+ python -m lidar_slam --no-model /working/5153ddea-9b42-49bd-aee0-96d92173aaca Lidar SLAM 0.0.14 ===================================================== The recording path: /working/5153ddea-9b42-49bd-aee0-96d92173aaca 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 0.029649246 Adjusted end_distance from 9.223372036854776e+18 to 120.849649246 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.029649246 meters Centerline goodness : 0.948166 Centerline is valid? [0, False] SLAMing on 0.059649246 meters Centerline goodness : 0.951487 Centerline is valid? [False, True] Translation: X:0.01, Y:0.00, Z:-0.02 [[ 0.99996076 -0.0058646 -0.0066395 0.01120713] [ 0.00567276 0.99957618 -0.02855305 0.00473589] [ 0.00680414 0.02851426 0.99957023 -0.02350696] [ 0. 0. 0. 1. ]] SLAMing on 0.089649246 meters Centerline goodness : 0.949930 Centerline is valid? [True, False] Translation: X:0.02, Y:0.00, Z:-0.02 [[ 9.99952576e-01 -4.39159595e-03 -8.69246793e-03 1.77323483e-02] [ 4.20863134e-03 9.99771537e-01 -2.09561744e-02 2.59098999e-04] [ 8.78251307e-03 2.09185972e-02 9.99742607e-01 -1.74170709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11964924600000001 meters Centerline goodness : 0.962279 Centerline is valid? [False, True] Translation: X:0.02, Y:-0.01, Z:0.01 [[ 0.99993441 -0.00361938 -0.01086664 0.01913614] [ 0.00374071 0.99993067 0.01116568 -0.00992027] [ 0.01082548 -0.01120559 0.99987861 0.00505463] [ 0. 0. 0. 1. ]] SLAMing on 0.149649246 meters Centerline goodness : 0.962521 Centerline is valid? [True, True] Translation: X:0.04, Y:-0.01, Z:0.01 [[ 0.9999246 -0.00318816 -0.01185892 0.0424813 ] [ 0.00327458 0.99996818 0.00727465 -0.01209329] [ 0.01183535 -0.00731294 0.99990322 0.00553967] [ 0. 0. 0. 1. ]] SLAMing on 0.179649246 meters Centerline goodness : 0.961940 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.01, Z:0.01 [[ 0.99988842 -0.00629154 -0.01354858 0.06131099] [ 0.00637374 0.99996149 0.00603218 -0.01344916] [ 0.01351011 -0.00611786 0.99989002 0.00615267] [ 0. 0. 0. 1. ]] SLAMing on 0.209649246 meters Centerline goodness : 0.961220 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.01, Z:0.00 [[ 9.99837229e-01 -9.98302164e-03 -1.50284596e-02 8.94842136e-02] [ 9.99689106e-03 9.99949670e-01 8.48034902e-04 -1.36293300e-02] [ 1.50192372e-02 -9.98134740e-04 9.99886707e-01 3.94313880e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.239649246 meters Centerline goodness : 0.948541 Centerline is valid? [True, False] Translation: X:0.05, Y:-0.01, Z:0.01 [[ 0.99959158 -0.02556157 -0.01277831 0.04933034] [ 0.02577918 0.99952027 0.0171657 -0.01019847] [ 0.01233339 -0.0174881 0.999771 0.01023789] [ 0. 0. 0. 1. ]] SLAMing on 0.269649246 meters Centerline goodness : 0.947684 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:0.01 [[ 0.99955698 -0.0265143 -0.01352189 0.05201489] [ 0.02675054 0.99948719 0.01760005 -0.01200389] [ 0.0130483 -0.01795397 0.99975367 0.01038817] [ 0. 0. 0. 1. ]] SLAMing on 0.29964924600000004 meters Centerline goodness : 0.934214 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:0.01 [[ 0.99923034 -0.03446442 -0.01873312 0.0424311 ] [ 0.03487363 0.99915009 0.02197546 -0.01125049] [ 0.01795983 -0.02261184 0.99958299 0.01481465] [ 0. 0. 0. 1. ]] SLAMing on 0.32964924600000006 meters Centerline goodness : 0.934944 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:0.01 [[ 0.99916334 -0.03582298 -0.01973147 0.04591274] [ 0.03624595 0.99911132 0.02151302 -0.01165711] [ 0.01894328 -0.02221021 0.99957384 0.01424475] [ 0. 0. 0. 1. ]] SLAMing on 0.35964924600000003 meters Centerline goodness : 0.919283 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:0.01 [[ 0.99897936 -0.03936216 -0.02215544 0.0546341 ] [ 0.03980751 0.99900654 0.02003253 -0.00999953] [ 0.0213449 -0.02089403 0.99955382 0.01288424] [ 0. 0. 0. 1. ]] SLAMing on 0.38964924600000006 meters Centerline goodness : 0.909420 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:0.01 [[ 0.99888264 -0.04114651 -0.02324738 0.05904765] [ 0.04158733 0.99895783 0.01880807 -0.00844606] [ 0.02244927 -0.01975385 0.99955281 0.011178 ] [ 0. 0. 0. 1. ]] SLAMing on 0.41964924600000003 meters Centerline goodness : 0.880062 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.01, Z:0.01 [[ 0.99880672 -0.04122538 -0.02618422 0.08739784] [ 0.04163093 0.99901839 0.01513677 -0.00711973] [ 0.02553449 -0.01620878 0.99954253 0.00975376] [ 0. 0. 0. 1. ]] SLAMing on 0.44964924600000006 meters Centerline goodness : 0.881297 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.01, Z:0.01 [[ 0.99881466 -0.03839789 -0.02991444 0.10854756] [ 0.03871961 0.99919754 0.01025052 -0.0069553 ] [ 0.02949683 -0.01139665 0.9994999 0.00841123] [ 0. 0. 0. 1. ]] SLAMing on 0.47964924600000003 meters Centerline goodness : 0.139124 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.00, Z:0.01 [[ 0.99873722 -0.03599584 -0.0350466 0.14000859] [ 0.03636606 0.99928866 0.0099838 -0.00497731] [ 0.0346623 -0.0112457 0.99933581 0.00736841] [ 0. 0. 0. 1. ]] SLAMing on 0.5096492460000001 meters Centerline goodness : 0.140901 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.00, Z:0.01 [[ 0.99871136 -0.03480868 -0.03693217 0.14685489] [ 0.0352936 0.99929806 0.01255997 -0.00384409] [ 0.03646905 -0.01384726 0.99923884 0.00633475] [ 0. 0. 0. 1. ]] SLAMing on 0.539649246 meters Centerline goodness : 0.139695 Centerline is valid? [False, False] Translation: X:0.16, Y:0.00, Z:0.00 [[ 0.99854701 -0.03863546 -0.03756559 0.16482342] [ 0.03922022 0.99911866 0.01495609 0.00281458] [ 0.03695465 -0.01640769 0.99918224 0.00234603] [ 0. 0. 0. 1. ]] SLAMing on 0.569649246 meters Centerline goodness : 0.138253 Centerline is valid? [False, False] Translation: X:0.20, Y:0.01, Z:0.00 [[ 9.98413737e-01 -3.81955876e-02 -4.13655189e-02 1.98070857e-01] [ 3.87890672e-02 9.99154313e-01 1.36406246e-02 6.47685872e-03] [ 4.08095249e-02 -1.52235169e-02 9.99050963e-01 7.67645429e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.599649246 meters Centerline goodness : 0.141452 Centerline is valid? [False, False] Translation: X:0.22, Y:0.01, Z:-0.00 [[ 9.98431899e-01 -3.55683301e-02 -4.32277404e-02 2.20311675e-01] [ 3.60360878e-02 9.99299552e-01 1.00898936e-02 6.94559979e-03] [ 4.28385809e-02 -1.16318303e-02 9.99014292e-01 -3.56930969e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.629649246 meters Centerline goodness : 0.153530 Centerline is valid? [False, False] Translation: X:0.25, Y:0.01, Z:-0.00 [[ 0.99828344 -0.03500272 -0.04695727 0.25315687] [ 0.03548047 0.99932635 0.00937937 0.00885096] [ 0.04659733 -0.01102934 0.99885286 -0.00139533] [ 0. 0. 0. 1. ]] SLAMing on 0.659649246 meters Centerline goodness : 0.184053 Centerline is valid? [False, False] Translation: X:0.29, Y:0.01, Z:-0.00 [[ 0.99819928 -0.0354375 -0.04839824 0.28578933] [ 0.03589321 0.99931881 0.00857917 0.01015492] [ 0.04806125 -0.01030089 0.99879127 -0.00229209] [ 0. 0. 0. 1. ]] SLAMing on 0.689649246 meters Centerline goodness : 0.215538 Centerline is valid? [False, False] Translation: X:0.30, Y:0.01, Z:-0.00 [[ 0.99833948 -0.03375255 -0.04668027 0.30482301] [ 0.03395317 0.99941726 0.00351143 0.0106171 ] [ 0.04653455 -0.00509054 0.99890371 -0.00408553] [ 0. 0. 0. 1. ]] SLAMing on 0.719649246 meters Centerline goodness : 0.223652 Centerline is valid? [False, False] Translation: X:0.33, Y:0.01, Z:-0.00 [[ 0.99830601 -0.03037446 -0.0496236 0.32864082] [ 0.0306395 0.99951997 0.00458899 0.00710794] [ 0.04946039 -0.00610166 0.99875745 -0.00182374] [ 0. 0. 0. 1. ]] SLAMing on 0.749649246 meters Centerline goodness : 0.249475 Centerline is valid? [False, False] Translation: X:0.35, Y:0.01, Z:-0.01 [[ 0.99819831 -0.03625204 -0.04781142 0.3516596 ] [ 0.03665517 0.99929921 0.00758182 0.00961311] [ 0.04750306 -0.0093207 0.9988276 -0.00735703] [ 0. 0. 0. 1. ]] SLAMing on 0.7796492460000001 meters Centerline goodness : 0.287352 Centerline is valid? [False, False] Translation: X:0.37, Y:0.01, Z:-0.01 [[ 0.99832342 -0.03447341 -0.04649668 0.3708206 ] [ 0.03463148 0.99939677 0.00259804 0.00931864] [ 0.04637907 -0.00420394 0.99891507 -0.0090016 ] [ 0. 0. 0. 1. ]] SLAMing on 0.809649246 meters Centerline goodness : 0.279321 Centerline is valid? [False, False] Translation: X:0.40, Y:0.01, Z:-0.01 [[ 0.99833543 -0.03232812 -0.04776252 0.40443996] [ 0.03256943 0.9994603 0.00428251 0.00961661] [ 0.0475983 -0.00583098 0.99884954 -0.01069407] [ 0. 0. 0. 1. ]] SLAMing on 0.839649246 meters Centerline goodness : 0.262884 Centerline is valid? [False, False] Translation: X:0.42, Y:0.01, Z:-0.01 [[ 0.99855703 -0.02762363 -0.04605201 0.42394441] [ 0.02776155 0.99961179 0.00235794 0.00979542] [ 0.045969 -0.00363302 0.99893626 -0.01236632] [ 0. 0. 0. 1. ]] SLAMing on 0.869649246 meters Centerline goodness : 0.236946 Centerline is valid? [False, False] Translation: X:0.45, Y:0.02, Z:-0.02 [[ 9.98791979e-01 -2.26391267e-02 -4.36125204e-02 4.49431685e-01] [ 2.26741907e-02 9.99742860e-01 3.09418540e-04 1.64914296e-02] [ 4.35943009e-02 -1.29792336e-03 9.99048473e-01 -1.79169733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8996492460000001 meters Centerline goodness : 0.219870 Centerline is valid? [False, False] Translation: X:0.47, Y:0.02, Z:-0.02 [[ 0.99904547 -0.01692904 -0.04026858 0.46642026] [ 0.01684473 0.99985516 -0.00243229 0.01889887] [ 0.04030392 0.00175165 0.99918593 -0.02064002] [ 0. 0. 0. 1. ]] SLAMing on 0.929649246 meters Centerline goodness : 0.206576 Centerline is valid? [False, False] Translation: X:0.49, Y:0.03, Z:-0.03 [[ 0.99930129 -0.00830864 -0.03644045 0.48902602] [ 0.00820287 0.9999617 -0.00305097 0.02769412] [ 0.0364644 0.00274993 0.99933117 -0.02725819] [ 0. 0. 0. 1. ]] SLAMing on 0.959649246 meters Centerline goodness : 0.201651 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.03 [[ 0.99948959 0.00124696 -0.03192185 0.50967486] [-0.00132712 0.99999602 -0.00249013 0.03751925] [ 0.03191862 0.00253123 0.99948727 -0.03197482] [ 0. 0. 0. 1. ]] SLAMing on 0.989649246 meters Centerline goodness : 0.223101 Centerline is valid? [False, False] Translation: X:0.52, Y:0.04, Z:-0.03 [[ 0.99961807 0.0080183 -0.02644647 0.52338508] [-0.00813871 0.99995699 -0.00444849 0.0412514 ] [ 0.02640966 0.00466204 0.99964033 -0.03369782] [ 0. 0. 0. 1. ]] SLAMing on 1.0196492460000002 meters Centerline goodness : 0.206758 Centerline is valid? [False, False] Translation: X:0.54, Y:0.05, Z:-0.04 [[ 0.99967163 0.01475098 -0.0209531 0.53691138] [-0.01490128 0.99986422 -0.00703494 0.04612755] [ 0.02084648 0.00734485 0.99975571 -0.03599766] [ 0. 0. 0. 1. ]] SLAMing on 1.049649246 meters Centerline goodness : 0.217019 Centerline is valid? [False, False] Translation: X:0.55, Y:0.06, Z:-0.04 [[ 0.99950216 0.02734434 -0.01573917 0.55438546] [-0.02741783 0.99961406 -0.00447255 0.05553581] [ 0.0156108 0.00490186 0.99986613 -0.0398811 ] [ 0. 0. 0. 1. ]] SLAMing on 1.079649246 meters Centerline goodness : 0.799750 Centerline is valid? [False, False] Translation: X:0.57, Y:0.07, Z:-0.05 [[ 0.9992185 0.03837013 -0.00949345 0.56967633] [-0.03842472 0.9992456 -0.00563648 0.06665239] [ 0.00927001 0.00599686 0.99993905 -0.0451131 ] [ 0. 0. 0. 1. ]] SLAMing on 1.109649246 meters Centerline goodness : 0.806715 Centerline is valid? [False, False] Translation: X:0.58, Y:0.07, Z:-0.05 [[ 0.99896133 0.04529709 -0.00494294 0.58386244] [-0.04533785 0.9989358 -0.00846995 0.07141145] [ 0.00455402 0.00868525 0.99995191 -0.04731459] [ 0. 0. 0. 1. ]] SLAMing on 1.139649246 meters Centerline goodness : 0.781688 Centerline is valid? [False, False] Translation: X:0.59, Y:0.09, Z:-0.05 [[ 0.99877716 0.04911249 0.00567035 0.59407504] [-0.04887789 0.99815738 -0.03595549 0.08583454] [-0.00742577 0.03563437 0.99933731 -0.05120213] [ 0. 0. 0. 1. ]] SLAMing on 1.169649246 meters Centerline goodness : 0.781688 Centerline is valid? [False, False] Translation: X:0.59, Y:0.09, Z:-0.05 [[ 0.99877716 0.04911249 0.00567035 0.59407504] [-0.04887789 0.99815738 -0.03595549 0.08583454] [-0.00742577 0.03563437 0.99933731 -0.05120213] [ 0. 0. 0. 1. ]] SLAMing on 1.1996492460000001 meters Centerline goodness : 0.215184 Centerline is valid? [False, False] Translation: X:0.61, Y:0.10, Z:-0.05 [[ 0.99863538 0.05211137 0.00343234 0.61094678] [-0.05197476 0.99813216 -0.03210635 0.09749324] [-0.00509903 0.03188414 0.99947856 -0.05451313] [ 0. 0. 0. 1. ]] SLAMing on 1.2296492460000001 meters Centerline goodness : 0.777839 Centerline is valid? [False, False] Translation: X:0.62, Y:0.10, Z:-0.06 [[ 0.99846417 0.05464564 0.00911873 0.62190985] [-0.05421972 0.9976544 -0.0417842 0.10450279] [-0.01138067 0.04122561 0.99908505 -0.05700993] [ 0. 0. 0. 1. ]] SLAMing on 1.2596492460000002 meters Centerline goodness : 0.198278 Centerline is valid? [False, False] Translation: X:0.65, Y:0.11, Z:-0.06 [[ 0.99807155 0.06096453 0.01168346 0.64883552] [-0.06044671 0.99735053 -0.04047361 0.1120509 ] [-0.01411996 0.03968934 0.9991123 -0.06093898] [ 0. 0. 0. 1. ]] SLAMing on 1.289649246 meters Centerline goodness : 0.192250 Centerline is valid? [False, False] Translation: X:0.66, Y:0.12, Z:-0.06 [[ 0.9981364 0.06007903 0.01068824 0.65819066] [-0.05963178 0.99749146 -0.03814242 0.11678232] [-0.01295299 0.03743398 0.99921515 -0.06116949] [ 0. 0. 0. 1. ]] SLAMing on 1.319649246 meters Centerline goodness : 0.771587 Centerline is valid? [False, False] Translation: X:0.69, Y:0.12, Z:-0.06 [[ 0.99804681 0.0606407 0.01500914 0.69028404] [-0.06006684 0.99754082 -0.036115 0.12233139] [-0.01716227 0.03514291 0.99923492 -0.06371807] [ 0. 0. 0. 1. ]] SLAMing on 1.349649246 meters Centerline goodness : 0.776606 Centerline is valid? [False, False] Translation: X:0.70, Y:0.12, Z:-0.06 [[ 0.99814677 0.05915433 0.01427522 0.70136994] [-0.05866623 0.9977491 -0.03248072 0.12496214] [-0.01616446 0.03158306 0.99937041 -0.06454259] [ 0. 0. 0. 1. ]] SLAMing on 1.379649246 meters Centerline goodness : 0.720558 Centerline is valid? [False, False] Translation: X:0.74, Y:0.12, Z:-0.06 [[ 0.99816681 0.05881511 0.01427588 0.74021236] [-0.05842982 0.99795152 -0.02605241 0.12444038] [-0.01577891 0.02517051 0.99955864 -0.06416134] [ 0. 0. 0. 1. ]] SLAMing on 1.409649246 meters Centerline goodness : 0.413420 Centerline is valid? [False, False] Translation: X:0.75, Y:0.12, Z:-0.06 [[ 0.99844945 0.05380284 0.01428121 0.75439076] [-0.05347965 0.99832386 -0.02212229 0.12489837] [-0.01544751 0.02132423 0.99965327 -0.06394093] [ 0. 0. 0. 1. ]] SLAMing on 1.439649246 meters Centerline goodness : 0.468650 Centerline is valid? [False, False] Translation: X:0.79, Y:0.12, Z:-0.07 [[ 0.99893804 0.04172345 0.01954319 0.78709262] [-0.04138617 0.99899247 -0.01735618 0.12166692] [-0.02024766 0.01652893 0.99965836 -0.06650796] [ 0. 0. 0. 1. ]] SLAMing on 1.4696492460000001 meters Centerline goodness : 0.477794 Centerline is valid? [False, False] Translation: X:0.80, Y:0.12, Z:-0.07 [[ 0.99918926 0.03313915 0.02286077 0.8035701 ] [-0.03282678 0.9993643 -0.01390653 0.1203845 ] [-0.02330709 0.01314481 0.99964193 -0.06765859] [ 0. 0. 0. 1. ]] SLAMing on 1.4996492460000002 meters Centerline goodness : 0.496668 Centerline is valid? [False, False] Translation: X:0.84, Y:0.11, Z:-0.07 [[ 0.99943573 0.01548155 0.02980847 0.84141744] [-0.01522083 0.99984407 -0.00895373 0.11316906] [-0.02994244 0.00849497 0.99951553 -0.06975423] [ 0. 0. 0. 1. ]] SLAMing on 1.5296492460000002 meters Centerline goodness : 0.805491 Centerline is valid? [False, False] Translation: X:0.88, Y:0.10, Z:-0.07 [[ 0.99940463 -0.00322371 0.03435108 0.87909618] [ 0.00337985 0.99998422 -0.00448835 0.10318887] [-0.03433606 0.00460178 0.99939975 -0.07124252] [ 0. 0. 0. 1. ]] SLAMing on 1.559649246 meters Centerline goodness : 0.812791 Centerline is valid? [False, False] Translation: X:0.90, Y:0.10, Z:-0.07 [[ 0.99923924 -0.013855 0.03645514 0.89690247] [ 0.01392408 0.99990171 -0.00164193 0.09924226] [-0.0364288 0.00214829 0.99933394 -0.0715415 ] [ 0. 0. 0. 1. ]] SLAMing on 1.589649246 meters Centerline goodness : 0.294861 Centerline is valid? [False, False] Translation: X:0.93, Y:0.09, Z:-0.07 [[ 9.99229164e-01 -1.86702520e-02 3.45325861e-02 9.25930615e-01] [ 1.86869248e-02 9.99825371e-01 -1.60097392e-04 9.10270924e-02] [-3.45235666e-02 8.05281821e-04 9.99403560e-01 -6.89988448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.619649246 meters Centerline goodness : 0.813040 Centerline is valid? [False, False] Translation: X:0.97, Y:0.08, Z:-0.07 [[ 0.99892613 -0.03291169 0.03260987 0.97018977] [ 0.03284088 0.99945693 0.00270478 0.07653492] [-0.03268118 -0.00163094 0.9994645 -0.06695797] [ 0. 0. 0. 1. ]] SLAMing on 1.649649246 meters Centerline goodness : 0.714547 Centerline is valid? [False, False] Translation: X:1.00, Y:0.07, Z:-0.07 [[ 9.98976572e-01 -3.59919608e-02 2.73931857e-02 9.95792467e-01] [ 3.60066062e-02 9.99351551e-01 -4.14020957e-05 6.90079649e-02] [-2.73739325e-02 1.02769537e-03 9.99624735e-01 -6.60432132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.679649246 meters Centerline goodness : 0.732826 Centerline is valid? [False, False] Translation: X:1.04, Y:0.05, Z:-0.07 [[ 9.98473061e-01 -4.87804338e-02 2.59232621e-02 1.03578770e+00] [ 4.87801013e-02 9.98809334e-01 6.45581915e-04 5.47000191e-02] [-2.59238879e-02 6.19943198e-04 9.99663727e-01 -6.56622238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7096492460000001 meters Centerline goodness : 0.748832 Centerline is valid? [False, False] Translation: X:1.06, Y:0.05, Z:-0.07 [[ 0.99845132 -0.05182149 0.02023619 1.05906833] [ 0.05194462 0.99863423 -0.00560685 0.04692089] [-0.019918 0.00664933 0.99977951 -0.06643197] [ 0. 0. 0. 1. ]] SLAMing on 1.7396492460000001 meters Centerline goodness : 0.747005 Centerline is valid? [False, False] Translation: X:1.09, Y:0.03, Z:-0.07 [[ 0.99787229 -0.06227173 0.01931636 1.09380001] [ 0.06240665 0.99802989 -0.00646169 0.03094135] [-0.01887593 0.00765341 0.99979254 -0.06594372] [ 0. 0. 0. 1. ]] SLAMing on 1.7696492460000002 meters Centerline goodness : 0.754290 Centerline is valid? [False, False] Translation: X:1.12, Y:0.02, Z:-0.07 [[ 0.99799852 -0.06177606 0.01351555 1.11608668] [ 0.06190954 0.99803472 -0.00969064 0.0229537 ] [-0.01289034 0.01050799 0.9998617 -0.0663541 ] [ 0. 0. 0. 1. ]] SLAMing on 1.7996492460000002 meters Centerline goodness : 0.232966 Centerline is valid? [False, False] Translation: X:1.15, Y:0.01, Z:-0.06 [[ 0.99781208 -0.06488914 0.01266727 1.14647798] [ 0.06495729 0.9978753 -0.00504432 0.0071722 ] [-0.01231304 0.00585612 0.99990704 -0.06444315] [ 0. 0. 0. 1. ]] SLAMing on 1.829649246 meters Centerline goodness : 0.755269 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.00, Z:-0.06 [[ 9.98110478e-01 -6.10670745e-02 6.80332758e-03 1.16596856e+00] [ 6.11128066e-02 9.98108177e-01 -6.72998136e-03 -1.09480931e-03] [-6.37947661e-03 7.13303536e-03 9.99954210e-01 -6.43680722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.859649246 meters Centerline goodness : 0.573171 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.02, Z:-0.06 [[ 0.99820047 -0.0594556 0.00780041 1.19202396] [ 0.05946825 0.99822922 -0.00140025 -0.01587842] [-0.00770334 0.0018616 0.9999686 -0.06114395] [ 0. 0. 0. 1. ]] SLAMing on 1.889649246 meters Centerline goodness : 0.231379 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.02, Z:-0.06 [[ 0.99856108 -0.05355661 0.00273252 1.21087162] [ 0.05356496 0.99855961 -0.0030827 -0.02263499] [-0.00256349 0.00322463 0.99999152 -0.06088273] [ 0. 0. 0. 1. ]] SLAMing on 1.919649246 meters Centerline goodness : 0.228184 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.03, Z:-0.06 [[ 9.98884852e-01 -4.66262723e-02 7.41907544e-03 1.23094002e+00] [ 4.66211988e-02 9.98912274e-01 8.55416982e-04 -3.20970978e-02] [-7.45089043e-03 -5.08576874e-04 9.99972112e-01 -6.03930433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9496492460000001 meters Centerline goodness : 0.227205 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.03, Z:-0.06 [[ 0.99927998 -0.03596027 0.01209901 1.23853479] [ 0.0359993 0.99934724 -0.0030234 -0.03039152] [-0.01198238 0.00345678 0.99992223 -0.06349341] [ 0. 0. 0. 1. ]] SLAMing on 1.9796492460000001 meters Centerline goodness : 0.222120 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.03, Z:-0.06 [[ 0.99962355 -0.02105317 0.0175935 1.25016094] [ 0.02101277 0.99977614 0.00247803 -0.02882849] [-0.01764173 -0.00210741 0.99984215 -0.06362249] [ 0. 0. 0. 1. ]] SLAMing on 2.0096492460000004 meters Centerline goodness : 0.317735 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.03, Z:-0.06 [[ 0.99976717 -0.01472542 0.01577249 1.25561995] [ 0.0145695 0.9998443 0.00995527 -0.02758265] [-0.01591663 -0.00972315 0.99982605 -0.06432309] [ 0. 0. 0. 1. ]] SLAMing on 2.039649246 meters Centerline goodness : 0.211126 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.02, Z:-0.07 [[ 9.99771991e-01 -1.14325242e-03 2.13227272e-02 1.27052831e+00] [ 8.15499555e-04 9.99881489e-01 1.53734237e-02 -2.33652336e-02] [-2.13377759e-02 -1.53525297e-02 9.99654440e-01 -6.63246575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.069649246 meters Centerline goodness : 0.176893 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.02, Z:-0.07 [[ 0.99980008 0.00178852 0.01991494 1.27453989] [-0.00215783 0.99982582 0.01853825 -0.02089869] [-0.01987831 -0.01857752 0.9996298 -0.06712584] [ 0. 0. 0. 1. ]] SLAMing on 2.0996492460000002 meters Centerline goodness : 0.177869 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.02, Z:-0.07 [[ 0.99977789 0.0085584 0.0192596 1.29226462] [-0.00878398 0.99989345 0.0116585 -0.01726157] [-0.01915777 -0.01182508 0.99974654 -0.07291232] [ 0. 0. 0. 1. ]] SLAMing on 2.129649246 meters Centerline goodness : 0.187225 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.01, Z:-0.07 [[ 0.99981236 0.00738536 0.01790823 1.29633116] [-0.00757118 0.99991797 0.01033067 -0.01475099] [-0.01783046 -0.01046432 0.99978626 -0.07441143] [ 0. 0. 0. 1. ]] SLAMing on 2.1596492460000003 meters Centerline goodness : 0.188968 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.01, Z:-0.08 [[ 0.99986976 0.00374517 0.01569811 1.30657735] [-0.00388825 0.99995109 0.00909406 -0.0104834 ] [-0.01566328 -0.00915392 0.99983542 -0.07600896] [ 0. 0. 0. 1. ]] SLAMing on 2.189649246 meters Centerline goodness : 0.186245 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.01, Z:-0.08 [[ 0.99989642 0.00179884 0.0142795 1.31187203] [-0.00191015 0.99996787 0.00778506 -0.00858058] [-0.01426504 -0.00781153 0.99986774 -0.07789488] [ 0. 0. 0. 1. ]] SLAMing on 2.2196492460000004 meters Centerline goodness : 0.197825 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.01, Z:-0.08 [[ 9.99918561e-01 -2.91978712e-04 1.27587724e-02 1.31752425e+00] [ 2.07367006e-04 9.99977983e-01 6.63246928e-03 -6.98925919e-03] [-1.27604280e-02 -6.62928339e-03 9.99896607e-01 -7.96632923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.249649246 meters Centerline goodness : 0.184533 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.00, Z:-0.08 [[ 0.99993892 -0.00458658 0.01005588 1.33371897] [ 0.00450301 0.99995527 0.00831699 -0.00312056] [-0.01009357 -0.0082712 0.99991485 -0.0821962 ] [ 0. 0. 0. 1. ]] SLAMing on 2.279649246 meters Centerline goodness : 0.191408 Centerline is valid? [False, False] Translation: X:1.35, Y:0.00, Z:-0.08 [[ 9.99929244e-01 -9.52930876e-03 7.12035753e-03 1.34623199e+00] [ 9.48258523e-03 9.99933474e-01 6.56716112e-03 7.46127322e-04] [-7.18246435e-03 -6.49917705e-03 9.99953085e-01 -8.45542480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.309649246 meters Centerline goodness : 0.188776 Centerline is valid? [False, False] Translation: X:1.35, Y:0.00, Z:-0.09 [[ 0.99992122 -0.01129139 0.00548252 1.3513983 ] [ 0.01126 0.99992023 0.0057228 0.00235956] [-0.0055467 -0.00566062 0.9999686 -0.08535939] [ 0. 0. 0. 1. ]] SLAMing on 2.339649246 meters Centerline goodness : 0.190444 Centerline is valid? [False, False] Translation: X:1.36, Y:0.00, Z:-0.09 [[ 0.99990631 -0.01317013 0.00373102 1.35701653] [ 0.0131518 0.99990153 0.00489595 0.00458292] [-0.00379513 -0.00484642 0.99998105 -0.08609936] [ 0. 0. 0. 1. ]] SLAMing on 2.3696492460000003 meters Centerline goodness : 0.721608 Centerline is valid? [False, False] Translation: X:1.37, Y:0.01, Z:-0.08 [[ 0.99985516 -0.01670784 0.00324234 1.37234571] [ 0.01666641 0.99978409 0.01241003 0.00807197] [-0.00344898 -0.0123542 0.99991774 -0.08140084] [ 0. 0. 0. 1. ]] SLAMing on 2.399649246 meters Centerline goodness : 0.196496 Centerline is valid? [False, False] Translation: X:1.38, Y:0.01, Z:-0.08 [[ 0.99982373 -0.01871796 0.00146565 1.37811378] [ 0.01870047 0.99976285 0.01115941 0.01190409] [-0.00167418 -0.01113003 0.99993666 -0.08243805] [ 0. 0. 0. 1. ]] SLAMing on 2.4296492460000003 meters Centerline goodness : 0.195732 Centerline is valid? [False, False] Translation: X:1.40, Y:0.02, Z:-0.08 [[ 9.99713089e-01 -2.39482794e-02 4.69534019e-04 1.39642708e+00] [ 2.39367873e-02 9.99567871e-01 1.70616975e-02 1.67743607e-02] [-8.77929417e-04 -1.70455631e-02 9.99854328e-01 -8.01238603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.459649246 meters Centerline goodness : 0.760376 Centerline is valid? [False, False] Translation: X:1.43, Y:0.02, Z:-0.08 [[ 0.99961934 -0.02736997 0.00347332 1.42776957] [ 0.02731445 0.99951229 0.01513634 0.02094748] [-0.0038859 -0.01503571 0.99987941 -0.08127963] [ 0. 0. 0. 1. ]] SLAMing on 2.4896492460000004 meters Centerline goodness : 0.716724 Centerline is valid? [False, False] Translation: X:1.43, Y:0.02, Z:-0.08 [[ 9.99551395e-01 -2.99208954e-02 1.32233563e-03 1.43483240e+00] [ 2.98991230e-02 9.99451945e-01 1.42074367e-02 2.33043479e-02] [-1.74671015e-03 -1.41615265e-02 9.99898195e-01 -8.19759017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.519649246 meters Centerline goodness : 0.752100 Centerline is valid? [False, False] Translation: X:1.47, Y:0.03, Z:-0.08 [[ 0.99945496 -0.03287446 0.00301043 1.46841414] [ 0.03282707 0.99935395 0.01463096 0.02642697] [-0.00348947 -0.01452416 0.99988843 -0.08175637] [ 0. 0. 0. 1. ]] SLAMing on 2.549649246 meters Centerline goodness : 0.741820 Centerline is valid? [False, False] Translation: X:1.48, Y:0.03, Z:-0.08 [[ 9.99368792e-01 -3.55122321e-02 9.47918847e-04 1.47578743e+00] [ 3.54964802e-02 9.99281039e-01 1.33193465e-02 2.95754945e-02] [-1.42023705e-03 -1.32772914e-02 9.99910844e-01 -8.34148882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5796492460000002 meters Centerline goodness : 0.736795 Centerline is valid? [False, False] Translation: X:1.51, Y:0.03, Z:-0.08 [[ 0.99927671 -0.03796994 0.00208514 1.51078911] [ 0.03793434 0.99916678 0.01505769 0.03283247] [-0.00265515 -0.0149677 0.99988445 -0.08310915] [ 0. 0. 0. 1. ]] SLAMing on 2.609649246 meters Centerline goodness : 0.911821 Centerline is valid? [False, False] Translation: X:1.52, Y:0.04, Z:-0.08 [[ 9.99182396e-01 -4.04293015e-02 -1.09169505e-04 1.51790698e+00] [ 4.04268336e-02 9.99083405e-01 1.40719597e-02 3.55271709e-02] [-4.59850060e-04 -1.40648678e-02 9.99900979e-01 -8.39439534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6396492460000003 meters Centerline goodness : 0.749569 Centerline is valid? [False, False] Translation: X:1.52, Y:0.04, Z:-0.08 [[ 9.99083094e-01 -4.27631125e-02 -2.07052392e-03 1.52447505e+00] [ 4.27867360e-02 9.98997449e-01 1.31678104e-02 3.79299721e-02] [ 1.50535156e-03 -1.32443278e-02 9.99911157e-01 -8.48318862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.669649246 meters Centerline goodness : 0.918338 Centerline is valid? [False, False] Translation: X:1.56, Y:0.04, Z:-0.08 [[ 9.98903804e-01 -4.68033017e-02 8.00766649e-04 1.55868615e+00] [ 4.67883972e-02 9.98814952e-01 1.33991633e-02 4.12498108e-02] [-1.42694279e-03 -1.33470086e-02 9.99909907e-01 -8.46691879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6996492460000003 meters Centerline goodness : 0.849743 Centerline is valid? [False, False] Translation: X:1.59, Y:0.04, Z:-0.08 [[ 0.99868516 -0.05121384 0.00225793 1.59345644] [ 0.05117699 0.99858963 0.01413017 0.04323855] [-0.00297841 -0.01399604 0.99989761 -0.08319015] [ 0. 0. 0. 1. ]] SLAMing on 2.729649246 meters Centerline goodness : 0.853083 Centerline is valid? [False, False] Translation: X:1.60, Y:0.04, Z:-0.08 [[ 9.98556653e-01 -5.37085727e-02 -1.31671380e-05 1.60066053e+00] [ 5.37037112e-02 9.98462908e-01 1.37015526e-02 4.42728049e-02] [-7.22743934e-04 -1.36824836e-02 9.99906129e-01 -8.33686796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7596492460000004 meters Centerline goodness : 0.854842 Centerline is valid? [False, False] Translation: X:1.63, Y:0.04, Z:-0.08 [[ 0.99837742 -0.05684719 -0.00330468 1.63374013] [ 0.05688468 0.99830066 0.01264617 0.04372009] [ 0.00258017 -0.01281363 0.99991457 -0.08168048] [ 0. 0. 0. 1. ]] SLAMing on 2.789649246 meters Centerline goodness : 0.857484 Centerline is valid? [False, False] Translation: X:1.64, Y:0.04, Z:-0.08 [[ 0.99821399 -0.05948428 -0.00551871 1.64115938] [ 0.05954774 0.99815149 0.01215177 0.04476708] [ 0.00478567 -0.01245869 0.99991094 -0.08216815] [ 0. 0. 0. 1. ]] SLAMing on 2.819649246 meters Centerline goodness : 0.862552 Centerline is valid? [False, False] Translation: X:1.66, Y:0.04, Z:-0.08 [[ 0.99820414 -0.05782074 -0.01566078 1.6625744 ] [ 0.05798837 0.99826235 0.01047019 0.0430244 ] [ 0.01502817 -0.01135953 0.99982254 -0.07862373] [ 0. 0. 0. 1. ]] SLAMing on 2.8496492460000002 meters Centerline goodness : 0.861986 Centerline is valid? [False, False] Translation: X:1.68, Y:0.04, Z:-0.07 [[ 0.99827036 -0.05288583 -0.02567817 1.68161554] [ 0.0531476 0.99854032 0.00962046 0.04096657] [ 0.0251319 -0.01096855 0.99962397 -0.07401649] [ 0. 0. 0. 1. ]] SLAMing on 2.879649246 meters Centerline goodness : 0.863550 Centerline is valid? [False, False] Translation: X:1.69, Y:0.04, Z:-0.07 [[ 0.99830192 -0.05126433 -0.02766319 1.68747598] [ 0.05164082 0.99858018 0.01307126 0.04014676] [ 0.02695382 -0.01447761 0.99953184 -0.07398097] [ 0. 0. 0. 1. ]] SLAMing on 2.9096492460000003 meters Centerline goodness : 0.870362 Centerline is valid? [False, False] Translation: X:1.71, Y:0.04, Z:-0.08 [[ 0.99849081 -0.04942649 -0.02393997 1.70733688] [ 0.04964009 0.99873175 0.00841127 0.04058418] [ 0.02349387 -0.00958695 0.99967801 -0.07700513] [ 0. 0. 0. 1. ]] SLAMing on 2.939649246 meters Centerline goodness : 0.872536 Centerline is valid? [False, False] Translation: X:1.71, Y:0.04, Z:-0.08 [[ 0.99844355 -0.04979894 -0.02511077 1.71012291] [ 0.05002868 0.99871071 0.00860516 0.04055448] [ 0.02464987 -0.00984802 0.99964764 -0.07658314] [ 0. 0. 0. 1. ]] SLAMing on 2.9696492460000004 meters Centerline goodness : 0.879881 Centerline is valid? [False, False] Translation: X:1.71, Y:0.04, Z:-0.08 [[ 0.99840033 -0.05003712 -0.02632626 1.71300672] [ 0.05028319 0.9986965 0.00876912 0.04062631] [ 0.02585316 -0.01007886 0.99961494 -0.07639669] [ 0. 0. 0. 1. ]] SLAMing on 2.999649246 meters Centerline goodness : 0.882635 Centerline is valid? [False, False] Translation: X:1.73, Y:0.04, Z:-0.08 [[ 0.9986977 -0.045878 -0.02231852 1.73065415] [ 0.04598731 0.99893229 0.00440894 0.04173715] [ 0.02209242 -0.00542957 0.99974119 -0.08063222] [ 0. 0. 0. 1. ]] SLAMing on 3.0296492460000004 meters Centerline goodness : 0.881822 Centerline is valid? [False, False] Translation: X:1.73, Y:0.04, Z:-0.08 [[ 0.99878255 -0.04290752 -0.02433855 1.7349324 ] [ 0.04313454 0.9990298 0.00888043 0.0401098 ] [ 0.0239339 -0.00991945 0.99966433 -0.07924761] [ 0. 0. 0. 1. ]] SLAMing on 3.059649246 meters Centerline goodness : 0.889001 Centerline is valid? [False, False] Translation: X:1.75, Y:0.04, Z:-0.07 [[ 0.99880789 -0.03506618 -0.03395818 1.74839742] [ 0.0353557 0.99934307 0.00796293 0.03667844] [ 0.03365664 -0.00915406 0.99939153 -0.0749281 ] [ 0. 0. 0. 1. ]] SLAMing on 3.089649246 meters Centerline goodness : 0.889001 Centerline is valid? [False, False] Translation: X:1.75, Y:0.04, Z:-0.07 [[ 0.99880789 -0.03506618 -0.03395818 1.74839742] [ 0.0353557 0.99934307 0.00796293 0.03667844] [ 0.03365664 -0.00915406 0.99939153 -0.0749281 ] [ 0. 0. 0. 1. ]] SLAMing on 3.1196492460000003 meters Centerline goodness : 0.892335 Centerline is valid? [False, False] Translation: X:1.76, Y:0.04, Z:-0.08 [[ 9.99022710e-01 -3.15720423e-02 -3.09326901e-02 1.76383567e+00] [ 3.15899590e-02 9.99500909e-01 9.05669275e-05 3.81180808e-02] [ 3.09143925e-02 -1.06764083e-03 9.99521466e-01 -8.03662400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.149649246 meters Centerline goodness : 0.896275 Centerline is valid? [False, False] Translation: X:1.77, Y:0.04, Z:-0.08 [[ 0.99910351 -0.02805498 -0.03170321 1.76664167] [ 0.02822405 0.99958962 0.00489823 0.03540743] [ 0.03155278 -0.00578863 0.99948532 -0.07990114] [ 0. 0. 0. 1. ]] SLAMing on 3.1796492460000003 meters Centerline goodness : 0.897527 Centerline is valid? [False, False] Translation: X:1.77, Y:0.03, Z:-0.08 [[ 0.99901764 -0.02937463 -0.03317954 1.77132298] [ 0.02958079 0.99954591 0.00573963 0.0321972 ] [ 0.03299588 -0.00671547 0.99943293 -0.07946106] [ 0. 0. 0. 1. ]] SLAMing on 3.209649246 meters Centerline goodness : 0.903551 Centerline is valid? [False, False] Translation: X:1.78, Y:0.02, Z:-0.08 [[ 9.98647664e-01 -3.89026791e-02 -3.44880317e-02 1.77834400e+00] [ 3.89699983e-02 9.99239559e-01 1.28165830e-03 2.14528966e-02] [ 3.44119457e-02 -2.62392360e-03 9.99404289e-01 -7.90681844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2396492460000004 meters Centerline goodness : 0.908053 Centerline is valid? [False, False] Translation: X:1.78, Y:0.01, Z:-0.08 [[ 9.98326086e-01 -4.52864332e-02 -3.59744957e-02 1.78444128e+00] [ 4.52994838e-02 9.98973349e-01 -4.52637599e-04 1.45066206e-02] [ 3.59580608e-02 -1.17774616e-03 9.99352606e-01 -7.68841672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.269649246 meters Centerline goodness : 0.846035 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.00, Z:-0.07 [[ 9.97644650e-01 -5.63649933e-02 -3.90914262e-02 1.79542379e+00] [ 5.63681359e-02 9.98409529e-01 -1.02265863e-03 -5.21990089e-04] [ 3.90868945e-02 -1.18326091e-03 9.99235115e-01 -7.07043050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2996492460000004 meters Centerline goodness : 0.851255 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.01, Z:-0.06 [[ 9.97585377e-01 -5.08970052e-02 -4.72536795e-02 1.80297473e+00] [ 5.08554676e-02 9.98703854e-01 -2.08162446e-03 -6.01100359e-03] [ 4.72983803e-02 -3.26509848e-04 9.98880752e-01 -6.30129346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3296492460000002 meters Centerline goodness : 0.921980 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.01, Z:-0.07 [[ 0.99799662 -0.04591424 -0.04352725 1.81745002] [ 0.04566325 0.99893413 -0.00674372 -0.00758543] [ 0.04379049 0.00474261 0.99902948 -0.06523867] [ 0. 0. 0. 1. ]] SLAMing on 3.359649246 meters Centerline goodness : 0.918787 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.01, Z:-0.06 [[ 9.98129011e-01 -4.19914113e-02 -4.44432075e-02 1.81926247e+00] [ 4.19465013e-02 9.99117969e-01 -1.94301316e-03 -8.10398999e-03] [ 4.44855971e-02 7.51407478e-05 9.99010023e-01 -6.40974686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3896492460000003 meters Centerline goodness : 0.920682 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.01, Z:-0.06 [[ 0.99832374 -0.03520372 -0.04593918 1.82364122] [ 0.03553064 0.99934861 0.0063191 -0.00837795] [ 0.0456868 -0.00794076 0.99892425 -0.06394508] [ 0. 0. 0. 1. ]] SLAMing on 3.419649246 meters Centerline goodness : 0.921752 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.01, Z:-0.06 [[ 0.9983005 -0.03518015 -0.04645937 1.82465593] [ 0.0355054 0.99935029 0.00619401 -0.00747539] [ 0.04621128 -0.00783304 0.99890098 -0.06400345] [ 0. 0. 0. 1. ]] SLAMing on 3.4496492460000003 meters Centerline goodness : 0.927741 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.01, Z:-0.06 [[ 0.9982011 -0.03625588 -0.04775017 1.82786548] [ 0.03662284 0.9993058 0.00683237 -0.00950419] [ 0.0474693 -0.00856883 0.99883594 -0.06240445] [ 0. 0. 0. 1. ]] SLAMing on 3.479649246 meters Centerline goodness : 0.926662 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.01, Z:-0.06 [[ 0.99813405 -0.03692208 -0.04863305 1.8299737 ] [ 0.0373288 0.99927503 0.00748124 -0.0112562 ] [ 0.04832157 -0.00928269 0.9987887 -0.0611251 ] [ 0. 0. 0. 1. ]] SLAMing on 3.5096492460000004 meters Centerline goodness : 0.926078 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.01, Z:-0.06 [[ 0.99790627 -0.0397789 -0.05099724 1.83708217] [ 0.04026688 0.99915215 0.00857684 -0.0134942 ] [ 0.05061283 -0.01061238 0.99866196 -0.05843073] [ 0. 0. 0. 1. ]] SLAMing on 3.539649246 meters Centerline goodness : 0.927160 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.01, Z:-0.06 [[ 0.99780693 -0.04098489 -0.05197653 1.8404623 ] [ 0.0414703 0.99910531 0.00829468 -0.01355403] [ 0.05159007 -0.01043197 0.99861386 -0.05874741] [ 0. 0. 0. 1. ]] SLAMing on 3.5696492460000004 meters Centerline goodness : 0.927755 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.01, Z:-0.06 [[ 0.99771572 -0.04196621 -0.05293559 1.84374544] [ 0.04244404 0.99906734 0.00793454 -0.01328223] [ 0.05255324 -0.01016322 0.99856641 -0.05948744] [ 0. 0. 0. 1. ]] SLAMing on 3.5996492460000002 meters Centerline goodness : 0.930729 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.02, Z:-0.06 [[ 0.99778996 -0.03885364 -0.05390345 1.84626163] [ 0.03958327 0.99913765 0.0125346 -0.0151515 ] [ 0.05336995 -0.01464057 0.99846748 -0.05830059] [ 0. 0. 0. 1. ]] SLAMing on 3.629649246 meters Centerline goodness : 0.928949 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.01, Z:-0.06 [[ 0.9977291 -0.03945155 -0.05459137 1.84929949] [ 0.04011424 0.99913348 0.0110966 -0.01314003] [ 0.05410629 -0.01326129 0.99844712 -0.06131567] [ 0. 0. 0. 1. ]] SLAMing on 3.6596492460000003 meters Centerline goodness : 0.933230 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.01, Z:-0.07 [[ 0.99803798 -0.03516658 -0.05180255 1.8648331 ] [ 0.03536247 0.99937043 0.00286962 -0.0104587 ] [ 0.05166902 -0.00469586 0.99865322 -0.06812967] [ 0. 0. 0. 1. ]] SLAMing on 3.689649246 meters Centerline goodness : 0.929197 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.01, Z:-0.07 [[ 0.99817535 -0.03031442 -0.05222078 1.86425901] [ 0.03076513 0.99949583 0.00784856 -0.01191686] [ 0.05195652 -0.00944082 0.99860472 -0.06633939] [ 0. 0. 0. 1. ]] SLAMing on 3.7196492460000004 meters Centerline goodness : 0.931235 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.01, Z:-0.07 [[ 0.99855399 -0.02322774 -0.0484809 1.87663305] [ 0.02338183 0.99972319 0.0026135 -0.01058432] [ 0.04840678 -0.00374329 0.99882069 -0.06999565] [ 0. 0. 0. 1. ]] SLAMing on 3.749649246 meters Centerline goodness : 0.932669 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.01, Z:-0.07 [[ 0.99883881 -0.01871427 -0.04439384 1.89029139] [ 0.01854936 0.99981944 -0.00412365 -0.00886974] [ 0.044463 0.00329538 0.9990056 -0.07433536] [ 0. 0. 0. 1. ]] SLAMing on 3.7796492460000004 meters Centerline goodness : 0.934161 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.01, Z:-0.07 [[ 9.98883308e-01 -1.43736976e-02 -4.50059223e-02 1.89093072e+00] [ 1.44415911e-02 9.99895014e-01 1.18374803e-03 -1.08242173e-02] [ 4.49841825e-02 -1.83238328e-03 9.98986019e-01 -7.22698211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.809649246 meters Centerline goodness : 0.931690 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.01, Z:-0.08 [[ 0.99911633 -0.00863041 -0.04113485 1.90464919] [ 0.00845176 0.99995409 -0.00451504 -0.01088169] [ 0.04117193 0.00416339 0.9991434 -0.07687617] [ 0. 0. 0. 1. ]] SLAMing on 3.8396492460000005 meters Centerline goodness : 0.931814 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.01, Z:-0.08 [[ 0.99912744 -0.00750127 -0.04108632 1.90361903] [ 0.00735363 0.99996596 -0.00374326 -0.01155163] [ 0.041113 0.00343786 0.99914859 -0.07619544] [ 0. 0. 0. 1. ]] SLAMing on 3.8696492460000003 meters Centerline goodness : 0.935772 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.01, Z:-0.08 [[ 9.99340401e-01 -1.38027831e-03 -3.62885241e-02 1.91556294e+00] [ 1.06492878e-03 9.99961518e-01 -8.70795534e-03 -1.11094486e-02] [ 3.62991471e-02 8.66356689e-03 9.99303415e-01 -7.91278136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.899649246 meters Centerline goodness : 0.934347 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.01, Z:-0.08 [[ 9.99337521e-01 -8.94259792e-04 -3.63829579e-02 1.91506192e+00] [ 6.05683352e-04 9.99968279e-01 -7.94188661e-03 -1.15419340e-02] [ 3.63889059e-02 7.91458872e-03 9.99306363e-01 -7.78027415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9296492460000003 meters Centerline goodness : 0.932765 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.01, Z:-0.07 [[ 9.99318300e-01 1.74322568e-03 -3.68767762e-02 1.91682858e+00] [-1.82775283e-03 9.99995779e-01 -2.25856335e-03 -1.44775225e-02] [ 3.68726833e-02 2.32442532e-03 9.99317268e-01 -7.41418797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.959649246 meters Centerline goodness : 0.932877 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.01, Z:-0.07 [[ 9.99302300e-01 1.40702289e-03 -3.73220351e-02 1.91818182e+00] [-1.48712851e-03 9.99996650e-01 -2.11866175e-03 -1.40043564e-02] [ 3.73189290e-02 2.17268622e-03 9.99301044e-01 -7.39243831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9896492460000004 meters Centerline goodness : 0.934416 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.01, Z:-0.07 [[ 9.99264498e-01 -1.44684445e-05 -3.83466261e-02 1.92162721e+00] [-6.66342462e-05 9.99997764e-01 -2.11371005e-03 -1.36701176e-02] [ 3.83465709e-02 2.11471060e-03 9.99262262e-01 -7.35930223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.019649246 meters Centerline goodness : 0.934087 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.01, Z:-0.07 [[ 9.99202092e-01 -2.34384146e-03 -3.98708510e-02 1.92660863e+00] [ 2.27623529e-03 9.99995894e-01 -1.74094037e-03 -1.45537395e-02] [ 3.98747678e-02 1.64879582e-03 9.99203325e-01 -7.23047037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.049649246 meters Centerline goodness : 0.933694 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.02, Z:-0.07 [[ 9.99152115e-01 -3.80509398e-03 -4.09947832e-02 1.93019243e+00] [ 3.75453509e-03 9.99992093e-01 -1.31022081e-03 -1.60793948e-02] [ 4.09994446e-02 1.15519354e-03 9.99158501e-01 -7.15748526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.079649246000001 meters Centerline goodness : 0.933350 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.02, Z:-0.07 [[ 9.99115974e-01 -5.12348972e-03 -4.17255450e-02 1.93288778e+00] [ 5.09125831e-03 9.99986653e-01 -8.78690325e-04 -1.74925454e-02] [ 4.17294900e-02 6.65478012e-04 9.99128724e-01 -7.07507514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.109649246 meters Centerline goodness : 0.934232 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.02, Z:-0.07 [[ 9.99002218e-01 -1.08622923e-02 -4.33195072e-02 1.94163624e+00] [ 1.08546821e-02 9.99941002e-01 -4.10898728e-04 -1.93448410e-02] [ 4.33214147e-02 -5.97307416e-05 9.99061185e-01 -6.80040803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.139649246 meters Centerline goodness : 0.931114 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.02, Z:-0.07 [[ 9.98928341e-01 -1.25645975e-02 -4.45454884e-02 1.94569744e+00] [ 1.25729088e-02 9.99920953e-01 -9.36004073e-05 -2.04007272e-02] [ 4.45431433e-02 -4.66566262e-04 9.99007353e-01 -6.73400814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1696492460000005 meters Centerline goodness : 0.927440 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.02, Z:-0.06 [[ 0.99876569 -0.01698308 -0.04667625 1.96058463] [ 0.01725435 0.99983647 0.00541487 -0.02173664] [ 0.04657666 -0.00621355 0.99889539 -0.0627154 ] [ 0. 0. 0. 1. ]] SLAMing on 4.199649246 meters Centerline goodness : 0.927805 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.02, Z:-0.06 [[ 0.99872663 -0.01765204 -0.04726023 1.96240884] [ 0.01793184 0.99982407 0.00550296 -0.02139131] [ 0.04715477 -0.00634342 0.99886745 -0.06233895] [ 0. 0. 0. 1. ]] SLAMing on 4.229649246 meters Centerline goodness : 0.928684 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.02, Z:-0.05 [[ 0.99848032 -0.02076924 -0.05104601 1.9579838 ] [ 0.02188301 0.99953238 0.02135778 -0.02283111] [ 0.05057856 -0.02244237 0.9984679 -0.05271271] [ 0. 0. 0. 1. ]] SLAMing on 4.259649246 meters Centerline goodness : 0.927913 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.02, Z:-0.05 [[ 0.99823847 -0.02168953 -0.05522252 1.94379581] [ 0.0234674 0.99922023 0.03175237 -0.02391304] [ 0.05449077 -0.03299237 0.99796907 -0.04613812] [ 0. 0. 0. 1. ]] SLAMing on 4.289649246000001 meters Centerline goodness : 0.928180 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.02, Z:-0.04 [[ 0.99797338 -0.02431585 -0.05880365 1.92647916] [ 0.02651833 0.9989645 0.03696893 -0.02268951] [ 0.05784383 -0.03845338 0.9975848 -0.04272013] [ 0. 0. 0. 1. ]] SLAMing on 4.319649246 meters Centerline goodness : 0.928520 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.02, Z:-0.05 [[ 0.99807154 -0.02642896 -0.05616676 1.8981474 ] [ 0.02841931 0.99898532 0.03493822 -0.01819448] [ 0.05518639 -0.03646706 0.99780991 -0.04577591] [ 0. 0. 0. 1. ]] SLAMing on 4.349649246 meters Centerline goodness : 0.924509 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.02, Z:-0.04 [[ 0.99808312 -0.02528537 -0.05648667 1.89656526] [ 0.02732085 0.9989941 0.03555783 -0.0175546 ] [ 0.05553076 -0.03703293 0.99776996 -0.04362082] [ 0. 0. 0. 1. ]] SLAMing on 4.3796492460000005 meters Centerline goodness : 0.923985 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.02, Z:-0.04 [[ 0.99810272 -0.02443706 -0.05651358 1.89591859] [ 0.02646753 0.99902041 0.03546391 -0.01726963] [ 0.05559159 -0.0368924 0.99777178 -0.04387551] [ 0. 0. 0. 1. ]] SLAMing on 4.409649246000001 meters Centerline goodness : 0.925230 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.02, Z:-0.05 [[ 0.99846888 -0.018953 -0.05196814 1.90647566] [ 0.02042113 0.99940303 0.02786675 -0.01751468] [ 0.05140895 -0.02888533 0.99825986 -0.04904801] [ 0. 0. 0. 1. ]] SLAMing on 4.439649246 meters Centerline goodness : 0.923945 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.02, Z:-0.06 [[ 0.99873789 -0.01593678 -0.04763024 1.91911063] [ 0.01682078 0.99969256 0.0182167 -0.0168331 ] [ 0.04732528 -0.01899488 0.99869891 -0.05598982] [ 0. 0. 0. 1. ]] SLAMing on 4.469649246 meters Centerline goodness : 0.923260 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.02, Z:-0.06 [[ 0.9990047 -0.01225977 -0.04288715 1.93157428] [ 0.01271813 0.99986471 0.01043107 -0.01751662] [ 0.04275346 -0.01096613 0.99902547 -0.06158363] [ 0. 0. 0. 1. ]] SLAMing on 4.499649246000001 meters Centerline goodness : 0.922194 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.02, Z:-0.06 [[ 9.99264181e-01 -1.64478178e-03 -3.83195896e-02 1.94026126e+00] [ 1.91894814e-03 9.99972818e-01 7.11904994e-03 -1.81789070e-02] [ 3.83068387e-02 -7.18734491e-03 9.99240175e-01 -6.49201602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.529649246 meters Centerline goodness : 0.926714 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.02, Z:-0.07 [[ 9.99421485e-01 3.16349225e-03 -3.38627801e-02 1.95253088e+00] [-3.16924890e-03 9.99994971e-01 -1.16325271e-04 -1.77965692e-02] [ 3.38622419e-02 2.23577554e-04 9.99426485e-01 -7.01516576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.559649246 meters Centerline goodness : 0.926013 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.02, Z:-0.07 [[ 0.99948452 0.01270722 -0.02948248 1.96210167] [-0.01284084 0.9999081 -0.00434735 -0.01797634] [ 0.02942453 0.00472369 0.99955584 -0.07424963] [ 0. 0. 0. 1. ]] SLAMing on 4.5896492460000005 meters Centerline goodness : 0.928279 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.02, Z:-0.08 [[ 0.99946528 0.02124189 -0.02485834 1.97401921] [-0.02142687 0.9997445 -0.00719889 -0.01787358] [ 0.02469907 0.00772767 0.99966506 -0.07739441] [ 0. 0. 0. 1. ]] SLAMing on 4.619649246000001 meters Centerline goodness : 0.923741 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.02, Z:-0.08 [[ 0.99944027 0.02254547 -0.0247152 1.97249261] [-0.02272125 0.99971834 -0.00685467 -0.01684224] [ 0.0245537 0.00741239 0.99967103 -0.07667463] [ 0. 0. 0. 1. ]] SLAMing on 4.649649246 meters Centerline goodness : 0.921899 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.02, Z:-0.08 [[ 0.99934094 0.02584761 -0.02548713 1.97543429] [-0.02592782 0.99965984 -0.0028214 -0.01747774] [ 0.02540553 0.00348036 0.99967117 -0.07702547] [ 0. 0. 0. 1. ]] SLAMing on 4.679649246 meters Centerline goodness : 0.918056 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.02, Z:-0.08 [[ 0.9993353 0.02560412 -0.02594964 1.97703532] [-0.02569429 0.99966489 -0.00314726 -0.0164297 ] [ 0.02586036 0.00381192 0.9996583 -0.07782896] [ 0. 0. 0. 1. ]] SLAMing on 4.709649246000001 meters Centerline goodness : 0.916045 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.02, Z:-0.08 [[ 0.99933618 0.02464283 -0.02683153 1.98030401] [-0.02474081 0.99968837 -0.0033259 -0.01649597] [ 0.02674121 0.00398752 0.99963444 -0.0787208 ] [ 0. 0. 0. 1. ]] SLAMing on 4.739649246 meters Centerline goodness : 0.917938 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.02, Z:-0.08 [[ 0.99933486 0.02408501 -0.02738144 1.98207272] [-0.02417997 0.99970268 -0.00314217 -0.01678706] [ 0.02729762 0.00380216 0.99962012 -0.07857358] [ 0. 0. 0. 1. ]] SLAMing on 4.769649246 meters Centerline goodness : 0.917106 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.02, Z:-0.08 [[ 9.99323685e-01 2.31161520e-02 -2.85974762e-02 1.98505108e+00] [-2.31801250e-02 9.99729485e-01 -1.90748040e-03 -1.94669297e-02] [ 2.85456465e-02 2.56908341e-03 9.99589189e-01 -7.65647515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.799649246 meters Centerline goodness : 0.913505 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.02, Z:-0.08 [[ 9.99322536e-01 2.23727262e-02 -2.92220875e-02 1.98705045e+00] [-2.24322645e-02 9.99746901e-01 -1.71116326e-03 -2.05431398e-02] [ 2.91764080e-02 2.36552160e-03 9.99571479e-01 -7.63867496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.829649246000001 meters Centerline goodness : 0.914527 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.02, Z:-0.08 [[ 9.99314578e-01 2.15599863e-02 -3.00922099e-02 1.98961771e+00] [-2.16210513e-02 9.99764783e-01 -1.70531793e-03 -2.07823296e-02] [ 3.00483651e-02 2.35477428e-03 9.99545672e-01 -7.64120692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.859649246 meters Centerline goodness : 0.914946 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.02, Z:-0.08 [[ 0.99930717 0.02090882 -0.03078973 1.99196709] [-0.02098237 0.99977771 -0.0020673 -0.02060747] [ 0.03073966 0.00271191 0.99952375 -0.07717338] [ 0. 0. 0. 1. ]] SLAMing on 4.889649246 meters Centerline goodness : 0.917129 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.02, Z:-0.08 [[ 9.99300423e-01 2.07335755e-02 -3.11252925e-02 1.99283343e+00] [-2.08015478e-02 9.99781891e-01 -1.86157789e-03 -2.08154416e-02] [ 3.10799066e-02 2.50772983e-03 9.99513757e-01 -7.68422816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9196492460000005 meters Centerline goodness : 0.916918 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.02, Z:-0.08 [[ 9.99276317e-01 2.11504868e-02 -3.16148457e-02 1.99311273e+00] [-2.11984580e-02 9.99774588e-01 -1.18292111e-03 -2.05709215e-02] [ 3.15827000e-02 1.85225104e-03 9.99499426e-01 -7.53824282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.949649246000001 meters Centerline goodness : 0.917463 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:-0.07 [[ 0.99917497 0.02400371 -0.03275966 1.99637214] [-0.0238898 0.99970713 0.00386431 -0.02300708] [ 0.03284283 -0.0030785 0.99945579 -0.0735102 ] [ 0. 0. 0. 1. ]] SLAMing on 4.979649246 meters Centerline goodness : 0.916528 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:-0.07 [[ 0.99915448 0.02392009 -0.03343881 1.99779849] [-0.0237966 0.99970847 0.00408619 -0.02328694] [ 0.03352681 -0.00328701 0.99943241 -0.07309534] [ 0. 0. 0. 1. ]] SLAMing on 5.009649246 meters Centerline goodness : 0.916528 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:-0.07 [[ 0.99915448 0.02392009 -0.03343881 1.99779849] [-0.0237966 0.99970847 0.00408619 -0.02328694] [ 0.03352681 -0.00328701 0.99943241 -0.07309534] [ 0. 0. 0. 1. ]] SLAMing on 5.039649246000001 meters Centerline goodness : 0.917758 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:-0.07 [[ 0.99915003 0.02338985 -0.03394313 1.9993398 ] [-0.02326384 0.99972094 0.00410268 -0.02425651] [ 0.03402962 -0.00330955 0.99941534 -0.0732062 ] [ 0. 0. 0. 1. ]] SLAMing on 5.069649246 meters Centerline goodness : 0.917472 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:-0.07 [[ 0.99913502 0.02270351 -0.03483915 2.0023212 ] [-0.02257688 0.99973701 0.00402377 -0.02515934] [ 0.03492134 -0.00323373 0.99938483 -0.07399901] [ 0. 0. 0. 1. ]] SLAMing on 5.099649246 meters Centerline goodness : 0.918099 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:-0.07 [[ 0.99911667 0.02282149 -0.03528538 2.00313563] [-0.02267097 0.99973212 0.00466007 -0.02733214] [ 0.03538228 -0.003856 0.99936641 -0.0734281 ] [ 0. 0. 0. 1. ]] SLAMing on 5.1296492460000005 meters Centerline goodness : 0.923832 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:-0.07 [[ 0.99909133 0.02325011 -0.03572033 2.00345203] [-0.02307193 0.99971926 0.00539239 -0.02828695] [ 0.03583567 -0.00456335 0.99934728 -0.07238766] [ 0. 0. 0. 1. ]] SLAMing on 5.159649246000001 meters Centerline goodness : 0.925011 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:-0.07 [[ 0.99907185 0.02339756 -0.03616628 2.00418786] [-0.02320972 0.99971491 0.00560506 -0.02832103] [ 0.03628711 -0.00476045 0.99933007 -0.07197223] [ 0. 0. 0. 1. ]] SLAMing on 5.189649246 meters Centerline goodness : 0.924809 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:-0.07 [[ 0.99904972 0.02424117 -0.03622184 2.00341402] [-0.02404053 0.99969319 0.00596479 -0.02804232] [ 0.03635532 -0.00508833 0.99932597 -0.07129034] [ 0. 0. 0. 1. ]] SLAMing on 5.219649246 meters Centerline goodness : 0.929627 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.03, Z:-0.07 [[ 0.99892636 0.02788985 -0.03699023 2.00509186] [-0.02751391 0.99956486 0.01063362 -0.02923106] [ 0.03727071 -0.00960446 0.99925905 -0.06973979] [ 0. 0. 0. 1. ]] SLAMing on 5.249649246000001 meters Centerline goodness : 0.924092 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.03, Z:-0.07 [[ 0.99890386 0.0281833 -0.03737358 2.00612281] [-0.02782524 0.99956212 0.01006647 -0.0277736 ] [ 0.03764092 -0.00901551 0.99925066 -0.07095822] [ 0. 0. 0. 1. ]] SLAMing on 5.279649246 meters Centerline goodness : 0.923519 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.03, Z:-0.07 [[ 0.99887511 0.0283181 -0.0380341 2.00759687] [-0.02794567 0.9995565 0.01028824 -0.02791665] [ 0.03830857 -0.00921378 0.99922348 -0.07094311] [ 0. 0. 0. 1. ]] SLAMing on 5.309649246 meters Centerline goodness : 0.921575 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.03, Z:-0.07 [[ 0.99884998 0.02841102 -0.03862046 2.00846709] [-0.02801507 0.99954964 0.01075547 -0.0287795 ] [ 0.03890864 -0.00966114 0.99919607 -0.07013367] [ 0. 0. 0. 1. ]] SLAMing on 5.3396492460000005 meters Centerline goodness : 0.926737 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.03, Z:-0.07 [[ 0.99881421 0.0282917 -0.03962007 2.010191 ] [-0.02787415 0.99955034 0.01105211 -0.03008485] [ 0.03991493 -0.00993462 0.99915369 -0.06936461] [ 0. 0. 0. 1. ]] SLAMing on 5.369649246000001 meters Centerline goodness : 0.927286 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.03, Z:-0.07 [[ 0.99878368 0.02805535 -0.0405469 2.01237088] [-0.02763338 0.99955837 0.01093017 -0.02967581] [ 0.04083564 -0.00979643 0.99911785 -0.06951133] [ 0. 0. 0. 1. ]] SLAMing on 5.399649246 meters Centerline goodness : 0.927628 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.03, Z:-0.07 [[ 0.99877246 0.0275608 -0.04115783 2.01431434] [-0.02715184 0.99957657 0.01046247 -0.02906728] [ 0.04142875 -0.00933211 0.99909788 -0.07036172] [ 0. 0. 0. 1. ]] SLAMing on 5.429649246 meters Centerline goodness : 0.924002 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.03, Z:-0.07 [[ 0.99876033 0.02682528 -0.0419311 2.01683526] [-0.02641993 0.99959898 0.01019175 -0.02870016] [ 0.04218768 -0.0090713 0.99906852 -0.07093289] [ 0. 0. 0. 1. ]] SLAMing on 5.459649246000001 meters Centerline goodness : 0.928645 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.03, Z:-0.07 [[ 0.99873814 0.02660415 -0.04259516 2.01840372] [-0.02619023 0.99960446 0.01024647 -0.02868585] [ 0.04285091 -0.00911797 0.99903987 -0.07082198] [ 0. 0. 0. 1. ]] SLAMing on 5.489649246000001 meters Centerline goodness : 0.928632 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.03, Z:-0.07 [[ 0.99872216 0.0259933 -0.04334051 2.02054305] [-0.02558018 0.99962216 0.01005951 -0.02861615] [ 0.04358562 -0.008938 0.99900971 -0.07105533] [ 0. 0. 0. 1. ]] SLAMing on 5.519649246 meters Centerline goodness : 0.929881 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.03, Z:-0.07 [[ 0.99870624 0.02532451 -0.04409659 2.0223459 ] [-0.02488634 0.99963559 0.01045747 -0.03057694] [ 0.04434536 -0.00934653 0.99897254 -0.07014435] [ 0. 0. 0. 1. ]] SLAMing on 5.549649246 meters Centerline goodness : 0.931093 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.03, Z:-0.07 [[ 0.99867939 0.0250907 -0.04483218 2.02348197] [-0.02454647 0.99961867 0.0126489 -0.03398033] [ 0.04513246 -0.01153172 0.99891445 -0.06648095] [ 0. 0. 0. 1. ]] SLAMing on 5.579649246000001 meters Centerline goodness : 0.931321 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.07 [[ 0.99866064 0.02433143 -0.04566068 2.02580172] [-0.0237854 0.99963939 0.01246407 -0.03429251] [ 0.04594748 -0.01136132 0.99887925 -0.06659522] [ 0. 0. 0. 1. ]] SLAMing on 5.609649246 meters Centerline goodness : 0.934663 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.07 [[ 0.99863896 0.02353456 -0.04654418 2.02854584] [-0.02299295 0.99966194 0.01213792 -0.03434957] [ 0.0468141 -0.01105121 0.99884249 -0.06723891] [ 0. 0. 0. 1. ]] SLAMing on 5.639649246 meters Centerline goodness : 0.927364 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.07 [[ 0.99859736 0.02195836 -0.04817826 2.033776 ] [-0.02142385 0.99970338 0.01158301 -0.03430705] [ 0.04841832 -0.0105346 0.99877159 -0.06835635] [ 0. 0. 0. 1. ]] SLAMing on 5.6696492460000005 meters Centerline goodness : 0.928735 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.03, Z:-0.07 [[ 0.9985699 0.02125686 -0.04905402 2.03638082] [-0.02072012 0.99972004 0.01142441 -0.0345914 ] [ 0.04928314 -0.01039167 0.99873079 -0.06878227] [ 0. 0. 0. 1. ]] SLAMing on 5.699649246000001 meters Centerline goodness : 0.933358 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.04, Z:-0.07 [[ 0.99853431 0.02014413 -0.05023381 2.03991235] [-0.01960321 0.99974468 0.01123753 -0.03575435] [ 0.05044736 -0.01023631 0.99867426 -0.0691182 ] [ 0. 0. 0. 1. ]] SLAMing on 5.729649246 meters Centerline goodness : 0.933363 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.04, Z:-0.07 [[ 0.99850437 0.01981524 -0.05095468 2.04152228] [-0.01926923 0.99975177 0.01118481 -0.03584361] [ 0.05116366 -0.01018622 0.99863833 -0.06899951] [ 0. 0. 0. 1. ]] SLAMing on 5.759649246 meters Centerline goodness : 0.932666 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.04, Z:-0.07 [[ 0.9984845 0.01958167 -0.05143216 2.04280848] [-0.01904113 0.99975842 0.01097904 -0.03583701] [ 0.05163473 -0.00998308 0.99861614 -0.06938759] [ 0. 0. 0. 1. ]] SLAMing on 5.789649246000001 meters Centerline goodness : 0.936152 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.04, Z:-0.07 [[ 0.99835615 0.02265907 -0.05264572 2.04652592] [-0.02187846 0.99964268 0.01535696 -0.0369147 ] [ 0.05297489 -0.0141799 0.99849516 -0.06882964] [ 0. 0. 0. 1. ]] SLAMing on 5.819649246 meters Centerline goodness : 0.931718 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.04, Z:-0.07 [[ 0.99833067 0.02239885 -0.05323683 2.04840831] [-0.02163733 0.99965577 0.01483817 -0.03617208] [ 0.05355086 -0.0136615 0.99847167 -0.07003118] [ 0. 0. 0. 1. ]] SLAMing on 5.849649246 meters Centerline goodness : 0.933835 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.04, Z:-0.07 [[ 0.99818335 0.02571303 -0.05448702 2.05231014] [-0.02470708 0.99951309 0.01905621 -0.03746366] [ 0.05495048 -0.01767538 0.99833262 -0.07005154] [ 0. 0. 0. 1. ]] SLAMing on 5.8796492460000005 meters Centerline goodness : 0.934135 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.04, Z:-0.07 [[ 0.99813678 0.02599222 -0.05520306 2.05368202] [-0.02498712 0.9995106 0.01882026 -0.03753455] [ 0.05566523 -0.01740583 0.99829776 -0.0707584 ] [ 0. 0. 0. 1. ]] SLAMing on 5.909649246000001 meters Centerline goodness : 0.935265 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.04, Z:-0.07 [[ 0.99810872 0.02623947 -0.05559209 2.05437315] [-0.02521942 0.9995019 0.01897172 -0.03791555] [ 0.05606221 -0.01753384 0.99827331 -0.07082328] [ 0. 0. 0. 1. ]] SLAMing on 5.939649246 meters Centerline goodness : 0.934661 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.04, Z:-0.07 [[ 0.99805654 0.02727915 -0.05602668 2.05402975] [-0.02620863 0.9994613 0.01975408 -0.03977241] [ 0.05653537 -0.0182473 0.99823383 -0.06983516] [ 0. 0. 0. 1. ]] SLAMing on 5.969649246 meters Centerline goodness : 0.937290 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.04, Z:-0.07 [[ 0.99801907 0.02773297 -0.0564696 2.05447858] [-0.02664631 0.9994467 0.01990632 -0.0403006 ] [ 0.05699042 -0.01836218 0.99820585 -0.06976275] [ 0. 0. 0. 1. ]] SLAMing on 5.999649246000001 meters Centerline goodness : 0.934069 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.04, Z:-0.07 [[ 0.99814444 0.03181921 -0.0519155 2.06719713] [-0.03122526 0.99943776 0.01221232 -0.03851014] [ 0.0522749 -0.01056859 0.99857681 -0.07451471] [ 0. 0. 0. 1. ]] SLAMing on 6.029649246000001 meters Centerline goodness : 0.938249 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.04, Z:-0.07 [[ 0.9981146 0.03229364 -0.05219555 2.06737539] [-0.03169951 0.99942334 0.01217099 -0.03763056] [ 0.0525585 -0.01049347 0.99856271 -0.0746505 ] [ 0. 0. 0. 1. ]] SLAMing on 6.059649246 meters Centerline goodness : 0.936328 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.04, Z:-0.08 [[ 0.99807703 0.03285582 -0.05256183 2.06767618] [-0.03227976 0.99940955 0.01177159 -0.03587156] [ 0.05291756 -0.01005228 0.99854829 -0.07513646] [ 0. 0. 0. 1. ]] SLAMing on 6.0896492460000005 meters Centerline goodness : 0.936031 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.04, Z:-0.08 [[ 0.99805346 0.0327008 -0.05310314 2.06896443] [-0.03213147 0.99941703 0.01153999 -0.03528905] [ 0.05344955 -0.00981124 0.99852235 -0.07546276] [ 0. 0. 0. 1. ]] SLAMing on 6.119649246000001 meters Centerline goodness : 0.935971 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.04, Z:-0.08 [[ 0.99802188 0.03236901 -0.05389419 2.07066998] [-0.03178386 0.99942652 0.01167953 -0.0357888 ] [ 0.05424134 -0.00994346 0.99847834 -0.07503175] [ 0. 0. 0. 1. ]] SLAMing on 6.149649246 meters Centerline goodness : 0.935996 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.04, Z:-0.07 [[ 0.99799035 0.03219306 -0.05457906 2.07195675] [-0.03158262 0.99942898 0.01201073 -0.0366755 ] [ 0.05493456 -0.01026285 0.99843721 -0.07442299] [ 0. 0. 0. 1. ]] SLAMing on 6.179649246 meters Centerline goodness : 0.938739 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.04, Z:-0.07 [[ 0.99795568 0.0320716 -0.05527999 2.07311422] [-0.03141852 0.99942635 0.01264319 -0.03851128] [ 0.05565377 -0.01088053 0.99839084 -0.07330625] [ 0. 0. 0. 1. ]] SLAMing on 6.209649246000001 meters Centerline goodness : 0.943469 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.04, Z:-0.07 [[ 0.99793587 0.03205262 -0.05564745 2.07363761] [-0.03137159 0.99942234 0.01306928 -0.03935799] [ 0.05603421 -0.01129655 0.99836494 -0.0725556 ] [ 0. 0. 0. 1. ]] SLAMing on 6.239649246000001 meters Centerline goodness : 0.941472 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.04, Z:-0.07 [[ 0.99790732 0.03179969 -0.0563006 2.07521002] [-0.03110527 0.99942937 0.01316807 -0.04004024] [ 0.05668721 -0.01138927 0.99832702 -0.07248317] [ 0. 0. 0. 1. ]] SLAMing on 6.269649246 meters Centerline goodness : 0.940658 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.04, Z:-0.07 [[ 0.99788684 0.03148257 -0.05683934 2.07682584] [-0.03080187 0.99944338 0.01281276 -0.04005116] [ 0.05721108 -0.01103493 0.99830112 -0.07328314] [ 0. 0. 0. 1. ]] SLAMing on 6.299649246 meters Centerline goodness : 0.940566 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.04, Z:-0.07 [[ 0.99784919 0.03097981 -0.05776892 2.07944002] [-0.03032507 0.99946592 0.01217635 -0.03990665] [ 0.05811529 -0.01039831 0.99825572 -0.07439317] [ 0. 0. 0. 1. ]] SLAMing on 6.329649246000001 meters Centerline goodness : 0.938647 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.04, Z:-0.07 [[ 0.99781868 0.03052984 -0.05853037 2.08151242] [-0.02988173 0.9994824 0.01191682 -0.03985189] [ 0.05886389 -0.01014184 0.9982145 -0.07484701] [ 0. 0. 0. 1. ]] SLAMing on 6.359649246 meters Centerline goodness : 0.941198 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.04, Z:-0.08 [[ 0.99778599 0.03001304 -0.0593493 2.08386568] [-0.0293762 0.99950142 0.01157409 -0.040196 ] [ 0.05966709 -0.00980501 0.99817018 -0.07558836] [ 0. 0. 0. 1. ]] SLAMing on 6.389649246 meters Centerline goodness : 0.941991 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.08 [[ 0.9977533 0.02951377 -0.06014384 2.08584163] [-0.02887229 0.99951687 0.01150709 -0.0403102 ] [ 0.0604544 -0.00974474 0.99812339 -0.07554994] [ 0. 0. 0. 1. ]] SLAMing on 6.4196492460000005 meters Centerline goodness : 0.940474 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.08 [[ 0.9977086 0.02868338 -0.06127655 2.08917165] [-0.02806808 0.99954681 0.01087888 -0.03927935] [ 0.06156083 -0.00913404 0.99806154 -0.07645513] [ 0. 0. 0. 1. ]] SLAMing on 6.449649246000001 meters Centerline goodness : 0.942559 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.08 [[ 0.99769433 0.02834515 -0.06166507 2.09042933] [-0.02774507 0.99955919 0.01056602 -0.0388246 ] [ 0.06193738 -0.00883075 0.99804097 -0.07696684] [ 0. 0. 0. 1. ]] SLAMing on 6.479649246 meters Centerline goodness : 0.943085 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.08 [[ 0.99766029 0.02801403 -0.06236316 2.0919788 ] [-0.02741095 0.99956905 0.01050523 -0.03855112] [ 0.06263058 -0.00877122 0.99799823 -0.07674859] [ 0. 0. 0. 1. ]] SLAMing on 6.509649246 meters Centerline goodness : 0.941745 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.08 [[ 0.9976313 0.02772038 -0.06295534 2.09331256] [-0.02711591 0.99957782 0.01043597 -0.03868612] [ 0.06321805 -0.00870416 0.99796178 -0.07667672] [ 0. 0. 0. 1. ]] SLAMing on 6.539649246000001 meters Centerline goodness : 0.945523 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.08 [[ 0.99759496 0.02746851 -0.06363792 2.09463356] [-0.0268375 0.99958201 0.01074944 -0.03928814] [ 0.06390659 -0.00901571 0.99791516 -0.07588407] [ 0. 0. 0. 1. ]] SLAMing on 6.569649246000001 meters Centerline goodness : 0.944807 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.08 [[ 0.99756919 0.02714483 -0.06417847 2.09593016] [-0.0265012 0.9995898 0.01085897 -0.04010975] [ 0.0644469 -0.00913176 0.99787936 -0.07568689] [ 0. 0. 0. 1. ]] SLAMing on 6.599649246 meters Centerline goodness : 0.941939 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.08 [[ 0.99753623 0.02698625 -0.06475496 2.09702262] [-0.02631392 0.99959083 0.01121342 -0.04138817] [ 0.06503107 -0.00948184 0.99783819 -0.07507166] [ 0. 0. 0. 1. ]] SLAMing on 6.6296492460000005 meters Centerline goodness : 0.944095 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.08 [[ 0.99751096 0.02679166 -0.06522342 2.09817995] [-0.0261194 0.99959678 0.01113823 -0.04143673] [ 0.06549554 -0.00940691 0.99780852 -0.07520283] [ 0. 0. 0. 1. ]] SLAMing on 6.659649246000001 meters Centerline goodness : 0.944431 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.07 [[ 0.99747772 0.02663801 -0.06579225 2.09934492] [-0.02595599 0.99960035 0.01119965 -0.04135364] [ 0.06606429 -0.0094637 0.99777049 -0.07494406] [ 0. 0. 0. 1. ]] SLAMing on 6.689649246 meters Centerline goodness : 0.945131 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.08 [[ 0.99745535 0.02655382 -0.0661643 2.10023509] [-0.02586832 0.99960266 0.01119611 -0.04173479] [ 0.06643531 -0.00945606 0.99774593 -0.07503313] [ 0. 0. 0. 1. ]] SLAMing on 6.719649246 meters Centerline goodness : 0.945489 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.08 [[ 0.99743286 0.02607764 -0.0666907 2.10206123] [-0.0254196 0.99961964 0.01069684 -0.04141893] [ 0.06694428 -0.00897413 0.99771636 -0.07599253] [ 0. 0. 0. 1. ]] SLAMing on 6.749649246000001 meters Centerline goodness : 0.944291 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.08 [[ 0.99739192 0.02574868 -0.06742669 2.10396623] [-0.02509301 0.99962942 0.01055319 -0.04141965] [ 0.06767344 -0.00883373 0.99766842 -0.07621106] [ 0. 0. 0. 1. ]] SLAMing on 6.779649246000001 meters Centerline goodness : 0.946440 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.08 [[ 0.99735678 0.02563798 -0.06798643 2.10496917] [-0.02495547 0.99962947 0.01086943 -0.04222963] [ 0.06823991 -0.00914407 0.99762703 -0.07558571] [ 0. 0. 0. 1. ]] SLAMing on 6.809649246 meters Centerline goodness : 0.946721 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.04, Z:-0.07 [[ 0.99730124 0.02562861 -0.06879976 2.10623355] [-0.02488207 0.99962209 0.01168615 -0.04391205] [ 0.06907326 -0.00994273 0.99756204 -0.07417467] [ 0. 0. 0. 1. ]] SLAMing on 6.8396492460000005 meters Centerline goodness : 0.948814 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.04, Z:-0.07 [[ 0.99726794 0.02546127 -0.06934244 2.10769162] [-0.0247325 0.99962969 0.01134821 -0.04353867] [ 0.0696057 -0.00960219 0.99752837 -0.07480012] [ 0. 0. 0. 1. ]] SLAMing on 6.869649246000001 meters Centerline goodness : 0.947346 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.04, Z:-0.08 [[ 0.99723903 0.02498735 -0.06992822 2.10960196] [-0.02428392 0.99964577 0.01089158 -0.04290712] [ 0.0701756 -0.00916338 0.99749257 -0.07561513] [ 0. 0. 0. 1. ]] SLAMing on 6.899649246 meters Centerline goodness : 0.945775 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.04, Z:-0.08 [[ 0.99718933 0.02449273 -0.07080635 2.11202122] [-0.0238106 0.99966174 0.0104619 -0.0422645 ] [ 0.07103864 -0.00874656 0.99743522 -0.07627207] [ 0. 0. 0. 1. ]] SLAMing on 6.929649246 meters Centerline goodness : 0.945775 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.04, Z:-0.08 [[ 0.99718933 0.02449273 -0.07080635 2.11202122] [-0.0238106 0.99966174 0.0104619 -0.0422645 ] [ 0.07103864 -0.00874656 0.99743522 -0.07627207] [ 0. 0. 0. 1. ]] SLAMing on 6.959649246000001 meters Centerline goodness : 0.943738 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.04, Z:-0.08 [[ 0.9971725 0.02429409 -0.07111114 2.11286115] [-0.02362112 0.99966803 0.01028938 -0.0423199 ] [ 0.0713375 -0.00858056 0.99741533 -0.07652935] [ 0. 0. 0. 1. ]] SLAMing on 6.989649246000001 meters Centerline goodness : 0.945734 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.04, Z:-0.08 [[ 0.99713106 0.02392276 -0.07181477 2.11449247] [-0.02323998 0.99967656 0.01032818 -0.04234685] [ 0.07203862 -0.00862957 0.99736451 -0.07623824] [ 0. 0. 0. 1. ]] SLAMing on 7.019649246 meters Centerline goodness : 0.949828 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.04, Z:-0.08 [[ 0.99709616 0.02373425 -0.07235973 2.11565261] [-0.02304858 0.99968132 0.01029624 -0.0425024 ] [ 0.07258104 -0.00859855 0.99732545 -0.07611384] [ 0. 0. 0. 1. ]] SLAMing on 7.049649246 meters Centerline goodness : 0.949654 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.04, Z:-0.08 [[ 0.99704556 0.02317505 -0.07323302 2.1180992 ] [-0.0225031 0.99969689 0.00998741 -0.04209317] [ 0.07344228 -0.00830993 0.99726485 -0.07653858] [ 0. 0. 0. 1. ]] SLAMing on 7.079649246000001 meters Centerline goodness : 0.950376 Centerline is valid? [False, True] Translation: X:2.12, Y:-0.04, Z:-0.08 [[ 0.99701381 0.02287261 -0.07375837 2.11943987] [-0.02218737 0.99970285 0.01009651 -0.04276024] [ 0.07396739 -0.00842985 0.99722503 -0.07645207] [ 0. 0. 0. 1. ]] SLAMing on 7.109649246000001 meters Centerline goodness : 0.949436 Centerline is valid? [True, False] Translation: X:2.12, Y:-0.05, Z:-0.07 [[ 0.99694901 0.02236574 -0.07478269 2.12127638] [-0.02155236 0.99969965 0.01166602 -0.04551442] [ 0.07502115 -0.01001868 0.99713161 -0.07358998] [ 0. 0. 0. 1. ]] SLAMing on 7.139649246 meters Centerline goodness : 0.948809 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.05, Z:-0.07 [[ 0.99691858 0.02203129 -0.07528589 2.12237189] [-0.02119334 0.99970444 0.01191118 -0.04646645] [ 0.07552606 -0.01027892 0.99709085 -0.07302275] [ 0. 0. 0. 1. ]] SLAMing on 7.1696492460000005 meters Centerline goodness : 0.951817 Centerline is valid? [False, True] Translation: X:2.13, Y:-0.05, Z:-0.07 [[ 0.99675905 0.02433327 -0.07667648 2.12647224] [-0.02293905 0.99955608 0.0190119 -0.05059696] [ 0.07710506 -0.0171914 0.99687475 -0.06699353] [ 0. 0. 0. 1. ]] SLAMing on 7.199649246000001 meters Centerline goodness : 0.950503 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.05, Z:-0.08 [[ 9.96744971e-01 2.31456605e-02 -7.72252605e-02 2.15423647e+00] [-2.29887324e-02 9.99731458e-01 2.92056561e-03 -4.51363495e-02] [ 7.72721208e-02 -1.13574823e-03 9.97009393e-01 -7.64472223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.229649246 meters Centerline goodness : 0.950417 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.04, Z:-0.08 [[ 9.96735700e-01 2.34425253e-02 -7.72553657e-02 2.18236798e+00] [-2.32870246e-02 9.99724576e-01 2.91319459e-03 -4.40990296e-02] [ 7.73023804e-02 -1.10463745e-03 9.97007082e-01 -7.62802651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.259649246 meters Centerline goodness : 0.950642 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.04, Z:-0.08 [[ 9.96717778e-01 2.42195819e-02 -7.72468998e-02 2.20997348e+00] [-2.40670292e-02 9.99706125e-01 2.90534002e-03 -4.48417703e-02] [ 7.72945650e-02 -1.03670065e-03 9.97007761e-01 -7.52085846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.289649246000001 meters Centerline goodness : 0.950646 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.05, Z:-0.07 [[ 9.96652459e-01 2.48937844e-02 -7.78728200e-02 2.23642667e+00] [-2.47414299e-02 9.99689617e-01 2.92079852e-03 -4.69350332e-02] [ 7.79213593e-02 -9.84336106e-04 9.96959023e-01 -7.18232876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.319649246000001 meters Centerline goodness : 0.950541 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.05, Z:-0.07 [[ 9.96624178e-01 2.53555962e-02 -7.80854768e-02 2.26478895e+00] [-2.52045029e-02 9.99678051e-01 2.92008279e-03 -4.81824006e-02] [ 7.81343777e-02 -9.42119489e-04 9.96942391e-01 -6.96411359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.349649246 meters Centerline goodness : 0.952082 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.05, Z:-0.07 [[ 9.96548921e-01 2.56948289e-02 -7.89305022e-02 2.29301512e+00] [-2.55421222e-02 9.99669412e-01 2.94385795e-03 -4.89383105e-02] [ 7.89800507e-02 -9.17645932e-04 9.96875774e-01 -6.75906103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3796492460000005 meters Centerline goodness : 0.952568 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.05, Z:-0.07 [[ 9.96465820e-01 2.72407936e-02 -7.94594827e-02 2.31997488e+00] [-2.70915950e-02 9.99628587e-01 2.95531220e-03 -4.94743897e-02] [ 7.95104754e-02 -7.92183471e-04 9.96833716e-01 -6.64787330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.409649246000001 meters Centerline goodness : 0.952821 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.05, Z:-0.06 [[ 9.96361770e-01 2.82958471e-02 -8.03901060e-02 2.34766288e+00] [-2.81472835e-02 9.99599342e-01 2.98087529e-03 -5.07886732e-02] [ 8.04422435e-02 -7.07267071e-04 9.96759021e-01 -6.39058158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.439649246 meters Centerline goodness : 0.954010 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.05, Z:-0.06 [[ 9.96355346e-01 2.91406418e-02 -8.01676162e-02 2.37477993e+00] [-2.89962972e-02 9.99575123e-01 2.96434987e-03 -5.22593130e-02] [ 8.02199379e-02 -6.28981817e-04 9.96776989e-01 -6.22392740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.469649246 meters Centerline goodness : 0.953553 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.05, Z:-0.06 [[ 9.96315355e-01 3.02292834e-02 -8.02614736e-02 2.40273478e+00] [-3.00888342e-02 9.99542849e-01 2.95903572e-03 -5.32172779e-02] [ 8.03142315e-02 -5.33158552e-04 9.96769452e-01 -6.01271414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.499649246000001 meters Centerline goodness : 0.954864 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.05, Z:-0.06 [[ 9.96370333e-01 3.01706309e-02 -7.95983191e-02 2.43102866e+00] [-3.00329095e-02 9.99544625e-01 2.92709491e-03 -5.36014140e-02] [ 7.96503843e-02 -5.25901412e-04 9.96822722e-01 -5.95086575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.529649246000001 meters Centerline goodness : 0.953798 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.05, Z:-0.06 [[ 9.96322796e-01 2.97761806e-02 -8.03384466e-02 2.45820596e+00] [-2.96352565e-02 9.99556437e-01 2.94617827e-03 -5.46498870e-02] [ 8.03905374e-02 -5.54494097e-04 9.96763289e-01 -5.71000357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.559649246 meters Centerline goodness : 0.954342 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.06, Z:-0.06 [[ 9.96279342e-01 2.91733687e-02 -8.10949311e-02 2.48622980e+00] [-2.90285015e-02 9.99574187e-01 2.96504154e-03 -5.54780113e-02] [ 8.11469001e-02 -5.99945295e-04 9.96701972e-01 -5.51535593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5896492460000005 meters Centerline goodness : 0.949451 Centerline is valid? [True, False] Translation: X:2.49, Y:-0.06, Z:-0.06 [[ 9.96251938e-01 2.89468784e-02 -8.15116863e-02 2.48747266e+00] [-2.87878643e-02 9.99580657e-01 3.12561390e-03 -5.62296825e-02] [ 8.15679817e-02 -7.67351534e-04 9.96667485e-01 -5.52299458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.619649246000001 meters Centerline goodness : 0.953116 Centerline is valid? [False, True] Translation: X:2.49, Y:-0.06, Z:-0.05 [[ 9.96209633e-01 2.86738661e-02 -8.21229411e-02 2.48871317e+00] [-2.84798457e-02 9.99588123e-01 3.53323144e-03 -5.67527782e-02] [ 8.21904279e-02 -1.18099050e-03 9.96615943e-01 -5.43820085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.649649246000001 meters Centerline goodness : 0.953884 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.06, Z:-0.05 [[ 9.96209898e-01 2.80780688e-02 -8.23253369e-02 2.51674231e+00] [-2.79219317e-02 9.99605461e-01 3.04749744e-03 -5.72129694e-02] [ 8.23784242e-02 -7.37264680e-04 9.96600849e-01 -5.22796389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.679649246 meters Centerline goodness : 0.950169 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.06, Z:-0.05 [[ 9.96101599e-01 2.79429530e-02 -8.36707611e-02 2.54442186e+00] [-2.77819118e-02 9.99609237e-01 3.08861982e-03 -5.74619900e-02] [ 8.37243708e-02 -7.52045433e-04 9.96488667e-01 -5.10283660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.709649246000001 meters Centerline goodness : 0.950451 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.06, Z:-0.05 [[ 9.96080566e-01 2.74674136e-02 -8.40776211e-02 2.57185749e+00] [-2.73038775e-02 9.99622390e-01 3.09451949e-03 -5.77558458e-02] [ 8.41308710e-02 -7.86745660e-04 9.96454403e-01 -5.00700830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.739649246000001 meters Centerline goodness : 0.950180 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.06, Z:-0.05 [[ 9.96207541e-01 2.57439386e-02 -8.31130840e-02 2.60041802e+00] [-2.55789391e-02 9.99668154e-01 3.04962242e-03 -5.77941274e-02] [ 8.31640125e-02 -9.12112342e-04 9.96535456e-01 -4.90301990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.769649246 meters Centerline goodness : 0.949303 Centerline is valid? [True, False] Translation: X:2.60, Y:-0.06, Z:-0.05 [[ 9.96172355e-01 2.56554691e-02 -8.35609736e-02 2.60088470e+00] [-2.53978111e-02 9.99668829e-01 4.14518192e-03 -5.95225776e-02] [ 8.36396473e-02 -2.00704981e-03 9.96494045e-01 -4.70336836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.799649246 meters Centerline goodness : 0.952098 Centerline is valid? [False, True] Translation: X:2.61, Y:-0.06, Z:-0.04 [[ 0.99600893 0.02758208 -0.08488491 2.60565542] [-0.02673725 0.99958116 0.01107364 -0.0632081 ] [ 0.08515479 -0.00875986 0.99632923 -0.04132502] [ 0. 0. 0. 1. ]] SLAMing on 7.829649246000001 meters Centerline goodness : 0.954486 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.06, Z:-0.04 [[ 9.96201472e-01 2.38147054e-02 -8.37585028e-02 2.63304928e+00] [-2.36110600e-02 9.99715366e-01 3.42119509e-03 -6.30610843e-02] [ 8.38161371e-02 -1.43057255e-03 9.96480210e-01 -4.32731407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.859649246000001 meters Centerline goodness : 0.954897 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.06, Z:-0.04 [[ 9.96209565e-01 2.33002582e-02 -8.38069247e-02 2.65983213e+00] [-2.30954816e-02 9.99727441e-01 3.41222196e-03 -6.44752297e-02] [ 8.38635880e-02 -1.46372687e-03 9.96476169e-01 -4.06558884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.889649246 meters Centerline goodness : 0.953060 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.06, Z:-0.04 [[ 9.96190001e-01 2.37028399e-02 -8.39264999e-02 2.68762406e+00] [-2.34999908e-02 9.99718041e-01 3.40417965e-03 -6.47057555e-02] [ 8.39835248e-02 -1.41893776e-03 9.96466133e-01 -4.00922977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9196492460000005 meters Centerline goodness : 0.952713 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.06, Z:-0.04 [[ 9.96191796e-01 2.36297368e-02 -8.39258092e-02 2.71448975e+00] [-2.34273468e-02 9.99719775e-01 3.39567173e-03 -6.46901227e-02] [ 8.39825299e-02 -1.41658128e-03 9.96466220e-01 -3.89688738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.949649246000001 meters Centerline goodness : 0.951632 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.06, Z:-0.04 [[ 9.96133899e-01 2.42559347e-02 -8.44328453e-02 2.74296449e+00] [-2.40541129e-02 9.99704853e-01 3.40694774e-03 -6.49081939e-02] [ 8.44905638e-02 -1.36281894e-03 9.96423347e-01 -3.81478306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.979649246000001 meters Centerline goodness : 0.951893 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.07, Z:-0.04 [[ 9.95991739e-01 2.44320934e-02 -8.60437645e-02 2.76984821e+00] [-2.42239270e-02 9.99700561e-01 3.46272974e-03 -6.53272331e-02] [ 8.61026013e-02 -1.36453235e-03 9.96285341e-01 -3.63733162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.009649246 meters Centerline goodness : 0.950248 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.07, Z:-0.03 [[ 9.95806850e-01 2.47593822e-02 -8.80663978e-02 2.79733862e+00] [-2.45434534e-02 9.99692517e-01 3.53403926e-03 -6.65791360e-02] [ 8.81268195e-02 -1.35776698e-03 9.96108338e-01 -3.39846315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.039649246 meters Centerline goodness : 0.951192 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.07, Z:-0.03 [[ 9.95757817e-01 2.46534495e-02 -8.86486156e-02 2.82458185e+00] [-2.44350835e-02 9.99695123e-01 3.54780314e-03 -6.78521026e-02] [ 8.87090543e-02 -1.36661639e-03 9.96056643e-01 -3.14533064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.069649246 meters Centerline goodness : 0.950704 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.07, Z:-0.03 [[ 9.95683737e-01 2.50903952e-02 -8.93552937e-02 2.85261157e+00] [-2.48716323e-02 9.99684311e-01 3.56100520e-03 -6.96743254e-02] [ 8.94164322e-02 -1.32322295e-03 9.95993449e-01 -2.89625078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.099649246 meters Centerline goodness : 0.951245 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.07, Z:-0.03 [[ 9.95720799e-01 2.47457216e-02 -8.90378568e-02 2.88090005e+00] [-2.45292967e-02 9.99692899e-01 3.52424567e-03 -7.06928659e-02] [ 8.90977233e-02 -1.32512871e-03 9.96022008e-01 -2.73428628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.129649246000001 meters Centerline goodness : 0.950393 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.07, Z:-0.03 [[ 9.95825221e-01 2.46764923e-02 -8.78817366e-02 2.90796290e+00] [-2.44671088e-02 9.99694651e-01 3.45911828e-03 -7.17571239e-02] [ 8.79402609e-02 -1.29446522e-03 9.96124909e-01 -2.51363940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.159649246 meters Centerline goodness : 0.955464 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.07, Z:-0.02 [[ 9.96075095e-01 2.62281631e-02 -8.45369041e-02 2.93452605e+00] [-2.60409797e-02 9.99655375e-01 3.31633692e-03 -7.23025928e-02] [ 8.45947520e-02 -1.10189680e-03 9.96414830e-01 -2.28728265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.189649246 meters Centerline goodness : 0.956416 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.07, Z:-0.02 [[ 9.96189067e-01 2.82495773e-02 -8.25185121e-02 2.96118427e+00] [-2.80792682e-02 9.99600501e-01 3.22390245e-03 -7.27573195e-02] [ 8.25766199e-02 -8.94556938e-04 9.96584317e-01 -1.96650661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.219649246000001 meters Centerline goodness : 0.955426 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.07, Z:-0.02 [[ 9.96235156e-01 2.83331297e-02 -8.19313647e-02 2.98877004e+00] [-2.81662617e-02 9.99598156e-01 3.19198947e-03 -7.33853630e-02] [ 8.19888801e-02 -8.72271866e-04 9.96632863e-01 -1.87126146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.249649246 meters Centerline goodness : 0.954609 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.08, Z:-0.02 [[ 9.96160995e-01 2.85623441e-02 -8.27494128e-02 3.01659244e+00] [-2.83935848e-02 9.99591648e-01 3.21572026e-03 -7.50946046e-02] [ 8.28074705e-02 -8.53822619e-04 9.96565198e-01 -1.61529784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.279649246 meters Centerline goodness : 0.952466 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.08, Z:-0.01 [[ 9.96116571e-01 2.66698999e-02 -8.39076504e-02 3.04320404e+00] [-2.64904012e-02 9.99643778e-01 3.25205051e-03 -7.66862032e-02] [ 8.39644925e-02 -1.01667409e-03 9.96468228e-01 -1.45755868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.309649246000001 meters Centerline goodness : 0.956171 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.08, Z:-0.01 [[ 9.96148868e-01 2.59046495e-02 -8.37638488e-02 3.07112013e+00] [-2.57238403e-02 9.99663846e-01 3.23728206e-03 -7.78687578e-02] [ 8.38195518e-02 -1.07008699e-03 9.96480375e-01 -1.30080615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.339649246 meters Centerline goodness : 0.954963 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.08, Z:-0.01 [[ 9.96106669e-01 2.51946911e-02 -8.44791722e-02 3.09768677e+00] [-2.50089788e-02 9.99681924e-01 3.25603027e-03 -7.89056921e-02] [ 8.45343361e-02 -1.13061564e-03 9.96419925e-01 -1.07803926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.369649246 meters Centerline goodness : 0.952972 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.08, Z:-0.01 [[ 9.95912239e-01 2.57807548e-02 -8.65688464e-02 3.12595255e+00] [-2.55887760e-02 9.99667018e-01 3.32677542e-03 -7.83197590e-02] [ 8.66257873e-02 -1.09798554e-03 9.96240316e-01 -9.90960929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.399649246000001 meters Centerline goodness : 0.952588 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.08, Z:-0.01 [[ 9.95853282e-01 2.59116413e-02 -8.72056572e-02 3.15349118e+00] [-2.57181200e-02 9.99663648e-01 3.34211854e-03 -7.85808966e-02] [ 8.72629252e-02 -1.08549416e-03 9.96184724e-01 -8.41395271e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.429649246 meters Centerline goodness : 0.952986 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.08, Z:-0.01 [[ 9.95790418e-01 2.58541398e-02 -8.79375112e-02 3.18074223e+00] [-2.56580177e-02 9.99665132e-01 3.36004332e-03 -7.88961629e-02] [ 8.79949348e-02 -1.08959672e-03 9.96120326e-01 -6.87780603e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.459649246000001 meters Centerline goodness : 0.951581 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.08, Z:-0.00 [[ 9.95735695e-01 2.59204039e-02 -8.85356342e-02 3.20906162e+00] [-2.57227232e-02 9.99663425e-01 3.37317384e-03 -8.03428008e-02] [ 8.85932694e-02 -1.08141199e-03 9.96067299e-01 -3.94202949e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.489649246 meters Centerline goodness : 0.953224 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.08, Z:-0.00 [[ 9.95703918e-01 2.62585758e-02 -8.87929925e-02 3.23682989e+00] [-2.60618806e-02 9.99654638e-01 3.37403210e-03 -8.13194638e-02] [ 8.88509240e-02 -1.04542461e-03 9.96044387e-01 -9.88200663e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.519649246 meters Centerline goodness : 0.951712 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.08, Z:0.00 [[ 9.95648885e-01 2.64843242e-02 -8.93413556e-02 3.26352720e+00] [-2.62869395e-02 9.99648706e-01 3.38542442e-03 -8.17453853e-02] [ 8.93996312e-02 -1.02218324e-03 9.95995312e-01 6.74638156e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.549649246000001 meters Centerline goodness : 0.953343 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.08, Z:0.00 [[ 9.95685265e-01 2.65314938e-02 -8.89209326e-02 3.29040585e+00] [-2.63370609e-02 9.99647475e-01 3.35935844e-03 -8.17556811e-02] [ 8.89787145e-02 -1.00294769e-03 9.96033023e-01 2.21946618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.579649246 meters Centerline goodness : 0.952883 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.08, Z:0.00 [[ 9.95630544e-01 2.75584177e-02 -8.92208087e-02 3.31835020e+00] [-2.73676361e-02 9.99619785e-01 3.36115702e-03 -8.26840346e-02] [ 8.92795138e-02 -9.04707971e-04 9.96006200e-01 4.17842635e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.609649246 meters Centerline goodness : 0.951104 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.08, Z:0.01 [[ 9.95619373e-01 2.97481319e-02 -8.86403600e-02 3.34648183e+00] [-2.95692711e-02 9.99557185e-01 3.33053415e-03 -8.30201233e-02] [ 8.87001859e-02 -6.94913484e-04 9.96058128e-01 5.79144445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.639649246000001 meters Centerline goodness : 0.952149 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.08, Z:0.01 [[ 9.95725717e-01 2.92987741e-02 -8.75892563e-02 3.37462042e+00] [-2.91231857e-02 9.99570441e-01 3.28217938e-03 -8.48122796e-02] [ 8.76477954e-02 -7.17272243e-04 9.96151268e-01 8.14782168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.669649246 meters Centerline goodness : 0.953518 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.09, Z:0.01 [[ 9.95825104e-01 2.88219275e-02 -8.66121154e-02 3.40234432e+00] [-2.86492119e-02 9.99584287e-01 3.23674630e-03 -8.56363905e-02] [ 8.66693989e-02 -7.41864371e-04 9.96236852e-01 1.01870064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.699649246 meters Centerline goodness : 0.952113 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.09, Z:0.01 [[ 9.95925287e-01 2.82408516e-02 -8.56462284e-02 3.42987665e+00] [-2.80707826e-02 9.99600849e-01 3.18959711e-03 -8.56074797e-02] [ 8.57021195e-02 -7.72443755e-04 9.96320506e-01 1.19481509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.729649246000001 meters Centerline goodness : 0.950974 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.09, Z:0.01 [[ 9.95894733e-01 2.83957886e-02 -8.59497517e-02 3.45663040e+00] [-2.82263544e-02 9.99596479e-01 3.18619446e-03 -8.59902127e-02] [ 8.60055437e-02 -7.47066128e-04 9.96294378e-01 1.24469241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.759649246 meters Centerline goodness : 0.953081 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.09, Z:0.01 [[ 9.95835379e-01 2.83329287e-02 -8.66553101e-02 3.48462397e+00] [-2.81613236e-02 9.99598262e-01 3.20238863e-03 -8.69687978e-02] [ 8.67112304e-02 -7.48723668e-04 9.96233207e-01 1.39043484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.789649246000002 meters Centerline goodness : 0.952661 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.09, Z:0.02 [[ 9.95869557e-01 2.72372817e-02 -8.66138349e-02 3.51280110e+00] [-2.70624576e-02 9.99628648e-01 3.19220843e-03 -8.81803620e-02] [ 8.66686177e-02 -8.35039957e-04 9.96236846e-01 1.61872515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.819649246 meters Centerline goodness : 0.952661 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.09, Z:0.02 [[ 9.95876492e-01 2.69809988e-02 -8.66143069e-02 3.54139723e+00] [-2.68063252e-02 9.99635590e-01 3.17935377e-03 -8.90549951e-02] [ 8.66685259e-02 -8.44432400e-04 9.96236846e-01 1.79285274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.849649246 meters Centerline goodness : 0.953320 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.09, Z:0.02 [[ 9.95912513e-01 2.69396382e-02 -8.62120726e-02 3.56800352e+00] [-2.67680433e-02 9.99636721e-01 3.14599072e-03 -9.03746821e-02] [ 8.62655055e-02 -8.25403034e-04 9.96271841e-01 2.08577914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.879649246000001 meters Centerline goodness : 0.954297 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.09, Z:0.02 [[ 9.95976800e-01 2.65486186e-02 -8.55884627e-02 3.59603790e+00] [-2.63788941e-02 9.99647168e-01 3.11356110e-03 -9.06718027e-02] [ 8.56409250e-02 -8.43305630e-04 9.96325710e-01 2.19418010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.909649246 meters Centerline goodness : 0.951744 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.09, Z:0.02 [[ 9.96022393e-01 2.61317126e-02 -8.51852473e-02 3.62306268e+00] [-2.59628317e-02 9.99658133e-01 3.08993891e-03 -9.01915355e-02] [ 8.52368707e-02 -8.65998105e-04 9.96360339e-01 2.20357466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.939649246 meters Centerline goodness : 0.950046 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.09, Z:0.02 [[ 9.95950571e-01 2.52921036e-02 -8.62714913e-02 3.65118439e+00] [-2.51165791e-02 9.99679662e-01 3.11957447e-03 -9.07698339e-02] [ 8.63227558e-02 -9.40097238e-04 9.96266781e-01 2.36076416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.969649246000001 meters Centerline goodness : 0.950857 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.09, Z:0.03 [[ 9.95935743e-01 2.45111247e-02 -8.66671790e-02 3.67897633e+00] [-2.43317810e-02 9.99699053e-01 3.12526277e-03 -9.41699256e-02] [ 8.67177005e-02 -1.00379408e-03 9.96232419e-01 2.60336203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.999649246 meters Centerline goodness : 0.953461 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.10, Z:0.03 [[ 9.95967813e-01 2.37052242e-02 -8.65227057e-02 3.70732476e+00] [-2.35241814e-02 9.99718426e-01 3.11157520e-03 -9.55203570e-02] [ 8.65721038e-02 -1.06365292e-03 9.96245020e-01 2.91843408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.029649246 meters Centerline goodness : 0.955937 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.10, Z:0.03 [[ 9.95911748e-01 2.41351782e-02 -8.70475913e-02 3.73462736e+00] [-2.39543461e-02 9.99708180e-01 3.12151582e-03 -9.66389519e-02] [ 8.70975274e-02 -1.02358615e-03 9.96199264e-01 3.21047112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.059649246000001 meters Centerline goodness : 0.953819 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.10, Z:0.03 [[ 9.95834873e-01 2.49382627e-02 -8.76982843e-02 3.76182037e+00] [-2.47586921e-02 9.99688541e-01 3.13491287e-03 -9.78669077e-02] [ 8.77491492e-02 -9.50560742e-04 9.96142150e-01 3.35381599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.089649246 meters Centerline goodness : 0.952587 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.10, Z:0.04 [[ 9.95803765e-01 2.51728018e-02 -8.79840459e-02 3.79023394e+00] [-2.49938086e-02 9.99682688e-01 3.13563010e-03 -9.86407409e-02] [ 8.80350602e-02 -9.23415850e-04 9.96116949e-01 3.60868082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.119649246 meters Centerline goodness : 0.954471 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.10, Z:0.04 [[ 9.95898699e-01 2.45205232e-02 -8.70891842e-02 3.81691097e+00] [-2.43434599e-02 9.99698864e-01 3.09474819e-03 -9.85103989e-02] [ 8.71388434e-02 -9.62003626e-04 9.96195712e-01 3.66764357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.149649246000001 meters Centerline goodness : 0.953721 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.10, Z:0.04 [[ 9.96150188e-01 2.46105902e-02 -8.41375197e-02 3.84459744e+00] [-2.44464411e-02 9.99696697e-01 2.98082036e-03 -9.86704055e-02] [ 8.41853603e-02 -9.12481838e-04 9.96449694e-01 3.78782936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.179649246 meters Centerline goodness : 0.954387 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.10, Z:0.04 [[ 9.96254326e-01 2.43289610e-02 -8.29784320e-02 3.87222308e+00] [-2.41690060e-02 9.99703588e-01 2.93175906e-03 -1.00134837e-01] [ 8.30251629e-02 -9.15271425e-04 9.96547031e-01 4.05860789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.209649246000001 meters Centerline goodness : 0.956392 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.10, Z:0.04 [[ 9.96442207e-01 2.41857314e-02 -8.07340029e-02 3.89929865e+00] [-2.40346152e-02 9.99707084e-01 2.84318908e-03 -1.01799605e-01] [ 8.07791192e-02 -8.92662907e-04 9.96731627e-01 4.36034256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.239649246 meters Centerline goodness : 0.955145 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.10, Z:0.05 [[ 9.96479058e-01 2.40251092e-02 -8.03260897e-02 3.92734809e+00] [-2.38760233e-02 9.99710961e-01 2.81611820e-03 -1.02275811e-01] [ 8.03705298e-02 -8.88335222e-04 9.96764661e-01 4.55273929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.269649246 meters Centerline goodness : 0.954847 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.10, Z:0.05 [[ 9.96358811e-01 2.34327375e-02 -8.19757622e-02 3.95554626e+00] [-2.32761461e-02 9.99724967e-01 2.86547528e-03 -1.02212542e-01] [ 8.20203621e-02 -9.46961730e-04 9.96630204e-01 4.55305562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.299649246000001 meters Centerline goodness : 0.952649 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.10, Z:0.05 [[ 9.96292846e-01 2.27700234e-02 -8.29583738e-02 3.98307825e+00] [-2.26082146e-02 9.99740226e-01 2.88947210e-03 -1.02935314e-01] [ 8.30026168e-02 -1.00321967e-03 9.96548824e-01 4.69760890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.329649246 meters Centerline goodness : 0.954460 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.10, Z:0.05 [[ 9.96173267e-01 2.25700316e-02 -8.44358641e-02 4.01010863e+00] [-2.24028758e-02 9.99744740e-01 2.92677050e-03 -1.03913607e-01] [ 8.44803683e-02 -1.02396436e-03 9.96424618e-01 4.78921722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.359649246 meters Centerline goodness : 0.954576 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.11, Z:0.05 [[ 9.96162465e-01 2.23759122e-02 -8.46147824e-02 4.03770712e+00] [-2.22081417e-02 9.99749094e-01 2.92361115e-03 -1.05314845e-01] [ 8.46589705e-02 -1.03325461e-03 9.96409450e-01 5.02597540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.389649246000001 meters Centerline goodness : 0.954717 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.11, Z:0.05 [[ 9.96158956e-01 2.25074145e-02 -8.46212243e-02 4.06579103e+00] [-2.23407939e-02 9.99746162e-01 2.91557291e-03 -1.06373242e-01] [ 8.46653663e-02 -1.01386873e-03 9.96408926e-01 5.24493117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.419649246 meters Centerline goodness : 0.953948 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.11, Z:0.05 [[ 9.96158782e-01 2.21302358e-02 -8.47226824e-02 4.09353569e+00] [-2.19625650e-02 9.99754557e-01 2.91069705e-03 -1.06898156e-01] [ 8.47663022e-02 -1.03878901e-03 9.96400319e-01 5.44743707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.449649246 meters Centerline goodness : 0.954349 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.11, Z:0.06 [[ 9.96167124e-01 2.17327601e-02 -8.47274900e-02 4.12185819e+00] [-2.15643629e-02 9.99763249e-01 2.90231007e-03 -1.07914115e-01] [ 8.47705060e-02 -1.06409153e-03 9.96399934e-01 5.62159017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.479649246000001 meters Centerline goodness : 0.953726 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.11, Z:0.06 [[ 9.96141817e-01 2.18027419e-02 -8.50065894e-02 4.14885342e+00] [-2.16342500e-02 9.99761738e-01 2.90290416e-03 -1.09087532e-01] [ 8.50496268e-02 -1.05265041e-03 9.96376160e-01 5.82568474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.509649246 meters Centerline goodness : 0.954081 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.11, Z:0.06 [[ 9.96085877e-01 2.19538779e-02 -8.56209880e-02 4.17686751e+00] [-2.17843167e-02 9.99758446e-01 2.91429309e-03 -1.10436676e-01] [ 8.56642859e-02 -1.03769147e-03 9.96323518e-01 6.01804554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.539649246000002 meters Centerline goodness : 0.952043 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.11, Z:0.06 [[ 9.96061258e-01 2.16827896e-02 -8.59757373e-02 4.20515648e+00] [-2.15115476e-02 9.99764342e-01 2.91780874e-03 -1.11337234e-01] [ 8.60187426e-02 -1.05684509e-03 9.96292958e-01 6.26438768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.569649246 meters Centerline goodness : 0.955269 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.11, Z:0.06 [[ 9.96119242e-01 2.15669721e-02 -8.53306638e-02 4.23189186e+00] [-2.13986273e-02 9.99766854e-01 2.88711546e-03 -1.12159566e-01] [ 8.53730357e-02 -1.04995219e-03 9.96348504e-01 6.38184129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.599649246 meters Centerline goodness : 0.953681 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.11, Z:0.07 [[ 9.96215648e-01 2.17498897e-02 -8.41506069e-02 4.25963694e+00] [-2.15879546e-02 9.99762936e-01 2.83391170e-03 -1.12598026e-01] [ 8.41922952e-02 -1.00654770e-03 9.96449017e-01 6.60257067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.629649246000001 meters Centerline goodness : 0.950587 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.11, Z:0.07 [[ 9.96192504e-01 2.25759093e-02 -8.42070246e-02 4.28636502e+00] [-2.24183501e-02 9.99744710e-01 2.81631564e-03 -1.12799884e-01] [ 8.42491083e-02 -9.17809968e-04 9.96444301e-01 6.72437980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.659649246 meters Centerline goodness : 0.949957 Centerline is valid? [True, False] Translation: X:4.29, Y:-0.11, Z:0.07 [[ 9.96167405e-01 2.24895567e-02 -8.45264553e-02 4.28697796e+00] [-2.23177701e-02 9.99746496e-01 2.97682382e-03 -1.12565926e-01] [ 8.45719749e-02 -1.07897287e-03 9.96416789e-01 6.76662659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.689649246 meters Centerline goodness : 0.951102 Centerline is valid? [False, True] Translation: X:4.29, Y:-0.11, Z:0.07 [[ 9.96146952e-01 2.25170337e-02 -8.47598599e-02 4.28743030e+00] [-2.23282754e-02 9.99745653e-01 3.17441569e-03 -1.12263102e-01] [ 8.48097799e-02 -1.26964301e-03 9.96396351e-01 6.79925468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.719649246000001 meters Centerline goodness : 0.948495 Centerline is valid? [True, False] Translation: X:4.29, Y:-0.11, Z:0.07 [[ 9.96110674e-01 2.23679532e-02 -8.52244131e-02 4.28833150e+00] [-2.21559046e-02 9.99748633e-01 3.43325962e-03 -1.12267850e-01] [ 8.52797855e-02 -1.53168259e-03 9.96355866e-01 6.85550377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.749649246 meters Centerline goodness : 0.948958 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.11, Z:0.07 [[ 9.96090148e-01 2.24227992e-02 -8.54496092e-02 4.28834171e+00] [-2.21687794e-02 9.99746555e-01 3.92059712e-03 -1.13243515e-01] [ 8.55158632e-02 -2.01095463e-03 9.96334780e-01 6.95945010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.779649246 meters Centerline goodness : 0.950557 Centerline is valid? [False, True] Translation: X:4.29, Y:-0.12, Z:0.07 [[ 0.99592377 0.02575953 -0.08644247 4.29091542] [-0.02505286 0.99964333 0.00925014 -0.11579785] [ 0.08664991 -0.0070468 0.9962139 0.07209288] [ 0. 0. 0. 1. ]] SLAMing on 9.809649246000001 meters Centerline goodness : 0.953755 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.11, Z:0.07 [[ 9.95934202e-01 2.59786118e-02 -8.62564554e-02 4.31969318e+00] [-2.58021050e-02 9.99662073e-01 3.16073852e-03 -1.13935932e-01] [ 8.63094187e-02 -9.22289476e-04 9.96267953e-01 6.78740591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.839649246 meters Centerline goodness : 0.952275 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.11, Z:0.07 [[ 9.95888073e-01 2.58385412e-02 -8.68292293e-02 4.34795777e+00] [-2.56598890e-02 9.99665695e-01 3.17319279e-03 -1.14544453e-01] [ 8.68821925e-02 -9.32116469e-04 9.96218157e-01 6.97221475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.869649246000002 meters Centerline goodness : 0.951541 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.12, Z:0.07 [[ 9.95845411e-01 2.60929824e-02 -8.72414726e-02 4.37601911e+00] [-2.59143454e-02 9.99659110e-01 3.17974488e-03 -1.15414551e-01] [ 8.72947018e-02 -9.05728697e-04 9.96182119e-01 7.15468985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.899649246000001 meters Centerline goodness : 0.951258 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.12, Z:0.07 [[ 9.95767822e-01 2.68010768e-02 -8.79098741e-02 4.40387195e+00] [-2.66231945e-02 9.99640432e-01 3.19554071e-03 -1.16840837e-01] [ 8.79639085e-02 -8.41574932e-04 9.96123307e-01 7.38866620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.929649246 meters Centerline goodness : 0.953470 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.12, Z:0.08 [[ 9.95828819e-01 2.65339505e-02 -8.72978384e-02 4.43096883e+00] [-2.63582882e-02 9.99647551e-01 3.16451895e-03 -1.18664512e-01] [ 8.73510376e-02 -8.50297582e-04 9.96177230e-01 7.51621004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.959649246000001 meters Centerline goodness : 0.953062 Centerline is valid? [True, True] Translation: X:4.46, Y:-0.12, Z:0.08 [[ 9.95868674e-01 2.67963287e-02 -8.67614012e-02 4.45865506e+00] [-2.66246278e-02 9.99640583e-01 3.13578217e-03 -1.20093824e-01] [ 8.68142452e-02 -8.12837211e-04 9.96224185e-01 7.72539586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.989649246 meters Centerline goodness : 0.954224 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.12, Z:0.08 [[ 9.95984876e-01 2.67259455e-02 -8.54391689e-02 4.48659548e+00] [-2.65598926e-02 9.99642479e-01 3.07984122e-03 -1.20944784e-01] [ 8.54909343e-02 -7.98220122e-04 9.96338629e-01 7.89714853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.019649246 meters Centerline goodness : 0.953131 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.12, Z:0.08 [[ 9.96041171e-01 2.68576177e-02 -8.47387383e-02 4.51407105e+00] [-2.66954942e-02 9.99638971e-01 3.04595084e-03 -1.21195405e-01] [ 8.47899522e-02 -7.71749945e-04 9.96398549e-01 8.06603554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.049649246000001 meters Centerline goodness : 0.953084 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.12, Z:0.08 [[ 9.96036801e-01 2.67257327e-02 -8.48317474e-02 4.54189675e+00] [-2.65635683e-02 9.99642504e-01 3.03997951e-03 -1.21700174e-01] [ 8.48826661e-02 -7.74497549e-04 9.96390653e-01 8.21096834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.079649246 meters Centerline goodness : 0.950818 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.12, Z:0.08 [[ 9.96089620e-01 2.61646530e-02 -8.43853089e-02 4.56976883e+00] [-2.60028931e-02 9.99657319e-01 3.01563124e-03 -1.22132175e-01] [ 8.44352946e-02 -8.09576813e-04 9.96428635e-01 8.39567907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.109649246 meters Centerline goodness : 0.952421 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.12, Z:0.09 [[ 9.96106642e-01 2.64772508e-02 -8.40863476e-02 4.59665436e+00] [-2.63186458e-02 9.99649120e-01 2.99433402e-03 -1.23500941e-01] [ 8.41361251e-02 -7.69637206e-04 9.96453973e-01 8.62045040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.139649246000001 meters Centerline goodness : 0.955480 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.12, Z:0.09 [[ 9.96202518e-01 2.64630218e-02 -8.29472844e-02 4.62371583e+00] [-2.63098218e-02 9.99649514e-01 2.93965192e-03 -1.24470996e-01] [ 8.29960047e-02 -7.46160370e-04 9.96549601e-01 8.93100877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.169649246 meters Centerline goodness : 0.952268 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.13, Z:0.09 [[ 9.96191622e-01 2.64334499e-02 -8.30874490e-02 4.65187237e+00] [-2.62804043e-02 9.99650301e-01 2.93531181e-03 -1.25348755e-01] [ 8.31359838e-02 -7.40561286e-04 9.96537937e-01 9.11163758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.199649246 meters Centerline goodness : 0.953606 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.13, Z:0.09 [[ 9.96164173e-01 2.68087786e-02 -8.32960402e-02 4.67936861e+00] [-2.66569858e-02 9.99640333e-01 2.93413922e-03 -1.26290055e-01] [ 8.33447420e-02 -7.02463010e-04 9.96520527e-01 9.29594236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.229649246000001 meters Centerline goodness : 0.952431 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.13, Z:0.10 [[ 9.96118715e-01 2.64149679e-02 -8.39628188e-02 4.70769006e+00] [-2.62600589e-02 9.99650795e-01 2.94901393e-03 -1.26406557e-01] [ 8.40113967e-02 -7.32699396e-04 9.96464524e-01 9.51451491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.259649246 meters Centerline goodness : 0.952777 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.13, Z:0.10 [[ 9.96112418e-01 2.62506476e-02 -8.40889669e-02 4.73597765e+00] [-2.60954164e-02 9.99655119e-01 2.94480881e-03 -1.27008199e-01] [ 8.41372694e-02 -7.39024019e-04 9.96453899e-01 9.61109032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.289649246000002 meters Centerline goodness : 0.954516 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.13, Z:0.10 [[ 9.95979250e-01 2.61574198e-02 -8.56803538e-02 4.76320558e+00] [-2.59968533e-02 9.99657555e-01 2.98943585e-03 -1.26802897e-01] [ 8.57292089e-02 -7.49996495e-04 9.96318192e-01 9.76844437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.319649246 meters Centerline goodness : 0.952684 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.13, Z:0.10 [[ 9.96010143e-01 2.63188826e-02 -8.52708103e-02 4.79120791e+00] [-2.61616675e-02 9.99653340e-01 2.96083362e-03 -1.27805334e-01] [ 8.53191762e-02 -7.18193728e-04 9.96353412e-01 9.93323759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.349649246 meters Centerline goodness : 0.953338 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.13, Z:0.10 [[ 9.95879741e-01 2.61834605e-02 -8.68214695e-02 4.81767611e+00] [-2.60207766e-02 9.99656885e-01 3.00515886e-03 -1.28475414e-01] [ 8.68703652e-02 -7.33614767e-04 9.96219354e-01 1.01915487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.379649246000001 meters Centerline goodness : 0.954786 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.13, Z:0.10 [[ 9.95942915e-01 2.60198849e-02 -8.61433412e-02 4.84611493e+00] [-2.58599822e-02 9.99661157e-01 2.97181656e-03 -1.29592843e-01] [ 8.61914785e-02 -7.32094373e-04 9.96278321e-01 1.03926122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.409649246 meters Centerline goodness : 0.952460 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.13, Z:0.11 [[ 9.95994894e-01 2.58341598e-02 -8.55965396e-02 4.87281727e+00] [-2.56763821e-02 9.99665973e-01 2.94386930e-03 -1.30133942e-01] [ 8.56440004e-02 -7.34269332e-04 9.96325532e-01 1.05798748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.439649246 meters Centerline goodness : 0.953636 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.13, Z:0.11 [[ 9.96006940e-01 2.57375403e-02 -8.54854091e-02 4.90105837e+00] [-2.55806571e-02 9.99668467e-01 2.93027168e-03 -1.30499763e-01] [ 8.55324858e-02 -7.31797989e-04 9.96335113e-01 1.07657191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.469649246000001 meters Centerline goodness : 0.955278 Centerline is valid? [True, True] Translation: X:4.93, Y:-0.13, Z:0.11 [[ 9.96086287e-01 2.58444197e-02 -8.45232228e-02 4.92840859e+00] [-2.56922016e-02 9.99665728e-01 2.88832936e-03 -1.30351461e-01] [ 8.45696163e-02 -7.05437584e-04 9.96417323e-01 1.08219865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.499649246 meters Centerline goodness : 0.951973 Centerline is valid? [True, True] Translation: X:4.96, Y:-0.13, Z:0.11 [[ 9.96067586e-01 2.67130646e-02 -8.44735243e-02 4.95619480e+00] [-2.65649667e-02 9.99642949e-01 2.87693030e-03 -1.31734988e-01] [ 8.45202146e-02 -6.21580658e-04 9.96421571e-01 1.10528886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.529649246 meters Centerline goodness : 0.955541 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.13, Z:0.11 [[ 9.96171838e-01 2.57592990e-02 -8.35351831e-02 4.98352267e+00] [-2.56118779e-02 9.99667939e-01 2.83609688e-03 -1.32126055e-01] [ 8.35805002e-02 -6.85746935e-04 9.96500793e-01 1.10693578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.559649246000001 meters Centerline goodness : 0.955921 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.13, Z:0.11 [[ 9.96133050e-01 2.58562564e-02 -8.39666597e-02 5.01157801e+00] [-2.57084703e-02 9.99665446e-01 2.84099909e-03 -1.33187587e-01] [ 8.40120258e-02 -6.71358713e-04 9.96464515e-01 1.12775504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.589649246 meters Centerline goodness : 0.954332 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.13, Z:0.11 [[ 9.96111286e-01 2.56048147e-02 -8.43012400e-02 5.03887756e+00] [-2.54557217e-02 9.99671908e-01 2.84316382e-03 -1.34097828e-01] [ 8.43463801e-02 -6.86158665e-04 9.96436259e-01 1.14416648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.619649246000002 meters Centerline goodness : 0.955170 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.14, Z:0.12 [[ 9.96036505e-01 2.59524007e-02 -8.50749884e-02 5.06728052e+00] [-2.58026722e-02 9.99662967e-01 2.85924737e-03 -1.35224571e-01] [ 8.51205196e-02 -6.52752720e-04 9.96370449e-01 1.15912833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.649649246000001 meters Centerline goodness : 0.956546 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.14, Z:0.12 [[ 9.95951065e-01 2.62776086e-02 -8.59707146e-02 5.09450510e+00] [-2.61268825e-02 9.99654492e-01 2.87810915e-03 -1.36152383e-01] [ 8.60166408e-02 -6.20309121e-04 9.96293507e-01 1.17974438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.679649246 meters Centerline goodness : 0.955822 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.14, Z:0.12 [[ 9.95819938e-01 2.61174471e-02 -8.75244524e-02 5.12294383e+00] [-2.59619007e-02 9.99658682e-01 2.91523571e-03 -1.37146584e-01] [ 8.75707173e-02 -6.30748703e-04 9.96158106e-01 1.20524758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.709649246000001 meters Centerline goodness : 0.954168 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.14, Z:0.12 [[ 9.95754751e-01 2.62519019e-02 -8.82230916e-02 5.15058591e+00] [-2.60951904e-02 9.99655170e-01 2.92938734e-03 -1.37319291e-01] [ 8.82695716e-02 -6.14752986e-04 9.96096433e-01 1.22663714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.739649246 meters Centerline goodness : 0.954168 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.14, Z:0.12 [[ 9.95761517e-01 2.59925088e-02 -8.82235258e-02 5.17918311e+00] [-2.58359446e-02 9.99661943e-01 2.91625694e-03 -1.38095520e-01] [ 8.82695020e-02 -6.24558317e-04 9.96096434e-01 1.24462713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.769649246 meters Centerline goodness : 0.956236 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.14, Z:0.13 [[ 9.95830261e-01 2.57844830e-02 -8.75057219e-02 5.20703392e+00] [-2.56313167e-02 9.99667333e-01 2.87369227e-03 -1.38519363e-01] [ 8.75507083e-02 -6.18822851e-04 9.96159872e-01 1.25687783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.799649246000001 meters Centerline goodness : 0.954311 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.14, Z:0.13 [[ 9.96007994e-01 2.56279236e-02 -8.55060545e-02 5.23399854e+00] [-2.54819148e-02 9.99671365e-01 2.79875546e-03 -1.38606511e-01] [ 8.55496806e-02 -6.08724812e-04 9.96333720e-01 1.27762844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.829649246 meters Centerline goodness : 0.957548 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.14, Z:0.13 [[ 9.96124666e-01 2.51561330e-02 -8.42782221e-02 5.26171523e+00] [-2.50134449e-02 9.99683336e-01 2.74872287e-03 -1.39196060e-01] [ 8.43206814e-02 -6.29981982e-04 9.96438471e-01 1.28187057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.859649246 meters Centerline goodness : 0.959888 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.14, Z:0.13 [[ 9.96293381e-01 2.49660449e-02 -8.23176496e-02 5.28840843e+00] [-2.48301200e-02 9.99688107e-01 2.67468658e-03 -1.39544082e-01] [ 8.23587516e-02 -6.20815416e-04 9.96602554e-01 1.30528160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.889649246000001 meters Centerline goodness : 0.958731 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.14, Z:0.13 [[ 9.96346413e-01 2.44523727e-02 -8.18285177e-02 5.31544222e+00] [-2.43174940e-02 9.99700788e-01 2.64465711e-03 -1.40338395e-01] [ 8.18687017e-02 -6.45130137e-04 9.96642915e-01 1.32915438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.919649246 meters Centerline goodness : 0.958624 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.14, Z:0.13 [[ 9.96344441e-01 2.48350348e-02 -8.17372426e-02 5.34392246e+00] [-2.47025157e-02 9.99691381e-01 2.63228894e-03 -1.41445024e-01] [ 8.17773899e-02 -6.03550927e-04 9.96650437e-01 1.34581161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.949649246000002 meters Centerline goodness : 0.956371 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.14, Z:0.14 [[ 9.96335606e-01 2.47699043e-02 -8.18645900e-02 5.37053082e+00] [-2.46374625e-02 9.99692998e-01 2.62773873e-03 -1.42565225e-01] [ 8.19045463e-02 -6.01173897e-04 9.96639997e-01 1.36089601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.979649246000001 meters Centerline goodness : 0.956909 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.14, Z:0.14 [[ 9.96380506e-01 2.45542257e-02 -8.13816778e-02 5.39900205e+00] [-2.44233878e-02 9.99698316e-01 2.60292793e-03 -1.42829048e-01] [ 8.14210391e-02 -6.05890377e-04 9.96679611e-01 1.37368843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.009649246 meters Centerline goodness : 0.957798 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.14, Z:0.14 [[ 9.96383876e-01 2.47376990e-02 -8.12847912e-02 5.42616652e+00] [-2.46085087e-02 9.99693807e-01 2.59092995e-03 -1.43941568e-01] [ 8.13239960e-02 -5.81263334e-04 9.96687549e-01 1.39291606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.039649246000002 meters Centerline goodness : 0.957508 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.14, Z:0.14 [[ 9.96431911e-01 2.44593729e-02 -8.07786208e-02 5.45412863e+00] [-2.43316506e-02 9.99700650e-01 2.56525635e-03 -1.44852400e-01] [ 8.08171843e-02 -5.90626107e-04 9.96728766e-01 1.41679848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.069649246 meters Centerline goodness : 0.958014 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.15, Z:0.14 [[ 9.96378730e-01 2.43281071e-02 -8.14712795e-02 5.48180353e+00] [-2.41984445e-02 9.99703849e-01 2.57866272e-03 -1.46585406e-01] [ 8.15098857e-02 -5.97846453e-04 9.96672354e-01 1.44662614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.099649246 meters Centerline goodness : 0.957937 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.15, Z:0.15 [[ 9.96282690e-01 2.41317713e-02 -8.26949787e-02 5.50863347e+00] [-2.39983899e-02 9.99708599e-01 2.60667411e-03 -1.47103686e-01] [ 8.27337850e-02 -6.12437950e-04 9.96571496e-01 1.45409085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.129649246000001 meters Centerline goodness : 0.959835 Centerline is valid? [True, True] Translation: X:5.54, Y:-0.15, Z:0.15 [[ 9.96248623e-01 2.39015108e-02 -8.31709033e-02 5.53587113e+00] [-2.37671340e-02 9.99714126e-01 2.60552035e-03 -1.47820841e-01] [ 8.32094028e-02 -6.19012056e-04 9.96531892e-01 1.46892152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.159649246 meters Centerline goodness : 0.958045 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.15, Z:0.15 [[ 9.96225279e-01 2.32857585e-02 -8.36239584e-02 5.56404152e+00] [-2.31489440e-02 9.99728632e-01 2.60542906e-03 -1.47960495e-01] [ 8.36619349e-02 -6.59787959e-04 9.96493977e-01 1.47526089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.189649246 meters Centerline goodness : 0.958559 Centerline is valid? [True, True] Translation: X:5.59, Y:-0.15, Z:0.15 [[ 9.96177234e-01 2.35323234e-02 -8.41257880e-02 5.59205935e+00] [-2.33954813e-02 9.99722875e-01 2.61223301e-03 -1.49122734e-01] [ 8.41639466e-02 -6.34083756e-04 9.96451719e-01 1.49654223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.219649246000001 meters Centerline goodness : 0.958802 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.15, Z:0.15 [[ 9.96237754e-01 2.37149479e-02 -8.33543002e-02 5.61942684e+00] [-2.35821299e-02 9.99718580e-01 2.57774193e-03 -1.49920974e-01] [ 8.33919736e-02 -6.02371898e-04 9.96516641e-01 1.51106238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.249649246 meters Centerline goodness : 0.960636 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.15, Z:0.15 [[ 9.96328235e-01 2.27333612e-02 -8.25423698e-02 5.64783548e+00] [-2.26009244e-02 9.99741343e-01 2.53859932e-03 -1.50223124e-01] [ 8.25787306e-02 -6.63744319e-04 9.96584323e-01 1.52621924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.279649246 meters Centerline goodness : 0.960510 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.15, Z:0.15 [[ 9.96500231e-01 2.19512218e-02 -8.06562619e-02 5.67522208e+00] [-2.18229212e-02 9.99758796e-01 2.47198565e-03 -1.51943586e-01] [ 8.06910704e-02 -7.03179026e-04 9.96738911e-01 1.54483897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.309649246000001 meters Centerline goodness : 0.960830 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.15, Z:0.16 [[ 9.96479404e-01 2.17944235e-02 -8.09555481e-02 5.70371554e+00] [-2.16654267e-02 9.99762222e-01 2.47160141e-03 -1.52450689e-01] [ 8.09901658e-02 -7.08963405e-04 9.96714648e-01 1.55936451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.339649246 meters Centerline goodness : 0.962398 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.15, Z:0.16 [[ 9.96469940e-01 2.00577042e-02 -8.15190043e-02 5.73080789e+00] [-1.99219268e-02 9.99798466e-01 2.47869400e-03 -1.52991568e-01] [ 8.15522923e-02 -8.45928427e-04 9.96668705e-01 1.57665695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.369649246000002 meters Centerline goodness : 0.961448 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.15, Z:0.16 [[ 9.96441013e-01 2.03956775e-02 -8.17882821e-02 5.75841364e+00] [-2.02615411e-02 9.99791663e-01 2.46976467e-03 -1.54237725e-01] [ 8.18216151e-02 -8.03818169e-04 9.96646666e-01 1.59486949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.399649246000001 meters Centerline goodness : 0.961804 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.15, Z:0.16 [[ 9.96565170e-01 1.85719853e-02 -8.07028139e-02 5.78578665e+00] [-1.84370679e-02 9.99827102e-01 2.41670113e-03 -1.54398961e-01] [ 8.07337435e-02 -9.20476911e-04 9.96735278e-01 1.59899777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.429649246 meters Centerline goodness : 0.961746 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.16, Z:0.16 [[ 9.96612058e-01 1.80381747e-02 -8.02435666e-02 5.81370146e+00] [-1.79043740e-02 9.99836855e-01 2.38669377e-03 -1.55437039e-01] [ 8.02735269e-02 -9.41896958e-04 9.96772428e-01 1.61477178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.459649246000001 meters Centerline goodness : 0.961528 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.16, Z:0.16 [[ 9.96626882e-01 1.68342028e-02 -8.03210327e-02 5.84203662e+00] [-1.66979822e-02 9.99857776e-01 2.36738245e-03 -1.55394347e-01] [ 8.03494622e-02 -1.01819781e-03 9.96766235e-01 1.62387617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.489649246 meters Centerline goodness : 0.962310 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.16, Z:0.16 [[ 9.96528867e-01 1.64167896e-02 -8.16131493e-02 5.86926169e+00] [-1.62763268e-02 9.99864685e-01 2.38611888e-03 -1.55782380e-01] [ 8.16412782e-02 -1.04947405e-03 9.96661226e-01 1.63965791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.519649246 meters Centerline goodness : 0.961325 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.16, Z:0.16 [[ 9.96517123e-01 1.59860034e-02 -8.18417458e-02 5.89767346e+00] [-1.58443135e-02 9.99871637e-01 2.38046933e-03 -1.56151668e-01] [ 8.18692946e-02 -1.07545217e-03 9.96642495e-01 1.64977306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.549649246000001 meters Centerline goodness : 0.962966 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.16, Z:0.17 [[ 9.96462476e-01 1.66552259e-02 -8.23719398e-02 5.92469809e+00] [-1.65156474e-02 9.99860785e-01 2.37561890e-03 -1.56965269e-01] [ 8.24000389e-02 -1.00678918e-03 9.96598826e-01 1.67342362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.579649246 meters Centerline goodness : 0.961845 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.16, Z:0.17 [[ 9.96335221e-01 1.82716689e-02 -8.35600032e-02 5.95254579e+00] [-1.81351145e-02 9.99832682e-01 2.39299118e-03 -1.57713091e-01] [ 8.35897460e-02 -8.68851171e-04 9.96499874e-01 1.69377127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.609649246 meters Centerline goodness : 0.960341 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.16, Z:0.17 [[ 9.96316327e-01 1.93048348e-02 -8.35529819e-02 5.98040540e+00] [-1.91737564e-02 9.99813355e-01 2.37101195e-03 -1.57927877e-01] [ 8.35831592e-02 -7.60253390e-04 9.96500516e-01 1.70753939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.639649246000001 meters Centerline goodness : 0.962475 Centerline is valid? [True, True] Translation: X:6.01, Y:-0.16, Z:0.17 [[ 9.96287135e-01 2.03386196e-02 -8.36557598e-02 6.00752233e+00] [-2.02124279e-02 9.99792934e-01 2.35520310e-03 -1.59673348e-01] [ 8.36863391e-02 -6.55572528e-04 9.96491930e-01 1.74115791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.669649246 meters Centerline goodness : 0.962222 Centerline is valid? [True, True] Translation: X:6.04, Y:-0.16, Z:0.18 [[ 9.96221908e-01 2.04237324e-02 -8.44084165e-02 6.03528324e+00] [-2.02966380e-02 9.99791208e-01 2.36365815e-03 -1.60468555e-01] [ 8.44390674e-02 -6.41520957e-04 9.96428438e-01 1.76398227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.699649246000002 meters Centerline goodness : 0.961930 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.16, Z:0.18 [[ 9.96202543e-01 1.97891807e-02 -8.47872699e-02 6.06342469e+00] [-1.96605596e-02 9.99803947e-01 2.35178530e-03 -1.60903736e-01] [ 8.48171870e-02 -6.75889323e-04 9.96396301e-01 1.77760068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.729649246000001 meters Centerline goodness : 0.963148 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.16, Z:0.18 [[ 9.96278328e-01 1.86964047e-02 -8.41423613e-02 6.09079569e+00] [-1.85675491e-02 9.99824931e-01 2.31375384e-03 -1.61223679e-01] [ 8.41708895e-02 -7.42825385e-04 9.96451057e-01 1.79884327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.759649246 meters Centerline goodness : 0.963791 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.16, Z:0.18 [[ 9.96374916e-01 1.78508861e-02 -8.31767550e-02 6.11885647e+00] [-1.77231494e-02 9.99840347e-01 2.27388841e-03 -1.62042760e-01] [ 8.32040665e-02 -7.91491314e-04 9.96532216e-01 1.82347491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.789649246000002 meters Centerline goodness : 0.963779 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.16, Z:0.18 [[ 9.96388848e-01 1.77402771e-02 -8.30333986e-02 6.14540682e+00] [-1.76142673e-02 9.99842325e-01 2.24994294e-03 -1.62587436e-01] [ 8.30602210e-02 -7.79245577e-04 9.96544225e-01 1.84789871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.819649246 meters Centerline goodness : 0.964252 Centerline is valid? [True, True] Translation: X:6.17, Y:-0.16, Z:0.18 [[ 9.96354471e-01 1.81198880e-02 -8.33632893e-02 6.17258762e+00] [-1.79950402e-02 9.99835547e-01 2.24882395e-03 -1.62741252e-01] [ 8.33903284e-02 -7.40500060e-04 9.96516686e-01 1.84938236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.849649246 meters Centerline goodness : 0.961064 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.16, Z:0.19 [[ 9.96457776e-01 1.72878492e-02 -8.22984248e-02 6.20077980e+00] [-1.71643921e-02 9.99850244e-01 2.20743339e-03 -1.62410860e-01] [ 8.23242619e-02 -7.87011741e-04 9.96605286e-01 1.86292555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.879649246000001 meters Centerline goodness : 0.961527 Centerline is valid? [True, True] Translation: X:6.23, Y:-0.16, Z:0.19 [[ 9.96493046e-01 1.67029371e-02 -8.19915915e-02 6.22846114e+00] [-1.65802610e-02 9.99860168e-01 2.17689051e-03 -1.62970258e-01] [ 8.20164869e-02 -8.09814263e-04 9.96630644e-01 1.88202452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.909649246 meters Centerline goodness : 0.964857 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.16, Z:0.19 [[ 9.96586108e-01 1.70858731e-02 -8.07725318e-02 6.25589612e+00] [-1.69696720e-02 9.99853747e-01 2.12491606e-03 -1.64125081e-01] [ 8.07970246e-02 -7.46978454e-04 9.96730296e-01 1.89849764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.939649246 meters Centerline goodness : 0.964540 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.16, Z:0.19 [[ 9.96640942e-01 1.69871676e-02 -8.01141016e-02 6.28426719e+00] [-1.68735342e-02 9.99855436e-01 2.09522268e-03 -1.64850411e-01] [ 8.01381119e-02 -7.36376674e-04 9.96783497e-01 1.91404072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.969649246000001 meters Centerline goodness : 0.963084 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.17, Z:0.19 [[ 9.96612980e-01 1.64921278e-02 -8.05641258e-02 6.31234873e+00] [-1.63774088e-02 9.99863708e-01 2.08457300e-03 -1.65336041e-01] [ 8.05875247e-02 -7.58080879e-04 9.96747248e-01 1.93496942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.999649246 meters Centerline goodness : 0.962325 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.17, Z:0.19 [[ 9.96500294e-01 1.59583596e-02 -8.20517756e-02 6.34024261e+00] [-1.58394369e-02 9.99872343e-01 2.10012382e-03 -1.66132738e-01] [ 8.20748156e-02 -7.93120078e-04 9.96625855e-01 1.94806947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.029649246000002 meters Centerline goodness : 0.964209 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.17, Z:0.20 [[ 9.96401249e-01 1.53688535e-02 -8.33567588e-02 6.36847628e+00] [-1.52459881e-02 9.99881546e-01 2.11034306e-03 -1.66612526e-01] [ 8.33793184e-02 -8.31892306e-04 9.96517535e-01 1.96298370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.059649246000001 meters Centerline goodness : 0.961592 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.17, Z:0.20 [[ 9.96152592e-01 1.51351652e-02 -8.63188295e-02 6.39574473e+00] [-1.50042948e-02 9.99885086e-01 2.16475140e-03 -1.67491398e-01] [ 8.63416741e-02 -8.61269556e-04 9.96265212e-01 1.97379036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.089649246 meters Centerline goodness : 0.961511 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.17, Z:0.20 [[ 9.96046733e-01 1.51555714e-02 -8.75283587e-02 6.42405898e+00] [-1.50223274e-02 9.99884780e-01 2.18083703e-03 -1.68006066e-01] [ 8.75513255e-02 -8.57335939e-04 9.96159641e-01 1.99231619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.119649246000002 meters Centerline goodness : 0.959763 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.17, Z:0.20 [[ 9.95936467e-01 1.47316175e-02 -8.88455536e-02 6.45096548e+00] [-1.45944490e-02 9.99891090e-01 2.19334590e-03 -1.67500733e-01] [ 8.88681890e-02 -8.87781261e-04 9.96042999e-01 2.00770300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.149649246000001 meters Centerline goodness : 0.958297 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.17, Z:0.20 [[ 9.95846480e-01 1.49690147e-02 -8.98093348e-02 6.47928297e+00] [-1.48311279e-02 9.99887587e-01 2.20250480e-03 -1.67839791e-01] [ 8.98322084e-02 -8.61382921e-04 9.95956541e-01 2.03197490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.179649246 meters Centerline goodness : 0.957200 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.17, Z:0.20 [[ 9.95896256e-01 1.45538005e-02 -8.93243211e-02 6.50603865e+00] [-1.44175091e-02 9.99893706e-01 2.17085482e-03 -1.67044037e-01] [ 8.93464206e-02 -8.74111970e-04 9.96000227e-01 2.03935358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.209649246000001 meters Centerline goodness : 0.959457 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.17, Z:0.21 [[ 9.96013252e-01 1.36890703e-02 -8.81487966e-02 6.53376263e+00] [-1.35541905e-02 9.99905872e-01 2.12854219e-03 -1.67348935e-01] [ 8.81696371e-02 -9.25270650e-04 9.96105044e-01 2.05823476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.239649246 meters Centerline goodness : 0.959352 Centerline is valid? [True, True] Translation: X:6.56, Y:-0.17, Z:0.21 [[ 9.96209252e-01 1.33336019e-02 -8.59612761e-02 6.56196261e+00] [-1.32059328e-02 9.99910689e-01 2.05369965e-03 -1.68916468e-01] [ 8.59809820e-02 -9.10715765e-04 9.96296362e-01 2.09203139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.269649246 meters Centerline goodness : 0.960446 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.17, Z:0.21 [[ 9.96275487e-01 1.31349260e-02 -8.52210531e-02 6.59049862e+00] [-1.30106351e-02 9.99913330e-01 2.01371346e-03 -1.69639443e-01] [ 8.52401170e-02 -8.97433336e-04 9.96360034e-01 2.11066428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.299649246000001 meters Centerline goodness : 0.958828 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.17, Z:0.21 [[ 9.96264186e-01 1.25950142e-02 -8.54343992e-02 6.61758340e+00] [-1.24698184e-02 9.99920251e-01 1.99891617e-03 -1.68951730e-01] [ 8.54527622e-02 -9.26097150e-04 9.96341793e-01 2.12445532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.329649246 meters Centerline goodness : 0.959176 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.17, Z:0.21 [[ 9.96244349e-01 1.22304455e-02 -8.57182186e-02 6.64547039e+00] [-1.21042389e-02 9.99924757e-01 1.99194092e-03 -1.69095426e-01] [ 8.57361312e-02 -9.46906092e-04 9.96317429e-01 2.13385594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.359649246000002 meters Centerline goodness : 0.958304 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.17, Z:0.22 [[ 9.96185906e-01 1.16865013e-02 -8.64700346e-02 6.67333054e+00] [-1.15580722e-02 9.99931231e-01 1.98576309e-03 -1.69338231e-01] [ 8.64872948e-02 -9.78762294e-04 9.96252473e-01 2.15543684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.389649246000001 meters Centerline goodness : 0.960547 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.17, Z:0.22 [[ 9.96183765e-01 1.16246278e-02 -8.65030362e-02 6.70066552e+00] [-1.14976087e-02 9.99931967e-01 1.96647180e-03 -1.70232395e-01] [ 8.65200106e-02 -9.64389216e-04 9.96249646e-01 2.17595532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.419649246 meters Centerline goodness : 0.959380 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.17, Z:0.22 [[ 9.96088922e-01 1.17072110e-02 -8.75774020e-02 6.72875865e+00] [-1.15785622e-02 9.99931012e-01 1.97683151e-03 -1.71067467e-01] [ 8.75945034e-02 -9.55079572e-04 9.96155756e-01 2.19178188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.449649246000002 meters Centerline goodness : 0.957717 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.17, Z:0.22 [[ 9.96040636e-01 1.10609196e-02 -8.82083208e-02 6.75586458e+00] [-1.09297457e-02 9.99938328e-01 1.96995686e-03 -1.71198242e-01] [ 8.82246703e-02 -9.98062570e-04 9.96100101e-01 2.21428854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.479649246000001 meters Centerline goodness : 0.958717 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.17, Z:0.22 [[ 9.96154362e-01 1.10820083e-02 -8.69118869e-02 6.78386069e+00] [-1.09562813e-02 9.99938128e-01 1.92350274e-03 -1.71382704e-01] [ 8.69278258e-02 -9.63874565e-04 9.96214146e-01 2.23766926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.509649246 meters Centerline goodness : 0.958639 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.17, Z:0.23 [[ 9.96130323e-01 1.10416405e-02 -8.71920947e-02 6.81105914e+00] [-1.09166881e-02 9.99938587e-01 1.90978759e-03 -1.71426131e-01] [ 8.72078272e-02 -9.50548428e-04 9.96189686e-01 2.25520289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.539649246000002 meters Centerline goodness : 0.956930 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.17, Z:0.23 [[ 9.96096537e-01 1.10487660e-02 -8.75763287e-02 6.83938617e+00] [-1.09239703e-02 9.99938519e-01 1.90414153e-03 -1.71629806e-01] [ 8.75919828e-02 -9.40027578e-04 9.96155992e-01 2.27715878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.569649246 meters Centerline goodness : 0.958155 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.17, Z:0.23 [[ 9.96110524e-01 1.10090156e-02 -8.74221086e-02 6.86659727e+00] [-1.08862451e-02 9.99938974e-01 1.88099405e-03 -1.72585961e-01] [ 8.74374815e-02 -9.21979475e-04 9.96169582e-01 2.30128541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.599649246 meters Centerline goodness : 0.958155 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.17, Z:0.23 [[ 9.96113206e-01 1.07612666e-02 -8.74223965e-02 6.89519312e+00] [-1.06387258e-02 9.99941663e-01 1.86752565e-03 -1.73014004e-01] [ 8.74373935e-02 -9.30204065e-04 9.96169582e-01 2.31926423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.629649246000001 meters Centerline goodness : 0.957866 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.17, Z:0.23 [[ 9.96163602e-01 9.85377520e-03 -8.69538978e-02 6.92338019e+00] [-9.73103412e-03 9.99950968e-01 1.83534096e-03 -1.73956170e-01] [ 8.69677193e-02 -9.82148512e-04 9.96210646e-01 2.34117416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.659649246 meters Centerline goodness : 0.959651 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.17, Z:0.24 [[ 9.96213641e-01 9.66864935e-03 -8.63996415e-02 6.95077131e+00] [-9.54865742e-03 9.99952787e-01 1.80197610e-03 -1.74233224e-01] [ 8.64129850e-02 -9.70152593e-04 9.96258930e-01 2.36083037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.689649246 meters Centerline goodness : 0.959053 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.17, Z:0.24 [[ 9.96379297e-01 9.35347582e-03 -8.45033069e-02 6.97869461e+00] [-9.23905271e-03 9.99955796e-01 1.74503850e-03 -1.74108724e-01] [ 8.45158937e-02 -9.57989726e-04 9.96421671e-01 2.37311217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.719649246000001 meters Centerline goodness : 0.959455 Centerline is valid? [True, True] Translation: X:7.01, Y:-0.17, Z:0.24 [[ 9.96441442e-01 8.50653227e-03 -8.38575718e-02 7.00694615e+00] [-8.39274620e-03 9.99963319e-01 1.70932832e-03 -1.74498313e-01] [ 8.38690363e-02 -9.99450256e-04 9.96476285e-01 2.38649309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.749649246 meters Centerline goodness : 0.963321 Centerline is valid? [True, True] Translation: X:7.04, Y:-0.18, Z:0.24 [[ 9.96414250e-01 8.09715813e-03 -8.42204174e-02 7.03550429e+00] [-7.98283086e-03 9.99966702e-01 1.69415067e-03 -1.75308666e-01] [ 8.42313308e-02 -1.01575852e-03 9.96445709e-01 2.40609906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.779649246000002 meters Centerline goodness : 0.961657 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.18, Z:0.24 [[ 9.96386561e-01 8.04691488e-03 -8.45521641e-02 7.06292075e+00] [-7.93313780e-03 9.99967118e-01 1.68154649e-03 -1.75410742e-01] [ 8.45629152e-02 -1.00470635e-03 9.96417635e-01 2.42879747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.809649246000001 meters Centerline goodness : 0.959201 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.17, Z:0.24 [[ 9.96265506e-01 7.95625158e-03 -8.59752268e-02 7.08973526e+00] [-7.83941472e-03 9.99967832e-01 1.69650228e-03 -1.74432786e-01] [ 8.59859589e-02 -1.01617125e-03 9.96295831e-01 2.43359543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.839649246 meters Centerline goodness : 0.959246 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.17, Z:0.25 [[ 9.96223510e-01 7.38481319e-03 -8.65111688e-02 7.11793422e+00] [-7.26634912e-03 9.99972181e-01 1.68417471e-03 -1.74561052e-01] [ 8.65211995e-02 -1.04919409e-03 9.96249457e-01 2.45205602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.869649246000002 meters Centerline goodness : 0.958980 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.18, Z:0.25 [[ 9.96100741e-01 7.63404626e-03 -8.78921806e-02 7.14481146e+00] [-7.51452785e-03 9.99970336e-01 1.69062877e-03 -1.75155846e-01] [ 8.79024797e-02 -1.02356833e-03 9.96128559e-01 2.46877247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.899649246000001 meters Centerline goodness : 0.958315 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.18, Z:0.25 [[ 9.95993080e-01 7.68711530e-03 -8.90993451e-02 7.17307039e+00] [-7.56579577e-03 9.99969935e-01 1.69927125e-03 -1.75456480e-01] [ 8.91097288e-02 -1.01835496e-03 9.96021295e-01 2.49410868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.929649246 meters Centerline goodness : 0.956831 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.18, Z:0.25 [[ 9.96026290e-01 8.08789883e-03 -8.86916885e-02 7.20162531e+00] [-7.97138977e-03 9.99966837e-01 1.66776442e-03 -1.75545236e-01] [ 8.87022359e-02 -9.54141186e-04 9.96057731e-01 2.50463200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.959649246000001 meters Centerline goodness : 0.958165 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.18, Z:0.25 [[ 9.96010372e-01 7.56462223e-03 -8.89163362e-02 7.23027283e+00] [-7.44756644e-03 9.99970908e-01 1.64816443e-03 -1.75293389e-01] [ 8.89262172e-02 -9.79378542e-04 9.96037735e-01 2.51518186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.989649246 meters Centerline goodness : 0.956810 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.18, Z:0.25 [[ 9.95900772e-01 8.68466362e-03 -9.00345963e-02 7.25824913e+00] [-8.57139055e-03 9.99961912e-01 1.64468303e-03 -1.75117368e-01] [ 9.00454506e-02 -8.66219409e-04 9.95937280e-01 2.53235668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.019649246 meters Centerline goodness : 0.957366 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.18, Z:0.25 [[ 9.95892454e-01 8.98372621e-03 -9.00972425e-02 7.28668517e+00] [-8.87372233e-03 9.99959313e-01 1.62144344e-03 -1.75750139e-01] [ 9.01081433e-02 -8.15285376e-04 9.95931653e-01 2.54790812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.049649246000001 meters Centerline goodness : 0.958740 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.18, Z:0.26 [[ 9.95863364e-01 1.12809431e-02 -9.01604125e-02 7.31365588e+00] [-1.11822357e-02 9.99936197e-01 1.59986508e-03 -1.77112785e-01] [ 9.01727080e-02 -5.85052039e-04 9.95925971e-01 2.57730460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.079649246 meters Centerline goodness : 0.960543 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.18, Z:0.26 [[ 9.95880159e-01 1.31198350e-02 -8.97250166e-02 7.34152084e+00] [-1.30312621e-02 9.99913852e-01 1.57290986e-03 -1.77726351e-01] [ 8.97379233e-02 -3.97199510e-04 9.95965334e-01 2.59676968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.109649246000002 meters Centerline goodness : 0.958689 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.18, Z:0.26 [[ 9.95767908e-01 1.75709467e-02 -9.02082852e-02 7.36927938e+00] [-1.75018778e-02 9.99845619e-01 1.55668444e-03 -1.77859923e-01] [ 9.02217111e-02 2.87179755e-05 9.95921705e-01 2.62387012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.139649246000001 meters Centerline goodness : 0.956522 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.18, Z:0.26 [[ 9.95727352e-01 1.99059340e-02 -9.01709155e-02 7.39632947e+00] [-1.98484790e-02 9.99801823e-01 1.53392799e-03 -1.77527267e-01] [ 9.01835799e-02 2.62381463e-04 9.95925124e-01 2.63581388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.169649246 meters Centerline goodness : 0.953974 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.18, Z:0.26 [[ 9.95693296e-01 2.39002702e-02 -8.95747596e-02 7.42441177e+00] [-2.38613820e-02 9.99714144e-01 1.50511158e-03 -1.76450051e-01] [ 8.95851267e-02 6.38748053e-04 9.95978964e-01 2.64258034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.199649246000002 meters Centerline goodness : 0.952740 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.18, Z:0.27 [[ 9.95902605e-01 2.28610705e-02 -8.74949822e-02 7.45255753e+00] [-2.28219798e-02 9.99738497e-01 1.44720406e-03 -1.77722986e-01] [ 8.75051866e-02 5.55534427e-04 9.96163909e-01 2.66033372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.229649246000001 meters Centerline goodness : 0.953888 Centerline is valid? [True, True] Translation: X:7.48, Y:-0.18, Z:0.27 [[ 9.95958603e-01 2.23392382e-02 -8.69909178e-02 7.48101267e+00] [-2.23002791e-02 9.99750310e-01 1.41975154e-03 -1.78863815e-01] [ 8.70009132e-02 5.25907986e-04 9.96208093e-01 2.68100168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.259649246 meters Centerline goodness : 0.951233 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.18, Z:0.27 [[ 9.96039896e-01 2.18795267e-02 -8.61731463e-02 7.50928213e+00] [-2.18403513e-02 9.99760494e-01 1.39747821e-03 -1.79890880e-01] [ 8.61830835e-02 4.90107741e-04 9.96279196e-01 2.69831992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.289649246000002 meters Centerline goodness : 0.953234 Centerline is valid? [True, True] Translation: X:7.54, Y:-0.18, Z:0.27 [[ 9.96147428e-01 2.04891669e-02 -8.52672077e-02 7.53631783e+00] [-2.04465372e-02 9.99790005e-01 1.37331546e-03 -1.81246588e-01] [ 8.52774400e-02 3.75394479e-04 9.96357174e-01 2.71512235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.319649246 meters Centerline goodness : 0.952578 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.18, Z:0.27 [[ 9.96207260e-01 2.04465671e-02 -8.45756008e-02 7.56426510e+00] [-2.04056551e-02 9.99790874e-01 1.34825419e-03 -1.82009139e-01] [ 8.45854810e-02 3.82679929e-04 9.96416153e-01 2.72889052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.349649246 meters Centerline goodness : 0.948647 Centerline is valid? [True, False] Translation: X:7.56, Y:-0.18, Z:0.27 [[ 9.96206371e-01 2.04425295e-02 -8.45870565e-02 7.56444815e+00] [-2.03875305e-02 9.99791006e-01 1.51405454e-03 -1.82107077e-01] [ 8.46003295e-02 2.16210418e-04 9.96414942e-01 2.72948205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.379649246000001 meters Centerline goodness : 0.946814 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.18, Z:0.27 [[ 9.96204856e-01 2.04249038e-02 -8.46091439e-02 7.56476037e+00] [-2.03769956e-02 9.99791345e-01 1.42986940e-03 -1.81932198e-01] [ 8.46206947e-02 2.99637316e-04 9.96413192e-01 2.72566947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.409649246 meters Centerline goodness : 0.945627 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.18, Z:0.27 [[ 9.96206351e-01 2.00152933e-02 -8.46894029e-02 7.56620581e+00] [-2.00228137e-02 9.99799234e-01 7.60671386e-04 -1.81625020e-01] [ 8.46876252e-02 9.37934467e-04 9.96407109e-01 2.70740836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.439649246000002 meters Centerline goodness : 0.943570 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.18, Z:0.27 [[ 9.96166017e-01 1.94687416e-02 -8.52891244e-02 7.56801659e+00] [-1.94679083e-02 9.99810128e-01 8.41564232e-04 -1.82258281e-01] [ 8.52893146e-02 8.22063167e-04 9.96355889e-01 2.70777749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.469649246000001 meters Centerline goodness : 0.944038 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.18, Z:0.27 [[ 9.96121203e-01 1.84577231e-02 -8.60340713e-02 7.57112672e+00] [-1.84415538e-02 9.99829457e-01 9.82780034e-04 -1.84791461e-01] [ 8.60375387e-02 6.07633923e-04 9.96291711e-01 2.70101772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.499649246 meters Centerline goodness : 0.944547 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.19, Z:0.27 [[ 9.96098008e-01 1.82276535e-02 -8.63510972e-02 7.57224333e+00] [-1.81722274e-02 9.99833852e-01 1.42795610e-03 -1.86771548e-01] [ 8.63627784e-02 1.46807550e-04 9.96263745e-01 2.70163799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.529649246000002 meters Centerline goodness : 0.944034 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.19, Z:0.27 [[ 9.96048120e-01 1.74167767e-02 -8.70907468e-02 7.57471128e+00] [-1.72716065e-02 9.99847906e-01 2.42019428e-03 -1.90570998e-01] [ 8.71196528e-02 -9.06432855e-04 9.96197443e-01 2.71040323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.559649246000001 meters Centerline goodness : 0.944550 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.19, Z:0.27 [[ 9.96042497e-01 1.77045453e-02 -8.70970319e-02 7.57419942e+00] [-1.75150070e-02 9.99842278e-01 2.93995722e-03 -1.91388786e-01] [ 8.71353454e-02 -1.40281721e-03 9.96195495e-01 2.71859123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.589649246 meters Centerline goodness : 0.944322 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.19, Z:0.27 [[ 9.96036556e-01 1.78121172e-02 -8.71430339e-02 7.57407124e+00] [-1.75921800e-02 9.99839829e-01 3.29125324e-03 -1.91586671e-01] [ 8.71877002e-02 -1.74517260e-03 9.96190373e-01 2.72478859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.619649246000002 meters Centerline goodness : 0.943234 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.19, Z:0.27 [[ 9.96053409e-01 1.81985616e-02 -8.68701223e-02 7.57308796e+00] [-1.79437528e-02 9.99832103e-01 3.71324477e-03 -1.91709513e-01] [ 8.69231128e-02 -2.13981412e-03 9.96212725e-01 2.73042668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.649649246000001 meters Centerline goodness : 0.940958 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.19, Z:0.27 [[ 9.96056018e-01 1.82173936e-02 -8.68362569e-02 7.57310305e+00] [-1.79529505e-02 9.99831515e-01 3.82535907e-03 -1.91304977e-01] [ 8.68913143e-02 -2.25130490e-03 9.96215253e-01 2.73159976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.679649246 meters Centerline goodness : 0.945473 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.19, Z:0.27 [[ 9.96063495e-01 1.84426303e-02 -8.67028445e-02 7.57253430e+00] [-1.81611506e-02 9.99826934e-01 4.03423099e-03 -1.91377149e-01] [ 8.67622410e-02 -2.44372681e-03 9.96226050e-01 2.73513020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.709649246000001 meters Centerline goodness : 0.943424 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.19, Z:0.27 [[ 9.96057942e-01 1.85169588e-02 -8.67507787e-02 7.57242415e+00] [-1.82093892e-02 9.99824795e-01 4.33549772e-03 -1.91678623e-01] [ 8.68158598e-02 -2.73872825e-03 9.96220611e-01 2.74082261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.739649246 meters Centerline goodness : 0.942357 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.19, Z:0.27 [[ 9.96067731e-01 1.88814227e-02 -8.65596122e-02 7.57160397e+00] [-1.85167976e-02 9.99815980e-01 5.01346545e-03 -1.92838708e-01] [ 8.66383448e-02 -3.39094434e-03 9.96234058e-01 2.74955876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.769649246 meters Centerline goodness : 0.942324 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.19, Z:0.27 [[ 9.96042702e-01 1.85237825e-02 -8.69241325e-02 7.57287952e+00] [-1.81650694e-02 9.99822916e-01 4.91598173e-03 -1.92812046e-01] [ 8.69998022e-02 -3.31754483e-03 9.96202805e-01 2.74690398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.799649246000001 meters Centerline goodness : 0.943648 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.19, Z:0.27 [[ 9.96029789e-01 1.83826023e-02 -8.71018870e-02 7.57344792e+00] [-1.80259956e-02 9.99825614e-01 4.87897673e-03 -1.92454330e-01] [ 8.71763860e-02 -3.28950793e-03 9.96187461e-01 2.74646139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.829649246 meters Centerline goodness : 0.945543 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.19, Z:0.27 [[ 9.96018180e-01 1.81920803e-02 -8.72744675e-02 7.57434428e+00] [-1.78345787e-02 9.99829070e-01 4.87434800e-03 -1.92278933e-01] [ 8.73482242e-02 -3.29843587e-03 9.96172379e-01 2.74357350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.859649246000002 meters Centerline goodness : 0.942709 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.19, Z:0.27 [[ 9.96010437e-01 1.80038130e-02 -8.74017800e-02 7.57494336e+00] [-1.76485109e-02 9.99832556e-01 4.83625608e-03 -1.92272831e-01] [ 8.74742162e-02 -3.27445027e-03 9.96161402e-01 2.74221236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.889649246000001 meters Centerline goodness : 0.942124 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.19, Z:0.28 [[ 9.95999365e-01 1.81539028e-02 -8.74968632e-02 7.57472312e+00] [-1.77540643e-02 9.99828093e-01 5.34585168e-03 -1.93319436e-01] [ 8.75788700e-02 -3.77103994e-03 9.96150451e-01 2.75105678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.919649246 meters Centerline goodness : 0.939558 Centerline is valid? [False, False] Translation: X:7.58, Y:-0.19, Z:0.28 [[ 9.95986118e-01 1.80649043e-02 -8.76659141e-02 7.57510080e+00] [-1.76444598e-02 9.99828817e-01 5.56858335e-03 -1.93605653e-01] [ 8.77515032e-02 -3.99941402e-03 9.96134368e-01 2.75528344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.949649246000002 meters Centerline goodness : 0.938632 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.19, Z:0.28 [[ 9.95976655e-01 1.82845092e-02 -8.77278676e-02 7.57487374e+00] [-1.78461054e-02 9.99824044e-01 5.77909325e-03 -1.93101441e-01] [ 8.78180992e-02 -4.19024119e-03 9.96127714e-01 2.76069168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.979649246000001 meters Centerline goodness : 0.937139 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.19, Z:0.28 [[ 9.95986293e-01 1.84647812e-02 -8.75805640e-02 7.57465874e+00] [-1.80380574e-02 9.99821273e-01 5.66133697e-03 -1.92229669e-01] [ 8.76694463e-02 -4.05883079e-03 9.96141352e-01 2.75802242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.009649246 meters Centerline goodness : 0.935065 Centerline is valid? [False, False] Translation: X:7.58, Y:-0.19, Z:0.28 [[ 9.95831609e-01 2.14544194e-02 -8.86516488e-02 7.57852224e+00] [-2.06983352e-02 9.99741206e-01 9.43931278e-03 -1.92479906e-01] [ 8.88312212e-02 -7.56502448e-03 9.96017964e-01 2.75601049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.039649246000002 meters Centerline goodness : 0.931094 Centerline is valid? [False, False] Translation: X:7.58, Y:-0.19, Z:0.27 [[ 9.95835867e-01 2.12541030e-02 -8.86520730e-02 7.57902760e+00] [-2.05388522e-02 9.99748793e-01 8.97258316e-03 -1.91818368e-01] [ 8.88205071e-02 -7.11440830e-03 9.96022240e-01 2.74733342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.069649246 meters Centerline goodness : 0.931155 Centerline is valid? [False, False] Translation: X:7.58, Y:-0.19, Z:0.27 [[ 9.95808245e-01 2.07182776e-02 -8.90881135e-02 7.58072812e+00] [-2.00211814e-02 9.99761604e-01 8.71138598e-03 -1.91807169e-01] [ 8.92473601e-02 -6.89122070e-03 9.95985652e-01 2.74221048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.099649246 meters Centerline goodness : 0.931292 Centerline is valid? [False, False] Translation: X:7.58, Y:-0.19, Z:0.27 [[ 9.95797167e-01 2.05418519e-02 -8.92526404e-02 7.58116463e+00] [-1.98348656e-02 9.99764533e-01 8.80099426e-03 -1.92176211e-01] [ 8.94124130e-02 -6.99369103e-03 9.95970134e-01 2.74468673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.129649246000001 meters Centerline goodness : 0.928556 Centerline is valid? [False, False] Translation: X:7.58, Y:-0.19, Z:0.27 [[ 9.95774509e-01 2.01739835e-02 -8.95887157e-02 7.58218430e+00] [-1.94428463e-02 9.99770224e-01 9.02633035e-03 -1.93039673e-01] [ 8.97502274e-02 -7.24633005e-03 9.95937944e-01 2.74867663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.159649246 meters Centerline goodness : 0.928207 Centerline is valid? [False, False] Translation: X:7.58, Y:-0.19, Z:0.28 [[ 9.95771326e-01 2.02482284e-02 -8.96073381e-02 7.58202094e+00] [-1.95047967e-02 9.99767760e-01 9.16452536e-03 -1.93307063e-01] [ 8.97720931e-02 -7.37799866e-03 9.95935006e-01 2.75209317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.189649246000002 meters Centerline goodness : 0.927823 Centerline is valid? [False, False] Translation: X:7.58, Y:-0.19, Z:0.28 [[ 9.95753804e-01 2.00334014e-02 -8.98500085e-02 7.58266113e+00] [-1.92742613e-02 9.99770899e-01 9.30876647e-03 -1.93558969e-01] [ 9.00159100e-02 -7.53744709e-03 9.95911805e-01 2.75589888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.219649246000001 meters Centerline goodness : 0.926603 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.20, Z:0.28 [[ 0.99562666 0.02279552 -0.09059762 7.58587349] [-0.021652 0.99967327 0.013585 -0.19512194] [ 0.09087769 -0.01156397 0.99579492 0.27636749] [ 0. 