03, Z:0.39 [[ 9.83994030e-01 3.39318469e-03 -1.78169120e-01 1.85897582e+01] [ 4.35462662e-05 9.99814090e-01 1.92816978e-02 -3.30909845e-02] [ 1.78201423e-01 -1.89808341e-02 9.83810948e-01 3.93209654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60538474999998 meters Centerline goodness : 0.946008 Centerline is valid? [False, False] Translation: X:18.59, Y:-0.03, Z:0.39 [[ 9.83977841e-01 5.14753216e-03 -1.78216471e-01 1.85885736e+01] [-1.70174756e-03 9.99808754e-01 1.94822948e-02 -3.01152145e-02] [ 1.78282674e-01 -1.88668669e-02 9.83798419e-01 3.93051140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63538474999999 meters Centerline goodness : 0.947062 Centerline is valid? [False, False] Translation: X:18.59, Y:-0.03, Z:0.39 [[ 9.83983600e-01 5.69984351e-03 -1.78167862e-01 1.85878931e+01] [-2.26562221e-03 9.99807822e-01 1.94727208e-02 -2.90053281e-02] [ 1.78244613e-01 -1.87571769e-02 9.83807413e-01 3.93138015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66538474999999 meters Centerline goodness : 0.949657 Centerline is valid? [False, False] Translation: X:18.59, Y:-0.03, Z:0.40 [[ 9.83839372e-01 5.31644129e-03 -1.78974369e-01 1.85876733e+01] [-1.29819268e-03 9.99744622e-01 2.25611663e-02 -3.15501406e-02] [ 1.79048608e-01 -2.19642205e-02 9.83595023e-01 4.00068976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69538474999999 meters Centerline goodness : 0.950117 Centerline is valid? [False, True] Translation: X:18.59, Y:-0.03, Z:0.40 [[ 9.83697980e-01 4.43449781e-03 -1.79773800e-01 1.85898524e+01] [-4.46537321e-04 9.99753059e-01 2.22176139e-02 -3.04196855e-02] [ 1.79827930e-01 -2.17751462e-02 9.83457045e-01 4.00492057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72538474999999 meters Centerline goodness : 0.944673 Centerline is valid? [True, False] Translation: X:18.60, Y:-0.03, Z:0.40 [[ 9.83424248e-01 6.05053478e-03 -1.81218486e-01 1.85973150e+01] [-1.74372919e-03 9.99712458e-01 2.39157137e-02 -2.67971655e-02] [ 1.81311081e-01 -2.32032968e-02 9.83152022e-01 3.97592830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75538474999999 meters Centerline goodness : 0.941830 Centerline is valid? [False, False] Translation: X:18.60, Y:-0.02, Z:0.40 [[ 9.83364251e-01 5.48694174e-03 -1.81561681e-01 1.85999407e+01] [-1.35361748e-03 9.99737268e-01 2.28814863e-02 -2.43279507e-02] [ 1.81639528e-01 -2.22550706e-02 9.83113317e-01 3.95462860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.78538474999999 meters Centerline goodness : 0.939918 Centerline is valid? [False, False] Translation: X:18.60, Y:-0.02, Z:0.39 [[ 9.83263808e-01 4.93637842e-03 -1.82120611e-01 1.86023005e+01] [-9.28623665e-04 9.99755671e-01 2.20847616e-02 -2.29684424e-02] [ 1.82185133e-01 -2.15460253e-02 9.83028151e-01 3.94236575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81538474999999 meters Centerline goodness : 0.942548 Centerline is valid? [False, False] Translation: X:18.60, Y:-0.02, Z:0.39 [[ 9.83207383e-01 4.93790097e-03 -1.82424939e-01 1.86030584e+01] [-9.66369701e-04 9.99760722e-01 2.18532490e-02 -2.27590790e-02] [ 1.82489198e-01 -2.13099859e-02 9.82976896e-01 3.94047613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.84538475 meters Centerline goodness : 0.942608 Centerline is valid? [False, False] Translation: X:18.60, Y:-0.02, Z:0.40 [[ 9.83046568e-01 5.14311727e-03 -1.83283917e-01 1.86033186e+01] [-1.03078657e-03 9.99745745e-01 2.25251537e-02 -2.45581980e-02] [ 1.83353166e-01 -2.19543485e-02 9.82801925e-01 3.96204340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.87538475 meters Centerline goodness : 0.944017 Centerline is valid? [False, False] Translation: X:18.60, Y:-0.02, Z:0.40 [[ 9.82971022e-01 4.85183383e-03 -1.83696571e-01 1.86040468e+01] [-7.05345544e-04 9.99743635e-01 2.26311016e-02 -2.49939446e-02] [ 1.83759280e-01 -2.21161475e-02 9.82722445e-01 3.96918402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.90538475 meters Centerline goodness : 0.942175 Centerline is valid? [False, False] Translation: X:18.61, Y:-0.02, Z:0.40 [[ 9.82872599e-01 4.33403855e-03 -1.84235369e-01 1.86059261e+01] [-2.24089620e-04 9.99750783e-01 2.23231126e-02 -2.39011319e-02] [ 1.84286203e-01 -2.18994905e-02 9.82628621e-01 3.96666600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.93538475 meters Centerline goodness : 0.943163 Centerline is valid? [False, False] Translation: X:18.61, Y:-0.02, Z:0.40 [[ 9.82795711e-01 3.54435715e-03 -1.84661928e-01 1.86081460e+01] [ 5.30009446e-04 9.99757613e-01 2.20098918e-02 -2.34032921e-02] [ 1.84695179e-01 -2.17290998e-02 9.82555615e-01 3.96065612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.96538475 meters Centerline goodness : 0.944109 Centerline is valid? [False, False] Translation: X:18.61, Y:-0.02, Z:0.40 [[ 9.82715892e-01 3.22597750e-03 -1.85092057e-01 1.86092737e+01] [ 8.94509374e-04 9.99753726e-01 2.21740019e-02 -2.44893254e-02] [ 1.85118006e-01 -2.19563106e-02 9.82470989e-01 3.96405845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99538474999999 meters Centerline goodness : 0.947020 Centerline is valid? [False, False] Translation: X:18.61, Y:-0.03, Z:0.40 [[ 9.82606533e-01 3.51441468e-03 -1.85666503e-01 1.86094742e+01] [ 8.58327128e-04 9.99724268e-01 2.34659641e-02 -2.65363223e-02] [ 1.85697777e-01 -2.32171723e-02 9.82332580e-01 3.98658469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02538474999999 meters Centerline goodness : 0.947565 Centerline is valid? [False, False] Translation: X:18.61, Y:-0.03, Z:0.40 [[ 9.82528203e-01 4.00836257e-03 -1.86070587e-01 1.86084215e+01] [ 7.64364316e-04 9.99672710e-01 2.55712643e-02 -2.98120745e-02] [ 1.86112187e-01 -2.52667140e-02 9.82203567e-01 4.02584931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05538474999999 meters Centerline goodness : 0.950018 Centerline is valid? [False, True] Translation: X:18.61, Y:-0.03, Z:0.40 [[ 9.82455838e-01 3.84494997e-03 -1.86455738e-01 1.86086291e+01] [ 1.02585781e-03 9.99660906e-01 2.60196132e-02 -3.11415349e-02] [ 1.86492556e-01 -2.57543979e-02 9.82118749e-01 4.03924455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08538474999999 meters Centerline goodness : 0.949627 Centerline is valid? [True, False] Translation: X:18.61, Y:-0.03, Z:0.40 [[ 9.82352191e-01 3.47152639e-03 -1.87008346e-01 1.86108141e+01] [ 1.35420919e-03 9.99669529e-01 2.56709908e-02 -3.07504234e-02] [ 1.87035662e-01 -2.54712024e-02 9.82022850e-01 4.03148852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11538474999999 meters Centerline goodness : 0.948992 Centerline is valid? [False, False] Translation: X:18.61, Y:-0.03, Z:0.40 [[ 9.82242787e-01 2.64156885e-03 -1.87595652e-01 1.86137192e+01] [ 2.07574698e-03 9.99686663e-01 2.49452937e-02 -2.99289539e-02] [ 1.87602766e-01 -2.48917360e-02 9.81929531e-01 4.01855929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.14538474999999 meters Centerline goodness : 0.949022 Centerline is valid? [False, False] Translation: X:18.62, Y:-0.03, Z:0.40 [[ 9.82125636e-01 1.91828754e-03 -1.88216775e-01 1.86163671e+01] [ 2.76181283e-03 9.99693557e-01 2.46000755e-02 -3.15159301e-02] [ 1.88206288e-01 -2.46801843e-02 9.81819373e-01 4.01029307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17538474999999 meters Centerline goodness : 0.949517 Centerline is valid? [False, False] Translation: X:18.62, Y:-0.03, Z:0.40 [[ 9.82030834e-01 1.36380036e-03 -1.88715609e-01 1.86179786e+01] [ 3.31434857e-03 9.99695031e-01 2.44716214e-02 -3.27000648e-02] [ 1.88691431e-01 -2.46573560e-02 9.81726825e-01 4.01029908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.20538475 meters Centerline goodness : 0.950647 Centerline is valid? [False, True] Translation: X:18.62, Y:-0.03, Z:0.40 [[ 9.81832772e-01 5.39308042e-04 -1.89747506e-01 1.86210441e+01] [ 4.18302524e-03 9.99691419e-01 2.44860815e-02 -3.48234772e-02] [ 1.89702159e-01 -2.48349559e-02 9.81527542e-01 4.01222418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.23538475 meters Centerline goodness : 0.950278 Centerline is valid? [True, True] Translation: X:18.65, Y:-0.03, Z:0.39 [[ 9.81760439e-01 -5.25841496e-03 -1.90049441e-01 1.86518072e+01] [ 4.65949510e-03 9.99982671e-01 -3.59809470e-03 -2.51946930e-02] [ 1.90065068e-01 2.64693260e-03 9.81767928e-01 3.87206216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.26538475 meters Centerline goodness : 0.948993 Centerline is valid? [True, False] Translation: X:18.65, Y:-0.03, Z:0.39 [[ 9.81634881e-01 -5.43142432e-03 -1.90692055e-01 1.86533276e+01] [ 4.97098855e-03 9.99983460e-01 -2.89282494e-03 -2.65940967e-02] [ 1.90704613e-01 1.89176985e-03 9.81645645e-01 3.88137878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.29538475 meters Centerline goodness : 0.949641 Centerline is valid? [False, False] Translation: X:18.65, Y:-0.03, Z:0.39 [[ 9.81546104e-01 -5.49843424e-03 -1.91146575e-01 1.86547025e+01] [ 5.17596947e-03 9.99984215e-01 -2.18625305e-03 -2.81564174e-02] [ 1.91155578e-01 1.15653933e-03 9.81559070e-01 3.88663033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.32538475 meters Centerline goodness : 0.952086 Centerline is valid? [False, True] Translation: X:18.66, Y:-0.03, Z:0.39 [[ 9.81364829e-01 -1.87790665e-03 -1.92144597e-01 1.86571747e+01] [ 2.42949408e-03 9.99993577e-01 2.63512723e-03 -3.01517192e-02] [ 1.92138414e-01 -3.05283535e-03 9.81363088e-01 3.90584949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35538474999998 meters Centerline goodness : 0.950131 Centerline is valid? [True, True] Translation: X:18.68, Y:-0.03, Z:0.39 [[ 9.81084976e-01 -1.66426159e-03 -1.93570400e-01 1.86839229e+01] [ 1.15204893e-03 9.99995531e-01 -2.75866692e-03 -2.89842572e-02] [ 1.93574126e-01 2.48348410e-03 9.81082509e-01 3.92459751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38538474999999 meters Centerline goodness : 0.949652 Centerline is valid? [True, False] Translation: X:18.69, Y:-0.03, Z:0.40 [[ 9.80893066e-01 2.36711636e-03 -1.94533262e-01 1.86855228e+01] [-1.92563257e-03 9.99995124e-01 2.45852649e-03 -3.15338693e-02] [ 1.94538133e-01 -2.03695200e-03 9.80892841e-01 3.95202326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41538474999999 meters Centerline goodness : 0.951603 Centerline is valid? [False, True] Translation: X:18.69, Y:-0.03, Z:0.40 [[ 9.80850868e-01 2.56040168e-03 -1.94743470e-01 1.86851468e+01] [-2.04951814e-03 9.99993910e-01 2.82481586e-03 -3.05919040e-02] [ 1.94749517e-01 -2.37159281e-03 9.80850142e-01 3.96428404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44538474999999 meters Centerline goodness : 0.952823 Centerline is valid? [True, True] Translation: X:18.71, Y:-0.03, Z:0.40 [[ 9.81572672e-01 -9.60650790e-04 -1.91086804e-01 1.87128761e+01] [ 5.58430895e-04 9.99997514e-01 -2.15874611e-03 -2.70089937e-02] [ 1.91088403e-01 2.01225741e-03 9.81570768e-01 4.01628910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47538474999999 meters Centerline goodness : 0.950116 Centerline is valid? [True, True] Translation: X:18.74, Y:-0.02, Z:0.41 [[ 9.81399791e-01 -6.13749468e-04 -1.91974150e-01 1.87403515e+01] [ 1.90668043e-04 9.99997512e-01 -2.22231152e-03 -2.16552669e-02] [ 1.91975036e-01 2.14437272e-03 9.81397466e-01 4.06143643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.50538474999999 meters Centerline goodness : 0.948045 Centerline is valid? [True, False] Translation: X:18.75, Y:-0.02, Z:0.40 [[ 9.81167926e-01 2.22771296e-03 -1.93143828e-01 1.87456544e+01] [-2.19125018e-03 9.99997518e-01 4.02410132e-04 -1.84409938e-02] [ 1.93144245e-01 2.83945340e-05 9.81170372e-01 4.04532818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53538474999999 meters Centerline goodness : 0.942228 Centerline is valid? [False, False] Translation: X:18.75, Y:-0.01, Z:0.40 [[ 9.80777873e-01 7.82478615e-03 -1.94970605e-01 1.87537672e+01] [-6.74084117e-03 9.99957920e-01 6.22242015e-03 -1.45839632e-02] [ 1.95011090e-01 -4.78854613e-03 9.80789348e-01 4.03158346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.56538474999999 meters Centerline goodness : 0.940168 Centerline is valid? [False, False] Translation: X:18.75, Y:-0.01, Z:0.41 [[ 9.80580686e-01 1.20049756e-02 -1.95748307e-01 1.87545042e+01] [-1.00878870e-02 9.99890924e-01 1.07877252e-02 -1.46325511e-02] [ 1.95856462e-01 -8.60354819e-03 9.80594832e-01 4.05628896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.59538475 meters Centerline goodness : 0.943512 Centerline is valid? [False, False] Translation: X:18.75, Y:-0.01, Z:0.41 [[ 9.80499172e-01 1.25219184e-02 -1.96123878e-01 1.87537752e+01] [-1.04739042e-02 9.99879290e-01 1.14761781e-02 -1.45804461e-02] [ 1.96243907e-01 -9.19820047e-03 9.80511969e-01 4.07420108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.62538475 meters Centerline goodness : 0.945807 Centerline is valid? [False, False] Translation: X:18.75, Y:-0.01, Z:0.41 [[ 9.80455007e-01 1.38994894e-02 -1.96251839e-01 1.87510859e+01] [-1.16321708e-02 9.99851677e-01 1.27010666e-02 -1.42499943e-02] [ 1.96399268e-01 -1.01699894e-02 9.80471264e-01 4.10321753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.65538475 meters Centerline goodness : 0.946983 Centerline is valid? [False, False] Translation: X:18.75, Y:-0.01, Z:0.41 [[ 9.80440353e-01 1.47742375e-02 -1.96261145e-01 1.87497003e+01] [-1.23879699e-02 9.99833733e-01 1.33807201e-02 -1.37642810e-02] [ 1.96426203e-01 -1.06877208e-02 9.80460361e-01 4.11599989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.68538475 meters Centerline goodness : 0.949651 Centerline is valid? [False, False] Translation: X:18.75, Y:-0.01, Z:0.41 [[ 9.80458830e-01 1.66704570e-02 -1.96016782e-01 1.87470695e+01] [-1.41115450e-02 9.99796097e-01 1.44440132e-02 -1.25579007e-02] [ 1.96217602e-01 -1.13956606e-02 9.80494157e-01 4.12890173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.71538475 meters Centerline goodness : 0.948829 Centerline is valid? [False, False] Translation: X:18.75, Y:-0.01, Z:0.41 [[ 9.80273474e-01 2.10169210e-02 -1.96525327e-01 1.87479709e+01] [-1.76477957e-02 9.99666010e-01 1.88791725e-02 -1.35072422e-02] [ 1.96856472e-01 -1.50385132e-02 9.80316976e-01 4.14211907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74538474999999 meters Centerline goodness : 0.950974 Centerline is valid? [False, True] Translation: X:18.75, Y:-0.01, Z:0.41 [[ 9.80196014e-01 2.10044988e-02 -1.96912631e-01 1.87487932e+01] [-1.76031622e-02 9.99664358e-01 1.90079191e-02 -1.40176364e-02] [ 1.97245791e-01 -1.51652016e-02 9.80236765e-01 4.14523096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77538474999999 meters Centerline goodness : 0.952747 Centerline is valid? [True, True] Translation: X:18.78, Y:-0.01, Z:0.41 [[ 9.80096506e-01 1.72170578e-02 -1.97773635e-01 1.87785193e+01] [-1.79569843e-02 9.99836862e-01 -1.94833104e-03 -6.75928758e-03] [ 1.97707827e-01 5.46097052e-03 9.80245782e-01 4.06566370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80538474999999 meters Centerline goodness : 0.950435 Centerline is valid? [True, True] Translation: X:18.81, Y:-0.01, Z:0.41 [[ 9.80172344e-01 1.52556101e-02 -1.97558708e-01 1.88054536e+01] [-1.59657724e-02 9.99870534e-01 -2.00230857e-03 -8.44292793e-03] [ 1.97502584e-01 5.11678484e-03 9.80289012e-01 4.10776537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83538474999999 meters Centerline goodness : 0.951920 Centerline is valid? [True, True] Translation: X:18.83, Y:-0.01, Z:0.41 [[ 9.80256366e-01 1.41251595e-02 -1.97225600e-01 1.88317043e+01] [-1.48178508e-02 9.99888135e-01 -2.03682089e-03 -9.03185411e-03] [ 1.97174767e-01 4.91906617e-03 9.80356014e-01 4.14976820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.86538474999999 meters Centerline goodness : 0.952833 Centerline is valid? [True, True] Translation: X:18.86, Y:-0.01, Z:0.42 [[ 9.80328854e-01 1.29381309e-02 -1.96946546e-01 1.88597500e+01] [-1.36105192e-02 9.99905249e-01 -2.06086230e-03 -9.30688238e-03] [ 1.96901221e-01 4.70086752e-03 9.80412062e-01 4.19370469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89538474999999 meters Centerline goodness : 0.955450 Centerline is valid? [True, True] Translation: X:18.89, Y:-0.01, Z:0.43 [[ 9.80813535e-01 4.42857224e-03 -1.94897917e-01 1.88857006e+01] [-4.93081672e-03 9.99985655e-01 -2.09188006e-03 -1.10737398e-02] [ 1.94885857e-01 3.01275019e-03 9.80821302e-01 4.26208429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.92538474999999 meters Centerline goodness : 0.952435 Centerline is valid? [True, True] Translation: X:18.91, Y:-0.01, Z:0.43 [[ 9.80480871e-01 -8.35681022e-05 -1.96614483e-01 1.89139713e+01] [-3.43568808e-04 9.99997655e-01 -2.13834985e-03 -9.63726017e-03] [ 1.96614200e-01 2.16416173e-03 9.80478543e-01 4.30210107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95538475 meters Centerline goodness : 0.950495 Centerline is valid? [True, True] Translation: X:18.94, Y:-0.01, Z:0.43 [[ 9.80092578e-01 -2.91223170e-04 -1.98540814e-01 1.89414265e+01] [-1.51674987e-04 9.99997534e-01 -2.21555443e-03 -8.54539516e-03] [ 1.98540969e-01 2.20156213e-03 9.80090117e-01 4.33860606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.98538475 meters Centerline goodness : 0.952285 Centerline is valid? [True, True] Translation: X:18.97, Y:-0.01, Z:0.44 [[ 9.79814658e-01 -8.94595779e-05 -1.99908047e-01 1.89678070e+01] [-3.74521245e-04 9.99997323e-01 -2.28315343e-03 -7.84194929e-03] [ 1.99907716e-01 2.31193701e-03 9.79812002e-01 4.37925944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.01538475 meters Centerline goodness : 0.951460 Centerline is valid? [True, True] Translation: X:19.00, Y:-0.01, Z:0.44 [[ 9.79721030e-01 8.98065539e-04 -2.00364409e-01 1.89952124e+01] [-1.39039420e-03 9.99996350e-01 -2.31646016e-03 -7.36704097e-03] [ 2.00361598e-01 2.54807025e-03 9.79718703e-01 4.43019015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.04538475 meters Centerline goodness : 0.951239 Centerline is valid? [True, True] Translation: X:19.02, Y:-0.01, Z:0.45 [[ 9.79718333e-01 3.37766626e-03 -2.00351139e-01 1.90233015e+01] [-3.93251033e-03 9.99989456e-01 -2.37144558e-03 -7.43759951e-03] [ 2.00341017e-01 3.11123163e-03 9.79721285e-01 4.48147072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.07538475 meters Centerline goodness : 0.952103 Centerline is valid? [True, True] Translation: X:19.05, Y:-0.01, Z:0.45 [[ 9.79913372e-01 3.58352141e-03 -1.99391428e-01 1.90500153e+01] [-4.14749767e-03 9.99988493e-01 -2.41087721e-03 -8.21446556e-03] [ 1.99380494e-01 3.18942630e-03 9.79916959e-01 4.53449260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.10538474999998 meters Centerline goodness : 0.953926 Centerline is valid? [True, True] Translation: X:19.08, Y:-0.01, Z:0.46 [[ 9.79705130e-01 5.26948990e-03 -2.00374874e-01 1.90761123e+01] [-5.87929097e-03 9.99979720e-01 -2.44835333e-03 -9.78069452e-03] [ 2.00357909e-01 3.57672651e-03 9.79716242e-01 4.60148189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13538474999999 meters Centerline goodness : 0.955123 Centerline is valid? [True, True] Translation: X:19.10, Y:-0.01, Z:0.46 [[ 9.79813732e-01 5.69162558e-03 -1.99831568e-01 1.91030952e+01] [-6.31424851e-03 9.99976993e-01 -2.47855118e-03 -9.29377710e-03] [ 1.99812864e-01 3.69030466e-03 9.79827128e-01 4.64910795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16538474999999 meters Centerline goodness : 0.955123 Centerline is valid? [True, True] Translation: X:19.13, Y:-0.01, Z:0.47 [[ 9.79815155e-01 5.45861507e-03 -1.99831091e-01 1.91312851e+01] [-6.08418420e-03 9.99978325e-01 -2.51652098e-03 -8.72707376e-03] [ 1.99813023e-01 3.68153456e-03 9.79827129e-01 4.69916902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19538474999999 meters Centerline goodness : 0.952257 Centerline is valid? [True, True] Translation: X:19.16, Y:-0.01, Z:0.47 [[ 9.79937474e-01 5.48309421e-03 -1.99229724e-01 1.91591342e+01] [-6.11495273e-03 9.99978036e-01 -2.55633316e-03 -8.15942818e-03] [ 1.99211331e-01 3.72332700e-03 9.79949479e-01 4.74402931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22538474999999 meters Centerline goodness : 0.952575 Centerline is valid? [True, True] Translation: X:19.19, Y:-0.01, Z:0.48 [[ 9.80658575e-01 3.71164096e-04 -1.95725885e-01 1.91857135e+01] [-8.89635944e-04 9.99996325e-01 -2.56106332e-03 -9.85129607e-03] [ 1.95724215e-01 2.68565349e-03 9.80655301e-01 4.79789302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25538474999999 meters Centerline goodness : 0.952908 Centerline is valid? [True, True] Translation: X:19.21, Y:-0.01, Z:0.48 [[ 9.80821504e-01 -1.05405335e-03 -1.94905276e-01 1.92131569e+01] [ 5.60550878e-04 9.99996496e-01 -2.58715059e-03 -1.01418062e-02] [ 1.94907320e-01 2.42827861e-03 9.80818658e-01 4.84514964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.28538474999999 meters Centerline goodness : 0.950981 Centerline is valid? [True, True] Translation: X:19.24, Y:-0.01, Z:0.49 [[ 9.80638847e-01 -1.13928724e-03 -1.95821741e-01 1.92395720e+01] [ 6.33022481e-04 9.99996294e-01 -2.64790099e-03 -1.01226964e-02] [ 1.95824032e-01 2.47267501e-03 9.80635934e-01 4.88527398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31538474999999 meters Centerline goodness : 0.952444 Centerline is valid? [True, True] Translation: X:19.27, Y:-0.01, Z:0.49 [[ 9.80706254e-01 1.41473544e-04 -1.95487143e-01 1.92678479e+01] [-6.76168898e-04 9.99996211e-01 -2.66846224e-03 -1.01322603e-02] [ 1.95486024e-01 2.74915993e-03 9.80702634e-01 4.92834266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.34538475 meters Centerline goodness : 0.951577 Centerline is valid? [True, True] Translation: X:19.30, Y:-0.01, Z:0.50 [[ 9.80762204e-01 4.15518554e-04 -1.95205857e-01 1.92956107e+01] [-9.64015377e-04 9.99995850e-01 -2.71484177e-03 -1.04872135e-02] [ 1.95203919e-01 2.85079565e-03 9.80758534e-01 4.98178386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.37538475 meters Centerline goodness : 0.955094 Centerline is valid? [True, True] Translation: X:19.32, Y:-0.01, Z:0.50 [[ 9.81079881e-01 1.05638357e-03 -1.93600493e-01 1.93216868e+01] [-1.61731909e-03 9.99994940e-01 -2.73935770e-03 -1.21743605e-02] [ 1.93596620e-01 3.00064250e-03 9.81076625e-01 5.03779082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.40538475 meters Centerline goodness : 0.955953 Centerline is valid? [True, True] Translation: X:19.35, Y:-0.01, Z:0.51 [[ 9.81133798e-01 3.69889489e-04 -1.93329601e-01 1.93492721e+01] [-9.20784410e-04 9.99995768e-01 -2.75966422e-03 -1.20359836e-02] [ 1.93327762e-01 2.88561472e-03 9.81129986e-01 5.08461328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.43538475 meters Centerline goodness : 0.957241 Centerline is valid? [True, True] Translation: X:19.38, Y:-0.01, Z:0.51 [[ 9.81257771e-01 -4.02943466e-03 -1.92657601e-01 1.93773499e+01] [ 3.55678074e-03 9.99989757e-01 -2.79913508e-03 -1.14954826e-02] [ 1.92666906e-01 2.06143221e-03 9.81262052e-01 5.13966137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.46538475 meters Centerline goodness : 0.954641 Centerline is valid? [True, True] Translation: X:19.40, Y:-0.01, Z:0.52 [[ 9.80813094e-01 -3.80891521e-03 -1.94913231e-01 1.94041006e+01] [ 3.31065967e-03 9.99990367e-01 -2.88200117e-03 -9.81838080e-03] [ 1.94922331e-01 2.18141311e-03 9.80816255e-01 5.17241639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49538474999999 meters Centerline goodness : 0.951787 Centerline is valid? [True, True] Translation: X:19.43, Y:-0.01, Z:0.52 [[ 9.79938916e-01 -2.05776551e-03 -1.99287446e-01 1.94307659e+01] [ 1.49583294e-03 9.99994470e-01 -2.97022835e-03 -8.42727107e-03] [ 1.99292456e-01 2.61254162e-03 9.79936575e-01 5.20634014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52538474999999 meters Centerline goodness : 0.952715 Centerline is valid? [True, True] Translation: X:19.46, Y:-0.01, Z:0.53 [[ 9.79584829e-01 -1.15079004e-03 -2.01027954e-01 1.94573432e+01] [ 5.55063384e-04 9.99995287e-01 -3.01974393e-03 -8.26141358e-03] [ 2.01030482e-01 2.84651208e-03 9.79580851e-01 5.25571541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55538474999999 meters Centerline goodness : 0.953796 Centerline is valid? [True, True] Translation: X:19.48, Y:-0.01, Z:0.53 [[ 9.79506802e-01 -6.22811072e-04 -2.01410121e-01 1.94847932e+01] [ 6.11100053e-06 9.99995310e-01 -3.06251931e-03 -8.41650393e-03] [ 2.01411084e-01 2.99852768e-03 9.79502212e-01 5.30627094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58538474999999 meters Centerline goodness : 0.953896 Centerline is valid? [True, True] Translation: X:19.51, Y:-0.01, Z:0.54 [[ 9.79635749e-01 2.53285926e-04 -2.00782808e-01 1.95110956e+01] [-8.95125695e-04 9.99994776e-01 -3.10590600e-03 -8.10748086e-03] [ 2.00780972e-01 3.22238240e-03 9.79630858e-01 5.36226856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61538474999999 meters Centerline goodness : 0.956181 Centerline is valid? [True, True] Translation: X:19.54, Y:-0.01, Z:0.54 [[ 9.79877994e-01 1.82003091e-03 -1.99589090e-01 1.95388257e+01] [-2.49204160e-03 9.99992041e-01 -3.11580306e-03 -7.30954914e-03] [ 1.99581831e-01 3.55049116e-03 9.79874730e-01 5.41076384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.64538474999999 meters Centerline goodness : 0.955566 Centerline is valid? [True, True] Translation: X:19.57, Y:-0.01, Z:0.55 [[ 9.79980520e-01 -4.62787431e-04 -1.99092861e-01 1.95668419e+01] [-1.70707197e-04 9.99994978e-01 -3.16472842e-03 -6.17740437e-03] [ 1.99093325e-01 3.13535878e-03 9.79975519e-01 5.46428043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67538474999999 meters Centerline goodness : 0.953142 Centerline is valid? [True, True] Translation: X:19.59, Y:-0.01, Z:0.55 [[ 9.80221798e-01 -1.92907044e-03 -1.97892661e-01 1.95942716e+01] [ 1.32131771e-03 9.99993997e-01 -3.20312248e-03 -5.09990184e-03] [ 1.97897653e-01 2.87829140e-03 9.80218463e-01 5.50869025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.70538475 meters Centerline goodness : 0.956579 Centerline is valid? [True, True] Translation: X:19.62, Y:-0.00, Z:0.56 [[ 9.80470563e-01 -3.99624875e-03 -1.96625291e-01 1.96206171e+01] [ 3.42655409e-03 9.99988889e-01 -3.23747227e-03 -2.71966369e-03] [ 1.96636044e-01 2.50049907e-03 9.80473362e-01 5.55071449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.73538475 meters Centerline goodness : 0.954584 Centerline is valid? [True, True] Translation: X:19.65, Y:-0.00, Z:0.56 [[ 9.80427822e-01 -5.43983093e-03 -1.96803695e-01 1.96475029e+01] [ 4.89036433e-03 9.99982670e-01 -3.27782166e-03 -2.30366614e-03] [ 1.96818115e-01 2.25122578e-03 9.80437434e-01 5.60245093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.76538475 meters Centerline goodness : 0.954566 Centerline is valid? [True, True] Translation: X:19.68, Y:-0.00, Z:0.56 [[ 9.80777856e-01 -9.54543460e-03 -1.94894027e-01 1.96752784e+01] [ 9.08178795e-03 9.99953405e-01 -3.27241078e-03 -2.28958987e-03] [ 1.94916182e-01 1.43952181e-03 9.80818847e-01 5.64414557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.79538475 meters Centerline goodness : 0.954500 Centerline is valid? [True, True] Translation: X:19.70, Y:-0.00, Z:0.57 [[ 9.80807174e-01 -1.11160670e-02 -1.94663096e-01 1.97016686e+01] [ 1.06745260e-02 9.99937524e-01 -3.31712020e-03 -2.69075885e-03] [ 1.94687808e-01 1.17551901e-03 9.80864555e-01 5.69818721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.82538475 meters Centerline goodness : 0.952935 Centerline is valid? [True, True] Translation: X:19.73, Y:-0.00, Z:0.58 [[ 9.80829035e-01 -1.52401725e-02 -1.94273368e-01 1.97298188e+01] [ 1.48752415e-02 9.99883788e-01 -3.33721849e-03 -3.73179199e-03] [ 1.94301650e-01 3.83377531e-04 9.80941752e-01 5.75321857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85538474999998 meters Centerline goodness : 0.955260 Centerline is valid? [True, True] Translation: X:19.76, Y:-0.00, Z:0.58 [[ 9.80804113e-01 -1.66526414e-02 -1.94283249e-01 1.97576967e+01] [ 1.63044104e-02 9.99861323e-01 -3.39143629e-03 -3.96440192e-03] [ 1.94312783e-01 1.58660830e-04 9.80939609e-01 5.79850357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88538474999999 meters Centerline goodness : 0.956618 Centerline is valid? [True, True] Translation: X:19.78, Y:-0.00, Z:0.58 [[ 9.80648848e-01 -1.83598804e-02 -1.94912163e-01 1.97842926e+01] [ 1.80324626e-02 9.99831435e-01 -3.45423237e-03 -4.62411594e-03] [ 1.94942727e-01 -1.27357298e-04 9.80814619e-01 5.84067957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91538474999999 meters Centerline goodness : 0.956913 Centerline is valid? [True, True] Translation: X:19.81, Y:-0.01, Z:0.59 [[ 9.80448160e-01 -2.00292492e-02 -1.95755546e-01 1.98111703e+01] [ 1.97268806e-02 9.99799300e-01 -3.49438674e-03 -5.00238635e-03] [ 1.95786248e-01 -4.35581220e-04 9.80646499e-01 5.88860914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94538474999999 meters Centerline goodness : 0.959512 Centerline is valid? [True, True] Translation: X:19.84, Y:-0.01, Z:0.59 [[ 9.80433123e-01 -2.30065052e-02 -1.95503434e-01 1.98383851e+01] [ 2.27559211e-02 9.99734825e-01 -3.52804879e-03 -5.71834570e-03] [ 1.95532760e-01 -9.89844839e-04 9.80696671e-01 5.94888504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97538474999999 meters Centerline goodness : 0.960195 Centerline is valid? [True, True] Translation: X:19.87, Y:-0.00, Z:0.60 [[ 9.80653652e-01 -2.58053585e-02 -1.94042516e-01 1.98661143e+01] [ 2.56026187e-02 9.99665885e-01 -3.55301019e-03 -4.69019287e-03] [ 1.94069371e-01 -1.48372414e-03 9.80986686e-01 5.99257203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.00538474999999 meters Centerline goodness : 0.959910 Centerline is valid? [True, True] Translation: X:19.89, Y:-0.00, Z:0.60 [[ 9.80670574e-01 -2.56352720e-02 -1.93979533e-01 1.98938830e+01] [ 2.54192062e-02 9.99670386e-01 -3.60323940e-03 -3.86891744e-03] [ 1.94007964e-01 -1.39721490e-03 9.80998959e-01 6.03646163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03538474999999 meters Centerline goodness : 0.958872 Centerline is valid? [True, True] Translation: X:19.92, Y:-0.00, Z:0.61 [[ 9.80862388e-01 -2.54904086e-02 -1.93026460e-01 1.99201740e+01] [ 2.52640260e-02 9.99674206e-01 -3.63458509e-03 -2.91702491e-03] [ 1.93056221e-01 -1.31159771e-03 9.81186820e-01 6.07650908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.06538474999999 meters Centerline goodness : 0.958422 Centerline is valid? [True, True] Translation: X:19.95, Y:-0.00, Z:0.61 [[ 9.81155702e-01 -2.37373850e-02 -1.91755118e-01 1.99484465e+01] [ 2.34759463e-02 9.99717792e-01 -3.63550912e-03 -2.36777245e-03] [ 1.91787300e-01 -9.34632343e-04 9.81436069e-01 6.11419018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.09538475 meters Centerline goodness : 0.958842 Centerline is valid? [True, True] Translation: X:19.98, Y:-0.00, Z:0.62 [[ 9.81097872e-01 -2.39274645e-02 -1.92027188e-01 1.99761504e+01] [ 2.36582772e-02 9.99713276e-01 -3.69488540e-03 -2.40089239e-03] [ 1.92060539e-01 -9.17988248e-04 9.81382651e-01 6.16760098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.12538475 meters Centerline goodness : 0.958913 Centerline is valid? [True, True] Translation: X:20.00, Y:-0.00, Z:0.62 [[ 9.81194004e-01 -2.35155574e-02 -1.91586392e-01 2.00027479e+01] [ 2.32297438e-02 9.99723165e-01 -3.73806391e-03 -2.66739448e-03] [ 1.91621257e-01 -7.82736913e-04 9.81468635e-01 6.21376165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.15538475 meters Centerline goodness : 0.957928 Centerline is valid? [True, True] Translation: X:20.03, Y:-0.00, Z:0.63 [[ 9.80999558e-01 -2.52400131e-02 -1.92361141e-01 2.00304546e+01] [ 2.49795157e-02 9.99680818e-01 -3.77967754e-03 -3.89947409e-03] [ 1.92395142e-01 -1.09722614e-03 9.81316924e-01 6.26783994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.18538475 meters Centerline goodness : 0.960425 Centerline is valid? [True, True] Translation: X:20.06, Y:-0.00, Z:0.63 [[ 9.81092286e-01 -2.83867658e-02 -1.91447430e-01 2.00581294e+01] [ 2.81776591e-02 9.99595650e-01 -3.81516597e-03 -3.98973695e-03] [ 1.91478318e-01 -1.65151051e-03 9.81495454e-01 6.32652190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.21538475 meters Centerline goodness : 0.958593 Centerline is valid? [True, True] Translation: X:20.09, Y:-0.00, Z:0.63 [[ 9.80482749e-01 -3.04751941e-02 -1.94228835e-01 2.00855739e+01] [ 3.02902275e-02 9.99533448e-01 -3.92284823e-03 -8.29730502e-04] [ 1.94257767e-01 -2.03695060e-03 9.80948404e-01 6.34995046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24538474999999 meters Centerline goodness : 0.952888 Centerline is valid? [True, True] Translation: X:20.11, Y:0.00, Z:0.64 [[ 9.80164779e-01 -3.09744972e-02 -1.95748782e-01 2.01136904e+01] [ 3.07911287e-02 9.99517915e-01 -3.98053565e-03 2.98014089e-03] [ 1.95777710e-01 -2.12574510e-03 9.80645996e-01 6.37880227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27538474999999 meters Centerline goodness : 0.956984 Centerline is valid? [True, True] Translation: X:20.14, Y:0.00, Z:0.64 [[ 9.80106140e-01 -3.11973023e-02 -1.96006845e-01 2.01415747e+01] [ 3.10071539e-02 9.99511000e-01 -4.03937410e-03 4.55425897e-03] [ 1.96037015e-01 -2.11859904e-03 9.80594208e-01 6.42332513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30538474999999 meters Centerline goodness : 0.954174 Centerline is valid? [True, True] Translation: X:20.17, Y:0.01, Z:0.65 [[ 9.80271149e-01 -3.07502540e-02 -1.95250854e-01 2.01686118e+01] [ 3.05417663e-02 9.99525168e-01 -4.07906293e-03 5.42785987e-03] [ 1.95283575e-01 -1.96471824e-03 9.80744852e-01 6.48758600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33538474999999 meters Centerline goodness : 0.955236 Centerline is valid? [True, True] Translation: X:20.20, Y:0.01, Z:0.66 [[ 9.80513274e-01 -3.07238694e-02 -1.94035469e-01 2.01952967e+01] [ 3.05071534e-02 9.99526116e-01 -4.10564618e-03 6.49232793e-03] [ 1.94069660e-01 -1.89382923e-03 9.80985923e-01 6.55081401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.36538474999999 meters Centerline goodness : 0.956686 Centerline is valid? [True, True] Translation: X:20.22, Y:0.01, Z:0.66 [[ 9.80763478e-01 -3.11739785e-02 -1.92694535e-01 2.02212638e+01] [ 3.09641963e-02 9.99512082e-01 -4.10087019e-03 8.32047025e-03] [ 1.92728356e-01 -1.94464770e-03 9.81250222e-01 6.62669080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39538474999999 meters Centerline goodness : 0.954736 Centerline is valid? [True, True] Translation: X:20.25, Y:0.01, Z:0.67 [[ 9.81033045e-01 -3.27034052e-02 -1.91061907e-01 2.02491999e+01] [ 3.25208812e-02 9.99462681e-01 -4.09173126e-03 1.04444687e-02] [ 1.91093059e-01 -2.19937800e-03 9.81569460e-01 6.67469618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.42538474999999 meters Centerline goodness : 0.956979 Centerline is valid? [True, True] Translation: X:20.28, Y:0.01, Z:0.67 [[ 9.81300227e-01 -3.67132939e-02 -1.88949725e-01 2.02760131e+01] [ 3.65986029e-02 9.99321647e-01 -4.09723798e-03 1.44618737e-02] [ 1.88971974e-01 -2.89467539e-03 9.81978215e-01 6.71315796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45538475 meters Centerline goodness : 0.956313 Centerline is valid? [True, True] Translation: X:20.30, Y:0.02, Z:0.68 [[ 9.81341639e-01 -3.97449997e-02 -1.88119439e-01 2.03023360e+01] [ 3.96797178e-02 9.99203979e-01 -4.11442080e-03 1.64190763e-02] [ 1.88133220e-01 -3.42687381e-03 9.82137540e-01 6.75661211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.48538475 meters Centerline goodness : 0.954803 Centerline is valid? [True, True] Translation: X:20.33, Y:0.02, Z:0.68 [[ 9.81166919e-01 -4.33155979e-02 -1.88242494e-01 2.03302840e+01] [ 4.33084248e-02 9.99053118e-01 -4.15309788e-03 1.86258333e-02] [ 1.88244144e-01 -4.07760363e-03 9.82113800e-01 6.80326468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.51538475 meters Centerline goodness : 0.955448 Centerline is valid? [True, True] Translation: X:20.36, Y:0.02, Z:0.69 [[ 9.80223766e-01 -5.06041722e-02 -1.91312796e-01 2.03571508e+01] [ 5.07246802e-02 9.98703544e-01 -4.27064501e-03 2.11702613e-02] [ 1.91280880e-01 -5.51809266e-03 9.81519829e-01 6.86054437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.54538475 meters Centerline goodness : 0.956068 Centerline is valid? [True, True] Translation: X:20.38, Y:0.02, Z:0.69 [[ 9.79472533e-01 -5.97445173e-02 -1.92520519e-01 2.03843102e+01] [ 6.00368685e-02 9.98186811e-01 -4.32019183e-03 2.39749095e-02] [ 1.92429550e-01 -7.32681982e-03 9.81283438e-01 6.90427371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.57538475 meters Centerline goodness : 0.956073 Centerline is valid? [True, True] Translation: X:20.41, Y:0.03, Z:0.70 [[ 9.79083956e-01 -6.41274153e-02 -1.93086203e-01 2.04116849e+01] [ 6.45009629e-02 9.97908130e-01 -4.35769665e-03 2.60091190e-02] [ 1.92961740e-01 -8.18769515e-03 9.81172120e-01 6.95934790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.60538474999998 meters Centerline goodness : 0.955296 Centerline is valid? [True, True] Translation: X:20.44, Y:0.03, Z:0.70 [[ 9.78485764e-01 -7.17960515e-02 -1.93419070e-01 2.04381909e+01] [ 7.23094955e-02 9.97372478e-01 -4.41318363e-03 3.02215389e-02] [ 1.93227707e-01 -9.66779804e-03 9.81106308e-01 7.01860306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63538474999999 meters Centerline goodness : 0.955138 Centerline is valid? [True, True] Translation: X:20.46, Y:0.03, Z:0.71 [[ 9.78478750e-01 -7.42469970e-02 -1.92527189e-01 2.04648088e+01] [ 7.47981198e-02 9.97188926e-01 -4.41450557e-03 3.27653568e-02] [ 1.92313745e-01 -1.00811719e-02 9.81281710e-01 7.06931047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66538474999999 meters Centerline goodness : 0.951240 Centerline is valid? [True, True] Translation: X:20.49, Y:0.04, Z:0.71 [[ 9.77890454e-01 -7.62066316e-02 -1.94737796e-01 2.04917160e+01] [ 7.68045235e-02 9.97036061e-01 -4.48988040e-03 3.90363243e-02] [ 1.94502763e-01 -1.05661324e-02 9.80845060e-01 7.13574193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69538474999999 meters Centerline goodness : 0.951323 Centerline is valid? [True, True] Translation: X:20.52, Y:0.04, Z:0.72 [[ 9.77952116e-01 -7.55040505e-02 -1.94701816e-01 2.05194447e+01] [ 7.60780813e-02 9.97091532e-01 -4.53888336e-03 4.31810288e-02] [ 1.94478236e-01 -1.03737300e-02 9.80851977e-01 7.18454885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72538474999999 meters Centerline goodness : 0.950597 Centerline is valid? [True, True] Translation: X:20.55, Y:0.05, Z:0.72 [[ 9.78024851e-01 -7.40492259e-02 -1.94895109e-01 2.05469088e+01] [ 7.45852976e-02 9.97204042e-01 -4.59689776e-03 4.76480964e-02] [ 1.94690587e-01 -1.00404294e-02 9.80813318e-01 7.23808243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75538474999999 meters Centerline goodness : 0.950402 Centerline is valid? [True, True] Translation: X:20.57, Y:0.06, Z:0.73 [[ 9.78540261e-01 -6.76957446e-02 -1.94618199e-01 2.05735270e+01] [ 6.80959402e-02 9.97667982e-01 -4.64117808e-03 5.61195588e-02] [ 1.94478534e-01 -8.71112966e-03 9.80868093e-01 7.28633246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.78538474999999 meters Centerline goodness : 0.947298 Centerline is valid? [True, False] Translation: X:20.57, Y:0.06, Z:0.73 [[ 9.78842835e-01 -5.77160589e-02 -1.96304766e-01 2.05720978e+01] [ 5.95311415e-02 9.98220817e-01 3.35325448e-03 6.08567536e-02] [ 1.95761967e-01 -1.49685559e-02 9.80537197e-01 7.32242769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81538474999999 meters Centerline goodness : 0.945414 Centerline is valid? [False, False] Translation: X:20.57, Y:0.06, Z:0.73 [[ 9.78939097e-01 -5.26772003e-02 -1.97239340e-01 2.05716416e+01] [ 5.52504788e-02 9.98443886e-01 7.56251381e-03 6.37961673e-02] [ 1.96534041e-01 -1.83008084e-02 9.80326196e-01 7.34324769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.84538475 meters Centerline goodness : 0.945190 Centerline is valid? [False, False] Translation: X:20.57, Y:0.07, Z:0.74 [[ 9.79040035e-01 -4.33235377e-02 -1.99006736e-01 2.05725558e+01] [ 4.72254271e-02 9.98773122e-01 1.48999921e-02 7.00484699e-02] [ 1.98117059e-01 -2.39858669e-02 9.79884845e-01 7.36358572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.87538475 meters Centerline goodness : 0.941666 Centerline is valid? [False, False] Translation: X:20.57, Y:0.07, Z:0.74 [[ 9.79024049e-01 -3.90883186e-02 -1.99960031e-01 2.05737566e+01] [ 4.36265304e-02 9.98879591e-01 1.83381582e-02 7.29949218e-02] [ 1.99019186e-01 -2.66770603e-02 9.79632430e-01 7.37172581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.90538475 meters Centerline goodness : 0.941618 Centerline is valid? [False, False] Translation: X:20.57, Y:0.07, Z:0.74 [[ 0.97904877 -0.03439438 -0.20070009 20.57360777] [ 0.03965039 0.99896638 0.02222638 0.07478881] [ 0.19972818 -0.02971855 0.97940056 0.73868367] [ 0. 0. 0. 1. ]] SLAMing on 112.93538475 meters Centerline goodness : 0.940765 Centerline is valid? [False, False] Translation: X:20.57, Y:0.08, Z:0.74 [[ 0.97903413 -0.02913929 -0.20160128 20.5731484 ] [ 0.03506777 0.99904933 0.02589746 0.07819705] [ 0.20065499 -0.0324242 0.97912524 0.74024766] [ 0. 0. 0. 1. ]] SLAMing on 112.96538475 meters Centerline goodness : 0.942915 Centerline is valid? [False, False] Translation: X:20.57, Y:0.08, Z:0.74 [[ 0.97896166 -0.02445447 -0.20257355 20.57383491] [ 0.031054 0.99908334 0.02946398 0.08099688] [ 0.20166733 -0.03513483 0.9788237 0.74140929] [ 0. 0. 0. 1. ]] SLAMing on 112.99538474999999 meters Centerline goodness : 0.939836 Centerline is valid? [False, False] Translation: X:20.57, Y:0.08, Z:0.74 [[ 0.97889099 -0.02400229 -0.20296876 20.57449145] [ 0.03054192 0.99910837 0.02914894 0.08348179] [ 0.20208814 -0.03473269 0.97875126 0.74111539] [ 0. 0. 0. 1. ]] SLAMing on 113.02538474999999 meters Centerline goodness : 0.938626 Centerline is valid? [False, False] Translation: X:20.57, Y:0.09, Z:0.74 [[ 9.78883008e-01 -1.86908888e-02 -2.03564996e-01 2.05745428e+01] [ 2.58697098e-02 9.99131611e-01 3.26616147e-02 8.60815556e-02] [ 2.02777748e-01 -3.72380670e-02 9.78516485e-01 7.41318277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05538474999999 meters Centerline goodness : 0.938855 Centerline is valid? [False, False] Translation: X:20.57, Y:0.09, Z:0.74 [[ 9.78931187e-01 -1.76566464e-02 -2.03425600e-01 2.05736714e+01] [ 2.47561536e-02 9.99168082e-01 3.24079824e-02 8.81844808e-02] [ 2.02684150e-01 -3.67612201e-02 9.78553906e-01 7.40760422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08538474999999 meters Centerline goodness : 0.938855 Centerline is valid? [False, False] Translation: X:20.57, Y:0.09, Z:0.74 [[ 9.78931187e-01 -1.76566464e-02 -2.03425600e-01 2.05736714e+01] [ 2.47561536e-02 9.99168082e-01 3.24079824e-02 8.81844808e-02] [ 2.02684150e-01 -3.67612201e-02 9.78553906e-01 7.40760422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11538474999999 meters Centerline goodness : 0.936365 Centerline is valid? [False, False] Translation: X:20.57, Y:0.09, Z:0.74 [[ 9.79003785e-01 -1.64829911e-02 -2.03174556e-01 2.05723068e+01] [ 2.35810971e-02 9.99191409e-01 3.25647088e-02 8.94779692e-02] [ 2.02473507e-01 -3.66720521e-02 9.78600858e-01 7.40681218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.14538474999999 meters Centerline goodness : 0.939093 Centerline is valid? [False, False] Translation: X:20.58, Y:0.09, Z:0.74 [[ 9.79979982e-01 -1.35223842e-02 -1.98636303e-01 2.05827140e+01] [ 1.87155128e-02 9.99529761e-01 2.42896309e-02 9.06385052e-02] [ 1.98214443e-01 -2.75209323e-02 9.79772235e-01 7.38623703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17538474999999 meters Centerline goodness : 0.939069 Centerline is valid? [False, False] Translation: X:20.58, Y:0.09, Z:0.74 [[ 9.79946005e-01 -1.29630607e-02 -1.98841108e-01 2.05829501e+01] [ 1.82126870e-02 9.99531587e-01 2.45948202e-02 9.01523348e-02] [ 1.98429144e-01 -2.77230266e-02 9.79723078e-01 7.38757604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.20538475 meters Centerline goodness : 0.937667 Centerline is valid? [False, False] Translation: X:20.58, Y:0.09, Z:0.74 [[ 9.80021071e-01 -1.04245486e-02 -1.98620315e-01 2.05807211e+01] [ 1.60241802e-02 9.99517554e-01 2.66061150e-02 8.72225272e-02] [ 1.98247135e-01 -2.92572810e-02 9.79715308e-01 7.39944130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.23538475 meters Centerline goodness : 0.938218 Centerline is valid? [False, False] Translation: X:20.58, Y:0.09, Z:0.74 [[ 9.80020709e-01 -9.58346714e-03 -1.98664461e-01 2.05804576e+01] [ 1.53125733e-02 9.99509401e-01 2.73218139e-02 8.56071459e-02] [ 1.98305159e-01 -2.98180075e-02 9.79686659e-01 7.40257157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.26538475 meters Centerline goodness : 0.940711 Centerline is valid? [False, False] Translation: X:20.58, Y:0.08, Z:0.74 [[ 9.79967926e-01 -8.42952111e-03 -1.98976899e-01 2.05802282e+01] [ 1.44408835e-02 9.99481467e-01 2.87794841e-02 8.08319587e-02] [ 1.98631126e-01 -3.10763735e-02 9.79581510e-01 7.41418591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.29538475 meters Centerline goodness : 0.941799 Centerline is valid? [False, False] Translation: X:20.58, Y:0.08, Z:0.74 [[ 9.79949696e-01 -7.63998543e-03 -1.99098529e-01 2.05795606e+01] [ 1.38934651e-02 9.99452410e-01 3.00308350e-02 7.75429491e-02] [ 1.98760069e-01 -3.21948760e-02 9.79519231e-01 7.42817398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.32538475 meters Centerline goodness : 0.941230 Centerline is valid? [False, False] Translation: X:20.59, Y:0.07, Z:0.75 [[ 9.81167966e-01 -8.23187666e-03 -1.92980981e-01 2.05900318e+01] [ 1.30562765e-02 9.99632884e-01 2.37409180e-02 7.20976221e-02] [ 1.92714702e-01 -2.58134412e-02 9.80915241e-01 7.45371213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35538474999998 meters Centerline goodness : 0.941860 Centerline is valid? [False, False] Translation: X:20.59, Y:0.06, Z:0.75 [[ 9.81076370e-01 -8.66628228e-03 -1.93427123e-01 2.05924011e+01] [ 1.37770692e-02 9.99590188e-01 2.50927907e-02 6.46359637e-02] [ 1.93130394e-01 -2.72828029e-02 9.80793709e-01 7.45899314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38538474999999 meters Centerline goodness : 0.940433 Centerline is valid? [False, False] Translation: X:20.59, Y:0.06, Z:0.75 [[ 9.81002375e-01 -8.89322628e-03 -1.93791771e-01 2.05943327e+01] [ 1.41198479e-02 9.99572397e-01 2.56057356e-02 6.11092811e-02] [ 1.93481187e-01 -2.78555978e-02 9.80708466e-01 7.45543387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41538474999999 meters Centerline goodness : 0.940730 Centerline is valid? [False, False] Translation: X:20.60, Y:0.06, Z:0.75 [[ 9.80871591e-01 -9.37372931e-03 -1.94430079e-01 2.05970292e+01] [ 1.47226867e-02 9.99551329e-01 2.60841405e-02 5.77813100e-02] [ 1.94098338e-01 -2.84477255e-02 9.80569509e-01 7.45379837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44538474999999 meters Centerline goodness : 0.944137 Centerline is valid? [False, False] Translation: X:20.59, Y:0.05, Z:0.75 [[ 9.80885191e-01 -1.23915165e-02 -1.94192408e-01 2.05946938e+01] [ 1.77168582e-02 9.99512430e-01 2.57102176e-02 4.84615772e-02] [ 1.93779138e-01 -2.86592511e-02 9.80626480e-01 7.49352207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47538474999999 meters Centerline goodness : 0.945753 Centerline is valid? [False, False] Translation: X:20.60, Y:0.04, Z:0.75 [[ 9.80795027e-01 -1.29346120e-02 -1.94611948e-01 2.05954895e+01] [ 1.84261990e-02 9.99480717e-01 2.64342918e-02 4.37266930e-02] [ 1.94168972e-01 -2.95125805e-02 9.80524053e-01 7.50817811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.50538474999999 meters Centerline goodness : 0.945720 Centerline is valid? [False, False] Translation: X:20.60, Y:0.04, Z:0.75 [[ 9.80500119e-01 -1.96947743e-02 -1.95529108e-01 2.06008606e+01] [ 2.44984614e-02 9.99453800e-01 2.21794460e-02 3.96121357e-02] [ 1.94985491e-01 -2.65371118e-02 9.80447061e-01 7.49946761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53538474999999 meters Centerline goodness : 0.944949 Centerline is valid? [False, False] Translation: X:20.61, Y:0.04, Z:0.75 [[ 0.98034482 -0.02091738 -0.19617977 20.60500123] [ 0.02570343 0.9994301 0.02188179 0.03807292] [ 0.19561025 -0.02649419 0.98032377 0.74860503] [ 0. 0. 0. 1. ]] SLAMing on 113.56538474999999 meters Centerline goodness : 0.941231 Centerline is valid? [False, False] Translation: X:20.61, Y:0.03, Z:0.75 [[ 9.80116459e-01 -2.72231875e-02 -1.96546748e-01 2.06130262e+01] [ 3.14447613e-02 9.99336305e-01 1.83895612e-02 3.45741883e-02] [ 1.95915678e-01 -2.42042772e-02 9.80321988e-01 7.45244455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.59538475 meters Centerline goodness : 0.943302 Centerline is valid? [False, False] Translation: X:20.62, Y:0.03, Z:0.74 [[ 9.79944484e-01 -2.85938859e-02 -1.97208514e-01 2.06171383e+01] [ 3.27683113e-02 9.99302019e-01 1.79363350e-02 3.36745440e-02] [ 1.96557997e-01 -2.40388026e-02 9.80197475e-01 7.43969688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.62538475 meters Centerline goodness : 0.941567 Centerline is valid? [False, False] Translation: X:20.62, Y:0.03, Z:0.74 [[ 9.79759387e-01 -3.00404017e-02 -1.97911896e-01 2.06215035e+01] [ 3.41521786e-02 9.99265259e-01 1.73945468e-02 3.14649527e-02] [ 1.97243943e-01 -2.38015929e-02 9.80065463e-01 7.42521588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.65538475 meters Centerline goodness : 0.942924 Centerline is valid? [False, False] Translation: X:20.62, Y:0.03, Z:0.74 [[ 9.79665441e-01 -3.01939318e-02 -1.98353095e-01 2.06225570e+01] [ 3.43641141e-02 9.99254137e-01 1.76146671e-02 3.07415087e-02] [ 1.97673295e-01 -2.40727090e-02 9.79972333e-01 7.43045274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.68538475 meters Centerline goodness : 0.940392 Centerline is valid? [False, False] Translation: X:20.62, Y:0.03, Z:0.74 [[ 9.79603368e-01 -3.00930091e-02 -1.98674741e-01 2.06228658e+01] [ 3.43415789e-02 9.99248536e-01 1.79727478e-02 2.96952111e-02] [ 1.97984590e-01 -2.44289686e-02 9.79900672e-01 7.43806877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.71538475 meters Centerline goodness : 0.943374 Centerline is valid? [False, False] Translation: X:20.62, Y:0.03, Z:0.74 [[ 9.79487413e-01 -3.03317440e-02 -1.99209421e-01 2.06240522e+01] [ 3.46988991e-02 9.99227177e-01 1.84671586e-02 2.85886875e-02] [ 1.98495326e-01 -2.50006970e-02 9.79782920e-01 7.44865628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74538474999999 meters Centerline goodness : 0.939480 Centerline is valid? [False, False] Translation: X:20.62, Y:0.03, Z:0.75 [[ 9.79421261e-01 -3.03974538e-02 -1.99524407e-01 2.06244565e+01] [ 3.49834765e-02 9.99197654e-01 1.94988482e-02 2.73831186e-02] [ 1.98771604e-01 -2.60776438e-02 9.79698834e-01 7.46671151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77538474999999 meters Centerline goodness : 0.941397 Centerline is valid? [False, False] Translation: X:20.62, Y:0.03, Z:0.75 [[ 9.79354650e-01 -3.04981145e-02 -1.99835769e-01 2.06247204e+01] [ 3.51591807e-02 9.99185238e-01 1.98164789e-02 2.73700363e-02] [ 1.99068585e-01 -2.64334227e-02 9.79628997e-01 7.47743044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80538474999999 meters Centerline goodness : 0.937232 Centerline is valid? [False, False] Translation: X:20.62, Y:0.03, Z:0.75 [[ 9.79407957e-01 -3.02526746e-02 -1.99611695e-01 2.06237008e+01] [ 3.49581646e-02 9.99186825e-01 2.00901590e-02 2.82401609e-02] [ 1.98841595e-01 -2.66545200e-02 9.79669106e-01 7.48372431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83538474999999 meters Centerline goodness : 0.940165 Centerline is valid? [False, False] Translation: X:20.62, Y:0.03, Z:0.75 [[ 9.79385331e-01 -3.05019608e-02 -1.99684761e-01 2.06241896e+01] [ 3.52557240e-02 9.99172269e-01 2.02931133e-02 2.81002671e-02] [ 1.98900496e-01 -2.69148083e-02 9.79650032e-01 7.48770196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.86538474999999 meters Centerline goodness : 0.938559 Centerline is valid? [False, False] Translation: X:20.62, Y:0.03, Z:0.75 [[ 9.79387187e-01 -3.08409102e-02 -1.99623585e-01 2.06245451e+01] [ 3.56100357e-02 9.99158679e-01 2.03435361e-02 2.85022672e-02] [ 1.98828224e-01 -2.70328015e-02 9.79661454e-01 7.48970022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89538474999999 meters Centerline goodness : 0.937709 Centerline is valid? [False, False] Translation: X:20.62, Y:0.03, Z:0.75 [[ 0.9794093 -0.03062785 -0.19954786 20.62466604] [ 0.03546171 0.99915675 0.02069434 0.02863957] [ 0.19874577 -0.02734454 0.97966953 0.74907127] [ 0. 0. 0. 1. ]] SLAMing on 113.92538474999999 meters Centerline goodness : 0.936908 Centerline is valid? [False, False] Translation: X:20.62, Y:0.03, Z:0.75 [[ 0.979496 -0.02964726 -0.19927025 20.62273298] [ 0.03463433 0.99916689 0.02158686 0.02715979] [ 0.19846424 -0.02804583 0.97970678 0.75024822] [ 0. 0. 0. 1. ]] SLAMing on 113.95538475 meters Centerline goodness : 0.936174 Centerline is valid? [False, False] Translation: X:20.62, Y:0.03, Z:0.75 [[ 0.9795163 -0.02917675 -0.19923989 20.62206676] [ 0.03423166 0.99917235 0.02197284 0.0261628 ] [ 0.19843389 -0.02834307 0.97970437 0.7507591 ] [ 0. 0. 0. 1. ]] SLAMing on 113.98538475 meters Centerline goodness : 0.935871 Centerline is valid? [False, False] Translation: X:20.62, Y:0.03, Z:0.75 [[ 0.97955626 -0.02839889 -0.1991558 20.62110083] [ 0.03355799 0.99918174 0.0225767 0.02547487] [ 0.19835168 -0.02879842 0.97970774 0.75148843] [ 0. 0. 0. 1. ]] SLAMing on 114.01538475 meters Centerline goodness : 0.935408 Centerline is valid? [False, False] Translation: X:20.62, Y:0.03, Z:0.75 [[ 0.97962535 -0.02769575 -0.19891487 20.62010757] [ 0.03286438 0.99920134 0.02272909 0.02538305] [ 0.19812651 -0.02880321 0.97975316 0.75137732] [ 0. 0. 0. 1. ]] SLAMing on 114.04538475 meters Centerline goodness : 0.934026 Centerline is valid? [False, False] Translation: X:20.62, Y:0.03, Z:0.75 [[ 0.9796049 -0.02779472 -0.19900175 20.62110995] [ 0.0329119 0.99920604 0.02245208 0.0259395 ] [ 0.1982197 -0.02854369 0.97974191 0.75059755] [ 0. 0. 0. 1. ]] SLAMing on 114.07538475 meters Centerline goodness : 0.931359 Centerline is valid? [False, False] Translation: X:20.62, Y:0.03, Z:0.75 [[ 0.97959812 -0.02793271 -0.19901579 20.62217736] [ 0.03296361 0.99921417 0.02200994 0.02719968] [ 0.1982446 -0.02812118 0.97974909 0.7494971 ] [ 0. 0. 0. 1. ]] SLAMing on 114.10538474999998 meters Centerline goodness : 0.929234 Centerline is valid? [False, False] Translation: X:20.63, Y:0.03, Z:0.75 [[ 0.97943719 -0.02536763 -0.20014811 20.62714669] [ 0.03089424 0.99922143 0.02453728 0.02862238] [ 0.19936983 -0.03021615 0.97945835 0.74804546] [ 0. 0. 0. 1. ]] SLAMing on 114.13538474999999 meters Centerline goodness : 0.925917 Centerline is valid? [False, False] Translation: X:20.63, Y:0.03, Z:0.75 [[ 0.97922218 -0.02708626 -0.20097328 20.63125044] [ 0.03244846 0.99919864 0.02343445 0.02926161] [ 0.20017748 -0.02946881 0.97931638 0.74692726] [ 0. 0. 0. 1. ]] SLAMing on 114.16538474999999 meters Centerline goodness : 0.925931 Centerline is valid? [False, False] Translation: X:20.63, Y:0.03, Z:0.75 [[ 0.97914098 -0.02741741 -0.2013237 20.63211578] [ 0.03276156 0.99919249 0.02326064 0.02946756] [ 0.20052338 -0.02937113 0.97924854 0.74710769] [ 0. 0. 0. 1. ]] SLAMing on 114.19538474999999 meters Centerline goodness : 0.925497 Centerline is valid? [False, False] Translation: X:20.63, Y:0.03, Z:0.75 [[ 0.9790299 -0.02813014 -0.2017651 20.63330911] [ 0.03345324 0.99917512 0.02302075 0.02937407] [ 0.20095109 -0.0292877 0.97916336 0.74753389] [ 0. 0. 0. 1. ]] SLAMing on 114.22538474999999 meters Centerline goodness : 0.923683 Centerline is valid? [False, False] Translation: X:20.63, Y:0.03, Z:0.75 [[ 0.97888876 -0.02910759 -0.20231054 20.63452201] [ 0.03439961 0.99915054 0.02269048 0.03069538] [ 0.20147822 -0.02917086 0.97905852 0.74843683] [ 0. 0. 0. 1. ]] SLAMing on 114.25538474999999 meters Centerline goodness : 0.922470 Centerline is valid? [False, False] Translation: X:20.64, Y:0.03, Z:0.75 [[ 0.97884808 -0.02942509 -0.20246136 20.63553618] [ 0.03470996 0.99914183 0.02260152 0.03215932] [ 0.20162256 -0.02915088 0.9790294 0.74827376] [ 0. 0. 0. 1. ]] SLAMing on 114.28538474999999 meters Centerline goodness : 0.918530 Centerline is valid? [False, False] Translation: X:20.64, Y:0.04, Z:0.75 [[ 0.97886138 -0.02932605 -0.2024114 20.63572015] [ 0.03458025 0.99914929 0.02246993 0.03526127] [ 0.20158026 -0.02899439 0.97904276 0.74800361] [ 0. 0. 0. 1. ]] SLAMing on 114.31538474999999 meters Centerline goodness : 0.917717 Centerline is valid? [False, False] Translation: X:20.64, Y:0.04, Z:0.75 [[ 0.97885426 -0.02925916 -0.20245551 20.63610003] [ 0.03448607 0.99915551 0.02233769 0.03707414] [ 0.20163096 -0.02884724 0.97903667 0.74773393] [ 0. 0. 0. 1. ]] SLAMing on 114.34538475 meters Centerline goodness : 0.919950 Centerline is valid? [False, False] Translation: X:20.63, Y:0.04, Z:0.75 [[ 0.97898516 -0.02806165 -0.20199157 20.63303435] [ 0.03329966 0.99919031 0.02257985 0.03903323] [ 0.20119439 -0.02883159 0.97912694 0.74883348] [ 0. 0. 0. 1. ]] SLAMing on 114.37538475 meters Centerline goodness : 0.921890 Centerline is valid? [False, False] Translation: X:20.64, Y:0.04, Z:0.74 [[ 0.98097243 -0.03024164 -0.19177731 20.63909439] [ 0.03525588 0.99911849 0.0227872 0.04191069] [ 0.19091914 -0.02911489 0.98117389 0.74489603] [ 0. 0. 0. 1. ]] SLAMing on 114.40538475 meters Centerline goodness : 0.919957 Centerline is valid? [False, False] Translation: X:20.64, Y:0.04, Z:0.75 [[ 0.98102705 -0.02953611 -0.1916078 20.6378393 ] [ 0.03450645 0.99914767 0.02265475 0.04354796] [ 0.19077535 -0.02883663 0.98121008 0.74500792] [ 0. 0. 0. 1. ]] SLAMing on 114.43538475 meters Centerline goodness : 0.920457 Centerline is valid? [False, False] Translation: X:20.64, Y:0.05, Z:0.75 [[ 0.98108466 -0.02492743 -0.19196745 20.63767097] [ 0.03054633 0.99918555 0.02636592 0.04571577] [ 0.19115387 -0.0317311 0.98104706 0.74573373] [ 0. 0. 0. 1. ]] SLAMing on 114.46538475 meters Centerline goodness : 0.920114 Centerline is valid? [False, False] Translation: X:20.64, Y:0.05, Z:0.74 [[ 0.981155 -0.02461601 -0.19164792 20.63799319] [ 0.02996226 0.99923714 0.02504793 0.04909455] [ 0.19088514 -0.0303181 0.98114407 0.74313461] [ 0. 0. 0. 1. ]] SLAMing on 114.49538474999999 meters Centerline goodness : 0.920278 Centerline is valid? [False, False] Translation: X:20.64, Y:0.05, Z:0.74 [[ 0.98106967 -0.02531537 -0.19199334 20.64019068] [ 0.03053786 0.99923841 0.02429083 0.05055602] [ 0.19123219 -0.02969406 0.98109557 0.74194233] [ 0. 0. 0. 1. ]] SLAMing on 114.52538474999999 meters Centerline goodness : 0.921098 Centerline is valid? [False, False] Translation: X:20.64, Y:0.05, Z:0.74 [[ 0.98096547 -0.02609533 -0.19242085 20.6424951 ] [ 0.03119442 0.99923663 0.02351737 0.05045486] [ 0.19166027 -0.02907219 0.98103066 0.74068009] [ 0. 0. 0. 1. ]] SLAMing on 114.55538474999999 meters Centerline goodness : 0.921921 Centerline is valid? [False, False] Translation: X:20.65, Y:0.05, Z:0.74 [[ 0.98079812 -0.026983 -0.19315012 20.64513522] [ 0.03209902 0.99921058 0.02340643 0.04885865] [ 0.19236607 -0.02915692 0.98088999 0.74066789] [ 0. 0. 0. 1. ]] SLAMing on 114.58538474999999 meters Centerline goodness : 0.924198 Centerline is valid? [False, False] Translation: X:20.65, Y:0.05, Z:0.74 [[ 9.80428718e-01 -3.35553922e-02 -1.93993722e-01 2.06491294e+01] [ 3.80510517e-02 9.99085641e-01 1.94935861e-02 4.51526514e-02] [ 1.93162228e-01 -2.64937368e-02 9.80809072e-01 7.41145838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61538474999999 meters Centerline goodness : 0.923422 Centerline is valid? [False, False] Translation: X:20.65, Y:0.04, Z:0.74 [[ 9.80233411e-01 -3.52004955e-02 -1.94687918e-01 2.06533979e+01] [ 3.96066309e-02 9.99038770e-01 1.87843354e-02 4.49298430e-02] [ 1.93839561e-01 -2.61239657e-02 9.80685354e-01 7.39882419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.64538474999999 meters Centerline goodness : 0.917768 Centerline is valid? [False, False] Translation: X:20.66, Y:0.04, Z:0.74 [[ 9.79940797e-01 -3.83599568e-02 -1.95562135e-01 2.06602470e+01] [ 4.25422901e-02 9.98946097e-01 1.72292891e-02 4.40511395e-02] [ 1.94695117e-01 -2.52033444e-02 9.80539955e-01 7.37223652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67538474999999 meters Centerline goodness : 0.920334 Centerline is valid? [False, False] Translation: X:20.66, Y:0.04, Z:0.74 [[ 9.79668498e-01 -4.12521887e-02 -1.96336167e-01 2.06636124e+01] [ 4.52726419e-02 9.98846021e-01 1.60316694e-02 4.14835243e-02] [ 1.95448257e-01 -2.45943785e-02 9.80405577e-01 7.37676690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.70538475 meters Centerline goodness : 0.921819 Centerline is valid? [False, False] Translation: X:20.67, Y:0.04, Z:0.74 [[ 9.79489854e-01 -4.19896168e-02 -1.97069779e-01 2.06657544e+01] [ 4.60347424e-02 9.98811881e-01 1.59884235e-02 4.07640050e-02] [ 1.96164289e-01 -2.47325551e-02 9.80259084e-01 7.38141782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.73538475 meters Centerline goodness : 0.923003 Centerline is valid? [False, False] Translation: X:20.67, Y:0.04, Z:0.74 [[ 9.79376485e-01 -4.19992356e-02 -1.97630373e-01 2.06663483e+01] [ 4.62508424e-02 9.98786136e-01 1.69444260e-02 3.89053664e-02] [ 1.96678824e-01 -2.57355436e-02 9.80130156e-01 7.39968492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.76538475 meters Centerline goodness : 0.927503 Centerline is valid? [False, False] Translation: X:20.67, Y:0.04, Z:0.74 [[ 9.79280495e-01 -4.21141551e-02 -1.98081071e-01 2.06668619e+01] [ 4.64624330e-02 9.98769289e-01 1.73536500e-02 3.84292399e-02] [ 1.97106456e-01 -2.61974194e-02 9.80032010e-01 7.41136493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.79538475 meters Centerline goodness : 0.928523 Centerline is valid? [False, False] Translation: X:20.67, Y:0.04, Z:0.75 [[ 9.79192676e-01 -4.16920124e-02 -1.98603825e-01 2.06656393e+01] [ 4.66928215e-02 9.98697659e-01 2.05613042e-02 3.58934770e-02] [ 1.97487932e-01 -2.94068515e-02 9.79864151e-01 7.47150430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.82538475 meters Centerline goodness : 0.930073 Centerline is valid? [False, False] Translation: X:20.67, Y:0.04, Z:0.75 [[ 0.97909957 -0.0421937 -0.1989566 20.66663123] [ 0.04724206 0.99866909 0.02069366 0.03655161] [ 0.19781867 -0.02966027 0.9797898 0.74785876] [ 0. 0. 0. 1. ]] SLAMing on 114.85538474999998 meters Centerline goodness : 0.927589 Centerline is valid? [False, False] Translation: X:20.67, Y:0.04, Z:0.75 [[ 0.97894681 -0.04029917 -0.20009778 20.67123218] [ 0.04593862 0.998665 0.02361896 0.03754763] [ 0.19887883 -0.03231392 0.97949121 0.74799951] [ 0. 0. 0. 1. ]] SLAMing on 114.88538474999999 meters Centerline goodness : 0.924426 Centerline is valid? [False, False] Translation: X:20.67, Y:0.04, Z:0.75 [[ 0.97878054 -0.04174421 -0.20061423 20.6742669 ] [ 0.04721236 0.99863035 0.02254828 0.03969074] [ 0.19939819 -0.03154129 0.9794108 0.74695507] [ 0. 0. 0. 1. ]] SLAMing on 114.91538474999999 meters Centerline goodness : 0.922753 Centerline is valid? [False, False] Translation: X:20.68, Y:0.04, Z:0.75 [[ 0.97863299 -0.04297435 -0.2010738 20.67680348] [ 0.04827398 0.99860216 0.02152558 0.04182804] [ 0.19986769 -0.03077228 0.97933956 0.74603807] [ 0. 0. 0. 1. ]] SLAMing on 114.94538474999999 meters Centerline goodness : 0.919946 Centerline is valid? [False, False] Translation: X:20.68, Y:0.05, Z:0.74 [[ 9.78535413e-01 -4.34705916e-02 -2.01441686e-01 2.06790345e+01] [ 4.85352067e-02 9.98615795e-01 2.02688886e-02 4.61128324e-02] [ 2.00281749e-01 -2.96108391e-02 9.79290774e-01 7.44181166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97538474999999 meters Centerline goodness : 0.919946 Centerline is valid? [False, False] Translation: X:20.68, Y:0.05, Z:0.74 [[ 9.78535413e-01 -4.34705916e-02 -2.01441686e-01 2.06790345e+01] [ 4.85352067e-02 9.98615795e-01 2.02688886e-02 4.61128324e-02] [ 2.00281749e-01 -2.96108391e-02 9.79290774e-01 7.44181166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.00538474999999 meters Centerline goodness : 0.918502 Centerline is valid? [False, False] Translation: X:20.68, Y:0.05, Z:0.74 [[ 0.97840795 -0.04076002 -0.20262403 20.68313879] [ 0.04639068 0.99865588 0.02311559 0.04766105] [ 0.20140949 -0.03201634 0.97898374 0.74379911] [ 0. 0. 0. 1. ]] SLAMing on 115.03538474999999 meters Centerline goodness : 0.923548 Centerline is valid? [False, False] Translation: X:20.68, Y:0.05, Z:0.75 [[ 9.78235620e-01 -4.49295286e-02 -2.02574453e-01 2.06809730e+01] [ 4.98216410e-02 9.98575235e-01 1.91129198e-02 5.09083092e-02] [ 2.01427098e-01 -2.87895307e-02 9.79080327e-01 7.45611628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.06538474999999 meters Centerline goodness : 0.920994 Centerline is valid? [False, False] Translation: X:20.68, Y:0.05, Z:0.75 [[ 9.78133634e-01 -4.54252630e-02 -2.02956003e-01 2.06823410e+01] [ 5.01852382e-02 9.98571043e-01 1.83661341e-02 5.39693601e-02] [ 2.01831701e-01 -2.81499289e-02 9.79015600e-01 7.45153640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.09538475 meters Centerline goodness : 0.914668 Centerline is valid? [False, False] Translation: X:20.69, Y:0.06, Z:0.74 [[ 9.78199127e-01 -4.17067093e-02 -2.03437997e-01 2.06858645e+01] [ 4.68149509e-02 9.98696063e-01 2.03600983e-02 5.95226943e-02] [ 2.02323574e-01 -2.94401703e-02 9.78876115e-01 7.41745866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.12538475 meters Centerline goodness : 0.917721 Centerline is valid? [False, False] Translation: X:20.69, Y:0.06, Z:0.74 [[ 0.97820047 -0.03780236 -0.20419308 20.68803205] [ 0.04356616 0.99876691 0.0238044 0.06120659] [ 0.20304143 -0.03218138 0.97864117 0.74152128] [ 0. 0. 0. 1. ]] SLAMing on 115.15538475 meters Centerline goodness : 0.914718 Centerline is valid? [False, False] Translation: X:20.70, Y:0.07, Z:0.74 [[ 9.79402655e-01 -3.61737672e-02 -1.98650191e-01 2.06998616e+01] [ 4.03642515e-02 9.99038961e-01 1.70845661e-02 6.51139978e-02] [ 1.97841268e-01 -2.47510357e-02 9.79921537e-01 7.41568834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.18538475 meters Centerline goodness : 0.917169 Centerline is valid? [False, False] Translation: X:20.70, Y:0.06, Z:0.74 [[ 0.97931243 -0.03197813 -0.1998113 20.70085752] [ 0.03707451 0.99907435 0.02181559 0.06417563] [ 0.19892872 -0.02877218 0.97959151 0.74441031] [ 0. 0. 0. 1. ]] SLAMing on 115.21538474999998 meters Centerline goodness : 0.919172 Centerline is valid? [False, False] Translation: X:20.70, Y:0.06, Z:0.75 [[ 0.97926741 -0.03162459 -0.20008807 20.70037655] [ 0.03676788 0.99908074 0.02204065 0.06481461] [ 0.19920711 -0.0289405 0.97952998 0.74546594] [ 0. 0. 0. 1. ]] SLAMing on 115.24538474999999 meters Centerline goodness : 0.917672 Centerline is valid? [False, False] Translation: X:20.71, Y:0.07, Z:0.74 [[ 0.98136682 -0.03305229 -0.18927945 20.70580058] [ 0.03782237 0.99905006 0.02164382 0.07020588] [ 0.18838427 -0.02839952 0.98168469 0.73954665] [ 0. 0. 0. 1. ]] SLAMing on 115.27538474999999 meters Centerline goodness : 0.920020 Centerline is valid? [False, False] Translation: X:20.70, Y:0.07, Z:0.74 [[ 0.98147276 -0.03183455 -0.18893857 20.7042765 ] [ 0.03664316 0.99908597 0.02201148 0.07302968] [ 0.18806514 -0.02852697 0.98174218 0.73943932] [ 0. 0. 0. 1. ]] SLAMing on 115.30538474999999 meters Centerline goodness : 0.916024 Centerline is valid? [False, False] Translation: X:20.70, Y:0.07, Z:0.74 [[ 0.98153757 -0.03140137 -0.18867418 20.70342286] [ 0.0362085 0.99910019 0.02208507 0.07378993] [ 0.18781091 -0.02850893 0.98179137 0.73941458] [ 0. 0. 0. 1. ]] SLAMing on 115.33538474999999 meters Centerline goodness : 0.916718 Centerline is valid? [False, False] Translation: X:20.70, Y:0.07, Z:0.74 [[ 0.98147353 -0.03147895 -0.18899412 20.70389388] [ 0.03627927 0.99909966 0.02199291 0.07464426] [ 0.18813165 -0.02844203 0.9817319 0.73976725] [ 0. 0. 0. 1. ]] SLAMing on 115.36538474999999 meters Centerline goodness : 0.920957 Centerline is valid? [False, False] Translation: X:20.70, Y:0.07, Z:0.74 [[ 0.98149595 -0.03083822 -0.18898336 20.70292474] [ 0.03568658 0.99911408 0.02230528 0.0745318 ] [ 0.18812808 -0.02863671 0.98172693 0.74041688] [ 0. 0. 0. 1. ]] SLAMing on 115.39538474999999 meters Centerline goodness : 0.918252 Centerline is valid? [False, False] Translation: X:20.70, Y:0.08, Z:0.74 [[ 0.98157779 -0.03043554 -0.18862321 20.70285244] [ 0.03513739 0.99914833 0.02163289 0.0757103 ] [ 0.18780415 -0.02786209 0.98181124 0.73872289] [ 0. 0. 0. 1. ]] SLAMing on 115.42538474999999 meters Centerline goodness : 0.914554 Centerline is valid? [False, False] Translation: X:20.70, Y:0.08, Z:0.74 [[ 0.98153918 -0.03081024 -0.18876325 20.70423884] [ 0.03540571 0.99915192 0.02102098 0.07646873] [ 0.1879555 -0.02731621 0.98179761 0.73766476] [ 0. 0. 0. 1. ]] SLAMing on 115.45538475 meters Centerline goodness : 0.915581 Centerline is valid? [False, False] Translation: X:20.70, Y:0.08, Z:0.74 [[ 9.81572968e-01 -3.07933749e-02 -1.88590236e-01 2.07049273e+01] [ 3.52703964e-02 9.99168985e-01 2.04288549e-02 7.62077991e-02] [ 1.87804441e-01 -2.67040641e-02 9.81843361e-01 7.36088033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.48538475 meters Centerline goodness : 0.916716 Centerline is valid? [False, False] Translation: X:20.71, Y:0.08, Z:0.74 [[ 9.81492165e-01 -3.11983120e-02 -1.88943896e-01 2.07063403e+01] [ 3.56453280e-02 9.99160673e-01 2.01831535e-02 7.61313127e-02] [ 1.88155630e-01 -2.65445741e-02 9.81780446e-01 7.35865774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.51538475 meters Centerline goodness : 0.918186 Centerline is valid? [False, False] Translation: X:20.71, Y:0.08, Z:0.74 [[ 9.81507491e-01 -3.10493107e-02 -1.88888817e-01 2.07064341e+01] [ 3.55144157e-02 9.99162979e-01 2.02994721e-02 7.50587812e-02] [ 1.88100429e-01 -2.66323599e-02 9.81788646e-01 7.35640774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.54538475 meters Centerline goodness : 0.916846 Centerline is valid? [False, False] Translation: X:20.71, Y:0.07, Z:0.74 [[ 9.81403651e-01 -3.17154105e-02 -1.89317212e-01 2.07077388e+01] [ 3.62007292e-02 9.99138735e-01 2.02804206e-02 7.40350129e-02] [ 1.88510958e-01 -2.67567000e-02 9.81706523e-01 7.35999816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.57538475 meters Centerline goodness : 0.918886 Centerline is valid? [False, False] Translation: X:20.71, Y:0.07, Z:0.74 [[ 9.81127997e-01 -3.75105054e-02 -1.89686097e-01 2.07089882e+01] [ 4.14847228e-02 9.98994110e-01 1.70231195e-02 7.15054740e-02] [ 1.88856748e-01 -2.45709343e-02 9.81697203e-01 7.38014474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.60538474999998 meters Centerline goodness : 0.922881 Centerline is valid? [False, False] Translation: X:20.71, Y:0.07, Z:0.74 [[ 9.80907932e-01 -3.87175563e-02 -1.90579587e-01 2.07105222e+01] [ 4.28419294e-02 9.98927405e-01 1.75672554e-02 7.03350853e-02] [ 1.89695011e-01 -2.53966574e-02 9.81514550e-01 7.40486391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63538474999999 meters Centerline goodness : 0.923714 Centerline is valid? [False, False] Translation: X:20.72, Y:0.07, Z:0.74 [[ 9.80566190e-01 -4.16784446e-02 -1.91710340e-01 2.07157910e+01] [ 4.55806962e-02 9.98832708e-01 1.59881616e-02 7.22609508e-02] [ 1.90820197e-01 -2.44157415e-02 9.81321315e-01 7.39711466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66538474999999 meters Centerline goodness : 0.919748 Centerline is valid? [False, False] Translation: X:20.72, Y:0.07, Z:0.74 [[ 9.80395353e-01 -3.97238661e-02 -1.92994729e-01 2.07215265e+01] [ 4.41388200e-02 9.98851709e-01 1.86287084e-02 7.28328996e-02] [ 1.92033111e-01 -2.67820588e-02 9.81022938e-01 7.38532056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69538474999999 meters Centerline goodness : 0.917303 Centerline is valid? [False, False] Translation: X:20.72, Y:0.07, Z:0.74 [[ 9.80349777e-01 -4.02727310e-02 -1.93112457e-01 2.07239105e+01] [ 4.45531349e-02 9.98847136e-01 1.78722490e-02 7.49779385e-02] [ 1.92170060e-01 -2.61248206e-02 9.81013844e-01 7.36547740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72538474999999 meters Centerline goodness : 0.916151 Centerline is valid? [False, False] Translation: X:20.73, Y:0.07, Z:0.74 [[ 0.98029995 -0.03688451 -0.19404005 20.72748024] [ 0.04182224 0.99889563 0.02141084 0.07456132] [ 0.19303603 -0.02910423 0.98075993 0.73592407] [ 0. 0. 0. 1. ]] SLAMing on 115.75538474999999 meters Centerline goodness : 0.915126 Centerline is valid? [False, False] Translation: X:20.73, Y:0.07, Z:0.74 [[ 0.98019861 -0.03708902 -0.19451242 20.7279295 ] [ 0.04213534 0.99887254 0.02186901 0.07287557] [ 0.19348201 -0.02963182 0.98065624 0.737326 ] [ 0. 0. 0. 1. ]] SLAMing on 115.78538474999999 meters Centerline goodness : 0.922494 Centerline is valid? [False, False] Translation: X:20.74, Y:0.07, Z:0.74 [[ 9.81330070e-01 -3.76361048e-02 -1.88612877e-01 2.07386098e+01] [ 4.08929197e-02 9.99073619e-01 1.34042404e-02 7.34340912e-02] [ 1.87933666e-01 -2.08669154e-02 9.81960034e-01 7.37827228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81538474999999 meters Centerline goodness : 0.920660 Centerline is valid? [False, False] Translation: X:20.74, Y:0.07, Z:0.74 [[ 9.81331496e-01 -3.71731371e-02 -1.88697252e-01 2.07381548e+01] [ 4.06022911e-02 9.99072500e-01 1.43385661e-02 7.26362090e-02] [ 1.87989226e-01 -2.17324273e-02 9.81930625e-01 7.39078768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.84538475 meters Centerline goodness : 0.919412 Centerline is valid? [False, False] Translation: X:20.74, Y:0.07, Z:0.74 [[ 9.81330280e-01 -3.71473905e-02 -1.88708644e-01 2.07384680e+01] [ 4.06316847e-02 9.99067114e-01 1.46276625e-02 7.21527154e-02] [ 1.87989221e-01 -2.20221183e-02 9.81924172e-01 7.39211125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.87538475 meters Centerline goodness : 0.916874 Centerline is valid? [False, False] Translation: X:20.74, Y:0.07, Z:0.74 [[ 9.81366178e-01 -3.72976854e-02 -1.88492196e-01 2.07389757e+01] [ 4.08684936e-02 9.99050551e-01 1.50917880e-02 7.06605864e-02] [ 1.87750343e-01 -2.25139624e-02 9.81958721e-01 7.39113950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.90538475 meters Centerline goodness : 0.920639 Centerline is valid? [False, False] Translation: X:20.74, Y:0.07, Z:0.74 [[ 9.81296879e-01 -3.75670283e-02 -1.88799242e-01 2.07400573e+01] [ 4.11564306e-02 9.99038213e-01 1.51260145e-02 6.95152222e-02] [ 1.88049418e-01 -2.26134137e-02 9.81899206e-01 7.39160502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.93538475 meters Centerline goodness : 0.921714 Centerline is valid? [False, False] Translation: X:20.74, Y:0.07, Z:0.74 [[ 9.81199743e-01 -3.80364757e-02 -1.89209647e-01 2.07415204e+01] [ 4.16156477e-02 9.99021418e-01 1.49781422e-02 6.70147437e-02] [ 1.88454774e-01 -2.25706313e-02 9.81822471e-01 7.39095230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96538474999998 meters Centerline goodness : 0.922207 Centerline is valid? [False, False] Translation: X:20.74, Y:0.07, Z:0.74 [[ 9.81119251e-01 -3.83659035e-02 -1.89560208e-01 2.07430524e+01] [ 4.19631613e-02 9.99006579e-01 1.49982709e-02 6.63763881e-02] [ 1.88796472e-01 -2.26696378e-02 9.81754541e-01 7.38937139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99538474999999 meters Centerline goodness : 0.921818 Centerline is valid? [False, False] Translation: X:20.74, Y:0.07, Z:0.74 [[ 9.81103602e-01 -3.85951577e-02 -1.89594664e-01 2.07440979e+01] [ 4.21860934e-02 9.98998071e-01 1.49394503e-02 6.58884587e-02] [ 1.88828113e-01 -2.26554067e-02 9.81748785e-01 7.38339016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02538474999999 meters Centerline goodness : 0.918280 Centerline is valid? [False, False] Translation: X:20.75, Y:0.06, Z:0.74 [[ 9.81068480e-01 -3.90250738e-02 -1.89688378e-01 2.07455485e+01] [ 4.26167855e-02 9.98980510e-01 1.48912485e-02 6.43440107e-02] [ 1.88913860e-01 -2.26932434e-02 9.81731414e-01 7.37718742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05538474999999 meters Centerline goodness : 0.921843 Centerline is valid? [False, False] Translation: X:20.75, Y:0.06, Z:0.74 [[ 9.81087568e-01 -3.89953590e-02 -1.89595745e-01 2.07453712e+01] [ 4.26438524e-02 9.98974696e-01 1.52006393e-02 6.27366389e-02] [ 1.88808598e-01 -2.29982512e-02 9.81744567e-01 7.38028795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08538474999999 meters Centerline goodness : 0.920621 Centerline is valid? [False, False] Translation: X:20.75, Y:0.06, Z:0.74 [[ 9.81055560e-01 -3.91389175e-02 -1.89731739e-01 2.07459891e+01] [ 4.28291510e-02 9.98963915e-01 1.53870436e-02 6.24613226e-02] [ 1.88932929e-01 -2.32215940e-02 9.81715390e-01 7.38302419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11538474999999 meters Centerline goodness : 0.923203 Centerline is valid? [False, False] Translation: X:20.74, Y:0.06, Z:0.74 [[ 9.81086016e-01 -3.86465881e-02 -1.89675171e-01 2.07448588e+01] [ 4.24423951e-02 9.98970959e-01 1.59895524e-02 6.09074376e-02] [ 1.88862046e-01 -2.37373948e-02 9.81716692e-01 7.39431222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.14538474999999 meters Centerline goodness : 0.923427 Centerline is valid? [False, False] Translation: X:20.75, Y:0.06, Z:0.74 [[ 9.81027439e-01 -3.88152786e-02 -1.89943512e-01 2.07456879e+01] [ 4.26003181e-02 9.98965931e-01 1.58833538e-02 6.13568940e-02] [ 1.89130581e-01 -2.36736599e-02 9.81666533e-01 7.39451330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17538474999999 meters Centerline goodness : 0.924258 Centerline is valid? [False, False] Translation: X:20.74, Y:0.06, Z:0.74 [[ 9.81139217e-01 -3.78811332e-02 -1.89554362e-01 2.07447559e+01] [ 4.16344184e-02 9.99007083e-01 1.58563501e-02 6.35870151e-02] [ 1.88765494e-01 -2.34492726e-02 9.81742186e-01 7.38608573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.20538475 meters Centerline goodness : 0.920733 Centerline is valid? [False, False] Translation: X:20.75, Y:0.06, Z:0.74 [[ 9.81142481e-01 -3.78663167e-02 -1.89540427e-01 2.07453886e+01] [ 4.15673754e-02 9.99014100e-01 1.55878805e-02 6.49471632e-02] [ 1.88763304e-01 -2.31726299e-02 9.81749176e-01 7.37840696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.23538475 meters Centerline goodness : 0.918168 Centerline is valid? [False, False] Translation: X:20.75, Y:0.07, Z:0.74 [[ 9.80926022e-01 -4.33419959e-02 -1.89487759e-01 2.07473251e+01] [ 4.62555265e-02 9.98869312e-01 1.09783344e-02 6.55570795e-02] [ 1.88797684e-01 -1.95337900e-02 9.81821708e-01 7.36569700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.26538475 meters Centerline goodness : 0.918662 Centerline is valid? [False, False] Translation: X:20.75, Y:0.07, Z:0.74 [[ 9.80760882e-01 -4.45007675e-02 -1.90073074e-01 2.07501038e+01] [ 4.73530404e-02 9.98823146e-01 1.04886665e-02 6.59149576e-02] [ 1.89382632e-01 -1.92874118e-02 9.81713917e-01 7.36099002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.29538475 meters Centerline goodness : 0.919840 Centerline is valid? [False, False] Translation: X:20.76, Y:0.07, Z:0.73 [[ 9.80516328e-01 -4.63998410e-02 -1.90878981e-01 2.07550708e+01] [ 4.90341514e-02 9.98755662e-01 9.09834145e-03 6.87811336e-02] [ 1.90219302e-01 -1.82806612e-02 9.81571411e-01 7.34008926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.32538475 meters Centerline goodness : 0.916187 Centerline is valid? [False, False] Translation: X:20.76, Y:0.07, Z:0.73 [[ 9.80460370e-01 -4.65590660e-02 -1.91127486e-01 2.07560135e+01] [ 4.92114122e-02 9.98746456e-01 9.15167843e-03 6.92863801e-02] [ 1.90461806e-01 -1.83785115e-02 9.81522558e-01 7.34042137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35538474999998 meters Centerline goodness : 0.920223 Centerline is valid? [False, False] Translation: X:20.76, Y:0.07, Z:0.74 [[ 9.80255339e-01 -4.77538391e-02 -1.91882884e-01 2.07577365e+01] [ 5.04701533e-02 9.98682355e-01 9.29067106e-03 6.94104784e-02] [ 1.91186385e-01 -1.87915885e-02 9.81373855e-01 7.35668588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38538474999999 meters Centerline goodness : 0.919135 Centerline is valid? [False, False] Translation: X:20.76, Y:0.07, Z:0.74 [[ 9.80175256e-01 -4.77208044e-02 -1.92299748e-01 2.07575210e+01] [ 5.05784642e-02 9.98670264e-01 9.97614787e-03 6.89988574e-02] [ 1.91567970e-01 -1.95045992e-02 9.81285526e-01 7.37568822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41538474999999 meters Centerline goodness : 0.918388 Centerline is valid? [False, False] Translation: X:20.76, Y:0.07, Z:0.74 [[ 9.80168366e-01 -4.74105361e-02 -1.92411577e-01 2.07564315e+01] [ 5.03212963e-02 9.98680313e-01 1.02663976e-02 7.05961199e-02] [ 1.91670919e-01 -1.97451982e-02 9.81260611e-01 7.38971679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44538474999999 meters Centerline goodness : 0.919485 Centerline is valid? [False, False] Translation: X:20.76, Y:0.07, Z:0.74 [[ 9.80163183e-01 -4.37593957e-02 -1.93300932e-01 2.07582363e+01] [ 4.73578982e-02 9.98779415e-01 1.40324448e-02 7.12320660e-02] [ 1.92450941e-01 -2.29084116e-02 9.81039163e-01 7.39946955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47538474999999 meters Centerline goodness : 0.923218 Centerline is valid? [False, False] Translation: X:20.76, Y:0.07, Z:0.74 [[ 9.80226465e-01 -4.30145117e-02 -1.93147169e-01 2.07573829e+01] [ 4.66019913e-02 9.98814485e-01 1.40669303e-02 7.37471609e-02] [ 1.92313108e-01 -2.27898201e-02 9.81068954e-01 7.39823337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.50538474999999 meters Centerline goodness : 0.922599 Centerline is valid? [False, False] Translation: X:20.77, Y:0.08, Z:0.74 [[ 9.81551134e-01 -3.91087281e-02 -1.87157365e-01 2.07689090e+01] [ 4.13709601e-02 9.99110246e-01 8.19514528e-03 7.82773150e-02] [ 1.86670339e-01 -1.57868340e-02 9.82295760e-01 7.38030031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53538474999999 meters Centerline goodness : 0.921050 Centerline is valid? [False, False] Translation: X:20.77, Y:0.08, Z:0.74 [[ 9.81687053e-01 -3.79435911e-02 -1.86683729e-01 2.07670557e+01] [ 4.02540461e-02 9.99152468e-01 8.59980262e-03 7.93126051e-02] [ 1.86199201e-01 -1.59570903e-02 9.82382425e-01 7.38108544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.56538474999999 meters Centerline goodness : 0.924438 Centerline is valid? [False, False] Translation: X:20.77, Y:0.08, Z:0.74 [[ 9.81780886e-01 -3.29747064e-02 -1.87133539e-01 2.07665669e+01] [ 3.60321268e-02 9.99266601e-01 1.29593585e-02 7.89004970e-02] [ 1.86568964e-01 -1.94660698e-02 9.82248998e-01 7.39461985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.59538475 meters Centerline goodness : 0.923215 Centerline is valid? [False, False] Translation: X:20.76, Y:0.08, Z:0.74 [[ 9.81931366e-01 -3.16076133e-02 -1.86579073e-01 2.07649695e+01] [ 3.46524948e-02 9.99313824e-01 1.30799590e-02 7.98975368e-02] [ 1.86037621e-01 -1.93090524e-02 9.82352871e-01 7.38539782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.62538475 meters Centerline goodness : 0.922285 Centerline is valid? [False, False] Translation: X:20.77, Y:0.08, Z:0.74 [[ 9.81911331e-01 -3.16173964e-02 -1.86682830e-01 2.07655171e+01] [ 3.46809541e-02 9.99311698e-01 1.31666510e-02 7.98626301e-02] [ 1.86138041e-01 -1.94028225e-02 9.82332001e-01 7.38525341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.65538475 meters Centerline goodness : 0.922101 Centerline is valid? [False, False] Translation: X:20.77, Y:0.08, Z:0.74 [[ 9.81770090e-01 -3.27045544e-02 -1.87237555e-01 2.07676412e+01] [ 3.57752893e-02 9.99274732e-01 1.30437197e-02 7.76351255e-02] [ 1.86675169e-01 -1.95044116e-02 9.82228059e-01 7.38779330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.68538475 meters Centerline goodness : 0.926153 Centerline is valid? [False, False] Translation: X:20.77, Y:0.08, Z:0.74 [[ 9.81520391e-01 -3.42316014e-02 -1.88270865e-01 2.07715777e+01] [ 3.72793251e-02 9.99224563e-01 1.26698347e-02 7.71251093e-02] [ 1.87691164e-01 -1.94543119e-02 9.82035415e-01 7.38651274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71538474999998 meters Centerline goodness : 0.926807 Centerline is valid? [False, False] Translation: X:20.78, Y:0.08, Z:0.74 [[ 9.81234460e-01 -3.68275034e-02 -1.89268776e-01 2.07772295e+01] [ 3.98177715e-02 9.99134663e-01 1.20195969e-02 7.61919948e-02] [ 1.88662343e-01 -1.93303035e-02 9.81851750e-01 7.37828852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74538474999999 meters Centerline goodness : 0.924211 Centerline is valid? [False, False] Translation: X:20.78, Y:0.08, Z:0.74 [[ 9.81109589e-01 -3.76526137e-02 -1.89753140e-01 2.07795244e+01] [ 4.06386400e-02 9.99103417e-01 1.18686014e-02 7.51496055e-02] [ 1.89136127e-01 -1.93557082e-02 9.81760094e-01 7.37487032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77538474999999 meters Centerline goodness : 0.922796 Centerline is valid? [False, False] Translation: X:20.78, Y:0.07, Z:0.74 [[ 9.80895522e-01 -3.89197396e-02 -1.90602280e-01 2.07831064e+01] [ 4.20225746e-02 9.99041404e-01 1.22628333e-02 7.20913640e-02] [ 1.89942303e-01 -2.00381568e-02 9.81590747e-01 7.37827261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80538474999999 meters Centerline goodness : 0.926438 Centerline is valid? [False, False] Translation: X:20.78, Y:0.07, Z:0.74 [[ 9.80892181e-01 -3.87491647e-02 -1.90654221e-01 2.07827686e+01] [ 4.19982547e-02 9.99032725e-01 1.30292213e-02 6.96994038e-02] [ 1.89964934e-01 -2.07874058e-02 9.81570786e-01 7.38894843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83538474999999 meters Centerline goodness : 0.930955 Centerline is valid? [False, False] Translation: X:20.78, Y:0.06, Z:0.74 [[ 9.80882224e-01 -3.79504132e-02 -1.90865998e-01 2.07814447e+01] [ 4.18464871e-02 9.98989082e-01 1.64221339e-02 6.41558149e-02] [ 1.90049821e-01 -2.40952507e-02 9.81478723e-01 7.43875077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.86538474999999 meters Centerline goodness : 0.928227 Centerline is valid? [False, False] Translation: X:20.78, Y:0.06, Z:0.75 [[ 9.80807980e-01 -3.78662121e-02 -1.91263837e-01 2.07815889e+01] [ 4.19478960e-02 9.98969397e-01 1.73354468e-02 6.19342682e-02] [ 1.90410292e-01 -2.50258602e-02 9.81385565e-01 7.45569581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89538474999999 meters Centerline goodness : 0.928227 Centerline is valid? [False, False] Translation: X:20.78, Y:0.06, Z:0.75 [[ 9.80807980e-01 -3.78662121e-02 -1.91263837e-01 2.07815889e+01] [ 4.19478960e-02 9.98969397e-01 1.73354468e-02 6.19342682e-02] [ 1.90410292e-01 -2.50258602e-02 9.81385565e-01 7.45569581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.92538474999999 meters Centerline goodness : 0.931984 Centerline is valid? [False, False] Translation: X:20.78, Y:0.06, Z:0.75 [[ 9.80716722e-01 -3.81606129e-02 -1.91672845e-01 2.07824083e+01] [ 4.24123381e-02 9.98935733e-01 1.81271862e-02 5.96980645e-02] [ 1.90777109e-01 -2.59069282e-02 9.81291458e-01 7.46971935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95538475 meters Centerline goodness : 0.932423 Centerline is valid? [False, False] Translation: X:20.78, Y:0.06, Z:0.75 [[ 9.80694436e-01 -3.87376373e-02 -1.91671123e-01 2.07830813e+01] [ 4.30867945e-02 9.98898670e-01 1.85735085e-02 5.72965107e-02] [ 1.90740536e-01 -2.64734307e-02 9.81283448e-01 7.47458897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.98538475 meters Centerline goodness : 0.929606 Centerline is valid? [False, False] Translation: X:20.78, Y:0.06, Z:0.75 [[ 9.80515144e-01 -4.40451949e-02 -1.91442088e-01 2.07849000e+01] [ 4.75802434e-02 9.98770623e-01 1.39055237e-02 5.75137087e-02] [ 1.90594262e-01 -2.27434377e-02 9.81405402e-01 7.45577915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.01538475 meters Centerline goodness : 0.931196 Centerline is valid? [False, False] Translation: X:20.79, Y:0.06, Z:0.75 [[ 9.80368914e-01 -4.49043654e-02 -1.91990601e-01 2.07873646e+01] [ 4.84129117e-02 9.98734538e-01 1.36203177e-02 5.68815545e-02] [ 1.91136032e-01 -2.26477601e-02 9.81302245e-01 7.45234571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.04538475 meters Centerline goodness : 0.929107 Centerline is valid? [False, False] Translation: X:20.79, Y:0.06, Z:0.74 [[ 9.80301538e-01 -4.58137756e-02 -1.92119736e-01 2.07901442e+01] [ 4.91348330e-02 9.98713238e-01 1.25553377e-02 5.73665182e-02] [ 1.91297316e-01 -2.17477880e-02 9.81291175e-01 7.42840338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.07538475 meters Centerline goodness : 0.931525 Centerline is valid? [False, False] Translation: X:20.79, Y:0.06, Z:0.74 [[ 9.80108678e-01 -4.69078271e-02 -1.92838364e-01 2.07926511e+01] [ 5.02316019e-02 9.98660859e-01 1.23804100e-02 5.61515383e-02] [ 1.91999388e-01 -2.18207272e-02 9.81152430e-01 7.43162892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.10538474999998 meters Centerline goodness : 0.928753 Centerline is valid? [False, False] Translation: X:20.80, Y:0.06, Z:0.74 [[ 9.79930613e-01 -4.83794044e-02 -1.93378974e-01 2.07964507e+01] [ 5.15355304e-02 9.98606992e-01 1.13209432e-02 5.61258552e-02] [ 1.92561895e-01 -2.10596269e-02 9.81058820e-01 7.41421767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13538474999999 meters Centerline goodness : 0.927884 Centerline is valid? [False, False] Translation: X:20.80, Y:0.06, Z:0.74 [[ 9.79878568e-01 -4.85989719e-02 -1.93587532e-01 2.07975266e+01] [ 5.17570113e-02 9.98595932e-01 1.12861116e-02 5.60321058e-02] [ 1.92767229e-01 -2.10785309e-02 9.81018089e-01 7.41156888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16538474999999 meters Centerline goodness : 0.927122 Centerline is valid? [False, False] Translation: X:20.80, Y:0.06, Z:0.74 [[ 9.79808443e-01 -4.88142265e-02 -1.93888076e-01 2.07985768e+01] [ 5.20009831e-02 9.98582219e-01 1.13776137e-02 5.61424619e-02] [ 1.93057796e-01 -2.12302525e-02 9.80957677e-01 7.41310009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19538474999999 meters Centerline goodness : 0.929350 Centerline is valid? [False, False] Translation: X:20.80, Y:0.06, Z:0.74 [[ 9.79720639e-01 -4.89646027e-02 -1.94293429e-01 2.07995137e+01] [ 5.21990903e-02 9.98569793e-01 1.15595929e-02 5.64485478e-02] [ 1.93449538e-01 -2.14671120e-02 9.80875343e-01 7.41800701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22538474999999 meters Centerline goodness : 0.927862 Centerline is valid? [False, False] Translation: X:20.80, Y:0.06, Z:0.74 [[ 9.79648464e-01 -4.92237659e-02 -1.94591645e-01 2.08006762e+01] [ 5.24703367e-02 9.98555552e-01 1.15617502e-02 5.71013855e-02] [ 1.93741454e-01 -2.15367400e-02 9.80816200e-01 7.41820736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25538474999999 meters Centerline goodness : 0.925229 Centerline is valid? [False, False] Translation: X:20.80, Y:0.06, Z:0.74 [[ 9.79688809e-01 -4.86982092e-02 -1.94520748e-01 2.07997971e+01] [ 5.20083265e-02 9.98575235e-01 1.19429409e-02 5.76367107e-02] [ 1.93662002e-01 -2.18170641e-02 9.80825695e-01 7.42407801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.28538474999999 meters Centerline goodness : 0.928622 Centerline is valid? [False, False] Translation: X:20.80, Y:0.06, Z:0.75 [[ 9.79577502e-01 -4.51062811e-02 -1.95942188e-01 2.08021224e+01] [ 4.93337172e-02 9.98641962e-01 1.67456252e-02 5.61552580e-02] [ 1.94920759e-01 -2.60701942e-02 9.80472459e-01 7.45366645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31538474999999 meters Centerline goodness : 0.929038 Centerline is valid? [False, False] Translation: X:20.80, Y:0.06, Z:0.75 [[ 9.79525071e-01 -4.52832863e-02 -1.96163351e-01 2.08027794e+01] [ 4.95017678e-02 9.98635192e-01 1.66531580e-02 5.72542327e-02] [ 1.95141516e-01 -2.60226184e-02 9.80429810e-01 7.45450847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.34538475 meters Centerline goodness : 0.930543 Centerline is valid? [False, False] Translation: X:20.80, Y:0.06, Z:0.75 [[ 9.79494646e-01 -4.55505107e-02 -1.96253382e-01 2.08034985e+01] [ 4.97601440e-02 9.98623730e-01 1.65702814e-02 5.83020210e-02] [ 1.95228499e-01 -2.59960984e-02 9.80413196e-01 7.45362110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.37538475 meters Centerline goodness : 0.927669 Centerline is valid? [False, False] Translation: X:20.80, Y:0.06, Z:0.75 [[ 9.79422230e-01 -4.55842292e-02 -1.96606649e-01 2.08039361e+01] [ 4.98810784e-02 9.98611217e-01 1.69562649e-02 5.85635782e-02] [ 1.95560666e-01 -2.64142945e-02 9.80335815e-01 7.46345841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.40538475 meters Centerline goodness : 0.926256 Centerline is valid? [False, False] Translation: X:20.80, Y:0.06, Z:0.75 [[ 9.79422303e-01 -4.57912712e-02 -1.96558164e-01 2.08039713e+01] [ 5.00921198e-02 9.98600544e-01 1.69626687e-02 5.83993072e-02] [ 1.95506348e-01 -2.64596312e-02 9.80345427e-01 7.46520079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.43538475 meters Centerline goodness : 0.927298 Centerline is valid? [False, False] Translation: X:20.81, Y:0.06, Z:0.75 [[ 9.79139921e-01 -4.78753105e-02 -1.97466377e-01 2.08064154e+01] [ 5.23587562e-02 9.98474226e-01 1.75436691e-02 5.82054538e-02] [ 1.96325179e-01 -2.75168006e-02 9.80152667e-01 7.49549164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46538474999998 meters Centerline goodness : 0.924717 Centerline is valid? [False, False] Translation: X:20.81, Y:0.06, Z:0.75 [[ 9.79067979e-01 -4.84613951e-02 -1.97680006e-01 2.08072636e+01] [ 5.29223048e-02 9.98448022e-01 1.73429273e-02 5.89175111e-02] [ 1.96532749e-01 -2.74415864e-02 9.80113176e-01 7.49784619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49538474999999 meters Centerline goodness : 0.928801 Centerline is valid? [False, False] Translation: X:20.81, Y:0.06, Z:0.75 [[ 9.78876993e-01 -4.62958057e-02 -1.99139476e-01 2.08120390e+01] [ 5.13179438e-02 9.98479484e-01 2.01293205e-02 6.15490128e-02] [ 1.97904778e-01 -2.99235572e-02 9.79764400e-01 7.49991635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52538474999999 meters Centerline goodness : 0.925120 Centerline is valid? [False, False] Translation: X:20.81, Y:0.06, Z:0.75 [[ 9.78882276e-01 -4.62944310e-02 -1.99113826e-01 2.08125352e+01] [ 5.11994090e-02 9.98497014e-01 1.95533530e-02 6.45347552e-02] [ 1.97909349e-01 -2.93349409e-02 9.79781277e-01 7.49025620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55538474999999 meters Centerline goodness : 0.927212 Centerline is valid? [False, False] Translation: X:20.81, Y:0.07, Z:0.75 [[ 0.97900013 -0.04184796 -0.19951814 20.81267444] [ 0.04733714 0.99861827 0.02281965 0.06736484] [ 0.19828751 -0.03178506 0.97962839 0.74908186] [ 0. 0. 0. 1. ]] SLAMing on 117.58538474999999 meters Centerline goodness : 0.923979 Centerline is valid? [False, False] Translation: X:20.81, Y:0.07, Z:0.75 [[ 0.97898417 -0.04172954 -0.19962123 20.81314713] [ 0.04707278 0.99864709 0.02209395 0.06979648] [ 0.19842919 -0.03102635 0.97962402 0.74813041] [ 0. 0. 0. 1. ]] SLAMing on 117.61538474999999 meters Centerline goodness : 0.926879 Centerline is valid? [False, False] Translation: X:20.81, Y:0.07, Z:0.75 [[ 0.97903397 -0.04114433 -0.19949843 20.81251374] [ 0.04638803 0.99868821 0.02167984 0.0718034 ] [ 0.19834473 -0.03047964 0.97965829 0.74748104] [ 0. 0. 0. 1. ]] SLAMing on 117.64538474999999 meters Centerline goodness : 0.930861 Centerline is valid? [False, False] Translation: X:20.83, Y:0.08, Z:0.74 [[ 9.80039492e-01 -3.82297042e-02 -1.95092502e-01 2.08273496e+01] [ 4.18646342e-02 9.99017472e-01 1.45410633e-02 7.62406443e-02] [ 1.94344917e-01 -2.24182925e-02 9.80677048e-01 7.44319081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67538474999999 meters Centerline goodness : 0.926251 Centerline is valid? [False, False] Translation: X:20.83, Y:0.08, Z:0.74 [[ 9.80013043e-01 -3.83748719e-02 -1.95196835e-01 2.08280799e+01] [ 4.19540477e-02 9.99018152e-01 1.42334297e-02 7.66955283e-02] [ 1.94458975e-01 -2.21382441e-02 9.80660800e-01 7.43774809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.70538475 meters Centerline goodness : 0.925373 Centerline is valid? [False, False] Translation: X:20.83, Y:0.08, Z:0.74 [[ 9.79949730e-01 -3.86529302e-02 -1.95459656e-01 2.08293797e+01] [ 4.21950136e-02 9.99011457e-01 1.39889333e-02 7.69598366e-02] [ 1.94725722e-01 -2.19558743e-02 9.80611968e-01 7.43267012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.73538475 meters Centerline goodness : 0.930983 Centerline is valid? [False, False] Translation: X:20.83, Y:0.08, Z:0.74 [[ 9.79901952e-01 -3.88508584e-02 -1.95659848e-01 2.08305348e+01] [ 4.23804876e-02 9.99005071e-01 1.38838804e-02 7.68640181e-02] [ 1.94925780e-01 -2.18970012e-02 9.80573537e-01 7.42795291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.76538475 meters Centerline goodness : 0.928690 Centerline is valid? [False, False] Translation: X:20.83, Y:0.08, Z:0.74 [[ 9.79828358e-01 -3.93425845e-02 -1.95929959e-01 2.08323608e+01] [ 4.28373377e-02 9.98989089e-01 1.36294911e-02 7.72538268e-02] [ 1.95195672e-01 -2.17476797e-02 9.80523171e-01 7.42087070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.79538475 meters Centerline goodness : 0.929459 Centerline is valid? [False, False] Translation: X:20.83, Y:0.08, Z:0.74 [[ 9.79811589e-01 -3.92786914e-02 -1.96026616e-01 2.08323764e+01] [ 4.28222233e-02 9.98986431e-01 1.38697026e-02 7.67414097e-02] [ 1.95283145e-01 -2.19839909e-02 9.80500483e-01 7.42501146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.82538475 meters Centerline goodness : 0.930301 Centerline is valid? [False, False] Translation: X:20.83, Y:0.08, Z:0.74 [[ 9.79732587e-01 -3.93453737e-02 -1.96407740e-01 2.08330024e+01] [ 4.29876498e-02 9.98973055e-01 1.43142689e-02 7.63987243e-02] [ 1.95642839e-01 -2.24672628e-02 9.80417820e-01 7.43428321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85538474999998 meters Centerline goodness : 0.929433 Centerline is valid? [False, False] Translation: X:20.83, Y:0.08, Z:0.74 [[ 9.79734782e-01 -3.93331698e-02 -1.96399232e-01 2.08325937e+01] [ 4.30481859e-02 9.98965125e-01 1.46810157e-02 7.58739262e-02] [ 1.95618532e-01 -2.28381323e-02 9.80414101e-01 7.44221395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88538474999999 meters Centerline goodness : 0.935463 Centerline is valid? [False, False] Translation: X:20.83, Y:0.07, Z:0.75 [[ 9.79631224e-01 -3.99046457e-02 -1.96800111e-01 2.08321471e+01] [ 4.39597050e-02 9.98900680e-01 1.62780491e-02 7.34076597e-02] [ 1.95934195e-01 -2.45977599e-02 9.80308493e-01 7.48171245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91538474999999 meters Centerline goodness : 0.935251 Centerline is valid? [False, False] Translation: X:20.83, Y:0.07, Z:0.75 [[ 9.79510546e-01 -4.03849957e-02 -1.97302160e-01 2.08335564e+01] [ 4.44532623e-02 9.98879580e-01 1.62324207e-02 7.38702571e-02] [ 1.96425552e-01 -2.46705520e-02 9.80208328e-01 7.48544200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94538474999999 meters Centerline goodness : 0.935501 Centerline is valid? [False, False] Translation: X:20.83, Y:0.07, Z:0.75 [[ 9.79517824e-01 -4.03828811e-02 -1.97266457e-01 2.08339517e+01] [ 4.44041522e-02 9.98885472e-01 1.60026459e-02 7.49638698e-02] [ 1.96400365e-01 -2.44343267e-02 9.80219292e-01 7.47983898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97538474999999 meters Centerline goodness : 0.935090 Centerline is valid? [False, False] Translation: X:20.84, Y:0.08, Z:0.75 [[ 9.79551391e-01 -3.61930930e-02 -1.97911931e-01 2.08351111e+01] [ 4.08716456e-02 9.98972055e-01 1.96046231e-02 7.64500048e-02] [ 1.96998937e-01 -2.72927221e-02 9.80023738e-01 7.48267628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.00538474999999 meters Centerline goodness : 0.932307 Centerline is valid? [False, False] Translation: X:20.83, Y:0.08, Z:0.75 [[ 9.79683386e-01 -3.53147774e-02 -1.97416641e-01 2.08334275e+01] [ 3.98836894e-02 9.99019569e-01 1.92143589e-02 7.83906312e-02] [ 1.96544537e-01 -2.66976922e-02 9.80131358e-01 7.47512151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03538474999999 meters Centerline goodness : 0.933703 Centerline is valid? [False, False] Translation: X:20.83, Y:0.08, Z:0.75 [[ 9.79674457e-01 -3.52192168e-02 -1.97478010e-01 2.08334359e+01] [ 3.97421155e-02 9.99029579e-01 1.89858918e-02 7.92687379e-02] [ 1.96617705e-01 -2.64481871e-02 9.80123447e-01 7.47442755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.06538474999999 meters Centerline goodness : 0.934818 Centerline is valid? [False, False] Translation: X:20.83, Y:0.08, Z:0.75 [[ 9.79611554e-01 -3.53804977e-02 -1.97761026e-01 2.08342179e+01] [ 3.98446717e-02 9.99032028e-01 1.86389124e-02 8.02771735e-02] [ 1.96910145e-01 -2.61386171e-02 9.80073042e-01 7.47318295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.09538475 meters Centerline goodness : 0.933454 Centerline is valid? [False, False] Translation: X:20.83, Y:0.08, Z:0.75 [[ 9.79640545e-01 -3.52927010e-02 -1.97633064e-01 2.08344846e+01] [ 3.96354542e-02 9.99050980e-01 1.80601886e-02 8.20089171e-02] [ 1.96808113e-01 -2.55257692e-02 9.80109689e-01 7.46287177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.12538475 meters Centerline goodness : 0.937138 Centerline is valid? [False, False] Translation: X:20.84, Y:0.08, Z:0.75 [[ 9.79635415e-01 -3.53961605e-02 -1.97639991e-01 2.08352131e+01] [ 3.96550851e-02 9.99057856e-01 1.76316219e-02 8.31943000e-02] [ 1.96829694e-01 -2.51099919e-02 9.80116095e-01 7.45440555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.15538475 meters Centerline goodness : 0.935367 Centerline is valid? [False, False] Translation: X:20.84, Y:0.08, Z:0.75 [[ 9.79460532e-01 -3.64288602e-02 -1.98317938e-01 2.08374064e+01] [ 4.07104895e-02 9.99016773e-01 1.75540114e-02 8.22476247e-02] [ 1.97483474e-01 -2.52670817e-02 9.79980537e-01 7.45984131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.18538475 meters Centerline goodness : 0.936509 Centerline is valid? [False, False] Translation: X:20.84, Y:0.08, Z:0.75 [[ 9.79334061e-01 -3.76946479e-02 -1.98705587e-01 2.08391917e+01] [ 4.19829906e-02 9.98966608e-01 1.74110761e-02 8.09690032e-02] [ 1.97843942e-01 -2.53935146e-02 9.79904559e-01 7.46501739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21538474999998 meters Centerline goodness : 0.937508 Centerline is valid? [False, False] Translation: X:20.84, Y:0.08, Z:0.75 [[ 9.79197653e-01 -3.83985639e-02 -1.99242329e-01 2.08414765e+01] [ 4.26667016e-02 9.98941794e-01 1.71710689e-02 8.12875484e-02] [ 1.98372145e-01 -2.53148833e-02 9.79799800e-01 7.46198893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24538474999999 meters Centerline goodness : 0.934699 Centerline is valid? [False, False] Translation: X:20.84, Y:0.08, Z:0.75 [[ 9.79085997e-01 -3.90883655e-02 -1.99656483e-01 2.08437612e+01] [ 4.33493839e-02 9.98915101e-01 1.70133027e-02 7.98855627e-02] [ 1.98774853e-01 -2.53124720e-02 9.79718243e-01 7.45593337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27538474999999 meters Centerline goodness : 0.934410 Centerline is valid? [False, False] Translation: X:20.85, Y:0.08, Z:0.75 [[ 9.78999159e-01 -3.95416085e-02 -1.99992770e-01 2.08451444e+01] [ 4.38103954e-02 9.98895851e-01 1.69625712e-02 7.90841497e-02] [ 1.99101220e-01 -2.53681053e-02 9.79650531e-01 7.45527855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30538474999999 meters Centerline goodness : 0.938815 Centerline is valid? [False, False] Translation: X:20.85, Y:0.08, Z:0.75 [[ 9.78741864e-01 -4.05997600e-02 -2.01037366e-01 2.08480608e+01] [ 4.50820080e-02 9.98825305e-01 1.77657564e-02 7.61360661e-02] [ 2.00079923e-01 -2.64512577e-02 9.79422460e-01 7.47291644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33538474999999 meters Centerline goodness : 0.935631 Centerline is valid? [False, False] Translation: X:20.85, Y:0.07, Z:0.75 [[ 9.78532368e-01 -4.12436226e-02 -2.01924167e-01 2.08497740e+01] [ 4.58974947e-02 9.98776351e-01 1.84179501e-02 7.40574919e-02] [ 2.00917460e-01 -2.72903737e-02 9.79227966e-01 7.49173207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.36538474999999 meters Centerline goodness : 0.937014 Centerline is valid? [False, False] Translation: X:20.85, Y:0.07, Z:0.75 [[ 9.78425611e-01 -4.20250201e-02 -2.02280056e-01 2.08518355e+01] [ 4.66469754e-02 9.98746815e-01 1.81344638e-02 7.32334328e-02] [ 2.01264461e-01 -2.71789766e-02 9.79159803e-01 7.48634164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39538474999999 meters Centerline goodness : 0.935362 Centerline is valid? [False, False] Translation: X:20.85, Y:0.07, Z:0.75 [[ 9.78277701e-01 -4.27015641e-02 -2.02852944e-01 2.08540957e+01] [ 4.73065920e-02 9.98719929e-01 1.79049949e-02 7.36706372e-02] [ 2.01828707e-01 -2.71123387e-02 9.79045502e-01 7.48423392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.42538474999999 meters Centerline goodness : 0.937104 Centerline is valid? [False, False] Translation: X:20.86, Y:0.07, Z:0.75 [[ 9.78052033e-01 -4.34636020e-02 -2.03777175e-01 2.08554192e+01] [ 4.84037726e-02 9.98640992e-01 1.93195023e-02 7.11309358e-02] [ 2.02660545e-01 -2.87590626e-02 9.78826655e-01 7.51821656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45538475 meters Centerline goodness : 0.940193 Centerline is valid? [False, False] Translation: X:20.86, Y:0.07, Z:0.75 [[ 9.77968653e-01 -4.36778895e-02 -2.04131223e-01 2.08561082e+01] [ 4.86396147e-02 9.98628936e-01 1.93503673e-02 7.17252582e-02] [ 2.03006163e-01 -2.88529167e-02 9.78752271e-01 7.52343248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.48538475 meters Centerline goodness : 0.937456 Centerline is valid? [False, False] Translation: X:20.86, Y:0.07, Z:0.75 [[ 9.77954661e-01 -4.34693489e-02 -2.04242739e-01 2.08560385e+01] [ 4.84122871e-02 9.98641634e-01 1.92649209e-02 7.39558119e-02] [ 2.03127869e-01 -2.87280773e-02 9.78730691e-01 7.52477787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.51538475 meters Centerline goodness : 0.936798 Centerline is valid? [False, False] Translation: X:20.86, Y:0.08, Z:0.75 [[ 9.77965204e-01 -4.33781505e-02 -2.04211646e-01 2.08558631e+01] [ 4.82798602e-02 9.98651595e-01 1.90800293e-02 7.51041748e-02] [ 2.03108629e-01 -2.85189145e-02 9.78740801e-01 7.52350074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.54538475 meters Centerline goodness : 0.934876 Centerline is valid? [False, False] Translation: X:20.86, Y:0.08, Z:0.75 [[ 9.77981593e-01 -4.28829759e-02 -2.04237737e-01 2.08556006e+01] [ 4.77465469e-02 9.98679843e-01 1.89430242e-02 7.79144378e-02] [ 2.03155778e-01 -2.82775757e-02 9.78738018e-01 7.52125427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.57538475 meters Centerline goodness : 0.936605 Centerline is valid? [False, False] Translation: X:20.86, Y:0.08, Z:0.75 [[ 9.77967337e-01 -4.28154771e-02 -2.04320146e-01 2.08556428e+01] [ 4.76544977e-02 9.98686566e-01 1.88199767e-02 7.89902814e-02] [ 2.03245998e-01 -2.81420964e-02 9.78723192e-01 7.52205739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60538474999998 meters Centerline goodness : 0.934391 Centerline is valid? [False, False] Translation: X:20.86, Y:0.08, Z:0.75 [[ 9.77919183e-01 -4.24558141e-02 -2.04625451e-01 2.08552323e+01] [ 4.73335841e-02 9.98698421e-01 1.89999109e-02 7.89786965e-02] [ 2.03552458e-01 -2.82660334e-02 9.78655929e-01 7.53127510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63538474999999 meters Centerline goodness : 0.932229 Centerline is valid? [False, False] Translation: X:20.86, Y:0.08, Z:0.75 [[ 9.77847852e-01 -4.27034129e-02 -2.04914611e-01 2.08561993e+01] [ 4.75684977e-02 9.98689671e-01 1.88727191e-02 7.95283545e-02] [ 2.03840176e-01 -2.82021280e-02 9.78597886e-01 7.53166811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66538474999999 meters Centerline goodness : 0.932195 Centerline is valid? [False, False] Translation: X:20.86, Y:0.08, Z:0.75 [[ 9.77818866e-01 -4.27995160e-02 -2.05032842e-01 2.08567825e+01] [ 4.76111604e-02 9.98692944e-01 1.85897838e-02 7.98353455e-02] [ 2.03969219e-01 -2.79392928e-02 9.78578537e-01 7.52773759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69538474999999 meters Centerline goodness : 0.931579 Centerline is valid? [False, False] Translation: X:20.86, Y:0.08, Z:0.75 [[ 9.77754898e-01 -4.31872914e-02 -2.05256465e-01 2.08584093e+01] [ 4.79227457e-02 9.98686065e-01 1.81536465e-02 8.00645432e-02] [ 2.04202765e-01 -2.75862702e-02 9.78539845e-01 7.51868594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72538474999999 meters Centerline goodness : 0.931076 Centerline is valid? [False, False] Translation: X:20.86, Y:0.08, Z:0.75 [[ 9.77694010e-01 -4.37142543e-02 -2.05434871e-01 2.08604127e+01] [ 4.83127206e-02 9.98680357e-01 1.74190993e-02 8.11776552e-02] [ 2.04402307e-01 -2.69556666e-02 9.78515758e-01 7.50380372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75538474999999 meters Centerline goodness : 0.929728 Centerline is valid? [False, False] Translation: X:20.86, Y:0.08, Z:0.75 [[ 9.77552373e-01 -4.42384536e-02 -2.05995916e-01 2.08624969e+01] [ 4.87773343e-02 9.98664906e-01 1.70052292e-02 8.20730712e-02] [ 2.04968607e-01 -2.66714339e-02 9.78405082e-01 7.49954852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.78538474999999 meters Centerline goodness : 0.929728 Centerline is valid? [False, False] Translation: X:20.86, Y:0.08, Z:0.75 [[ 9.77552373e-01 -4.42384536e-02 -2.05995916e-01 2.08624969e+01] [ 4.87773343e-02 9.98664906e-01 1.70052292e-02 8.20730712e-02] [ 2.04968607e-01 -2.66714339e-02 9.78405082e-01 7.49954852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81538474999999 meters Centerline goodness : 0.932540 Centerline is valid? [False, False] Translation: X:20.86, Y:0.08, Z:0.75 [[ 9.77474351e-01 -4.45651731e-02 -2.06295513e-01 2.08636522e+01] [ 4.90997336e-02 9.98650705e-01 1.69111224e-02 8.18519153e-02] [ 2.05263512e-01 -2.66592431e-02 9.78343587e-01 7.49863790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.84538475 meters Centerline goodness : 0.929443 Centerline is valid? [False, False] Translation: X:20.87, Y:0.08, Z:0.75 [[ 9.77370859e-01 -4.52352032e-02 -2.06639737e-01 2.08657729e+01] [ 4.97315138e-02 9.98624426e-01 1.66141980e-02 8.17373746e-02] [ 2.05603942e-01 -2.65147399e-02 9.78276028e-01 7.49234526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.87538475 meters Centerline goodness : 0.929179 Centerline is valid? [False, False] Translation: X:20.87, Y:0.08, Z:0.75 [[ 9.77306402e-01 -4.55375046e-02 -2.06878060e-01 2.08667251e+01] [ 5.00768162e-02 9.98604803e-01 1.67558717e-02 8.15992206e-02] [ 2.05826404e-01 -2.67354153e-02 9.78223241e-01 7.49485585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.90538475 meters Centerline goodness : 0.927795 Centerline is valid? [False, False] Translation: X:20.87, Y:0.08, Z:0.75 [[ 9.77205583e-01 -4.59550301e-02 -2.07261633e-01 2.08677762e+01] [ 5.04962803e-02 9.98585102e-01 1.66709031e-02 8.14262258e-02] [ 2.06202267e-01 -2.67568410e-02 9.78143495e-01 7.49834082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.93538475 meters Centerline goodness : 0.927015 Centerline is valid? [False, False] Translation: X:20.87, Y:0.08, Z:0.75 [[ 9.77146834e-01 -4.61077255e-02 -2.07504559e-01 2.08683852e+01] [ 5.06361101e-02 9.98579835e-01 1.65618999e-02 8.13381618e-02] [ 2.06446237e-01 -2.66906317e-02 9.78093841e-01 7.49939438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96538474999998 meters Centerline goodness : 0.931353 Centerline is valid? [False, False] Translation: X:20.87, Y:0.08, Z:0.75 [[ 9.77055915e-01 -4.63553294e-02 -2.07877182e-01 2.08693224e+01] [ 5.09340693e-02 9.98561962e-01 1.67250922e-02 8.13136818e-02] [ 2.06802949e-01 -2.69293810e-02 9.78011937e-01 7.50497468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99538474999999 meters Centerline goodness : 0.929221 Centerline is valid? [False, False] Translation: X:20.87, Y:0.08, Z:0.75 [[ 9.76932845e-01 -4.66264872e-02 -2.08394306e-01 2.08697641e+01] [ 5.13749988e-02 9.98527336e-01 1.74289873e-02 8.07278869e-02] [ 2.07274758e-01 -2.77332073e-02 9.77889587e-01 7.52412251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02538474999999 meters Centerline goodness : 0.930092 Centerline is valid? [False, False] Translation: X:20.87, Y:0.08, Z:0.76 [[ 9.76670338e-01 -4.80029832e-02 -2.09310210e-01 2.08712390e+01] [ 5.29569358e-02 9.98432295e-01 1.81249625e-02 8.03196176e-02] [ 2.08112021e-01 -2.87865406e-02 9.77681299e-01 7.55678293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05538474999999 meters Centerline goodness : 0.925981 Centerline is valid? [False, False] Translation: X:20.87, Y:0.08, Z:0.76 [[ 0.97654085 -0.04545482 -0.21047999 20.87484077] [ 0.05110353 0.99846248 0.02147353 0.08066861] [ 0.2091803 -0.03172605 0.9773623 0.75647105] [ 0. 0. 0. 1. ]] SLAMing on 119.08538474999999 meters Centerline goodness : 0.927263 Centerline is valid? [False, False] Translation: X:20.88, Y:0.08, Z:0.76 [[ 0.97640118 -0.04291374 -0.21165808 20.87918008] [ 0.04905219 0.99851179 0.0238344 0.08388295] [ 0.21032026 -0.03365423 0.97705311 0.75556098] [ 0. 0. 0. 1. ]] SLAMing on 119.11538474999999 meters Centerline goodness : 0.922560 Centerline is valid? [False, False] Translation: X:20.88, Y:0.08, Z:0.76 [[ 0.97628446 -0.03970344 -0.21281986 20.88253512] [ 0.04654387 0.99854513 0.02722668 0.08466074] [ 0.21142924 -0.03648644 0.97671204 0.7559299 ] [ 0. 0. 0. 1. ]] SLAMing on 119.14538474999999 meters Centerline goodness : 0.921291 Centerline is valid? [False, False] Translation: X:20.88, Y:0.09, Z:0.75 [[ 0.97630766 -0.03923396 -0.2128005 20.88214551] [ 0.04583059 0.99860681 0.0261534 0.08780468] [ 0.21147792 -0.03528654 0.97674559 0.75466524] [ 0. 0. 0. 1. ]] SLAMing on 119.17538474999999 meters Centerline goodness : 0.922336 Centerline is valid? [False, False] Translation: X:20.88, Y:0.09, Z:0.75 [[ 0.97627982 -0.03903973 -0.2129639 20.8820912 ] [ 0.04556489 0.99862774 0.02581623 0.08936598] [ 0.2116638 -0.03490754 0.97671895 0.75464443] [ 0. 0. 0. 1. ]] SLAMing on 119.20538475 meters Centerline goodness : 0.923535 Centerline is valid? [False, False] Translation: X:20.88, Y:0.09, Z:0.76 [[ 0.97622838 -0.03922953 -0.21316472 20.88192328] [ 0.04567515 0.99863349 0.02539562 0.09087658] [ 0.21187717 -0.03452826 0.97668616 0.75509445] [ 0. 0. 0. 1. ]] SLAMing on 119.23538475 meters Centerline goodness : 0.922587 Centerline is valid? [False, False] Translation: X:20.88, Y:0.09, Z:0.75 [[ 0.97611269 -0.04032433 -0.21348999 20.88453125] [ 0.04654357 0.99862348 0.02418357 0.09288651] [ 0.21222093 -0.03354247 0.97664588 0.75349409] [ 0. 0. 0. 1. ]] SLAMing on 119.26538475 meters Centerline goodness : 0.921569 Centerline is valid? [False, False] Translation: X:20.89, Y:0.09, Z:0.75 [[ 0.97602706 -0.04090777 -0.21377026 20.88614903] [ 0.04703366 0.99861336 0.02364726 0.09382543] [ 0.21250648 -0.03313477 0.97659771 0.7528531 ] [ 0. 0. 0. 1. ]] SLAMing on 119.29538475 meters Centerline goodness : 0.922577 Centerline is valid? [False, False] Translation: X:20.89, Y:0.09, Z:0.75 [[ 0.97598762 -0.04119059 -0.21389602 20.88689072] [ 0.04725422 0.99861085 0.02331116 0.09444536] [ 0.21263869 -0.0328589 0.97657825 0.75247763] [ 0. 0. 0. 1. ]] SLAMing on 119.32538475 meters Centerline goodness : 0.922936 Centerline is valid? [False, False] Translation: X:20.89, Y:0.09, Z:0.75 [[ 0.97592531 -0.04116887 -0.21418429 20.88702302] [ 0.04732252 0.99859892 0.02368079 0.09447648] [ 0.21290929 -0.03324642 0.97650618 0.75350406] [ 0. 0. 0. 1. ]] SLAMing on 119.35538474999998 meters Centerline goodness : 0.922187 Centerline is valid? [False, False] Translation: X:20.89, Y:0.09, Z:0.75 [[ 0.9759009 -0.04129678 -0.21427086 20.88714677] [ 0.04742059 0.99859815 0.02351653 0.09467765] [ 0.21299933 -0.03311066 0.97649115 0.75361284] [ 0. 0. 0. 1. ]] SLAMing on 119.38538474999999 meters Centerline goodness : 0.925008 Centerline is valid? [False, False] Translation: X:20.89, Y:0.10, Z:0.75 [[ 0.97592712 -0.04089343 -0.21422883 20.88592405] [ 0.04703367 0.99861349 0.0236416 0.09564955] [ 0.21296502 -0.03314844 0.97649735 0.7544673 ] [ 0. 0. 0. 1. ]] SLAMing on 119.41538474999999 meters Centerline goodness : 0.927448 Centerline is valid? [False, False] Translation: X:20.88, Y:0.10, Z:0.76 [[ 0.97596931 -0.040288 -0.21415132 20.88462132] [ 0.0464567 0.99863557 0.02384893 0.09660776] [ 0.2128983 -0.03322458 0.97650931 0.7551099 ] [ 0. 0. 0. 1. ]] SLAMing on 119.44538474999999 meters Centerline goodness : 0.927809 Centerline is valid? [False, False] Translation: X:20.89, Y:0.10, Z:0.76 [[ 0.97576642 -0.04137604 -0.21486719 20.88677849] [ 0.04753209 0.9985918 0.02356079 0.09658531] [ 0.21358976 -0.03320291 0.97635904 0.75568976] [ 0. 0. 0. 1. ]] SLAMing on 119.47538474999999 meters Centerline goodness : 0.925625 Centerline is valid? [False, False] Translation: X:20.89, Y:0.10, Z:0.76 [[ 0.97560299 -0.04266086 -0.21535751 20.88881027] [ 0.0488037 0.99853693 0.02328498 0.09664447] [ 0.21404907 -0.03322714 0.97625763 0.75617458] [ 0. 0. 0. 1. ]] SLAMing on 119.50538474999999 meters Centerline goodness : 0.924462 Centerline is valid? [False, False] Translation: X:20.89, Y:0.10, Z:0.76 [[ 0.97508918 -0.04645594 -0.21689384 20.89495426] [ 0.0526237 0.99835535 0.02274506 0.09754387] [ 0.21548049 -0.03359222 0.97593018 0.75818242] [ 0. 0. 0. 1. ]] SLAMing on 119.53538474999999 meters Centerline goodness : 0.925632 Centerline is valid? [False, False] Translation: X:20.90, Y:0.10, Z:0.76 [[ 0.97490479 -0.04777297 -0.21743595 20.89764218] [ 0.05379672 0.99831248 0.0218654 0.09872028] [ 0.21602445 -0.03301402 0.97582965 0.75753125] [ 0. 0. 0. 1. ]] SLAMing on 119.56538474999999 meters Centerline goodness : 0.925577 Centerline is valid? [False, False] Translation: X:20.90, Y:0.10, Z:0.76 [[ 0.97477905 -0.04859985 -0.21781613 20.89999974] [ 0.05446108 0.99829539 0.02098337 0.1008671 ] [ 0.21642505 -0.03231665 0.97576423 0.75640127] [ 0. 0. 0. 1. ]] SLAMing on 119.59538475 meters Centerline goodness : 0.927428 Centerline is valid? [False, False] Translation: X:20.90, Y:0.10, Z:0.76 [[ 9.74749456e-01 -4.87898068e-02 -2.17906066e-01 2.09009103e+01] [ 5.45586936e-02 9.98299431e-01 2.05327947e-02 1.02566411e-01] [ 2.16533710e-01 -3.19030008e-02 9.75753735e-01 7.55707115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.62538475 meters Centerline goodness : 0.920697 Centerline is valid? [False, False] Translation: X:20.90, Y:0.10, Z:0.76 [[ 9.74822462e-01 -4.75276971e-02 -2.17858407e-01 2.08999608e+01] [ 5.33086143e-02 9.98362857e-01 2.07315716e-02 1.04251718e-01] [ 2.16516417e-01 -3.18233315e-02 9.75760174e-01 7.55427752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.65538475 meters Centerline goodness : 0.922161 Centerline is valid? [False, False] Translation: X:20.90, Y:0.10, Z:0.76 [[ 0.97481044 -0.04331213 -0.21878909 20.90130531] [ 0.04999054 0.99843477 0.02507881 0.10266051] [ 0.21736042 -0.03538447 0.97544984 0.75701002] [ 0. 0. 0. 1. ]] SLAMing on 119.68538475 meters Centerline goodness : 0.924929 Centerline is valid? [False, False] Translation: X:20.90, Y:0.10, Z:0.76 [[ 0.97494607 -0.04205259 -0.21843019 20.89976105] [ 0.04867385 0.99850134 0.02501859 0.10383468] [ 0.21705074 -0.03502361 0.97553182 0.75626467] [ 0. 0. 0. 1. ]] SLAMing on 119.71538474999998 meters Centerline goodness : 0.924604 Centerline is valid? [False, False] Translation: X:20.90, Y:0.10, Z:0.76 [[ 0.97485855 -0.04230258 -0.21877225 20.90056136] [ 0.0489855 0.99848125 0.02521157 0.10279297] [ 0.21737347 -0.03529438 0.97545019 0.75690425] [ 0. 0. 0. 1. ]] SLAMing on 119.74538474999999 meters Centerline goodness : 0.924151 Centerline is valid? [False, False] Translation: X:20.90, Y:0.10, Z:0.76 [[ 0.97482693 -0.0421948 -0.2189339 20.90067103] [ 0.04896406 0.99847283 0.02558362 0.10097811] [ 0.21752005 -0.03565949 0.97540424 0.75749736] [ 0. 0. 0. 1. ]] SLAMing on 119.77538474999999 meters Centerline goodness : 0.926762 Centerline is valid? [False, False] Translation: X:20.90, Y:0.10, Z:0.76 [[ 0.97467649 -0.04670888 -0.21868703 20.90155286] [ 0.05269867 0.99837609 0.02163426 0.10004236] [ 0.21732139 -0.03261092 0.9755552 0.75641024] [ 0. 0. 0. 1. ]] SLAMing on 119.80538474999999 meters Centerline goodness : 0.928550 Centerline is valid? [False, False] Translation: X:20.90, Y:0.10, Z:0.76 [[ 0.97454986 -0.04742573 -0.2190967 20.90364606] [ 0.0534408 0.99833724 0.0216062 0.09874853] [ 0.2177077 -0.03276502 0.97546389 0.75621243] [ 0. 0. 0. 1. ]] SLAMing on 119.83538474999999 meters Centerline goodness : 0.928043 Centerline is valid? [False, False] Translation: X:20.91, Y:0.10, Z:0.76 [[ 0.97437281 -0.04846492 -0.21965604 20.90626025] [ 0.05450764 0.99828122 0.02152975 0.09727029] [ 0.21823506 -0.03295094 0.97533978 0.75623856] [ 0. 0. 0. 1. ]] SLAMing on 119.86538474999999 meters Centerline goodness : 0.930475 Centerline is valid? [False, False] Translation: X:20.91, Y:0.09, Z:0.76 [[ 0.97420187 -0.04942792 -0.22019901 20.90874175] [ 0.05567864 0.99820041 0.02226743 0.09378333] [ 0.21870211 -0.03395336 0.97520078 0.75720924] [ 0. 0. 0. 1. ]] SLAMing on 119.89538474999999 meters Centerline goodness : 0.927770 Centerline is valid? [False, False] Translation: X:20.91, Y:0.09, Z:0.76 [[ 0.97412473 -0.0496981 -0.22047929 20.90975185] [ 0.05605548 0.99817029 0.02266817 0.09188127] [ 0.21894932 -0.03444069 0.97512821 0.75771231] [ 0. 0. 0. 1. ]] SLAMing on 119.92538474999999 meters Centerline goodness : 0.930746 Centerline is valid? [False, False] Translation: X:20.91, Y:0.09, Z:0.76 [[ 0.97389282 -0.05154824 -0.22107816 20.91246079] [ 0.05802219 0.99805294 0.02288566 0.08813322] [ 0.21946799 -0.03511561 0.97498754 0.75917466] [ 0. 0. 0. 1. ]] SLAMing on 119.95538475 meters Centerline goodness : 0.931195 Centerline is valid? [False, False] Translation: X:20.91, Y:0.09, Z:0.76 [[ 0.97376402 -0.05213636 -0.22150717 20.91396743] [ 0.05862266 0.99801969 0.02280526 0.0870152 ] [ 0.21987954 -0.03519228 0.97489204 0.75939289] [ 0. 0. 0. 1. ]] SLAMing on 119.98538475 meters Centerline goodness : 0.933473 Centerline is valid? [False, False] Translation: X:20.92, Y:0.09, Z:0.76 [[ 0.9735834 -0.0534549 -0.22198634 20.91662239] [ 0.05995225 0.9979447 0.02262967 0.08541802] [ 0.22032042 -0.03534045 0.97478714 0.75956999] [ 0. 0. 0. 1. ]] SLAMing on 120.01538475 meters Centerline goodness : 0.930887 Centerline is valid? [False, False] Translation: X:20.92, Y:0.08, Z:0.76 [[ 0.97337412 -0.05531788 -0.2224472 20.91991465] [ 0.06175079 0.99784772 0.02206278 0.08420815] [ 0.22074797 -0.03521163 0.97469507 0.75932794] [ 0. 0. 0. 1. ]] SLAMing on 120.04538475 meters Centerline goodness : 0.930432 Centerline is valid? [False, False] Translation: X:20.92, Y:0.08, Z:0.76 [[ 0.97329081 -0.05582967 -0.22268372 20.9215537 ] [ 0.06219859 0.99782819 0.021685 0.08454699] [ 0.22098943 -0.03495643 0.97464954 0.75864672] [ 0. 0. 0. 1. ]] SLAMing on 120.07538475 meters Centerline goodness : 0.930135 Centerline is valid? [False, False] Translation: X:20.92, Y:0.08, Z:0.76 [[ 0.97316263 -0.05645609 -0.22308564 20.92364968] [ 0.06278417 0.99779831 0.02137032 0.08430729] [ 0.22138799 -0.03480304 0.97456457 0.75810115] [ 0. 0. 0. 1. ]] SLAMing on 120.10538474999998 meters Centerline goodness : 0.927861 Centerline is valid? [False, False] Translation: X:20.93, Y:0.08, Z:0.76 [[ 0.97292649 -0.05752021 -0.22384252 20.9262555 ] [ 0.06397262 0.99771624 0.02167511 0.08147102] [ 0.22208456 -0.03540808 0.97438428 0.75919745] [ 0. 0. 0. 1. ]] SLAMing on 120.13538474999999 meters Centerline goodness : 0.928558 Centerline is valid? [False, False] Translation: X:20.93, Y:0.08, Z:0.76 [[ 0.97286046 -0.05770923 -0.22408071 20.92679076] [ 0.06421366 0.99769709 0.02184304 0.08044764] [ 0.22230412 -0.03563927 0.97432578 0.75971691] [ 0. 0. 0. 1. ]] SLAMing on 120.16538474999999 meters Centerline goodness : 0.929099 Centerline is valid? [False, False] Translation: X:20.93, Y:0.08, Z:0.76 [[ 0.9727103 -0.05837255 -0.22456027 20.92895027] [ 0.06492235 0.99765023 0.02188835 0.07901199] [ 0.22275492 -0.03587 0.97421434 0.75979361] [ 0. 0. 0. 1. ]] SLAMing on 120.19538474999999 meters Centerline goodness : 0.928500 Centerline is valid? [False, False] Translation: X:20.93, Y:0.08, Z:0.76 [[ 0.97263529 -0.05918017 -0.22467376 20.9312091 ] [ 0.06564017 0.99761415 0.02138644 0.07910693] [ 0.22287207 -0.03554883 0.97419932 0.75852809] [ 0. 0. 0. 1. ]] SLAMing on 120.22538474999999 meters Centerline goodness : 0.926043 Centerline is valid? [False, False] Translation: X:20.93, Y:0.08, Z:0.76 [[ 0.97259027 -0.05938776 -0.22481382 20.93188249] [ 0.06583881 0.99760288 0.02130111 0.07867264] [ 0.22300989 -0.03551872 0.97416888 0.75839482] [ 0. 0. 0. 1. ]] SLAMing on 120.25538474999999 meters Centerline goodness : 0.930096 Centerline is valid? [False, False] Translation: X:20.93, Y:0.08, Z:0.76 [[ 0.97250415 -0.05964401 -0.22511834 20.93268052] [ 0.06616021 0.99757721 0.02150679 0.07792696] [ 0.22329018 -0.03580932 0.97409404 0.75911332] [ 0. 0. 0. 1. ]] SLAMing on 120.28538474999999 meters Centerline goodness : 0.931884 Centerline is valid? [False, False] Translation: X:20.93, Y:0.08, Z:0.76 [[ 0.9724117 -0.05979378 -0.22547771 20.93336707] [ 0.06636174 0.99756059 0.02165633 0.07851071] [ 0.22363276 -0.03602196 0.9740076 0.75973133] [ 0. 0. 0. 1. ]] SLAMing on 120.31538474999999 meters Centerline goodness : 0.932126 Centerline is valid? [False, False] Translation: X:20.93, Y:0.08, Z:0.76 [[ 0.97241587 -0.05993224 -0.22542294 20.93356841] [ 0.06645871 0.99755818 0.021469 0.07880418] [ 0.22358581 -0.03585811 0.97402442 0.75944988] [ 0. 0. 0. 1. ]] SLAMing on 120.34538475 meters Centerline goodness : 0.931235 Centerline is valid? [False, False] Translation: X:20.93, Y:0.08, Z:0.76 [[ 0.97227177 -0.06038297 -0.22592368 20.93479095] [ 0.06696044 0.99752272 0.02155754 0.07835612] [ 0.2240623 -0.03608773 0.97390644 0.7601397 ] [ 0. 0. 0. 1. ]] SLAMing on 120.37538475 meters Centerline goodness : 0.928034 Centerline is valid? [False, False] Translation: X:20.94, Y:0.08, Z:0.76 [[ 0.97218504 -0.06084679 -0.22617232 20.93568934] [ 0.06743754 0.99749135 0.02152178 0.07801481] [ 0.2242954 -0.03617565 0.97384952 0.76042457] [ 0. 0. 0. 1. ]] SLAMing on 120.40538475 meters Centerline goodness : 0.930854 Centerline is valid? [False, False] Translation: X:20.94, Y:0.08, Z:0.76 [[ 0.97212249 -0.06114617 -0.22636034 20.93664611] [ 0.06778896 0.99746405 0.02168254 0.07818411] [ 0.2244605 -0.03642281 0.97380227 0.76070942] [ 0. 0. 0. 1. ]] SLAMing on 120.43538475 meters Centerline goodness : 0.928596 Centerline is valid? [False, False] Translation: X:20.94, Y:0.08, Z:0.76 [[ 0.97194035 -0.06184591 -0.22695163 20.93780506] [ 0.06866936 0.99739051 0.02228665 0.07714128] [ 0.22498106 -0.03724592 0.973651 0.76268051] [ 0. 0. 0. 1. ]] SLAMing on 120.46538474999998 meters Centerline goodness : 0.928319 Centerline is valid? [False, False] Translation: X:20.94, Y:0.08, Z:0.76 [[ 0.97179282 -0.06234152 -0.22744724 20.93877379] [ 0.06930702 0.99733572 0.02275975 0.07689421] [ 0.22542238 -0.03788145 0.97352439 0.76414052] [ 0. 0. 0. 1. ]] SLAMing on 120.49538474999999 meters Centerline goodness : 0.926997 Centerline is valid? [False, False] Translation: X:20.94, Y:0.08, Z:0.76 [[ 0.971721 -0.06304917 -0.22755902 20.94073178] [ 0.06976292 0.9973303 0.02157348 0.08073246] [ 0.22559132 -0.03683859 0.97352528 0.76217033] [ 0. 0. 0. 1. ]] SLAMing on 120.52538474999999 meters Centerline goodness : 0.924904 Centerline is valid? [False, False] Translation: X:20.94, Y:0.08, Z:0.76 [[ 0.97165126 -0.06335388 -0.22777206 20.94158476] [ 0.06999692 0.99732195 0.02119827 0.08197763] [ 0.22581909 -0.03654067 0.9734837 0.76190239] [ 0. 0. 0. 1. ]] SLAMing on 120.55538474999999 meters Centerline goodness : 0.922573 Centerline is valid? [False, False] Translation: X:20.94, Y:0.08, Z:0.76 [[ 0.97160411 -0.0598019 -0.22893053 20.9441383 ] [ 0.06732772 0.99741266 0.02519854 0.08234895] [ 0.22683129 -0.03989637 0.97311656 0.76337107] [ 0. 0. 0. 1. ]] SLAMing on 120.58538474999999 meters Centerline goodness : 0.921321 Centerline is valid? [False, False] Translation: X:20.94, Y:0.08, Z:0.76 [[ 0.97162779 -0.059859 -0.22881506 20.94416326] [ 0.06728415 0.99742607 0.0247808 0.08374791] [ 0.22674275 -0.03947334 0.97315445 0.76276321] [ 0. 0. 0. 1. ]] SLAMing on 120.61538474999999 meters Centerline goodness : 0.921042 Centerline is valid? [False, False] Translation: X:20.94, Y:0.08, Z:0.76 [[ 0.97166911 -0.05944733 -0.22874693 20.94343475] [ 0.06680622 0.99746376 0.02455544 0.08481668] [ 0.22670702 -0.03914148 0.97317618 0.76255851] [ 0. 0. 0. 1. ]] SLAMing on 120.64538474999999 meters Centerline goodness : 0.924210 Centerline is valid? [False, False] Translation: X:20.94, Y:0.09, Z:0.76 [[ 0.97153416 -0.05972711 -0.22924668 20.94428504] [ 0.06710753 0.99744423 0.02452725 0.08506782] [ 0.22719583 -0.03921324 0.97305929 0.76328977] [ 0. 0. 0. 1. ]] SLAMing on 120.67538474999999 meters Centerline goodness : 0.927142 Centerline is valid? [False, False] Translation: X:20.94, Y:0.09, Z:0.76 [[ 0.97152616 -0.05975273 -0.22927391 20.94426061] [ 0.06710239 0.997448 0.02438777 0.08595362] [ 0.22723156 -0.03907818 0.97305638 0.76338977] [ 0. 0. 0. 1. ]] SLAMing on 120.70538475 meters Centerline goodness : 0.927142 Centerline is valid? [False, False] Translation: X:20.94, Y:0.09, Z:0.76 [[ 0.97152616 -0.05975273 -0.22927391 20.94426061] [ 0.06710239 0.997448 0.02438777 0.08595362] [ 0.22723156 -0.03907818 0.97305638 0.76338977] [ 0. 0. 0. 1. ]] SLAMing on 120.73538475 meters Centerline goodness : 0.923825 Centerline is valid? [False, False] Translation: X:20.95, Y:0.09, Z:0.76 [[ 0.97135433 -0.06054343 -0.22979393 20.94610954] [ 0.06790144 0.99739749 0.02424125 0.08613132] [ 0.22772824 -0.03915019 0.97293736 0.763755 ] [ 0. 0. 0. 1. ]] SLAMing on 120.76538475 meters Centerline goodness : 0.929268 Centerline is valid? [False, False] Translation: X:20.95, Y:0.09, Z:0.76 [[ 0.97125944 -0.06104833 -0.23006131 20.94737866] [ 0.06840979 0.99736494 0.02415095 0.08690411] [ 0.22798071 -0.03919528 0.97287642 0.76386048] [ 0. 0. 0. 1. ]] SLAMing on 120.79538475 meters Centerline goodness : 0.929004 Centerline is valid? [False, False] Translation: X:20.95, Y:0.09, Z:0.76 [[ 0.97116754 -0.06164419 -0.23029027 20.9488593 ] [ 0.06892551 0.99734024 0.02370048 0.0877996 ] [ 0.22821676 -0.03889001 0.97283333 0.76332832] [ 0. 0. 0. 1. ]] SLAMing on 120.82538475 meters Centerline goodness : 0.930298 Centerline is valid? [False, False] Translation: X:20.95, Y:0.09, Z:0.76 [[ 0.97117551 -0.06143189 -0.23031337 20.94834537] [ 0.06875875 0.99734663 0.02391494 0.08755141] [ 0.22823312 -0.03906167 0.97282261 0.76387261] [ 0. 0. 0. 1. ]] SLAMing on 120.85538474999998 meters Centerline goodness : 0.930402 Centerline is valid? [False, False] Translation: X:20.95, Y:0.09, Z:0.76 [[ 0.97111543 -0.06162295 -0.23051558 20.94883864] [ 0.0689316 0.99733793 0.02377989 0.0877287 ] [ 0.22843655 -0.03898282 0.97277802 0.76402796] [ 0. 0. 0. 1. ]] SLAMing on 120.88538474999999 meters Centerline goodness : 0.934053 Centerline is valid? [False, False] Translation: X:20.95, Y:0.09, Z:0.76 [[ 0.97101391 -0.0618369 -0.23088566 20.94934505] [ 0.06910163 0.99733271 0.0235038 0.08869467] [ 0.22881642 -0.03877709 0.97269696 0.7644147 ] [ 0. 0. 0. 1. ]] SLAMing on 120.91538474999999 meters Centerline goodness : 0.932829 Centerline is valid? [False, False] Translation: X:20.95, Y:0.09, Z:0.76 [[ 0.97099998 -0.06197373 -0.23090757 20.94954952] [ 0.06917344 0.99733466 0.02320784 0.08969356] [ 0.22885384 -0.03850748 0.97269887 0.76417204] [ 0. 0. 0. 1. ]] SLAMing on 120.94538474999999 meters Centerline goodness : 0.930277 Centerline is valid? [False, False] Translation: X:20.95, Y:0.09, Z:0.76 [[ 0.97092823 -0.06206748 -0.23118392 20.95017771] [ 0.06920806 0.99733942 0.02289828 0.09166625] [ 0.2291476 -0.03823238 0.97264056 0.76403341] [ 0. 0. 0. 1. ]] SLAMing on 120.97538474999999 meters Centerline goodness : 0.930440 Centerline is valid? [False, False] Translation: X:20.95, Y:0.09, Z:0.76 [[ 0.97094576 -0.06212879 -0.23109379 20.95024202] [ 0.06916534 0.99735224 0.02246492 0.09313482] [ 0.22908619 -0.0377959 0.97267209 0.76346442] [ 0. 0. 0. 1. ]] SLAMing on 121.00538474999999 meters Centerline goodness : 0.927015 Centerline is valid? [False, False] Translation: X:20.95, Y:0.09, Z:0.76 [[ 0.97092507 -0.0583221 -0.23217028 20.9522592 ] [ 0.06614152 0.99747062 0.02603211 0.09474517] [ 0.23006478 -0.04063133 0.97232674 0.76430404] [ 0. 0. 0. 1. ]] SLAMing on 121.03538474999999 meters Centerline goodness : 0.926603 Centerline is valid? [False, False] Translation: X:20.95, Y:0.10, Z:0.76 [[ 0.9709679 -0.0580839 -0.23205087 20.95177966] [ 0.06581964 0.99749981 0.02572747 0.09604871] [ 0.22997635 -0.04025405 0.97236335 0.76392791] [ 0. 0. 0. 1. ]] SLAMing on 121.06538474999999 meters Centerline goodness : 0.926153 Centerline is valid? [False, False] Translation: X:20.95, Y:0.10, Z:0.76 [[ 0.97088687 -0.05848252 -0.23228964 20.95242987] [ 0.06604971 0.99750494 0.02492661 0.09890679] [ 0.23025229 -0.03954359 0.9723272 0.763583 ] [ 0. 0. 0. 1. ]] SLAMing on 121.09538475 meters Centerline goodness : 0.922971 Centerline is valid? [False, False] Translation: X:20.95, Y:0.10, Z:0.76 [[ 0.97081436 -0.05877494 -0.2325188 20.95318109] [ 0.06623155 0.99750625 0.02438586 0.10117325] [ 0.23050568 -0.03907422 0.97228614 0.76325876] [ 0. 0. 0. 1. ]] SLAMing on 121.12538475 meters Centerline goodness : 0.922729 Centerline is valid? [False, False] Translation: X:20.95, Y:0.11, Z:0.76 [[ 0.97089751 -0.05785511 -0.23240227 20.95248717] [ 0.06517468 0.99758679 0.02393451 0.10533586] [ 0.2304567 -0.0383847 0.97232522 0.76211366] [ 0. 0. 0. 1. ]] SLAMing on 121.15538475 meters Centerline goodness : 0.921013 Centerline is valid? [False, False] Translation: X:20.95, Y:0.11, Z:0.76 [[ 0.9708653 -0.05806609 -0.23248418 20.95305553] [ 0.06522749 0.99760001 0.02322903 0.1072144 ] [ 0.23057741 -0.03771662 0.97232274 0.76135164] [ 0. 0. 0. 1. ]] SLAMing on 121.18538475 meters Centerline goodness : 0.921885 Centerline is valid? [False, False] Translation: X:20.95, Y:0.11, Z:0.76 [[ 0.97088977 -0.05728909 -0.23257474 20.95210721] [ 0.06435382 0.99766444 0.02289664 0.10979837] [ 0.23071981 -0.03719719 0.97230897 0.76117584] [ 0. 0. 0. 1. ]] SLAMing on 121.21538474999998 meters Centerline goodness : 0.923666 Centerline is valid? [False, False] Translation: X:20.95, Y:0.11, Z:0.76 [[ 0.97083368 -0.05732093 -0.23280093 20.95256187] [ 0.06429054 0.99767855 0.02245507 0.11161862] [ 0.23097335 -0.03676704 0.97226514 0.76090933] [ 0. 0. 0. 1. ]] SLAMing on 121.24538474999999 meters Centerline goodness : 0.925628 Centerline is valid? [False, False] Translation: X:20.95, Y:0.11, Z:0.76 [[ 0.97073356 -0.05764788 -0.23313745 20.95326647] [ 0.06454304 0.99767131 0.02204904 0.11233226] [ 0.23132347 -0.03645114 0.97219379 0.761029 ] [ 0. 0. 0. 1. ]] SLAMing on 121.27538474999999 meters Centerline goodness : 0.922688 Centerline is valid? [False, False] Translation: X:20.95, Y:0.11, Z:0.76 [[ 0.97071045 -0.05757386 -0.23325196 20.95364804] [ 0.06431169 0.99770084 0.02137837 0.11399717] [ 0.23148484 -0.03575303 0.9721813 0.76016516] [ 0. 0. 0. 1. ]] SLAMing on 121.30538474999999 meters Centerline goodness : 0.920611 Centerline is valid? [False, False] Translation: X:20.95, Y:0.11, Z:0.76 [[ 9.70656759e-01 -5.78921861e-02 -2.33396553e-01 2.09547949e+01] [ 6.45419985e-02 9.97695083e-01 2.09487996e-02 1.14648339e-01] [ 2.31645822e-01 -3.53979740e-02 9.72155953e-01 7.59417918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33538474999999 meters Centerline goodness : 0.918926 Centerline is valid? [False, False] Translation: X:20.96, Y:0.12, Z:0.76 [[ 9.70560005e-01 -5.83220902e-02 -2.33691701e-01 2.09562569e+01] [ 6.48756280e-02 9.97683820e-01 2.04486681e-02 1.15191191e-01] [ 2.31957820e-01 -3.50075552e-02 9.72095695e-01 7.58750902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.36538474999999 meters Centerline goodness : 0.919592 Centerline is valid? [False, False] Translation: X:20.96, Y:0.11, Z:0.76 [[ 9.70539638e-01 -5.84615027e-02 -2.33741447e-01 2.09567109e+01] [ 6.50166813e-02 9.97674990e-01 2.04314948e-02 1.14929688e-01] [ 2.32003540e-01 -3.50266687e-02 9.72084096e-01 7.58651858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39538474999999 meters Centerline goodness : 0.919453 Centerline is valid? [False, False] Translation: X:20.96, Y:0.11, Z:0.76 [[ 9.70440106e-01 -5.87446123e-02 -2.34083472e-01 2.09578935e+01] [ 6.53131436e-02 9.97656247e-01 2.04011176e-02 1.14605718e-01] [ 2.32336382e-01 -3.50867902e-02 9.72002429e-01 7.58688798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.42538474999999 meters Centerline goodness : 0.918735 Centerline is valid? [False, False] Translation: X:20.96, Y:0.11, Z:0.76 [[ 9.70330535e-01 -5.91139798e-02 -2.34444430e-01 2.09592242e+01] [ 6.57400340e-02 9.97625317e-01 2.05420082e-02 1.13416587e-01] [ 2.32673379e-01 -3.53449226e-02 9.71912463e-01 7.58962312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45538475 meters Centerline goodness : 0.920121 Centerline is valid? [False, False] Translation: X:20.96, Y:0.11, Z:0.76 [[ 9.70226917e-01 -5.94659551e-02 -2.34784006e-01 2.09602336e+01] [ 6.61006777e-02 9.97602684e-01 2.04837647e-02 1.12717889e-01] [ 2.33003068e-01 -3.53932818e-02 9.71831717e-01 7.59157007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.48538475 meters Centerline goodness : 0.917981 Centerline is valid? [False, False] Translation: X:20.96, Y:0.11, Z:0.76 [[ 9.70107577e-01 -5.99969848e-02 -2.35141767e-01 2.09617768e+01] [ 6.66473787e-02 9.97567400e-01 2.04306153e-02 1.11501160e-01] [ 2.33343986e-01 -3.54914771e-02 9.71746335e-01 7.59191801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.51538475 meters Centerline goodness : 0.920018 Centerline is valid? [False, False] Translation: X:20.96, Y:0.11, Z:0.76 [[ 9.70086331e-01 -6.02648456e-02 -2.35160921e-01 2.09625962e+01] [ 6.68723592e-02 9.97556686e-01 2.02174830e-02 1.11480472e-01] [ 2.33367946e-01 -3.53384695e-02 9.71746157e-01 7.58669402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.54538475 meters Centerline goodness : 0.916012 Centerline is valid? [False, False] Translation: X:20.96, Y:0.11, Z:0.76 [[ 9.70106553e-01 -6.01196282e-02 -2.35114668e-01 2.09626073e+01] [ 6.67460846e-02 9.97563045e-01 2.03207001e-02 1.10797778e-01] [ 2.33320031e-01 -3.54062278e-02 9.71755197e-01 7.58528250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.57538475 meters Centerline goodness : 0.916349 Centerline is valid? [False, False] Translation: X:20.96, Y:0.11, Z:0.76 [[ 9.70017468e-01 -6.02247362e-02 -2.35455074e-01 2.09635006e+01] [ 6.68714668e-02 9.97554264e-01 2.03395425e-02 1.10890986e-01] [ 2.33654270e-01 -3.54749377e-02 9.71672378e-01 7.58697862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60538474999998 meters Centerline goodness : 0.917261 Centerline is valid? [False, False] Translation: X:20.96, Y:0.11, Z:0.76 [[ 9.69971811e-01 -6.06027697e-02 -2.35546153e-01 2.09645664e+01] [ 6.71704779e-02 9.97541998e-01 1.99521920e-02 1.10799827e-01] [ 2.33758022e-01 -3.51748115e-02 9.71658335e-01 7.58048553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63538474999999 meters Centerline goodness : 0.915914 Centerline is valid? [False, False] Translation: X:20.97, Y:0.11, Z:0.76 [[ 9.69907191e-01 -6.10313978e-02 -2.35701526e-01 2.09659601e+01] [ 6.75278919e-02 9.97525209e-01 1.95816725e-02 1.11162099e-01] [ 2.33923117e-01 -3.49088321e-02 9.71628195e-01 7.57337280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66538474999999 meters Centerline goodness : 0.914183 Centerline is valid? [False, False] Translation: X:20.97, Y:0.11, Z:0.76 [[ 9.69876531e-01 -6.13150752e-02 -2.35754058e-01 2.09670805e+01] [ 6.77763629e-02 9.97512027e-01 1.93938496e-02 1.10442004e-01] [ 2.33978373e-01 -3.47881921e-02 9.71619217e-01 7.56663621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69538474999999 meters Centerline goodness : 0.914769 Centerline is valid? [False, False] Translation: X:20.97, Y:0.11, Z:0.76 [[ 9.69782896e-01 -6.15651050e-02 -2.36073869e-01 2.09680895e+01] [ 6.80841711e-02 9.97487919e-01 1.95549649e-02 1.09294031e-01] [ 2.34276929e-01 -3.50369642e-02 9.71538333e-01 7.57023222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72538474999999 meters Centerline goodness : 0.912369 Centerline is valid? [False, False] Translation: X:20.97, Y:0.11, Z:0.76 [[ 9.69711237e-01 -6.53952922e-02 -2.35337148e-01 2.09669011e+01] [ 7.11269908e-02 9.97339893e-01 1.59401457e-02 1.07965806e-01] [ 2.33668716e-01 -3.21961616e-02 9.71783072e-01 7.56313178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75538474999999 meters Centerline goodness : 0.913991 Centerline is valid? [False, False] Translation: X:20.97, Y:0.10, Z:0.76 [[ 9.69533180e-01 -6.60661221e-02 -2.35882767e-01 2.09689973e+01] [ 7.20287090e-02 9.97262049e-01 1.67413120e-02 1.04363734e-01] [ 2.34130898e-01 -3.32215887e-02 9.71637303e-01 7.57430253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.78538474999999 meters Centerline goodness : 0.916140 Centerline is valid? [False, False] Translation: X:20.97, Y:0.10, Z:0.76 [[ 9.69255053e-01 -6.71526229e-02 -2.36717484e-01 2.09715326e+01] [ 7.33753673e-02 9.97149680e-01 1.75662102e-02 1.01504507e-01] [ 2.34863147e-01 -3.43953704e-02 9.71419714e-01 7.59375517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81538474999999 meters Centerline goodness : 0.914270 Centerline is valid? [False, False] Translation: X:20.97, Y:0.10, Z:0.76 [[ 9.68859990e-01 -7.29506737e-02 -2.36618932e-01 2.09735887e+01] [ 7.83465866e-02 9.96835188e-01 1.34692292e-02 1.00396089e-01] [ 2.34887488e-01 -3.15880829e-02 9.71509167e-01 7.59024332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.84538475 meters Centerline goodness : 0.915408 Centerline is valid? [False, False] Translation: X:20.98, Y:0.10, Z:0.76 [[ 9.68732782e-01 -7.36511819e-02 -2.36922563e-01 2.09760761e+01] [ 7.89602978e-02 9.96793189e-01 1.29849701e-02 1.00289100e-01] [ 2.35206438e-01 -3.12864423e-02 9.71441758e-01 7.57850859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.87538475 meters Centerline goodness : 0.908908 Centerline is valid? [False, False] Translation: X:20.98, Y:0.10, Z:0.76 [[ 9.68365086e-01 -7.56451933e-02 -2.37795847e-01 2.09812844e+01] [ 8.08651303e-02 9.96649658e-01 1.22593094e-02 9.92449151e-02] [ 2.36071791e-01 -3.11008793e-02 9.71237790e-01 7.56895751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.90538475 meters Centerline goodness : 0.911937 Centerline is valid? [False, False] Translation: X:20.98, Y:0.10, Z:0.76 [[ 9.68215747e-01 -7.58401504e-02 -2.38341222e-01 2.09825982e+01] [ 8.12112011e-02 9.96614948e-01 1.27822463e-02 9.79230545e-02] [ 2.36565017e-01 -3.17319491e-02 9.71097357e-01 7.57820832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.93538475 meters Centerline goodness : 0.910289 Centerline is valid? [False, False] Translation: X:20.98, Y:0.10, Z:0.76 [[ 9.68086774e-01 -7.61710971e-02 -2.38759215e-01 2.09836881e+01] [ 8.16583478e-02 9.96573483e-01 1.31608364e-02 9.64680493e-02] [ 2.36938627e-01 -3.22375146e-02 9.70989614e-01 7.58601794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96538474999998 meters Centerline goodness : 0.907123 Centerline is valid? [False, False] Translation: X:20.99, Y:0.09, Z:0.76 [[ 9.67935811e-01 -7.72955589e-02 -2.39009753e-01 2.09852642e+01] [ 8.28961451e-02 9.96467369e-01 1.34540334e-02 9.43022903e-02] [ 2.37125483e-01 -3.28356279e-02 9.70923955e-01 7.59530711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99538474999999 meters Centerline goodness : 0.911586 Centerline is valid? [False, False] Translation: X:20.99, Y:0.09, Z:0.76 [[ 9.67632734e-01 -7.76816995e-02 -2.40109238e-01 2.09861619e+01] [ 8.38081066e-02 9.96362996e-01 1.53942285e-02 9.20115484e-02] [ 2.38040110e-01 -3.50190600e-02 9.70623805e-01 7.64027785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02538474999999 meters Centerline goodness : 0.910437 Centerline is valid? [False, False] Translation: X:20.99, Y:0.09, Z:0.76 [[ 9.67598541e-01 -7.77132689e-02 -2.40236783e-01 2.09865838e+01] [ 8.38797849e-02 9.96354786e-01 1.55345491e-02 9.25893520e-02] [ 2.38153828e-01 -3.51822167e-02 9.70590009e-01 7.64218980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05538474999999 meters Centerline goodness : 0.909270 Centerline is valid? [False, False] Translation: X:20.99, Y:0.09, Z:0.77 [[ 9.67586724e-01 -7.76703144e-02 -2.40298259e-01 2.09857175e+01] [ 8.39523596e-02 9.96341289e-01 1.60011457e-02 9.35017862e-02] [ 2.38176263e-01 -3.56561020e-02 9.70567210e-01 7.65652713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08538474999999 meters Centerline goodness : 0.912619 Centerline is valid? [False, False] Translation: X:20.99, Y:0.09, Z:0.77 [[ 9.67638635e-01 -7.36238832e-02 -2.41360719e-01 2.09873519e+01] [ 8.08928268e-02 9.96515380e-01 2.03334351e-02 9.26543286e-02] [ 2.39022642e-01 -3.91997682e-02 9.70222425e-01 7.67380910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11538474999999 meters Centerline goodness : 0.909240 Centerline is valid? [False, False] Translation: X:20.99, Y:0.09, Z:0.77 [[ 9.67681633e-01 -7.31175113e-02 -2.41342262e-01 2.09865038e+01] [ 8.03204885e-02 9.96565802e-01 2.01301264e-02 9.47995499e-02] [ 2.39041580e-01 -3.88642819e-02 9.70231256e-01 7.67290420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.14538474999999 meters Centerline goodness : 0.908226 Centerline is valid? [False, False] Translation: X:20.99, Y:0.10, Z:0.77 [[ 9.67694536e-01 -7.30650096e-02 -2.41306420e-01 2.09866165e+01] [ 8.01919163e-02 9.96582099e-01 1.98336979e-02 9.62873707e-02] [ 2.39032510e-01 -3.85437853e-02 9.70246276e-01 7.66823151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17538474999999 meters Centerline goodness : 0.906788 Centerline is valid? [False, False] Translation: X:20.99, Y:0.10, Z:0.77 [[ 9.67752801e-01 -7.26009727e-02 -2.41212802e-01 2.09861136e+01] [ 7.96418069e-02 9.96631701e-01 1.95559720e-02 9.83139889e-02] [ 2.38980543e-01 -3.81359701e-02 9.70275192e-01 7.66294368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.20538475 meters Centerline goodness : 0.902662 Centerline is valid? [False, False] Translation: X:20.99, Y:0.10, Z:0.77 [[ 9.67657977e-01 -7.28186950e-02 -2.41527385e-01 2.09866870e+01] [ 7.98058281e-02 9.96624340e-01 1.92601858e-02 9.96996607e-02] [ 2.39309569e-01 -3.79125654e-02 9.70202849e-01 7.66502209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.23538475 meters Centerline goodness : 0.907857 Centerline is valid? [False, False] Translation: X:20.99, Y:0.10, Z:0.77 [[ 9.67614221e-01 -7.27881060e-02 -2.41711835e-01 2.09871657e+01] [ 7.97133290e-02 9.96637060e-01 1.89830455e-02 1.00994105e-01] [ 2.39517233e-01 -3.76359198e-02 9.70162374e-01 7.66277366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.26538475 meters Centerline goodness : 0.911912 Centerline is valid? [False, False] Translation: X:20.99, Y:0.10, Z:0.77 [[ 9.67520050e-01 -7.31279744e-02 -2.41986060e-01 2.09884736e+01] [ 7.99908425e-02 9.96621205e-01 1.86450987e-02 1.01948324e-01] [ 2.39804960e-01 -3.73961756e-02 9.70100566e-01 7.65845057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.29538475 meters Centerline goodness : 0.906642 Centerline is valid? [False, False] Translation: X:20.99, Y:0.10, Z:0.76 [[ 9.67404986e-01 -7.38129696e-02 -2.42237978e-01 2.09906959e+01] [ 8.05084378e-02 9.96594177e-01 1.78448009e-02 1.03200575e-01] [ 2.40095780e-01 -3.67653505e-02 9.70052744e-01 7.64439531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.32538475 meters Centerline goodness : 0.906967 Centerline is valid? [False, False] Translation: X:20.99, Y:0.10, Z:0.76 [[ 9.67202393e-01 -7.46569664e-02 -2.42787702e-01 2.09931672e+01] [ 8.12441748e-02 9.96545483e-01 1.72187375e-02 1.04403455e-01] [ 2.40663489e-01 -3.63790906e-02 9.69926619e-01 7.63880733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35538474999998 meters Centerline goodness : 0.908144 Centerline is valid? [False, False] Translation: X:21.00, Y:0.11, Z:0.76 [[ 9.67028632e-01 -7.56661673e-02 -2.43167136e-01 2.09958269e+01] [ 8.20443103e-02 9.96497092e-01 1.61949578e-02 1.05538950e-01] [ 2.41089933e-01 -3.56114678e-02 9.69849198e-01 7.62490346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38538474999999 meters Centerline goodness : 0.902487 Centerline is valid? [False, False] Translation: X:21.00, Y:0.11, Z:0.76 [[ 9.66904781e-01 -7.61215959e-02 -2.43517243e-01 2.09973006e+01] [ 8.24499834e-02 9.96468583e-01 1.58859565e-02 1.06072068e-01] [ 2.41448018e-01 -3.54381999e-02 9.69766461e-01 7.62251765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41538474999999 meters Centerline goodness : 0.899021 Centerline is valid? [False, False] Translation: X:21.00, Y:0.11, Z:0.76 [[ 9.66824517e-01 -7.63865646e-02 -2.43752837e-01 2.09981419e+01] [ 8.26402275e-02 9.96458622e-01 1.55179616e-02 1.07085258e-01] [ 2.41704252e-01 -3.51469357e-02 9.69713229e-01 7.62024533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44538474999999 meters Centerline goodness : 0.903440 Centerline is valid? [False, False] Translation: X:21.00, Y:0.11, Z:0.76 [[ 9.66738470e-01 -7.65030016e-02 -2.44057413e-01 2.09986786e+01] [ 8.27281066e-02 9.96454030e-01 1.53435986e-02 1.08252326e-01] [ 2.42018161e-01 -3.50236547e-02 9.69639393e-01 7.62215365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47538474999999 meters Centerline goodness : 0.903433 Centerline is valid? [False, False] Translation: X:21.00, Y:0.11, Z:0.76 [[ 9.66784174e-01 -7.60983284e-02 -2.44002882e-01 2.09977161e+01] [ 8.23485337e-02 9.96483017e-01 1.55021415e-02 1.09125201e-01] [ 2.41965041e-01 -3.50805046e-02 9.69650595e-01 7.62656474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.50538474999999 meters Centerline goodness : 0.907321 Centerline is valid? [False, False] Translation: X:21.01, Y:0.11, Z:0.76 [[ 9.68308637e-01 -7.47264796e-02 -2.38315623e-01 2.10110832e+01] [ 7.92941162e-02 9.96804810e-01 9.62363827e-03 1.13870881e-01] [ 2.36835019e-01 -2.82156788e-02 9.71140077e-01 7.63005243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53538474999999 meters Centerline goodness : 0.909574 Centerline is valid? [False, False] Translation: X:21.01, Y:0.11, Z:0.77 [[ 9.68442381e-01 -7.02345430e-02 -2.39136916e-01 2.10108043e+01] [ 7.58370291e-02 9.97017737e-01 1.42960273e-02 1.14666516e-01] [ 2.37419672e-01 -3.19803120e-02 9.70880610e-01 7.65666530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.56538474999999 meters Centerline goodness : 0.908606 Centerline is valid? [False, False] Translation: X:21.01, Y:0.11, Z:0.77 [[ 9.68493922e-01 -6.62803005e-02 -2.40055087e-01 2.10123559e+01] [ 7.28433158e-02 9.97170678e-01 1.85604751e-02 1.14144453e-01] [ 2.38145700e-01 -3.54621158e-02 9.70581817e-01 7.67114633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.59538475 meters Centerline goodness : 0.908606 Centerline is valid? [False, False] Translation: X:21.01, Y:0.11, Z:0.77 [[ 9.68493922e-01 -6.62803005e-02 -2.40055087e-01 2.10123559e+01] [ 7.28433158e-02 9.97170678e-01 1.85604751e-02 1.14144453e-01] [ 2.38145700e-01 -3.54621158e-02 9.70581817e-01 7.67114633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.62538475 meters Centerline goodness : 0.904828 Centerline is valid? [False, False] Translation: X:21.01, Y:0.12, Z:0.77 [[ 9.68616945e-01 -6.55358630e-02 -2.39762933e-01 2.10102905e+01] [ 7.21664472e-02 9.97212171e-01 1.89707531e-02 1.15011945e-01] [ 2.37851250e-01 -3.56782320e-02 9.70646097e-01 7.67925097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.65538475 meters Centerline goodness : 0.907049 Centerline is valid? [False, False] Translation: X:21.01, Y:0.12, Z:0.77 [[ 9.68587736e-01 -6.55907451e-02 -2.39865903e-01 2.10105821e+01] [ 7.22019147e-02 9.97211533e-01 1.88690497e-02 1.15544556e-01] [ 2.37959410e-01 -3.55951076e-02 9.70622639e-01 7.67927529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.68538475 meters Centerline goodness : 0.905900 Centerline is valid? [False, False] Translation: X:21.01, Y:0.12, Z:0.77 [[ 9.68506996e-01 -6.57977485e-02 -2.40135077e-01 2.10113025e+01] [ 7.24146890e-02 9.97196916e-01 1.88261585e-02 1.16045606e-01] [ 2.38223239e-01 -3.56225731e-02 9.70556913e-01 7.68175550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71538474999998 meters Centerline goodness : 0.902873 Centerline is valid? [False, False] Translation: X:21.01, Y:0.12, Z:0.77 [[ 9.68452999e-01 -6.58949240e-02 -2.40326130e-01 2.10119920e+01] [ 7.25460132e-02 9.97185518e-01 1.89240350e-02 1.15376209e-01] [ 2.38402738e-01 -3.57617410e-02 9.70507719e-01 7.68329067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74538474999999 meters Centerline goodness : 0.905294 Centerline is valid? [False, False] Translation: X:21.01, Y:0.12, Z:0.77 [[ 9.68270737e-01 -6.67171195e-02 -2.40833148e-01 2.10143675e+01] [ 7.32531315e-02 9.97145857e-01 1.82788973e-02 1.15057654e-01] [ 2.38926260e-01 -3.53407036e-02 9.70394392e-01 7.67665057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77538474999999 meters Centerline goodness : 0.905020 Centerline is valid? [False, False] Translation: X:21.02, Y:0.12, Z:0.77 [[ 9.68064079e-01 -6.77988016e-02 -2.41361269e-01 2.10173576e+01] [ 7.42233000e-02 9.97086054e-01 1.76153818e-02 1.15217000e-01] [ 2.39463654e-01 -3.49674483e-02 9.70275443e-01 7.66835762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80538474999999 meters Centerline goodness : 0.902751 Centerline is valid? [False, False] Translation: X:21.02, Y:0.11, Z:0.77 [[ 9.67829902e-01 -6.91273478e-02 -2.41922903e-01 2.10205886e+01] [ 7.54804334e-02 9.97000982e-01 1.70805941e-02 1.14405696e-01] [ 2.40016635e-01 -3.47915553e-02 9.70145124e-01 7.66257966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83538474999999 meters Centerline goodness : 0.903730 Centerline is valid? [False, False] Translation: X:21.02, Y:0.11, Z:0.77 [[ 9.67593257e-01 -7.00796880e-02 -2.42594571e-01 2.10231032e+01] [ 7.64517193e-02 9.96929363e-01 1.69404838e-02 1.13409732e-01] [ 2.40662467e-01 -3.49382700e-02 9.69979842e-01 7.66577054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.86538474999999 meters Centerline goodness : 0.902192 Centerline is valid? [False, False] Translation: X:21.03, Y:0.11, Z:0.77 [[ 9.67310114e-01 -7.14507013e-02 -2.43322710e-01 2.10261543e+01] [ 7.78322028e-02 9.96826564e-01 1.67017695e-02 1.11906020e-01] [ 2.41357188e-01 -3.50941331e-02 9.69801583e-01 7.66862371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89538474999999 meters Centerline goodness : 0.904944 Centerline is valid? [False, False] Translation: X:21.03, Y:0.11, Z:0.77 [[ 9.67066062e-01 -7.23483802e-02 -2.44026523e-01 2.10286925e+01] [ 7.87932999e-02 9.96750411e-01 1.67401825e-02 1.11142577e-01] [ 2.42022412e-01 -3.54165173e-02 9.69624062e-01 7.67338953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.92538474999999 meters Centerline goodness : 0.901186 Centerline is valid? [False, False] Translation: X:21.03, Y:0.11, Z:0.77 [[ 9.66724162e-01 -7.36603214e-02 -2.44986840e-01 2.10324860e+01] [ 8.02083995e-02 9.96635765e-01 1.68453419e-02 1.10073342e-01] [ 2.42921813e-01 -3.59348014e-02 9.69380051e-01 7.67929538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95538475 meters Centerline goodness : 0.898778 Centerline is valid? [False, False] Translation: X:21.03, Y:0.11, Z:0.77 [[ 9.66581529e-01 -7.42224403e-02 -2.45379660e-01 2.10339171e+01] [ 8.08648972e-02 9.96578513e-01 1.70919904e-02 1.08609891e-01] [ 2.43271488e-01 -3.63634032e-02 9.69276372e-01 7.68525874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.98538475 meters Centerline goodness : 0.903034 Centerline is valid? [False, False] Translation: X:21.03, Y:0.11, Z:0.77 [[ 9.66191093e-01 -7.90351104e-02 -2.45414389e-01 2.10338847e+01] [ 8.51023703e-02 9.96271028e-01 1.41995000e-02 1.06115296e-01] [ 2.43376987e-01 -3.46047767e-02 9.69314269e-01 7.70487743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.01538475 meters Centerline goodness : 0.904316 Centerline is valid? [False, False] Translation: X:21.03, Y:0.11, Z:0.77 [[ 9.66044722e-01 -7.93059590e-02 -2.45902746e-01 2.10348506e+01] [ 8.55171342e-02 9.96228748e-01 1.46663671e-02 1.05322799e-01] [ 2.43812254e-01 -3.51972646e-02 9.69183542e-01 7.71643021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.04538475 meters Centerline goodness : 0.904947 Centerline is valid? [False, False] Translation: X:21.04, Y:0.10, Z:0.77 [[ 9.65883344e-01 -7.96203413e-02 -2.46434507e-01 2.10353842e+01] [ 8.62573767e-02 9.96140554e-01 1.62376308e-02 1.02725473e-01] [ 2.44190561e-01 -3.69404513e-02 9.69023412e-01 7.74716904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.07538475 meters Centerline goodness : 0.908532 Centerline is valid? [False, False] Translation: X:21.04, Y:0.10, Z:0.78 [[ 9.65607901e-01 -8.01659044e-02 -2.47335418e-01 2.10362867e+01] [ 8.72684365e-02 9.96024539e-01 1.78699993e-02 1.00135914e-01] [ 2.44919581e-01 -3.88399877e-02 9.68765118e-01 7.78597028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10538474999998 meters Centerline goodness : 0.905668 Centerline is valid? [False, False] Translation: X:21.04, Y:0.10, Z:0.78 [[ 9.65722167e-01 -7.98675929e-02 -2.46985555e-01 2.10390458e+01] [ 8.71749846e-02 9.96016055e-01 1.87760381e-02 1.03006929e-01] [ 2.44501981e-01 -3.96633982e-02 9.68837239e-01 7.76836208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13538474999999 meters Centerline goodness : 0.903729 Centerline is valid? [False, False] Translation: X:21.04, Y:0.10, Z:0.78 [[ 9.65665362e-01 -8.02171830e-02 -2.47094337e-01 2.10401051e+01] [ 8.74564821e-02 9.95997569e-01 1.84446809e-02 1.03934363e-01] [ 2.44625779e-01 -3.94213910e-02 9.68815866e-01 7.76297319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16538474999999 meters Centerline goodness : 0.905950 Centerline is valid? [False, False] Translation: X:21.04, Y:0.11, Z:0.78 [[ 9.65660317e-01 -7.96909086e-02 -2.47284270e-01 2.10395142e+01] [ 8.69016069e-02 9.96047599e-01 1.83654833e-02 1.06279729e-01] [ 2.44843342e-01 -3.92242189e-02 9.68768909e-01 7.76595680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19538474999999 meters Centerline goodness : 0.903993 Centerline is valid? [False, False] Translation: X:21.04, Y:0.11, Z:0.78 [[ 0.96569333 -0.07567335 -0.24841485 21.04142918] [ 0.0838214 0.99622961 0.02237277 0.10622644] [ 0.24578521 -0.04242772 0.96839533 0.77785426] [ 0. 0. 0. 1. ]] SLAMing on 123.22538474999999 meters Centerline goodness : 0.906170 Centerline is valid? [False, False] Translation: X:21.04, Y:0.11, Z:0.78 [[ 0.96568496 -0.07163082 -0.24964292 21.04327766] [ 0.08058543 0.99641318 0.02582188 0.10807479] [ 0.24689786 -0.04505338 0.96799362 0.77878556] [ 0. 0. 0. 1. ]] SLAMing on 123.25538474999999 meters Centerline goodness : 0.908982 Centerline is valid? [False, False] Translation: X:21.04, Y:0.11, Z:0.78 [[ 0.96559871 -0.07197438 -0.24987762 21.04426446] [ 0.08074452 0.99642095 0.02501235 0.110365 ] [ 0.24718305 -0.04432815 0.96795432 0.77804793] [ 0. 0. 0. 1. ]] SLAMing on 123.28538474999999 meters Centerline goodness : 0.908074 Centerline is valid? [False, False] Translation: X:21.05, Y:0.11, Z:0.78 [[ 0.96559643 -0.06819544 -0.25094406 21.04654677] [ 0.07764641 0.99658928 0.0279435 0.11310414] [ 0.24818254 -0.04646706 0.96759818 0.77796262] [ 0. 0. 0. 1. ]] SLAMing on 123.31538474999999 meters Centerline goodness : 0.904430 Centerline is valid? [False, False] Translation: X:21.05, Y:0.12, Z:0.78 [[ 0.9655473 -0.06846714 -0.2510591 21.04736602] [ 0.07774266 0.99660225 0.02720359 0.11573487] [ 0.24834351 -0.04578436 0.96758942 0.77711185] [ 0. 0. 0. 1. ]] SLAMing on 123.34538475 meters Centerline goodness : 0.906257 Centerline is valid? [False, False] Translation: X:21.05, Y:0.12, Z:0.78 [[ 0.96555297 -0.0644553 -0.25209714 21.04912189] [ 0.07454244 0.99674643 0.03065914 0.11770455] [ 0.24930078 -0.04839496 0.96721613 0.77779252] [ 0. 0. 0. 1. ]] SLAMing on 123.37538475 meters Centerline goodness : 0.902755 Centerline is valid? [False, False] Translation: X:21.05, Y:0.12, Z:0.78 [[ 0.96553405 -0.06451451 -0.25215447 21.04926929] [ 0.07446541 0.99676887 0.03011184 0.11981539] [ 0.24939708 -0.04785079 0.96721838 0.77731919] [ 0. 0. 0. 1. ]] SLAMing on 123.40538475 meters Centerline goodness : 0.903813 Centerline is valid? [False, False] Translation: X:21.05, Y:0.12, Z:0.78 [[ 0.96563557 -0.06362353 -0.25199204 21.04759928] [ 0.07343573 0.99685709 0.02971753 0.12320272] [ 0.24930932 -0.04720152 0.96727291 0.7770133 ] [ 0. 0. 0. 1. ]] SLAMing on 123.43538475 meters Centerline goodness : 0.906871 Centerline is valid? [False, False] Translation: X:21.05, Y:0.13, Z:0.78 [[ 0.96556911 -0.06368864 -0.25223016 21.0478098 ] [ 0.07341693 0.99686973 0.02933764 0.12502715] [ 0.24957214 -0.04684549 0.96722244 0.77705536] [ 0. 0. 0. 1. ]] SLAMing on 123.46538474999998 meters Centerline goodness : 0.907581 Centerline is valid? [False, False] Translation: X:21.06, Y:0.13, Z:0.78 [[ 0.96696731 -0.06217078 -0.24720239 21.0629727 ] [ 0.06996678 0.99728713 0.02286979 0.12998456] [ 0.24510993 -0.0394103 0.96869394 0.77581652] [ 0. 0. 0. 1. ]] SLAMing on 123.49538474999999 meters Centerline goodness : 0.903452 Centerline is valid? [False, False] Translation: X:21.06, Y:0.13, Z:0.78 [[ 0.96703794 -0.05784666 -0.24797458 21.0637755 ] [ 0.06653849 0.99742367 0.02680768 0.13059771] [ 0.24578498 -0.0424239 0.96839556 0.77694922] [ 0. 0. 0. 1. ]] SLAMing on 123.52538474999999 meters Centerline goodness : 0.905687 Centerline is valid? [False, False] Translation: X:21.06, Y:0.13, Z:0.78 [[ 0.96698446 -0.05796294 -0.24815592 21.06446818] [ 0.06656977 0.99743176 0.02642635 0.13216983] [ 0.24598685 -0.04207356 0.96835959 0.77655455] [ 0. 0. 0. 1. ]] SLAMing on 123.55538474999999 meters Centerline goodness : 0.901044 Centerline is valid? [False, False] Translation: X:21.07, Y:0.13, Z:0.78 [[ 0.96690216 -0.05821816 -0.2484167 21.06561663] [ 0.06671564 0.99743533 0.02591874 0.13380469] [ 0.24627065 -0.04163417 0.96830644 0.77597792] [ 0. 0. 0. 1. ]] SLAMing on 123.58538474999999 meters Centerline goodness : 0.897958 Centerline is valid? [False, False] Translation: X:21.07, Y:0.14, Z:0.77 [[ 0.96695086 -0.05772088 -0.24834317 21.06562465] [ 0.06608655 0.99748864 0.02547493 0.13636594] [ 0.24624905 -0.04104515 0.96833708 0.774879 ] [ 0. 0. 0. 1. ]] SLAMing on 123.61538474999999 meters Centerline goodness : 0.895477 Centerline is valid? [False, False] Translation: X:21.07, Y:0.14, Z:0.77 [[ 0.96689482 -0.0578514 -0.24853094 21.06640697] [ 0.06612004 0.99749731 0.02504519 0.13779706] [ 0.24646004 -0.04064894 0.96830011 0.77437432] [ 0. 0. 0. 1. ]] SLAMing on 123.64538474999999 meters Centerline goodness : 0.894668 Centerline is valid? [False, False] Translation: X:21.07, Y:0.14, Z:0.78 [[ 0.96671815 -0.05831325 -0.2491096 21.06680508] [ 0.06670353 0.99745035 0.02536611 0.13689627] [ 0.24699528 -0.04113837 0.96814305 0.77626631] [ 0. 0. 0. 1. ]] SLAMing on 123.67538474999999 meters Centerline goodness : 0.897784 Centerline is valid? [False, False] Translation: X:21.07, Y:0.14, Z:0.78 [[ 0.96659138 -0.05877064 -0.24949372 21.06812228] [ 0.0671342 0.99742722 0.0251385 0.13728162] [ 0.24737442 -0.04104822 0.96805007 0.77634699] [ 0. 0. 0. 1. ]] SLAMing on 123.70538475 meters Centerline goodness : 0.896035 Centerline is valid? [False, False] Translation: X:21.07, Y:0.14, Z:0.78 [[ 0.96661649 -0.0588445 -0.24937902 21.06843241] [ 0.06719203 0.99742464 0.02508622 0.13761713] [ 0.24726059 -0.04100503 0.96808098 0.7759317 ] [ 0. 0. 0. 1. ]] SLAMing on 123.73538475 meters Centerline goodness : 0.896875 Centerline is valid? [False, False] Translation: X:21.07, Y:0.14, Z:0.78 [[ 0.96641538 -0.06356397 -0.24899987 21.06830026] [ 0.07106121 0.99724605 0.02122784 0.13752415] [ 0.24696481 -0.03820914 0.96827085 0.77578338] [ 0. 0. 0. 1. ]] SLAMing on 123.76538475 meters Centerline goodness : 0.894793 Centerline is valid? [False, False] Translation: X:21.07, Y:0.14, Z:0.78 [[ 0.96620818 -0.06413059 -0.24965779 21.07027469] [ 0.0716627 0.99720385 0.02118828 0.13751843] [ 0.24760089 -0.03836344 0.96810229 0.77619468] [ 0. 0. 0. 1. ]] SLAMing on 123.79538475 meters Centerline goodness : 0.893437 Centerline is valid? [False, False] Translation: X:21.07, Y:0.14, Z:0.78 [[ 0.96618213 -0.06412937 -0.24975892 21.07077858] [ 0.07166157 0.99720426 0.0211726 0.13720308] [ 0.24770288 -0.03835471 0.96807655 0.77602378] [ 0. 0. 0. 1. ]] SLAMing on 123.82538475 meters Centerline goodness : 0.900719 Centerline is valid? [False, False] Translation: X:21.07, Y:0.14, Z:0.78 [[ 0.96612243 -0.06383068 -0.25006618 21.07092298] [ 0.07157866 0.99719223 0.02200334 0.13514831] [ 0.24795957 -0.03915733 0.9679787 0.77721632] [ 0. 0. 0. 1. ]] SLAMing on 123.85538474999998 meters Centerline goodness : 0.901645 Centerline is valid? [False, False] Translation: X:21.07, Y:0.13, Z:0.78 [[ 0.96597536 -0.06409653 -0.25056585 21.07206211] [ 0.07197211 0.9971554 0.02238566 0.1332978 ] [ 0.24841825 -0.03965775 0.96784071 0.77812109] [ 0. 0. 0. 1. ]] SLAMing on 123.88538474999999 meters Centerline goodness : 0.908022 Centerline is valid? [False, False] Translation: X:21.07, Y:0.13, Z:0.78 [[ 0.96578761 -0.06473392 -0.25112509 21.07409219] [ 0.07274719 0.99709094 0.02274854 0.1297101 ] [ 0.24892195 -0.0402389 0.96768729 0.77877477] [ 0. 0. 0. 1. ]] SLAMing on 123.91538474999999 meters Centerline goodness : 0.901572 Centerline is valid? [False, False] Translation: X:21.08, Y:0.13, Z:0.78 [[ 0.9655294 -0.06646833 -0.25166433 21.0785002 ] [ 0.07438439 0.99698556 0.02206251 0.12803163] [ 0.24943924 -0.0400219 0.96756308 0.77754278] [ 0. 0. 0. 1. ]] SLAMing on 123.94538474999999 meters Centerline goodness : 0.902069 Centerline is valid? [False, False] Translation: X:21.08, Y:0.13, Z:0.78 [[ 0.96527558 -0.06742476 -0.25238256 21.08151037] [ 0.07533758 0.99691954 0.02181003 0.12670681] [ 0.25013457 -0.04006658 0.96738171 0.77740587] [ 0. 0. 0. 1. ]] SLAMing on 123.97538474999999 meters Centerline goodness : 0.897812 Centerline is valid? [False, False] Translation: X:21.09, Y:0.12, Z:0.78 [[ 9.64938600e-01 -6.92833451e-02 -2.53166577e-01 2.10861620e+01] [ 7.70771166e-02 9.96804263e-01 2.09851997e-02 1.24775427e-01] [ 2.50903599e-01 -3.97627790e-02 9.67195071e-01 7.76503591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.00538474999999 meters Centerline goodness : 0.903689 Centerline is valid? [False, False] Translation: X:21.09, Y:0.12, Z:0.78 [[ 9.64756791e-01 -6.99379560e-02 -2.53678963e-01 2.10882012e+01] [ 7.77606243e-02 9.96752356e-01 2.09290826e-02 1.23903114e-01] [ 2.51391367e-01 -3.99177091e-02 9.67062023e-01 7.76648210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03538474999999 meters Centerline goodness : 0.903301 Centerline is valid? [False, False] Translation: X:21.09, Y:0.12, Z:0.78 [[ 9.64469189e-01 -7.16437254e-02 -2.54295813e-01 2.10914117e+01] [ 7.95534001e-02 9.96610564e-01 2.09437569e-02 1.21848322e-01] [ 2.51933405e-01 -4.04297048e-02 9.66899684e-01 7.77368451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.06538474999999 meters Centerline goodness : 0.902900 Centerline is valid? [False, False] Translation: X:21.09, Y:0.12, Z:0.78 [[ 9.64360681e-01 -7.21071032e-02 -2.54576204e-01 2.10927858e+01] [ 7.99777202e-02 9.96581939e-01 2.06882335e-02 1.22640310e-01] [ 2.52214278e-01 -4.03113434e-02 9.66831399e-01 7.77147821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.09538475 meters Centerline goodness : 0.902823 Centerline is valid? [False, False] Translation: X:21.09, Y:0.12, Z:0.78 [[ 9.64275064e-01 -7.23639722e-02 -2.54827502e-01 2.10934707e+01] [ 8.02683635e-02 9.96557430e-01 2.07431585e-02 1.23192703e-01] [ 2.52449183e-01 -4.04566971e-02 9.66764018e-01 7.77588024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.12538475 meters Centerline goodness : 0.904190 Centerline is valid? [False, False] Translation: X:21.09, Y:0.12, Z:0.78 [[ 9.64134951e-01 -7.29282934e-02 -2.55196512e-01 2.10944829e+01] [ 8.08755391e-02 9.96507706e-01 2.07735112e-02 1.24200062e-01] [ 2.52790314e-01 -4.06676237e-02 9.66666024e-01 7.78280793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.15538475 meters Centerline goodness : 0.905468 Centerline is valid? [False, False] Translation: X:21.09, Y:0.12, Z:0.78 [[ 0.96395373 -0.07341174 -0.25574189 21.09467789] [ 0.08157088 0.99643714 0.02142932 0.12348308] [ 0.25325756 -0.04151797 0.96650756 0.78074809] [ 0. 0. 0. 1. ]] SLAMing on 124.18538475 meters Centerline goodness : 0.908321 Centerline is valid? [False, False] Translation: X:21.10, Y:0.13, Z:0.78 [[ 9.63856768e-01 -7.36901408e-02 -2.56027137e-01 2.10956509e+01] [ 8.17699807e-02 9.96429058e-01 2.10428933e-02 1.25033871e-01] [ 2.53562225e-01 -4.12176691e-02 9.66440532e-01 7.80540118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21538474999998 meters Centerline goodness : 0.907925 Centerline is valid? [False, False] Translation: X:21.10, Y:0.13, Z:0.78 [[ 0.96391923 -0.06949991 -0.25696204 21.09690814] [ 0.07850416 0.99660184 0.02493724 0.1256913 ] [ 0.2543557 -0.04421007 0.96609971 0.7817165 ] [ 0. 0. 0. 1. ]] SLAMing on 124.24538474999999 meters Centerline goodness : 0.907604 Centerline is valid? [False, False] Translation: X:21.10, Y:0.13, Z:0.78 [[ 0.96385456 -0.0698694 -0.25710436 21.09714248] [ 0.07888941 0.99657175 0.02492393 0.12546987] [ 0.25448152 -0.04430586 0.96606219 0.78234327] [ 0. 0. 0. 1. ]] SLAMing on 124.27538474999999 meters Centerline goodness : 0.914212 Centerline is valid? [False, False] Translation: X:21.10, Y:0.12, Z:0.78 [[ 0.9635612 -0.07116156 -0.2578485 21.09906789] [ 0.08034916 0.99644672 0.02525759 0.12437105] [ 0.25513492 -0.04505515 0.96585517 0.784384 ] [ 0. 0. 0. 1. ]] SLAMing on 124.30538474999999 meters Centerline goodness : 0.911661 Centerline is valid? [False, False] Translation: X:21.10, Y:0.12, Z:0.78 [[ 0.96331972 -0.07206829 -0.2584981 21.10106584] [ 0.08125877 0.99637863 0.02503259 0.12457081] [ 0.25575793 -0.04511963 0.96568737 0.78497497] [ 0. 0. 0. 1. ]] SLAMing on 124.33538474999999 meters Centerline goodness : 0.912689 Centerline is valid? [False, False] Translation: X:21.10, Y:0.13, Z:0.78 [[ 0.96304591 -0.0735837 -0.25909074 21.10474668] [ 0.08263522 0.99628589 0.0242043 0.12500418] [ 0.2563474 -0.04471988 0.96554966 0.78416925] [ 0. 0. 0. 1. ]] SLAMing on 124.36538474999999 meters Centerline goodness : 0.909681 Centerline is valid? [False, False] Translation: X:21.11, Y:0.13, Z:0.78 [[ 0.96297275 -0.07394641 -0.25925934 21.10618428] [ 0.08293927 0.99626783 0.02390589 0.12556822] [ 0.25652399 -0.0445235 0.96551183 0.78351805] [ 0. 0. 0. 1. ]] SLAMing on 124.39538474999999 meters Centerline goodness : 0.908577 Centerline is valid? [False, False] Translation: X:21.11, Y:0.13, Z:0.78 [[ 0.96295807 -0.07398335 -0.25930332 21.10693611] [ 0.08298064 0.99626429 0.0239099 0.12559477] [ 0.25656571 -0.04454139 0.96549992 0.78312476] [ 0. 0. 0. 1. ]] SLAMing on 124.42538474999999 meters Centerline goodness : 0.913063 Centerline is valid? [False, False] Translation: X:21.11, Y:0.12, Z:0.79 [[ 0.96260665 -0.07490528 -0.2603414 21.10870349] [ 0.08449153 0.99608984 0.02581116 0.12077749] [ 0.25739003 -0.04684263 0.96517156 0.78753205] [ 0. 0. 0. 1. ]] SLAMing on 124.45538475 meters Centerline goodness : 0.914453 Centerline is valid? [False, False] Translation: X:21.11, Y:0.12, Z:0.79 [[ 0.96219325 -0.07813265 -0.26092035 21.11287561] [ 0.08765537 0.99583603 0.0250425 0.11822523] [ 0.25787725 -0.0469668 0.96503546 0.78849391] [ 0. 0. 0. 1. ]] SLAMing on 124.48538475 meters Centerline goodness : 0.912923 Centerline is valid? [False, False] Translation: X:21.12, Y:0.12, Z:0.79 [[ 0.96196521 -0.07576429 -0.26245517 21.11886682] [ 0.08612109 0.9958864 0.02816813 0.11792681] [ 0.25924139 -0.04969969 0.96453297 0.78830018] [ 0. 0. 0. 1. ]] SLAMing on 124.51538475 meters Centerline goodness : 0.912923 Centerline is valid? [False, False] Translation: X:21.12, Y:0.12, Z:0.79 [[ 0.96196521 -0.07576429 -0.26245517 21.11886682] [ 0.08612109 0.9958864 0.02816813 0.11792681] [ 0.25924139 -0.04969969 0.96453297 0.78830018] [ 0. 0. 0. 1. ]] SLAMing on 124.54538475 meters Centerline goodness : 0.904485 Centerline is valid? [False, False] Translation: X:21.12, Y:0.12, Z:0.79 [[ 0.96172611 -0.07723897 -0.2629012 21.12291848] [ 0.08742886 0.99579755 0.02726593 0.11832199] [ 0.25969038 -0.0492075 0.96443742 0.78668228] [ 0. 0. 0. 1. ]] SLAMing on 124.57538475 meters Centerline goodness : 0.906295 Centerline is valid? [False, False] Translation: X:21.12, Y:0.12, Z:0.79 [[ 0.96164603 -0.0773879 -0.26315019 21.12360869] [ 0.08762733 0.99577694 0.02738131 0.11857724] [ 0.25991991 -0.04939028 0.96436624 0.78703893] [ 0. 0. 0. 1. ]] SLAMing on 124.60538474999998 meters Centerline goodness : 0.908235 Centerline is valid? [False, False] Translation: X:21.14, Y:0.12, Z:0.79 [[ 9.63055758e-01 -7.79723445e-02 -2.57767184e-01 2.11382366e+01] [ 8.62681819e-02 9.96050309e-01 2.10138909e-02 1.21359643e-01] [ 2.55110581e-01 -4.24746549e-02 9.65978517e-01 7.88704798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63538474999999 meters Centerline goodness : 0.910923 Centerline is valid? [False, False] Translation: X:21.14, Y:0.12, Z:0.79 [[ 0.96306567 -0.07755062 -0.25785734 21.13714653] [ 0.0859765 0.99606417 0.02154533 0.12144808] [ 0.25517161 -0.04291924 0.96594275 0.79001581] [ 0. 0. 0. 1. ]] SLAMing on 124.66538474999999 meters Centerline goodness : 0.910713 Centerline is valid? [False, False] Translation: X:21.14, Y:0.12, Z:0.79 [[ 0.9632021 -0.07669316 -0.25760411 21.13513857] [ 0.08524002 0.99611401 0.02215893 0.12177629] [ 0.25490362 -0.04330171 0.96599643 0.79091649] [ 0. 0. 0. 1. ]] SLAMing on 124.69538474999999 meters Centerline goodness : 0.912257 Centerline is valid? [False, False] Translation: X:21.14, Y:0.12, Z:0.79 [[ 0.96335204 -0.07219309 -0.25834279 21.13523095] [ 0.08174933 0.99630249 0.02642702 0.12283699] [ 0.25547972 -0.04657788 0.96569178 0.79270644] [ 0. 0. 0. 1. ]] SLAMing on 124.72538474999999 meters Centerline goodness : 0.907392 Centerline is valid? [False, False] Translation: X:21.14, Y:0.12, Z:0.79 [[ 0.96340344 -0.06781627 -0.25933525 21.1356904 ] [ 0.07839772 0.99645036 0.03066722 0.12331682] [ 0.25633496 -0.0498762 0.96530034 0.7948936 ] [ 0. 0. 0. 1. ]] SLAMing on 124.75538474999999 meters Centerline goodness : 0.910275 Centerline is valid? [False, False] Translation: X:21.14, Y:0.12, Z:0.79 [[ 0.9633855 -0.06787281 -0.25938708 21.13570787] [ 0.07832136 0.99647217 0.03014916 0.12493782] [ 0.2564257 -0.04936082 0.96530274 0.79455922] [ 0. 0. 0. 1. ]] SLAMing on 124.78538474999999 meters Centerline goodness : 0.907567 Centerline is valid? [False, False] Translation: X:21.13, Y:0.13, Z:0.79 [[ 0.96344616 -0.06643434 -0.25953415 21.13423344] [ 0.07682044 0.99659137 0.03007104 0.12865381] [ 0.25665174 -0.04890935 0.96526564 0.79434962] [ 0. 0. 0. 1. ]] SLAMing on 124.81538474999999 meters Centerline goodness : 0.902746 Centerline is valid? [False, False] Translation: X:21.13, Y:0.13, Z:0.79 [[ 0.96350521 -0.06612803 -0.25939312 21.13405147] [ 0.07636823 0.99664054 0.02958948 0.13183113] [ 0.25656501 -0.04831901 0.96531843 0.79346546] [ 0. 0. 0. 1. ]] SLAMing on 124.84538475 meters Centerline goodness : 0.905231 Centerline is valid? [False, False] Translation: X:21.13, Y:0.14, Z:0.79 [[ 0.96365187 -0.06153158 -0.25997873 21.13465448] [ 0.07242326 0.99684381 0.03251588 0.13598248] [ 0.25715743 -0.05016249 0.96506672 0.79292569] [ 0. 0. 0. 1. ]] SLAMing on 124.87538475 meters Centerline goodness : 0.909939 Centerline is valid? [False, False] Translation: X:21.13, Y:0.14, Z:0.79 [[ 0.96370763 -0.061384 -0.25980686 21.13440312] [ 0.07208506 0.9968897 0.03185385 0.13899845] [ 0.25704347 -0.04942599 0.96513508 0.79200475] [ 0. 0. 0. 1. ]] SLAMing on 124.90538475 meters Centerline goodness : 0.911283 Centerline is valid? [False, False] Translation: X:21.14, Y:0.14, Z:0.79 [[ 0.96382575 -0.0570102 -0.26036466 21.13504381] [ 0.06848368 0.99703099 0.03520216 0.14132324] [ 0.25758475 -0.05175948 0.96486841 0.79211894] [ 0. 0. 0. 1. ]] SLAMing on 124.93538475 meters Centerline goodness : 0.908848 Centerline is valid? [False, False] Translation: X:21.14, Y:0.14, Z:0.79 [[ 0.96385689 -0.05708018 -0.26023404 21.13506867] [ 0.06839983 0.9970563 0.03464379 0.14321048] [ 0.25749051 -0.05119162 0.96492386 0.79135951] [ 0. 0. 0. 1. ]] SLAMing on 124.96538474999998 meters Centerline goodness : 0.906024 Centerline is valid? [False, False] Translation: X:21.13, Y:0.15, Z:0.79 [[ 0.96394272 -0.05658585 -0.26002398 21.13411986] [ 0.06778521 0.99711017 0.03429966 0.14515076] [ 0.25733168 -0.05068869 0.96499278 0.79085922] [ 0. 0. 0. 1. ]] SLAMing on 124.99538474999999 meters Centerline goodness : 0.907132 Centerline is valid? [False, False] Translation: X:21.13, Y:0.15, Z:0.79 [[ 0.96391404 -0.05677909 -0.26008818 21.13485511] [ 0.06785091 0.99712333 0.0337835 0.14676185] [ 0.25742179 -0.05021161 0.96499369 0.79017993] [ 0. 0. 0. 1. ]] SLAMing on 125.02538474999999 meters Centerline goodness : 0.909945 Centerline is valid? [False, False] Translation: X:21.13, Y:0.15, Z:0.79 [[ 0.96367303 -0.06171112 -0.2598577 21.13441281] [ 0.07182893 0.99697729 0.02961244 0.14783553] [ 0.25724481 -0.04720202 0.96519277 0.7904793 ] [ 0. 0. 0. 1. ]] SLAMing on 125.05538474999999 meters Centerline goodness : 0.912179 Centerline is valid? [False, False] Translation: X:21.14, Y:0.15, Z:0.79 [[ 0.96352483 -0.06237443 -0.26024861 21.1355637 ] [ 0.07247176 0.99693778 0.02937541 0.14755459] [ 0.2576194 -0.04716461 0.96509468 0.79090228] [ 0. 0. 0. 1. ]] SLAMing on 125.08538474999999 meters Centerline goodness : 0.911997 Centerline is valid? [False, False] Translation: X:21.14, Y:0.15, Z:0.79 [[ 0.96329529 -0.06405098 -0.26069074 21.13883718] [ 0.07408193 0.99683548 0.02882528 0.14721028] [ 0.25801949 -0.04707973 0.96499194 0.79049982] [ 0. 0. 0. 1. ]] SLAMing on 125.11538474999999 meters Centerline goodness : 0.911290 Centerline is valid? [False, False] Translation: X:21.14, Y:0.15, Z:0.79 [[ 0.96271954 -0.06740879 -0.26196784 21.14486848] [ 0.07758927 0.99657218 0.02870191 0.14687417] [ 0.2591351 -0.04795778 0.9646497 0.79233702] [ 0. 0. 0. 1. ]] SLAMing on 125.14538474999999 meters Centerline goodness : 0.909697 Centerline is valid? [False, False] Translation: X:21.15, Y:0.15, Z:0.79 [[ 0.96247984 -0.06842314 -0.2625849 21.14723043] [ 0.07864494 0.99649223 0.02860425 0.14630911] [ 0.25970662 -0.04818199 0.96448482 0.79279709] [ 0. 0. 0. 1. ]] SLAMing on 125.17538474999999 meters Centerline goodness : 0.911749 Centerline is valid? [False, False] Translation: X:21.15, Y:0.15, Z:0.79 [[ 0.96222852 -0.06925883 -0.26328593 21.14986356] [ 0.07938697 0.99645019 0.02801302 0.14739846] [ 0.26041117 -0.0478564 0.96431104 0.79255468] [ 0. 0. 0. 1. ]] SLAMing on 125.20538475 meters Centerline goodness : 0.907928 Centerline is valid? [False, False] Translation: X:21.15, Y:0.15, Z:0.79 [[ 0.96227893 -0.06893277 -0.26318725 21.14983437] [ 0.07897302 0.99649046 0.02774915 0.1486774 ] [ 0.26035076 -0.04748711 0.96434561 0.79180098] [ 0. 0. 0. 1. ]] SLAMing on 125.23538475 meters Centerline goodness : 0.907627 Centerline is valid? [False, False] Translation: X:21.15, Y:0.15, Z:0.79 [[ 0.96215607 -0.0692169 -0.26356162 21.15083314] [ 0.07926594 0.99646931 0.02767354 0.14845081] [ 0.26071559 -0.04751772 0.96424553 0.79213504] [ 0. 0. 0. 1. ]] SLAMing on 125.26538475 meters Centerline goodness : 0.909609 Centerline is valid? [False, False] Translation: X:21.15, Y:0.15, Z:0.79 [[ 0.96215333 -0.06911054 -0.26359951 21.15109396] [ 0.0790788 0.99649224 0.02738176 0.14994925] [ 0.2607825 -0.04719058 0.96424351 0.79170696] [ 0. 0. 0. 1. ]] SLAMing on 125.29538475 meters Centerline goodness : 0.907625 Centerline is valid? [False, False] Translation: X:21.15, Y:0.15, Z:0.79 [[ 0.9620501 -0.06949629 -0.26387474 21.15252462] [ 0.07939899 0.99647619 0.02703712 0.15083728] [ 0.26106591 -0.04696245 0.96417795 0.79130336] [ 0. 0. 0. 1. ]] SLAMing on 125.32538475 meters Centerline goodness : 0.904229 Centerline is valid? [False, False] Translation: X:21.15, Y:0.15, Z:0.79 [[ 0.96199391 -0.06963186 -0.2640438 21.15330509] [ 0.07944802 0.99648222 0.02666831 0.15213325] [ 0.26125799 -0.04663251 0.96414194 0.79095293] [ 0. 0. 0. 1. ]] SLAMing on 125.35538474999998 meters Centerline goodness : 0.902343 Centerline is valid? [False, False] Translation: X:21.15, Y:0.15, Z:0.79 [[ 0.96199927 -0.06949777 -0.26405957 21.15355862] [ 0.07925539 0.99650292 0.0264671 0.15369622] [ 0.26129673 -0.04638948 0.96414316 0.79056954] [ 0. 0. 0. 1. ]] SLAMing on 125.38538474999999 meters Centerline goodness : 0.900167 Centerline is valid? [False, False] Translation: X:21.15, Y:0.15, Z:0.79 [[ 0.96202748 -0.0693939 -0.26398413 21.15355986] [ 0.07913303 0.99651372 0.0264265 0.15469476] [ 0.26122997 -0.04631289 0.96416493 0.79040663] [ 0. 0. 0. 1. ]] SLAMing on 125.41538474999999 meters Centerline goodness : 0.899371 Centerline is valid? [False, False] Translation: X:21.15, Y:0.16, Z:0.79 [[ 0.96200702 -0.06941368 -0.26405347 21.15388434] [ 0.07909918 0.99652204 0.02621329 0.15603885] [ 0.26131554 -0.04610378 0.96415177 0.79023205] [ 0. 0. 0. 1. ]] SLAMing on 125.44538474999999 meters Centerline goodness : 0.901009 Centerline is valid? [False, False] Translation: X:21.17, Y:0.16, Z:0.79 [[ 9.63703641e-01 -6.78328480e-02 -2.58213083e-01 2.11666509e+01] [ 7.54989615e-02 9.96947723e-01 1.98782367e-02 1.60225618e-01] [ 2.56076548e-01 -3.86515488e-02 9.65883461e-01 7.89693993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47538474999999 meters Centerline goodness : 0.900126 Centerline is valid? [False, False] Translation: X:21.17, Y:0.16, Z:0.79 [[ 0.96383981 -0.06299437 -0.2589296 21.16669997] [ 0.0717346 0.99712436 0.0244369 0.16059887] [ 0.25664562 -0.04212747 0.96558702 0.79153703] [ 0. 0. 0. 1. ]] SLAMing on 125.50538474999999 meters Centerline goodness : 0.895389 Centerline is valid? [False, False] Translation: X:21.17, Y:0.16, Z:0.79 [[ 0.9638097 -0.06292256 -0.2590591 21.16717702] [ 0.07161082 0.99713833 0.02422887 0.16172665] [ 0.25679322 -0.04190346 0.96555753 0.79124365] [ 0. 0. 0. 1. ]] SLAMing on 125.53538474999999 meters Centerline goodness : 0.897491 Centerline is valid? [False, False] Translation: X:21.17, Y:0.16, Z:0.79 [[ 0.96374112 -0.06285443 -0.25933062 21.16802373] [ 0.07148596 0.99715333 0.02397886 0.16257409] [ 0.25708521 -0.04164791 0.96549088 0.79095253] [ 0. 0. 0. 1. ]] SLAMing on 125.56538474999999 meters Centerline goodness : 0.899180 Centerline is valid? [False, False] Translation: X:21.17, Y:0.16, Z:0.79 [[ 0.96374572 -0.06274066 -0.2593411 21.16812042] [ 0.07140143 0.99715643 0.02410173 0.16236691] [ 0.25709148 -0.04174526 0.96548501 0.7910051 ] [ 0. 0. 0. 1. ]] SLAMing on 125.59538475 meters Centerline goodness : 0.897067 Centerline is valid? [False, False] Translation: X:21.17, Y:0.16, Z:0.79 [[ 0.96366432 -0.06297189 -0.2595874 21.16924899] [ 0.07164301 0.99713989 0.02406909 0.16204396] [ 0.25732927 -0.04179214 0.96541963 0.79094886] [ 0. 0. 0. 1. ]] SLAMing on 125.62538475 meters Centerline goodness : 0.896588 Centerline is valid? [False, False] Translation: X:21.17, Y:0.16, Z:0.79 [[ 0.96341749 -0.06404907 -0.26023923 21.17261332] [ 0.07271626 0.99706856 0.02380426 0.16033236] [ 0.25795171 -0.04185706 0.96525069 0.79063303] [ 0. 0. 0. 1. ]] SLAMing on 125.65538475 meters Centerline goodness : 0.893824 Centerline is valid? [False, False] Translation: X:21.18, Y:0.16, Z:0.79 [[ 0.96315772 -0.06533223 -0.26088101 21.17673586] [ 0.07389542 0.99699749 0.02314036 0.16038823] [ 0.2585859 -0.04156573 0.96509358 0.78950725] [ 0. 0. 0. 1. ]] SLAMing on 125.68538475 meters Centerline goodness : 0.890668 Centerline is valid? [False, False] Translation: X:21.18, Y:0.16, Z:0.79 [[ 0.96303908 -0.06602705 -0.26114393 21.17922512] [ 0.07447537 0.99696725 0.02257713 0.1610339 ] [ 0.25886124 -0.04119145 0.96503581 0.78834135] [ 0. 0. 0. 1. ]] SLAMing on 125.71538474999998 meters Centerline goodness : 0.885847 Centerline is valid? [False, False] Translation: X:21.18, Y:0.16, Z:0.79 [[ 0.96286211 -0.06653279 -0.26166761 21.18202082] [ 0.07486903 0.9969505 0.0220075 0.16167469] [ 0.25940543 -0.04078099 0.96490711 0.78735194] [ 0. 0. 0. 1. ]] SLAMing on 125.74538474999999 meters Centerline goodness : 0.889327 Centerline is valid? [False, False] Translation: X:21.18, Y:0.16, Z:0.79 [[ 0.96280247 -0.06647061 -0.26190275 21.18267066] [ 0.07480513 0.9969561 0.02197106 0.16193716] [ 0.25964512 -0.04074546 0.96484414 0.7873463 ] [ 0. 0. 0. 1. ]] SLAMing on 125.77538474999999 meters Centerline goodness : 0.885483 Centerline is valid? [False, False] Translation: X:21.18, Y:0.16, Z:0.79 [[ 0.96278163 -0.0663881 -0.26200029 21.18304565] [ 0.07473751 0.99696006 0.0220214 0.16199301] [ 0.25974187 -0.04078305 0.96481651 0.78735124] [ 0. 0. 0. 1. ]] SLAMing on 125.80538474999999 meters Centerline goodness : 0.889338 Centerline is valid? [False, False] Translation: X:21.19, Y:0.16, Z:0.79 [[ 0.96252833 -0.0671668 -0.26273148 21.18503467] [ 0.07565729 0.99688399 0.02232231 0.16091944] [ 0.26041348 -0.04136341 0.96461074 0.78864374] [ 0. 0. 0. 1. ]] SLAMing on 125.83538474999999 meters Centerline goodness : 0.889164 Centerline is valid? [False, False] Translation: X:21.19, Y:0.16, Z:0.79 [[ 0.96246436 -0.0674529 -0.26289248 21.18627798] [ 0.07590643 0.99686953 0.02212117 0.16111432] [ 0.26057737 -0.04124607 0.96457151 0.78816483] [ 0. 0. 0. 1. ]] SLAMing on 125.86538474999999 meters Centerline goodness : 0.888690 Centerline is valid? [False, False] Translation: X:21.19, Y:0.16, Z:0.79 [[ 0.96238316 -0.06759165 -0.26315398 21.18760339] [ 0.07619061 0.99683716 0.02259777 0.16006809] [ 0.26079425 -0.04179758 0.96448915 0.78848471] [ 0. 0. 0. 1. ]] SLAMing on 125.89538474999999 meters Centerline goodness : 0.892258 Centerline is valid? [False, False] Translation: X:21.19, Y:0.16, Z:0.79 [[ 0.9620316 -0.06795279 -0.26434376 21.18937352] [ 0.07725595 0.99669917 0.02494544 0.15574221] [ 0.26177609 -0.04442043 0.96410586 0.79299225] [ 0. 0. 0. 1. ]] SLAMing on 125.92538474999999 meters Centerline goodness : 0.889479 Centerline is valid? [False, False] Translation: X:21.19, Y:0.15, Z:0.79 [[ 0.96161657 -0.06937971 -0.26548076 21.19285524] [ 0.07891795 0.99655702 0.02541791 0.15342311] [ 0.26280322 -0.04539348 0.96378104 0.79483035] [ 0. 0. 0. 1. ]] SLAMing on 125.95538475 meters Centerline goodness : 0.889090 Centerline is valid? [False, False] Translation: X:21.19, Y:0.15, Z:0.80 [[ 0.96138103 -0.07001623 -0.26616581 21.19473635] [ 0.07974 0.99647945 0.0258891 0.15138443] [ 0.2634161 -0.04611335 0.96357953 0.79610422] [ 0. 0. 0. 1. ]] SLAMing on 125.98538475 meters Centerline goodness : 0.896727 Centerline is valid? [False, False] Translation: X:21.20, Y:0.15, Z:0.80 [[ 0.96143929 -0.06587454 -0.26701131 21.19568379] [ 0.07673839 0.99658628 0.03044682 0.14885181] [ 0.26409414 -0.04976279 0.96321231 0.79831306] [ 0. 0. 0. 1. ]] SLAMing on 126.01538475 meters Centerline goodness : 0.889819 Centerline is valid? [False, False] Translation: X:21.20, Y:0.15, Z:0.80 [[ 0.961511 -0.06539556 -0.26687079 21.19540667] [ 0.0762076 0.99662999 0.03034903 0.15034586] [ 0.26398674 -0.04951851 0.96325434 0.79774942] [ 0. 0. 0. 1. ]] SLAMing on 126.04538475 meters Centerline goodness : 0.887107 Centerline is valid? [False, False] Translation: X:21.20, Y:0.15, Z:0.80 [[ 0.96115066 -0.06700308 -0.26776857 21.19890105] [ 0.07782018 0.9965166 0.02997825 0.15092019] [ 0.26482718 -0.04965141 0.96301677 0.79832804] [ 0. 0. 0. 1. ]] SLAMing on 126.07538475 meters Centerline goodness : 0.892617 Centerline is valid? [False, False] Translation: X:21.20, Y:0.15, Z:0.80 [[ 0.9607791 -0.06863499 -0.26868711 21.20251059] [ 0.07939082 0.99641114 0.02935892 0.15216276] [ 0.26570778 -0.04953873 0.96277998 0.79868145] [ 0. 0. 0. 1. ]] SLAMing on 126.10538474999998 meters Centerline goodness : 0.888340 Centerline is valid? [False, False] Translation: X:21.20, Y:0.15, Z:0.80 [[ 0.96066463 -0.06878204 -0.26905855 21.20329197] [ 0.07954908 0.99640001 0.02930797 0.15241249] [ 0.26607408 -0.04955849 0.9626778 0.79902185] [ 0. 0. 0. 1. ]] SLAMing on 126.13538474999999 meters Centerline goodness : 0.889605 Centerline is valid? [False, False] Translation: X:21.20, Y:0.15, Z:0.80 [[ 0.96055625 -0.06899107 -0.26939178 21.20453676] [ 0.07972058 0.99639299 0.02907986 0.15383555] [ 0.26641383 -0.04940891 0.96259152 0.79885064] [ 0. 0. 0. 1. ]] SLAMing on 126.16538474999999 meters Centerline goodness : 0.883787 Centerline is valid? [False, False] Translation: X:21.21, Y:0.15, Z:0.80 [[ 0.96060642 -0.06437692 -0.27035331 21.20564416] [ 0.07606716 0.99655724 0.03297654 0.15450597] [ 0.26729962 -0.05224248 0.96219626 0.79986102] [ 0. 0. 0. 1. ]] SLAMing on 126.19538474999999 meters Centerline goodness : 0.888418 Centerline is valid? [False, False] Translation: X:21.21, Y:0.16, Z:0.80 [[ 0.96054946 -0.06415387 -0.2706086 21.20620355] [ 0.07580382 0.9965828 0.03281003 0.15541049] [ 0.26757898 -0.05202882 0.96213018 0.79963132] [ 0. 0. 0. 1. ]] SLAMing on 126.22538474999999 meters Centerline goodness : 0.888987 Centerline is valid? [False, False] Translation: X:21.21, Y:0.16, Z:0.80 [[ 0.96037466 -0.06455503 -0.2711331 21.20802933] [ 0.07613224 0.99657154 0.03238914 0.15620675] [ 0.26811264 -0.05174768 0.96199677 0.7994133 ] [ 0. 0. 0. 1. ]] SLAMing on 126.25538474999999 meters Centerline goodness : 0.886348 Centerline is valid? [False, False] Translation: X:21.21, Y:0.16, Z:0.80 [[ 0.96025084 -0.0647256 -0.27153071 21.20961703] [ 0.07626415 0.99656926 0.03214801 0.15723615] [ 0.26851836 -0.05157822 0.96189271 0.7990457 ] [ 0. 0. 0. 1. ]] SLAMing on 126.28538474999999 meters Centerline goodness : 0.887193 Centerline is valid? [False, False] Translation: X:21.21, Y:0.16, Z:0.80 [[ 0.96015397 -0.06503966 -0.27179807 21.21082106] [ 0.0765502 0.99655363 0.03195192 0.15765698] [ 0.26878321 -0.05148496 0.96182373 0.79892246] [ 0. 0. 0. 1. ]] SLAMing on 126.31538474999999 meters Centerline goodness : 0.889617 Centerline is valid? [False, False] Translation: X:21.21, Y:0.16, Z:0.80 [[ 0.96001847 -0.06498416 -0.27228953 21.21168913] [ 0.07654753 0.99655067 0.03205059 0.15729185] [ 0.26926754 -0.05161225 0.96168143 0.79948633] [ 0. 0. 0. 1. ]] SLAMing on 126.34538475 meters Centerline goodness : 0.889905 Centerline is valid? [False, False] Translation: X:21.21, Y:0.16, Z:0.80 [[ 0.95995448 -0.06479283 -0.27256062 21.21201309] [ 0.07645859 0.99654659 0.03238801 0.15699558] [ 0.26952085 -0.05193062 0.96159333 0.80013566] [ 0. 0. 0. 1. ]] SLAMing on 126.37538475 meters Centerline goodness : 0.890826 Centerline is valid? [False, False] Translation: X:21.21, Y:0.16, Z:0.80 [[ 0.95988402 -0.06450506 -0.27287682 21.21216033] [ 0.07624982 0.99655418 0.03264549 0.15659176] [ 0.26983073 -0.0521427 0.96149494 0.80082269] [ 0. 0. 0. 1. ]] SLAMing on 126.40538475 meters Centerline goodness : 0.890826 Centerline is valid? [False, False] Translation: X:21.21, Y:0.16, Z:0.80 [[ 0.95988402 -0.06450506 -0.27287682 21.21216033] [ 0.07624982 0.99655418 0.03264549 0.15659176] [ 0.26983073 -0.0521427 0.96149494 0.80082269] [ 0. 0. 0. 1. ]] SLAMing on 126.43538475 meters Centerline goodness : 0.890835 Centerline is valid? [False, False] Translation: X:21.21, Y:0.16, Z:0.80 [[ 0.95977023 -0.06485553 -0.27319383 21.21355333] [ 0.07656354 0.99653803 0.03240337 0.15693573] [ 0.2701465 -0.05201648 0.9614131 0.80059869] [ 0. 0. 0. 1. ]] SLAMing on 126.46538474999998 meters Centerline goodness : 0.893074 Centerline is valid? [False, False] Translation: X:21.22, Y:0.16, Z:0.80 [[ 0.95957968 -0.06539901 -0.2737331 21.21581255] [ 0.07704465 0.99651399 0.03199997 0.15774283] [ 0.27068609 -0.05179619 0.96127322 0.80020543] [ 0. 0. 0. 1. ]] SLAMing on 126.49538474999999 meters Centerline goodness : 0.891484 Centerline is valid? [False, False] Translation: X:21.22, Y:0.16, Z:0.80 [[ 0.95950674 -0.06582119 -0.27388756 21.21718482] [ 0.07735737 0.99650496 0.03152306 0.15814644] [ 0.27085543 -0.05143381 0.96124497 0.79947267] [ 0. 0. 0. 1. ]] SLAMing on 126.52538474999999 meters Centerline goodness : 0.889353 Centerline is valid? [False, False] Translation: X:21.22, Y:0.16, Z:0.80 [[ 0.95929456 -0.06619487 -0.27453997 21.21934013] [ 0.07777854 0.99647254 0.0315115 0.15782186] [ 0.27148564 -0.05158213 0.96105922 0.79967103] [ 0. 0. 0. 1. ]] SLAMing on 126.55538474999999 meters Centerline goodness : 0.890363 Centerline is valid? [False, False] Translation: X:21.22, Y:0.16, Z:0.80 [[ 0.95914078 -0.06666574 -0.27496297 21.22107779] [ 0.07823992 0.99644215 0.03132984 0.15777038] [ 0.27189607 -0.05156281 0.96094423 0.79960236] [ 0. 0. 0. 1. ]] SLAMing on 126.58538474999999 meters Centerline goodness : 0.889623 Centerline is valid? [False, False] Translation: X:21.22, Y:0.16, Z:0.80 [[ 0.95892185 -0.06720241 -0.27559522 21.22363956] [ 0.07878223 0.99640501 0.03115139 0.15788903] [ 0.27251101 -0.05158375 0.96076889 0.79942621] [ 0. 0. 0. 1. ]] SLAMing on 126.61538474999999 meters Centerline goodness : 0.885604 Centerline is valid? [False, False] Translation: X:21.22, Y:0.16, Z:0.80 [[ 0.95888115 -0.0672999 -0.27571301 21.2245147 ] [ 0.07883965 0.99640601 0.0309736 0.15854669] [ 0.27263758 -0.05143711 0.96074085 0.79900438] [ 0. 0. 0. 1. ]] SLAMing on 126.64538474999999 meters Centerline goodness : 0.889649 Centerline is valid? [False, False] Translation: X:21.22, Y:0.16, Z:0.80 [[ 0.95882847 -0.06681944 -0.27601292 21.22464177] [ 0.07842439 0.99643139 0.03121069 0.15858212] [ 0.27294246 -0.05157184 0.96064705 0.79942805] [ 0. 0. 0. 1. ]] SLAMing on 126.67538474999999 meters Centerline goodness : 0.894214 Centerline is valid? [False, False] Translation: X:21.22, Y:0.16, Z:0.80 [[ 0.95875156 -0.06647311 -0.27636346 21.22498375] [ 0.07819101 0.99643788 0.03158674 0.15728997] [ 0.27327935 -0.05189298 0.96053397 0.80006658] [ 0. 0. 0. 1. ]] SLAMing on 126.70538475 meters Centerline goodness : 0.895039 Centerline is valid? [False, False] Translation: X:21.23, Y:0.16, Z:0.80 [[ 0.95855912 -0.06699884 -0.27690354 21.22664734] [ 0.07873122 0.9963994 0.03145832 0.15735576] [ 0.27379885 -0.05195562 0.96038263 0.8003918 ] [ 0. 0. 0. 1. ]] SLAMing on 126.73538475 meters Centerline goodness : 0.892644 Centerline is valid? [False, False] Translation: X:21.23, Y:0.16, Z:0.80 [[ 0.95843324 -0.06725368 -0.27727726 21.22785833] [ 0.07906189 0.99636826 0.03161496 0.15710921] [ 0.27414404 -0.0522229 0.96026966 0.80073575] [ 0. 0. 0. 1. ]] SLAMing on 126.76538475 meters Centerline goodness : 0.888027 Centerline is valid? [False, False] Translation: X:21.23, Y:0.16, Z:0.80 [[ 0.95833436 -0.06774941 -0.27749824 21.22948408] [ 0.07954755 0.99633428 0.03146719 0.15665403] [ 0.27434913 -0.05223039 0.96021068 0.80038473] [ 0. 0. 0. 1. ]] SLAMing on 126.79538475 meters Centerline goodness : 0.889954 Centerline is valid? [False, False] Translation: X:21.23, Y:0.16, Z:0.80 [[ 0.95820179 -0.06814151 -0.27785979 21.23099076] [ 0.07991892 0.99631081 0.03126877 0.15713775] [ 0.27470401 -0.05216805 0.9601126 0.80024659] [ 0. 0. 0. 1. ]] SLAMing on 126.82538475 meters Centerline goodness : 0.891747 Centerline is valid? [False, False] Translation: X:21.23, Y:0.16, Z:0.80 [[ 0.95808607 -0.06423985 -0.2791851 21.23311077] [ 0.07715532 0.99638654 0.0355095 0.15544414] [ 0.27589515 -0.05556178 0.95958051 0.8024921 ] [ 0. 0. 0. 1. ]] SLAMing on 126.85538474999998 meters Centerline goodness : 0.892209 Centerline is valid? [False, False] Translation: X:21.24, Y:0.16, Z:0.80 [[ 0.95780497 -0.06477674 -0.2800243 21.23533839] [ 0.07765539 0.99636109 0.03513156 0.1555535 ] [ 0.27672961 -0.05539458 0.95934987 0.802786 ] [ 0. 0. 0. 1. ]] SLAMing on 126.88538474999999 meters Centerline goodness : 0.889088 Centerline is valid? [False, False] Translation: X:21.24, Y:0.16, Z:0.80 [[ 0.95759056 -0.06569156 -0.280544 21.23767876] [ 0.07847837 0.99631597 0.03457781 0.15582782] [ 0.277239 -0.05512802 0.95921814 0.8024984 ] [ 0. 0. 0. 1. ]] SLAMing on 126.91538474999999 meters Centerline goodness : 0.887963 Centerline is valid? [False, False] Translation: X:21.24, Y:0.16, Z:0.80 [[ 0.95733889 -0.06677968 -0.28114538 21.24094302] [ 0.07941938 0.99626833 0.03379314 0.15699175] [ 0.27783954 -0.05467988 0.95907002 0.80160063] [ 0. 0. 0. 1. ]] SLAMing on 126.94538474999999 meters Centerline goodness : 0.889108 Centerline is valid? [False, False] Translation: X:21.25, Y:0.16, Z:0.80 [[ 0.95691128 -0.06868249 -0.28214095 21.2464294 ] [ 0.08108357 0.99617726 0.03250097 0.15840951] [ 0.27883015 -0.05397754 0.95882228 0.80016344] [ 0. 0. 0. 1. ]] SLAMing on 126.97538474999999 meters Centerline goodness : 0.884044 Centerline is valid? [False, False] Translation: X:21.25, Y:0.16, Z:0.80 [[ 0.95668025 -0.06956437 -0.2827078 21.2490365 ] [ 0.0818907 0.99612728 0.03200567 0.15897694] [ 0.2793865 -0.05377033 0.95867197 0.79983966] [ 0. 0. 0. 1. ]] SLAMing on 127.00538474999999 meters Centerline goodness : 0.887734 Centerline is valid? [False, False] Translation: X:21.25, Y:0.16, Z:0.80 [[ 0.95643406 -0.07017818 -0.28338826 21.25115823] [ 0.08242453 0.99609909 0.03150876 0.15969056] [ 0.28007156 -0.0534942 0.9584875 0.79977882] [ 0. 0. 0. 1. ]] SLAMing on 127.03538474999999 meters Centerline goodness : 0.890617 Centerline is valid? [False, False] Translation: X:21.25, Y:0.16, Z:0.80 [[ 0.95627955 -0.07042991 -0.28384686 21.25235501] [ 0.08268087 0.99608135 0.0313976 0.16022716] [ 0.28052324 -0.05349358 0.95835544 0.80003878] [ 0. 0. 0. 1. ]] SLAMing on 127.06538474999999 meters Centerline goodness : 0.890609 Centerline is valid? [False, False] Translation: X:21.25, Y:0.16, Z:0.80 [[ 0.95615938 -0.07029112 -0.28428575 21.25239293] [ 0.08261952 0.99608022 0.03159438 0.1603424 ] [ 0.28095061 -0.05369682 0.95821887 0.80112219] [ 0. 0. 0. 1. ]] SLAMing on 127.09538475 meters Centerline goodness : 0.894997 Centerline is valid? [False, False] Translation: X:21.27, Y:0.16, Z:0.80 [[ 0.95766439 -0.06940413 -0.27939574 21.26782193] [ 0.07976979 0.99647708 0.02588823 0.16410836] [ 0.2766147 -0.04707958 0.95982697 0.80188427] [ 0. 0. 0. 1. ]] SLAMing on 127.12538475 meters Centerline goodness : 0.895954 Centerline is valid? [False, False] Translation: X:21.27, Y:0.16, Z:0.80 [[ 0.95756574 -0.06912825 -0.27980197 21.26808895] [ 0.07960647 0.99648081 0.02624519 0.16461611] [ 0.27700301 -0.04740555 0.95969894 0.8027127 ] [ 0. 0. 0. 1. ]] SLAMing on 127.15538475 meters Centerline goodness : 0.896355 Centerline is valid? [False, False] Translation: X:21.27, Y:0.16, Z:0.80 [[ 0.95752796 -0.06496809 -0.28092588 21.26971518] [ 0.07662884 0.99658656 0.03071248 0.16289216] [ 0.27797162 -0.05093509 0.95923792 0.80484179] [ 0. 0. 0. 1. ]] SLAMing on 127.18538475 meters Centerline goodness : 0.899242 Centerline is valid? [False, False] Translation: X:21.28, Y:0.17, Z:0.81 [[ 0.9590657 -0.06440737 -0.27576199 21.28408339] [ 0.07404379 0.9969499 0.02466596 0.16545694] [ 0.27333222 -0.04407474 0.96090942 0.80593536] [ 0. 0. 0. 1. ]] SLAMing on 127.21538474999998 meters Centerline goodness : 0.899597 Centerline is valid? [False, False] Translation: X:21.28, Y:0.17, Z:0.81 [[ 0.95897198 -0.06418516 -0.27613949 21.2844897 ] [ 0.07392652 0.99695023 0.02500204 0.16548803] [ 0.27369257 -0.04439029 0.96079232 0.8066514 ] [ 0. 0. 0. 1. ]] SLAMing on 127.24538474999999 meters Centerline goodness : 0.905778 Centerline is valid? [False, False] Translation: X:21.29, Y:0.16, Z:0.81 [[ 0.958725 -0.06445673 -0.27693267 21.28562694] [ 0.07455895 0.99687516 0.02609379 0.16306914] [ 0.27438537 -0.04566458 0.96053496 0.80906164] [ 0. 0. 0. 1. ]] SLAMing on 127.27538474999999 meters Centerline goodness : 0.901416 Centerline is valid? [False, False] Translation: X:21.29, Y:0.16, Z:0.81 [[ 0.95840271 -0.06547801 -0.27780727 21.289502 ] [ 0.07562202 0.99679894 0.02594582 0.16195017] [ 0.27521911 -0.04587489 0.96028638 0.80895821] [ 0. 0. 0. 1. ]] SLAMing on 127.30538474999999 meters Centerline goodness : 0.904791 Centerline is valid? [False, False] Translation: X:21.29, Y:0.16, Z:0.81 [[ 0.95805432 -0.0666902 -0.27871911 21.29264036] [ 0.07700652 0.99668583 0.02621728 0.15976845] [ 0.27604695 -0.04658077 0.96001474 0.81011802] [ 0. 0. 0. 1. ]] SLAMing on 127.33538474999999 meters Centerline goodness : 0.901906 Centerline is valid? [False, False] Translation: X:21.30, Y:0.16, Z:0.81 [[ 0.95772161 -0.06764504 -0.27963094 21.29576519] [ 0.07810619 0.99659477 0.02642518 0.15846307] [ 0.2768912 -0.04714887 0.95974385 0.810966 ] [ 0. 0. 0. 1. ]] SLAMing on 127.36538474999999 meters Centerline goodness : 0.901710 Centerline is valid? [False, False] Translation: X:21.30, Y:0.16, Z:0.81 [[ 0.9569762 -0.07147453 -0.2812258 21.30432344] [ 0.08200061 0.99629762 0.02582525 0.15674628] [ 0.27833875 -0.04777484 0.95929407 0.81168908] [ 0. 0. 0. 1. ]] SLAMing on 127.39538474999999 meters Centerline goodness : 0.902542 Centerline is valid? [False, False] Translation: X:21.31, Y:0.16, Z:0.81 [[ 0.95646287 -0.0732721 -0.2825066 21.3101617 ] [ 0.0837943 0.99616114 0.02532799 0.15537543] [ 0.27956626 -0.04789773 0.95893092 0.8114293 ] [ 0. 0. 0. 1. ]] SLAMing on 127.42538474999999 meters Centerline goodness : 0.901404 Centerline is valid? [False, False] Translation: X:21.31, Y:0.16, Z:0.81 [[ 0.95626485 -0.0736696 -0.28307299 21.31222521] [ 0.08418017 0.9961336 0.02513053 0.15509349] [ 0.28012716 -0.04786058 0.95876907 0.81132574] [ 0. 0. 0. 1. ]] SLAMing on 127.45538475 meters Centerline goodness : 0.901192 Centerline is valid? [False, False] Translation: X:21.31, Y:0.15, Z:0.81 [[ 0.95602581 -0.07415877 -0.28375187 21.31452697] [ 0.08469914 0.99609185 0.02504168 0.15463138] [ 0.28078586 -0.04797403 0.9585707 0.81154191] [ 0. 0. 0. 1. ]] SLAMing on 127.48538475 meters Centerline goodness : 0.905824 Centerline is valid? [False, False] Translation: X:21.32, Y:0.15, Z:0.81 [[ 0.95586578 -0.07434696 -0.28424134 21.31581583] [ 0.08495907 0.99606642 0.02517213 0.15456695] [ 0.28125178 -0.04821006 0.95842226 0.81202843] [ 0. 0. 0. 1. ]] SLAMing on 127.51538475 meters Centerline goodness : 0.901889 Centerline is valid? [False, False] Translation: X:21.32, Y:0.16, Z:0.81 [[ 0.95563136 -0.07480277 -0.28490919 21.31782896] [ 0.0854207 0.99603109 0.0250073 0.15511333] [ 0.28190779 -0.0482349 0.95822826 0.81234129] [ 0. 0. 0. 1. ]] SLAMing on 127.54538475 meters Centerline goodness : 0.902486 Centerline is valid? [False, False] Translation: X:21.32, Y:0.16, Z:0.81 [[ 0.95540972 -0.07532467 -0.28551437 21.31975803] [ 0.08594021 0.99599118 0.02481628 0.15568367] [ 0.28250051 -0.04824688 0.95805308 0.81255927] [ 0. 0. 0. 1. ]] SLAMing on 127.57538475 meters Centerline goodness : 0.901631 Centerline is valid? [False, False] Translation: X:21.32, Y:0.16, Z:0.81 [[ 0.95535298 -0.07537491 -0.28569094 21.32037069] [ 0.08600832 0.99598476 0.02483819 0.15612592] [ 0.28267164 -0.04830104 0.95799987 0.81259954] [ 0. 0. 0. 1. ]] SLAMing on 127.60538474999998 meters Centerline goodness : 0.905232 Centerline is valid? [False, False] Translation: X:21.32, Y:0.16, Z:0.81 [[ 0.95525351 -0.07528241 -0.28604769 21.32099461] [ 0.08600346 0.995979 0.02508465 0.1563333 ] [ 0.28300906 -0.04856329 0.95788699 0.81314065] [ 0. 0. 0. 1. ]] SLAMing on 127.63538474999999 meters Centerline goodness : 0.908543 Centerline is valid? [False, False] Translation: X:21.32, Y:0.16, Z:0.81 [[ 0.95520703 -0.07477127 -0.28633686 21.3200824 ] [ 0.08572054 0.99598308 0.02587842 0.1562163 ] [ 0.2832517 -0.0492642 0.95777947 0.8148875 ] [ 0. 0. 0. 1. ]] SLAMing on 127.66538474999999 meters Centerline goodness : 0.907047 Centerline is valid? [False, False] Translation: X:21.32, Y:0.16, Z:0.82 [[ 0.95510907 -0.07457773 -0.28671385 21.3201557 ] [ 0.08567421 0.9959751 0.02633515 0.15619588] [ 0.28359583 -0.04971692 0.95765423 0.8160362 ] [ 0. 0. 0. 1. ]] SLAMing on 127.69538474999999 meters Centerline goodness : 0.906806 Centerline is valid? [False, False] Translation: X:21.32, Y:0.16, Z:0.82 [[ 0.95513274 -0.06974833 -0.28784827 21.32043618] [ 0.08209865 0.99614059 0.031044 0.15633229] [ 0.28457208 -0.0532831 0.95717273 0.81866151] [ 0. 0. 0. 1. ]] SLAMing on 127.72538474999999 meters Centerline goodness : 0.910944 Centerline is valid? [False, False] Translation: X:21.32, Y:0.16, Z:0.82 [[ 0.95505247 -0.06569279 -0.28906616 21.32252528] [ 0.07909987 0.99625445 0.03493246 0.15649507] [ 0.28568864 -0.05622743 0.95667156 0.82002235] [ 0. 0. 0. 1. ]] SLAMing on 127.75538474999999 meters Centerline goodness : 0.908669 Centerline is valid? [False, False] Translation: X:21.32, Y:0.16, Z:0.82 [[ 0.95496121 -0.06530746 -0.28945469 21.32295114] [ 0.07850855 0.99632595 0.03421988 0.15989493] [ 0.28615641 -0.05540333 0.95657984 0.81940261] [ 0. 0. 0. 1. ]] SLAMing on 127.78538474999999 meters Centerline goodness : 0.906589 Centerline is valid? [False, False] Translation: X:21.32, Y:0.16, Z:0.82 [[ 0.95483345 -0.06563754 -0.28980129 21.32440985] [ 0.07865404 0.99633942 0.03348587 0.16234159] [ 0.28654252 -0.05476747 0.95650087 0.81865685] [ 0. 0. 0. 1. ]] SLAMing on 127.81538474999999 meters Centerline goodness : 0.906347 Centerline is valid? [False, False] Translation: X:21.33, Y:0.17, Z:0.82 [[ 0.95471348 -0.06169545 -0.29105987 21.32721553] [ 0.07547462 0.9964852 0.03634318 0.16561571] [ 0.28779464 -0.05666495 0.95601429 0.81861828] [ 0. 0. 0. 1. ]] SLAMing on 127.84538475 meters Centerline goodness : 0.906660 Centerline is valid? [False, False] Translation: X:21.33, Y:0.17, Z:0.82 [[ 0.95463937 -0.06183267 -0.29127374 21.32823161] [ 0.07536053 0.99652618 0.03544522 0.16841712] [ 0.28807023 -0.05578794 0.95598287 0.81750796] [ 0. 0. 0. 1. ]] SLAMing on 127.87538475 meters Centerline goodness : 0.904877 Centerline is valid? [False, False] Translation: X:21.33, Y:0.17, Z:0.82 [[ 0.95443736 -0.06152824 -0.2919993 21.32931354] [ 0.0749223 0.99657845 0.03490052 0.17196785] [ 0.28885284 -0.05518762 0.95578154 0.81735523] [ 0. 0. 0. 1. ]] SLAMing on 127.90538475 meters Centerline goodness : 0.904108 Centerline is valid? [False, False] Translation: X:21.33, Y:0.17, Z:0.82 [[ 0.95419929 -0.06228516 -0.29261627 21.33107703] [ 0.07562443 0.99653985 0.03448589 0.17318016] [ 0.28945581 -0.05503535 0.95560789 0.81772283] [ 0. 0. 0. 1. ]] SLAMing on 127.93538475 meters Centerline goodness : 0.905394 Centerline is valid? [False, False] Translation: X:21.33, Y:0.17, Z:0.82 [[ 0.95396307 -0.06305548 -0.29322086 21.33228107] [ 0.07641774 0.99648476 0.03432865 0.17357268] [ 0.2900255 -0.05515554 0.95542821 0.81879797] [ 0. 0. 0. 1. ]] SLAMing on 127.96538474999998 meters Centerline goodness : 0.904965 Centerline is valid? [False, False] Translation: X:21.33, Y:0.17, Z:0.82 [[ 0.95378137 -0.06330667 -0.29375732 21.33328959] [ 0.07675195 0.9964546 0.03445822 0.1735526 ] [ 0.2905344 -0.05541205 0.95525874 0.8196711 ] [ 0. 0. 0. 1. ]] SLAMing on 127.99538474999999 meters Centerline goodness : 0.900132 Centerline is valid? [False, False] Translation: X:21.35, Y:0.18, Z:0.82 [[ 0.95528448 -0.06279833 -0.28894277 21.34964785] [ 0.07435021 0.99680554 0.02916799 0.17722058] [ 0.28618805 -0.04934668 0.95690193 0.82117832] [ 0. 0. 0. 1. ]] SLAMing on 128.02538475 meters Centerline goodness : 0.903691 Centerline is valid? [False, False] Translation: X:21.35, Y:0.18, Z:0.82 [[ 0.95534143 -0.06221219 -0.28888127 21.34899846] [ 0.07387096 0.99682779 0.02962167 0.17693527] [ 0.28612205 -0.04963875 0.95690656 0.82150368] [ 0. 0. 0. 1. ]] SLAMing on 128.05538475 meters Centerline goodness : 0.904795 Centerline is valid? [False, False] Translation: X:21.35, Y:0.17, Z:0.83 [[ 0.95465001 -0.06422148 -0.29072143 21.353256 ] [ 0.07676795 0.99653707 0.03194618 0.17394092] [ 0.28766305 -0.05281551 0.95627428 0.8277109 ] [ 0. 0. 0. 1. ]] SLAMing on 128.08538475 meters Centerline goodness : 0.908022 Centerline is valid? [False, False] Translation: X:21.35, Y:0.17, Z:0.83 [[ 0.95436405 -0.06440912 -0.29161744 21.35411727] [ 0.0774061 0.99644537 0.03324025 0.17139053] [ 0.28843988 -0.05429627 0.9559573 0.83085238] [ 0. 0. 0. 1. ]] SLAMing on 128.11538475 meters Centerline goodness : 0.905674 Centerline is valid? [False, False] Translation: X:21.36, Y:0.17, Z:0.83 [[ 0.95425363 -0.06449583 -0.29195939 21.35510895] [ 0.07755323 0.99642992 0.03336039 0.17146721] [ 0.28876547 -0.05447667 0.95584873 0.83117836] [ 0. 0. 0. 1. ]] SLAMing on 128.14538475 meters Centerline goodness : 0.906599 Centerline is valid? [False, False] Translation: X:21.36, Y:0.17, Z:0.83 [[ 0.95411576 -0.0647713 -0.29234877 21.35678148] [ 0.07774051 0.99642892 0.03295193 0.17281338] [ 0.28917043 -0.0541673 0.95574388 0.83069174] [ 0. 0. 0. 1. ]] SLAMing on 128.17538475 meters Centerline goodness : 0.905412 Centerline is valid? [False, False] Translation: X:21.36, Y:0.17, Z:0.83 [[ 0.95389784 -0.0650417 -0.29299912 21.35886324] [ 0.07807389 0.9964015 0.03299282 0.1720902 ] [ 0.28979885 -0.05434736 0.9555433 0.83093304] [ 0. 0. 0. 1. ]] SLAMing on 128.20538475 meters Centerline goodness : 0.907595 Centerline is valid? [False, False] Translation: X:21.36, Y:0.17, Z:0.83 [[ 0.95364852 -0.0655114 -0.29370522 21.36062401] [ 0.07862761 0.99635567 0.03306188 0.17161498] [ 0.29046893 -0.05462275 0.95532411 0.8317536 ] [ 0. 0. 0. 1. ]] SLAMing on 128.23538475 meters Centerline goodness : 0.907799 Centerline is valid? [False, False] Translation: X:21.36, Y:0.17, Z:0.83 [[ 0.95329262 -0.06681688 -0.29456524 21.36381579] [ 0.07997685 0.99625548 0.03284387 0.1703076 ] [ 0.29126771 -0.05486822 0.9550668 0.83241042] [ 0. 0. 0. 1. ]] SLAMing on 128.26538475 meters Centerline goodness : 0.903412 Centerline is valid? [False, False] Translation: X:21.37, Y:0.17, Z:0.83 [[ 0.9529482 -0.06759146 -0.29550147 21.36639591] [ 0.08089307 0.99617608 0.03300798 0.1687235 ] [ 0.29214044 -0.05535891 0.95477189 0.83360871] [ 0. 0. 0. 1. ]] SLAMing on 128.29538475 meters Centerline goodness : 0.902147 Centerline is valid? [False, False] Translation: X:21.37, Y:0.17, Z:0.83 [[ 0.9527809 -0.06783435 -0.29598489 21.36770702] [ 0.08122124 0.99614451 0.03315451 0.16848375] [ 0.29259471 -0.05562924 0.95461705 0.83416957] [ 0. 0. 0. 1. ]] SLAMing on 128.32538475 meters Centerline goodness : 0.902443 Centerline is valid? [False, False] Translation: X:21.37, Y:0.17, Z:0.83 [[ 0.95251328 -0.06854276 -0.29668222 21.37048937] [ 0.08202279 0.99607686 0.03321377 0.16710206] [ 0.29324173 -0.05597126 0.95439851 0.83453906] [ 0. 0. 0. 1. ]] SLAMing on 128.35538475 meters Centerline goodness : 0.902443 Centerline is valid? [False, False] Translation: X:21.37, Y:0.17, Z:0.83 [[ 0.95251328 -0.06854276 -0.29668222 21.37048937] [ 0.08202279 0.99607686 0.03321377 0.16710206] [ 0.29324173 -0.05597126 0.95439851 0.83453906] [ 0. 0. 0. 1. ]] SLAMing on 128.38538475000001 meters Centerline goodness : 0.902784 Centerline is valid? [False, False] Translation: X:21.37, Y:0.17, Z:0.84 [[ 0.95228308 -0.06886533 -0.29734575 21.37220328] [ 0.08251815 0.99602318 0.03359446 0.16558267] [ 0.29384976 -0.05652786 0.95417866 0.83555874] [ 0. 0. 0. 1. ]] SLAMing on 128.41538475000002 meters Centerline goodness : 0.904176 Centerline is valid? [False, False] Translation: X:21.37, Y:0.17, Z:0.83 [[ 0.95211123 -0.07320375 -0.29685926 21.37223459] [ 0.08583625 0.99586569 0.02972638 0.16598832] [ 0.29345587 -0.05378411 0.95445844 0.83463309] [ 0. 0. 0. 1. ]] SLAMing on 128.44538475000002 meters Centerline goodness : 0.907247 Centerline is valid? [False, False] Translation: X:21.37, Y:0.16, Z:0.84 [[ 0.95181956 -0.07360609 -0.29769393 21.37436287] [ 0.08660996 0.99576883 0.03071078 0.16259223] [ 0.29417383 -0.05501438 0.95416727 0.8365178 ] [ 0. 0. 0. 1. ]] SLAMing on 128.47538475000002 meters Centerline goodness : 0.907147 Centerline is valid? [False, False] Translation: X:21.38, Y:0.16, Z:0.84 [[ 0.95154912 -0.07399316 -0.29846154 21.37615416] [ 0.08746301 0.99565334 0.03201019 0.15855391] [ 0.29479569 -0.05656361 0.95388472 0.83899356] [ 0. 0. 0. 1. ]] SLAMing on 128.50538475000002 meters Centerline goodness : 0.911570 Centerline is valid? [False, False] Translation: X:21.38, Y:0.16, Z:0.84 [[ 0.95133294 -0.07435631 -0.29905981 21.37770731] [ 0.08800714 0.99559213 0.03242004 0.1569089 ] [ 0.29533095 -0.05716165 0.95368348 0.84008324] [ 0. 0. 0. 1. ]] SLAMing on 128.53538475 meters Centerline goodness : 0.912180 Centerline is valid? [False, False] Translation: X:21.38, Y:0.15, Z:0.84 [[ 0.95094931 -0.07579781 -0.29991684 21.3813216 ] [ 0.08953411 0.99545972 0.03230474 0.15455285] [ 0.29610651 -0.05757296 0.95341821 0.84081003] [ 0. 0. 0. 1. ]] SLAMing on 128.56538475 meters Centerline goodness : 0.912283 Centerline is valid? [False, False] Translation: X:21.38, Y:0.15, Z:0.84 [[ 0.95067499 -0.07671755 -0.30055195 21.38389548] [ 0.09053685 0.99536906 0.03230338 0.15352901] [ 0.29668187 -0.05792105 0.95321824 0.84130018] [ 0. 0. 0. 1. ]] SLAMing on 128.59538475 meters Centerline goodness : 0.916523 Centerline is valid? [False, False] Translation: X:21.40, Y:0.15, Z:0.85 [[ 0.94955259 -0.08737749 -0.30118939 21.4011924 ] [ 0.10200512 0.99423123 0.03315454 0.1534306 ] [ 0.29655493 -0.06220484 0.95298779 0.8486154 ] [ 0. 0. 0. 1. ]] SLAMing on 128.62538475 meters Centerline goodness : 0.915854 Centerline is valid? [False, False] Translation: X:21.41, Y:0.15, Z:0.85 [[ 0.94904619 -0.0891453 -0.30226551 21.40612293] [ 0.10374177 0.99407148 0.03255063 0.15308763] [ 0.29757178 -0.06224961 0.95266784 0.84868534] [ 0. 0. 0. 1. ]] SLAMing on 128.65538475 meters Centerline goodness : 0.911103 Centerline is valid? [False, False] Translation: X:21.41, Y:0.15, Z:0.85 [[ 0.94862328 -0.08761048 -0.30403665 21.41405754] [ 0.10298293 0.99407183 0.03486715 0.15381917] [ 0.29917954 -0.06438638 0.95202206 0.84815032] [ 0. 0. 0. 1. ]] SLAMing on 128.68538475 meters Centerline goodness : 0.909515 Centerline is valid? [False, False] Translation: X:21.42, Y:0.15, Z:0.85 [[ 0.94864016 -0.08333645 -0.30518337 21.41643016] [ 0.09974398 0.99426637 0.03854246 0.15443792] [ 0.30022157 -0.06700313 0.95151332 0.84866241] [ 0. 0. 0. 1. ]] SLAMing on 128.71538475 meters Centerline goodness : 0.907515 Centerline is valid? [False, False] Translation: X:21.43, Y:0.16, Z:0.85 [[ 0.95041791 -0.08367022 -0.29950808 21.42881441] [ 0.09707927 0.99481999 0.03014633 0.15795851] [ 0.29543428 -0.05772763 0.95361738 0.84789434] [ 0. 0. 0. 1. ]] SLAMing on 128.74538475 meters Centerline goodness : 0.912151 Centerline is valid? [False, False] Translation: X:21.43, Y:0.16, Z:0.85 [[ 0.95038854 -0.08320176 -0.29973168 21.42790053] [ 0.09676591 0.99483447 0.03067152 0.15851684] [ 0.29563149 -0.05815367 0.95353037 0.8493042 ] [ 0. 0. 0. 1. ]] SLAMing on 128.77538475 meters Centerline goodness : 0.912759 Centerline is valid? [False, False] Translation: X:21.44, Y:0.16, Z:0.85 [[ 0.95241323 -0.07991568 -0.29414711 21.43906682] [ 0.09152047 0.9954669 0.02587783 0.16290307] [ 0.29074567 -0.05156687 0.95540976 0.85042505] [ 0. 0. 0. 1. ]] SLAMing on 128.80538475 meters Centerline goodness : 0.914319 Centerline is valid? [False, False] Translation: X:21.44, Y:0.16, Z:0.85 [[ 0.95247006 -0.07472183 -0.29532597 21.43874652] [ 0.08791874 0.99562493 0.03164315 0.1614611 ] [ 0.29166946 -0.05610384 0.95487239 0.85466055] [ 0. 0. 0. 1. ]] SLAMing on 128.83538475 meters Centerline goodness : 0.919704 Centerline is valid? [False, False] Translation: X:21.44, Y:0.16, Z:0.86 [[ 0.95253072 -0.07013349 -0.29625415 21.43929739] [ 0.08447861 0.99577891 0.0358848 0.1616488 ] [ 0.29248691 -0.05920851 0.95443478 0.85649305] [ 0. 0. 0. 1. ]] SLAMing on 128.86538475 meters Centerline goodness : 0.924084 Centerline is valid? [False, False] Translation: X:21.45, Y:0.17, Z:0.86 [[ 0.95436931 -0.06800449 -0.29078276 21.45260817] [ 0.08014909 0.99632994 0.03004622 0.16668559] [ 0.28767229 -0.05198116 0.95631721 0.85631853] [ 0. 0. 0. 1. ]] SLAMing on 128.89538475 meters Centerline goodness : 0.923821 Centerline is valid? [False, False] Translation: X:21.45, Y:0.17, Z:0.86 [[ 0.95437192 -0.06371841 -0.29174339 21.454163 ] [ 0.07675626 0.99648856 0.03345187 0.16810888] [ 0.28858745 -0.05431865 0.95591149 0.85696917] [ 0. 0. 0. 1. ]] SLAMing on 128.92538475 meters Centerline goodness : 0.919906 Centerline is valid? [False, False] Translation: X:21.46, Y:0.17, Z:0.86 [[ 0.95423208 -0.06001056 -0.29298443 21.45720178] [ 0.07402347 0.9965711 0.03696708 0.16839033] [ 0.2897614 -0.0569629 0.9554023 0.85770626] [ 0. 0. 0. 1. ]] SLAMing on 128.95538475 meters Centerline goodness : 0.915433 Centerline is valid? [False, False] Translation: X:21.46, Y:0.17, Z:0.86 [[ 0.95416227 -0.06005244 -0.29320312 21.45881391] [ 0.0737722 0.99662693 0.03595042 0.17153812] [ 0.29005521 -0.05593278 0.95537401 0.85600809] [ 0. 0. 0. 1. ]] SLAMing on 128.98538475 meters Centerline goodness : 0.917520 Centerline is valid? [False, False] Translation: X:21.46, Y:0.17, Z:0.86 [[ 0.95411932 -0.06025184 -0.29330195 21.45966198] [ 0.07383641 0.99663988 0.03545614 0.1729574 ] [ 0.29018012 -0.05548575 0.95536214 0.85534058] [ 0. 0. 0. 1. ]] SLAMing on 129.01538475 meters Centerline goodness : 0.914369 Centerline is valid? [False, False] Translation: X:21.46, Y:0.17, Z:0.86 [[ 0.95394703 -0.05672153 -0.29456362 21.46348636] [ 0.07127567 0.99669777 0.03890159 0.17345354] [ 0.29138435 -0.05810528 0.95483974 0.85578155] [ 0. 0. 0. 1. ]] SLAMing on 129.04538475 meters Centerline goodness : 0.912659 Centerline is valid? [False, False] Translation: X:21.46, Y:0.17, Z:0.86 [[ 0.95384624 -0.05717512 -0.29480224 21.46498028] [ 0.07156763 0.99670183 0.03825606 0.17490911] [ 0.29164263 -0.05758869 0.95479218 0.85500238] [ 0. 0. 0. 1. ]] SLAMing on 129.07538475 meters Centerline goodness : 0.915261 Centerline is valid? [False, False] Translation: X:21.47, Y:0.17, Z:0.86 [[ 0.95363682 -0.0573589 -0.29544336 21.46563585] [ 0.07187964 0.99666938 0.03851574 0.17424545] [ 0.29225013 -0.05796639 0.95458355 0.85657809] [ 0. 0. 0. 1. ]] SLAMing on 129.10538475 meters Centerline goodness : 0.916527 Centerline is valid? [False, False] Translation: X:21.47, Y:0.17, Z:0.86 [[ 0.95350359 -0.05759804 -0.2958266 21.46631178] [ 0.0721743 0.99664552 0.03858214 0.17385217] [ 0.292612 -0.05813929 0.95446217 0.85731933] [ 0. 0. 0. 1. ]] SLAMing on 129.13538475000001 meters Centerline goodness : 0.918139 Centerline is valid? [False, False] Translation: X:21.47, Y:0.17, Z:0.86 [[ 0.9531227 -0.05901726 -0.29677279 21.46987535] [ 0.07354501 0.99656698 0.0380182 0.17342235] [ 0.29351024 -0.05806217 0.95419103 0.85767571] [ 0. 0. 0. 1. ]] SLAMing on 129.16538475000002 meters Centerline goodness : 0.914611 Centerline is valid? [False, False] Translation: X:21.47, Y:0.17, Z:0.86 [[ 0.95296872 -0.05999369 -0.29707133 21.47248876] [ 0.07438886 0.99652845 0.03738104 0.17375532] [ 0.2937974 -0.05772176 0.95412331 0.85677009] [ 0. 0. 0. 1. ]] SLAMing on 129.19538475000002 meters Centerline goodness : 0.911576 Centerline is valid? [False, False] Translation: X:21.48, Y:0.17, Z:0.86 [[ 0.95206542 -0.06466562 -0.29898127 21.48128104] [ 0.07956675 0.99610784 0.03792485 0.17343737] [ 0.29536516 -0.05989591 0.95350506 0.86120275] [ 0. 0. 0. 1. ]] SLAMing on 129.22538475000002 meters Centerline goodness : 0.916194 Centerline is valid? [False, False] Translation: X:21.48, Y:0.17, Z:0.86 [[ 0.9517162 -0.06596745 -0.29980756 21.48444968] [ 0.08081028 0.99602881 0.03736719 0.17335404] [ 0.29615195 -0.0597905 0.9532676 0.86141013] [ 0. 0. 0. 1. ]] SLAMing on 129.25538475000002 meters Centerline goodness : 0.907929 Centerline is valid? [False, False] Translation: X:21.49, Y:0.18, Z:0.86 [[ 0.95147486 -0.06704151 -0.30033486 21.48864092] [ 0.08163985 0.99600029 0.03630915 0.17522865] [ 0.29669938 -0.05906653 0.9531425 0.85939305] [ 0. 0. 0. 1. ]] SLAMing on 129.28538475 meters Centerline goodness : 0.908108 Centerline is valid? [False, False] Translation: X:21.49, Y:0.17, Z:0.86 [[ 0.95120183 -0.06760312 -0.30107291 21.48993798] [ 0.08241407 0.99592028 0.03675221 0.17402197] [ 0.29736005 -0.05977142 0.95289264 0.86119403] [ 0. 0. 0. 1. ]] SLAMing on 129.31538475 meters Centerline goodness : 0.913838 Centerline is valid? [False, False] Translation: X:21.50, Y:0.18, Z:0.86 [[ 0.95292344 -0.06788788 -0.29551336 21.50342506] [ 0.0803113 0.99631548 0.03009263 0.17597631] [ 0.29238161 -0.05240904 0.95486454 0.86247848] [ 0. 0. 0. 1. ]] SLAMing on 129.34538475 meters Centerline goodness : 0.909681 Centerline is valid? [False, False] Translation: X:21.50, Y:0.18, Z:0.86 [[ 0.95286781 -0.06771908 -0.29573141 21.50387288] [ 0.08022477 0.99631478 0.03034539 0.17654733] [ 0.29258661 -0.05264013 0.95478903 0.86280592] [ 0. 0. 0. 1. ]] SLAMing on 129.37538475 meters Centerline goodness : 0.912128 Centerline is valid? [False, False] Translation: X:21.50, Y:0.18, Z:0.86 [[ 0.95279429 -0.06756595 -0.29600318 21.50417216] [ 0.08019785 0.99630521 0.03072853 0.17627071] [ 0.29283331 -0.05301679 0.95469255 0.86356876] [ 0. 0. 0. 1. ]] SLAMing on 129.40538475 meters Centerline goodness : 0.911709 Centerline is valid? [False, False] Translation: X:21.50, Y:0.18, Z:0.86 [[ 0.95275554 -0.06716061 -0.29622008 21.50423898] [ 0.07981003 0.99633399 0.03080497 0.17708421] [ 0.29306526 -0.05299094 0.95462281 0.86380903] [ 0. 0. 0. 1. ]] SLAMing on 129.43538475 meters Centerline goodness : 0.914515 Centerline is valid? [False, False] Translation: X:21.51, Y:0.18, Z:0.87 [[ 0.95270706 -0.0627833 -0.29733401 21.50577453] [ 0.07653885 0.99645782 0.03483689 0.17660757] [ 0.29409363 -0.05594696 0.95413777 0.86540787] [ 0. 0. 0. 1. ]] SLAMing on 129.46538475 meters Centerline goodness : 0.917399 Centerline is valid? [False, False] Translation: X:21.51, Y:0.18, Z:0.87 [[ 0.9526969 -0.06263674 -0.29739747 21.5058248 ] [ 0.07631317 0.99648375 0.03458948 0.17744388] [ 0.29418517 -0.05564864 0.95412699 0.86512506] [ 0. 0. 0. 1. ]] SLAMing on 129.49538475 meters Centerline goodness : 0.914092 Centerline is valid? [False, False] Translation: X:21.51, Y:0.18, Z:0.86 [[ 0.95262889 -0.06250938 -0.29764204 21.50725044] [ 0.07597253 0.99653452 0.03386913 0.17993552] [ 0.29449343 -0.05487733 0.95407657 0.86376512] [ 0. 0. 0. 1. ]] SLAMing on 129.52538475 meters Centerline goodness : 0.912091 Centerline is valid? [False, False] Translation: X:21.51, Y:0.18, Z:0.86 [[ 0.95244973 -0.0630379 -0.29810358 21.50935891] [ 0.07638522 0.9965213 0.03332556 0.18164695] [ 0.29496579 -0.05451163 0.9539516 0.86322116] [ 0. 0. 0. 1. ]] SLAMing on 129.55538475 meters Centerline goodness : 0.909238 Centerline is valid? [False, False] Translation: X:21.51, Y:0.18, Z:0.86 [[ 0.95235643 -0.06294053 -0.29842204 21.51064567] [ 0.07618036 0.99655009 0.03293141 0.18316897] [ 0.29531979 -0.05409634 0.95386572 0.86255012] [ 0. 0. 0. 1. ]] SLAMing on 129.58538475 meters Centerline goodness : 0.910004 Centerline is valid? [False, False] Translation: X:21.51, Y:0.18, Z:0.86 [[ 0.95221239 -0.05925886 -0.29963303 21.5136195 ] [ 0.07343812 0.99663987 0.03627421 0.18361576] [ 0.29647666 -0.05654524 0.95336469 0.86323358] [ 0. 0. 0. 1. ]] SLAMing on 129.61538475 meters Centerline goodness : 0.908288 Centerline is valid? [False, False] Translation: X:21.51, Y:0.18, Z:0.86 [[ 0.95217069 -0.05939344 -0.29973889 21.5144624 ] [ 0.07345556 0.9966537 0.03585635 0.18473804] [ 0.29660625 -0.05615886 0.95334722 0.86261327] [ 0. 0. 0. 1. ]] SLAMing on 129.64538475 meters Centerline goodness : 0.905580 Centerline is valid? [False, False] Translation: X:21.51, Y:0.19, Z:0.86 [[ 0.95217287 -0.05922181 -0.29976592 21.51460169] [ 0.07323403 0.99667503 0.03571636 0.18522173] [ 0.29665402 -0.05596122 0.95334397 0.86233151] [ 0. 0. 0. 1. ]] SLAMing on 129.67538475 meters Centerline goodness : 0.906472 Centerline is valid? [False, False] Translation: X:21.52, Y:0.19, Z:0.86 [[ 0.95205343 -0.05885908 -0.30021637 21.51510309] [ 0.07290478 0.99669654 0.03578953 0.18652083] [ 0.29711808 -0.05596076 0.95319948 0.86268225] [ 0. 0. 0. 1. ]] SLAMing on 129.70538475 meters Centerline goodness : 0.905241 Centerline is valid? [False, False] Translation: X:21.52, Y:0.19, Z:0.86 [[ 0.95203841 -0.05873496 -0.3002883 21.51522846] [ 0.07279573 0.99670262 0.03584236 0.18692513] [ 0.29719294 -0.05598301 0.95317483 0.86272538] [ 0. 0. 0. 1. ]] SLAMing on 129.73538475 meters Centerline goodness : 0.907355 Centerline is valid? [False, False] Translation: X:21.52, Y:0.18, Z:0.87 [[ 0.95152032 -0.06069407 -0.30153826 21.51806115] [ 0.07570649 0.99639276 0.03834053 0.18392021] [ 0.29812349 -0.0593102 0.95268289 0.86926105] [ 0. 0. 0. 1. ]] SLAMing on 129.76538475 meters Centerline goodness : 0.907512 Centerline is valid? [False, False] Translation: X:21.52, Y:0.18, Z:0.87 [[ 0.95126467 -0.06145445 -0.30219013 21.51992755] [ 0.07647244 0.99634319 0.03810783 0.18362509] [ 0.29874318 -0.05935985 0.95248565 0.86982602] [ 0. 0. 0. 1. ]] SLAMing on 129.79538475 meters Centerline goodness : 0.907019 Centerline is valid? [False, False] Translation: X:21.52, Y:0.18, Z:0.87 [[ 0.95095112 -0.06235706 -0.30299102 21.52283245] [ 0.0773265 0.99629467 0.03765035 0.18441308] [ 0.29952057 -0.05923288 0.95224939 0.869915 ] [ 0. 0. 0. 1. ]] SLAMing on 129.82538475 meters Centerline goodness : 0.903006 Centerline is valid? [False, False] Translation: X:21.52, Y:0.18, Z:0.87 [[ 0.95084897 -0.06257734 -0.30326606 21.52460151] [ 0.07744769 0.99630048 0.03724524 0.18470701] [ 0.29981341 -0.05890186 0.95217776 0.86910522] [ 0. 0. 0. 1. ]] SLAMing on 129.85538475 meters Centerline goodness : 0.904808 Centerline is valid? [False, False] Translation: X:21.53, Y:0.18, Z:0.87 [[ 0.95068272 -0.06314682 -0.30366896 21.52639749] [ 0.07796434 0.99627272 0.03690829 0.18412061] [ 0.30020646 -0.05876342 0.95206247 0.8689006 ] [ 0. 0. 0. 1. ]] SLAMing on 129.88538475000001 meters Centerline goodness : 0.905532 Centerline is valid? [False, False] Translation: X:21.53, Y:0.18, Z:0.87 [[ 0.950432 -0.06373712 -0.30432975 21.52915516] [ 0.07854374 0.9962368 0.03664848 0.18309621] [ 0.30084863 -0.05873508 0.95186149 0.86872409] [ 0. 0. 0. 1. ]] SLAMing on 129.91538475000002 meters Centerline goodness : 0.904802 Centerline is valid? [False, False] Translation: X:21.53, Y:0.18, Z:0.87 [[ 0.9502545 -0.0641774 -0.30479115 21.53093358] [ 0.07895646 0.99621329 0.03639985 0.18282522] [ 0.30130094 -0.05865435 0.95172339 0.86869706] [ 0. 0. 0. 1. ]] SLAMing on 129.94538475000002 meters Centerline goodness : 0.902986 Centerline is valid? [False, False] Translation: X:21.53, Y:0.18, Z:0.87 [[ 0.95017927 -0.06433455 -0.30499249 21.53197068] [ 0.07906484 0.99621268 0.03618082 0.18256651] [ 0.30150971 -0.05849245 0.95166724 0.86837196] [ 0. 0. 0. 1. ]] SLAMing on 129.97538475000002 meters Centerline goodness : 0.906232 Centerline is valid? [False, False] Translation: X:21.53, Y:0.18, Z:0.87 [[ 0.95002061 -0.0646609 -0.30541743 21.53385558] [ 0.07933531 0.99620247 0.03586839 0.18254264] [ 0.30193831 -0.0583061 0.95154278 0.86801915] [ 0. 0. 0. 1. ]] SLAMing on 130.00538475000002 meters Centerline goodness : 0.905361 Centerline is valid? [False, False] Translation: X:21.54, Y:0.18, Z:0.87 [[ 0.94980231 -0.06516159 -0.30598946 21.53613974] [ 0.07981959 0.99617255 0.03562426 0.18286878] [ 0.30249696 -0.05825996 0.95136815 0.8679242 ] [ 0. 0. 0. 1. ]] SLAMing on 130.03538475 meters Centerline goodness : 0.904775 Centerline is valid? [False, False] Translation: X:21.54, Y:0.18, Z:0.87 [[ 0.94972545 -0.06538088 -0.30618116 21.53743447] [ 0.07999901 0.99616521 0.03542652 0.18310849] [ 0.3026908 -0.05813966 0.95131386 0.867445 ] [ 0. 0. 0. 1. ]] SLAMing on 130.06538475 meters Centerline goodness : 0.906697 Centerline is valid? [False, False] Translation: X:21.54, Y:0.18, Z:0.87 [[ 0.94967804 -0.06568744 -0.30626259 21.53904133] [ 0.08017077 0.9961686 0.03493946 0.1834685 ] [ 0.3027941 -0.05773454 0.95130566 0.86630741] [ 0. 0. 0. 1. ]] SLAMing on 130.09538475 meters Centerline goodness : 0.905607 Centerline is valid? [False, False] Translation: X:21.54, Y:0.18, Z:0.87 [[ 0.94946684 -0.06620217 -0.3068061 21.54091843] [ 0.08068085 0.9961345 0.03473702 0.18356843] [ 0.30332048 -0.05773503 0.95113793 0.86649511] [ 0. 0. 0. 1. ]] SLAMing on 130.12538475 meters Centerline goodness : 0.906948 Centerline is valid? [False, False] Translation: X:21.54, Y:0.18, Z:0.87 [[ 0.94929721 -0.06642596 -0.30728228 21.54177841] [ 0.08095085 0.99611207 0.03475213 0.18276415] [ 0.30377915 -0.05786487 0.95098364 0.86718367] [ 0. 0. 0. 1. ]] SLAMing on 130.15538475 meters Centerline goodness : 0.907811 Centerline is valid? [False, False] Translation: X:21.54, Y:0.18, Z:0.87 [[ 0.94911347 -0.06634697 -0.30786637 21.54212621] [ 0.08109767 0.99607897 0.03535321 0.18038693] [ 0.30431364 -0.05852145 0.95077255 0.86884989] [ 0. 0. 0. 1. ]] SLAMing on 130.18538475 meters Centerline goodness : 0.910968 Centerline is valid? [False, False] Translation: X:21.55, Y:0.18, Z:0.87 [[ 0.9487945 -0.06725778 -0.30865092 21.54510633] [ 0.08195914 0.99602443 0.03490024 0.18086483] [ 0.30507655 -0.05840992 0.95053489 0.86886202] [ 0. 0. 0. 1. ]] SLAMing on 130.21538475 meters Centerline goodness : 0.910968 Centerline is valid? [False, False] Translation: X:21.55, Y:0.18, Z:0.87 [[ 0.9487945 -0.06725778 -0.30865092 21.54510633] [ 0.08195914 0.99602443 0.03490024 0.18086483] [ 0.30507655 -0.05840992 0.95053489 0.86886202] [ 0. 0. 0. 1. ]] SLAMing on 130.24538475 meters Centerline goodness : 0.904721 Centerline is valid? [False, False] Translation: X:21.55, Y:0.18, Z:0.87 [[ 0.94857283 -0.06800817 -0.30916738 21.5474692 ] [ 0.08261195 0.99598872 0.03437649 0.18137549] [ 0.30558934 -0.05814952 0.95038612 0.8685188 ] [ 0. 0. 0. 1. ]] SLAMing on 130.27538475 meters Centerline goodness : 0.905230 Centerline is valid? [False, False] Translation: X:21.55, Y:0.18, Z:0.87 [[ 0.94825323 -0.06919085 -0.30988456 21.55061614] [ 0.08369156 0.99592071 0.0337293 0.18228166] [ 0.3062867 -0.05791864 0.95017572 0.86834585] [ 0. 0. 0. 1. ]] SLAMing on 130.30538475 meters Centerline goodness : 0.902929 Centerline is valid? [False, False] Translation: X:21.55, Y:0.18, Z:0.87 [[ 0.94802221 -0.06979198 -0.31045605 21.55250256] [ 0.08437053 0.99586227 0.03376304 0.18225461] [ 0.30681508 -0.05820145 0.94998795 0.86894696] [ 0. 0. 0. 1. ]] SLAMing on 130.33538475 meters Centerline goodness : 0.905306 Centerline is valid? [False, False] Translation: X:21.55, Y:0.18, Z:0.87 [[ 0.94765145 -0.07509443 -0.3103507 21.55320483] [ 0.08869361 0.99560946 0.02992069 0.182037 ] [ 0.30674121 -0.05588051 0.95015114 0.86931902] [ 0. 0. 0. 1. ]] SLAMing on 130.36538475 meters Centerline goodness : 0.906312 Centerline is valid? [False, False] Translation: X:21.56, Y:0.18, Z:0.88 [[ 0.94678919 -0.078521 -0.31212927 21.55933341] [ 0.09326654 0.99510822 0.03257261 0.17958964] [ 0.30804477 -0.05995061 0.94948109 0.87715135] [ 0. 0. 0. 1. ]] SLAMing on 130.39538475 meters Centerline goodness : 0.911076 Centerline is valid? [False, False] Translation: X:21.56, Y:0.18, Z:0.88 [[ 0.94669074 -0.07893482 -0.31232345 21.56045397] [ 0.09362852 0.99508285 0.03230807 0.18064929] [ 0.30823748 -0.05982814 0.94942628 0.8769285 ] [ 0. 0. 0. 1. ]] SLAMing on 130.42538475 meters Centerline goodness : 0.907732 Centerline is valid? [False, False] Translation: X:21.56, Y:0.18, Z:0.88 [[ 0.94650525 -0.07951617 -0.31273791 21.56247186] [ 0.09412967 0.99504921 0.03188525 0.18190957] [ 0.30865421 -0.05961747 0.94930413 0.8765726 ] [ 0. 0. 0. 1. ]] SLAMing on 130.45538475 meters Centerline goodness : 0.911932 Centerline is valid? [False, False] Translation: X:21.56, Y:0.18, Z:0.88 [[ 0.94624215 -0.07983471 -0.31345209 21.56374262] [ 0.09460022 0.99499586 0.03215644 0.18089972] [ 0.30931633 -0.06008042 0.9490594 0.87794296] [ 0. 0. 0. 1. ]] SLAMing on 130.48538475 meters Centerline goodness : 0.910943 Centerline is valid? [False, False] Translation: X:21.56, Y:0.18, Z:0.88 [[ 0.94607724 -0.07999685 -0.31390822 21.56462078] [ 0.09487317 0.99496271 0.03237718 0.18015513] [ 0.3097369 -0.06041278 0.94890113 0.87881016] [ 0. 0. 0. 1. ]] SLAMing on 130.51538475 meters Centerline goodness : 0.911377 Centerline is valid? [False, False] Translation: X:21.57, Y:0.18, Z:0.88 [[ 0.94590334 -0.08050779 -0.3143014 21.56587584] [ 0.09547322 0.99490169 0.03248825 0.17842539] [ 0.31008344 -0.06073811 0.94876717 0.87953585] [ 0. 0. 0. 1. ]] SLAMing on 130.54538475 meters Centerline goodness : 0.911050 Centerline is valid? [False, False] Translation: X:21.57, Y:0.18, Z:0.88 [[ 0.94565311 -0.08134035 -0.31483954 21.56821566] [ 0.09627067 0.99483622 0.03213804 0.17807776] [ 0.31059966 -0.06070125 0.94860066 0.87960006] [ 0. 0. 0. 1. ]] SLAMing on 130.57538475 meters Centerline goodness : 0.914405 Centerline is valid? [False, False] Translation: X:21.57, Y:0.18, Z:0.88 [[ 0.94544092 -0.08208065 -0.31528435 21.5701194 ] [ 0.09694693 0.99478353 0.03173361 0.17794698] [ 0.31103497 -0.0605681 0.94846653 0.87958037] [ 0. 0. 0. 1. ]] SLAMing on 130.60538475 meters Centerline goodness : 0.910086 Centerline is valid? [False, False] Translation: X:21.57, Y:0.18, Z:0.88 [[ 0.94523041 -0.08258097 -0.31578451 21.57171667] [ 0.09745575 0.99473878 0.03157736 0.17795309] [ 0.31151541 -0.0606229 0.94830534 0.87990691] [ 0. 0. 0. 1. ]] SLAMing on 130.63538475000001 meters Centerline goodness : 0.908591 Centerline is valid? [False, False] Translation: X:21.57, Y:0.18, Z:0.88 [[ 0.94503308 -0.07892705 -0.31730583 21.57459118] [ 0.09499669 0.99484547 0.03546988 0.17814589] [ 0.31287074 -0.06366321 0.94765969 0.88197182] [ 0. 0. 0. 1. ]] SLAMing on 130.66538475000002 meters Centerline goodness : 0.911568 Centerline is valid? [False, False] Translation: X:21.58, Y:0.18, Z:0.88 [[ 0.94490162 -0.07918292 -0.31763342 21.57547614] [ 0.09516818 0.99484208 0.03510356 0.1796858 ] [ 0.31321548 -0.06339801 0.94756359 0.88195689] [ 0. 0. 0. 1. ]] SLAMing on 130.69538475000002 meters Centerline goodness : 0.909960 Centerline is valid? [False, False] Translation: X:21.58, Y:0.18, Z:0.88 [[ 0.94472357 -0.07970171 -0.31803303 21.57676678] [ 0.09556177 0.99482348 0.03455719 0.18137772] [ 0.31363246 -0.06303879 0.94744963 0.88185256] [ 0. 0. 0. 1. ]] SLAMing on 130.72538475000002 meters Centerline goodness : 0.909857 Centerline is valid? [False, False] Translation: X:21.58, Y:0.18, Z:0.88 [[ 0.94467711 -0.07578048 -0.31912769 21.57917628] [ 0.09262916 0.99497794 0.03793072 0.18313383] [ 0.3146506 -0.06539281 0.94695236 0.88242993] [ 0. 0. 0. 1. ]] SLAMing on 130.75538475000002 meters Centerline goodness : 0.910265 Centerline is valid? [False, False] Translation: X:21.58, Y:0.18, Z:0.88 [[ 0.94447424 -0.07657357 -0.31953856 21.58101768] [ 0.09329916 0.99493755 0.03734364 0.1845891 ] [ 0.31506138 -0.06508279 0.94683713 0.88226433] [ 0. 0. 0. 1. ]] SLAMing on 130.78538475 meters Centerline goodness : 0.911028 Centerline is valid? [False, False] Translation: X:21.58, Y:0.19, Z:0.88 [[ 0.94411128 -0.07781447 -0.32031047 21.58349136] [ 0.09445895 0.99485084 0.03673303 0.18583899] [ 0.31580278 -0.06493626 0.94660017 0.88292118] [ 0. 0. 0. 1. ]] SLAMing on 130.81538475 meters Centerline goodness : 0.907771 Centerline is valid? [False, False] Translation: X:21.59, Y:0.19, Z:0.88 [[ 0.94372457 -0.0792595 -0.32109479 21.58639316] [ 0.0957794 0.99475292 0.03595749 0.187644 ] [ 0.31656 -0.06468823 0.9463642 0.88322302] [ 0. 0. 0. 1. ]] SLAMing on 130.84538475 meters Centerline goodness : 0.909970 Centerline is valid? [False, False] Translation: X:21.59, Y:0.19, Z:0.88 [[ 0.94341515 -0.08055665 -0.3216807 21.58937287] [ 0.09694 0.99466709 0.03521386 0.18909628] [ 0.3171285 -0.06440502 0.94619317 0.88301936] [ 0. 0. 0. 1. ]] SLAMing on 130.87538475 meters Centerline goodness : 0.911318 Centerline is valid? [False, False] Translation: X:21.59, Y:0.19, Z:0.89 [[ 0.94274435 -0.08278849 -0.32307764 21.59363974] [ 0.09933938 0.99443612 0.0350497 0.1893395 ] [ 0.31837837 -0.06513724 0.94572319 0.88543954] [ 0. 0. 0. 1. ]] SLAMing on 130.90538475 meters Centerline goodness : 0.915331 Centerline is valid? [False, False] Translation: X:21.60, Y:0.19, Z:0.89 [[ 0.9422924 -0.08441083 -0.32397506 21.59661629] [ 0.1010026 0.9942804 0.0347124 0.18883509] [ 0.31919195 -0.06543155 0.94542858 0.88677788] [ 0. 0. 0. 1. ]] SLAMing on 130.93538475 meters Centerline goodness : 0.915228 Centerline is valid? [False, False] Translation: X:21.60, Y:0.19, Z:0.89 [[ 0.94205638 -0.0851003 -0.32448069 21.59804593] [ 0.10164104 0.9942283 0.03433937 0.19084958] [ 0.3196856 -0.06533018 0.94526879 0.8872654 ] [ 0. 0. 0. 1. ]] SLAMing on 130.96538475 meters Centerline goodness : 0.917665 Centerline is valid? [False, False] Translation: X:21.60, Y:0.19, Z:0.89 [[ 0.9420493 -0.08486793 -0.32456209 21.59846329] [ 0.10132563 0.99426823 0.03411443 0.19281266] [ 0.31980655 -0.06502394 0.94524899 0.88672397] [ 0. 0. 0. 1. ]] SLAMing on 130.99538475 meters Centerline goodness : 0.917121 Centerline is valid? [False, False] Translation: X:21.60, Y:0.19, Z:0.89 [[ 0.94194158 -0.08475539 -0.32490397 21.59834783] [ 0.10120867 0.99428247 0.03404653 0.19482075] [ 0.3201607 -0.06495294 0.94513398 0.88742271] [ 0. 0. 0. 1. ]] SLAMing on 131.02538475 meters Centerline goodness : 0.922389 Centerline is valid? [False, False] Translation: X:21.61, Y:0.20, Z:0.89 [[ 0.94389061 -0.08477639 -0.31919191 21.61166307] [ 0.09852879 0.99476361 0.02715586 0.19883127] [ 0.31521832 -0.05708176 0.94730095 0.88783703] [ 0. 0. 0. 1. ]] SLAMing on 131.05538475 meters Centerline goodness : 0.922117 Centerline is valid? [False, False] Translation: X:21.61, Y:0.20, Z:0.89 [[ 0.94372298 -0.08489392 -0.319656 21.61247295] [ 0.09860364 0.9947626 0.02692026 0.20024662] [ 0.31569647 -0.05692451 0.94715117 0.88820828] [ 0. 0. 0. 1. ]] SLAMing on 131.08538475 meters Centerline goodness : 0.926464 Centerline is valid? [False, False] Translation: X:21.62, Y:0.20, Z:0.89 [[ 0.94355936 -0.08119628 -0.32109639 21.61535877] [ 0.09606133 0.99490191 0.03069867 0.19991789] [ 0.3169668 -0.05981096 0.94654884 0.88988416] [ 0. 0. 0. 1. ]] SLAMing on 131.11538475 meters Centerline goodness : 0.921034 Centerline is valid? [False, False] Translation: X:21.62, Y:0.20, Z:0.89 [[ 0.94353526 -0.08108378 -0.32119563 21.61609418] [ 0.09576168 0.99494792 0.0301386 0.20306946] [ 0.31712918 -0.05919507 0.94653316 0.88891612] [ 0. 0. 0. 1. ]] SLAMing on 131.14538475 meters Centerline goodness : 0.923096 Centerline is valid? [False, False] Translation: X:21.62, Y:0.20, Z:0.89 [[ 0.94337686 -0.07751058 -0.32254024 21.61959782] [ 0.09325782 0.99507371 0.03363467 0.20332106] [ 0.31834427 -0.06180957 0.94595798 0.88975691] [ 0. 0. 0. 1. ]] SLAMing on 131.17538475 meters Centerline goodness : 0.921015 Centerline is valid? [False, False] Translation: X:21.62, Y:0.21, Z:0.89 [[ 0.943294 -0.07793613 -0.32268002 21.62160894] [ 0.09336447 0.99509848 0.03258961 0.20692131] [ 0.31855849 -0.06086843 0.94594689 0.88804644] [ 0. 0. 0. 1. ]] SLAMing on 131.20538475 meters Centerline goodness : 0.915890 Centerline is valid? [False, False] Translation: X:21.62, Y:0.21, Z:0.89 [[ 0.94322755 -0.07770166 -0.32293072 21.62252231] [ 0.09303821 0.99513832 0.03230507 0.20920127] [ 0.31885058 -0.06051592 0.9458711 0.88751726] [ 0. 0. 0. 1. ]] SLAMing on 131.23538475 meters Centerline goodness : 0.915200 Centerline is valid? [False, False] Translation: X:21.62, Y:0.21, Z:0.89 [[ 0.94309774 -0.07793489 -0.32325346 21.6236471 ] [ 0.09317393 0.99513826 0.03191345 0.21080112] [ 0.31919472 -0.06021629 0.94577414 0.88735607] [ 0. 0. 0. 1. ]] SLAMing on 131.26538475 meters Centerline goodness : 0.911576 Centerline is valid? [False, False] Translation: X:21.62, Y:0.21, Z:0.89 [[ 0.94302427 -0.07756686 -0.32355618 21.62366288] [ 0.09274716 0.99518368 0.03173962 0.2128034 ] [ 0.31953589 -0.05994014 0.94567647 0.88752703] [ 0. 0. 0. 1. ]] SLAMing on 131.29538475 meters Centerline goodness : 0.910930 Centerline is valid? [False, False] Translation: X:21.63, Y:0.21, Z:0.89 [[ 0.94289225 -0.0735543 -0.32487532 21.62594681] [ 0.08991702 0.99531203 0.0356216 0.21219547] [ 0.32073219 -0.06279915 0.94508578 0.88919308] [ 0. 0. 0. 1. ]] SLAMing on 131.32538475 meters Centerline goodness : 0.913666 Centerline is valid? [False, False] Translation: X:21.63, Y:0.21, Z:0.89 [[ 0.94277747 -0.07358381 -0.32520157 21.62654087] [ 0.08981699 0.99533718 0.03516815 0.21487251] [ 0.32109741 -0.06236436 0.94499055 0.88907704] [ 0. 0. 0. 1. ]] SLAMing on 131.35538475 meters Centerline goodness : 0.916047 Centerline is valid? [False, False] Translation: X:21.63, Y:0.21, Z:0.89 [[ 0.94260169 -0.06977966 -0.32654687 21.62902961] [ 0.08725597 0.99541591 0.03916082 0.2142408 ] [ 0.32231732 -0.06540622 0.9443694 0.8910959 ] [ 0. 0. 0. 1. ]] SLAMing on 131.38538475000001 meters Centerline goodness : 0.916018 Centerline is valid? [False, False] Translation: X:21.63, Y:0.22, Z:0.89 [[ 0.94247372 -0.06954088 -0.3269669 21.62930261] [ 0.08705428 0.99543129 0.03921865 0.21621485] [ 0.32274578 -0.06542642 0.94422166 0.89175252] [ 0. 0. 0. 1. ]] SLAMing on 131.41538475000002 meters Centerline goodness : 0.913299 Centerline is valid? [False, False] Translation: X:21.63, Y:0.22, Z:0.89 [[ 0.94221288 -0.07463353 -0.32659567 21.62910165] [ 0.09103727 0.99522484 0.03520974 0.21640016] [ 0.3224083 -0.06290745 0.9445081 0.89181897] [ 0. 0. 0. 1. ]] SLAMing on 131.44538475000002 meters Centerline goodness : 0.917360 Centerline is valid? [False, False] Translation: X:21.63, Y:0.22, Z:0.89 [[ 0.94177269 -0.07631258 -0.3274761 21.6321205 ] [ 0.09277068 0.99507533 0.0349098 0.21680193] [ 0.32319933 -0.06325727 0.94421434 0.89314359] [ 0. 0. 0. 1. ]] SLAMing on 131.47538475000002 meters Centerline goodness : 0.916293 Centerline is valid? [False, False] Translation: X:21.63, Y:0.22, Z:0.89 [[ 0.94157919 -0.07704972 -0.32785968 21.63424954] [ 0.09341499 0.9950315 0.03443764 0.21768363] [ 0.3235773 -0.06305278 0.94409855 0.89279681] [ 0. 0. 0. 1. ]] SLAMing on 131.50538475000002 meters Centerline goodness : 0.913631 Centerline is valid? [False, False] Translation: X:21.64, Y:0.22, Z:0.89 [[ 0.94140524 -0.07369348 -0.3291283 21.63835438] [ 0.09103333 0.99513905 0.0375659 0.21847646] [ 0.32476006 -0.06532638 0.94353769 0.89297259] [ 0. 0. 0. 1. ]] SLAMing on 131.53538475 meters Centerline goodness : 0.910667 Centerline is valid? [False, False] Translation: X:21.64, Y:0.22, Z:0.89 [[ 0.94137608 -0.07363442 -0.32922492 21.63910886] [ 0.09091669 0.99515642 0.03738792 0.21929869] [ 0.32487726 -0.06512814 0.94351105 0.89253976] [ 0. 0. 0. 1. ]] SLAMing on 131.56538475 meters Centerline goodness : 0.915733 Centerline is valid? [False, False] Translation: X:21.64, Y:0.22, Z:0.89 [[ 0.94129876 -0.07332525 -0.32951486 21.63881505] [ 0.09077967 0.99515042 0.03787732 0.21755195] [ 0.32513949 -0.06556713 0.9433903 0.89386656] [ 0. 0. 0. 