0. 0. 1. ]] SLAMing on 14.249649246 meters Centerline goodness : 0.925135 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.19, Z:0.27 [[ 0.99562416 0.02211969 -0.09079238 7.58784764] [-0.02105373 0.99969791 0.01268172 -0.19412798] [ 0.09104546 -0.01071471 0.99578909 0.2743969 ] [ 0. 0. 0. 1. ]] SLAMing on 14.279649246000002 meters Centerline goodness : 0.927702 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.19, Z:0.27 [[ 0.99559812 0.02163876 -0.09119294 7.58934675] [-0.0206 0.99971193 0.01231677 -0.19399265] [ 0.09143319 -0.01038398 0.99575707 0.27379962] [ 0. 0. 0. 1. ]] SLAMing on 14.309649246000001 meters Centerline goodness : 0.924910 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.19, Z:0.27 [[ 0.99558512 0.02137952 -0.09139577 7.59007428] [-0.02035368 0.99971911 0.01214167 -0.19413066] [ 0.09162968 -0.01022782 0.99574063 0.27357999] [ 0. 0. 0. 1. ]] SLAMing on 14.339649246 meters Centerline goodness : 0.923306 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.19, Z:0.27 [[ 0.99556901 0.02120912 -0.09161066 7.59051438] [-0.02016763 0.9997212 0.01227965 -0.19450688] [ 0.09184556 -0.01037767 0.99571919 0.27397379] [ 0. 0. 0. 1. ]] SLAMing on 14.369649246000002 meters Centerline goodness : 0.921968 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.19, Z:0.27 [[ 0.99555962 0.02092181 -0.09177863 7.59125506] [-0.01988843 0.99972826 0.01215974 -0.19409791] [ 0.09200809 -0.01028041 0.99570519 0.27386243] [ 0. 0. 0. 1. ]] SLAMing on 14.399649246000001 meters Centerline goodness : 0.923281 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.19, Z:0.27 [[ 0.99553288 0.02049861 -0.09216341 7.59245861] [-0.01948041 0.99973901 0.01193401 -0.19391344] [ 0.09238398 -0.01008532 0.99567238 0.27366311] [ 0. 0. 0. 1. ]] SLAMing on 14.429649246 meters Centerline goodness : 0.925142 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.19, Z:0.27 [[ 0.9955142 0.02024279 -0.09242138 7.5932701 ] [-0.01923118 0.99974515 0.01182322 -0.19401648] [ 0.09263716 -0.00999281 0.99564979 0.27353524] [ 0. 0. 0. 1. ]] SLAMing on 14.459649246000001 meters Centerline goodness : 0.926601 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.19, Z:0.27 [[ 0.99548831 0.01963433 -0.09283058 7.59522332] [-0.01869636 0.9997651 0.01096309 -0.19347799] [ 0.09302402 -0.00917803 0.99562156 0.27196313] [ 0. 0. 0. 1. ]] SLAMing on 14.489649246 meters Centerline goodness : 0.925949 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.19, Z:0.27 [[ 0.99542093 0.01838311 -0.09380428 7.59914193] [-0.01755315 0.99979921 0.00966525 -0.19239851] [ 0.09396312 -0.00797444 0.99554374 0.26976663] [ 0. 0. 0. 1. ]] SLAMing on 14.519649246000002 meters Centerline goodness : 0.923740 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.19, Z:0.27 [[ 9.95389202e-01 1.78632828e-02 -9.42403257e-02 7.60091625e+00] [-1.70742290e-02 9.99812150e-01 9.17254887e-03 -1.92268316e-01] [ 9.43864745e-02 -7.52117520e-03 9.95507220e-01 2.68816707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.549649246000001 meters Centerline goodness : 0.923740 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.19, Z:0.27 [[ 9.95389202e-01 1.78632828e-02 -9.42403257e-02 7.60091625e+00] [-1.70742290e-02 9.99812150e-01 9.17254887e-03 -1.92268316e-01] [ 9.43864745e-02 -7.52117520e-03 9.95507220e-01 2.68816707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.579649246 meters Centerline goodness : 0.924566 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.19, Z:0.27 [[ 9.95325232e-01 1.68439388e-02 -9.50997593e-02 7.60408015e+00] [-1.60700967e-02 9.99831281e-01 8.89722798e-03 -1.92952766e-01] [ 9.52335786e-02 -7.32737317e-03 9.95427986e-01 2.68128737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.609649246000002 meters Centerline goodness : 0.925413 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.19, Z:0.27 [[ 9.95300571e-01 1.64592973e-02 -9.54246591e-02 7.60517048e+00] [-1.56990331e-02 9.99838803e-01 8.71250212e-03 -1.92831660e-01] [ 9.55526786e-02 -7.17348345e-03 9.95398527e-01 2.67949377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.639649246000001 meters Centerline goodness : 0.924258 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.19, Z:0.27 [[ 9.95285674e-01 1.62288860e-02 -9.56192958e-02 7.60580114e+00] [-1.54847380e-02 9.99843810e-01 8.51933984e-03 -1.92643545e-01] [ 9.57426204e-02 -6.99853715e-03 9.95381520e-01 2.67788193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.669649246 meters Centerline goodness : 0.928777 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.19, Z:0.27 [[ 9.95278001e-01 1.63316144e-02 -9.56816508e-02 7.60537373e+00] [-1.55386287e-02 9.99838519e-01 9.02703739e-03 -1.93365901e-01] [ 9.58136261e-02 -7.49765008e-03 9.95371054e-01 2.69002493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.699649246000002 meters Centerline goodness : 0.932300 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.19, Z:0.27 [[ 0.99525094 0.01630038 -0.09596802 7.60542677] [-0.01545691 0.99983516 0.00952592 -0.19383461] [ 0.09610748 -0.00799731 0.99533883 0.27037044] [ 0. 0. 0. 1. ]] SLAMing on 14.729649246000001 meters Centerline goodness : 0.933949 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.19, Z:0.27 [[ 0.99521877 0.01605007 -0.0963431 7.60626357] [-0.0152012 0.99983896 0.00953842 -0.19352347] [ 0.09648068 -0.00802829 0.99530248 0.27072107] [ 0. 0. 0. 1. ]] SLAMing on 14.759649246 meters Centerline goodness : 0.934023 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.19, Z:0.27 [[ 9.95228305e-01 1.57461698e-02 -9.62947482e-02 7.60707626e+00] [-1.49783871e-02 9.99850046e-01 8.69096034e-03 -1.92093425e-01] [ 9.64171578e-02 -7.20714972e-03 9.95314919e-01 2.69175843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.789649246000002 meters Centerline goodness : 0.931180 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.19, Z:0.27 [[ 9.95217169e-01 1.53404119e-02 -9.64751692e-02 7.60809108e+00] [-1.46162719e-02 9.99859485e-01 8.20824309e-03 -1.91391686e-01] [ 9.65875308e-02 -6.75887715e-03 9.95301546e-01 2.68451271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.819649246 meters Centerline goodness : 0.930668 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.19, Z:0.27 [[ 9.95186985e-01 1.52497138e-02 -9.68003723e-02 7.60877479e+00] [-1.44992125e-02 9.99859160e-01 8.45181107e-03 -1.91089278e-01] [ 9.69156266e-02 -7.00760321e-03 9.95267931e-01 2.69010323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.849649246 meters Centerline goodness : 0.934162 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.19, Z:0.27 [[ 9.95191511e-01 1.53172381e-02 -9.67431587e-02 7.60835422e+00] [-1.45354753e-02 9.99855801e-01 8.78044218e-03 -1.91038293e-01] [ 9.68637006e-02 -7.33201373e-03 9.95270649e-01 2.69841507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.879649246000001 meters Centerline goodness : 0.936194 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.19, Z:0.27 [[ 9.95165335e-01 1.49412932e-02 -9.70706613e-02 7.60928900e+00] [-1.41754381e-02 9.99862758e-01 8.57455875e-03 -1.90585347e-01] [ 9.71854540e-02 -7.15708449e-03 9.95240556e-01 2.69860709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.909649246 meters Centerline goodness : 0.939394 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.19, Z:0.27 [[ 9.95148655e-01 1.46697755e-02 -9.72828422e-02 7.61012426e+00] [-1.39306410e-02 9.99868741e-01 8.27269519e-03 -1.90282474e-01] [ 9.73914315e-02 -6.87734915e-03 9.95222393e-01 2.69417039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.939649246000002 meters Centerline goodness : 0.942457 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.19, Z:0.27 [[ 9.95097969e-01 1.37290007e-02 -9.79364372e-02 7.61322168e+00] [-1.31098933e-02 9.99889823e-01 6.96226879e-03 -1.88294868e-01] [ 9.80212318e-02 -5.64420329e-03 9.95168318e-01 2.67146612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.969649246000001 meters Centerline goodness : 0.939393 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.19, Z:0.27 [[ 9.95077784e-01 1.32454172e-02 -9.82077566e-02 7.61480042e+00] [-1.26932920e-02 9.99899937e-01 6.24470957e-03 -1.87357797e-01] [ 9.82806434e-02 -4.96739203e-03 9.95146341e-01 2.65828101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.999649246 meters Centerline goodness : 0.935746 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.19, Z:0.27 [[ 9.95043524e-01 1.28652573e-02 -9.86046187e-02 7.61618781e+00] [-1.23282590e-02 9.99905681e-01 6.05336246e-03 -1.87066158e-01] [ 9.86731964e-02 -4.80773583e-03 9.95108279e-01 2.65494003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.029649246000002 meters Centerline goodness : 0.937691 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.19, Z:0.27 [[ 9.94991719e-01 1.22010049e-02 -9.92099499e-02 7.61833507e+00] [-1.16731197e-02 9.99914463e-01 5.89964811e-03 -1.86913642e-01] [ 9.92734454e-02 -4.71201139e-03 9.95049034e-01 2.65262084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.059649246000001 meters Centerline goodness : 0.939572 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.19, Z:0.27 [[ 9.94952524e-01 1.19567345e-02 -9.96318809e-02 7.61938418e+00] [-1.14086824e-02 9.99916503e-01 6.06872880e-03 -1.87237665e-01] [ 9.96961240e-02 -4.90142855e-03 9.95005859e-01 2.65618736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.089649246 meters Centerline goodness : 0.943794 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.19, Z:0.27 [[ 9.94915431e-01 1.15840549e-02 -1.00045461e-01 7.62060184e+00] [-1.10380446e-02 9.99921021e-01 6.00945901e-03 -1.87154442e-01] [ 1.00107173e-01 -4.87459723e-03 9.94964719e-01 2.65678406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.119649246000002 meters Centerline goodness : 0.941492 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.19, Z:0.27 [[ 9.94902795e-01 1.13103452e-02 -1.00202318e-01 7.62128310e+00] [-1.07778634e-02 9.99924782e-01 5.85383741e-03 -1.86249627e-01] [ 1.00260990e-01 -4.74403231e-03 9.94949862e-01 2.65585683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.149649246000001 meters Centerline goodness : 0.943560 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.19, Z:0.27 [[ 9.94852118e-01 1.07041369e-02 -1.00770458e-01 7.62290697e+00] [-1.01797456e-02 9.99931844e-01 5.71661486e-03 -1.85909906e-01] [ 1.00824781e-01 -4.66136878e-03 9.94893278e-01 2.65835434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.179649246 meters Centerline goodness : 0.944023 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.19, Z:0.27 [[ 9.94811075e-01 1.04479417e-02 -1.01201613e-01 7.62391476e+00] [-9.90963068e-03 9.99933958e-01 5.82047445e-03 -1.85650065e-01] [ 1.01255741e-01 -4.78740183e-03 9.94848911e-01 2.66270868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.209649246000001 meters Centerline goodness : 0.939672 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.19, Z:0.27 [[ 9.94778044e-01 1.01371856e-02 -1.01557278e-01 7.62497055e+00] [-9.59569388e-03 9.99937029e-01 5.81899827e-03 -1.85259989e-01] [ 1.01609871e-01 -4.81409917e-03 9.94812675e-01 2.66433534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.239649246 meters Centerline goodness : 0.939923 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.18, Z:0.27 [[ 9.94744457e-01 9.80109894e-03 -1.01918613e-01 7.62608707e+00] [-9.27900536e-03 9.99941294e-01 5.59548825e-03 -1.84906111e-01] [ 1.01967472e-01 -4.62037756e-03 9.94777004e-01 2.66248690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.269649246000002 meters Centerline goodness : 0.938639 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.18, Z:0.27 [[ 9.94703856e-01 9.38162901e-03 -1.02353431e-01 7.62745134e+00] [-8.86962687e-03 9.99945778e-01 5.45627313e-03 -1.84542197e-01] [ 1.02399070e-01 -4.51953918e-03 9.94733132e-01 2.66184845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.299649246000001 meters Centerline goodness : 0.940584 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.18, Z:0.27 [[ 9.94649389e-01 8.81753777e-03 -1.02931263e-01 7.62922148e+00] [-8.32706948e-03 9.99951841e-01 5.19374342e-03 -1.83787547e-01] [ 1.02972102e-01 -4.30883794e-03 9.94674912e-01 2.66067669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.329649246 meters Centerline goodness : 0.942252 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.19, Z:0.27 [[ 9.94582244e-01 8.24081968e-03 -1.03625525e-01 7.63077103e+00] [-7.67226575e-03 9.99953256e-01 5.88402505e-03 -1.85117115e-01] [ 1.03669170e-01 -5.05710427e-03 9.94598979e-01 2.67570492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.359649246000002 meters Centerline goodness : 0.940452 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.19, Z:0.27 [[ 9.94545991e-01 8.09243589e-03 -1.03984540e-01 7.63133028e+00] [-7.49366466e-03 9.99953025e-01 6.14766004e-03 -1.85406365e-01] [ 1.04029405e-01 -5.33490537e-03 9.94559914e-01 2.68347311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.389649246000001 meters Centerline goodness : 0.940836 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.18, Z:0.27 [[ 9.94478372e-01 7.40264411e-03 -1.04680319e-01 7.63405148e+00] [-6.90363718e-03 9.99963018e-01 5.12849489e-03 -1.83527703e-01] [ 1.04714413e-01 -4.37750230e-03 9.94492699e-01 2.66666424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.419649246 meters Centerline goodness : 0.939134 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.18, Z:0.27 [[ 9.94425561e-01 6.68174667e-03 -1.05229071e-01 7.63617349e+00] [-6.21110834e-03 9.99969193e-01 4.79958547e-03 -1.83866603e-01] [ 1.05257899e-01 -4.11924131e-03 9.94436427e-01 2.66043720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.449649246000002 meters Centerline goodness : 0.938397 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.18, Z:0.27 [[ 9.94361457e-01 6.19487709e-03 -1.05862721e-01 7.63781722e+00] [-5.70832825e-03 9.99971710e-01 4.89842160e-03 -1.83628273e-01] [ 1.05890071e-01 -4.26650248e-03 9.94368689e-01 2.66526482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.479649246000001 meters Centerline goodness : 0.940463 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.18, Z:0.27 [[ 9.94332320e-01 5.91840462e-03 -1.06151825e-01 7.63864431e+00] [-5.44230233e-03 9.99973794e-01 4.77422239e-03 -1.82829449e-01] [ 1.06177299e-01 -4.16945330e-03 9.94338472e-01 2.66626939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.509649246 meters Centerline goodness : 0.940840 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.18, Z:0.27 [[ 9.94297008e-01 5.48181356e-03 -1.06505444e-01 7.63985545e+00] [-5.03507559e-03 9.99977365e-01 4.46295384e-03 -1.82086956e-01] [ 1.06527498e-01 -3.90123869e-03 9.94302103e-01 2.66386513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.539649246000002 meters Centerline goodness : 0.940836 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.18, Z:0.27 [[ 9.94259887e-01 5.33072275e-03 -1.06859070e-01 7.64024252e+00] [-4.84076793e-03 9.99976551e-01 4.84391620e-03 -1.82357439e-01] [ 1.06882386e-01 -4.29883161e-03 9.94262378e-01 2.67532181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.569649246 meters Centerline goodness : 0.938116 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.18, Z:0.27 [[ 9.94193093e-01 4.65789221e-03 -1.07509987e-01 7.64236562e+00] [-4.18059931e-03 9.99980382e-01 4.66447712e-03 -1.82124458e-01] [ 1.07529605e-01 -4.18793476e-03 9.94193062e-01 2.67426832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.599649246000002 meters Centerline goodness : 0.934238 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.18, Z:0.27 [[ 9.94174751e-01 4.38868894e-03 -1.07690783e-01 7.64313650e+00] [-3.93885008e-03 9.99982609e-01 4.38948728e-03 -1.81635317e-01] [ 1.07708174e-01 -3.93973958e-03 9.94174747e-01 2.67053038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.629649246000001 meters Centerline goodness : 0.939471 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.18, Z:0.27 [[ 9.94034799e-01 7.03475354e-03 -1.08836256e-01 7.64690075e+00] [-6.08928001e-03 9.99940805e-01 9.01704016e-03 -1.83672079e-01] [ 1.08893246e-01 -8.30051727e-03 9.94018794e-01 2.68769017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.659649246 meters Centerline goodness : 0.937194 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.18, Z:0.27 [[ 9.94026188e-01 6.91068255e-03 -1.08922814e-01 7.64731982e+00] [-5.98835464e-03 9.99943414e-01 8.79255807e-03 -1.83234293e-01] [ 1.08977413e-01 -8.08776454e-03 9.94011324e-01 2.68487151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.689649246000002 meters Centerline goodness : 0.939507 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.18, Z:0.27 [[ 0.99385695 0.0093176 -0.11027941 7.65217714] [-0.00796466 0.9998876 0.01270249 -0.18424924] [ 0.11038537 -0.01174612 0.99381945 0.26888582] [ 0. 0. 0. 1. ]] SLAMing on 15.719649246000001 meters Centerline goodness : 0.940701 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.18, Z:0.27 [[ 9.93818847e-01 8.63288948e-03 -1.10677784e-01 7.65411695e+00] [-7.35962703e-03 9.99902018e-01 1.19076070e-02 -1.83554732e-01] [ 1.10769737e-01 -1.10194570e-02 9.93785005e-01 2.67621271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.749649246 meters Centerline goodness : 0.939635 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.18, Z:0.27 [[ 9.93763013e-01 8.09619019e-03 -1.11218368e-01 7.65576705e+00] [-6.84883407e-03 9.99909345e-01 1.15928536e-02 -1.83337712e-01] [ 1.11302143e-01 -1.07588330e-02 9.93728374e-01 2.67401857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.779649246000002 meters Centerline goodness : 0.939024 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.18, Z:0.27 [[ 9.93676481e-01 7.32339552e-03 -1.12042041e-01 7.65798904e+00] [-6.08555973e-03 9.99916659e-01 1.13859726e-02 -1.83639184e-01] [ 1.12116087e-01 -1.06321347e-02 9.93638234e-01 2.67615363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.809649246000001 meters Centerline goodness : 0.938789 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.18, Z:0.27 [[ 9.93640043e-01 6.98965371e-03 -1.12385988e-01 7.65895086e+00] [-5.75671063e-03 9.99919679e-01 1.12913907e-02 -1.83847807e-01] [ 1.12455884e-01 -1.05726043e-02 9.93600470e-01 2.67690709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.839649246 meters Centerline goodness : 0.940931 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.18, Z:0.27 [[ 9.93584878e-01 6.51809910e-03 -1.12900864e-01 7.66044926e+00] [-5.29063191e-03 9.99923636e-01 1.11682892e-02 -1.83824549e-01] [ 1.12965038e-01 -1.04993264e-02 9.93543489e-01 2.67718884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.869649246000002 meters Centerline goodness : 0.938580 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.18, Z:0.27 [[ 9.93548346e-01 5.70914357e-03 -1.13265569e-01 7.66237704e+00] [-4.55783931e-03 9.99935312e-01 1.04210005e-02 -1.82806285e-01] [ 1.13317737e-01 -9.83752150e-03 9.93510097e-01 2.66701779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.899649246000001 meters Centerline goodness : 0.938968 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.18, Z:0.27 [[ 9.93495485e-01 5.21866088e-03 -1.13751862e-01 7.66399366e+00] [-4.09048248e-03 9.99940131e-01 1.01490431e-02 -1.82267807e-01] [ 1.13798017e-01 -9.61772853e-03 9.93457352e-01 2.66441503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.929649246000002 meters Centerline goodness : 0.943237 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.18, Z:0.27 [[ 9.93438515e-01 4.41292546e-03 -1.14282291e-01 7.66605163e+00] [-3.33584988e-03 9.99948218e-01 9.61422090e-03 -1.81542841e-01] [ 1.14318800e-01 -9.16990877e-03 9.93401794e-01 2.65883906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.959649246000001 meters Centerline goodness : 0.941539 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.18, Z:0.27 [[ 9.93374629e-01 3.84381925e-03 -1.14856742e-01 7.66775460e+00] [-2.77932130e-03 9.99951705e-01 9.42675481e-03 -1.80857487e-01] [ 1.14887429e-01 -9.04507528e-03 9.93337337e-01 2.65999838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.989649246 meters Centerline goodness : 0.938951 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.18, Z:0.27 [[ 9.93349229e-01 3.74590129e-03 -1.15079443e-01 7.66815471e+00] [-2.67795075e-03 9.99951919e-01 9.43331706e-03 -1.80866345e-01] [ 1.15109246e-01 -9.06240114e-03 9.93311499e-01 2.66245297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.019649246000004 meters Centerline goodness : 0.937132 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.18, Z:0.27 [[ 9.93306919e-01 3.41871233e-03 -1.15454222e-01 7.66921878e+00] [-2.35282619e-03 9.99953359e-01 9.36712688e-03 -1.80871604e-01] [ 1.15480861e-01 -9.03278823e-03 9.93268634e-01 2.66341566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.049649246 meters Centerline goodness : 0.937179 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.18, Z:0.27 [[ 9.93221074e-01 2.31242228e-03 -1.16217689e-01 7.67220274e+00] [-1.30621750e-03 9.99961010e-01 8.73334671e-03 -1.80185214e-01] [ 1.16233353e-01 -8.52233841e-03 9.93185369e-01 2.65536190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.079649246000002 meters Centerline goodness : 0.936758 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.18, Z:0.27 [[ 9.93168397e-01 1.65391411e-03 -1.16678193e-01 7.67402676e+00] [-6.78529068e-04 9.99964499e-01 8.39884248e-03 -1.79781078e-01] [ 1.16687942e-01 -8.26229537e-03 9.93134260e-01 2.65114496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.109649246000004 meters Centerline goodness : 0.936517 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.18, Z:0.27 [[ 9.93091848e-01 1.00529549e-03 -1.17335289e-01 7.67587351e+00] [-5.15292271e-05 9.99966939e-01 8.13130483e-03 -1.79164738e-01] [ 1.17339584e-01 -8.06908635e-03 9.93059068e-01 2.65225574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.139649246000005 meters Centerline goodness : 0.935596 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.18, Z:0.27 [[ 9.92973509e-01 4.52283385e-03 -1.18250389e-01 7.67810983e+00] [-3.02914244e-03 9.99913382e-01 1.28082783e-02 -1.79824128e-01] [ 1.18298076e-01 -1.23600838e-02 9.92901200e-01 2.67123396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.169649246000002 meters Centerline goodness : 0.936412 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.18, Z:0.27 [[ 9.92966969e-01 4.37970607e-03 -1.18310676e-01 7.67843068e+00] [-2.95493849e-03 9.99921024e-01 1.22153292e-02 -1.78110441e-01] [ 1.18354832e-01 -1.17798177e-02 9.92901490e-01 2.66562255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.199649246000003 meters Centerline goodness : 0.932595 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.18, Z:0.27 [[ 9.92950507e-01 4.11642076e-03 -1.18458201e-01 7.67899029e+00] [-2.75908728e-03 9.99928678e-01 1.16200486e-02 -1.76490064e-01] [ 1.18497585e-01 -1.12112967e-02 9.92891046e-01 2.66097426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.229649246000005 meters Centerline goodness : 0.936506 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.17, Z:0.27 [[ 9.92969604e-01 4.45487878e-03 -1.18285750e-01 7.67813025e+00] [-3.15384927e-03 9.99932484e-01 1.11839468e-02 -1.74584657e-01] [ 1.18327587e-01 -1.07322638e-02 9.92916613e-01 2.65967894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.259649246000002 meters Centerline goodness : 0.934809 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.17, Z:0.27 [[ 9.92931906e-01 4.15190790e-03 -1.18612777e-01 7.67903359e+00] [-2.87636928e-03 9.99936206e-01 1.09229733e-02 -1.74020310e-01] [ 1.18650561e-01 -1.05045945e-02 9.92880505e-01 2.65886936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.289649246000003 meters Centerline goodness : 0.936028 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.17, Z:0.26 [[ 9.92855038e-01 3.01062216e-03 -1.19288768e-01 7.68204129e+00] [-1.85797640e-03 9.99950520e-01 9.77268853e-03 -1.72269464e-01] [ 1.19312287e-01 -9.48122732e-03 9.92811505e-01 2.64338890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.319649246000004 meters Centerline goodness : 0.935247 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.17, Z:0.26 [[ 9.92778547e-01 2.13009631e-03 -1.19942565e-01 7.68465674e+00] [-1.01517490e-03 9.99955718e-01 9.35579568e-03 -1.72089208e-01] [ 1.19957182e-01 -9.16647056e-03 9.92736748e-01 2.63635325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.349649246000002 meters Centerline goodness : 0.930637 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.17, Z:0.26 [[ 9.92603489e-01 -1.16974619e-03 -1.21395820e-01 7.69154543e+00] [ 2.27618037e-03 9.99957124e-01 8.97599722e-03 -1.74336486e-01] [ 1.21380115e-01 -9.18592494e-03 9.92563593e-01 2.63401343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.379649246000003 meters Centerline goodness : 0.931149 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.18, Z:0.26 [[ 9.92482525e-01 -7.04605498e-03 -1.22183430e-01 7.69455407e+00] [ 7.70872683e-03 9.99958027e-01 4.95171424e-03 -1.75493618e-01] [ 1.22143411e-01 -5.85636853e-03 9.92495184e-01 2.63728994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.409649246000004 meters Centerline goodness : 0.930364 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.17, Z:0.26 [[ 9.92420651e-01 -7.66956422e-03 -1.22647580e-01 7.69640441e+00] [ 8.29047149e-03 9.99955268e-01 4.55299618e-03 -1.74846891e-01] [ 1.22607174e-01 -5.53529370e-03 9.92439843e-01 2.63164358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.439649246000002 meters Centerline goodness : 0.930364 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.17, Z:0.26 [[ 9.92420651e-01 -7.66956422e-03 -1.22647580e-01 7.69640441e+00] [ 8.29047149e-03 9.99955268e-01 4.55299618e-03 -1.74846891e-01] [ 1.22607174e-01 -5.53529370e-03 9.92439843e-01 2.63164358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.469649246000003 meters Centerline goodness : 0.934140 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.17, Z:0.26 [[ 9.92286967e-01 -4.48959689e-03 -1.23880660e-01 7.70026432e+00] [ 5.53636317e-03 9.99951813e-01 8.10683825e-03 -1.74127098e-01] [ 1.23838294e-01 -8.73015827e-03 9.92264008e-01 2.62998984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.499649246000004 meters Centerline goodness : 0.932825 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.17, Z:0.26 [[ 9.92233620e-01 -4.83712177e-03 -1.24294188e-01 7.70122461e+00] [ 5.88859447e-03 9.99949908e-01 8.09355575e-03 -1.73781793e-01] [ 1.24248812e-01 -8.76261619e-03 9.92212401e-01 2.63433869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.529649246 meters Centerline goodness : 0.936334 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.17, Z:0.26 [[ 9.92228729e-01 -4.78609946e-03 -1.24335201e-01 7.70078405e+00] [ 5.88368294e-03 9.99946888e-01 8.46191570e-03 -1.73288997e-01] [ 1.24288098e-01 -9.12770477e-03 9.92204190e-01 2.64627879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.559649246000003 meters Centerline goodness : 0.936156 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.17, Z:0.27 [[ 9.92182681e-01 -5.03534378e-03 -1.24692316e-01 7.70140106e+00] [ 6.15445610e-03 9.99944154e-01 8.59140491e-03 -1.72889204e-01] [ 1.24642092e-01 -9.29165654e-03 9.92158261e-01 2.65368377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.589649246000004 meters Centerline goodness : 0.936057 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.17, Z:0.27 [[ 9.92050494e-01 -1.85098299e-03 -1.25826834e-01 7.70428033e+00] [ 3.63575251e-03 9.99895998e-01 1.39561612e-02 -1.74949068e-01] [ 1.25787915e-01 -1.43026919e-02 9.91954048e-01 2.68496861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.619649246 meters Centerline goodness : 0.936401 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.17, Z:0.27 [[ 9.92025614e-01 -2.20414150e-03 -1.26017151e-01 7.70506682e+00] [ 3.96290558e-03 9.99898194e-01 1.37075527e-02 -1.74274631e-01] [ 1.25974108e-01 -1.40976374e-02 9.91933355e-01 2.68357269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.649649246000003 meters Centerline goodness : 0.933576 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.17, Z:0.27 [[ 9.92014371e-01 -2.65882058e-03 -1.26096863e-01 7.70596290e+00] [ 4.32833008e-03 9.99906547e-01 1.29677575e-02 -1.72623860e-01] [ 1.26050600e-01 -1.34099906e-02 9.91933172e-01 2.67416951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.679649246000004 meters Centerline goodness : 0.934468 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.17, Z:0.27 [[ 9.91975325e-01 -3.10733512e-03 -1.26393426e-01 7.70723392e+00] [ 4.72936626e-03 9.99910248e-01 1.25351330e-02 -1.71915100e-01] [ 1.26343131e-01 -1.30323034e-02 9.91900989e-01 2.66888488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.709649246 meters Centerline goodness : 0.933435 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.17, Z:0.27 [[ 9.91788686e-01 -9.03951537e-04 -1.27884268e-01 7.71236070e+00] [ 3.01192518e-03 9.99862756e-01 1.62910253e-02 -1.72917093e-01] [ 1.27851990e-01 -1.65424324e-02 9.91655291e-01 2.67613202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.739649246000003 meters Centerline goodness : 0.935243 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.17, Z:0.27 [[ 9.91724209e-01 -1.58574000e-03 -1.28376709e-01 7.71445305e+00] [ 3.60699335e-03 9.99873149e-01 1.55137470e-02 -1.71701037e-01] [ 1.28335823e-01 -1.58484124e-02 9.91604127e-01 2.66497919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.769649246000004 meters Centerline goodness : 0.935122 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.17, Z:0.26 [[ 9.91644012e-01 -2.91920264e-03 -1.28971440e-01 7.71788408e+00] [ 4.73598663e-03 9.99893804e-01 1.37822772e-02 -1.69393101e-01] [ 1.28917511e-01 -1.42779197e-02 9.91552528e-01 2.63867360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.799649246 meters Centerline goodness : 0.932123 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.17, Z:0.26 [[ 9.91562308e-01 -3.69817340e-03 -1.29578212e-01 7.72027679e+00] [ 5.45145806e-03 9.99898298e-01 1.31786280e-02 -1.68722531e-01] [ 1.29516297e-01 -1.37738210e-02 9.91481624e-01 2.63020249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.829649246000002 meters Centerline goodness : 0.930205 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.17, Z:0.26 [[ 9.91458823e-01 -4.91408244e-03 -1.30327490e-01 7.72347427e+00] [ 6.58393910e-03 9.99901627e-01 1.23849963e-02 -1.67758212e-01] [ 1.30253809e-01 -1.31372821e-02 9.91393644e-01 2.62013126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.859649246000004 meters Centerline goodness : 0.930841 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.17, Z:0.26 [[ 9.91439057e-01 -5.22747446e-03 -1.30465592e-01 7.72411416e+00] [ 6.86649369e-03 9.99903020e-01 1.21161641e-02 -1.67218107e-01] [ 1.30389603e-01 -1.29082795e-02 9.91378801e-01 2.61800297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.889649246000005 meters Centerline goodness : 0.934155 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.17, Z:0.27 [[ 9.91331216e-01 -1.19042950e-03 -1.31381135e-01 7.72532778e+00] [ 3.60535478e-03 9.99828870e-01 1.81447280e-02 -1.69513760e-01] [ 1.31337052e-01 -1.84611109e-02 9.91165862e-01 2.66041838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.919649246000002 meters Centerline goodness : 0.937569 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.17, Z:0.27 [[ 9.91364817e-01 -7.61201664e-04 -1.31130544e-01 7.72403365e+00] [ 3.10809970e-03 9.99838624e-01 1.76936799e-02 -1.67183361e-01] [ 1.31095914e-01 -1.79484585e-02 9.91207200e-01 2.66001163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.949649246000003 meters Centerline goodness : 0.936004 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.17, Z:0.27 [[ 9.91240182e-01 3.14828880e-03 -1.32034049e-01 7.72560520e+00] [-1.71898452e-04 9.99745748e-01 2.25479390e-02 -1.68103204e-01] [ 1.32071467e-01 -2.23277267e-02 9.90988698e-01 2.68345229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.979649246000005 meters Centerline goodness : 0.936840 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.17, Z:0.27 [[ 9.91268567e-01 3.27701052e-03 -1.31817633e-01 7.72500054e+00] [-3.86081068e-04 9.99758976e-01 2.19508618e-02 -1.66094721e-01] [ 1.31857795e-01 -2.17083071e-02 9.91030913e-01 2.67848750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.009649246000002 meters Centerline goodness : 0.935395 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.16, Z:0.27 [[ 9.91271837e-01 2.93243046e-03 -1.31801159e-01 7.72546960e+00] [-1.77205511e-04 9.99781320e-01 2.09112757e-02 -1.62923240e-01] [ 1.31833657e-01 -2.07054027e-02 9.91055585e-01 2.66766970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.039649246000003 meters Centerline goodness : 0.932663 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.16, Z:0.27 [[ 9.91246703e-01 2.40239000e-03 -1.32000768e-01 7.72660589e+00] [ 2.80559181e-04 9.99793836e-01 2.03028977e-02 -1.61419915e-01] [ 1.32022329e-01 -2.01622144e-02 9.91041669e-01 2.66097837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.069649246000004 meters Centerline goodness : 0.936107 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.16, Z:0.27 [[ 9.91201838e-01 1.98933404e-03 -1.32344090e-01 7.72753492e+00] [ 7.16016467e-04 9.99791824e-01 2.03910635e-02 -1.61525667e-01] [ 1.32357104e-01 -2.03064202e-02 9.90994070e-01 2.66643440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.099649246000002 meters Centerline goodness : 0.931715 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.16, Z:0.27 [[ 9.91150581e-01 1.48407544e-03 -1.32734031e-01 7.72879190e+00] [ 1.18444671e-03 9.99798817e-01 2.00230634e-02 -1.61267840e-01] [ 1.32737042e-01 -2.00030874e-02 9.90949421e-01 2.66456398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.129649246000003 meters Centerline goodness : 0.935880 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.16, Z:0.27 [[ 9.91068665e-01 5.38508268e-04 -1.33351457e-01 7.73147806e+00] [ 2.01549104e-03 9.99817135e-01 1.90166637e-02 -1.60228478e-01] [ 1.33337313e-01 -1.91155881e-02 9.90886348e-01 2.65074273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.159649246000004 meters Centerline goodness : 0.935168 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.16, Z:0.26 [[ 9.91024399e-01 -6.58089984e-05 -1.33681101e-01 7.73303692e+00] [ 2.54219563e-03 9.99828320e-01 1.83539795e-02 -1.59434685e-01] [ 1.33656943e-01 -1.85290850e-02 9.90854427e-01 2.64260154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.189649246000002 meters Centerline goodness : 0.936628 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.16, Z:0.26 [[ 9.90937726e-01 -1.08515904e-03 -1.34317703e-01 7.73566629e+00] [ 3.51037715e-03 9.99835043e-01 1.78203249e-02 -1.59037877e-01] [ 1.34276209e-01 -1.81303380e-02 9.90778073e-01 2.63709593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.219649246000003 meters Centerline goodness : 0.936645 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.16, Z:0.26 [[ 9.90883425e-01 -1.67400003e-03 -1.34711678e-01 7.73729234e+00] [ 4.05667386e-03 9.99840124e-01 1.74146631e-02 -1.58490791e-01] [ 1.34660988e-01 -1.78023824e-02 9.90731797e-01 2.63231217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.249649246000004 meters Centerline goodness : 0.934566 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.16, Z:0.26 [[ 9.90803748e-01 -2.48303798e-03 -1.35284024e-01 7.73912823e+00] [ 4.85660563e-03 9.99839966e-01 1.72178679e-02 -1.58209058e-01] [ 1.35219621e-01 -1.77165492e-02 9.90657245e-01 2.63525602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.279649246 meters Centerline goodness : 0.934918 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.16, Z:0.26 [[ 9.90740367e-01 -3.08104323e-03 -1.35735152e-01 7.74061959e+00] [ 5.42047320e-03 9.99843015e-01 1.68690425e-02 -1.58063060e-01] [ 1.35661870e-01 -1.74485901e-02 9.90601536e-01 2.63353098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.309649246000003 meters Centerline goodness : 0.936747 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.16, Z:0.26 [[ 9.90680787e-01 -3.85290583e-03 -1.36149670e-01 7.74267544e+00] [ 6.09086638e-03 9.99853044e-01 1.60247519e-02 -1.56721208e-01] [ 1.36067920e-01 -1.67046832e-02 9.90558668e-01 2.62239120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.339649246000004 meters Centerline goodness : 0.936334 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.16, Z:0.26 [[ 9.90611419e-01 -4.58564995e-03 -1.36630846e-01 7.74422286e+00] [ 6.78640369e-03 9.99854565e-01 1.56458517e-02 -1.55623134e-01] [ 1.36539229e-01 -1.64261914e-02 9.90498470e-01 2.62376444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.369649246 meters Centerline goodness : 0.939678 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.16, Z:0.26 [[ 9.90535262e-01 -5.09497038e-03 -1.37163902e-01 7.74571736e+00] [ 7.30477278e-03 9.99851440e-01 1.56121365e-02 -1.55689326e-01] [ 1.37063981e-01 -1.64663229e-02 9.90425325e-01 2.62714325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.399649246000003 meters Centerline goodness : 0.934489 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.16, Z:0.26 [[ 9.90465126e-01 -5.59668306e-03 -1.37649961e-01 7.74696569e+00] [ 7.82884894e-03 9.99846408e-01 1.56801962e-02 -1.56165522e-01] [ 1.37541062e-01 -1.66083282e-02 9.90356814e-01 2.63278626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.429649246000004 meters Centerline goodness : 0.935388 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.16, Z:0.26 [[ 9.90357634e-01 -6.48626023e-03 -1.38382388e-01 7.74927244e+00] [ 8.75259711e-03 9.99837256e-01 1.57751053e-02 -1.56247430e-01] [ 1.38257545e-01 -1.68342012e-02 9.90253231e-01 2.63953781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.459649246 meters Centerline goodness : 0.919176 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.16, Z:0.26 [[ 9.90314995e-01 -7.04110783e-03 -1.38660138e-01 7.75065647e+00] [ 9.25738370e-03 9.99839402e-01 1.53450651e-02 -1.55831447e-01] [ 1.38529823e-01 -1.64800782e-02 9.90221134e-01 2.63396480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.489649246000003 meters Centerline goodness : 0.915648 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.16, Z:0.26 [[ 0.99013061 -0.00868587 -0.13987824 7.75507215] [ 0.01088744 0.99982849 0.01498163 -0.1562961 ] [ 0.13972412 -0.01635668 0.99005537 0.26333679] [ 0. 0. 0. 1. ]] SLAMing on 17.519649246000004 meters Centerline goodness : 0.910667 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.16, Z:0.26 [[ 0.99001308 -0.00961917 -0.14064696 7.75778545] [ 0.01178831 0.99982396 0.01459761 -0.15635247] [ 0.14048178 -0.01610982 0.98995219 0.26301842] [ 0. 0. 0. 1. ]] SLAMing on 17.549649246000005 meters Centerline goodness : 0.879167 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.16, Z:0.26 [[ 0.98983082 -0.01125608 -0.14180358 7.76228292] [ 0.01333664 0.99981679 0.01373023 -0.15549857] [ 0.14162305 -0.01548179 0.98979959 0.26225429] [ 0. 0. 0. 1. ]] SLAMing on 17.579649246000002 meters Centerline goodness : 0.884310 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.16, Z:0.26 [[ 0.98954074 -0.00932585 -0.14395188 7.76931324] [ 0.01207693 0.99976053 0.01824916 -0.15641526] [ 0.14374722 -0.01979679 0.98941641 0.26443892] [ 0. 0. 0. 1. ]] SLAMing on 17.609649246000004 meters Centerline goodness : 0.889860 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.15, Z:0.26 [[ 0.98945033 -0.01010932 -0.14451934 7.77164372] [ 0.01276308 0.99976632 0.01744737 -0.15467329] [ 0.14430919 -0.01910782 0.98934814 0.26365312] [ 0. 0. 0. 1. ]] SLAMing on 17.639649246000005 meters Centerline goodness : 0.893233 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.16, Z:0.27 [[ 0.98911306 -0.00915652 -0.14687243 7.78006704] [ 0.01256099 0.9996731 0.02226905 -0.15514496] [ 0.14662051 -0.02387147 0.98890474 0.2670948 ] [ 0. 0. 0. 1. ]] SLAMing on 17.669649246000002 meters Centerline goodness : 0.894864 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.15, Z:0.27 [[ 0.98900971 -0.01015262 -0.14750157 7.78277331] [ 0.01352007 0.99966994 0.02184527 -0.15416535] [ 0.14723109 -0.02359941 0.98882055 0.2668414 ] [ 0. 0. 0. 1. ]] SLAMing on 17.699649246000003 meters Centerline goodness : 0.902924 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.15, Z:0.27 [[ 0.98869973 -0.01336094 -0.14931289 7.79042328] [ 0.01675281 0.99962887 0.02148181 -0.15321071] [ 0.14897045 -0.02374047 0.98855662 0.26767909] [ 0. 0. 0. 1. ]] SLAMing on 17.729649246000005 meters Centerline goodness : 0.890552 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.15, Z:0.27 [[ 0.98857197 -0.01485524 -0.15001595 7.79395602] [ 0.01816314 0.99962065 0.02070425 -0.15180943] [ 0.14965148 -0.0231924 0.98846677 0.26701267] [ 0. 0. 0. 1. ]] SLAMing on 17.759649246000002 meters Centerline goodness : 0.898941 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.15, Z:0.27 [[ 0.98822434 -0.01388244 -0.15238091 7.80247132] [ 0.01806675 0.99949582 0.02610931 -0.15189487] [ 0.15194162 -0.02855488 0.9879769 0.27147592] [ 0. 0. 0. 1. ]] SLAMing on 17.789649246000003 meters Centerline goodness : 0.894114 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.15, Z:0.27 [[ 0.98812685 -0.01483422 -0.15292247 7.8047164 ] [ 0.01900447 0.99948531 0.02584475 -0.15108054] [ 0.15246038 -0.0284441 0.98790018 0.27169276] [ 0. 0. 0. 1. ]] SLAMing on 17.819649246000004 meters Centerline goodness : 0.925794 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.15, Z:0.27 [[ 0.98880138 -0.01690817 -0.1482766 7.82285906] [ 0.01953707 0.9996764 0.01629108 -0.14853769] [ 0.14795317 -0.01900554 0.98881174 0.26887101] [ 0. 0. 0. 1. ]] SLAMing on 17.849649246000002 meters Centerline goodness : 0.930195 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.15, Z:0.27 [[ 0.98871001 -0.01776987 -0.14878426 7.82502546] [ 0.02039665 0.99966156 0.0161477 -0.14785068] [ 0.14844697 -0.01900009 0.98873783 0.26915379] [ 0. 0. 0. 1. ]] SLAMing on 17.879649246000003 meters Centerline goodness : 0.929411 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.15, Z:0.27 [[ 0.98842742 -0.01684757 -0.15075606 7.83326628] [ 0.02029495 0.99956588 0.02135786 -0.14790541] [ 0.15033079 -0.02417028 0.98834025 0.27282453] [ 0. 0. 0. 1. ]] SLAMing on 17.909649246000004 meters Centerline goodness : 0.927593 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.15, Z:0.27 [[ 0.98833029 -0.01829376 -0.15122359 7.83660847] [ 0.02164138 0.99955518 0.02052066 -0.14652796] [ 0.15078092 -0.02355387 0.98828656 0.27173314] [ 0. 0. 0. 1. ]] SLAMing on 17.939649246000002 meters Centerline goodness : 0.928698 Centerline is valid? [False, False] Translation: X:7.85, Y:-0.15, Z:0.27 [[ 0.98794479 -0.01984234 -0.1535297 7.8492266 ] [ 0.02387626 0.99941527 0.02447535 -0.14601659] [ 0.15295427 -0.02784601 0.98784087 0.27392402] [ 0. 0. 0. 1. ]] SLAMing on 17.969649246000003 meters Centerline goodness : 0.924348 Centerline is valid? [False, False] Translation: X:7.85, Y:-0.14, Z:0.27 [[ 0.98773056 -0.02175257 -0.15464528 7.8540658 ] [ 0.02574282 0.99938413 0.02384682 -0.14492281] [ 0.15403131 -0.02753523 0.98768222 0.27369956] [ 0. 0. 0. 1. ]] SLAMing on 17.999649246000004 meters Centerline goodness : 0.923198 Centerline is valid? [False, False] Translation: X:7.86, Y:-0.14, Z:0.28 [[ 0.98753723 -0.02382333 -0.15557206 7.86331672] [ 0.02828216 0.99924838 0.02651031 -0.14401604] [ 0.15482357 -0.03057983 0.98746875 0.27522983] [ 0. 0. 0. 1. ]] SLAMing on 18.029649246 meters Centerline goodness : 0.923789 Centerline is valid? [False, False] Translation: X:7.87, Y:-0.15, Z:0.28 [[ 0.98726627 -0.02199652 -0.15754831 7.87000871] [ 0.02744828 0.99909438 0.03251173 -0.14573239] [ 0.15669048 -0.03642217 0.98697595 0.28008155] [ 0. 0. 0. 1. ]] SLAMing on 18.059649246000003 meters Centerline goodness : 0.921760 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.15, Z:0.28 [[ 0.98698788 -0.02028532 -0.15950995 7.87681552] [ 0.02668518 0.99891822 0.03808273 -0.1471996 ] [ 0.15856488 -0.04184375 0.98646149 0.28426908] [ 0. 0. 0. 1. ]] SLAMing on 18.089649246000004 meters Centerline goodness : 0.918314 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.14, Z:0.28 [[ 0.9876549 -0.02320881 -0.15491658 7.89876283] [ 0.02810312 0.99917029 0.02947798 -0.14279563] [ 0.1541039 -0.03346771 0.98748767 0.28135548] [ 0. 0. 0. 1. ]] SLAMing on 18.119649246 meters Centerline goodness : 0.917245 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.15, Z:0.30 [[ 0.98781474 -0.02185099 -0.15409277 7.91868312] [ 0.02968045 0.99837267 0.04869378 -0.14545137] [ 0.152778 -0.05267397 0.98685578 0.29716246] [ 0. 0. 0. 1. ]] SLAMing on 18.149649246000003 meters Centerline goodness : 0.917741 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.14, Z:0.29 [[ 0.98842559 -0.0236156 -0.14985714 7.93376984] [ 0.0293173 0.99892336 0.03595287 -0.14166048] [ 0.14884675 -0.03993015 0.98805376 0.2908827 ] [ 0. 0. 0. 1. ]] SLAMing on 18.179649246000004 meters Centerline goodness : 0.918094 Centerline is valid? [False, False] Translation: X:7.95, Y:-0.14, Z:0.30 [[ 0.98821467 -0.02333633 -0.15128512 7.95037186] [ 0.03073189 0.9984346 0.04673233 -0.14067302] [ 0.14995773 -0.05083085 0.98738488 0.29875326] [ 0. 0. 0. 1. ]] SLAMing on 18.209649246 meters Centerline goodness : 0.908234 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.14, Z:0.29 [[ 0.98886178 -0.02466261 -0.14677921 7.96505129] [ 0.03002578 0.99895576 0.03443603 -0.13696328] [ 0.14577666 -0.03845963 0.98856969 0.29252981] [ 0. 0. 0. 1. ]] SLAMing on 18.239649246000003 meters Centerline goodness : 0.922028 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.14, Z:0.30 [[ 0.98858619 -0.02239476 -0.1489826 7.97127641] [ 0.02859894 0.99880498 0.03963226 -0.1378488 ] [ 0.14791701 -0.04344065 0.98804528 0.29607867] [ 0. 0. 0. 1. ]] SLAMing on 18.269649246000004 meters Centerline goodness : 0.928719 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.13, Z:0.29 [[ 0.98908103 -0.02518781 -0.14520431 7.99278981] [ 0.02980319 0.99911451 0.02969792 -0.13328974] [ 0.14432771 -0.0337012 0.98895588 0.29189227] [ 0. 0. 0. 1. ]] SLAMing on 18.299649246000005 meters Centerline goodness : 0.927200 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.13, Z:0.29 [[ 0.98963982 -0.0277444 -0.14086617 8.01365612] [ 0.03080288 0.99933373 0.01957771 -0.12744896] [ 0.14022914 -0.02371397 0.98983505 0.28730147] [ 0. 0. 0. 1. ]] SLAMing on 18.329649246000002 meters Centerline goodness : 0.933167 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.13, Z:0.29 [[ 0.98938518 -0.02565864 -0.14303355 8.0200203 ] [ 0.02954125 0.99924869 0.02508717 -0.12835623] [ 0.14228238 -0.02904627 0.98939984 0.29136186] [ 0. 0. 0. 1. ]] SLAMing on 18.359649246000004 meters Centerline goodness : 0.933167 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.13, Z:0.29 [[ 0.98938518 -0.02565864 -0.14303355 8.0200203 ] [ 0.02954125 0.99924869 0.02508717 -0.12835623] [ 0.14228238 -0.02904627 0.98939984 0.29136186] [ 0. 0. 0. 1. ]] SLAMing on 18.389649246000005 meters Centerline goodness : 0.929371 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.12, Z:0.29 [[ 0.98999977 -0.02718452 -0.13842488 8.04124124] [ 0.02980503 0.99941297 0.01689304 -0.12248469] [ 0.13788439 -0.02084986 0.99022885 0.28786013] [ 0. 0. 0. 1. ]] SLAMing on 18.419649246000002 meters Centerline goodness : 0.882431 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.12, Z:0.28 [[ 9.90644380e-01 -2.78473919e-02 -1.33597290e-01 8.05772851e+00] [ 2.90905789e-02 9.99549667e-01 7.36217924e-03 -1.18559278e-01] [ 1.33332110e-01 -1.11797240e-02 9.91008356e-01 2.83568467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.449649246000003 meters Centerline goodness : 0.910277 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.12, Z:0.29 [[ 0.9904637 -0.02513808 -0.13546117 8.06266993] [ 0.02708509 0.99955436 0.01254912 -0.11977234] [ 0.13508534 -0.01609843 0.99070318 0.28672905] [ 0. 0. 0. 1. ]] SLAMing on 18.479649246000005 meters Centerline goodness : 0.934570 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.12, Z:0.29 [[ 0.99100332 -0.02670562 -0.13114587 8.0867444 ] [ 0.02806928 0.99956933 0.00856017 -0.11700414] [ 0.13086078 -0.01216433 0.99132612 0.28873764] [ 0. 0. 0. 1. ]] SLAMing on 18.509649246000002 meters Centerline goodness : 0.932493 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.12, Z:0.30 [[ 0.99083771 -0.02705591 -0.13232011 8.10400733] [ 0.02998228 0.99934684 0.02017332 -0.11838746] [ 0.13168788 -0.02395574 0.99100173 0.29742446] [ 0. 0. 0. 1. ]] SLAMing on 18.539649246000003 meters Centerline goodness : 0.924928 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.12, Z:0.30 [[ 0.99065149 -0.02847286 -0.13341258 8.10812545] [ 0.0313815 0.99931234 0.01974965 -0.11822153] [ 0.13275851 -0.02375171 0.99086378 0.2970823 ] [ 0. 0. 0. 1. ]] SLAMing on 18.569649246000004 meters Centerline goodness : 0.900182 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.12, Z:0.30 [[ 0.99025858 -0.03243529 -0.13541008 8.12492878] [ 0.03616716 0.99902821 0.02519065 -0.1195246 ] [ 0.13446143 -0.02984266 0.99046935 0.30147512] [ 0. 0. 0. 1. ]] SLAMing on 18.599649246000002 meters Centerline goodness : 0.939466 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.12, Z:0.30 [[ 0.99004433 -0.03391711 -0.13660843 8.1293689 ] [ 0.03760467 0.99899223 0.02450327 -0.11913394] [ 0.13563968 -0.02939643 0.99032203 0.30077877] [ 0. 0. 0. 1. ]] SLAMing on 18.629649246000003 meters Centerline goodness : 0.939629 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.12, Z:0.30 [[ 0.98983593 -0.03518368 -0.13779313 8.13308725] [ 0.03882598 0.9989617 0.02383426 -0.11850946] [ 0.13681148 -0.02894196 0.99017422 0.30056306] [ 0. 0. 0. 1. ]] SLAMing on 18.659649246000004 meters Centerline goodness : 0.941851 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.12, Z:0.30 [[ 0.98950912 -0.03550215 -0.14004035 8.14299411] [ 0.03961067 0.99885947 0.02665982 -0.11819749] [ 0.13893415 -0.03192723 0.98978682 0.30095973] [ 0. 0. 0. 1. ]] SLAMing on 18.689649246000002 meters Centerline goodness : 0.943822 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.11, Z:0.30 [[ 0.99003775 -0.03798036 -0.13558301 8.16590215] [ 0.0408199 0.99900031 0.01822386 -0.1129338 ] [ 0.13475532 -0.02357679 0.99059837 0.29701928] [ 0. 0. 0. 1. ]] SLAMing on 18.719649246000003 meters Centerline goodness : 0.943333 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.11, Z:0.29 [[ 0.9915005 -0.04352299 -0.12260716 8.17477363] [ 0.04565219 0.99885056 0.01460934 -0.10879516] [ 0.12183039 -0.02008245 0.99234775 0.28899254] [ 0. 0. 0. 1. ]] SLAMing on 18.749649246000004 meters Centerline goodness : 0.948540 Centerline is valid? [False, False] Translation: X:8.19, Y:-0.11, Z:0.30 [[ 0.99130828 -0.04355285 -0.12414124 8.19038526] [ 0.04708849 0.99856034 0.02568896 -0.10934078] [ 0.1228437 -0.03131131 0.99193197 0.29760571] [ 0. 0. 0. 1. ]] SLAMing on 18.779649246 meters Centerline goodness : 0.946068 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.10, Z:0.29 [[ 0.99190098 -0.04481874 -0.11884326 8.20662065] [ 0.04694023 0.9987834 0.01511099 -0.10480599] [ 0.11802142 -0.02056714 0.99279803 0.29202304] [ 0. 0. 0. 1. ]] SLAMing on 18.809649246000003 meters Centerline goodness : 0.947572 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.10, Z:0.29 [[ 9.92312088e-01 -4.68872801e-02 -1.14535163e-01 8.22966417e+00] [ 4.80751444e-02 9.98814583e-01 7.62951558e-03 -9.99412249e-02] [ 1.14041664e-01 -1.30771550e-02 9.93389897e-01 2.89247918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.839649246000004 meters Centerline goodness : 0.948198 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.10, Z:0.29 [[ 0.99220782 -0.04379261 -0.11664412 8.23383502] [ 0.0455909 0.99887828 0.01279238 -0.10132375] [ 0.11595307 -0.01801061 0.99309139 0.29258249] [ 0. 0. 0. 1. ]] SLAMing on 18.869649246 meters Centerline goodness : 0.948763 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.10, Z:0.30 [[ 0.99209862 -0.04078637 -0.11864569 8.23821609] [ 0.04323124 0.99890103 0.01810519 -0.10263754] [ 0.11777686 -0.02309134 0.99277158 0.29594327] [ 0. 0. 0. 1. ]] SLAMing on 18.899649246000003 meters Centerline goodness : 0.951675 Centerline is valid? [False, True] Translation: X:8.24, Y:-0.10, Z:0.30 [[ 0.99192076 -0.04195812 -0.11971936 8.24160315] [ 0.04436463 0.99886201 0.01750609 -0.10099901] [ 0.1188486 -0.02267596 0.99265342 0.29592047] [ 0. 0. 0. 1. ]] SLAMing on 18.929649246000004 meters Centerline goodness : 0.950838 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.10, Z:0.29 [[ 9.91999940e-01 -4.41538181e-02 -1.18264781e-01 8.27115136e+00] [ 4.43870356e-02 9.99014190e-01 -6.62530897e-04 -9.55737593e-02] [ 1.18177448e-01 -4.59219245e-03 9.92981874e-01 2.87104594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.959649246 meters Centerline goodness : 0.950857 Centerline is valid? [True, True] Translation: X:8.30, Y:-0.09, Z:0.29 [[ 9.92431342e-01 -4.45555147e-02 -1.14432678e-01 8.29862319e+00] [ 4.47600434e-02 9.98997460e-01 -7.82784478e-04 -9.42445696e-02] [ 1.14352833e-01 -4.34515181e-03 9.93430697e-01 2.87968182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.989649246000003 meters Centerline goodness : 0.951353 Centerline is valid? [True, True] Translation: X:8.33, Y:-0.09, Z:0.29 [[ 9.92362349e-01 -4.51729868e-02 -1.14788368e-01 8.32770042e+00] [ 4.50870276e-02 9.98977458e-01 -3.34639289e-03 -9.32876608e-02] [ 1.14822159e-01 -1.85463200e-03 9.93384333e-01 2.88699831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.019649246000004 meters Centerline goodness : 0.950046 Centerline is valid? [True, True] Translation: X:8.36, Y:-0.09, Z:0.29 [[ 9.92285069e-01 -4.61561458e-02 -1.15064994e-01 8.35567178e+00] [ 4.54604855e-02 9.98928565e-01 -8.66407340e-03 -9.05663219e-02] [ 1.15341610e-01 3.36632017e-03 9.93320180e-01 2.87616939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.049649246000005 meters Centerline goodness : 0.951066 Centerline is valid? [True, True] Translation: X:8.38, Y:-0.09, Z:0.28 [[ 0.99226178 -0.04462161 -0.11586834 8.38076044] [ 0.04295777 0.99893531 -0.01681867 -0.08750561] [ 0.11649545 0.01171108 0.99312218 0.28484492] [ 0. 0. 0. 1. ]] SLAMing on 19.079649246000002 meters Centerline goodness : 0.953084 Centerline is valid? [True, True] Translation: X:8.41, Y:-0.09, Z:0.29 [[ 9.92241098e-01 -4.59687128e-02 -1.15518317e-01 8.40940411e+00] [ 4.54270854e-02 9.98940850e-01 -7.31835476e-03 -8.87721898e-02] [ 1.15732381e-01 2.01391193e-03 9.93278390e-01 2.92963244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.109649246000004 meters Centerline goodness : 0.950629 Centerline is valid? [True, True] Translation: X:8.44, Y:-0.09, Z:0.30 [[ 9.92443026e-01 -4.60326807e-02 -1.13744595e-01 8.43826998e+00] [ 4.64423359e-02 9.98920518e-01 9.52864219e-04 -9.07339396e-02] [ 1.13577947e-01 -6.22822812e-03 9.93509567e-01 3.00639266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.139649246000005 meters Centerline goodness : 0.946553 Centerline is valid? [True, False] Translation: X:8.44, Y:-0.09, Z:0.30 [[ 9.92342258e-01 -4.31798169e-02 -1.15725306e-01 8.44277080e+00] [ 4.41519050e-02 9.99007709e-01 5.84860140e-03 -9.24702250e-02] [ 1.15357932e-01 -1.09133071e-02 9.93264037e-01 3.03208586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.169649246000002 meters Centerline goodness : 0.948479 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.09, Z:0.31 [[ 0.99210865 -0.0413098 -0.1183804 8.44967212] [ 0.04288326 0.99902199 0.01077422 -0.09240259] [ 0.11781954 -0.01576573 0.99290986 0.30666332] [ 0. 0. 0. 1. ]] SLAMing on 19.199649246000003 meters Centerline goodness : 0.947528 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.09, Z:0.31 [[ 0.99197575 -0.03860601 -0.12038976 8.45433945] [ 0.04075653 0.99904963 0.01545117 -0.09343221] [ 0.11967884 -0.02023386 0.99260645 0.30912621] [ 0. 0. 0. 1. ]] SLAMing on 19.229649246000005 meters Centerline goodness : 0.949953 Centerline is valid? [False, False] Translation: X:8.48, Y:-0.09, Z:0.31 [[ 0.99242589 -0.03978808 -0.11622291 8.47741578] [ 0.04122578 0.99909989 0.00999173 -0.09046748] [ 0.11572075 -0.01470743 0.9931729 0.30838135] [ 0. 0. 0. 1. ]] SLAMing on 19.259649246000002 meters Centerline goodness : 0.940577 Centerline is valid? [False, False] Translation: X:8.48, Y:-0.09, Z:0.31 [[ 0.99228772 -0.04066085 -0.11709731 8.4799841 ] [ 0.0420692 0.99906877 0.00957981 -0.08948201] [ 0.11659874 -0.01443212 0.99307424 0.30840016] [ 0. 0. 0. 1. ]] SLAMing on 19.289649246000003 meters Centerline goodness : 0.942225 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.09, Z:0.31 [[ 0.99208209 -0.03894043 -0.11940175 8.48690243] [ 0.04085794 0.99907169 0.01365263 -0.08935788] [ 0.11875927 -0.01842304 0.99275215 0.31006597] [ 0. 0. 0. 1. ]] SLAMing on 19.319649246000004 meters Centerline goodness : 0.940614 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.09, Z:0.31 [[ 0.99183378 -0.03711227 -0.12201813 8.4940884 ] [ 0.0396296 0.99904743 0.01826824 -0.08997788] [ 0.12122392 -0.02295459 0.99235974 0.31285574] [ 0. 0. 0. 1. ]] SLAMing on 19.349649246000002 meters Centerline goodness : 0.912265 Centerline is valid? [False, False] Translation: X:8.50, Y:-0.09, Z:0.31 [[ 0.99169522 -0.03798567 -0.12287262 8.49671097] [ 0.04046854 0.99902272 0.0177738 -0.08938758] [ 0.12207738 -0.02259867 0.99226328 0.31270701] [ 0. 0. 0. 1. ]] SLAMing on 19.379649246000003 meters Centerline goodness : 0.896220 Centerline is valid? [False, False] Translation: X:8.50, Y:-0.09, Z:0.31 [[ 0.99146559 -0.03929201 -0.12430656 8.500986 ] [ 0.04173876 0.99898154 0.01713948 -0.08868557] [ 0.12350651 -0.02218161 0.99209582 0.31259006] [ 0. 0. 0. 1. ]] SLAMing on 19.409649246000004 meters Centerline goodness : 0.904726 Centerline is valid? [False, False] Translation: X:8.50, Y:-0.09, Z:0.31 [[ 0.9913134 -0.04025795 -0.12520802 8.50405647] [ 0.04264858 0.99895436 0.01647063 -0.08764558] [ 0.12441403 -0.0216675 0.99199378 0.31195844] [ 0. 0. 0. 1. ]] SLAMing on 19.439649246000002 meters Centerline goodness : 0.892340 Centerline is valid? [False, False] Translation: X:8.51, Y:-0.09, Z:0.31 [[ 0.99117002 -0.0380544 -0.12701911 8.50967939] [ 0.04093816 0.99895808 0.0201696 -0.08759235] [ 0.12611923 -0.02519143 0.99169518 0.31267618] [ 0. 0. 0. 1. ]] SLAMing on 19.469649246000003 meters Centerline goodness : 0.904136 Centerline is valid? [False, False] Translation: X:8.51, Y:-0.09, Z:0.31 [[ 0.99104785 -0.03512472 -0.12880374 8.51392742] [ 0.03860251 0.9989517 0.02460362 -0.08876446] [ 0.12780452 -0.02935551 0.99136485 0.31453744] [ 0. 0. 0. 1. ]] SLAMing on 19.499649246000004 meters Centerline goodness : 0.901220 Centerline is valid? [False, False] Translation: X:8.53, Y:-0.08, Z:0.31 [[ 0.99160468 -0.03468156 -0.12456868 8.53212277] [ 0.03701882 0.9991784 0.01649669 -0.0843447 ] [ 0.12389421 -0.02096958 0.99207384 0.310789 ] [ 0. 0. 0. 1. ]] SLAMing on 19.529649246 meters Centerline goodness : 0.903616 Centerline is valid? [False, False] Translation: X:8.55, Y:-0.08, Z:0.31 [[ 9.92131510e-01 -3.39239792e-02 -1.20516511e-01 8.54912226e+00] [ 3.51840484e-02 9.99346029e-01 8.34250146e-03 -8.07492420e-02] [ 1.20154686e-01 -1.25171173e-02 9.92676268e-01 3.07409862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.559649246000003 meters Centerline goodness : 0.932286 Centerline is valid? [False, False] Translation: X:8.55, Y:-0.08, Z:0.31 [[ 0.99197891 -0.03105473 -0.1225294 8.55377706] [ 0.03288852 0.99937485 0.0129716 -0.08103852] [ 0.12204997 -0.01689737 0.99238011 0.31000143] [ 0. 0. 0. 1. ]] SLAMing on 19.589649246000004 meters Centerline goodness : 0.900670 Centerline is valid? [False, False] Translation: X:8.56, Y:-0.08, Z:0.31 [[ 0.99185273 -0.03178416 -0.12336094 8.55611508] [ 0.0335824 0.99935747 0.01252467 -0.08005735] [ 0.12288359 -0.01656538 0.99228283 0.30995712] [ 0. 0. 0. 1. ]] SLAMing on 19.619649246 meters Centerline goodness : 0.901660 Centerline is valid? [False, False] Translation: X:8.56, Y:-0.08, Z:0.31 [[ 0.99163793 -0.03307266 -0.12474137 8.56036509] [ 0.03486824 0.99931698 0.01223806 -0.07986668] [ 0.12425142 -0.01648524 0.99211381 0.31001612] [ 0. 0. 0. 1. ]] SLAMing on 19.649649246000003 meters Centerline goodness : 0.889425 Centerline is valid? [False, False] Translation: X:8.56, Y:-0.08, Z:0.31 [[ 0.99148697 -0.03405196 -0.12567438 8.56344242] [ 0.03581087 0.99928936 0.01176253 -0.07932969] [ 0.12518454 -0.01616291 0.99200181 0.30964764] [ 0. 0. 0. 1. ]] SLAMing on 19.679649246000004 meters Centerline goodness : 0.897444 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.08, Z:0.31 [[ 0.99125992 -0.03517016 -0.12714889 8.56738401] [ 0.03694081 0.9992502 0.01159391 -0.07952795] [ 0.12664579 -0.01618956 0.99181588 0.31019993] [ 0. 0. 0. 1. ]] SLAMing on 19.709649246000005 meters Centerline goodness : 0.897304 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.08, Z:0.31 [[ 0.99104623 -0.03635889 -0.12847333 8.57136007] [ 0.03808772 0.99921358 0.01102479 -0.07865616] [ 0.12797145 -0.01581933 0.99165168 0.31004947] [ 0. 0. 0. 1. ]] SLAMing on 19.739649246000003 meters Centerline goodness : 0.929338 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.08, Z:0.31 [[ 0.9909374 -0.03362515 -0.13004776 8.57572798] [ 0.03588884 0.99924168 0.01510174 -0.0796802 ] [ 0.12944135 -0.01963214 0.99139272 0.31117336] [ 0. 0. 0. 1. ]] SLAMing on 19.769649246000004 meters Centerline goodness : 0.954846 Centerline is valid? [False, True] Translation: X:8.58, Y:-0.08, Z:0.31 [[ 0.99071618 -0.03155023 -0.13223476 8.58202726] [ 0.03441948 0.99921784 0.01946833 -0.08004061] [ 0.1315171 -0.02383904 0.99102722 0.31328976] [ 0. 0. 0. 1. ]] SLAMing on 19.799649246000005 meters Centerline goodness : 0.956600 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.07, Z:0.30 [[ 9.90650266e-01 -3.47324845e-02 -1.31930685e-01 8.61219476e+00] [ 3.47935506e-02 9.99392822e-01 -1.84305502e-03 -7.05427533e-02] [ 1.31914594e-01 -2.76451403e-03 9.91257231e-01 3.02018754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.829649246000002 meters Centerline goodness : 0.955915 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.07, Z:0.30 [[ 9.90717351e-01 -3.52800493e-02 -1.31280038e-01 8.63989765e+00] [ 3.53403939e-02 9.99373582e-01 -1.87086931e-03 -6.95394295e-02] [ 1.31263806e-01 -2.78598558e-03 9.91343559e-01 3.04776284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.859649246000004 meters Centerline goodness : 0.956580 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.07, Z:0.31 [[ 9.90759451e-01 -3.56462696e-02 -1.30862729e-01 8.66643519e+00] [ 3.57045040e-02 9.99360581e-01 -1.90200747e-03 -6.90783310e-02] [ 1.30846852e-01 -2.78795694e-03 9.91398673e-01 3.08762556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.889649246000005 meters Centerline goodness : 0.956113 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.07, Z:0.31 [[ 9.90784343e-01 -3.57485505e-02 -1.30646189e-01 8.69405091e+00] [ 3.58041031e-02 9.99356975e-01 -1.92442290e-03 -6.88594516e-02] [ 1.30630975e-01 -2.77098153e-03 9.91427188e-01 3.12294658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.919649246000002 meters Centerline goodness : 0.959380 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.07, Z:0.32 [[ 9.90705495e-01 -3.59167372e-02 -1.31196836e-01 8.72170549e+00] [ 3.59693456e-02 9.99350953e-01 -1.96953908e-03 -6.86843634e-02] [ 1.31182423e-01 -2.76783115e-03 9.91354382e-01 3.16090763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.949649246000003 meters Centerline goodness : 0.959051 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.07, Z:0.32 [[ 9.90754720e-01 -3.63908822e-02 -1.30693489e-01 8.74941017e+00] [ 3.64423139e-02 9.99333759e-01 -1.99889548e-03 -6.82379656e-02] [ 1.30679157e-01 -2.78235800e-03 9.91420807e-01 3.18786445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.979649246000005 meters Centerline goodness : 0.958700 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.07, Z:0.32 [[ 9.90744965e-01 -3.63568993e-02 -1.30776871e-01 8.77779069e+00] [ 3.64031864e-02 9.99335107e-01 -2.03745672e-03 -6.74405912e-02] [ 1.30763994e-01 -2.74209481e-03 9.91409733e-01 3.21960498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.009649246000002 meters Centerline goodness : 0.958939 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.07, Z:0.33 [[ 9.90618960e-01 -3.66680810e-02 -1.31641667e-01 8.80605272e+00] [ 3.67127490e-02 9.99323677e-01 -2.08852083e-03 -6.62758786e-02] [ 1.31629217e-01 -2.76399916e-03 9.91295168e-01 3.26020854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.039649246000003 meters Centerline goodness : 0.958678 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.07, Z:0.33 [[ 9.90531177e-01 -3.65396757e-02 -1.32336085e-01 8.83244623e+00] [ 3.65787458e-02 9.99328490e-01 -2.13661106e-03 -6.63310757e-02] [ 1.32325291e-01 -2.72430815e-03 9.91202601e-01 3.29858702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.069649246000004 meters Centerline goodness : 0.959568 Centerline is valid? [True, True] Translation: X:8.86, Y:-0.07, Z:0.33 [[ 9.90493010e-01 -3.68877436e-02 -1.32525060e-01 8.86030706e+00] [ 3.69277819e-02 9.99315610e-01 -2.15648363e-03 -6.62989871e-02] [ 1.32513909e-01 -2.75787457e-03 9.91177309e-01 3.33810138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.099649246000002 meters Centerline goodness : 0.960408 Centerline is valid? [True, True] Translation: X:8.89, Y:-0.07, Z:0.34 [[ 9.90312840e-01 -3.66787070e-02 -1.33922186e-01 8.88670521e+00] [ 3.67127324e-02 9.99323403e-01 -2.21621277e-03 -6.57307953e-02] [ 1.33912863e-01 -2.72190542e-03 9.90989373e-01 3.37518240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.129649246000003 meters Centerline goodness : 0.957862 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.06, Z:0.34 [[ 9.90208812e-01 -3.65515952e-02 -1.34723752e-01 8.91447556e+00] [ 3.65825121e-02 9.99328110e-01 -2.24689964e-03 -6.40109840e-02] [ 1.34715360e-01 -2.70363344e-03 9.90880650e-01 3.39895780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.159649246000004 meters Centerline goodness : 0.959101 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.06, Z:0.34 [[ 9.90170970e-01 -3.63028268e-02 -1.35068704e-01 8.94261823e+00] [ 3.63263703e-02 9.99337353e-01 -2.29108222e-03 -6.30995626e-02] [ 1.35062374e-01 -2.63799267e-03 9.90833586e-01 3.43548745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.189649246000002 meters Centerline goodness : 0.959056 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.06, Z:0.35 [[ 9.90185036e-01 -3.66545024e-02 -1.34870463e-01 8.96981401e+00] [ 3.66760552e-02 9.99324501e-01 -2.32564870e-03 -6.23072808e-02] [ 1.34864604e-01 -2.64369401e-03 9.90860510e-01 3.46551345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.219649246000003 meters Centerline goodness : 0.959425 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.06, Z:0.35 [[ 9.90188255e-01 -3.68630793e-02 -1.34789955e-01 8.99745017e+00] [ 3.68841056e-02 9.99316805e-01 -2.34206210e-03 -6.20139003e-02] [ 1.34784203e-01 -2.65252457e-03 9.90871426e-01 3.50447421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.249649246000004 meters Centerline goodness : 0.959425 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.06, Z:0.35 [[ 9.90178444e-01 -3.71281154e-02 -1.34789284e-01 9.02587360e+00] [ 3.71464085e-02 9.99307000e-01 -2.38010460e-03 -6.13289493e-02] [ 1.34784244e-01 -2.65020954e-03 9.90871427e-01 3.54115255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.279649246 meters Centerline goodness : 0.960817 Centerline is valid? [True, True] Translation: X:9.05, Y:-0.06, Z:0.36 [[ 9.90320097e-01 -3.64423799e-02 -1.33933037e-01 9.05378677e+00] [ 3.64493979e-02 9.99332617e-01 -2.40036085e-03 -6.12199668e-02] [ 1.33931128e-01 -2.50465299e-03 9.90987477e-01 3.58824855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.309649246000003 meters Centerline goodness : 0.962468 Centerline is valid? [True, True] Translation: X:9.08, Y:-0.06, Z:0.36 [[ 9.90362790e-01 -3.59883801e-02 -1.33739973e-01 9.08058691e+00] [ 3.59862332e-02 9.99349321e-01 -2.43410363e-03 -6.01362530e-02] [ 1.33740550e-01 -2.40215217e-03 9.91013469e-01 3.62978334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.339649246000004 meters Centerline goodness : 0.962914 Centerline is valid? [True, True] Translation: X:9.11, Y:-0.06, Z:0.37 [[ 9.90405086e-01 -3.66521864e-02 -1.33245572e-01 9.10807160e+00] [ 3.66537268e-02 9.99325042e-01 -2.44218436e-03 -5.90122780e-02] [ 1.33245148e-01 -2.46519498e-03 9.91080044e-01 3.66410109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.369649246 meters Centerline goodness : 0.963862 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.06, Z:0.37 [[ 9.90198653e-01 -3.53105806e-02 -1.35128794e-01 9.13456168e+00] [ 3.52946835e-02 9.99373786e-01 -2.51405043e-03 -5.95367111e-02] [ 1.35132947e-01 -2.27991865e-03 9.90824853e-01 3.69772147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.399649246000003 meters Centerline goodness : 0.963306 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.06, Z:0.37 [[ 9.90088504e-01 -3.57423043e-02 -1.35820626e-01 9.16298836e+00] [ 3.57278834e-02 9.99358316e-01 -2.54454994e-03 -5.85370302e-02] [ 1.35824420e-01 -2.33325386e-03 9.90730177e-01 3.73290372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.429649246000004 meters Centerline goodness : 0.963546 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.06, Z:0.38 [[ 9.89823257e-01 -3.57813852e-02 -1.37730218e-01 9.19023450e+00] [ 3.57617263e-02 9.99356916e-01 -2.61806308e-03 -5.68779259e-02] [ 1.37735324e-01 -2.33405064e-03 9.90466321e-01 3.75794374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.459649246000005 meters Centerline goodness : 0.962083 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.06, Z:0.38 [[ 9.89666577e-01 -3.55654539e-02 -1.38907037e-01 9.21780503e+00] [ 3.55395650e-02 9.99364710e-01 -2.66753862e-03 -5.62078122e-02] [ 1.38913663e-01 -2.29672184e-03 9.90301832e-01 3.79231531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.489649246000003 meters Centerline goodness : 0.960703 Centerline is valid? [True, True] Translation: X:9.25, Y:-0.06, Z:0.38 [[ 9.89508680e-01 -3.55975345e-02 -1.40019238e-01 9.24585152e+00] [ 3.55661484e-02 9.99363603e-01 -2.72725186e-03 -5.61866649e-02] [ 1.40027213e-01 -2.28130560e-03 9.90145027e-01 3.83219618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.519649246000004 meters Centerline goodness : 0.961013 Centerline is valid? [True, True] Translation: X:9.27, Y:-0.06, Z:0.39 [[ 9.89448475e-01 -3.64337231e-02 -1.40229450e-01 9.27404236e+00] [ 3.64052439e-02 9.99333273e-01 -2.76916604e-03 -5.53922819e-02] [ 1.40236846e-01 -2.36514021e-03 9.90115162e-01 3.87081116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.549649246000005 meters Centerline goodness : 0.962460 Centerline is valid? [True, True] Translation: X:9.30, Y:-0.06, Z:0.39 [[ 9.89515554e-01 -3.55242742e-02 -1.39989267e-01 9.30127161e+00] [ 3.54817602e-02 9.99366401e-01 -2.80030344e-03 -5.54945633e-02] [ 1.40000048e-01 -2.19612178e-03 9.90149061e-01 3.90985469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.579649246000002 meters Centerline goodness : 0.964186 Centerline is valid? [True, True] Translation: X:9.33, Y:-0.06, Z:0.40 [[ 9.89553252e-01 -3.57857848e-02 -1.39655787e-01 9.32907721e+00] [ 3.57435290e-02 9.99357041e-01 -2.81155992e-03 -5.50461267e-02] [ 1.39666608e-01 -2.20960243e-03 9.90196120e-01 3.95066175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.609649246000004 meters Centerline goodness : 0.964058 Centerline is valid? [True, True] Translation: X:9.36, Y:-0.05, Z:0.40 [[ 9.89614728e-01 -3.50491854e-02 -1.39406760e-01 9.35600986e+00] [ 3.49948419e-02 9.99383453e-01 -2.84179201e-03 -5.44011071e-02] [ 1.39420412e-01 -2.06623831e-03 9.90231124e-01 3.98573630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.639649246000005 meters Centerline goodness : 0.963200 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.05, Z:0.40 [[ 9.89773698e-01 -3.57024870e-02 -1.38106329e-01 9.38401446e+00] [ 3.56530846e-02 9.99360213e-01 -2.83230745e-03 -5.32714467e-02] [ 1.38119091e-01 -2.12057323e-03 9.90413358e-01 4.01639143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.669649246000002 meters Centerline goodness : 0.963010 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.05, Z:0.41 [[ 9.89661698e-01 -3.49739401e-02 -1.39091868e-01 9.41127580e+00] [ 3.49117756e-02 9.99386227e-01 -2.88749376e-03 -5.23236493e-02] [ 1.39107484e-01 -1.99830210e-03 9.90275272e-01 4.05298554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.699649246000003 meters Centerline goodness : 0.962840 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.05, Z:0.41 [[ 9.89552201e-01 -3.49384815e-02 -1.39877601e-01 9.43952725e+00] [ 3.48728048e-02 9.99387489e-01 -2.92127215e-03 -5.19999627e-02] [ 1.39893989e-01 -1.98717299e-03 9.90164493e-01 4.08959421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.729649246000005 meters Centerline goodness : 0.963356 Centerline is valid? [True, True] Translation: X:9.47, Y:-0.05, Z:0.41 [[ 9.89365513e-01 -3.59099331e-02 -1.40948070e-01 9.46606268e+00] [ 3.58481311e-02 9.99352811e-01 -2.97831662e-03 -5.16133586e-02] [ 1.40963801e-01 -2.10608113e-03 9.90012511e-01 4.12911330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.759649246000002 meters Centerline goodness : 0.962557 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.05, Z:0.42 [[ 9.89365697e-01 -3.65649067e-02 -1.40778282e-01 9.49364034e+00] [ 3.65073801e-02 9.99328904e-01 -2.99207038e-03 -5.05069539e-02] [ 1.40793211e-01 -2.17919447e-03 9.90036627e-01 4.15565999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.789649246000003 meters Centerline goodness : 0.961350 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.05, Z:0.42 [[ 9.89044461e-01 -3.43550734e-02 -1.43564558e-01 9.51993305e+00] [ 3.42670902e-02 9.99407946e-01 -3.08612033e-03 -5.17367114e-02] [ 1.43585584e-01 -1.86722946e-03 9.89636142e-01 4.22164184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.819649246000004 meters Centerline goodness : 0.962906 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.05, Z:0.42 [[ 9.89191005e-01 -3.58835803e-02 -1.42174275e-01 9.54717422e+00] [ 3.58107630e-02 9.99353868e-01 -3.07165396e-03 -4.96037403e-02] [ 1.42192634e-01 -2.05291680e-03 9.89836876e-01 4.23742194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.849649246000002 meters Centerline goodness : 0.961309 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.05, Z:0.43 [[ 9.89067598e-01 -3.50818843e-02 -1.43229005e-01 9.57465399e+00] [ 3.49970853e-02 9.99382569e-01 -3.11208313e-03 -4.93475345e-02] [ 1.43249749e-01 -1.93453712e-03 9.89684681e-01 4.27982067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.879649246000003 meters Centerline goodness : 0.961761 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.05, Z:0.43 [[ 9.89071332e-01 -3.53576840e-02 -1.43135372e-01 9.60208970e+00] [ 3.52707624e-02 9.99372843e-01 -3.14533907e-03 -4.85430773e-02] [ 1.43156815e-01 -1.93752898e-03 9.89698122e-01 4.31542021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.909649246000004 meters Centerline goodness : 0.962484 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.05, Z:0.44 [[ 9.89071038e-01 -3.53751125e-02 -1.43133097e-01 9.62927599e+00] [ 3.52835834e-02 9.99372286e-01 -3.17841649e-03 -4.80680812e-02] [ 1.43155688e-01 -1.90656889e-03 9.89698345e-01 4.35316105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.939649246000002 meters Centerline goodness : 0.963414 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.05, Z:0.44 [[ 9.89231371e-01 -3.56276256e-02 -1.41957624e-01 9.65744413e+00] [ 3.55377521e-02 9.99363310e-01 -3.16913327e-03 -4.69323152e-02] [ 1.41980150e-01 -1.90984880e-03 9.89867663e-01 4.38730148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.969649246000003 meters Centerline goodness : 0.965798 Centerline is valid? [True, True] Translation: X:9.68, Y:-0.05, Z:0.44 [[ 9.89140739e-01 -3.49392722e-02 -1.42757999e-01 9.68449750e+00] [ 3.48365112e-02 9.99387837e-01 -3.21993390e-03 -4.74532230e-02] [ 1.42783110e-01 -1.78822282e-03 9.89752386e-01 4.43103441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.999649246000004 meters Centerline goodness : 0.965326 Centerline is valid? [True, True] Translation: X:9.71, Y:-0.05, Z:0.45 [[ 9.89118559e-01 -3.33941023e-02 -1.43280527e-01 9.71167101e+00] [ 3.32722781e-02 9.99441051e-01 -3.24683962e-03 -4.75008562e-02] [ 1.43308866e-01 -1.55576022e-03 9.89676790e-01 4.47165423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.029649246 meters Centerline goodness : 0.966481 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.05, Z:0.45 [[ 9.89081684e-01 -3.27170756e-02 -1.43690693e-01 9.73980894e+00] [ 3.25849802e-02 9.99463609e-01 -3.27313676e-03 -4.62901323e-02] [ 1.43720706e-01 -1.44475877e-03 9.89617235e-01 4.50264153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.059649246000003 meters Centerline goodness : 0.964634 Centerline is valid? [True, True] Translation: X:9.77, Y:-0.04, Z:0.45 [[ 9.89091994e-01 -3.19214106e-02 -1.43798647e-01 9.76701665e+00] [ 3.17760902e-02 9.99489539e-01 -3.30767708e-03 -4.43005515e-02] [ 1.43830829e-01 -1.29776185e-03 9.89601439e-01 4.52894553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.089649246000004 meters Centerline goodness : 0.963031 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.04, Z:0.46 [[ 9.88979362e-01 -3.08569600e-02 -1.44802177e-01 9.79460902e+00] [ 3.06957477e-02 9.99523168e-01 -3.34791538e-03 -4.39253545e-02] [ 1.44836437e-01 -1.13379187e-03 9.89454962e-01 4.56933729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.119649246000005 meters Centerline goodness : 0.962492 Centerline is valid? [True, True] Translation: X:9.82, Y:-0.04, Z:0.46 [[ 9.88933280e-01 -3.11073587e-02 -1.45063089e-01 9.82196822e+00] [ 3.09435688e-02 9.99515398e-01 -3.38583017e-03 -4.24021699e-02] [ 1.45098115e-01 -1.14040954e-03 9.89416614e-01 4.59913559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.149649246000003 meters Centerline goodness : 0.960045 Centerline is valid? [True, True] Translation: X:9.85, Y:-0.04, Z:0.46 [[ 9.88868661e-01 -3.11037066e-02 -1.45503712e-01 9.85016494e+00] [ 3.09363831e-02 9.99515528e-01 -3.41309456e-03 -4.19876166e-02] [ 1.45539379e-01 -1.12625633e-03 9.89351818e-01 4.63521420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.179649246000004 meters Centerline goodness : 0.961482 Centerline is valid? [True, True] Translation: X:9.88, Y:-0.04, Z:0.47 [[ 9.88822401e-01 -3.14774503e-02 -1.45737537e-01 9.87769586e+00] [ 3.13086630e-02 9.99503802e-01 -3.45226042e-03 -4.35002047e-02] [ 1.45773890e-01 -1.14917499e-03 9.89317266e-01 4.68363974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.209649246000005 meters Centerline goodness : 0.964548 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.04, Z:0.47 [[ 9.88784432e-01 -3.21461714e-02 -1.45849137e-01 9.90556912e+00] [ 3.19794136e-02 9.99482440e-01 -3.48845058e-03 -4.33508085e-02] [ 1.45885791e-01 -1.21484423e-03 9.89300692e-01 4.72298388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.239649246000003 meters Centerline goodness : 0.961559 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.04, Z:0.48 [[ 9.88786346e-01 -3.10861724e-02 -1.46065782e-01 9.93191265e+00] [ 3.09027839e-02 9.99516179e-01 -3.52499716e-03 -4.32934325e-02] [ 1.46104691e-01 -1.02837026e-03 9.89268599e-01 4.76582353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.269649246000004 meters Centerline goodness : 0.960167 Centerline is valid? [True, True] Translation: X:9.96, Y:-0.04, Z:0.48 [[ 9.88789157e-01 -3.16131401e-02 -1.45933592e-01 9.96031049e+00] [ 3.14333254e-02 9.99499587e-01 -3.53852123e-03 -4.12267154e-02] [ 1.45972429e-01 -1.08832667e-03 9.89288060e-01 4.79277523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.299649246000005 meters Centerline goodness : 0.958678 Centerline is valid? [True, True] Translation: X:9.99, Y:-0.04, Z:0.48 [[ 9.88700641e-01 -3.15005368e-02 -1.46556333e-01 9.98684767e+00] [ 3.13133414e-02 9.99503189e-01 -3.58473954e-03 -3.92559928e-02] [ 1.46596443e-01 -1.04493419e-03 9.89195830e-01 4.82553524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.329649246000002 meters Centerline goodness : 0.958635 Centerline is valid? [True, True] Translation: X:10.01, Y:-0.04, Z:0.49 [[ 9.88723465e-01 -3.19273538e-02 -1.46309786e-01 1.00146859e+01] [ 3.17429806e-02 9.99489598e-01 -3.59530496e-03 -3.76484297e-02] [ 1.46349898e-01 -1.08954632e-03 9.89232288e-01 4.85619111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.359649246000004 meters Centerline goodness : 0.961103 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.04, Z:0.49 [[ 9.88760221e-01 -3.19598777e-02 -1.46054073e-01 1.00412701e+01] [ 3.17719902e-02 9.99488589e-01 -3.61957065e-03 -3.59132534e-02] [ 1.46095061e-01 -1.06154112e-03 9.89269987e-01 4.87485623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.389649246000005 meters Centerline goodness : 0.962053 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.04, Z:0.49 [[ 9.88516906e-01 -3.07245675e-02 -1.47953803e-01 1.00687658e+01] [ 3.05152982e-02 9.99527508e-01 -3.68467846e-03 -3.60622640e-02] [ 1.47997107e-01 -8.72487484e-04 9.88987409e-01 4.91816898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.419649246000002 meters Centerline goodness : 0.961912 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.04, Z:0.50 [[ 9.88558922e-01 -3.06816060e-02 -1.47681742e-01 1.00957167e+01] [ 3.04667632e-02 9.99528868e-01 -3.71718490e-03 -3.55168877e-02] [ 1.47726214e-01 -8.24728379e-04 9.89027950e-01 4.95538081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.449649246000003 meters Centerline goodness : 0.959864 Centerline is valid? [True, True] Translation: X:10.12, Y:-0.04, Z:0.50 [[ 9.88526593e-01 -3.07877786e-02 -1.47875920e-01 1.01238493e+01] [ 3.05691302e-02 9.99525614e-01 -3.75162619e-03 -3.54826898e-02] [ 1.47921274e-01 -8.11855991e-04 9.88998806e-01 4.99988025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.479649246000005 meters Centerline goodness : 0.961057 Centerline is valid? [True, True] Translation: X:10.15, Y:-0.03, Z:0.50 [[ 9.88558952e-01 -3.10041291e-02 -1.47614169e-01 1.01517628e+01] [ 3.07826389e-02 9.99518935e-01 -3.78527967e-03 -3.43631919e-02] [ 1.47660516e-01 -8.01981538e-04 9.89037779e-01 5.03176384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.509649246000002 meters Centerline goodness : 0.962042 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.03, Z:0.51 [[ 9.88658327e-01 -3.13266771e-02 -1.46878700e-01 1.01792962e+01] [ 3.11050408e-02 9.99508874e-01 -3.80609434e-03 -3.27952114e-02] [ 1.46925797e-01 -8.05741105e-04 9.89147189e-01 5.06725422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.539649246000003 meters Centerline goodness : 0.960366 Centerline is valid? [True, True] Translation: X:10.21, Y:-0.03, Z:0.51 [[ 9.88746360e-01 -3.09647807e-02 -1.46361944e-01 1.02070340e+01] [ 3.07349150e-02 9.99520225e-01 -3.83220665e-03 -3.05480486e-02] [ 1.46410387e-01 -7.09341543e-04 9.89223683e-01 5.08809681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.569649246000004 meters Centerline goodness : 0.961635 Centerline is valid? [True, True] Translation: X:10.23, Y:-0.03, Z:0.51 [[ 9.88721926e-01 -3.07435753e-02 -1.46573482e-01 1.02336520e+01] [ 3.05051629e-02 9.99527099e-01 -3.87459779e-03 -2.94774092e-02] [ 1.46623287e-01 -6.40348162e-04 9.89192197e-01 5.11438126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.599649246000002 meters Centerline goodness : 0.959899 Centerline is valid? [True, True] Translation: X:10.26, Y:-0.03, Z:0.52 [[ 9.88627308e-01 -3.08057112e-02 -1.47197331e-01 1.02615413e+01] [ 3.05629333e-02 9.99525192e-01 -3.91130701e-03 -2.99299824e-02] [ 1.47247931e-01 -6.31957280e-04 9.89099412e-01 5.15762552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.629649246000003 meters Centerline goodness : 0.961877 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.03, Z:0.52 [[ 9.88636738e-01 -3.15963137e-02 -1.46966231e-01 1.02893231e+01] [ 3.13569729e-02 9.99500461e-01 -3.94563272e-03 -2.92740845e-02] [ 1.47017483e-01 -7.07618649e-04 9.89133641e-01 5.19204029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.659649246000004 meters Centerline goodness : 0.960022 Centerline is valid? [True, True] Translation: X:10.32, Y:-0.03, Z:0.52 [[ 9.88448221e-01 -3.24993612e-02 -1.48033461e-01 1.03161861e+01] [ 3.22609434e-02 9.99471428e-01 -4.01200411e-03 -2.93990706e-02] [ 1.48085603e-01 -8.10040795e-04 9.88974215e-01 5.22856179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.689649246000002 meters Centerline goodness : 0.957910 Centerline is valid? [True, True] Translation: X:10.34, Y:-0.03, Z:0.53 [[ 9.88405260e-01 -3.28726862e-02 -1.48237741e-01 1.03435620e+01] [ 3.26351497e-02 9.99459186e-01 -4.03510329e-03 -2.76804440e-02] [ 1.48290216e-01 -8.49443540e-04 9.88943522e-01 5.25551290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.719649246000003 meters Centerline goodness : 0.958153 Centerline is valid? [True, True] Translation: X:10.37, Y:-0.03, Z:0.53 [[ 9.88381541e-01 -3.30494438e-02 -1.48356542e-01 1.03711216e+01] [ 3.28104451e-02 9.99453351e-01 -4.05872937e-03 -2.67059375e-02] [ 1.48409582e-01 -8.56070990e-04 9.88925610e-01 5.28972710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.749649246000004 meters Centerline goodness : 0.960135 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.03, Z:0.53 [[ 9.88541599e-01 -3.38966236e-02 -1.47093597e-01 1.03976586e+01] [ 3.36655889e-02 9.99424904e-01 -4.06064393e-03 -2.53299554e-02] [ 1.47146646e-01 -9.37877123e-04 9.89114243e-01 5.32052591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.779649246 meters Centerline goodness : 0.958296 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.03, Z:0.53 [[ 9.88818186e-01 -3.36957622e-02 -1.45269373e-01 1.04250072e+01] [ 3.34658291e-02 9.99431749e-01 -4.02696133e-03 -2.50865379e-02] [ 1.45322515e-01 -8.79627413e-04 9.89383946e-01 5.34979366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.809649246000003 meters Centerline goodness : 0.958879 Centerline is valid? [True, True] Translation: X:10.45, Y:-0.02, Z:0.54 [[ 9.88923286e-01 -3.42474655e-02 -1.44422454e-01 1.04527805e+01] [ 3.40233117e-02 9.99412945e-01 -4.02233242e-03 -2.48138585e-02] [ 1.44475425e-01 -9.35951977e-04 9.89507946e-01 5.39018946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.839649246000004 meters Centerline goodness : 0.961329 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.02, Z:0.54 [[ 9.88878440e-01 -3.40174311e-02 -1.44783442e-01 1.04800888e+01] [ 3.37844644e-02 9.99420862e-01 -4.06815740e-03 -2.46133102e-02] [ 1.44837980e-01 -8.68517889e-04 9.89455004e-01 5.42849231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.869649246000005 meters Centerline goodness : 0.958353 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.02, Z:0.55 [[ 9.88910483e-01 -3.43480889e-02 -1.44486212e-01 1.05083430e+01] [ 3.41168641e-02 9.99409529e-01 -4.07847017e-03 -2.30049927e-02] [ 1.44540985e-01 -8.96174575e-04 9.89498409e-01 5.45740538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.899649246000003 meters Centerline goodness : 0.956396 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.02, Z:0.55 [[ 9.88932662e-01 -3.41294436e-02 -1.44386188e-01 1.05366600e+01] [ 3.38906808e-02 9.99417080e-01 -4.11360468e-03 -2.20532449e-02] [ 1.44442417e-01 -8.25268173e-04 9.89512864e-01 5.48668168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.929649246000004 meters Centerline goodness : 0.956559 Centerline is valid? [True, True] Translation: X:10.56, Y:-0.02, Z:0.55 [[ 9.88891546e-01 -3.49703003e-02 -1.44466563e-01 1.05633054e+01] [ 3.47342908e-02 9.99387940e-01 -4.15632370e-03 -2.08085084e-02] [ 1.44523489e-01 -9.07790241e-04 9.89500954e-01 5.52266671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.959649246000005 meters Centerline goodness : 0.956872 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.02, Z:0.56 [[ 9.88875356e-01 -3.49610837e-02 -1.44579574e-01 1.05898016e+01] [ 3.47205973e-02 9.99388287e-01 -4.18699944e-03 -1.97018915e-02] [ 1.44637515e-01 -8.79468591e-04 9.89484318e-01 5.55099938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.989649246000003 meters Centerline goodness : 0.958193 Centerline is valid? [True, True] Translation: X:10.62, Y:-0.02, Z:0.56 [[ 9.88883022e-01 -3.55730647e-02 -1.44377719e-01 1.06170495e+01] [ 3.53371528e-02 9.99366627e-01 -4.19886991e-03 -1.80164607e-02] [ 1.44435641e-01 -9.49706350e-04 9.89513741e-01 5.57598122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.019649246000004 meters Centerline goodness : 0.957089 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.02, Z:0.56 [[ 9.88785192e-01 -3.76053776e-02 -1.44532622e-01 1.06450291e+01] [ 3.73878379e-02 9.99291912e-01 -4.22194711e-03 -1.83257261e-02] [ 1.44589048e-01 -1.22916345e-03 9.89491029e-01 5.61891013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.049649246000005 meters Centerline goodness : 0.953740 Centerline is valid? [True, True] Translation: X:10.67, Y:-0.02, Z:0.57 [[ 9.88729716e-01 -3.85023094e-02 -1.44675915e-01 1.06727817e+01] [ 3.82878498e-02 9.99257639e-01 -4.26741338e-03 -1.76721517e-02] [ 1.44732818e-01 -1.32001127e-03 9.89469893e-01 5.65702639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.079649246000002 meters Centerline goodness : 0.955706 Centerline is valid? [True, True] Translation: X:10.70, Y:-0.02, Z:0.57 [[ 9.88839917e-01 -3.87715630e-02 -1.43848478e-01 1.07000269e+01] [ 3.85565580e-02 9.99247240e-01 -4.28307413e-03 -1.60862612e-02] [ 1.43906256e-01 -1.31102752e-03 9.89590456e-01 5.68934325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.109649246000004 meters Centerline goodness : 0.953729 Centerline is valid? [True, True] Translation: X:10.73, Y:-0.01, Z:0.57 [[ 9.88924351e-01 -3.84021189e-02 -1.43366330e-01 1.07272641e+01] [ 3.81807631e-02 9.99261615e-01 -4.29582673e-03 -1.36373022e-02] [ 1.43425440e-01 -1.22558824e-03 9.89660367e-01 5.71265848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.139649246000005 meters Centerline goodness : 0.952987 Centerline is valid? [True, True] Translation: X:10.76, Y:-0.01, Z:0.57 [[ 9.88934845e-01 -3.89009198e-02 -1.43159319e-01 1.07553515e+01] [ 3.86825090e-02 9.99242258e-01 -4.30961734e-03 -1.18526495e-02] [ 1.43218489e-01 -1.27583088e-03 9.89690273e-01 5.74639996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.169649246000002 meters Centerline goodness : 0.952987 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.01, Z:0.58 [[ 9.88924805e-01 -3.91596862e-02 -1.43158129e-01 1.07837602e+01] [ 3.89383013e-02 9.99232154e-01 -4.34879711e-03 -1.07966870e-02] [ 1.43218503e-01 -1.27370102e-03 9.89690274e-01 5.78307943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.199649246000003 meters Centerline goodness : 0.957209 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.01, Z:0.58 [[ 9.89061632e-01 -3.92219000e-02 -1.42192580e-01 1.08118163e+01] [ 3.89988337e-02 9.99229760e-01 -4.35634281e-03 -9.45966152e-03] [ 1.42253922e-01 -1.23665324e-03 9.89829426e-01 5.80591248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.229649246000005 meters Centerline goodness : 0.957393 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.01, Z:0.58 [[ 9.89133862e-01 -3.90710181e-02 -1.41730940e-01 1.08401431e+01] [ 3.88421685e-02 9.99235750e-01 -4.38192241e-03 -9.17591965e-03] [ 1.41793828e-01 -1.17082921e-03 9.89895519e-01 5.84416981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.259649246000002 meters Centerline goodness : 0.955264 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.01, Z:0.59 [[ 9.89183217e-01 -3.93628711e-02 -1.41305087e-01 1.08669300e+01] [ 3.91326640e-02 9.99224298e-01 -4.40863682e-03 -9.11614990e-03] [ 1.41369013e-01 -1.16869493e-03 9.89956280e-01 5.88512801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.289649246000003 meters Centerline goodness : 0.956594 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.01, Z:0.59 [[ 9.89153619e-01 -4.02199010e-02 -1.41270936e-01 1.08940264e+01] [ 3.99946293e-02 9.99190054e-01 -4.43468896e-03 -8.48344211e-03] [ 1.41334876e-01 -1.26349007e-03 9.89961038e-01 5.91264311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.319649246000004 meters Centerline goodness : 0.952390 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.01, Z:0.59 [[ 9.89096571e-01 -4.07110330e-02 -1.41529449e-01 1.09224671e+01] [ 4.04871177e-02 9.99170095e-01 -4.46251603e-03 -7.00139388e-03] [ 1.41593666e-01 -1.31626014e-03 9.89923988e-01 5.94669988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.349649246000002 meters Centerline goodness : 0.951996 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.01, Z:0.60 [[ 9.89069373e-01 -4.07557974e-02 -1.41706529e-01 1.09496141e+01] [ 4.05262971e-02 9.99168310e-01 -4.50636897e-03 -5.60120797e-03] [ 1.41772334e-01 -1.28572936e-03 9.89898456e-01 5.96492629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.379649246000003 meters Centerline goodness : 0.952840 Centerline is valid? [True, True] Translation: X:10.98, Y:-0.00, Z:0.60 [[ 9.89023669e-01 -4.14348401e-02 -1.41828544e-01 1.09778052e+01] [ 4.12090818e-02 9.99140277e-01 -4.52983759e-03 -3.80030395e-03] [ 1.41894304e-01 -1.36450747e-03 9.89880874e-01 6.00055765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.409649246000004 meters Centerline goodness : 0.953650 Centerline is valid? [True, True] Translation: X:11.00, Y:-0.00, Z:0.60 [[ 9.88990291e-01 -4.41604706e-02 -1.41237588e-01 1.10049358e+01] [ 4.39588579e-02 9.99022987e-01 -4.54865819e-03 -4.18381161e-03] [ 1.41300468e-01 -1.71006425e-03 9.89965279e-01 6.02449627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.439649246000002 meters Centerline goodness : 0.953339 Centerline is valid? [True, True] Translation: X:11.03, Y:-0.00, Z:0.61 [[ 9.88780762e-01 -4.68823456e-02 -1.41826127e-01 1.10321239e+01] [ 4.67041176e-02 9.98898235e-01 -4.58702009e-03 -4.77250044e-03] [ 1.41884918e-01 -2.08830687e-03 9.89880957e-01 6.08568062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.469649246000003 meters Centerline goodness : 0.951932 Centerline is valid? [True, True] Translation: X:11.06, Y:-0.00, Z:0.61 [[ 9.88306398e-01 -4.74518582e-02 -1.44909575e-01 1.10587536e+01] [ 4.72661014e-02 9.98871151e-01 -4.72640868e-03 -3.28208663e-03] [ 1.44970271e-01 -2.17817071e-03 9.89433614e-01 6.10976874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.499649246000004 meters Centerline goodness : 0.947992 Centerline is valid? [True, False] Translation: X:11.06, Y:-0.01, Z:0.61 [[ 9.88177631e-01 -4.44866392e-02 -1.46717105e-01 1.10631753e+01] [ 4.49874992e-02 9.98987545e-01 9.57072596e-05 -5.21059800e-03] [ 1.46564303e-01 -6.69501141e-03 9.89178488e-01 6.13244837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.529649246 meters Centerline goodness : 0.947897 Centerline is valid? [False, False] Translation: X:11.07, Y:-0.01, Z:0.61 [[ 9.87976374e-01 -4.45492307e-02 -1.48047457e-01 1.10703850e+01] [ 4.55574474e-02 9.98955851e-01 3.42435493e-03 -6.09207249e-03] [ 1.47740321e-01 -1.01278460e-02 9.88974329e-01 6.14423741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.559649246000003 meters Centerline goodness : 0.946853 Centerline is valid? [False, False] Translation: X:11.07, Y:-0.01, Z:0.61 [[ 9.87830314e-01 -4.52919699e-02 -1.48794852e-01 1.10729427e+01] [ 4.63236878e-02 9.98920442e-01 3.47369910e-03 -6.49236813e-03] [ 1.48476889e-01 -1.03241515e-02 9.88861985e-01 6.14581173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.589649246000004 meters Centerline goodness : 0.946289 Centerline is valid? [False, False] Translation: X:11.08, Y:-0.01, Z:0.61 [[ 9.87691492e-01 -4.60541642e-02 -1.49480869e-01 1.10752491e+01] [ 4.70492812e-02 9.98887679e-01 3.12573432e-03 -5.88111672e-03] [ 1.49170646e-01 -1.01202286e-02 9.88759677e-01 6.14441904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.619649246000005 meters Centerline goodness : 0.945742 Centerline is valid? [False, False] Translation: X:11.08, Y:-0.01, Z:0.62 [[ 9.87614890e-01 -4.25475975e-02 -1.51018312e-01 1.10780291e+01] [ 4.43517185e-02 9.98978990e-01 8.59671722e-03 -8.06227664e-03] [ 1.50498351e-01 -1.51881676e-02 9.88493584e-01 6.18041835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.649649246000003 meters Centerline goodness : 0.944465 Centerline is valid? [False, False] Translation: X:11.08, Y:-0.01, Z:0.62 [[ 9.87539220e-01 -3.92276315e-02 -1.52405647e-01 1.10808673e+01] [ 4.18404417e-02 9.99026587e-01 1.39734349e-02 -1.00356221e-02] [ 1.51709149e-01 -2.01760346e-02 9.88219238e-01 6.21598685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.679649246000004 meters Centerline goodness : 0.947323 Centerline is valid? [False, False] Translation: X:11.08, Y:-0.01, Z:0.62 [[ 9.87465594e-01 -3.94075552e-02 -1.52835680e-01 1.10813637e+01] [ 4.20803756e-02 9.99012005e-01 1.42918354e-02 -9.53963721e-03] [ 1.52121473e-01 -2.05440786e-02 9.88148267e-01 6.22886089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.709649246000005 meters Centerline goodness : 0.948685 Centerline is valid? [False, False] Translation: X:11.08, Y:-0.01, Z:0.63 [[ 0.98736079 -0.03621945 -0.15429459 11.08489114] [ 0.03961781 0.99903412 0.01900656 -0.01119629] [ 0.15345716 -0.02487915 0.98784206 0.62505443] [ 0. 0. 0. 1. ]] SLAMing on 22.739649246000003 meters Centerline goodness : 0.947377 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.01, Z:0.62 [[ 9.87287622e-01 -3.69795998e-02 -1.54582214e-01 1.10865481e+01] [ 4.02398521e-02 9.99027650e-01 1.80141371e-02 -9.50258466e-03] [ 1.53765750e-01 -2.40055000e-02 9.87815686e-01 6.23913107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.769649246000004 meters Centerline goodness : 0.947808 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.01, Z:0.62 [[ 9.87201495e-01 -3.80130537e-02 -1.54881295e-01 1.10887149e+01] [ 4.10939175e-02 9.99015084e-01 1.67377397e-02 -6.81989602e-03] [ 1.54092497e-01 -2.28882008e-02 9.87791290e-01 6.22323540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.799649246000005 meters Centerline goodness : 0.947911 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.01, Z:0.62 [[ 9.87088617e-01 -3.88081046e-02 -1.55402684e-01 1.10905842e+01] [ 4.18219036e-02 9.98994225e-01 1.61699430e-02 -5.57678777e-03] [ 1.54618859e-01 -2.24604027e-02 9.87718856e-01 6.22079323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.829649246000002 meters Centerline goodness : 0.949133 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.00, Z:0.62 [[ 9.87018236e-01 -3.94344989e-02 -1.55691755e-01 1.10920355e+01] [ 4.23157349e-02 9.98988140e-01 1.52339816e-02 -3.60785130e-03] [ 1.54933472e-01 -2.16244287e-02 9.87688212e-01 6.21107126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.859649246000004 meters Centerline goodness : 0.945839 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.00, Z:0.62 [[ 9.86950546e-01 -3.97175851e-02 -1.56048497e-01 1.10929322e+01] [ 4.25189260e-02 9.98988194e-01 1.46536406e-02 -1.97528664e-03] [ 1.55308599e-01 -2.10974331e-02 9.87640692e-01 6.20838325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.889649246000005 meters Centerline goodness : 0.946463 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.00, Z:0.62 [[ 9.86863035e-01 -3.98905725e-02 -1.56556997e-01 1.10937289e+01] [ 4.27237592e-02 9.98977707e-01 1.47722940e-02 -1.75505684e-03] [ 1.55807675e-01 -2.12669344e-02 9.87558447e-01 6.21724513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.919649246000002 meters Centerline goodness : 0.948693 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.00, Z:0.62 [[ 9.86883042e-01 -3.95063997e-02 -1.56528291e-01 1.10930319e+01] [ 4.22941599e-02 9.98999713e-01 1.45181879e-02 -7.45254208e-04] [ 1.55798156e-01 -2.09479860e-02 9.87566766e-01 6.21733979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.949649246000003 meters Centerline goodness : 0.951099 Centerline is valid? [False, True] Translation: X:11.09, Y:0.00, Z:0.62 [[ 9.86830906e-01 -3.99468103e-02 -1.56745066e-01 1.10941177e+01] [ 4.26133379e-02 9.98997882e-01 1.36870655e-02 1.37349946e-03] [ 1.56041234e-01 -2.01862497e-02 9.87544251e-01 6.20854583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.979649246000005 meters Centerline goodness : 0.944288 Centerline is valid? [True, False] Translation: X:11.10, Y:0.00, Z:0.62 [[ 9.86777720e-01 -3.65684686e-02 -1.57900217e-01 1.10973724e+01] [ 3.97100612e-02 9.99070236e-01 1.67861399e-02 3.30886079e-03] [ 1.57139563e-01 -2.28344162e-02 9.87312386e-01 6.20483846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.009649246000002 meters Centerline goodness : 0.946633 Centerline is valid? [False, False] Translation: X:11.10, Y:0.00, Z:0.62 [[ 9.86625129e-01 -3.33123125e-02 -1.59565484e-01 1.11014306e+01] [ 3.71728082e-02 9.99082474e-01 2.12695059e-02 2.96176299e-03] [ 1.58710543e-01 -2.69165262e-02 9.86958188e-01 6.22393456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.039649246000003 meters Centerline goodness : 0.947920 Centerline is valid? [False, False] Translation: X:11.10, Y:0.01, Z:0.62 [[ 9.86562104e-01 -3.42577457e-02 -1.59754880e-01 1.11034009e+01] [ 3.78267558e-02 9.99096903e-01 1.93523743e-02 6.64468260e-03] [ 1.58947637e-01 -2.51353279e-02 9.86967002e-01 6.19807819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.069649246000004 meters Centerline goodness : 0.948763 Centerline is valid? [False, False] Translation: X:11.11, Y:0.00, Z:0.62 [[ 9.86334459e-01 -3.52302373e-02 -1.60944606e-01 1.11057377e+01] [ 3.90848744e-02 9.99018420e-01 2.08463181e-02 3.72848730e-03] [ 1.60052205e-01 -2.68519416e-02 9.86743262e-01 6.23355901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.099649246000002 meters Centerline goodness : 0.948938 Centerline is valid? [False, False] Translation: X:11.11, Y:0.01, Z:0.62 [[ 9.85984170e-01 -4.14895093e-02 -1.61597761e-01 1.11097108e+01] [ 4.45444012e-02 9.98889841e-01 1.53258626e-02 5.70092503e-03] [ 1.60782499e-01 -2.23093335e-02 9.86737696e-01 6.21423756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.129649246000003 meters Centerline goodness : 0.947948 Centerline is valid? [False, False] Translation: X:11.11, Y:0.01, Z:0.62 [[ 9.85759375e-01 -4.30672708e-02 -1.62553572e-01 1.11147687e+01] [ 4.59234060e-02 9.98848916e-01 1.38522417e-02 7.05387800e-03] [ 1.61769881e-01 -2.11199909e-02 9.86602479e-01 6.18717636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.159649246000004 meters Centerline goodness : 0.946277 Centerline is valid? [False, False] Translation: X:11.12, Y:0.01, Z:0.62 [[ 9.85671521e-01 -4.36191293e-02 -1.62938712e-01 1.11165591e+01] [ 4.64507800e-02 9.98827892e-01 1.36076201e-02 7.39397459e-03] [ 1.62154177e-01 -2.09812739e-02 9.86542350e-01 6.18292112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.189649246000002 meters Centerline goodness : 0.944212 Centerline is valid? [False, False] Translation: X:11.11, Y:0.00, Z:0.62 [[ 9.85632547e-01 -4.26625830e-02 -1.63427009e-01 1.11146951e+01] [ 4.59390228e-02 9.98810924e-01 1.63200815e-02 3.86493330e-03] [ 1.62536425e-01 -2.35932806e-02 9.86420432e-01 6.23670893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.219649246000003 meters Centerline goodness : 0.945852 Centerline is valid? [False, False] Translation: X:11.12, Y:0.00, Z:0.63 [[ 9.85621504e-01 -3.90356088e-02 -1.64397297e-01 1.11163997e+01] [ 4.31538238e-02 9.98835942e-01 2.15524690e-02 1.00193388e-03] [ 1.63364615e-01 -2.83369489e-02 9.86158719e-01 6.26726530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.249649246000004 meters Centerline goodness : 0.947740 Centerline is valid? [False, False] Translation: X:11.12, Y:0.00, Z:0.63 [[ 9.85574596e-01 -3.93771344e-02 -1.64596953e-01 1.11169735e+01] [ 4.35205012e-02 9.98818110e-01 2.16413817e-02 7.78140255e-04] [ 1.63550242e-01 -2.84925379e-02 9.86123468e-01 6.27216539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.279649246000005 meters Centerline goodness : 0.947994 Centerline is valid? [False, False] Translation: X:11.12, Y:0.00, Z:0.63 [[ 9.85473521e-01 -3.99623205e-02 -1.65060453e-01 1.11184931e+01] [ 4.40818305e-02 9.98799363e-01 2.13687552e-02 1.32287925e-03] [ 1.64008331e-01 -2.83345094e-02 9.86051937e-01 6.27237121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.309649246000003 meters Centerline goodness : 0.945362 Centerline is valid? [False, False] Translation: X:11.12, Y:0.00, Z:0.63 [[ 9.85324029e-01 -4.12221990e-02 -1.65642047e-01 1.11217234e+01] [ 4.51794247e-02 9.98774797e-01 2.01922123e-02 2.59068407e-03] [ 1.64606734e-01 -2.73794844e-02 9.85979202e-01 6.25585287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.339649246000004 meters Centerline goodness : 0.944040 Centerline is valid? [False, False] Translation: X:11.12, Y:0.00, Z:0.62 [[ 9.85163613e-01 -4.22394686e-02 -1.66338462e-01 1.11244434e+01] [ 4.60864038e-02 9.98750342e-01 1.93338592e-02 3.62387606e-03] [ 1.65313944e-01 -2.67129561e-02 9.85879160e-01 6.24742413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.369649246000005 meters Centerline goodness : 0.946853 Centerline is valid? [False, False] Translation: X:11.13, Y:0.01, Z:0.62 [[ 9.84941055e-01 -4.38811560e-02 -1.67229072e-01 1.11286319e+01] [ 4.75229161e-02 9.98710896e-01 1.78359089e-02 5.56031794e-03] [ 1.66230836e-01 -2.55145320e-02 9.85756723e-01 6.22957110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.399649246000003 meters Centerline goodness : 0.945159 Centerline is valid? [False, False] Translation: X:11.13, Y:0.01, Z:0.62 [[ 9.84770481e-01 -4.50051806e-02 -1.67933418e-01 1.11317292e+01] [ 4.85184859e-02 9.98679730e-01 1.68746107e-02 6.87953401e-03] [ 1.66952256e-01 -2.47654936e-02 9.85653902e-01 6.21837045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.429649246000004 meters Centerline goodness : 0.943307 Centerline is valid? [False, False] Translation: X:11.14, Y:0.01, Z:0.62 [[ 9.84569436e-01 -4.63387653e-02 -1.68747575e-01 1.11350364e+01] [ 4.97024871e-02 9.98639684e-01 1.57621211e-02 8.76465914e-03] [ 1.67787628e-01 -2.39060768e-02 9.85533262e-01 6.20851367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.459649246000005 meters Centerline goodness : 0.938863 Centerline is valid? [False, False] Translation: X:11.14, Y:0.01, Z:0.62 [[ 9.84440799e-01 -4.70446885e-02 -1.69301832e-01 1.11368423e+01] [ 5.03564849e-02 9.98613819e-01 1.53188078e-02 9.89404442e-03] [ 1.68346481e-01 -2.36059046e-02 9.85445191e-01 6.20782638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.489649246000003 meters Centerline goodness : 0.936544 Centerline is valid? [False, False] Translation: X:11.14, Y:0.01, Z:0.62 [[ 0.9842952 -0.04772606 -0.16995644 11.1387294 ] [ 0.05095674 0.99859274 0.01469539 0.01182373] [ 0.16901591 -0.02312503 0.985342 0.62068941] [ 0. 0. 0. 1. ]] SLAMing on 23.519649246000004 meters Centerline goodness : 0.938937 Centerline is valid? [False, False] Translation: X:11.14, Y:0.01, Z:0.62 [[ 0.98414057 -0.0485652 -0.17061288 11.14076812] [ 0.05180039 0.99855132 0.01455939 0.01222429] [ 0.16965863 -0.0231663 0.98523057 0.62115691] [ 0. 0. 0. 1. ]] SLAMing on 23.549649246000005 meters Centerline goodness : 0.938836 Centerline is valid? [False, False] Translation: X:11.14, Y:0.01, Z:0.62 [[ 0.9839101 -0.0498478 -0.17156955 11.14398616] [ 0.05310144 0.99848494 0.01442423 0.01201178] [ 0.1705906 -0.02330274 0.98506641 0.62168033] [ 0. 0. 0. 1. ]] SLAMing on 23.579649246000002 meters Centerline goodness : 0.937898 Centerline is valid? [False, False] Translation: X:11.15, Y:0.01, Z:0.62 [[ 0.98374922 -0.05077144 -0.17222002 11.14674633] [ 0.05394343 0.99844883 0.01378545 0.01321733] [ 0.17125297 -0.02285156 0.98496204 0.62091488] [ 0. 0. 0. 1. ]] SLAMing on 23.609649246000004 meters Centerline goodness : 0.936365 Centerline is valid? [False, False] Translation: X:11.15, Y:0.01, Z:0.62 [[ 0.98361873 -0.05141372 -0.17277393 11.14848743] [ 0.05454449 0.99842117 0.01341894 0.01374861] [ 0.17181124 -0.02262299 0.98487009 0.62097992] [ 0. 0. 0. 1. ]] SLAMing on 23.639649246000005 meters Centerline goodness : 0.935423 Centerline is valid? [False, False] Translation: X:11.15, Y:0.01, Z:0.62 [[ 0.98348712 -0.05200499 -0.17334523 11.1501923 ] [ 0.05513753 0.99839016 0.01330165 0.01413435] [ 0.17237442 -0.02263983 0.98477129 0.6213196 ] [ 0. 0. 0. 1. ]] SLAMing on 23.669649246000002 meters Centerline goodness : 0.934442 Centerline is valid? [False, False] Translation: X:11.15, Y:0.01, Z:0.62 [[ 0.98332466 -0.05261196 -0.17408216 11.15187064] [ 0.05575726 0.99835678 0.01322356 0.01437415] [ 0.17310039 -0.0227094 0.98464234 0.62213697] [ 0. 0. 0. 1. ]] SLAMing on 23.699649246000003 meters Centerline goodness : 0.936780 Centerline is valid? [False, False] Translation: X:11.15, Y:0.01, Z:0.62 [[ 0.98321607 -0.0530778 -0.17455344 11.15330902] [ 0.05622776 0.99833141 0.01314673 0.0148051 ] [ 0.17356438 -0.02274082 0.98455993 0.62241329] [ 0. 0. 0. 1. ]] SLAMing on 23.729649246000005 meters Centerline goodness : 0.935387 Centerline is valid? [False, False] Translation: X:11.15, Y:0.02, Z:0.62 [[ 0.98313596 -0.05357483 -0.17485256 11.15456426] [ 0.05670814 0.99830656 0.01296921 0.0158881 ] [ 0.17386164 -0.02266606 0.98450921 0.62242791] [ 0. 0. 0. 1. ]] SLAMing on 23.759649246000002 meters Centerline goodness : 0.934955 Centerline is valid? [False, False] Translation: X:11.16, Y:0.02, Z:0.62 [[ 0.98301658 -0.05400977 -0.17538912 11.15567304] [ 0.05713283 0.9982845 0.01280239 0.01686738] [ 0.17439679 -0.02260544 0.98441595 0.62303664] [ 0. 0. 0. 1. ]] SLAMing on 23.789649246000003 meters Centerline goodness : 0.932505 Centerline is valid? [False, False] Translation: X:11.16, Y:0.02, Z:0.62 [[ 0.98292153 -0.05447277 -0.17577823 11.15689088] [ 0.0575452 0.99826558 0.01242545 0.01807932] [ 0.17479651 -0.02232844 0.98435137 0.62297899] [ 0. 0. 0. 1. ]] SLAMing on 23.819649246000004 meters Centerline goodness : 0.931976 Centerline is valid? [False, False] Translation: X:11.16, Y:0.02, Z:0.62 [[ 0.98285812 -0.05473585 -0.17605083 11.15777139] [ 0.05773537 0.99826031 0.01195706 0.02011672] [ 0.17509008 -0.02191645 0.98430845 0.62271665] [ 0. 0. 0. 1. ]] SLAMing on 23.849649246000002 meters Centerline goodness : 0.931278 Centerline is valid? [False, False] Translation: X:11.16, Y:0.02, Z:0.62 [[ 0.98274455 -0.05180987 -0.17756374 11.16201704] [ 0.0555009 0.99833235 0.01588013 0.01958726] [ 0.17644488 -0.02546106 0.98398117 0.62371528] [ 0. 0. 0. 1. ]] SLAMing on 23.879649246000003 meters Centerline goodness : 0.931062 Centerline is valid? [False, False] Translation: X:11.16, Y:0.02, Z:0.62 [[ 0.9826452 -0.05264275 -0.17786836 11.16390047] [ 0.0560901 0.99832178 0.01440543 0.02330319] [ 0.17681152 -0.02413209 0.98394884 0.62200521] [ 0. 0. 0. 1. ]] SLAMing on 23.909649246000004 meters Centerline goodness : 0.926615 Centerline is valid? [False, False] Translation: X:11.17, Y:0.03, Z:0.62 [[ 0.98255428 -0.0531404 -0.17822227 11.16514422] [ 0.05649859 0.99830707 0.01381698 0.02506752] [ 0.17718631 -0.02364524 0.98389324 0.62162865] [ 0. 0. 0. 1. ]] SLAMing on 23.939649246000002 meters Centerline goodness : 0.929221 Centerline is valid? [False, False] Translation: X:11.17, Y:0.03, Z:0.62 [[ 0.98241513 -0.05355295 -0.17886476 11.16638118] [ 0.05677996 0.9983025 0.01296758 0.02787822] [ 0.17786669 -0.02289548 0.98378821 0.62152652] [ 0. 0. 0. 1. ]] SLAMing on 23.969649246000003 meters Centerline goodness : 0.931596 Centerline is valid? [False, False] Translation: X:11.17, Y:0.03, Z:0.62 [[ 0.98240734 -0.05294976 -0.17908697 11.16538785] [ 0.05614992 0.99833973 0.01284428 0.03026079] [ 0.17810954 -0.02267403 0.9837494 0.6222809 ] [ 0. 0. 0. 1. ]] SLAMing on 23.999649246000004 meters Centerline goodness : 0.932288 Centerline is valid? [False, False] Translation: X:11.17, Y:0.03, Z:0.62 [[ 0.98236055 -0.05314862 -0.17928464 11.16563287] [ 0.056293 0.99833612 0.01249319 0.03192981] [ 0.17832234 -0.02236529 0.98371792 0.6224488 ] [ 0. 0. 0. 1. ]] SLAMing on 24.029649246000005 meters Centerline goodness : 0.934511 Centerline is valid? [False, False] Translation: X:11.17, Y:0.03, Z:0.62 [[ 0.98227632 -0.0494245 -0.18080499 11.16835461] [ 0.05339242 0.99842646 0.01714217 0.03111458] [ 0.17967324 -0.02649197 0.98336957 0.62482274] [ 0. 0. 0. 1. ]] SLAMing on 24.059649246000003 meters Centerline goodness : 0.934511 Centerline is valid? [False, False] Translation: X:11.17, Y:0.03, Z:0.62 [[ 0.98227632 -0.0494245 -0.18080499 11.16835461] [ 0.05339242 0.99842646 0.01714217 0.03111458] [ 0.17967324 -0.02649197 0.98336957 0.62482274] [ 0. 0. 0. 1. ]] SLAMing on 24.089649246000004 meters Centerline goodness : 0.934071 Centerline is valid? [False, False] Translation: X:11.17, Y:0.03, Z:0.63 [[ 0.98223345 -0.04948248 -0.18102189 11.16813307] [ 0.05337009 0.99843572 0.01666544 0.03370613] [ 0.17991408 -0.02603051 0.98333785 0.6251728 ] [ 0. 0. 0. 1. ]] SLAMing on 24.119649246000005 meters Centerline goodness : 0.931207 Centerline is valid? [False, False] Translation: X:11.17, Y:0.04, Z:0.63 [[ 0.98216191 -0.04977317 -0.18133011 11.16877892] [ 0.05361871 0.99842738 0.01636441 0.0350845 ] [ 0.18023044 -0.02579518 0.98328612 0.62536696] [ 0. 0. 0. 1. ]] SLAMing on 24.149649246000003 meters Centerline goodness : 0.928349 Centerline is valid? [False, False] Translation: X:11.17, Y:0.04, Z:0.63 [[ 0.98213761 -0.04965299 -0.18149463 11.16830938] [ 0.0534721 0.99843781 0.01620725 0.03693071] [ 0.18040637 -0.02562265 0.98325837 0.62602934] [ 0. 0. 0. 1. ]] SLAMing on 24.179649246000004 meters Centerline goodness : 0.928349 Centerline is valid? [False, False] Translation: X:11.17, Y:0.04, Z:0.63 [[ 0.98209904 -0.04550445 -0.18278625 11.17015503] [ 0.05016374 0.99852134 0.02094578 0.03550376] [ 0.18156284 -0.02974007 0.98292953 0.6284171 ] [ 0. 0. 0. 1. ]] SLAMing on 24.209649246000005 meters Centerline goodness : 0.930342 Centerline is valid? [False, False] Translation: X:11.17, Y:0.04, Z:0.63 [[ 0.98201571 -0.0459162 -0.18313066 11.17148297] [ 0.05044379 0.99852382 0.02013961 0.03712161] [ 0.18193559 -0.02901522 0.98288227 0.62759392] [ 0. 0. 0. 1. ]] SLAMing on 24.239649246000003 meters Centerline goodness : 0.930359 Centerline is valid? [False, False] Translation: X:11.17, Y:0.04, Z:0.63 [[ 0.98189304 -0.0464945 -0.18364183 11.17319064] [ 0.05083261 0.99852675 0.01898362 0.03990955] [ 0.18248865 -0.02797488 0.9828099 0.62658163] [ 0. 0. 0. 1. ]] SLAMing on 24.269649246000004 meters Centerline goodness : 0.927271 Centerline is valid? [False, False] Translation: X:11.17, Y:0.04, Z:0.63 [[ 0.98180486 -0.04696664 -0.18399279 11.17437922] [ 0.05129457 0.99850601 0.0188311 0.03953252] [ 0.18283347 -0.0279263 0.98274719 0.62666221] [ 0. 0. 0. 1. ]] SLAMing on 24.299649246000005 meters Centerline goodness : 0.925263 Centerline is valid? [False, False] Translation: X:11.18, Y:0.04, Z:0.63 [[ 0.98163073 -0.04825892 -0.18458654 11.17766508] [ 0.05249797 0.99845618 0.01814434 0.03956207] [ 0.18342595 -0.02750146 0.98264876 0.62564404] [ 0. 0. 0. 1. ]] SLAMing on 24.329649246000002 meters Centerline goodness : 0.922354 Centerline is valid? [False, False] Translation: X:11.18, Y:0.04, Z:0.62 [[ 0.98151991 -0.04913035 -0.18494562 11.17986287] [ 0.05325244 0.99842975 0.01738417 0.04056996] [ 0.18380112 -0.02691171 0.98259499 0.62464888] [ 0. 0. 0. 1. ]] SLAMing on 24.359649246000004 meters Centerline goodness : 0.924939 Centerline is valid? [False, False] Translation: X:11.18, Y:0.04, Z:0.62 [[ 0.98128369 -0.05029967 -0.1858824 11.18313846] [ 0.05437837 0.99837727 0.01690615 0.04096561] [ 0.18473039 -0.02669771 0.98242654 0.62458486] [ 0. 0. 0. 1. ]] SLAMing on 24.389649246000005 meters Centerline goodness : 0.922659 Centerline is valid? [False, False] Translation: X:11.19, Y:0.04, Z:0.63 [[ 0.98071903 -0.05685596 -0.1869695 11.18778679] [ 0.06033083 0.99809452 0.01294314 0.03891843] [ 0.18587733 -0.02397361 0.98228045 0.62546024] [ 0. 0. 0. 1. ]] SLAMing on 24.419649246000002 meters Centerline goodness : 0.921689 Centerline is valid? [False, False] Translation: X:11.19, Y:0.04, Z:0.63 [[ 0.98038033 -0.05879473 -0.18814247 11.19231799] [ 0.0623337 0.99797143 0.01294376 0.03687962] [ 0.18699978 -0.02441742 0.98205645 0.62623581] [ 0. 0. 0. 1. ]] SLAMing on 24.449649246000003 meters Centerline goodness : 0.923833 Centerline is valid? [False, False] Translation: X:11.19, Y:0.04, Z:0.63 [[ 0.98021358 -0.05958325 -0.18876223 11.19498958] [ 0.06305061 0.99793314 0.01241227 0.03745768] [ 0.18763252 -0.02406825 0.98194438 0.6255124 ] [ 0. 0. 0. 1. ]] SLAMing on 24.479649246000005 meters Centerline goodness : 0.927405 Centerline is valid? [False, False] Translation: X:11.20, Y:0.04, Z:0.63 [[ 0.9801129 -0.05951771 -0.18930489 11.19540828] [ 0.06301447 0.99793432 0.01250115 0.03773065] [ 0.18816981 -0.02418149 0.98183877 0.62649386] [ 0. 0. 0. 1. ]] SLAMing on 24.509649246000002 meters Centerline goodness : 0.925554 Centerline is valid? [False, False] Translation: X:11.20, Y:0.04, Z:0.63 [[ 0.97998915 -0.06003396 -0.18978197 11.19690867] [ 0.06350082 0.99790679 0.01223417 0.03877188] [ 0.18865025 -0.02404066 0.98175003 0.62658227] [ 0. 0. 0. 1. ]] SLAMing on 24.539649246000003 meters Centerline goodness : 0.922999 Centerline is valid? [False, False] Translation: X:11.20, Y:0.04, Z:0.63 [[ 0.97979221 -0.06091921 -0.19051527 11.19974954] [ 0.06433334 0.99785892 0.01178134 0.03962102] [ 0.18938965 -0.02379975 0.98161353 0.62616622] [ 0. 0. 0. 1. ]] SLAMing on 24.569649246000004 meters Centerline goodness : 0.923434 Centerline is valid? [False, False] Translation: X:11.20, Y:0.04, Z:0.63 [[ 0.9796565 -0.06135329 -0.19107306 11.20114178] [ 0.0647796 0.99783064 0.01173142 0.04001692] [ 0.18993879 -0.0238704 0.98150571 0.62665419] [ 0. 0. 0. 1. ]] SLAMing on 24.599649246000002 meters Centerline goodness : 0.921597 Centerline is valid? [False, False] Translation: X:11.20, Y:0.04, Z:0.63 [[ 0.97947444 -0.06197029 -0.19180592 11.20290526] [ 0.0654659 0.99778343 0.01193521 0.03917378] [ 0.19064114 -0.02424698 0.9813603 0.6276895 ] [ 0. 0. 0. 1. ]] SLAMing on 24.629649246000003 meters Centerline goodness : 0.922639 Centerline is valid? [False, False] Translation: X:11.20, Y:0.04, Z:0.63 [[ 0.97930165 -0.06271621 -0.19244468 11.20499335] [ 0.06619998 0.99773754 0.01171987 0.03987997] [ 0.19127426 -0.02421712 0.98123783 0.62794802] [ 0. 0. 0. 1. ]] SLAMing on 24.659649246000004 meters Centerline goodness : 0.925686 Centerline is valid? [False, False] Translation: X:11.21, Y:0.04, Z:0.63 [[ 0.97917325 -0.06301601 -0.1929993 11.20584488] [ 0.06659211 0.99770701 0.01209174 0.03998955] [ 0.19179478 -0.02469214 0.98112439 0.62932244] [ 0. 0. 0. 1. ]] SLAMing on 24.689649246000005 meters Centerline goodness : 0.922397 Centerline is valid? [False, False] Translation: X:11.21, Y:0.04, Z:0.63 [[ 0.97902458 -0.06330419 -0.19365806 11.20688924] [ 0.06697506 0.99767684 0.01246068 0.0401599 ] [ 0.19241935 -0.02516957 0.98098995 0.63069404] [ 0. 0. 0. 1. ]] SLAMing on 24.719649246000003 meters Centerline goodness : 0.924881 Centerline is valid? [False, False] Translation: X:11.21, Y:0.04, Z:0.63 [[ 0.97887825 -0.06366446 -0.19427869 11.20828975] [ 0.06733092 0.99765463 0.01232058 0.04128585] [ 0.19303865 -0.02514131 0.980869 0.6311305 ] [ 0. 0. 0. 1. ]] SLAMing on 24.749649246000004 meters Centerline goodness : 0.923429 Centerline is valid? [False, False] Translation: X:11.21, Y:0.04, Z:0.63 [[ 0.9787829 -0.06402321 -0.19464084 11.2092436 ] [ 0.06770403 0.9976295 0.01231035 0.04213687] [ 0.1933913 -0.02522713 0.98079733 0.63157569] [ 0. 0. 0. 1. ]] SLAMing on 24.779649246000005 meters Centerline goodness : 0.925716 Centerline is valid? [False, False] Translation: X:11.21, Y:0.04, Z:0.63 [[ 0.97868011 -0.06391592 -0.19519219 11.2089296 ] [ 0.06773625 0.99761917 0.01295329 0.04245177] [ 0.19389955 -0.02589871 0.98067947 0.63385801] [ 0. 0. 0. 1. ]] SLAMing on 24.809649246000003 meters Centerline goodness : 0.931045 Centerline is valid? [False, False] Translation: X:11.21, Y:0.04, Z:0.64 [[ 0.97854948 -0.06404133 -0.19580505 11.20964111] [ 0.06795681 0.99759911 0.01333737 0.04262008] [ 0.1944808 -0.02635756 0.98055214 0.63525699] [ 0. 0. 0. 1. ]] SLAMing on 24.839649246000004 meters Centerline goodness : 0.931102 Centerline is valid? [False, False] Translation: X:11.21, Y:0.04, Z:0.64 [[ 0.97841368 -0.0644708 -0.19634202 11.21098723] [ 0.06841295 0.9975677 0.01335515 0.04316224] [ 0.19500344 -0.0264992 0.98044452 0.63583696] [ 0. 0. 0. 1. ]] SLAMing on 24.869649246000005 meters Centerline goodness : 0.931655 Centerline is valid? [False, False] Translation: X:11.21, Y:0.04, Z:0.64 [[ 0.97827461 -0.06493366 -0.19688169 11.21248399] [ 0.06893525 0.99752934 0.01353287 0.04313795] [ 0.19551653 -0.02681095 0.98033385 0.63651222] [ 0. 0. 0. 1. ]] SLAMing on 24.899649246000003 meters Centerline goodness : 0.930229 Centerline is valid? [False, False] Translation: X:11.21, Y:0.04, Z:0.64 [[ 0.97803189 -0.06551736 -0.19789162 11.2147236 ] [ 0.06968339 0.99746873 0.01415451 0.04167444] [ 0.19646334 -0.02763332 0.9801217 0.63819421] [ 0. 0. 0. 1. ]] SLAMing on 24.929649246000004 meters Centerline goodness : 0.929501 Centerline is valid? [False, False] Translation: X:11.22, Y:0.04, Z:0.64 [[ 0.97786425 -0.06604697 -0.19854296 11.21621814] [ 0.07028269 0.99742382 0.01435509 0.04125627] [ 0.19708337 -0.02799146 0.97998705 0.63917784] [ 0. 0. 0. 1. ]] SLAMing on 24.959649246000005 meters Centerline goodness : 0.930699 Centerline is valid? [False, False] Translation: X:11.22, Y:0.04, Z:0.64 [[ 0.9775695 -0.06727934 -0.19957796 11.21944776] [ 0.07157991 0.99733087 0.01440328 0.04083983] [ 0.19807622 -0.02836598 0.97977609 0.64015489] [ 0. 0. 0. 1. ]] SLAMing on 24.989649246000003 meters Centerline goodness : 0.931433 Centerline is valid? [False, False] Translation: X:11.22, Y:0.04, Z:0.64 [[ 0.97732422 -0.06816544 -0.20047654 11.22207664] [ 0.0725299 0.99726086 0.01449796 0.0405775 ] [ 0.19893915 -0.02870975 0.97959122 0.64096581] [ 0. 0. 0. 1. ]] SLAMing on 25.019649246000004 meters Centerline goodness : 0.932307 Centerline is valid? [False, False] Translation: X:11.22, Y:0.04, Z:0.64 [[ 0.97723607 -0.06846655 -0.20080337 11.22290343] [ 0.07284971 0.99723735 0.0145115 0.04124147] [ 0.19925507 -0.02880963 0.97952408 0.64140413] [ 0. 0. 0. 1. ]] SLAMing on 25.049649246000005 meters Centerline goodness : 0.933937 Centerline is valid? [False, False] Translation: X:11.22, Y:0.04, Z:0.64 [[ 0.97709204 -0.06891767 -0.20134921 11.22412889] [ 0.07328421 0.99720851 0.01430416 0.04228345] [ 0.19980133 -0.0287322 0.97941507 0.64189214] [ 0. 0. 0. 1. ]] SLAMing on 25.079649246000002 meters Centerline goodness : 0.934358 Centerline is valid? [False, False] Translation: X:11.22, Y:0.04, Z:0.64 [[ 0.97693219 -0.0691985 -0.20202737 11.22489099] [ 0.07358411 0.99718692 0.01426959 0.04325739] [ 0.20047162 -0.02880643 0.97927592 0.64313099] [ 0. 0. 0. 1. ]] SLAMing on 25.109649246000004 meters Centerline goodness : 0.933566 Centerline is valid? [False, False] Translation: X:11.23, Y:0.04, Z:0.64 [[ 0.97675655 -0.0697981 -0.20266937 11.22657615] [ 0.0741471 0.99714993 0.01393645 0.04459373] [ 0.20111901 -0.02863986 0.97914805 0.64345819] [ 0. 0. 0. 1. ]] SLAMing on 25.139649246000005 meters Centerline goodness : 0.933953 Centerline is valid? [False, False] Translation: X:11.23, Y:0.05, Z:0.64 [[ 0.97672218 -0.06939404 -0.20297352 11.22959561] [ 0.07398829 0.9971444 0.01512574 0.04754478] [ 0.20134427 -0.02979131 0.97906739 0.64291406] [ 0. 0. 0. 1. ]] SLAMing on 25.169649246000002 meters Centerline goodness : 0.928792 Centerline is valid? [False, False] Translation: X:11.23, Y:0.05, Z:0.64 [[ 0.97654496 -0.0699799 -0.20362404 11.23105475] [ 0.07449196 0.99711518 0.01456961 0.04989501] [ 0.20201704 -0.02939623 0.97894074 0.64315999] [ 0. 0. 0. 1. ]] SLAMing on 25.199649246000003 meters Centerline goodness : 0.929467 Centerline is valid? [False, False] Translation: X:11.23, Y:0.05, Z:0.64 [[ 0.97637947 -0.07038079 -0.20427841 11.23227368] [ 0.07495166 0.99707858 0.01471565 0.05002513] [ 0.20264592 -0.02967906 0.97880222 0.64423948] [ 0. 0. 0. 1. ]] SLAMing on 25.229649246000005 meters Centerline goodness : 0.927340 Centerline is valid? [False, False] Translation: X:11.23, Y:0.05, Z:0.65 [[ 0.97620851 -0.07085737 -0.20492968 11.23350093] [ 0.07544541 0.99704228 0.01465215 0.05063749] [ 0.20328534 -0.02976456 0.97866702 0.64516171] [ 0. 0. 0. 1. ]] SLAMing on 25.259649246000002 meters Centerline goodness : 0.931381 Centerline is valid? [False, False] Translation: X:11.23, Y:0.05, Z:0.65 [[ 0.97601604 -0.07109298 -0.20576318 11.23408902] [ 0.07585954 0.99700021 0.01535944 0.05006646] [ 0.20405399 -0.03060016 0.97848127 0.64773936] [ 0. 0. 0. 1. ]] SLAMing on 25.289649246000003 meters Centerline goodness : 0.929387 Centerline is valid? [False, False] Translation: X:11.24, Y:0.05, Z:0.65 [[ 0.97584122 -0.0715919 -0.20641831 11.23560897] [ 0.07641768 0.99695555 0.0154908 0.05017917] [ 0.20468086 -0.03089057 0.97834121 0.64868458] [ 0. 0. 0. 1. ]] SLAMing on 25.319649246000004 meters Centerline goodness : 0.936839 Centerline is valid? [False, False] Translation: X:11.24, Y:0.05, Z:0.65 [[ 0.9753386 -0.07653703 -0.2070186 11.2354393 ] [ 0.08119636 0.9965985 0.01409174 0.04712431] [ 0.20523588 -0.03055338 0.97823552 0.65445606] [ 0. 0. 0. 1. ]] SLAMing on 25.349649246000002 meters Centerline goodness : 0.934257 Centerline is valid? [False, False] Translation: X:11.24, Y:0.05, Z:0.66 [[ 0.97485458 -0.0776719 -0.20886748 11.2447109 ] [ 0.08300981 0.99640543 0.01689969 0.0478745 ] [ 0.20680405 -0.03381279 0.97779792 0.65613277] [ 0. 0. 0. 1. ]] SLAMing on 25.379649246000003 meters Centerline goodness : 0.932922 Centerline is valid? [False, False] Translation: X:11.25, Y:0.05, Z:0.66 [[ 0.97465107 -0.07800212 -0.20969256 11.25094338] [ 0.08375283 0.99631161 0.01867196 0.04838384] [ 0.20746268 -0.03576099 0.97758907 0.65567982] [ 0. 0. 0. 1. ]] SLAMing on 25.409649246000004 meters Centerline goodness : 0.935950 Centerline is valid? [False, False] Translation: X:11.27, Y:0.05, Z:0.66 [[ 0.97386397 -0.08363784 -0.21117215 11.26737708] [ 0.09082529 0.99556415 0.02455174 0.04800014] [ 0.20818197 -0.04308983 0.97714049 0.66455258] [ 0. 0. 0. 1. ]] SLAMing on 25.439649246000005 meters Centerline goodness : 0.937545 Centerline is valid? [False, False] Translation: X:11.27, Y:0.04, Z:0.67 [[ 0.97601119 -0.0774438 -0.20348122 11.27225894] [ 0.08539928 0.99587685 0.03059824 0.0449556 ] [ 0.2002726 -0.04724138 0.9786006 0.66656958] [ 0. 0. 0. 1. ]] SLAMing on 25.469649246000003 meters Centerline goodness : 0.934285 Centerline is valid? [False, False] Translation: X:11.28, Y:0.05, Z:0.67 [[ 0.97582862 -0.07464191 -0.20539496 11.2777408 ] [ 0.08314264 0.99598911 0.0330604 0.04801177] [ 0.20210345 -0.04933836 0.97812061 0.66577475] [ 0. 0. 0. 1. ]] SLAMing on 25.499649246000004 meters Centerline goodness : 0.932197 Centerline is valid? [False, False] Translation: X:11.28, Y:0.05, Z:0.67 [[ 0.97771506 -0.06757311 -0.19876404 11.2840105 ] [ 0.07694865 0.99623955 0.03982029 0.04537998] [ 0.19532582 -0.05422752 0.97923807 0.66909925] [ 0. 0. 0. 1. ]] SLAMing on 25.529649246000005 meters Centerline goodness : 0.935343 Centerline is valid? [False, False] Translation: X:11.30, Y:0.05, Z:0.67 [[ 0.97864474 -0.0679813 -0.19399233 11.3003896 ] [ 0.07561799 0.99661593 0.03222759 0.04896303] [ 0.19114498 -0.04620867 0.98047354 0.66790675] [ 0. 0. 0. 1. ]] SLAMing on 25.559649246000003 meters Centerline goodness : 0.932116 Centerline is valid? [False, False] Translation: X:11.32, Y:0.06, Z:0.67 [[ 0.97946787 -0.06837702 -0.18965041 11.31778347] [ 0.07424377 0.99695138 0.02399583 0.05501073] [ 0.18743147 -0.0375835 0.98155842 0.66574106] [ 0. 0. 0. 1. ]] SLAMing on 25.589649246000004 meters Centerline goodness : 0.931967 Centerline is valid? [False, False] Translation: X:11.32, Y:0.06, Z:0.67 [[ 0.97929182 -0.06904345 -0.19031691 11.31924235] [ 0.07470532 0.9969466 0.02272883 0.05945793] [ 0.18816652 -0.03647585 0.98145956 0.66532686] [ 0. 0. 0. 1. ]] SLAMing on 25.619649246000005 meters Centerline goodness : 0.932936 Centerline is valid? [False, False] Translation: X:11.32, Y:0.06, Z:0.67 [[ 0.9792353 -0.06542755 -0.19187879 11.32209365] [ 0.07190924 0.99704551 0.02700572 0.05890486] [ 0.18954496 -0.04024281 0.981047 0.66736529] [ 0. 0. 0. 1. ]] SLAMing on 25.649649246000003 meters Centerline goodness : 0.931322 Centerline is valid? [False, False] Translation: X:11.32, Y:0.06, Z:0.67 [[ 0.97909799 -0.06194592 -0.19372619 11.3249247 ] [ 0.06926309 0.99710974 0.03122178 0.0598023 ] [ 0.19123221 -0.04398726 0.9805587 0.67026276] [ 0. 0. 0. 1. ]] SLAMing on 25.679649246000004 meters Centerline goodness : 0.932411 Centerline is valid? [False, False] Translation: X:11.34, Y:0.06, Z:0.67 [[ 0.97999984 -0.06280439 -0.18882774 11.34025253] [ 0.06798973 0.99746281 0.02110326 0.06433022] [ 0.18702327 -0.03351954 0.98178345 0.6662699 ] [ 0. 0. 0. 1. ]] SLAMing on 25.709649246000005 meters Centerline goodness : 0.930901 Centerline is valid? [False, False] Translation: X:11.34, Y:0.07, Z:0.67 [[ 0.97983882 -0.06322489 -0.18952175 11.34136211] [ 0.06827891 0.99746072 0.02025092 0.06727777] [ 0.18776013 -0.03278297 0.98166767 0.66643483] [ 0. 0. 0. 1. ]] SLAMing on 25.739649246000003 meters Centerline goodness : 0.935052 Centerline is valid? [False, False] Translation: X:11.34, Y:0.07, Z:0.67 [[ 0.97977068 -0.05975332 -0.19099464 11.34416802] [ 0.06553312 0.99755971 0.02408408 0.0681827 ] [ 0.18908946 -0.03611335 0.98129557 0.66806718] [ 0. 0. 0. 1. ]] SLAMing on 25.769649246000004 meters Centerline goodness : 0.935180 Centerline is valid? [False, False] Translation: X:11.35, Y:0.07, Z:0.67 [[ 0.97965225 -0.06019958 -0.19146144 11.34572597] [ 0.06588284 0.99755174 0.02345161 0.07015682] [ 0.18958091 -0.03558845 0.98121992 0.66757499] [ 0. 0. 0. 1. ]] SLAMing on 25.799649246000005 meters Centerline goodness : 0.934231 Centerline is valid? [False, False] Translation: X:11.35, Y:0.07, Z:0.67 [[ 0.97952003 -0.06065351 -0.1919939 11.34720938] [ 0.06623293 0.99754432 0.02277118 0.07211816] [ 0.19014127 -0.03502114 0.98113191 0.66723991] [ 0. 0. 0. 1. ]] SLAMing on 25.829649246000002 meters Centerline goodness : 0.936035 Centerline is valid? [False, False] Translation: X:11.35, Y:0.07, Z:0.67 [[ 0.97938761 -0.05727385 -0.19369979 11.35083264] [ 0.06359103 0.99762284 0.02654915 0.07254406] [ 0.19171876 -0.03831948 0.98070155 0.66869101] [ 0. 0. 0. 1. ]] SLAMing on 25.859649246000004 meters Centerline goodness : 0.934764 Centerline is valid? [False, False] Translation: X:11.35, Y:0.07, Z:0.67 [[ 0.97930703 -0.05740273 -0.19406871 11.35152474] [ 0.06366233 0.99762836 0.02616796 0.07382414] [ 0.19210634 -0.03798133 0.98063886 0.66872875] [ 0. 0. 0. 1. ]] SLAMing on 25.889649246000005 meters Centerline goodness : 0.933110 Centerline is valid? [False, False] Translation: X:11.35, Y:0.08, Z:0.67 [[ 0.97924697 -0.05723127 -0.19442209 11.35164642] [ 0.06339075 0.99766031 0.02560322 0.07633396] [ 0.1925019 -0.03739644 0.98058377 0.66873624] [ 0. 0. 0. 1. ]] SLAMing on 25.919649246000002 meters Centerline goodness : 0.937740 Centerline is valid? [False, False] Translation: X:11.35, Y:0.08, Z:0.67 [[ 0.97923148 -0.05331836 -0.19560897 11.35386427] [ 0.0602627 0.99774004 0.02971887 0.0760858 ] [ 0.19358234 -0.04088958 0.98023156 0.67005335] [ 0. 0. 0. 1. ]] SLAMing on 25.949649246000003 meters Centerline goodness : 0.933068 Centerline is valid? [False, False] Translation: X:11.35, Y:0.08, Z:0.67 [[ 0.97929769 -0.04894767 -0.19641835 11.3549286 ] [ 0.05647779 0.99786106 0.03291748 0.07877693] [ 0.19438699 -0.04332928 0.97996749 0.67004504] [ 0. 0. 0. 1. ]] SLAMing on 25.979649246000005 meters Centerline goodness : 0.933068 Centerline is valid? [False, False] Translation: X:11.35, Y:0.08, Z:0.67 [[ 0.97929769 -0.04894767 -0.19641835 11.3549286 ] [ 0.05647779 0.99786106 0.03291748 0.07877693] [ 0.19438699 -0.04332928 0.97996749 0.67004504] [ 0. 0. 0. 1. ]] SLAMing on 26.009649246000002 meters Centerline goodness : 0.934275 Centerline is valid? [False, False] Translation: X:11.35, Y:0.08, Z:0.67 [[ 0.97926782 -0.04774673 -0.19686237 11.35450669] [ 0.05507121 0.99797278 0.03189804 0.08294435] [ 0.19494026 -0.04207817 0.9799121 0.6689523 ] [ 0. 0. 0. 1. ]] SLAMing on 26.039649246000003 meters Centerline goodness : 0.932549 Centerline is valid? [False, False] Translation: X:11.36, Y:0.08, Z:0.67 [[ 0.97924787 -0.04362719 -0.19791483 11.35637237] [ 0.05173921 0.99801153 0.03600069 0.08270001] [ 0.19595067 -0.04549355 0.9795579 0.67012428] [ 0. 0. 0. 1. ]] SLAMing on 26.069649246000004 meters Centerline goodness : 0.930886 Centerline is valid? [False, False] Translation: X:11.37, Y:0.09, Z:0.67 [[ 0.9803264 -0.04193812 -0.19287652 11.37003272] [ 0.04808103 0.99847092 0.02727706 0.08823847] [ 0.19143765 -0.03601412 0.98084383 0.66615972] [ 0. 0. 0. 1. ]] SLAMing on 26.099649246000002 meters Centerline goodness : 0.929372 Centerline is valid? [False, False] Translation: X:11.37, Y:0.09, Z:0.67 [[ 0.98027445 -0.04203889 -0.19311842 11.37070595] [ 0.04812793 0.99847766 0.02694559 0.08932838] [ 0.19169167 -0.03570847 0.98080539 0.66597965] [ 0. 0. 0. 