1. ]] SLAMing on 131.59538475 meters Centerline goodness : 0.915017 Centerline is valid? [False, False] Translation: X:21.64, Y:0.22, Z:0.89 [[ 0.94117356 -0.07333557 -0.32987002 21.63954357] [ 0.09086141 0.99513802 0.03800691 0.21731376] [ 0.32547894 -0.06574356 0.94326096 0.89443304] [ 0. 0. 0. 1. ]] SLAMing on 131.62538475 meters Centerline goodness : 0.912535 Centerline is valid? [False, False] Translation: X:21.64, Y:0.22, Z:0.89 [[ 0.94098024 -0.07363671 -0.3303541 21.64125641] [ 0.09123362 0.99510197 0.03805917 0.21633597] [ 0.32593346 -0.06595233 0.94308943 0.89483066] [ 0. 0. 0. 1. ]] SLAMing on 131.65538475 meters Centerline goodness : 0.912513 Centerline is valid? [False, False] Translation: X:21.64, Y:0.22, Z:0.89 [[ 0.94079661 -0.07413737 -0.33076484 21.64313273] [ 0.09169158 0.9950711 0.03776453 0.21649613] [ 0.32633477 -0.06585709 0.94295729 0.89473029] [ 0. 0. 0. 1. ]] SLAMing on 131.68538475 meters Centerline goodness : 0.909455 Centerline is valid? [False, False] Translation: X:21.65, Y:0.22, Z:0.89 [[ 0.94053671 -0.07495714 -0.33131878 21.64581805] [ 0.09246891 0.99501342 0.03738709 0.21591021] [ 0.3268642 -0.06580062 0.94277785 0.89465011] [ 0. 0. 0. 1. ]] SLAMing on 131.71538475 meters Centerline goodness : 0.913597 Centerline is valid? [False, False] Translation: X:21.65, Y:0.22, Z:0.89 [[ 0.94036686 -0.07542818 -0.33169377 21.64728325] [ 0.0929188 0.99497973 0.03716758 0.21550448] [ 0.3272251 -0.06577175 0.94265466 0.89477485] [ 0. 0. 0. 1. ]] SLAMing on 131.74538475 meters Centerline goodness : 0.914813 Centerline is valid? [False, False] Translation: X:21.65, Y:0.21, Z:0.90 [[ 0.94005425 -0.07657902 -0.3323156 21.65026111] [ 0.09411261 0.99487503 0.03696605 0.21347358] [ 0.32778167 -0.06602518 0.94244355 0.89518066] [ 0. 0. 0. 1. ]] SLAMing on 131.77538475 meters Centerline goodness : 0.914299 Centerline is valid? [False, False] Translation: X:21.65, Y:0.21, Z:0.90 [[ 0.93972076 -0.07755651 -0.33303136 21.65325968] [ 0.09510148 0.9947915 0.03668204 0.21263211] [ 0.32845184 -0.06614265 0.94220196 0.89542537] [ 0. 0. 0. 1. ]] SLAMing on 131.80538475 meters Centerline goodness : 0.915600 Centerline is valid? [False, False] Translation: X:21.66, Y:0.21, Z:0.90 [[ 0.93939163 -0.07910184 -0.33359597 21.65720016] [ 0.09662442 0.99466103 0.0362374 0.21016488] [ 0.32894846 -0.06627463 0.94201942 0.8952645 ] [ 0. 0. 0. 1. ]] SLAMing on 131.83538475 meters Centerline goodness : 0.915427 Centerline is valid? [False, False] Translation: X:21.66, Y:0.21, Z:0.90 [[ 0.93916107 -0.07994444 -0.33404396 21.65945522] [ 0.09739957 0.99460102 0.03580686 0.20950514] [ 0.32937791 -0.06616415 0.94187712 0.89514294] [ 0. 0. 0. 1. ]] SLAMing on 131.86538475 meters Centerline goodness : 0.917578 Centerline is valid? [False, False] Translation: X:21.66, Y:0.21, Z:0.90 [[ 0.9388535 -0.08060506 -0.33474904 21.66233464] [ 0.09808763 0.99453998 0.03562358 0.20893826] [ 0.33004987 -0.06628006 0.94163371 0.89529055] [ 0. 0. 0. 1. ]] SLAMing on 131.89538475 meters Centerline goodness : 0.921348 Centerline is valid? [False, False] Translation: X:21.66, Y:0.21, Z:0.90 [[ 0.93863701 -0.08117168 -0.33521891 21.66422425] [ 0.09865811 0.99449016 0.0354387 0.20880906] [ 0.33049529 -0.06633613 0.94147352 0.8955144 ] [ 0. 0. 0. 1. ]] SLAMing on 131.92538475 meters Centerline goodness : 0.918109 Centerline is valid? [False, False] Translation: X:21.67, Y:0.21, Z:0.90 [[ 0.93846529 -0.08171397 -0.33556776 21.66563453] [ 0.09904405 0.99447338 0.03482764 0.20956619] [ 0.33086731 -0.06592052 0.94137204 0.89524544] [ 0. 0. 0. 1. ]] SLAMing on 131.95538475 meters Centerline goodness : 0.917939 Centerline is valid? [False, False] Translation: X:21.67, Y:0.21, Z:0.90 [[ 0.93801457 -0.08333632 -0.33642789 21.6696179 ] [ 0.10053271 0.99435296 0.03399073 0.21104261] [ 0.3316954 -0.06570581 0.94109559 0.89524872] [ 0. 0. 0. 1. ]] SLAMing on 131.98538475 meters Centerline goodness : 0.919231 Centerline is valid? [False, False] Translation: X:21.67, Y:0.21, Z:0.90 [[ 0.93781663 -0.08406703 -0.33679772 21.67124119] [ 0.10117772 0.99430265 0.03354556 0.2118165 ] [ 0.3320588 -0.06553601 0.94097927 0.8952824 ] [ 0. 0. 0. 1. ]] SLAMing on 132.01538475 meters Centerline goodness : 0.922214 Centerline is valid? [False, False] Translation: X:21.67, Y:0.21, Z:0.90 [[ 0.9375802 -0.08455533 -0.33733332 21.67272194] [ 0.10170045 0.99425263 0.03344752 0.21235063] [ 0.33256638 -0.06566668 0.94079089 0.89593025] [ 0. 0. 0. 1. ]] SLAMing on 132.04538475 meters Centerline goodness : 0.920211 Centerline is valid? [False, False] Translation: X:21.67, Y:0.21, Z:0.90 [[ 0.93746558 -0.08432998 -0.33770807 21.6734787 ] [ 0.10147671 0.99427667 0.03341226 0.21315262] [ 0.3329576 -0.06559235 0.94065768 0.89612049] [ 0. 0. 0. 1. ]] SLAMing on 132.07538475 meters Centerline goodness : 0.918359 Centerline is valid? [False, False] Translation: X:21.67, Y:0.21, Z:0.90 [[ 0.93743676 -0.0842327 -0.33781232 21.67329168] [ 0.10137481 0.99428768 0.03339411 0.21340861] [ 0.33306975 -0.06555053 0.94062089 0.89639083] [ 0. 0. 0. 1. ]] SLAMing on 132.10538475 meters Centerline goodness : 0.919894 Centerline is valid? [False, False] Translation: X:21.67, Y:0.21, Z:0.90 [[ 0.9372311 -0.0843219 -0.33836028 21.67377767] [ 0.10155334 0.99426534 0.03351637 0.21303447] [ 0.33359373 -0.0657742 0.94041957 0.89763184] [ 0. 0. 0. 1. ]] SLAMing on 132.13538475000001 meters Centerline goodness : 0.921296 Centerline is valid? [False, False] Translation: X:21.68, Y:0.21, Z:0.90 [[ 0.93681066 -0.08558632 -0.33920609 21.67689737] [ 0.10281022 0.99415008 0.033101 0.21348578] [ 0.33438876 -0.06588322 0.94012954 0.8982506 ] [ 0. 0. 0. 1. ]] SLAMing on 132.16538475000002 meters Centerline goodness : 0.921296 Centerline is valid? [False, False] Translation: X:21.68, Y:0.21, Z:0.90 [[ 0.93681066 -0.08558632 -0.33920609 21.67689737] [ 0.10281022 0.99415008 0.033101 0.21348578] [ 0.33438876 -0.06588322 0.94012954 0.8982506 ] [ 0. 0. 0. 1. ]] SLAMing on 132.19538475000002 meters Centerline goodness : 0.918639 Centerline is valid? [False, False] Translation: X:21.68, Y:0.21, Z:0.90 [[ 0.93639794 -0.08689025 -0.3400132 21.6807149 ] [ 0.10411497 0.99402723 0.03270983 0.21333099] [ 0.33514022 -0.06602988 0.93985163 0.89843026] [ 0. 0. 0. 1. ]] SLAMing on 132.22538475000002 meters Centerline goodness : 0.919167 Centerline is valid? [False, False] Translation: X:21.68, Y:0.21, Z:0.90 [[ 0.93616145 -0.08743435 -0.34052455 21.68325366] [ 0.10461773 0.99398482 0.03239316 0.21350315] [ 0.33564396 -0.06595013 0.93967745 0.89813868] [ 0. 0. 0. 1. ]] SLAMing on 132.25538475000002 meters Centerline goodness : 0.917285 Centerline is valid? [False, False] Translation: X:21.68, Y:0.21, Z:0.90 [[ 0.9358835 -0.08787084 -0.3411756 21.68499557] [ 0.10516633 0.9939236 0.03249507 0.21265331] [ 0.33624711 -0.06629178 0.93943775 0.89901525] [ 0. 0. 0. 1. ]] SLAMing on 132.28538475 meters Centerline goodness : 0.916369 Centerline is valid? [False, False] Translation: X:21.69, Y:0.21, Z:0.90 [[ 0.93576427 -0.08809368 -0.34144507 21.68587979] [ 0.10542749 0.99389554 0.03250704 0.21213023] [ 0.33649707 -0.06641663 0.93933943 0.89938459] [ 0. 0. 0. 1. ]] SLAMing on 132.31538475 meters Centerline goodness : 0.914538 Centerline is valid? [False, False] Translation: X:21.69, Y:0.21, Z:0.90 [[ 0.93557517 -0.08810987 -0.34195869 21.68716194] [ 0.10566457 0.99385371 0.03301224 0.21110632] [ 0.33694821 -0.06701835 0.93913494 0.90044454] [ 0. 0. 0. 1. ]] SLAMing on 132.34538475 meters Centerline goodness : 0.918820 Centerline is valid? [False, False] Translation: X:21.69, Y:0.21, Z:0.90 [[ 0.93542019 -0.08822753 -0.34235212 21.68799896] [ 0.10586148 0.99382886 0.03312934 0.21136626] [ 0.3373165 -0.06723176 0.93898747 0.90107579] [ 0. 0. 0. 1. ]] SLAMing on 132.37538475 meters Centerline goodness : 0.914211 Centerline is valid? [False, False] Translation: X:21.69, Y:0.21, Z:0.90 [[ 0.93513084 -0.08885234 -0.34298044 21.68957818] [ 0.10658013 0.99375141 0.03314833 0.210964 ] [ 0.33789198 -0.06755292 0.93875748 0.90218168] [ 0. 0. 0. 1. ]] SLAMing on 132.40538475 meters Centerline goodness : 0.910794 Centerline is valid? [False, False] Translation: X:21.69, Y:0.21, Z:0.90 [[ 0.9348762 -0.08955581 -0.34349127 21.69249643] [ 0.10707081 0.99372572 0.03232701 0.21260751] [ 0.33844103 -0.06699964 0.93859934 0.90125337] [ 0. 0. 0. 1. ]] SLAMing on 132.43538475 meters Centerline goodness : 0.912379 Centerline is valid? [False, False] Translation: X:21.69, Y:0.21, Z:0.90 [[ 0.93463513 -0.09008929 -0.3440074 21.69443323] [ 0.10755768 0.99368385 0.03199614 0.2132454 ] [ 0.33895209 -0.06690535 0.93842163 0.90130528] [ 0. 0. 0. 1. ]] SLAMing on 132.46538475 meters Centerline goodness : 0.912090 Centerline is valid? [False, False] Translation: X:21.70, Y:0.21, Z:0.90 [[ 0.93439481 -0.09021043 -0.34462793 21.69571566] [ 0.10778206 0.99365521 0.03213012 0.21348966] [ 0.33954287 -0.06716693 0.93818934 0.902155 ] [ 0. 0. 0. 1. ]] SLAMing on 132.49538475 meters Centerline goodness : 0.914332 Centerline is valid? [False, False] Translation: X:21.70, Y:0.21, Z:0.90 [[ 0.93417578 -0.09072672 -0.3450859 21.69766995] [ 0.10824731 0.99361518 0.03180243 0.21430183] [ 0.33999726 -0.06706368 0.93803216 0.90211269] [ 0. 0. 0. 1. ]] SLAMing on 132.52538475 meters Centerline goodness : 0.917688 Centerline is valid? [False, False] Translation: X:21.69, Y:0.21, Z:0.91 [[ 0.93394927 -0.09427244 -0.34474841 21.69326655] [ 0.11144566 0.99330876 0.03029152 0.21333791] [ 0.33958596 -0.06671146 0.93820624 0.90663857] [ 0. 0. 0. 1. ]] SLAMing on 132.55538475 meters Centerline goodness : 0.917107 Centerline is valid? [False, False] Translation: X:21.69, Y:0.21, Z:0.91 [[ 0.9336924 -0.09479123 -0.34530151 21.69436899] [ 0.1120451 0.99324084 0.03030725 0.21476413] [ 0.3400947 -0.06698699 0.93800231 0.90765975] [ 0. 0. 0. 1. ]] SLAMing on 132.58538475 meters Centerline goodness : 0.915997 Centerline is valid? [False, False] Translation: X:21.70, Y:0.22, Z:0.91 [[ 0.93379538 -0.09425948 -0.34516857 21.69712948] [ 0.11190639 0.99321895 0.0315132 0.21701632] [ 0.33985755 -0.06805345 0.9380115 0.90681099] [ 0. 0. 0. 1. ]] SLAMing on 132.61538475 meters Centerline goodness : 0.912617 Centerline is valid? [False, False] Translation: X:21.70, Y:0.22, Z:0.91 [[ 0.93362391 -0.09124291 -0.34644064 21.70210454] [ 0.10970229 0.99338255 0.03400746 0.2200369 ] [ 0.34104515 -0.06975551 0.93745527 0.90605636] [ 0. 0. 0. 1. ]] SLAMing on 132.64538475 meters Centerline goodness : 0.909230 Centerline is valid? [False, False] Translation: X:21.70, Y:0.22, Z:0.91 [[ 0.93373551 -0.08666786 -0.34731352 21.70359405] [ 0.10626415 0.99362147 0.03773985 0.22076735] [ 0.34182734 -0.07214601 0.93698934 0.90655918] [ 0. 0. 0. 1. ]] SLAMing on 132.67538475 meters Centerline goodness : 0.908117 Centerline is valid? [False, False] Translation: X:21.70, Y:0.22, Z:0.91 [[ 0.93362496 -0.08646748 -0.34766048 21.7039407 ] [ 0.10604969 0.99364747 0.03765871 0.2213865 ] [ 0.3421957 -0.07202839 0.93686392 0.90682644] [ 0. 0. 0. 1. ]] SLAMing on 132.70538475 meters Centerline goodness : 0.910697 Centerline is valid? [False, False] Translation: X:21.72, Y:0.22, Z:0.91 [[ 0.93566803 -0.08624444 -0.34218011 21.71526111] [ 0.10254155 0.99428255 0.02978991 0.22357469] [ 0.3376545 -0.06296114 0.93916204 0.90712605] [ 0. 0. 0. 1. ]] SLAMing on 132.73538475 meters Centerline goodness : 0.912518 Centerline is valid? [False, False] Translation: X:21.72, Y:0.22, Z:0.91 [[ 0.93559738 -0.08590887 -0.34245759 21.71521547] [ 0.10226567 0.99430588 0.02995931 0.22380811] [ 0.33793382 -0.0630515 0.9390555 0.90767969] [ 0. 0. 0. 1. ]] SLAMing on 132.76538475 meters Centerline goodness : 0.911244 Centerline is valid? [False, False] Translation: X:21.72, Y:0.22, Z:0.91 [[ 0.9349027 -0.08789698 -0.34384744 21.71903988] [ 0.10460626 0.99405168 0.03031152 0.22343047] [ 0.33913783 -0.06430691 0.93853618 0.91080991] [ 0. 0. 0. 1. ]] SLAMing on 132.79538475 meters Centerline goodness : 0.913325 Centerline is valid? [False, False] Translation: X:21.72, Y:0.22, Z:0.91 [[ 0.93453985 -0.08934257 -0.34446069 21.72226396] [ 0.10600597 0.99391863 0.02980763 0.22428022] [ 0.33970281 -0.06437131 0.93832742 0.91100265] [ 0. 0. 0. 1. ]] SLAMing on 132.82538475 meters Centerline goodness : 0.914718 Centerline is valid? [False, False] Translation: X:21.73, Y:0.23, Z:0.91 [[ 0.93404098 -0.09124846 -0.34531313 21.72790771] [ 0.10767132 0.99377399 0.028638 0.22661026] [ 0.34055004 -0.06392939 0.93805048 0.9097888 ] [ 0. 0. 0. 1. ]] SLAMing on 132.85538475 meters Centerline goodness : 0.912874 Centerline is valid? [False, False] Translation: X:21.73, Y:0.23, Z:0.91 [[ 0.93377468 -0.08816133 -0.34683199 21.73248835] [ 0.1056471 0.99389526 0.03179482 0.22709686] [ 0.3419116 -0.06633099 0.93738821 0.91043467] [ 0. 0. 0. 1. ]] SLAMing on 132.88538475000001 meters Centerline goodness : 0.908224 Centerline is valid? [False, False] Translation: X:21.74, Y:0.23, Z:0.91 [[ 0.93367263 -0.08402687 -0.34813058 21.73555856] [ 0.10259499 0.99409972 0.03521393 0.22754363] [ 0.34311759 -0.06859473 0.93678444 0.91094275] [ 0. 0. 0. 1. ]] SLAMing on 132.91538475000002 meters Centerline goodness : 0.910939 Centerline is valid? [False, False] Translation: X:21.74, Y:0.23, Z:0.91 [[ 0.93342682 -0.08382926 -0.34883667 21.73624927] [ 0.10261 0.99408162 0.035678 0.22624059] [ 0.34378126 -0.06909693 0.93650417 0.91250514] [ 0. 0. 0. 1. ]] SLAMing on 132.94538475000002 meters Centerline goodness : 0.913691 Centerline is valid? [False, False] Translation: X:21.74, Y:0.23, Z:0.91 [[ 0.93335733 -0.08395091 -0.34899333 21.73647971] [ 0.10274201 0.99406895 0.03565116 0.22602273] [ 0.34393049 -0.06913155 0.93644682 0.91287021] [ 0. 0. 0. 1. ]] SLAMing on 132.97538475000002 meters Centerline goodness : 0.912595 Centerline is valid? [False, False] Translation: X:21.74, Y:0.23, Z:0.91 [[ 0.93275744 -0.08575656 -0.35015621 21.74081639] [ 0.10474098 0.99386192 0.03560624 0.22597611] [ 0.34495345 -0.06988769 0.93601433 0.91450626] [ 0. 0. 0. 1. ]] SLAMing on 133.00538475000002 meters Centerline goodness : 0.913595 Centerline is valid? [False, False] Translation: X:21.74, Y:0.22, Z:0.92 [[ 0.93260706 -0.08590607 -0.35051992 21.74122986] [ 0.10509862 0.99380761 0.03606531 0.22479312] [ 0.34525114 -0.07047392 0.93586061 0.91576993] [ 0. 0. 0. 1. ]] SLAMing on 133.03538475 meters Centerline goodness : 0.915580 Centerline is valid? [False, False] Translation: X:21.74, Y:0.22, Z:0.92 [[ 0.93243199 -0.08544997 -0.35109669 21.74081332] [ 0.10523112 0.99373618 0.03761395 0.22294888] [ 0.34568338 -0.07201875 0.9355834 0.91869935] [ 0. 0. 0. 1. ]] SLAMing on 133.06538475 meters Centerline goodness : 0.918799 Centerline is valid? [False, False] Translation: X:21.74, Y:0.22, Z:0.92 [[ 0.93219515 -0.08572761 -0.35165747 21.74198722] [ 0.1056609 0.99368157 0.03785113 0.22288636] [ 0.34619066 -0.07244109 0.9353632 0.91980238] [ 0. 0. 0. 1. ]] SLAMing on 133.09538475 meters Centerline goodness : 0.916405 Centerline is valid? [False, False] Translation: X:21.74, Y:0.22, Z:0.92 [[ 0.93209246 -0.08930039 -0.35104 21.73940253] [ 0.10842292 0.99348297 0.03515773 0.22116928] [ 0.34561266 -0.07083104 0.9357002 0.92098083] [ 0. 0. 0. 1. ]] SLAMing on 133.12538475 meters Centerline goodness : 0.923523 Centerline is valid? [False, False] Translation: X:21.74, Y:0.22, Z:0.92 [[ 0.93162843 -0.08956614 -0.35220218 21.74084455] [ 0.10940307 0.99331661 0.03678421 0.2184073 ] [ 0.34655366 -0.07280121 0.93520081 0.92495539] [ 0. 0. 0. 1. ]] SLAMing on 133.15538475 meters Centerline goodness : 0.922383 Centerline is valid? [False, False] Translation: X:21.74, Y:0.22, Z:0.93 [[ 0.93143921 -0.09011883 -0.35256149 21.74259308] [ 0.1099911 0.99325478 0.03670015 0.21791411] [ 0.34687601 -0.07296258 0.93506871 0.92513274] [ 0. 0. 0. 1. ]] SLAMing on 133.18538475 meters Centerline goodness : 0.921609 Centerline is valid? [False, False] Translation: X:21.75, Y:0.22, Z:0.93 [[ 0.93104835 -0.09136586 -0.35327221 21.74619988] [ 0.11129844 0.99311726 0.03647957 0.21709618] [ 0.34750775 -0.07328289 0.93480906 0.92554403] [ 0. 0. 0. 1. ]] SLAMing on 133.21538475 meters Centerline goodness : 0.922315 Centerline is valid? [False, False] Translation: X:21.75, Y:0.22, Z:0.93 [[ 0.93075605 -0.0922185 -0.35382046 21.74853886] [ 0.1121593 0.99302972 0.03622526 0.21679638] [ 0.34801359 -0.07340114 0.93461158 0.92589147] [ 0. 0. 0. 1. ]] SLAMing on 133.24538475 meters Centerline goodness : 0.920074 Centerline is valid? [False, False] Translation: X:21.75, Y:0.22, Z:0.93 [[ 0.93031381 -0.09371164 -0.35459038 21.75276297] [ 0.11352287 0.99290324 0.03543612 0.21694571] [ 0.34875316 -0.07322083 0.93435001 0.9255941 ] [ 0. 0. 0. 1. ]] SLAMing on 133.27538475 meters Centerline goodness : 0.920150 Centerline is valid? [False, False] Translation: X:21.76, Y:0.22, Z:0.93 [[ 0.93005044 -0.09465404 -0.3550307 21.75543013] [ 0.11432802 0.99283334 0.03480021 0.21771246] [ 0.34919234 -0.07295591 0.93420669 0.92514794] [ 0. 0. 0. 1. ]] SLAMing on 133.30538475 meters Centerline goodness : 0.918661 Centerline is valid? [False, False] Translation: X:21.76, Y:0.22, Z:0.92 [[ 0.92977785 -0.09567756 -0.35547004 21.75883597] [ 0.11506948 0.99278348 0.03376364 0.21956344] [ 0.34967436 -0.07229644 0.93407766 0.92387363] [ 0. 0. 0. 1. ]] SLAMing on 133.33538475 meters Centerline goodness : 0.917172 Centerline is valid? [False, False] Translation: X:21.76, Y:0.22, Z:0.92 [[ 0.92963041 -0.0962552 -0.35569964 21.76047107] [ 0.11550088 0.99275179 0.03321793 0.22125427] [ 0.34992406 -0.07196402 0.93400981 0.92338267] [ 0. 0. 0. 1. ]] SLAMing on 133.36538475 meters Centerline goodness : 0.917563 Centerline is valid? [False, False] Translation: X:21.76, Y:0.22, Z:0.92 [[ 0.92963807 -0.09606391 -0.35573133 21.76075503] [ 0.11518503 0.99279864 0.03291322 0.22302992] [ 0.3500078 -0.07157231 0.93400854 0.92280605] [ 0. 0. 0. 1. ]] SLAMing on 133.39538475 meters Centerline goodness : 0.914649 Centerline is valid? [False, False] Translation: X:21.76, Y:0.22, Z:0.92 [[ 0.92942129 -0.09654988 -0.35616595 21.76256869] [ 0.11560797 0.99276105 0.0325622 0.2246095 ] [ 0.35044381 -0.07143963 0.93385519 0.92272979] [ 0. 0. 0. 1. ]] SLAMing on 133.42538475 meters Centerline goodness : 0.912823 Centerline is valid? [False, False] Translation: X:21.77, Y:0.23, Z:0.92 [[ 0.92922754 -0.09300776 -0.35761116 21.76666474] [ 0.11315368 0.99293308 0.03577918 0.22613992] [ 0.35175621 -0.07371202 0.93318493 0.92337467] [ 0. 0. 0. 1. ]] SLAMing on 133.45538475 meters Centerline goodness : 0.910866 Centerline is valid? [False, False] Translation: X:21.77, Y:0.23, Z:0.92 [[ 0.92918377 -0.0929689 -0.35773495 21.76714949] [ 0.11305626 0.9929505 0.03560323 0.22781664] [ 0.35190311 -0.07352612 0.93314421 0.92315821] [ 0. 0. 0. 1. ]] SLAMing on 133.48538475 meters Centerline goodness : 0.913526 Centerline is valid? [False, False] Translation: X:21.77, Y:0.23, Z:0.92 [[ 0.92906211 -0.09320382 -0.35798973 21.76787704] [ 0.1131739 0.99295173 0.03519287 0.22987625] [ 0.35218641 -0.07321145 0.93306207 0.92311611] [ 0. 0. 0. 1. ]] SLAMing on 133.51538475 meters Centerline goodness : 0.912408 Centerline is valid? [False, False] Translation: X:21.77, Y:0.23, Z:0.93 [[ 0.92879703 -0.09307645 -0.35870998 21.7671517 ] [ 0.11354217 0.99286739 0.03636659 0.229374 ] [ 0.35276657 -0.07450589 0.93274038 0.92653997] [ 0. 0. 0. 1. ]] SLAMing on 133.54538475 meters Centerline goodness : 0.910810 Centerline is valid? [False, False] Translation: X:21.77, Y:0.23, Z:0.93 [[ 0.92872942 -0.09318194 -0.35885762 21.76777208] [ 0.11355539 0.99287669 0.0360702 0.23266497] [ 0.35294028 -0.07424967 0.9326951 0.92621971] [ 0. 0. 0. 1. ]] SLAMing on 133.57538475 meters Centerline goodness : 0.908951 Centerline is valid? [False, False] Translation: X:21.77, Y:0.23, Z:0.93 [[ 0.92864971 -0.09341764 -0.35900258 21.7689132 ] [ 0.11365083 0.99288187 0.03562407 0.23459661] [ 0.35311924 -0.07388322 0.93265646 0.92561494] [ 0. 0. 0. 1. ]] SLAMing on 133.60538475 meters Centerline goodness : 0.908525 Centerline is valid? [False, False] Translation: X:21.77, Y:0.24, Z:0.93 [[ 0.92869287 -0.09284173 -0.35904034 21.76751046] [ 0.1132091 0.99291605 0.03607516 0.23591835] [ 0.35314764 -0.07414938 0.93262459 0.92665132] [ 0. 0. 0. 1. ]] SLAMing on 133.63538475000001 meters Centerline goodness : 0.909720 Centerline is valid? [False, False] Translation: X:21.77, Y:0.24, Z:0.93 [[ 0.92838042 -0.09377576 -0.35960521 21.76872638] [ 0.11421266 0.99280526 0.03596092 0.23685062] [ 0.35364568 -0.07445688 0.93241134 0.92798712] [ 0. 0. 0. 1. ]] SLAMing on 133.66538475000002 meters Centerline goodness : 0.915257 Centerline is valid? [False, False] Translation: X:21.78, Y:0.24, Z:0.93 [[ 0.93179305 -0.09989479 -0.34897384 21.77549518] [ 0.11970258 0.99217113 0.03560527 0.24066049] [ 0.34268499 -0.07494981 0.93645583 0.92721751] [ 0. 0. 0. 1. ]] SLAMing on 133.69538475000002 meters Centerline goodness : 0.910633 Centerline is valid? [False, False] Translation: X:21.78, Y:0.24, Z:0.93 [[ 0.93166417 -0.10014167 -0.34924707 21.77627902] [ 0.11991532 0.99215262 0.03540469 0.24187429] [ 0.34296091 -0.07486536 0.93636157 0.9274073 ] [ 0. 0. 0. 1. ]] SLAMing on 133.72538475000002 meters Centerline goodness : 0.911719 Centerline is valid? [False, False] Translation: X:21.78, Y:0.25, Z:0.93 [[ 0.93167253 -0.09645479 -0.35026099 21.77948359] [ 0.11702291 0.99240249 0.03798613 0.24535905] [ 0.34393594 -0.07637919 0.93588156 0.92665162] [ 0. 0. 0. 1. ]] SLAMing on 133.75538475000002 meters Centerline goodness : 0.910230 Centerline is valid? [False, False] Translation: X:21.78, Y:0.25, Z:0.93 [[ 0.93156808 -0.09709195 -0.35036276 21.78107574] [ 0.11741406 0.99238682 0.0371798 0.24689878] [ 0.34408553 -0.07577302 0.93587584 0.92566032] [ 0. 0. 0. 1. ]] SLAMing on 133.78538475 meters Centerline goodness : 0.908189 Centerline is valid? [False, False] Translation: X:21.78, Y:0.25, Z:0.92 [[ 0.93149904 -0.0977559 -0.35036171 21.78328018] [ 0.11765986 0.99240393 0.03592489 0.24789834] [ 0.34418847 -0.0746875 0.93592525 0.92363923] [ 0. 0. 0. 1. ]] SLAMing on 133.81538475 meters Centerline goodness : 0.905034 Centerline is valid? [False, False] Translation: X:21.79, Y:0.25, Z:0.92 [[ 0.93120942 -0.09871684 -0.35086181 21.78617607] [ 0.11844212 0.99233851 0.03515315 0.24922153] [ 0.34470348 -0.07429177 0.9357672 0.9230471 ] [ 0. 0. 0. 1. ]] SLAMing on 133.84538475 meters Centerline goodness : 0.907957 Centerline is valid? [False, False] Translation: X:21.79, Y:0.25, Z:0.92 [[ 0.9310796 -0.0991445 -0.35108567 21.78817241] [ 0.11874594 0.99231852 0.03468953 0.24963924] [ 0.34494953 -0.07398871 0.93570053 0.92223368] [ 0. 0. 0. 1. ]] SLAMing on 133.87538475 meters Centerline goodness : 0.905452 Centerline is valid? [False, False] Translation: X:21.79, Y:0.25, Z:0.92 [[ 0.93083497 -0.09988331 -0.35152465 21.79031771] [ 0.11941381 0.99225312 0.03426507 0.24941108] [ 0.34537892 -0.07387203 0.93555135 0.92219892] [ 0. 0. 0. 1. ]] SLAMing on 133.90538475 meters Centerline goodness : 0.906791 Centerline is valid? [False, False] Translation: X:21.79, Y:0.25, Z:0.92 [[ 0.93049199 -0.10077878 -0.3521765 21.79309721] [ 0.12037389 0.99214173 0.03413092 0.24852059] [ 0.34596933 -0.0741514 0.93531107 0.92277377] [ 0. 0. 0. 1. ]] SLAMing on 133.93538475 meters Centerline goodness : 0.905388 Centerline is valid? [False, False] Translation: X:21.80, Y:0.25, Z:0.92 [[ 0.93022757 -0.1014531 -0.35268106 21.79505669] [ 0.12108245 0.99206044 0.03398715 0.24885003] [ 0.34643282 -0.07431927 0.93512617 0.92320627] [ 0. 0. 0. 1. ]] SLAMing on 133.96538475 meters Centerline goodness : 0.901528 Centerline is valid? [False, False] Translation: X:21.80, Y:0.25, Z:0.92 [[ 0.93009635 -0.10186011 -0.35290975 21.79611932] [ 0.12152384 0.99200759 0.0339545 0.24811646] [ 0.34663054 -0.07446791 0.93504107 0.92348731] [ 0. 0. 0. 1. ]] SLAMing on 133.99538475 meters Centerline goodness : 0.903775 Centerline is valid? [False, False] Translation: X:21.80, Y:0.25, Z:0.92 [[ 0.92997986 -0.10227526 -0.35309663 21.7971326 ] [ 0.12188807 0.99197158 0.03369984 0.24812311] [ 0.34681516 -0.07437844 0.93497973 0.92348501] [ 0. 0. 0. 1. ]] SLAMing on 134.02538475 meters Centerline goodness : 0.903775 Centerline is valid? [False, False] Translation: X:21.80, Y:0.25, Z:0.92 [[ 0.92997986 -0.10227526 -0.35309663 21.7971326 ] [ 0.12188807 0.99197158 0.03369984 0.24812311] [ 0.34681516 -0.07437844 0.93497973 0.92348501] [ 0. 0. 0. 1. ]] SLAMing on 134.05538475 meters Centerline goodness : 0.901860 Centerline is valid? [False, False] Translation: X:21.80, Y:0.25, Z:0.92 [[ 0.92988323 -0.10248154 -0.35329126 21.79812584] [ 0.12207367 0.99195341 0.03356253 0.24858284] [ 0.34700893 -0.0743368 0.93491114 0.9233973 ] [ 0. 0. 0. 1. ]] SLAMing on 134.08538475 meters Centerline goodness : 0.904707 Centerline is valid? [False, False] Translation: X:21.80, Y:0.25, Z:0.92 [[ 0.92982888 -0.10241447 -0.35345372 21.79837749] [ 0.12203561 0.9919563 0.03361559 0.24952033] [ 0.34716792 -0.07439069 0.93484783 0.92367479] [ 0. 0. 0. 1. ]] SLAMing on 134.11538475 meters Centerline goodness : 0.900046 Centerline is valid? [False, False] Translation: X:21.80, Y:0.25, Z:0.92 [[ 0.92974823 -0.10215045 -0.35374216 21.7983481 ] [ 0.12191005 0.99195968 0.03396972 0.25047453] [ 0.34742793 -0.07470801 0.93472592 0.92453558] [ 0. 0. 0. 1. ]] SLAMing on 134.14538475 meters Centerline goodness : 0.905113 Centerline is valid? [False, False] Translation: X:21.80, Y:0.25, Z:0.93 [[ 0.92946166 -0.10293386 -0.35426774 21.79942814] [ 0.12289213 0.99182913 0.03424167 0.24945013] [ 0.34784844 -0.07536304 0.93451692 0.92623645] [ 0. 0. 0. 1. ]] SLAMing on 134.17538475 meters Centerline goodness : 0.906175 Centerline is valid? [False, False] Translation: X:21.81, Y:0.25, Z:0.93 [[ 0.92839698 -0.10695029 -0.35586611 21.80566418] [ 0.12738834 0.99125521 0.03442845 0.24958171] [ 0.349072 -0.07729646 0.93390256 0.93078512] [ 0. 0. 0. 1. ]] SLAMing on 134.20538475 meters Centerline goodness : 0.900532 Centerline is valid? [False, False] Translation: X:21.81, Y:0.25, Z:0.93 [[ 0.92789251 -0.1087237 -0.35664359 21.80986662] [ 0.12902293 0.99107383 0.03355224 0.25062014] [ 0.34981221 -0.07714807 0.93363783 0.93069878] [ 0. 0. 0. 1. ]] SLAMing on 134.23538475 meters Centerline goodness : 0.900155 Centerline is valid? [False, False] Translation: X:21.82, Y:0.25, Z:0.93 [[ 0.92767538 -0.10602848 -0.35801725 21.81513705] [ 0.12724689 0.9912116 0.03616348 0.25208849] [ 0.35103649 -0.07910455 0.93301439 0.93050189] [ 0. 0. 0. 1. ]] SLAMing on 134.26538475 meters Centerline goodness : 0.897949 Centerline is valid? [False, False] Translation: X:21.82, Y:0.25, Z:0.93 [[ 0.92769298 -0.10604502 -0.35796673 21.81582696] [ 0.12709582 0.9912468 0.03572712 0.2536531 ] [ 0.3510447 -0.07863988 0.93305058 0.92952519] [ 0. 0. 0. 1. ]] SLAMing on 134.29538475 meters Centerline goodness : 0.893966 Centerline is valid? [False, False] Translation: X:21.83, Y:0.26, Z:0.93 [[ 0.92963051 -0.10872556 -0.35208786 21.82901044] [ 0.12602639 0.99167231 0.02652134 0.25633382] [ 0.34627223 -0.06902741 0.93559113 0.92965748] [ 0. 0. 0. 1. ]] SLAMing on 134.32538475 meters Centerline goodness : 0.897824 Centerline is valid? [False, False] Translation: X:21.83, Y:0.26, Z:0.93 [[ 0.92961277 -0.10872403 -0.35213518 21.82974002] [ 0.12593191 0.99169125 0.02626049 0.25660193] [ 0.34635423 -0.06875714 0.93558068 0.92912886] [ 0. 0. 0. 1. ]] SLAMing on 134.35538475 meters Centerline goodness : 0.895611 Centerline is valid? [False, False] Translation: X:21.83, Y:0.26, Z:0.93 [[ 0.92943662 -0.10924846 -0.35243772 21.83189591] [ 0.12629674 0.99166029 0.02567107 0.25817885] [ 0.34669397 -0.06837137 0.93548311 0.92831596] [ 0. 0. 0. 1. ]] SLAMing on 134.38538475000001 meters Centerline goodness : 0.894340 Centerline is valid? [False, False] Translation: X:21.83, Y:0.26, Z:0.93 [[ 0.92926152 -0.10963282 -0.35277993 21.83361003] [ 0.12664727 0.99162158 0.02543843 0.25915256] [ 0.3470353 -0.06831757 0.93536047 0.92813732] [ 0. 0. 0. 1. ]] SLAMing on 134.41538475000002 meters Centerline goodness : 0.893524 Centerline is valid? [False, False] Translation: X:21.83, Y:0.26, Z:0.93 [[ 0.9291885 -0.1099222 -0.35288219 21.83478325] [ 0.12687254 0.99159908 0.02519184 0.25992268] [ 0.34714851 -0.06817902 0.93532857 0.92770838] [ 0. 0. 0. 1. ]] SLAMing on 134.44538475000002 meters Centerline goodness : 0.890212 Centerline is valid? [False, False] Translation: X:21.83, Y:0.26, Z:0.93 [[ 0.92912565 -0.1095743 -0.35315576 21.83491959] [ 0.12677669 0.99159372 0.02587608 0.25942131] [ 0.34735168 -0.06881405 0.93520663 0.92877051] [ 0. 0. 0. 1. ]] SLAMing on 134.47538475000002 meters Centerline goodness : 0.892825 Centerline is valid? [False, False] Translation: X:21.84, Y:0.26, Z:0.93 [[ 0.92893728 -0.10966701 -0.35362222 21.83564834] [ 0.12702079 0.99155482 0.02616773 0.25950292] [ 0.34776608 -0.06922556 0.93502223 0.929789 ] [ 0. 0. 0. 1. ]] SLAMing on 134.50538475000002 meters Centerline goodness : 0.892756 Centerline is valid? [False, False] Translation: X:21.84, Y:0.26, Z:0.93 [[ 0.92888822 -0.10940918 -0.3538309 21.83536783] [ 0.12694075 0.99155229 0.02664789 0.25893007] [ 0.34792631 -0.06966847 0.93492972 0.93077309] [ 0. 0. 0. 1. ]] SLAMing on 134.53538475 meters Centerline goodness : 0.892357 Centerline is valid? [False, False] Translation: X:21.84, Y:0.26, Z:0.93 [[ 0.92865507 -0.10981103 -0.35431807 21.83680804] [ 0.12738747 0.99149651 0.02659127 0.25949226] [ 0.34838512 -0.0698298 0.93474682 0.93127534] [ 0. 0. 0. 1. ]] SLAMing on 134.56538475 meters Centerline goodness : 0.890305 Centerline is valid? [False, False] Translation: X:21.84, Y:0.26, Z:0.93 [[ 0.92870938 -0.10943635 -0.35429164 21.83651082] [ 0.12703521 0.99153811 0.02672508 0.26061934] [ 0.34836897 -0.06982734 0.93475302 0.9311826 ] [ 0. 0. 0. 1. ]] SLAMing on 134.59538475 meters Centerline goodness : 0.891242 Centerline is valid? [False, False] Translation: X:21.84, Y:0.26, Z:0.93 [[ 0.9286317 -0.10574532 -0.35561368 21.83908903] [ 0.12459908 0.99173926 0.0304681 0.26043749] [ 0.34945419 -0.07260278 0.93413629 0.93282403] [ 0. 0. 0. 1. ]] SLAMing on 134.62538475 meters Centerline goodness : 0.890488 Centerline is valid? [False, False] Translation: X:21.84, Y:0.26, Z:0.93 [[ 0.92869432 -0.10129486 -0.3567439 21.84044532] [ 0.12139928 0.9920089 0.03435915 0.26056212] [ 0.35041272 -0.0752176 0.93357016 0.93428198] [ 0. 0. 0. 1. ]] SLAMing on 134.65538475 meters Centerline goodness : 0.889726 Centerline is valid? [False, False] Translation: X:21.84, Y:0.26, Z:0.93 [[ 0.92879584 -0.10089607 -0.35659259 21.83959725] [ 0.12092691 0.99206968 0.03427013 0.26190724] [ 0.35030698 -0.0749516 0.93363123 0.93402011] [ 0. 0. 0. 1. ]] SLAMing on 134.68538475 meters Centerline goodness : 0.889766 Centerline is valid? [False, False] Translation: X:21.85, Y:0.27, Z:0.93 [[ 0.93094279 -0.0986611 -0.35158428 21.85419975] [ 0.11616712 0.99280642 0.02899324 0.26765292] [ 0.34619463 -0.06783358 0.93570716 0.93416977] [ 0. 0. 0. 1. ]] SLAMing on 134.71538475 meters Centerline goodness : 0.893304 Centerline is valid? [False, False] Translation: X:21.85, Y:0.27, Z:0.94 [[ 0.93079031 -0.09868903 -0.35197993 21.85393375] [ 0.11614062 0.99281634 0.0287587 0.26880427] [ 0.34661326 -0.06764749 0.93556564 0.9350096 ] [ 0. 0. 0. 1. ]] SLAMing on 134.74538475 meters Centerline goodness : 0.893940 Centerline is valid? [False, False] Translation: X:21.86, Y:0.27, Z:0.94 [[ 0.93059921 -0.09912557 -0.35236236 21.85533006] [ 0.1164954 0.99278567 0.0283801 0.27005696] [ 0.34700711 -0.06745909 0.93543323 0.93502111] [ 0. 0. 0. 1. ]] SLAMing on 134.77538475 meters Centerline goodness : 0.894669 Centerline is valid? [False, False] Translation: X:21.86, Y:0.27, Z:0.93 [[ 0.93045732 -0.09946651 -0.35264088 21.85684003] [ 0.11664491 0.99278606 0.02774536 0.27209924] [ 0.34733722 -0.06694964 0.93534732 0.93433554] [ 0. 0. 0. 1. ]] SLAMing on 134.80538475 meters Centerline goodness : 0.894075 Centerline is valid? [False, False] Translation: X:21.86, Y:0.27, Z:0.93 [[ 0.9304411 -0.09956026 -0.35265722 21.85718725] [ 0.11667661 0.99278755 0.027558 0.27263068] [ 0.34737001 -0.06678794 0.9353467 0.93413553] [ 0. 0. 0. 1. ]] SLAMing on 134.83538475 meters Centerline goodness : 0.894313 Centerline is valid? [False, False] Translation: X:21.86, Y:0.27, Z:0.93 [[ 0.92991253 -0.10183454 -0.3534012 21.86107971] [ 0.118909 0.9925412 0.02688163 0.27236268] [ 0.34802777 -0.06702015 0.93508554 0.93490967] [ 0. 0. 0. 1. ]] SLAMing on 134.86538475 meters Centerline goodness : 0.893699 Centerline is valid? [False, False] Translation: X:21.86, Y:0.27, Z:0.94 [[ 0.92966238 -0.10236695 -0.35390518 21.86220698] [ 0.11957248 0.99245737 0.02703323 0.27094763] [ 0.34846849 -0.0674491 0.93489054 0.9360319 ] [ 0. 0. 0. 1. ]] SLAMing on 134.89538475 meters Centerline goodness : 0.897457 Centerline is valid? [False, False] Translation: X:21.87, Y:0.27, Z:0.94 [[ 0.92914519 -0.10362984 -0.35489444 21.86551749] [ 0.12102293 0.99227968 0.02710128 0.2690642 ] [ 0.34934604 -0.06813139 0.93451349 0.93750395] [ 0. 0. 0. 1. ]] SLAMing on 134.92538475 meters Centerline goodness : 0.896572 Centerline is valid? [False, False] Translation: X:21.87, Y:0.27, Z:0.94 [[ 0.92885554 -0.10418689 -0.35548908 21.86794031] [ 0.12163586 0.99220681 0.02702531 0.26907454] [ 0.349903 -0.06834283 0.93428965 0.93773154] [ 0. 0. 0. 1. ]] SLAMing on 134.95538475 meters Centerline goodness : 0.894692 Centerline is valid? [False, False] Translation: X:21.87, Y:0.27, Z:0.94 [[ 0.92846053 -0.10499535 -0.35628221 21.87048504] [ 0.12259098 0.99208713 0.0271031 0.26770744] [ 0.3506173 -0.06884115 0.93398523 0.9388388 ] [ 0. 0. 0. 1. ]] SLAMing on 134.98538475 meters Centerline goodness : 0.895309 Centerline is valid? [False, False] Translation: X:21.87, Y:0.27, Z:0.94 [[ 0.92809171 -0.10929028 -0.35595142 21.87066264] [ 0.12590768 0.99175691 0.02377988 0.26615491] [ 0.35041838 -0.06688692 0.93420185 0.93879392] [ 0. 0. 0. 1. ]] SLAMing on 135.01538475 meters Centerline goodness : 0.893011 Centerline is valid? [False, False] Translation: X:21.87, Y:0.26, Z:0.94 [[ 0.9277713 -0.10956168 -0.35670246 21.87198675] [ 0.12663844 0.9916389 0.02479906 0.26402172] [ 0.35100301 -0.06818011 0.93388884 0.94116772] [ 0. 0. 0. 1. ]] SLAMing on 135.04538475 meters Centerline goodness : 0.895344 Centerline is valid? [False, False] Translation: X:21.87, Y:0.26, Z:0.94 [[ 0.92765826 -0.10941682 -0.35704077 21.87218586] [ 0.12672527 0.99161333 0.02537124 0.26335179] [ 0.35127035 -0.06878193 0.93374418 0.94231908] [ 0. 0. 0. 1. ]] SLAMing on 135.07538475 meters Centerline goodness : 0.897917 Centerline is valid? [False, False] Translation: X:21.87, Y:0.26, Z:0.94 [[ 0.92750793 -0.10574281 -0.3585352 21.87485938] [ 0.12444859 0.99178944 0.02943213 0.26239916] [ 0.35247919 -0.07191774 0.93305212 0.9446862 ] [ 0. 0. 0. 1. ]] SLAMing on 135.10538475 meters Centerline goodness : 0.896797 Centerline is valid? [False, False] Translation: X:21.88, Y:0.26, Z:0.95 [[ 0.92730558 -0.10254841 -0.3599836 21.87853974] [ 0.12242553 0.99193584 0.03279159 0.26250046] [ 0.35371791 -0.074479 0.93238218 0.94604078] [ 0. 0. 0. 1. ]] SLAMing on 135.13538475000001 meters Centerline goodness : 0.896247 Centerline is valid? [False, False] Translation: X:21.88, Y:0.26, Z:0.95 [[ 0.92663985 -0.1050228 -0.36098309 21.88272544] [ 0.12473721 0.99168383 0.0316831 0.26356337] [ 0.35465365 -0.07438684 0.93203401 0.94701703] [ 0. 0. 0. 1. ]] SLAMing on 135.16538475000002 meters Centerline goodness : 0.898097 Centerline is valid? [False, False] Translation: X:21.88, Y:0.26, Z:0.95 [[ 0.9264364 -0.10565234 -0.36132144 21.88431007] [ 0.12528047 0.99162863 0.03126442 0.26466198] [ 0.35499352 -0.07423102 0.93191703 0.94695398] [ 0. 0. 0. 1. ]] SLAMing on 135.19538475000002 meters Centerline goodness : 0.896794 Centerline is valid? [False, False] Translation: X:21.89, Y:0.27, Z:0.95 [[ 0.92639066 -0.10216685 -0.36243935 21.88756367] [ 0.12275949 0.99184758 0.03418309 0.2665899 ] [ 0.35599221 -0.07615976 0.93138029 0.94700312] [ 0. 0. 0. 1. ]] SLAMing on 135.22538475000002 meters Centerline goodness : 0.895179 Centerline is valid? [False, False] Translation: X:21.89, Y:0.27, Z:0.95 [[ 0.92626527 -0.0985908 -0.36374787 21.8906354 ] [ 0.12040226 0.99200821 0.03772271 0.26657224] [ 0.35712176 -0.0787373 0.93073331 0.94826298] [ 0. 0. 0. 1. ]] SLAMing on 135.25538475000002 meters Centerline goodness : 0.898663 Centerline is valid? [False, False] Translation: X:21.89, Y:0.27, Z:0.95 [[ 0.92613922 -0.09859381 -0.36406787 21.89044135] [ 0.12043643 0.99200387 0.03772776 0.26677472] [ 0.35743702 -0.07878819 0.93060797 0.94919494] [ 0. 0. 0. 1. ]] SLAMing on 135.28538475 meters Centerline goodness : 0.899832 Centerline is valid? [False, False] Translation: X:21.89, Y:0.27, Z:0.95 [[ 0.9259719 -0.09887144 -0.364418 21.89130002] [ 0.12069146 0.99198019 0.03753489 0.2668496 ] [ 0.35778431 -0.07873839 0.93047872 0.94954029] [ 0. 0. 0. 1. ]] SLAMing on 135.31538475 meters Centerline goodness : 0.894097 Centerline is valid? [False, False] Translation: X:21.89, Y:0.27, Z:0.95 [[ 0.92576982 -0.09943701 -0.36477735 21.89280132] [ 0.12113383 0.99194543 0.03702522 0.26780431] [ 0.35815755 -0.07846371 0.93035833 0.94949081] [ 0. 0. 0. 1. ]] SLAMing on 135.34538475 meters Centerline goodness : 0.896111 Centerline is valid? [False, False] Translation: X:21.89, Y:0.27, Z:0.95 [[ 0.925592 -0.09968833 -0.3651598 21.89362163] [ 0.12145055 0.99190546 0.03705846 0.2672025 ] [ 0.3585097 -0.07864987 0.93020696 0.9502513 ] [ 0. 0. 0. 1. ]] SLAMing on 135.37538475 meters Centerline goodness : 0.898975 Centerline is valid? [False, False] Translation: X:21.90, Y:0.27, Z:0.95 [[ 0.92536251 -0.10049452 -0.36552029 21.89540833] [ 0.12215353 0.99183777 0.03655622 0.26763124] [ 0.35886313 -0.07847735 0.93008524 0.95023505] [ 0. 0. 0. 1. ]] SLAMing on 135.40538475 meters Centerline goodness : 0.895179 Centerline is valid? [False, False] Translation: X:21.90, Y:0.27, Z:0.95 [[ 0.92517 -0.10112152 -0.36583455 21.89732809] [ 0.12269738 0.99178551 0.03615041 0.26800286] [ 0.35917382 -0.07833221 0.92997754 0.94993619] [ 0. 0. 0. 1. ]] SLAMing on 135.43538475 meters Centerline goodness : 0.894304 Centerline is valid? [False, False] Translation: X:21.90, Y:0.27, Z:0.95 [[ 0.92489722 -0.10239492 -0.36616993 21.90005462] [ 0.12379536 0.99167682 0.0353806 0.26799087] [ 0.35949944 -0.07805356 0.92987515 0.94953607] [ 0. 0. 0. 1. ]] SLAMing on 135.46538475 meters Centerline goodness : 0.894650 Centerline is valid? [False, False] Translation: X:21.90, Y:0.27, Z:0.95 [[ 0.92472431 -0.10285207 -0.36647839 21.90130637] [ 0.12425357 0.99162501 0.03522612 0.267478 ] [ 0.35978606 -0.0781107 0.92975949 0.94975587] [ 0. 0. 0. 1. ]] SLAMing on 135.49538475 meters Centerline goodness : 0.892494 Centerline is valid? [False, False] Translation: X:21.90, Y:0.27, Z:0.95 [[ 0.92441031 -0.10365884 -0.36704282 21.90327789] [ 0.12506754 0.99153202 0.03496232 0.26694976] [ 0.36031055 -0.07822467 0.92954678 0.95039489] [ 0. 0. 0. 1. ]] SLAMing on 135.52538475 meters Centerline goodness : 0.896069 Centerline is valid? [False, False] Translation: X:21.91, Y:0.27, Z:0.95 [[ 0.92417007 -0.10441364 -0.36743362 21.90507437] [ 0.12571013 0.99146901 0.03444063 0.26793216] [ 0.36070298 -0.07801913 0.92941184 0.95033248] [ 0. 0. 0. 1. ]] SLAMing on 135.55538475 meters Centerline goodness : 0.892180 Centerline is valid? [False, False] Translation: X:21.91, Y:0.27, Z:0.95 [[ 0.92400666 -0.10457568 -0.36779834 21.90541528] [ 0.12592745 0.99144049 0.03446791 0.26884006] [ 0.36104566 -0.07816449 0.92926656 0.9511285 ] [ 0. 0. 0. 1. ]] SLAMing on 135.58538475 meters Centerline goodness : 0.895438 Centerline is valid? [False, False] Translation: X:21.91, Y:0.27, Z:0.95 [[ 0.92363473 -0.10957852 -0.3672757 21.90522839] [ 0.12969468 0.99108588 0.03046426 0.26994725] [ 0.36066353 -0.07577155 0.92961309 0.95081998] [ 0. 0. 0. 1. ]] SLAMing on 135.61538475 meters Centerline goodness : 0.896074 Centerline is valid? [False, False] Translation: X:21.91, Y:0.27, Z:0.95 [[ 0.92330429 -0.1106484 -0.36778543 21.9072673 ] [ 0.1306959 0.99096938 0.02997105 0.27208512] [ 0.36114785 -0.07574044 0.92942757 0.95119549] [ 0. 0. 0. 1. ]] SLAMing on 135.64538475 meters Centerline goodness : 0.893812 Centerline is valid? [False, False] Translation: X:21.91, Y:0.27, Z:0.95 [[ 0.92317943 -0.11118327 -0.36793752 21.90808346] [ 0.13120483 0.99090821 0.02976916 0.27309818] [ 0.36128248 -0.07575746 0.92937386 0.95138478] [ 0. 0. 0. 1. ]] SLAMing on 135.67538475 meters Centerline goodness : 0.895648 Centerline is valid? [False, False] Translation: X:21.91, Y:0.27, Z:0.95 [[ 0.92288946 -0.11165554 -0.36852149 21.90846517] [ 0.13178187 0.99083018 0.02981756 0.27389727] [ 0.36181292 -0.07608276 0.92914091 0.95302378] [ 0. 0. 0. 1. ]] SLAMing on 135.70538475 meters Centerline goodness : 0.896628 Centerline is valid? [False, False] Translation: X:21.91, Y:0.28, Z:0.95 [[ 0.92314747 -0.10676716 -0.36932306 21.90855912] [ 0.12821393 0.99116546 0.03394439 0.27555574] [ 0.36243611 -0.07868804 0.92868092 0.95437748] [ 0. 0. 0. 1. ]] SLAMing on 135.73538475 meters Centerline goodness : 0.893631 Centerline is valid? [False, False] Translation: X:21.91, Y:0.28, Z:0.95 [[ 0.92336959 -0.10607294 -0.36896767 21.90706104] [ 0.1274566 0.99126135 0.03399632 0.27694487] [ 0.3621373 -0.07841853 0.92882028 0.95392283] [ 0. 0. 0. 1. ]] SLAMing on 135.76538475 meters Centerline goodness : 0.903351 Centerline is valid? [False, False] Translation: X:21.92, Y:0.28, Z:0.95 [[ 0.92561604 -0.10715189 -0.36297855 21.91934182] [ 0.12515812 0.99178594 0.02638346 0.2804084 ] [ 0.35716998 -0.06985067 0.9314239 0.95459332] [ 0. 0. 0. 1. ]] SLAMing on 135.79538475 meters Centerline goodness : 0.898745 Centerline is valid? [False, False] Translation: X:21.92, Y:0.28, Z:0.95 [[ 0.92566172 -0.10700539 -0.36290527 21.9188923 ] [ 0.12499815 0.99180592 0.02639097 0.28066076] [ 0.35710762 -0.06979159 0.93145224 0.95463063] [ 0. 0. 0. 1. ]] SLAMing on 135.82538475 meters Centerline goodness : 0.901892 Centerline is valid? [False, False] Translation: X:21.92, Y:0.28, Z:0.95 [[ 0.92562357 -0.10691409 -0.36302946 21.91895975] [ 0.12491027 0.99181699 0.02639092 0.28049838] [ 0.35723722 -0.06977417 0.93140385 0.95486381] [ 0. 0. 0. 1. ]] SLAMing on 135.85538475 meters Centerline goodness : 0.903487 Centerline is valid? [False, False] Translation: X:21.92, Y:0.28, Z:0.96 [[ 0.92551915 -0.10703986 -0.36325855 21.91965328] [ 0.12505566 0.99179921 0.02637064 0.28006955] [ 0.35745683 -0.06983407 0.9313151 0.95509526] [ 0. 0. 0. 1. ]] SLAMing on 135.88538475000001 meters Centerline goodness : 0.897688 Centerline is valid? [False, False] Translation: X:21.92, Y:0.28, Z:0.95 [[ 0.92536429 -0.10794773 -0.36338439 21.92247271] [ 0.12568273 0.99174416 0.02544352 0.281347 ] [ 0.35763778 -0.06921567 0.9312918 0.95358392] [ 0. 0. 0. 1. ]] SLAMing on 135.91538475000002 meters Centerline goodness : 0.897101 Centerline is valid? [False, False] Translation: X:21.92, Y:0.28, Z:0.95 [[ 0.92527155 -0.10833834 -0.36350427 21.92397885] [ 0.1259775 0.99171561 0.02509619 0.28185643] [ 0.35777398 -0.06901415 0.93125444 0.95291859] [ 0. 0. 0. 1. ]] SLAMing on 135.94538475000002 meters Centerline goodness : 0.896963 Centerline is valid? [False, False] Translation: X:21.93, Y:0.28, Z:0.95 [[ 0.92517836 -0.10886385 -0.36358447 21.92559136] [ 0.12637572 0.99167613 0.02465013 0.28162345] [ 0.35787454 -0.06875401 0.93123504 0.95222176] [ 0. 0. 0. 1. ]] SLAMing on 135.97538475000002 meters Centerline goodness : 0.896963 Centerline is valid? [False, False] Translation: X:21.93, Y:0.28, Z:0.95 [[ 0.92517836 -0.10886385 -0.36358447 21.92559136] [ 0.12637572 0.99167613 0.02465013 0.28162345] [ 0.35787454 -0.06875401 0.93123504 0.95222176] [ 0. 0. 0. 1. ]] SLAMing on 136.00538475000002 meters Centerline goodness : 0.895659 Centerline is valid? [False, False] Translation: X:21.93, Y:0.28, Z:0.95 [[ 0.92515743 -0.10875917 -0.36366904 21.92562948] [ 0.12631926 0.99168014 0.02477774 0.28140984] [ 0.35794856 -0.06886171 0.93119863 0.95247149] [ 0. 0. 0. 1. ]] SLAMing on 136.03538475 meters Centerline goodness : 0.896160 Centerline is valid? [False, False] Translation: X:21.93, Y:0.28, Z:0.95 [[ 0.92515114 -0.10855233 -0.36374685 21.92564784] [ 0.12612663 0.99170317 0.02483736 0.28221037] [ 0.35803275 -0.06885648 0.93116665 0.9525242 ] [ 0. 0. 0. 1. ]] SLAMing on 136.06538475 meters Centerline goodness : 0.897508 Centerline is valid? [False, False] Translation: X:21.93, Y:0.28, Z:0.95 [[ 0.92514423 -0.10846995 -0.36378899 21.92566572] [ 0.12604947 0.99171247 0.02485765 0.28308618] [ 0.35807777 -0.06885231 0.93114965 0.9526107 ] [ 0. 0. 0. 1. ]] SLAMing on 136.09538475 meters Centerline goodness : 0.894868 Centerline is valid? [False, False] Translation: X:21.93, Y:0.28, Z:0.95 [[ 0.92512553 -0.10832838 -0.3638787 21.9260231 ] [ 0.12581407 0.99174825 0.02462175 0.284841 ] [ 0.35820883 -0.06855927 0.93112086 0.95219723] [ 0. 0. 0. 1. ]] SLAMing on 136.12538475 meters Centerline goodness : 0.896792 Centerline is valid? [False, False] Translation: X:21.93, Y:0.29, Z:0.95 [[ 0.92504224 -0.1085755 -0.36401679 21.9269236 ] [ 0.1259268 0.99174437 0.02419796 0.28658549] [ 0.35838429 -0.0682236 0.931078 0.95171933] [ 0. 0. 0. 1. ]] SLAMing on 136.15538475 meters Centerline goodness : 0.894707 Centerline is valid? [False, False] Translation: X:21.93, Y:0.29, Z:0.95 [[ 0.92503138 -0.10858097 -0.36404274 21.92706701] [ 0.12589557 0.99175081 0.02409631 0.28773917] [ 0.35842328 -0.06812121 0.93107049 0.95155458] [ 0. 0. 0. 1. ]] SLAMing on 136.18538475 meters Centerline goodness : 0.896954 Centerline is valid? [False, False] Translation: X:21.93, Y:0.29, Z:0.95 [[ 0.92481923 -0.10910789 -0.364424 21.92851938] [ 0.12639311 0.99169363 0.0238436 0.28868932] [ 0.35879544 -0.0681117 0.93092783 0.95177667] [ 0. 0. 0. 1. ]] SLAMing on 136.21538475 meters Centerline goodness : 0.897811 Centerline is valid? [False, False] Translation: X:21.93, Y:0.29, Z:0.95 [[ 0.92490053 -0.10859629 -0.3643705 21.92718211] [ 0.12601539 0.99173068 0.02429788 0.28907664] [ 0.35871874 -0.06838941 0.93093703 0.95256403] [ 0. 0. 0. 1. ]] SLAMing on 136.24538475 meters Centerline goodness : 0.895886 Centerline is valid? [False, False] Translation: X:21.93, Y:0.29, Z:0.95 [[ 0.92499871 -0.10824646 -0.36422532 21.92589606] [ 0.12580728 0.99174564 0.0247611 0.28935389] [ 0.35853857 -0.06872618 0.93098164 0.95324843] [ 0. 0. 0. 1. ]] SLAMing on 136.27538475 meters Centerline goodness : 0.901973 Centerline is valid? [False, False] Translation: X:21.92, Y:0.29, Z:0.96 [[ 0.92473361 -0.11251824 -0.36360335 21.92178935] [ 0.12936196 0.99134837 0.0222236 0.28948521] [ 0.35795703 -0.06758735 0.93128874 0.95639086] [ 0. 0. 0. 1. ]] SLAMing on 136.30538475 meters Centerline goodness : 0.900474 Centerline is valid? [False, False] Translation: X:21.92, Y:0.29, Z:0.96 [[ 9.24541967e-01 -1.13242066e-01 -3.63865891e-01 2.19234814e+01] [ 1.29926147e-01 9.91287942e-01 2.16197259e-02 2.91638202e-01] [ 3.58247607e-01 -6.72640371e-02 9.31200409e-01 9.55979882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.33538475 meters Centerline goodness : 0.897714 Centerline is valid? [False, False] Translation: X:21.93, Y:0.30, Z:0.95 [[ 0.92456683 -0.11008364 -0.36477084 21.92784243] [ 0.12740536 0.99156791 0.02368436 0.29617853] [ 0.3590878 -0.06837154 0.93079605 0.95409072] [ 0. 0. 0. 1. ]] SLAMing on 136.36538475 meters Centerline goodness : 0.892578 Centerline is valid? [False, False] Translation: X:21.93, Y:0.30, Z:0.95 [[ 0.92444943 -0.11053105 -0.36493306 21.92848465] [ 0.12783524 0.99151645 0.02352174 0.29721635] [ 0.35923725 -0.06839596 0.93073659 0.95444985] [ 0. 0. 0. 1. ]] SLAMing on 136.39538475 meters Centerline goodness : 0.894716 Centerline is valid? [False, False] Translation: X:21.93, Y:0.30, Z:0.95 [[ 0.92440418 -0.11062027 -0.36502065 21.92843069] [ 0.12794896 0.9915011 0.02355054 0.29730192] [ 0.35931321 -0.06847423 0.93070151 0.95487102] [ 0. 0. 0. 1. ]] SLAMing on 136.42538475 meters Centerline goodness : 0.894414 Centerline is valid? [False, False] Translation: X:21.93, Y:0.30, Z:0.96 [[ 0.92440818 -0.11029655 -0.36510847 21.9282992 ] [ 0.12772077 0.99152359 0.02384083 0.29646436] [ 0.35938409 -0.06867059 0.93065967 0.95523361] [ 0. 0. 0. 1. ]] SLAMing on 136.45538475 meters Centerline goodness : 0.893322 Centerline is valid? [False, False] Translation: X:21.93, Y:0.30, Z:0.95 [[ 0.92429907 -0.11044213 -0.36534061 21.92956539] [ 0.1278395 0.99151175 0.02369641 0.29717645] [ 0.35962242 -0.06860754 0.93057225 0.95497615] [ 0. 0. 0. 1. ]] SLAMing on 136.48538475 meters Centerline goodness : 0.893246 Centerline is valid? [False, False] Translation: X:21.93, Y:0.30, Z:0.95 [[ 0.9242599 -0.11042889 -0.36544371 21.93071018] [ 0.12769581 0.99153871 0.02334039 0.2985137 ] [ 0.35977413 -0.06823822 0.93054077 0.95407095] [ 0. 0. 0. 1. ]] SLAMing on 136.51538475 meters Centerline goodness : 0.893556 Centerline is valid? [False, False] Translation: X:21.93, Y:0.30, Z:0.95 [[ 0.92421741 -0.11048937 -0.36553287 21.93144308] [ 0.12789003 0.99150618 0.02365669 0.29694678] [ 0.35981429 -0.06861193 0.93049776 0.95436282] [ 0. 0. 0. 1. ]] SLAMing on 136.54538475 meters Centerline goodness : 0.892721 Centerline is valid? [False, False] Translation: X:21.93, Y:0.30, Z:0.95 [[ 0.92417974 -0.11049206 -0.36562728 21.9315752 ] [ 0.12794271 0.99149676 0.02376613 0.29623248] [ 0.3598923 -0.06874352 0.93045788 0.95471204] [ 0. 0. 0. 1. ]] SLAMing on 136.57538475 meters Centerline goodness : 0.893539 Centerline is valid? [False, False] Translation: X:21.93, Y:0.29, Z:0.96 [[ 0.92422067 -0.10994452 -0.36568888 21.9308746 ] [ 0.12765991 0.99151434 0.02454098 0.29475096] [ 0.35988762 -0.06936509 0.93041356 0.95571443] [ 0. 0. 0. 1. ]] SLAMing on 136.60538475 meters Centerline goodness : 0.895091 Centerline is valid? [False, False] Translation: X:21.93, Y:0.29, Z:0.96 [[ 0.92437446 -0.10607075 -0.36644351 21.93263353] [ 0.12517005 0.99172054 0.02868506 0.29346408] [ 0.36036691 -0.07238349 0.92999802 0.9571523 ] [ 0. 0. 0. 1. ]] SLAMing on 136.63538475000001 meters Centerline goodness : 0.897191 Centerline is valid? [False, False] Translation: X:21.93, Y:0.29, Z:0.96 [[ 0.92432053 -0.10624234 -0.36652983 21.93308161] [ 0.12530622 0.99170745 0.02854279 0.29368217] [ 0.36045791 -0.07231115 0.92996838 0.95710334] [ 0. 0. 0. 1. ]] SLAMing on 136.66538475000002 meters Centerline goodness : 0.897581 Centerline is valid? [False, False] Translation: X:21.93, Y:0.29, Z:0.96 [[ 0.92431404 -0.10605143 -0.36660148 21.93295029] [ 0.12519594 0.99171477 0.0287713 0.29305336] [ 0.36051286 -0.07249073 0.9299331 0.95744609] [ 0. 0. 0. 1. ]] SLAMing on 136.69538475000002 meters Centerline goodness : 0.896817 Centerline is valid? [False, False] Translation: X:21.93, Y:0.29, Z:0.96 [[ 0.92405568 -0.10674649 -0.36705081 21.93470542] [ 0.12587702 0.99163617 0.02850748 0.29377382] [ 0.36093779 -0.07254576 0.92976396 0.95777312] [ 0. 0. 0. 1. ]] SLAMing on 136.72538475000002 meters Centerline goodness : 0.898837 Centerline is valid? [False, False] Translation: X:21.93, Y:0.29, Z:0.96 [[ 0.92416573 -0.10657047 -0.36682481 21.93456903] [ 0.12570664 0.99165501 0.02860393 0.29353539] [ 0.36071533 -0.07254708 0.92985019 0.95737157] [ 0. 0. 0. 1. ]] SLAMing on 136.75538475000002 meters Centerline goodness : 0.893959 Centerline is valid? [False, False] Translation: X:21.93, Y:0.29, Z:0.96 [[ 0.9244565 -0.10592257 -0.36627939 21.9331861 ] [ 0.12506492 0.99172874 0.02885946 0.293432 ] [ 0.36019293 -0.07248802 0.93005728 0.95684448] [ 0. 0. 0. 1. ]] SLAMing on 136.78538475 meters Centerline goodness : 0.896220 Centerline is valid? [False, False] Translation: X:21.93, Y:0.29, Z:0.96 [[ 0.92462531 -0.10543853 -0.36599282 21.93204056] [ 0.12462971 0.99177537 0.02913839 0.29312938] [ 0.35991036 -0.07255567 0.93016139 0.95691273] [ 0. 0. 0. 1. ]] SLAMing on 136.81538475 meters Centerline goodness : 0.895329 Centerline is valid? [False, False] Translation: X:21.93, Y:0.29, Z:0.96 [[ 0.92469033 -0.10522461 -0.36589011 21.93169024] [ 0.12443419 0.99179669 0.02924834 0.29268564] [ 0.35981095 -0.07257489 0.93019835 0.95696601] [ 0. 0. 0. 1. ]] SLAMing on 136.84538475 meters Centerline goodness : 0.895232 Centerline is valid? [False, False] Translation: X:21.93, Y:0.29, Z:0.96 [[ 0.92475059 -0.10494861 -0.36581708 21.93154118] [ 0.12423065 0.99181465 0.02950326 0.29149017] [ 0.35972642 -0.07272885 0.93021902 0.95706797] [ 0. 0. 0. 1. ]] SLAMing on 136.87538475 meters Centerline goodness : 0.897027 Centerline is valid? [False, False] Translation: X:21.93, Y:0.29, Z:0.96 [[ 0.92450611 -0.10558584 -0.36625139 21.93332103] [ 0.12487845 0.99173883 0.02931678 0.29069868] [ 0.36013029 -0.07284045 0.930054 0.95739995] [ 0. 0. 0. 1. ]] SLAMing on 136.90538475 meters Centerline goodness : 0.899035 Centerline is valid? [False, False] Translation: X:21.94, Y:0.29, Z:0.96 [[ 0.92374648 -0.11181921 -0.36631803 21.93595971] [ 0.13004853 0.99118264 0.02538399 0.28837695] [ 0.36024966 -0.0710875 0.9301434 0.95818485] [ 0. 0. 0. 1. ]] SLAMing on 136.93538475 meters Centerline goodness : 0.899267 Centerline is valid? [False, False] Translation: X:21.94, Y:0.29, Z:0.96 [[ 9.23194064e-01 -1.17568349e-01 -3.65910375e-01 2.19379807e+01] [ 1.34501335e-01 9.90690117e-01 2.10352966e-02 2.88476959e-01] [ 3.60030707e-01 -6.86350950e-02 9.30412335e-01 9.57249708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.96538475 meters Centerline goodness : 0.894658 Centerline is valid? [False, False] Translation: X:21.95, Y:0.29, Z:0.96 [[ 9.21671661e-01 -1.25736356e-01 -3.67030950e-01 2.19516734e+01] [ 1.42120201e-01 9.89688605e-01 1.78413374e-02 2.88587297e-01] [ 3.61003044e-01 -6.86063674e-02 9.30037617e-01 9.57440828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.99538475 meters Centerline goodness : 0.888395 Centerline is valid? [False, False] Translation: X:21.96, Y:0.29, Z:0.96 [[ 9.20680058e-01 -1.29880782e-01 -3.68075011e-01 2.19617223e+01] [ 1.45994479e-01 9.89153673e-01 1.61438624e-02 2.88584073e-01] [ 3.61985971e-01 -6.86002515e-02 9.29655937e-01 9.56194466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.02538475 meters Centerline goodness : 0.887696 Centerline is valid? [False, False] Translation: X:21.96, Y:0.29, Z:0.96 [[ 9.20376504e-01 -1.30623738e-01 -3.68570930e-01 2.19645937e+01] [ 1.46808889e-01 9.89034101e-01 1.60840694e-02 2.87990965e-01] [ 3.62428257e-01 -6.89128881e-02 9.29460474e-01 9.56164249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.05538475 meters Centerline goodness : 0.883893 Centerline is valid? [False, False] Translation: X:21.97, Y:0.29, Z:0.96 [[ 9.20021308e-01 -1.31496803e-01 -3.69146832e-01 2.19673568e+01] [ 1.47851224e-01 9.88876393e-01 1.62325440e-02 2.86763166e-01] [ 3.62906060e-01 -6.95130972e-02 9.29229316e-01 9.56958421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.08538475 meters Centerline goodness : 0.884793 Centerline is valid? [False, False] Translation: X:21.97, Y:0.28, Z:0.95 [[ 9.23980385e-01 -1.26376100e-01 -3.60956132e-01 2.19741922e+01] [ 1.41900796e-01 9.89739716e-01 1.67170074e-02 2.82250099e-01] [ 3.55139990e-01 -6.66661493e-02 9.32432953e-01 9.54928338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.11538475 meters Centerline goodness : 0.886648 Centerline is valid? [False, False] Translation: X:21.97, Y:0.28, Z:0.96 [[ 9.23990716e-01 -1.25120901e-01 -3.61366735e-01 2.19717214e+01] [ 1.41412557e-01 9.89770683e-01 1.88807935e-02 2.80176531e-01] [ 3.55307818e-01 -6.85474720e-02 9.32232588e-01 9.58697037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.14538475 meters Centerline goodness : 0.888999 Centerline is valid? [False, False] Translation: X:21.97, Y:0.28, Z:0.96 [[ 9.24050861e-01 -1.24576923e-01 -3.61400880e-01 2.19708274e+01] [ 1.41064284e-01 9.89808595e-01 1.94887857e-02 2.80484019e-01] [ 3.55289844e-01 -6.89893856e-02 9.32206839e-01 9.59468511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.17538475 meters Centerline goodness : 0.887562 Centerline is valid? [False, False] Translation: X:21.97, Y:0.28, Z:0.96 [[ 0.92424741 -0.11980443 -0.36251018 21.97123166] [ 0.13777333 0.99017234 0.02402583 0.28137838] [ 0.35606916 -0.07215004 0.93167007 0.96168103] [ 0. 0. 0. 1. ]] SLAMing on 137.20538475 meters Centerline goodness : 0.887596 Centerline is valid? [False, False] Translation: X:21.97, Y:0.28, Z:0.96 [[ 0.92452087 -0.11468531 -0.36346724 21.97057754] [ 0.13414681 0.99054667 0.02866937 0.28209022] [ 0.35674331 -0.07526341 0.93116574 0.96414156] [ 0. 0. 0. 1. ]] SLAMing on 137.23538475 meters Centerline goodness : 0.888653 Centerline is valid? [False, False] Translation: X:21.97, Y:0.28, Z:0.96 [[ 0.9246431 -0.11421948 -0.36330297 21.969336 ] [ 0.13365108 0.99061235 0.02871522 0.28350166] [ 0.35661257 -0.07510716 0.93122843 0.96420085] [ 0. 0. 0. 1. ]] SLAMing on 137.26538475 meters Centerline goodness : 0.891364 Centerline is valid? [False, False] Translation: X:21.97, Y:0.29, Z:0.96 [[ 0.92465941 -0.11401314 -0.36332626 21.96888463] [ 0.13334479 0.9906602 0.02848745 0.28523067] [ 0.35668492 -0.07478886 0.93122634 0.96406586] [ 0. 0. 0. 1. ]] SLAMing on 137.29538475 meters Centerline goodness : 0.893703 Centerline is valid? [False, False] Translation: X:21.97, Y:0.29, Z:0.97 [[ 0.92479375 -0.10919013 -0.36446403 21.96918042] [ 0.1298206 0.99100434 0.03251182 0.28676548] [ 0.35763547 -0.07738167 0.93064975 0.96585354] [ 0. 0. 0. 1. ]] SLAMing on 137.32538475 meters Centerline goodness : 0.888571 Centerline is valid? [False, False] Translation: X:21.97, Y:0.29, Z:0.97 [[ 0.92488783 -0.10500412 -0.36545402 21.97106246] [ 0.12658338 0.99131963 0.03552508 0.28875094] [ 0.35855146 -0.07911712 0.93015124 0.96582388] [ 0. 0. 0. 1. ]] SLAMing on 137.35538475 meters Centerline goodness : 0.886020 Centerline is valid? [False, False] Translation: X:21.97, Y:0.29, Z:0.96 [[ 0.92487671 -0.10523542 -0.36541561 21.97167402] [ 0.12657046 0.99134498 0.03485747 0.2907954 ] [ 0.35858469 -0.07848968 0.93019159 0.96487797] [ 0. 0. 0. 1. ]] SLAMing on 137.38538475000001 meters Centerline goodness : 0.885525 Centerline is valid? [False, False] Translation: X:21.97, Y:0.29, Z:0.96 [[ 0.9248242 -0.10560936 -0.36544064 21.97245787] [ 0.12666379 0.99136099 0.03405406 0.29269895] [ 0.35868717 -0.07778211 0.93021151 0.96395182] [ 0. 0. 0. 1. ]] SLAMing on 137.41538475000002 meters Centerline goodness : 0.888086 Centerline is valid? [False, False] Translation: X:21.97, Y:0.29, Z:0.96 [[ 0.92490566 -0.10502962 -0.36540156 21.97172792] [ 0.12595793 0.9914581 0.03384422 0.29410236] [ 0.3587257 -0.07732793 0.93023452 0.963542 ] [ 0. 0. 0. 1. ]] SLAMing on 137.44538475000002 meters Centerline goodness : 0.886314 Centerline is valid? [False, False] Translation: X:21.97, Y:0.30, Z:0.96 [[ 0.92500502 -0.10450475 -0.36530052 21.97099747] [ 0.12535141 0.99153805 0.03375371 0.29576007] [ 0.35868194 -0.07701328 0.9302775 0.96321179] [ 0. 0. 0. 1. ]] SLAMing on 137.47538475000002 meters Centerline goodness : 0.885713 Centerline is valid? [False, False] Translation: X:21.97, Y:0.30, Z:0.96 [[ 0.92496089 -0.10475629 -0.36534022 21.97142691] [ 0.1254032 0.99155088 0.03317965 0.297288 ] [ 0.35877764 -0.07650471 0.93028256 0.96269517] [ 0. 0. 0. 1. ]] SLAMing on 137.50538475000002 meters Centerline goodness : 0.885395 Centerline is valid? [False, False] Translation: X:21.97, Y:0.30, Z:0.96 [[ 0.92491283 -0.10473531 -0.36546787 21.97213982] [ 0.12509901 0.99161442 0.03242047 0.29935849] [ 0.35900764 -0.07570577 0.93025918 0.96165993] [ 0. 0. 0. 1. ]] SLAMing on 137.53538475 meters Centerline goodness : 0.884672 Centerline is valid? [False, False] Translation: X:21.97, Y:0.30, Z:0.96 [[ 0.92483871 -0.10496296 -0.36559012 21.97315394] [ 0.12512174 0.99163101 0.03181951 0.30068543] [ 0.35919064 -0.07517119 0.9302319 0.96083512] [ 0. 0. 0. 1. ]] SLAMing on 137.56538475 meters Centerline goodness : 0.881682 Centerline is valid? [False, False] Translation: X:21.98, Y:0.30, Z:0.96 [[ 0.92480815 -0.10535677 -0.36555414 21.97536992] [ 0.12497787 0.99169487 0.03036153 0.30397802] [ 0.35931937 -0.07376477 0.93029476 0.95803114] [ 0. 0. 0. 1. ]] SLAMing on 137.59538475 meters Centerline goodness : 0.880947 Centerline is valid? [False, False] Translation: X:21.98, Y:0.30, Z:0.96 [[ 0.92455464 -0.10576689 -0.36607661 21.97675255] [ 0.12552258 0.99162128 0.0305176 0.30300763] [ 0.3597816 -0.07416607 0.93008419 0.95902929] [ 0. 0. 0. 1. ]] SLAMing on 137.62538475 meters Centerline goodness : 0.883822 Centerline is valid? [False, False] Translation: X:21.98, Y:0.30, Z:0.96 [[ 0.92438933 -0.10553857 -0.36655966 21.97668628] [ 0.12559279 0.99159038 0.0312244 0.30136454] [ 0.36018166 -0.07490075 0.92987045 0.96068684] [ 0. 0. 0. 1. ]] SLAMing on 137.65538475 meters Centerline goodness : 0.889189 Centerline is valid? [False, False] Translation: X:21.98, Y:0.30, Z:0.97 [[ 0.9242115 -0.10457408 -0.36728376 21.97530542] [ 0.12610563 0.99139738 0.03505138 0.29711128] [ 0.3604587 -0.07871144 0.92944824 0.9671259 ] [ 0. 0. 0. 1. ]] SLAMing on 137.68538475 meters Centerline goodness : 0.890749 Centerline is valid? [False, False] Translation: X:21.98, Y:0.30, Z:0.97 [[ 0.92398625 -0.10459911 -0.36784295 21.97573289] [ 0.12653199 0.99131091 0.03594897 0.29560859] [ 0.3608865 -0.07976026 0.92919279 0.96916654] [ 0. 0. 0. 1. ]] SLAMing on 137.71538475 meters Centerline goodness : 0.891516 Centerline is valid? [False, False] Translation: X:21.98, Y:0.29, Z:0.97 [[ 0.92383276 -0.10483828 -0.36816025 21.97671861] [ 0.12694497 0.9912462 0.03627598 0.29483412] [ 0.36113433 -0.08024903 0.9290544 0.96990199] [ 0. 0. 0. 1. ]] SLAMing on 137.74538475 meters Centerline goodness : 0.892682 Centerline is valid? [False, False] Translation: X:21.98, Y:0.29, Z:0.97 [[ 0.92388108 -0.10461997 -0.36810108 21.9766722 ] [ 0.12677235 0.99126196 0.03644862 0.29494806] [ 0.36107134 -0.08033923 0.92907109 0.96990355] [ 0. 0. 0. 1. ]] SLAMing on 137.77538475 meters Centerline goodness : 0.894302 Centerline is valid? [False, False] Translation: X:21.98, Y:0.30, Z:0.97 [[ 0.92396662 -0.10456527 -0.36790187 21.97664365] [ 0.12658922 0.99129536 0.0361758 0.29550282] [ 0.36091668 -0.07999764 0.92916066 0.96921819] [ 0. 0. 0. 1. ]] SLAMing on 137.80538475 meters Centerline goodness : 0.893293 Centerline is valid? [False, False] Translation: X:21.98, Y:0.30, Z:0.97 [[ 0.92408168 -0.10440678 -0.36765783 21.97704915] [ 0.12623036 0.99135666 0.03574738 0.29635894] [ 0.36074777 -0.07944308 0.92927383 0.96797179] [ 0. 0. 0. 1. ]] SLAMing on 137.83538475 meters Centerline goodness : 0.893293 Centerline is valid? [False, False] Translation: X:21.98, Y:0.30, Z:0.97 [[ 0.92408168 -0.10440678 -0.36765783 21.97704915] [ 0.12623036 0.99135666 0.03574738 0.29635894] [ 0.36074777 -0.07944308 0.92927383 0.96797179] [ 0. 0. 0. 1. ]] SLAMing on 137.86538475 meters Centerline goodness : 0.891758 Centerline is valid? [False, False] Translation: X:21.98, Y:0.30, Z:0.97 [[ 0.92404042 -0.10486266 -0.36763177 21.97846845] [ 0.12652245 0.99133737 0.0352461 0.29602627] [ 0.36075111 -0.07908249 0.92930328 0.96709646] [ 0. 0. 0. 1. ]] SLAMing on 137.89538475 meters Centerline goodness : 0.896552 Centerline is valid? [False, False] Translation: X:21.98, Y:0.30, Z:0.97 [[ 0.92386881 -0.10544618 -0.36789607 21.98007158] [ 0.12703908 0.99128346 0.03490223 0.29567743] [ 0.36100899 -0.07898226 0.92921166 0.96695124] [ 0. 0. 0. 1. ]] SLAMing on 137.92538475 meters Centerline goodness : 0.896278 Centerline is valid? [False, False] Translation: X:21.98, Y:0.29, Z:0.97 [[ 0.92343907 -0.10681599 -0.36857919 21.98390203] [ 0.12832397 0.99114015 0.03426603 0.29452382] [ 0.36165347 -0.07894014 0.9289646 0.96690289] [ 0. 0. 0. 1. ]] SLAMing on 137.95538475 meters Centerline goodness : 0.896382 Centerline is valid? [False, False] Translation: X:21.99, Y:0.29, Z:0.97 [[ 0.92326779 -0.10740396 -0.36883733 21.98600653] [ 0.12881318 0.99109128 0.0338413 0.29432404] [ 0.36191677 -0.07875569 0.92887771 0.96632194] [ 0. 0. 0. 1. ]] SLAMing on 137.98538475 meters Centerline goodness : 0.893830 Centerline is valid? [False, False] Translation: X:21.99, Y:0.29, Z:0.97 [[ 0.92289836 -0.10915099 -0.3692488 21.99054377] [ 0.13035294 0.99092217 0.032884 0.29333447] [ 0.3623075 -0.07848125 0.9287486 0.9652579 ] [ 0. 0. 0. 1. ]] SLAMing on 138.01538475 meters Centerline goodness : 0.893564 Centerline is valid? [False, False] Translation: X:21.99, Y:0.29, Z:0.96 [[ 0.92279553 -0.1122746 -0.36856862 21.99085684] [ 0.13271146 0.99068572 0.0304874 0.2929869 ] [ 0.36171271 -0.07704691 0.92910047 0.9645279 ] [ 0. 0. 0. 1. ]] SLAMing on 138.04538475 meters Centerline goodness : 0.897340 Centerline is valid? [False, False] Translation: X:21.99, Y:0.29, Z:0.96 [[ 0.92261509 -0.1125249 -0.36894382 21.99221198] [ 0.1330292 0.99064187 0.03052734 0.29130585] [ 0.36205611 -0.07724529 0.92895023 0.96492641] [ 0. 0. 0. 1. ]] SLAMing on 138.07538475 meters Centerline goodness : 0.894537 Centerline is valid? [False, False] Translation: X:21.99, Y:0.29, Z:0.97 [[ 0.9224867 -0.11276517 -0.36919142 21.99311119] [ 0.13333581 0.99059855 0.03059522 0.29052398] [ 0.36227042 -0.07745012 0.92884962 0.96529194] [ 0. 0. 0. 1. ]] SLAMing on 138.10538475 meters Centerline goodness : 0.896804 Centerline is valid? [False, False] Translation: X:21.99, Y:0.29, Z:0.97 [[ 0.92218906 -0.11747641 -0.36846523 21.99209407] [ 0.13687155 0.99022484 0.02685026 0.29133517] [ 0.36170915 -0.07519342 0.9292537 0.96513225] [ 0. 0. 0. 1. ]] SLAMing on 138.13538475000001 meters Centerline goodness : 0.896973 Centerline is valid? [False, False] Translation: X:21.99, Y:0.29, Z:0.96 [[ 0.92210214 -0.11794458 -0.3685332 21.99331431] [ 0.13720008 0.99019182 0.02638765 0.29292563] [ 0.36180627 -0.0748949 0.92924 0.96450496] [ 0. 0. 0. 1. ]] SLAMing on 138.16538475000002 meters Centerline goodness : 0.890054 Centerline is valid? [False, False] Translation: X:22.00, Y:0.30, Z:0.96 [[ 0.92202724 -0.11862423 -0.36850246 21.99512663] [ 0.13766278 0.99014546 0.02570834 0.29503067] [ 0.36182141 -0.07443286 0.92927123 0.96322168] [ 0. 0. 0. 1. ]] SLAMing on 138.19538475000002 meters Centerline goodness : 0.889354 Centerline is valid? [False, False] Translation: X:22.00, Y:0.30, Z:0.96 [[ 0.92205624 -0.11862563 -0.36842942 21.99541851] [ 0.1376046 0.9901571 0.02557115 0.29564941] [ 0.36176962 -0.07427562 0.92930397 0.96274465] [ 0. 0. 0. 1. ]] SLAMing on 138.22538475000002 meters Centerline goodness : 0.891913 Centerline is valid? [False, False] Translation: X:22.00, Y:0.30, Z:0.96 [[ 0.92182671 -0.11897797 -0.36888991 21.99665368] [ 0.13801384 0.99010072 0.02554873 0.29553993] [ 0.36219843 -0.07446342 0.92912189 0.96336626] [ 0. 0. 0. 1. ]] SLAMing on 138.25538475000002 meters Centerline goodness : 0.891421 Centerline is valid? [False, False] Translation: X:22.00, Y:0.29, Z:0.96 [[ 0.92170624 -0.11959215 -0.36899231 21.99785224] [ 0.13864558 0.99001489 0.02545442 0.29428427] [ 0.36226373 -0.07462065 0.92908382 0.9635312 ] [ 0. 0. 0. 1. ]] SLAMing on 138.28538475 meters Centerline goodness : 0.895841 Centerline is valid? [False, False] Translation: X:22.00, Y:0.29, Z:0.97 [[ 0.9213877 -0.12031272 -0.36955318 21.99918091] [ 0.13959584 0.98987288 0.02578137 0.29290371] [ 0.36270885 -0.07534272 0.92885185 0.96513795] [ 0. 0. 0. 1. ]] SLAMing on 138.31538475 meters Centerline goodness : 0.897650 Centerline is valid? [False, False] Translation: X:22.00, Y:0.29, Z:0.97 [[ 0.92117659 -0.1205341 -0.37000704 21.99993824] [ 0.14005338 0.98979615 0.02624194 0.2915516 ] [ 0.3630685 -0.0759942 0.92865825 0.96650527] [ 0. 0. 0. 1. ]] SLAMing on 138.34538475 meters Centerline goodness : 0.899443 Centerline is valid? [False, False] Translation: X:22.00, Y:0.29, Z:0.97 [[ 0.92114345 -0.12069708 -0.37003643 22.00065988] [ 0.14018269 0.98978111 0.02611819 0.2916619 ] [ 0.36310268 -0.0759313 0.92865003 0.96619794] [ 0. 0. 0. 1. ]] SLAMing on 138.37538475 meters Centerline goodness : 0.897962 Centerline is valid? [False, False] Translation: X:22.00, Y:0.29, Z:0.97 [[ 0.92105557 -0.12087561 -0.37019688 22.00176706] [ 0.14024051 0.98978284 0.02573953 0.29266956] [ 0.36330324 -0.07562413 0.92859666 0.96560789] [ 0. 0. 0. 1. ]] SLAMing on 138.40538475 meters Centerline goodness : 0.895833 Centerline is valid? [False, False] Translation: X:22.00, Y:0.29, Z:0.97 [[ 0.92090755 -0.1212234 -0.37045131 22.00331239] [ 0.14047421 0.9897604 0.0253249 0.29255261] [ 0.36358807 -0.07536075 0.92850658 0.96516797] [ 0. 0. 0. 1. ]] SLAMing on 138.43538475 meters Centerline goodness : 0.900760 Centerline is valid? [False, False] Translation: X:22.00, Y:0.29, Z:0.97 [[ 0.92072541 -0.12126456 -0.37089032 22.0038834 ] [ 0.14061062 0.9897375 0.02546223 0.29180386] [ 0.36399639 -0.07559484 0.92832755 0.96596747] [ 0. 0. 0. 1. ]] SLAMing on 138.46538475 meters Centerline goodness : 0.905832 Centerline is valid? [False, False] Translation: X:22.01, Y:0.29, Z:0.97 [[ 0.92024036 -0.12223538 -0.37177438 22.00676079] [ 0.14186702 0.9895493 0.02580548 0.28927563] [ 0.36473474 -0.07648977 0.92796438 0.96765434] [ 0. 0. 0. 1. ]] SLAMing on 138.49538475 meters Centerline goodness : 0.904580 Centerline is valid? [False, False] Translation: X:22.01, Y:0.29, Z:0.97 [[ 0.91996277 -0.12285905 -0.3722555 22.00878001] [ 0.14250905 0.98946176 0.02562403 0.28917207] [ 0.36518444 -0.07662293 0.92777651 0.96790107] [ 0. 0. 0. 1. ]] SLAMing on 138.52538475 meters Centerline goodness : 0.903838 Centerline is valid? [False, False] Translation: X:22.01, Y:0.29, Z:0.97 [[ 0.91954084 -0.12409167 -0.37288859 22.01239159] [ 0.1437727 0.98928669 0.02532293 0.28857532] [ 0.36575136 -0.07689666 0.92753051 0.96802659] [ 0. 0. 0. 1. ]] SLAMing on 138.55538475 meters Centerline goodness : 0.900742 Centerline is valid? [False, False] Translation: X:22.01, Y:0.29, Z:0.97 [[ 0.91921062 -0.12470424 -0.3734979 22.01448663] [ 0.14448442 0.98918312 0.02531818 0.28771867] [ 0.36630053 -0.07723737 0.92728545 0.96873679] [ 0. 0. 0. 1. ]] SLAMing on 138.58538475 meters Centerline goodness : 0.905866 Centerline is valid? [False, False] Translation: X:22.01, Y:0.29, Z:0.97 [[ 9.18768279e-01 -1.29335254e-01 -3.73011046e-01 2.20143256e+01] [ 1.48069238e-01 9.88734840e-01 2.18841953e-02 2.85976990e-01] [ 3.65978619e-01 -7.53379657e-02 9.27568780e-01 9.68988923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.61538475 meters Centerline goodness : 0.903691 Centerline is valid? [False, False] Translation: X:22.02, Y:0.29, Z:0.97 [[ 9.18379277e-01 -1.30100604e-01 -3.73702204e-01 2.20167425e+01] [ 1.48927437e-01 9.88607400e-01 2.18180464e-02 2.85109101e-01] [ 3.66606223e-01 -7.56917529e-02 9.27292098e-01 9.69783523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.64538475 meters Centerline goodness : 0.905382 Centerline is valid? [False, False] Translation: X:22.02, Y:0.29, Z:0.97 [[ 9.17888868e-01 -1.31303106e-01 -3.74485675e-01 2.20203918e+01] [ 1.50075878e-01 9.88445560e-01 2.12745252e-02 2.85114963e-01] [ 3.67365292e-01 -7.57289162e-02 9.26988605e-01 9.69942244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.67538475 meters Centerline goodness : 0.907113 Centerline is valid? [False, False] Translation: X:22.02, Y:0.29, Z:0.97 [[ 9.17781421e-01 -1.31756390e-01 -3.74589799e-01 2.20215934e+01] [ 1.50352108e-01 9.88415427e-01 2.07168557e-02 2.87085607e-01] [ 3.67520758e-01 -7.53339110e-02 9.26959165e-01 9.69242926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.70538475 meters Centerline goodness : 0.906919 Centerline is valid? [False, False] Translation: X:22.02, Y:0.29, Z:0.97 [[ 9.17816023e-01 -1.31682310e-01 -3.74531063e-01 2.20215758e+01] [ 1.50224367e-01 9.88437107e-01 2.06088364e-02 2.88264888e-01] [ 3.67486581e-01 -7.51788121e-02 9.26985307e-01 9.68900356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.73538475 meters Centerline goodness : 0.905036 Centerline is valid? [False, False] Translation: X:22.02, Y:0.29, Z:0.97 [[ 9.17710062e-01 -1.31951322e-01 -3.74695998e-01 2.20220098e+01] [ 1.50396959e-01 9.88417721e-01 2.02771794e-02 2.89787722e-01] [ 3.67680564e-01 -7.49617105e-02 9.26925965e-01 9.68871636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.76538475 meters Centerline goodness : 0.906614 Centerline is valid? [False, False] Translation: X:22.02, Y:0.29, Z:0.97 [[ 9.17849230e-01 -1.31225093e-01 -3.74610151e-01 2.20201230e+01] [ 1.49777065e-01 9.88502972e-01 2.07051770e-02 2.90819346e-01] [ 3.67586209e-01 -7.51122396e-02 9.26951202e-01 9.69599441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.79538475 meters Centerline goodness : 0.905033 Centerline is valid? [False, False] Translation: X:22.02, Y:0.29, Z:0.97 [[ 9.17897968e-01 -1.30825360e-01 -3.74630546e-01 2.20190029e+01] [ 1.49374564e-01 9.88562488e-01 2.07713050e-02 2.92413149e-01] [ 3.67628291e-01 -7.50262130e-02 9.26941480e-01 9.69992877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.82538475 meters Centerline goodness : 0.909407 Centerline is valid? [False, False] Translation: X:22.02, Y:0.29, Z:0.97 [[ 9.17816658e-01 -1.30931369e-01 -3.74792687e-01 2.20192043e+01] [ 1.49392976e-01 9.88565486e-01 2.04943397e-02 2.93936473e-01] [ 3.67823763e-01 -7.48014411e-02 9.26882098e-01 9.70002264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.85538475 meters Centerline goodness : 0.905294 Centerline is valid? [False, False] Translation: X:22.02, Y:0.29, Z:0.97 [[ 9.17752343e-01 -1.30948954e-01 -3.74944007e-01 2.20191474e+01] [ 1.49415396e-01 9.88562603e-01 2.04699660e-02 2.94932134e-01] [ 3.67975103e-01 -7.48087665e-02 9.26821435e-01 9.70362852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.88538475000001 meters Centerline goodness : 0.900771 Centerline is valid? [False, False] Translation: X:22.02, Y:0.30, Z:0.97 [[ 0.91790679 -0.12675537 -0.37600558 22.02082389] [ 0.14634314 0.98894586 0.02386978 0.29658169] [ 0.36882355 -0.07693607 0.9263099 0.97094856] [ 0. 0. 0. 1. ]] SLAMing on 138.91538475000002 meters Centerline goodness : 0.899729 Centerline is valid? [False, False] Translation: X:22.02, Y:0.30, Z:0.97 [[ 0.91791153 -0.12695936 -0.37592518 22.02134545] [ 0.14631271 0.98896491 0.02325932 0.29897262] [ 0.36882382 -0.07635263 0.92635806 0.96996042] [ 0. 0. 0. 1. ]] SLAMing on 138.94538475000002 meters Centerline goodness : 0.899118 Centerline is valid? [False, False] Translation: X:22.02, Y:0.30, Z:0.97 [[ 0.91759612 -0.12753945 -0.37649841 22.02281749] [ 0.14697887 0.98886671 0.02323442 0.29891941] [ 0.36934344 -0.07665712 0.92612586 0.97088647] [ 0. 0. 0. 1. ]] SLAMing on 138.97538475000002 meters Centerline goodness : 0.901094 Centerline is valid? [False, False] Translation: X:22.03, Y:0.30, Z:0.97 [[ 0.91723913 -0.12846557 -0.377053 22.02517191] [ 0.14782911 0.98875146 0.02273983 0.29995172] [ 0.36989042 -0.07659727 0.92591249 0.97109838] [ 0. 0. 0. 1. ]] SLAMing on 139.00538475 meters Centerline goodness : 0.900126 Centerline is valid? [False, False] Translation: X:22.03, Y:0.30, Z:0.97 [[ 0.9172325 -0.12838908 -0.37709519 22.02547468] [ 0.14782049 0.9887487 0.02291522 0.2997968 ] [ 0.36991032 -0.07676098 0.92589098 0.97115551] [ 0. 0. 0. 1. ]] SLAMing on 139.03538475 meters Centerline goodness : 0.900188 Centerline is valid? [False, False] Translation: X:22.03, Y:0.30, Z:0.97 [[ 0.9172213 -0.12811253 -0.37721647 22.02522028] [ 0.14776433 0.98874352 0.02349357 0.29960501] [ 0.36996052 -0.07728795 0.92582708 0.97196493] [ 0. 0. 0. 1. ]] SLAMing on 139.06538475 meters Centerline goodness : 0.905498 Centerline is valid? [False, False] Translation: X:22.03, Y:0.30, Z:0.97 [[ 0.91705338 -0.12790445 -0.37769506 22.02531843] [ 0.14790806 0.9887024 0.02430571 0.29785244] [ 0.3703192 -0.07815378 0.92561097 0.973725 ] [ 0. 0. 0. 1. ]] SLAMing on 139.09538475 meters Centerline goodness : 0.902773 Centerline is valid? [False, False] Translation: X:22.03, Y:0.30, Z:0.98 [[ 0.91675281 -0.12816907 -0.37833448 22.02672743] [ 0.14843796 0.98861145 0.02477043 0.29615939] [ 0.37085099 -0.07886756 0.92533748 0.97509277] [ 0. 0. 0. 1. ]] SLAMing on 139.12538475 meters Centerline goodness : 0.905090 Centerline is valid? [False, False] Translation: X:22.03, Y:0.29, Z:0.98 [[ 0.9165412 -0.12851039 -0.37873117 22.02797595] [ 0.1489149 0.98853519 0.02495067 0.29492813] [ 0.37118267 -0.07926703 0.92517034 0.97578912] [ 0. 0. 0. 1. ]] SLAMing on 139.15538475 meters Centerline goodness : 0.900580 Centerline is valid? [False, False] Translation: X:22.03, Y:0.29, Z:0.98 [[ 0.91604986 -0.13026675 -0.37931942 22.03200139] [ 0.15068366 0.98827835 0.02450162 0.29359561] [ 0.37168142 -0.07960194 0.92494132 0.97613683] [ 0. 0. 0. 1. ]] SLAMing on 139.18538475 meters Centerline goodness : 0.900580 Centerline is valid? [False, False] Translation: X:22.03, Y:0.29, Z:0.98 [[ 0.91580224 -0.13085314 -0.37971532 22.03410579] [ 0.15130628 0.98818611 0.02438505 0.29291374] [ 0.37203854 -0.0797852 0.92478195 0.97623646] [ 0. 0. 0. 1. ]] SLAMing on 139.21538475 meters Centerline goodness : 0.893541 Centerline is valid? [False, False] Translation: X:22.04, Y:0.29, Z:0.98 [[ 0.91505907 -0.1329757 -0.38076811 22.04011475] [ 0.15342789 0.98787509 0.02372099 0.29206454] [ 0.37299702 -0.08012655 0.92436625 0.97646169] [ 0. 0. 0. 1. ]] SLAMing on 139.24538475 meters Centerline goodness : 0.897016 Centerline is valid? [False, False] Translation: X:22.04, Y:0.29, Z:0.98 [[ 0.914815 -0.13352343 -0.38116271 22.0418663 ] [ 0.15406538 0.98777533 0.02374359 0.29105749] [ 0.37333279 -0.08044497 0.92420303 0.97688426] [ 0. 0. 0. 1. ]] SLAMing on 139.27538475 meters Centerline goodness : 0.895327 Centerline is valid? [False, False] Translation: X:22.04, Y:0.29, Z:0.98 [[ 0.91449649 -0.13413771 -0.38171095 22.04387305] [ 0.15489822 0.98763802 0.02403488 0.28952718] [ 0.37376827 -0.08110616 0.92396919 0.97792333] [ 0. 0. 0. 1. ]] SLAMing on 139.30538475 meters Centerline goodness : 0.896670 Centerline is valid? [False, False] Translation: X:22.04, Y:0.29, Z:0.98 [[ 0.91420433 -0.13436047 -0.38233193 22.04496058] [ 0.1552613 0.98757718 0.0241916 0.28957724] [ 0.3743319 -0.08147742 0.92370832 0.97901252] [ 0. 0. 0. 1. ]] SLAMing on 139.33538475 meters Centerline goodness : 0.896932 Centerline is valid? [False, False] Translation: X:22.05, Y:0.29, Z:0.98 [[ 0.91403679 -0.13463939 -0.38263427 22.0458497 ] [ 0.15552789 0.98753906 0.02403484 0.29059233] [ 0.37463025 -0.08147903 0.92358722 0.97921634] [ 0. 0. 0. 1. ]] SLAMing on 139.36538475 meters Centerline goodness : 0.898945 Centerline is valid? [False, False] Translation: X:22.05, Y:0.29, Z:0.98 [[ 0.91417478 -0.13042639 -0.3837622 22.04746299] [ 0.15260615 0.98789657 0.02777999 0.29109138] [ 0.37549412 -0.08396024 0.923014 0.98037479] [ 0. 0. 0. 1. ]] SLAMing on 139.39538475 meters Centerline goodness : 0.894288 Centerline is valid? [False, False] Translation: X:22.05, Y:0.29, Z:0.98 [[ 0.91417622 -0.12627233 -0.3851456 22.04976386] [ 0.1498667 0.98819677 0.0317352 0.29108543] [ 0.37659236 -0.08673207 0.92231001 0.98205077] [ 0. 0. 0. 1. ]] SLAMing on 139.42538475 meters Centerline goodness : 0.895942 Centerline is valid? [False, False] Translation: X:22.05, Y:0.29, Z:0.98 [[ 0.9142812 -0.12596413 -0.3849973 22.04888088] [ 0.14950667 0.98825223 0.03170621 0.29209143] [ 0.37648059 -0.08654805 0.92237292 0.98189672] [ 0. 0. 0. 1. ]] SLAMing on 139.45538475 meters Centerline goodness : 0.902096 Centerline is valid? [False, False] Translation: X:22.06, Y:0.30, Z:0.98 [[ 0.91684542 -0.12573619 -0.37892597 22.05903705] [ 0.14610819 0.9889433 0.02536817 0.29597171] [ 0.3715466 -0.07862288 0.92507922 0.98378159] [ 0. 0. 0. 1. ]] SLAMing on 139.48538475 meters Centerline goodness : 0.904302 Centerline is valid? [False, False] Translation: X:22.06, Y:0.30, Z:0.98 [[ 0.91707835 -0.12420492 -0.37886731 22.05550708] [ 0.14474199 0.98912535 0.02609228 0.2976214 ] [ 0.37150647 -0.07876668 0.9250831 0.98496571] [ 0. 0. 0. 1. ]] SLAMing on 139.51538475 meters Centerline goodness : 0.906809 Centerline is valid? [False, False] Translation: X:22.05, Y:0.30, Z:0.99 [[ 0.91710149 -0.12386549 -0.37892242 22.05476302] [ 0.1444094 0.98917209 0.0261631 0.29875385] [ 0.37157878 -0.07871418 0.92505853 0.98526895] [ 0. 0. 0. 1. ]] SLAMing on 139.54538475 meters Centerline goodness : 0.903656 Centerline is valid? [False, False] Translation: X:22.06, Y:0.30, Z:0.98 [[ 0.91703362 -0.12046875 -0.38017972 22.05875636] [ 0.14187013 0.98947003 0.02866924 0.30126757] [ 0.37272269 -0.08022681 0.9244682 0.98471096] [ 0. 0. 0. 1. ]] SLAMing on 139.57538475 meters Centerline goodness : 0.901995 Centerline is valid? [False, False] Translation: X:22.06, Y:0.30, Z:0.98 [[ 0.91689276 -0.12129385 -0.38025711 22.0610603 ] [ 0.14226154 0.9894494 0.02741422 0.30428096] [ 0.37291999 -0.07923186 0.92447444 0.98286756] [ 0. 0. 0. 1. ]] SLAMing on 139.60538475 meters Centerline goodness : 0.896618 Centerline is valid? [False, False] Translation: X:22.06, Y:0.31, Z:0.98 [[ 0.91694091 -0.12165114 -0.38002679 22.06219697] [ 0.14229962 0.98946601 0.02660517 0.30665182] [ 0.37278704 -0.07847304 0.92459278 0.98116196] [ 0. 0. 0. 1. ]] SLAMing on 139.63538475000001 meters Centerline goodness : 0.897207 Centerline is valid? [False, False] Translation: X:22.06, Y:0.31, Z:0.98 [[ 0.91724986 -0.11684423 -0.3807888 22.06299524] [ 0.1387165 0.9898653 0.03040435 0.30705961] [ 0.37337705 -0.08071007 0.92416203 0.98160265] [ 0. 0. 0. 1. ]] SLAMing on 139.66538475000002 meters Centerline goodness : 0.898585 Centerline is valid? [False, False] Translation: X:22.08, Y:0.31, Z:0.98 [[ 0.91947747 -0.11888841 -0.37473556 22.07544795] [ 0.13712607 0.99030303 0.02227912 0.3104198 ] [ 0.36845303 -0.07187116 0.92686402 0.98241246] [ 0. 0. 0. 1. ]] SLAMing on 139.69538475000002 meters Centerline goodness : 0.897732 Centerline is valid? [False, False] Translation: X:22.08, Y:0.31, Z:0.98 [[ 0.91925076 -0.11899003 -0.37525912 22.07610917] [ 0.13748598 0.99024131 0.02279825 0.30940035] [ 0.36888432 -0.07255018 0.92663954 0.98383488] [ 0. 0. 0. 1. ]] SLAMing on 139.72538475000002 meters Centerline goodness : 0.898426 Centerline is valid? [False, False] Translation: X:22.08, Y:0.31, Z:0.98 [[ 0.91894803 -0.11977536 -0.37575042 22.07804136] [ 0.13831597 0.99012903 0.02265366 0.3088883 ] [ 0.36932805 -0.07278981 0.92644397 0.984397 ] [ 0. 0. 0. 1. ]] SLAMing on 139.75538475 meters Centerline goodness : 0.898426 Centerline is valid? [False, False] Translation: X:22.08, Y:0.31, Z:0.98 [[ 0.91894803 -0.11977536 -0.37575042 22.07804136] [ 0.13831597 0.99012903 0.02265366 0.3088883 ] [ 0.36932805 -0.07278981 0.92644397 0.984397 ] [ 0. 0. 0. 1. ]] SLAMing on 139.78538475 meters Centerline goodness : 0.899490 Centerline is valid? [False, False] Translation: X:22.08, Y:0.31, Z:0.98 [[ 0.91869381 -0.12029726 -0.37620507 22.07976814] [ 0.1388766 0.99005286 0.02255266 0.3089279 ] [ 0.36974988 -0.07296507 0.92626191 0.98474014] [ 0. 0. 0. 1. ]] SLAMing on 139.81538475 meters Centerline goodness : 0.899326 Centerline is valid? [False, False] Translation: X:22.08, Y:0.31, Z:0.98 [[ 9.18557562e-01 -1.21029124e-01 -3.76303011e-01 2.20821847e+01] [ 1.39455538e-01 9.89983774e-01 2.20063886e-02 3.09234885e-01] [ 3.69870461e-01 -7.26916735e-02 9.26235263e-01 9.83677004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.84538475 meters Centerline goodness : 0.899012 Centerline is valid? [False, False] Translation: X:22.08, Y:0.31, Z:0.98 [[ 0.91851002 -0.12094083 -0.37644741 22.08247749] [ 0.13947113 0.98997606 0.02225304 0.30922418] [ 0.36998263 -0.07294319 0.92617069 0.98400705] [ 0. 0. 0. 1. ]] SLAMing on 139.87538475 meters Centerline goodness : 0.901532 Centerline is valid? [False, False] Translation: X:22.08, Y:0.31, Z:0.99 [[ 0.91872562 -0.11989361 -0.37625623 22.08048415] [ 0.138776 0.99004779 0.02337945 0.30771665] [ 0.36970861 -0.07369464 0.92622063 0.98508764] [ 0. 0. 0. 1. ]] SLAMing on 139.90538475 meters Centerline goodness : 0.904467 Centerline is valid? [False, False] Translation: X:22.08, Y:0.31, Z:0.99 [[ 0.9187925 -0.11970001 -0.37615456 22.0802103 ] [ 0.13861236 0.99006753 0.02351399 0.307501 ] [ 0.36960378 -0.07374415 0.92625852 0.9850288 ] [ 0. 0. 0. 1. ]] SLAMing on 139.93538475 meters Centerline goodness : 0.907412 Centerline is valid? [False, False] Translation: X:22.08, Y:0.31, Z:0.99 [[ 0.91902854 -0.1188892 -0.37583493 22.07857666] [ 0.13786844 0.99016196 0.02390804 0.30795315] [ 0.36929504 -0.07378795 0.92637817 0.98504097] [ 0. 0. 0. 1. ]] SLAMing on 139.96538475 meters Centerline goodness : 0.906821 Centerline is valid? [False, False] Translation: X:22.08, Y:0.31, Z:0.99 [[ 0.91901905 -0.11878589 -0.37589082 22.07855532] [ 0.13777696 0.99017378 0.02394572 0.30847862] [ 0.36935282 -0.07379567 0.92635452 0.98512773] [ 0. 0. 0. 1. ]] SLAMing on 139.99538475 meters Centerline goodness : 0.906816 Centerline is valid? [False, False] Translation: X:22.08, Y:0.31, Z:0.98 [[ 0.9189486 -0.11906379 -0.37597512 22.07959363] [ 0.13793242 0.99016123 0.0235666 0.30873383] [ 0.36947006 -0.07351565 0.92633003 0.98460837] [ 0. 0. 0. 1. ]] SLAMing on 140.02538475 meters Centerline goodness : 0.904458 Centerline is valid? [False, False] Translation: X:22.08, Y:0.31, Z:0.98 [[ 0.91893495 -0.11930119 -0.37593322 22.08056551] [ 0.13803365 0.99015606 0.023188 0.30910736] [ 0.3694662 -0.0731997 0.92635659 0.98377337] [ 0. 0. 0. 1. ]] SLAMing on 140.05538475 meters Centerline goodness : 0.904662 Centerline is valid? [False, False] Translation: X:22.08, Y:0.31, Z:0.98 [[ 0.91885666 -0.11959337 -0.37603172 22.08203364] [ 0.13819621 0.99014274 0.02278532 0.30988687] [ 0.36960011 -0.0729026 0.9263266 0.98297156] [ 0. 0. 0. 1. ]] SLAMing on 140.08538475 meters Centerline goodness : 0.909354 Centerline is valid? [False, False] Translation: X:22.08, Y:0.31, Z:0.98 [[ 0.91899216 -0.11904737 -0.37587382 22.08118698] [ 0.13788977 0.99016814 0.02352572 0.30828912] [ 0.36937761 -0.07344911 0.92637218 0.98351194] [ 0. 0. 0. 1. ]] SLAMing on 140.11538475 meters Centerline goodness : 0.908132 Centerline is valid? [False, False] Translation: X:22.08, Y:0.31, Z:0.98 [[ 0.91909014 -0.11825527 -0.3758843 22.08006815] [ 0.13744741 0.99020467 0.02455447 0.30707754] [ 0.3692987 -0.0742321 0.92634123 0.98459559] [ 0. 0. 0. 1. ]] SLAMing on 140.14538475 meters Centerline goodness : 0.908858 Centerline is valid? [False, False] Translation: X:22.08, Y:0.31, Z:0.99 [[ 0.91911647 -0.11774146 -0.3759812 22.0795028 ] [ 0.13725368 0.99020929 0.02543592 0.3053094 ] [ 0.36930522 -0.07498338 0.92627812 0.98573347] [ 0. 0. 0. 1. ]] SLAMing on 140.17538475 meters Centerline goodness : 0.913052 Centerline is valid? [False, False] Translation: X:22.08, Y:0.30, Z:0.99 [[ 0.91902272 -0.11775961 -0.37620463 22.08007752] [ 0.13737018 0.99018813 0.02563006 0.30499875] [ 0.36949517 -0.07523391 0.92618204 0.98612777] [ 0. 0. 0. 1. ]] SLAMing on 140.20538475 meters Centerline goodness : 0.909024 Centerline is valid? [False, False] Translation: X:22.08, Y:0.30, Z:0.99 [[ 0.91871868 -0.11845012 -0.37673009 22.08253328] [ 0.13805891 0.99009888 0.02537618 0.30484011] [ 0.36999423 -0.07532451 0.92597542 0.98625878] [ 0. 0. 0. 1. ]] SLAMing on 140.23538475 meters Centerline goodness : 0.908587 Centerline is valid? [False, False] Translation: X:22.08, Y:0.30, Z:0.99 [[ 0.9187237 -0.11841834 -0.37672783 22.08293591] [ 0.13803467 0.9901016 0.02540171 0.30457636] [ 0.3699908 -0.07533865 0.92597565 0.98605157] [ 0. 0. 0. 1. ]] SLAMing on 140.26538475 meters Centerline goodness : 0.909725 Centerline is valid? [False, False] Translation: X:22.08, Y:0.31, Z:0.99 [[ 0.9187855 -0.11839596 -0.37658412 22.08356499] [ 0.13792106 0.99012235 0.02520922 0.30546444] [ 0.36987968 -0.07510075 0.92603936 0.98517352] [ 0. 0. 0. 1. ]] SLAMing on 140.29538475 meters Centerline goodness : 0.905782 Centerline is valid? [False, False] Translation: X:22.08, Y:0.31, Z:0.98 [[ 0.91893062 -0.1180821 -0.3763285 22.08307763] [ 0.1375727 0.99017004 0.02523968 0.30582379] [ 0.36964885 -0.07496604 0.92614244 0.98465848] [ 0. 0. 0. 1. ]] SLAMing on 140.32538475 meters Centerline goodness : 0.909192 Centerline is valid? [False, False] Translation: X:22.08, Y:0.31, Z:0.99 [[ 0.91914844 -0.11715435 -0.37608644 22.08127378] [ 0.13684073 0.99025275 0.02596352 0.30562801] [ 0.36937889 -0.07532827 0.92622076 0.98517262] [ 0. 0. 0. 1. ]] SLAMing on 140.35538475 meters Centerline goodness : 0.910043 Centerline is valid? [False, False] Translation: X:22.08, Y:0.30, Z:0.99 [[ 0.91908093 -0.11663788 -0.37641182 22.08052129] [ 0.13677698 0.99023038 0.02712652 0.30408733] [ 0.36957044 -0.07641594 0.92605523 0.9872205 ] [ 0. 0. 0. 1. ]] SLAMing on 140.38538475000001 meters Centerline goodness : 0.910957 Centerline is valid? [False, False] Translation: X:22.08, Y:0.30, Z:0.99 [[ 0.91908689 -0.11653501 -0.37642911 22.08065945] [ 0.13676293 0.99022576 0.02736517 0.3031804 ] [ 0.3695608 -0.07663252 0.92604118 0.98736398] [ 0. 0. 0. 1. ]] SLAMing on 140.41538475000002 meters Centerline goodness : 0.909833 Centerline is valid? [False, False] Translation: X:22.08, Y:0.30, Z:0.99 [[ 0.91903506 -0.11687219 -0.37645112 22.08221917] [ 0.13698528 0.99020485 0.02700712 0.30372301] [ 0.36960735 -0.07638875 0.92604275 0.98641819] [ 0. 0. 0. 1. ]] SLAMing on 140.44538475000002 meters Centerline goodness : 0.908276 Centerline is valid? [False, False] Translation: X:22.08, Y:0.30, Z:0.99 [[ 0.91890516 -0.11718199 -0.37667186 22.08346662] [ 0.13727424 0.99016923 0.02684566 0.30344343] [ 0.36982306 -0.07637596 0.92595768 0.98633358] [ 0. 0. 0. 1. ]] SLAMing on 140.47538475000002 meters Centerline goodness : 0.908017 Centerline is valid? [False, False] Translation: X:22.08, Y:0.30, Z:0.99 [[ 0.91886 -0.11710485 -0.376806 22.08395788] [ 0.13727623 0.99016397 0.02702885 0.30239932] [ 0.36993452 -0.07656223 0.92589777 0.98648408] [ 0. 0. 0. 1. ]] SLAMing on 140.50538475 meters Centerline goodness : 0.906974 Centerline is valid? [False, False] Translation: X:22.09, Y:0.30, Z:0.99 [[ 0.91850239 -0.11790251 -0.37742861 22.08659537] [ 0.13817165 0.99004077 0.02697915 0.30161086] [ 0.37048881 -0.07693034 0.92564559 0.98703323] [ 0. 0. 0. 1. ]] SLAMing on 140.53538475 meters Centerline goodness : 0.908868 Centerline is valid? [False, False] Translation: X:22.09, Y:0.30, Z:0.99 [[ 0.91794697 -0.12303401 -0.37714186 22.08629238] [ 0.14239364 0.98952465 0.02376991 0.29948507] [ 0.37026666 -0.07552212 0.92585042 0.98856415] [ 0. 0. 0. 1. ]] SLAMing on 140.56538475 meters Centerline goodness : 0.909026 Centerline is valid? [False, False] Translation: X:22.09, Y:0.30, Z:0.99 [[ 0.91769789 -0.12384464 -0.37748256 22.08839445] [ 0.143076 0.98943937 0.02321638 0.30055715] [ 0.37062088 -0.07531432 0.92572562 0.98821508] [ 0. 0. 0. 1. ]] SLAMing on 140.59538475 meters Centerline goodness : 0.899957 Centerline is valid? [False, False] Translation: X:22.10, Y:0.30, Z:0.99 [[ 0.91730033 -0.12228634 -0.37895402 22.09619727] [ 0.14214608 0.9895359 0.02476271 0.30373765] [ 0.37196047 -0.07658167 0.92508413 0.98668508] [ 0. 0. 0. 1. ]] SLAMing on 140.62538475 meters Centerline goodness : 0.901314 Centerline is valid? [False, False] Translation: X:22.10, Y:0.31, Z:0.99 [[ 0.91714209 -0.12289646 -0.37913961 22.09807959] [ 0.14256634 0.98949107 0.02413001 0.30518246] [ 0.37218976 -0.07618319 0.92502481 0.98584377] [ 0. 0. 0. 1. ]] SLAMing on 140.65538475 meters Centerline goodness : 0.899485 Centerline is valid? [False, False] Translation: X:22.10, Y:0.31, Z:0.99 [[ 0.91722532 -0.12240798 -0.3790963 22.09766864] [ 0.14210798 0.98955259 0.0243102 0.30539624] [ 0.37215997 -0.07617055 0.92503784 0.98573919] [ 0. 0. 0. 1. ]] SLAMing on 140.68538475 meters Centerline goodness : 0.901008 Centerline is valid? [False, False] Translation: X:22.10, Y:0.30, Z:0.99 [[ 0.91736745 -0.12149009 -0.37904765 22.09582018] [ 0.14146244 0.98962339 0.02517783 0.30458547] [ 0.37205556 -0.07671832 0.92503457 0.98681049] [ 0. 0. 0. 1. ]] SLAMing on 140.71538475 meters Centerline goodness : 0.904812 Centerline is valid? [False, False] Translation: X:22.09, Y:0.30, Z:0.99 [[ 0.91760623 -0.11974151 -0.37902609 22.0923451 ] [ 0.14029948 0.98974142 0.02698109 0.30251386] [ 0.37190706 -0.07793518 0.92499256 0.98923943] [ 0. 0. 0. 1. ]] SLAMing on 140.74538475 meters Centerline goodness : 0.903335 Centerline is valid? [False, False] Translation: X:22.09, Y:0.30, Z:0.99 [[ 0.91765412 -0.11943388 -0.37900721 22.09177714] [ 0.14005361 0.98977027 0.02719912 0.30227505] [ 0.37188158 -0.07804071 0.92499391 0.98950145] [ 0. 0. 0. 1. ]] SLAMing on 140.77538475 meters Centerline goodness : 0.906096 Centerline is valid? [False, False] Translation: X:22.09, Y:0.30, Z:0.99 [[ 0.91753651 -0.11995102 -0.3791286 22.09343513] [ 0.14041082 0.98973398 0.02667289 0.30362632] [ 0.37203702 -0.07770711 0.92495949 0.98866384] [ 0. 0. 0. 1. ]] SLAMing on 140.80538475 meters Centerline goodness : 0.900664 Centerline is valid? [False, False] Translation: X:22.10, Y:0.30, Z:0.99 [[ 0.91743137 -0.12047033 -0.37921839 22.09513629] [ 0.14078484 0.98969375 0.02618989 0.30437899] [ 0.37215497 -0.07741562 0.92493649 0.98782136] [ 0. 0. 0. 1. ]] SLAMing on 140.83538475 meters Centerline goodness : 0.898471 Centerline is valid? [False, False] Translation: X:22.10, Y:0.31, Z:0.99 [[ 0.91747013 -0.12006363 -0.37925358 22.09952188] [ 0.14075342 0.98967113 0.02719435 0.30522005] [ 0.37207127 -0.07833125 0.92489307 0.98645186] [ 0. 0. 0. 1. ]] SLAMing on 140.86538475 meters Centerline goodness : 0.896616 Centerline is valid? [False, False] Translation: X:22.10, Y:0.31, Z:0.99 [[ 0.91743925 -0.12020567 -0.37928331 22.10033525] [ 0.1408112 0.98966958 0.02695036 0.30575555] [ 0.37212557 -0.07813266 0.92488802 0.98592719] [ 0. 0. 0. 1. ]] SLAMing on 140.89538475 meters Centerline goodness : 0.897153 Centerline is valid? [False, False] Translation: X:22.10, Y:0.30, Z:0.99 [[ 0.91765307 -0.11936073 -0.3790328 22.09871386] [ 0.14006848 0.98976189 0.02742657 0.304958 ] [ 0.37187856 -0.07825862 0.92497671 0.98610746] [ 0. 0. 0. 1. ]] SLAMing on 140.92538475 meters Centerline goodness : 0.900392 Centerline is valid? [False, False] Translation: X:22.10, Y:0.30, Z:0.99 [[ 0.91770877 -0.11885622 -0.37905648 22.09805732] [ 0.1396863 0.98980481 0.02782404 0.30438405] [ 0.37188487 -0.07848336 0.92495514 0.98653271] [ 0. 0. 0. 1. ]] SLAMing on 140.95538475 meters Centerline goodness : 0.903436 Centerline is valid? [False, False] Translation: X:22.10, Y:0.31, Z:0.99 [[ 0.91780147 -0.11833522 -0.37899503 22.09718156] [ 0.13902673 0.98990407 0.02759513 0.30578343] [ 0.37190324 -0.07801729 0.92498718 0.98613196] [ 0. 0. 0. 1. ]] SLAMing on 140.98538475 meters Centerline goodness : 0.904305 Centerline is valid? [False, False] Translation: X:22.10, Y:0.31, Z:0.99 [[ 0.91796841 -0.11784332 -0.37874392 22.09607391] [ 0.13843637 0.98998937 0.02750297 0.30718941] [ 0.37171141 -0.07767879 0.92509277 0.98561948] [ 0. 0. 0. 1. ]] SLAMing on 141.01538475 meters Centerline goodness : 0.905301 Centerline is valid? [False, False] Translation: X:22.10, Y:0.31, Z:0.99 [[ 0.91815236 -0.11345181 -0.37963788 22.09796333] [ 0.13508887 0.99035617 0.03075157 0.30909277] [ 0.3724879 -0.07951948 0.92462393 0.98542272] [ 0. 0. 0. 1. ]] SLAMing on 141.04538475 meters Centerline goodness : 0.904406 Centerline is valid? [False, False] Translation: X:22.10, Y:0.31, Z:0.98 [[ 0.9184345 -0.11271642 -0.3791742 22.09681048] [ 0.13417042 0.99048735 0.0305468 0.31104642] [ 0.37212413 -0.07892919 0.92482096 0.98411101] [ 0. 0. 0. 1. ]] SLAMing on 141.07538475 meters Centerline goodness : 0.907123 Centerline is valid? [False, False] Translation: X:22.10, Y:0.31, Z:0.98 [[ 0.91853663 -0.11256149 -0.37897279 22.0963263 ] [ 0.13396447 0.99051679 0.03049619 0.31114494] [ 0.37194621 -0.07878075 0.92490519 0.98383899] [ 0. 0. 0. 1. ]] SLAMing on 141.10538475 meters Centerline goodness : 0.910953 Centerline is valid? [False, False] Translation: X:22.11, Y:0.31, Z:0.98 [[ 0.92090305 -0.11410943 -0.3727152 22.10817345] [ 0.13198486 0.99099159 0.02270842 0.31388898] [ 0.36676638 -0.07010502 0.92766789 0.98460046] [ 0. 0. 0. 1. ]] SLAMing on 141.13538475000001 meters Centerline goodness : 0.912451 Centerline is valid? [False, False] Translation: X:22.11, Y:0.31, Z:0.99 [[ 0.92082497 -0.11328382 -0.37315969 22.10695218] [ 0.13173946 0.99098791 0.02424187 0.31128963] [ 0.36705053 -0.07148238 0.92745036 0.98722818] [ 0. 0. 0. 1. ]] SLAMing on 141.16538475000002 meters Centerline goodness : 0.914133 Centerline is valid? [False, False] Translation: X:22.11, Y:0.31, Z:0.99 [[ 0.92067327 -0.11340318 -0.37349759 22.10737774] [ 0.13211028 0.99092517 0.02478286 0.31019394] [ 0.36729771 -0.07215979 0.92730004 0.98847668] [ 0. 0. 0. 1. ]] SLAMing on 141.19538475000002 meters Centerline goodness : 0.915224 Centerline is valid? [False, False] Translation: X:22.11, Y:0.31, Z:0.99 [[ 0.9205507 -0.11391023 -0.37364537 22.10923218] [ 0.1324955 0.99088455 0.02434645 0.31059666] [ 0.36746612 -0.07191847 0.92725206 0.98767609] [ 0. 0. 0. 1. ]] SLAMing on 141.22538475000002 meters Centerline goodness : 0.909529 Centerline is valid? [False, False] Translation: X:22.11, Y:0.31, Z:0.99 [[ 0.92016791 -0.11538141 -0.37413653 22.11396063] [ 0.13359215 0.99076911 0.02301533 0.3116288 ] [ 0.36802738 -0.07115968 0.927088 0.98578376] [ 0. 0. 0. 1. ]] SLAMing on 141.25538475 meters Centerline goodness : 0.908490 Centerline is valid? [False, False] Translation: X:22.12, Y:0.31, Z:0.99 [[ 0.91988309 -0.11610633 -0.37461235 22.11675203] [ 0.13424366 0.9906908 0.02259137 0.3112593 ] [ 0.36850201 -0.07107075 0.92690626 0.98537591] [ 0. 0. 0. 1. ]] SLAMing on 141.28538475 meters Centerline goodness : 0.911331 Centerline is valid? [False, False] Translation: X:22.12, Y:0.31, Z:0.99 [[ 0.91988436 -0.11581688 -0.37469883 22.11691817] [ 0.13410534 0.99069991 0.0230095 0.30988751] [ 0.36854921 -0.07141519 0.92686102 0.98565647] [ 0. 0. 0. 1. ]] SLAMing on 141.31538475 meters Centerline goodness : 0.909189 Centerline is valid? [False, False] Translation: X:22.12, Y:0.31, Z:0.99 [[ 0.91974165 -0.11580722 -0.37505198 22.11780553] [ 0.13427281 0.99066849 0.02338271 0.3086989 ] [ 0.36884429 -0.07186534 0.92670883 0.98630186] [ 0. 0. 0. 1. ]] SLAMing on 141.34538475 meters Centerline goodness : 0.910057 Centerline is valid? [False, False] Translation: X:22.12, Y:0.31, Z:0.99 [[ 0.91954165 -0.11593848 -0.37550156 22.11938119] [ 0.13458476 0.99061823 0.02371635 0.30700514] [ 0.36922906 -0.07234496 0.92651827 0.98688034] [ 0. 0. 0. 1. ]] SLAMing on 141.37538475 meters Centerline goodness : 0.911728 Centerline is valid? [False, False] Translation: X:22.12, Y:0.31, Z:0.99 [[ 0.91907073 -0.11773552 -0.37609486 22.1234624 ] [ 0.13634275 0.99039134 0.02314413 0.30548272] [ 0.3697562 -0.0725489 0.92629207 0.98700134] [ 0. 0. 0. 1. ]] SLAMing on 141.40538475 meters Centerline goodness : 0.911044 Centerline is valid? [False, False] Translation: X:22.13, Y:0.31, Z:0.99 [[ 0.91872679 -0.11839407 -0.37672793 22.1256212 ] [ 0.13706408 0.99029422 0.02303912 0.30521613] [ 0.3703438 -0.07280252 0.9260374 0.98759454] [ 0. 0. 0. 1. ]] SLAMing on 141.43538475 meters Centerline goodness : 0.917325 Centerline is valid? [False, False] Translation: X:22.13, Y:0.30, Z:0.99 [[ 0.91866188 -0.11851247 -0.37684898 22.12661803] [ 0.13724795 0.99026607 0.02315404 0.30418118] [ 0.37043671 -0.07299248 0.92598528 0.98753768] [ 0. 0. 0. 1. ]] SLAMing on 141.46538475 meters Centerline goodness : 0.915534 Centerline is valid? [False, False] Translation: X:22.13, Y:0.30, Z:0.99 [[ 0.91867138 -0.11827317 -0.37690098 22.12671589] [ 0.13718741 0.99026306 0.02363642 0.30330257] [ 0.37043556 -0.07342017 0.92595193 0.98794332] [ 0. 0. 0. 1. ]] SLAMing on 141.49538475 meters Centerline goodness : 0.923592 Centerline is valid? [False, False] Translation: X:22.13, Y:0.30, Z:0.99 [[ 0.91875616 -0.11734605 -0.37698411 22.1252154 ] [ 0.13687933 0.9902634 0.02534648 0.30090751] [ 0.37033925 -0.07488857 0.92587285 0.99014691] [ 0. 0. 0. 1. ]] SLAMing on 141.52538475 meters Centerline goodness : 0.924089 Centerline is valid? [False, False] Translation: X:22.12, Y:0.30, Z:0.99 [[ 0.91877497 -0.11684912 -0.37709261 22.12450263] [ 0.13664472 0.99027688 0.0260752 0.29993159] [ 0.37037923 -0.07548496 0.92580843 0.99113294] [ 0. 0. 0. 1. ]] SLAMing on 141.55538475 meters Centerline goodness : 0.931474 Centerline is valid? [False, False] Translation: X:22.12, Y:0.30, Z:1.00 [[ 0.91842001 -0.11652153 -0.37805742 22.12426042] [ 0.1371331 0.9901579 0.02796154 0.29735448] [ 0.37107842 -0.07752463 0.92535979 0.99529407] [ 0. 0. 0. 1. ]] SLAMing on 141.58538475 meters Centerline goodness : 0.935049 Centerline is valid? [False, False] Translation: X:22.13, Y:0.30, Z:1.00 [[ 0.91827393 -0.11682895 -0.37831731 22.12545638] [ 0.13742325 0.99012222 0.02780007 0.29770188] [ 0.37133252 -0.07751768 0.92525843 0.99527129] [ 0. 0. 0. 1. ]] SLAMing on 141.61538475 meters Centerline goodness : 0.934255 Centerline is valid? [False, False] Translation: X:22.13, Y:0.30, Z:1.00 [[ 0.91807686 -0.11738989 -0.37862184 22.12716854] [ 0.13792695 0.99006112 0.02747961 0.29798804] [ 0.37163293 -0.07745055 0.92514343 0.99510659] [ 0. 0. 0. 1. ]] SLAMing on 141.64538475 meters Centerline goodness : 0.929609 Centerline is valid? [False, False] Translation: X:22.13, Y:0.30, Z:1.00 [[ 0.91800296 -0.1141307 -0.37979566 22.13134963] [ 0.13578452 0.99026498 0.03062423 0.29811554] [ 0.37260317 -0.0796835 0.92456336 0.99531395] [ 0. 0. 0. 1. ]] SLAMing on 141.67538475 meters Centerline goodness : 0.929609 Centerline is valid? [False, False] Translation: X:22.13, Y:0.30, Z:1.00 [[ 0.91800296 -0.1141307 -0.37979566 22.13134963] [ 0.13578452 0.99026498 0.03062423 0.29811554] [ 0.37260317 -0.0796835 0.92456336 0.99531395] [ 0. 0. 0. 1. ]] SLAMing on 141.70538475 meters Centerline goodness : 0.931320 Centerline is valid? [False, False] Translation: X:22.13, Y:0.30, Z:0.99 [[ 0.91803035 -0.11454368 -0.37960508 22.13252419] [ 0.13585889 0.99028152 0.02974695 0.2995622 ] [ 0.37250857 -0.07888133 0.92467027 0.9936263 ] [ 0. 0. 0. 1. ]] SLAMing on 141.73538475 meters Centerline goodness : 0.931728 Centerline is valid? [False, False] Translation: X:22.13, Y:0.30, Z:0.99 [[ 0.91796276 -0.1149155 -0.37965616 22.13343393] [ 0.13613294 0.99025365 0.02942 0.29995681] [ 0.37257508 -0.07869018 0.92465976 0.99324298] [ 0. 0. 0. 1. ]] SLAMing on 141.76538475 meters Centerline goodness : 0.935567 Centerline is valid? [False, False] Translation: X:22.14, Y:0.30, Z:0.99 [[ 0.9178026 -0.11562144 -0.379829 22.13515275] [ 0.13659761 0.99021241 0.0286441 0.30067576] [ 0.37279952 -0.07817336 0.92461313 0.99247307] [ 0. 0. 0. 1. ]] SLAMing on 141.79538475 meters Centerline goodness : 0.935499 Centerline is valid? [False, False] Translation: X:22.14, Y:0.30, Z:0.99 [[ 0.91767368 -0.11581813 -0.38008048 22.13615701] [ 0.13676335 0.99019449 0.02847202 0.30080355] [ 0.37305602 -0.0781091 0.9245151 0.99243497] [ 0. 0. 0. 1. ]] SLAMing on 141.82538475 meters Centerline goodness : 0.938958 Centerline is valid? [False, False] Translation: X:22.14, Y:0.30, Z:0.99 [[ 0.91761287 -0.11603006 -0.38016267 22.13695094] [ 0.13692328 0.9901778 0.02828308 0.30094904] [ 0.37314695 -0.07800604 0.92448711 0.99218081] [ 0. 0. 0. 1. ]] SLAMing on 141.85538475 meters Centerline goodness : 0.936075 Centerline is valid? [False, False] Translation: X:22.14, Y:0.30, Z:0.99 [[ 0.91746126 -0.11224172 -0.38166299 22.14009088] [ 0.1346124 0.99037064 0.03233419 0.29954822] [ 0.37435857 -0.08104194 0.92373582 0.99423269] [ 0. 0. 0. 1. ]] SLAMing on 141.88538475000001 meters Centerline goodness : 0.938159 Centerline is valid? [False, False] Translation: X:22.14, Y:0.30, Z:0.99 [[ 0.91721367 -0.11289137 -0.38206625 22.14215518] [ 0.13519851 0.99030308 0.03195586 0.29927437] [ 0.37475384 -0.08096514 0.92358227 0.99411189] [ 0. 0. 0. 1. ]] SLAMing on 141.91538475000002 meters Centerline goodness : 0.937639 Centerline is valid? [False, False] Translation: X:22.14, Y:0.30, Z:0.99 [[ 0.91689909 -0.11359067 -0.38261367 22.14381464] [ 0.13596458 0.99020144 0.03185498 0.29885307] [ 0.37524617 -0.08122971 0.92335911 0.99488505] [ 0. 0. 0. 1. ]] SLAMing on 141.94538475000002 meters Centerline goodness : 0.941169 Centerline is valid? [False, False] Translation: X:22.15, Y:0.30, Z:1.00 [[ 0.9165101 -0.11423357 -0.38335354 22.14548468] [ 0.13688034 0.99006328 0.03222548 0.29678284] [ 0.37586303 -0.08200854 0.92303932 0.99668548] [ 0. 0. 0. 1. ]] SLAMing on 141.97538475000002 meters Centerline goodness : 0.939930 Centerline is valid? [False, False] Translation: X:22.15, Y:0.30, Z:1.00 [[ 0.91635508 -0.11486965 -0.383534 22.14725966] [ 0.13723975 0.99004073 0.03137848 0.29884031] [ 0.37610984 -0.08138994 0.92299353 0.99561076] [ 0. 0. 0. 1. ]] SLAMing on 142.00538475 meters Centerline goodness : 0.941680 Centerline is valid? [False, False] Translation: X:22.15, Y:0.30, Z:0.99 [[ 0.91646302 -0.11483476 -0.38328647 22.14697155] [ 0.13709621 0.990067 0.03117641 0.29999547] [ 0.37589915 -0.08111914 0.9231032 0.99495743] [ 0. 0. 0. 1. ]] SLAMing on 142.03538475 meters Centerline goodness : 0.941529 Centerline is valid? [False, False] Translation: X:22.15, Y:0.30, Z:1.00 [[ 0.91642689 -0.1147589 -0.38339556 22.14692498] [ 0.137027 0.99007639 0.03118231 0.30062762] [ 0.37601244 -0.08111185 0.9230577 0.99512683] [ 0. 0. 0. 1. ]] SLAMing on 142.06538475 meters Centerline goodness : 0.944717 Centerline is valid? [False, False] Translation: X:22.15, Y:0.30, Z:1.00 [[ 0.91639712 -0.1145761 -0.38352136 22.14662262] [ 0.13681538 0.99010767 0.03111834 0.30109984] [ 0.37616202 -0.08098838 0.92300759 0.99533619] [ 0. 0. 0. 1. ]] SLAMing on 142.09538475 meters Centerline goodness : 0.943820 Centerline is valid? [False, False] Translation: X:22.15, Y:0.30, Z:1.00 [[ 0.91635796 -0.1147481 -0.3835635 22.14673807] [ 0.13686942 0.99011062 0.03078518 0.30206205] [ 0.37623775 -0.08070836 0.92300125 0.99516446] [ 0. 0. 0. 1. ]] SLAMing on 142.12538475 meters Centerline goodness : 0.945497 Centerline is valid? [False, False] Translation: X:22.15, Y:0.30, Z:0.99 [[ 0.91619852 -0.11530211 -0.38377818 22.14788577] [ 0.13726084 0.99007362 0.03022734 0.30323878] [ 0.37648338 -0.08037196 0.92293045 0.99483383] [ 0. 0. 0. 1. ]] SLAMing on 142.15538475 meters Centerline goodness : 0.947133 Centerline is valid? [False, False] Translation: X:22.15, Y:0.30, Z:1.00 [[ 0.91588181 -0.11574717 -0.38439967 22.14880938] [ 0.13785926 0.98998607 0.03037125 0.30295058] [ 0.37703493 -0.08080953 0.92266705 0.99624761] [ 0. 0. 0. 1. ]] SLAMing on 142.18538475 meters Centerline goodness : 0.945347 Centerline is valid? [False, False] Translation: X:22.15, Y:0.31, Z:0.99 [[ 0.91562488 -0.11695013 -0.38464755 22.15147451] [ 0.13865663 0.98991337 0.02908368 0.30575558] [ 0.37736642 -0.07996368 0.92260522 0.99483679] [ 0. 0. 0. 1. ]] SLAMing on 142.21538475 meters Centerline goodness : 0.942933 Centerline is valid? [False, False] Translation: X:22.15, Y:0.31, Z:0.99 [[ 0.91538517 -0.11800993 -0.38489433 22.154202 ] [ 0.13924627 0.98987118 0.02766824 0.30903002] [ 0.37773067 -0.0789222 0.92254584 0.99305559] [ 0. 0. 0. 1. ]] SLAMing on 142.24538475 meters Centerline goodness : 0.945345 Centerline is valid? [False, False] Translation: X:22.15, Y:0.31, Z:0.99 [[ 0.91532348 -0.11804416 -0.38503051 22.15461179] [ 0.13920281 0.98988361 0.02744098 0.30934669] [ 0.37789615 -0.07871471 0.9224958 0.99289913] [ 0. 0. 0. 