1. ]] SLAMing on 26.129649246000003 meters Centerline goodness : 0.929866 Centerline is valid? [False, False] Translation: X:11.37, Y:0.09, Z:0.67 [[ 0.98019152 -0.04235068 -0.19347092 11.37210167] [ 0.04835484 0.99848086 0.02641569 0.09051773] [ 0.19205829 -0.03524769 0.98075033 0.66539269] [ 0. 0. 0. 1. ]] SLAMing on 26.159649246000004 meters Centerline goodness : 0.929305 Centerline is valid? [False, False] Translation: X:11.37, Y:0.09, Z:0.66 [[ 0.98008221 -0.04247466 -0.19399683 11.37401637] [ 0.0483145 0.9985074 0.0254691 0.09247173] [ 0.19262548 -0.03433467 0.98067148 0.6639858 ] [ 0. 0. 0. 1. ]] SLAMing on 26.189649246000005 meters Centerline goodness : 0.929458 Centerline is valid? [False, False] Translation: X:11.37, Y:0.09, Z:0.66 [[ 0.97999264 -0.04233307 -0.19447968 11.3749884 ] [ 0.04820743 0.99850999 0.02557046 0.09182447] [ 0.19310742 -0.03443423 0.9805732 0.66429714] [ 0. 0. 0. 1. ]] SLAMing on 26.219649246000003 meters Centerline goodness : 0.930468 Centerline is valid? [False, False] Translation: X:11.38, Y:0.09, Z:0.66 [[ 0.97989367 -0.04248418 -0.19494486 11.37616471] [ 0.04837158 0.99850289 0.02553761 0.09149441] [ 0.19356806 -0.03445393 0.98048168 0.66450199] [ 0. 0. 0. 1. ]] SLAMing on 26.249649246000004 meters Centerline goodness : 0.931305 Centerline is valid? [False, False] Translation: X:11.38, Y:0.09, Z:0.66 [[ 0.97980237 -0.04255356 -0.19538809 11.37723766] [ 0.04846035 0.9984983 0.02554867 0.0909993 ] [ 0.19400749 -0.03450123 0.98039317 0.66474547] [ 0. 0. 0. 1. ]] SLAMing on 26.279649246000005 meters Centerline goodness : 0.931697 Centerline is valid? [False, False] Translation: X:11.38, Y:0.09, Z:0.66 [[ 0.97969929 -0.04296119 -0.1958153 11.37870432] [ 0.04885561 0.9984836 0.02536968 0.09110563] [ 0.19442846 -0.03442133 0.98031258 0.66471244] [ 0. 0. 0. 1. ]] SLAMing on 26.309649246000003 meters Centerline goodness : 0.929881 Centerline is valid? [False, False] Translation: X:11.38, Y:0.09, Z:0.66 [[ 0.97967913 -0.04296997 -0.19591422 11.3796775 ] [ 0.04875165 0.99850342 0.02478288 0.09193863] [ 0.1945561 -0.03383041 0.98030782 0.66348189] [ 0. 0. 0. 1. ]] SLAMing on 26.339649246000004 meters Centerline goodness : 0.927627 Centerline is valid? [False, False] Translation: X:11.38, Y:0.09, Z:0.66 [[ 0.97957334 -0.04325259 -0.19638048 11.38129601] [ 0.04901058 0.9984964 0.02455389 0.09244802] [ 0.19502318 -0.03367705 0.98022029 0.6632016 ] [ 0. 0. 0. 1. ]] SLAMing on 26.369649246000005 meters Centerline goodness : 0.928686 Centerline is valid? [False, False] Translation: X:11.38, Y:0.09, Z:0.66 [[ 0.97951797 -0.04301948 -0.19670756 11.38172518] [ 0.04885715 0.99849488 0.02491884 0.09102546] [ 0.19533949 -0.03401902 0.98014549 0.66382932] [ 0. 0. 0. 1. ]] SLAMing on 26.399649246000003 meters Centerline goodness : 0.928005 Centerline is valid? [False, False] Translation: X:11.40, Y:0.09, Z:0.66 [[ 0.98044125 -0.04456002 -0.19170122 11.39846765] [ 0.04853652 0.99869172 0.01609525 0.09340091] [ 0.19073322 -0.02508496 0.98132135 0.66168514] [ 0. 0. 0. 1. ]] SLAMing on 26.429649246000004 meters Centerline goodness : 0.930320 Centerline is valid? [False, False] Translation: X:11.40, Y:0.09, Z:0.66 [[ 0.98039402 -0.04472496 -0.19190425 11.39954198] [ 0.04873391 0.9986801 0.01621906 0.09280047] [ 0.19092556 -0.02525331 0.98127962 0.6616341 ] [ 0. 0. 0. 1. ]] SLAMing on 26.459649246000005 meters Centerline goodness : 0.933068 Centerline is valid? [False, False] Translation: X:11.40, Y:0.09, Z:0.66 [[ 0.98017609 -0.0454963 -0.19283391 11.40299318] [ 0.04952833 0.99864233 0.01613804 0.09175741] [ 0.19183789 -0.02536886 0.98109869 0.66147157] [ 0. 0. 0. 1. ]] SLAMing on 26.489649246000003 meters Centerline goodness : 0.929593 Centerline is valid? [False, False] Translation: X:11.41, Y:0.09, Z:0.66 [[ 0.98004528 -0.04597636 -0.19338413 11.40531652] [ 0.05002878 0.99861765 0.0161216 0.09158194] [ 0.19237559 -0.02547467 0.98099066 0.66124138] [ 0. 0. 0. 1. ]] SLAMing on 26.519649246000004 meters Centerline goodness : 0.932842 Centerline is valid? [False, False] Translation: X:11.41, Y:0.09, Z:0.66 [[ 0.97984203 -0.04670964 -0.19423647 11.40810284] [ 0.05083157 0.9985744 0.01628872 0.08955824] [ 0.19319872 -0.02583372 0.98081949 0.66177674] [ 0. 0. 0. 1. ]] SLAMing on 26.549649246000005 meters Centerline goodness : 0.932244 Centerline is valid? [False, False] Translation: X:11.41, Y:0.09, Z:0.66 [[ 0.97976694 -0.04645687 -0.19467538 11.40902006] [ 0.05069509 0.99857215 0.01684256 0.08788134] [ 0.19361496 -0.02637087 0.98072311 0.66246707] [ 0. 0. 0. 1. ]] SLAMing on 26.579649246000002 meters Centerline goodness : 0.933281 Centerline is valid? [False, False] Translation: X:11.41, Y:0.09, Z:0.66 [[ 0.97969447 -0.04653517 -0.19502109 11.40990724] [ 0.05082077 0.99856264 0.01702659 0.08809266] [ 0.19394843 -0.02659198 0.98065125 0.66289466] [ 0. 0. 0. 1. ]] SLAMing on 26.609649246000004 meters Centerline goodness : 0.931447 Centerline is valid? [False, False] Translation: X:11.41, Y:0.09, Z:0.66 [[ 0.9796303 -0.04644277 -0.19536518 11.41048379] [ 0.05081579 0.99855595 0.01742883 0.08810054] [ 0.19427362 -0.02700145 0.98057569 0.66364076] [ 0. 0. 0. 1. ]] SLAMing on 26.639649246000005 meters Centerline goodness : 0.929589 Centerline is valid? [False, False] Translation: X:11.41, Y:0.09, Z:0.66 [[ 0.97951662 -0.04631465 -0.19596466 11.41167439] [ 0.05084407 0.99854178 0.01814357 0.08686425] [ 0.19483859 -0.02773557 0.9804431 0.66480022] [ 0. 0. 0. 1. ]] SLAMing on 26.669649246000002 meters Centerline goodness : 0.931326 Centerline is valid? [False, False] Translation: X:11.41, Y:0.09, Z:0.67 [[ 0.9794041 -0.04606443 -0.19658504 11.4128729 ] [ 0.0506879 0.99854225 0.01855002 0.08635196] [ 0.19544398 -0.02813245 0.98031129 0.6655201 ] [ 0. 0. 0. 1. ]] SLAMing on 26.699649246000003 meters Centerline goodness : 0.933628 Centerline is valid? [False, False] Translation: X:11.41, Y:0.09, Z:0.67 [[ 0.97930258 -0.04609551 -0.19708288 11.41397908] [ 0.05081361 0.9985284 0.01894751 0.08561939] [ 0.19591945 -0.02856984 0.98020372 0.66619492] [ 0. 0. 0. 1. ]] SLAMing on 26.729649246000005 meters Centerline goodness : 0.927357 Centerline is valid? [False, False] Translation: X:11.42, Y:0.08, Z:0.67 [[ 0.97912334 -0.04638145 -0.19790464 11.4163909 ] [ 0.05122772 0.99849785 0.01943602 0.08334947] [ 0.19670589 -0.02916846 0.98002857 0.66689308] [ 0. 0. 0. 1. ]] SLAMing on 26.759649246000002 meters Centerline goodness : 0.930185 Centerline is valid? [False, False] Translation: X:11.42, Y:0.08, Z:0.67 [[ 0.97897015 -0.04679056 -0.19856509 11.4187402 ] [ 0.05168991 0.99847162 0.01955946 0.08232318] [ 0.19734641 -0.02941193 0.97989251 0.66692844] [ 0. 0. 0. 1. ]] SLAMing on 26.789649246000003 meters Centerline goodness : 0.926725 Centerline is valid? [False, False] Translation: X:11.42, Y:0.08, Z:0.67 [[ 0.97881915 -0.04717276 -0.19921798 11.42097766] [ 0.05212788 0.99844612 0.01969854 0.08112503] [ 0.19797918 -0.02966612 0.9797572 0.66700683] [ 0. 0. 0. 1. ]] SLAMing on 26.819649246000004 meters Centerline goodness : 0.926942 Centerline is valid? [False, False] Translation: X:11.42, Y:0.08, Z:0.67 [[ 0.97856711 -0.04799615 -0.20025678 11.42467428] [ 0.05312144 0.99838178 0.02029601 0.07719337] [ 0.19895859 -0.03049893 0.9795332 0.66782252] [ 0. 0. 0. 1. ]] SLAMing on 26.849649246000006 meters Centerline goodness : 0.928229 Centerline is valid? [False, False] Translation: X:11.43, Y:0.08, Z:0.67 [[ 0.97843074 -0.04836196 -0.20083428 11.4267288 ] [ 0.05356248 0.99835326 0.02053859 0.07569776] [ 0.19951027 -0.03085277 0.9794099 0.66798387] [ 0. 0. 0. 1. ]] SLAMing on 26.879649246000003 meters Centerline goodness : 0.927108 Centerline is valid? [False, False] Translation: X:11.43, Y:0.07, Z:0.67 [[ 0.9782049 -0.04896321 -0.20178646 11.42996203] [ 0.05444547 0.99828081 0.02170513 0.07177107] [ 0.2003768 -0.03221842 0.97918901 0.66950601] [ 0. 0. 0. 1. ]] SLAMing on 26.909649246000004 meters Centerline goodness : 0.928246 Centerline is valid? [False, False] Translation: X:11.43, Y:0.07, Z:0.67 [[ 0.97803569 -0.04904799 -0.20258449 11.43201204] [ 0.05478072 0.9982384 0.0227851 0.0678285 ] [ 0.20111006 -0.03338236 0.97899967 0.67101702] [ 0. 0. 0. 1. ]] SLAMing on 26.939649246000005 meters Centerline goodness : 0.930052 Centerline is valid? [False, False] Translation: X:11.43, Y:0.07, Z:0.67 [[ 0.97790853 -0.0490058 -0.20320762 11.43322774] [ 0.05491319 0.99821381 0.02353166 0.06633068] [ 0.20169146 -0.03417059 0.97885286 0.67222783] [ 0. 0. 0. 1. ]] SLAMing on 26.969649246000003 meters Centerline goodness : 0.926485 Centerline is valid? [False, False] Translation: X:11.43, Y:0.07, Z:0.67 [[ 0.97778413 -0.04907416 -0.2037889 11.43496764] [ 0.05504169 0.99820238 0.02371547 0.06513206] [ 0.20225875 -0.03440549 0.97872757 0.67247534] [ 0. 0. 0. 1. ]] SLAMing on 26.999649246000004 meters Centerline goodness : 0.924145 Centerline is valid? [False, False] Translation: X:11.44, Y:0.07, Z:0.67 [[ 0.9776079 -0.04966147 -0.2044909 11.43773935] [ 0.05560367 0.99817839 0.02341222 0.0655177 ] [ 0.20295571 -0.03425841 0.97858844 0.67203563] [ 0. 0. 0. 1. ]] SLAMing on 27.029649246000005 meters Centerline goodness : 0.924991 Centerline is valid? [False, False] Translation: X:11.44, Y:0.07, Z:0.67 [[ 0.97748307 -0.04949896 -0.20512608 11.44001508] [ 0.05545049 0.99818803 0.02336437 0.06601654] [ 0.20359788 -0.03421262 0.97845664 0.67133249] [ 0. 0. 0. 1. ]] SLAMing on 27.059649246000003 meters Centerline goodness : 0.923531 Centerline is valid? [False, False] Translation: X:11.44, Y:0.07, Z:0.67 [[ 0.97735185 -0.0495934 -0.20572764 11.44145101] [ 0.05560067 0.99817605 0.0235188 0.06620293] [ 0.20418603 -0.03442474 0.97832663 0.67182576] [ 0. 0. 0. 1. ]] SLAMing on 27.089649246000004 meters Centerline goodness : 0.922751 Centerline is valid? [False, False] Translation: X:11.46, Y:0.07, Z:0.67 [[ 0.97819103 -0.04965772 -0.20168395 11.46195086] [ 0.05477001 0.9983018 0.0198436 0.06761175] [ 0.20035606 -0.03045707 0.97924962 0.6747264 ] [ 0. 0. 0. 1. ]] SLAMing on 27.119649246000005 meters Centerline goodness : 0.925697 Centerline is valid? [False, False] Translation: X:11.46, Y:0.07, Z:0.68 [[ 0.97807995 -0.04952315 -0.20225498 11.46299628] [ 0.05475561 0.9982923 0.02035442 0.06711523] [ 0.20090157 -0.03098284 0.97912135 0.67562588] [ 0. 0. 0. 1. ]] SLAMing on 27.149649246000003 meters Centerline goodness : 0.922390 Centerline is valid? [False, False] Translation: X:11.46, Y:0.07, Z:0.68 [[ 0.97791441 -0.04942016 -0.20307895 11.4647517 ] [ 0.05475542 0.99828449 0.02073449 0.06625084] [ 0.20170586 -0.03139623 0.97894281 0.67645102] [ 0. 0. 0. 1. ]] SLAMing on 27.179649246000004 meters Centerline goodness : 0.921735 Centerline is valid? [False, False] Translation: X:11.47, Y:0.07, Z:0.68 [[ 0.97776225 -0.04970139 -0.2037419 11.46684819] [ 0.0550654 0.99826733 0.02073994 0.06626012] [ 0.20235808 -0.03149786 0.97880493 0.67652322] [ 0. 0. 0. 1. ]] SLAMing on 27.209649246000005 meters Centerline goodness : 0.922792 Centerline is valid? [False, False] Translation: X:11.47, Y:0.06, Z:0.68 [[ 0.97759203 -0.04934837 -0.20464251 11.46845656] [ 0.05491421 0.9982573 0.02160515 0.06466644] [ 0.2032197 -0.0323588 0.97859831 0.67795778] [ 0. 0. 0. 1. ]] SLAMing on 27.239649246000003 meters Centerline goodness : 0.920173 Centerline is valid? [False, False] Translation: X:11.47, Y:0.06, Z:0.68 [[ 0.97742929 -0.04955038 -0.20536979 11.47030833] [ 0.05520083 0.99823568 0.02187249 0.06398887] [ 0.20392366 -0.03271539 0.97844001 0.67853487] [ 0. 0. 0. 1. ]] SLAMing on 27.269649246000004 meters Centerline goodness : 0.919618 Centerline is valid? [False, False] Translation: X:11.47, Y:0.06, Z:0.68 [[ 0.97729009 -0.04924348 -0.20610473 11.47215752] [ 0.05497304 0.99824186 0.02216208 0.06356832] [ 0.20465103 -0.03298899 0.97827894 0.67877875] [ 0. 0. 0. 1. ]] SLAMing on 27.299649246000005 meters Centerline goodness : 0.919867 Centerline is valid? [False, False] Translation: X:11.48, Y:0.06, Z:0.68 [[ 0.97709631 -0.04603085 -0.20775937 11.47684058] [ 0.05264867 0.99826317 0.026434 0.06170844] [ 0.20618175 -0.03676682 0.97782273 0.68023772] [ 0. 0. 0. 1. ]] SLAMing on 27.329649246000002 meters Centerline goodness : 0.918939 Centerline is valid? [False, False] Translation: X:11.48, Y:0.06, Z:0.68 [[ 0.97691913 -0.04633108 -0.20852444 11.47910912] [ 0.0529581 0.99825014 0.02630756 0.06180978] [ 0.20694069 -0.03674342 0.97766327 0.68018748] [ 0. 0. 0. 1. ]] SLAMing on 27.359649246000004 meters Centerline goodness : 0.914244 Centerline is valid? [False, False] Translation: X:11.48, Y:0.06, Z:0.68 [[ 0.97673117 -0.04664304 -0.2093338 11.48147898] [ 0.05337221 0.99822008 0.02660957 0.06002708] [ 0.20772005 -0.037163 0.97748212 0.68076318] [ 0. 0. 0. 1. ]] SLAMing on 27.389649246000005 meters Centerline goodness : 0.913177 Centerline is valid? [False, False] Translation: X:11.48, Y:0.06, Z:0.68 [[ 0.97651601 -0.04714679 -0.21022288 11.48409588] [ 0.05393844 0.99818756 0.02668791 0.05924621] [ 0.20858362 -0.03740026 0.97728916 0.68117279] [ 0. 0. 0. 1. ]] SLAMing on 27.419649246000002 meters Centerline goodness : 0.912909 Centerline is valid? [False, False] Translation: X:11.49, Y:0.06, Z:0.68 [[ 0.97632329 -0.0475687 -0.21102144 11.48647124] [ 0.05447417 0.99814928 0.02702918 0.05775867] [ 0.20934516 -0.03788444 0.97710766 0.68177368] [ 0. 0. 0. 1. ]] SLAMing on 27.449649246000003 meters Centerline goodness : 0.912856 Centerline is valid? [False, False] Translation: X:11.49, Y:0.06, Z:0.68 [[ 0.97612771 -0.04738791 -0.21196479 11.4882148 ] [ 0.05450955 0.99812399 0.02787855 0.05598844] [ 0.21024603 -0.03876713 0.97687958 0.68332222] [ 0. 0. 0. 1. ]] SLAMing on 27.479649246000005 meters Centerline goodness : 0.916379 Centerline is valid? [False, False] Translation: X:11.49, Y:0.06, Z:0.68 [[ 0.97595854 -0.04751996 -0.2127129 11.48975101] [ 0.05469974 0.99811037 0.02799321 0.05547814] [ 0.21098072 -0.03895555 0.97671367 0.68413757] [ 0. 0. 0. 1. ]] SLAMing on 27.509649246000002 meters Centerline goodness : 0.913656 Centerline is valid? [False, False] Translation: X:11.49, Y:0.05, Z:0.69 [[ 0.97583501 -0.04379989 -0.21407384 11.49308763] [ 0.05191125 0.99812551 0.03241417 0.05376613] [ 0.21225282 -0.04274372 0.97627953 0.68562993] [ 0. 0. 0. 1. ]] SLAMing on 27.539649246000003 meters Centerline goodness : 0.910277 Centerline is valid? [False, False] Translation: X:11.50, Y:0.05, Z:0.69 [[ 0.97557808 -0.0440351 -0.21519366 11.4957393 ] [ 0.05229623 0.99809134 0.03284485 0.05159299] [ 0.2133366 -0.04329654 0.97601891 0.68676033] [ 0. 0. 0. 1. ]] SLAMing on 27.569649246000004 meters Centerline goodness : 0.914152 Centerline is valid? [False, False] Translation: X:11.50, Y:0.05, Z:0.69 [[ 0.97536354 -0.04451776 -0.21606512 11.49831422] [ 0.05282965 0.99806325 0.03284462 0.0514195 ] [ 0.21418449 -0.04345009 0.97582636 0.6870257 ] [ 0. 0. 0. 1. ]] SLAMing on 27.599649246000006 meters Centerline goodness : 0.915133 Centerline is valid? [False, False] Translation: X:11.50, Y:0.05, Z:0.69 [[ 0.97517087 -0.04499907 -0.21683371 11.50078384] [ 0.05331622 0.9980435 0.03265817 0.05170427] [ 0.21493989 -0.04340805 0.97566213 0.68692554] [ 0. 0. 0. 1. ]] SLAMing on 27.629649246000003 meters Centerline goodness : 0.912158 Centerline is valid? [False, False] Translation: X:11.50, Y:0.05, Z:0.69 [[ 0.97495798 -0.04482572 -0.2178247 11.50276947] [ 0.05325893 0.99803541 0.03299701 0.05084486] [ 0.21591764 -0.04377181 0.97542996 0.6877537 ] [ 0. 0. 0. 1. ]] SLAMing on 27.659649246000004 meters Centerline goodness : 0.912177 Centerline is valid? [False, False] Translation: X:11.50, Y:0.05, Z:0.69 [[ 0.97481385 -0.04494122 -0.21844506 11.50423849] [ 0.05343615 0.99802139 0.0331342 0.05101469] [ 0.21652375 -0.04397254 0.97528656 0.6881983 ] [ 0. 0. 0. 1. ]] SLAMing on 27.689649246000005 meters Centerline goodness : 0.916896 Centerline is valid? [False, False] Translation: X:11.52, Y:0.05, Z:0.69 [[ 0.97594783 -0.04572588 -0.2131548 11.51932649] [ 0.05246826 0.998282 0.02607942 0.05248771] [ 0.2115961 -0.03663602 0.97667031 0.68896955] [ 0. 0. 0. 1. ]] SLAMing on 27.719649246000003 meters Centerline goodness : 0.916419 Centerline is valid? [False, False] Translation: X:11.52, Y:0.05, Z:0.69 [[ 0.97568056 -0.04592224 -0.21433289 11.52144252] [ 0.05287517 0.99824098 0.0268172 0.05162242] [ 0.21272436 -0.03749791 0.97639247 0.69108604] [ 0. 0. 0. 1. ]] SLAMing on 27.749649246000004 meters Centerline goodness : 0.915104 Centerline is valid? [False, False] Translation: X:11.52, Y:0.05, Z:0.69 [[ 0.97547101 -0.04662262 -0.21513402 11.52404102] [ 0.0535368 0.99821627 0.0264214 0.05239729] [ 0.21351844 -0.0372909 0.97622705 0.69098646] [ 0. 0. 0. 1. ]] SLAMing on 27.779649246000005 meters Centerline goodness : 0.917896 Centerline is valid? [False, False] Translation: X:11.53, Y:0.05, Z:0.69 [[ 0.97517593 -0.04402926 -0.21700998 11.53022137] [ 0.0517569 0.99820742 0.03005275 0.05228405] [ 0.21529777 -0.04053848 0.97570667 0.69157035] [ 0. 0. 0. 1. ]] SLAMing on 27.809649246000003 meters Centerline goodness : 0.914360 Centerline is valid? [False, False] Translation: X:11.53, Y:0.05, Z:0.69 [[ 0.97498546 -0.04476395 -0.21771434 11.53331058] [ 0.05240079 0.99819243 0.02942833 0.05316129] [ 0.21600348 -0.0401006 0.97556878 0.69058054] [ 0. 0. 0. 1. ]] SLAMing on 27.839649246000004 meters Centerline goodness : 0.913898 Centerline is valid? [False, False] Translation: X:11.54, Y:0.05, Z:0.69 [[ 0.97472111 -0.04501301 -0.21884374 11.53612391] [ 0.05267787 0.99818122 0.02931358 0.0532997 ] [ 0.21712622 -0.04010078 0.9753195 0.6909424 ] [ 0. 0. 0. 1. ]] SLAMing on 27.869649246000005 meters Centerline goodness : 0.913898 Centerline is valid? [False, False] Translation: X:11.54, Y:0.05, Z:0.69 [[ 0.97472111 -0.04501301 -0.21884374 11.53612391] [ 0.05267787 0.99818122 0.02931358 0.0532997 ] [ 0.21712622 -0.04010078 0.9753195 0.6909424 ] [ 0. 0. 0. 1. ]] SLAMing on 27.899649246000003 meters Centerline goodness : 0.910399 Centerline is valid? [False, False] Translation: X:11.54, Y:0.05, Z:0.69 [[ 0.97453436 -0.04521783 -0.2196318 11.53809884] [ 0.05292589 0.99816744 0.02933609 0.05337625] [ 0.2179028 -0.04021324 0.97514166 0.69130267] [ 0. 0. 0. 1. ]] SLAMing on 27.929649246000004 meters Centerline goodness : 0.912779 Centerline is valid? [False, False] Translation: X:11.54, Y:0.05, Z:0.69 [[ 0.97429271 -0.04516273 -0.22071257 11.54025902] [ 0.05292748 0.99816574 0.02939106 0.05346926] [ 0.21898035 -0.04031726 0.97489596 0.69201519] [ 0. 0. 0. 1. ]] SLAMing on 27.959649246000005 meters Centerline goodness : 0.910328 Centerline is valid? [False, False] Translation: X:11.54, Y:0.05, Z:0.69 [[ 0.97412077 -0.0413009 -0.22222276 11.54316655] [ 0.05010844 0.9981601 0.03414033 0.05125965] [ 0.22040386 -0.04439204 0.97439801 0.69447943] [ 0. 0. 0. 1. ]] SLAMing on 27.989649246000003 meters Centerline goodness : 0.912037 Centerline is valid? [False, False] Translation: X:11.55, Y:0.05, Z:0.70 [[ 0.9738733 -0.03711993 -0.22403773 11.5465014 ] [ 0.0470546 0.99812414 0.03916714 0.04922807] [ 0.22216359 -0.04868583 0.97379311 0.69749984] [ 0. 0. 0. 1. ]] SLAMing on 28.019649246000004 meters Centerline goodness : 0.911318 Centerline is valid? [False, False] Translation: X:11.55, Y:0.05, Z:0.70 [[ 0.97368717 -0.0374821 -0.22478519 11.54851438] [ 0.04742278 0.99811379 0.03898637 0.04989592] [ 0.22289991 -0.04862047 0.9736281 0.69767513] [ 0. 0. 0. 1. ]] SLAMing on 28.049649246000005 meters Centerline goodness : 0.909461 Centerline is valid? [False, False] Translation: X:11.57, Y:0.05, Z:0.70 [[ 0.97469538 -0.03719246 -0.22042149 11.56568993] [ 0.04534935 0.9984566 0.03206014 0.05247357] [ 0.2188889 -0.04124484 0.97487769 0.69695081] [ 0. 0. 0. 1. ]] SLAMing on 28.079649246000002 meters Centerline goodness : 0.908971 Centerline is valid? [False, False] Translation: X:11.57, Y:0.05, Z:0.70 [[ 0.97452247 -0.03734861 -0.22115841 11.5675335 ] [ 0.04556538 0.99844333 0.03216709 0.05271199] [ 0.21961274 -0.04142471 0.97470726 0.69741059] [ 0. 0. 0. 1. ]] SLAMing on 28.109649246000004 meters Centerline goodness : 0.905455 Centerline is valid? [False, False] Translation: X:11.57, Y:0.05, Z:0.70 [[ 0.97430951 -0.03365501 -0.22268434 11.57121996] [ 0.04282169 0.99841711 0.03646346 0.05162025] [ 0.22110467 -0.04506241 0.97420845 0.69916784] [ 0. 0. 0. 1. ]] SLAMing on 28.139649246000005 meters Centerline goodness : 0.910413 Centerline is valid? [False, False] Translation: X:11.57, Y:0.05, Z:0.70 [[ 0.97411927 -0.02999918 -0.22403505 11.57432406] [ 0.04015843 0.99835475 0.04092788 0.05008437] [ 0.22243865 -0.04886553 0.97372132 0.7011167 ] [ 0. 0. 0. 1. ]] SLAMing on 28.169649246000002 meters Centerline goodness : 0.909338 Centerline is valid? [False, False] Translation: X:11.58, Y:0.05, Z:0.70 [[ 0.97385016 -0.03017352 -0.22517866 11.57716301] [ 0.04026375 0.99837395 0.04035198 0.05168347] [ 0.22359495 -0.04836332 0.97348153 0.7008731 ] [ 0. 0. 0. 1. ]] SLAMing on 28.199649246000003 meters Centerline goodness : 0.909609 Centerline is valid? [False, False] Translation: X:11.58, Y:0.05, Z:0.70 [[ 0.9736566 -0.02647784 -0.22647684 11.5804889 ] [ 0.0375164 0.99830135 0.0445751 0.05037094] [ 0.22491188 -0.05189743 0.97299604 0.70218073] [ 0. 0. 0. 1. ]] SLAMing on 28.229649246000005 meters Centerline goodness : 0.911846 Centerline is valid? [False, False] Translation: X:11.58, Y:0.05, Z:0.70 [[ 0.97346674 -0.02656975 -0.22728079 11.5824875 ] [ 0.03751427 0.99832826 0.04397008 0.05201843] [ 0.22573256 -0.05132968 0.9728361 0.70175216] [ 0. 0. 0. 1. ]] SLAMing on 28.259649246000006 meters Centerline goodness : 0.908594 Centerline is valid? [False, False] Translation: X:11.60, Y:0.06, Z:0.70 [[ 0.97455045 -0.02686025 -0.22255323 11.59738292] [ 0.03550522 0.99875872 0.03493419 0.05532818] [ 0.22133864 -0.04194693 0.97429444 0.69899009] [ 0. 0. 0. 1. ]] SLAMing on 28.289649246000003 meters Centerline goodness : 0.907583 Centerline is valid? [False, False] Translation: X:11.61, Y:0.06, Z:0.70 [[ 0.97557083 -0.0246434 -0.21829855 11.61452765] [ 0.03182257 0.9990601 0.02943185 0.05795583] [ 0.21736807 -0.03565968 0.97543811 0.69800021] [ 0. 0. 0. 1. ]] SLAMing on 28.319649246000004 meters Centerline goodness : 0.907782 Centerline is valid? [False, False] Translation: X:11.62, Y:0.06, Z:0.70 [[ 0.97543658 -0.02490114 -0.21886847 11.61628771] [ 0.03200869 0.99906714 0.02898789 0.05941903] [ 0.21794246 -0.03528154 0.97532369 0.69758232] [ 0. 0. 0. 1. ]] SLAMing on 28.349649246000006 meters Centerline goodness : 0.903063 Centerline is valid? [False, False] Translation: X:11.62, Y:0.06, Z:0.70 [[ 0.97523311 -0.0206083 -0.22021736 11.61923418] [ 0.02855431 0.99904868 0.03296022 0.05914785] [ 0.21932861 -0.03843206 0.97489381 0.69849048] [ 0. 0. 0. 1. ]] SLAMing on 28.379649246000003 meters Centerline goodness : 0.902373 Centerline is valid? [False, False] Translation: X:11.64, Y:0.06, Z:0.70 [[ 0.97623678 -0.01799565 -0.21595813 11.6350653 ] [ 0.02428492 0.99935367 0.02650426 0.06215584] [ 0.21534159 -0.03111896 0.97604283 0.69656202] [ 0. 0. 0. 1. ]] SLAMing on 28.409649246000004 meters Centerline goodness : 0.905534 Centerline is valid? [False, False] Translation: X:11.64, Y:0.06, Z:0.70 [[ 0.97600274 -0.01434051 -0.21728551 11.63781662] [ 0.02165145 0.9992754 0.03130332 0.05975794] [ 0.21667916 -0.03525667 0.97560602 0.69922733] [ 0. 0. 0. 1. ]] SLAMing on 28.439649246000005 meters Centerline goodness : 0.904986 Centerline is valid? [False, False] Translation: X:11.64, Y:0.06, Z:0.70 [[ 0.97582431 -0.01440158 -0.21808143 11.63917222] [ 0.021812 0.99926223 0.03161079 0.05926339] [ 0.21746529 -0.03560337 0.9754185 0.70025994] [ 0. 0. 0. 1. ]] SLAMing on 28.469649246000003 meters Centerline goodness : 0.900583 Centerline is valid? [False, False] Translation: X:11.64, Y:0.06, Z:0.70 [[ 0.97556689 -0.01470589 -0.21920992 11.64254269] [ 0.02218927 0.99925062 0.03171505 0.05849057] [ 0.21857925 -0.03580426 0.97516212 0.70030019] [ 0. 0. 0. 1. ]] SLAMing on 28.499649246000004 meters Centerline goodness : 0.900962 Centerline is valid? [False, False] Translation: X:11.65, Y:0.06, Z:0.70 [[ 0.97536768 -0.01535353 -0.22005034 11.64606582] [ 0.02287707 0.99923614 0.03168254 0.05744396] [ 0.21939581 -0.03593623 0.97497388 0.69976569] [ 0. 0. 0. 1. ]] SLAMing on 28.529649246000005 meters Centerline goodness : 0.903373 Centerline is valid? [False, False] Translation: X:11.65, Y:0.06, Z:0.70 [[ 0.9751486 -0.01594438 -0.22097734 11.64885515] [ 0.02355071 0.99921582 0.03182938 0.05644757] [ 0.22029656 -0.03624255 0.97475941 0.70019829] [ 0. 0. 0. 1. ]] SLAMing on 28.559649246000003 meters Centerline goodness : 0.898499 Centerline is valid? [False, False] Translation: X:11.65, Y:0.05, Z:0.70 [[ 0.97488327 -0.01588045 -0.22214955 11.65073928] [ 0.02377529 0.99917552 0.03290926 0.05326451] [ 0.22144377 -0.03736436 0.97445706 0.70250152] [ 0. 0. 0. 1. ]] SLAMing on 28.589649246000004 meters Centerline goodness : 0.904007 Centerline is valid? [False, False] Translation: X:11.65, Y:0.05, Z:0.70 [[ 0.97472081 -0.01603454 -0.22285024 11.65223737] [ 0.02407229 0.99915218 0.03339828 0.05167465] [ 0.22212578 -0.03791851 0.97428041 0.70349187] [ 0. 0. 0. 1. ]] SLAMing on 28.619649246000005 meters Centerline goodness : 0.904472 Centerline is valid? [False, False] Translation: X:11.66, Y:0.05, Z:0.70 [[ 0.97445465 -0.01660966 -0.22396933 11.65508525] [ 0.02480314 0.99912014 0.03381932 0.04983659] [ 0.22321054 -0.03851054 0.97400924 0.70471978] [ 0. 0. 0. 1. ]] SLAMing on 28.649649246000003 meters Centerline goodness : 0.900464 Centerline is valid? [False, False] Translation: X:11.66, Y:0.05, Z:0.70 [[ 0.97423975 -0.01758908 -0.22482778 11.65864972] [ 0.02575825 0.99910828 0.0334537 0.04987491] [ 0.22403887 -0.03838309 0.97382407 0.70425906] [ 0. 0. 0. 1. ]] SLAMing on 28.679649246000004 meters Centerline goodness : 0.896198 Centerline is valid? [False, False] Translation: X:11.66, Y:0.05, Z:0.70 [[ 0.97401028 -0.01829488 -0.22576375 11.66218556] [ 0.02639136 0.99911026 0.03289657 0.05030675] [ 0.22496104 -0.03799981 0.97362649 0.7034394 ] [ 0. 0. 0. 1. ]] SLAMing on 28.709649246000005 meters Centerline goodness : 0.898507 Centerline is valid? [False, False] Translation: X:11.66, Y:0.05, Z:0.70 [[ 0.97381547 -0.01872078 -0.22656779 11.66468894] [ 0.02683762 0.99910162 0.03279783 0.05017883] [ 0.22575025 -0.03801958 0.97344303 0.7034394 ] [ 0. 0. 0. 1. ]] SLAMing on 28.739649246000003 meters Centerline goodness : 0.895501 Centerline is valid? [False, False] Translation: X:11.67, Y:0.05, Z:0.70 [[ 0.97352781 -0.01910566 -0.22776871 11.66747685] [ 0.02738967 0.9990712 0.03326484 0.04878389] [ 0.22692161 -0.03862276 0.97314689 0.70479237] [ 0. 0. 0. 1. ]] SLAMing on 28.769649246000004 meters Centerline goodness : 0.899316 Centerline is valid? [False, False] Translation: X:11.67, Y:0.05, Z:0.71 [[ 0.97334765 -0.01937061 -0.22851505 11.66953875] [ 0.02774686 0.99905351 0.03349915 0.04811578] [ 0.22764986 -0.0389469 0.97296386 0.70525821] [ 0. 0. 0. 1. ]] SLAMing on 28.799649246000005 meters Centerline goodness : 0.898594 Centerline is valid? [False, False] Translation: X:11.67, Y:0.05, Z:0.71 [[ 0.97316526 -0.01951381 -0.22927842 11.67177984] [ 0.02792216 0.99904907 0.03348603 0.04776731] [ 0.22840695 -0.03898939 0.97278471 0.70526956] [ 0. 0. 0. 1. ]] SLAMing on 28.829649246000002 meters Centerline goodness : 0.898910 Centerline is valid? [False, False] Translation: X:11.67, Y:0.05, Z:0.71 [[ 0.9730179 -0.01964977 -0.22989141 11.6735861 ] [ 0.02811485 0.99903969 0.03360436 0.04783348] [ 0.22901033 -0.03916101 0.97263595 0.70546315] [ 0. 0. 0. 1. ]] SLAMing on 28.859649246000004 meters Centerline goodness : 0.894142 Centerline is valid? [False, False] Translation: X:11.68, Y:0.05, Z:0.71 [[ 0.97275762 -0.019899 -0.23096892 11.67598129] [ 0.02845198 0.99902493 0.03375901 0.04705617] [ 0.23007194 -0.03941086 0.97237528 0.70632491] [ 0. 0. 0. 1. ]] SLAMing on 28.889649246000005 meters Centerline goodness : 0.895810 Centerline is valid? [False, False] Translation: X:11.68, Y:0.05, Z:0.71 [[ 0.97254462 -0.02009676 -0.23184713 11.67779517] [ 0.02878781 0.99900156 0.03416361 0.04623505] [ 0.23092906 -0.03990001 0.97215213 0.70744811] [ 0. 0. 0. 1. ]] SLAMing on 28.919649246000002 meters Centerline goodness : 0.896804 Centerline is valid? [False, False] Translation: X:11.68, Y:0.05, Z:0.71 [[ 0.97225807 -0.02002852 -0.23305173 11.67999271] [ 0.02890944 0.99897769 0.03475364 0.04508206] [ 0.23211741 -0.0405269 0.97184313 0.7089801 ] [ 0. 0. 0. 1. ]] SLAMing on 28.949649246000003 meters Centerline goodness : 0.900484 Centerline is valid? [False, False] Translation: X:11.68, Y:0.04, Z:0.71 [[ 0.97211343 -0.02001085 -0.23365581 11.68120122] [ 0.02901941 0.99895956 0.03518054 0.04470511] [ 0.23270871 -0.04098003 0.97168271 0.70982611] [ 0. 0. 0. 1. ]] SLAMing on 28.979649246000005 meters Centerline goodness : 0.900711 Centerline is valid? [False, False] Translation: X:11.68, Y:0.04, Z:0.71 [[ 0.97193286 -0.02012911 -0.23439566 11.6830985 ] [ 0.02921745 0.99894726 0.03536534 0.04421711] [ 0.23343703 -0.04122118 0.9714978 0.71030844] [ 0. 0. 0. 1. ]] SLAMing on 29.009649246000006 meters Centerline goodness : 0.902378 Centerline is valid? [False, False] Translation: X:11.69, Y:0.04, Z:0.71 [[ 0.97170982 -0.02060197 -0.23527767 11.68544481] [ 0.02974561 0.99893115 0.03538012 0.04419656] [ 0.2342973 -0.04137769 0.97128403 0.71079307] [ 0. 0. 0. 1. ]] SLAMing on 29.039649246000003 meters Centerline goodness : 0.900111 Centerline is valid? [False, False] Translation: X:11.69, Y:0.04, Z:0.71 [[ 0.97139176 -0.02129607 -0.23652595 11.68904286] [ 0.0305518 0.9989013 0.03553561 0.04309509] [ 0.23550931 -0.04174529 0.97097513 0.71151657] [ 0. 0. 0. 1. ]] SLAMing on 29.069649246000004 meters Centerline goodness : 0.902166 Centerline is valid? [False, False] Translation: X:11.69, Y:0.04, Z:0.71 [[ 0.97111516 -0.02191281 -0.23760297 11.69193174] [ 0.03134295 0.99886076 0.03598343 0.04101675] [ 0.23654378 -0.04239123 0.97069564 0.71273902] [ 0. 0. 0. 1. ]] SLAMing on 29.099649246000006 meters Centerline goodness : 0.899923 Centerline is valid? [False, False] Translation: X:11.69, Y:0.04, Z:0.71 [[ 0.9708797 -0.02260088 -0.23849909 11.6948311 ] [ 0.03207617 0.99883968 0.03592237 0.04065367] [ 0.23741048 -0.04252644 0.97047811 0.7129739 ] [ 0. 0. 0. 1. ]] SLAMing on 29.129649246000003 meters Centerline goodness : 0.901640 Centerline is valid? [False, False] Translation: X:11.70, Y:0.04, Z:0.71 [[ 0.97055735 -0.02341558 -0.2397293 11.69890483] [ 0.03298437 0.99880801 0.03598037 0.03905437] [ 0.23860105 -0.04282834 0.97017281 0.71324241] [ 0. 0. 0. 1. ]] SLAMing on 29.159649246000004 meters Centerline goodness : 0.904324 Centerline is valid? [False, False] Translation: X:11.70, Y:0.04, Z:0.71 [[ 0.97031976 -0.02385149 -0.24064636 11.70127563] [ 0.03350764 0.99878579 0.03611357 0.03813482] [ 0.2394928 -0.0431052 0.96994079 0.71393841] [ 0. 0. 0. 1. ]] SLAMing on 29.189649246000005 meters Centerline goodness : 0.902166 Centerline is valid? [False, False] Translation: X:11.70, Y:0.04, Z:0.71 [[ 0.97002583 -0.02455823 -0.24175771 11.70428548] [ 0.03427263 0.99876181 0.03605889 0.03780961] [ 0.24057282 -0.04326373 0.96966642 0.71460403] [ 0. 0. 0. 1. ]] SLAMing on 29.219649246000003 meters Centerline goodness : 0.901174 Centerline is valid? [False, False] Translation: X:11.71, Y:0.04, Z:0.71 [[ 0.96978599 -0.02517787 -0.24265451 11.70738786] [ 0.0348631 0.99875419 0.035702 0.03779036] [ 0.24145331 -0.04308298 0.9694556 0.71431174] [ 0. 0. 0. 1. ]] SLAMing on 29.249649246000004 meters Centerline goodness : 0.898008 Centerline is valid? [False, False] Translation: X:11.71, Y:0.04, Z:0.71 [[ 0.96959863 -0.02567084 -0.24335057 11.70949646] [ 0.03537596 0.99873999 0.03559468 0.03846176] [ 0.2421302 -0.04312132 0.96928505 0.71463886] [ 0. 0. 0. 1. ]] SLAMing on 29.279649246000005 meters Centerline goodness : 0.900369 Centerline is valid? [False, False] Translation: X:11.71, Y:0.04, Z:0.72 [[ 0.96911481 -0.02217366 -0.24561111 11.71410375] [ 0.03332175 0.9985899 0.04132636 0.03619551] [ 0.24434842 -0.04823418 0.96848713 0.71967481] [ 0. 0. 0. 1. ]] SLAMing on 29.309649246000003 meters Centerline goodness : 0.899843 Centerline is valid? [False, False] Translation: X:11.72, Y:0.04, Z:0.72 [[ 0.96876664 -0.02321407 -0.2468852 11.71811317] [ 0.03428046 0.99858643 0.04062016 0.03678173] [ 0.24559325 -0.04781479 0.96819301 0.71950564] [ 0. 0. 0. 1. ]] SLAMing on 29.339649246000004 meters Centerline goodness : 0.905169 Centerline is valid? [False, False] Translation: X:11.72, Y:0.03, Z:0.72 [[ 0.96851262 -0.02344793 -0.24785782 11.71901318] [ 0.034985 0.99849457 0.04224515 0.03444428] [ 0.24649413 -0.04958627 0.96787491 0.72331814] [ 0. 0. 0. 1. ]] SLAMing on 29.369649246000005 meters Centerline goodness : 0.907379 Centerline is valid? [False, False] Translation: X:11.73, Y:0.03, Z:0.73 [[ 0.96793257 -0.02761466 -0.24968775 11.72616631] [ 0.04013636 0.99817148 0.04519693 0.03263191] [ 0.24798309 -0.05376914 0.96727104 0.73219088] [ 0. 0. 0. 1. ]] SLAMing on 29.399649246000003 meters Centerline goodness : 0.905627 Centerline is valid? [False, False] Translation: X:11.73, Y:0.04, Z:0.73 [[ 0.96751185 -0.03012218 -0.25102483 11.7333507 ] [ 0.04230121 0.99816781 0.04326237 0.0357317 ] [ 0.24926175 -0.05247551 0.96701339 0.72980408] [ 0. 0. 0. 1. ]] SLAMing on 29.429649246000004 meters Centerline goodness : 0.899808 Centerline is valid? [False, False] Translation: X:11.74, Y:0.04, Z:0.73 [[ 0.96711266 -0.03218188 -0.25230425 11.74003143] [ 0.04407537 0.9981605 0.04162894 0.03855528] [ 0.25050044 -0.05138028 0.96675209 0.72747462] [ 0. 0. 0. 1. ]] SLAMing on 29.459649246000005 meters Centerline goodness : 0.893130 Centerline is valid? [False, False] Translation: X:11.75, Y:0.04, Z:0.73 [[ 0.96641939 -0.03238926 -0.25492057 11.75230964] [ 0.0450682 0.99801214 0.04405257 0.04027225] [ 0.252987 -0.05406207 0.96595801 0.72749062] [ 0. 0. 0. 1. ]] SLAMing on 29.489649246000003 meters Centerline goodness : 0.895204 Centerline is valid? [False, False] Translation: X:11.76, Y:0.04, Z:0.73 [[ 0.96609028 -0.03328428 -0.25605026 11.75555116] [ 0.04601761 0.99797559 0.04389866 0.04003863] [ 0.25407078 -0.05419289 0.96566618 0.7281842 ] [ 0. 0. 0. 1. ]] SLAMing on 29.519649246000004 meters Centerline goodness : 0.900532 Centerline is valid? [False, False] Translation: X:11.77, Y:0.04, Z:0.73 [[ 0.96729969 -0.0360206 -0.25106537 11.76881674] [ 0.04604623 0.99835469 0.03417107 0.04107395] [ 0.24942143 -0.04461428 0.9673668 0.72946351] [ 0. 0. 0. 1. ]] SLAMing on 29.549649246000005 meters Centerline goodness : 0.904408 Centerline is valid? [False, False] Translation: X:11.78, Y:0.04, Z:0.73 [[ 0.96858953 -0.03600641 -0.24604442 11.78182487] [ 0.04395349 0.99867183 0.02688255 0.04222115] [ 0.24474969 -0.03685267 0.96888568 0.73120647] [ 0. 0. 0. 1. ]] SLAMing on 29.579649246000002 meters Centerline goodness : 0.907245 Centerline is valid? [False, False] Translation: X:11.79, Y:0.04, Z:0.73 [[ 0.96832823 -0.03232548 -0.2475793 11.78510451] [ 0.04139115 0.99864638 0.03149899 0.04101193] [ 0.24622595 -0.04074896 0.96835546 0.73377601] [ 0. 0. 0. 1. ]] SLAMing on 29.609649246000004 meters Centerline goodness : 0.906794 Centerline is valid? [False, False] Translation: X:11.79, Y:0.04, Z:0.73 [[ 0.96812468 -0.03289453 -0.24829931 11.78725502] [ 0.04188058 0.99864178 0.0309939 0.04266798] [ 0.24694253 -0.04040487 0.96818739 0.73367148] [ 0. 0. 0. 1. ]] SLAMing on 29.639649246000005 meters Centerline goodness : 0.904045 Centerline is valid? [False, False] Translation: X:11.79, Y:0.04, Z:0.73 [[ 0.96776891 -0.02974853 -0.25007672 11.79244843] [ 0.03967084 0.99860907 0.03472958 0.04332835] [ 0.24869572 -0.04353096 0.96760296 0.73486397] [ 0. 0. 0. 1. ]] SLAMing on 29.669649246000002 meters Centerline goodness : 0.901250 Centerline is valid? [False, False] Translation: X:11.80, Y:0.05, Z:0.73 [[ 0.96742313 -0.0306962 -0.25129709 11.79657624] [ 0.0402904 0.99863888 0.03312195 0.04654896] [ 0.24993832 -0.0421678 0.96734312 0.73323348] [ 0. 0. 0. 1. ]] SLAMing on 29.699649246000003 meters Centerline goodness : 0.902447 Centerline is valid? [False, False] Translation: X:11.80, Y:0.05, Z:0.73 [[ 0.96717864 -0.03130624 -0.25216144 11.79903316] [ 0.04078956 0.9986401 0.03246781 0.04811314] [ 0.25080208 -0.04168773 0.96714035 0.73309608] [ 0. 0. 0. 1. ]] SLAMing on 29.729649246000005 meters Centerline goodness : 0.904246 Centerline is valid? [False, False] Translation: X:11.80, Y:0.05, Z:0.73 [[ 0.96686007 -0.03168325 -0.25333334 11.80183281] [ 0.04101017 0.99865828 0.03161986 0.05043397] [ 0.25199162 -0.04096122 0.96686214 0.73289046] [ 0. 0. 0. 1. ]] SLAMing on 29.759649246000006 meters Centerline goodness : 0.906314 Centerline is valid? [False, False] Translation: X:11.81, Y:0.05, Z:0.73 [[ 0.96663627 -0.02809246 -0.25460782 11.8052613 ] [ 0.03837156 0.99863293 0.03549492 0.05019598] [ 0.25326261 -0.04408038 0.96639276 0.73402458] [ 0. 0. 0. 1. ]] SLAMing on 29.789649246000003 meters Centerline goodness : 0.906314 Centerline is valid? [False, False] Translation: X:11.81, Y:0.05, Z:0.73 [[ 0.96663627 -0.02809246 -0.25460782 11.8052613 ] [ 0.03837156 0.99863293 0.03549492 0.05019598] [ 0.25326261 -0.04408038 0.96639276 0.73402458] [ 0. 0. 0. 1. ]] SLAMing on 29.819649246000004 meters Centerline goodness : 0.906949 Centerline is valid? [False, False] Translation: X:11.81, Y:0.05, Z:0.73 [[ 0.96646139 -0.02779291 -0.25530362 11.80668272] [ 0.03792437 0.99867285 0.03484641 0.05407367] [ 0.25399631 -0.04335994 0.96623278 0.73343841] [ 0. 0. 0. 1. ]] SLAMing on 29.849649246000006 meters Centerline goodness : 0.905869 Centerline is valid? [False, False] Translation: X:11.81, Y:0.06, Z:0.73 [[ 0.96630362 -0.02792461 -0.25588578 11.8080117 ] [ 0.03794466 0.99869085 0.03430444 0.05611727] [ 0.25459284 -0.04285801 0.96609817 0.73322678] [ 0. 0. 0. 1. ]] SLAMing on 29.879649246000003 meters Centerline goodness : 0.906458 Centerline is valid? [False, False] Translation: X:11.81, Y:0.06, Z:0.73 [[ 0.96607777 -0.0234968 -0.25718017 11.81018653] [ 0.03438399 0.99868915 0.03791743 0.05854581] [ 0.25595211 -0.04547406 0.9656193 0.73438599] [ 0. 0. 0. 1. ]] SLAMing on 29.909649246000004 meters Centerline goodness : 0.905850 Centerline is valid? [False, False] Translation: X:11.81, Y:0.06, Z:0.73 [[ 0.96590685 -0.02363533 -0.25780872 11.81144 ] [ 0.03440793 0.99870958 0.0373534 0.06103397] [ 0.25659318 -0.04495057 0.96547366 0.73428991] [ 0. 0. 0. 1. ]] SLAMing on 29.939649246000005 meters Centerline goodness : 0.908072 Centerline is valid? [False, False] Translation: X:11.81, Y:0.06, Z:0.73 [[ 0.96564809 -0.02294827 -0.25883807 11.81250457] [ 0.03362922 0.99875249 0.03691246 0.06345027] [ 0.25766809 -0.04434897 0.96521517 0.73454643] [ 0. 0. 0. 1. ]] SLAMing on 29.969649246000003 meters Centerline goodness : 0.909971 Centerline is valid? [False, False] Translation: X:11.83, Y:0.07, Z:0.73 [[ 0.96701196 -0.02253421 -0.25373228 11.82746589] [ 0.03093395 0.99909589 0.02916329 0.06709498] [ 0.25284571 -0.03605019 0.96683475 0.73286494] [ 0. 0. 0. 1. ]] SLAMing on 29.999649246000004 meters Centerline goodness : 0.909549 Centerline is valid? [False, False] Translation: X:11.84, Y:0.07, Z:0.73 [[ 0.96832476 -0.0204518 -0.24885514 11.84345749] [ 0.0271532 0.99935441 0.02352581 0.07083295] [ 0.24821334 -0.02953783 0.96825495 0.73258489] [ 0. 0. 0. 1. ]] SLAMing on 30.029649246000005 meters Centerline goodness : 0.913293 Centerline is valid? [False, False] Translation: X:11.85, Y:0.07, Z:0.73 [[ 0.96808026 -0.01681961 -0.25007543 11.84646841] [ 0.02462227 0.99930167 0.02810541 0.06910841] [ 0.24942807 -0.03336571 0.96781835 0.73478209] [ 0. 0. 0. 1. ]] SLAMing on 30.059649246000003 meters Centerline goodness : 0.912603 Centerline is valid? [False, False] Translation: X:11.85, Y:0.07, Z:0.73 [[ 0.96790584 -0.01759161 -0.25069666 11.84901272] [ 0.02533636 0.99929517 0.0276988 0.06891606] [ 0.2500327 -0.03316157 0.96766934 0.73446417] [ 0. 0. 0. 1. ]] SLAMing on 30.089649246000004 meters Centerline goodness : 0.909696 Centerline is valid? [False, False] Translation: X:11.85, Y:0.07, Z:0.74 [[ 0.96776152 -0.01613188 -0.25135115 11.85271816] [ 0.02456013 0.99923509 0.03043077 0.06744872] [ 0.25066799 -0.03562295 0.96741747 0.73517521] [ 0. 0. 0. 1. ]] SLAMing on 30.119649246000005 meters Centerline goodness : 0.911260 Centerline is valid? [False, False] Translation: X:11.86, Y:0.07, Z:0.74 [[ 0.9675065 -0.0168537 -0.25228383 11.85585682] [ 0.02533656 0.99921624 0.03041337 0.06596674] [ 0.25157352 -0.03581714 0.96717521 0.7353713 ] [ 0. 0. 0. 1. ]] SLAMing on 30.149649246000003 meters Centerline goodness : 0.909126 Centerline is valid? [False, False] Translation: X:11.86, Y:0.06, Z:0.74 [[ 0.9671483 -0.02238808 -0.25322508 11.85952314] [ 0.03000901 0.99920429 0.02627266 0.06411073] [ 0.25243539 -0.0330086 0.96705057 0.73509777] [ 0. 0. 0. 1. ]] SLAMing on 30.179649246000004 meters Centerline goodness : 0.916626 Centerline is valid? [False, False] Translation: X:11.86, Y:0.06, Z:0.74 [[ 0.96688335 -0.02308968 -0.2541721 11.86221926] [ 0.03080168 0.99917672 0.02640323 0.06286708] [ 0.2533532 -0.03335777 0.96679854 0.73584774] [ 0. 0. 0. 1. ]] SLAMing on 30.209649246000005 meters Centerline goodness : 0.913909 Centerline is valid? [False, False] Translation: X:11.86, Y:0.06, Z:0.74 [[ 0.96664449 -0.02366819 -0.25502598 11.86472636] [ 0.03145811 0.99915345 0.02650971 0.06225841] [ 0.25418265 -0.0336481 0.96657073 0.73644749] [ 0. 0. 0. 1. ]] SLAMing on 30.239649246000003 meters Centerline goodness : 0.917906 Centerline is valid? [False, False] Translation: X:11.87, Y:0.06, Z:0.74 [[ 0.96639556 -0.02407319 -0.2559299 11.86658721] [ 0.03212795 0.99910982 0.02733774 0.06030872] [ 0.25504397 -0.03464158 0.96630872 0.73840388] [ 0. 0. 0. 1. ]] SLAMing on 30.269649246000004 meters Centerline goodness : 0.915412 Centerline is valid? [False, False] Translation: X:11.87, Y:0.06, Z:0.74 [[ 0.96620318 -0.02473635 -0.25659213 11.86898693] [ 0.03278259 0.99909429 0.02712749 0.06017538] [ 0.2556887 -0.03462242 0.96613901 0.73845313] [ 0. 0. 0. 1. ]] SLAMing on 30.299649246000005 meters Centerline goodness : 0.918821 Centerline is valid? [False, False] Translation: X:11.87, Y:0.06, Z:0.74 [[ 0.96596837 -0.02554767 -0.25739547 11.87194618] [ 0.03360927 0.99907113 0.02696844 0.06041006] [ 0.2564674 -0.03470154 0.96592975 0.73862096] [ 0. 0. 0. 1. ]] SLAMing on 30.329649246000002 meters Centerline goodness : 0.918905 Centerline is valid? [False, False] Translation: X:11.88, Y:0.06, Z:0.74 [[ 0.96540619 -0.02759117 -0.25928675 11.87697914] [ 0.03640674 0.99890866 0.02925807 0.05648389] [ 0.25819652 -0.0376857 0.96535711 0.74429822] [ 0. 0. 0. 1. ]] SLAMing on 30.359649246000004 meters Centerline goodness : 0.921465 Centerline is valid? [False, False] Translation: X:11.88, Y:0.06, Z:0.74 [[ 0.96517842 -0.02819744 -0.26006832 11.87928085] [ 0.0370666 0.9988843 0.02926119 0.05590168] [ 0.25895307 -0.03788211 0.96514675 0.74483217] [ 0. 0. 0. 1. ]] SLAMing on 30.389649246000005 meters Centerline goodness : 0.921957 Centerline is valid? [False, False] Translation: X:11.88, Y:0.06, Z:0.75 [[ 0.96483183 -0.02947952 -0.26120967 11.88304065] [ 0.03842076 0.99883525 0.02918877 0.05502385] [ 0.26004496 -0.03819813 0.96484067 0.74569005] [ 0. 0. 0. 1. ]] SLAMing on 30.419649246000006 meters Centerline goodness : 0.921150 Centerline is valid? [False, False] Translation: X:11.89, Y:0.05, Z:0.75 [[ 0.96466327 -0.03011679 -0.26175895 11.88512854] [ 0.03904114 0.99881787 0.02895933 0.05492505] [ 0.26057735 -0.03815537 0.96469871 0.74569088] [ 0. 0. 0. 1. ]] SLAMing on 30.449649246000003 meters Centerline goodness : 0.923320 Centerline is valid? [False, False] Translation: X:11.89, Y:0.05, Z:0.75 [[ 0.96435467 -0.03095654 -0.26279606 11.88863837] [ 0.03988069 0.99879244 0.02869133 0.05421273] [ 0.26159053 -0.0381491 0.96442472 0.74576064] [ 0. 0. 0. 1. ]] SLAMing on 30.479649246000005 meters Centerline goodness : 0.924539 Centerline is valid? [False, False] Translation: X:11.89, Y:0.05, Z:0.75 [[ 0.96408513 -0.03169888 -0.26369499 11.89144963] [ 0.04060546 0.99877175 0.02839332 0.05423458] [ 0.26247107 -0.03808103 0.96418814 0.74594553] [ 0. 0. 0. 1. ]] SLAMing on 30.509649246000006 meters Centerline goodness : 0.924631 Centerline is valid? [False, False] Translation: X:11.89, Y:0.05, Z:0.75 [[ 0.96381693 -0.03265699 -0.26455708 11.89488094] [ 0.04148693 0.99875065 0.02785645 0.05460112] [ 0.26331684 -0.03782418 0.96396762 0.74555569] [ 0. 0. 0. 1. ]] SLAMing on 30.539649246000003 meters Centerline goodness : 0.922480 Centerline is valid? [False, False] Translation: X:11.90, Y:0.05, Z:0.75 [[ 0.96364963 -0.03306322 -0.26511549 11.89661622] [ 0.04190074 0.99873641 0.02774712 0.05477563] [ 0.26386308 -0.03784703 0.96381735 0.74576664] [ 0. 0. 0. 1. ]] SLAMing on 30.569649246000004 meters Centerline goodness : 0.925479 Centerline is valid? [False, False] Translation: X:11.90, Y:0.05, Z:0.75 [[ 0.96345961 -0.03343349 -0.26575887 11.89836269] [ 0.04230866 0.99871943 0.02773947 0.05460553] [ 0.26449112 -0.03796976 0.96364036 0.74627077] [ 0. 0. 0. 1. ]] SLAMing on 30.599649246000006 meters Centerline goodness : 0.927212 Centerline is valid? [False, False] Translation: X:11.90, Y:0.06, Z:0.75 [[ 0.96329168 -0.03387375 -0.26631129 11.8999394 ] [ 0.04275266 0.99870405 0.02761219 0.05521393] [ 0.26503084 -0.03798411 0.9634915 0.74663836] [ 0. 0. 0. 1. ]] SLAMing on 30.629649246000003 meters Centerline goodness : 0.926956 Centerline is valid? [False, False] Translation: X:11.90, Y:0.06, Z:0.75 [[ 0.96320765 -0.03398511 -0.26660089 11.90114813] [ 0.04285747 0.99870181 0.02753049 0.05520167] [ 0.26531917 -0.03794342 0.96341374 0.7464076 ] [ 0. 0. 0. 1. ]] SLAMing on 30.659649246000004 meters Centerline goodness : 0.923801 Centerline is valid? [False, False] Translation: X:11.90, Y:0.06, Z:0.75 [[ 0.96297985 -0.03458045 -0.26734621 11.90350775] [ 0.04346915 0.99867898 0.02739949 0.05504177] [ 0.26604555 -0.03800647 0.96321092 0.74671068] [ 0. 0. 0. 1. ]] SLAMing on 30.689649246000005 meters Centerline goodness : 0.926842 Centerline is valid? [False, False] Translation: X:11.91, Y:0.05, Z:0.75 [[ 0.96268273 -0.03467282 -0.26840223 11.90533066] [ 0.04382659 0.99864145 0.02818676 0.052936 ] [ 0.26706027 -0.03889806 0.96289447 0.74875944] [ 0. 0. 0. 1. ]] SLAMing on 30.719649246000003 meters Centerline goodness : 0.928115 Centerline is valid? [False, False] Translation: X:11.91, Y:0.05, Z:0.75 [[ 0.96247709 -0.03518187 -0.26907264 11.90776044] [ 0.04431611 0.99862659 0.02794671 0.05244537] [ 0.26771988 -0.03882232 0.96271434 0.74863014] [ 0. 0. 0. 1. ]] SLAMing on 30.749649246000004 meters Centerline goodness : 0.930715 Centerline is valid? [False, False] Translation: X:11.91, Y:0.05, Z:0.75 [[ 0.96227527 -0.03566682 -0.26972983 11.90983629] [ 0.04481234 0.9986079 0.02782279 0.05265335] [ 0.26836199 -0.0388604 0.96253401 0.74889881] [ 0. 0. 0. 1. ]] SLAMing on 30.779649246000005 meters Centerline goodness : 0.930285 Centerline is valid? [False, False] Translation: X:11.91, Y:0.05, Z:0.75 [[ 0.9620864 -0.03614389 -0.27033938 11.91184186] [ 0.04529286 0.99859022 0.02767896 0.0527807 ] [ 0.26895783 -0.038874 0.96236713 0.7490951 ] [ 0. 0. 0. 1. ]] SLAMing on 30.809649246000003 meters Centerline goodness : 0.930362 Centerline is valid? [False, False] Translation: X:11.91, Y:0.05, Z:0.75 [[ 0.96184982 -0.03670171 -0.27110498 11.91443292] [ 0.04578469 0.99857951 0.02725299 0.05355429] [ 0.26971964 -0.03862574 0.9621639 0.74895964] [ 0. 0. 0. 1. ]] SLAMing on 30.839649246000004 meters Centerline goodness : 0.925077 Centerline is valid? [False, False] Translation: X:11.92, Y:0.05, Z:0.75 [[ 0.96168038 -0.03710871 -0.27165012 11.91599729] [ 0.0462287 0.99855918 0.02724825 0.05395823] [ 0.27024758 -0.03876214 0.96201026 0.74942757] [ 0. 0. 0. 1. ]] SLAMing on 30.869649246000005 meters Centerline goodness : 0.929192 Centerline is valid? [False, False] Translation: X:11.92, Y:0.05, Z:0.75 [[ 0.96143642 -0.03766025 -0.27243664 11.91798338] [ 0.04691203 0.99851976 0.02752359 0.05278973] [ 0.27099683 -0.03924274 0.96177998 0.75056896] [ 0. 0. 0. 1. ]] SLAMing on 30.899649246000003 meters Centerline goodness : 0.925418 Centerline is valid? [False, False] Translation: X:11.92, Y:0.05, Z:0.75 [[ 0.96123854 -0.03817065 -0.27306311 11.91988965] [ 0.04749014 0.99849035 0.02759922 0.05237359] [ 0.2715974 -0.03949724 0.96160014 0.75113654] [ 0. 0. 0. 1. ]] SLAMing on 30.929649246000004 meters Centerline goodness : 0.927350 Centerline is valid? [False, False] Translation: X:11.92, Y:0.05, Z:0.75 [[ 0.96088451 -0.03905536 -0.27418176 11.92287386] [ 0.04857611 0.99842643 0.02801835 0.05140831] [ 0.27265605 -0.04024108 0.96126965 0.75286063] [ 0. 0. 0. 1. ]] SLAMing on 30.959649246000005 meters Centerline goodness : 0.925896 Centerline is valid? [False, False] Translation: X:11.93, Y:0.05, Z:0.75 [[ 0.96059046 -0.03989714 -0.2750894 11.92531383] [ 0.04951998 0.99837715 0.02812184 0.0506845 ] [ 0.273521 -0.04063599 0.96100727 0.75403544] [ 0. 0. 0. 1. ]] SLAMing on 30.989649246000003 meters Centerline goodness : 0.930857 Centerline is valid? [False, False] Translation: X:11.93, Y:0.05, Z:0.76 [[ 0.96006485 -0.04103987 -0.27675118 11.92880534] [ 0.05124903 0.99824255 0.02975469 0.04724113] [ 0.27504368 -0.04274966 0.96048084 0.75852978] [ 0. 0. 0. 1. ]] SLAMing on 31.019649246000004 meters Centerline goodness : 0.929349 Centerline is valid? [False, False] Translation: X:11.93, Y:0.05, Z:0.76 [[ 0.95990441 -0.03767372 -0.27778449 11.93217325] [ 0.04902682 0.99821739 0.03403538 0.04505704] [ 0.27600707 -0.0462896 0.9600403 0.76015234] [ 0. 0. 0. 1. ]] SLAMing on 31.049649246000005 meters Centerline goodness : 0.929594 Centerline is valid? [False, False] Translation: X:11.93, Y:0.04, Z:0.76 [[ 0.95964865 -0.03857903 -0.27854286 11.93491334] [ 0.04999516 0.99817071 0.03399595 0.04402611] [ 0.2767218 -0.04654997 0.95982194 0.76072417] [ 0. 0. 0. 1. ]] SLAMing on 31.079649246000002 meters Centerline goodness : 0.928699 Centerline is valid? [False, False] Translation: X:11.94, Y:0.04, Z:0.76 [[ 0.95944898 -0.03898333 -0.27917369 11.93637429] [ 0.05045124 0.99814733 0.03400851 0.04403109] [ 0.27733071 -0.04671408 0.9596382 0.76151928] [ 0. 0. 0. 1. ]] SLAMing on 31.109649246000004 meters Centerline goodness : 0.928742 Centerline is valid? [False, False] Translation: X:11.94, Y:0.04, Z:0.76 [[ 0.95923716 -0.03951257 -0.27982641 11.93793751] [ 0.05095836 0.99813055 0.03374393 0.04425712] [ 0.27796998 -0.04662793 0.95945741 0.76205191] [ 0. 0. 0. 1. ]] SLAMing on 31.139649246000005 meters Centerline goodness : 0.928134 Centerline is valid? [False, False] Translation: X:11.94, Y:0.04, Z:0.76 [[ 0.95891619 -0.04024732 -0.28082002 11.94075584] [ 0.05168971 0.99810263 0.03345611 0.04489442] [ 0.27894069 -0.04659711 0.95917715 0.76255681] [ 0. 0. 0. 1. ]] SLAMing on 31.169649246000006 meters Centerline goodness : 0.928011 Centerline is valid? [False, False] Translation: X:11.94, Y:0.05, Z:0.76 [[ 0.95869641 -0.04093908 -0.28146968 11.94303885] [ 0.05232276 0.99808336 0.03304451 0.04576538] [ 0.27957739 -0.04640693 0.95900098 0.76253735] [ 0. 0. 0. 1. ]] SLAMing on 31.199649246000003 meters Centerline goodness : 0.931420 Centerline is valid? [False, False] Translation: X:11.94, Y:0.05, Z:0.76 [[ 0.95850824 -0.04149083 -0.28202919 11.94480727] [ 0.05284481 0.99806496 0.03276839 0.04629502] [ 0.28012386 -0.04631255 0.95884606 0.76272815] [ 0. 0. 0. 1. ]] SLAMing on 31.229649246000005 meters Centerline goodness : 0.928598 Centerline is valid? [False, False] Translation: X:11.95, Y:0.05, Z:0.76 [[ 0.95824009 -0.04207136 -0.28285318 11.94677301] [ 0.05345406 0.99803663 0.03264261 0.04657272] [ 0.28092452 -0.04639911 0.9586076 0.7635768 ] [ 0. 0. 0. 1. ]] SLAMing on 31.259649246000006 meters Centerline goodness : 0.928311 Centerline is valid? [False, False] Translation: X:11.95, Y:0.05, Z:0.76 [[ 0.9580636 -0.04265084 -0.28336379 11.94857467] [ 0.05398092 0.99801964 0.03229339 0.047204 ] [ 0.28142528 -0.04623536 0.95846862 0.76361056] [ 0. 0. 0. 1. ]] SLAMing on 31.289649246000003 meters Centerline goodness : 0.929925 Centerline is valid? [False, False] Translation: X:11.95, Y:0.05, Z:0.76 [[ 0.9578369 -0.04298033 -0.28407951 11.95038352] [ 0.05436413 0.99799841 0.03230668 0.04771815] [ 0.28212235 -0.04638827 0.95825629 0.76428276] [ 0. 0. 0. 1. ]] SLAMing on 31.319649246000004 meters Centerline goodness : 0.929537 Centerline is valid? [False, False] Translation: X:11.95, Y:0.05, Z:0.76 [[ 0.95768401 -0.04345 -0.28452317 11.95225035] [ 0.05478536 0.99798527 0.03199953 0.04809192] [ 0.28255955 -0.04623314 0.95813496 0.76403332] [ 0. 0. 0. 1. ]] SLAMing on 31.349649246000006 meters Centerline goodness : 0.928265 Centerline is valid? [False, False] Translation: X:11.96, Y:0.05, Z:0.76 [[ 0.95736636 -0.04434401 -0.28545274 11.95547405] [ 0.05555645 0.99796489 0.03129804 0.04907915] [ 0.28348393 -0.04582244 0.9578816 0.76379477] [ 0. 0. 0. 1. ]] SLAMing on 31.379649246000003 meters Centerline goodness : 0.928662 Centerline is valid? [False, False] Translation: X:11.96, Y:0.05, Z:0.76 [[ 0.95720472 -0.04508033 -0.28587917 11.9574544 ] [ 0.05617253 0.99794852 0.03071493 0.05014689] [ 0.28390805 -0.04545903 0.9577733 0.76345865] [ 0. 0. 0. 1. ]] SLAMing on 31.409649246000004 meters Centerline goodness : 0.929307 Centerline is valid? [False, False] Translation: X:11.96, Y:0.05, Z:0.76 [[ 0.95697272 -0.04533936 -0.28661394 11.95888874] [ 0.0564383 0.99793773 0.03057793 0.05067698] [ 0.28463649 -0.04543825 0.95755806 0.76424454] [ 0. 0. 0. 1. ]] SLAMing on 31.439649246000005 meters Centerline goodness : 0.930058 Centerline is valid? [False, False] Translation: X:11.96, Y:0.05, Z:0.76 [[ 0.95684589 -0.04546658 -0.28701694 11.9597066 ] [ 0.05655372 0.99793502 0.03045293 0.05124147] [ 0.28503967 -0.04537064 0.95744133 0.76452721] [ 0. 0. 0. 1. ]] SLAMing on 31.469649246000003 meters Centerline goodness : 0.931250 Centerline is valid? [False, False] Translation: X:11.96, Y:0.05, Z:0.77 [[ 0.95654468 -0.04200516 -0.28854435 11.96364863] [ 0.05407857 0.99795782 0.03399545 0.05230481] [ 0.28652711 -0.04812223 0.95686283 0.76574838] [ 0. 0. 0. 1. ]] SLAMing on 31.499649246000004 meters Centerline goodness : 0.929552 Centerline is valid? [False, False] Translation: X:11.97, Y:0.05, Z:0.76 [[ 0.95629693 -0.04307123 -0.28920764 11.96705376] [ 0.05487757 0.99795306 0.03283518 0.05480673] [ 0.28720139 -0.04727119 0.95670309 0.76443933] [ 0. 0. 0. 1. ]] SLAMing on 31.529649246000005 meters Centerline goodness : 0.926996 Centerline is valid? [False, False] Translation: X:11.97, Y:0.06, Z:0.76 [[ 0.95601558 -0.04405743 -0.28998821 11.97008677] [ 0.05575302 0.99792555 0.03219002 0.05587094] [ 0.28796844 -0.04694188 0.9564887 0.76420934] [ 0. 0. 0. 1. ]] SLAMing on 31.559649246000003 meters Centerline goodness : 0.929449 Centerline is valid? [False, False] Translation: X:11.97, Y:0.06, Z:0.76 [[ 0.95576866 -0.04462345 -0.29071468 11.97235353] [ 0.05632797 0.99789894 0.03201355 0.05601499] [ 0.28867532 -0.04697291 0.95627408 0.76453576] [ 0. 0. 0. 1. ]] SLAMing on 31.589649246000004 meters Centerline goodness : 0.931680 Centerline is valid? [False, False] Translation: X:11.97, Y:0.06, Z:0.77 [[ 0.95560086 -0.04478107 -0.29124156 11.97297838] [ 0.05655818 0.99788182 0.03214111 0.05536361] [ 0.28918535 -0.04718617 0.95610946 0.76568875] [ 0. 0. 0. 1. ]] SLAMing on 31.619649246000005 meters Centerline goodness : 0.930695 Centerline is valid? [False, False] Translation: X:11.97, Y:0.05, Z:0.77 [[ 0.95542616 -0.0448263 -0.29180722 11.97375842] [ 0.05677191 0.99785498 0.03259421 0.05480441] [ 0.28972021 -0.04770782 0.95592163 0.76701059] [ 0. 0. 0. 1. ]] SLAMing on 31.649649246000003 meters Centerline goodness : 0.930156 Centerline is valid? [False, False] Translation: X:11.97, Y:0.05, Z:0.77 [[ 0.95524739 -0.04497216 -0.29236952 11.97429879] [ 0.05707804 0.99782405 0.03300393 0.05414012] [ 0.29024908 -0.0482148 0.95573574 0.76859292] [ 0. 0. 0. 1. ]] SLAMing on 31.679649246000004 meters Centerline goodness : 0.930156 Centerline is valid? [False, False] Translation: X:11.97, Y:0.05, Z:0.77 [[ 0.95524739 -0.04497216 -0.29236952 11.97429879] [ 0.05707804 0.99782405 0.03300393 0.05414012] [ 0.29024908 -0.0482148 0.95573574 0.76859292] [ 0. 0. 0. 1. ]] SLAMing on 31.709649246000005 meters Centerline goodness : 0.927996 Centerline is valid? [False, False] Translation: X:11.98, Y:0.05, Z:0.77 [[ 0.95508105 -0.04537316 -0.29285059 11.97584682] [ 0.05746058 0.99780879 0.03280093 0.05480658] [ 0.29072061 -0.04815492 0.95559543 0.76874436] [ 0. 0. 0. 1. ]] SLAMing on 31.739649246000003 meters Centerline goodness : 0.926410 Centerline is valid? [False, False] Translation: X:11.98, Y:0.06, Z:0.77 [[ 0.9549084 -0.04553471 -0.29338803 11.97717265] [ 0.05761997 0.99780366 0.03267719 0.0559032 ] [ 0.29125571 -0.04810874 0.9554348 0.76904082] [ 0. 0. 0. 1. ]] SLAMing on 31.769649246000004 meters Centerline goodness : 0.930290 Centerline is valid? [False, False] Translation: X:11.98, Y:0.06, Z:0.77 [[ 0.95478072 -0.0459283 -0.29374201 11.97837259] [ 0.05796058 0.99779347 0.0323845 0.05607544] [ 0.2916065 -0.04794555 0.955336 0.76906923] [ 0. 0. 0. 1. ]] SLAMing on 31.799649246000005 meters Centerline goodness : 0.930174 Centerline is valid? [False, False] Translation: X:11.98, Y:0.06, Z:0.77 [[ 0.95462382 -0.04614608 -0.29421745 11.9794955 ] [ 0.05823376 0.99777538 0.03245187 0.05542457] [ 0.2920654 -0.04811272 0.9551874 0.7696711 ] [ 0. 0. 0. 1. ]] SLAMing on 31.829649246000006 meters Centerline goodness : 0.928830 Centerline is valid? [False, False] Translation: X:11.98, Y:0.06, Z:0.77 [[ 0.95446112 -0.04635214 -0.29471248 11.98052577] [ 0.05851737 0.9977543 0.03258942 0.05517626] [ 0.29254006 -0.04835113 0.9550301 0.77039302] [ 0. 0. 0. 1. ]] SLAMing on 31.859649246000004 meters Centerline goodness : 0.927542 Centerline is valid? [False, False] Translation: X:11.98, Y:0.06, Z:0.77 [[ 0.95436185 -0.04679419 -0.29496402 11.98194636] [ 0.05890617 0.99774062 0.03230677 0.05550909] [ 0.29278581 -0.04820755 0.95496204 0.77012482] [ 0. 0. 0. 1. ]] SLAMing on 31.889649246000005 meters Centerline goodness : 0.927282 Centerline is valid? [False, False] Translation: X:11.98, Y:0.06, Z:0.77 [[ 0.95420182 -0.04728507 -0.29540313 11.98376004] [ 0.05937811 0.99771942 0.0320967 0.05513935] [ 0.29321175 -0.04816721 0.95483338 0.77005989] [ 0. 0. 0. 1. ]] SLAMing on 31.919649246000006 meters Centerline goodness : 0.928010 Centerline is valid? [False, False] Translation: X:11.99, Y:0.06, Z:0.77 [[ 0.95397837 -0.04799181 -0.29601022 11.98629918] [ 0.06003955 0.99769124 0.03174019 0.05526633] [ 0.29380353 -0.04805178 0.95465727 0.76988746] [ 0. 0. 0. 1. ]] SLAMing on 31.949649246000003 meters Centerline goodness : 0.927818 Centerline is valid? [False, False] Translation: X:11.99, Y:0.06, Z:0.77 [[ 0.9536988 -0.04895645 -0.2967522 11.98929526] [ 0.06087442 0.9976624 0.03104898 0.05614515] [ 0.29453846 -0.047676 0.95444963 0.76954222] [ 0. 0. 0. 1. ]] SLAMing on 31.979649246000005 meters Centerline goodness : 0.929647 Centerline is valid? [False, False] Translation: X:11.99, Y:0.06, Z:0.77 [[ 0.9535813 -0.04947424 -0.29704377 11.99121433] [ 0.06125664 0.99765645 0.03048336 0.05657445] [ 0.29483949 -0.04726427 0.95437716 0.76874013] [ 0. 0. 0. 1. ]] SLAMing on 32.009649246 meters Centerline goodness : 0.929478 Centerline is valid? [False, False] Translation: X:11.99, Y:0.06, Z:0.77 [[ 0.95335196 -0.05005856 -0.29768133 11.99320892] [ 0.06182098 0.99762951 0.03022447 0.05720062] [ 0.29546269 -0.04721751 0.95418672 0.76902797] [ 0. 0. 0. 1. ]] SLAMing on 32.039649246 meters Centerline goodness : 0.926632 Centerline is valid? [False, False] Translation: X:11.99, Y:0.06, Z:0.77 [[ 0.95327598 -0.05050705 -0.29784885 11.99449163] [ 0.06219306 0.99761669 0.02988254 0.05815052] [ 0.29562971 -0.04701044 0.95414522 0.76864004] [ 0. 0. 0. 1. ]] SLAMing on 32.069649246 meters Centerline goodness : 0.927372 Centerline is valid? [False, False] Translation: X:12.00, Y:0.06, Z:0.77 [[ 0.9530836 -0.05052263 -0.29846125 11.99509403] [ 0.06242786 0.99758381 0.03048439 0.05789509] [ 0.29619996 -0.04768647 0.95393479 0.77042993] [ 0. 0. 0. 1. ]] SLAMing on 32.099649246 meters Centerline goodness : 0.928200 Centerline is valid? [False, False] Translation: X:12.00, Y:0.06, Z:0.77 [[ 0.95289233 -0.05070349 -0.29904074 11.996095 ] [ 0.06272349 0.99755778 0.03072847 0.05749654] [ 0.29675238 -0.04803781 0.95374546 0.77150654] [ 0. 0. 0. 1. ]] SLAMing on 32.129649246 meters Centerline goodness : 0.929492 Centerline is valid? [False, False] Translation: X:12.00, Y:0.06, Z:0.77 [[ 0.95273004 -0.05074805 -0.29954984 11.99672075] [ 0.06288526 0.99753883 0.03101162 0.05729748] [ 0.29723882 -0.04838298 0.95357652 0.77256861] [ 0. 0. 0. 1. ]] SLAMing on 32.159649246 meters Centerline goodness : 0.927051 Centerline is valid? [False, False] Translation: X:12.00, Y:0.06, Z:0.77 [[ 0.95256263 -0.0512254 -0.30000066 11.998503 ] [ 0.06330698 0.99752227 0.03068457 0.0580269 ] [ 0.29768551 -0.04822111 0.95344536 0.77244676] [ 0. 0. 0. 1. ]] SLAMing on 32.189649246 meters Centerline goodness : 0.927574 Centerline is valid? [False, False] Translation: X:12.00, Y:0.06, Z:0.77 [[ 0.95236605 -0.0518389 -0.30051894 12.00054827] [ 0.06385317 0.99749956 0.03028865 0.05878432] [ 0.29819738 -0.04803497 0.95329479 0.77234205] [ 0. 0. 0. 1. ]] SLAMing on 32.219649246 meters Centerline goodness : 0.927672 Centerline is valid? [False, False] Translation: X:12.00, Y:0.06, Z:0.77 [[ 0.95214198 -0.0524591 -0.30112073 12.00276606] [ 0.06447609 0.99746515 0.03010177 0.0579737 ] [ 0.29877832 -0.04807625 0.9531108 0.77253909] [ 0. 0. 0. 1. ]] SLAMing on 32.249649246000004 meters Centerline goodness : 0.923785 Centerline is valid? [False, False] Translation: X:12.01, Y:0.06, Z:0.77 [[ 0.95189849 -0.05320579 -0.30175886 12.00526014] [ 0.06521038 0.99742524 0.02984124 0.05800917] [ 0.29939417 -0.04808364 0.95291715 0.77267541] [ 0. 0. 0. 1. ]] SLAMing on 32.279649246 meters Centerline goodness : 0.926918 Centerline is valid? [False, False] Translation: X:12.01, Y:0.06, Z:0.77 [[ 0.95162721 -0.05364284 -0.30253611 12.00753672] [ 0.06574511 0.99738675 0.02995406 0.05730136] [ 0.30013869 -0.04839536 0.95266713 0.77341273] [ 0. 0. 0. 1. ]] SLAMing on 32.309649246 meters Centerline goodness : 0.925137 Centerline is valid? [False, False] Translation: X:12.01, Y:0.06, Z:0.77 [[ 0.95158493 -0.05371494 -0.30265628 12.0082095 ] [ 0.06578039 0.99738886 0.02980592 0.05749344] [ 0.30026498 -0.04827171 0.9526336 0.77313358] [ 0. 0. 0. 1. ]] SLAMing on 32.339649246 meters Centerline goodness : 0.923985 Centerline is valid? [False, False] Translation: X:12.01, Y:0.06, Z:0.77 [[ 0.95141243 -0.05427074 -0.30309911 12.01023819] [ 0.06629331 0.99736369 0.02951054 0.05858964] [ 0.30069849 -0.04817014 0.952502 0.77301028] [ 0. 0. 0. 1. ]] SLAMing on 32.369649246 meters Centerline goodness : 0.922664 Centerline is valid? [False, False] Translation: X:12.01, Y:0.06, Z:0.77 [[ 0.9512002 -0.05484924 -0.30366058 12.01239139] [ 0.0668351 0.99733633 0.02921165 0.05924529] [ 0.30124949 -0.04808131 0.95233236 0.77300031] [ 0. 0. 0. 1. ]] SLAMing on 32.399649246 meters Centerline goodness : 0.922903 Centerline is valid? [False, False] Translation: X:12.01, Y:0.06, Z:0.77 [[ 0.95088381 -0.05538426 -0.30455305 12.01464379] [ 0.06746728 0.99729157 0.02928649 0.05898597] [ 0.30210618 -0.04839542 0.95204503 0.77411937] [ 0. 0. 0. 1. ]] SLAMing on 32.429649246000004 meters Centerline goodness : 0.924611 Centerline is valid? [False, False] Translation: X:12.02, Y:0.06, Z:0.77 [[ 0.9507832 -0.05570224 -0.30480905 12.01561999] [ 0.06780341 0.99726979 0.0292517 0.05897554] [ 0.30234748 -0.04847912 0.95196417 0.77434792] [ 0. 0. 0. 1. ]] SLAMing on 32.459649246 meters Centerline goodness : 0.923715 Centerline is valid? [False, False] Translation: X:12.02, Y:0.06, Z:0.78 [[ 0.95042064 -0.05231796 -0.30653457 12.01922197] [ 0.06634221 0.99716505 0.03550453 0.05561919] [ 0.30380804 -0.05408042 0.95119713 0.78038654] [ 0. 0. 0. 1. ]] SLAMing on 32.489649246 meters Centerline goodness : 0.924875 Centerline is valid? [False, False] Translation: X:12.02, Y:0.05, Z:0.78 [[ 0.95030829 -0.05238679 -0.30687094 12.0195376 ] [ 0.06657065 0.99713458 0.03593029 0.05447545] [ 0.30410935 -0.05457345 0.95107268 0.78155994] [ 0. 0. 0. 1. ]] SLAMing on 32.519649246 meters Centerline goodness : 0.926560 Centerline is valid? [False, False] Translation: X:12.02, Y:0.05, Z:0.78 [[ 0.95004956 -0.05284147 -0.30759326 12.02133734] [ 0.06708467 0.99710088 0.03590938 0.05425641] [ 0.304804 -0.05475048 0.95084011 0.78234298] [ 0. 0. 0. 1. ]] SLAMing on 32.549649246 meters Centerline goodness : 0.931421 Centerline is valid? [False, False] Translation: X:12.02, Y:0.05, Z:0.78 [[ 0.94981571 -0.05323091 -0.30824761 12.02324724] [ 0.06745194 0.99708516 0.03565692 0.05458502] [ 0.30545107 -0.0546594 0.95063768 0.78261614] [ 0. 0. 0. 1. ]] SLAMing on 32.579649246 meters Centerline goodness : 0.928309 Centerline is valid? [False, False] Translation: X:12.02, Y:0.06, Z:0.78 [[ 0.94972698 -0.05340632 -0.30849057 12.02414307] [ 0.06756227 0.99708749 0.03538174 0.05541788] [ 0.30570248 -0.05444531 0.95056915 0.78243029] [ 0. 0. 0. 1. ]] SLAMing on 32.609649246000004 meters Centerline goodness : 0.924741 Centerline is valid? [False, False] Translation: X:12.03, Y:0.06, Z:0.78 [[ 0.94944898 -0.05422299 -0.30920301 12.02692977] [ 0.06821854 0.9970694 0.03462429 0.05720393] [ 0.30641942 -0.05396737 0.95036554 0.78203235] [ 0. 0. 0. 1. ]] SLAMing on 32.639649246 meters Centerline goodness : 0.926193 Centerline is valid? [False, False] Translation: X:12.03, Y:0.06, Z:0.78 [[ 0.9492722 -0.05486555 -0.30963215 12.02894059] [ 0.06874027 0.99705264 0.0340707 0.05820725] [ 0.30685025 -0.05362657 0.95024582 0.78163699] [ 0. 0. 0. 1. ]] SLAMing on 32.669649246 meters Centerline goodness : 0.923295 Centerline is valid? [False, False] Translation: X:12.03, Y:0.06, Z:0.78 [[ 0.94914447 -0.05522606 -0.30995944 12.03029559] [ 0.06894798 0.99705825 0.03348177 0.05982221] [ 0.30719855 -0.05315012 0.95016005 0.78115514] [ 0. 0. 0. 1. ]] SLAMing on 32.699649246 meters Centerline goodness : 0.922853 Centerline is valid? [False, False] Translation: X:12.03, Y:0.06, Z:0.78 [[ 0.9490792 -0.05518775 -0.31016605 12.03060627] [ 0.06891419 0.99706117 0.0334642 0.06033924] [ 0.30740771 -0.05313502 0.95009324 0.78135287] [ 0. 0. 0. 1. ]] SLAMing on 32.729649246 meters Centerline goodness : 0.924728 Centerline is valid? [False, False] Translation: X:12.03, Y:0.06, Z:0.78 [[ 0.94884544 -0.05522273 -0.31087422 12.03118845] [ 0.06912432 0.99703291 0.03387037 0.05995721] [ 0.30808142 -0.05362671 0.94984736 0.78314782] [ 0. 0. 0. 1. ]] SLAMing on 32.759649246 meters Centerline goodness : 0.927756 Centerline is valid? [False, False] Translation: X:12.03, Y:0.06, Z:0.78 [[ 0.94853762 -0.05605481 -0.31166367 12.03329082] [ 0.07008455 0.99696182 0.0339896 0.05887376] [ 0.3088115 -0.05408322 0.94958436 0.78446244] [ 0. 0. 0. 1. ]] SLAMing on 32.789649246 meters Centerline goodness : 0.928997 Centerline is valid? [False, False] Translation: X:12.03, Y:0.06, Z:0.79 [[ 0.94831041 -0.05672824 -0.31223271 12.03493732] [ 0.07080134 0.99691381 0.03391214 0.05867843] [ 0.30934532 -0.05426573 0.94940018 0.78520288] [ 0. 0. 0. 1. ]] SLAMing on 32.819649246 meters Centerline goodness : 0.923379 Centerline is valid? [False, False] Translation: X:12.04, Y:0.06, Z:0.78 [[ 0.94799684 -0.0581652 -0.31291981 12.03833168] [ 0.07210332 0.99684626 0.03314573 0.05906716] [ 0.31000501 -0.05398461 0.94920101 0.78498073] [ 0. 0. 0. 1. ]] SLAMing on 32.849649246 meters Centerline goodness : 0.920784 Centerline is valid? [False, False] Translation: X:12.04, Y:0.06, Z:0.79 [[ 0.94762467 -0.05558909 -0.31451126 12.04441112] [ 0.07052517 0.99684921 0.03630221 0.05851266] [ 0.3115023 -0.05658183 0.94855934 0.78547484] [ 0. 0. 0. 1. ]] SLAMing on 32.879649246 meters Centerline goodness : 0.920715 Centerline is valid? [False, False] Translation: X:12.05, Y:0.06, Z:0.79 [[ 0.94746548 -0.05589248 -0.31493682 12.04583386] [ 0.07080918 0.99683592 0.03611397 0.05865589] [ 0.31192184 -0.05651716 0.94842532 0.78556952] [ 0. 0. 0. 1. ]] SLAMing on 32.909649246 meters Centerline goodness : 0.923409 Centerline is valid? [False, False] Translation: X:12.05, Y:0.06, Z:0.79 [[ 0.94712553 -0.05665557 -0.31582175 12.04833948] [ 0.07154939 0.996796 0.03575502 0.05855227] [ 0.31278414 -0.05646134 0.94814461 0.78617061] [ 0. 0. 0. 1. ]] SLAMing on 32.939649246 meters Centerline goodness : 0.923024 Centerline is valid? [False, False] Translation: X:12.05, Y:0.06, Z:0.79 [[ 0.94685725 -0.05731276 -0.31650687 12.05068822] [ 0.0722082 0.99675671 0.03552523 0.05832715] [ 0.3134443 -0.05649171 0.94792476 0.78650232] [ 0. 0. 0. 1. ]] SLAMing on 32.969649246 meters Centerline goodness : 0.927031 Centerline is valid? [False, False] Translation: X:12.05, Y:0.06, Z:0.79 [[ 0.94647651 -0.05825511 -0.31747212 12.05370139] [ 0.07316027 0.99669807 0.0352211 0.05873737] [ 0.31437205 -0.05656229 0.94761328 0.78722458] [ 0. 0. 0. 1. ]] SLAMing on 32.999649246000004 meters Centerline goodness : 0.926751 Centerline is valid? [False, False] Translation: X:12.06, Y:0.06, Z:0.79 [[ 0.94631152 -0.05870222 -0.31788134 12.05535453] [ 0.0735417 0.9966822 0.03487433 0.05930148] [ 0.31477947 -0.05637951 0.94748891 0.7870652 ] [ 0. 0. 0. 1. ]] SLAMing on 33.029649246 meters Centerline goodness : 0.923872 Centerline is valid? [False, False] Translation: X:12.06, Y:0.06, Z:0.79 [[ 0.94611194 -0.05474179 -0.31917948 12.05812474] [ 0.07086505 0.99671877 0.03911311 0.05853739] [ 0.31599105 -0.05962405 0.94688681 0.789162 ] [ 0. 0. 0. 1. ]] SLAMing on 33.059649246 meters Centerline goodness : 0.925604 Centerline is valid? [False, False] Translation: X:12.06, Y:0.06, Z:0.79 [[ 0.94600735 -0.05470578 -0.31949549 12.05857268] [ 0.0708369 0.99672209 0.03907965 0.05926126] [ 0.31631033 -0.0596017 0.94678161 0.78956182] [ 0. 0. 0. 1. ]] SLAMing on 33.089649246 meters Centerline goodness : 0.924228 Centerline is valid? [False, False] Translation: X:12.06, Y:0.06, Z:0.79 [[ 0.94582357 -0.05484859 -0.32001471 12.05958923] [ 0.07080945 0.99674871 0.03844505 0.06152792] [ 0.3168656 -0.0590223 0.94663222 0.78952756] [ 0. 0. 0. 1. ]] SLAMing on 33.119649246 meters Centerline goodness : 0.919162 Centerline is valid? [False, False] Translation: X:12.06, Y:0.06, Z:0.79 [[ 0.94563454 -0.0551536 -0.32052051 12.06114956] [ 0.0710216 0.99674993 0.03801981 0.06283344] [ 0.31738186 -0.05871673 0.94647826 0.78942083] [ 0. 0. 0. 1. ]] SLAMing on 33.149649246 meters Centerline goodness : 0.925000 Centerline is valid? [False, False] Translation: X:12.06, Y:0.06, Z:0.79 [[ 0.94550933 -0.05518376 -0.3208845 12.06205297] [ 0.07085634 0.99678657 0.03736204 0.06461059] [ 0.31779158 -0.05806286 0.94638112 0.78895202] [ 0. 0. 0. 1. ]] SLAMing on 33.179649246000004 meters Centerline goodness : 0.925232 Centerline is valid? [False, False] Translation: X:12.06, Y:0.07, Z:0.79 [[ 0.94547054 -0.05518722 -0.32099818 12.06259833] [ 0.07074293 0.99680843 0.03699171 0.06585095] [ 0.31793223 -0.05768292 0.94635711 0.78846311] [ 0. 0. 0. 1. ]] SLAMing on 33.209649246 meters Centerline goodness : 0.924819 Centerline is valid? [False, False] Translation: X:12.07, Y:0.07, Z:0.79 [[ 0.94524805 -0.05132969 -0.32229083 12.06632898] [ 0.06779281 0.99689488 0.04005919 0.06757007] [ 0.31923385 -0.05971487 0.94579273 0.78850844] [ 0. 0. 0. 1. ]] SLAMing on 33.239649246 meters Centerline goodness : 0.919666 Centerline is valid? [False, False] Translation: X:12.07, Y:0.07, Z:0.79 [[ 0.94515806 -0.05122705 -0.32257097 12.0674629 ] [ 0.06737256 0.99696221 0.03908068 0.07045581] [ 0.31958908 -0.05866985 0.94573816 0.78712076] [ 0. 0. 0. 1. ]] SLAMing on 33.269649246 meters Centerline goodness : 0.922169 Centerline is valid? [False, False] Translation: X:12.07, Y:0.07, Z:0.79 [[ 0.94496195 -0.05146391 -0.32310737 12.06886679] [ 0.06755217 0.99696221 0.03876933 0.07165088] [ 0.32013061 -0.05846214 0.94556786 0.78728544] [ 0. 0. 0. 1. ]] SLAMing on 33.299649246 meters Centerline goodness : 0.920869 Centerline is valid? [False, False] Translation: X:12.07, Y:0.07, Z:0.79 [[ 0.9447817 -0.05149844 -0.32362857 12.06983422] [ 0.06757514 0.99696609 0.03862932 0.0727465 ] [ 0.32065736 -0.05836552 0.94539533 0.78772314] [ 0. 0. 0. 1. ]] SLAMing on 33.329649246 meters Centerline goodness : 0.923610 Centerline is valid? [False, False] Translation: X:12.07, Y:0.07, Z:0.79 [[ 0.94491757 -0.05031432 -0.32341808 12.06756973] [ 0.06635146 0.99704375 0.03874576 0.07404403] [ 0.32051251 -0.05807081 0.94546259 0.78796411] [ 0. 0. 0. 1. ]] SLAMing on 33.359649246000004 meters Centerline goodness : 0.926384 Centerline is valid? [False, False] Translation: X:12.07, Y:0.07, Z:0.79 [[ 0.94477156 -0.05031191 -0.32384472 12.0684059 ] [ 0.06641118 0.99703581 0.03884771 0.07415467] [ 0.32093028 -0.05820912 0.94531236 0.78854992] [ 0. 0. 0. 1. ]] SLAMing on 33.389649246 meters Centerline goodness : 0.924708 Centerline is valid? [False, False] Translation: X:12.07, Y:0.07, Z:0.79 [[ 0.94442055 -0.05095235 -0.32476713 12.07107141] [ 0.06711919 0.99699161 0.03876524 0.07342848] [ 0.32181493 -0.05840879 0.94499924 0.78935854] [ 0. 0. 0. 1. ]] SLAMing on 33.419649246 meters Centerline goodness : 0.926223 Centerline is valid? [False, False] Translation: X:12.07, Y:0.07, Z:0.79 [[ 0.9441487 -0.05168174 -0.3254416 12.07349582] [ 0.067838 0.99695379 0.0384857 0.07333814] [ 0.32246123 -0.05841353 0.94477861 0.78962169] [ 0. 0. 0. 1. ]] SLAMing on 33.449649246 meters Centerline goodness : 0.925891 Centerline is valid? [False, False] Translation: X:12.08, Y:0.07, Z:0.79 [[ 0.94384798 -0.05202949 -0.32625746 12.07573646] [ 0.06830757 0.99691619 0.03862875 0.07222052] [ 0.32324151 -0.05874552 0.94449134 0.79054118] [ 0. 0. 0. 1. ]] SLAMing on 33.479649246 meters Centerline goodness : 0.928238 Centerline is valid? [False, False] Translation: X:12.08, Y:0.07, Z:0.79 [[ 0.94359082 -0.05231671 -0.32695464 12.07733582] [ 0.06868238 0.99688755 0.03870319 0.07179842] [ 0.32391219 -0.05897599 0.94424717 0.79146613] [ 0. 0. 0. 1. ]] SLAMing on 33.509649246 meters Centerline goodness : 0.923892 Centerline is valid? [False, False] Translation: X:12.08, Y:0.07, Z:0.79 [[ 0.94332176 -0.0527514 -0.32766042 12.0796534 ] [ 0.06911479 0.99686595 0.03848926 0.07136704] [ 0.32460315 -0.05895394 0.94401124 0.7917077 ] [ 0. 0. 0. 1. ]] SLAMing on 33.539649246 meters Centerline goodness : 0.929142 Centerline is valid? [False, False] Translation: X:12.08, Y:0.07, Z:0.79 [[ 0.94314217 -0.05295517 -0.32814417 12.08105382] [ 0.06937616 0.99684622 0.03853009 0.07095046] [ 0.32506891 -0.05910473 0.94384153 0.79212655] [ 0. 0. 0. 1. ]] SLAMing on 33.569649246 meters Centerline goodness : 0.929142 Centerline is valid? [False, False] Translation: X:12.08, Y:0.07, Z:0.79 [[ 0.94314217 -0.05295517 -0.32814417 12.08105382] [ 0.06937616 0.99684622 0.03853009 0.07095046] [ 0.32506891 -0.05910473 0.94384153 0.79212655] [ 0. 0. 0. 1. ]] SLAMing on 33.599649246 meters Centerline goodness : 0.928273 Centerline is valid? [False, False] Translation: X:12.08, Y:0.07, Z:0.79 [[ 0.94276752 -0.05384262 -0.32907502 12.08381378] [ 0.0705174 0.99675024 0.03893908 0.06881567] [ 0.32590902 -0.05991601 0.9435006 0.79387641] [ 0. 0. 0. 1. ]] SLAMing on 33.629649246 meters Centerline goodness : 0.928094 Centerline is valid? [False, False] Translation: X:12.09, Y:0.07, Z:0.79 [[ 0.94244898 -0.05450525 -0.32987741 12.08644139] [ 0.07114769 0.99671942 0.03857988 0.06975897] [ 0.32669241 -0.05982958 0.94323512 0.79413583] [ 0. 0. 0. 1. ]] SLAMing on 33.659649246 meters Centerline goodness : 0.924569 Centerline is valid? [False, False] Translation: X:12.09, Y:0.07, Z:0.79 [[ 0.94210501 -0.05512018 -0.33075659 12.08945445] [ 0.07181116 0.99667697 0.03844711 0.07024795] [ 0.32753827 -0.05997323 0.9429326 0.79469819] [ 0. 0. 0. 1. ]] SLAMing on 33.689649246 meters Centerline goodness : 0.922007 Centerline is valid? [False, False] Translation: X:12.09, Y:0.07, Z:0.80 [[ 0.94172855 -0.05619473 -0.33164664 12.0925633 ] [ 0.07290685 0.9966086 0.03815599 0.07001687] [ 0.32837773 -0.0601119 0.94263175 0.79536942] [ 0. 0. 0. 1. ]] SLAMing on 33.719649246 meters Centerline goodness : 0.927345 Centerline is valid? [False, False] Translation: X:12.10, Y:0.07, Z:0.80 [[ 0.94123981 -0.05762164 -0.33278727 12.09651756] [ 0.07443305 0.99650251 0.03797995 0.06881195] [ 0.32943489 -0.06051861 0.94223678 0.79664 ] [ 0. 0. 0. 1. ]] SLAMing on 33.749649246000004 meters Centerline goodness : 0.924501 Centerline is valid? [False, False] Translation: X:12.10, Y:0.07, Z:0.80 [[ 0.94097123 -0.05811484 -0.33346036 12.09894397] [ 0.07500466 0.99645926 0.03799 0.06879943] [ 0.33007188 -0.06075858 0.94199838 0.79713007] [ 0. 0. 0. 1. ]] SLAMing on 33.779649246 meters Centerline goodness : 0.928012 Centerline is valid? [False, False] Translation: X:12.10, Y:0.07, Z:0.80 [[ 0.94050062 -0.0585174 -0.33471524 12.10156701] [ 0.07558948 0.99640719 0.03819602 0.06741214] [ 0.33127754 -0.06122433 0.94154489 0.79893003] [ 0. 0. 0. 1. ]] SLAMing on 33.809649246 meters Centerline goodness : 0.929684 Centerline is valid? [False, False] Translation: X:12.10, Y:0.07, Z:0.80 [[ 0.94017598 -0.05899815 -0.33554187 12.10368954] [ 0.07615168 0.99636485 0.03818392 0.06717565] [ 0.33206935 -0.06145168 0.9412511 0.79985694] [ 0. 0. 0. 1. ]] SLAMing on 33.839649246 meters Centerline goodness : 0.924926 Centerline is valid? [False, False] Translation: X:12.11, Y:0.06, Z:0.81 [[ 0.93951703 -0.05569388 -0.3379437 12.10920388] [ 0.07480448 0.99623664 0.04378185 0.06480861] [ 0.33423352 -0.06641349 0.94014744 0.80546341] [ 0. 0. 0. 1. ]] SLAMing on 33.869649246 meters Centerline goodness : 0.927282 Centerline is valid? [False, False] Translation: X:12.11, Y:0.06, Z:0.81 [[ 0.93921144 -0.05609605 -0.33872572 12.11108751] [ 0.07528014 0.99620198 0.04375507 0.0648251 ] [ 0.33498475 -0.06659458 0.93986721 0.80634068] [ 0. 0. 0. 1. ]] SLAMing on 33.899649246 meters Centerline goodness : 0.927223 Centerline is valid? [False, False] Translation: X:12.12, Y:0.07, Z:0.81 [[ 0.93870695 -0.05716149 -0.33994386 12.11513676] [ 0.07635219 0.99613874 0.04333526 0.06515111] [ 0.33615414 -0.06663456 0.93944677 0.8070823 ] [ 0. 0. 0. 1. ]] SLAMing on 33.929649246000004 meters Centerline goodness : 0.929863 Centerline is valid? [False, False] Translation: X:12.12, Y:0.07, Z:0.81 [[ 0.93841062 -0.05795102 -0.34062763 12.11788749] [ 0.07697779 0.99612235 0.0425992 0.06660738] [ 0.33683812 -0.0661963 0.93923273 0.80668767] [ 0. 0. 0. 1. ]] SLAMing on 33.959649246 meters Centerline goodness : 0.927305 Centerline is valid? [False, False] Translation: X:12.12, Y:0.07, Z:0.81 [[ 0.93809153 -0.05898863 -0.34132773 12.12125576] [ 0.07765351 0.99612593 0.04126824 0.06906931] [ 0.33757104 -0.06521868 0.93903797 0.80551806] [ 0. 0. 0. 1. ]] SLAMing on 33.989649246 meters Centerline goodness : 0.927611 Centerline is valid? [False, False] Translation: X:12.12, Y:0.07, Z:0.81 [[ 0.93783476 -0.05944582 -0.34195346 12.12316689] [ 0.07804733 0.99611094 0.04088529 0.06975292] [ 0.33819312 -0.0650322 0.93882705 0.80568543] [ 0. 0. 0. 1. ]] SLAMing on 34.019649246 meters Centerline goodness : 0.927341 Centerline is valid? [False, False] Translation: X:12.12, Y:0.07, Z:0.81 [[ 0.93760543 -0.05960217 -0.34255457 12.12466426] [ 0.07823 0.99609976 0.04080858 0.06994485] [ 0.33878624 -0.06506039 0.93861122 0.80609075] [ 0. 0. 0. 1. ]] SLAMing on 34.049649246 meters Centerline goodness : 0.930296 Centerline is valid? [False, False] Translation: X:12.13, Y:0.07, Z:0.81 [[ 0.93725651 -0.06003082 -0.34343346 12.12712615] [ 0.07854071 0.99609886 0.0402295 0.07141618] [ 0.33967867 -0.06467887 0.938315 0.80621111] [ 0. 0. 0. 1. ]] SLAMing on 34.079649246 meters Centerline goodness : 0.926756 Centerline is valid? [False, False] Translation: X:12.13, Y:0.07, Z:0.81 [[ 0.93691866 -0.06061218 -0.34425222 12.12956259] [ 0.07902277 0.9960824 0.03968944 0.07292991] [ 0.34049791 -0.06438954 0.93803793 0.80649668] [ 0. 0. 0. 1. ]] SLAMing on 34.109649246000004 meters Centerline goodness : 0.928981 Centerline is valid? [False, False] Translation: X:12.13, Y:0.07, Z:0.81 [[ 0.93660332 -0.06097731 -0.34504491 12.13165039] [ 0.07946268 0.99604809 0.03967215 0.07314133] [ 0.34126223 -0.06457526 0.93774737 0.80724423] [ 0. 0. 0. 1. ]] SLAMing on 34.139649246 meters Centerline goodness : 0.927901 Centerline is valid? [False, False] Translation: X:12.14, Y:0.07, Z:0.81 [[ 0.93607303 -0.06161327 -0.34636843 12.13512503] [ 0.08012706 0.99600674 0.03937294 0.07352345] [ 0.3425594 -0.06460944 0.93727194 0.80817647] [ 0. 0. 0. 1. ]] SLAMing on 34.169649246 meters Centerline goodness : 0.929893 Centerline is valid? [False, False] Translation: X:12.14, Y:0.07, Z:0.81 [[ 0.93576026 -0.06244874 -0.34706323 12.13808722] [ 0.08081913 0.99597737 0.03869552 0.07450925] [ 0.34325064 -0.06425908 0.9370431 0.80784425] [ 0. 0. 0. 1. ]] SLAMing on 34.199649246 meters Centerline goodness : 0.928670 Centerline is valid? [False, False] Translation: X:12.14, Y:0.08, Z:0.81 [[ 0.93527158 -0.06334924 -0.34821538 12.14185099] [ 0.08163859 0.99593398 0.03808733 0.07503646] [ 0.34438672 -0.06404981 0.93664049 0.8082266 ] [ 0. 0. 0. 1. ]] SLAMing on 34.229649246 meters Centerline goodness : 0.928939 Centerline is valid? [False, False] Translation: X:12.14, Y:0.07, Z:0.81 [[ 0.93496918 -0.06390852 -0.34892454 12.14425441] [ 0.08222621 0.99589183 0.0379251 0.07480625] [ 0.34506736 -0.06414954 0.93638312 0.80862811] [ 0. 0. 0. 1. ]] SLAMing on 34.259649246 meters Centerline goodness : 0.930224 Centerline is valid? [False, False] Translation: X:12.15, Y:0.07, Z:0.81 [[ 0.93441214 -0.06530502 -0.35015597 12.14807774] [ 0.0838558 0.99575064 0.03806406 0.07316414] [ 0.34618225 -0.06493013 0.93591769 0.81063982] [ 0. 0. 0. 1. ]] SLAMing on 34.289649246 meters Centerline goodness : 0.928943 Centerline is valid? [False, False] Translation: X:12.15, Y:0.07, Z:0.81 [[ 0.93405229 -0.06598691 -0.35098725 12.1505765 ] [ 0.08466684 0.99567967 0.0381251 0.07262434] [ 0.34695511 -0.06532782 0.93560378 0.81159623] [ 0. 0. 0. 1. ]] SLAMing on 34.319649246 meters Centerline goodness : 0.927966 Centerline is valid? [False, False] Translation: X:12.15, Y:0.07, Z:0.81 [[ 0.93357381 -0.06705819 -0.3520556 12.15429767] [ 0.08583895 0.99558443 0.03799089 0.07196364] [ 0.34795348 -0.06568738 0.93520776 0.8125285 ] [ 0. 0. 0. 1. ]] SLAMing on 34.349649246 meters Centerline goodness : 0.928310 Centerline is valid? [False, False] Translation: X:12.16, Y:0.07, Z:0.81 [[ 0.93334758 -0.06707345 -0.35265202 12.1553201 ] [ 0.08598241 0.99556359 0.03821212 0.07171262] [ 0.3485245 -0.06598706 0.934974 0.81352771] [ 0. 0. 0. 1. ]] SLAMing on 34.379649246 meters Centerline goodness : 0.930236 Centerline is valid? [False, False] Translation: X:12.16, Y:0.07, Z:0.82 [[ 0.93297848 -0.06726641 -0.35359069 12.15667701] [ 0.08647288 0.99549899 0.03878407 0.07091275] [ 0.34939031 -0.06676071 0.93459586 0.81577648] [ 0. 0. 0. 1. ]] SLAMing on 34.409649246 meters Centerline goodness : 0.934268 Centerline is valid? [False, False] Translation: X:12.16, Y:0.07, Z:0.82 [[ 0.93264334 -0.06787762 -0.35435721 12.15897723] [ 0.08708096 0.99545663 0.03850987 0.07119304] [ 0.35013328 -0.06677374 0.93431684 0.81629412] [ 0. 0. 0. 1. ]] SLAMing on 34.439649246 meters Centerline goodness : 0.930626 Centerline is valid? [False, False] Translation: X:12.16, Y:0.07, Z:0.82 [[ 0.93234595 -0.06825786 -0.35506603 12.16122944] [ 0.08746748 0.9954303 0.03831402 0.07063975] [ 0.35082826 -0.06677865 0.93405575 0.81661133] [ 0. 0. 0. 1. ]] SLAMing on 34.469649246 meters Centerline goodness : 0.927373 Centerline is valid? [False, False] Translation: X:12.16, Y:0.07, Z:0.82 [[ 0.93202416 -0.06880829 -0.35580386 12.16373931] [ 0.0879739 0.99539969 0.03794801 0.07104034] [ 0.35155591 -0.06666992 0.93378989 0.81671475] [ 0. 0. 0. 1. ]] SLAMing on 34.499649246000004 meters Centerline goodness : 0.927046 Centerline is valid? [False, False] Translation: X:12.17, Y:0.07, Z:0.82 [[ 0.9314676 -0.06973048 -0.35707951 12.16778664] [ 0.08887664 0.99533754 0.03747163 0.0720242 ] [ 0.35280172 -0.06663963 0.93332208 0.81737863] [ 0. 0. 0. 1. ]] SLAMing on 34.529649246 meters Centerline goodness : 0.925123 Centerline is valid? [False, False] Translation: X:12.17, Y:0.07, Z:0.82 [[ 0.93114543 -0.07032793 -0.35780187 12.17029628] [ 0.08944562 0.99529892 0.03714225 0.07248549] [ 0.35350768 -0.06658865 0.93305856 0.81763238] [ 0. 0. 0. 1. ]] SLAMing on 34.559649246 meters Centerline goodness : 0.922991 Centerline is valid? [False, False] Translation: X:12.17, Y:0.07, Z:0.82 [[ 0.93070027 -0.07109998 -0.35880609 12.17348782] [ 0.09019944 0.99524539 0.03675163 0.07277381] [ 0.35448706 -0.06656886 0.93268832 0.81823239] [ 0. 0. 0. 1. ]] SLAMing on 34.589649246 meters Centerline goodness : 0.926314 Centerline is valid? [False, False] Translation: X:12.18, Y:0.07, Z:0.82 [[ 0.93024037 -0.07185 -0.35984779 12.17690059] [ 0.09084925 0.99520858 0.03614281 0.07365142] [ 0.35552675 -0.0663134 0.93231071 0.81842582] [ 0. 0. 0. 1. ]] SLAMing on 34.619649246 meters Centerline goodness : 0.918201 Centerline is valid? [False, False] Translation: X:12.18, Y:0.07, Z:0.82 [[ 0.93006057 -0.07210227 -0.36026184 12.17839721] [ 0.09107585 0.99519497 0.03594673 0.07395798] [ 0.35593893 -0.06624379 0.93215838 0.81846274] [ 0. 0. 0. 1. ]] SLAMing on 34.649649246 meters Centerline goodness : 0.923561 Centerline is valid? [False, False] Translation: X:12.18, Y:0.07, Z:0.82 [[ 0.92973213 -0.07259859 -0.36100917 12.18051756] [ 0.09157074 0.99515832 0.03570315 0.07460739] [ 0.35666928 -0.06625225 0.93187857 0.81897356] [ 0. 0. 0. 1. ]] SLAMing on 34.679649246000004 meters Centerline goodness : 0.924726 Centerline is valid? [False, False] Translation: X:12.18, Y:0.07, Z:0.82 [[ 0.9293162 -0.07285388 -0.36202724 12.18229018] [ 0.09201736 0.99510815 0.03595234 0.07477952] [ 0.35763699 -0.06672388 0.93147394 0.82078565] [ 0. 0. 0. 1. ]] SLAMing on 34.709649246 meters Centerline goodness : 0.923415 Centerline is valid? [False, False] Translation: X:12.18, Y:0.07, Z:0.82 [[ 0.92906253 -0.07295447 -0.36265749 12.18355127] [ 0.09223735 0.99508177 0.03611839 0.07473811] [ 0.35823886 -0.06700681 0.93122232 0.82170661] [ 0. 0. 0. 1. ]] SLAMing on 34.739649246 meters Centerline goodness : 0.928578 Centerline is valid? [False, False] Translation: X:12.18, Y:0.07, Z:0.82 [[ 0.92877561 -0.07270423 -0.36344182 12.18439101] [ 0.09215107 0.9950783 0.03643298 0.07492526] [ 0.35900423 -0.06732961 0.93090423 0.82313969] [ 0. 0. 0. 1. ]] SLAMing on 34.769649246 meters Centerline goodness : 0.922962 Centerline is valid? [False, False] Translation: X:12.19, Y:0.08, Z:0.82 [[ 0.92850139 -0.07302372 -0.36407787 12.18610336] [ 0.09249192 0.99505149 0.03630133 0.07548221] [ 0.35962537 -0.0673801 0.9306608 0.82362775] [ 0. 0. 0. 1. ]] SLAMing on 34.799649246 meters Centerline goodness : 0.924142 Centerline is valid? [False, False] Translation: X:12.19, Y:0.07, Z:0.83 [[ 0.9281045 -0.07372143 -0.36494819 12.18859108] [ 0.09342165 0.99495383 0.036596 0.07422831] [ 0.36040869 -0.06805898 0.93030831 0.82516242] [ 0. 0. 0. 1. ]] SLAMing on 34.829649246 meters Centerline goodness : 0.927086 Centerline is valid? [False, False] Translation: X:12.19, Y:0.07, Z:0.83 [[ 0.92756254 -0.0744205 -0.36618209 12.19120233] [ 0.09447303 0.99483505 0.0371223 0.07379513] [ 0.36152812 -0.06902758 0.92980246 0.82770856] [ 0. 0. 0. 1. ]] SLAMing on 34.859649246000004 meters Centerline goodness : 0.924238 Centerline is valid? [False, False] Translation: X:12.19, Y:0.07, Z:0.83 [[ 0.92733024 -0.07467179 -0.36671889 12.19249662] [ 0.09482237 0.99479827 0.03721729 0.07410466] [ 0.36203223 -0.06928587 0.92958707 0.82848303] [ 0. 0. 0. 1. ]] SLAMing on 34.889649246 meters Centerline goodness : 0.916711 Centerline is valid? [False, False] Translation: X:12.19, Y:0.07, Z:0.83 [[ 0.92700947 -0.07499197 -0.36746381 12.19472365] [ 0.09518219 0.99476805 0.03710618 0.07470723] [ 0.36275859 -0.06937379 0.92929731 0.82902198] [ 0. 0. 0. 1. ]] SLAMing on 34.919649246 meters Centerline goodness : 0.920463 Centerline is valid? [False, False] Translation: X:12.20, Y:0.08, Z:0.83 [[ 0.92675187 -0.0754283 -0.36802384 12.1967807 ] [ 0.09559392 0.99473822 0.03684662 0.07511341] [ 0.36330811 -0.06932852 0.92908599 0.82910107] [ 0. 0. 0. 1. ]] SLAMing on 34.949649246 meters Centerline goodness : 0.925299 Centerline is valid? [False, False] Translation: X:12.20, Y:0.08, Z:0.83 [[ 0.92642986 -0.07595313 -0.36872596 12.19906234] [ 0.09612142 0.99469608 0.03661112 0.07542555] [ 0.36398954 -0.0693601 0.92881688 0.82946607] [ 0. 0. 0. 1. ]] SLAMing on 34.979649246 meters Centerline goodness : 0.920745 Centerline is valid? [False, False] Translation: X:12.20, Y:0.08, Z:0.83 [[ 0.92585049 -0.07681039 -0.37000139 12.20335499] [ 0.09698127 0.99462783 0.03619555 0.07541988] [ 0.36523348 -0.06939487 0.92832583 0.8299988 ] [ 0. 0. 0. 1. ]] SLAMing on 35.009649246 meters Centerline goodness : 0.924981 Centerline is valid? [False, False] Translation: X:12.21, Y:0.07, Z:0.83 [[ 0.9252107 -0.07764891 -0.37142403 12.2072415 ] [ 0.0979772 0.99453204 0.03614527 0.07459243] [ 0.36658646 -0.06983307 0.92775951 0.83162131] [ 0. 0. 0. 1. ]] SLAMing on 35.039649246 meters Centerline goodness : 0.920501 Centerline is valid? [False, False] Translation: X:12.21, Y:0.07, Z:0.83 [[ 0.92492652 -0.07802737 -0.37205195 12.20892842] [ 0.09845889 0.99448227 0.03620571 0.07398984] [ 0.36717404 -0.07011944 0.92750552 0.83244988] [ 0. 0. 0. 1. ]] SLAMing on 35.069649246000004 meters Centerline goodness : 0.919906 Centerline is valid? [False, False] Translation: X:12.21, Y:0.07, Z:0.83 [[ 0.92429857 -0.07932131 -0.37333669 12.21325947] [ 0.09977493 0.99436754 0.03575134 0.07446363] [ 0.36839804 -0.07029455 0.92700677 0.83345264] [ 0. 0. 0. 1. ]] SLAMing on 35.099649246 meters Centerline goodness : 0.920881 Centerline is valid? [False, False] Translation: X:12.22, Y:0.07, Z:0.83 [[ 0.92399446 -0.07980783 -0.37398522 12.21544023] [ 0.1003169 0.99431612 0.03566464 0.07472039] [ 0.36901321 -0.07047097 0.92674867 0.83394731] [ 0. 0. 0. 1. ]] SLAMing on 35.129649246 meters Centerline goodness : 0.921735 Centerline is valid? [False, False] Translation: X:12.22, Y:0.07, Z:0.84 [[ 0.92327763 -0.07648364 -0.37644212 12.22084662] [ 0.09890936 0.99426873 0.04057865 0.07426718] [ 0.37118103 -0.07469901 0.92555103 0.83885059] [ 0. 0. 0. 1. ]] SLAMing on 35.159649246 meters Centerline goodness : 0.917781 Centerline is valid? [False, False] Translation: X:12.22, Y:0.08, Z:0.84 [[ 0.92297464 -0.07680557 -0.37711898 12.22248295] [ 0.09926007 0.99423935 0.0404419 0.07509483] [ 0.37184037 -0.0747597 0.92528143 0.83952524] [ 0. 0. 0. 1. ]] SLAMing on 35.189649246 meters Centerline goodness : 0.921983 Centerline is valid? [False, False] Translation: X:12.24, Y:0.08, Z:0.84 [[ 0.92488098 -0.07684774 -0.37241052 12.238003 ] [ 0.09684733 0.99467424 0.03526698 0.07932164] [ 0.36771696 -0.06868472 0.92739778 0.84341356] [ 0. 0. 0. 1. ]] SLAMing on 35.219649246 meters Centerline goodness : 0.921260 Centerline is valid? [False, False] Translation: X:12.24, Y:0.08, Z:0.84 [[ 0.92475086 -0.07648112 -0.37280891 12.23788141] [ 0.09660779 0.99468649 0.03557693 0.08047534] [ 0.36810702 -0.06891604 0.92722586 0.84441721] [ 0. 0. 0. 1. ]] SLAMing on 35.249649246000004 meters Centerline goodness : 0.919927 Centerline is valid? [False, False] Translation: X:12.24, Y:0.08, Z:0.85 [[ 0.92449255 -0.07153947 -0.37442708 12.23952553] [ 0.09320088 0.99484179 0.04004267 0.08177208] [ 0.36963107 -0.07191608 0.92639136 0.84731875] [ 0. 0. 0. 1. ]] SLAMing on 35.279649246 meters Centerline goodness : 0.920529 Centerline is valid? [False, False] Translation: X:12.24, Y:0.08, Z:0.85 [[ 0.92419746 -0.06732605 -0.37593385 12.24226078] [ 0.09040517 0.9949295 0.04407041 0.08191171] [ 0.37106059 -0.07471613 0.92559794 0.84945999] [ 0. 0. 0. 1. ]] SLAMing on 35.309649246 meters Centerline goodness : 0.918709 Centerline is valid? [False, False] Translation: X:12.24, Y:0.09, Z:0.85 [[ 0.92395229 -0.06650933 -0.37668112 12.24268889] [ 0.08928802 0.99506344 0.04331746 0.08601842] [ 0.3719406 -0.07365637 0.92532963 0.84904117] [ 0. 0. 0. 1. ]] SLAMing on 35.339649246 meters Centerline goodness : 0.923232 Centerline is valid? [False, False] Translation: X:12.24, Y:0.09, Z:0.85 [[ 0.92370025 -0.06671038 -0.37726326 12.24409866] [ 0.08930677 0.99508835 0.04270217 0.08790706] [ 0.3725616 -0.07313617 0.92512105 0.848873 ] [ 0. 0. 0. 1. ]] SLAMing on 35.369649246 meters Centerline goodness : 0.917994 Centerline is valid? [False, False] Translation: X:12.25, Y:0.09, Z:0.85 [[ 0.92336696 -0.06715458 -0.37799963 12.24602978] [ 0.08950805 0.99510607 0.04185942 0.09034232] [ 0.37333867 -0.07248562 0.92485895 0.84881239] [ 0. 0. 0. 1. ]] SLAMing on 35.399649246 meters Centerline goodness : 0.918838 Centerline is valid? [False, False] Translation: X:12.25, Y:0.09, Z:0.85 [[ 0.9228654 -0.06791367 -0.37908731 12.24888481] [ 0.09018457 0.99506912 0.04128183 0.09212851] [ 0.37441448 -0.0722854 0.92443962 0.84952215] [ 0. 0. 0. 1. ]] SLAMing on 35.429649246000004 meters Centerline goodness : 0.914218 Centerline is valid? [False, False] Translation: X:12.25, Y:0.09, Z:0.85 [[ 0.92258251 -0.06841296 -0.37968562 12.25099119] [ 0.09068033 0.99503357 0.04105211 0.09249435] [ 0.37499145 -0.07230397 0.92420428 0.84978338] [ 0. 0. 0. 1. ]] SLAMing on 35.459649246 meters Centerline goodness : 0.914218 Centerline is valid? [False, False] Translation: X:12.25, Y:0.09, Z:0.85 [[ 0.92258251 -0.06841296 -0.37968562 12.25099119] [ 0.09068033 0.99503357 0.04105211 0.09249435] [ 0.37499145 -0.07230397 0.92420428 0.84978338] [ 0. 0. 0. 1. ]] SLAMing on 35.489649246 meters Centerline goodness : 0.916305 Centerline is valid? [False, False] Translation: X:12.25, Y:0.09, Z:0.85 [[ 0.92232207 -0.06900149 -0.38021152 12.25284248] [ 0.09126821 0.99498907 0.04082716 0.0923435 ] [ 0.37548918 -0.07235701 0.92399802 0.85015797] [ 0. 0. 0. 1. ]] SLAMing on 35.519649246 meters Centerline goodness : 0.916820 Centerline is valid? [False, False] Translation: X:12.26, Y:0.09, Z:0.85 [[ 0.92166103 -0.06990803 -0.3816462 12.25633818] [ 0.09261449 0.99483971 0.04143074 0.09003119] [ 0.37678045 -0.07353107 0.92337948 0.85292284] [ 0. 0. 0. 1. ]] SLAMing on 35.549649246 meters Centerline goodness : 0.918427 Centerline is valid? [False, False] Translation: X:12.26, Y:0.09, Z:0.85 [[ 0.92114447 -0.07084118 -0.38271974 12.25924794] [ 0.09375072 0.9947296 0.041519 0.08884058] [ 0.3777614 -0.07412525 0.92293108 0.85455011] [ 0. 0. 0. 1. ]] SLAMing on 35.579649246 meters Centerline goodness : 0.919195 Centerline is valid? [False, False] Translation: X:12.26, Y:0.09, Z:0.86 [[ 0.92047865 -0.07240101 -0.38402754 12.26457152] [ 0.0954242 0.99458316 0.04121349 0.08766529] [ 0.37896343 -0.07458166 0.92240137 0.85545424] [ 0. 0. 0. 1. ]] SLAMing on 35.609649246000004 meters Centerline goodness : 0.919266 Centerline is valid? [False, False] Translation: X:12.27, Y:0.09, Z:0.86 [[ 0.9199385 -0.07385673 -0.3850433 12.26916927] [ 0.09680099 0.9944786 0.04052017 0.08780451] [ 0.37992463 -0.07454864 0.92200855 0.8555681 ] [ 0. 0. 0. 1. ]] SLAMing on 35.639649246 meters Centerline goodness : 0.918546 Centerline is valid? [False, False] Translation: X:12.27, Y:0.09, Z:0.86 [[ 0.91923613 -0.07581853 -0.38633727 12.27494373] [ 0.09871622 0.99432154 0.03974642 0.0866999 ] [ 0.38112996 -0.0746741 0.92150081 0.85608149] [ 0. 0. 0. 1. ]] SLAMing on 35.669649246 meters Centerline goodness : 0.922343 Centerline is valid? [False, False] Translation: X:12.28, Y:0.09, Z:0.86 [[ 0.9185916 -0.07683486 -0.38766722 12.27848957] [ 0.0999543 0.99419579 0.03979777 0.08647723] [ 0.38235927 -0.0753069 0.92093988 0.85807386] [ 0. 0. 0. 1. ]] SLAMing on 35.699649246 meters Centerline goodness : 0.918571 Centerline is valid? [False, False] Translation: X:12.28, Y:0.09, Z:0.86 [[ 0.91835634 -0.07719028 -0.3881537 12.27990615] [ 0.10031054 0.99416679 0.03962555 0.08663806] [ 0.38283081 -0.07532628 0.92074237 0.85844153] [ 0. 0. 0. 1. ]] SLAMing on 35.729649246 meters Centerline goodness : 0.923241 Centerline is valid? [False, False] Translation: X:12.28, Y:0.09, Z:0.86 [[ 0.91779145 -0.07815174 -0.38929572 12.28304737] [ 0.10124085 0.99409264 0.03911657 0.08822375] [ 0.38393899 -0.07531348 0.92028188 0.85946368] [ 0. 0. 0. 1. ]] SLAMing on 35.759649246 meters Centerline goodness : 0.917243 Centerline is valid? [False, False] Translation: X:12.29, Y:0.09, Z:0.86 [[ 0.91750102 -0.07875967 -0.38985741 12.28500658] [ 0.10176092 0.99405718 0.03866576 0.08936526] [ 0.38449526 -0.07514812 0.92006313 0.85956603] [ 0. 0. 0. 1. ]] SLAMing on 35.789649246 meters Centerline goodness : 0.917736 Centerline is valid? [False, False] Translation: X:12.29, Y:0.09, Z:0.86 [[ 0.91707976 -0.07971366 -0.39065386 12.28784567] [ 0.10262202 0.99399109 0.03808464 0.09107528] [ 0.38527059 -0.07501634 0.91974949 0.85995986] [ 0. 0. 0. 1. ]] SLAMing on 35.819649246000004 meters Centerline goodness : 0.918274 Centerline is valid? [False, False] Translation: X:12.29, Y:0.09, Z:0.86 [[ 0.91676424 -0.08001849 -0.39133154 12.28908247] [ 0.10301417 0.99395037 0.03808866 0.09124226] [ 0.38591633 -0.07523102 0.91946119 0.86102752] [ 0. 0. 0. 1. ]] SLAMing on 35.849649246 meters Centerline goodness : 0.923155 Centerline is valid? [False, False] Translation: X:12.29, Y:0.09, Z:0.86 [[ 0.9163168 -0.08043346 -0.39229324 12.29069529] [ 0.10360332 0.99388424 0.03821609 0.0916168 ] [ 0.38682022 -0.07566093 0.919046 0.86284131] [ 0. 0. 0. 1. ]] SLAMing on 35.879649246 meters Centerline goodness : 0.923151 Centerline is valid? [False, False] Translation: X:12.29, Y:0.09, Z:0.86 [[ 0.91595495 -0.08111815 -0.39299665 12.29292064] [ 0.10425414 0.99383024 0.03784873 0.09244103] [ 0.38750174 -0.07563926 0.91876064 0.86329329] [ 0. 0. 0. 1. ]] SLAMing on 35.909649246 meters Centerline goodness : 0.922354 Centerline is valid? [False, False] Translation: X:12.30, Y:0.09, Z:0.86 [[ 0.91551481 -0.08217882 -0.39380105 12.29600463] [ 0.10517897 0.99375942 0.03714294 0.09434362] [ 0.38829114 -0.0754245 0.91844495 0.86347574] [ 0. 0. 0. 1. ]] SLAMing on 35.939649246 meters Centerline goodness : 0.920595 Centerline is valid? [False, False] Translation: X:12.30, Y:0.10, Z:0.86 [[ 0.91514405 -0.08314563 -0.39445935 12.29860251] [ 0.10602801 0.9936919 0.0365304 0.09545024] [ 0.38893372 -0.07525432 0.91818699 0.86365255] [ 0. 0. 0. 1. ]] SLAMing on 35.969649246 meters Centerline goodness : 0.920792 Centerline is valid? [False, False] Translation: X:12.30, Y:0.10, Z:0.86 [[ 0.91486986 -0.08365293 -0.39498776 12.30014878] [ 0.10656722 0.9936393 0.03639176 0.09532298] [ 0.38943109 -0.07538647 0.91796531 0.86423594] [ 0. 0. 0. 1. ]] SLAMing on 35.999649246000004 meters Centerline goodness : 0.921766 Centerline is valid? [False, False] Translation: X:12.30, Y:0.10, Z:0.87 [[ 0.9144656 -0.0843996 -0.39576429 12.3022097 ] [ 0.10731512 0.99357019 0.0360797 0.09512575] [ 0.39017448 -0.07546514 0.91764311 0.86518259] [ 0. 0. 0. 1. ]] SLAMing on 36.029649246 meters Centerline goodness : 0.927649 Centerline is valid? [False, False] Translation: X:12.30, Y:0.10, Z:0.87 [[ 0.91412702 -0.08467308 -0.39648741 12.30334563] [ 0.1077266 0.99352143 0.03619605 0.09503315] [ 0.3908539 -0.07580002 0.91732632 0.86662885] [ 0. 0. 0. 1. ]] SLAMing on 36.059649246 meters Centerline goodness : 0.925142 Centerline is valid? [False, False] Translation: X:12.30, Y:0.10, Z:0.87 [[ 0.91389684 -0.08504359 -0.39693847 12.30450096] [ 0.10802496 0.99350135 0.03585631 0.09577147] [ 0.39130956 -0.07564824 0.91714458 0.8668824 ] [ 0. 0. 0. 1. ]] SLAMing on 36.089649246 meters Centerline goodness : 0.922067 Centerline is valid? [False, False] Translation: X:12.31, Y:0.10, Z:0.87 [[ 0.91342435 -0.08626959 -0.39776061 12.30795421] [ 0.10891626 0.99344683 0.03465027 0.09840956] [ 0.39216476 -0.074973 0.91683469 0.86644131] [ 0. 0. 0. 1. ]] SLAMing on 36.119649246 meters Centerline goodness : 0.922984 Centerline is valid? [False, False] Translation: X:12.31, Y:0.10, Z:0.87 [[ 0.91320751 -0.08698101 -0.39810343 12.30997637] [ 0.10941404 0.99341685 0.03393419 0.09959488] [ 0.39253103 -0.07454707 0.91671268 0.86586665] [ 0. 0. 0. 1. ]] SLAMing on 36.149649246 meters Centerline goodness : 0.924537 Centerline is valid? [False, False] Translation: X:12.31, Y:0.10, Z:0.87 [[ 0.91285706 -0.08811103 -0.39865828 12.3132085 ] [ 0.1102304 0.99336284 0.03285615 0.1011545 ] [ 0.39311734 -0.07393723 0.9165108 0.86501285] [ 0. 0. 0. 1. ]] SLAMing on 36.179649246000004 meters Centerline goodness : 0.920223 Centerline is valid? [False, False] Translation: X:12.31, Y:0.10, Z:0.87 [[ 0.91268118 -0.08846293 -0.39898293 12.31443792] [ 0.11056408 0.99333174 0.03267487 0.10132868] [ 0.39343189 -0.07393492 0.916376 0.86517678] [ 0. 0. 0. 1. ]] SLAMing on 36.209649246 meters Centerline goodness : 0.922527 Centerline is valid? [False, False] Translation: X:12.32, Y:0.10, Z:0.87 [[ 0.91219231 -0.08933523 -0.39990549 12.31729056] [ 0.11146383 0.99324115 0.03237022 0.10142325] [ 0.39431079 -0.07410287 0.91598459 0.86607788] [ 0. 0. 0. 1. ]] SLAMing on 36.239649246 meters Centerline goodness : 0.925100 Centerline is valid? [False, False] Translation: X:12.32, Y:0.10, Z:0.87 [[ 0.91191312 -0.08987348 -0.40042131 12.31891687] [ 0.11200029 0.99318798 0.03214932 0.10172467] [ 0.39480425 -0.07416469 0.915767 0.86659435] [ 0. 0. 0. 1. ]] SLAMing on 36.269649246 meters Centerline goodness : 0.922163 Centerline is valid? [False, False] Translation: X:12.32, Y:0.10, Z:0.87 [[ 0.91160427 -0.08996747 -0.40110286 12.31953428] [ 0.1124041 0.99312412 0.0327078 0.10130084] [ 0.39540228 -0.07490218 0.9154489 0.8685756 ] [ 0. 0. 0. 1. ]] SLAMing on 36.299649246 meters Centerline goodness : 0.920582 Centerline is valid? [False, False] Translation: X:12.32, Y:0.10, Z:0.87 [[ 0.91135549 -0.09008631 -0.40164117 12.32040531] [ 0.11268248 0.99308487 0.03294097 0.1012865 ] [ 0.39589624 -0.07527885 0.91520449 0.86967823] [ 0. 0. 0. 1. ]] SLAMing on 36.329649246 meters Centerline goodness : 0.923660 Centerline is valid? [False, False] Translation: X:12.32, Y:0.10, Z:0.87 [[ 0.91096109 -0.09066956 -0.40240393 12.32218197] [ 0.11320157 0.9930399 0.03251394 0.10304325] [ 0.39665514 -0.07517169 0.91488465 0.87038476] [ 0. 0. 0. 1. ]] SLAMing on 36.359649246000004 meters Centerline goodness : 0.922286 Centerline is valid? [False, False] Translation: X:12.32, Y:0.11, Z:0.87 [[ 0.91076425 -0.09101822 -0.4027706 12.32350582] [ 0.11319025 0.99307272 0.03153635 0.10648669] [ 0.39711011 -0.07431188 0.91475751 0.86947653] [ 0. 0. 0. 1. ]] SLAMing on 36.389649246 meters Centerline goodness : 0.922101 Centerline is valid? [False, False] Translation: X:12.32, Y:0.11, Z:0.87 [[ 0.91056807 -0.0911507 -0.40318399 12.32437035] [ 0.11318855 0.99308618 0.03111577 0.10817119] [ 0.39756023 -0.07396884 0.91458979 0.86945564] [ 0. 0. 0. 1. ]] SLAMing on 36.419649246 meters Centerline goodness : 0.923403 Centerline is valid? [False, False] Translation: X:12.32, Y:0.11, Z:0.87 [[ 0.91050763 -0.0856776 -0.40451848 12.32394137] [ 0.10959908 0.99331262 0.03630528 0.10757945] [ 0.39870276 -0.07739109 0.91380891 0.87329332] [ 0. 0. 0. 1. ]] SLAMing on 36.449649246 meters Centerline goodness : 0.925924 Centerline is valid? [False, False] Translation: X:12.32, Y:0.11, Z:0.87 [[ 0.91035262 -0.08554251 -0.40489577 12.32372277] [ 0.10955525 0.9933117 0.03646256 0.10828817] [ 0.3990686 -0.07755224 0.91363554 0.87429894] [ 0. 0. 0. 1. ]] SLAMing on 36.479649246 meters Centerline goodness : 0.928300 Centerline is valid? [False, False] Translation: X:12.32, Y:0.11, Z:0.88 [[ 0.9100507 -0.08607793 -0.40546063 12.3247383 ] [ 0.11008083 0.99326288 0.03620851 0.10908158] [ 0.39961224 -0.07758502 0.91339511 0.87522289] [ 0. 0. 0. 1. ]] SLAMing on 36.509649246 meters Centerline goodness : 0.928709 Centerline is valid? [False, False] Translation: X:12.33, Y:0.11, Z:0.87 [[ 0.90980917 -0.0867226 -0.40586508 12.32664086] [ 0.11056671 0.99323 0.03562543 0.11012801] [ 0.40002785 -0.07728751 0.91323839 0.8749966 ] [ 0. 0. 0. 1. ]] SLAMing on 36.539649246 meters Centerline goodness : 0.925816 Centerline is valid? [False, False] Translation: X:12.33, Y:0.11, Z:0.87 [[ 0.90953958 -0.0873781 -0.40632847 12.3284852 ] [ 0.11107669 0.99319327 0.03505859 0.11077255] [ 0.40049935 -0.0770208 0.91305425 0.87495064] [ 0. 0. 0. 1. ]] SLAMing on 36.569649246000004 meters Centerline goodness : 0.924259 Centerline is valid? [False, False] Translation: X:12.33, Y:0.11, Z:0.88 [[ 0.90923631 -0.08790687 -0.40689277 12.33038949] [ 0.11156488 0.99314985 0.03473678 0.11097419] [ 0.40105189 -0.07697889 0.91281522 0.87523554] [ 0. 0. 0. 1. ]] SLAMing on 36.599649246 meters Centerline goodness : 0.923988 Centerline is valid? [False, False] Translation: X:12.33, Y:0.11, Z:0.88 [[ 0.90874669 -0.0890472 -0.40773773 12.33360741] [ 0.11270164 0.99303628 0.0343116 0.11051873] [ 0.401843 -0.07713326 0.9124542 0.8759733 ] [ 0. 0. 0. 1. ]] SLAMing on 36.629649246 meters Centerline goodness : 0.925032 Centerline is valid? [False, False] Translation: X:12.33, Y:0.11, Z:0.88 [[ 0.90847891 -0.08933335 -0.4082715 12.33477299] [ 0.11314923 0.99297866 0.03450542 0.10935881] [ 0.4023224 -0.07754306 0.91220818 0.87705414] [ 0. 0. 0. 1. ]] SLAMing on 36.659649246 meters Centerline goodness : 0.927121 Centerline is valid? [False, False] Translation: X:12.34, Y:0.11, Z:0.88 [[ 0.90800452 -0.08943678 -0.40930289 12.33611238] [ 0.11393824 0.99284201 0.03581662 0.10663645] [ 0.40316978 -0.0791569 0.9116953 0.88038353] [ 0. 0. 0. 1. ]] SLAMing on 36.689649246 meters Centerline goodness : 0.933020 Centerline is valid? [False, False] Translation: X:12.34, Y:0.11, Z:0.88 [[ 0.90769389 -0.08968368 -0.40993737 12.33716163] [ 0.11454228 0.99275002 0.03643449 0.10502298] [ 0.40369775 -0.08002652 0.91138569 0.88232252] [ 0. 0. 0. 1. ]] SLAMing on 36.719649246 meters Centerline goodness : 0.934877 Centerline is valid? [False, False] Translation: X:12.34, Y:0.10, Z:0.88 [[ 0.90754021 -0.08978315 -0.41025572 12.33749566] [ 0.11471566 0.99272718 0.03651113 0.10490247] [ 0.40399392 -0.08019807 0.91123937 0.88306526] [ 0. 0. 0. 1. ]] SLAMing on 36.749649246000004 meters Centerline goodness : 0.934577 Centerline is valid? [False, False] Translation: X:12.34, Y:0.11, Z:0.88 [[ 0.90732973 -0.09024542 -0.41061968 12.33855605] [ 0.11507135 0.99270127 0.03609402 0.10609088] [ 0.40436536 -0.07999974 0.91109204 0.88323279] [ 0. 0. 0. 1. ]] SLAMing on 36.779649246 meters Centerline goodness : 0.932370 Centerline is valid? [False, False] Translation: X:12.34, Y:0.11, Z:0.88 [[ 0.90724325 -0.08871533 -0.41114386 12.34230835] [ 0.11435793 0.99270711 0.03814264 0.10585151] [ 0.40476159 -0.08162222 0.91077213 0.88352914] [ 0. 0. 0. 1. ]] SLAMing on 36.809649246 meters Centerline goodness : 0.934857 Centerline is valid? [False, False] Translation: X:12.34, Y:0.11, Z:0.88 [[ 0.90705084 -0.08930696 -0.4114402 12.34399728] [ 0.11478575 0.99267906 0.03758352 0.10655339] [ 0.4050716 -0.08131763 0.91066154 0.8831625 ] [ 0. 0. 0. 1. ]] SLAMing on 36.839649246 meters Centerline goodness : 0.933027 Centerline is valid? [False, False] Translation: X:12.35, Y:0.11, Z:0.88 [[ 0.90665616 -0.09009049 -0.41213869 12.3460952 ] [ 0.11549033 0.99261603 0.03708643 0.10741468] [ 0.40575434 -0.08122268 0.91036602 0.88372587] [ 0. 0. 0. 1. ]] SLAMing on 36.869649246 meters Centerline goodness : 0.934222 Centerline is valid? [False, False] Translation: X:12.35, Y:0.11, Z:0.88 [[ 0.90633431 -0.09057514 -0.41273995 12.34769355] [ 0.11595466 0.99257233 0.036806 0.10790998] [ 0.40634054 -0.08121766 0.91010497 0.88434658] [ 0. 0. 0. 1. ]] SLAMing on 36.899649246 meters Centerline goodness : 0.932697 Centerline is valid? [False, False] Translation: X:12.35, Y:0.11, Z:0.88 [[ 0.90610276 -0.09115351 -0.41312084 12.34927055] [ 0.11642005 0.99253479 0.03634651 0.1084299 ] [ 0.40672369 -0.08102922 0.90995061 0.88434573] [ 0. 0. 0. 1. ]] SLAMing on 36.929649246000004 meters Centerline goodness : 0.932651 Centerline is valid? [False, False] Translation: X:12.35, Y:0.11, Z:0.88 [[ 0.90572448 -0.09225905 -0.41370452 12.35212466] [ 0.11729093 0.99246437 0.03545874 0.10945855] [ 0.4073156 -0.08063963 0.90972042 0.88407444] [ 0. 0. 0. 1. ]] SLAMing on 36.959649246 meters Centerline goodness : 0.933529 Centerline is valid? [False, False] Translation: X:12.35, Y:0.11, Z:0.88 [[ 0.90542256 -0.09273037 -0.41425967 12.35360836] [ 0.11776157 0.99241657 0.03523595 0.10973995] [ 0.40785072 -0.08068729 0.90947642 0.88468869] [ 0. 0. 0. 1. ]] SLAMing on 36.989649246 meters Centerline goodness : 0.938105 Centerline is valid? [False, False] Translation: X:12.35, Y:0.11, Z:0.89 [[ 0.90525421 -0.09250819 -0.41467705 12.35295384] [ 0.11788645 0.99237554 0.03596614 0.10822793] [ 0.4081882 -0.08144331 0.9092576 0.8867734 ] [ 0. 0. 0. 1. ]] SLAMing on 37.019649246 meters Centerline goodness : 0.935912 Centerline is valid? [False, False] Translation: X:12.35, Y:0.11, Z:0.89 [[ 0.90504963 -0.092728 -0.41507431 12.35361883] [ 0.11818173 0.99233919 0.03600005 0.10814762] [ 0.4085563 -0.08163603 0.90907498 0.88756721] [ 0. 0. 0. 1. ]] SLAMing on 37.049649246 meters Centerline goodness : 0.936446 Centerline is valid? [False, False] Translation: X:12.35, Y:0.11, Z:0.89 [[ 0.90485243 -0.09307465 -0.41542652 12.35430652] [ 0.11852085 0.99230484 0.03583174 0.10904919] [ 0.40889472 -0.08165914 0.90892073 0.88815698] [ 0. 0. 0. 1. ]] SLAMing on 37.079649246 meters Centerline goodness : 0.936472 Centerline is valid? [False, False] Translation: X:12.36, Y:0.11, Z:0.89 [[ 0.90463955 -0.09366971 -0.41575626 12.35588056] [ 0.11895797 0.99227227 0.03528085 0.11022394] [ 0.40923867 -0.08137397 0.9087915 0.88793541] [ 0. 0. 0. 1. ]] SLAMing on 37.109649246000004 meters Centerline goodness : 0.932541 Centerline is valid? [False, False] Translation: X:12.36, Y:0.11, Z:0.89 [[ 0.90449088 -0.09434917 -0.41592605 12.3572588 ] [ 0.11941552 0.99224111 0.03460501 0.11155416] [ 0.40943397 -0.08096794 0.9087398 0.88746458] [ 0. 0. 0. 1. ]] SLAMing on 37.139649246 meters Centerline goodness : 0.933197 Centerline is valid? [False, False] Translation: X:12.36, Y:0.11, Z:0.89 [[ 0.90425728 -0.09467315 -0.41636013 12.35843055] [ 0.1197122 0.99221317 0.03438052 0.11196645] [ 0.40986309 -0.08093222 0.90854952 0.88782096] [ 0. 0. 0. 1. ]] SLAMing on 37.169649246 meters Centerline goodness : 0.934432 Centerline is valid? [False, False] Translation: X:12.36, Y:0.11, Z:0.89 [[ 0.90408742 -0.09487175 -0.41668368 12.35908338] [ 0.11992319 0.99219064 0.03429506 0.11196756] [ 0.41017602 -0.08097577 0.9084044 0.88827634] [ 0. 0. 0. 1. ]] SLAMing on 37.199649246 meters Centerline goodness : 0.934381 Centerline is valid? [False, False] Translation: X:12.36, Y:0.11, Z:0.89 [[ 0.90376978 -0.09504166 -0.41733353 12.35990386] [ 0.12029449 0.99213641 0.03456283 0.11117452] [ 0.41076688 -0.08143976 0.90809589 0.88979219] [ 0. 0. 0. 1. ]] SLAMing on 37.229649246 meters Centerline goodness : 0.935665 Centerline is valid? [False, False] Translation: X:12.36, Y:0.11, Z:0.89 [[ 0.90352071 -0.09525838 -0.41782313 12.36099796] [ 0.1206252 0.99209282 0.03466112 0.11070019] [ 0.41121757 -0.08171704 0.90786697 0.89067175] [ 0. 0. 0. 1. ]] SLAMing on 37.259649246 meters Centerline goodness : 0.935044 Centerline is valid? [False, False] Translation: X:12.36, Y:0.11, Z:0.89 [[ 0.90329173 -0.09535883 -0.41829504 12.36152562] [ 0.12091551 0.99204717 0.03495507 0.11002227] [ 0.41163513 -0.08215298 0.90763837 0.89195492] [ 0. 0. 0. 1. ]] SLAMing on 37.289649246 meters Centerline goodness : 0.933973 Centerline is valid? [False, False] Translation: X:12.36, Y:0.11, Z:0.89 [[ 0.90291438 -0.0961736 -0.41892274 12.36372225] [ 0.12167827 0.99196892 0.03452626 0.11108136] [ 0.41223782 -0.08214805 0.90736524 0.89244308] [ 0. 0. 0. 1. ]] SLAMing on 37.319649246000004 meters Centerline goodness : 0.929513 Centerline is valid? [False, False] Translation: X:12.37, Y:0.11, Z:0.89 [[ 0.90266862 -0.096752 -0.41931898 12.36537734] [ 0.12217284 0.99192186 0.03412956 0.11194372] [ 0.41262956 -0.08203707 0.9071972 0.89254758] [ 0. 0. 0. 1. ]] SLAMing on 37.349649246 meters Centerline goodness : 0.929308 Centerline is valid? [False, False] Translation: X:12.37, Y:0.11, Z:0.89 [[ 0.9023694 -0.09723524 -0.41985089 12.36659977] [ 0.12274066 0.99185298 0.0340939 0.11258925] [ 0.41311522 -0.08229807 0.9069525 0.89354661] [ 0. 0. 0. 1. ]] SLAMing on 37.379649246 meters Centerline goodness : 0.929308 Centerline is valid? [False, False] Translation: X:12.37, Y:0.11, Z:0.89 [[ 0.9023694 -0.09723524 -0.41985089 12.36659977] [ 0.12274066 0.99185298 0.0340939 0.11258925] [ 0.41311522 -0.08229807 0.9069525 0.89354661] [ 0. 0. 0. 1. ]] SLAMing on 37.409649246 meters Centerline goodness : 0.931747 Centerline is valid? [False, False] Translation: X:12.37, Y:0.11, Z:0.89 [[ 0.90231282 -0.09710129 -0.42000346 12.36646668] [ 0.12269817 0.99185147 0.03429036 0.11259565] [ 0.41325141 -0.08247429 0.90687445 0.89409105] [ 0. 0. 0. 1. ]] SLAMing on 37.439649246 meters Centerline goodness : 0.934764 Centerline is valid? [False, False] Translation: X:12.37, Y:0.11, Z:0.90 [[ 0.90216158 -0.09720305 -0.42030471 12.36635075] [ 0.12290177 0.99182158 0.03442544 0.11264378] [ 0.41352102 -0.0827135 0.90672975 0.89518585] [ 0. 0. 0. 1. ]] SLAMing on 37.469649246 meters Centerline goodness : 0.930900 Centerline is valid? [False, False] Translation: X:12.37, Y:0.11, Z:0.90 [[ 0.90193663 -0.09728677 -0.42076787 12.36706452] [ 0.12308392 0.99179567 0.03452094 0.11285273] [ 0.41395732 -0.08292546 0.90651128 0.89604357] [ 0. 0. 0. 1. ]] SLAMing on 37.499649246000004 meters Centerline goodness : 0.931777 Centerline is valid? [False, False] Translation: X:12.37, Y:0.11, Z:0.90 [[ 0.90187501 -0.09717342 -0.42092611 12.36689524] [ 0.12308437 0.99178727 0.0347599 0.1126484 ] [ 0.41409142 -0.08315851 0.90642868 0.8967528 ] [ 0. 0. 0. 1. ]] SLAMing on 37.529649246 meters Centerline goodness : 0.932918 Centerline is valid? [False, False] Translation: X:12.37, Y:0.11, Z:0.90 [[ 0.90162749 -0.09749924 -0.42138079 12.36821837] [ 0.123395 0.99175582 0.03455518 0.11293809] [ 0.41453775 -0.08315218 0.90622523 0.8971266 ] [ 0. 0. 0. 1. ]] SLAMing on 37.559649246 meters Centerline goodness : 0.931318 Centerline is valid? [False, False] Translation: X:12.37, Y:0.11, Z:0.90 [[ 0.90134513 -0.09809212 -0.421847 12.3702775 ] [ 0.12379031 0.99172947 0.03389132 0.1145031 ] [ 0.41503363 -0.08276834 0.90603338 0.89681878] [ 0. 0. 0. 1. ]] SLAMing on 37.589649246 meters Centerline goodness : 0.932661 Centerline is valid? [False, False] Translation: X:12.37, Y:0.12, Z:0.90 [[ 0.9011742 -0.09843709 -0.42213173 12.37165857] [ 0.12402887 0.99171224 0.03352117 0.11507558] [ 0.41533348 -0.08256493 0.90591453 0.89662649] [ 0. 0. 0. 1. ]] SLAMing on 37.619649246 meters Centerline goodness : 0.931270 Centerline is valid? [False, False] Translation: X:12.37, Y:0.11, Z:0.90 [[ 0.90096344 -0.09854465 -0.42255631 12.37253862] [ 0.1242321 0.99168369 0.03361316 0.11448604] [ 0.41572981 -0.08277929 0.90571315 0.89742518] [ 0. 0. 0. 1. ]] SLAMing on 37.649649246 meters Centerline goodness : 0.930465 Centerline is valid? [False, False] Translation: X:12.37, Y:0.11, Z:0.90 [[ 0.90084509 -0.09833435 -0.42285752 12.37265029] [ 0.12415475 0.9916842 0.03388274 0.11432224] [ 0.41600928 -0.08302287 0.90556252 0.89814886] [ 0. 0. 0. 1. ]] SLAMing on 37.679649246000004 meters Centerline goodness : 0.929592 Centerline is valid? [False, False] Translation: X:12.38, Y:0.11, Z:0.90 [[ 0.90067439 -0.09399247 -0.42420639 12.37527575] [ 0.12141045 0.9918745 0.0380064 0.11350618] [ 0.41718718 -0.08573448 0.90476762 0.9001734 ] [ 0. 0. 0. 1. ]] SLAMing on 37.709649246 meters Centerline goodness : 0.927914 Centerline is valid? [False, False] Translation: X:12.38, Y:0.11, Z:0.90 [[ 0.90050073 -0.0945179 -0.42445825 12.37685372] [ 0.12175725 0.99185327 0.03744682 0.11468238] [ 0.41746091 -0.08540176 0.90467283 0.89973841] [ 0. 0. 0. 1. ]] SLAMing on 37.739649246 meters Centerline goodness : 0.927064 Centerline is valid? [False, False] Translation: X:12.38, Y:0.12, Z:0.90 [[ 0.90017328 -0.09522911 -0.42499351 12.3793563 ] [ 0.12218196 0.9918345 0.03654977 0.11635974] [ 0.41804262 -0.08482766 0.9044582 0.89920884] [ 0. 0. 0. 1. ]] SLAMing on 37.769649246 meters Centerline goodness : 0.927609 Centerline is valid? [False, False] Translation: X:12.38, Y:0.12, Z:0.90 [[ 0.90011619 -0.09533121 -0.42509153 12.38008278] [ 0.1222083 0.99183891 0.03634151 0.11658012] [ 0.41815784 -0.08466129 0.90442052 0.8989397 ] [ 0. 0. 0. 1. ]] SLAMing on 37.799649246 meters Centerline goodness : 0.925659 Centerline is valid? [False, False] Translation: X:12.38, Y:0.12, Z:0.90 [[ 0.89987491 -0.09571592 -0.4255157 12.38177963] [ 0.12252307 0.99181213 0.03601094 0.11707293] [ 0.41858481 -0.08454083 0.90423426 0.89896524] [ 0. 0. 0. 1. ]] SLAMing on 37.829649246 meters Centerline goodness : 0.928825 Centerline is valid? [False, False] Translation: X:12.38, Y:0.12, Z:0.90 [[ 0.89981702 -0.09571062 -0.42563929 12.38216544] [ 0.12252127 0.99181304 0.03599218 0.11670697] [ 0.41870977 -0.08453625 0.90417684 0.89913748] [ 0. 0. 0. 1. ]] SLAMing on 37.859649246000004 meters Centerline goodness : 0.927442 Centerline is valid? [False, False] Translation: X:12.38, Y:0.12, Z:0.90 [[ 0.89959121 -0.09574877 -0.42610777 12.38301508] [ 0.12268227 0.9917876 0.03614448 0.11649893] [ 0.41914761 -0.08479113 0.90395008 0.899976 ] [ 0. 0. 0. 1. ]] SLAMing on 37.889649246 meters Centerline goodness : 0.928662 Centerline is valid? [False, False] Translation: X:12.38, Y:0.12, Z:0.90 [[ 0.8994728 -0.09594451 -0.42631365 12.38394357] [ 0.1228358 0.99177514 0.03596433 0.1168861 ] [ 0.4193567 -0.08471552 0.90386019 0.90000346] [ 0. 0. 0. 1. ]] SLAMing on 37.919649246 meters Centerline goodness : 0.928909 Centerline is valid? [False, False] Translation: X:12.39, Y:0.12, Z:0.90 [[ 0.89926115 -0.09651039 -0.4266323 12.38573213] [ 0.12324133 0.99174432 0.03542279 0.11779841] [ 0.41969149 -0.08443307 0.90373121 0.89968446] [ 0. 0. 0. 1. ]] SLAMing on 37.949649246 meters Centerline goodness : 0.930006 Centerline is valid? [False, False] Translation: X:12.39, Y:0.12, Z:0.90 [[ 0.89906658 -0.09709853 -0.42690884 12.38750301] [ 0.12361688 0.99172055 0.0347737 0.11884822] [ 0.4199978 -0.08403701 0.90362582 0.89921621] [ 0. 0. 0. 1. ]] SLAMing on 37.979649246 meters Centerline goodness : 0.928673 Centerline is valid? [False, False] Translation: X:12.39, Y:0.12, Z:0.90 [[ 0.89886795 -0.09728432 -0.42728466 12.38843025] [ 0.12381863 0.99169853 0.03468385 0.11943099] [ 0.42036337 -0.08408201 0.90345163 0.89964808] [ 0. 0. 0. 1. ]] SLAMing on 38.009649246 meters Centerline goodness : 0.928241 Centerline is valid? [False, False] Translation: X:12.39, Y:0.12, Z:0.90 [[ 0.89883566 -0.09724827 -0.42736077 12.38853157] [ 0.12374562 0.99171073 0.03459564 0.12063773] [ 0.4204539 -0.08397982 0.90341901 0.89965519] [ 0. 0. 0. 1. ]] SLAMing on 38.039649246 meters Centerline goodness : 0.927185 Centerline is valid? [False, False] Translation: X:12.39, Y:0.12, Z:0.90 [[ 0.89872733 -0.09722755 -0.42759326 12.38871375] [ 0.12371288 0.99171733 0.03452324 0.12144726] [ 0.42069504 -0.08392577 0.90331177 0.90003128] [ 0. 0. 0. 1. ]] SLAMing on 38.069649246000004 meters Centerline goodness : 0.927638 Centerline is valid? [False, False] Translation: X:12.39, Y:0.12, Z:0.90 [[ 0.89863509 -0.09715134 -0.42780438 12.3889934 ] [ 0.12365578 0.99172406 0.03453472 0.12168165] [ 0.4209088 -0.08393459 0.90321136 0.9002862 ] [ 0. 0. 0. 1. ]] SLAMing on 38.099649246 meters Centerline goodness : 0.924106 Centerline is valid? [False, False] Translation: X:12.39, Y:0.12, Z:0.90 [[ 0.89843313 -0.09718705 -0.42822027 12.38945565] [ 0.12378499 0.99170441 0.0346357 0.12202616] [ 0.42130179 -0.0841251 0.90301039 0.90116915] [ 0. 0. 0. 1. ]] SLAMing on 38.129649246 meters Centerline goodness : 0.924407 Centerline is valid? [False, False] Translation: X:12.39, Y:0.12, Z:0.90 [[ 0.8983943 -0.09706721 -0.42832889 12.38923808] [ 0.12374449 0.99170342 0.03480843 0.12203607] [ 0.42139647 -0.08427503 0.90295223 0.90165427] [ 0. 0. 0. 1. ]] SLAMing on 38.159649246 meters Centerline goodness : 0.924861 Centerline is valid? [False, False] Translation: X:12.39, Y:0.12, Z:0.90 [[ 0.89835574 -0.09696375 -0.42843319 12.38918191] [ 0.12369834 0.99170486 0.03493123 0.12202603] [ 0.42149221 -0.08437714 0.90289801 0.90199011] [ 0. 0. 0. 1. ]] SLAMing on 38.189649246 meters Centerline goodness : 0.922753 Centerline is valid? [False, False] Translation: X:12.39, Y:0.12, Z:0.91 [[ 0.89809843 -0.09217565 -0.43002658 12.39102127] [ 0.12119608 0.99180107 0.04052332 0.1197928 ] [ 0.42276556 -0.08851146 0.90190632 0.90658195] [ 0. 0. 0. 1. ]] SLAMing on 38.219649246 meters Centerline goodness : 0.924129 Centerline is valid? [False, False] Translation: X:12.39, Y:0.12, Z:0.91 [[ 0.89810912 -0.09204308 -0.43003266 12.39087061] [ 0.12112722 0.99180277 0.04068732 0.11919309] [ 0.42276259 -0.08863031 0.90189603 0.9068395 ] [ 0. 0. 0. 1. ]] SLAMing on 38.249649246000004 meters Centerline goodness : 0.922421 Centerline is valid? [False, False] Translation: X:12.39, Y:0.12, Z:0.91 [[ 0.89788834 -0.09243659 -0.43040911 12.39236907] [ 0.12145172 0.99177624 0.04036547 0.11952915] [ 0.42313828 -0.08851762 0.90173091 0.90688567] [ 0. 0. 0. 1. ]] SLAMing on 38.279649246 meters Centerline goodness : 0.924911 Centerline is valid? [False, False] Translation: X:12.39, Y:0.12, Z:0.91 [[ 0.89768469 -0.09266067 -0.43078557 12.39357795] [ 0.12178014 0.99173249 0.04045067 0.11873274] [ 0.42347586 -0.08877307 0.9015473 0.90753943] [ 0. 0. 0. 1. ]] SLAMing on 38.309649246 meters Centerline goodness : 0.925212 Centerline is valid? [False, False] Translation: X:12.39, Y:0.12, Z:0.91 [[ 0.89746695 -0.09280886 -0.43120712 12.39446607] [ 0.12206713 0.99169049 0.04061517 0.11773247] [ 0.42385455 -0.08908699 0.90133835 0.90838488] [ 0. 0. 0. 1. ]] SLAMing on 38.339649246 meters Centerline goodness : 0.924738 Centerline is valid? [False, False] Translation: X:12.40, Y:0.12, Z:0.91 [[ 0.89735529 -0.09289882 -0.43142009 12.39534121] [ 0.12222551 0.99166787 0.04069102 0.11670498] [ 0.42404529 -0.08924484 0.90123302 0.90864971] [ 0. 0. 0. 1. ]] SLAMing on 38.369649246 meters Centerline goodness : 0.923510 Centerline is valid? [False, False] Translation: X:12.40, Y:0.12, Z:0.91 [[ 0.89722119 -0.0933221 -0.43160761 12.39669089] [ 0.12252204 0.99164791 0.04028358 0.11686422] [ 0.42424344 -0.08902472 0.90116153 0.90834003] [ 0. 0. 0. 1. ]] SLAMing on 38.399649246 meters Centerline goodness : 0.919590 Centerline is valid? [False, False] Translation: X:12.40, Y:0.12, Z:0.91 [[ 0.89683113 -0.09425588 -0.43221494 12.39980188] [ 0.12325843 0.99158757 0.03951513 0.11779744] [ 0.42485443 -0.08871254 0.90090443 0.90803386] [ 0. 0. 0. 1. ]] SLAMing on 38.429649246000004 meters Centerline goodness : 0.923048 Centerline is valid? [False, False] Translation: X:12.40, Y:0.12, Z:0.91 [[ 0.89665815 -0.09456886 -0.43250537 12.40123583] [ 0.12348218 0.99157268 0.03918888 0.11792685] [ 0.42515446 -0.08854574 0.90077929 0.90784379] [ 0. 0. 0. 1. ]] SLAMing on 38.459649246 meters Centerline goodness : 0.919700 Centerline is valid? [False, False] Translation: X:12.40, Y:0.12, Z:0.91 [[ 0.8962671 -0.09548421 -0.43311436 12.4039948 ] [ 0.12424375 0.99150384 0.03851782 0.11841345] [ 0.42575671 -0.08833401 0.90051559 0.90787133] [ 0. 0. 0. 1. ]] SLAMing on 38.489649246 meters Centerline goodness : 0.917588 Centerline is valid? [False, False] Translation: X:12.41, Y:0.12, Z:0.91 [[ 0.89590983 -0.09617801 -0.43369962 12.40627338] [ 0.12487168 0.99144155 0.03808832 0.11895083] [ 0.42632456 -0.0882805 0.90025214 0.90812903] [ 0. 0. 0. 1. ]] SLAMing on 38.519649246 meters Centerline goodness : 0.915757 Centerline is valid? [False, False] Translation: X:12.41, Y:0.12, Z:0.91 [[ 0.89574728 -0.09640091 -0.43398581 12.40741662] [ 0.12504537 0.99142807 0.03786871 0.11916275] [ 0.42661513 -0.08818871 0.90012348 0.90813251] [ 0. 0. 0. 1. ]] SLAMing on 38.549649246 meters Centerline goodness : 0.913764 Centerline is valid? [False, False] Translation: X:12.41, Y:0.12, Z:0.91 [[ 0.89556435 -0.09687745 -0.43425714 12.4088552 ] [ 0.12534498 0.99141081 0.03732615 0.12027975] [ 0.42691116 -0.08785992 0.90001528 0.90776829] [ 0. 0. 0. 1. ]] SLAMing on 38.579649246 meters Centerline goodness : 0.915365 Centerline is valid? [False, False] Translation: X:12.41, Y:0.12, Z:0.91 [[ 0.89541135 -0.09732318 -0.43447291 12.4099906 ] [ 0.12555459 0.99140844 0.03667889 0.12186082] [ 0.42717041 -0.08739277 0.89993775 0.90728235] [ 0. 0. 0. 1. ]] SLAMing on 38.609649246000004 meters Centerline goodness : 0.914092 Centerline is valid? [False, False] Translation: X:12.41, Y:0.12, Z:0.91 [[ 0.8953266 -0.09713175 -0.43469035 12.40989605] [ 0.12551774 0.99140124 0.03699837 0.12142681] [ 0.42735884 -0.08768697 0.89981966 0.90805889] [ 0. 0. 0. 1. ]] SLAMing on 38.639649246000005 meters Centerline goodness : 0.916330 Centerline is valid? [False, False] Translation: X:12.41, Y:0.12, Z:0.91 [[ 0.8950821 -0.09690158 -0.43524489 12.40990264] [ 0.12560325 0.99136822 0.03758821 0.12120317] [ 0.4278456 -0.08831271 0.8995271 0.9098562 ] [ 0. 0. 0. 1. ]] SLAMing on 38.669649246 meters Centerline goodness : 0.917749 Centerline is valid? [False, False] Translation: X:12.41, Y:0.12, Z:0.91 [[ 0.89500426 -0.09679322 -0.43542903 12.41002024] [ 0.1255826 0.9913645 0.03775493 0.12196611] [ 0.42801447 -0.08847313 0.899431 0.91030042] [ 0. 0. 0. 1. ]] SLAMing on 38.699649246 meters Centerline goodness : 0.919006 Centerline is valid? [False, False] Translation: X:12.41, Y:0.12, Z:0.91 [[ 0.89503266 -0.09643137 -0.43545096 12.40943536] [ 0.12532429 0.99138593 0.03804936 0.1224408 ] [ 0.4280308 -0.088628 0.89940798 0.91071318] [ 0. 0. 0. 1. ]] SLAMing on 38.729649246 meters Centerline goodness : 0.921139 Centerline is valid? [False, False] Translation: X:12.41, Y:0.12, Z:0.91 [[ 0.89478261 -0.09654907 -0.43593847 12.41023412] [ 0.12552207 0.99135977 0.038079 0.12266652] [ 0.42849537 -0.08879233 0.89917053 0.91153585] [ 0. 0. 0. 1. ]] SLAMing on 38.759649246 meters Centerline goodness : 0.921872 Centerline is valid? [False, False] Translation: X:12.41, Y:0.12, Z:0.91 [[ 0.89478656 -0.09645257 -0.43595173 12.41016494] [ 0.12539386 0.99137783 0.03803127 0.12295899] [ 0.42852467 -0.08869553 0.89916612 0.91163355] [ 0. 0. 0. 1. ]] SLAMing on 38.789649246 meters Centerline goodness : 0.919394 Centerline is valid? [False, False] Translation: X:12.41, Y:0.12, Z:0.91 [[ 0.89481892 -0.09640624 -0.43589555 12.41016466] [ 0.12525263 0.99140241 0.03785551 0.12345397] [ 0.42849839 -0.08847089 0.89920077 0.91135268] [ 0. 0. 0. 1. ]] SLAMing on 38.819649246000004 meters Centerline goodness : 0.921984 Centerline is valid? [False, False] Translation: X:12.41, Y:0.12, Z:0.91 [[ 0.89459757 -0.09670558 -0.43628341 12.41137371] [ 0.12547605 0.99138616 0.03753982 0.12419903] [ 0.42889503 -0.08832615 0.89902589 0.91148522] [ 0. 0. 0. 1. ]] SLAMing on 38.849649246 meters Centerline goodness : 0.923591 Centerline is valid? [False, False] Translation: X:12.41, Y:0.12, Z:0.91 [[ 0.89454905 -0.09686717 -0.43634706 12.41214262] [ 0.1255086 0.99139417 0.03721819 0.12476346] [ 0.42898671 -0.08805881 0.89900837 0.91100517] [ 0. 0. 0. 1. ]] SLAMing on 38.879649246 meters Centerline goodness : 0.918965 Centerline is valid? [False, False] Translation: X:12.41, Y:0.13, Z:0.91 [[ 0.8944861 -0.09718283 -0.4364059 12.41350238] [ 0.12554244 0.99141501 0.03654271 0.12568331] [ 0.42910804 -0.08747441 0.89900752 0.90995427] [ 0. 0. 0. 1. ]] SLAMing on 38.909649246 meters Centerline goodness : 0.919871 Centerline is valid? [False, False] Translation: X:12.41, Y:0.13, Z:0.91 [[ 0.89431166 -0.09757113 -0.43667669 12.41487492] [ 0.12578856 0.99140019 0.03609568 0.12639649] [ 0.42939946 -0.08720972 0.89889408 0.90969581] [ 0. 0. 0. 1. ]] SLAMing on 38.939649246 meters Centerline goodness : 0.920480 Centerline is valid? [False, False] Translation: X:12.42, Y:0.13, Z:0.91 [[ 0.89402592 -0.09826906 -0.43710508 12.41745503] [ 0.12623666 0.99137124 0.0353181 0.12704322] [ 0.42986273 -0.08675398 0.89871674 0.90905972] [ 0. 0. 0. 1. ]] SLAMing on 38.969649246 meters Centerline goodness : 0.921422 Centerline is valid? [False, False] Translation: X:12.42, Y:0.13, Z:0.91 [[ 0.89380252 -0.09877015 -0.43744888 12.41912943] [ 0.12661972 0.99133788 0.0348805 0.12744328] [ 0.43021449 -0.08656593 0.89856654 0.90891554] [ 0. 0. 0. 1. ]] SLAMing on 38.999649246000004 meters Centerline goodness : 0.922929 Centerline is valid? [False, False] Translation: X:12.42, Y:0.13, Z:0.91 [[ 0.89353176 -0.0992669 -0.43788935 12.42105569] [ 0.12696966 0.99131121 0.03436263 0.12811676] [ 0.43067355 -0.08630277 0.89837193 0.90875755] [ 0. 0. 0. 1. ]] SLAMing on 39.029649246 meters Centerline goodness : 0.922365 Centerline is valid? [False, False] Translation: X:12.42, Y:0.13, Z:0.91 [[ 0.89344223 -0.09945152 -0.4380301 12.4214364 ] [ 0.12700436 0.99132007 0.03397658 0.12983539] [ 0.43084901 -0.08598784 0.89831799 0.90859518] [ 0. 0. 0. 1. ]] SLAMing on 39.059649246 meters Centerline goodness : 0.922546 Centerline is valid? [False, False] Translation: X:12.42, Y:0.13, Z:0.91 [[ 0.8934113 -0.09943608 -0.43809669 12.42155464] [ 0.12694106 0.99133198 0.03386561 0.13023344] [ 0.4309318 -0.08586838 0.89828971 0.90850154] [ 0. 0. 0. 1. ]] SLAMing on 39.089649246 meters Centerline goodness : 0.920503 Centerline is valid? [False, False] Translation: X:12.42, Y:0.13, Z:0.91 [[ 0.89328981 -0.09942966 -0.43834581 12.42147028] [ 0.127029 0.99131582 0.0340086 0.13053233] [ 0.43115767 -0.08606217 0.89816277 0.90927412] [ 0. 0. 0. 1. ]] SLAMing on 39.119649246 meters Centerline goodness : 0.922355 Centerline is valid? [False, False] Translation: X:12.42, Y:0.13, Z:0.91 [[ 0.89316684 -0.09943003 -0.43859625 12.42158668] [ 0.1271313 0.99129732 0.03416522 0.13061158] [ 0.43138223 -0.08627455 0.89803456 0.909944 ] [ 0. 0. 0. 1. ]] SLAMing on 39.149649246 meters Centerline goodness : 0.920534 Centerline is valid? [False, False] Translation: X:12.42, Y:0.13, Z:0.91 [[ 0.89320743 -0.09925543 -0.43855313 12.42120676] [ 0.12696522 0.99131628 0.03423247 0.13118498] [ 0.4313471 -0.08625769 0.89805306 0.90996113] [ 0. 0. 0. 1. ]] SLAMing on 39.179649246000004 meters Centerline goodness : 0.921979 Centerline is valid? [False, False] Translation: X:12.42, Y:0.13, Z:0.91 [[ 0.89293754 -0.09911017 -0.43913521 12.42129734] [ 0.1272941 0.99124298 0.03512226 0.13000993] [ 0.43180872 -0.0872613 0.8977342 0.91217976] [ 0. 0. 0. 1. ]] SLAMing on 39.209649246 meters Centerline goodness : 0.925936 Centerline is valid? [False, False] Translation: X:12.42, Y:0.13, Z:0.91 [[ 0.89256368 -0.09901719 -0.43991553 12.42183769] [ 0.12761926 0.99117561 0.03583618 0.1287398 ] [ 0.43248514 -0.08812776 0.89732385 0.91435352] [ 0. 0. 0. 1. ]] SLAMing on 39.239649246 meters Centerline goodness : 0.924226 Centerline is valid? [False, False] Translation: X:12.42, Y:0.13, Z:0.91 [[ 0.89256273 -0.09877032 -0.43997295 12.42177804] [ 0.12750904 0.99117792 0.03616326 0.12787795] [ 0.43251961 -0.08837851 0.89728258 0.91468989] [ 0. 0. 0. 1. ]] SLAMing on 39.269649246 meters Centerline goodness : 0.924226 Centerline is valid? [False, False] Translation: X:12.42, Y:0.13, Z:0.91 [[ 0.89256273 -0.09877032 -0.43997295 12.42177804] [ 0.12750904 0.99117792 0.03616326 0.12787795] [ 0.43251961 -0.08837851 0.89728258 0.91468989] [ 0. 0. 0. 1. ]] SLAMing on 39.299649246 meters Centerline goodness : 0.918836 Centerline is valid? [False, False] Translation: X:12.42, Y:0.13, Z:0.92 [[ 0.89248401 -0.09869975 -0.44014844 12.42225878] [ 0.1275828 0.99115833 0.03643892 0.12737596] [ 0.43266028 -0.08867653 0.89718535 0.91512638] [ 0. 0. 0. 1. ]] SLAMing on 39.329649246 meters Centerline goodness : 0.920392 Centerline is valid? [False, False] Translation: X:12.42, Y:0.13, Z:0.92 [[ 0.89227094 -0.0991196 -0.44048596 12.42378457] [ 0.12799253 0.99111262 0.03624481 0.12759823] [ 0.43297862 -0.0887191 0.89702756 0.91527423] [ 0. 0. 0. 1. ]] SLAMing on 39.359649246000004 meters Centerline goodness : 0.920379 Centerline is valid? [False, False] Translation: X:12.43, Y:0.13, Z:0.92 [[ 0.89203433 -0.09957123 -0.44086316 12.42545676] [ 0.12837457 0.99107535 0.03591121 0.12749271] [ 0.43335289 -0.08862966 0.89685565 0.91530245] [ 0. 0. 0. 1. ]] SLAMing on 39.389649246000005 meters Centerline goodness : 0.925690 Centerline is valid? [False, False] Translation: X:12.43, Y:0.13, Z:0.92 [[ 0.89186917 -0.09978605 -0.44114865 12.42645442] [ 0.12857937 0.99105368 0.03577625 0.1274767 ] [ 0.43363203 -0.08863035 0.89672065 0.91547987] [ 0. 0. 0. 1. ]] SLAMing on 39.419649246 meters Centerline goodness : 0.926366 Centerline is valid? [False, False] Translation: X:12.43, Y:0.13, Z:0.92 [[ 0.89174581 -0.10011633 -0.44132316 12.42752856] [ 0.12880349 0.99103662 0.03544122 0.12784037] [ 0.43381917 -0.08844852 0.89664808 0.91529375] [ 0. 0. 0. 1. ]] SLAMing on 39.449649246 meters Centerline goodness : 0.925601 Centerline is valid? [False, False] Translation: X:12.43, Y:0.13, Z:0.92 [[ 0.89171047 -0.0999939 -0.44142231 12.42744436] [ 0.12876849 0.99103449 0.03562757 0.12777345] [ 0.43390219 -0.08861076 0.89659189 0.91567155] [ 0. 0. 0. 1. ]] SLAMing on 39.479649246 meters Centerline goodness : 0.926721 Centerline is valid? [False, False] Translation: X:12.43, Y:0.13, Z:0.92 [[ 0.89142606 -0.10022812 -0.44194332 12.42845653] [ 0.12935057 0.99093891 0.03617325 0.12579877] [ 0.43431326 -0.0894114 0.89631334 0.91729739] [ 0. 0. 0. 1. ]] SLAMing on 39.509649246 meters Centerline goodness : 0.922981 Centerline is valid? [False, False] Translation: X:12.43, Y:0.13, Z:0.92 [[ 0.89111536 -0.10120955 -0.44234607 12.43122142] [ 0.1302051 0.990848 0.03559313 0.12642613] [ 0.43469536 -0.0893133 0.89613787 0.91704683] [ 0. 0. 0. 1. ]] SLAMing on 39.539649246 meters Centerline goodness : 0.919272 Centerline is valid? [False, False] Translation: X:12.43, Y:0.13, Z:0.92 [[ 0.89086804 -0.10158677 -0.44275757 12.43259493] [ 0.1306167 0.99079778 0.03548285 0.12678703] [ 0.43507863 -0.08944207 0.895939 0.9174891 ] [ 0. 0. 0. 1. ]] SLAMing on 39.569649246000004 meters Centerline goodness : 0.917062 Centerline is valid? [False, False] Translation: X:12.43, Y:0.13, Z:0.92 [[ 0.89047159 -0.10221977 -0.44340892 12.43448946] [ 0.1313852 0.99069677 0.0354661 0.12665627] [ 0.43565845 -0.08983892 0.89561749 0.91859726] [ 0. 0. 0. 1. ]] SLAMing on 39.599649246 meters Centerline goodness : 0.918565 Centerline is valid? [False, False] Translation: X:12.44, Y:0.13, Z:0.92 [[ 0.89016258 -0.10265051 -0.44392956 12.43570191] [ 0.13185648 0.99063901 0.03533016 0.12724528] [ 0.43614728 -0.08998458 0.89536491 0.9193802 ] [ 0. 0. 0. 1. ]] SLAMing on 39.629649246 meters Centerline goodness : 0.923623 Centerline is valid? [False, False] Translation: X:12.44, Y:0.13, Z:0.92 [[ 0.89012227 -0.1027412 -0.44398941 12.43591538] [ 0.13194688 0.99062823 0.0352948 0.12727195] [ 0.43620222 -0.08999971 0.89533663 0.91950085] [ 0. 0. 0. 1. ]] SLAMing on 39.659649246 meters Centerline goodness : 0.919769 Centerline is valid? [False, False] Translation: X:12.44, Y:0.13, Z:0.92 [[ 0.88997029 -0.10297912 -0.44423888 12.43660441] [ 0.13218852 0.99059975 0.03519001 0.12808344] [ 0.43643909 -0.09004134 0.895217 0.91978469] [ 0. 0. 0. 1. ]] SLAMing on 39.689649246 meters Centerline goodness : 0.917132 Centerline is valid? [False, False] Translation: X:12.44, Y:0.13, Z:0.92 [[ 0.89001263 -0.10265548 -0.44422897 12.43580264] [ 0.13201847 0.99060841 0.03558237 0.12861558] [ 0.43640423 -0.09031519 0.89520641 0.92035761] [ 0. 0. 0. 1. ]] SLAMing on 39.719649246 meters Centerline goodness : 0.918147 Centerline is valid? [False, False] Translation: X:12.43, Y:0.13, Z:0.92 [[ 0.88996435 -0.10190916 -0.44449745 12.43402261] [ 0.1317991 0.9905941 0.03677387 0.12807588] [ 0.43656896 -0.09131179 0.89502497 0.92264459] [ 0. 0. 0. 1. ]] SLAMing on 39.749649246000004 meters Centerline goodness : 0.920387 Centerline is valid? [False, False] Translation: X:12.43, Y:0.13, Z:0.92 [[ 0.88994875 -0.10171547 -0.44457303 12.43351564] [ 0.13167742 0.99060378 0.03694875 0.12825615] [ 0.43663746 -0.09142273 0.89498023 0.92308553] [ 0. 0. 0. 1. ]] SLAMing on 39.779649246 meters Centerline goodness : 0.922890 Centerline is valid? [False, False] Translation: X:12.43, Y:0.13, Z:0.92 [[ 0.88997742 -0.10186623 -0.44448112 12.43330464] [ 0.13175167 0.99060025 0.03677839 0.12913593] [ 0.43655663 -0.09129307 0.8950329 0.92297921] [ 0. 0. 0. 1. ]] SLAMing on 39.809649246 meters Centerline goodness : 0.925913 Centerline is valid? [False, False] Translation: X:12.43, Y:0.13, Z:0.92 [[ 0.8897374 -0.10215924 -0.4448942 12.43401936] [ 0.13208575 0.99055872 0.03669841 0.12987767] [ 0.43694474 -0.09141613 0.89483092 0.92371465] [ 0. 0. 0. 1. ]] SLAMing on 39.839649246 meters Centerline goodness : 0.923139 Centerline is valid? [False, False] Translation: X:12.44, Y:0.13, Z:0.92 [[ 0.88966009 -0.10282613 -0.44489516 12.43593575] [ 0.13232022 0.99056543 0.03565787 0.13223134] [ 0.43703121 -0.09059201 0.89487251 0.92209927] [ 0. 0. 0. 1. ]] SLAMing on 39.869649246 meters Centerline goodness : 0.922205 Centerline is valid? [False, False] Translation: X:12.44, Y:0.13, Z:0.92 [[ 0.88945536 -0.10353046 -0.4451411 12.43781415] [ 0.13277607 0.9905304 0.03492897 0.13385105] [ 0.43730958 -0.09017184 0.89477895 0.92147761] [ 0. 0. 0. 1. ]] SLAMing on 39.899649246 meters Centerline goodness : 0.919030 Centerline is valid? [False, False] Translation: X:12.44, Y:0.13, Z:0.92 [[ 0.88919503 -0.10405782 -0.44553807 12.43979827] [ 0.13312786 0.99050322 0.03435627 0.1341647 ] [ 0.43773185 -0.08986296 0.89460353 0.92118859] [ 0. 0. 0. 1. ]] SLAMing on 39.929649246000004 meters Centerline goodness : 0.919588 Centerline is valid? [False, False] Translation: X:12.44, Y:0.13, Z:0.92 [[ 0.88910702 -0.10408719 -0.44570681 12.44040495] [ 0.13318133 0.9904959 0.03436006 0.13367 ] [ 0.43789432 -0.0899096 0.89451933 0.9213345 ] [ 0. 0. 0. 1. ]] SLAMing on 39.959649246 meters Centerline goodness : 0.922504 Centerline is valid? [False, False] Translation: X:12.44, Y:0.13, Z:0.92 [[ 0.88890979 -0.10456387 -0.44598855 12.44191493] [ 0.13359106 0.9904515 0.03404787 0.13400276] [ 0.43816985 -0.08984557 0.89439083 0.92132975] [ 0. 0. 0. 1. ]] SLAMing on 39.989649246 meters Centerline goodness : 0.921086 Centerline is valid? [False, False] Translation: X:12.44, Y:0.13, Z:0.92 [[ 0.88872743 -0.10495645 -0.44625968 12.44320501] [ 0.13391677 0.99041744 0.03375793 0.13477095] [ 0.43844026 -0.08976325 0.89426657 0.92130487] [ 0. 0. 0. 1. ]] SLAMing on 40.019649246 meters Centerline goodness : 0.919252 Centerline is valid? [False, False] Translation: X:12.44, Y:0.14, Z:0.92 [[ 0.8886141 -0.10511244 -0.4464486 12.4440124 ] [ 0.13409662 0.99039416 0.03372705 0.13524888] [ 0.43861495 -0.08983758 0.89417344 0.92145068] [ 0. 0. 0. 1. ]] SLAMing on 40.049649246 meters Centerline goodness : 0.919966 Centerline is valid? [False, False] Translation: X:12.44, Y:0.13, Z:0.92 [[ 0.88845926 -0.10511246 -0.44675665 12.44419163] [ 0.134242 0.99036675 0.03395284 0.13488466] [ 0.43888407 -0.09013922 0.89401102 0.92236356] [ 0. 0. 0. 1. ]] SLAMing on 40.079649246 meters Centerline goodness : 0.919398 Centerline is valid? [False, False] Translation: X:12.44, Y:0.13, Z:0.92 [[ 0.88831374 -0.10480171 -0.4471189 12.44374156] [ 0.13430488 0.99033222 0.03470296 0.13418641] [ 0.43915932 -0.09087737 0.8938011 0.92406938] [ 0. 0. 0. 1. ]] SLAMing on 40.109649246000004 meters Centerline goodness : 0.920457 Centerline is valid? [False, False] Translation: X:12.44, Y:0.13, Z:0.92 [[ 0.88821048 -0.10487105 -0.44730774 12.44411528] [ 0.13445728 0.99030771 0.03481219 0.13452281] [ 0.43932151 -0.09106433 0.89370235 0.92452654] [ 0. 0. 0. 1. ]] SLAMing on 40.139649246000005 meters Centerline goodness : 0.922993 Centerline is valid? [False, False] Translation: X:12.44, Y:0.14, Z:0.93 [[ 0.88799604 -0.10495474 -0.44771367 12.44437941] [ 0.13469953 0.99026742 0.03502102 0.13509349] [ 0.43968064 -0.09140535 0.8934909 0.92566841] [ 0. 0. 0. 1. ]] SLAMing on 40.169649246 meters Centerline goodness : 0.924053 Centerline is valid? [False, False] Translation: X:12.44, Y:0.14, Z:0.93 [[ 0.88795495 -0.10487377 -0.44781413 12.44393758] [ 0.13470452 0.99026071 0.03519132 0.13530869] [ 0.43976209 -0.09157089 0.89343387 0.92628399] [ 0. 0. 0. 1. ]] SLAMing on 40.199649246 meters Centerline goodness : 0.923264 Centerline is valid? [False, False] Translation: X:12.44, Y:0.14, Z:0.93 [[ 0.88798471 -0.10484402 -0.44776208 12.44345447] [ 0.13466719 0.99026565 0.03519496 0.13629608] [ 0.43971343 -0.09155145 0.89345981 0.92639477] [ 0. 0. 0. 1. ]] SLAMing on 40.229649246 meters Centerline goodness : 0.922828 Centerline is valid? [False, False] Translation: X:12.44, Y:0.14, Z:0.93 [[ 0.88788887 -0.10497674 -0.44792102 12.4438394 ] [ 0.13484946 0.99023969 0.03522765 0.13696625] [ 0.43985109 -0.09168014 0.89337885 0.92672135] [ 0. 0. 0. 1. ]] SLAMing on 40.259649246 meters Centerline goodness : 0.916765 Centerline is valid? [False, False] Translation: X:12.44, Y:0.14, Z:0.93 [[ 0.88784087 -0.10519826 -0.44796419 12.44432058] [ 0.13493698 0.99023959 0.0348936 0.13858438] [ 0.43992113 -0.0914269 0.89337032 0.92638817] [ 0. 0. 0. 1. ]] SLAMing on 40.289649246 meters Centerline goodness : 0.921152 Centerline is valid? [False, False] Translation: X:12.45, Y:0.14, Z:0.93 [[ 0.88770955 -0.10567626 -0.44811191 12.44536218] [ 0.13527968 0.99020757 0.03447271 0.13947367] [ 0.44008086 -0.09122219 0.89331257 0.92617374] [ 0. 0. 0. 1. ]] SLAMing on 40.319649246000004 meters Centerline goodness : 0.920305 Centerline is valid? [False, False] Translation: X:12.45, Y:0.14, Z:0.93 [[ 0.88749437 -0.10623295 -0.44840641 12.44671402] [ 0.13574893 0.99015637 0.03409671 0.13990372] [ 0.44037027 -0.09113133 0.89317921 0.92628792] [ 0. 0. 0. 1. ]] SLAMing on 40.349649246 meters Centerline goodness : 0.920373 Centerline is valid? [False, False] Translation: X:12.45, Y:0.14, Z:0.93 [[ 0.88728752 -0.10676947 -0.44868824 12.44823339] [ 0.1362149 0.99010382 0.03376268 0.14018793] [ 0.44064312 -0.09107523 0.89305036 0.92633964] [ 0. 0. 0. 1. ]] SLAMing on 40.379649246 meters Centerline goodness : 0.921622 Centerline is valid? [False, False] Translation: X:12.45, Y:0.14, Z:0.93 [[ 0.88686299 -0.10816923 -0.44919201 12.45214971] [ 0.13731114 0.98998796 0.03270302 0.1409536 ] [ 0.44115722 -0.09068217 0.89283652 0.92567685] [ 0. 0. 0. 1. ]] SLAMing on 40.409649246 meters Centerline goodness : 0.920140 Centerline is valid? [False, False] Translation: X:12.46, Y:0.14, Z:0.93 [[ 0.89183878 -0.09833068 -0.44153672 12.45592711] [ 0.12965491 0.99070063 0.04125365 0.13509142] [ 0.4333742 -0.09403901 0.8962943 0.92808189] [ 0. 0. 0. 1. ]] SLAMing on 40.439649246 meters Centerline goodness : 0.915310 Centerline is valid? [False, False] Translation: X:12.46, Y:0.13, Z:0.93 [[ 0.89146968 -0.09923312 -0.44207985 12.45883336] [ 0.13057392 0.99059253 0.04094986 0.13418538] [ 0.43385742 -0.09422966 0.89604046 0.92843432] [ 0. 0. 0. 1. ]] SLAMing on 40.469649246 meters Centerline goodness : 0.917345 Centerline is valid? [False, False] Translation: X:12.46, Y:0.13, Z:0.93 [[ 0.89115036 -0.09950272 -0.44266267 12.46017069] [ 0.13099437 0.99053253 0.04105836 0.1332595 ] [ 0.43438635 -0.0945755 0.89574772 0.92950842] [ 0. 0. 0. 1. ]] SLAMing on 40.499649246000004 meters Centerline goodness : 0.920158 Centerline is valid? [False, False] Translation: X:12.47, Y:0.13, Z:0.93 [[ 0.89507477 -0.09090052 -0.43655269 12.46501594] [ 0.12358407 0.99122083 0.04699202 0.12851594] [ 0.42844852 -0.09601233 0.89845061 0.93495674] [ 0. 0. 0. 1. ]] SLAMing on 40.529649246 meters Centerline goodness : 0.920385 Centerline is valid? [False, False] Translation: X:12.47, Y:0.13, Z:0.93 [[ 0.89506916 -0.09130593 -0.43647959 12.46517438] [ 0.12376783 0.99122326 0.04645395 0.13026477] [ 0.4284072 -0.09560163 0.89851411 0.93451255] [ 0. 0. 0. 1. ]] SLAMing on 40.559649246 meters Centerline goodness : 0.923181 Centerline is valid? [False, False] Translation: X:12.47, Y:0.13, Z:0.93 [[ 0.89495723 -0.09164547 -0.4366379 12.46588667] [ 0.12398162 0.99121425 0.04607469 0.13088539] [ 0.42857917 -0.09536996 0.89845671 0.93437297] [ 0. 0. 0. 1. ]] SLAMing on 40.589649246 meters Centerline goodness : 0.924480 Centerline is valid? [False, False] Translation: X:12.47, Y:0.13, Z:0.93 [[ 0.89482011 -0.09233551 -0.43677355 12.46734481] [ 0.12435259 0.99120727 0.04521695 0.13219164] [ 0.42875799 -0.09477496 0.89843436 0.93362471] [ 0. 0. 0. 1. ]] SLAMing on 40.619649246 meters Centerline goodness : 0.924302 Centerline is valid? [False, False] Translation: X:12.47, Y:0.13, Z:0.93 [[ 0.89464485 -0.09290905 -0.43701087 12.46843635] [ 0.12472154 0.99118883 0.04460088 0.13360672] [ 0.42901647 -0.09440662 0.89834974 0.93340104] [ 0. 0. 0. 1. ]] SLAMing on 40.649649246 meters Centerline goodness : 0.921612 Centerline is valid? [False, False] Translation: X:12.47, Y:0.13, Z:0.93 [[ 0.89461054 -0.09316431 -0.43702676 12.46873017] [ 0.12476967 0.99120494 0.04410562 0.13479248] [ 0.42907401 -0.09398504 0.89836647 0.93299047] [ 0. 0. 0. 1. ]] SLAMing on 40.679649246000004 meters Centerline goodness : 0.924024 Centerline is valid? [False, False] Translation: X:12.47, Y:0.14, Z:0.93 [[ 0.89443008 -0.09342828 -0.43733967 12.46948178] [ 0.12496606 0.99119248 0.04382862 0.13519792] [ 0.42939296 -0.09385425 0.89822774 0.93325524] [ 0. 0. 0. 1. ]] SLAMing on 40.709649246 meters Centerline goodness : 0.926550 Centerline is valid? [False, False] Translation: X:12.47, Y:0.14, Z:0.93 [[ 0.89442475 -0.09359229 -0.4373155 12.46975285] [ 0.12495726 0.99121088 0.04343586 0.13646154] [ 0.42940662 -0.09349585 0.89825858 0.93277803] [ 0. 0. 0. 1. ]] SLAMing on 40.739649246 meters Centerline goodness : 0.924261 Centerline is valid? [False, False] Translation: X:12.47, Y:0.14, Z:0.93 [[ 0.89440376 -0.09396252 -0.43727904 12.4704076 ] [ 0.12514053 0.99120808 0.04296971 0.13750309] [ 0.42939697 -0.0931536 0.89829875 0.93220226] [ 0. 0. 0. 1. ]] SLAMing on 40.769649246 meters Centerline goodness : 0.928049 Centerline is valid? [False, False] Translation: X:12.47, Y:0.14, Z:0.93 [[ 0.89431415 -0.09439858 -0.4373684 12.47105694] [ 0.12538392 0.99119986 0.04244651 0.13900873] [ 0.42951261 -0.09279948 0.89828012 0.9318842 ] [ 0. 0. 0. 1. ]] SLAMing on 40.799649246 meters Centerline goodness : 0.928394 Centerline is valid? [False, False] Translation: X:12.47, Y:0.14, Z:0.93 [[ 0.89421771 -0.0948464 -0.43746868 12.47227211] [ 0.12566765 0.99118389 0.0419779 0.13998692] [ 0.42963046 -0.09251305 0.89825331 0.9313689 ] [ 0. 0. 0. 1. ]] SLAMing on 40.829649246 meters Centerline goodness : 0.926814 Centerline is valid? [False, False] Translation: X:12.47, Y:0.14, Z:0.93 [[ 0.89390438 -0.09581227 -0.43789835 12.47470673] [ 0.12631835 0.99114219 0.04099797 0.14185511] [ 0.43009142 -0.09196287 0.89808919 0.93081768] [ 0. 0. 0. 1. ]] SLAMing on 40.859649246000004 meters Centerline goodness : 0.930073 Centerline is valid? [False, False] Translation: X:12.48, Y:0.14, Z:0.93 [[ 0.89380342 -0.09614332 -0.43803185 12.47560274] [ 0.12655736 0.99112402 0.04069896 0.14245756] [ 0.43023096 -0.09181303 0.89803769 0.93068928] [ 0. 0. 0. 1. ]] SLAMing on 40.889649246000005 meters Centerline goodness : 0.932066 Centerline is valid? [False, False] Translation: X:12.48, Y:0.14, Z:0.93 [[ 0.89374307 -0.09624802 -0.43813199 12.47622478] [ 0.12659685 0.9911265 0.04051541 0.14258277] [ 0.43034469 -0.0916765 0.89799714 0.93058953] [ 0. 0. 0. 1. ]] SLAMing on 40.919649246 meters Centerline goodness : 0.931041 Centerline is valid? [False, False] Translation: X:12.48, Y:0.14, Z:0.93 [[ 0.89364276 -0.09660335 -0.43825838 12.47719348] [ 0.12687644 0.99110169 0.04024674 0.14275826] [ 0.43047065 -0.09157087 0.89794754 0.93048752] [ 0. 0. 0. 1. ]] SLAMing on 40.949649246 meters Centerline goodness : 0.931047 Centerline is valid? [False, False] Translation: X:12.48, Y:0.14, Z:0.93 [[ 0.89344207 -0.09692005 -0.4385975 12.47864735] [ 0.12724082 0.99105712 0.04019403 0.14229551] [ 0.43077957 -0.09171854 0.89778431 0.93082156] [ 0. 0. 0. 1. ]] SLAMing on 40.979649246 meters Centerline goodness : 0.936124 Centerline is valid? [False, False] Translation: X:12.48, Y:0.14, Z:0.93 [[ 0.89327344 -0.09733827 -0.43884829 12.47986035] [ 0.12762728 0.99101635 0.03997336 0.14220416] [ 0.43101489 -0.09171615 0.89767161 0.9309789 ] [ 0. 0. 0. 1. ]] SLAMing on 41.009649246 meters Centerline goodness : 0.934542 Centerline is valid? [False, False] Translation: X:12.48, Y:0.14, Z:0.93 [[ 0.89314176 -0.09751342 -0.43907736 12.48055 ] [ 0.12781619 0.99099464 0.039908 0.14199803] [ 0.43123174 -0.0917647 0.89756249 0.93126449] [ 0. 0. 0. 1. ]] SLAMing on 41.039649246 meters Centerline goodness : 0.934492 Centerline is valid? [False, False] Translation: X:12.48, Y:0.14, Z:0.93 [[ 0.89284645 -0.09804565 -0.43955918 12.48241653] [ 0.1284203 0.99091999 0.03982221 0.14166831] [ 0.43166358 -0.09200344 0.89733044 0.93191203] [ 0. 0. 0. 1. ]] SLAMing on 41.069649246000004 meters Centerline goodness : 0.934449 Centerline is valid? [False, False] Translation: X:12.48, Y:0.14, Z:0.93 [[ 0.89275411 -0.09833675 -0.43968169 12.48349423] [ 0.1286107 0.99090749 0.03951745 0.14162243] [ 0.43179786 -0.09182714 0.89728389 0.93164557] [ 0. 0. 0. 1. ]] SLAMing on 41.099649246 meters Centerline goodness : 0.936406 Centerline is valid? [False, False] Translation: X:12.48, Y:0.14, Z:0.93 [[ 0.89256002 -0.09877211 -0.43997804 12.48474633] [ 0.12897851 0.99087199 0.03920775 0.14205836] [ 0.43208929 -0.09174298 0.8971522 0.93176579] [ 0. 0. 0. 1. ]] SLAMing on 41.129649246 meters Centerline goodness : 0.933253 Centerline is valid? [False, False] Translation: X:12.49, Y:0.14, Z:0.93 [[ 0.8924018 -0.09920117 -0.44020241 12.48608839] [ 0.12932281 0.99083999 0.03888079 0.14247183] [ 0.43231313 -0.0916255 0.89705637 0.93166953] [ 0. 0. 0. 1. ]] SLAMing on 41.159649246 meters Centerline goodness : 0.936530 Centerline is valid? [False, False] Translation: X:12.49, Y:0.14, Z:0.93 [[ 0.89218646 -0.09971843 -0.44052191 12.48764824] [ 0.12975862 0.99079718 0.03851828 0.14299609] [ 0.43262689 -0.091527 0.89691515 0.93168698] [ 0. 0. 0. 1. ]] SLAMing on 41.189649246 meters Centerline goodness : 0.939140 Centerline is valid? [False, False] Translation: X:12.49, Y:0.14, Z:0.93 [[ 0.89169383 -0.10117283 -0.44118723 12.49114306] [ 0.13123153 0.99062063 0.03806649 0.14232105] [ 0.43319788 -0.09184133 0.89660737 0.93244367] [ 0. 0. 0. 1. ]] SLAMing on 41.219649246 meters Centerline goodness : 0.939140 Centerline is valid? [False, False] Translation: X:12.49, Y:0.14, Z:0.93 [[ 0.89169383 -0.10117283 -0.44118723 12.49114306] [ 0.13123153 0.99062063 0.03806649 0.14232105] [ 0.43319788 -0.09184133 0.89660737 0.93244367] [ 0. 0. 0. 1. ]] SLAMing on 41.249649246000004 meters Centerline goodness : 0.939087 Centerline is valid? [False, False] Translation: X:12.49, Y:0.14, Z:0.93 [[ 0.89148169 -0.10181325 -0.44146853 12.49298864] [ 0.13173458 0.99057285 0.03756899 0.14289811] [ 0.43348172 -0.09164874 0.89648988 0.93216868] [ 0. 0. 0. 1. ]] SLAMing on 41.279649246 meters Centerline goodness : 0.937481 Centerline is valid? [False, False] Translation: X:12.50, Y:0.14, Z:0.93 [[ 0.89114473 -0.10270599 -0.44194179 12.49552022] [ 0.13259584 0.99047233 0.03718734 0.14278535] [ 0.43391176 -0.09173894 0.89627259 0.93245334] [ 0. 0. 0. 1. ]] SLAMing on 41.309649246 meters Centerline goodness : 0.936919 Centerline is valid? [False, False] Translation: X:12.50, Y:0.14, Z:0.93 [[ 0.89100634 -0.10303481 -0.44214424 12.49659049] [ 0.13286123 0.99044628 0.03693309 0.14297831] [ 0.43411473 -0.09165144 0.89618325 0.93246157] [ 0. 0. 0. 1. ]] SLAMing on 41.339649246 meters Centerline goodness : 0.933915 Centerline is valid? [False, False] Translation: X:12.50, Y:0.14, Z:0.93 [[ 0.89098341 -0.10307419 -0.44218126 12.49685075] [ 0.13286772 0.9904486 0.03684744 0.14361041] [ 0.43415979 -0.09158208 0.89616851 0.93234884] [ 0. 0. 0. 1. ]] SLAMing on 41.369649246 meters Centerline goodness : 0.937336 Centerline is valid? [False, False] Translation: X:12.50, Y:0.14, Z:0.93 [[ 0.89090511 -0.10327919 -0.44229119 12.49761875] [ 0.1330046 0.99043816 0.03663384 0.14409246] [ 0.43427856 -0.09146403 0.89612302 0.93218037] [ 0. 0. 0. 1. ]] SLAMing on 41.399649246 meters Centerline goodness : 0.936427 Centerline is valid? [False, False] Translation: X:12.50, Y:0.15, Z:0.93 [[ 0.89066528 -0.1039296 -0.44262173 12.499606 ] [ 0.13340324 0.99041187 0.03588735 0.14509148] [ 0.43464806 -0.09101079 0.89599001 0.93166668] [ 0. 0. 0. 1. ]] SLAMing on 41.429649246000004 meters Centerline goodness : 0.939702 Centerline is valid? [False, False] Translation: X:12.50, Y:0.15, Z:0.93 [[ 0.89050502 -0.10445357 -0.4428208 12.50100357] [ 0.13371554 0.99039144 0.03528387 0.14631806] [ 0.4348804 -0.09063249 0.89591562 0.93116622] [ 0. 0. 0. 1. ]] SLAMing on 41.459649246 meters Centerline goodness : 0.937304 Centerline is valid? [False, False] Translation: X:12.50, Y:0.15, Z:0.93 [[ 0.89050719 -0.10436093 -0.44283828 12.50111203] [ 0.13345152 0.99043895 0.03494821 0.14808465] [ 0.43495705 -0.09021908 0.89592013 0.93064997] [ 0. 0. 0. 1. ]] SLAMing on 41.489649246 meters Centerline goodness : 0.936363 Centerline is valid? [False, False] Translation: X:12.50, Y:0.15, Z:0.93 [[ 0.89053831 -0.10388083 -0.44288857 12.50004059] [ 0.13304727 0.99048428 0.0352038 0.14826747] [ 0.43501717 -0.09027545 0.89588527 0.93113522] [ 0. 0. 0. 1. ]] SLAMing on 41.519649246 meters Centerline goodness : 0.936653 Centerline is valid? [False, False] Translation: X:12.50, Y:0.15, Z:0.93 [[ 0.8907425 -0.10279048 -0.44273233 12.49772495] [ 0.13213442 0.99058303 0.03585743 0.14891242] [ 0.43487733 -0.09043991 0.89593657 0.93172253] [ 0. 0. 0. 1. ]] SLAMing on 41.549649246 meters Centerline goodness : 0.938311 Centerline is valid? [False, False] Translation: X:12.50, Y:0.15, Z:0.93 [[ 0.89093493 -0.1024637 -0.44242077 12.49690404] [ 0.13156822 0.99067086 0.03551126 0.15121922] [ 0.43465475 -0.08984674 0.89610424 0.93065068] [ 0. 0. 0. 1. ]] SLAMing on 41.579649246 meters Centerline goodness : 0.934941 Centerline is valid? [False, False] Translation: X:12.50, Y:0.15, Z:0.93 [[ 0.89097315 -0.10237961 -0.44236328 12.49684271] [ 0.13131321 0.99071611 0.03519147 0.15242363] [ 0.43465353 -0.0894428 0.89614524 0.93007643] [ 0. 0. 0. 1. ]] SLAMing on 41.609649246000004 meters Centerline goodness : 0.934068 Centerline is valid? [False, False] Translation: X:12.50, Y:0.15, Z:0.93 [[ 0.89103326 -0.09768846 -0.44330204 12.49816787] [ 0.12807837 0.99099476 0.03905538 0.15317997] [ 0.43549474 -0.09157704 0.89552106 0.93123419] [ 0. 0. 0. 1. ]] SLAMing on 41.639649246000005 meters Centerline goodness : 0.932051 Centerline is valid? [False, False] Translation: X:12.50, Y:0.15, Z:0.93 [[ 0.89107422 -0.09751479 -0.44325794 12.49798525] [ 0.12786979 0.99102253 0.03903398 0.15355372] [ 0.43547221 -0.09146148 0.89554383 0.93104314] [ 0. 0. 0. 1. ]] SLAMing on 41.669649246 meters Centerline goodness : 0.934679 Centerline is valid? [False, False] Translation: X:12.50, Y:0.15, Z:0.93 [[ 0.89101761 -0.09755155 -0.44336363 12.49862157] [ 0.12783391 0.99103434 0.03885147 0.15348622] [ 0.43559856 -0.09129425 0.89549944 0.93081151] [ 0. 0. 0. 1. ]] SLAMing on 41.699649246 meters Centerline goodness : 0.934233 Centerline is valid? [False, False] Translation: X:12.50, Y:0.15, Z:0.93 [[ 0.89087713 -0.09794203 -0.4435598 12.49991396] [ 0.12811507 0.9910121 0.03849097 0.15366504] [ 0.43580324 -0.09111742 0.89541786 0.93054939] [ 0. 0. 0. 1. ]] SLAMing on 41.729649246 meters Centerline goodness : 0.932669 Centerline is valid? [False, False] Translation: X:12.50, Y:0.15, Z:0.93 [[ 0.8905638 -0.09899494 -0.44395508 12.50281239] [ 0.12901483 0.99092039 0.03784128 0.15394676] [ 0.43617805 -0.09097686 0.89524964 0.93027087] [ 0. 0. 0. 1. ]] SLAMing on 41.759649246 meters Centerline goodness : 0.928528 Centerline is valid? [False, False] Translation: X:12.51, Y:0.15, Z:0.93 [[ 0.89021882 -0.09976645 -0.44447396 12.50515677] [ 0.1297138 0.99084613 0.03739356 0.15433119] [ 0.43667468 -0.09094286 0.89501096 0.93045955] [ 0. 0. 0. 1. ]] SLAMing on 41.789649246 meters Centerline goodness : 0.929479 Centerline is valid? [False, False] Translation: X:12.51, Y:0.15, Z:0.93 [[ 0.89001065 -0.10008696 -0.44481866 12.50662263] [ 0.1300816 0.99080007 0.0373362 0.15348902] [ 0.4369895 -0.09109234 0.89484209 0.9307798 ] [ 0. 0. 0. 1. ]] SLAMing on 41.819649246000004 meters Centerline goodness : 0.934217 Centerline is valid? [False, False] Translation: X:12.51, Y:0.15, Z:0.93 [[ 0.88964732 -0.10067124 -0.44541323 12.50897902] [ 0.13081965 0.99070136 0.03737703 0.15161119] [ 0.4375087 -0.09152118 0.89454459 0.93162649] [ 0. 0. 0. 1. ]] SLAMing on 41.849649246 meters Centerline goodness : 0.929180 Centerline is valid? [False, False] Translation: X:12.51, Y:0.15, Z:0.93 [[ 0.8894131 -0.10102445 -0.44580085 12.51066198] [ 0.13125823 0.99064327 0.03737902 0.15075045] [ 0.43785341 -0.09176043 0.89435139 0.93200964] [ 0. 0. 0. 1. ]] SLAMing on 41.879649246 meters Centerline goodness : 0.926892 Centerline is valid? [False, False] Translation: X:12.51, Y:0.15, Z:0.93 [[ 0.88884842 -0.10201663 -0.44670023 12.51423004] [ 0.1323814 0.99050036 0.037205 0.14874602] [ 0.43866121 -0.09220441 0.89390978 0.93312194] [ 0. 0. 0. 1. ]] SLAMing on 41.909649246 meters Centerline goodness : 0.925530 Centerline is valid? [False, False] Translation: X:12.52, Y:0.15, Z:0.93 [[ 0.88873407 -0.10205717 -0.44691843 12.51500261] [ 0.13248909 0.99048309 0.03728121 0.14782501] [ 0.43886034 -0.0923449 0.89379753 0.93337537] [ 0. 0. 0. 1. ]] SLAMing on 41.939649246 meters Centerline goodness : 0.929919 Centerline is valid? [False, False] Translation: X:12.52, Y:0.15, Z:0.93 [[ 0.88844681 -0.10250896 -0.44738593 12.51686477] [ 0.13296028 0.99042654 0.03710564 0.14780558] [ 0.43929924 -0.09245095 0.89357093 0.9337499 ] [ 0. 0. 0. 1. ]] SLAMing on 41.969649246 meters Centerline goodness : 0.929378 Centerline is valid? [False, False] Translation: X:12.52, Y:0.15, Z:0.93 [[ 0.88838562 -0.10282205 -0.4474356 12.51780414] [ 0.13312216 0.99041942 0.03671334 0.14829104] [ 0.43937397 -0.09217919 0.89356226 0.93323314] [ 0. 0. 0. 1. ]] SLAMing on 41.999649246000004 meters Centerline goodness : 0.928529 Centerline is valid? [False, False] Translation: X:12.52, Y:0.15, Z:0.93 [[ 0.88827464 -0.10320893 -0.44756685 12.51883778] [ 0.13331328 0.99041281 0.03619428 0.14946117] [ 0.43954037 -0.09181707 0.89351771 0.93272878] [ 0. 0. 0. 1. ]] SLAMing on 42.029649246 meters Centerline goodness : 0.927960 Centerline is valid? [False, False] Translation: X:12.52, Y:0.15, Z:0.93 [[ 0.88815446 -0.10353511 -0.44772999 12.51959068] [ 0.13356548 0.99038847 0.03592969 0.14989787] [ 0.43970664 -0.09171239 0.89344665 0.93272348] [ 0. 0. 0. 1. ]] SLAMing on 42.059649246 meters Centerline goodness : 0.929819 Centerline is valid? [False, False] Translation: X:12.52, Y:0.15, Z:0.93 [[ 0.88796082 -0.10395509 -0.44801664 12.52070772] [ 0.13398038 0.99033877 0.03575442 0.14978139] [ 0.4399714 -0.09177396 0.89330997 0.93304735] [ 0. 0. 0. 1. ]] SLAMing on 42.089649246 meters Centerline goodness : 0.928176 Centerline is valid? [False, False] Translation: X:12.52, Y:0.15, Z:0.93 [[ 0.8878075 -0.1042377 -0.44825477 12.5215654 ] [ 0.1342534 0.99030688 0.03561337 0.149926 ] [ 0.44019753 -0.09179754 0.89319614 0.93326678] [ 0. 0. 0. 1. ]] SLAMing on 42.119649246 meters Centerline goodness : 0.926332 Centerline is valid? [False, False] Translation: X:12.52, Y:0.15, Z:0.93 [[ 0.88780919 -0.10419759 -0.44826076 12.52150739] [ 0.13425466 0.9903034 0.03570531 0.15015501] [ 0.44019374 -0.0918806 0.89318947 0.93341886] [ 0. 0. 0. 1. ]] SLAMing on 42.149649246 meters Centerline goodness : 0.927140 Centerline is valid? [False, False] Translation: X:12.52, Y:0.15, Z:0.93 [[ 0.88764096 -0.10434609 -0.44855926 12.52218822] [ 0.134447 0.99027786 0.03568991 0.15041421] [ 0.4404742 -0.09198727 0.89304021 0.93387252] [ 0. 0. 0. 1. ]] SLAMing on 42.179649246000004 meters Centerline goodness : 0.926716 Centerline is valid? [False, False] Translation: X:12.52, Y:0.15, Z:0.93 [[ 0.88759109 -0.10418342 -0.44869574 12.52197936] [ 0.13435105 0.99028577 0.03583149 0.15027398] [ 0.44060396 -0.09208645 0.89296598 0.93432165] [ 0. 0. 0. 1. ]] SLAMing on 42.209649246000005 meters Centerline goodness : 0.925130 Centerline is valid? [False, False] Translation: X:12.52, Y:0.15, Z:0.93 [[ 0.88738246 -0.10457856 -0.44901635 12.523157 ] [ 0.1346832 0.99025128 0.03553647 0.15069886] [ 0.44092267 -0.0920094 0.8928166 0.93448783] [ 0. 0. 0. 1. ]] SLAMing on 42.239649246 meters Centerline goodness : 0.926576 Centerline is valid? [False, False] Translation: X:12.52, Y:0.15, Z:0.93 [[ 0.88730724 -0.10468885 -0.4491393 12.52358811] [ 0.13476398 0.99024438 0.03542223 0.15077438] [ 0.44104935 -0.0919582 0.89275929 0.93452761] [ 0. 0. 0. 1. ]] SLAMing on 42.269649246 meters Centerline goodness : 0.928049 Centerline is valid? [False, False] Translation: X:12.52, Y:0.15, Z:0.94 [[ 0.88691801 -0.10497271 -0.44984128 12.52490142] [ 0.1352916 0.99016301 0.03568471 0.14976141] [ 0.44167027 -0.09250916 0.89239533 0.93612083] [ 0. 0. 0. 1. ]] SLAMing on 42.299649246 meters Centerline goodness : 0.928134 Centerline is valid? [False, False] Translation: X:12.53, Y:0.15, Z:0.94 [[ 0.88677345 -0.10496863 -0.45012713 12.52539787] [ 0.13545262 0.99013132 0.0359522 0.14871783] [ 0.44191111 -0.09285236 0.89224044 0.93685513] [ 0. 0. 0. 1. ]] SLAMing on 42.329649246 meters Centerline goodness : 0.924690 Centerline is valid? [False, False] Translation: X:12.53, Y:0.15, Z:0.94 [[ 0.88639107 -0.10579386 -0.45068674 12.52761869] [ 0.13629309 0.99002664 0.03565723 0.14906649] [ 0.44241956 -0.09303174 0.89196975 0.93749145] [ 0. 0. 0. 1. ]] SLAMing on 42.359649246000004 meters Centerline goodness : 0.924861 Centerline is valid? [False, False] Translation: X:12.53, Y:0.15, Z:0.94 [[ 0.88630166 -0.10611995 -0.45078589 12.52852542] [ 0.13654056 0.99000183 0.03539858 0.14966628] [ 0.44252236 -0.09292438 0.89192994 0.93728879] [ 0. 0. 0. 1. ]] SLAMing on 42.389649246000005 meters Centerline goodness : 0.925624 Centerline is valid? [False, False] Translation: X:12.53, Y:0.15, Z:0.94 [[ 0.88620739 -0.10636889 -0.45091254 12.52925668] [ 0.13670724 0.98998788 0.0351444 0.15058492] [ 0.44265967 -0.09278824 0.89187598 0.9371815 ] [ 0. 0. 0. 1. ]] SLAMing on 42.419649246 meters Centerline goodness : 0.921675 Centerline is valid? [False, False] Translation: X:12.53, Y:0.15, Z:0.94 [[ 0.88617385 -0.10649858 -0.45094785 12.52964052] [ 0.13677834 0.98998362 0.03498751 0.15088629] [ 0.44270486 -0.09268491 0.89186429 0.9370513 ] [ 0. 0. 0. 1. ]] SLAMing on 42.449649246 meters Centerline goodness : 0.922303 Centerline is valid? [False, False] Translation: X:12.53, Y:0.15, Z:0.94 [[ 0.8860676 -0.10654334 -0.45114602 12.5299318 ] [ 0.13689107 0.98996521 0.03506746 0.15061638] [ 0.44288266 -0.09283 0.89176092 0.93749923] [ 0. 0. 0. 1. ]] SLAMing on 42.479649246 meters Centerline goodness : 0.924061 Centerline is valid? [False, False] Translation: X:12.53, Y:0.15, Z:0.94 [[ 0.8857838 -0.10700965 -0.45159274 12.53144847] [ 0.13741504 0.98989611 0.03496865 0.15052496] [ 0.44328791 -0.09303029 0.89153867 0.93811774] [ 0. 0. 0. 1. ]] SLAMing on 42.509649246 meters Centerline goodness : 0.923907 Centerline is valid? [False, False] Translation: X:12.53, Y:0.15, Z:0.94 [[ 0.88570562 -0.10746355 -0.45163829 12.53229348] [ 0.13774156 0.98986387 0.03459448 0.15134021] [ 0.44334278 -0.09284989 0.89153019 0.93778388] [ 0. 0. 0. 1. ]] SLAMing on 42.539649246 meters Centerline goodness : 0.920617 Centerline is valid? [False, False] Translation: X:12.53, Y:0.15, Z:0.94 [[ 0.88560222 -0.10761211 -0.45180565 12.53284493] [ 0.13785551 0.98985303 0.03445059 0.15176206] [ 0.44351389 -0.09279341 0.89145096 0.93784204] [ 0. 0. 0. 1. ]] SLAMing on 42.569649246000004 meters Centerline goodness : 0.922709 Centerline is valid? [False, False] Translation: X:12.53, Y:0.15, Z:0.94 [[ 0.88530314 -0.10806388 -0.45228371 12.53355327] [ 0.13858348 0.98973963 0.03478633 0.1508453 ] [ 0.44388396 -0.09347549 0.89119547 0.93955956] [ 0. 0. 0. 1. ]] SLAMing on 42.599649246 meters Centerline goodness : 0.924691 Centerline is valid? [False, False] Translation: X:12.53, Y:0.14, Z:0.94 [[ 0.89121868 -0.09698096 -0.4430846 12.53230322] [ 0.12978653 0.99055441 0.04424271 0.14423494] [ 0.4346087 -0.09693635 0.89538741 0.94207746] [ 0. 0. 0. 1. ]] SLAMing on 42.629649246 meters Centerline goodness : 0.921574 Centerline is valid? [False, False] Translation: X:12.53, Y:0.15, Z:0.94 [[ 0.89101199 -0.09784633 -0.44330997 12.53426143] [ 0.13025781 0.99053959 0.04317656 0.14592109] [ 0.43489141 -0.09621542 0.8953279 0.94113269] [ 0. 0. 0. 1. ]] SLAMing on 42.659649246 meters Centerline goodness : 0.920073 Centerline is valid? [False, False] Translation: X:12.54, Y:0.15, Z:0.94 [[ 0.89072289 -0.09889903 -0.4436572 12.53664219] [ 0.13107035 0.99046788 0.04235488 0.14686139] [ 0.43523935 -0.09587676 0.89519515 0.94073703] [ 0. 0. 0. 1. ]] SLAMing on 42.689649246 meters Centerline goodness : 0.918116 Centerline is valid? [False, False] Translation: X:12.54, Y:0.15, Z:0.94 [[ 0.89042953 -0.09956033 -0.44409795 12.53852229] [ 0.13166581 0.99040574 0.04195922 0.14698293] [ 0.43565968 -0.09583425 0.89499522 0.9409317 ] [ 0. 0. 0. 1. ]] SLAMing on 42.719649246 meters Centerline goodness : 0.918990 Centerline is valid? [False, False] Translation: X:12.54, Y:0.15, Z:0.94 [[ 0.89013302 -0.10013858 -0.44456211 12.5403685 ] [ 0.13221666 0.99034516 0.04165593 0.14722051] [ 0.43609857 -0.09585783 0.89477892 0.94121463] [ 0. 0. 0. 1. ]] SLAMing on 42.749649246000004 meters Centerline goodness : 0.919710 Centerline is valid? [False, False] Translation: X:12.54, Y:0.15, Z:0.94 [[ 0.88986135 -0.10064553 -0.44499129 12.54184819] [ 0.13273835 0.99028343 0.04146402 0.14705523] [ 0.43649433 -0.09596464 0.89457447 0.94168635] [ 0. 0. 0. 1. ]] SLAMing on 42.779649246 meters Centerline goodness : 0.917154 Centerline is valid? [False, False] Translation: X:12.54, Y:0.15, Z:0.94 [[ 0.88965884 -0.10084065 -0.44535189 12.54258209] [ 0.13300033 0.99024813 0.04146755 0.14703266] [ 0.43682726 -0.09612393 0.89439484 0.94232463] [ 0. 0. 0. 1. ]] SLAMing on 42.809649246 meters Centerline goodness : 0.920309 Centerline is valid? [False, False] Translation: X:12.54, Y:0.15, Z:0.94 [[ 0.88957526 -0.10103605 -0.44547455 12.5427831 ] [ 0.13312459 0.99024065 0.04124667 0.14769424] [ 0.43695961 -0.09599564 0.89434397 0.94241382] [ 0. 0. 0. 1. ]] SLAMing on 42.839649246 meters Centerline goodness : 0.919633 Centerline is valid? [False, False] Translation: X:12.54, Y:0.15, Z:0.94 [[ 0.88954077 -0.10116769 -0.44551354 12.5428128 ] [ 0.13317649 0.99024212 0.04104345 0.14861224] [ 0.437014 -0.09584175 0.8943339 0.94236683] [ 0. 0. 0. 1. ]] SLAMing on 42.869649246 meters Centerline goodness : 0.921619 Centerline is valid? [False, False] Translation: X:12.54, Y:0.15, Z:0.94 [[ 0.88943535 -0.0964232 -0.44677436 12.54427712] [ 0.13022587 0.99044001 0.04549524 0.14798128] [ 0.43811641 -0.09864665 0.89348914 0.94485502] [ 0. 0. 0. 1. ]] SLAMing on 42.899649246 meters Centerline goodness : 0.921391 Centerline is valid? [False, False] Translation: X:12.54, Y:0.15, Z:0.94 [[ 0.88940001 -0.09658578 -0.44680959 12.54439848] [ 0.13025743 0.99045021 0.04518157 0.14909459] [ 0.43817875 -0.09838476 0.89348745 0.94463201] [ 0. 0. 0. 1. ]] SLAMing on 42.929649246000004 meters Centerline goodness : 0.922334 Centerline is valid? [False, False] Translation: X:12.55, Y:0.15, Z:0.94 [[ 0.88925361 -0.09704828 -0.44700072 12.54515031] [ 0.13026915 0.99049707 0.04410793 0.15173223] [ 0.43847231 -0.09745354 0.89344549 0.94372698] [ 0. 0. 0. 1. ]] SLAMing on 42.959649246000005 meters Centerline goodness : 0.918565 Centerline is valid? [False, False] Translation: X:12.55, Y:0.15, Z:0.94 [[ 0.88929775 -0.09726192 -0.44686647 12.54534444] [ 0.13016948 0.99053912 0.04345299 0.15330482] [ 0.43841239 -0.09681102 0.89354474 0.94277532] [ 0. 0. 0. 1. ]] SLAMing on 42.989649246 meters Centerline goodness : 0.917253 Centerline is valid? [False, False] Translation: X:12.55, Y:0.16, Z:0.94 [[ 0.88923031 -0.09735492 -0.4469804 12.54524713] [ 0.12992406 0.99060348 0.04271392 0.15601149] [ 0.43862193 -0.09605602 0.89352339 0.94219395] [ 0. 0. 0. 1. ]] SLAMing on 43.019649246 meters Centerline goodness : 0.921570 Centerline is valid? [False, False] Translation: X:12.55, Y:0.16, Z:0.94 [[ 0.8890813 -0.09759948 -0.44722342 12.54562122] [ 0.12996147 0.99062162 0.04217614 0.15759087] [ 0.43891282 -0.09561983 0.89342732 0.94208029] [ 0. 0. 0. 1. ]] SLAMing on 43.049649246 meters Centerline goodness : 0.918736 Centerline is valid? [False, False] Translation: X:12.54, Y:0.16, Z:0.94 [[ 0.88922857 -0.09751702 -0.44694852 12.54492635] [ 0.12953089 0.99070434 0.04155297 0.16064403] [ 0.43874172 -0.09484373 0.89359408 0.94090151] [ 0. 0. 0. 1. ]] SLAMing on 43.079649246 meters Centerline goodness : 0.920747 Centerline is valid? [False, False] Translation: X:12.55, Y:0.16, Z:0.94 [[ 0.88918782 -0.09787762 -0.44695078 12.54545118] [ 0.12972951 0.99069565 0.04113868 0.16171142] [ 0.43876563 -0.09456272 0.89361212 0.94047699] [ 0. 0. 0. 1. ]] SLAMing on 43.109649246000004 meters Centerline goodness : 0.920747 Centerline is valid? [False, False] Translation: X:12.55, Y:0.16, Z:0.94 [[ 0.88918782 -0.09787762 -0.44695078 12.54545118] [ 0.12972951 0.99069565 0.04113868 0.16171142] [ 0.43876563 -0.09456272 0.89361212 0.94047699] [ 0. 0. 0. 1. ]] SLAMing on 43.139649246000005 meters Centerline goodness : 0.921033 Centerline is valid? [False, False] Translation: X:12.55, Y:0.16, Z:0.94 [[ 0.8889621 -0.0986553 -0.44722871 12.54721117] [ 0.13039072 0.99062885 0.04065398 0.16221909] [ 0.43902693 -0.09445432 0.89349524 0.94041647] [ 0. 0. 0. 1. ]] SLAMing on 43.169649246 meters Centerline goodness : 0.918957 Centerline is valid? [False, False] Translation: X:12.55, Y:0.16, Z:0.94 [[ 0.88866067 -0.09941928 -0.44765837 12.54908475] [ 0.13103817 0.99056453 0.04013608 0.16287635] [ 0.43944421 -0.09432769 0.89330346 0.94056083] [ 0. 0. 0. 1. ]] SLAMing on 43.199649246 meters Centerline goodness : 0.918232 Centerline is valid? [False, False] Translation: X:12.55, Y:0.16, Z:0.94 [[ 0.88858029 -0.09974172 -0.4477462 12.54989511] [ 0.13122137 0.99055557 0.03975692 0.16355187] [ 0.43955207 -0.09408109 0.8932764 0.94018044] [ 0. 0. 0. 1. ]] SLAMing on 43.229649246 meters Centerline goodness : 0.916336 Centerline is valid? [False, False] Translation: X:12.55, Y:0.16, Z:0.94 [[ 0.88855022 -0.0997867 -0.44779586 12.55013267] [ 0.13123549 0.99055711 0.03967185 0.16363356] [ 0.43960865 -0.09401714 0.89325529 0.94013055] [ 0. 0. 0. 1. ]] SLAMing on 43.259649246 meters Centerline goodness : 0.916608 Centerline is valid? [False, False] Translation: X:12.55, Y:0.16, Z:0.94 [[ 0.88841417 -0.09983485 -0.44805497 12.55057456] [ 0.13134612 0.99054029 0.03972573 0.16310763] [ 0.43985049 -0.09414318 0.89312295 0.94061303] [ 0. 0. 0. 1. ]] SLAMing on 43.289649246 meters Centerline goodness : 0.919648 Centerline is valid? [False, False] Translation: X:12.55, Y:0.16, Z:0.94 [[ 0.88824629 -0.09923421 -0.44852102 12.54999437] [ 0.13123267 0.99051401 0.04074294 0.16079243] [ 0.44022326 -0.09505038 0.89284316 0.9426895 ] [ 0. 0. 0. 1. ]] SLAMing on 43.319649246000004 meters Centerline goodness : 0.921824 Centerline is valid? [False, False] Translation: X:12.55, Y:0.16, Z:0.94 [[ 0.88809231 -0.09951796 -0.44876299 12.55102301] [ 0.1317501 0.99043089 0.04109205 0.15907115] [ 0.44037933 -0.0956181 0.89270556 0.94353062] [ 0. 0. 0. 1. ]] SLAMing on 43.349649246 meters Centerline goodness : 0.921193 Centerline is valid? [False, False] Translation: X:12.55, Y:0.16, Z:0.94 [[ 0.88789961 -0.09982813 -0.44907529 12.55230341] [ 0.1321826 0.99036913 0.04119172 0.15795034] [ 0.44063821 -0.09593405 0.89254391 0.9440373 ] [ 0. 0. 0. 1. ]] SLAMing on 43.379649246 meters Centerline goodness : 0.920376 Centerline is valid? [False, False] Translation: X:12.56, Y:0.16, Z:0.94 [[ 0.88739124 -0.10106971 -0.44980184 12.55588337] [ 0.13352934 0.990199 0.04093724 0.15687083] [ 0.44125581 -0.09638909 0.89218969 0.94487676] [ 0. 0. 0. 1. ]] SLAMing on 43.409649246 meters Centerline goodness : 0.920881 Centerline is valid? [False, False] Translation: X:12.56, Y:0.16, Z:0.95 [[ 0.88726223 -0.10139908 -0.44998218 12.55669066] [ 0.1338844 0.99015391 0.04086801 0.15644909] [ 0.44140763 -0.09650624 0.89210193 0.94518028] [ 0. 0. 0. 1. ]] SLAMing on 43.439649246 meters Centerline goodness : 0.918888 Centerline is valid? [False, False] Translation: X:12.56, Y:0.16, Z:0.95 [[ 0.88704246 -0.10162987 -0.45036324 12.55734183] [ 0.13427452 0.99009386 0.04104263 0.15639675] [ 0.44173072 -0.09687886 0.8919016 0.9461795 ] [ 0. 0. 0. 1. ]] SLAMing on 43.469649246 meters Centerline goodness : 0.923428 Centerline is valid? [False, False] Translation: X:12.55, Y:0.15, Z:0.95 [[ 0.88729072 -0.10107307 -0.44999935 12.55466323] [ 0.1342365 0.99004563 0.04231084 0.15478492] [ 0.44124341 -0.09794835 0.89202599 0.94727055] [ 0. 0. 0. 1. ]] SLAMing on 43.499649246000004 meters Centerline goodness : 0.920854 Centerline is valid? [False, False] Translation: X:12.56, Y:0.15, Z:0.95 [[ 0.88692161 -0.10190878 -0.4505382 12.55694354] [ 0.13502024 0.98995752 0.04187661 0.15484609] [ 0.44174608 -0.09797304 0.89177446 0.9476432 ] [ 0. 0. 0. 1. ]] SLAMing on 43.529649246 meters Centerline goodness : 0.919491 Centerline is valid? [False, False] Translation: X:12.56, Y:0.16, Z:0.95 [[ 0.88669 -0.10258968 -0.45083944 12.55880331] [ 0.13555836 0.98990594 0.0413542 0.15511838] [ 0.44204612 -0.09778341 0.89164658 0.94744052] [ 0. 0. 0. 1. ]] SLAMing on 43.559649246 meters Centerline goodness : 0.917040 Centerline is valid? [False, False] Translation: X:12.56, Y:0.15, Z:0.95 [[ 0.8927071 -0.09175119 -0.44119809 12.55929409] [ 0.12650876 0.99070722 0.0499474 0.1482452 ] [ 0.4325154 -0.10040383 0.8960187 0.94801184] [ 0. 0. 0. 1. ]] SLAMing on 43.589649246 meters Centerline goodness : 0.915235 Centerline is valid? [False, False] Translation: X:12.56, Y:0.15, Z:0.95 [[ 0.8923323 -0.09295316 -0.44170441 12.56221407] [ 0.12743387 0.99063742 0.04897048 0.1491662 ] [ 0.43301696 -0.09998604 0.89582314 0.94761314] [ 0. 0. 0. 1. ]] SLAMing on 43.619649246 meters Centerline goodness : 0.918737 Centerline is valid? [False, False] Translation: X:12.56, Y:0.15, Z:0.95 [[ 0.89212194 -0.09318084 -0.44208119 12.56303647] [ 0.12772279 0.99060129 0.04894859 0.14881829] [ 0.43336513 -0.10013196 0.89563846 0.94826852] [ 0. 0. 0. 1. ]] SLAMing on 43.649649246 meters Centerline goodness : 0.918191 Centerline is valid? [False, False] Translation: X:12.56, Y:0.15, Z:0.95 [[ 0.8919643 -0.09376201 -0.44227635 12.56420723] [ 0.12813519 0.99057415 0.04841722 0.14939775] [ 0.43356782 -0.09985759 0.89557099 0.94803401] [ 0. 0. 0. 1. ]] SLAMing on 43.679649246000004 meters Centerline goodness : 0.917083 Centerline is valid? [False, False] Translation: X:12.56, Y:0.14, Z:0.95 [[ 0.89759543 -0.08248811 -0.43303366 12.56478284] [ 0.11913588 0.99117436 0.05813802 0.14342024] [ 0.42441617 -0.10377427 0.89950087 0.94955843] [ 0. 0. 0. 1. ]] SLAMing on 43.709649246000005 meters Centerline goodness : 0.917541 Centerline is valid? [False, False] Translation: X:12.57, Y:0.14, Z:0.95 [[ 0.89747267 -0.08307908 -0.4331751 12.56606386] [ 0.11951329 0.99116517 0.05751676 0.14429646] [ 0.42456963 -0.1033899 0.89947271 0.94900912] [ 0. 0. 0. 1. ]] SLAMing on 43.739649246 meters Centerline goodness : 0.913565 Centerline is valid? [False, False] Translation: X:12.57, Y:0.14, Z:0.95 [[ 0.89721541 -0.08382129 -0.43356486 12.56767183] [ 0.12011436 0.9911253 0.05694893 0.14484035] [ 0.42494357 -0.10317283 0.89932104 0.94904052] [ 0. 0. 0. 1. ]] SLAMing on 43.769649246 meters Centerline goodness : 0.912802 Centerline is valid? [False, False] Translation: X:12.57, Y:0.15, Z:0.95 [[ 0.89716173 -0.08393013 -0.43365489 12.56759499] [ 0.12019511 0.99112169 0.05684124 0.14523403] [ 0.42503408 -0.10311898 0.89928444 0.9492809 ] [ 0. 0. 0. 1. ]] SLAMing on 43.799649246 meters Centerline goodness : 0.916403 Centerline is valid? [False, False] Translation: X:12.57, Y:0.15, Z:0.95 [[ 0.89696076 -0.08793427 -0.43327701 12.56683727] [ 0.12267738 0.99103942 0.05283103 0.14790475] [ 0.42474894 -0.10054065 0.89971102 0.94786648] [ 0. 0. 0. 1. ]] SLAMing on 43.829649246 meters Centerline goodness : 0.918363 Centerline is valid? [False, False] Translation: X:12.57, Y:0.15, Z:0.95 [[ 0.89682994 -0.08853522 -0.4334254 12.56755882] [ 0.12294957 0.99105161 0.05196252 0.14997435] [ 0.42494642 -0.09989101 0.89969013 0.94729421] [ 0. 0. 0. 1. ]] SLAMing on 43.859649246000004 meters Centerline goodness : 0.918307 Centerline is valid? [False, False] Translation: X:12.57, Y:0.15, Z:0.95 [[ 0.89682122 -0.08871266 -0.43340716 12.56774663] [ 0.1229919 0.99106313 0.05164173 0.15079596] [ 0.42495258 -0.09961897 0.89971738 0.94695626] [ 0. 0. 0. 1. ]] SLAMing on 43.889649246000005 meters Centerline goodness : 0.917406 Centerline is valid? [False, False] Translation: X:12.57, Y:0.15, Z:0.94 [[ 0.89674379 -0.09354786 -0.43254984 12.56683154] [ 0.12605575 0.99090777 0.04702904 0.15373714] [ 0.42421753 -0.09669839 0.90038264 0.94489161] [ 0. 0. 0. 1. ]] SLAMing on 43.919649246 meters Centerline goodness : 0.917014 Centerline is valid? [False, False] Translation: X:12.57, Y:0.15, Z:0.95 [[ 0.89644059 -0.09431565 -0.43301135 12.56837993] [ 0.12677302 0.99083492 0.04663444 0.15448313] [ 0.42464441 -0.09669916 0.90018132 0.94538773] [ 0. 0. 0. 1. ]] SLAMing on 43.949649246 meters Centerline goodness : 0.918274 Centerline is valid? [False, False] Translation: X:12.57, Y:0.16, Z:0.95 [[ 0.8962272 -0.09493545 -0.43331752 12.56976955] [ 0.12729791 0.99078713 0.0462179 0.15534547] [ 0.4249377 -0.09658216 0.90005546 0.94544013] [ 0. 0. 0. 1. ]] SLAMing on 43.979649246 meters Centerline goodness : 0.914070 Centerline is valid? [False, False] Translation: X:12.57, Y:0.16, Z:0.94 [[ 0.89614317 -0.09553483 -0.43335958 12.57100972] [ 0.12768718 0.99076437 0.04562836 0.15648929] [ 0.42499813 -0.096224 0.90006529 0.94475757] [ 0. 0. 0. 1. ]] SLAMing on 44.009649246 meters Centerline goodness : 0.916381 Centerline is valid? [False, False] Translation: X:12.57, Y:0.16, Z:0.94 [[ 0.89596626 -0.09584301 -0.43365721 12.57187089] [ 0.12792104 0.99074801 0.04532764 0.15652689] [ 0.42530068 -0.09608592 0.89993712 0.94492861] [ 0. 0. 0. 1. ]] SLAMing on 44.039649246 meters Centerline goodness : 0.921370 Centerline is valid? [False, False] Translation: X:12.57, Y:0.16, Z:0.95 [[ 0.89591003 -0.09590344 -0.43376002 12.57184835] [ 0.12796148 0.99074651 0.04524616 0.15638983] [ 0.42540696 -0.09604106 0.89989168 0.94515571] [ 0. 0. 0. 1. ]] SLAMing on 44.069649246000004 meters Centerline goodness : 0.916434 Centerline is valid? [False, False] Translation: X:12.57, Y:0.16, Z:0.95 [[ 0.89584516 -0.09575939 -0.43392579 12.57151357] [ 0.12800166 0.99072387 0.04562658 0.1553574 ] [ 0.42553146 -0.09641757 0.89979255 0.94611154] [ 0. 0. 0. 1. ]] SLAMing on 44.099649246 meters Centerline goodness : 0.917062 Centerline is valid? [False, False] Translation: X:12.57, Y:0.16, Z:0.95 [[ 0.89577316 -0.09592086 -0.43403874 12.57196815] [ 0.12816017 0.99070663 0.04555585 0.15518363] [ 0.42563531 -0.09643418 0.89974165 0.9462172 ] [ 0. 0. 0. 1. ]] SLAMing on 44.129649246 meters Centerline goodness : 0.918412 Centerline is valid? [False, False] Translation: X:12.57, Y:0.16, Z:0.95 [[ 0.89578308 -0.09621846 -0.43395239 12.57240302] [ 0.12835362 0.99069375 0.04529063 0.15561611] [ 0.42555613 -0.09626994 0.89979669 0.94581895] [ 0. 0. 0. 1. ]] SLAMing on 44.159649246 meters Centerline goodness : 0.914729 Centerline is valid? [False, False] Translation: X:12.57, Y:0.16, Z:0.95 [[ 0.89580839 -0.09652285 -0.43383254 12.57299518] [ 0.1284788 0.99069651 0.04487338 0.15646225] [ 0.42546508 -0.09593623 0.89987539 0.94505567] [ 0. 0. 0. 1. ]] SLAMing on 44.189649246 meters Centerline goodness : 0.913518 Centerline is valid? [False, False] Translation: X:12.57, Y:0.16, Z:0.94 [[ 0.8956834 -0.09704299 -0.43397455 12.57392491] [ 0.12871821 0.99069892 0.04412789 0.15804007] [ 0.42565581 -0.09538505 0.89984378 0.94446842] [ 0. 0. 0. 1. ]] SLAMing on 44.219649246 meters Centerline goodness : 0.914886 Centerline is valid? [False, False] Translation: X:12.57, Y:0.16, Z:0.94 [[ 0.89574602 -0.09699528 -0.43385596 12.57332117] [ 0.12847812 0.99074635 0.04376118 0.15920226] [ 0.42559658 -0.0949399 0.89991887 0.9440179 ] [ 0. 0. 0. 1. ]] SLAMing on 44.249649246000004 meters Centerline goodness : 0.915659 Centerline is valid? [False, False] Translation: X:12.57, Y:0.16, Z:0.94 [[ 0.8957733 -0.09698464 -0.43380199 12.5730527 ] [ 0.12837649 0.99076732 0.04358445 0.15990767] [ 0.42556981 -0.09473177 0.89995346 0.94380656] [ 0. 0. 0. 1. ]] SLAMing on 44.279649246 meters Centerline goodness : 0.916788 Centerline is valid? [False, False] Translation: X:12.57, Y:0.16, Z:0.94 [[ 0.89587169 -0.09699109 -0.43359732 12.57272162] [ 0.12821563 0.99080152 0.0432794 0.16113196] [ 0.42541117 -0.09436674 0.90006681 0.9431519 ] [ 0. 0. 0. 1. ]] SLAMing on 44.309649246 meters Centerline goodness : 0.914701 Centerline is valid? [False, False] Translation: X:12.57, Y:0.16, Z:0.94 [[ 0.89579965 -0.09739611 -0.43365537 12.57352879] [ 0.12845242 0.99079087 0.04281846 0.1620342 ] [ 0.42549143 -0.09406085 0.90006088 0.94269928] [ 0. 0. 0. 1. ]] SLAMing on 44.339649246 meters Centerline goodness : 0.914707 Centerline is valid? [False, False] Translation: X:12.58, Y:0.16, Z:0.94 [[ 0.89564325 -0.09820098 -0.43379689 12.57515727] [ 0.12893336 0.9907669 0.04191827 0.16379684] [ 0.42567519 -0.09347471 0.90003506 0.94186076] [ 0. 0. 0. 1. ]] SLAMing on 44.369649246 meters Centerline goodness : 0.916713 Centerline is valid? [False, False] Translation: X:12.58, Y:0.16, Z:0.94 [[ 0.89549281 -0.09858396 -0.43402053 12.5760842 ] [ 0.12921662 0.99074479 0.04156718 0.16418951] [ 0.42590572 -0.09330578 0.89994352 0.941833 ] [ 0. 0. 0. 1. ]] SLAMing on 44.399649246 meters Centerline goodness : 0.913001 Centerline is valid? [False, False] Translation: X:12.58, Y:0.16, Z:0.94 [[ 0.89529482 -0.0987778 -0.43438478 12.57680606] [ 0.1294675 0.99071251 0.04155574 0.16378109] [ 0.42624565 -0.09344335 0.89976829 0.94251117] [ 0. 0. 0. 1. ]] SLAMing on 44.429649246000004 meters Centerline goodness : 0.912229 Centerline is valid? [False, False] Translation: X:12.58, Y:0.16, Z:0.94 [[ 0.89523421 -0.09884456 -0.43449449 12.57704679] [ 0.12956333 0.99069916 0.04157544 0.16362342] [ 0.42634382 -0.09351431 0.89971441 0.94273729] [ 0. 0. 0. 1. ]] SLAMing on 44.459649246000005 meters Centerline goodness : 0.915805 Centerline is valid? [False, False] Translation: X:12.58, Y:0.16, Z:0.94 [[ 0.89509173 -0.09918782 -0.43470976 12.57775122] [ 0.12991196 0.99065846 0.04145725 0.16401884] [ 0.42653685 -0.09358204 0.89961587 0.94307551] [ 0. 0. 0. 1. ]] SLAMing on 44.489649246 meters Centerline goodness : 0.916452 Centerline is valid? [False, False] Translation: X:12.57, Y:0.16, Z:0.94 [[ 0.89502185 -0.10352992 -0.43384034 12.57464448] [ 0.13321565 0.99033915 0.03849616 0.16324635] [ 0.42566357 -0.09224923 0.90016699 0.94392907] [ 0. 0. 0. 1. ]] SLAMing on 44.519649246 meters Centerline goodness : 0.916421 Centerline is valid? [False, False] Translation: X:12.58, Y:0.16, Z:0.94 [[ 0.89492495 -0.10386523 -0.43396008 12.57558959] [ 0.13342535 0.99032523 0.03812637 0.16453391] [ 0.42580161 -0.09202152 0.90012501 0.94354992] [ 0. 0. 0. 1. ]] SLAMing on 44.549649246 meters Centerline goodness : 0.915097 Centerline is valid? [False, False] Translation: X:12.58, Y:0.17, Z:0.94 [[ 0.89476532 -0.10455403 -0.43412381 12.57702664] [ 0.13400777 0.99026264 0.03770712 0.16595878] [ 0.42595416 -0.09191499 0.90006371 0.94336869] [ 0. 0. 0. 1. ]] SLAMing on 44.579649246 meters Centerline goodness : 0.915330 Centerline is valid? [False, False] Translation: X:12.58, Y:0.16, Z:0.94 [[ 0.90093173 -0.0941607 -0.42362221 12.57655053] [ 0.12520017 0.99106555 0.04597818 0.15929244] [ 0.41550804 -0.09446077 0.90467134 0.94304065] [ 0. 0. 0. 1. ]] SLAMing on 44.609649246000004 meters Centerline goodness : 0.917902 Centerline is valid? [False, False] Translation: X:12.58, Y:0.16, Z:0.94 [[ 0.90080662 -0.09450621 -0.42381129 12.57688537] [ 0.12551825 0.99103376 0.0457959 0.15950322] [ 0.4156833 -0.0944493 0.90459202 0.94344912] [ 0. 0. 0. 1. ]] SLAMing on 44.639649246000005 meters Centerline goodness : 0.918471 Centerline is valid? [False, False] Translation: X:12.58, Y:0.16, Z:0.94 [[ 0.90091159 -0.09446042 -0.42359831 12.57655375] [ 0.12534969 0.9910645 0.04559183 0.16010296] [ 0.41550662 -0.09417212 0.90470208 0.942896 ] [ 0. 0. 0. 1. ]] SLAMing on 44.669649246 meters Centerline goodness : 0.917472 Centerline is valid? [False, False] Translation: X:12.58, Y:0.16, Z:0.94 [[ 0.90088184 -0.09482982 -0.42357906 12.57724235] [ 0.12556289 0.99105655 0.045176 0.16070617] [ 0.41550677 -0.09388405 0.90473196 0.94237636] [ 0. 0. 0. 1. ]] SLAMing on 44.699649246 meters Centerline goodness : 0.915624 Centerline is valid? [False, False] Translation: X:12.58, Y:0.16, Z:0.94 [[ 0.90075741 -0.09483773 -0.42384183 12.57757262] [ 0.1256309 0.99104502 0.04523977 0.16074542] [ 0.4157559 -0.09399769 0.9046057 0.94289574] [ 0. 0. 0. 1. ]] SLAMing on 44.729649246 meters Centerline goodness : 0.912669 Centerline is valid? [False, False] Translation: X:12.58, Y:0.16, Z:0.94 [[ 0.90066602 -0.09496478 -0.42400756 12.57787583] [ 0.12573611 0.99103699 0.04512331 0.16069097] [ 0.41592206 -0.09395409 0.90453384 0.94312877] [ 0. 0. 0. 1. ]] SLAMing on 44.759649246 meters Centerline goodness : 0.910913 Centerline is valid? [False, False] Translation: X:12.58, Y:0.16, Z:0.94 [[ 0.90050815 -0.09577425 -0.42416077 12.5799889 ] [ 0.1262409 0.99101237 0.04424618 0.16198266] [ 0.41611093 -0.09339048 0.90450534 0.94206196] [ 0. 0. 0. 1. ]] SLAMing on 44.789649246 meters Centerline goodness : 0.910302 Centerline is valid? [False, False] Translation: X:12.58, Y:0.16, Z:0.94 [[ 0.90032204 -0.09630415 -0.42443578 12.58145723] [ 0.12666371 0.99097692 0.04382982 0.16265522] [ 0.41638506 -0.09322157 0.9043966 0.94193526] [ 0. 0. 0. 1. ]] SLAMing on 44.819649246000004 meters Centerline goodness : 0.912975 Centerline is valid? [False, False] Translation: X:12.58, Y:0.16, Z:0.94 [[ 0.90026019 -0.09656857 -0.4245069 12.58208991] [ 0.12685718 0.99096229 0.04360037 0.16324335] [ 0.4164599 -0.09310342 0.90437431 0.94177348] [ 0. 0. 0. 1. ]] SLAMing on 44.849649246 meters Centerline goodness : 0.909735 Centerline is valid? [False, False] Translation: X:12.58, Y:0.16, Z:0.94 [[ 0.90022161 -0.09676553 -0.42454385 12.582395 ] [ 0.12686122 0.99098239 0.04312928 0.16449785] [ 0.41654205 -0.09268406 0.90437956 0.94134538] [ 0. 0. 0. 1. ]] SLAMing on 44.879649246 meters Centerline goodness : 0.909837 Centerline is valid? [False, False] Translation: X:12.58, Y:0.17, Z:0.94 [[ 0.9002066 -0.09692116 -0.42454018 12.58260987] [ 0.12686061 0.9909986 0.04275689 0.16568428] [ 0.41657468 -0.09234746 0.90439896 0.94092584] [ 0. 0. 0. 1. ]] SLAMing on 44.909649246 meters Centerline goodness : 0.904939 Centerline is valid? [False, False] Translation: X:12.58, Y:0.17, Z:0.94 [[ 0.90018061 -0.09710011 -0.4245544 12.5830038 ] [ 0.12665128 0.99106319 0.04187138 0.16836072] [ 0.41669452 -0.09146216 0.90443372 0.93978388] [ 0. 0. 0. 1. ]] SLAMing on 44.939649246 meters Centerline goodness : 0.903336 Centerline is valid? [False, False] Translation: X:12.58, Y:0.17, Z:0.94 [[ 0.90017075 -0.09746401 -0.42449192 12.58359562] [ 0.12670118 0.99108806 0.04112512 0.17013021] [ 0.41670065 -0.09080326 0.90449728 0.93876594] [ 0. 0. 0. 1. ]] SLAMing on 44.969649246 meters Centerline goodness : 0.903969 Centerline is valid? [False, False] Translation: X:12.58, Y:0.17, Z:0.94 [[ 0.9000961 -0.09808926 -0.42450619 12.58499154] [ 0.126877 0.99111124 0.04000914 0.17321578] [ 0.41680839 -0.08987214 0.90454064 0.93726299] [ 0. 0. 0. 1. ]] SLAMing on 44.999649246000004 meters Centerline goodness : 0.899537 Centerline is valid? [False, False] Translation: X:12.59, Y:0.17, Z:0.94 [[ 0.90006523 -0.0982765 -0.42452835 12.5852655 ] [ 0.12695042 0.99111364 0.03971577 0.1742041 ] [ 0.41685271 -0.08964084 0.90454317 0.93700174] [ 0. 0. 0. 1. ]] SLAMing on 45.029649246 meters Centerline goodness : 0.899537 Centerline is valid? [False, False] Translation: X:12.59, Y:0.17, Z:0.94 [[ 0.90006523 -0.0982765 -0.42452835 12.5852655 ] [ 0.12695042 0.99111364 0.03971577 0.1742041 ] [ 0.41685271 -0.08964084 0.90454317 0.93700174] [ 0. 0. 0. 1. ]] SLAMing on 45.059649246 meters Centerline goodness : 0.902981 Centerline is valid? [False, False] Translation: X:12.59, Y:0.17, Z:0.94 [[ 0.89997986 -0.09855032 -0.42464583 12.58570019] [ 0.127182 0.99109113 0.03953623 0.1746208 ] [ 0.41696641 -0.08958911 0.90449589 0.937159 ] [ 0. 0. 0. 1. ]] SLAMing on 45.089649246 meters Centerline goodness : 0.904208 Centerline is valid? [False, False] Translation: X:12.59, Y:0.17, Z:0.94 [[ 0.89986604 -0.09870192 -0.42485178 12.58628583] [ 0.12734781 0.99107188 0.03948498 0.17459617] [ 0.41716141 -0.08963514 0.90440141 0.93743148] [ 0. 0. 0. 1. ]] SLAMing on 45.119649246 meters Centerline goodness : 0.909158 Centerline is valid? [False, False] Translation: X:12.59, Y:0.18, Z:0.94 [[ 0.8997958 -0.09904298 -0.42492117 12.58718019] [ 0.12757029 0.99105709 0.03913658 0.17502132] [ 0.41724493 -0.08942224 0.90438395 0.93705857] [ 0. 0. 0. 1. ]] SLAMing on 45.149649246 meters Centerline goodness : 0.905785 Centerline is valid? [False, False] Translation: X:12.59, Y:0.18, Z:0.94 [[ 0.89964781 -0.09955855 -0.425114 12.58854081] [ 0.12797398 0.9910208 0.03873531 0.17533876] [ 0.41744039 -0.08925167 0.9043106 0.93683533] [ 0. 0. 0. 1. ]] SLAMing on 45.179649246000004 meters Centerline goodness : 0.906163 Centerline is valid? [False, False] Translation: X:12.59, Y:0.17, Z:0.94 [[ 0.89939078 -0.0995425 -0.42566126 12.58940919] [ 0.12827492 0.99095983 0.0392957 0.17403859] [ 0.41790162 -0.08994385 0.90402895 0.93834511] [ 0. 0. 0. 1. ]] SLAMing on 45.209649246000005 meters Centerline goodness : 0.905791 Centerline is valid? [False, False] Translation: X:12.59, Y:0.17, Z:0.94 [[ 0.89925167 -0.09969491 -0.42591943 12.58983335] [ 0.12858421 0.99091003 0.03954004 0.17316477] [ 0.41810589 -0.09032296 0.90389669 0.93920296] [ 0. 0. 0. 1. ]] SLAMing on 45.239649246 meters Centerline goodness : 0.903465 Centerline is valid? [False, False] Translation: X:12.59, Y:0.17, Z:0.94 [[ 0.89891734 -0.10043967 -0.42644986 12.5919521 ] [ 0.12939415 0.99081056 0.03939023 0.17306012] [ 0.41857468 -0.09058867 0.9036531 0.93989433] [ 0. 0. 0. 1. ]] SLAMing on 45.269649246 meters Centerline goodness : 0.903436 Centerline is valid? [False, False] Translation: X:12.59, Y:0.17, Z:0.94 [[ 0.89876442 -0.10105116 -0.42662769 12.59377903] [ 0.12986259 0.99076848 0.03890411 0.17356908] [ 0.41875796 -0.09036861 0.90359022 0.93937656] [ 0. 0. 0. 1. ]] SLAMing on 45.299649246 meters Centerline goodness : 0.906705 Centerline is valid? [False, False] Translation: X:12.60, Y:0.17, Z:0.94 [[ 0.89849751 -0.10194624 -0.4269768 12.59626187] [ 0.13068506 0.99067741 0.03846665 0.17341111] [ 0.41907474 -0.09036168 0.90344404 0.9392727 ] [ 0. 0. 0. 1. ]] SLAMing on 45.329649246 meters Centerline goodness : 0.907210 Centerline is valid? [False, False] Translation: X:12.60, Y:0.17, Z:0.94 [[ 0.89839285 -0.10218548 -0.42713982 12.59707787] [ 0.13097103 0.9906393 0.03847565 0.17262892] [ 0.41920983 -0.09050919 0.90336659 0.93952946] [ 0. 0. 0. 1. ]] SLAMing on 45.359649246000004 meters Centerline goodness : 0.905501 Centerline is valid? [False, False] Translation: X:12.60, Y:0.17, Z:0.94 [[ 0.89818498 -0.10211081 -0.42759458 12.5974696 ] [ 0.13119927 0.99058717 0.03903594 0.17087691] [ 0.41958372 -0.09116159 0.90312738 0.94104085] [ 0. 0. 0. 1. ]] SLAMing on 45.389649246000005 meters Centerline goodness : 0.902773 Centerline is valid? [False, False] Translation: X:12.60, Y:0.17, Z:0.94 [[ 0.89802364 -0.10237242 -0.42787081 12.59845361] [ 0.13149825 0.99054925 0.03899218 0.17100319] [ 0.41983539 -0.09128016 0.90299844 0.94138633] [ 0. 0. 0. 1. ]] SLAMing on 45.419649246 meters Centerline goodness : 0.904045 Centerline is valid? [False, False] Translation: X:12.60, Y:0.17, Z:0.94 [[ 0.89784621 -0.10284858 -0.4281289 12.59956921] [ 0.13197268 0.99049288 0.038821 0.17164025] [ 0.42006595 -0.09135661 0.90288348 0.94170974] [ 0. 0. 0. 1. ]] SLAMing on 45.449649246 meters Centerline goodness : 0.903145 Centerline is valid? [False, False] Translation: X:12.60, Y:0.17, Z:0.95 [[ 0.90234815 -0.0938404 -0.42066827 12.60275742] [ 0.12495246 0.99105129 0.04694905 0.16668132] [ 0.41249811 -0.09492792 0.90599889 0.94534779] [ 0. 0. 0. 1. ]] SLAMing on 45.479649246 meters Centerline goodness : 0.898619 Centerline is valid? [False, False] Translation: X:12.60, Y:0.17, Z:0.95 [[ 0.902121 -0.0945225 -0.42100262 12.60454474] [ 0.1254662 0.99101469 0.04634772 0.16733603] [ 0.41283888 -0.09463285 0.90587454 0.94510041] [ 0. 0. 0. 1. ]] SLAMing on 45.509649246 meters Centerline goodness : 0.898423 Centerline is valid? [False, False] Translation: X:12.61, Y:0.17, Z:0.95 [[ 0.90148031 -0.09636891 -0.42195532 12.60864442] [ 0.12717193 0.99084113 0.04539984 0.16874995] [ 0.41371555 -0.09458794 0.90547919 0.94575887] [ 0. 0. 0. 1. ]] SLAMing on 45.539649246 meters Centerline goodness : 0.898554 Centerline is valid? [False, False] Translation: X:12.61, Y:0.17, Z:0.94 [[ 0.90121557 -0.09775521 -0.42220187 12.61150283] [ 0.12804418 0.99079583 0.04391253 0.17141663] [ 0.41402317 -0.09363514 0.90543761 0.94429737] [ 0. 0. 0. 1. ]] SLAMing on 45.569649246000004 meters Centerline goodness : 0.898656 Centerline is valid? [False, False] Translation: X:12.61, Y:0.17, Z:0.94 [[ 0.90099026 -0.09826257 -0.42256482 12.61275598] [ 0.12854799 0.9907398 0.04370418 0.17195708] [ 0.4143573 -0.0936969 0.90527837 0.94474558] [ 0. 0. 0. 1. ]] SLAMing on 45.599649246 meters Centerline goodness : 0.897028 Centerline is valid? [False, False] Translation: X:12.61, Y:0.17, Z:0.95 [[ 0.90087991 -0.09825461 -0.42280186 12.61252993] [ 0.12863742 0.99072133 0.04385961 0.17212782] [ 0.41456942 -0.09390038 0.90516016 0.94563293] [ 0. 0. 0. 1. ]] SLAMing on 45.629649246 meters Centerline goodness : 0.897463 Centerline is valid? [False, False] Translation: X:12.61, Y:0.17, Z:0.95 [[ 0.90071745 -0.09846196 -0.42309966 12.61298662] [ 0.12887958 0.99069177 0.04381625 0.17242831] [ 0.41484712 -0.09399497 0.9050231 0.94623577] [ 0. 0. 0. 1. ]] SLAMing on 45.659649246 meters Centerline goodness : 0.899251 Centerline is valid? [False, False] Translation: X:12.61, Y:0.17, Z:0.95 [[ 0.90078596 -0.09799272 -0.42306274 12.61165681] [ 0.12850387 0.99072657 0.04413174 0.17241856] [ 0.41481491 -0.09411845 0.90502503 0.94685153] [ 0. 0. 0. 1. ]] SLAMing on 45.689649246 meters Centerline goodness : 0.899618 Centerline is valid? [False, False] Translation: X:12.61, Y:0.17, Z:0.95 [[ 0.90081145 -0.09795477 -0.42301726 12.6111502 ] [ 0.12843323 0.99073804 0.04408001 0.17289597] [ 0.41478144 -0.09403725 0.90504881 0.94699083] [ 0. 0. 0. 1. ]] SLAMing on 45.719649246 meters Centerline goodness : 0.901606 Centerline is valid? [False, False] Translation: X:12.61, Y:0.17, Z:0.95 [[ 0.90060336 -0.09840223 -0.42335634 12.61241625] [ 0.12884718 0.99069561 0.04382488 0.17340919] [ 0.4151048 -0.0940171 0.90490264 0.94722917] [ 0. 0. 0. 1. ]] SLAMing on 45.749649246000004 meters Centerline goodness : 0.899415 Centerline is valid? [False, False] Translation: X:12.61, Y:0.17, Z:0.95 [[ 0.90054285 -0.09884664 -0.42338152 12.61331567] [ 0.12910736 0.99068394 0.04332009 0.17407369] [ 0.41515523 -0.09367327 0.90491516 0.94664487] [ 0. 0. 0. 1. ]] SLAMing on 45.779649246000005 meters Centerline goodness : 0.896916 Centerline is valid? [False, False] Translation: X:12.62, Y:0.18, Z:0.94 [[ 0.90048879 -0.09973656 -0.42328779 12.61515788] [ 0.12951078 0.99068437 0.04208852 0.17690356] [ 0.41514684 -0.09272057 0.90501713 0.94483445] [ 0. 0. 0. 1. ]] SLAMing on 45.809649246 meters Centerline goodness : 0.893681 Centerline is valid? [False, False] Translation: X:12.62, Y:0.18, Z:0.94 [[ 0.90029814 -0.1005929 -0.42349065 12.61738521] [ 0.12998062 0.99066809 0.0410095 0.1787215 ] [ 0.41541341 -0.09196636 0.90497176 0.94363088] [ 0. 0. 0. 1. ]] SLAMing on 45.839649246 meters Centerline goodness : 0.895273 Centerline is valid? [False, False] Translation: X:12.62, Y:0.18, Z:0.94 [[ 0.90020345 -0.10092702 -0.42361243 12.61842735] [ 0.12972017 0.99075908 0.03961211 0.18134698] [ 0.41569993 -0.09061003 0.90497701 0.94195646] [ 0. 0. 0. 1. ]] SLAMing on 45.869649246 meters Centerline goodness : 0.894187 Centerline is valid? [False, False] Translation: X:12.62, Y:0.18, Z:0.94 [[ 0.90009422 -0.1014476 -0.42372017 12.61937289] [ 0.12989841 0.99077071 0.0387272 0.18330126] [ 0.41588075 -0.08989871 0.90496487 0.94116677] [ 0. 0. 0. 1. ]] SLAMing on 45.899649246 meters Centerline goodness : 0.893603 Centerline is valid? [False, False] Translation: X:12.62, Y:0.19, Z:0.94 [[ 0.9001655 -0.10156046 -0.42354167 12.61961068] [ 0.12935681 0.99089556 0.03732035 0.18700635] [ 0.41589528 -0.08838249 0.90510753 0.93893434] [ 0. 0. 0. 1. ]] SLAMing on 45.929649246000004 meters Centerline goodness : 0.891302 Centerline is valid? [False, False] Translation: X:12.62, Y:0.19, Z:0.94 [[ 0.90010734 -0.10200806 -0.4235577 12.62061381] [ 0.12953821 0.99089728 0.03663912 0.18862605] [ 0.41596469 -0.08784605 0.90512786 0.93803325] [ 0. 0. 0. 1. ]] SLAMing on 45.959649246000005 meters Centerline goodness : 0.889029 Centerline is valid? [False, False] Translation: X:12.62, Y:0.19, Z:0.94 [[ 0.89994917 -0.09821751 -0.42478796 12.6240754 ] [ 0.12712657 0.99107246 0.04017718 0.18920783] [ 0.41704954 -0.09015926 0.9044009 0.9391757 ] [ 0. 0. 0. 1. ]] SLAMing on 45.989649246 meters Centerline goodness : 0.888450 Centerline is valid? [False, False] Translation: X:12.62, Y:0.19, Z:0.94 [[ 0.89987401 -0.09852042 -0.42487704 12.62457515] [ 0.1273051 0.99106397 0.03981978 0.1899915 ] [ 0.41715727 -0.0899218 0.90437486 0.93896586] [ 0. 0. 0. 1. ]] SLAMing on 46.019649246 meters Centerline goodness : 0.887311 Centerline is valid? [False, False] Translation: X:12.63, Y:0.19, Z:0.94 [[ 0.89970668 -0.09871681 -0.4251857 12.62529954] [ 0.12754871 0.99103322 0.03980563 0.18995441] [ 0.41744367 -0.09004528 0.90423041 0.93946332] [ 0. 0. 0. 1. ]] SLAMing on 46.049649246 meters Centerline goodness : 0.888438 Centerline is valid? [False, False] Translation: X:12.62, Y:0.19, Z:0.94 [[ 0.89943327 -0.10340964 -0.42464837 12.62435914] [ 0.13069988 0.99078416 0.03555691 0.19099189] [ 0.41705795 -0.08748256 0.90465987 0.93866808] [ 0. 0. 0. 1. ]] SLAMing on 46.079649246 meters Centerline goodness : 0.895372 Centerline is valid? [False, False] Translation: X:12.63, Y:0.19, Z:0.94 [[ 0.89899733 -0.10387565 -0.42545698 12.62628333] [ 0.13149564 0.99066354 0.03598111 0.18935544] [ 0.41774716 -0.08829266 0.90426308 0.94055492] [ 0. 0. 0. 1. ]] SLAMing on 46.109649246000004 meters Centerline goodness : 0.892721 Centerline is valid? [False, False] Translation: X:12.63, Y:0.19, Z:0.94 [[ 0.89877647 -0.10411404 -0.42586516 12.62729715] [ 0.13187165 0.99060811 0.03613096 0.18849815] [ 0.41810374 -0.08863319 0.90406494 0.94136052] [ 0. 0. 0. 1. ]] SLAMing on 46.139649246000005 meters Centerline goodness : 0.894075 Centerline is valid? [False, False] Translation: X:12.63, Y:0.19, Z:0.94 [[ 0.89852742 -0.10454151 -0.42628576 12.62891338] [ 0.13265539 0.99048225 0.03670777 0.18597201] [ 0.41839099 -0.08953204 0.90384346 0.94273988] [ 0. 0. 0. 1. ]] SLAMing on 46.169649246 meters Centerline goodness : 0.895042 Centerline is valid? [False, False] Translation: X:12.63, Y:0.19, Z:0.94 [[ 0.89836462 -0.10490849 -0.42653866 12.62980207] [ 0.13302187 0.99043835 0.03656584 0.18600636] [ 0.41862418 -0.08958842 0.90372989 0.94307317] [ 0. 0. 0. 1. ]] SLAMing on 46.199649246 meters Centerline goodness : 0.896874 Centerline is valid? [False, False] Translation: X:12.63, Y:0.19, Z:0.94 [[ 0.8982568 -0.10486133 -0.42677725 12.63007052] [ 0.13309248 0.99042115 0.03677409 0.18538537] [ 0.41883304 -0.08983342 0.90360879 0.9437636 ] [ 0. 0. 0. 1. ]] SLAMing on 46.229649246 meters Centerline goodness : 0.897267 Centerline is valid? [False, False] Translation: X:12.63, Y:0.19, Z:0.94 [[ 0.89817149 -0.10526856 -0.42685653 12.63088716] [ 0.13336404 0.99039945 0.03637253 0.18628495] [ 0.41892959 -0.08959608 0.90358759 0.94343633] [ 0. 0. 0. 1. ]] SLAMing on 46.259649246 meters Centerline goodness : 0.896988 Centerline is valid? [False, False] Translation: X:12.63, Y:0.19, Z:0.94 [[ 0.89800106 -0.10583342 -0.42707538 12.63231797] [ 0.13378462 0.99036052 0.03588476 0.18773971] [ 0.41916079 -0.08936067 0.90350368 0.94309844] [ 0. 0. 0. 1. ]] SLAMing on 46.289649246 meters Centerline goodness : 0.894249 Centerline is valid? [False, False] Translation: X:12.63, Y:0.19, Z:0.94 [[ 0.89785573 -0.10632104 -0.42725978 12.63365047] [ 0.1341247 0.99033142 0.03541537 0.18839686] [ 0.41936339 -0.08910398 0.90343502 0.94275673] [ 0. 0. 0. 1. ]] SLAMing on 46.319649246000004 meters Centerline goodness : 0.892756 Centerline is valid? [False, False] Translation: X:12.63, Y:0.19, Z:0.94 [[ 0.89777654 -0.10655675 -0.42736747 12.63445668] [ 0.13434139 0.99030628 0.03529687 0.18832366] [ 0.41946356 -0.08910184 0.90338872 0.94276827] [ 0. 0. 0. 1. ]] SLAMing on 46.349649246 meters Centerline goodness : 0.895461 Centerline is valid? [False, False] Translation: X:12.64, Y:0.19, Z:0.94 [[ 0.89748066 -0.10689007 -0.42790535 12.63575534] [ 0.13476923 0.99024803 0.03530009 0.18780803] [ 0.4199592 -0.08934962 0.90313394 0.94365358] [ 0. 0. 0. 1. ]] SLAMing on 46.379649246 meters Centerline goodness : 0.897231 Centerline is valid? [False, False] Translation: X:12.64, Y:0.19, Z:0.94 [[ 0.89707161 -0.10758626 -0.42858805 12.63808218] [ 0.13553391 0.99014964 0.03513195 0.18737421] [ 0.42058659 -0.08960409 0.90281672 0.94447362] [ 0. 0. 0. 1. ]] SLAMing on 46.409649246 meters Centerline goodness : 0.897110 Centerline is valid? [False, False] Translation: X:12.64, Y:0.19, Z:0.94 [[ 0.89683927 -0.10821913 -0.42891484 12.63987566] [ 0.13606832 0.99009147 0.03470287 0.18785087] [ 0.42090941 -0.08948462 0.90267811 0.94435017] [ 0. 0. 0. 1. ]] SLAMing on 46.439649246 meters Centerline goodness : 0.893439 Centerline is valid? [False, False] Translation: X:12.64, Y:0.19, Z:0.94 [[ 0.8965823 -0.10936976 -0.42916015 12.64272501] [ 0.13690922 0.99000935 0.0337247 0.18893039] [ 0.4211841 -0.08899295 0.90259859 0.94341706] [ 0. 0. 0. 1. ]] SLAMing on 46.469649246 meters Centerline goodness : 0.895919 Centerline is valid? [False, False] Translation: X:12.64, Y:0.19, Z:0.94 [[ 0.89623428 -0.10980214 -0.42977623 12.64435289] [ 0.13749784 0.98992457 0.03381862 0.18825171] [ 0.42173269 -0.08940271 0.90230188 0.94449943] [ 0. 0. 0. 1. ]] SLAMing on 46.499649246000004 meters Centerline goodness : 0.895925 Centerline is valid? [False, False] Translation: X:12.64, Y:0.19, Z:0.95 [[ 0.89586212 -0.1097698 -0.43055969 12.64477004] [ 0.13784478 0.98985446 0.03445233 0.18716761] [ 0.4224096 -0.09021494 0.90190431 0.94682586] [ 0. 0. 0. 1. ]] SLAMing on 46.529649246000005 meters Centerline goodness : 0.897028 Centerline is valid? [False, False] Translation: X:12.64, Y:0.19, Z:0.95 [[ 0.89576984 -0.10943739 -0.43083622 12.64452355] [ 0.13775231 0.98984906 0.03497355 0.18595158] [ 0.42263541 -0.09067693 0.90175219 0.94789979] [ 0. 0. 0. 1. ]] SLAMing on 46.559649246 meters Centerline goodness : 0.899000 Centerline is valid? [False, False] Translation: X:12.65, Y:0.19, Z:0.95 [[ 0.89557073 -0.10962031 -0.43120349 12.64513255] [ 0.13808415 0.98979611 0.03516291 0.18556833] [ 0.42294897 -0.09103324 0.90156925 0.94891184] [ 0. 0. 0. 1. ]] SLAMing on 46.589649246 meters Centerline goodness : 0.897730 Centerline is valid? [False, False] Translation: X:12.65, Y:0.18, Z:0.95 [[ 0.9005184 -0.10033197 -0.42308404 12.64861382] [ 0.13069269 0.99047743 0.04328837 0.18072075] [ 0.41471199 -0.09427597 0.9050558 0.9504135 ] [ 0. 0. 0. 1. ]] SLAMing on 46.619649246 meters Centerline goodness : 0.893717 Centerline is valid? [False, False] Translation: X:12.65, Y:0.18, Z:0.95 [[ 0.90054248 -0.10076866 -0.42292897 12.64895035] [ 0.13081103 0.99049436 0.04253693 0.18288806] [ 0.41462237 -0.09363008 0.90516391 0.94938248] [ 0. 0. 0. 1. ]] SLAMing on 46.649649246 meters Centerline goodness : 0.892805 Centerline is valid? [False, False] Translation: X:12.65, Y:0.18, Z:0.95 [[ 0.90039158 -0.10140104 -0.42309908 12.65028769] [ 0.13124048 0.99046412 0.04191388 0.1841186 ] [ 0.41481435 -0.09326663 0.90511347 0.94893376] [ 0. 0. 0. 1. ]] SLAMing on 46.679649246000004 meters Centerline goodness : 0.894969 Centerline is valid? [False, False] Translation: X:12.65, Y:0.19, Z:0.95 [[ 0.90035438 -0.10179084 -0.42308465 12.65096617] [ 0.13143221 0.9904603 0.04140018 0.18556462] [ 0.41483439 -0.09288178 0.90514386 0.94828607] [ 0. 0. 0. 1. ]] SLAMing on 46.709649246000005 meters Centerline goodness : 0.895518 Centerline is valid? [False, False] Translation: X:12.65, Y:0.19, Z:0.95 [[ 0.90018584 -0.10229637 -0.42332129 12.65224776] [ 0.13180788 0.99042916 0.04094827 0.18607914] [ 0.41508089 -0.09265813 0.90505377 0.94812093] [ 0. 0. 0. 1. ]] SLAMing on 46.739649246 meters Centerline goodness : 0.893208 Centerline is valid? [False, False] Translation: X:12.65, Y:0.19, Z:0.95 [[ 0.89999088 -0.10213835 -0.42377373 12.65233807] [ 0.13191562 0.99039392 0.04145056 0.18510434] [ 0.41546924 -0.0932075 0.90481914 0.9496179 ] [ 0. 0. 0. 1. ]] SLAMing on 46.769649246 meters Centerline goodness : 0.894082 Centerline is valid? [False, False] Translation: X:12.65, Y:0.18, Z:0.95 [[ 0.89990285 -0.10214402 -0.42395927 12.6524591 ] [ 0.13198749 0.99038028 0.04154763 0.18464667] [ 0.41563706 -0.09334615 0.90472777 0.95011414] [ 0. 0. 0. 1. ]] SLAMing on 46.799649246 meters Centerline goodness : 0.898265 Centerline is valid? [False, False] Translation: X:12.65, Y:0.18, Z:0.95 [[ 0.89979279 -0.10240163 -0.42413069 12.65321272] [ 0.1321839 0.99036379 0.04131569 0.18453955] [ 0.41581288 -0.09323881 0.90465804 0.95009938] [ 0. 0. 0. 1. ]] SLAMing on 46.829649246 meters Centerline goodness : 0.897277 Centerline is valid? [False, False] Translation: X:12.66, Y:0.19, Z:0.95 [[ 0.89960381 -0.10327809 -0.42431901 12.65546956] [ 0.13270115 0.99033662 0.04029608 0.18622055] [ 0.41605695 -0.09255813 0.90461572 0.94892999] [ 0. 0. 0. 1. ]] SLAMing on 46.859649246000004 meters Centerline goodness : 0.897387 Centerline is valid? [False, False] Translation: X:12.66, Y:0.19, Z:0.95 [[ 0.89926273 -0.10419734 -0.42481698 12.65779205] [ 0.1332231 0.99031411 0.03910972 0.18834673] [ 0.41662712 -0.09176535 0.90443406 0.94821611] [ 0. 0. 0. 1. ]] SLAMing on 46.889649246000005 meters Centerline goodness : 0.895158 Centerline is valid? [False, False] Translation: X:12.66, Y:0.19, Z:0.95 [[ 0.89912399 -0.10479938 -0.42496252 12.65909157] [ 0.13353468 0.99030334 0.03831174 0.18945698] [ 0.41682675 -0.09119424 0.90439984 0.94750878] [ 0. 0. 0. 1. ]] SLAMing on 46.919649246 meters Centerline goodness : 0.895158 Centerline is valid? [False, False] Translation: X:12.66, Y:0.19, Z:0.95 [[ 0.89912399 -0.10479938 -0.42496252 12.65909157] [ 0.13353468 0.99030334 0.03831174 0.18945698] [ 0.41682675 -0.09119424 0.90439984 0.94750878] [ 0. 0. 0. 1. ]] SLAMing on 46.949649246 meters Centerline goodness : 0.894279 Centerline is valid? [False, False] Translation: X:12.66, Y:0.19, Z:0.95 [[ 0.89867333 -0.106159 -0.42557786 12.66184647] [ 0.13485615 0.99014463 0.03778125 0.18967648] [ 0.41737281 -0.09134479 0.90413277 0.94818475] [ 0. 0. 0. 1. ]] SLAMing on 46.979649246 meters Centerline goodness : 0.893396 Centerline is valid? [False, False] Translation: X:12.66, Y:0.19, Z:0.95 [[ 0.89852166 -0.10662181 -0.42578237 12.66270911] [ 0.13533127 0.99008456 0.03765649 0.18994076] [ 0.41754554 -0.09145684 0.90404168 0.94850982] [ 0. 0. 0. 1. ]] SLAMing on 47.009649246 meters Centerline goodness : 0.896104 Centerline is valid? [False, False] Translation: X:12.66, Y:0.19, Z:0.95 [[ 0.89824606 -0.10714177 -0.4262331 12.66426934] [ 0.1359275 0.99000511 0.03759786 0.19037964] [ 0.41794465 -0.09170893 0.9038317 0.94912325] [ 0. 0. 0. 1. ]] SLAMing on 47.039649246 meters Centerline goodness : 0.895862 Centerline is valid? [False, False] Translation: X:12.67, Y:0.18, Z:0.95 [[ 0.90328352 -0.09629334 -0.41809865 12.66614546] [ 0.12723645 0.99077236 0.04670143 0.18427296] [ 0.40974355 -0.09538202 0.90720036 0.95212387] [ 0. 0. 0. 1. ]] SLAMing on 47.069649246000004 meters Centerline goodness : 0.897328 Centerline is valid? [False, False] Translation: X:12.67, Y:0.18, Z:0.95 [[ 0.90326896 -0.09595185 -0.41820859 12.66547656] [ 0.12706453 0.99077451 0.04712193 0.18315856] [ 0.40982897 -0.09570325 0.90712794 0.95300789] [ 0. 0. 0. 1. ]] SLAMing on 47.099649246 meters Centerline goodness : 0.901878 Centerline is valid? [False, False] Translation: X:12.66, Y:0.18, Z:0.95 [[ 0.90311082 -0.1003159 -0.41752552 12.66373332] [ 0.12997119 0.99057931 0.0431292 0.18348881] [ 0.4092656 -0.09321673 0.90764107 0.95229942] [ 0. 0. 0. 1. ]] SLAMing on 47.129649246 meters Centerline goodness : 0.901681 Centerline is valid? [False, False] Translation: X:12.66, Y:0.18, Z:0.95 [[ 0.9030058 -0.10067567 -0.41766606 12.6644926 ] [ 0.13023013 0.99055987 0.04279323 0.18382833] [ 0.409415 -0.09303524 0.90759231 0.95216184] [ 0. 0. 0. 1. ]] SLAMing on 47.159649246 meters Centerline goodness : 0.901079 Centerline is valid? [False, False] Translation: X:12.66, Y:0.18, Z:0.95 [[ 0.90307104 -0.10073666 -0.41751027 12.66443129] [ 0.13018023 0.99057592 0.04257304 0.18450866] [ 0.40928695 -0.09279806 0.90767434 0.95164889] [ 0. 0. 0. 1. ]] SLAMing on 47.189649246 meters Centerline goodness : 0.898147 Centerline is valid? [False, False] Translation: X:12.67, Y:0.19, Z:0.95 [[ 0.90301416 -0.10129752 -0.41749759 12.66532993] [ 0.13043875 0.99057546 0.04178514 0.18599811] [ 0.40933013 -0.09219044 0.90771679 0.95077486] [ 0. 0. 0. 1. ]] SLAMing on 47.219649246 meters Centerline goodness : 0.896418 Centerline is valid? [False, False] Translation: X:12.67, Y:0.19, Z:0.95 [[ 0.90293215 -0.1017773 -0.41755827 12.66629315] [ 0.1306956 0.99056725 0.04117269 0.18710603] [ 0.4094291 -0.09174917 0.90771686 0.95015216] [ 0. 0. 0. 1. ]] SLAMing on 47.249649246000004 meters Centerline goodness : 0.897528 Centerline is valid? [False, False] Translation: X:12.67, Y:0.19, Z:0.95 [[ 0.90286073 -0.10260025 -0.4175113 12.66825534] [ 0.13089964 0.99060303 0.03963492 0.19005981] [ 0.40952141 -0.0904369 0.90780691 0.94789634] [ 0. 0. 0. 1. ]] SLAMing on 47.279649246000005 meters Centerline goodness : 0.893852 Centerline is valid? [False, False] Translation: X:12.67, Y:0.19, Z:0.95 [[ 0.90262686 -0.1034532 -0.4178064 12.6701733 ] [ 0.13139913 0.9905779 0.03859666 0.19202076] [ 0.40987684 -0.08973778 0.90771587 0.94706941] [ 0. 0. 0. 1. ]] SLAMing on 47.309649246 meters Centerline goodness : 0.892039 Centerline is valid? [False, False] Translation: X:12.67, Y:0.20, Z:0.94 [[ 0.90254013 -0.10411538 -0.41782927 12.67176635] [ 0.13141517 0.99063604 0.03701755 0.19515637] [ 0.41006263 -0.08831893 0.90777112 0.94489293] [ 0. 0. 0. 1. ]] SLAMing on 47.339649246 meters Centerline goodness : 0.894197 Centerline is valid? [False, False] Translation: X:12.67, Y:0.20, Z:0.94 [[ 0.90254418 -0.10443005 -0.41774199 12.6720832 ] [ 0.13143612 0.99065908 0.03631986 0.19707822] [ 0.41004701 -0.08768667 0.90783947 0.94398883] [ 0. 0. 0. 1. ]] SLAMing on 47.369649246 meters Centerline goodness : 0.890157 Centerline is valid? [False, False] Translation: X:12.67, Y:0.20, Z:0.94 [[ 0.90245603 -0.1047001 -0.41786482 12.67223868] [ 0.13154608 0.99066058 0.03587831 0.19908073] [ 0.41020574 -0.08734708 0.90780049 0.94387463] [ 0. 0. 0. 1. ]] SLAMing on 47.399649246 meters Centerline goodness : 0.893210 Centerline is valid? [False, False] Translation: X:12.67, Y:0.20, Z:0.94 [[ 0.90231123 -0.10498653 -0.41810558 12.67297597] [ 0.13176988 0.9906401 0.03562156 0.19933636] [ 0.41045237 -0.08723545 0.90769974 0.94399632] [ 0. 0. 0. 1. ]] SLAMing on 47.429649246000004 meters Centerline goodness : 0.891344 Centerline is valid? [False, False] Translation: X:12.67, Y:0.20, Z:0.94 [[ 0.90233677 -0.10516955 -0.41800446 12.6732362 ] [ 0.13189173 0.99062931 0.03547023 0.19997153] [ 0.41035708 -0.08713743 0.90775224 0.94368692] [ 0. 0. 0. 1. ]] SLAMing on 47.459649246000005 meters Centerline goodness : 0.890182 Centerline is valid? [False, False] Translation: X:12.67, Y:0.20, Z:0.94 [[ 0.90227625 -0.10535079 -0.41808943 12.67368603] [ 0.13210312 0.99060087 0.03547788 0.19967321] [ 0.41042213 -0.08724176 0.90771281 0.94384122] [ 0. 0. 0. 1. ]] SLAMing on 47.489649246 meters Centerline goodness : 0.892889 Centerline is valid? [False, False] Translation: X:12.67, Y:0.20, Z:0.95 [[ 0.90215616 -0.1051431 -0.41840075 12.67372458] [ 0.13228159 0.99054714 0.03630361 0.19810626] [ 0.41062859 -0.08809825 0.9075367 0.94539268] [ 0. 0. 0. 1. ]] SLAMing on 47.519649246 meters Centerline goodness : 0.890734 Centerline is valid? [False, False] Translation: X:12.67, Y:0.20, Z:0.95 [[ 0.90198989 -0.10519577 -0.41874585 12.67437096] [ 0.13251001 0.99050574 0.03659898 0.1972876 ] [ 0.4109201 -0.08849992 0.90736565 0.94627032] [ 0. 0. 0. 1. ]] SLAMing on 47.549649246 meters Centerline goodness : 0.893214 Centerline is valid? [False, False] Translation: X:12.68, Y:0.19, Z:0.95 [[ 0.90638874 -0.09853368 -0.4107926 12.6775261 ] [ 0.12695257 0.99100178 0.04240905 0.1903122 ] [ 0.40291748 -0.09059026 0.91074196 0.94951911] [ 0. 0. 0. 1. ]] SLAMing on 47.579649246 meters Centerline goodness : 0.896112 Centerline is valid? [False, False] Translation: X:12.68, Y:0.19, Z:0.95 [[ 0.90615178 -0.10341804 -0.41011422 12.67752947] [ 0.13046356 0.99070784 0.03843495 0.18959574] [ 0.4023285 -0.08833286 0.91122395 0.94854903] [ 0. 0. 0. 1. ]] SLAMing on 47.609649246000004 meters Centerline goodness : 0.893724 Centerline is valid? [False, False] Translation: X:12.68, Y:0.19, Z:0.95 [[ 0.90575694 -0.10434744 -0.4107505 12.68040236] [ 0.13139269 0.99059856 0.03808497 0.18921465] [ 0.40291478 -0.08846533 0.91095201 0.94889611] [ 0. 0. 0. 1. ]] SLAMing on 47.639649246000005 meters Centerline goodness : 0.898354 Centerline is valid? [False, False] Translation: X:12.68, Y:0.19, Z:0.95 [[ 0.90545169 -0.10981794 -0.40999666 12.68074634] [ 0.13541379 0.99021162 0.03382379 0.18883132] [ 0.402269 -0.08614501 0.91145965 0.94785484] [ 0. 0. 0. 1. ]] SLAMing on 47.669649246 meters Centerline goodness : 0.900322 Centerline is valid? [False, False] Translation: X:12.68, Y:0.19, Z:0.95 [[ 0.90508663 -0.11666068 -0.40891133 12.6789231 ] [ 0.14002853 0.98976371 0.02756451 0.19087217] [ 0.4015099 -0.08220752 0.91215773 0.94803888] [ 0. 0. 0. 1. ]] SLAMing on 47.699649246 meters Centerline goodness : 0.902220 Centerline is valid? [False, False] Translation: X:12.68, Y:0.19, Z:0.95 [[ 0.90991415 -0.11052424 -0.39980074 12.67956105] [ 0.13499331 0.99028097 0.03347235 0.18810298] [ 0.39221556 -0.08442739 0.91599071 0.95009434] [ 0. 0. 0. 1. ]] SLAMing on 47.729649246 meters Centerline goodness : 0.895735 Centerline is valid? [False, False] Translation: X:12.68, Y:0.19, Z:0.95 [[ 0.9110329 -0.09922905 -0.40021576 12.6812123 ] [ 0.12802763 0.99071251 0.0458001 0.18861155] [ 0.39195406 -0.09296407 0.91527575 0.94795338] [ 0. 0. 0. 1. ]] SLAMing on 47.759649246 meters Centerline goodness : 0.886490 Centerline is valid? [False, False] Translation: X:12.68, Y:0.19, Z:0.95 [[ 0.91160032 -0.09041988 -0.40101011 12.68334705] [ 0.1222808 0.99099664 0.05452586 0.1885339 ] [ 0.39246945 -0.09874163 0.91444946 0.94677908] [ 0. 0. 0. 1. ]] SLAMing on 47.789649246 meters Centerline goodness : 0.884046 Centerline is valid? [False, False] Translation: X:12.68, Y:0.19, Z:0.95 [[ 0.91202918 -0.08439372 -0.40134832 12.68240443] [ 0.11838896 0.99111508 0.06062141 0.18706047] [ 0.39266631 -0.1028037 0.91391716 0.94758598] [ 0. 0. 0. 1. ]] SLAMing on 47.819649246000004 meters Centerline goodness : 0.882103 Centerline is valid? [False, False] Translation: X:12.68, Y:0.19, Z:0.95 [[ 0.91180807 -0.08946363 -0.40075217 12.68193273] [ 0.1216032 0.9910293 0.05544002 0.1899921 ] [ 0.39219727 -0.0992834 0.91450758 0.94548164] [ 0. 0. 0. 1. ]] SLAMing on 47.849649246 meters Centerline goodness : 0.884371 Centerline is valid? [False, False] Translation: X:12.68, Y:0.19, Z:0.95 [[ 0.91626872 -0.07962555 -0.39257026 12.68101732] [ 0.11204186 0.99187065 0.06032604 0.18582118] [ 0.38457542 -0.09925917 0.91774145 0.9508563 ] [ 0. 0. 0. 1. ]] SLAMing on 47.879649246 meters Centerline goodness : 0.889767 Centerline is valid? [False, False] Translation: X:12.70, Y:0.19, Z:0.95 [[ 0.91821594 -0.08266811 -0.38735702 12.69542711] [ 0.11062719 0.99258298 0.05040491 0.19013674] [ 0.38031711 -0.08913481 0.92055086 0.95004596] [ 0. 0. 0. 1. ]] SLAMing on 47.909649246 meters Centerline goodness : 0.888416 Centerline is valid? [False, False] Translation: X:12.70, Y:0.19, Z:0.95 [[ 0.92316777 -0.07234719 -0.37752768 12.69549095] [ 0.10253085 0.99289155 0.06044662 0.18562599] [ 0.3704709 -0.0945106 0.9240233 0.95182499] [ 0. 0. 0. 1. ]] SLAMing on 47.939649246 meters Centerline goodness : 0.889749 Centerline is valid? [False, False] Translation: X:12.70, Y:0.19, Z:0.95 [[ 0.92312291 -0.07284611 -0.37754143 12.6961606 ] [ 0.10282185 0.99289879 0.05983023 0.18714455] [ 0.37050203 -0.09405017 0.9240578 0.95116623] [ 0. 0. 0. 1. ]] SLAMing on 47.969649246 meters Centerline goodness : 0.891951 Centerline is valid? [False, False] Translation: X:12.71, Y:0.19, Z:0.95 [[ 0.92546452 -0.07526315 -0.37128274 12.70849646] [ 0.10126785 0.9935502 0.05101796 0.19102431] [ 0.36504827 -0.08481431 0.92711719 0.95112213] [ 0. 0. 0. 1. ]] SLAMing on 47.999649246000004 meters Centerline goodness : 0.894372 Centerline is valid? [False, False] Translation: X:12.72, Y:0.20, Z:0.95 [[ 0.92753508 -0.07747316 -0.3656181 12.7212851 ] [ 0.09952428 0.99415573 0.0418247 0.19505014] [ 0.36024103 -0.07518176 0.92982477 0.95113343] [ 0. 0. 0. 1. ]] SLAMing on 48.029649246000005 meters Centerline goodness : 0.896437 Centerline is valid? [False, False] Translation: X:12.72, Y:0.20, Z:0.95 [[ 0.92747027 -0.07755971 -0.36576413 12.72146167] [ 0.09957995 0.99415555 0.04169635 0.19556113] [ 0.36039248 -0.0750949 0.9297731 0.95133066] [ 0. 0. 0. 1. ]] SLAMing on 48.059649246 meters Centerline goodness : 0.893536 Centerline is valid? [False, False] Translation: X:12.72, Y:0.20, Z:0.95 [[ 0.92745598 -0.07764968 -0.36578126 12.72135348] [ 0.09958932 0.99416416 0.04146791 0.19613234] [ 0.36042665 -0.07488757 0.92977658 0.95130324] [ 0. 0. 0. 1. ]] SLAMing on 48.089649246 meters Centerline goodness : 0.893314 Centerline is valid? [False, False] Translation: X:12.72, Y:0.20, Z:0.95 [[ 0.9274854 -0.0776929 -0.36569748 12.72148136] [ 0.09938304 0.99421101 0.0408348 0.19778112] [ 0.36040789 -0.07421781 0.92983755 0.95035654] [ 0. 0. 0. 1. ]] SLAMing on 48.119649246 meters Centerline goodness : 0.892120 Centerline is valid? [False, False] Translation: X:12.72, Y:0.20, Z:0.95 [[ 0.9273892 -0.07829118 -0.36581385 12.72272201] [ 0.09967773 0.99421886 0.03991505 0.20014724] [ 0.36057403 -0.07348028 0.92983171 0.94934362] [ 0. 0. 0. 1. ]] SLAMing on 48.149649246 meters Centerline goodness : 0.887103 Centerline is valid? [False, False] Translation: X:12.72, Y:0.20, Z:0.95 [[ 0.92750599 -0.07796958 -0.36558635 12.72243993] [ 0.09898803 0.99432114 0.03907475 0.2042199 ] [ 0.36046359 -0.07243074 0.92995687 0.94758707] [ 0. 0. 0. 1. ]] SLAMing on 48.179649246000004 meters Centerline goodness : 0.890043 Centerline is valid? [False, False] Translation: X:12.72, Y:0.21, Z:0.95 [[ 0.92756958 -0.07801623 -0.36541504 12.72209546] [ 0.09877661 0.99436703 0.03843687 0.20632903] [ 0.36035797 -0.07174732 0.93005078 0.94675601] [ 0. 0. 0. 1. ]] SLAMing on 48.209649246000005 meters Centerline goodness : 0.890588 Centerline is valid? [False, False] Translation: X:12.72, Y:0.21, Z:0.95 [[ 0.92777003 -0.07314942 -0.36591246 12.72271101] [ 0.09489207 0.99461102 0.04176628 0.20870641] [ 0.36088538 -0.0734717 0.92971159 0.94638662] [ 0. 0. 0. 1. ]] SLAMing on 48.239649246 meters Centerline goodness : 0.885020 Centerline is valid? [False, False] Translation: X:12.72, Y:0.21, Z:0.94 [[ 0.92787461 -0.07324093 -0.36562888 12.72271002] [ 0.09463444 0.99467111 0.04091103 0.21125912] [ 0.36068412 -0.07256139 0.92986118 0.94484646] [ 0. 0. 0. 1. ]] SLAMing on 48.269649246 meters Centerline goodness : 0.890747 Centerline is valid? [False, False] Translation: X:12.72, Y:0.21, Z:0.94 [[ 0.92807888 -0.07240743 -0.36527627 12.72108063] [ 0.09359875 0.99478103 0.0406199 0.21280266] [ 0.36042873 -0.07188788 0.93001251 0.94392505] [ 0. 0. 0. 1. ]] SLAMing on 48.299649246 meters Centerline goodness : 0.889694 Centerline is valid? [False, False] Translation: X:12.72, Y:0.21, Z:0.94 [[ 0.92801713 -0.07243398 -0.36542787 12.72127297] [ 0.09355946 0.99479316 0.04041275 0.21351615] [ 0.36059789 -0.07169296 0.92996198 0.94395553] [ 0. 0. 0. 1. ]] SLAMing on 48.329649246 meters Centerline goodness : 0.889598 Centerline is valid? [False, False] Translation: X:12.72, Y:0.21, Z:0.94 [[ 0.9280912 -0.07196936 -0.36533155 12.72038707] [ 0.09300245 0.99485073 0.04028118 0.21443635] [ 0.36055134 -0.07136133 0.93000553 0.94371664] [ 0. 0. 0. 1. ]] SLAMing on 48.359649246000004 meters Centerline goodness : 0.888856 Centerline is valid? [False, False] Translation: X:12.72, Y:0.22, Z:0.94 [[ 0.92805834 -0.07271565 -0.36526724 12.72143052] [ 0.09331402 0.99487124 0.03903483 0.21804644] [ 0.36055543 -0.07031115 0.93008393 0.94223279] [ 0. 0. 0. 1. ]] SLAMing on 48.389649246000005 meters Centerline goodness : 0.887374 Centerline is valid? [False, False] Translation: X:12.72, Y:0.22, Z:0.94 [[ 0.9279034 -0.07786328 -0.3645992 12.7205827 ] [ 0.09697916 0.99469222 0.0343865 0.22055485] [ 0.35998655 -0.06726588 0.93052941 0.94113878] [ 0. 0. 0. 1. ]] SLAMing on 48.419649246 meters Centerline goodness : 0.885876 Centerline is valid? [False, False] Translation: X:12.72, Y:0.22, Z:0.94 [[ 0.92778988 -0.07811763 -0.36483364 12.72096859] [ 0.09728561 0.9946609 0.03442679 0.2202924 ] [ 0.36019641 -0.06743389 0.93043603 0.94176318] [ 0. 0. 0. 1. ]] SLAMing on 48.449649246 meters Centerline goodness : 0.886611 Centerline is valid? [False, False] Translation: X:12.72, Y:0.22, Z:0.94 [[ 0.92748512 -0.07923819 -0.36536647 12.72415058] [ 0.098144 0.99461041 0.03343483 0.22147554] [ 0.36074798 -0.06686883 0.93026311 0.94085867] [ 0. 0. 0. 1. ]] SLAMing on 48.479649246 meters Centerline goodness : 0.885243 Centerline is valid? [False, False] Translation: X:12.73, Y:0.22, Z:0.94 [[ 0.92743911 -0.0795644 -0.36541237 12.7254586 ] [ 0.09828221 0.99461525 0.03288012 0.22275848] [ 0.36082863 -0.06640784 0.93026485 0.93980194] [ 0. 0. 0. 1. ]] SLAMing on 48.509649246 meters Centerline goodness : 0.876622 Centerline is valid? [False, False] Translation: X:12.73, Y:0.22, Z:0.94 [[ 0.92736856 -0.07515845 -0.36652253 12.72823345] [ 0.09533958 0.99474778 0.03724527 0.22059803] [ 0.36179817 -0.06948419 0.9296634 0.9411842 ] [ 0. 0. 0. 1. ]] SLAMing on 48.539649246 meters Centerline goodness : 0.882675 Centerline is valid? [False, False] Translation: X:12.73, Y:0.22, Z:0.94 [[ 0.92726494 -0.07981455 -0.36579963 12.7273625 ] [ 0.09872411 0.99455917 0.03325075 0.22059716] [ 0.36115548 -0.0669455 0.93009947 0.94029789] [ 0. 0. 0. 1. ]] SLAMing on 48.569649246000004 meters Centerline goodness : 0.883399 Centerline is valid? [False, False] Translation: X:12.73, Y:0.22, Z:0.94 [[ 0.92717643 -0.07909485 -0.36618012 12.72665541] [ 0.09862358 0.99451254 0.03490259 0.21708545] [ 0.36141011 -0.06847485 0.9298892 0.9428924 ] [ 0. 0. 0. 1. ]] SLAMing on 48.599649246 meters Centerline goodness : 0.889585 Centerline is valid? [False, False] Translation: X:12.73, Y:0.21, Z:0.95 [[ 0.92702684 -0.07883307 -0.36661505 12.7266456 ] [ 0.09880754 0.99445485 0.03600866 0.21368589] [ 0.36174344 -0.06960533 0.92967563 0.94501326] [ 0. 0. 0. 1. ]] SLAMing on 48.629649246 meters Centerline goodness : 0.891093 Centerline is valid? [False, False] Translation: X:12.73, Y:0.21, Z:0.95 [[ 0.92695776 -0.07883255 -0.36678977 12.727051 ] [ 0.09891964 0.9944345 0.03626197 0.21259023] [ 0.36188978 -0.06989603 0.92959687 0.9454808 ] [ 0. 0. 0. 1. ]] SLAMing on 48.659649246 meters Centerline goodness : 0.888627 Centerline is valid? [False, False] Translation: X:12.73, Y:0.21, Z:0.95 [[ 0.92689269 -0.07909729 -0.3668972 12.72793083] [ 0.09918908 0.99440984 0.03620227 0.21228244] [ 0.36198269 -0.06994782 0.9295568 0.94539147] [ 0. 0. 0. 1. ]] SLAMing on 48.689649246 meters Centerline goodness : 0.887781 Centerline is valid? [False, False] Translation: X:12.73, Y:0.21, Z:0.94 [[ 0.92672837 -0.07968054 -0.36718597 12.73023394] [ 0.09973748 0.99436436 0.03594382 0.21141394] [ 0.36225262 -0.06993236 0.9294528 0.94490919] [ 0. 0. 0. 1. ]] SLAMing on 48.719649246 meters Centerline goodness : 0.885209 Centerline is valid? [False, False] Translation: X:12.73, Y:0.21, Z:0.94 [[ 0.92654468 -0.08022411 -0.36753102 12.73209016] [ 0.10020309 0.99433097 0.03557066 0.21101644] [ 0.36259385 -0.06978555 0.92933077 0.9446629 ] [ 0. 0. 0. 1. ]] SLAMing on 48.749649246000004 meters Centerline goodness : 0.886521 Centerline is valid? [False, False] Translation: X:12.73, Y:0.21, Z:0.95 [[ 0.92629347 -0.08055096 -0.36809231 12.73383622] [ 0.10054938 0.99430056 0.03544318 0.21028668] [ 0.3631394 -0.06984224 0.92911347 0.94504877] [ 0. 0. 0. 1. ]] SLAMing on 48.779649246000005 meters Centerline goodness : 0.886451 Centerline is valid? [False, False] Translation: X:12.73, Y:0.21, Z:0.94 [[ 0.92632865 -0.08051814 -0.36801095 12.73391049] [ 0.1003858 0.99432815 0.03513153 0.21085082] [ 0.36309492 -0.06948641 0.92915753 0.94444969] [ 0. 0. 0. 1. ]] SLAMing on 48.809649246 meters Centerline goodness : 0.886451 Centerline is valid? [False, False] Translation: X:12.73, Y:0.21, Z:0.94 [[ 0.92632865 -0.08051814 -0.36801095 12.73391049] [ 0.1003858 0.99432815 0.03513153 0.21085082] [ 0.36309492 -0.06948641 0.92915753 0.94444969] [ 0. 0. 0. 1. ]] SLAMing on 48.839649246 meters Centerline goodness : 0.887949 Centerline is valid? [False, False] Translation: X:12.73, Y:0.21, Z:0.94 [[ 0.92629109 -0.08071647 -0.36806204 12.73456733] [ 0.10047585 0.99433047 0.03480675 0.21160509] [ 0.36316583 -0.06922253 0.92914952 0.94403416] [ 0. 0. 0. 1. ]] SLAMing on 48.869649246 meters Centerline goodness : 0.889269 Centerline is valid? [False, False] Translation: X:12.73, Y:0.21, Z:0.94 [[ 0.92643144 -0.08034803 -0.36778932 12.73374456] [ 0.10001949 0.99437998 0.03470664 0.21253133] [ 0.36293373 -0.06893942 0.92926125 0.94347966] [ 0. 0. 0. 1. ]] SLAMing on 48.899649246 meters Centerline goodness : 0.888067 Centerline is valid? [False, False] Translation: X:12.73, Y:0.21, Z:0.94 [[ 0.92641827 -0.08038603 -0.36781418 12.73371855] [ 0.10000627 0.99438631 0.03456329 0.21350862] [ 0.36297098 -0.06880379 0.92925675 0.94347228] [ 0. 0. 0. 1. ]] SLAMing on 48.929649246000004 meters Centerline goodness : 0.886562 Centerline is valid? [False, False] Translation: X:12.73, Y:0.22, Z:0.94 [[ 0.92653866 -0.0803288 -0.36752332 12.73321089] [ 0.0997933 0.99441909 0.03423419 0.21511408] [ 0.36272221 -0.06839567 0.92938401 0.94277926] [ 0. 0. 0. 1. ]] SLAMing on 48.959649246000005 meters Centerline goodness : 0.887688 Centerline is valid? [False, False] Translation: X:12.73, Y:0.21, Z:0.94 [[ 0.92637466 -0.08095678 -0.36779884 12.73441149] [ 0.10043247 0.99435972 0.03408912 0.21491828] [ 0.3629646 -0.06851824 0.92928034 0.9431493 ] [ 0. 0. 0. 1. ]] SLAMing on 48.989649246 meters Centerline goodness : 0.885861 Centerline is valid? [False, False] Translation: X:12.74, Y:0.21, Z:0.94 [[ 0.92624753 -0.08128048 -0.36804755 12.73510491] [ 0.10083357 0.99431615 0.03417591 0.21438937] [ 0.36317779 -0.0687669 0.92917867 0.94371585] [ 0. 0. 0. 1. ]] SLAMing on 49.019649246 meters Centerline goodness : 0.886626 Centerline is valid? [False, False] Translation: X:12.74, Y:0.21, Z:0.94 [[ 0.92613097 -0.08163357 -0.36826266 12.7361252 ] [ 0.1012836 0.99426566 0.0343136 0.21351661] [ 0.36334977 -0.06907785 0.92908837 0.94410549] [ 0. 0. 0. 1. ]] SLAMing on 49.049649246 meters Centerline goodness : 0.886876 Centerline is valid? [False, False] Translation: X:12.74, Y:0.21, Z:0.95 [[ 0.92585787 -0.08187072 -0.36889619 12.73752225] [ 0.10187163 0.99418042 0.03503529 0.21154466] [ 0.363881 -0.07001775 0.92881006 0.9457608 ] [ 0. 0. 0. 1. ]] SLAMing on 49.079649246 meters Centerline goodness : 0.890128 Centerline is valid? [False, False] Translation: X:12.74, Y:0.21, Z:0.95 [[ 0.92565237 -0.0820593 -0.36936967 12.73859134] [ 0.10229015 0.99412138 0.03548808 0.20980044] [ 0.36428616 -0.07063251 0.92860467 0.94692344] [ 0. 0. 0. 1. ]] SLAMing on 49.109649246000004 meters Centerline goodness : 0.891665 Centerline is valid? [False, False] Translation: X:12.74, Y:0.21, Z:0.95 [[ 0.92560831 -0.08647151 -0.36847242 12.73716195] [ 0.1054183 0.99392697 0.03156189 0.21030981] [ 0.36350548 -0.06805768 0.92910275 0.94587697] [ 0. 0. 0. 1. ]] SLAMing on 49.139649246000005 meters Centerline goodness : 0.895027 Centerline is valid? [False, False] Translation: X:12.74, Y:0.21, Z:0.95 [[ 0.92501149 -0.08764955 -0.36969081 12.74039686] [ 0.10727996 0.99368649 0.03283561 0.2074417 ] [ 0.36447873 -0.07003373 0.92857446 0.94949626] [ 0. 0. 0. 1. ]] SLAMing on 49.169649246 meters Centerline goodness : 0.895099 Centerline is valid? [False, False] Translation: X:12.74, Y:0.21, Z:0.95 [[ 0.92466779 -0.08864974 -0.37031162 12.74344932] [ 0.10830441 0.99358377 0.03257976 0.20619451] [ 0.36504743 -0.07023184 0.92833607 0.94975589] [ 0. 0. 0. 1. ]] SLAMing on 49.199649246 meters Centerline goodness : 0.892420 Centerline is valid? [False, False] Translation: X:12.75, Y:0.21, Z:0.95 [[ 0.92440184 -0.08928052 -0.37082371 12.74546603] [ 0.10892879 0.99352341 0.03233796 0.20602498] [ 0.36553489 -0.07028665 0.92814009 0.95003415] [ 0. 0. 0. 1. ]] SLAMing on 49.229649246 meters Centerline goodness : 0.896055 Centerline is valid? [False, False] Translation: X:12.75, Y:0.21, Z:0.95 [[ 0.9242593 -0.08933424 -0.37116591 12.74575658] [ 0.10917191 0.99348364 0.03273751 0.20573666] [ 0.36582268 -0.07077884 0.92798929 0.95125579] [ 0. 0. 0. 1. ]] SLAMing on 49.259649246 meters Centerline goodness : 0.898017 Centerline is valid? [False, False] Translation: X:12.75, Y:0.21, Z:0.95 [[ 0.9243668 -0.08918228 -0.37093469 12.74525231] [ 0.10905451 0.9934911 0.0329022 0.20558493] [ 0.36558602 -0.0708658 0.92807592 0.95119335] [ 0. 0. 0. 1. ]] SLAMing on 49.289649246 meters Centerline goodness : 0.900888 Centerline is valid? [False, False] Translation: X:12.75, Y:0.21, Z:0.95 [[ 0.92419508 -0.08965181 -0.37124924 12.74645853] [ 0.10950284 0.99344867 0.0326937 0.2060455 ] [ 0.36588602 -0.0708682 0.9279575 0.95138192] [ 0. 0. 0. 1. ]] SLAMing on 49.319649246000004 meters Centerline goodness : 0.898034 Centerline is valid? [False, False] Translation: X:12.75, Y:0.21, Z:0.95 [[ 0.92410993 -0.09015375 -0.37133965 12.74760774] [ 0.10987413 0.99342223 0.0322482 0.20688513] [ 0.36598977 -0.07060151 0.92793691 0.95086444] [ 0. 0. 0. 1. ]] SLAMing on 49.349649246000006 meters Centerline goodness : 0.901607 Centerline is valid? [False, False] Translation: X:12.75, Y:0.21, Z:0.95 [[ 0.92378869 -0.09095407 -0.37194328 12.74967789] [ 0.110747 0.99332835 0.03215429 0.20709662] [ 0.36653724 -0.07089537 0.92769839 0.95171737] [ 0. 0. 0. 1. ]] SLAMing on 49.379649246 meters Centerline goodness : 0.901713 Centerline is valid? [False, False] Translation: X:12.75, Y:0.21, Z:0.95 [[ 0.92349679 -0.09162306 -0.37250355 12.75160827] [ 0.1114641 0.99325209 0.03203175 0.20633948] [ 0.36705509 -0.07110199 0.9274778 0.95239194] [ 0. 0. 0. 1. ]] SLAMing on 49.409649246 meters Centerline goodness : 0.901861 Centerline is valid? [False, False] Translation: X:12.75, Y:0.21, Z:0.95 [[ 0.92321645 -0.09212853 -0.37307336 12.7533557 ] [ 0.11209254 0.9931783 0.0321267 0.20545024] [ 0.36756858 -0.07147864 0.92724546 0.95335728] [ 0. 0. 0. 1. ]] SLAMing on 49.439649246 meters Centerline goodness : 0.903167 Centerline is valid? [False, False] Translation: X:12.76, Y:0.21, Z:0.95 [[ 0.92298022 -0.09286255 -0.37347564 12.75526675] [ 0.11279861 0.99310786 0.0318317 0.20552809] [ 0.36794562 -0.07150756 0.92709368 0.9535156 ] [ 0. 0. 0. 1. ]] SLAMing on 49.469649246 meters Centerline goodness : 0.899847 Centerline is valid? [False, False] Translation: X:12.76, Y:0.21, Z:0.95 [[ 0.92283351 -0.09331422 -0.37372554 12.75667191] [ 0.11320347 0.99306998 0.03157505 0.20608646] [ 0.36818921 -0.07144555 0.92700175 0.9533596 ] [ 0. 0. 0. 1. ]] SLAMing on 49.499649246000004 meters Centerline goodness : 0.898616 Centerline is valid? [False, False] Translation: X:12.76, Y:0.21, Z:0.95 [[ 0.92247872 -0.09453639 -0.37429385 12.76048436] [ 0.11433285 0.99295906 0.03098864 0.20620107] [ 0.36872892 -0.07138044 0.92679222 0.95288872] [ 0. 0. 0. 1. ]] SLAMing on 49.529649246000005 meters Centerline goodness : 0.900418 Centerline is valid? [False, False] Translation: X:12.76, Y:0.21, Z:0.95 [[ 0.92229257 -0.0948909 -0.37466269 12.76162885] [ 0.11468965 0.99292225 0.03084942 0.20599138] [ 0.3690836 -0.07142212 0.92664782 0.95324255] [ 0. 0. 0. 1. ]] SLAMing on 49.559649246 meters Centerline goodness : 0.897748 Centerline is valid? [False, False] Translation: X:12.76, Y:0.20, Z:0.96 [[ 0.922145 -0.09434098 -0.37516448 12.76108942] [ 0.11456402 0.99290309 0.03191451 0.20396203] [ 0.36949113 -0.07241015 0.9264087 0.95553622] [ 0. 0. 0. 1. ]] SLAMing on 49.589649246 meters Centerline goodness : 0.899697 Centerline is valid? [False, False] Translation: X:12.76, Y:0.20, Z:0.96 [[ 0.92203694 -0.09470917 -0.37533726 12.76228959] [ 0.11497676 0.99285524 0.03191882 0.20305161] [ 0.36963256 -0.0725854 0.92633856 0.95564348] [ 0. 0. 0. 1. ]] SLAMing on 49.619649246 meters Centerline goodness : 0.897688 Centerline is valid? [False, False] Translation: X:12.76, Y:0.20, Z:0.96 [[ 0.92182822 -0.095454 -0.37566111 12.7644441 ] [ 0.11563493 0.9927925 0.03148988 0.20333229] [ 0.3699477 -0.07246781 0.92622196 0.95531181] [ 0. 0. 0. 1. ]] SLAMing on 49.649649246 meters Centerline goodness : 0.897365 Centerline is valid? [False, False] Translation: X:12.77, Y:0.20, Z:0.96 [[ 0.92150163 -0.09626005 -0.37625622 12.76699106] [ 0.11642572 0.99271015 0.03117068 0.20351913] [ 0.37051288 -0.07252974 0.92599117 0.95553835] [ 0. 0. 0. 1. ]] SLAMing on 49.679649246000004 meters Centerline goodness : 0.896874 Centerline is valid? [False, False] Translation: X:12.77, Y:0.20, Z:0.96 [[ 0.92105929 -0.09745174 -0.37703175 12.77077119] [ 0.11758505 0.99258829 0.03069595 0.2031535 ] [ 0.37124593 -0.07260609 0.92569154 0.95571421] [ 0. 0. 0. 1. ]] SLAMing on 49.709649246000005 meters Centerline goodness : 0.898124 Centerline is valid? [False, False] Translation: X:12.78, Y:0.20, Z:0.96 [[ 0.92495397 -0.08857981 -0.36961301 12.77506668] [ 0.11069926 0.99308746 0.03902522 0.19727573] [ 0.3636012 -0.07701242 0.9283659 0.958682 ] [ 0. 0. 0. 1. ]] SLAMing on 49.739649246 meters Centerline goodness : 0.898164 Centerline is valid? [False, False] Translation: X:12.78, Y:0.20, Z:0.96 [[ 0.92481438 -0.08890431 -0.36988429 12.77612572] [ 0.11103651 0.99305335 0.03893498 0.19726169] [ 0.36385334 -0.07707829 0.92826165 0.95889452] [ 0. 0. 0. 1. ]] SLAMing on 49.769649246 meters Centerline goodness : 0.898606 Centerline is valid? [False, False] Translation: X:12.78, Y:0.20, Z:0.96 [[ 0.92456013 -0.08945274 -0.37038733 12.77771161] [ 0.11171046 0.99297376 0.039037 0.19701465] [ 0.36429293 -0.0774682 0.92805675 0.95982325] [ 0. 0. 0. 1. ]] SLAMing on 49.799649246 meters Centerline goodness : 0.899256 Centerline is valid? [False, False] Translation: X:12.78, Y:0.20, Z:0.96 [[ 0.92440393 -0.08996831 -0.37065223 12.77903864] [ 0.11215741 0.99293639 0.03870459 0.1975549 ] [ 0.3645519 -0.07735007 0.92796491 0.9597438 ] [ 0. 0. 0. 1. ]] SLAMing on 49.829649246 meters Centerline goodness : 0.898387 Centerline is valid? [False, False] Translation: X:12.78, Y:0.20, Z:0.96 [[ 0.92426306 -0.09054301 -0.37086354 12.78044605] [ 0.1125367 0.99291874 0.03805082 0.19890499] [ 0.36479212 -0.07690473 0.92790752 0.95922698] [ 0. 0. 0. 1. ]] SLAMing on 49.859649246000004 meters Centerline goodness : 0.897879 Centerline is valid? [False, False] Translation: X:12.78, Y:0.20, Z:0.96 [[ 0.92417968 -0.09090084 -0.37098377 12.78137112] [ 0.1127481 0.99291255 0.03758363 0.20011508] [ 0.36493806 -0.07656174 0.9278785 0.95880394] [ 0. 0. 0. 1. ]] SLAMing on 49.889649246000005 meters Centerline goodness : 0.899649 Centerline is valid? [False, False] Translation: X:12.78, Y:0.20, Z:0.96 [[ 0.92853781 -0.08135662 -0.36221353 12.78301571] [ 0.10465515 0.99348367 0.04513854 0.19666903] [ 0.35618091 -0.07982035 0.93100154 0.96135929] [ 0. 0. 0. 1. ]] SLAMing on 49.919649246 meters Centerline goodness : 0.902369 Centerline is valid? [False, False] Translation: X:12.78, Y:0.20, Z:0.96 [[ 0.92861237 -0.0814678 -0.36199733 12.78284207] [ 0.10434866 0.99356354 0.04407774 0.19994187] [ 0.35607643 -0.07870507 0.93113645 0.95985858] [ 0. 0. 0. 1. ]] SLAMing on 49.949649246 meters Centerline goodness : 0.901152 Centerline is valid? [False, False] Translation: X:12.78, Y:0.20, Z:0.96 [[ 0.92851142 -0.08204758 -0.3621253 12.78417885] [ 0.10442769 0.9936183 0.04263256 0.2035747 ] [ 0.35631643 -0.07740073 0.93115398 0.95812487] [ 0. 0. 0. 1. ]] SLAMing on 49.979649246 meters Centerline goodness : 0.904178 Centerline is valid? [False, False] Translation: X:12.79, Y:0.20, Z:0.96 [[ 0.92836186 -0.0824908 -0.36240795 12.78549738] [ 0.10468113 0.99361899 0.04199008 0.20487331] [ 0.35663162 -0.07691926 0.93107321 0.9576487 ] [ 0. 0. 0. 1. ]] SLAMing on 50.009649246 meters Centerline goodness : 0.907154 Centerline is valid? [False, False] Translation: X:12.79, Y:0.21, Z:0.96 [[ 0.92815807 -0.08305655 -0.36280051 12.78713126] [ 0.10505951 0.99360768 0.04130702 0.20605825] [ 0.35705055 -0.07645509 0.93095087 0.95724865] [ 0. 0. 0. 1. ]] SLAMing on 50.039649246 meters Centerline goodness : 0.903975 Centerline is valid? [False, False] Translation: X:12.79, Y:0.21, Z:0.96 [[ 0.92793346 -0.08407501 -0.36314032 12.78989051] [ 0.10568387 0.99359433 0.04001524 0.20823546] [ 0.35744988 -0.07550955 0.9308748 0.95580601] [ 0. 0. 0. 1. ]] SLAMing on 50.069649246000004 meters Centerline goodness : 0.907264 Centerline is valid? [False, False] Translation: X:12.79, Y:0.21, Z:0.96 [[ 0.9274643 -0.08523332 -0.36406766 12.79243994] [ 0.10704183 0.99344512 0.04011027 0.20725879] [ 0.35826251 -0.07617132 0.93050841 0.9577569 ] [ 0. 0. 0. 1. ]] SLAMing on 50.099649246000006 meters Centerline goodness : 0.906611 Centerline is valid? [False, False] Translation: X:12.79, Y:0.21, Z:0.96 [[ 0.92718076 -0.08618087 -0.36456645 12.79494985] [ 0.10780016 0.99339429 0.03933068 0.20876438] [ 0.35876868 -0.07576697 0.93034639 0.95734108] [ 0. 0. 0. 1. ]] SLAMing on 50.129649246 meters Centerline goodness : 0.904930 Centerline is valid? [False, False] Translation: X:12.80, Y:0.21, Z:0.96 [[ 0.92683172 -0.08777552 -0.36507317 12.79907698] [ 0.10909133 0.99329998 0.03813449 0.21032565] [ 0.3592799 -0.07517058 0.93019747 0.95615656] [ 0. 0. 0. 1. ]] SLAMing on 50.159649246 meters Centerline goodness : 0.903808 Centerline is valid? [False, False] Translation: X:12.80, Y:0.21, Z:0.96 [[ 0.92653195 -0.08844294 -0.36567253 12.80120712] [ 0.10979199 0.99322938 0.037962 0.21039839] [ 0.35983923 -0.07532092 0.92996908 0.95666922] [ 0. 0. 0. 1. ]] SLAMing on 50.189649246 meters Centerline goodness : 0.904404 Centerline is valid? [False, False] Translation: X:12.80, Y:0.21, Z:0.96 [[ 0.92626069 -0.08895819 -0.36623431 12.8030028 ] [ 0.11035292 0.99317119 0.03785789 0.21028647] [ 0.3603656 -0.0754813 0.92975223 0.95724856] [ 0. 0. 0. 1. ]] SLAMing on 50.219649246 meters Centerline goodness : 0.905860 Centerline is valid? [False, False] Translation: X:12.80, Y:0.21, Z:0.96 [[ 0.92611441 -0.0886337 -0.36668266 12.80288321] [ 0.11041632 0.99312711 0.03881725 0.20843175] [ 0.36072198 -0.07643696 0.92953593 0.95931849] [ 0. 0. 0. 1. ]] SLAMing on 50.249649246000004 meters Centerline goodness : 0.909406 Centerline is valid? [False, False] Translation: X:12.80, Y:0.21, Z:0.96 [[ 0.92603707 -0.0883505 -0.36694623 12.8028292 ] [ 0.11036239 0.99311013 0.03940057 0.20746458] [ 0.36093696 -0.07698345 0.92940737 0.96051225] [ 0. 0. 0. 1. ]] SLAMing on 50.279649246000005 meters Centerline goodness : 0.906922 Centerline is valid? [False, False] Translation: X:12.80, Y:0.21, Z:0.96 [[ 0.92585026 -0.08860799 -0.36735531 12.80401531] [ 0.11065951 0.99307864 0.03936091 0.20730904] [ 0.36132502 -0.07709366 0.92924743 0.96093678] [ 0. 0. 0. 1. ]] SLAMing on 50.309649246 meters Centerline goodness : 0.910670 Centerline is valid? [False, False] Translation: X:12.81, Y:0.21, Z:0.96 [[ 0.92564554 -0.08888568 -0.36780385 12.80519323] [ 0.11097761 0.99304516 0.03931017 0.2073255 ] [ 0.36175172 -0.07720528 0.92907214 0.96146223] [ 0. 0. 0. 1. ]] SLAMing on 50.339649246 meters Centerline goodness : 0.908429 Centerline is valid? [False, False] Translation: X:12.81, Y:0.21, Z:0.96 [[ 0.92528478 -0.08970485 -0.36851203 12.80796193] [ 0.11169842 0.99298664 0.03874264 0.20789684] [ 0.36245212 -0.07701019 0.92881532 0.96155387] [ 0. 0. 0. 1. ]] SLAMing on 50.369649246 meters Centerline goodness : 0.908014 Centerline is valid? [False, False] Translation: X:12.81, Y:0.21, Z:0.96 [[ 0.92505048 -0.09065215 -0.36886825 12.81096039] [ 0.1124172 0.9929381 0.03789865 0.20944727] [ 0.36282775 -0.0765253 0.92870873 0.96051647] [ 0. 0. 0. 1. ]] SLAMing on 50.399649246 meters Centerline goodness : 0.909052 Centerline is valid? [False, False] Translation: X:12.81, Y:0.21, Z:0.96 [[ 0.92483478 -0.09129878 -0.36924946 12.81272489] [ 0.11298501 0.99288919 0.03748928 0.21004602] [ 0.36320107 -0.07639104 0.92857385 0.96047761] [ 0. 0. 0. 1. ]] SLAMing on 50.429649246000004 meters Centerline goodness : 0.907800 Centerline is valid? [False, False] Translation: X:12.81, Y:0.21, Z:0.96 [[ 0.92459474 -0.09183032 -0.36971849 12.81453507] [ 0.11353354 0.99283274 0.03732668 0.2098888 ] [ 0.3636409 -0.0764875 0.92839375 0.96081615] [ 0. 0. 0. 1. ]] SLAMing on 50.459649246000005 meters Centerline goodness : 0.910200 Centerline is valid? [False, False] Translation: X:12.82, Y:0.21, Z:0.97 [[ 0.92398548 -0.08936562 -0.37183951 12.82060854] [ 0.11300021 0.99269773 0.04221579 0.20803827] [ 0.36535159 -0.08102472 0.92733662 0.96574005] [ 0. 0. 0. 1. ]] SLAMing on 50.489649246 meters Centerline goodness : 0.908221 Centerline is valid? [False, False] Translation: X:12.82, Y:0.21, Z:0.96 [[ 0.92385535 -0.09009674 -0.37198639 12.82262906] [ 0.11341687 0.99269102 0.04124493 0.20954862] [ 0.36555152 -0.08029388 0.9273214 0.96446349] [ 0. 0. 0. 1. ]] SLAMing on 50.519649246 meters Centerline goodness : 0.907345 Centerline is valid? [False, False] Translation: X:12.82, Y:0.21, Z:0.96 [[ 0.92373065 -0.09045428 -0.37220922 12.82394321] [ 0.11364938 0.9926825 0.04080779 0.21053426] [ 0.36579434 -0.07999675 0.92725132 0.96402463] [ 0. 0. 0. 1. ]] SLAMing on 50.549649246 meters Centerline goodness : 0.908553 Centerline is valid? [False, False] Translation: X:12.83, Y:0.21, Z:0.96 [[ 0.92349346 -0.09091559 -0.37268509 12.82524581] [ 0.11405644 0.99264959 0.04047131 0.21161107] [ 0.36626623 -0.07988212 0.92707491 0.96436978] [ 0. 0. 0. 1. ]] SLAMing on 50.579649246 meters Centerline goodness : 0.910178 Centerline is valid? [False, False] Translation: X:12.83, Y:0.21, Z:0.96 [[ 0.92334932 -0.09100226 -0.37302095 12.82580998] [ 0.11403947 0.99266603 0.04011414 0.21319305] [ 0.36663475 -0.07957847 0.92695535 0.96453882] [ 0. 0. 0. 1. ]] SLAMing on 50.609649246000004 meters Centerline goodness : 0.909923 Centerline is valid? [False, False] Translation: X:12.83, Y:0.21, Z:0.96 [[ 0.92316287 -0.09144197 -0.37337473 12.82719934] [ 0.11438279 0.992643 0.03970466 0.21426418] [ 0.36699714 -0.07936151 0.92683054 0.96447981] [ 0. 0. 0. 1. ]] SLAMing on 50.639649246000005 meters Centerline goodness : 0.910094 Centerline is valid? [False, False] Translation: X:12.83, Y:0.22, Z:0.96 [[ 0.92295741 -0.09154219 -0.37385779 12.82815398] [ 0.11437982 0.99265892 0.03931316 0.2156897 ] [ 0.36751446 -0.07904616 0.92665248 0.96463901] [ 0. 0. 0. 1. ]] SLAMing on 50.669649246 meters Centerline goodness : 0.912863 Centerline is valid? [False, False] Translation: X:12.83, Y:0.22, Z:0.96 [[ 0.92277096 -0.09167461 -0.37428535 12.82891444] [ 0.11443555 0.99266501 0.03899598 0.21741515] [ 0.36796503 -0.07881591 0.92649328 0.96496853] [ 0. 0. 0. 1. ]] SLAMing on 50.699649246 meters Centerline goodness : 0.912863 Centerline is valid? [False, False] Translation: X:12.83, Y:0.22, Z:0.96 [[ 0.92277096 -0.09167461 -0.37428535 12.82891444] [ 0.11443555 0.99266501 0.03899598 0.21741515] [ 0.36796503 -0.07881591 0.92649328 0.96496853] [ 0. 0. 0. 1. ]] SLAMing on 50.729649246 meters Centerline goodness : 0.913720 Centerline is valid? [False, False] Translation: X:12.83, Y:0.22, Z:0.96 [[ 0.92255058 -0.09225754 -0.37468516 12.8307742 ] [ 0.11489863 0.99263122 0.03849123 0.2187653 ] [ 0.36837308 -0.07856092 0.92635277 0.96473341] [ 0. 0. 0. 1. ]] SLAMing on 50.759649246 meters Centerline goodness : 0.912409 Centerline is valid? [False, False] Translation: X:12.83, Y:0.22, Z:0.96 [[ 0.92227679 -0.09290854 -0.37519797 12.83292146] [ 0.11546019 0.99258404 0.03802452 0.22020224] [ 0.36888272 -0.07838957 0.92616447 0.96470728] [ 0. 0. 0. 1. ]] SLAMing on 50.789649246 meters Centerline goodness : 0.911237 Centerline is valid? [False, False] Translation: X:12.83, Y:0.22, Z:0.97 [[ 0.92209678 -0.09313009 -0.37558529 12.83391276] [ 0.11566908 0.99256594 0.03786178 0.22063244] [ 0.36926709 -0.07835583 0.92601414 0.96504503] [ 0. 0. 0. 1. ]] SLAMing on 50.819649246000004 meters Centerline goodness : 0.914862 Centerline is valid? [False, False] Translation: X:12.83, Y:0.22, Z:0.97 [[ 0.92203845 -0.09267518 -0.37584092 12.83309102] [ 0.1153178 0.99259577 0.03815032 0.22119081] [ 0.36952252 -0.07851721 0.92589857 0.96606623] [ 0. 0. 0. 1. ]] SLAMing on 50.849649246000006 meters Centerline goodness : 0.915956 Centerline is valid? [False, False] Translation: X:12.83, Y:0.22, Z:0.97 [[ 0.92194144 -0.09254382 -0.37611118 12.83324356] [ 0.11519809 0.99260995 0.0381429 0.22169587] [ 0.36980181 -0.07849281 0.92578912 0.96646434] [ 0. 0. 0. 1. ]] SLAMing on 50.879649246 meters Centerline goodness : 0.918815 Centerline is valid? [False, False] Translation: X:12.83, Y:0.22, Z:0.97 [[ 0.92182118 -0.09251269 -0.3764135 12.83358673] [ 0.11510773 0.99262853 0.03793171 0.22274307] [ 0.37012961 -0.07829436 0.92567492 0.96668711] [ 0. 0. 0. 1. ]] SLAMing on 50.909649246 meters Centerline goodness : 0.920247 Centerline is valid? [False, False] Translation: X:12.83, Y:0.22, Z:0.97 [[ 0.92168392 -0.09265465 -0.37671458 12.83395637] [ 0.11514062 0.99263872 0.03756334 0.22493368] [ 0.37046106 -0.07799668 0.92556746 0.96688349] [ 0. 0. 0. 1. ]] SLAMing on 50.939649246 meters Centerline goodness : 0.919087 Centerline is valid? [False, False] Translation: X:12.84, Y:0.23, Z:0.97 [[ 0.9214436 -0.09351917 -0.37708865 12.83528589] [ 0.11593959 0.99256133 0.03714853 0.22662267] [ 0.37080952 -0.07794978 0.92543186 0.96741348] [ 0. 0. 0. 1. ]] SLAMing on 50.969649246 meters Centerline goodness : 0.918025 Centerline is valid? [False, False] Translation: X:12.84, Y:0.23, Z:0.97 [[ 0.92123141 -0.0938987 -0.37751254 12.83639147] [ 0.11625385 0.99253694 0.03681671 0.22797592] [ 0.3712381 -0.077804 0.92527229 0.9677187 ] [ 0. 0. 0. 1. ]] SLAMing on 50.999649246000004 meters Centerline goodness : 0.918341 Centerline is valid? [False, False] Translation: X:12.84, Y:0.23, Z:0.97 [[ 0.92104039 -0.0944961 -0.37782945 12.83829867] [ 0.11649051 0.99254884 0.03573166 0.231045 ] [ 0.37163768 -0.07692385 0.92518547 0.96661088] [ 0. 0. 0. 1. ]] SLAMing on 51.029649246000005 meters Centerline goodness : 0.912327 Centerline is valid? [False, False] Translation: X:12.84, Y:0.23, Z:0.97 [[ 0.9209607 -0.0948794 -0.37792762 12.83962853] [ 0.11663769 0.99255593 0.03504803 0.23296879] [ 0.37178896 -0.07635847 0.92517153 0.96560599] [ 0. 0. 0. 1. ]] SLAMing on 51.059649246 meters Centerline goodness : 0.911860 Centerline is valid? [False, False] Translation: X:12.85, Y:0.23, Z:0.97 [[ 0.92057591 -0.09212216 -0.3795438 12.84523259] [ 0.11507834 0.99262192 0.03819289 0.2330478 ] [ 0.37322508 -0.07883673 0.9243851 0.96673371] [ 0. 0. 0. 1. ]] SLAMing on 51.089649246 meters Centerline goodness : 0.912625 Centerline is valid? [False, False] Translation: X:12.85, Y:0.23, Z:0.97 [[ 0.92044065 -0.09268149 -0.37973563 12.84712562] [ 0.1154821 0.99259556 0.03765564 0.23353216] [ 0.37343392 -0.07851245 0.92432835 0.96602197] [ 0. 0. 0. 1. ]] SLAMing on 51.119649246 meters Centerline goodness : 0.911928 Centerline is valid? [False, False] Translation: X:12.85, Y:0.23, Z:0.97 [[ 0.92007567 -0.09347575 -0.38042481 12.85014079] [ 0.11624564 0.99252101 0.03726924 0.23290427] [ 0.37409585 -0.07851325 0.92406058 0.96618159] [ 0. 0. 0. 1. ]] SLAMing on 51.149649246 meters Centerline goodness : 0.908392 Centerline is valid? [False, False] Translation: X:12.85, Y:0.23, Z:0.97 [[ 0.9198059 -0.09383507 -0.38098831 12.85183496] [ 0.11671206 0.99246377 0.03733587 0.2322259 ] [ 0.37461368 -0.07880768 0.92382571 0.96687844] [ 0. 0. 0. 1. ]] SLAMing on 51.179649246000004 meters Centerline goodness : 0.913029 Centerline is valid? [False, False] Translation: X:12.85, Y:0.23, Z:0.97 [[ 0.91936781 -0.09470234 -0.3818302 12.85488175] [ 0.11770238 0.99234897 0.03727837 0.23124093] [ 0.37537845 -0.07921486 0.92348038 0.96787414] [ 0. 0. 0. 1. ]] SLAMing on 51.209649246000005 meters Centerline goodness : 0.917262 Centerline is valid? [False, False] Translation: X:12.86, Y:0.23, Z:0.97 [[ 0.91909266 -0.09512761 -0.38238649 12.85643235] [ 0.11821961 0.99228688 0.03729446 0.23091615] [ 0.37588936 -0.07948264 0.92324953 0.96862281] [ 0. 0. 0. 1. ]] SLAMing on 51.239649246 meters Centerline goodness : 0.913237 Centerline is valid? [False, False] Translation: X:12.86, Y:0.23, Z:0.97 [[ 0.91880574 -0.0954851 -0.38298643 12.85831875] [ 0.11881755 0.992201 0.03767715 0.22999754] [ 0.37640191 -0.08012349 0.92298528 0.96976534] [ 0. 0. 0. 1. ]] SLAMing on 51.269649246 meters Centerline goodness : 0.914620 Centerline is valid? [False, False] Translation: X:12.86, Y:0.23, Z:0.97 [[ 0.91871325 -0.09566589 -0.38316316 12.85904504] [ 0.1190325 0.99217494 0.03768483 0.22985954] [ 0.37655973 -0.08023042 0.92291161 0.96994585] [ 0. 0. 0. 1. ]] SLAMing on 51.299649246 meters Centerline goodness : 0.914016 Centerline is valid? [False, False] Translation: X:12.86, Y:0.23, Z:0.97 [[ 0.9183179 -0.09623261 -0.38396813 12.86134837] [ 0.11975751 0.99208424 0.03777557 0.22941308] [ 0.37729349 -0.08067305 0.9225733 0.97113615] [ 0. 0. 0. 1. ]] SLAMing on 51.329649246 meters Centerline goodness : 0.914577 Centerline is valid? [False, False] Translation: X:12.86, Y:0.23, Z:0.97 [[ 0.91806727 -0.09652697 -0.38449322 12.8626355 ] [ 0.12009919 0.99204536 0.03771197 0.22921974] [ 0.37779449 -0.08079945 0.92235718 0.97180246] [ 0. 0. 0. 1. ]] SLAMing on 51.359649246000004 meters Centerline goodness : 0.912951 Centerline is valid? [False, False] Translation: X:12.87, Y:0.23, Z:0.97 [[ 0.91766095 -0.09735957 -0.38525252 12.86536597] [ 0.12081462 0.99198204 0.03708714 0.2306666 ] [ 0.37855279 -0.08057756 0.92206564 0.97198982] [ 0. 0. 0. 1. ]] SLAMing on 51.389649246000005 meters Centerline goodness : 0.911435 Centerline is valid? [False, False] Translation: X:12.87, Y:0.23, Z:0.97 [[ 0.91736368 -0.09809908 -0.38577253 12.86750125] [ 0.12148887 0.99191547 0.03666276 0.23114024] [ 0.37905715 -0.08050016 0.92186517 0.97216912] [ 0. 0. 0. 1. ]] SLAMing on 51.419649246 meters Centerline goodness : 0.910574 Centerline is valid? [False, False] Translation: X:12.87, Y:0.23, Z:0.97 [[ 0.91679465 -0.09947668 -0.38677119 12.87159175] [ 0.12266283 0.99180729 0.03566689 0.23320821] [ 0.38005447 -0.08014166 0.92148571 0.97218993] [ 0. 0. 0. 1. ]] SLAMing on 51.449649246 meters Centerline goodness : 0.912093 Centerline is valid? [False, False] Translation: X:12.87, Y:0.23, Z:0.97 [[ 0.91651188 -0.10028193 -0.38723314 12.87376267] [ 0.12329767 0.99175272 0.034989 0.23484638] [ 0.38053075 -0.07981278 0.92131768 0.97195307] [ 0. 0. 0. 1. ]] SLAMing on 51.479649246 meters Centerline goodness : 0.910321 Centerline is valid? [False, False] Translation: X:12.88, Y:0.24, Z:0.97 [[ 0.91623937 -0.10082664 -0.38773626 12.87550424] [ 0.12380125 0.99170129 0.03466705 0.23573132] [ 0.38102318 -0.07976555 0.92111823 0.97224046] [ 0. 0. 0. 1. ]] SLAMing on 51.509649246 meters Centerline goodness : 0.912545 Centerline is valid? [False, False] Translation: X:12.88, Y:0.24, Z:0.97 [[ 0.91603799 -0.10084749 -0.38820637 12.87605243] [ 0.12383205 0.99170047 0.03458048 0.23691939] [ 0.38149708 -0.07974942 0.92092345 0.97292974] [ 0. 0. 0. 1. ]] SLAMing on 51.539649246 meters Centerline goodness : 0.913904 Centerline is valid? [False, False] Translation: X:12.88, Y:0.24, Z:0.97 [[ 0.91596521 -0.1007113 -0.3884134 12.8760388 ] [ 0.12372891 0.99171124 0.03464052 0.23784981] [ 0.38170524 -0.07978748 0.9208339 0.97337435] [ 0. 0. 0. 1. ]] SLAMing on 51.569649246000004 meters Centerline goodness : 0.909072 Centerline is valid? [False, False] Translation: X:12.88, Y:0.24, Z:0.98 [[ 0.91576555 -0.0964126 -0.38997187 12.87813899] [ 0.12101531 0.99188598 0.03895498 0.23815535] [ 0.38305189 -0.08286619 0.92000242 0.97631201] [ 0. 0. 0. 1. ]] SLAMing on 51.599649246000006 meters Centerline goodness : 0.908626 Centerline is valid? [False, False] Translation: X:12.88, Y:0.24, Z:0.98 [[ 0.91573808 -0.09657562 -0.38999606 12.87828413] [ 0.1209415 0.99191864 0.03834803 0.24054373] [ 0.38314087 -0.08228346 0.92001767 0.97574943] [ 0. 0. 0. 1. ]] SLAMing on 51.629649246 meters Centerline goodness : 0.909754 Centerline is valid? [False, False] Translation: X:12.88, Y:0.24, Z:0.98 [[ 0.91553723 -0.0971826 -0.39031669 12.87965811] [ 0.12138937 0.99188609 0.03777041 0.24226874] [ 0.38347907 -0.08196052 0.91990558 0.97561195] [ 0. 0. 0. 1. ]] SLAMing on 51.659649246 meters Centerline goodness : 0.910849 Centerline is valid? [False, False] Translation: X:12.88, Y:0.24, Z:0.98 [[ 0.9152232 -0.09791653 -0.39086935 12.88123801] [ 0.12206712 0.99181842 0.03736093 0.24336412] [ 0.38401317 -0.08190589 0.91968762 0.97619492] [ 0. 0. 0. 1. ]] SLAMing on 51.689649246 meters Centerline goodness : 0.914499 Centerline is valid? [False, False] Translation: X:12.90, Y:0.25, Z:0.98 [[ 0.91718151 -0.0991826 -0.3859286 12.89740789] [ 0.12003567 0.99230858 0.03025106 0.24882051] [ 0.37995988 -0.07407091 0.92203253 0.97766386] [ 0. 0. 0. 1. ]] SLAMing on 51.719649246 meters Centerline goodness : 0.918370 Centerline is valid? [False, False] Translation: X:12.90, Y:0.25, Z:0.98 [[ 0.9171067 -0.09918078 -0.38610681 12.89763495] [ 0.12002852 0.99231097 0.03020092 0.24968834] [ 0.38014267 -0.07404129 0.92195956 0.97786699] [ 0. 0. 0. 1. ]] SLAMing on 51.749649246000004 meters Centerline goodness : 0.912302 Centerline is valid? [False, False] Translation: X:12.90, Y:0.25, Z:0.98 [[ 0.91681644 -0.09588516 -0.38762566 12.90199249] [ 0.11816328 0.99241218 0.03399269 0.25014975] [ 0.38142503 -0.07696818 0.92118991 0.97977867] [ 0. 0. 0. 1. ]] SLAMing on 51.779649246000005 meters Centerline goodness : 0.914023 Centerline is valid? [False, False] Translation: X:12.90, Y:0.25, Z:0.98 [[ 0.91660378 -0.09648286 -0.3879801 12.90385417] [ 0.11866224 0.99236744 0.03355791 0.25084581] [ 0.38178106 -0.0767979 0.92105662 0.97957595] [ 0. 0. 0. 1. ]] SLAMing on 51.809649246 meters Centerline goodness : 0.910769 Centerline is valid? [False, False] Translation: X:12.91, Y:0.25, Z:0.98 [[ 0.91605326 -0.09762117 -0.38899426 12.90749877] [ 0.11981799 0.99224222 0.03315167 0.25081888] [ 0.38274023 -0.07697721 0.92064349 0.98036968] [ 0. 0. 0. 1. ]] SLAMing on 51.839649246 meters Centerline goodness : 0.913750 Centerline is valid? [False, False] Translation: X:12.91, Y:0.25, Z:0.98 [[ 0.91554238 -0.09863427 -0.38994029 12.91044123] [ 0.12100062 0.99209877 0.03314933 0.24984277] [ 0.38358963 -0.07753264 0.92024328 0.98187628] [ 0. 0. 0. 1. ]] SLAMing on 51.869649246 meters Centerline goodness : 0.915393 Centerline is valid? [False, False] Translation: X:12.91, Y:0.25, Z:0.98 [[ 0.91510974 -0.0990468 -0.39085022 12.91222942] [ 0.12180853 0.99197749 0.03381341 0.24786585] [ 0.38436551 -0.07855187 0.91983301 0.98409601] [ 0. 0. 0. 1. ]] SLAMing on 51.899649246 meters Centerline goodness : 0.915373 Centerline is valid? [False, False] Translation: X:12.91, Y:0.25, Z:0.99 [[ 0.91487068 -0.09926736 -0.39135359 12.91359442] [ 0.12222893 0.99191476 0.03413511 0.24619621] [ 0.3848009 -0.07906394 0.91960707 0.98504022] [ 0. 0. 0. 1. ]] SLAMing on 51.929649246000004 meters Centerline goodness : 0.916130 Centerline is valid? [False, False] Translation: X:12.92, Y:0.25, Z:0.99 [[ 0.91422623 -0.10127698 -0.39234344 12.91918007] [ 0.12422387 0.99168942 0.03347427 0.24563471] [ 0.38569267 -0.07934147 0.9192095 0.98535625] [ 0. 0. 0. 1. ]] SLAMing on 51.959649246000005 meters Centerline goodness : 0.913942 Centerline is valid? [False, False] Translation: X:12.92, Y:0.24, Z:0.99 [[ 0.91397495 -0.10191006 -0.39276472 12.92133455] [ 0.12486391 0.99161595 0.03326887 0.24498871] [ 0.38608133 -0.07944905 0.91903703 0.98547027] [ 0. 0. 0. 1. ]] SLAMing on 51.989649246 meters Centerline goodness : 0.915561 Centerline is valid? [False, False] Translation: X:12.93, Y:0.24, Z:0.99 [[ 0.9133633 -0.10283057 -0.39394589 12.9251986 ] [ 0.12616126 0.99143672 0.0337129 0.24220062] [ 0.3871057 -0.08049284 0.91851515 0.98746179] [ 0. 0. 0. 1. ]] SLAMing on 52.019649246 meters Centerline goodness : 0.916641 Centerline is valid? [False, False] Translation: X:12.93, Y:0.24, Z:0.99 [[ 0.91298368 -0.10327091 -0.39470993 12.9271461 ] [ 0.12673481 0.99136174 0.03376654 0.24160401] [ 0.38781322 -0.08085179 0.91818511 0.98867612] [ 0. 0. 0. 1. ]] SLAMing on 52.049649246 meters Centerline goodness : 0.918887 Centerline is valid? [False, False] Translation: X:12.93, Y:0.24, Z:0.99 [[ 0.9127623 -0.10372405 -0.3951029 12.92858535] [ 0.12715937 0.99131582 0.03351782 0.24186667] [ 0.38819515 -0.08083484 0.91802519 0.98892084] [ 0. 0. 0. 1. ]] SLAMing on 52.079649246 meters Centerline goodness : 0.917516 Centerline is valid? [False, False] Translation: X:12.93, Y:0.24, Z:1.00 [[ 0.91176206 -0.105089 -0.39704692 12.93257176] [ 0.12972146 0.99091061 0.0356162 0.23904437] [ 0.38969513 -0.08397901 0.91710699 0.99549507] [ 0. 0. 0. 1. ]] SLAMing on 52.109649246000004 meters Centerline goodness : 0.917941 Centerline is valid? [False, False] Translation: X:12.94, Y:0.23, Z:1.00 [[ 0.91608224 -0.09687433 -0.3891127 12.93591963] [ 0.12339915 0.99139458 0.04369707 0.23477372] [ 0.38153109 -0.08804629 0.92015318 0.99831929] [ 0. 0. 0. 1. ]] SLAMing on 52.139649246000005 meters Centerline goodness : 0.915790 Centerline is valid? [False, False] Translation: X:12.94, Y:0.24, Z:1.00 [[ 0.91542584 -0.09961194 -0.38996538 12.94283178] [ 0.12547581 0.99123459 0.04134981 0.23929352] [ 0.38242824 -0.0867839 0.91990065 0.99595887] [ 0. 0. 0. 1. ]] SLAMing on 52.169649246 meters Centerline goodness : 0.914468 Centerline is valid? [False, False] Translation: X:12.95, Y:0.24, Z:1.00 [[ 0.91501673 -0.09581398 -0.39187251 12.94656668] [ 0.12353976 0.99126845 0.04609553 0.23820528] [ 0.38403426 -0.09059001 0.91886405 0.99979122] [ 0. 0. 0. 1. ]] SLAMing on 52.199649246 meters Centerline goodness : 0.914238 Centerline is valid? [False, False] Translation: X:12.95, Y:0.23, Z:1.00 [[ 0.91888884 -0.08687012 -0.38483357 12.95073821] [ 0.1168046 0.99162768 0.05505659 0.23439498] [ 0.37682885 -0.09554122 0.92134244 1.00360266] [ 0. 0. 0. 1. ]] SLAMing on 52.229649246 meters Centerline goodness : 0.912597 Centerline is valid? [False, False] Translation: X:12.95, Y:0.24, Z:1.00 [[ 0.91844366 -0.0882591 -0.38557952 12.95425866] [ 0.11797225 0.9915452 0.05404327 0.23640637] [ 0.37754971 -0.09512338 0.92109053 1.00336833] [ 0. 0. 0. 1. ]] SLAMing on 52.259649246 meters Centerline goodness : 0.910567 Centerline is valid? [False, False] Translation: X:12.96, Y:0.23, Z:1.01 [[ 0.91814604 -0.08409834 -0.38721483 12.95643249] [ 0.11576183 0.99151458 0.05914427 0.23445391] [ 0.37895521 -0.09912777 0.92009056 1.00788053] [ 0. 0. 0. 1. ]] SLAMing on 52.289649246 meters Centerline goodness : 0.914168 Centerline is valid? [False, False] Translation: X:12.97, Y:0.24, Z:1.01 [[ 0.91984982 -0.0877624 -0.38232717 12.97164458] [ 0.11480742 0.9922051 0.04845925 0.23920877] [ 0.37509406 -0.08846923 0.92275546 1.0067429 ] [ 0. 0. 0. 1. ]] SLAMing on 52.319649246000004 meters Centerline goodness : 0.916815 Centerline is valid? [False, False] Translation: X:12.99, Y:0.24, Z:1.01 [[ 0.92206896 -0.08862207 -0.37674257 12.98838499] [ 0.11268845 0.99273043 0.04228003 0.2443186 ] [ 0.37025687 -0.08143964 0.9253526 1.0076758 ] [ 0. 0. 0. 1. ]] SLAMing on 52.349649246000006 meters Centerline goodness : 0.915580 Centerline is valid? [False, False] Translation: X:12.99, Y:0.25, Z:1.01 [[ 0.92192484 -0.08914771 -0.37697118 12.98939305] [ 0.11298865 0.99272662 0.04156217 0.24640861] [ 0.37052416 -0.08091066 0.92529202 1.00721854] [ 0. 0. 0. 1. ]] SLAMing on 52.379649246 meters Centerline goodness : 0.915183 Centerline is valid? [False, False] Translation: X:12.99, Y:0.25, Z:1.01 [[ 0.92187629 -0.08453092 -0.3781516 12.99077798] [ 0.10981527 0.99289794 0.04576345 0.24716814] [ 0.37159752 -0.08371506 0.92461185 1.00920625] [ 0. 0. 0. 1. ]] SLAMing on 52.409649246 meters Centerline goodness : 0.915903 Centerline is valid? [False, False] Translation: X:13.01, Y:0.25, Z:1.01 [[ 0.9239641 -0.08548412 -0.37280397 13.00559257] [ 0.1075027 0.99345374 0.03863725 0.2517138 ] [ 0.36706063 -0.07577686 0.92710537 1.01033959] [ 0. 0. 0. 1. ]] SLAMing on 52.439649246 meters Centerline goodness : 0.915718 Centerline is valid? [False, False] Translation: X:13.01, Y:0.25, Z:1.01 [[ 0.92759166 -0.07794652 -0.36537386 13.01160295] [ 0.10056567 0.99398952 0.04325939 0.24841313] [ 0.35980587 -0.07687112 0.92985513 1.01247566] [ 0. 0. 0. 1. ]] SLAMing on 52.469649246 meters Centerline goodness : 0.914226 Centerline is valid? [False, False] Translation: X:13.01, Y:0.25, Z:1.01 [[ 0.92741625 -0.0783543 -0.36573174 13.01262176] [ 0.10088349 0.9939742 0.04286976 0.24946285] [ 0.36016888 -0.07665441 0.92973248 1.01260059] [ 0. 0. 0. 1. ]] SLAMing on 52.499649246000004 meters Centerline goodness : 0.914566 Centerline is valid? [False, False] Translation: X:13.01, Y:0.25, Z:1.01 [[ 0.9272032 -0.07912092 -0.36610667 13.01430873] [ 0.10126007 0.99398833 0.04163646 0.25246274] [ 0.36061145 -0.07567745 0.92964096 1.0116186 ] [ 0. 0. 0. 1. ]] SLAMing on 52.529649246000005 meters Centerline goodness : 0.915694 Centerline is valid? [False, False] Translation: X:13.02, Y:0.25, Z:1.01 [[ 0.92701517 -0.07509363 -0.36742867 13.01744616] [ 0.09854758 0.99409322 0.04546471 0.25227137] [ 0.36184424 -0.07835568 0.92893979 1.01294736] [ 0. 0. 0. 1. ]] SLAMing on 52.559649246 meters Centerline goodness : 0.915145 Centerline is valid? [False, False] Translation: X:13.02, Y:0.26, Z:1.01 [[ 0.92685401 -0.07600622 -0.36764752 13.01952328] [ 0.09895937 0.99412002 0.04395944 0.25620135] [ 0.36214457 -0.07712615 0.92892565 1.01121346] [ 0. 0. 0. 1. ]] SLAMing on 52.589649246 meters Centerline goodness : 0.912262 Centerline is valid? [False, False] Translation: X:13.02, Y:0.26, Z:1.01 [[ 0.92635513 -0.07719925 -0.36865491 13.02307 ] [ 0.10008437 0.99403489 0.04333299 0.2568473 ] [ 0.36311057 -0.07703833 0.92855576 1.011723 ] [ 0. 0. 0. 1. ]] SLAMing on 52.619649246 meters Centerline goodness : 0.910839 Centerline is valid? [False, False] Translation: X:13.03, Y:0.26, Z:1.01 [[ 0.92606909 -0.07785099 -0.36923605 13.02505644] [ 0.10069318 0.9939892 0.04296925 0.25713449] [ 0.36367145 -0.07697205 0.92834174 1.01203092] [ 0. 0. 0. 1. ]] SLAMing on 52.649649246 meters Centerline goodness : 0.910839 Centerline is valid? [False, False] Translation: X:13.03, Y:0.26, Z:1.01 [[ 0.92606909 -0.07785099 -0.36923605 13.02505644] [ 0.10069318 0.9939892 0.04296925 0.25713449] [ 0.36367145 -0.07697205 0.92834174 1.01203092] [ 0. 0. 0. 1. ]] SLAMing on 52.679649246000004 meters Centerline goodness : 0.906832 Centerline is valid? [False, False] Translation: X:13.03, Y:0.26, Z:1.01 [[ 0.92589074 -0.07845221 -0.36955593 13.02649431] [ 0.10118475 0.99395927 0.04250432 0.25770403] [ 0.36398898 -0.07674778 0.92823585 1.01194164] [ 0. 0. 0. 1. ]] SLAMing on 52.709649246000005 meters Centerline goodness : 0.912449 Centerline is valid? [False, False] Translation: X:13.03, Y:0.26, Z:1.01 [[ 0.92536837 -0.07977036 -0.37058071 13.02935453] [ 0.10281408 0.99377867 0.04281609 0.25546894] [ 0.36485975 -0.07772157 0.92781287 1.01440536] [ 0. 0. 0. 1. ]] SLAMing on 52.739649246 meters Centerline goodness : 0.915184 Centerline is valid? [False, False] Translation: X:13.03, Y:0.25, Z:1.02 [[ 0.92489953 -0.08077463 -0.3715324 13.03192115] [ 0.10397906 0.99365742 0.04281691 0.25439289] [ 0.3657174 -0.07823293 0.92743215 1.01599212] [ 0. 0. 0. 1. ]] SLAMing on 52.769649246 meters Centerline goodness : 0.911825 Centerline is valid? [False, False] Translation: X:13.04, Y:0.25, Z:1.02 [[ 0.92435409 -0.08232097 -0.37254902 13.03634404] [ 0.10548118 0.99352635 0.04217943 0.25471734] [ 0.36666501 -0.07828563 0.92705347 1.01631534] [ 0. 0. 0. 1. ]] SLAMing on 52.799649246 meters Centerline goodness : 0.910730 Centerline is valid? [False, False] Translation: X:13.04, Y:0.25, Z:1.02 [[ 0.92401647 -0.08324846 -0.37317991 13.03898587] [ 0.10637369 0.99344846 0.04177071 0.25477487] [ 0.36725766 -0.07829335 0.92681819 1.01652751] [ 0. 0. 0. 1. ]] SLAMing on 52.829649246 meters Centerline goodness : 0.911886 Centerline is valid? [False, False] Translation: X:13.04, Y:0.25, Z:1.02 [[ 0.92362387 -0.08400837 -0.37398066 13.04145133] [ 0.10736281 0.99333154 0.04202008 0.2535002 ] [ 0.36795674 -0.07896237 0.9264841 1.0179167 ] [ 0. 0. 0. 1. ]] SLAMing on 52.859649246000004 meters Centerline goodness : 0.910316 Centerline is valid? [False, False] Translation: X:13.04, Y:0.25, Z:1.02 [[ 0.92340003 -0.08444384 -0.37443508 13.04284364] [ 0.1077517 0.99330227 0.0417153 0.25416598] [ 0.36840462 -0.07886592 0.92631431 1.01814532] [ 0. 0. 0. 1. ]] SLAMing on 52.889649246000005 meters Centerline goodness : 0.911809 Centerline is valid? [False, False] Translation: X:13.04, Y:0.26, Z:1.02 [[ 0.92320872 -0.08518701 -0.37473834 13.04428811] [ 0.10822967 0.99328678 0.04083768 0.25628011] [ 0.3687438 -0.07825951 0.92623078 1.01768129] [ 0. 0. 0. 1. ]] SLAMing on 52.919649246000006 meters Centerline goodness : 0.911329 Centerline is valid? [False, False] Translation: X:13.05, Y:0.26, Z:1.02 [[ 0.92305596 -0.08582013 -0.37497014 13.04562486] [ 0.10864676 0.99327042 0.04012171 0.25759322] [ 0.3690035 -0.07777387 0.92616826 1.01721428] [ 0. 0. 0. 1. ]] SLAMing on 52.949649246 meters Centerline goodness : 0.912093 Centerline is valid? [False, False] Translation: X:13.05, Y:0.26, Z:1.02 [[ 0.92275209 -0.08663797 -0.37552956 13.04782969] [ 0.10919803 0.99324793 0.03917064 0.25950231] [ 0.36960029 -0.07715188 0.92598229 1.01679414] [ 0. 0. 0. 1. ]] SLAMing on 52.979649246 meters Centerline goodness : 0.913434 Centerline is valid? [False, False] Translation: X:13.05, Y:0.26, Z:1.02 [[ 0.92246055 -0.08726553 -0.37610006 13.04954314] [ 0.10974591 0.9932051 0.03872294 0.26065834] [ 0.37016532 -0.07699583 0.92576956 1.01709072] [ 0. 0. 0. 1. ]] SLAMing on 53.009649246 meters Centerline goodness : 0.913226 Centerline is valid? [False, False] Translation: X:13.05, Y:0.26, Z:1.02 [[ 0.92228922 -0.08313926 -0.37745259 13.0520729 ] [ 0.10719504 0.99330174 0.04313777 0.25984632] [ 0.37133788 -0.08024654 0.92502361 1.01963972] [ 0. 0. 0. 1. ]] SLAMing on 53.039649246 meters Centerline goodness : 0.915261 Centerline is valid? [False, False] Translation: X:13.05, Y:0.26, Z:1.02 [[ 0.92212452 -0.08366783 -0.37773808 13.05323512] [ 0.10754153 0.99329107 0.0425167 0.26105125] [ 0.37164658 -0.07982823 0.92493582 1.01937481] [ 0. 0. 0. 1. ]] SLAMing on 53.069649246000004 meters Centerline goodness : 0.913422 Centerline is valid? [False, False] Translation: X:13.05, Y:0.26, Z:1.02 [[ 0.92196397 -0.08398837 -0.37805871 13.05435246] [ 0.10769364 0.99329817 0.04196217 0.2628534 ] [ 0.37200069 -0.07940213 0.92483014 1.01910435] [ 0. 0. 0. 1. ]] SLAMing on 53.099649246000006 meters Centerline goodness : 0.914346 Centerline is valid? [False, False] Translation: X:13.06, Y:0.26, Z:1.02 [[ 0.92183584 -0.08446109 -0.3782658 13.05553787] [ 0.10795468 0.99329768 0.04129766 0.26411595] [ 0.3722425 -0.07890523 0.92477537 1.01855954] [ 0. 0. 0. 1. ]] SLAMing on 53.129649246 meters Centerline goodness : 0.916149 Centerline is valid? [False, False] Translation: X:13.06, Y:0.27, Z:1.02 [[ 0.92182974 -0.08472193 -0.37822231 13.05625858] [ 0.10787359 0.99334309 0.0404078 0.26640195] [ 0.37228109 -0.07804931 0.92483247 1.01724285] [ 0. 0. 0. 1. ]] SLAMing on 53.159649246 meters Centerline goodness : 0.918782 Centerline is valid? [False, False] Translation: X:13.06, Y:0.27, Z:1.02 [[ 0.9217546 -0.085005 -0.37834192 13.05702329] [ 0.10795683 0.99335739 0.03982999 0.26757993] [ 0.37244299 -0.07755807 0.92480861 1.01668573] [ 0. 0. 0. 1. ]] SLAMing on 53.189649246 meters Centerline goodness : 0.921022 Centerline is valid? [False, False] Translation: X:13.06, Y:0.27, Z:1.02 [[ 0.9216232 -0.08479537 -0.37870889 13.05743553] [ 0.10742735 0.99344791 0.03899502 0.27047017] [ 0.37292095 -0.07662241 0.92469399 1.01594128] [ 0. 0. 0. 1. ]] SLAMing on 53.219649246 meters Centerline goodness : 0.917598 Centerline is valid? [False, False] Translation: X:13.06, Y:0.27, Z:1.02 [[ 0.92159074 -0.0848324 -0.37877958 13.05774182] [ 0.10720328 0.99349819 0.03832495 0.27241763] [ 0.37306563 -0.07592634 0.92469304 1.01517227] [ 0. 0. 0. 1. ]] SLAMing on 53.249649246000004 meters Centerline goodness : 0.922531 Centerline is valid? [False, False] Translation: X:13.06, Y:0.27, Z:1.02 [[ 0.92134244 -0.08548474 -0.3792367 13.05934314] [ 0.10765192 0.9934776 0.0375942 0.27417437] [ 0.37354943 -0.07546269 0.92453567 1.01502396] [ 0. 0. 0. 1. ]] SLAMing on 53.279649246000005 meters Centerline goodness : 0.920136 Centerline is valid? [False, False] Translation: X:13.06, Y:0.27, Z:1.01 [[ 0.92113977 -0.08623838 -0.37955826 13.06157085] [ 0.10827194 0.99343075 0.03704761 0.27461948] [ 0.37386992 -0.07522154 0.92442577 1.01452371] [ 0. 0. 0. 1. ]] SLAMing on 53.309649246 meters Centerline goodness : 0.919089 Centerline is valid? [False, False] Translation: X:13.07, Y:0.27, Z:1.01 [[ 0.92073169 -0.08776759 -0.38019731 13.06591899] [ 0.10968326 0.99330276 0.03632079 0.27403954] [ 0.37446326 -0.07514298 0.92419197 1.01400517] [ 0. 0. 0. 1. ]] SLAMing on 53.339649246 meters Centerline goodness : 0.914801 Centerline is valid? [False, False] Translation: X:13.07, Y:0.27, Z:1.01 [[ 0.92035536 -0.08857736 -0.38092003 13.06887154] [ 0.11058154 0.99320667 0.03622464 0.27295719] [ 0.37512364 -0.07546227 0.9238981 1.01454878] [ 0. 0. 0. 1. ]] SLAMing on 53.369649246 meters Centerline goodness : 0.912243 Centerline is valid? [False, False] Translation: X:13.07, Y:0.27, Z:1.02 [[ 0.92000966 -0.08874312 -0.38171571 13.0706772 ] [ 0.11102157 0.99314037 0.03669363 0.27016628] [ 0.37584097 -0.07613717 0.92355113 1.01606935] [ 0. 0. 0. 1. ]] SLAMing on 53.399649246 meters Centerline goodness : 0.916315 Centerline is valid? [False, False] Translation: X:13.07, Y:0.27, Z:1.02 [[ 0.91980211 -0.08904723 -0.38214483 13.07203403] [ 0.11134187 0.9931087 0.03658013 0.26999386] [ 0.37625399 -0.0761952 0.92337816 1.01640277] [ 0. 0. 0. 1. ]] SLAMing on 53.429649246000004 meters Centerline goodness : 0.912038 Centerline is valid? [False, False] Translation: X:13.07, Y:0.27, Z:1.02 [[ 0.91955028 -0.08962672 -0.38261512 13.07400882] [ 0.11184009 0.99306793 0.0361647 0.27049479] [ 0.37672148 -0.07604697 0.92319975 1.01634773] [ 0. 0. 0. 1. ]] SLAMing on 53.459649246000005 meters Centerline goodness : 0.915821 Centerline is valid? [False, False] Translation: X:13.07, Y:0.27, Z:1.02 [[ 0.91950936 -0.08955015 -0.38273138 13.07440743] [ 0.11177793 0.99307402 0.03618968 0.27036951] [ 0.37683979 -0.07605767 0.92315058 1.0163426 ] [ 0. 0. 0. 1. ]] SLAMing on 53.489649246 meters Centerline goodness : 0.913670 Centerline is valid? [False, False] Translation: X:13.08, Y:0.27, Z:1.02 [[ 0.91928502 -0.09040255 -0.38306974 13.07652329] [ 0.11247723 0.9930173 0.03557405 0.27101404] [ 0.3771789 -0.07578932 0.92303416 1.01598925] [ 0. 0. 0. 1. ]] SLAMing on 53.519649246 meters Centerline goodness : 0.916081 Centerline is valid? [False, False] Translation: X:13.08, Y:0.27, Z:1.02 [[ 0.91906359 -0.09080031 -0.38350673 13.07813629] [ 0.11287566 0.99297821 0.03540274 0.27102747] [ 0.37759925 -0.07582594 0.92285927 1.01618932] [ 0. 0. 0. 1. ]] SLAMing on 53.549649246 meters Centerline goodness : 0.919904 Centerline is valid? [False, False] Translation: X:13.08, Y:0.27, Z:1.02 [[ 0.91873864 -0.09500905 -0.3832657 13.07558374] [ 0.11652136 0.99263145 0.03325031 0.26802986] [ 0.3772825 -0.07520698 0.92303945 1.0193526 ] [ 0. 0. 0. 1. ]] SLAMing on 53.579649246 meters Centerline goodness : 0.919003 Centerline is valid? [False, False] Translation: X:13.08, Y:0.27, Z:1.02 [[ 0.91837631 -0.09532009 -0.38405604 13.0762827 ] [ 0.11730839 0.99250713 0.03418087 0.26620688] [ 0.37792023 -0.0764439 0.92267688 1.02218258] [ 0. 0. 0. 1. ]] SLAMing on 53.609649246000004 meters Centerline goodness : 0.918948 Centerline is valid? [False, False] Translation: X:13.08, Y:0.27, Z:1.02 [[ 0.91783587 -0.09343322 -0.38580765 13.08404901] [ 0.1163104 0.9925482 0.03633128 0.26861323] [ 0.37953814 -0.07821959 0.9218636 1.0219454 ] [ 0. 0. 0. 1. ]] SLAMing on 53.639649246000005 meters Centerline goodness : 0.915083 Centerline is valid? [False, False] Translation: X:13.09, Y:0.27, Z:1.02 [[ 0.9173063 -0.09559447 -0.38653699 13.08979095] [ 0.11805341 0.99239984 0.03472682 0.27061571] [ 0.38027956 -0.07748715 0.92161988 1.02040411] [ 0. 0. 0. 1. ]] SLAMing on 53.669649246000006 meters Centerline goodness : 0.913521 Centerline is valid? [False, False] Translation: X:13.09, Y:0.27, Z:1.02 [[ 0.91692256 -0.09667938 -0.38717711 13.09279808] [ 0.11904241 0.99230212 0.03413815 0.27120796] [ 0.38089621 -0.07739254 0.92137315 1.02041486] [ 0. 0. 0. 1. ]] SLAMing on 53.699649246 meters Centerline goodness : 0.911723 Centerline is valid? [False, False] Translation: X:13.09, Y:0.27, Z:1.02 [[ 0.91676474 -0.09718393 -0.38742443 13.09443261] [ 0.11959091 0.99223783 0.03408964 0.27056985] [ 0.38110422 -0.07758462 0.92127097 1.02049976] [ 0. 0. 0. 1. ]] SLAMing on 53.729649246 meters Centerline goodness : 0.913473 Centerline is valid? [False, False] Translation: X:13.10, Y:0.27, Z:1.02 [[ 0.9165066 -0.09739355 -0.38798215 13.09559524] [ 0.11992584 0.99219266 0.0342275 0.26973685] [ 0.3816195 -0.07789882 0.92103112 1.02149515] [ 0. 0. 0. 1. ]] SLAMing on 53.759649246 meters Centerline goodness : 0.913938 Centerline is valid? [False, False] Translation: X:13.10, Y:0.27, Z:1.02 [[ 0.91640288 -0.09726804 -0.38825852 13.09586079] [ 0.11984155 0.99220065 0.03429089 0.26961486] [ 0.38189495 -0.07795378 0.92091229 1.02194645] [ 0. 0. 0. 1. ]] SLAMing on 53.789649246 meters Centerline goodness : 0.915381 Centerline is valid? [False, False] Translation: X:13.10, Y:0.26, Z:1.03 [[ 0.92063385 -0.08817446 -0.38034007 13.09886008] [ 0.11254143 0.99274782 0.04226333 0.26471389] [ 0.37385523 -0.08171307 0.92388053 1.02508169] [ 0. 0. 0. 1. ]] SLAMing on 53.819649246000004 meters Centerline goodness : 0.911627 Centerline is valid? [False, False] Translation: X:13.10, Y:0.27, Z:1.02 [[ 0.92063549 -0.08822584 -0.38032421 13.09892254] [ 0.11251029 0.99276027 0.04205322 0.26561771] [ 0.37386059 -0.08150608 0.92389665 1.02487363] [ 0. 0. 0. 1. ]] SLAMing on 53.849649246000006 meters Centerline goodness : 0.914625 Centerline is valid? [False, False] Translation: X:13.10, Y:0.27, Z:1.03 [[ 0.92048037 -0.08859393 -0.38061398 13.09980393] [ 0.11283958 0.99273284 0.04181799 0.2663762 ] [ 0.37414318 -0.08144096 0.92378799 1.02512805] [ 0. 0. 0. 1. ]] SLAMing on 53.879649246 meters Centerline goodness : 0.913962 Centerline is valid? [False, False] Translation: X:13.10, Y:0.27, Z:1.02 [[ 0.92053423 -0.08861801 -0.3804781 13.0994118 ] [ 0.11272274 0.99275957 0.04149715 0.2675392 ] [ 0.37404588 -0.08108808 0.92385843 1.0247239 ] [ 0. 0. 0. 1. ]] SLAMing on 53.909649246 meters Centerline goodness : 0.914057 Centerline is valid? [False, False] Translation: X:13.10, Y:0.27, Z:1.02 [[ 0.92049465 -0.08869442 -0.38055605 13.09980609] [ 0.1127482 0.99276331 0.04133831 0.26787493] [ 0.37413561 -0.0809587 0.92383345 1.02458832] [ 0. 0. 0. 1. ]] SLAMing on 53.939649246 meters Centerline goodness : 0.910761 Centerline is valid? [False, False] Translation: X:13.10, Y:0.27, Z:1.02 [[ 0.92023524 -0.08933287 -0.38103378 13.10153639] [ 0.11321315 0.99273779 0.04067517 0.26930965] [ 0.374633 -0.08056876 0.92366595 1.02446826] [ 0. 0. 0. 1. ]] SLAMing on 53.969649246 meters Centerline goodness : 0.914243 Centerline is valid? [False, False] Translation: X:13.10, Y:0.27, Z:1.02 [[ 0.9202086 -0.08940758 -0.38108059 13.10168471] [ 0.11321446 0.99274607 0.04046886 0.26964591] [ 0.37469804 -0.08038363 0.9236557 1.02433282] [ 0. 0. 0. 1. ]] SLAMing on 53.999649246000004 meters Centerline goodness : 0.914556 Centerline is valid? [False, False] Translation: X:13.10, Y:0.27, Z:1.02 [[ 0.920189 -0.08918914 -0.38117908 13.10116254] [ 0.11301514 0.99276605 0.04053565 0.27019121] [ 0.37480632 -0.08037947 0.92361213 1.02474419] [ 0. 0. 0. 1. ]] SLAMing on 54.029649246000005 meters Centerline goodness : 0.918209 Centerline is valid? [False, False] Translation: X:13.10, Y:0.27, Z:1.02 [[ 0.92017823 -0.0892952 -0.38118026 13.10134341] [ 0.11302127 0.99277623 0.04026851 0.27108048] [ 0.37483092 -0.08013568 0.92362333 1.02446563] [ 0. 0. 0. 1. ]] SLAMing on 54.059649246 meters Centerline goodness : 0.917459 Centerline is valid? [False, False] Translation: X:13.10, Y:0.27, Z:1.02 [[ 0.92029538 -0.08909106 -0.38094512 13.10069037] [ 0.11262015 0.99283762 0.03987673 0.27277386] [ 0.37466399 -0.07960046 0.92373733 1.02365698] [ 0. 0. 0. 1. ]] SLAMing on 54.089649246 meters Centerline goodness : 0.917216 Centerline is valid? [False, False] Translation: X:13.10, Y:0.27, Z:1.02 [[ 0.92014491 -0.08952946 -0.38120575 13.10169357] [ 0.11291024 0.99282504 0.0393664 0.27417058] [ 0.37494616 -0.07926482 0.9236517 1.02347466] [ 0. 0. 0. 1. ]] SLAMing on 54.119649246 meters Centerline goodness : 0.915155 Centerline is valid? [False, False] Translation: X:13.10, Y:0.28, Z:1.02 [[ 0.92024883 -0.0891498 -0.38104383 13.10101864] [ 0.11226499 0.99291962 0.03882269 0.27602133] [ 0.37488486 -0.07850441 0.92374152 1.02251138] [ 0. 0. 0. 1. ]] SLAMing on 54.149649246 meters Centerline goodness : 0.916332 Centerline is valid? [False, False] Translation: X:13.10, Y:0.28, Z:1.02 [[ 0.92023381 -0.08925909 -0.38105452 13.10143391] [ 0.11218598 0.9929475 0.03833506 0.27718503] [ 0.37494538 -0.07802619 0.92375748 1.02185257] [ 0. 0. 0. 1. ]] SLAMing on 54.179649246000004 meters Centerline goodness : 0.914432 Centerline is valid? [False, False] Translation: X:13.10, Y:0.28, Z:1.02 [[ 0.92021969 -0.08505854 -0.38204813 13.10409051] [ 0.10893439 0.9931922 0.04126207 0.27919597] [ 0.37593753 -0.07958834 0.92322081 1.02146593] [ 0. 0. 0. 1. ]] SLAMing on 54.209649246000005 meters Centerline goodness : 0.913279 Centerline is valid? [False, False] Translation: X:13.11, Y:0.28, Z:1.02 [[ 0.92023543 -0.08553937 -0.38190283 13.10526738] [ 0.10894669 0.99324044 0.04005061 0.28166116] [ 0.37589543 -0.07846304 0.92333427 1.01950893] [ 0. 0. 0. 1. ]] SLAMing on 54.239649246 meters Centerline goodness : 0.911835 Centerline is valid? [False, False] Translation: X:13.11, Y:0.29, Z:1.02 [[ 0.92013207 -0.08563349 -0.3821307 13.10664107] [ 0.10861578 0.99332093 0.03893778 0.28530383] [ 0.37624404 -0.07733333 0.92328759 1.01775654] [ 0. 0. 0. 1. ]] SLAMing on 54.269649246 meters Centerline goodness : 0.911622 Centerline is valid? [False, False] Translation: X:13.11, Y:0.29, Z:1.02 [[ 0.9199382 -0.09080158 -0.38140369 13.10575516] [ 0.11232632 0.99307207 0.03450611 0.28680328] [ 0.37562814 -0.07458516 0.92376434 1.0168905 ] [ 0. 0. 0. 1. ]] SLAMing on 54.299649246 meters Centerline goodness : 0.914954 Centerline is valid? [False, False] Translation: X:13.11, Y:0.29, Z:1.02 [[ 0.91946392 -0.09137178 -0.38240986 13.10662829] [ 0.113453 0.99290738 0.03554361 0.28515916] [ 0.37644989 -0.07606661 0.92330891 1.02053199] [ 0. 0. 0. 1. ]] SLAMing on 54.329649246 meters Centerline goodness : 0.916790 Centerline is valid? [False, False] Translation: X:13.11, Y:0.29, Z:1.02 [[ 0.91924584 -0.09240014 -0.38268693 13.10978195] [ 0.11410247 0.99287487 0.03435299 0.28774976] [ 0.37678602 -0.07524437 0.92323918 1.01878403] [ 0. 0. 0. 1. ]] SLAMing on 54.359649246000004 meters Centerline goodness : 0.913559 Centerline is valid? [False, False] Translation: X:13.11, Y:0.29, Z:1.02 [[ 0.91918187 -0.08791802 -0.38389467 13.11253672] [ 0.11098343 0.9930839 0.03830214 0.28722717] [ 0.37787216 -0.07781258 0.92258215 1.01970206] [ 0. 0. 0. 1. ]] SLAMing on 54.389649246000005 meters Centerline goodness : 0.915905 Centerline is valid? [False, False] Translation: X:13.11, Y:0.29, Z:1.02 [[ 0.91917444 -0.09152146 -0.3830694 13.10996444] [ 0.11342071 0.99293302 0.03492513 0.28683005] [ 0.37716585 -0.07555029 0.92305908 1.01927977] [ 0. 0. 0. 1. ]] SLAMing on 54.419649246000006 meters Centerline goodness : 0.918587 Centerline is valid? [False, False] Translation: X:13.11, Y:0.29, Z:1.02 [[ 0.91905441 -0.09149133 -0.38336448 13.11021933] [ 0.11345687 0.99292522 0.03502928 0.28642728] [ 0.37744738 -0.07568915 0.92293262 1.01989288] [ 0. 0. 0. 1. ]] SLAMing on 54.449649246 meters Centerline goodness : 0.913621 Centerline is valid? [False, False] Translation: X:13.11, Y:0.29, Z:1.02 [[ 0.91895265 -0.09143633 -0.38362146 13.11054997] [ 0.11351564 0.99291025 0.03526243 0.28554776] [ 0.37767741 -0.07595154 0.92281696 1.02052275] [ 0. 0. 0. 1. ]] SLAMing on 54.479649246 meters Centerline goodness : 0.918691 Centerline is valid? [False, False] Translation: X:13.11, Y:0.28, Z:1.02 [[ 0.91881969 -0.0914115 -0.38394571 13.11125792] [ 0.11362253 0.9928889 0.03551846 0.28427373] [ 0.37796864 -0.07625994 0.92267228 1.02115897] [ 0. 0. 0. 1. ]] SLAMing on 54.509649246 meters Centerline goodness : 0.918692 Centerline is valid? [False, False] Translation: X:13.11, Y:0.28, Z:1.02 [[ 0.91869114 -0.09145637 -0.38424253 13.11188102] [ 0.11375739 0.99286822 0.03566442 0.28373883] [ 0.37824046 -0.07647501 0.92254308 1.02165292] [ 0. 0. 0. 1. ]] SLAMing on 54.539649246 meters Centerline goodness : 0.918692 Centerline is valid? [False, False] Translation: X:13.11, Y:0.28, Z:1.02 [[ 0.91869114 -0.09145637 -0.38424253 13.11188102] [ 0.11375739 0.99286822 0.03566442 0.28373883] [ 0.37824046 -0.07647501 0.92254308 1.02165292] [ 0. 0. 0. 1. ]] SLAMing on 54.569649246000004 meters Centerline goodness : 0.918066 Centerline is valid? [False, False] Translation: X:13.11, Y:0.28, Z:1.02 [[ 0.91849456 -0.09199947 -0.38458269 13.11386089] [ 0.11431562 0.99280928 0.03551993 0.28372679] [ 0.37854945 -0.07658867 0.9224069 1.02160778] [ 0. 0. 0. 1. ]] SLAMing on 54.599649246000006 meters Centerline goodness : 0.920323 Centerline is valid? [False, False] Translation: X:13.11, Y:0.28, Z:1.02 [[ 0.9185137 -0.09195164 -0.38454841 13.11411189] [ 0.11425986 0.99281579 0.03551752 0.28350848] [ 0.37851984 -0.07656178 0.92242128 1.02134846] [ 0. 0. 0. 1. ]] SLAMing on 54.629649246 meters Centerline goodness : 0.923040 Centerline is valid? [False, False] Translation: X:13.11, Y:0.28, Z:1.02 [[ 0.91847201 -0.09146246 -0.38476459 13.11356565] [ 0.1139213 0.99283972 0.03593356 0.28270431] [ 0.378723 -0.07683685 0.92231502 1.02221295] [ 0. 0. 0. 1. ]] SLAMing on 54.659649246 meters Centerline goodness : 0.922783 Centerline is valid? [False, False] Translation: X:13.11, Y:0.28, Z:1.02 [[ 0.91853667 -0.09133077 -0.38464149 13.11303762] [ 0.11365349 0.99288046 0.03565492 0.28377218] [ 0.37864663 -0.0764662 0.92237717 1.02181781] [ 0. 0. 0. 1. ]] SLAMing on 54.689649246 meters Centerline goodness : 0.925945 Centerline is valid? [False, False] Translation: X:13.11, Y:0.28, Z:1.02 [[ 0.91847586 -0.0916175 -0.38471851 13.11378065] [ 0.11377022 0.99288447 0.03516755 0.2848249 ] [ 0.37875907 -0.07607005 0.92236376 1.02131583] [ 0. 0. 0. 1. ]] SLAMing on 54.719649246 meters Centerline goodness : 0.924987 Centerline is valid? [False, False] Translation: X:13.11, Y:0.29, Z:1.02 [[ 0.91848348 -0.09180013 -0.38465678 13.11424954] [ 0.11376342 0.99290228 0.03468357 0.28588048] [ 0.37874264 -0.07561616 0.92240783 1.02052175] [ 0. 0. 0. 1. ]] SLAMing on 54.749649246000004 meters Centerline goodness : 0.923538 Centerline is valid? [False, False] Translation: X:13.12, Y:0.29, Z:1.02 [[ 0.91838065 -0.08773137 -0.38584996 13.11720604] [ 0.11098972 0.99308043 0.03837373 0.28565659] [ 0.37981347 -0.07806707 0.92176313 1.02152224] [ 0. 0. 0. 1. ]] SLAMing on 54.779649246000005 meters Centerline goodness : 0.922376 Centerline is valid? [False, False] Translation: X:13.12, Y:0.29, Z:1.02 [[ 0.91815033 -0.08817759 -0.38629611 13.11870823] [ 0.11141219 0.99304255 0.03812888 0.28545321] [ 0.38024636 -0.07804614 0.92158641 1.02178009] [ 0. 0. 0. 1. ]] SLAMing on 54.809649246 meters Centerline goodness : 0.924746 Centerline is valid? [False, False] Translation: X:13.12, Y:0.28, Z:1.02 [[ 0.91794956 -0.08856288 -0.38668492 13.12002646] [ 0.11182902 0.992999 0.03804274 0.28484829] [ 0.38060857 -0.07816392 0.92142689 1.02215638] [ 0. 0. 0. 1. ]] SLAMing on 54.839649246 meters Centerline goodness : 0.923287 Centerline is valid? [False, False] Translation: X:13.12, Y:0.28, Z:1.02 [[ 0.91773299 -0.08890144 -0.38712103 13.12166817] [ 0.11221105 0.99295816 0.0379839 0.28404241] [ 0.38101816 -0.07829833 0.92124618 1.0224009 ] [ 0. 0. 0. 1. ]] SLAMing on 54.869649246 meters Centerline goodness : 0.926495 Centerline is valid? [False, False] Translation: X:13.12, Y:0.28, Z:1.02 [[ 0.91755744 -0.0890338 -0.38750656 13.12303528] [ 0.11258456 0.99289777 0.03845441 0.2819426 ] [ 0.38133065 -0.07891138 0.92106456 1.02316864] [ 0. 0. 0. 1. ]] SLAMing on 54.899649246 meters Centerline goodness : 0.927013 Centerline is valid? [False, False] Translation: X:13.12, Y:0.28, Z:1.02 [[ 0.91740171 -0.08900196 -0.3878824 13.12363086] [ 0.11278391 0.99285644 0.03893442 0.28014853] [ 0.3816463 -0.07946539 0.92088618 1.02423593] [ 0. 0. 0. 1. ]] SLAMing on 54.929649246000004 meters Centerline goodness : 0.926280 Centerline is valid? [False, False] Translation: X:13.12, Y:0.28, Z:1.02 [[ 0.91722768 -0.09346551 -0.38724357 13.12246145] [ 0.11610425 0.99260495 0.03542912 0.27910175] [ 0.38106848 -0.07745719 0.92129648 1.02412511] [ 0. 0. 0. 1. ]] SLAMing on 54.959649246000005 meters Centerline goodness : 0.930047 Centerline is valid? [False, False] Translation: X:13.12, Y:0.28, Z:1.03 [[ 0.91693525 -0.09381134 -0.387852 13.12391625] [ 0.11663459 0.99253407 0.03567189 0.27810441] [ 0.3816099 -0.07794578 0.92103113 1.02524765] [ 0. 0. 0. 1. ]] SLAMing on 54.989649246 meters Centerline goodness : 0.928407 Centerline is valid? [False, False] Translation: X:13.13, Y:0.28, Z:1.03 [[ 0.916685 -0.09400904 -0.38839529 13.12512359] [ 0.11717198 0.99244686 0.03633109 0.27520483] [ 0.38204624 -0.07881322 0.92077638 1.02683264] [ 0. 0. 0. 1. ]] SLAMing on 55.019649246 meters Centerline goodness : 0.929771 Centerline is valid? [False, False] Translation: X:13.13, Y:0.27, Z:1.03 [[ 0.91644762 -0.09412091 -0.38892803 13.12621324] [ 0.11745213 0.99240406 0.03659484 0.27416537] [ 0.38252941 -0.07921768 0.92054104 1.02777851] [ 0. 0. 0. 1. ]] SLAMing on 55.049649246 meters Centerline goodness : 0.930612 Centerline is valid? [False, False] Translation: X:13.13, Y:0.27, Z:1.03 [[ 0.91631317 -0.09436298 -0.38918608 13.12757326] [ 0.11773012 0.99237185 0.03657503 0.27307492] [ 0.38276599 -0.07933311 0.92043276 1.02783496] [ 0. 0. 0. 1. ]] SLAMing on 55.079649246 meters Centerline goodness : 0.929696 Centerline is valid? [False, False] Translation: X:13.13, Y:0.27, Z:1.03 [[ 0.91616059 -0.09465025 -0.38947543 13.12875991] [ 0.11795621 0.99235489 0.03630575 0.27330402] [ 0.3830615 -0.07920295 0.92032102 1.02772679] [ 0. 0. 0. 1. ]] SLAMing on 55.109649246000004 meters Centerline goodness : 0.929751 Centerline is valid? [False, False] Translation: X:13.13, Y:0.27, Z:1.03 [[ 0.91588899 -0.0956175 -0.38987775 13.13148593] [ 0.11880192 0.99227488 0.0357305 0.27312947] [ 0.38344944 -0.07904339 0.92017317 1.0273285 ] [ 0. 0. 0. 1. ]] SLAMing on 55.139649246000005 meters Centerline goodness : 0.929682 Centerline is valid? [False, False] Translation: X:13.14, Y:0.27, Z:1.03 [[ 0.91551744 -0.09674262 -0.39047238 13.13506433] [ 0.11978023 0.99218257 0.03502054 0.27289749] [ 0.38403191 -0.07883278 0.91994831 1.0268636 ] [ 0. 0. 0. 1. ]] SLAMing on 55.169649246000006 meters Centerline goodness : 0.930613 Centerline is valid? [False, False] Translation: X:13.14, Y:0.27, Z:1.03 [[ 0.91527356 -0.09703812 -0.39097047 13.1364835 ] [ 0.12016878 0.99213374 0.03507301 0.27259072] [ 0.38449157 -0.07908384 0.91973473 1.02749436] [ 0. 0. 0. 1. ]] SLAMing on 55.199649246 meters Centerline goodness : 0.928515 Centerline is valid? [False, False] Translation: X:13.14, Y:0.27, Z:1.03 [[ 0.91509246 -0.0969638 -0.39141259 13.13689814] [ 0.12027265 0.99210899 0.03541516 0.27205305] [ 0.38488996 -0.07948438 0.91953355 1.02864226] [ 0. 0. 0. 