1. ]] SLAMing on 142.27538475 meters Centerline goodness : 0.948718 Centerline is valid? [False, False] Translation: X:22.17, Y:0.31, Z:0.99 [[ 9.17821209e-01 -1.18570026e-01 -3.78873827e-01 2.21650575e+01] [ 1.36314633e-01 9.90458525e-01 2.02541533e-02 3.11769556e-01] [ 3.72857277e-01 -7.02357382e-02 9.25226671e-01 9.94372278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.30538475 meters Centerline goodness : 0.950069 Centerline is valid? [False, True] Translation: X:22.16, Y:0.31, Z:1.00 [[ 9.17850596e-01 -1.17636355e-01 -3.79093617e-01 2.21629345e+01] [ 1.35914646e-01 9.90482510e-01 2.17164998e-02 3.10452253e-01] [ 3.72930948e-01 -7.14568769e-02 9.25103466e-01 9.96838517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.33538475 meters Centerline goodness : 0.952250 Centerline is valid? [True, True] Translation: X:22.20, Y:0.34, Z:0.96 [[ 9.18295338e-01 -1.48809473e-01 -3.66864298e-01 2.22026161e+01] [ 1.37822966e-01 9.88865403e-01 -5.61252573e-02 3.44350298e-01] [ 3.71131381e-01 9.77236681e-04 9.28579853e-01 9.56321004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.36538475 meters Centerline goodness : 0.951449 Centerline is valid? [True, True] Translation: X:22.23, Y:0.35, Z:0.97 [[ 9.17863553e-01 -1.49150919e-01 -3.67804977e-01 2.22276938e+01] [ 1.38111605e-01 9.88814037e-01 -5.63203735e-02 3.48838506e-01] [ 3.72090959e-01 8.96282426e-04 9.28195839e-01 9.65754540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.39538475 meters Centerline goodness : 0.949536 Centerline is valid? [True, False] Translation: X:22.23, Y:0.35, Z:0.96 [[ 9.17862267e-01 -1.48493313e-01 -3.68074171e-01 2.22294359e+01] [ 1.38212236e-01 9.88912875e-01 -5.43019708e-02 3.46469214e-01] [ 3.72056766e-01 -1.03062430e-03 9.28209406e-01 9.64950286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.42538475 meters Centerline goodness : 0.950037 Centerline is valid? [False, True] Translation: X:22.23, Y:0.35, Z:0.96 [[ 9.17758582e-01 -1.47694686e-01 -3.68653583e-01 2.22312477e+01] [ 1.37553804e-01 9.89032102e-01 -5.38001050e-02 3.45790443e-01] [ 3.72556218e-01 -1.33419465e-03 9.28008666e-01 9.64825222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.45538475 meters Centerline goodness : 0.947966 Centerline is valid? [True, False] Translation: X:22.23, Y:0.34, Z:0.97 [[ 9.17736549e-01 -1.46154851e-01 -3.69321523e-01 2.22319510e+01] [ 1.36275521e-01 9.89260044e-01 -5.28540206e-02 3.43664341e-01] [ 3.73079897e-01 -1.82341657e-03 9.27797427e-01 9.65507058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.48538475 meters Centerline goodness : 0.952611 Centerline is valid? [False, True] Translation: X:22.23, Y:0.34, Z:0.97 [[ 9.17773586e-01 -1.45692316e-01 -3.69412227e-01 2.22311996e+01] [ 1.35888997e-01 9.89328035e-01 -5.25758466e-02 3.42545352e-01] [ 3.73129769e-01 -1.94633383e-03 9.27777121e-01 9.66300814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.51538475 meters Centerline goodness : 0.953124 Centerline is valid? [True, True] Translation: X:22.26, Y:0.34, Z:0.98 [[ 9.18400273e-01 -1.46065402e-01 -3.67703463e-01 2.22568802e+01] [ 1.35707269e-01 9.89274895e-01 -5.40251699e-02 3.44483835e-01] [ 3.71651012e-01 -2.83301974e-04 9.28372471e-01 9.76362057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.54538475 meters Centerline goodness : 0.953047 Centerline is valid? [True, True] Translation: X:22.28, Y:0.35, Z:0.99 [[ 9.18131774e-01 -1.47333175e-01 -3.67868157e-01 2.22823515e+01] [ 1.37031924e-01 9.89086663e-01 -5.41278576e-02 3.47716179e-01] [ 3.71828317e-01 -7.13175366e-04 9.28301241e-01 9.87061856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.57538475 meters Centerline goodness : 0.953971 Centerline is valid? [True, True] Translation: X:22.31, Y:0.35, Z:1.00 [[ 9.17691918e-01 -1.48574302e-01 -3.68466036e-01 2.23080825e+01] [ 1.38287412e-01 9.88900643e-01 -5.43333200e-02 3.51776497e-01] [ 3.72448835e-01 -1.09296572e-03 9.28052084e-01 9.96868922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.60538475 meters Centerline goodness : 0.954216 Centerline is valid? [True, True] Translation: X:22.33, Y:0.36, Z:1.01 [[ 9.17106734e-01 -1.48860969e-01 -3.69804880e-01 2.23338022e+01] [ 1.38471773e-01 9.88857535e-01 -5.46474553e-02 3.56265856e-01] [ 3.73819215e-01 -1.08998811e-03 9.27500947e-01 1.00575561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.63538475000001 meters Centerline goodness : 0.951606 Centerline is valid? [True, True] Translation: X:22.36, Y:0.36, Z:1.02 [[ 9.15688139e-01 -1.48635503e-01 -3.73393517e-01 2.23596815e+01] [ 1.37995286e-01 9.88891594e-01 -5.52332916e-02 3.60843914e-01] [ 3.77455339e-01 -9.50075078e-04 9.26027302e-01 1.01554809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.66538475000002 meters Centerline goodness : 0.950904 Centerline is valid? [True, True] Translation: X:22.39, Y:0.36, Z:1.03 [[ 9.15598029e-01 -1.48815701e-01 -3.73542684e-01 2.23853967e+01] [ 1.38133142e-01 9.88864540e-01 -5.53728874e-02 3.64542754e-01] [ 3.77623469e-01 -8.99318079e-04 9.25958804e-01 1.02644585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69538475000002 meters Centerline goodness : 0.951805 Centerline is valid? [True, True] Translation: X:22.41, Y:0.37, Z:1.04 [[ 9.15810982e-01 -1.48658947e-01 -3.73082782e-01 2.24105371e+01] [ 1.37945053e-01 9.88888270e-01 -5.54179817e-02 3.69624689e-01] [ 3.77175566e-01 -7.12527739e-04 9.26141504e-01 1.03627231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.72538475000002 meters Centerline goodness : 0.952869 Centerline is valid? [True, True] Translation: X:22.44, Y:0.37, Z:1.05 [[ 9.16284752e-01 -1.48537271e-01 -3.71966306e-01 2.24352046e+01] [ 1.37859833e-01 9.88906624e-01 -5.53023960e-02 3.74669566e-01] [ 3.76054411e-01 -6.06470799e-04 9.26597384e-01 1.04535891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75538475 meters Centerline goodness : 0.952033 Centerline is valid? [True, True] Translation: X:22.46, Y:0.38, Z:1.06 [[ 9.16698780e-01 -1.49586405e-01 -3.70522946e-01 2.24607419e+01] [ 1.39056367e-01 9.88748174e-01 -5.51395882e-02 3.79911350e-01] [ 3.74602019e-01 -9.77181633e-04 9.27185188e-01 1.05599770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.78538475 meters Centerline goodness : 0.952943 Centerline is valid? [True, True] Translation: X:22.49, Y:0.38, Z:1.07 [[ 9.16945930e-01 -1.50143407e-01 -3.69685163e-01 2.24871019e+01] [ 1.39661246e-01 9.88663636e-01 -5.51266799e-02 3.84739544e-01] [ 3.73771185e-01 -1.08250576e-03 9.27520312e-01 1.06554142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.81538475 meters Centerline goodness : 0.956156 Centerline is valid? [True, True] Translation: X:22.51, Y:0.39, Z:1.08 [[ 9.17074171e-01 -1.49722463e-01 -3.69537751e-01 2.25126072e+01] [ 1.39170692e-01 9.88727748e-01 -5.52173801e-02 3.88454930e-01] [ 3.73639511e-01 -7.90391623e-04 9.27573658e-01 1.07703602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.84538475 meters Centerline goodness : 0.954714 Centerline is valid? [True, True] Translation: X:22.54, Y:0.39, Z:1.09 [[ 9.16924446e-01 -1.49590365e-01 -3.69962542e-01 2.25387597e+01] [ 1.38956500e-01 9.88747867e-01 -5.53962625e-02 3.92547627e-01] [ 3.74086422e-01 -6.14512683e-04 9.27393644e-01 1.08711593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.87538475 meters Centerline goodness : 0.956363 Centerline is valid? [True, True] Translation: X:22.56, Y:0.40, Z:1.10 [[ 9.17291086e-01 -1.48834459e-01 -3.69358049e-01 2.25640213e+01] [ 1.38132713e-01 9.88862108e-01 -5.54173664e-02 3.98131146e-01] [ 3.73492193e-01 -1.86573188e-04 9.27633304e-01 1.09560916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.90538475 meters Centerline goodness : 0.956920 Centerline is valid? [True, True] Translation: X:22.59, Y:0.40, Z:1.10 [[ 9.17604145e-01 -1.48610211e-01 -3.68670095e-01 2.25901624e+01] [ 1.37911687e-01 9.88895851e-01 -5.53657204e-02 4.02807651e-01] [ 3.72804239e-01 -4.01003233e-05 9.27910016e-01 1.10479994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.93538475 meters Centerline goodness : 0.956257 Centerline is valid? [True, True] Translation: X:22.62, Y:0.41, Z:1.12 [[ 9.17610344e-01 -1.47502829e-01 -3.69099137e-01 2.26156869e+01] [ 1.36645769e-01 9.89061490e-01 -5.55455028e-02 4.05874686e-01] [ 3.73254861e-01 5.33292688e-04 9.27728691e-01 1.11666098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.96538475 meters Centerline goodness : 0.956758 Centerline is valid? [True, True] Translation: X:22.64, Y:0.41, Z:1.13 [[ 9.17341950e-01 -1.46726018e-01 -3.70074618e-01 2.26403607e+01] [ 1.35702161e-01 9.89176692e-01 -5.58067776e-02 4.09202667e-01] [ 3.74257492e-01 9.73972818e-04 9.27324313e-01 1.12741625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.99538475 meters Centerline goodness : 0.957467 Centerline is valid? [True, True] Translation: X:22.67, Y:0.41, Z:1.14 [[ 9.16625154e-01 -1.46044116e-01 -3.72114825e-01 2.26662319e+01] [ 1.34817261e-01 9.89277200e-01 -5.61687426e-02 4.14318961e-01] [ 3.76327826e-01 1.31818097e-03 9.26485634e-01 1.13772392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.02538475 meters Centerline goodness : 0.956842 Centerline is valid? [True, True] Translation: X:22.69, Y:0.42, Z:1.15 [[ 9.16449366e-01 -1.47285934e-01 -3.72058346e-01 2.26923353e+01] [ 1.36113944e-01 9.89093517e-01 -5.62761871e-02 4.20129265e-01] [ 3.76289189e-01 9.31947212e-04 9.26501796e-01 1.14633027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.05538475 meters Centerline goodness : 0.959241 Centerline is valid? [True, True] Translation: X:22.72, Y:0.42, Z:1.16 [[ 9.15675390e-01 -1.49351504e-01 -3.73138994e-01 2.27173946e+01] [ 1.38230734e-01 9.88784146e-01 -5.65524317e-02 4.24834628e-01] [ 3.77400112e-01 2.04392765e-04 9.26050276e-01 1.15683414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.08538475 meters Centerline goodness : 0.956909 Centerline is valid? [True, True] Translation: X:22.74, Y:0.43, Z:1.17 [[ 9.15015020e-01 -1.50128901e-01 -3.74444691e-01 2.27427003e+01] [ 1.38967547e-01 9.88666430e-01 -5.68041502e-02 4.30508528e-01] [ 3.78728841e-01 -5.90094909e-05 9.25507678e-01 1.16683739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.11538475 meters Centerline goodness : 0.961162 Centerline is valid? [True, True] Translation: X:22.77, Y:0.44, Z:1.17 [[ 9.15348426e-01 -1.49648187e-01 -3.73821722e-01 2.27680141e+01] [ 1.38441123e-01 9.88739274e-01 -5.68216741e-02 4.37691803e-01] [ 3.78115479e-01 2.59330929e-04 9.25758401e-01 1.17493995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.14538475 meters Centerline goodness : 0.958435 Centerline is valid? [True, True] Translation: X:22.79, Y:0.44, Z:1.19 [[ 9.15338427e-01 -1.50102860e-01 -3.73663881e-01 2.27935761e+01] [ 1.38920289e-01 9.88670377e-01 -5.68510197e-02 4.41323482e-01] [ 3.77963911e-01 1.28428642e-04 9.25820320e-01 1.18651847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.17538475 meters Centerline goodness : 0.962424 Centerline is valid? [True, True] Translation: X:22.82, Y:0.45, Z:1.20 [[ 9.15522380e-01 -1.48577216e-01 -3.73822929e-01 2.28185401e+01] [ 1.37215017e-01 9.88900416e-01 -5.69912913e-02 4.47361896e-01] [ 3.78141258e-01 8.82683024e-04 9.25747487e-01 1.19779638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.20538475 meters Centerline goodness : 0.960418 Centerline is valid? [True, True] Translation: X:22.84, Y:0.45, Z:1.21 [[ 9.15650707e-01 -1.47810405e-01 -3.73812609e-01 2.28442173e+01] [ 1.36338471e-01 9.89014824e-01 -5.71095348e-02 4.53406935e-01] [ 3.78147595e-01 1.32734637e-03 9.25744368e-01 1.20842407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.23538475 meters Centerline goodness : 0.954983 Centerline is valid? [True, True] Translation: X:22.87, Y:0.47, Z:1.22 [[ 9.15930852e-01 -1.44939644e-01 -3.74250148e-01 2.28689900e+01] [ 1.33161701e-01 9.89436976e-01 -5.72925140e-02 4.69081186e-01] [ 3.78600892e-01 2.64019466e-03 9.25556262e-01 1.21527726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.26538475 meters Centerline goodness : 0.958987 Centerline is valid? [True, True] Translation: X:22.89, Y:0.48, Z:1.23 [[ 9.17607352e-01 -1.47032678e-01 -3.69294109e-01 2.28916790e+01] [ 1.35720237e-01 9.89129993e-01 -5.65851003e-02 4.76940516e-01] [ 3.73599739e-01 1.80222001e-03 9.27588264e-01 1.22938588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.29538475 meters Centerline goodness : 0.960855 Centerline is valid? [True, True] Translation: X:22.92, Y:0.48, Z:1.24 [[ 9.17431666e-01 -1.47466234e-01 -3.69557638e-01 2.29167570e+01] [ 1.36138785e-01 9.89065609e-01 -5.67049512e-02 4.84061646e-01] [ 3.73878816e-01 1.71179005e-03 9.27475984e-01 1.24104782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.32538475 meters Centerline goodness : 0.960096 Centerline is valid? [True, True] Translation: X:22.94, Y:0.49, Z:1.25 [[ 9.17142785e-01 -1.47947804e-01 -3.70081827e-01 2.29423209e+01] [ 1.36578154e-01 9.88993810e-01 -5.69003711e-02 4.92620104e-01] [ 3.74426921e-01 1.64067203e-03 9.27254975e-01 1.25057228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.35538475 meters Centerline goodness : 0.957462 Centerline is valid? [True, True] Translation: X:22.97, Y:0.50, Z:1.26 [[ 9.16875364e-01 -1.46588007e-01 -3.71283614e-01 2.29662228e+01] [ 1.34988663e-01 9.89194904e-01 -5.71970561e-02 5.02730789e-01] [ 3.75656262e-01 2.32349287e-03 9.26756157e-01 1.25961574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.38538475000001 meters Centerline goodness : 0.958268 Centerline is valid? [True, True] Translation: X:22.99, Y:0.51, Z:1.27 [[ 9.17020518e-01 -1.45419628e-01 -3.71384573e-01 2.29915092e+01] [ 1.33700238e-01 9.89365937e-01 -5.72650746e-02 5.09394907e-01] [ 3.75762712e-01 2.85904255e-03 9.26711503e-01 1.26934823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.41538475000002 meters Centerline goodness : 0.952826 Centerline is valid? [True, True] Translation: X:23.02, Y:0.52, Z:1.28 [[ 9.16503728e-01 -1.43688279e-01 -3.73329070e-01 2.30164442e+01] [ 1.31655563e-01 9.89616034e-01 -5.76794393e-02 5.18005429e-01] [ 3.77740293e-01 3.71257244e-03 9.25904146e-01 1.27758221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.44538475000002 meters Centerline goodness : 0.955466 Centerline is valid? [True, True] Translation: X:23.04, Y:0.52, Z:1.29 [[ 9.14986757e-01 -1.42329103e-01 -3.77546899e-01 2.30414297e+01] [ 1.29875972e-01 9.89809659e-01 -5.83872539e-02 5.23037693e-01] [ 3.82009772e-01 4.38929374e-03 9.24147860e-01 1.28871108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47538475000002 meters Centerline goodness : 0.955873 Centerline is valid? [True, True] Translation: X:23.07, Y:0.53, Z:1.30 [[ 9.14697658e-01 -1.41488723e-01 -3.78561932e-01 2.30667295e+01] [ 1.28845324e-01 9.89927806e-01 -5.86670318e-02 5.27446827e-01] [ 3.83049706e-01 4.88666174e-03 9.23714806e-01 1.29991489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.50538475 meters Centerline goodness : 0.952318 Centerline is valid? [True, True] Translation: X:23.09, Y:0.53, Z:1.31 [[ 9.14802382e-01 -1.40007184e-01 -3.78859591e-01 2.30918232e+01] [ 1.27172084e-01 9.90134435e-01 -5.88307899e-02 5.32007404e-01] [ 3.83358660e-01 5.63818310e-03 9.23582345e-01 1.30969970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53538475 meters Centerline goodness : 0.954598 Centerline is valid? [True, True] Translation: X:23.12, Y:0.54, Z:1.32 [[ 9.15308442e-01 -1.35930553e-01 -3.79121801e-01 2.31177338e+01] [ 1.22717059e-01 9.90690632e-01 -5.89287292e-02 5.38934714e-01] [ 3.83602632e-01 7.41325107e-03 9.23468497e-01 1.31993850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.56538475 meters Centerline goodness : 0.954598 Centerline is valid? [True, True] Translation: X:23.14, Y:0.54, Z:1.33 [[ 9.15272505e-01 -1.36223584e-01 -3.79103386e-01 2.31441530e+01] [ 1.22985259e-01 9.90650332e-01 -5.90469872e-02 5.43247032e-01] [ 3.83602487e-01 7.41995579e-03 9.23468503e-01 1.33017011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.59538475 meters Centerline goodness : 0.955731 Centerline is valid? [True, True] Translation: X:23.17, Y:0.55, Z:1.34 [[ 9.16529468e-01 -1.30406645e-01 -3.78110886e-01 2.31699006e+01] [ 1.16718192e-01 9.91410679e-01 -5.90061777e-02 5.49473512e-01] [ 3.82557968e-01 9.94848172e-03 9.23877930e-01 1.34087561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.62538475 meters Centerline goodness : 0.956118 Centerline is valid? [True, True] Translation: X:23.19, Y:0.55, Z:1.35 [[ 9.17395522e-01 -1.27494894e-01 -3.77002001e-01 2.31943055e+01] [ 1.13606430e-01 9.91775416e-01 -5.89500073e-02 5.54240127e-01] [ 3.81417141e-01 1.12506210e-02 9.24334565e-01 1.35075104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.65538475 meters Centerline goodness : 0.960163 Centerline is valid? [True, True] Translation: X:23.22, Y:0.56, Z:1.36 [[ 9.19205020e-01 -1.21727737e-01 -3.74492309e-01 2.32203785e+01] [ 1.07550557e-01 9.92470343e-01 -5.86131037e-02 5.58655069e-01] [ 3.78807351e-01 1.36006026e-02 9.25375607e-01 1.36134485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.68538475 meters Centerline goodness : 0.958794 Centerline is valid? [True, True] Translation: X:23.25, Y:0.56, Z:1.37 [[ 9.19642377e-01 -1.19620327e-01 -3.74097415e-01 2.32459063e+01] [ 1.05257812e-01 9.92712638e-01 -5.86720611e-02 5.62721428e-01] [ 3.78389603e-01 1.45806383e-02 9.25531584e-01 1.37185682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.71538475 meters Centerline goodness : 0.959297 Centerline is valid? [True, True] Translation: X:23.27, Y:0.57, Z:1.38 [[ 9.21184222e-01 -1.16242781e-01 -3.71358648e-01 2.32724585e+01] [ 1.01789425e-01 9.93092571e-01 -5.83614516e-02 5.67037560e-01] [ 3.75577612e-01 1.59612650e-02 9.26653493e-01 1.38154945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.74538475 meters Centerline goodness : 0.959524 Centerline is valid? [True, True] Translation: X:23.30, Y:0.57, Z:1.39 [[ 9.21323907e-01 -1.15998434e-01 -3.71088428e-01 2.32969836e+01] [ 1.01501073e-01 9.93117730e-01 -5.84354956e-02 5.70827028e-01] [ 3.75312923e-01 1.61721457e-02 9.26757073e-01 1.39182442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.77538475 meters Centerline goodness : 0.960373 Centerline is valid? [True, True] Translation: X:23.32, Y:0.57, Z:1.40 [[ 9.20784296e-01 -1.17603869e-01 -3.71921511e-01 2.33231600e+01] [ 1.03140893e-01 9.92937767e-01 -5.86220698e-02 5.71171734e-01] [ 3.76189097e-01 1.56179645e-02 9.26411271e-01 1.40185705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.80538475 meters Centerline goodness : 0.956190 Centerline is valid? [True, True] Translation: X:23.35, Y:0.57, Z:1.41 [[ 9.20184455e-01 -1.20016334e-01 -3.72634738e-01 2.33482799e+01] [ 1.05636444e-01 9.92661718e-01 -5.88528236e-02 5.73124603e-01] [ 3.76963539e-01 1.47916450e-02 9.26109981e-01 1.41113419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.83538475 meters Centerline goodness : 0.959710 Centerline is valid? [True, True] Translation: X:23.37, Y:0.57, Z:1.42 [[ 9.19202239e-01 -1.24993916e-01 -3.73421699e-01 2.33740285e+01] [ 1.10922454e-01 9.92074424e-01 -5.90300442e-02 5.73888352e-01] [ 3.77840513e-01 1.28396977e-02 9.25781664e-01 1.41962111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.86538475 meters Centerline goodness : 0.958002 Centerline is valid? [True, True] Translation: X:23.40, Y:0.57, Z:1.43 [[ 9.18643842e-01 -1.30216186e-01 -3.73011041e-01 2.34004882e+01] [ 1.16568223e-01 9.91427483e-01 -5.90203045e-02 5.74186856e-01] [ 3.77498796e-01 1.07374052e-02 9.25947821e-01 1.43039940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.89538475 meters Centerline goodness : 0.959970 Centerline is valid? [True, True] Translation: X:23.43, Y:0.58, Z:1.44 [[ 9.18511958e-01 -1.32423676e-01 -3.72558390e-01 2.34269246e+01] [ 1.18938019e-01 9.91143365e-01 -5.90641783e-02 5.76209811e-01] [ 3.77080272e-01 9.93979722e-03 9.26127242e-01 1.44082174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.92538475 meters Centerline goodness : 0.962246 Centerline is valid? [True, True] Translation: X:23.45, Y:0.58, Z:1.45 [[ 9.18421987e-01 -1.33711242e-01 -3.72320234e-01 2.34518761e+01] [ 1.20299015e-01 9.90974549e-01 -5.91404256e-02 5.77413001e-01] [ 3.76867616e-01 9.52610972e-03 9.26218146e-01 1.45111117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.95538475 meters Centerline goodness : 0.962407 Centerline is valid? [True, True] Translation: X:23.48, Y:0.58, Z:1.46 [[ 9.18179836e-01 -1.36084411e-01 -3.72057552e-01 2.34778579e+01] [ 1.22857497e-01 9.90659897e-01 -5.91523866e-02 5.76861101e-01] [ 3.76632214e-01 8.60246924e-03 9.26322931e-01 1.46250407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.98538475 meters Centerline goodness : 0.961642 Centerline is valid? [True, True] Translation: X:23.50, Y:0.58, Z:1.47 [[ 9.17708685e-01 -1.36916274e-01 -3.72913801e-01 2.35046170e+01] [ 1.23644287e-01 9.90546949e-01 -5.94039716e-02 5.78889071e-01] [ 3.77521998e-01 8.40687961e-03 9.25962453e-01 1.47272253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.01538475 meters Centerline goodness : 0.962197 Centerline is valid? [True, True] Translation: X:23.53, Y:0.58, Z:1.48 [[ 9.17294108e-01 -1.37638993e-01 -3.73667001e-01 2.35308702e+01] [ 1.24322081e-01 9.90448107e-01 -5.96369703e-02 5.78524529e-01] [ 3.78306146e-01 8.24958221e-03 9.25643778e-01 1.48194778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.04538475 meters Centerline goodness : 0.961532 Centerline is valid? [True, True] Translation: X:23.56, Y:0.58, Z:1.49 [[ 9.16624588e-01 -1.38875603e-01 -3.74850545e-01 2.35577506e+01] [ 1.25547024e-01 9.90278909e-01 -5.98801082e-02 5.78815237e-01] [ 3.79522475e-01 7.82620920e-03 9.25149416e-01 1.49097928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.07538475 meters Centerline goodness : 0.960570 Centerline is valid? [True, True] Translation: X:23.58, Y:0.58, Z:1.50 [[ 9.17317064e-01 -1.38654967e-01 -3.73234785e-01 2.35833522e+01] [ 1.25381248e-01 9.90308410e-01 -5.97393976e-02 5.81397306e-01] [ 3.77900711e-01 8.00332562e-03 9.25811536e-01 1.50041288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.10538475 meters Centerline goodness : 0.961947 Centerline is valid? [True, True] Translation: X:23.61, Y:0.58, Z:1.51 [[ 9.18254515e-01 -1.36601682e-01 -3.71683502e-01 2.36076681e+01] [ 1.23260167e-01 9.90586407e-01 -5.95441141e-02 5.83198291e-01] [ 3.76318451e-01 8.86288118e-03 9.26447987e-01 1.51198941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.13538475000001 meters Centerline goodness : 0.962923 Centerline is valid? [True, True] Translation: X:23.63, Y:0.59, Z:1.52 [[ 9.18525289e-01 -1.36727407e-01 -3.70967532e-01 2.36323562e+01] [ 1.23419219e-01 9.90568981e-01 -5.95045472e-02 5.86678915e-01] [ 3.75604832e-01 8.87190852e-03 9.26737449e-01 1.52146182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.16538475000002 meters Centerline goodness : 0.964548 Centerline is valid? [True, True] Translation: X:23.66, Y:0.59, Z:1.53 [[ 9.18825440e-01 -1.42338884e-01 -3.68102503e-01 2.36572428e+01] [ 1.29658333e-01 9.89796175e-01 -5.90952465e-02 5.91676239e-01] [ 3.72758001e-01 6.57065907e-03 9.27905329e-01 1.53369672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19538475000002 meters Centerline goodness : 0.964150 Centerline is valid? [True, True] Translation: X:23.68, Y:0.60, Z:1.55 [[ 9.18943011e-01 -1.45547822e-01 -3.66550917e-01 2.36825257e+01] [ 1.33177687e-01 9.89336657e-01 -5.89634083e-02 5.98630708e-01] [ 3.71224254e-01 5.36760866e-03 9.28527728e-01 1.54522387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.22538475000002 meters Centerline goodness : 0.964518 Centerline is valid? [True, True] Translation: X:23.71, Y:0.61, Z:1.55 [[ 9.17890378e-01 -1.47130390e-01 -3.68551085e-01 2.37070536e+01] [ 1.34694223e-01 9.89105051e-01 -5.94025677e-02 6.05805753e-01] [ 3.73275662e-01 4.88334337e-03 9.27707622e-01 1.55441943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25538475 meters Centerline goodness : 0.956499 Centerline is valid? [True, True] Translation: X:23.73, Y:0.62, Z:1.56 [[ 9.14769251e-01 -1.47535836e-01 -3.76072326e-01 2.37323915e+01] [ 1.34573677e-01 9.89044632e-01 -6.06682885e-02 6.18618607e-01] [ 3.80903062e-01 4.88804891e-03 9.24602057e-01 1.55865197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.28538475 meters Centerline goodness : 0.950471 Centerline is valid? [True, True] Translation: X:23.76, Y:0.63, Z:1.57 [[ 9.12799901e-01 -1.48613453e-01 -3.80408178e-01 2.37575118e+01] [ 1.35404039e-01 9.88884871e-01 -6.14203457e-02 6.29479929e-01] [ 3.85307782e-01 4.55568153e-03 9.22776874e-01 1.56561555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.31538475 meters Centerline goodness : 0.954115 Centerline is valid? [True, True] Translation: X:23.78, Y:0.63, Z:1.58 [[ 9.12689343e-01 -1.48027510e-01 -3.80901587e-01 2.37821234e+01] [ 1.34711762e-01 9.88971277e-01 -6.15512425e-02 6.34916720e-01] [ 3.85812006e-01 4.86523921e-03 9.22564591e-01 1.57553761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.34538475 meters Centerline goodness : 0.956223 Centerline is valid? [True, True] Translation: X:23.81, Y:0.64, Z:1.59 [[ 9.12599305e-01 -1.45892727e-01 -3.81939551e-01 2.38058489e+01] [ 1.32299990e-01 9.89283175e-01 -6.17698299e-02 6.38494053e-01] [ 3.86858140e-01 5.84050513e-03 9.22120745e-01 1.58912247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.37538475 meters Centerline goodness : 0.956297 Centerline is valid? [True, True] Translation: X:23.83, Y:0.64, Z:1.60 [[ 9.12409797e-01 -1.44874362e-01 -3.82779025e-01 2.38311106e+01] [ 1.31109494e-01 9.89429696e-01 -6.19610985e-02 6.43136400e-01] [ 3.87709508e-01 6.34794906e-03 9.21759752e-01 1.60150965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.40538475 meters Centerline goodness : 0.958267 Centerline is valid? [True, True] Translation: X:23.86, Y:0.65, Z:1.61 [[ 9.12787852e-01 -1.42539478e-01 -3.82754275e-01 2.38560849e+01] [ 1.28531907e-01 9.89760998e-01 -6.20702487e-02 6.48340691e-01] [ 3.87682714e-01 7.46083213e-03 9.21762686e-01 1.61187632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.43538475 meters Centerline goodness : 0.957600 Centerline is valid? [True, True] Translation: X:23.88, Y:0.66, Z:1.62 [[ 9.14069096e-01 -1.38285060e-01 -3.81254415e-01 2.38822940e+01] [ 1.24014142e-01 9.90348954e-01 -6.18824813e-02 6.55941971e-01] [ 3.86132334e-01 9.28392455e-03 9.22396677e-01 1.62107285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.46538475 meters Centerline goodness : 0.956589 Centerline is valid? [True, True] Translation: X:23.91, Y:0.66, Z:1.63 [[ 9.15796019e-01 -1.33997991e-01 -3.78631997e-01 2.39085284e+01] [ 1.19532911e-01 9.90919110e-01 -6.15727292e-02 6.61701967e-01] [ 3.83444304e-01 1.11290754e-02 9.23496946e-01 1.63057562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.49538475 meters Centerline goodness : 0.957135 Centerline is valid? [True, True] Translation: X:23.93, Y:0.67, Z:1.64 [[ 9.16794901e-01 -1.32515999e-01 -3.76731495e-01 2.39333431e+01] [ 1.18035615e-01 9.91110570e-01 -6.13794120e-02 6.65308209e-01] [ 3.81516321e-01 1.18045982e-02 9.24286724e-01 1.64072072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.52538475 meters Centerline goodness : 0.959541 Centerline is valid? [True, True] Translation: X:23.96, Y:0.67, Z:1.65 [[ 9.17530396e-01 -1.30885089e-01 -3.75509075e-01 2.39589923e+01] [ 1.16349529e-01 9.91318797e-01 -6.12358561e-02 6.66588893e-01] [ 3.80264065e-01 1.24954552e-02 9.24793547e-01 1.65401498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.55538475 meters Centerline goodness : 0.959968 Centerline is valid? [True, True] Translation: X:23.98, Y:0.67, Z:1.66 [[ 9.18129997e-01 -1.30081719e-01 -3.74320790e-01 2.39847423e+01] [ 1.15530531e-01 9.91419258e-01 -6.11600419e-02 6.69201353e-01] [ 3.79064644e-01 1.29073894e-02 9.25280171e-01 1.66486438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.58538475 meters Centerline goodness : 0.961542 Centerline is valid? [True, True] Translation: X:24.01, Y:0.67, Z:1.68 [[ 9.18425514e-01 -1.31050570e-01 -3.73256377e-01 2.40112865e+01] [ 1.16614778e-01 9.91295696e-01 -6.11051278e-02 6.71551954e-01] [ 3.78015302e-01 1.25932989e-02 9.25713692e-01 1.67539283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.61538475 meters Centerline goodness : 0.961737 Centerline is valid? [True, True] Translation: X:24.04, Y:0.68, Z:1.68 [[ 9.18345813e-01 -1.31700765e-01 -3.73223628e-01 2.40369068e+01] [ 1.17270696e-01 9.91211312e-01 -6.12186197e-02 6.75013027e-01] [ 3.78006021e-01 1.24516687e-02 9.25719398e-01 1.68480905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.64538475 meters Centerline goodness : 0.960902 Centerline is valid? [True, True] Translation: X:24.06, Y:0.68, Z:1.69 [[ 9.17400969e-01 -1.33035134e-01 -3.75069480e-01 2.40628740e+01] [ 1.18538620e-01 9.91038309e-01 -6.15765094e-02 6.77987782e-01] [ 3.79900062e-01 1.20301309e-02 9.24949306e-01 1.69233741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.67538475 meters Centerline goodness : 0.959627 Centerline is valid? [True, True] Translation: X:24.09, Y:0.68, Z:1.70 [[ 9.16649738e-01 -1.34024431e-01 -3.76551072e-01 2.40892648e+01] [ 1.19453030e-01 9.90908218e-01 -6.19021515e-02 6.81650151e-01] [ 3.81423952e-01 1.17624244e-02 9.24325383e-01 1.70199801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.70538475 meters Centerline goodness : 0.961038 Centerline is valid? [True, True] Translation: X:24.12, Y:0.68, Z:1.71 [[ 9.15879877e-01 -1.35494001e-01 -3.77896053e-01 2.41153387e+01] [ 1.20883143e-01 9.90713433e-01 -6.22427496e-02 6.83066140e-01] [ 3.82820216e-01 1.13256193e-02 9.23753437e-01 1.71284843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.73538475 meters Centerline goodness : 0.961112 Centerline is valid? [True, True] Translation: X:24.14, Y:0.69, Z:1.72 [[ 9.15602811e-01 -1.36271361e-01 -3.78287733e-01 2.41402922e+01] [ 1.21644418e-01 9.90608939e-01 -6.24224758e-02 6.85057661e-01] [ 3.83241606e-01 1.11376031e-02 9.23580979e-01 1.72303920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.76538475 meters Centerline goodness : 0.962680 Centerline is valid? [True, True] Translation: X:24.17, Y:0.69, Z:1.73 [[ 9.14786929e-01 -1.37541556e-01 -3.79798886e-01 2.41651211e+01] [ 1.22874531e-01 9.90438080e-01 -6.27236709e-02 6.85181843e-01] [ 3.84794391e-01 1.07111843e-02 9.22940164e-01 1.73429220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.79538475 meters Centerline goodness : 0.962523 Centerline is valid? [True, True] Translation: X:24.19, Y:0.69, Z:1.74 [[ 9.14812463e-01 -1.38735829e-01 -3.79302686e-01 2.41915054e+01] [ 1.24184598e-01 9.90276353e-01 -6.26971364e-02 6.88817043e-01] [ 3.84312820e-01 1.02525699e-02 9.23146002e-01 1.74302404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.82538475 meters Centerline goodness : 0.964410 Centerline is valid? [True, True] Translation: X:24.22, Y:0.69, Z:1.75 [[ 9.14439161e-01 -1.41741392e-01 -3.79091543e-01 2.42177455e+01] [ 1.27406276e-01 9.89861809e-01 -6.27793015e-02 6.89967901e-01] [ 3.84146666e-01 9.10920989e-03 9.23227145e-01 1.75465408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.85538475 meters Centerline goodness : 0.963999 Centerline is valid? [True, True] Translation: X:24.24, Y:0.69, Z:1.77 [[ 9.14511168e-01 -1.43291718e-01 -3.78334254e-01 2.42442334e+01] [ 1.29095040e-01 9.89643435e-01 -6.27721423e-02 6.92545775e-01] [ 3.83410739e-01 8.56474925e-03 9.23538223e-01 1.76533931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.88538475000001 meters Centerline goodness : 0.965293 Centerline is valid? [True, True] Translation: X:24.27, Y:0.70, Z:1.78 [[ 9.14773589e-01 -1.43492656e-01 -3.77623011e-01 2.42698333e+01] [ 1.29319476e-01 9.89614114e-01 -6.27724376e-02 6.95124490e-01] [ 3.82708445e-01 8.58855831e-03 9.23829250e-01 1.77679914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.91538475000002 meters Centerline goodness : 0.966316 Centerline is valid? [True, True] Translation: X:24.30, Y:0.70, Z:1.79 [[ 9.14490636e-01 -1.44838033e-01 -3.77794681e-01 2.42957032e+01] [ 1.30712661e-01 9.89421761e-01 -6.29188251e-02 6.98851195e-01] [ 3.82911317e-01 8.15612822e-03 9.23749100e-01 1.78800800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.94538475000002 meters Centerline goodness : 0.965289 Centerline is valid? [True, True] Translation: X:24.32, Y:0.70, Z:1.80 [[ 9.13667427e-01 -1.46609685e-01 -3.79100823e-01 2.43219471e+01] [ 1.32478269e-01 9.89165441e-01 -6.32553487e-02 7.03518645e-01] [ 3.84267279e-01 7.57173089e-03 9.23190840e-01 1.79755224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97538475000002 meters Centerline goodness : 0.964965 Centerline is valid? [True, True] Translation: X:24.35, Y:0.71, Z:1.81 [[ 9.13129952e-01 -1.47405132e-01 -3.80086065e-01 2.43482069e+01] [ 1.33211557e-01 9.89048590e-01 -6.35418580e-02 7.09026859e-01] [ 3.85289983e-01 7.39011702e-03 9.22765959e-01 1.80744170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.00538475 meters Centerline goodness : 0.961967 Centerline is valid? [True, True] Translation: X:24.37, Y:0.71, Z:1.82 [[ 9.12938951e-01 -1.47989507e-01 -3.80317731e-01 2.43735928e+01] [ 1.33777265e-01 9.88962176e-01 -6.36981849e-02 7.14672843e-01] [ 3.85546514e-01 7.27468817e-03 9.22659723e-01 1.81510138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03538475 meters Centerline goodness : 0.962933 Centerline is valid? [True, True] Translation: X:24.40, Y:0.72, Z:1.82 [[ 9.12828761e-01 -1.48404564e-01 -3.80420477e-01 2.43990082e+01] [ 1.34196804e-01 9.88900827e-01 -6.37681063e-02 7.18814789e-01] [ 3.85661603e-01 7.15814914e-03 9.22612535e-01 1.82473265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.06538475 meters Centerline goodness : 0.964876 Centerline is valid? [True, True] Translation: X:24.43, Y:0.72, Z:1.84 [[ 9.12413971e-01 -1.48730808e-01 -3.81287152e-01 2.44250994e+01] [ 1.34458344e-01 9.88852230e-01 -6.39704734e-02 7.21978494e-01] [ 3.86551031e-01 7.10031444e-03 9.22240688e-01 1.83621490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.09538475 meters Centerline goodness : 0.964446 Centerline is valid? [True, True] Translation: X:24.45, Y:0.73, Z:1.85 [[ 9.12207743e-01 -1.48204311e-01 -3.81984969e-01 2.44498128e+01] [ 1.33783102e-01 9.88928586e-01 -6.42054008e-02 7.25640116e-01] [ 3.87271372e-01 7.46552976e-03 9.21935546e-01 1.84593870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.12538475 meters Centerline goodness : 0.964826 Centerline is valid? [True, True] Translation: X:24.48, Y:0.73, Z:1.86 [[ 9.11791778e-01 -1.49072840e-01 -3.82639571e-01 2.44762232e+01] [ 1.34637198e-01 9.88799988e-01 -6.44003770e-02 7.30073387e-01] [ 3.87954350e-01 7.20221466e-03 9.21650449e-01 1.85607963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.15538475 meters Centerline goodness : 0.965064 Centerline is valid? [True, True] Translation: X:24.50, Y:0.73, Z:1.87 [[ 9.11749983e-01 -1.48918112e-01 -3.82799378e-01 2.45009254e+01] [ 1.34406967e-01 9.88821855e-01 -6.45453873e-02 7.33532292e-01] [ 3.88132368e-01 7.39835239e-03 9.21573941e-01 1.86620352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.18538475 meters Centerline goodness : 0.963692 Centerline is valid? [True, True] Translation: X:24.53, Y:0.74, Z:1.88 [[ 9.11551038e-01 -1.49818565e-01 -3.82921797e-01 2.45255487e+01] [ 1.35340061e-01 9.88687987e-01 -6.46462101e-02 7.37268334e-01] [ 3.88275383e-01 7.10366065e-03 9.21516014e-01 1.87688455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.21538475 meters Centerline goodness : 0.965849 Centerline is valid? [True, True] Translation: X:24.55, Y:0.74, Z:1.89 [[ 9.11252719e-01 -1.50947062e-01 -3.83188552e-01 2.45515199e+01] [ 1.36519178e-01 9.88519217e-01 -6.47477584e-02 7.41365083e-01] [ 3.88562732e-01 6.68898474e-03 9.21397993e-01 1.88780826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.24538475 meters Centerline goodness : 0.965470 Centerline is valid? [True, True] Translation: X:24.58, Y:0.75, Z:1.90 [[ 9.11080507e-01 -1.52104451e-01 -3.83140374e-01 2.45771154e+01] [ 1.37728019e-01 9.88344199e-01 -6.48593575e-02 7.45819613e-01] [ 3.88539964e-01 6.32293173e-03 9.21410179e-01 1.89841484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.27538475 meters Centerline goodness : 0.963537 Centerline is valid? [True, True] Translation: X:24.60, Y:0.75, Z:1.91 [[ 9.11213938e-01 -1.53371025e-01 -3.82317261e-01 2.46019905e+01] [ 1.39116369e-01 9.88151088e-01 -6.48387437e-02 7.49720454e-01] [ 3.87731602e-01 5.89537794e-03 9.21753465e-01 1.90795889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.30538475 meters Centerline goodness : 0.964356 Centerline is valid? [True, True] Translation: X:24.63, Y:0.75, Z:1.92 [[ 9.11612147e-01 -1.54997849e-01 -3.80708498e-01 2.46269399e+01] [ 1.40982689e-01 9.87900942e-01 -6.46189645e-02 7.53612101e-01] [ 3.86118084e-01 5.23412508e-03 9.22434512e-01 1.91802642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.33538475 meters Centerline goodness : 0.963269 Centerline is valid? [True, True] Translation: X:24.65, Y:0.76, Z:1.93 [[ 9.11965743e-01 -1.55025654e-01 -3.79849351e-01 2.46527538e+01] [ 1.41055272e-01 9.87896391e-01 -6.45300776e-02 7.57804180e-01] [ 3.85255620e-01 5.26946668e-03 9.22794852e-01 1.92818111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.36538475 meters Centerline goodness : 0.967047 Centerline is valid? [True, True] Translation: X:24.68, Y:0.76, Z:1.94 [[ 9.12125100e-01 -1.54831968e-01 -3.79545601e-01 2.46778998e+01] [ 1.40819828e-01 9.87925664e-01 -6.45961236e-02 7.62322862e-01] [ 3.84964385e-01 5.47219947e-03 9.22915206e-01 1.93784712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.39538475 meters Centerline goodness : 0.965709 Centerline is valid? [True, True] Translation: X:24.70, Y:0.77, Z:1.95 [[ 9.12425739e-01 -1.56411997e-01 -3.78172656e-01 2.47025921e+01] [ 1.42614339e-01 9.87680035e-01 -6.44150567e-02 7.65430584e-01] [ 3.83588869e-01 4.84111229e-03 9.23491279e-01 1.94730067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.42538475 meters Centerline goodness : 0.966847 Centerline is valid? [True, True] Translation: X:24.73, Y:0.77, Z:1.96 [[ 9.12592096e-01 -1.56645817e-01 -3.77674137e-01 2.47290614e+01] [ 1.42882362e-01 9.87643203e-01 -6.43858281e-02 7.68923420e-01] [ 3.83093065e-01 4.79502486e-03 9.23697305e-01 1.95670788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.45538475 meters Centerline goodness : 0.963954 Centerline is valid? [True, True] Translation: X:24.75, Y:0.77, Z:1.97 [[ 9.11212803e-01 -1.58471056e-01 -3.80234338e-01 2.47546364e+01] [ 1.44614555e-01 9.87354746e-01 -6.49402555e-02 7.71032807e-01] [ 3.85717329e-01 4.18697241e-03 9.22607507e-01 1.96701660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.48538475 meters Centerline goodness : 0.963954 Centerline is valid? [True, True] Translation: X:24.78, Y:0.78, Z:1.98 [[ 9.11170818e-01 -1.58734883e-01 -3.80224905e-01 2.47809842e+01] [ 1.44877401e-01 9.87312580e-01 -6.49954459e-02 7.75729627e-01] [ 3.85717876e-01 4.13595772e-03 9.22607508e-01 1.97728691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.51538475 meters Centerline goodness : 0.965696 Centerline is valid? [True, True] Translation: X:24.81, Y:0.78, Z:1.99 [[ 9.10672277e-01 -1.60459878e-01 -3.80694931e-01 2.48065780e+01] [ 1.46665755e-01 9.87036064e-01 -6.51840816e-02 7.77868744e-01] [ 3.86219057e-01 3.52642647e-03 9.22400349e-01 1.98631493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.54538475 meters Centerline goodness : 0.964659 Centerline is valid? [True, True] Translation: X:24.83, Y:0.78, Z:2.00 [[ 9.10773185e-01 -1.60675721e-01 -3.80362351e-01 2.48323868e+01] [ 1.46901260e-01 9.87001074e-01 -6.51835832e-02 7.81273725e-01] [ 3.85891469e-01 3.49175093e-03 9.22537578e-01 1.99610142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.57538475 meters Centerline goodness : 0.966909 Centerline is valid? [True, True] Translation: X:24.86, Y:0.78, Z:2.01 [[ 9.10500550e-01 -1.61623734e-01 -3.80613344e-01 2.48582213e+01] [ 1.47859941e-01 9.86847203e-01 -6.53455073e-02 7.83491620e-01] [ 3.86168599e-01 3.21965351e-03 9.22422597e-01 2.00636314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.60538475 meters Centerline goodness : 0.965263 Centerline is valid? [True, True] Translation: X:24.88, Y:0.79, Z:2.02 [[ 9.10221801e-01 -1.61711797e-01 -3.81242137e-01 2.48827037e+01] [ 1.47858464e-01 9.86832463e-01 -6.55710659e-02 7.86554529e-01] [ 3.86825732e-01 3.31433674e-03 9.22146880e-01 2.01723428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.63538475000001 meters Centerline goodness : 0.966092 Centerline is valid? [True, True] Translation: X:24.91, Y:0.79, Z:2.03 [[ 9.09356094e-01 -1.62907250e-01 -3.82795928e-01 2.49082072e+01] [ 1.49012274e-01 9.86637177e-01 -6.58970699e-02 7.89012584e-01] [ 3.88415805e-01 2.88261051e-03 9.21479709e-01 2.02808366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.66538475000002 meters Centerline goodness : 0.965527 Centerline is valid? [True, True] Translation: X:24.93, Y:0.79, Z:2.04 [[ 9.08944508e-01 -1.63420357e-01 -3.83553997e-01 2.49337365e+01] [ 1.49460248e-01 9.86552557e-01 -6.61489659e-02 7.92924219e-01] [ 3.89206265e-01 2.79966382e-03 9.21146376e-01 2.03805119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.69538475000002 meters Centerline goodness : 0.965084 Centerline is valid? [True, True] Translation: X:24.96, Y:0.80, Z:2.05 [[ 9.08385356e-01 -1.65555309e-01 -3.83962869e-01 2.49582141e+01] [ 1.51697052e-01 9.86198451e-01 -6.63371669e-02 7.97804673e-01] [ 3.89646057e-01 2.01367561e-03 9.20962483e-01 2.04744533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.72538475000002 meters Centerline goodness : 0.965860 Centerline is valid? [True, True] Translation: X:24.98, Y:0.80, Z:2.06 [[ 9.08466295e-01 -1.65704570e-01 -3.83706901e-01 2.49837806e+01] [ 1.51842590e-01 9.86173331e-01 -6.63776251e-02 8.03152727e-01] [ 3.89400588e-01 2.03878555e-03 9.21066244e-01 2.05699835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75538475 meters Centerline goodness : 0.966373 Centerline is valid? [True, True] Translation: X:25.01, Y:0.81, Z:2.07 [[ 9.09290906e-01 -1.67662171e-01 -3.80892956e-01 2.50102491e+01] [ 1.54126410e-01 9.85843629e-01 -6.60105144e-02 8.07239159e-01] [ 3.86568361e-01 1.31709641e-03 9.22259816e-01 2.06718930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.78538475 meters Centerline goodness : 0.966100 Centerline is valid? [True, True] Translation: X:25.04, Y:0.81, Z:2.08 [[ 9.10123683e-01 -1.68229413e-01 -3.78647258e-01 2.50352411e+01] [ 1.54857252e-01 9.85747146e-01 -6.57403724e-02 8.11031691e-01] [ 3.84309918e-01 1.19559614e-03 9.23203367e-01 2.07617917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.81538475 meters Centerline goodness : 0.968362 Centerline is valid? [True, True] Translation: X:25.06, Y:0.81, Z:2.09 [[ 9.10983089e-01 -1.68652146e-01 -3.76385793e-01 2.50592874e+01] [ 1.55458716e-01 9.85675056e-01 -6.54008531e-02 8.13655710e-01] [ 3.82024082e-01 1.06661899e-03 9.24151753e-01 2.08820674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.84538475 meters Centerline goodness : 0.967083 Centerline is valid? [True, True] Translation: X:25.08, Y:0.82, Z:2.10 [[ 9.11243240e-01 -1.69839457e-01 -3.75220357e-01 2.50847800e+01] [ 1.56804431e-01 9.85471545e-01 -6.52549201e-02 8.17931096e-01] [ 3.80851845e-01 6.26890338e-04 9.24635863e-01 2.09855969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.87538475 meters Centerline goodness : 0.967688 Centerline is valid? [True, True] Translation: X:25.11, Y:0.82, Z:2.11 [[ 9.11131356e-01 -1.69594939e-01 -3.75602461e-01 2.51092346e+01] [ 1.56463904e-01 9.85513483e-01 -6.54386808e-02 8.21740503e-01] [ 3.81259358e-01 8.55006621e-04 9.24467723e-01 2.10847128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.90538475 meters Centerline goodness : 0.967415 Centerline is valid? [True, True] Translation: X:25.13, Y:0.83, Z:2.12 [[ 9.10206566e-01 -1.69409937e-01 -3.77920998e-01 2.51348522e+01] [ 1.56070339e-01 9.85545165e-01 -6.58997428e-02 8.26853126e-01] [ 3.83622283e-01 1.00012024e-03 9.23489547e-01 2.11830361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.93538475 meters Centerline goodness : 0.967751 Centerline is valid? [True, True] Translation: X:25.16, Y:0.83, Z:2.13 [[ 9.09288289e-01 -1.69879928e-01 -3.79915277e-01 2.51611651e+01] [ 1.56382232e-01 9.85464325e-01 -6.63676302e-02 8.31320866e-01] [ 3.85667480e-01 9.35309829e-04 9.22637372e-01 2.12778079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.96538475 meters Centerline goodness : 0.967460 Centerline is valid? [True, True] Translation: X:25.19, Y:0.83, Z:2.14 [[ 9.08908970e-01 -1.70298882e-01 -3.80634701e-01 2.51860804e+01] [ 1.56734985e-01 9.85392061e-01 -6.66080430e-02 8.34833188e-01] [ 3.86417688e-01 8.81873591e-04 9.22323475e-01 2.13745831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.99538475 meters Centerline goodness : 0.967845 Centerline is valid? [True, True] Translation: X:25.21, Y:0.84, Z:2.15 [[ 9.08302347e-01 -1.71657032e-01 -3.81471768e-01 2.52122719e+01] [ 1.58121830e-01 9.85156703e-01 -6.68113585e-02 8.38859545e-01] [ 3.87278109e-01 3.65899781e-04 9.21962869e-01 2.14827511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.02538475 meters Centerline goodness : 0.965135 Centerline is valid? [True, True] Translation: X:25.24, Y:0.84, Z:2.16 [[ 9.07626718e-01 -1.71668205e-01 -3.83071491e-01 2.52373562e+01] [ 1.57963388e-01 9.85154700e-01 -6.72144722e-02 8.42897110e-01] [ 3.88923268e-01 4.94380402e-04 9.21270019e-01 2.15936586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.05538475 meters Centerline goodness : 0.965760 Centerline is valid? [True, True] Translation: X:25.26, Y:0.85, Z:2.17 [[ 9.07343105e-01 -1.72396096e-01 -3.83416323e-01 2.52623757e+01] [ 1.58677155e-01 9.85027659e-01 -6.73948891e-02 8.47430419e-01] [ 3.89294299e-01 3.10876696e-04 9.21113376e-01 2.16825042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.08538475 meters Centerline goodness : 0.965048 Centerline is valid? [True, True] Translation: X:25.29, Y:0.85, Z:2.18 [[ 9.07018466e-01 -1.73473691e-01 -3.83698293e-01 2.52888234e+01] [ 1.59789335e-01 9.84838502e-01 -6.75314245e-02 8.52480384e-01] [ 3.89595778e-01 -5.86458764e-05 9.20985954e-01 2.17815382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.11538475 meters Centerline goodness : 0.965880 Centerline is valid? [True, True] Translation: X:25.31, Y:0.86, Z:2.19 [[ 9.07263705e-01 -1.73050314e-01 -3.83309482e-01 2.53145091e+01] [ 1.59307757e-01 9.84912953e-01 -6.75833778e-02 8.56197434e-01] [ 3.89221799e-01 2.51771885e-04 9.21144032e-01 2.18763617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.14538475 meters Centerline goodness : 0.965549 Centerline is valid? [True, True] Translation: X:25.34, Y:0.86, Z:2.20 [[ 9.08015765e-01 -1.74726897e-01 -3.80759612e-01 2.53402177e+01] [ 1.61279947e-01 9.84616866e-01 -6.72190910e-02 8.60539383e-01] [ 3.86647319e-01 -3.72895531e-04 9.22227581e-01 2.19828564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.17538475 meters Centerline goodness : 0.966909 Centerline is valid? [True, True] Translation: X:25.37, Y:0.87, Z:2.21 [[ 9.08994689e-01 -1.75336877e-01 -3.78134414e-01 2.53660234e+01] [ 1.62084121e-01 9.84508368e-01 -6.68730925e-02 8.65175604e-01] [ 3.84001814e-01 -5.02298136e-04 9.23332202e-01 2.20758073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.20538475 meters Centerline goodness : 0.965902 Centerline is valid? [True, True] Translation: X:25.39, Y:0.87, Z:2.22 [[ 9.09256425e-01 -1.78020224e-01 -3.76246666e-01 2.53904852e+01] [ 1.65078665e-01 9.84025676e-01 -6.66521095e-02 8.67296820e-01] [ 3.82101803e-01 -1.50643857e-03 9.24119009e-01 2.22048882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.23538475 meters Centerline goodness : 0.969085 Centerline is valid? [True, True] Translation: X:25.42, Y:0.87, Z:2.23 [[ 9.09528880e-01 -1.78335044e-01 -3.75438183e-01 2.54161332e+01] [ 1.65454508e-01 9.83968560e-01 -6.65633480e-02 8.72811667e-01] [ 3.81289946e-01 -1.57665262e-03 9.24454159e-01 2.23103817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.26538475 meters Centerline goodness : 0.967325 Centerline is valid? [True, True] Translation: X:25.44, Y:0.88, Z:2.24 [[ 9.08825090e-01 -1.78943862e-01 -3.76850169e-01 2.54405800e+01] [ 1.65965775e-01 9.83857784e-01 -6.69269973e-02 8.78904475e-01] [ 3.82743147e-01 -1.71929614e-03 9.23853196e-01 2.24020007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.29538475 meters Centerline goodness : 0.965214 Centerline is valid? [True, True] Translation: X:25.47, Y:0.88, Z:2.25 [[ 9.08302062e-01 -1.79304133e-01 -3.77938343e-01 2.54667636e+01] [ 1.66255023e-01 9.83792011e-01 -6.71754910e-02 8.84952212e-01] [ 3.83857566e-01 -1.81851083e-03 9.23390525e-01 2.24841310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.32538475 meters Centerline goodness : 0.961625 Centerline is valid? [True, True] Translation: X:25.49, Y:0.89, Z:2.26 [[ 9.07262320e-01 -1.77670036e-01 -3.81193443e-01 2.54913631e+01] [ 1.64198498e-01 9.84089594e-01 -6.78713768e-02 8.92356765e-01] [ 3.87187210e-01 -1.01424791e-03 9.22000562e-01 2.25715408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.35538475 meters Centerline goodness : 0.960244 Centerline is valid? [True, True] Translation: X:25.52, Y:0.90, Z:2.27 [[ 9.07221263e-01 -1.77183929e-01 -3.81517281e-01 2.55166947e+01] [ 1.63623035e-01 9.84177473e-01 -6.79867900e-02 8.97548203e-01] [ 3.87526880e-01 -7.45954010e-04 9.21858102e-01 2.26739009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.38538475000001 meters Centerline goodness : 0.961426 Centerline is valid? [True, True] Translation: X:25.54, Y:0.90, Z:2.28 [[ 9.07918668e-01 -1.74648947e-01 -3.81026819e-01 2.55409940e+01] [ 1.60860373e-01 9.84630657e-01 -6.80177099e-02 9.00816344e-01] [ 3.87049909e-01 4.62432301e-04 9.22058650e-01 2.27866792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.41538475000002 meters Centerline goodness : 0.963352 Centerline is valid? [True, True] Translation: X:25.57, Y:0.91, Z:2.29 [[ 9.08342218e-01 -1.74052831e-01 -3.80289399e-01 2.55657036e+01] [ 1.60247474e-01 9.84736014e-01 -6.79391687e-02 9.05646491e-01] [ 3.86309671e-01 7.71599754e-04 9.22368821e-01 2.28897623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.44538475000002 meters Centerline goodness : 0.962263 Centerline is valid? [True, True] Translation: X:25.59, Y:0.91, Z:2.30 [[ 9.09450497e-01 -1.72483032e-01 -3.78350891e-01 2.55911460e+01] [ 1.58669992e-01 9.85011361e-01 -6.76494834e-02 9.13071264e-01] [ 3.84348314e-01 1.49092334e-03 9.23186953e-01 2.29830208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47538475000002 meters Centerline goodness : 0.960710 Centerline is valid? [True, True] Translation: X:25.62, Y:0.92, Z:2.31 [[ 9.09515484e-01 -1.72155472e-01 -3.78343862e-01 2.56157747e+01] [ 1.58266651e-01 9.85068227e-01 -6.77661749e-02 9.19795702e-01] [ 3.84360836e-01 1.75516923e-03 9.23181275e-01 2.30696872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.50538475 meters Centerline goodness : 0.959708 Centerline is valid? [True, True] Translation: X:25.64, Y:0.93, Z:2.32 [[ 9.09158489e-01 -1.71814325e-01 -3.79355610e-01 2.56418958e+01] [ 1.57795069e-01 9.85127386e-01 -6.80055069e-02 9.27029251e-01] [ 3.85397921e-01 1.96733932e-03 9.22748380e-01 2.31664962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53538475 meters Centerline goodness : 0.961448 Centerline is valid? [True, True] Translation: X:25.67, Y:0.93, Z:2.33 [[ 9.08804235e-01 -1.71093757e-01 -3.80528303e-01 2.56673757e+01] [ 1.56872612e-01 9.85251805e-01 -6.83364122e-02 9.32621757e-01] [ 3.86608131e-01 2.40995190e-03 9.22240937e-01 2.32630255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.56538475 meters Centerline goodness : 0.959204 Centerline is valid? [True, True] Translation: X:25.69, Y:0.94, Z:2.34 [[ 9.09439077e-01 -1.70269663e-01 -3.79379504e-01 2.56920595e+01] [ 1.56020210e-01 9.85393307e-01 -6.82475210e-02 9.36700190e-01] [ 3.85458506e-01 2.87609275e-03 9.22720688e-01 2.33648861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.59538475 meters Centerline goodness : 0.960540 Centerline is valid? [True, True] Translation: X:25.72, Y:0.94, Z:2.35 [[ 9.09883009e-01 -1.70863315e-01 -3.78045814e-01 2.57179481e+01] [ 1.56732897e-01 9.85291035e-01 -6.80909324e-02 9.41070191e-01] [ 3.84119394e-01 2.70256667e-03 9.23279474e-01 2.34683793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.62538475 meters Centerline goodness : 0.961492 Centerline is valid? [True, True] Translation: X:25.74, Y:0.94, Z:2.36 [[ 9.09771839e-01 -1.74086142e-01 -3.76841101e-01 2.57424657e+01] [ 1.60267772e-01 9.84729348e-01 -6.79878807e-02 9.43739529e-01] [ 3.82922240e-01 1.45797555e-03 9.23779428e-01 2.35707150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.65538475 meters Centerline goodness : 0.962313 Centerline is valid? [True, True] Translation: X:25.77, Y:0.95, Z:2.37 [[ 9.09612187e-01 -1.75024671e-01 -3.76791764e-01 2.57684429e+01] [ 1.61264398e-01 9.84563409e-01 -6.80344618e-02 9.49114342e-01] [ 3.82883093e-01 1.12187848e-03 9.23796124e-01 2.36587250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.68538475 meters Centerline goodness : 0.960101 Centerline is valid? [True, True] Translation: X:25.79, Y:0.95, Z:2.38 [[ 9.08369670e-01 -1.80297427e-01 -3.77302769e-01 2.57946756e+01] [ 1.66886097e-01 9.83611653e-01 -6.82432862e-02 9.52153908e-01] [ 3.83423489e-01 -9.76455270e-04 9.23572127e-01 2.37560095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.71538475 meters Centerline goodness : 0.964710 Centerline is valid? [True, True] Translation: X:25.82, Y:0.95, Z:2.39 [[ 9.07723519e-01 -1.86814074e-01 -3.75684063e-01 2.58200753e+01] [ 1.74009981e-01 9.82388735e-01 -6.80654097e-02 9.54114715e-01] [ 3.81783368e-01 -3.58820370e-03 9.24244873e-01 2.38888443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.74538475 meters Centerline goodness : 0.965087 Centerline is valid? [True, True] Translation: X:25.84, Y:0.96, Z:2.40 [[ 9.06298697e-01 -1.91987181e-01 -3.76515066e-01 2.58448962e+01] [ 1.79503426e-01 9.81381144e-01 -6.83342591e-02 9.59643851e-01] [ 3.82624088e-01 -5.65449413e-03 9.23886808e-01 2.39690207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.77538475 meters Centerline goodness : 0.961713 Centerline is valid? [True, True] Translation: X:25.87, Y:0.97, Z:2.41 [[ 9.05908837e-01 -1.92495494e-01 -3.77193138e-01 2.58700011e+01] [ 1.79985533e-01 9.81280567e-01 -6.85102654e-02 9.65011986e-01] [ 3.83320214e-01 -5.82525323e-03 9.23597142e-01 2.40600325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.80538475 meters Centerline goodness : 0.962512 Centerline is valid? [True, True] Translation: X:25.90, Y:0.97, Z:2.42 [[ 9.06243843e-01 -1.92742300e-01 -3.76261216e-01 2.58961564e+01] [ 1.80294205e-01 9.81231941e-01 -6.83950070e-02 9.70671271e-01] [ 3.82382134e-01 -5.85516269e-03 9.23985725e-01 2.41520728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.83538475 meters Centerline goodness : 0.963175 Centerline is valid? [True, True] Translation: X:25.92, Y:0.98, Z:2.42 [[ 9.06364023e-01 -1.92944412e-01 -3.75867944e-01 2.59211724e+01] [ 1.80493067e-01 9.81192470e-01 -6.84367517e-02 9.75606820e-01] [ 3.82003286e-01 -5.81294850e-03 9.24142684e-01 2.42495582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.86538475 meters Centerline goodness : 0.964011 Centerline is valid? [True, True] Translation: X:25.95, Y:0.98, Z:2.44 [[ 9.06760807e-01 -1.91626099e-01 -3.75585247e-01 2.59464045e+01] [ 1.79063012e-01 9.81454253e-01 -6.84396650e-02 9.80538428e-01] [ 3.81734564e-01 -5.19501965e-03 9.24257396e-01 2.43621349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.89538475 meters Centerline goodness : 0.965204 Centerline is valid? [True, True] Translation: X:25.97, Y:0.99, Z:2.45 [[ 9.06806120e-01 -1.90548865e-01 -3.76023658e-01 2.59719020e+01] [ 1.77818700e-01 9.81666815e-01 -6.86350742e-02 9.85326536e-01] [ 3.82208282e-01 -4.62533269e-03 9.24064627e-01 2.44724465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.92538475 meters Centerline goodness : 0.964148 Centerline is valid? [True, True] Translation: X:26.00, Y:0.99, Z:2.46 [[ 9.06716438e-01 -1.88599038e-01 -3.77221027e-01 2.59970932e+01] [ 1.75573242e-01 9.82047239e-01 -6.89728788e-02 9.91339410e-01] [ 3.83457086e-01 -3.69107556e-03 9.23551319e-01 2.45835026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.95538475 meters Centerline goodness : 0.962655 Centerline is valid? [True, True] Translation: X:26.02, Y:1.00, Z:2.47 [[ 9.06347442e-01 -1.87103595e-01 -3.78848994e-01 2.60219045e+01] [ 1.73786497e-01 9.82335761e-01 -6.93880821e-02 1.00029241e+00] [ 3.85139674e-01 -2.94912880e-03 9.22853582e-01 2.46638354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.98538475 meters Centerline goodness : 0.961054 Centerline is valid? [True, True] Translation: X:26.05, Y:1.01, Z:2.48 [[ 9.06397096e-01 -1.86630746e-01 -3.78963413e-01 2.60475094e+01] [ 1.73230947e-01 9.82426529e-01 -6.94921128e-02 1.00669998e+00] [ 3.85273075e-01 -2.66074188e-03 9.22798774e-01 2.47543380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.01538475 meters Centerline goodness : 0.961949 Centerline is valid? [True, True] Translation: X:26.07, Y:1.01, Z:2.49 [[ 9.07369275e-01 -1.85317196e-01 -3.77277797e-01 2.60730265e+01] [ 1.71882913e-01 9.82676789e-01 -6.93007446e-02 1.01453936e+00] [ 3.83584753e-01 -1.96624051e-03 9.23503585e-01 2.48534688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.04538475 meters Centerline goodness : 0.960187 Centerline is valid? [True, True] Translation: X:26.10, Y:1.02, Z:2.49 [[ 9.08183641e-01 -1.83898698e-01 -3.76010297e-01 2.60977335e+01] [ 1.70393843e-01 9.82944420e-01 -6.91824093e-02 1.02061200e+00] [ 3.82319778e-01 -1.23950704e-03 9.24029248e-01 2.49480375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.07538475 meters Centerline goodness : 0.961752 Centerline is valid? [True, True] Translation: X:26.12, Y:1.03, Z:2.51 [[ 9.08928481e-01 -1.80857109e-01 -3.75685670e-01 2.61225030e+01] [ 1.67103831e-01 9.83509378e-01 -6.91781287e-02 1.02763067e+00] [ 3.82001736e-01 9.94567416e-05 9.24161601e-01 2.50526307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.10538475 meters Centerline goodness : 0.961907 Centerline is valid? [True, True] Translation: X:26.15, Y:1.03, Z:2.52 [[ 9.09233575e-01 -1.79027448e-01 -3.75823733e-01 2.61471364e+01] [ 1.65066010e-01 9.83843581e-01 -6.93182601e-02 1.03336614e+00] [ 3.82161638e-01 9.90765409e-04 9.24094963e-01 2.51525887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.13538475000001 meters Centerline goodness : 0.962115 Centerline is valid? [True, True] Translation: X:26.17, Y:1.04, Z:2.53 [[ 9.09974719e-01 -1.74677884e-01 -3.76076652e-01 2.61724442e+01] [ 1.60316663e-01 9.84621422e-01 -6.94206252e-02 1.04061308e+00] [ 3.82419375e-01 2.87966017e-03 9.23984377e-01 2.52549825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.16538475000002 meters Centerline goodness : 0.961609 Centerline is valid? [True, True] Translation: X:26.20, Y:1.05, Z:2.54 [[ 9.10357606e-01 -1.73419750e-01 -3.75732112e-01 2.61983298e+01] [ 1.58934169e-01 9.84841675e-01 -6.94752085e-02 1.04721754e+00] [ 3.82085016e-01 3.53061328e-03 9.24120433e-01 2.53530183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19538475000002 meters Centerline goodness : 0.959741 Centerline is valid? [True, True] Translation: X:26.22, Y:1.05, Z:2.54 [[ 9.10894598e-01 -1.71552698e-01 -3.75287493e-01 2.62227235e+01] [ 1.56902798e-01 9.85164978e-01 -6.95088422e-02 1.05275112e+00] [ 3.81644524e-01 4.43157128e-03 9.24298555e-01 2.54453513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.22538475000002 meters Centerline goodness : 0.959559 Centerline is valid? [True, True] Translation: X:26.25, Y:1.06, Z:2.55 [[ 9.10667698e-01 -1.71543460e-01 -3.75841968e-01 2.62483309e+01] [ 1.56824100e-01 9.85166261e-01 -6.96680767e-02 1.05873085e+00] [ 3.82217929e-01 4.50338874e-03 9.24061239e-01 2.55483287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25538475 meters Centerline goodness : 0.958167 Centerline is valid? [True, True] Translation: X:26.27, Y:1.06, Z:2.56 [[ 9.10321462e-01 -1.71835609e-01 -3.76546624e-01 2.62732062e+01] [ 1.57033418e-01 9.85115285e-01 -6.99169588e-02 1.06447968e+00] [ 3.82956058e-01 4.51650500e-03 9.23755519e-01 2.56484355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.28538475 meters Centerline goodness : 0.958061 Centerline is valid? [True, True] Translation: X:26.30, Y:1.07, Z:2.57 [[ 9.10359192e-01 -1.71527671e-01 -3.76595804e-01 2.62994226e+01] [ 1.56672396e-01 9.85168054e-01 -6.99833215e-02 1.06948199e+00] [ 3.83014232e-01 4.70779296e-03 9.23730445e-01 2.57488734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.31538475 meters Centerline goodness : 0.958949 Centerline is valid? [True, True] Translation: X:26.32, Y:1.07, Z:2.58 [[ 9.10384324e-01 -1.73729865e-01 -3.75524056e-01 2.63249765e+01] [ 1.59093107e-01 9.84785637e-01 -6.99044575e-02 1.07394908e+00] [ 3.81955189e-01 3.89663349e-03 9.24172630e-01 2.58459029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.34538475 meters Centerline goodness : 0.957874 Centerline is valid? [True, True] Translation: X:26.35, Y:1.08, Z:2.60 [[ 9.09918640e-01 -1.77395449e-01 -3.74938561e-01 2.63508899e+01] [ 1.63055008e-01 9.84136520e-01 -6.99169181e-02 1.07627266e+00] [ 3.81393673e-01 2.48309716e-03 9.24409379e-01 2.59565009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.37538475 meters Centerline goodness : 0.957874 Centerline is valid? [True, True] Translation: X:26.38, Y:1.08, Z:2.61 [[ 9.09887350e-01 -1.77600851e-01 -3.74917254e-01 2.63771290e+01] [ 1.63230156e-01 9.84099372e-01 -7.00310033e-02 1.08135881e+00] [ 3.81393400e-01 2.52252205e-03 9.24409385e-01 2.60586168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.40538475 meters Centerline goodness : 0.960844 Centerline is valid? [True, True] Translation: X:26.40, Y:1.08, Z:2.62 [[ 9.10109561e-01 -1.78589463e-01 -3.73906928e-01 2.64024161e+01] [ 1.64348765e-01 9.83921260e-01 -6.99173635e-02 1.08470886e+00] [ 3.80381480e-01 2.18131894e-03 9.24827104e-01 2.61578945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.43538475 meters Centerline goodness : 0.958081 Centerline is valid? [True, True] Translation: X:26.43, Y:1.09, Z:2.63 [[ 9.10249072e-01 -1.79347869e-01 -3.73203655e-01 2.64288342e+01] [ 1.65190080e-01 9.83783789e-01 -6.98691155e-02 1.08738308e+00] [ 3.79682583e-01 1.94875606e-03 9.25114770e-01 2.62571769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.46538475 meters Centerline goodness : 0.957150 Centerline is valid? [True, True] Translation: X:26.45, Y:1.09, Z:2.63 [[ 9.10496049e-01 -1.79561096e-01 -3.72497996e-01 2.64541055e+01] [ 1.65428759e-01 9.83744833e-01 -6.98529101e-02 1.09080446e+00] [ 3.78985844e-01 1.97891766e-03 9.25400353e-01 2.63461289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.49538475 meters Centerline goodness : 0.958422 Centerline is valid? [True, True] Translation: X:26.48, Y:1.09, Z:2.64 [[ 9.10575400e-01 -1.79446504e-01 -3.72359225e-01 2.64790114e+01] [ 1.65283556e-01 9.83765470e-01 -6.99059745e-02 1.09400947e+00] [ 3.78858531e-01 2.10980389e-03 9.25452194e-01 2.64397421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.52538475 meters Centerline goodness : 0.960619 Centerline is valid? [True, True] Translation: X:26.51, Y:1.09, Z:2.65 [[ 9.10410379e-01 -1.80593266e-01 -3.72208294e-01 2.65055073e+01] [ 1.66512204e-01 9.83556413e-01 -6.99318806e-02 1.09460263e+00] [ 3.78717081e-01 1.68948640e-03 9.25510950e-01 2.65368333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.55538475 meters Centerline goodness : 0.959968 Centerline is valid? [True, True] Translation: X:26.53, Y:1.10, Z:2.66 [[ 9.10118080e-01 -1.81907857e-01 -3.72282972e-01 2.65316275e+01] [ 1.67879236e-01 9.83314766e-01 -7.00616374e-02 1.09731282e+00] [ 3.78816105e-01 1.26578216e-03 9.25471100e-01 2.66480657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.58538475 meters Centerline goodness : 0.959578 Centerline is valid? [True, True] Translation: X:26.56, Y:1.10, Z:2.68 [[ 9.09223822e-01 -1.86268863e-01 -3.72311632e-01 2.65577963e+01] [ 1.72540741e-01 9.82498718e-01 -7.01852017e-02 1.09998997e+00] [ 3.78869019e-01 -4.24867613e-04 9.25450207e-01 2.67540337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.61538475 meters Centerline goodness : 0.964591 Centerline is valid? [True, True] Translation: X:26.58, Y:1.10, Z:2.69 [[ 9.08875876e-01 -1.95198390e-01 -3.68567811e-01 2.65832363e+01] [ 1.82413554e-01 9.80755710e-01 -6.95954884e-02 1.10231615e+00] [ 3.75059913e-01 -3.97810377e-03 9.26992037e-01 2.68837929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.64538475 meters Centerline goodness : 0.961138 Centerline is valid? [True, True] Translation: X:26.61, Y:1.11, Z:2.70 [[ 9.07812227e-01 -1.96049189e-01 -3.70731272e-01 2.66083031e+01] [ 1.83130152e-01 9.80584906e-01 -7.01184020e-02 1.10937643e+00] [ 3.77280145e-01 -4.23773148e-03 9.26089485e-01 2.69637905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.67538475 meters Centerline goodness : 0.958342 Centerline is valid? [True, True] Translation: X:26.64, Y:1.12, Z:2.70 [[ 9.06586594e-01 -1.96549223e-01 -3.73455689e-01 2.66350467e+01] [ 1.83451129e-01 9.80483971e-01 -7.06885164e-02 1.11740350e+00] [ 3.80061089e-01 -4.42560638e-03 9.24950800e-01 2.70225797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.70538475 meters Centerline goodness : 0.958164 Centerline is valid? [True, True] Translation: X:26.66, Y:1.12, Z:2.71 [[ 9.06526327e-01 -1.96025837e-01 -3.73876837e-01 2.66602774e+01] [ 1.82806739e-01 9.80590206e-01 -7.08840238e-02 1.12257038e+00] [ 3.80515065e-01 -4.08897156e-03 9.24765682e-01 2.71323523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.73538475 meters Centerline goodness : 0.958428 Centerline is valid? [True, True] Translation: X:26.69, Y:1.13, Z:2.72 [[ 9.06151431e-01 -1.95215522e-01 -3.75207254e-01 2.66856786e+01] [ 1.81783874e-01 9.80753611e-01 -7.12529146e-02 1.12893768e+00] [ 3.81895544e-01 -3.64069762e-03 9.24198322e-01 2.72360518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.76538475 meters Centerline goodness : 0.957985 Centerline is valid? [True, True] Translation: X:26.71, Y:1.13, Z:2.73 [[ 9.06426653e-01 -1.94136597e-01 -3.75102258e-01 2.67105330e+01] [ 1.80576321e-01 9.80969726e-01 -7.13483694e-02 1.13390520e+00] [ 3.81815289e-01 -3.06252197e-03 9.24233578e-01 2.73359415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.79538475 meters Centerline goodness : 0.959670 Centerline is valid? [True, True] Translation: X:26.74, Y:1.14, Z:2.74 [[ 9.06974050e-01 -1.92669006e-01 -3.74535347e-01 2.67350136e+01] [ 1.78998835e-01 9.81260973e-01 -7.13184453e-02 1.14042401e+00] [ 3.81257772e-01 -2.35741132e-03 9.24465767e-01 2.74397748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.82538475 meters Centerline goodness : 0.957598 Centerline is valid? [True, True] Translation: X:26.76, Y:1.15, Z:2.75 [[ 9.07773078e-01 -1.91763877e-01 -3.73061194e-01 2.67603306e+01] [ 1.78109773e-01 9.81439230e-01 -7.10911120e-02 1.14889970e+00] [ 3.79769598e-01 -1.91124708e-03 9.25079131e-01 2.75256405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.85538475 meters Centerline goodness : 0.959750 Centerline is valid? [True, True] Translation: X:26.79, Y:1.15, Z:2.76 [[ 9.07940895e-01 -1.91630632e-01 -3.72721118e-01 2.67863047e+01] [ 1.77944176e-01 9.81465590e-01 -7.11418700e-02 1.15449928e+00] [ 3.79445914e-01 -1.73093907e-03 9.25212301e-01 2.76322994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.88538475000001 meters Centerline goodness : 0.957663 Centerline is valid? [True, True] Translation: X:26.81, Y:1.16, Z:2.77 [[ 9.08453200e-01 -1.89874092e-01 -3.72371606e-01 2.68111560e+01] [ 1.76025302e-01 9.81808059e-01 -7.11900799e-02 1.16013770e+00] [ 3.79114596e-01 -8.73968676e-04 9.25349318e-01 2.77423135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.91538475000002 meters Centerline goodness : 0.957734 Centerline is valid? [True, True] Translation: X:26.84, Y:1.17, Z:2.78 [[ 9.08473312e-01 -1.88953637e-01 -3.72790510e-01 2.68357656e+01] [ 1.74952010e-01 9.81985939e-01 -7.13821357e-02 1.16645172e+00] [ 3.79562953e-01 -3.71683699e-04 9.25165837e-01 2.78325921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.94538475000002 meters Centerline goodness : 0.956510 Centerline is valid? [True, True] Translation: X:26.86, Y:1.17, Z:2.79 [[ 9.08495688e-01 -1.88126504e-01 -3.73154129e-01 2.68613576e+01] [ 1.74007536e-01 9.82144805e-01 -7.15049649e-02 1.17259528e+00] [ 3.79943368e-01 3.03217277e-05 9.25009749e-01 2.79306739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97538475000002 meters Centerline goodness : 0.954874 Centerline is valid? [True, True] Translation: X:26.89, Y:1.18, Z:2.80 [[ 9.08520192e-01 -1.85479541e-01 -3.74417414e-01 2.68855205e+01] [ 1.70998692e-01 9.82647318e-01 -7.18588613e-02 1.17863164e+00] [ 3.81248617e-01 1.26033845e-03 9.24471689e-01 2.80308747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.00538475 meters Centerline goodness : 0.954874 Centerline is valid? [True, True] Translation: X:26.91, Y:1.18, Z:2.81 [[ 9.09149954e-01 -1.81880280e-01 -3.74654407e-01 2.69101398e+01] [ 1.67065847e-01 9.83316623e-01 -7.19543001e-02 1.18497108e+00] [ 3.81490975e-01 2.82529280e-03 9.24368246e-01 2.81229588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03538475 meters Centerline goodness : 0.954942 Centerline is valid? [True, True] Translation: X:26.94, Y:1.19, Z:2.82 [[ 9.09116039e-01 -1.81289392e-01 -3.75022912e-01 2.69360328e+01] [ 1.66374253e-01 9.83424801e-01 -7.20782154e-02 1.19128752e+00] [ 3.81873848e-01 3.13330496e-03 9.24209147e-01 2.82215440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.06538475 meters Centerline goodness : 0.955175 Centerline is valid? [True, True] Translation: X:26.96, Y:1.20, Z:2.83 [[ 9.09158067e-01 -1.79547048e-01 -3.75758521e-01 2.69616204e+01] [ 1.64380677e-01 9.83741276e-01 -7.23332192e-02 1.19748908e+00] [ 3.82636383e-01 3.99488952e-03 9.23890383e-01 2.83293347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.09538475 meters Centerline goodness : 0.956462 Centerline is valid? [True, True] Translation: X:26.99, Y:1.20, Z:2.84 [[ 9.09277970e-01 -1.77990635e-01 -3.76208596e-01 2.69868034e+01] [ 1.62611110e-01 9.84020584e-01 -7.25335587e-02 1.20310338e+00] [ 3.83107296e-01 4.77746953e-03 9.23691494e-01 2.84265935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.12538475 meters Centerline goodness : 0.953314 Centerline is valid? [True, True] Translation: X:27.01, Y:1.21, Z:2.85 [[ 9.09741385e-01 -1.75497715e-01 -3.76259438e-01 2.70120263e+01] [ 1.59886057e-01 9.84462235e-01 -7.25986041e-02 1.21125624e+00] [ 3.83154096e-01 5.88731696e-03 9.23665674e-01 2.85205461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.15538475 meters Centerline goodness : 0.953276 Centerline is valid? [True, True] Translation: X:27.04, Y:1.22, Z:2.86 [[ 9.10310466e-01 -1.74003006e-01 -3.75576636e-01 2.70379948e+01] [ 1.58279503e-01 9.84722810e-01 -7.25850264e-02 1.21729700e+00] [ 3.82468893e-01 6.62882586e-03 9.23944590e-01 2.86165561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.18538475 meters Centerline goodness : 0.958005 Centerline is valid? [True, True] Translation: X:27.06, Y:1.22, Z:2.87 [[ 9.10887449e-01 -1.75061758e-01 -3.73680928e-01 2.70638023e+01] [ 1.59544464e-01 9.84537524e-01 -7.23286037e-02 1.22200036e+00] [ 3.80564868e-01 6.26449396e-03 9.24733009e-01 2.87278089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.21538475 meters Centerline goodness : 0.956593 Centerline is valid? [True, True] Translation: X:27.09, Y:1.23, Z:2.88 [[ 9.10832187e-01 -1.75705525e-01 -3.73513447e-01 2.70892938e+01] [ 1.60206446e-01 9.84423763e-01 -7.24137409e-02 1.22738238e+00] [ 3.80419007e-01 6.11750423e-03 9.24794007e-01 2.88346299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.24538475 meters Centerline goodness : 0.955871 Centerline is valid? [True, True] Translation: X:27.12, Y:1.23, Z:2.89 [[ 9.11177130e-01 -1.75348204e-01 -3.72839437e-01 2.71155099e+01] [ 1.59831189e-01 9.84485825e-01 -7.23992535e-02 1.23263455e+00] [ 3.79750220e-01 6.37717328e-03 9.25067080e-01 2.89293026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.27538475 meters Centerline goodness : 0.954914 Centerline is valid? [True, True] Translation: X:27.14, Y:1.24, Z:2.90 [[ 9.11188019e-01 -1.74852613e-01 -3.73045516e-01 2.71400494e+01] [ 1.59230823e-01 9.84571758e-01 -7.25534157e-02 1.23706013e+00] [ 3.79976234e-01 6.70945848e-03 9.24971916e-01 2.90215036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.30538475 meters Centerline goodness : 0.954959 Centerline is valid? [True, True] Translation: X:27.17, Y:1.24, Z:2.91 [[ 9.10900469e-01 -1.75506004e-01 -3.73440728e-01 2.71656581e+01] [ 1.59879792e-01 9.84456882e-01 -7.26849376e-02 1.24138483e+00] [ 3.80392937e-01 6.50311783e-03 9.24802099e-01 2.91240955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.33538475 meters Centerline goodness : 0.954113 Centerline is valid? [True, True] Translation: X:27.19, Y:1.24, Z:2.92 [[ 9.10650329e-01 -1.77770893e-01 -3.72979204e-01 2.71907104e+01] [ 1.62321257e-01 9.84055574e-01 -7.27078925e-02 1.24456397e+00] [ 3.79957612e-01 5.66901287e-03 9.24986527e-01 2.92199130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.36538475 meters Centerline goodness : 0.953072 Centerline is valid? [True, True] Translation: X:27.22, Y:1.25, Z:2.93 [[ 9.09929690e-01 -1.80284585e-01 -3.73531028e-01 2.72172663e+01] [ 1.64968228e-01 9.83603332e-01 -7.28695288e-02 1.24675902e+00] [ 3.80543616e-01 4.68539617e-03 9.24751103e-01 2.93214201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.39538475 meters Centerline goodness : 0.956001 Centerline is valid? [True, True] Translation: X:27.24, Y:1.25, Z:2.94 [[ 9.09543584e-01 -1.81805980e-01 -3.73733936e-01 2.72429351e+01] [ 1.66547229e-01 9.83325553e-01 -7.30265572e-02 1.25061914e+00] [ 3.80778794e-01 4.17648504e-03 9.24656729e-01 2.94264496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.42538475 meters Centerline goodness : 0.955485 Centerline is valid? [True, True] Translation: X:27.27, Y:1.25, Z:2.95 [[ 9.08809368e-01 -1.84220815e-01 -3.74337045e-01 2.72684239e+01] [ 1.69059233e-01 9.82879359e-01 -7.32607761e-02 1.25484790e+00] [ 3.81424315e-01 3.29494598e-03 9.24394199e-01 2.95112091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.45538475 meters Centerline goodness : 0.953425 Centerline is valid? [True, True] Translation: X:27.29, Y:1.26, Z:2.96 [[ 9.08474551e-01 -1.84839574e-01 -3.74844398e-01 2.72942791e+01] [ 1.69662447e-01 9.82763819e-01 -7.34161426e-02 1.25966596e+00] [ 3.81953720e-01 3.09967936e-03 9.24176253e-01 2.96002382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.48538475 meters Centerline goodness : 0.955987 Centerline is valid? [True, True] Translation: X:27.32, Y:1.26, Z:2.97 [[ 9.07588942e-01 -1.86237648e-01 -3.76294898e-01 2.73195441e+01] [ 1.71004559e-01 9.82501161e-01 -7.38167284e-02 1.26144326e+00] [ 3.83457628e-01 2.64710326e-03 9.23554676e-01 2.97045075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.51538475 meters Centerline goodness : 0.952066 Centerline is valid? [True, True] Translation: X:27.35, Y:1.27, Z:2.98 [[ 9.07072389e-01 -1.87755365e-01 -3.76785885e-01 2.73452361e+01] [ 1.72571680e-01 9.82213583e-01 -7.39965726e-02 1.26572381e+00] [ 3.83977468e-01 2.09767474e-03 9.23340080e-01 2.98111457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.54538475 meters Centerline goodness : 0.954743 Centerline is valid? [True, True] Translation: X:27.37, Y:1.27, Z:2.99 [[ 9.07480736e-01 -1.89009594e-01 -3.75172076e-01 2.73708414e+01] [ 1.74017662e-01 9.81973806e-01 -7.37922578e-02 1.26790271e+00] [ 3.82356596e-01 1.67848484e-03 9.24013320e-01 2.99069877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.57538475 meters Centerline goodness : 0.953834 Centerline is valid? [True, True] Translation: X:27.40, Y:1.27, Z:3.00 [[ 9.07416240e-01 -1.89400553e-01 -3.75130907e-01 2.73968961e+01] [ 1.74421528e-01 9.81898651e-01 -7.38388109e-02 1.27197825e+00] [ 3.82325644e-01 1.57163009e-03 9.24026316e-01 3.00153105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.60538475 meters Centerline goodness : 0.956389 Centerline is valid? [True, True] Translation: X:27.42, Y:1.28, Z:3.01 [[ 9.07979081e-01 -1.89695756e-01 -3.73616795e-01 2.74215627e+01] [ 1.74820977e-01 9.81841684e-01 -7.36514261e-02 1.27524602e+00] [ 3.80803906e-01 1.55790094e-03 9.24654507e-01 3.01216665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.63538475000001 meters Centerline goodness : 0.957139 Centerline is valid? [True, True] Translation: X:27.45, Y:1.28, Z:3.02 [[ 9.08152167e-01 -1.89699298e-01 -3.73194074e-01 2.74465146e+01] [ 1.74839486e-01 9.81840921e-01 -7.36176637e-02 1.28033694e+00] [ 3.80382433e-01 1.60698078e-03 9.24827888e-01 3.02131790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.66538475000002 meters Centerline goodness : 0.954927 Centerline is valid? [True, True] Translation: X:27.47, Y:1.29, Z:3.03 [[ 9.07776271e-01 -1.90562096e-01 -3.73668743e-01 2.74725450e+01] [ 1.75711250e-01 9.81674278e-01 -7.37642773e-02 1.28628488e+00] [ 3.80877669e-01 1.30365877e-03 9.24624519e-01 3.03053967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69538475000002 meters Centerline goodness : 0.954279 Centerline is valid? [True, True] Translation: X:27.50, Y:1.29, Z:3.04 [[ 9.07051813e-01 -1.91622027e-01 -3.74883991e-01 2.74975670e+01] [ 1.76710293e-01 9.81468305e-01 -7.41177400e-02 1.29083128e+00] [ 3.82139347e-01 9.82770583e-04 9.24104190e-01 3.03962552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.72538475000002 meters Centerline goodness : 0.955539 Centerline is valid? [True, True] Translation: X:27.52, Y:1.30, Z:3.05 [[ 9.06435444e-01 -1.91640802e-01 -3.76362309e-01 2.75225708e+01] [ 1.76575597e-01 9.81464557e-01 -7.44874663e-02 1.29565548e+00] [ 3.83661105e-01 1.06167996e-03 9.23473351e-01 3.04958867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75538475 meters Centerline goodness : 0.954353 Centerline is valid? [True, True] Translation: X:27.55, Y:1.30, Z:3.06 [[ 9.06904759e-01 -1.91388101e-01 -3.75358966e-01 2.75476377e+01] [ 1.76365712e-01 9.81513686e-01 -7.43372072e-02 1.30047411e+00] [ 3.82647219e-01 1.21631580e-03 9.23893731e-01 3.05845763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.78538475 meters Centerline goodness : 0.951750 Centerline is valid? [True, True] Translation: X:27.57, Y:1.31, Z:3.07 [[ 9.06989745e-01 -1.91535039e-01 -3.75078567e-01 2.75721433e+01] [ 1.76527651e-01 9.81485036e-01 -7.43311073e-02 1.30614688e+00] [ 3.82371012e-01 1.20581376e-03 9.24008092e-01 3.06868120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.81538475 meters Centerline goodness : 0.953297 Centerline is valid? [True, True] Translation: X:27.60, Y:1.31, Z:3.08 [[ 9.07280083e-01 -1.92384807e-01 -3.73939750e-01 2.75983633e+01] [ 1.77509909e-01 9.81319127e-01 -7.41822338e-02 1.31248175e+00] [ 3.81225764e-01 9.26052110e-04 9.24481508e-01 3.07833245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.84538475 meters Centerline goodness : 0.955025 Centerline is valid? [True, True] Translation: X:27.62, Y:1.32, Z:3.09 [[ 9.07339852e-01 -1.93125884e-01 -3.73412353e-01 2.76238490e+01] [ 1.78306483e-01 9.81173709e-01 -7.41953554e-02 1.31829417e+00] [ 3.80711427e-01 7.38559501e-04 9.24693606e-01 3.08813902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.87538475 meters Centerline goodness : 0.956029 Centerline is valid? [True, True] Translation: X:27.65, Y:1.32, Z:3.10 [[ 9.07092814e-01 -1.93719026e-01 -3.73705185e-01 2.76497917e+01] [ 1.78874901e-01 9.81056858e-01 -7.43721069e-02 1.32342031e+00] [ 3.81033327e-01 6.15925782e-04 9.24561098e-01 3.09913160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.90538475 meters Centerline goodness : 0.952530 Centerline is valid? [True, True] Translation: X:27.67, Y:1.33, Z:3.11 [[ 9.06627255e-01 -1.93339438e-01 -3.75029175e-01 2.76744653e+01] [ 1.78305456e-01 9.81131512e-01 -7.47537280e-02 1.32755254e+00] [ 3.82405785e-01 9.04019179e-04 9.23994047e-01 3.10967267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.93538475 meters Centerline goodness : 0.952323 Centerline is valid? [True, True] Translation: X:27.70, Y:1.33, Z:3.12 [[ 9.06449295e-01 -1.94107462e-01 -3.75062620e-01 2.77002405e+01] [ 1.79099038e-01 9.80980043e-01 -7.48444361e-02 1.33266310e+00] [ 3.82456809e-01 6.69332055e-04 9.23973128e-01 3.11997312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.96538475 meters Centerline goodness : 0.951436 Centerline is valid? [True, True] Translation: X:27.73, Y:1.34, Z:3.13 [[ 9.06762519e-01 -1.94434062e-01 -3.74135176e-01 2.77258285e+01] [ 1.79480868e-01 9.80915372e-01 -7.47773485e-02 1.33824373e+00] [ 3.81534209e-01 6.55190850e-04 9.24354487e-01 3.12901775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.99538475 meters Centerline goodness : 0.954406 Centerline is valid? [True, True] Translation: X:27.75, Y:1.34, Z:3.14 [[ 9.06998406e-01 -1.94462946e-01 -3.73547927e-01 2.77519649e+01] [ 1.79512974e-01 9.80909566e-01 -7.47764357e-02 1.34345884e+00] [ 3.80957981e-01 7.65408685e-04 9.24592035e-01 3.13955219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.02538475 meters Centerline goodness : 0.953468 Centerline is valid? [True, True] Translation: X:27.78, Y:1.35, Z:3.15 [[ 9.07350086e-01 -1.95312306e-01 -3.72248471e-01 2.77763060e+01] [ 1.80493294e-01 9.80740958e-01 -7.46280365e-02 1.34928235e+00] [ 3.79655096e-01 5.25402600e-04 9.25127954e-01 3.14947645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.05538475 meters Centerline goodness : 0.952282 Centerline is valid? [True, True] Translation: X:27.80, Y:1.36, Z:3.16 [[ 9.06323982e-01 -1.95577697e-01 -3.74601395e-01 2.78014992e+01] [ 1.80562142e-01 9.80688094e-01 -7.51543378e-02 1.35656538e+00] [ 3.82065640e-01 4.75348563e-04 9.24135066e-01 3.15893029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.08538475 meters Centerline goodness : 0.952282 Centerline is valid? [True, True] Translation: X:27.83, Y:1.36, Z:3.17 [[ 9.06273559e-01 -1.95853805e-01 -3.74579128e-01 2.78277053e+01] [ 1.80815095e-01 9.80632987e-01 -7.52651706e-02 1.36205192e+00] [ 3.82065619e-01 4.81273455e-04 9.24135072e-01 3.16916206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.11538475 meters Centerline goodness : 0.947547 Centerline is valid? [True, False] Translation: X:27.83, Y:1.36, Z:3.17 [[ 9.06820121e-01 -1.91700397e-01 -3.75404083e-01 2.78281650e+01] [ 1.77992700e-01 9.81450952e-01 -7.12223884e-02 1.35942174e+00] [ 3.82094055e-01 -2.23329141e-03 9.24120742e-01 3.16939367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.14538475 meters Centerline goodness : 0.952565 Centerline is valid? [False, True] Translation: X:27.83, Y:1.36, Z:3.17 [[ 9.06767323e-01 -1.92252563e-01 -3.75249216e-01 2.78276883e+01] [ 1.78328697e-01 9.81343897e-01 -7.18542343e-02 1.35795725e+00] [ 3.82062689e-01 -1.76263184e-03 9.24134728e-01 3.16969202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.17538475 meters Centerline goodness : 0.953520 Centerline is valid? [True, True] Translation: X:27.85, Y:1.36, Z:3.18 [[ 9.07205055e-01 -1.93415479e-01 -3.73589936e-01 2.78537058e+01] [ 1.78766380e-01 9.81116921e-01 -7.38388063e-02 1.36332271e+00] [ 3.80816976e-01 2.01617768e-04 9.24650415e-01 3.17793204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.20538475 meters Centerline goodness : 0.951105 Centerline is valid? [True, True] Translation: X:27.88, Y:1.37, Z:3.19 [[ 9.07674980e-01 -1.94474603e-01 -3.71894823e-01 2.78797045e+01] [ 1.80001156e-01 9.80907547e-01 -7.36204400e-02 1.36944663e+00] [ 3.79111745e-01 -1.18066540e-04 9.25350891e-01 3.18662280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.23538475 meters Centerline goodness : 0.951694 Centerline is valid? [True, True] Translation: X:27.91, Y:1.38, Z:3.20 [[ 9.07401108e-01 -1.95006569e-01 -3.72284389e-01 2.79052703e+01] [ 1.80496691e-01 9.80801912e-01 -7.38143201e-02 1.37539486e+00] [ 3.79531518e-01 -2.16904349e-04 9.25178783e-01 3.19672589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.26538475 meters Centerline goodness : 0.953651 Centerline is valid? [True, True] Translation: X:27.93, Y:1.38, Z:3.21 [[ 9.07329703e-01 -1.94524509e-01 -3.72710377e-01 2.79304280e+01] [ 1.79894737e-01 9.80897652e-01 -7.40113433e-02 1.38078632e+00] [ 3.79987754e-01 1.04054864e-04 9.24991511e-01 3.20625818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.29538475 meters Centerline goodness : 0.953651 Centerline is valid? [True, True] Translation: X:27.96, Y:1.39, Z:3.22 [[ 9.07279287e-01 -1.94779123e-01 -3.72700133e-01 2.79566504e+01] [ 1.80148819e-01 9.80847129e-01 -7.40628962e-02 1.38619904e+00] [ 3.79987761e-01 5.42429422e-05 9.24991513e-01 3.21648620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.32538475 meters Centerline goodness : 0.953204 Centerline is valid? [True, True] Translation: X:27.98, Y:1.39, Z:3.23 [[ 9.06183070e-01 -1.94927742e-01 -3.75280454e-01 2.79815562e+01] [ 1.80054272e-01 9.80817600e-01 -7.46812861e-02 1.39066402e+00] [ 3.82639129e-01 1.04068220e-04 9.23897877e-01 3.22743767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.35538475 meters Centerline goodness : 0.950855 Centerline is valid? [True, True] Translation: X:28.01, Y:1.39, Z:3.24 [[ 9.06085861e-01 -1.95914247e-01 -3.75001359e-01 2.80071560e+01] [ 1.81122313e-01 9.80620999e-01 -7.46804172e-02 1.39418453e+00] [ 3.82365165e-01 -2.54243321e-04 9.24011264e-01 3.23788561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.38538475000001 meters Centerline goodness : 0.952419 Centerline is valid? [True, True] Translation: X:28.03, Y:1.40, Z:3.25 [[ 9.06625494e-01 -1.96660758e-01 -3.73302506e-01 2.80323238e+01] [ 1.82021394e-01 9.80471493e-01 -7.44571220e-02 1.39964248e+00] [ 3.80655259e-01 -4.44317698e-04 9.24716917e-01 3.24615514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.41538475000002 meters Centerline goodness : 0.958437 Centerline is valid? [True, True] Translation: X:28.06, Y:1.40, Z:3.26 [[ 9.06738302e-01 -2.00972550e-01 -3.70723192e-01 2.80566548e+01] [ 1.86868049e-01 9.79594440e-01 -7.39936856e-02 1.40459734e+00] [ 3.78029077e-01 -2.18341070e-03 9.25791148e-01 3.25575008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.44538475000002 meters Centerline goodness : 0.955192 Centerline is valid? [True, True] Translation: X:28.08, Y:1.41, Z:3.26 [[ 9.06748353e-01 -2.01693961e-01 -3.70306589e-01 2.80825458e+01] [ 1.87658105e-01 9.79445594e-01 -7.39646133e-02 1.41073863e+00] [ 3.77613373e-01 -2.42374152e-03 9.25960186e-01 3.26489156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47538475000002 meters Centerline goodness : 0.957640 Centerline is valid? [True, True] Translation: X:28.11, Y:1.42, Z:3.28 [[ 9.06632138e-01 -2.06073350e-01 -3.68173792e-01 2.81079600e+01] [ 1.92505661e-01 9.78527957e-01 -7.36519425e-02 1.41528086e+00] [ 3.75446050e-01 -4.10032081e-03 9.26835180e-01 3.27577186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.50538475 meters Centerline goodness : 0.960058 Centerline is valid? [True, True] Translation: X:28.13, Y:1.42, Z:3.29 [[ 9.06272410e-01 -2.07058436e-01 -3.68506612e-01 2.81336305e+01] [ 1.93497443e-01 9.78318715e-01 -7.38324600e-02 1.42051715e+00] [ 3.75804549e-01 -4.39276544e-03 9.26688537e-01 3.28632700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53538475 meters Centerline goodness : 0.956113 Centerline is valid? [True, True] Translation: X:28.16, Y:1.43, Z:3.29 [[ 9.04862787e-01 -2.08094548e-01 -3.71375814e-01 2.81588090e+01] [ 1.94351548e-01 9.78097199e-01 -7.45207683e-02 1.42775296e+00] [ 3.78749009e-01 -4.74639450e-03 9.25487255e-01 3.29452359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.56538475 meters Centerline goodness : 0.956385 Centerline is valid? [True, True] Translation: X:28.18, Y:1.43, Z:3.30 [[ 9.04520436e-01 -2.07461273e-01 -3.72562210e-01 2.81845461e+01] [ 1.93542707e-01 9.78233276e-01 -7.48390108e-02 1.43336385e+00] [ 3.79978947e-01 -4.41328391e-03 9.24984607e-01 3.30450344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.59538475 meters Centerline goodness : 0.955612 Centerline is valid? [True, True] Translation: X:28.21, Y:1.44, Z:3.31 [[ 9.05107263e-01 -2.06076558e-01 -3.71904953e-01 2.82102389e+01] [ 1.92050134e-01 9.78528860e-01 -7.48198918e-02 1.43914257e+00] [ 3.79338355e-01 -3.70436848e-03 9.25250609e-01 3.31405373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.62538475 meters Centerline goodness : 0.955892 Centerline is valid? [True, True] Translation: X:28.24, Y:1.44, Z:3.32 [[ 9.06320644e-01 -2.03600976e-01 -3.70310051e-01 2.82350054e+01] [ 1.89455174e-01 9.79050665e-01 -7.46091970e-02 1.44479804e+00] [ 3.77742807e-01 -2.53729982e-03 9.25907087e-01 3.32329003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.65538475 meters Centerline goodness : 0.956903 Centerline is valid? [True, True] Translation: X:28.26, Y:1.45, Z:3.33 [[ 9.06295379e-01 -2.03168259e-01 -3.70609423e-01 2.82599870e+01] [ 1.88943775e-01 9.79141122e-01 -7.47188943e-02 1.45070527e+00] [ 3.78059434e-01 -2.30695501e-03 9.25778452e-01 3.33314778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.68538475 meters Centerline goodness : 0.954394 Centerline is valid? [True, True] Translation: X:28.29, Y:1.46, Z:3.34 [[ 9.06133168e-01 -2.02294984e-01 -3.71482734e-01 2.82851261e+01] [ 1.87908837e-01 9.79322806e-01 -7.49473922e-02 1.45700861e+00] [ 3.78962995e-01 -1.89257035e-03 9.25409891e-01 3.34323253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.71538475 meters Centerline goodness : 0.955780 Centerline is valid? [True, True] Translation: X:28.31, Y:1.46, Z:3.35 [[ 9.06896092e-01 -2.00637695e-01 -3.70518548e-01 2.83097151e+01] [ 1.86151763e-01 9.79664915e-01 -7.48610414e-02 1.46243114e+00] [ 3.78003969e-01 -1.08149507e-03 9.25803343e-01 3.35208228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.74538475 meters Centerline goodness : 0.955447 Centerline is valid? [True, True] Translation: X:28.34, Y:1.47, Z:3.36 [[ 9.07279028e-01 -2.00289327e-01 -3.69768780e-01 2.83352709e+01] [ 1.85815322e-01 9.79736399e-01 -7.47613115e-02 1.46732799e+00] [ 3.77249826e-01 -8.79334868e-04 9.26111114e-01 3.36263242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.77538475 meters Centerline goodness : 0.957968 Centerline is valid? [True, True] Translation: X:28.36, Y:1.47, Z:3.37 [[ 9.07221893e-01 -2.00006072e-01 -3.70062168e-01 2.83610746e+01] [ 1.85437319e-01 9.79794450e-01 -7.49388782e-02 1.47263743e+00] [ 3.77573089e-01 -6.37145338e-04 9.25979566e-01 3.37287329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.80538475 meters Centerline goodness : 0.957091 Centerline is valid? [True, True] Translation: X:28.39, Y:1.48, Z:3.38 [[ 9.07064985e-01 -1.99909455e-01 -3.70498748e-01 2.83864940e+01] [ 1.85250210e-01 9.79814260e-01 -7.51423723e-02 1.47835762e+00] [ 3.78041627e-01 -4.75956152e-04 9.25788476e-01 3.38194439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.83538475 meters Centerline goodness : 0.954922 Centerline is valid? [True, True] Translation: X:28.41, Y:1.49, Z:3.39 [[ 9.05978463e-01 -1.98632097e-01 -3.73829258e-01 2.84112777e+01] [ 1.83570652e-01 9.80074118e-01 -7.58718593e-02 1.48600092e+00] [ 3.81450967e-01 1.14189912e-04 9.24389067e-01 3.39085320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.86538475 meters Centerline goodness : 0.952843 Centerline is valid? [True, True] Translation: X:28.44, Y:1.49, Z:3.40 [[ 9.06083025e-01 -1.97183791e-01 -3.74342229e-01 2.84353939e+01] [ 1.81927967e-01 9.80366206e-01 -7.60546901e-02 1.49197545e+00] [ 3.81989223e-01 8.08542898e-04 9.24166424e-01 3.40064778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.89538475 meters Centerline goodness : 0.953423 Centerline is valid? [True, True] Translation: X:28.46, Y:1.50, Z:3.41 [[ 9.07260137e-01 -1.98931476e-01 -3.70547314e-01 2.84613948e+01] [ 1.84114349e-01 9.80013394e-01 -7.53369396e-02 1.49915136e+00] [ 3.78128219e-01 1.27124429e-04 9.25753225e-01 3.40941524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.92538475 meters Centerline goodness : 0.953743 Centerline is valid? [True, True] Translation: X:28.49, Y:1.51, Z:3.42 [[ 9.07649382e-01 -1.99227750e-01 -3.69433218e-01 2.84859564e+01] [ 1.84480280e-01 9.79953207e-01 -7.52245849e-02 1.50517306e+00] [ 3.77014092e-01 1.24404695e-04 9.26207514e-01 3.42005569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.95538475 meters Centerline goodness : 0.956528 Centerline is valid? [True, True] Translation: X:28.51, Y:1.51, Z:3.43 [[ 9.08529988e-01 -1.98412646e-01 -3.67703254e-01 2.85102803e+01] [ 1.83723664e-01 9.80118441e-01 -7.49230102e-02 1.51173799e+00] [ 3.75258413e-01 5.14012472e-04 9.26920093e-01 3.43025694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.98538475 meters Centerline goodness : 0.958196 Centerline is valid? [True, True] Translation: X:28.54, Y:1.52, Z:3.44 [[ 9.08879247e-01 -1.96803829e-01 -3.67704729e-01 2.85350836e+01] [ 1.81967440e-01 9.80442112e-01 -7.49741011e-02 1.51698281e+00] [ 3.75268391e-01 1.23211615e-03 9.26915377e-01 3.44052231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.01538475 meters Centerline goodness : 0.960838 Centerline is valid? [True, True] Translation: X:28.56, Y:1.52, Z:3.45 [[ 9.09754728e-01 -1.92375636e-01 -3.67883066e-01 2.85594111e+01] [ 1.77155003e-01 9.81316418e-01 -7.50612661e-02 1.52285014e+00] [ 3.75449651e-01 3.11501623e-03 9.26837556e-01 3.45062584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.04538475 meters Centerline goodness : 0.961529 Centerline is valid? [True, True] Translation: X:28.59, Y:1.53, Z:3.46 [[ 9.10069076e-01 -1.91627355e-01 -3.67495897e-01 2.85856407e+01] [ 1.76349646e-01 9.81461506e-01 -7.50607377e-02 1.52962549e+00] [ 3.75066767e-01 3.50268486e-03 9.26991182e-01 3.45925269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.07538475 meters Centerline goodness : 0.959276 Centerline is valid? [True, True] Translation: X:28.61, Y:1.54, Z:3.47 [[ 9.10267261e-01 -1.91090523e-01 -3.67284530e-01 2.86106722e+01] [ 1.75742178e-01 9.81564890e-01 -7.51335673e-02 1.53576444e+00] [ 3.74870913e-01 3.84424322e-03 9.27069049e-01 3.46952191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.10538475 meters Centerline goodness : 0.961015 Centerline is valid? [True, True] Translation: X:28.64, Y:1.54, Z:3.48 [[ 9.11099080e-01 -1.89700292e-01 -3.65940249e-01 2.86353305e+01] [ 1.74314980e-01 9.81831646e-01 -7.49727095e-02 1.54208122e+00] [ 3.73514061e-01 4.51869933e-03 9.27613512e-01 3.47777854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.13538475000001 meters Centerline goodness : 0.962338 Centerline is valid? [True, True] Translation: X:28.66, Y:1.55, Z:3.49 [[ 9.10095784e-01 -1.89403206e-01 -3.68581184e-01 2.86612891e+01] [ 1.73739505e-01 9.81887968e-01 -7.55685289e-02 1.54669087e+00] [ 3.76218351e-01 4.73748699e-03 9.26518920e-01 3.48838725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.16538475000002 meters Centerline goodness : 0.959643 Centerline is valid? [True, True] Translation: X:28.69, Y:1.55, Z:3.50 [[ 9.09666183e-01 -1.89606342e-01 -3.69536021e-01 2.86862787e+01] [ 1.73827407e-01 9.81848514e-01 -7.58783709e-02 1.55139233e+00] [ 3.77215413e-01 4.78849968e-03 9.26113169e-01 3.49888174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19538475000002 meters Centerline goodness : 0.959195 Centerline is valid? [True, True] Translation: X:28.71, Y:1.56, Z:3.51 [[ 9.09226313e-01 -1.89992761e-01 -3.70419037e-01 2.87115996e+01] [ 1.74144913e-01 9.81774264e-01 -7.61107381e-02 1.55612498e+00] [ 3.78128367e-01 4.69529480e-03 9.25741266e-01 3.50835417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.22538475000002 meters Centerline goodness : 0.960849 Centerline is valid? [True, True] Translation: X:28.74, Y:1.56, Z:3.52 [[ 9.08953362e-01 -1.90360461e-01 -3.70899825e-01 2.87373101e+01] [ 1.74476841e-01 9.81703454e-01 -7.62637495e-02 1.56019297e+00] [ 3.78631242e-01 4.60676178e-03 9.25536147e-01 3.51807330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25538475 meters Centerline goodness : 0.962268 Centerline is valid? [True, True] Translation: X:28.76, Y:1.57, Z:3.53 [[ 9.08897582e-01 -1.90566504e-01 -3.70930713e-01 2.87632876e+01] [ 1.74649575e-01 9.81663306e-01 -7.63850691e-02 1.56561462e+00] [ 3.78685505e-01 4.64331332e-03 9.25513764e-01 3.52707442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.28538475 meters Centerline goodness : 0.962585 Centerline is valid? [True, True] Translation: X:28.79, Y:1.57, Z:3.54 [[ 9.08887024e-01 -1.92677114e-01 -3.69864716e-01 2.87885832e+01] [ 1.76977933e-01 9.81254582e-01 -7.62774945e-02 1.56896628e+00] [ 3.77628375e-01 3.86973200e-03 9.25949154e-01 3.53684485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.31538475 meters Centerline goodness : 0.961019 Centerline is valid? [True, True] Translation: X:28.81, Y:1.57, Z:3.55 [[ 9.07345819e-01 -1.94317083e-01 -3.72779339e-01 2.88142284e+01] [ 1.78468663e-01 9.80933300e-01 -7.69337226e-02 1.57241965e+00] [ 3.80621204e-01 3.27606143e-03 9.24725238e-01 3.54783194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.34538475 meters Centerline goodness : 0.963409 Centerline is valid? [True, True] Translation: X:28.84, Y:1.58, Z:3.56 [[ 9.06374240e-01 -1.98232244e-01 -3.73081379e-01 2.88399907e+01] [ 1.82626916e-01 9.80153500e-01 -7.71137259e-02 1.57674991e+00] [ 3.80963446e-01 1.75919302e-03 9.24588426e-01 3.55808697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.37538475 meters Centerline goodness : 0.962058 Centerline is valid? [True, True] Translation: X:28.87, Y:1.58, Z:3.57 [[ 9.05362809e-01 -2.00235102e-01 -3.74465068e-01 2.88664362e+01] [ 1.84624338e-01 9.79747319e-01 -7.75180308e-02 1.58245633e+00] [ 3.82402978e-01 1.04657676e-03 9.23995058e-01 3.56720128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.40538475 meters Centerline goodness : 0.962453 Centerline is valid? [True, True] Translation: X:28.89, Y:1.59, Z:3.58 [[ 9.05049364e-01 -2.02209651e-01 -3.74161604e-01 2.88916294e+01] [ 1.86739565e-01 9.79342200e-01 -7.75705466e-02 1.58665373e+00] [ 3.82117761e-01 3.34398883e-04 9.24113578e-01 3.57730093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.43538475 meters Centerline goodness : 0.961154 Centerline is valid? [True, True] Translation: X:28.92, Y:1.59, Z:3.59 [[ 9.05190890e-01 -2.03000316e-01 -3.73390310e-01 2.89171423e+01] [ 1.87639815e-01 9.79178670e-01 -7.74624512e-02 1.59061189e+00] [ 3.81340729e-01 5.54165977e-05 9.24434554e-01 3.58632000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.46538475 meters Centerline goodness : 0.960935 Centerline is valid? [True, True] Translation: X:28.94, Y:1.60, Z:3.60 [[ 9.05376944e-01 -2.03620609e-01 -3.72600639e-01 2.89423829e+01] [ 1.88357238e-01 9.79049858e-01 -7.73493788e-02 1.59532832e+00] [ 3.80544530e-01 -1.51683065e-04 9.24762584e-01 3.59597760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.49538475 meters Centerline goodness : 0.963567 Centerline is valid? [True, True] Translation: X:28.97, Y:1.60, Z:3.61 [[ 9.06284914e-01 -2.04054555e-01 -3.70147799e-01 2.89685438e+01] [ 1.89012642e-01 9.78959480e-01 -7.68931637e-02 1.59845054e+00] [ 3.78050097e-01 -2.75499095e-04 9.25785098e-01 3.60693752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.52538475 meters Centerline goodness : 0.963770 Centerline is valid? [True, True] Translation: X:28.99, Y:1.60, Z:3.62 [[ 9.06367516e-01 -2.04787149e-01 -3.69540458e-01 2.89936787e+01] [ 1.89807655e-01 9.78806423e-01 -7.68832863e-02 1.60228417e+00] [ 3.77453283e-01 -4.57094375e-04 9.26028515e-01 3.61769913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.55538475 meters Centerline goodness : 0.965004 Centerline is valid? [True, True] Translation: X:29.02, Y:1.61, Z:3.63 [[ 9.06477411e-01 -2.05848671e-01 -3.68680117e-01 2.90202375e+01] [ 1.91003632e-01 9.78583477e-01 -7.67593067e-02 1.60560331e+00] [ 3.76585072e-01 -8.38663917e-04 9.26381660e-01 3.62806625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.58538475 meters Centerline goodness : 0.965213 Centerline is valid? [True, True] Translation: X:29.05, Y:1.61, Z:3.64 [[ 9.06415318e-01 -2.06677376e-01 -3.68369018e-01 2.90458416e+01] [ 1.91877476e-01 9.78408574e-01 -7.68094818e-02 1.61027299e+00] [ 3.76290187e-01 -1.06042640e-03 9.26501252e-01 3.63789493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.61538475 meters Centerline goodness : 0.964625 Centerline is valid? [True, True] Translation: X:29.07, Y:1.61, Z:3.65 [[ 9.06258325e-01 -2.07181603e-01 -3.68472022e-01 2.90718279e+01] [ 1.92365315e-01 9.78301830e-01 -7.69487822e-02 1.61486867e+00] [ 3.76419225e-01 -1.14576204e-03 9.26448733e-01 3.64781542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.64538475 meters Centerline goodness : 0.965255 Centerline is valid? [True, True] Translation: X:29.10, Y:1.62, Z:3.66 [[ 9.06367188e-01 -2.07197901e-01 -3.68194991e-01 2.90977402e+01] [ 1.92358309e-01 9.78298510e-01 -7.70084836e-02 1.61986193e+00] [ 3.76160607e-01 -1.02740303e-03 9.26553907e-01 3.65824405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.67538475 meters Centerline goodness : 0.964743 Centerline is valid? [True, True] Translation: X:29.12, Y:1.62, Z:3.67 [[ 9.06713220e-01 -2.07627508e-01 -3.67099380e-01 2.91243572e+01] [ 1.92865228e-01 9.78207371e-01 -7.68982690e-02 1.62471166e+00] [ 3.75065515e-01 -1.07602863e-03 9.26997682e-01 3.66648929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.70538475 meters Centerline goodness : 0.964063 Centerline is valid? [True, True] Translation: X:29.15, Y:1.63, Z:3.68 [[ 9.06081986e-01 -2.08132763e-01 -3.68369634e-01 2.91492174e+01] [ 1.93257031e-01 9.78099888e-01 -7.72808497e-02 1.63028905e+00] [ 3.76386975e-01 -1.16723595e-03 9.26461809e-01 3.67647869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.73538475 meters Centerline goodness : 0.963942 Centerline is valid? [True, True] Translation: X:29.17, Y:1.64, Z:3.69 [[ 9.05162427e-01 -2.08862514e-01 -3.70212683e-01 2.91741537e+01] [ 1.93869162e-01 9.77943977e-01 -7.77195308e-02 1.63514542e+00] [ 3.78279960e-01 -1.42402350e-03 9.25690145e-01 3.68599961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.76538475 meters Centerline goodness : 0.963225 Centerline is valid? [True, True] Translation: X:29.20, Y:1.64, Z:3.70 [[ 9.04524590e-01 -2.09586182e-01 -3.71360873e-01 2.92001596e+01] [ 1.94532578e-01 9.77788742e-01 -7.80144364e-02 1.64026913e+00] [ 3.79463229e-01 -1.67581196e-03 9.25205301e-01 3.69569178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.79538475 meters Centerline goodness : 0.963039 Centerline is valid? [True, True] Translation: X:29.23, Y:1.64, Z:3.71 [[ 9.03987521e-01 -2.09752986e-01 -3.72572472e-01 2.92255674e+01] [ 1.94563301e-01 9.77753050e-01 -7.83842808e-02 1.64494801e+00] [ 3.80725207e-01 -1.63051829e-03 9.24686789e-01 3.70602472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.82538475 meters Centerline goodness : 0.963681 Centerline is valid? [True, True] Translation: X:29.25, Y:1.65, Z:3.72 [[ 9.03735957e-01 -2.09822695e-01 -3.73143077e-01 2.92514968e+01] [ 1.94541696e-01 9.77738242e-01 -7.86222475e-02 1.65009870e+00] [ 3.81332988e-01 -1.53813490e-03 9.24436470e-01 3.71625023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.85538475 meters Centerline goodness : 0.963157 Centerline is valid? [True, True] Translation: X:29.28, Y:1.65, Z:3.73 [[ 9.03795305e-01 -2.09117970e-01 -3.73394859e-01 2.92757147e+01] [ 1.93710600e-01 9.77889778e-01 -7.87894998e-02 1.65417208e+00] [ 3.81615316e-01 -1.12096210e-03 9.24320558e-01 3.72663986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.88538475000001 meters Centerline goodness : 0.964116 Centerline is valid? [True, True] Translation: X:29.30, Y:1.66, Z:3.74 [[ 9.03965088e-01 -2.10104785e-01 -3.72428649e-01 2.93008797e+01] [ 1.94838073e-01 9.77677760e-01 -7.86404594e-02 1.66008954e+00] [ 3.80637944e-01 -1.47505060e-03 9.24722974e-01 3.73666045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.91538475000002 meters Centerline goodness : 0.963617 Centerline is valid? [True, True] Translation: X:29.33, Y:1.67, Z:3.75 [[ 9.04538617e-01 -2.09887991e-01 -3.71156195e-01 2.93261919e+01] [ 1.94664910e-01 9.77724629e-01 -7.84864427e-02 1.66573273e+00] [ 3.79361915e-01 -1.25706905e-03 9.25247511e-01 3.74683786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.94538475000002 meters Centerline goodness : 0.962416 Centerline is valid? [True, True] Translation: X:29.35, Y:1.67, Z:3.76 [[ 9.04492660e-01 -2.09210797e-01 -3.71650198e-01 2.93519890e+01] [ 1.93842860e-01 9.77870195e-01 -7.87072320e-02 1.67332538e+00] [ 3.79892054e-01 -8.51623624e-04 9.25030433e-01 3.75601956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97538475000002 meters Centerline goodness : 0.962416 Centerline is valid? [True, True] Translation: X:29.38, Y:1.68, Z:3.77 [[ 9.04437947e-01 -2.09488993e-01 -3.71626642e-01 2.93781553e+01] [ 1.94097983e-01 9.77810639e-01 -7.88183142e-02 1.67909747e+00] [ 3.79892054e-01 -8.45707185e-04 9.25030439e-01 3.76620970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.00538475 meters Centerline goodness : 0.960378 Centerline is valid? [True, True] Translation: X:29.40, Y:1.69, Z:3.78 [[ 9.04388699e-01 -2.06998080e-01 -3.73139218e-01 2.94033372e+01] [ 1.91226823e-01 9.78341297e-01 -7.92502934e-02 1.68579283e+00] [ 3.81462165e-01 3.18842648e-04 9.24384398e-01 3.77674597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03538475 meters Centerline goodness : 0.961205 Centerline is valid? [True, True] Translation: X:29.43, Y:1.69, Z:3.79 [[ 9.04743956e-01 -2.06568680e-01 -3.72515442e-01 2.94277068e+01] [ 1.90769256e-01 9.78431905e-01 -7.92344505e-02 1.69203580e+00] [ 3.80848349e-01 6.22396649e-04 9.24637306e-01 3.78661018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.06538475 meters Centerline goodness : 0.961295 Centerline is valid? [True, True] Translation: X:29.45, Y:1.70, Z:3.80 [[ 9.05042713e-01 -2.06553441e-01 -3.71797477e-01 2.94528144e+01] [ 1.90794735e-01 9.78435082e-01 -7.91338042e-02 1.69798145e+00] [ 3.80125054e-01 6.82471886e-04 9.24934850e-01 3.79602281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.09538475 meters Centerline goodness : 0.959249 Centerline is valid? [True, True] Translation: X:29.48, Y:1.70, Z:3.81 [[ 9.05149029e-01 -2.06527850e-01 -3.71552798e-01 2.94779420e+01] [ 1.90766021e-01 9.78440434e-01 -7.91368557e-02 1.70445355e+00] [ 3.79886246e-01 7.50999146e-04 9.25032906e-01 3.80590643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.12538475 meters Centerline goodness : 0.959720 Centerline is valid? [True, True] Translation: X:29.50, Y:1.71, Z:3.82 [[ 9.05118086e-01 -2.06807932e-01 -3.71472380e-01 2.95039799e+01] [ 1.91027551e-01 9.78381268e-01 -7.92374253e-02 1.71073890e+00] [ 3.79828546e-01 7.57767538e-04 9.25056594e-01 3.81538826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.15538475 meters Centerline goodness : 0.958255 Centerline is valid? [True, True] Translation: X:29.53, Y:1.72, Z:3.83 [[ 9.05054095e-01 -2.07792681e-01 -3.71078546e-01 2.95294098e+01] [ 1.92078459e-01 9.78172777e-01 -7.92709478e-02 1.71525030e+00] [ 3.79450855e-01 4.68300494e-04 9.25211776e-01 3.82715129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.18538475 meters Centerline goodness : 0.958255 Centerline is valid? [True, True] Translation: X:29.56, Y:1.72, Z:3.84 [[ 9.04999916e-01 -2.08071093e-01 -3.71054675e-01 2.95555666e+01] [ 1.92333609e-01 9.78113590e-01 -7.93825439e-02 1.72106065e+00] [ 3.79450832e-01 4.74911008e-04 9.25211781e-01 3.83734089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.21538475 meters Centerline goodness : 0.960360 Centerline is valid? [True, True] Translation: X:29.58, Y:1.73, Z:3.85 [[ 9.05139576e-01 -2.08165882e-01 -3.70660645e-01 2.95815421e+01] [ 1.92425905e-01 9.78093381e-01 -7.94078634e-02 1.72741869e+00] [ 3.79070731e-01 5.50489930e-04 9.25367537e-01 3.84700736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.24538475 meters Centerline goodness : 0.959864 Centerline is valid? [True, True] Translation: X:29.61, Y:1.73, Z:3.86 [[ 9.05044221e-01 -2.07852179e-01 -3.71069306e-01 2.96070832e+01] [ 1.92002892e-01 9.78159916e-01 -7.96119822e-02 1.73376355e+00] [ 3.79512646e-01 8.05984631e-04 9.25186199e-01 3.85755574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.27538475 meters Centerline goodness : 0.958901 Centerline is valid? [True, True] Translation: X:29.63, Y:1.74, Z:3.87 [[ 9.05438340e-01 -2.07532627e-01 -3.70285864e-01 2.96324417e+01] [ 1.91676977e-01 9.78227514e-01 -7.95667495e-02 1.73991981e+00] [ 3.78736517e-01 1.06751057e-03 9.25503923e-01 3.86659545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.30538475 meters Centerline goodness : 0.958312 Centerline is valid? [True, True] Translation: X:29.66, Y:1.75, Z:3.88 [[ 9.06106935e-01 -2.06749207e-01 -3.69086695e-01 2.96584124e+01] [ 1.90888511e-01 9.78392796e-01 -7.94299308e-02 1.74548576e+00] [ 3.77533839e-01 1.51760134e-03 9.25994545e-01 3.87711194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.33538475 meters Centerline goodness : 0.959665 Centerline is valid? [True, True] Translation: X:29.68, Y:1.75, Z:3.89 [[ 9.06278087e-01 -2.07025607e-01 -3.68511094e-01 2.96837471e+01] [ 1.91189762e-01 9.78334334e-01 -7.94254731e-02 1.75116075e+00] [ 3.76970163e-01 1.52601750e-03 9.26224145e-01 3.88819090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.36538475 meters Centerline goodness : 0.960396 Centerline is valid? [True, True] Translation: X:29.71, Y:1.76, Z:3.90 [[ 9.06598455e-01 -2.07676907e-01 -3.67354793e-01 2.97087288e+01] [ 1.91948180e-01 9.78196511e-01 -7.92936510e-02 1.75733450e+00] [ 3.75812637e-01 1.37441762e-03 9.26694649e-01 3.89740235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.39538475 meters Centerline goodness : 0.960208 Centerline is valid? [True, True] Translation: X:29.73, Y:1.76, Z:3.91 [[ 9.05834312e-01 -2.07430084e-01 -3.69373741e-01 2.97343386e+01] [ 1.91466837e-01 9.78248578e-01 -7.98133458e-02 1.76322773e+00] [ 3.77895026e-01 1.57484545e-03 9.25847109e-01 3.90787596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.42538475 meters Centerline goodness : 0.959297 Centerline is valid? [True, True] Translation: X:29.76, Y:1.77, Z:3.92 [[ 9.05505953e-01 -2.07176983e-01 -3.70319683e-01 2.97596603e+01] [ 1.91060392e-01 9.78301807e-01 -8.01342615e-02 1.76845931e+00] [ 3.78886389e-01 1.80862695e-03 9.25441426e-01 3.91733790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.45538475 meters Centerline goodness : 0.961403 Centerline is valid? [True, True] Translation: X:29.78, Y:1.77, Z:3.93 [[ 9.05553831e-01 -2.07047866e-01 -3.70274818e-01 2.97841931e+01] [ 1.90902985e-01 9.78328931e-01 -8.01782519e-02 1.77433258e+00] [ 3.78851303e-01 1.91915503e-03 9.25455567e-01 3.92609984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.48538475 meters Centerline goodness : 0.957572 Centerline is valid? [True, True] Translation: X:29.81, Y:1.78, Z:3.94 [[ 9.04962458e-01 -2.08410282e-01 -3.70955663e-01 2.98104017e+01] [ 1.92279137e-01 9.78040429e-01 -8.04092874e-02 1.78021328e+00] [ 3.79567757e-01 1.44035167e-03 9.25162820e-01 3.93579428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.51538475 meters Centerline goodness : 0.958013 Centerline is valid? [True, True] Translation: X:29.84, Y:1.79, Z:3.95 [[ 9.04563041e-01 -2.09405344e-01 -3.71369233e-01 2.98359850e+01] [ 1.93266978e-01 9.77828242e-01 -8.06213646e-02 1.78605558e+00] [ 3.80017869e-01 1.15369738e-03 9.24978426e-01 3.94522212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.54538475 meters Centerline goodness : 0.959814 Centerline is valid? [True, True] Translation: X:29.86, Y:1.79, Z:3.95 [[ 9.04288983e-01 -2.09862139e-01 -3.71778587e-01 2.98604492e+01] [ 1.93675059e-01 9.77730381e-01 -8.08286663e-02 1.79161479e+00] [ 3.80462097e-01 1.08823269e-03 9.24795874e-01 3.95438301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.57538475 meters Centerline goodness : 0.958699 Centerline is valid? [True, True] Translation: X:29.89, Y:1.80, Z:3.97 [[ 9.04016523e-01 -2.09543490e-01 -3.72619983e-01 2.98850551e+01] [ 1.93232060e-01 9.77798488e-01 -8.10647146e-02 1.79672477e+00] [ 3.81333839e-01 1.28171468e-03 9.24436510e-01 3.96503541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.60538475 meters Centerline goodness : 0.959315 Centerline is valid? [True, True] Translation: X:29.91, Y:1.80, Z:3.97 [[ 9.04192179e-01 -2.09736821e-01 -3.72084626e-01 2.99099429e+01] [ 1.93467661e-01 9.77757071e-01 -8.10023074e-02 1.80164014e+00] [ 3.80797540e-01 1.25531043e-03 9.24657589e-01 3.97484553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.63538475000001 meters Centerline goodness : 0.960095 Centerline is valid? [True, True] Translation: X:29.94, Y:1.81, Z:3.98 [[ 9.04216829e-01 -2.10335893e-01 -3.71686345e-01 2.99355989e+01] [ 1.94117609e-01 9.77628573e-01 -8.09983224e-02 1.80744465e+00] [ 3.80408045e-01 1.08918177e-03 9.24818108e-01 3.98466309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.66538475000002 meters Centerline goodness : 0.959923 Centerline is valid? [True, True] Translation: X:29.96, Y:1.81, Z:4.00 [[ 9.03540964e-01 -2.10792248e-01 -3.73068833e-01 2.99606707e+01] [ 1.94435744e-01 9.77530343e-01 -8.14197180e-02 1.81314010e+00] [ 3.81848749e-01 1.02813462e-03 9.24224256e-01 3.99535567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69538475000002 meters Centerline goodness : 0.955187 Centerline is valid? [True, True] Translation: X:29.98, Y:1.82, Z:4.00 [[ 9.03151628e-01 -2.10897916e-01 -3.73950807e-01 2.99848380e+01] [ 1.94419653e-01 9.77507458e-01 -8.17323020e-02 1.82017990e+00] [ 3.82776874e-01 1.11327569e-03 9.23840151e-01 4.00447552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.72538475000002 meters Centerline goodness : 0.952486 Centerline is valid? [True, True] Translation: X:30.01, Y:1.83, Z:4.01 [[ 9.02808483e-01 -2.11174394e-01 -3.74622767e-01 3.00105081e+01] [ 1.94633026e-01 9.77447826e-01 -8.19373737e-02 1.82643381e+00] [ 3.83477285e-01 1.05979321e-03 9.23549700e-01 4.01381057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75538475 meters Centerline goodness : 0.954087 Centerline is valid? [True, True] Translation: X:30.04, Y:1.83, Z:4.02 [[ 9.03019970e-01 -2.11912534e-01 -3.73695078e-01 3.00350507e+01] [ 1.95470096e-01 9.77288254e-01 -8.18480966e-02 1.83183032e+00] [ 3.82552448e-01 8.64253178e-04 9.23933373e-01 4.02446791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.78538475 meters Centerline goodness : 0.958402 Centerline is valid? [True, True] Translation: X:30.06, Y:1.84, Z:4.04 [[ 9.03784040e-01 -2.09171849e-01 -3.73391948e-01 3.00605239e+01] [ 1.92509421e-01 9.77876682e-01 -8.18371444e-02 1.83867151e+00] [ 3.82249306e-01 2.08163710e-03 9.24056889e-01 4.03528673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.81538475 meters Centerline goodness : 0.955628 Centerline is valid? [True, True] Translation: X:30.09, Y:1.85, Z:4.05 [[ 9.03712140e-01 -2.10209822e-01 -3.72982840e-01 3.00856468e+01] [ 1.93621154e-01 9.77654699e-01 -8.18665890e-02 1.84515969e+00] [ 3.81857587e-01 1.76646269e-03 9.24219489e-01 4.04511221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.84538475 meters Centerline goodness : 0.956997 Centerline is valid? [True, True] Translation: X:30.11, Y:1.85, Z:4.05 [[ 9.03467997e-01 -2.11425102e-01 -3.72887389e-01 3.01101722e+01] [ 1.94895556e-01 9.77393230e-01 -8.19646014e-02 1.85187194e+00] [ 3.81786984e-01 1.37829945e-03 9.24249317e-01 4.05467953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.87538475 meters Centerline goodness : 0.954110 Centerline is valid? [True, True] Translation: X:30.14, Y:1.86, Z:4.06 [[ 9.03522043e-01 -2.10994715e-01 -3.73000198e-01 3.01360283e+01] [ 1.94395672e-01 9.77485857e-01 -8.20470751e-02 1.85972615e+00] [ 3.81913917e-01 1.62171688e-03 9.24196478e-01 4.06187139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.90538475 meters Centerline goodness : 0.952945 Centerline is valid? [True, True] Translation: X:30.16, Y:1.87, Z:4.07 [[ 9.03632681e-01 -2.10953040e-01 -3.72755674e-01 3.01607212e+01] [ 1.94325471e-01 9.77494611e-01 -8.21090488e-02 1.86537146e+00] [ 3.81687816e-01 1.76049789e-03 9.24289625e-01 4.07110344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.93538475 meters Centerline goodness : 0.953958 Centerline is valid? [True, True] Translation: X:30.19, Y:1.87, Z:4.08 [[ 9.03844855e-01 -2.11259231e-01 -3.72067219e-01 3.01860464e+01] [ 1.94697469e-01 9.77428612e-01 -8.20134358e-02 1.87095276e+00] [ 3.80995241e-01 1.68687602e-03 9.24575460e-01 4.08122323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.96538475 meters Centerline goodness : 0.955937 Centerline is valid? [True, True] Translation: X:30.21, Y:1.88, Z:4.09 [[ 9.04050284e-01 -2.10706068e-01 -3.71881751e-01 3.02114360e+01] [ 1.94068086e-01 9.77547328e-01 -8.20901968e-02 1.87601177e+00] [ 3.80828915e-01 2.04328629e-03 9.24643262e-01 4.09199775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.99538475 meters Centerline goodness : 0.956309 Centerline is valid? [True, True] Translation: X:30.24, Y:1.88, Z:4.10 [[ 9.04047621e-01 -2.10631889e-01 -3.71930243e-01 3.02371729e+01] [ 1.93934680e-01 9.77562974e-01 -8.22190456e-02 1.88031040e+00] [ 3.80903187e-01 2.19976002e-03 9.24612310e-01 4.10281275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.02538475 meters Centerline goodness : 0.955061 Centerline is valid? [True, True] Translation: X:30.26, Y:1.89, Z:4.11 [[ 9.03446267e-01 -2.11056448e-01 -3.73148788e-01 3.02614315e+01] [ 1.94231240e-01 9.77471505e-01 -8.26055875e-02 1.88586766e+00] [ 3.82176749e-01 2.15255808e-03 9.24086738e-01 4.11280129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.05538475 meters Centerline goodness : 0.953531 Centerline is valid? [True, True] Translation: X:30.29, Y:1.89, Z:4.12 [[ 9.03050497e-01 -2.11895548e-01 -3.73630936e-01 3.02870873e+01] [ 1.95059380e-01 9.77290494e-01 -8.27956986e-02 1.89275096e+00] [ 3.82690002e-01 1.88847810e-03 9.23874881e-01 4.12203970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.08538475 meters Centerline goodness : 0.950046 Centerline is valid? [True, True] Translation: X:30.31, Y:1.90, Z:4.13 [[ 9.03278000e-01 -2.11746407e-01 -3.73165263e-01 3.03118091e+01] [ 1.94894875e-01 9.77322454e-01 -8.28058457e-02 1.89946246e+00] [ 3.82236631e-01 2.06870123e-03 9.24062161e-01 4.13135579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.11538475 meters Centerline goodness : 0.953314 Centerline is valid? [True, True] Translation: X:30.34, Y:1.91, Z:4.14 [[ 9.03675100e-01 -2.11409728e-01 -3.72393931e-01 3.03374329e+01] [ 1.94580707e-01 9.77394906e-01 -8.26894542e-02 1.90509343e+00] [ 3.81457286e-01 2.26372622e-03 9.24383694e-01 4.14062069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.14538475 meters Centerline goodness : 0.951204 Centerline is valid? [True, True] Translation: X:30.36, Y:1.91, Z:4.15 [[ 9.03938376e-01 -2.11637844e-01 -3.71624591e-01 3.03624105e+01] [ 1.94852833e-01 9.77345493e-01 -8.26326884e-02 1.91132903e+00] [ 3.80693823e-01 2.28275373e-03 9.24698330e-01 4.15124809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.17538475 meters Centerline goodness : 0.954811 Centerline is valid? [True, True] Translation: X:30.39, Y:1.92, Z:4.16 [[ 9.04484021e-01 -2.10245366e-01 -3.71086974e-01 3.03863269e+01] [ 1.93353192e-01 9.77644109e-01 -8.26228702e-02 1.91588264e+00] [ 3.80162070e-01 2.98021504e-03 9.24915087e-01 4.16274734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.20538475 meters Centerline goodness : 0.955082 Centerline is valid? [True, True] Translation: X:30.41, Y:1.92, Z:4.17 [[ 9.05001262e-01 -2.09577458e-01 -3.70202655e-01 3.04119983e+01] [ 1.92693702e-01 9.77786453e-01 -8.24790283e-02 1.92213834e+00] [ 3.79264886e-01 3.30790454e-03 9.25282230e-01 4.17372282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.23538475 meters Centerline goodness : 0.954620 Centerline is valid? [True, True] Translation: X:30.44, Y:1.93, Z:4.18 [[ 9.05123732e-01 -2.09263406e-01 -3.70080879e-01 3.04359809e+01] [ 1.92318332e-01 9.77852824e-01 -8.25682402e-02 1.92784509e+00] [ 3.79163144e-01 3.56113638e-03 9.25322986e-01 4.18409144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.26538475 meters Centerline goodness : 0.951849 Centerline is valid? [True, True] Translation: X:30.46, Y:1.94, Z:4.19 [[ 9.05425002e-01 -2.08696489e-01 -3.69663822e-01 3.04615559e+01] [ 1.91711952e-01 9.77972757e-01 -8.25579459e-02 1.93609437e+00] [ 3.78750700e-01 3.88105545e-03 9.25490597e-01 4.19267935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.29538475 meters Centerline goodness : 0.950350 Centerline is valid? [True, True] Translation: X:30.49, Y:1.94, Z:4.20 [[ 9.05243036e-01 -2.09705841e-01 -3.69538233e-01 3.04860829e+01] [ 1.92767923e-01 9.77757980e-01 -8.26429748e-02 1.94347565e+00] [ 3.78649671e-01 3.57685970e-03 9.25533161e-01 4.20152735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.32538475 meters Centerline goodness : 0.948590 Centerline is valid? [True, False] Translation: X:30.49, Y:1.94, Z:4.20 [[ 9.05560681e-01 -2.07625879e-01 -3.69934247e-01 3.04857711e+01] [ 1.91388364e-01 9.78206023e-01 -8.05200061e-02 1.94322223e+00] [ 3.78589945e-01 2.11464140e-03 9.25562090e-01 4.20185931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.35538475 meters Centerline goodness : 0.948689 Centerline is valid? [False, False] Translation: X:30.48, Y:1.94, Z:4.20 [[ 9.05711851e-01 -2.06586129e-01 -3.70146207e-01 3.04847252e+01] [ 1.90262361e-01 9.78425205e-01 -8.05254776e-02 1.94352761e+00] [ 3.78795825e-01 2.50798791e-03 9.25476868e-01 4.20298791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.38538475000001 meters Centerline goodness : 0.951959 Centerline is valid? [False, True] Translation: X:30.48, Y:1.94, Z:4.21 [[ 9.05637042e-01 -2.06979268e-01 -3.70109620e-01 3.04824061e+01] [ 1.90040034e-01 9.78337059e-01 -8.21059302e-02 1.94297627e+00] [ 3.79086183e-01 4.02252705e-03 9.25352628e-01 4.20509300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.41538475000002 meters Centerline goodness : 0.950914 Centerline is valid? [True, True] Translation: X:30.51, Y:1.95, Z:4.22 [[ 9.05735749e-01 -2.06910456e-01 -3.69906496e-01 3.05078754e+01] [ 1.89709922e-01 9.78348309e-01 -8.27328991e-02 1.94878477e+00] [ 3.79015697e-01 4.75921191e-03 9.25378005e-01 4.21532157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.44538475000002 meters Centerline goodness : 0.950145 Centerline is valid? [True, True] Translation: X:30.53, Y:1.95, Z:4.23 [[ 9.05488812e-01 -2.08891148e-01 -3.69397481e-01 3.05332216e+01] [ 1.91849552e-01 9.77930511e-01 -8.27385296e-02 1.95435072e+00] [ 3.78528414e-01 4.05007182e-03 9.25580811e-01 4.22595506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47538475000002 meters Centerline goodness : 0.955469 Centerline is valid? [True, True] Translation: X:30.56, Y:1.96, Z:4.24 [[ 9.05356738e-01 -2.09084007e-01 -3.69612034e-01 3.05592025e+01] [ 1.91987633e-01 9.77889088e-01 -8.29076672e-02 1.96075308e+00] [ 3.78774242e-01 4.10007566e-03 9.25480018e-01 4.23501798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.50538475 meters Centerline goodness : 0.951679 Centerline is valid? [True, True] Translation: X:30.58, Y:1.97, Z:4.24 [[ 9.04767880e-01 -2.09107790e-01 -3.71037754e-01 3.05840875e+01] [ 1.91826583e-01 9.77883432e-01 -8.33460018e-02 1.96593246e+00] [ 3.80259970e-01 4.23388103e-03 9.24869953e-01 4.24495803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53538475 meters Centerline goodness : 0.950832 Centerline is valid? [True, True] Translation: X:30.61, Y:1.97, Z:4.26 [[ 9.04499881e-01 -2.09568612e-01 -3.71430967e-01 3.06096029e+01] [ 1.92262989e-01 9.77785325e-01 -8.34913232e-02 1.97120625e+00] [ 3.80676909e-01 4.10546394e-03 9.24698998e-01 4.25541377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.56538475 meters Centerline goodness : 0.952959 Centerline is valid? [True, True] Translation: X:30.64, Y:1.98, Z:4.26 [[ 9.04425350e-01 -2.10517398e-01 -3.71075750e-01 3.06358496e+01] [ 1.93274441e-01 9.77582621e-01 -8.35296991e-02 1.97814047e+00] [ 3.80341659e-01 3.82691939e-03 9.24838136e-01 4.26468581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.59538475 meters Centerline goodness : 0.952428 Centerline is valid? [True, True] Translation: X:30.66, Y:1.98, Z:4.27 [[ 9.04273103e-01 -2.11883873e-01 -3.70668827e-01 3.06607001e+01] [ 1.94744036e-01 9.77289047e-01 -8.35516555e-02 1.98413623e+00] [ 3.79953833e-01 3.36797140e-03 9.24999320e-01 4.27472248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.62538475 meters Centerline goodness : 0.953667 Centerline is valid? [True, True] Translation: X:30.69, Y:1.99, Z:4.28 [[ 9.03931824e-01 -2.12346948e-01 -3.71235817e-01 3.06862811e+01] [ 1.95167184e-01 9.77188975e-01 -8.37345603e-02 1.99054940e+00] [ 3.80548326e-01 3.23728464e-03 9.24755368e-01 4.28397855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.65538475 meters Centerline goodness : 0.951633 Centerline is valid? [True, True] Translation: X:30.71, Y:2.00, Z:4.29 [[ 9.03622564e-01 -2.13266031e-01 -3.71461792e-01 3.07115545e+01] [ 1.96089712e-01 9.76989624e-01 -8.39052965e-02 1.99550261e+00] [ 3.80808466e-01 2.97888347e-03 9.24649144e-01 4.29457368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.68538475 meters Centerline goodness : 0.954605 Centerline is valid? [True, True] Translation: X:30.74, Y:2.00, Z:4.30 [[ 9.03893010e-01 -2.13833520e-01 -3.70476251e-01 3.07360373e+01] [ 1.96750768e-01 9.76865952e-01 -8.37976550e-02 2.00174766e+00] [ 3.79824383e-01 2.85262766e-03 9.25054215e-01 4.30425134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.71538475 meters Centerline goodness : 0.952282 Centerline is valid? [True, True] Translation: X:30.76, Y:2.01, Z:4.31 [[ 9.04686155e-01 -2.15525438e-01 -3.67548293e-01 3.07603306e+01] [ 1.98836560e-01 9.76495803e-01 -8.31863540e-02 2.00745920e+00] [ 3.76838140e-01 2.17550464e-03 9.26276569e-01 4.31449532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.74538475 meters Centerline goodness : 0.954309 Centerline is valid? [True, True] Translation: X:30.78, Y:2.01, Z:4.32 [[ 9.04497113e-01 -2.16604299e-01 -3.67379299e-01 3.07848628e+01] [ 1.99995865e-01 9.76257860e-01 -8.32000252e-02 2.01432351e+00] [ 3.76678412e-01 1.77984172e-03 9.26342381e-01 4.32387801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.77538475 meters Centerline goodness : 0.953251 Centerline is valid? [True, True] Translation: X:30.81, Y:2.02, Z:4.33 [[ 9.04136977e-01 -2.15062587e-01 -3.69167184e-01 3.08110346e+01] [ 1.98128866e-01 9.76597016e-01 -8.36852458e-02 2.02070926e+00] [ 3.78525136e-01 2.52024944e-03 9.25587581e-01 4.33353617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.80538475 meters Centerline goodness : 0.950230 Centerline is valid? [True, True] Translation: X:30.84, Y:2.03, Z:4.34 [[ 9.03705267e-01 -2.14408869e-01 -3.70601710e-01 3.08374244e+01] [ 1.97237498e-01 9.76739609e-01 -8.41255389e-02 2.02743624e+00] [ 3.80018630e-01 2.92813868e-03 9.24974198e-01 4.34233933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.83538475 meters Centerline goodness : 0.951907 Centerline is valid? [True, True] Translation: X:30.86, Y:2.03, Z:4.35 [[ 9.03499791e-01 -2.14425091e-01 -3.71092992e-01 3.08634633e+01] [ 1.97160230e-01 9.76735683e-01 -8.43519340e-02 2.03421758e+00] [ 3.80546938e-01 3.04717516e-03 9.24756586e-01 4.35183127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.86538475 meters Centerline goodness : 0.949858 Centerline is valid? [True, False] Translation: X:30.86, Y:2.03, Z:4.35 [[ 9.03579799e-01 -2.13543147e-01 -3.71406611e-01 3.08637917e+01] [ 1.96373466e-01 9.76929282e-01 -8.39442704e-02 2.03435249e+00] [ 3.80763718e-01 2.91594364e-03 9.24667772e-01 4.35215173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.89538475 meters Centerline goodness : 0.950868 Centerline is valid? [False, True] Translation: X:30.86, Y:2.03, Z:4.35 [[ 9.04178818e-01 -2.10186060e-01 -3.71863529e-01 3.08624264e+01] [ 1.93907873e-01 9.77660625e-01 -8.11137442e-02 2.03369686e+00] [ 3.80605309e-01 1.23406318e-03 9.24736760e-01 4.35315887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.92538475 meters Centerline goodness : 0.950721 Centerline is valid? [True, True] Translation: X:30.89, Y:2.04, Z:4.36 [[ 9.04561638e-01 -2.10979008e-01 -3.70480906e-01 3.08888886e+01] [ 1.93623173e-01 9.77481737e-01 -8.39018472e-02 2.04027488e+00] [ 3.79839848e-01 4.16070369e-03 9.25042906e-01 4.36180095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.95538475 meters Centerline goodness : 0.949585 Centerline is valid? [True, False] Translation: X:30.89, Y:2.04, Z:4.36 [[ 9.04646094e-01 -2.10534244e-01 -3.70527700e-01 3.08885351e+01] [ 1.93492473e-01 9.77580446e-01 -8.30489880e-02 2.03961607e+00] [ 3.79705290e-01 3.43562161e-03 9.25101124e-01 4.36195580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.98538475 meters Centerline goodness : 0.950012 Centerline is valid? [False, True] Translation: X:30.89, Y:2.04, Z:4.36 [[ 9.04735940e-01 -2.10203594e-01 -3.70496056e-01 3.08889194e+01] [ 1.93590452e-01 9.77654666e-01 -8.19395622e-02 2.03929572e+00] [ 3.79441188e-01 2.40916796e-03 9.25212722e-01 4.36145216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.01538475 meters Centerline goodness : 0.948798 Centerline is valid? [True, False] Translation: X:30.89, Y:2.04, Z:4.36 [[ 9.05084204e-01 -2.09944245e-01 -3.69791830e-01 3.08899020e+01] [ 1.93602686e-01 9.77711460e-01 -8.12299205e-02 2.03854564e+00] [ 3.78603465e-01 1.92722619e-03 9.25556969e-01 4.35902049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.04538475 meters Centerline goodness : 0.948816 Centerline is valid? [False, False] Translation: X:30.89, Y:2.04, Z:4.36 [[ 9.05207563e-01 -2.09566235e-01 -3.69704288e-01 3.08887415e+01] [ 1.93630898e-01 9.77793965e-01 -8.01625712e-02 2.03721782e+00] [ 3.78293990e-01 9.77592601e-04 9.25684991e-01 4.35966221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.07538475 meters Centerline goodness : 0.951288 Centerline is valid? [False, True] Translation: X:30.89, Y:2.03, Z:4.36 [[ 9.05317721e-01 -2.10384694e-01 -3.68968975e-01 3.08863986e+01] [ 1.94646012e-01 9.77618568e-01 -7.98427555e-02 2.03431358e+00] [ 3.77508615e-01 4.64721896e-04 9.26005956e-01 4.36019317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.10538475 meters Centerline goodness : 0.951288 Centerline is valid? [True, True] Translation: X:30.91, Y:2.04, Z:4.37 [[ 9.05294388e-01 -2.11391543e-01 -3.68450385e-01 3.09119253e+01] [ 1.94784214e-01 9.77397943e-01 -8.21728113e-02 2.04104171e+00] [ 3.77493286e-01 2.62226626e-03 9.26008608e-01 4.36853669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.13538475000001 meters Centerline goodness : 0.950431 Centerline is valid? [True, True] Translation: X:30.94, Y:2.05, Z:4.38 [[ 9.05294863e-01 -2.11807594e-01 -3.68210204e-01 3.09380677e+01] [ 1.95222582e-01 9.77308102e-01 -8.22010828e-02 2.04606262e+00] [ 3.77265629e-01 2.53327132e-03 9.26101629e-01 4.37905252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.16538475000002 meters Centerline goodness : 0.952055 Centerline is valid? [True, True] Translation: X:30.96, Y:2.05, Z:4.39 [[ 9.05934556e-01 -2.11047710e-01 -3.67071443e-01 3.09645823e+01] [ 1.94462379e-01 9.77471274e-01 -8.20627315e-02 2.05080383e+00] [ 3.76120943e-01 2.96187819e-03 9.26565844e-01 4.38835410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19538475000002 meters Centerline goodness : 0.953273 Centerline is valid? [True, True] Translation: X:30.99, Y:2.06, Z:4.40 [[ 9.05787818e-01 -2.11203682e-01 -3.67343754e-01 3.09892647e+01] [ 1.94556220e-01 9.77437387e-01 -8.22437326e-02 2.05625851e+00] [ 3.76425698e-01 3.02635916e-03 9.26441868e-01 4.39880718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.22538475000002 meters Centerline goodness : 0.952330 Centerline is valid? [True, True] Translation: X:31.02, Y:2.06, Z:4.41 [[ 9.06062842e-01 -2.11156616e-01 -3.66691982e-01 3.10152984e+01] [ 1.94532789e-01 9.77447234e-01 -8.21821020e-02 2.06210672e+00] [ 3.75775359e-01 3.12853480e-03 9.26705505e-01 4.40853321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25538475 meters Centerline goodness : 0.950432 Centerline is valid? [True, True] Translation: X:31.04, Y:2.07, Z:4.42 [[ 9.05843319e-01 -2.11524206e-01 -3.67022332e-01 3.10397684e+01] [ 1.94852273e-01 9.77367848e-01 -8.23691788e-02 2.06900602e+00] [ 3.76138901e-01 3.09843468e-03 9.26558107e-01 4.41692870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.28538475 meters Centerline goodness : 0.949435 Centerline is valid? [True, False] Translation: X:31.04, Y:2.07, Z:4.42 [[ 9.05830535e-01 -2.11052451e-01 -3.67325340e-01 3.10415184e+01] [ 1.94271752e-01 9.77468795e-01 -8.25423589e-02 2.06929485e+00] [ 3.76469825e-01 3.40845183e-03 9.26422611e-01 4.41611378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.31538475 meters Centerline goodness : 0.949624 Centerline is valid? [False, False] Translation: X:31.04, Y:2.07, Z:4.42 [[ 9.05906957e-01 -2.10317953e-01 -3.67558083e-01 3.10398680e+01] [ 1.93748985e-01 9.77628563e-01 -8.18762690e-02 2.06819291e+00] [ 3.76555330e-01 2.95827618e-03 9.26389406e-01 4.41767552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.34538475 meters Centerline goodness : 0.954512 Centerline is valid? [False, True] Translation: X:31.04, Y:2.07, Z:4.42 [[ 9.05163427e-01 -2.14113352e-01 -3.67198370e-01 3.10394199e+01] [ 1.95647142e-01 9.76782561e-01 -8.72812979e-02 2.06858230e+00] [ 3.77361055e-01 7.16252697e-03 9.26038516e-01 4.41881805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.37538475 meters Centerline goodness : 0.956289 Centerline is valid? [True, True] Translation: X:31.06, Y:2.07, Z:4.43 [[ 9.05416634e-01 -2.12790490e-01 -3.67343063e-01 3.10635115e+01] [ 1.95807070e-01 9.77091347e-01 -8.33791947e-02 2.07305227e+00] [ 3.76670028e-01 3.56454104e-03 9.26340642e-01 4.43119915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.40538475 meters Centerline goodness : 0.956536 Centerline is valid? [True, True] Translation: X:31.09, Y:2.08, Z:4.44 [[ 9.05279173e-01 -2.14800400e-01 -3.66511128e-01 3.10889189e+01] [ 1.98033648e-01 9.76654019e-01 -8.32442294e-02 2.07873036e+00] [ 3.75835460e-01 2.77773134e-03 9.26682249e-01 4.44143726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.43538475 meters Centerline goodness : 0.956542 Centerline is valid? [True, True] Translation: X:31.11, Y:2.09, Z:4.45 [[ 9.05198856e-01 -2.15636014e-01 -3.66218705e-01 3.11143551e+01] [ 1.98915966e-01 9.76470483e-01 -8.32936636e-02 2.08607347e+00] [ 3.75562870e-01 2.55058142e-03 9.26793410e-01 4.45087966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.46538475 meters Centerline goodness : 0.954399 Centerline is valid? [True, True] Translation: X:31.14, Y:2.09, Z:4.46 [[ 9.04699456e-01 -2.15668141e-01 -3.67431826e-01 3.11391368e+01] [ 1.98788603e-01 9.76463076e-01 -8.36836476e-02 2.09278976e+00] [ 3.76831508e-01 2.66729117e-03 9.26277982e-01 4.45978326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.49538475 meters Centerline goodness : 0.955206 Centerline is valid? [True, True] Translation: X:31.17, Y:2.10, Z:4.47 [[ 9.04937634e-01 -2.15060463e-01 -3.67201410e-01 3.11651607e+01] [ 1.98133063e-01 9.76596205e-01 -8.36847735e-02 2.09826495e+00] [ 3.76604790e-01 2.97476078e-03 9.26369248e-01 4.46961078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.52538475 meters Centerline goodness : 0.955055 Centerline is valid? [True, True] Translation: X:31.19, Y:2.10, Z:4.48 [[ 9.04858759e-01 -2.15591007e-01 -3.67084654e-01 3.11908463e+01] [ 1.98670167e-01 9.76479523e-01 -8.37729439e-02 2.10260367e+00] [ 3.76511341e-01 2.87391243e-03 9.26407551e-01 4.48069769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.55538475 meters Centerline goodness : 0.954545 Centerline is valid? [True, True] Translation: X:31.22, Y:2.11, Z:4.49 [[ 9.04857841e-01 -2.16544693e-01 -3.66525147e-01 3.12156038e+01] [ 1.99706831e-01 9.76269265e-01 -8.37586060e-02 2.10821055e+00] [ 3.75964718e-01 2.59205558e-03 9.26630354e-01 4.49071270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.58538475 meters Centerline goodness : 0.955556 Centerline is valid? [True, True] Translation: X:31.24, Y:2.11, Z:4.50 [[ 9.04338425e-01 -2.17717538e-01 -3.67111817e-01 3.12395642e+01] [ 2.00895764e-01 9.76009426e-01 -8.39433887e-02 2.11398178e+00] [ 3.76580542e-01 2.16202276e-03 9.26381358e-01 4.50094770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.61538475 meters Centerline goodness : 0.955501 Centerline is valid? [True, True] Translation: X:31.27, Y:2.12, Z:4.51 [[ 9.03864158e-01 -2.18550151e-01 -3.67784470e-01 3.12650018e+01] [ 2.01708672e-01 9.75823916e-01 -8.41504412e-02 2.11910879e+00] [ 3.77283973e-01 1.87525076e-03 9.26095722e-01 4.51114601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.64538475 meters Centerline goodness : 0.957105 Centerline is valid? [True, True] Translation: X:31.29, Y:2.12, Z:4.52 [[ 9.01625624e-01 -2.22620387e-01 -3.70825293e-01 3.12891157e+01] [ 2.05772886e-01 9.74905164e-01 -8.49555254e-02 2.12405265e+00] [ 3.80432325e-01 2.92287700e-04 9.24808716e-01 4.52186216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.67538475 meters Centerline goodness : 0.955266 Centerline is valid? [True, True] Translation: X:31.31, Y:2.13, Z:4.53 [[ 9.00901409e-01 -2.23206070e-01 -3.72230711e-01 3.13149572e+01] [ 2.06251358e-01 9.74771276e-01 -8.53307517e-02 2.13092152e+00] [ 3.81886147e-01 1.01504656e-04 9.24209370e-01 4.53057388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.70538475 meters Centerline goodness : 0.952527 Centerline is valid? [True, True] Translation: X:31.34, Y:2.14, Z:4.54 [[ 9.00011579e-01 -2.23226871e-01 -3.74364691e-01 3.13408484e+01] [ 2.06022483e-01 9.74766494e-01 -8.59361338e-02 2.13792449e+00] [ 3.84101412e-01 2.15972017e-04 9.23290885e-01 4.53980402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.73538475 meters Centerline goodness : 0.953174 Centerline is valid? [True, True] Translation: X:31.37, Y:2.14, Z:4.55 [[ 9.00271758e-01 -2.22938859e-01 -3.73910454e-01 3.13651538e+01] [ 2.05705838e-01 9.74832320e-01 -8.59479822e-02 2.14327729e+00] [ 3.83661140e-01 4.60977896e-04 9.23473831e-01 4.54937737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.76538475 meters Centerline goodness : 0.955778 Centerline is valid? [True, True] Translation: X:31.39, Y:2.15, Z:4.56 [[ 9.00615659e-01 -2.22268778e-01 -3.73480956e-01 3.13900695e+01] [ 2.04998040e-01 9.74985098e-01 -8.59061236e-02 2.14871857e+00] [ 3.83232615e-01 8.05536102e-04 9.23651511e-01 4.56209376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.79538475 meters Centerline goodness : 0.956826 Centerline is valid? [True, True] Translation: X:31.42, Y:2.15, Z:4.57 [[ 9.01076770e-01 -2.22133568e-01 -3.72447758e-01 3.14156509e+01] [ 2.04902568e-01 9.75015748e-01 -8.57859438e-02 2.15448112e+00] [ 3.82198367e-01 9.84218891e-04 9.24079780e-01 4.57257667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.82538475 meters Centerline goodness : 0.957608 Centerline is valid? [True, True] Translation: X:31.44, Y:2.16, Z:4.58 [[ 9.01223857e-01 -2.21410409e-01 -3.72522470e-01 3.14400197e+01] [ 2.04065622e-01 9.75179695e-01 -8.59173113e-02 2.16030448e+00] [ 3.82299336e-01 1.41170136e-03 9.24037459e-01 4.58273139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.85538475 meters Centerline goodness : 0.954430 Centerline is valid? [True, True] Translation: X:31.46, Y:2.17, Z:4.59 [[ 9.00963275e-01 -2.20424149e-01 -3.73735699e-01 3.14646365e+01] [ 2.02856514e-01 9.75402275e-01 -8.62533276e-02 2.16839850e+00] [ 3.83554967e-01 1.89635961e-03 9.23516102e-01 4.59321594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.88538475000001 meters Centerline goodness : 0.952541 Centerline is valid? [True, True] Translation: X:31.49, Y:2.18, Z:4.60 [[ 9.01387689e-01 -2.18500888e-01 -3.73841673e-01 3.14901513e+01] [ 2.00714813e-01 9.75832615e-01 -8.63960162e-02 2.17767364e+00] [ 3.83684503e-01 2.84074404e-03 9.23459870e-01 4.60181925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91538475000002 meters Centerline goodness : 0.952410 Centerline is valid? [True, True] Translation: X:31.52, Y:2.18, Z:4.61 [[ 9.00959197e-01 -2.18331928e-01 -3.74971592e-01 3.15155880e+01] [ 2.00369538e-01 9.75869802e-01 -8.67765956e-02 2.18335367e+00] [ 3.84869555e-01 3.04928732e-03 9.22965941e-01 4.61349043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.94538475000002 meters Centerline goodness : 0.954975 Centerline is valid? [True, True] Translation: X:31.54, Y:2.19, Z:4.63 [[ 9.01485015e-01 -2.17881023e-01 -3.73968753e-01 3.15407748e+01] [ 1.99932331e-01 9.75969565e-01 -8.66629803e-02 2.18777201e+00] [ 3.83864340e-01 3.35693364e-03 9.23383398e-01 4.62538836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97538475000002 meters Centerline goodness : 0.956224 Centerline is valid? [True, True] Translation: X:31.57, Y:2.19, Z:4.63 [[ 9.01457942e-01 -2.18021545e-01 -3.73952115e-01 3.15658135e+01] [ 2.00037813e-01 9.75937965e-01 -8.67753560e-02 2.19456138e+00] [ 3.83872963e-01 3.41977065e-03 9.23379582e-01 4.63479329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.00538475 meters Centerline goodness : 0.957484 Centerline is valid? [True, True] Translation: X:31.59, Y:2.20, Z:4.64 [[ 9.01638024e-01 -2.20303540e-01 -3.72176334e-01 3.15911033e+01] [ 2.02662878e-01 9.75428191e-01 -8.64152901e-02 2.20095945e+00] [ 3.82068882e-01 2.48898436e-03 9.24130496e-01 4.64372054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03538475 meters Centerline goodness : 0.957802 Centerline is valid? [True, True] Translation: X:31.62, Y:2.21, Z:4.65 [[ 9.00935330e-01 -2.21573750e-01 -3.73122773e-01 3.16166896e+01] [ 2.03920682e-01 9.75141534e-01 -8.66910885e-02 2.20727393e+00] [ 3.83055983e-01 2.01561407e-03 9.23722930e-01 4.65357127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.06538475 meters Centerline goodness : 0.953160 Centerline is valid? [True, True] Translation: X:31.64, Y:2.21, Z:4.66 [[ 9.00189035e-01 -2.21011808e-01 -3.75251225e-01 3.16414592e+01] [ 2.03052858e-01 9.75268200e-01 -8.73010637e-02 2.21347344e+00] [ 3.85265153e-01 2.39162641e-03 9.22802819e-01 4.66289753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.09538475 meters Centerline goodness : 0.953323 Centerline is valid? [True, True] Translation: X:31.67, Y:2.22, Z:4.67 [[ 9.00224939e-01 -2.21075341e-01 -3.75127648e-01 3.16676246e+01] [ 2.03099818e-01 9.75253654e-01 -8.73543001e-02 2.21890807e+00] [ 3.85156492e-01 2.45016239e-03 9.22848023e-01 4.67314397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.12538475 meters Centerline goodness : 0.954426 Centerline is valid? [True, True] Translation: X:31.69, Y:2.22, Z:4.68 [[ 9.00333059e-01 -2.20853927e-01 -3.74998568e-01 3.16937041e+01] [ 2.02824796e-01 9.75303254e-01 -8.74394946e-02 2.22384701e+00] [ 3.85048679e-01 2.66565973e-03 9.22892415e-01 4.68405659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.15538475 meters Centerline goodness : 0.956362 Centerline is valid? [True, True] Translation: X:31.72, Y:2.23, Z:4.70 [[ 8.99995815e-01 -2.24451482e-01 -3.73669727e-01 3.17188134e+01] [ 2.06805120e-01 9.74484472e-01 -8.72448010e-02 2.22811441e+00] [ 3.83717572e-01 1.24314306e-03 9.23449663e-01 4.69523164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.18538475 meters Centerline goodness : 0.956976 Centerline is valid? [True, True] Translation: X:31.74, Y:2.23, Z:4.71 [[ 8.99988430e-01 -2.25201366e-01 -3.73236078e-01 3.17444853e+01] [ 2.07609666e-01 9.74311677e-01 -8.72638645e-02 2.23434184e+00] [ 3.83300211e-01 1.04905086e-03 9.23623218e-01 4.70541438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.21538475 meters Centerline goodness : 0.955001 Centerline is valid? [True, True] Translation: X:31.77, Y:2.24, Z:4.71 [[ 8.99846182e-01 -2.25864492e-01 -3.73178349e-01 3.17691044e+01] [ 2.08285187e-01 9.74158325e-01 -8.73661199e-02 2.24402949e+00] [ 3.83267700e-01 8.88547089e-04 9.23636877e-01 4.71285990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.24538475 meters Centerline goodness : 0.952076 Centerline is valid? [True, True] Translation: X:31.79, Y:2.25, Z:4.72 [[ 8.99966118e-01 -2.24041537e-01 -3.73987133e-01 3.17943248e+01] [ 2.06207857e-01 9.74578063e-01 -8.76123255e-02 2.25328986e+00] [ 3.84108456e-01 1.72903936e-03 9.23286361e-01 4.72206893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.27538475 meters Centerline goodness : 0.949861 Centerline is valid? [True, False] Translation: X:31.79, Y:2.25, Z:4.72 [[ 9.00530874e-01 -2.20159455e-01 -3.74931940e-01 3.17937018e+01] [ 2.03237660e-01 9.75463897e-01 -8.46441964e-02 2.25232316e+00] [ 3.84367792e-01 2.44220901e-05 9.23180048e-01 4.72332721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.30538475 meters Centerline goodness : 0.951213 Centerline is valid? [False, True] Translation: X:31.79, Y:2.25, Z:4.73 [[ 9.00558640e-01 -2.18945956e-01 -3.75575298e-01 3.17921302e+01] [ 2.01495349e-01 9.75735875e-01 -8.56686972e-02 2.25250197e+00] [ 3.85219107e-01 1.47300968e-03 9.22823965e-01 4.72584019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.33538475 meters Centerline goodness : 0.953785 Centerline is valid? [True, True] Translation: X:31.82, Y:2.26, Z:4.73 [[ 9.00944870e-01 -2.19314863e-01 -3.74432013e-01 3.18163337e+01] [ 2.01209966e-01 9.75648451e-01 -8.73192416e-02 2.25916188e+00] [ 3.84464421e-01 3.33037001e-03 9.23133803e-01 4.73471820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.36538475 meters Centerline goodness : 0.955157 Centerline is valid? [True, True] Translation: X:31.84, Y:2.27, Z:4.75 [[ 9.01182106e-01 -2.19068456e-01 -3.74005112e-01 3.18411503e+01] [ 2.00963152e-01 9.75703251e-01 -8.72752991e-02 2.26550873e+00] [ 3.84037269e-01 3.48969151e-03 9.23310998e-01 4.74592346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.39538475 meters Centerline goodness : 0.952685 Centerline is valid? [True, True] Translation: X:31.87, Y:2.28, Z:4.75 [[ 9.01746491e-01 -2.17693979e-01 -3.73446914e-01 3.18663469e+01] [ 1.99484108e-01 9.76008083e-01 -8.72600311e-02 2.27559603e+00] [ 3.83483190e-01 4.18970235e-03 9.23538353e-01 4.75357936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.42538475 meters Centerline goodness : 0.947493 Centerline is valid? [True, False] Translation: X:31.87, Y:2.28, Z:4.75 [[ 9.02725784e-01 -2.13228292e-01 -3.73657402e-01 3.18655335e+01] [ 1.96515832e-01 9.77001563e-01 -8.27615514e-02 2.27586789e+00] [ 3.82710969e-01 1.28139124e-03 9.23867237e-01 4.75292114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.45538475 meters Centerline goodness : 0.948276 Centerline is valid? [False, False] Translation: X:31.86, Y:2.28, Z:4.75 [[ 9.02661795e-01 -2.13769050e-01 -3.73502981e-01 3.18634132e+01] [ 1.96775995e-01 9.76882344e-01 -8.35469581e-02 2.27517575e+00] [ 3.82728221e-01 1.91822636e-03 9.23858988e-01 4.75450705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.48538475 meters Centerline goodness : 0.949630 Centerline is valid? [False, False] Translation: X:31.86, Y:2.28, Z:4.75 [[ 9.01913453e-01 -2.19021210e-01 -3.72265810e-01 3.18619526e+01] [ 2.00776672e-01 9.75710694e-01 -8.76206053e-02 2.27624355e+00] [ 3.82414502e-01 4.28391223e-03 9.23980950e-01 4.75489562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.51538475 meters Centerline goodness : 0.948281 Centerline is valid? [False, False] Translation: X:31.86, Y:2.28, Z:4.76 [[ 9.02041080e-01 -2.19359827e-01 -3.71756851e-01 3.18598275e+01] [ 2.01722569e-01 9.75640050e-01 -8.62235306e-02 2.27589983e+00] [ 3.81614852e-01 2.78541950e-03 9.24317233e-01 4.75511456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.54538475 meters Centerline goodness : 0.949527 Centerline is valid? [False, False] Translation: X:31.86, Y:2.28, Z:4.75 [[ 9.02038204e-01 -2.20649389e-01 -3.70999899e-01 3.18585623e+01] [ 2.02962507e-01 9.75349110e-01 -8.66044695e-02 2.27634274e+00] [ 3.80963645e-01 2.82147049e-03 9.24585713e-01 4.75469165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.57538475 meters Centerline goodness : 0.946306 Centerline is valid? [False, False] Translation: X:31.85, Y:2.28, Z:4.76 [[ 9.02318260e-01 -2.20971451e-01 -3.70126163e-01 3.18539214e+01] [ 2.04367717e-01 9.75280259e-01 -8.40372134e-02 2.27585153e+00] [ 3.79546565e-01 1.86473264e-04 9.25172617e-01 4.75597145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.60538475 meters Centerline goodness : 0.945153 Centerline is valid? [False, False] Translation: X:31.85, Y:2.28, Z:4.76 [[ 9.02527347e-01 -2.21226913e-01 -3.69463180e-01 3.18529573e+01] [ 2.05212207e-01 9.75221591e-01 -8.26486503e-02 2.27527789e+00] [ 3.78592576e-01 -1.22568761e-03 9.25562618e-01 4.75510766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.63538475000001 meters Centerline goodness : 0.945394 Centerline is valid? [False, False] Translation: X:31.85, Y:2.27, Z:4.76 [[ 9.02571828e-01 -2.21188350e-01 -3.69377597e-01 3.18523747e+01] [ 2.05348354e-01 9.75229716e-01 -8.22134671e-02 2.27488098e+00] [ 3.78412671e-01 -1.64752219e-03 9.25635531e-01 4.75527841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.66538475000002 meters Centerline goodness : 0.944296 Centerline is valid? [False, False] Translation: X:31.85, Y:2.28, Z:4.75 [[ 9.02902707e-01 -2.20469931e-01 -3.68998253e-01 3.18518975e+01] [ 2.05713915e-01 9.75384705e-01 -7.94132414e-02 2.27502979e+00] [ 3.77423484e-01 -4.20564464e-03 9.26031223e-01 4.75401258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69538475000002 meters Centerline goodness : 0.941668 Centerline is valid? [False, False] Translation: X:31.85, Y:2.27, Z:4.75 [[ 9.03509575e-01 -2.18422030e-01 -3.68730613e-01 3.18503834e+01] [ 2.05093132e-01 9.75826261e-01 -7.54977837e-02 2.27469285e+00] [ 3.76307395e-01 -7.41114596e-03 9.26465229e-01 4.75327534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.72538475000002 meters Centerline goodness : 0.942089 Centerline is valid? [False, False] Translation: X:31.85, Y:2.27, Z:4.75 [[ 9.03999579e-01 -2.17485631e-01 -3.68082546e-01 3.18477142e+01] [ 2.05572178e-01 9.76004247e-01 -7.18038311e-02 2.27395576e+00] [ 3.74866430e-01 -1.07568975e-02 9.27016423e-01 4.75280843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75538475 meters Centerline goodness : 0.942174 Centerline is valid? [False, False] Translation: X:31.84, Y:2.27, Z:4.76 [[ 9.04534628e-01 -2.17494134e-01 -3.66760696e-01 3.18414311e+01] [ 2.06652366e-01 9.75971186e-01 -6.91016969e-02 2.27133382e+00] [ 3.72977085e-01 -1.32870878e-02 9.27745411e-01 4.75506429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.78538475 meters Centerline goodness : 0.942064 Centerline is valid? [False, False] Translation: X:31.84, Y:2.27, Z:4.76 [[ 9.04732877e-01 -2.16061867e-01 -3.67118088e-01 3.18362041e+01] [ 2.06649039e-01 9.76235047e-01 -6.52786878e-02 2.26990147e+00] [ 3.72497779e-01 -1.68048251e-02 9.27880920e-01 4.75922246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.81538475 meters Centerline goodness : 0.944021 Centerline is valid? [False, False] Translation: X:31.83, Y:2.27, Z:4.76 [[ 9.06049479e-01 -2.10885750e-01 -3.66880827e-01 3.18281110e+01] [ 2.05029544e-01 9.77189237e-01 -5.53541422e-02 2.26847964e+00] [ 3.70185395e-01 -2.50678170e-02 9.28619609e-01 4.76354012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.84538475 meters Centerline goodness : 0.941131 Centerline is valid? [False, False] Translation: X:31.82, Y:2.27, Z:4.76 [[ 9.06916302e-01 -2.07015120e-01 -3.66943539e-01 3.18248880e+01] [ 2.02504278e-01 9.77941063e-01 -5.12181130e-02 2.26846339e+00] [ 3.69452079e-01 -2.78570948e-02 9.28832140e-01 4.76446814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.87538475 meters Centerline goodness : 0.935930 Centerline is valid? [False, False] Translation: X:31.82, Y:2.27, Z:4.77 [[ 0.90862442 -0.19825617 -0.36755428 31.81668186] [ 0.1974028 0.97949232 -0.04033525 2.26835818] [ 0.36801331 -0.03590665 0.92912697 4.77020039] [ 0. 0. 0. 1. ]] SLAMing on 154.90538475 meters Centerline goodness : 0.936371 Centerline is valid? [False, False] Translation: X:31.81, Y:2.27, Z:4.78 [[ 9.10238053e-01 -1.92134056e-01 -3.66812201e-01 3.18053916e+01] [ 1.94158985e-01 9.80455973e-01 -3.17549041e-02 2.26829535e+00] [ 3.65744412e-01 -4.23153627e-02 9.29752890e-01 4.77722449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.93538475 meters Centerline goodness : 0.938196 Centerline is valid? [False, False] Translation: X:31.80, Y:2.27, Z:4.78 [[ 9.10726319e-01 -1.88586379e-01 -3.67440811e-01 3.17978528e+01] [ 1.92870685e-01 9.80895508e-01 -2.53949021e-02 2.26720149e+00] [ 3.65210174e-01 -4.77407552e-02 9.29700139e-01 4.78434516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.96538475 meters Centerline goodness : 0.939967 Centerline is valid? [False, False] Translation: X:31.79, Y:2.27, Z:4.79 [[ 9.10998813e-01 -1.88430212e-01 -3.66844950e-01 3.17947373e+01] [ 1.92370917e-01 9.80973632e-01 -2.61565352e-02 2.26851314e+00] [ 3.64793905e-01 -4.67417268e-02 9.29914307e-01 4.78560129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.99538475 meters Centerline goodness : 0.939967 Centerline is valid? [False, False] Translation: X:31.79, Y:2.27, Z:4.79 [[ 9.10998813e-01 -1.88430212e-01 -3.66844950e-01 3.17947373e+01] [ 1.92370917e-01 9.80973632e-01 -2.61565352e-02 2.26851314e+00] [ 3.64793905e-01 -4.67417268e-02 9.29914307e-01 4.78560129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.02538475 meters Centerline goodness : 0.937487 Centerline is valid? [False, False] Translation: X:31.79, Y:2.27, Z:4.79 [[ 9.12247804e-01 -1.83637111e-01 -3.66171210e-01 3.17885247e+01] [ 1.88963703e-01 9.81746837e-01 -2.15839747e-02 2.27129780e+00] [ 3.63451045e-01 -4.95031341e-02 9.30297145e-01 4.78704830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.05538475 meters Centerline goodness : 0.937022 Centerline is valid? [False, False] Translation: X:31.79, Y:2.27, Z:4.79 [[ 9.13220945e-01 -1.78579225e-01 -3.66247138e-01 3.17856864e+01] [ 1.85504485e-01 9.82504637e-01 -1.65143564e-02 2.27105906e+00] [ 3.62788632e-01 -5.28592305e-02 9.30371060e-01 4.78772680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.08538475 meters Centerline goodness : 0.932233 Centerline is valid? [False, False] Translation: X:31.78, Y:2.27, Z:4.79 [[ 9.13945669e-01 -1.74068321e-01 -3.66610875e-01 3.17843919e+01] [ 1.81971788e-01 9.83215330e-01 -1.31865018e-02 2.27182281e+00] [ 3.62752785e-01 -5.46610902e-02 9.30280916e-01 4.78826054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.11538475 meters Centerline goodness : 0.931539 Centerline is valid? [False, False] Translation: X:31.78, Y:2.27, Z:4.79 [[ 9.14681749e-01 -1.70447251e-01 -3.66476511e-01 3.17809387e+01] [ 1.79675207e-01 9.83684257e-01 -9.06100497e-03 2.27142765e+00] [ 3.62041598e-01 -5.75588070e-02 9.30383182e-01 4.78948727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.14538475 meters Centerline goodness : 0.928663 Centerline is valid? [False, False] Translation: X:31.78, Y:2.27, Z:4.79 [[ 9.15074044e-01 -1.69155395e-01 -3.66095543e-01 3.17792905e+01] [ 1.78372251e-01 9.83923956e-01 -8.77428977e-03 2.27285071e+00] [ 3.61694393e-01 -5.72721614e-02 9.30535902e-01 4.78960026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.17538475 meters Centerline goodness : 0.930829 Centerline is valid? [False, False] Translation: X:31.77, Y:2.27, Z:4.79 [[ 9.15725535e-01 -1.68223087e-01 -3.64894146e-01 3.17744889e+01] [ 1.77458371e-01 9.84092951e-01 -8.34212674e-03 2.27307113e+00] [ 3.60493096e-01 -5.71144222e-02 9.31011638e-01 4.79053577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.20538475 meters Centerline goodness : 0.929192 Centerline is valid? [False, False] Translation: X:31.77, Y:2.27, Z:4.79 [[ 9.16157710e-01 -1.67557295e-01 -3.64114822e-01 3.17710851e+01] [ 1.77194789e-01 9.84150624e-01 -7.03966028e-03 2.27320400e+00] [ 3.59523376e-01 -5.80698100e-02 9.31327461e-01 4.79115212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.23538475 meters Centerline goodness : 0.924077 Centerline is valid? [False, False] Translation: X:31.77, Y:2.27, Z:4.79 [[ 9.16606453e-01 -1.66259467e-01 -3.63579977e-01 3.17693236e+01] [ 1.76665028e-01 9.84259794e-01 -4.70379064e-03 2.27287888e+00] [ 3.58639203e-01 -5.99203422e-02 9.31551112e-01 4.79088680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.26538475 meters Centerline goodness : 0.924790 Centerline is valid? [False, False] Translation: X:31.77, Y:2.27, Z:4.79 [[ 9.17114528e-01 -1.63990889e-01 -3.63328956e-01 3.17670593e+01] [ 1.75132958e-01 9.84542084e-01 -2.30906866e-03 2.27214765e+00] [ 3.58091314e-01 -6.15131944e-02 9.31658059e-01 4.79147177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.29538475 meters Centerline goodness : 0.923146 Centerline is valid? [False, False] Translation: X:31.77, Y:2.27, Z:4.79 [[ 9.17117158e-01 -1.62935032e-01 -3.63797051e-01 3.17670831e+01] [ 1.73970010e-01 9.84747850e-01 -2.47127047e-03 2.27223288e+00] [ 3.58651020e-01 -6.10233320e-02 9.31474959e-01 4.79240293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.32538475 meters Centerline goodness : 0.920398 Centerline is valid? [False, False] Translation: X:31.76, Y:2.27, Z:4.80 [[ 9.17707556e-01 -1.54855140e-01 -3.65831557e-01 3.17635678e+01] [ 1.67936941e-01 9.85789635e-01 3.99748955e-03 2.27095786e+00] [ 3.60013925e-01 -6.51051589e-02 9.30672495e-01 4.79779239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.35538475 meters Centerline goodness : 0.920531 Centerline is valid? [False, False] Translation: X:31.76, Y:2.27, Z:4.80 [[ 9.17906733e-01 -1.49645677e-01 -3.67496122e-01 3.17634189e+01] [ 1.62920833e-01 9.86625572e-01 5.17523163e-03 2.26950304e+00] [ 3.61806621e-01 -6.46231543e-02 9.30010654e-01 4.80081608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.38538475000001 meters Centerline goodness : 0.920276 Centerline is valid? [False, False] Translation: X:31.76, Y:2.27, Z:4.80 [[ 9.17749918e-01 -1.47969467e-01 -3.68564952e-01 3.17641236e+01] [ 1.61100887e-01 9.86925651e-01 4.92576044e-03 2.26900294e+00] [ 3.63017343e-01 -6.38967568e-02 9.29588948e-01 4.80250982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.41538475000002 meters Centerline goodness : 0.916426 Centerline is valid? [False, False] Translation: X:31.76, Y:2.27, Z:4.80 [[ 9.18135459e-01 -1.42395435e-01 -3.69798348e-01 3.17645038e+01] [ 1.56672336e-01 9.87612372e-01 8.69374938e-03 2.26787819e+00] [ 3.63979473e-01 -6.59192107e-02 9.29071365e-01 4.80377624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.44538475000002 meters Centerline goodness : 0.915371 Centerline is valid? [False, False] Translation: X:31.76, Y:2.27, Z:4.80 [[ 9.18696596e-01 -1.38770271e-01 -3.69782877e-01 3.17630088e+01] [ 1.54299526e-01 9.87943843e-01 1.25944552e-02 2.26650285e+00] [ 3.63576980e-01 -6.86278057e-02 9.29032832e-01 4.80412453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47538475000002 meters Centerline goodness : 0.916164 Centerline is valid? [False, False] Translation: X:31.76, Y:2.27, Z:4.80 [[ 9.18783390e-01 -1.37864869e-01 -3.69905881e-01 3.17623081e+01] [ 1.53466042e-01 9.88069355e-01 1.29276066e-02 2.26624421e+00] [ 3.63710402e-01 -6.86456617e-02 9.28979287e-01 4.80480056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.50538475 meters Centerline goodness : 0.914483 Centerline is valid? [False, False] Translation: X:31.76, Y:2.26, Z:4.81 [[ 9.18735403e-01 -1.35801252e-01 -3.70787376e-01 3.17621126e+01] [ 1.51384208e-01 9.88388176e-01 1.31009858e-02 2.26395574e+00] [ 3.64702728e-01 -6.81676929e-02 9.28625374e-01 4.80678748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.53538475 meters Centerline goodness : 0.914289 Centerline is valid? [False, False] Translation: X:31.76, Y:2.26, Z:4.81 [[ 9.18622871e-01 -1.34697352e-01 -3.71468226e-01 3.17628743e+01] [ 1.50346461e-01 9.88543288e-01 1.33457816e-02 2.26321112e+00] [ 3.65414780e-01 -6.81086733e-02 9.28349744e-01 4.80758081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.56538475 meters Centerline goodness : 0.913233 Centerline is valid? [False, False] Translation: X:31.76, Y:2.26, Z:4.81 [[ 9.18483274e-01 -1.32913219e-01 -3.72454765e-01 3.17635178e+01] [ 1.48731095e-01 9.88779679e-01 1.39215120e-02 2.26112812e+00] [ 3.66425350e-01 -6.81822810e-02 9.27945925e-01 4.80914748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.59538475 meters Centerline goodness : 0.913668 Centerline is valid? [False, False] Translation: X:31.76, Y:2.26, Z:4.81 [[ 9.18366593e-01 -1.32606200e-01 -3.72851708e-01 3.17629963e+01] [ 1.48154627e-01 9.88875842e-01 1.32202494e-02 2.26036178e+00] [ 3.66950959e-01 -6.73807412e-02 9.27796761e-01 4.81046354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.62538475 meters Centerline goodness : 0.915548 Centerline is valid? [False, False] Translation: X:31.77, Y:2.25, Z:4.81 [[ 9.22823462e-01 -1.22395036e-01 -3.65261979e-01 3.17664498e+01] [ 1.39204254e-01 9.90062978e-01 1.99368055e-02 2.25358964e+00] [ 3.59192196e-01 -6.92441729e-02 9.30691254e-01 4.81372571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.65538475 meters Centerline goodness : 0.918908 Centerline is valid? [False, False] Translation: X:31.77, Y:2.25, Z:4.81 [[ 9.22989674e-01 -1.21691268e-01 -3.65077112e-01 3.17654958e+01] [ 1.38660520e-01 9.90127304e-01 2.05227355e-02 2.25286071e+00] [ 3.58975378e-01 -6.95640549e-02 9.30751052e-01 4.81387725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.68538475 meters Centerline goodness : 0.919053 Centerline is valid? [False, False] Translation: X:31.76, Y:2.25, Z:4.81 [[ 9.23169958e-01 -1.20588262e-01 -3.64987259e-01 3.17641313e+01] [ 1.37937266e-01 9.90202469e-01 2.17343091e-02 2.25045635e+00] [ 3.58790383e-01 -7.04098061e-02 9.30758787e-01 4.81481586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.71538475 meters Centerline goodness : 0.920308 Centerline is valid? [False, False] Translation: X:31.76, Y:2.25, Z:4.82 [[ 9.22592304e-01 -1.25308833e-01 -3.64857695e-01 3.17641841e+01] [ 1.41924251e-01 9.89695774e-01 1.89679411e-02 2.24625662e+00] [ 3.58721268e-01 -6.92818315e-02 9.30870066e-01 4.81657685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.74538475 meters Centerline goodness : 0.922154 Centerline is valid? [False, False] Translation: X:31.77, Y:2.24, Z:4.82 [[ 9.22379518e-01 -1.25590119e-01 -3.65298708e-01 3.17656657e+01] [ 1.42397796e-01 9.89620906e-01 1.93217307e-02 2.24436297e+00] [ 3.59080620e-01 -6.98396996e-02 9.30689811e-01 4.81726959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.77538475 meters Centerline goodness : 0.922587 Centerline is valid? [False, False] Translation: X:31.77, Y:2.24, Z:4.82 [[ 9.22126091e-01 -1.26290522e-01 -3.65696836e-01 3.17682052e+01] [ 1.43124016e-01 9.89519030e-01 1.91730247e-02 2.24332614e+00] [ 3.59442608e-01 -7.00199462e-02 9.30536522e-01 4.81712937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.80538475 meters Centerline goodness : 0.920956 Centerline is valid? [False, False] Translation: X:31.77, Y:2.24, Z:4.82 [[ 9.21986462e-01 -1.27044438e-01 -3.65787744e-01 3.17711091e+01] [ 1.44078988e-01 9.89373415e-01 1.95317825e-02 2.24032162e+00] [ 3.59419265e-01 -7.07103670e-02 9.30493329e-01 4.81686743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.83538475 meters Centerline goodness : 0.921434 Centerline is valid? [False, False] Translation: X:31.77, Y:2.24, Z:4.82 [[ 9.22159262e-01 -1.28162369e-01 -3.64961234e-01 3.17700365e+01] [ 1.45654789e-01 9.89119221e-01 2.06845281e-02 2.23783162e+00] [ 3.58339194e-01 -7.22327808e-02 9.30792913e-01 4.81637789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.86538475 meters Centerline goodness : 0.922043 Centerline is valid? [False, False] Translation: X:31.77, Y:2.23, Z:4.82 [[ 9.22063694e-01 -1.27760169e-01 -3.65343514e-01 3.17701672e+01] [ 1.46097083e-01 9.89005877e-01 2.28695959e-02 2.23298310e+00] [ 3.58405059e-01 -7.44628458e-02 9.30591800e-01 4.81939319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.89538475 meters Centerline goodness : 0.925979 Centerline is valid? [False, False] Translation: X:31.77, Y:2.23, Z:4.82 [[ 9.22004418e-01 -1.27406519e-01 -3.65616508e-01 3.17703899e+01] [ 1.46013857e-01 9.89001554e-01 2.35770970e-02 2.23129034e+00] [ 3.58591419e-01 -7.51232643e-02 9.30466920e-01 4.82027656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.92538475 meters Centerline goodness : 0.925779 Centerline is valid? [False, False] Translation: X:31.77, Y:2.23, Z:4.82 [[ 9.21618454e-01 -1.31752052e-01 -3.65049069e-01 3.17701475e+01] [ 1.49451537e-01 9.88555977e-01 2.05260523e-02 2.22788307e+00] [ 3.58167089e-01 -7.34743331e-02 9.30761977e-01 4.82063528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.95538475 meters Centerline goodness : 0.929962 Centerline is valid? [False, False] Translation: X:31.77, Y:2.22, Z:4.82 [[ 9.21383596e-01 -1.31477505e-01 -3.65740255e-01 3.17707800e+01] [ 1.49701874e-01 9.88491103e-01 2.17873385e-02 2.22471443e+00] [ 3.58666443e-01 -7.48264977e-02 9.30461916e-01 4.82290730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.98538475 meters Centerline goodness : 0.930391 Centerline is valid? [False, False] Translation: X:31.77, Y:2.22, Z:4.82 [[ 9.21035297e-01 -1.32648600e-01 -3.66194388e-01 3.17747036e+01] [ 1.50937991e-01 9.88306508e-01 2.16326171e-02 2.22230590e+00] [ 3.59042760e-01 -7.51970491e-02 9.30286891e-01 4.82259380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.01538475 meters Centerline goodness : 0.933273 Centerline is valid? [False, False] Translation: X:31.78, Y:2.22, Z:4.82 [[ 9.20744011e-01 -1.33260009e-01 -3.66704564e-01 3.17773246e+01] [ 1.51635321e-01 9.88199936e-01 2.16244435e-02 2.22147425e+00] [ 3.59495753e-01 -7.55159412e-02 9.30086096e-01 4.82264302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.04538475 meters Centerline goodness : 0.930338 Centerline is valid? [False, False] Translation: X:31.78, Y:2.22, Z:4.82 [[ 9.21009810e-01 -1.33590299e-01 -3.65916059e-01 3.17773904e+01] [ 1.52445282e-01 9.88044607e-01 2.29845770e-02 2.21962845e+00] [ 3.58470872e-01 -7.69511976e-02 9.30363986e-01 4.82117850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.07538475 meters Centerline goodness : 0.929561 Centerline is valid? [False, False] Translation: X:31.78, Y:2.22, Z:4.82 [[ 9.21247000e-01 -1.34166300e-01 -3.65107338e-01 3.17765358e+01] [ 1.53417890e-01 9.87867595e-01 2.40949164e-02 2.21848329e+00] [ 3.57444982e-01 -7.82113670e-02 9.30653570e-01 4.82042375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.10538475 meters Centerline goodness : 0.928487 Centerline is valid? [False, False] Translation: X:31.78, Y:2.22, Z:4.82 [[ 9.21613491e-01 -1.28236896e-01 -3.66311167e-01 3.17760857e+01] [ 1.48452003e-01 9.88539103e-01 2.74307297e-02 2.21708415e+00] [ 3.58595281e-01 -7.96601571e-02 9.30087998e-01 4.82242990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.13538475000001 meters Centerline goodness : 0.929841 Centerline is valid? [False, False] Translation: X:31.78, Y:2.22, Z:4.82 [[ 9.21605502e-01 -1.28085493e-01 -3.66384232e-01 3.17756495e+01] [ 1.48273837e-01 9.88567458e-01 2.73724490e-02 2.21740604e+00] [ 3.58689515e-01 -7.95517956e-02 9.30060935e-01 4.82266962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.16538475000002 meters Centerline goodness : 0.933184 Centerline is valid? [False, False] Translation: X:31.77, Y:2.22, Z:4.82 [[ 9.22037850e-01 -1.24247131e-01 -3.66618130e-01 3.17730946e+01] [ 1.44714987e-01 9.89055207e-01 2.87640520e-02 2.21857548e+00] [ 3.59031719e-01 -7.95766824e-02 9.29926759e-01 4.82437176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19538475000002 meters Centerline goodness : 0.930041 Centerline is valid? [False, False] Translation: X:31.77, Y:2.22, Z:4.82 [[ 9.22012298e-01 -1.24272538e-01 -3.66673776e-01 3.17724887e+01] [ 1.44547618e-01 9.89094586e-01 2.82468705e-02 2.22013488e+00] [ 3.59164737e-01 -7.90457828e-02 9.29920672e-01 4.82490510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.22538475000002 meters Centerline goodness : 0.932716 Centerline is valid? [False, False] Translation: X:31.77, Y:2.22, Z:4.83 [[ 9.22058377e-01 -1.23973166e-01 -3.66659248e-01 3.17712563e+01] [ 1.44356008e-01 9.89112835e-01 2.85857151e-02 2.22023640e+00] [ 3.59123507e-01 -7.92871634e-02 9.29916046e-01 4.82572189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.25538475 meters Centerline goodness : 0.929584 Centerline is valid? [False, False] Translation: X:31.77, Y:2.22, Z:4.82 [[ 0.92294171 -0.11872893 -0.36617214 31.77062905] [ 0.1410384 0.98939638 0.03468383 2.22293878] [ 0.35817142 -0.08365549 0.92990053 4.82407448] [ 0. 0. 0. 1. ]] SLAMing on 156.28538475 meters Centerline goodness : 0.927156 Centerline is valid? [False, False] Translation: X:31.77, Y:2.23, Z:4.82 [[ 0.92305645 -0.11933245 -0.36568641 31.77113226] [ 0.14107611 0.98944118 0.03322184 2.22750962] [ 0.35786075 -0.08225525 0.93014502 4.82156208] [ 0. 0. 0. 1. ]] SLAMing on 156.31538475 meters Centerline goodness : 0.928093 Centerline is valid? [False, False] Translation: X:31.77, Y:2.23, Z:4.82 [[ 0.92298382 -0.11916988 -0.36592269 31.7707114 ] [ 0.14076167 0.98950004 0.03279967 2.22816879] [ 0.35817178 -0.08178145 0.93006708 4.82235205] [ 0. 0. 0. 1. ]] SLAMing on 156.34538475 meters Centerline goodness : 0.931027 Centerline is valid? [False, False] Translation: X:31.77, Y:2.23, Z:4.82 [[ 9.22791758e-01 -1.23125975e-01 -3.65096377e-01 3.17672976e+01] [ 1.43654271e-01 9.89188327e-01 2.94941298e-02 2.22756229e+00] [ 3.57517581e-01 -7.96645938e-02 9.30502408e-01 4.82332683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.37538475 meters Centerline goodness : 0.932773 Centerline is valid? [False, False] Translation: X:31.77, Y:2.23, Z:4.82 [[ 9.22751135e-01 -1.22476739e-01 -3.65417284e-01 3.17673885e+01] [ 1.43023623e-01 9.89276918e-01 2.95875423e-02 2.22765333e+00] [ 3.57875099e-01 -7.95652421e-02 9.30373466e-01 4.82392156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.40538475 meters Centerline goodness : 0.930737 Centerline is valid? [False, False] Translation: X:31.77, Y:2.23, Z:4.82 [[ 0.92268556 -0.1189564 -0.36674341 31.7719618 ] [ 0.14041271 0.98956644 0.03228829 2.22940714] [ 0.35907608 -0.08128738 0.92976165 4.82304919] [ 0. 0. 0. 1. ]] SLAMing on 156.43538475 meters Centerline goodness : 0.930351 Centerline is valid? [False, False] Translation: X:31.77, Y:2.23, Z:4.82 [[ 9.22591825e-01 -1.19680143e-01 -3.66743762e-01 3.17735162e+01] [ 1.40850814e-01 9.89532358e-01 3.14127630e-02 2.23086227e+00] [ 3.59145335e-01 -8.06373157e-02 9.29791510e-01 4.82186024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.46538475 meters Centerline goodness : 0.926915 Centerline is valid? [False, False] Translation: X:31.77, Y:2.23, Z:4.82 [[ 9.22561920e-01 -1.19797266e-01 -3.66780751e-01 3.17735576e+01] [ 1.40962602e-01 9.89517858e-01 3.13680454e-02 2.23094304e+00] [ 3.59178297e-01 -8.06413333e-02 9.29778429e-01 4.82198858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.49538475 meters Centerline goodness : 0.929731 Centerline is valid? [False, False] Translation: X:31.77, Y:2.23, Z:4.82 [[ 9.22510286e-01 -1.19719950e-01 -3.66935834e-01 3.17728263e+01] [ 1.40919442e-01 9.89521924e-01 3.14336144e-02 2.23159644e+00] [ 3.59327822e-01 -8.07062255e-02 9.29715022e-01 4.82273263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.52538475 meters Centerline goodness : 0.933947 Centerline is valid? [False, False] Translation: X:31.77, Y:2.23, Z:4.82 [[ 9.22770355e-01 -1.19080240e-01 -3.66489793e-01 3.17711129e+01] [ 1.40105577e-01 9.89644563e-01 3.12100389e-02 2.23333585e+00] [ 3.58978133e-01 -8.01469627e-02 9.29898470e-01 4.82192000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.55538475 meters Centerline goodness : 0.932607 Centerline is valid? [False, False] Translation: X:31.77, Y:2.23, Z:4.82 [[ 9.22763265e-01 -1.19173516e-01 -3.66477325e-01 3.17712438e+01] [ 1.40082920e-01 9.89657649e-01 3.08952035e-02 2.23407747e+00] [ 3.59005198e-01 -7.98461727e-02 9.29913898e-01 4.82155779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.58538475 meters Centerline goodness : 0.935013 Centerline is valid? [False, False] Translation: X:31.77, Y:2.24, Z:4.82 [[ 9.22928627e-01 -1.18899560e-01 -3.66149757e-01 3.17703706e+01] [ 1.39603223e-01 9.89737954e-01 3.04913580e-02 2.23564145e+00] [ 3.58766903e-01 -7.92570334e-02 9.30056252e-01 4.82068172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.61538475 meters Centerline goodness : 0.933986 Centerline is valid? [False, False] Translation: X:31.77, Y:2.24, Z:4.82 [[ 9.22916414e-01 -1.18993866e-01 -3.66149904e-01 3.17703855e+01] [ 1.39601401e-01 9.89746398e-01 3.02244349e-02 2.23614432e+00] [ 3.58799027e-01 -7.90096666e-02 9.30064907e-01 4.82048008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.64538475 meters Centerline goodness : 0.936960 Centerline is valid? [False, False] Translation: X:31.77, Y:2.24, Z:4.82 [[ 9.22863716e-01 -1.19197486e-01 -3.66216494e-01 3.17704349e+01] [ 1.39713711e-01 9.89739382e-01 2.99338477e-02 2.23708794e+00] [ 3.58890847e-01 -7.87903273e-02 9.30048087e-01 4.82048937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.67538475 meters Centerline goodness : 0.938040 Centerline is valid? [False, False] Translation: X:31.77, Y:2.24, Z:4.82 [[ 9.22890851e-01 -1.19138867e-01 -3.66167185e-01 3.17701001e+01] [ 1.39658589e-01 9.89746203e-01 2.99655284e-02 2.23705538e+00] [ 3.58842522e-01 -7.87933045e-02 9.30066481e-01 4.82056930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.70538475 meters Centerline goodness : 0.938610 Centerline is valid? [False, False] Translation: X:31.77, Y:2.24, Z:4.82 [[ 9.22698575e-01 -1.19509030e-01 -3.66530943e-01 3.17705425e+01] [ 1.40148804e-01 9.89672182e-01 3.01211641e-02 2.23640399e+00] [ 3.59145727e-01 -7.91616284e-02 9.29918160e-01 4.82163260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.73538475 meters Centerline goodness : 0.941928 Centerline is valid? [False, False] Translation: X:31.77, Y:2.24, Z:4.82 [[ 9.22652527e-01 -1.19909934e-01 -3.66515923e-01 3.17713971e+01] [ 1.40399794e-01 9.89650500e-01 2.96611902e-02 2.23714482e+00] [ 3.59165995e-01 -7.88257323e-02 9.29938864e-01 4.82098482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.76538475 meters Centerline goodness : 0.937448 Centerline is valid? [False, False] Translation: X:31.77, Y:2.24, Z:4.82 [[ 9.22464425e-01 -1.20696553e-01 -3.66731138e-01 3.17736840e+01] [ 1.41011715e-01 9.89582784e-01 2.90105174e-02 2.23723322e+00] [ 3.59409351e-01 -7.84745570e-02 9.29874541e-01 4.82012762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.79538475 meters Centerline goodness : 0.937071 Centerline is valid? [False, False] Translation: X:31.78, Y:2.24, Z:4.82 [[ 9.22225936e-01 -1.21316992e-01 -3.67126015e-01 3.17756486e+01] [ 1.41637278e-01 9.89499173e-01 2.88143769e-02 2.23623705e+00] [ 3.59775215e-01 -7.85720950e-02 9.29724809e-01 4.82022365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.82538475 meters Centerline goodness : 0.936480 Centerline is valid? [False, False] Translation: X:31.78, Y:2.24, Z:4.82 [[ 9.22068624e-01 -1.21823409e-01 -3.67353385e-01 3.17772238e+01] [ 1.42178213e-01 9.89423328e-01 2.87547263e-02 2.23519165e+00] [ 3.59965010e-01 -7.87434786e-02 9.29636841e-01 4.82021760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.85538475 meters Centerline goodness : 0.939316 Centerline is valid? [False, False] Translation: X:31.78, Y:2.23, Z:4.82 [[ 9.21965201e-01 -1.21890477e-01 -3.67590642e-01 3.17773732e+01] [ 1.42329145e-01 9.89397312e-01 2.89028270e-02 2.23445456e+00] [ 3.60170213e-01 -7.89662624e-02 9.29538459e-01 4.82089233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.88538475000001 meters Centerline goodness : 0.940896 Centerline is valid? [False, False] Translation: X:31.78, Y:2.23, Z:4.82 [[ 9.21953014e-01 -1.21327617e-01 -3.67807352e-01 3.17766031e+01] [ 1.42184214e-01 9.89384394e-01 3.00361415e-02 2.23176168e+00] [ 3.60258641e-01 -7.99883105e-02 9.29416797e-01 4.82263095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.91538475000002 meters Centerline goodness : 0.940896 Centerline is valid? [False, False] Translation: X:31.78, Y:2.23, Z:4.82 [[ 9.21953014e-01 -1.21327617e-01 -3.67807352e-01 3.17766031e+01] [ 1.42184214e-01 9.89384394e-01 3.00361415e-02 2.23176168e+00] [ 3.60258641e-01 -7.99883105e-02 9.29416797e-01 4.82263095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.94538475000002 meters Centerline goodness : 0.940316 Centerline is valid? [False, False] Translation: X:31.78, Y:2.23, Z:4.82 [[ 9.21884992e-01 -1.21643607e-01 -3.67873477e-01 3.17774339e+01] [ 1.42443206e-01 9.89353867e-01 2.98137303e-02 2.23167723e+00] [ 3.60330397e-01 -7.98859080e-02 9.29397787e-01 4.82234819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97538475000002 meters Centerline goodness : 0.940296 Centerline is valid? [False, False] Translation: X:31.78, Y:2.23, Z:4.82 [[ 9.21851126e-01 -1.21691224e-01 -3.67942587e-01 3.17779403e+01] [ 1.42618350e-01 9.89319444e-01 3.01171773e-02 2.23048854e+00] [ 3.60347759e-01 -8.02389183e-02 9.29360645e-01 4.82258899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.00538475 meters Centerline goodness : 0.939042 Centerline is valid? [False, False] Translation: X:31.78, Y:2.23, Z:4.82 [[ 9.21639278e-01 -1.22093018e-01 -3.68339973e-01 3.17789851e+01] [ 1.43111525e-01 9.89246255e-01 3.01817424e-02 2.22963489e+00] [ 3.60693959e-01 -8.05303745e-02 9.29201123e-01 4.82328938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.03538475 meters Centerline goodness : 0.941325 Centerline is valid? [False, False] Translation: X:31.78, Y:2.23, Z:4.82 [[ 9.21330225e-01 -1.22594845e-01 -3.68945959e-01 3.17806299e+01] [ 1.43688699e-01 9.89163998e-01 3.01354007e-02 2.22908520e+00] [ 3.61253615e-01 -8.07780204e-02 9.28962183e-01 4.82399530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.06538475 meters Centerline goodness : 0.939931 Centerline is valid? [False, False] Translation: X:31.78, Y:2.23, Z:4.82 [[ 9.21144241e-01 -1.23555413e-01 -3.69089891e-01 3.17832512e+01] [ 1.44436171e-01 9.89078121e-01 2.93711414e-02 2.22936512e+00] [ 3.61429772e-01 -8.03649883e-02 9.28929485e-01 4.82280817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.09538475 meters Centerline goodness : 0.942259 Centerline is valid? [False, False] Translation: X:31.78, Y:2.23, Z:4.82 [[ 9.21250574e-01 -1.23675215e-01 -3.68784248e-01 3.17831225e+01] [ 1.44395607e-01 9.89094733e-01 2.90089170e-02 2.23047085e+00] [ 3.61174873e-01 -7.99753067e-02 9.29062248e-01 4.82191188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.12538475 meters Centerline goodness : 0.942561 Centerline is valid? [False, False] Translation: X:31.78, Y:2.23, Z:4.82 [[ 9.21234777e-01 -1.24158496e-01 -3.68661299e-01 3.17820210e+01] [ 1.44701891e-01 9.89065021e-01 2.84911610e-02 2.23012843e+00] [ 3.61092576e-01 -7.95930353e-02 9.29127064e-01 4.82268848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.15538475 meters Centerline goodness : 0.944464 Centerline is valid? [False, False] Translation: X:31.78, Y:2.23, Z:4.82 [[ 9.21013487e-01 -1.22506534e-01 -3.69765204e-01 3.17817795e+01] [ 1.42887130e-01 9.89339239e-01 2.81271825e-02 2.22995682e+00] [ 3.62377462e-01 -7.87402035e-02 9.28699389e-01 4.82497489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.18538475 meters Centerline goodness : 0.946205 Centerline is valid? [False, False] Translation: X:31.78, Y:2.22, Z:4.82 [[ 0.92642387 -0.11181481 -0.35949446 31.7837792 ] [ 0.13288377 0.99053607 0.03435406 2.22205795] [ 0.35225094 -0.0795974 0.93251463 4.82225941] [ 0. 0. 0. 1. ]] SLAMing on 157.21538475 meters Centerline goodness : 0.946322 Centerline is valid? [False, False] Translation: X:31.78, Y:2.22, Z:4.82 [[ 0.92632526 -0.11212373 -0.35965231 31.78423593] [ 0.13307896 0.99052351 0.03395838 2.22281492] [ 0.35243652 -0.07931866 0.93246826 4.82217371] [ 0. 0. 0. 1. ]] SLAMing on 157.24538475 meters Centerline goodness : 0.944341 Centerline is valid? [False, False] Translation: X:31.79, Y:2.22, Z:4.82 [[ 0.92603989 -0.11285311 -0.36015871 31.78584387] [ 0.13379418 0.99043716 0.03366525 2.22280597] [ 0.35291534 -0.0793625 0.93228341 4.82263599] [ 0. 0. 0. 1. ]] SLAMing on 157.27538475 meters Centerline goodness : 0.948851 Centerline is valid? [False, False] Translation: X:31.79, Y:2.22, Z:4.82 [[ 0.92596676 -0.11342126 -0.36016827 31.78680556] [ 0.13418026 0.99040473 0.03307762 2.22418851] [ 0.35296066 -0.07895625 0.93230075 4.82196597] [ 0. 0. 0. 1. ]] SLAMing on 157.30538475 meters Centerline goodness : 0.950371 Centerline is valid? [False, True] Translation: X:31.79, Y:2.22, Z:4.82 [[ 0.92578423 -0.11393093 -0.36047649 31.78768963] [ 0.13461421 0.99035804 0.03271031 2.2248889 ] [ 0.35327407 -0.07880794 0.93219458 4.82212662] [ 0. 0. 0. 1. ]] SLAMing on 157.33538475 meters Centerline goodness : 0.951524 Centerline is valid? [True, True] Translation: X:31.83, Y:2.26, Z:4.78 [[ 9.26353716e-01 -1.43543859e-01 -3.48229743e-01 3.18289459e+01] [ 1.33474430e-01 9.89640798e-01 -5.28740724e-02 2.25906751e+00] [ 3.52212110e-01 2.50032682e-03 9.35916865e-01 4.77683401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.36538475 meters Centerline goodness : 0.952958 Centerline is valid? [True, True] Translation: X:31.86, Y:2.27, Z:4.79 [[ 9.26502778e-01 -1.43438916e-01 -3.47876242e-01 3.18552054e+01] [ 1.33344567e-01 9.89655633e-01 -5.29240483e-02 2.26563649e+00] [ 3.51869050e-01 2.64687088e-03 9.36045493e-01 4.78574408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.39538475 meters Centerline goodness : 0.952343 Centerline is valid? [True, True] Translation: X:31.88, Y:2.27, Z:4.80 [[ 9.26454929e-01 -1.42219221e-01 -3.48503886e-01 3.18815461e+01] [ 1.31964150e-01 9.89829924e-01 -5.31242395e-02 2.27082916e+00] [ 3.52514863e-01 3.22719460e-03 9.35800650e-01 4.79517016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.42538475 meters Centerline goodness : 0.955732 Centerline is valid? [True, True] Translation: X:31.91, Y:2.27, Z:4.81 [[ 9.26249487e-01 -1.40970535e-01 -3.49555711e-01 3.19071450e+01] [ 1.30524550e-01 9.90006389e-01 -5.33918705e-02 2.27467114e+00] [ 3.53589068e-01 3.82859089e-03 9.35393026e-01 4.80569701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.45538475 meters Centerline goodness : 0.954075 Centerline is valid? [True, True] Translation: X:31.93, Y:2.28, Z:4.82 [[ 9.26015434e-01 -1.40506824e-01 -3.50361597e-01 3.19319961e+01] [ 1.29938646e-01 9.90071105e-01 -5.36204717e-02 2.27897454e+00] [ 3.54416936e-01 4.12787276e-03 9.35078390e-01 4.81543221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.48538475 meters Centerline goodness : 0.955339 Centerline is valid? [True, True] Translation: X:31.96, Y:2.28, Z:4.82 [[ 9.26266514e-01 -1.39923415e-01 -3.49931112e-01 3.19584047e+01] [ 1.29313465e-01 9.90152442e-01 -5.36299251e-02 2.28404184e+00] [ 3.53989228e-01 4.42479921e-03 9.35239032e-01 4.82366228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.51538475 meters Centerline goodness : 0.954375 Centerline is valid? [True, True] Translation: X:31.98, Y:2.29, Z:4.83 [[ 9.26016803e-01 -1.41762492e-01 -3.49851791e-01 3.19829335e+01] [ 1.31244048e-01 9.89893277e-01 -5.37243033e-02 2.28755043e+00] [ 3.53932027e-01 3.83364220e-03 9.35263291e-01 4.83336003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.54538475 meters Centerline goodness : 0.958342 Centerline is valid? [True, True] Translation: X:32.01, Y:2.29, Z:4.84 [[ 9.26015555e-01 -1.42190103e-01 -3.49681521e-01 3.20098277e+01] [ 1.31692204e-01 9.89832367e-01 -5.37498698e-02 2.29215095e+00] [ 3.53768787e-01 3.72288534e-03 9.35325497e-01 4.84221060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.57538475 meters Centerline goodness : 0.954602 Centerline is valid? [True, True] Translation: X:32.04, Y:2.30, Z:4.85 [[ 9.25949833e-01 -1.42108739e-01 -3.49888573e-01 3.20366271e+01] [ 1.31551281e-01 9.89843483e-01 -5.38900754e-02 2.29685928e+00] [ 3.53993174e-01 3.87121617e-03 9.35239994e-01 4.85091895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.60538475 meters Centerline goodness : 0.960197 Centerline is valid? [True, True] Translation: X:32.06, Y:2.30, Z:4.86 [[ 9.26553567e-01 -1.46028063e-01 -3.46661640e-01 3.20616002e+01] [ 1.35896896e-01 9.89277388e-01 -5.35003161e-02 2.30081460e+00] [ 3.50757069e-01 2.46066804e-03 9.36463253e-01 4.86273747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.63538475000001 meters Centerline goodness : 0.959522 Centerline is valid? [True, True] Translation: X:32.09, Y:2.30, Z:4.87 [[ 9.26391745e-01 -1.47169637e-01 -3.46611356e-01 3.20874300e+01] [ 1.37078482e-01 9.89108948e-01 -5.36001790e-02 2.30496564e+00] [ 3.50724713e-01 2.14180471e-03 9.36476155e-01 4.87262387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.66538475000002 meters Centerline goodness : 0.958991 Centerline is valid? [True, True] Translation: X:32.11, Y:2.31, Z:4.88 [[ 9.24939558e-01 -1.45982485e-01 -3.50964284e-01 3.21124910e+01] [ 1.35504354e-01 9.89283383e-01 -5.43779232e-02 2.31242156e+00] [ 3.55141358e-01 2.73910348e-03 9.34808597e-01 4.87968193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69538475000002 meters Centerline goodness : 0.957922 Centerline is valid? [True, True] Translation: X:32.14, Y:2.32, Z:4.89 [[ 9.24286190e-01 -1.43881656e-01 -3.53543643e-01 3.21383111e+01] [ 1.33076424e-01 9.89588261e-01 -5.48246243e-02 2.31845592e+00] [ 3.57750896e-01 3.62531958e-03 9.33810020e-01 4.88744053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.72538475000002 meters Centerline goodness : 0.954105 Centerline is valid? [True, True] Translation: X:32.16, Y:2.32, Z:4.90 [[ 9.23284902e-01 -1.40698172e-01 -3.57419942e-01 3.21640108e+01] [ 1.29395616e-01 9.90040059e-01 -5.54748210e-02 2.32327545e+00] [ 3.61665267e-01 4.97049094e-03 9.32294765e-01 4.89516933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75538475 meters Centerline goodness : 0.956296 Centerline is valid? [True, True] Translation: X:32.19, Y:2.33, Z:4.91 [[ 9.22919786e-01 -1.41660289e-01 -3.57982445e-01 3.21899710e+01] [ 1.30361141e-01 9.89904259e-01 -5.56374975e-02 2.32591909e+00] [ 3.62249970e-01 4.68194733e-03 9.32069224e-01 4.90525614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.78538475 meters Centerline goodness : 0.958426 Centerline is valid? [True, True] Translation: X:32.22, Y:2.33, Z:4.92 [[ 9.23197829e-01 -1.41286210e-01 -3.57412891e-01 3.22163548e+01] [ 1.29955977e-01 9.89956498e-01 -5.56558703e-02 2.32867803e+00] [ 3.61686621e-01 4.93343719e-03 9.32286678e-01 4.91554789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.81538475 meters Centerline goodness : 0.958611 Centerline is valid? [True, True] Translation: X:32.24, Y:2.33, Z:4.92 [[ 9.23400619e-01 -1.40710852e-01 -3.57115883e-01 3.22425653e+01] [ 1.29316523e-01 9.90036711e-01 -5.57184713e-02 2.33342844e+00] [ 3.61398027e-01 5.26948644e-03 9.32396749e-01 4.92489275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.84538475 meters Centerline goodness : 0.958984 Centerline is valid? [True, True] Translation: X:32.27, Y:2.34, Z:4.93 [[ 9.24291905e-01 -1.40825009e-01 -3.54757369e-01 3.22690317e+01] [ 1.29553113e-01 9.90020311e-01 -5.54596685e-02 2.33798756e+00] [ 3.59027109e-01 5.30100121e-03 9.33312078e-01 4.93474921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.87538475 meters Centerline goodness : 0.960109 Centerline is valid? [True, True] Translation: X:32.29, Y:2.34, Z:4.94 [[ 9.24518451e-01 -1.41222081e-01 -3.54008414e-01 3.22940207e+01] [ 1.29987004e-01 9.89964036e-01 -5.54489590e-02 2.34217143e+00] [ 3.58286216e-01 5.24709252e-03 9.33597052e-01 4.94385109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.90538475 meters Centerline goodness : 0.961083 Centerline is valid? [True, True] Translation: X:32.32, Y:2.35, Z:4.95 [[ 9.24662385e-01 -1.42340413e-01 -3.53183637e-01 3.23197546e+01] [ 1.31209368e-01 9.89805726e-01 -5.53960813e-02 2.34720495e+00] [ 3.57468287e-01 4.88167102e-03 9.33912519e-01 4.95340770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.93538475 meters Centerline goodness : 0.961286 Centerline is valid? [True, True] Translation: X:32.35, Y:2.35, Z:4.96 [[ 9.24442328e-01 -1.41727070e-01 -3.54005396e-01 3.23459640e+01] [ 1.30457735e-01 9.89891875e-01 -5.56314218e-02 2.35165517e+00] [ 3.58311543e-01 5.24529916e-03 9.33587342e-01 4.96357004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.96538475 meters Centerline goodness : 0.962567 Centerline is valid? [True, True] Translation: X:32.37, Y:2.36, Z:4.97 [[ 9.25059879e-01 -1.39500558e-01 -3.53275833e-01 3.23715510e+01] [ 1.28083750e-01 9.90202573e-01 -5.56185026e-02 2.35653034e+00] [ 3.57573451e-01 6.20155180e-03 9.33864427e-01 4.97180315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.99538475 meters Centerline goodness : 0.963350 Centerline is valid? [True, True] Translation: X:32.40, Y:2.36, Z:4.98 [[ 9.25696876e-01 -1.40994611e-01 -3.51006858e-01 3.23980908e+01] [ 1.29815002e-01 9.89994325e-01 -5.53109523e-02 2.36019793e+00] [ 3.55293343e-01 5.63521986e-03 9.34737869e-01 4.98205455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.02538475 meters Centerline goodness : 0.963261 Centerline is valid? [True, True] Translation: X:32.42, Y:2.36, Z:4.99 [[ 9.25567045e-01 -1.43660363e-01 -3.50267535e-01 3.24241354e+01] [ 1.32672862e-01 9.89615815e-01 -5.53032646e-02 2.36356011e+00] [ 3.54575179e-01 4.71588285e-03 9.35015616e-01 4.99302797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.05538475 meters Centerline goodness : 0.964189 Centerline is valid? [True, True] Translation: X:32.45, Y:2.37, Z:5.00 [[ 9.25414015e-01 -1.45932383e-01 -3.49732240e-01 3.24493807e+01] [ 1.35095670e-01 9.89286670e-01 -5.53267122e-02 2.36683392e+00] [ 3.54059402e-01 3.95280349e-03 9.35214582e-01 5.00278277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.08538475 meters Centerline goodness : 0.964656 Centerline is valid? [True, True] Translation: X:32.48, Y:2.37, Z:5.01 [[ 9.24611695e-01 -1.48376039e-01 -3.50824408e-01 3.24750644e+01] [ 1.37618714e-01 9.88926205e-01 -5.55522385e-02 2.37232849e+00] [ 3.55182071e-01 3.08424570e-03 9.34792054e-01 5.01240810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.11538475 meters Centerline goodness : 0.965182 Centerline is valid? [True, True] Translation: X:32.50, Y:2.38, Z:5.02 [[ 9.24314309e-01 -1.49267932e-01 -3.51229472e-01 3.25001716e+01] [ 1.38506167e-01 9.88792654e-01 -5.57236914e-02 2.37674775e+00] [ 3.55610882e-01 2.85875740e-03 9.34629728e-01 5.02086705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.14538475 meters Centerline goodness : 0.963884 Centerline is valid? [True, True] Translation: X:32.53, Y:2.38, Z:5.03 [[ 9.23566379e-01 -1.48982705e-01 -3.53311898e-01 3.25267899e+01] [ 1.38047637e-01 9.88835115e-01 -5.61067263e-02 2.38106723e+00] [ 3.57726143e-01 3.04441344e-03 9.33821577e-01 5.02951673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.17538475 meters Centerline goodness : 0.965088 Centerline is valid? [True, True] Translation: X:32.55, Y:2.39, Z:5.04 [[ 9.23346389e-01 -1.47748276e-01 -3.54403574e-01 3.25522864e+01] [ 1.36616482e-01 9.89018295e-01 -5.63803912e-02 2.38514964e+00] [ 3.58841724e-01 3.64126106e-03 9.33391321e-01 5.03961602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.20538475 meters Centerline goodness : 0.965037 Centerline is valid? [True, True] Translation: X:32.58, Y:2.39, Z:5.05 [[ 9.23464146e-01 -1.47323610e-01 -3.54273517e-01 3.25781774e+01] [ 1.36129293e-01 9.89080588e-01 -5.64659816e-02 2.38954256e+00] [ 3.58723831e-01 3.91730624e-03 9.33435519e-01 5.04941431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.23538475 meters Centerline goodness : 0.966498 Centerline is valid? [True, True] Translation: X:32.60, Y:2.39, Z:5.06 [[ 9.24619277e-01 -1.46349274e-01 -3.51654779e-01 3.26043477e+01] [ 1.35217692e-01 9.89223319e-01 -5.61551577e-02 2.39279080e+00] [ 3.56083374e-01 4.37219374e-03 9.34443960e-01 5.05881065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.26538475 meters Centerline goodness : 0.968063 Centerline is valid? [True, True] Translation: X:32.63, Y:2.40, Z:5.07 [[ 9.24636827e-01 -1.45536822e-01 -3.51945694e-01 3.26298652e+01] [ 1.34287761e-01 9.89341169e-01 -5.63102806e-02 2.39624775e+00] [ 3.56389584e-01 4.80455989e-03 9.34325094e-01 5.06834364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.29538475 meters Centerline goodness : 0.969733 Centerline is valid? [True, True] Translation: X:32.66, Y:2.40, Z:5.08 [[ 9.24512135e-01 -1.46315562e-01 -3.51950378e-01 3.26554737e+01] [ 1.35102075e-01 9.89227475e-01 -5.63598368e-02 2.40042233e+00] [ 3.56405305e-01 4.55612657e-03 9.34320341e-01 5.07741002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.32538475 meters Centerline goodness : 0.967849 Centerline is valid? [True, True] Translation: X:32.68, Y:2.41, Z:5.09 [[ 9.24186622e-01 -1.46889851e-01 -3.52565539e-01 3.26824674e+01] [ 1.35656194e-01 9.89143078e-01 -5.65098916e-02 2.40503269e+00] [ 3.57038492e-01 4.39798682e-03 9.34079318e-01 5.08569805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.35538475 meters Centerline goodness : 0.966883 Centerline is valid? [True, True] Translation: X:32.71, Y:2.41, Z:5.09 [[ 9.24265086e-01 -1.46826476e-01 -3.52386203e-01 3.27090088e+01] [ 1.35557307e-01 9.89151851e-01 -5.65935748e-02 2.40915295e+00] [ 3.56872900e-01 4.53894073e-03 9.34141922e-01 5.09435606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.38538475000001 meters Centerline goodness : 0.968124 Centerline is valid? [True, True] Translation: X:32.73, Y:2.41, Z:5.10 [[ 9.24539555e-01 -1.45615773e-01 -3.52168508e-01 3.27347393e+01] [ 1.34234227e-01 9.89327974e-01 -5.66686267e-02 2.41308044e+00] [ 3.56662002e-01 5.11931964e-03 9.34219465e-01 5.10356361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.41538475000002 meters Centerline goodness : 0.965657 Centerline is valid? [True, True] Translation: X:32.76, Y:2.42, Z:5.11 [[ 9.24405961e-01 -1.45951742e-01 -3.52380063e-01 3.27614999e+01] [ 1.34549331e-01 9.89278684e-01 -5.67817133e-02 2.41735105e+00] [ 3.56889475e-01 5.07685234e-03 9.34132822e-01 5.11196560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.44538475000002 meters Centerline goodness : 0.967515 Centerline is valid? [True, True] Translation: X:32.79, Y:2.42, Z:5.12 [[ 9.23891569e-01 -1.47059681e-01 -3.53267348e-01 3.27880552e+01] [ 1.35633200e-01 9.89116073e-01 -5.70353410e-02 2.42151837e+00] [ 3.57810011e-01 4.77968975e-03 9.33782175e-01 5.12139260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47538475000002 meters Centerline goodness : 0.964072 Centerline is valid? [True, True] Translation: X:32.81, Y:2.42, Z:5.13 [[ 9.22996496e-01 -1.49510304e-01 -3.54575998e-01 3.28144180e+01] [ 1.38127333e-01 9.88752221e-01 -5.73575230e-02 2.42493299e+00] [ 3.59163346e-01 3.96415578e-03 9.33266294e-01 5.13145677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.50538475 meters Centerline goodness : 0.965007 Centerline is valid? [True, True] Translation: X:32.84, Y:2.43, Z:5.14 [[ 9.22546300e-01 -1.49893953e-01 -3.55584206e-01 3.28404925e+01] [ 1.38428142e-01 9.88694209e-01 -5.76316752e-02 2.42978869e+00] [ 3.60202685e-01 3.94502779e-03 9.32865726e-01 5.14023900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53538475 meters Centerline goodness : 0.964310 Centerline is valid? [True, True] Translation: X:32.87, Y:2.43, Z:5.15 [[ 9.22306014e-01 -1.50340459e-01 -3.56018769e-01 3.28671652e+01] [ 1.38834239e-01 9.88626612e-01 -5.78141549e-02 2.43385447e+00] [ 3.60661436e-01 3.89474765e-03 9.32688672e-01 5.14821089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.56538475 meters Centerline goodness : 0.962718 Centerline is valid? [True, True] Translation: X:32.89, Y:2.44, Z:5.16 [[ 9.21978654e-01 -1.52466862e-01 -3.55962382e-01 3.28945063e+01] [ 1.41074243e-01 9.88303465e-01 -5.79164777e-02 2.43502448e+00] [ 3.60629199e-01 3.18063260e-03 9.32703846e-01 5.15700028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.59538475 meters Centerline goodness : 0.963553 Centerline is valid? [True, True] Translation: X:32.92, Y:2.44, Z:5.17 [[ 9.22077085e-01 -1.54880120e-01 -3.54663217e-01 3.29196541e+01] [ 1.43704204e-01 9.87930495e-01 -5.78138331e-02 2.43554848e+00] [ 3.59336821e-01 2.34221528e-03 9.33204995e-01 5.16696555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.62538475 meters Centerline goodness : 0.962522 Centerline is valid? [True, True] Translation: X:32.95, Y:2.44, Z:5.18 [[ 9.22120585e-01 -1.56369593e-01 -3.53895714e-01 3.29455256e+01] [ 1.45319729e-01 9.87696899e-01 -5.77668710e-02 2.43935476e+00] [ 3.58574681e-01 1.83999157e-03 9.33499230e-01 5.17613281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.65538475 meters Centerline goodness : 0.962969 Centerline is valid? [True, True] Translation: X:32.97, Y:2.44, Z:5.18 [[ 9.21874092e-01 -1.59046716e-01 -3.53344450e-01 3.29719306e+01] [ 1.48180843e-01 9.87270637e-01 -5.77851786e-02 2.44374115e+00] [ 3.58037143e-01 9.11780721e-04 9.33706899e-01 5.18490470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.68538475 meters Centerline goodness : 0.962515 Centerline is valid? [True, True] Translation: X:33.00, Y:2.45, Z:5.19 [[ 9.21427039e-01 -1.60319623e-01 -3.53934782e-01 3.29984222e+01] [ 1.49463728e-01 9.87065008e-01 -5.79936499e-02 2.44715313e+00] [ 3.58654158e-01 5.36505184e-04 9.33470357e-01 5.19352615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.71538475 meters Centerline goodness : 0.963077 Centerline is valid? [True, True] Translation: X:33.02, Y:2.45, Z:5.20 [[ 9.20861369e-01 -1.62497921e-01 -3.54413268e-01 3.30232743e+01] [ 1.51725904e-01 9.86708866e-01 -5.81795810e-02 2.44903761e+00] [ 3.59156775e-01 -1.98344989e-04 9.33277221e-01 5.20443632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.74538475 meters Centerline goodness : 0.963914 Centerline is valid? [True, True] Translation: X:33.05, Y:2.45, Z:5.21 [[ 9.20920571e-01 -1.62812282e-01 -3.54115042e-01 3.30488075e+01] [ 1.52061054e-01 9.86657028e-01 -5.81837179e-02 2.45262950e+00] [ 3.58863119e-01 -2.64523936e-04 9.33390161e-01 5.21478447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.77538475 meters Centerline goodness : 0.963387 Centerline is valid? [True, True] Translation: X:33.07, Y:2.46, Z:5.22 [[ 9.21472914e-01 -1.62340431e-01 -3.52892694e-01 3.30739513e+01] [ 1.51592599e-01 9.86734809e-01 -5.80870061e-02 2.45713195e+00] [ 3.57641375e-01 2.96819835e-05 9.33859008e-01 5.22466578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.80538475 meters Centerline goodness : 0.963387 Centerline is valid? [True, True] Translation: X:33.10, Y:2.46, Z:5.23 [[ 9.21430282e-01 -1.62600095e-01 -3.52884463e-01 3.31006125e+01] [ 1.51851519e-01 9.86692054e-01 -5.81369696e-02 2.46170860e+00] [ 3.57641372e-01 -1.68774908e-05 9.33859009e-01 5.23414423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.83538475 meters Centerline goodness : 0.963883 Centerline is valid? [True, True] Translation: X:33.13, Y:2.47, Z:5.24 [[ 9.21788307e-01 -1.62958892e-01 -3.51782202e-01 3.31265772e+01] [ 1.52266336e-01 9.86632858e-01 -5.80565734e-02 2.46650149e+00] [ 3.56540714e-01 -4.87162772e-05 9.34279785e-01 5.24260358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.86538475 meters Centerline goodness : 0.964257 Centerline is valid? [True, True] Translation: X:33.15, Y:2.47, Z:5.25 [[ 9.21786791e-01 -1.63555546e-01 -3.51509169e-01 3.31529240e+01] [ 1.52880982e-01 9.86534113e-01 -5.81192680e-02 2.47140002e+00] [ 3.56281514e-01 -1.65493322e-04 9.34378647e-01 5.25176989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.89538475 meters Centerline goodness : 0.963252 Centerline is valid? [True, True] Translation: X:33.18, Y:2.48, Z:5.26 [[ 9.21838926e-01 -1.64702097e-01 -3.50836449e-01 3.31777238e+01] [ 1.54110752e-01 9.86343232e-01 -5.81111495e-02 2.47644566e+00] [ 3.55616185e-01 -4.98549256e-04 9.34631949e-01 5.25996629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.92538475 meters Centerline goodness : 0.963616 Centerline is valid? [True, True] Translation: X:33.20, Y:2.48, Z:5.27 [[ 9.21749966e-01 -1.66050032e-01 -3.50434570e-01 3.32035157e+01] [ 1.55558822e-01 9.86116858e-01 -5.80947180e-02 2.48101998e+00] [ 3.55216067e-01 -9.64384461e-04 9.34783727e-01 5.26997862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.95538475 meters Centerline goodness : 0.962776 Centerline is valid? [True, True] Translation: X:33.23, Y:2.49, Z:5.28 [[ 9.21946879e-01 -1.64864891e-01 -3.50476133e-01 3.32293952e+01] [ 1.54248364e-01 9.86316080e-01 -5.82068040e-02 2.48714231e+00] [ 3.55276504e-01 -3.96788846e-04 9.34761172e-01 5.27944013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.98538475 meters Centerline goodness : 0.963878 Centerline is valid? [True, True] Translation: X:33.26, Y:2.49, Z:5.29 [[ 9.22896235e-01 -1.61551259e-01 -3.49519284e-01 3.32550051e+01] [ 1.50725095e-01 9.86863828e-01 -5.81526458e-02 2.49242820e+00] [ 3.54322572e-01 9.87530482e-04 9.35122740e-01 5.28913825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.01538475 meters Centerline goodness : 0.963818 Centerline is valid? [True, True] Translation: X:33.28, Y:2.50, Z:5.30 [[ 9.23149921e-01 -1.60830196e-01 -3.49181716e-01 3.32803907e+01] [ 1.49935577e-01 9.86981133e-01 -5.82027975e-02 2.49702541e+00] [ 3.53996533e-01 1.37514593e-03 9.35245724e-01 5.29880979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.04538475 meters Centerline goodness : 0.963038 Centerline is valid? [True, True] Translation: X:33.31, Y:2.50, Z:5.31 [[ 9.23414090e-01 -1.59478210e-01 -3.49103306e-01 3.33065524e+01] [ 1.48475634e-01 9.87199527e-01 -5.82415580e-02 2.50215023e+00] [ 3.53922878e-01 1.94774057e-03 9.35272582e-01 5.30781350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.07538475 meters Centerline goodness : 0.963971 Centerline is valid? [True, True] Translation: X:33.33, Y:2.51, Z:5.32 [[ 9.23635475e-01 -1.57937572e-01 -3.49218031e-01 3.33322705e+01] [ 1.46778979e-01 9.87445526e-01 -5.83717789e-02 2.50968939e+00] [ 3.54052880e-01 2.65637971e-03 9.35221633e-01 5.31632799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.10538475 meters Centerline goodness : 0.963907 Centerline is valid? [True, True] Translation: X:33.36, Y:2.52, Z:5.32 [[ 9.23584949e-01 -1.57839447e-01 -3.49395981e-01 3.33574058e+01] [ 1.46621270e-01 9.87460791e-01 -5.85097372e-02 2.51538533e+00] [ 3.54249976e-01 2.80983037e-03 9.35146544e-01 5.32486978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.13538475000001 meters Centerline goodness : 0.961121 Centerline is valid? [True, True] Translation: X:33.38, Y:2.52, Z:5.33 [[ 9.22843080e-01 -1.57207945e-01 -3.51633775e-01 3.33828885e+01] [ 1.45765888e-01 9.87560476e-01 -5.89628000e-02 2.52133163e+00] [ 3.56529039e-01 3.15720256e-03 9.34278907e-01 5.33404894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.16538475000002 meters Centerline goodness : 0.960076 Centerline is valid? [True, True] Translation: X:33.41, Y:2.53, Z:5.34 [[ 9.22708398e-01 -1.55606016e-01 -3.52698142e-01 3.34088842e+01] [ 1.43937488e-01 9.87811486e-01 -5.92491944e-02 2.52689060e+00] [ 3.57618807e-01 3.90324454e-03 9.33859493e-01 5.34448093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19538475000002 meters Centerline goodness : 0.961558 Centerline is valid? [True, True] Translation: X:33.43, Y:2.53, Z:5.35 [[ 9.22738973e-01 -1.55721915e-01 -3.52566977e-01 3.34339015e+01] [ 1.44030414e-01 9.87792966e-01 -5.93320912e-02 2.53168093e+00] [ 3.57502486e-01 3.96766525e-03 9.33903758e-01 5.35414771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.22538475000002 meters Centerline goodness : 0.959309 Centerline is valid? [True, True] Translation: X:33.46, Y:2.54, Z:5.36 [[ 9.22798101e-01 -1.55161370e-01 -3.52659347e-01 3.34593043e+01] [ 1.43405058e-01 9.87880046e-01 -5.93969964e-02 2.53612649e+00] [ 3.57601251e-01 4.23830131e-03 9.33864756e-01 5.36289693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25538475 meters Centerline goodness : 0.960387 Centerline is valid? [True, True] Translation: X:33.49, Y:2.54, Z:5.37 [[ 9.23010484e-01 -1.55898977e-01 -3.51777138e-01 3.34856286e+01] [ 1.44226469e-01 9.87764818e-01 -5.93244391e-02 2.54127054e+00] [ 3.56721700e-01 4.02150473e-03 9.34202043e-01 5.37169207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.28538475 meters Centerline goodness : 0.959308 Centerline is valid? [True, True] Translation: X:33.51, Y:2.55, Z:5.38 [[ 9.23179478e-01 -1.56815798e-01 -3.50925145e-01 3.35106701e+01] [ 1.45223781e-01 9.87620657e-01 -5.92915816e-02 2.54623014e+00] [ 3.55878779e-01 3.77409490e-03 9.34524505e-01 5.37956969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.31538475 meters Centerline goodness : 0.961366 Centerline is valid? [True, True] Translation: X:33.54, Y:2.55, Z:5.39 [[ 9.24239461e-01 -1.57328406e-01 -3.47892500e-01 3.35365781e+01] [ 1.45949458e-01 9.87539694e-01 -5.88566818e-02 2.55012744e+00] [ 3.52817481e-01 3.62294625e-03 9.35685150e-01 5.38874499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.34538475 meters Centerline goodness : 0.960957 Centerline is valid? [True, True] Translation: X:33.56, Y:2.56, Z:5.40 [[ 9.24665647e-01 -1.57453762e-01 -3.46701246e-01 3.35627637e+01] [ 1.46123398e-01 9.87519521e-01 -5.87634962e-02 2.55514157e+00] [ 3.51626782e-01 3.67542210e-03 9.36133056e-01 5.39808828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.37538475 meters Centerline goodness : 0.961254 Centerline is valid? [True, True] Translation: X:33.59, Y:2.56, Z:5.41 [[ 9.25180324e-01 -1.57874675e-01 -3.45133242e-01 3.35880834e+01] [ 1.46639895e-01 9.87452570e-01 -5.86017377e-02 2.55980916e+00] [ 3.50054437e-01 3.60687228e-03 9.36722414e-01 5.40602543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.40538475 meters Centerline goodness : 0.960868 Centerline is valid? [True, True] Translation: X:33.61, Y:2.56, Z:5.42 [[ 9.24623809e-01 -1.61075128e-01 -3.45145787e-01 3.36139785e+01] [ 1.50036401e-01 9.86939111e-01 -5.86538086e-02 2.56342069e+00] [ 3.50085546e-01 2.44827623e-03 9.36714533e-01 5.41571364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.43538475 meters Centerline goodness : 0.960399 Centerline is valid? [True, True] Translation: X:33.64, Y:2.57, Z:5.43 [[ 9.23490724e-01 -1.62288542e-01 -3.47602231e-01 3.36385850e+01] [ 1.51129558e-01 9.86741076e-01 -5.91769103e-02 2.56710724e+00] [ 3.52597134e-01 2.11635634e-03 9.35772826e-01 5.42544790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.46538475 meters Centerline goodness : 0.962437 Centerline is valid? [True, True] Translation: X:33.66, Y:2.57, Z:5.43 [[ 9.22896477e-01 -1.61441645e-01 -3.49569290e-01 3.36649328e+01] [ 1.50072923e-01 9.86879068e-01 -5.95636068e-02 2.57355306e+00] [ 3.54598661e-01 2.51015760e-03 9.35015234e-01 5.43355113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.49538475 meters Centerline goodness : 0.958842 Centerline is valid? [True, True] Translation: X:33.69, Y:2.58, Z:5.44 [[ 9.22446880e-01 -1.60672724e-01 -3.51106864e-01 3.36921520e+01] [ 1.49104762e-01 9.87003376e-01 -5.99341701e-02 2.57983855e+00] [ 3.56173447e-01 2.93438284e-03 9.34415253e-01 5.43922226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.52538475 meters Centerline goodness : 0.960393 Centerline is valid? [True, True] Translation: X:33.72, Y:2.58, Z:5.45 [[ 9.22552123e-01 -1.60148779e-01 -3.51069721e-01 3.37174211e+01] [ 1.48507173e-01 9.87087551e-01 -6.00315461e-02 2.58418354e+00] [ 3.56150529e-01 3.24585870e-03 9.34422958e-01 5.44779573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.55538475 meters Centerline goodness : 0.960521 Centerline is valid? [True, True] Translation: X:33.74, Y:2.59, Z:5.46 [[ 9.22052141e-01 -1.59850334e-01 -3.52516268e-01 3.37429811e+01] [ 1.48068057e-01 9.87135298e-01 -6.03303725e-02 2.58732359e+00] [ 3.57625082e-01 3.43135026e-03 9.33858944e-01 5.45888676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.58538475 meters Centerline goodness : 0.961703 Centerline is valid? [True, True] Translation: X:33.77, Y:2.59, Z:5.47 [[ 9.22401479e-01 -1.59765934e-01 -3.51639527e-01 3.37690823e+01] [ 1.47997596e-01 9.87148479e-01 -6.02875834e-02 2.59159091e+00] [ 3.56752327e-01 3.56755136e-03 9.34192191e-01 5.46852353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.61538475 meters Centerline goodness : 0.962514 Centerline is valid? [True, True] Translation: X:33.79, Y:2.59, Z:5.48 [[ 9.23234464e-01 -1.59162645e-01 -3.49721856e-01 3.37940525e+01] [ 1.47445670e-01 9.87244720e-01 -6.00636069e-02 2.59468075e+00] [ 3.54820939e-01 3.88781842e-03 9.34926193e-01 5.47845076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.64538475 meters Centerline goodness : 0.962066 Centerline is valid? [True, True] Translation: X:33.82, Y:2.60, Z:5.49 [[ 9.23300287e-01 -1.59267227e-01 -3.49500400e-01 3.38198118e+01] [ 1.47553339e-01 9.87227808e-01 -6.00771697e-02 2.59910337e+00] [ 3.54604839e-01 3.89931692e-03 9.35008130e-01 5.48774735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.67538475 meters Centerline goodness : 0.962669 Centerline is valid? [True, True] Translation: X:33.85, Y:2.61, Z:5.49 [[ 9.23355584e-01 -1.60941626e-01 -3.48586084e-01 3.38454429e+01] [ 1.49365624e-01 9.86958205e-01 -6.00284298e-02 2.60511053e+00] [ 3.53700969e-01 3.36080804e-03 9.35352516e-01 5.49458038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.70538475 meters Centerline goodness : 0.961223 Centerline is valid? [True, True] Translation: X:33.87, Y:2.61, Z:5.50 [[ 9.22808780e-01 -1.61891015e-01 -3.49592985e-01 3.38715647e+01] [ 1.50291138e-01 9.86803890e-01 -6.02549320e-02 2.60938841e+00] [ 3.54734449e-01 3.06305286e-03 9.34962078e-01 5.50364172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.73538475 meters Centerline goodness : 0.963841 Centerline is valid? [True, True] Translation: X:33.90, Y:2.61, Z:5.51 [[ 9.22644969e-01 -1.62898826e-01 -3.49557195e-01 3.38974284e+01] [ 1.51329456e-01 9.86638829e-01 -6.03590667e-02 2.61181198e+00] [ 3.54719123e-01 2.79168911e-03 9.34968743e-01 5.51450201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.76538475 meters Centerline goodness : 0.962864 Centerline is valid? [True, True] Translation: X:33.92, Y:2.62, Z:5.52 [[ 9.22677589e-01 -1.63804405e-01 -3.49047537e-01 3.39234790e+01] [ 1.52290693e-01 9.86489525e-01 -6.03818053e-02 2.61528303e+00] [ 3.54222545e-01 2.55624732e-03 9.35157663e-01 5.52442039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.79538475 meters Centerline goodness : 0.961997 Centerline is valid? [True, True] Translation: X:33.95, Y:2.62, Z:5.53 [[ 9.22763666e-01 -1.63777894e-01 -3.48832365e-01 3.39499949e+01] [ 1.52235412e-01 9.86493596e-01 -6.04546462e-02 2.62007624e+00] [ 3.54022029e-01 2.68071226e-03 9.35233242e-01 5.53277197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.82538475 meters Centerline goodness : 0.961760 Centerline is valid? [True, True] Translation: X:33.97, Y:2.62, Z:5.54 [[ 9.22694616e-01 -1.63838864e-01 -3.48986349e-01 3.39745692e+01] [ 1.52249750e-01 9.86483223e-01 -6.05876605e-02 2.62449542e+00] [ 3.54195792e-01 2.77082382e-03 9.35167185e-01 5.54199504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.85538475 meters Centerline goodness : 0.962326 Centerline is valid? [True, True] Translation: X:34.00, Y:2.63, Z:5.55 [[ 9.23163713e-01 -1.63763151e-01 -3.47779226e-01 3.40006066e+01] [ 1.52232495e-01 9.86495589e-01 -6.04294587e-02 2.62894073e+00] [ 3.52978791e-01 2.84298416e-03 9.35627004e-01 5.55037620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.88538475000001 meters Centerline goodness : 0.959124 Centerline is valid? [True, True] Translation: X:34.03, Y:2.63, Z:5.56 [[ 9.23426634e-01 -1.63476686e-01 -3.47215532e-01 3.40257250e+01] [ 1.51925589e-01 9.86542458e-01 -6.04366861e-02 2.63317694e+00] [ 3.52422854e-01 3.05792134e-03 9.35835873e-01 5.55921115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.91538475000002 meters Centerline goodness : 0.960521 Centerline is valid? [True, True] Translation: X:34.05, Y:2.64, Z:5.57 [[ 9.23400084e-01 -1.63423642e-01 -3.47311098e-01 3.40520575e+01] [ 1.51843212e-01 9.86551012e-01 -6.05040392e-02 2.63758458e+00] [ 3.52527906e-01 3.13260203e-03 9.35796058e-01 5.56874714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.94538475000002 meters Centerline goodness : 0.956946 Centerline is valid? [True, True] Translation: X:34.08, Y:2.64, Z:5.58 [[ 9.22996169e-01 -1.63491234e-01 -3.48351387e-01 3.40773683e+01] [ 1.51803533e-01 9.86539504e-01 -6.07905744e-02 2.64263937e+00] [ 3.53601130e-01 3.22849589e-03 9.35390730e-01 5.57681514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97538475000002 meters Centerline goodness : 0.955280 Centerline is valid? [True, True] Translation: X:34.10, Y:2.65, Z:5.59 [[ 9.22958000e-01 -1.63356401e-01 -3.48515733e-01 3.41026020e+01] [ 1.51630076e-01 9.86561496e-01 -6.08665313e-02 2.64690973e+00] [ 3.53775141e-01 3.33178507e-03 9.35324569e-01 5.58573306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.00538475 meters Centerline goodness : 0.955627 Centerline is valid? [True, True] Translation: X:34.13, Y:2.65, Z:5.60 [[ 9.23276039e-01 -1.64244649e-01 -3.47253583e-01 3.41285832e+01] [ 1.52648245e-01 9.86414976e-01 -6.06960308e-02 2.65117823e+00] [ 3.52505133e-01 3.03154094e-03 9.35804970e-01 5.59502899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03538475 meters Centerline goodness : 0.956260 Centerline is valid? [True, True] Translation: X:34.15, Y:2.65, Z:5.61 [[ 9.23475352e-01 -1.65337939e-01 -3.46203177e-01 3.41534803e+01] [ 1.53849095e-01 9.86233234e-01 -6.06173606e-02 2.65468597e+00] [ 3.51459429e-01 2.71559287e-03 9.36199175e-01 5.60507821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.06538475 meters Centerline goodness : 0.954200 Centerline is valid? [True, True] Translation: X:34.18, Y:2.66, Z:5.62 [[ 9.23272742e-01 -1.70006994e-01 -3.44477962e-01 3.41795757e+01] [ 1.58932135e-01 9.85442364e-01 -6.03649237e-02 2.66000027e+00] [ 3.49725636e-01 9.84670631e-04 9.36851648e-01 5.61509084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.09538475 meters Centerline goodness : 0.954738 Centerline is valid? [True, True] Translation: X:34.21, Y:2.67, Z:5.62 [[ 9.22855372e-01 -1.70216495e-01 -3.45491399e-01 3.42056030e+01] [ 1.59048705e-01 9.85406163e-01 -6.06481987e-02 2.66534022e+00] [ 3.50772677e-01 1.01955642e-03 9.36460084e-01 5.62377934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.12538475 meters Centerline goodness : 0.951313 Centerline is valid? [True, True] Translation: X:34.23, Y:2.67, Z:5.63 [[ 9.22087019e-01 -1.71349083e-01 -3.46979856e-01 3.42321132e+01] [ 1.60116926e-01 9.85210124e-01 -6.10211562e-02 2.67118769e+00] [ 3.52303986e-01 7.09467961e-04 9.35885355e-01 5.63129099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.15538475 meters Centerline goodness : 0.950134 Centerline is valid? [True, True] Translation: X:34.26, Y:2.68, Z:5.64 [[ 9.21976128e-01 -1.71735475e-01 -3.47083487e-01 3.42575201e+01] [ 1.60481638e-01 9.85142867e-01 -6.11488004e-02 2.67682878e+00] [ 3.52428239e-01 6.77207795e-04 9.35838596e-01 5.63937752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.18538475 meters Centerline goodness : 0.949743 Centerline is valid? [True, False] Translation: X:34.26, Y:2.68, Z:5.64 [[ 9.22100942e-01 -1.71208452e-01 -3.47012274e-01 3.42580010e+01] [ 1.60076140e-01 9.85234725e-01 -6.07302795e-02 2.67655739e+00] [ 3.52286079e-01 4.51062536e-04 9.35892256e-01 5.63876629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.21538475 meters Centerline goodness : 0.947102 Centerline is valid? [False, False] Translation: X:34.26, Y:2.68, Z:5.64 [[ 9.22043019e-01 -1.70808926e-01 -3.47362897e-01 3.42580618e+01] [ 1.59548429e-01 9.85303830e-01 -6.09972283e-02 2.67582154e+00] [ 3.52676863e-01 8.20864098e-04 9.35744814e-01 5.63960055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.24538475 meters Centerline goodness : 0.947370 Centerline is valid? [False, False] Translation: X:34.26, Y:2.68, Z:5.64 [[ 9.22037123e-01 -1.70646345e-01 -3.47458442e-01 3.42572984e+01] [ 1.58911103e-01 9.85329975e-01 -6.22262132e-02 2.67629962e+00] [ 3.52979894e-01 2.15987424e-03 9.35628414e-01 5.64045350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.27538475 meters Centerline goodness : 0.949807 Centerline is valid? [False, False] Translation: X:34.26, Y:2.68, Z:5.64 [[ 9.22339262e-01 -1.69032098e-01 -3.47445586e-01 3.42551981e+01] [ 1.58005950e-01 9.85610425e-01 -6.00517243e-02 2.67649311e+00] [ 3.52596660e-01 4.89593160e-04 9.35775270e-01 5.64163531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.30538475 meters Centerline goodness : 0.945905 Centerline is valid? [False, False] Translation: X:34.26, Y:2.68, Z:5.64 [[ 9.22486472e-01 -1.67982310e-01 -3.47563883e-01 3.42580808e+01] [ 1.56228233e-01 9.85786307e-01 -6.17907410e-02 2.67916027e+00] [ 3.53003468e-01 2.70183125e-03 9.35618112e-01 5.63913165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.33538475 meters Centerline goodness : 0.944518 Centerline is valid? [False, False] Translation: X:34.26, Y:2.68, Z:5.64 [[ 9.22995665e-01 -1.63835010e-01 -3.48191170e-01 3.42581943e+01] [ 1.53222230e-01 9.86487736e-01 -5.80077148e-02 2.67869029e+00] [ 3.52990014e-01 1.90241852e-04 9.35627070e-01 5.63934857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.36538475 meters Centerline goodness : 0.945374 Centerline is valid? [False, False] Translation: X:34.26, Y:2.68, Z:5.64 [[ 9.23561421e-01 -1.58864350e-01 -3.48993439e-01 3.42583594e+01] [ 1.49195328e-01 9.87299057e-01 -5.46015243e-02 2.67963065e+00] [ 3.53235129e-01 -1.64032927e-03 9.35533138e-01 5.63973682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.39538475 meters Centerline goodness : 0.942182 Centerline is valid? [False, False] Translation: X:34.26, Y:2.68, Z:5.64 [[ 9.23690994e-01 -1.57360354e-01 -3.49331744e-01 3.42574018e+01] [ 1.47679248e-01 9.87540289e-01 -5.43600693e-02 2.68009606e+00] [ 3.53533291e-01 -1.37714292e-03 9.35420930e-01 5.64097932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.42538475 meters Centerline goodness : 0.942550 Centerline is valid? [False, False] Translation: X:34.26, Y:2.68, Z:5.64 [[ 9.23864377e-01 -1.60402552e-01 -3.47484725e-01 3.42580481e+01] [ 1.47798896e-01 9.87030025e-01 -6.26675016e-02 2.68294317e+00] [ 3.53029884e-01 6.53841358e-03 9.35589199e-01 5.63597273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.45538475 meters Centerline goodness : 0.942710 Centerline is valid? [False, False] Translation: X:34.26, Y:2.68, Z:5.64 [[ 9.23918739e-01 -1.59849867e-01 -3.47594857e-01 3.42561844e+01] [ 1.46643019e-01 9.87106370e-01 -6.41625978e-02 2.68413911e+00] [ 3.53369480e-01 8.30866723e-03 9.35446939e-01 5.63771590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.48538475 meters Centerline goodness : 0.941665 Centerline is valid? [False, False] Translation: X:34.25, Y:2.68, Z:5.64 [[ 9.24783484e-01 -1.55612763e-01 -3.47217764e-01 3.42540406e+01] [ 1.43993731e-01 9.87806753e-01 -5.91914227e-02 2.68264605e+00] [ 3.52194993e-01 4.74206878e-03 9.35914633e-01 5.63767577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.51538475 meters Centerline goodness : 0.944082 Centerline is valid? [False, False] Translation: X:34.25, Y:2.68, Z:5.64 [[ 9.24819825e-01 -1.55160709e-01 -3.47323259e-01 3.42544838e+01] [ 1.43797156e-01 9.87880766e-01 -5.84291958e-02 2.68244078e+00] [ 3.52179882e-01 4.09238174e-03 9.35923385e-01 5.63754255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.54538475 meters Centerline goodness : 0.945418 Centerline is valid? [False, False] Translation: X:34.26, Y:2.68, Z:5.63 [[ 9.24315156e-01 -1.60340715e-01 -3.46312500e-01 3.42570467e+01] [ 1.46993630e-01 9.87021987e-01 -6.46565476e-02 2.68287206e+00] [ 3.52185129e-01 8.85729528e-03 9.35888446e-01 5.63473183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.57538475 meters Centerline goodness : 0.946561 Centerline is valid? [False, False] Translation: X:34.26, Y:2.68, Z:5.64 [[ 9.24381706e-01 -1.60358627e-01 -3.46126527e-01 3.42557084e+01] [ 1.47324938e-01 9.87026306e-01 -6.38312969e-02 2.68108972e+00] [ 3.51871886e-01 8.01141395e-03 9.36013885e-01 5.63555007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.60538475 meters Centerline goodness : 0.949293 Centerline is valid? [False, False] Translation: X:34.25, Y:2.68, Z:5.64 [[ 9.24382317e-01 -1.60320643e-01 -3.46142489e-01 3.42547007e+01] [ 1.47346649e-01 9.87033788e-01 -6.36652695e-02 2.67989173e+00] [ 3.51861189e-01 7.84811365e-03 9.36019290e-01 5.63645818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.63538475000001 meters Centerline goodness : 0.950006 Centerline is valid? [False, True] Translation: X:34.25, Y:2.68, Z:5.64 [[ 9.24395665e-01 -1.59779034e-01 -3.46357207e-01 3.42539755e+01] [ 1.46862894e-01 9.87122401e-01 -6.34086428e-02 2.67872033e+00] [ 3.52028329e-01 7.74765266e-03 9.35957280e-01 5.63760608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.66538475000002 meters Centerline goodness : 0.950640 Centerline is valid? [True, True] Translation: X:34.28, Y:2.68, Z:5.65 [[ 9.24060940e-01 -1.58871712e-01 -3.47665296e-01 3.42789853e+01] [ 1.46995208e-01 9.87287747e-01 -6.04591947e-02 2.68187101e+00] [ 3.52850942e-01 4.76284775e-03 9.35667424e-01 5.64873452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69538475000002 meters Centerline goodness : 0.950986 Centerline is valid? [True, True] Translation: X:34.31, Y:2.69, Z:5.66 [[ 9.23621287e-01 -1.59393325e-01 -3.48593582e-01 3.43051876e+01] [ 1.47467583e-01 9.87204296e-01 -6.06711585e-02 2.68682076e+00] [ 3.53803660e-01 4.63092045e-03 9.35308251e-01 5.65822923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.72538475000002 meters Centerline goodness : 0.950986 Centerline is valid? [True, True] Translation: X:34.33, Y:2.69, Z:5.67 [[ 9.23579688e-01 -1.59673901e-01 -3.48575395e-01 3.43318137e+01] [ 1.47728105e-01 9.87158927e-01 -6.07754870e-02 2.69167765e+00] [ 3.53803572e-01 4.63662277e-03 9.35308256e-01 5.66766484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.75538475 meters Centerline goodness : 0.951259 Centerline is valid? [True, True] Translation: X:34.36, Y:2.70, Z:5.68 [[ 9.23419116e-01 -1.59638917e-01 -3.49016551e-01 3.43582245e+01] [ 1.47620602e-01 9.87163976e-01 -6.09544216e-02 2.69668439e+00] [ 3.54267265e-01 4.76444471e-03 9.35132079e-01 5.67684528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.78538475 meters Centerline goodness : 0.946962 Centerline is valid? [True, False] Translation: X:34.36, Y:2.70, Z:5.67 [[ 9.23574444e-01 -1.59445409e-01 -3.48693858e-01 3.43598778e+01] [ 1.47677787e-01 9.87197976e-01 -6.02613283e-02 2.69707881e+00] [ 3.53838263e-01 4.16148537e-03 9.35297367e-01 5.67487045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.81538475 meters Centerline goodness : 0.946952 Centerline is valid? [False, False] Translation: X:34.36, Y:2.70, Z:5.68 [[ 9.23417369e-01 -1.59693030e-01 -3.48996416e-01 3.43603571e+01] [ 1.48236284e-01 9.87161560e-01 -5.94815883e-02 2.69554499e+00] [ 3.54014642e-01 3.19240003e-03 9.35234432e-01 5.67541361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.84538475 meters Centerline goodness : 0.948550 Centerline is valid? [False, False] Translation: X:34.36, Y:2.70, Z:5.68 [[ 9.23283610e-01 -1.59215184e-01 -3.49568164e-01 3.43612952e+01] [ 1.47788336e-01 9.87239043e-01 -5.93100276e-02 2.69563888e+00] [ 3.54550396e-01 3.09787915e-03 9.35031775e-01 5.67600732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.87538475 meters Centerline goodness : 0.948035 Centerline is valid? [False, False] Translation: X:34.36, Y:2.70, Z:5.68 [[ 9.23108528e-01 -1.57818428e-01 -3.50662216e-01 3.43625826e+01] [ 1.46396692e-01 9.87463105e-01 -5.90307122e-02 2.69550489e+00] [ 3.55582135e-01 3.15596543e-03 9.34639709e-01 5.67725268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.90538475 meters Centerline goodness : 0.952308 Centerline is valid? [False, True] Translation: X:34.36, Y:2.69, Z:5.68 [[ 9.22955938e-01 -1.57928008e-01 -3.51014359e-01 3.43617707e+01] [ 1.46448937e-01 9.87445341e-01 -5.91980334e-02 2.69410144e+00] [ 3.55956521e-01 3.23149677e-03 9.34496930e-01 5.67890599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.93538475 meters Centerline goodness : 0.950344 Centerline is valid? [True, True] Translation: X:34.39, Y:2.70, Z:5.69 [[ 9.22192698e-01 -1.59780827e-01 -3.52179947e-01 3.43880104e+01] [ 1.48094158e-01 9.87147193e-01 -6.00711194e-02 2.69695895e+00] [ 3.57251659e-01 3.24135482e-03 9.34002540e-01 5.68917651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.96538475 meters Centerline goodness : 0.952109 Centerline is valid? [True, True] Translation: X:34.41, Y:2.70, Z:5.70 [[ 9.21950542e-01 -1.60792513e-01 -3.52353466e-01 3.44130957e+01] [ 1.49125165e-01 9.86983787e-01 -6.02053868e-02 2.70106965e+00] [ 3.57447734e-01 2.96161998e-03 9.33928448e-01 5.69720437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.99538475 meters Centerline goodness : 0.952146 Centerline is valid? [True, True] Translation: X:34.44, Y:2.71, Z:5.71 [[ 9.21720069e-01 -1.62205986e-01 -3.52308576e-01 3.44389512e+01] [ 1.50621468e-01 9.86753832e-01 -6.02498773e-02 2.70617058e+00] [ 3.57414729e-01 2.46828628e-03 9.33942514e-01 5.70569669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.02538475 meters Centerline goodness : 0.950052 Centerline is valid? [True, True] Translation: X:34.46, Y:2.71, Z:5.71 [[ 9.21563334e-01 -1.63734019e-01 -3.52011637e-01 3.44645538e+01] [ 1.52237328e-01 9.86502525e-01 -6.03039249e-02 2.70969076e+00] [ 3.57134173e-01 1.98457489e-03 9.34050986e-01 5.71367625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.05538475 meters Centerline goodness : 0.952030 Centerline is valid? [True, True] Translation: X:34.49, Y:2.71, Z:5.72 [[ 9.21522826e-01 -1.64644495e-01 -3.51692864e-01 3.44907838e+01] [ 1.53204465e-01 9.86351492e-01 -6.03251683e-02 2.71384740e+00] [ 3.56824988e-01 1.71010242e-03 9.34169687e-01 5.72359513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.08538475 meters Centerline goodness : 0.952628 Centerline is valid? [True, True] Translation: X:34.52, Y:2.72, Z:5.73 [[ 9.21822196e-01 -1.65795327e-01 -3.50365165e-01 3.45172036e+01] [ 1.54483695e-01 9.86159228e-01 -6.02060220e-02 2.71622271e+00] [ 3.55497718e-01 1.37354215e-03 9.34676140e-01 5.73454177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.11538475 meters Centerline goodness : 0.954015 Centerline is valid? [True, True] Translation: X:34.54, Y:2.72, Z:5.74 [[ 9.21382765e-01 -1.66508178e-01 -3.51182042e-01 3.45428529e+01] [ 1.55151941e-01 9.86039329e-01 -6.04509489e-02 2.71901315e+00] [ 3.56344882e-01 1.21188678e-03 9.34353710e-01 5.74427885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.14538475 meters Centerline goodness : 0.954287 Centerline is valid? [True, True] Translation: X:34.57, Y:2.72, Z:5.75 [[ 9.21017536e-01 -1.66738982e-01 -3.52029558e-01 3.45677554e+01] [ 1.55323988e-01 9.86000370e-01 -6.06442869e-02 2.72294164e+00] [ 3.57213041e-01 1.17581694e-03 9.34022195e-01 5.75357243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.17538475 meters Centerline goodness : 0.954617 Centerline is valid? [True, True] Translation: X:34.59, Y:2.73, Z:5.76 [[ 9.19766680e-01 -1.68555322e-01 -3.54426803e-01 3.45947466e+01] [ 1.57089051e-01 9.85692053e-01 -6.11081501e-02 2.72681679e+00] [ 3.59655787e-01 5.28670144e-04 9.33084903e-01 5.76140106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.20538475 meters Centerline goodness : 0.956327 Centerline is valid? [True, True] Translation: X:34.62, Y:2.73, Z:5.77 [[ 9.19691346e-01 -1.70701527e-01 -3.53594141e-01 3.46214048e+01] [ 1.59402389e-01 9.85322765e-01 -6.10731345e-02 2.73129771e+00] [ 3.58829634e-01 -1.95317610e-04 9.33403051e-01 5.76948254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.23538475 meters Centerline goodness : 0.957811 Centerline is valid? [True, True] Translation: X:34.65, Y:2.74, Z:5.78 [[ 9.19915276e-01 -1.72203057e-01 -3.52281126e-01 3.46477840e+01] [ 1.61055223e-01 9.85061251e-01 -6.09552927e-02 2.73508295e+00] [ 3.57515175e-01 -6.63010427e-04 9.33907094e-01 5.77810228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.26538475 meters Centerline goodness : 0.958404 Centerline is valid? [True, True] Translation: X:34.67, Y:2.74, Z:5.79 [[ 9.19924133e-01 -1.72539411e-01 -3.52093371e-01 3.46730343e+01] [ 1.61388080e-01 9.85002377e-01 -6.10262565e-02 2.73853001e+00] [ 3.57342242e-01 -6.84147056e-04 9.33973262e-01 5.78749940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.29538475 meters Centerline goodness : 0.962300 Centerline is valid? [True, True] Translation: X:34.70, Y:2.74, Z:5.80 [[ 9.20348889e-01 -1.73513331e-01 -3.50501137e-01 3.46989639e+01] [ 1.62514772e-01 9.84831010e-01 -6.08015689e-02 2.74035696e+00] [ 3.55734272e-01 -1.00295601e-03 9.34586605e-01 5.79797828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.32538475 meters Centerline goodness : 0.962133 Centerline is valid? [True, True] Translation: X:34.72, Y:2.74, Z:5.81 [[ 9.20467584e-01 -1.73790535e-01 -3.50051821e-01 3.47244329e+01] [ 1.62801418e-01 9.84782133e-01 -6.08263834e-02 2.74415457e+00] [ 3.55295828e-01 -1.00021866e-03 9.34753376e-01 5.80759463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.35538475 meters Centerline goodness : 0.964099 Centerline is valid? [True, True] Translation: X:34.75, Y:2.75, Z:5.82 [[ 9.20713098e-01 -1.74472400e-01 -3.49065571e-01 3.47511588e+01] [ 1.63575243e-01 9.84661326e-01 -6.07059469e-02 2.74836682e+00] [ 3.54302881e-01 -1.20572532e-03 9.35129946e-01 5.81584113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.38538475000001 meters Centerline goodness : 0.963371 Centerline is valid? [True, True] Translation: X:34.78, Y:2.75, Z:5.82 [[ 9.20543545e-01 -1.75193992e-01 -3.49151324e-01 3.47759775e+01] [ 1.64300544e-01 9.84532980e-01 -6.08288029e-02 2.75232371e+00] [ 3.54407834e-01 -1.37019062e-03 9.35089948e-01 5.82493117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.41538475000002 meters Centerline goodness : 0.965442 Centerline is valid? [True, True] Translation: X:34.80, Y:2.76, Z:5.83 [[ 9.20953533e-01 -1.76282880e-01 -3.47518254e-01 3.48024920e+01] [ 1.65540542e-01 9.84338081e-01 -6.06207145e-02 2.75585241e+00] [ 3.52761845e-01 -1.69949888e-03 9.35711597e-01 5.83417894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.44538475000002 meters Centerline goodness : 0.961850 Centerline is valid? [True, True] Translation: X:34.83, Y:2.76, Z:5.84 [[ 9.21582513e-01 -1.77770625e-01 -3.45084448e-01 3.48279706e+01] [ 1.67245532e-01 9.84069616e-01 -6.02986107e-02 2.76147231e+00] [ 3.50306442e-01 -2.14368695e-03 9.36632693e-01 5.84198803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47538475000002 meters Centerline goodness : 0.961384 Centerline is valid? [True, True] Translation: X:34.85, Y:2.77, Z:5.85 [[ 9.21671866e-01 -1.77355681e-01 -3.45059319e-01 3.48536206e+01] [ 1.66785406e-01 9.84144920e-01 -6.03440477e-02 2.76635477e+00] [ 3.50290736e-01 -1.93344741e-03 9.36639025e-01 5.85144290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.50538475 meters Centerline goodness : 0.959231 Centerline is valid? [True, True] Translation: X:34.88, Y:2.77, Z:5.86 [[ 9.21286159e-01 -1.77353344e-01 -3.46089011e-01 3.48790902e+01] [ 1.66679244e-01 9.84145537e-01 -6.06266624e-02 2.77084438e+00] [ 3.51354297e-01 -1.83134972e-03 9.36240783e-01 5.85955253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.53538475 meters Centerline goodness : 0.961380 Centerline is valid? [True, True] Translation: X:34.90, Y:2.77, Z:5.87 [[ 9.20701865e-01 -1.77246940e-01 -3.47694690e-01 3.49040896e+01] [ 1.66445508e-01 9.84164851e-01 -6.09543922e-02 2.77496763e+00] [ 3.52992872e-01 -1.75139680e-03 9.35624372e-01 5.86852220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.56538475 meters Centerline goodness : 0.959291 Centerline is valid? [True, True] Translation: X:34.93, Y:2.78, Z:5.88 [[ 9.20326638e-01 -1.77428692e-01 -3.48594233e-01 3.49301926e+01] [ 1.66562992e-01 9.84132061e-01 -6.11625315e-02 2.77937399e+00] [ 3.53914749e-01 -1.77339165e-03 9.35276005e-01 5.87793564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.59538475 meters Centerline goodness : 0.957170 Centerline is valid? [True, True] Translation: X:34.96, Y:2.79, Z:5.89 [[ 9.19915676e-01 -1.78204925e-01 -3.49282341e-01 3.49564388e+01] [ 1.67308411e-01 9.83991436e-01 -6.13901347e-02 2.78592362e+00] [ 3.54630857e-01 -1.96412618e-03 9.35004330e-01 5.88524377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.62538475 meters Centerline goodness : 0.956955 Centerline is valid? [True, True] Translation: X:34.98, Y:2.79, Z:5.89 [[ 9.19613775e-01 -1.78240147e-01 -3.50058503e-01 3.49821571e+01] [ 1.67256756e-01 9.83985233e-01 -6.16298577e-02 2.79206148e+00] [ 3.55437312e-01 -1.87398350e-03 9.34698243e-01 5.89323310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.65538475 meters Centerline goodness : 0.953620 Centerline is valid? [True, True] Translation: X:35.01, Y:2.80, Z:5.90 [[ 9.20115703e-01 -1.77914550e-01 -3.48903290e-01 3.50081426e+01] [ 1.66964001e-01 9.84044493e-01 -6.14773045e-02 2.80037591e+00] [ 3.54274068e-01 -1.68805590e-03 9.35140115e-01 5.90124332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.68538475 meters Centerline goodness : 0.953838 Centerline is valid? [True, True] Translation: X:35.03, Y:2.81, Z:5.91 [[ 9.21221361e-01 -1.75134345e-01 -3.47389070e-01 3.50329337e+01] [ 1.64051401e-01 9.84544415e-01 -6.13142105e-02 2.80715579e+00] [ 3.52758193e-01 -5.05703007e-04 9.35714380e-01 5.91063999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.71538475 meters Centerline goodness : 0.954712 Centerline is valid? [True, True] Translation: X:35.06, Y:2.81, Z:5.92 [[ 9.21505333e-01 -1.73870587e-01 -3.47270701e-01 3.50584738e+01] [ 1.62689550e-01 9.84768510e-01 -6.13440500e-02 2.81255523e+00] [ 3.52647177e-01 3.15551763e-05 9.35756361e-01 5.92130398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.74538475 meters Centerline goodness : 0.956953 Centerline is valid? [True, True] Translation: X:35.08, Y:2.82, Z:5.93 [[ 9.22692561e-01 -1.73580293e-01 -3.44250373e-01 3.50842416e+01] [ 1.62540926e-01 9.84819688e-01 -6.09149300e-02 2.81943175e+00] [ 3.49598177e-01 2.50978525e-04 9.36899702e-01 5.93177737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.77538475 meters Centerline goodness : 0.956556 Centerline is valid? [True, True] Translation: X:35.11, Y:2.83, Z:5.94 [[ 9.23572134e-01 -1.73115147e-01 -3.42119364e-01 3.51093470e+01] [ 1.62146417e-01 9.84901446e-01 -6.06438808e-02 2.82628375e+00] [ 3.47452231e-01 5.35569248e-04 9.37697531e-01 5.93824738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.80538475 meters Centerline goodness : 0.954582 Centerline is valid? [True, True] Translation: X:35.14, Y:2.83, Z:5.95 [[ 9.23765248e-01 -1.74140410e-01 -3.41076068e-01 3.51351633e+01] [ 1.63289872e-01 9.84720812e-01 -6.05090126e-02 2.83282174e+00] [ 3.46401767e-01 2.01855510e-04 9.38086230e-01 5.94694637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.83538475 meters Centerline goodness : 0.956794 Centerline is valid? [True, True] Translation: X:35.16, Y:2.84, Z:5.95 [[ 9.24829025e-01 -1.72977950e-01 -3.38777070e-01 3.51608767e+01] [ 1.62165580e-01 9.84925420e-01 -6.02016705e-02 2.84073714e+00] [ 3.44083710e-01 7.38272275e-04 9.38938686e-01 5.95468818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.86538475 meters Centerline goodness : 0.956490 Centerline is valid? [True, True] Translation: X:35.19, Y:2.85, Z:5.96 [[ 9.24870622e-01 -1.72160446e-01 -3.39079804e-01 3.51857214e+01] [ 1.61236902e-01 9.85068248e-01 -6.03589918e-02 2.84601946e+00] [ 3.44408180e-01 1.15208102e-03 9.38819300e-01 5.96404219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.89538475 meters Centerline goodness : 0.955751 Centerline is valid? [True, True] Translation: X:35.21, Y:2.85, Z:5.97 [[ 9.24830165e-01 -1.71084326e-01 -3.39734189e-01 3.52111425e+01] [ 1.60028815e-01 9.85255078e-01 -6.05244505e-02 2.85115436e+00] [ 3.45079620e-01 1.60757766e-03 9.38572039e-01 5.97381431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.92538475 meters Centerline goodness : 0.957363 Centerline is valid? [True, True] Translation: X:35.24, Y:2.86, Z:5.98 [[ 9.24546326e-01 -1.70273940e-01 -3.40911832e-01 3.52377634e+01] [ 1.59047048e-01 9.85394680e-01 -6.08388118e-02 2.85751670e+00] [ 3.46291970e-01 2.02727926e-03 9.38124598e-01 5.98252291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.95538475 meters Centerline goodness : 0.953466 Centerline is valid? [True, True] Translation: X:35.26, Y:2.86, Z:5.99 [[ 9.24642831e-01 -1.69715387e-01 -3.40928617e-01 3.52642178e+01] [ 1.58412119e-01 9.85490326e-01 -6.09460192e-02 2.86267040e+00] [ 3.46325331e-01 2.34607502e-03 9.38111540e-01 5.99108917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.98538475 meters Centerline goodness : 0.953217 Centerline is valid? [True, True] Translation: X:35.29, Y:2.87, Z:6.00 [[ 9.24851063e-01 -1.69755158e-01 -3.40343500e-01 3.52902650e+01] [ 1.58456134e-01 9.85483257e-01 -6.09459042e-02 2.86857894e+00] [ 3.45748702e-01 2.43636919e-03 9.38323984e-01 5.99913228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.01538475 meters Centerline goodness : 0.952911 Centerline is valid? [True, True] Translation: X:35.32, Y:2.87, Z:6.01 [[ 9.24765882e-01 -1.69233253e-01 -3.40834518e-01 3.53153100e+01] [ 1.57828653e-01 9.85572212e-01 -6.11353508e-02 2.87299108e+00] [ 3.46263164e-01 2.74243364e-03 9.38133413e-01 6.00838613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.04538475 meters Centerline goodness : 0.953462 Centerline is valid? [True, True] Translation: X:35.34, Y:2.88, Z:6.02 [[ 9.25117755e-01 -1.68282885e-01 -3.40349834e-01 3.53411033e+01] [ 1.56831911e-01 9.85733731e-01 -6.10963463e-02 2.87992476e+00] [ 3.45775781e-01 3.14360002e-03 9.38311903e-01 6.01663158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.07538475 meters Centerline goodness : 0.955516 Centerline is valid? [True, True] Translation: X:35.37, Y:2.89, Z:6.02 [[ 9.25173299e-01 -1.67835262e-01 -3.40419876e-01 3.53666894e+01] [ 1.56312549e-01 9.85809129e-01 -6.12106932e-02 2.88608776e+00] [ 3.45862334e-01 3.41860037e-03 9.38279041e-01 6.02497225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.10538475 meters Centerline goodness : 0.953105 Centerline is valid? [True, True] Translation: X:35.39, Y:2.89, Z:6.03 [[ 9.24746760e-01 -1.67033513e-01 -3.41969642e-01 3.53928921e+01] [ 1.55330488e-01 9.85943937e-01 -6.15385443e-02 2.89201099e+00] [ 3.47441895e-01 3.78925807e-03 9.37693858e-01 6.03474279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.13538475000001 meters Centerline goodness : 0.952211 Centerline is valid? [True, True] Translation: X:35.42, Y:2.90, Z:6.04 [[ 9.24816389e-01 -1.66314506e-01 -3.42131746e-01 3.54183505e+01] [ 1.54514079e-01 9.86063941e-01 -6.16709345e-02 2.89655914e+00] [ 3.47620549e-01 4.17011929e-03 9.37626026e-01 6.04415784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.16538475000002 meters Centerline goodness : 0.951662 Centerline is valid? [True, True] Translation: X:35.44, Y:2.90, Z:6.05 [[ 9.24567252e-01 -1.66126792e-01 -3.42895445e-01 3.54441250e+01] [ 1.54240641e-01 9.86095009e-01 -6.18583728e-02 2.90188834e+00] [ 3.48403820e-01 4.30381237e-03 9.37334655e-01 6.05445201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19538475000002 meters Centerline goodness : 0.950341 Centerline is valid? [True, True] Translation: X:35.47, Y:2.91, Z:6.06 [[ 9.25386979e-01 -1.67988498e-01 -3.39762865e-01 3.54700096e+01] [ 1.56409607e-01 9.85782107e-01 -6.13976502e-02 2.90766665e+00] [ 3.45246252e-01 3.67440975e-03 9.38504941e-01 6.06317381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.22538475000002 meters Centerline goodness : 0.953733 Centerline is valid? [True, True] Translation: X:35.50, Y:2.91, Z:6.07 [[ 9.25587267e-01 -1.69606114e-01 -3.38410960e-01 3.54964146e+01] [ 1.58188759e-01 9.85506842e-01 -6.12583149e-02 2.91325219e+00] [ 3.43896101e-01 3.16710657e-03 9.39002365e-01 6.07238449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.25538475 meters Centerline goodness : 0.951537 Centerline is valid? [True, True] Translation: X:35.52, Y:2.92, Z:6.08 [[ 9.25463378e-01 -1.72023902e-01 -3.37528239e-01 3.55223214e+01] [ 1.60785848e-01 9.85089923e-01 -6.12025785e-02 2.91788188e+00] [ 3.43023974e-01 2.37098080e-03 9.39323657e-01 6.08251917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.28538475 meters Centerline goodness : 0.953956 Centerline is valid? [True, True] Translation: X:35.55, Y:2.92, Z:6.09 [[ 9.25393639e-01 -1.73226650e-01 -3.37104051e-01 3.55476629e+01] [ 1.62058026e-01 9.84879897e-01 -6.12273228e-02 2.92218590e+00] [ 3.42613207e-01 2.02895790e-03 9.39474360e-01 6.09100856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.31538475 meters Centerline goodness : 0.951168 Centerline is valid? [True, True] Translation: X:35.57, Y:2.93, Z:6.10 [[ 9.25174217e-01 -1.74132495e-01 -3.37239592e-01 3.55742581e+01] [ 1.62995569e-01 9.84720688e-01 -6.12993627e-02 2.92729962e+00] [ 3.42761014e-01 1.74403056e-03 9.39421016e-01 6.09873822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.34538475 meters Centerline goodness : 0.952075 Centerline is valid? [True, True] Translation: X:35.60, Y:2.93, Z:6.11 [[ 9.25010182e-01 -1.74934755e-01 -3.37274360e-01 3.56003765e+01] [ 1.63810146e-01 9.84578803e-01 -6.14069751e-02 2.93244125e+00] [ 3.42815400e-01 1.55311500e-03 9.39401506e-01 6.10760567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.37538475 meters Centerline goodness : 0.949402 Centerline is valid? [True, False] Translation: X:35.60, Y:2.93, Z:6.11 [[ 9.25128826e-01 -1.74234641e-01 -3.37311348e-01 3.55993738e+01] [ 1.63444323e-01 9.84703904e-01 -6.03670053e-02 2.93163764e+00] [ 3.42669825e-01 7.15631684e-04 9.39455629e-01 6.10851071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.40538475 meters Centerline goodness : 0.951047 Centerline is valid? [False, True] Translation: X:35.60, Y:2.93, Z:6.11 [[ 9.24987044e-01 -1.73175632e-01 -3.38244243e-01 3.56005258e+01] [ 1.62063864e-01 9.84889561e-01 -6.10561693e-02 2.93150257e+00] [ 3.43706665e-01 1.65899643e-03 9.39075597e-01 6.10958487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.43538475 meters Centerline goodness : 0.950464 Centerline is valid? [True, True] Translation: X:35.63, Y:2.94, Z:6.12 [[ 9.24615309e-01 -1.72605066e-01 -3.39549733e-01 3.56253541e+01] [ 1.61268516e-01 9.84988742e-01 -6.15600770e-02 2.93570855e+00] [ 3.45078246e-01 2.16070795e-03 9.38571433e-01 6.11904440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.46538475 meters Centerline goodness : 0.949787 Centerline is valid? [True, False] Translation: X:35.63, Y:2.94, Z:6.12 [[ 9.24562247e-01 -1.71402020e-01 -3.40302805e-01 3.56269018e+01] [ 1.60010853e-01 9.85198251e-01 -6.14892875e-02 2.93544727e+00] [ 3.45805117e-01 2.39853171e-03 9.38303292e-01 6.11924549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.49538475 meters Centerline goodness : 0.951189 Centerline is valid? [False, True] Translation: X:35.63, Y:2.93, Z:6.12 [[ 9.24541057e-01 -1.71126577e-01 -3.40498942e-01 3.56272222e+01] [ 1.59895613e-01 9.85247109e-01 -6.10043197e-02 2.93499344e+00] [ 3.45915058e-01 1.95671133e-03 9.38263792e-01 6.11947949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.52538475 meters Centerline goodness : 0.949905 Centerline is valid? [True, False] Translation: X:35.63, Y:2.93, Z:6.12 [[ 9.25127660e-01 -1.67655033e-01 -3.40632651e-01 3.56253176e+01] [ 1.57867614e-01 9.85844525e-01 -5.64658144e-02 2.93269568e+00] [ 3.45277612e-01 -1.53677726e-03 9.38499339e-01 6.12038033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.55538475 meters Centerline goodness : 0.950855 Centerline is valid? [False, True] Translation: X:35.63, Y:2.93, Z:6.12 [[ 9.24641256e-01 -1.71058194e-01 -3.40261138e-01 3.56282752e+01] [ 1.59920439e-01 9.85259375e-01 -6.07405665e-02 2.93461610e+00] [ 3.45635648e-01 1.74852314e-03 9.38367168e-01 6.11820427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.58538475 meters Centerline goodness : 0.949094 Centerline is valid? [True, False] Translation: X:35.63, Y:2.93, Z:6.12 [[ 9.24752097e-01 -1.70764320e-01 -3.40107492e-01 3.56278856e+01] [ 1.59971304e-01 9.85311538e-01 -5.97524498e-02 2.93403539e+00] [ 3.45315423e-01 8.48764066e-04 9.38486302e-01 6.11818298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.61538475 meters Centerline goodness : 0.951352 Centerline is valid? [False, True] Translation: X:35.63, Y:2.93, Z:6.12 [[ 9.24681447e-01 -1.71715853e-01 -3.39820375e-01 3.56274564e+01] [ 1.61175077e-01 9.85146520e-01 -5.92362098e-02 2.93152204e+00] [ 3.44944656e-01 4.04918334e-06 9.38623026e-01 6.11835405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.64538475 meters Centerline goodness : 0.951352 Centerline is valid? [True, True] Translation: X:35.65, Y:2.94, Z:6.13 [[ 9.24638213e-01 -1.72300002e-01 -3.39642290e-01 3.56542215e+01] [ 1.61428124e-01 9.85044134e-01 -6.02413047e-02 2.93682154e+00] [ 3.44942222e-01 8.73594685e-04 9.38623514e-01 6.12718197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.67538475 meters Centerline goodness : 0.954649 Centerline is valid? [True, True] Translation: X:35.68, Y:2.94, Z:6.14 [[ 9.24657103e-01 -1.72762248e-01 -3.39355931e-01 3.56801975e+01] [ 1.61902290e-01 9.84963225e-01 -6.02917364e-02 2.94064784e+00] [ 3.44669248e-01 8.06679905e-04 9.38723846e-01 6.13603697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.70538475 meters Centerline goodness : 0.955829 Centerline is valid? [True, True] Translation: X:35.71, Y:2.95, Z:6.15 [[ 9.24741231e-01 -1.72805124e-01 -3.39104769e-01 3.57051768e+01] [ 1.61926974e-01 9.84955625e-01 -6.03495796e-02 2.94515111e+00] [ 3.44431866e-01 8.97535538e-04 9.38810888e-01 6.14514871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.73538475 meters Centerline goodness : 0.955994 Centerline is valid? [True, True] Translation: X:35.73, Y:2.95, Z:6.15 [[ 9.25368574e-01 -1.72749475e-01 -3.37417577e-01 3.57317682e+01] [ 1.61962096e-01 9.84965326e-01 -6.00964795e-02 2.94926515e+00] [ 3.42726249e-01 9.62535285e-04 9.39434826e-01 6.15349817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.76538475 meters Centerline goodness : 0.955715 Centerline is valid? [True, True] Translation: X:35.76, Y:2.95, Z:6.16 [[ 9.25401852e-01 -1.73763102e-01 -3.36805280e-01 3.57585697e+01] [ 1.63043743e-01 9.84787238e-01 -6.00902212e-02 2.95452946e+00] [ 3.42123005e-01 6.93608490e-04 9.39654920e-01 6.16211523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.79538475 meters Centerline goodness : 0.955242 Centerline is valid? [True, True] Translation: X:35.78, Y:2.96, Z:6.17 [[ 9.25292132e-01 -1.74050309e-01 -3.36958394e-01 3.57836706e+01] [ 1.63302280e-01 9.84736517e-01 -6.02192457e-02 2.95969322e+00] [ 3.42296414e-01 6.94320304e-04 9.39591764e-01 6.16992968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.82538475 meters Centerline goodness : 0.955599 Centerline is valid? [True, True] Translation: X:35.81, Y:2.96, Z:6.18 [[ 9.24813877e-01 -1.73681406e-01 -3.38458362e-01 3.58091247e+01] [ 1.62793893e-01 9.84801498e-01 -6.05322834e-02 2.96399694e+00] [ 3.43827634e-01 8.82141317e-04 9.39032364e-01 6.17881937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.85538475 meters Centerline goodness : 0.956907 Centerline is valid? [True, True] Translation: X:35.83, Y:2.97, Z:6.19 [[ 9.23886152e-01 -1.74299963e-01 -3.40666847e-01 3.58347817e+01] [ 1.63288257e-01 9.84692350e-01 -6.09747635e-02 2.96814849e+00] [ 3.46079937e-01 7.06843979e-04 9.38204763e-01 6.18867373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.88538475000001 meters Centerline goodness : 0.954755 Centerline is valid? [True, True] Translation: X:35.86, Y:2.97, Z:6.20 [[ 9.23569124e-01 -1.74305468e-01 -3.41522586e-01 3.58605986e+01] [ 1.63197718e-01 9.84691289e-01 -6.12337305e-02 2.97348255e+00] [ 3.46967689e-01 8.17876215e-04 9.37876726e-01 6.19773692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.91538475000002 meters Centerline goodness : 0.956288 Centerline is valid? [True, True] Translation: X:35.89, Y:2.98, Z:6.21 [[ 9.23662978e-01 -1.73551552e-01 -3.41652692e-01 3.58866345e+01] [ 1.62345701e-01 9.84824038e-01 -6.13635633e-02 2.97895100e+00] [ 3.47117526e-01 1.21340576e-03 9.37820852e-01 6.20602693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.94538475000002 meters Centerline goodness : 0.955685 Centerline is valid? [True, True] Translation: X:35.91, Y:2.98, Z:6.22 [[ 9.23685800e-01 -1.73503503e-01 -3.41615395e-01 3.59123991e+01] [ 1.62257969e-01 9.84832338e-01 -6.14623317e-02 2.98375310e+00] [ 3.47097818e-01 1.34206284e-03 9.37827971e-01 6.21519751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97538475000002 meters Centerline goodness : 0.953705 Centerline is valid? [True, True] Translation: X:35.94, Y:2.99, Z:6.22 [[ 9.23747989e-01 -1.72555093e-01 -3.41927467e-01 3.59376636e+01] [ 1.61185423e-01 9.84998199e-01 -6.16263606e-02 2.98885975e+00] [ 3.47431881e-01 1.81350335e-03 9.37703471e-01 6.22369501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.00538475 meters Centerline goodness : 0.954294 Centerline is valid? [True, True] Translation: X:35.96, Y:2.99, Z:6.23 [[ 9.23391262e-01 -1.72497894e-01 -3.42918437e-01 3.59637808e+01] [ 1.61036992e-01 9.85008064e-01 -6.18562976e-02 2.99410189e+00] [ 3.48447507e-01 1.89501096e-03 9.37326381e-01 6.23316561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.03538475 meters Centerline goodness : 0.953274 Centerline is valid? [True, True] Translation: X:35.99, Y:3.00, Z:6.24 [[ 9.23251654e-01 -1.72771929e-01 -3.43156298e-01 3.59893764e+01] [ 1.61274475e-01 9.84960022e-01 -6.20024086e-02 2.99719224e+00] [ 3.48707510e-01 1.90147444e-03 9.37229671e-01 6.24253460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.06538475 meters Centerline goodness : 0.955114 Centerline is valid? [True, True] Translation: X:36.01, Y:3.00, Z:6.25 [[ 9.23253052e-01 -1.75090217e-01 -3.41975464e-01 3.60149145e+01] [ 1.63811375e-01 9.84551812e-01 -6.18349574e-02 3.00069276e+00] [ 3.47519259e-01 1.06984223e-03 9.37672235e-01 6.25212996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.09538475 meters Centerline goodness : 0.954804 Centerline is valid? [True, True] Translation: X:36.04, Y:3.01, Z:6.26 [[ 9.23539360e-01 -1.75218440e-01 -3.41135674e-01 3.60414707e+01] [ 1.63987480e-01 9.84529002e-01 -6.17312845e-02 3.00501766e+00] [ 3.46674424e-01 1.06929161e-03 9.37984915e-01 6.26101711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.12538475 meters Centerline goodness : 0.953521 Centerline is valid? [True, True] Translation: X:36.07, Y:3.01, Z:6.27 [[ 9.23560453e-01 -1.76074584e-01 -3.40637387e-01 3.60667950e+01] [ 1.64894229e-01 9.84376454e-01 -6.17486103e-02 3.00939481e+00] [ 3.46187784e-01 8.59435119e-04 9.38164847e-01 6.26979414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.15538475 meters Centerline goodness : 0.953494 Centerline is valid? [True, True] Translation: X:36.09, Y:3.01, Z:6.28 [[ 9.23869126e-01 -1.76892047e-01 -3.39374487e-01 3.60939587e+01] [ 1.65823092e-01 9.84230058e-01 -6.15945966e-02 3.01413804e+00] [ 3.44918165e-01 6.29219234e-04 9.38632550e-01 6.27744492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.18538475 meters Centerline goodness : 0.951028 Centerline is valid? [True, True] Translation: X:36.12, Y:3.02, Z:6.29 [[ 9.23298708e-01 -1.77631417e-01 -3.40538655e-01 3.61200035e+01] [ 1.66493784e-01 9.84096979e-01 -6.19108732e-02 3.01899665e+00] [ 3.46120378e-01 4.64660063e-04 9.38189996e-01 6.28673612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.21538475 meters Centerline goodness : 0.950721 Centerline is valid? [True, True] Translation: X:36.15, Y:3.02, Z:6.30 [[ 9.22702224e-01 -1.77748753e-01 -3.42090611e-01 3.61461593e+01] [ 1.66474455e-01 9.84075757e-01 -6.22989586e-02 3.02450541e+00] [ 3.47716639e-01 5.34039554e-04 9.37599517e-01 6.29519088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.24538475 meters Centerline goodness : 0.950058 Centerline is valid? [True, True] Translation: X:36.17, Y:3.03, Z:6.30 [[ 9.22318532e-01 -1.77028312e-01 -3.43496000e-01 3.61713305e+01] [ 1.65569997e-01 9.84205328e-01 -6.26613734e-02 3.02942546e+00] [ 3.49163430e-01 9.21114279e-04 9.37061391e-01 6.30422499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.27538475 meters Centerline goodness : 0.947197 Centerline is valid? [True, False] Translation: X:36.17, Y:3.03, Z:6.31 [[ 9.22588785e-01 -1.71889912e-01 -3.45374858e-01 3.61722918e+01] [ 1.61164379e-01 9.85116028e-01 -5.97700087e-02 3.02891419e+00] [ 3.50508170e-01 -5.18984903e-04 9.36559530e-01 6.30640926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.30538475 meters Centerline goodness : 0.947552 Centerline is valid? [False, False] Translation: X:36.17, Y:3.03, Z:6.31 [[ 9.22935867e-01 -1.68271509e-01 -3.46228370e-01 3.61719728e+01] [ 1.58410877e-01 9.85737724e-01 -5.68078634e-02 3.02873558e+00] [ 3.50849510e-01 -2.41632491e-03 9.36428739e-01 6.30763427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.33538475 meters Centerline goodness : 0.944646 Centerline is valid? [False, False] Translation: X:36.17, Y:3.03, Z:6.31 [[ 9.23578924e-01 -1.64760944e-01 -3.46201968e-01 3.61699776e+01] [ 1.55742999e-01 9.86324924e-01 -5.39190300e-02 3.02945447e+00] [ 3.50351380e-01 -4.12005297e-03 9.36609276e-01 6.30819926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.36538475 meters Centerline goodness : 0.944953 Centerline is valid? [False, False] Translation: X:36.18, Y:3.03, Z:6.31 [[ 9.27670857e-01 -1.55295516e-01 -3.39573385e-01 3.61753508e+01] [ 1.48439192e-01 9.87839560e-01 -4.62472685e-02 3.02516715e+00] [ 3.42626017e-01 -7.50375575e-03 9.39441912e-01 6.31058004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.39538475 meters Centerline goodness : 0.940524 Centerline is valid? [False, False] Translation: X:36.18, Y:3.02, Z:6.31 [[ 9.31790702e-01 -1.44685822e-01 -3.32914554e-01 3.61793091e+01] [ 1.40042920e-01 9.89414501e-01 -3.80384673e-02 3.02199171e+00] [ 3.34894115e-01 -1.11784362e-02 9.42189458e-01 6.31432643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.42538475 meters Centerline goodness : 0.940806 Centerline is valid? [False, False] Translation: X:36.18, Y:3.02, Z:6.32 [[ 9.31850157e-01 -1.44519596e-01 -3.32820329e-01 3.61781095e+01] [ 1.39585302e-01 9.89448572e-01 -3.88261191e-02 3.02331231e+00] [ 3.34919734e-01 -1.02767010e-02 9.42190618e-01 6.31505585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.45538475 meters Centerline goodness : 0.940287 Centerline is valid? [False, False] Translation: X:36.18, Y:3.02, Z:6.32 [[ 9.32049012e-01 -1.39165972e-01 -3.34540689e-01 3.61775957e+01] [ 1.35811854e-01 9.90167385e-01 -3.35214886e-02 3.02275858e+00] [ 3.35916329e-01 -1.41909210e-02 9.41784921e-01 6.31893202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.48538475 meters Centerline goodness : 0.939011 Centerline is valid? [False, False] Translation: X:36.18, Y:3.02, Z:6.32 [[ 9.32221033e-01 -1.34082552e-01 -3.36133627e-01 3.61782337e+01] [ 1.32206016e-01 9.90810283e-01 -2.85753692e-02 3.02165477e+00] [ 3.36876112e-01 -1.78003274e-02 9.41380706e-01 6.32168467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.51538475 meters Centerline goodness : 0.937396 Centerline is valid? [False, False] Translation: X:36.18, Y:3.02, Z:6.32 [[ 9.32684172e-01 -1.28749725e-01 -3.36932849e-01 3.61773428e+01] [ 1.28198683e-01 9.91458445e-01 -2.39843623e-02 3.02217942e+00] [ 3.37142898e-01 -2.08245123e-02 9.41223144e-01 6.32328324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.54538475 meters Centerline goodness : 0.937374 Centerline is valid? [False, False] Translation: X:36.18, Y:3.02, Z:6.33 [[ 9.32776920e-01 -1.23959172e-01 -3.38469115e-01 3.61785238e+01] [ 1.24895249e-01 9.91985981e-01 -1.91047112e-02 3.02101693e+00] [ 3.38124821e-01 -2.44527507e-02 9.40783540e-01 6.32588892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.57538475 meters Centerline goodness : 0.935223 Centerline is valid? [False, False] Translation: X:36.18, Y:3.02, Z:6.33 [[ 9.32820562e-01 -1.18311432e-01 -3.40364810e-01 3.61783870e+01] [ 1.21460577e-01 9.92522238e-01 -1.21217104e-02 3.01741782e+00] [ 3.39253779e-01 -3.00335254e-02 9.40215327e-01 6.33185888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.60538475 meters Centerline goodness : 0.934580 Centerline is