1. ]] SLAMing on 55.229649246 meters Centerline goodness : 0.928735 Centerline is valid? [False, False] Translation: X:13.14, Y:0.27, Z:1.03 [[ 0.915032 -0.09683867 -0.39158488 13.13683371] [ 0.12018143 0.99211763 0.03548274 0.27196939] [ 0.38506216 -0.07952908 0.91945759 1.02900809] [ 0. 0. 0. 1. ]] SLAMing on 55.259649246 meters Centerline goodness : 0.929570 Centerline is valid? [False, False] Translation: X:13.14, Y:0.27, Z:1.03 [[ 0.91481818 -0.09713953 -0.3920097 13.13784221] [ 0.1204092 0.99210176 0.03515279 0.27272369] [ 0.38549879 -0.07935998 0.91928922 1.02925396] [ 0. 0. 0. 1. ]] SLAMing on 55.289649246 meters Centerline goodness : 0.931894 Centerline is valid? [False, False] Translation: X:13.14, Y:0.27, Z:1.03 [[ 0.91465181 -0.09755952 -0.39229352 13.13925522] [ 0.12072404 0.99207754 0.03475422 0.27364268] [ 0.38579498 -0.07914726 0.9191833 1.02898158] [ 0. 0. 0. 1. ]] SLAMing on 55.319649246000004 meters Centerline goodness : 0.930140 Centerline is valid? [False, False] Translation: X:13.14, Y:0.27, Z:1.03 [[ 0.91434825 -0.09818931 -0.39284366 13.14127908] [ 0.12127914 0.99202471 0.03432703 0.27441563] [ 0.38634007 -0.0790306 0.91896437 1.02912223] [ 0. 0. 0. 1. ]] SLAMing on 55.349649246000006 meters Centerline goodness : 0.930759 Centerline is valid? [False, False] Translation: X:13.14, Y:0.27, Z:1.03 [[ 0.91399647 -0.09873806 -0.39352414 13.14328001] [ 0.12193503 0.99194457 0.03431938 0.27377434] [ 0.3869655 -0.07935217 0.91867346 1.03001889] [ 0. 0. 0. 1. ]] SLAMing on 55.379649246 meters Centerline goodness : 0.928526 Centerline is valid? [False, False] Translation: X:13.15, Y:0.27, Z:1.03 [[ 0.91355962 -0.09937306 -0.39437776 13.14568122] [ 0.12265163 0.99186055 0.03419402 0.27325644] [ 0.38776977 -0.07960935 0.91831201 1.0310509 ] [ 0. 0. 0. 1. ]] SLAMing on 55.409649246 meters Centerline goodness : 0.928326 Centerline is valid? [False, False] Translation: X:13.15, Y:0.27, Z:1.03 [[ 0.91349155 -0.09948827 -0.39450637 13.14616454] [ 0.12274759 0.99185204 0.03409638 0.27342118] [ 0.38789976 -0.07957147 0.9182604 1.03109208] [ 0. 0. 0. 1. ]] SLAMing on 55.439649246 meters Centerline goodness : 0.932940 Centerline is valid? [False, False] Translation: X:13.15, Y:0.27, Z:1.03 [[ 0.91332714 -0.09972487 -0.39482715 13.1466277 ] [ 0.12297435 0.99182885 0.03395363 0.2742673 ] [ 0.38821494 -0.07956438 0.91812781 1.03161621] [ 0. 0. 0. 1. ]] SLAMing on 55.469649246 meters Centerline goodness : 0.931859 Centerline is valid? [False, False] Translation: X:13.15, Y:0.27, Z:1.03 [[ 0.91329162 -0.09980951 -0.39488793 13.14676856] [ 0.12302067 0.99182725 0.03383229 0.27466012] [ 0.38828383 -0.07947812 0.91810615 1.03161876] [ 0. 0. 0. 1. ]] SLAMing on 55.499649246000004 meters Centerline goodness : 0.930852 Centerline is valid? [False, False] Translation: X:13.15, Y:0.27, Z:1.03 [[ 0.91314311 -0.10004876 -0.39517073 13.14741492] [ 0.12326738 0.99179982 0.03373838 0.2749644 ] [ 0.38855477 -0.07951963 0.91798792 1.03202846] [ 0. 0. 0. 1. ]] SLAMing on 55.529649246000005 meters Centerline goodness : 0.932610 Centerline is valid? [False, False] Translation: X:13.15, Y:0.28, Z:1.03 [[ 0.91302488 -0.10044303 -0.39534386 13.14858995] [ 0.1236023 0.99176691 0.03347948 0.27556186] [ 0.38872617 -0.07943301 0.91792285 1.03186428] [ 0. 0. 0. 1. ]] SLAMing on 55.559649246 meters Centerline goodness : 0.928643 Centerline is valid? [False, False] Translation: X:13.15, Y:0.28, Z:1.03 [[ 0.91306563 -0.10052177 -0.39522972 13.14867602] [ 0.12361296 0.99177068 0.03332795 0.27645046] [ 0.38862706 -0.07928612 0.91797751 1.03147791] [ 0. 0. 0. 1. ]] SLAMing on 55.589649246 meters Centerline goodness : 0.932294 Centerline is valid? [False, False] Translation: X:13.15, Y:0.28, Z:1.03 [[ 0.91291962 -0.10059051 -0.39554939 13.14898313] [ 0.12380116 0.99174056 0.03352506 0.27632403] [ 0.38891007 -0.07957516 0.91783264 1.03234688] [ 0. 0. 0. 1. ]] SLAMing on 55.619649246 meters Centerline goodness : 0.932274 Centerline is valid? [False, False] Translation: X:13.15, Y:0.28, Z:1.03 [[ 0.91281222 -0.10072375 -0.39576328 13.14938458] [ 0.12398461 0.99171616 0.03356881 0.27596465] [ 0.38910366 -0.07971057 0.91773883 1.03284535] [ 0. 0. 0. 1. ]] SLAMing on 55.649649246 meters Centerline goodness : 0.932590 Centerline is valid? [False, False] Translation: X:13.15, Y:0.28, Z:1.03 [[ 0.91272964 -0.10078982 -0.39593688 13.149878 ] [ 0.12403283 0.99171332 0.03347462 0.27629286] [ 0.38928197 -0.07966245 0.91766739 1.03291776] [ 0. 0. 0. 1. ]] SLAMing on 55.679649246000004 meters Centerline goodness : 0.934958 Centerline is valid? [False, False] Translation: X:13.15, Y:0.28, Z:1.03 [[ 0.91250268 -0.10099419 -0.39640766 13.15062605] [ 0.1244107 0.9916571 0.03373671 0.2755918 ] [ 0.38969326 -0.08010219 0.91745452 1.0341796 ] [ 0. 0. 0. 1. ]] SLAMing on 55.709649246000005 meters Centerline goodness : 0.934721 Centerline is valid? [False, False] Translation: X:13.15, Y:0.28, Z:1.04 [[ 0.91221875 -0.10135121 -0.39696964 13.15200622] [ 0.12486338 0.99159931 0.0337631 0.27549201] [ 0.39021289 -0.0803663 0.91721053 1.03506154] [ 0. 0. 0. 1. ]] SLAMing on 55.739649246 meters Centerline goodness : 0.936082 Centerline is valid? [False, False] Translation: X:13.15, Y:0.28, Z:1.04 [[ 0.91201337 -0.10184628 -0.39731466 13.15359557] [ 0.12528594 0.99155782 0.03341426 0.27607417] [ 0.39055734 -0.0802522 0.9170739 1.03502108] [ 0. 0. 0. 1. ]] SLAMing on 55.769649246 meters Centerline goodness : 0.932507 Centerline is valid? [False, False] Translation: X:13.16, Y:0.28, Z:1.03 [[ 0.91174137 -0.10280476 -0.39769192 13.15614088] [ 0.12602197 0.99149127 0.03261173 0.2776895 ] [ 0.39095542 -0.07985138 0.91693926 1.03443849] [ 0. 0. 0. 1. ]] SLAMing on 55.799649246 meters Centerline goodness : 0.931401 Centerline is valid? [False, False] Translation: X:13.16, Y:0.28, Z:1.03 [[ 0.9117706 -0.10265286 -0.39766413 13.15555889] [ 0.12591651 0.99149985 0.03275797 0.27766429] [ 0.39092123 -0.07994024 0.9169461 1.03475016] [ 0. 0. 0. 1. ]] SLAMing on 55.829649246 meters Centerline goodness : 0.929152 Centerline is valid? [False, False] Translation: X:13.16, Y:0.28, Z:1.04 [[ 0.91170381 -0.10266775 -0.39781339 13.15574838] [ 0.12599485 0.99148617 0.03287051 0.27755904] [ 0.39105173 -0.08009061 0.91687733 1.03519015] [ 0. 0. 0. 1. ]] SLAMing on 55.859649246000004 meters Centerline goodness : 0.932171 Centerline is valid? [False, False] Translation: X:13.16, Y:0.28, Z:1.04 [[ 0.91153451 -0.10289288 -0.39814305 13.15652166] [ 0.12627609 0.99145 0.03288233 0.27774651] [ 0.39135557 -0.08024932 0.9167338 1.03577816] [ 0. 0. 0. 1. ]] SLAMing on 55.889649246000005 meters Centerline goodness : 0.934288 Centerline is valid? [False, False] Translation: X:13.16, Y:0.27, Z:1.04 [[ 0.91613758 -0.09374338 -0.38974879 13.15930919] [ 0.11913013 0.99201416 0.04142368 0.27236115] [ 0.38275312 -0.08438061 0.91998911 1.03842769] [ 0. 0. 0. 1. ]] SLAMing on 55.919649246000006 meters Centerline goodness : 0.932472 Centerline is valid? [False, False] Translation: X:13.16, Y:0.27, Z:1.04 [[ 0.91603924 -0.09426168 -0.3898549 13.16030304] [ 0.11951627 0.99198624 0.04097755 0.27343643] [ 0.38286808 -0.08413104 0.91996413 1.03811433] [ 0. 0. 0. 1. ]] SLAMing on 55.949649246 meters Centerline goodness : 0.931571 Centerline is valid? [False, False] Translation: X:13.16, Y:0.27, Z:1.04 [[ 0.91581666 -0.09506908 -0.39018165 13.1621239 ] [ 0.12015895 0.99193459 0.04034341 0.2745625 ] [ 0.38319926 -0.08383099 0.91985362 1.03786847] [ 0. 0. 0. 1. ]] SLAMing on 55.979649246 meters Centerline goodness : 0.930355 Centerline is valid? [False, False] Translation: X:13.16, Y:0.28, Z:1.04 [[ 0.91555264 -0.09610309 -0.39054776 13.16441961] [ 0.1210901 0.99184317 0.03980349 0.27537773] [ 0.38353689 -0.08373365 0.91972177 1.037825 ] [ 0. 0. 0. 1. ]] SLAMing on 56.009649246 meters Centerline goodness : 0.933249 Centerline is valid? [False, False] Translation: X:13.17, Y:0.28, Z:1.04 [[ 0.91524995 -0.09663342 -0.39112596 13.1659309 ] [ 0.12168747 0.99177335 0.03972122 0.27555787] [ 0.38406991 -0.08394997 0.91947959 1.03874176] [ 0. 0. 0. 1. ]] SLAMing on 56.039649246 meters Centerline goodness : 0.930951 Centerline is valid? [False, False] Translation: X:13.17, Y:0.27, Z:1.04 [[ 0.91496822 -0.09674109 -0.39175799 13.16684811] [ 0.12212305 0.99169509 0.04033369 0.2738193 ] [ 0.38460255 -0.08474673 0.91918381 1.04065365] [ 0. 0. 0. 1. ]] SLAMing on 56.069649246000004 meters Centerline goodness : 0.930631 Centerline is valid? [False, False] Translation: X:13.17, Y:0.27, Z:1.04 [[ 0.91471118 -0.09738354 -0.39219881 13.16868711] [ 0.12275242 0.99162814 0.04006833 0.27446887] [ 0.38501338 -0.0847943 0.91900741 1.04091782] [ 0. 0. 0. 1. ]] SLAMing on 56.099649246000006 meters Centerline goodness : 0.928920 Centerline is valid? [False, False] Translation: X:13.17, Y:0.28, Z:1.04 [[ 0.91427738 -0.09876553 -0.39286416 13.17216046] [ 0.12391216 0.99152247 0.03910216 0.27644769] [ 0.38567169 -0.08443086 0.91876481 1.04065022] [ 0. 0. 0. 1. ]] SLAMing on 56.129649246 meters Centerline goodness : 0.928598 Centerline is valid? [False, False] Translation: X:13.17, Y:0.28, Z:1.04 [[ 0.91392751 -0.09969925 -0.39344196 13.17468511] [ 0.12475768 0.99143739 0.03856707 0.27738971] [ 0.38622796 -0.08433241 0.91854015 1.04085528] [ 0. 0. 0. 1. ]] SLAMing on 56.159649246 meters Centerline goodness : 0.925713 Centerline is valid? [False, False] Translation: X:13.18, Y:0.28, Z:1.04 [[ 0.91362009 -0.10088809 -0.39385268 13.17733048] [ 0.12562106 0.99137094 0.03745666 0.27979296] [ 0.38667517 -0.08369735 0.91841008 1.04016951] [ 0. 0. 0. 1. ]] SLAMing on 56.189649246 meters Centerline goodness : 0.926569 Centerline is valid? [False, False] Translation: X:13.18, Y:0.28, Z:1.04 [[ 0.91335682 -0.10192171 -0.394197 13.17967667] [ 0.1264107 0.99130302 0.03658773 0.28193799] [ 0.3870396 -0.08324837 0.91829737 1.03962247] [ 0. 0. 0. 1. ]] SLAMing on 56.219649246 meters Centerline goodness : 0.924361 Centerline is valid? [False, False] Translation: X:13.18, Y:0.28, Z:1.04 [[ 0.9127615 -0.10349422 -0.39516502 13.18367734] [ 0.12790332 0.99113836 0.03585372 0.28338476] [ 0.38795256 -0.08326882 0.91791019 1.04032605] [ 0. 0. 0. 1. ]] SLAMing on 56.249649246000004 meters Centerline goodness : 0.922369 Centerline is valid? [False, False] Translation: X:13.19, Y:0.28, Z:1.04 [[ 0.91658788 -0.09504552 -0.38837225 13.18883039] [ 0.12118894 0.99168362 0.04332243 0.27840229] [ 0.38102479 -0.08677523 0.92048366 1.04391882] [ 0. 0. 0. 1. ]] SLAMing on 56.279649246000005 meters Centerline goodness : 0.923382 Centerline is valid? [False, False] Translation: X:13.19, Y:0.28, Z:1.04 [[ 0.91630212 -0.09608605 -0.38879029 13.19128014] [ 0.12205962 0.99160799 0.04260341 0.27938446] [ 0.38143396 -0.08649319 0.92034073 1.04363819] [ 0. 0. 0. 1. ]] SLAMing on 56.309649246 meters Centerline goodness : 0.925512 Centerline is valid? [False, False] Translation: X:13.19, Y:0.28, Z:1.04 [[ 0.9160138 -0.09734403 -0.3891566 13.1944157 ] [ 0.1230714 0.99152257 0.04167035 0.28103407] [ 0.38180119 -0.08606466 0.92022863 1.04288251] [ 0. 0. 0. 1. ]] SLAMing on 56.339649246 meters Centerline goodness : 0.923473 Centerline is valid? [False, False] Translation: X:13.20, Y:0.28, Z:1.04 [[ 0.91555362 -0.09846215 -0.38995741 13.19743839] [ 0.12403019 0.99143644 0.04086938 0.28261557] [ 0.3825939 -0.0857846 0.91992549 1.04311727] [ 0. 0. 0. 1. ]] SLAMing on 56.369649246 meters Centerline goodness : 0.921949 Centerline is valid? [False, False] Translation: X:13.20, Y:0.28, Z:1.04 [[ 0.9196024 -0.09081695 -0.38220899 13.20386555] [ 0.11742703 0.99197686 0.04682741 0.27888187] [ 0.37488975 -0.08794426 0.92288866 1.04388683] [ 0. 0. 0. 1. ]] SLAMing on 56.399649246 meters Centerline goodness : 0.919813 Centerline is valid? [False, False] Translation: X:13.21, Y:0.28, Z:1.05 [[ 0.923186 -0.08286059 -0.37531552 13.20943151] [ 0.11173679 0.99217006 0.05579848 0.27692193] [ 0.36775332 -0.09344893 0.92521608 1.04843918] [ 0. 0. 0. 1. ]] SLAMing on 56.429649246000004 meters Centerline goodness : 0.920748 Centerline is valid? [False, False] Translation: X:13.22, Y:0.28, Z:1.05 [[ 0.92487789 -0.08729909 -0.37010776 13.2246006 ] [ 0.11133899 0.99280565 0.04405187 0.2820893 ] [ 0.36359938 -0.08195003 0.92794379 1.04615789] [ 0. 0. 0. 1. ]] SLAMing on 56.459649246000005 meters Centerline goodness : 0.920748 Centerline is valid? [False, False] Translation: X:13.22, Y:0.28, Z:1.05 [[ 0.92487789 -0.08729909 -0.37010776 13.2246006 ] [ 0.11133899 0.99280565 0.04405187 0.2820893 ] [ 0.36359938 -0.08195003 0.92794379 1.04615789] [ 0. 0. 0. 1. ]] SLAMing on 56.489649246000006 meters Centerline goodness : 0.920036 Centerline is valid? [False, False] Translation: X:13.23, Y:0.28, Z:1.05 [[ 0.92455459 -0.08759967 -0.37084379 13.22564861] [ 0.11186824 0.99273065 0.04439988 0.28205796] [ 0.36425858 -0.08253575 0.9276333 1.04810948] [ 0. 0. 0. 1. ]] SLAMing on 56.519649246 meters Centerline goodness : 0.922373 Centerline is valid? [False, False] Translation: X:13.23, Y:0.28, Z:1.05 [[ 0.92862305 -0.07993553 -0.36231138 13.230212 ] [ 0.10519836 0.9931677 0.05050969 0.27738531] [ 0.35579844 -0.08501902 0.93068751 1.04923507] [ 0. 0. 0. 1. ]] SLAMing on 56.549649246 meters Centerline goodness : 0.925653 Centerline is valid? [False, False] Translation: X:13.25, Y:0.28, Z:1.05 [[ 0.93032558 -0.08289599 -0.357243 13.24831986] [ 0.10456682 0.99364145 0.04174272 0.28285517] [ 0.35151115 -0.07619008 0.93307823 1.04879355] [ 0. 0. 0. 1. ]] SLAMing on 56.579649246 meters Centerline goodness : 0.925001 Centerline is valid? [False, False] Translation: X:13.25, Y:0.28, Z:1.05 [[ 0.93016374 -0.08341825 -0.35754275 13.24968638] [ 0.1049725 0.99361843 0.04126976 0.28362977] [ 0.35181841 -0.07591979 0.93298445 1.04865569] [ 0. 0. 0. 1. ]] SLAMing on 56.609649246000004 meters Centerline goodness : 0.925001 Centerline is valid? [False, False] Translation: X:13.25, Y:0.29, Z:1.05 [[ 0.92971762 -0.08444389 -0.35846113 13.25233204] [ 0.10586266 0.99355508 0.04051408 0.28587391] [ 0.35272971 -0.07561431 0.93266512 1.04927879] [ 0. 0. 0. 1. ]] SLAMing on 56.639649246000005 meters Centerline goodness : 0.924482 Centerline is valid? [False, False] Translation: X:13.26, Y:0.29, Z:1.05 [[ 0.92946933 -0.08047937 -0.36001367 13.25556991] [ 0.10339129 0.99363086 0.0448101 0.28504409] [ 0.35411441 -0.0788719 0.93187028 1.0517877 ] [ 0. 0. 0. 1. ]] SLAMing on 56.669649246000006 meters Centerline goodness : 0.923732 Centerline is valid? [False, False] Translation: X:13.26, Y:0.29, Z:1.06 [[ 0.93210229 -0.07366619 -0.35462462 13.26363661] [ 0.09798992 0.99387457 0.05110101 0.28514086] [ 0.34868797 -0.08238101 0.9336113 1.05802288] [ 0. 0. 0. 1. ]] SLAMing on 56.699649246 meters Centerline goodness : 0.924023 Centerline is valid? [False, False] Translation: X:13.28, Y:0.29, Z:1.06 [[ 0.93380829 -0.07576715 -0.34965899 13.27970902] [ 0.09645162 0.99444689 0.0421008 0.29023758] [ 0.34452744 -0.07303925 0.93593061 1.05710122] [ 0. 0. 0. 1. ]] SLAMing on 56.729649246 meters Centerline goodness : 0.924957 Centerline is valid? [False, False] Translation: X:13.29, Y:0.29, Z:1.07 [[ 0.93566195 -0.06975998 -0.34593389 13.29072664] [ 0.0920345 0.99458053 0.04836548 0.29035991] [ 0.34068514 -0.0770916 0.93701148 1.06556303] [ 0. 0. 0. 1. ]] SLAMing on 56.759649246 meters Centerline goodness : 0.922724 Centerline is valid? [False, False] Translation: X:13.31, Y:0.29, Z:1.06 [[ 0.93706065 -0.07432049 -0.34116537 13.30914357] [ 0.09266333 0.99498111 0.03776373 0.29498111] [ 0.33664648 -0.06700042 0.93924443 1.06467107] [ 0. 0. 0. 1. ]] SLAMing on 56.789649246 meters Centerline goodness : 0.923385 Centerline is valid? [False, False] Translation: X:13.31, Y:0.30, Z:1.07 [[ 0.93680714 -0.07495026 -0.34172335 13.31097668] [ 0.09329837 0.99492978 0.03755183 0.29515017] [ 0.33717622 -0.06706106 0.93905006 1.06516265] [ 0. 0. 0. 1. ]] SLAMing on 56.819649246000004 meters Centerline goodness : 0.924136 Centerline is valid? [False, False] Translation: X:13.31, Y:0.30, Z:1.07 [[ 0.93653681 -0.07570614 -0.34229722 13.31310486] [ 0.09406803 0.99486535 0.0373382 0.295371 ] [ 0.33771291 -0.06716783 0.93884955 1.06564428] [ 0. 0. 0. 1. ]] SLAMing on 56.849649246000006 meters Centerline goodness : 0.920925 Centerline is valid? [False, False] Translation: X:13.32, Y:0.30, Z:1.07 [[ 0.93631906 -0.07661279 -0.34269096 13.3151868 ] [ 0.0949721 0.99478871 0.03709071 0.29617345] [ 0.33806347 -0.06727482 0.93871571 1.06607314] [ 0. 0. 0. 1. ]] SLAMing on 56.879649246 meters Centerline goodness : 0.926204 Centerline is valid? [False, False] Translation: X:13.32, Y:0.30, Z:1.07 [[ 0.93587798 -0.07307752 -0.34466229 13.31907863] [ 0.09318957 0.99475675 0.04212735 0.29510705] [ 0.33977657 -0.07154499 0.937781 1.07075267] [ 0. 0. 0. 1. ]] SLAMing on 56.909649246 meters Centerline goodness : 0.925249 Centerline is valid? [False, False] Translation: X:13.32, Y:0.29, Z:1.07 [[ 0.93561796 -0.06925053 -0.34615517 13.32240925] [ 0.0908089 0.99478526 0.04643303 0.29336048] [ 0.34113455 -0.07487755 0.93702752 1.07324489] [ 0. 0. 0. 1. ]] SLAMing on 56.939649246 meters Centerline goodness : 0.922809 Centerline is valid? [False, False] Translation: X:13.32, Y:0.29, Z:1.07 [[ 0.935318 -0.07001064 -0.34681228 13.32480052] [ 0.09144831 0.99475526 0.04581673 0.29423905] [ 0.34178568 -0.07456861 0.93681485 1.07321368] [ 0. 0. 0. 1. ]] SLAMing on 56.969649246 meters Centerline goodness : 0.922546 Centerline is valid? [False, False] Translation: X:13.33, Y:0.30, Z:1.07 [[ 0.93486652 -0.07171128 -0.34768102 13.32945337] [ 0.09285848 0.99468331 0.04452433 0.29684695] [ 0.34263961 -0.07390944 0.93655512 1.0724273 ] [ 0. 0. 0. 1. ]] SLAMing on 56.999649246000004 meters Centerline goodness : 0.923089 Centerline is valid? [False, False] Translation: X:13.33, Y:0.30, Z:1.07 [[ 0.93437651 -0.07324864 -0.34867632 13.33381644] [ 0.09419961 0.99460288 0.04349188 0.29847256] [ 0.34360875 -0.07348296 0.93623356 1.07228744] [ 0. 0. 0. 1. ]] SLAMing on 57.029649246000005 meters Centerline goodness : 0.920305 Centerline is valid? [False, False] Translation: X:13.34, Y:0.30, Z:1.07 [[ 0.93405049 -0.07418743 -0.34935069 13.33665399] [ 0.09499987 0.99455692 0.04279669 0.29932328] [ 0.34427417 -0.07316253 0.93601418 1.0721357 ] [ 0. 0. 0. 1. ]] SLAMing on 57.059649246 meters Centerline goodness : 0.922068 Centerline is valid? [False, False] Translation: X:13.34, Y:0.30, Z:1.07 [[ 0.93377891 -0.07519581 -0.34986075 13.33932911] [ 0.09580251 0.99451621 0.04194502 0.30047453] [ 0.34478809 -0.07268491 0.93586221 1.07158025] [ 0. 0. 0. 1. ]] SLAMing on 57.089649246 meters Centerline goodness : 0.920569 Centerline is valid? [False, False] Translation: X:13.34, Y:0.30, Z:1.07 [[ 0.93324868 -0.07698939 -0.35088393 13.34400645] [ 0.09734104 0.99441822 0.04070789 0.30222528] [ 0.3457913 -0.07214599 0.93553372 1.07134307] [ 0. 0. 0. 1. ]] SLAMing on 57.119649246 meters Centerline goodness : 0.920753 Centerline is valid? [False, False] Translation: X:13.35, Y:0.30, Z:1.07 [[ 0.93266073 -0.07868158 -0.35206985 13.34873036] [ 0.09885985 0.99431008 0.03967624 0.30380811] [ 0.34694481 -0.07181005 0.93513241 1.07150072] [ 0. 0. 0. 1. ]] SLAMing on 57.149649246 meters Centerline goodness : 0.925051 Centerline is valid? [False, False] Translation: X:13.35, Y:0.30, Z:1.07 [[ 0.93229117 -0.0796836 -0.35282249 13.35157708] [ 0.09981326 0.99423368 0.03920075 0.30433233] [ 0.34766434 -0.07176287 0.93486876 1.07183938] [ 0. 0. 0. 1. ]] SLAMing on 57.179649246000004 meters Centerline goodness : 0.918989 Centerline is valid? [False, False] Translation: X:13.36, Y:0.31, Z:1.07 [[ 0.93183765 -0.08145973 -0.35361406 13.35614665] [ 0.10119357 0.9941542 0.03764681 0.30709828] [ 0.3484802 -0.07086419 0.93463352 1.070728 ] [ 0. 0. 0. 1. ]] SLAMing on 57.209649246000005 meters Centerline goodness : 0.921274 Centerline is valid? [False, False] Translation: X:13.36, Y:0.31, Z:1.07 [[ 0.93153734 -0.08248054 -0.35416825 13.35878487] [ 0.10200702 0.99410322 0.0367881 0.30877991] [ 0.3490455 -0.07039714 0.93445786 1.07033189] [ 0. 0. 0. 1. ]] SLAMing on 57.239649246000006 meters Centerline goodness : 0.919518 Centerline is valid? [False, False] Translation: X:13.36, Y:0.31, Z:1.07 [[ 0.931308 -0.0832774 -0.35458467 13.36079197] [ 0.10260938 0.99406881 0.03603502 0.30985666] [ 0.34948066 -0.06994342 0.93432927 1.06993365] [ 0. 0. 0. 1. ]] SLAMing on 57.269649246 meters Centerline goodness : 0.923776 Centerline is valid? [False, False] Translation: X:13.36, Y:0.31, Z:1.07 [[ 0.9308451 -0.08462048 -0.35548104 13.36446517] [ 0.103638 0.9940074 0.03476286 0.31268001] [ 0.35040914 -0.06920018 0.93403681 1.06953809] [ 0. 0. 0. 1. ]] SLAMing on 57.299649246 meters Centerline goodness : 0.921804 Centerline is valid? [False, False] Translation: X:13.37, Y:0.32, Z:1.07 [[ 0.93062749 -0.08569763 -0.35579262 13.36695903] [ 0.10433513 0.99397816 0.0334902 0.31574903] [ 0.35078007 -0.06828857 0.93396468 1.06840829] [ 0. 0. 0. 1. ]] SLAMing on 57.329649246 meters Centerline goodness : 0.924190 Centerline is valid? [False, False] Translation: X:13.37, Y:0.32, Z:1.07 [[ 0.93037923 -0.08626982 -0.35630324 13.36864052] [ 0.10480494 0.99394486 0.03300812 0.31682407] [ 0.35129817 -0.06805241 0.93378716 1.0685429 ] [ 0. 0. 0. 1. ]] SLAMing on 57.359649246000004 meters Centerline goodness : 0.922512 Centerline is valid? [False, False] Translation: X:13.37, Y:0.32, Z:1.07 [[ 0.93001667 -0.08705664 -0.35705762 13.37102294] [ 0.10544909 0.993899 0.03233065 0.3188868 ] [ 0.35206461 -0.06771944 0.93352268 1.06889143] [ 0. 0. 0. 1. ]] SLAMing on 57.389649246000005 meters Centerline goodness : 0.920544 Centerline is valid? [False, False] Translation: X:13.37, Y:0.32, Z:1.07 [[ 0.92980526 -0.08734098 -0.35753844 13.37242334] [ 0.10579495 0.99386184 0.0323429 0.31939908] [ 0.35251896 -0.06789836 0.9333382 1.06945489] [ 0. 0. 0. 1. ]] SLAMing on 57.419649246000006 meters Centerline goodness : 0.919172 Centerline is valid? [False, False] Translation: X:13.38, Y:0.32, Z:1.07 [[ 0.92936901 -0.08844717 -0.3583997 13.3755554 ] [ 0.10700931 0.99373487 0.03224917 0.31998933] [ 0.35330193 -0.06832348 0.93301106 1.07060244] [ 0. 0. 0. 1. ]] SLAMing on 57.449649246 meters Centerline goodness : 0.921764 Centerline is valid? [False, False] Translation: X:13.38, Y:0.32, Z:1.07 [[ 0.92894663 -0.08933023 -0.35927464 13.37833925] [ 0.10797591 0.99363428 0.03212662 0.32004151] [ 0.35411772 -0.06863692 0.93267873 1.07158028] [ 0. 0. 0. 1. ]] SLAMing on 57.479649246 meters Centerline goodness : 0.919797 Centerline is valid? [False, False] Translation: X:13.38, Y:0.32, Z:1.07 [[ 0.92863689 -0.08993401 -0.35992416 13.38025361] [ 0.10871291 0.99355053 0.03223132 0.31938983] [ 0.35470415 -0.06905959 0.93242466 1.07263428] [ 0. 0. 0. 1. ]] SLAMing on 57.509649246 meters Centerline goodness : 0.922469 Centerline is valid? [False, False] Translation: X:13.38, Y:0.32, Z:1.08 [[ 0.92819817 -0.09011974 -0.36100773 13.38219207] [ 0.10938976 0.99344237 0.03325857 0.31773242] [ 0.35564312 -0.07036109 0.93196957 1.07549806] [ 0. 0. 0. 1. ]] SLAMing on 57.539649246 meters Centerline goodness : 0.923086 Centerline is valid? [False, False] Translation: X:13.38, Y:0.32, Z:1.08 [[ 0.92786279 -0.09041537 -0.36179512 13.38401757] [ 0.10995672 0.99336331 0.03374682 0.31723967] [ 0.35634277 -0.07109422 0.93164663 1.07724231] [ 0. 0. 0. 1. ]] SLAMing on 57.569649246000004 meters Centerline goodness : 0.926338 Centerline is valid? [False, False] Translation: X:13.39, Y:0.32, Z:1.08 [[ 0.92755307 -0.09095597 -0.36245318 13.38590875] [ 0.11053348 0.99330425 0.03360081 0.31778561] [ 0.35697009 -0.07122975 0.93139609 1.07797322] [ 0. 0. 0. 1. ]] SLAMing on 57.599649246000006 meters Centerline goodness : 0.922058 Centerline is valid? [False, False] Translation: X:13.39, Y:0.32, Z:1.08 [[ 0.92727392 -0.09130048 -0.36308029 13.38731511] [ 0.11088017 0.99327209 0.0334088 0.31877437] [ 0.35758727 -0.07123752 0.93115872 1.07883651] [ 0. 0. 0. 1. ]] SLAMing on 57.629649246 meters Centerline goodness : 0.920222 Centerline is valid? [False, False] Translation: X:13.39, Y:0.32, Z:1.08 [[ 0.92696695 -0.09203325 -0.36367865 13.38947829] [ 0.11151092 0.99321912 0.03287998 0.32035295] [ 0.35818654 -0.07103279 0.93094401 1.07899035] [ 0. 0. 0. 1. ]] SLAMing on 57.659649246 meters Centerline goodness : 0.922303 Centerline is valid? [False, False] Translation: X:13.39, Y:0.32, Z:1.08 [[ 0.92655384 -0.08859339 -0.36558063 13.39406644] [ 0.10948846 0.99330731 0.0367812 0.32081796] [ 0.35987534 -0.07410662 0.93005266 1.08151286] [ 0. 0. 0. 1. ]] SLAMing on 57.689649246 meters Centerline goodness : 0.921274 Centerline is valid? [False, False] Translation: X:13.40, Y:0.32, Z:1.08 [[ 0.92627924 -0.08938775 -0.36608277 13.39629714] [ 0.11017198 0.99325176 0.03623628 0.32198104] [ 0.36037328 -0.07389697 0.92987652 1.08148594] [ 0. 0. 0. 1. ]] SLAMing on 57.719649246 meters Centerline goodness : 0.923134 Centerline is valid? [False, False] Translation: X:13.40, Y:0.32, Z:1.09 [[ 0.92532883 -0.09090051 -0.36810821 13.40051804] [ 0.1132584 0.99277825 0.03954602 0.31913469] [ 0.36185507 -0.07828442 0.92894158 1.0901885 ] [ 0. 0. 0. 1. ]] SLAMing on 57.749649246000004 meters Centerline goodness : 0.925612 Centerline is valid? [False, False] Translation: X:13.40, Y:0.32, Z:1.09 [[ 0.92492466 -0.09223731 -0.3687908 13.40412537] [ 0.11434808 0.99269429 0.03850396 0.3212412 ] [ 0.36254502 -0.07778379 0.92871459 1.08960732] [ 0. 0. 0. 1. ]] SLAMing on 57.779649246000005 meters Centerline goodness : 0.921411 Centerline is valid? [False, False] Translation: X:13.41, Y:0.32, Z:1.09 [[ 0.92439344 -0.08987851 -0.37070017 13.41155411] [ 0.1129343 0.99275961 0.04091709 0.32400925] [ 0.36433858 -0.07968826 0.92785084 1.08969281] [ 0. 0. 0. 1. ]] SLAMing on 57.809649246 meters Centerline goodness : 0.922405 Centerline is valid? [False, False] Translation: X:13.41, Y:0.32, Z:1.09 [[ 0.9239815 -0.09067968 -0.37153113 13.41375368] [ 0.11376991 0.99267482 0.04065839 0.32461943] [ 0.36512271 -0.07983667 0.92752979 1.0907894 ] [ 0. 0. 0. 1. ]] SLAMing on 57.839649246 meters Centerline goodness : 0.923841 Centerline is valid? [False, False] Translation: X:13.42, Y:0.32, Z:1.10 [[ 0.92313974 -0.08726162 -0.37443081 13.41918711] [ 0.11263605 0.99255317 0.04638244 0.32390564] [ 0.36759508 -0.08499188 0.92609408 1.09790318] [ 0. 0. 0. 1. ]] SLAMing on 57.869649246 meters Centerline goodness : 0.924348 Centerline is valid? [False, False] Translation: X:13.42, Y:0.33, Z:1.10 [[ 0.9228708 -0.08804897 -0.37490915 13.42129322] [ 0.11320154 0.9925271 0.04555612 0.32599615] [ 0.36809632 -0.08448271 0.92594156 1.0975329 ] [ 0. 0. 0. 1. ]] SLAMing on 57.899649246 meters Centerline goodness : 0.926343 Centerline is valid? [False, False] Translation: X:13.44, Y:0.33, Z:1.10 [[ 0.92457482 -0.08824461 -0.37064037 13.44038458] [ 0.1105457 0.99309304 0.03931753 0.33188168] [ 0.36461081 -0.0773247 0.92794388 1.09858221] [ 0. 0. 0. 1. ]] SLAMing on 57.929649246000004 meters Centerline goodness : 0.926025 Centerline is valid? [False, False] Translation: X:13.44, Y:0.33, Z:1.10 [[ 0.92407007 -0.08939689 -0.37162173 13.44397516] [ 0.11142271 0.99303949 0.03817793 0.33460745] [ 0.36562206 -0.07668618 0.92759891 1.09844827] [ 0. 0. 0. 1. ]] SLAMing on 57.959649246000005 meters Centerline goodness : 0.924283 Centerline is valid? [False, False] Translation: X:13.45, Y:0.33, Z:1.10 [[ 0.92375477 -0.08574718 -0.37326204 13.44785084] [ 0.10928368 0.99310947 0.04231606 0.33380079] [ 0.36706159 -0.07988112 0.92676038 1.10090236] [ 0. 0. 0. 1. ]] SLAMing on 57.989649246000006 meters Centerline goodness : 0.926586 Centerline is valid? [False, False] Translation: X:13.47, Y:0.34, Z:1.10 [[ 0.92540522 -0.08703954 -0.36884861 13.4663725 ] [ 0.10780813 0.9935185 0.03603326 0.33785064] [ 0.3633216 -0.07311025 0.92879077 1.1034843 ] [ 0. 0. 0. 1. ]] SLAMing on 58.019649246 meters Centerline goodness : 0.924882 Centerline is valid? [False, False] Translation: X:13.47, Y:0.34, Z:1.10 [[ 0.92513397 -0.08747134 -0.36942646 13.46810869] [ 0.1081634 0.99349436 0.03563188 0.33883535] [ 0.36390633 -0.07292269 0.92857658 1.10370958] [ 0. 0. 0. 1. ]] SLAMing on 58.049649246 meters Centerline goodness : 0.926765 Centerline is valid? [False, False] Translation: X:13.47, Y:0.34, Z:1.11 [[ 0.92491459 -0.08354648 -0.37088136 13.47159742] [ 0.10565539 0.99361157 0.03966083 0.33822131] [ 0.36519849 -0.0758685 0.92783298 1.10556184] [ 0. 0. 0. 1. ]] SLAMing on 58.079649246 meters Centerline goodness : 0.925397 Centerline is valid? [False, False] Translation: X:13.47, Y:0.34, Z:1.10 [[ 0.92458258 -0.08445573 -0.37150274 13.47463084] [ 0.1061812 0.9936059 0.0383781 0.34176744] [ 0.36588606 -0.07493033 0.92763831 1.10453663] [ 0. 0. 0. 1. ]] SLAMing on 58.109649246000004 meters Centerline goodness : 0.921256 Centerline is valid? [False, False] Translation: X:13.48, Y:0.34, Z:1.10 [[ 0.92428601 -0.08509183 -0.37209507 13.47668208] [ 0.10673957 0.99356325 0.03793056 0.3426138 ] [ 0.36647241 -0.07477595 0.92741928 1.10479819] [ 0. 0. 0. 1. ]] SLAMing on 58.139649246000005 meters Centerline goodness : 0.921139 Centerline is valid? [False, False] Translation: X:13.48, Y:0.34, Z:1.11 [[ 0.92358101 -0.0863937 -0.37354282 13.48113095] [ 0.10810028 0.99343194 0.03751406 0.34308887] [ 0.3678484 -0.07502736 0.92685406 1.10634347] [ 0. 0. 0. 1. ]] SLAMing on 58.169649246000006 meters Centerline goodness : 0.925298 Centerline is valid? [False, False] Translation: X:13.49, Y:0.34, Z:1.11 [[ 0.92266614 -0.08762912 -0.37551076 13.4920512 ] [ 0.11039726 0.99310205 0.03950661 0.34461036] [ 0.36945857 -0.07790677 0.92597565 1.1088917 ] [ 0. 0. 0. 1. ]] SLAMing on 58.199649246 meters Centerline goodness : 0.922375 Centerline is valid? [False, False] Translation: X:13.50, Y:0.34, Z:1.11 [[ 0.92219927 -0.08876251 -0.37639038 13.49558857] [ 0.11153048 0.99299193 0.03908938 0.34454667] [ 0.37028293 -0.0780272 0.92563616 1.1094272 ] [ 0. 0. 0. 1. ]] SLAMing on 58.229649246 meters Centerline goodness : 0.923975 Centerline is valid? [False, False] Translation: X:13.50, Y:0.34, Z:1.11 [[ 0.92156254 -0.09011816 -0.37762575 13.50038716] [ 0.11300036 0.99283579 0.03883307 0.34415974] [ 0.37142079 -0.07845895 0.92514366 1.11055128] [ 0. 0. 0. 1. ]] SLAMing on 58.259649246 meters Centerline goodness : 0.923830 Centerline is valid? [False, False] Translation: X:13.50, Y:0.34, Z:1.11 [[ 0.92115733 -0.09085183 -0.37843772 13.5029527 ] [ 0.11389781 0.99273008 0.03891382 0.34322245] [ 0.37215112 -0.07894898 0.92480842 1.11174133] [ 0. 0. 0. 1. ]] SLAMing on 58.289649246 meters Centerline goodness : 0.925402 Centerline is valid? [False, False] Translation: X:13.51, Y:0.34, Z:1.11 [[ 0.92079817 -0.0914528 -0.37916635 13.5053579 ] [ 0.11462409 0.99264538 0.03894188 0.34217543] [ 0.37281638 -0.07931921 0.92450874 1.1126275 ] [ 0. 0. 0. 1. ]] SLAMing on 58.319649246000004 meters Centerline goodness : 0.927458 Centerline is valid? [False, False] Translation: X:13.51, Y:0.34, Z:1.11 [[ 0.92009106 -0.09256786 -0.38060957 13.50977261] [ 0.1160952 0.99246131 0.0392742 0.34049583] [ 0.37410474 -0.08032278 0.92390145 1.11497444] [ 0. 0. 0. 1. ]] SLAMing on 58.349649246000006 meters Centerline goodness : 0.927458 Centerline is valid? [False, False] Translation: X:13.51, Y:0.34, Z:1.11 [[ 0.92009106 -0.09256786 -0.38060957 13.50977261] [ 0.1160952 0.99246131 0.0392742 0.34049583] [ 0.37410474 -0.08032278 0.92390145 1.11497444] [ 0. 0. 0. 1. ]] SLAMing on 58.379649246 meters Centerline goodness : 0.925734 Centerline is valid? [False, False] Translation: X:13.52, Y:0.34, Z:1.12 [[ 0.91932455 -0.08951499 -0.38318329 13.51593714] [ 0.11510869 0.99236275 0.04434146 0.33901831] [ 0.3762876 -0.08487192 0.92260739 1.12048987] [ 0. 0. 0. 1. ]] SLAMing on 58.409649246 meters Centerline goodness : 0.922302 Centerline is valid? [False, False] Translation: X:13.52, Y:0.33, Z:1.12 [[ 0.92301269 -0.08211342 -0.37590551 13.52091295] [ 0.10915681 0.99270613 0.05117941 0.33455429] [ 0.36896119 -0.0882719 0.9252436 1.12390355] [ 0. 0. 0. 1. ]] SLAMing on 58.439649246 meters Centerline goodness : 0.924743 Centerline is valid? [False, False] Translation: X:13.52, Y:0.34, Z:1.12 [[ 0.92250545 -0.0835233 -0.37683889 13.52497413] [ 0.11038576 0.99261926 0.05021943 0.33644447] [ 0.36986305 -0.08792534 0.92491646 1.12386623] [ 0. 0. 0. 1. ]] SLAMing on 58.469649246 meters Centerline goodness : 0.925425 Centerline is valid? [False, False] Translation: X:13.53, Y:0.34, Z:1.12 [[ 0.92225878 -0.08445728 -0.37723429 13.52734523] [ 0.11107994 0.99258584 0.04934162 0.33779484] [ 0.37027015 -0.0874089 0.92480252 1.12326547] [ 0. 0. 0. 1. ]] SLAMing on 58.499649246000004 meters Centerline goodness : 0.924719 Centerline is valid? [False, False] Translation: X:13.53, Y:0.34, Z:1.12 [[ 0.92189746 -0.08522688 -0.37794371 13.52981246] [ 0.11170746 0.99254904 0.04866058 0.33902555] [ 0.37098048 -0.0870792 0.92454892 1.12338646] [ 0. 0. 0. 1. ]] SLAMing on 58.529649246000005 meters Centerline goodness : 0.928070 Centerline is valid? [False, False] Translation: X:13.53, Y:0.34, Z:1.12 [[ 0.9215901 -0.08603248 -0.37851038 13.5321777 ] [ 0.1123918 0.99250096 0.04806171 0.33979873] [ 0.37153705 -0.08683466 0.9243484 1.12336234] [ 0. 0. 0. 1. ]] SLAMing on 58.559649246 meters Centerline goodness : 0.926355 Centerline is valid? [False, False] Translation: X:13.53, Y:0.34, Z:1.12 [[ 0.92125885 -0.08677965 -0.37914564 13.53449129] [ 0.11307796 0.99244493 0.04760717 0.34049191] [ 0.37214983 -0.08673155 0.92411154 1.1236285 ] [ 0. 0. 0. 1. ]] SLAMing on 58.589649246 meters Centerline goodness : 0.926387 Centerline is valid? [False, False] Translation: X:13.54, Y:0.34, Z:1.12 [[ 0.92083584 -0.08781304 -0.3799345 13.53789717] [ 0.11387658 0.99240005 0.04662902 0.34171811] [ 0.37295238 -0.08620331 0.92383738 1.12325635] [ 0. 0. 0. 1. ]] SLAMing on 58.619649246 meters Centerline goodness : 0.926931 Centerline is valid? [False, False] Translation: X:13.54, Y:0.34, Z:1.12 [[ 0.92034433 -0.08910114 -0.3808245 13.54192504] [ 0.11487722 0.99233947 0.04544881 0.34340945] [ 0.37385765 -0.08557662 0.9235297 1.12274542] [ 0. 0. 0. 1. ]] SLAMing on 58.649649246 meters Centerline goodness : 0.926472 Centerline is valid? [False, False] Translation: X:13.54, Y:0.34, Z:1.12 [[ 0.92001555 -0.08996177 -0.38141614 13.54438224] [ 0.11558759 0.99228803 0.04476577 0.34420739] [ 0.37444746 -0.08527217 0.92331888 1.12267588] [ 0. 0. 0. 1. ]] SLAMing on 58.679649246000004 meters Centerline goodness : 0.923680 Centerline is valid? [False, False] Translation: X:13.55, Y:0.34, Z:1.12 [[ 0.91944627 -0.09121143 -0.38249056 13.54853023] [ 0.11669278 0.99219716 0.04390439 0.34464354] [ 0.37550146 -0.08500162 0.92291569 1.12285483] [ 0. 0. 0. 1. ]] SLAMing on 58.709649246000005 meters Centerline goodness : 0.925038 Centerline is valid? [False, False] Translation: X:13.55, Y:0.34, Z:1.12 [[ 0.91913001 -0.09183704 -0.38310049 13.55086141] [ 0.1172617 0.99214813 0.04349459 0.34486554] [ 0.37609802 -0.0849002 0.92268209 1.12301024] [ 0. 0. 0. 1. ]] SLAMing on 58.739649246000006 meters Centerline goodness : 0.921858 Centerline is valid? [False, False] Translation: X:13.55, Y:0.35, Z:1.12 [[ 0.91865472 -0.09284895 -0.38399555 13.55425105] [ 0.11812429 0.99207973 0.0427137 0.34571491] [ 0.37698828 -0.08459835 0.92234644 1.12309137] [ 0. 0. 0. 1. ]] SLAMing on 58.769649246 meters Centerline goodness : 0.922367 Centerline is valid? [False, False] Translation: X:13.56, Y:0.35, Z:1.12 [[ 0.9183791 -0.09360277 -0.38447151 13.55642537] [ 0.11869726 0.99204143 0.04200899 0.34663245] [ 0.37747951 -0.08421589 0.92218051 1.12278403] [ 0. 0. 0. 1. ]] SLAMing on 58.799649246 meters Centerline goodness : 0.923197 Centerline is valid? [False, False] Translation: X:13.56, Y:0.35, Z:1.12 [[ 0.91779073 -0.09497261 -0.38553908 13.56021518] [ 0.12010857 0.99188947 0.04158385 0.34693308] [ 0.37846282 -0.08447182 0.92175398 1.12388257] [ 0. 0. 0. 1. ]] SLAMing on 58.829649246 meters Centerline goodness : 0.923676 Centerline is valid? [False, False] Translation: X:13.56, Y:0.35, Z:1.12 [[ 0.9174617 -0.09566367 -0.38615086 13.56215782] [ 0.12079014 0.99181951 0.04127724 0.34748329] [ 0.37904322 -0.0845135 0.92151164 1.12442228] [ 0. 0. 0. 1. ]] SLAMing on 58.859649246000004 meters Centerline goodness : 0.922375 Centerline is valid? [False, False] Translation: X:13.56, Y:0.35, Z:1.12 [[ 0.91718952 -0.09639177 -0.38661611 13.56384934] [ 0.12151224 0.99174251 0.04100693 0.34782847] [ 0.3794709 -0.08458971 0.92132862 1.12496942] [ 0. 0. 0. 1. ]] SLAMing on 58.889649246000005 meters Centerline goodness : 0.922706 Centerline is valid? [False, False] Translation: X:13.57, Y:0.35, Z:1.13 [[ 0.91673028 -0.0972714 -0.38748403 13.56632048] [ 0.12248095 0.99163024 0.04083969 0.34810528] [ 0.38026835 -0.08489839 0.92097136 1.12612542] [ 0. 0. 0. 1. ]] SLAMing on 58.919649246000006 meters Centerline goodness : 0.921372 Centerline is valid? [False, False] Translation: X:13.57, Y:0.35, Z:1.13 [[ 0.9163907 -0.09772619 -0.38817223 13.567685 ] [ 0.12291286 0.99158958 0.04052821 0.34915147] [ 0.38094687 -0.08485103 0.92069527 1.12701838] [ 0. 0. 0. 1. ]] SLAMing on 58.949649246 meters Centerline goodness : 0.924343 Centerline is valid? [False, False] Translation: X:13.57, Y:0.35, Z:1.13 [[ 0.91609069 -0.09821385 -0.38875685 13.5692115 ] [ 0.1233279 0.99155483 0.04011537 0.34992664] [ 0.38153385 -0.08469388 0.92046666 1.12741353] [ 0. 0. 0. 1. ]] SLAMing on 58.979649246 meters Centerline goodness : 0.923096 Centerline is valid? [False, False] Translation: X:13.57, Y:0.35, Z:1.13 [[ 0.91577367 -0.09850134 -0.38943045 13.57046615] [ 0.12358319 0.991535 0.03981893 0.35085719] [ 0.3822117 -0.08459219 0.92019475 1.12819778] [ 0. 0. 0. 1. ]] SLAMing on 59.009649246 meters Centerline goodness : 0.923218 Centerline is valid? [False, False] Translation: X:13.57, Y:0.35, Z:1.13 [[ 0.91549432 -0.09897577 -0.38996659 13.57203853] [ 0.12397601 0.9915027 0.03939975 0.3518843 ] [ 0.38275331 -0.08441675 0.91998571 1.12844001] [ 0. 0. 0. 1. ]] SLAMing on 59.039649246 meters Centerline goodness : 0.926256 Centerline is valid? [False, False] Translation: X:13.58, Y:0.35, Z:1.13 [[ 0.91897414 -0.08990666 -0.38393141 13.57710235] [ 0.11699095 0.9919853 0.04773137 0.34890991] [ 0.37656294 -0.08878039 0.9221271 1.13379729] [ 0. 0. 0. 1. ]] SLAMing on 59.069649246000004 meters Centerline goodness : 0.925210 Centerline is valid? [False, False] Translation: X:13.58, Y:0.35, Z:1.13 [[ 0.91865289 -0.09056617 -0.38454471 13.57921506] [ 0.11755408 0.99194361 0.04721132 0.34972599] [ 0.37717092 -0.08857561 0.92189829 1.13393274] [ 0. 0. 0. 1. ]] SLAMing on 59.099649246000006 meters Centerline goodness : 0.924259 Centerline is valid? [False, False] Translation: X:13.58, Y:0.35, Z:1.13 [[ 0.91830326 -0.09162835 -0.38512772 13.58196128] [ 0.11831967 0.99190335 0.0461324 0.35216499] [ 0.37778244 -0.08793172 0.92170952 1.13331846] [ 0. 0. 0. 1. ]] SLAMing on 59.129649246 meters Centerline goodness : 0.926116 Centerline is valid? [False, False] Translation: X:13.60, Y:0.36, Z:1.13 [[ 0.92008436 -0.09291343 -0.38054154 13.59839377] [ 0.11618844 0.99247686 0.03859956 0.35715562] [ 0.37409226 -0.07972938 0.9239579 1.13433391] [ 0. 0. 0. 1. ]] SLAMing on 59.159649246 meters Centerline goodness : 0.928351 Centerline is valid? [False, False] Translation: X:13.60, Y:0.35, Z:1.14 [[ 0.92395071 -0.08374633 -0.37323136 13.60207614] [ 0.10836382 0.99307261 0.04543198 0.35294954] [ 0.36684108 -0.08242169 0.92662521 1.13822349] [ 0. 0. 0. 1. ]] SLAMing on 59.189649246 meters Centerline goodness : 0.928062 Centerline is valid? [False, False] Translation: X:13.62, Y:0.36, Z:1.14 [[ 0.92580907 -0.08509562 -0.36828835 13.61727872] [ 0.10608024 0.99366624 0.0370726 0.35729121] [ 0.36280098 -0.07339027 0.92897218 1.13793823] [ 0. 0. 0. 1. ]] SLAMing on 59.219649246 meters Centerline goodness : 0.931885 Centerline is valid? [False, False] Translation: X:13.62, Y:0.36, Z:1.14 [[ 0.92575503 -0.08030079 -0.36949887 13.61837936] [ 0.10271499 0.99385065 0.0413585 0.3577444 ] [ 0.36390557 -0.07624091 0.92831033 1.14002518] [ 0. 0. 0. 1. ]] SLAMing on 59.249649246000004 meters Centerline goodness : 0.933090 Centerline is valid? [False, False] Translation: X:13.62, Y:0.36, Z:1.14 [[ 0.92555301 -0.08069304 -0.36991926 13.61925861] [ 0.10302555 0.99383409 0.04098224 0.35902659] [ 0.36433139 -0.07604237 0.92815958 1.14033857] [ 0. 0. 0. 1. ]] SLAMing on 59.279649246000005 meters Centerline goodness : 0.937823 Centerline is valid? [False, False] Translation: X:13.62, Y:0.36, Z:1.14 [[ 0.92520236 -0.08135966 -0.3706497 13.62095863] [ 0.10368545 0.99377803 0.04067609 0.35959929] [ 0.36503414 -0.0760646 0.92788159 1.14123143] [ 0. 0. 0. 1. ]] SLAMing on 59.309649246 meters Centerline goodness : 0.936133 Centerline is valid? [False, False] Translation: X:13.62, Y:0.36, Z:1.14 [[ 0.92489636 -0.08226966 -0.3712121 13.62351901] [ 0.10446377 0.99372218 0.04004445 0.36023242] [ 0.36558725 -0.07581518 0.92768423 1.14104383] [ 0. 0. 0. 1. ]] SLAMing on 59.339649246 meters Centerline goodness : 0.934375 Centerline is valid? [False, False] Translation: X:13.63, Y:0.36, Z:1.14 [[ 0.92434254 -0.08408579 -0.37218335 13.62893303] [ 0.10589302 0.99363172 0.03850555 0.36186356] [ 0.36657541 -0.07500394 0.92736017 1.13980305] [ 0. 0. 0. 1. ]] SLAMing on 59.369649246 meters Centerline goodness : 0.932986 Centerline is valid? [False, False] Translation: X:13.63, Y:0.36, Z:1.14 [[ 0.92396464 -0.08496167 -0.37292206 13.63177107] [ 0.10672278 0.99356009 0.03806037 0.36167188] [ 0.3672868 -0.07496571 0.92708174 1.14005842] [ 0. 0. 0. 1. ]] SLAMing on 59.399649246 meters Centerline goodness : 0.935419 Centerline is valid? [False, False] Translation: X:13.63, Y:0.36, Z:1.14 [[ 0.92350275 -0.09009749 -0.37286072 13.63311899] [ 0.11039935 0.99332554 0.03341184 0.36245559] [ 0.36736175 -0.07201951 0.92728557 1.13886407] [ 0. 0. 0. 1. ]] SLAMing on 59.429649246000004 meters Centerline goodness : 0.932476 Centerline is valid? [False, False] Translation: X:13.64, Y:0.36, Z:1.14 [[ 0.92317855 -0.09081772 -0.3734883 13.63554547] [ 0.111069 0.99326417 0.03301451 0.36253422] [ 0.36797425 -0.07196126 0.92704721 1.13904379] [ 0. 0. 0. 1. ]] SLAMing on 59.459649246000005 meters Centerline goodness : 0.935118 Centerline is valid? [False, False] Translation: X:13.64, Y:0.36, Z:1.14 [[ 0.92625346 -0.08354536 -0.36752509 13.64309164] [ 0.10502551 0.99371231 0.0388006 0.35649239] [ 0.3619726 -0.0745387 0.92920386 1.14205266] [ 0. 0. 0. 1. ]] SLAMing on 59.489649246000006 meters Centerline goodness : 0.933477 Centerline is valid? [False, False] Translation: X:13.65, Y:0.36, Z:1.14 [[ 0.92595889 -0.08430979 -0.36809236 13.64528247] [ 0.10578638 0.9936424 0.03852308 0.35599879] [ 0.3625043 -0.07460995 0.92899084 1.14243037] [ 0. 0. 0. 1. ]] SLAMing on 59.519649246 meters Centerline goodness : 0.933180 Centerline is valid? [False, False] Translation: X:13.65, Y:0.36, Z:1.14 [[ 0.92570798 -0.08467225 -0.36863986 13.64672896] [ 0.10619411 0.99360173 0.0384501 0.35576844] [ 0.36302555 -0.07474095 0.92877675 1.14305148] [ 0. 0. 0. 1. ]] SLAMing on 59.549649246 meters Centerline goodness : 0.935233 Centerline is valid? [False, False] Translation: X:13.65, Y:0.35, Z:1.15 [[ 0.92912702 -0.07692047 -0.36167144 13.65092747] [ 0.10008948 0.99392657 0.04573916 0.35095665] [ 0.35595657 -0.07869699 0.93118296 1.14793796] [ 0. 0. 0. 1. ]] SLAMing on 59.579649246 meters Centerline goodness : 0.935383 Centerline is valid? [False, False] Translation: X:13.65, Y:0.35, Z:1.15 [[ 0.92884344 -0.07764498 -0.36224457 13.65289723] [ 0.10071889 0.99388661 0.04522296 0.35168249] [ 0.35651869 -0.07848992 0.93098537 1.14806311] [ 0. 0. 0. 1. ]] SLAMing on 59.609649246000004 meters Centerline goodness : 0.933722 Centerline is valid? [False, False] Translation: X:13.66, Y:0.35, Z:1.15 [[ 0.92846854 -0.07839681 -0.36304286 13.65529627] [ 0.10133126 0.99385547 0.04453409 0.35335996] [ 0.3573208 -0.07813609 0.93070758 1.14826378] [ 0. 0. 0. 1. ]] SLAMing on 59.639649246000005 meters Centerline goodness : 0.935989 Centerline is valid? [False, False] Translation: X:13.66, Y:0.35, Z:1.15 [[ 0.93231496 -0.06851136 -0.35509858 13.65765981] [ 0.09335655 0.99420556 0.05329036 0.34900351] [ 0.34938999 -0.08283417 0.9333087 1.15193124] [ 0. 0. 0. 1. ]] SLAMing on 59.669649246000006 meters Centerline goodness : 0.934780 Centerline is valid? [False, False] Translation: X:13.66, Y:0.35, Z:1.15 [[ 0.93216483 -0.06889216 -0.35541892 13.65864877] [ 0.09355581 0.99422055 0.05265738 0.35048796] [ 0.34973711 -0.08233686 0.93322269 1.15160767] [ 0. 0. 0. 1. ]] SLAMing on 59.699649246 meters Centerline goodness : 0.938723 Centerline is valid? [False, False] Translation: X:13.66, Y:0.35, Z:1.15 [[ 0.93198525 -0.06923791 -0.35582243 13.65929052] [ 0.09375834 0.99423016 0.05211299 0.35242538] [ 0.3501612 -0.08192986 0.93309948 1.15172794] [ 0. 0. 0. 1. ]] SLAMing on 59.729649246 meters Centerline goodness : 0.938790 Centerline is valid? [False, False] Translation: X:13.66, Y:0.35, Z:1.15 [[ 0.93186943 -0.06952579 -0.35606957 13.6599446 ] [ 0.09396521 0.9942278 0.05178435 0.35305452] [ 0.35041391 -0.08171441 0.9330235 1.15175658] [ 0. 0. 0. 1. ]] SLAMing on 59.759649246 meters Centerline goodness : 0.939017 Centerline is valid? [False, False] Translation: X:13.68, Y:0.36, Z:1.15 [[ 0.93359011 -0.07323523 -0.35077928 13.67557448] [ 0.09355589 0.99475653 0.04131267 0.35736182] [ 0.34591443 -0.07138656 0.93554645 1.15061817] [ 0. 0. 0. 1. ]] SLAMing on 59.789649246 meters Centerline goodness : 0.939808 Centerline is valid? [False, False] Translation: X:13.68, Y:0.36, Z:1.15 [[ 0.9333961 -0.07382634 -0.35117145 13.67692491] [ 0.0941752 0.99470286 0.0411978 0.35739819] [ 0.34626977 -0.0715255 0.93540438 1.15110432] [ 0. 0. 0. 1. ]] SLAMing on 59.819649246000004 meters Centerline goodness : 0.940797 Centerline is valid? [False, False] Translation: X:13.68, Y:0.36, Z:1.15 [[ 0.93318953 -0.07442572 -0.35159367 13.6785849 ] [ 0.09474172 0.99466094 0.04090981 0.35745009] [ 0.34667175 -0.07148719 0.9352584 1.15124835] [ 0. 0. 0. 1. ]] SLAMing on 59.849649246000006 meters Centerline goodness : 0.940615 Centerline is valid? [False, False] Translation: X:13.68, Y:0.36, Z:1.15 [[ 0.93288213 -0.07475798 -0.35233815 13.68032389] [ 0.09530546 0.99459053 0.04131026 0.35533008] [ 0.34734392 -0.07211735 0.93496058 1.15262869] [ 0. 0. 0. 1. ]] SLAMing on 59.879649246 meters Centerline goodness : 0.943415 Centerline is valid? [False, False] Translation: X:13.68, Y:0.36, Z:1.15 [[ 0.93273793 -0.07482563 -0.35270536 13.68102908] [ 0.09540478 0.99458135 0.04130213 0.35504791] [ 0.34770372 -0.07217384 0.93482248 1.15302277] [ 0. 0. 0. 1. ]] SLAMing on 59.909649246 meters Centerline goodness : 0.938517 Centerline is valid? [False, False] Translation: X:13.68, Y:0.36, Z:1.15 [[ 0.9327997 -0.07453502 -0.35260352 13.68016469] [ 0.09511358 0.99460622 0.04137486 0.35555034] [ 0.34761778 -0.07213184 0.93485768 1.15319901] [ 0. 0. 0. 1. ]] SLAMing on 59.939649246 meters Centerline goodness : 0.940943 Centerline is valid? [False, False] Translation: X:13.68, Y:0.36, Z:1.15 [[ 0.93263412 -0.07492717 -0.35295824 13.68115159] [ 0.09542591 0.99459133 0.04101206 0.3563266 ] [ 0.34797629 -0.07193061 0.9347398 1.15331164] [ 0. 0. 0. 1. ]] SLAMing on 59.969649246 meters Centerline goodness : 0.940793 Centerline is valid? [False, False] Translation: X:13.68, Y:0.36, Z:1.15 [[ 0.93249386 -0.07550683 -0.35320521 13.68240973] [ 0.09576895 0.99459074 0.040219 0.35795155] [ 0.34825782 -0.07133007 0.93468097 1.15268987] [ 0. 0. 0. 1. ]] SLAMing on 59.999649246000004 meters Centerline goodness : 0.940152 Centerline is valid? [False, False] Translation: X:13.68, Y:0.36, Z:1.15 [[ 0.93228356 -0.07631562 -0.35358633 13.68446552] [ 0.09635878 0.99456639 0.03940411 0.35923326] [ 0.34865793 -0.07080695 0.93457157 1.15205185] [ 0. 0. 0. 1. ]] SLAMing on 60.029649246000005 meters Centerline goodness : 0.937627 Centerline is valid? [False, False] Translation: X:13.69, Y:0.36, Z:1.15 [[ 0.93188489 -0.07734811 -0.35441193 13.68764962] [ 0.0972903 0.99450061 0.03877019 0.3591496 ] [ 0.34946408 -0.0706102 0.93428532 1.1521034 ] [ 0. 0. 0. 1. ]] SLAMing on 60.059649246000006 meters Centerline goodness : 0.939127 Centerline is valid? [False, False] Translation: X:13.69, Y:0.36, Z:1.15 [[ 0.93146482 -0.07842448 -0.3552786 13.69065363] [ 0.09840419 0.99440191 0.03848975 0.35867646] [ 0.35027118 -0.07081275 0.9339677 1.15291716] [ 0. 0. 0. 1. ]] SLAMing on 60.089649246 meters Centerline goodness : 0.940004 Centerline is valid? [False, False] Translation: X:13.69, Y:0.36, Z:1.15 [[ 0.93113636 -0.07956764 -0.3558849 13.69396979] [ 0.09936481 0.99433789 0.03766688 0.35936443] [ 0.35087278 -0.07043544 0.93377039 1.15233507] [ 0. 0. 0. 1. ]] SLAMing on 60.119649246 meters Centerline goodness : 0.940585 Centerline is valid? [False, False] Translation: X:13.70, Y:0.36, Z:1.15 [[ 0.93086386 -0.08032048 -0.35642824 13.69627474] [ 0.10002568 0.99429033 0.03716994 0.35959213] [ 0.35140765 -0.07025213 0.93358305 1.15227337] [ 0. 0. 0. 1. ]] SLAMing on 60.149649246 meters Centerline goodness : 0.938458 Centerline is valid? [False, False] Translation: X:13.70, Y:0.36, Z:1.15 [[ 0.93073244 -0.0805623 -0.35671675 13.69685401] [ 0.1002322 0.99427696 0.03697084 0.35970139] [ 0.35169679 -0.07016446 0.93348075 1.15258847] [ 0. 0. 0. 1. ]] SLAMing on 60.179649246000004 meters Centerline goodness : 0.939319 Centerline is valid? [False, False] Translation: X:13.70, Y:0.36, Z:1.15 [[ 0.93038074 -0.08132817 -0.35745966 13.69850201] [ 0.10119784 0.99417049 0.03720266 0.35879989] [ 0.35235022 -0.07078678 0.93318731 1.15428961] [ 0. 0. 0. 1. ]] SLAMing on 60.209649246000005 meters Centerline goodness : 0.940308 Centerline is valid? [False, False] Translation: X:13.70, Y:0.36, Z:1.15 [[ 0.9300445 -0.08263452 -0.35803459 13.70146003] [ 0.10231118 0.99408875 0.0363314 0.36038117] [ 0.35291593 -0.07042076 0.93300121 1.1540147 ] [ 0. 0. 0. 1. ]] SLAMing on 60.239649246000006 meters Centerline goodness : 0.937485 Centerline is valid? [False, False] Translation: X:13.70, Y:0.36, Z:1.15 [[ 0.92985133 -0.08324707 -0.35839424 13.70332267] [ 0.10278857 0.99405928 0.03578619 0.36161143] [ 0.35328603 -0.07011467 0.93288419 1.15360177] [ 0. 0. 0. 1. ]] SLAMing on 60.269649246 meters Centerline goodness : 0.937485 Centerline is valid? [False, False] Translation: X:13.70, Y:0.36, Z:1.15 [[ 0.92985133 -0.08324707 -0.35839424 13.70332267] [ 0.10278857 0.99405928 0.03578619 0.36161143] [ 0.35328603 -0.07011467 0.93288419 1.15360177] [ 0. 0. 0. 1. ]] SLAMing on 60.299649246 meters Centerline goodness : 0.939226 Centerline is valid? [False, False] Translation: X:13.70, Y:0.36, Z:1.15 [[ 0.92961733 -0.08356885 -0.35892599 13.70468039] [ 0.10322624 0.99400909 0.03592024 0.3614235 ] [ 0.35377388 -0.07044266 0.93267458 1.15441141] [ 0. 0. 0. 1. ]] SLAMing on 60.329649246 meters Centerline goodness : 0.939535 Centerline is valid? [False, False] Translation: X:13.71, Y:0.36, Z:1.15 [[ 0.92951787 -0.08403715 -0.35907421 13.70579731] [ 0.10360154 0.99398307 0.03555806 0.36199952] [ 0.35392549 -0.07025249 0.9326314 1.15415095] [ 0. 0. 0. 1. ]] SLAMing on 60.359649246000004 meters Centerline goodness : 0.939742 Centerline is valid? [False, False] Translation: X:13.71, Y:0.36, Z:1.15 [[ 0.92940462 -0.08427474 -0.3593116 13.70647797] [ 0.10380506 0.99396839 0.03537451 0.36223423] [ 0.35416319 -0.0701756 0.93254695 1.15431227] [ 0. 0. 0. 1. ]] SLAMing on 60.389649246000005 meters Centerline goodness : 0.937578 Centerline is valid? [False, False] Translation: X:13.71, Y:0.36, Z:1.16 [[ 0.92926897 -0.08425847 -0.35966607 13.7066341 ] [ 0.10387508 0.99395555 0.03552939 0.36218423] [ 0.35449844 -0.07037671 0.93240441 1.15519879] [ 0. 0. 0. 1. ]] SLAMing on 60.419649246000006 meters Centerline goodness : 0.942684 Centerline is valid? [False, False] Translation: X:13.71, Y:0.36, Z:1.16 [[ 0.92917472 -0.08425496 -0.35991032 13.70671253] [ 0.10384676 0.99396266 0.03541299 0.36288523] [ 0.3547537 -0.07028037 0.93231458 1.15557614] [ 0. 0. 0. 1. ]] SLAMing on 60.449649246 meters Centerline goodness : 0.942203 Centerline is valid? [False, False] Translation: X:13.71, Y:0.36, Z:1.16 [[ 0.92909453 -0.08445837 -0.36006963 13.70717433] [ 0.10400196 0.99395346 0.03521533 0.36384753] [ 0.35491822 -0.07016632 0.93226056 1.15565438] [ 0. 0. 0. 1. ]] SLAMing on 60.479649246 meters Centerline goodness : 0.940638 Centerline is valid? [False, False] Translation: X:13.71, Y:0.37, Z:1.16 [[ 0.92886166 -0.08515555 -0.36050597 13.70905135] [ 0.10456809 0.99391388 0.0346513 0.36525825] [ 0.35536113 -0.06988368 0.93211305 1.15549515] [ 0. 0. 0. 1. ]] SLAMing on 60.509649246 meters Centerline goodness : 0.941980 Centerline is valid? [False, False] Translation: X:13.71, Y:0.37, Z:1.16 [[ 0.92874048 -0.08527031 -0.36079092 13.70933276] [ 0.10465477 0.99391013 0.03449671 0.36608066] [ 0.35565221 -0.06979699 0.93200852 1.15591952] [ 0. 0. 0. 1. ]] SLAMing on 60.539649246 meters Centerline goodness : 0.940171 Centerline is valid? [False, False] Translation: X:13.71, Y:0.37, Z:1.16 [[ 0.92857689 -0.0855548 -0.36114448 13.71021996] [ 0.10489475 0.99389324 0.03425362 0.36663371] [ 0.3560085 -0.06968928 0.93188055 1.15619134] [ 0. 0. 0. 1. ]] SLAMing on 60.569649246000004 meters Centerline goodness : 0.943093 Centerline is valid? [False, False] Translation: X:13.71, Y:0.37, Z:1.16 [[ 0.92847571 -0.08585602 -0.36133309 13.71092628] [ 0.10507114 0.99388905 0.03383206 0.36737672] [ 0.35622032 -0.06937792 0.93182283 1.15600679] [ 0. 0. 0. 1. ]] SLAMing on 60.599649246000006 meters Centerline goodness : 0.944408 Centerline is valid? [False, False] Translation: X:13.71, Y:0.37, Z:1.16 [[ 0.92838729 -0.08622988 -0.36147122 13.71176026] [ 0.10517731 0.99390465 0.03303444 0.36949206] [ 0.35641937 -0.06868733 0.93179788 1.15520289] [ 0. 0. 0. 1. ]] SLAMing on 60.629649246 meters Centerline goodness : 0.943497 Centerline is valid? [False, False] Translation: X:13.71, Y:0.37, Z:1.16 [[ 0.92810095 -0.08687835 -0.3620508 13.71342086] [ 0.10593044 0.99382354 0.03306827 0.36876887] [ 0.35694169 -0.06904289 0.93157164 1.15619499] [ 0. 0. 0. 1. ]] SLAMing on 60.659649246 meters Centerline goodness : 0.942835 Centerline is valid? [False, False] Translation: X:13.72, Y:0.37, Z:1.16 [[ 0.92782606 -0.08753734 -0.36259621 13.71540537] [ 0.10656431 0.99376572 0.03276795 0.36938555] [ 0.35746727 -0.06904277 0.93137009 1.15648686] [ 0. 0. 0. 1. ]] SLAMing on 60.689649246 meters Centerline goodness : 0.942794 Centerline is valid? [False, False] Translation: X:13.72, Y:0.37, Z:1.16 [[ 0.92770933 -0.08796704 -0.36279084 13.71673945] [ 0.1069548 0.99373106 0.03254601 0.36922495] [ 0.35765356 -0.06899546 0.93130208 1.15626846] [ 0. 0. 0. 1. ]] SLAMing on 60.719649246 meters Centerline goodness : 0.943623 Centerline is valid? [False, False] Translation: X:13.72, Y:0.37, Z:1.16 [[ 0.92741146 -0.0885177 -0.36341793 13.71872593] [ 0.10770727 0.99364016 0.0328388 0.36840846] [ 0.35819983 -0.06959783 0.93104727 1.15735526] [ 0. 0. 0. 1. ]] SLAMing on 60.749649246000004 meters Centerline goodness : 0.945561 Centerline is valid? [False, False] Translation: X:13.72, Y:0.37, Z:1.16 [[ 0.92716929 -0.09299407 -0.36291762 13.71700774] [ 0.11133253 0.99333341 0.02989656 0.36680735] [ 0.357718 -0.06812371 0.9313415 1.15876053] [ 0. 0. 0. 1. ]] SLAMing on 60.779649246000005 meters Centerline goodness : 0.942493 Centerline is valid? [False, False] Translation: X:13.72, Y:0.37, Z:1.16 [[ 0.92720246 -0.09258158 -0.36293834 13.71634751] [ 0.11109918 0.99334317 0.03043535 0.3661148 ] [ 0.35770457 -0.06854189 0.93131598 1.15951533] [ 0. 0. 0. 1. ]] SLAMing on 60.809649246000006 meters Centerline goodness : 0.946737 Centerline is valid? [False, False] Translation: X:13.72, Y:0.37, Z:1.16 [[ 0.92702975 -0.0926264 -0.36336786 13.71681762] [ 0.11139416 0.99329301 0.03098937 0.36517696] [ 0.35806032 -0.06920513 0.93113021 1.16093327] [ 0. 0. 0. 1. ]] SLAMing on 60.839649246 meters Centerline goodness : 0.941883 Centerline is valid? [False, False] Translation: X:13.72, Y:0.36, Z:1.16 [[ 0.92690244 -0.09263607 -0.36369002 13.71714 ] [ 0.11174976 0.99322681 0.03181969 0.36333061] [ 0.35827903 -0.07013602 0.93097641 1.1625605 ] [ 0. 0. 0. 1. ]] SLAMing on 60.869649246 meters Centerline goodness : 0.941572 Centerline is valid? [False, False] Translation: X:13.72, Y:0.36, Z:1.16 [[ 0.92666241 -0.09320633 -0.36415567 13.7187854 ] [ 0.11231522 0.99316993 0.03160344 0.3638424 ] [ 0.35872282 -0.07018595 0.93080173 1.16291703] [ 0. 0. 0. 1. ]] SLAMing on 60.899649246 meters Centerline goodness : 0.942606 Centerline is valid? [False, False] Translation: X:13.72, Y:0.37, Z:1.16 [[ 0.92659695 -0.093495 -0.36424823 13.71951778] [ 0.1124308 0.99317333 0.03108125 0.36521029] [ 0.35885569 -0.06975251 0.9307831 1.16234272] [ 0. 0. 0. 1. ]] SLAMing on 60.929649246000004 meters Centerline goodness : 0.946113 Centerline is valid? [False, False] Translation: X:13.72, Y:0.37, Z:1.16 [[ 0.92647486 -0.09383477 -0.36447135 13.72036361] [ 0.11269727 0.99315247 0.03078143 0.36644797] [ 0.35908726 -0.06959315 0.93070572 1.1623301 ] [ 0. 0. 0. 1. ]] SLAMing on 60.959649246000005 meters Centerline goodness : 0.942128 Centerline is valid? [False, False] Translation: X:13.72, Y:0.37, Z:1.16 [[ 0.92637575 -0.09433971 -0.3645929 13.72182652] [ 0.11282283 0.99317177 0.02967912 0.36954972] [ 0.35930346 -0.06862842 0.93069392 1.16084737] [ 0. 0. 0. 1. ]] SLAMing on 60.989649246000006 meters Centerline goodness : 0.940442 Centerline is valid? [False, False] Translation: X:13.72, Y:0.37, Z:1.16 [[ 0.92623441 -0.09474896 -0.3648458 13.72304786] [ 0.11305597 0.99316254 0.02909506 0.37124765] [ 0.35959445 -0.06819684 0.93061325 1.16036556] [ 0. 0. 0. 1. ]] SLAMing on 61.019649246 meters Centerline goodness : 0.937993 Centerline is valid? [False, False] Translation: X:13.72, Y:0.37, Z:1.16 [[ 0.92619828 -0.09484536 -0.36491245 13.7231281 ] [ 0.11295208 0.99319031 0.02854529 0.37352008] [ 0.35972012 -0.06765622 0.93060414 1.15993409] [ 0. 0. 0. 1. ]] SLAMing on 61.049649246 meters Centerline goodness : 0.942683 Centerline is valid? [False, False] Translation: X:13.72, Y:0.37, Z:1.16 [[ 0.9261851 -0.0946168 -0.36500524 13.72267622] [ 0.11275129 0.99321037 0.02864118 0.37413585] [ 0.35981705 -0.06768185 0.93056481 1.16031005] [ 0. 0. 0. 1. ]] SLAMing on 61.079649246 meters Centerline goodness : 0.940499 Centerline is valid? [False, False] Translation: X:13.72, Y:0.37, Z:1.17 [[ 0.92618964 -0.08896789 -0.36641161 13.72228094] [ 0.10916626 0.99341651 0.03473276 0.37205394] [ 0.36090924 -0.07216891 0.92980437 1.16508439] [ 0. 0. 0. 1. ]] SLAMing on 61.109649246000004 meters Centerline goodness : 0.943058 Centerline is valid? [False, False] Translation: X:13.72, Y:0.37, Z:1.16 [[ 0.92608053 -0.08931059 -0.36660396 13.72299674] [ 0.10936653 0.99341088 0.03426068 0.37337166] [ 0.36112852 -0.07182235 0.92974606 1.16485618] [ 0. 0. 0. 1. ]] SLAMing on 61.139649246000005 meters Centerline goodness : 0.939317 Centerline is valid? [False, False] Translation: X:13.72, Y:0.38, Z:1.16 [[ 0.92629479 -0.08872934 -0.36620359 13.72091492] [ 0.10865721 0.99349339 0.03412471 0.37512388] [ 0.36079298 -0.0714002 0.92990883 1.16453413] [ 0. 0. 0. 1. ]] SLAMing on 61.169649246000006 meters Centerline goodness : 0.936467 Centerline is valid? [False, False] Translation: X:13.72, Y:0.38, Z:1.16 [[ 0.9261577 -0.08896767 -0.36649238 13.7214207 ] [ 0.1088776 0.99347447 0.03397266 0.37586 ] [ 0.36107835 -0.07136685 0.92980062 1.1649846 ] [ 0. 0. 0. 1. ]] SLAMing on 61.199649246 meters Centerline goodness : 0.939566 Centerline is valid? [False, False] Translation: X:13.72, Y:0.38, Z:1.16 [[ 0.92601326 -0.08943901 -0.36674255 13.72223352] [ 0.10912507 0.99347159 0.03325532 0.37750001] [ 0.36137398 -0.07081568 0.92972791 1.16463232] [ 0. 0. 0. 1. ]] SLAMing on 61.229649246 meters Centerline goodness : 0.938623 Centerline is valid? [False, False] Translation: X:13.72, Y:0.38, Z:1.16 [[ 0.92599398 -0.08972637 -0.36672105 13.72279474] [ 0.10925395 0.99347262 0.03279825 0.37850797] [ 0.36138445 -0.0704367 0.92975263 1.16400346] [ 0. 0. 0. 1. ]] SLAMing on 61.259649246 meters Centerline goodness : 0.937039 Centerline is valid? [False, False] Translation: X:13.72, Y:0.38, Z:1.16 [[ 0.92576345 -0.09053006 -0.36710537 13.72469767] [ 0.10979925 0.99344165 0.03190311 0.38044644] [ 0.36180957 -0.06984263 0.9296321 1.16335786] [ 0. 0. 0. 1. ]] SLAMing on 61.289649246 meters Centerline goodness : 0.938812 Centerline is valid? [False, False] Translation: X:13.73, Y:0.37, Z:1.16 [[ 0.93026879 -0.08079316 -0.35787211 13.72743026] [ 0.1013702 0.99408079 0.03908268 0.37409869] [ 0.35259618 -0.07263497 0.93295235 1.16359433] [ 0. 0. 0. 1. ]] SLAMing on 61.319649246000004 meters Centerline goodness : 0.938624 Centerline is valid? [False, False] Translation: X:13.73, Y:0.37, Z:1.16 [[ 0.93012888 -0.0812419 -0.35813409 13.72823234] [ 0.10176328 0.99405185 0.03879638 0.37479569] [ 0.35285196 -0.07253053 0.93286377 1.16382754] [ 0. 0. 0. 1. ]] SLAMing on 61.349649246000006 meters Centerline goodness : 0.940982 Centerline is valid? [False, False] Translation: X:13.73, Y:0.38, Z:1.17 [[ 0.92997454 -0.0812268 -0.35853809 13.72775215] [ 0.10189123 0.99402731 0.03908814 0.37515974] [ 0.35322164 -0.07288286 0.93269639 1.16539031] [ 0. 0. 0. 1. ]] SLAMing on 61.379649246 meters Centerline goodness : 0.941917 Centerline is valid? [False, False] Translation: X:13.73, Y:0.38, Z:1.17 [[ 0.92983177 -0.08138664 -0.35887196 13.72808475] [ 0.10207843 0.9940093 0.03905764 0.37568182] [ 0.3535433 -0.07295012 0.93256925 1.16608586] [ 0. 0. 0. 1. ]] SLAMing on 61.409649246 meters Centerline goodness : 0.940956 Centerline is valid? [False, False] Translation: X:13.73, Y:0.38, Z:1.17 [[ 0.9297362 -0.08187019 -0.35900957 13.72891147] [ 0.10244306 0.99398867 0.03862566 0.37652904] [ 0.35368915 -0.07268971 0.93253428 1.16586204] [ 0. 0. 0. 1. ]] SLAMing on 61.439649246 meters Centerline goodness : 0.939235 Centerline is valid? [False, False] Translation: X:13.73, Y:0.38, Z:1.17 [[ 0.92968082 -0.08231747 -0.3590507 13.72948652] [ 0.10271787 0.99398135 0.03808044 0.3779321 ] [ 0.35375502 -0.07228357 0.93254087 1.16543136] [ 0. 0. 0. 1. ]] SLAMing on 61.469649246 meters Centerline goodness : 0.941251 Centerline is valid? [False, False] Translation: X:13.73, Y:0.38, Z:1.16 [[ 0.92956314 -0.083007 -0.35919662 13.73080614] [ 0.10310449 0.99397748 0.03712464 0.3797069 ] [ 0.35395175 -0.07154448 0.93252322 1.16448688] [ 0. 0. 0. 1. ]] SLAMing on 61.499649246000004 meters Centerline goodness : 0.937614 Centerline is valid? [False, False] Translation: X:13.73, Y:0.38, Z:1.16 [[ 0.92953123 -0.08323815 -0.35922569 13.73142221] [ 0.10309256 0.9940042 0.03643582 0.38115595] [ 0.354039 -0.07090173 0.93253919 1.16357261] [ 0. 0. 0. 1. ]] SLAMing on 61.529649246000005 meters Centerline goodness : 0.937755 Centerline is valid? [False, False] Translation: X:13.73, Y:0.38, Z:1.16 [[ 0.92935433 -0.08390137 -0.35952899 13.73279146] [ 0.10354067 0.99398492 0.03568356 0.38217024] [ 0.3543725 -0.07038855 0.93245139 1.16314682] [ 0. 0. 0. 1. ]] SLAMing on 61.559649246000006 meters Centerline goodness : 0.941245 Centerline is valid? [False, False] Translation: X:13.73, Y:0.38, Z:1.16 [[ 0.9290955 -0.08459353 -0.36003539 13.73491104] [ 0.10415258 0.99393687 0.03523838 0.38265283] [ 0.35487151 -0.07023843 0.93227291 1.16311173] [ 0. 0. 0. 1. ]] SLAMing on 61.589649246 meters Centerline goodness : 0.938226 Centerline is valid? [False, False] Translation: X:13.74, Y:0.38, Z:1.16 [[ 0.92876673 -0.08514297 -0.36075343 13.73653607] [ 0.10487064 0.99385463 0.03542759 0.38151299] [ 0.35552006 -0.07073641 0.93198812 1.16451047] [ 0. 0. 0. 1. ]] SLAMing on 61.619649246 meters Centerline goodness : 0.940028 Centerline is valid? [False, False] Translation: X:13.74, Y:0.38, Z:1.16 [[ 0.92868303 -0.08526517 -0.36093999 13.73708908] [ 0.10503639 0.99383528 0.03547951 0.38144872] [ 0.35568973 -0.07086105 0.93191391 1.16482209] [ 0. 0. 0. 1. ]] SLAMing on 61.649649246 meters Centerline goodness : 0.939215 Centerline is valid? [False, False] Translation: X:13.74, Y:0.38, Z:1.16 [[ 0.92855193 -0.08558441 -0.36120163 13.73804583] [ 0.10535185 0.99380632 0.03535516 0.3816089 ] [ 0.35593861 -0.07088236 0.93181726 1.16497901] [ 0. 0. 0. 1. ]] SLAMing on 61.679649246000004 meters Centerline goodness : 0.939524 Centerline is valid? [False, False] Translation: X:13.74, Y:0.38, Z:1.17 [[ 0.92825492 -0.08573039 -0.3619297 13.73886831] [ 0.10601582 0.99369335 0.03652641 0.37915162] [ 0.35651571 -0.07227609 0.93148951 1.16771615] [ 0. 0. 0. 1. ]] SLAMing on 61.709649246000005 meters Centerline goodness : 0.943316 Centerline is valid? [False, False] Translation: X:13.74, Y:0.38, Z:1.17 [[ 0.92798825 -0.09081067 -0.36137409 13.73871882] [ 0.10984217 0.99341987 0.03242934 0.37908131] [ 0.35605127 -0.06978816 0.9318568 1.16719659] [ 0. 0. 0. 1. ]] SLAMing on 61.739649246000006 meters Centerline goodness : 0.941731 Centerline is valid? [False, False] Translation: X:13.74, Y:0.38, Z:1.17 [[ 0.92774346 -0.09129657 -0.36187983 13.74018419] [ 0.11045191 0.99334808 0.03255712 0.37847727] [ 0.35650028 -0.07017497 0.93165607 1.16806608] [ 0. 0. 0. 1. ]] SLAMing on 61.769649246 meters Centerline goodness : 0.943109 Centerline is valid? [False, False] Translation: X:13.74, Y:0.38, Z:1.17 [[ 0.92749907 -0.09204727 -0.36231584 13.74237801] [ 0.11119395 0.99327356 0.03230376 0.37817627] [ 0.35690527 -0.07024904 0.93149541 1.16810625] [ 0. 0. 0. 1. ]] SLAMing on 61.799649246 meters Centerline goodness : 0.942125 Centerline is valid? [False, False] Translation: X:13.74, Y:0.38, Z:1.17 [[ 0.92725634 -0.09254505 -0.36281 13.74415327] [ 0.11172392 0.99321774 0.0321913 0.37807614] [ 0.35737019 -0.07038414 0.93130694 1.16846054] [ 0. 0. 0. 1. ]] SLAMing on 61.829649246 meters Centerline goodness : 0.943500 Centerline is valid? [False, False] Translation: X:13.75, Y:0.38, Z:1.17 [[ 0.92684142 -0.09346325 -0.36363388 13.74649832] [ 0.11291913 0.99307031 0.03256723 0.37661039] [ 0.35807017 -0.07124588 0.93097249 1.17028332] [ 0. 0. 0. 1. ]] SLAMing on 61.859649246000004 meters Centerline goodness : 0.941369 Centerline is valid? [False, False] Translation: X:13.75, Y:0.38, Z:1.17 [[ 0.9267092 -0.09415239 -0.36379305 13.74863204] [ 0.11331436 0.99305522 0.03164144 0.37828828] [ 0.35828747 -0.07054539 0.93094223 1.16885414] [ 0. 0. 0. 1. ]] SLAMing on 61.889649246000005 meters Centerline goodness : 0.940791 Centerline is valid? [False, False] Translation: X:13.75, Y:0.37, Z:1.17 [[ 0.93011444 -0.08597082 -0.35706603 13.75391831] [ 0.1064721 0.99358464 0.03812166 0.37175879] [ 0.35149798 -0.07347508 0.93330091 1.17266432] [ 0. 0. 0. 1. ]] SLAMing on 61.919649246000006 meters Centerline goodness : 0.942512 Centerline is valid? [False, False] Translation: X:13.75, Y:0.37, Z:1.17 [[ 0.9299775 -0.08606707 -0.35739938 13.75456368] [ 0.10660668 0.99356983 0.03813147 0.37114129] [ 0.35181937 -0.07356257 0.93317291 1.17311256] [ 0. 0. 0. 1. ]] SLAMing on 61.949649246 meters Centerline goodness : 0.943175 Centerline is valid? [False, False] Translation: X:13.76, Y:0.37, Z:1.17 [[ 0.92980448 -0.08623791 -0.35780812 13.75538596] [ 0.10685054 0.9935409 0.03820267 0.37061671] [ 0.35220248 -0.073753 0.93301335 1.17376507] [ 0. 0. 0. 1. ]] SLAMing on 61.979649246 meters Centerline goodness : 0.943331 Centerline is valid? [False, False] Translation: X:13.76, Y:0.37, Z:1.17 [[ 0.92970005 -0.08658916 -0.35799461 13.75639871] [ 0.10714513 0.99351897 0.03794712 0.37105839] [ 0.35238863 -0.07363682 0.93295224 1.17360628] [ 0. 0. 0. 1. ]] SLAMing on 62.009649246 meters Centerline goodness : 0.941746 Centerline is valid? [False, False] Translation: X:13.76, Y:0.37, Z:1.17 [[ 0.92954955 -0.08689639 -0.35831084 13.75737003] [ 0.10729068 0.99352427 0.03739304 0.37230965] [ 0.35274119 -0.0732021 0.93285321 1.1733476 ] [ 0. 0. 0. 1. ]] SLAMing on 62.039649246 meters Centerline goodness : 0.940615 Centerline is valid? [False, False] Translation: X:13.76, Y:0.37, Z:1.17 [[ 0.92951777 -0.08710556 -0.35834248 13.75768753] [ 0.10731698 0.99354118 0.0368644 0.37374471] [ 0.35281692 -0.07272234 0.93286209 1.17282387] [ 0. 0. 0. 1. ]] SLAMing on 62.069649246000004 meters Centerline goodness : 0.939633 Centerline is valid? [False, False] Translation: X:13.76, Y:0.38, Z:1.17 [[ 0.92964818 -0.08268516 -0.35905073 13.75920386] [ 0.10386336 0.9937843 0.04006445 0.37612331] [ 0.35350624 -0.07453806 0.93245773 1.17253043] [ 0. 0. 0. 1. ]] SLAMing on 62.099649246000006 meters Centerline goodness : 0.941389 Centerline is valid? [False, False] Translation: X:13.76, Y:0.38, Z:1.17 [[ 0.92955665 -0.08317311 -0.35917497 13.7602308 ] [ 0.10402015 0.99380732 0.03907447 0.37886058] [ 0.35370077 -0.07368337 0.93245189 1.17147109] [ 0. 0. 0. 1. ]] SLAMing on 62.129649246 meters Centerline goodness : 0.941389 Centerline is valid? [False, False] Translation: X:13.76, Y:0.38, Z:1.17 [[ 0.92955665 -0.08317311 -0.35917497 13.7602308 ] [ 0.10402015 0.99380732 0.03907447 0.37886058] [ 0.35370077 -0.07368337 0.93245189 1.17147109] [ 0. 0. 0. 1. ]] SLAMing on 62.159649246 meters Centerline goodness : 0.936786 Centerline is valid? [False, False] Translation: X:13.76, Y:0.38, Z:1.17 [[ 0.92970507 -0.08291315 -0.3588508 13.75934416] [ 0.10334234 0.99391619 0.03809152 0.38194059] [ 0.35350933 -0.07249836 0.93261736 1.16993138] [ 0. 0. 0. 1. ]] SLAMing on 62.189649246 meters Centerline goodness : 0.936077 Centerline is valid? [False, False] Translation: X:13.76, Y:0.38, Z:1.17 [[ 0.92978356 -0.0828214 -0.35866858 13.75903699] [ 0.10304422 0.99396573 0.03760349 0.38362175] [ 0.3533899 -0.07192184 0.93270726 1.16907171] [ 0. 0. 0. 1. ]] SLAMing on 62.219649246 meters Centerline goodness : 0.934751 Centerline is valid? [False, False] Translation: X:13.76, Y:0.39, Z:1.17 [[ 0.92983071 -0.08280645 -0.35854977 13.75919576] [ 0.10265868 0.9940411 0.03665369 0.38672399] [ 0.35337804 -0.07088997 0.93279074 1.16756685] [ 0. 0. 0. 1. ]] SLAMing on 62.249649246000004 meters Centerline goodness : 0.934770 Centerline is valid? [False, False] Translation: X:13.76, Y:0.39, Z:1.17 [[ 0.9296268 -0.08329606 -0.35896488 13.76071943] [ 0.10297595 0.9940314 0.0360211 0.38830525] [ 0.35382195 -0.07045093 0.93265572 1.16727244] [ 0. 0. 0. 1. ]] SLAMing on 62.279649246000005 meters Centerline goodness : 0.936547 Centerline is valid? [False, False] Translation: X:13.76, Y:0.39, Z:1.17 [[ 0.92972379 -0.08295599 -0.35879238 13.76019817] [ 0.10243417 0.99410298 0.03558795 0.38977281] [ 0.35372434 -0.06983956 0.93273873 1.16639321] [ 0. 0. 0. 1. ]] SLAMing on 62.309649246000006 meters Centerline goodness : 0.933429 Centerline is valid? [False, False] Translation: X:13.76, Y:0.39, Z:1.17 [[ 0.9294403 -0.08354678 -0.3593893 13.76178213] [ 0.10308207 0.994039 0.03550433 0.38989008] [ 0.35428071 -0.07004575 0.93251208 1.16722038] [ 0. 0. 0. 1. ]] SLAMing on 62.339649246 meters Centerline goodness : 0.936272 Centerline is valid? [False, False] Translation: X:13.76, Y:0.39, Z:1.17 [[ 0.92912345 -0.08397154 -0.36010887 13.76279172] [ 0.10389649 0.99392554 0.03629793 0.38760671] [ 0.35487341 -0.0711393 0.93220387 1.16964108] [ 0. 0. 0. 1. ]] SLAMing on 62.369649246 meters Centerline goodness : 0.935479 Centerline is valid? [False, False] Translation: X:13.77, Y:0.39, Z:1.17 [[ 0.92871407 -0.08509107 -0.36090121 13.76631721] [ 0.10489755 0.9938452 0.03561217 0.38819378] [ 0.35564966 -0.07093117 0.93192386 1.16943933] [ 0. 0. 0. 1. ]] SLAMing on 62.399649246 meters Centerline goodness : 0.932732 Centerline is valid? [False, False] Translation: X:13.77, Y:0.39, Z:1.17 [[ 0.92846473 -0.08605754 -0.36131336 13.7693949 ] [ 0.10562292 0.9938001 0.03471546 0.3892287 ] [ 0.35608572 -0.07039505 0.93179799 1.16829478] [ 0. 0. 0. 1. ]] SLAMing on 62.429649246000004 meters Centerline goodness : 0.929422 Centerline is valid? [False, False] Translation: X:13.77, Y:0.39, Z:1.17 [[ 0.92820313 -0.08709684 -0.36173622 13.77284873] [ 0.10645478 0.99373975 0.03389228 0.38981682] [ 0.35651975 -0.06996747 0.93166422 1.16714178] [ 0. 0. 0. 1. ]] SLAMing on 62.459649246000005 meters Centerline goodness : 0.925927 Centerline is valid? [False, False] Translation: X:13.77, Y:0.39, Z:1.17 [[ 0.92802539 -0.08744783 -0.36210739 13.77442625] [ 0.10682695 0.99370279 0.03380479 0.38942476] [ 0.35687097 -0.07005453 0.9315232 1.16721159] [ 0. 0. 0. 1. ]] SLAMing on 62.489649246000006 meters Centerline goodness : 0.931717 Centerline is valid? [False, False] Translation: X:13.78, Y:0.39, Z:1.17 [[ 0.92785999 -0.08764386 -0.36248364 13.77556231] [ 0.10712919 0.99366474 0.03396642 0.38838275] [ 0.35721027 -0.07034866 0.93137097 1.16777113] [ 0. 0. 0. 1. ]] SLAMing on 62.519649246 meters Centerline goodness : 0.928757 Centerline is valid? [False, False] Translation: X:13.78, Y:0.38, Z:1.17 [[ 0.92759752 -0.08726716 -0.36324548 13.77620301] [ 0.1072733 0.99360518 0.03523057 0.38491869] [ 0.35784812 -0.07164633 0.93102713 1.17032418] [ 0. 0. 0. 1. ]] SLAMing on 62.549649246 meters Centerline goodness : 0.929875 Centerline is valid? [False, False] Translation: X:13.78, Y:0.38, Z:1.17 [[ 0.92740944 -0.08734321 -0.36370716 13.77731297] [ 0.1076123 0.99354814 0.03580071 0.38291267] [ 0.35823363 -0.07234128 0.93082512 1.17151955] [ 0. 0. 0. 1. ]] SLAMing on 62.579649246 meters Centerline goodness : 0.928905 Centerline is valid? [False, False] Translation: X:13.78, Y:0.38, Z:1.17 [[ 0.92720457 -0.08795834 -0.36408106 13.77918814] [ 0.10820881 0.99349208 0.03555745 0.38262229] [ 0.35858408 -0.07236581 0.93068827 1.17154752] [ 0. 0. 0. 1. ]] SLAMing on 62.609649246000004 meters Centerline goodness : 0.922572 Centerline is valid? [False, False] Translation: X:13.78, Y:0.38, Z:1.17 [[ 0.92702384 -0.08851285 -0.36440674 13.78116341] [ 0.10876677 0.99343703 0.035393 0.38205901] [ 0.35888241 -0.0724455 0.93056707 1.17148314] [ 0. 0. 0. 1. ]] SLAMing on 62.639649246000005 meters Centerline goodness : 0.922885 Centerline is valid? [False, False] Translation: X:13.78, Y:0.38, Z:1.17 [[ 0.92691639 -0.08879518 -0.36461133 13.78253892] [ 0.1089731 0.99342483 0.03509935 0.38254846] [ 0.3590973 -0.07226699 0.93049804 1.17101789] [ 0. 0. 0. 1. ]] SLAMing on 62.669649246000006 meters Centerline goodness : 0.921816 Centerline is valid? [False, False] Translation: X:13.78, Y:0.38, Z:1.17 [[ 0.92676833 -0.08926974 -0.36487172 13.78376564] [ 0.1093364 0.9934001 0.03466682 0.38346453] [ 0.3593689 -0.07202187 0.93041219 1.17081864] [ 0. 0. 0. 1. ]] SLAMing on 62.699649246 meters Centerline goodness : 0.925061 Centerline is valid? [False, False] Translation: X:13.78, Y:0.38, Z:1.17 [[ 0.926695 -0.0890387 -0.36511434 13.78381435] [ 0.10918907 0.99340904 0.03487431 0.38334855] [ 0.35960272 -0.07218434 0.93030925 1.17146903] [ 0. 0. 0. 1. ]] SLAMing on 62.729649246 meters Centerline goodness : 0.925784 Centerline is valid? [False, False] Translation: X:13.78, Y:0.38, Z:1.17 [[ 0.92662694 -0.08906679 -0.36528018 13.7840714 ] [ 0.10903971 0.99344287 0.03437463 0.3849338 ] [ 0.35982336 -0.0716825 0.93026274 1.1711666 ] [ 0. 0. 0. 1. ]] SLAMing on 62.759649246 meters Centerline goodness : 0.924340 Centerline is valid? [False, False] Translation: X:13.78, Y:0.39, Z:1.17 [[ 0.92658354 -0.08915834 -0.36536795 13.78468455] [ 0.10893912 0.99347218 0.03384221 0.38663755] [ 0.35996558 -0.0711605 0.9302478 1.17042824] [ 0. 0. 0. 1. ]] SLAMing on 62.789649246 meters Centerline goodness : 0.920869 Centerline is valid? [False, False] Translation: X:13.78, Y:0.39, Z:1.17 [[ 0.92664851 -0.0884244 -0.36538152 13.78432303] [ 0.10786003 0.99361543 0.03308455 0.3904003 ] [ 0.36012324 -0.07006782 0.93026972 1.16892284] [ 0. 0. 0. 1. ]] SLAMing on 62.819649246000004 meters Centerline goodness : 0.925791 Centerline is valid? [False, False] Translation: X:13.79, Y:0.39, Z:1.17 [[ 0.92649924 -0.08869333 -0.36569475 13.78524926] [ 0.10797381 0.99362012 0.03256863 0.39226909] [ 0.36047304 -0.06966027 0.93016484 1.16871364] [ 0. 0. 0. 1. ]] SLAMing on 62.849649246000006 meters Centerline goodness : 0.924149 Centerline is valid? [False, False] Translation: X:13.78, Y:0.39, Z:1.17 [[ 0.9265935 -0.08842713 -0.36552036 13.78450959] [ 0.10761773 0.99366353 0.03242247 0.39384973] [ 0.36033722 -0.06937892 0.93023849 1.16845961] [ 0. 0. 0. 1. ]] SLAMing on 62.879649246 meters Centerline goodness : 0.924283 Centerline is valid? [False, False] Translation: X:13.79, Y:0.39, Z:1.17 [[ 0.92643876 -0.08861579 -0.36586672 13.78535118] [ 0.10789151 0.99363015 0.03253522 0.39370948] [ 0.36065307 -0.0696158 0.93009838 1.16907409] [ 0. 0. 0. 1. ]] SLAMing on 62.909649246 meters Centerline goodness : 0.926302 Centerline is valid? [False, False] Translation: X:13.79, Y:0.39, Z:1.17 [[ 0.92600982 -0.0888793 -0.36688728 13.78703029] [ 0.10861621 0.99352046 0.03346059 0.39238193] [ 0.36153607 -0.07083474 0.92966344 1.17175756] [ 0. 0. 0. 1. ]] SLAMing on 62.939649246 meters Centerline goodness : 0.922247 Centerline is valid? [False, False] Translation: X:13.79, Y:0.39, Z:1.17 [[ 0.92576884 -0.08934712 -0.36738148 13.78891534] [ 0.10909024 0.99347442 0.03328494 0.39259954] [ 0.36201019 -0.0708919 0.92947456 1.17198698] [ 0. 0. 0. 1. ]] SLAMing on 62.969649246 meters Centerline goodness : 0.923596 Centerline is valid? [False, False] Translation: X:13.79, Y:0.39, Z:1.17 [[ 0.92543134 -0.09388453 -0.36710015 13.78928624] [ 0.11243996 0.99322232 0.02943951 0.39191634] [ 0.36184815 -0.06852097 0.92971544 1.17144265] [ 0. 0. 0. 1. ]] SLAMing on 62.999649246000004 meters Centerline goodness : 0.924745 Centerline is valid? [False, False] Translation: X:13.79, Y:0.39, Z:1.17 [[ 0.92514359 -0.09414126 -0.36775911 13.79103054] [ 0.11293299 0.99315373 0.02986325 0.39069477] [ 0.36242997 -0.06915993 0.92944146 1.17259142] [ 0. 0. 0. 1. ]] SLAMing on 63.029649246000005 meters Centerline goodness : 0.923629 Centerline is valid? [False, False] Translation: X:13.79, Y:0.39, Z:1.17 [[ 0.92486673 -0.09453039 -0.36835518 13.79312406] [ 0.11361747 0.99305864 0.03042391 0.38853139] [ 0.36292231 -0.06998965 0.9291872 1.17382221] [ 0. 0. 0. 1. ]] SLAMing on 63.059649246000006 meters Centerline goodness : 0.920642 Centerline is valid? [False, False] Translation: X:13.79, Y:0.39, Z:1.17 [[ 0.92458621 -0.09488255 -0.36896835 13.79499316] [ 0.11415643 0.99298808 0.03070785 0.38776099] [ 0.36346754 -0.07051216 0.92893454 1.17476997] [ 0. 0. 0. 1. ]] SLAMing on 63.089649246 meters Centerline goodness : 0.920913 Centerline is valid? [False, False] Translation: X:13.80, Y:0.39, Z:1.18 [[ 0.92438197 -0.0950984 -0.36942423 13.79649053] [ 0.11445571 0.99295125 0.03078497 0.38690419] [ 0.36389264 -0.07073978 0.92875079 1.17526183] [ 0. 0. 0. 1. ]] SLAMing on 63.119649246 meters Centerline goodness : 0.920027 Centerline is valid? [False, False] Translation: X:13.80, Y:0.39, Z:1.18 [[ 0.92401369 -0.09557772 -0.37022101 13.79846702] [ 0.11510106 0.9928715 0.0309506 0.38630959] [ 0.3646237 -0.07121161 0.92842795 1.17661956] [ 0. 0. 0. 1. ]] SLAMing on 63.149649246 meters Centerline goodness : 0.916537 Centerline is valid? [False, False] Translation: X:13.80, Y:0.39, Z:1.18 [[ 0.92384147 -0.09583763 -0.37058345 13.79929725] [ 0.11546737 0.99282442 0.03109584 0.38624294] [ 0.36494415 -0.07151792 0.92827849 1.17740442] [ 0. 0. 0. 1. ]] SLAMing on 63.179649246000004 meters Centerline goodness : 0.912723 Centerline is valid? [False, False] Translation: X:13.80, Y:0.39, Z:1.18 [[ 0.92366834 -0.09647042 -0.37085072 13.80170094] [ 0.11572511 0.99282915 0.02996617 0.38947558] [ 0.36530056 -0.07059554 0.92820891 1.17575242] [ 0. 0. 0. 1. ]] SLAMing on 63.209649246000005 meters Centerline goodness : 0.911822 Centerline is valid? [False, False] Translation: X:13.80, Y:0.39, Z:1.17 [[ 0.92353072 -0.09695957 -0.37106583 13.80359184] [ 0.11595348 0.99282633 0.02916621 0.3916637 ] [ 0.36557598 -0.06996227 0.92814842 1.17458699] [ 0. 0. 0. 1. ]] SLAMing on 63.239649246000006 meters Centerline goodness : 0.911419 Centerline is valid? [False, False] Translation: X:13.81, Y:0.39, Z:1.17 [[ 0.92338112 -0.09742268 -0.37131675 13.80517321] [ 0.11623435 0.992811 0.02856399 0.39326151] [ 0.36586457 -0.06953521 0.92806679 1.17391873] [ 0. 0. 0. 1. ]] SLAMing on 63.269649246 meters Centerline goodness : 0.910698 Centerline is valid? [False, False] Translation: X:13.81, Y:0.39, Z:1.17 [[ 0.92307551 -0.09807226 -0.37190515 13.8072253 ] [ 0.11675927 0.99276535 0.02800413 0.39492034] [ 0.36646812 -0.0692733 0.92784823 1.17403406] [ 0. 0. 0. 1. ]] SLAMing on 63.299649246 meters Centerline goodness : 0.907033 Centerline is valid? [False, False] Translation: X:13.81, Y:0.40, Z:1.17 [[ 0.922708 -0.09895325 -0.37258316 13.80983765] [ 0.1173903 0.99271695 0.02706617 0.39735637] [ 0.36719133 -0.06871182 0.92760402 1.17370195] [ 0. 0. 0. 1. ]] SLAMing on 63.329649246 meters Centerline goodness : 0.909595 Centerline is valid? [False, False] Translation: X:13.82, Y:0.39, Z:1.18 [[ 0.92625443 -0.09029459 -0.36592298 13.81556079] [ 0.11063092 0.99324699 0.03494602 0.39376713] [ 0.36029646 -0.07285131 0.92998879 1.17694799] [ 0. 0. 0. 1. ]] SLAMing on 63.359649246000004 meters Centerline goodness : 0.909984 Centerline is valid? [False, False] Translation: X:13.82, Y:0.39, Z:1.18 [[ 0.92584881 -0.09236489 -0.36643242 13.81525747] [ 0.11290653 0.99298977 0.03497774 0.3947374 ] [ 0.36063292 -0.07375671 0.92978699 1.1788759 ] [ 0. 0. 0. 1. ]] SLAMing on 63.389649246000005 meters Centerline goodness : 0.911685 Centerline is valid? [False, False] Translation: X:13.82, Y:0.39, Z:1.18 [[ 0.92963021 -0.0858743 -0.35834798 13.8205903 ] [ 0.10711441 0.99344947 0.03980772 0.39053093] [ 0.35258215 -0.07539069 0.93273902 1.17986546] [ 0. 0. 0. 1. ]] SLAMing on 63.419649246000006 meters Centerline goodness : 0.909839 Centerline is valid? [False, False] Translation: X:13.82, Y:0.39, Z:1.18 [[ 0.93329846 -0.077041 -0.35074017 13.82441868] [ 0.10025358 0.99378 0.04848235 0.38676705] [ 0.34482344 -0.08041146 0.93521698 1.18285076] [ 0. 0. 0. 1. ]] SLAMing on 63.449649246 meters Centerline goodness : 0.905039 Centerline is valid? [False, False] Translation: X:13.83, Y:0.39, Z:1.18 [[ 0.93315016 -0.07789318 -0.35094648 13.82747659] [ 0.10026311 0.99389714 0.04599768 0.39138683] [ 0.34522179 -0.07810973 0.93526509 1.17900425] [ 0. 0. 0. 1. ]] SLAMing on 63.479649246 meters Centerline goodness : 0.901294 Centerline is valid? [False, False] Translation: X:13.83, Y:0.39, Z:1.18 [[ 0.93294534 -0.07794545 -0.35147902 13.82818799] [ 0.10034269 0.99389205 0.04593412 0.39197458] [ 0.34575185 -0.07812237 0.93506821 1.17978474] [ 0. 0. 0. 1. ]] SLAMing on 63.509649246 meters Centerline goodness : 0.905490 Centerline is valid? [False, False] Translation: X:13.84, Y:0.40, Z:1.18 [[ 0.93467499 -0.08073773 -0.34621392 13.84384793] [ 0.09935662 0.99438808 0.03634028 0.39638377] [ 0.34133696 -0.068365 0.9374515 1.17868082] [ 0. 0. 0. 1. ]] SLAMing on 63.539649246 meters Centerline goodness : 0.904763 Centerline is valid? [False, False] Translation: X:13.84, Y:0.40, Z:1.18 [[ 0.93452867 -0.08042014 -0.34668252 13.84395746] [ 0.09916086 0.99439697 0.03663041 0.39589426] [ 0.34179423 -0.0686095 0.93726701 1.17981548] [ 0. 0. 0. 1. ]] SLAMing on 63.569649246000004 meters Centerline goodness : 0.906836 Centerline is valid? [False, False] Translation: X:13.84, Y:0.40, Z:1.18 [[ 0.93435912 -0.08016125 -0.34719909 13.84408161] [ 0.09908561 0.99438824 0.03706847 0.39546173] [ 0.34227924 -0.06903769 0.93705855 1.18117914] [ 0. 0. 0. 1. ]] SLAMing on 63.599649246000006 meters Centerline goodness : 0.910414 Centerline is valid? [False, False] Translation: X:13.86, Y:0.40, Z:1.18 [[ 0.93630541 -0.0810021 -0.34171749 13.85835503] [ 0.09699324 0.99483456 0.0299417 0.39878316] [ 0.33752703 -0.06117886 0.93932563 1.18222355] [ 0. 0. 0. 1. ]] SLAMing on 63.62964924600001 meters Centerline goodness : 0.909634 Centerline is valid? [False, False] Translation: X:13.86, Y:0.40, Z:1.18 [[ 0.93618719 -0.08108297 -0.34202208 13.85909916] [ 0.09710108 0.99482397 0.02994396 0.39956156] [ 0.33782382 -0.06124387 0.9392147 1.18249734] [ 0. 0. 0. 1. ]] SLAMing on 63.659649246 meters Centerline goodness : 0.903301 Centerline is valid? [False, False] Translation: X:13.86, Y:0.40, Z:1.18 [[ 0.93605835 -0.07677422 -0.34336639 13.86152291] [ 0.09430747 0.99494056 0.03463214 0.39821558] [ 0.3389703 -0.06479973 0.9385628 1.18490527] [ 0. 0. 0. 1. ]] SLAMing on 63.689649246 meters Centerline goodness : 0.904357 Centerline is valid? [False, False] Translation: X:13.86, Y:0.40, Z:1.18 [[ 0.93593817 -0.07665808 -0.34371977 13.86232107] [ 0.09416993 0.99495743 0.03452146 0.39924039] [ 0.33934019 -0.06467802 0.93843752 1.18499424] [ 0. 0. 0. 1. ]] SLAMing on 63.719649246 meters Centerline goodness : 0.907083 Centerline is valid? [False, False] Translation: X:13.86, Y:0.40, Z:1.19 [[ 0.93576832 -0.07605931 -0.34431473 13.86231819] [ 0.093677 0.99499434 0.03479776 0.39927853] [ 0.33994451 -0.06481701 0.93820919 1.1861247 ] [ 0. 0. 0. 1. ]] SLAMing on 63.749649246000004 meters Centerline goodness : 0.909072 Centerline is valid? [False, False] Translation: X:13.86, Y:0.40, Z:1.19 [[ 0.93565667 -0.07583424 -0.34466762 13.86251913] [ 0.09350634 0.99500626 0.03491565 0.39940777] [ 0.34029864 -0.06489767 0.93807522 1.18674566] [ 0. 0. 0. 1. ]] SLAMing on 63.779649246000005 meters Centerline goodness : 0.910916 Centerline is valid? [False, False] Translation: X:13.86, Y:0.40, Z:1.19 [[ 0.93556111 -0.07535242 -0.3450325 13.86266158] [ 0.09306075 0.99504417 0.03502577 0.39996993] [ 0.3406833 -0.06487773 0.93793697 1.18717873] [ 0. 0. 0. 1. ]] SLAMing on 63.809649246000006 meters Centerline goodness : 0.909708 Centerline is valid? [False, False] Translation: X:13.86, Y:0.40, Z:1.19 [[ 0.93536216 -0.07579947 -0.34547369 13.86446385] [ 0.09343508 0.99502196 0.03465823 0.40088573] [ 0.34112683 -0.06469736 0.93778822 1.18701862] [ 0. 0. 0. 1. ]] SLAMing on 63.839649246 meters Centerline goodness : 0.910350 Centerline is valid? [False, False] Translation: X:13.87, Y:0.40, Z:1.19 [[ 0.93515801 -0.07635219 -0.34590439 13.86647978] [ 0.09386667 0.99499919 0.03414182 0.40200834] [ 0.34156778 -0.06439689 0.93764838 1.18660169] [ 0. 0. 0. 1. ]] SLAMing on 63.869649246 meters Centerline goodness : 0.909658 Centerline is valid? [False, False] Translation: X:13.87, Y:0.40, Z:1.19 [[ 0.93503343 -0.07646571 -0.34621594 13.8677373 ] [ 0.09399316 0.99498885 0.03409495 0.40243708] [ 0.34187391 -0.06442185 0.93753509 1.18659948] [ 0. 0. 0. 1. ]] SLAMing on 63.899649246 meters Centerline goodness : 0.909654 Centerline is valid? [False, False] Translation: X:13.87, Y:0.40, Z:1.19 [[ 0.93472864 -0.07646919 -0.34703722 13.86891609] [ 0.09433253 0.99493062 0.03484866 0.40036886] [ 0.34261311 -0.06531094 0.93720368 1.1886315 ] [ 0. 0. 0. 1. ]] SLAMing on 63.929649246000004 meters Centerline goodness : 0.911737 Centerline is valid? [False, False] Translation: X:13.87, Y:0.40, Z:1.19 [[ 0.93451559 -0.07656073 -0.34759036 13.87002439] [ 0.09457295 0.99489801 0.03512693 0.39994676] [ 0.34312762 -0.06569931 0.93698828 1.18957622] [ 0. 0. 0. 1. ]] SLAMing on 63.959649246000005 meters Centerline goodness : 0.911508 Centerline is valid? [False, False] Translation: X:13.87, Y:0.40, Z:1.19 [[ 0.93431659 -0.07589113 -0.34827152 13.86968742] [ 0.0945199 0.99484307 0.03678666 0.39666652] [ 0.34368373 -0.06728898 0.9366716 1.19275718] [ 0. 0. 0. 1. ]] SLAMing on 63.989649246000006 meters Centerline goodness : 0.914572 Centerline is valid? [False, False] Translation: X:13.87, Y:0.39, Z:1.20 [[ 0.93417205 -0.07527052 -0.34879354 13.86906652] [ 0.09440331 0.99480244 0.03815909 0.39421432] [ 0.34410841 -0.06857442 0.93642242 1.19536697] [ 0. 0. 0. 1. ]] SLAMing on 64.019649246 meters Centerline goodness : 0.918296 Centerline is valid? [False, False] Translation: X:13.87, Y:0.39, Z:1.20 [[ 0.93416727 -0.07486815 -0.34889293 13.86893441] [ 0.09401491 0.99483584 0.03824708 0.39443042] [ 0.3442277 -0.0685303 0.93638181 1.19546637] [ 0. 0. 0. 1. ]] SLAMing on 64.04964924600002 meters Centerline goodness : 0.921236 Centerline is valid? [False, False] Translation: X:13.87, Y:0.40, Z:1.20 [[ 0.93400518 -0.07534172 -0.34922479 13.87059113] [ 0.09439519 0.99481542 0.0378395 0.39541573] [ 0.34456331 -0.06830743 0.93627465 1.19513822] [ 0. 0. 0. 1. ]] SLAMing on 64.07964924600002 meters Centerline goodness : 0.921236 Centerline is valid? [False, False] Translation: X:13.87, Y:0.40, Z:1.20 [[ 0.93400518 -0.07534172 -0.34922479 13.87059113] [ 0.09439519 0.99481542 0.0378395 0.39541573] [ 0.34456331 -0.06830743 0.93627465 1.19513822] [ 0. 0. 0. 1. ]] SLAMing on 64.109649246 meters Centerline goodness : 0.915114 Centerline is valid? [False, False] Translation: X:13.88, Y:0.40, Z:1.19 [[ 0.9334475 -0.0735572 -0.3510913 13.87912757] [ 0.09342999 0.99482293 0.03997707 0.3974099 ] [ 0.34633307 -0.07011896 0.93548743 1.19437106] [ 0. 0. 0. 1. ]] SLAMing on 64.139649246 meters Centerline goodness : 0.912954 Centerline is valid? [False, False] Translation: X:13.88, Y:0.40, Z:1.19 [[ 0.93318211 -0.07433024 -0.35163356 13.88177702] [ 0.09403436 0.99479424 0.03926783 0.39844596] [ 0.34688426 -0.06970967 0.93531378 1.19377943] [ 0. 0. 0. 1. ]] SLAMing on 64.169649246 meters Centerline goodness : 0.909580 Centerline is valid? [False, False] Translation: X:13.88, Y:0.40, Z:1.19 [[ 0.93293489 -0.07504356 -0.3521377 13.88455657] [ 0.09451724 0.99478187 0.03841241 0.39948959] [ 0.3474176 -0.06911937 0.93515963 1.1927976 ] [ 0. 0. 0. 1. ]] SLAMing on 64.199649246 meters Centerline goodness : 0.912757 Centerline is valid? [False, False] Translation: X:13.89, Y:0.40, Z:1.19 [[ 0.93262564 -0.07568018 -0.35281995 13.88695135] [ 0.09507205 0.99474735 0.03793429 0.39978479] [ 0.34809584 -0.06892181 0.93492196 1.19282032] [ 0. 0. 0. 1. ]] SLAMing on 64.22964924600001 meters Centerline goodness : 0.913271 Centerline is valid? [False, False] Translation: X:13.89, Y:0.40, Z:1.19 [[ 0.93207321 -0.07663423 -0.35407165 13.89101527] [ 0.09588212 0.99470054 0.03711408 0.40017896] [ 0.34935105 -0.06854218 0.93448157 1.19295058] [ 0. 0. 0. 1. ]] SLAMing on 64.25964924600001 meters Centerline goodness : 0.914295 Centerline is valid? [False, False] Translation: X:13.89, Y:0.40, Z:1.19 [[ 0.93178206 -0.07731185 -0.35469011 13.89344563] [ 0.09643046 0.99466961 0.03651756 0.40116977] [ 0.34997624 -0.06822933 0.93427051 1.19269432] [ 0. 0. 0. 1. ]] SLAMing on 64.28964924600001 meters Centerline goodness : 0.909943 Centerline is valid? [False, False] Translation: X:13.90, Y:0.40, Z:1.19 [[ 0.93132972 -0.07854312 -0.35560644 13.89742204] [ 0.0975131 0.99459341 0.03570909 0.40169373] [ 0.35087911 -0.06793322 0.93395338 1.19242857] [ 0. 0. 0. 1. ]] SLAMing on 64.31964924600001 meters Centerline goodness : 0.910399 Centerline is valid? [False, False] Translation: X:13.90, Y:0.40, Z:1.19 [[ 0.93104032 -0.07907382 -0.35624606 13.89948794] [ 0.09798395 0.99456096 0.03532188 0.40230062] [ 0.35151539 -0.06779249 0.93372432 1.19258366] [ 0. 0. 0. 1. ]] SLAMing on 64.34964924600001 meters Centerline goodness : 0.909091 Centerline is valid? [False, False] Translation: X:13.90, Y:0.40, Z:1.20 [[ 0.93054165 -0.08030099 -0.35727299 13.90231547] [ 0.09959185 0.99438069 0.03589581 0.40100477] [ 0.3523829 -0.06898402 0.93330997 1.19508209] [ 0. 0. 0. 1. ]] SLAMing on 64.37964924600001 meters Centerline goodness : 0.907930 Centerline is valid? [False, False] Translation: X:13.90, Y:0.40, Z:1.20 [[ 0.93024407 -0.08067679 -0.3579626 13.90358395] [ 0.10013484 0.99431785 0.03612521 0.40092978] [ 0.35301413 -0.06944979 0.93303684 1.19641899] [ 0. 0. 0. 1. ]] SLAMing on 64.40964924600001 meters Centerline goodness : 0.912947 Centerline is valid? [False, False] Translation: X:13.91, Y:0.40, Z:1.20 [[ 0.92994713 -0.08074636 -0.35871767 13.90508268] [ 0.10024174 0.99430972 0.03605239 0.40162829] [ 0.35376537 -0.0694853 0.93274962 1.19714724] [ 0. 0. 0. 1. ]] SLAMing on 64.43964924600002 meters Centerline goodness : 0.913234 Centerline is valid? [False, False] Translation: X:13.91, Y:0.40, Z:1.20 [[ 0.92988894 -0.08034133 -0.35895937 13.90524314] [ 0.09984154 0.99434868 0.03608835 0.40245792] [ 0.35403139 -0.06939722 0.93265524 1.19721929] [ 0. 0. 0. 1. ]] SLAMing on 64.46964924600002 meters Centerline goodness : 0.913764 Centerline is valid? [False, False] Translation: X:13.90, Y:0.40, Z:1.20 [[ 0.92991166 -0.07893109 -0.35921329 13.90284389] [ 0.09906587 0.99435645 0.03796316 0.40005638] [ 0.35418958 -0.07088816 0.93248304 1.20024606] [ 0. 0. 0. 1. ]] SLAMing on 64.499649246 meters Centerline goodness : 0.914149 Centerline is valid? [False, False] Translation: X:13.90, Y:0.40, Z:1.20 [[ 0.92978391 -0.07846076 -0.35964675 13.90255338] [ 0.09889481 0.99434339 0.0387432 0.39900229] [ 0.35457255 -0.07159001 0.93228385 1.20187416] [ 0. 0. 0. 1. ]] SLAMing on 64.529649246 meters Centerline goodness : 0.917784 Centerline is valid? [False, False] Translation: X:13.90, Y:0.40, Z:1.20 [[ 0.92963306 -0.07827697 -0.3600765 13.90301289] [ 0.09897985 0.99430952 0.03938996 0.39766975] [ 0.35494417 -0.07225853 0.93209085 1.20325301] [ 0. 0. 0. 1. ]] SLAMing on 64.559649246 meters Centerline goodness : 0.915015 Centerline is valid? [False, False] Translation: X:13.90, Y:0.40, Z:1.20 [[ 0.9293558 -0.07866223 -0.3607077 13.90484 ] [ 0.09939319 0.99427359 0.03925577 0.39722326] [ 0.3555542 -0.07233446 0.93185242 1.20378571] [ 0. 0. 0. 1. ]] SLAMing on 64.58964924600001 meters Centerline goodness : 0.918010 Centerline is valid? [False, False] Translation: X:13.91, Y:0.40, Z:1.20 [[ 0.92916877 -0.07895285 -0.36112581 13.9063159 ] [ 0.09967476 0.99425202 0.03908788 0.39717193] [ 0.35596397 -0.07231437 0.93169753 1.20390596] [ 0. 0. 0. 1. ]] SLAMing on 64.61964924600001 meters Centerline goodness : 0.913753 Centerline is valid? [False, False] Translation: X:13.91, Y:0.40, Z:1.20 [[ 0.92875874 -0.07975416 -0.36200342 13.90945936] [ 0.10049249 0.99418125 0.03879295 0.39698199] [ 0.35680311 -0.07240792 0.93136922 1.20431748] [ 0. 0. 0. 1. ]] SLAMing on 64.64964924600001 meters Centerline goodness : 0.913619 Centerline is valid? [False, False] Translation: X:13.91, Y:0.40, Z:1.20 [[ 0.92847892 -0.08060161 -0.36253314 13.9122325 ] [ 0.10119131 0.99413584 0.03813459 0.39782947] [ 0.35733348 -0.07209236 0.93119036 1.20385333] [ 0. 0. 0. 1. ]] SLAMing on 64.67964924600001 meters Centerline goodness : 0.908984 Centerline is valid? [False, False] Translation: X:13.92, Y:0.40, Z:1.20 [[ 0.92808622 -0.08150975 -0.36333472 13.9155226 ] [ 0.10192429 0.99409118 0.03733859 0.39929473] [ 0.35814439 -0.07168606 0.93091015 1.20350932] [ 0. 0. 0. 1. ]] SLAMing on 64.70964924600001 meters Centerline goodness : 0.910907 Centerline is valid? [False, False] Translation: X:13.92, Y:0.40, Z:1.20 [[ 0.92805093 -0.0814776 -0.36343208 13.91585727] [ 0.10186039 0.99410138 0.03724117 0.40000289] [ 0.35825401 -0.07158103 0.93087605 1.20340488] [ 0. 0. 0. 1. ]] SLAMing on 64.73964924600001 meters Centerline goodness : 0.914005 Centerline is valid? [False, False] Translation: X:13.92, Y:0.40, Z:1.20 [[ 0.92797159 -0.08116436 -0.36370465 13.91529365] [ 0.10167941 0.994107 0.03758418 0.39949462] [ 0.35851084 -0.07185832 0.9307558 1.2045704 ] [ 0. 0. 0. 1. ]] SLAMing on 64.76964924600001 meters Centerline goodness : 0.913655 Centerline is valid? [False, False] Translation: X:13.92, Y:0.40, Z:1.21 [[ 0.92778088 -0.08105978 -0.36421416 13.91569049] [ 0.10179819 0.99407623 0.03807323 0.39876111] [ 0.35897043 -0.07239996 0.93053666 1.20595302] [ 0. 0. 0. 1. ]] SLAMing on 64.79964924600002 meters Centerline goodness : 0.912449 Centerline is valid? [False, False] Translation: X:13.92, Y:0.40, Z:1.21 [[ 0.92768195 -0.08117216 -0.36444105 13.91612363] [ 0.10190128 0.99406926 0.03797932 0.39928907] [ 0.35919679 -0.07236973 0.93045166 1.20625515] [ 0. 0. 0. 1. ]] SLAMing on 64.82964924600002 meters Centerline goodness : 0.914323 Centerline is valid? [False, False] Translation: X:13.92, Y:0.40, Z:1.21 [[ 0.92752798 -0.08137663 -0.36478718 13.91737534] [ 0.10201841 0.99407013 0.03764074 0.4003438 ] [ 0.35956096 -0.07212784 0.93032977 1.2060574 ] [ 0. 0. 0. 1. ]] SLAMing on 64.859649246 meters Centerline goodness : 0.914231 Centerline is valid? [False, False] Translation: X:13.92, Y:0.40, Z:1.21 [[ 0.92749411 -0.08126322 -0.36489856 13.91764929] [ 0.10174594 0.99411365 0.03722645 0.40171672] [ 0.3597255 -0.07165426 0.93030276 1.20556357] [ 0. 0. 0. 1. ]] SLAMing on 64.889649246 meters Centerline goodness : 0.914319 Centerline is valid? [False, False] Translation: X:13.92, Y:0.40, Z:1.21 [[ 0.9273751 -0.08127033 -0.36519934 13.91841094] [ 0.10170727 0.99412447 0.03704269 0.40234178] [ 0.36004313 -0.07149589 0.93019207 1.20555404] [ 0. 0. 0. 1. ]] SLAMing on 64.919649246 meters Centerline goodness : 0.915276 Centerline is valid? [False, False] Translation: X:13.92, Y:0.40, Z:1.21 [[ 0.92716755 -0.08164481 -0.36564253 13.91976498] [ 0.10203415 0.99410162 0.03675591 0.40272 ] [ 0.3604849 -0.07138691 0.93002932 1.20584661] [ 0. 0. 0. 1. ]] SLAMing on 64.949649246 meters Centerline goodness : 0.918392 Centerline is valid? [False, False] Translation: X:13.92, Y:0.40, Z:1.21 [[ 0.92687003 -0.08204926 -0.36630569 13.9216607 ] [ 0.10247376 0.99406104 0.03663027 0.4022464 ] [ 0.36112473 -0.07148822 0.92977329 1.20648658] [ 0. 0. 0. 1. ]] SLAMing on 64.97964924600001 meters Centerline goodness : 0.916874 Centerline is valid? [False, False] Translation: X:13.92, Y:0.40, Z:1.21 [[ 0.92667776 -0.08206518 -0.36678826 13.92250937] [ 0.10259104 0.99404321 0.03678551 0.40225725] [ 0.36158457 -0.0717175 0.92957689 1.20723478] [ 0. 0. 0. 1. ]] SLAMing on 65.00964924600001 meters Centerline goodness : 0.917209 Centerline is valid? [False, False] Translation: X:13.93, Y:0.40, Z:1.21 [[ 0.92633728 -0.08283161 -0.3674754 13.92540442] [ 0.10325206 0.99399533 0.03622555 0.403011 ] [ 0.36226821 -0.07149967 0.92932747 1.20714766] [ 0. 0. 0. 1. ]] SLAMing on 65.03964924600001 meters Centerline goodness : 0.917588 Centerline is valid? [False, False] Translation: X:13.93, Y:0.40, Z:1.21 [[ 0.92606453 -0.08350628 -0.36800976 13.9279319 ] [ 0.10384502 0.99394982 0.0357766 0.40381771] [ 0.36279566 -0.07134742 0.92913339 1.20694629] [ 0. 0. 0. 1. ]] SLAMing on 65.06964924600001 meters Centerline goodness : 0.915789 Centerline is valid? [False, False] Translation: X:13.93, Y:0.40, Z:1.21 [[ 0.92575543 -0.08452669 -0.36855409 13.93145545] [ 0.10464476 0.99389691 0.03490571 0.40475366] [ 0.36335431 -0.07088141 0.92895074 1.20605127] [ 0. 0. 0. 1. ]] SLAMing on 65.09964924600001 meters Centerline goodness : 0.916313 Centerline is valid? [False, False] Translation: X:13.93, Y:0.40, Z:1.21 [[ 0.92554243 -0.08487803 -0.36900803 13.93304304] [ 0.10502045 0.99386076 0.03480666 0.40434787] [ 0.36378828 -0.07096843 0.92877423 1.20635524] [ 0. 0. 0. 1. ]] SLAMing on 65.12964924600001 meters Centerline goodness : 0.917554 Centerline is valid? [False, False] Translation: X:13.94, Y:0.40, Z:1.21 [[ 0.9251861 -0.08534601 -0.36979283 13.93526685] [ 0.10557467 0.99380319 0.03477374 0.40366428] [ 0.36453349 -0.07121294 0.92846327 1.20717157] [ 0. 0. 0. 1. ]] SLAMing on 65.15964924600001 meters Centerline goodness : 0.919227 Centerline is valid? [False, False] Translation: X:13.94, Y:0.40, Z:1.21 [[ 0.92497665 -0.08568389 -0.3702384 13.93690051] [ 0.10581038 0.99379263 0.03435653 0.40466347] [ 0.36499639 -0.07095406 0.92830122 1.20710123] [ 0. 0. 0. 1. ]] SLAMing on 65.18964924600002 meters Centerline goodness : 0.917910 Centerline is valid? [False, False] Translation: X:13.94, Y:0.41, Z:1.21 [[ 0.92483469 -0.08622613 -0.37046707 13.9385408 ] [ 0.10608181 0.99379233 0.03351787 0.40651942] [ 0.36527722 -0.07029831 0.92824065 1.20622654] [ 0. 0. 0. 1. ]] SLAMing on 65.21964924600002 meters Centerline goodness : 0.914536 Centerline is valid? [False, False] Translation: X:13.94, Y:0.41, Z:1.21 [[ 0.92452763 -0.08691482 -0.37107206 13.94059777] [ 0.10677647 0.99372602 0.0332773 0.40632637] [ 0.36585167 -0.07038755 0.92800762 1.20676961] [ 0. 0. 0. 1. ]] SLAMing on 65.249649246 meters Centerline goodness : 0.914791 Centerline is valid? [False, False] Translation: X:13.94, Y:0.41, Z:1.21 [[ 0.92399945 -0.08839737 -0.37203618 13.94467367] [ 0.10807026 0.9936178 0.03231855 0.40826866] [ 0.3668049 -0.07006837 0.92765543 1.20680255] [ 0. 0. 0. 1. ]] SLAMing on 65.279649246 meters Centerline goodness : 0.915252 Centerline is valid? [False, False] Translation: X:13.95, Y:0.41, Z:1.21 [[ 0.92364873 -0.08936312 -0.3726758 13.94756542] [ 0.1089525 0.99353843 0.0317921 0.40915392] [ 0.36742669 -0.0699687 0.92741685 1.20681176] [ 0. 0. 0. 1. ]] SLAMing on 65.309649246 meters Centerline goodness : 0.910995 Centerline is valid? [False, False] Translation: X:13.95, Y:0.41, Z:1.21 [[ 0.92284841 -0.09152754 -0.37413036 13.95330072] [ 0.11131292 0.99328376 0.03157224 0.40839184] [ 0.36872788 -0.07078193 0.92683853 1.20867546] [ 0. 0. 0. 1. ]] SLAMing on 65.33964924600001 meters Centerline goodness : 0.908488 Centerline is valid? [False, False] Translation: X:13.96, Y:0.41, Z:1.21 [[ 0.92244851 -0.09222938 -0.37494332 13.95564234] [ 0.11213593 0.99319115 0.03157335 0.40826067] [ 0.3694784 -0.07116941 0.92650992 1.20978456] [ 0. 0. 0. 1. ]] SLAMing on 65.36964924600001 meters Centerline goodness : 0.908669 Centerline is valid? [False, False] Translation: X:13.96, Y:0.41, Z:1.21 [[ 0.92213176 -0.09255163 -0.37564239 13.95813573] [ 0.11261832 0.99313038 0.03176718 0.40743259] [ 0.37012177 -0.07159774 0.92622008 1.21044835] [ 0. 0. 0. 1. ]] SLAMing on 65.39964924600001 meters Centerline goodness : 0.909801 Centerline is valid? [False, False] Translation: X:13.96, Y:0.40, Z:1.21 [[ 0.9219333 -0.0881153 -0.37719317 13.96073446] [ 0.10993722 0.99326171 0.03667414 0.40492915] [ 0.37141997 -0.07527868 0.92540819 1.21358083] [ 0. 0. 0. 1. ]] SLAMing on 65.42964924600001 meters Centerline goodness : 0.913499 Centerline is valid? [False, False] Translation: X:13.96, Y:0.40, Z:1.21 [[ 0.92168788 -0.09228058 -0.37679669 13.95932878] [ 0.1131254 0.99301513 0.03352019 0.40295 ] [ 0.37107155 -0.07352043 0.92568929 1.21439962] [ 0. 0. 0. 1. ]] SLAMing on 65.45964924600001 meters Centerline goodness : 0.911389 Centerline is valid? [False, False] Translation: X:13.96, Y:0.40, Z:1.22 [[ 0.92132505 -0.09231218 -0.37767528 13.96086013] [ 0.11357945 0.99293397 0.03437793 0.40134034] [ 0.37183311 -0.0745694 0.9252997 1.21658359] [ 0. 0. 0. 1. ]] SLAMing on 65.48964924600001 meters Centerline goodness : 0.910241 Centerline is valid? [False, False] Translation: X:13.97, Y:0.40, Z:1.22 [[ 0.92477833 -0.08592252 -0.37067824 13.96691553] [ 0.10914719 0.9931338 0.04209689 0.3959895 ] [ 0.36451602 -0.07938878 0.92780682 1.21994643] [ 0. 0. 0. 1. ]] SLAMing on 65.51964924600001 meters Centerline goodness : 0.911292 Centerline is valid? [False, False] Translation: X:13.97, Y:0.40, Z:1.22 [[ 0.92446295 -0.0866837 -0.37128721 13.96936125] [ 0.10991917 0.99305957 0.04183856 0.39581431] [ 0.3650836 -0.07948978 0.92757498 1.22029268] [ 0. 0. 0. 1. ]] SLAMing on 65.54964924600002 meters Centerline goodness : 0.911663 Centerline is valid? [False, False] Translation: X:13.97, Y:0.39, Z:1.22 [[ 0.92393263 -0.08736129 -0.37244665 13.97226934] [ 0.11094077 0.99292595 0.04231079 0.39406944] [ 0.36611562 -0.08041183 0.92708861 1.22247771] [ 0. 0. 0. 1. ]] SLAMing on 65.57964924600002 meters Centerline goodness : 0.912694 Centerline is valid? [False, False] Translation: X:13.97, Y:0.39, Z:1.22 [[ 0.92360041 -0.08798378 -0.37312349 13.97462952] [ 0.11166899 0.99284475 0.04230046 0.3934343 ] [ 0.36673195 -0.08073505 0.92681688 1.22321028] [ 0. 0. 0. 1. ]] SLAMing on 65.609649246 meters Centerline goodness : 0.912515 Centerline is valid? [False, False] Translation: X:13.98, Y:0.39, Z:1.22 [[ 0.92304465 -0.0889354 -0.37427139 13.97798374] [ 0.11282554 0.99271126 0.04236455 0.39261124] [ 0.36777572 -0.08133175 0.926351 1.22487006] [ 0. 0. 0. 1. ]] SLAMing on 65.639649246 meters Centerline goodness : 0.911045 Centerline is valid? [False, False] Translation: X:13.99, Y:0.39, Z:1.22 [[ 0.92662097 -0.08268927 -0.36679159 13.98536125] [ 0.10641485 0.99330736 0.04490389 0.38928665] [ 0.36062372 -0.08064096 0.92921879 1.22464655] [ 0. 0. 0. 1. ]] SLAMing on 65.669649246 meters Centerline goodness : 0.912815 Centerline is valid? [False, False] Translation: X:13.99, Y:0.39, Z:1.22 [[ 0.9263487 -0.08313522 -0.36737803 13.9868541 ] [ 0.1065921 0.99332927 0.04398958 0.39213762] [ 0.36127027 -0.07990929 0.92903084 1.22439535] [ 0. 0. 0. 1. ]] SLAMing on 65.699649246 meters Centerline goodness : 0.910539 Centerline is valid? [False, False] Translation: X:13.99, Y:0.39, Z:1.23 [[ 0.92989477 -0.0737952 -0.36034704 13.99216736] [ 0.09841446 0.99386687 0.05043051 0.38930317] [ 0.35441546 -0.08235843 0.93145412 1.22753729] [ 0. 0. 0. 1. ]] SLAMing on 65.72964924600001 meters Centerline goodness : 0.911121 Centerline is valid? [False, False] Translation: X:13.99, Y:0.39, Z:1.23 [[ 0.92973202 -0.07341099 -0.36084511 13.99263476] [ 0.09742091 0.99404721 0.04877813 0.39455427] [ 0.35511623 -0.08050444 0.93134929 1.2256955 ] [ 0. 0. 0. 1. ]] SLAMing on 65.75964924600001 meters Centerline goodness : 0.908349 Centerline is valid? [False, False] Translation: X:13.99, Y:0.40, Z:1.22 [[ 0.92960346 -0.0737606 -0.36110494 13.99382548] [ 0.09736791 0.99410967 0.04759674 0.39775467] [ 0.35546715 -0.07940613 0.93130971 1.22444026] [ 0. 0. 0. 1. ]] SLAMing on 65.78964924600001 meters Centerline goodness : 0.907134 Centerline is valid? [False, False] Translation: X:13.99, Y:0.40, Z:1.22 [[ 0.92955533 -0.07308244 -0.36136663 13.99394193] [ 0.09595716 0.99433396 0.04574062 0.40349682] [ 0.35597628 -0.07719415 0.93130122 1.22179859] [ 0. 0. 0. 1. ]] SLAMing on 65.81964924600001 meters Centerline goodness : 0.904748 Centerline is valid? [False, False] Translation: X:14.00, Y:0.41, Z:1.22 [[ 0.92939604 -0.07331707 -0.36172863 13.99505709] [ 0.09593543 0.99437238 0.04494402 0.40575858] [ 0.3563978 -0.07647339 0.93119946 1.22116785] [ 0. 0. 0. 1. ]] SLAMing on 65.84964924600001 meters Centerline goodness : 0.906681 Centerline is valid? [False, False] Translation: X:14.01, Y:0.41, Z:1.22 [[ 0.93109951 -0.0760954 -0.35673967 14.01137891] [ 0.09521866 0.99479337 0.03632578 0.40994375] [ 0.35211804 -0.06779119 0.93349732 1.22221046] [ 0. 0. 0. 1. ]] SLAMing on 65.87964924600001 meters Centerline goodness : 0.909017 Centerline is valid? [False, False] Translation: X:14.01, Y:0.41, Z:1.22 [[ 0.93089571 -0.07627973 -0.35723182 14.01214785] [ 0.09549066 0.99476373 0.03642323 0.40965229] [ 0.3525829 -0.06801854 0.9333053 1.2231739 ] [ 0. 0. 0. 1. ]] SLAMing on 65.90964924600001 meters Centerline goodness : 0.912558 Centerline is valid? [False, False] Translation: X:14.01, Y:0.41, Z:1.22 [[ 0.93057827 -0.07666668 -0.3579753 14.01405351] [ 0.09601111 0.9947089 0.03655232 0.40932827] [ 0.35327887 -0.0683844 0.93301533 1.2242736 ] [ 0. 0. 0. 1. ]] SLAMing on 65.93964924600002 meters Centerline goodness : 0.915580 Centerline is valid? [False, False] Translation: X:14.02, Y:0.41, Z:1.23 [[ 0.93017951 -0.07709264 -0.35891895 14.01640761] [ 0.09661884 0.99464246 0.03675831 0.40862401] [ 0.35416223 -0.06887016 0.93264464 1.2256779 ] [ 0. 0. 0. 1. ]] SLAMing on 65.96964924600002 meters Centerline goodness : 0.915580 Centerline is valid? [False, False] Translation: X:14.02, Y:0.41, Z:1.23 [[ 0.93017951 -0.07709264 -0.35891895 14.01640761] [ 0.09661884 0.99464246 0.03675831 0.40862401] [ 0.35416223 -0.06887016 0.93264464 1.2256779 ] [ 0. 0. 0. 1. ]] SLAMing on 65.999649246 meters Centerline goodness : 0.913919 Centerline is valid? [False, False] Translation: X:14.02, Y:0.41, Z:1.23 [[ 0.92988956 -0.07770634 -0.35953739 14.01843012] [ 0.09725022 0.99458809 0.03656412 0.40867781] [ 0.35475034 -0.06896568 0.93241403 1.22621625] [ 0. 0. 0. 1. ]] SLAMing on 66.029649246 meters Centerline goodness : 0.915346 Centerline is valid? [False, False] Translation: X:14.02, Y:0.41, Z:1.23 [[ 0.92960973 -0.07824083 -0.36014457 14.02024056] [ 0.09790402 0.99452067 0.03665308 0.40799809] [ 0.35530346 -0.06933266 0.93217618 1.22711585] [ 0. 0. 0. 1. ]] SLAMing on 66.059649246 meters Centerline goodness : 0.916410 Centerline is valid? [False, False] Translation: X:14.02, Y:0.41, Z:1.23 [[ 0.92904222 -0.08372801 -0.36037505 14.02134685] [ 0.10225583 0.99422313 0.03262062 0.40795658] [ 0.35556195 -0.06715639 0.93223694 1.22805345] [ 0. 0. 0. 1. ]] SLAMing on 66.08964924600001 meters Centerline goodness : 0.917575 Centerline is valid? [False, False] Translation: X:14.02, Y:0.41, Z:1.23 [[ 0.92886436 -0.08430502 -0.36069884 14.02368358] [ 0.10262836 0.9942077 0.03191339 0.40912206] [ 0.35591911 -0.06666114 0.93213619 1.22709221] [ 0. 0. 0. 1. ]] SLAMing on 66.11964924600001 meters Centerline goodness : 0.912503 Centerline is valid? [False, False] Translation: X:14.03, Y:0.41, Z:1.23 [[ 0.92845471 -0.08566362 -0.36143269 14.02831322] [ 0.10376842 0.99411999 0.03094454 0.41035582] [ 0.35665664 -0.0662359 0.93188457 1.22606787] [ 0. 0. 0. 1. ]] SLAMing on 66.14964924600001 meters Centerline goodness : 0.907104 Centerline is valid? [False, False] Translation: X:14.03, Y:0.41, Z:1.23 [[ 0.92802942 -0.08657766 -0.36230608 14.03190585] [ 0.10466607 0.99403781 0.03055903 0.41044625] [ 0.35750022 -0.06628083 0.93155807 1.22626594] [ 0. 0. 0. 1. ]] SLAMing on 66.17964924600001 meters Centerline goodness : 0.908459 Centerline is valid? [False, False] Translation: X:14.03, Y:0.41, Z:1.23 [[ 0.92780155 -0.08701458 -0.36278472 14.0337949 ] [ 0.10515161 0.99398808 0.03050946 0.41009822] [ 0.35794892 -0.06645412 0.9313734 1.22658207] [ 0. 0. 0. 1. ]] SLAMing on 66.20964924600001 meters Centerline goodness : 0.911547 Centerline is valid? [False, False] Translation: X:14.04, Y:0.41, Z:1.23 [[ 0.92740615 -0.08766064 -0.36363917 14.03655356] [ 0.10589241 0.99391079 0.03046541 0.40940216] [ 0.35875428 -0.06676044 0.93104157 1.22746739] [ 0. 0. 0. 1. ]] SLAMing on 66.23964924600001 meters Centerline goodness : 0.911281 Centerline is valid? [False, False] Translation: X:14.04, Y:0.41, Z:1.23 [[ 0.92711102 -0.08826963 -0.3642439 14.03878609] [ 0.10650214 0.99385273 0.03023329 0.40959675] [ 0.35933611 -0.06682237 0.93081272 1.22781981] [ 0. 0. 0. 1. ]] SLAMing on 66.26964924600001 meters Centerline goodness : 0.910439 Centerline is valid? [False, False] Translation: X:14.04, Y:0.41, Z:1.23 [[ 0.92676925 -0.08886289 -0.3649687 14.04110331] [ 0.10712678 0.99379087 0.03005923 0.40943303] [ 0.36003141 -0.06695589 0.93053441 1.22842311] [ 0. 0. 0. 1. ]] SLAMing on 66.29964924600002 meters Centerline goodness : 0.909347 Centerline is valid? [False, False] Translation: X:14.04, Y:0.41, Z:1.23 [[ 0.9265278 -0.08913522 -0.3655149 14.04288071] [ 0.10749019 0.99374935 0.03013444 0.40874053] [ 0.36054415 -0.06720967 0.93031757 1.22897577] [ 0. 0. 0. 1. ]] SLAMing on 66.32964924600002 meters Centerline goodness : 0.911988 Centerline is valid? [False, False] Translation: X:14.04, Y:0.41, Z:1.23 [[ 0.9262978 -0.08947266 -0.36601508 14.04447186] [ 0.10788756 0.99370656 0.03012566 0.40896505] [ 0.36101616 -0.0673938 0.93012118 1.22945248] [ 0. 0. 0. 1. ]] SLAMing on 66.359649246 meters Centerline goodness : 0.911697 Centerline is valid? [False, False] Translation: X:14.05, Y:0.41, Z:1.23 [[ 0.92610415 -0.0898822 -0.36640455 14.04634989] [ 0.10820088 0.99368461 0.02972322 0.41019087] [ 0.36141897 -0.06717209 0.92998077 1.22917329] [ 0. 0. 0. 1. ]] SLAMing on 66.389649246 meters Centerline goodness : 0.909069 Centerline is valid? [False, False] Translation: X:14.05, Y:0.41, Z:1.23 [[ 0.92587646 -0.09031861 -0.36687235 14.04795045] [ 0.10866034 0.99363794 0.02960718 0.41052907] [ 0.36186421 -0.06727706 0.92980003 1.22966689] [ 0. 0. 0. 1. ]] SLAMing on 66.419649246 meters Centerline goodness : 0.912202 Centerline is valid? [False, False] Translation: X:14.05, Y:0.41, Z:1.23 [[ 0.92550619 -0.09086918 -0.36766982 14.04995645] [ 0.10931997 0.99356508 0.02962406 0.41045425] [ 0.36261197 -0.0676109 0.92948444 1.23078794] [ 0. 0. 0. 1. ]] SLAMing on 66.449649246 meters Centerline goodness : 0.910875 Centerline is valid? [False, False] Translation: X:14.05, Y:0.41, Z:1.23 [[ 0.92487645 -0.09255184 -0.36883291 14.0543114 ] [ 0.11110957 0.99337478 0.02934652 0.40895076] [ 0.36367323 -0.06812277 0.92903233 1.23224788] [ 0. 0. 0. 1. ]] SLAMing on 66.47964924600001 meters Centerline goodness : 0.911734 Centerline is valid? [False, False] Translation: X:14.06, Y:0.41, Z:1.23 [[ 0.92448373 -0.09340257 -0.3696022 14.05729551] [ 0.11199438 0.99328215 0.02911747 0.40908 ] [ 0.36439962 -0.068312 0.92873375 1.23272597] [ 0. 0. 0. 1. ]] SLAMing on 66.50964924600001 meters Centerline goodness : 0.908252 Centerline is valid? [False, False] Translation: X:14.06, Y:0.40, Z:1.24 [[ 0.92782683 -0.08792197 -0.36250118 14.06346241] [ 0.10872703 0.99336958 0.03735392 0.40391027] [ 0.35681341 -0.07407165 0.93123444 1.23526399] [ 0. 0. 0. 1. ]] SLAMing on 66.53964924600001 meters Centerline goodness : 0.908427 Centerline is valid? [False, False] Translation: X:14.06, Y:0.40, Z:1.23 [[ 0.92766916 -0.08821743 -0.36283276 14.06495717] [ 0.10895595 0.99335579 0.03705228 0.40420363] [ 0.35715337 -0.07390505 0.93111735 1.23498521] [ 0. 0. 0. 1. ]] SLAMing on 66.56964924600001 meters Centerline goodness : 0.908851 Centerline is valid? [False, False] Translation: X:14.07, Y:0.40, Z:1.24 [[ 0.92739534 -0.08826445 -0.36352066 14.06571117] [ 0.1092743 0.99330035 0.03759722 0.40357358] [ 0.3577667 -0.07459096 0.93082715 1.23679234] [ 0. 0. 0. 1. ]] SLAMing on 66.59964924600001 meters Centerline goodness : 0.910041 Centerline is valid? [False, False] Translation: X:14.07, Y:0.40, Z:1.24 [[ 0.92723734 -0.08814706 -0.36395193 14.06579255] [ 0.10934403 0.993277 0.03800892 0.40342992] [ 0.35815471 -0.07503926 0.93064188 1.23815421] [ 0. 0. 0. 1. ]] SLAMing on 66.62964924600001 meters Centerline goodness : 0.913947 Centerline is valid? [False, False] Translation: X:14.08, Y:0.41, Z:1.24 [[ 0.92938104 -0.08865614 -0.35831687 14.07919109] [ 0.10692018 0.99377037 0.03144072 0.40600138] [ 0.35329727 -0.06753171 0.93307047 1.24003448] [ 0. 0. 0. 1. ]] SLAMing on 66.65964924600001 meters Centerline goodness : 0.912005 Centerline is valid? [False, False] Translation: X:14.08, Y:0.41, Z:1.24 [[ 0.92931685 -0.08840777 -0.35854465 14.07911592] [ 0.10676451 0.99377937 0.03168431 0.40665728] [ 0.35351314 -0.06772461 0.93297473 1.24066932] [ 0. 0. 0. 1. ]] SLAMing on 66.68964924600002 meters Centerline goodness : 0.913843 Centerline is valid? [False, False] Translation: X:14.08, Y:0.41, Z:1.24 [[ 0.92931105 -0.08792989 -0.35867716 14.07863717] [ 0.10623869 0.99383783 0.03161821 0.40826229] [ 0.35368674 -0.06748854 0.93292603 1.24078095] [ 0. 0. 0. 1. ]] SLAMing on 66.71964924600002 meters Centerline goodness : 0.910634 Centerline is valid? [False, False] Translation: X:14.08, Y:0.41, Z:1.24 [[ 0.929189 -0.08808536 -0.35895511 14.07928953] [ 0.10635115 0.9938321 0.03141971 0.40912147] [ 0.35397349 -0.06737014 0.93282583 1.24097179] [ 0. 0. 0. 1. ]] SLAMing on 66.749649246 meters Centerline goodness : 0.915249 Centerline is valid? [False, False] Translation: X:14.08, Y:0.41, Z:1.24 [[ 0.92897097 -0.08402296 -0.36049006 14.08264753] [ 0.10371529 0.99396983 0.03559655 0.40871229] [ 0.35532531 -0.07045649 0.93208358 1.24305016] [ 0. 0. 0. 1. ]] SLAMing on 66.779649246 meters Centerline goodness : 0.910102 Centerline is valid? [False, False] Translation: X:14.09, Y:0.41, Z:1.24 [[ 0.9287361 -0.08490818 -0.36088758 14.08573951] [ 0.10427904 0.99394926 0.03450738 0.41031642] [ 0.35577399 -0.06968127 0.9319707 1.24157779] [ 0. 0. 0. 1. ]] SLAMing on 66.809649246 meters Centerline goodness : 0.911909 Centerline is valid? [False, False] Translation: X:14.09, Y:0.41, Z:1.24 [[ 0.92849754 -0.08561642 -0.36133385 14.08790128] [ 0.10494975 0.99388979 0.03418528 0.41039872] [ 0.35619921 -0.06966284 0.93180964 1.24154626] [ 0. 0. 0. 1. ]] SLAMing on 66.83964924600001 meters Centerline goodness : 0.913832 Centerline is valid? [False, False] Translation: X:14.09, Y:0.41, Z:1.24 [[ 0.92778929 -0.08754445 -0.36268857 14.09304782] [ 0.10715934 0.99365075 0.03427921 0.40899976] [ 0.35738482 -0.07066936 0.93127973 1.24361135] [ 0. 0. 0. 1. ]] SLAMing on 66.86964924600001 meters Centerline goodness : 0.911796 Centerline is valid? [False, False] Translation: X:14.10, Y:0.41, Z:1.25 [[ 0.9272959 -0.08858168 -0.36369713 14.09607077] [ 0.1084863 0.99349471 0.03462625 0.40721957] [ 0.35826392 -0.07156494 0.93087347 1.24551993] [ 0. 0. 0. 1. ]] SLAMing on 66.89964924600001 meters Centerline goodness : 0.909442 Centerline is valid? [False, False] Translation: X:14.10, Y:0.41, Z:1.25 [[ 0.92678186 -0.08997101 -0.36466506 14.10062961] [ 0.10983599 0.99336604 0.03405827 0.40680012] [ 0.35918163 -0.07161793 0.93051568 1.24557292] [ 0. 0. 0. 1. ]] SLAMing on 66.92964924600001 meters Centerline goodness : 0.913089 Centerline is valid? [False, False] Translation: X:14.10, Y:0.41, Z:1.25 [[ 0.92651861 -0.09052773 -0.36519582 14.10269951] [ 0.11043655 0.993303 0.03395453 0.40636556] [ 0.35967628 -0.07179047 0.93031129 1.24595448] [ 0. 0. 0. 1. ]] SLAMing on 66.95964924600001 meters Centerline goodness : 0.910357 Centerline is valid? [False, False] Translation: X:14.10, Y:0.41, Z:1.25 [[ 0.92634823 -0.0907214 -0.36557979 14.10404839] [ 0.11081898 0.99324771 0.03432397 0.40572052] [ 0.35999738 -0.07230913 0.93014691 1.2467506 ] [ 0. 0. 0. 1. ]] SLAMing on 66.98964924600001 meters Centerline goodness : 0.912843 Centerline is valid? [False, False] Translation: X:14.10, Y:0.41, Z:1.25 [[ 0.92612533 -0.09081733 -0.36612031 14.10480214] [ 0.11110725 0.99320293 0.03468587 0.4050833 ] [ 0.36048169 -0.07280209 0.92992086 1.24805957] [ 0. 0. 0. 1. ]] SLAMing on 67.01964924600001 meters Centerline goodness : 0.914599 Centerline is valid? [False, False] Translation: X:14.10, Y:0.40, Z:1.25 [[ 0.92602727 -0.0898788 -0.36659963 14.10349757] [ 0.11066646 0.99320394 0.03603981 0.40328145] [ 0.36086898 -0.07394413 0.92968051 1.25076245] [ 0. 0. 0. 1. ]] SLAMing on 67.04964924600002 meters Centerline goodness : 0.917516 Centerline is valid? [False, False] Translation: X:14.10, Y:0.40, Z:1.25 [[ 0.92591284 -0.08972138 -0.36692708 14.10351339] [ 0.1106003 0.99320431 0.03623221 0.40362687] [ 0.36118275 -0.07413012 0.92954384 1.25156766] [ 0. 0. 0. 1. ]] SLAMing on 67.07964924600002 meters Centerline goodness : 0.916161 Centerline is valid? [False, False] Translation: X:14.10, Y:0.40, Z:1.25 [[ 0.92592158 -0.08496752 -0.36803499 14.10473909] [ 0.10737278 0.99338157 0.04079398 0.40321889] [ 0.36213301 -0.07728896 0.92891663 1.25389152] [ 0. 0. 0. 1. ]] SLAMing on 67.109649246 meters Centerline goodness : 0.914210 Centerline is valid? [False, False] Translation: X:14.11, Y:0.41, Z:1.25 [[ 0.92580404 -0.08517513 -0.3682826 14.10556712] [ 0.10736062 0.99340971 0.04013521 0.40526368] [ 0.36243699 -0.07669639 0.92884718 1.25333897] [ 0. 0. 0. 1. ]] SLAMing on 67.139649246 meters Centerline goodness : 0.912740 Centerline is valid? [False, False] Translation: X:14.11, Y:0.41, Z:1.26 [[ 0.92564438 -0.08095311 -0.36963371 14.10818176] [ 0.10449797 0.9935473 0.04409016 0.40547048] [ 0.36367934 -0.07943778 0.9281309 1.25502795] [ 0. 0. 0. 1. ]] SLAMing on 67.169649246 meters Centerline goodness : 0.914422 Centerline is valid? [False, False] Translation: X:14.11, Y:0.41, Z:1.25 [[ 0.92558771 -0.080766 -0.3698165 14.10936552] [ 0.10370583 0.99369788 0.04253958 0.41154846] [ 0.36405012 -0.07772624 0.92813046 1.25240243] [ 0. 0. 0. 1. ]] SLAMing on 67.199649246 meters Centerline goodness : 0.906102 Centerline is valid? [False, False] Translation: X:14.11, Y:0.42, Z:1.25 [[ 0.92550913 -0.08126566 -0.36990368 14.1130286 ] [ 0.10399454 0.99369539 0.04188815 0.41721352] [ 0.36416751 -0.07723582 0.92812534 1.25025939] [ 0. 0. 0. 1. ]] SLAMing on 67.22964924600001 meters Centerline goodness : 0.904998 Centerline is valid? [False, False] Translation: X:14.12, Y:0.42, Z:1.25 [[ 0.92526416 -0.08218445 -0.37031332 14.11536121] [ 0.10462049 0.9936718 0.04087681 0.41974821] [ 0.36461047 -0.0765642 0.92800707 1.2494112 ] [ 0. 0. 0. 1. ]] SLAMing on 67.25964924600001 meters Centerline goodness : 0.904783 Centerline is valid? [False, False] Translation: X:14.12, Y:0.42, Z:1.25 [[ 0.92495174 -0.08379814 -0.37073192 14.11804792] [ 0.10592186 0.99358226 0.03968437 0.42252066] [ 0.36502718 -0.07597475 0.92789169 1.24891826] [ 0. 0. 0. 1. ]] SLAMing on 67.28964924600001 meters Centerline goodness : 0.901998 Centerline is valid? [False, False] Translation: X:14.12, Y:0.42, Z:1.25 [[ 0.92479456 -0.0841724 -0.37103912 14.11885716] [ 0.10621697 0.99356429 0.03934406 0.42366221] [ 0.36533953 -0.07579582 0.92778339 1.24908472] [ 0. 0. 0. 1. ]] SLAMing on 67.31964924600001 meters Centerline goodness : 0.904580 Centerline is valid? [False, False] Translation: X:14.12, Y:0.42, Z:1.25 [[ 0.92457804 -0.08463024 -0.37147432 14.11925968] [ 0.10663882 0.99352994 0.03906929 0.42498314] [ 0.36576442 -0.0757362 0.92762084 1.25006728] [ 0. 0. 0. 1. ]] SLAMing on 67.34964924600001 meters Centerline goodness : 0.905780 Centerline is valid? [False, False] Translation: X:14.13, Y:0.43, Z:1.25 [[ 0.92673532 -0.08592169 -0.36575827 14.13214349] [ 0.10443229 0.99404597 0.03108879 0.42918187] [ 0.36090934 -0.06700806 0.9301905 1.25092719] [ 0. 0. 0. 1. ]] SLAMing on 67.37964924600001 meters Centerline goodness : 0.909058 Centerline is valid? [False, False] Translation: X:14.13, Y:0.43, Z:1.25 [[ 0.9267236 -0.08567041 -0.36584689 14.13177668] [ 0.10418699 0.9940703 0.03113361 0.43033455] [ 0.3610103 -0.06696874 0.93015415 1.25120094] [ 0. 0. 0. 1. ]] SLAMing on 67.40964924600001 meters Centerline goodness : 0.908100 Centerline is valid? [False, False] Translation: X:14.13, Y:0.43, Z:1.25 [[ 0.92674722 -0.08123588 -0.36679739 14.13332088] [ 0.10094768 0.99428129 0.03484666 0.43157286] [ 0.36186898 -0.06932139 0.92964799 1.25220635] [ 0. 0. 0. 1. ]] SLAMing on 67.43964924600002 meters Centerline goodness : 0.907122 Centerline is valid? [False, False] Translation: X:14.13, Y:0.43, Z:1.25 [[ 0.92653672 -0.08172684 -0.36721986 14.13462224] [ 0.10128427 0.99426704 0.03427182 0.43344376] [ 0.36231367 -0.06894769 0.92950257 1.25214934] [ 0. 0. 0. 1. ]] SLAMing on 67.46964924600002 meters Centerline goodness : 0.906457 Centerline is valid? [False, False] Translation: X:14.14, Y:0.44, Z:1.25 [[ 0.92643145 -0.08192393 -0.36744148 14.13555198] [ 0.10120621 0.99430182 0.03348425 0.43584095] [ 0.36260457 -0.06820823 0.92944368 1.25137797] [ 0. 0. 0. 1. ]] SLAMing on 67.499649246 meters Centerline goodness : 0.909355 Centerline is valid? [False, False] Translation: X:14.14, Y:0.44, Z:1.25 [[ 0.92632363 -0.08230598 -0.36762788 14.13681718] [ 0.10142767 0.99429666 0.03296346 0.4373808 ] [ 0.36281808 -0.06782247 0.92938859 1.25081779] [ 0. 0. 0. 1. ]] SLAMing on 67.529649246 meters Centerline goodness : 0.908227 Centerline is valid? [False, False] Translation: X:14.14, Y:0.44, Z:1.25 [[ 0.92613613 -0.08284836 -0.36797829 14.13855228] [ 0.10170861 0.99429549 0.03212219 0.43980338] [ 0.36321788 -0.06717608 0.92927937 1.25005638] [ 0. 0. 0. 1. ]] SLAMing on 67.559649246 meters Centerline goodness : 0.907189 Centerline is valid? [False, False] Translation: X:14.14, Y:0.44, Z:1.25 [[ 0.926016 -0.08310726 -0.36822216 14.13948228] [ 0.10191488 0.99428183 0.03189045 0.44023264] [ 0.36346627 -0.06705839 0.92919075 1.25005893] [ 0. 0. 0. 1. ]] SLAMing on 67.58964924600001 meters Centerline goodness : 0.907224 Centerline is valid? [False, False] Translation: X:14.14, Y:0.44, Z:1.25 [[ 0.92583428 -0.08309734 -0.36868105 14.13988523] [ 0.10203436 0.9942618 0.03213183 0.44056806] [ 0.36389542 -0.06736689 0.92900045 1.25114467] [ 0. 0. 0. 1. ]] SLAMing on 67.61964924600001 meters Centerline goodness : 0.908808 Centerline is valid? [False, False] Translation: X:14.14, Y:0.44, Z:1.25 [[ 0.92566624 -0.08334707 -0.36904646 14.14092171] [ 0.10226314 0.99424388 0.03195864 0.4415545 ] [ 0.36425852 -0.06732288 0.92886132 1.25138695] [ 0. 0. 0. 1. ]] SLAMing on 67.64964924600001 meters Centerline goodness : 0.907765 Centerline is valid? [False, False] Translation: X:14.14, Y:0.44, Z:1.25 [[ 0.92542909 -0.08359151 -0.36958553 14.14215333] [ 0.10237938 0.99424722 0.03147913 0.44300725] [ 0.36482799 -0.06696964 0.92866334 1.25152995] [ 0. 0. 0. 1. ]] SLAMing on 67.67964924600001 meters Centerline goodness : 0.907951 Centerline is valid? [False, False] Translation: X:14.14, Y:0.44, Z:1.25 [[ 0.92536994 -0.08359216 -0.36973344 14.14252088] [ 0.1023021 0.99426235 0.03125159 0.44379602] [ 0.36499965 -0.06674379 0.92861215 1.25136059] [ 0. 0. 0. 1. ]] SLAMing on 67.70964924600001 meters Centerline goodness : 0.906669 Centerline is valid? [False, False] Translation: X:14.14, Y:0.45, Z:1.25 [[ 0.92528051 -0.08390735 -0.36988583 14.14344111] [ 0.10248636 0.99425657 0.03082897 0.4454983 ] [ 0.36517464 -0.06643369 0.92856559 1.2510286 ] [ 0. 0. 0. 1. ]] SLAMing on 67.73964924600001 meters Centerline goodness : 0.908217 Centerline is valid? [False, False] Translation: X:14.14, Y:0.45, Z:1.25 [[ 0.92508366 -0.08426247 -0.37029726 14.14461987] [ 0.10284753 0.99422337 0.03069657 0.44571215] [ 0.36557162 -0.06648105 0.92840598 1.25148638] [ 0. 0. 0. 1. ]] SLAMing on 67.76964924600001 meters Centerline goodness : 0.911173 Centerline is valid? [False, False] Translation: X:14.14, Y:0.44, Z:1.25 [[ 0.92465176 -0.08943113 -0.37016374 14.14471375] [ 0.10699588 0.99388875 0.02714835 0.44484135] [ 0.36547367 -0.06470877 0.92856974 1.25244227] [ 0. 0. 0. 1. ]] SLAMing on 67.79964924600002 meters Centerline goodness : 0.911611 Centerline is valid? [False, False] Translation: X:14.15, Y:0.44, Z:1.25 [[ 0.92420936 -0.0902892 -0.37105918 14.1469819 ] [ 0.10809459 0.99376228 0.02742427 0.44432354] [ 0.36626851 -0.06545526 0.92820418 1.25421591] [ 0. 0. 0. 1. ]] SLAMing on 67.82964924600002 meters Centerline goodness : 0.906797 Centerline is valid? [False, False] Translation: X:14.15, Y:0.44, Z:1.25 [[ 0.92368099 -0.09219948 -0.37190412 14.15129403] [ 0.11004059 0.99356065 0.02698714 0.44404466] [ 0.3670211 -0.06585206 0.92787877 1.25495017] [ 0. 0. 0. 1. ]] SLAMing on 67.859649246 meters Centerline goodness : 0.907175 Centerline is valid? [False, False] Translation: X:14.15, Y:0.44, Z:1.26 [[ 0.92320631 -0.09318375 -0.37283629 14.15426629] [ 0.11104957 0.99345665 0.02668102 0.44427978] [ 0.36791045 -0.0660354 0.92751346 1.25579496] [ 0. 0. 0. 1. ]] SLAMing on 67.889649246 meters Centerline goodness : 0.907175 Centerline is valid? [False, False] Translation: X:14.15, Y:0.44, Z:1.26 [[ 0.92320631 -0.09318375 -0.37283629 14.15426629] [ 0.11104957 0.99345665 0.02668102 0.44427978] [ 0.36791045 -0.0660354 0.92751346 1.25579496] [ 0. 0. 0. 1. ]] SLAMing on 67.919649246 meters Centerline goodness : 0.905286 Centerline is valid? [False, False] Translation: X:14.15, Y:0.44, Z:1.26 [[ 0.9232682 -0.08777082 -0.37399481 14.15184596] [ 0.10854308 0.99348239 0.03480158 0.44245359] [ 0.36850269 -0.07272574 0.92677761 1.26096674] [ 0. 0. 0. 1. ]] SLAMing on 67.949649246 meters Centerline goodness : 0.905560 Centerline is valid? [False, False] Translation: X:14.15, Y:0.44, Z:1.26 [[ 0.92308392 -0.088284 -0.37432875 14.1536247 ] [ 0.10888457 0.99346587 0.0342011 0.44380305] [ 0.36886342 -0.07232911 0.92666514 1.26041528] [ 0. 0. 0. 1. ]] SLAMing on 67.97964924600001 meters Centerline goodness : 0.905003 Centerline is valid? [False, False] Translation: X:14.15, Y:0.44, Z:1.26 [[ 0.9230394 -0.08806767 -0.37448945 14.15380302] [ 0.10877992 0.99346738 0.03448908 0.44231076] [ 0.36900568 -0.07257171 0.92658953 1.2609311 ] [ 0. 0. 0. 1. ]] SLAMing on 68.00964924600001 meters Centerline goodness : 0.910417 Centerline is valid? [False, False] Translation: X:14.15, Y:0.44, Z:1.26 [[ 0.92296265 -0.08740491 -0.37483373 14.15278245] [ 0.10857954 0.99344641 0.0357032 0.44032526] [ 0.36925658 -0.073652 0.92640432 1.26321372] [ 0. 0. 0. 1. ]] SLAMing on 68.03964924600001 meters Centerline goodness : 0.909532 Centerline is valid? [False, False] Translation: X:14.16, Y:0.44, Z:1.27 [[ 0.92275923 -0.08301876 -0.3763287 14.15516185] [ 0.10614478 0.99350095 0.04109934 0.43780146] [ 0.3704709 -0.07787013 0.92557418 1.26703429] [ 0. 0. 0. 1. ]] SLAMing on 68.06964924600001 meters Centerline goodness : 0.911246 Centerline is valid? [False, False] Translation: X:14.15, Y:0.44, Z:1.27 [[ 0.92270843 -0.0874427 -0.37545031 14.15407865] [ 0.10921401 0.99332724 0.03705809 0.43855344] [ 0.36970456 -0.07519824 0.92610138 1.2656236 ] [ 0. 0. 0. 1. ]] SLAMing on 68.09964924600001 meters Centerline goodness : 0.910026 Centerline is valid? [False, False] Translation: X:14.15, Y:0.44, Z:1.27 [[ 0.92255425 -0.08746106 -0.37582472 14.15458507] [ 0.10938903 0.99329649 0.03736462 0.43839646] [ 0.37003743 -0.07558199 0.92593718 1.2665495 ] [ 0. 0. 0. 1. ]] SLAMing on 68.12964924600001 meters Centerline goodness : 0.910738 Centerline is valid? [False, False] Translation: X:14.16, Y:0.44, Z:1.27 [[ 0.92243989 -0.08776282 -0.37603503 14.15534273] [ 0.10965264 0.99327492 0.03716503 0.43884359] [ 0.37024445 -0.07551574 0.92585983 1.26665929] [ 0. 0. 0. 1. ]] SLAMing on 68.15964924600001 meters Centerline goodness : 0.909965 Centerline is valid? [False, False] Translation: X:14.16, Y:0.44, Z:1.27 [[ 0.92219843 -0.08828672 -0.37650433 14.15729181] [ 0.11010042 0.99324004 0.03677126 0.43896695] [ 0.37071276 -0.07536368 0.92568481 1.26662228] [ 0. 0. 0. 1. ]] SLAMing on 68.18964924600002 meters Centerline goodness : 0.915999 Centerline is valid? [False, False] Translation: X:14.16, Y:0.44, Z:1.27 [[ 0.92188312 -0.08887414 -0.37713777 14.15929045] [ 0.1106311 0.99319555 0.03637806 0.43907364] [ 0.37133848 -0.07525949 0.92544246 1.2669642 ] [ 0. 0. 0. 1. ]] SLAMing on 68.21964924600002 meters Centerline goodness : 0.915101 Centerline is valid? [False, False] Translation: X:14.16, Y:0.44, Z:1.27 [[ 0.92170379 -0.0894935 -0.37742952 14.16163022] [ 0.1109959 0.99318443 0.03556105 0.4401866 ] [ 0.37167464 -0.07466988 0.92535527 1.26587965] [ 0. 0. 0. 1. ]] SLAMing on 68.249649246 meters Centerline goodness : 0.909857 Centerline is valid? [False, False] Translation: X:14.16, Y:0.44, Z:1.26 [[ 0.92144663 -0.09034757 -0.37785372 14.16451166] [ 0.11145964 0.99317569 0.03433365 0.44307447] [ 0.37217317 -0.07375207 0.92522849 1.26440732] [ 0. 0. 0. 1. ]] SLAMing on 68.279649246 meters Centerline goodness : 0.916654 Centerline is valid? [False, False] Translation: X:14.17, Y:0.44, Z:1.26 [[ 0.92139658 -0.09056994 -0.37792252 14.16521634] [ 0.11158572 0.99317176 0.03403661 0.44369338] [ 0.37225928 -0.07353197 0.92521137 1.26404697] [ 0. 0. 0. 1. ]] SLAMing on 68.309649246 meters Centerline goodness : 0.913354 Centerline is valid? [False, False] Translation: X:14.17, Y:0.44, Z:1.26 [[ 0.92116677 -0.09140775 -0.37828084 14.16797719] [ 0.11220816 0.99312783 0.03326325 0.44458445] [ 0.37264072 -0.07308719 0.92509305 1.26310335] [ 0. 0. 0. 1. ]] SLAMing on 68.33964924600001 meters Centerline goodness : 0.910718 Centerline is valid? [False, False] Translation: X:14.17, Y:0.45, Z:1.26 [[ 0.92097296 -0.09212382 -0.37857893 14.17001897] [ 0.11276059 0.99308543 0.03265536 0.44558045] [ 0.37295288 -0.07276349 0.92499277 1.26256158] [ 0. 0. 0. 1. ]] SLAMing on 68.36964924600001 meters Centerline goodness : 0.912224 Centerline is valid? [False, False] Translation: X:14.17, Y:0.44, Z:1.26 [[ 0.92074151 -0.09246266 -0.379059 14.17143994] [ 0.11319453 0.9930338 0.03272408 0.44459386] [ 0.37339265 -0.07303783 0.92479371 1.26327806] [ 0. 0. 0. 1. ]] SLAMing on 68.39964924600001 meters Centerline goodness : 0.913725 Centerline is valid? [False, False] Translation: X:14.17, Y:0.44, Z:1.26 [[ 0.92053843 -0.0926863 -0.37949737 14.17240693] [ 0.11351271 0.99299425 0.03282196 0.44367725] [ 0.37379656 -0.07329165 0.92461044 1.26405034] [ 0. 0. 0. 1. ]] SLAMing on 68.42964924600001 meters Centerline goodness : 0.912348 Centerline is valid? [False, False] Translation: X:14.17, Y:0.44, Z:1.26 [[ 0.92023845 -0.09312201 -0.38011774 14.17426535] [ 0.11409497 0.99292269 0.03296775 0.44224812] [ 0.3743575 -0.07370771 0.92435039 1.2649986 ] [ 0. 0. 0. 1. ]] SLAMing on 68.45964924600001 meters Centerline goodness : 0.910668 Centerline is valid? [False, False] Translation: X:14.18, Y:0.44, Z:1.27 [[ 0.92007852 -0.09328123 -0.38046567 14.17509283] [ 0.11437316 0.99288441 0.03315624 0.44131702] [ 0.37466557 -0.07402141 0.92420049 1.2656645 ] [ 0. 0. 0. 1. ]] SLAMing on 68.48964924600001 meters Centerline goodness : 0.909970 Centerline is valid? [False, False] Translation: X:14.18, Y:0.44, Z:1.27 [[ 0.9199287 -0.09352955 -0.38076686 14.17608202] [ 0.1148069 0.99282279 0.03350052 0.43972753] [ 0.37490073 -0.07453275 0.92406402 1.26648713] [ 0. 0. 0. 1. ]] SLAMing on 68.51964924600001 meters Centerline goodness : 0.914565 Centerline is valid? [False, False] Translation: X:14.18, Y:0.44, Z:1.27 [[ 0.9197607 -0.09389382 -0.38108294 14.1773628 ] [ 0.1151917 0.9927812 0.03341209 0.43953206] [ 0.37519479 -0.07462871 0.92393691 1.26669665] [ 0. 0. 0. 1. ]] SLAMing on 68.54964924600002 meters Centerline goodness : 0.910831 Centerline is valid? [False, False] Translation: X:14.18, Y:0.44, Z:1.27 [[ 0.91956187 -0.09429628 -0.38146321 14.17891424] [ 0.11566018 0.99272666 0.03341414 0.43870997] [ 0.37553787 -0.07484647 0.9237799 1.26704974] [ 0. 0. 0. 1. ]] SLAMing on 68.57964924600002 meters Centerline goodness : 0.912756 Centerline is valid? [False, False] Translation: X:14.18, Y:0.44, Z:1.27 [[ 0.91936526 -0.09474163 -0.3818266 14.18031235] [ 0.11616883 0.9926676 0.03340427 0.43830315] [ 0.37586212 -0.07506707 0.92363012 1.26749325] [ 0. 0. 0. 1. ]] SLAMing on 68.609649246 meters Centerline goodness : 0.913464 Centerline is valid? [False, False] Translation: X:14.18, Y:0.44, Z:1.27 [[ 0.91903545 -0.09537852 -0.38246148 14.18255829] [ 0.11689662 0.99258346 0.03336543 0.43712872] [ 0.3764426 -0.07537247 0.92336881 1.26821063] [ 0. 0. 0. 1. ]] SLAMing on 68.639649246 meters Centerline goodness : 0.910702 Centerline is valid? [False, False] Translation: X:14.18, Y:0.44, Z:1.27 [[ 0.91875147 -0.09593147 -0.38300509 14.18437218] [ 0.11748692 0.99251828 0.03323074 0.43671531] [ 0.37695168 -0.07552888 0.92314832 1.26876464] [ 0. 0. 0. 1. ]] SLAMing on 68.669649246 meters Centerline goodness : 0.916007 Centerline is valid? [False, False] Translation: X:14.19, Y:0.44, Z:1.27 [[ 0.91847369 -0.09666045 -0.38348774 14.1866374 ] [ 0.1183274 0.9924176 0.03325549 0.43530298] [ 0.37736549 -0.0759214 0.92294703 1.26936199] [ 0. 0. 0. 1. ]] SLAMing on 68.699649246 meters Centerline goodness : 0.913842 Centerline is valid? [False, False] Translation: X:14.19, Y:0.44, Z:1.27 [[ 0.91823588 -0.09725922 -0.38390561 14.18841408] [ 0.11891275 0.9923557 0.03301387 0.43541139] [ 0.37776002 -0.07596579 0.92278197 1.26961846] [ 0. 0. 0. 1. ]] SLAMing on 68.72964924600001 meters Centerline goodness : 0.914320 Centerline is valid? [False, False] Translation: X:14.19, Y:0.43, Z:1.28 [[ 0.91748016 -0.09866615 -0.38535067 14.19121394] [ 0.12133118 0.99199895 0.03488311 0.43243299] [ 0.37882568 -0.07875961 0.92211064 1.27539439] [ 0. 0. 0. 1. ]] SLAMing on 68.75964924600001 meters Centerline goodness : 0.919924 Centerline is valid? [False, False] Translation: X:14.19, Y:0.43, Z:1.28 [[ 0.91708966 -0.09959652 -0.38604027 14.19303803] [ 0.12242472 0.99186257 0.03494035 0.43236136] [ 0.37941895 -0.0793043 0.92181999 1.27691138] [ 0. 0. 0. 1. ]] SLAMing on 68.78964924600001 meters Centerline goodness : 0.912483 Centerline is valid? [False, False] Translation: X:14.20, Y:0.43, Z:1.28 [[ 0.92173777 -0.08753419 -0.37780584 14.19801658] [ 0.11341992 0.99244565 0.04677138 0.42801928] [ 0.37085767 -0.08596166 0.92470275 1.27694118] [ 0. 0. 0. 1. ]] SLAMing on 68.81964924600001 meters Centerline goodness : 0.911080 Centerline is valid? [False, False] Translation: X:14.20, Y:0.43, Z:1.28 [[ 0.92182461 -0.08678043 -0.37776784 14.19748686] [ 0.11226225 0.99261711 0.04591806 0.43243974] [ 0.37099403 -0.08473747 0.92476105 1.27507688] [ 0. 0. 0. 1. ]] SLAMing on 68.84964924600001 meters Centerline goodness : 0.911946 Centerline is valid? [False, False] Translation: X:14.21, Y:0.44, Z:1.27 [[ 0.92390062 -0.0892451 -0.37207924 14.21187203] [ 0.11076414 0.99316443 0.03682011 0.43706579] [ 0.36624985 -0.07523116 0.92747039 1.27450657] [ 0. 0. 0. 1. ]] SLAMing on 68.87964924600001 meters Centerline goodness : 0.914350 Centerline is valid? [False, False] Translation: X:14.22, Y:0.44, Z:1.28 [[ 0.92592912 -0.09160518 -0.36642018 14.22387247] [ 0.10946404 0.99359027 0.0282133 0.44091662] [ 0.36148705 -0.06623335 0.93002164 1.27657025] [ 0. 0. 0. 1. ]] SLAMing on 68.90964924600001 meters Centerline goodness : 0.919062 Centerline is valid? [False, False] Translation: X:14.22, Y:0.44, Z:1.28 [[ 0.92597792 -0.09092421 -0.36646648 14.22238335] [ 0.10897006 0.99362736 0.02881326 0.44052237] [ 0.3615113 -0.06661431 0.92998501 1.27763311] [ 0. 0. 0. 1. ]] SLAMing on 68.93964924600002 meters Centerline goodness : 0.920372 Centerline is valid? [False, False] Translation: X:14.22, Y:0.44, Z:1.28 [[ 0.92586463 -0.09082426 -0.36677738 14.22232043] [ 0.10897783 0.99361969 0.02904744 0.44116668] [ 0.36179901 -0.0668646 0.92985515 1.27853363] [ 0. 0. 0. 1. ]] SLAMing on 68.96964924600002 meters Centerline goodness : 0.920919 Centerline is valid? [False, False] Translation: X:14.22, Y:0.44, Z:1.28 [[ 0.92585781 -0.09126595 -0.36668493 14.22321006] [ 0.10917485 0.99361809 0.02835374 0.44349797] [ 0.36175705 -0.0662843 0.92991302 1.27736496] [ 0. 0. 0. 1. ]] SLAMing on 68.999649246 meters Centerline goodness : 0.911962 Centerline is valid? [False, False] Translation: X:14.23, Y:0.45, Z:1.28 [[ 0.92558607 -0.09228438 -0.36711581 14.22620405] [ 0.10991155 0.9935649 0.02735397 0.44532648] [ 0.36222904 -0.06566873 0.92977295 1.27627847] [ 0. 0. 0. 1. ]] SLAMing on 69.029649246 meters Centerline goodness : 0.914258 Centerline is valid? [False, False] Translation: X:14.23, Y:0.45, Z:1.28 [[ 0.92541829 -0.09250433 -0.36748325 14.22714863] [ 0.11017222 0.99353626 0.02734542 0.44584299] [ 0.36257837 -0.0657924 0.92962804 1.27675032] [ 0. 0. 0. 1. ]] SLAMing on 69.059649246 meters Centerline goodness : 0.914699 Centerline is valid? [False, False] Translation: X:14.23, Y:0.45, Z:1.28 [[ 0.92535917 -0.09233941 -0.36767356 14.22678932] [ 0.10997743 0.99356011 0.02726297 0.44669796] [ 0.36278834 -0.06566383 0.92955521 1.27716881] [ 0. 0. 0. 1. ]] SLAMing on 69.08964924600001 meters Centerline goodness : 0.913926 Centerline is valid? [False, False] Translation: X:14.23, Y:0.45, Z:1.28 [[ 0.92528587 -0.09213793 -0.36790848 14.22657752] [ 0.10987317 0.99356499 0.02750432 0.44674288] [ 0.3630068 -0.06587263 0.92945514 1.27798612] [ 0. 0. 0. 1. ]] SLAMing on 69.11964924600001 meters Centerline goodness : 0.919076 Centerline is valid? [False, False] Translation: X:14.23, Y:0.45, Z:1.28 [[ 0.9253358 -0.0919022 -0.36784187 14.22630052] [ 0.10946449 0.9936207 0.02711894 0.44850081] [ 0.363003 -0.06535975 0.92949283 1.27730822] [ 0. 0. 0. 1. ]] SLAMing on 69.14964924600001 meters Centerline goodness : 0.914555 Centerline is valid? [False, False] Translation: X:14.23, Y:0.45, Z:1.28 [[ 0.92532457 -0.08747815 -0.36894716 14.22814397] [ 0.10649219 0.9938161 0.03144801 0.44787982] [ 0.36391461 -0.06838961 0.9289182 1.27908816] [ 0. 0. 0. 1. ]] SLAMing on 69.17964924600001 meters Centerline goodness : 0.914590 Centerline is valid? [False, False] Translation: X:14.23, Y:0.45, Z:1.28 [[ 0.92539013 -0.08699745 -0.36889639 14.22696465] [ 0.10607217 0.99385288 0.03170397 0.4491183 ] [ 0.36387057 -0.06846818 0.92892966 1.27955622] [ 0. 0. 0. 1. ]] SLAMing on 69.20964924600001 meters Centerline goodness : 0.915959 Centerline is valid? [False, False] Translation: X:14.23, Y:0.45, Z:1.28 [[ 0.92535943 -0.08698107 -0.36897725 14.22689428] [ 0.10600716 0.99386419 0.03156658 0.44979615] [ 0.36396758 -0.06832466 0.92890222 1.27966662] [ 0. 0. 0. 1. ]] SLAMing on 69.23964924600001 meters Centerline goodness : 0.918629 Centerline is valid? [False, False] Translation: X:14.23, Y:0.45, Z:1.28 [[ 0.92529953 -0.08701304 -0.36911992 14.22736178] [ 0.10584987 0.99389726 0.03104903 0.45134242] [ 0.3641656 -0.06780095 0.92886299 1.27912379] [ 0. 0. 0. 1. ]] SLAMing on 69.26964924600001 meters Centerline goodness : 0.915945 Centerline is valid? [False, False] Translation: X:14.23, Y:0.45, Z:1.28 [[ 0.92519777 -0.0874099 -0.3692812 14.22836242] [ 0.10610274 0.993885 0.03057464 0.45251937] [ 0.36435052 -0.06746933 0.92881462 1.27875473] [ 0. 0. 0. 1. ]] SLAMing on 69.29964924600002 meters Centerline goodness : 0.917175 Centerline is valid? [False, False] Translation: X:14.23, Y:0.45, Z:1.28 [[ 0.92492917 -0.08792633 -0.36983102 14.23030646] [ 0.10658517 0.99384237 0.03028093 0.45246667] [ 0.36489125 -0.06742622 0.92860545 1.27899851] [ 0. 0. 0. 1. ]] SLAMing on 69.32964924600002 meters Centerline goodness : 0.915629 Centerline is valid? [False, False] Translation: X:14.23, Y:0.45, Z:1.28 [[ 0.92476523 -0.08836898 -0.37013537 14.23182784] [ 0.10700965 0.99380255 0.0300903 0.45243774] [ 0.36518242 -0.06743452 0.92849038 1.27901553] [ 0. 0. 0. 1. ]] SLAMing on 69.35964924600002 meters Centerline goodness : 0.916308 Centerline is valid? [False, False] Translation: X:14.23, Y:0.45, Z:1.28 [[ 0.92423255 -0.09459504 -0.36992697 14.23428133] [ 0.11181363 0.9934063 0.02533064 0.45340348] [ 0.36509163 -0.06477428 0.92871545 1.2779592 ] [ 0. 0. 0. 1. ]] SLAMing on 69.389649246 meters Centerline goodness : 0.917523 Centerline is valid? [False, False] Translation: X:14.24, Y:0.45, Z:1.28 [[ 0.92375574 -0.09557854 -0.37086396 14.23739525] [ 0.11284323 0.99329619 0.02508138 0.45322598] [ 0.36598052 -0.06501856 0.92834845 1.27882734] [ 0. 0. 0. 1. ]] SLAMing on 69.419649246 meters Centerline goodness : 0.916188 Centerline is valid? [False, False] Translation: X:14.25, Y:0.45, Z:1.28 [[ 0.92321331 -0.09501108 -0.37235747 14.24500814] [ 0.11325321 0.99318899 0.02737399 0.45271748] [ 0.36722051 -0.06744272 0.9276856 1.28008183] [ 0. 0. 0. 1. ]] SLAMing on 69.449649246 meters Centerline goodness : 0.917391 Centerline is valid? [False, False] Translation: X:14.25, Y:0.45, Z:1.28 [[ 0.92301623 -0.09524845 -0.37278516 14.24618746] [ 0.11377072 0.99311378 0.02795087 0.45161714] [ 0.3675558 -0.06821115 0.92749661 1.28134889] [ 0. 0. 0. 1. ]] SLAMing on 69.47964924600001 meters Centerline goodness : 0.915739 Centerline is valid? [False, False] Translation: X:14.25, Y:0.45, Z:1.28 [[ 0.92289344 -0.0952141 -0.37309781 14.24670603] [ 0.11396652 0.99307643 0.02847531 0.45027274] [ 0.36780338 -0.06880033 0.92735494 1.28238406] [ 0. 0. 0. 1. ]] SLAMing on 69.50964924600001 meters Centerline goodness : 0.919803 Centerline is valid? [False, False] Translation: X:14.25, Y:0.45, Z:1.28 [[ 0.92271952 -0.0953623 -0.37348993 14.24744797] [ 0.1142658 0.99303416 0.02874849 0.44963253] [ 0.36814674 -0.06920392 0.92718865 1.2833437 ] [ 0. 0. 0. 1. ]] SLAMing on 69.53964924600001 meters Centerline goodness : 0.920572 Centerline is valid? [False, False] Translation: X:14.25, Y:0.45, Z:1.28 [[ 0.92264888 -0.09485325 -0.37379393 14.24671935] [ 0.11402802 0.99304042 0.02946735 0.44903173] [ 0.36839741 -0.069811 0.92704357 1.28489412] [ 0. 0. 0. 1. ]] SLAMing on 69.56964924600001 meters Centerline goodness : 0.918459 Centerline is valid? [False, False] Translation: X:14.25, Y:0.45, Z:1.29 [[ 0.92254884 -0.09509046 -0.37398054 14.24748675] [ 0.11425587 0.99301741 0.0293602 0.44955102] [ 0.36857731 -0.06981569 0.9269717 1.28501317] [ 0. 0. 0. 1. ]] SLAMing on 69.59964924600001 meters Centerline goodness : 0.920700 Centerline is valid? [False, False] Translation: X:14.25, Y:0.45, Z:1.29 [[ 0.92246735 -0.09491631 -0.37422572 14.24727323] [ 0.11416791 0.99302159 0.02956031 0.44975218] [ 0.36880847 -0.06999299 0.92686639 1.28576907] [ 0. 0. 0. 1. ]] SLAMing on 69.62964924600001 meters Centerline goodness : 0.922119 Centerline is valid? [False, False] Translation: X:14.25, Y:0.45, Z:1.29 [[ 0.92239167 -0.09480602 -0.37444014 14.24728729] [ 0.11418055 0.99301158 0.02984648 0.44974253] [ 0.36899377 -0.07028393 0.92677061 1.28653126] [ 0. 0. 0. 1. ]] SLAMing on 69.65964924600001 meters Centerline goodness : 0.921211 Centerline is valid? [False, False] Translation: X:14.25, Y:0.45, Z:1.29 [[ 0.9222817 -0.09473707 -0.37472839 14.24748325] [ 0.11415587 0.99301245 0.02991176 0.44989098] [ 0.3692762 -0.07036451 0.926652 1.28716375] [ 0. 0. 0. 1. ]] SLAMing on 69.68964924600002 meters Centerline goodness : 0.919818 Centerline is valid? [False, False] Translation: X:14.25, Y:0.45, Z:1.29 [[ 0.92227533 -0.0948207 -0.37472291 14.24784487] [ 0.1142034 0.99301016 0.02980619 0.45018247] [ 0.36927741 -0.07028414 0.92665761 1.28697548] [ 0. 0. 0. 1. ]] SLAMing on 69.71964924600002 meters Centerline goodness : 0.917005 Centerline is valid? [False, False] Translation: X:14.25, Y:0.45, Z:1.29 [[ 0.92201764 -0.09563672 -0.37514941 14.25053958] [ 0.11480334 0.99296426 0.02902006 0.451311 ] [ 0.36973458 -0.06982541 0.92650999 1.28621272] [ 0. 0. 0. 