valid? [False, False] Translation: X:36.18, Y:3.02, Z:6.33 [[ 9.32691657e-01 -1.18442066e-01 -3.40672496e-01 3.61785487e+01] [ 1.21726866e-01 9.92493512e-01 -1.17982822e-02 3.01706167e+00] [ 3.39512655e-01 -3.04648358e-02 9.40108000e-01 6.33281337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.63538475000001 meters Centerline goodness : 0.930683 Centerline is valid? [False, False] Translation: X:36.18, Y:3.02, Z:6.33 [[ 9.32156013e-01 -1.19953183e-01 -3.41608549e-01 3.61810345e+01] [ 1.23348143e-01 9.92292674e-01 -1.18526066e-02 3.01697720e+00] [ 3.40397419e-01 -3.10883017e-02 9.39767586e-01 6.33463499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.66538475000002 meters Centerline goodness : 0.930988 Centerline is valid? [False, False] Translation: X:36.19, Y:3.02, Z:6.34 [[ 9.31972316e-01 -1.16650492e-01 -3.43249566e-01 3.61850918e+01] [ 1.21286987e-01 9.92585163e-01 -8.01001321e-03 3.01668106e+00] [ 3.41638799e-01 -3.41665951e-02 9.39210080e-01 6.33614447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69538475000002 meters Centerline goodness : 0.927205 Centerline is valid? [False, False] Translation: X:36.19, Y:3.02, Z:6.34 [[ 9.31560120e-01 -1.14352158e-01 -3.45136680e-01 3.61918964e+01] [ 1.19936352e-01 9.92767926e-01 -5.20730662e-03 3.01758703e+00] [ 3.43236092e-01 -3.65435150e-02 9.38537989e-01 6.33647568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.72538475000002 meters Centerline goodness : 0.926683 Centerline is valid? [False, False] Translation: X:36.19, Y:3.02, Z:6.34 [[ 9.31602999e-01 -1.09875589e-01 -3.46472519e-01 3.61941064e+01] [ 1.16827976e-01 9.93151823e-01 -8.25023364e-04 3.01616381e+00] [ 3.44190464e-01 -3.97090891e-02 9.38059760e-01 6.33800540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.75538475 meters Centerline goodness : 0.928639 Centerline is valid? [False, False] Translation: X:36.19, Y:3.01, Z:6.34 [[ 9.31694741e-01 -1.03746744e-01 -3.48111365e-01 3.61933769e+01] [ 1.12794147e-01 9.93601655e-01 5.76475375e-03 3.01273676e+00] [ 3.45285954e-01 -4.46359151e-02 9.37435462e-01 6.34295587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.78538475 meters Centerline goodness : 0.928163 Centerline is valid? [False, False] Translation: X:36.19, Y:3.01, Z:6.35 [[ 9.31702978e-01 -9.81159374e-02 -3.49718205e-01 3.61935542e+01] [ 1.09156671e-01 9.93952729e-01 1.19495974e-02 3.00945873e+00] [ 3.46430918e-01 -4.93075506e-02 9.36778728e-01 6.34734023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.81538475 meters Centerline goodness : 0.932076 Centerline is valid? [False, False] Translation: X:36.19, Y:3.01, Z:6.35 [[ 9.31483966e-01 -9.75902806e-02 -3.50447938e-01 3.61930836e+01] [ 1.09279673e-01 9.93916844e-01 1.36843133e-02 3.00653341e+00] [ 3.46980653e-01 -5.10435545e-02 9.36482238e-01 6.35057224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.84538475 meters Centerline goodness : 0.931638 Centerline is valid? [False, False] Translation: X:36.19, Y:3.01, Z:6.35 [[ 9.31462179e-01 -9.72819963e-02 -3.50591532e-01 3.61926507e+01] [ 1.09170111e-01 9.93920882e-01 1.42536881e-02 3.00601854e+00] [ 3.47073617e-01 -5.15508880e-02 9.36419997e-01 6.35143305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.87538475 meters Centerline goodness : 0.936737 Centerline is valid? [False, False] Translation: X:36.19, Y:3.01, Z:6.35 [[ 9.31173722e-01 -9.77366100e-02 -3.51230770e-01 3.61937701e+01] [ 1.09849127e-01 9.93839944e-01 1.46743211e-02 3.00520506e+00] [ 3.47632950e-01 -5.22467356e-02 9.36173921e-01 6.35294337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.90538475 meters Centerline goodness : 0.936416 Centerline is valid? [False, False] Translation: X:36.20, Y:3.00, Z:6.36 [[ 9.31016630e-01 -9.35634619e-02 -3.52780261e-01 3.61962690e+01] [ 1.07185290e-01 9.94053062e-01 1.92307851e-02 3.00391302e+00] [ 3.48883000e-01 -5.57170352e-02 9.35508559e-01 6.35539583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.93538475 meters Centerline goodness : 0.934859 Centerline is valid? [False, False] Translation: X:36.20, Y:3.01, Z:6.35 [[ 9.31015178e-01 -9.37415385e-02 -3.52736816e-01 3.61969729e+01] [ 1.07203867e-01 9.94059713e-01 1.87781367e-02 3.00534890e+00] [ 3.48881167e-01 -5.52974809e-02 9.35534136e-01 6.35454564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.96538475 meters Centerline goodness : 0.935853 Centerline is valid? [False, False] Translation: X:36.20, Y:3.01, Z:6.36 [[ 9.30989662e-01 -8.91569285e-02 -3.53990524e-01 3.61983120e+01] [ 1.03986207e-01 9.94311549e-01 2.30523691e-02 3.00522589e+00] [ 3.49921588e-01 -5.82716493e-02 9.34964864e-01 6.35650564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.99538475 meters Centerline goodness : 0.935490 Centerline is valid? [False, False] Translation: X:36.20, Y:3.01, Z:6.36 [[ 9.31098440e-01 -8.84647166e-02 -3.53878070e-01 3.61968020e+01] [ 1.03354130e-01 9.94370297e-01 2.33588446e-02 3.00563512e+00] [ 3.49819408e-01 -5.83241439e-02 9.34999827e-01 6.35690447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.02538475 meters Centerline goodness : 0.936749 Centerline is valid? [False, False] Translation: X:36.20, Y:3.01, Z:6.36 [[ 9.31081798e-01 -8.81742669e-02 -3.53994327e-01 3.61962728e+01] [ 1.03094409e-01 9.94394570e-01 2.34730179e-02 3.00612640e+00] [ 3.49940321e-01 -5.83501355e-02 9.34952958e-01 6.35737086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.05538475 meters Centerline goodness : 0.938085 Centerline is valid? [False, False] Translation: X:36.20, Y:3.01, Z:6.36 [[ 9.31145877e-01 -8.79573195e-02 -3.53879733e-01 3.61959271e+01] [ 1.02711092e-01 9.94443244e-01 2.30882046e-02 3.00766130e+00] [ 3.49882533e-01 -5.78458604e-02 9.35005919e-01 6.35674068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.08538475 meters Centerline goodness : 0.933388 Centerline is valid? [False, False] Translation: X:36.20, Y:3.01, Z:6.36 [[ 9.31059817e-01 -8.83619940e-02 -3.54005332e-01 3.61968648e+01] [ 1.02983238e-01 9.94425438e-01 2.26384733e-02 3.00908759e+00] [ 3.50031526e-01 -5.75343882e-02 9.34969371e-01 6.35631626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.11538475 meters Centerline goodness : 0.935742 Centerline is valid? [False, False] Translation: X:36.20, Y:3.01, Z:6.36 [[ 9.31081724e-01 -8.88089602e-02 -3.53835827e-01 3.61974501e+01] [ 1.03196055e-01 9.94418562e-01 2.19612648e-02 3.01098471e+00] [ 3.49910557e-01 -5.69621937e-02 9.35049684e-01 6.35535339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.14538475 meters Centerline goodness : 0.933998 Centerline is valid? [False, False] Translation: X:36.20, Y:3.01, Z:6.36 [[ 9.31089748e-01 -8.86606370e-02 -3.53851907e-01 3.61972420e+01] [ 1.03073200e-01 9.94429263e-01 2.20534856e-02 3.01165821e+00] [ 3.49925415e-01 -5.70064227e-02 9.35041428e-01 6.35547208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.17538475 meters Centerline goodness : 0.935693 Centerline is valid? [False, False] Translation: X:36.20, Y:3.01, Z:6.36 [[ 9.31290650e-01 -8.81241658e-02 -3.53457009e-01 3.61961515e+01] [ 1.02544462e-01 9.94479764e-01 2.22403246e-02 3.01175222e+00] [ 3.49545933e-01 -5.69572650e-02 9.35186351e-01 6.35509035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.20538475 meters Centerline goodness : 0.936127 Centerline is valid? [False, False] Translation: X:36.20, Y:3.01, Z:6.36 [[ 9.31089660e-01 -8.81887645e-02 -3.53970038e-01 3.61964896e+01] [ 1.02846895e-01 9.94436438e-01 2.27746945e-02 3.01074682e+00] [ 3.49992232e-01 -5.76100018e-02 9.34979425e-01 6.35657919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.23538475 meters Centerline goodness : 0.939510 Centerline is valid? [False, False] Translation: X:36.20, Y:3.01, Z:6.36 [[ 9.30893106e-01 -8.80671778e-02 -3.54516850e-01 3.61962238e+01] [ 1.03112231e-01 9.94386558e-01 2.37327154e-02 3.00852308e+00] [ 3.50436716e-01 -5.86476446e-02 9.34748395e-01 6.35889248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.26538475 meters Centerline goodness : 0.939674 Centerline is valid? [False, False] Translation: X:36.20, Y:3.01, Z:6.36 [[ 9.30691681e-01 -8.86044376e-02 -3.54911608e-01 3.61976746e+01] [ 1.03612594e-01 9.94340875e-01 2.34660258e-02 3.00911077e+00] [ 3.50823925e-01 -5.86129472e-02 9.34605316e-01 6.35902075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.29538475 meters Centerline goodness : 0.938419 Centerline is valid? [False, False] Translation: X:36.20, Y:3.01, Z:6.36 [[ 9.30690401e-01 -8.88243336e-02 -3.54859994e-01 3.61984595e+01] [ 1.03811976e-01 9.94322093e-01 2.33805224e-02 3.00912491e+00] [ 3.50768373e-01 -5.85987449e-02 9.34627057e-01 6.35853652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.32538475 meters Centerline goodness : 0.941958 Centerline is valid? [False, False] Translation: X:36.20, Y:3.01, Z:6.36 [[ 9.30614435e-01 -8.88851720e-02 -3.55043940e-01 3.61987701e+01] [ 1.04067995e-01 9.94284026e-01 2.38564038e-02 3.00762659e+00] [ 3.50894038e-01 -5.91498247e-02 9.34545169e-01 6.35929301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.35538475 meters Centerline goodness : 0.941523 Centerline is valid? [False, False] Translation: X:36.20, Y:3.01, Z:6.36 [[ 9.30601102e-01 -8.87362430e-02 -3.55116135e-01 3.61985108e+01] [ 1.04283218e-01 9.94237381e-01 2.48402896e-02 3.00576101e+00] [ 3.50865502e-01 -6.01490542e-02 9.34492103e-01 6.36062760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.38538475000001 meters Centerline goodness : 0.943136 Centerline is valid? [False, False] Translation: X:36.20, Y:3.01, Z:6.36 [[ 9.30606374e-01 -8.86101946e-02 -3.55133791e-01 3.61982772e+01] [ 1.04271804e-01 9.94230405e-01 2.51653219e-02 3.00522004e+00] [ 3.50854908e-01 -6.04494500e-02 9.34476697e-01 6.36108864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.41538475000002 meters Centerline goodness : 0.943257 Centerline is valid? [False, False] Translation: X:36.20, Y:3.00, Z:6.36 [[ 9.30613380e-01 -8.85127209e-02 -3.55139742e-01 3.61983585e+01] [ 1.04222904e-01 9.94231825e-01 2.53113466e-02 3.00454091e+00] [ 3.50850857e-01 -6.05687731e-02 9.34470492e-01 6.36116534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.44538475000002 meters Centerline goodness : 0.944358 Centerline is valid? [False, False] Translation: X:36.20, Y:3.00, Z:6.36 [[ 9.30544741e-01 -8.83676034e-02 -3.55355668e-01 3.61985086e+01] [ 1.04230843e-01 9.94220884e-01 2.57053608e-02 3.00358715e+00] [ 3.51030506e-01 -6.09590091e-02 9.34377645e-01 6.36180675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.47538475000002 meters Centerline goodness : 0.945696 Centerline is valid? [False, False] Translation: X:36.20, Y:3.00, Z:6.36 [[ 9.30401164e-01 -8.85086440e-02 -3.55696351e-01 3.61995080e+01] [ 1.04459516e-01 9.94193147e-01 2.58494870e-02 3.00222057e+00] [ 3.51342971e-01 -6.12062615e-02 9.34244031e-01 6.36225172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.50538475 meters Centerline goodness : 0.945696 Centerline is valid? [False, False] Translation: X:36.20, Y:3.00, Z:6.36 [[ 9.30401164e-01 -8.85086440e-02 -3.55696351e-01 3.61995080e+01] [ 1.04459516e-01 9.94193147e-01 2.58494870e-02 3.00222057e+00] [ 3.51342971e-01 -6.12062615e-02 9.34244031e-01 6.36225172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.53538475 meters Centerline goodness : 0.947822 Centerline is valid? [False, False] Translation: X:36.20, Y:3.00, Z:6.36 [[ 9.30463200e-01 -8.81533500e-02 -3.55622301e-01 3.61991178e+01] [ 1.04168167e-01 9.94217221e-01 2.60981018e-02 3.00177515e+00] [ 3.51265180e-01 -6.13278464e-02 9.34265309e-01 6.36228452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.56538475 meters Centerline goodness : 0.947515 Centerline is valid? [False, False] Translation: X:36.20, Y:3.00, Z:6.36 [[ 9.30718429e-01 -8.73337136e-02 -3.55156344e-01 3.61980077e+01] [ 1.03379235e-01 9.94291168e-01 2.64160246e-02 3.00142425e+00] [ 3.50821807e-01 -6.13016719e-02 9.34433606e-01 6.36158496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.59538475 meters Centerline goodness : 0.946539 Centerline is valid? [False, False] Translation: X:36.20, Y:3.00, Z:6.36 [[ 9.30667955e-01 -8.73851538e-02 -3.55275939e-01 3.61987690e+01] [ 1.03464343e-01 9.94280774e-01 2.64739850e-02 3.00073045e+00] [ 3.50930603e-01 -6.13968811e-02 9.34386502e-01 6.36147812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.62538475 meters Centerline goodness : 0.948008 Centerline is valid? [False, False] Translation: X:36.20, Y:3.00, Z:6.36 [[ 9.30198257e-01 -8.88129587e-02 -3.56150898e-01 3.62025281e+01] [ 1.04955202e-01 9.94131302e-01 2.62175503e-02 2.99874056e+00] [ 3.51732297e-01 -6.17674092e-02 9.34060586e-01 6.36215800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.65538475 meters Centerline goodness : 0.949404 Centerline is valid? [False, False] Translation: X:36.20, Y:3.00, Z:6.36 [[ 9.30134326e-01 -8.90798234e-02 -3.56251205e-01 3.62035325e+01] [ 1.05207386e-01 9.94107449e-01 2.61110274e-02 2.99829152e+00] [ 3.51826011e-01 -6.17670209e-02 9.34025317e-01 6.36190084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.68538475 meters Centerline goodness : 0.947028 Centerline is valid? [False, False] Translation: X:36.21, Y:3.00, Z:6.36 [[ 9.29859899e-01 -8.96673167e-02 -3.56819760e-01 3.62058471e+01] [ 1.05956400e-01 9.94022250e-01 2.63250545e-02 2.99652537e+00] [ 3.52326284e-01 -6.22859498e-02 9.33802254e-01 6.36245686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.71538475 meters Centerline goodness : 0.948933 Centerline is valid? [False, False] Translation: X:36.21, Y:3.00, Z:6.36 [[ 9.29821960e-01 -8.95999419e-02 -3.56935530e-01 3.62060857e+01] [ 1.06004920e-01 9.94009153e-01 2.66225674e-02 2.99556513e+00] [ 3.52411803e-01 -6.25911701e-02 9.33749574e-01 6.36284262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.74538475 meters Centerline goodness : 0.950678 Centerline is valid? [False, True] Translation: X:36.21, Y:2.99, Z:6.36 [[ 9.29871663e-01 -8.88800959e-02 -3.56986021e-01 3.62050664e+01] [ 1.05706209e-01 9.94007040e-01 2.78603840e-02 2.99352072e+00] [ 3.52370385e-01 -6.36422206e-02 9.33694158e-01 6.36434552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.77538475 meters Centerline goodness : 0.950824 Centerline is valid? [True, True] Translation: X:36.24, Y:3.02, Z:6.33 [[ 9.30451631e-01 -1.13054750e-01 -3.48537497e-01 3.62441137e+01] [ 1.04836468e-01 9.93584445e-01 -4.24177567e-02 3.02116247e+00] [ 3.51096964e-01 2.92823090e-03 9.36334528e-01 6.32760076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.80538475 meters Centerline goodness : 0.953334 Centerline is valid? [True, True] Translation: X:36.27, Y:3.02, Z:6.34 [[ 9.30694335e-01 -1.14135287e-01 -3.47535884e-01 3.62693120e+01] [ 1.06000940e-01 9.93461762e-01 -4.23972587e-02 3.02298960e+00] [ 3.50102635e-01 2.61975808e-03 9.36707682e-01 6.33730396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.83538475 meters Centerline goodness : 0.953776 Centerline is valid? [True, True] Translation: X:36.30, Y:3.03, Z:6.35 [[ 9.30792092e-01 -1.14952677e-01 -3.47004270e-01 3.62951301e+01] [ 1.06880304e-01 9.93368162e-01 -4.23827279e-02 3.02554093e+00] [ 3.49575002e-01 2.36158607e-03 9.36905407e-01 6.34710681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.86538475 meters Centerline goodness : 0.955613 Centerline is valid? [True, True] Translation: X:36.32, Y:3.03, Z:6.36 [[ 9.31108692e-01 -1.15548019e-01 -3.45955574e-01 3.63202960e+01] [ 1.07528583e-01 9.93299376e-01 -4.23550826e-02 3.02755653e+00] [ 3.48531502e-01 2.23707291e-03 9.37294398e-01 6.35671106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.89538475 meters Centerline goodness : 0.955299 Centerline is valid? [True, True] Translation: X:36.35, Y:3.03, Z:6.37 [[ 9.31292930e-01 -1.16003738e-01 -3.45306547e-01 3.63467917e+01] [ 1.08027475e-01 9.93246527e-01 -4.23249588e-02 3.03093745e+00] [ 3.47884382e-01 2.11434041e-03 9.37535059e-01 6.36560018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.92538475 meters Centerline goodness : 0.955334 Centerline is valid? [True, True] Translation: X:36.37, Y:3.04, Z:6.37 [[ 9.31358573e-01 -1.17121864e-01 -3.44751616e-01 3.63740094e+01] [ 1.09207488e-01 9.93115911e-01 -4.23616775e-02 3.03507954e+00] [ 3.47339794e-01 1.80445360e-03 9.37737603e-01 6.37316118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.95538475 meters Centerline goodness : 0.954544 Centerline is valid? [True, True] Translation: X:36.40, Y:3.04, Z:6.38 [[ 9.30996018e-01 -1.17356946e-01 -3.45649768e-01 3.63999628e+01] [ 1.09375957e-01 9.93088104e-01 -4.25783772e-02 3.03743287e+00] [ 3.48257541e-01 1.83452550e-03 9.37397098e-01 6.38167746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.98538475 meters Centerline goodness : 0.954730 Centerline is valid? [True, True] Translation: X:36.43, Y:3.04, Z:6.39 [[ 9.30560560e-01 -1.17638046e-01 -3.46725157e-01 3.64265996e+01] [ 1.09595712e-01 9.93054877e-01 -4.27877482e-02 3.04064488e+00] [ 3.49350575e-01 1.81700062e-03 9.36990328e-01 6.39066941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.01538475 meters Centerline goodness : 0.955833 Centerline is valid? [True, True] Translation: X:36.45, Y:3.04, Z:6.40 [[ 9.30134123e-01 -1.17608424e-01 -3.47877523e-01 3.64526940e+01] [ 1.09469831e-01 9.93058144e-01 -4.30334705e-02 3.04412880e+00] [ 3.50523706e-01 1.94480559e-03 9.36551840e-01 6.39862823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.04538475 meters Centerline goodness : 0.955066 Centerline is valid? [True, True] Translation: X:36.48, Y:3.05, Z:6.41 [[ 9.29282154e-01 -1.17661422e-01 -3.50129216e-01 3.64788580e+01] [ 1.09396875e-01 9.93051765e-01 -4.33649024e-02 3.04683465e+00] [ 3.52798812e-01 1.99518768e-03 9.35697076e-01 6.40808958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.07538475 meters Centerline goodness : 0.956000 Centerline is valid? [True, True] Translation: X:36.50, Y:3.05, Z:6.42 [[ 9.28932052e-01 -1.17860387e-01 -3.50990273e-01 3.65047887e+01] [ 1.09526819e-01 9.93028082e-01 -4.35787035e-02 3.04962738e+00] [ 3.53679401e-01 2.03880628e-03 9.35364488e-01 6.41693357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.10538475 meters Centerline goodness : 0.957867 Centerline is valid? [True, True] Translation: X:36.53, Y:3.05, Z:6.43 [[ 9.28512131e-01 -1.18634129e-01 -3.51839689e-01 3.65315965e+01] [ 1.10291680e-01 9.92936392e-01 -4.37386157e-02 3.05282148e+00] [ 3.54543324e-01 1.80684482e-03 9.35037843e-01 6.42539026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.13538475000001 meters Centerline goodness : 0.958215 Centerline is valid? [True, True] Translation: X:36.56, Y:3.06, Z:6.43 [[ 9.28089218e-01 -1.18891409e-01 -3.52867164e-01 3.65573071e+01] [ 1.10476104e-01 9.92905583e-01 -4.39719666e-02 3.05684892e+00] [ 3.55591667e-01 1.82651864e-03 9.34639626e-01 6.43419737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.16538475000002 meters Centerline goodness : 0.959620 Centerline is valid? [True, True] Translation: X:36.58, Y:3.06, Z:6.44 [[ 9.27909926e-01 -1.18547926e-01 -3.53453757e-01 3.65827431e+01] [ 1.10061193e-01 9.92946291e-01 -4.40930391e-02 3.06068094e+00] [ 3.56187735e-01 2.01282662e-03 9.34412246e-01 6.44200442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19538475000002 meters Centerline goodness : 0.958113 Centerline is valid? [True, True] Translation: X:36.61, Y:3.06, Z:6.45 [[ 9.28060053e-01 -1.18143903e-01 -3.53194785e-01 3.66083308e+01] [ 1.09624311e-01 9.92994014e-01 -4.41066666e-02 3.06349407e+00] [ 3.55931241e-01 2.21490035e-03 9.34509522e-01 6.45045123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.22538475000002 meters Centerline goodness : 0.958336 Centerline is valid? [True, True] Translation: X:36.63, Y:3.07, Z:6.46 [[ 9.28446319e-01 -1.18680416e-01 -3.51997715e-01 3.66341969e+01] [ 1.10238721e-01 9.92930378e-01 -4.40078297e-02 3.06526594e+00] [ 3.54732092e-01 2.05512973e-03 9.34965732e-01 6.46075183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.25538475 meters Centerline goodness : 0.961111 Centerline is valid? [True, True] Translation: X:36.66, Y:3.07, Z:6.47 [[ 9.28382016e-01 -1.19163025e-01 -3.52004269e-01 3.66609009e+01] [ 1.10714598e-01 9.92872722e-01 -4.41138845e-02 3.06760292e+00] [ 3.54752180e-01 1.98252600e-03 9.34958267e-01 6.47089635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.28538475 meters Centerline goodness : 0.959884 Centerline is valid? [True, True] Translation: X:36.69, Y:3.07, Z:6.48 [[ 9.28743195e-01 -1.21092700e-01 -3.50389263e-01 3.66879010e+01] [ 1.12817373e-01 9.92640284e-01 -4.40171136e-02 3.07014244e+00] [ 3.53140649e-01 1.35059840e-03 9.35569270e-01 6.47997551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.31538475 meters Centerline goodness : 0.960770 Centerline is valid? [True, True] Translation: X:36.71, Y:3.07, Z:6.49 [[ 9.28729830e-01 -1.21968778e-01 -3.50120722e-01 3.67129644e+01] [ 1.13728330e-01 9.92533300e-01 -4.40853108e-02 3.07275723e+00] [ 3.52883507e-01 1.12469823e-03 9.35666589e-01 6.48914966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.34538475 meters Centerline goodness : 0.962166 Centerline is valid? [True, True] Translation: X:36.74, Y:3.08, Z:6.50 [[ 9.28634097e-01 -1.23392288e-01 -3.49875774e-01 3.67397145e+01] [ 1.15241945e-01 9.92357766e-01 -4.41062116e-02 3.07555316e+00] [ 3.52644308e-01 6.38167048e-04 9.35757225e-01 6.49777521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.37538475 meters Centerline goodness : 0.960487 Centerline is valid? [True, True] Translation: X:36.76, Y:3.08, Z:6.51 [[ 9.28656414e-01 -1.23560396e-01 -3.49757191e-01 3.67648080e+01] [ 1.15387273e-01 9.92336816e-01 -4.41975149e-02 3.07885875e+00] [ 3.52538000e-01 6.86777323e-04 9.35797247e-01 6.50615281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.40538475 meters Centerline goodness : 0.960183 Centerline is valid? [True, True] Translation: X:36.79, Y:3.08, Z:6.52 [[ 9.28718358e-01 -1.24370647e-01 -3.49305244e-01 3.67912569e+01] [ 1.16254910e-01 9.92235735e-01 -4.41932427e-02 3.08198786e+00] [ 3.52089488e-01 4.34625996e-04 9.35966241e-01 6.51555794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.43538475 meters Centerline goodness : 0.962711 Centerline is valid? [True, True] Translation: X:36.82, Y:3.09, Z:6.53 [[ 9.28614886e-01 -1.23884138e-01 -3.49752932e-01 3.68163660e+01] [ 1.15675825e-01 9.92296424e-01 -4.43498614e-02 3.08507217e+00] [ 3.52552828e-01 7.25982486e-04 9.35791631e-01 6.52621186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.46538475 meters Centerline goodness : 0.962156 Centerline is valid? [True, True] Translation: X:36.84, Y:3.09, Z:6.54 [[ 9.29063591e-01 -1.23432169e-01 -3.48719576e-01 3.68411737e+01] [ 1.15226246e-01 9.92352564e-01 -4.42639878e-02 3.08959826e+00] [ 3.51516366e-01 9.42411722e-04 9.36181263e-01 6.53550462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.49538475 meters Centerline goodness : 0.962355 Centerline is valid? [True, True] Translation: X:36.87, Y:3.10, Z:6.54 [[ 9.28802959e-01 -1.22127131e-01 -3.49871443e-01 3.68678585e+01] [ 1.13756761e-01 9.92513341e-01 -4.44597308e-02 3.09695750e+00] [ 3.52681814e-01 1.49408746e-03 9.35742115e-01 6.54326274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.52538475 meters Centerline goodness : 0.961269 Centerline is valid? [True, True] Translation: X:36.89, Y:3.10, Z:6.55 [[ 9.28612006e-01 -1.21776823e-01 -3.50499854e-01 3.68944927e+01] [ 1.13311262e-01 9.92555978e-01 -4.46451387e-02 3.10285149e+00] [ 3.53327468e-01 1.74243089e-03 9.35498083e-01 6.55100467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.55538475 meters Centerline goodness : 0.959879 Centerline is valid? [True, True] Translation: X:36.92, Y:3.11, Z:6.56 [[ 9.28311347e-01 -1.20605845e-01 -3.51699124e-01 3.69204437e+01] [ 1.11958416e-01 9.92697786e-01 -4.49045412e-02 3.10801865e+00] [ 3.54546692e-01 2.30971836e-03 9.35035458e-01 6.56008006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.58538475 meters Centerline goodness : 0.959749 Centerline is valid? [True, True] Translation: X:36.95, Y:3.11, Z:6.57 [[ 9.29053412e-01 -1.18475356e-01 -3.50461621e-01 3.69466099e+01] [ 1.09703848e-01 9.92951757e-01 -4.48539218e-02 3.11305476e+00] [ 3.53305567e-01 3.22470049e-03 9.35502420e-01 6.56924968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.61538475 meters Centerline goodness : 0.959392 Centerline is valid? [True, True] Translation: X:36.97, Y:3.12, Z:6.58 [[ 9.29503535e-01 -1.17187258e-01 -3.49700337e-01 3.69713608e+01] [ 1.08328627e-01 9.93102513e-01 -4.48587476e-02 3.11601609e+00] [ 3.52545157e-01 3.81380723e-03 9.35787031e-01 6.57885144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.64538475 meters Centerline goodness : 0.961448 Centerline is valid? [True, True] Translation: X:37.00, Y:3.12, Z:6.59 [[ 9.30286472e-01 -1.15843834e-01 -3.48062186e-01 3.69978022e+01] [ 1.06961250e-01 9.93257896e-01 -4.46994795e-02 3.12041684e+00] [ 3.50893674e-01 4.35415444e-03 9.36405185e-01 6.58859530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.67538475 meters Centerline goodness : 0.960964 Centerline is valid? [True, True] Translation: X:37.02, Y:3.12, Z:6.60 [[ 9.30531633e-01 -1.16693973e-01 -3.47121587e-01 3.70233649e+01] [ 1.07880496e-01 9.93159338e-01 -4.46802939e-02 3.12398485e+00] [ 3.49960966e-01 4.12877805e-03 9.36755184e-01 6.59794714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.70538475 meters Centerline goodness : 0.961008 Centerline is valid? [True, True] Translation: X:37.05, Y:3.13, Z:6.61 [[ 9.30974418e-01 -1.16350930e-01 -3.46047821e-01 3.70491936e+01] [ 1.07554032e-01 9.93198895e-01 -4.45879483e-02 3.12801946e+00] [ 3.48882163e-01 4.29140071e-03 9.37156775e-01 6.60610972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.73538475 meters Centerline goodness : 0.958979 Centerline is valid? [True, True] Translation: X:37.07, Y:3.13, Z:6.62 [[ 9.30653812e-01 -1.17244412e-01 -3.46608181e-01 3.70746849e+01] [ 1.08460134e-01 9.93094978e-01 -4.47075413e-02 3.13210189e+00] [ 3.49456553e-01 4.01407392e-03 9.36943971e-01 6.61566575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.76538475 meters Centerline goodness : 0.960407 Centerline is valid? [True, True] Translation: X:37.10, Y:3.14, Z:6.62 [[ 9.30619942e-01 -1.18656021e-01 -3.46218533e-01 3.71010148e+01] [ 1.09959639e-01 9.92929050e-01 -4.47300653e-02 3.13571749e+00] [ 3.49077931e-01 3.55662584e-03 9.37086948e-01 6.62391317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.79538475 meters Centerline goodness : 0.958162 Centerline is valid? [True, True] Translation: X:37.13, Y:3.14, Z:6.63 [[ 9.30507683e-01 -1.21287972e-01 -3.45607696e-01 3.71274177e+01] [ 1.12761327e-01 9.92613768e-01 -4.47525614e-02 3.13883715e+00] [ 3.48482904e-01 2.67141991e-03 9.37311330e-01 6.63316905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.82538475 meters Centerline goodness : 0.959472 Centerline is valid? [True, True] Translation: X:37.15, Y:3.14, Z:6.64 [[ 9.30123939e-01 -1.23371169e-01 -3.45903185e-01 3.71533983e+01] [ 1.14930638e-01 9.92358579e-01 -4.48931960e-02 3.14099252e+00] [ 3.48798519e-01 2.00136245e-03 9.37195597e-01 6.64258229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.85538475 meters Centerline goodness : 0.959156 Centerline is valid? [True, True] Translation: X:37.18, Y:3.14, Z:6.65 [[ 9.29627322e-01 -1.24202864e-01 -3.46939030e-01 3.71784868e+01] [ 1.15725615e-01 9.92255196e-01 -4.51354331e-02 3.14487243e+00] [ 3.49858005e-01 1.80939919e-03 9.36800994e-01 6.65110318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.88538475000001 meters Centerline goodness : 0.958572 Centerline is valid? [True, True] Translation: X:37.21, Y:3.15, Z:6.66 [[ 9.29785235e-01 -1.21408585e-01 -3.47504491e-01 3.72051445e+01] [ 1.12693829e-01 9.92598314e-01 -4.52624319e-02 3.14955792e+00] [ 3.50427620e-01 2.92272911e-03 9.36585256e-01 6.65811017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.91538475000002 meters Centerline goodness : 0.955793 Centerline is valid? [True, True] Translation: X:37.23, Y:3.15, Z:6.67 [[ 9.30480719e-01 -1.18119617e-01 -3.46775701e-01 3.72307444e+01] [ 1.09182465e-01 9.92990221e-01 -4.52726241e-02 3.15261858e+00] [ 3.49692465e-01 4.26347792e-03 9.36854846e-01 6.66701602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.94538475000002 meters Centerline goodness : 0.959673 Centerline is valid? [True, True] Translation: X:37.26, Y:3.16, Z:6.68 [[ 9.30614399e-01 -1.17904103e-01 -3.46490205e-01 3.72557267e+01] [ 1.08950099e-01 9.93015279e-01 -4.52827951e-02 3.15582793e+00] [ 3.49409095e-01 4.39067916e-03 9.36959981e-01 6.67632582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.97538475000002 meters Centerline goodness : 0.957578 Centerline is valid? [True, True] Translation: X:37.28, Y:3.16, Z:6.69 [[ 9.30886114e-01 -1.17133270e-01 -3.46021443e-01 3.72813617e+01] [ 1.08134352e-01 9.93104962e-01 -4.52713702e-02 3.15974303e+00] [ 3.48938396e-01 4.72568540e-03 9.37133749e-01 6.68619984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.00538475 meters Centerline goodness : 0.959872 Centerline is valid? [True, True] Translation: X:37.31, Y:3.16, Z:6.69 [[ 9.31129985e-01 -1.17504189e-01 -3.45238637e-01 3.73080321e+01] [ 1.08535906e-01 9.93061367e-01 -4.52667578e-02 3.16299584e+00] [ 3.48162186e-01 4.67844729e-03 9.37422639e-01 6.69452398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.03538475 meters Centerline goodness : 0.960257 Centerline is valid? [True, True] Translation: X:37.33, Y:3.17, Z:6.70 [[ 9.30934982e-01 -1.18291926e-01 -3.45495413e-01 3.73334754e+01] [ 1.09323105e-01 9.92968669e-01 -4.54057357e-02 3.16617496e+00] [ 3.48437252e-01 4.49915657e-03 9.37321310e-01 6.70384071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.06538475 meters Centerline goodness : 0.961346 Centerline is valid? [True, True] Translation: X:37.36, Y:3.17, Z:6.71 [[ 9.31357802e-01 -1.19886581e-01 -3.43802055e-01 3.73606513e+01] [ 1.11095201e-01 9.92779798e-01 -4.52341489e-02 3.17087561e+00] [ 3.46742702e-01 3.93441912e-03 9.37952034e-01 6.71057353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.09538475 meters Centerline goodness : 0.962442 Centerline is valid? [True, True] Translation: X:37.39, Y:3.17, Z:6.72 [[ 9.31273257e-01 -1.22084515e-01 -3.43257182e-01 3.73873260e+01] [ 1.13428129e-01 9.92514483e-01 -4.52665437e-02 3.17359885e+00] [ 3.46214068e-01 3.22050163e-03 9.38150013e-01 6.72006525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.12538475 meters Centerline goodness : 0.962797 Centerline is valid? [True, True] Translation: X:37.41, Y:3.18, Z:6.73 [[ 9.31228778e-01 -1.22845069e-01 -3.43106473e-01 3.74134279e+01] [ 1.14208090e-01 9.92421185e-01 -4.53509024e-02 3.17640244e+00] [ 3.46077268e-01 3.04653034e-03 9.38201068e-01 6.73023109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.15538475 meters Centerline goodness : 0.962463 Centerline is valid? [True, True] Translation: X:37.44, Y:3.18, Z:6.74 [[ 9.31445396e-01 -1.22647662e-01 -3.42588712e-01 3.74390205e+01] [ 1.13987997e-01 9.92445052e-01 -4.53823177e-02 3.17676266e+00] [ 3.45566507e-01 3.22014972e-03 9.38388736e-01 6.74017555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.18538475 meters Centerline goodness : 0.962052 Centerline is valid? [True, True] Translation: X:37.47, Y:3.18, Z:6.75 [[ 9.31398538e-01 -1.23105912e-01 -3.42551744e-01 3.74658001e+01] [ 1.14460297e-01 9.92388693e-01 -4.54260164e-02 3.17980001e+00] [ 3.45536689e-01 3.10115077e-03 9.38400117e-01 6.74986826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.21538475 meters Centerline goodness : 0.961403 Centerline is valid? [True, True] Translation: X:37.49, Y:3.18, Z:6.76 [[ 9.31347745e-01 -1.23677352e-01 -3.42484000e-01 3.74925957e+01] [ 1.15034469e-01 9.92317955e-01 -4.55208525e-02 3.18301052e+00] [ 3.45482921e-01 2.99827811e-03 9.38420248e-01 6.75696246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.24538475 meters Centerline goodness : 0.961513 Centerline is valid? [True, True] Translation: X:37.52, Y:3.19, Z:6.76 [[ 9.30855226e-01 -1.24309276e-01 -3.43592422e-01 3.75184721e+01] [ 1.15611596e-01 9.92239330e-01 -4.57719477e-02 3.18609987e+00] [ 3.46615792e-01 2.88378856e-03 9.38002759e-01 6.76494919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.27538475 meters Centerline goodness : 0.960153 Centerline is valid? [True, True] Translation: X:37.54, Y:3.19, Z:6.77 [[ 9.30057676e-01 -1.26909543e-01 -3.44799488e-01 3.75448567e+01] [ 1.18302256e-01 9.91912324e-01 -4.59838794e-02 3.18861895e+00] [ 3.47846655e-01 1.97710255e-03 9.37549356e-01 6.77447348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.30538475 meters Centerline goodness : 0.960314 Centerline is valid? [True, True] Translation: X:37.57, Y:3.19, Z:6.78 [[ 9.29986578e-01 -1.27205985e-01 -3.44882012e-01 3.75708309e+01] [ 1.18576188e-01 9.91874355e-01 -4.60971879e-02 3.19123112e+00] [ 3.47943461e-01 1.97497194e-03 9.37513438e-01 6.78282781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.33538475 meters Centerline goodness : 0.959873 Centerline is valid? [True, True] Translation: X:37.60, Y:3.19, Z:6.79 [[ 9.29134998e-01 -1.28562276e-01 -3.46669723e-01 3.75969588e+01] [ 1.19911760e-01 9.91700257e-01 -4.63871758e-02 3.19305506e+00] [ 3.49756095e-01 1.53017167e-03 9.36839545e-01 6.79211642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.36538475 meters Centerline goodness : 0.962787 Centerline is valid? [True, True] Translation: X:37.62, Y:3.20, Z:6.80 [[ 9.28799550e-01 -1.29462934e-01 -3.47232983e-01 3.76235198e+01] [ 1.20804727e-01 9.91583403e-01 -4.65679298e-02 3.19574036e+00] [ 3.50339284e-01 1.30488650e-03 9.36621953e-01 6.80207575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.39538475 meters Centerline goodness : 0.961188 Centerline is valid? [True, True] Translation: X:37.65, Y:3.20, Z:6.81 [[ 9.28831619e-01 -1.29536074e-01 -3.47119907e-01 3.76488291e+01] [ 1.20851117e-01 9.91573745e-01 -4.66531338e-02 3.19928042e+00] [ 3.50238250e-01 1.38307742e-03 9.36659626e-01 6.81009034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.42538475 meters Centerline goodness : 0.960699 Centerline is valid? [True, True] Translation: X:37.67, Y:3.20, Z:6.82 [[ 9.28885299e-01 -1.29884599e-01 -3.46845920e-01 3.76738451e+01] [ 1.21220335e-01 9.91528267e-01 -4.66618255e-02 3.20339381e+00] [ 3.49968187e-01 1.29870502e-03 9.36760685e-01 6.81817408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.45538475 meters Centerline goodness : 0.960699 Centerline is valid? [True, True] Translation: X:37.70, Y:3.21, Z:6.83 [[ 9.28853540e-01 -1.30128679e-01 -3.46839486e-01 3.77006970e+01] [ 1.21463035e-01 9.91496316e-01 -4.67096048e-02 3.20721207e+00] [ 3.49968332e-01 1.25820496e-03 9.36760686e-01 6.82741097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.48538475 meters Centerline goodness : 0.960107 Centerline is valid? [True, True] Translation: X:37.73, Y:3.21, Z:6.84 [[ 9.28969548e-01 -1.29260556e-01 -3.46853409e-01 3.77264766e+01] [ 1.20501021e-01 9.91609235e-01 -4.68041583e-02 3.21133008e+00] [ 3.49992975e-01 1.68344787e-03 9.36750812e-01 6.83729102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.51538475 meters Centerline goodness : 0.959647 Centerline is valid? [True, True] Translation: X:37.75, Y:3.21, Z:6.85 [[ 9.29147377e-01 -1.28716477e-01 -3.46579313e-01 3.77527768e+01] [ 1.19896196e-01 9.91679427e-01 -4.68702117e-02 3.21430729e+00] [ 3.49728543e-01 1.99579300e-03 9.36848954e-01 6.84768166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.54538475 meters Centerline goodness : 0.959736 Centerline is valid? [True, True] Translation: X:37.78, Y:3.22, Z:6.86 [[ 9.29993107e-01 -1.27175979e-01 -3.44875473e-01 3.77782714e+01] [ 1.18303712e-01 9.91876569e-01 -4.67450946e-02 3.21862208e+00] [ 3.48018754e-01 2.67256714e-03 9.37483762e-01 6.85779231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.57538475 meters Centerline goodness : 0.961162 Centerline is valid? [True, True] Translation: X:37.80, Y:3.22, Z:6.87 [[ 9.30733472e-01 -1.26468067e-01 -3.43134131e-01 3.78042081e+01] [ 1.17604157e-01 9.91966056e-01 -4.66112299e-02 3.22394918e+00] [ 3.46272242e-01 3.02863153e-03 9.38129182e-01 6.86511221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.60538475 meters Centerline goodness : 0.958731 Centerline is valid? [True, True] Translation: X:37.83, Y:3.23, Z:6.87 [[ 9.30880947e-01 -1.26756019e-01 -3.42627458e-01 3.78306643e+01] [ 1.17919958e-01 9.91929483e-01 -4.65916838e-02 3.22830854e+00] [ 3.45768053e-01 2.96869516e-03 9.38315320e-01 6.87392574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.63538475000001 meters Centerline goodness : 0.961284 Centerline is valid? [True, True] Translation: X:37.86, Y:3.23, Z:6.88 [[ 9.30865432e-01 -1.26589546e-01 -3.42731140e-01 3.78570538e+01] [ 1.17700632e-01 9.91950227e-01 -4.67044788e-02 3.23220055e+00] [ 3.45884531e-01 3.13591320e-03 9.38271846e-01 6.88304610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.66538475000002 meters Centerline goodness : 0.959666 Centerline is valid? [True, True] Translation: X:37.88, Y:3.24, Z:6.89 [[ 9.31126216e-01 -1.26528235e-01 -3.42044698e-01 3.78824108e+01] [ 1.17635024e-01 9.91957655e-01 -4.67120140e-02 3.23501336e+00] [ 3.45204245e-01 3.25834455e-03 9.38521930e-01 6.89225043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69538475000002 meters Centerline goodness : 0.960546 Centerline is valid? [True, True] Translation: X:37.91, Y:3.24, Z:6.90 [[ 9.30317727e-01 -1.28350755e-01 -3.43562238e-01 3.79088284e+01] [ 1.19468660e-01 9.91725233e-01 -4.69925622e-02 3.23773901e+00] [ 3.46750871e-01 2.67309343e-03 9.37953457e-01 6.90296466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.72538475000002 meters Centerline goodness : 0.959250 Centerline is valid? [True, True] Translation: X:37.93, Y:3.24, Z:6.91 [[ 9.30286603e-01 -1.28226642e-01 -3.43692835e-01 3.79340743e+01] [ 1.19291602e-01 9.91740857e-01 -4.71124764e-02 3.24092651e+00] [ 3.46895302e-01 2.82843684e-03 9.37899595e-01 6.91118150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.75538475 meters Centerline goodness : 0.957149 Centerline is valid? [True, True] Translation: X:37.96, Y:3.24, Z:6.92 [[ 9.29900124e-01 -1.28612084e-01 -3.44593515e-01 3.79607929e+01] [ 1.19626709e-01 9.91691109e-01 -4.73095628e-02 3.24482113e+00] [ 3.47814906e-01 2.77058022e-03 9.37559126e-01 6.91955321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.78538475 meters Centerline goodness : 0.956039 Centerline is valid? [True, True] Translation: X:37.99, Y:3.25, Z:6.93 [[ 9.29694936e-01 -1.28954758e-01 -3.45018836e-01 3.79861014e+01] [ 1.19931250e-01 9.91646653e-01 -4.74700989e-02 3.24922865e+00] [ 3.48258269e-01 2.75417019e-03 9.37394577e-01 6.92751235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.81538475 meters Centerline goodness : 0.953090 Centerline is valid? [True, True] Translation: X:38.01, Y:3.25, Z:6.94 [[ 9.29476284e-01 -1.29115628e-01 -3.45547382e-01 3.80121177e+01] [ 1.20055312e-01 9.91625726e-01 -4.75935108e-02 3.25369971e+00] [ 3.48798739e-01 2.75224097e-03 9.37193611e-01 6.93674250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.84538475 meters Centerline goodness : 0.954477 Centerline is valid? [True, True] Translation: X:38.04, Y:3.26, Z:6.95 [[ 9.29499352e-01 -1.30408856e-01 -3.44999253e-01 3.80374173e+01] [ 1.21425702e-01 9.91457461e-01 -4.76224863e-02 3.25726847e+00] [ 3.48262477e-01 2.37329376e-03 9.37394055e-01 6.94617092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.87538475 meters Centerline goodness : 0.955741 Centerline is valid? [True, True] Translation: X:38.06, Y:3.26, Z:6.96 [[ 9.29113634e-01 -1.31566496e-01 -3.45598195e-01 3.80630726e+01] [ 1.22600478e-01 9.91305284e-01 -4.77803046e-02 3.26027732e+00] [ 3.48879604e-01 2.02282855e-03 9.37165370e-01 6.95656480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.90538475 meters Centerline goodness : 0.958203 Centerline is valid? [True, True] Translation: X:38.09, Y:3.26, Z:6.97 [[ 9.29476250e-01 -1.30517652e-01 -3.45020353e-01 3.80880610e+01] [ 1.21474474e-01 9.91442781e-01 -4.78033993e-02 3.26297223e+00] [ 3.48307125e-01 2.52095861e-03 9.37377081e-01 6.96734168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.93538475 meters Centerline goodness : 0.955852 Centerline is valid? [True, True] Translation: X:38.11, Y:3.27, Z:6.98 [[ 9.30127432e-01 -1.29495658e-01 -3.43647836e-01 3.81139426e+01] [ 1.20432264e-01 9.91575546e-01 -4.76865373e-02 3.26822721e+00] [ 3.46927990e-01 2.96826954e-03 9.37887072e-01 6.97652548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.96538475 meters Centerline goodness : 0.956444 Centerline is valid? [True, True] Translation: X:38.14, Y:3.27, Z:6.99 [[ 9.30645967e-01 -1.29201406e-01 -3.42352276e-01 3.81399427e+01] [ 1.20151121e-01 9.91613290e-01 -4.76108269e-02 3.27228570e+00] [ 3.45632453e-01 3.17481429e-03 9.38364603e-01 6.98568439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.99538475 meters Centerline goodness : 0.959324 Centerline is valid? [True, True] Translation: X:38.16, Y:3.28, Z:6.99 [[ 9.31367142e-01 -1.29355789e-01 -3.40326795e-01 3.81648735e+01] [ 1.20387799e-01 9.91593058e-01 -4.74340040e-02 3.27826133e+00] [ 3.43601550e-01 3.20727902e-03 9.39110051e-01 6.99356526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.02538475 meters Centerline goodness : 0.954594 Centerline is valid? [True, True] Translation: X:38.19, Y:3.28, Z:7.00 [[ 9.31544068e-01 -1.28474745e-01 -3.40176262e-01 3.81910321e+01] [ 1.19439558e-01 9.91706305e-01 -4.74636364e-02 3.28270738e+00] [ 3.43452822e-01 3.58396652e-03 9.39163092e-01 7.00193420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.05538475 meters Centerline goodness : 0.955166 Centerline is valid? [True, True] Translation: X:38.22, Y:3.29, Z:7.01 [[ 9.31835856e-01 -1.27033220e-01 -3.39918370e-01 3.82170907e+01] [ 1.17880976e-01 9.91889475e-01 -4.75325693e-02 3.28744794e+00] [ 3.43199669e-01 4.22264318e-03 9.39252978e-01 7.01077481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.08538475 meters Centerline goodness : 0.955298 Centerline is valid? [True, True] Translation: X:38.24, Y:3.29, Z:7.02 [[ 9.31721240e-01 -1.26490862e-01 -3.40434417e-01 3.82422934e+01] [ 1.17236679e-01 9.91957385e-01 -4.77085738e-02 3.29135688e+00] [ 3.43731133e-01 4.53969100e-03 9.39057133e-01 7.01964796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.11538475 meters Centerline goodness : 0.956946 Centerline is valid? [True, True] Translation: X:38.27, Y:3.29, Z:7.03 [[ 9.31816433e-01 -1.25975406e-01 -3.40364998e-01 3.82675454e+01] [ 1.16665511e-01 9.92021729e-01 -4.77707758e-02 3.29463510e+00] [ 3.43667416e-01 4.80473753e-03 9.39079135e-01 7.02869632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.14538475 meters Centerline goodness : 0.955148 Centerline is valid? [True, True] Translation: X:38.29, Y:3.30, Z:7.04 [[ 9.31504035e-01 -1.26428603e-01 -3.41051376e-01 3.82942146e+01] [ 1.17081952e-01 9.91964450e-01 -4.79410723e-02 3.29879271e+00] [ 3.44371963e-01 4.72634157e-03 9.38821395e-01 7.03782552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.17538475 meters Centerline goodness : 0.955184 Centerline is valid? [True, True] Translation: X:38.32, Y:3.30, Z:7.05 [[ 9.31353798e-01 -1.27099634e-01 -3.41212231e-01 3.83195130e+01] [ 1.17749488e-01 9.91879336e-01 -4.80670565e-02 3.30220036e+00] [ 3.44550666e-01 4.58987010e-03 9.38756503e-01 7.04641740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.20538475 meters Centerline goodness : 0.955142 Centerline is valid? [True, True] Translation: X:38.35, Y:3.31, Z:7.05 [[ 9.31501568e-01 -1.27846265e-01 -3.40529236e-01 3.83455981e+01] [ 1.18556468e-01 9.91784320e-01 -4.80439968e-02 3.30641577e+00] [ 3.43873803e-01 4.38111491e-03 9.39005652e-01 7.05483842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.23538475 meters Centerline goodness : 0.954040 Centerline is valid? [True, True] Translation: X:38.37, Y:3.31, Z:7.06 [[ 9.31282755e-01 -1.29059689e-01 -3.40669968e-01 3.83722415e+01] [ 1.19802795e-01 9.91628582e-01 -4.81668528e-02 3.31078309e+00] [ 3.44034476e-01 4.04374515e-03 9.38948309e-01 7.06355661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.26538475 meters Centerline goodness : 0.954289 Centerline is valid? [True, True] Translation: X:38.40, Y:3.32, Z:7.07 [[ 9.30991844e-01 -1.30223946e-01 -3.41021862e-01 3.83986904e+01] [ 1.20985078e-01 9.91477603e-01 -4.83194987e-02 3.31589850e+00] [ 3.44407895e-01 3.72650264e-03 9.38812716e-01 7.07137514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.29538475 meters Centerline goodness : 0.953798 Centerline is valid? [True, True] Translation: X:38.42, Y:3.32, Z:7.08 [[ 9.30657701e-01 -1.29869612e-01 -3.42067432e-01 3.84237775e+01] [ 1.20511893e-01 9.91523106e-01 -4.85676158e-02 3.31907087e+00] [ 3.45475221e-01 3.97663171e-03 9.38419447e-01 7.08003759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.32538475 meters Centerline goodness : 0.956726 Centerline is valid? [True, True] Translation: X:38.45, Y:3.32, Z:7.09 [[ 9.30539329e-01 -1.30588255e-01 -3.42115866e-01 3.84501443e+01] [ 1.21256897e-01 9.91429552e-01 -4.86231290e-02 3.32243211e+00] [ 3.45533389e-01 3.76182561e-03 9.38398916e-01 7.09010752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.35538475 meters Centerline goodness : 0.954602 Centerline is valid? [True, True] Translation: X:38.48, Y:3.32, Z:7.10 [[ 9.31434296e-01 -1.30236457e-01 -3.39806736e-01 3.84754249e+01] [ 1.20976018e-01 9.91475021e-01 -4.83951022e-02 3.32356301e+00] [ 3.43212697e-01 3.96839213e-03 9.39249326e-01 7.10062495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.38538475000001 meters Centerline goodness : 0.956112 Centerline is valid? [True, True] Translation: X:38.50, Y:3.33, Z:7.11 [[ 9.31867474e-01 -1.30485461e-01 -3.38521130e-01 3.85021767e+01] [ 1.21295927e-01 9.91442509e-01 -4.82602194e-02 3.32685539e+00] [ 3.41921496e-01 3.91089428e-03 9.39720382e-01 7.11004259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.41538475000002 meters Centerline goodness : 0.953777 Centerline is valid? [True, True] Translation: X:38.53, Y:3.33, Z:7.12 [[ 9.32644610e-01 -1.30904043e-01 -3.36211485e-01 3.85286655e+01] [ 1.21833313e-01 9.91387620e-01 -4.80336524e-02 3.33133520e+00] [ 3.39603703e-01 3.83656819e-03 9.40560793e-01 7.11834319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.44538475000002 meters Centerline goodness : 0.953339 Centerline is valid? [True, True] Translation: X:38.55, Y:3.34, Z:7.13 [[ 9.32498626e-01 -1.31729757e-01 -3.36293894e-01 3.85541772e+01] [ 1.22670277e-01 9.91278974e-01 -4.81456074e-02 3.33530798e+00] [ 3.39703275e-01 3.64244761e-03 9.40525607e-01 7.12627454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47538475000002 meters Centerline goodness : 0.951270 Centerline is valid? [True, True] Translation: X:38.58, Y:3.34, Z:7.13 [[ 9.32054550e-01 -1.33112363e-01 -3.36979842e-01 3.85794853e+01] [ 1.24085906e-01 9.91095809e-01 -4.82885627e-02 3.33914783e+00] [ 3.40407114e-01 3.19312568e-03 9.40272727e-01 7.13404017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.50538475 meters Centerline goodness : 0.951999 Centerline is valid? [True, True] Translation: X:38.61, Y:3.34, Z:7.14 [[ 9.31910893e-01 -1.33978784e-01 -3.37033785e-01 3.86060978e+01] [ 1.24987194e-01 9.90979878e-01 -4.83433775e-02 3.34274750e+00] [ 3.40470686e-01 2.92681295e-03 9.40250576e-01 7.14300722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.53538475 meters Centerline goodness : 0.951383 Centerline is valid? [True, True] Translation: X:38.63, Y:3.35, Z:7.15 [[ 9.31927562e-01 -1.35156667e-01 -3.36517006e-01 3.86316371e+01] [ 1.26232269e-01 9.90820839e-01 -4.83681709e-02 3.34563135e+00] [ 3.39965343e-01 2.59632649e-03 9.40434381e-01 7.15170717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.56538475 meters Centerline goodness : 0.951903 Centerline is valid? [True, True] Translation: X:38.66, Y:3.35, Z:7.16 [[ 9.31767418e-01 -1.35693243e-01 -3.36744446e-01 3.86581105e+01] [ 1.26773289e-01 9.90747865e-01 -4.84479273e-02 3.34926830e+00] [ 3.40202897e-01 2.45199904e-03 9.40348859e-01 7.16191944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.59538475 meters Centerline goodness : 0.954740 Centerline is valid? [True, True] Translation: X:38.68, Y:3.35, Z:7.17 [[ 9.32121643e-01 -1.36126698e-01 -3.35587195e-01 3.86847595e+01] [ 1.27261553e-01 9.90688555e-01 -4.83806129e-02 3.35344485e+00] [ 3.39048286e-01 2.38926894e-03 9.40765939e-01 7.17123565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.62538475 meters Centerline goodness : 0.954014 Centerline is valid? [True, True] Translation: X:38.71, Y:3.36, Z:7.18 [[ 9.32193946e-01 -1.36271550e-01 -3.35327469e-01 3.87102646e+01] [ 1.27393998e-01 9.90668520e-01 -4.84422624e-02 3.35713632e+00] [ 3.38799669e-01 2.43887692e-03 9.40855375e-01 7.17972971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.65538475 meters Centerline goodness : 0.950461 Centerline is valid? [True, True] Translation: X:38.74, Y:3.36, Z:7.19 [[ 9.31758067e-01 -1.36095670e-01 -3.36607893e-01 3.87369354e+01] [ 1.27119548e-01 9.90692382e-01 -4.86746735e-02 3.36167099e+00] [ 3.40099288e-01 2.56357640e-03 9.40386039e-01 7.18809550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.68538475 meters Centerline goodness : 0.952708 Centerline is valid? [True, True] Translation: X:38.76, Y:3.37, Z:7.20 [[ 9.31685193e-01 -1.36096357e-01 -3.36809269e-01 3.87624546e+01] [ 1.27072824e-01 9.90692005e-01 -4.88041918e-02 3.36523735e+00] [ 3.40316322e-01 2.67083797e-03 9.40307220e-01 7.19725485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.71538475 meters Centerline goodness : 0.952574 Centerline is valid? [True, True] Translation: X:38.79, Y:3.37, Z:7.21 [[ 9.31599812e-01 -1.36063797e-01 -3.37058501e-01 3.87890986e+01] [ 1.27007064e-01 9.90696301e-01 -4.88880827e-02 3.36890289e+00] [ 3.40574509e-01 2.73531811e-03 9.40213551e-01 7.20579654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.74538475 meters Centerline goodness : 0.950657 Centerline is valid? [True, True] Translation: X:38.82, Y:3.37, Z:7.21 [[ 9.31503970e-01 -1.36026975e-01 -3.37338132e-01 3.88151926e+01] [ 1.26915288e-01 9.90701008e-01 -4.90308241e-02 3.37320880e+00] [ 3.40870742e-01 2.85904103e-03 9.40105825e-01 7.21428330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.77538475 meters Centerline goodness : 0.949518 Centerline is valid? [True, False] Translation: X:38.82, Y:3.37, Z:7.22 [[ 9.31607841e-01 -1.31549430e-01 -3.38823816e-01 3.88168465e+01] [ 1.24006995e-01 9.91308999e-01 -4.39173516e-02 3.37108120e+00] [ 3.41656400e-01 -1.10277414e-03 9.39824286e-01 7.21712207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.80538475 meters Centerline goodness : 0.950930 Centerline is valid? [False, True] Translation: X:38.82, Y:3.37, Z:7.22 [[ 9.31495834e-01 -1.26690357e-01 -3.40976633e-01 3.88185710e+01] [ 1.21075028e-01 9.91923677e-01 -3.77922690e-02 3.36795813e+00] [ 3.43010712e-01 -6.08041437e-03 9.39311812e-01 7.22198192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.83538475 meters Centerline goodness : 0.949603 Centerline is valid? [True, False] Translation: X:38.82, Y:3.36, Z:7.23 [[ 9.31328070e-01 -1.21984104e-01 -3.43144144e-01 3.88204056e+01] [ 1.18670679e-01 9.92458211e-01 -3.07240885e-02 3.36439854e+00] [ 3.44304074e-01 -1.21069425e-02 9.38780127e-01 7.22848247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.86538475 meters Centerline goodness : 0.950635 Centerline is valid? [False, True] Translation: X:38.82, Y:3.36, Z:7.23 [[ 9.31399685e-01 -1.16808933e-01 -3.44746719e-01 3.88211114e+01] [ 1.15306611e-01 9.93016902e-01 -2.49362867e-02 3.36156616e+00] [ 3.45252100e-01 -1.65259264e-02 9.38364471e-01 7.23224064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.89538475 meters Centerline goodness : 0.948762 Centerline is valid? [True, False] Translation: X:38.82, Y:3.36, Z:7.24 [[ 9.31264326e-01 -1.11891427e-01 -3.46737745e-01 3.88225485e+01] [ 1.12485521e-01 9.93481471e-01 -1.84817100e-02 3.35863820e+00] [ 3.46545470e-01 -2.17916187e-02 9.37780018e-01 7.23763542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.92538475 meters Centerline goodness : 0.952392 Centerline is valid? [False, True] Translation: X:38.82, Y:3.36, Z:7.24 [[ 9.31142020e-01 -1.07588171e-01 -3.48424056e-01 3.88249917e+01] [ 1.09769121e-01 9.93864892e-01 -1.35394365e-02 3.35672249e+00] [ 3.47743120e-01 -2.56390642e-02 9.37239223e-01 7.24054404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.95538475 meters Centerline goodness : 0.950431 Centerline is valid? [True, True] Translation: X:38.86, Y:3.37, Z:7.23 [[ 9.31470239e-01 -1.16526614e-01 -3.44651625e-01 3.88555806e+01] [ 1.08355013e-01 9.93184001e-01 -4.29503267e-02 3.37279720e+00] [ 3.47307336e-01 2.66221995e-03 9.37747582e-01 7.22967115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.98538475 meters Centerline goodness : 0.950387 Centerline is valid? [True, True] Translation: X:38.88, Y:3.38, Z:7.24 [[ 9.31396478e-01 -1.15560020e-01 -3.45176017e-01 3.88805404e+01] [ 1.07281512e-01 9.93295737e-01 -4.30610824e-02 3.37741549e+00] [ 3.47838005e-01 3.07593552e-03 9.37549604e-01 7.23861102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.01538475 meters Centerline goodness : 0.951980 Centerline is valid? [True, True] Translation: X:38.91, Y:3.38, Z:7.25 [[ 9.31523772e-01 -1.14235357e-01 -3.45273436e-01 3.89071535e+01] [ 1.05846349e-01 9.93447112e-01 -4.31205926e-02 3.38030742e+00] [ 3.47936794e-01 3.62192447e-03 9.37510997e-01 7.24879767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.04538475 meters Centerline goodness : 0.951679 Centerline is valid? [True, True] Translation: X:38.93, Y:3.38, Z:7.26 [[ 9.31458216e-01 -1.14516056e-01 -3.45357299e-01 3.89317226e+01] [ 1.06103130e-01 9.93414774e-01 -4.32343825e-02 3.38339274e+00] [ 3.48034075e-01 3.62753047e-03 9.37474866e-01 7.25943949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.07538475 meters Centerline goodness : 0.952246 Centerline is valid? [True, True] Translation: X:38.96, Y:3.39, Z:7.27 [[ 9.31122911e-01 -1.16834674e-01 -3.45484852e-01 3.89582200e+01] [ 1.08551476e-01 9.93147391e-01 -4.32993969e-02 3.38820083e+00] [ 3.48176250e-01 2.81416991e-03 9.37424866e-01 7.26737031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.10538475 meters Centerline goodness : 0.951331 Centerline is valid? [True, True] Translation: X:38.98, Y:3.39, Z:7.27 [[ 9.30857574e-01 -1.17406199e-01 -3.46005724e-01 3.89840888e+01] [ 1.09096171e-01 9.93080262e-01 -4.34697489e-02 3.39269746e+00] [ 3.48715073e-01 2.71624547e-03 9.37224850e-01 7.27419953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.13538475000001 meters Centerline goodness : 0.949806 Centerline is valid? [True, False] Translation: X:38.99, Y:3.39, Z:7.28 [[ 9.30753517e-01 -1.13220163e-01 -3.47676697e-01 3.89871213e+01] [ 1.06287797e-01 9.93569718e-01 -3.90143622e-02 3.39132991e+00] [ 3.49858250e-01 -6.41035423e-04 9.36802431e-01 7.27616013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.16538475000002 meters Centerline goodness : 0.949386 Centerline is valid? [False, False] Translation: X:38.99, Y:3.39, Z:7.28 [[ 9.30750842e-01 -1.07714999e-01 -3.49428603e-01 3.89875734e+01] [ 1.02960974e-01 9.94163724e-01 -3.22106753e-02 3.38746941e+00] [ 3.50858814e-01 -5.99739623e-03 9.36409165e-01 7.28147862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19538475000002 meters Centerline goodness : 0.948595 Centerline is valid? [False, False] Translation: X:38.99, Y:3.38, Z:7.29 [[ 9.30834369e-01 -1.02186610e-01 -3.50863612e-01 3.89873160e+01] [ 9.95433061e-02 9.94703498e-01 -2.56140788e-02 3.38345510e+00] [ 3.51622678e-01 -1.10836591e-02 9.36076196e-01 7.28631949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.22538475000002 meters Centerline goodness : 0.951089 Centerline is valid? [False, True] Translation: X:38.99, Y:3.38, Z:7.29 [[ 9.30769874e-01 -9.66650701e-02 -3.52595102e-01 3.89878274e+01] [ 9.67805932e-02 9.95154572e-01 -1.73463157e-02 3.37810101e+00] [ 3.52563410e-01 -1.79789350e-02 9.35615198e-01 7.29385573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.25538475 meters Centerline goodness : 0.948385 Centerline is valid? [True, False] Translation: X:38.99, Y:3.38, Z:7.30 [[ 9.30848347e-01 -9.24622017e-02 -3.53513927e-01 3.89893961e+01] [ 9.40558878e-02 9.95485788e-01 -1.27096551e-02 3.37560808e+00] [ 3.53093253e-01 -2.14193048e-02 9.35342915e-01 7.29571619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.28538475 meters Centerline goodness : 0.948993 Centerline is valid? [False, False] Translation: X:38.99, Y:3.37, Z:7.30 [[ 9.30741902e-01 -8.99305438e-02 -3.54446060e-01 3.89938174e+01] [ 9.27628681e-02 9.95647277e-01 -9.03046516e-03 3.37352505e+00] [ 3.53715369e-01 -2.44744008e-02 9.35032856e-01 7.29659565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.31538475 meters Centerline goodness : 0.948993 Centerline is valid? [False, False] Translation: X:38.99, Y:3.37, Z:7.30 [[ 9.30741902e-01 -8.99305438e-02 -3.54446060e-01 3.89938174e+01] [ 9.27628681e-02 9.95647277e-01 -9.03046516e-03 3.37352505e+00] [ 3.53715369e-01 -2.44744008e-02 9.35032856e-01 7.29659565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.34538475 meters Centerline goodness : 0.948940 Centerline is valid? [False, False] Translation: X:39.00, Y:3.37, Z:7.30 [[ 9.30573691e-01 -8.62550513e-02 -3.55798640e-01 3.89966571e+01] [ 9.07075163e-02 9.95868787e-01 -4.18406619e-03 3.37077372e+00] [ 3.54689656e-01 -2.83800290e-02 9.34553274e-01 7.29944918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.37538475 meters Centerline goodness : 0.947830 Centerline is valid? [False, False] Translation: X:39.00, Y:3.37, Z:7.30 [[ 9.30271171e-01 -8.64694555e-02 -3.56536929e-01 3.89982680e+01] [ 9.11550207e-02 9.95829937e-01 -3.67419037e-03 3.36888156e+00] [ 3.55367853e-01 -2.90821378e-02 9.34274006e-01 7.30069330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.40538475 meters Centerline goodness : 0.947364 Centerline is valid? [False, False] Translation: X:39.00, Y:3.37, Z:7.30 [[ 9.30071595e-01 -8.64404350e-02 -3.57064250e-01 3.89985927e+01] [ 9.14133010e-02 9.95808637e-01 -2.96085931e-03 3.36743075e+00] [ 3.55823602e-01 -2.98866107e-02 9.34075133e-01 7.30227751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.43538475 meters Centerline goodness : 0.950096 Centerline is valid? [False, True] Translation: X:39.00, Y:3.37, Z:7.30 [[ 9.29924875e-01 -8.23045150e-02 -3.58421113e-01 3.90011013e+01] [ 8.87845013e-02 9.96049528e-01 1.62809300e-03 3.36617977e+00] [ 3.56871181e-01 -3.33362439e-02 9.33558598e-01 7.30457204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.46538475 meters Centerline goodness : 0.949191 Centerline is valid? [True, False] Translation: X:39.00, Y:3.36, Z:7.31 [[ 9.29849114e-01 -7.75047704e-02 -3.59685467e-01 3.90022776e+01] [ 8.56654407e-02 9.96300905e-01 6.77775865e-03 3.36414062e+00] [ 3.57829648e-01 -3.71149069e-02 9.33048995e-01 7.30746518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.49538475 meters Centerline goodness : 0.948638 Centerline is valid? [False, False] Translation: X:39.00, Y:3.36, Z:7.31 [[ 9.29825401e-01 -7.25364831e-02 -3.60781349e-01 3.90025408e+01] [ 8.23296243e-02 9.96534972e-01 1.18272017e-02 3.36266513e+00] [ 3.58673328e-01 -4.07002255e-02 9.32575432e-01 7.31042797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.52538475 meters Centerline goodness : 0.948741 Centerline is valid? [False, False] Translation: X:39.00, Y:3.36, Z:7.31 [[ 9.29750650e-01 -6.77733653e-02 -3.61898466e-01 3.90039605e+01] [ 7.90103803e-02 9.96740135e-01 1.63236922e-02 3.36196936e+00] [ 3.59612415e-01 -4.37706989e-02 9.32074588e-01 7.31221754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.55538475 meters Centerline goodness : 0.946990 Centerline is valid? [False, False] Translation: X:39.00, Y:3.36, Z:7.31 [[ 9.29766245e-01 -6.28490129e-02 -3.62746097e-01 3.90047474e+01] [ 7.54194567e-02 9.96939473e-01 2.05813468e-02 3.36221483e+00] [ 3.60342385e-01 -4.64939551e-02 9.31660709e-01 7.31356815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.58538475 meters Centerline goodness : 0.948090 Centerline is valid? [False, False] Translation: X:39.00, Y:3.36, Z:7.32 [[ 9.29705929e-01 -5.72307672e-02 -3.63828977e-01 3.90041555e+01] [ 7.15095372e-02 9.97103976e-01 2.58852808e-02 3.36126448e+00] [ 3.61293885e-01 -5.00829408e-02 9.31106024e-01 7.31686217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.61538475 meters Centerline goodness : 0.945474 Centerline is valid? [False, False] Translation: X:39.00, Y:3.36, Z:7.32 [[ 9.29797078e-01 -5.67186425e-02 -3.63676215e-01 3.90027891e+01] [ 7.10496602e-02 9.97130249e-01 2.61383395e-02 3.36210877e+00] [ 3.61150024e-01 -5.01424232e-02 9.31158632e-01 7.31721196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.64538475 meters Centerline goodness : 0.949586 Centerline is valid? [False, False] Translation: X:39.00, Y:3.36, Z:7.32 [[ 9.29782827e-01 -5.67070549e-02 -3.63714454e-01 3.90023911e+01] [ 7.10102236e-02 9.97135030e-01 2.60630159e-02 3.36343143e+00] [ 3.61194466e-01 -5.00603893e-02 9.31145808e-01 7.31748495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.67538475 meters Centerline goodness : 0.950842 Centerline is valid? [False, True] Translation: X:39.00, Y:3.36, Z:7.32 [[ 9.29634050e-01 -5.26170348e-02 -3.64708077e-01 3.90049517e+01] [ 6.80960427e-02 9.97236524e-01 2.97025806e-02 3.36405728e+00] [ 3.62137354e-01 -5.24477071e-02 9.30648040e-01 7.31818621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.70538475 meters Centerline goodness : 0.949380 Centerline is valid? [True, False] Translation: X:39.01, Y:3.36, Z:7.32 [[ 9.29533391e-01 -5.30315738e-02 -3.64904546e-01 3.90062553e+01] [ 6.83948946e-02 9.97228058e-01 2.92974290e-02 3.36446780e+00] [ 3.62339363e-01 -5.21905464e-02 9.30583867e-01 7.31775034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.73538475 meters Centerline goodness : 0.947511 Centerline is valid? [False, False] Translation: X:39.01, Y:3.37, Z:7.32 [[ 9.29523034e-01 -5.32392626e-02 -3.64900687e-01 3.90069897e+01] [ 6.84445911e-02 9.97237594e-01 2.88534118e-02 3.36549771e+00] [ 3.62356548e-01 -5.17953891e-02 9.30599253e-01 7.31700404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.76538475 meters Centerline goodness : 0.943292 Centerline is valid? [False, False] Translation: X:39.01, Y:3.37, Z:7.32 [[ 9.29697797e-01 -5.25824559e-02 -3.64550535e-01 3.90057125e+01] [ 6.78978391e-02 9.97261571e-01 2.93128327e-02 3.36526306e+00] [ 3.62010898e-01 -5.20042695e-02 9.30722120e-01 7.31706231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.79538475 meters Centerline goodness : 0.944121 Centerline is valid? [False, False] Translation: X:39.01, Y:3.37, Z:7.32 [[ 9.29716531e-01 -5.22523473e-02 -3.64550222e-01 3.90052008e+01] [ 6.76538781e-02 9.97269787e-01 2.95960365e-02 3.36516420e+00] [ 3.62008459e-01 -5.21791607e-02 9.30713281e-01 7.31739435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.82538475 meters Centerline goodness : 0.947620 Centerline is valid? [False, False] Translation: X:39.00, Y:3.36, Z:7.32 [[ 9.29773543e-01 -5.18557772e-02 -3.64461434e-01 3.90042194e+01] [ 6.73361109e-02 9.97282631e-01 2.98864777e-02 3.36492160e+00] [ 3.61921271e-01 -5.23290717e-02 9.30738772e-01 7.31781750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.85538475 meters Centerline goodness : 0.945278 Centerline is valid? [False, False] Translation: X:39.00, Y:3.36, Z:7.32 [[ 9.29694148e-01 -5.19064870e-02 -3.64656700e-01 3.90046033e+01] [ 6.74524379e-02 9.97270899e-01 3.00153757e-02 3.36485847e+00] [ 3.62103522e-01 -5.25021025e-02 9.30658137e-01 7.31817854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.88538475000001 meters Centerline goodness : 0.947174 Centerline is valid? [False, False] Translation: X:39.01, Y:3.36, Z:7.32 [[ 9.29637224e-01 -5.20653067e-02 -3.64779160e-01 3.90054094e+01] [ 6.76529688e-02 9.97255555e-01 3.00738173e-02 3.36461222e+00] [ 3.62212241e-01 -5.26361331e-02 9.30608258e-01 7.31817617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.91538475000002 meters Centerline goodness : 0.944132 Centerline is valid? [False, False] Translation: X:39.01, Y:3.36, Z:7.32 [[ 9.29541950e-01 -5.20429518e-02 -3.65025060e-01 3.90057603e+01] [ 6.77396337e-02 9.97242230e-01 3.03195672e-02 3.36435021e+00] [ 3.62440486e-01 -5.29099735e-02 9.30503858e-01 7.31870189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.94538475000002 meters Centerline goodness : 0.943843 Centerline is valid? [False, False] Translation: X:39.01, Y:3.36, Z:7.32 [[ 9.29408375e-01 -5.20413428e-02 -3.65365257e-01 3.90057959e+01] [ 6.80247295e-02 9.97201843e-01 3.10019362e-02 3.36300759e+00] [ 3.62729526e-01 -5.36673319e-02 9.30347843e-01 7.32021852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.97538475 meters Centerline goodness : 0.941903 Centerline is valid? [False, False] Translation: X:39.01, Y:3.36, Z:7.32 [[ 9.29361019e-01 -5.21764764e-02 -3.65466430e-01 3.90062856e+01] [ 6.81548810e-02 9.97194637e-01 3.09478144e-02 3.36338496e+00] [ 3.62826416e-01 -5.36700134e-02 9.30309906e-01 7.32020848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.00538475 meters Centerline goodness : 0.945519 Centerline is valid? [False, False] Translation: X:39.01, Y:3.36, Z:7.32 [[ 9.29355644e-01 -5.21984849e-02 -3.65476955e-01 3.90065767e+01] [ 6.82327217e-02 9.97185042e-01 3.10851794e-02 3.36330336e+00] [ 3.62825553e-01 -5.38266742e-02 9.30301192e-01 7.32024657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.03538475 meters Centerline goodness : 0.944423 Centerline is valid? [False, False] Translation: X:39.01, Y:3.36, Z:7.32 [[ 9.29284046e-01 -5.21169810e-02 -3.65670592e-01 3.90067045e+01] [ 6.83054366e-02 9.97168157e-01 3.14648180e-02 3.36234661e+00] [ 3.62995219e-01 -5.42170428e-02 9.30212332e-01 7.32093970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.06538475 meters Centerline goodness : 0.942866 Centerline is valid? [False, False] Translation: X:39.01, Y:3.36, Z:7.32 [[ 9.29198484e-01 -5.19892436e-02 -3.65906131e-01 3.90067631e+01] [ 6.84148248e-02 9.97141756e-01 3.20582382e-02 3.36068229e+00] [ 3.63193598e-01 -5.48218701e-02 9.30099443e-01 7.32201009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.09538475 meters Centerline goodness : 0.945050 Centerline is valid? [False, False] Translation: X:39.01, Y:3.36, Z:7.32 [[ 9.28904541e-01 -4.83840555e-02 -3.67144843e-01 3.90102900e+01] [ 6.62650216e-02 9.97143458e-01 3.62473704e-02 3.35915128e+00] [ 3.64342284e-01 -5.79992080e-02 9.29457257e-01 7.32388807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.12538475 meters Centerline goodness : 0.942415 Centerline is valid? [False, False] Translation: X:39.01, Y:3.36, Z:7.32 [[ 9.28801017e-01 -4.90797374e-02 -3.67314376e-01 3.90123994e+01] [ 6.67999472e-02 9.97128298e-01 3.56780585e-02 3.35933227e+00] [ 3.64508489e-01 -5.76743979e-02 9.29412301e-01 7.32296481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.15538475 meters Centerline goodness : 0.939494 Centerline is valid? [False, False] Translation: X:39.01, Y:3.36, Z:7.32 [[ 9.28639876e-01 -4.96837184e-02 -3.67640462e-01 3.90143171e+01] [ 6.73438546e-02 9.97103174e-01 3.53562700e-02 3.35917928e+00] [ 3.64818841e-01 -5.75915680e-02 9.29295661e-01 7.32270438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.18538475 meters Centerline goodness : 0.938606 Centerline is valid? [False, False] Translation: X:39.02, Y:3.36, Z:7.32 [[ 9.28441795e-01 -5.02570115e-02 -3.68062584e-01 3.90161646e+01] [ 6.78777776e-02 9.97076840e-01 3.50768159e-02 3.35911000e+00] [ 3.65223822e-01 -5.75500522e-02 9.29139145e-01 7.32267350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.21538475 meters Centerline goodness : 0.941564 Centerline is valid? [False, False] Translation: X:39.02, Y:3.36, Z:7.32 [[ 9.28232598e-01 -5.07227156e-02 -3.68526050e-01 3.90180892e+01] [ 6.83864532e-02 9.97044080e-01 3.50199174e-02 3.35768715e+00] [ 3.65660411e-01 -5.77088184e-02 9.28957564e-01 7.32283055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.24538475 meters Centerline goodness : 0.938977 Centerline is valid? [False, False] Translation: X:39.02, Y:3.36, Z:7.32 [[ 9.28101895e-01 -5.07673453e-02 -3.68848953e-01 3.90187827e+01] [ 6.85808395e-02 9.97019545e-01 3.53368810e-02 3.35648172e+00] [ 3.65955656e-01 -5.80921970e-02 9.28817396e-01 7.32348106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.27538475 meters Centerline goodness : 0.940833 Centerline is valid? [False, False] Translation: X:39.02, Y:3.36, Z:7.32 [[ 9.27843694e-01 -5.10153484e-02 -3.69463820e-01 3.90198663e+01] [ 6.90944291e-02 9.96965472e-01 3.58581509e-02 3.35512980e+00] [ 3.66513355e-01 -5.87986509e-02 9.28553003e-01 7.32493194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.30538475 meters Centerline goodness : 0.939620 Centerline is valid? [False, False] Translation: X:39.02, Y:3.35, Z:7.33 [[ 9.27733174e-01 -5.14775371e-02 -3.69677185e-01 3.90213866e+01] [ 6.98226410e-02 9.96894819e-01 3.64076848e-02 3.35241170e+00] [ 3.66655092e-01 -5.95884543e-02 9.28446692e-01 7.32558014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.33538475 meters Centerline goodness : 0.935043 Centerline is valid? [False, False] Translation: X:39.02, Y:3.35, Z:7.33 [[ 9.27553778e-01 -5.21278856e-02 -3.70036042e-01 3.90233467e+01] [ 7.04886985e-02 9.96853258e-01 3.62618891e-02 3.35201676e+00] [ 3.66981379e-01 -5.97182112e-02 9.28309433e-01 7.32555596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.36538475 meters Centerline goodness : 0.933601 Centerline is valid? [False, False] Translation: X:39.03, Y:3.35, Z:7.33 [[ 9.27130197e-01 -5.32121587e-02 -3.70942130e-01 3.90267542e+01] [ 7.18153720e-02 9.96749512e-01 3.65097563e-02 3.35052167e+00] [ 3.67793624e-01 -6.04886446e-02 9.27938023e-01 7.32676863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.39538475 meters Centerline goodness : 0.939441 Centerline is valid? [False, False] Translation: X:39.02, Y:3.35, Z:7.33 [[ 9.27140268e-01 -5.73886454e-02 -3.70293758e-01 3.90247881e+01] [ 7.49184222e-02 9.96639504e-01 3.31199071e-02 3.34985712e+00] [ 3.67148681e-01 -5.84486236e-02 9.28324084e-01 7.32676136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.42538475 meters Centerline goodness : 0.937629 Centerline is valid? [False, False] Translation: X:39.02, Y:3.35, Z:7.33 [[ 9.27127836e-01 -5.67441493e-02 -3.70424184e-01 3.90236446e+01] [ 7.47289437e-02 9.96611409e-01 3.43698328e-02 3.34773183e+00] [ 3.67218681e-01 -5.95466367e-02 9.28226609e-01 7.32865270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.45538475 meters Centerline goodness : 0.939197 Centerline is valid? [False, False] Translation: X:39.02, Y:3.35, Z:7.33 [[ 9.27130094e-01 -5.62746678e-02 -3.70490150e-01 3.90227823e+01] [ 7.46580748e-02 9.96578716e-01 3.54546853e-02 3.34581536e+00] [ 3.67227397e-01 -6.05311870e-02 9.28159477e-01 7.33022430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.48538475 meters Centerline goodness : 0.940883 Centerline is valid? [False, False] Translation: X:39.02, Y:3.35, Z:7.33 [[ 9.27057646e-01 -5.67321912e-02 -3.70601646e-01 3.90238404e+01] [ 7.50279050e-02 9.96562556e-01 3.51267071e-02 3.34614883e+00] [ 3.67334909e-01 -6.03699474e-02 9.28127434e-01 7.32987595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.51538475 meters Centerline goodness : 0.941193 Centerline is valid? [False, False] Translation: X:39.03, Y:3.35, Z:7.33 [[ 9.26987342e-01 -5.76835165e-02 -3.70630652e-01 3.90260597e+01] [ 7.57132805e-02 9.96540570e-01 3.42693951e-02 3.34709050e+00] [ 3.67371702e-01 -5.98289580e-02 9.28147902e-01 7.32852093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.54538475 meters Centerline goodness : 0.940584 Centerline is valid? [False, False] Translation: X:39.03, Y:3.35, Z:7.33 [[ 9.26872099e-01 -5.81469548e-02 -3.70846388e-01 3.90274347e+01] [ 7.60952951e-02 9.96522809e-01 3.39381468e-02 3.34748249e+00] [ 3.67583485e-01 -5.96759867e-02 9.28073897e-01 7.32820882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.57538475 meters Centerline goodness : 0.942925 Centerline is valid? [False, False] Translation: X:39.03, Y:3.35, Z:7.33 [[ 9.26823918e-01 -5.85498634e-02 -3.70903409e-01 3.90286584e+01] [ 7.62677876e-02 9.96532150e-01 3.32700865e-02 3.34888544e+00] [ 3.67669213e-01 -5.91234944e-02 9.28075300e-01 7.32722191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.60538475 meters Centerline goodness : 0.941379 Centerline is valid? [False, False] Translation: X:39.03, Y:3.35, Z:7.33 [[ 9.26811375e-01 -5.87983569e-02 -3.70895443e-01 3.90292887e+01] [ 7.63585456e-02 9.96539923e-01 3.28261206e-02 3.34976944e+00] [ 3.67681994e-01 -5.87446586e-02 9.28094293e-01 7.32657676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.63538475000001 meters Centerline goodness : 0.942506 Centerline is valid? [False, False] Translation: X:39.03, Y:3.35, Z:7.33 [[ 9.26617532e-01 -5.92476417e-02 -3.71308048e-01 3.90310441e+01] [ 7.66506897e-02 9.96535538e-01 3.22737212e-02 3.35066225e+00] [ 3.68109523e-01 -5.83664138e-02 9.27948673e-01 7.32615313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.66538475000002 meters Centerline goodness : 0.943869 Centerline is valid? [False, False] Translation: X:39.03, Y:3.35, Z:7.33 [[ 9.26523590e-01 -5.97067485e-02 -3.71468896e-01 3.90323202e+01] [ 7.69487545e-02 9.96529290e-01 3.17531637e-02 3.35134900e+00] [ 3.68283757e-01 -5.80041241e-02 9.27902255e-01 7.32557515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.69538475000002 meters Centerline goodness : 0.944168 Centerline is valid? [False, False] Translation: X:39.03, Y:3.35, Z:7.32 [[ 9.26410671e-01 -6.03017883e-02 -3.71654359e-01 3.90339264e+01] [ 7.73398440e-02 9.96519774e-01 3.10948388e-02 3.35253294e+00] [ 3.68485843e-01 -5.75502806e-02 9.27850284e-01 7.32479384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.72538475 meters Centerline goodness : 0.942063 Centerline is valid? [False, False] Translation: X:39.04, Y:3.35, Z:7.32 [[ 9.26215216e-01 -5.69993643e-02 -3.72661303e-01 3.90380736e+01] [ 7.50997836e-02 9.96588580e-01 3.42231583e-02 3.35323266e+00] [ 3.69439300e-01 -5.96847931e-02 9.27336147e-01 7.32480596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.75538475 meters Centerline goodness : 0.942577 Centerline is valid? [False, False] Translation: X:39.04, Y:3.35, Z:7.33 [[ 9.26408600e-01 -5.61781188e-02 -3.72305151e-01 3.90356060e+01] [ 7.42784519e-02 9.96642617e-01 3.44413428e-02 3.35414713e+00] [ 3.69120330e-01 -5.95610064e-02 9.27471115e-01 7.32506054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.78538475 meters Centerline goodness : 0.946166 Centerline is valid? [False, False] Translation: X:39.03, Y:3.35, Z:7.33 [[ 9.26398685e-01 -5.56529679e-02 -3.72408679e-01 3.90342568e+01] [ 7.39149009e-02 9.96652662e-01 3.49293374e-02 3.35417118e+00] [ 3.69218180e-01 -5.98850429e-02 9.27411299e-01 7.32618401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.81538475 meters Centerline goodness : 0.948391 Centerline is valid? [False, False] Translation: X:39.03, Y:3.35, Z:7.33 [[ 9.26545379e-01 -5.38177098e-02 -3.72313463e-01 3.90300308e+01] [ 7.27273252e-02 9.96668180e-01 3.69225655e-02 3.35315569e+00] [ 3.69085894e-01 -6.12877947e-02 9.27372314e-01 7.32927810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.84538475 meters Centerline goodness : 0.951976 Centerline is valid? [False, True] Translation: X:39.03, Y:3.35, Z:7.33 [[ 9.26638217e-01 -5.31231854e-02 -3.72182136e-01 3.90282666e+01] [ 7.23191099e-02 9.96665079e-01 3.77976960e-02 3.35253251e+00] [ 3.68933004e-01 -6.19406704e-02 9.27389774e-01 7.33045158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.87538475 meters Centerline goodness : 0.952404 Centerline is valid? [True, True] Translation: X:39.07, Y:3.38, Z:7.30 [[ 9.27240507e-01 -7.73640376e-02 -3.66387566e-01 3.90689224e+01] [ 7.26819055e-02 9.97000937e-01 -2.65795350e-02 3.37657451e+00] [ 3.67345046e-01 -1.98412489e-03 9.30082620e-01 7.29763222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.90538475 meters Centerline goodness : 0.953979 Centerline is valid? [True, True] Translation: X:39.09, Y:3.38, Z:7.31 [[ 9.27780708e-01 -8.10552448e-02 -3.64215602e-01 3.90942745e+01] [ 7.66612556e-02 9.96704129e-01 -2.65317113e-02 3.37689489e+00] [ 3.65165729e-01 -3.30561552e-03 9.30936659e-01 7.30635099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.93538475 meters Centerline goodness : 0.954044 Centerline is valid? [True, True] Translation: X:39.12, Y:3.38, Z:7.31 [[ 9.27516453e-01 -8.59857872e-02 -3.63757714e-01 3.91213142e+01] [ 8.19486650e-02 9.96282873e-01 -2.65490782e-02 3.37828769e+00] [ 3.64688424e-01 -5.18475219e-03 9.31115177e-01 7.31463453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.96538475 meters Centerline goodness : 0.955049 Centerline is valid? [True, True] Translation: X:39.15, Y:3.38, Z:7.32 [[ 9.27053602e-01 -8.84048504e-02 -3.64357244e-01 3.91461068e+01] [ 8.44912857e-02 9.96066370e-01 -2.67022211e-02 3.37910826e+00] [ 3.65284604e-01 -6.03062176e-03 9.30876356e-01 7.32468207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.99538475 meters Centerline goodness : 0.956898 Centerline is valid? [True, True] Translation: X:39.17, Y:3.38, Z:7.34 [[ 9.26451364e-01 -9.10057621e-02 -3.65247615e-01 3.91723760e+01] [ 8.72475386e-02 9.95825614e-01 -2.68181565e-02 3.38019446e+00] [ 3.66163538e-01 -7.02123774e-03 9.30524028e-01 7.33574728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.02538475 meters Centerline goodness : 0.956319 Centerline is valid? [True, True] Translation: X:39.20, Y:3.38, Z:7.35 [[ 9.25320475e-01 -9.59842298e-02 -3.66836538e-01 3.91973064e+01] [ 9.25262257e-02 9.95342909e-01 -2.70442291e-02 3.38088831e+00] [ 3.67723966e-01 -8.91742137e-03 9.29892233e-01 7.34531822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.05538475 meters Centerline goodness : 0.955434 Centerline is valid? [True, True] Translation: X:39.22, Y:3.38, Z:7.35 [[ 9.24470927e-01 -1.02508180e-01 -3.67213260e-01 3.92233332e+01] [ 9.95078585e-02 9.94666347e-01 -2.71485701e-02 3.38308745e+00] [ 3.68037622e-01 -1.14425413e-02 9.29740489e-01 7.35449173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.08538475 meters Centerline goodness : 0.956803 Centerline is valid? [True, True] Translation: X:39.25, Y:3.39, Z:7.36 [[ 9.23981762e-01 -1.05697631e-01 -3.67540085e-01 3.92503525e+01] [ 1.02891392e-01 9.94318379e-01 -2.72822687e-02 3.38604301e+00] [ 3.68335533e-01 -1.26083924e-02 9.29607425e-01 7.36333245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.11538475 meters Centerline goodness : 0.958466 Centerline is valid? [True, True] Translation: X:39.28, Y:3.39, Z:7.37 [[ 9.23533741e-01 -1.08688248e-01 -3.67793821e-01 3.92771526e+01] [ 1.06063223e-01 9.93981537e-01 -2.74097760e-02 3.38950225e+00] [ 3.68559388e-01 -1.36955453e-02 9.29503313e-01 7.37235868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.14538475 meters Centerline goodness : 0.957339 Centerline is valid? [True, True] Translation: X:39.30, Y:3.39, Z:7.38 [[ 9.23007620e-01 -1.11141372e-01 -3.68380957e-01 3.93031585e+01] [ 1.08653114e-01 9.93697562e-01 -2.75618435e-02 3.39397314e+00] [ 3.69122520e-01 -1.45859467e-02 9.29266278e-01 7.38172386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.17538475 meters Centerline goodness : 0.957820 Centerline is valid? [True, True] Translation: X:39.33, Y:3.40, Z:7.39 [[ 9.23164014e-01 -1.11155006e-01 -3.67984739e-01 3.93288893e+01] [ 1.08629095e-01 9.93697947e-01 -2.76425322e-02 3.39728112e+00] [ 3.68738286e-01 -1.44552581e-02 9.29420853e-01 7.39184610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.20538475 meters Centerline goodness : 0.956419 Centerline is valid? [True, True] Translation: X:39.35, Y:3.40, Z:7.40 [[ 9.23897321e-01 -1.08235964e-01 -3.67013237e-01 3.93536924e+01] [ 1.05458628e-01 9.94038465e-01 -2.76768422e-02 3.40312418e+00] [ 3.67820904e-01 -1.31341519e-02 9.29803891e-01 7.40165554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.23538475 meters Centerline goodness : 0.956998 Centerline is valid? [True, True] Translation: X:39.38, Y:3.41, Z:7.41 [[ 9.24360792e-01 -1.07075956e-01 -3.66185562e-01 3.93791459e+01] [ 1.04204346e-01 9.94171147e-01 -2.76619697e-02 3.40718001e+00] [ 3.67013052e-01 -1.25884868e-02 9.30130609e-01 7.41147396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.26538475 meters Centerline goodness : 0.956998 Centerline is valid? [True, True] Translation: X:39.41, Y:3.41, Z:7.42 [[ 9.24332956e-01 -1.07328662e-01 -3.66181846e-01 3.94058865e+01] [ 1.04456706e-01 9.94143296e-01 -2.77110788e-02 3.40938700e+00] [ 3.67011420e-01 -1.26358860e-02 9.30130610e-01 7.42153722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.29538475 meters Centerline goodness : 0.955796 Centerline is valid? [True, True] Translation: X:39.43, Y:3.42, Z:7.43 [[ 9.24733215e-01 -1.03194233e-01 -3.66359701e-01 3.94317418e+01] [ 9.99673459e-02 9.94601573e-01 -2.78251722e-02 3.41519641e+00] [ 3.67253333e-01 -1.08931460e-02 9.30057164e-01 7.43273060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.32538475 meters Centerline goodness : 0.958241 Centerline is valid? [True, True] Translation: X:39.46, Y:3.42, Z:7.44 [[ 9.25391647e-01 -1.00269117e-01 -3.65508418e-01 3.94582606e+01] [ 9.67947012e-02 9.94914135e-01 -2.78684516e-02 3.42224422e+00] [ 3.66443837e-01 -9.59004584e-03 9.30390749e-01 7.44184150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.35538475 meters Centerline goodness : 0.957066 Centerline is valid? [True, True] Translation: X:39.48, Y:3.43, Z:7.45 [[ 9.25271881e-01 -9.96733039e-02 -3.65974286e-01 3.94844660e+01] [ 9.61005882e-02 9.94977249e-01 -2.80169892e-02 3.42647349e+00] [ 3.66928634e-01 -9.24701193e-03 9.30203134e-01 7.45189799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.38538475000001 meters Centerline goodness : 0.955305 Centerline is valid? [True, True] Translation: X:39.51, Y:3.43, Z:7.46 [[ 9.24631354e-01 -9.87141693e-02 -3.67848301e-01 3.95099234e+01] [ 9.49879768e-02 9.95076907e-01 -2.82706992e-02 3.43257926e+00] [ 3.68828069e-01 -8.80119105e-03 9.29455967e-01 7.46133248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.41538475000002 meters Centerline goodness : 0.956776 Centerline is valid? [True, True] Translation: X:39.54, Y:3.44, Z:7.47 [[ 9.24332679e-01 -9.88386672e-02 -3.68564807e-01 3.95358064e+01] [ 9.50867763e-02 9.95064425e-01 -2.83777146e-02 3.43648858e+00] [ 3.69550544e-01 -8.81519046e-03 9.29168816e-01 7.47173055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.44538475000002 meters Centerline goodness : 0.956600 Centerline is valid? [True, True] Translation: X:39.56, Y:3.44, Z:7.48 [[ 9.24089149e-01 -9.91091964e-02 -3.69102440e-01 3.95619427e+01] [ 9.53228103e-02 9.95037480e-01 -2.85302647e-02 3.44029127e+00] [ 3.70098373e-01 -8.81937379e-03 9.28950705e-01 7.48172357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.47538475 meters Centerline goodness : 0.956363 Centerline is valid? [True, True] Translation: X:39.59, Y:3.45, Z:7.49 [[ 9.23359204e-01 -9.97776960e-02 -3.70745455e-01 3.95865828e+01] [ 9.59654193e-02 9.94968899e-01 -2.87667754e-02 3.44618300e+00] [ 3.71750480e-01 -9.01667617e-03 9.28288899e-01 7.49134257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.50538475 meters Centerline goodness : 0.957292 Centerline is valid? [True, True] Translation: X:39.61, Y:3.45, Z:7.50 [[ 9.22861356e-01 -9.95345581e-02 -3.72048101e-01 3.96128740e+01] [ 9.56451319e-02 9.94994554e-01 -2.89455773e-02 3.45324394e+00] [ 3.73066920e-01 -8.87183498e-03 9.27762019e-01 7.50038308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.53538475 meters Centerline goodness : 0.955168 Centerline is valid? [True, True] Translation: X:39.64, Y:3.46, Z:7.51 [[ 9.22739902e-01 -9.82556808e-02 -3.72688737e-01 3.96391157e+01] [ 9.42082982e-02 9.95126973e-01 -2.91050448e-02 3.45765031e+00] [ 3.73732351e-01 -8.25398556e-03 9.27499866e-01 7.51058695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.56538475 meters Centerline goodness : 0.954553 Centerline is valid? [True, True] Translation: X:39.67, Y:3.46, Z:7.52 [[ 9.23298681e-01 -9.29928857e-02 -3.72655160e-01 3.96658896e+01] [ 8.84898177e-02 9.95648661e-01 -2.92112155e-02 3.46489215e+00] [ 3.73750047e-01 -6.00551046e-03 9.27510020e-01 7.51938532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.59538475 meters Centerline goodness : 0.953936 Centerline is valid? [True, True] Translation: X:39.69, Y:3.47, Z:7.53 [[ 9.23974608e-01 -8.90644521e-02 -3.71938769e-01 3.96916545e+01] [ 8.42286473e-02 9.96016633e-01 -2.92643449e-02 3.46927548e+00] [ 3.73063613e-01 -4.28838782e-03 9.27795856e-01 7.52901254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.62538475 meters Centerline goodness : 0.953029 Centerline is valid? [True, True] Translation: X:39.72, Y:3.47, Z:7.54 [[ 9.24525036e-01 -8.45259093e-02 -3.71629962e-01 3.97173902e+01] [ 7.93000380e-02 9.96418550e-01 -2.93526213e-02 3.47351293e+00] [ 3.72780045e-01 -2.33303683e-03 9.27916804e-01 7.53783750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.65538475 meters Centerline goodness : 0.957144 Centerline is valid? [True, True] Translation: X:39.74, Y:3.48, Z:7.55 [[ 9.25349770e-01 -7.49869589e-02 -3.71624487e-01 3.97415609e+01] [ 6.89999217e-02 9.97183286e-01 -2.94024770e-02 3.47748464e+00] [ 3.72782529e-01 1.56551482e-03 9.27917418e-01 7.54926363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.68538475 meters Centerline goodness : 0.956577 Centerline is valid? [True, True] Translation: X:39.77, Y:3.48, Z:7.56 [[ 9.25860844e-01 -7.03021485e-02 -3.71267162e-01 3.97683101e+01] [ 6.39436272e-02 9.97519588e-01 -2.94258980e-02 3.48029901e+00] [ 3.72414970e-01 3.50411776e-03 9.28059702e-01 7.55918403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.71538475 meters Centerline goodness : 0.958137 Centerline is valid? [True, True] Translation: X:39.79, Y:3.48, Z:7.57 [[ 9.26747806e-01 -6.14983766e-02 -3.70616316e-01 3.97940400e+01] [ 5.44399379e-02 9.98081570e-01 -2.94868380e-02 3.48355118e+00] [ 3.71718707e-01 7.15053320e-03 9.28317873e-01 7.56786891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.74538475 meters Centerline goodness : 0.958241 Centerline is valid? [True, True] Translation: X:39.82, Y:3.49, Z:7.58 [[ 9.27263107e-01 -5.53740750e-02 -3.70292914e-01 3.98203458e+01] [ 4.78369798e-02 9.98419005e-01 -2.95146409e-02 3.48509670e+00] [ 3.71341829e-01 9.65414295e-03 9.28446037e-01 7.57651888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.77538475 meters Centerline goodness : 0.957364 Centerline is valid? [True, True] Translation: X:39.85, Y:3.49, Z:7.59 [[ 9.27151953e-01 -5.39503010e-02 -3.70781096e-01 3.98458358e+01] [ 4.62383418e-02 9.98489890e-01 -2.96640291e-02 3.48527752e+00] [ 3.71821559e-01 1.03587594e-02 9.28246424e-01 7.58633497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.80538475 meters Centerline goodness : 0.956695 Centerline is valid? [True, True] Translation: X:39.87, Y:3.48, Z:7.60 [[ 9.27590841e-01 -5.31193755e-02 -3.69802059e-01 3.98720682e+01] [ 4.53659240e-02 9.98530672e-01 -2.96383157e-02 3.48319450e+00] [ 3.70833067e-01 1.07158181e-02 9.28637716e-01 7.59640739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.83538475 meters Centerline goodness : 0.957703 Centerline is valid? [True, True] Translation: X:39.90, Y:3.48, Z:7.61 [[ 9.27919858e-01 -5.29148425e-02 -3.69005090e-01 3.98977115e+01] [ 4.51370870e-02 9.98539652e-01 -2.96851434e-02 3.48312564e+00] [ 3.70036999e-01 1.08896192e-02 9.28953193e-01 7.60512095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.86538475 meters Centerline goodness : 0.958014 Centerline is valid? [True, True] Translation: X:39.92, Y:3.48, Z:7.61 [[ 9.27837777e-01 -5.39100347e-02 -3.69067430e-01 3.99233400e+01] [ 4.61856182e-02 9.98490086e-01 -2.97394812e-02 3.47948678e+00] [ 3.70113426e-01 1.05478067e-02 9.28926690e-01 7.61462975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.89538475 meters Centerline goodness : 0.960164 Centerline is valid? [True, True] Translation: X:39.95, Y:3.48, Z:7.62 [[ 9.27694814e-01 -5.66498738e-02 -3.69016428e-01 3.99497615e+01] [ 4.91156763e-02 9.98348822e-01 -2.97872285e-02 3.47892761e+00] [ 3.70094559e-01 9.50896601e-03 9.28945422e-01 7.62483759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.92538475 meters Centerline goodness : 0.960407 Centerline is valid? [True, True] Translation: X:39.98, Y:3.48, Z:7.63 [[ 9.27314691e-01 -6.27466714e-02 -3.68985526e-01 3.99770306e+01] [ 5.56335351e-02 9.98003543e-01 -2.98971237e-02 3.47629549e+00] [ 3.70124808e-01 7.19607281e-03 9.28954166e-01 7.63424332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.95538475 meters Centerline goodness : 0.959647 Centerline is valid? [True, True] Translation: X:40.00, Y:3.48, Z:7.64 [[ 9.27155779e-01 -6.50351917e-02 -3.68988597e-01 4.00026485e+01] [ 5.80503251e-02 9.97862403e-01 -3.00130639e-02 3.47591482e+00] [ 3.70151754e-01 6.40687765e-03 9.28949208e-01 7.64310603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.98538475 meters Centerline goodness : 0.959595 Centerline is valid? [True, True] Translation: X:40.03, Y:3.47, Z:7.65 [[ 9.26914149e-01 -6.94425718e-02 -3.68792475e-01 4.00287989e+01] [ 6.27696273e-02 9.97574739e-01 -3.00768062e-02 3.47372620e+00] [ 3.69986667e-01 4.72965107e-03 9.29025025e-01 7.65136521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.01538475 meters Centerline goodness : 0.959456 Centerline is valid? [True, True] Translation: X:40.06, Y:3.47, Z:7.66 [[ 9.27071032e-01 -7.16116635e-02 -3.67982433e-01 4.00552151e+01] [ 6.51023740e-02 9.97424810e-01 -3.00903623e-02 3.47423675e+00] [ 3.69189629e-01 3.93937320e-03 9.29345737e-01 7.66119693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.04538475 meters Centerline goodness : 0.958746 Centerline is valid? [True, True] Translation: X:40.08, Y:3.47, Z:7.67 [[ 9.26945140e-01 -7.43362986e-02 -3.67759189e-01 4.00816790e+01] [ 6.79967838e-02 9.97228796e-01 -3.01855385e-02 3.47105034e+00] [ 3.68983935e-01 2.97389609e-03 9.29431015e-01 7.67240103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.07538475 meters Centerline goodness : 0.958592 Centerline is valid? [True, True] Translation: X:40.11, Y:3.47, Z:7.68 [[ 9.26778010e-01 -7.57588817e-02 -3.67890082e-01 4.01073599e+01] [ 6.94781939e-02 9.97122960e-01 -3.03081236e-02 3.47116831e+00] [ 3.69127757e-01 2.52856397e-03 9.29375223e-01 7.68241150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.10538475 meters Centerline goodness : 0.959660 Centerline is valid? [True, True] Translation: X:40.13, Y:3.47, Z:7.69 [[ 9.26110981e-01 -7.78555521e-02 -3.69130009e-01 4.01344179e+01] [ 7.16696438e-02 9.96963101e-01 -3.04637070e-02 3.47093433e+00] [ 3.70380767e-01 1.75735733e-03 9.28878355e-01 7.69183245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.13538475000001 meters Centerline goodness : 0.960126 Centerline is valid? [True, True] Translation: X:40.16, Y:3.47, Z:7.70 [[ 9.25514131e-01 -8.12973439e-02 -3.69884219e-01 4.01596325e+01] [ 7.53044883e-02 9.96689766e-01 -3.06389458e-02 3.46912360e+00] [ 3.71150681e-01 5.02835452e-04 9.28572517e-01 7.70228172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.16538475000002 meters Centerline goodness : 0.961919 Centerline is valid? [True, True] Translation: X:40.19, Y:3.47, Z:7.71 [[ 9.25126288e-01 -8.33563016e-02 -3.70395839e-01 4.01850801e+01] [ 7.74848564e-02 9.96519771e-01 -3.07317843e-02 3.46974457e+00] [ 3.71668464e-01 -2.69286877e-04 9.28365488e-01 7.71228816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19538475000002 meters Centerline goodness : 0.961555 Centerline is valid? [True, True] Translation: X:40.21, Y:3.47, Z:7.72 [[ 9.24875875e-01 -8.47301937e-02 -3.70709334e-01 4.02119882e+01] [ 7.89334966e-02 9.96403637e-01 -3.08106256e-02 3.47153461e+00] [ 3.71986719e-01 -7.65379679e-04 9.28237736e-01 7.72178676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.22538475 meters Centerline goodness : 0.959905 Centerline is valid? [True, True] Translation: X:40.24, Y:3.47, Z:7.73 [[ 9.24608938e-01 -8.63751284e-02 -3.70995484e-01 4.02378993e+01] [ 8.06525602e-02 9.96261823e-01 -3.09442174e-02 3.47375593e+00] [ 3.72281448e-01 -1.31043555e-03 9.28118961e-01 7.72957500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.25538475 meters Centerline goodness : 0.957753 Centerline is valid? [True, True] Translation: X:40.26, Y:3.48, Z:7.74 [[ 9.24416695e-01 -8.70531165e-02 -3.71315942e-01 4.02644742e+01] [ 8.13517378e-02 9.96202499e-01 -3.10237895e-02 3.47610764e+00] [ 3.72606587e-01 -1.52828820e-03 9.27988144e-01 7.73941434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.28538475 meters Centerline goodness : 0.958267 Centerline is valid? [True, True] Translation: X:40.29, Y:3.48, Z:7.75 [[ 9.24549602e-01 -8.68138026e-02 -3.71040963e-01 4.02898602e+01] [ 8.10591328e-02 9.96223688e-01 -3.11091733e-02 3.47816966e+00] [ 3.72340503e-01 -1.31428497e-03 9.28095266e-01 7.74863942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.31538475 meters Centerline goodness : 0.958665 Centerline is valid? [True, True] Translation: X:40.32, Y:3.48, Z:7.76 [[ 9.24419316e-01 -8.66646309e-02 -3.71400283e-01 4.03156572e+01] [ 8.08658416e-02 9.96236821e-01 -3.11915498e-02 3.48042884e+00] [ 3.72705841e-01 -1.19952534e-03 9.27948769e-01 7.75871218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.34538475 meters Centerline goodness : 0.959811 Centerline is valid? [True, True] Translation: X:40.34, Y:3.48, Z:7.77 [[ 9.24528833e-01 -8.70671104e-02 -3.71033362e-01 4.03415367e+01] [ 8.12664489e-02 9.96201677e-01 -3.12727304e-02 3.48175514e+00] [ 3.72346884e-01 -1.24002285e-03 9.28092808e-01 7.76911090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.37538475 meters Centerline goodness : 0.959305 Centerline is valid? [True, True] Translation: X:40.37, Y:3.48, Z:7.78 [[ 9.24441817e-01 -8.71701768e-02 -3.71225926e-01 4.03676817e+01] [ 8.13265728e-02 9.96192757e-01 -3.14003233e-02 3.48333349e+00] [ 3.72549750e-01 -1.16276033e-03 9.28011493e-01 7.77934165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.40538475 meters Centerline goodness : 0.960570 Centerline is valid? [True, True] Translation: X:40.39, Y:3.49, Z:7.79 [[ 9.24396273e-01 -8.72173642e-02 -3.71328240e-01 4.03941078e+01] [ 8.13286073e-02 9.96188740e-01 -3.15222315e-02 3.48665453e+00] [ 3.72662298e-01 -1.06057535e-03 9.27966426e-01 7.78890784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.43538475 meters Centerline goodness : 0.957898 Centerline is valid? [True, True] Translation: X:40.42, Y:3.49, Z:7.80 [[ 9.24308905e-01 -8.73519317e-02 -3.71514048e-01 4.04200042e+01] [ 8.14227768e-02 9.96177017e-01 -3.16493793e-02 3.49043098e+00] [ 3.72858390e-01 -9.95902251e-04 9.27887724e-01 7.79742344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.46538475 meters Centerline goodness : 0.958529 Centerline is valid? [True, True] Translation: X:40.45, Y:3.49, Z:7.81 [[ 9.23467281e-01 -8.67653070e-02 -3.73737825e-01 4.04467446e+01] [ 8.06940887e-02 9.96228530e-01 -3.18932758e-02 3.49482409e+00] [ 3.75095513e-01 -7.06036483e-04 9.26985899e-01 7.80687960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.49538475 meters Centerline goodness : 0.956640 Centerline is valid? [True, True] Translation: X:40.47, Y:3.50, Z:7.82 [[ 9.23325237e-01 -8.59554946e-02 -3.74275513e-01 4.04725501e+01] [ 7.97558799e-02 9.96298945e-01 -3.20532640e-02 3.49886670e+00] [ 3.75645453e-01 -2.55085268e-04 9.26763416e-01 7.81665137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.52538475 meters Centerline goodness : 0.957980 Centerline is valid? [True, True] Translation: X:40.50, Y:3.50, Z:7.83 [[ 9.23098035e-01 -8.53501910e-02 -3.74973817e-01 4.04988582e+01] [ 7.90311876e-02 9.96351008e-01 -3.22294899e-02 3.50198798e+00] [ 3.76356334e-01 1.16352696e-04 9.26474984e-01 7.82708092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.55538475 meters Centerline goodness : 0.959143 Centerline is valid? [True, True] Translation: X:40.52, Y:3.50, Z:7.84 [[ 9.22884085e-01 -8.43474433e-02 -3.75726594e-01 4.05238978e+01] [ 7.78740806e-02 9.96436191e-01 -3.24121200e-02 3.50453240e+00] [ 3.77121456e-01 6.53266609e-04 9.26163582e-01 7.83708618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.58538475 meters Centerline goodness : 0.959830 Centerline is valid? [True, True] Translation: X:40.55, Y:3.51, Z:7.85 [[ 9.22992559e-01 -8.30861690e-02 -3.75741167e-01 4.05499486e+01] [ 7.64776948e-02 9.96541572e-01 -3.24970466e-02 3.50846355e+00] [ 3.77141749e-01 1.25871384e-03 9.26154694e-01 7.84748154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.61538475 meters Centerline goodness : 0.960888 Centerline is valid? [True, True] Translation: X:40.58, Y:3.51, Z:7.86 [[ 9.22878766e-01 -8.22821543e-02 -3.76197329e-01 4.05752111e+01] [ 7.55471974e-02 9.96607608e-01 -3.26480699e-02 3.51187884e+00] [ 3.77607474e-01 1.70955657e-03 9.25964186e-01 7.85707932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.64538475 meters Centerline goodness : 0.960741 Centerline is valid? [True, True] Translation: X:40.60, Y:3.52, Z:7.87 [[ 9.23378123e-01 -8.13502707e-02 -3.75173260e-01 4.06014304e+01] [ 7.45576234e-02 9.96683272e-01 -3.26131334e-02 3.51563763e+00] [ 3.76581999e-01 2.14222735e-03 9.26380812e-01 7.86720126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.67538475 meters Centerline goodness : 0.961364 Centerline is valid? [True, True] Translation: X:40.63, Y:3.52, Z:7.88 [[ 9.24121301e-01 -8.17493800e-02 -3.73251737e-01 4.06270211e+01] [ 7.50157329e-02 9.96650733e-01 -3.25569623e-02 3.51866242e+00] [ 3.74663129e-01 2.08682974e-03 9.27158662e-01 7.87522469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.70538475 meters Centerline goodness : 0.960940 Centerline is valid? [True, True] Translation: X:40.65, Y:3.52, Z:7.89 [[ 9.24251675e-01 -8.21104404e-02 -3.72849457e-01 4.06526227e+01] [ 7.53881894e-02 9.96621183e-01 -3.26012114e-02 3.52010839e+00] [ 3.74266567e-01 2.02327878e-03 9.27318954e-01 7.88595641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.73538475 meters Centerline goodness : 0.961174 Centerline is valid? [True, True] Translation: X:40.68, Y:3.52, Z:7.90 [[ 9.25396277e-01 -8.24136937e-02 -3.69932039e-01 4.06777254e+01] [ 7.57805012e-02 9.96596198e-01 -3.24550968e-02 3.52165434e+00] [ 3.71347608e-01 2.00019044e-03 9.28491763e-01 7.89661079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.76538475 meters Centerline goodness : 0.960155 Centerline is valid? [True, True] Translation: X:40.70, Y:3.52, Z:7.91 [[ 9.25687083e-01 -8.26371515e-02 -3.69153797e-01 4.07036971e+01] [ 7.60295052e-02 9.96577771e-01 -3.24385594e-02 3.52449126e+00] [ 3.70571098e-01 1.96137491e-03 9.28802032e-01 7.90588656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.79538475 meters Centerline goodness : 0.961115 Centerline is valid? [True, True] Translation: X:40.73, Y:3.53, Z:7.91 [[ 9.26153910e-01 -8.33169710e-02 -3.67827701e-01 4.07306133e+01] [ 7.67667641e-02 9.96521471e-01 -3.24317928e-02 3.52774780e+00] [ 3.69250321e-01 1.79988932e-03 9.29328231e-01 7.91475723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.82538475 meters Centerline goodness : 0.958589 Centerline is valid? [True, True] Translation: X:40.76, Y:3.53, Z:7.92 [[ 9.26356691e-01 -8.41652082e-02 -3.67123276e-01 4.07564125e+01] [ 7.76600318e-02 9.96450560e-01 -3.24838537e-02 3.53015599e+00] [ 3.68554204e-01 1.58082996e-03 9.29604916e-01 7.92318205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.85538475 meters Centerline goodness : 0.958512 Centerline is valid? [True, True] Translation: X:40.78, Y:3.53, Z:7.93 [[ 9.26399328e-01 -8.42905817e-02 -3.66986897e-01 4.07834812e+01] [ 7.77679879e-02 9.96439905e-01 -3.25523543e-02 3.53249609e+00] [ 3.68424246e-01 1.61664654e-03 9.29656367e-01 7.93173234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.88538475000001 meters Centerline goodness : 0.958529 Centerline is valid? [True, True] Translation: X:40.81, Y:3.53, Z:7.94 [[ 9.26160724e-01 -8.50659046e-02 -3.67409996e-01 4.08086397e+01] [ 7.85419195e-02 9.96374300e-01 -3.27019958e-02 3.53409793e+00] [ 3.68859703e-01 1.43021776e-03 9.29483983e-01 7.94149206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.91538475000002 meters Centerline goodness : 0.955038 Centerline is valid? [True, True] Translation: X:40.84, Y:3.53, Z:7.95 [[ 9.25090585e-01 -8.66174359e-02 -3.69736161e-01 4.08350052e+01] [ 8.01049612e-02 9.96241262e-01 -3.29627433e-02 3.53455705e+00] [ 3.71201568e-01 8.75822605e-04 9.28551899e-01 7.95234851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.94538475000002 meters Centerline goodness : 0.955901 Centerline is valid? [True, True] Translation: X:40.86, Y:3.54, Z:7.96 [[ 9.24743655e-01 -8.78825700e-02 -3.70305044e-01 4.08614054e+01] [ 8.14020864e-02 9.96130722e-01 -3.31252980e-02 3.53679473e+00] [ 3.71783367e-01 4.88805950e-04 9.28319389e-01 7.96156550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.97538475 meters Centerline goodness : 0.956943 Centerline is valid? [True, True] Translation: X:40.89, Y:3.54, Z:7.97 [[ 9.24047988e-01 -9.03518387e-02 -3.71445636e-01 4.08881660e+01] [ 8.39761480e-02 9.95909834e-01 -3.33407985e-02 3.53892288e+00] [ 3.72938764e-01 -3.84075902e-04 9.27855878e-01 7.97021758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.00538475 meters Centerline goodness : 0.958480 Centerline is valid? [True, True] Translation: X:40.91, Y:3.54, Z:7.98 [[ 9.23892050e-01 -9.09490566e-02 -3.71687703e-01 4.09133030e+01] [ 8.45667477e-02 9.95855417e-01 -3.34731677e-02 3.54033570e+00] [ 3.73191566e-01 -5.06826648e-04 9.27754169e-01 7.97901753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.03538475 meters Centerline goodness : 0.956763 Centerline is valid? [True, True] Translation: X:40.94, Y:3.54, Z:7.99 [[ 9.23771883e-01 -9.20038242e-02 -3.71726787e-01 4.09384628e+01] [ 8.56824220e-02 9.95758265e-01 -3.35261175e-02 3.54252032e+00] [ 3.73234551e-01 -8.79966722e-04 9.27736598e-01 7.98889275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.06538475 meters Centerline goodness : 0.957091 Centerline is valid? [True, True] Translation: X:40.96, Y:3.54, Z:8.00 [[ 9.24013762e-01 -9.29332197e-02 -3.70893494e-01 4.09645689e+01] [ 8.66922282e-02 9.95671626e-01 -3.35033054e-02 3.54305244e+00] [ 3.72401698e-01 -1.19606809e-03 9.28070873e-01 7.99964692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.09538475 meters Centerline goodness : 0.959549 Centerline is valid? [True, True] Translation: X:40.99, Y:3.54, Z:8.01 [[ 9.24105963e-01 -9.27422817e-02 -3.70711529e-01 4.09888472e+01] [ 8.64492655e-02 9.95689643e-01 -3.35955227e-02 3.54363933e+00] [ 3.72229355e-01 -1.00191651e-03 9.28140239e-01 8.01143383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.12538475 meters Centerline goodness : 0.959549 Centerline is valid? [True, True] Translation: X:41.02, Y:3.55, Z:8.02 [[ 9.24081939e-01 -9.29998823e-02 -3.70706882e-01 4.10155565e+01] [ 8.67062798e-02 9.95665566e-01 -3.36467271e-02 3.54624957e+00] [ 3.72229219e-01 -1.05028183e-03 9.28140240e-01 8.02149802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.15538475 meters Centerline goodness : 0.958030 Centerline is valid? [True, True] Translation: X:41.04, Y:3.55, Z:8.03 [[ 9.24354118e-01 -9.29293454e-02 -3.70045405e-01 4.10420280e+01] [ 8.66121238e-02 9.95672291e-01 -3.36901925e-02 3.54853981e+00] [ 3.71574764e-01 -9.08750343e-04 9.28402590e-01 8.03078865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.18538475 meters Centerline goodness : 0.957418 Centerline is valid? [True, True] Translation: X:41.07, Y:3.55, Z:8.04 [[ 9.24022819e-01 -9.25136693e-02 -3.70975810e-01 4.10682604e+01] [ 8.60866835e-02 9.95711219e-01 -3.38858712e-02 3.55307769e+00] [ 3.72519682e-01 -6.24758933e-04 9.28024082e-01 8.03999542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.21538475 meters Centerline goodness : 0.958706 Centerline is valid? [True, True] Translation: X:41.09, Y:3.56, Z:8.05 [[ 9.23912697e-01 -9.23948533e-02 -3.71279572e-01 4.10939316e+01] [ 8.59025448e-02 9.95722342e-01 -3.40260248e-02 3.55647525e+00] [ 3.72835194e-01 -4.56783735e-04 9.27897467e-01 8.04836698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.24538475 meters Centerline goodness : 0.959037 Centerline is valid? [True, True] Translation: X:41.12, Y:3.56, Z:8.06 [[ 9.24196194e-01 -9.48705685e-02 -3.69947254e-01 4.11195147e+01] [ 8.85962110e-02 9.95488641e-01 -3.39569823e-02 3.55854458e+00] [ 3.71499808e-01 -1.39301123e-03 9.28431986e-01 8.05956443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.27538475 meters Centerline goodness : 0.958441 Centerline is valid? [True, True] Translation: X:41.15, Y:3.56, Z:8.07 [[ 9.24618118e-01 -9.54746952e-02 -3.68735566e-01 4.11464239e+01] [ 8.92445046e-02 9.95430712e-01 -3.39575542e-02 3.56189166e+00] [ 3.70292794e-01 -1.50985309e-03 9.28913864e-01 8.06851069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.30538475 meters Centerline goodness : 0.958967 Centerline is valid? [True, True] Translation: X:41.17, Y:3.57, Z:8.08 [[ 9.25013490e-01 -9.63029446e-02 -3.67526580e-01 4.11714146e+01] [ 9.01353634e-02 9.95350584e-01 -3.39533679e-02 3.56518076e+00] [ 3.69087605e-01 -1.71981846e-03 9.29393018e-01 8.07723185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.33538475 meters Centerline goodness : 0.958873 Centerline is valid? [True, True] Translation: X:41.20, Y:3.57, Z:8.09 [[ 9.25426429e-01 -9.67619122e-02 -3.66364650e-01 4.11977919e+01] [ 9.06492363e-02 9.95305852e-01 -3.38965522e-02 3.56705518e+00] [ 3.67924776e-01 -1.84191049e-03 9.29853734e-01 8.08716607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.36538475 meters Centerline goodness : 0.959652 Centerline is valid? [True, True] Translation: X:41.22, Y:3.57, Z:8.10 [[ 9.25481170e-01 -9.69517021e-02 -3.66176148e-01 4.12246200e+01] [ 9.08154835e-02 9.95287467e-01 -3.39912745e-02 3.57014913e+00] [ 3.67746042e-01 -1.79617939e-03 9.29924525e-01 8.09663117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.39538475 meters Centerline goodness : 0.956922 Centerline is valid? [True, True] Translation: X:41.25, Y:3.57, Z:8.11 [[ 9.26297152e-01 -9.63376217e-02 -3.64270021e-01 4.12506970e+01] [ 9.01786323e-02 9.95347692e-01 -3.39232393e-02 3.57209370e+00] [ 3.65843409e-01 -1.42637233e-03 9.30675328e-01 8.10543310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.42538475 meters Centerline goodness : 0.958544 Centerline is valid? [True, True] Translation: X:41.28, Y:3.57, Z:8.12 [[ 9.26638094e-01 -9.63357380e-02 -3.63402350e-01 4.12768151e+01] [ 9.01870335e-02 9.95347957e-01 -3.38931192e-02 3.57451548e+00] [ 3.64976906e-01 -1.36752460e-03 9.31015568e-01 8.11592330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.45538475 meters Centerline goodness : 0.958201 Centerline is valid? [True, True] Translation: X:41.30, Y:3.58, Z:8.13 [[ 9.27339614e-01 -9.59386911e-02 -3.61713987e-01 4.13021504e+01] [ 8.97769555e-02 9.95386651e-01 -3.38454292e-02 3.57601954e+00] [ 3.63292360e-01 -1.08737331e-03 9.31674556e-01 8.12574614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.48538475 meters Centerline goodness : 0.956888 Centerline is valid? [True, True] Translation: X:41.33, Y:3.58, Z:8.14 [[ 9.27250075e-01 -9.57073579e-02 -3.62004697e-01 4.13269490e+01] [ 8.94992604e-02 9.95409066e-01 -3.39215924e-02 3.57832419e+00] [ 3.63589303e-01 -9.45353563e-04 9.31558868e-01 8.13560937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.51538475 meters Centerline goodness : 0.954016 Centerline is valid? [True, True] Translation: X:41.35, Y:3.58, Z:8.14 [[ 9.27143269e-01 -9.59938108e-02 -3.62202355e-01 4.13537718e+01] [ 8.97802738e-02 9.95381424e-01 -3.39900590e-02 3.58174553e+00] [ 3.63792331e-01 -1.00497223e-03 9.31479538e-01 8.14323512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.54538475 meters Centerline goodness : 0.955107 Centerline is valid? [True, True] Translation: X:41.38, Y:3.58, Z:8.15 [[ 9.26664666e-01 -9.65398315e-02 -3.63280412e-01 4.13798235e+01] [ 9.02879279e-02 9.95328500e-01 -3.41945579e-02 3.58435653e+00] [ 3.64884485e-01 -1.11294708e-03 9.31052133e-01 8.15267567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.57538475 meters Centerline goodness : 0.953351 Centerline is valid? [True, True] Translation: X:41.41, Y:3.59, Z:8.16 [[ 9.25277024e-01 -9.83614046e-02 -3.66316071e-01 4.14057638e+01] [ 9.20926456e-02 9.95149266e-01 -3.45959993e-02 3.58603118e+00] [ 3.67942080e-01 -1.72413282e-03 9.29847113e-01 8.16226332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.60538475 meters Centerline goodness : 0.952947 Centerline is valid? [True, True] Translation: X:41.43, Y:3.59, Z:8.17 [[ 9.24101987e-01 -1.02024360e-01 -3.68275099e-01 4.14316888e+01] [ 9.59205693e-02 9.94777138e-01 -3.48954150e-02 3.58757752e+00] [ 3.69911831e-01 -3.07823479e-03 9.29061764e-01 8.17054750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.63538475000001 meters Centerline goodness : 0.952669 Centerline is valid? [True, True] Translation: X:41.46, Y:3.59, Z:8.18 [[ 9.23368448e-01 -1.05203477e-01 -3.69219362e-01 4.14584161e+01] [ 9.92906188e-02 9.94441392e-01 -3.50384312e-02 3.58904571e+00] [ 3.70853181e-01 -4.30663703e-03 9.28681523e-01 8.18048469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.66538475000002 meters Centerline goodness : 0.952396 Centerline is valid? [True, True] Translation: X:41.48, Y:3.59, Z:8.19 [[ 9.22967697e-01 -1.06688459e-01 -3.69794812e-01 4.14836754e+01] [ 1.00827126e-01 9.94280944e-01 -3.52036334e-02 3.58963611e+00] [ 3.71435756e-01 -4.79353175e-03 9.28446283e-01 8.19076316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.69538475000002 meters Centerline goodness : 0.952451 Centerline is valid? [True, True] Translation: X:41.51, Y:3.59, Z:8.20 [[ 9.23100545e-01 -1.07043058e-01 -3.69360483e-01 4.15085581e+01] [ 1.01202997e-01 9.94242432e-01 -3.52127796e-02 3.59040335e+00] [ 3.71003149e-01 -4.87545168e-03 9.28618810e-01 8.20094722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.72538475 meters Centerline goodness : 0.953896 Centerline is valid? [True, True] Translation: X:41.54, Y:3.59, Z:8.21 [[ 9.24223305e-01 -1.05330404e-01 -3.67037856e-01 4.15350698e+01] [ 9.94047866e-02 9.94428934e-01 -3.50682658e-02 3.59259414e+00] [ 3.68686819e-01 -4.07441131e-03 9.29544743e-01 8.21028715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.75538475 meters Centerline goodness : 0.955823 Centerline is valid? [True, True] Translation: X:41.56, Y:3.59, Z:8.22 [[ 9.25019356e-01 -1.03866606e-01 -3.65446192e-01 4.15616193e+01] [ 9.78392631e-02 9.94585585e-01 -3.50284603e-02 3.59491044e+00] [ 3.67105802e-01 -3.35298226e-03 9.30173149e-01 8.22058597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.78538475 meters Centerline goodness : 0.953936 Centerline is valid? [True, True] Translation: X:41.59, Y:3.60, Z:8.23 [[ 9.25917626e-01 -1.01874717e-01 -3.63728046e-01 4.15866880e+01] [ 9.57138115e-02 9.94794269e-01 -3.49746996e-02 3.60000281e+00] [ 3.65397613e-01 -2.43010676e-03 9.30848365e-01 8.22994139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.81538475 meters Centerline goodness : 0.953726 Centerline is valid? [True, True] Translation: X:41.61, Y:3.60, Z:8.24 [[ 9.26225863e-01 -1.00236548e-01 -3.63398246e-01 4.16135336e+01] [ 9.39351576e-02 9.94962184e-01 -3.50205400e-02 3.60478256e+00] [ 3.65077850e-01 -1.69894163e-03 9.30975444e-01 8.23825848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.84538475 meters Centerline goodness : 0.952565 Centerline is valid? [True, True] Translation: X:41.64, Y:3.61, Z:8.25 [[ 9.25911310e-01 -9.74205775e-02 -3.64962296e-01 4.16389189e+01] [ 9.08098164e-02 9.95243188e-01 -3.52785212e-02 3.60897486e+00] [ 3.66663093e-01 -4.77377376e-04 9.30353668e-01 8.24758115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.87538475 meters Centerline goodness : 0.951108 Centerline is valid? [True, True] Translation: X:41.67, Y:3.61, Z:8.26 [[ 9.25740341e-01 -9.65018828e-02 -3.65639451e-01 4.16654144e+01] [ 8.97668801e-02 9.95332801e-01 -3.54192283e-02 3.61211809e+00] [ 3.67350961e-01 -3.33042630e-05 9.30082400e-01 8.25774025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.90538475 meters Centerline goodness : 0.950696 Centerline is valid? [True, True] Translation: X:41.69, Y:3.62, Z:8.27 [[ 9.25992232e-01 -9.59375038e-02 -3.65149808e-01 4.16910063e+01] [ 8.91368291e-02 9.95387313e-01 -3.54784873e-02 3.61533913e+00] [ 3.66869204e-01 3.04507627e-04 9.30272484e-01 8.26633263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.93538475 meters Centerline goodness : 0.949325 Centerline is valid? [True, False] Translation: X:41.69, Y:3.61, Z:8.27 [[ 9.25896626e-01 -9.07204700e-02 -3.66722285e-01 4.16916803e+01] [ 8.61548780e-02 9.95864362e-01 -2.88359136e-02 3.61161629e+00] [ 3.67821661e-01 -4.89583854e-03 9.29883464e-01 8.27149623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.96538475 meters Centerline goodness : 0.949454 Centerline is valid? [False, False] Translation: X:41.69, Y:3.61, Z:8.27 [[ 9.25937431e-01 -8.97224810e-02 -3.66864757e-01 4.16898798e+01] [ 8.56645713e-02 9.95948186e-01 -2.73640597e-02 3.60949364e+00] [ 3.67833460e-01 -6.08990492e-03 9.29871743e-01 8.27351050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.99538475 meters Centerline goodness : 0.949779 Centerline is valid? [False, False] Translation: X:41.69, Y:3.61, Z:8.28 [[ 9.25793574e-01 -8.48589442e-02 -3.68381891e-01 4.16914524e+01] [ 8.25801042e-02 9.96342050e-01 -2.19782917e-02 3.60715392e+00] [ 3.68899424e-01 -1.00736538e-02 9.29414728e-01 8.27683881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.02538475 meters Centerline goodness : 0.947325 Centerline is valid? [False, False] Translation: X:41.69, Y:3.61, Z:8.28 [[ 9.25863317e-01 -8.00243991e-02 -3.69287441e-01 4.16929396e+01] [ 7.92102752e-02 9.96706188e-01 -1.73927541e-02 3.60652390e+00] [ 3.69462922e-01 -1.31480468e-02 9.29152452e-01 8.27816979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.05538475 meters Centerline goodness : 0.944402 Centerline is valid? [False, False] Translation: X:41.69, Y:3.60, Z:8.28 [[ 9.25832190e-01 -7.49822620e-02 -3.70421943e-01 4.16939367e+01] [ 7.58579517e-02 9.97043676e-01 -1.22262103e-02 3.60422718e+00] [ 3.70243604e-01 -1.67800308e-02 9.28783131e-01 8.28071823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.08538475 meters Centerline goodness : 0.944463 Centerline is valid? [False, False] Translation: X:41.69, Y:3.60, Z:8.28 [[ 9.25734703e-01 -6.93621041e-02 -3.71758197e-01 4.16942964e+01] [ 7.21276400e-02 9.97374361e-01 -6.47981605e-03 3.60083007e+00] [ 3.71231548e-01 -2.08154509e-02 9.28306983e-01 8.28429016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.11538475 meters Centerline goodness : 0.944222 Centerline is valid? [False, False] Translation: X:41.69, Y:3.60, Z:8.28 [[ 9.25776188e-01 -6.87431969e-02 -3.71769852e-01 4.16934118e+01] [ 7.16361385e-02 9.97412530e-01 -6.04216494e-03 3.60061175e+00] [ 3.71223267e-01 -2.10384642e-02 9.28305267e-01 8.28474391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.14538475 meters Centerline goodness : 0.944960 Centerline is valid? [False, False] Translation: X:41.69, Y:3.60, Z:8.29 [[ 9.25669415e-01 -6.36433919e-02 -3.72941890e-01 4.16946626e+01] [ 6.81248510e-02 9.97676124e-01 -1.16479691e-03 3.59880300e+00] [ 3.72149350e-01 -2.43283938e-02 9.27853970e-01 8.28699398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.17538475 meters Centerline goodness : 0.944152 Centerline is valid? [False, False] Translation: X:41.70, Y:3.60, Z:8.29 [[ 9.25629847e-01 -6.35627256e-02 -3.73053839e-01 4.16950272e+01] [ 6.79837805e-02 9.97685570e-01 -1.30757992e-03 3.59940452e+00] [ 3.72273545e-01 -2.41512753e-02 9.27808775e-01 8.28679249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.20538475 meters Centerline goodness : 0.940548 Centerline is valid? [False, False] Translation: X:41.70, Y:3.60, Z:8.29 [[ 9.25585529e-01 -5.92518736e-02 -3.73872497e-01 4.16979004e+01] [ 6.48017260e-02 9.97895555e-01 2.27981080e-03 3.60026607e+00] [ 3.72950620e-01 -2.63377430e-02 9.27477309e-01 8.28669866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.23538475 meters Centerline goodness : 0.936233 Centerline is valid? [False, False] Translation: X:41.70, Y:3.60, Z:8.29 [[ 9.25410423e-01 -5.46935077e-02 -3.74998891e-01 4.17002434e+01] [ 6.16264015e-02 9.98078055e-01 6.51021786e-03 3.60013277e+00] [ 3.73922097e-01 -2.91344557e-02 9.27002400e-01 8.28803150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.26538475 meters Centerline goodness : 0.934857 Centerline is valid? [False, False] Translation: X:41.70, Y:3.60, Z:8.29 [[ 9.25327196e-01 -5.00284838e-02 -3.75854669e-01 4.17024393e+01] [ 5.82505408e-02 9.98246395e-01 1.05361362e-02 3.59936259e+00] [ 3.74668461e-01 -3.16431111e-02 9.26618723e-01 8.28864329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.29538475 meters Centerline goodness : 0.933497 Centerline is valid? [False, False] Translation: X:41.70, Y:3.60, Z:8.29 [[ 9.25338414e-01 -4.94252264e-02 -3.75906859e-01 4.17018771e+01] [ 5.78061596e-02 9.98266761e-01 1.10418295e-02 3.59883591e+00] [ 3.74709578e-01 -3.19471609e-02 9.26591664e-01 8.28910575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.32538475 meters Centerline goodness : 0.931042 Centerline is valid? [False, False] Translation: X:41.70, Y:3.60, Z:8.29 [[ 9.25520201e-01 -4.79724022e-02 -3.75647449e-01 4.16993557e+01] [ 5.66720003e-02 9.98319073e-01 1.21372232e-02 3.59748108e+00] [ 3.74433762e-01 -3.25219376e-02 9.26683161e-01 8.28994634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.35538475 meters Centerline goodness : 0.928098 Centerline is valid? [False, False] Translation: X:41.70, Y:3.60, Z:8.29 [[ 9.25281118e-01 -4.30127701e-02 -3.76835181e-01 4.17006953e+01] [ 5.34916337e-02 9.98417004e-01 1.73819165e-02 3.59536338e+00] [ 3.75491008e-01 -3.62406886e-02 9.26117226e-01 8.29296077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.38538475000001 meters Centerline goodness : 0.922481 Centerline is valid? [False, False] Translation: X:41.70, Y:3.60, Z:8.29 [[ 9.25365945e-01 -3.76593451e-02 -3.77199737e-01 4.17013297e+01] [ 4.95024311e-02 9.98537182e-01 2.17487098e-02 3.59510864e+00] [ 3.75828920e-01 -3.87978194e-02 9.25876532e-01 8.29335067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.41538475000002 meters Centerline goodness : 0.921493 Centerline is valid? [False, False] Translation: X:41.70, Y:3.59, Z:8.29 [[ 9.25434627e-01 -3.20344553e-02 -3.77550719e-01 4.17011231e+01] [ 4.52593597e-02 9.98631491e-01 2.62056524e-02 3.59496392e+00] [ 3.76194553e-01 -4.13393219e-02 9.25618020e-01 8.29411403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.44538475000002 meters Centerline goodness : 0.916367 Centerline is valid? [False, False] Translation: X:41.70, Y:3.59, Z:8.29 [[ 9.25566593e-01 -3.13233438e-02 -3.77286800e-01 4.17000966e+01] [ 4.46659787e-02 9.98646044e-01 2.66651374e-02 3.59447933e+00] [ 3.75940729e-01 -4.15322446e-02 9.25712504e-01 8.29407586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.47538475 meters Centerline goodness : 0.916008 Centerline is valid? [False, False] Translation: X:41.70, Y:3.59, Z:8.30 [[ 9.25572305e-01 -2.96589521e-02 -3.77407279e-01 4.16971954e+01] [ 4.38506706e-02 9.98615233e-01 2.90643173e-02 3.59103944e+00] [ 3.76022641e-01 -4.34506895e-02 9.25591168e-01 8.29738609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.50538475 meters Centerline goodness : 0.912549 Centerline is valid? [False, False] Translation: X:41.70, Y:3.59, Z:8.30 [[ 9.25516541e-01 -2.87601649e-02 -3.77613539e-01 4.16958342e+01] [ 4.34976944e-02 9.98586143e-01 3.05559317e-02 3.58906277e+00] [ 3.76200854e-01 -4.47053385e-02 9.25458994e-01 8.29958108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.53538475 meters Centerline goodness : 0.910595 Centerline is valid? [False, False] Translation: X:41.70, Y:3.59, Z:8.30 [[ 9.25374573e-01 -2.86803007e-02 -3.77967379e-01 4.16959450e+01] [ 4.38492803e-02 9.98538703e-01 3.15863734e-02 3.58685156e+00] [ 3.76509150e-01 -4.58028243e-02 9.25279937e-01 8.30143076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.56538475 meters Centerline goodness : 0.908278 Centerline is valid? [False, False] Translation: X:41.70, Y:3.59, Z:8.30 [[ 9.25295214e-01 -2.86846758e-02 -3.78161283e-01 4.16961453e+01] [ 4.40109571e-02 9.98520136e-01 3.19464264e-02 3.58662700e+00] [ 3.76685283e-01 -4.62031155e-02 9.25188343e-01 8.30216648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.59538475 meters Centerline goodness : 0.908268 Centerline is valid? [False, False] Translation: X:41.70, Y:3.59, Z:8.30 [[ 9.25142956e-01 -2.90590046e-02 -3.78505066e-01 4.16973134e+01] [ 4.45370416e-02 9.98488648e-01 3.22004780e-02 3.58576154e+00] [ 3.76997298e-01 -4.66475413e-02 9.25038942e-01 8.30287352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.62538475 meters Centerline goodness : 0.905787 Centerline is valid? [False, False] Translation: X:41.70, Y:3.58, Z:8.30 [[ 9.24879696e-01 -3.06451713e-02 -3.79022982e-01 4.17005030e+01] [ 4.61950963e-02 9.98419807e-01 3.19984836e-02 3.58451928e+00] [ 3.77443453e-01 -4.71037510e-02 9.24833864e-01 8.30343757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.65538475 meters Centerline goodness : 0.900381 Centerline is valid? [False, False] Translation: X:41.71, Y:3.58, Z:8.30 [[ 9.24509947e-01 -3.26505989e-02 -3.79756891e-01 4.17050641e+01] [ 4.79802967e-02 9.98368054e-01 3.09696731e-02 3.58488852e+00] [ 3.78125970e-01 -4.68526191e-02 9.24567782e-01 8.30299367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.68538475 meters Centerline goodness : 0.900473 Centerline is valid? [False, False] Translation: X:41.71, Y:3.58, Z:8.30 [[ 9.24128668e-01 -3.36256544e-02 -3.80598897e-01 4.17078325e+01] [ 4.90418267e-02 9.98319337e-01 3.08771702e-02 3.58459777e+00] [ 3.78920974e-01 -4.71997433e-02 9.24224583e-01 8.30391150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.71538475 meters Centerline goodness : 0.896159 Centerline is valid? [False, False] Translation: X:41.71, Y:3.58, Z:8.30 [[ 9.23893396e-01 -3.81477878e-02 -3.80743665e-01 4.17129340e+01] [ 5.30344159e-02 9.98180747e-01 2.86800813e-02 3.58358090e+00] [ 3.78956914e-01 -4.66898556e-02 9.24235746e-01 8.30346053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.74538475 meters Centerline goodness : 0.898086 Centerline is valid? [False, False] Translation: X:41.71, Y:3.58, Z:8.30 [[ 9.23669146e-01 -3.84246504e-02 -3.81259565e-01 4.17138725e+01] [ 5.35934978e-02 9.98134512e-01 2.92443565e-02 3.58263905e+00] [ 3.79424626e-01 -4.74451434e-02 9.24005364e-01 8.30496691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.77538475 meters Centerline goodness : 0.896369 Centerline is valid? [False, False] Translation: X:41.72, Y:3.58, Z:8.31 [[ 9.23354129e-01 -3.91211807e-02 -3.81951156e-01 4.17159660e+01] [ 5.45699753e-02 9.98068315e-01 2.96943756e-02 3.58162128e+00] [ 3.80051668e-01 -4.82614895e-02 9.23705342e-01 8.30644101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.80538475 meters Centerline goodness : 0.894763 Centerline is valid? [False, False] Translation: X:41.72, Y:3.58, Z:8.31 [[ 9.23302611e-01 -3.93195824e-02 -3.82055309e-01 4.17169145e+01] [ 5.47638185e-02 9.98059612e-01 2.96299754e-02 3.58181139e+00] [ 3.80148935e-01 -4.82802412e-02 9.23664336e-01 8.30622120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.83538475 meters Centerline goodness : 0.890406 Centerline is valid? [False, False] Translation: X:41.72, Y:3.58, Z:8.31 [[ 9.23183238e-01 -3.47580344e-02 -3.82785302e-01 4.17196974e+01] [ 5.15296804e-02 9.98104524e-01 3.36459778e-02 3.58107029e+00] [ 3.80890274e-01 -5.07862070e-02 9.23224437e-01 8.30646342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.86538475 meters Centerline goodness : 0.887643 Centerline is valid? [False, False] Translation: X:41.72, Y:3.58, Z:8.31 [[ 9.22902731e-01 -2.99607947e-02 -3.83865732e-01 4.17221010e+01] [ 4.82936514e-02 9.98102168e-01 3.82071319e-02 3.57973430e+00] [ 3.81992503e-01 -5.37997442e-02 9.22598133e-01 8.30812542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.89538475 meters Centerline goodness : 0.887655 Centerline is valid? [False, False] Translation: X:41.72, Y:3.58, Z:8.31 [[ 9.23034991e-01 -2.81012485e-02 -3.83688317e-01 4.17200108e+01] [ 4.64993830e-02 9.98166146e-01 3.87576113e-02 3.57925247e+00] [ 3.81895551e-01 -5.36159014e-02 9.22648971e-01 8.30778764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.92538475 meters Centerline goodness : 0.891129 Centerline is valid? [False, False] Translation: X:41.72, Y:3.58, Z:8.31 [[ 9.23094492e-01 -2.69729009e-02 -3.83626149e-01 4.17182190e+01] [ 4.54423404e-02 9.98199077e-01 3.91611714e-02 3.57893241e+00] [ 3.81878977e-01 -5.35823317e-02 9.22657781e-01 8.30807623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.95538475 meters Centerline goodness : 0.893220 Centerline is valid? [False, False] Translation: X:41.72, Y:3.58, Z:8.31 [[ 9.23377844e-01 -2.48659362e-02 -3.83086207e-01 4.17151997e+01] [ 4.33944100e-02 9.98264957e-01 3.97995119e-02 3.57885531e+00] [ 3.81431884e-01 -5.33737875e-02 9.22854786e-01 8.30745241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.98538475 meters Centerline goodness : 0.891841 Centerline is valid? [False, False] Translation: X:41.71, Y:3.58, Z:8.31 [[ 9.23417266e-01 -2.43864842e-02 -3.83022000e-01 4.17148572e+01] [ 4.29444393e-02 9.98277419e-01 3.99746236e-02 3.57886484e+00] [ 3.81387373e-01 -5.33619227e-02 9.22873868e-01 8.30730126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.01538475 meters Centerline goodness : 0.895223 Centerline is valid? [False, False] Translation: X:41.71, Y:3.58, Z:8.31 [[ 9.23441326e-01 -2.39895248e-02 -3.82989059e-01 4.17148208e+01] [ 4.25505027e-02 9.98290673e-01 4.00647836e-02 3.57867674e+00] [ 3.81373270e-01 -5.32938539e-02 9.22883630e-01 8.30700158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.04538475 meters Centerline goodness : 0.894698 Centerline is valid? [False, False] Translation: X:41.72, Y:3.58, Z:8.31 [[ 9.23346793e-01 -2.42963968e-02 -3.83197579e-01 4.17153626e+01] [ 4.28395399e-02 9.98283714e-01 3.99299354e-02 3.57909628e+00] [ 3.81569748e-01 -5.32851857e-02 9.22802913e-01 8.30726939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.07538475 meters Centerline goodness : 0.894698 Centerline is valid? [False, False] Translation: X:41.72, Y:3.58, Z:8.31 [[ 9.23346793e-01 -2.42963968e-02 -3.83197579e-01 4.17153626e+01] [ 4.28395399e-02 9.98283714e-01 3.99299354e-02 3.57909628e+00] [ 3.81569748e-01 -5.32851857e-02 9.22802913e-01 8.30726939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.10538475 meters Centerline goodness : 0.892606 Centerline is valid? [False, False] Translation: X:41.72, Y:3.58, Z:8.31 [[ 9.23060343e-01 -2.52381167e-02 -3.83826317e-01 4.17167690e+01] [ 4.42309704e-02 9.98190478e-01 4.07356304e-02 3.57902010e+00] [ 3.82103684e-01 -5.45784554e-02 9.22506351e-01 8.30991723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.13538475000001 meters Centerline goodness : 0.893833 Centerline is valid? [False, False] Translation: X:41.72, Y:3.58, Z:8.31 [[ 9.22720495e-01 -2.60007701e-02 -3.84591795e-01 4.17181116e+01] [ 4.54922267e-02 9.98095283e-01 4.16685019e-02 3.57801947e+00] [ 3.82775843e-01 -5.59443178e-02 9.22145806e-01 8.31276676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.16538475000002 meters Centerline goodness : 0.895984 Centerline is valid? [False, False] Translation: X:41.73, Y:3.58, Z:8.33 [[ 9.22988995e-01 -3.32388513e-02 -3.83388177e-01 4.17341534e+01] [ 5.61505627e-02 9.97232807e-01 4.87221035e-02 3.57712754e+00] [ 3.80707801e-01 -6.64974272e-02 9.22301286e-01 8.32772361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.19538475000002 meters Centerline goodness : 0.899919 Centerline is valid? [False, False] Translation: X:41.75, Y:3.58, Z:8.34 [[ 9.23203285e-01 -4.08914947e-02 -3.82130318e-01 4.17532598e+01] [ 6.77748229e-02 9.96062366e-01 5.71518647e-02 3.57625264e+00] [ 3.78288603e-01 -7.86616038e-02 9.22339463e-01 8.34449525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.22538475 meters Centerline goodness : 0.902329 Centerline is valid? [False, False] Translation: X:41.76, Y:3.58, Z:8.34 [[ 0.92270387 -0.04787348 -0.38252543 41.75668358] [ 0.07325316 0.9959541 0.05205193 3.57755878] [ 0.37848586 -0.07604971 0.92247759 8.34405475] [ 0. 