1. ]] SLAMing on 69.749649246 meters Centerline goodness : 0.919953 Centerline is valid? [False, False] Translation: X:14.25, Y:0.45, Z:1.29 [[ 0.9218475 -0.09621321 -0.37542005 14.25227423] [ 0.11523719 0.99292917 0.02849667 0.45187097] [ 0.37002376 -0.06953194 0.9264166 1.28578574] [ 0. 0. 0. 1. ]] SLAMing on 69.779649246 meters Centerline goodness : 0.919953 Centerline is valid? [False, False] Translation: X:14.25, Y:0.45, Z:1.29 [[ 0.9218475 -0.09621321 -0.37542005 14.25227423] [ 0.11523719 0.99292917 0.02849667 0.45187097] [ 0.37002376 -0.06953194 0.9264166 1.28578574] [ 0. 0. 0. 1. ]] SLAMing on 69.809649246 meters Centerline goodness : 0.923338 Centerline is valid? [False, False] Translation: X:14.25, Y:0.45, Z:1.29 [[ 0.92154648 -0.0970376 -0.37594652 14.25483819] [ 0.11595573 0.9928606 0.02796618 0.45204434] [ 0.37054872 -0.06936529 0.92621925 1.28566945] [ 0. 0. 0. 1. ]] SLAMing on 69.83964924600001 meters Centerline goodness : 0.915978 Centerline is valid? [False, False] Translation: X:14.26, Y:0.45, Z:1.29 [[ 0.92137214 -0.09740386 -0.37627896 14.25595969] [ 0.11634809 0.99281674 0.0278934 0.45190703] [ 0.37085913 -0.06947954 0.92608644 1.2860727 ] [ 0. 0. 0. 1. ]] SLAMing on 69.86964924600001 meters Centerline goodness : 0.918046 Centerline is valid? [False, False] Translation: X:14.26, Y:0.45, Z:1.29 [[ 0.92110209 -0.09787124 -0.37681846 14.25759021] [ 0.11689249 0.992753 0.02788598 0.45121401] [ 0.37135842 -0.06973309 0.92586728 1.28681685] [ 0. 0. 0. 1. ]] SLAMing on 69.89964924600001 meters Centerline goodness : 0.921008 Centerline is valid? [False, False] Translation: X:14.26, Y:0.45, Z:1.29 [[ 0.92062659 -0.09430895 -0.37888322 14.26163768] [ 0.11544493 0.99275205 0.03340414 0.44897764] [ 0.37298679 -0.07449288 0.92484143 1.2921276 ] [ 0. 0. 0. 1. ]] SLAMing on 69.92964924600001 meters Centerline goodness : 0.923079 Centerline is valid? [False, False] Translation: X:14.26, Y:0.45, Z:1.29 [[ 0.92062633 -0.09438464 -0.37886503 14.2613543 ] [ 0.11542855 0.99276197 0.03316506 0.4505798 ] [ 0.37299252 -0.07426447 0.92485749 1.29206954] [ 0. 0. 0. 1. ]] SLAMing on 69.95964924600001 meters Centerline goodness : 0.923333 Centerline is valid? [False, False] Translation: X:14.26, Y:0.45, Z:1.29 [[ 0.92040567 -0.09505172 -0.37923419 14.26315385] [ 0.1159606 0.99271797 0.03262164 0.45205751] [ 0.37337185 -0.07400136 0.92472551 1.29185996] [ 0. 0. 0. 1. ]] SLAMing on 69.98964924600001 meters Centerline goodness : 0.921572 Centerline is valid? [False, False] Translation: X:14.26, Y:0.45, Z:1.29 [[ 0.92028443 -0.09533728 -0.37945668 14.26384211] [ 0.11616189 0.99270463 0.03230991 0.45314029] [ 0.37360806 -0.07381271 0.92464517 1.29187604] [ 0. 0. 0. 1. ]] SLAMing on 70.01964924600001 meters Centerline goodness : 0.924225 Centerline is valid? [False, False] Translation: X:14.26, Y:0.45, Z:1.29 [[ 0.92025777 -0.09501175 -0.37960296 14.26324844] [ 0.11607231 0.99269487 0.0329259 0.45200684] [ 0.37370157 -0.07436171 0.9245634 1.29306363] [ 0. 0. 0. 1. ]] SLAMing on 70.04964924600002 meters Centerline goodness : 0.927552 Centerline is valid? [False, False] Translation: X:14.26, Y:0.45, Z:1.29 [[ 0.92002026 -0.09503088 -0.38017344 14.26401294] [ 0.11633014 0.99264921 0.03338938 0.45061061] [ 0.37420585 -0.07494453 0.92431234 1.29451301] [ 0. 0. 0. 1. ]] SLAMing on 70.07964924600002 meters Centerline goodness : 0.930372 Centerline is valid? [False, False] Translation: X:14.26, Y:0.45, Z:1.29 [[ 0.91961381 -0.10023672 -0.37981974 14.26485598] [ 0.12021461 0.9923189 0.02918286 0.45035579] [ 0.37397712 -0.07249684 0.92460009 1.29386727] [ 0. 0. 0. 1. ]] SLAMing on 70.10964924600002 meters Centerline goodness : 0.927828 Centerline is valid? [False, False] Translation: X:14.27, Y:0.45, Z:1.29 [[ 0.91935165 -0.10098185 -0.38025676 14.26739634] [ 0.12096798 0.9922337 0.02896598 0.45037537] [ 0.37437854 -0.07262881 0.92442726 1.2938721 ] [ 0. 0. 0. 1. ]] SLAMing on 70.139649246 meters Centerline goodness : 0.926306 Centerline is valid? [False, False] Translation: X:14.27, Y:0.45, Z:1.29 [[ 0.91919491 -0.10153065 -0.38048949 14.26927835] [ 0.12149561 0.9921753 0.02875756 0.45024276] [ 0.3745925 -0.0726616 0.92433801 1.29363917] [ 0. 0. 0. 1. ]] SLAMing on 70.169649246 meters Centerline goodness : 0.925733 Centerline is valid? [False, False] Translation: X:14.27, Y:0.45, Z:1.29 [[ 0.91894217 -0.1022377 -0.38091041 14.27173255] [ 0.12222945 0.99208981 0.02859678 0.4493047 ] [ 0.37497366 -0.07283726 0.92416962 1.29373886] [ 0. 0. 0. 1. ]] SLAMing on 70.199649246 meters Centerline goodness : 0.929073 Centerline is valid? [False, False] Translation: X:14.27, Y:0.45, Z:1.30 [[ 0.91880614 -0.10169031 -0.3813848 14.27141392] [ 0.12222869 0.99204996 0.02995034 0.44724785] [ 0.37530712 -0.07413472 0.92393106 1.29618829] [ 0. 0. 0. 1. ]] SLAMing on 70.22964924600001 meters Centerline goodness : 0.931023 Centerline is valid? [False, False] Translation: X:14.27, Y:0.45, Z:1.30 [[ 0.91867838 -0.10170337 -0.38168895 14.27197919] [ 0.12239245 0.99202057 0.03025359 0.44691095] [ 0.3755664 -0.07450916 0.92379558 1.29695995] [ 0. 0. 0. 1. ]] SLAMing on 70.25964924600001 meters Centerline goodness : 0.929017 Centerline is valid? [False, False] Translation: X:14.27, Y:0.45, Z:1.30 [[ 0.91841695 -0.10215284 -0.38219773 14.27336093] [ 0.12297731 0.9919441 0.03038882 0.44643429] [ 0.37601448 -0.07491126 0.92358076 1.29798262] [ 0. 0. 0. 1. ]] SLAMing on 70.28964924600001 meters Centerline goodness : 0.931397 Centerline is valid? [False, False] Translation: X:14.27, Y:0.45, Z:1.30 [[ 0.91832047 -0.10226042 -0.38240074 14.27406949] [ 0.12318255 0.99191326 0.03056373 0.44664791] [ 0.37618291 -0.0751724 0.92349095 1.29840259] [ 0. 0. 0. 1. ]] SLAMing on 70.31964924600001 meters Centerline goodness : 0.931246 Centerline is valid? [False, False] Translation: X:14.28, Y:0.44, Z:1.30 [[ 0.92244013 -0.09382935 -0.37456676 14.27774031] [ 0.11660859 0.9924289 0.03856584 0.44153522] [ 0.36811227 -0.07925238 0.92639755 1.30146188] [ 0. 0. 0. 1. ]] SLAMing on 70.34964924600001 meters Centerline goodness : 0.930489 Centerline is valid? [False, False] Translation: X:14.28, Y:0.44, Z:1.30 [[ 0.92226877 -0.09411551 -0.37491678 14.27871305] [ 0.11693627 0.99239156 0.03853452 0.44156402] [ 0.36843755 -0.07938056 0.92625725 1.30199284] [ 0. 0. 0. 1. ]] SLAMing on 70.37964924600001 meters Centerline goodness : 0.932745 Centerline is valid? [False, False] Translation: X:14.28, Y:0.44, Z:1.30 [[ 0.92210501 -0.09447596 -0.37522879 14.27962163] [ 0.1173049 0.99235273 0.03841378 0.44152787] [ 0.36873013 -0.07943771 0.92613592 1.30245429] [ 0. 0. 0. 1. ]] SLAMing on 70.40964924600001 meters Centerline goodness : 0.933319 Centerline is valid? [False, False] Translation: X:14.28, Y:0.44, Z:1.30 [[ 0.92178669 -0.09956329 -0.37469515 14.2791436 ] [ 0.12102652 0.99206242 0.03412812 0.44254799] [ 0.36832307 -0.0768069 0.92651973 1.30200809] [ 0. 0. 0. 1. ]] SLAMing on 70.43964924600002 meters Centerline goodness : 0.930506 Centerline is valid? [False, False] Translation: X:14.28, Y:0.44, Z:1.30 [[ 0.92145617 -0.10053739 -0.37524761 14.2820712 ] [ 0.12172907 0.99201013 0.03313517 0.4443371 ] [ 0.36891811 -0.07621114 0.92633217 1.30123868] [ 0. 0. 0. 1. ]] SLAMing on 70.46964924600002 meters Centerline goodness : 0.930986 Centerline is valid? [False, False] Translation: X:14.28, Y:0.45, Z:1.30 [[ 0.92132756 -0.10092492 -0.37545931 14.2833144 ] [ 0.12201524 0.99198746 0.03275922 0.44503684] [ 0.3691447 -0.07599374 0.92625976 1.30092956] [ 0. 0. 0. 1. ]] SLAMing on 70.499649246 meters Centerline goodness : 0.931094 Centerline is valid? [False, False] Translation: X:14.28, Y:0.45, Z:1.30 [[ 0.9211337 -0.10137924 -0.37581239 14.28472175] [ 0.12243303 0.99194444 0.03250189 0.44630364] [ 0.36948999 -0.07595043 0.92612563 1.30100479] [ 0. 0. 0. 1. ]] SLAMing on 70.529649246 meters Centerline goodness : 0.929060 Centerline is valid? [False, False] Translation: X:14.29, Y:0.45, Z:1.30 [[ 0.92095398 -0.10172674 -0.37615879 14.28597091] [ 0.12275671 0.99191108 0.03229858 0.44709529] [ 0.36983044 -0.07592152 0.9259921 1.30116272] [ 0. 0. 0. 1. ]] SLAMing on 70.559649246 meters Centerline goodness : 0.931746 Centerline is valid? [False, False] Translation: X:14.29, Y:0.44, Z:1.30 [[ 0.92531205 -0.09274453 -0.36769018 14.28791793] [ 0.11541689 0.99250711 0.04010721 0.44285521] [ 0.36121539 -0.07954934 0.92908307 1.30445425] [ 0. 0. 0. 1. ]] SLAMing on 70.58964924600001 meters Centerline goodness : 0.935962 Centerline is valid? [False, False] Translation: X:14.29, Y:0.44, Z:1.31 [[ 0.92517138 -0.09241049 -0.36812799 14.28672906] [ 0.11531697 0.99249591 0.04066772 0.4437348 ] [ 0.3616074 -0.08007602 0.92888531 1.30655529] [ 0. 0. 0. 1. ]] SLAMing on 70.61964924600001 meters Centerline goodness : 0.936776 Centerline is valid? [False, False] Translation: X:14.29, Y:0.45, Z:1.31 [[ 0.92508006 -0.09268079 -0.3682895 14.28706819] [ 0.11541451 0.99250625 0.04013528 0.44567242] [ 0.36180986 -0.0796343 0.92884445 1.30639572] [ 0. 0. 0. 1. ]] SLAMing on 70.64964924600001 meters Centerline goodness : 0.934356 Centerline is valid? [False, False] Translation: X:14.29, Y:0.45, Z:1.31 [[ 0.92496187 -0.09297629 -0.3685118 14.28761625] [ 0.11554185 0.99251309 0.03959605 0.44742489] [ 0.36207129 -0.07920337 0.92877942 1.30624329] [ 0. 0. 0. 1. ]] SLAMing on 70.67964924600001 meters Centerline goodness : 0.938550 Centerline is valid? [False, False] Translation: X:14.29, Y:0.45, Z:1.31 [[ 0.92492719 -0.09260098 -0.3686933 14.28634815] [ 0.11504382 0.99258234 0.03930927 0.45046478] [ 0.36231838 -0.0787741 0.92871957 1.30674921] [ 0. 0. 0. 1. ]] SLAMing on 70.70964924600001 meters Centerline goodness : 0.938277 Centerline is valid? [False, False] Translation: X:14.29, Y:0.45, Z:1.31 [[ 0.92497165 -0.09251769 -0.36860267 14.28585428] [ 0.11477214 0.99263136 0.03886302 0.45234153] [ 0.36229105 -0.07825251 0.92877432 1.30632145] [ 0. 0. 0. 1. ]] SLAMing on 70.73964924600001 meters Centerline goodness : 0.939872 Centerline is valid? [False, False] Translation: X:14.30, Y:0.46, Z:1.31 [[ 0.926913 -0.09124494 -0.36401464 14.30289821] [ 0.11073593 0.99330218 0.03298981 0.4598016 ] [ 0.35856638 -0.07088818 0.9308088 1.30653572] [ 0. 0. 0. 1. ]] SLAMing on 70.76964924600001 meters Centerline goodness : 0.940347 Centerline is valid? [False, False] Translation: X:14.30, Y:0.46, Z:1.31 [[ 0.92698693 -0.0911601 -0.36384759 14.30273414] [ 0.1103736 0.99336452 0.03232035 0.46238055] [ 0.35848696 -0.07011971 0.93089759 1.30545184] [ 0. 0. 0. 1. ]] SLAMing on 70.79964924600002 meters Centerline goodness : 0.941711 Centerline is valid? [False, False] Translation: X:14.30, Y:0.47, Z:1.30 [[ 0.92703735 -0.09010577 -0.36398174 14.30161929] [ 0.10913818 0.99351078 0.03201841 0.4660551 ] [ 0.35873474 -0.06940656 0.93085558 1.30496085] [ 0. 0. 0. 1. ]] SLAMing on 70.82964924600002 meters Centerline goodness : 0.937513 Centerline is valid? [False, False] Translation: X:14.30, Y:0.47, Z:1.31 [[ 0.92689463 -0.08572831 -0.36539979 14.30367144] [ 0.10614235 0.99369502 0.03611107 0.46608326] [ 0.36000021 -0.07225555 0.93014998 1.30706737] [ 0. 0. 0. 1. ]] SLAMing on 70.85964924600002 meters Centerline goodness : 0.936295 Centerline is valid? [False, False] Translation: X:14.30, Y:0.47, Z:1.31 [[ 0.92702757 -0.08482513 -0.36527329 14.30230255] [ 0.10488048 0.99385531 0.03537952 0.47039268] [ 0.36002772 -0.07110783 0.93022778 1.3057755 ] [ 0. 0. 0. 1. ]] SLAMing on 70.889649246 meters Centerline goodness : 0.939537 Centerline is valid? [False, False] Translation: X:14.30, Y:0.47, Z:1.30 [[ 0.92698602 -0.08496232 -0.36534686 14.30289264] [ 0.10477084 0.9938908 0.0347008 0.47333735] [ 0.36016663 -0.07044486 0.93022445 1.30498041] [ 0. 0. 0. 1. ]] SLAMing on 70.919649246 meters Centerline goodness : 0.936401 Centerline is valid? [False, False] Translation: X:14.30, Y:0.47, Z:1.30 [[ 0.9268901 -0.08533147 -0.36550415 14.30384512] [ 0.10504005 0.99387488 0.03434099 0.47438086] [ 0.36033503 -0.0702229 0.93017601 1.30474774] [ 0. 0. 0. 1. ]] SLAMing on 70.949649246 meters Centerline goodness : 0.936384 Centerline is valid? [False, False] Translation: X:14.31, Y:0.48, Z:1.30 [[ 0.92671396 -0.08579237 -0.36584273 14.30521107] [ 0.10542762 0.99384574 0.03399513 0.47529922] [ 0.36067471 -0.07007369 0.93005561 1.30479655] [ 0. 0. 0. 1. ]] SLAMing on 70.97964924600001 meters Centerline goodness : 0.936099 Centerline is valid? [False, False] Translation: X:14.31, Y:0.48, Z:1.31 [[ 0.92635837 -0.08634819 -0.36661173 14.30686502] [ 0.10615476 0.99376227 0.03417181 0.47525428] [ 0.36137423 -0.07057292 0.92974627 1.30635988] [ 0. 0. 0. 1. ]] SLAMing on 71.00964924600001 meters Centerline goodness : 0.936310 Centerline is valid? [False, False] Translation: X:14.31, Y:0.48, Z:1.31 [[ 0.92606939 -0.08712762 -0.36715699 14.30925136] [ 0.1068013 0.9937135 0.03357017 0.47682283] [ 0.36192397 -0.07030115 0.92955301 1.30623904] [ 0. 0. 0. 1. ]] SLAMing on 71.03964924600001 meters Centerline goodness : 0.934008 Centerline is valid? [False, False] Translation: X:14.31, Y:0.48, Z:1.31 [[ 0.92576606 -0.0879607 -0.36772289 14.31191507] [ 0.10746455 0.99366572 0.03286034 0.47804316] [ 0.36250321 -0.06993816 0.92935466 1.30587045] [ 0. 0. 0. 1. ]] SLAMing on 71.06964924600001 meters Centerline goodness : 0.930217 Centerline is valid? [False, False] Translation: X:14.32, Y:0.48, Z:1.30 [[ 0.92540565 -0.08913999 -0.36834555 14.31541294] [ 0.10832238 0.99361069 0.03168682 0.48053065] [ 0.36316751 -0.06922323 0.9291488 1.30496923] [ 0. 0. 0. 1. ]] SLAMing on 71.09964924600001 meters Centerline goodness : 0.928145 Centerline is valid? [False, False] Translation: X:14.32, Y:0.48, Z:1.30 [[ 0.92515599 -0.08976669 -0.3688202 14.31718416] [ 0.10882696 0.99357223 0.03115941 0.48169079] [ 0.36365243 -0.06896489 0.92897834 1.30496567] [ 0. 0. 0. 1. ]] SLAMing on 71.12964924600001 meters Centerline goodness : 0.931153 Centerline is valid? [False, False] Translation: X:14.32, Y:0.48, Z:1.31 [[ 0.92447363 -0.09109317 -0.37020337 14.32040913] [ 0.11055995 0.99336503 0.03166096 0.48027398] [ 0.36486299 -0.07019939 0.92841103 1.30825209] [ 0. 0. 0. 1. ]] SLAMing on 71.15964924600001 meters Centerline goodness : 0.932949 Centerline is valid? [False, False] Translation: X:14.32, Y:0.48, Z:1.31 [[ 0.92412499 -0.091756 -0.37090949 14.32215356] [ 0.11139222 0.99326698 0.03181943 0.47948554] [ 0.36549252 -0.07072156 0.92812374 1.30966293] [ 0. 0. 0. 1. ]] SLAMing on 71.18964924600002 meters Centerline goodness : 0.931606 Centerline is valid? [False, False] Translation: X:14.32, Y:0.48, Z:1.31 [[ 0.92369571 -0.0927334 -0.37173479 14.32482519] [ 0.11244387 0.99315389 0.03164993 0.47985988] [ 0.36625485 -0.07103421 0.92779929 1.31067985] [ 0. 0. 0. 1. ]] SLAMing on 71.21964924600002 meters Centerline goodness : 0.929330 Centerline is valid? [False, False] Translation: X:14.33, Y:0.48, Z:1.31 [[ 0.92316745 -0.09399489 -0.37272888 14.32841106] [ 0.1138522 0.99299589 0.03157284 0.48022196] [ 0.36715056 -0.07158302 0.92740301 1.31205743] [ 0. 0. 0. 1. ]] SLAMing on 71.249649246 meters Centerline goodness : 0.928938 Centerline is valid? [False, False] Translation: X:14.33, Y:0.48, Z:1.31 [[ 0.92281236 -0.0943088 -0.37352804 14.33027942] [ 0.11456924 0.99288803 0.03236124 0.47937106] [ 0.36781957 -0.07265818 0.92705423 1.31413331] [ 0. 0. 0. 1. ]] SLAMing on 71.279649246 meters Centerline goodness : 0.931219 Centerline is valid? [False, False] Translation: X:14.33, Y:0.48, Z:1.32 [[ 0.92239435 -0.09506325 -0.37436832 14.33260904] [ 0.11558436 0.99275948 0.03269352 0.47815458] [ 0.36854975 -0.07342744 0.92670356 1.31580014] [ 0. 0. 0. 1. ]] SLAMing on 71.309649246 meters Centerline goodness : 0.928843 Centerline is valid? [False, False] Translation: X:14.33, Y:0.48, Z:1.32 [[ 0.92190605 -0.09564084 -0.3754225 14.33495775] [ 0.11656531 0.99262234 0.03336781 0.47660338] [ 0.36946144 -0.07452323 0.92625295 1.31835965] [ 0. 0. 0. 1. ]] SLAMing on 71.33964924600001 meters Centerline goodness : 0.931486 Centerline is valid? [False, False] Translation: X:14.34, Y:0.48, Z:1.32 [[ 0.92157877 -0.09627907 -0.37606238 14.33733854] [ 0.11715263 0.99256621 0.03297863 0.47735253] [ 0.37009166 -0.0744491 0.92600729 1.31860074] [ 0. 0. 0. 1. ]] SLAMing on 71.36964924600001 meters Centerline goodness : 0.929979 Centerline is valid? [False, False] Translation: X:14.34, Y:0.48, Z:1.32 [[ 0.92113824 -0.09759339 -0.37680218 14.34133198] [ 0.11837369 0.9924426 0.03233182 0.47830587] [ 0.37079916 -0.07438554 0.92572932 1.31859302] [ 0. 0. 0. 1. ]] SLAMing on 71.39964924600001 meters Centerline goodness : 0.929553 Centerline is valid? [False, False] Translation: X:14.34, Y:0.48, Z:1.32 [[ 0.92071268 -0.09849168 -0.37760767 14.34435494] [ 0.11927147 0.99234643 0.03198263 0.47867614] [ 0.3715676 -0.07448463 0.92541318 1.31917203] [ 0. 0. 0. 1. ]] SLAMing on 71.42964924600001 meters Centerline goodness : 0.927545 Centerline is valid? [False, False] Translation: X:14.35, Y:0.48, Z:1.32 [[ 0.92015161 -0.09992969 -0.37859618 14.34891801] [ 0.12060034 0.99221013 0.03121886 0.48018662] [ 0.37252727 -0.07438492 0.92503531 1.31939533] [ 0. 0. 0. 1. ]] SLAMing on 71.45964924600001 meters Centerline goodness : 0.926398 Centerline is valid? [False, False] Translation: X:14.35, Y:0.48, Z:1.32 [[ 0.91979022 -0.10087763 -0.37922243 14.35179913] [ 0.1213882 0.99213633 0.03050272 0.48202701] [ 0.37316331 -0.07408923 0.92480264 1.31926244] [ 0. 0. 0. 1. ]] SLAMing on 71.48964924600001 meters Centerline goodness : 0.925191 Centerline is valid? [False, False] Translation: X:14.36, Y:0.48, Z:1.32 [[ 0.91917234 -0.09814267 -0.38143181 14.35757757] [ 0.12007288 0.99218056 0.03406225 0.48310394] [ 0.37510626 -0.0771087 0.9237692 1.3223111 ] [ 0. 0. 0. 1. ]] SLAMing on 71.51964924600001 meters Centerline goodness : 0.925053 Centerline is valid? [False, False] Translation: X:14.36, Y:0.48, Z:1.32 [[ 0.91879441 -0.09929672 -0.38204319 14.36026419] [ 0.1211341 0.99207164 0.03347232 0.48426933] [ 0.37569052 -0.07703264 0.92353809 1.32270888] [ 0. 0. 0. 1. ]] SLAMing on 71.54964924600002 meters Centerline goodness : 0.923228 Centerline is valid? [False, False] Translation: X:14.36, Y:0.48, Z:1.33 [[ 0.9181117 -0.1008238 -0.3832825 14.36370971] [ 0.12287707 0.9918588 0.03342677 0.48399215] [ 0.37679191 -0.07778614 0.9230261 1.32512891] [ 0. 0. 0. 1. ]] SLAMing on 71.57964924600002 meters Centerline goodness : 0.926729 Centerline is valid? [False, False] Translation: X:14.37, Y:0.49, Z:1.33 [[ 0.91729529 -0.10283184 -0.38470114 14.36907817] [ 0.12477242 0.99165495 0.03243933 0.4868509 ] [ 0.37815499 -0.07775654 0.92247099 1.32615987] [ 0. 0. 0. 1. ]] SLAMing on 71.60964924600002 meters Centerline goodness : 0.924175 Centerline is valid? [False, False] Translation: X:14.37, Y:0.49, Z:1.33 [[ 0.91657894 -0.10448321 -0.38596152 14.37394478] [ 0.12631465 0.99148785 0.03156666 0.48889337] [ 0.37937797 -0.07768593 0.92197465 1.32690705] [ 0. 0. 0. 1. ]] SLAMing on 71.639649246 meters Centerline goodness : 0.922921 Centerline is valid? [False, False] Translation: X:14.38, Y:0.49, Z:1.33 [[ 0.91625323 -0.10499923 -0.38659433 14.37566014] [ 0.12691532 0.99141233 0.03152928 0.48896141] [ 0.37996383 -0.07795355 0.92171076 1.32793513] [ 0. 0. 0. 1. ]] SLAMing on 71.669649246 meters Centerline goodness : 0.923313 Centerline is valid? [False, False] Translation: X:14.38, Y:0.49, Z:1.33 [[ 0.91579782 -0.10467517 -0.38775955 14.37626501] [ 0.127586 0.99125343 0.03374091 0.48672863] [ 0.38083615 -0.08037254 0.92114281 1.33286796] [ 0. 0. 0. 1. ]] SLAMing on 71.699649246 meters Centerline goodness : 0.923313 Centerline is valid? [False, False] Translation: X:14.38, Y:0.49, Z:1.33 [[ 0.91579782 -0.10467517 -0.38775955 14.37626501] [ 0.127586 0.99125343 0.03374091 0.48672863] [ 0.38083615 -0.08037254 0.92114281 1.33286796] [ 0. 0. 0. 1. ]] SLAMing on 71.72964924600001 meters Centerline goodness : 0.925647 Centerline is valid? [False, False] Translation: X:14.38, Y:0.49, Z:1.33 [[ 0.91543991 -0.10498266 -0.38852079 14.37763361] [ 0.12810989 0.99117604 0.03402807 0.48655324] [ 0.38152014 -0.080924 0.92081143 1.334514 ] [ 0. 0. 0. 1. ]] SLAMing on 71.75964924600001 meters Centerline goodness : 0.925602 Centerline is valid? [False, False] Translation: X:14.38, Y:0.49, Z:1.34 [[ 0.91514077 -0.10544138 -0.38910087 14.37941138] [ 0.12863448 0.99111037 0.03396192 0.48670236] [ 0.38206091 -0.08113172 0.9205689 1.33527942] [ 0. 0. 0. 1. ]] SLAMing on 71.78964924600001 meters Centerline goodness : 0.923614 Centerline is valid? [False, False] Translation: X:14.38, Y:0.49, Z:1.33 [[ 0.91457035 -0.10697535 -0.39002224 14.38389262] [ 0.12983009 0.99099922 0.03262959 0.4895385 ] [ 0.38302118 -0.08047868 0.92022713 1.33481545] [ 0. 0. 0. 1. ]] SLAMing on 71.81964924600001 meters Centerline goodness : 0.920916 Centerline is valid? [False, False] Translation: X:14.39, Y:0.49, Z:1.34 [[ 0.91405483 -0.10411576 -0.39199958 14.39025751] [ 0.12813936 0.99111884 0.0355493 0.49135876] [ 0.38481692 -0.08272458 0.91927829 1.33602681] [ 0. 0. 0. 1. ]] SLAMing on 71.84964924600001 meters Centerline goodness : 0.921493 Centerline is valid? [False, False] Translation: X:14.39, Y:0.49, Z:1.34 [[ 0.9136947 -0.10504711 -0.39259024 14.39306601] [ 0.12882475 0.99106228 0.0346373 0.49339595] [ 0.38544283 -0.08222326 0.91906102 1.33566469] [ 0. 0. 0. 1. ]] SLAMing on 71.87964924600001 meters Centerline goodness : 0.918171 Centerline is valid? [False, False] Translation: X:14.40, Y:0.50, Z:1.34 [[ 0.91305709 -0.10662517 -0.39364682 14.3974127 ] [ 0.13004208 0.99095194 0.03321613 0.49684296] [ 0.3865434 -0.08151887 0.91866146 1.33554951] [ 0. 0. 0. 1. ]] SLAMing on 71.90964924600001 meters Centerline goodness : 0.916511 Centerline is valid? [False, False] Translation: X:14.40, Y:0.50, Z:1.34 [[ 0.91268326 -0.10379221 -0.39526756 14.40232655] [ 0.12856426 0.99102453 0.03662789 0.49676963] [ 0.38791816 -0.08424695 0.91783547 1.33744765] [ 0. 0. 0. 1. ]] SLAMing on 71.93964924600002 meters Centerline goodness : 0.918048 Centerline is valid? [False, False] Translation: X:14.41, Y:0.50, Z:1.34 [[ 0.91153224 -0.10634986 -0.39723882 14.40806242] [ 0.13157667 0.99062597 0.03671202 0.49676542] [ 0.38961077 -0.08573155 0.91698067 1.341795 ] [ 0. 0. 0. 1. ]] SLAMing on 71.96964924600002 meters Centerline goodness : 0.920038 Centerline is valid? [False, False] Translation: X:14.41, Y:0.50, Z:1.34 [[ 0.91095176 -0.10788362 -0.39815577 14.4122255 ] [ 0.13291073 0.99048449 0.03571017 0.498782 ] [ 0.39051457 -0.08544942 0.91662248 1.34185323] [ 0. 0. 0. 1. ]] SLAMing on 71.999649246 meters Centerline goodness : 0.921768 Centerline is valid? [False, False] Translation: X:14.42, Y:0.50, Z:1.34 [[ 0.91047905 -0.1048902 -0.40003243 14.41769661] [ 0.13131051 0.9905686 0.03913314 0.49921662] [ 0.39215488 -0.08815836 0.91566514 1.34380346] [ 0. 0. 0. 1. ]] SLAMing on 72.029649246 meters Centerline goodness : 0.918752 Centerline is valid? [False, False] Translation: X:14.43, Y:0.50, Z:1.35 [[ 0.91173015 -0.09946943 -0.39856487 14.43313971] [ 0.12774274 0.99078842 0.04494561 0.50148339] [ 0.39042274 -0.09189204 0.91603817 1.35326236] [ 0. 0. 0. 1. ]] SLAMing on 72.059649246 meters Centerline goodness : 0.918812 Centerline is valid? [False, False] Translation: X:14.44, Y:0.50, Z:1.36 [[ 0.91112935 -0.09575355 -0.40084232 14.43730807] [ 0.12571846 0.9908518 0.04906716 0.50291155] [ 0.39247698 -0.0950998 0.91483214 1.3571507 ] [ 0. 0. 0. 1. ]] SLAMing on 72.08964924600001 meters Centerline goodness : 0.917562 Centerline is valid? [False, False] Translation: X:14.44, Y:0.50, Z:1.36 [[ 0.91083675 -0.09637018 -0.4013592 14.43897055] [ 0.12613521 0.99083458 0.04833994 0.50487679] [ 0.39302204 -0.09465532 0.91464422 1.35715534] [ 0. 0. 0. 1. ]] SLAMing on 72.11964924600001 meters Centerline goodness : 0.918778 Centerline is valid? [False, False] Translation: X:14.46, Y:0.51, Z:1.36 [[ 0.91282299 -0.097248 -0.39660689 14.45502534] [ 0.12355304 0.99147998 0.0412565 0.5104369 ] [ 0.38921568 -0.08666187 0.917061 1.35867394] [ 0. 0. 0. 1. ]] SLAMing on 72.14964924600001 meters Centerline goodness : 0.919419 Centerline is valid? [False, False] Translation: X:14.46, Y:0.51, Z:1.36 [[ 0.91260923 -0.09303077 -0.39810762 14.45755732] [ 0.12085431 0.99163542 0.04531478 0.51036109] [ 0.39056194 -0.08946771 0.9162188 1.36100394] [ 0. 0. 0. 1. ]] SLAMing on 72.17964924600001 meters Centerline goodness : 0.915070 Centerline is valid? [False, False] Translation: X:14.46, Y:0.51, Z:1.36 [[ 0.91216234 -0.09449933 -0.39878533 14.46081784] [ 0.12203127 0.99154317 0.0441645 0.51329291] [ 0.39123936 -0.08894947 0.91598022 1.36073251] [ 0. 0. 0. 1. ]] SLAMing on 72.20964924600001 meters Centerline goodness : 0.919866 Centerline is valid? [False, False] Translation: X:14.47, Y:0.52, Z:1.36 [[ 0.91126101 -0.09659124 -0.40034173 14.46584239] [ 0.12411959 0.99132013 0.04334423 0.51564426] [ 0.39268014 -0.08918816 0.91534025 1.36268391] [ 0. 0. 0. 1. ]] SLAMing on 72.23964924600001 meters Centerline goodness : 0.918765 Centerline is valid? [False, False] Translation: X:14.47, Y:0.52, Z:1.36 [[ 0.9106035 -0.09814244 -0.401459 14.47013392] [ 0.12535487 0.99122188 0.04201587 0.51934295] [ 0.39381141 -0.08858464 0.91491275 1.36280947] [ 0. 0. 0. 1. ]] SLAMing on 72.26964924600001 meters Centerline goodness : 0.915730 Centerline is valid? [False, False] Translation: X:14.47, Y:0.52, Z:1.36 [[ 0.91024262 -0.09877121 -0.40212264 14.47226242] [ 0.12576245 0.99120404 0.04121109 0.52194089] [ 0.39451512 -0.08808402 0.91465788 1.36275281] [ 0. 0. 0. 1. ]] SLAMing on 72.29964924600002 meters Centerline goodness : 0.913312 Centerline is valid? [False, False] Translation: X:14.49, Y:0.53, Z:1.36 [[ 0.91213855 -0.09961805 -0.39759215 14.4893695 ] [ 0.12341668 0.99174979 0.0346509 0.52684646] [ 0.39086007 -0.08067592 0.91690774 1.36498911] [ 0. 0. 0. 1. ]] SLAMing on 72.32964924600002 meters Centerline goodness : 0.916963 Centerline is valid? [False, False] Translation: X:14.49, Y:0.53, Z:1.37 [[ 0.91170477 -0.10032411 -0.39840868 14.49172771] [ 0.12411397 0.99167488 0.03430247 0.52741944] [ 0.39165052 -0.08072181 0.91656634 1.36586824] [ 0. 0. 0. 1. ]] SLAMing on 72.35964924600002 meters Centerline goodness : 0.914947 Centerline is valid? [False, False] Translation: X:14.50, Y:0.53, Z:1.37 [[ 0.91124792 -0.09693147 -0.4002893 14.49670281] [ 0.12209011 0.99180021 0.03776695 0.52916254] [ 0.39334621 -0.08328642 0.91561025 1.36792092] [ 0. 0. 0. 1. ]] SLAMing on 72.389649246 meters Centerline goodness : 0.914741 Centerline is valid? [False, False] Translation: X:14.50, Y:0.53, Z:1.37 [[ 0.91094391 -0.09770093 -0.40079386 14.4989871 ] [ 0.1226619 0.99175735 0.03703274 0.53187871] [ 0.39387213 -0.08289688 0.9154195 1.36771849] [ 0. 0. 0. 1. ]] SLAMing on 72.419649246 meters Centerline goodness : 0.915047 Centerline is valid? [False, False] Translation: X:14.50, Y:0.53, Z:1.37 [[ 0.91045309 -0.09878258 -0.4016431 14.50240376] [ 0.12354367 0.99168041 0.03615143 0.5343945 ] [ 0.39473046 -0.08253465 0.91508245 1.36797459] [ 0. 0. 0. 1. ]] SLAMing on 72.449649246 meters Centerline goodness : 0.913599 Centerline is valid? [False, False] Translation: X:14.51, Y:0.53, Z:1.37 [[ 0.9099125 -0.09951512 -0.40268597 14.50503222] [ 0.12438488 0.99158027 0.03601348 0.53479754] [ 0.39571157 -0.08285716 0.91462946 1.36951446] [ 0. 0. 0. 1. ]] SLAMing on 72.47964924600001 meters Centerline goodness : 0.914344 Centerline is valid? [False, False] Translation: X:14.51, Y:0.54, Z:1.37 [[ 0.90927733 -0.10058127 -0.40385411 14.50862877] [ 0.12553514 0.99144595 0.03571926 0.53558594] [ 0.39680683 -0.08317659 0.91412581 1.37113179] [ 0. 0. 0. 1. ]] SLAMing on 72.50964924600001 meters Centerline goodness : 0.913730 Centerline is valid? [False, False] Translation: X:14.51, Y:0.54, Z:1.37 [[ 0.90873154 -0.10164942 -0.404814 14.51207199] [ 0.12667007 0.99131194 0.0354306 0.53590034] [ 0.39769546 -0.08347472 0.91371237 1.37219705] [ 0. 0. 0. 1. ]] SLAMing on 72.53964924600001 meters Centerline goodness : 0.914375 Centerline is valid? [False, False] Translation: X:14.52, Y:0.53, Z:1.38 [[ 0.90800046 -0.10261067 -0.40620957 14.51592901] [ 0.12810447 0.99110733 0.03599306 0.5344064 ] [ 0.39890401 -0.08471898 0.9130708 1.37517326] [ 0. 0. 0. 1. ]] SLAMing on 72.56964924600001 meters Centerline goodness : 0.918761 Centerline is valid? [False, False] Translation: X:14.52, Y:0.53, Z:1.38 [[ 0.90692696 -0.10472295 -0.40806445 14.52244997] [ 0.13071407 0.9907571 0.03625188 0.53359528] [ 0.40049635 -0.08621757 0.91223309 1.37860467] [ 0. 0. 0. 1. ]] SLAMing on 72.59964924600001 meters Centerline goodness : 0.918305 Centerline is valid? [False, False] Translation: X:14.53, Y:0.53, Z:1.38 [[ 0.90631751 -0.10585058 -0.40912617 14.52616926] [ 0.13198345 0.99059484 0.03608635 0.53323531] [ 0.40145851 -0.08670357 0.91176398 1.37989601] [ 0. 0. 0. 1. ]] SLAMing on 72.62964924600001 meters Centerline goodness : 0.916311 Centerline is valid? [False, False] Translation: X:14.53, Y:0.53, Z:1.38 [[ 0.90541411 -0.11006248 -0.41001408 14.53334141] [ 0.13590804 0.99012636 0.03433367 0.53164009] [ 0.4021869 -0.0868104 0.91143275 1.38088417] [ 0. 0. 0. 1. ]] SLAMing on 72.65964924600001 meters Centerline goodness : 0.918637 Centerline is valid? [False, False] Translation: X:14.54, Y:0.53, Z:1.38 [[ 0.90471515 -0.11177778 -0.4110915 14.53736237] [ 0.1379135 0.98984773 0.03437058 0.52927423] [ 0.40307612 -0.08779065 0.9109459 1.38308887] [ 0. 0. 0. 1. ]] SLAMing on 72.68964924600002 meters Centerline goodness : 0.920937 Centerline is valid? [False, False] Translation: X:14.54, Y:0.53, Z:1.39 [[ 0.9040227 -0.11322039 -0.41221851 14.54125671] [ 0.13974595 0.98958014 0.03467304 0.52763076] [ 0.40399755 -0.08895108 0.910425 1.38549182] [ 0. 0. 0. 1. ]] SLAMing on 72.71964924600002 meters Centerline goodness : 0.919497 Centerline is valid? [False, False] Translation: X:14.55, Y:0.53, Z:1.39 [[ 0.90298101 -0.11468382 -0.41409287 14.54631461] [ 0.14161688 0.98930889 0.03482221 0.52838233] [ 0.40567222 -0.09008634 0.90956831 1.38738029] [ 0. 0. 0. 1. ]] SLAMing on 72.749649246 meters Centerline goodness : 0.920067 Centerline is valid? [False, False] Translation: X:14.55, Y:0.53, Z:1.39 [[ 0.90199538 -0.1170861 -0.41556608 14.55145404] [ 0.14312816 0.98918805 0.03195824 0.52904743] [ 0.40733114 -0.08830539 0.90900138 1.38797196] [ 0. 0. 0. 1. ]] SLAMing on 72.779649246 meters Centerline goodness : 0.921084 Centerline is valid? [False, False] Translation: X:14.56, Y:0.53, Z:1.40 [[ 0.9040266 -0.11179112 -0.41259987 14.56382035] [ 0.13952473 0.98950423 0.03760612 0.52810344] [ 0.40406529 -0.09156482 0.91013577 1.39555297] [ 0. 0. 0. 1. ]] SLAMing on 72.809649246 meters Centerline goodness : 0.925433 Centerline is valid? [False, False] Translation: X:14.57, Y:0.53, Z:1.40 [[ 0.90630735 -0.10521417 -0.4093128 14.57480487] [ 0.13440283 0.98998816 0.04311981 0.52748668] [ 0.40067801 -0.0940926 0.91137463 1.40372028] [ 0. 0. 0. 1. ]] SLAMing on 72.83964924600001 meters Centerline goodness : 0.922325 Centerline is valid? [False, False] Translation: X:14.58, Y:0.53, Z:1.40 [[ 0.9059017 -0.10600551 -0.41000602 14.57724039] [ 0.13508535 0.98992084 0.04252861 0.52870355] [ 0.40136523 -0.09391255 0.91109077 1.40405514] [ 0. 0. 0. 1. ]] SLAMing on 72.86964924600001 meters Centerline goodness : 0.922107 Centerline is valid? [False, False] Translation: X:14.58, Y:0.53, Z:1.40 [[ 0.90500459 -0.10803972 -0.41145365 14.58274445] [ 0.13669343 0.98977424 0.04076583 0.53293715] [ 0.4028419 -0.09313628 0.91051856 1.40417132] [ 0. 0. 0. 1. ]] SLAMing on 72.89964924600001 meters Centerline goodness : 0.918935 Centerline is valid? [False, False] Translation: X:14.59, Y:0.53, Z:1.41 [[ 0.90869095 -0.10018488 -0.40526996 14.58910973] [ 0.13066771 0.99025458 0.04818525 0.53042281] [ 0.396493 -0.0967412 0.91292631 1.40765589] [ 0. 0. 0. 1. ]] SLAMing on 72.92964924600001 meters Centerline goodness : 0.918388 Centerline is valid? [False, False] Translation: X:14.60, Y:0.53, Z:1.41 [[ 0.91169534 -0.08943264 -0.40101547 14.59941783] [ 0.12264036 0.99076293 0.05786336 0.53165082] [ 0.39213638 -0.10193443 0.914242 1.41443967] [ 0. 0. 0. 1. ]] SLAMing on 72.95964924600001 meters Centerline goodness : 0.919216 Centerline is valid? [False, False] Translation: X:14.62, Y:0.54, Z:1.41 [[ 0.91359976 -0.09249401 -0.39595496 14.61505872] [ 0.1210157 0.9915082 0.04760981 0.5378447 ] [ 0.38818896 -0.09141308 0.91703488 1.41271759] [ 0. 0. 0. 1. ]] SLAMing on 72.98964924600001 meters Centerline goodness : 0.923838 Centerline is valid? [False, False] Translation: X:14.63, Y:0.54, Z:1.41 [[ 0.91579535 -0.09354294 -0.39060029 14.63013904] [ 0.1184457 0.99215047 0.04010071 0.54470624] [ 0.38378313 -0.08298897 0.91968655 1.41322761] [ 0. 0. 0. 1. ]] SLAMing on 73.01964924600001 meters Centerline goodness : 0.924354 Centerline is valid? [False, False] Translation: X:14.63, Y:0.54, Z:1.42 [[ 0.91990746 -0.08393591 -0.38304704 14.63429641] [ 0.11011453 0.99281204 0.04689396 0.54221173] [ 0.37635763 -0.08531715 0.92253776 1.41688248] [ 0. 0. 0. 1. ]] SLAMing on 73.04964924600002 meters Centerline goodness : 0.924537 Centerline is valid? [False, False] Translation: X:14.65, Y:0.55, Z:1.42 [[ 0.92207836 -0.08364442 -0.37785594 14.64731323] [ 0.10630477 0.99354965 0.03947654 0.54944591] [ 0.37211664 -0.07656836 0.92502243 1.41744296] [ 0. 0. 0. 1. ]] SLAMing on 73.07964924600002 meters Centerline goodness : 0.926290 Centerline is valid? [False, False] Translation: X:14.66, Y:0.55, Z:1.42 [[ 0.92414451 -0.08418035 -0.37265345 14.6614638 ] [ 0.10334774 0.99413931 0.03172184 0.55476723] [ 0.36779909 -0.06782846 0.92742823 1.41753178] [ 0. 0. 0. 1. ]] SLAMing on 73.10964924600002 meters Centerline goodness : 0.924894 Centerline is valid? [False, False] Translation: X:14.66, Y:0.56, Z:1.42 [[ 0.92394923 -0.07964797 -0.37413102 14.66309664] [ 0.10008179 0.99434655 0.03547636 0.55713219] [ 0.36919027 -0.07022206 0.92669704 1.41971296] [ 0. 0. 0. 1. ]] SLAMing on 73.139649246 meters Centerline goodness : 0.921771 Centerline is valid? [False, False] Translation: X:14.67, Y:0.56, Z:1.42 [[ 0.92364164 -0.0802836 -0.37475414 14.66512187] [ 0.10051227 0.99433006 0.03471322 0.55974705] [ 0.36984241 -0.06972997 0.92647414 1.41960404] [ 0. 0. 0. 1. ]] SLAMing on 73.169649246 meters Centerline goodness : 0.922635 Centerline is valid? [False, False] Translation: X:14.67, Y:0.56, Z:1.42 [[ 0.92316823 -0.08140797 -0.37567693 14.6686422 ] [ 0.10138678 0.99427661 0.0336859 0.56250441] [ 0.37078448 -0.06918642 0.92613828 1.41952579] [ 0. 0. 0. 1. ]] SLAMing on 73.199649246 meters Centerline goodness : 0.923031 Centerline is valid? [False, False] Translation: X:14.67, Y:0.56, Z:1.42 [[ 0.92272807 -0.08235846 -0.37655011 14.6716197 ] [ 0.10226311 0.99420512 0.03314257 0.56354317] [ 0.37163848 -0.06908876 0.92580321 1.42000943] [ 0. 0. 0. 1. ]] SLAMing on 73.22964924600001 meters Centerline goodness : 0.919449 Centerline is valid? [False, False] Translation: X:14.67, Y:0.56, Z:1.42 [[ 0.92222693 -0.08335198 -0.37755786 14.67474699] [ 0.1032188 0.9941225 0.03265479 0.56475659] [ 0.37261692 -0.06908619 0.92541003 1.42081785] [ 0. 0. 0. 1. ]] SLAMing on 73.25964924600001 meters Centerline goodness : 0.921941 Centerline is valid? [False, False] Translation: X:14.68, Y:0.56, Z:1.42 [[ 0.921649 -0.08431286 -0.37875384 14.67781395] [ 0.10438891 0.99399727 0.03274735 0.56389881] [ 0.37371926 -0.06971926 0.92491791 1.42273759] [ 0. 0. 0. 1. ]] SLAMing on 73.28964924600001 meters Centerline goodness : 0.920934 Centerline is valid? [False, False] Translation: X:14.68, Y:0.56, Z:1.42 [[ 0.9210037 -0.08510369 -0.3801441 14.6811487 ] [ 0.10541055 0.99388497 0.03288287 0.56354664] [ 0.37502106 -0.07035644 0.92434257 1.42483239] [ 0. 0. 0. 1. ]] SLAMing on 73.31964924600001 meters Centerline goodness : 0.921401 Centerline is valid? [False, False] Translation: X:14.68, Y:0.56, Z:1.43 [[ 0.92059454 -0.08144918 -0.38193158 14.68496317] [ 0.10342976 0.99393559 0.03734079 0.5618146 ] [ 0.37657401 -0.07387882 0.92343594 1.42809487] [ 0. 0. 0. 1. ]] SLAMing on 73.34964924600001 meters Centerline goodness : 0.922393 Centerline is valid? [False, False] Translation: X:14.69, Y:0.56, Z:1.43 [[ 0.92003353 -0.08174101 -0.38321888 14.68679304] [ 0.10423013 0.99381725 0.03825381 0.56082864] [ 0.37772263 -0.07513774 0.92286507 1.43136726] [ 0. 0. 0. 1. ]] SLAMing on 73.37964924600001 meters Centerline goodness : 0.924092 Centerline is valid? [False, False] Translation: X:14.69, Y:0.56, Z:1.43 [[ 0.91970675 -0.08214622 -0.383916 14.68843727] [ 0.10477701 0.99375526 0.03837007 0.56037484] [ 0.37836658 -0.07551478 0.92257046 1.43247649] [ 0. 0. 0. 1. ]] SLAMing on 73.40964924600001 meters Centerline goodness : 0.924607 Centerline is valid? [False, False] Translation: X:14.69, Y:0.56, Z:1.43 [[ 0.91909935 -0.08320068 -0.38514157 14.69205367] [ 0.106009 0.99362614 0.03832988 0.56010039] [ 0.37949766 -0.07605744 0.92206117 1.43408978] [ 0. 0. 0. 1. ]] SLAMing on 73.43964924600002 meters Centerline goodness : 0.924591 Centerline is valid? [False, False] Translation: X:14.69, Y:0.56, Z:1.44 [[ 0.91868874 -0.08382664 -0.38598457 14.69428503] [ 0.10676799 0.99354424 0.03834629 0.55965586] [ 0.3802783 -0.0764391 0.92170791 1.43530773] [ 0. 0. 0. 1. ]] SLAMing on 73.46964924600002 meters Centerline goodness : 0.926288 Centerline is valid? [False, False] Translation: X:14.70, Y:0.56, Z:1.44 [[ 0.91812979 -0.08396039 -0.38728327 14.69596219] [ 0.10741844 0.99343742 0.03928566 0.55836482] [ 0.38144326 -0.0776707 0.92112339 1.43859306] [ 0. 0. 0. 1. ]] SLAMing on 73.499649246 meters Centerline goodness : 0.924149 Centerline is valid? [False, False] Translation: X:14.70, Y:0.56, Z:1.44 [[ 0.91774436 -0.0847305 -0.38802838 14.69809388] [ 0.10810068 0.99338418 0.03875709 0.55966102] [ 0.38217735 -0.07751523 0.92083216 1.43911596] [ 0. 0. 0. 1. ]] SLAMing on 73.529649246 meters Centerline goodness : 0.925491 Centerline is valid? [False, False] Translation: X:14.70, Y:0.56, Z:1.44 [[ 0.91720959 -0.08121279 -0.39003982 14.70252179] [ 0.1062209 0.9934149 0.04294134 0.55957236] [ 0.38398398 -0.08081659 0.91979616 1.44238506] [ 0. 0. 0. 1. ]] SLAMing on 73.559649246 meters Centerline goodness : 0.924776 Centerline is valid? [False, False] Translation: X:14.71, Y:0.56, Z:1.44 [[ 0.91675941 -0.0823047 -0.39086842 14.70548898] [ 0.10719987 0.99333874 0.04226497 0.56100661] [ 0.38478614 -0.08064785 0.91947569 1.4427605 ] [ 0. 0. 0. 1. ]] SLAMing on 73.58964924600001 meters Centerline goodness : 0.924776 Centerline is valid? [False, False] Translation: X:14.71, Y:0.56, Z:1.44 [[ 0.91675941 -0.0823047 -0.39086842 14.70548898] [ 0.10719987 0.99333874 0.04226497 0.56100661] [ 0.38478614 -0.08064785 0.91947569 1.4427605 ] [ 0. 0. 0. 1. ]] SLAMing on 73.61964924600001 meters Centerline goodness : 0.925608 Centerline is valid? [False, False] Translation: X:14.71, Y:0.56, Z:1.44 [[ 0.91599035 -0.08385335 -0.39233951 14.70975888] [ 0.10891596 0.99316246 0.04201965 0.56141993] [ 0.38613338 -0.08122163 0.9188602 1.44486692] [ 0. 0. 0. 1. ]] SLAMing on 73.64964924600001 meters Centerline goodness : 0.925157 Centerline is valid? [False, False] Translation: X:14.71, Y:0.56, Z:1.45 [[ 0.91557866 -0.08469311 -0.3931193 14.71247857] [ 0.10969678 0.99309697 0.04153334 0.56210521] [ 0.386888 -0.08115096 0.91854896 1.44529465] [ 0. 0. 0. 1. ]] SLAMing on 73.67964924600001 meters Centerline goodness : 0.921633 Centerline is valid? [False, False] Translation: X:14.72, Y:0.56, Z:1.45 [[ 0.91479412 -0.08659916 -0.39452795 14.71793719] [ 0.11137932 0.99296049 0.04030031 0.564201 ] [ 0.38826069 -0.08080874 0.91799977 1.44569744] [ 0. 0. 0. 1. ]] SLAMing on 73.70964924600001 meters Centerline goodness : 0.923077 Centerline is valid? [False, False] Translation: X:14.72, Y:0.56, Z:1.45 [[ 0.914323 -0.08743042 -0.39543567 14.72075573] [ 0.11222809 0.99287833 0.03996846 0.56466192] [ 0.38912505 -0.08092307 0.91762364 1.44657115] [ 0. 0. 0. 1. ]] SLAMing on 73.73964924600001 meters Centerline goodness : 0.921274 Centerline is valid? [False, False] Translation: X:14.72, Y:0.56, Z:1.45 [[ 0.91357261 -0.08835666 -0.39696119 14.72451732] [ 0.1133326 0.99275743 0.03985484 0.56437555] [ 0.39056473 -0.08139894 0.91696969 1.44861548] [ 0. 0. 0. 1. ]] SLAMing on 73.76964924600001 meters Centerline goodness : 0.919350 Centerline is valid? [False, False] Translation: X:14.73, Y:0.56, Z:1.45 [[ 0.91308496 -0.08942568 -0.39784282 14.72770604] [ 0.11440229 0.99265134 0.03943891 0.56495322] [ 0.39139235 -0.0815252 0.91660551 1.44934693] [ 0. 0. 0. 1. ]] SLAMing on 73.79964924600002 meters Centerline goodness : 0.919865 Centerline is valid? [False, False] Translation: X:14.73, Y:0.57, Z:1.45 [[ 0.91235679 -0.09111184 -0.39912869 14.73261942] [ 0.11604538 0.99248959 0.03870239 0.56618302] [ 0.39260483 -0.08162743 0.91607773 1.45020806] [ 0. 0. 0. 1. ]] SLAMing on 73.82964924600002 meters Centerline goodness : 0.918752 Centerline is valid? [False, False] Translation: X:14.74, Y:0.57, Z:1.45 [[ 0.91151652 -0.09292492 -0.40062775 14.73782939] [ 0.11779784 0.992316 0.03785009 0.56785549] [ 0.39403211 -0.08169407 0.91545878 1.45139366] [ 0. 0. 0. 1. ]] SLAMing on 73.85964924600002 meters Centerline goodness : 0.920948 Centerline is valid? [False, False] Translation: X:14.74, Y:0.57, Z:1.45 [[ 0.91114344 -0.09376086 -0.40128111 14.74022928] [ 0.11864428 0.99222638 0.03755462 0.56837795] [ 0.39464055 -0.08182736 0.91518475 1.45203767] [ 0. 0. 0. 1. ]] SLAMing on 73.889649246 meters Centerline goodness : 0.921894 Centerline is valid? [False, False] Translation: X:14.74, Y:0.57, Z:1.45 [[ 0.91074348 -0.09458048 -0.40199608 14.74264467] [ 0.11945765 0.99214179 0.03720937 0.56945559] [ 0.39531783 -0.0819097 0.91488503 1.45269498] [ 0. 0. 0. 1. ]] SLAMing on 73.919649246 meters Centerline goodness : 0.916199 Centerline is valid? [False, False] Translation: X:14.75, Y:0.57, Z:1.45 [[ 0.91023242 -0.09550254 -0.40293448 14.74553169] [ 0.12041162 0.99203875 0.03688027 0.5703488 ] [ 0.39620446 -0.08208761 0.91448546 1.45377291] [ 0. 0. 0. 1. ]] SLAMing on 73.949649246 meters Centerline goodness : 0.915418 Centerline is valid? [False, False] Translation: X:14.75, Y:0.57, Z:1.45 [[ 0.90986593 -0.0960494 -0.40363163 14.7474746 ] [ 0.12100152 0.99197334 0.03670852 0.57074323] [ 0.39686599 -0.08223988 0.91418488 1.45459994] [ 0. 0. 0. 1. ]] SLAMing on 73.97964924600001 meters Centerline goodness : 0.915766 Centerline is valid? [False, False] Translation: X:14.75, Y:0.57, Z:1.46 [[ 0.90929267 -0.09702913 -0.40468778 14.75051277] [ 0.12203552 0.99185838 0.03639066 0.57102691] [ 0.39786201 -0.08247605 0.91373055 1.45595751] [ 0. 0. 0. 1. ]] SLAMing on 74.00964924600001 meters Centerline goodness : 0.915206 Centerline is valid? [False, False] Translation: X:14.75, Y:0.57, Z:1.46 [[ 0.90890473 -0.09779375 -0.4053746 14.75294448] [ 0.12279638 0.99177629 0.0360671 0.571848 ] [ 0.39851378 -0.08256009 0.91343888 1.45654922] [ 0. 0. 0. 1. ]] SLAMing on 74.03964924600001 meters Centerline goodness : 0.914154 Centerline is valid? [False, False] Translation: X:14.76, Y:0.57, Z:1.46 [[ 0.90842312 -0.0988481 -0.40619759 14.75602251] [ 0.12369855 0.99169133 0.03531241 0.57376011] [ 0.39933206 -0.08232466 0.91310271 1.45689797] [ 0. 0. 0. 1. ]] SLAMing on 74.06964924600001 meters Centerline goodness : 0.911772 Centerline is valid? [False, False] Translation: X:14.76, Y:0.57, Z:1.46 [[ 0.9081368 -0.09942114 -0.40669767 14.7578509 ] [ 0.12424053 0.99163435 0.03500877 0.57475611] [ 0.39981477 -0.08232109 0.91289177 1.45725076] [ 0. 0. 0. 1. ]] SLAMing on 74.09964924600001 meters Centerline goodness : 0.912622 Centerline is valid? [False, False] Translation: X:14.76, Y:0.57, Z:1.46 [[ 0.90760335 -0.09646381 -0.40859624 14.76290079] [ 0.1228571 0.99166638 0.03878058 0.57452682] [ 0.40145023 -0.08539634 0.91189099 1.46027987] [ 0. 0. 0. 1. ]] SLAMing on 74.12964924600001 meters Centerline goodness : 0.911554 Centerline is valid? [False, False] Translation: X:14.77, Y:0.58, Z:1.46 [[ 0.90721247 -0.0973361 -0.40925691 14.76558052] [ 0.12359144 0.99160033 0.03813054 0.57607116] [ 0.40210781 -0.08517315 0.9116221 1.46039296] [ 0. 0. 0. 1. ]] SLAMing on 74.15964924600001 meters Centerline goodness : 0.912058 Centerline is valid? [False, False] Translation: X:14.77, Y:0.58, Z:1.46 [[ 0.90670461 -0.09832759 -0.41014441 14.76912493] [ 0.12432657 0.99154618 0.03713602 0.57806891] [ 0.40302562 -0.08466325 0.91126422 1.46025008] [ 0. 0. 0. 1. ]] SLAMing on 74.18964924600002 meters Centerline goodness : 0.913123 Centerline is valid? [False, False] Translation: X:14.77, Y:0.58, Z:1.46 [[ 0.90615059 -0.09962147 -0.41105555 14.77259825] [ 0.1254217 0.99144271 0.03620429 0.57929472] [ 0.4039313 -0.08436182 0.91089109 1.46065648] [ 0. 0. 0. 1. ]] SLAMing on 74.21964924600002 meters Centerline goodness : 0.909058 Centerline is valid? [False, False] Translation: X:14.78, Y:0.58, Z:1.46 [[ 0.90568795 -0.10060768 -0.41183422 14.77537857] [ 0.12640677 0.99133177 0.03581417 0.57979556] [ 0.40466117 -0.0844951 0.91055473 1.4614636 ] [ 0. 0. 0. 1. ]] SLAMing on 74.249649246 meters Centerline goodness : 0.908414 Centerline is valid? [False, False] Translation: X:14.78, Y:0.58, Z:1.47 [[ 0.90476752 -0.09971027 -0.41406957 14.78373631] [ 0.12715155 0.99110961 0.03916923 0.58060834] [ 0.40648275 -0.08808863 0.90940209 1.46568174] [ 0. 0. 0. 1. ]] SLAMing on 74.279649246 meters Centerline goodness : 0.906143 Centerline is valid? [False, False] Translation: X:14.79, Y:0.58, Z:1.47 [[ 0.90433969 -0.10051264 -0.41480952 14.78651667] [ 0.12797588 0.99101524 0.03887111 0.58104555] [ 0.40717552 -0.0882383 0.90907761 1.46630084] [ 0. 0. 0. 1. ]] SLAMing on 74.309649246 meters Centerline goodness : 0.907080 Centerline is valid? [False, False] Translation: X:14.79, Y:0.58, Z:1.47 [[ 0.90393381 -0.10123184 -0.41551868 14.7889245 ] [ 0.12874856 0.99092311 0.03866784 0.58126622] [ 0.40783265 -0.0884506 0.90876236 1.46712986] [ 0. 0. 0. 1. ]] SLAMing on 74.33964924600001 meters Centerline goodness : 0.900968 Centerline is valid? [False, False] Translation: X:14.79, Y:0.58, Z:1.47 [[ 0.90332991 -0.10231739 -0.4165648 14.79222525] [ 0.13002715 0.99075821 0.03861494 0.58087859] [ 0.40876401 -0.08904676 0.90828556 1.4689478 ] [ 0. 0. 0. 1. ]] SLAMing on 74.36964924600001 meters Centerline goodness : 0.904055 Centerline is valid? [False, False] Translation: X:14.80, Y:0.58, Z:1.47 [[ 0.9074692 -0.0940414 -0.40945801 14.79778214] [ 0.12350847 0.99127403 0.04605926 0.57523966] [ 0.40155362 -0.09236889 0.91116556 1.47241305] [ 0. 0. 0. 1. ]] SLAMing on 74.39964924600001 meters Centerline goodness : 0.905948 Centerline is valid? [False, False] Translation: X:14.81, Y:0.58, Z:1.47 [[ 0.90964447 -0.0984208 -0.40355951 14.81238905] [ 0.12372748 0.99162436 0.03704919 0.57750094] [ 0.39653303 -0.08363299 0.91420297 1.47445878] [ 0. 0. 0. 1. ]] SLAMing on 74.42964924600001 meters Centerline goodness : 0.908952 Centerline is valid? [False, False] Translation: X:14.81, Y:0.58, Z:1.48 [[ 0.90923902 -0.09851152 -0.4044501 14.81322348] [ 0.12438635 0.99150086 0.03813244 0.57612693] [ 0.39725613 -0.08497958 0.91376476 1.47765424] [ 0. 0. 0. 1. ]] SLAMing on 74.45964924600001 meters Centerline goodness : 0.908132 Centerline is valid? [False, False] Translation: X:14.82, Y:0.58, Z:1.48 [[ 0.90888637 -0.09929844 -0.40504987 14.81571991] [ 0.12525205 0.99139659 0.03800951 0.57641986] [ 0.39779077 -0.08527965 0.91350418 1.47834002] [ 0. 0. 0. 1. ]] SLAMing on 74.48964924600001 meters Centerline goodness : 0.906015 Centerline is valid? [False, False] Translation: X:14.82, Y:0.58, Z:1.48 [[ 0.90802062 -0.10281287 -0.40611337 14.82264856] [ 0.12864125 0.99101042 0.03673919 0.57681386] [ 0.39868532 -0.08560287 0.91308388 1.47933867] [ 0. 0. 0. 1. ]] SLAMing on 74.51964924600001 meters Centerline goodness : 0.902574 Centerline is valid? [False, False] Translation: X:14.83, Y:0.57, Z:1.48 [[ 0.91163129 -0.09613587 -0.39960766 14.82864245] [ 0.12348571 0.99140551 0.04320189 0.57234414] [ 0.39201998 -0.08873003 0.91566769 1.48236812] [ 0. 0. 0. 1. ]] SLAMing on 74.54964924600002 meters Centerline goodness : 0.903511 Centerline is valid? [False, False] Translation: X:14.84, Y:0.57, Z:1.49 [[ 0.91373783 -0.09108166 -0.39596378 14.83916314] [ 0.11986847 0.99160352 0.04851821 0.57029322] [ 0.38821996 -0.09179649 0.91698346 1.48841113] [ 0. 0. 0. 1. ]] SLAMing on 74.57964924600002 meters Centerline goodness : 0.905430 Centerline is valid? [False, False] Translation: X:14.84, Y:0.57, Z:1.49 [[ 0.91738183 -0.08304193 -0.38924878 14.8439541 ] [ 0.11345104 0.991978 0.05575394 0.56658666] [ 0.38149631 -0.09530833 0.91944379 1.49284278] [ 0. 0. 0. 1. ]] SLAMing on 74.60964924600002 meters Centerline goodness : 0.902539 Centerline is valid? [False, False] Translation: X:14.85, Y:0.56, Z:1.50 [[ 0.92024119 -0.07639257 -0.38382331 14.85030529] [ 0.10758627 0.99235716 0.06043563 0.56471381] [ 0.37627298 -0.09690948 0.92142672 1.49950399] [ 0. 0. 0. 1. ]] SLAMing on 74.639649246 meters Centerline goodness : 0.902564 Centerline is valid? [False, False] Translation: X:14.85, Y:0.57, Z:1.50 [[ 0.91988888 -0.07709243 -0.38452726 14.85258162] [ 0.10823574 0.99231402 0.05998263 0.56598802] [ 0.37694758 -0.09679694 0.92116278 1.49995208] [ 0. 0. 0. 1. ]] SLAMing on 74.669649246 meters Centerline goodness : 0.901621 Centerline is valid? [False, False] Translation: X:14.85, Y:0.57, Z:1.50 [[ 0.91964498 -0.07795305 -0.38493691 14.8546843 ] [ 0.10870376 0.99233689 0.05874515 0.56875813] [ 0.37740774 -0.09586878 0.92107143 1.49904698] [ 0. 0. 0. 1. ]] SLAMing on 74.699649246 meters Centerline goodness : 0.901130 Centerline is valid? [False, False] Translation: X:14.87, Y:0.57, Z:1.50 [[ 0.92153934 -0.08046943 -0.37985512 14.8702194 ] [ 0.10704813 0.99302902 0.04933614 0.57342001] [ 0.3732371 -0.08612797 0.92372942 1.49803275] [ 0. 0. 0. 1. ]] SLAMing on 74.72964924600001 meters Centerline goodness : 0.901379 Centerline is valid? [False, False] Translation: X:14.89, Y:0.58, Z:1.50 [[ 0.92333346 -0.08291239 -0.37494115 14.88595682] [ 0.10568286 0.99357307 0.04054237 0.57808956] [ 0.36916996 -0.07705898 0.92616168 1.49865365] [ 0. 0. 0. 1. ]] SLAMing on 74.75964924600001 meters Centerline goodness : 0.902378 Centerline is valid? [False, False] Translation: X:14.89, Y:0.58, Z:1.50 [[ 0.92317603 -0.08292427 -0.37532596 14.88663697] [ 0.10580623 0.99355214 0.04073311 0.57837896] [ 0.36952815 -0.07731566 0.92599743 1.49945509] [ 0. 0. 0. 1. ]] SLAMing on 74.78964924600001 meters Centerline goodness : 0.901308 Centerline is valid? [False, False] Translation: X:14.89, Y:0.58, Z:1.50 [[ 0.92299583 -0.08346817 -0.37564847 14.88840989] [ 0.10629524 0.99351277 0.0404191 0.57930965] [ 0.36983784 -0.07723631 0.9258804 1.49940137] [ 0. 0. 0. 1. ]] SLAMing on 74.81964924600001 meters Centerline goodness : 0.899001 Centerline is valid? [False, False] Translation: X:14.89, Y:0.58, Z:1.50 [[ 0.92291272 -0.08397338 -0.37574004 14.89020161] [ 0.10653781 0.99351799 0.03964453 0.58129444] [ 0.3699754 -0.07661896 0.92587674 1.49822905] [ 0. 0. 0. 1. ]] SLAMing on 74.84964924600001 meters Centerline goodness : 0.896874 Centerline is valid? [False, False] Translation: X:14.89, Y:0.58, Z:1.50 [[ 0.92265379 -0.07975197 -0.37729247 14.893423 ] [ 0.10389157 0.99361342 0.044033 0.5808299 ] [ 0.37137114 -0.07982472 0.92504675 1.50087183] [ 0. 0. 0. 1. ]] SLAMing on 74.87964924600001 meters Centerline goodness : 0.896144 Centerline is valid? [False, False] Translation: X:14.89, Y:0.58, Z:1.50 [[ 0.9224409 -0.0801247 -0.37773378 14.89496473] [ 0.10418909 0.99359819 0.04367235 0.58172422] [ 0.37181637 -0.0796409 0.92488373 1.50097268] [ 0. 0. 0. 1. ]] SLAMing on 74.90964924600001 meters Centerline goodness : 0.893721 Centerline is valid? [False, False] Translation: X:14.90, Y:0.58, Z:1.50 [[ 0.92224926 -0.08047339 -0.37812739 14.89628933] [ 0.10448277 0.99358025 0.04337793 0.58245749] [ 0.37220914 -0.07951306 0.92473673 1.5011793 ] [ 0. 0. 0. 1. ]] SLAMing on 74.93964924600002 meters Centerline goodness : 0.895041 Centerline is valid? [False, False] Translation: X:14.91, Y:0.59, Z:1.50 [[ 0.92401076 -0.08120122 -0.37364485 14.91455706] [ 0.10209082 0.99410796 0.03642562 0.58702129] [ 0.36848551 -0.07180337 0.92685635 1.50175698] [ 0. 0. 0. 1. ]] SLAMing on 74.96964924600002 meters Centerline goodness : 0.892894 Centerline is valid? [False, False] Translation: X:14.92, Y:0.58, Z:1.51 [[ 0.92672225 -0.06847761 -0.36945458 14.91856492] [ 0.09326852 0.99440277 0.04963989 0.58376448] [ 0.36398744 -0.08046087 0.92792198 1.5126585 ] [ 0. 0. 0. 1. ]] SLAMing on 74.999649246 meters Centerline goodness : 0.890955 Centerline is valid? [False, False] Translation: X:14.92, Y:0.59, Z:1.51 [[ 0.92652571 -0.06908494 -0.36983426 14.92085883] [ 0.09359581 0.99441733 0.04872361 0.58590639] [ 0.36440353 -0.07975861 0.92781929 1.51169223] [ 0. 0. 0. 1. ]] SLAMing on 75.029649246 meters Centerline goodness : 0.889073 Centerline is valid? [False, False] Translation: X:14.92, Y:0.59, Z:1.51 [[ 0.92638723 -0.06470636 -0.37097142 14.92397767] [ 0.0902457 0.9945671 0.05188444 0.58780311] [ 0.36559871 -0.08154366 0.92719373 1.51180834] [ 0. 0. 0. 1. ]] SLAMing on 75.059649246 meters Centerline goodness : 0.888551 Centerline is valid? [False, False] Translation: X:14.92, Y:0.59, Z:1.51 [[ 0.92633494 -0.0646528 -0.37111131 14.92462224] [ 0.0899838 0.99461945 0.05133286 0.58939284] [ 0.36579571 -0.08094543 0.92716845 1.51108607] [ 0. 0. 0. 1. ]] SLAMing on 75.08964924600001 meters Centerline goodness : 0.890350 Centerline is valid? [False, False] Translation: X:14.94, Y:0.59, Z:1.51 [[ 0.92814469 -0.06799527 -0.36595638 14.94035616] [ 0.08915082 0.99516556 0.04120248 0.5939486 ] [ 0.36138561 -0.07086717 0.92971946 1.5100625 ] [ 0. 0. 0. 1. ]] SLAMing on 75.11964924600001 meters Centerline goodness : 0.896140 Centerline is valid? [False, False] Translation: X:14.94, Y:0.59, Z:1.51 [[ 0.92795047 -0.06800295 -0.36644715 14.9415277 ] [ 0.08925338 0.99515059 0.04134168 0.59417751] [ 0.36185875 -0.07106968 0.92951996 1.51088117] [ 0. 0. 0. 1. ]] SLAMing on 75.14964924600001 meters Centerline goodness : 0.893438 Centerline is valid? [False, False] Translation: X:14.94, Y:0.59, Z:1.51 [[ 0.92755776 -0.06916107 -0.36722384 14.94470623] [ 0.09055252 0.99503396 0.04132378 0.59434404] [ 0.3625422 -0.07158324 0.92921418 1.5120449 ] [ 0. 0. 0. 1. ]] SLAMing on 75.17964924600001 meters Centerline goodness : 0.892976 Centerline is valid? [False, False] Translation: X:14.95, Y:0.59, Z:1.51 [[ 0.92712986 -0.07031543 -0.36808418 14.94792448] [ 0.09179514 0.99492723 0.04115166 0.59454038] [ 0.36332338 -0.07194127 0.92888136 1.51300594] [ 0. 0. 0. 1. ]] SLAMing on 75.20964924600001 meters Centerline goodness : 0.893199 Centerline is valid? [False, False] Translation: X:14.95, Y:0.60, Z:1.51 [[ 0.926802 -0.0711136 -0.3687559 14.95057101] [ 0.09255013 0.99487384 0.04074941 0.59547263] [ 0.36396777 -0.07189504 0.92863263 1.51344387] [ 0. 0. 0. 1. ]] SLAMing on 75.23964924600001 meters Centerline goodness : 0.895176 Centerline is valid? [False, False] Translation: X:14.95, Y:0.60, Z:1.51 [[ 0.92659279 -0.07163575 -0.36918034 14.95271016] [ 0.09295974 0.99485498 0.04027474 0.59654366] [ 0.36439579 -0.07163719 0.92848469 1.51312996] [ 0. 0. 0. 1. ]] SLAMing on 75.26964924600001 meters Centerline goodness : 0.893230 Centerline is valid? [False, False] Translation: X:14.95, Y:0.60, Z:1.51 [[ 0.92650389 -0.07155662 -0.36941873 14.95361987] [ 0.09281535 0.9948766 0.04007317 0.59725998] [ 0.36465855 -0.07141568 0.92839859 1.5130123 ] [ 0. 0. 0. 1. ]] SLAMing on 75.29964924600002 meters Centerline goodness : 0.898653 Centerline is valid? [False, False] Translation: X:14.95, Y:0.60, Z:1.51 [[ 0.9262614 -0.07152683 -0.37003207 14.95471717] [ 0.09297066 0.99484806 0.04042028 0.59675397] [ 0.36523455 -0.07184187 0.92813925 1.51415442] [ 0. 0. 0. 1. ]] SLAMing on 75.32964924600002 meters Centerline goodness : 0.893508 Centerline is valid? [False, False] Translation: X:14.96, Y:0.60, Z:1.51 [[ 0.92602604 -0.07179133 -0.37056954 14.95618348] [ 0.09332162 0.99481292 0.04047636 0.59663338] [ 0.36574151 -0.07206431 0.92792235 1.51488745] [ 0. 0. 0. 1. ]] SLAMing on 75.35964924600002 meters Centerline goodness : 0.893679 Centerline is valid? [False, False] Translation: X:14.96, Y:0.60, Z:1.51 [[ 0.92578325 -0.0724425 -0.37104913 14.95939942] [ 0.09381322 0.99479206 0.03984779 0.5977618 ] [ 0.36623006 -0.07169973 0.92775789 1.51404613] [ 0. 0. 0. 1. ]] SLAMing on 75.389649246 meters Centerline goodness : 0.889251 Centerline is valid? [False, False] Translation: X:14.96, Y:0.60, Z:1.51 [[ 0.92553492 -0.07288159 -0.37158227 14.96266312] [ 0.0940025 0.99480697 0.0390209 0.59980094] [ 0.36680873 -0.07104487 0.92757964 1.51283826] [ 0. 0. 0. 1. ]] SLAMing on 75.419649246 meters Centerline goodness : 0.890152 Centerline is valid? [False, False] Translation: X:14.96, Y:0.60, Z:1.51 [[ 0.92528801 -0.07303639 -0.37216634 14.96412452] [ 0.09413612 0.99480232 0.03881667 0.60073486] [ 0.36739691 -0.07095089 0.92735402 1.51319598] [ 0. 0. 0. 1. ]] SLAMing on 75.449649246 meters Centerline goodness : 0.888109 Centerline is valid? [False, False] Translation: X:14.97, Y:0.60, Z:1.52 [[ 0.92512805 -0.06820436 -0.3734786 14.96592952] [ 0.09067555 0.99495559 0.04291059 0.60111477] [ 0.36866793 -0.07356317 0.92664579 1.51524343] [ 0. 0. 0. 1. ]] SLAMing on 75.47964924600001 meters Centerline goodness : 0.884865 Centerline is valid? [False, False] Translation: X:14.97, Y:0.60, Z:1.52 [[ 0.92500616 -0.06811181 -0.37379726 14.96665844] [ 0.09048491 0.99498571 0.04261353 0.60315354] [ 0.36902044 -0.07324079 0.926531 1.51508802] [ 0. 0. 0. 1. ]] SLAMing on 75.50964924600001 meters Centerline goodness : 0.884865 Centerline is valid? [False, False] Translation: X:14.97, Y:0.60, Z:1.52 [[ 0.92500616 -0.06811181 -0.37379726 14.96665844] [ 0.09048491 0.99498571 0.04261353 0.60315354] [ 0.36902044 -0.07324079 0.926531 1.51508802] [ 0. 0. 0. 1. ]] SLAMing on 75.53964924600001 meters Centerline goodness : 0.887372 Centerline is valid? [False, False] Translation: X:14.98, Y:0.61, Z:1.52 [[ 0.92681746 -0.06677684 -0.36952706 14.98383812] [ 0.08646312 0.99556955 0.0369514 0.60814286] [ 0.36542239 -0.06619766 0.92848497 1.51602835] [ 0. 0. 0. 1. ]] SLAMing on 75.56964924600001 meters Centerline goodness : 0.887625 Centerline is valid? [False, False] Translation: X:14.98, Y:0.61, Z:1.52 [[ 0.92671771 -0.06691198 -0.36975272 14.98486942] [ 0.08644088 0.99558877 0.03648245 0.61022248] [ 0.36568054 -0.06577068 0.92841368 1.51558359] [ 0. 0. 0. 1. ]] SLAMing on 75.59964924600001 meters Centerline goodness : 0.886722 Centerline is valid? [False, False] Translation: X:14.99, Y:0.61, Z:1.52 [[ 0.926402 -0.0632377 -0.37118772 14.98858669] [ 0.08410558 0.99564217 0.04028542 0.61009327] [ 0.36702259 -0.06853946 0.92768355 1.51754152] [ 0. 0. 0. 1. ]] SLAMing on 75.62964924600001 meters Centerline goodness : 0.884775 Centerline is valid? [False, False] Translation: X:14.99, Y:0.61, Z:1.52 [[ 0.92620236 -0.06335868 -0.371665 14.9899453 ] [ 0.08430702 0.99562171 0.04036991 0.61040933] [ 0.36747996 -0.06872467 0.92748876 1.518096 ] [ 0. 0. 0. 1. ]] SLAMing on 75.65964924600001 meters Centerline goodness : 0.885549 Centerline is valid? [False, False] Translation: X:15.00, Y:0.61, Z:1.52 [[ 0.92563877 -0.06007778 -0.3736088 14.99538144] [ 0.08257694 0.99559093 0.04449446 0.60895293] [ 0.3692884 -0.07203727 0.92651859 1.5210267 ] [ 0. 0. 0. 1. ]] SLAMing on 75.68964924600002 meters Centerline goodness : 0.886664 Centerline is valid? [False, False] Translation: X:15.00, Y:0.61, Z:1.52 [[ 0.92540991 -0.06066892 -0.37407991 14.99759802] [ 0.08308419 0.99556746 0.04407328 0.60988777] [ 0.36974791 -0.07186598 0.92634862 1.52085369] [ 0. 0. 0. 1. ]] SLAMing on 75.71964924600002 meters Centerline goodness : 0.886153 Centerline is valid? [False, False] Translation: X:15.00, Y:0.61, Z:1.52 [[ 0.9249701 -0.06139243 -0.37504838 15.0005763 ] [ 0.08395367 0.99549342 0.04409797 0.60974604] [ 0.37065091 -0.07227599 0.92595577 1.52215686] [ 0. 0. 0. 1. ]] SLAMing on 75.749649246 meters Centerline goodness : 0.884972 Centerline is valid? [False, False] Translation: X:15.00, Y:0.61, Z:1.52 [[ 0.92461524 -0.06205281 -0.37581393 15.00311198] [ 0.08464107 0.99544489 0.04387884 0.60953157] [ 0.37137925 -0.07238033 0.92565574 1.52275949] [ 0. 0. 0. 1. ]] SLAMing on 75.779649246 meters Centerline goodness : 0.891067 Centerline is valid? [False, False] Translation: X:15.01, Y:0.61, Z:1.52 [[ 0.92416652 -0.06255193 -0.37683351 15.00606659] [ 0.0853703 0.99537101 0.04414148 0.60851912] [ 0.37232802 -0.07296447 0.92522864 1.52424482] [ 0. 0. 0. 1. ]] SLAMing on 75.809649246 meters Centerline goodness : 0.887821 Centerline is valid? [False, False] Translation: X:15.01, Y:0.61, Z:1.53 [[ 0.92381373 -0.06322738 -0.37758508 15.00856049] [ 0.08614111 0.99530688 0.04408989 0.60851231] [ 0.37302534 -0.07325645 0.92492464 1.52508568] [ 0. 0. 0. 1. ]] SLAMing on 75.83964924600001 meters Centerline goodness : 0.885699 Centerline is valid? [False, False] Translation: X:15.01, Y:0.61, Z:1.53 [[ 0.9233184 -0.06423309 -0.37862547 15.0126073 ] [ 0.08733039 0.99520144 0.04413039 0.60731479] [ 0.37397398 -0.07381191 0.9244973 1.5262275 ] [ 0. 0. 0. 1. ]] SLAMing on 75.86964924600001 meters Centerline goodness : 0.883648 Centerline is valid? [False, False] Translation: X:15.02, Y:0.61, Z:1.53 [[ 0.92299574 -0.06470856 -0.37933054 15.01500296] [ 0.08790439 0.99515084 0.04413194 0.60665959] [ 0.37463539 -0.07407841 0.92420815 1.52691768] [ 0. 0. 0. 1. ]] SLAMing on 75.89964924600001 meters Centerline goodness : 0.883062 Centerline is valid? [False, False] Translation: X:15.02, Y:0.61, Z:1.53 [[ 0.92247785 -0.06527425 -0.38049165 15.01853109] [ 0.08872501 0.99506599 0.04440219 0.60547381] [ 0.37571597 -0.07471916 0.92371779 1.52853575] [ 0. 0. 0. 1. ]] SLAMing on 75.92964924600001 meters Centerline goodness : 0.882822 Centerline is valid? [False, False] Translation: X:15.02, Y:0.60, Z:1.53 [[ 0.92223983 -0.06573452 -0.38098907 15.02052659] [ 0.08923701 0.99502327 0.04433341 0.60481451] [ 0.37617875 -0.07488436 0.92351604 1.52892173] [ 0. 0. 0. 1. ]] SLAMing on 75.95964924600001 meters Centerline goodness : 0.885939 Centerline is valid? [False, False] Translation: X:15.02, Y:0.60, Z:1.53 [[ 0.92150222 -0.06668698 -0.38260489 15.0240836 ] [ 0.09101664 0.99479455 0.04582323 0.60139012] [ 0.37755745 -0.07704962 0.92277502 1.53360041] [ 0. 0. 0. 1. ]] SLAMing on 75.98964924600001 meters Centerline goodness : 0.882808 Centerline is valid? [False, False] Translation: X:15.03, Y:0.60, Z:1.53 [[ 0.92116008 -0.06746734 -0.38329135 15.02664037] [ 0.09185174 0.99472559 0.04565369 0.60083815] [ 0.37818959 -0.07726033 0.9224985 1.53422403] [ 0. 0. 0. 1. ]] SLAMing on 76.01964924600001 meters Centerline goodness : 0.881593 Centerline is valid? [False, False] Translation: X:15.03, Y:0.60, Z:1.54 [[ 0.92070626 -0.064533 -0.38488372 15.03297062] [ 0.09027713 0.99470177 0.04917753 0.600006 ] [ 0.37967094 -0.08002426 0.921654 1.53546876] [ 0. 0. 0. 1. ]] SLAMing on 76.04964924600002 meters Centerline goodness : 0.878763 Centerline is valid? [False, False] Translation: X:15.04, Y:0.60, Z:1.54 [[ 0.9203335 -0.06528809 -0.38564715 15.03602922] [ 0.09105226 0.99464456 0.04890479 0.60020369] [ 0.38038894 -0.08012276 0.92134934 1.53580689] [ 0. 0. 0. 1. ]] SLAMing on 76.07964924600002 meters Centerline goodness : 0.879877 Centerline is valid? [False, False] Translation: X:15.04, Y:0.60, Z:1.54 [[ 0.91971263 -0.06625653 -0.38696091 15.04050282] [ 0.09210861 0.99456085 0.04862844 0.59988188] [ 0.38163422 -0.08036662 0.92081297 1.53685756] [ 0. 0. 0. 1. ]] SLAMing on 76.10964924600002 meters Centerline goodness : 0.877304 Centerline is valid? [False, False] Translation: X:15.04, Y:0.60, Z:1.54 [[ 0.91945814 -0.06652843 -0.38751863 15.0421256 ] [ 0.09248005 0.99452347 0.04868786 0.59991823] [ 0.38215725 -0.08060419 0.92057526 1.53758782] [ 0. 0. 0. 1. ]] SLAMing on 76.139649246 meters Centerline goodness : 0.878815 Centerline is valid? [False, False] Translation: X:15.06, Y:0.60, Z:1.54 [[ 0.92130435 -0.06822358 -0.38281045 15.0584144 ] [ 0.09104087 0.99497012 0.0417855 0.60236749] [ 0.3780342 -0.07334856 0.92288143 1.54038542] [ 0. 0. 0. 1. ]] SLAMing on 76.169649246 meters Centerline goodness : 0.879695 Centerline is valid? [False, False] Translation: X:15.06, Y:0.60, Z:1.54 [[ 0.92099629 -0.06860372 -0.38348319 15.06030791] [ 0.09151023 0.99492696 0.04178774 0.6023045 ] [ 0.37867097 -0.07357899 0.92260199 1.54123186] [ 0. 0. 0. 1. ]] SLAMing on 76.199649246 meters Centerline goodness : 0.880258 Centerline is valid? [False, False] Translation: X:15.06, Y:0.60, Z:1.54 [[ 0.92067043 -0.06883103 -0.38422421 15.06276987] [ 0.09181438 0.99489949 0.04177462 0.60304924] [ 0.37938908 -0.07373796 0.92229423 1.5417963 ] [ 0. 0. 0. 1. ]] SLAMing on 76.22964924600001 meters Centerline goodness : 0.880261 Centerline is valid? [False, False] Translation: X:15.07, Y:0.60, Z:1.54 [[ 0.92038567 -0.06944315 -0.38479588 15.06520365] [ 0.09236112 0.99486555 0.04137584 0.60451724] [ 0.3799469 -0.07362191 0.92207384 1.54183572] [ 0. 0. 0. 1. ]] SLAMing on 76.25964924600001 meters Centerline goodness : 0.876214 Centerline is valid? [False, False] Translation: X:15.07, Y:0.60, Z:1.55 [[ 0.91973009 -0.06635726 -0.38690215 15.07109946] [ 0.09086835 0.99482811 0.0453869 0.60377669] [ 0.38188938 -0.07690086 0.92100313 1.54502655] [ 0. 0. 0. 1. ]] SLAMing on 76.28964924600001 meters Centerline goodness : 0.876990 Centerline is valid? [False, False] Translation: X:15.07, Y:0.60, Z:1.55 [[ 0.91930269 -0.06687212 -0.38782817 15.07356175] [ 0.09148468 0.99477431 0.04532792 0.6038476 ] [ 0.38277032 -0.07715041 0.92061647 1.54613615] [ 0. 0. 0. 1. ]] SLAMing on 76.31964924600001 meters Centerline goodness : 0.874086 Centerline is valid? [False, False] Translation: X:15.08, Y:0.60, Z:1.55 [[ 0.91883105 -0.06739152 -0.38885457 15.07638798] [ 0.09222983 0.99469568 0.04554294 0.60332485] [ 0.38372276 -0.07771026 0.92017279 1.54776214] [ 0. 0. 0. 1. ]] SLAMing on 76.34964924600001 meters Centerline goodness : 0.875444 Centerline is valid? [False, False] Translation: X:15.08, Y:0.60, Z:1.55 [[ 0.91836658 -0.06818328 -0.3898126 15.07970654] [ 0.09305721 0.99463148 0.04526122 0.6038758 ] [ 0.38463383 -0.07784126 0.91978125 1.5485976 ] [ 0. 0. 0. 1. ]] SLAMing on 76.37964924600001 meters Centerline goodness : 0.874574 Centerline is valid? [False, False] Translation: X:15.08, Y:0.60, Z:1.55 [[ 0.91786703 -0.06909179 -0.39082789 15.08294042] [ 0.0939656 0.99456435 0.04485782 0.60461814] [ 0.38560418 -0.07789789 0.91937007 1.54941984] [ 0. 0. 0. 1. ]] SLAMing on 76.40964924600001 meters Centerline goodness : 0.876502 Centerline is valid? [False, False] Translation: X:15.09, Y:0.60, Z:1.55 [[ 0.91746303 -0.06980738 -0.39164847 15.08586734] [ 0.09469574 0.99450803 0.04457018 0.60484554] [ 0.38638622 -0.07797894 0.91903481 1.54997723] [ 0. 0. 0. 1. ]] SLAMing on 76.43964924600002 meters Centerline goodness : 0.874832 Centerline is valid? [False, False] Translation: X:15.09, Y:0.60, Z:1.56 [[ 0.91623091 -0.07255442 -0.39402637 15.09301457] [ 0.09838618 0.9940971 0.04572873 0.6028839 ] [ 0.38838265 -0.08066482 0.91796084 1.55604058] [ 0. 0. 0. 1. ]] SLAMing on 76.46964924600002 meters Centerline goodness : 0.874698 Centerline is valid? [False, False] Translation: X:15.10, Y:0.60, Z:1.56 [[ 0.91568115 -0.07378967 -0.39507355 15.09689281] [ 0.09984433 0.99394983 0.04576957 0.60220659] [ 0.38930597 -0.08135619 0.9175086 1.55748099] [ 0. 0. 0. 1. ]] SLAMing on 76.49964924600002 meters Centerline goodness : 0.874490 Centerline is valid? [False, False] Translation: X:15.11, Y:0.60, Z:1.57 [[ 0.91446508 -0.07935689 -0.39680738 15.1141002 ] [ 0.10774153 0.99293483 0.04972099 0.60288091] [ 0.39005817 -0.08822074 0.91655427 1.56708395] [ 0. 0. 0. 1. ]] SLAMing on 76.529649246 meters Centerline goodness : 0.871234 Centerline is valid? [False, False] Translation: X:15.12, Y:0.60, Z:1.57 [[ 0.91400281 -0.08042935 -0.39765561 15.11761587] [ 0.10869626 0.99286562 0.04902018 0.60433571] [ 0.39087592 -0.08802826 0.91622434 1.56716834] [ 0. 0. 0. 1. ]] SLAMing on 76.559649246 meters Centerline goodness : 0.873914 Centerline is valid? [False, False] Translation: X:15.12, Y:0.61, Z:1.57 [[ 0.9134651 -0.08104887 -0.39876383 15.12061633] [ 0.10929048 0.99282277 0.04856476 0.60581358] [ 0.39196569 -0.0879433 0.91576682 1.56805459] [ 0. 0. 0. 1. ]] SLAMing on 76.58964924600001 meters Centerline goodness : 0.877939 Centerline is valid? [False, False] Translation: X:15.12, Y:0.60, Z:1.58 [[ 0.91275715 -0.07674754 -0.40122837 15.12386811] [ 0.1074665 0.99270889 0.05458948 0.60454992] [ 0.39411336 -0.09294555 0.91434992 1.57519862] [ 0. 0. 0. 1. ]] SLAMing on 76.61964924600001 meters Centerline goodness : 0.878276 Centerline is valid? [False, False] Translation: X:15.13, Y:0.60, Z:1.58 [[ 0.9124964 -0.07214761 -0.40267238 15.12590438] [ 0.10461707 0.99274902 0.05920005 0.60299468] [ 0.39548147 -0.09614623 0.91342778 1.57818372] [ 0. 0. 0. 1. ]] SLAMing on 76.64964924600001 meters Centerline goodness : 0.878198 Centerline is valid? [False, False] Translation: X:15.13, Y:0.60, Z:1.58 [[ 0.912099 -0.07281101 -0.40345257 15.12831728] [ 0.10516534 0.99272707 0.05859361 0.60477002] [ 0.39625202 -0.0958724 0.91312256 1.57844874] [ 0. 0. 0. 1. ]] SLAMing on 76.67964924600001 meters Centerline goodness : 0.876712 Centerline is valid? [False, False] Translation: X:15.13, Y:0.61, Z:1.58 [[ 0.9115839 -0.06901062 -0.40528056 15.13280577] [ 0.10290012 0.99273194 0.06240874 0.60646316] [ 0.39802809 -0.09859422 0.91205966 1.580891 ] [ 0. 0. 0. 1. ]] SLAMing on 76.70964924600001 meters Centerline goodness : 0.874518 Centerline is valid? [False, False] Translation: X:15.13, Y:0.61, Z:1.58 [[ 0.9113248 -0.06962438 -0.405758 15.13464388] [ 0.10329071 0.99273916 0.06164399 0.60877066] [ 0.39851993 -0.09808873 0.91189937 1.58059781] [ 0. 0. 0. 1. ]] SLAMing on 76.73964924600001 meters Centerline goodness : 0.869252 Centerline is valid? [False, False] Translation: X:15.15, Y:0.61, Z:1.58 [[ 0.91310631 -0.06949739 -0.40175488 15.15189143] [ 0.09976475 0.99349615 0.05488531 0.61458801] [ 0.39532754 -0.0901971 0.91410099 1.58176557] [ 0. 0. 0. 1. ]] SLAMing on 76.76964924600001 meters Centerline goodness : 0.870564 Centerline is valid? [False, False] Translation: X:15.15, Y:0.62, Z:1.58 [[ 0.91274028 -0.06990499 -0.40251517 15.15363496] [ 0.09989952 0.99353198 0.05398425 0.61718472] [ 0.39613793 -0.08948467 0.91382013 1.58174336] [ 0. 0. 0. 1. ]] SLAMing on 76.79964924600002 meters Centerline goodness : 0.867343 Centerline is valid? [False, False] Translation: X:15.16, Y:0.62, Z:1.58 [[ 0.91249552 -0.06528754 -0.40384335 15.15577842] [ 0.0963116 0.9937196 0.05696862 0.62072374] [ 0.39758772 -0.09087841 0.91305264 1.58235162] [ 0. 0. 0. 1. ]] SLAMing on 76.82964924600002 meters Centerline goodness : 0.868373 Centerline is valid? [False, False] Translation: X:15.16, Y:0.62, Z:1.58 [[ 0.91224392 -0.06076452 -0.40511567 15.15806382] [ 0.09316355 0.99379734 0.06072405 0.62171892] [ 0.39891301 -0.09313715 0.91224661 1.58384235] [ 0. 0. 0. 1. ]] SLAMing on 76.85964924600002 meters Centerline goodness : 0.867514 Centerline is valid? [False, False] Translation: X:15.16, Y:0.63, Z:1.58 [[ 0.91204905 -0.05654574 -0.40616389 15.16075675] [ 0.08973148 0.99396416 0.0631151 0.62575125] [ 0.40014346 -0.09400976 0.911618 1.58325687] [ 0. 0. 0. 1. ]] SLAMing on 76.889649246 meters Centerline goodness : 0.869218 Centerline is valid? [False, False] Translation: X:15.16, Y:0.63, Z:1.58 [[ 0.9117578 -0.05627326 -0.40685506 15.1624197 ] [ 0.08900701 0.99410154 0.0619668 0.6303987 ] [ 0.40096816 -0.09271167 0.91138854 1.58203613] [ 0. 0. 0. 1. ]] SLAMing on 76.919649246 meters Centerline goodness : 0.867653 Centerline is valid? [False, False] Translation: X:15.16, Y:0.63, Z:1.58 [[ 0.91151307 -0.05661252 -0.40735604 15.16378901] [ 0.0891464 0.99412933 0.06131722 0.63259026] [ 0.40149326 -0.09220577 0.91120868 1.5818929 ] [ 0. 0. 0. 1. ]] SLAMing on 76.949649246 meters Centerline goodness : 0.869639 Centerline is valid? [False, False] Translation: X:15.18, Y:0.64, Z:1.58 [[ 0.91349757 -0.05802194 -0.40268555 15.17974569] [ 0.08670476 0.99480442 0.05335206 0.63695398] [ 0.39749778 -0.08365173 0.9137822 1.58249503] [ 0. 0. 0. 1. ]] SLAMing on 76.97964924600001 meters Centerline goodness : 0.869476 Centerline is valid? [False, False] Translation: X:15.18, Y:0.64, Z:1.58 [[ 0.91316111 -0.05826149 -0.40341342 15.18144319] [ 0.0870146 0.99478029 0.05329762 0.63691893] [ 0.39820252 -0.08377217 0.91346427 1.58332317] [ 0. 0. 0. 1. ]] SLAMing on 77.00964924600001 meters Centerline goodness : 0.873830 Centerline is valid? [False, False] Translation: X:15.18, Y:0.64, Z:1.58 [[ 0.91288979 -0.05827373 -0.40402524 15.18262107] [ 0.08711712 0.99476788 0.05336175 0.63634185] [ 0.39880175 -0.08391092 0.91319008 1.58414709] [ 0. 0. 0. 1. ]] SLAMing on 77.03964924600001 meters Centerline goodness : 0.876315 Centerline is valid? [False, False] Translation: X:15.18, Y:0.64, Z:1.58 [[ 0.91254364 -0.0584766 -0.40477722 15.18481958] [ 0.08726965 0.9947721 0.05303281 0.63661802] [ 0.3995599 -0.08371952 0.91287618 1.58445134] [ 0. 0. 0. 1. ]] SLAMing on 77.06964924600001 meters Centerline goodness : 0.879733 Centerline is valid? [False, False] Translation: X:15.19, Y:0.64, Z:1.58 [[ 0.91226575 -0.0594875 -0.40525601 15.18833293] [ 0.08777489 0.994805 0.05156138 0.63904199] [ 0.40008344 -0.08260898 0.91274804 1.58275952] [ 0. 0. 0. 1. ]] SLAMing on 77.09964924600001 meters Centerline goodness : 0.880654 Centerline is valid? [False, False] Translation: X:15.19, Y:0.64, Z:1.58 [[ 0.91191557 -0.06032619 -0.40591962 15.19112008] [ 0.08850323 0.99477006 0.0509874 0.63983738] [ 0.40072081 -0.0824214 0.91248537 1.5827858 ] [ 0. 0. 0. 1. ]] SLAMing on 77.12964924600001 meters Centerline goodness : 0.881127 Centerline is valid? [False, False] Translation: X:15.20, Y:0.64, Z:1.58 [[ 0.91133546 -0.06177503 -0.4070031 15.19562793] [ 0.08986731 0.9946852 0.05025159 0.63992477] [ 0.40173567 -0.08237233 0.91204345 1.58322015] [ 0. 0. 0. 1. ]] SLAMing on 77.15964924600001 meters Centerline goodness : 0.881956 Centerline is valid? [False, False] Translation: X:15.20, Y:0.64, Z:1.58 [[ 0.91083131 -0.06254983 -0.40801206 15.1985829 ] [ 0.09078859 0.99460432 0.05019645 0.63927376] [ 0.40267077 -0.08276334 0.91159557 1.5844536 ] [ 0. 0. 0. 1. ]] SLAMing on 77.18964924600002 meters Centerline goodness : 0.883939 Centerline is valid? [False, False] Translation: X:15.20, Y:0.64, Z:1.59 [[ 0.91033781 -0.06336559 -0.40898639 15.20139801] [ 0.0917311 0.994523 0.05009398 0.63858492] [ 0.40357214 -0.08311922 0.91116449 1.58573134] [ 0. 0. 0. 1. ]] SLAMing on 77.21964924600002 meters Centerline goodness : 0.880449 Centerline is valid? [False, False] Translation: X:15.20, Y:0.64, Z:1.59 [[ 0.90975187 -0.06404209 -0.41018305 15.20455496] [ 0.09264905 0.99443121 0.05022681 0.63761077] [ 0.4046822 -0.083697 0.91061909 1.58755703] [ 0. 0. 0. 1. ]] SLAMing on 77.24964924600002 meters Centerline goodness : 0.884642 Centerline is valid? [False, False] Translation: X:15.21, Y:0.64, Z:1.59 [[ 0.90937299 -0.06470481 -0.41091854 15.20700909] [ 0.09335881 0.99437488 0.05002728 0.6374059 ] [ 0.40537006 -0.08385633 0.91029843 1.58822387] [ 0. 0. 0. 1. ]] SLAMing on 77.279649246 meters Centerline goodness : 0.883001 Centerline is valid? [False, False] Translation: X:15.21, Y:0.64, Z:1.59 [[ 0.90868964 -0.06577524 -0.41225811 15.21087619] [ 0.09477703 0.99422809 0.05027752 0.63602862] [ 0.40657158 -0.08475926 0.90967874 1.59048454] [ 0. 0. 0. 1. ]] SLAMing on 77.309649246 meters Centerline goodness : 0.886120 Centerline is valid? [False, False] Translation: X:15.21, Y:0.64, Z:1.59 [[ 0.90813797 -0.06682759 -0.41330317 15.2140251 ] [ 0.09601452 0.99411173 0.0502303 0.63530271] [ 0.40751276 -0.08529915 0.90920702 1.59216115] [ 0. 0. 0. 1. ]] SLAMing on 77.33964924600001 meters Centerline goodness : 0.888295 Centerline is valid? [False, False] Translation: X:15.22, Y:0.63, Z:1.59 [[ 0.9077331 -0.06739984 -0.41409887 15.21604742] [ 0.09670981 0.99404581 0.05020096 0.63481722] [ 0.40824972 -0.0856165 0.90884651 1.59331005] [ 0. 0. 0. 1. ]] SLAMing on 77.36964924600001 meters Centerline goodness : 0.885619 Centerline is valid? [False, False] Translation: X:15.22, Y:0.63, Z:1.59 [[ 0.90726878 -0.06822121 -0.414981 15.21901339] [ 0.09763303 0.99396315 0.05005054 0.63427052] [ 0.40906131 -0.08592515 0.90845237 1.59429673] [ 0. 0. 0. 1. ]] SLAMing on 77.39964924600001 meters Centerline goodness : 0.885619 Centerline is valid? [False, False] Translation: X:15.22, Y:0.63, Z:1.59 [[ 0.90726878 -0.06822121 -0.414981 15.21901339] [ 0.09763303 0.99396315 0.05005054 0.63427052] [ 0.40906131 -0.08592515 0.90845237 1.59429673] [ 0. 0. 0. 1. ]] SLAMing on 77.42964924600001 meters Centerline goodness : 0.886687 Centerline is valid? [False, False] Translation: X:15.22, Y:0.63, Z:1.59 [[ 0.90688971 -0.06916764 -0.41565236 15.22165634] [ 0.09848016 0.99390839 0.04947486 0.6348784 ] [ 0.40969832 -0.08580175 0.90817694 1.59457046] [ 0. 0. 0. 1. ]] SLAMing on 77.45964924600001 meters Centerline goodness : 0.884336 Centerline is valid? [False, False] Translation: X:15.22, Y:0.64, Z:1.59 [[ 0.9065219 -0.07001345 -0.41631258 15.22425543] [ 0.09924993 0.99385658 0.048975 0.63533491] [ 0.41032609 -0.08571591 0.90790158 1.59485096] [ 0. 0. 0. 1. ]] SLAMing on 77.48964924600001 meters Centerline goodness : 0.887823 Centerline is valid? [False, False] Translation: X:15.23, Y:0.63, Z:1.60 [[ 0.90589393 -0.07144931 -0.41743406 15.22853035] [ 0.10067991 0.99374098 0.04839858 0.63494918] [ 0.41136329 -0.0858712 0.90741743 1.59584091] [ 0. 0. 0. 1. ]] SLAMing on 77.51964924600001 meters Centerline goodness : 0.888796 Centerline is valid? [False, False] Translation: X:15.23, Y:0.63, Z:1.60 [[ 0.9053567 -0.0722479 -0.41846085 15.23132265] [ 0.10164109 0.99364549 0.04835014 0.63450629] [ 0.41230854 -0.08630694 0.90694696 1.59744433] [ 0. 0. 0. 1. ]] SLAMing on 77.54964924600002 meters Centerline goodness : 0.891517 Centerline is valid? [False, False] Translation: X:15.23, Y:0.63, Z:1.60 [[ 0.90495083 -0.07263933 -0.41927023 15.23302032] [ 0.10218386 0.99358678 0.04841244 0.63387009] [ 0.41306471 -0.08665353 0.90656975 1.59881309] [ 0. 0. 0. 1. ]] SLAMing on 77.57964924600002 meters Centerline goodness : 0.892726 Centerline is valid? [False, False] Translation: X:15.24, Y:0.63, Z:1.60 [[ 0.90449983 -0.0733583 -0.42011737 15.23539465] [ 0.10301051 0.99350697 0.04829843 0.63289594] [ 0.41384645 -0.08696243 0.90618357 1.60006251] [ 0. 0. 0. 1. ]] SLAMing on 77.60964924600002 meters Centerline goodness : 0.890901 Centerline is valid? [False, False] Translation: X:15.24, Y:0.63, Z:1.60 [[ 0.90419098 -0.07393489 -0.42068076 15.23728768] [ 0.10349701 0.99347824 0.04784712 0.63405914] [ 0.41439962 -0.08680214 0.90594611 1.60028994] [ 0. 0. 0. 1. ]] SLAMing on 77.639649246 meters Centerline goodness : 0.887729 Centerline is valid? [False, False] Translation: X:15.24, Y:0.64, Z:1.60 [[ 0.90384697 -0.07464208 -0.42129469 15.2393608 ] [ 0.10413 0.99343396 0.04739106 0.63532328] [ 0.41499109 -0.08670368 0.90568475 1.60073423] [ 0. 0. 0. 1. ]] SLAMing on 77.669649246 meters Centerline goodness : 0.887802 Centerline is valid? [False, False] Translation: X:15.24, Y:0.64, Z:1.60 [[ 0.90344041 -0.07552875 -0.42200809 15.24173036] [ 0.10500745 0.99335946 0.04701516 0.63584597] [ 0.41565473 -0.08678939 0.90537216 1.60145313] [ 0. 0. 0. 1. ]] SLAMing on 77.699649246 meters Centerline goodness : 0.886887 Centerline is valid? [False, False] Translation: X:15.24, Y:0.64, Z:1.60 [[ 0.90296904 -0.07640016 -0.42285924 15.24481874] [ 0.10576958 0.99330784 0.04639316 0.63747553] [ 0.41648496 -0.08661723 0.90500704 1.60178908] [ 0. 0. 0. 1. ]] SLAMing on 77.72964924600001 meters Centerline goodness : 0.888946 Centerline is valid? [False, False] Translation: X:15.25, Y:0.64, Z:1.60 [[ 0.90248149 -0.0774328 -0.42371137 15.24745336] [ 0.10687973 0.99320073 0.04614146 0.63695438] [ 0.41725758 -0.08692797 0.90462127 1.60300836] [ 0. 0. 0. 1. ]] SLAMing on 77.75964924600001 meters Centerline goodness : 0.891499 Centerline is valid? [False, False] Translation: X:15.25, Y:0.64, Z:1.61 [[ 0.90170978 -0.07890377 -0.42508078 15.25131597] [ 0.10864947 0.99300822 0.04615168 0.63534597] [ 0.41846716 -0.08780022 0.90397807 1.60572105] [ 0. 0. 0. 1. ]] SLAMing on 77.78964924600001 meters Centerline goodness : 0.888290 Centerline is valid? [False, False] Translation: X:15.25, Y:0.63, Z:1.61 [[ 0.90109728 -0.08026326 -0.42612381 15.25470866] [ 0.11014632 0.99285456 0.04590873 0.63493966] [ 0.41939419 -0.0883042 0.90349924 1.60733394] [ 0. 0. 0. 1. ]] SLAMing on 77.81964924600001 meters Centerline goodness : 0.888595 Centerline is valid? [False, False] Translation: X:15.26, Y:0.64, Z:1.61 [[ 0.90042412 -0.0821161 -0.42719241 15.25985062] [ 0.11178925 0.99272146 0.04480259 0.63757259] [ 0.42040405 -0.08809685 0.90305004 1.607447 ] [ 0. 0. 0. 1. ]] SLAMing on 77.84964924600001 meters Centerline goodness : 0.888922 Centerline is valid? [False, False] Translation: X:15.26, Y:0.64, Z:1.61 [[ 0.90015978 -0.08288395 -0.427601 15.26240185] [ 0.1122681 0.99270691 0.04391889 0.63969896] [ 0.4208423 -0.08753997 0.90290006 1.60666528] [ 0. 0. 0. 1. ]] SLAMing on 77.87964924600001 meters Centerline goodness : 0.887056 Centerline is valid? [False, False] Translation: X:15.27, Y:0.64, Z:1.61 [[ 0.89990092 -0.07879879 -0.42891617 15.26580228] [ 0.10970679 0.99281505 0.04777766 0.63934446] [ 0.42206961 -0.09005017 0.90207994 1.6082338 ] [ 0. 0. 0. 1. ]] SLAMing on 77.90964924600001 meters Centerline goodness : 0.886270 Centerline is valid? [False, False] Translation: X:15.27, Y:0.64, Z:1.61 [[ 0.89977391 -0.07901782 -0.42914228 15.26619009] [ 0.1098788 0.99280572 0.04757566 0.63993739] [ 0.42229559 -0.08996098 0.90198307 1.60865097] [ 0. 0. 0. 1. ]] SLAMing on 77.93964924600002 meters Centerline goodness : 0.893746 Centerline is valid? [False, False] Translation: X:15.27, Y:0.64, Z:1.61 [[ 0.89939819 -0.07953558 -0.42983366 15.26787379] [ 0.11036439 0.99276836 0.04723019 0.64055349] [ 0.42296878 -0.08991708 0.90167196 1.60951324] [ 0. 0. 0. 1. ]] SLAMing on 77.96964924600002 meters Centerline goodness : 0.890413 Centerline is valid? [False, False] Translation: X:15.27, Y:0.64, Z:1.61 [[ 0.89912238 -0.08006937 -0.43031133 15.26952112] [ 0.1107678 0.99274746 0.04672234 0.64120768] [ 0.42344945 -0.08967375 0.90147057 1.60967061] [ 0. 0. 0. 1. ]] SLAMing on 77.99964924600002 meters Centerline goodness : 0.887507 Centerline is valid? [False, False] Translation: X:15.27, Y:0.64, Z:1.61 [[ 0.89888808 -0.08081089 -0.43066206 15.27154988] [ 0.11112673 0.99275668 0.04566211 0.64326437] [ 0.42385264 -0.08890319 0.9013574 1.60885883] [ 0. 0. 0. 1. ]] SLAMing on 78.029649246 meters Centerline goodness : 0.888365 Centerline is valid? [False, False] Translation: X:15.28, Y:0.64, Z:1.61 [[ 0.8985882 -0.07697286 -0.43198893 15.27512409] [ 0.10874344 0.99284703 0.04929129 0.6429549 ] [ 0.42510483 -0.09126853 0.90053092 1.61038789] [ 0. 0. 0. 1. ]] SLAMing on 78.059649246 meters Centerline goodness : 0.882794 Centerline is valid? [False, False] Translation: X:15.28, Y:0.64, Z:1.61 [[ 0.89827173 -0.07786742 -0.43248648 15.27741551] [ 0.10934874 0.99282624 0.04836235 0.64488108] [ 0.42561808 -0.09073439 0.90034245 1.61011251] [ 0. 0. 0. 1. ]] SLAMing on 78.08964924600001 meters Centerline goodness : 0.886911 Centerline is valid? [False, False] Translation: X:15.28, Y:0.65, Z:1.61 [[ 0.89800794 -0.07831017 -0.4329541 15.27892572] [ 0.10974761 0.99279687 0.04806083 0.64525768] [ 0.42607182 -0.09067469 0.90013383 1.61049297] [ 0. 0. 0. 1. ]] SLAMing on 78.11964924600001 meters Centerline goodness : 0.890078 Centerline is valid? [False, False] Translation: X:15.28, Y:0.65, Z:1.61 [[ 0.89760965 -0.07906078 -0.43364307 15.28117796] [ 0.1104998 0.99272917 0.04773452 0.64551731] [ 0.4267162 -0.09076444 0.89981948 1.61130255] [ 0. 0. 0. 1. ]] SLAMing on 78.14964924600001 meters Centerline goodness : 0.890456 Centerline is valid? [False, False] Translation: X:15.28, Y:0.65, Z:1.61 [[ 0.89734497 -0.07939689 -0.43412917 15.28275571] [ 0.11089971 0.99268723 0.04767941 0.64518981] [ 0.42716889 -0.09092967 0.89958798 1.61186631] [ 0. 0. 0. 1. ]] SLAMing on 78.17964924600001 meters Centerline goodness : 0.894291 Centerline is valid? [False, False] Translation: X:15.28, Y:0.64, Z:1.61 [[ 0.8969796 -0.07947928 -0.43486854 15.28404133] [ 0.11131946 0.99261529 0.04819602 0.64385291] [ 0.42782658 -0.09164018 0.89920326 1.61369391] [ 0. 0. 0. 1. ]] SLAMing on 78.20964924600001 meters Centerline goodness : 0.892319 Centerline is valid? [False, False] Translation: X:15.28, Y:0.64, Z:1.61 [[ 0.89685149 -0.07959646 -0.43511126 15.28446716] [ 0.11146333 0.99260049 0.0481683 0.64370743] [ 0.42805763 -0.09169877 0.89908732 1.6141719 ] [ 0. 0. 0. 1. ]] SLAMing on 78.23964924600001 meters Centerline goodness : 0.888515 Centerline is valid? [False, False] Translation: X:15.29, Y:0.65, Z:1.61 [[ 0.89664808 -0.07985095 -0.43548369 15.28565828] [ 0.11161475 0.99260096 0.04780668 0.64507518] [ 0.42844412 -0.09147217 0.89892629 1.61425413] [ 0. 0. 0. 1. ]] SLAMing on 78.26964924600001 meters Centerline goodness : 0.890919 Centerline is valid? [False, False] Translation: X:15.29, Y:0.65, Z:1.61 [[ 0.89645568 -0.08042384 -0.43577428 15.28718017] [ 0.11187872 0.99261158 0.04696166 0.64733735] [ 0.42877776 -0.09085292 0.89883001 1.61363642] [ 0. 0. 0. 1. ]] SLAMing on 78.29964924600002 meters Centerline goodness : 0.890103 Centerline is valid? [False, False] Translation: X:15.29, Y:0.65, Z:1.61 [[ 0.89631613 -0.08103219 -0.43594859 15.28932686] [ 0.11200665 0.99265248 0.04577733 0.65009703] [ 0.42903601 -0.0898601 0.89880658 1.61202586] [ 0. 0. 0. 1. ]] SLAMing on 78.32964924600002 meters Centerline goodness : 0.889238 Centerline is valid? [False, False] Translation: X:15.29, Y:0.65, Z:1.61 [[ 0.89603674 -0.08178545 -0.43638206 15.2917034 ] [ 0.11261362 0.99261022 0.04520091 0.65023827] [ 0.42946052 -0.08964424 0.89862538 1.61183288] [ 0. 0. 0. 1. ]] SLAMing on 78.35964924600002 meters Centerline goodness : 0.889334 Centerline is valid? [False, False] Translation: X:15.30, Y:0.65, Z:1.61 [[ 0.89527634 -0.08344645 -0.43762652 15.29667471] [ 0.11449651 0.9924039 0.04500053 0.64895481] [ 0.43054713 -0.09039462 0.89803006 1.61363303] [ 0. 0. 0. 1. ]] SLAMing on 78.389649246 meters Centerline goodness : 0.891482 Centerline is valid? [False, False] Translation: X:15.30, Y:0.65, Z:1.61 [[ 0.89486385 -0.084521 -0.4382635 15.29979217] [ 0.11548058 0.99231601 0.04442044 0.6490537 ] [ 0.43114142 -0.09036117 0.89774826 1.61381268] [ 0. 0. 0. 1. ]] SLAMing on 78.419649246 meters Centerline goodness : 0.892920 Centerline is valid? [False, False] Translation: X:15.30, Y:0.65, Z:1.61 [[ 0.89429684 -0.08605147 -0.43912221 15.30392494] [ 0.11709544 0.99214333 0.04404854 0.64760227] [ 0.43188173 -0.09081168 0.89734688 1.6149151 ] [ 0. 0. 0. 1. ]] SLAMing on 78.449649246 meters Centerline goodness : 0.892882 Centerline is valid? [False, False] Translation: X:15.31, Y:0.65, Z:1.62 [[ 0.89365467 -0.08703735 -0.44023384 15.30646396] [ 0.11854469 0.99194995 0.04452479 0.64533426] [ 0.43281462 -0.09197717 0.89677852 1.61782381] [ 0. 0. 0. 1. ]] SLAMing on 78.47964924600001 meters Centerline goodness : 0.896611 Centerline is valid? [False, False] Translation: X:15.31, Y:0.64, Z:1.62 [[ 0.89320499 -0.08792149 -0.44097013 15.30901685] [ 0.11963652 0.99181643 0.04457887 0.64441054] [ 0.43344198 -0.0925742 0.89641401 1.61920636] [ 0. 0. 0. 1. ]] SLAMing on 78.50964924600001 meters Centerline goodness : 0.894891 Centerline is valid? [False, False] Translation: X:15.31, Y:0.65, Z:1.62 [[ 0.89289732 -0.08898579 -0.44137954 15.31180097] [ 0.12051731 0.99174187 0.04385941 0.64544576] [ 0.43383171 -0.09235582 0.89624799 1.61887349] [ 0. 0. 0. 1. ]] SLAMing on 78.53964924600001 meters Centerline goodness : 0.894435 Centerline is valid? [False, False] Translation: X:15.31, Y:0.65, Z:1.62 [[ 0.89253386 -0.08998147 -0.44191249 15.31491985] [ 0.12126681 0.99168824 0.04299757 0.64778788] [ 0.43437044 -0.09196611 0.8960271 1.61834914] [ 0. 0. 0. 1. ]] SLAMing on 78.56964924600001 meters Centerline goodness : 0.892640 Centerline is valid? [False, False] Translation: X:15.32, Y:0.65, Z:1.62 [[ 0.89233839 -0.09032979 -0.44223605 15.3162154 ] [ 0.12154899 0.99166633 0.04270527 0.64847065] [ 0.43469304 -0.0918609 0.89588143 1.61838154] [ 0. 0. 0. 1. ]] SLAMing on 78.59964924600001 meters Centerline goodness : 0.892634 Centerline is valid? [False, False] Translation: X:15.32, Y:0.65, Z:1.62 [[ 0.89193432 -0.09096564 -0.44292034 15.31796271] [ 0.12217941 0.99160249 0.04238744 0.64904816] [ 0.43534511 -0.09192256 0.89555842 1.61939278] [ 0. 0. 0. 1. ]] SLAMing on 78.62964924600001 meters Centerline goodness : 0.895174 Centerline is valid? [False, False] Translation: X:15.32, Y:0.65, Z:1.62 [[ 0.89160266 -0.09146674 -0.44348453 15.31957603] [ 0.12271463 0.99154397 0.04220981 0.64904759] [ 0.43587362 -0.09205642 0.89528756 1.62014868] [ 0. 0. 0. 1. ]] SLAMing on 78.65964924600001 meters Centerline goodness : 0.893347 Centerline is valid? [False, False] Translation: X:15.32, Y:0.65, Z:1.62 [[ 0.89122889 -0.09241109 -0.44403971 15.3223763 ] [ 0.12354358 0.99146575 0.04162504 0.64977606] [ 0.43640355 -0.09195569 0.89503972 1.62032118] [ 0. 0. 0. 1. ]] SLAMing on 78.68964924600002 meters Centerline goodness : 0.891958 Centerline is valid? [False, False] Translation: X:15.33, Y:0.65, Z:1.62 [[ 0.89076373 -0.08856464 -0.4457536 15.32619983] [ 0.12158603 0.99151582 0.04596976 0.64926379] [ 0.43790045 -0.09514561 0.89397456 1.62367374] [ 0. 0. 0. 1. ]] SLAMing on 78.71964924600002 meters Centerline goodness : 0.896779 Centerline is valid? [False, False] Translation: X:15.33, Y:0.65, Z:1.62 [[ 0.89059085 -0.08869837 -0.44607234 15.32668049] [ 0.1217365 0.99150077 0.04589595 0.64999683] [ 0.43821017 -0.0951778 0.89381935 1.6241748 ] [ 0. 0. 0. 1. ]] SLAMing on 78.74964924600002 meters Centerline goodness : 0.896305 Centerline is valid? [False, False] Translation: X:15.33, Y:0.65, Z:1.62 [[ 0.89029127 -0.08906896 -0.44659621 15.32775965] [ 0.12213431 0.9914591 0.04573904 0.65098339] [ 0.43870795 -0.09526579 0.89356576 1.62497691] [ 0. 0. 0. 1. ]] SLAMing on 78.779649246 meters Centerline goodness : 0.892283 Centerline is valid? [False, False] Translation: X:15.33, Y:0.65, Z:1.63 [[ 0.88999795 -0.08935874 -0.44712264 15.32902875] [ 0.12223368 0.99147352 0.04515741 0.65317437] [ 0.43927505 -0.09484344 0.89333205 1.6250585 ] [ 0. 0. 0. 1. ]] SLAMing on 78.809649246 meters Centerline goodness : 0.895747 Centerline is valid? [False, False] Translation: X:15.33, Y:0.66, Z:1.62 [[ 0.88992267 -0.08966624 -0.44721091 15.33020478] [ 0.1220997 0.99153462 0.04416733 0.65604003] [ 0.43946478 -0.09390983 0.89333737 1.62378388] [ 0. 0. 0. 1. ]] SLAMing on 78.83964924600001 meters Centerline goodness : 0.895931 Centerline is valid? [False, False] Translation: X:15.33, Y:0.66, Z:1.62 [[ 0.88963826 -0.09038896 -0.4476311 15.33206299] [ 0.12257389 0.99151023 0.04339476 0.65794794] [ 0.43990841 -0.09347352 0.89316476 1.62358823] [ 0. 0. 0. 1. ]] SLAMing on 78.86964924600001 meters Centerline goodness : 0.895028 Centerline is valid? [False, False] Translation: X:15.33, Y:0.66, Z:1.62 [[ 0.88945869 -0.09076995 -0.44791076 15.33333896] [ 0.12275144 0.99151294 0.04282718 0.6595688 ] [ 0.4402219 -0.0930747 0.89305195 1.6232234 ] [ 0. 0. 0. 1. ]] SLAMing on 78.89964924600001 meters Centerline goodness : 0.893267 Centerline is valid? [False, False] Translation: X:15.34, Y:0.66, Z:1.62 [[ 0.88917149 -0.08657458 -0.44930937 15.33630512] [ 0.12001008 0.99168707 0.0464149 0.66059421] [ 0.44155594 -0.09519246 0.89216969 1.62488564] [ 0. 0. 0. 1. ]] SLAMing on 78.92964924600001 meters Centerline goodness : 0.896144 Centerline is valid? [False, False] Translation: X:15.34, Y:0.66, Z:1.63 [[ 0.88897839 -0.08696204 -0.44961654 15.33735834] [ 0.12030474 0.99166775 0.04606339 0.66138476] [ 0.44186446 -0.09504035 0.89203314 1.62501076] [ 0. 0. 0. 1. ]] SLAMing on 78.95964924600001 meters Centerline goodness : 0.896346 Centerline is valid? [False, False] Translation: X:15.34, Y:0.66, Z:1.63 [[ 0.88835785 -0.08801278 -0.45063741 15.34041254] [ 0.1213419 0.99156529 0.04554574 0.66225501] [ 0.44282781 -0.09514212 0.89154445 1.62623742] [ 0. 0. 0. 1. ]] SLAMing on 78.98964924600001 meters Centerline goodness : 0.895670 Centerline is valid? [False, False] Translation: X:15.34, Y:0.66, Z:1.63 [[ 0.88817863 -0.08845276 -0.45090446 15.34167636] [ 0.12165586 0.99154605 0.0451252 0.66317863] [ 0.44310108 -0.09493441 0.89143081 1.62613558] [ 0. 0. 0. 1. ]] SLAMing on 79.01964924600001 meters Centerline goodness : 0.894952 Centerline is valid? [False, False] Translation: X:15.34, Y:0.66, Z:1.63 [[ 0.88773513 -0.08409288 -0.4526088 15.3444001 ] [ 0.11945326 0.9915769 0.05006156 0.66132446] [ 0.44458661 -0.09850701 0.89030282 1.63038378] [ 0. 0. 0. 1. ]] SLAMing on 79.04964924600002 meters Centerline goodness : 0.897692 Centerline is valid? [False, False] Translation: X:15.35, Y:0.66, Z:1.63 [[ 0.88742535 -0.08453922 -0.45313283 15.34596002] [ 0.11996386 0.9915206 0.04995575 0.66129398] [ 0.44506732 -0.09869156 0.89004217 1.63110718] [ 0. 0. 0. 1. ]] SLAMing on 79.07964924600002 meters Centerline goodness : 0.896686 Centerline is valid? [False, False] Translation: X:15.35, Y:0.66, Z:1.63 [[ 0.88690788 -0.08555521 -0.45395453 15.3487129 ] [ 0.12125925 0.99135719 0.05007112 0.66004366] [ 0.44574724 -0.09945465 0.88961687 1.63294075] [ 0. 0. 0. 1. ]] SLAMing on 79.10964924600002 meters Centerline goodness : 0.897505 Centerline is valid? [False, False] Translation: X:15.35, Y:0.66, Z:1.63 [[ 0.88655258 -0.08627591 -0.45451182 15.35066031] [ 0.12199009 0.99128204 0.0497828 0.66023556] [ 0.44625435 -0.09958101 0.88934846 1.63360848] [ 0. 0. 0. 1. ]] SLAMing on 79.139649246 meters Centerline goodness : 0.900712 Centerline is valid? [False, False] Translation: X:15.35, Y:0.66, Z:1.63 [[ 0.88631529 -0.08670486 -0.45489282 15.35193292] [ 0.12245213 0.99123161 0.04965257 0.66040231] [ 0.44659902 -0.09971042 0.88916092 1.63415079] [ 0. 0. 0. 1. ]] SLAMing on 79.169649246 meters Centerline goodness : 0.901998 Centerline is valid? [False, False] Translation: X:15.35, Y:0.66, Z:1.64 [[ 0.88575354 -0.08754051 -0.45582598 15.35447033] [ 0.12347468 0.9911077 0.04959361 0.66021215] [ 0.44743119 -0.10021068 0.88868619 1.63587455] [ 0. 0. 0. 1. ]] SLAMing on 79.199649246 meters Centerline goodness : 0.904955 Centerline is valid? [False, False] Translation: X:15.36, Y:0.66, Z:1.64 [[ 0.88510651 -0.08904297 -0.45679077 15.35870982] [ 0.12478716 0.99099156 0.04861984 0.66137839] [ 0.44834655 -0.10003536 0.88824451 1.63626213] [ 0. 0. 0. 1. ]] SLAMing on 79.22964924600001 meters Centerline goodness : 0.902801 Centerline is valid? [False, False] Translation: X:15.36, Y:0.66, Z:1.64 [[ 0.88478533 -0.08971776 -0.45728071 15.36072343] [ 0.12536626 0.9909415 0.04814806 0.66164324] [ 0.4488187 -0.09992827 0.88801808 1.63650077] [ 0. 0. 0. 1. ]] SLAMing on 79.25964924600001 meters Centerline goodness : 0.904153 Centerline is valid? [False, False] Translation: X:15.36, Y:0.66, Z:1.64 [[ 0.88417186 -0.09060138 -0.45829195 15.36391865] [ 0.12628853 0.99084307 0.04776218 0.66138035] [ 0.44976808 -0.10010699 0.88751747 1.63769556] [ 0. 0. 0. 1. ]] SLAMing on 79.28964924600001 meters Centerline goodness : 0.900619 Centerline is valid? [False, False] Translation: X:15.37, Y:0.66, Z:1.64 [[ 0.88380916 -0.09137859 -0.45883692 15.36636112] [ 0.12700533 0.99077257 0.04732198 0.66171331] [ 0.45027882 -0.10009833 0.88725944 1.63796424] [ 0. 0. 0. 1. ]] SLAMing on 79.31964924600001 meters Centerline goodness : 0.900619 Centerline is valid? [False, False] Translation: X:15.37, Y:0.66, Z:1.64 [[ 0.88380916 -0.09137859 -0.45883692 15.36636112] [ 0.12700533 0.99077257 0.04732198 0.66171331] [ 0.45027882 -0.10009833 0.88725944 1.63796424] [ 0. 0. 0. 1. ]] SLAMing on 79.34964924600001 meters Centerline goodness : 0.898429 Centerline is valid? [False, False] Translation: X:15.37, Y:0.66, Z:1.64 [[ 0.88325191 -0.09260278 -0.45966379 15.36975963] [ 0.12817223 0.99065129 0.04671089 0.66215673] [ 0.45104096 -0.10017361 0.88686374 1.63869818] [ 0. 0. 0. 1. ]] SLAMing on 79.37964924600001 meters Centerline goodness : 0.901393 Centerline is valid? [False, False] Translation: X:15.37, Y:0.66, Z:1.64 [[ 0.88298906 -0.09286727 -0.46011518 15.37088909] [ 0.12853142 0.99060426 0.04672117 0.66180079] [ 0.45145319 -0.10039354 0.88662909 1.63947732] [ 0. 0. 0. 1. ]] SLAMing on 79.40964924600001 meters Centerline goodness : 0.900458 Centerline is valid? [False, False] Translation: X:15.37, Y:0.66, Z:1.64 [[ 0.88256375 -0.09317321 -0.46086872 15.37241412] [ 0.12901296 0.99053774 0.04680419 0.66186744] [ 0.45214696 -0.10076572 0.88623326 1.64095652] [ 0. 0. 0. 1. ]] SLAMing on 79.43964924600002 meters Centerline goodness : 0.899261 Centerline is valid? [False, False] Translation: X:15.37, Y:0.66, Z:1.64 [[ 0.88226283 -0.09375318 -0.46132704 15.37391734] [ 0.12951998 0.99049024 0.04640753 0.66299309] [ 0.45258907 -0.10069471 0.88601564 1.6413452 ] [ 0. 0. 0. 1. ]] SLAMing on 79.46964924600002 meters Centerline goodness : 0.903168 Centerline is valid? [False, False] Translation: X:15.38, Y:0.67, Z:1.64 [[ 0.88212354 -0.09429683 -0.46148257 15.37540597] [ 0.12965421 0.99051768 0.04543695 0.66513731] [ 0.45282208 -0.09991416 0.88598494 1.6402506 ] [ 0. 0. 0. 1. ]] SLAMing on 79.49964924600002 meters Centerline goodness : 0.900940 Centerline is valid? [False, False] Translation: X:15.38, Y:0.67, Z:1.64 [[ 0.88186173 -0.09506293 -0.46182565 15.37759595] [ 0.13016508 0.99048562 0.04466866 0.66652652] [ 0.45318533 -0.09950515 0.88584523 1.63978659] [ 0. 0. 0. 1. ]] SLAMing on 79.529649246 meters Centerline goodness : 0.896475 Centerline is valid? [False, False] Translation: X:15.38, Y:0.67, Z:1.64 [[ 0.88139489 -0.09617107 -0.46248694 15.38102925] [ 0.13087302 0.99044621 0.04345752 0.66779507] [ 0.45388909 -0.0988303 0.88556043 1.63923547] [ 0. 0. 0. 1. ]] SLAMing on 79.559649246 meters Centerline goodness : 0.896231 Centerline is valid? [False, False] Translation: X:15.38, Y:0.67, Z:1.64 [[ 0.88107564 -0.09670448 -0.46298377 15.3830475 ] [ 0.13133977 0.99040104 0.04307723 0.66828558] [ 0.45437384 -0.09876247 0.88531937 1.63946288] [ 0. 0. 0. 1. ]] SLAMing on 79.58964924600001 meters Centerline goodness : 0.897133 Centerline is valid? [False, False] Translation: X:15.39, Y:0.67, Z:1.64 [[ 0.88054824 -0.09782173 -0.46375176 15.38701438] [ 0.13229638 0.99030693 0.04230671 0.66861715] [ 0.45511807 -0.09860578 0.88495449 1.63945691] [ 0. 0. 0. 1. ]] SLAMing on 79.61964924600001 meters Centerline goodness : 0.897075 Centerline is valid? [False, False] Translation: X:15.39, Y:0.67, Z:1.64 [[ 0.88025644 -0.0983818 -0.46418706 15.3892189 ] [ 0.13281586 0.99025104 0.04198596 0.6685017 ] [ 0.45553106 -0.09860982 0.88474152 1.63959433] [ 0. 0. 0. 1. ]] SLAMing on 79.64964924600001 meters Centerline goodness : 0.897172 Centerline is valid? [False, False] Translation: X:15.39, Y:0.67, Z:1.64 [[ 0.87956184 -0.09950105 -0.46526391 15.39334602] [ 0.13409213 0.99008876 0.04175577 0.66791968] [ 0.45649783 -0.09911501 0.8841866 1.64095612] [ 0. 0. 0. 1. ]] SLAMing on 79.67964924600001 meters Centerline goodness : 0.898221 Centerline is valid? [False, False] Translation: X:15.39, Y:0.67, Z:1.64 [[ 0.87939373 -0.09966481 -0.46554655 15.39427235] [ 0.13428919 0.99006393 0.04171127 0.66790317] [ 0.4567637 -0.0991985 0.88403992 1.64129484] [ 0. 0. 0. 1. ]] SLAMing on 79.70964924600001 meters Centerline goodness : 0.897762 Centerline is valid? [False, False] Translation: X:15.40, Y:0.67, Z:1.64 [[ 0.87910136 -0.10012915 -0.46599888 15.39600737] [ 0.13468271 0.9900256 0.0413506 0.66860915] [ 0.45721042 -0.09911336 0.88381852 1.64156336] [ 0. 0. 0. 1. ]] SLAMing on 79.73964924600001 meters Centerline goodness : 0.898472 Centerline is valid? [False, False] Translation: X:15.40, Y:0.67, Z:1.64 [[ 0.87867225 -0.10087709 -0.46664644 15.39825167] [ 0.13541405 0.98994134 0.04097784 0.66948079] [ 0.45781887 -0.09919658 0.88349415 1.64224329] [ 0. 0. 0. 1. ]] SLAMing on 79.76964924600001 meters Centerline goodness : 0.897091 Centerline is valid? [False, False] Translation: X:15.40, Y:0.67, Z:1.64 [[ 0.87842852 -0.10111861 -0.46705285 15.39955777] [ 0.13580593 0.9898822 0.04110945 0.66911606] [ 0.45817037 -0.09954026 0.88327326 1.64301652] [ 0. 0. 0. 1. ]] SLAMing on 79.79964924600002 meters Centerline goodness : 0.894645 Centerline is valid? [False, False] Translation: X:15.40, Y:0.67, Z:1.64 [[ 0.8781229 -0.10136609 -0.46757361 15.40073338] [ 0.13625099 0.98981303 0.0413018 0.66849701] [ 0.45862385 -0.09997542 0.88298872 1.6441699 ] [ 0. 0. 0. 1. ]] SLAMing on 79.82964924600002 meters Centerline goodness : 0.892534 Centerline is valid? [False, False] Translation: X:15.40, Y:0.67, Z:1.64 [[ 0.87772296 -0.10632016 -0.46722418 15.40053569] [ 0.13975985 0.9894793 0.03738855 0.66864364] [ 0.4583335 -0.09811598 0.88334798 1.64406233] [ 0. 0. 0. 1. ]] SLAMing on 79.85964924600002 meters Centerline goodness : 0.894374 Centerline is valid? [False, False] Translation: X:15.40, Y:0.67, Z:1.65 [[ 0.87729153 -0.10648975 -0.4679952 15.40197746] [ 0.14024166 0.98939696 0.03776147 0.66761762] [ 0.45901182 -0.09876025 0.88292387 1.6458183 ] [ 0. 0. 0. 1. ]] SLAMing on 79.889649246 meters Centerline goodness : 0.893116 Centerline is valid? [False, False] Translation: X:15.41, Y:0.67, Z:1.65 [[ 0.87667583 -0.10698374 -0.46903515 15.4050062 ] [ 0.14110765 0.9892608 0.03810129 0.66686038] [ 0.45992187 -0.09958693 0.88235725 1.64770444] [ 0. 0. 0. 1. ]] SLAMing on 79.919649246 meters Centerline goodness : 0.894921 Centerline is valid? [False, False] Translation: X:15.41, Y:0.67, Z:1.65 [[ 0.87636609 -0.10764273 -0.469463 15.40742015] [ 0.1417382 0.98918298 0.03777974 0.66769311] [ 0.4603181 -0.09964973 0.88214351 1.64779072] [ 0. 0. 0. 1. ]] SLAMing on 79.949649246 meters Centerline goodness : 0.892769 Centerline is valid? [False, False] Translation: X:15.41, Y:0.67, Z:1.65 [[ 0.87604002 -0.1081681 -0.46995058 15.40938687] [ 0.14218813 0.98913335 0.03738652 0.66879649] [ 0.46079976 -0.09957349 0.88190062 1.64797859] [ 0. 0. 0. 1. ]] SLAMing on 79.97964924600001 meters Centerline goodness : 0.892951 Centerline is valid? [False, False] Translation: X:15.41, Y:0.66, Z:1.65 [[ 0.88060042 -0.0997964 -0.46323167 15.41396139] [ 0.13551111 0.98978173 0.04437193 0.66414368] [ 0.45407009 -0.10184697 0.88512573 1.65214275] [ 0. 0. 0. 1. ]] SLAMing on 80.00964924600001 meters Centerline goodness : 0.896310 Centerline is valid? [False, False] Translation: X:15.41, Y:0.66, Z:1.65 [[ 0.88050534 -0.09939229 -0.46349922 15.41366581] [ 0.13531375 0.98978922 0.04480494 0.66345318] [ 0.45431327 -0.10216881 0.88496384 1.65314975] [ 0. 0. 0. 1. ]] SLAMing on 80.03964924600001 meters Centerline goodness : 0.897611 Centerline is valid? [False, False] Translation: X:15.41, Y:0.66, Z:1.65 [[ 0.88026218 -0.09933893 -0.46397228 15.41461242] [ 0.13539358 0.98977139 0.04495745 0.66365735] [ 0.45476046 -0.10239321 0.88470817 1.6539614 ] [ 0. 0. 0. 1. ]] SLAMing on 80.06964924600001 meters Centerline goodness : 0.897405 Centerline is valid? [False, False] Translation: X:15.42, Y:0.66, Z:1.65 [[ 0.8801032 -0.09957606 -0.46422298 15.4156176 ] [ 0.13561096 0.98974885 0.04479819 0.66441217] [ 0.45500333 -0.10238076 0.88458473 1.65412228] [ 0. 0. 0. 1. ]] SLAMing on 80.09964924600001 meters Centerline goodness : 0.894759 Centerline is valid? [False, False] Translation: X:15.42, Y:0.66, Z:1.66 [[ 0.8848103 -0.09030567 -0.45711664 15.41958192] [ 0.12868629 0.99024323 0.05346202 0.66075347] [ 0.44782874 -0.10612839 0.88779851 1.65786808] [ 0. 0. 0. 1. ]] SLAMing on 80.12964924600001 meters Centerline goodness : 0.898223 Centerline is valid? [False, False] Translation: X:15.42, Y:0.66, Z:1.66 [[ 0.8844483 -0.091109 -0.45765746 15.42199223] [ 0.12914259 0.99023839 0.05244164 0.66335936] [ 0.44841208 -0.10548499 0.88758072 1.6573657 ] [ 0. 0. 0. 1. ]] SLAMing on 80.15964924600001 meters Centerline goodness : 0.900392 Centerline is valid? [False, False] Translation: X:15.42, Y:0.67, Z:1.66 [[ 0.88421938 -0.09157599 -0.45800647 15.4230562 ] [ 0.12927549 0.99026638 0.05157848 0.66550052] [ 0.44882506 -0.1048157 0.88745126 1.65703073] [ 0. 0. 0. 1. ]] SLAMing on 80.18964924600002 meters Centerline goodness : 0.899353 Centerline is valid? [False, False] Translation: X:15.42, Y:0.67, Z:1.66 [[ 0.8839438 -0.09205843 -0.45844149 15.42440411] [ 0.1295602 0.99026121 0.0509597 0.666732 ] [ 0.44928555 -0.10444128 0.88726237 1.65707302] [ 0. 0. 0. 1. ]] SLAMing on 80.21964924600002 meters Centerline goodness : 0.900673 Centerline is valid? [False, False] Translation: X:15.43, Y:0.67, Z:1.66 [[ 0.88358793 -0.09264587 -0.45900885 15.42641693] [ 0.12991337 0.99025322 0.0502104 0.66789646] [ 0.4498832 -0.10399669 0.88701172 1.6570464 ] [ 0. 0. 0. 1. ]] SLAMing on 80.24964924600002 meters Centerline goodness : 0.898765 Centerline is valid? [False, False] Translation: X:15.43, Y:0.67, Z:1.66 [[ 0.88323448 -0.09357192 -0.45950098 15.42904435] [ 0.13063048 0.9901971 0.04945082 0.66918609] [ 0.45036932 -0.1037015 0.88679957 1.65685044] [ 0. 0. 0. 1. ]] SLAMing on 80.279649246 meters Centerline goodness : 0.901297 Centerline is valid? [False, False] Translation: X:15.43, Y:0.67, Z:1.66 [[ 0.88261102 -0.09493628 -0.46041817 15.43292451] [ 0.13186805 0.99007326 0.04863908 0.67048324] [ 0.4512301 -0.10364383 0.88636863 1.65738258] [ 0. 0. 0. 1. ]] SLAMing on 80.309649246 meters Centerline goodness : 0.900630 Centerline is valid? [False, False] Translation: X:15.43, Y:0.67, Z:1.66 [[ 0.88229057 -0.09545791 -0.46092421 15.43453486] [ 0.13238323 0.99001763 0.04837121 0.67073267] [ 0.45170568 -0.1036961 0.88612025 1.65794764] [ 0. 0. 0. 1. ]] SLAMing on 80.33964924600001 meters Centerline goodness : 0.898172 Centerline is valid? [False, False] Translation: X:15.43, Y:0.67, Z:1.66 [[ 0.88206131 -0.10011589 -0.46037447 15.43383442] [ 0.13559435 0.98976214 0.0445542 0.67103992] [ 0.45120064 -0.10172371 0.88660604 1.65744447] [ 0. 0. 0. 1. ]] SLAMing on 80.36964924600001 meters Centerline goodness : 0.902497 Centerline is valid? [False, False] Translation: X:15.44, Y:0.67, Z:1.66 [[ 0.88163527 -0.10070761 -0.46106098 15.43573729] [ 0.1363726 0.98965295 0.04460432 0.67092561] [ 0.45179836 -0.10220083 0.88624671 1.65877922] [ 0. 0. 0. 1. ]] SLAMing on 80.39964924600001 meters Centerline goodness : 0.899810 Centerline is valid? [False, False] Translation: X:15.44, Y:0.67, Z:1.66 [[ 0.88628809 -0.09271287 -0.45375958 15.44045032] [ 0.13016354 0.99013159 0.05193158 0.66572697] [ 0.44446696 -0.1050893 0.88960967 1.66198244] [ 0. 0. 0. 1. ]] SLAMing on 80.42964924600001 meters Centerline goodness : 0.902911 Centerline is valid? [False, False] Translation: X:15.44, Y:0.67, Z:1.66 [[ 0.88599773 -0.0927423 -0.45432025 15.44136128] [ 0.13045057 0.99007487 0.05229149 0.66537934] [ 0.44496142 -0.10559648 0.88930237 1.6634328 ] [ 0. 0. 0. 1. ]] SLAMing on 80.45964924600001 meters Centerline goodness : 0.902102 Centerline is valid? [False, False] Translation: X:15.44, Y:0.67, Z:1.66 [[ 0.8858065 -0.09291543 -0.45465763 15.44199128] [ 0.13063318 0.99005666 0.05218032 0.6656325 ] [ 0.44528846 -0.10561504 0.88913646 1.66399404] [ 0. 0. 0. 1. ]] SLAMing on 80.48964924600001 meters Centerline goodness : 0.902719 Centerline is valid? [False, False] Translation: X:15.44, Y:0.67, Z:1.66 [[ 0.88567729 -0.09301521 -0.4548889 15.44241204] [ 0.13070398 0.99005482 0.05203775 0.66613653] [ 0.44552465 -0.10554444 0.88902652 1.66426902] [ 0. 0. 0. 1. ]] SLAMing on 80.51964924600001 meters Centerline goodness : 0.898141 Centerline is valid? [False, False] Translation: X:15.44, Y:0.67, Z:1.66 [[ 0.8853163 -0.09363225 -0.45546465 15.44451035] [ 0.13104165 0.99005471 0.05118347 0.66858851] [ 0.4461425 -0.1049984 0.8887813 1.66409805] [ 0. 0. 0. 1. ]] SLAMing on 80.54964924600002 meters Centerline goodness : 0.900826 Centerline is valid? [False, False] Translation: X:15.45, Y:0.67, Z:1.66 [[ 0.88513672 -0.09446083 -0.45564255 15.44657851] [ 0.13142054 0.99006265 0.05004583 0.67068938] [ 0.4463873 -0.1041782 0.88875491 1.66288303] [ 0. 0. 0. 1. ]] SLAMing on 80.57964924600002 meters Centerline goodness : 0.900063 Centerline is valid? [False, False] Translation: X:15.45, Y:0.67, Z:1.66 [[ 0.88482555 -0.09558156 -0.45601307 15.44970854] [ 0.13183614 0.99009499 0.04828186 0.67448109] [ 0.4468814 -0.10284003 0.88866245 1.66100657] [ 0. 0. 0. 1. ]] SLAMing on 80.60964924600002 meters Centerline goodness : 0.900436 Centerline is valid? [False, False] Translation: X:15.45, Y:0.68, Z:1.66 [[ 0.88448742 -0.09632865 -0.45651156 15.45175043] [ 0.1324652 0.9900372 0.04774219 0.67511438] [ 0.44736448 -0.10269926 0.88843564 1.6612173 ] [ 0. 0. 0. 1. ]] SLAMing on 80.639649246 meters Centerline goodness : 0.900091 Centerline is valid? [False, False] Translation: X:15.46, Y:0.68, Z:1.66 [[ 0.8838651 -0.09756395 -0.45745357 15.45506278] [ 0.1335778 0.98992493 0.04696382 0.67606589] [ 0.44826272 -0.10261532 0.88799247 1.66207246] [ 0. 0. 0. 1. ]] SLAMing on 80.669649246 meters Centerline goodness : 0.895196 Centerline is valid? [False, False] Translation: X:15.45, Y:0.68, Z:1.66 [[ 0.88362688 -0.09865881 -0.45767889 15.45489584] [ 0.1341696 0.98990637 0.04564966 0.67665472] [ 0.44855551 -0.10174387 0.8879449 1.66301445] [ 0. 0. 0. 1. ]] SLAMing on 80.699649246 meters Centerline goodness : 0.893799 Centerline is valid? [False, False] Translation: X:15.45, Y:0.68, Z:1.67 [[ 0.8838122 -0.09503503 -0.4580877 15.44999529] [ 0.13389619 0.9895752 0.0530352 0.67538716] [ 0.44827202 -0.10820936 0.88732346 1.66837502] [ 0. 0. 0. 1. ]] SLAMing on 80.72964924600001 meters Centerline goodness : 0.893077 Centerline is valid? [False, False] Translation: X:15.45, Y:0.68, Z:1.67 [[ 0.88371249 -0.09534735 -0.45821515 15.45011929] [ 0.13438699 0.98949552 0.05327995 0.67721015] [ 0.44832174 -0.10866231 0.88724299 1.6686875 ] [ 0. 0. 0. 1. ]] SLAMing on 80.75964924600001 meters Centerline goodness : 0.896048 Centerline is valid? [False, False] Translation: X:15.45, Y:0.68, Z:1.67 [[ 0.88343655 -0.09499982 -0.45881902 15.45130666] [ 0.13405327 0.98954369 0.05322596 0.67808024] [ 0.44896501 -0.10852795 0.88693411 1.66927128] [ 0. 0. 0. 1. ]] SLAMing on 80.78964924600001 meters Centerline goodness : 0.895588 Centerline is valid? [False, False] Translation: X:15.45, Y:0.67, Z:1.68 [[ 0.88768724 -0.08402569 -0.4527152 15.45369712] [ 0.12623452 0.98994773 0.06378345 0.67355439] [ 0.44280494 -0.11376804 0.88937091 1.67600672] [ 0. 0. 0. 1. ]] SLAMing on 80.81964924600001 meters Centerline goodness : 0.893909 Centerline is valid? [False, False] Translation: X:15.46, Y:0.67, Z:1.68 [[ 0.89209617 -0.07564561 -0.44546848 15.45752463] [ 0.11902913 0.99040701 0.07018564 0.66870629] [ 0.43588587 -0.11563607 0.89254233 1.67970144] [ 0. 0. 0. 1. ]] SLAMing on 80.84964924600001 meters Centerline goodness : 0.897927 Centerline is valid? [False, False] Translation: X:15.47, Y:0.67, Z:1.68 [[ 0.89393845 -0.08031096 -0.44093558 15.47440219] [ 0.11872207 0.99110236 0.06017623 0.67245649] [ 0.43217949 -0.10614263 0.8955192 1.68083289] [ 0. 0. 0. 1. ]] SLAMing on 80.87964924600001 meters Centerline goodness : 0.896167 Centerline is valid? [False, False] Translation: X:15.48, Y:0.67, Z:1.68 [[ 0.89869677 -0.07202954 -0.43261515 15.47742058] [ 0.11173085 0.99147551 0.0670264 0.66795599] [ 0.42409944 -0.10857287 0.89908375 1.68306408] [ 0. 0. 0. 1. ]] SLAMing on 80.90964924600001 meters Centerline goodness : 0.892663 Centerline is valid? [False, False] Translation: X:15.48, Y:0.66, Z:1.69 [[ 0.90343917 -0.06530002 -0.42371401 15.47935205] [ 0.10678249 0.9914585 0.07488359 0.66383068] [ 0.41520496 -0.11289801 0.90269534 1.68572161] [ 0. 0. 0. 1. ]] SLAMing on 80.93964924600002 meters Centerline goodness : 0.898307 Centerline is valid? [False, False] Translation: X:15.49, Y:0.67, Z:1.69 [[ 0.90599913 -0.07495265 -0.41659054 15.48808941] [ 0.11034042 0.99198992 0.06148976 0.66533688] [ 0.4086448 -0.10167644 0.90701231 1.68789723] [ 0. 0. 0. 1. ]] SLAMing on 80.96964924600002 meters Centerline goodness : 0.900848 Centerline is valid? [False, False] Translation: X:15.49, Y:0.67, Z:1.69 [[ 0.91082004 -0.06838354 -0.40710016 15.48973573] [ 0.10628047 0.99178462 0.07118797 0.66586906] [ 0.39888759 -0.10810623 0.91060515 1.68852467] [ 0. 0. 0. 1. ]] SLAMing on 80.99964924600002 meters Centerline goodness : 0.897502 Centerline is valid? [False, False] Translation: X:15.50, Y:0.67, Z:1.68 [[ 0.91067873 -0.07085669 -0.40699334 15.49668713] [ 0.10737042 0.99192111 0.06755813 0.67216387] [ 0.39891834 -0.1052228 0.91092937 1.68218875] [ 0. 0. 0. 1. ]] SLAMing on 81.029649246 meters Centerline goodness : 0.890488 Centerline is valid? [False, False] Translation: X:15.50, Y:0.67, Z:1.69 [[ 0.91492701 -0.05570737 -0.3997565 15.4999597 ] [ 0.09571703 0.99212273 0.08081304 0.6690353 ] [ 0.39210563 -0.11220154 0.91305202 1.68579248] [ 0. 0. 0. 1. ]] SLAMing on 81.059649246 meters Centerline goodness : 0.894871 Centerline is valid? [False, False] Translation: X:15.51, Y:0.67, Z:1.68 [[ 0.91667804 -0.05955232 -0.39516439 15.51458997] [ 0.09441536 0.99311417 0.06935402 0.67375647] [ 0.38831316 -0.10088489 0.91598861 1.68412416] [ 0. 0. 0. 1. ]] SLAMing on 81.08964924600001 meters Centerline goodness : 0.900012 Centerline is valid? [False, False] Translation: X:15.53, Y:0.68, Z:1.68 [[ 0.91805181 -0.06273597 -0.39146529 15.53030501] [ 0.09253863 0.99403499 0.05771524 0.678806 ] [ 0.38550938 -0.08921125 0.91838112 1.68241552] [ 0. 0. 0. 1. ]] SLAMing on 81.11964924600001 meters Centerline goodness : 0.898991 Centerline is valid? [False, False] Translation: X:15.54, Y:0.68, Z:1.68 [[ 0.91999232 -0.065552 -0.38641566 15.54491238] [ 0.09094194 0.9947096 0.04777416 0.68180931] [ 0.38123968 -0.07909325 0.92108662 1.68157765] [ 0. 0. 0. 1. ]] SLAMing on 81.14964924600001 meters Centerline goodness : 0.905507 Centerline is valid? [False, False] Translation: X:15.55, Y:0.68, Z:1.68 [[ 0.91991 -0.06038043 -0.38745295 15.54567522] [ 0.08736763 0.99479682 0.05240404 0.6811412 ] [ 0.38227279 -0.08205785 0.92039884 1.68395257] [ 0. 0. 0. 1. ]] SLAMing on 81.17964924600001 meters Centerline goodness : 0.903282 Centerline is valid? [False, False] Translation: X:15.55, Y:0.68, Z:1.69 [[ 0.91971881 -0.05587786 -0.38858072 15.54759881] [ 0.08433714 0.99483085 0.05655823 0.68157265] [ 0.38341173 -0.08478946 0.91967722 1.68581429] [ 0. 0. 0. 1. ]] SLAMing on 81.20964924600001 meters Centerline goodness : 0.903282 Centerline is valid? [False, False] Translation: X:15.55, Y:0.68, Z:1.69 [[ 0.91971881 -0.05587786 -0.38858072 15.54759881] [ 0.08433714 0.99483085 0.05655823 0.68157265] [ 0.38341173 -0.08478946 0.91967722 1.68581429] [ 0. 0. 0. 1. ]] SLAMing on 81.23964924600001 meters Centerline goodness : 0.911258 Centerline is valid? [False, False] Translation: X:15.56, Y:0.69, Z:1.69 [[ 0.92192268 -0.05562745 -0.38335905 15.56135054] [ 0.08084719 0.99547275 0.04997729 0.68557143] [ 0.37884338 -0.0770687 0.92224623 1.68714435] [ 0. 0. 0. 1. ]] SLAMing on 81.26964924600001 meters Centerline goodness : 0.906598 Centerline is valid? [False, False] Translation: X:15.58, Y:0.69, Z:1.69 [[ 0.92385491 -0.05725428 -0.37843633 15.5759638 ] [ 0.07882295 0.99601453 0.04173721 0.68860562] [ 0.37453845 -0.0683886 0.92468586 1.68790431] [ 0. 0. 0. 1. ]] SLAMing on 81.29964924600002 meters Centerline goodness : 0.911856 Centerline is valid? [False, False] Translation: X:15.58, Y:0.69, Z:1.69 [[ 0.92384018 -0.05636628 -0.37860555 15.57535652] [ 0.07792198 0.99608098 0.04184321 0.69048815] [ 0.37476324 -0.06815814 0.9246118 1.68802374] [ 0. 0. 0. 1. ]] SLAMing on 81.32964924600002 meters Centerline goodness : 0.912176 Centerline is valid? [False, False] Translation: X:15.58, Y:0.69, Z:1.69 [[ 0.92374082 -0.05625468 -0.3788645 15.57648498] [ 0.07759378 0.99613009 0.04128011 0.69167095] [ 0.37507613 -0.06752965 0.92453104 1.68723848] [ 0. 0. 0. 1. ]] SLAMing on 81.35964924600002 meters Centerline goodness : 0.914131 Centerline is valid? [False, False] Translation: X:15.58, Y:0.69, Z:1.69 [[ 0.92351545 -0.05646846 -0.37938177 15.57819067] [ 0.07779563 0.99612142 0.04110906 0.69207084] [ 0.37558894 -0.0674791 0.92432652 1.68742208] [ 0. 0. 0. 1. ]] SLAMing on 81.389649246 meters Centerline goodness : 0.911264 Centerline is valid? [False, False] Translation: X:15.58, Y:0.69, Z:1.69 [[ 0.92333075 -0.05668303 -0.3797991 15.57986516] [ 0.07795443 0.99611968 0.0408496 0.69308695] [ 0.37600988 -0.06732472 0.92416663 1.68726752] [ 0. 0. 0. 1. ]] SLAMing on 81.419649246 meters Centerline goodness : 0.912019 Centerline is valid? [False, False] Translation: X:15.58, Y:0.69, Z:1.69 [[ 0.92341703 -0.05483238 -0.37986101 15.58061764] [ 0.07661379 0.99615681 0.04244928 0.69496872] [ 0.37607354 -0.06830098 0.92406908 1.68732043] [ 0. 0. 0. 1. ]] SLAMing on 81.449649246 meters Centerline goodness : 0.910259 Centerline is valid? [False, False] Translation: X:15.58, Y:0.69, Z:1.69 [[ 0.92324259 -0.04958669 -0.3810043 15.58178594] [ 0.07283674 0.99624344 0.04683824 0.69438477] [ 0.37725048 -0.07099417 0.92338611 1.68934024] [ 0. 0. 0. 1. ]] SLAMing on 81.47964924600001 meters Centerline goodness : 0.912858 Centerline is valid? [False, False] Translation: X:15.58, Y:0.70, Z:1.69 [[ 0.92317806 -0.04955607 -0.38116461 15.5822873 ] [ 0.0725835 0.99628861 0.04626701 0.69619731] [ 0.37745715 -0.07037895 0.92334875 1.68878073] [ 0. 0. 0. 1. ]] SLAMing on 81.50964924600001 meters Centerline goodness : 0.909735 Centerline is valid? [False, False] Translation: X:15.58, Y:0.70, Z:1.69 [[ 0.92295855 -0.04501931 -0.38225748 15.58479558] [ 0.06917481 0.99636688 0.04967786 0.69822709] [ 0.37863223 -0.0722932 0.92271953 1.68938967] [ 0. 0. 0. 1. ]] SLAMing on 81.53964924600001 meters Centerline goodness : 0.909719 Centerline is valid? [False, False] Translation: X:15.59, Y:0.70, Z:1.69 [[ 0.92270595 -0.04574517 -0.38278075 15.58693474] [ 0.06983373 0.99634135 0.04926629 0.69882221] [ 0.3791266 -0.0721893 0.92252465 1.68952363] [ 0. 0. 0. 1. ]] SLAMing on 81.56964924600001 meters Centerline goodness : 0.909890 Centerline is valid? [False, False] Translation: X:15.59, Y:0.70, Z:1.69 [[ 0.92258443 -0.04594023 -0.38305022 15.5880318 ] [ 0.07003192 0.99633167 0.04918064 0.69883776] [ 0.37938569 -0.07219904 0.92241736 1.68959531] [ 0. 0. 0. 1. ]] SLAMing on 81.59964924600001 meters Centerline goodness : 0.908127 Centerline is valid? [False, False] Translation: X:15.59, Y:0.70, Z:1.69 [[ 0.92195087 -0.04704513 -0.384439 15.59148381] [ 0.0716944 0.9961711 0.05003062 0.69588715] [ 0.38061332 -0.07368789 0.92179368 1.69286766] [ 0. 0. 0. 1. ]] SLAMing on 81.62964924600001 meters Centerline goodness : 0.911241 Centerline is valid? [False, False] Translation: X:15.59, Y:0.69, Z:1.69 [[ 0.92171447 -0.04731375 -0.38497253 15.59380624] [ 0.07206657 0.9961399 0.05011705 0.69444724] [ 0.38111527 -0.07393726 0.92156629 1.69306767] [ 0. 0. 0. 1. ]] SLAMing on 81.65964924600001 meters Centerline goodness : 0.911451 Centerline is valid? [False, False] Translation: X:15.60, Y:0.69, Z:1.69 [[ 0.92145592 -0.04755323 -0.38556151 15.59545763] [ 0.07250682 0.99609208 0.05043147 0.69302079] [ 0.38165659 -0.07442621 0.92130287 1.69404604] [ 0. 0. 0. 1. ]] SLAMing on 81.68964924600002 meters Centerline goodness : 0.913692 Centerline is valid? [False, False] Translation: X:15.60, Y:0.69, Z:1.69 [[ 0.92111486 -0.04782505 -0.38634205 15.59795323] [ 0.07294713 0.99605038 0.05061971 0.69099877] [ 0.38239526 -0.07480911 0.92096551 1.69485144] [ 0. 0. 0. 1. ]] SLAMing on 81.71964924600002 meters Centerline goodness : 0.913326 Centerline is valid? [False, False] Translation: X:15.60, Y:0.69, Z:1.69 [[ 0.92089173 -0.0483524 -0.38680806 15.60019908] [ 0.07342987 0.99603058 0.05031047 0.69089674] [ 0.38284002 -0.07473376 0.92078683 1.69473712] [ 0. 0. 0. 1. ]] SLAMing on 81.74964924600002 meters Centerline goodness : 0.913373 Centerline is valid? [False, False] Translation: X:15.60, Y:0.69, Z:1.69 [[ 0.9206424 -0.04874161 -0.38735232 15.60226342] [ 0.07379432 0.99601628 0.05005971 0.69070691] [ 0.38336923 -0.07467149 0.92057167 1.69480916] [ 0. 0. 0. 1. ]] SLAMing on 81.779649246 meters Centerline goodness : 0.912405 Centerline is valid? [False, False] Translation: X:15.61, Y:0.69, Z:1.69 [[ 0.92033261 -0.04931826 -0.38801495 15.60528995] [ 0.07428497 0.99600278 0.04960054 0.69016958] [ 0.38401776 -0.07447267 0.92031744 1.69456894] [ 0. 0. 0. 1. ]] SLAMing on 81.809649246 meters Centerline goodness : 0.913038 Centerline is valid? [False, False] Translation: X:15.61, Y:0.69, Z:1.69 [[ 0.92008024 -0.04987476 -0.38854197 15.6077434 ] [ 0.0747714 0.99598562 0.04921255 0.69037315] [ 0.38452775 -0.07433132 0.9201159 1.6943471 ] [ 0. 0. 0. 1. ]] SLAMing on 81.83964924600001 meters Centerline goodness : 0.908458 Centerline is valid? [False, False] Translation: X:15.61, Y:0.69, Z:1.69 [[ 0.91965847 -0.05111798 -0.38937804 15.61233568] [ 0.07577097 0.9959591 0.04821022 0.69095532] [ 0.38534019 -0.07384049 0.91981548 1.69348032] [ 0. 0. 0. 1. ]] SLAMing on 81.86964924600001 meters Centerline goodness : 0.912129 Centerline is valid? [False, False] Translation: X:15.61, Y:0.69, Z:1.69 [[ 0.91929947 -0.05152104 -0.39017185 15.61498502] [ 0.07620239 0.99593474 0.04803325 0.69049677] [ 0.38611098 -0.07388897 0.9194883 1.69389191] [ 0. 0. 0. 1. ]] SLAMing on 81.89964924600001 meters Centerline goodness : 0.911072 Centerline is valid? [False, False] Translation: X:15.62, Y:0.69, Z:1.69 [[ 0.91902003 -0.05187887 -0.39078225 15.61673452] [ 0.0765872 0.99591165 0.04789983 0.69037927] [ 0.38669961 -0.07394982 0.91923601 1.6944376 ] [ 0. 0. 0. 1. ]] SLAMing on 81.92964924600001 meters Centerline goodness : 0.910117 Centerline is valid? [False, False] Translation: X:15.62, Y:0.69, Z:1.70 [[ 0.91884032 -0.05153326 -0.3912503 15.61706723] [ 0.07639025 0.9959111 0.04822462 0.689839 ] [ 0.38716534 -0.07419843 0.91901991 1.69540697] [ 0. 0. 0. 1. ]] SLAMing on 81.95964924600001 meters Centerline goodness : 0.912649 Centerline is valid? [False, False] Translation: X:15.62, Y:0.69, Z:1.70 [[ 0.91862644 -0.05162226 -0.39174047 15.6182965 ] [ 0.07655327 0.99589587 0.04828059 0.68949011] [ 0.38764037 -0.07434084 0.91880813 1.69590749] [ 0. 0. 0. 1. ]] SLAMing on 81.98964924600001 meters Centerline goodness : 0.913335 Centerline is valid? [False, False] Translation: X:15.62, Y:0.69, Z:1.70 [[ 0.91838263 -0.05171039 -0.39230011 15.61948417] [ 0.07682623 0.99586009 0.04858412 0.6890289 ] [ 0.38816372 -0.07475775 0.91855332 1.69689915] [ 0. 0. 0. 1. ]] SLAMing on 82.01964924600001 meters Centerline goodness : 0.914532 Centerline is valid? [False, False] Translation: X:15.62, Y:0.69, Z:1.70 [[ 0.91791596 -0.05662962 -0.39271285 15.6194612 ] [ 0.08125527 0.99561478 0.04635505 0.6858593 ] [ 0.38836564 -0.07446003 0.91849215 1.70037495] [ 0. 0. 0. 1. ]] SLAMing on 82.04964924600002 meters Centerline goodness : 0.920267 Centerline is valid? [False, False] Translation: X:15.62, Y:0.68, Z:1.71 [[ 0.91722624 -0.06207542 -0.39350053 15.6195838 ] [ 0.08684229 0.99518559 0.04543186 0.68234179] [ 0.38878585 -0.07584378 0.91820111 1.70721945] [ 0. 0. 0. 1. ]] SLAMing on 82.07964924600002 meters Centerline goodness : 0.920842 Centerline is valid? [False, False] Translation: X:15.62, Y:0.68, Z:1.71 [[ 0.91675297 -0.06347018 -0.39437993 15.62360665] [ 0.08814028 0.99510294 0.04473733 0.68335866] [ 0.38960914 -0.07577384 0.91785786 1.70733043] [ 0. 0. 0. 1. ]] SLAMing on 82.10964924600002 meters Centerline goodness : 0.912352 Centerline is valid? [False, False] Translation: X:15.63, Y:0.69, Z:1.71 [[ 0.91625623 -0.06082246 -0.39594841 15.63193718] [ 0.08625503 0.99517656 0.04672987 0.68620368] [ 0.39119635 -0.07696908 0.91708297 1.70550137] [ 0. 0. 0. 1. ]] SLAMing on 82.139649246 meters Centerline goodness : 0.907547 Centerline is valid? [False, False] Translation: X:15.63, Y:0.69, Z:1.70 [[ 0.91614149 -0.06116093 -0.39616172 15.63413271] [ 0.08637398 0.99519555 0.04610163 0.68750084] [ 0.39143876 -0.07645368 0.91702264 1.70427761] [ 0. 0. 0. 1. ]] SLAMing on 82.169649246 meters Centerline goodness : 0.915170 Centerline is valid? [False, False] Translation: X:15.63, Y:0.69, Z:1.71 [[ 0.91586775 -0.06047779 -0.39689886 15.63400094] [ 0.08618694 0.99515821 0.04724343 0.68520897] [ 0.39211998 -0.07747624 0.91664571 1.70693428] [ 0. 0. 0. 1. ]] SLAMing on 82.199649246 meters Centerline goodness : 0.918186 Centerline is valid? [False, False] Translation: X:15.63, Y:0.68, Z:1.71 [[ 0.91565225 -0.06012296 -0.39744961 15.63429068] [ 0.08601018 0.9951559 0.04761284 0.68465895] [ 0.3926617 -0.07778152 0.91638792 1.70810849] [ 0. 0. 0. 1. ]] SLAMing on 82.22964924600001 meters Centerline goodness : 0.917306 Centerline is valid? [False, False] Translation: X:15.63, Y:0.68, Z:1.71 [[ 0.91538982 -0.05995472 -0.39807903 15.63472184] [ 0.0861335 0.99511741 0.04819078 0.68333853] [ 0.39324611 -0.07840129 0.91608446 1.70986175] [ 0. 0. 0. 1. ]] SLAMing on 82.25964924600001 meters Centerline goodness : 0.921023 Centerline is valid? [False, False] Translation: X:15.64, Y:0.68, Z:1.71 [[ 0.91518549 -0.06001044 -0.39854018 15.63562316] [ 0.08619327 0.99511716 0.04808901 0.68339238] [ 0.39370833 -0.07836185 0.91588928 1.71045045] [ 0. 0. 0. 1. ]] SLAMing on 82.28964924600001 meters Centerline goodness : 0.919882 Centerline is valid? [False, False] Translation: X:15.64, Y:0.68, Z:1.71 [[ 0.9149041 -0.06038939 -0.39912856 15.63753359] [ 0.08656999 0.99509456 0.04787953 0.68387046] [ 0.39427925 -0.07835774 0.915644 1.71078876] [ 0. 0. 0. 1. ]] SLAMing on 82.31964924600001 meters Centerline goodness : 0.917155 Centerline is valid? [False, False] Translation: X:15.64, Y:0.68, Z:1.71 [[ 0.91461112 -0.06053418 -0.39977757 15.63897475] [ 0.08679478 0.99507422 0.0478953 0.68355805] [ 0.39490905 -0.07850418 0.91536 1.71168457] [ 0. 0. 0. 1. ]] SLAMing on 82.34964924600001 meters Centerline goodness : 0.917335 Centerline is valid? [False, False] Translation: X:15.64, Y:0.68, Z:1.71 [[ 0.91437843 -0.06063075 -0.4002949 15.64028947] [ 0.08692475 0.99506548 0.0478411 0.68372776] [ 0.395419 -0.0785404 0.91513672 1.71214598] [ 0. 0. 0. 1. ]] SLAMing on 82.37964924600001 meters Centerline goodness : 0.920704 Centerline is valid? [False, False] Translation: X:15.64, Y:0.69, Z:1.71 [[ 0.91435587 -0.06017623 -0.40041499 15.64004475] [ 0.08632025 0.99513153 0.04756107 0.6853591 ] [ 0.39560354 -0.07805167 0.91509878 1.71195593] [ 0. 0. 0. 1. ]] SLAMing on 82.40964924600001 meters Centerline goodness : 0.919669 Centerline is valid? [False, False] Translation: X:15.64, Y:0.69, Z:1.71 [[ 0.91411252 -0.05504135 -0.40170729 15.64139445] [ 0.08269698 0.99522665 0.05181815 0.68507044] [ 0.39693766 -0.0805876 0.9143009 1.71421412] [ 0. 0. 0. 1. ]] SLAMing on 82.43964924600002 meters Centerline goodness : 0.921090 Centerline is valid? [False, False] Translation: X:15.64, Y:0.69, Z:1.71 [[ 0.91394379 -0.05509465 -0.40208373 15.64227362] [ 0.08255382 0.99526682 0.05127211 0.68645068] [ 0.39735577 -0.08005337 0.9141662 1.71400144] [ 0. 0. 0. 1. ]] SLAMing on 82.46964924600002 meters Centerline goodness : 0.922218 Centerline is valid? [False, False] Translation: X:15.64, Y:0.69, Z:1.71 [[ 0.9138223 -0.05506859 -0.40236333 15.64297885] [ 0.08232163 0.9953132 0.05074232 0.68806651] [ 0.39768323 -0.07949267 0.91407274 1.71355617] [ 0. 0. 0. 1. ]] SLAMing on 82.49964924600002 meters Centerline goodness : 0.922599 Centerline is valid? [False, False] Translation: X:15.64, Y:0.69, Z:1.71 [[ 0.91364523 -0.05472843 -0.40281161 15.64403358] [ 0.0813589 0.99546554 0.04928581 0.69253153] [ 0.39828774 -0.07780206 0.91395499 1.71180337] [ 0. 0. 0. 1. ]] SLAMing on 82.529649246 meters Centerline goodness : 0.921805 Centerline is valid? [False, False] Translation: X:15.64, Y:0.69, Z:1.71 [[ 0.91358675 -0.05487921 -0.40292371 15.64484008] [ 0.0811919 0.99551767 0.04850203 0.69472879] [ 0.39845592 -0.07702495 0.9139475 1.71085469] [ 0. 0. 0. 1. ]] SLAMing on 82.559649246 meters Centerline goodness : 0.919884 Centerline is valid? [False, False] Translation: X:15.65, Y:0.70, Z:1.71 [[ 0.91326419 -0.05045681 -0.40423091 15.64781211] [ 0.07788777 0.99562103 0.05169386 0.69660184] [ 0.39985249 -0.07869479 0.913195 1.71157227] [ 0. 0. 0. 1. ]] SLAMing on 82.58964924600001 meters Centerline goodness : 0.913659 Centerline is valid? [False, False] Translation: X:15.65, Y:0.70, Z:1.71 [[ 0.91300505 -0.05139536 -0.40469778 15.65057896] [ 0.07840861 0.99564408 0.05044746 0.69921361] [ 0.40034219 -0.07779057 0.91305792 1.71049428] [ 0. 0. 0. 1. ]] SLAMing on 82.61964924600001 meters Centerline goodness : 0.914699 Centerline is valid? [False, False] Translation: X:15.65, Y:0.70, Z:1.71 [[ 0.91270619 -0.05217885 -0.40527125 15.65337591] [ 0.07903294 0.99562723 0.04980164 0.70001461] [ 0.4009005 -0.07748404 0.91283899 1.71018667] [ 0. 0. 0. 1. ]] SLAMing on 82.64964924600001 meters Centerline goodness : 0.913295 Centerline is valid? [False, False] Translation: X:15.66, Y:0.70, Z:1.71 [[ 0.91230559 -0.05756757 -0.40544357 15.65521689] [ 0.08310228 0.99549513 0.04564491 0.69986589] [ 0.40098944 -0.07533539 0.91297976 1.70993542] [ 0. 0. 0. 1. ]] SLAMing on 82.67964924600001 meters Centerline goodness : 0.914353 Centerline is valid? [False, False] Translation: X:15.66, Y:0.70, Z:1.71 [[ 0.91190191 -0.05795554 -0.40629553 15.65707335] [ 0.08376182 0.9954232 0.04600659 0.69846028] [ 0.40176966 -0.07598555 0.91258278 1.71158879] [ 0. 0. 0. 1. ]] SLAMing on 82.70964924600001 meters Centerline goodness : 0.913107 Centerline is valid? [False, False] Translation: X:15.66, Y:0.70, Z:1.71 [[ 0.91148767 -0.05828119 -0.40717752 15.6591495 ] [ 0.08431619 0.99536395 0.04627509 0.69707388] [ 0.40259285 -0.07651083 0.91217602 1.71298976] [ 0. 0. 0. 1. ]] SLAMing on 82.73964924600001 meters Centerline goodness : 0.910766 Centerline is valid? [False, False] Translation: X:15.66, Y:0.70, Z:1.71 [[ 0.91101898 -0.06327549 -0.40748083 15.66122207] [ 0.08813264 0.99520161 0.04250171 0.69538475] [ 0.40283626 -0.07463222 0.91222419 1.71299315] [ 0. 0. 0. 1. ]] SLAMing on 82.76964924600001 meters Centerline goodness : 0.912200 Centerline is valid? [False, False] Translation: X:15.67, Y:0.69, Z:1.72 [[ 0.91029279 -0.063916 -0.40900097 15.66542388] [ 0.08952359 0.99502324 0.04375241 0.69111471] [ 0.40416899 -0.07644274 0.91148447 1.71636756] [ 0. 0. 0. 1. ]] SLAMing on 82.79964924600002 meters Centerline goodness : 0.914619 Centerline is valid? [False, False] Translation: X:15.67, Y:0.69, Z:1.72 [[ 0.90983243 -0.06457763 -0.40992033 15.66838539] [ 0.09041935 0.99493353 0.04395002 0.68916135] [ 0.40500529 -0.07705188 0.91106187 1.71767268] [ 0. 0. 0. 1. ]] SLAMing on 82.82964924600002 meters Centerline goodness : 0.917327 Centerline is valid? [False, False] Translation: X:15.67, Y:0.69, Z:1.72 [[ 0.9094561 -0.06445421 -0.41077398 15.66979737] [ 0.09076286 0.99486225 0.0448465 0.68692903] [ 0.40577298 -0.07806895 0.91063359 1.71991775] [ 0. 0. 0. 1. ]] SLAMing on 82.85964924600002 meters Centerline goodness : 0.919367 Centerline is valid? [False, False] Translation: X:15.67, Y:0.69, Z:1.72 [[ 0.90929259 -0.06463266 -0.41110777 15.6708496 ] [ 0.09097766 0.99484382 0.04482014 0.686908 ] [ 0.40609118 -0.07815624 0.91048424 1.7202498 ] [ 0. 0. 0. 1. ]] SLAMing on 82.889649246 meters Centerline goodness : 0.921309 Centerline is valid? [False, False] Translation: X:15.67, Y:0.69, Z:1.72 [[ 0.90888228 -0.06519343 -0.41192575 15.67333883] [ 0.09160349 0.99479291 0.04467509 0.68692603] [ 0.4068683 -0.07833823 0.91012159 1.72115309] [ 0. 0. 0. 1. ]] SLAMing on 82.919649246 meters Centerline goodness : 0.920963 Centerline is valid? [False, False] Translation: X:15.68, Y:0.69, Z:1.72 [[ 0.90862765 -0.06567868 -0.41241012 15.67511918] [ 0.09212614 0.99475008 0.04455392 0.68728803] [ 0.40731876 -0.07847668 0.90990815 1.72160293] [ 0. 0. 0. 1. ]] SLAMing on 82.949649246 meters Centerline goodness : 0.916333 Centerline is valid? [False, False] Translation: X:15.68, Y:0.69, Z:1.72 [[ 0.90819051 -0.06632048 -0.4132694 15.67832897] [ 0.09268859 0.99471984 0.04405987 0.68877437] [ 0.4081652 -0.07832011 0.90954226 1.72175469] [ 0. 0. 0. 1. ]] SLAMing on 82.97964924600001 meters Centerline goodness : 0.916970 Centerline is valid? [False, False] Translation: X:15.68, Y:0.69, Z:1.72 [[ 0.90780944 -0.06711012 -0.41397856 15.6810412 ] [ 0.09341529 0.99467198 0.04360305 0.68939866] [ 0.40884667 -0.07825519 0.90924173 1.72206108] [ 0. 0. 0. 1. ]] SLAMing on 83.00964924600001 meters Centerline goodness : 0.914634 Centerline is valid? [False, False] Translation: X:15.68, Y:0.69, Z:1.72 [[ 0.90716628 -0.06760424 -0.41530591 15.6841203 ] [ 0.09427936 0.99457123 0.0440394 0.68809583] [ 0.41007406 -0.07910584 0.90861517 1.72443051] [ 0. 0. 0. 1. ]] SLAMing on 83.03964924600001 meters Centerline goodness : 0.917896 Centerline is valid? [False, False] Translation: X:15.69, Y:0.69, Z:1.73 [[ 0.90673314 -0.06799723 -0.41618673 15.68621369] [ 0.09487925 0.99450588 0.04422658 0.68758661] [ 0.41089286 -0.07958919 0.90820296 1.72588886] [ 0. 0. 0. 1. ]] SLAMing on 83.06964924600001 meters Centerline goodness : 0.916413 Centerline is valid? [False, False] Translation: X:15.69, Y:0.69, Z:1.73 [[ 0.90603558 -0.06910995 -0.41752047 15.69049159] [ 0.09609988 0.99440126 0.04394251 0.68712479] [ 0.41214602 -0.07993715 0.90760438 1.72739692] [ 0. 0. 0. 1. ]] SLAMing on 83.09964924600001 meters Centerline goodness : 0.916704 Centerline is valid? [False, False] Translation: X:15.69, Y:0.69, Z:1.73 [[ 0.90564661 -0.06996673 -0.41822109 15.69348215] [ 0.09687062 0.99434943 0.04342002 0.68751718] [ 0.41281994 -0.07983653 0.90730691 1.72756088] [ 0. 0. 0. 1. ]] SLAMing on 83.12964924600001 meters Centerline goodness : 0.916704 Centerline is valid? [False, False] Translation: X:15.69, Y:0.69, Z:1.73 [[ 0.90564661 -0.06996673 -0.41822109 15.69348215] [ 0.09687062 0.99434943 0.04342002 0.68751718] [ 0.41281994 -0.07983653 0.90730691 1.72756088] [ 0. 0. 0. 1. ]] SLAMing on 83.15964924600001 meters Centerline goodness : 0.917203 Centerline is valid? [False, False] Translation: X:15.70, Y:0.69, Z:1.73 [[ 0.90529009 -0.07070239 -0.41886875 15.69611751] [ 0.09747493 0.99431571 0.04283582 0.6884613 ] [ 0.41345918 -0.07960804 0.90703587 1.72760674] [ 0. 0. 0. 1. ]] SLAMing on 83.18964924600002 meters Centerline goodness : 0.913950 Centerline is valid? [False, False] Translation: X:15.70, Y:0.69, Z:1.73 [[ 0.90477132 -0.07165537 -0.41982659 15.69948197] [ 0.09830923 0.99426212 0.04216778 0.69007535] [ 0.41439613 -0.07942503 0.90662424 1.72808446] [ 0. 0. 0. 1. ]] SLAMing on 83.21964924600002 meters Centerline goodness : 0.913120 Centerline is valid? [False, False] Translation: X:15.70, Y:0.69, Z:1.73 [[ 0.90407749 -0.07238349 -0.42119415 15.70306681] [ 0.09926106 0.99416577 0.04220976 0.68953136] [ 0.41568152 -0.07996907 0.90598776 1.73003083] [ 0. 0. 0. 1. ]] SLAMing on 83.24964924600002 meters Centerline goodness : 0.913427 Centerline is valid? [False, False] Translation: X:15.71, Y:0.69, Z:1.73 [[ 0.90369992 -0.07284466 -0.42192428 15.70504086] [ 0.0998005 0.99411534 0.04212535 0.69005967] [ 0.4163728 -0.08017693 0.90565189 1.73099755] [ 0. 0. 0. 1. ]] SLAMing on 83.279649246 meters Centerline goodness : 0.914747 Centerline is valid? [False, False] Translation: X:15.71, Y:0.69, Z:1.73 [[ 0.90345533 -0.07290712 -0.422437 15.70590181] [ 0.09996849 0.99409392 0.04223242 0.69073651] [ 0.41686301 -0.0803855 0.90540787 1.73194239] [ 0. 0. 0. 1. ]] SLAMing on 83.309649246 meters Centerline goodness : 0.913926 Centerline is valid? [False, False] Translation: X:15.71, Y:0.69, Z:1.73 [[ 0.90308188 -0.07338327 -0.42315247 15.70785483] [ 0.10043809 0.99405801 0.04196264 0.69123983] [ 0.41755874 -0.08039633 0.90508625 1.73271495] [ 0. 0. 0. 1. ]] SLAMing on 83.33964924600001 meters Centerline goodness : 0.911965 Centerline is valid? [False, False] Translation: X:15.71, Y:0.69, Z:1.73 [[ 0.90260211 -0.07415609 -0.42404046 15.71025394] [ 0.10123742 0.99398953 0.04166285 0.69174049] [ 0.41840223 -0.08053373 0.90468442 1.73392455] [ 0. 0. 0. 1. ]] SLAMing on 83.36964924600001 meters Centerline goodness : 0.911978 Centerline is valid? [False, False] Translation: X:15.71, Y:0.69, Z:1.73 [[ 0.90216924 -0.07479055 -0.42484944 15.71264529] [ 0.10194523 0.99392356 0.04151061 0.69236781] [ 0.41916326 -0.08076097 0.9043118 1.73492515] [ 0. 0. 0. 1. ]] SLAMing on 83.39964924600001 meters Centerline goodness : 0.907802 Centerline is valid? [False, False] Translation: X:15.72, Y:0.69, Z:1.74 [[ 0.9016646 -0.07520065 -0.42584716 15.71504542] [ 0.1024415 0.99387738 0.04139431 0.69334331] [ 0.42012698 -0.08094821 0.90384772 1.73629126] [ 0. 0. 0. 1. ]] SLAMing on 83.42964924600001 meters Centerline goodness : 0.907544 Centerline is valid? [False, False] Translation: X:15.72, Y:0.69, Z:1.74 [[ 0.90119658 -0.07587734 -0.42671695 15.71770977] [ 0.10310976 0.99382287 0.04104251 0.69432371] [ 0.42096686 -0.08098605 0.90345346 1.73708872] [ 0. 0. 0. 1. ]] SLAMing on 83.45964924600001 meters Centerline goodness : 0.911772 Centerline is valid? [False, False] Translation: X:15.72, Y:0.70, Z:1.74 [[ 0.9008692 -0.07650173 -0.42729635 15.71996706] [ 0.10350781 0.99381201 0.04029676 0.69709126] [ 0.42156947 -0.08053062 0.90321315 1.7369784 ] [ 0. 0. 0. 1. ]] SLAMing on 83.48964924600001 meters Centerline goodness : 0.914813 Centerline is valid? [False, False] Translation: X:15.72, Y:0.70, Z:1.74 [[ 0.90033172 -0.0716529 -0.42926525 15.72234056] [ 0.1006381 0.99389697 0.04517504 0.69652367] [ 0.42340851 -0.08387296 0.90204798 1.74132189] [ 0. 0. 0. 1. ]] SLAMing on 83.51964924600001 meters Centerline goodness : 0.912901 Centerline is valid? [False, False] Translation: X:15.72, Y:0.70, Z:1.74 [[ 0.90002587 -0.0720391 -0.4298416 15.72370763] [ 0.10094495 0.99388307 0.0447947 0.69765919] [ 0.42398532 -0.08370673 0.90179246 1.74186943] [ 0. 0. 0. 1. ]] SLAMing on 83.54964924600002 meters Centerline goodness : 0.911838 Centerline is valid? [False, False] Translation: X:15.73, Y:0.70, Z:1.75 [[ 0.89936297 -0.06789856 -0.43189818 15.72712209] [ 0.09880862 0.99387417 0.04950746 0.69809945] [ 0.42589096 -0.08720044 0.90056259 1.74650391] [ 0. 0. 0. 1. ]] SLAMing on 83.57964924600002 meters Centerline goodness : 0.907846 Centerline is valid? [False, False] Translation: X:15.73, Y:0.70, Z:1.75 [[ 0.89898733 -0.0685325 -0.43257955 15.72945083] [ 0.09932029 0.99385057 0.04895426 0.7002527 ] [ 0.42656448 -0.08697319 0.90026574 1.74668879] [ 0. 0. 0. 1. ]] SLAMing on 83.60964924600002 meters Centerline goodness : 0.906952 Centerline is valid? [False, False] Translation: X:15.73, Y:0.70, Z:1.75 [[ 0.89838639 -0.06941662 -0.43368562 15.73312519] [ 0.09995467 0.99383437 0.04798243 0.70308823] [ 0.4276809 -0.08645567 0.89978579 1.74693536] [ 0. 0. 0. 1. ]] SLAMing on 83.63964924600002 meters Centerline goodness : 0.906182 Centerline is valid? [False, False] Translation: X:15.74, Y:0.70, Z:1.75 [[ 0.89796522 -0.06984661 -0.43448811 15.7351531 ] [ 0.10044263 0.99379259 0.04782857 0.70331219] [ 0.4284504 -0.08658952 0.89940676 1.74792003] [ 0. 0. 0. 1. ]] SLAMing on 83.669649246 meters Centerline goodness : 0.908766 Centerline is valid? [False, False] Translation: X:15.74, Y:0.70, Z:1.75 [[ 0.89745926 -0.07066533 -0.43540014 15.73795564] [ 0.10127099 0.99372613 0.04746118 0.70363978] [ 0.42931464 -0.08668788 0.89898507 1.74888294] [ 0. 0. 0. 1. ]] SLAMing on 83.699649246 meters Centerline goodness : 0.910455 Centerline is valid? [False, False] Translation: X:15.74, Y:0.71, Z:1.75 [[ 0.89678013 -0.0717614 -0.43661848 15.74211237] [ 0.10225118 0.9936618 0.0467004 0.70511652] [ 0.43049982 -0.08652475 0.89843385 1.74965089] [ 0. 0. 0. 1. ]] SLAMing on 83.72964924600001 meters Centerline goodness : 0.906959 Centerline is valid? [False, False] Translation: X:15.74, Y:0.71, Z:1.75 [[ 0.89639479 -0.07250316 -0.43728671 15.74473774] [ 0.10288231 0.99362219 0.04615374 0.70632034] [ 0.43115149 -0.08636104 0.89813705 1.74982208] [ 0. 0. 0. 1. ]] SLAMing on 83.75964924600001 meters Centerline goodness : 0.905557 Centerline is valid? [False, False] Translation: X:15.75, Y:0.71, Z:1.75 [[ 0.8955416 -0.07435089 -0.43872222 15.75058265] [ 0.10448965 0.9935111 0.04491772 0.707971 ] [ 0.43253572 -0.08606762 0.89749942 1.75038558] [ 0. 0. 0. 1. ]] SLAMing on 83.78964924600001 meters Centerline goodness : 0.902396 Centerline is valid? [False, False] Translation: X:15.76, Y:0.71, Z:1.75 [[ 0.89486022 -0.07135138 -0.44060659 15.75573533] [ 0.10350171 0.99340482 0.04933827 0.70666549] [ 0.43418035 -0.08975439 0.89634344 1.75462263] [ 0. 0. 0. 1. ]] SLAMing on 83.81964924600001 meters Centerline goodness : 0.904670 Centerline is valid? [False, False] Translation: X:15.76, Y:0.71, Z:1.76 [[ 0.8939502 -0.07249631 -0.44226386 15.76013045] [ 0.10508173 0.99322631 0.04959166 0.70552064] [ 0.43567288 -0.09080633 0.8955129 1.75773214] [ 0. 0. 0. 1. ]] SLAMing on 83.84964924600001 meters Centerline goodness : 0.903302 Centerline is valid? [False, False] Translation: X:15.76, Y:0.70, Z:1.76 [[ 0.89344213 -0.07301724 -0.44320384 15.76268774] [ 0.10583552 0.99313923 0.04973247 0.70454253] [ 0.43653179 -0.09133979 0.89504025 1.75926455] [ 0. 0. 0. 1. ]] SLAMing on 83.87964924600001 meters Centerline goodness : 0.902726 Centerline is valid? [False, False] Translation: X:15.77, Y:0.70, Z:1.76 [[ 0.89230736 -0.07513939 -0.44513104 15.7687136 ] [ 0.10870905 0.99279867 0.05033034 0.70242648] [ 0.43814371 -0.09329991 0.8940499 1.76392268] [ 0. 0. 0. 1. ]] SLAMing on 83.90964924600001 meters Centerline goodness : 0.903029 Centerline is valid? [False, False] Translation: X:15.77, Y:0.70, Z:1.77 [[ 0.89177535 -0.07592256 -0.44606333 15.77156128] [ 0.10966142 0.99269679 0.05027374 0.7023274 ] [ 0.43898873 -0.09374882 0.8935883 1.76530455] [ 0. 0. 0. 1. ]] SLAMing on 83.93964924600002 meters Centerline goodness : 0.901479 Centerline is valid? [False, False] Translation: X:15.78, Y:0.70, Z:1.77 [[ 0.89111457 -0.07698055 -0.44720109 15.77561642] [ 0.11098731 0.99254795 0.05030291 0.70077918] [ 0.43999618 -0.09445931 0.89301781 1.7670836 ] [ 0. 0. 0. 1. ]] SLAMing on 83.96964924600002 meters Centerline goodness : 0.905474 Centerline is valid? [False, False] Translation: X:15.78, Y:0.70, Z:1.77 [[ 0.89057994 -0.07751605 -0.44817254 15.77827149] [ 0.11180135 0.99244603 0.05051078 0.69982881] [ 0.44087166 -0.09509018 0.89251893 1.76877395] [ 0. 0. 0. 1. ]] SLAMing on 83.99964924600002 meters Centerline goodness : 0.902321 Centerline is valid? [False, False] Translation: X:15.78, Y:0.70, Z:1.77 [[ 0.88971192 -0.07852186 -0.44971883 15.78291389] [ 0.11320464 0.99227691 0.05070744 0.69745438] [ 0.44226397 -0.09602527 0.89172963 1.7713786 ] [ 0. 0. 0. 1. ]] SLAMing on 84.029649246 meters Centerline goodness : 0.902698 Centerline is valid? [False, False] Translation: X:15.79, Y:0.69, Z:1.78 [[ 0.89317215 -0.07359695 -0.44365188 15.78998193] [ 0.10913988 0.99249928 0.05507872 0.69338649] [ 0.43627055 -0.09761489 0.89450508 1.77568075] [ 0. 0. 0. 1. ]] SLAMing on 84.059649246 meters Centerline goodness : 0.903432 Centerline is valid? [False, False] Translation: X:15.79, Y:0.69, Z:1.78 [[ 0.89247201 -0.07420881 -0.44495703 15.79306894] [ 0.11022112 0.99235218 0.05557389 0.69120611] [ 0.43743001 -0.0986418 0.89382592 1.77855033] [ 0. 0. 0. 1. ]] SLAMing on 84.08964924600001 meters Centerline goodness : 0.902896 Centerline is valid? [False, False] Translation: X:15.80, Y:0.69, Z:1.78 [[ 0.8920732 -0.07464724 -0.44568283 15.79500706] [ 0.11083054 0.99228058 0.05564036 0.69101998] [ 0.43808902 -0.09903054 0.89346011 1.77981582] [ 0. 0. 0. 1. ]] SLAMing on 84.11964924600001 meters Centerline goodness : 0.906843 Centerline is valid? [False, False] Translation: X:15.80, Y:0.69, Z:1.78 [[ 0.89148449 -0.07522797 -0.44676185 15.79786952] [ 0.11140376 0.99223982 0.05522076 0.69162217] [ 0.43914075 -0.0989994 0.8929471 1.78094492] [ 0. 0. 0. 1. ]] SLAMing on 84.14964924600001 meters Centerline goodness : 0.904793 Centerline is valid? [False, False] Translation: X:15.80, Y:0.69, Z:1.78 [[ 0.89099514 -0.07585037 -0.44763197 15.8004146 ] [ 0.11199451 0.99219692 0.05479515 0.69269674] [ 0.43998283 -0.09895454 0.89253746 1.78172426] [ 0. 0. 0. 1. ]] SLAMing on 84.17964924600001 meters Centerline goodness : 0.905356 Centerline is valid? [False, False] Translation: X:15.80, Y:0.70, Z:1.78 [[ 0.89051695 -0.07686629 -0.44840956 15.80383211] [ 0.11253896 0.99221075 0.05341165 0.6956222 ] [ 0.44081123 -0.09802752 0.89223095 1.78107444] [ 0. 0. 0. 1. ]] SLAMing on 84.20964924600001 meters Centerline goodness : 0.902115 Centerline is valid? [False, False] Translation: X:15.81, Y:0.70, Z:1.78 [[ 0.89008201 -0.07745353 -0.44917142 15.80633056] [ 0.113014 0.99218628 0.05286044 0.69746559] [ 0.4415675 -0.09781278 0.89188049 1.78140983] [ 0. 0. 0. 1. ]] SLAMing on 84.23964924600001 meters Centerline goodness : 0.901482 Centerline is valid? [False, False] Translation: X:15.81, Y:0.70, Z:1.78 [[ 0.88958876 -0.07755234 -0.45013051 15.80829098] [ 0.11287357 0.99224148 0.05211913 0.70072649] [ 0.4425962 -0.09717243 0.89144047 1.78179182] [ 0. 0. 0. 1. ]] SLAMing on 84.26964924600001 meters Centerline goodness : 0.896884 Centerline is valid? [False, False] Translation: X:15.81, Y:0.70, Z:1.78 [[ 0.88923234 -0.07824823 -0.45071395 15.81013179] [ 0.11335027 0.99222602 0.0513736 0.70298032] [ 0.44319022 -0.09677162 0.89118892 1.78198075] [ 0. 0. 0. 1. ]] SLAMing on 84.29964924600002 meters Centerline goodness : 0.903600 Centerline is valid? [False, False] Translation: X:15.82, Y:0.71, Z:1.79 [[ 0.89134597 -0.08210385 -0.44582657 15.82431611] [ 0.11300768 0.99265763 0.04312872 0.70733538] [ 0.43901211 -0.08882444 0.89407974 1.78653485] [ 0. 0. 0. 1. ]] SLAMing on 84.32964924600002 meters Centerline goodness : 0.898311 Centerline is valid? [False, False] Translation: X:15.83, Y:0.71, Z:1.79 [[ 0.89090701 -0.08266777 -0.44659908 15.82633642] [ 0.11358332 0.9926041 0.04284785 0.70897458] [ 0.43975394 -0.08889966 0.89370763 1.78744962] [ 0. 0. 0. 1. ]] SLAMing on 84.35964924600002 meters Centerline goodness : 0.899081 Centerline is valid? [False, False] Translation: X:15.84, Y:0.71, Z:1.80 [[ 0.88970612 -0.08325974 -0.4488773 15.83607745] [ 0.11646986 0.99208937 0.04683429 0.71089275] [ 0.44142699 -0.09394943 0.89236524 1.79502249] [ 0. 0. 0. 1. ]] SLAMing on 84.38964924600002 meters Centerline goodness : 0.899643 Centerline is valid? [False, False] Translation: X:15.84, Y:0.71, Z:1.79 [[ 0.88921115 -0.08455331 -0.44961568 15.83992811] [ 0.11746325 0.99202275 0.04575202 0.713422 ] [ 0.4421605 -0.09349653 0.8920496 1.79465447] [ 0. 0. 0. 1. ]] SLAMing on 84.419649246 meters Centerline goodness : 0.893598 Centerline is valid? [False, False] Translation: X:15.85, Y:0.71, Z:1.80 [[ 0.88857718 -0.08131098 -0.45146332 15.8459036 ] [ 0.11557304 0.99209999 0.0487901 0.71490813] [ 0.44392958 -0.09553076 0.89095477 1.79618458] [ 0. 0. 0. 1. ]] SLAMing on 84.449649246 meters Centerline goodness : 0.894029 Centerline is valid? [False, False] Translation: X:15.85, Y:0.72, Z:1.80 [[ 0.88817745 -0.08158913 -0.45219911 15.84776694] [ 0.11597705 0.99205234 0.04880043 0.71541553] [ 0.4446236 -0.09578816 0.89058098 1.79725798] [ 0. 0. 0. 1. ]] SLAMing on 84.47964924600001 meters Centerline goodness : 0.896438 Centerline is valid? [False, False] Translation: X:15.85, Y:0.72, Z:1.80 [[ 0.88764324 -0.08172048 -0.45322317 15.84969852] [ 0.1162068 0.9920294 0.04872006 0.71605625] [ 0.44562929 -0.09591364 0.89006467 1.7987414 ] [ 0. 0. 0. 1. ]] SLAMing on 84.50964924600001 meters Centerline goodness : 0.897500 Centerline is valid? [False, False] Translation: X:15.85, Y:0.72, Z:1.80 [[ 0.88720703 -0.08217393 -0.45399463 15.85206426] [ 0.11660773 0.99200176 0.04832329 0.7174407 ] [ 0.44639256 -0.09581204 0.88969306 1.79924475] [ 0. 0. 0. 1. ]] SLAMing on 84.53964924600001 meters Centerline goodness : 0.895711 Centerline is valid? [False, False] Translation: X:15.86, Y:0.72, Z:1.80 [[ 0.88650288 -0.08302813 -0.45521312 15.85618155] [ 0.11707955 0.99200644 0.04707008 0.71998418] [ 0.4476662 -0.09502391 0.88913746 1.79921087] [ 0. 0. 0. 1. ]] SLAMing on 84.56964924600001 meters Centerline goodness : 0.894768 Centerline is valid? [False, False] Translation: X:15.86, Y:0.72, Z:1.80 [[ 0.8902504 -0.07429045 -0.44937195 15.86158461] [ 0.11047491 0.99236683 0.05480306 0.71692281] [ 0.44187047 -0.09843277 0.8916622 1.80422195] [ 0. 0. 0. 1. ]] SLAMing on 84.59964924600001 meters Centerline goodness : 0.897737 Centerline is valid? [False, False] Translation: X:15.86, Y:0.72, Z:1.81 [[ 0.88961258 -0.07457484 -0.45058633 15.86456089] [ 0.11067906 0.99237312 0.05427466 0.71846336] [ 0.44310224 -0.09815389 0.89108149 1.80510565] [ 0. 0. 0. 1. ]] SLAMing on 84.62964924600001 meters Centerline goodness : 0.894854 Centerline is valid? [False, False] Translation: X:15.87, Y:0.72, Z:1.81 [[ 0.88926517 -0.0750841 -0.45118713 15.86659116] [ 0.11114905 0.99233943 0.05392899 0.71935043] [ 0.44368157 -0.0981062 0.89079843 1.80555181] [ 0. 0. 0. 1. ]] SLAMing on 84.65964924600001 meters Centerline goodness : 0.894033 Centerline is valid? [False, False] Translation: X:15.87, Y:0.72, Z:1.81 [[ 0.88864515 -0.07089295 -0.45308275 15.87034163] [ 0.10876802 0.99237041 0.05805584 0.71925694] [ 0.44551017 -0.10087195 0.88957604 1.80879129] [ 0. 0. 0. 1. ]] SLAMing on 84.68964924600002 meters Centerline goodness : 0.893998 Centerline is valid? [False, False] Translation: X:15.87, Y:0.72, Z:1.81 [[ 0.88837006 -0.07142354 -0.45353867 15.87219558] [ 0.10912383 0.99236555 0.05746826 0.72066657] [ 0.44597156 -0.10054496 0.88938185 1.80867114] [ 0. 0. 0. 1. ]] SLAMing on 84.71964924600002 meters Centerline goodness : 0.892839 Centerline is valid? [False, False] Translation: X:15.89, Y:0.73, Z:1.81 [[ 0.89055516 -0.07163201 -0.44919968 15.88876102] [ 0.10581197 0.99305592 0.05141767 0.72528346] [ 0.44239725 -0.09332097 0.8919506 1.81135987] [ 0. 0. 0. 1. ]] SLAMing on 84.74964924600002 meters Centerline goodness : 0.894917 Centerline is valid? [False, False] Translation: X:15.89, Y:0.73, Z:1.81 [[ 0.89024197 -0.07173508 -0.44980364 15.89001587] [ 0.10585869 0.99306536 0.05113837 0.72658707] [ 0.443016 -0.09314114 0.89166224 1.81182539] [ 0. 0. 0. 1. ]] SLAMing on 84.779649246 meters Centerline goodness : 0.896138 Centerline is valid? [False, False] Translation: X:15.89, Y:0.73, Z:1.81 [[ 0.88985985 -0.06650527 -0.45136071 15.89177924] [ 0.10225431 0.99322281 0.0552495 0.72751966] [ 0.44462737 -0.09531789 0.89062955 1.81426088] [ 0. 0. 0. 1. ]] SLAMing on 84.809649246 meters Centerline goodness : 0.894636 Centerline is valid? [False, False] Translation: X:15.89, Y:0.73, Z:1.82 [[ 0.8894834 -0.06207465 -0.45273173 15.8943841 ] [ 0.09960161 0.9932467 0.0595022 0.72678246] [ 0.44598072 -0.09801902 0.88965919 1.81682443] [ 0. 0. 0. 1. ]] SLAMing on 84.83964924600001 meters Centerline goodness : 0.897791 Centerline is valid? [False, False] Translation: X:15.90, Y:0.73, Z:1.82 [[ 0.88883176 -0.06716617 -0.45328446 15.89535032] [ 0.10320791 0.99312586 0.05521919 0.72832794] [ 0.44645966 -0.09586311 0.88965389 1.81748871] [ 0. 0. 0. 1. ]] SLAMing on 84.86964924600001 meters Centerline goodness : 0.900469 Centerline is valid? [False, False] Translation: X:15.90, Y:0.73, Z:1.82 [[ 0.88839048 -0.06769354 -0.4540704 15.89758227] [ 0.10369608 0.9930966 0.05482935 0.72916178] [ 0.44722418 -0.09579519 0.88927713 1.81812916] [ 0. 0. 0. 1. ]] SLAMing on 84.89964924600001 meters Centerline goodness : 0.897688 Centerline is valid? [False, False] Translation: X:15.90, Y:0.73, Z:1.82 [[ 0.88779178 -0.06897049 -0.45504815 15.90231576] [ 0.10467648 0.99305506 0.05370734 0.73169978] [ 0.44818365 -0.09531377 0.88884571 1.81784729] [ 0. 0. 0. 1. ]] SLAMing on 84.92964924600001 meters Centerline goodness : 0.897447 Centerline is valid? [False, False] Translation: X:15.91, Y:0.73, Z:1.82 [[ 0.8873831 -0.06994276 -0.45569644 15.90561047] [ 0.10542231 0.99302078 0.05287589 0.73296598] [ 0.44881775 -0.09496174 0.88856339 1.81755519] [ 0. 0. 0. 1. ]] SLAMing on 84.95964924600001 meters Centerline goodness : 0.893493 Centerline is valid? [False, False] Translation: X:15.91, Y:0.73, Z:1.82 [[ 0.88698967 -0.07078974 -0.45633118 15.90840896] [ 0.10616242 0.99297167 0.05231455 0.73360832] [ 0.44942059 -0.09484769 0.88827082 1.81774296] [ 0. 0. 0. 1. ]] SLAMing on 84.98964924600001 meters Centerline goodness : 0.901155 Centerline is valid? [False, False] Translation: X:15.91, Y:0.73, Z:1.82 [[ 0.88643965 -0.07069355 -0.45741357 15.91041761] [ 0.10623901 0.99295778 0.05242249 0.73332648] [ 0.45048643 -0.09506454 0.88770756 1.81932852] [ 0. 0. 0. 1. ]] SLAMing on 85.01964924600001 meters Centerline goodness : 0.901155 Centerline is valid? [False, False] Translation: X:15.91, Y:0.73, Z:1.82 [[ 0.88643965 -0.07069355 -0.45741357 15.91041761] [ 0.10623901 0.99295778 0.05242249 0.73332648] [ 0.45048643 -0.09506454 0.88770756 1.81932852] [ 0. 0. 0. 1. ]] SLAMing on 85.04964924600002 meters Centerline goodness : 0.899404 Centerline is valid? [False, False] Translation: X:15.91, Y:0.73, Z:1.82 [[ 0.88607747 -0.07055178 -0.45813662 15.91143749] [ 0.1062272 0.99295278 0.05254097 0.73322081] [ 0.45120117 -0.09522194 0.88732761 1.82050003] [ 0. 0. 0. 1. ]] SLAMing on 85.07964924600002 meters Centerline goodness : 0.903959 Centerline is valid? [False, False] Translation: X:15.93, Y:0.74, Z:1.82 [[ 0.88806674 -0.07271253 -0.45392769 15.92722912] [ 0.10409412 0.99357165 0.04449479 0.7369062 ] [ 0.44777436 -0.08676554 0.88992689 1.82306047] [ 0. 0. 0. 1. ]] SLAMing on 85.10964924600002 meters Centerline goodness : 0.906047 Centerline is valid? [False, False] Translation: X:15.93, Y:0.74, Z:1.82 [[ 0.88779053 -0.07269259 -0.45447086 15.92872676] [ 0.10403375 0.99358661 0.04430162 0.73744623] [ 0.44833576 -0.08661087 0.88965926 1.82338739] [ 0. 0. 0. 1. ]] SLAMing on 85.13964924600002 meters Centerline goodness : 0.907003 Centerline is valid? [False, False] Translation: X:15.93, Y:0.74, Z:1.82 [[ 0.88742528 -0.07324573 -0.45509497 15.93128874] [ 0.10451267 0.99355467 0.04388874 0.7383342 ] [ 0.44894707 -0.08651117 0.88936064 1.82352554] [ 0. 0. 0. 1. ]] SLAMing on 85.169649246 meters Centerline goodness : 0.902562 Centerline is valid? [False, False] Translation: X:15.93, Y:0.74, Z:1.83 [[ 0.88667716 -0.07372919 -0.45647302 15.93399514] [ 0.105734 0.99337873 0.04493345 0.7362646 ] [ 0.45013768 -0.08810618 0.88860192 1.82723565] [ 0. 0. 0. 1. ]] SLAMing on 85.199649246 meters Centerline goodness : 0.904600 Centerline is valid? [False, False] Translation: X:15.94, Y:0.74, Z:1.83 [[ 0.88616236 -0.07419209 -0.45739677 15.93575769] [ 0.10659713 0.99326485 0.04540909 0.73514488] [ 0.45094714 -0.08899701 0.88810259 1.82952685] [ 0. 0. 0. 1. ]] SLAMing on 85.22964924600001 meters Centerline goodness : 0.908574 Centerline is valid? [False, False] Translation: X:15.94, Y:0.73, Z:1.83 [[ 0.88563889 -0.07480338 -0.45831017 15.93816655] [ 0.10741015 0.99317504 0.04545777 0.73454626] [ 0.45178182 -0.08948633 0.88762908 1.83104323] [ 0. 0. 0. 1. ]] SLAMing on 85.25964924600001 meters Centerline goodness : 0.910387 Centerline is valid? [False, False] Translation: X:15.94, Y:0.73, Z:1.84 [[ 0.88470948 -0.07674312 -0.45978215 15.94253864] [ 0.1101475 0.9928396 0.04622825 0.73209541] [ 0.45294223 -0.09154242 0.88682767 1.8354612 ] [ 0. 0. 0. 1. ]] SLAMing on 85.28964924600001 meters Centerline goodness : 0.914800 Centerline is valid? [False, False] Translation: X:15.94, Y:0.73, Z:1.84 [[ 0.884326 -0.07739243 -0.46041062 15.94454827] [ 0.11109552 0.99272062 0.04651412 0.73080583] [ 0.45345927 -0.0922832 0.8864866 1.83705681] [ 0. 0. 0. 1. ]] SLAMing on 85.31964924600001 meters Centerline goodness : 0.916461 Centerline is valid? [False, False] Translation: X:15.95, Y:0.73, Z:1.84 [[ 0.88393604 -0.07772637 -0.46110268 15.94675437] [ 0.1114974 0.9926805 0.04640858 0.73129158] [ 0.45412047 -0.09243396 0.88613236 1.83767248] [ 0. 0. 0. 1. ]] SLAMing on 85.34964924600001 meters Centerline goodness : 0.913901 Centerline is valid? [False, False] Translation: X:15.95, Y:0.73, Z:1.84 [[ 0.88361035 -0.0777432 -0.46172367 15.94838409] [ 0.11159176 0.99266965 0.04641374 0.73161876] [ 0.45473072 -0.09253622 0.88580868 1.83830186] [ 0. 0. 0. 1. ]] SLAMing on 85.37964924600001 meters Centerline goodness : 0.915431 Centerline is valid? [False, False] Translation: X:15.95, Y:0.73, Z:1.84 [[ 0.88344916 -0.07623771 -0.46228281 15.94754773] [ 0.11029707 0.992784 0.04705837 0.73089224] [ 0.45535936 -0.09256212 0.88548298 1.83938318] [ 0. 0. 0. 1. ]] SLAMing on 85.40964924600001 meters Centerline goodness : 0.918722 Centerline is valid? [False, False] Translation: X:15.95, Y:0.73, Z:1.84 [[ 0.88303366 -0.07615768 -0.46308915 15.94837087] [ 0.11048194 0.99274682 0.04740768 0.73031293] [ 0.45611982 -0.09302556 0.88504291 1.84119282] [ 0. 0. 0. 1. ]] SLAMing on 85.43964924600002 meters Centerline goodness : 0.918726 Centerline is valid? [False, False] Translation: X:15.95, Y:0.73, Z:1.84 [[ 0.88268973 -0.07573022 -0.46381438 15.94934403] [ 0.11003964 0.99280032 0.04731607 0.73179353] [ 0.4568918 -0.09280338 0.88466797 1.8417689 ] [ 0. 0. 0. 1. ]] SLAMing on 85.46964924600002 meters Centerline goodness : 0.923587 Centerline is valid? [False, False] Translation: X:15.95, Y:0.73, Z:1.84 [[ 0.88229833 -0.07583895 -0.46454075 15.95098167] [ 0.11012351 0.99280243 0.04707593 0.73246563] [ 0.457627 -0.09269187 0.88429958 1.84244934] [ 0. 0. 0. 1. ]] SLAMing on 85.49964924600002 meters Centerline goodness : 0.918353 Centerline is valid? [False, False] Translation: X:15.95, Y:0.73, Z:1.84 [[ 0.88197113 -0.07643631 -0.46506388 15.95322325] [ 0.11054702 0.99278361 0.04647655 0.73384001] [ 0.4581553 -0.0924024 0.88405629 1.84238036] [ 0. 0. 0. 1. ]] SLAMing on 85.529649246 meters Centerline goodness : 0.917163 Centerline is valid? [False, False] Translation: X:15.96, Y:0.74, Z:1.84 [[ 0.88164999 -0.07676338 -0.4656186 15.95534762] [ 0.11074833 0.99278202 0.04602901 0.73570623] [ 0.45872443 -0.09214796 0.88378767 1.84226261] [ 0. 0. 0. 1. ]] SLAMing on 85.559649246 meters Centerline goodness : 0.917329 Centerline is valid? [False, False] Translation: X:15.96, Y:0.74, Z:1.84 [[ 0.88128228 -0.07692993 -0.46628674 15.95734636] [ 0.11076677 0.99280193 0.04555266 0.73740697] [ 0.45942602 -0.09179383 0.88346003 1.84231877] [ 0. 0. 0. 1. ]] SLAMing on 85.58964924600001 meters Centerline goodness : 0.917141 Centerline is valid? [False, False] Translation: X:15.96, Y:0.74, Z:1.84 [[ 0.88057714 -0.07740276 -0.467539 15.95955007] [ 0.11150015 0.99271512 0.04565521 0.73765814] [ 0.4605992 -0.0923336 0.88279266 1.84473816] [ 0. 0. 0. 1. ]] SLAMing on 85.61964924600001 meters Centerline goodness : 0.915510 Centerline is valid? [False, False] Translation: X:15.96, Y:0.74, Z:1.85 [[ 0.88006351 -0.07816207 -0.46837903 15.96146376] [ 0.11244811 0.99260886 0.04564064 0.73821161] [ 0.4613498 -0.092835 0.88234802 1.8464074 ] [ 0. 0. 0. 1. ]] SLAMing on 85.64964924600001 meters Centerline goodness : 0.918038 Centerline is valid? [False, False] Translation: X:15.96, Y:0.74, Z:1.85 [[ 0.87899496 -0.07934583 -0.47018304 15.96378004] [ 0.11522286 0.99218069 0.04797049 0.73715466] [ 0.46270028 -0.09634166 0.88126429 1.85426586] [ 0. 0. 0. 1. ]] SLAMing on 85.67964924600001 meters Centerline goodness : 0.919468 Centerline is valid? [False, False] Translation: X:15.97, Y:0.73, Z:1.86 [[ 0.88417854 -0.07008314 -0.46186217 15.96572277] [ 0.10803726 0.99255631 0.05621322 0.73289229] [ 0.45448461 -0.09960085 0.88516858 1.85702076] [ 0. 0. 0. 1. ]] SLAMing on 85.70964924600001 meters Centerline goodness : 0.923079 Centerline is valid? [False, False] Translation: X:15.97, Y:0.74, Z:1.86 [[ 0.88416206 -0.06505225 -0.46262908 15.96702051] [ 0.1042491 0.99276133 0.05964118 0.73504042] [ 0.45540046 -0.10096113 0.88454354 1.85722231] [ 0. 0. 0. 1. ]] SLAMing on 85.73964924600001 meters Centerline goodness : 0.921918 Centerline is valid? [False, False] Translation: X:15.97, Y:0.74, Z:1.86 [[ 0.88404711 -0.05966448 -0.463574 15.96803324] [ 0.10046796 0.99289234 0.06380427 0.73542862] [ 0.45647223 -0.10298032 0.88375797 1.85853453] [ 0. 0. 0. 1. ]] SLAMing on 85.76964924600001 meters Centerline goodness : 0.918409 Centerline is valid? [False, False] Translation: X:15.98, Y:0.74, Z:1.86 [[ 0.88642595 -0.05941851 -0.45904082 15.98191345] [ 0.09649311 0.99365909 0.0577122 0.73931456] [ 0.45270091 -0.09545187 0.88653868 1.86152649] [ 0. 0. 0. 1. ]] SLAMing on 85.79964924600002 meters Centerline goodness : 0.919505 Centerline is valid? [False, False] Translation: X:15.98, Y:0.74, Z:1.86 [[ 0.88633042 -0.0591378 -0.45926148 15.98170598] [ 0.09617132 0.99369411 0.05764621 0.73975077] [ 0.45295636 -0.09526138 0.88642868 1.86179332] [ 0. 0. 0. 1. ]] SLAMing on 85.82964924600002 meters Centerline goodness : 0.921699 Centerline is valid? [False, False] Translation: X:15.98, Y:0.74, Z:1.86 [[ 0.88586012 -0.05888139 -0.46020085 15.98335439] [ 0.09546792 0.9938213 0.05661365 0.74238041] [ 0.45402392 -0.0940862 0.88600794 1.86151962] [ 0. 0. 0. 1. ]] SLAMing on 85.85964924600002 meters Centerline goodness : 0.921403 Centerline is valid? [False, False] Translation: X:15.99, Y:0.74, Z:1.86 [[ 0.88565728 -0.05901566 -0.46057392 15.9852686 ] [ 0.09507008 0.9939246 0.05545775 0.74464675] [ 0.45450288 -0.09290336 0.88588718 1.86012113] [ 0. 0. 0. 1. ]] SLAMing on 85.88964924600002 meters Centerline goodness : 0.920662 Centerline is valid? [False, False] Translation: X:15.99, Y:0.74, Z:1.86 [[ 0.88520974 -0.05521083 -0.46190418 15.98941154] [ 0.09275747 0.99394158 0.05895914 0.74448903] [ 0.45585059 -0.09503627 0.88496799 1.86154095] [ 0. 0. 0. 1. ]] SLAMing on 85.919649246 meters Centerline goodness : 0.917341 Centerline is valid? [False, False] Translation: X:15.99, Y:0.75, Z:1.86 [[ 0.88494124 -0.05625507 -0.46229251 15.99283808] [ 0.09335562 0.99395635 0.0577538 0.74703324] [ 0.45624963 -0.09426632 0.8848447 1.86024196] [ 0. 0. 0. 1. ]] SLAMing on 85.949649246 meters Centerline goodness : 0.911796 Centerline is valid? [False, False] Translation: X:16.00, Y:0.75, Z:1.86 [[ 0.88445005 -0.05749968 -0.46307872 15.99778213] [ 0.09401421 0.99398677 0.05613936 0.74916404] [ 0.45706613 -0.09318844 0.88453743 1.8586673 ] [ 0. 0. 0. 1. ]] SLAMing on 85.97964924600001 meters Centerline goodness : 0.909144 Centerline is valid? [False, False] Translation: X:16.00, Y:0.75, Z:1.86 [[ 0.8841205 -0.05789061 -0.46365896 15.9998882 ] [ 0.09436438 0.99397079 0.05583394 0.74897844] [ 0.4576312 -0.09311682 0.88425276 1.85896381] [ 0. 0. 0. 1. ]] SLAMing on 86.00964924600001 meters Centerline goodness : 0.910635 Centerline is valid? [False, False] Translation: X:16.00, Y:0.75, Z:1.86 [[ 0.88382157 -0.05761344 -0.46426298 16.00065744] [ 0.09422034 0.99397402 0.05601934 0.74813144] [ 0.45823788 -0.09325412 0.88392404 1.86000014] [ 0. 0. 0. 1. ]] SLAMing on 86.03964924600001 meters Centerline goodness : 0.911184 Centerline is valid? [False, False] Translation: X:16.00, Y:0.75, Z:1.86 [[ 0.88363115 -0.05754227 -0.46463414 16.00120801] [ 0.09423589 0.99396695 0.05611867 0.74767608] [ 0.45860178 -0.09337341 0.8837227 1.86065367] [ 0. 0. 0. 1. ]] SLAMing on 86.06964924600001 meters Centerline goodness : 0.910625 Centerline is valid? [False, False] Translation: X:16.00, Y:0.75, Z:1.86 [[ 0.88342473 -0.05687408 -0.46510868 16.00118643] [ 0.09388077 0.99396337 0.05677349 0.74622643] [ 0.45907205 -0.09381987 0.8834312 1.86203075] [ 0. 0. 0. 1. ]] SLAMing on 86.09964924600001 meters Centerline goodness : 0.911318 Centerline is valid? [False, False] Translation: X:16.00, Y:0.75, Z:1.86 [[ 0.88327867 -0.05687752 -0.46538557 16.00221635] [ 0.09395938 0.99395136 0.05685355 0.74615782] [ 0.45933693 -0.09394487 0.88328022 1.86227795] [ 0. 0. 0. 1. ]] SLAMing on 86.12964924600001 meters Centerline goodness : 0.913356 Centerline is valid? [False, False] Translation: X:16.00, Y:0.75, Z:1.86 [[ 0.88317675 -0.05699243 -0.46556491 16.00293235] [ 0.09404733 0.99394994 0.05673277 0.7466842 ] [ 0.45951488 -0.0938902 0.88319347 1.86232266] [ 0. 0. 0. 1. ]] SLAMing on 86.15964924600001 meters Centerline goodness : 0.913779 Centerline is valid? [False, False] Translation: X:16.00, Y:0.75, Z:1.86 [[ 0.88302631 -0.05618146 -0.4659487 16.0025201 ] [ 0.09350487 0.99396537 0.05735576 0.74566488] [ 0.45991454 -0.09421511 0.88295081 1.86353967] [ 0. 0. 0. 1. ]] SLAMing on 86.18964924600002 meters Centerline goodness : 0.915086 Centerline is valid? [False, False] Translation: X:16.00, Y:0.74, Z:1.86 [[ 0.88278087 -0.05597255 -0.46643864 16.00332171] [ 0.0934734 0.99395226 0.05763349 0.74458714] [ 0.46039185 -0.09447735 0.88267399 1.86441214] [ 0. 0. 0. 1. ]] SLAMing on 86.21964924600002 meters Centerline goodness : 0.914859 Centerline is valid? [False, False] Translation: X:16.01, Y:0.74, Z:1.87 [[ 0.88221408 -0.05660668 -0.46743343 16.00616529] [ 0.09436595 0.99386147 0.05774463 0.74267665] [ 0.46129534 -0.09505293 0.88214032 1.86608948] [ 0. 0. 0. 1. ]] SLAMing on 86.24964924600002 meters Centerline goodness : 0.912785 Centerline is valid? [False, False] Translation: X:16.01, Y:0.74, Z:1.87 [[ 0.8814802 -0.05899547 -0.46852127 16.01156416] [ 0.09691784 0.993646 0.05722374 0.74100578] [ 0.46216835 -0.09584967 0.88159699 1.86777354] [ 0. 0. 0. 1. ]] SLAMing on 86.279649246 meters Centerline goodness : 0.909152 Centerline is valid? [False, False] Translation: X:16.01, Y:0.74, Z:1.87 [[ 0.8811921 -0.05961387 -0.46898472 16.01426253] [ 0.09752894 0.99360186 0.05695129 0.74043597] [ 0.462589 -0.09592461 0.88136819 1.86777738] [ 0. 0. 0. 1. ]] SLAMing on 86.309649246 meters Centerline goodness : 0.909713 Centerline is valid? [False, False] Translation: X:16.02, Y:0.74, Z:1.87 [[ 0.88084807 -0.06002657 -0.46957798 16.01670039] [ 0.09805254 0.99355194 0.05692317 0.73976267] [ 0.46313321 -0.09618398 0.88105407 1.86826721] [ 0. 0. 0. 1. ]] SLAMing on 86.33964924600001 meters Centerline goodness : 0.909164 Centerline is valid? [False, False] Translation: X:16.02, Y:0.74, Z:1.87 [[ 0.88055709 -0.06491798 -0.46947297 16.01774725] [ 0.10150754 0.99342081 0.05302182 0.73804832] [ 0.46294214 -0.09434378 0.8813534 1.86777135] [ 0. 0. 0. 1. ]] SLAMing on 86.36964924600001 meters Centerline goodness : 0.908068 Centerline is valid? [False, False] Translation: X:16.02, Y:0.74, Z:1.87 [[ 0.88028372 -0.06930977 -0.46935777 16.01814588] [ 0.10455431 0.99329083 0.0494137 0.73703097] [ 0.46278392 -0.09257145 0.88162439 1.86745013] [ 0. 0. 0. 1. ]] SLAMing on 86.39964924600001 meters Centerline goodness : 0.906634 Centerline is valid? [False, False] Translation: X:16.02, Y:0.74, Z:1.87 [[ 0.88015098 -0.06949652 -0.46957905 16.01921244] [ 0.10472228 0.99327967 0.04928231 0.7371404 ] [ 0.46299838 -0.09255126 0.88151391 1.86748724] [ 0. 0. 0. 1. ]] SLAMing on 86.42964924600001 meters Centerline goodness : 0.904776 Centerline is valid? [False, False] Translation: X:16.02, Y:0.74, Z:1.87 [[ 0.87992956 -0.06972123 -0.46996054 16.02099576] [ 0.10486513 0.99327928 0.04898554 0.73768486] [ 0.46338674 -0.0923863 0.88132713 1.86735044] [ 0. 0. 0. 1. ]] SLAMing on 86.45964924600001 meters Centerline goodness : 0.903854 Centerline is valid? [False, False] Translation: X:16.02, Y:0.74, Z:1.87 [[ 0.87974969 -0.06990267 -0.47027025 16.02225715] [ 0.10505248 0.99326455 0.04888262 0.73757103] [ 0.46368574 -0.09240753 0.88116762 1.86749648] [ 0. 0. 0. 1. ]] SLAMing on 86.48964924600001 meters Centerline goodness : 0.904890 Centerline is valid? [False, False] Translation: X:16.03, Y:0.74, Z:1.87 [[ 0.87926337 -0.07055184 -0.47108212 16.02517063] [ 0.10584111 0.99318464 0.04880509 0.73675256] [ 0.46442824 -0.09277238 0.88073816 1.86854152] [ 0. 0. 0. 1. ]] SLAMing on 86.51964924600001 meters Centerline goodness : 0.901253 Centerline is valid? [False, False] Translation: X:16.03, Y:0.74, Z:1.87 [[ 0.87887104 -0.07103333 -0.47174142 16.02728132] [ 0.10643242 0.99312435 0.04874587 0.73640224] [ 0.46503531 -0.09304991 0.88038848 1.86936736] [ 0. 0. 0. 1. ]] SLAMing on 86.54964924600002 meters Centerline goodness : 0.901393 Centerline is valid? [False, False] Translation: X:16.03, Y:0.74, Z:1.87 [[ 0.87844298 -0.07148326 -0.47247019 16.03057735] [ 0.10697171 0.99307164 0.04863913 0.73521721] [ 0.46571986 -0.09326765 0.8800035 1.86974839] [ 0. 0. 0. 1. ]] SLAMing on 86.57964924600002 meters Centerline goodness : 0.905325 Centerline is valid? [False, False] Translation: X:16.03, Y:0.73, Z:1.87 [[ 0.87792337 -0.0721605 -0.47333225 16.03305043] [ 0.10796091 0.9929535 0.04886501 0.73399074] [ 0.46647079 -0.09400112 0.8795276 1.87147563] [ 0. 0. 0. 1. ]] SLAMing on 86.60964924600002 meters Centerline goodness : 0.901804 Centerline is valid? [False, False] Translation: X:16.04, Y:0.73, Z:1.87 [[ 0.87760833 -0.07253662 -0.4738587 16.03533307] [ 0.10836139 0.99291808 0.04869792 0.73355069] [ 0.46697049 -0.09408569 0.87925335 1.87178302] [ 0. 0. 0. 1. ]] SLAMing on 86.63964924600002 meters Centerline goodness : 0.904399 Centerline is valid? [False, False] Translation: X:16.04, Y:0.73, Z:1.87 [[ 0.87745821 -0.07258868 -0.47412864 16.03618309] [ 0.10845684 0.99290731 0.04870517 0.73335197] [ 0.46723035 -0.09415924 0.87910741 1.87205299] [ 0. 0. 0. 1. ]] SLAMing on 86.669649246 meters Centerline goodness : 0.905498 Centerline is valid? [False, False] Translation: X:16.04, Y:0.73, Z:1.87 [[ 0.87716168 -0.07278943 -0.47464628 16.0379154 ] [ 0.10866143 0.9928928 0.04854466 0.7335361 ] [ 0.46773933 -0.09415726 0.87883692 1.87250587] [ 0. 0. 0. 1. ]] SLAMing on 86.699649246 meters Centerline goodness : 0.905578 Centerline is valid? [False, False] Translation: X:16.04, Y:0.73, Z:1.87 [[ 0.8769876 -0.07299864 -0.47493573 16.03893147] [ 0.10881786 0.99288625 0.04832774 0.73426911] [ 0.4680293 -0.09406431 0.87869248 1.87260457] [ 0. 0. 0. 1. ]] SLAMing on 86.72964924600001 meters Centerline goodness : 0.904431 Centerline is valid? [False, False] Translation: X:16.04, Y:0.73, Z:1.87 [[ 0.87686542 -0.072893 -0.47517748 16.03953729] [ 0.10873724 0.9928942 0.0483459 0.73447124] [ 0.46827689 -0.09406234 0.87856077 1.87284879] [ 0. 0. 0. 1. ]] SLAMing on 86.75964924600001 meters Centerline goodness : 0.905274 Centerline is valid? [False, False] Translation: X:16.04, Y:0.73, Z:1.87 [[ 0.87636455 -0.07718302 -0.47542398 16.03940461] [ 0.11167158 0.99274019 0.04468081 0.73484267] [ 0.46852389 -0.09224802 0.87862146 1.87335249] [ 0. 0. 0. 1. ]] SLAMing on 86.78964924600001 meters Centerline goodness : 0.908420 Centerline is valid? [False, False] Translation: X:16.04, Y:0.73, Z:1.87 [[ 0.87613048 -0.07726727 -0.47584152 16.04025311] [ 0.11194585 0.99269838 0.04492267 0.73379467] [ 0.46889606 -0.09262661 0.87838306 1.87431042] [ 0. 0. 0. 1. ]] SLAMing on 86.81964924600001 meters Centerline goodness : 0.910292 Centerline is valid? [False, False] Translation: X:16.04, Y:0.73, Z:1.88 [[ 0.87588254 -0.07729309 -0.47629357 16.04142014] [ 0.11222403 0.99265041 0.0452873 0.7328044 ] [ 0.46929261 -0.09311793 0.8781193 1.87528743] [ 0. 0. 0. 1. ]] SLAMing on 86.84964924600001 meters Centerline goodness : 0.912207 Centerline is valid? [False, False] Translation: X:16.04, Y:0.73, Z:1.88 [[ 0.87569463 -0.07721732 -0.47665124 16.04258524] [ 0.11247158 0.99259747 0.04583025 0.73100601] [ 0.46958393 -0.09374302 0.87789702 1.87626979] [ 0. 0. 0. 1. ]] SLAMing on 86.87964924600001 meters Centerline goodness : 0.911777 Centerline is valid? [False, False] Translation: X:16.04, Y:0.73, Z:1.88 [[ 0.87550817 -0.07713278 -0.47700731 16.04324174] [ 0.11254784 0.99257767 0.04607115 0.73056014] [ 0.46991321 -0.09402181 0.87769099 1.87700465] [ 0. 0. 0. 1. ]] SLAMing on 86.90964924600001 meters Centerline goodness : 0.911468 Centerline is valid? [False, False] Translation: X:16.04, Y:0.73, Z:1.88 [[ 0.87514191 -0.07724312 -0.47766112 16.04482741] [ 0.11272689 0.99255956 0.04602347 0.73037104] [ 0.47055211 -0.09412232 0.87733785 1.87778062] [ 0. 0. 0. 1. ]] SLAMing on 86.93964924600002 meters Centerline goodness : 0.911468 Centerline is valid? [False, False] Translation: X:16.04, Y:0.73, Z:1.88 [[ 0.87514191 -0.07724312 -0.47766112 16.04482741] [ 0.11272689 0.99255956 0.04602347 0.73037104] [ 0.47055211 -0.09412232 0.87733785 1.87778062] [ 0. 0. 0. 1. ]] SLAMing on 86.96964924600002 meters Centerline goodness : 0.910770 Centerline is valid? [False, False] Translation: X:16.05, Y:0.73, Z:1.88 [[ 0.8747835 -0.07754389 -0.47826852 16.04643659] [ 0.11309579 0.99252159 0.04593727 0.73074162] [ 0.47112968 -0.09427532 0.87701139 1.87860686] [ 0. 0. 0. 1. ]] SLAMing on 86.99964924600002 meters Centerline goodness : 0.911368 Centerline is valid? [False, False] Translation: X:16.05, Y:0.73, Z:1.88 [[ 0.8745514 -0.07720939 -0.47874686 16.04708328] [ 0.1129726 0.99251851 0.04630546 0.72969772] [ 0.4715899 -0.09458178 0.876731 1.87949961] [ 0. 0. 0. 1. ]] SLAMing on 87.029649246 meters Centerline goodness : 0.913974 Centerline is valid? [False, False] Translation: X:16.05, Y:0.73, Z:1.88 [[ 0.87429216 -0.07724438 -0.47921449 16.04836034] [ 0.11309522 0.99250233 0.04635301 0.72936393] [ 0.47204099 -0.09472294 0.87647297 1.88001794] [ 0. 0. 0. 1. ]] SLAMing on 87.059649246 meters Centerline goodness : 0.914418 Centerline is valid? [False, False] Translation: X:16.05, Y:0.73, Z:1.88 [[ 0.87403963 -0.07733831 -0.47965978 16.04957452] [ 0.11322281 0.9924907 0.04629047 0.72945143] [ 0.47247785 -0.09476813 0.87623267 1.88052451] [ 0. 0. 0. 1. ]] SLAMing on 87.08964924600001 meters Centerline goodness : 0.917602 Centerline is valid? [False, False] Translation: X:16.05, Y:0.73, Z:1.88 [[ 0.87388333 -0.07680848 -0.48002957 16.04930582] [ 0.11300353 0.99248637 0.0469149 0.72844554] [ 0.47281934 -0.09524318 0.87599692 1.88182281] [ 0. 0. 0. 1. ]] SLAMing on 87.11964924600001 meters Centerline goodness : 0.917517 Centerline is valid? [False, False] Translation: X:16.05, Y:0.73, Z:1.88 [[ 0.87375532 -0.07660262 -0.48029541 16.04968415] [ 0.11294943 0.99247964 0.04718685 0.72812933] [ 0.47306878 -0.09547886 0.87583658 1.88237229] [ 0. 0. 0. 1. ]] SLAMing on 87.14964924600001 meters Centerline goodness : 0.919878 Centerline is valid? [False, False] Translation: X:16.05, Y:0.73, Z:1.88 [[ 0.87371015 -0.07636517 -0.48041538 16.04979213] [ 0.11280986 0.99248534 0.04740024 0.72800542] [ 0.4731855 -0.09560966 0.87575926 1.88261973] [ 0. 0. 0. 1. ]] SLAMing on 87.17964924600001 meters Centerline goodness : 0.920187 Centerline is valid? [False, False] Translation: X:16.05, Y:0.73, Z:1.89 [[ 0.87342463 -0.07613683 -0.48097048 16.04964277] [ 0.11326431 0.99237593 0.04859234 0.72609294] [ 0.47360386 -0.09691853 0.87538916 1.88541647] [ 0. 0. 0. 1. ]] SLAMing on 87.20964924600001 meters Centerline goodness : 0.924959 Centerline is valid? [False, False] Translation: X:16.05, Y:0.73, Z:1.89 [[ 0.87321499 -0.0805321 -0.48063516 16.04856646] [ 0.11618091 0.99221595 0.04482751 0.72606258] [ 0.47328382 -0.09498469 0.87577413 1.8850664 ] [ 0. 0. 0. 1. ]] SLAMing on 87.23964924600001 meters Centerline goodness : 0.923725 Centerline is valid? [False, False] Translation: X:16.05, Y:0.73, Z:1.89 [[ 0.87304823 -0.08033007 -0.4809718 16.04943984] [ 0.11605436 0.99222561 0.04494131 0.72558827] [ 0.4736224 -0.09505481 0.87558347 1.88536016] [ 0. 0. 0. 1. ]] SLAMing on 87.26964924600001 meters Centerline goodness : 0.925107 Centerline is valid? [False, False] Translation: X:16.05, Y:0.73, Z:1.89 [[ 0.87257876 -0.08119874 -0.48167736 16.05265471] [ 0.117003 0.99212472 0.04470847 0.72503791] [ 0.47425374 -0.09536935 0.87520745 1.88606392] [ 0. 0. 0. 1. ]] SLAMing on 87.29964924600002 meters Centerline goodness : 0.922594 Centerline is valid? [False, False] Translation: X:16.05, Y:0.72, Z:1.89 [[ 0.87226961 -0.08161402 -0.48216686 16.05469163] [ 0.11745939 0.99207714 0.04456724 0.72497221] [ 0.47470941 -0.09550967 0.87494507 1.8864258 ] [ 0. 0. 0. 1. ]] SLAMing on 87.32964924600002 meters Centerline goodness : 0.921129 Centerline is valid? [False, False] Translation: X:16.06, Y:0.72, Z:1.89 [[ 0.87177818 -0.08214172 -0.48296537 16.05767577] [ 0.11802267 0.99202153 0.04431629 0.72476254] [ 0.47547182 -0.09563483 0.87451731 1.88696389] [ 0. 0. 0. 1. ]] SLAMing on 87.35964924600002 meters Centerline goodness : 0.923529 Centerline is valid? [False, False] Translation: X:16.06, Y:0.73, Z:1.89 [[ 0.87157553 -0.08230454 -0.48330328 16.05871264] [ 0.11817356 0.99200984 0.04417572 0.72510506] [ 0.47580574 -0.09561614 0.87433772 1.88717888] [ 0. 0. 0. 1. ]] SLAMing on 87.38964924600002 meters Centerline goodness : 0.925513 Centerline is valid? [False, False] Translation: X:16.06, Y:0.72, Z:1.89 [[ 0.8711739 -0.08201464 -0.48407606 16.05929643] [ 0.11830168 0.99196479 0.04483944 0.72447513] [ 0.47650891 -0.09632996 0.8738763 1.88925026] [ 0. 0. 0. 1. ]] SLAMing on 87.419649246 meters Centerline goodness : 0.923792 Centerline is valid? [False, False] Translation: X:16.06, Y:0.72, Z:1.89 [[ 0.87592384 -0.07239887 -0.47698619 16.06164539] [ 0.11033593 0.99253485 0.05196685 0.71844807] [ 0.46966308 -0.09814772 0.87737313 1.89386845] [ 0. 0. 0. 1. ]] SLAMing on 87.449649246 meters Centerline goodness : 0.927305 Centerline is valid? [False, False] Translation: X:16.06, Y:0.72, Z:1.89 [[ 0.8757065 -0.07211303 -0.47742836 16.06188783] [ 0.11028308 0.99251964 0.05236809 0.7174333 ] [ 0.4700806 -0.09851134 0.87710874 1.89498683] [ 0. 0. 0. 1. ]] SLAMing on 87.47964924600001 meters Centerline goodness : 0.926396 Centerline is valid? [False, False] Translation: X:16.06, Y:0.72, Z:1.90 [[ 0.87539453 -0.07266836 -0.47791603 16.06391406] [ 0.11074668 0.99249035 0.05194301 0.71808546] [ 0.47055243 -0.09839824 0.8768684 1.89510423] [ 0. 0. 0. 1. ]] SLAMing on 87.50964924600001 meters Centerline goodness : 0.927113 Centerline is valid? [False, False] Translation: X:16.07, Y:0.72, Z:1.89 [[ 0.87497129 -0.07386561 -0.47850717 16.06752537] [ 0.11162504 0.99244544 0.05091066 0.71953878] [ 0.47113171 -0.09795875 0.87660652 1.89453788] [ 0. 0. 0. 1. ]] SLAMing on 87.53964924600001 meters Centerline goodness : 0.925352 Centerline is valid? [False, False] Translation: X:16.07, Y:0.72, Z:1.89 [[ 0.87473853 -0.07432078 -0.47886211 16.06932613] [ 0.1119534 0.99243058 0.05047744 0.7200142 ] [ 0.47148588 -0.0977648 0.87643774 1.89436209] [ 0. 0. 0. 1. ]] SLAMing on 87.56964924600001 meters Centerline goodness : 0.925535 Centerline is valid? [False, False] Translation: X:16.07, Y:0.72, Z:1.89 [[ 0.87445227 -0.07479355 -0.47931112 16.07102415] [ 0.11240665 0.99239255 0.05021725 0.72060319] [ 0.47190886 -0.09779035 0.87620721 1.89470805] [ 0. 0. 0. 1. ]] SLAMing on 87.59964924600001 meters Centerline goodness : 0.928513 Centerline is valid? [False, False] Translation: X:16.07, Y:0.72, Z:1.90 [[ 0.873633 -0.08040437 -0.47989637 16.06980133] [ 0.11798043 0.99182577 0.04860315 0.71839948] [ 0.47206568 -0.09907969 0.87597786 1.90105739] [ 0. 0. 0. 1. ]] SLAMing on 87.62964924600001 meters Centerline goodness : 0.926220 Centerline is valid? [False, False] Translation: X:16.07, Y:0.72, Z:1.90 [[ 0.87455139 -0.07436779 -0.47919652 16.0677136 ] [ 0.11503019 0.99178129 0.05601715 0.71959972] [ 0.47109227 -0.10411194 0.87591825 1.90023901] [ 0. 0. 0. 1. ]] SLAMing on 87.65964924600001 meters Centerline goodness : 0.927492 Centerline is valid? [False, False] Translation: X:16.07, Y:0.72, Z:1.90 [[ 0.87487894 -0.06869364 -0.47944553 16.06890216] [ 0.11125605 0.99192423 0.06089679 0.72041303] [ 0.47139041 -0.10661853 0.8754562 1.89958516] [ 0. 0. 0. 1. ]] SLAMing on 87.68964924600002 meters Centerline goodness : 0.921294 Centerline is valid? [False, False] Translation: X:16.07, Y:0.72, Z:1.90 [[ 0.87442559 -0.07002789 -0.48007913 16.07230966] [ 0.11207619 0.99191973 0.05944903 0.72438564] [ 0.47203687 -0.10578919 0.87520846 1.89872118] [ 0. 0. 0. 1. ]] SLAMing on 87.71964924600002 meters Centerline goodness : 0.921594 Centerline is valid? [False, False] Translation: X:16.06, Y:0.72, Z:1.91 [[ 0.87628519 -0.06164657 -0.47783257 16.05739968] [ 0.10983648 0.991225 0.07354555 0.72098965] [ 0.46910576 -0.11693032 0.87536683 1.90817974] [ 0. 0. 0. 1. ]] SLAMing on 87.74964924600002 meters Centerline goodness : 0.926980 Centerline is valid? [False, False] Translation: X:16.07, Y:0.72, Z:1.91 [[ 0.8786078 -0.06690418 -0.47283419 16.06986992] [ 0.10912864 0.99206672 0.06240636 0.72471459] [ 0.46490782 -0.10643047 0.87893872 1.90944919] [ 0. 0. 0. 1. ]] SLAMing on 87.779649246 meters Centerline goodness : 0.927372 Centerline is valid? [False, False] Translation: X:16.07, Y:0.73, Z:1.91 [[ 0.87835989 -0.06701447 -0.47327896 16.07027901] [ 0.10928006 0.99205409 0.0623422 0.72512072] [ 0.4653405 -0.10647884 0.87870386 1.9102558 ] [ 0. 0. 0. 1. ]] SLAMing on 87.809649246 meters Centerline goodness : 0.928409 Centerline is valid? [False, False] Translation: X:16.07, Y:0.73, Z:1.91 [[ 0.87820788 -0.06742373 -0.47350286 16.07119319] [ 0.10936525 0.99209276 0.06157265 0.72708473] [ 0.46560731 -0.10585835 0.87863749 1.90971275] [ 0. 0. 0. 1. ]] SLAMing on 87.83964924600001 meters Centerline goodness : 0.927508 Centerline is valid? [False, False] Translation: X:16.07, Y:0.73, Z:1.91 [[ 0.87802244 -0.0678464 -0.4737863 16.07216418] [ 0.10959809 0.99210008 0.06103841 0.72832208] [ 0.46590219 -0.10551916 0.87852197 1.90958185] [ 0. 0. 0. 1. ]] SLAMing on 87.86964924600001 meters Centerline goodness : 0.926832 Centerline is valid? [False, False] Translation: X:16.07, Y:0.73, Z:1.91 [[ 0.87789875 -0.06779708 -0.47402251 16.07215721] [ 0.10939105 0.99214413 0.06069288 0.72967961] [ 0.46618385 -0.10513602 0.87841848 1.90959199] [ 0. 0. 0. 1. ]] SLAMing on 87.89964924600001 meters Centerline goodness : 0.927806 Centerline is valid? [False, False] Translation: X:16.07, Y:0.73, Z:1.91 [[ 0.8775336 -0.06827982 -0.47462895 16.07337873] [ 0.10983029 0.99211725 0.06033805 0.73057172] [ 0.4667677 -0.1050773 0.87811541 1.91034724] [ 0. 0. 0. 1. ]] SLAMing on 87.92964924600001 meters Centerline goodness : 0.928686 Centerline is valid? [False, False] Translation: X:16.07, Y:0.73, Z:1.91 [[ 0.87734314 -0.06850138 -0.47494902 16.0739471 ] [ 0.1100235 0.99210732 0.06014887 0.73112926] [ 0.46708012 -0.10502676 0.87795532 1.91076979] [ 0. 0. 0. 1. ]] SLAMing on 87.95964924600001 meters Centerline goodness : 0.926980 Centerline is valid? [False, False] Translation: X:16.07, Y:0.73, Z:1.91 [[ 0.87719701 -0.06849842 -0.47521928 16.07413035] [ 0.10989882 0.99213908 0.05985227 0.73242953] [ 0.46738384 -0.10472827 0.87782933 1.91087694] [ 0. 0. 0. 1. ]] SLAMing on 87.98964924600001 meters Centerline goodness : 0.923965 Centerline is valid? [False, False] Translation: X:16.07, Y:0.74, Z:1.91 [[ 0.87716768 -0.06860827 -0.47525757 16.07446166] [ 0.10956257 0.99222863 0.05897782 0.73568168] [ 0.4675178 -0.10380388 0.87786779 1.9096995 ] [ 0. 0. 0. 1. ]] SLAMing on 88.01964924600001 meters Centerline goodness : 0.924360 Centerline is valid? [False, False] Translation: X:16.07, Y:0.74, Z:1.91 [[ 0.87711615 -0.06849767 -0.47536862 16.07429054] [ 0.1092901 0.99227673 0.05867336 0.73768927] [ 0.46767823 -0.10341644 0.87782807 1.90949108] [ 0. 0. 0. 1. ]] SLAMing on 88.04964924600002 meters Centerline goodness : 0.919611 Centerline is valid? [False, False] Translation: X:16.07, Y:0.74, Z:1.91 [[ 0.87730379 -0.06683973 -0.47525835 16.07170128] [ 0.10723438 0.99251931 0.05836278 0.74158873] [ 0.46780214 -0.10216592 0.87790847 1.90826734] [ 0. 0. 0. 1. ]] SLAMing on 88.07964924600002 meters Centerline goodness : 0.922297 Centerline is valid? [False, False] Translation: X:16.07, Y:0.74, Z:1.91 [[ 0.87737954 -0.06648182 -0.47516872 16.07074972] [ 0.10656323 0.99261955 0.05788521 0.74376871] [ 0.46781344 -0.10142281 0.87798861 1.90756695] [ 0. 0. 0. 1. ]] SLAMing on 88.10964924600002 meters Centerline goodness : 0.922587 Centerline is valid? [False, False] Translation: X:16.07, Y:0.74, Z:1.91 [[ 0.87714444 -0.06534944 -0.47575948 16.06760617] [ 0.10640643 0.99251998 0.05984786 0.74355336] [ 0.46828976 -0.10311909 0.87753698 1.91192972] [ 0. 0. 0. 1. ]] SLAMing on 88.13964924600002 meters Centerline goodness : 0.923449 Centerline is valid? [False, False] Translation: X:16.07, Y:0.75, Z:1.91 [[ 0.87709242 -0.06554606 -0.47582833 16.06788285] [ 0.10640171 0.99254709 0.05940499 0.74544436] [ 0.46838827 -0.10273261 0.87752974 1.91158345] [ 0. 0. 0. 1. ]] SLAMing on 88.169649246 meters Centerline goodness : 0.918905 Centerline is valid? [False, False] Translation: X:16.07, Y:0.75, Z:1.91 [[ 0.876693 -0.06699755 -0.47636196 16.07147421] [ 0.10734753 0.99253021 0.05796796 0.74905865] [ 0.46891993 -0.10195638 0.87733631 1.9105627 ] [ 0. 0. 0. 1. ]] SLAMing on 88.199649246 meters Centerline goodness : 0.914273 Centerline is valid? [False, False] Translation: X:16.07, Y:0.75, Z:1.91 [[ 0.87639754 -0.06788655 -0.47677958 16.07366593] [ 0.10808968 0.99248437 0.05737073 0.74996203] [ 0.46930158 -0.10181452 0.87714869 1.91061 ] [ 0. 0. 0. 1. ]] SLAMing on 88.22964924600001 meters Centerline goodness : 0.911990 Centerline is valid? [False, False] Translation: X:16.08, Y:0.75, Z:1.91 [[ 0.87628945 -0.06828862 -0.47692082 16.07543154] [ 0.10798451 0.99255777 0.05628877 0.75223139] [ 0.46952758 -0.10082531 0.87714201 1.90911776] [ 0. 0. 0. 1. ]] SLAMing on 88.25964924600001 meters Centerline goodness : 0.914678 Centerline is valid? [False, False] Translation: X:16.08, Y:0.75, Z:1.91 [[ 0.87611365 -0.06871768 -0.47718209 16.07658479] [ 0.1082377 0.99255832 0.05579048 0.75305102] [ 0.46979726 -0.10052789 0.87703174 1.9090113 ] [ 0. 0. 0. 1. ]] SLAMing on 88.28964924600001 meters Centerline goodness : 0.914876 Centerline is valid? [False, False] Translation: X:16.08, Y:0.75, Z:1.91 [[ 0.87593409 -0.0689734 -0.47747475 16.07713692] [ 0.10834941 0.99256871 0.05538743 0.75411106] [ 0.47010624 -0.10024985 0.87689799 1.90923742] [ 0. 0. 0. 1. ]] SLAMing on 88.31964924600001 meters Centerline goodness : 0.915550 Centerline is valid? [False, False] Translation: X:16.08, Y:0.75, Z:1.91 [[ 0.87588289 -0.06832011 -0.47766257 16.07576045] [ 0.10774783 0.99262226 0.05560079 0.7544312 ] [ 0.47033985 -0.10016688 0.8767822 1.91004412] [ 0. 0. 0. 1. ]] SLAMing on 88.34964924600001 meters Centerline goodness : 0.912840 Centerline is valid? [False, False] Translation: X:16.08, Y:0.76, Z:1.91 [[ 0.87588488 -0.06729704 -0.47780412 16.07774781] [ 0.10704007 0.99265327 0.05640837 0.75776973] [ 0.47049771 -0.10055143 0.87665348 1.90954523] [ 0. 0. 0. 1. ]] SLAMing on 88.37964924600001 meters Centerline goodness : 0.913387 Centerline is valid? [False, False] Translation: X:16.08, Y:0.76, Z:1.91 [[ 0.87584749 -0.06752098 -0.47784108 16.07841367] [ 0.10699303 0.99269054 0.05583893 0.75989225] [ 0.47057802 -0.10003205 0.87666979 1.90880717] [ 0. 0. 0. 1. ]] SLAMing on 88.40964924600001 meters Centerline goodness : 0.911544 Centerline is valid? [False, False] Translation: X:16.08, Y:0.76, Z:1.91 [[ 0.87587816 -0.06697839 -0.47786122 16.07701082] [ 0.10647735 0.99273584 0.05601906 0.7609855 ] [ 0.47063789 -0.09994727 0.87664732 1.90924067] [ 0. 0. 0. 1. ]] SLAMing on 88.43964924600002 meters Centerline goodness : 0.912931 Centerline is valid? [False, False] Translation: X:16.08, Y:0.76, Z:1.91 [[ 0.87572896 -0.06696942 -0.47813584 16.07695155] [ 0.10651554 0.99273039 0.056043 0.76120945] [ 0.47090681 -0.10000738 0.87649604 1.90994416] [ 0. 0. 0. 1. ]] SLAMing on 88.46964924600002 meters Centerline goodness : 0.914211 Centerline is valid? [False, False] Translation: X:16.08, Y:0.76, Z:1.91 [[ 0.87565221 -0.06642163 -0.47835277 16.07591175] [ 0.1061533 0.99274486 0.05647223 0.76087222] [ 0.47113128 -0.10022876 0.87635011 1.91102923] [ 0. 0. 0. 1. ]] SLAMing on 88.49964924600002 meters Centerline goodness : 0.910073 Centerline is valid? [False, False] Translation: X:16.08, Y:0.76, Z:1.91 [[ 0.87553669 -0.06632781 -0.47857719 16.07595246] [ 0.10617356 0.99273237 0.05665351 0.7606903 ] [ 0.47134137 -0.10041447 0.87621587 1.91166985] [ 0. 0. 0. 1. ]] SLAMing on 88.529649246 meters Centerline goodness : 0.908779 Centerline is valid? [False, False] Translation: X:16.08, Y:0.76, Z:1.91 [[ 0.87528201 -0.06673754 -0.47898592 16.07816488] [ 0.10650342 0.99271689 0.05630446 0.76033952] [ 0.47173979 -0.10029592 0.87601501 1.91158197] [ 0. 0. 0. 1. ]] SLAMing on 88.559649246 meters Centerline goodness : 0.906801 Centerline is valid? [False, False] Translation: X:16.08, Y:0.76, Z:1.91 [[ 0.87509697 -0.06726725 -0.47924984 16.08011439] [ 0.1068727 0.99270507 0.05581103 0.76067386] [ 0.47199949 -0.10005879 0.87590223 1.91123655] [ 0. 0. 0. 1. ]] SLAMing on 88.58964924600001 meters Centerline goodness : 0.904536 Centerline is valid? [False, False] Translation: X:16.08, Y:0.76, Z:1.91 [[ 0.87487116 -0.06766264 -0.47960632 16.08156264] [ 0.10722151 0.99268264 0.05554031 0.76096348] [ 0.47233887 -0.10001473 0.8757243 1.91144331] [ 0. 0. 0. 1. ]] SLAMing on 88.61964924600001 meters Centerline goodness : 0.904458 Centerline is valid? [False, False] Translation: X:16.08, Y:0.76, Z:1.91 [[ 0.8744754 -0.06821471 -0.48024944 16.08399453] [ 0.1077698 0.99263997 0.05524085 0.76025553] [ 0.47294656 -0.10006315 0.87539072 1.91202816] [ 0. 0. 0. 1. ]] SLAMing on 88.64964924600001 meters Centerline goodness : 0.901979 Centerline is valid? [False, False] Translation: X:16.09, Y:0.76, Z:1.91 [[ 0.87409029 -0.06879459 -0.48086741 16.08627696] [ 0.10837462 0.99258786 0.05499339 0.75968619] [ 0.47351991 -0.10018302 0.875067 1.91266308] [ 0. 0. 0. 1. ]] SLAMing on 88.67964924600001 meters Centerline goodness : 0.904668 Centerline is valid? [False, False] Translation: X:16.09, Y:0.76, Z:1.91 [[ 0.87390258 -0.07371212 -0.48047977 16.08683196] [ 0.11165867 0.99244571 0.05083153 0.75980117] [ 0.47310319 -0.09807154 0.87553146 1.91148138] [ 0. 0. 0. 1. ]] SLAMing on 88.70964924600001 meters Centerline goodness : 0.903787 Centerline is valid? [False, False] Translation: X:16.09, Y:0.76, Z:1.91 [[ 0.87365087 -0.07421351 -0.48086018 16.08864756] [ 0.11219524 0.99239289 0.05068109 0.75940958] [ 0.473441 -0.0982278 0.87533132 1.91187086] [ 0. 0. 0. 1. ]] SLAMing on 88.73964924600001 meters Centerline goodness : 0.904963 Centerline is valid? [False, False] Translation: X:16.09, Y:0.76, Z:1.91 [[ 0.87345856 -0.07929961 -0.48039745 16.08959529] [ 0.11574954 0.99218115 0.04667562 0.75916135] [ 0.47293994 -0.09637501 0.87580801 1.91079286] [ 0. 0. 0. 1. ]] SLAMing on 88.76964924600001 meters Centerline goodness : 0.903884 Centerline is valid? [False, False] Translation: X:16.09, Y:0.76, Z:1.91 [[ 0.87309718 -0.07951518 -0.48101835 16.09098997] [ 0.11636966 0.99208258 0.04722564 0.75712895] [ 0.47345477 -0.09720851 0.87543766 1.91254191] [ 0. 0. 0. 1. ]] SLAMing on 88.79964924600002 meters Centerline goodness : 0.908099 Centerline is valid? [False, False] Translation: X:16.09, Y:0.76, Z:1.91 [[ 0.87280333 -0.08454069 -0.48069452 16.09155688] [ 0.12006476 0.99180944 0.0435717 0.75530701] [ 0.47307378 -0.095744 0.87580493 1.91239607] [ 0. 0. 0. 1. ]] SLAMing on 88.82964924600002 meters Centerline goodness : 0.908099 Centerline is valid? [False, False] Translation: X:16.09, Y:0.76, Z:1.91 [[ 0.87280333 -0.08454069 -0.48069452 16.09155688] [ 0.12006476 0.99180944 0.0435717 0.75530701] [ 0.47307378 -0.095744 0.87580493 1.91239607] [ 0. 0. 0. 1. ]] SLAMing on 88.85964924600002 meters Centerline goodness : 0.907779 Centerline is valid? [False, False] Translation: X:16.09, Y:0.75, Z:1.91 [[ 0.87249389 -0.08486842 -0.48119826 16.0934467 ] [ 0.12055718 0.99174505 0.04367756 0.75407034] [ 0.47351915 -0.09612031 0.87552299 1.91321307] [ 0. 0. 0. 1. ]] SLAMing on 88.88964924600002 meters Centerline goodness : 0.904097 Centerline is valid? [False, False] Translation: X:16.09, Y:0.75, Z:1.91 [[ 0.87205582 -0.08961569 -0.48113166 16.09423591] [ 0.12372056 0.99152813 0.03956248 0.75441187] [ 0.47351016 -0.09402657 0.87575518 1.91260162] [ 0. 0. 0. 1. ]] SLAMing on 88.919649246 meters Centerline goodness : 0.905108 Centerline is valid? [False, False] Translation: X:16.10, Y:0.75, Z:1.91 [[ 0.8718809 -0.09004682 -0.48136812 16.09614743] [ 0.12401958 0.99150692 0.0391556 0.75494174] [ 0.47375399 -0.09383809 0.87564352 1.91223061] [ 0. 0. 0. 1. ]] SLAMing on 88.949649246 meters Centerline goodness : 0.899709 Centerline is valid? [False, False] Translation: X:16.10, Y:0.76, Z:1.91 [[ 0.87148732 -0.09090285 -0.48191962 16.09965707] [ 0.12465712 0.99145611 0.03841079 0.75576123] [ 0.47431051 -0.09354923 0.87537311 1.91179446] [ 0. 0. 0. 1. ]] SLAMing on 88.97964924600001 meters Centerline goodness : 0.905880 Centerline is valid? [False, False] Translation: X:16.10, Y:0.76, Z:1.91 [[ 0.87119912 -0.09150186 -0.48232717 16.10195675] [ 0.12520014 0.99140106 0.03806381 0.75597127] [ 0.47469676 -0.09354859 0.87516379 1.91184896] [ 0. 0. 0. 1. ]] SLAMing on 89.00964924600001 meters Centerline goodness : 0.900845 Centerline is valid? [False, False] Translation: X:16.10, Y:0.76, Z:1.91 [[ 0.87071709 -0.09180658 -0.483139 16.10411506] [ 0.12578191 0.99131779 0.03831394 0.75526175] [ 0.47542681 -0.09413075 0.87470495 1.91339934] [ 0. 0. 0. 1. ]] SLAMing on 89.03964924600001 meters Centerline goodness : 0.904821 Centerline is valid? [False, False] Translation: X:16.11, Y:0.75, Z:1.91 [[ 0.87047195 -0.0920033 -0.48354316 16.10533027] [ 0.12610423 0.99127337 0.03840356 0.75498829] [ 0.4757902 -0.09440606 0.87447766 1.91410236] [ 0. 0. 0. 1. ]] SLAMing on 89.06964924600001 meters Centerline goodness : 0.905305 Centerline is valid? [False, False] Translation: X:16.11, Y:0.76, Z:1.92 [[ 0.87016463 -0.09284158 -0.4839359 16.10590659] [ 0.12762351 0.99104173 0.03935146 0.75632907] [ 0.47594721 -0.09600385 0.87421823 1.91519189] [ 0. 0. 0. 1. ]] SLAMing on 89.09964924600001 meters Centerline goodness : 0.905045 Centerline is valid? [False, False] Translation: X:16.11, Y:0.76, Z:1.91 [[ 0.86990646 -0.09396273 -0.48418361 16.10796757] [ 0.12833583 0.99099256 0.03825779 0.75797953] [ 0.47622755 -0.0954188 0.87412961 1.91473474] [ 0. 0. 0. 1. ]] SLAMing on 89.12964924600001 meters Centerline goodness : 0.902150 Centerline is valid? [False, False] Translation: X:16.11, Y:0.76, Z:1.92 [[ 0.86920008 -0.0945915 -0.48532842 16.11047415] [ 0.12915878 0.99088821 0.0381911 0.75893435] [ 0.47729366 -0.09588014 0.87349743 1.91621686] [ 0. 0. 0. 1. ]] SLAMing on 89.15964924600001 meters Centerline goodness : 0.906509 Centerline is valid? [False, False] Translation: X:16.11, Y:0.76, Z:1.92 [[ 0.86862034 -0.09489452 -0.48630621 16.11134845] [ 0.12899989 0.99095236 0.03704658 0.75974494] [ 0.47839077 -0.09491286 0.87300276 1.91817075] [ 0. 0. 0. 1. ]] SLAMing on 89.18964924600002 meters Centerline goodness : 0.905545 Centerline is valid? [False, False] Translation: X:16.12, Y:0.75, Z:1.92 [[ 0.8730029 -0.08488157 -0.48027186 16.11576009] [ 0.12144702 0.99155389 0.04551371 0.75453877] [ 0.47235216 -0.09806119 0.87593803 1.92349326] [ 0. 0. 0. 1. ]] SLAMing on 89.21964924600002 meters Centerline goodness : 0.903903 Centerline is valid? [False, False] Translation: X:16.12, Y:0.75, Z:1.92 [[ 0.87265055 -0.08549065 -0.48080387 16.11812347] [ 0.12196248 0.99151128 0.04506137 0.75465545] [ 0.47287014 -0.09796287 0.87566952 1.92370137] [ 0. 0. 0. 1. ]] SLAMing on 89.24964924600002 meters Centerline goodness : 0.902990 Centerline is valid? [False, False] Translation: X:16.12, Y:0.75, Z:1.92 [[ 0.87204405 -0.08653192 -0.48171714 16.12180662] [ 0.1231109 0.99138203 0.04478134 0.75368124] [ 0.4736907 -0.09835593 0.87518183 1.92486155] [ 0. 0. 0. 1. ]] SLAMing on 89.279649246 meters Centerline goodness : 0.900325 Centerline is valid? [False, False] Translation: X:16.12, Y:0.75, Z:1.92 [[ 0.87173784 -0.08723891 -0.48214367 16.12430885] [ 0.12372203 0.99132647 0.04432484 0.75417439] [ 0.47409493 -0.09829143 0.87497017 1.92486462] [ 0. 0. 0. 1. ]] SLAMing on 89.309649246 meters Centerline goodness : 0.902304 Centerline is valid? [False, False] Translation: X:16.13, Y:0.75, Z:1.93 [[ 0.871013 -0.08687215 -0.48351793 16.1277032 ] [ 0.12406626 0.9912347 0.04540189 0.75398161] [ 0.47533559 -0.0995339 0.87415621 1.92614774] [ 0. 0. 0. 1. ]] SLAMing on 89.33964924600001 meters Centerline goodness : 0.896108 Centerline is valid? [False, False] Translation: X:16.13, Y:0.75, Z:1.93 [[ 0.87048528 -0.08754358 -0.48434646 16.1306647 ] [ 0.12485211 0.99114325 0.04524385 0.75466293] [ 0.47609591 -0.09985578 0.87370562 1.92659005] [ 0. 0. 0. 1. ]] SLAMing on 89.36964924600001 meters Centerline goodness : 0.902494 Centerline is valid? [False, False] Translation: X:16.13, Y:0.75, Z:1.93 [[ 0.87515122 -0.07906371 -0.47734608 16.13316604] [ 0.11836687 0.99156647 0.05277509 0.74943322] [ 0.46914777 -0.10268815 0.87712913 1.93201339] [ 0. 0. 0. 1. ]] SLAMing on 89.39964924600001 meters Centerline goodness : 0.908555 Centerline is valid? [False, False] Translation: X:16.14, Y:0.75, Z:1.94 [[ 0.87780278 -0.08399962 -0.47159977 16.1444565 ] [ 0.11827785 0.99202913 0.04345752 0.75031276] [ 0.46419029 -0.09392694 0.88074122 1.93557525] [ 0. 0. 0. 1. ]] SLAMing on 89.42964924600001 meters Centerline goodness : 0.913209 Centerline is valid? [False, False] Translation: X:16.15, Y:0.75, Z:1.94 [[ 0.88253081 -0.07565329 -0.46412924 16.14712931] [ 0.11144255 0.99250587 0.05012644 0.74505437] [ 0.45685877 -0.09596188 0.884348 1.94007714] [ 0. 0. 0. 1. ]] SLAMing on 89.45964924600001 meters Centerline goodness : 0.912437 Centerline is valid? [False, False] Translation: X:16.15, Y:0.75, Z:1.94 [[ 0.88211834 -0.07660662 -0.46475657 16.15031563] [ 0.1123751 0.99242177 0.04970787 0.7455197 ] [ 0.45742658 -0.09607529 0.88404212 1.94043766] [ 0. 0. 0. 1. ]] SLAMing on 89.48964924600001 meters Centerline goodness : 0.912539 Centerline is valid? [False, False] Translation: X:16.16, Y:0.75, Z:1.94 [[ 0.88199918 -0.07605377 -0.46507341 16.15531347] [ 0.11249442 0.99233936 0.05106471 0.74580717] [ 0.45762699 -0.09735719 0.88379812 1.9403538 ] [ 0. 0. 0. 1. ]] SLAMing on 89.51964924600001 meters Centerline goodness : 0.908526 Centerline is valid? [False, False] Translation: X:16.16, Y:0.75, Z:1.94 [[ 0.88142943 -0.07779658 -0.46586463 16.16056973] [ 0.11384476 0.99225479 0.04969704 0.74681967] [ 0.45839015 -0.09684068 0.88345931 1.93964368] [ 0. 0. 0. 1. ]] SLAMing on 89.54964924600002 meters Centerline goodness : 0.908180 Centerline is valid? [False, False] Translation: X:16.16, Y:0.75, Z:1.94 [[ 0.88099214 -0.0783341 -0.46660112 16.16266802] [ 0.11452363 0.99217835 0.04966345 0.74602281] [ 0.45906119 -0.09718997 0.88307244 1.9408578 ] [ 0. 0. 0. 1. ]] SLAMing on 89.57964924600002 meters Centerline goodness : 0.908465 Centerline is valid? [False, False] Translation: X:16.17, Y:0.74, Z:1.95 [[ 0.88419469 -0.0732257 -0.46134342 16.16804645] [ 0.10988671 0.9925264 0.05306851 0.74075747] [ 0.45400954 -0.0976184 0.8856331 1.94778648] [ 0. 0. 0. 1. ]] SLAMing on 89.60964924600002 meters Centerline goodness : 0.910593 Centerline is valid? [False, False] Translation: X:16.17, Y:0.74, Z:1.95 [[ 0.88835979 -0.06523376 -0.4544903 16.17268611] [ 0.10381305 0.99275972 0.0604235 0.73583028] [ 0.44725801 -0.10085983 0.88869993 1.9514733 ] [ 0. 0. 0. 1. ]] SLAMing on 89.63964924600002 meters Centerline goodness : 0.910018 Centerline is valid? [False, False] Translation: X:16.18, Y:0.74, Z:1.95 [[ 0.88794518 -0.0662273 -0.45515634 16.17587657] [ 0.1047138 0.9927005 0.05983931 0.7359351 ] [ 0.44787093 -0.10079518 0.88839854 1.95162454] [ 0. 0. 0. 1. ]] SLAMing on 89.669649246 meters Centerline goodness : 0.909000 Centerline is valid? [False, False] Translation: X:16.18, Y:0.74, Z:1.95 [[ 0.88753349 -0.0672618 -0.45580715 16.17912835] [ 0.10562368 0.99264324 0.0591864 0.73625595] [ 0.44847291 -0.10067394 0.88810856 1.95172719] [ 0. 0. 0. 1. ]] SLAMing on 89.699649246 meters Centerline goodness : 0.916742 Centerline is valid? [False, False] Translation: X:16.18, Y:0.74, Z:1.95 [[ 0.8873414 -0.06694645 -0.45622736 16.17886005] [ 0.10549182 0.99263744 0.05951793 0.73780534] [ 0.44888385 -0.10094098 0.88787061 1.95299511] [ 0. 0. 0. 1. ]] SLAMing on 89.72964924600001 meters Centerline goodness : 0.916051 Centerline is valid? [False, False] Translation: X:16.18, Y:0.74, Z:1.95 [[ 0.88717308 -0.06725423 -0.45650936 16.17969694] [ 0.10566545 0.99264337 0.05910959 0.7390149 ] [ 0.44917562 -0.1006777 0.88775293 1.95302126] [ 0. 0. 0. 1. ]] SLAMing on 89.75964924600001 meters Centerline goodness : 0.916760 Centerline is valid? [False, False] Translation: X:16.19, Y:0.74, Z:1.96 [[ 0.88918782 -0.07003945 -0.45214986 16.194824 ] [ 0.1041519 0.99325475 0.05096447 0.74272652] [ 0.44553048 -0.09240925 0.89048477 1.95640232] [ 0. 0. 0. 1. ]] SLAMing on 89.78964924600001 meters Centerline goodness : 0.920795 Centerline is valid? [False, False] Translation: X:16.20, Y:0.74, Z:1.96 [[ 0.88887895 -0.07005189 -0.45275484 16.19543771] [ 0.10435772 0.99322066 0.05120739 0.74269043] [ 0.44609829 -0.09276563 0.89016339 1.95781014] [ 0. 0. 0. 1. ]] SLAMing on 89.81964924600001 meters Centerline goodness : 0.924705 Centerline is valid? [False, False] Translation: X:16.20, Y:0.74, Z:1.96 [[ 0.88863018 -0.0699991 -0.45325106 16.19559589] [ 0.10442822 0.99320587 0.05135023 0.74276409] [ 0.44657714 -0.09296357 0.8899026 1.95908957] [ 0. 0. 0. 1. ]] SLAMing on 89.84964924600001 meters Centerline goodness : 0.924533 Centerline is valid? [False, False] Translation: X:16.20, Y:0.74, Z:1.96 [[ 0.88829713 -0.07044126 -0.45383504 16.19735242] [ 0.10487805 0.99317005 0.05112589 0.74332808] [ 0.447134 -0.09301231 0.88961784 1.95967361] [ 0. 0. 0. 1. ]] SLAMing on 89.87964924600001 meters Centerline goodness : 0.924974 Centerline is valid? [False, False] Translation: X:16.20, Y:0.74, Z:1.96 [[ 0.887856 -0.07112648 -0.45459075 16.19995278] [ 0.10541322 0.99314586 0.05049111 0.74485098] [ 0.44788367 -0.09274871 0.88926818 1.95998253] [ 0. 0. 0. 1. ]] SLAMing on 89.90964924600001 meters Centerline goodness : 0.925741 Centerline is valid? [False, False] Translation: X:16.20, Y:0.75, Z:1.96 [[ 0.88754848 -0.07194354 -0.45506244 16.202484 ] [ 0.1059545 0.99313105 0.0496424 0.74636224] [ 0.44836519 -0.09227595 0.88907469 1.95951691] [ 0. 0. 0. 1. ]] SLAMing on 89.93964924600002 meters Centerline goodness : 0.922686 Centerline is valid? [False, False] Translation: X:16.20, Y:0.74, Z:1.96 [[ 0.88676965 -0.0775005 -0.45566793 16.20254668] [ 0.11081943 0.99273717 0.04681848 0.74479964] [ 0.44873003 -0.09201407 0.88891775 1.96334004] [ 0. 0. 0. 1. ]] SLAMing on 89.96964924600002 meters Centerline goodness : 0.929139 Centerline is valid? [False, False] Translation: X:16.21, Y:0.75, Z:1.96 [[ 0.88606207 -0.07891329 -0.45680051 16.20627047] [ 0.11224126 0.99260447 0.04624128 0.74567984] [ 0.44977318 -0.09224451 0.8883665 1.96466368] [ 0. 0. 0. 1. ]] SLAMing on 89.99964924600002 meters Centerline goodness : 0.927051 Centerline is valid? [False, False] Translation: X:16.21, Y:0.75, Z:1.96 [[ 0.88556651 -0.08013113 -0.45754885 16.20986033] [ 0.1132155 0.99253726 0.04529948 0.74723728] [ 0.45050438 -0.09191733 0.88802985 1.96454435] [ 0. 0. 0. 1. ]] SLAMing on 90.029649246 meters Centerline goodness : 0.925856 Centerline is valid? [False, False] Translation: X:16.21, Y:0.75, Z:1.96 [[ 0.88514896 -0.07635445 -0.45900034 16.2149738 ] [ 0.11063719 0.99269029 0.04822234 0.74888284] [ 0.45196319 -0.09346646 0.88712642 1.96480577] [ 0. 0. 0. 1. ]] SLAMing on 90.059649246 meters Centerline goodness : 0.923821 Centerline is valid? [False, False] Translation: X:16.22, Y:0.75, Z:1.97 [[ 0.88484408 -0.07210394 -0.46027381 16.21864341] [ 0.10783082 0.99282055 0.05176743 0.74980627] [ 0.45323666 -0.09543781 0.88626641 1.96575831] [ 0. 0. 0. 1. ]] SLAMing on 90.08964924600001 meters Centerline goodness : 0.921008 Centerline is valid? [False, False] Translation: X:16.22, Y:0.75, Z:1.97 [[ 0.88445812 -0.0680368 -0.46163278 16.22316707] [ 0.10490126 0.99298071 0.0546355 0.75201393] [ 0.45467522 -0.09674867 0.885387 1.96585945] [ 0. 0. 0. 1. ]] SLAMing on 90.11964924600001 meters Centerline goodness : 0.923422 Centerline is valid? [False, False] Translation: X:16.22, Y:0.75, Z:1.97 [[ 0.88414051 -0.0670204 -0.46238926 16.22191569] [ 0.1043383 0.99298764 0.05557935 0.75060231] [ 0.45542187 -0.09738486 0.88493339 1.96849153] [ 0. 0. 0. 1. ]] SLAMing on 90.14964924600001 meters Centerline goodness : 0.928242 Centerline is valid? [False, False] Translation: X:16.22, Y:0.75, Z:1.97 [[ 0.88384493 -0.06687716 -0.46297471 16.22225275] [ 0.10427257 0.99299207 0.05562354 0.75077716] [ 0.45601027 -0.09743815 0.88462446 1.96963764] [ 0. 0. 0. 1. ]] SLAMing on 90.17964924600001 meters Centerline goodness : 0.927289 Centerline is valid? [False, False] Translation: X:16.22, Y:0.75, Z:1.97 [[ 0.8837101 -0.06676917 -0.46324759 16.22272262] [ 0.10370375 0.99310345 0.05469074 0.75316834] [ 0.45640112 -0.09637127 0.88453976 1.96872318] [ 0. 0. 0. 1. ]] SLAMing on 90.20964924600001 meters Centerline goodness : 0.926861 Centerline is valid? [False, False] Translation: X:16.22, Y:0.75, Z:1.97 [[ 0.88343055 -0.06727955 -0.46370673 16.22458644] [ 0.10410255 0.99308626 0.05424329 0.75439454] [ 0.45685132 -0.09619324 0.88432671 1.96883529] [ 0. 0. 0. 1. ]] SLAMing on 90.23964924600001 meters Centerline goodness : 0.926043 Centerline is valid? [False, False] Translation: X:16.23, Y:0.76, Z:1.97 [[ 0.88332699 -0.0675952 -0.46385809 16.22551826] [ 0.1042122 0.9931025 0.05373302 0.75584684] [ 0.45702653 -0.0958035 0.88427848 1.96843704] [ 0. 0. 0. 1. ]] SLAMing on 90.26964924600001 meters Centerline goodness : 0.926280 Centerline is valid? [False, False] Translation: X:16.23, Y:0.76, Z:1.97 [[ 0.88306831 -0.0681208 -0.46427354 16.22725483] [ 0.10447621 0.99311399 0.05300306 0.75767883] [ 0.45746594 -0.09531086 0.88410449 1.96814341] [ 0. 0. 0. 1. ]] SLAMing on 90.29964924600002 meters Centerline goodness : 0.926020 Centerline is valid? [False, False] Translation: X:16.23, Y:0.76, Z:1.97 [[ 0.88254196 -0.06829118 -0.46524833 16.22904257] [ 0.10508937 0.99301794 0.05358732 0.75636447] [ 0.4583404 -0.09618571 0.88355667 1.97046161] [ 0. 0. 0. 1. ]] SLAMing on 90.32964924600002 meters Centerline goodness : 0.927041 Centerline is valid? [False, False] Translation: X:16.23, Y:0.76, Z:1.97 [[ 0.88209207 -0.06866515 -0.46604579 16.23100503] [ 0.10578824 0.99292497 0.0539338 0.75515235] [ 0.45904513 -0.09687674 0.88311521 1.97210975] [ 0. 0. 0. 1. ]] SLAMing on 90.35964924600002 meters Centerline goodness : 0.927965 Centerline is valid? [False, False] Translation: X:16.23, Y:0.75, Z:1.97 [[ 0.88156397 -0.06894429 -0.46700283 16.23355478] [ 0.1064436 0.99283163 0.05436105 0.75306492] [ 0.45990729 -0.09763221 0.88258327 1.97391165] [ 0. 0. 0. 1. ]] SLAMing on 90.38964924600002 meters Centerline goodness : 0.929520 Centerline is valid? [False, False] Translation: X:16.24, Y:0.75, Z:1.97 [[ 0.88124636 -0.06925079 -0.46755661 16.23518141] [ 0.10689029 0.99278023 0.05442307 0.75220588] [ 0.46041212 -0.09793739 0.88228621 1.97479371] [ 0. 0. 0. 1. ]] SLAMing on 90.419649246 meters Centerline goodness : 0.929337 Centerline is valid? [False, False] Translation: X:16.24, Y:0.75, Z:1.98 [[ 0.88085528 -0.06897265 -0.46833401 16.2360252 ] [ 0.10696246 0.99274208 0.05497443 0.75054255] [ 0.46114315 -0.09851868 0.88183959 1.97664993] [ 0. 0. 0. 1. ]] SLAMing on 90.449649246 meters Centerline goodness : 0.930163 Centerline is valid? [False, False] Translation: X:16.24, Y:0.75, Z:1.98 [[ 0.88059721 -0.06934456 -0.46876422 16.23751565] [ 0.1072803 0.9927242 0.05467719 0.75088468] [ 0.46156202 -0.09843775 0.88162946 1.97694662] [ 0. 0. 0. 1. ]] SLAMing on 90.47964924600001 meters Centerline goodness : 0.928819 Centerline is valid? [False, False] Translation: X:16.24, Y:0.75, Z:1.98 [[ 0.88025691 -0.06978137 -0.4693382 16.23946954] [ 0.10753328 0.99272942 0.0540823 0.75176836] [ 0.4621519 -0.09807579 0.88136074 1.97700738] [ 0. 0. 0. 1. ]] SLAMing on 90.50964924600001 meters Centerline goodness : 0.930900 Centerline is valid? [False, False] Translation: X:16.24, Y:0.75, Z:1.98 [[ 0.87984119 -0.07064071 -0.46998869 16.24221163] [ 0.10825232 0.99268552 0.05344989 0.75320994] [ 0.46277523 -0.09790478 0.88105263 1.97719806] [ 0. 0. 0. 1. ]] SLAMing on 90.53964924600001 meters Centerline goodness : 0.924808 Centerline is valid? [False, False] Translation: X:16.25, Y:0.76, Z:1.98 [[ 0.87945308 -0.07169277 -0.47055544 16.24568934] [ 0.10881448 0.99269445 0.05212609 0.7556964 ] [ 0.46338071 -0.0970457 0.88082941 1.97615974] [ 0. 0. 0. 1. ]] SLAMing on 90.56964924600001 meters Centerline goodness : 0.924790 Centerline is valid? [False, False] Translation: X:16.25, Y:0.76, Z:1.98 [[ 0.87921793 -0.07213459 -0.4709272 16.24716141] [ 0.10914998 0.99267844 0.05172808 0.75671165] [ 0.4637479 -0.09688195 0.88065418 1.97625696] [ 0. 0. 0. 1. ]] SLAMing on 90.59964924600001 meters Centerline goodness : 0.927183 Centerline is valid? [False, False] Translation: X:16.25, Y:0.76, Z:1.98 [[ 0.87894448 -0.07250002 -0.47138132 16.24854867] [ 0.10947287 0.9926573 0.0514507 0.75713456] [ 0.46418993 -0.09682578 0.88042744 1.97666925] [ 0. 0. 0. 1. ]] SLAMing on 90.62964924600001 meters Centerline goodness : 0.927111 Centerline is valid? [False, False] Translation: X:16.25, Y:0.76, Z:1.98 [[ 0.87843316 -0.0728151 -0.47228502 16.2502043 ] [ 0.1100065 0.9925919 0.05157412 0.75621004] [ 0.46503091 -0.09725884 0.87993578 1.97844442] [ 0. 0. 0. 1. ]] SLAMing on 90.65964924600001 meters Centerline goodness : 0.925752 Centerline is valid? [False, False] Translation: X:16.25, Y:0.76, Z:1.98 [[ 0.87799461 -0.07370746 -0.47296161 16.25339717] [ 0.11083806 0.99252496 0.05107967 0.75703338] [ 0.46566125 -0.09726983 0.87960115 1.97874831] [ 0. 0. 0. 1. ]] SLAMing on 90.68964924600002 meters Centerline goodness : 0.927069 Centerline is valid? [False, False] Translation: X:16.26, Y:0.76, Z:1.98 [[ 0.87764784 -0.07456221 -0.47347095 16.25614729] [ 0.11157503 0.9924707 0.05052639 0.75804068] [ 0.46613869 -0.09717192 0.87935905 1.97875773] [ 0. 0. 0. 1. ]] SLAMing on 90.71964924600002 meters Centerline goodness : 0.923350 Centerline is valid? [False, False] Translation: X:16.26, Y:0.76, Z:1.98 [[ 0.87721717 -0.07556901 -0.47410902 16.25946011] [ 0.11232847 0.99242994 0.04965 0.75975899] [ 0.46676798 -0.09680977 0.87906514 1.97851002] [ 0. 0. 0. 1. ]] SLAMing on 90.74964924600002 meters Centerline goodness : 0.923350 Centerline is valid? [False, False] Translation: X:16.26, Y:0.76, Z:1.98 [[ 0.87721717 -0.07556901 -0.47410902 16.25946011] [ 0.11232847 0.99242994 0.04965 0.75975899] [ 0.46676798 -0.09680977 0.87906514 1.97851002] [ 0. 0. 0. 1. ]] SLAMing on 90.77964924600002 meters Centerline goodness : 0.919717 Centerline is valid? [False, False] Translation: X:16.26, Y:0.76, Z:1.98 [[ 0.87692827 -0.07581992 -0.47460314 16.26056684] [ 0.11264544 0.9923967 0.04959623 0.7598495 ] [ 0.46723421 -0.09695422 0.8788015 1.97933673] [ 0. 0. 0. 1. ]] SLAMing on 90.809649246 meters Centerline goodness : 0.924921 Centerline is valid? [False, False] Translation: X:16.26, Y:0.76, Z:1.98 [[ 0.8764481 -0.07489627 -0.47563566 16.2601967 ] [ 0.11248468 0.99234306 0.05101424 0.75796019] [ 0.46817297 -0.09821306 0.87816187 1.98286519] [ 0. 0. 0. 1. ]] SLAMing on 90.83964924600001 meters Centerline goodness : 0.925957 Centerline is valid? [False, False] Translation: X:16.26, Y:0.76, Z:1.98 [[ 0.8762159 -0.07524105 -0.4760089 16.2615254 ] [ 0.11279645 0.99231978 0.05077817 0.75819677] [ 0.46853244 -0.09818475 0.87797329 1.98315057] [ 0. 0. 0. 1. ]] SLAMing on 90.86964924600001 meters Centerline goodness : 0.923929 Centerline is valid? [False, False] Translation: X:16.26, Y:0.76, Z:1.98 [[ 0.87600034 -0.07562707 -0.47634436 16.26323247] [ 0.11307157 0.992308 0.05039503 0.75957954] [ 0.46886909 -0.09800707 0.87781341 1.9830284 ] [ 0. 0. 0. 1. ]] SLAMing on 90.89964924600001 meters Centerline goodness : 0.925211 Centerline is valid? [False, False] Translation: X:16.26, Y:0.76, Z:1.98 [[ 0.87581044 -0.0760111 -0.47663235 16.26451603] [ 0.11340526 0.99228298 0.05013715 0.75988955] [ 0.46914318 -0.09796326 0.87767185 1.9831508 ] [ 0. 0. 0. 1. ]] SLAMing on 90.92964924600001 meters Centerline goodness : 0.925885 Centerline is valid? [False, False] Translation: X:16.27, Y:0.76, Z:1.98 [[ 0.87538049 -0.07627089 -0.4773801 16.26621055] [ 0.11376659 0.99224424 0.05008526 0.75970518] [ 0.4698576 -0.09815356 0.87726832 1.98432981] [ 0. 0. 0. 1. ]] SLAMing on 90.95964924600001 meters Centerline goodness : 0.926752 Centerline is valid? [False, False] Translation: X:16.27, Y:0.76, Z:1.99 [[ 0.87502029 -0.07660827 -0.47798606 16.26783447] [ 0.11417921 0.99220125 0.0499979 0.75967697] [ 0.47042811 -0.09832525 0.87694329 1.98522307] [ 0. 0. 0. 1. ]] SLAMing on 90.98964924600001 meters Centerline goodness : 0.927951 Centerline is valid? [False, False] Translation: X:16.27, Y:0.76, Z:1.99 [[ 0.87459285 -0.07700071 -0.47870474 16.27005126] [ 0.11456767 0.99217032 0.04972219 0.7595351 ] [ 0.47112799 -0.09833076 0.87656687 1.9859304 ] [ 0. 0. 0. 1. ]] SLAMing on 91.01964924600001 meters Centerline goodness : 0.925063 Centerline is valid? [False, False] Translation: X:16.27, Y:0.76, Z:1.99 [[ 0.87416862 -0.07786692 -0.47933909 16.27269394] [ 0.11529645 0.9921169 0.04909979 0.76046689] [ 0.47173716 -0.0981876 0.87625524 1.98622375] [ 0. 0. 0. 1. ]] SLAMing on 91.04964924600002 meters Centerline goodness : 0.923697 Centerline is valid? [False, False] Translation: X:16.27, Y:0.76, Z:1.99 [[ 0.87383917 -0.07840316 -0.47985212 16.27494762] [ 0.11570812 0.99209294 0.04861303 0.7615591 ] [ 0.47224649 -0.09800275 0.87600155 1.98632046] [ 0. 0. 0. 1. ]] SLAMing on 91.07964924600002 meters Centerline goodness : 0.924106 Centerline is valid? [False, False] Translation: X:16.28, Y:0.76, Z:1.99 [[ 0.8736031 -0.07869563 -0.48023393 16.27612603] [ 0.11599709 0.99206751 0.04844314 0.76178532] [ 0.47261221 -0.09802582 0.87580171 1.98676598] [ 0. 0. 0. 1. ]] SLAMing on 91.10964924600002 meters Centerline goodness : 0.925044 Centerline is valid? [False, False] Translation: X:16.28, Y:0.76, Z:1.99 [[ 0.87302895 -0.07891021 -0.48124176 16.27804539] [ 0.11654043 0.99198832 0.04875961 0.76166305] [ 0.47353858 -0.09865267 0.87523075 1.9889513 ] [ 0. 0. 0. 1. ]] SLAMing on 91.13964924600002 meters Centerline goodness : 0.923169 Centerline is valid? [False, False] Translation: X:16.28, Y:0.76, Z:1.99 [[ 0.87266641 -0.07936236 -0.48182461 16.27972247] [ 0.11707186 0.99193093 0.04865401 0.76210836] [ 0.47407544 -0.09886682 0.8749159 1.98987336] [ 0. 0. 0. 1. ]] SLAMing on 91.169649246 meters Centerline goodness : 0.926552 Centerline is valid? [False, False] Translation: X:16.28, Y:0.76, Z:1.99 [[ 0.87251033 -0.07949223 -0.48208579 16.28059548] [ 0.1171919 0.99192228 0.04854122 0.76287921] [ 0.47433299 -0.09884926 0.87477828 1.99013917] [ 0. 0. 0. 1. ]] SLAMing on 91.199649246 meters Centerline goodness : 0.921629 Centerline is valid? [False, False] Translation: X:16.28, Y:0.76, Z:1.99 [[ 0.87200219 -0.08037172 -0.48285874 16.28304995] [ 0.11822794 0.99180506 0.04842399 0.76313399] [ 0.47500982 -0.09931322 0.87435837 1.99154506] [ 0. 0. 0. 1. ]] SLAMing on 91.22964924600001 meters Centerline goodness : 0.922671 Centerline is valid? [False, False] Translation: X:16.28, Y:0.76, Z:1.99 [[ 0.87122287 -0.08616199 -0.48326683 16.28481559] [ 0.12271938 0.99144457 0.04447045 0.7637924 ] [ 0.47530061 -0.09804988 0.87434293 1.99287943] [ 0. 0. 0. 1. ]] SLAMing on 91.25964924600001 meters Centerline goodness : 0.924180 Centerline is valid? [False, False] Translation: X:16.29, Y:0.76, Z:1.99 [[ 0.87082883 -0.08677727 -0.48386656 16.286839 ] [ 0.12327471 0.99139386 0.04406322 0.76492722] [ 0.47587865 -0.09802003 0.8740318 1.99342746] [ 0. 0. 0. 1. ]] SLAMing on 91.28964924600001 meters Centerline goodness : 0.922820 Centerline is valid? [False, False] Translation: X:16.29, Y:0.77, Z:1.99 [[ 0.87022691 -0.08773476 -0.48477596 16.28996987] [ 0.12411462 0.99131872 0.04339072 0.76592982] [ 0.47676061 -0.09792755 0.8735614 1.99422441] [ 0. 0. 0. 1. ]] SLAMing on 91.31964924600001 meters Centerline goodness : 0.919485 Centerline is valid? [False, False] Translation: X:16.29, Y:0.77, Z:2.00 [[ 0.86987213 -0.08810449 -0.48534531 16.29161447] [ 0.1245533 0.99126813 0.04328933 0.76655529] [ 0.47729336 -0.09810754 0.87325023 1.99503079] [ 0. 0. 0. 1. ]] SLAMing on 91.34964924600001 meters Centerline goodness : 0.916138 Centerline is valid? [False, False] Translation: X:16.30, Y:0.77, Z:2.00 [[ 0.86929375 -0.08919417 -0.48618184 16.29545101] [ 0.12548472 0.99118371 0.04252579 0.76850721] [ 0.47810246 -0.0979758 0.8728223 1.99534388] [ 0. 0. 0. 1. ]] SLAMing on 91.37964924600001 meters Centerline goodness : 0.914698 Centerline is valid? [False, False] Translation: X:16.30, Y:0.77, Z:2.00 [[ 0.86906617 -0.08929774 -0.48656952 16.29649261] [ 0.12572935 0.99114668 0.04266597 0.76868116] [ 0.47845179 -0.09825562 0.8725994 1.99609549] [ 0. 0. 0. 1. ]] SLAMing on 91.40964924600001 meters Centerline goodness : 0.916214 Centerline is valid? [False, False] Translation: X:16.30, Y:0.77, Z:2.00 [[ 0.86856958 -0.08936586 -0.48744295 16.297912 ] [ 0.12606511 0.99109258 0.04293113 0.76775275] [ 0.47926451 -0.09873823 0.87209879 1.99799744] [ 0. 0. 0. 1. ]] SLAMing on 91.43964924600002 meters Centerline goodness : 0.915945 Centerline is valid? [False, False] Translation: X:16.30, Y:0.77, Z:2.00 [[ 0.86774211 -0.09027999 -0.48874651 16.29994875] [ 0.12671557 0.99105327 0.04191163 0.76860985] [ 0.48059005 -0.09830028 0.87141854 1.99994335] [ 0. 0. 0. 1. ]] SLAMing on 91.46964924600002 meters Centerline goodness : 0.915353 Centerline is valid? [False, False] Translation: X:16.30, Y:0.77, Z:2.00 [[ 0.86692293 -0.09023181 -0.49020695 16.30260958] [ 0.12676537 0.99105328 0.04176048 0.77075299] [ 0.48205309 -0.09834438 0.87060508 2.0017225 ] [ 0. 0. 0. 1. ]] SLAMing on 91.49964924600002 meters Centerline goodness : 0.915114 Centerline is valid? [False, False] Translation: X:16.30, Y:0.77, Z:2.00 [[ 0.86587376 -0.09162246 -0.49180072 16.30443868] [ 0.12757856 0.99102196 0.03998989 0.77372251] [ 0.48372134 -0.09736943 0.86978897 2.00446488] [ 0. 0. 0. 1. ]] SLAMing on 91.52964924600002 meters Centerline goodness : 0.921606 Centerline is valid? [False, False] Translation: X:16.31, Y:0.77, Z:2.01 [[ 0.87017551 -0.08282059 -0.48573175 16.3087827 ] [ 0.12090059 0.99152616 0.0475282 0.77006948] [ 0.47767942 -0.10008313 0.87281484 2.01021699] [ 0. 0. 0. 1. ]] SLAMing on 91.559649246 meters Centerline goodness : 0.919181 Centerline is valid? [False, False] Translation: X:16.32, Y:0.77, Z:2.02 [[ 0.87413464 -0.07466499 -0.47991017 16.31515895] [ 0.11463367 0.99191299 0.05447705 0.76735327] [ 0.4719616 -0.10263414 0.87562462 2.0150901 ] [ 0. 0. 0. 1. ]] SLAMing on 91.58964924600001 meters Centerline goodness : 0.922980 Centerline is valid? [False, False] Translation: X:16.32, Y:0.77, Z:2.02 [[ 0.87326297 -0.07118359 -0.48202146 16.31512639] [ 0.11334443 0.99180986 0.05887476 0.7691528 ] [ 0.47388272 -0.1060476 0.87417909 2.01987804] [ 0. 0. 0. 1. ]] SLAMing on 91.61964924600001 meters Centerline goodness : 0.921915 Centerline is valid? [False, False] Translation: X:16.32, Y:0.77, Z:2.03 [[ 0.8752973 -0.06207316 -0.47958477 16.32297261] [ 0.10770549 0.99184087 0.06819989 0.76775489] [ 0.47143839 -0.11134909 0.87484126 2.03232616] [ 0. 0. 0. 1. ]] SLAMing on 91.64964924600001 meters Centerline goodness : 0.924877 Centerline is valid? [False, False] Translation: X:16.32, Y:0.77, Z:2.03 [[ 0.87486859 -0.06778621 -0.47959356 16.32446782] [ 0.11134931 0.99178608 0.06294204 0.77086738] [ 0.47138762 -0.10846843 0.87523044 2.03075206] [ 0. 0. 0. 1. ]] SLAMing on 91.67964924600001 meters Centerline goodness : 0.922728 Centerline is valid? [False, False] Translation: X:16.33, Y:0.77, Z:2.03 [[ 0.87452678 -0.06843789 -0.48012411 16.32632177] [ 0.11184891 0.99176664 0.06235982 0.77195478] [ 0.4719033 -0.10823669 0.87498119 2.03100415] [ 0. 0. 0. 1. ]] SLAMing on 91.70964924600001 meters Centerline goodness : 0.925862 Centerline is valid? [False, False] Translation: X:16.33, Y:0.77, Z:2.03 [[ 0.87397518 -0.06899846 -0.4810474 16.32864096] [ 0.11234676 0.99174141 0.06186428 0.77263172] [ 0.47280608 -0.10811196 0.87450913 2.03203349] [ 0. 0. 0. 1. ]] SLAMing on 91.73964924600001 meters Centerline goodness : 0.922272 Centerline is valid? [False, False] Translation: X:16.33, Y:0.77, Z:2.03 [[ 0.87361782 -0.06936279 -0.48164376 16.32995455] [ 0.11268856 0.9917205 0.06157712 0.77323047] [ 0.47338483 -0.10807061 0.87420109 2.03277601] [ 0. 0. 0. 1. ]] SLAMing on 91.76964924600001 meters Centerline goodness : 0.924810 Centerline is valid? [False, False] Translation: X:16.35, Y:0.78, Z:2.04 [[ 0.87581998 -0.0720058 -0.47723635 16.34804422] [ 0.11151817 0.99224218 0.05494688 0.77835972] [ 0.46957754 -0.1013441 0.87705547 2.03708526] [ 0. 0. 0. 1. ]] SLAMing on 91.79964924600002 meters Centerline goodness : 0.921725 Centerline is valid? [False, False] Translation: X:16.35, Y:0.78, Z:2.04 [[ 0.87554144 -0.07241069 -0.47768597 16.34923215] [ 0.11189562 0.99221414 0.05468518 0.77914067] [ 0.47000698 -0.10133011 0.87682703 2.03765079] [ 0. 0. 0. 1. ]] SLAMing on 91.82964924600002 meters Centerline goodness : 0.921115 Centerline is valid? [False, False] Translation: X:16.35, Y:0.78, Z:2.04 [[ 0.8751564 -0.07248013 -0.4783805 16.34993929] [ 0.11213276 0.99218045 0.05481062 0.77970688] [ 0.4706671 -0.10160999 0.87644047 2.03926305] [ 0. 0. 0. 1. ]] SLAMing on 91.85964924600002 meters Centerline goodness : 0.920951 Centerline is valid? [False, False] Translation: X:16.35, Y:0.78, Z:2.04 [[ 0.87479651 -0.0728555 -0.47898135 16.35125716] [ 0.11249157 0.99215478 0.05453928 0.78084894] [ 0.47125015 -0.10159214 0.87612918 2.04004654] [ 0. 0. 0. 1. ]] SLAMing on 91.88964924600002 meters Centerline goodness : 0.922263 Centerline is valid? [False, False] Translation: X:16.35, Y:0.78, Z:2.04 [[ 0.8744328 -0.07313922 -0.47960184 16.35290527] [ 0.1123433 0.99222735 0.05351509 0.78363785] [ 0.47196001 -0.1006754 0.87585285 2.03973551] [ 0. 0. 0. 1. ]] SLAMing on 91.919649246 meters Centerline goodness : 0.921731 Centerline is valid? [False, False] Translation: X:16.35, Y:0.78, Z:2.04 [[ 0.87412844 -0.07367275 -0.48007477 16.354542 ] [ 0.11270284 0.99221718 0.05294465 0.78469334] [ 0.47243786 -0.10038621 0.87562839 2.03990338] [ 0. 0. 0. 1. ]] SLAMing on 91.949649246 meters Centerline goodness : 0.923731 Centerline is valid? [False, False] Translation: X:16.36, Y:0.79, Z:2.04 [[ 0.87350066 -0.07463 -0.48106856 16.35780419] [ 0.11355402 0.99215596 0.05226888 0.78569104] [ 0.47339421 -0.10028417 0.87512342 2.0408782 ] [ 0. 0. 0. 1. ]] SLAMing on 91.97964924600001 meters Centerline goodness : 0.920102 Centerline is valid? [False, False] Translation: X:16.36, Y:0.79, Z:2.04 [[ 0.873088 -0.07555683 -0.48167261 16.36063109] [ 0.11432114 0.9921031 0.05159573 0.78667601] [ 0.47397048 -0.10011297 0.87483106 2.04105051] [ 0. 0. 0. 1. ]] SLAMing on 92.00964924600001 meters Centerline goodness : 0.919202 Centerline is valid? [False, False] Translation: X:16.37, Y:0.79, Z:2.04 [[ 0.87224394 -0.07688586 -0.48298972 16.36549815] [ 0.11564608 0.99198357 0.05093707 0.78703098] [ 0.47520152 -0.10028542 0.87414321 2.04236533] [ 0. 0. 0. 1. ]] SLAMing on 92.03964924600001 meters Centerline goodness : 0.917605 Centerline is valid? [False, False] Translation: X:16.37, Y:0.79, Z:2.04 [[ 0.87174532 -0.07775881 -0.48374959 16.36850721] [ 0.11653288 0.9918991 0.05055942 0.78724931] [ 0.47589934 -0.10044767 0.87374486 2.0431605 ] [ 0. 0. 0. 1. ]] SLAMing on 92.06964924600001 meters Centerline goodness : 0.916177 Centerline is valid? [False, False] Translation: X:16.37, Y:0.79, Z:2.04 [[ 0.87122696 -0.07852602 -0.48455882 16.37147155] [ 0.11761727 0.99176127 0.05075188 0.78617063] [ 0.47658133 -0.10120889 0.87328518 2.04488923] [ 0. 0. 0. 1. ]] SLAMing on 92.09964924600001 meters Centerline goodness : 0.922745 Centerline is valid? [False, False] Translation: X:16.37, Y:0.79, Z:2.05 [[ 0.87073974 -0.07886507 -0.48537882 16.37313993] [ 0.1183268 0.99165666 0.05114515 0.78526472] [ 0.47729558 -0.10196744 0.87280672 2.04688453] [ 0. 0. 0. 1. ]] SLAMing on 92.12964924600001 meters Centerline goodness : 0.923669 Centerline is valid? [False, False] Translation: X:16.38, Y:0.78, Z:2.05 [[ 0.86978103 -0.07956632 -0.48698065 16.37594644] [ 0.11992564 0.99140897 0.05221211 0.7830895 ] [ 0.47864266 -0.10381457 0.87185076 2.05168324] [ 0. 0. 0. 1. ]] SLAMing on 92.15964924600001 meters Centerline goodness : 0.926320 Centerline is valid? [False, False] Translation: X:16.38, Y:0.78, Z:2.05 [[ 0.86930999 -0.08046518 -0.48767356 16.37866543] [ 0.12077186 0.99133225 0.05171584 0.78395754] [ 0.4792852 -0.10385434 0.87149296 2.05235312] [ 0. 0. 0. 1. ]] SLAMing on 92.18964924600002 meters Centerline goodness : 0.920217 Centerline is valid? [False, False] Translation: X:16.38, Y:0.79, Z:2.05 [[ 0.86860676 -0.08181008 -0.48870175 16.3829095 ] [ 0.12182349 0.99126187 0.05058605 0.7860058 ] [ 0.48029296 -0.10347474 0.87098315 2.05277951] [ 0. 0. 0. 1. ]] SLAMing on 92.21964924600002 meters Centerline goodness : 0.919259 Centerline is valid? [False, False] Translation: X:16.39, Y:0.79, Z:2.05 [[ 0.8681458 -0.08280794 -0.48935234 16.38569502] [ 0.12266441 0.99119363 0.04988613 0.78722218] [ 0.48091196 -0.10333455 0.87065818 2.05320313] [ 0. 0. 0. 1. ]] SLAMing on 92.24964924600002 meters Centerline goodness : 0.913646 Centerline is valid? [False, False] Translation: X:16.39, Y:0.79, Z:2.05 [[ 0.8677371 -0.0840395 -0.48986701 16.38948281] [ 0.12337749 0.99117363 0.04850599 0.79043411] [ 0.48146684 -0.10252901 0.87044671 2.05228862] [ 0. 0. 0. 1. ]] SLAMing on 92.27964924600002 meters Centerline goodness : 0.914957 Centerline is valid? [False, False] Translation: X:16.39, Y:0.79, Z:2.05 [[ 0.86725826 -0.08521968 -0.49051068 16.39267938] [ 0.12427581 0.99110836 0.04753674 0.79257447] [ 0.48209817 -0.10218525 0.87013765 2.05231701] [ 0. 0. 0. 1. ]] SLAMing on 92.309649246 meters Centerline goodness : 0.914122 Centerline is valid? [False, False] Translation: X:16.40, Y:0.79, Z:2.05 [[ 0.86649766 -0.08648457 -0.4916322 16.39684627] [ 0.12532319 0.99102345 0.04654701 0.79444064] [ 0.48319344 -0.10194579 0.86955802 2.05312899] [ 0. 0. 0. 1. ]] SLAMing on 92.33964924600001 meters Centerline goodness : 0.917626 Centerline is valid? [False, False] Translation: X:16.40, Y:0.80, Z:2.05 [[ 0.86613854 -0.08730122 -0.49212044 16.39941685] [ 0.12601902 0.99096072 0.04600063 0.79524096] [ 0.48365611 -0.10185945 0.86931089 2.05329506] [ 0. 0. 0. 1. ]] SLAMing on 92.36964924600001 meters Centerline goodness : 0.913447 Centerline is valid? [False, False] Translation: X:16.40, Y:0.80, Z:2.05 [[ 0.8654302 -0.08849846 -0.4931517 16.40336716] [ 0.12710034 0.99085792 0.0452337 0.79717549] [ 0.48464015 -0.10182636 0.86876655 2.0542298 ] [ 0. 0. 0. 1. ]] SLAMing on 92.39964924600001 meters Centerline goodness : 0.910329 Centerline is valid? [False, False] Translation: X:16.41, Y:0.80, Z:2.06 [[ 0.86461474 -0.08520898 -0.49515734 16.40870399] [ 0.12558196 0.99088388 0.04876796 0.79730269] [ 0.48648795 -0.10434832 0.86743351 2.05761416] [ 0. 0. 0. 1. ]] SLAMing on 92.42964924600001 meters Centerline goodness : 0.912202 Centerline is valid? [False, False] Translation: X:16.41, Y:0.80, Z:2.06 [[ 0.86432882 -0.08571389 -0.49556919 16.41028454] [ 0.12600047 0.99084971 0.04838124 0.79845429] [ 0.48688764 -0.10425925 0.86721994 2.05791349] [ 0. 0. 0. 1. ]] SLAMing on 92.45964924600001 meters Centerline goodness : 0.912128 Centerline is valid? [False, False] Translation: X:16.41, Y:0.80, Z:2.06 [[ 0.86368071 -0.0866374 -0.49653761 16.41353319] [ 0.12679758 0.99078211 0.04767783 0.80005971] [ 0.4878299 -0.10413819 0.86670481 2.05887996] [ 0. 0. 0. 1. ]] SLAMing on 92.48964924600001 meters Centerline goodness : 0.913384 Centerline is valid? [False, False] Translation: X:16.42, Y:0.80, Z:2.06 [[ 0.86323724 -0.08742309 -0.49717066 16.41585787] [ 0.1275265 0.99071065 0.04721646 0.80098932] [ 0.48842446 -0.10416144 0.86636709 2.05959415] [ 0. 0. 0. 1. ]] SLAMing on 92.51964924600001 meters Centerline goodness : 0.913086 Centerline is valid? [False, False] Translation: X:16.42, Y:0.80, Z:2.06 [[ 0.86263592 -0.08837084 -0.49804604 16.41903366] [ 0.12836453 0.99063352 0.04655942 0.80304555] [ 0.4892666 -0.10409527 0.86589974 2.06048248] [ 0. 0. 0. 1. ]] SLAMing on 92.54964924600002 meters Centerline goodness : 0.914849 Centerline is valid? [False, False] Translation: X:16.42, Y:0.80, Z:2.06 [[ 0.86214127 -0.08925078 -0.49874515 16.42136018] [ 0.12930101 0.99052588 0.04625715 0.80382001] [ 0.4898915 -0.10436845 0.86551346 2.0616388 ] [ 0. 0. 0. 1. ]] SLAMing on 92.57964924600002 meters Centerline goodness : 0.911621 Centerline is valid? [False, False] Translation: X:16.42, Y:0.80, Z:2.06 [[ 0.86163502 -0.09003513 -0.49947849 16.42369283] [ 0.13021225 0.99041407 0.04609484 0.80380806] [ 0.49054037 -0.10475514 0.86509913 2.06297392] [ 0. 0. 0. 1. ]] SLAMing on 92.60964924600002 meters Centerline goodness : 0.909377 Centerline is valid? [False, False] Translation: X:16.43, Y:0.80, Z:2.07 [[ 0.86047925 -0.09111726 -0.5012715 16.42817869] [ 0.13164356 0.99023009 0.04598206 0.8043851 ] [ 0.49218436 -0.10555578 0.86406744 2.0663018 ] [ 0. 0. 0. 1. ]] SLAMing on 92.63964924600002 meters Centerline goodness : 0.909377 Centerline is valid? [False, False] Translation: X:16.43, Y:0.80, Z:2.07 [[ 0.86047925 -0.09111726 -0.5012715 16.42817869] [ 0.13164356 0.99023009 0.04598206 0.8043851 ] [ 0.49218436 -0.10555578 0.86406744 2.0663018 ] [ 0. 0. 0. 1. ]] SLAMing on 92.669649246 meters Centerline goodness : 0.908134 Centerline is valid? [False, False] Translation: X:16.43, Y:0.81, Z:2.07 [[ 0.85976817 -0.09211915 -0.50230743 16.43245282] [ 0.13266901 0.9901154 0.04550203 0.80603258] [ 0.49315071 -0.10576183 0.86349106 2.06747255] [ 0. 0. 0. 1. ]] SLAMing on 92.699649246 meters Centerline goodness : 0.907783 Centerline is valid? [False, False] Translation: X:16.43, Y:0.81, Z:2.07 [[ 0.8593502 -0.09269004 -0.50291727 16.43479657] [ 0.1333086 0.99003784 0.04531984 0.80686785] [ 0.49370644 -0.10598881 0.8631456 2.0682866 ] [ 0. 0. 0. 1. ]] SLAMing on 92.72964924600001 meters Centerline goodness : 0.912412 Centerline is valid? [False, False] Translation: X:16.44, Y:0.81, Z:2.07 [[ 0.85901202 -0.09308996 -0.5034209 16.4364282 ] [ 0.13376683 0.98998194 0.04519069 0.80727488] [ 0.4941708 -0.10616037 0.86285873 2.06908205] [ 0. 0. 0. 1. ]] SLAMing on 92.75964924600001 meters Centerline goodness : 0.913464 Centerline is valid? [False, False] Translation: X:16.44, Y:0.81, Z:2.07 [[ 0.85817014 -0.09438532 -0.50461413 16.44096166] [ 0.13508251 0.98983073 0.04458514 0.808061 ] [ 0.49527439 -0.10642618 0.86219299 2.07068246] [ 0. 0. 0. 1. ]] SLAMing on 92.78964924600001 meters Centerline goodness : 0.913028 Centerline is valid? [False, False] Translation: X:16.45, Y:0.81, Z:2.07 [[ 0.85687004 -0.09619138 -0.50647897 16.44716865] [ 0.13722846 0.98955152 0.04422816 0.80933352] [ 0.49693267 -0.10740111 0.86111725 2.07399646] [ 0. 0. 0. 1. ]] SLAMing on 92.81964924600001 meters Centerline goodness : 0.911077 Centerline is valid? [False, False] Translation: X:16.45, Y:0.81, Z:2.08 [[ 0.85628127 -0.09701996 -0.50731598 16.45003627] [ 0.13811373 0.98944321 0.04389465 0.81048129] [ 0.49770169 -0.10765347 0.86064148 2.07518357] [ 0. 0. 0. 1. ]] SLAMing on 92.84964924600001 meters Centerline goodness : 0.908519 Centerline is valid? [False, False] Translation: X:16.45, Y:0.81, Z:2.08 [[ 0.85535064 -0.09809624 -0.50867712 16.45400132] [ 0.13940217 0.9892742 0.04363014 0.81185282] [ 0.4989412 -0.10822976 0.85985115 2.07760521] [ 0. 0. 0. 1. ]] SLAMing on 92.87964924600001 meters Centerline goodness : 0.909017 Centerline is valid? [False, False] Translation: X:16.46, Y:0.81, Z:2.08 [[ 0.85498869 -0.09841769 -0.50922323 16.4554652 ] [ 0.13986904 0.98920713 0.04365663 0.81208617] [ 0.49943067 -0.1085505 0.8595265 2.07871559] [ 0. 0. 0. 1. ]] SLAMing on 92.90964924600001 meters Centerline goodness : 0.909247 Centerline is valid? [False, False] Translation: X:16.46, Y:0.81, Z:2.08 [[ 0.85403433 -0.09941486 -0.51062906 16.45900912] [ 0.14115861 0.98902931 0.04353471 0.81298754] [ 0.50069911 -0.10925982 0.85869825 2.08160793] [ 0. 0. 0. 1. ]] SLAMing on 92.93964924600002 meters Centerline goodness : 0.908968 Centerline is valid? [False, False] Translation: X:16.46, Y:0.81, Z:2.08 [[ 0.85350937 -0.1000104 -0.51138995 16.46130696] [ 0.14184015 0.98894087 0.04332804 0.81390433] [ 0.50140117 -0.10951651 0.85825579 2.08280352] [ 0. 0. 0. 1. ]] SLAMing on 92.96964924600002 meters Centerline goodness : 0.914054 Centerline is valid? [False, False] Translation: X:16.47, Y:0.82, Z:2.09 [[ 0.8516092 -0.10241259 -0.51407532 16.46569643] [ 0.14336936 0.98883982 0.04050967 0.8189529 ] [ 0.50418945 -0.10820106 0.85678792 2.08713918] [ 0. 0. 0. 1. ]] SLAMing on 92.99964924600002 meters Centerline goodness : 0.914188 Centerline is valid? [False, False] Translation: X:16.47, Y:0.82, Z:2.09 [[ 0.85095401 -0.10321177 -0.51499962 16.46873676] [ 0.14434687 0.98870362 0.04036255 0.81961217] [ 0.50501609 -0.10868526 0.8562396 2.08868807] [ 0. 0. 0. 1. ]] SLAMing on 93.02964924600002 meters Centerline goodness : 0.910032 Centerline is valid? [False, False] Translation: X:16.47, Y:0.82, Z:2.09 [[ 0.84983222 -0.10477147 -0.51653473 16.47441969] [ 0.14604905 0.98847681 0.03979021 0.82054632] [ 0.50641373 -0.10925441 0.85534122 2.09100343] [ 0. 0. 0. 1. ]] SLAMing on 93.059649246 meters Centerline goodness : 0.909532 Centerline is valid? [False, False] Translation: X:16.48, Y:0.82, Z:2.09 [[ 0.84909279 -0.10557398 -0.51758629 16.47781069] [ 0.14706257 0.98833175 0.03966034 0.82114475] [ 0.50735986 -0.10979288 0.85471135 2.09278241] [ 0. 0. 0. 1. ]] SLAMing on 93.08964924600001 meters Centerline goodness : 0.908237 Centerline is valid? [False, False] Translation: X:16.48, Y:0.82, Z:2.10 [[ 0.84818107 -0.10637857 -0.5189147 16.48178074] [ 0.14811093 0.98818112 0.03951245 0.82107422] [ 0.50857843 -0.11037065 0.85391235 2.09515351] [ 0. 0. 0. 1. ]] SLAMing on 93.11964924600001 meters Centerline goodness : 0.912200 Centerline is valid? [False, False] Translation: X:16.48, Y:0.82, Z:2.10 [[ 0.84698603 -0.10777761 -0.5205753 16.48443114] [ 0.14921204 0.98806684 0.03820588 0.8237749 ] [ 0.51024546 -0.11003595 0.85296053 2.09798594] [ 0. 0. 0. 1. ]] SLAMing on 93.14964924600001 meters Centerline goodness : 0.909163 Centerline is valid? [False, False] Translation: X:16.49, Y:0.83, Z:2.10 [[ 0.84601506 -0.10934096 -0.52182667 16.48697516] [ 0.15028727 0.98796313 0.0366414 0.8270259 ] [ 0.51153911 -0.10942309 0.85226424 2.09986422] [ 0. 0. 0. 1. ]] SLAMing on 93.17964924600001 meters Centerline goodness : 0.911121 Centerline is valid? [False, False] Translation: X:16.50, Y:0.83, Z:2.11 [[ 0.84721351 -0.10511812 -0.52074893 16.50214071] [ 0.14767713 0.98819448 0.04078148 0.83010244] [ 0.51031435 -0.11145332 0.85273526 2.11324453] [ 0. 0. 0. 1. ]] SLAMing on 93.20964924600001 meters Centerline goodness : 0.915690 Centerline is valid? [False, False] Translation: X:16.51, Y:0.84, Z:2.12 [[ 0.8441069 -0.10721111 -0.52534686 16.50913252] [ 0.14860012 0.98820134 0.03709591 0.83776901] [ 0.51517138 -0.10937952 0.85007916 2.12056188] [ 0. 0. 0. 1. ]] SLAMing on 93.23964924600001 meters Centerline goodness : 0.911465 Centerline is valid? [False, False] Translation: X:16.51, Y:0.84, Z:2.12 [[ 0.84352764 -0.10292971 -0.52713053 16.51259451] [ 0.14621431 0.98840394 0.04097596 0.83794018] [ 0.51680025 -0.11163838 0.84879584 2.12361474] [ 0. 0. 0. 1. ]] SLAMing on 93.26964924600001 meters Centerline goodness : 0.912617 Centerline is valid? [False, False] Translation: X:16.52, Y:0.85, Z:2.13 [[ 0.84063101 -0.1038169 -0.5315652 16.51805316] [ 0.14726698 0.98829272 0.03987414 0.8451646 ] [ 0.52120241 -0.11180144 0.8460783 2.13156829] [ 0. 0. 0. 1. ]] SLAMing on 93.29964924600002 meters Centerline goodness : 0.913484 Centerline is valid? [False, False] Translation: X:16.52, Y:0.85, Z:2.13 [[ 0.83908912 -0.10527288 -0.53371066 16.52181823] [ 0.14812 0.98824124 0.03794355 0.84842576] [ 0.52344045 -0.11089124 0.8448155 2.13498406] [ 0. 0. 0. 1. ]] SLAMing on 93.32964924600002 meters Centerline goodness : 0.915481 Centerline is valid? [False, False] Translation: X:16.52, Y:0.86, Z:2.14 [[ 0.83405845 -0.11191526 -0.54020503 16.51534928] [ 0.15423086 0.98746498 0.03355237 0.85508889] [ 0.52967852 -0.11130092 0.8408643 2.13615724] [ 0. 0. 0. 1. ]] SLAMing on 93.35964924600002 meters Centerline goodness : 0.920478 Centerline is valid? [False, False] Translation: X:16.52, Y:0.86, Z:2.14 [[ 0.83309595 -0.11363299 -0.54133048 16.51826712] [ 0.15545519 0.98732488 0.0319886 0.85808794] [ 0.53083409 -0.11080221 0.84020119 2.13767882] [ 0. 0. 0. 1. ]] SLAMing on 93.38964924600002 meters Centerline goodness : 0.915975 Centerline is valid? [False, False] Translation: X:16.52, Y:0.87, Z:2.14 [[ 0.82690131 -0.12268098 -0.54880197 16.51567744] [ 0.16283805 0.98633945 0.02486489 0.86670385] [ 0.53825459 -0.10992665 0.83558251 2.13721712] [ 0. 0. 0. 1. ]] SLAMing on 93.419649246 meters Centerline goodness : 0.912013 Centerline is valid? [False, False] Translation: X:16.52, Y:0.87, Z:2.14 [[ 0.82556013 -0.12449546 -0.55041016 16.5184623 ] [ 0.16419188 0.98615518 0.02321619 0.86985689] [ 0.53989952 -0.10953924 0.83457155 2.13997257] [ 0. 0. 0. 1. ]] SLAMing on 93.449649246 meters Centerline goodness : 0.913574 Centerline is valid? [False, False] Translation: X:16.52, Y:0.88, Z:2.14 [[ 8.18892085e-01 -1.37443712e-01 -5.57247682e-01 1.65179113e+01] [ 1.71979373e-01 9.85052119e-01 9.76823756e-03 8.78108210e-01] [ 5.47575427e-01 -1.03834239e-01 8.30288867e-01 2.13770808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.47964924600001 meters Centerline goodness : 0.916451 Centerline is valid? [False, False] Translation: X:16.52, Y:0.88, Z:2.14 [[ 8.16462872e-01 -1.39903228e-01 -5.60192347e-01 1.65161170e+01] [ 1.74524839e-01 9.84616384e-01 8.46502322e-03 8.82364012e-01] [ 5.50390279e-01 -1.04678856e-01 8.28319309e-01 2.14387264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50964924600001 meters Centerline goodness : 0.915968 Centerline is valid? [False, False] Translation: X:16.52, Y:0.89, Z:2.15 [[ 8.15365803e-01 -1.39700165e-01 -5.61838474e-01 1.65166529e+01] [ 1.74932239e-01 9.84538736e-01 9.06584711e-03 8.85317730e-01] [ 5.51885241e-01 -1.05675644e-01 8.27197279e-01 2.14741588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.53964924600001 meters Centerline goodness : 0.921570 Centerline is valid? [False, False] Translation: X:16.52, Y:0.89, Z:2.16 [[ 8.12464735e-01 -1.36409698e-01 -5.66827529e-01 1.65211273e+01] [ 1.72879836e-01 9.84883916e-01 1.07811513e-02 8.90829879e-01] [ 5.56788663e-01 -1.06752356e-01 8.23765937e-01 2.15660686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56964924600001 meters Centerline goodness : 0.918477 Centerline is valid? [False, False] Translation: X:16.52, Y:0.89, Z:2.16 [[ 8.11429961e-01 -1.35482621e-01 -5.68529576e-01 1.65227104e+01] [ 1.72012980e-01 9.85035842e-01 1.07668078e-02 8.93374906e-01] [ 5.58563294e-01 -1.06530977e-01 8.22592364e-01 2.15972288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.59964924600001 meters Centerline goodness : 0.911603 Centerline is valid? [False, False] Translation: X:16.51, Y:0.90, Z:2.16 [[ 8.07251618e-01 -1.34933812e-01 -5.74576097e-01 1.65103963e+01] [ 1.73748244e-01 9.84706148e-01 1.28588663e-02 8.97158332e-01] [ 5.64053519e-01 -1.10211929e-01 8.18350144e-01 2.16231816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62964924600001 meters Centerline goodness : 0.912435 Centerline is valid? [False, False] Translation: X:16.51, Y:0.90, Z:2.16 [[ 8.06390172e-01 -1.35350232e-01 -5.75686725e-01 1.65119582e+01] [ 1.73931736e-01 9.84683073e-01 1.21242342e-02 9.00097027e-01] [ 5.65227955e-01 -1.09907055e-01 8.17580453e-01 2.16441312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.65964924600001 meters Centerline goodness : 0.912528 Centerline is valid? [False, False] Translation: X:16.46, Y:0.89, Z:2.13 [[ 8.07553198e-01 -1.31597694e-01 -5.74925978e-01 1.64616358e+01] [ 1.69489498e-01 9.85452676e-01 1.25033254e-02 8.88960355e-01] [ 5.64916934e-01 -1.07541016e-01 8.18109887e-01 2.13127087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68964924600002 meters Centerline goodness : 0.912807 Centerline is valid? [False, False] Translation: X:16.44, Y:0.89, Z:2.12 [[ 8.02592292e-01 -1.35982061e-01 -5.80822255e-01 1.64414100e+01] [ 1.72105473e-01 9.85052225e-01 7.19857663e-03 8.91807405e-01] [ 5.71161377e-01 -1.05740211e-01 8.13998581e-01 2.12336352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.71964924600002 meters Centerline goodness : 0.916682 Centerline is valid? [False, False] Translation: X:16.40, Y:0.89, Z:2.11 [[ 8.01024862e-01 -1.30535438e-01 -5.84225701e-01 1.64022771e+01] [ 1.70195077e-01 9.85321992e-01 1.31987516e-02 8.87326407e-01] [ 5.73927527e-01 -1.10004866e-01 8.11483902e-01 2.11384077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74964924600002 meters Centerline goodness : 0.917220 Centerline is valid? [False, False] Translation: X:16.38, Y:0.89, Z:2.10 [[ 7.96108731e-01 -1.36401246e-01 -5.89580858e-01 1.63809332e+01] [ 1.73461730e-01 9.84819921e-01 6.38374547e-03 8.90820786e-01] [ 5.79760223e-01 -1.07351871e-01 8.07684134e-01 2.10317156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.77964924600002 meters Centerline goodness : 0.919558 Centerline is valid? [False, False] Translation: X:16.34, Y:0.89, Z:2.08 [[ 7.95097693e-01 -1.35177477e-01 -5.91224752e-01 1.63412155e+01] [ 1.70125750e-01 9.85416198e-01 3.48516625e-03 8.85245139e-01] [ 5.82131331e-01 -1.03353602e-01 8.06499316e-01 2.07715728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.809649246 meters Centerline goodness : 0.916714 Centerline is valid? [False, False] Translation: X:16.32, Y:0.89, Z:2.07 [[ 7.90172296e-01 -1.38528290e-01 -5.97023999e-01 1.63224217e+01] [ 1.72269370e-01 9.85049719e-01 -5.60729656e-04 8.88300926e-01] [ 5.88175999e-01 -1.02405875e-01 8.02223180e-01 2.06668660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.83964924600001 meters Centerline goodness : 0.912345 Centerline is valid? [False, False] Translation: X:16.29, Y:0.88, Z:2.04 [[ 7.89658517e-01 -1.34473037e-01 -5.98628791e-01 1.62865198e+01] [ 1.65915497e-01 9.86136387e-01 -2.65969388e-03 8.80765150e-01] [ 5.90687290e-01 -9.72215436e-02 8.01022157e-01 2.03677129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86964924600001 meters Centerline goodness : 0.911170 Centerline is valid? [False, False] Translation: X:16.26, Y:0.88, Z:2.01 [[ 7.85798356e-01 -1.39278369e-01 -6.02596449e-01 1.62571468e+01] [ 1.64602863e-01 9.86270096e-01 -1.33114481e-02 8.79567140e-01] [ 5.96176855e-01 -8.87289866e-02 7.97935038e-01 2.01149520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.89964924600001 meters Centerline goodness : 0.911825 Centerline is valid? [False, False] Translation: X:16.20, Y:0.87, Z:1.97 [[ 0.7853919 -0.13981836 -0.60300115 16.20364173] [ 0.16178531 0.98666076 -0.01805704 0.86606204] [ 0.59748228 -0.08337488 0.79753593 1.96890665] [ 0. 0. 0. 1. ]] SLAMing on 93.92964924600001 meters Centerline goodness : 0.914607 Centerline is valid? [False, False] Translation: X:16.16, Y:0.86, Z:1.94 [[ 0.78160045 -0.14434679 -0.6068482 16.15839775] [ 0.1628033 0.98634356 -0.02492946 0.86042287] [ 0.6021593 -0.07931201 0.7944267 1.93556652] [ 0. 0. 0. 1. ]] SLAMing on 93.95964924600001 meters Centerline goodness : 0.912757 Centerline is valid? [False, False] Translation: X:16.08, Y:0.84, Z:1.87 [[ 0.78375519 -0.14098539 -0.60485611 16.0818012 ] [ 0.15766104 0.98715613 -0.02580272 0.83806671] [ 0.60072522 -0.07513923 0.79591664 1.87215731] [ 0. 0. 0. 1. ]] SLAMing on 93.98964924600001 meters Centerline goodness : 0.912690 Centerline is valid? [False, False] Translation: X:16.04, Y:0.83, Z:1.84 [[ 0.78021496 -0.14779488 -0.60780037 16.03918287] [ 0.15935234 0.98658879 -0.03534662 0.83385244] [ 0.60487308 -0.06927645 0.7933028 1.8355322 ] [ 0. 0. 0. 1. ]] SLAMing on 94.01964924600001 meters Centerline goodness : 0.911755 Centerline is valid? [False, False] Translation: X:16.01, Y:0.83, Z:1.81 [[ 0.77668172 -0.15461321 -0.61062285 16.00704773] [ 0.16108401 0.98592559 -0.04475121 0.83150942] [ 0.60894782 -0.06360413 0.7906561 1.80663959] [ 0. 0. 0. 1. ]] SLAMing on 94.04964924600002 meters Centerline goodness : 0.908205 Centerline is valid? [False, False] Translation: X:15.94, Y:0.81, Z:1.74 [[ 0.77767086 -0.15641815 -0.60890179 15.93732529] [ 0.15840072 0.98605694 -0.05099932 0.81261852] [ 0.60838906 -0.05678979 0.79160449 1.74438151] [ 0. 0. 0. 1. ]] SLAMing on 94.07964924600002 meters Centerline goodness : 0.911643 Centerline is valid? [False, False] Translation: X:15.89, Y:0.80, Z:1.70 [[ 0.77570752 -0.16173107 -0.61001713 15.8906635 ] [ 0.15645945 0.98571245 -0.06238113 0.80291876] [ 0.61139045 -0.04705344 0.78992892 1.70278651] [ 0. 0. 0. 1. ]] SLAMing on 94.10964924600002 meters Centerline goodness : 0.914293 Centerline is valid? [False, False] Translation: X:15.81, Y:0.78, Z:1.63 [[ 0.77819317 -0.16335934 -0.60640673 15.81211571] [ 0.15147976 0.98589293 -0.07119695 0.77917495] [ 0.60948279 -0.03645337 0.79196078 1.63088028] [ 0. 0. 0. 1. ]] SLAMing on 94.13964924600002 meters Centerline goodness : 0.916635 Centerline is valid? [False, False] Translation: X:15.74, Y:0.76, Z:1.57 [[ 0.78126294 -0.16180988 -0.60286465 15.73545993] [ 0.14808491 0.98629036 -0.07281614 0.75596025] [ 0.60638196 -0.0323866 0.7945137 1.56558784] [ 0. 0. 0. 1. ]] SLAMing on 94.169649246 meters Centerline goodness : 0.920538 Centerline is valid? [False, False] Translation: X:15.67, Y:0.74, Z:1.51 [[ 0.78014608 -0.1645707 -0.60356323 15.66945196] [ 0.14858654 0.98591527 -0.07676669 0.74182477] [ 0.60769575 -0.02979214 0.79361092 1.51284127] [ 0. 0. 0. 1. ]] SLAMing on 94.199649246 meters Centerline goodness : 0.915908 Centerline is valid? [False, False] Translation: X:15.59, Y:0.72, Z:1.44 [[ 0.78432309 -0.16271142 -0.59863368 15.59108708] [ 0.14498646 0.98634382 -0.07813321 0.71830806] [ 0.60317179 -0.02551209 0.79720319 1.44401872] [ 0. 0. 0. 1. ]] SLAMing on 94.22964924600001 meters Centerline goodness : 0.916538 Centerline is valid? [False, False] Translation: X:15.55, Y:0.71, Z:1.41 [[ 0.78138114 -0.1653092 -0.60176107 15.55055072] [ 0.14545751 0.98596237 -0.08197755 0.71346041] [ 0.60686541 -0.02347496 0.79445786 1.41487883] [ 0. 0. 0. 1. ]] SLAMing on 94.25964924600001 meters Centerline goodness : 0.915430 Centerline is valid? [False, False] Translation: X:15.48, Y:0.69, Z:1.35 [[ 0.78401264 -0.1670156 -0.59785448 15.47923385] [ 0.14311462 0.98581128 -0.08771731 0.69327302] [ 0.60402185 -0.01679023 0.79679087 1.34779973] [ 0. 0. 0. 1. ]] SLAMing on 94.28964924600001 meters Centerline goodness : 0.911642 Centerline is valid? [False, False] Translation: X:15.43, Y:0.68, Z:1.30 [[ 7.83845409e-01 -1.69857695e-01 -5.97272751e-01 1.54277052e+01] [ 1.41409265e-01 9.85415171e-01 -9.46591754e-02 6.83154477e-01] [ 6.04640219e-01 -1.02617408e-02 7.96432610e-01 1.30213278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.31964924600001 meters Centerline goodness : 0.915416 Centerline is valid? [False, False] Translation: X:15.35, Y:0.66, Z:1.24 [[ 7.87556013e-01 -1.66931940e-01 -5.93202541e-01 1.53489933e+01] [ 1.37314531e-01 9.85946867e-01 -9.51498601e-02 6.60414912e-01] [ 6.00749737e-01 -6.51948439e-03 7.99410564e-01 1.23610864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34964924600001 meters Centerline goodness : 0.911808 Centerline is valid? [False, False] Translation: X:15.30, Y:0.65, Z:1.20 [[ 7.86882864e-01 -1.68372823e-01 -5.93688428e-01 1.52972107e+01] [ 1.35748898e-01 9.85720943e-01 -9.96316146e-02 6.51366568e-01] [ 6.01986374e-01 -2.19413944e-03 7.98503345e-01 1.19703305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.37964924600001 meters Centerline goodness : 0.917795 Centerline is valid? [False, False] Translation: X:15.24, Y:0.64, Z:1.14 [[ 7.89417773e-01 -1.69869097e-01 -5.89884793e-01 1.52380354e+01] [ 1.31979167e-01 9.85443598e-01 -1.07156032e-01 6.36844735e-01] [ 5.99500691e-01 6.73837220e-03 8.00345873e-01 1.13968784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40964924600001 meters Centerline goodness : 0.913616 Centerline is valid? [False, False] Translation: X:15.19, Y:0.63, Z:1.10 [[ 7.88263910e-01 -1.70488417e-01 -5.91247586e-01 1.51858710e+01] [ 1.30731238e-01 9.85316007e-01 -1.09825818e-01 6.29373248e-01] [ 6.01289740e-01 9.27719989e-03 7.98977210e-01 1.09856823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43964924600002 meters Centerline goodness : 0.913408 Centerline is valid? [False, False] Translation: X:15.11, Y:0.61, Z:1.03 [[ 7.92694097e-01 -1.62937472e-01 -5.87441443e-01 1.51058188e+01] [ 1.24883587e-01 9.86585986e-01 -1.05129362e-01 6.06821873e-01] [ 5.96691007e-01 9.97363039e-03 8.02409103e-01 1.02929282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46964924600002 meters Centerline goodness : 0.910076 Centerline is valid? [False, False] Translation: X:15.08, Y:0.61, Z:1.01 [[ 7.88218443e-01 -1.66339811e-01 -5.92488611e-01 1.50817620e+01] [ 1.25518811e-01 9.85992986e-01 -1.09831047e-01 6.06930145e-01] [ 6.02458890e-01 1.22023909e-02 7.98056632e-01 1.01425589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.49964924600002 meters Centerline goodness : 0.905980 Centerline is valid? [False, False] Translation: X:15.03, Y:0.60, Z:0.97 [[ 7.84984815e-01 -1.68111787e-01 -5.96269459e-01 1.50325825e+01] [ 1.25332267e-01 9.85670032e-01 -1.12900004e-01 5.95667499e-01] [ 6.06704758e-01 1.38929858e-02 7.94805839e-01 9.74519320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52964924600002 meters Centerline goodness : 0.905573 Centerline is valid? [False, False] Translation: X:15.01, Y:0.60, Z:0.96 [[ 0.78103961 -0.17247393 -0.60019153 15.00857473] [ 0.12593336 0.98485924 -0.11913464 0.59545441] [ 0.6116518 0.01746474 0.7909343 0.95504987] [ 0. 0. 0. 1. ]] SLAMing on 94.559649246 meters Centerline goodness : 0.905573 Centerline is valid? [False, False] Translation: X:14.98, Y:0.60, Z:0.93 [[ 0.777597 -0.17839096 -0.60292584 14.98209553] [ 0.12647465 0.98368553 -0.12793332 0.59560912] [ 0.61591157 0.02322573 0.78747286 0.93167216] [ 0. 0. 0. 1. ]] SLAMing on 94.58964924600001 meters Centerline goodness : 0.903831 Centerline is valid? [False, False] Translation: X:14.89, Y:0.57, Z:0.85 [[ 0.78234765 -0.17458847 -0.59787208 14.89183389] [ 0.12128949 0.98423837 -0.12869999 0.57103006] [ 0.61091818 0.02817253 0.79119232 0.84888775] [ 0. 0. 0. 1. ]] SLAMing on 94.61964924600001 meters Centerline goodness : 0.907988 Centerline is valid? [False, False] Translation: X:14.84, Y:0.56, Z:0.81 [[ 0.78241281 -0.17124279 -0.59875378 14.83524741] [ 0.11913386 0.9848521 -0.12598996 0.55906031] [ 0.61125879 0.02724431 0.79096172 0.81108492] [ 0. 0. 0. 1. ]] SLAMing on 94.64964924600001 meters Centerline goodness : 0.908457 Centerline is valid? [False, False] Translation: X:14.76, Y:0.54, Z:0.75 [[ 0.78454556 -0.16995735 -0.59632437 14.76353573] [ 0.11854097 0.98507539 -0.12479788 0.54246989] [ 0.60863478 0.02722075 0.79298344 0.75328165] [ 0. 0. 0. 1. ]] SLAMing on 94.67964924600001 meters Centerline goodness : 0.910653 Centerline is valid? [False, False] Translation: X:14.73, Y:0.54, Z:0.73 [[ 0.78146739 -0.17198348 -0.59977528 14.72655247] [ 0.11841827 0.9846714 -0.12805996 0.53813863] [ 0.61260577 0.02905033 0.78985458 0.72957506] [ 0. 0. 0. 1. ]] SLAMing on 94.70964924600001 meters Centerline goodness : 0.907302 Centerline is valid? [False, False] Translation: X:14.65, Y:0.52, Z:0.67 [[ 0.78491189 -0.16865671 -0.59621157 14.6478811 ] [ 0.11650912 0.98525096 -0.12532428 0.51667806] [ 0.6085548 0.02890443 0.79298524 0.66999815] [ 0. 0. 0. 1. ]] SLAMing on 94.73964924600001 meters Centerline goodness : 0.907871 Centerline is valid? [False, False] Translation: X:14.57, Y:0.50, Z:0.60 [[ 0.7883645 -0.16980315 -0.59131066 14.56869531] [ 0.11566998 0.98492528 -0.1286182 0.49691602] [ 0.6042366 0.03300114 0.79612126 0.60354216] [ 0. 0. 0. 1. ]] SLAMing on 94.76964924600001 meters Centerline goodness : 0.909348 Centerline is valid? [False, False] Translation: X:14.52, Y:0.49, Z:0.58 [[ 0.78578645 -0.16901756 -0.59495606 14.5209039 ] [ 0.1157942 0.98513032 -0.12692501 0.48911151] [ 0.60756181 0.03084349 0.79367331 0.57595179] [ 0. 0. 0. 1. ]] SLAMing on 94.79964924600002 meters Centerline goodness : 0.910682 Centerline is valid? [False, False] Translation: X:14.48, Y:0.48, Z:0.55 [[ 0.78293788 -0.16975093 -0.59849218 14.47556871] [ 0.11653202 0.98504102 -0.12694283 0.48273187] [ 0.61108801 0.02964484 0.79100735 0.54786333] [ 0. 0. 0. 1. ]] SLAMing on 94.82964924600002 meters Centerline goodness : 0.908927 Centerline is valid? [False, False] Translation: X:14.41, Y:0.47, Z:0.50 [[ 0.78387751 -0.16577767 -0.59837598 14.40515168] [ 0.11586311 0.98582602 -0.12133752 0.46795633] [ 0.61000967 0.02578405 0.79197436 0.49765704] [ 0. 0. 0. 1. ]] SLAMing on 94.85964924600002 meters Centerline goodness : 0.911084 Centerline is valid? [False, False] Translation: X:14.38, Y:0.47, Z:0.49 [[ 0.77939032 -0.16613723 -0.60411021 14.3807719 ] [ 0.11720953 0.98584267 -0.11990063 0.46787857] [ 0.61547758 0.02264192 0.7878291 0.49094211] [ 0. 0. 0. 1. ]] SLAMing on 94.88964924600002 meters Centerline goodness : 0.911650 Centerline is valid? [False, False] Translation: X:14.30, Y:0.45, Z:0.42 [[ 0.78237921 -0.16491623 -0.60057091 14.30236956] [ 0.11132547 0.98580551 -0.12567475 0.45169184] [ 0.61277191 0.03146647 0.78963311 0.418975 ] [ 0. 0. 0. 1. ]] SLAMing on 94.919649246 meters Centerline goodness : 0.910550 Centerline is valid? [False, False] Translation: X:14.26, Y:0.45, Z:0.39 [[ 0.77934295 -0.16286552 -0.60506148 14.25631877] [ 0.10937493 0.9861642 -0.12456844 0.44636997] [ 0.61697787 0.03090298 0.78637352 0.3920054 ] [ 0. 0. 0. 1. ]] SLAMing on 94.949649246 meters Centerline goodness : 0.910236 Centerline is valid? [False, False] Translation: X:14.17, Y:0.43, Z:0.32 [[ 0.78476271 -0.15444087 -0.60024621 14.16569592] [ 0.10364359 0.98752039 -0.11858115 0.42646183] [ 0.61106915 0.03084639 0.79097598 0.31840876] [ 0. 0. 0. 1. ]] SLAMing on 94.97964924600001 meters Centerline goodness : 0.904760 Centerline is valid? [False, False] Translation: X:14.10, Y:0.42, Z:0.28 [[ 0.78557559 -0.14884398 -0.60059675 14.10489908] [ 0.10140055 0.98848235 -0.11234134 0.41507312] [ 0.61040062 0.02735177 0.79162047 0.27584639] [ 0. 0. 0. 1. ]] SLAMing on 95.00964924600001 meters Centerline goodness : 0.910286 Centerline is valid? [False, False] Translation: X:14.08, Y:0.42, Z:0.27 [[ 0.78040768 -0.15059813 -0.60686411 14.08253073] [ 0.10331407 0.98827858 -0.11239059 0.41641648] [ 0.61667662 0.02501288 0.78681911 0.26888728] [ 0. 0. 0. 1. ]] SLAMing on 95.03964924600001 meters Centerline goodness : 0.907751 Centerline is valid? [False, False] Translation: X:14.03, Y:0.41, Z:0.23 [[ 0.78130827 -0.14595849 -0.60683895 14.02833717] [ 0.09987734 0.98898053 -0.10927959 0.40657914] [ 0.61610219 0.02477159 0.78727661 0.23071688] [ 0. 0. 0. 1. ]] SLAMing on 95.06964924600001 meters Centerline goodness : 0.908346 Centerline is valid? [False, False] Translation: X:14.00, Y:0.41, Z:0.22 [[ 0.77773491 -0.14844592 -0.61081275 14.0002094 ] [ 0.10071455 0.98858903 -0.11201925 0.40601721] [ 0.62047158 0.02560355 0.78381087 0.21537145] [ 0. 0. 0. 1. ]] SLAMing on 95.09964924600001 meters Centerline goodness : 0.906348 Centerline is valid? [False, False] Translation: X:13.95, Y:0.40, Z:0.17 [[ 0.77712997 -0.15169917 -0.61078341 13.95151576] [ 0.1005441 0.98797538 -0.11745442 0.39904547] [ 0.6212567 0.02986668 0.78303773 0.17403831] [ 0. 0. 0. 1. ]] SLAMing on 95.12964924600001 meters Centerline goodness : 0.908460 Centerline is valid? [False, False] Translation: X:13.87, Y:0.38, Z:0.11 [[ 0.7823752 -0.14564129 -0.60553914 13.87075471] [ 0.09874652 0.98898284 -0.11028174 0.38142235] [ 0.6149294 0.02648681 0.78813722 0.11264937] [ 0. 0. 0. 1. ]] SLAMing on 95.15964924600001 meters Centerline goodness : 0.906012 Centerline is valid? [False, False] Translation: X:13.79, Y:0.37, Z:0.06 [[ 0.7851237 -0.13625987 -0.6041639 13.7934092 ] [ 0.09308285 0.99037847 -0.10240151 0.37022274] [ 0.61230414 0.02416056 0.79025307 0.05721751] [ 0. 0. 0. 1. ]] SLAMing on 95.18964924600002 meters Centerline goodness : 0.903079 Centerline is valid? [False, False] Translation: X:13.76, Y:0.37, Z:0.04 [[ 0.7827017 -0.13301609 -0.60801708 13.76113254] [ 0.09241776 0.99090463 -0.09781095 0.36876623] [ 0.61549737 0.02036522 0.78787578 0.04464802] [ 0. 0. 0. 1. ]] SLAMing on 95.21964924600002 meters Centerline goodness : 0.910467 Centerline is valid? [False, False] Translation: X:13.73, Y:0.37, Z:0.04 [[ 0.78226996 -0.12587808 -0.61008887 13.72895804] [ 0.0893671 0.99191768 -0.09007129 0.36552573] [ 0.61649594 0.01593819 0.78719676 0.03733442] [ 0. 0. 0. 1. ]] SLAMing on 95.24964924600002 meters Centerline goodness : 0.909243 Centerline is valid? [False, False] Translation: X:13.70, Y:0.37, Z:0.02 [[ 0.77840642 -0.12806724 -0.61455856 13.70364054] [ 0.08909549 0.99159753 -0.09378871 0.36712855] [ 0.62140602 0.01825134 0.7832761 0.02189337] [ 0. 0. 0. 1. ]] SLAMing on 95.27964924600002 meters Centerline goodness : 0.905256 Centerline is valid? [False, False] Translation: X:13.63, Y:0.36, Z:-0.03 [[ 0.77852349 -0.11981841 -0.61607201 13.62629868] [ 0.08390817 0.99266593 -0.08702744 0.35779509] [ 0.62198118 0.01605943 0.78286749 -0.02936447] [ 0. 0. 0. 1. ]] SLAMing on 95.309649246 meters Centerline goodness : 0.903382 Centerline is valid? [False, False] Translation: X:13.58, Y:0.36, Z:-0.05 [[ 0.77569138 -0.11659633 -0.62024848 13.58214391] [ 0.08204668 0.99307607 -0.08407296 0.3554029 ] [ 0.62575652 0.01432534 0.77988689 -0.05356591] [ 0. 0. 0. 1. ]] SLAMing on 95.33964924600001 meters Centerline goodness : 0.901827 Centerline is valid? [False, False] Translation: X:13.52, Y:0.35, Z:-0.10 [[ 7.74396355e-01 -1.10391207e-01 -6.22996041e-01 1.35159232e+01] [ 7.86013009e-02 9.93818860e-01 -7.83958478e-02 3.49356207e-01] [ 6.27799427e-01 1.17411595e-02 7.78286595e-01 -9.75667030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36964924600001 meters Centerline goodness : 0.903172 Centerline is valid? [False, False] Translation: X:13.45, Y:0.34, Z:-0.14 [[ 7.73751968e-01 -1.02472549e-01 -6.25145797e-01 1.34507824e+01] [ 7.63544630e-02 9.94721680e-01 -6.85476102e-02 3.41802480e-01] [ 6.28870326e-01 5.30617670e-03 7.77492095e-01 -1.35507952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.39964924600001 meters Centerline goodness : 0.900883 Centerline is valid? [False, False] Translation: X:13.39, Y:0.34, Z:-0.18 [[ 7.72622397e-01 -9.71554122e-02 -6.27387805e-01 1.33853661e+01] [ 7.35667906e-02 9.95264918e-01 -6.35269333e-02 3.35152183e-01] [ 6.30589058e-01 2.92742417e-03 7.76111378e-01 -1.79232790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42964924600001 meters Centerline goodness : 0.904266 Centerline is valid? [False, False] Translation: X:13.34, Y:0.33, Z:-0.20 [[ 7.69325926e-01 -9.51776755e-02 -6.31726863e-01 1.33420100e+01] [ 7.30088925e-02 9.95459930e-01 -6.10674178e-02 3.32118623e-01] [ 6.34671033e-01 8.59069145e-04 7.72781949e-01 -2.01245001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.45964924600001 meters Centerline goodness : 0.906057 Centerline is valid? [False, False] Translation: X:13.28, Y:0.32, Z:-0.24 [[ 7.68973509e-01 -9.19081241e-02 -6.32639423e-01 1.32807421e+01] [ 6.95939974e-02 9.95765138e-01 -6.00704986e-02 3.23367533e-01] [ 6.35481250e-01 2.16471572e-03 7.72113266e-01 -2.42304911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48964924600001 meters Centerline goodness : 0.903939 Centerline is valid? [False, False] Translation: X:13.24, Y:0.32, Z:-0.27 [[ 7.66539582e-01 -9.07960625e-02 -6.35746132e-01 1.32368967e+01] [ 6.81888629e-02 9.95865983e-01 -6.00101922e-02 3.19283662e-01] [ 6.38566636e-01 2.64938182e-03 7.69561974e-01 -2.70153999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.51964924600001 meters Centerline goodness : 0.902752 Centerline is valid? [False, False] Translation: X:13.16, Y:0.31, Z:-0.33 [[ 7.67517714e-01 -8.55736101e-02 -6.35290261e-01 1.31636084e+01] [ 6.32283489e-02 9.96322971e-01 -5.78162107e-02 3.07083898e-01] [ 6.37901822e-01 4.20661157e-03 7.70106207e-01 -3.27479208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54964924600002 meters Centerline goodness : 0.906989 Centerline is valid? [False, False] Translation: X:13.11, Y:0.30, Z:-0.36 [[ 7.66876779e-01 -7.97403977e-02 -6.36821384e-01 1.31137268e+01] [ 6.03728838e-02 9.96814507e-01 -5.21148055e-02 3.01387109e-01] [ 6.38948449e-01 1.51889080e-03 7.69248056e-01 -3.60021282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.57964924600002 meters Centerline goodness : 0.904167 Centerline is valid? [False, False] Translation: X:13.06, Y:0.30, Z:-0.39 [[ 7.64619457e-01 -7.10785551e-02 -6.40550486e-01 1.30633880e+01] [ 5.72349110e-02 9.97461578e-01 -4.23623144e-02 2.96229911e-01] [ 6.41935551e-01 -4.27080028e-03 7.66746704e-01 -3.87111025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60964924600002 meters Centerline goodness : 0.904429 Centerline is valid? [False, False] Translation: X:13.06, Y:0.29, Z:-0.38 [[ 7.63465013e-01 -6.50761127e-02 -6.42562272e-01 1.30644594e+01] [ 5.47226084e-02 9.97850995e-01 -3.60392570e-02 2.93939611e-01] [ 6.43526697e-01 -7.64797169e-03 7.65385458e-01 -3.80417833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.63964924600002 meters Centerline goodness : 0.904858 Centerline is valid? [False, False] Translation: X:13.07, Y:0.29, Z:-0.36 [[ 0.76232031 -0.05333495 -0.64499855 13.06627949] [ 0.05155142 0.99843602 -0.02163237 0.28913043] [ 0.64514355 -0.0167598 0.76387755 -0.3647676 ] [ 0. 0. 0. 1. ]] SLAMing on 95.669649246 meters Centerline goodness : 0.906088 Centerline is valid? [False, False] Translation: X:13.07, Y:0.29, Z:-0.36 [[ 0.76126094 -0.04727422 -0.64672014 13.06725388] [ 0.04923171 0.99867398 -0.01505034 0.28617004] [ 0.64657407 -0.0203819 0.76257888 -0.35807174] [ 0. 0. 0. 1. ]] SLAMing on 95.699649246 meters Centerline goodness : 0.901220 Centerline is valid? [False, False] Translation: X:13.07, Y:0.28, Z:-0.34 [[ 7.60272520e-01 -3.86479848e-02 -6.48453567e-01 1.30724202e+01] [ 4.88471184e-02 9.98803713e-01 -2.25864900e-03 2.82362040e-01] [ 6.47765123e-01 -2.99578994e-02 7.61250858e-01 -3.42545574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72964924600001 meters Centerline goodness : 0.901370 Centerline is valid? [False, False] Translation: X:13.08, Y:0.28, Z:-0.33 [[ 7.59707041e-01 -3.07675040e-02 -6.49537199e-01 1.30777981e+01] [ 4.92777685e-02 9.98731716e-01 1.03276389e-02 2.78721771e-01] [ 6.48395646e-01 -3.98537237e-02 7.60259671e-01 -3.26882680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.75964924600001 meters Centerline goodness : 0.904359 Centerline is valid? [False, False] Translation: X:13.08, Y:0.28, Z:-0.32 [[ 0.7587202 -0.02480952 -0.65094404 13.07873066] [ 0.04663339 0.99877927 0.01628782 0.27585881] [ 0.64974532 -0.04271363 0.75895096 -0.32149772] [ 0. 0. 0. 1. ]] SLAMing on 95.78964924600001 meters Centerline goodness : 0.903014 Centerline is valid? [False, False] Translation: X:13.08, Y:0.27, Z:-0.31 [[ 0.75702922 -0.01844777 -0.65312054 13.08022521] [ 0.04520361 0.99868495 0.02418689 0.2712743 ] [ 0.65181546 -0.04783359 0.75686759 -0.31108376] [ 0. 0. 0. 1. ]] SLAMing on 95.81964924600001 meters Centerline goodness : 0.907706 Centerline is valid? [False, False] Translation: X:13.08, Y:0.27, Z:-0.31 [[ 0.75624534 -0.013788 -0.65414285 13.08228122] [ 0.04306415 0.99865896 0.02873616 0.26847454] [ 0.65286941 -0.04990169 0.75582495 -0.30726061] [ 0. 0. 0. 1. ]] SLAMing on 95.84964924600001 meters Centerline goodness : 0.906353 Centerline is valid? [False, False] Translation: X:13.09, Y:0.27, Z:-0.30 [[ 7.54678892e-01 -9.15592725e-03 -6.56030440e-01 1.30865016e+01] [ 4.26581254e-02 9.98471653e-01 3.51374747e-02 2.65066743e-01] [ 6.54706082e-01 -5.45025393e-02 7.53916056e-01 -2.98223397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.87964924600001 meters Centerline goodness : 0.908383 Centerline is valid? [False, False] Translation: X:13.09, Y:0.26, Z:-0.30 [[ 7.54005773e-01 -9.64786088e-03 -6.56796934e-01 1.30893326e+01] [ 4.35324883e-02 9.98427851e-01 3.53093221e-02 2.64612944e-01] [ 6.55423692e-01 -5.52154376e-02 7.53240359e-01 -2.96215965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90964924600001 meters Centerline goodness : 0.905757 Centerline is valid? [False, False] Translation: X:13.09, Y:0.26, Z:-0.29 [[ 7.52514374e-01 -5.24857347e-03 -6.58554910e-01 1.30936694e+01] [ 4.27407835e-02 9.98249372e-01 4.08829521e-02 2.62319116e-01] [ 6.57187448e-01 -5.89121619e-02 7.51421330e-01 -2.88806579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.93964924600002 meters Centerline goodness : 0.903365 Centerline is valid? [False, False] Translation: X:13.10, Y:0.26, Z:-0.29 [[ 7.51783115e-01 -6.71195198e-06 -6.59410455e-01 1.30954233e+01] [ 4.01608742e-02 9.98144081e-01 4.57765985e-02 2.60646895e-01] [ 6.58186335e-01 -6.08965742e-02 7.50388136e-01 -2.85269046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96964924600002 meters Centerline goodness : 0.909191 Centerline is valid? [False, False] Translation: X:13.10, Y:0.26, Z:-0.28 [[ 7.50939099e-01 -1.32594851e-04 -6.60371450e-01 1.30974007e+01] [ 4.07635838e-02 9.98102280e-01 4.61537603e-02 2.60951203e-01] [ 6.59112130e-01 -6.15777701e-02 7.49519431e-01 -2.82486218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.99964924600002 meters Centerline goodness : 0.905678 Centerline is valid? [False, False] Translation: X:13.10, Y:0.26, Z:-0.28 [[ 7.50517222e-01 6.15433860e-04 -6.60850604e-01 1.30971557e+01] [ 4.06716820e-02 9.98060897e-01 4.71196334e-02 2.59977500e-01] [ 6.59598146e-01 -6.22420020e-02 7.49036861e-01 -2.80541617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02964924600002 meters Centerline goodness : 0.906248 Centerline is valid? [False, False] Translation: X:13.10, Y:0.26, Z:-0.28 [[ 7.50071475e-01 1.10442705e-03 -6.61355852e-01 1.30972788e+01] [ 4.07047322e-02 9.98025683e-01 4.78315948e-02 2.59372942e-01] [ 6.60102952e-01 -6.27974277e-02 7.48545641e-01 -2.78753662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.059649246 meters Centerline goodness : 0.907526 Centerline is valid? [False, False] Translation: X:13.10, Y:0.26, Z:-0.27 [[ 7.48513846e-01 7.03454983e-03 -6.63081849e-01 1.30992512e+01] [ 3.86400782e-02 9.97781984e-01 5.42038373e-02 2.56729386e-01] [ 6.61992422e-01 -6.61938572e-02 7.46581815e-01 -2.71225766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.08964924600001 meters Centerline goodness : 0.907653 Centerline is valid? [False, False] Translation: X:13.10, Y:0.26, Z:-0.27 [[ 7.47631445e-01 6.82836056e-03 -6.64078757e-01 1.31021977e+01] [ 3.92913207e-02 9.97740742e-01 5.44940793e-02 2.56504818e-01] [ 6.62950536e-01 -6.68340187e-02 7.45674058e-01 -2.68525706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.11964924600001 meters Centerline goodness : 0.905054 Centerline is valid? [False, False] Translation: X:13.10, Y:0.26, Z:-0.27 [[ 7.47108474e-01 6.85640052e-03 -6.64666772e-01 1.31035950e+01] [ 3.97361946e-02 9.97697750e-01 5.49566559e-02 2.55649966e-01] [ 6.63513348e-01 -6.74699115e-02 7.45115996e-01 -2.66638964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14964924600001 meters Centerline goodness : 0.902603 Centerline is valid? [False, False] Translation: X:13.11, Y:0.26, Z:-0.26 [[ 7.46150567e-01 6.59517057e-03 -6.65744572e-01 1.31065213e+01] [ 4.04450695e-02 9.97655106e-01 5.52130933e-02 2.55489417e-01] [ 6.64547611e-01 -6.81233664e-02 7.44134181e-01 -2.63813892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.17964924600001 meters Centerline goodness : 0.903967 Centerline is valid? [False, False] Translation: X:13.11, Y:0.26, Z:-0.26 [[ 7.45677494e-01 6.80915129e-03 -6.66272250e-01 1.31076280e+01] [ 4.06460274e-02 9.97620676e-01 5.56856119e-02 2.55012708e-01] [ 6.65066144e-01 -6.86048277e-02 7.43626520e-01 -2.62229828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20964924600001 meters Centerline goodness : 0.904702 Centerline is valid? [False, False] Translation: X:13.11, Y:0.25, Z:-0.26 [[ 7.44876648e-01 7.26714607e-03 -6.67162625e-01 1.31089323e+01] [ 4.08494736e-02 9.97568051e-01 5.64739244e-02 2.53768078e-01] [ 6.65950524e-01 -6.93193495e-02 7.42768287e-01 -2.59455638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.23964924600001 meters Centerline goodness : 0.907109 Centerline is valid? [False, False] Translation: X:13.11, Y:0.25, Z:-0.26 [[ 7.44516296e-01 7.54719759e-03 -6.67561626e-01 1.31098326e+01] [ 4.09469801e-02 9.97537273e-01 5.69450121e-02 2.53343805e-01] [ 6.66347379e-01 -6.97311221e-02 7.42373721e-01 -2.58179326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26964924600001 meters Centerline goodness : 0.907398 Centerline is valid? [False, False] Translation: X:13.11, Y:0.25, Z:-0.26 [[ 7.43866958e-01 7.38945925e-03 -6.68286873e-01 1.31118975e+01] [ 4.14522136e-02 9.97503538e-01 5.71699749e-02 2.53151533e-01] [ 6.67040976e-01 -7.02288255e-02 7.41703613e-01 -2.56292312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.29964924600002 meters Centerline goodness : 0.904617 Centerline is valid? [False, False] Translation: X:13.12, Y:0.25, Z:-0.25 [[ 7.42503546e-01 1.07701387e-02 -6.69755544e-01 1.31173379e+01] [ 4.04850243e-02 9.97321265e-01 6.09200817e-02 2.51930159e-01] [ 6.68617564e-01 -7.23484462e-02 7.40078547e-01 -2.51263899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32964924600002 meters Centerline goodness : 0.902777 Centerline is valid? [False, False] Translation: X:13.12, Y:0.25, Z:-0.25 [[ 7.41482161e-01 9.94652057e-03 -6.70898854e-01 1.31210072e+01] [ 4.17972661e-02 9.97263486e-01 6.09797270e-02 2.51701596e-01] [ 6.69669466e-01 -7.32571177e-02 7.39037348e-01 -2.48077667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.35964924600002 meters Centerline goodness : 0.902330 Centerline is valid? [False, False] Translation: X:13.12, Y:0.25, Z:-0.25 [[ 7.41017243e-01 9.62095886e-03 -6.71417071e-01 1.31229270e+01] [ 4.22714385e-02 9.97245731e-01 6.09432300e-02 2.51881677e-01] [ 6.70154140e-01 -7.35417497e-02 7.38569590e-01 -2.46849972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38964924600002 meters Centerline goodness : 0.904305 Centerline is valid? [False, False] Translation: X:13.12, Y:0.25, Z:-0.24 [[ 7.40243180e-01 9.99750373e-03 -6.72264891e-01 1.31239933e+01] [ 4.25698754e-02 9.97186252e-01 6.17040005e-02 2.51073258e-01] [ 6.70990193e-01 -7.42941982e-02 7.37734730e-01 -2.44055331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.419649246 meters Centerline goodness : 0.903652 Centerline is valid? [False, False] Translation: X:13.12, Y:0.25, Z:-0.24 [[ 7.39841928e-01 1.04060976e-02 -6.72700256e-01 1.31244421e+01] [ 4.26454008e-02 9.97144294e-01 6.23267734e-02 2.50451706e-01] [ 6.71427801e-01 -7.47995322e-02 7.37285385e-01 -2.42484057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.449649246 meters Centerline goodness : 0.903652 Centerline is valid? [False, False] Translation: X:13.12, Y:0.25, Z:-0.24 [[ 7.39841928e-01 1.04060976e-02 -6.72700256e-01 1.31244421e+01] [ 4.26454008e-02 9.97144294e-01 6.23267734e-02 2.50451706e-01] [ 6.71427801e-01 -7.47995322e-02 7.37285385e-01 -2.42484057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.47964924600001 meters Centerline goodness : 0.906527 Centerline is valid? [False, False] Translation: X:13.13, Y:0.25, Z:-0.24 [[ 7.39449071e-01 1.06977960e-02 -6.73127499e-01 1.31250513e+01] [ 4.28495093e-02 9.97098418e-01 6.29179248e-02 2.50022262e-01] [ 6.71847447e-01 -7.53677840e-02 7.36845103e-01 -2.40872157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50964924600001 meters Centerline goodness : 0.907230 Centerline is valid? [False, False] Translation: X:13.13, Y:0.25, Z:-0.23 [[ 7.38495711e-01 9.36496528e-03 -6.74193134e-01 1.31280469e+01] [ 4.86590824e-02 9.96556137e-01 6.71428334e-02 2.47354772e-01] [ 6.72500096e-01 -8.23903137e-02 7.35496742e-01 -2.27638301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.53964924600001 meters Centerline goodness : 0.902440 Centerline is valid? [False, False] Translation: X:13.14, Y:0.25, Z:-0.22 [[ 7.37116745e-01 1.16398600e-02 -6.75665167e-01 1.31351040e+01] [ 4.86236662e-02 9.96346452e-01 7.02102967e-02 2.48838599e-01] [ 6.74013830e-01 -8.46065029e-02 7.33857682e-01 -2.22668066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56964924600001 meters Centerline goodness : 0.906917 Centerline is valid? [False, False] Translation: X:13.13, Y:0.25, Z:-0.22 [[ 7.37018780e-01 6.72536333e-03 -6.75838803e-01 1.31319404e+01] [ 5.25574790e-02 9.96352263e-01 6.72300552e-02 2.48682540e-01] [ 6.73825667e-01 -8.50701969e-02 7.33976861e-01 -2.20732184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.59964924600001 meters Centerline goodness : 0.905925 Centerline is valid? [False, False] Translation: X:13.14, Y:0.25, Z:-0.21 [[ 7.35261997e-01 9.45395465e-03 -6.77717063e-01 1.31373393e+01] [ 5.24003090e-02 9.96117127e-01 7.07451599e-02 2.52678245e-01] [ 6.75754395e-01 -8.75288112e-02 7.31911678e-01 -2.14275546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62964924600001 meters Centerline goodness : 0.903444 Centerline is valid? [False, False] Translation: X:13.14, Y:0.26, Z:-0.21 [[ 7.34302190e-01 1.29070464e-02 -6.78700008e-01 1.31432439e+01] [ 5.02794460e-02 9.96038725e-01 7.33405404e-02 2.55898258e-01] [ 6.76958101e-01 -8.79787799e-02 7.30744459e-01 -2.12686453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.65964924600001 meters Centerline goodness : 0.894574 Centerline is valid? [False, False] Translation: X:13.15, Y:0.26, Z:-0.21 [[ 0.73201597 0.02528717 -0.68081802 13.15459921] [ 0.04274938 0.99563684 0.08294443 0.26086627] [ 0.67994493 -0.08982119 0.72774105 -0.20746777] [ 0. 0. 0. 1. ]] SLAMing on 96.68964924600002 meters Centerline goodness : 0.892015 Centerline is valid? [False, False] Translation: X:13.16, Y:0.26, Z:-0.21 [[ 0.73118932 0.03031116 -0.68150086 13.15689303] [ 0.03964144 0.99543624 0.08680579 0.26155514] [ 0.68102184 -0.09048714 0.72665077 -0.20540903] [ 0. 0. 0. 1. ]] SLAMing on 96.71964924600002 meters Centerline goodness : 0.899072 Centerline is valid? [False, False] Translation: X:13.16, Y:0.26, Z:-0.20 [[ 0.73053842 0.0313125 -0.68215331 13.15584014] [ 0.03878287 0.99543328 0.08722655 0.26334456] [ 0.68176939 -0.09017821 0.72598787 -0.20368125] [ 0. 0. 0. 1. ]] SLAMing on 96.74964924600002 meters Centerline goodness : 0.897637 Centerline is valid? [False, False] Translation: X:13.15, Y:0.26, Z:-0.20 [[ 0.73015089 0.03214092 -0.68252959 13.15491267] [ 0.03820631 0.99540986 0.08774677 0.26418171] [ 0.68221694 -0.09014532 0.72557141 -0.20252047] [ 0. 0. 0. 1. ]] SLAMing on 96.77964924600002 meters Centerline goodness : 0.903223 Centerline is valid? [False, False] Translation: X:13.15, Y:0.27, Z:-0.20 [[ 0.7294865 0.03409712 -0.68314481 13.15275858] [ 0.03656308 0.99538486 0.08872501 0.26669121] [ 0.68301727 -0.08970157 0.72487312 -0.20090793] [ 0. 0. 0. 1. ]] SLAMing on 96.809649246 meters Centerline goodness : 0.901394 Centerline is valid? [False, False] Translation: X:13.15, Y:0.27, Z:-0.20 [[ 0.7291228 0.03422933 -0.68352637 13.15352466] [ 0.03651674 0.99537997 0.08879888 0.26832119] [ 0.68340798 -0.08970545 0.72450429 -0.20002651] [ 0. 0. 0. 1. ]] SLAMing on 96.83964924600001 meters Centerline goodness : 0.898654 Centerline is valid? [False, False] Translation: X:13.16, Y:0.27, Z:-0.20 [[ 0.72810672 0.03911198 -0.68434703 13.15613941] [ 0.03379346 0.99510861 0.09282705 0.2696822 ] [ 0.68463027 -0.09071445 0.72322353 -0.19698119] [ 0. 0. 0. 1. ]] SLAMing on 96.86964924600001 meters Centerline goodness : 0.896418 Centerline is valid? [False, False] Translation: X:13.16, Y:0.27, Z:-0.20 [[ 0.72771214 0.03939676 -0.68475027 13.15645019] [ 0.03380825 0.99507507 0.09318056 0.27042419] [ 0.68504894 -0.09095883 0.72279627 -0.19568563] [ 0. 0. 0. 1. ]] SLAMing on 96.89964924600001 meters Centerline goodness : 0.901416 Centerline is valid? [False, False] Translation: X:13.15, Y:0.27, Z:-0.19 [[ 0.72713664 0.04073012 -0.68528342 13.15486743] [ 0.03325593 0.99497647 0.09442388 0.26953974] [ 0.68568677 -0.0914488 0.72212933 -0.19317745] [ 0. 0. 0. 1. ]] SLAMing on 96.92964924600001 meters Centerline goodness : 0.901347 Centerline is valid? [False, False] Translation: X:13.15, Y:0.27, Z:-0.19 [[ 0.72677756 0.04154446 -0.68561537 13.15404759] [ 0.0329972 0.99490501 0.09526393 0.26891568] [ 0.68607985 -0.09185907 0.72170378 -0.19160765] [ 0. 0. 0. 1. ]] SLAMing on 96.95964924600001 meters Centerline goodness : 0.904109 Centerline is valid? [False, False] Translation: X:13.15, Y:0.27, Z:-0.19 [[ 0.72650484 0.04268006 -0.68583462 13.15297091] [ 0.03237287 0.99483525 0.09620202 0.2689711 ] [ 0.68639836 -0.09209367 0.72137095 -0.19019389] [ 0. 0. 0. 1. ]] SLAMing on 96.98964924600001 meters Centerline goodness : 0.905386 Centerline is valid? [False, False] Translation: X:13.15, Y:0.27, Z:-0.19 [[ 0.7262151 0.04323783 -0.68610649 13.15301216] [ 0.03220105 0.99478535 0.09677397 0.26871159] [ 0.68671299 -0.09237207 0.72103584 -0.18908764] [ 0. 0. 0. 1. ]] SLAMing on 97.01964924600001 meters Centerline goodness : 0.908196 Centerline is valid? [False, False] Translation: X:13.15, Y:0.27, Z:-0.19 [[ 0.72557106 0.04372165 -0.68675691 13.15398077] [ 0.03234646 0.99470956 0.09750174 0.26756273] [ 0.6873866 -0.09295859 0.72031824 -0.18674254] [ 0. 0. 0. 1. ]] SLAMing on 97.04964924600002 meters Centerline goodness : 0.910600 Centerline is valid? [False, False] Translation: X:13.16, Y:0.27, Z:-0.19 [[ 0.72519395 0.04385764 -0.68714645 13.15523792] [ 0.03247345 0.9946803 0.09775773 0.26733635] [ 0.68777846 -0.09320733 0.71991192 -0.18567685] [ 0. 0. 0. 1. ]] SLAMing on 97.07964924600002 meters Centerline goodness : 0.911642 Centerline is valid? [False, False] Translation: X:13.16, Y:0.27, Z:-0.18 [[ 0.72454225 0.04410166 -0.68781797 13.15693925] [ 0.03270328 0.99462692 0.0982231 0.26608073] [ 0.68845408 -0.09366069 0.71920696 -0.18360479] [ 0. 0. 0. 1. ]] SLAMing on 97.10964924600002 meters Centerline goodness : 0.911443 Centerline is valid? [False, False] Translation: X:13.16, Y:0.27, Z:-0.18 [[ 0.72408616 0.04422901 -0.68828993 13.15809622] [ 0.03292967 0.99458675 0.09855368 0.26500001] [ 0.68892298 -0.09402652 0.71871006 -0.18216241] [ 0. 0. 0. 1. ]] SLAMing on 97.13964924600002 meters Centerline goodness : 0.913268 Centerline is valid? [False, False] Translation: X:13.16, Y:0.26, Z:-0.18 [[ 0.7234684 0.04474318 -0.68890603 13.15949809] [ 0.03287743 0.99453221 0.09911992 0.26389941] [ 0.68957418 -0.09435959 0.71804159 -0.18027815] [ 0. 0. 0. 1. ]] SLAMing on 97.169649246 meters Centerline goodness : 0.915211 Centerline is valid? [False, False] Translation: X:13.16, Y:0.26, Z:-0.18 [[ 0.7230584 0.04499012 -0.68932027 13.16028472] [ 0.0328459 0.99450904 0.0993625 0.26395012] [ 0.69000557 -0.09448624 0.71761038 -0.17920755] [ 0. 0. 0. 1. ]] SLAMing on 97.199649246 meters Centerline goodness : 0.916884 Centerline is valid? [False, False] Translation: X:13.16, Y:0.26, Z:-0.18 [[ 0.72238539 0.0455827 -0.68998664 13.16122003] [ 0.03258308 0.99447277 0.09981106 0.2636886 ] [ 0.69072259 -0.09458394 0.71690737 -0.17738671] [ 0. 0. 0. 1. ]] SLAMing on 97.22964924600001 meters Centerline goodness : 0.919240 Centerline is valid? [False, False] Translation: X:13.16, Y:0.26, Z:-0.18 [[ 0.72199266 0.04549021 -0.69040368 13.16280225] [ 0.03286073 0.99445589 0.09988825 0.26361845] [ 0.69111994 -0.09480575 0.71649501 -0.17635094] [ 0. 0. 0. 1. ]] SLAMing on 97.25964924600001 meters Centerline goodness : 0.918026 Centerline is valid? [False, False] Translation: X:13.17, Y:0.26, Z:-0.17 [[ 0.72107869 0.04449787 -0.69142278 13.16681819] [ 0.03428513 0.99442132 0.09975359 0.26269788] [ 0.69200437 -0.09563571 0.7155304 -0.17351021] [ 0. 0. 0. 1. ]] SLAMing on 97.28964924600001 meters Centerline goodness : 0.914060 Centerline is valid? [False, False] Translation: X:13.17, Y:0.26, Z:-0.17 [[ 0.72002043 0.04372485 -0.69257398 13.17072517] [ 0.0355511 0.99437833 0.09973889 0.26197148] [ 0.69304163 -0.09643581 0.71441825 -0.1704016 ] [ 0. 0. 0. 1. ]] SLAMing on 97.31964924600001 meters Centerline goodness : 0.912920 Centerline is valid? [False, False] Translation: X:13.17, Y:0.26, Z:-0.17 [[ 0.71947481 0.04340318 -0.693161 13.17250491] [ 0.03613153 0.9943547 0.09976598 0.26167886] [ 0.69357805 -0.09682408 0.71384493 -0.16887427] [ 0. 0. 0. 1. ]] SLAMing on 97.34964924600001 meters Centerline goodness : 0.914529 Centerline is valid? [False, False] Translation: X:13.17, Y:0.26, Z:-0.17 [[ 0.7187114 0.04305861 -0.69397398 13.17492734] [ 0.03692912 0.99430804 0.09993876 0.2610636 ] [ 0.69432713 -0.09745498 0.71303041 -0.16645569] [ 0. 0. 0. 1. ]] SLAMing on 97.37964924600001 meters Centerline goodness : 0.914023 Centerline is valid? [False, False] Translation: X:13.18, Y:0.26, Z:-0.17 [[ 0.71831567 0.04287433 -0.69439498 13.17632819] [ 0.03742901 0.99427231 0.10010816 0.26093134] [ 0.69470977 -0.09789977 0.71259664 -0.16508497] [ 0. 0. 0. 1. ]] SLAMing on 97.40964924600001 meters Centerline goodness : 0.914657 Centerline is valid? [False, False] Translation: X:13.18, Y:0.26, Z:-0.16 [[ 0.7178298 0.04259032 -0.6949147 13.17788485] [ 0.03798084 0.99424524 0.10016913 0.26083278] [ 0.69518187 -0.09829783 0.71208125 -0.1636138 ] [ 0. 0. 0. 1. ]] SLAMing on 97.43964924600002 meters Centerline goodness : 0.915950 Centerline is valid? [False, False] Translation: X:13.18, Y:0.26, Z:-0.16 [[ 0.71714633 0.04300429 -0.69559455 13.17835373] [ 0.03835774 0.99414589 0.10100805 0.2604014 ] [ 0.69586624 -0.09911899 0.71129853 -0.16082361] [ 0. 0. 0. 1. ]] SLAMing on 97.46964924600002 meters Centerline goodness : 0.920290 Centerline is valid? [False, False] Translation: X:13.18, Y:0.26, Z:-0.16 [[ 0.71654912 0.04347312 -0.69618061 13.17823073] [ 0.03853371 0.99406489 0.10173566 0.25960717] [ 0.69647147 -0.09972501 0.71062115 -0.15838056] [ 0. 0. 0. 1. ]] SLAMing on 97.49964924600002 meters Centerline goodness : 0.920350 Centerline is valid? [False, False] Translation: X:13.18, Y:0.26, Z:-0.16 [[ 0.71620762 0.04372196 -0.69651636 13.17860507] [ 0.03862137 0.99402307 0.10211039 0.25947459] [ 0.69681779 -0.10003265 0.71023829 -0.15717894] [ 0. 0. 0. 1. ]] SLAMing on 97.52964924600002 meters Centerline goodness : 0.917007 Centerline is valid? [False, False] Translation: X:13.18, Y:0.26, Z:-0.16 [[ 0.71554035 0.0433963 -0.69722218 13.18091419] [ 0.03904469 0.99402399 0.10194027 0.26054338] [ 0.6974794 -0.1001652 0.70956988 -0.15560406] [ 0. 0. 0. 1. ]] SLAMing on 97.559649246 meters Centerline goodness : 0.916186 Centerline is valid? [False, False] Translation: X:13.18, Y:0.26, Z:-0.15 [[ 0.71504468 0.04298966 -0.69775569 13.18285558] [ 0.03952539 0.9940247 0.10174794 0.2610271 ] [ 0.6979605 -0.10033339 0.70907288 -0.15447079] [ 0. 0. 0. 1. ]] SLAMing on 97.58964924600001 meters Centerline goodness : 0.921368 Centerline is valid? [False, False] Translation: X:13.19, Y:0.26, Z:-0.15 [[ 0.71413281 0.04232077 -0.69872976 13.18604982] [ 0.04028314 0.99403209 0.10137784 0.26127176] [ 0.69885019 -0.10054428 0.70816612 -0.15235069] [ 0. 0. 0. 1. ]] SLAMing on 97.61964924600001 meters Centerline goodness : 0.921804 Centerline is valid? [False, False] Translation: X:13.19, Y:0.26, Z:-0.15 [[ 0.71363371 0.0416482 -0.69927989 13.18856626] [ 0.04085135 0.99405806 0.10089468 0.26228558] [ 0.69932689 -0.10056837 0.70769195 -0.15141398] [ 0. 0. 0. 1. ]] SLAMing on 97.64964924600001 meters Centerline goodness : 0.919127 Centerline is valid? [False, False] Translation: X:13.19, Y:0.26, Z:-0.15 [[ 0.71308232 0.04071598 -0.69989701 13.19176507] [ 0.04165468 0.99408796 0.10026973 0.263644 ] [ 0.69984177 -0.10065455 0.70717053 -0.15037058] [ 0. 0. 0. 1. ]] SLAMing on 97.67964924600001 meters Centerline goodness : 0.912931 Centerline is valid? [False, False] Translation: X:13.20, Y:0.27, Z:-0.15 [[ 0.71176975 0.03864676 -0.70134888 13.19854116] [ 0.04336182 0.99416331 0.09878796 0.26643379] [ 0.70107316 -0.10072605 0.70593957 -0.1480662 ] [ 0. 0. 0. 1. ]] SLAMing on 97.70964924600001 meters Centerline goodness : 0.911450 Centerline is valid? [False, False] Translation: X:13.20, Y:0.27, Z:-0.15 [[ 0.71060128 0.03697928 -0.70262249 13.20348545] [ 0.04519808 0.99415614 0.09803415 0.26729245] [ 0.70214169 -0.10142038 0.70477723 -0.14501345] [ 0. 0. 0. 1. ]] SLAMing on 97.73964924600001 meters Centerline goodness : 0.911239 Centerline is valid? [False, False] Translation: X:13.21, Y:0.27, Z:-0.14 [[ 0.70989453 0.03600955 -0.70338685 13.20646274] [ 0.04627617 0.99414933 0.0975993 0.26809206] [ 0.70278608 -0.10183526 0.70407479 -0.14319389] [ 0. 0. 0. 1. ]] SLAMing on 97.76964924600001 meters Centerline goodness : 0.904702 Centerline is valid? [False, False] Translation: X:13.21, Y:0.27, Z:-0.14 [[ 0.70878474 0.03470243 -0.70457074 13.21108305] [ 0.04805066 0.99409444 0.09730048 0.26776348] [ 0.70378642 -0.10282018 0.70293149 -0.13991747] [ 0. 0. 0. 1. ]] SLAMing on 97.79964924600002 meters Centerline goodness : 0.909066 Centerline is valid? [False, False] Translation: X:13.21, Y:0.27, Z:-0.14 [[ 0.70822004 0.03455892 -0.70514541 13.21244112] [ 0.04876436 0.99402113 0.09769359 0.266919 ] [ 0.70430562 -0.10357452 0.70230044 -0.13782843] [ 0. 0. 0. 1. ]] SLAMing on 97.82964924600002 meters Centerline goodness : 0.911284 Centerline is valid? [False, False] Translation: X:13.21, Y:0.27, Z:-0.14 [[ 0.70780507 0.02941954 -0.70579493 13.21268631] [ 0.05311963 0.99408693 0.0947073 0.26555976] [ 0.70440776 -0.10452587 0.70205701 -0.13524455] [ 0. 0. 0. 1. ]] SLAMing on 97.85964924600002 meters Centerline goodness : 0.911473 Centerline is valid? [False, False] Translation: X:13.21, Y:0.26, Z:-0.13 [[ 0.70733455 0.02985129 -0.70624836 13.21255688] [ 0.05341859 0.9939937 0.09551428 0.26395692] [ 0.70485764 -0.10528735 0.70149147 -0.13311311] [ 0. 0. 0. 1. ]] SLAMing on 97.88964924600002 meters Centerline goodness : 0.914920 Centerline is valid? [False, False] Translation: X:13.21, Y:0.26, Z:-0.13 [[ 0.7067351 0.0297566 -0.70685221 13.21345417] [ 0.05416752 0.99390643 0.09599937 0.26269714] [ 0.70540158 -0.10613455 0.70081672 -0.13073662] [ 0. 0. 0. 1. ]] SLAMing on 97.91964924600002 meters Centerline goodness : 0.918347 Centerline is valid? [False, False] Translation: X:13.22, Y:0.26, Z:-0.13 [[ 0.70598623 0.02377778 -0.70782629 13.21617988] [ 0.05873003 0.99402837 0.09196944 0.26317193] [ 0.70578625 -0.10649981 0.70037387 -0.12855147] [ 0. 0. 0. 1. ]] SLAMing on 97.949649246 meters Centerline goodness : 0.917129 Centerline is valid? [False, False] Translation: X:13.22, Y:0.26, Z:-0.12 [[ 0.70440124 0.02347198 -0.70941381 13.21949505] [ 0.06077905 0.99378769 0.09323051 0.26139885] [ 0.70719502 -0.10878918 0.69859868 -0.12224809] [ 0. 0. 0. 1. ]] SLAMing on 97.97964924600001 meters Centerline goodness : 0.916853 Centerline is valid? [False, False] Translation: X:13.22, Y:0.26, Z:-0.12 [[ 0.70384616 0.02325693 -0.70997162 13.22136868] [ 0.0614057 0.99373061 0.09342809 0.26064896] [ 0.70769339 -0.1093553 0.69800536 -0.12045643] [ 0. 0. 0. 1. ]] SLAMing on 98.00964924600001 meters Centerline goodness : 0.915621 Centerline is valid? [False, False] Translation: X:13.22, Y:0.26, Z:-0.12 [[ 0.7032458 0.02300557 -0.71057448 13.22324439] [ 0.0620669 0.99367355 0.09359794 0.26020521] [ 0.70823234 -0.10992551 0.69736886 -0.11854835] [ 0. 0. 0. 1. ]] SLAMing on 98.03964924600001 meters Centerline goodness : 0.919316 Centerline is valid? [False, False] Translation: X:13.23, Y:0.26, Z:-0.11 [[ 0.70196229 0.02219182 -0.71186829 13.2265154 ] [ 0.06356758 0.99357314 0.0936567 0.25930548] [ 0.70937163 -0.11099522 0.6960402 -0.11448143] [ 0. 0. 0. 1. ]] SLAMing on 98.06964924600001 meters Centerline goodness : 0.919488 Centerline is valid? [False, False] Translation: X:13.23, Y:0.26, Z:-0.11 [[ 0.70074472 0.02154249 -0.71308678 13.22947295] [ 0.06495469 0.99346582 0.09384325 0.25843926] [ 0.71044896 -0.11207849 0.69476664 -0.11049018] [ 0. 0. 0. 1. ]] SLAMing on 98.09964924600001 meters Centerline goodness : 0.919317 Centerline is valid? [False, False] Translation: X:13.23, Y:0.26, Z:-0.11 [[ 0.70017989 0.02145613 -0.713644 13.23066947] [ 0.06538534 0.9934209 0.09401952 0.25842328] [ 0.71096616 -0.11249243 0.69417042 -0.10876312] [ 0. 0. 0. 1. ]] SLAMing on 98.12964924600001 meters Centerline goodness : 0.918967 Centerline is valid? [False, False] Translation: X:13.23, Y:0.26, Z:-0.11 [[ 0.69930285 0.02097437 -0.71451774 13.23265011] [ 0.06629437 0.99335849 0.09404232 0.25901634] [ 0.71174475 -0.11313257 0.69326794 -0.10601323] [ 0. 0. 0. 1. ]] SLAMing on 98.15964924600001 meters Centerline goodness : 0.916007 Centerline is valid? [False, False] Translation: X:13.23, Y:0.26, Z:-0.11 [[ 0.69886211 0.02062771 -0.71495892 13.23432792] [ 0.06662522 0.99336066 0.09378524 0.26032724] [ 0.71214664 -0.11317724 0.6928478 -0.10515526] [ 0. 0. 0. 1. ]] SLAMing on 98.18964924600002 meters Centerline goodness : 0.913385 Centerline is valid? [False, False] Translation: X:13.24, Y:0.26, Z:-0.10 [[ 0.69843293 0.02021603 -0.71538993 13.23583987] [ 0.06691119 0.99337804 0.09339681 0.26194485] [ 0.71254076 -0.113099 0.69245525 -0.10442883] [ 0. 0. 0. 1. ]] SLAMing on 98.21964924600002 meters Centerline goodness : 0.912313 Centerline is valid? [False, False] Translation: X:13.24, Y:0.26, Z:-0.10 [[ 0.69770366 0.01986697 -0.71611096 13.23768231] [ 0.06688873 0.99344199 0.09273031 0.26475625] [ 0.71325696 -0.11259803 0.69179924 -0.10344162] [ 0. 0. 0. 