0. 0. 1. ]] SLAMing on 174.25538475 meters Centerline goodness : 0.902952 Centerline is valid? [False, False] Translation: X:41.74, Y:3.58, Z:8.35 [[ 0.92536704 -0.04856065 -0.37594908 41.74127382] [ 0.07998106 0.99444572 0.06841592 3.5786204 ] [ 0.37053863 -0.09337864 0.92411122 8.35444106] [ 0. 0. 0. 1. ]] SLAMing on 174.28538475 meters Centerline goodness : 0.900244 Centerline is valid? [False, False] Translation: X:41.72, Y:3.58, Z:8.36 [[ 0.92944151 -0.04238574 -0.36652686 41.72336476] [ 0.0792542 0.99312687 0.08612664 3.57853736] [ 0.36035713 -0.10909847 0.92641258 8.36475779] [ 0. 0. 0. 1. ]] SLAMing on 174.31538475 meters Centerline goodness : 0.902753 Centerline is valid? [False, False] Translation: X:41.71, Y:3.58, Z:8.37 [[ 9.32762558e-01 -3.72547337e-02 -3.58561146e-01 4.17073515e+01] [ 7.83391252e-02 9.91823728e-01 1.00740625e-01 3.57926617e+00] [ 3.51876388e-01 -1.22056450e-01 9.28054541e-01 8.37463614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.34538475 meters Centerline goodness : 0.902966 Centerline is valid? [False, False] Translation: X:41.72, Y:3.58, Z:8.37 [[ 0.93372256 -0.04766931 -0.35480955 41.72484548] [ 0.08196596 0.99323455 0.08226007 3.58450338] [ 0.34848782 -0.10589039 0.93131277 8.3687313 ] [ 0. 0. 0. 1. ]] SLAMing on 174.37538475 meters Centerline goodness : 0.905017 Centerline is valid? [False, False] Translation: X:41.74, Y:3.59, Z:8.36 [[ 0.93497763 -0.05497579 -0.35042046 41.73992823] [ 0.08301256 0.99439461 0.06548494 3.58938792] [ 0.34485613 -0.09031626 0.93430039 8.36226368] [ 0. 0. 0. 1. ]] SLAMing on 174.40538475 meters Centerline goodness : 0.904434 Centerline is valid? [False, False] Translation: X:41.74, Y:3.59, Z:8.37 [[ 0.93875973 -0.04494045 -0.34162923 41.73849474] [ 0.07367979 0.99470744 0.07161277 3.58750335] [ 0.33660283 -0.09239835 0.93710249 8.36670812] [ 0. 0. 0. 1. ]] SLAMing on 174.43538475 meters Centerline goodness : 0.903770 Centerline is valid? [False, False] Translation: X:41.75, Y:3.59, Z:8.36 [[ 0.94046801 -0.04462252 -0.33694029 41.75147794] [ 0.06887192 0.995798 0.06035733 3.59159209] [ 0.33283117 -0.07996987 0.93958939 8.36070886] [ 0. 0. 0. 1. ]] SLAMing on 174.46538475 meters Centerline goodness : 0.908030 Centerline is valid? [False, False] Translation: X:41.75, Y:3.59, Z:8.37 [[ 9.44082242e-01 -3.32045743e-02 -3.28033804e-01 4.17488498e+01] [ 5.88662530e-02 9.95905423e-01 6.86086869e-02 3.58939347e+00] [ 3.24412522e-01 -8.40823638e-02 9.42171254e-01 8.36604042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.49538475 meters Centerline goodness : 0.911141 Centerline is valid? [False, False] Translation: X:41.75, Y:3.59, Z:8.37 [[ 9.46560318e-01 -1.98453826e-02 -3.21915710e-01 4.17529967e+01] [ 4.53921126e-02 9.96367794e-01 7.20470350e-02 3.58610881e+00] [ 3.19316645e-01 -8.28092985e-02 9.44023040e-01 8.37043757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.52538475 meters Centerline goodness : 0.913627 Centerline is valid? [False, False] Translation: X:41.76, Y:3.58, Z:8.37 [[ 9.49348879e-01 -9.85621931e-03 -3.14069357e-01 4.17555211e+01] [ 3.54456900e-02 9.96487435e-01 7.58709082e-02 3.58307319e+00] [ 3.12218368e-01 -8.31603668e-02 9.46363590e-01 8.37327876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.55538475 meters Centerline goodness : 0.914884 Centerline is valid? [False, False] Translation: X:41.75, Y:3.58, Z:8.37 [[ 9.49485444e-01 -9.27064556e-03 -3.13674109e-01 4.17545593e+01] [ 3.45989864e-02 9.96562230e-01 7.52770407e-02 3.58456761e+00] [ 3.11897903e-01 -8.23272606e-02 9.46542086e-01 8.37179962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.58538475 meters Centerline goodness : 0.914709 Centerline is valid? [False, False] Translation: X:41.77, Y:3.59, Z:8.36 [[ 9.50821036e-01 -7.02776787e-03 -3.09661052e-01 4.17652929e+01] [ 2.80550273e-02 9.97587212e-01 6.35033002e-02 3.58747439e+00] [ 3.08467620e-01 -6.90678229e-02 9.48724071e-01 8.36440500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.61538475 meters Centerline goodness : 0.917114 Centerline is valid? [False, False] Translation: X:41.77, Y:3.59, Z:8.36 [[ 9.50925146e-01 -6.67511870e-03 -3.09349010e-01 4.17660880e+01] [ 2.67250109e-02 9.97803024e-01 6.06209512e-02 3.59078530e+00] [ 3.08264725e-01 -6.59133425e-02 9.49014378e-01 8.35882204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.64538475 meters Centerline goodness : 0.915092 Centerline is valid? [False, False] Translation: X:41.77, Y:3.59, Z:8.36 [[ 9.50935575e-01 -7.01605789e-03 -3.09309403e-01 4.17671213e+01] [ 2.67117307e-02 9.97871602e-01 5.94873934e-02 3.59272503e+00] [ 3.08233702e-01 -6.48308681e-02 9.49099017e-01 8.35700511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.67538475 meters Centerline goodness : 0.914473 Centerline is valid? [False, False] Translation: X:41.78, Y:3.60, Z:8.35 [[ 9.52305743e-01 -9.35790425e-03 -3.05001971e-01 4.17833794e+01] [ 2.52035959e-02 9.98526577e-01 4.80567815e-02 3.59583941e+00] [ 3.04102863e-01 -5.34518954e-02 9.51138446e-01 8.35289090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.70538475 meters Centerline goodness : 0.919282 Centerline is valid? [False, False] Translation: X:41.78, Y:3.60, Z:8.35 [[ 9.52358140e-01 -1.41728500e-02 -3.04652430e-01 4.17830447e+01] [ 2.85955044e-02 9.98668706e-01 4.29314798e-02 3.59846606e+00] [ 3.03638386e-01 -4.95978341e-02 9.51495552e-01 8.35095731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.73538475 meters Centerline goodness : 0.920928 Centerline is valid? [False, False] Translation: X:41.79, Y:3.60, Z:8.35 [[ 9.52047170e-01 -1.49492784e-02 -3.05585839e-01 4.17850394e+01] [ 2.96021597e-02 9.98620321e-01 4.33724258e-02 3.59682433e+00] [ 3.04515842e-01 -5.03385961e-02 9.51176181e-01 8.35291033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.76538475 meters Centerline goodness : 0.921330 Centerline is valid? [False, False] Translation: X:41.79, Y:3.60, Z:8.35 [[ 9.51846695e-01 -1.56818028e-02 -3.06173074e-01 4.17868233e+01] [ 3.03580870e-02 9.98603735e-01 4.32315547e-02 3.59626050e+00] [ 3.05067626e-01 -5.04446413e-02 9.50993734e-01 8.35345226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.79538475 meters Centerline goodness : 0.924402 Centerline is valid? [False, False] Translation: X:41.79, Y:3.60, Z:8.35 [[ 9.51774480e-01 -2.12281973e-02 -3.06063232e-01 4.17876648e+01] [ 3.45601020e-02 9.98672073e-01 3.82058807e-02 3.59878645e+00] [ 3.04845761e-01 -4.69409588e-02 9.51244242e-01 8.35209192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.82538475 meters Centerline goodness : 0.922793 Centerline is valid? [False, False] Translation: X:41.79, Y:3.60, Z:8.35 [[ 9.51277763e-01 -2.41429063e-02 -3.07388579e-01 4.17932200e+01] [ 3.75102380e-02 9.98586646e-01 3.76522496e-02 3.59921666e+00] [ 3.06045096e-01 -4.73479665e-02 9.50838877e-01 8.35356102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.85538475 meters Centerline goodness : 0.925947 Centerline is valid? [False, False] Translation: X:41.80, Y:3.60, Z:8.36 [[ 9.50568320e-01 -2.68423224e-02 -3.09353131e-01 4.17985672e+01] [ 4.09535111e-02 9.98391370e-01 3.92107463e-02 3.59897827e+00] [ 3.07802989e-01 -4.99415901e-02 9.50138494e-01 8.35938248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.88538475000001 meters Centerline goodness : 0.931289 Centerline is valid? [False, False] Translation: X:41.80, Y:3.60, Z:8.37 [[ 9.50246522e-01 -2.49113879e-02 -3.10501160e-01 4.18039714e+01] [ 4.17851956e-02 9.97982056e-01 4.78101875e-02 3.59625970e+00] [ 3.08683568e-01 -5.84058161e-02 9.49369904e-01 8.36966237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.91538475000002 meters Centerline goodness : 0.933066 Centerline is valid? [False, False] Translation: X:41.80, Y:3.60, Z:8.37 [[ 9.50177928e-01 -3.02598363e-02 -3.10235793e-01 4.18034067e+01] [ 4.60056717e-02 9.97990891e-01 4.35621328e-02 3.59814565e+00] [ 3.08294312e-01 -5.56643831e-02 9.49661041e-01 8.36978984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.94538475000002 meters Centerline goodness : 0.933325 Centerline is valid? [False, False] Translation: X:41.80, Y:3.60, Z:8.37 [[ 9.49992399e-01 -3.05474993e-02 -3.10775309e-01 4.18038961e+01] [ 4.65409685e-02 9.97939056e-01 4.41766875e-02 3.59779155e+00] [ 3.08785331e-01 -5.64313012e-02 9.49456227e-01 8.37162995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.97538475 meters Centerline goodness : 0.938255 Centerline is valid? [False, False] Translation: X:41.80, Y:3.60, Z:8.37 [[ 9.49839607e-01 -3.06427124e-02 -3.11232623e-01 4.18040374e+01] [ 4.68860680e-02 9.97893256e-01 4.48413414e-02 3.59744304e+00] [ 3.09202875e-01 -5.71845560e-02 9.49275254e-01 8.37338560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.00538475 meters Centerline goodness : 0.936934 Centerline is valid? [False, False] Translation: X:41.81, Y:3.60, Z:8.37 [[ 9.49706947e-01 -3.12512272e-02 -3.11576756e-01 4.18056485e+01] [ 4.73902871e-02 9.97890948e-01 4.43600746e-02 3.59845885e+00] [ 3.09533318e-01 -5.68947829e-02 9.49184971e-01 8.37305829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.03538475 meters Centerline goodness : 0.934179 Centerline is valid? [False, False] Translation: X:41.81, Y:3.60, Z:8.37 [[ 9.49713928e-01 -3.16695564e-02 -3.11513234e-01 4.18069329e+01] [ 4.75506561e-02 9.97920483e-01 4.35160369e-02 3.60021957e+00] [ 3.09487303e-01 -5.61404450e-02 9.49244889e-01 8.37147039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.06538475 meters Centerline goodness : 0.937995 Centerline is valid? [False, False] Translation: X:41.81, Y:3.60, Z:8.37 [[ 9.49569630e-01 -2.64964889e-02 -3.12434719e-01 4.18075791e+01] [ 4.40194853e-02 9.97820171e-01 4.91649436e-02 3.59775077e+00] [ 3.10450966e-01 -6.04387528e-02 9.48666092e-01 8.37480847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.09538475 meters Centerline goodness : 0.937370 Centerline is valid? [False, False] Translation: X:41.82, Y:3.60, Z:8.37 [[ 9.51161416e-01 -2.58635914e-02 -3.07608573e-01 4.18208344e+01] [ 4.03453425e-02 9.98351980e-01 4.08114941e-02 3.59927017e+00] [ 3.06046096e-01 -5.12288917e-02 9.50637359e-01 8.37320071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.12538475 meters Centerline goodness : 0.937256 Centerline is valid? [False, False] Translation: X:41.82, Y:3.60, Z:8.38 [[ 9.50941618e-01 -2.08470663e-02 -3.08667196e-01 4.18221576e+01] [ 3.66949465e-02 9.98284373e-01 4.56266539e-02 3.59715340e+00] [ 3.07186457e-01 -5.47148104e-02 9.50075139e-01 8.37530195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.15538475 meters Centerline goodness : 0.938047 Centerline is valid? [False, False] Translation: X:41.84, Y:3.60, Z:8.37 [[ 9.52315886e-01 -1.75105288e-02 -3.04610955e-01 4.18358369e+01] [ 3.02866719e-02 9.98846252e-01 3.72677100e-02 3.60030300e+00] [ 3.03606934e-01 -4.47162844e-02 9.51747489e-01 8.37088256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.18538475 meters Centerline goodness : 0.941280 Centerline is valid? [False, False] Translation: X:41.84, Y:3.60, Z:8.37 [[ 9.52368692e-01 -1.73988597e-02 -3.04452221e-01 4.18357722e+01] [ 2.99557223e-02 9.98880131e-01 3.66215651e-02 3.60178904e+00] [ 3.03474101e-01 -4.39973182e-02 9.51823359e-01 8.36976934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.21538475 meters Centerline goodness : 0.937162 Centerline is valid? [False, False] Translation: X:41.84, Y:3.60, Z:8.37 [[ 9.51945981e-01 -1.61228307e-02 -3.05841305e-01 4.18422328e+01] [ 2.97776890e-02 9.98754515e-01 4.00338384e-02 3.60136828e+00] [ 3.04814925e-01 -4.72172988e-02 9.51240447e-01 8.37173383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.24538475 meters Centerline goodness : 0.938330 Centerline is valid? [False, False] Translation: X:41.85, Y:3.60, Z:8.37 [[ 9.51776505e-01 -1.72476971e-02 -3.06307037e-01 4.18450402e+01] [ 3.06652448e-02 9.98766770e-01 3.90458963e-02 3.60254479e+00] [ 3.05255838e-01 -4.65559470e-02 9.51131651e-01 8.37071705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.27538475 meters Centerline goodness : 0.936360 Centerline is valid? [False, False] Translation: X:41.85, Y:3.60, Z:8.37 [[ 9.51507293e-01 -1.86095097e-02 -3.07062790e-01 4.18484485e+01] [ 3.18367746e-02 9.98765738e-01 3.81237421e-02 3.60330641e+00] [ 3.05974330e-01 -4.60509075e-02 9.50925351e-01 8.37022754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.30538475 meters Centerline goodness : 0.936678 Centerline is valid? [False, False] Translation: X:41.85, Y:3.60, Z:8.37 [[ 9.51348617e-01 -1.90652410e-02 -3.07526139e-01 4.18496321e+01] [ 3.22997715e-02 9.98755485e-01 3.80027175e-02 3.60359732e+00] [ 3.06418887e-01 -4.60868567e-02 9.50780452e-01 8.37070592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.33538475 meters Centerline goodness : 0.936370 Centerline is valid? [False, False] Translation: X:41.85, Y:3.61, Z:8.37 [[ 9.51213137e-01 -1.95755209e-02 -3.07912920e-01 4.18507025e+01] [ 3.27377552e-02 9.98755010e-01 3.76386719e-02 3.60549603e+00] [ 3.06792775e-01 -4.58827769e-02 9.50669745e-01 8.37095547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.36538475 meters Centerline goodness : 0.937373 Centerline is valid? [False, False] Translation: X:41.85, Y:3.61, Z:8.37 [[ 9.51109616e-01 -1.99073155e-02 -3.08211286e-01 4.18511842e+01] [ 3.30567189e-02 9.98749694e-01 3.75006968e-02 3.60605903e+00] [ 3.07079389e-01 -4.58557272e-02 9.50578509e-01 8.37143219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.39538475 meters Centerline goodness : 0.939459 Centerline is valid? [False, False] Translation: X:41.85, Y:3.61, Z:8.37 [[ 9.51047055e-01 -1.95322902e-02 -3.08428256e-01 4.18497612e+01] [ 3.29283706e-02 9.98724067e-01 3.82878720e-02 3.60581600e+00] [ 3.07286872e-01 -4.65696078e-02 9.50476749e-01 8.37349976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.42538475 meters Centerline goodness : 0.939683 Centerline is valid? [False, False] Translation: X:41.85, Y:3.61, Z:8.37 [[ 9.50997044e-01 -1.94494634e-02 -3.08587656e-01 4.18493278e+01] [ 3.29353136e-02 9.98713643e-01 3.85528754e-02 3.60600793e+00] [ 3.07440870e-01 -4.68271017e-02 9.50414296e-01 8.37439601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.45538475 meters Centerline goodness : 0.942052 Centerline is valid? [False, False] Translation: X:41.85, Y:3.61, Z:8.38 [[ 9.50928759e-01 -1.91585300e-02 -3.08816200e-01 4.18483636e+01] [ 3.29087836e-02 9.98682317e-01 3.93781923e-02 3.60507591e+00] [ 3.07654850e-01 -4.76086210e-02 9.50306220e-01 8.37636220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.48538475 meters Centerline goodness : 0.944860 Centerline is valid? [False, False] Translation: X:41.85, Y:3.60, Z:8.38 [[ 9.50868491e-01 -1.89726081e-02 -3.09013193e-01 4.18478941e+01] [ 3.28478238e-02 9.98669165e-01 3.97607680e-02 3.60430980e+00] [ 3.07847582e-01 -4.79576723e-02 9.50226251e-01 8.37735532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.51538475 meters Centerline goodness : 0.943739 Centerline is valid? [False, False] Translation: X:41.85, Y:3.60, Z:8.38 [[ 9.50797676e-01 -1.93121369e-02 -3.09209995e-01 4.18486498e+01] [ 3.32147617e-02 9.98657043e-01 3.97604116e-02 3.60429459e+00] [ 3.08026881e-01 -4.80744433e-02 9.50162243e-01 8.37771855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.54538475 meters Centerline goodness : 0.944571 Centerline is valid? [False, False] Translation: X:41.85, Y:3.60, Z:8.38 [[ 9.50710335e-01 -1.98358364e-02 -3.09445308e-01 4.18500324e+01] [ 3.36359755e-02 9.98660201e-01 3.93245875e-02 3.60465355e+00] [ 3.08250678e-01 -4.77947865e-02 9.50103772e-01 8.37724862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.57538475 meters Centerline goodness : 0.942320 Centerline is valid? [False, False] Translation: X:41.85, Y:3.60, Z:8.38 [[ 9.50494729e-01 -2.08955065e-02 -3.10037333e-01 4.18528122e+01] [ 3.45286808e-02 9.98659950e-01 3.85496275e-02 3.60445296e+00] [ 3.08816354e-01 -4.73463979e-02 9.49942513e-01 8.37665033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.60538475 meters Centerline goodness : 0.940285 Centerline is valid? [False, False] Translation: X:41.85, Y:3.60, Z:8.38 [[ 9.50362814e-01 -2.12318503e-02 -3.10418636e-01 4.18537381e+01] [ 3.48422566e-02 9.98656137e-01 3.83658262e-02 3.60450834e+00] [ 3.09186898e-01 -4.72771404e-02 9.49825423e-01 8.37692985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.63538475000001 meters Centerline goodness : 0.943538 Centerline is valid? [False, False] Translation: X:41.86, Y:3.61, Z:8.38 [[ 9.50305036e-01 -2.18032743e-02 -3.10555881e-01 4.18552211e+01] [ 3.51553156e-02 9.98679510e-01 3.74611811e-02 3.60576292e+00] [ 3.09329018e-01 -4.65172391e-02 9.49816669e-01 8.37570284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.66538475000002 meters Centerline goodness : 0.940589 Centerline is valid? [False, False] Translation: X:41.86, Y:3.61, Z:8.37 [[ 9.50304113e-01 -2.21655254e-02 -3.10533062e-01 4.18561518e+01] [ 3.53192651e-02 9.98698337e-01 3.67992039e-02 3.60741155e+00] [ 3.09313179e-01 -4.59382344e-02 9.49850007e-01 8.37466145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.69538475000002 meters Centerline goodness : 0.940669 Centerline is valid? [False, False] Translation: X:41.86, Y:3.61, Z:8.37 [[ 9.50157314e-01 -2.33470460e-02 -3.10895471e-01 4.18593062e+01] [ 3.60879215e-02 9.98725279e-01 3.52913393e-02 3.61039453e+00] [ 3.09675218e-01 -4.47518955e-02 9.49788675e-01 8.37263891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.72538475 meters Centerline goodness : 0.932747 Centerline is valid? [False, False] Translation: X:41.86, Y:3.61, Z:8.37 [[ 9.49912694e-01 -2.49524604e-02 -3.11517655e-01 4.18628902e+01] [ 3.73742798e-02 9.98723849e-01 3.39681727e-02 3.61237001e+00] [ 3.10272522e-01 -4.39095464e-02 9.49633042e-01 8.37158201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.75538475 meters Centerline goodness : 0.932110 Centerline is valid? [False, False] Translation: X:41.86, Y:3.61, Z:8.37 [[ 9.49804411e-01 -2.52276088e-02 -3.11825509e-01 4.18635298e+01] [ 3.76576407e-02 9.98715379e-01 3.39041935e-02 3.61248022e+00] [ 3.10569610e-01 -4.39449656e-02 9.49534284e-01 8.37199839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.78538475 meters Centerline goodness : 0.936778 Centerline is valid? [False, False] Translation: X:41.86, Y:3.61, Z:8.37 [[ 9.49660662e-01 -2.51296729e-02 -3.12270919e-01 4.18631347e+01] [ 3.78260674e-02 9.98682842e-01 3.46665491e-02 3.61176271e+00] [ 3.10988449e-01 -4.47334387e-02 9.49360366e-01 8.37417219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.81538475 meters Centerline goodness : 0.936813 Centerline is valid? [False, False] Translation: X:41.86, Y:3.61, Z:8.38 [[ 9.49649948e-01 -2.49216104e-02 -3.12320171e-01 4.18624906e+01] [ 3.77366874e-02 9.98672694e-01 3.50541285e-02 3.61145883e+00] [ 3.11032021e-01 -4.50750800e-02 9.49329931e-01 8.37502093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.84538475 meters Centerline goodness : 0.937369 Centerline is valid? [False, False] Translation: X:41.86, Y:3.61, Z:8.38 [[ 9.49657046e-01 -2.47559860e-02 -3.12311761e-01 4.18618354e+01] [ 3.76408810e-02 9.98667840e-01 3.52946068e-02 3.61125029e+00] [ 3.11021959e-01 -4.52734618e-02 9.49323788e-01 8.37559867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.87538475 meters Centerline goodness : 0.936108 Centerline is valid? [False, False] Translation: X:41.86, Y:3.61, Z:8.38 [[ 9.49766518e-01 -2.46093795e-02 -3.11990287e-01 4.18608364e+01] [ 3.74909475e-02 9.98671281e-01 3.53567615e-02 3.61206287e+00] [ 3.10705631e-01 -4.52774797e-02 9.49427175e-01 8.37566942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.90538475 meters Centerline goodness : 0.933171 Centerline is valid? [False, False] Translation: X:41.86, Y:3.61, Z:8.38 [[ 9.49786869e-01 -2.48186522e-02 -3.11911748e-01 4.18611355e+01] [ 3.75936540e-02 9.98679632e-01 3.50101482e-02 3.61316437e+00] [ 3.10631004e-01 -4.49780814e-02 9.49465824e-01 8.37517452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.93538475 meters Centerline goodness : 0.933171 Centerline is valid? [False, False] Translation: X:41.86, Y:3.61, Z:8.38 [[ 9.49786869e-01 -2.48186522e-02 -3.11911748e-01 4.18611355e+01] [ 3.75936540e-02 9.98679632e-01 3.50101482e-02 3.61316437e+00] [ 3.10631004e-01 -4.49780814e-02 9.49465824e-01 8.37517452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.96538475 meters Centerline goodness : 0.936476 Centerline is valid? [False, False] Translation: X:41.86, Y:3.61, Z:8.38 [[ 9.49709004e-01 -2.52530635e-02 -3.12113905e-01 4.18621791e+01] [ 3.79862046e-02 9.98672711e-01 3.47831193e-02 3.61335930e+00] [ 3.10821259e-01 -4.48898643e-02 9.49407734e-01 8.37506094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.99538475 meters Centerline goodness : 0.934823 Centerline is valid? [False, False] Translation: X:41.86, Y:3.61, Z:8.38 [[ 9.49668291e-01 -2.51869274e-02 -3.12243105e-01 4.18622562e+01] [ 3.79775017e-02 9.98667241e-01 3.49492740e-02 3.61264301e+00] [ 3.10946695e-01 -4.50484304e-02 9.49359148e-01 8.37539046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.02538475 meters Centerline goodness : 0.938729 Centerline is valid? [False, False] Translation: X:41.86, Y:3.61, Z:8.37 [[ 9.49721533e-01 -2.95985809e-02 -3.11693655e-01 4.18613407e+01] [ 4.13452319e-02 9.98659396e-01 3.11445420e-02 3.61222726e+00] [ 3.10353963e-01 -4.24656886e-02 9.49672092e-01 8.37474522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.05538475 meters Centerline goodness : 0.940166 Centerline is valid? [False, False] Translation: X:41.86, Y:3.61, Z:8.38 [[ 9.49546890e-01 -2.95152770e-02 -3.12233168e-01 4.18616626e+01] [ 4.16153318e-02 9.98616006e-01 3.21595585e-02 3.60959360e+00] [ 3.10851841e-01 -4.35306956e-02 9.49461011e-01 8.37677398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.08538475 meters Centerline goodness : 0.940193 Centerline is valid? [False, False] Translation: X:41.86, Y:3.61, Z:8.38 [[ 9.49509623e-01 -2.93334633e-02 -3.12363609e-01 4.18613464e+01] [ 4.15082173e-02 9.98612785e-01 3.23971165e-02 3.60919768e+00] [ 3.10979974e-01 -4.37270304e-02 9.49410029e-01 8.37740356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.11538475 meters Centerline goodness : 0.936552 Centerline is valid? [False, False] Translation: X:41.86, Y:3.61, Z:8.38 [[ 9.49376284e-01 -2.52412011e-02 -3.13125460e-01 4.18640189e+01] [ 3.83698034e-02 9.98620838e-01 3.58354508e-02 3.60954547e+00] [ 3.11789079e-01 -4.60358894e-02 9.49035440e-01 8.37720820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.14538475 meters Centerline goodness : 0.937545 Centerline is valid? [False, False] Translation: X:41.86, Y:3.61, Z:8.38 [[ 9.49404315e-01 -2.53427899e-02 -3.13032250e-01 4.18649862e+01] [ 3.81962869e-02 9.98657251e-01 3.49962623e-02 3.61190125e+00] [ 3.11725023e-01 -4.51822721e-02 9.49097504e-01 8.37548073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.17538475 meters Centerline goodness : 0.932826 Centerline is valid? [False, False] Translation: X:41.87, Y:3.61, Z:8.37 [[ 9.49300456e-01 -2.11536302e-02 -3.13657724e-01 4.18677008e+01] [ 3.47839171e-02 9.98675092e-01 3.79228179e-02 3.61386955e+00] [ 3.12439951e-01 -4.69103926e-02 9.48778526e-01 8.37429005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.20538475 meters Centerline goodness : 0.930056 Centerline is valid? [False, False] Translation: X:41.87, Y:3.62, Z:8.37 [[ 9.49337628e-01 -2.08801985e-02 -3.13563527e-01 4.18676857e+01] [ 3.43004115e-02 9.98713672e-01 3.73427728e-02 3.61576813e+00] [ 3.12380457e-01 -4.62062573e-02 9.48832668e-01 8.37318107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.23538475 meters Centerline goodness : 0.927724 Centerline is valid? [False, False] Translation: X:41.87, Y:3.62, Z:8.37 [[ 9.49471154e-01 -1.92301272e-02 -3.13264631e-01 4.18660202e+01] [ 3.25074150e-02 9.98778401e-01 3.72152358e-02 3.61786057e+00] [ 3.12166294e-01 -4.55182163e-02 9.48936403e-01 8.37191387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.26538475 meters Centerline goodness : 0.924326 Centerline is valid? [False, False] Translation: X:41.87, Y:3.62, Z:8.37 [[ 9.49481276e-01 -1.88951678e-02 -3.13254335e-01 4.18660052e+01] [ 3.20998206e-02 9.98797768e-01 3.70488957e-02 3.61879880e+00] [ 3.12177686e-01 -4.52326407e-02 9.48946311e-01 8.37143305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.29538475 meters Centerline goodness : 0.925382 Centerline is valid? [False, False] Translation: X:41.87, Y:3.62, Z:8.37 [[ 9.49336268e-01 -1.88919129e-02 -3.13693714e-01 4.18674048e+01] [ 3.18832570e-02 9.98830924e-01 3.63351411e-02 3.62043775e+00] [ 3.12640542e-01 -4.44958446e-02 9.48828758e-01 8.37045146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.32538475 meters Centerline goodness : 0.925067 Centerline is valid? [False, False] Translation: X:41.87, Y:3.62, Z:8.37 [[ 9.49303034e-01 -1.90746101e-02 -3.13783220e-01 4.18683199e+01] [ 3.19507598e-02 9.98842944e-01 3.59433291e-02 3.62095417e+00] [ 3.12734550e-01 -4.41467237e-02 9.48814085e-01 8.36975832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.35538475 meters Centerline goodness : 0.919285 Centerline is valid? [False, False] Translation: X:41.87, Y:3.62, Z:8.37 [[ 9.49337853e-01 -1.84495960e-02 -3.13715242e-01 4.18676625e+01] [ 3.13619472e-02 9.98853704e-01 3.61622098e-02 3.62162540e+00] [ 3.12688453e-01 -4.41688755e-02 9.48828247e-01 8.36977137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.38538475000001 meters Centerline goodness : 0.920878 Centerline is valid? [False, False] Translation: X:41.87, Y:3.62, Z:8.37 [[ 9.49289699e-01 -1.85543905e-02 -3.13854748e-01 4.18679490e+01] [ 3.14765875e-02 9.98850368e-01 3.61547517e-02 3.62229598e+00] [ 3.12823101e-01 -4.42004098e-02 9.48782394e-01 8.37002640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.41538475000002 meters Centerline goodness : 0.917338 Centerline is valid? [False, False] Translation: X:41.87, Y:3.62, Z:8.37 [[ 9.49202453e-01 -1.92488688e-02 -3.14076717e-01 4.18685533e+01] [ 3.22194443e-02 9.98826552e-01 3.61583449e-02 3.62234900e+00] [ 3.13012157e-01 -4.44409670e-02 9.48708801e-01 8.37082392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.44538475000002 meters Centerline goodness : 0.920656 Centerline is valid? [False, False] Translation: X:41.87, Y:3.62, Z:8.38 [[ 9.48756484e-01 -2.24733206e-02 -3.15208002e-01 4.18731184e+01] [ 3.64414688e-02 9.98594282e-01 3.84899819e-02 3.61973532e+00] [ 3.13899911e-01 -4.80042625e-02 9.48241761e-01 8.37734409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.47538475 meters Centerline goodness : 0.916976 Centerline is valid? [False, False] Translation: X:41.88, Y:3.62, Z:8.38 [[ 9.48331933e-01 -2.37392808e-02 -3.16390569e-01 4.18758399e+01] [ 3.84136990e-02 9.98452022e-01 4.02237165e-02 3.61738754e+00] [ 3.14945921e-01 -5.02991669e-02 9.47775849e-01 8.38163105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.50538475 meters Centerline goodness : 0.923236 Centerline is valid? [False, False] Translation: X:41.88, Y:3.61, Z:8.39 [[ 9.48040681e-01 -2.76266596e-02 -3.16947368e-01 4.18808344e+01] [ 4.38686998e-02 9.98058055e-01 4.42228059e-02 3.61311552e+00] [ 3.15110145e-01 -5.58290880e-02 9.47411584e-01 8.39115287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.53538475 meters Centerline goodness : 0.922580 Centerline is valid? [False, False] Translation: X:41.88, Y:3.61, Z:8.39 [[ 9.47810466e-01 -2.80507932e-02 -3.17597975e-01 4.18820756e+01] [ 4.46872646e-02 9.97977164e-01 4.52175615e-02 3.61087623e+00] [ 3.15687138e-01 -5.70502627e-02 9.47146714e-01 8.39338434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.56538475 meters Centerline goodness : 0.924301 Centerline is valid? [False, False] Translation: X:41.88, Y:3.61, Z:8.39 [[ 9.47577147e-01 -2.88522948e-02 -3.18221771e-01 4.18839105e+01] [ 4.57376694e-02 9.97906831e-01 4.57167596e-02 3.60989833e+00] [ 3.16236646e-01 -5.78748788e-02 9.46913345e-01 8.39498847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.59538475 meters Centerline goodness : 0.922994 Centerline is valid? [False, False] Translation: X:41.89, Y:3.61, Z:8.40 [[ 9.47513994e-01 -2.94266370e-02 -3.18357195e-01 4.18851562e+01] [ 4.64231001e-02 9.97865305e-01 4.59317936e-02 3.61013789e+00] [ 3.16325981e-01 -5.83001451e-02 9.46857416e-01 8.39539181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.62538475 meters Centerline goodness : 0.920914 Centerline is valid? [False, False] Translation: X:41.89, Y:3.61, Z:8.40 [[ 9.47498380e-01 -2.95428464e-02 -3.18392902e-01 4.18856847e+01] [ 4.66424164e-02 9.97842002e-01 4.62149780e-02 3.60894190e+00] [ 3.16340489e-01 -5.86392311e-02 9.46831630e-01 8.39554112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.65538475 meters Centerline goodness : 0.920387 Centerline is valid? [False, False] Translation: X:41.89, Y:3.61, Z:8.40 [[ 9.47459227e-01 -2.95118910e-02 -3.18512262e-01 4.18862412e+01] [ 4.67498427e-02 9.97818571e-01 4.66106293e-02 3.60750404e+00] [ 3.16441882e-01 -5.90520690e-02 9.46772089e-01 8.39582485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.68538475 meters Centerline goodness : 0.921117 Centerline is valid? [False, False] Translation: X:41.89, Y:3.61, Z:8.40 [[ 9.47501524e-01 -2.85890779e-02 -3.18470605e-01 4.18860005e+01] [ 4.58185648e-02 9.97855707e-01 4.67402179e-02 3.60664340e+00] [ 3.16451451e-01 -5.88782938e-02 9.46779713e-01 8.39501768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.71538475 meters Centerline goodness : 0.920842 Centerline is valid? [False, False] Translation: X:41.89, Y:3.61, Z:8.40 [[ 9.47420730e-01 -2.83076840e-02 -3.18735997e-01 4.18862736e+01] [ 4.56179812e-02 9.97853892e-01 4.69745762e-02 3.60614947e+00] [ 3.16722214e-01 -5.90447800e-02 9.46678802e-01 8.39534888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.74538475 meters Centerline goodness : 0.917351 Centerline is valid? [False, False] Translation: X:41.88, Y:3.60, Z:8.40 [[ 9.47542075e-01 -2.17803267e-02 -3.18888122e-01 4.18846545e+01] [ 4.05982997e-02 9.97796217e-01 5.24832014e-02 3.60328277e+00] [ 3.17042260e-01 -6.26763571e-02 9.46338142e-01 8.39691290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.77538475 meters Centerline goodness : 0.919995 Centerline is valid? [False, False] Translation: X:41.90, Y:3.60, Z:8.40 [[ 9.47235297e-01 -1.81579942e-02 -3.20024342e-01 4.18970688e+01] [ 3.61144287e-02 9.98082805e-01 5.02639258e-02 3.60139388e+00] [ 3.18498101e-01 -5.91692609e-02 9.46075028e-01 8.39783793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.80538475 meters Centerline goodness : 0.914966 Centerline is valid? [False, False] Translation: X:41.90, Y:3.60, Z:8.40 [[ 9.47176680e-01 -1.26353583e-02 -3.20463233e-01 4.18976806e+01] [ 3.16128156e-02 9.98035771e-01 5.40853999e-02 3.60176792e+00] [ 3.19150382e-01 -6.13591747e-02 9.45715647e-01 8.39751419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.83538475 meters Centerline goodness : 0.915384 Centerline is valid? [False, False] Translation: X:41.90, Y:3.60, Z:8.40 [[ 9.47181904e-01 -1.26800460e-02 -3.20446030e-01 4.18988169e+01] [ 3.12880918e-02 9.98104917e-01 5.29870759e-02 3.60377593e+00] [ 3.19166879e-01 -6.02145442e-02 9.45783650e-01 8.39539363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.86538475 meters Centerline goodness : 0.912485 Centerline is valid? [False, False] Translation: X:41.90, Y:3.61, Z:8.39 [[ 9.47387490e-01 -1.09551873e-02 -3.19901435e-01 4.18968720e+01] [ 2.91956261e-02 9.98205665e-01 5.22787305e-02 3.60525102e+00] [ 3.18754702e-01 -5.88679379e-02 9.46007403e-01 8.39273820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.89538475 meters Centerline goodness : 0.911153 Centerline is valid? [False, False] Translation: X:41.90, Y:3.61, Z:8.39 [[ 9.47396858e-01 -1.08261329e-02 -3.19878083e-01 4.18971306e+01] [ 2.88782382e-02 9.98242715e-01 5.17448513e-02 3.60632648e+00] [ 3.18755770e-01 -5.82604250e-02 9.46044651e-01 8.39173302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.92538475 meters Centerline goodness : 0.911955 Centerline is valid? [False, False] Translation: X:41.91, Y:3.61, Z:8.39 [[ 9.49113013e-01 -9.16649073e-03 -3.14802263e-01 4.19103751e+01] [ 2.41631694e-02 9.98749430e-01 4.37689075e-02 3.60904614e+00] [ 3.14007374e-01 -4.91482601e-02 9.48147572e-01 8.38922573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.95538475 meters Centerline goodness : 0.913945 Centerline is valid? [False, False] Translation: X:41.91, Y:3.61, Z:8.39 [[ 9.49166093e-01 -8.36994482e-03 -3.14664380e-01 4.19088718e+01] [ 2.33501403e-02 9.98764441e-01 4.38675589e-02 3.60914232e+00] [ 3.13908424e-01 -4.89850569e-02 9.48188782e-01 8.38929389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.98538475 meters Centerline goodness : 0.917710 Centerline is valid? [False, False] Translation: X:41.92, Y:3.61, Z:8.39 [[ 9.50849423e-01 -7.77694496e-03 -3.09555963e-01 4.19199925e+01] [ 1.93571841e-02 9.99222206e-01 3.43552460e-02 3.61100904e+00] [ 3.09048013e-01 -3.86587976e-02 9.50260397e-01 8.38701586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.01538475 meters Centerline goodness : 0.919930 Centerline is valid? [False, False] Translation: X:41.92, Y:3.61, Z:8.39 [[ 9.50932534e-01 -7.19404344e-03 -3.09314664e-01 4.19190150e+01] [ 1.87154815e-02 9.99236427e-01 3.42971453e-02 3.61149998e+00] [ 3.08831744e-01 -3.84032441e-02 9.50341067e-01 8.38658674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.04538475 meters Centerline goodness : 0.921171 Centerline is valid? [False, False] Translation: X:41.92, Y:3.61, Z:8.39 [[ 9.51091018e-01 -6.25549601e-03 -3.08847446e-01 4.19174665e+01] [ 1.75679021e-02 9.99272153e-01 3.38605063e-02 3.61275871e+00] [ 3.08410838e-01 -3.76302251e-02 9.50508665e-01 8.38520918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.07538475 meters Centerline goodness : 0.920192 Centerline is valid? [False, False] Translation: X:41.92, Y:3.61, Z:8.39 [[ 9.50964392e-01 -6.81753991e-03 -3.09225234e-01 4.19185036e+01] [ 1.80608892e-02 9.99275122e-01 3.35117039e-02 3.61252885e+00] [ 3.08772616e-01 -3.74533199e-02 9.50398190e-01 8.38540987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.10538475 meters Centerline goodness : 0.919944 Centerline is valid? [False, False] Translation: X:41.92, Y:3.61, Z:8.38 [[ 9.50965390e-01 -1.15420938e-02 -3.09081878e-01 4.19183938e+01] [ 2.15441349e-02 9.99348171e-01 2.89669403e-02 3.61422130e+00] [ 3.08546070e-01 -3.42054593e-02 9.50594187e-01 8.38427506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.13538475000001 meters Centerline goodness : 0.921141 Centerline is valid? [False, False] Translation: X:41.92, Y:3.61, Z:8.38 [[ 9.50811579e-01 -1.21232878e-02 -3.09532498e-01 4.19196682e+01] [ 2.21635745e-02 9.99335379e-01 2.89409121e-02 3.61371646e+00] [ 3.08975917e-01 -3.43777009e-02 9.50448345e-01 8.38494348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.16538475000002 meters Centerline goodness : 0.917295 Centerline is valid? [False, False] Translation: X:41.92, Y:3.61, Z:8.39 [[ 9.50598166e-01 -1.31308624e-02 -3.10146267e-01 4.19218502e+01] [ 2.31234950e-02 9.99324460e-01 2.85644579e-02 3.61391660e+00] [ 3.09561674e-01 -3.43249869e-02 9.50259630e-01 8.38532918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.19538475000002 meters Centerline goodness : 0.919447 Centerline is valid? [False, False] Translation: X:41.93, Y:3.62, Z:8.38 [[ 9.50396771e-01 -1.44611172e-02 -3.10703805e-01 4.19252240e+01] [ 2.41794517e-02 9.99330718e-01 2.74494035e-02 3.61587740e+00] [ 3.10098908e-01 -3.36004720e-02 9.50110349e-01 8.38421561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.22538475 meters Centerline goodness : 0.918484 Centerline is valid? [False, False] Translation: X:41.93, Y:3.62, Z:8.38 [[ 9.50273532e-01 -1.50182888e-02 -3.11054121e-01 4.19264536e+01] [ 2.47169297e-02 9.99322719e-01 2.72612588e-02 3.61636111e+00] [ 3.10434032e-01 -3.35939555e-02 9.50001136e-01 8.38450146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.25538475 meters Centerline goodness : 0.919570 Centerline is valid? [False, False] Translation: X:41.93, Y:3.62, Z:8.39 [[ 9.50002628e-01 -1.59578916e-02 -3.11833853e-01 4.19285737e+01] [ 2.57788497e-02 9.99292171e-01 2.73972139e-02 3.61699636e+00] [ 3.11175926e-01 -3.40661433e-02 9.49741565e-01 8.38595314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.28538475 meters Centerline goodness : 0.921137 Centerline is valid? [False, False] Translation: X:41.93, Y:3.62, Z:8.39 [[ 9.49737586e-01 -1.65814192e-02 -3.12607702e-01 4.19304926e+01] [ 2.66397609e-02 9.99254789e-01 2.79318762e-02 3.61618286e+00] [ 3.11911593e-01 -3.48557470e-02 9.49471556e-01 8.38766002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.31538475 meters Centerline goodness : 0.919226 Centerline is valid? [False, False] Translation: X:41.93, Y:3.62, Z:8.39 [[ 9.49313049e-01 -1.81850463e-02 -3.13805736e-01 4.19346458e+01] [ 2.83173002e-02 9.99213448e-01 2.77599763e-02 3.61626019e+00] [ 3.13054095e-01 -3.52390390e-02 9.49081316e-01 8.38882003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.34538475 meters Centerline goodness : 0.919029 Centerline is valid? [False, False] Translation: X:41.94, Y:3.62, Z:8.39 [[ 9.49016140e-01 -1.93204142e-02 -3.14634847e-01 4.19375055e+01] [ 2.94515362e-02 9.99188479e-01 2.74770833e-02 3.61669772e+00] [ 3.13848646e-01 -3.53426751e-02 9.48815010e-01 8.38951524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.37538475 meters Centerline goodness : 0.919273 Centerline is valid? [False, False] Translation: X:41.94, Y:3.62, Z:8.39 [[ 9.48821452e-01 -2.00797980e-02 -3.15174005e-01 4.19393013e+01] [ 3.01987914e-02 9.99172255e-01 2.72550526e-02 3.61663755e+00] [ 3.14365845e-01 -3.53780527e-02 9.48642456e-01 8.38994645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.40538475 meters Centerline goodness : 0.916287 Centerline is valid? [False, False] Translation: X:41.94, Y:3.62, Z:8.39 [[ 9.48280720e-01 -2.22585801e-02 -3.16651592e-01 4.19445826e+01] [ 3.24266698e-02 9.99112666e-01 2.68773526e-02 3.61735105e+00] [ 3.15772365e-01 -3.57552320e-02 9.48161050e-01 8.39137753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.43538475 meters Centerline goodness : 0.916625 Centerline is valid? [False, False] Translation: X:41.95, Y:3.62, Z:8.39 [[ 9.47881961e-01 -2.46419180e-02 -3.17667378e-01 4.19490187e+01] [ 3.47375349e-02 9.99054172e-01 2.61546269e-02 3.61763169e+00] [ 3.16722419e-01 -3.58264806e-02 9.47841428e-01 8.39220301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.46538475 meters Centerline goodness : 0.911441 Centerline is valid? [False, False] Translation: X:41.95, Y:3.62, Z:8.39 [[ 9.47546324e-01 -2.57095357e-02 -3.18582775e-01 4.19517114e+01] [ 3.59472414e-02 9.99007649e-01 2.62966308e-02 3.61758365e+00] [ 3.17590555e-01 -3.63694478e-02 9.47530212e-01 8.39372223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.49538475 meters Centerline goodness : 0.916747 Centerline is valid? [False, False] Translation: X:41.96, Y:3.62, Z:8.40 [[ 9.47052895e-01 -2.78883231e-02 -3.19864120e-01 4.19560534e+01] [ 3.83627063e-02 9.98912674e-01 2.64909758e-02 3.61786167e+00] [ 3.18777534e-01 -3.73592086e-02 9.47093012e-01 8.39621509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.52538475 meters Centerline goodness : 0.916217 Centerline is valid? [False, False] Translation: X:41.96, Y:3.61, Z:8.40 [[ 9.49643304e-01 -2.40042969e-02 -3.12412209e-01 4.19601943e+01] [ 3.55801092e-02 9.98873271e-01 3.14045407e-02 3.61483733e+00] [ 3.11306361e-01 -4.09387723e-02 9.49427389e-01 8.39962837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.55538475 meters Centerline goodness : 0.918431 Centerline is valid? [False, False] Translation: X:41.96, Y:3.61, Z:8.41 [[ 9.52058216e-01 -2.19286342e-02 -3.05129952e-01 4.19585435e+01] [ 3.56986655e-02 9.98576849e-01 3.96217459e-02 3.61176504e+00] [ 3.03826855e-01 -4.86149408e-02 9.51486116e-01 8.41061278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.58538475 meters Centerline goodness : 0.919439 Centerline is valid? [False, False] Translation: X:41.97, Y:3.62, Z:8.40 [[ 9.55875134e-01 -3.23889655e-02 -2.91982332e-01 4.19686740e+01] [ 4.24291341e-02 9.98703732e-01 2.81180491e-02 3.61708708e+00] [ 2.90693130e-01 -3.92659015e-02 9.56010300e-01 8.39993104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.61538475 meters Centerline goodness : 0.920039 Centerline is valid? [False, False] Translation: X:41.97, Y:3.62, Z:8.40 [[ 9.55583261e-01 -3.41122383e-02 -2.92740477e-01 4.19715634e+01] [ 4.42376860e-02 9.98627554e-01 2.80363388e-02 3.61613940e+00] [ 2.91382324e-01 -3.97412173e-02 9.55780821e-01 8.40132516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.64538475 meters Centerline goodness : 0.923659 Centerline is valid? [False, False] Translation: X:41.97, Y:3.61, Z:8.40 [[ 9.58264425e-01 -2.83912271e-02 -2.84470086e-01 4.19741909e+01] [ 3.93918889e-02 9.98677995e-01 3.30233389e-02 3.61397736e+00] [ 2.83156442e-01 -4.28509049e-02 9.58115979e-01 8.40383522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.67538475 meters Centerline goodness : 0.922765 Centerline is valid? [False, False] Translation: X:41.98, Y:3.61, Z:8.41 [[ 9.60654854e-01 -2.14036726e-02 -2.76919003e-01 4.19779692e+01] [ 3.32370432e-02 9.98720693e-01 3.81087469e-02 3.61057697e+00] [ 2.75749071e-01 -4.58133215e-02 9.60137276e-01 8.40680286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.70538475 meters Centerline goodness : 0.925112 Centerline is valid? [False, False] Translation: X:41.97, Y:3.61, Z:8.42 [[ 9.63246444e-01 -1.13926898e-02 -2.68377521e-01 4.19735967e+01] [ 2.60135371e-02 9.98360530e-01 5.09857726e-02 3.60585155e+00] [ 2.67356659e-01 -5.60933128e-02 9.61963595e-01 8.41851063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.73538475 meters Centerline goodness : 0.925794 Centerline is valid? [False, False] Translation: X:41.99, Y:3.61, Z:8.41 [[ 9.64702297e-01 -1.50769330e-02 -2.62910945e-01 4.19873244e+01] [ 2.59302301e-02 9.98946553e-01 3.78603570e-02 3.60920218e+00] [ 2.62063164e-01 -4.33413146e-02 9.64076983e-01 8.41361945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.76538475 meters Centerline goodness : 0.925819 Centerline is valid? [False, False] Translation: X:41.99, Y:3.61, Z:8.41 [[ 9.63980234e-01 -1.73700194e-02 -2.65406088e-01 4.19936724e+01] [ 2.66575477e-02 9.99150360e-01 3.14314113e-02 3.60945479e+00] [ 2.64634624e-01 -3.73743347e-02 9.63624239e-01 8.41199331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.79538475 meters Centerline goodness : 0.931087 Centerline is valid? [False, False] Translation: X:41.99, Y:3.61, Z:8.41 [[ 9.63944501e-01 -1.72426128e-02 -2.65544142e-01 4.19936575e+01] [ 2.64591724e-02 9.99163826e-01 3.11698788e-02 3.61123865e+00] [ 2.64784651e-01 -3.70721115e-02 9.63594701e-01 8.41185922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.82538475 meters Centerline goodness : 0.925539 Centerline is valid? [False, False] Translation: X:42.00, Y:3.61, Z:8.41 [[ 9.63836797e-01 -1.82016799e-02 -2.65870885e-01 4.19958036e+01] [ 2.71646978e-02 9.99178501e-01 3.00732743e-02 3.61402868e+00] [ 2.65105088e-01 -3.62080307e-02 9.63539450e-01 8.41065446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.85538475 meters Centerline goodness : 0.924030 Centerline is valid? [False, False] Translation: X:42.00, Y:3.61, Z:8.41 [[ 9.63651882e-01 -1.55624863e-02 -2.66707443e-01 4.19988618e+01] [ 2.55157100e-02 9.99099667e-01 3.38940187e-02 3.61274441e+00] [ 2.65939842e-01 -3.94672647e-02 9.63181362e-01 8.41241638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.88538475000001 meters Centerline goodness : 0.924030 Centerline is valid? [False, False] Translation: X:42.00, Y:3.61, Z:8.41 [[ 9.63655621e-01 -1.55661758e-02 -2.66693717e-01 4.19988475e+01] [ 2.55114377e-02 9.99100699e-01 3.38668020e-02 3.61279192e+00] [ 2.65926702e-01 -3.94396743e-02 9.63186120e-01 8.41238097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.91538475000002 meters Centerline goodness : 0.927018 Centerline is valid? [False, False] Translation: X:42.01, Y:3.61, Z:8.42 [[ 9.63249195e-01 -1.64567913e-02 -2.68104762e-01 4.20072487e+01] [ 2.78525629e-02 9.98860418e-01 3.87569444e-02 3.61158872e+00] [ 2.67161419e-01 -4.48000002e-02 9.62609857e-01 8.41823782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.94538475000002 meters Centerline goodness : 0.924791 Centerline is valid? [False, False] Translation: X:42.01, Y:3.61, Z:8.42 [[ 9.63065974e-01 -1.74541347e-02 -2.68699244e-01 4.20093725e+01] [ 2.89098144e-02 9.98831191e-01 3.87359649e-02 3.61120229e+00] [ 2.67709083e-01 -4.50733350e-02 9.62444929e-01 8.41894410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.97538475 meters Centerline goodness : 0.925346 Centerline is valid? [False, False] Translation: X:42.01, Y:3.61, Z:8.42 [[ 9.62909557e-01 -1.77817769e-02 -2.69237802e-01 4.20103890e+01] [ 2.94609071e-02 9.98789118e-01 3.93999046e-02 3.61028116e+00] [ 2.68211186e-01 -4.58705345e-02 9.62267454e-01 8.42048369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.00538475 meters Centerline goodness : 0.925687 Centerline is valid? [False, False] Translation: X:42.01, Y:3.61, Z:8.42 [[ 9.62793940e-01 -2.36977885e-02 -2.69195551e-01 4.20113936e+01] [ 3.43030645e-02 9.98806805e-01 3.47601221e-02 3.61091264e+00] [ 2.68050611e-01 -4.27010672e-02 9.62458045e-01 8.42014373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.03538475 meters Centerline goodness : 0.923355 Centerline is valid? [False, False] Translation: X:42.01, Y:3.61, Z:8.42 [[ 9.62684668e-01 -2.44658684e-02 -2.69517443e-01 4.20127532e+01] [ 3.51423408e-02 9.98774181e-01 3.48590240e-02 3.61051451e+00] [ 2.68334207e-01 -4.30297217e-02 9.62364378e-01 8.42074399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.06538475 meters Centerline goodness : 0.923367 Centerline is valid? [False, False] Translation: X:42.01, Y:3.61, Z:8.42 [[ 9.66144968e-01 -1.67658227e-02 -2.57454477e-01 4.20067500e+01] [ 2.94210173e-02 9.98536388e-01 4.53815524e-02 3.60702933e+00] [ 2.56316804e-01 -5.14197311e-02 9.65224175e-01 8.42451200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.09538475 meters Centerline goodness : 0.921450 Centerline is valid? [False, False] Translation: X:42.01, Y:3.61, Z:8.42 [[ 9.66137744e-01 -2.15131705e-02 -2.57128457e-01 4.20071401e+01] [ 3.29957666e-02 9.98637594e-01 4.04256875e-02 3.61040890e+00] [ 2.55908459e-01 -4.75409331e-02 9.65531315e-01 8.42238155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.12538475 meters Centerline goodness : 0.923362 Centerline is valid? [False, False] Translation: X:42.01, Y:3.61, Z:8.42 [[ 9.68727250e-01 -1.39314605e-02 -2.47736615e-01 4.20083624e+01] [ 2.61501253e-02 9.98594530e-01 4.60991960e-02 3.60728464e+00] [ 2.46746199e-01 -5.11358908e-02 9.67730042e-01 8.42461731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.15538475 meters Centerline goodness : 0.923117 Centerline is valid? [False, False] Translation: X:42.01, Y:3.61, Z:8.42 [[ 9.68780817e-01 -1.32872324e-02 -2.47562472e-01 4.20069689e+01] [ 2.53410464e-02 9.98639800e-01 4.55673287e-02 3.60952980e+00] [ 2.46620274e-01 -5.04182460e-02 9.67799794e-01 8.42413388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.18538475 meters Centerline goodness : 0.924083 Centerline is valid? [False, False] Translation: X:42.01, Y:3.61, Z:8.42 [[ 9.68859838e-01 -1.25574088e-02 -2.47291176e-01 4.20056320e+01] [ 2.45404052e-02 9.98665846e-01 4.54345274e-02 3.61122626e+00] [ 2.46390712e-01 -5.00883145e-02 9.67875394e-01 8.42375904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.21538475 meters Centerline goodness : 0.921976 Centerline is valid? [False, False] Translation: X:42.01, Y:3.62, Z:8.42 [[ 9.68964534e-01 -1.19504309e-02 -2.46910749e-01 4.20056151e+01] [ 2.33535388e-02 9.98788854e-01 4.33063110e-02 3.61532371e+00] [ 2.46094175e-01 -4.77285192e-02 9.68070062e-01 8.41951407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.24538475 meters Centerline goodness : 0.922150 Centerline is valid? [False, False] Translation: X:42.01, Y:3.61, Z:8.43 [[ 9.68702978e-01 -1.20961322e-02 -2.47927861e-01 4.20123165e+01] [ 2.50918567e-02 9.98467564e-01 4.93246729e-02 3.61262807e+00] [ 2.46951289e-01 -5.40019279e-02 9.67522017e-01 8.42656375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.27538475 meters Centerline goodness : 0.919876 Centerline is valid? [False, False] Translation: X:42.01, Y:3.61, Z:8.43 [[ 9.68698221e-01 -1.69554718e-02 -2.47661603e-01 4.20122588e+01] [ 2.88908928e-02 9.98585391e-01 4.46378039e-02 3.61355253e+00] [ 2.46554403e-01 -5.03957260e-02 9.67817750e-01 8.42532930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.30538475 meters Centerline goodness : 0.921634 Centerline is valid? [False, False] Translation: X:42.03, Y:3.61, Z:8.45 [[ 9.69612624e-01 -1.32456312e-02 -2.44286538e-01 4.20320509e+01] [ 3.19011256e-02 9.96853031e-01 7.25696418e-02 3.60714880e+00] [ 2.42556545e-01 -7.81574563e-02 9.66983834e-01 8.45390775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.33538475 meters Centerline goodness : 0.923916 Centerline is valid? [False, False] Translation: X:42.04, Y:3.61, Z:8.45 [[ 9.69447980e-01 -1.93064719e-02 -2.44536041e-01 4.20351064e+01] [ 3.66557126e-02 9.97106459e-01 6.65963132e-02 3.60926186e+00] [ 2.42542726e-01 -7.35253041e-02 9.67350534e-01 8.45085655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.36538475 meters Centerline goodness : 0.922303 Centerline is valid? [False, False] Translation: X:42.04, Y:3.61, Z:8.45 [[ 9.69307819e-01 -1.99607410e-02 -2.45038612e-01 4.20370530e+01] [ 3.74224437e-02 9.97063487e-01 6.68129037e-02 3.60965418e+00] [ 2.42985418e-01 -7.39322136e-02 9.67208413e-01 8.45165314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.39538475 meters Centerline goodness : 0.924528 Centerline is valid? [False, False] Translation: X:42.04, Y:3.61, Z:8.45 [[ 9.69123049e-01 -2.12997090e-02 -2.45655935e-01 4.20396757e+01] [ 3.87381388e-02 9.97042513e-01 6.63745735e-02 3.61060679e+00] [ 2.43515651e-01 -7.38413827e-02 9.67081991e-01 8.45197605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.42538475 meters Centerline goodness : 0.921315 Centerline is valid? [False, False] Translation: X:42.06, Y:3.61, Z:8.45 [[ 9.70162510e-01 -2.48053867e-02 -2.41183328e-01 4.20558468e+01] [ 3.89671157e-02 9.97773494e-01 5.41259529e-02 3.61410782e+00] [ 2.39303717e-01 -6.19091890e-02 9.68969031e-01 8.44754544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.45538475 meters Centerline goodness : 0.919744 Centerline is valid? [False, False] Translation: X:42.06, Y:3.62, Z:8.45 [[ 9.70101187e-01 -2.98295340e-02 -2.40860721e-01 4.20561231e+01] [ 4.27564469e-02 9.97901691e-01 4.86220313e-02 3.61759749e+00] [ 2.38904948e-01 -5.74666389e-02 9.69341019e-01 8.44516613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.48538475 meters Centerline goodness : 0.919514 Centerline is valid? [False, False] Translation: X:42.06, Y:3.62, Z:8.45 [[ 9.69881633e-01 -3.08551945e-02 -2.41614517e-01 4.20582511e+01] [ 4.37168126e-02 9.97887681e-01 4.80522252e-02 3.61868380e+00] [ 2.39621489e-01 -5.71675872e-02 9.69181824e-01 8.44561997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.51538475 meters Centerline goodness : 0.921794 Centerline is valid? [False, False] Translation: X:42.06, Y:3.62, Z:8.44 [[ 9.69883727e-01 -3.54610057e-02 -2.40973181e-01 4.20578625e+01] [ 4.70150578e-02 9.97995317e-01 4.23666312e-02 3.62231649e+00] [ 2.38987742e-01 -5.24200742e-02 9.69606619e-01 8.44249944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.54538475 meters Centerline goodness : 0.914953 Centerline is valid? [False, False] Translation: X:42.06, Y:3.63, Z:8.44 [[ 9.69774892e-01 -3.61120798e-02 -2.41314271e-01 4.20592270e+01] [ 4.73878046e-02 9.98031251e-01 4.10855057e-02 3.62565481e+00] [ 2.39355501e-01 -5.12790454e-02 9.69576920e-01 8.44136287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.57538475 meters Centerline goodness : 0.920622 Centerline is valid? [False, False] Translation: X:42.06, Y:3.63, Z:8.44 [[ 9.69728662e-01 -3.65077374e-02 -2.41440484e-01 4.20601458e+01] [ 4.75218765e-02 9.98070896e-01 3.99519392e-02 3.62820452e+00] [ 2.39516166e-01 -5.02162454e-02 9.69592871e-01 8.43999468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.60538475 meters Centerline goodness : 0.917268 Centerline is valid? [False, False] Translation: X:42.06, Y:3.63, Z:8.44 [[ 9.69789464e-01 -3.55394963e-02 -2.41340712e-01 4.20592180e+01] [ 4.61426422e-02 9.98195598e-01 3.84240166e-02 3.63223287e+00] [ 2.39539666e-01 -4.83993046e-02 9.69679460e-01 8.43746327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.63538475000001 meters Centerline goodness : 0.914770 Centerline is valid? [False, False] Translation: X:42.07, Y:3.64, Z:8.43 [[ 9.71000488e-01 -3.47093620e-02 -2.36544525e-01 4.20730807e+01] [ 4.29493194e-02 9.98633625e-01 2.97697615e-02 3.63533323e+00] [ 2.35188027e-01 -3.90658794e-02 9.71164481e-01 8.43477111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.66538475000002 meters Centerline goodness : 0.917147 Centerline is valid? [False, False] Translation: X:42.07, Y:3.64, Z:8.44 [[ 9.71161832e-01 -2.84824061e-02 -2.36713852e-01 4.20701464e+01] [ 3.76526945e-02 9.98701739e-01 3.43090664e-02 3.63657480e+00] [ 2.35429331e-01 -4.22325701e-02 9.70973450e-01 8.43656248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.69538475000002 meters Centerline goodness : 0.919064 Centerline is valid? [False, False] Translation: X:42.07, Y:3.64, Z:8.44 [[ 9.71262201e-01 -2.76879286e-02 -2.36396099e-01 4.20686963e+01] [ 3.66906028e-02 9.98755975e-01 3.37683724e-02 3.63921303e+00] [ 2.35167040e-01 -4.14714591e-02 9.71069813e-01 8.43565263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.72538475 meters Centerline goodness : 0.916457 Centerline is valid? [False, False] Translation: X:42.07, Y:3.64, Z:8.44 [[ 9.71458871e-01 -2.17486755e-02 -2.36208928e-01 4.20665821e+01] [ 3.15278482e-02 9.98791536e-01 3.77022783e-02 3.64126327e+00] [ 2.35103504e-01 -4.40733719e-02 9.70970587e-01 8.43568812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.75538475 meters Centerline goodness : 0.916868 Centerline is valid? [False, False] Translation: X:42.07, Y:3.64, Z:8.44 [[ 9.71545574e-01 -1.64525483e-02 -2.36280578e-01 4.20659015e+01] [ 2.69449828e-02 9.98785616e-01 4.12463447e-02 3.64449173e+00] [ 2.35315036e-01 -4.64392798e-02 9.70809058e-01 8.43540702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.78538475 meters Centerline goodness : 0.914005 Centerline is valid? [False, False] Translation: X:42.07, Y:3.65, Z:8.43 [[ 9.71633011e-01 -1.60045710e-02 -2.35951575e-01 4.20650864e+01] [ 2.63260508e-02 9.98826217e-01 4.06586601e-02 3.64677118e+00] [ 2.35023894e-01 -4.57169695e-02 9.70913862e-01 8.43437275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.81538475 meters Centerline goodness : 0.912266 Centerline is valid? [False, False] Translation: X:42.06, Y:3.65, Z:8.43 [[ 9.71652135e-01 -1.56465111e-02 -2.35896832e-01 4.20647896e+01] [ 2.58562414e-02 9.98855070e-01 4.02492699e-02 3.64855102e+00] [ 2.34996986e-01 -4.52076945e-02 9.70944221e-01 8.43376773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.84538475 meters Centerline goodness : 0.910984 Centerline is valid? [False, False] Translation: X:42.06, Y:3.65, Z:8.43 [[ 9.71728948e-01 -1.47189640e-02 -2.35639988e-01 4.20636030e+01] [ 2.47613866e-02 9.98904182e-01 3.97153367e-02 3.65077381e+00] [ 2.34797201e-01 -4.44273152e-02 9.71028572e-01 8.43271411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.87538475 meters Centerline goodness : 0.913250 Centerline is valid? [False, False] Translation: X:42.06, Y:3.65, Z:8.43 [[ 9.71871096e-01 -1.36259845e-02 -2.35118917e-01 4.20615378e+01] [ 2.36508360e-02 9.98924926e-01 3.98701575e-02 3.65106188e+00] [ 2.34322877e-01 -4.43094126e-02 9.71148529e-01 8.43248929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.90538475 meters Centerline goodness : 0.912273 Centerline is valid? [False, False] Translation: X:42.06, Y:3.65, Z:8.43 [[ 9.71836201e-01 -1.35009287e-02 -2.35270318e-01 4.20614248e+01] [ 2.35577762e-02 9.98922427e-01 3.99877016e-02 3.65071304e+00] [ 2.34476926e-01 -4.44039415e-02 9.71107029e-01 8.43302279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.93538475 meters Centerline goodness : 0.913551 Centerline is valid? [False, False] Translation: X:42.06, Y:3.65, Z:8.43 [[ 9.71990515e-01 -1.66933692e-02 -2.34426472e-01 4.20584058e+01] [ 2.58838629e-02 9.99009953e-01 3.61820365e-02 3.65088855e+00] [ 2.33590379e-01 -4.12364589e-02 9.71460287e-01 8.43256699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.96538475 meters Centerline goodness : 0.914518 Centerline is valid? [False, False] Translation: X:42.06, Y:3.65, Z:8.43 [[ 9.71950049e-01 -1.66617314e-02 -2.34596438e-01 4.20586728e+01] [ 2.58419203e-02 9.99013571e-01 3.61120568e-02 3.65075080e+00] [ 2.33763336e-01 -4.11615378e-02 9.71421860e-01 8.43263458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.99538475 meters Centerline goodness : 0.915744 Centerline is valid? [False, False] Translation: X:42.06, Y:3.65, Z:8.43 [[ 9.72000995e-01 -1.59199344e-02 -2.34436817e-01 4.20580342e+01] [ 2.50131554e-02 9.99043560e-01 3.58651175e-02 3.65147470e+00] [ 2.33641622e-01 -4.07249344e-02 9.71469543e-01 8.43176235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.02538475 meters Centerline goodness : 0.914174 Centerline is valid? [False, False] Translation: X:42.06, Y:3.65, Z:8.43 [[ 9.71912076e-01 -1.61842321e-02 -2.34787112e-01 4.20597821e+01] [ 2.51286647e-02 9.99065932e-01 3.51541345e-02 3.65280237e+00] [ 2.33998862e-01 -4.00666145e-02 9.71410932e-01 8.43053424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.05538475 meters Centerline goodness : 0.910646 Centerline is valid? [False, False] Translation: X:42.06, Y:3.65, Z:8.43 [[ 9.71892514e-01 -1.63532539e-02 -2.34856365e-01 4.20610730e+01] [ 2.50971116e-02 9.99096759e-01 3.42899453e-02 3.65449464e+00] [ 2.34083481e-01 -3.92203576e-02 9.71425081e-01 8.42886799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.08538475 meters Centerline goodness : 0.908711 Centerline is valid? [False, False] Translation: X:42.06, Y:3.66, Z:8.43 [[ 9.71811696e-01 -1.62474125e-02 -2.35197891e-01 4.20636502e+01] [ 2.46939434e-02 9.99149860e-01 3.30116190e-02 3.65679619e+00] [ 2.34461587e-01 -3.78890409e-02 9.71386733e-01 8.42574014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.11538475 meters Centerline goodness : 0.898725 Centerline is valid? [False, False] Translation: X:42.06, Y:3.66, Z:8.42 [[ 9.71890179e-01 -1.46589962e-02 -2.34977859e-01 4.20638432e+01] [ 2.27579364e-02 9.99235379e-01 3.17920475e-02 3.65993634e+00] [ 2.34332150e-01 -3.62459898e-02 9.71480659e-01 8.42189132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.14538475 meters Centerline goodness : 0.900052 Centerline is valid? [False, False] Translation: X:42.06, Y:3.66, Z:8.42 [[ 9.71850345e-01 -1.42954053e-02 -2.35164940e-01 4.20642679e+01] [ 2.23603297e-02 9.99248425e-01 3.16638734e-02 3.65974424e+00] [ 2.34535548e-01 -3.60309118e-02 9.71439576e-01 8.42148151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.17538475 meters Centerline goodness : 0.901837 Centerline is valid? [False, False] Translation: X:42.08, Y:3.66, Z:8.42 [[ 9.72982472e-01 -1.46956749e-02 -2.30410823e-01 4.20767237e+01] [ 2.02371329e-02 9.99559569e-01 2.17054611e-02 3.65864082e+00] [ 2.29990366e-01 -2.57818877e-02 9.72851338e-01 8.41901974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.20538475 meters Centerline goodness : 0.901850 Centerline is valid? [False, False] Translation: X:42.08, Y:3.66, Z:8.42 [[ 9.73015623e-01 -1.39460967e-02 -2.30317397e-01 4.20759636e+01] [ 1.96740268e-02 9.99551170e-01 2.25918592e-02 3.65610829e+00] [ 2.29898955e-01 -2.65135026e-02 9.72853280e-01 8.41970368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.23538475 meters Centerline goodness : 0.904318 Centerline is valid? [False, False] Translation: X:42.08, Y:3.65, Z:8.42 [[ 9.73063795e-01 -1.69935001e-02 -2.29908835e-01 4.20785252e+01] [ 2.24995283e-02 9.99518896e-01 2.13482525e-02 3.64884373e+00] [ 2.29435443e-01 -2.59460520e-02 9.72977996e-01 8.41832873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.26538475 meters Centerline goodness : 0.905113 Centerline is valid? [False, False] Translation: X:42.08, Y:3.65, Z:8.42 [[ 9.73008645e-01 -1.62897707e-02 -2.30193008e-01 4.20784204e+01] [ 2.19166371e-02 9.99519729e-01 2.19082683e-02 3.64659207e+00] [ 2.29725572e-01 -2.63619910e-02 9.72898354e-01 8.41896481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.29538475 meters Centerline goodness : 0.909987 Centerline is valid? [False, False] Translation: X:42.08, Y:3.64, Z:8.42 [[ 9.73101398e-01 -1.43053813e-02 -2.29932655e-01 4.20756564e+01] [ 2.02121508e-02 9.99522909e-01 2.33542981e-02 3.64283538e+00] [ 2.29488864e-01 -2.73735336e-02 9.72926282e-01 8.42030395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.32538475 meters Centerline goodness : 0.910245 Centerline is valid? [False, False] Translation: X:42.09, Y:3.64, Z:8.42 [[ 9.74444228e-01 -1.25037665e-02 -2.24281303e-01 4.20886511e+01] [ 1.65349748e-02 9.99733582e-01 1.61046660e-02 3.64485506e+00] [ 2.24020181e-01 -1.94015846e-02 9.74391367e-01 8.41831022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.35538475 meters Centerline goodness : 0.908758 Centerline is valid? [False, False] Translation: X:42.09, Y:3.64, Z:8.42 [[ 9.74498832e-01 -6.71205951e-03 -2.24292163e-01 4.20874585e+01] [ 1.17587350e-02 9.99706690e-01 2.11723080e-02 3.64328423e+00] [ 2.24084266e-01 -2.32697815e-02 9.74291927e-01 8.41956171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.38538475000001 meters Centerline goodness : 0.908035 Centerline is valid? [False, False] Translation: X:42.09, Y:3.64, Z:8.42 [[ 9.74510542e-01 -6.12729489e-03 -2.24258021e-01 4.20875455e+01] [ 1.11267546e-02 9.99716793e-01 2.10363937e-02 3.64409617e+00] [ 2.24065613e-01 -2.29954514e-02 9.74302730e-01 8.41872554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.41538475000002 meters Centerline goodness : 0.902689 Centerline is valid? [False, False] Translation: X:42.09, Y:3.64, Z:8.42 [[ 9.74519421e-01 -5.53228613e-03 -2.24234904e-01 4.20882368e+01] [ 1.04725836e-02 9.99727796e-01 2.08484754e-02 3.64420336e+00] [ 2.24058527e-01 -2.26655629e-02 9.74312090e-01 8.41727203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.44538475000002 meters Centerline goodness : 0.902010 Centerline is valid? [False, False] Translation: X:42.09, Y:3.64, Z:8.42 [[ 9.74466464e-01 -5.55806400e-03 -2.24464292e-01 4.20894593e+01] [ 1.04857860e-02 9.99729350e-01 2.07671657e-02 3.64352273e+00] [ 2.24288116e-01 -2.25905911e-02 9.74261005e-01 8.41666384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.47538475 meters Centerline goodness : 0.901422 Centerline is valid? [False, False] Translation: X:42.09, Y:3.64, Z:8.42 [[ 9.74339114e-01 -6.13779685e-03 -2.25001376e-01 4.20919706e+01] [ 1.10125604e-02 9.99730901e-01 2.04168671e-02 3.64315100e+00] [ 2.24815514e-01 -2.23707935e-02 9.74144513e-01 8.41597319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.50538475 meters Centerline goodness : 0.898425 Centerline is valid? [False, False] Translation: X:42.09, Y:3.64, Z:8.42 [[ 9.74200660e-01 -6.80143955e-03 -2.25581060e-01 4.20948635e+01] [ 1.16663092e-02 9.99727084e-01 2.02399207e-02 3.64160588e+00] [ 2.25381835e-01 -2.23494425e-02 9.74014133e-01 8.41526223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.53538475 meters Centerline goodness : 0.899518 Centerline is valid? [False, False] Translation: X:42.10, Y:3.64, Z:8.42 [[ 9.74167651e-01 -1.13745098e-02 -2.25539373e-01 4.20952577e+01] [ 1.55359031e-02 9.99740097e-01 1.66845403e-02 3.64080335e+00] [ 2.25290976e-01 -1.97574973e-02 9.74091175e-01 8.41533009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.56538475 meters Centerline goodness : 0.901643 Centerline is valid? [False, False] Translation: X:42.10, Y:3.64, Z:8.42 [[ 9.74012298e-01 -1.16960038e-02 -2.26192943e-01 4.20961934e+01] [ 1.60480314e-02 9.99719619e-01 1.74110450e-02 3.63958971e+00] [ 2.25925883e-01 -2.05885234e-02 9.73926901e-01 8.41727362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.59538475 meters Centerline goodness : 0.897636 Centerline is valid? [False, False] Translation: X:42.10, Y:3.64, Z:8.42 [[ 9.73863608e-01 -1.26059136e-02 -2.26783517e-01 4.20984669e+01] [ 1.70533255e-02 9.99698570e-01 1.76622154e-02 3.63986636e+00] [ 2.26492509e-01 -2.10680019e-02 9.73785029e-01 8.41821941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.62538475 meters Centerline goodness : 0.897866 Centerline is valid? [False, False] Translation: X:42.10, Y:3.64, Z:8.42 [[ 9.73803857e-01 -1.33433537e-02 -2.26997804e-01 4.21002565e+01] [ 1.76837317e-02 9.99697429e-01 1.70978293e-02 3.64093813e+00] [ 2.26700978e-01 -2.06641004e-02 9.73745173e-01 8.41741579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.65538475 meters Centerline goodness : 0.895903 Centerline is valid? [False, False] Translation: X:42.10, Y:3.64, Z:8.42 [[ 9.73559717e-01 -1.42316645e-02 -2.27988899e-01 4.21037325e+01] [ 1.86743923e-02 9.99675223e-01 1.73411674e-02 3.64004965e+00] [ 2.27668059e-01 -2.11402162e-02 9.73509294e-01 8.41807784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.68538475 meters Centerline goodness : 0.899341 Centerline is valid? [False, False] Translation: X:42.11, Y:3.64, Z:8.42 [[ 9.73388451e-01 -1.48215261e-02 -2.28681539e-01 4.21052679e+01] [ 1.93953944e-02 9.99654026e-01 1.77664305e-02 3.63807919e+00] [ 2.28339095e-01 -2.17290069e-02 9.73339153e-01 8.41948710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.71538475 meters Centerline goodness : 0.898024 Centerline is valid? [False, False] Translation: X:42.11, Y:3.64, Z:8.42 [[ 9.73294112e-01 -1.51852899e-02 -2.29058895e-01 4.21059756e+01] [ 1.98103984e-02 9.99643403e-01 1.79057412e-02 3.63745316e+00] [ 2.28705310e-01 -2.19653005e-02 9.73247865e-01 8.42032293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.74538475 meters Centerline goodness : 0.898024 Centerline is valid? [False, False] Translation: X:42.11, Y:3.64, Z:8.42 [[ 9.73294112e-01 -1.51852899e-02 -2.29058895e-01 4.21059756e+01] [ 1.98103984e-02 9.99643403e-01 1.79057412e-02 3.63745316e+00] [ 2.28705310e-01 -2.19653005e-02 9.73247865e-01 8.42032293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.77538475 meters Centerline goodness : 0.904694 Centerline is valid? [False, False] Translation: X:42.11, Y:3.64, Z:8.42 [[ 9.73198264e-01 -1.58558643e-02 -2.29420425e-01 4.21077330e+01] [ 2.05053844e-02 9.99629554e-01 1.78964619e-02 3.63579442e+00] [ 2.29051673e-01 -2.21211596e-02 9.73162877e-01 8.42039148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.80538475 meters Centerline goodness : 0.902494 Centerline is valid? [False, False] Translation: X:42.11, Y:3.64, Z:8.42 [[ 9.73077226e-01 -1.62940830e-02 -2.29902620e-01 4.21094363e+01] [ 2.09599011e-02 9.99620652e-01 1.78671322e-02 3.63507596e+00] [ 2.29524279e-01 -2.22048356e-02 9.73049614e-01 8.42054230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.83538475 meters Centerline goodness : 0.906687 Centerline is valid? [False, False] Translation: X:42.11, Y:3.63, Z:8.42 [[ 9.73015638e-01 -1.64821792e-02 -2.30149747e-01 4.21105811e+01] [ 2.11431916e-02 9.99617981e-01 1.78004686e-02 3.63447494e+00] [ 2.29768435e-01 -2.21862345e-02 9.72992414e-01 8.42034919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.86538475 meters Centerline goodness : 0.904135 Centerline is valid? [False, False] Translation: X:42.11, Y:3.63, Z:8.42 [[ 9.73017499e-01 -1.63429413e-02 -2.30151809e-01 4.21101818e+01] [ 2.10103647e-02 9.99620014e-01 1.78435328e-02 3.63396986e+00] [ 2.29772738e-01 -2.21976431e-02 9.72991137e-01 8.42075513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.89538475 meters Centerline goodness : 0.907777 Centerline is valid? [False, False] Translation: X:42.11, Y:3.63, Z:8.42 [[ 9.72952284e-01 -1.63338152e-02 -2.30427993e-01 4.21107230e+01] [ 2.10686598e-02 9.99614134e-01 1.81023500e-02 3.63424845e+00] [ 2.30043398e-01 -2.24675318e-02 9.72920986e-01 8.42141449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.92538475 meters Centerline goodness : 0.911393 Centerline is valid? [False, False] Translation: X:42.12, Y:3.63, Z:8.43 [[ 9.72604834e-01 -1.31132351e-02 -2.32094551e-01 4.21150442e+01] [ 1.91433744e-02 9.99534671e-01 2.37481032e-02 3.63217089e+00] [ 2.31675136e-01 -2.75405929e-02 9.72403284e-01 8.42573645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.95538475 meters Centerline goodness : 0.909751 Centerline is valid? [False, False] Translation: X:42.12, Y:3.63, Z:8.42 [[ 9.72484648e-01 -1.85703206e-02 -2.32225649e-01 4.21173576e+01] [ 2.36007004e-02 9.99542759e-01 1.89018281e-02 3.63367181e+00] [ 2.31768453e-01 -2.38624256e-02 9.72478261e-01 8.42407025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.98538475 meters Centerline goodness : 0.912388 Centerline is valid? [False, False] Translation: X:42.12, Y:3.63, Z:8.42 [[ 9.72201585e-01 -1.98332883e-02 -2.33303917e-01 4.21209950e+01] [ 2.48740886e-02 9.99515986e-01 1.86835255e-02 3.63345680e+00] [ 2.32820439e-01 -2.39673754e-02 9.72224361e-01 8.42458505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.01538475 meters Centerline goodness : 0.908977 Centerline is valid? [False, False] Translation: X:42.13, Y:3.63, Z:8.42 [[ 9.71817524e-01 -2.23092246e-02 -2.34676371e-01 4.21268776e+01] [ 2.71655875e-02 9.99478084e-01 1.74811504e-02 3.63350859e+00] [ 2.34163899e-01 -2.33636098e-02 9.71916360e-01 8.42404455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.04538475 meters Centerline goodness : 0.910114 Centerline is valid? [False, False] Translation: X:42.13, Y:3.63, Z:8.42 [[ 9.71523696e-01 -2.39007392e-02 -2.35733880e-01 4.21311392e+01] [ 2.86995859e-02 9.99444420e-01 1.69465137e-02 3.63383642e+00] [ 2.35197877e-01 -2.32294044e-02 9.71669879e-01 8.42404480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.07538475 meters Centerline goodness : 0.911390 Centerline is valid? [False, False] Translation: X:42.14, Y:3.63, Z:8.43 [[ 9.70977519e-01 -2.73561528e-02 -2.37601131e-01 4.21382740e+01] [ 3.23806576e-02 9.99326408e-01 1.72691294e-02 3.63288702e+00] [ 2.36968668e-01 -2.44616173e-02 9.71209287e-01 8.42708578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.10538475 meters Centerline goodness : 0.916230 Centerline is valid? [False, False] Translation: X:42.13, Y:3.63, Z:8.43 [[ 9.71856112e-01 -3.04781360e-02 -2.33595335e-01 4.21304564e+01] [ 3.63647145e-02 9.99119310e-01 2.09335338e-02 3.63268602e+00] [ 2.32751594e-01 -2.88390104e-02 9.72108537e-01 8.42977365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.13538475000001 meters Centerline goodness : 0.915239 Centerline is valid? [False, False] Translation: X:42.13, Y:3.63, Z:8.43 [[ 9.74342651e-01 -2.66071044e-02 -2.23491522e-01 4.21328417e+01] [ 3.29437410e-02 9.99152648e-01 2.46717777e-02 3.62981749e+00] [ 2.22645701e-01 -3.14014121e-02 9.74393577e-01 8.42955430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.16538475000002 meters Centerline goodness : 0.913474 Centerline is valid? [False, False] Translation: X:42.15, Y:3.63, Z:8.43 [[ 9.75401425e-01 -3.04471831e-02 -2.18323220e-01 4.21503884e+01] [ 3.41691641e-02 9.99327670e-01 1.32919385e-02 3.63383273e+00] [ 2.17771733e-01 -2.04248977e-02 9.75785989e-01 8.42562358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.19538475000002 meters Centerline goodness : 0.912349 Centerline is valid? [False, False] Translation: X:42.15, Y:3.63, Z:8.43 [[ 9.75113938e-01 -3.22877125e-02 -2.19340630e-01 4.21539666e+01] [ 3.60291948e-02 9.99265159e-01 1.30782145e-02 3.63445931e+00] [ 2.18757184e-01 -2.06554155e-02 9.75560684e-01 8.42694019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.22538475 meters Centerline goodness : 0.910552 Centerline is valid? [False, False] Translation: X:42.17, Y:3.64, Z:8.42 [[ 9.77460520e-01 -3.99923935e-02 -2.07295781e-01 4.21683508e+01] [ 4.26902889e-02 9.99051718e-01 8.55590264e-03 3.63916617e+00] [ 2.06757035e-01 -1.72125738e-02 9.78240899e-01 8.42084464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.25538475 meters Centerline goodness : 0.913123 Centerline is valid? [False, False] Translation: X:42.17, Y:3.64, Z:8.42 [[ 9.77036510e-01 -4.22715000e-02 -2.08836728e-01 4.21744540e+01] [ 4.49922201e-02 9.98952918e-01 8.29261911e-03 3.63816032e+00] [ 2.08267518e-01 -1.74982197e-02 9.77915361e-01 8.42140189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.28538475 meters Centerline goodness : 0.913227 Centerline is valid? [False, False] Translation: X:42.18, Y:3.64, Z:8.42 [[ 9.76767936e-01 -4.32300172e-02 -2.09894177e-01 4.21780188e+01] [ 4.59650254e-02 9.98909661e-01 8.16735899e-03 3.63770461e+00] [ 2.09312246e-01 -1.76254056e-02 9.77689996e-01 8.42170043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.31538475 meters Centerline goodness : 0.916320 Centerline is valid? [False, False] Translation: X:42.20, Y:3.64, Z:8.42 [[ 9.77602484e-01 -4.28187146e-02 -2.06058101e-01 4.21976727e+01] [ 4.39699804e-02 9.99032343e-01 1.00884796e-03 3.64031162e+00] [ 2.05815510e-01 -1.00466229e-02 9.78539238e-01 8.41901186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.34538475 meters Centerline goodness : 0.917952 Centerline is valid? [False, False] Translation: X:42.20, Y:3.64, Z:8.42 [[ 9.77414141e-01 -3.98155958e-02 -2.07548344e-01 4.22022348e+01] [ 4.18041740e-02 9.99112279e-01 5.20235527e-03 3.63764207e+00] [ 2.07156965e-01 -1.37612427e-02 9.78210928e-01 8.42043058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.37538475 meters Centerline goodness : 0.916338 Centerline is valid? [False, False] Translation: X:42.22, Y:3.64, Z:8.42 [[ 9.78355905e-01 -4.08005472e-02 -2.02867047e-01 4.22184860e+01] [ 4.08406554e-02 9.99157705e-01 -3.99022273e-03 3.63983724e+00] [ 2.02858976e-01 -4.38136517e-03 9.79198162e-01 8.41765178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.40538475 meters Centerline goodness : 0.919827 Centerline is valid? [False, False] Translation: X:42.22, Y:3.64, Z:8.42 [[ 9.78039590e-01 -4.15378794e-02 -2.04238008e-01 4.22214133e+01] [ 4.17477576e-02 9.99122789e-01 -3.28284733e-03 3.63843692e+00] [ 2.04195211e-01 -5.31572420e-03 9.78915757e-01 8.41992151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.43538475 meters Centerline goodness : 0.925731 Centerline is valid? [False, False] Translation: X:42.22, Y:3.64, Z:8.42 [[ 9.77843169e-01 -4.21143176e-02 -2.05058825e-01 4.22236915e+01] [ 4.24212053e-02 9.99095603e-01 -2.90133151e-03 3.63776752e+00] [ 2.04995558e-01 -5.86179532e-03 9.78745350e-01 8.42096401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.46538475 meters Centerline goodness : 0.921926 Centerline is valid? [False, False] Translation: X:42.23, Y:3.64, Z:8.42 [[ 9.77559269e-01 -4.00279569e-02 -2.06822723e-01 4.22289627e+01] [ 4.12930004e-02 9.99145456e-01 1.80156233e-03 3.63600145e+00] [ 2.06573871e-01 -1.03014647e-02 9.78376776e-01 8.42416713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.49538475 meters Centerline goodness : 0.921773 Centerline is valid? [False, False] Translation: X:42.25, Y:3.64, Z:8.43 [[ 9.77452866e-01 -3.95164596e-02 -2.07423105e-01 4.22540388e+01] [ 3.99315326e-02 9.99200025e-01 -2.18710667e-03 3.63862385e+00] [ 2.07343598e-01 -6.14492878e-03 9.78248880e-01 8.42635052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.52538475 meters Centerline goodness : 0.920921 Centerline is valid? [False, False] Translation: X:42.26, Y:3.64, Z:8.43 [[ 9.77079854e-01 -3.72839584e-02 -2.09582599e-01 4.22600885e+01] [ 3.87035900e-02 9.99247155e-01 2.67488176e-03 3.63911538e+00] [ 2.09325086e-01 -1.07251721e-02 9.77787287e-01 8.42997363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.55538475 meters Centerline goodness : 0.920583 Centerline is valid? [False, False] Translation: X:42.27, Y:3.64, Z:8.43 [[ 9.76848648e-01 -3.65374499e-02 -2.10788361e-01 4.22659073e+01] [ 3.88395153e-02 9.99222390e-01 6.79017564e-03 3.63802884e+00] [ 2.10376354e-01 -1.48198917e-02 9.77508138e-01 8.43271909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.58538475 meters Centerline goodness : 0.918064 Centerline is valid? [False, False] Translation: X:42.29, Y:3.64, Z:8.43 [[ 9.77669887e-01 -3.87643761e-02 -2.06540346e-01 4.22875960e+01] [ 3.95178030e-02 9.99218752e-01 -4.77995802e-04 3.64098482e+00] [ 2.06397516e-01 -7.69469863e-03 9.78437968e-01 8.43186167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.61538475 meters Centerline goodness : 0.922099 Centerline is valid? [False, False] Translation: X:42.29, Y:3.64, Z:8.44 [[ 9.77425954e-01 -3.71638234e-02 -2.07984024e-01 4.22924856e+01] [ 3.90783038e-02 9.99223125e-01 5.10229883e-03 3.63836327e+00] [ 2.07632825e-01 -1.31147822e-02 9.78118915e-01 8.43677567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.64538475 meters Centerline goodness : 0.923658 Centerline is valid? [False, False] Translation: X:42.31, Y:3.64, Z:8.43 [[ 9.78512252e-01 -4.11622030e-02 -2.02038229e-01 4.23090179e+01] [ 4.08894788e-02 9.99148399e-01 -5.52515824e-03 3.64139463e+00] [ 2.02093601e-01 -2.85480286e-03 9.79362051e-01 8.43430268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.67538475 meters Centerline goodness : 0.924508 Centerline is valid? [False, False] Translation: X:42.32, Y:3.64, Z:8.44 [[ 9.78261637e-01 -4.26827470e-02 -2.02934354e-01 4.23178583e+01] [ 4.40326771e-02 9.99027800e-01 2.13974620e-03 3.63608768e+00] [ 2.02645731e-01 -1.10289745e-02 9.79190007e-01 8.44361086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.70538475 meters Centerline goodness : 0.929755 Centerline is valid? [False, False] Translation: X:42.32, Y:3.63, Z:8.44 [[ 9.78079758e-01 -4.37950395e-02 -2.03573039e-01 4.23207355e+01] [ 4.52895036e-02 9.98970293e-01 2.68602972e-03 3.63469848e+00] [ 2.03245784e-01 -1.18468732e-02 9.79056078e-01 8.44481114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.73538475 meters Centerline goodness : 0.929235 Centerline is valid? [False, False] Translation: X:42.35, Y:3.64, Z:8.45 [[ 9.77870292e-01 -4.33892901e-02 -2.04663290e-01 4.23458788e+01] [ 4.42524419e-02 9.99020316e-01 -3.59781345e-04 3.63520019e+00] [ 2.04478395e-01 -8.70503085e-03 9.78832370e-01 8.44893527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.76538475 meters Centerline goodness : 0.926605 Centerline is valid? [False, False] Translation: X:42.35, Y:3.63, Z:8.45 [[ 9.77485166e-01 -4.10703029e-02 -2.06968550e-01 4.23524327e+01] [ 4.29640863e-02 9.99065742e-01 4.66169565e-03 3.63372329e+00] [ 2.06583730e-01 -1.34489530e-02 9.78336490e-01 8.45242786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.79538475 meters Centerline goodness : 0.928125 Centerline is valid? [False, False] Translation: X:42.37, Y:3.64, Z:8.45 [[ 9.78190682e-01 -4.25749464e-02 -2.03298706e-01 4.23722689e+01] [ 4.29048041e-02 9.99075279e-01 -2.78652461e-03 3.63643147e+00] [ 2.03229347e-01 -5.99673874e-03 9.79112798e-01 8.45166070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.82538475 meters Centerline goodness : 0.929341 Centerline is valid? [False, False] Translation: X:42.38, Y:3.64, Z:8.46 [[ 9.77709090e-01 -4.17081913e-02 -2.05779889e-01 4.23807413e+01] [ 4.31218247e-02 9.99066968e-01 2.38761777e-03 3.63533721e+00] [ 2.05488306e-01 -1.12079999e-02 9.78595390e-01 8.45625117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.85538475 meters Centerline goodness : 0.927187 Centerline is valid? [False, False] Translation: X:42.40, Y:3.64, Z:8.46 [[ 9.78359081e-01 -4.33020637e-02 -2.02332499e-01 4.24017402e+01] [ 4.32243499e-02 9.99053837e-01 -4.80475322e-03 3.63811320e+00] [ 2.02349115e-01 -4.04491679e-03 9.79305098e-01 8.45506782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.88538475000001 meters Centerline goodness : 0.932608 Centerline is valid? [False, False] Translation: X:42.41, Y:3.64, Z:8.46 [[ 9.78005165e-01 -4.20887341e-02 -2.04290078e-01 4.24130227e+01] [ 4.41180898e-02 9.99011797e-01 5.38732877e-03 3.63615352e+00] [ 2.03861453e-01 -1.42817234e-02 9.78895572e-01 8.46488042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.91538475000002 meters Centerline goodness : 0.932776 Centerline is valid? [False, False] Translation: X:42.41, Y:3.63, Z:8.46 [[ 9.80686376e-01 -3.55589044e-02 -1.92327317e-01 4.24141319e+01] [ 3.71470659e-02 9.99298959e-01 4.65688016e-03 3.63338414e+00] [ 1.92026895e-01 -1.17113345e-02 9.81319783e-01 8.45852183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.94538475000002 meters Centerline goodness : 0.936516 Centerline is valid? [False, False] Translation: X:42.41, Y:3.63, Z:8.45 [[ 9.83278587e-01 -2.71790852e-02 -1.80068091e-01 4.24137791e+01] [ 2.84097894e-02 9.99587288e-01 4.25877463e-03 3.63167020e+00] [ 1.79878025e-01 -9.30325843e-03 9.83644929e-01 8.45242361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.97538475 meters Centerline goodness : 0.935543 Centerline is valid? [False, False] Translation: X:42.41, Y:3.63, Z:8.46 [[ 9.85240294e-01 -1.94036226e-02 -1.70073699e-01 4.24142611e+01] [ 2.15539499e-02 9.99709285e-01 1.08061286e-02 3.62943961e+00] [ 1.69814578e-01 -1.43123933e-02 9.85372095e-01 8.45545371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.00538475 meters Centerline goodness : 0.938885 Centerline is valid? [False, False] Translation: X:42.42, Y:3.63, Z:8.46 [[ 9.86989387e-01 -9.51653643e-03 -1.60503540e-01 4.24169657e+01] [ 1.18733400e-02 9.99835227e-01 1.37311129e-02 3.62833730e+00] [ 1.60346420e-01 -1.54581758e-02 9.86939750e-01 8.45500494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.03538475 meters Centerline goodness : 0.939807 Centerline is valid? [False, False] Translation: X:42.42, Y:3.63, Z:8.46 [[ 9.86953534e-01 -8.45279830e-03 -1.60783308e-01 4.24165143e+01] [ 1.08668618e-02 9.99840959e-01 1.41409812e-02 3.63019903e+00] [ 1.60638206e-01 -1.57037014e-02 9.86888423e-01 8.45558647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.06538475 meters Centerline goodness : 0.942277 Centerline is valid? [False, False] Translation: X:42.42, Y:3.63, Z:8.46 [[ 9.86875365e-01 -3.09791809e-03 -1.61454073e-01 4.24167175e+01] [ 6.15796242e-03 9.99810708e-01 1.84560827e-02 3.63144705e+00] [ 1.61366336e-01 -1.92080815e-02 9.86707634e-01 8.45662334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.09538475 meters Centerline goodness : 0.942627 Centerline is valid? [False, False] Translation: X:42.42, Y:3.63, Z:8.46 [[ 9.86737608e-01 1.22771352e-03 -1.62318780e-01 4.24184802e+01] [ 2.50952618e-03 9.99736508e-01 2.28170387e-02 3.63087298e+00] [ 1.62304023e-01 -2.29217734e-02 9.86474529e-01 8.45776848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.12538475 meters Centerline goodness : 0.939758 Centerline is valid? [False, False] Translation: X:42.42, Y:3.63, Z:8.46 [[ 9.86631404e-01 7.09756279e-03 -1.62813072e-01 4.24187781e+01] [-2.78448140e-03 9.99639509e-01 2.67039207e-02 3.63174332e+00] [ 1.62943913e-01 -2.58935768e-02 9.86295495e-01 8.45717467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.15538475 meters Centerline goodness : 0.943110 Centerline is valid? [False, False] Translation: X:42.42, Y:3.63, Z:8.46 [[ 9.86434419e-01 1.14315374e-02 -1.63757314e-01 4.24211228e+01] [-6.48271128e-03 9.99506911e-01 3.07230925e-02 3.63178652e+00] [ 1.64027779e-01 -2.92447245e-02 9.86022126e-01 8.45761961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.18538475 meters Centerline goodness : 0.940109 Centerline is valid? [False, False] Translation: X:42.43, Y:3.63, Z:8.45 [[ 9.86816307e-01 1.90058548e-02 -1.60724467e-01 4.24349595e+01] [-1.52335393e-02 9.99579564e-01 2.46705376e-02 3.63434725e+00] [ 1.61125777e-01 -2.18968864e-02 9.86690940e-01 8.45215481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.21538475 meters Centerline goodness : 0.942475 Centerline is valid? [False, False] Translation: X:42.44, Y:3.63, Z:8.45 [[ 9.86581910e-01 2.37537526e-02 -1.61529858e-01 4.24359589e+01] [-1.92532193e-02 9.99383152e-01 2.93705591e-02 3.63304790e+00] [ 1.62127879e-01 -2.58664925e-02 9.86430674e-01 8.45394530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.24538475 meters Centerline goodness : 0.939836 Centerline is valid? [False, False] Translation: X:42.45, Y:3.63, Z:8.45 [[ 9.87195362e-01 2.48532976e-02 -1.57567860e-01 4.24491491e+01] [-2.20249978e-02 9.99563885e-01 1.96707820e-02 3.63366942e+00] [ 1.57988026e-01 -1.59484730e-02 9.87312225e-01 8.45109105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.27538475 meters Centerline goodness : 0.945009 Centerline is valid? [False, False] Translation: X:42.45, Y:3.63, Z:8.45 [[ 9.87047887e-01 2.45524379e-02 -1.58535944e-01 4.24504090e+01] [-2.15205369e-02 9.99551739e-01 2.08131448e-02 3.63096128e+00] [ 1.58975892e-01 -1.71317919e-02 9.87133814e-01 8.45379699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.30538475 meters Centerline goodness : 0.941906 Centerline is valid? [False, False] Translation: X:42.46, Y:3.63, Z:8.45 [[ 9.86870326e-01 2.30384624e-02 -1.59863032e-01 4.24552306e+01] [-2.00462638e-02 9.99592844e-01 2.03050021e-02 3.63030917e+00] [ 1.60265738e-01 -1.68337475e-02 9.86930351e-01 8.45321576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.33538475 meters Centerline goodness : 0.941284 Centerline is valid? [False, False] Translation: X:42.46, Y:3.63, Z:8.45 [[ 9.86714441e-01 2.18345175e-02 -1.60990267e-01 4.24591047e+01] [-1.88136269e-02 9.99617613e-01 2.02651438e-02 3.62971965e+00] [ 1.61371186e-01 -1.69670992e-02 9.86747920e-01 8.45344726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.36538475 meters Centerline goodness : 0.938976 Centerline is valid? [False, False] Translation: X:42.46, Y:3.63, Z:8.45 [[ 9.86640890e-01 2.09125852e-02 -1.61562429e-01 4.24612092e+01] [-1.78666862e-02 9.99634628e-01 2.02828170e-02 3.62877835e+00] [ 1.61927565e-01 -1.71252714e-02 9.86654037e-01 8.45385780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.39538475 meters Centerline goodness : 0.943011 Centerline is valid? [False, False] Translation: X:42.46, Y:3.63, Z:8.46 [[ 9.86507253e-01 2.03424105e-02 -1.62448843e-01 4.24629293e+01] [-1.70958909e-02 9.99625714e-01 2.13579624e-02 3.62719108e+00] [ 1.62822513e-01 -1.82925772e-02 9.86485788e-01 8.45633334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.42538475 meters Centerline goodness : 0.942809 Centerline is valid? [False, False] Translation: X:42.46, Y:3.63, Z:8.46 [[ 9.86520053e-01 1.56764861e-02 -1.62887791e-01 4.24636896e+01] [-1.28869853e-02 9.99751896e-01 1.81678888e-02 3.62585546e+00] [ 1.63132186e-01 -1.58238541e-02 9.86477316e-01 8.45760806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.45538475 meters Centerline goodness : 0.942025 Centerline is valid? [False, False] Translation: X:42.47, Y:3.62, Z:8.46 [[ 9.86365856e-01 1.67369831e-02 -1.63713993e-01 4.24682397e+01] [-1.33732450e-02 9.99676660e-01 2.16271012e-02 3.62462275e+00] [ 1.64023030e-01 -1.91428469e-02 9.86270752e-01 8.45915142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.48538475 meters Centerline goodness : 0.934198 Centerline is valid? [False, False] Translation: X:42.47, Y:3.63, Z:8.46 [[ 9.86195712e-01 1.58337639e-02 -1.64825086e-01 4.24723091e+01] [-1.25530144e-02 9.99702194e-01 2.09271516e-02 3.62604402e+00] [ 1.65107355e-01 -1.85692155e-02 9.86100779e-01 8.45810393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.51538475 meters Centerline goodness : 0.935893 Centerline is valid? [False, False] Translation: X:42.48, Y:3.63, Z:8.46 [[ 9.85918259e-01 1.91207576e-02 -1.66131225e-01 4.24766092e+01] [-1.51844242e-02 9.99573820e-01 2.49321444e-02 3.62502235e+00] [ 1.66537144e-01 -2.20584494e-02 9.85788418e-01 8.45872542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.54538475 meters Centerline goodness : 0.935467 Centerline is valid? [False, False] Translation: X:42.48, Y:3.63, Z:8.46 [[ 9.85793174e-01 1.86284368e-02 -1.66927527e-01 4.24792578e+01] [-1.47413887e-02 9.99591264e-01 2.44948353e-02 3.62564500e+00] [ 1.67315598e-01 -2.16860979e-02 9.85664854e-01 8.45814596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.57538475 meters Centerline goodness : 0.933741 Centerline is valid? [False, False] Translation: X:42.48, Y:3.63, Z:8.46 [[ 9.85640994e-01 1.93695692e-02 -1.67739830e-01 4.24802548e+01] [-1.54591525e-02 9.99578157e-01 2.45870280e-02 3.62534670e+00] [ 1.68145311e-01 -2.16408671e-02 9.85524646e-01 8.45835399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.60538475 meters Centerline goodness : 0.934530 Centerline is valid? [False, False] Translation: X:42.48, Y:3.63, Z:8.46 [[ 9.85495146e-01 1.90887785e-02 -1.68626615e-01 4.24822353e+01] [-1.51704459e-02 9.99584848e-01 2.44946681e-02 3.62554900e+00] [ 1.69024183e-01 -2.15812355e-02 9.85375601e-01 8.45873706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.63538475000001 meters Centerline goodness : 0.934600 Centerline is valid? [False, False] Translation: X:42.48, Y:3.63, Z:8.46 [[ 9.85366500e-01 1.92605905e-02 -1.69357288e-01 4.24836919e+01] [-1.53250475e-02 9.99581998e-01 2.45147474e-02 3.62611102e+00] [ 1.69758664e-01 -2.15606023e-02 9.85249784e-01 8.45894214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.66538475000002 meters Centerline goodness : 0.930406 Centerline is valid? [False, False] Translation: X:42.49, Y:3.63, Z:8.46 [[ 9.84965425e-01 2.27768374e-02 -1.71243474e-01 4.24891209e+01] [-1.81624551e-02 9.99429770e-01 2.84650792e-02 3.62629978e+00] [ 1.71794170e-01 -2.49269169e-02 9.84817451e-01 8.45962254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.69538475000002 meters Centerline goodness : 0.930406 Centerline is valid? [False, False] Translation: X:42.49, Y:3.63, Z:8.46 [[ 9.84965425e-01 2.27768374e-02 -1.71243474e-01 4.24891209e+01] [-1.81624551e-02 9.99429770e-01 2.84650792e-02 3.62629978e+00] [ 1.71794170e-01 -2.49269169e-02 9.84817451e-01 8.45962254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.72538475 meters Centerline goodness : 0.927884 Centerline is valid? [False, False] Translation: X:42.49, Y:3.63, Z:8.46 [[ 9.84737254e-01 2.25007381e-02 -1.72586957e-01 4.24932644e+01] [-1.80519619e-02 9.99464177e-01 2.73035827e-02 3.62899857e+00] [ 1.73108832e-01 -2.37713219e-02 9.84615791e-01 8.45773510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.75538475 meters Centerline goodness : 0.927972 Centerline is valid? [False, False] Translation: X:42.49, Y:3.63, Z:8.46 [[ 9.84670658e-01 2.24415278e-02 -1.72974197e-01 4.24943685e+01] [-1.80200168e-02 9.99470566e-01 2.70899634e-02 3.62954436e+00] [ 1.73490559e-01 -2.35576941e-02 9.84553737e-01 8.45745231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.78538475 meters Centerline goodness : 0.924200 Centerline is valid? [False, False] Translation: X:42.50, Y:3.63, Z:8.46 [[ 9.84515866e-01 2.28356567e-02 -1.73801734e-01 4.24950943e+01] [-1.83359107e-02 9.99454941e-01 2.74520558e-02 3.62958610e+00] [ 1.74333888e-01 -2.38401714e-02 9.84397959e-01 8.45876625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.81538475 meters Centerline goodness : 0.929033 Centerline is valid? [False, False] Translation: X:42.50, Y:3.63, Z:8.46 [[ 9.84416082e-01 2.30201683e-02 -1.74341759e-01 4.24958086e+01] [-1.84529476e-02 9.99443921e-01 2.77729727e-02 3.62953032e+00] [ 1.74884150e-01 -2.41230417e-02 9.84293459e-01 8.45963304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.84538475 meters Centerline goodness : 0.929553 Centerline is valid? [False, False] Translation: X:42.51, Y:3.63, Z:8.46 [[ 9.85201911e-01 2.42471687e-02 -1.69674007e-01 4.25100671e+01] [-2.11504877e-02 9.99575543e-01 2.00347474e-02 3.63073793e+00] [ 1.70087773e-01 -1.61495834e-02 9.85296575e-01 8.45804285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.87538475 meters Centerline goodness : 0.930063 Centerline is valid? [False, False] Translation: X:42.51, Y:3.63, Z:8.46 [[ 9.85095743e-01 2.42440847e-02 -1.70289756e-01 4.25111713e+01] [-2.10844835e-02 9.99570802e-01 2.03385356e-02 3.63064051e+00] [ 1.70709757e-01 -1.64449333e-02 9.85184116e-01 8.45887977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.90538475 meters Centerline goodness : 0.928677 Centerline is valid? [False, False] Translation: X:42.51, Y:3.63, Z:8.46 [[ 9.84778167e-01 2.81595405e-02 -1.71519686e-01 4.25137390e+01] [-2.41336381e-02 9.99383151e-01 2.55124671e-02 3.62905142e+00] [ 1.72132304e-01 -2.09847265e-02 9.84850299e-01 8.46184524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.93538475 meters Centerline goodness : 0.930051 Centerline is valid? [False, False] Translation: X:42.52, Y:3.63, Z:8.46 [[ 9.84678702e-01 2.81464923e-02 -1.72091919e-01 4.25151031e+01] [-2.41112342e-02 9.99384158e-01 2.54941645e-02 3.62974949e+00] [ 1.72703509e-01 -2.09542122e-02 9.84750943e-01 8.46193876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.96538475 meters Centerline goodness : 0.922878 Centerline is valid? [False, False] Translation: X:42.52, Y:3.63, Z:8.46 [[ 9.84500526e-01 2.73097778e-02 -1.73242285e-01 4.25183177e+01] [-2.32818350e-02 9.99410267e-01 2.52403364e-02 3.62994749e+00] [ 1.73829427e-01 -2.08157262e-02 9.84555756e-01 8.46223797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.99538475 meters Centerline goodness : 0.923205 Centerline is valid? [False, False] Translation: X:42.52, Y:3.63, Z:8.46 [[ 9.84302547e-01 2.73408243e-02 -1.74358756e-01 4.25202747e+01] [-2.32926856e-02 9.99410480e-01 2.52218853e-02 3.63008821e+00] [ 1.74945555e-01 -2.07646823e-02 9.84359122e-01 8.46288677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.02538475 meters Centerline goodness : 0.920283 Centerline is valid? [False, False] Translation: X:42.52, Y:3.63, Z:8.46 [[ 9.84172776e-01 2.72501780e-02 -1.75103897e-01 4.25217020e+01] [-2.31514915e-02 9.99409051e-01 2.54078119e-02 3.62965464e+00] [ 1.75692787e-01 -2.09517604e-02 9.84222063e-01 8.46358355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.05538475 meters Centerline goodness : 0.921022 Centerline is valid? [False, False] Translation: X:42.52, Y:3.63, Z:8.46 [[ 9.84018889e-01 2.66393791e-02 -1.76060132e-01 4.25244131e+01] [-2.24698673e-02 9.99418833e-01 2.56339880e-02 3.62833085e+00] [ 1.76640685e-01 -2.12682806e-02 9.84045593e-01 8.46407782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.08538475 meters Centerline goodness : 0.916001 Centerline is valid? [False, False] Translation: X:42.53, Y:3.63, Z:8.46 [[ 9.83790255e-01 2.63612087e-02 -1.77374801e-01 4.25280161e+01] [-2.22128166e-02 9.99432246e-01 2.53333025e-02 3.62773463e+00] [ 1.77941912e-01 -2.09826622e-02 9.83817261e-01 8.46343969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.11538475 meters Centerline goodness : 0.913949 Centerline is valid? [False, False] Translation: X:42.53, Y:3.63, Z:8.46 [[ 9.83665555e-01 2.60130695e-02 -1.78116245e-01 4.25304034e+01] [-2.18861472e-02 9.99445441e-01 2.50959398e-02 3.62773423e+00] [ 1.78670291e-01 -2.07877332e-02 9.83689380e-01 8.46294967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.14538475 meters Centerline goodness : 0.909051 Centerline is valid? [False, False] Translation: X:42.53, Y:3.63, Z:8.46 [[ 9.83482719e-01 2.65027879e-02 -1.79051234e-01 4.25325350e+01] [-2.23585358e-02 9.99434269e-01 2.51244338e-02 3.62720342e+00] [ 1.79615807e-01 -2.07061230e-02 9.83518896e-01 8.46241893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.17538475 meters Centerline goodness : 0.905196 Centerline is valid? [False, False] Translation: X:42.55, Y:3.63, Z:8.46 [[ 9.84196111e-01 2.91367521e-02 -1.74668444e-01 4.25480211e+01] [-2.62695979e-02 9.99479882e-01 1.87049321e-02 3.62692362e+00] [ 1.75122597e-01 -1.38208517e-02 9.84449623e-01 8.45996484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.20538475 meters Centerline goodness : 0.906018 Centerline is valid? [False, False] Translation: X:42.55, Y:3.63, Z:8.46 [[ 9.84112730e-01 2.95315211e-02 -1.75071481e-01 4.25483136e+01] [-2.65972537e-02 9.99464057e-01 1.90836221e-02 3.62598946e+00] [ 1.75541221e-01 -1.41240149e-02 9.84370759e-01 8.46056825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.23538475 meters Centerline goodness : 0.905132 Centerline is valid? [False, False] Translation: X:42.55, Y:3.62, Z:8.46 [[ 9.84045195e-01 3.00194324e-02 -1.75367865e-01 4.25479770e+01] [-2.69733813e-02 9.99441467e-01 1.97278982e-02 3.62491206e+00] [ 1.75862136e-01 -1.46828791e-02 9.84305299e-01 8.46186116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.26538475 meters Centerline goodness : 0.907850 Centerline is valid? [False, False] Translation: X:42.56, Y:3.62, Z:8.46 [[ 9.84966599e-01 3.14127483e-02 -1.69864762e-01 4.25587629e+01] [-2.97925615e-02 9.99483114e-01 1.20792184e-02 3.62484890e+00] [ 1.70156403e-01 -6.83692029e-03 9.85393350e-01 8.46195264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.29538475 meters Centerline goodness : 0.908499 Centerline is valid? [False, False] Translation: X:42.56, Y:3.62, Z:8.47 [[ 9.84671624e-01 3.56977848e-02 -1.70726273e-01 4.25600438e+01] [-3.30808609e-02 9.99287875e-01 1.81493943e-02 3.62226247e+00] [ 1.71252588e-01 -1.22234215e-02 9.85151328e-01 8.46620351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.32538475 meters Centerline goodness : 0.910206 Centerline is valid? [False, False] Translation: X:42.56, Y:3.62, Z:8.47 [[ 9.84558983e-01 3.61344854e-02 -1.71283121e-01 4.25609575e+01] [-3.35042046e-02 9.99272427e-01 1.82232159e-02 3.62370494e+00] [ 1.71816986e-01 -1.22031262e-02 9.85053302e-01 8.46639166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.35538475 meters Centerline goodness : 0.902207 Centerline is valid? [False, False] Translation: X:42.56, Y:3.62, Z:8.47 [[ 9.84266057e-01 3.92956138e-02 -1.72267766e-01 4.25648229e+01] [-3.59997603e-02 9.99104833e-01 2.22159703e-02 3.62347033e+00] [ 1.72986547e-01 -1.56648272e-02 9.84799608e-01 8.46714656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.38538475000001 meters Centerline goodness : 0.900897 Centerline is valid? [False, False] Translation: X:42.57, Y:3.62, Z:8.47 [[ 9.84217928e-01 3.92685506e-02 -1.72548691e-01 4.25656252e+01] [-3.60126299e-02 9.99110008e-01 2.19609086e-02 3.62399381e+00] [ 1.73257497e-01 -1.54003878e-02 9.84756146e-01 8.46674193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.41538475000002 meters Centerline goodness : 0.899496 Centerline is valid? [False, False] Translation: X:42.57, Y:3.62, Z:8.47 [[ 9.84101146e-01 3.91977651e-02 -1.73229529e-01 4.25671286e+01] [-3.59000097e-02 9.99110320e-01 2.21304702e-02 3.62377485e+00] [ 1.73942875e-01 -1.55596793e-02 9.84632811e-01 8.46728173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.44538475000002 meters Centerline goodness : 0.901702 Centerline is valid? [False, False] Translation: X:42.57, Y:3.62, Z:8.47 [[ 9.84015203e-01 3.87227098e-02 -1.73823568e-01 4.25689019e+01] [-3.54216784e-02 9.99129082e-01 2.20540603e-02 3.62342935e+00] [ 1.74526175e-01 -1.55444081e-02 9.84529830e-01 8.46734561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.47538475 meters Centerline goodness : 0.897625 Centerline is valid? [False, False] Translation: X:42.57, Y:3.62, Z:8.47 [[ 9.83896809e-01 3.84655094e-02 -1.74549343e-01 4.25706610e+01] [-3.51345623e-02 9.99137443e-01 2.21344110e-02 3.62343620e+00] [ 1.75250196e-01 -1.56452616e-02 9.84399611e-01 8.46772442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.50538475 meters Centerline goodness : 0.898438 Centerline is valid? [False, False] Translation: X:42.57, Y:3.62, Z:8.47 [[ 9.83829307e-01 3.81737251e-02 -1.74993318e-01 4.25724284e+01] [-3.48724169e-02 9.99151732e-01 2.19027666e-02 3.62332494e+00] [ 1.75680987e-01 -1.54461437e-02 9.84325966e-01 8.46702651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.53538475 meters Centerline goodness : 0.899163 Centerline is valid? [False, False] Translation: X:42.57, Y:3.62, Z:8.47 [[ 9.83737148e-01 3.75387954e-02 -1.75647551e-01 4.25748294e+01] [-3.42447855e-02 9.99176815e-01 2.17482476e-02 3.62251684e+00] [ 1.76319363e-01 -1.53795463e-02 9.84212859e-01 8.46660831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.56538475 meters Centerline goodness : 0.903427 Centerline is valid? [False, False] Translation: X:42.58, Y:3.62, Z:8.47 [[ 9.83622648e-01 3.76052674e-02 -1.76273455e-01 4.25761409e+01] [-3.43220672e-02 9.99176541e-01 2.16387565e-02 3.62175188e+00] [ 1.76942032e-01 -1.52343015e-02 9.84103365e-01 8.46646450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.59538475 meters Centerline goodness : 0.905505 Centerline is valid? [False, False] Translation: X:42.58, Y:3.62, Z:8.47 [[ 9.83510491e-01 3.77568919e-02 -1.76865857e-01 4.25772817e+01] [-3.44445887e-02 9.99169652e-01 2.17618380e-02 3.62178431e+00] [ 1.77540656e-01 -1.53109243e-02 9.83994355e-01 8.46678929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.62538475 meters Centerline goodness : 0.904870 Centerline is valid? [False, False] Translation: X:42.58, Y:3.62, Z:8.47 [[ 9.83451956e-01 3.80451634e-02 -1.77129376e-01 4.25774716e+01] [-3.46491902e-02 9.99152332e-01 2.22272555e-02 3.62110613e+00] [ 1.77824869e-01 -1.57220484e-02 9.83936549e-01 8.46748125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.65538475 meters Centerline goodness : 0.913522 Centerline is valid? [False, False] Translation: X:42.58, Y:3.62, Z:8.47 [[ 9.83505090e-01 3.33508242e-02 -1.77779246e-01 4.25775429e+01] [-3.01095543e-02 9.99328085e-01 2.08996015e-02 3.61670975e+00] [ 1.78356813e-01 -1.52020106e-02 9.83848437e-01 8.47213762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.68538475 meters Centerline goodness : 0.915726 Centerline is valid? [False, False] Translation: X:42.58, Y:3.62, Z:8.47 [[ 9.83580817e-01 2.84757157e-02 -1.78207491e-01 4.25786725e+01] [-2.59055365e-02 9.99524338e-01 1.67332034e-02 3.61730711e+00] [ 1.78599214e-01 -1.18418972e-02 9.83850644e-01 8.47184299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.71538475 meters Centerline goodness : 0.913230 Centerline is valid? [False, False] Translation: X:42.58, Y:3.62, Z:8.47 [[ 9.83464144e-01 2.69888371e-02 -1.79080650e-01 4.25829044e+01] [-2.45693177e-02 9.99574598e-01 1.57153382e-02 3.61836198e+00] [ 1.79428608e-01 -1.10555822e-02 9.83708874e-01 8.47034227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.74538475 meters Centerline goodness : 0.906651 Centerline is valid? [False, False] Translation: X:42.59, Y:3.62, Z:8.47 [[ 9.83410615e-01 2.61375308e-02 -1.79500395e-01 4.25854977e+01] [-2.38195816e-02 9.99602880e-01 1.50569121e-02 3.61929566e+00] [ 1.79822662e-01 -1.05315029e-02 9.83642668e-01 8.46910218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.77538475 meters Centerline goodness : 0.904521 Centerline is valid? [False, False] Translation: X:42.59, Y:3.62, Z:8.47 [[ 9.83277851e-01 2.41349420e-02 -1.80505325e-01 4.25905359e+01] [-2.18729603e-02 9.99655434e-01 1.45116412e-02 3.62026356e+00] [ 1.80793366e-01 -1.03207896e-02 9.83466949e-01 8.46850154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.80538475 meters Centerline goodness : 0.905086 Centerline is valid? [False, False] Translation: X:42.59, Y:3.62, Z:8.47 [[ 9.83176266e-01 2.32379166e-02 -1.81175135e-01 4.25931587e+01] [-2.09819037e-02 9.99676737e-01 1.43590060e-02 3.62024533e+00] [ 1.81450241e-01 -1.03160346e-02 9.83346017e-01 8.46841203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.83538475 meters Centerline goodness : 0.905898 Centerline is valid? [False, False] Translation: X:42.60, Y:3.62, Z:8.47 [[ 9.83132306e-01 1.74768767e-02 -1.82058856e-01 4.25954010e+01] [-1.57017557e-02 9.99814134e-01 1.11871789e-02 3.61810805e+00] [ 1.82220535e-01 -8.13983329e-03 9.83223993e-01 8.47043194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.86538475 meters Centerline goodness : 0.911149 Centerline is valid? [False, False] Translation: X:42.60, Y:3.62, Z:8.47 [[ 9.82981111e-01 1.61603315e-02 -1.82994480e-01 4.25983637e+01] [-1.42068776e-02 9.99827296e-01 1.19809528e-02 3.61542416e+00] [ 1.83156492e-01 -9.17727015e-03 9.83040934e-01 8.47227085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.89538475 meters Centerline goodness : 0.911356 Centerline is valid? [False, False] Translation: X:42.60, Y:3.61, Z:8.48 [[ 9.82677337e-01 1.34874382e-02 -1.84833275e-01 4.26047369e+01] [-1.13128215e-02 9.99853889e-01 1.28148687e-02 3.61405001e+00] [ 1.84979109e-01 -1.05018952e-02 9.82686338e-01 8.47506545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.92538475 meters Centerline goodness : 0.912571 Centerline is valid? [False, False] Translation: X:42.61, Y:3.61, Z:8.48 [[ 9.82570554e-01 1.25503147e-02 -1.85465887e-01 4.26071653e+01] [-1.03763895e-02 9.99865670e-01 1.26874761e-02 3.61358683e+00] [ 1.85600205e-01 -1.05418741e-02 9.82568793e-01 8.47509955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.95538475 meters Centerline goodness : 0.913729 Centerline is valid? [False, False] Translation: X:42.61, Y:3.61, Z:8.48 [[ 9.82324937e-01 1.09945076e-02 -1.86860481e-01 4.26111315e+01] [-8.66336006e-03 9.99874188e-01 1.32873991e-02 3.61239464e+00] [ 1.86983060e-01 -1.14337038e-02 9.82296598e-01 8.47722086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.98538475 meters Centerline goodness : 0.916935 Centerline is valid? [False, False] Translation: X:42.61, Y:3.61, Z:8.48 [[ 9.82219418e-01 9.92261068e-03 -1.87474150e-01 4.26131596e+01] [-7.54798988e-03 9.99882048e-01 1.33760205e-02 3.61210843e+00] [ 1.87584762e-01 -1.17231341e-02 9.82178459e-01 8.47820599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.01538475 meters Centerline goodness : 0.915527 Centerline is valid? [False, False] Translation: X:42.61, Y:3.61, Z:8.48 [[ 9.82121512e-01 9.36919310e-03 -1.88014768e-01 4.26148314e+01] [-6.97631885e-03 9.99886083e-01 1.33847622e-02 3.61222573e+00] [ 1.88118755e-01 -1.18338120e-02 9.82074995e-01 8.47852964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.04538475 meters Centerline goodness : 0.914206 Centerline is valid? [False, False] Translation: X:42.62, Y:3.61, Z:8.48 [[ 9.82003342e-01 8.27042336e-03 -1.88682368e-01 4.26172503e+01] [-6.00847278e-03 9.99903105e-01 1.25569849e-02 3.61440678e+00] [ 1.88767937e-01 -1.11973083e-02 9.81957884e-01 8.47820831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.07538475 meters Centerline goodness : 0.916166 Centerline is valid? [False, False] Translation: X:42.62, Y:3.62, Z:8.48 [[ 9.81964926e-01 8.23762489e-03 -1.88883631e-01 4.26178024e+01] [-6.01144839e-03 9.99905593e-01 1.23558390e-02 3.61547754e+00] [ 1.88967582e-01 -1.09975363e-02 9.81921742e-01 8.47806457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.10538475 meters Centerline goodness : 0.913188 Centerline is valid? [False, False] Translation: X:42.62, Y:3.62, Z:8.48 [[ 9.81899815e-01 8.07897993e-03 -1.89228651e-01 4.26186519e+01] [-5.88808446e-03 9.99909003e-01 1.21373571e-02 3.61787186e+00] [ 1.89309490e-01 -1.08034745e-02 9.81858036e-01 8.47833735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.13538475000001 meters Centerline goodness : 0.911772 Centerline is valid? [False, False] Translation: X:42.62, Y:3.62, Z:8.48 [[ 9.81823044e-01 7.90565164e-03 -1.89633888e-01 4.26192856e+01] [-5.66753400e-03 9.99907776e-01 1.23417132e-02 3.61813087e+00] [ 1.89713968e-01 -1.10426219e-02 9.81777302e-01 8.47918459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.16538475000002 meters Centerline goodness : 0.919108 Centerline is valid? [False, False] Translation: X:42.62, Y:3.62, Z:8.48 [[ 9.81794811e-01 8.73758757e-03 -1.89743519e-01 4.26176945e+01] [-6.35995191e-03 9.99893491e-01 1.31360963e-02 3.61837084e+00] [ 1.89838088e-01 -1.16901916e-02 9.81745812e-01 8.48128070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.19538475000002 meters Centerline goodness : 0.920027 Centerline is valid? [False, False] Translation: X:42.62, Y:3.62, Z:8.48 [[ 9.81740989e-01 8.75625752e-03 -1.90020944e-01 4.26184047e+01] [-6.39055763e-03 9.99894308e-01 1.30588746e-02 3.61898349e+00] [ 1.90115207e-01 -1.16060927e-02 9.81693184e-01 8.48121709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.22538475 meters Centerline goodness : 0.924053 Centerline is valid? [False, False] Translation: X:42.62, Y:3.62, Z:8.48 [[ 9.81539875e-01 1.30548736e-02 -1.90811541e-01 4.26202055e+01] [-9.91722280e-03 9.99799608e-01 1.73894506e-02 3.61789657e+00] [ 1.91000321e-01 -1.51761186e-02 9.81472650e-01 8.48236435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.25538475 meters Centerline goodness : 0.922374 Centerline is valid? [False, False] Translation: X:42.62, Y:3.62, Z:8.48 [[ 9.81463397e-01 1.29783995e-02 -1.91209731e-01 4.26215402e+01] [-9.89442412e-03 9.99805258e-01 1.70747426e-02 3.61829093e+00] [ 1.91394097e-01 -1.48663247e-02 9.81400679e-01 8.48173358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.28538475 meters Centerline goodness : 0.928941 Centerline is valid? [False, False] Translation: X:42.62, Y:3.62, Z:8.48 [[ 9.81405802e-01 7.81418085e-03 -1.91785270e-01 4.26230211e+01] [-5.27201904e-03 9.99891401e-01 1.37619650e-02 3.61579296e+00] [ 1.91871981e-01 -1.24949767e-02 9.81340419e-01 8.48302416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.31538475 meters Centerline goodness : 0.932081 Centerline is valid? [False, False] Translation: X:42.63, Y:3.61, Z:8.49 [[ 9.81207102e-01 6.95332541e-03 -1.92832246e-01 4.26254917e+01] [-4.18270065e-03 9.99882148e-01 1.47714421e-02 3.61349168e+00] [ 1.92912231e-01 -1.36872844e-02 9.81120548e-01 8.48535346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.34538475 meters Centerline goodness : 0.935693 Centerline is valid? [False, False] Translation: X:42.63, Y:3.61, Z:8.48 [[ 9.81125092e-01 1.02735481e-03 -1.93371402e-01 4.26284948e+01] [ 8.78466188e-04 9.99951889e-01 9.76975176e-03 3.61462745e+00] [ 1.93372136e-01 -9.75521883e-03 9.81076986e-01 8.48393670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.37538475 meters Centerline goodness : 0.935464 Centerline is valid? [False, False] Translation: X:42.63, Y:3.62, Z:8.48 [[ 9.80984948e-01 -1.79741884e-04 -1.94083745e-01 4.26315743e+01] [ 2.02719759e-03 9.99954510e-01 9.32028908e-03 3.61519565e+00] [ 1.94073241e-01 -9.53650939e-03 9.80940687e-01 8.48356926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.40538475 meters Centerline goodness : 0.931744 Centerline is valid? [False, False] Translation: X:42.64, Y:3.62, Z:8.49 [[ 9.80673018e-01 9.55515548e-04 -1.95651523e-01 4.26382658e+01] [ 1.67911599e-03 9.99910146e-01 1.32996329e-02 3.61520527e+00] [ 1.95646651e-01 -1.33711128e-02 9.80583296e-01 8.48560642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.43538475 meters Centerline goodness : 0.933016 Centerline is valid? [False, False] Translation: X:42.64, Y:3.62, Z:8.49 [[ 9.80526296e-01 -1.72452320e-04 -1.96387763e-01 4.26404273e+01] [ 2.74242639e-03 9.99914132e-01 1.28143610e-02 3.61680059e+00] [ 1.96368689e-01 -1.31033969e-02 9.80442573e-01 8.48625385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.46538475 meters Centerline goodness : 0.933595 Centerline is valid? [False, False] Translation: X:42.64, Y:3.62, Z:8.49 [[ 9.80441296e-01 -2.07340682e-04 -1.96811640e-01 4.26408783e+01] [ 2.84573528e-03 9.99909841e-01 1.31229758e-02 3.61750673e+00] [ 1.96791175e-01 -1.34263812e-02 9.80353490e-01 8.48734869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.49538475 meters Centerline goodness : 0.933428 Centerline is valid? [False, False] Translation: X:42.64, Y:3.62, Z:8.49 [[ 9.80349250e-01 -8.64389645e-05 -1.97269717e-01 4.26414832e+01] [ 2.69864303e-03 9.99912205e-01 1.29730063e-02 3.61950616e+00] [ 1.97251277e-01 -1.32504376e-02 9.80263413e-01 8.48774738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.52538475 meters Centerline goodness : 0.935570 Centerline is valid? [False, False] Translation: X:42.64, Y:3.62, Z:8.49 [[ 9.80284269e-01 -4.69615111e-05 -1.97592381e-01 4.26422420e+01] [ 2.63701738e-03 9.99914023e-01 1.28449749e-02 3.62050364e+00] [ 1.97574789e-01 -1.31127814e-02 9.80200111e-01 8.48765522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.55538475 meters Centerline goodness : 0.935570 Centerline is valid? [False, False] Translation: X:42.64, Y:3.62, Z:8.49 [[ 9.80284269e-01 -4.69615111e-05 -1.97592381e-01 4.26422420e+01] [ 2.63701738e-03 9.99914023e-01 1.28449749e-02 3.62050364e+00] [ 1.97574789e-01 -1.31127814e-02 9.80200111e-01 8.48765522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.58538475 meters Centerline goodness : 0.933034 Centerline is valid? [False, False] Translation: X:42.64, Y:3.62, Z:8.49 [[ 9.80252873e-01 2.32431390e-04 -1.97747948e-01 4.26422849e+01] [ 2.30219343e-03 9.99918125e-01 1.25874584e-02 3.62261627e+00] [ 1.97734683e-01 -1.27941463e-02 9.80172079e-01 8.48762113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.61538475 meters Centerline goodness : 0.935352 Centerline is valid? [False, False] Translation: X:42.64, Y:3.62, Z:8.49 [[ 9.80227592e-01 1.04691317e-03 -1.97870594e-01 4.26419675e+01] [ 1.53667762e-03 9.99915572e-01 1.29029712e-02 3.62356046e+00] [ 1.97867397e-01 -1.29519117e-02 9.80143225e-01 8.48793909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.64538475 meters Centerline goodness : 0.941686 Centerline is valid? [False, False] Translation: X:42.65, Y:3.62, Z:8.50 [[ 9.80122287e-01 6.97328992e-04 -1.98393086e-01 4.26502184e+01] [ 3.82471862e-03 9.99741565e-01 2.24092524e-02 3.61820030e+00] [ 1.98357441e-01 -2.27226054e-02 9.79866322e-01 8.49971860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.67538475 meters Centerline goodness : 0.941036 Centerline is valid? [False, False] Translation: X:42.65, Y:3.62, Z:8.50 [[ 9.79870764e-01 4.42664035e-03 -1.99583792e-01 4.26529578e+01] [ 1.25856811e-03 9.99597281e-01 2.83494552e-02 3.61511843e+00] [ 1.99628909e-01 -2.80299921e-02 9.79470581e-01 8.50382775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.70538475 meters Centerline goodness : 0.941947 Centerline is valid? [False, False] Translation: X:42.66, Y:3.61, Z:8.51 [[ 9.79557595e-01 3.27745134e-03 -2.01137207e-01 4.26644969e+01] [ 3.97145159e-03 9.99357320e-01 3.56254850e-02 3.61232735e+00] [ 2.01124701e-01 -3.56960211e-02 9.78915037e-01 8.51176161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.73538475 meters Centerline goodness : 0.942648 Centerline is valid? [False, False] Translation: X:42.67, Y:3.61, Z:8.51 [[ 9.79409159e-01 2.79921464e-03 -2.01865956e-01 4.26667110e+01] [ 4.63552062e-03 9.99328445e-01 3.63479127e-02 3.61200073e+00] [ 2.01832138e-01 -3.65352324e-02 9.78738456e-01 8.51332831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.76538475 meters Centerline goodness : 0.944162 Centerline is valid? [False, False] Translation: X:42.67, Y:3.61, Z:8.51 [[ 9.79243986e-01 2.33887884e-03 -2.02671521e-01 4.26686839e+01] [ 5.25754637e-03 9.99303840e-01 3.69349933e-02 3.61015176e+00] [ 2.02616816e-01 -3.72339250e-02 9.78549979e-01 8.51453838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.79538475 meters Centerline goodness : 0.944481 Centerline is valid? [False, False] Translation: X:42.67, Y:3.61, Z:8.51 [[ 9.79298775e-01 -1.70236812e-03 -2.02412971e-01 4.26680226e+01] [ 8.45272745e-03 9.99436326e-01 3.24897019e-02 3.61281352e+00] [ 2.02243567e-01 -3.35280670e-02 9.78761160e-01 8.51340674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.82538475 meters Centerline goodness : 0.943722 Centerline is valid? [False, False] Translation: X:42.67, Y:3.62, Z:8.51 [[ 9.79455601e-01 -5.73816212e-03 -2.01578272e-01 4.26686019e+01] [ 1.18194513e-02 9.99510177e-01 2.89777083e-02 3.61562410e+00] [ 2.01313256e-01 -3.07649233e-02 9.79043662e-01 8.51169400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.85538475 meters Centerline goodness : 0.945177 Centerline is valid? [False, False] Translation: X:42.67, Y:3.62, Z:8.51 [[ 9.79294041e-01 -6.54372347e-03 -2.02337245e-01 4.26710749e+01] [ 1.26388024e-02 9.99503961e-01 2.88460307e-02 3.61551878e+00] [ 2.02048118e-01 -3.08060464e-02 9.78890977e-01 8.51198050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.88538475000001 meters Centerline goodness : 0.945747 Centerline is valid? [False, False] Translation: X:42.67, Y:3.62, Z:8.51 [[ 9.79174298e-01 -6.77720078e-03 -2.02908266e-01 4.26723479e+01] [ 1.26426539e-02 9.99538412e-01 2.76247455e-02 3.61932722e+00] [ 2.02627388e-01 -2.96147398e-02 9.78808004e-01 8.51133569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.91538475000002 meters Centerline goodness : 0.944462 Centerline is valid? [False, False] Translation: X:42.67, Y:3.62, Z:8.51 [[ 9.79053178e-01 -7.43227275e-03 -2.03469004e-01 4.26744210e+01] [ 1.31934792e-02 9.99549089e-01 2.69731318e-02 3.62100922e+00] [ 2.03176786e-01 -2.90925945e-02 9.78709770e-01 8.51079026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.94538475000002 meters Centerline goodness : 0.947468 Centerline is valid? [False, False] Translation: X:42.68, Y:3.62, Z:8.51 [[ 9.78935993e-01 -9.52049038e-03 -2.03945293e-01 4.26775228e+01] [ 1.54444803e-02 9.99503173e-01 2.74750019e-02 3.61842427e+00] [ 2.03582391e-01 -3.00460973e-02 9.78596670e-01 8.51236866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.97538475 meters Centerline goodness : 0.950104 Centerline is valid? [False, True] Translation: X:42.67, Y:3.61, Z:8.52 [[ 9.81236800e-01 -6.47032173e-03 -1.92697891e-01 4.26746871e+01] [ 1.38037993e-02 9.99229567e-01 3.67386433e-02 3.61263102e+00] [ 1.92311719e-01 -3.87092719e-02 9.80570138e-01 8.51833568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.00538475 meters Centerline goodness : 0.952049 Centerline is valid? [True, True] Translation: X:42.70, Y:3.62, Z:8.50 [[ 9.80801361e-01 -1.07275877e-02 -1.94714172e-01 4.27046889e+01] [ 1.16235437e-02 9.99926460e-01 3.45937152e-03 3.62397889e+00] [ 1.94662742e-01 -5.65622498e-03 9.80853926e-01 8.50259032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.03538475 meters Centerline goodness : 0.951966 Centerline is valid? [True, True] Translation: X:42.73, Y:3.62, Z:8.51 [[ 9.80265941e-01 -1.55786508e-02 -1.97068494e-01 4.27311225e+01] [ 1.65894274e-02 9.99856333e-01 3.47918668e-03 3.62218678e+00] [ 1.96985980e-01 -6.67978168e-03 9.80383549e-01 8.50897822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.06538475 meters Centerline goodness : 0.952393 Centerline is valid? [True, True] Translation: X:42.76, Y:3.62, Z:8.51 [[ 9.80193166e-01 -1.87183481e-02 -1.97157250e-01 4.27572218e+01] [ 1.97881807e-02 9.99798216e-01 3.45748563e-03 3.62022834e+00] [ 1.97052748e-01 -7.29038706e-03 9.80365781e-01 8.51446793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.09538475 meters Centerline goodness : 0.953252 Centerline is valid? [True, True] Translation: X:42.78, Y:3.62, Z:8.52 [[ 9.80157316e-01 -2.29462163e-02 -1.96888566e-01 4.27844595e+01] [ 2.40902621e-02 9.99703947e-01 3.41728173e-03 3.62001196e+00] [ 1.96751863e-01 -8.09257085e-03 9.80419918e-01 8.51932113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.12538475 meters Centerline goodness : 0.951301 Centerline is valid? [True, True] Translation: X:42.81, Y:3.62, Z:8.53 [[ 9.80022705e-01 -2.23653386e-02 -1.97624113e-01 4.28109871e+01] [ 2.34973878e-02 9.99718168e-01 3.38490197e-03 3.62139956e+00] [ 1.97492712e-01 -7.96093122e-03 9.80272030e-01 8.52520594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.15538475 meters Centerline goodness : 0.950997 Centerline is valid? [True, True] Translation: X:42.84, Y:3.62, Z:8.53 [[ 9.79901450e-01 -2.28108550e-02 -1.98173694e-01 4.28388997e+01] [ 2.39531735e-02 9.99707406e-01 3.36860451e-03 3.62301390e+00] [ 1.98038869e-01 -8.04778932e-03 9.80161129e-01 8.53013688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.18538475 meters Centerline goodness : 0.947970 Centerline is valid? [True, False] Translation: X:42.84, Y:3.62, Z:8.53 [[ 9.79705678e-01 -1.91225995e-02 -1.99527218e-01 4.28424112e+01] [ 2.09653180e-02 9.99754804e-01 7.12649846e-03 3.62475262e+00] [ 1.99342018e-01 -1.11650226e-02 9.79866370e-01 8.53100841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.21538475 meters Centerline goodness : 0.946100 Centerline is valid? [False, False] Translation: X:42.86, Y:3.63, Z:8.53 [[ 9.80585755e-01 -1.80791951e-02 -1.95255523e-01 4.28615753e+01] [ 1.87039059e-02 9.99824147e-01 1.35600704e-03 3.62765296e+00] [ 1.95196671e-01 -4.98172210e-03 9.80751468e-01 8.52932248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.24538475 meters Centerline goodness : 0.947414 Centerline is valid? [False, False] Translation: X:42.88, Y:3.63, Z:8.53 [[ 9.81443230e-01 -1.32952141e-02 -1.91291462e-01 4.28792002e+01] [ 1.35730485e-02 9.99907872e-01 1.42124952e-04 3.62926765e+00] [ 1.91271949e-01 -2.73589585e-03 9.81533268e-01 8.53230400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.27538475 meters Centerline goodness : 0.948634 Centerline is valid? [False, False] Translation: X:42.88, Y:3.63, Z:8.53 [[ 9.81033937e-01 -1.17384382e-02 -1.93480293e-01 4.28837636e+01] [ 1.12907880e-02 9.99930421e-01 -3.41624096e-03 3.63135267e+00] [ 1.93506932e-01 1.16690336e-03 9.81098214e-01 8.53199184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.30538475 meters Centerline goodness : 0.949609 Centerline is valid? [False, False] Translation: X:42.88, Y:3.63, Z:8.53 [[ 9.80951855e-01 -1.92136689e-03 -1.94241518e-01 4.28840165e+01] [ 2.96376030e-03 9.99982725e-01 5.07601300e-03 3.63225276e+00] [ 1.94228409e-01 -5.55500966e-03 9.80940603e-01 8.53386018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.33538475 meters Centerline goodness : 0.948596 Centerline is valid? [False, False] Translation: X:42.88, Y:3.63, Z:8.54 [[ 9.80868201e-01 3.33130911e-03 -1.94644482e-01 4.28839881e+01] [-1.47388003e-03 9.99951996e-01 9.68672275e-03 3.63197358e+00] [ 1.94667408e-01 -9.21451570e-03 9.80826026e-01 8.53500176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.36538475 meters Centerline goodness : 0.947604 Centerline is valid? [False, False] Translation: X:42.88, Y:3.63, Z:8.54 [[ 9.80831154e-01 1.07034806e-02 -1.94565371e-01 4.28811198e+01] [-8.06549119e-03 9.99864567e-01 1.43455435e-02 3.63301583e+00] [ 1.94692568e-01 -1.25012907e-02 9.80784646e-01 8.53573371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.39538475 meters Centerline goodness : 0.943748 Centerline is valid? [False, False] Translation: X:42.88, Y:3.63, Z:8.54 [[ 9.80684434e-01 1.61197399e-02 -1.94931255e-01 4.28809479e+01] [-1.26365118e-02 9.99737730e-01 1.90994602e-02 3.63237172e+00] [ 1.95188009e-01 -1.62672922e-02 9.80630928e-01 8.53703521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.42538475 meters Centerline goodness : 0.941926 Centerline is valid? [False, False] Translation: X:42.88, Y:3.63, Z:8.54 [[ 9.80525352e-01 2.31573619e-02 -1.95022489e-01 4.28791005e+01] [-1.88991858e-02 9.99541240e-01 2.36670522e-02 3.63240520e+00] [ 1.95481087e-01 -1.95203784e-02 9.80513182e-01 8.53743645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.45538475 meters Centerline goodness : 0.943501 Centerline is valid? [False, False] Translation: X:42.88, Y:3.63, Z:8.54 [[ 9.80508483e-01 2.50033744e-02 -1.94879310e-01 4.28774531e+01] [-2.07534242e-02 9.99500832e-01 2.38197940e-02 3.63330586e+00] [ 1.95377608e-01 -1.93110971e-02 9.80537950e-01 8.53693694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.48538475 meters Centerline goodness : 0.941781 Centerline is valid? [False, False] Translation: X:42.89, Y:3.63, Z:8.53 [[ 9.81125468e-01 3.55769756e-02 -1.90071289e-01 4.28893259e+01] [-3.19676676e-02 9.99246252e-01 2.20226143e-02 3.63475874e+00] [ 1.90711521e-01 -1.55308120e-02 9.81523260e-01 8.53411201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.51538475 meters Centerline goodness : 0.939637 Centerline is valid? [False, False] Translation: X:42.89, Y:3.63, Z:8.54 [[ 9.80866691e-01 4.10606481e-02 -1.90301228e-01 4.28892069e+01] [-3.66221833e-02 9.98970207e-01 2.67832447e-02 3.63368771e+00] [ 1.91204995e-01 -1.93015461e-02 9.81360332e-01 8.53515766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.54538475 meters Centerline goodness : 0.939595 Centerline is valid? [False, False] Translation: X:42.90, Y:3.63, Z:8.53 [[ 9.81287392e-01 4.93302357e-02 -1.86122491e-01 4.28998859e+01] [-4.60965618e-02 9.98702038e-01 2.16643996e-02 3.63413857e+00] [ 1.86949621e-01 -1.26793953e-02 9.82287673e-01 8.53164141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.57538475 meters Centerline goodness : 0.940626 Centerline is valid? [False, False] Translation: X:42.91, Y:3.64, Z:8.53 [[ 9.81970660e-01 5.28955972e-02 -1.81481899e-01 4.29126008e+01] [-5.11669521e-02 9.98589197e-01 1.41971525e-02 3.63600465e+00] [ 1.81976831e-01 -4.65531157e-03 9.83291799e-01 8.52814090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.60538475 meters Centerline goodness : 0.940431 Centerline is valid? [False, False] Translation: X:42.91, Y:3.64, Z:8.53 [[ 9.81828214e-01 5.57976630e-02 -1.81383513e-01 4.29093475e+01] [-5.39039294e-02 9.98428025e-01 1.53572488e-02 3.63540057e+00] [ 1.81955281e-01 -5.30089611e-03 9.83292518e-01 8.52934419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.63538475000001 meters Centerline goodness : 0.937922 Centerline is valid? [False, False] Translation: X:42.91, Y:3.63, Z:8.53 [[ 9.81784367e-01 5.64114692e-02 -1.81430987e-01 4.29090436e+01] [-5.44390008e-02 9.98391494e-01 1.58372676e-02 3.63435513e+00] [ 1.82032558e-01 -5.67186002e-03 9.83276145e-01 8.52955297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.66538475000002 meters Centerline goodness : 0.934380 Centerline is valid? [False, False] Translation: X:42.91, Y:3.63, Z:8.53 [[ 9.81712946e-01 5.58373277e-02 -1.81994189e-01 4.29122564e+01] [-5.39856438e-02 9.98427285e-01 1.51164502e-02 3.63438960e+00] [ 1.82552027e-01 -5.01494138e-03 9.83183405e-01 8.52753263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.69538475000002 meters Centerline goodness : 0.931450 Centerline is valid? [False, False] Translation: X:42.91, Y:3.63, Z:8.53 [[ 9.81648883e-01 5.54547697e-02 -1.82456130e-01 4.29142827e+01] [-5.36557221e-02 9.98450022e-01 1.47856715e-02 3.63462529e+00] [ 1.82993263e-01 -4.72452250e-03 9.83102815e-01 8.52668157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.72538475 meters Centerline goodness : 0.928472 Centerline is valid? [False, False] Translation: X:42.92, Y:3.63, Z:8.53 [[ 9.81580370e-01 5.54383062e-02 -1.82829352e-01 4.29157420e+01] [-5.36235549e-02 9.98450668e-01 1.48585825e-02 3.63326457e+00] [ 1.83369824e-01 -4.78093312e-03 9.83032375e-01 8.52614824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.75538475 meters Centerline goodness : 0.927825 Centerline is valid? [False, False] Translation: X:42.92, Y:3.63, Z:8.53 [[ 9.81519163e-01 5.53854318e-02 -1.83173651e-01 4.29167406e+01] [-5.35188657e-02 9.98452333e-01 1.51218328e-02 3.63229820e+00] [ 1.83727688e-01 -5.03912266e-03 9.82964264e-01 8.52626987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.78538475 meters Centerline goodness : 0.925626 Centerline is valid? [False, False] Translation: X:42.92, Y:3.63, Z:8.53 [[ 9.81145003e-01 5.92746559e-02 -1.83959232e-01 4.29195779e+01] [-5.65645636e-02 9.98199613e-01 1.99495273e-02 3.62898947e+00] [ 1.84810536e-01 -9.16780535e-03 9.82731406e-01 8.52766842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.81538475 meters Centerline goodness : 0.922757 Centerline is valid? [False, False] Translation: X:42.92, Y:3.63, Z:8.53 [[ 9.81071623e-01 6.09273710e-02 -1.83810571e-01 4.29174249e+01] [-5.80051530e-02 9.98090347e-01 2.12382301e-02 3.62680695e+00] [ 1.84753546e-01 -1.01742646e-02 9.82732218e-01 8.52907371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.84538475 meters Centerline goodness : 0.921195 Centerline is valid? [False, False] Translation: X:42.92, Y:3.63, Z:8.53 [[ 9.81025614e-01 6.14765388e-02 -1.83873270e-01 4.29171169e+01] [-5.85007724e-02 9.98054302e-01 2.15701165e-02 3.62647841e+00] [ 1.84841564e-01 -1.04041085e-02 9.82713260e-01 8.52929632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.87538475 meters Centerline goodness : 0.920121 Centerline is valid? [False, False] Translation: X:42.92, Y:3.63, Z:8.53 [[ 9.81017803e-01 6.21623396e-02 -1.83684277e-01 4.29163427e+01] [-5.91423072e-02 9.98009752e-01 2.18797434e-02 3.62646547e+00] [ 1.84678796e-01 -1.06009058e-02 9.82741758e-01 8.52930585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.90538475 meters Centerline goodness : 0.913861 Centerline is valid? [False, False] Translation: X:42.92, Y:3.63, Z:8.53 [[ 9.80926683e-01 6.30385762e-02 -1.83872184e-01 4.29161250e+01] [-5.99234389e-02 9.97950374e-01 2.24551124e-02 3.62518048e+00] [ 1.84910853e-01 -1.10085653e-02 9.82693639e-01 8.52971128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.93538475 meters Centerline goodness : 0.913835 Centerline is valid? [False, False] Translation: X:42.92, Y:3.62, Z:8.53 [[ 9.81118826e-01 5.94872398e-02 -1.84030207e-01 4.29153281e+01] [-5.69824944e-02 9.98196759e-01 1.88739229e-02 3.62331838e+00] [ 1.84821114e-01 -8.03106085e-03 9.82739364e-01 8.52937912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.96538475 meters Centerline goodness : 0.914327 Centerline is valid? [False, False] Translation: X:42.92, Y:3.62, Z:8.53 [[ 9.81062256e-01 5.96800771e-02 -1.84269199e-01 4.29156835e+01] [-5.71410316e-02 9.98184096e-01 1.90633838e-02 3.62307100e+00] [ 1.85072288e-01 -8.17303417e-03 9.82690923e-01 8.52964573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.99538475 meters Centerline goodness : 0.910807 Centerline is valid? [False, False] Translation: X:42.92, Y:3.62, Z:8.53 [[ 9.81003685e-01 5.98591011e-02 -1.84522787e-01 4.29167093e+01] [-5.72667590e-02 9.98171353e-01 1.93512056e-02 3.62157025e+00] [ 1.85343706e-01 -8.41658206e-03 9.82637711e-01 8.52940610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.02538475 meters Centerline goodness : 0.909422 Centerline is valid? [False, False] Translation: X:42.92, Y:3.62, Z:8.53 [[ 9.81237092e-01 5.51420701e-02 -1.84751512e-01 4.29179253e+01] [-5.33215326e-02 9.98467538e-01 1.48117941e-02 3.62168612e+00] [ 1.85285141e-01 -4.68264799e-03 9.82673643e-01 8.52761460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.05538475 meters Centerline goodness : 0.904750 Centerline is valid? [False, False] Translation: X:42.92, Y:3.62, Z:8.53 [[ 9.81374421e-01 4.99403945e-02 -1.85499873e-01 4.29208117e+01] [-4.88150960e-02 9.98751249e-01 1.06315159e-02 3.61977020e+00] [ 1.85799172e-01 -1.37830369e-03 9.82586774e-01 8.52631991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.08538475 meters Centerline goodness : 0.902851 Centerline is valid? [False, False] Translation: X:42.92, Y:3.62, Z:8.53 [[ 9.81259371e-01 4.90003639e-02 -1.86357215e-01 4.29236834e+01] [-4.77852196e-02 9.98796957e-01 1.10096074e-02 3.61740939e+00] [ 1.86672494e-01 -1.89815997e-03 9.82420367e-01 8.52687133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.11538475 meters Centerline goodness : 0.901996 Centerline is valid? [False, False] Translation: X:42.93, Y:3.62, Z:8.53 [[ 9.81156661e-01 4.83008755e-02 -1.87079211e-01 4.29258466e+01] [-4.69811843e-02 9.98829756e-01 1.14841718e-02 3.61535804e+00] [ 1.87414979e-01 -2.47856871e-03 9.82277701e-01 8.52768388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.14538475 meters Centerline goodness : 0.898575 Centerline is valid? [False, False] Translation: X:42.93, Y:3.61, Z:8.53 [[ 9.81076339e-01 4.76183542e-02 -1.87674479e-01 4.29278367e+01] [-4.61462799e-02 9.98860098e-01 1.22075771e-02 3.61334635e+00] [ 1.88041853e-01 -3.31608603e-03 9.82155418e-01 8.52887932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.17538475 meters Centerline goodness : 0.892744 Centerline is valid? [False, False] Translation: X:42.93, Y:3.61, Z:8.53 [[ 9.80931320e-01 4.80553898e-02 -1.88320006e-01 4.29338178e+01] [-4.55538787e-02 9.98806980e-01 1.75915051e-02 3.61074401e+00] [ 1.88940703e-01 -8.67735164e-03 9.81950159e-01 8.53309402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.20538475 meters Centerline goodness : 0.894628 Centerline is valid? [False, False] Translation: X:42.94, Y:3.61, Z:8.53 [[ 9.80854883e-01 4.75830928e-02 -1.88837357e-01 4.29353649e+01] [-4.49770184e-02 9.98824681e-01 1.80644306e-02 3.60936219e+00] [ 1.89474974e-01 -9.22524370e-03 9.81842212e-01 8.53385087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.23538475 meters Centerline goodness : 0.893254 Centerline is valid? [False, False] Translation: X:42.94, Y:3.60, Z:8.54 [[ 9.80690493e-01 4.48086921e-02 -1.90363698e-01 4.29417692e+01] [-4.15705216e-02 9.98915448e-01 2.09718526e-02 3.60441951e+00] [ 1.91096960e-01 -1.26533783e-02 9.81489605e-01 8.53913954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.26538475 meters Centerline goodness : 0.895912 Centerline is valid? [False, False] Translation: X:42.94, Y:3.60, Z:8.54 [[ 9.80607022e-01 4.45744705e-02 -1.90848068e-01 4.29426198e+01] [-4.11852547e-02 9.98916059e-01 2.16905755e-02 3.60276141e+00] [ 1.91608046e-01 -1.34098044e-02 9.81379913e-01 8.54054277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.29538475 meters Centerline goodness : 0.895253 Centerline is valid? [False, False] Translation: X:42.94, Y:3.60, Z:8.54 [[ 9.80796077e-01 3.98564375e-02 -1.90920190e-01 4.29431205e+01] [-3.72266281e-02 9.99156348e-01 1.73427531e-02 3.60328687e+00] [ 1.91450340e-01 -9.90238934e-03 9.81452347e-01 8.53947780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.32538475 meters Centerline goodness : 0.897948 Centerline is valid? [False, False] Translation: X:42.95, Y:3.60, Z:8.54 [[ 9.80577034e-01 3.83525781e-02 -1.92348019e-01 4.29473331e+01] [-3.54278016e-02 9.99198700e-01 1.86233141e-02 3.60118620e+00] [ 1.92908143e-01 -1.14471267e-02 9.81150045e-01 8.54232243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.35538475 meters Centerline goodness : 0.893611 Centerline is valid? [False, False] Translation: X:42.95, Y:3.60, Z:8.54 [[ 9.80480504e-01 3.71722556e-02 -1.93070467e-01 4.29509133e+01] [-3.43795643e-02 9.99250392e-01 1.77960850e-02 3.60235873e+00] [ 1.93587261e-01 -1.08110358e-02 9.81023493e-01 8.54108681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.38538475000001 meters Centerline goodness : 0.894319 Centerline is valid? [False, False] Translation: X:42.95, Y:3.60, Z:8.54 [[ 9.80430886e-01 3.66536389e-02 -1.93421270e-01 4.29528138e+01] [-3.39759717e-02 9.99275598e-01 1.71439001e-02 3.60351609e+00] [ 1.93909542e-01 -1.02367336e-02 9.80966003e-01 8.53995894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.41538475000002 meters Centerline goodness : 0.894737 Centerline is valid? [False, False] Translation: X:42.95, Y:3.60, Z:8.54 [[ 9.80334555e-01 3.62582238e-02 -1.93983249e-01 4.29548627e+01] [-3.36699474e-02 9.99294735e-01 1.66243182e-02 3.60459856e+00] [ 1.94449208e-01 -9.76598781e-03 9.80863972e-01 8.53920019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.44538475000002 meters Centerline goodness : 0.897092 Centerline is valid? [False, False] Translation: X:42.96, Y:3.61, Z:8.54 [[ 9.80298505e-01 3.61051757e-02 -1.94193868e-01 4.29561234e+01] [-3.36473460e-02 9.99306626e-01 1.59412772e-02 3.60600739e+00] [ 1.94634781e-01 -9.09310193e-03 9.80833634e-01 8.53800712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.47538475 meters Centerline goodness : 0.897092 Centerline is valid? [False, False] Translation: X:42.96, Y:3.61, Z:8.54 [[ 9.80298505e-01 3.61051757e-02 -1.94193868e-01 4.29561234e+01] [-3.36473460e-02 9.99306626e-01 1.59412772e-02 3.60600739e+00] [ 1.94634781e-01 -9.09310193e-03 9.80833634e-01 8.53800712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.50538475 meters Centerline goodness : 0.897820 Centerline is valid? [False, False] Translation: X:42.96, Y:3.61, Z:8.54 [[ 9.80269299e-01 3.60303339e-02 -1.94355130e-01 4.29569060e+01] [-3.35809787e-02 9.99309776e-01 1.58836171e-02 3.60628868e+00] [ 1.94793273e-01 -9.04358675e-03 9.80802628e-01 8.53774308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.53538475 meters Centerline goodness : 0.902046 Centerline is valid? [False, False] Translation: X:42.96, Y:3.61, Z:8.54 [[ 9.79935573e-01 4.01314327e-02 -1.95232532e-01 4.29595811e+01] [-3.68954086e-02 9.99115252e-01 2.01851765e-02 3.60539575e+00] [ 1.95869861e-01 -1.25769884e-02 9.80549242e-01 8.53884451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.56538475 meters Centerline goodness : 0.902555 Centerline is valid? [False, False] Translation: X:42.96, Y:3.61, Z:8.54 [[ 9.79891755e-01 3.99799692e-02 -1.95483379e-01 4.29607363e+01] [-3.67918182e-02 9.99124503e-01 1.99145708e-02 3.60533215e+00] [ 1.96108418e-01 -1.23219348e-02 9.80504798e-01 8.53815720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.59538475 meters Centerline goodness : 0.905193 Centerline is valid? [False, False] Translation: X:42.96, Y:3.60, Z:8.54 [[ 9.79704112e-01 3.86791962e-02 -1.96681910e-01 4.29648822e+01] [-3.54483433e-02 9.99172920e-01 1.99221058e-02 3.60298014e+00] [ 1.97289809e-01 -1.25457211e-02 9.80264932e-01 8.53838102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.62538475 meters Centerline goodness : 0.907603 Centerline is valid? [False, False] Translation: X:42.97, Y:3.60, Z:8.54 [[ 9.79859891e-01 3.37138936e-02 -1.96819630e-01 4.29657837e+01] [-3.12871021e-02 9.99391372e-01 1.54273125e-02 3.60294182e+00] [ 1.97219955e-01 -8.95868885e-03 9.80318332e-01 8.53718154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.65538475 meters Centerline goodness : 0.910957 Centerline is valid? [False, False] Translation: X:42.97, Y:3.60, Z:8.54 [[ 9.79612086e-01 3.21663974e-02 -1.98306538e-01 4.29703793e+01] [-2.95697849e-02 9.99433978e-01 1.60421935e-02 3.60032740e+00] [ 1.98710311e-01 -9.85124497e-03 9.80008758e-01 8.53884742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.68538475 meters Centerline goodness : 0.911790 Centerline is valid? [False, False] Translation: X:42.97, Y:3.60, Z:8.54 [[ 9.79514224e-01 3.14226139e-02 -1.98908282e-01 4.29726547e+01] [-2.88423804e-02 9.99458191e-01 1.58568910e-02 3.60016766e+00] [ 1.99298776e-01 -9.79506193e-03 9.79889818e-01 8.53878410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.71538475 meters Centerline goodness : 0.910012 Centerline is valid? [False, False] Translation: X:42.97, Y:3.60, Z:8.54 [[ 9.79478832e-01 3.07585716e-02 -1.99186162e-01 4.29742881e+01] [-2.81515809e-02 9.99477079e-01 1.59077799e-02 3.60081447e+00] [ 1.99571304e-01 -9.97392826e-03 9.79832545e-01 8.53900564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.74538475 meters Centerline goodness : 0.909567 Centerline is valid? [False, False] Translation: X:42.98, Y:3.60, Z:8.54 [[ 9.79404200e-01 3.04007365e-02 -1.99607635e-01 4.29755972e+01] [-2.77215987e-02 9.99484341e-01 1.62038384e-02 3.60034032e+00] [ 1.99997314e-01 -1.03366646e-02 9.79741919e-01 8.53951837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.77538475 meters Centerline goodness : 0.917474 Centerline is valid? [False, False] Translation: X:42.97, Y:3.60, Z:8.55 [[ 9.80112077e-01 3.29764744e-02 -1.95685636e-01 4.29658520e+01] [-2.89779487e-02 9.99309338e-01 2.32621126e-02 3.60020780e+00] [ 1.96317586e-01 -1.71289092e-02 9.80390741e-01 8.54775480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.80538475 meters Centerline goodness : 0.912869 Centerline is valid? [False, False] Translation: X:42.96, Y:3.59, Z:8.55 [[ 9.82916288e-01 3.49504797e-02 -1.80704273e-01 4.29595791e+01] [-2.91629407e-02 9.98976117e-01 3.45867034e-02 3.59425201e+00] [ 1.81728075e-01 -2.87259661e-02 9.82929156e-01 8.55234745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.83538475 meters Centerline goodness : 0.919983 Centerline is valid? [False, False] Translation: X:42.96, Y:3.59, Z:8.56 [[ 9.85081927e-01 3.56250375e-02 -1.68358114e-01 4.29553951e+01] [-2.91603033e-02 9.98745112e-01 4.07170416e-02 3.58947367e+00] [ 1.69597389e-01 -3.52002481e-02 9.84884596e-01 8.55913032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.86538475 meters Centerline goodness : 0.920766 Centerline is valid? [False, False] Translation: X:42.96, Y:3.58, Z:8.56 [[ 9.86859445e-01 3.66982045e-02 -1.57358439e-01 4.29559416e+01] [-3.03792676e-02 9.98639763e-01 4.23759862e-02 3.58406957e+00] [ 1.58699517e-01 -3.70387081e-02 9.86631946e-01 8.55929573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.89538475 meters Centerline goodness : 0.919490 Centerline is valid? [False, False] Translation: X:42.94, Y:3.58, Z:8.56 [[ 9.88180612e-01 3.63228861e-02 -1.48928591e-01 4.29438756e+01] [-2.84097215e-02 9.98086405e-01 5.49219110e-02 3.58352946e+00] [ 1.50638524e-01 -5.00417479e-02 9.87321558e-01 8.56480990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.92538475 meters Centerline goodness : 0.920953 Centerline is valid? [False, False] Translation: X:42.96, Y:3.59, Z:8.55 [[ 9.88816564e-01 3.12952669e-02 -1.45816355e-01 4.29606525e+01] [-2.60711656e-02 9.98952668e-01 3.76013376e-02 3.58834851e+00] [ 1.46840381e-01 -3.33792231e-02 9.88596849e-01 8.55452650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.95538475 meters Centerline goodness : 0.915262 Centerline is valid? [False, False] Translation: X:42.97, Y:3.59, Z:8.55 [[ 9.88644245e-01 2.79642806e-02 -1.47650111e-01 4.29680113e+01] [-2.27397181e-02 9.99058163e-01 3.69552814e-02 3.58752574e+00] [ 1.48544476e-01 -3.31781044e-02 9.88349003e-01 8.55461883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.98538475 meters Centerline goodness : 0.918377 Centerline is valid? [False, False] Translation: X:42.97, Y:3.59, Z:8.55 [[ 9.88598213e-01 2.12676357e-02 -1.49067973e-01 4.29736767e+01] [-1.68235390e-02 9.99377464e-01 3.10105193e-02 3.58923154e+00] [ 1.49634693e-01 -2.81490931e-02 9.88340573e-01 8.55177581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.01538475 meters Centerline goodness : 0.913428 Centerline is valid? [False, False] Translation: X:42.98, Y:3.59, Z:8.55 [[ 9.88462593e-01 1.98540440e-02 -1.50158313e-01 4.29774067e+01] [-1.54186514e-02 9.99411402e-01 3.06449756e-02 3.58904584e+00] [ 1.50678357e-01 -2.79761733e-02 9.88186909e-01 8.55168246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.04538475 meters Centerline goodness : 0.919485 Centerline is valid? [False, False] Translation: X:42.98, Y:3.59, Z:8.55 [[ 9.88329792e-01 1.87947132e-02 -1.51165411e-01 4.29805942e+01] [-1.43832195e-02 9.99439661e-01 3.02239612e-02 3.58899606e+00] [ 1.51648758e-01 -2.76969960e-02 9.88046320e-01 8.55144658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.07538475 meters Centerline goodness : 0.913816 Centerline is valid? [False, False] Translation: X:42.99, Y:3.59, Z:8.55 [[ 9.88189110e-01 1.73827186e-02 -1.52250205e-01 4.29853990e+01] [-1.32738776e-02 9.99520838e-01 2.79624467e-02 3.59224205e+00] [ 1.52663316e-01 -2.56112347e-02 9.87946343e-01 8.54802992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.10538475 meters Centerline goodness : 0.909111 Centerline is valid? [False, False] Translation: X:43.00, Y:3.60, Z:8.54 [[ 9.88729615e-01 1.83094352e-02 -1.48588399e-01 4.30020434e+01] [-1.57716526e-02 9.99709241e-01 1.82397255e-02 3.59633227e+00] [ 1.48879155e-01 -1.56906721e-02 9.88730904e-01 8.54208159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.13538475000001 meters Centerline goodness : 0.911623 Centerline is valid? [False, False] Translation: X:43.02, Y:3.60, Z:8.54 [[ 9.89099037e-01 2.32006493e-02 -1.45412599e-01 4.30200633e+01] [-2.15300998e-02 9.99683003e-01 1.30517838e-02 3.60003861e+00] [ 1.45669313e-01 -9.77875906e-03 9.89285008e-01 8.53807171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.16538475000002 meters Centerline goodness : 0.919556 Centerline is valid? [False, False] Translation: X:43.04, Y:3.61, Z:8.52 [[ 9.91161727e-01 2.15325199e-02 -1.30899892e-01 4.30410831e+01] [-2.36993159e-02 9.99606328e-01 -1.50176732e-02 3.61197827e+00] [ 1.30524992e-01 1.79871808e-02 9.91281841e-01 8.52180028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.19538475000002 meters Centerline goodness : 0.920358 Centerline is valid? [False, False] Translation: X:43.06, Y:3.62, Z:8.51 [[ 9.92635348e-01 1.91183935e-02 -1.19622546e-01 4.30616015e+01] [-2.43994560e-02 9.98783965e-01 -4.28398978e-02 3.62173761e+00] [ 1.18658051e-01 4.54431219e-02 9.91894747e-01 8.50847556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.22538475 meters Centerline goodness : 0.924883 Centerline is valid? [False, False] Translation: X:43.07, Y:3.63, Z:8.50 [[ 9.93425220e-01 2.14873571e-02 -1.12448328e-01 4.30719109e+01] [-2.75376377e-02 9.98239522e-01 -5.25312808e-02 3.62563841e+00] [ 1.11121607e-01 5.52824605e-02 9.92268027e-01 8.50482561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.25538475 meters Centerline goodness : 0.926355 Centerline is valid? [False, False] Translation: X:43.07, Y:3.62, Z:8.51 [[ 9.93258286e-01 2.63951322e-02 -1.12877250e-01 4.30717381e+01] [-3.18280963e-02 9.98406281e-01 -4.66033193e-02 3.62315622e+00] [ 1.11467255e-01 4.98818010e-02 9.92515419e-01 8.50798465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.28538475 meters Centerline goodness : 0.925727 Centerline is valid? [False, False] Translation: X:43.07, Y:3.62, Z:8.51 [[ 9.93083579e-01 3.18244313e-02 -1.13014202e-01 4.30712414e+01] [-3.66903544e-02 9.98475388e-01 -4.12397462e-02 3.62202176e+00] [ 1.11529468e-01 4.51010459e-02 9.92737162e-01 8.50994500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.31538475 meters Centerline goodness : 0.930547 Centerline is valid? [False, False] Translation: X:43.07, Y:3.62, Z:8.51 [[ 9.92847494e-01 3.58472945e-02 -1.13880752e-01 4.30735641e+01] [-4.01144698e-02 9.98567740e-01 -3.54019346e-02 3.61819373e+00] [ 1.12448582e-01 3.97169880e-02 9.92863474e-01 8.51225149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.34538475 meters Centerline goodness : 0.926424 Centerline is valid? [False, False] Translation: X:43.08, Y:3.61, Z:8.52 [[ 9.92605187e-01 3.95190782e-02 -1.14774496e-01 4.30771620e+01] [-4.28603393e-02 9.98721822e-01 -2.67901789e-02 3.61193708e+00] [ 1.13569070e-01 3.15113443e-02 9.93030262e-01 8.51847159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.37538475 meters Centerline goodness : 0.927522 Centerline is valid? [False, False] Translation: X:43.09, Y:3.60, Z:8.52 [[ 9.92611346e-01 3.66029426e-02 -1.15684658e-01 4.30858933e+01] [-3.92949870e-02 9.99005369e-01 -2.10755154e-02 3.60336120e+00] [ 1.14798169e-01 2.54656229e-02 9.93062376e-01 8.52497492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.40538475 meters Centerline goodness : 0.933059 Centerline is valid? [False, False] Translation: X:43.09, Y:3.60, Z:8.53 [[ 9.92441765e-01 3.63807408e-02 -1.17199762e-01 4.30882013e+01] [-3.87451034e-02 9.99087742e-01 -1.79582840e-02 3.59734703e+00] [ 1.16439510e-01 2.23634679e-02 9.92945978e-01 8.53026865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.43538475 meters Centerline goodness : 0.935140 Centerline is valid? [False, False] Translation: X:43.09, Y:3.59, Z:8.53 [[ 9.92156803e-01 3.94482484e-02 -1.18611612e-01 4.30922767e+01] [-4.11296147e-02 9.99084608e-01 -1.17601403e-02 3.59410971e+00] [ 1.18039119e-01 1.65463531e-02 9.92871082e-01 8.53431134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.46538475 meters Centerline goodness : 0.934161 Centerline is valid? [False, False] Translation: X:43.10, Y:3.59, Z:8.54 [[ 9.91902152e-01 4.16903188e-02 -1.19966819e-01 4.31037302e+01] [-4.22600539e-02 9.99104205e-01 -2.20782374e-03 3.59239552e+00] [ 1.19767308e-01 7.25974936e-03 9.92775447e-01 8.53939112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.49538475 meters Centerline goodness : 0.932426 Centerline is valid? [False, False] Translation: X:43.11, Y:3.59, Z:8.54 [[ 9.91609195e-01 4.45343564e-02 -1.21358540e-01 4.31085840e+01] [-4.45273603e-02 9.99004322e-01 2.77091845e-03 3.59147348e+00] [ 1.21361107e-01 2.65610724e-03 9.92604869e-01 8.54136588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.52538475 meters Centerline goodness : 0.927247 Centerline is valid? [False, False] Translation: X:43.12, Y:3.59, Z:8.55 [[ 9.91409454e-01 4.60653366e-02 -1.22414372e-01 4.31217319e+01] [-4.47442286e-02 9.98906974e-01 1.35207554e-02 3.59016641e+00] [ 1.22903408e-01 -7.92726810e-03 9.92386976e-01 8.54848570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.55538475 meters Centerline goodness : 0.923494 Centerline is valid? [False, False] Translation: X:43.12, Y:3.59, Z:8.55 [[ 9.91338393e-01 4.56824460e-02 -1.23131249e-01 4.31233955e+01] [-4.43100162e-02 9.98921639e-01 1.38629599e-02 3.59018389e+00] [ 1.23631763e-01 -8.28693678e-03 9.92293562e-01 8.54943329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.58538475 meters Centerline goodness : 0.926399 Centerline is valid? [False, False] Translation: X:43.13, Y:3.59, Z:8.56 [[ 9.91179632e-01 4.65420308e-02 -1.24083751e-01 4.31293212e+01] [-4.42149848e-02 9.98791872e-01 2.14436604e-02 3.58586261e+00] [ 1.24931873e-01 -1.57681583e-02 9.92040015e-01 8.55732696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.61538475 meters Centerline goodness : 0.929568 Centerline is valid? [False, False] Translation: X:43.13, Y:3.58, Z:8.57 [[ 9.90893031e-01 4.96795316e-02 -1.25151686e-01 4.31332017e+01] [-4.62273877e-02 9.98470080e-01 3.03402191e-02 3.58184989e+00] [ 1.26467502e-01 -2.42784762e-02 9.91673599e-01 8.56605398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.64538475 meters Centerline goodness : 0.929412 Centerline is valid? [False, False] Translation: X:43.13, Y:3.58, Z:8.57 [[ 9.90802396e-01 4.97870437e-02 -1.25824729e-01 4.31343835e+01] [-4.63719945e-02 9.98475816e-01 2.99279480e-02 3.58258920e+00] [ 1.27122973e-01 -2.38179389e-02 9.91600956e-01 8.56582789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.67538475 meters Centerline goodness : 0.933015 Centerline is valid? [False, False] Translation: X:43.14, Y:3.58, Z:8.57 [[ 9.90768661e-01 4.90764623e-02 -1.26368358e-01 4.31364851e+01] [-4.56783331e-02 9.98516047e-01 2.96512065e-02 3.58263215e+00] [ 1.27636010e-01 -2.36051902e-02 9.91540137e-01 8.56544606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.70538475 meters Centerline goodness : 0.934108 Centerline is valid? [False, False] Translation: X:43.16, Y:3.58, Z:8.59 [[ 9.91606152e-01 4.67180259e-02 -1.20559797e-01 4.31597692e+01] [-4.07001766e-02 9.97822275e-01 5.19057062e-02 3.57515018e+00] [ 1.22722183e-01 -4.65632127e-02 9.91348139e-01 8.58517202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.73538475 meters Centerline goodness : 0.935070 Centerline is valid? [False, False] Translation: X:43.16, Y:3.58, Z:8.58 [[ 9.91725722e-01 4.28110987e-02 -1.21026038e-01 4.31606591e+01] [-3.73506293e-02 9.98194777e-01 4.70331459e-02 3.57847279e+00] [ 1.22821100e-01 -4.21235819e-02 9.91534458e-01 8.58341122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.76538475 meters Centerline goodness : 0.937849 Centerline is valid? [False, False] Translation: X:43.16, Y:3.58, Z:8.58 [[ 9.91635336e-01 4.19164552e-02 -1.22075266e-01 4.31645063e+01] [-3.66593362e-02 9.98314231e-01 4.49976532e-02 3.58176253e+00] [ 1.23755617e-01 -4.01460648e-02 9.91500298e-01 8.58042228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.79538475 meters Centerline goodness : 0.935556 Centerline is valid? [False, False] Translation: X:43.17, Y:3.58, Z:8.58 [[ 9.91551739e-01 4.08584227e-02 -1.23108640e-01 4.31680778e+01] [-3.56578584e-02 9.98388095e-01 4.41557258e-02 3.58299601e+00] [ 1.24714334e-01 -3.93928963e-02 9.91410377e-01 8.57944915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.82538475 meters Centerline goodness : 0.937393 Centerline is valid? [False, False] Translation: X:43.17, Y:3.58, Z:8.58 [[ 9.91430518e-01 3.95353957e-02 -1.24508957e-01 4.31722789e+01] [-3.43598393e-02 9.98464783e-01 4.34451232e-02 3.58325055e+00] [ 1.26035429e-01 -3.87947132e-02 9.91266887e-01 8.57912603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.85538475 meters Centerline goodness : 0.936605 Centerline is valid? [False, False] Translation: X:43.19, Y:3.59, Z:8.57 [[ 9.92009328e-01 3.77589851e-02 -1.20381697e-01 4.31876600e+01] [-3.43628834e-02 9.98954116e-01 3.01639939e-02 3.58651528e+00] [ 1.21394753e-01 -2.57863011e-02 9.92269308e-01 8.57161925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.88538475000001 meters Centerline goodness : 0.934574 Centerline is valid? [False, False] Translation: X:43.19, Y:3.59, Z:8.57 [[ 9.91947941e-01 3.72035631e-02 -1.21058569e-01 4.31896801e+01] [-3.38506297e-02 9.98987375e-01 2.96371210e-02 3.58720518e+00] [ 1.22038588e-01 -2.53005723e-02 9.92202834e-01 8.57126583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.91538475000002 meters Centerline goodness : 0.934117 Centerline is valid? [False, False] Translation: X:43.19, Y:3.59, Z:8.57 [[ 9.91888334e-01 3.66889362e-02 -1.21702323e-01 4.31914988e+01] [-3.33172821e-02 9.99005665e-01 2.96250030e-02 3.58660254e+00] [ 1.22668220e-01 -2.53299042e-02 9.92124440e-01 8.57145924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.94538475000002 meters Centerline goodness : 0.937336 Centerline is valid? [False, False] Translation: X:43.19, Y:3.58, Z:8.57 [[ 9.92750867e-01 4.19571848e-02 -1.12629086e-01 4.31941647e+01] [-3.84879603e-02 9.98720509e-01 3.28027612e-02 3.58311484e+00] [ 1.13861290e-01 -2.82301058e-02 9.93095498e-01 8.57478814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.97538475 meters Centerline goodness : 0.937451 Centerline is valid? [False, False] Translation: X:43.20, Y:3.58, Z:8.57 [[ 9.92704951e-01 4.16996451e-02 -1.13128337e-01 4.31956997e+01] [-3.82817482e-02 9.98747423e-01 3.22194439e-02 3.58381477e+00] [ 1.14330175e-01 -2.76536509e-02 9.93057847e-01 8.57393418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.00538475 meters Centerline goodness : 0.933161 Centerline is valid? [False, False] Translation: X:43.20, Y:3.59, Z:8.57 [[ 9.92606469e-01 4.20063934e-02 -1.13876518e-01 4.31984000e+01] [-3.87702406e-02 9.98782985e-01 3.04863504e-02 3.58767102e+00] [ 1.15018550e-01 -2.58459286e-02 9.93027050e-01 8.57051206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.03538475 meters Centerline goodness : 0.933340 Centerline is valid? [False, False] Translation: X:43.20, Y:3.59, Z:8.57 [[ 9.92583133e-01 4.23840902e-02 -1.13939949e-01 4.31987023e+01] [-3.92840709e-02 9.98797901e-01 2.93174967e-02 3.59006732e+00] [ 1.15045577e-01 -2.46240277e-02 9.93054969e-01 8.56854409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.06538475 meters Centerline goodness : 0.934323 Centerline is valid? [False, False] Translation: X:43.20, Y:3.59, Z:8.57 [[ 9.92298006e-01 4.77182657e-02 -1.14313757e-01 4.31991382e+01] [-4.42203252e-02 9.98478479e-01 3.29437241e-02 3.59178829e+00] [ 1.15711844e-01 -2.76350002e-02 9.92898321e-01 8.56812258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.09538475 meters Centerline goodness : 0.935747 Centerline is valid? [False, False] Translation: X:43.20, Y:3.59, Z:8.57 [[ 9.91982189e-01 5.33207975e-02 -1.14578483e-01 4.31989335e+01] [-4.93696298e-02 9.98093088e-01 3.70516862e-02 3.59259263e+00] [ 1.16335617e-01 -3.10979155e-02 9.92722995e-01 8.56844885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.12538475 meters Centerline goodness : 0.935179 Centerline is valid? [False, False] Translation: X:43.21, Y:3.60, Z:8.56 [[ 9.92366029e-01 5.52483765e-02 -1.10260059e-01 4.32118215e+01] [-5.25744161e-02 9.98251523e-01 2.70153253e-02 3.59534974e+00] [ 1.11559825e-01 -2.10122329e-02 9.93535551e-01 8.56314571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.15538475 meters Centerline goodness : 0.938331 Centerline is valid? [False, False] Translation: X:43.23, Y:3.60, Z:8.56 [[ 9.92849430e-01 5.49445389e-02 -1.05976916e-01 4.32256527e+01] [-5.35022676e-02 9.98432934e-01 1.64067926e-02 3.59599976e+00] [ 1.06712307e-01 -1.06194694e-02 9.94233227e-01 8.55936847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.18538475 meters Centerline goodness : 0.939091 Centerline is valid? [False, False] Translation: X:43.23, Y:3.59, Z:8.56 [[ 9.92825385e-01 5.39194215e-02 -1.06726056e-01 4.32282375e+01] [-5.24546270e-02 9.98487205e-01 1.64867641e-02 3.59448923e+00] [ 1.07453558e-01 -1.07702025e-02 9.94151767e-01 8.55949705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.21538475 meters Centerline goodness : 0.938013 Centerline is valid? [False, False] Translation: X:43.23, Y:3.59, Z:8.56 [[ 9.92779328e-01 5.33278847e-02 -1.07449256e-01 4.32301978e+01] [-5.18472059e-02 9.98518232e-01 1.65290199e-02 3.59359705e+00] [ 1.08171499e-01 -1.08387255e-02 9.94073161e-01 8.55974171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.24538475 meters Centerline goodness : 0.936943 Centerline is valid? [False, False] Translation: X:43.23, Y:3.59, Z:8.56 [[ 9.92482835e-01 5.65220203e-02 -1.08549915e-01 4.32343673e+01] [-5.46462086e-02 9.98301824e-01 2.01806873e-02 3.59376618e+00] [ 1.09506231e-01 -1.40971444e-02 9.93886138e-01 8.55939754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.27538475 meters Centerline goodness : 0.933265 Centerline is valid? [False, False] Translation: X:43.24, Y:3.60, Z:8.56 [[ 9.92451431e-01 5.62197735e-02 -1.08993096e-01 4.32360432e+01] [-5.44084911e-02 9.98327867e-01 1.95240044e-02 3.59501856e+00] [ 1.09908480e-01 -1.34464762e-02 9.93850753e-01 8.55832049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.30538475 meters Centerline goodness : 0.931966 Centerline is valid? [False, False] Translation: X:43.24, Y:3.59, Z:8.56 [[ 9.92376486e-01 5.53425667e-02 -1.10118617e-01 4.32393493e+01] [-5.35305803e-02 9.98378790e-01 1.93460073e-02 3.59438401e+00] [ 1.11010749e-01 -1.33038093e-02 9.93730156e-01 8.55804238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.33538475 meters Centerline goodness : 0.931885 Centerline is valid? [False, False] Translation: X:43.24, Y:3.59, Z:8.56 [[ 9.92282466e-01 5.46466717e-02 -1.11307005e-01 4.32420086e+01] [-5.27342562e-02 9.98407163e-01 2.00557976e-02 3.59203357e+00] [ 1.12225693e-01 -1.40313242e-02 9.93583673e-01 8.55953575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.36538475 meters Centerline goodness : 0.932200 Centerline is valid? [False, False] Translation: X:43.24, Y:3.59, Z:8.56 [[ 9.92215790e-01 5.43630475e-02 -1.12037873e-01 4.32437009e+01] [-5.24098170e-02 9.98419150e-01 2.03079521e-02 3.59089710e+00] [ 1.12964760e-01 -1.42779863e-02 9.93496403e-01 8.56003641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.39538475 meters Centerline goodness : 0.932200 Centerline is valid? [False, False] Translation: X:43.24, Y:3.59, Z:8.56 [[ 9.92215790e-01 5.43630475e-02 -1.12037873e-01 4.32437009e+01] [-5.24098170e-02 9.98419150e-01 2.03079521e-02 3.59089710e+00] [ 1.12964760e-01 -1.42779863e-02 9.93496403e-01 8.56003641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.42538475 meters Centerline goodness : 0.932155 Centerline is valid? [False, False] Translation: X:43.25, Y:3.59, Z:8.56 [[ 9.92164915e-01 5.40092636e-02 -1.12657803e-01 4.32453713e+01] [-5.20535729e-02 9.98439337e-01 2.02315729e-02 3.59027835e+00] [ 1.13574674e-01 -1.42088157e-02 9.93427855e-01 8.55996219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.45538475 meters Centerline goodness : 0.927494 Centerline is valid? [False, False] Translation: X:43.25, Y:3.59, Z:8.56 [[ 9.92055891e-01 5.39567570e-02 -1.13638800e-01 4.32477658e+01] [-5.20341982e-02 9.98448620e-01 1.98190816e-02 3.59090187e+00] [ 1.14531876e-01 -1.37485328e-02 9.93324432e-01 8.55926058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.48538475 meters Centerline goodness : 0.927865 Centerline is valid? [False, False] Translation: X:43.25, Y:3.59, Z:8.56 [[ 9.91716611e-01 5.87502456e-02 -1.14221596e-01 4.32490911e+01] [-5.63682579e-02 9.98122121e-01 2.39760440e-02 3.59172663e+00] [ 1.15415700e-01 -1.73389688e-02 9.93165936e-01 8.55973820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.51538475 meters Centerline goodness : 0.924342 Centerline is valid? [False, False] Translation: X:43.25, Y:3.59, Z:8.56 [[ 9.91644620e-01 5.93534401e-02 -1.14534350e-01 4.32496811e+01] [-5.70410869e-02 9.98098389e-01 2.33649207e-02 3.59417331e+00] [ 1.15703339e-01 -1.66365340e-02 9.93144482e-01 8.55863859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.54538475 meters Centerline goodness : 0.924857 Centerline is valid? [False, False] Translation: X:43.25, Y:3.60, Z:8.56 [[ 9.91581457e-01 6.01314056e-02 -1.14675318e-01 4.32496158e+01] [-5.78767142e-02 9.98061202e-01 2.28937353e-02 3.59582010e+00] [ 1.15829618e-01 -1.60639728e-02 9.93139189e-01 8.55766129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.57538475 meters Centerline goodness : 0.922774 Centerline is valid? [False, False] Translation: X:43.25, Y:3.60, Z:8.56 [[ 9.91208384e-01 6.50066236e-02 -1.15239223e-01 4.32509087e+01] [-6.22372573e-02 9.97683205e-01 2.74726374e-02 3.59517740e+00] [ 1.16758141e-01 -2.00589353e-02 9.92957791e-01 8.55848923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.60538475 meters Centerline goodness : 0.919324 Centerline is valid? [False, False] Translation: X:43.25, Y:3.60, Z:8.56 [[ 9.91136735e-01 6.53844326e-02 -1.15641035e-01 4.32515473e+01] [-6.26184483e-02 9.97661464e-01 2.73958490e-02 3.59563611e+00] [ 1.17161867e-01 -1.99117702e-02 9.92913198e-01 8.55824646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.63538475000001 meters Centerline goodness : 0.917507 Centerline is valid? [False, False] Translation: X:43.26, Y:3.60, Z:8.55 [[ 9.91384515e-01 6.80569175e-02 -1.11915147e-01 4.32646045e+01] [-6.64482011e-02 9.97626664e-01 1.80465103e-02 3.59564828e+00] [ 1.12877724e-01 -1.04544707e-02 9.93553885e-01 8.55356476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.66538475000002 meters Centerline goodness : 0.919957 Centerline is valid? [False, False] Translation: X:43.26, Y:3.60, Z:8.55 [[ 9.91297674e-01 6.88491285e-02 -1.12199458e-01 4.32645454e+01] [-6.71977514e-02 9.97569286e-01 1.84386027e-02 3.59542322e+00] [ 1.13196215e-01 -1.07385927e-02 9.93514620e-01 8.55390193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.69538475000002 meters Centerline goodness : 0.912954 Centerline is valid? [False, False] Translation: X:43.26, Y:3.60, Z:8.55 [[ 9.91179810e-01 7.06784196e-02 -1.12103277e-01 4.32631718e+01] [-6.90178468e-02 9.97441456e-01 1.86300482e-02 3.59549535e+00] [ 1.13133198e-01 -1.07286008e-02 9.93521905e-01 8.55324107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.72538475 meters Centerline goodness : 0.909611 Centerline is valid? [False, False] Translation: X:43.26, Y:3.59, Z:8.56 [[ 9.90730555e-01 7.58709715e-02 -1.12679024e-01 4.32638277e+01] [-7.35960542e-02 9.96993997e-01 2.42196229e-02 3.59280754e+00] [ 1.14177876e-01 -1.57023889e-02 9.93336221e-01 8.55558302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.75538475 meters Centerline goodness : 0.913697 Centerline is valid? [False, False] Translation: X:43.26, Y:3.59, Z:8.55 [[ 9.90945449e-01 7.27169685e-02 -1.12868772e-01 4.32626064e+01] [-7.09069771e-02 9.97282928e-01 1.99740373e-02 3.59417495e+00] [ 1.14014551e-01 -1.17899979e-02 9.93409119e-01 8.55493837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.78538475 meters Centerline goodness : 0.911216 Centerline is valid? [False, False] Translation: X:43.26, Y:3.59, Z:8.56 [[ 9.91198162e-01 6.74139242e-02 -1.13936676e-01 4.32643962e+01] [-6.59025541e-02 9.97681506e-01 1.69843013e-02 3.58983569e+00] [ 1.14817493e-01 -9.32609025e-03 9.93342825e-01 8.55671330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.81538475 meters Centerline goodness : 0.913542 Centerline is valid? [False, False] Translation: X:43.27, Y:3.59, Z:8.56 [[ 9.91436829e-01 6.25799557e-02 -1.14615719e-01 4.32657768e+01] [-6.14640356e-02 9.98021374e-01 1.32479625e-02 3.58844494e+00] [ 1.15217994e-01 -6.08977333e-03 9.93321564e-01 8.55687443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.84538475 meters Centerline goodness : 0.913456 Centerline is valid? [False, False] Translation: X:43.27, Y:3.59, Z:8.56 [[ 9.91663112e-01 5.57033617e-02 -1.16195555e-01 4.32711816e+01] [-5.49072484e-02 9.98440945e-01 1.00436223e-02 3.58537127e+00] [ 1.16573863e-01 -3.57991158e-03 9.93175573e-01 8.55817954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.87538475 meters Centerline goodness : 0.910528 Centerline is valid? [False, False] Translation: X:43.27, Y:3.58, Z:8.56 [[ 9.91625479e-01 5.42944578e-02 -1.17179442e-01 4.32748569e+01] [-5.34828303e-02 9.98518073e-01 1.00620053e-02 3.58430170e+00] [ 1.17552102e-01 -3.71065261e-03 9.93059784e-01 8.55821978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.90538475 meters Centerline goodness : 0.901561 Centerline is valid? [False, False] Translation: X:43.29, Y:3.58, Z:8.56 [[ 9.91575859e-01 5.19183858e-02 -1.18666746e-01 4.32862155e+01] [-5.07359262e-02 9.98627933e-01 1.29659801e-02 3.58407813e+00] [ 1.19177100e-01 -6.83608556e-03 9.92849478e-01 8.55877310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.93538475 meters Centerline goodness : 0.904119 Centerline is valid? [False, False] Translation: X:43.29, Y:3.58, Z:8.56 [[ 9.91544563e-01 5.11792272e-02 -1.19247922e-01 4.32883911e+01] [-5.00181142e-02 9.98667413e-01 1.27116450e-02 3.58477142e+00] [ 1.19739586e-01 -6.63960628e-03 9.92783132e-01 8.55849383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.96538475 meters Centerline goodness : 0.901352 Centerline is valid? [False, False] Translation: X:43.29, Y:3.59, Z:8.56 [[ 9.91526101e-01 5.07496109e-02 -1.19584561e-01 4.32898411e+01] [-4.95932829e-02 9.98689665e-01 1.26276957e-02 3.58514984e+00] [ 1.20068716e-01 -6.59009889e-03 9.92743710e-01 8.55825314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.99538475 meters Centerline goodness : 0.893221 Centerline is valid? [False, False] Translation: X:43.30, Y:3.58, Z:8.56 [[ 9.91202096e-01 5.22039792e-02 -1.21627092e-01 4.32978537e+01] [-5.02058273e-02 9.98549724e-01 1.94376743e-02 3.58353410e+00] [ 1.22465423e-01 -1.31602748e-02 9.92385524e-01 8.56403843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.02538475 meters Centerline goodness : 0.893066 Centerline is valid? [False, False] Translation: X:43.30, Y:3.58, Z:8.56 [[ 9.91144878e-01 5.16530936e-02 -1.22326568e-01 4.32997903e+01] [-4.96319673e-02 9.98576917e-01 1.95142958e-02 3.58357078e+00] [ 1.23160461e-01 -1.32701861e-02 9.92298041e-01 8.56444057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.05538475 meters Centerline goodness : 0.891749 Centerline is valid? [False, False] Translation: X:43.30, Y:3.58, Z:8.57 [[ 9.90820834e-01 5.43584818e-02 -1.23770879e-01 4.33043227e+01] [-5.15865390e-02 9.98343074e-01 2.54938495e-02 3.58086967e+00] [ 1.24951607e-01 -1.88749259e-02 9.91983283e-01 8.56891723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.08538475 meters Centerline goodness : 0.894280 Centerline is valid? [False, False] Translation: X:43.31, Y:3.58, Z:8.57 [[ 9.90758963e-01 5.40982060e-02 -1.24378704e-01 4.33056251e+01] [-5.13090338e-02 9.98356650e-01 2.55222035e-02 3.58076485e+00] [ 1.25555012e-01 -1.89046008e-02 9.91906525e-01 8.56935044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.11538475 meters Centerline goodness : 0.898801 Centerline is valid? [False, False] Translation: X:43.31, Y:3.58, Z:8.57 [[ 9.90639219e-01 5.45180722e-02 -1.25146785e-01 4.33067563e+01] [-5.16396530e-02 9.98323809e-01 2.61327050e-02 3.57984339e+00] [ 1.26361720e-01 -1.94255459e-02 9.91794013e-01 8.57042193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.14538475 meters Centerline goodness : 0.896865 Centerline is valid? [False, False] Translation: X:43.31, Y:3.58, Z:8.57 [[ 9.90596137e-01 5.44634987e-02 -1.25511039e-01 4.33086485e+01] [-5.17157841e-02 9.98347623e-01 2.50499755e-02 3.58106480e+00] [ 1.26667957e-01 -1.83235071e-02 9.91775921e-01 8.56793687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.17538475 meters Centerline goodness : 0.897473 Centerline is valid? [False, False] Translation: X:43.31, Y:3.58, Z:8.57 [[ 9.90300749e-01 5.79495075e-02 -1.26278582e-01 4.33117107e+01] [-5.45887290e-02 9.98060644e-01 2.99168982e-02 3.57860542e+00] [ 1.27767353e-01 -2.27333394e-02 9.91543594e-01 8.56935443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.20538475 meters Centerline goodness : 0.896821 Centerline is valid? [False, False] Translation: X:43.31, Y:3.58, Z:8.57 [[ 9.90238166e-01 5.84906714e-02 -1.26519626e-01 4.33118865e+01] [-5.51276832e-02 9.98030812e-01 2.99238654e-02 3.57858059e+00] [ 1.28020752e-01 -2.26570197e-02 9.91512656e-01 8.56905502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.23538475 meters Centerline goodness : 0.897672 Centerline is valid? [False, False] Translation: X:43.31, Y:3.58, Z:8.57 [[ 9.90155225e-01 5.90489354e-02 -1.26908842e-01 4.33127084e+01] [-5.55920693e-02 9.97984136e-01 3.06134927e-02 3.57648468e+00] [ 1.28460705e-01 -2.32569846e-02 9.91441859e-01 8.56913899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.26538475 meters Centerline goodness : 0.898215 Centerline is valid? [False, False] Translation: X:43.32, Y:3.58, Z:8.57 [[ 9.90631784e-01 6.13531276e-02 -1.22001893e-01 4.33241003e+01] [-5.92081893e-02 9.98021939e-01 2.11328949e-02 3.57836012e+00] [ 1.23057135e-01 -1.37114062e-02 9.92304862e-01 8.56514394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.29538475 meters Centerline goodness : 0.900491 Centerline is valid? [False, False] Translation: X:43.33, Y:3.58, Z:8.56 [[ 9.91364668e-01 6.02620400e-02 -1.16467082e-01 4.33338693e+01] [-5.94863787e-02 9.98177741e-01 1.01276072e-02 3.57836320e+00] [ 1.16865159e-01 -3.11194700e-03 9.93142915e-01 8.56398404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.32538475 meters Centerline goodness : 0.907408 Centerline is valid? [False, False] Translation: X:43.34, Y:3.57, Z:8.57 [[ 9.91393723e-01 5.82056858e-02 -1.17262881e-01 4.33375221e+01] [-5.71894294e-02 9.98291038e-01 1.20155086e-02 3.57466310e+00] [ 1.17761854e-01 -5.20590253e-03 9.93028219e-01 8.56730355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.35538475 meters Centerline goodness : 0.902566 Centerline is valid? [False, False] Translation: X:43.34, Y:3.57, Z:8.57 [[ 9.91374362e-01 5.68653215e-02 -1.18081368e-01 4.33407479e+01] [-5.58156237e-02 9.98366794e-01 1.21803328e-02 3.57312445e+00] [ 1.18581155e-01 -5.48448447e-03 9.92929217e-01 8.56749126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.38538475000001 meters Centerline goodness : 0.902827 Centerline is valid? [False, False] Translation: X:43.35, Y:3.57, Z:8.57 [[ 9.91483335e-01 5.11363214e-02 -1.19774255e-01 4.33513765e+01] [-5.01282082e-02 9.98677538e-01 1.14165811e-02 3.57149324e+00] [ 1.20199660e-01 -5.31528110e-03 9.92735508e-01 8.56711383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.41538475000002 meters Centerline goodness : 0.900657 Centerline is valid? [False, False] Translation: X:43.35, Y:3.57, Z:8.57 [[ 9.91745166e-01 4.92386705e-02 -1.18393747e-01 4.33496986e+01] [-4.79287210e-02 9.98754205e-01 1.38879953e-02 3.57105518e+00] [ 1.18930079e-01 -8.09889134e-03 9.92869601e-01 8.56751304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.44538475000002 meters Centerline goodness : 0.900553 Centerline is valid? [False, False] Translation: X:43.35, Y:3.57, Z:8.57 [[ 9.92625359e-01 5.34406899e-02 -1.08807118e-01 4.33520705e+01] [-5.14472951e-02 9.98453883e-01 2.10480215e-02 3.56653594e+00] [ 1.09763710e-01 -1.52949680e-02 9.93840023e-01 8.57036225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.47538475 meters Centerline goodness : 0.898812 Centerline is valid? [False, False] Translation: X:43.35, Y:3.56, Z:8.57 [[ 9.93295250e-01 5.99850086e-02 -9.88248235e-02 4.33540095e+01] [-5.76680751e-02 9.97993548e-01 2.61394503e-02 3.56221415e+00] [ 1.00194511e-01 -2.02651545e-02 9.94761471e-01 8.57112340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.50538475 meters Centerline goodness : 0.897453 Centerline is valid? [False, False] Translation: X:43.36, Y:3.56, Z:8.57 [[ 9.93802446e-01 6.63574142e-02 -8.91817921e-02 4.33576669e+01] [-6.39009504e-02 9.97501424e-01 3.01260416e-02 3.55864791e+00] [ 9.09580508e-02 -2.42405326e-02 9.95559656e-01 8.56934351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.53538475 meters Centerline goodness : 0.896857 Centerline is valid? [False, False] Translation: X:43.36, Y:3.56, Z:8.57 [[ 9.94149855e-01 7.32252410e-02 -7.93985532e-02 4.33606617e+01] [-7.07681201e-02 9.96935637e-01 3.33348134e-02 3.55531323e+00] [ 8.15961969e-02 -2.75209136e-02 9.96285431e-01 8.56843873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.56538475 meters Centerline goodness : 0.896455 Centerline is valid? [False, False] Translation: X:43.37, Y:3.56, Z:8.56 [[ 9.93919766e-01 7.35767204e-02 -8.19143724e-02 4.33667303e+01] [-7.15464679e-02 9.97059356e-01 2.74543861e-02 3.55742301e+00] [ 8.36934951e-02 -2.14267730e-02 9.96261157e-01 8.56185243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.59538475 meters Centerline goodness : 0.897124 Centerline is valid? [False, False] Translation: X:43.37, Y:3.55, Z:8.56 [[ 9.94070671e-01 8.07671515e-02 -7.28022592e-02 4.33707238e+01] [-7.88716820e-02 9.96475873e-01 2.85498271e-02 3.55397007e+00] [ 7.48515830e-02 -2.26385092e-02 9.96937680e-01 8.56025255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.62538475 meters Centerline goodness : 0.901905 Centerline is valid? [False, False] Translation: X:43.38, Y:3.55, Z:8.55 [[ 9.94114091e-01 8.71864237e-02 -6.43094224e-02 4.33751437e+01] [-8.56999351e-02 9.95993919e-01 2.55271256e-02 3.55073001e+00] [ 6.62774125e-02 -1.98655619e-02 9.97603460e-01 8.55430780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.65538475 meters Centerline goodness : 0.899151 Centerline is valid? [False, False] Translation: X:43.35, Y:3.56, Z:8.55 [[ 9.94542162e-01 8.58295509e-02 -5.93226473e-02 4.33531064e+01] [-8.43852849e-02 9.96082314e-01 2.64414008e-02 3.55746098e+00] [ 6.13596933e-02 -2.12911295e-02 9.97888609e-01 8.55356581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.68538475 meters Centerline goodness : 0.906368 Centerline is valid? [False, False] Translation: X:43.35, Y:3.56, Z:8.55 [[ 9.94384130e-01 8.79314141e-02 -5.88920041e-02 4.33500360e+01] [-8.64963640e-02 9.95899825e-01 2.64937207e-02 3.56020225e+00] [ 6.09801669e-02 -2.12509912e-02 9.97912729e-01 8.55437547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.71538475 meters Centerline goodness : 0.904134 Centerline is valid? [False, False] Translation: X:43.35, Y:3.56, Z:8.55 [[ 9.94326710e-01 8.86183069e-02 -5.88318802e-02 4.33496440e+01] [-8.72164861e-02 9.95850359e-01 2.59874582e-02 3.56212511e+00] [ 6.08907135e-02 -2.07089140e-02 9.97929588e-01 8.55349875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.74538475 meters Centerline goodness : 0.902015 Centerline is valid? [False, False] Translation: X:43.36, Y:3.56, Z:8.55 [[ 9.93951914e-01 9.48362917e-02 -5.53685054e-02 4.33638898e+01] [-9.39365219e-02 9.95403697e-01 1.86389307e-02 3.56498563e+00] [ 5.68816620e-02 -1.33250760e-02 9.98292001e-01 8.54633939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.77538475 meters Centerline goodness : 0.904737 Centerline is valid? [False, False] Translation: X:43.36, Y:3.57, Z:8.55 [[ 9.93893473e-01 9.53927327e-02 -5.54616239e-02 4.33639291e+01] [-9.45181637e-02 9.95356946e-01 1.81897504e-02 3.56622898e+00] [ 5.69392826e-02 -1.28365433e-02 9.98295117e-01 8.54545258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.80538475 meters Centerline goodness : 0.910109 Centerline is valid? [False, False] Translation: X:43.36, Y:3.56, Z:8.55 [[ 9.94241185e-01 9.12923690e-02 -5.61263710e-02 4.33641947e+01] [-9.05961162e-02 9.95777260e-01 1.48321564e-02 3.56426179e+00] [ 5.72434266e-02 -9.66190958e-03 9.98313497e-01 8.54645633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.83538475 meters Centerline goodness : 0.912500 Centerline is valid? [False, False] Translation: X:43.37, Y:3.56, Z:8.55 [[ 9.94278115e-01 9.03707458e-02 -5.69575159e-02 4.33666790e+01] [-8.96292251e-02 9.95855408e-01 1.54469355e-02 3.56164509e+00] [ 5.81174014e-02 -1.02534919e-02 9.98257098e-01 8.54729693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.86538475 meters Centerline goodness : 0.913139 Centerline is valid? [False, False] Translation: X:43.39, Y:3.55, Z:8.56 [[ 9.95031236e-01 8.37207713e-02 -5.38857344e-02 4.33867661e+01] [-8.22720674e-02 9.96200380e-01 2.85676232e-02 3.55292984e+00] [ 5.60726926e-02 -2.39923867e-02 9.98138376e-01 8.55929473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.89538475 meters Centerline goodness : 0.914582 Centerline is valid? [False, False] Translation: X:43.40, Y:3.55, Z:8.57 [[ 9.95295232e-01 8.04970137e-02 -5.39224611e-02 4.33970934e+01] [-7.86919156e-02 9.96291215e-01 3.48051457e-02 3.54896069e+00] [ 5.65241846e-02 -3.03981338e-02 9.97938360e-01 8.56540735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.92538475 meters Centerline goodness : 0.913546 Centerline is valid? [False, False] Translation: X:43.40, Y:3.55, Z:8.56 [[ 9.95647097e-01 7.53017218e-02 -5.49227539e-02 4.34003331e+01] [-7.37778238e-02 9.96845132e-01 2.92679923e-02 3.55099877e+00] [ 5.69534100e-02 -2.50885103e-02 9.98061559e-01 8.56264047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.95538475 meters Centerline goodness : 0.908363 Centerline is valid? [False, False] Translation: X:43.40, Y:3.55, Z:8.56 [[ 9.95673815e-01 7.44172983e-02 -5.56391883e-02 4.34035088e+01] [-7.29649401e-02 9.96949847e-01 2.76969154e-02 3.55378381e+00] [ 5.75306099e-02 -2.35173834e-02 9.98066712e-01 8.56009461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.98538475 meters Centerline goodness : 0.910456 Centerline is valid? [False, False] Translation: X:43.40, Y:3.56, Z:8.56 [[ 9.95895720e-01 7.11473911e-02 -5.59442966e-02 4.34036334e+01] [-7.00061538e-02 9.97301640e-01 2.21037878e-02 3.55764468e+00] [ 5.73659656e-02 -1.80966226e-02 9.98189190e-01 8.55697457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.01538475 meters Centerline goodness : 0.908669 Centerline is valid? [False, False] Translation: X:43.41, Y:3.56, Z:8.56 [[ 9.95891691e-01 7.06262828e-02 -5.66715876e-02 4.34059539e+01] [-6.94708696e-02 9.97338982e-01 2.21077829e-02 3.55781757e+00] [ 5.80821739e-02 -1.80799328e-02 9.98148074e-01 8.55700664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.04538475 meters Centerline goodness : 0.915299 Centerline is valid? [False, False] Translation: X:43.41, Y:3.55, Z:8.56 [[ 9.95918111e-01 6.89468157e-02 -5.82533537e-02 4.34102300e+01] [-6.75779178e-02 9.97396879e-01 2.51533433e-02 3.55421120e+00] [ 5.98359561e-02 -2.11140298e-02 9.97984898e-01 8.56305531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.07538475 meters Centerline goodness : 0.918538 Centerline is valid? [False, False] Translation: X:43.41, Y:3.55, Z:8.56 [[ 9.96211089e-01 6.34522154e-02 -5.94750549e-02 4.34134228e+01] [-6.23300525e-02 9.97844240e-01 2.05386647e-02 3.55448419e+00] [ 6.06500647e-02 -1.67537623e-02 9.98018477e-01 8.56256867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.10538475 meters Centerline goodness : 0.919206 Centerline is valid? [False, False] Translation: X:43.41, Y:3.56, Z:8.56 [[ 9.96444351e-01 5.92431797e-02 -5.99074441e-02 4.34147471e+01] [-5.83803947e-02 9.98165338e-01 1.60526618e-02 3.55677364e+00] [ 6.07485449e-02 -1.24981639e-02 9.98074852e-01 8.56121100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.13538475000001 meters Centerline goodness : 0.917201 Centerline is valid? [False, False] Translation: X:43.42, Y:3.56, Z:8.56 [[ 9.96674669e-01 5.44254637e-02 -6.06421790e-02 4.34171667e+01] [-5.38223415e-02 9.98483886e-01 1.15362621e-02 3.55714301e+00] [ 6.11781050e-02 -8.23399617e-03 9.98092902e-01 8.55971712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.16538475000002 meters Centerline goodness : 0.916872 Centerline is valid? [False, False] Translation: X:43.42, Y:3.56, Z:8.56 [[ 9.97110205e-01 4.73377871e-02 -5.94169473e-02 4.34161298e+01] [-4.68295830e-02 9.98853660e-01 9.91748710e-03 3.55624444e+00] [ 5.98183072e-02 -7.10635672e-03 9.98183986e-01 8.55856471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.19538475000002 meters Centerline goodness : 0.915883 Centerline is valid? [False, False] Translation: X:43.42, Y:3.55, Z:8.56 [[ 9.97611750e-01 5.02981089e-02 -4.73381116e-02 4.34156454e+01] [-4.97393172e-02 9.98678795e-01 1.29098413e-02 3.55256404e+00] [ 4.79249089e-02 -1.05244440e-02 9.98795494e-01 8.55811108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.22538475 meters Centerline goodness : 0.917733 Centerline is valid? [False, False] Translation: X:43.41, Y:3.55, Z:8.56 [[ 9.98084069e-01 5.10087609e-02 -3.50185171e-02 4.34138643e+01] [-5.05159351e-02 9.98613333e-01 1.48172657e-02 3.55012461e+00] [ 3.57257684e-02 -1.30198837e-02 9.99276815e-01 8.55957545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.25538475 meters Centerline goodness : 0.920333 Centerline is valid? [False, False] Translation: X:43.41, Y:3.55, Z:8.56 [[ 9.98155586e-01 4.97881864e-02 -3.47356179e-02 4.34144647e+01] [-4.93419616e-02 9.98689511e-01 1.35879252e-02 3.55081817e+00] [ 3.53666154e-02 -1.18489399e-02 9.99304160e-01 8.55829123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.28538475 meters Centerline goodness : 0.920333 Centerline is valid? [False, False] Translation: X:43.41, Y:3.55, Z:8.56 [[ 9.98155586e-01 4.97881864e-02 -3.47356179e-02 4.34144647e+01] [-4.93419616e-02 9.98689511e-01 1.35879252e-02 3.55081817e+00] [ 3.53666154e-02 -1.18489399e-02 9.99304160e-01 8.55829123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.31538475 meters Centerline goodness : 0.917480 Centerline is valid? [False, False] Translation: X:43.42, Y:3.55, Z:8.56 [[ 9.98068451e-01 5.17618590e-02 -3.43522642e-02 4.34162490e+01] [-5.11854838e-02 9.98536675e-01 1.74514885e-02 3.55243499e+00] [ 3.52053172e-02 -1.56594428e-02 9.99257408e-01 8.55615888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.34538475 meters Centerline goodness : 0.913212 Centerline is valid? [False, False] Translation: X:43.42, Y:3.55, Z:8.56 [[ 9.97762103e-01 5.75937376e-02 -3.39668482e-02 4.34167188e+01] [-5.68878624e-02 9.98151310e-01 2.13947249e-02 3.55475929e+00] [ 3.51362562e-02 -1.94145443e-02 9.99193935e-01 8.55531763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.37538475 meters Centerline goodness : 0.917032 Centerline is valid? [False, False] Translation: X:43.42, Y:3.55, Z:8.55 [[ 9.97590531e-01 5.94005269e-02 -3.58428590e-02 4.34213233e+01] [-5.86737432e-02 9.98056307e-01 2.09999955e-02 3.55492460e+00] [ 3.70206023e-02 -1.88463619e-02 9.99136772e-01 8.55283262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.40538475 meters Centerline goodness : 0.917171 Centerline is valid? [False, False] Translation: X:43.42, Y:3.56, Z:8.55 [[ 9.97138443e-01 6.68654960e-02 -3.52694062e-02 4.34171451e+01] [-6.59617807e-02 9.97478275e-01 2.61941582e-02 3.55509706e+00] [ 3.69319518e-02 -2.37927693e-02 9.99034501e-01 8.55490708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.43538475 meters Centerline goodness : 0.920086 Centerline is valid? [False, False] Translation: X:43.42, Y:3.55, Z:8.55 [[ 9.97074246e-01 6.78111406e-02 -3.52788545e-02 4.34167934e+01] [-6.68924173e-02 9.97405496e-01 2.66022761e-02 3.55365253e+00] [ 3.69912541e-02 -2.41645565e-02 9.99023384e-01 8.55453233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.46538475 meters Centerline goodness : 0.919623 Centerline is valid? [False, False] Translation: X:43.42, Y:3.55, Z:8.55 [[ 9.97011914e-01 6.87506605e-02 -3.52220110e-02 4.34166921e+01] [-6.78125980e-02 9.97328043e-01 2.71703256e-02 3.55162390e+00] [ 3.69958772e-02 -2.47006422e-02 9.99010102e-01 8.55377100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.49538475 meters Centerline goodness : 0.928044 Centerline is valid? [False, False] Translation: X:43.39, Y:3.56, Z:8.55 [[ 9.96401562e-01 7.93071601e-02 -2.99048855e-02 4.33872357e+01] [-7.88061476e-02 9.96734982e-01 1.75774708e-02 3.55654615e+00] [ 3.12012648e-02 -1.51575305e-02 9.99398184e-01 8.55062591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.52538475 meters Centerline goodness : 0.928105 Centerline is valid? [False, False] Translation: X:43.38, Y:3.56, Z:8.55 [[ 9.95879442e-01 8.59047415e-02 -2.90605115e-02 4.33838708e+01] [-8.52779898e-02 9.96110695e-01 2.21618576e-02 3.55686540e+00] [ 3.08512950e-02 -1.95923163e-02 9.99331946e-01 8.55148847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.55538475 meters Centerline goodness : 0.929460 Centerline is valid? [False, False] Translation: X:43.38, Y:3.56, Z:8.55 [[ 9.95844134e-01 8.62586231e-02 -2.92217601e-02 4.33841320e+01] [-8.56519008e-02 9.96094914e-01 2.14166698e-02 3.55911714e+00] [ 3.09550190e-02 -1.88247657e-02 9.99343492e-01 8.55046177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.58538475 meters Centerline goodness : 0.930593 Centerline is valid? [False, False] Translation: X:43.39, Y:3.56, Z:8.55 [[ 9.95975622e-01 8.44438376e-02 -3.00299672e-02 4.33876895e+01] [-8.38214632e-02 9.96250650e-01 2.14150784e-02 3.55694426e+00] [ 3.17257458e-02 -1.88117402e-02 9.99319566e-01 8.55024359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.61538475 meters Centerline goodness : 0.934876 Centerline is valid? [False, False] Translation: X:43.39, Y:3.56, Z:8.55 [[ 9.95966720e-01 8.43475629e-02 -3.05905510e-02 4.33896277e+01] [-8.37336810e-02 9.96270551e-01 2.08245148e-02 3.55796376e+00] [ 3.22329622e-02 -1.81790642e-02 9.99315044e-01 8.54872572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.64538475 meters Centerline goodness : 0.919959 Centerline is valid? [False, False] Translation: X:43.39, Y:3.56, Z:8.54 [[ 9.96013517e-01 8.34733823e-02 -3.14526368e-02 4.33938688e+01] [-8.29096809e-02 9.96379312e-01 1.88215824e-02 3.56163336e+00] [ 3.29098578e-02 -1.61388224e-02 9.99328014e-01 8.54439980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.67538475 meters Centerline goodness : 0.916766 Centerline is valid? [False, False] Translation: X:43.39, Y:3.56, Z:8.54 [[ 9.96278166e-01 8.02168056e-02 -3.15448867e-02 4.33937127e+01] [-7.98054090e-02 9.96710828e-01 1.40933207e-02 3.56394509e+00] [ 3.25716513e-02 -1.15234151e-02 9.99402971e-01 8.54227821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.70538475 meters Centerline goodness : 0.916859 Centerline is valid? [False, False] Translation: X:43.40, Y:3.56, Z:8.54 [[ 9.96295889e-01 7.97268362e-02 -3.22200627e-02 4.33956340e+01] [-7.93070351e-02 9.96750432e-01 1.41056634e-02 3.56344997e+00] [ 3.32399614e-02 -1.14981368e-02 9.99381257e-01 8.54220934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.73538475 meters Centerline goodness : 0.917637 Centerline is valid? [False, False] Translation: X:43.40, Y:3.56, Z:8.54 [[ 9.96311169e-01 7.92469911e-02 -3.29236768e-02 4.33977765e+01] [-7.88284511e-02 9.96792345e-01 1.38237258e-02 3.56317127e+00] [ 3.39135577e-02 -1.11774100e-02 9.99362265e-01 8.54164271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.76538475 meters Centerline goodness : 0.918835 Centerline is valid? [False, False] Translation: X:43.40, Y:3.56, Z:8.54 [[ 9.96372447e-01 7.78884471e-02 -3.42831818e-02 4.34024921e+01] [-7.74807140e-02 9.96908214e-01 1.30671679e-02 3.56302880e+00] [ 3.51949669e-02 -1.03634806e-02 9.99326730e-01 8.53994280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.79538475 meters Centerline goodness : 0.913385 Centerline is valid? [False, False] Translation: X:43.41, Y:3.56, Z:8.54 [[ 9.96403176e-01 7.71250232e-02 -3.51061489e-02 4.34051114e+01] [-7.66973943e-02 9.96964757e-01 1.33709552e-02 3.56164058e+00] [ 3.60308285e-02 -1.06303121e-02 9.99294139e-01 8.54008598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.82538475 meters Centerline goodness : 0.913956 Centerline is valid? [False, False] Translation: X:43.40, Y:3.56, Z:8.54 [[ 9.96632234e-01 7.40300394e-02 -3.52667589e-02 4.34049700e+01] [-7.37452823e-02 9.97233655e-01 9.30965556e-03 3.56335691e+00] [ 3.58583931e-02 -6.67754572e-03 9.99334572e-01 8.53881747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.85538475 meters Centerline goodness : 0.911939 Centerline is valid? [False, False] Translation: X:43.41, Y:3.56, Z:8.54 [[ 9.96401228e-01 7.66756936e-02 -3.61307580e-02 4.34084314e+01] [-7.62204034e-02 9.96995263e-01 1.38164760e-02 3.56070993e+00] [ 3.70815825e-02 -1.10128527e-02 9.99251557e-01 8.54012436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.88538475000001 meters Centerline goodness : 0.918215 Centerline is valid? [False, False] Translation: X:43.41, Y:3.56, Z:8.54 [[ 9.96617971e-01 7.36028362e-02 -3.65409638e-02 4.34074527e+01] [-7.32826083e-02 9.97260791e-01 1.00286951e-02 3.56053489e+00] [ 3.71790108e-02 -7.31696067e-03 9.99281834e-01 8.54053529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.91538475000002 meters Centerline goodness : 0.918595 Centerline is valid? [False, False] Translation: X:43.41, Y:3.56, Z:8.54 [[ 9.96607607e-01 7.33696193e-02 -3.72850676e-02 4.34093610e+01] [-7.30422635e-02 9.97278014e-01 1.00692532e-02 3.56062426e+00] [ 3.79223555e-02 -7.31170865e-03 9.99253939e-01 8.54048748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.94538475000002 meters Centerline goodness : 0.914900 Centerline is valid? [False, False] Translation: X:43.41, Y:3.56, Z:8.54 [[ 9.96615227e-01 7.28993051e-02 -3.79971172e-02 4.34118886e+01] [-7.25864323e-02 9.97316389e-01 9.55146289e-03 3.56136273e+00] [ 3.85914427e-02 -6.76105818e-03 9.99232200e-01 8.53919136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.97538475 meters Centerline goodness : 0.917819 Centerline is valid? [False, False] Translation: X:43.41, Y:3.56, Z:8.54 [[ 9.96650231e-01 7.19638701e-02 -3.88525145e-02 4.34149208e+01] [-7.16575164e-02 9.97386657e-01 9.22265898e-03 3.56147865e+00] [ 3.94146778e-02 -6.40769051e-03 9.99202394e-01 8.53843955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.00538475 meters Centerline goodness : 0.917286 Centerline is valid? [False, False] Translation: X:43.42, Y:3.56, Z:8.54 [[ 9.96633048e-01 7.19513719e-02 -3.93136975e-02 4.34159430e+01] [-7.16505033e-02 9.97389096e-01 9.01096155e-03 3.56227782e+00] [ 3.98594042e-02 -6.16377587e-03 9.99186287e-01 8.53820641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.03538475 meters Centerline goodness : 0.909659 Centerline is valid? [False, False] Translation: X:43.42, Y:3.56, Z:8.54 [[ 9.96609422e-01 7.20368567e-02 -3.97536410e-02 4.34172185e+01] [-7.17485314e-02 9.97385380e-01 8.63431119e-03 3.56352200e+00] [ 4.02716890e-02 -5.75277053e-03 9.99172206e-01 8.53737790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.06538475 meters Centerline goodness : 0.909473 Centerline is valid? [False, False] Translation: X:43.42, Y:3.56, Z:8.54 [[ 9.96618482e-01 7.11446175e-02 -4.11101566e-02 4.34207499e+01] [-7.08306863e-02 9.97447343e-01 9.04493484e-03 3.56279833e+00] [ 4.16487149e-02 -6.10248863e-03 9.99113679e-01 8.53817854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.09538475 meters Centerline goodness : 0.908315 Centerline is valid? [False, False] Translation: X:43.42, Y:3.56, Z:8.54 [[ 9.96630716e-01 7.05555285e-02 -4.18226428e-02 4.34227607e+01] [-7.02309158e-02 9.97488495e-01 9.18258731e-03 3.56233999e+00] [ 4.23654874e-02 -6.21440606e-03 9.99082853e-01 8.53848667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.12538475 meters Centerline goodness : 0.903564 Centerline is valid? [False, False] Translation: X:43.43, Y:3.56, Z:8.54 [[ 9.96515478e-01 7.13436326e-02 -4.32086495e-02 4.34298505e+01] [-7.07173343e-02 9.97370369e-01 1.58557828e-02 3.55919110e+00] [ 4.42262358e-02 -1.27449325e-02 9.98940242e-01 8.54344156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.15538475 meters Centerline goodness : 0.907205 Centerline is valid? [False, False] Translation: X:43.43, Y:3.56, Z:8.54 [[ 9.96550374e-01 6.98953272e-02 -4.47436616e-02 4.34341459e+01] [-6.92373909e-02 9.97470431e-01 1.60910907e-02 3.55780984e+00] [ 4.57551715e-02 -1.29376480e-02 9.98868901e-01 8.54414960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.18538475 meters Centerline goodness : 0.906699 Centerline is valid? [False, False] Translation: X:43.44, Y:3.56, Z:8.54 [[ 9.96541367e-01 6.94307635e-02 -4.56582192e-02 4.34361533e+01] [-6.87673600e-02 9.97505287e-01 1.59453158e-02 3.55787675e+00] [ 4.66514105e-02 -1.27503716e-02 9.98829852e-01 8.54445008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.21538475 meters Centerline goodness : 0.908055 Centerline is valid? [False, False] Translation: X:43.44, Y:3.56, Z:8.55 [[ 9.96547166e-01 6.80280403e-02 -4.76018137e-02 4.34410901e+01] [-6.73280682e-02 9.97600035e-01 1.61586253e-02 3.55707563e+00] [ 4.85868106e-02 -1.28978941e-02 9.98735684e-01 8.54544170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.24538475 meters Centerline goodness : 0.906539 Centerline is valid? [False, False] Translation: X:43.44, Y:3.56, Z:8.55 [[ 9.96556206e-01 6.72309996e-02 -4.85357723e-02 4.34437912e+01] [-6.65055031e-02 9.97651061e-01 1.64127666e-02 3.55615269e+00] [ 4.95252114e-02 -1.31283484e-02 9.98686587e-01 8.54580935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.27538475 meters Centerline goodness : 0.906923 Centerline is valid? [False, False] Translation: X:43.45, Y:3.55, Z:8.55 [[ 9.96580268e-01 6.55534659e-02 -5.03042077e-02 4.34491272e+01] [-6.47666221e-02 9.97753619e-01 1.71172606e-02 3.55410581e+00] [ 5.13133011e-02 -1.38006906e-02 9.98587245e-01 8.54683370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.30538475 meters Centerline goodness : 0.908354 Centerline is valid? [False, False] Translation: X:43.45, Y:3.55, Z:8.55 [[ 9.96580358e-01 6.49602844e-02 -5.10661424e-02 4.34511987e+01] [-6.41613806e-02 9.97792454e-01 1.71328767e-02 3.55343715e+00] [ 5.20663681e-02 -1.37978142e-02 9.98548303e-01 8.54698675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.33538475 meters Centerline goodness : 0.905986 Centerline is valid? [False, False] Translation: X:43.45, Y:3.55, Z:8.55 [[ 9.96810548e-01 6.05910451e-02 -5.19370502e-02 4.34531512e+01] [-5.99853435e-02 9.98112714e-01 1.31441683e-02 3.55329412e+00] [ 5.26354490e-02 -9.98678376e-03 9.98563856e-01 8.54625098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.36538475 meters Centerline goodness : 0.909036 Centerline is valid? [False, False] Translation: X:43.46, Y:3.55, Z:8.55 [[ 9.97126163e-01 5.38557676e-02 -5.32819965e-02 4.34585684e+01] [-5.33875538e-02 9.98522046e-01 1.01731291e-02 3.54893910e+00] [ 5.37511299e-02 -7.29929771e-03 9.98527684e-01 8.54678999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.39538475 meters Centerline goodness : 0.911488 Centerline is valid? [False, False] Translation: X:43.46, Y:3.54, Z:8.55 [[ 9.97313790e-01 4.91734320e-02 -5.42879208e-02 4.34601043e+01] [-4.87676332e-02 9.98771601e-01 8.77532924e-03 3.54488473e+00] [ 5.46527466e-02 -6.10426345e-03 9.98486763e-01 8.55066151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.42538475 meters Centerline goodness : 0.908058 Centerline is valid? [False, False] Translation: X:43.46, Y:3.54, Z:8.55 [[ 9.97302741e-01 4.86371559e-02 -5.49697114e-02 4.34613822e+01] [-4.81393502e-02 9.98787057e-01 1.03448943e-02 3.54166847e+00] [ 5.54061825e-02 -7.67078528e-03 9.98434431e-01 8.55323650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.45538475 meters Centerline goodness : 0.915125 Centerline is valid? [False, False] Translation: X:43.46, Y:3.54, Z:8.56 [[ 9.97487204e-01 4.38002749e-02 -5.56849581e-02 4.34627321e+01] [-4.34378445e-02 9.99026435e-01 7.70295053e-03 3.53956006e+00] [ 5.59681365e-02 -5.26476003e-03 9.98418675e-01 8.55530279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.48538475 meters Centerline goodness : 0.911794 Centerline is valid? [False, False] Translation: X:43.46, Y:3.54, Z:8.56 [[ 9.97628977e-01 3.95499485e-02 -5.63225086e-02 4.34641561e+01] [-3.93922524e-02 9.99216183e-01 3.90778254e-03 3.53961884e+00] [ 5.64329147e-02 -1.67984663e-03 9.98404980e-01 8.55500652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.51538475 meters Centerline goodness : 0.910721 Centerline is valid? [False, False] Translation: X:43.46, Y:3.54, Z:8.56 [[ 9.98047255e-01 3.43227047e-02 -5.21884061e-02 4.34581812e+01] [-3.38695196e-02 9.99380695e-01 9.54364264e-03 3.53730287e+00] [ 5.24836492e-02 -7.75741009e-03 9.98591653e-01 8.55964220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.54538475 meters Centerline goodness : 0.910726 Centerline is valid? [False, False] Translation: X:43.46, Y:3.54, Z:8.56 [[ 9.98207235e-01 3.17210616e-02 -5.07552089e-02 4.34568294e+01] [-3.12312383e-02 9.99457921e-01 1.04150542e-02 3.53582651e+00] [ 5.10580722e-02 -8.81123446e-03 9.98656816e-01 8.55914895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.57538475 meters Centerline goodness : 0.912409 Centerline is valid? [False, False] Translation: X:43.46, Y:3.54, Z:8.56 [[ 9.98316683e-01 2.64049606e-02 -5.16389286e-02 4.34597549e+01] [-2.61288308e-02 9.99640486e-01 6.01522825e-03 3.53512070e+00] [ 5.17791955e-02 -4.65583789e-03 9.98647705e-01 8.55822077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.60538475 meters Centerline goodness : 0.909294 Centerline is valid? [False, False] Translation: X:43.46, Y:3.53, Z:8.56 [[ 9.98282341e-01 2.54031886e-02 -5.27924831e-02 4.34630421e+01] [-2.50934207e-02 9.99663833e-01 6.52233162e-03 3.53314784e+00] [ 5.29404240e-02 -5.18638448e-03 9.98584204e-01 8.55890516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.63538475000001 meters Centerline goodness : 0.912013 Centerline is valid? [False, False] Translation: X:43.47, Y:3.53, Z:8.56 [[ 9.98335579e-01 1.92460057e-02 -5.43660181e-02 4.34689513e+01] [-1.91814245e-02 9.99814558e-01 1.70948982e-03 3.53234891e+00] [ 5.43888373e-02 -6.63826831e-04 9.98519611e-01 8.55669935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.66538475000002 meters Centerline goodness : 0.915569 Centerline is valid? [False, False] Translation: X:43.47, Y:3.53, Z:8.56 [[ 9.98308128e-01 1.86192542e-02 -5.50836267e-02 4.34711937e+01] [-1.85392015e-02 9.99826205e-01 1.96397336e-03 3.53071755e+00] [ 5.51106212e-02 -9.39444111e-04 9.98479813e-01 8.55669662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.69538475000002 meters Centerline goodness : 0.915799 Centerline is valid? [False, False] Translation: X:43.47, Y:3.53, Z:8.56 [[ 9.98253985e-01 1.81066533e-02 -5.62239275e-02 4.34735975e+01] [-1.79958173e-02 9.99834994e-01 2.47704563e-03 3.52933183e+00] [ 5.62595012e-02 -1.46092514e-03 9.98415111e-01 8.55786959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.72538475 meters Centerline goodness : 0.913659 Centerline is valid? [False, False] Translation: X:43.48, Y:3.53, Z:8.56 [[ 9.98214417e-01 1.77368047e-02 -5.70384383e-02 4.34756100e+01] [-1.76177851e-02 9.99841443e-01 2.58887404e-03 3.52895013e+00] [ 5.70753128e-02 -1.57936044e-03 9.98368626e-01 8.55803719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.75538475 meters Centerline goodness : 0.917995 Centerline is valid? [False, False] Translation: X:43.48, Y:3.53, Z:8.56 [[ 9.98075407e-01 2.18096244e-02 -5.80501659e-02 4.34770678e+01] [-2.14068262e-02 9.99742327e-01 7.55170812e-03 3.52905097e+00] [ 5.81999078e-02 -6.29450435e-03 9.98285105e-01 8.56094082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.78538475 meters Centerline goodness : 0.913489 Centerline is valid? [False, False] Translation: X:43.48, Y:3.53, Z:8.56 [[ 9.98033697e-01 2.21703782e-02 -5.86277553e-02 4.34782691e+01] [-2.17955923e-02 9.99737770e-01 7.02446894e-03 3.53067827e+00] [ 5.87681164e-02 -5.73283005e-03 9.98255199e-01 8.55983183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.81538475 meters Centerline goodness : 0.915759 Centerline is valid? [False, False] Translation: X:43.48, Y:3.53, Z:8.56 [[ 9.97994611e-01 2.26502238e-02 -5.91077224e-02 4.34788734e+01] [-2.22762754e-02 9.99727501e-01 6.97791897e-03 3.53147074e+00] [ 5.92496670e-02 -5.64722563e-03 9.98227222e-01 8.55960034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.84538475 meters Centerline goodness : 0.914988 Centerline is valid? [False, False] Translation: X:43.48, Y:3.53, Z:8.56 [[ 9.97963942e-01 2.30074019e-02 -5.94863776e-02 4.34794027e+01] [-2.26440940e-02 9.99720637e-01 6.77441149e-03 3.53211405e+00] [ 5.96256209e-02 -5.41360327e-03 9.98206130e-01 8.55918034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.87538475 meters Centerline goodness : 0.915314 Centerline is valid? [False, False] Translation: X:43.49, Y:3.53, Z:8.55 [[ 9.98046900e-01 2.90981743e-02 -5.52782168e-02 4.34909831e+01] [-2.91373695e-02 9.99575412e-01 9.69325244e-05 3.53145232e+00] [ 5.52575669e-02 1.51391862e-03 9.98470986e-01 8.55404715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.90538475 meters Centerline goodness : 0.912590 Centerline is valid? [False, False] Translation: X:43.49, Y:3.53, Z:8.55 [[ 9.98015154e-01 2.97406681e-02 -5.55089684e-02 4.34909856e+01] [-2.97595244e-02 9.99556969e-01 4.87052984e-04 3.53083094e+00] [ 5.54988615e-02 1.16583424e-03 9.98458070e-01 8.55419248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.93538475 meters Centerline goodness : 0.912619 Centerline is valid? [False, False] Translation: X:43.50, Y:3.53, Z:8.55 [[ 9.97946860e-01 3.88396348e-02 -5.09268881e-02 4.35004476e+01] [-3.90823291e-02 9.99228852e-01 -3.77804332e-03 3.52971388e+00] [ 5.07408781e-02 5.76062787e-03 9.98695238e-01 8.55042640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.96538475 meters Centerline goodness : 0.910675 Centerline is valid? [False, False] Translation: X:43.50, Y:3.53, Z:8.55 [[ 9.97734249e-01 4.35529227e-02 -5.12787604e-02 4.35007026e+01] [-4.35490905e-02 9.99050577e-01 1.19256993e-03 3.52817484e+00] [ 5.12820150e-02 1.04327552e-03 9.98683667e-01 8.55187789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.99538475 meters Centerline goodness : 0.908666 Centerline is valid? [False, False] Translation: X:43.51, Y:3.53, Z:8.55 [[ 9.97479025e-01 5.33037725e-02 -4.68433883e-02 4.35126761e+01] [-5.34661194e-02 9.98567199e-01 -2.21875166e-03 3.52750111e+00] [ 4.66580032e-02 4.71769243e-03 9.98899782e-01 8.54585395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.02538475 meters Centerline goodness : 0.906659 Centerline is valid? [False, False] Translation: X:43.51, Y:3.53, Z:8.55 [[ 9.97387121e-01 5.49693912e-02 -4.68753347e-02 4.35115368e+01] [-5.51194844e-02 9.98477930e-01 -1.91443724e-03 3.52859615e+00] [ 4.66987517e-02 4.49317932e-03 9.98898913e-01 8.54566679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.05538475 meters Centerline goodness : 0.910630 Centerline is valid? [False, False] Translation: X:43.52, Y:3.53, Z:8.54 [[ 9.97146503e-01 6.24899694e-02 -4.23539236e-02 4.35244762e+01] [-6.27896240e-02 9.98010043e-01 -5.78073832e-03 3.52817747e+00] [ 4.19084030e-02 8.42362995e-03 9.99085946e-01 8.54219279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.08538475 meters Centerline goodness : 0.909420 Centerline is valid? [False, False] Translation: X:43.53, Y:3.53, Z:8.54 [[ 9.96859386e-01 6.46438369e-02 -4.57442840e-02 4.35291940e+01] [-6.51161254e-02 9.97837920e-01 -8.90928811e-03 3.52852712e+00] [ 4.50694507e-02 1.18599980e-02 9.98913452e-01 8.54243425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.11538475 meters Centerline goodness : 0.911597 Centerline is valid? [False, False] Translation: X:43.53, Y:3.53, Z:8.54 [[ 9.96551214e-01 6.70716870e-02 -4.88576068e-02 4.35334321e+01] [-6.77655570e-02 9.97620632e-01 -1.26848072e-02 3.52956466e+00] [ 4.78905651e-02 1.59519230e-02 9.98725202e-01 8.54219693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.14538475 meters Centerline goodness : 0.909919 Centerline is valid? [False, False] Translation: X:43.53, Y:3.53, Z:8.54 [[ 9.96448427e-01 6.84019615e-02 -4.91090999e-02 4.35335432e+01] [-6.91032686e-02 9.97528343e-01 -1.27257076e-02 3.53033256e+00] [ 4.81172557e-02 1.60741106e-02 9.98712347e-01 8.54310165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.17538475 meters Centerline goodness : 0.907366 Centerline is valid? [False, False] Translation: X:43.54, Y:3.53, Z:8.54 [[ 9.96441124e-01 6.66165999e-02 -5.16460472e-02 4.35386693e+01] [-6.77126099e-02 9.97508999e-01 -1.97686218e-02 3.53200085e+00] [ 5.02004785e-02 2.31953564e-02 9.98469773e-01 8.53894670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.20538475 meters Centerline goodness : 0.907366 Centerline is valid? [False, False] Translation: X:43.54, Y:3.53, Z:8.54 [[ 9.96441124e-01 6.66165999e-02 -5.16460472e-02 4.35386693e+01] [-6.77126099e-02 9.97508999e-01 -1.97686218e-02 3.53200085e+00] [ 5.02004785e-02 2.31953564e-02 9.98469773e-01 8.53894670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.23538475 meters Centerline goodness : 0.921279 Centerline is valid? [False, False] Translation: X:43.54, Y:3.53, Z:8.54 [[ 9.96667570e-01 6.45119165e-02 -4.99196203e-02 4.35355936e+01] [-6.56106518e-02 9.97630734e-01 -2.06920292e-02 3.53297908e+00] [ 4.84664650e-02 2.38983333e-02 9.98538868e-01 8.54064429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.26538475 meters Centerline goodness : 0.921364 Centerline is valid? [False, False] Translation: X:43.53, Y:3.53, Z:8.54 [[ 9.96889305e-01 6.18184579e-02 -4.88895813e-02 4.35345784e+01] [-6.29171524e-02 9.97792257e-01 -2.12613339e-02 3.53380149e+00] [ 4.74673028e-02 2.42711896e-02 9.98577871e-01 8.54051792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.29538475 meters Centerline goodness : 0.891438 Centerline is valid? [False, False] Translation: X:43.53, Y:3.53, Z:8.54 [[ 9.97155109e-01 6.01359582e-02 -4.54461833e-02 4.35292232e+01] [-6.09657482e-02 9.97993413e-01 -1.70975207e-02 3.53401907e+00] [ 4.43268157e-02 1.98195407e-02 9.98820464e-01 8.54435163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.32538475 meters Centerline goodness : 0.907964 Centerline is valid? [False, False] Translation: X:43.54, Y:3.53, Z:8.55 [[ 9.97286896e-01 5.65021886e-02 -4.71842130e-02 4.35367054e+01] [-5.73559441e-02 9.98210072e-01 -1.69395139e-02 3.53330181e+00] [ 4.61426371e-02 1.95998503e-02 9.98742561e-01 8.54520868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.35538475 meters Centerline goodness : 0.909349 Centerline is valid? [False, False] Translation: X:43.55, Y:3.53, Z:8.55 [[ 9.97472432e-01 5.17128356e-02 -4.87291539e-02 4.35515418e+01] [-5.23678278e-02 9.98552589e-01 -1.22612147e-02 3.53261876e+00] [ 4.80245606e-02 1.47820636e-02 9.98736768e-01 8.54895743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.38538475000001 meters Centerline goodness : 0.902947 Centerline is valid? [False, False] Translation: X:43.56, Y:3.53, Z:8.55 [[ 9.97497838e-01 5.01193482e-02 -4.98609491e-02 4.35553919e+01] [-5.07937291e-02 9.98632796e-01 -1.23505498e-02 3.53228157e+00] [ 4.91737775e-02 1.48522703e-02 9.98679803e-01 8.54909124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.41538475000002 meters Centerline goodness : 0.889018 Centerline is valid? [False, False] Translation: X:43.56, Y:3.53, Z:8.55 [[ 9.97676615e-01 4.48571100e-02 -5.12758416e-02 4.35635199e+01] [-4.55696758e-02 9.98878993e-01 -1.28125648e-02 3.53122796e+00] [ 5.06436264e-02 1.51194198e-02 9.98602336e-01 8.55025399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.44538475000002 meters Centerline goodness : 0.897764 Centerline is valid? [False, False] Translation: X:43.57, Y:3.53, Z:8.55 [[ 9.97689202e-01 4.33901528e-02 -5.22833759e-02 4.35670846e+01] [-4.41003362e-02 9.98948820e-01 -1.25065983e-02 3.52999972e+00] [ 5.16857535e-02 1.47834126e-02 9.98553971e-01 8.55068992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.47538475 meters Centerline goodness : 0.879606 Centerline is valid? [False, False] Translation: X:43.57, Y:3.53, Z:8.55 [[ 9.97759445e-01 3.98314205e-02 -5.37545056e-02 4.35742329e+01] [-4.05501864e-02 9.99101212e-01 -1.23470756e-02 3.52828849e+00] [ 5.32143902e-02 1.44991665e-02 9.98477843e-01 8.55101336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.50538475 meters Centerline goodness : 0.886667 Centerline is valid? [False, False] Translation: X:43.58, Y:3.53, Z:8.55 [[ 9.97743169e-01 3.93453259e-02 -5.44106134e-02 4.35760827e+01] [-4.00607465e-02 9.99123730e-01 -1.21205644e-02 3.52806610e+00] [ 5.38860474e-02 1.42729401e-02 9.98445080e-01 8.55144769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.53538475 meters Centerline goodness : 0.886574 Centerline is valid? [False, False] Translation: X:43.58, Y:3.53, Z:8.55 [[ 9.97719512e-01 3.88513467e-02 -5.51937339e-02 4.35780344e+01] [-3.95539985e-02 9.99148987e-01 -1.16953906e-02 3.52759589e+00] [ 5.46923817e-02 1.38518523e-02 9.98407166e-01 8.55230479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.56538475 meters Centerline goodness : 0.877670 Centerline is valid? [False, False] Translation: X:43.58, Y:3.53, Z:8.55 [[ 9.97555916e-01 4.12666917e-02 -5.63848805e-02 4.35821125e+01] [-4.17180129e-02 9.99105941e-01 -6.85030736e-03 3.52573081e+00] [ 5.60517796e-02 9.18582981e-03 9.98385606e-01 8.55456145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.59538475 meters Centerline goodness : 0.888889 Centerline is valid? [False, False] Translation: X:43.58, Y:3.52, Z:8.56 [[ 9.97319306e-01 4.62494868e-02 -5.67026094e-02 4.35807471e+01] [-4.63708497e-02 9.98923952e-01 -8.25773070e-04 3.52477354e+00] [ 5.66034031e-02 3.45290760e-03 9.98390771e-01 8.55969612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.62538475 meters Centerline goodness : 0.915163 Centerline is valid? [False, False] Translation: X:43.58, Y:3.53, Z:8.56 [[ 9.97280925e-01 4.66503185e-02 -5.70482684e-02 4.35806606e+01] [-4.67616265e-02 9.98905886e-01 -6.17028163e-04 3.52608020e+00] [ 5.69570665e-02 3.28302024e-03 9.98371231e-01 8.56077112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.65538475 meters Centerline goodness : 0.917321 Centerline is valid? [False, False] Translation: X:43.58, Y:3.53, Z:8.56 [[ 9.97209553e-01 4.77728406e-02 -5.73660453e-02 4.35820344e+01] [-4.78240546e-02 9.98855660e-01 4.80565012e-04 3.52937054e+00] [ 5.73233569e-02 2.26425286e-03 9.98353097e-01 8.56093712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.68538475 meters Centerline goodness : 0.920081 Centerline is valid? [False, False] Translation: X:43.59, Y:3.53, Z:8.56 [[ 9.97012323e-01 5.07674445e-02 -5.82159343e-02 4.35854449e+01] [-5.05902345e-02 9.98709290e-01 4.51476404e-03 3.52896194e+00] [ 5.83699974e-02 -1.55611762e-03 9.98293805e-01 8.56106249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.71538475 meters Centerline goodness : 0.917022 Centerline is valid? [False, False] Translation: X:43.59, Y:3.53, Z:8.56 [[ 9.96815597e-01 5.38292973e-02 -5.88308733e-02 4.35886115e+01] [-5.34306798e-02 9.98536825e-01 8.32897022e-03 3.52879073e+00] [ 5.91931361e-02 -5.15907388e-03 9.98233218e-01 8.56080271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.74538475 meters Centerline goodness : 0.918456 Centerline is valid? [False, False] Translation: X:43.59, Y:3.53, Z:8.56 [[ 9.96804467e-01 5.34705408e-02 -5.93443827e-02 4.35903946e+01] [-5.30943083e-02 9.98558255e-01 7.89975717e-03 3.52942168e+00] [ 5.96812275e-02 -4.72366428e-03 9.98206310e-01 8.55992260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.77538475 meters Centerline goodness : 0.919015 Centerline is valid? [False, False] Translation: X:43.59, Y:3.53, Z:8.56 [[ 9.96812106e-01 5.23706731e-02 -6.01908492e-02 4.35936171e+01] [-5.20118962e-02 9.98618203e-01 7.51309731e-03 3.52896613e+00] [ 6.05011436e-02 -4.35850615e-03 9.98158612e-01 8.55908573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.80538475 meters Centerline goodness : 0.921226 Centerline is valid? [False, False] Translation: X:43.60, Y:3.53, Z:8.56 [[ 9.96798624e-01 5.17314903e-02 -6.09619212e-02 4.35958193e+01] [-5.13660076e-02 9.98651369e-01 7.54828414e-03 3.52795047e+00] [ 6.12701901e-02 -4.39274874e-03 9.98111551e-01 8.55909277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.83538475 meters Centerline goodness : 0.920151 Centerline is valid? [False, False] Translation: X:43.60, Y:3.53, Z:8.56 [[ 9.96774020e-01 5.13747950e-02 -6.16618530e-02 4.35976341e+01] [-5.10030799e-02 9.98669667e-01 7.58823230e-03 3.52740989e+00] [ 6.19696661e-02 -4.41880840e-03 9.98068251e-01 8.55918053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.86538475 meters Centerline goodness : 0.922724 Centerline is valid? [False, False] Translation: X:43.60, Y:3.53, Z:8.56 [[ 9.96765177e-01 5.07335508e-02 -6.23320822e-02 4.36000346e+01] [-5.03716638e-02 9.98703389e-01 7.36456578e-03 3.52672213e+00] [ 6.26248923e-02 -4.20097202e-03 9.98028294e-01 8.55845603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.89538475 meters Centerline goodness : 0.923375 Centerline is valid? [False, False] Translation: X:43.60, Y:3.52, Z:8.56 [[ 9.96621493e-01 5.25519292e-02 -6.31181028e-02 4.36037576e+01] [-5.19915749e-02 9.98592439e-01 1.04888791e-02 3.52413786e+00] [ 6.35804711e-02 -7.17183274e-03 9.97950945e-01 8.55827639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.92538475 meters Centerline goodness : 0.924091 Centerline is valid? [False, False] Translation: X:43.61, Y:3.52, Z:8.56 [[ 9.96613533e-01 5.21079034e-02 -6.36100087e-02 4.36057651e+01] [-5.15495887e-02 9.98616406e-01 1.03881381e-02 3.52322308e+00] [ 6.40633023e-02 -7.07388927e-03 9.97920765e-01 8.55746515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.95538475 meters Centerline goodness : 0.925627 Centerline is valid? [False, False] Translation: X:43.62, Y:3.52, Z:8.55 [[ 9.96647981e-01 5.54909309e-02 -6.01128872e-02 4.36218443e+01] [-5.54202379e-02 9.98459068e-01 2.84389822e-03 3.52391399e+00] [ 6.01780679e-02 4.97105095e-04 9.98187534e-01 8.55204915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.98538475 meters Centerline goodness : 0.926574 Centerline is valid? [False, False] Translation: X:43.64, Y:3.52, Z:8.55 [[ 9.96863094e-01 5.61150277e-02 -5.58128587e-02 4.36394871e+01] [-5.65169384e-02 9.98385667e-01 -5.64763667e-03 3.52492421e+00] [ 5.54058409e-02 8.78429247e-03 9.98425275e-01 8.54614627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.01538475 meters Centerline goodness : 0.930329 Centerline is valid? [False, False] Translation: X:43.66, Y:3.53, Z:8.53 [[ 9.97487269e-01 5.63046192e-02 -4.29992692e-02 4.36629923e+01] [-5.76730647e-02 9.97845500e-01 -3.12758108e-02 3.53256755e+00] [ 4.11456546e-02 3.36771227e-02 9.98585443e-01 8.53101264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.04538475 meters Centerline goodness : 0.931555 Centerline is valid? [False, False] Translation: X:43.66, Y:3.53, Z:8.53 [[ 9.97360396e-01 5.79533675e-02 -4.37452665e-02 4.36631318e+01] [-5.94018286e-02 9.97702656e-01 -3.25704408e-02 3.53269309e+00] [ 4.17572018e-02 3.50830165e-02 9.98511651e-01 8.53233461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.07538475 meters Centerline goodness : 0.929241 Centerline is valid? [False, False] Translation: X:43.67, Y:3.53, Z:8.53 [[ 9.97084891e-01 5.96796343e-02 -4.75401044e-02 4.36699360e+01] [-6.15932672e-02 9.97305125e-01 -3.98592096e-02 3.53388255e+00] [ 4.50332067e-02 4.26711660e-02 9.98073736e-01 8.52767893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.10538475 meters Centerline goodness : 0.934062 Centerline is valid? [False, False] Translation: X:43.67, Y:3.53, Z:8.53 [[ 9.96847463e-01 6.33411311e-02 -4.77811246e-02 4.36709834e+01] [-6.50316251e-02 9.97279866e-01 -3.46952026e-02 3.53240407e+00] [ 4.54535201e-02 3.76931089e-02 9.98255081e-01 8.52983194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.13538475000001 meters Centerline goodness : 0.932860 Centerline is valid? [False, False] Translation: X:43.67, Y:3.53, Z:8.53 [[ 9.96870340e-01 6.37501082e-02 -4.67487909e-02 4.36696357e+01] [-6.53280405e-02 9.97316734e-01 -3.30390630e-02 3.53298036e+00] [ 4.45171076e-02 3.59896689e-02 9.98360141e-01 8.53172286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.16538475000002 meters Centerline goodness : 0.933411 Centerline is valid? [False, False] Translation: X:43.67, Y:3.53, Z:8.53 [[ 9.97005257e-01 6.17944058e-02 -4.64969709e-02 4.36690280e+01] [-6.34175829e-02 9.97398068e-01 -3.42827183e-02 3.53269846e+00] [ 4.42575087e-02 3.71287759e-02 9.98329969e-01 8.53213787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.19538475000002 meters Centerline goodness : 0.931304 Centerline is valid? [False, False] Translation: X:43.67, Y:3.53, Z:8.53 [[ 9.97373177e-01 5.67340290e-02 -4.50332785e-02 4.36669722e+01] [-5.83880525e-02 9.97633616e-01 -3.63043276e-02 3.53382307e+00] [ 4.28670217e-02 3.88383680e-02 9.98325598e-01 8.53212819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.22538475 meters Centerline goodness : 0.934026 Centerline is valid? [False, False] Translation: X:43.67, Y:3.53, Z:8.53 [[ 9.97451098e-01 5.56730502e-02 -4.46297992e-02 4.36667732e+01] [-5.72758404e-02 9.97727877e-01 -3.54761995e-02 3.53397028e+00] [ 4.25533266e-02 3.79419834e-02 9.98373487e-01 8.53217418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.25538475 meters Centerline goodness : 0.931895 Centerline is valid? [False, False] Translation: X:43.67, Y:3.53, Z:8.53 [[ 9.97395841e-01 5.70938407e-02 -4.40661970e-02 4.36669558e+01] [-5.85441394e-02 9.97760401e-01 -3.23537750e-02 3.53470552e+00] [ 4.21203051e-02 3.48493382e-02 9.98504584e-01 8.53166862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.28538475 meters Centerline goodness : 0.934341 Centerline is valid? [False, False] Translation: X:43.67, Y:3.53, Z:8.53 [[ 9.97198533e-01 5.97389147e-02 -4.50149724e-02 4.36708177e+01] [-6.10533075e-02 9.97730054e-01 -2.84118377e-02 3.53419643e+00] [ 4.32154985e-02 3.10805558e-02 9.98582205e-01 8.53182471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.31538475 meters Centerline goodness : 0.932255 Centerline is valid? [False, False] Translation: X:43.67, Y:3.53, Z:8.53 [[ 9.96953632e-01 6.39238328e-02 -4.46900407e-02 4.36707870e+01] [-6.50485153e-02 9.97589086e-01 -2.41806813e-02 3.53480990e+00] [ 4.30365750e-02 2.70140388e-02 9.98708213e-01 8.53224841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.34538475 meters Centerline goodness : 0.928709 Centerline is valid? [False, False] Translation: X:43.67, Y:3.53, Z:8.53 [[ 9.96938304e-01 6.40282935e-02 -4.48820299e-02 4.36714844e+01] [-6.51414112e-02 9.97592372e-01 -2.37919454e-02 3.53449578e+00] [ 4.32506130e-02 2.66427805e-02 9.98708940e-01 8.53233604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.37538475 meters Centerline goodness : 0.930279 Centerline is valid? [False, False] Translation: X:43.67, Y:3.53, Z:8.53 [[ 9.96832797e-01 6.54510469e-02 -4.51722814e-02 4.36706933e+01] [-6.65846992e-02 9.97490560e-01 -2.40636625e-02 3.53416838e+00] [ 4.34839323e-02 2.69952307e-02 9.98689344e-01 8.53436131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.40538475 meters Centerline goodness : 0.936590 Centerline is valid? [False, False] Translation: X:43.67, Y:3.53, Z:8.54 [[ 9.96709293e-01 6.74695639e-02 -4.49270941e-02 4.36679989e+01] [-6.85351537e-02 9.97392362e-01 -2.26143475e-02 3.53400176e+00] [ 4.32841603e-02 2.56190156e-02 9.98734273e-01 8.53656550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.43538475 meters Centerline goodness : 0.938411 Centerline is valid? [False, False] Translation: X:43.67, Y:3.53, Z:8.54 [[ 9.96344706e-01 7.28583991e-02 -4.45968719e-02 4.36659697e+01] [-7.36645228e-02 9.97143155e-01 -1.67052825e-02 3.53253141e+00] [ 4.32523454e-02 1.99294271e-02 9.98865383e-01 8.54001322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.46538475 meters Centerline goodness : 0.938846 Centerline is valid? [False, False] Translation: X:43.67, Y:3.53, Z:8.54 [[ 9.96053975e-01 7.64189679e-02 -4.51289323e-02 4.36677465e+01] [-7.69675411e-02 9.96977852e-01 -1.05432754e-02 3.52983463e+00] [ 4.41868397e-02 1.39751343e-02 9.98925532e-01 8.54383625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.49538475 meters Centerline goodness : 0.937088 Centerline is valid? [False, False] Translation: X:43.67, Y:3.53, Z:8.54 [[ 9.95996013e-01 7.73259433e-02 -4.48624684e-02 4.36667471e+01] [-7.78437140e-02 9.96916331e-01 -9.90879457e-03 3.52941339e+00] [ 4.39579206e-02 1.33613810e-02 9.98944030e-01 8.54417083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.52538475 meters Centerline goodness : 0.940801 Centerline is valid? [False, False] Translation: X:43.67, Y:3.53, Z:8.55 [[ 9.95968256e-01 7.74642140e-02 -4.52385834e-02 4.36667905e+01] [-7.79275802e-02 9.96922205e-01 -8.56793090e-03 3.52740406e+00] [ 4.44356402e-02 1.20587205e-02 9.98939468e-01 8.54651573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.55538475 meters Centerline goodness : 0.939217 Centerline is valid? [False, False] Translation: X:43.67, Y:3.52, Z:8.55 [[ 9.95824770e-01 7.87329879e-02 -4.61967869e-02 4.36728022e+01] [-7.88513239e-02 9.96886111e-01 -7.42030444e-04 3.52391336e+00] [ 4.59945130e-02 4.38161011e-03 9.98932083e-01 8.55343750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.58538475 meters Centerline goodness : 0.940620 Centerline is valid? [False, False] Translation: X:43.67, Y:3.52, Z:8.55 [[ 9.95846766e-01 7.82816424e-02 -4.64887446e-02 4.36742913e+01] [-7.84127124e-02 9.96920482e-01 -9.99669794e-04 3.52445150e+00] [ 4.62673259e-02 4.64082649e-03 9.98918314e-01 8.55271083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.61538475 meters Centerline goodness : 0.940237 Centerline is valid? [False, False] Translation: X:43.68, Y:3.52, Z:8.55 [[ 9.95682031e-01 7.96412462e-02 -4.76924029e-02 4.36803014e+01] [-7.95689496e-02 9.96823513e-01 3.41550302e-03 3.52302622e+00] [ 4.78129235e-02 3.94079416e-04 9.98856230e-01 8.55381376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.64538475 meters Centerline goodness : 0.936497 Centerline is valid? [False, False] Translation: X:43.68, Y:3.52, Z:8.55 [[ 9.95768737e-01 7.81117195e-02 -4.84064156e-02 4.36842648e+01] [-7.80788591e-02 9.96943868e-01 2.57223766e-03 3.52409688e+00] [ 4.84594011e-02 1.21816386e-03 9.98824410e-01 8.55187524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.67538475 meters Centerline goodness : 0.936166 Centerline is valid? [False, False] Translation: X:43.69, Y:3.52, Z:8.55 [[ 9.95769194e-01 7.77403629e-02 -4.89913165e-02 4.36860243e+01] [-7.76877367e-02 9.96973286e-01 2.98032529e-03 3.52406172e+00] [ 4.90747254e-02 8.38308394e-04 9.98794758e-01 8.55233165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.70538475 meters Centerline goodness : 0.933188 Centerline is valid? [False, False] Translation: X:43.69, Y:3.52, Z:8.55 [[ 9.95754814e-01 7.76433574e-02 -4.94354039e-02 4.36871165e+01] [-7.75693116e-02 9.96981104e-01 3.41748481e-03 3.52417474e+00] [ 4.95515085e-02 4.31693294e-04 9.98771476e-01 8.55300446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.73538475 meters Centerline goodness : 0.934550 Centerline is valid? [False, False] Translation: X:43.69, Y:3.53, Z:8.55 [[ 9.95722248e-01 7.79304037e-02 -4.96392637e-02 4.36877467e+01] [-7.78659152e-02 9.96958593e-01 3.23456705e-03 3.52589262e+00] [ 4.97403616e-02 6.44476320e-04 9.98761974e-01 8.55250010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.76538475 meters Centerline goodness : 0.931684 Centerline is valid? [False, False] Translation: X:43.69, Y:3.53, Z:8.55 [[ 9.95686750e-01 7.82172469e-02 -4.98994716e-02 4.36883967e+01] [-7.81536064e-02 9.96936102e-01 3.22822933e-03 3.52667014e+00] [ 4.99990880e-02 6.85518492e-04 9.98749028e-01 8.55215674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.79538475 meters Centerline goodness : 0.931759 Centerline is valid? [False, False] Translation: X:43.69, Y:3.53, Z:8.55 [[ 9.95540444e-01 7.98304944e-02 -5.02624788e-02 4.36882988e+01] [-7.97671073e-02 9.96808167e-01 3.26898767e-03 3.52862548e+00] [ 5.03630143e-02 7.54883108e-04 9.98730693e-01 8.55135371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.82538475 meters Centerline goodness : 0.929064 Centerline is valid? [False, False] Translation: X:43.69, Y:3.53, Z:8.55 [[ 9.95466859e-01 8.07567506e-02 -5.02402225e-02 4.36880100e+01] [-8.06767438e-02 9.96733739e-01 3.62166466e-03 3.52946365e+00] [ 5.03685986e-02 4.47970414e-04 9.98730596e-01 8.55120164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.85538475 meters Centerline goodness : 0.924475 Centerline is valid? [False, False] Translation: X:43.69, Y:3.53, Z:8.55 [[ 9.95321167e-01 8.26131755e-02 -5.01082585e-02 4.36863595e+01] [-8.25136985e-02 9.96581684e-01 4.05416044e-03 3.53044665e+00] [ 5.02718997e-02 9.94260312e-05 9.98735564e-01 8.55133340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.88538475000001 meters Centerline goodness : 0.925247 Centerline is valid? [False, False] Translation: X:43.69, Y:3.53, Z:8.55 [[ 9.95243422e-01 8.36149195e-02 -4.99907519e-02 4.36850797e+01] [-8.35032302e-02 9.96498133e-01 4.32220965e-03 3.53105585e+00] [ 5.01770922e-02 -1.27261461e-04 9.98740328e-01 8.55185448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.91538475000002 meters Centerline goodness : 0.924942 Centerline is valid? [False, False] Translation: X:43.69, Y:3.53, Z:8.55 [[ 9.94898836e-01 8.74614700e-02 -5.02672499e-02 4.36861657e+01] [-8.71221405e-02 9.96157821e-01 8.90661647e-03 3.52999391e+00] [ 5.08530999e-02 -4.48179196e-03 9.98696088e-01 8.55339231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.94538475000002 meters Centerline goodness : 0.921515 Centerline is valid? [False, False] Translation: X:43.69, Y:3.53, Z:8.56 [[ 9.94593370e-01 9.05982952e-02 -5.07540916e-02 4.36883859e+01] [-8.99979196e-02 9.95843593e-01 1.39968565e-02 3.52794295e+00] [ 5.18112283e-02 -9.35341803e-03 9.98613093e-01 8.55565665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.97538475 meters Centerline goodness : 0.918613 Centerline is valid? [False, False] Translation: X:43.69, Y:3.53, Z:8.56 [[ 9.94579347e-01 9.05632951e-02 -5.10902443e-02 4.36886818e+01] [-8.99490513e-02 9.95845115e-01 1.42012688e-02 3.52794087e+00] [ 5.21640839e-02 -9.52876961e-03 9.98593066e-01 8.55653416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.00538475 meters Centerline goodness : 0.919900 Centerline is valid? [False, False] Translation: X:43.69, Y:3.53, Z:8.56 [[ 9.94608177e-01 8.98775358e-02 -5.17358911e-02 4.36909348e+01] [-8.92750375e-02 9.95910770e-01 1.38457764e-02 3.52846226e+00] [ 5.27687554e-02 -9.15239879e-03 9.98564816e-01 8.55590001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.03538475 meters Centerline goodness : 0.918212 Centerline is valid? [False, False] Translation: X:43.69, Y:3.53, Z:8.55 [[ 9.94624278e-01 8.93411437e-02 -5.23517476e-02 4.36934396e+01] [-8.87859328e-02 9.95967949e-01 1.28414299e-02 3.53100172e+00] [ 5.32879308e-02 -8.12429924e-03 9.98546139e-01 8.55405977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.06538475 meters Centerline goodness : 0.916361 Centerline is valid? [False, False] Translation: X:43.70, Y:3.53, Z:8.55 [[ 9.94652044e-01 8.84978481e-02 -5.32488684e-02 4.36965020e+01] [-8.79565421e-02 9.96046767e-01 1.24292055e-02 3.53166533e+00] [ 5.41383211e-02 -7.67914831e-03 9.98503917e-01 8.55318680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.09538475 meters Centerline goodness : 0.916361 Centerline is valid? [False, False] Translation: X:43.70, Y:3.53, Z:8.55 [[ 9.94652044e-01 8.84978481e-02 -5.32488684e-02 4.36965020e+01] [-8.79565421e-02 9.96046767e-01 1.24292055e-02 3.53166533e+00] [ 5.41383211e-02 -7.67914831e-03 9.98503917e-01 8.55318680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.12538475 meters Centerline goodness : 0.915545 Centerline is valid? [False, False] Translation: X:43.70, Y:3.53, Z:8.55 [[ 9.94747791e-01 8.67825927e-02 -5.42735010e-02 4.37000603e+01] [-8.62493269e-02 9.96200148e-01 1.20962215e-02 3.53033875e+00] [ 5.51170112e-02 -7.35163670e-03 9.98452837e-01 8.55303810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.15538475 meters Centerline goodness : 0.914220 Centerline is valid? [False, False] Translation: X:43.70, Y:3.53, Z:8.55 [[ 9.95111435e-01 8.20110685e-02 -5.50219577e-02 4.37020419e+01] [-8.16838261e-02 9.96624773e-01 8.17406519e-03 3.52963170e+00] [ 5.55066099e-02 -3.63970172e-03 9.98451686e-01 8.55242451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.18538475 meters Centerline goodness : 0.912041 Centerline is valid? [False, False] Translation: X:43.70, Y:3.53, Z:8.55 [[ 9.95127311e-01 8.15336545e-02 -5.54427457e-02 4.37033673e+01] [-8.11978993e-02 9.96663559e-01 8.28557526e-03 3.52876535e+00] [ 5.59333175e-02 -3.74336775e-03 9.98427489e-01 8.55256475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.21538475 meters Centerline goodness : 0.916667 Centerline is valid? [False, False] Translation: X:43.71, Y:3.53, Z:8.55 [[ 9.95145491e-01 8.09293220e-02 -5.59990723e-02 4.37050509e+01] [-8.05892266e-02 9.96712768e-01 8.30876253e-03 3.52767971e+00] [ 5.64874128e-02 -3.75550565e-03 9.98396248e-01 8.55253037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.24538475 meters Centerline goodness : 0.913268 Centerline is valid? [False, False] Translation: X:43.71, Y:3.53, Z:8.55 [[ 9.95171969e-01 8.02936969e-02 -5.64417748e-02 4.37068291e+01] [-7.99672930e-02 9.96765211e-01 8.02163345e-03 3.52765333e+00] [ 5.69032842e-02 -3.46940881e-03 9.98373667e-01 8.55199847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.27538475 meters Centerline goodness : 0.912877 Centerline is valid? [False, False] Translation: X:43.71, Y:3.53, Z:8.55 [[ 9.95184929e-01 7.99948859e-02 -5.66372244e-02 4.37078394e+01] [-7.96714095e-02 9.96789477e-01 7.95015184e-03 3.52790930e+00] [ 5.70913608e-02 -3.39950380e-03 9.98363170e-01 8.55167780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.30538475 meters Centerline goodness : 0.910241 Centerline is valid? [False, False] Translation: X:43.71, Y:3.52, Z:8.56 [[ 9.94972827e-01 8.21989357e-02 -5.72049613e-02 4.37110033e+01] [-8.15427223e-02 9.96575458e-01 1.37164493e-02 3.52439714e+00] [ 5.81365381e-02 -8.98284607e-03 9.98268226e-01 8.55532359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.33538475 meters Centerline goodness : 0.908755 Centerline is valid? [False, False] Translation: X:43.71, Y:3.53, Z:8.55 [[ 9.95293669e-01 7.81522556e-02 -5.72951820e-02 4.37109258e+01] [-7.77374402e-02 9.96929204e-01 9.43681213e-03 3.52507042e+00] [ 5.78567483e-02 -4.93841859e-03 9.98312681e-01 8.55437099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.36538475 meters Centerline goodness : 0.908001 Centerline is valid? [False, False] Translation: X:43.71, Y:3.53, Z:8.55 [[ 9.95590620e-01 7.42036487e-02 -5.73858591e-02 4.37110747e+01] [-7.40243536e-02 9.97242632e-01 5.24675903e-03 3.52584009e+00] [ 5.76169538e-02 -9.75672944e-04 9.98338287e-01 8.55316433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.39538475 meters Centerline goodness : 0.907269 Centerline is valid? [False, False] Translation: X:43.71, Y:3.52, Z:8.55 [[ 9.95607389e-01 7.39432361e-02 -5.74310495e-02 4.37111696e+01] [-7.37021150e-02 9.97260350e-01 6.30821285e-03 3.52368927e+00] [ 5.77401581e-02 -2.04771352e-03 9.98329545e-01 8.55478289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.42538475 meters Centerline goodness : 0.906362 Centerline is valid? [False, False] Translation: X:43.71, Y:3.52, Z:8.56 [[ 9.95624846e-01 7.34913013e-02 -5.77078430e-02 4.37122430e+01] [-7.31884635e-02 9.97291068e-01 7.34675970e-03 3.52093735e+00] [ 5.80914393e-02 -3.09106813e-03 9.98306481e-01 8.55585743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.45538475 meters Centerline goodness : 0.908210 Centerline is valid? [False, False] Translation: X:43.71, Y:3.52, Z:8.56 [[ 9.96244767e-01 6.84749608e-02 -5.29862582e-02 4.37061581e+01] [-6.76342748e-02 9.97556659e-01 1.75019101e-02 3.51760215e+00] [ 5.40552373e-02 -1.38524992e-02 9.98441856e-01 8.56390162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.48538475 meters Centerline goodness : 0.902274 Centerline is valid? [False, False] Translation: X:43.71, Y:3.52, Z:8.56 [[ 9.96428549e-01 6.65027356e-02 -5.20339610e-02 4.37052240e+01] [-6.56589281e-02 9.97684007e-01 1.77631156e-02 3.51773782e+00] [ 5.30947465e-02 -1.42831814e-02 9.98487325e-01 8.56401043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.51538475 meters Centerline goodness : 0.905323 Centerline is valid? [False, False] Translation: X:43.71, Y:3.52, Z:8.57 [[ 9.96609706e-01 6.33876400e-02 -5.24509426e-02 4.37055937e+01] [-6.26299494e-02 9.97909086e-01 1.59670432e-02 3.51825184e+00] [ 5.33533854e-02 -1.26279103e-02 9.98495845e-01 8.56544015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.54538475 meters Centerline goodness : 0.909508 Centerline is valid? [False, False] Translation: X:43.70, Y:3.52, Z:8.57 [[ 9.97165464e-01 5.56900487e-02 -5.05930353e-02 4.37035307e+01] [-5.51038684e-02 9.98397174e-01 1.29091434e-02 3.51707949e+00] [ 5.12308543e-02 -1.00846801e-02 9.98635919e-01 8.56511366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.57538475 meters Centerline goodness : 0.913427 Centerline is valid? [False, False] Translation: X:43.71, Y:3.51, Z:8.57 [[ 9.97442518e-01 5.00787477e-02 -5.09955067e-02 4.37061241e+01] [-4.96279457e-02 9.98717018e-01 1.00690128e-02 3.51453503e+00] [ 5.14343239e-02 -7.51245924e-03 9.98648123e-01 8.56606618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.60538475 meters Centerline goodness : 0.917356 Centerline is valid? [False, False] Translation: X:43.71, Y:3.51, Z:8.57 [[ 9.97439400e-01 4.95953379e-02 -5.15261571e-02 4.37073193e+01] [-4.91156742e-02 9.98737538e-01 1.05347843e-02 3.51352012e+00] [ 5.19835834e-02 -7.97706702e-03 9.98616079e-01 8.56718879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.63538475000001 meters Centerline goodness : 0.918311 Centerline is valid? [False, False] Translation: X:43.72, Y:3.51, Z:8.57 [[ 9.97709056e-01 4.92227103e-02 -4.64086755e-02 4.37203447e+01] [-4.92170267e-02 9.98787306e-01 1.26581798e-03 3.51216801e+00] [ 4.64147030e-02 1.02117897e-03 9.98921735e-01 8.56510395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.66538475000002 meters Centerline goodness : 0.922766 Centerline is valid? [False, False] Translation: X:43.72, Y:3.51, Z:8.57 [[ 9.97689264e-01 4.92109080e-02 -4.68446332e-02 4.37208537e+01] [-4.91856628e-02 9.98788219e-01 1.69213587e-03 3.51207802e+00] [ 4.68711393e-02 6.15858547e-04 9.98900754e-01 8.56633684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.69538475000002 meters Centerline goodness : 0.927968 Centerline is valid? [False, False] Translation: X:43.73, Y:3.51, Z:8.56 [[ 9.97827085e-01 5.05734776e-02 -4.22307055e-02 4.37343403e+01] [-5.08845739e-02 9.98684520e-01 -6.32375909e-03 3.51207785e+00] [ 4.18553374e-02 8.45890956e-03 9.99087873e-01 8.56444020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.72538475 meters Centerline goodness : 0.928104 Centerline is valid? [False, False] Translation: X:43.73, Y:3.51, Z:8.57 [[ 9.97834356e-01 5.02527935e-02 -4.24411942e-02 4.37348852e+01] [-5.05485404e-02 9.98704039e-01 -5.92354626e-03 3.51135569e+00] [ 4.20885173e-02 8.05605838e-03 9.99081406e-01 8.56531553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.75538475 meters Centerline goodness : 0.936046 Centerline is valid? [False, False] Translation: X:43.74, Y:3.51, Z:8.57 [[ 9.97623167e-01 5.34985860e-02 -4.34271525e-02 4.37375474e+01] [-5.34785904e-02 9.98567678e-01 1.62290254e-03 3.50714366e+00] [ 4.34517738e-02 7.03377732e-04 9.99055278e-01 8.57162414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.78538475 meters Centerline goodness : 0.937681 Centerline is valid? [False, False] Translation: X:43.74, Y:3.51, Z:8.57 [[ 9.97645458e-01 5.21788556e-02 -4.45073825e-02 4.37396587e+01] [-5.21991311e-02 9.98636446e-01 7.07316658e-04 3.50757382e+00] [ 4.44836012e-02 1.61759544e-03 9.99008805e-01 8.57169716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 9230.41 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%| | 0/6460 [00:00