1. ]] SLAMing on 98.24964924600002 meters Centerline goodness : 0.913062 Centerline is valid? [False, False] Translation: X:13.24, Y:0.27, Z:-0.10 [[ 0.69620485 0.02387364 -0.71744607 13.24196331] [ 0.06487023 0.99326511 0.0960014 0.26622961] [ 0.71490605 -0.11337753 0.6899673 -0.09947457] [ 0. 0. 0. 1. ]] SLAMing on 98.27964924600002 meters Centerline goodness : 0.915518 Centerline is valid? [False, False] Translation: X:13.24, Y:0.27, Z:-0.10 [[ 0.6956381 0.02287197 -0.7180282 13.24499293] [ 0.06555555 0.99330187 0.09515184 0.26889302] [ 0.71539506 -0.11326197 0.68947924 -0.0986979 ] [ 0. 0. 0. 1. ]] SLAMing on 98.309649246 meters Centerline goodness : 0.908117 Centerline is valid? [False, False] Translation: X:13.25, Y:0.27, Z:-0.10 [[ 0.69462584 0.02183162 -0.71903986 13.24927567] [ 0.06618627 0.99336028 0.0940996 0.27205488] [ 0.71631998 -0.11295458 0.68856877 -0.09722977] [ 0. 0. 0. 1. ]] SLAMing on 98.33964924600001 meters Centerline goodness : 0.911201 Centerline is valid? [False, False] Translation: X:13.25, Y:0.27, Z:-0.10 [[ 0.69418522 0.02180595 -0.71946604 13.25015155] [ 0.06631051 0.99335314 0.09408753 0.27257238] [ 0.71673551 -0.11302233 0.68812511 -0.09615121] [ 0. 0. 0. 1. ]] SLAMing on 98.36964924600001 meters Centerline goodness : 0.911201 Centerline is valid? [False, False] Translation: X:13.25, Y:0.27, Z:-0.10 [[ 0.69418522 0.02180595 -0.71946604 13.25015155] [ 0.06631051 0.99335314 0.09408753 0.27257238] [ 0.71673551 -0.11302233 0.68812511 -0.09615121] [ 0. 0. 0. 1. ]] SLAMing on 98.39964924600001 meters Centerline goodness : 0.908829 Centerline is valid? [False, False] Translation: X:13.25, Y:0.27, Z:-0.09 [[ 0.69326829 0.02138022 -0.72036239 13.25216221] [ 0.06675159 0.993358 0.09372362 0.27341762] [ 0.71758157 -0.11306095 0.68723643 -0.09411387] [ 0. 0. 0. 1. ]] SLAMing on 98.42964924600001 meters Centerline goodness : 0.912737 Centerline is valid? [False, False] Translation: X:13.25, Y:0.27, Z:-0.09 [[ 0.69276365 0.02098939 -0.72085918 13.25383721] [ 0.06715901 0.99335489 0.09346518 0.27445081] [ 0.71803077 -0.11316147 0.68675053 -0.09302095] [ 0. 0. 0. 1. ]] SLAMing on 98.45964924600001 meters Centerline goodness : 0.909167 Centerline is valid? [False, False] Translation: X:13.26, Y:0.28, Z:-0.09 [[ 0.69224094 0.02062199 -0.72137176 13.25592798] [ 0.06752533 0.99335537 0.09319572 0.27570301] [ 0.71850039 -0.11322475 0.68624875 -0.09197861] [ 0. 0. 0. 1. ]] SLAMing on 98.48964924600001 meters Centerline goodness : 0.903708 Centerline is valid? [False, False] Translation: X:13.26, Y:0.28, Z:-0.09 [[ 0.69122671 0.01935436 -0.72237874 13.26053797] [ 0.06844122 0.99339439 0.0921053 0.27906627] [ 0.71938963 -0.11310613 0.6853361 -0.09027851] [ 0. 0. 0. 1. ]] SLAMing on 98.51964924600001 meters Centerline goodness : 0.901900 Centerline is valid? [False, False] Translation: X:13.26, Y:0.28, Z:-0.09 [[ 0.69024766 0.01897991 -0.72332423 13.26199719] [ 0.06918391 0.99334478 0.09208543 0.27960793] [ 0.72025812 -0.11360416 0.68434081 -0.08738607] [ 0. 0. 0. 1. ]] SLAMing on 98.54964924600002 meters Centerline goodness : 0.904214 Centerline is valid? [False, False] Translation: X:13.26, Y:0.28, Z:-0.09 [[ 0.68962103 0.01900537 -0.72392101 13.2622422 ] [ 0.06966285 0.99327846 0.09243908 0.2788805 ] [ 0.72081198 -0.11417834 0.68366175 -0.08514861] [ 0. 0. 0. 1. ]] SLAMing on 98.57964924600002 meters Centerline goodness : 0.905794 Centerline is valid? [False, False] Translation: X:13.26, Y:0.28, Z:-0.08 [[ 0.68867885 0.01882187 -0.72482217 13.26282516] [ 0.07055423 0.99317941 0.09282649 0.27867443] [ 0.72162562 -0.11506691 0.68265369 -0.08169543] [ 0. 0. 0. 1. ]] SLAMing on 98.60964924600002 meters Centerline goodness : 0.904295 Centerline is valid? [False, False] Translation: X:13.26, Y:0.28, Z:-0.08 [[ 0.68825775 0.01871978 -0.72522468 13.26402808] [ 0.07077606 0.9931657 0.09280436 0.27951609] [ 0.72200555 -0.11520186 0.68222908 -0.0806912 ] [ 0. 0. 0. 1. ]] SLAMing on 98.63964924600002 meters Centerline goodness : 0.902881 Centerline is valid? [False, False] Translation: X:13.27, Y:0.28, Z:-0.08 [[ 0.68749809 0.01835644 -0.72595415 13.26651578] [ 0.07140707 0.99312686 0.09273657 0.28105159] [ 0.72266687 -0.11559448 0.68146204 -0.07866518] [ 0. 0. 0. 1. ]] SLAMing on 98.66964924600002 meters Centerline goodness : 0.905882 Centerline is valid? [False, False] Translation: X:13.27, Y:0.28, Z:-0.08 [[ 6.86873076e-01 1.27817438e-02 -7.26664988e-01 1.32674950e+01] [ 7.57661995e-02 9.93138026e-01 8.90861668e-02 2.81501696e-01] [ 7.22817308e-01 -1.16247534e-01 6.81191346e-01 -7.64066352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.699649246 meters Centerline goodness : 0.903482 Centerline is valid? [False, False] Translation: X:13.27, Y:0.28, Z:-0.07 [[ 6.86268052e-01 1.23840175e-02 -7.27243286e-01 1.32689742e+01] [ 7.65498660e-02 9.93072421e-01 8.91475451e-02 2.81065888e-01] [ 7.23309255e-01 -1.16849488e-01 6.80565881e-01 -7.44259399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.72964924600001 meters Centerline goodness : 0.902707 Centerline is valid? [False, False] Translation: X:13.27, Y:0.28, Z:-0.07 [[ 6.85033556e-01 1.16979848e-02 -7.28417589e-01 1.32721834e+01] [ 7.80074244e-02 9.92944617e-01 8.93075008e-02 2.79586827e-01] [ 7.24323042e-01 -1.18000615e-01 6.79287852e-01 -7.04173207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.75964924600001 meters Centerline goodness : 0.906793 Centerline is valid? [False, False] Translation: X:13.27, Y:0.28, Z:-0.07 [[ 6.84508073e-01 1.17062383e-02 -7.28911286e-01 1.32734715e+01] [ 7.83148830e-02 9.92903974e-01 8.94900950e-02 2.79394846e-01] [ 7.24786505e-01 -1.18341295e-01 6.78734013e-01 -6.89102284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78964924600001 meters Centerline goodness : 0.903141 Centerline is valid? [False, False] Translation: X:13.28, Y:0.28, Z:-0.07 [[ 6.83918893e-01 1.17350477e-02 -7.29463663e-01 1.32761180e+01] [ 7.83592108e-02 9.92905003e-01 8.94398660e-02 2.80168007e-01] [ 7.25337702e-01 -1.18329811e-01 6.78146941e-01 -6.77287263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.81964924600001 meters Centerline goodness : 0.901512 Centerline is valid? [False, False] Translation: X:13.28, Y:0.28, Z:-0.07 [[ 6.83569029e-01 1.19279983e-02 -7.29788398e-01 1.32772144e+01] [ 7.84843678e-02 9.92867887e-01 8.97416426e-02 2.79649956e-01] [ 7.25653903e-01 -1.18621589e-01 6.77757576e-01 -6.66256294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84964924600001 meters Centerline goodness : 0.899042 Centerline is valid? [False, False] Translation: X:13.28, Y:0.28, Z:-0.06 [[ 6.83100673e-01 1.20156654e-02 -7.30225372e-01 1.32780363e+01] [ 7.88994994e-02 9.92798534e-01 9.01440003e-02 2.78327135e-01] [ 7.26049819e-01 -1.19191844e-01 6.77233316e-01 -6.48491163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.87964924600001 meters Centerline goodness : 0.899630 Centerline is valid? [False, False] Translation: X:13.28, Y:0.28, Z:-0.06 [[ 6.82325495e-01 1.26952380e-02 -7.30938267e-01 1.32786996e+01] [ 7.92340047e-02 9.92674932e-01 9.12055492e-02 2.75378972e-01] [ 7.26741970e-01 -1.20147038e-01 6.76321520e-01 -6.16857667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90964924600001 meters Centerline goodness : 0.898558 Centerline is valid? [False, False] Translation: X:13.28, Y:0.28, Z:-0.06 [[ 6.81302946e-01 1.19501009e-02 -7.31904018e-01 1.32826167e+01] [ 8.02584130e-02 9.92619145e-01 9.09165555e-02 2.75434844e-01] [ 7.27588402e-01 -1.20683172e-01 6.75315252e-01 -5.90357829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.93964924600002 meters Centerline goodness : 0.898701 Centerline is valid? [False, False] Translation: X:13.28, Y:0.28, Z:-0.06 [[ 6.80860100e-01 1.14299638e-02 -7.32324299e-01 1.32847898e+01] [ 8.07837055e-02 9.92605568e-01 9.05989977e-02 2.75775380e-01] [ 7.27944721e-01 -1.20845113e-01 6.74902172e-01 -5.80047240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96964924600002 meters Centerline goodness : 0.898271 Centerline is valid? [False, False] Translation: X:13.29, Y:0.28, Z:-0.05 [[ 6.79831349e-01 1.15212369e-02 -7.33277981e-01 1.32867136e+01] [ 8.13067379e-02 9.92528462e-01 9.09750826e-02 2.75397183e-01] [ 7.28847413e-01 -1.21468154e-01 6.73815210e-01 -5.48955181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.99964924600002 meters Centerline goodness : 0.900431 Centerline is valid? [False, False] Translation: X:13.29, Y:0.28, Z:-0.05 [[ 6.79343528e-01 1.13189738e-02 -7.33733093e-01 1.32879803e+01] [ 8.17645016e-02 9.92487271e-01 9.10141891e-02 2.75504021e-01] [ 7.29250942e-01 -1.21823221e-01 6.73314315e-01 -5.34076147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02964924600002 meters Centerline goodness : 0.897933 Centerline is valid? [False, False] Translation: X:13.29, Y:0.28, Z:-0.05 [[ 6.78830456e-01 1.13404024e-02 -7.34207469e-01 1.32889983e+01] [ 8.21227176e-02 9.92435342e-01 9.12576087e-02 2.75518618e-01] [ 7.29688339e-01 -1.22243557e-01 6.72764031e-01 -5.17730464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.059649246 meters Centerline goodness : 0.898013 Centerline is valid? [False, False] Translation: X:13.29, Y:0.28, Z:-0.05 [[ 6.78099700e-01 1.11331870e-02 -7.34885603e-01 1.32908039e+01] [ 8.27037650e-02 9.92378848e-01 9.13471937e-02 2.76342352e-01] [ 7.30301913e-01 -1.22720311e-01 6.72011042e-01 -4.95977321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.08964924600001 meters Centerline goodness : 0.893553 Centerline is valid? [False, False] Translation: X:13.29, Y:0.28, Z:-0.05 [[ 6.77488153e-01 1.10038614e-02 -7.35451370e-01 1.32924999e+01] [ 8.29360517e-02 9.92368636e-01 9.12474736e-02 2.78264825e-01] [ 7.30842947e-01 -1.22814515e-01 6.71405378e-01 -4.81450915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.11964924600001 meters Centerline goodness : 0.897097 Centerline is valid? [False, False] Translation: X:13.29, Y:0.28, Z:-0.05 [[ 6.77146768e-01 1.11533791e-02 -7.35763452e-01 1.32930212e+01] [ 8.29909800e-02 9.92347963e-01 9.14221911e-02 2.78417112e-01] [ 7.31153029e-01 -1.22967971e-01 6.71039586e-01 -4.71483072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14964924600001 meters Centerline goodness : 0.900359 Centerline is valid? [False, False] Translation: X:13.29, Y:0.28, Z:-0.04 [[ 6.76399858e-01 1.14645081e-02 -7.36445379e-01 1.32931730e+01] [ 8.31441756e-02 9.92299099e-01 9.18125519e-02 2.77937504e-01] [ 7.31826672e-01 -1.23333141e-01 6.70237763e-01 -4.48095560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.17964924600001 meters Centerline goodness : 0.899261 Centerline is valid? [False, False] Translation: X:13.29, Y:0.28, Z:-0.04 [[ 6.76022512e-01 1.13368766e-02 -7.36793755e-01 1.32942311e+01] [ 8.33762969e-02 9.92283798e-01 9.17674074e-02 2.78581480e-01] [ 7.32148862e-01 -1.23467968e-01 6.69860960e-01 -4.38693946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20964924600001 meters Centerline goodness : 0.900734 Centerline is valid? [False, False] Translation: X:13.29, Y:0.28, Z:-0.04 [[ 6.75529449e-01 1.13588376e-02 -7.37245509e-01 1.32949882e+01] [ 8.35517256e-02 9.92261828e-01 9.18453775e-02 2.78733892e-01] [ 7.32583833e-01 -1.23642392e-01 6.69353036e-01 -4.24041293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.23964924600001 meters Centerline goodness : 0.900495 Centerline is valid? [False, False] Translation: X:13.30, Y:0.28, Z:-0.04 [[ 6.75077627e-01 1.14586409e-02 -7.37657710e-01 1.32956135e+01] [ 8.38433817e-02 9.92209611e-01 9.21432310e-02 2.78340781e-01] [ 7.32966906e-01 -1.24051551e-01 6.68857778e-01 -4.08553819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26964924600001 meters Centerline goodness : 0.905281 Centerline is valid? [False, False] Translation: X:13.30, Y:0.28, Z:-0.04 [[ 6.74152950e-01 1.13157833e-02 -7.38505080e-01 1.32973743e+01] [ 8.45491337e-02 9.92127370e-01 9.23835842e-02 2.77686976e-01] [ 7.33736495e-01 -1.24720631e-01 6.67888853e-01 -3.79232701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.29964924600002 meters Centerline goodness : 0.901414 Centerline is valid? [False, False] Translation: X:13.30, Y:0.28, Z:-0.04 [[ 6.73599323e-01 1.09195604e-02 -7.39016046e-01 1.32996982e+01] [ 8.50870101e-02 9.92097138e-01 9.22142590e-02 2.77810518e-01] [ 7.34182643e-01 -1.24996128e-01 6.67346848e-01 -3.65234727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32964924600002 meters Centerline goodness : 0.897847 Centerline is valid? [False, False] Translation: X:13.30, Y:0.28, Z:-0.03 [[ 6.72634149e-01 9.99719430e-03 -7.39907669e-01 1.33042472e+01] [ 8.57698079e-02 9.92115870e-01 9.13763698e-02 2.80098138e-01] [ 7.34987648e-01 -1.24924605e-01 6.66473556e-01 -3.48223850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.35964924600002 meters Centerline goodness : 0.892189 Centerline is valid? [False, False] Translation: X:13.31, Y:0.28, Z:-0.03 [[ 6.72308770e-01 9.68093350e-03 -7.40207537e-01 1.33060365e+01] [ 8.59599630e-02 9.92129359e-01 9.10506473e-02 2.81326761e-01] [ 7.35263084e-01 -1.24842361e-01 6.66185096e-01 -3.43066689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38964924600002 meters Centerline goodness : 0.894000 Centerline is valid? [False, False] Translation: X:13.31, Y:0.28, Z:-0.03 [[ 6.71442516e-01 9.36778195e-03 -7.40997431e-01 1.33084841e+01] [ 8.60718461e-02 9.92166785e-01 9.05356702e-02 2.82682265e-01] [ 7.36041157e-01 -1.24568515e-01 6.65376660e-01 -3.28310256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.41964924600002 meters Centerline goodness : 0.891404 Centerline is valid? [False, False] Translation: X:13.31, Y:0.28, Z:-0.03 [[ 6.70967459e-01 9.59323131e-03 -7.41424736e-01 1.33089779e+01] [ 8.62432322e-02 9.92120006e-01 9.08845306e-02 2.82456749e-01] [ 7.36454190e-01 -1.24923428e-01 6.64852889e-01 -3.11989450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.449649246 meters Centerline goodness : 0.893915 Centerline is valid? [False, False] Translation: X:13.31, Y:0.28, Z:-0.03 [[ 6.70133899e-01 9.66565436e-03 -7.42177291e-01 1.33096912e+01] [ 8.66776181e-02 9.92054698e-01 9.11836954e-02 2.82360483e-01] [ 7.37161819e-01 -1.25435445e-01 6.63971688e-01 -2.85339831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.47964924600001 meters Centerline goodness : 0.893544 Centerline is valid? [False, False] Translation: X:13.31, Y:0.28, Z:-0.03 [[ 6.69849222e-01 9.78454247e-03 -7.42432678e-01 1.33103412e+01] [ 8.67311062e-02 9.92036935e-01 9.13259795e-02 2.82842336e-01] [ 7.37414222e-01 -1.25566644e-01 6.63666545e-01 -2.76871818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50964924600001 meters Centerline goodness : 0.888688 Centerline is valid? [False, False] Translation: X:13.31, Y:0.28, Z:-0.03 [[ 6.69265224e-01 9.96192288e-03 -7.42956809e-01 1.33109538e+01] [ 8.70399437e-02 9.91974680e-01 9.17075956e-02 2.82983389e-01] [ 7.37907927e-01 -1.26043623e-01 6.63027071e-01 -2.56108937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.53964924600001 meters Centerline goodness : 0.891349 Centerline is valid? [False, False] Translation: X:13.31, Y:0.28, Z:-0.02 [[ 6.68817284e-01 9.94171845e-03 -7.43360345e-01 1.33116582e+01] [ 8.74649745e-02 9.91913926e-01 9.19599977e-02 2.82517460e-01] [ 7.38263719e-01 -1.26522430e-01 6.62539626e-01 -2.40335647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56964924600001 meters Centerline goodness : 0.893059 Centerline is valid? [False, False] Translation: X:13.31, Y:0.28, Z:-0.02 [[ 6.67941242e-01 9.51507061e-03 -7.44153184e-01 1.33142449e+01] [ 8.82634228e-02 9.91848184e-01 9.19061925e-02 2.83153922e-01] [ 7.38961478e-01 -1.27069443e-01 6.61656475e-01 -2.14873571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.59964924600001 meters Centerline goodness : 0.894753 Centerline is valid? [False, False] Translation: X:13.32, Y:0.28, Z:-0.02 [[ 6.67503124e-01 9.53468923e-03 -7.44545948e-01 1.33154702e+01] [ 8.83767660e-02 9.91835573e-01 9.19333609e-02 2.83618736e-01] [ 7.39343713e-01 -1.27166369e-01 6.61210699e-01 -2.04466118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62964924600001 meters Centerline goodness : 0.894845 Centerline is valid? [False, False] Translation: X:13.32, Y:0.28, Z:-0.02 [[ 6.66480816e-01 1.00238044e-02 -7.45454791e-01 1.33163872e+01] [ 8.85599934e-02 9.91765264e-01 9.25137227e-02 2.82269469e-01] [ 7.40243507e-01 -1.27676093e-01 6.60104815e-01 -1.72559854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.65964924600001 meters Centerline goodness : 0.893374 Centerline is valid? [False, False] Translation: X:13.32, Y:0.28, Z:-0.02 [[ 6.66103531e-01 1.04339063e-02 -7.45786309e-01 1.33165936e+01] [ 8.85059104e-02 9.91731699e-01 9.29243862e-02 2.81490013e-01] [ 7.40589488e-01 -1.27903758e-01 6.59672524e-01 -1.60093948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68964924600002 meters Centerline goodness : 0.893964 Centerline is valid? [False, False] Translation: X:13.32, Y:0.28, Z:-0.01 [[ 6.65393916e-01 1.07951590e-02 -7.46414363e-01 1.33173206e+01] [ 8.87182793e-02 9.91665180e-01 9.34303921e-02 2.80679138e-01] [ 7.41201729e-01 -1.28388612e-01 6.58890250e-01 -1.35902013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.71964924600002 meters Centerline goodness : 0.889446 Centerline is valid? [False, False] Translation: X:13.32, Y:0.28, Z:-0.01 [[ 6.64945704e-01 1.08817793e-02 -7.46812425e-01 1.33185341e+01] [ 8.89012495e-02 9.91632346e-01 9.36048008e-02 2.80876182e-01] [ 7.41581943e-01 -1.28634668e-01 6.58414265e-01 -1.23531543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74964924600002 meters Centerline goodness : 0.890493 Centerline is valid? [False, False] Translation: X:13.32, Y:0.28, Z:-0.01 [[ 6.63767860e-01 1.51474389e-02 -7.47785252e-01 1.33228579e+01] [ 8.67824800e-02 9.91482376e-01 9.71159027e-02 2.81417749e-01] [ 7.42886956e-01 -1.29357074e-01 6.56799603e-01 -8.72976197e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.77964924600002 meters Centerline goodness : 0.886166 Centerline is valid? [False, False] Translation: X:13.32, Y:0.28, Z:-0.01 [[ 6.63334614e-01 1.51596720e-02 -7.48169348e-01 1.33240495e+01] [ 8.68075422e-02 9.91486214e-01 9.70543013e-02 2.82438410e-01] [ 7.43270906e-01 -1.29326220e-01 6.56371152e-01 -7.87239795e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.809649246 meters Centerline goodness : 0.891261 Centerline is valid? [False, False] Translation: X:13.32, Y:0.28, Z:-0.01 [[ 6.62515384e-01 1.59151237e-02 -7.48879212e-01 1.33241897e+01] [ 8.60272542e-02 9.91542065e-01 9.71784139e-02 2.82902172e-01] [ 7.44091847e-01 -1.28806217e-01 6.55542738e-01 -6.40549268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.83964924600001 meters Centerline goodness : 0.887488 Centerline is valid? [False, False] Translation: X:13.32, Y:0.28, Z:-0.01 [[ 6.61742027e-01 1.65508229e-02 -7.49548904e-01 1.33245988e+01] [ 8.52470315e-02 9.91611599e-01 9.71564777e-02 2.84663506e-01] [ 7.44869407e-01 -1.28189344e-01 6.54780161e-01 -5.26168411e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86964924600001 meters Centerline goodness : 0.889023 Centerline is valid? [False, False] Translation: X:13.33, Y:0.29, Z:-0.00 [[ 6.61336257e-01 1.63944701e-02 -7.49910379e-01 1.33258892e+01] [ 8.54934650e-02 9.91598478e-01 9.70738127e-02 2.85970031e-01] [ 7.45201465e-01 -1.28310869e-01 6.54378406e-01 -4.31822939e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.89964924600001 meters Centerline goodness : 0.886674 Centerline is valid? [False, False] Translation: X:13.33, Y:0.29, Z:-0.00 [[ 6.60944659e-01 1.59196593e-02 -7.50265767e-01 1.33281956e+01] [ 8.57217143e-02 9.91629193e-01 9.65573952e-02 2.88313638e-01] [ 7.45522599e-01 -1.28133162e-01 6.54047359e-01 -3.88731401e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92964924600001 meters Centerline goodness : 0.890062 Centerline is valid? [False, False] Translation: X:13.33, Y:0.29, Z:-0.00 [[ 6.60123014e-01 1.51921757e-02 -7.51003865e-01 1.33300362e+01] [ 8.70961537e-02 9.91503933e-01 9.66137204e-02 2.88063001e-01] [ 7.46091058e-01 -1.29186488e-01 6.53191384e-01 -7.18901331e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.95964924600001 meters Centerline goodness : 0.891498 Centerline is valid? [False, False] Translation: X:13.33, Y:0.29, Z:0.00 [[ 6.59802074e-01 1.50925261e-02 -7.51287853e-01 1.33308426e+01] [ 8.74822152e-02 9.91456988e-01 9.67465894e-02 2.88526291e-01] [ 7.46329743e-01 -1.29557926e-01 6.52845050e-01 4.42137271e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98964924600001 meters Centerline goodness : 0.891361 Centerline is valid? [False, False] Translation: X:13.33, Y:0.29, Z:0.00 [[ 6.59143309e-01 1.50714955e-02 -7.51866310e-01 1.33324493e+01] [ 8.76778109e-02 9.91440459e-01 9.67389173e-02 2.89387920e-01] [ 7.46888680e-01 -1.29686802e-01 6.52179909e-01 2.10652018e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.01964924600001 meters Centerline goodness : 0.888490 Centerline is valid? [False, False] Translation: X:13.33, Y:0.29, Z:0.00 [[ 6.58822593e-01 1.55155714e-02 -7.52138324e-01 1.33325632e+01] [ 8.75695703e-02 9.91409196e-01 9.71564527e-02 2.88975171e-01] [ 7.47184289e-01 -1.29873296e-01 6.51804085e-01 3.17641371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04964924600002 meters Centerline goodness : 0.892521 Centerline is valid? [False, False] Translation: X:13.33, Y:0.29, Z:0.01 [[ 6.58308349e-01 1.65031358e-02 -7.52567449e-01 1.33319866e+01] [ 8.73950154e-02 9.91323006e-01 9.81876198e-02 2.87709582e-01] [ 7.47657829e-01 -1.30408374e-01 6.51153919e-01 5.43641766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.07964924600002 meters Centerline goodness : 0.887700 Centerline is valid? [False, False] Translation: X:13.33, Y:0.29, Z:0.01 [[ 6.57394113e-01 1.60758889e-02 -7.53375435e-01 1.33342339e+01] [ 8.89218764e-02 9.91132106e-01 9.87423325e-02 2.86181111e-01] [ 7.48281952e-01 -1.31904185e-01 6.50134914e-01 9.41039259e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10964924600002 meters Centerline goodness : 0.887091 Centerline is valid? [False, False] Translation: X:13.34, Y:0.29, Z:0.01 [[ 6.56868282e-01 1.62127009e-02 -7.53831021e-01 1.33352844e+01] [ 8.93858642e-02 9.91044371e-01 9.92029287e-02 2.85194713e-01] [ 7.48688338e-01 -1.32545095e-01 6.49536427e-01 1.13857200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.13964924600002 meters Centerline goodness : 0.884085 Centerline is valid? [False, False] Translation: X:13.34, Y:0.28, Z:0.01 [[ 0.65619519 0.01628169 -0.75441552 13.33766094] [ 0.08971486 0.99099269 0.099422 0.28446894] [ 0.74923903 -0.13292252 0.64882393 0.0133579 ] [ 0. 0. 0. 1. ]] SLAMing on 100.16964924600002 meters Centerline goodness : 0.890170 Centerline is valid? [False, False] Translation: X:13.34, Y:0.28, Z:0.01 [[ 0.65581443 0.01656276 -0.75474043 13.33843426] [ 0.08998298 0.99091685 0.0999343 0.28379094] [ 0.74954019 -0.13345215 0.6483672 0.01490437] [ 0. 0. 0. 1. ]] SLAMing on 100.199649246 meters Centerline goodness : 0.890180 Centerline is valid? [False, False] Translation: X:13.34, Y:0.28, Z:0.02 [[ 0.65479409 0.01705087 -0.75561496 13.33982642] [ 0.09042337 0.99079759 0.10071617 0.28148915] [ 0.75037878 -0.13427361 0.64722661 0.01848274] [ 0. 0. 0. 1. ]] SLAMing on 100.22964924600001 meters Centerline goodness : 0.892259 Centerline is valid? [False, False] Translation: X:13.34, Y:0.28, Z:0.02 [[ 0.65429538 0.0173472 -0.7560401 13.34073104] [ 0.0905349 0.99074998 0.10108367 0.28090184] [ 0.75080023 -0.1345866 0.64667261 0.02000726] [ 0. 0. 0. 1. ]] SLAMing on 100.25964924600001 meters Centerline goodness : 0.892259 Centerline is valid? [False, False] Translation: X:13.34, Y:0.28, Z:0.02 [[ 0.65429538 0.0173472 -0.7560401 13.34073104] [ 0.0905349 0.99074998 0.10108367 0.28090184] [ 0.75080023 -0.1345866 0.64667261 0.02000726] [ 0. 0. 0. 1. ]] SLAMing on 100.28964924600001 meters Centerline goodness : 0.893812 Centerline is valid? [False, False] Translation: X:13.34, Y:0.28, Z:0.02 [[ 0.65349948 0.01777705 -0.75671818 13.34151006] [ 0.09063709 0.99069319 0.10154758 0.28061479] [ 0.75148077 -0.13494803 0.64580623 0.02247026] [ 0. 0. 0. 1. ]] SLAMing on 100.31964924600001 meters Centerline goodness : 0.893955 Centerline is valid? [False, False] Translation: X:13.34, Y:0.28, Z:0.02 [[ 0.65302424 0.01808823 -0.75712096 13.34194251] [ 0.09080572 0.99063253 0.10198784 0.28041577] [ 0.75187343 -0.13535144 0.64526454 0.02413932] [ 0. 0. 0. 1. ]] SLAMing on 100.34964924600001 meters Centerline goodness : 0.892535 Centerline is valid? [False, False] Translation: X:13.34, Y:0.28, Z:0.03 [[ 0.65214639 0.0181259 -0.75787633 13.34443522] [ 0.09102678 0.99060894 0.1020199 0.28224489] [ 0.75260827 -0.13551895 0.6443721 0.02625286] [ 0. 0. 0. 1. ]] SLAMing on 100.37964924600001 meters Centerline goodness : 0.895701 Centerline is valid? [False, False] Translation: X:13.35, Y:0.28, Z:0.03 [[ 0.65168631 0.01776798 -0.75828046 13.3463917 ] [ 0.0914555 0.99059097 0.10181074 0.28363188] [ 0.75295475 -0.13569758 0.64392959 0.02732269] [ 0. 0. 0. 1. ]] SLAMing on 100.40964924600001 meters Centerline goodness : 0.898476 Centerline is valid? [False, False] Translation: X:13.35, Y:0.28, Z:0.03 [[ 0.65091816 0.0184045 -0.75892478 13.34653151] [ 0.09130856 0.99055044 0.10233554 0.28417286] [ 0.75363671 -0.13590839 0.64308679 0.0295682 ] [ 0. 0. 0. 1. ]] SLAMing on 100.43964924600002 meters Centerline goodness : 0.898344 Centerline is valid? [False, False] Translation: X:13.35, Y:0.28, Z:0.03 [[ 0.65047698 0.01929363 -0.75928088 13.34561899] [ 0.09093997 0.99050741 0.10307759 0.28385065] [ 0.75406208 -0.13609858 0.6425477 0.03104343] [ 0. 0. 0. 1. ]] SLAMing on 100.46964924600002 meters Centerline goodness : 0.896400 Centerline is valid? [False, False] Translation: X:13.35, Y:0.29, Z:0.03 [[ 0.64973222 0.02029865 -0.7598921 13.34556557] [ 0.0901284 0.9905352 0.10352241 0.28522062] [ 0.75480124 -0.1357497 0.64175315 0.03260742] [ 0. 0. 0. 1. ]] SLAMing on 100.49964924600002 meters Centerline goodness : 0.896242 Centerline is valid? [False, False] Translation: X:13.35, Y:0.29, Z:0.03 [[ 0.64928467 0.02026982 -0.76027532 13.34710526] [ 0.0901493 0.99054632 0.10339775 0.28641977] [ 0.75518377 -0.13567286 0.64131922 0.03345481] [ 0. 0. 0. 1. ]] SLAMing on 100.52964924600002 meters Centerline goodness : 0.891100 Centerline is valid? [False, False] Translation: X:13.35, Y:0.29, Z:0.04 [[ 0.64780443 0.02485183 -0.76140121 13.35127856] [ 0.08753354 0.99041983 0.10680093 0.28813363] [ 0.75676106 -0.13583426 0.63942299 0.03708908] [ 0. 0. 0. 1. ]] SLAMing on 100.559649246 meters Centerline goodness : 0.894804 Centerline is valid? [False, False] Translation: X:13.35, Y:0.29, Z:0.04 [[ 0.64646061 0.02978462 -0.76236577 13.35420231] [ 0.08447324 0.99029982 0.11032018 0.2901601 ] [ 0.75825652 -0.13571715 0.63767382 0.04019271] [ 0. 0. 0. 1. ]] SLAMing on 100.58964924600001 meters Centerline goodness : 0.897638 Centerline is valid? [False, False] Translation: X:13.35, Y:0.29, Z:0.04 [[ 0.64549222 0.03073013 -0.76314838 13.353973 ] [ 0.08412589 0.99024995 0.11103098 0.28935179] [ 0.75911964 -0.13587017 0.63661344 0.04297617] [ 0. 0. 0. 1. ]] SLAMing on 100.61964924600001 meters Centerline goodness : 0.893289 Centerline is valid? [False, False] Translation: X:13.36, Y:0.29, Z:0.04 [[ 0.64486541 0.03080709 -0.76367502 13.35512234] [ 0.08445304 0.99019648 0.11125926 0.28923716] [ 0.75961588 -0.13624193 0.6359417 0.04484191] [ 0. 0. 0. 1. ]] SLAMing on 100.64964924600001 meters Centerline goodness : 0.894469 Centerline is valid? [False, False] Translation: X:13.36, Y:0.29, Z:0.05 [[ 0.64429233 0.03034635 -0.764177 13.35765449] [ 0.08502903 0.99017509 0.11101061 0.28982706] [ 0.7600378 -0.13650051 0.6353819 0.04627638] [ 0. 0. 0. 1. ]] SLAMing on 100.67964924600001 meters Centerline goodness : 0.888369 Centerline is valid? [False, False] Translation: X:13.36, Y:0.29, Z:0.05 [[ 0.64321266 0.02981779 -0.76510677 13.36199728] [ 0.08596719 0.99011119 0.11085787 0.29078364] [ 0.76084632 -0.13707927 0.6342887 0.04922226] [ 0. 0. 0. 1. ]] SLAMing on 100.70964924600001 meters Centerline goodness : 0.889255 Centerline is valid? [False, False] Translation: X:13.36, Y:0.29, Z:0.05 [[ 0.64211124 0.02990913 -0.7660278 13.3636195 ] [ 0.08639982 0.99004872 0.11107925 0.29057596] [ 0.76172713 -0.13750989 0.63313727 0.05237478] [ 0. 0. 0. 1. ]] SLAMing on 100.73964924600001 meters Centerline goodness : 0.892331 Centerline is valid? [False, False] Translation: X:13.36, Y:0.29, Z:0.05 [[ 0.64148528 0.03014881 -0.76654268 13.36410522] [ 0.08659488 0.9899951 0.11140477 0.29017959] [ 0.76223222 -0.13784319 0.63245655 0.05426871] [ 0. 0. 0. 1. ]] SLAMing on 100.76964924600001 meters Centerline goodness : 0.895663 Centerline is valid? [False, False] Translation: X:13.36, Y:0.29, Z:0.06 [[ 0.64058895 0.03065079 -0.767272 13.36476333] [ 0.08695512 0.98988033 0.1121416 0.28922722] [ 0.76294469 -0.1385549 0.63144116 0.05750708] [ 0. 0. 0. 1. ]] SLAMing on 100.79964924600002 meters Centerline goodness : 0.896746 Centerline is valid? [False, False] Translation: X:13.37, Y:0.29, Z:0.06 [[ 0.64015869 0.03079703 -0.76762516 13.36554505] [ 0.08723202 0.98982003 0.11245835 0.28918687] [ 0.76327414 -0.13895268 0.63095541 0.05900493] [ 0. 0. 0. 1. ]] SLAMing on 100.82964924600002 meters Centerline goodness : 0.894291 Centerline is valid? [False, False] Translation: X:13.37, Y:0.29, Z:0.06 [[ 0.63970073 0.03066239 -0.76801224 13.36679033] [ 0.08781229 0.98974619 0.11265649 0.28886943] [ 0.7635915 -0.13950735 0.63044882 0.06070528] [ 0. 0. 0. 1. ]] SLAMing on 100.85964924600002 meters Centerline goodness : 0.889642 Centerline is valid? [False, False] Translation: X:13.37, Y:0.29, Z:0.06 [[ 0.63872437 0.03042541 -0.76883384 13.36890407] [ 0.08877917 0.9896301 0.11291818 0.28890921] [ 0.76429669 -0.14038002 0.62939973 0.06400851] [ 0. 0. 0. 1. ]] SLAMing on 100.88964924600002 meters Centerline goodness : 0.891000 Centerline is valid? [False, False] Translation: X:13.37, Y:0.29, Z:0.07 [[ 0.63816465 0.03037892 -0.76930034 13.37014167] [ 0.08918085 0.9895782 0.11305647 0.28843356] [ 0.76471737 -0.1407555 0.6288046 0.06568071] [ 0. 0. 0. 1. ]] SLAMing on 100.91964924600002 meters Centerline goodness : 0.889880 Centerline is valid? [False, False] Translation: X:13.37, Y:0.29, Z:0.07 [[ 0.63711097 0.03038563 -0.77017292 13.37208131] [ 0.08992953 0.9894677 0.11342997 0.28688836] [ 0.76550786 -0.14152877 0.62766816 0.0690968 ] [ 0. 0. 0. 1. ]] SLAMing on 100.949649246 meters Centerline goodness : 0.891351 Centerline is valid? [False, False] Translation: X:13.37, Y:0.29, Z:0.07 [[ 0.63656001 0.02994322 -0.77064567 13.37421726] [ 0.09060768 0.98942227 0.11328646 0.2868162 ] [ 0.76588615 -0.14194005 0.62711356 0.0707373 ] [ 0. 0. 0. 1. ]] SLAMing on 100.97964924600001 meters Centerline goodness : 0.893910 Centerline is valid? [False, False] Translation: X:13.38, Y:0.29, Z:0.07 [[ 0.63549687 0.02902301 -0.77155777 13.37863671] [ 0.09174136 0.9893757 0.11277964 0.28699482] [ 0.76663372 -0.14245487 0.62608255 0.07355345] [ 0. 0. 0. 1. ]] SLAMing on 101.00964924600001 meters Centerline goodness : 0.892723 Centerline is valid? [False, False] Translation: X:13.38, Y:0.29, Z:0.08 [[ 0.6341321 0.02831384 -0.77270615 13.3827533 ] [ 0.09286361 0.98930733 0.11246046 0.28648285] [ 0.76762805 -0.14307107 0.62472221 0.07718701] [ 0. 0. 0. 1. ]] SLAMing on 101.03964924600001 meters Centerline goodness : 0.891595 Centerline is valid? [False, False] Translation: X:13.39, Y:0.29, Z:0.08 [[ 0.63336035 0.02765145 -0.77336283 13.3854233 ] [ 0.09368363 0.98927147 0.11209523 0.28697938] [ 0.76816537 -0.14344811 0.62397484 0.07915774] [ 0. 0. 0. 1. ]] SLAMing on 101.06964924600001 meters Centerline goodness : 0.887898 Centerline is valid? [False, False] Translation: X:13.39, Y:0.29, Z:0.08 [[ 0.63270754 0.02699023 -0.77392034 13.38803708] [ 0.09447961 0.98923598 0.11173975 0.2874334 ] [ 0.76860573 -0.14381828 0.62334704 0.08089882] [ 0. 0. 0. 1. ]] SLAMing on 101.09964924600001 meters Centerline goodness : 0.887401 Centerline is valid? [False, False] Translation: X:13.39, Y:0.29, Z:0.09 [[ 0.63118739 0.02569312 -0.77520471 13.3925125 ] [ 0.09649184 0.98908597 0.11134754 0.28805335] [ 0.76960497 -0.14508209 0.62181941 0.0856033 ] [ 0. 0. 0. 1. ]] SLAMing on 101.12964924600001 meters Centerline goodness : 0.885336 Centerline is valid? [False, False] Translation: X:13.40, Y:0.29, Z:0.09 [[ 0.62963009 0.02407477 -0.77652196 13.39860439] [ 0.0984092 0.98899705 0.11045569 0.28975446] [ 0.77063713 -0.14596313 0.62033312 0.08971123] [ 0. 0. 0. 1. ]] SLAMing on 101.15964924600001 meters Centerline goodness : 0.892113 Centerline is valid? [False, False] Translation: X:13.40, Y:0.29, Z:0.09 [[ 0.62897554 0.02331186 -0.7770755 13.40113597] [ 0.09928814 0.98895628 0.11003335 0.29056623] [ 0.77105877 -0.14636266 0.61971472 0.09143137] [ 0. 0. 0. 1. ]] SLAMing on 101.18964924600002 meters Centerline goodness : 0.889491 Centerline is valid? [False, False] Translation: X:13.40, Y:0.29, Z:0.10 [[ 0.62765299 0.02353277 -0.77813748 13.40227334] [ 0.10025766 0.98877602 0.11077176 0.28938802] [ 0.77201045 -0.14754047 0.61824888 0.0960537 ] [ 0. 0. 0. 1. ]] SLAMing on 101.21964924600002 meters Centerline goodness : 0.893268 Centerline is valid? [False, False] Translation: X:13.40, Y:0.29, Z:0.10 [[ 0.62699032 0.02365993 -0.77866768 13.40274358] [ 0.10069265 0.98869272 0.11112022 0.28908532] [ 0.77249216 -0.14807741 0.61751838 0.09823926] [ 0. 0. 0. 1. ]] SLAMing on 101.24964924600002 meters Centerline goodness : 0.893248 Centerline is valid? [False, False] Translation: X:13.40, Y:0.29, Z:0.10 [[ 0.62592942 0.02346828 -0.77952653 13.40474074] [ 0.1014437 0.98860493 0.11121809 0.2903975 ] [ 0.77325387 -0.14869273 0.6164162 0.10136368] [ 0. 0. 0. 1. ]] SLAMing on 101.27964924600002 meters Centerline goodness : 0.891777 Centerline is valid? [False, False] Translation: X:13.41, Y:0.29, Z:0.10 [[ 0.62534449 0.02316908 -0.78000479 13.40619557] [ 0.10197622 0.98856115 0.11112024 0.29141926] [ 0.77365698 -0.14903037 0.61582857 0.10298226] [ 0. 0. 0. 1. ]] SLAMing on 101.309649246 meters Centerline goodness : 0.892866 Centerline is valid? [False, False] Translation: X:13.41, Y:0.29, Z:0.11 [[ 0.62428888 0.02284309 -0.78085952 13.40793578] [ 0.10313386 0.98841302 0.11136923 0.29175692] [ 0.77435574 -0.15005963 0.61469936 0.10670744] [ 0. 0. 0. 1. ]] SLAMing on 101.33964924600001 meters Centerline goodness : 0.892243 Centerline is valid? [False, False] Translation: X:13.41, Y:0.29, Z:0.11 [[ 0.62369478 0.0225345 -0.78134309 13.40928914] [ 0.10376598 0.9883508 0.1113343 0.2924492 ] [ 0.77474993 -0.15051545 0.61409091 0.10850321] [ 0. 0. 0. 1. ]] SLAMing on 101.36964924600001 meters Centerline goodness : 0.896056 Centerline is valid? [False, False] Translation: X:13.41, Y:0.29, Z:0.11 [[ 0.62269768 0.02196521 -0.78215416 13.41141963] [ 0.10502068 0.98821511 0.1113623 0.293178 ] [ 0.77538265 -0.15148741 0.61305246 0.11195481] [ 0. 0. 0. 1. ]] SLAMing on 101.39964924600001 meters Centerline goodness : 0.902398 Centerline is valid? [False, False] Translation: X:13.41, Y:0.29, Z:0.11 [[ 0.62255726 0.01687176 -0.78239236 13.41009909] [ 0.10881415 0.98818942 0.10789412 0.29340758] [ 0.77497222 -0.15230563 0.61336861 0.11287794] [ 0. 0. 0. 1. ]] SLAMing on 101.42964924600001 meters Centerline goodness : 0.904958 Centerline is valid? [False, False] Translation: X:13.41, Y:0.30, Z:0.12 [[ 6.21151293e-01 9.79864901e-03 -7.83629413e-01 1.34136877e+01] [ 1.14256742e-01 9.88105474e-01 1.02922147e-01 2.96307031e-01] [ 7.75317011e-01 -1.53465168e-01 6.12643432e-01 1.16257278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.45964924600001 meters Centerline goodness : 0.900916 Centerline is valid? [False, False] Translation: X:13.42, Y:0.30, Z:0.12 [[ 6.19849622e-01 1.33415042e-02 -7.84607195e-01 1.34187421e+01] [ 1.12656239e-01 9.87985331e-01 1.05799613e-01 2.97967028e-01] [ 7.76591925e-01 -1.53970746e-01 6.10899330e-01 1.19815724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48964924600001 meters Centerline goodness : 0.893304 Centerline is valid? [False, False] Translation: X:13.43, Y:0.30, Z:0.13 [[ 0.61810278 0.01490991 -0.78595588 13.43025888] [ 0.11352568 0.98764586 0.10801656 0.30409493] [ 0.77785659 -0.15599151 0.60877399 0.12624402] [ 0. 0. 0. 1. ]] SLAMing on 101.51964924600001 meters Centerline goodness : 0.892522 Centerline is valid? [False, False] Translation: X:13.43, Y:0.31, Z:0.13 [[ 0.61742431 0.01378103 -0.78650957 13.43361111] [ 0.11430592 0.98766242 0.1070378 0.30682155] [ 0.77828104 -0.15599044 0.60823154 0.12731798] [ 0. 0. 0. 1. ]] SLAMing on 101.54964924600002 meters Centerline goodness : 0.892531 Centerline is valid? [False, False] Translation: X:13.44, Y:0.31, Z:0.13 [[ 6.16059085e-01 1.31614862e-02 -7.87589982e-01 1.34362250e+01] [ 1.15067547e-01 9.87630922e-01 1.06511129e-01 3.09234009e-01] [ 7.79250065e-01 -1.56243196e-01 6.06924542e-01 1.30380172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.57964924600002 meters Centerline goodness : 0.898155 Centerline is valid? [False, False] Translation: X:13.44, Y:0.31, Z:0.13 [[ 6.14859699e-01 1.30237453e-02 -7.88528967e-01 1.34370795e+01] [ 1.15519300e-01 9.87591418e-01 1.06388357e-01 3.10882222e-01] [ 7.80130016e-01 -1.56504227e-01 6.05725668e-01 1.33384869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60964924600002 meters Centerline goodness : 0.894349 Centerline is valid? [False, False] Translation: X:13.44, Y:0.31, Z:0.13 [[ 6.14275782e-01 1.29241648e-02 -7.88985570e-01 1.34381236e+01] [ 1.15757948e-01 9.87572758e-01 1.06302143e-01 3.11812197e-01] [ 7.80554522e-01 -1.56630183e-01 6.05145953e-01 1.34724823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.63964924600002 meters Centerline goodness : 0.895937 Centerline is valid? [False, False] Translation: X:13.44, Y:0.31, Z:0.14 [[ 6.13669427e-01 1.26589909e-02 -7.89461579e-01 1.34395330e+01] [ 1.16011374e-01 9.87573947e-01 1.06014435e-01 3.13492385e-01] [ 7.80993723e-01 -1.56644340e-01 6.04575351e-01 1.35907014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66964924600002 meters Centerline goodness : 0.890722 Centerline is valid? [False, False] Translation: X:13.44, Y:0.32, Z:0.14 [[ 0.61208302 0.01638653 -0.79062372 13.44434661] [ 0.11417292 0.987479 0.10885667 0.31679844] [ 0.7825081 -0.15689713 0.60254822 0.13993626] [ 0. 0. 0. 1. ]] SLAMing on 101.699649246 meters Centerline goodness : 0.887964 Centerline is valid? [False, False] Translation: X:13.45, Y:0.32, Z:0.14 [[ 0.61148521 0.01576906 -0.79109871 13.44628298] [ 0.1146063 0.98749334 0.10826954 0.3191025 ] [ 0.78291202 -0.15687012 0.60203034 0.14096723] [ 0. 0. 0. 1. ]] SLAMing on 101.72964924600001 meters Centerline goodness : 0.888945 Centerline is valid? [False, False] Translation: X:13.45, Y:0.32, Z:0.14 [[ 0.61033967 0.0156804 -0.79198461 13.447344 ] [ 0.11476727 0.98750456 0.1079964 0.32189172] [ 0.78378183 -0.1568084 0.6009136 0.14338348] [ 0. 0. 0. 1. ]] SLAMing on 101.75964924600001 meters Centerline goodness : 0.893163 Centerline is valid? [False, False] Translation: X:13.45, Y:0.32, Z:0.15 [[ 0.60920441 0.01537335 -0.79286421 13.44890325] [ 0.11495992 0.98753865 0.10747852 0.32455627] [ 0.78463635 -0.15662399 0.59984558 0.1455316 ] [ 0. 0. 0. 1. ]] SLAMing on 101.78964924600001 meters Centerline goodness : 0.890539 Centerline is valid? [False, False] Translation: X:13.45, Y:0.33, Z:0.15 [[ 0.60885891 0.01518225 -0.79313324 13.44993577] [ 0.11511593 0.98754273 0.10727388 0.32611059] [ 0.78488162 -0.15661693 0.59952646 0.14620012] [ 0. 0. 0. 1. ]] SLAMing on 101.81964924600001 meters Centerline goodness : 0.889580 Centerline is valid? [False, False] Translation: X:13.45, Y:0.33, Z:0.15 [[ 0.60761144 0.01404815 -0.79411019 13.45398073] [ 0.11601034 0.98755034 0.10623521 0.32979829] [ 0.7857162 -0.15667472 0.59841715 0.14854542] [ 0. 0. 0. 1. ]] SLAMing on 101.84964924600001 meters Centerline goodness : 0.891796 Centerline is valid? [False, False] Translation: X:13.46, Y:0.33, Z:0.15 [[ 0.60717311 0.01371157 -0.79445126 13.4555292 ] [ 0.1162677 0.98755565 0.10590399 0.33109095] [ 0.78601695 -0.15667107 0.59802302 0.14937397] [ 0. 0. 0. 1. ]] SLAMing on 101.87964924600001 meters Centerline goodness : 0.889622 Centerline is valid? [False, False] Translation: X:13.46, Y:0.33, Z:0.15 [[ 0.60608719 0.01357281 -0.7952824 13.45701058] [ 0.11650542 0.98755555 0.10564341 0.33299386] [ 0.78681942 -0.15668383 0.59696346 0.15168628] [ 0. 0. 0. 1. ]] SLAMing on 101.90964924600001 meters Centerline goodness : 0.894630 Centerline is valid? [False, False] Translation: X:13.46, Y:0.33, Z:0.15 [[ 0.60561366 0.01354543 -0.79564352 13.4576588 ] [ 0.11659515 0.98755383 0.10556041 0.33375291] [ 0.78717067 -0.15669701 0.59649676 0.15270099] [ 0. 0. 0. 1. ]] SLAMing on 101.93964924600002 meters Centerline goodness : 0.891876 Centerline is valid? [False, False] Translation: X:13.46, Y:0.34, Z:0.15 [[ 0.60468189 0.01358526 -0.79635121 13.4587964 ] [ 0.11612733 0.9876659 0.10502626 0.33633568] [ 0.78795574 -0.15598562 0.59564606 0.1538414 ] [ 0. 0. 0. 1. ]] SLAMing on 101.96964924600002 meters Centerline goodness : 0.897296 Centerline is valid? [False, False] Translation: X:13.46, Y:0.34, Z:0.15 [[ 6.04300603e-01 1.34175335e-02 -7.96643428e-01 1.34601790e+01] [ 1.15986765e-01 9.87725681e-01 1.04618593e-01 3.38278448e-01] [ 7.88268895e-01 -1.55621172e-01 5.95326968e-01 1.54139287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.99964924600002 meters Centerline goodness : 0.890880 Centerline is valid? [False, False] Translation: X:13.46, Y:0.34, Z:0.16 [[ 6.03285183e-01 1.26025494e-02 -7.97425962e-01 1.34621647e+01] [ 1.16858016e-01 9.87686494e-01 1.04017278e-01 3.40645977e-01] [ 7.88917735e-01 -1.55937698e-01 5.94383918e-01 1.56547191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02964924600002 meters Centerline goodness : 0.893897 Centerline is valid? [False, False] Translation: X:13.46, Y:0.34, Z:0.16 [[ 6.02717900e-01 1.22693555e-02 -7.97860010e-01 1.34627283e+01] [ 1.17589350e-01 9.87599798e-01 1.04016266e-01 3.41183423e-01] [ 7.89242598e-01 -1.56512306e-01 5.93801331e-01 1.58358685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.059649246 meters Centerline goodness : 0.894662 Centerline is valid? [False, False] Translation: X:13.47, Y:0.34, Z:0.16 [[ 6.01431538e-01 1.10675534e-02 -7.98847679e-01 1.34660909e+01] [ 1.18803608e-01 9.87547836e-01 1.03126012e-01 3.43746770e-01] [ 7.90041650e-01 -1.56929222e-01 5.92627548e-01 1.61291282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.08964924600001 meters Centerline goodness : 0.890477 Centerline is valid? [False, False] Translation: X:13.47, Y:0.35, Z:0.16 [[ 6.00827929e-01 1.03865503e-02 -7.99310903e-01 1.34686724e+01] [ 1.19350518e-01 9.87542270e-01 1.02546183e-01 3.45632541e-01] [ 7.90418404e-01 -1.57010781e-01 5.92103336e-01 1.62417971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.11964924600001 meters Centerline goodness : 0.884318 Centerline is valid? [False, False] Translation: X:13.47, Y:0.35, Z:0.17 [[ 0.59923656 0.01411167 -0.80044763 13.47427724] [ 0.11778054 0.98741091 0.10558145 0.3467075 ] [ 0.79186065 -0.15754542 0.59003063 0.16694263] [ 0. 0. 0. 1. ]] SLAMing on 102.14964924600001 meters Centerline goodness : 0.886615 Centerline is valid? [False, False] Translation: X:13.48, Y:0.35, Z:0.17 [[ 0.59788524 0.01393144 -0.80146063 13.47720512] [ 0.11871516 0.9872839 0.10572238 0.3454537 ] [ 0.79274204 -0.15835538 0.5886286 0.17093591] [ 0. 0. 0. 1. ]] SLAMing on 102.17964924600001 meters Centerline goodness : 0.886615 Centerline is valid? [False, False] Translation: X:13.48, Y:0.35, Z:0.17 [[ 0.59788524 0.01393144 -0.80146063 13.47720512] [ 0.11871516 0.9872839 0.10572238 0.3454537 ] [ 0.79274204 -0.15835538 0.5886286 0.17093591] [ 0. 0. 0. 1. ]] SLAMing on 102.20964924600001 meters Centerline goodness : 0.887119 Centerline is valid? [False, False] Translation: X:13.48, Y:0.34, Z:0.17 [[ 0.59730473 0.0142047 -0.80188857 13.47754864] [ 0.11892935 0.98722031 0.10607487 0.34407926] [ 0.79314744 -0.15872711 0.587982 0.17281299] [ 0. 0. 0. 1. ]] SLAMing on 102.23964924600001 meters Centerline goodness : 0.889179 Centerline is valid? [False, False] Translation: X:13.48, Y:0.34, Z:0.18 [[ 0.59622711 0.01439334 -0.80268678 13.47852515] [ 0.11947523 0.98711451 0.10644532 0.34306858] [ 0.79387587 -0.15936677 0.58682478 0.1761575 ] [ 0. 0. 0. 1. ]] SLAMing on 102.26964924600001 meters Centerline goodness : 0.894768 Centerline is valid? [False, False] Translation: X:13.48, Y:0.34, Z:0.18 [[ 0.59562409 0.01462469 -0.80313016 13.47937851] [ 0.11977305 0.98704003 0.1068007 0.34211138] [ 0.79428355 -0.15980642 0.58615318 0.17808265] [ 0. 0. 0. 1. ]] SLAMing on 102.29964924600002 meters Centerline goodness : 0.891152 Centerline is valid? [False, False] Translation: X:13.48, Y:0.34, Z:0.18 [[ 0.59427906 0.01373296 -0.80414166 13.48338202] [ 0.1214278 0.98686047 0.10659132 0.34116318] [ 0.79503943 -0.16099014 0.58480295 0.1823837 ] [ 0. 0. 0. 1. ]] SLAMing on 102.32964924600002 meters Centerline goodness : 0.886831 Centerline is valid? [False, False] Translation: X:13.49, Y:0.34, Z:0.18 [[ 5.93588264e-01 1.34495492e-02 -8.04656500e-01 1.34853315e+01] [ 1.22110460e-01 9.86778154e-01 1.06573497e-01 3.40635039e-01] [ 7.95450821e-01 -1.61517752e-01 5.84097600e-01 1.84485126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.35964924600002 meters Centerline goodness : 0.888876 Centerline is valid? [False, False] Translation: X:13.49, Y:0.34, Z:0.19 [[ 5.92944211e-01 1.32854919e-02 -8.05133938e-01 1.34869410e+01] [ 1.22624742e-01 9.86712680e-01 1.06589215e-01 3.40329126e-01] [ 7.95851956e-01 -1.61930799e-01 5.83436441e-01 1.86358773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38964924600002 meters Centerline goodness : 0.892947 Centerline is valid? [False, False] Translation: X:13.49, Y:0.34, Z:0.19 [[ 5.91731623e-01 1.27129979e-02 -8.06034780e-01 1.34898460e+01] [ 1.24039402e-01 9.86532462e-01 1.06620488e-01 3.39389637e-01] [ 7.96534942e-01 -1.63070786e-01 5.82185542e-01 1.90402160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.41964924600002 meters Centerline goodness : 0.893846 Centerline is valid? [False, False] Translation: X:13.49, Y:0.34, Z:0.19 [[ 5.90958561e-01 7.26275540e-03 -8.06669221e-01 1.34920364e+01] [ 1.27936004e-01 9.86460510e-01 1.02606243e-01 3.39318124e-01] [ 7.96492535e-01 -1.63838074e-01 5.82028116e-01 1.92188352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.449649246 meters Centerline goodness : 0.895507 Centerline is valid? [False, False] Translation: X:13.49, Y:0.34, Z:0.19 [[ 5.90315785e-01 7.07575198e-03 -8.07141380e-01 1.34932266e+01] [ 1.28391800e-01 9.86407276e-01 1.02548676e-01 3.39388041e-01] [ 7.96895740e-01 -1.64166437e-01 5.81383317e-01 1.93928184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.47964924600001 meters Centerline goodness : 0.893063 Centerline is valid? [False, False] Translation: X:13.50, Y:0.34, Z:0.20 [[ 5.89211997e-01 6.15030630e-03 -8.07955071e-01 1.34968337e+01] [ 1.29497350e-01 9.86325250e-01 1.01945761e-01 3.39767290e-01] [ 7.97533485e-01 -1.64695706e-01 5.80358221e-01 1.96820417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50964924600001 meters Centerline goodness : 0.895548 Centerline is valid? [False, False] Translation: X:13.50, Y:0.34, Z:0.20 [[ 5.88454866e-01 5.69149143e-03 -8.08510035e-01 1.34987642e+01] [ 1.30202089e-01 9.86257093e-01 1.01707243e-01 3.40147778e-01] [ 7.97977623e-01 -1.65119817e-01 5.79626742e-01 1.98838317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.53964924600001 meters Centerline goodness : 0.890449 Centerline is valid? [False, False] Translation: X:13.50, Y:0.34, Z:0.20 [[ 5.87365857e-01 5.16032291e-03 -8.09305085e-01 1.35015169e+01] [ 1.31251906e-01 9.86134552e-01 1.01545959e-01 3.40295405e-01] [ 7.98607718e-01 -1.65867464e-01 5.78544464e-01 2.02016739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56964924600001 meters Centerline goodness : 0.891819 Centerline is valid? [False, False] Translation: X:13.50, Y:0.34, Z:0.20 [[ 5.86724071e-01 4.74932943e-03 -8.09772998e-01 1.35032279e+01] [ 1.31821173e-01 9.86084437e-01 1.01294925e-01 3.41121623e-01] [ 7.98985634e-01 -1.66177397e-01 5.77933413e-01 2.03641428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.59964924600001 meters Centerline goodness : 0.888783 Centerline is valid? [False, False] Translation: X:13.51, Y:0.34, Z:0.21 [[ 5.85548940e-01 4.06730674e-03 -8.10626854e-01 1.35061269e+01] [ 1.33083984e-01 9.85936967e-01 1.01078928e-01 3.41667344e-01] [ 7.99638101e-01 -1.67068110e-01 5.76773052e-01 2.07161923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62964924600001 meters Centerline goodness : 0.894978 Centerline is valid? [False, False] Translation: X:13.51, Y:0.34, Z:0.21 [[ 5.84669551e-01 4.08672008e-03 -8.11261249e-01 1.35066792e+01] [ 1.33714786e-01 9.85825504e-01 1.01333272e-01 3.41287705e-01] [ 8.00176150e-01 -1.67724103e-01 5.75835700e-01 2.09836990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.65964924600001 meters Centerline goodness : 0.890720 Centerline is valid? [False, False] Translation: X:13.51, Y:0.34, Z:0.21 [[ 5.83500792e-01 3.69772863e-03 -8.12104151e-01 1.35084260e+01] [ 1.34242288e-01 9.85793921e-01 1.00942323e-01 3.42568631e-01] [ 8.00940593e-01 -1.67918645e-01 5.74715142e-01 2.12473858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68964924600002 meters Centerline goodness : 0.890818 Centerline is valid? [False, False] Translation: X:13.51, Y:0.34, Z:0.21 [[ 5.82985121e-01 3.51103374e-03 -8.12475243e-01 1.35095941e+01] [ 1.34585913e-01 9.85758469e-01 1.00830908e-01 3.43424533e-01] [ 8.01258373e-01 -1.68130642e-01 5.74209985e-01 2.13754447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.71964924600002 meters Centerline goodness : 0.885549 Centerline is valid? [False, False] Translation: X:13.51, Y:0.35, Z:0.22 [[ 5.81973132e-01 2.54729947e-03 -8.13204024e-01 1.35129554e+01] [ 1.35468590e-01 9.85718510e-01 1.00036396e-01 3.45890269e-01] [ 8.01845081e-01 -1.68382097e-01 5.73316610e-01 2.15909027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74964924600002 meters Centerline goodness : 0.886704 Centerline is valid? [False, False] Translation: X:13.51, Y:0.35, Z:0.22 [[ 5.81317724e-01 2.00994426e-03 -8.13674175e-01 1.35149546e+01] [ 1.36064054e-01 9.85676257e-01 9.96438171e-02 3.46890711e-01] [ 8.02219594e-01 -1.68636524e-01 5.72717597e-01 2.17429160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.77964924600002 meters Centerline goodness : 0.888929 Centerline is valid? [False, False] Translation: X:13.52, Y:0.35, Z:0.22 [[ 5.79855697e-01 8.67995333e-04 -8.14718735e-01 1.35177942e+01] [ 1.37963341e-01 9.85452775e-01 9.92418541e-02 3.47502728e-01] [ 8.02952979e-01 -1.69947273e-01 5.71300654e-01 2.21928131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.809649246 meters Centerline goodness : 0.893768 Centerline is valid? [False, False] Translation: X:13.52, Y:0.35, Z:0.22 [[ 5.79312406e-01 6.36274500e-04 -8.15105350e-01 1.35188551e+01] [ 1.38447947e-01 9.85392339e-01 9.91670503e-02 3.47705958e-01] [ 8.03261665e-01 -1.70298365e-01 5.70761916e-01 2.23487669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.83964924600001 meters Centerline goodness : 0.885266 Centerline is valid? [False, False] Translation: X:13.53, Y:0.35, Z:0.23 [[ 5.77207592e-01 2.84912739e-03 -8.16592480e-01 1.35268048e+01] [ 1.38124421e-01 9.85244317e-01 1.01070672e-01 3.52286693e-01] [ 8.04831063e-01 -1.71130122e-01 5.68296966e-01 2.29143090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86964924600001 meters Centerline goodness : 0.880751 Centerline is valid? [False, False] Translation: X:13.53, Y:0.35, Z:0.23 [[ 5.76598436e-01 1.55615399e-03 -8.17026207e-01 1.35288745e+01] [ 1.39209597e-01 9.85188589e-01 1.00120584e-01 3.54849141e-01] [ 8.05080699e-01 -1.71467261e-01 5.67841568e-01 2.30393206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.89964924600001 meters Centerline goodness : 0.881836 Centerline is valid? [False, False] Translation: X:13.53, Y:0.36, Z:0.23 [[ 5.75318989e-01 1.56523405e-04 -8.17929115e-01 1.35307464e+01] [ 1.40936255e-01 9.85024022e-01 9.93209333e-02 3.57437537e-01] [ 8.05695372e-01 -1.72417085e-01 5.66680965e-01 2.33754464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92964924600001 meters Centerline goodness : 0.881925 Centerline is valid? [False, False] Translation: X:13.53, Y:0.36, Z:0.24 [[ 5.74633706e-01 -9.09909995e-04 -8.18410213e-01 1.35330417e+01] [ 1.41863675e-01 9.84972100e-01 9.85122279e-02 3.59547381e-01] [ 8.06021589e-01 -1.72711127e-01 5.66127251e-01 2.35193504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.95964924600001 meters Centerline goodness : 0.882042 Centerline is valid? [False, False] Translation: X:13.53, Y:0.36, Z:0.23 [[ 5.78762265e-01 1.90010304e-03 -8.15494102e-01 1.35334988e+01] [ 1.42965084e-01 9.84274109e-01 1.03756751e-01 3.63986157e-01] [ 8.02866879e-01 -1.76637675e-01 5.69389064e-01 2.29614285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98964924600001 meters Centerline goodness : 0.882577 Centerline is valid? [False, False] Translation: X:13.53, Y:0.37, Z:0.23 [[ 5.78305892e-01 1.37887197e-03 -8.15818849e-01 1.35349716e+01] [ 1.43111256e-01 9.84320798e-01 1.03110310e-01 3.66929615e-01] [ 8.03169636e-01 -1.76382160e-01 5.69041185e-01 2.29976672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.01964924600001 meters Centerline goodness : 0.883981 Centerline is valid? [False, False] Translation: X:13.54, Y:0.37, Z:0.23 [[ 5.77188750e-01 1.07132557e-03 -8.16610066e-01 1.35370255e+01] [ 1.43053626e-01 9.84402979e-01 1.02403293e-01 3.70328810e-01] [ 8.03983089e-01 -1.75925059e-01 5.68033068e-01 2.31480499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04964924600002 meters Centerline goodness : 0.882162 Centerline is valid? [False, False] Translation: X:13.54, Y:0.37, Z:0.23 [[ 5.76570636e-01 8.17497284e-04 -8.17046898e-01 1.35380962e+01] [ 1.43310571e-01 9.84395470e-01 1.02115812e-01 3.71698739e-01] [ 8.04380745e-01 -1.75968436e-01 5.67456366e-01 2.32685094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.07964924600002 meters Centerline goodness : 0.886639 Centerline is valid? [False, False] Translation: X:13.54, Y:0.37, Z:0.23 [[ 5.75781821e-01 6.91487708e-04 -8.17603092e-01 1.35391958e+01] [ 1.43259783e-01 9.84443775e-01 1.01720640e-01 3.74125069e-01] [ 8.04954613e-01 -1.75698537e-01 5.66725767e-01 2.33945420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10964924600002 meters Centerline goodness : 0.883425 Centerline is valid? [False, False] Translation: X:13.54, Y:0.37, Z:0.24 [[ 5.75357284e-01 8.76632652e-04 -8.17901722e-01 1.35390782e+01] [ 1.43300129e-01 9.84423457e-01 1.01860344e-01 3.74478594e-01] [ 8.05250935e-01 -1.75811513e-01 5.66269585e-01 2.35030743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.13964924600002 meters Centerline goodness : 0.885281 Centerline is valid? [False, False] Translation: X:13.54, Y:0.38, Z:0.24 [[ 5.74903195e-01 -3.90783828e-03 -8.18212103e-01 1.35386783e+01] [ 1.46273182e-01 9.84370585e-01 9.80750079e-02 3.75433391e-01] [ 8.05040665e-01 -1.76066123e-01 5.66489407e-01 2.35412812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16964924600002 meters Centerline goodness : 0.887114 Centerline is valid? [False, False] Translation: X:13.54, Y:0.38, Z:0.24 [[ 5.74227902e-01 -3.89145252e-03 -8.18686248e-01 1.35391133e+01] [ 1.46721742e-01 9.84288145e-01 9.82322689e-02 3.75555092e-01] [ 8.05440902e-01 -1.76526782e-01 5.65776677e-01 2.37376586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.199649246 meters Centerline goodness : 0.890975 Centerline is valid? [False, False] Translation: X:13.54, Y:0.38, Z:0.24 [[ 5.73103748e-01 -4.57340703e-03 -8.19470059e-01 1.35416474e+01] [ 1.48046606e-01 9.84108371e-01 9.80454818e-02 3.75813857e-01] [ 8.05998943e-01 -1.77509994e-01 5.64673274e-01 2.40865345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.22964924600001 meters Centerline goodness : 0.889250 Centerline is valid? [False, False] Translation: X:13.54, Y:0.38, Z:0.24 [[ 5.71964725e-01 -5.32127819e-03 -8.20260957e-01 1.35443249e+01] [ 1.49302154e-01 9.83950591e-01 9.77246205e-02 3.76349307e-01] [ 8.06576233e-01 -1.78361764e-01 5.63579507e-01 2.44128295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.25964924600001 meters Centerline goodness : 0.887910 Centerline is valid? [False, False] Translation: X:13.55, Y:0.38, Z:0.25 [[ 5.71315099e-01 -5.53557321e-03 -8.20712139e-01 1.35454673e+01] [ 1.49890914e-01 9.83862899e-01 9.77062400e-02 3.76460923e-01] [ 8.06927364e-01 -1.78838343e-01 5.62925462e-01 2.46022470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28964924600001 meters Centerline goodness : 0.884944 Centerline is valid? [False, False] Translation: X:13.55, Y:0.38, Z:0.25 [[ 5.70722080e-01 -5.54725114e-03 -8.21124555e-01 1.35460716e+01] [ 1.50363649e-01 9.83775072e-01 9.78640900e-02 3.76127430e-01] [ 8.07258992e-01 -1.79320482e-01 5.62296261e-01 2.47896892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.31964924600001 meters Centerline goodness : 0.886322 Centerline is valid? [False, False] Translation: X:13.55, Y:0.38, Z:0.25 [[ 5.70092993e-01 -1.05595505e-02 -8.21512310e-01 1.35462121e+01] [ 1.54084784e-01 9.83548725e-01 9.42856515e-02 3.76075950e-01] [ 8.07001771e-01 -1.80334136e-01 5.62341302e-01 2.49433041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34964924600001 meters Centerline goodness : 0.887382 Centerline is valid? [False, False] Translation: X:13.55, Y:0.38, Z:0.25 [[ 5.68986992e-01 -1.12408950e-02 -8.22269691e-01 1.35487426e+01] [ 1.55430699e-01 9.83353700e-01 9.41105708e-02 3.75829317e-01] [ 8.07524056e-01 -1.81353643e-01 5.61262644e-01 2.52938230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.37964924600001 meters Centerline goodness : 0.888172 Centerline is valid? [False, False] Translation: X:13.55, Y:0.38, Z:0.25 [[ 5.68336508e-01 -1.15776024e-02 -8.22714758e-01 1.35500775e+01] [ 1.56004124e-01 9.83280016e-01 9.39314788e-02 3.76144790e-01] [ 8.07871479e-01 -1.81731583e-01 5.60640085e-01 2.54691987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40964924600001 meters Centerline goodness : 0.890634 Centerline is valid? [False, False] Translation: X:13.55, Y:0.38, Z:0.26 [[ 5.67148894e-01 -1.19918418e-02 -8.23527976e-01 1.35517572e+01] [ 1.56956194e-01 9.83143256e-01 9.37768186e-02 3.75872981e-01] [ 8.08521419e-01 -1.82443236e-01 5.59470804e-01 2.58094010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.43964924600002 meters Centerline goodness : 0.890411 Centerline is valid? [False, False] Translation: X:13.55, Y:0.38, Z:0.26 [[ 5.66421549e-01 -1.19287588e-02 -8.24029328e-01 1.35525028e+01] [ 1.57212538e-01 9.83096901e-01 9.38333637e-02 3.75953070e-01] [ 8.08981364e-01 -1.82696982e-01 5.58722620e-01 2.59939602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46964924600002 meters Centerline goodness : 0.889849 Centerline is valid? [False, False] Translation: X:13.55, Y:0.38, Z:0.26 [[ 5.65446698e-01 -1.22625527e-02 -8.24693678e-01 1.35538164e+01] [ 1.57670599e-01 9.83056380e-01 9.34886990e-02 3.77226818e-01] [ 8.09573971e-01 -1.82892822e-01 5.57799427e-01 2.62296356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.49964924600002 meters Centerline goodness : 0.886690 Centerline is valid? [False, False] Translation: X:13.56, Y:0.38, Z:0.26 [[ 5.64876760e-01 -1.27053586e-02 -8.25077463e-01 1.35555588e+01] [ 1.58061577e-01 9.83032683e-01 9.30767499e-02 3.78482043e-01] [ 8.09895539e-01 -1.82989938e-01 5.57300546e-01 2.63483327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52964924600002 meters Centerline goodness : 0.886237 Centerline is valid? [False, False] Translation: X:13.56, Y:0.38, Z:0.26 [[ 5.64271974e-01 -1.31633749e-02 -8.25484019e-01 1.35573993e+01] [ 1.58317999e-01 9.83041641e-01 9.25448129e-02 3.80083448e-01] [ 8.10266963e-01 -1.82909422e-01 5.56786846e-01 2.64483419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.559649246 meters Centerline goodness : 0.885557 Centerline is valid? [False, False] Translation: X:13.56, Y:0.38, Z:0.26 [[ 5.69116235e-01 -1.30475644e-02 -8.22153558e-01 1.35575766e+01] [ 1.62209717e-01 9.82006542e-01 9.67013874e-02 3.81115357e-01] [ 8.06098455e-01 -1.88395625e-01 5.60992308e-01 2.58468383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.58964924600001 meters Centerline goodness : 0.890288 Centerline is valid? [False, False] Translation: X:13.56, Y:0.38, Z:0.26 [[ 0.56747488 -0.01446232 -0.82326369 13.56202161] [ 0.16403933 0.9817885 0.09582503 0.38220568] [ 0.80688498 -0.18942592 0.5595127 0.26276864] [ 0. 0. 0. 1. ]] SLAMing on 103.61964924600001 meters Centerline goodness : 0.885112 Centerline is valid? [False, False] Translation: X:13.56, Y:0.38, Z:0.27 [[ 0.56661152 -0.0150104 -0.82384833 13.56405641] [ 0.16489623 0.98167434 0.09552338 0.38272647] [ 0.80731692 -0.18997413 0.55870315 0.26506953] [ 0. 0. 0. 1. ]] SLAMing on 103.64964924600001 meters Centerline goodness : 0.884632 Centerline is valid? [False, False] Translation: X:13.57, Y:0.38, Z:0.27 [[ 0.56553376 -0.01532672 -0.82458272 13.56608484] [ 0.16594191 0.9814939 0.09556673 0.38232378] [ 0.80785819 -0.19087905 0.55761128 0.26844139] [ 0. 0. 0. 1. ]] SLAMing on 103.67964924600001 meters Centerline goodness : 0.883959 Centerline is valid? [False, False] Translation: X:13.57, Y:0.38, Z:0.27 [[ 0.56490223 -0.01516136 -0.82501854 13.5663143 ] [ 0.16630505 0.98140616 0.0958362 0.38167228] [ 0.80822528 -0.19134283 0.55691994 0.27045714] [ 0. 0. 0. 1. ]] SLAMing on 103.70964924600001 meters Centerline goodness : 0.885354 Centerline is valid? [False, False] Translation: X:13.57, Y:0.38, Z:0.27 [[ 0.56423911 -0.02063616 -0.82535348 13.56794374] [ 0.16998685 0.9811727 0.09167659 0.38242582] [ 0.80792245 -0.19202676 0.55712389 0.27142101] [ 0. 0. 0. 1. ]] SLAMing on 103.73964924600001 meters Centerline goodness : 0.884562 Centerline is valid? [False, False] Translation: X:13.57, Y:0.38, Z:0.27 [[ 0.56352561 -0.02090964 -0.82583393 13.56914097] [ 0.17066907 0.98105956 0.09161986 0.38229696] [ 0.80827654 -0.19257445 0.55642081 0.27350537] [ 0. 0. 0. 1. ]] SLAMing on 103.76964924600001 meters Centerline goodness : 0.883102 Centerline is valid? [False, False] Translation: X:13.57, Y:0.38, Z:0.28 [[ 0.56277891 -0.02717369 -0.82616069 13.57161069] [ 0.1754114 0.98062265 0.08723569 0.38293059] [ 0.80778137 -0.19401241 0.55664032 0.2752742 ] [ 0. 0. 0. 1. ]] SLAMing on 103.79964924600002 meters Centerline goodness : 0.884414 Centerline is valid? [False, False] Translation: X:13.57, Y:0.38, Z:0.28 [[ 0.56212585 -0.0275616 -0.82659233 13.57324918] [ 0.17616178 0.98049968 0.08710575 0.38240173] [ 0.80807274 -0.19457837 0.55601951 0.27727472] [ 0. 0. 0. 1. ]] SLAMing on 103.82964924600002 meters Centerline goodness : 0.886827 Centerline is valid? [False, False] Translation: X:13.58, Y:0.38, Z:0.28 [[ 0.5611349 -0.03351248 -0.82704567 13.57554353] [ 0.18101668 0.97996228 0.08310764 0.38186545] [ 0.80768842 -0.19634366 0.55595736 0.27999576] [ 0. 0. 0. 1. ]] SLAMing on 103.85964924600002 meters Centerline goodness : 0.889686 Centerline is valid? [False, False] Translation: X:13.58, Y:0.38, Z:0.28 [[ 0.56036202 -0.03402229 -0.82754872 13.57723044] [ 0.18200661 0.97979128 0.08296169 0.38193404] [ 0.80800248 -0.19710792 0.5552301 0.28234546] [ 0. 0. 0. 1. ]] SLAMing on 103.88964924600002 meters Centerline goodness : 0.881881 Centerline is valid? [False, False] Translation: X:13.58, Y:0.38, Z:0.29 [[ 0.55875213 -0.03611574 -0.82854795 13.58358785] [ 0.18394183 0.97956522 0.08134734 0.3842808 ] [ 0.80867884 -0.19785763 0.55397735 0.2859414 ] [ 0. 0. 0. 1. ]] SLAMing on 103.91964924600002 meters Centerline goodness : 0.877859 Centerline is valid? [False, False] Translation: X:13.59, Y:0.39, Z:0.29 [[ 0.55795585 -0.03686175 -0.82905156 13.58607541] [ 0.18485062 0.97943471 0.08085722 0.38508501] [ 0.80902134 -0.19836546 0.55329524 0.28795485] [ 0. 0. 0. 1. ]] SLAMing on 103.949649246 meters Centerline goodness : 0.878538 Centerline is valid? [False, False] Translation: X:13.59, Y:0.39, Z:0.29 [[ 0.55645423 -0.03835014 -0.82999274 13.59064485] [ 0.18657172 0.97919181 0.07983983 0.38627617] [ 0.80966022 -0.19928038 0.55203048 0.29170561] [ 0. 0. 0. 1. ]] SLAMing on 103.97964924600001 meters Centerline goodness : 0.875590 Centerline is valid? [False, False] Translation: X:13.60, Y:0.39, Z:0.30 [[ 0.55491323 -0.03962372 -0.83096406 13.59504207] [ 0.18832201 0.97891824 0.07908163 0.38690351] [ 0.81031236 -0.20037227 0.5506767 0.29585967] [ 0. 0. 0. 1. ]] SLAMing on 104.00964924600001 meters Centerline goodness : 0.902620 Centerline is valid? [False, False] Translation: X:13.60, Y:0.39, Z:0.30 [[ 0.55449843 -0.03972162 -0.83123624 13.59586923] [ 0.18857869 0.97887382 0.07901981 0.38747629] [ 0.81053659 -0.2005698 0.55027465 0.29692931] [ 0. 0. 0. 1. ]] SLAMing on 104.03964924600001 meters Centerline goodness : 0.905175 Centerline is valid? [False, False] Translation: X:13.60, Y:0.39, Z:0.30 [[ 0.55412073 -0.03965783 -0.83149111 13.59612871] [ 0.18872151 0.97884129 0.07908176 0.38783016] [ 0.81076162 -0.20074111 0.54988054 0.29790652] [ 0. 0. 0. 1. ]] SLAMing on 104.06964924600001 meters Centerline goodness : 0.905175 Centerline is valid? [False, False] Translation: X:13.60, Y:0.39, Z:0.30 [[ 0.55412073 -0.03965783 -0.83149111 13.59612871] [ 0.18872151 0.97884129 0.07908176 0.38783016] [ 0.81076162 -0.20074111 0.54988054 0.29790652] [ 0. 0. 0. 1. ]] SLAMing on 104.09964924600001 meters Centerline goodness : 0.902698 Centerline is valid? [False, False] Translation: X:13.60, Y:0.39, Z:0.30 [[ 0.55343001 -0.04009864 -0.83192988 13.5974041 ] [ 0.18907702 0.97881127 0.07860265 0.38970306] [ 0.81115048 -0.20079989 0.54928526 0.29919324] [ 0. 0. 0. 1. ]] SLAMing on 104.12964924600001 meters Centerline goodness : 0.879751 Centerline is valid? [False, False] Translation: X:13.60, Y:0.39, Z:0.30 [[ 0.55304376 -0.04022608 -0.83218055 13.59803447] [ 0.18920945 0.97879954 0.0784299 0.39108099] [ 0.81138301 -0.20083158 0.54893013 0.29990457] [ 0. 0. 0. 1. ]] SLAMing on 104.15964924600001 meters Centerline goodness : 0.875159 Centerline is valid? [False, False] Translation: X:13.60, Y:0.39, Z:0.30 [[ 0.55229133 -0.04073127 -0.83265554 13.59925337] [ 0.18952215 0.97878706 0.07782834 0.39369329] [ 0.81182242 -0.20079059 0.54829508 0.30114894] [ 0. 0. 0. 1. ]] SLAMing on 104.18964924600002 meters Centerline goodness : 0.875825 Centerline is valid? [False, False] Translation: X:13.60, Y:0.39, Z:0.30 [[ 0.55173375 -0.04055747 -0.83303359 13.59910792] [ 0.1896493 0.97875225 0.07795629 0.39417042] [ 0.81217179 -0.20099535 0.54770234 0.30256784] [ 0. 0. 0. 1. ]] SLAMing on 104.21964924600002 meters Centerline goodness : 0.874594 Centerline is valid? [False, False] Translation: X:13.60, Y:0.40, Z:0.30 [[ 0.55094205 -0.04057273 -0.83355666 13.59919759] [ 0.18995461 0.97869642 0.07791383 0.3955051 ] [ 0.81263774 -0.20126394 0.54691199 0.3045287 ] [ 0. 0. 0. 1. ]] SLAMing on 104.24964924600002 meters Centerline goodness : 0.875661 Centerline is valid? [False, False] Translation: X:13.60, Y:0.40, Z:0.31 [[ 0.54963663 -0.03655483 -0.83460369 13.60233963] [ 0.18811502 0.97879997 0.08101455 0.39780777] [ 0.8139486 -0.20153006 0.54486083 0.30859057] [ 0. 0. 0. 1. ]] SLAMing on 104.27964924600002 meters Centerline goodness : 0.871901 Centerline is valid? [False, False] Translation: X:13.60, Y:0.40, Z:0.31 [[ 0.54912356 -0.03684942 -0.8349284 13.60329112] [ 0.18823306 0.97881157 0.0805992 0.39963536] [ 0.81426755 -0.20142005 0.54442477 0.30931755] [ 0. 0. 0. 1. ]] SLAMing on 104.309649246 meters Centerline goodness : 0.872302 Centerline is valid? [False, False] Translation: X:13.60, Y:0.40, Z:0.31 [[ 0.54869463 -0.03692712 -0.83520692 13.60352605] [ 0.1881841 0.97884138 0.08035112 0.40121961] [ 0.81456795 -0.20126089 0.5440341 0.30989265] [ 0. 0. 0. 1. ]] SLAMing on 104.33964924600001 meters Centerline goodness : 0.870646 Centerline is valid? [False, False] Translation: X:13.60, Y:0.41, Z:0.31 [[ 0.5478116 -0.03691348 -0.83578696 13.60420276] [ 0.1874699 0.97903686 0.07963576 0.40515608] [ 0.81532661 -0.20031029 0.54324792 0.31030123] [ 0. 0. 0. 1. ]] SLAMing on 104.36964924600001 meters Centerline goodness : 0.869148 Centerline is valid? [False, False] Translation: X:13.60, Y:0.41, Z:0.31 [[ 0.54745753 -0.03686326 -0.83602115 13.6043996 ] [ 0.18716122 0.9791161 0.07938723 0.40732196] [ 0.81563529 -0.19993188 0.54292385 0.31044117] [ 0. 0. 0. 1. ]] SLAMing on 104.39964924600001 meters Centerline goodness : 0.869453 Centerline is valid? [False, False] Translation: X:13.60, Y:0.41, Z:0.31 [[ 0.54700428 -0.03649233 -0.83633404 13.60327144] [ 0.18666551 0.97921278 0.07936192 0.40895402] [ 0.81605288 -0.19952603 0.54244544 0.31100016] [ 0. 0. 0. 1. ]] SLAMing on 104.42964924600001 meters Centerline goodness : 0.865811 Centerline is valid? [False, False] Translation: X:13.61, Y:0.41, Z:0.31 [[ 0.54563232 -0.03798529 -0.83716336 13.60585415] [ 0.18845778 0.97894603 0.07841135 0.41171653] [ 0.81655927 -0.20055372 0.54130321 0.31443649] [ 0. 0. 0. 1. ]] SLAMing on 104.45964924600001 meters Centerline goodness : 0.866583 Centerline is valid? [False, False] Translation: X:13.61, Y:0.41, Z:0.32 [[ 0.54506855 -0.03824127 -0.83751888 13.6066652 ] [ 0.18902774 0.97884284 0.07832764 0.4123735 ] [ 0.81680401 -0.20100823 0.54076511 0.31600346] [ 0. 0. 0. 1. ]] SLAMing on 104.48964924600001 meters Centerline goodness : 0.868205 Centerline is valid? [False, False] Translation: X:13.61, Y:0.41, Z:0.32 [[ 0.54398335 -0.03906631 -0.8381861 13.60917428] [ 0.19043235 0.9785983 0.07798006 0.41307994] [ 0.8172011 -0.2020376 0.53978067 0.3192615 ] [ 0. 0. 0. 1. ]] SLAMing on 104.51964924600001 meters Centerline goodness : 0.865725 Centerline is valid? [False, False] Translation: X:13.61, Y:0.41, Z:0.32 [[ 0.54340847 -0.03925308 -0.8385502 13.61023013] [ 0.1909309 0.97850553 0.07792511 0.41315125] [ 0.8174672 -0.20245031 0.53922282 0.32092059] [ 0. 0. 0. 1. ]] SLAMing on 104.54964924600002 meters Centerline goodness : 0.865067 Centerline is valid? [False, False] Translation: X:13.61, Y:0.41, Z:0.32 [[ 0.54273623 -0.03884468 -0.83900446 13.61052632] [ 0.19107309 0.97844777 0.0783009 0.41254624] [ 0.81788047 -0.20280791 0.53846123 0.32305344] [ 0. 0. 0. 1. ]] SLAMing on 104.57964924600002 meters Centerline goodness : 0.861490 Centerline is valid? [False, False] Translation: X:13.61, Y:0.41, Z:0.32 [[ 0.54236835 -0.03865054 -0.83925128 13.61131371] [ 0.19106297 0.97844067 0.07841424 0.41255504] [ 0.81812683 -0.20287924 0.53805994 0.3240016 ] [ 0. 0. 0. 1. ]] SLAMing on 104.60964924600002 meters Centerline goodness : 0.863819 Centerline is valid? [False, False] Translation: X:13.61, Y:0.41, Z:0.33 [[ 0.5418952 -0.03878662 -0.83955059 13.61272426] [ 0.19118952 0.97843293 0.07820205 0.41305618] [ 0.81841075 -0.20289059 0.5376237 0.32500602] [ 0. 0. 0. 1. ]] SLAMing on 104.63964924600002 meters Centerline goodness : 0.861930 Centerline is valid? [False, False] Translation: X:13.62, Y:0.41, Z:0.33 [[ 0.54068103 -0.03944232 -0.84030252 13.61560431] [ 0.19226596 0.97825457 0.07779333 0.41362543] [ 0.81896143 -0.20362295 0.5365071 0.32827096] [ 0. 0. 0. 1. ]] SLAMing on 104.66964924600002 meters Centerline goodness : 0.859767 Centerline is valid? [False, False] Translation: X:13.62, Y:0.41, Z:0.33 [[ 0.53976609 -0.03953779 -0.84088604 13.6174926 ] [ 0.19295563 0.97811279 0.07786844 0.4132117 ] [ 0.81940265 -0.20428443 0.53558115 0.33114997] [ 0. 0. 0. 1. ]] SLAMing on 104.699649246 meters Centerline goodness : 0.859128 Centerline is valid? [False, False] Translation: X:13.62, Y:0.41, Z:0.33 [[ 0.53924064 -0.0396424 -0.84121817 13.61831276] [ 0.19339742 0.97802438 0.07788291 0.41340031] [ 0.81964442 -0.20468706 0.53505723 0.33268232] [ 0. 0. 0. 1. ]] SLAMing on 104.72964924600001 meters Centerline goodness : 0.861853 Centerline is valid? [False, False] Translation: X:13.62, Y:0.41, Z:0.34 [[ 0.53859945 -0.03935431 -0.84164236 13.61830258] [ 0.19395462 0.97787314 0.07839474 0.41266916] [ 0.81993429 -0.20546379 0.53431488 0.33521998] [ 0. 0. 0. 1. ]] SLAMing on 104.75964924600001 meters Centerline goodness : 0.860740 Centerline is valid? [False, False] Translation: X:13.62, Y:0.41, Z:0.34 [[ 0.53812845 -0.03909195 -0.84195581 13.61853829] [ 0.19420895 0.97779589 0.0787279 0.41172796] [ 0.8201833 -0.20588108 0.5337718 0.33688909] [ 0. 0. 0. 1. ]] SLAMing on 104.78964924600001 meters Centerline goodness : 0.860344 Centerline is valid? [False, False] Translation: X:13.62, Y:0.41, Z:0.34 [[ 0.53732989 -0.0391159 -0.84246456 13.61927051] [ 0.19500116 0.97761771 0.07898202 0.41136534] [ 0.82051882 -0.20672096 0.53293087 0.3396936 ] [ 0. 0. 0. 1. ]] SLAMing on 104.81964924600001 meters Centerline goodness : 0.859854 Centerline is valid? [False, False] Translation: X:13.61, Y:0.41, Z:0.33 [[ 0.53323608 -0.03453057 -0.84526145 13.609904 ] [ 0.19907856 0.97622834 0.08570857 0.40778228] [ 0.82220862 -0.21397633 0.52743447 0.33389027] [ 0. 0. 0. 1. ]] SLAMing on 104.84964924600001 meters Centerline goodness : 0.863008 Centerline is valid? [False, False] Translation: X:13.61, Y:0.41, Z:0.34 [[ 0.53279112 -0.03451649 -0.84554257 13.61081568] [ 0.19942169 0.9761493 0.08581101 0.4072154 ] [ 0.82241389 -0.21433887 0.52696702 0.33532879] [ 0. 0. 0. 1. ]] SLAMing on 104.87964924600001 meters Centerline goodness : 0.865404 Centerline is valid? [False, False] Translation: X:13.61, Y:0.41, Z:0.34 [[ 0.53237149 -0.03451763 -0.84580679 13.61159876] [ 0.1996699 0.9760958 0.08584236 0.40707401] [ 0.82262539 -0.21458219 0.52653771 0.33656928] [ 0. 0. 0. 1. ]] SLAMing on 104.90964924600001 meters Centerline goodness : 0.858947 Centerline is valid? [False, False] Translation: X:13.61, Y:0.41, Z:0.34 [[ 0.5314883 -0.03521491 -0.84633333 13.61411507] [ 0.20013782 0.97606747 0.08507143 0.4087459 ] [ 0.82308265 -0.21459777 0.52581627 0.33821775] [ 0. 0. 0. 1. ]] SLAMing on 104.93964924600002 meters Centerline goodness : 0.856449 Centerline is valid? [False, False] Translation: X:13.62, Y:0.41, Z:0.34 [[ 0.53105223 -0.03575186 -0.84658451 13.61595348] [ 0.20048543 0.97604203 0.08454314 0.41000973] [ 0.82327949 -0.21462468 0.52549703 0.33895181] [ 0. 0. 0. 1. ]] SLAMing on 104.96964924600002 meters Centerline goodness : 0.854276 Centerline is valid? [False, False] Translation: X:13.61, Y:0.41, Z:0.33 [[ 0.52599456 -0.02846576 -0.85001142 13.60747503] [ 0.20206727 0.97500411 0.09238941 0.40792215] [ 0.8261347 -0.22035581 0.51859886 0.33266355] [ 0. 0. 0. 1. ]] SLAMing on 104.99964924600002 meters Centerline goodness : 0.852030 Centerline is valid? [False, False] Translation: X:13.60, Y:0.41, Z:0.32 [[ 0.52444261 -0.02569721 -0.85105793 13.59744891] [ 0.20519908 0.97389738 0.09704239 0.40550014] [ 0.82634937 -0.22552947 0.51602633 0.32023729] [ 0. 0. 0. 1. ]] SLAMing on 105.02964924600002 meters Centerline goodness : 0.852105 Centerline is valid? [False, False] Translation: X:13.59, Y:0.40, Z:0.31 [[ 0.52264585 -0.02203425 -0.8522651 13.58758607] [ 0.20829934 0.97266976 0.10259102 0.40303434] [ 0.82671198 -0.23114503 0.51295154 0.30947334] [ 0. 0. 0. 1. ]] SLAMing on 105.05964924600002 meters Centerline goodness : 0.854781 Centerline is valid? [False, False] Translation: X:13.59, Y:0.40, Z:0.31 [[ 0.52194444 -0.02214287 -0.85269203 13.58831183] [ 0.20843857 0.97266747 0.10232968 0.40419037] [ 0.82711992 -0.23114432 0.51229381 0.31090543] [ 0. 0. 0. 1. ]] SLAMing on 105.08964924600001 meters Centerline goodness : 0.856872 Centerline is valid? [False, False] Translation: X:13.59, Y:0.40, Z:0.31 [[ 0.52165614 -0.02199562 -0.85287224 13.58851413] [ 0.20840442 0.972669 0.10238461 0.40467341] [ 0.82731038 -0.2311519 0.51198274 0.31158896] [ 0. 0. 0. 1. ]] SLAMing on 105.11964924600001 meters Centerline goodness : 0.855987 Centerline is valid? [False, False] Translation: X:13.58, Y:0.40, Z:0.30 [[ 0.51889508 -0.01784741 -0.8546516 13.5788988 ] [ 0.21165535 0.97133427 0.10822084 0.40243405] [ 0.82822093 -0.23704685 0.50779807 0.30191767] [ 0. 0. 0. 1. ]] SLAMing on 105.14964924600001 meters Centerline goodness : 0.854376 Centerline is valid? [False, False] Translation: X:13.57, Y:0.40, Z:0.29 [[ 0.51672875 -0.01422723 -0.85603095 13.56911316] [ 0.21498638 0.9699815 0.11365184 0.39960889] [ 0.82871723 -0.24276217 0.50427599 0.291141 ] [ 0. 0. 0. 1. ]] SLAMing on 105.17964924600001 meters Centerline goodness : 0.850766 Centerline is valid? [False, False] Translation: X:13.56, Y:0.40, Z:0.28 [[ 5.14799701e-01 -1.32448451e-02 -8.57208167e-01 1.35594177e+01] [ 2.18811370e-01 9.68794889e-01 1.16439032e-01 3.97157583e-01] [ 8.28916674e-01 -2.47509672e-01 5.01633442e-01 2.77335528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20964924600001 meters Centerline goodness : 0.853577 Centerline is valid? [False, False] Translation: X:13.55, Y:0.39, Z:0.25 [[ 0.51692585 -0.0210783 -0.85577063 13.54718839] [ 0.22257996 0.9686216 0.1105909 0.39398333] [ 0.82658685 -0.24764469 0.50539715 0.2499493 ] [ 0. 0. 0. 1. ]] SLAMing on 105.23964924600001 meters Centerline goodness : 0.854736 Centerline is valid? [False, False] Translation: X:13.55, Y:0.39, Z:0.25 [[ 0.51694635 -0.02573701 -0.85563081 13.54632108] [ 0.22500613 0.96848531 0.1068103 0.39488978] [ 0.82591689 -0.24773737 0.50644593 0.24851399] [ 0. 0. 0. 1. ]] SLAMing on 105.26964924600001 meters Centerline goodness : 0.856140 Centerline is valid? [False, False] Translation: X:13.54, Y:0.39, Z:0.23 [[ 0.51931384 -0.02478306 -0.85422417 13.53571376] [ 0.22838586 0.96724726 0.11078191 0.39153911] [ 0.82350048 -0.2526233 0.50796499 0.23321956] [ 0. 0. 0. 1. ]] SLAMing on 105.29964924600002 meters Centerline goodness : 0.854506 Centerline is valid? [False, False] Translation: X:13.53, Y:0.39, Z:0.22 [[ 0.52290802 -0.0245088 -0.85203669 13.52778275] [ 0.23331507 0.96552747 0.11541569 0.39046521] [ 0.81983613 -0.25914479 0.51060032 0.21990494] [ 0. 0. 0. 1. ]] SLAMing on 105.32964924600002 meters Centerline goodness : 0.857899 Centerline is valid? [False, False] Translation: X:13.53, Y:0.39, Z:0.22 [[ 0.5227186 -0.0303284 -0.85196564 13.52841491] [ 0.23729106 0.96504913 0.1112346 0.39127714] [ 0.81881513 -0.26030823 0.51164578 0.21983045] [ 0. 0. 0. 1. ]] SLAMing on 105.35964924600002 meters Centerline goodness : 0.856628 Centerline is valid? [False, False] Translation: X:13.53, Y:0.39, Z:0.22 [[ 0.52177516 -0.03102643 -0.85251865 13.52991783] [ 0.23850566 0.96479251 0.1108624 0.39242224] [ 0.81906394 -0.26117577 0.51080474 0.2225727 ] [ 0. 0. 0. 1. ]] SLAMing on 105.38964924600002 meters Centerline goodness : 0.858236 Centerline is valid? [False, False] Translation: X:13.53, Y:0.39, Z:0.22 [[ 0.5213674 -0.03148074 -0.85275143 13.53117465] [ 0.23884433 0.96476033 0.11041234 0.39344368] [ 0.81922489 -0.26124024 0.51051359 0.22329322] [ 0. 0. 0. 1. ]] SLAMing on 105.41964924600002 meters Centerline goodness : 0.857057 Centerline is valid? [False, False] Translation: X:13.53, Y:0.39, Z:0.22 [[ 0.52076171 -0.03212047 -0.8530976 13.53307764] [ 0.23920875 0.96475162 0.10969727 0.3947622 ] [ 0.81950376 -0.26119455 0.5100892 0.22435354] [ 0. 0. 0. 1. ]] SLAMing on 105.449649246 meters Centerline goodness : 0.856841 Centerline is valid? [False, False] Translation: X:13.52, Y:0.39, Z:0.21 [[ 0.51941349 -0.03208975 -0.8539203 13.52381316] [ 0.24259596 0.96371617 0.11134786 0.39267141] [ 0.81936367 -0.2649932 0.50835202 0.20897353] [ 0. 0. 0. 1. ]] SLAMing on 105.47964924600001 meters Centerline goodness : 0.857812 Centerline is valid? [False, False] Translation: X:13.53, Y:0.39, Z:0.21 [[ 0.51886147 -0.03270285 -0.85423258 13.52576877] [ 0.24292465 0.96371277 0.11065849 0.39368808] [ 0.819616 -0.26493058 0.50797776 0.20985708] [ 0. 0. 0. 1. ]] SLAMing on 105.50964924600001 meters Centerline goodness : 0.857014 Centerline is valid? [False, False] Translation: X:13.53, Y:0.40, Z:0.21 [[ 0.51797831 -0.03364989 -0.85473163 13.52838363] [ 0.24330673 0.96374812 0.10950524 0.39550881] [ 0.82006116 -0.26468329 0.50738786 0.21108455] [ 0. 0. 0. 1. ]] SLAMing on 105.53964924600001 meters Centerline goodness : 0.858674 Centerline is valid? [False, False] Translation: X:13.52, Y:0.39, Z:0.20 [[ 0.51878828 -0.03257092 -0.85428207 13.51831947] [ 0.24624188 0.96261773 0.11283633 0.39209648] [ 0.81867189 -0.26889819 0.50741512 0.19589579] [ 0. 0. 0. 1. ]] SLAMing on 105.56964924600001 meters Centerline goodness : 0.860350 Centerline is valid? [False, False] Translation: X:13.51, Y:0.39, Z:0.18 [[ 0.52028178 -0.03142319 -0.85341634 13.50942154] [ 0.24972636 0.96124009 0.11685134 0.38983072] [ 0.81666616 -0.27391618 0.50796291 0.18205025] [ 0. 0. 0. 1. ]] SLAMing on 105.59964924600001 meters Centerline goodness : 0.860952 Centerline is valid? [False, False] Translation: X:13.50, Y:0.39, Z:0.17 [[ 0.51778339 -0.0286257 -0.85503271 13.50008831] [ 0.25254543 0.96001544 0.12079388 0.38635939] [ 0.81738679 -0.27847967 0.50430933 0.16966912] [ 0. 0. 0. 1. ]] SLAMing on 105.62964924600001 meters Centerline goodness : 0.856136 Centerline is valid? [False, False] Translation: X:13.49, Y:0.38, Z:0.16 [[ 0.51432148 -0.02320015 -0.8572836 13.49190158] [ 0.25408954 0.95887372 0.12648987 0.38441841] [ 0.81909213 -0.28288325 0.49906427 0.15894404] [ 0. 0. 0. 1. ]] SLAMing on 105.65964924600001 meters Centerline goodness : 0.858322 Centerline is valid? [False, False] Translation: X:13.49, Y:0.39, Z:0.16 [[ 0.51396682 -0.02366528 -0.85748356 13.49297686] [ 0.25422397 0.9589138 0.12591462 0.38569805] [ 0.81927302 -0.28270881 0.49886616 0.15920622] [ 0. 0. 0. 1. ]] SLAMing on 105.68964924600002 meters Centerline goodness : 0.864267 Centerline is valid? [False, False] Translation: X:13.48, Y:0.38, Z:0.13 [[ 0.51583979 -0.02781768 -0.85623331 13.48065785] [ 0.25574095 0.95889915 0.12291861 0.38228147] [ 0.81762209 -0.28238023 0.50175245 0.13473136] [ 0. 0. 0. 1. ]] SLAMing on 105.71964924600002 meters Centerline goodness : 0.864408 Centerline is valid? [False, False] Translation: X:13.47, Y:0.38, Z:0.12 [[ 0.51740951 -0.0272588 -0.85530366 13.46997318] [ 0.25762601 0.95808409 0.12531447 0.37874655] [ 0.81603691 -0.28518737 0.5027444 0.11662909] [ 0. 0. 0. 1. ]] SLAMing on 105.74964924600002 meters Centerline goodness : 0.866849 Centerline is valid? [False, False] Translation: X:13.46, Y:0.38, Z:0.10 [[ 0.5197028 -0.02568341 -0.85396098 13.45979696] [ 0.25851285 0.95741893 0.12853054 0.37753625] [ 0.81429731 -0.28755757 0.50421279 0.09853388] [ 0. 0. 0. 1. ]] SLAMing on 105.77964924600002 meters Centerline goodness : 0.865273 Centerline is valid? [False, False] Translation: X:13.45, Y:0.38, Z:0.08 [[ 0.52017527 -0.02449206 -0.85370828 13.45096314] [ 0.26041124 0.95653789 0.13122973 0.37500494] [ 0.81339024 -0.2905777 0.50394536 0.0812602 ] [ 0. 0. 0. 1. ]] SLAMing on 105.80964924600002 meters Centerline goodness : 0.864235 Centerline is valid? [False, False] Translation: X:13.44, Y:0.37, Z:0.06 [[ 0.52021206 -0.02427385 -0.85369209 13.44214577] [ 0.26133981 0.95616972 0.13206425 0.37320057] [ 0.81306883 -0.29180514 0.50375474 0.06118719] [ 0. 0. 0. 1. ]] SLAMing on 105.83964924600001 meters Centerline goodness : 0.867945 Centerline is valid? [False, False] Translation: X:13.43, Y:0.37, Z:0.04 [[ 0.52196603 -0.02887947 -0.85247724 13.43277288] [ 0.26647492 0.95492391 0.13081071 0.37272251] [ 0.81027315 -0.29544255 0.50613349 0.04301127] [ 0. 0. 0. 1. ]] SLAMing on 105.86964924600001 meters Centerline goodness : 0.866066 Centerline is valid? [False, False] Translation: X:13.42, Y:0.37, Z:0.03 [[ 0.52004153 -0.03149651 -0.85356006 13.42485218] [ 0.27175361 0.95349343 0.13038503 0.37108379] [ 0.80975724 -0.29976366 0.50441547 0.02817322] [ 0. 0. 0. 1. ]] SLAMing on 105.89964924600001 meters Centerline goodness : 0.866458 Centerline is valid? [False, False] Translation: X:13.42, Y:0.37, Z:0.01 [[ 5.18681236e-01 -3.21684519e-02 -8.54362315e-01 1.34157162e+01] [ 2.75198755e-01 9.52391086e-01 1.31213048e-01 3.68350761e-01] [ 8.09466133e-01 -3.03177192e-01 5.02840104e-01 1.24241875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92964924600001 meters Centerline goodness : 0.871764 Centerline is valid? [False, False] Translation: X:13.41, Y:0.37, Z:-0.01 [[ 5.16624495e-01 -3.32155988e-02 -8.55567563e-01 1.34089448e+01] [ 2.77882229e-01 9.51661612e-01 1.30849696e-01 3.68584862e-01] [ 8.09864556e-01 -3.05347180e-01 5.00881724e-01 -5.23326147e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.95964924600001 meters Centerline goodness : 0.865487 Centerline is valid? [False, False] Translation: X:13.40, Y:0.37, Z:-0.02 [[ 0.51554127 -0.03265312 -0.85624235 13.40089042] [ 0.27968418 0.9509563 0.13213203 0.36678462] [ 0.80993454 -0.30759696 0.49938978 -0.02285912] [ 0. 0. 0. 1. ]] SLAMing on 105.98964924600001 meters Centerline goodness : 0.865487 Centerline is valid? [False, False] Translation: X:13.39, Y:0.36, Z:-0.04 [[ 0.51597662 -0.03585298 -0.85585203 13.39262716] [ 0.28327933 0.95005046 0.13098452 0.36307953] [ 0.80840643 -0.31003013 0.50036023 -0.04232629] [ 0. 0. 0. 1. ]] SLAMing on 106.01964924600001 meters Centerline goodness : 0.865646 Centerline is valid? [False, False] Translation: X:13.26, Y:0.26, Z:-0.29 [[ 0.54788689 -0.02239936 -0.83625249 13.26446493] [ 0.24720668 0.95933332 0.13626608 0.257425 ] [ 0.7991926 -0.2813856 0.53114342 -0.29219256] [ 0. 0. 0. 1. ]] SLAMing on 106.04964924600002 meters Centerline goodness : 0.863566 Centerline is valid? [False, False] Translation: X:13.26, Y:0.26, Z:-0.29 [[ 0.54755875 -0.02194077 -0.83647954 13.2634433 ] [ 0.24681195 0.95941627 0.1363975 0.25800772] [ 0.79953941 -0.28113879 0.53075202 -0.29175707] [ 0. 0. 0. 1. ]] SLAMing on 106.07964924600002 meters Centerline goodness : 0.868277 Centerline is valid? [False, False] Translation: X:13.25, Y:0.26, Z:-0.32 [[ 0.55006668 -0.02503472 -0.83474541 13.25077887] [ 0.24689062 0.95974663 0.13390828 0.25533946] [ 0.79779174 -0.27974929 0.53410548 -0.31744853] [ 0. 0. 0. 1. ]] SLAMing on 106.10964924600002 meters Centerline goodness : 0.872301 Centerline is valid? [False, False] Translation: X:13.24, Y:0.25, Z:-0.35 [[ 0.55203263 -0.02814655 -0.83334731 13.23649753] [ 0.24482034 0.96085118 0.12972283 0.25022614] [ 0.7970715 -0.2756316 0.53731206 -0.34778641] [ 0. 0. 0. 1. ]] SLAMing on 106.13964924600002 meters Centerline goodness : 0.872829 Centerline is valid? [False, False] Translation: X:13.24, Y:0.25, Z:-0.35 [[ 0.55179106 -0.02829858 -0.83350214 13.2373613 ] [ 0.24454313 0.96098353 0.12926451 0.25133843] [ 0.79732383 -0.27515422 0.53718234 -0.34790424] [ 0. 0. 0. 1. ]] SLAMing on 106.16964924600002 meters Centerline goodness : 0.871415 Centerline is valid? [False, False] Translation: X:13.23, Y:0.25, Z:-0.37 [[ 0.55258532 -0.02825883 -0.83297713 13.22611087] [ 0.24537785 0.96064573 0.13019022 0.24673262] [ 0.7965169 -0.27633534 0.53777282 -0.36772541] [ 0. 0. 0. 1. ]] SLAMing on 106.199649246 meters Centerline goodness : 0.873704 Centerline is valid? [False, False] Translation: X:13.21, Y:0.24, Z:-0.39 [[ 0.55312215 -0.02704218 -0.83266116 13.21413221] [ 0.24556257 0.96036066 0.13193344 0.24200681] [ 0.79608725 -0.27744572 0.5378373 -0.38786444] [ 0. 0. 0. 1. ]] SLAMing on 106.22964924600001 meters Centerline goodness : 0.872201 Centerline is valid? [False, False] Translation: X:13.21, Y:0.24, Z:-0.41 [[ 0.55297553 -0.0294947 -0.83267528 13.20512979] [ 0.24838315 0.95976925 0.13095344 0.2376236 ] [ 0.79531369 -0.27923656 0.5380549 -0.40736087] [ 0. 0. 0. 1. ]] SLAMing on 106.25964924600001 meters Centerline goodness : 0.872275 Centerline is valid? [False, False] Translation: X:13.19, Y:0.23, Z:-0.43 [[ 0.55246568 -0.03273445 -0.83289263 13.19416771] [ 0.25126386 0.95928872 0.12896364 0.23191985] [ 0.79476295 -0.2805238 0.53819908 -0.42783802] [ 0. 0. 0. 1. ]] SLAMing on 106.28964924600001 meters Centerline goodness : 0.875318 Centerline is valid? [False, False] Translation: X:13.18, Y:0.23, Z:-0.45 [[ 0.55291419 -0.03668291 -0.83243033 13.18209501] [ 0.25516091 0.95848935 0.12724417 0.22517014] [ 0.79320792 -0.28275879 0.53932241 -0.44753796] [ 0. 0. 0. 1. ]] SLAMing on 106.31964924600001 meters Centerline goodness : 0.871871 Centerline is valid? [False, False] Translation: X:13.18, Y:0.23, Z:-0.45 [[ 0.5527537 -0.04221416 -0.83227478 13.18269461] [ 0.25839098 0.95817675 0.12300979 0.22575096] [ 0.79227359 -0.28304641 0.54054351 -0.44838979] [ 0. 0. 0. 1. ]] SLAMing on 106.34964924600001 meters Centerline goodness : 0.879182 Centerline is valid? [False, False] Translation: X:13.17, Y:0.22, Z:-0.47 [[ 0.55549842 -0.04569215 -0.83026124 13.17043654] [ 0.26197421 0.95725629 0.12259655 0.2201914 ] [ 0.78917109 -0.28560923 0.54372452 -0.4687642 ] [ 0. 0. 0. 1. ]] SLAMing on 106.37964924600001 meters Centerline goodness : 0.881917 Centerline is valid? [False, False] Translation: X:13.16, Y:0.22, Z:-0.49 [[ 0.55658475 -0.04960663 -0.82930851 13.16014236] [ 0.26500613 0.95667114 0.120632 0.21584818] [ 0.78739137 -0.28691377 0.54561463 -0.49006295] [ 0. 0. 0. 1. ]] SLAMing on 106.40964924600001 meters Centerline goodness : 0.874436 Centerline is valid? [False, False] Translation: X:13.16, Y:0.22, Z:-0.49 [[ 0.55606337 -0.05033748 -0.82961416 13.16291298] [ 0.26524809 0.95671644 0.11973765 0.21712558] [ 0.78767822 -0.28663529 0.54534689 -0.48954833] [ 0. 0. 0. 1. ]] SLAMing on 106.43964924600002 meters Centerline goodness : 0.878909 Centerline is valid? [False, False] Translation: X:13.15, Y:0.21, Z:-0.51 [[ 0.5573713 -0.051073 -0.828691 13.15170923] [ 0.26704008 0.95609884 0.12068388 0.21241321] [ 0.78614682 -0.28855945 0.54654059 -0.50916031] [ 0. 0. 0. 1. ]] SLAMing on 106.46964924600002 meters Centerline goodness : 0.873945 Centerline is valid? [False, False] Translation: X:13.15, Y:0.21, Z:-0.51 [[ 0.55729699 -0.05166017 -0.82870459 13.15299504] [ 0.26613783 0.95651806 0.11934763 0.21405776] [ 0.78650539 -0.28706172 0.54681336 -0.51095286] [ 0. 0. 0. 1. ]] SLAMing on 106.49964924600002 meters Centerline goodness : 0.877340 Centerline is valid? [False, False] Translation: X:13.16, Y:0.22, Z:-0.51 [[ 0.55708369 -0.0533973 -0.82873789 13.15552523] [ 0.26648658 0.95665028 0.11749527 0.21603266] [ 0.7865384 -0.28630223 0.54716394 -0.51202795] [ 0. 0. 0. 1. ]] SLAMing on 106.52964924600002 meters Centerline goodness : 0.877588 Centerline is valid? [False, False] Translation: X:13.14, Y:0.21, Z:-0.53 [[ 0.55698751 -0.05919181 -0.82840886 13.14415858] [ 0.27127132 0.9557156 0.11410332 0.21048097] [ 0.78496929 -0.28827769 0.54837869 -0.53264419] [ 0. 0. 0. 1. ]] SLAMing on 106.55964924600002 meters Centerline goodness : 0.873967 Centerline is valid? [False, False] Translation: X:13.14, Y:0.21, Z:-0.55 [[ 0.5530334 -0.05814029 -0.83112801 13.13612903] [ 0.27382838 0.95482882 0.11541209 0.20598691] [ 0.78687488 -0.29141317 0.54397269 -0.54597855] [ 0. 0. 0. 1. ]] SLAMing on 106.58964924600001 meters Centerline goodness : 0.871298 Centerline is valid? [False, False] Translation: X:13.13, Y:0.20, Z:-0.56 [[ 0.55052443 -0.0573477 -0.83284698 13.1267322 ] [ 0.27558269 0.95419656 0.11646079 0.20113665] [ 0.78802096 -0.29363272 0.54111255 -0.56221284] [ 0. 0. 0. 1. ]] SLAMing on 106.61964924600001 meters Centerline goodness : 0.874388 Centerline is valid? [False, False] Translation: X:13.11, Y:0.19, Z:-0.58 [[ 0.55010034 -0.05882118 -0.83302442 13.11499975] [ 0.27634013 0.95414116 0.11511199 0.19397999] [ 0.78805187 -0.29352122 0.54112803 -0.58426704] [ 0. 0. 0. 1. ]] SLAMing on 106.64964924600001 meters Centerline goodness : 0.875484 Centerline is valid? [False, False] Translation: X:13.03, Y:0.13, Z:-0.75 [[ 0.55385713 -0.07948289 -0.82880923 13.02726327] [ 0.26936447 0.95900599 0.08803578 0.12925054] [ 0.78783568 -0.27201101 0.55256217 -0.75491998] [ 0. 0. 0. 1. ]] SLAMing on 106.67964924600001 meters Centerline goodness : 0.880877 Centerline is valid? [False, False] Translation: X:12.95, Y:0.07, Z:-0.91 [[ 0.55736001 -0.09985473 -0.82424441 12.94764221] [ 0.26510921 0.96217739 0.06270386 0.07053491] [ 0.78680806 -0.25346341 0.56275161 -0.91271295] [ 0. 0. 0. 1. ]] SLAMing on 106.70964924600001 meters Centerline goodness : 0.879185 Centerline is valid? [False, False] Translation: X:12.86, Y:0.01, Z:-1.08 [[ 5.59724113e-01 -1.25685324e-01 -8.19092252e-01 1.28598140e+01] [ 2.62345538e-01 9.64466866e-01 3.12807168e-02 1.02412087e-02] [ 7.86055810e-01 -2.32393769e-01 5.72808345e-01 -1.08499469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.73964924600001 meters Centerline goodness : 0.879641 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.05, Z:-1.26 [[ 5.63125490e-01 -1.44132106e-01 -8.13704872e-01 1.27680023e+01] [ 2.57781016e-01 9.66176105e-01 7.25823843e-03 -4.97852786e-02] [ 7.85136059e-01 -2.13844968e-01 5.81232913e-01 -1.25679628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76964924600001 meters Centerline goodness : 0.881777 Centerline is valid? [False, False] Translation: X:12.67, Y:-0.11, Z:-1.44 [[ 0.56900752 -0.16045278 -0.80652672 12.66752965] [ 0.25308114 0.96734524 -0.01389682 -0.11490454] [ 0.78241956 -0.1962093 0.59103429 -1.4402629 ] [ 0. 0. 0. 1. ]] SLAMing on 106.79964924600002 meters Centerline goodness : 0.881969 Centerline is valid? [False, False] Translation: X:12.57, Y:-0.18, Z:-1.61 [[ 0.57462856 -0.17504112 -0.79947647 12.5738098 ] [ 0.2465089 0.96851297 -0.03487099 -0.17555911] [ 0.78040719 -0.1770402 0.59968441 -1.6137554 ] [ 0. 0. 0. 1. ]] SLAMing on 106.82964924600002 meters Centerline goodness : 0.884697 Centerline is valid? [False, False] Translation: X:12.48, Y:-0.23, Z:-1.78 [[ 0.58101839 -0.18527935 -0.79252078 12.47730246] [ 0.23913011 0.96962764 -0.05137151 -0.2317913 ] [ 0.77796813 -0.15966779 0.60767737 -1.78098719] [ 0. 0. 0. 1. ]] SLAMing on 106.85964924600002 meters Centerline goodness : 0.887360 Centerline is valid? [False, False] Translation: X:12.38, Y:-0.28, Z:-1.94 [[ 0.58763211 -0.18755085 -0.7870916 12.3786039 ] [ 0.22884192 0.97157184 -0.06065909 -0.28486711] [ 0.7760927 -0.14447432 0.61384631 -1.94261767] [ 0. 0. 0. 1. ]] SLAMing on 106.88964924600002 meters Centerline goodness : 0.883655 Centerline is valid? [False, False] Translation: X:12.27, Y:-0.34, Z:-2.11 [[ 0.59444168 -0.18632264 -0.78225505 12.27176539] [ 0.21900878 0.97352499 -0.0654541 -0.33928517] [ 0.77374042 -0.13241208 0.61951013 -2.10740893] [ 0. 0. 0. 1. ]] SLAMing on 106.91964924600002 meters Centerline goodness : 0.882023 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.39, Z:-2.27 [[ 0.59797292 -0.19232516 -0.77809988 12.16600057] [ 0.21212329 0.97414394 -0.07776431 -0.38605553] [ 0.77293731 -0.11855215 0.62330835 -2.26958549] [ 0. 0. 0. 1. ]] SLAMing on 106.949649246 meters Centerline goodness : 0.878863 Centerline is valid? [False, False] Translation: X:12.06, Y:-0.43, Z:-2.42 [[ 0.60016974 -0.19928175 -0.77465029 12.06101238] [ 0.20717952 0.97414619 -0.09008798 -0.42951297] [ 0.77257552 -0.10642359 0.62594016 -2.42447766] [ 0. 0. 0. 1. ]] SLAMing on 106.97964924600001 meters Centerline goodness : 0.885027 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.47, Z:-2.58 [[ 0.60619293 -0.20545651 -0.76832138 11.95975956] [ 0.19956894 0.9744428 -0.10311875 -0.47387819] [ 0.76987166 -0.09082323 0.63170307 -2.57952381] [ 0. 0. 0. 1. ]] SLAMing on 107.00964924600001 meters Centerline goodness : 0.884757 Centerline is valid? [False, False] Translation: X:11.87, Y:-0.51, Z:-2.73 [[ 0.611742 -0.21484787 -0.76132262 11.86530726] [ 0.19287872 0.97387587 -0.1198482 -0.51256116] [ 0.76718285 -0.07352675 0.63720035 -2.72848472] [ 0. 0. 0. 1. ]] SLAMing on 107.03964924600001 meters Centerline goodness : 0.887531 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.55, Z:-2.88 [[ 0.61520423 -0.22224819 -0.75639243 11.76005284] [ 0.18837367 0.97308992 -0.13270782 -0.5505572 ] [ 0.76553192 -0.060842 0.64051474 -2.88113878] [ 0. 0. 0. 1. ]] SLAMing on 107.06964924600001 meters Centerline goodness : 0.888598 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.58, Z:-3.03 [[ 0.61657111 -0.23350279 -0.75187533 11.66036255] [ 0.18517438 0.97122525 -0.14977301 -0.58446994] [ 0.76521272 -0.04688234 0.64206817 -3.02803691] [ 0. 0. 0. 1. ]] SLAMing on 107.09964924600001 meters Centerline goodness : 0.892238 Centerline is valid? [False, False] Translation: X:11.56, Y:-0.62, Z:-3.17 [[ 0.61917296 -0.24016913 -0.74762533 11.55648449] [ 0.18114493 0.97008672 -0.16161148 -0.62211115] [ 0.76407549 -0.03536308 0.64415688 -3.17448384] [ 0. 0. 0. 1. ]] SLAMing on 107.12964924600001 meters Centerline goodness : 0.891082 Centerline is valid? [False, False] Translation: X:11.45, Y:-0.66, Z:-3.32 [[ 0.62337427 -0.24188483 -0.74356993 11.4485302 ] [ 0.17393374 0.97001973 -0.1697315 -0.66267458] [ 0.76233298 -0.02352565 0.64675728 -3.32287142] [ 0. 0. 0. 1. ]] SLAMing on 107.15964924600001 meters Centerline goodness : 0.890938 Centerline is valid? [False, False] Translation: X:11.34, Y:-0.70, Z:-3.46 [[ 0.62709089 -0.24541071 -0.73927708 11.34181304] [ 0.16959626 0.96932084 -0.1779163 -0.69663163] [ 0.76025925 -0.01380894 0.64947301 -3.46235279] [ 0. 0. 0. 1. ]] SLAMing on 107.18964924600002 meters Centerline goodness : 0.897936 Centerline is valid? [False, False] Translation: X:11.24, Y:-0.73, Z:-3.61 [[ 6.31075424e-01 -2.53350482e-01 -7.33183021e-01 1.12365087e+01] [ 1.65756515e-01 9.67374362e-01 -1.91602771e-01 -7.29834669e-01] [ 7.57805112e-01 -6.14062870e-04 6.52480678e-01 -3.60945466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.21964924600002 meters Centerline goodness : 0.898603 Centerline is valid? [False, False] Translation: X:11.14, Y:-0.76, Z:-3.75 [[ 0.63626896 -0.25821261 -0.72697184 11.13519567] [ 0.15904556 0.96598496 -0.20390577 -0.76173143] [ 0.7548949 0.01411727 0.65569382 -3.7510753 ] [ 0. 0. 0. 1. ]] SLAMing on 107.24964924600002 meters Centerline goodness : 0.897633 Centerline is valid? [False, False] Translation: X:11.02, Y:-0.79, Z:-3.89 [[ 0.63750392 -0.25979319 -0.72532493 11.02333106] [ 0.15509658 0.96543489 -0.20947678 -0.79244481] [ 0.75467463 0.02104685 0.65576156 -3.8933903 ] [ 0. 0. 0. 1. ]] SLAMing on 107.27964924600002 meters Centerline goodness : 0.895529 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.82, Z:-4.02 [[ 0.63923157 -0.26226655 -0.72291027 10.93021997] [ 0.15104737 0.96455609 -0.21637062 -0.81697143] [ 0.75403427 0.02911724 0.65618938 -4.01589328] [ 0. 0. 0. 1. ]] SLAMing on 107.30964924600002 meters Centerline goodness : 0.895603 Centerline is valid? [False, False] Translation: X:10.83, Y:-0.84, Z:-4.15 [[ 0.64150551 -0.26818708 -0.71871161 10.83467441] [ 0.14627931 0.96247243 -0.22858083 -0.8406404 ] [ 0.75304253 0.04150322 0.65666158 -4.15285222] [ 0. 0. 0. 1. ]] SLAMing on 107.33964924600001 meters Centerline goodness : 0.896446 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.87, Z:-4.30 [[ 0.64449022 -0.27572502 -0.71316763 10.73307005] [ 0.14138721 0.95960814 -0.24323215 -0.8667308 ] [ 0.75142665 0.05592796 0.65744205 -4.29527994] [ 0. 0. 0. 1. ]] SLAMing on 107.36964924600001 meters Centerline goodness : 0.896052 Centerline is valid? [False, False] Translation: X:10.63, Y:-0.89, Z:-4.43 [[ 0.64858789 -0.27987332 -0.70781684 10.62995881] [ 0.13602281 0.95759297 -0.25399506 -0.89420703] [ 0.74888687 0.06845889 0.65915236 -4.4328573 ] [ 0. 0. 0. 1. ]] SLAMing on 107.39964924600001 meters Centerline goodness : 0.899285 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.92, Z:-4.57 [[ 0.65182959 -0.28459052 -0.70294126 10.52852985] [ 0.13028453 0.95515858 -0.26589102 -0.92066717] [ 0.74709044 0.08173327 0.65967837 -4.56580275] [ 0. 0. 0. 1. ]] SLAMing on 107.42964924600001 meters Centerline goodness : 0.898916 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.94, Z:-4.69 [[ 0.65353833 -0.28790417 -0.69999917 10.43094648] [ 0.12635145 0.95335292 -0.27414141 -0.94358601] [ 0.74627271 0.09071601 0.65942979 -4.69218531] [ 0. 0. 0. 1. ]] SLAMing on 107.45964924600001 meters Centerline goodness : 0.896297 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.97, Z:-4.82 [[ 0.65532055 -0.29023107 -0.69736712 10.33234097] [ 0.12253266 0.95185367 -0.28099881 -0.96506433] [ 0.74534604 0.09869405 0.65933206 -4.82120853] [ 0. 0. 0. 1. ]] SLAMing on 107.48964924600001 meters Centerline goodness : 0.894876 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.99, Z:-4.96 [[ 0.65876499 -0.29533477 -0.69195814 10.23251074] [ 0.118099 0.94892158 -0.29257558 -0.9861201 ] [ 0.74302175 0.11101899 0.65999505 -4.95515676] [ 0. 0. 0. 1. ]] SLAMing on 107.51964924600001 meters Centerline goodness : 0.898128 Centerline is valid? [False, False] Translation: X:10.14, Y:-1.00, Z:-5.09 [[ 0.6615695 -0.30271542 -0.6860679 10.13689208] [ 0.11308664 0.94471039 -0.30778839 -1.00472849] [ 0.74130777 0.1260383 0.65922465 -5.08622913] [ 0. 0. 0. 1. ]] SLAMing on 107.54964924600002 meters Centerline goodness : 0.897561 Centerline is valid? [False, False] Translation: X:10.03, Y:-1.03, Z:-5.22 [[ 0.66630915 -0.30422416 -0.68079349 10.03174091] [ 0.1080676 0.94274714 -0.31551422 -1.02705018] [ 0.73780316 0.1366583 0.66103782 -5.22091189] [ 0. 0. 0. 1. ]] SLAMing on 107.57964924600002 meters Centerline goodness : 0.899386 Centerline is valid? [False, False] Translation: X:9.93, Y:-1.05, Z:-5.35 [[ 0.67004286 -0.30439678 -0.67704148 9.92607575] [ 0.1032064 0.9414006 -0.32111268 -1.04869199] [ 0.73511292 0.14528424 0.66219444 -5.34942572] [ 0. 0. 0. 1. ]] SLAMing on 107.60964924600002 meters Centerline goodness : 0.898957 Centerline is valid? [False, False] Translation: X:9.81, Y:-1.07, Z:-5.49 [[ 0.67541342 -0.30367318 -0.67201139 9.81140274] [ 0.09778639 0.94011061 -0.32654228 -1.07105879] [ 0.73092717 0.15483747 0.66465843 -5.48718838] [ 0. 0. 0. 1. ]] SLAMing on 107.63964924600002 meters Centerline goodness : 0.901690 Centerline is valid? [False, False] Translation: X:9.71, Y:-1.09, Z:-5.61 [[ 0.68340118 -0.29950642 -0.66577679 9.7099405 ] [ 0.0899201 0.93955861 -0.33036948 -1.09193597] [ 0.7244841 0.16590817 0.66902711 -5.60651667] [ 0. 0. 0. 1. ]] SLAMing on 107.66964924600002 meters Centerline goodness : 0.904694 Centerline is valid? [False, False] Translation: X:9.61, Y:-1.11, Z:-5.73 [[ 0.69048859 -0.29968221 -0.65834343 9.61473211] [ 0.08273949 0.93688812 -0.33969813 -1.1073224 ] [ 0.71859563 0.18008669 0.67170612 -5.72524949] [ 0. 0. 0. 1. ]] SLAMing on 107.699649246 meters Centerline goodness : 0.903375 Centerline is valid? [False, False] Translation: X:9.52, Y:-1.12, Z:-5.84 [[ 0.69466071 -0.30235695 -0.65270727 9.52073502] [ 0.07967632 0.9341307 -0.34792458 -1.11835764] [ 0.71491131 0.18968422 0.67299459 -5.83865927] [ 0. 0. 0. 1. ]] SLAMing on 107.72964924600001 meters Centerline goodness : 0.898035 Centerline is valid? [False, False] Translation: X:9.43, Y:-1.13, Z:-5.94 [[ 0.69960367 -0.30034499 -0.64834219 9.4346687 ] [ 0.07632936 0.93358919 -0.35012149 -1.13147818] [ 0.71044249 0.19545873 0.67606757 -5.93980172] [ 0. 0. 0. 1. ]] SLAMing on 107.75964924600001 meters Centerline goodness : 0.904845 Centerline is valid? [False, False] Translation: X:9.34, Y:-1.14, Z:-6.05 [[ 0.70134089 -0.3073059 -0.64318274 9.33767417] [ 0.0750338 0.92911356 -0.36210209 -1.14185473] [ 0.70886591 0.20569656 0.67468366 -6.05258656] [ 0. 0. 0. 1. ]] SLAMing on 107.78964924600001 meters Centerline goodness : 0.905305 Centerline is valid? [False, False] Translation: X:9.24, Y:-1.15, Z:-6.16 [[ 0.70368971 -0.30856569 -0.64000625 9.24248644] [ 0.07054942 0.92666682 -0.36920372 -1.15427227] [ 0.70699616 0.21465279 0.67385504 -6.15811857] [ 0. 0. 0. 1. ]] SLAMing on 107.81964924600001 meters Centerline goodness : 0.902615 Centerline is valid? [False, False] Translation: X:9.14, Y:-1.17, Z:-6.26 [[ 0.70682652 -0.30598377 -0.63778539 9.1428543 ] [ 0.06671467 0.92642375 -0.37052421 -1.16850422] [ 0.70423393 0.21934669 0.67523448 -6.26498466] [ 0. 0. 0. 1. ]] SLAMing on 107.84964924600001 meters Centerline goodness : 0.903813 Centerline is valid? [False, False] Translation: X:9.06, Y:-1.18, Z:-6.37 [[ 0.71133367 -0.30843177 -0.63156492 9.05506215] [ 0.0620555 0.92262242 -0.38067963 -1.17848889] [ 0.70010965 0.23159816 0.67543228 -6.37184446] [ 0. 0. 0. 1. ]] SLAMing on 107.87964924600001 meters Centerline goodness : 0.903813 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.19, Z:-6.47 [[ 0.7142331 -0.30986276 -0.6275796 8.96406078] [ 0.05843771 0.91993042 -0.38770227 -1.18908577] [ 0.69746406 0.24023548 0.67515243 -6.472942 ] [ 0. 0. 0. 1. ]] SLAMing on 107.90964924600001 meters Centerline goodness : 0.904765 Centerline is valid? [False, False] Translation: X:8.88, Y:-1.20, Z:-6.56 [[ 0.71636983 -0.31188191 -0.62413455 8.88426162] [ 0.05444127 0.91679196 -0.39563703 -1.19778273] [ 0.69559357 0.24944375 0.67374135 -6.56370706] [ 0. 0. 0. 1. ]] SLAMing on 107.93964924600002 meters Centerline goodness : 0.904815 Centerline is valid? [False, False] Translation: X:8.79, Y:-1.21, Z:-6.67 [[ 0.71971551 -0.31487482 -0.61875959 8.79008074] [ 0.05173571 0.91308481 -0.40447442 -1.20604936] [ 0.69233879 0.25909454 0.67345157 -6.67140591] [ 0. 0. 0. 1. ]] SLAMing on 107.96964924600002 meters Centerline goodness : 0.903384 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.22, Z:-6.78 [[ 0.72444363 -0.31372675 -0.61380531 8.69525894] [ 0.04778931 0.91114737 -0.40930021 -1.21843538] [ 0.68767551 0.26718159 0.67506769 -6.77796942] [ 0. 0. 0. 1. ]] SLAMing on 107.99964924600002 meters Centerline goodness : 0.905333 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.23, Z:-6.89 [[ 0.72641981 -0.31861032 -0.6089349 8.59944004] [ 0.04640522 0.90676153 -0.41908243 -1.22671062] [ 0.68568273 0.27617202 0.67347472 -6.88557527] [ 0. 0. 0. 1. ]] SLAMing on 108.02964924600002 meters Centerline goodness : 0.904219 Centerline is valid? [False, False] Translation: X:8.50, Y:-1.24, Z:-6.98 [[ 0.72905168 -0.31557396 -0.60736869 8.49925001] [ 0.04344139 0.90691566 -0.41906662 -1.23968837] [ 0.68307869 0.27913629 0.67489736 -6.98389436] [ 0. 0. 0. 1. ]] SLAMing on 108.05964924600002 meters Centerline goodness : 0.904194 Centerline is valid? [False, False] Translation: X:8.41, Y:-1.25, Z:-7.08 [[ 0.7317308 -0.31663858 -0.60358102 8.41012805] [ 0.04239484 0.90497251 -0.4233526 -1.25083198] [ 0.680274 0.28419142 0.67562011 -7.07726163] [ 0. 0. 0. 1. ]] SLAMing on 108.08964924600001 meters Centerline goodness : 0.905564 Centerline is valid? [False, False] Translation: X:8.31, Y:-1.26, Z:-7.17 [[ 0.73617415 -0.31413543 -0.5994719 8.31370249] [ 0.04009704 0.90444304 -0.4247058 -1.26324723] [ 0.67560333 0.28862038 0.67842348 -7.17410908] [ 0. 0. 0. 1. ]] SLAMing on 108.11964924600001 meters Centerline goodness : 0.909088 Centerline is valid? [False, False] Translation: X:8.23, Y:-1.27, Z:-7.26 [[ 0.73751593 -0.31588016 -0.5969003 8.22588641] [ 0.03879944 0.90222431 -0.42951822 -1.2709024 ] [ 0.67421425 0.29361713 0.67766078 -7.26452724] [ 0. 0. 0. 1. ]] SLAMing on 108.14964924600001 meters Centerline goodness : 0.910654 Centerline is valid? [False, False] Translation: X:8.13, Y:-1.28, Z:-7.36 [[ 0.7409446 -0.31462213 -0.59330769 8.13245079] [ 0.0365629 0.90105733 -0.43215604 -1.27929233] [ 0.6705701 0.29851064 0.67913706 -7.35979378] [ 0. 0. 0. 1. ]] SLAMing on 108.17964924600001 meters Centerline goodness : 0.906984 Centerline is valid? [False, False] Translation: X:8.04, Y:-1.29, Z:-7.45 [[ 0.74406871 -0.31418839 -0.58961633 8.04155011] [ 0.03443016 0.89938276 -0.4358041 -1.28733639] [ 0.66721535 0.30396761 0.68002012 -7.45274777] [ 0. 0. 0. 1. ]] SLAMing on 108.20964924600001 meters Centerline goodness : 0.909821 Centerline is valid? [False, False] Translation: X:7.95, Y:-1.30, Z:-7.54 [[ 0.74914717 -0.30914104 -0.58584156 7.94880427] [ 0.03016339 0.899421 -0.43604131 -1.29918208] [ 0.66171647 0.30898815 0.68312344 -7.54315277] [ 0. 0. 0. 1. ]] SLAMing on 108.23964924600001 meters Centerline goodness : 0.910818 Centerline is valid? [False, False] Translation: X:7.85, Y:-1.31, Z:-7.62 [[ 0.75175232 -0.30425191 -0.58506344 7.85424915] [ 0.02883857 0.90152412 -0.43176682 -1.31497477] [ 0.65881469 0.30770932 0.68649704 -7.61881872] [ 0. 0. 0. 1. ]] SLAMing on 108.26964924600001 meters Centerline goodness : 0.916063 Centerline is valid? [False, False] Translation: X:7.77, Y:-1.32, Z:-7.70 [[ 0.75587551 -0.30260369 -0.58058868 7.76643153] [ 0.02550702 0.89971771 -0.43572633 -1.32220187] [ 0.65421832 0.31454577 0.6877931 -7.70440507] [ 0. 0. 0. 1. ]] SLAMing on 108.29964924600002 meters Centerline goodness : 0.913252 Centerline is valid? [False, False] Translation: X:7.68, Y:-1.33, Z:-7.79 [[ 0.75993296 -0.29804092 -0.5776448 7.67875673] [ 0.02253124 0.9002266 -0.43483838 -1.33008678] [ 0.64961084 0.31743297 0.69082709 -7.78669139] [ 0. 0. 0. 1. ]] SLAMing on 108.32964924600002 meters Centerline goodness : 0.911644 Centerline is valid? [False, False] Translation: X:7.58, Y:-1.34, Z:-7.87 [[ 0.76341605 -0.29428529 -0.57497139 7.58395338] [ 0.01988469 0.90046273 -0.43447839 -1.33704281] [ 0.6456009 0.32025465 0.69327948 -7.87334277] [ 0. 0. 0. 1. ]] SLAMing on 108.35964924600002 meters Centerline goodness : 0.912002 Centerline is valid? [False, False] Translation: X:7.49, Y:-1.35, Z:-7.96 [[ 0.76683013 -0.28982037 -0.57269163 7.49202524] [ 0.01725237 0.90123599 -0.43298504 -1.34560499] [ 0.6416182 0.32214569 0.696095 -7.9551424 ] [ 0. 0. 0. 1. ]] SLAMing on 108.38964924600002 meters Centerline goodness : 0.915351 Centerline is valid? [False, False] Translation: X:7.41, Y:-1.35, Z:-8.03 [[ 0.76834222 -0.29018193 -0.57047759 7.40971071] [ 0.015919 0.89970503 -0.43620802 -1.35216451] [ 0.63984124 0.32607561 0.69590077 -8.02859061] [ 0. 0. 0. 1. ]] SLAMing on 108.41964924600002 meters Centerline goodness : 0.916759 Centerline is valid? [False, False] Translation: X:7.33, Y:-1.36, Z:-8.10 [[ 0.77153902 -0.28689916 -0.56781724 7.32566668] [ 0.01397557 0.89996712 -0.43573372 -1.36007189] [ 0.63602848 0.32825 0.69836932 -8.10122531] [ 0. 0. 0. 1. ]] SLAMing on 108.449649246 meters Centerline goodness : 0.918632 Centerline is valid? [False, False] Translation: X:7.24, Y:-1.37, Z:-8.17 [[ 0.77314254 -0.28507282 -0.56655459 7.24273434] [ 0.01258384 0.90001103 -0.43568543 -1.36646322] [ 0.63410745 0.3297175 0.69942412 -8.17019798] [ 0. 0. 0. 1. ]] SLAMing on 108.47964924600001 meters Centerline goodness : 0.915684 Centerline is valid? [False, False] Translation: X:7.16, Y:-1.37, Z:-8.25 [[ 0.77640273 -0.28277278 -0.56323916 7.15997841] [ 0.012406 0.90037814 -0.43493138 -1.37070234] [ 0.63011498 0.33069437 0.70256412 -8.24512527] [ 0. 0. 0. 1. ]] SLAMing on 108.50964924600001 meters Centerline goodness : 0.919039 Centerline is valid? [False, False] Translation: X:7.08, Y:-1.38, Z:-8.31 [[ 0.77854583 -0.2775465 -0.56288039 7.07851981] [ 0.0100811 0.90231007 -0.43096973 -1.37648817] [ 0.62750678 0.32985523 0.70528772 -8.31128942] [ 0. 0. 0. 1. ]] SLAMing on 108.53964924600001 meters Centerline goodness : 0.914466 Centerline is valid? [False, False] Translation: X:7.00, Y:-1.38, Z:-8.37 [[ 7.80154304e-01 -2.73120434e-01 -5.62818346e-01 7.00343648e+00] [ 6.62672412e-03 9.03221649e-01 -4.29123222e-01 -1.38208050e+00] [ 6.25552035e-01 3.31052686e-01 7.06462151e-01 -8.37207849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56964924600001 meters Centerline goodness : 0.917852 Centerline is valid? [False, False] Translation: X:6.92, Y:-1.39, Z:-8.43 [[ 7.82646587e-01 -2.70628273e-01 -5.60557453e-01 6.91980634e+00] [ 8.20881873e-03 9.04951640e-01 -4.25435242e-01 -1.39211110e+00] [ 6.22412191e-01 3.28363926e-01 7.10478850e-01 -8.42959257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.59964924600001 meters Centerline goodness : 0.920845 Centerline is valid? [False, False] Translation: X:6.84, Y:-1.40, Z:-8.50 [[ 7.87063168e-01 -2.69128789e-01 -5.55068702e-01 6.84110497e+00] [ 8.31690496e-03 9.04358986e-01 -4.26691521e-01 -1.39602297e+00] [ 6.16816341e-01 3.31216727e-01 7.14025967e-01 -8.49516811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62964924600001 meters Centerline goodness : 0.923522 Centerline is valid? [False, False] Translation: X:6.78, Y:-1.41, Z:-8.53 [[ 7.92088822e-01 -2.55827542e-01 -5.54208955e-01 6.77612834e+00] [ 7.55730195e-03 9.11975696e-01 -4.10174617e-01 -1.40743945e+00] [ 6.10359062e-01 3.20706405e-01 7.24299121e-01 -8.53194296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.65964924600001 meters Centerline goodness : 0.917517 Centerline is valid? [False, False] Translation: X:6.69, Y:-1.42, Z:-8.59 [[ 7.97197716e-01 -2.47242706e-01 -5.50769321e-01 6.69214645e+00] [ 6.74830527e-03 9.15887559e-01 -4.01378175e-01 -1.41513733e+00] [ 6.03680595e-01 3.16261005e-01 7.31811940e-01 -8.59064946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68964924600002 meters Centerline goodness : 0.921456 Centerline is valid? [False, False] Translation: X:6.65, Y:-1.42, Z:-8.61 [[ 8.02538782e-01 -2.39293147e-01 -5.46507358e-01 6.65421739e+00] [ 7.55766216e-03 9.20040760e-01 -3.91749769e-01 -1.42136032e+00] [ 5.96552080e-01 3.10264065e-01 7.40176888e-01 -8.60812260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.71964924600002 meters Centerline goodness : 0.921509 Centerline is valid? [False, False] Translation: X:6.62, Y:-1.43, Z:-8.62 [[ 8.07627015e-01 -2.25620059e-01 -5.44824921e-01 6.62021190e+00] [ 5.57500769e-03 9.26791836e-01 -3.75534037e-01 -1.42714331e+00] [ 5.89667300e-01 3.00254030e-01 7.49759957e-01 -8.61661274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74964924600002 meters Centerline goodness : 0.917479 Centerline is valid? [False, False] Translation: X:6.59, Y:-1.43, Z:-8.62 [[ 8.11695357e-01 -2.09627491e-01 -5.45166913e-01 6.59149657e+00] [ 6.27398970e-04 9.33687870e-01 -3.58087376e-01 -1.43445968e+00] [ 5.84080691e-01 2.90315823e-01 7.58001629e-01 -8.62308066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.77964924600002 meters Centerline goodness : 0.914090 Centerline is valid? [False, False] Translation: X:6.57, Y:-1.44, Z:-8.62 [[ 8.16572135e-01 -1.93867299e-01 -5.43714464e-01 6.57141926e+00] [-2.41460350e-03 9.40760012e-01 -3.39064550e-01 -1.44381057e+00] [ 5.77238354e-01 2.78183519e-01 7.67730299e-01 -8.62077206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80964924600002 meters Centerline goodness : 0.911817 Centerline is valid? [False, False] Translation: X:6.55, Y:-1.45, Z:-8.62 [[ 8.19614988e-01 -1.80840240e-01 -5.43624944e-01 6.55280268e+00] [-5.91150122e-03 9.46155890e-01 -3.23657358e-01 -1.45094520e+00] [ 5.72884217e-01 2.68488061e-01 7.74414511e-01 -8.62133653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.83964924600001 meters Centerline goodness : 0.913196 Centerline is valid? [False, False] Translation: X:6.54, Y:-1.46, Z:-8.62 [[ 8.23299256e-01 -1.67704161e-01 -5.42267138e-01 6.53527585e+00] [-7.92524325e-03 9.51866226e-01 -3.06411290e-01 -1.46049375e+00] [ 5.67552223e-01 2.56565786e-01 7.82341660e-01 -8.61853610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86964924600001 meters Centerline goodness : 0.911446 Centerline is valid? [False, False] Translation: X:6.52, Y:-1.47, Z:-8.62 [[ 0.82742966 -0.1553262 -0.53966093 6.52029066] [-0.01138836 0.9561483 -0.29266145 -1.46746565] [ 0.56145388 0.24830262 0.78937656 -8.62038185] [ 0. 0. 0. 1. ]] SLAMing on 108.89964924600001 meters Centerline goodness : 0.912368 Centerline is valid? [False, False] Translation: X:6.51, Y:-1.47, Z:-8.62 [[ 0.83028303 -0.14371295 -0.53849483 6.50655004] [-0.01380798 0.96058323 -0.27764942 -1.47488984] [ 0.55717092 0.23796313 0.79557156 -8.61652775] [ 0. 0. 0. 1. ]] SLAMing on 108.92964924600001 meters Centerline goodness : 0.909719 Centerline is valid? [False, False] Translation: X:6.49, Y:-1.48, Z:-8.61 [[ 0.83273675 -0.1342825 -0.53713845 6.49364065] [-0.0162086 0.96381508 -0.2660785 -1.48065197] [ 0.55343183 0.23027961 0.80042771 -8.61354897] [ 0. 0. 0. 1. ]] SLAMing on 108.95964924600001 meters Centerline goodness : 0.912573 Centerline is valid? [False, False] Translation: X:6.48, Y:-1.49, Z:-8.61 [[ 0.83589966 -0.12392847 -0.53470879 6.47740522] [-0.01804826 0.96744489 -0.25243741 -1.48846087] [ 0.54858547 0.22066291 0.80645016 -8.60958094] [ 0. 0. 0. 1. ]] SLAMing on 108.98964924600001 meters Centerline goodness : 0.916296 Centerline is valid? [False, False] Translation: X:6.46, Y:-1.50, Z:-8.60 [[ 0.83973046 -0.11099707 -0.53153777 6.45665322] [-0.02030924 0.97177971 -0.23501433 -1.50021724] [ 0.54262352 0.20814382 0.81377876 -8.59892511] [ 0. 0. 0. 1. ]] SLAMing on 109.01964924600001 meters Centerline goodness : 0.916326 Centerline is valid? [False, False] Translation: X:6.44, Y:-1.51, Z:-8.59 [[ 0.84123968 -0.10323105 -0.5307157 6.44321057] [-0.02131502 0.97450734 -0.22334079 -1.5072606 ] [ 0.54024205 0.19919535 0.81759387 -8.59150573] [ 0. 0. 0. 1. ]] SLAMing on 109.04964924600002 meters Centerline goodness : 0.918921 Centerline is valid? [False, False] Translation: X:6.43, Y:-1.51, Z:-8.59 [[ 0.84372169 -0.09922634 -0.52752995 6.43117267] [-0.02102479 0.97590285 -0.21719019 -1.51217668] [ 0.53636897 0.19433928 0.82130419 -8.59212204] [ 0. 0. 0. 1. ]] SLAMing on 109.07964924600002 meters Centerline goodness : 0.918743 Centerline is valid? [False, False] Translation: X:6.41, Y:-1.52, Z:-8.59 [[ 0.84743471 -0.08550447 -0.52396889 6.41225598] [-0.02290794 0.9801369 -0.19699465 -1.52127846] [ 0.53040516 0.17894315 0.8286433 -8.5857681 ] [ 0. 0. 0. 1. ]] SLAMing on 109.10964924600002 meters Centerline goodness : 0.917783 Centerline is valid? [False, False] Translation: X:6.40, Y:-1.53, Z:-8.58 [[ 0.8485188 -0.07940722 -0.52317333 6.40415964] [-0.02410668 0.98184959 -0.18812295 -1.52658463] [ 0.52861584 0.17223783 0.8312036 -8.58266065] [ 0. 0. 0. 1. ]] SLAMing on 109.13964924600002 meters Centerline goodness : 0.921678 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.53, Z:-8.58 [[ 0.84973205 -0.07133378 -0.52236667 6.39296314] [-0.02635337 0.98381871 -0.17721808 -1.53261649] [ 0.52655574 0.164354 0.8341024 -8.57675719] [ 0. 0. 0. 1. ]] SLAMing on 109.16964924600002 meters Centerline goodness : 0.917524 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.54, Z:-8.56 [[ 0.84876075 -0.05642784 -0.52575764 6.38918829] [-0.02591676 0.9886555 -0.14794805 -1.54441132] [ 0.52814157 0.13919843 0.83766955 -8.56131194] [ 0. 0. 0. 1. ]] SLAMing on 109.199649246 meters Centerline goodness : 0.919792 Centerline is valid? [False, False] Translation: X:6.38, Y:-1.55, Z:-8.55 [[ 0.84771721 -0.04126799 -0.5288407 6.38306732] [-0.02689199 0.99234361 -0.12054448 -1.55432975] [ 0.52976632 0.11640921 0.84011698 -8.54914279] [ 0. 0. 0. 1. ]] SLAMing on 109.22964924600001 meters Centerline goodness : 0.918184 Centerline is valid? [False, False] Translation: X:6.38, Y:-1.56, Z:-8.54 [[ 0.84702054 -0.02800716 -0.53082181 6.37637644] [-0.0260959 0.99521594 -0.09415011 -1.56366725] [ 0.5309192 0.09359935 0.84223747 -8.53653977] [ 0. 0. 0. 1. ]] SLAMing on 109.25964924600001 meters Centerline goodness : 0.918085 Centerline is valid? [False, False] Translation: X:6.37, Y:-1.57, Z:-8.53 [[ 0.84976399 -0.01845441 -0.52684019 6.36612743] [-0.02439266 0.99694015 -0.0742653 -1.5699233 ] [ 0.52659866 0.07595902 0.84671369 -8.53212996] [ 0. 0. 0. 1. ]] SLAMing on 109.28964924600001 meters Centerline goodness : 0.920168 Centerline is valid? [False, False] Translation: X:6.36, Y:-1.57, Z:-8.53 [[ 0.85270819 -0.00983997 -0.52229485 6.35849177] [-0.02279967 0.99816881 -0.05602854 -1.57463493] [ 0.52188975 0.05968415 0.85092238 -8.52990907] [ 0. 0. 0. 1. ]] SLAMing on 109.31964924600001 meters Centerline goodness : 0.917184 Centerline is valid? [False, False] Translation: X:6.36, Y:-1.58, Z:-8.52 [[ 8.52404445e-01 9.27905901e-04 -5.22882206e-01 6.35754756e+00] [-2.90936207e-02 9.98533446e-01 -4.56565288e-02 -1.57831134e+00] [ 5.22073006e-01 5.41303647e-02 8.51181344e-01 -8.52476186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34964924600001 meters Centerline goodness : 0.916956 Centerline is valid? [False, False] Translation: X:6.36, Y:-1.58, Z:-8.52 [[ 8.52003884e-01 8.18771969e-03 -5.23471435e-01 6.35549874e+00] [-3.35417378e-02 9.98677187e-01 -3.89721398e-02 -1.58117384e+00] [ 5.22459888e-01 5.07625561e-02 8.51151472e-01 -8.52097561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.37964924600001 meters Centerline goodness : 0.919152 Centerline is valid? [False, False] Translation: X:6.35, Y:-1.58, Z:-8.52 [[ 0.85156084 0.01571864 -0.5240201 6.35237683] [-0.03833209 0.99874182 -0.03233319 -1.58402325] [ 0.52285255 0.04762047 0.85109195 -8.51707648] [ 0. 0. 0. 1. ]] SLAMing on 109.40964924600001 meters Centerline goodness : 0.914123 Centerline is valid? [False, False] Translation: X:6.34, Y:-1.59, Z:-8.51 [[ 0.85273856 0.02016545 -0.52194857 6.34397401] [-0.03317643 0.99932786 -0.01559335 -1.58923041] [ 0.5212833 0.03061344 0.85283441 -8.51208512] [ 0. 0. 0. 1. ]] SLAMing on 109.43964924600002 meters Centerline goodness : 0.917363 Centerline is valid? [False, False] Translation: X:6.35, Y:-1.59, Z:-8.51 [[ 0.8518195 0.0246822 -0.5232536 6.34662419] [-0.0348202 0.99934801 -0.00954492 -1.59225901] [ 0.52267686 0.02635035 0.85212356 -8.50641475] [ 0. 0. 0. 1. ]] SLAMing on 109.46964924600002 meters Centerline goodness : 0.913101 Centerline is valid? [False, False] Translation: X:6.34, Y:-1.60, Z:-8.50 [[ 0.84888752 0.03527941 -0.52739487 6.34253253] [-0.03470243 0.99933723 0.01099284 -1.59638554] [ 0.52743315 0.0089702 0.84954918 -8.49971183] [ 0. 0. 0. 1. ]] SLAMing on 109.49964924600002 meters Centerline goodness : 0.910556 Centerline is valid? [False, False] Translation: X:6.34, Y:-1.60, Z:-8.50 [[ 8.48566413e-01 3.99899718e-02 -5.27575440e-01 6.34343754e+00] [-3.72481794e-02 9.99180712e-01 1.58264656e-02 -1.60002326e+00] [ 5.27776104e-01 6.22141749e-03 8.49360747e-01 -8.49756073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52964924600002 meters Centerline goodness : 0.912812 Centerline is valid? [False, False] Translation: X:6.34, Y:-1.60, Z:-8.49 [[ 8.47928937e-01 4.56897910e-02 -5.28137255e-01 6.34364926e+00] [-4.00680408e-02 9.98952721e-01 2.20910183e-02 -1.60463618e+00] [ 5.28593482e-01 2.42981147e-03 8.48871619e-01 -8.49323461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.55964924600002 meters Centerline goodness : 0.914555 Centerline is valid? [False, False] Translation: X:6.34, Y:-1.61, Z:-8.49 [[ 8.47809252e-01 4.62394716e-02 -5.28281538e-01 6.34345725e+00] [-4.02648573e-02 9.98928523e-01 2.28155020e-02 -1.60585170e+00] [ 5.28770473e-01 1.92798708e-03 8.48762670e-01 -8.49243774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.58964924600001 meters Centerline goodness : 0.911475 Centerline is valid? [False, False] Translation: X:6.34, Y:-1.61, Z:-8.49 [[ 8.47598598e-01 4.69949959e-02 -5.28552824e-01 6.34317978e+00] [-4.05209681e-02 9.98894385e-01 2.38339882e-02 -1.60819684e+00] [ 5.29088526e-01 1.21581710e-03 8.48565763e-01 -8.49119005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.61964924600001 meters Centerline goodness : 0.910371 Centerline is valid? [False, False] Translation: X:6.34, Y:-1.61, Z:-8.49 [[ 8.46995017e-01 5.25490204e-02 -5.28997204e-01 6.34371833e+00] [-4.36375465e-02 9.98616798e-01 2.93301173e-02 -1.61191879e+00] [ 5.29806763e-01 -1.75832313e-03 8.48116562e-01 -8.48820732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64964924600001 meters Centerline goodness : 0.907472 Centerline is valid? [False, False] Translation: X:6.35, Y:-1.61, Z:-8.49 [[ 8.46738055e-01 5.20251961e-02 -5.29460146e-01 6.34659300e+00] [-4.31682834e-02 9.98644193e-01 2.90908235e-02 -1.61250937e+00] [ 5.30255755e-01 -1.77642166e-03 8.47835879e-01 -8.48821567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.67964924600001 meters Centerline goodness : 0.907996 Centerline is valid? [False, False] Translation: X:6.35, Y:-1.61, Z:-8.49 [[ 8.46532300e-01 5.20382773e-02 -5.29787771e-01 6.34784809e+00] [-4.29770463e-02 9.98642807e-01 2.94196927e-02 -1.61353837e+00] [ 5.30599696e-01 -2.13600655e-03 8.47619844e-01 -8.48762040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70964924600001 meters Centerline goodness : 0.909416 Centerline is valid? [False, False] Translation: X:6.35, Y:-1.62, Z:-8.49 [[ 8.46230135e-01 5.24811588e-02 -5.30226636e-01 6.34882127e+00] [-4.30209074e-02 9.98618184e-01 3.01815301e-02 -1.61609297e+00] [ 5.31077922e-01 -2.72968923e-03 8.47318588e-01 -8.48659395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.73964924600001 meters Centerline goodness : 0.908553 Centerline is valid? [False, False] Translation: X:6.35, Y:-1.62, Z:-8.49 [[ 8.46039530e-01 5.29555139e-02 -5.30483579e-01 6.34843265e+00] [-4.29921624e-02 9.98590666e-01 3.11184242e-02 -1.61811747e+00] [ 5.31383842e-01 -3.52078083e-03 8.47123849e-01 -8.48518550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76964924600001 meters Centerline goodness : 0.910683 Centerline is valid? [False, False] Translation: X:6.35, Y:-1.62, Z:-8.48 [[ 8.45682838e-01 5.20650997e-02 -5.31140060e-01 6.35021698e+00] [-4.13534309e-02 9.98630476e-01 3.20478718e-02 -1.62196874e+00] [ 5.32081227e-01 -5.13787138e-03 8.46677725e-01 -8.48242792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.79964924600002 meters Centerline goodness : 0.910683 Centerline is valid? [False, False] Translation: X:6.35, Y:-1.62, Z:-8.48 [[ 8.45682838e-01 5.20650997e-02 -5.31140060e-01 6.35021698e+00] [-4.13534309e-02 9.98630476e-01 3.20478718e-02 -1.62196874e+00] [ 5.32081227e-01 -5.13787138e-03 8.46677725e-01 -8.48242792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82964924600002 meters Centerline goodness : 0.907720 Centerline is valid? [False, False] Translation: X:6.35, Y:-1.62, Z:-8.48 [[ 8.44954027e-01 5.62553408e-02 -5.31872192e-01 6.35445456e+00] [-4.37530858e-02 9.98390282e-01 3.60903237e-02 -1.62370853e+00] [ 5.33046302e-01 -7.22361462e-03 8.46055234e-01 -8.48089584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.85964924600002 meters Centerline goodness : 0.906806 Centerline is valid? [False, False] Translation: X:6.36, Y:-1.63, Z:-8.47 [[ 0.84411409 0.05438691 -0.53339803 6.35952593] [-0.04040415 0.99846565 0.03786619 -1.62795447] [ 0.53463904 -0.01041189 0.84501638 -8.47492427] [ 0. 0. 0. 1. ]] SLAMing on 109.88964924600002 meters Centerline goodness : 0.906706 Centerline is valid? [False, False] Translation: X:6.36, Y:-1.63, Z:-8.47 [[ 0.84368891 0.054762 -0.53403197 6.35985957] [-0.04010127 0.99843305 0.03902987 -1.62982032] [ 0.53533253 -0.01151371 0.84456292 -8.47246373] [ 0. 0. 0. 1. ]] SLAMing on 109.91964924600002 meters Centerline goodness : 0.905246 Centerline is valid? [False, False] Translation: X:6.36, Y:-1.63, Z:-8.47 [[ 0.84309344 0.06055356 -0.534347 6.35968407] [-0.04325598 0.99805668 0.04485298 -1.6331798 ] [ 0.5360246 -0.01470155 0.84407434 -8.46895899] [ 0. 0. 0. 1. ]] SLAMing on 109.949649246 meters Centerline goodness : 0.909583 Centerline is valid? [False, False] Translation: X:6.36, Y:-1.63, Z:-8.47 [[ 0.84298931 0.06121249 -0.5344362 6.35890198] [-0.04358619 0.99801036 0.0455583 -1.63348836] [ 0.5361616 -0.01511112 0.84398009 -8.4680506 ] [ 0. 0. 0. 1. ]] SLAMing on 109.97964924600001 meters Centerline goodness : 0.907387 Centerline is valid? [False, False] Translation: X:6.36, Y:-1.63, Z:-8.47 [[ 0.84243819 0.0680285 -0.53448108 6.35637532] [-0.04819812 0.99753509 0.0509969 -1.6340518 ] [ 0.53663287 -0.01720076 0.8436405 -8.46545337] [ 0. 0. 0. 1. ]] SLAMing on 110.00964924600001 meters Centerline goodness : 0.907849 Centerline is valid? [False, False] Translation: X:6.36, Y:-1.63, Z:-8.46 [[ 0.84197681 0.07320665 -0.53452394 6.3571135 ] [-0.05183888 0.99714476 0.05490959 -1.63187281] [ 0.53701749 -0.01852348 0.84336771 -8.46453008] [ 0. 0. 0. 1. ]] SLAMing on 110.03964924600001 meters Centerline goodness : 0.905983 Centerline is valid? [False, False] Translation: X:6.36, Y:-1.63, Z:-8.46 [[ 0.84188985 0.07310443 -0.53467488 6.35796005] [-0.05184355 0.9971557 0.05470603 -1.63029651] [ 0.53715336 -0.018337 0.84328526 -8.46458945] [ 0. 0. 0. 1. ]] SLAMing on 110.06964924600001 meters Centerline goodness : 0.903913 Centerline is valid? [False, False] Translation: X:6.36, Y:-1.63, Z:-8.46 [[ 0.84123807 0.07794391 -0.53501706 6.3600451 ] [-0.05476059 0.99674848 0.05910799 -1.63119511] [ 0.53788455 -0.02042604 0.84277102 -8.46268182] [ 0. 0. 0. 1. ]] SLAMing on 110.09964924600001 meters Centerline goodness : 0.902561 Centerline is valid? [False, False] Translation: X:6.36, Y:-1.63, Z:-8.46 [[ 0.84113813 0.07832961 -0.53511785 6.35995875] [-0.05490613 0.99671169 0.05959136 -1.63121697] [ 0.53802599 -0.02074332 0.84267298 -8.46203194] [ 0. 0. 0. 1. ]] SLAMing on 110.12964924600001 meters Centerline goodness : 0.903530 Centerline is valid? [False, False] Translation: X:6.36, Y:-1.63, Z:-8.46 [[ 0.84102069 0.07966853 -0.53510477 6.35793357] [-0.05577143 0.99659543 0.0607215 -1.63263052] [ 0.53812056 -0.02122447 0.84260061 -8.46086604] [ 0. 0. 0. 1. ]] SLAMing on 110.15964924600001 meters Centerline goodness : 0.904765 Centerline is valid? [False, False] Translation: X:6.36, Y:-1.63, Z:-8.46 [[ 0.84089706 0.08056001 -0.5351656 6.35687891] [-0.05629086 0.99651482 0.06155931 -1.6334071 ] [ 0.53825967 -0.02164012 0.84250118 -8.45995632] [ 0. 0. 0. 1. ]] SLAMing on 110.18964924600002 meters Centerline goodness : 0.903789 Centerline is valid? [False, False] Translation: X:6.36, Y:-1.63, Z:-8.46 [[ 0.84076652 0.08182962 -0.53517807 6.3551349 ] [-0.05714441 0.99640281 0.06257759 -1.63448739] [ 0.53837364 -0.02203071 0.84241823 -8.4589353 ] [ 0. 0. 0. 1. ]] SLAMing on 110.21964924600002 meters Centerline goodness : 0.904174 Centerline is valid? [False, False] Translation: X:6.35, Y:-1.63, Z:-8.46 [[ 0.84065993 0.08247938 -0.53524576 6.35456011] [-0.05754197 0.99634337 0.06315707 -1.63493582] [ 0.53849772 -0.02229452 0.84233198 -8.45833667] [ 0. 0. 0. 1. ]] SLAMing on 110.24964924600002 meters Centerline goodness : 0.903348 Centerline is valid? [False, False] Translation: X:6.35, Y:-1.63, Z:-8.46 [[ 0.84077729 0.08334958 -0.53492653 6.35353486] [-0.05825772 0.99626935 0.06366643 -1.63481412] [ 0.53823748 -0.02236569 0.84249641 -8.45850391] [ 0. 0. 0. 1. ]] SLAMing on 110.27964924600002 meters Centerline goodness : 0.899491 Centerline is valid? [False, False] Translation: X:6.35, Y:-1.64, Z:-8.46 [[ 0.84073697 0.08392456 -0.5349 6.35329964] [-0.05857909 0.99621426 0.06423113 -1.6355432 ] [ 0.53826558 -0.02266753 0.84247038 -8.45813526] [ 0. 0. 0. 1. ]] SLAMing on 110.30964924600002 meters Centerline goodness : 0.896381 Centerline is valid? [False, False] Translation: X:6.35, Y:-1.64, Z:-8.46 [[ 0.84048755 0.08448804 -0.53520318 6.35337622] [-0.05856538 0.99614677 0.06528178 -1.63765268] [ 0.53865645 -0.02352415 0.84219703 -8.45654528] [ 0. 0. 0. 1. ]] SLAMing on 110.33964924600001 meters Centerline goodness : 0.895753 Centerline is valid? [False, False] Translation: X:6.35, Y:-1.64, Z:-8.46 [[ 0.84034723 0.08501602 -0.53533991 6.35323954] [-0.05866705 0.99608723 0.06609385 -1.63918569] [ 0.53886428 -0.02413497 0.84204678 -8.45554911] [ 0. 0. 0. 1. ]] SLAMing on 110.36964924600001 meters Centerline goodness : 0.900714 Centerline is valid? [False, False] Translation: X:6.35, Y:-1.64, Z:-8.45 [[ 0.84081854 0.0820933 -0.53505595 6.34644735] [-0.05537329 0.99629233 0.06584366 -1.64207438] [ 0.53847747 -0.02573476 0.84224684 -8.45060722] [ 0. 0. 0. 1. ]] SLAMing on 110.39964924600001 meters Centerline goodness : 0.903798 Centerline is valid? [False, False] Translation: X:6.35, Y:-1.64, Z:-8.45 [[ 0.84070441 0.08210019 -0.53523421 6.34665349] [-0.05511048 0.99627949 0.06625718 -1.64221115] [ 0.53868259 -0.02620568 0.84210114 -8.44961335] [ 0. 0. 0. 1. ]] SLAMing on 110.42964924600001 meters Centerline goodness : 0.896322 Centerline is valid? [False, False] Translation: X:6.36, Y:-1.64, Z:-8.45 [[ 0.83967365 0.08736626 -0.53601801 6.35736569] [-0.05792637 0.99575303 0.07155724 -1.64055305] [ 0.53999324 -0.02903515 0.84116839 -8.44824791] [ 0. 0. 0. 1. ]] SLAMing on 110.45964924600001 meters Centerline goodness : 0.897032 Centerline is valid? [False, False] Translation: X:6.36, Y:-1.64, Z:-8.45 [[ 0.83891228 0.09216409 -0.53640654 6.35996778] [-0.06087492 0.9952632 0.07579849 -1.64133314] [ 0.54085158 -0.03093458 0.840549 -8.44643408] [ 0. 0. 0. 1. ]] SLAMing on 110.48964924600001 meters Centerline goodness : 0.895364 Centerline is valid? [False, False] Translation: X:6.36, Y:-1.64, Z:-8.45 [[ 0.83883522 0.09242126 -0.53648279 6.36029726] [-0.06112157 0.99524155 0.07588418 -1.64057996] [ 0.54094327 -0.03086365 0.8404926 -8.44637205] [ 0. 0. 0. 1. ]] SLAMing on 110.51964924600001 meters Centerline goodness : 0.896436 Centerline is valid? [False, False] Translation: X:6.36, Y:-1.64, Z:-8.45 [[ 0.8387315 0.09288595 -0.53656469 6.36023332] [-0.0614321 0.99519426 0.07625275 -1.64071193] [ 0.54106891 -0.03099329 0.84040696 -8.44593848] [ 0. 0. 0. 1. ]] SLAMing on 110.54964924600002 meters Centerline goodness : 0.895057 Centerline is valid? [False, False] Translation: X:6.36, Y:-1.64, Z:-8.44 [[ 0.83852611 0.09407258 -0.53667897 6.35916344] [-0.06227306 0.99507473 0.07712555 -1.64146627] [ 0.54129108 -0.03125114 0.84025432 -8.44499886] [ 0. 0. 0. 1. ]] SLAMing on 110.57964924600002 meters Centerline goodness : 0.895675 Centerline is valid? [False, False] Translation: X:6.36, Y:-1.64, Z:-8.44 [[ 0.83842058 0.09463916 -0.53674423 6.35878123] [-0.06267388 0.99501715 0.07754255 -1.64128449] [ 0.54140828 -0.03137342 0.84017426 -8.44451907] [ 0. 0. 0. 1. ]] SLAMing on 110.60964924600002 meters Centerline goodness : 0.893928 Centerline is valid? [False, False] Translation: X:6.36, Y:-1.64, Z:-8.44 [[ 0.83833827 0.09528842 -0.53675791 6.35849494] [-0.06326964 0.99495835 0.07781282 -1.63970831] [ 0.54146643 -0.03127299 0.84014053 -8.44428339] [ 0. 0. 0. 1. ]] SLAMing on 110.63964924600002 meters Centerline goodness : 0.892092 Centerline is valid? [False, False] Translation: X:6.36, Y:-1.64, Z:-8.44 [[ 0.83830025 0.09577726 -0.53673029 6.35820322] [-0.06366461 0.99491049 0.07810207 -1.63903675] [ 0.541479 -0.03130226 0.84013134 -8.44410651] [ 0. 0. 0. 1. ]] SLAMing on 110.66964924600002 meters Centerline goodness : 0.895957 Centerline is valid? [False, False] Translation: X:6.36, Y:-1.64, Z:-8.44 [[ 0.83822294 0.09662445 -0.53669919 6.35752936] [-0.06453032 0.9948375 0.07832103 -1.63795169] [ 0.54149621 -0.03101711 0.84013082 -8.44418897] [ 0. 0. 0. 1. ]] SLAMing on 110.699649246 meters Centerline goodness : 0.897046 Centerline is valid? [False, False] Translation: X:6.36, Y:-1.64, Z:-8.44 [[ 0.83808585 0.0974963 -0.5367556 6.35752667] [-0.06541066 0.99476141 0.07855682 -1.63693772] [ 0.54160276 -0.03072782 0.84007276 -8.44437413] [ 0. 0. 0. 1. ]] SLAMing on 110.72964924600001 meters Centerline goodness : 0.895427 Centerline is valid? [False, False] Translation: X:6.36, Y:-1.64, Z:-8.44 [[ 0.83803011 0.09783096 -0.53678173 6.35791735] [-0.06576976 0.9947332 0.0786142 -1.63648171] [ 0.54164552 -0.03057706 0.8400507 -8.44454801] [ 0. 0. 0. 1. ]] SLAMing on 110.75964924600001 meters Centerline goodness : 0.897476 Centerline is valid? [False, False] Translation: X:6.36, Y:-1.64, Z:-8.44 [[ 0.83797105 0.09838407 -0.53677284 6.35777821] [-0.06625713 0.99468004 0.07887716 -1.63646825] [ 0.54167749 -0.03053174 0.84003173 -8.44457223] [ 0. 0. 0. 1. ]] SLAMing on 110.78964924600001 meters Centerline goodness : 0.897959 Centerline is valid? [False, False] Translation: X:6.36, Y:-1.64, Z:-8.44 [[ 0.83774863 0.09911403 -0.5369857 6.35746396] [-0.06649235 0.99458741 0.0798414 -1.63851058] [ 0.54199262 -0.03118159 0.83980457 -8.44327861] [ 0. 0. 0. 1. ]] SLAMing on 110.81964924600001 meters Centerline goodness : 0.899029 Centerline is valid? [False, False] Translation: X:6.36, Y:-1.64, Z:-8.44 [[ 0.83762267 0.09920978 -0.53716449 6.3585675 ] [-0.06629188 0.9945626 0.08031573 -1.64007003] [ 0.54221182 -0.03166464 0.83964498 -8.44269988] [ 0. 0. 0. 1. ]] SLAMing on 110.84964924600001 meters Centerline goodness : 0.895199 Centerline is valid? [False, False] Translation: X:6.36, Y:-1.64, Z:-8.44 [[ 0.83742276 0.09895987 -0.53752216 6.36035136] [-0.06580797 0.99457333 0.08058041 -1.64133165] [ 0.54257943 -0.03210663 0.83939069 -8.44204406] [ 0. 0. 0. 1. ]] SLAMing on 110.87964924600001 meters Centerline goodness : 0.894095 Centerline is valid? [False, False] Translation: X:6.36, Y:-1.64, Z:-8.44 [[ 0.83707731 0.09808037 -0.53822098 6.36447954] [-0.06462989 0.9946379 0.0807368 -1.64373662] [ 0.54325368 -0.03279778 0.83892774 -8.44110723] [ 0. 0. 0. 1. ]] SLAMing on 110.90964924600001 meters Centerline goodness : 0.893076 Centerline is valid? [False, False] Translation: X:6.37, Y:-1.65, Z:-8.44 [[ 0.83682914 0.09828769 -0.53856895 6.36510425] [-0.06436477 0.99459276 0.081501 -1.64607294] [ 0.54366733 -0.03353755 0.83863047 -8.43974815] [ 0. 0. 0. 1. ]] SLAMing on 110.93964924600002 meters Centerline goodness : 0.896277 Centerline is valid? [False, False] Translation: X:6.37, Y:-1.65, Z:-8.44 [[ 0.83690805 0.09234715 -0.53949691 6.36649094] [-0.05936837 0.9951646 0.07824837 -1.64988786] [ 0.54411424 -0.03345764 0.83834377 -8.43768652] [ 0. 0. 0. 1. ]] SLAMing on 110.96964924600002 meters Centerline goodness : 0.894377 Centerline is valid? [False, False] Translation: X:6.37, Y:-1.65, Z:-8.44 [[ 0.83649699 0.09156799 -0.54026668 6.36924942] [-0.05825456 0.99521223 0.07847942 -1.6518514 ] [ 0.54486621 -0.0341748 0.83782629 -8.43612172] [ 0. 0. 0. 1. ]] SLAMing on 110.99964924600002 meters Centerline goodness : 0.890873 Centerline is valid? [False, False] Translation: X:6.38, Y:-1.65, Z:-8.43 [[ 0.83574794 0.08952021 -0.54176703 6.38150379] [-0.05517077 0.99531848 0.07935562 -1.65292528] [ 0.54633467 -0.03643159 0.83677427 -8.43319355] [ 0. 0. 0. 1. ]] SLAMing on 111.02964924600002 meters Centerline goodness : 0.887863 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.65, Z:-8.43 [[ 0.83536257 0.08817566 -0.54258126 6.38587474] [-0.05391692 0.9954346 0.07875858 -1.65289342] [ 0.54704876 -0.03653766 0.83630297 -8.43276371] [ 0. 0. 0. 1. ]] SLAMing on 111.05964924600002 meters Centerline goodness : 0.887922 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.65, Z:-8.43 [[ 0.8348676 0.08675912 -0.54357056 6.39109926] [-0.05245144 0.99554602 0.07833885 -1.65374049] [ 0.54794611 -0.03689151 0.83569975 -8.43192274] [ 0. 0. 0. 1. ]] SLAMing on 111.08964924600001 meters Centerline goodness : 0.890423 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.66, Z:-8.43 [[ 0.83455559 0.08699089 -0.54401246 6.39190991] [-0.05214352 0.99549457 0.07919359 -1.65566464] [ 0.54845057 -0.03772473 0.83533156 -8.43027201] [ 0. 0. 0. 1. ]] SLAMing on 111.11964924600001 meters Centerline goodness : 0.886380 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.66, Z:-8.42 [[ 0.83426619 0.08850842 -0.54421153 6.38955438] [-0.05149996 0.99522536 0.08291105 -1.66130859] [ 0.54895144 -0.04114301 0.83484105 -8.42437492] [ 0. 0. 0. 1. ]] SLAMing on 111.14964924600001 meters Centerline goodness : 0.890576 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.66, Z:-8.42 [[ 0.83407191 0.08930463 -0.54437922 6.38851325] [-0.05149928 0.99510524 0.08434086 -1.66383137] [ 0.54924664 -0.0423112 0.83458845 -8.42223938] [ 0. 0. 0. 1. ]] SLAMing on 111.17964924600001 meters Centerline goodness : 0.892508 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.67, Z:-8.42 [[ 0.83382159 0.09019825 -0.5446153 6.38747873] [-0.05107938 0.99493497 0.08657542 -1.66801198] [ 0.54966576 -0.04436984 0.83420553 -8.41861061] [ 0. 0. 0. 1. ]] SLAMing on 111.20964924600001 meters Centerline goodness : 0.892194 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.67, Z:-8.42 [[ 0.83363796 0.09097871 -0.54476659 6.38679603] [-0.05090241 0.99479763 0.08824187 -1.67037566] [ 0.54996064 -0.04583184 0.8339321 -8.4160173 ] [ 0. 0. 0. 1. ]] SLAMing on 111.23964924600001 meters Centerline goodness : 0.894842 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.67, Z:-8.41 [[ 0.83346056 0.0913451 -0.54497666 6.38681134] [-0.0509546 0.99474488 0.08880457 -1.67073614] [ 0.55022461 -0.04624604 0.83373508 -8.41499228] [ 0. 0. 0. 1. ]] SLAMing on 111.26964924600001 meters Centerline goodness : 0.892912 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.67, Z:-8.41 [[ 0.8333966 0.09219011 -0.54493219 6.38586244] [-0.05149584 0.99465314 0.08951707 -1.6707467 ] [ 0.5502711 -0.04654148 0.83368795 -8.41431393] [ 0. 0. 0. 1. ]] SLAMing on 111.29964924600002 meters Centerline goodness : 0.896674 Centerline is valid? [False, False] Translation: X:6.38, Y:-1.67, Z:-8.41 [[ 0.83328917 0.09308156 -0.54494493 6.38489151] [-0.05233996 0.99457917 0.08984882 -1.66906136] [ 0.55035414 -0.04634765 0.83364394 -8.41404987] [ 0. 0. 0. 1. ]] SLAMing on 111.32964924600002 meters Centerline goodness : 0.897470 Centerline is valid? [False, False] Translation: X:6.38, Y:-1.67, Z:-8.41 [[ 0.83303328 0.09386125 -0.54520237 6.38465677] [-0.05323573 0.99452917 0.089876 -1.66643202] [ 0.55065553 -0.04584545 0.83347266 -8.41390966] [ 0. 0. 0. 1. ]] SLAMing on 111.35964924600002 meters Centerline goodness : 0.898870 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.66, Z:-8.41 [[ 0.83288722 0.09419604 -0.54536775 6.38503183] [-0.05370927 0.99451527 0.08974796 -1.66449973] [ 0.55083046 -0.04545863 0.83337826 -8.41409861] [ 0. 0. 0. 1. ]] SLAMing on 111.38964924600002 meters Centerline goodness : 0.896446 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.66, Z:-8.41 [[ 0.83275254 0.09411224 -0.54558784 6.3863198 ] [-0.05392549 0.99454856 0.08924796 -1.66217646] [ 0.55101293 -0.04490038 0.83328789 -8.41464733] [ 0. 0. 0. 1. ]] SLAMing on 111.41964924600002 meters Centerline goodness : 0.896737 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.66, Z:-8.41 [[ 0.83197251 0.09945765 -0.54582956 6.38728696] [-0.05753316 0.99396313 0.09341969 -1.66112587] [ 0.55182576 -0.04631931 0.83267212 -8.41294543] [ 0. 0. 0. 1. ]] SLAMing on 111.449649246 meters Centerline goodness : 0.900018 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.66, Z:-8.41 [[ 0.8318239 0.10079569 -0.54581061 6.38538015] [-0.05884243 0.99384517 0.09385813 -1.6594642 ] [ 0.55191174 -0.04595661 0.83263523 -8.4126425 ] [ 0. 0. 0. 1. ]] SLAMing on 111.47964924600001 meters Centerline goodness : 0.897691 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.66, Z:-8.41 [[ 0.83173598 0.10127453 -0.54585596 6.38520222] [-0.05928082 0.99380047 0.09405536 -1.65859767] [ 0.55199732 -0.04587044 0.83258324 -8.4125435 ] [ 0. 0. 0. 1. ]] SLAMing on 111.50964924600001 meters Centerline goodness : 0.900354 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.66, Z:-8.41 [[ 0.8315058 0.10168201 -0.54613082 6.38593972] [-0.05967583 0.99376628 0.09416673 -1.65792101] [ 0.55230145 -0.04570938 0.83239039 -8.41236161] [ 0. 0. 0. 1. ]] SLAMing on 111.53964924600001 meters Centerline goodness : 0.897544 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.66, Z:-8.41 [[ 0.83129759 0.10146934 -0.54648723 6.38758056] [-0.05948248 0.99378989 0.09403983 -1.65770873] [ 0.55263564 -0.04566867 0.83217079 -8.41219495] [ 0. 0. 0. 1. ]] SLAMing on 111.56964924600001 meters Centerline goodness : 0.898458 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.66, Z:-8.41 [[ 0.83087686 0.10125717 -0.547166 6.38948689] [-0.05904332 0.99379602 0.09425154 -1.6586842 ] [ 0.55331504 -0.04600492 0.83170068 -8.41095398] [ 0. 0. 0. 1. ]] SLAMing on 111.59964924600001 meters Centerline goodness : 0.899571 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.66, Z:-8.41 [[ 0.83060565 0.10164487 -0.54750577 6.38973509] [-0.05897702 0.99372737 0.09501387 -1.66041638] [ 0.55372914 -0.0466288 0.83139028 -8.40960866] [ 0. 0. 0. 1. ]] SLAMing on 111.62964924600001 meters Centerline goodness : 0.900730 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.66, Z:-8.41 [[ 0.83030771 0.10259698 -0.54778003 6.3884496 ] [-0.0589642 0.99356406 0.09671446 -1.66365824] [ 0.55417716 -0.04800335 0.83101345 -8.40681251] [ 0. 0. 0. 1. ]] SLAMing on 111.65964924600001 meters Centerline goodness : 0.901533 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.66, Z:-8.41 [[ 0.83011821 0.10332189 -0.54793096 6.38770812] [-0.05927651 0.99346565 0.09753097 -1.66491154] [ 0.55442767 -0.0484828 0.8308185 -8.40571826] [ 0. 0. 0. 1. ]] SLAMing on 111.68964924600002 meters Centerline goodness : 0.901533 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.66, Z:-8.41 [[ 0.83011821 0.10332189 -0.54793096 6.38770812] [-0.05927651 0.99346565 0.09753097 -1.66491154] [ 0.55442767 -0.0484828 0.8308185 -8.40571826] [ 0. 0. 0. 1. ]] SLAMing on 111.71964924600002 meters Centerline goodness : 0.905560 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.66, Z:-8.41 [[ 0.82988514 0.10370784 -0.54821104 6.38801903] [-0.0595366 0.99342326 0.097804 -1.66477767] [ 0.55474864 -0.04852747 0.83060161 -8.40516158] [ 0. 0. 0. 1. ]] SLAMing on 111.74964924600002 meters Centerline goodness : 0.907118 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.66, Z:-8.40 [[ 0.82973724 0.10381229 -0.5484151 6.38879808] [-0.059617 0.99341396 0.09784949 -1.6641102 ] [ 0.55496119 -0.0484945 0.83046153 -8.4049858 ] [ 0. 0. 0. 1. ]] SLAMing on 111.77964924600002 meters Centerline goodness : 0.905507 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.66, Z:-8.40 [[ 0.8295002 0.10415858 -0.54870795 6.38961848] [-0.06000923 0.99339005 0.09785247 -1.66264957] [ 0.55527319 -0.0482411 0.83026772 -8.4048892 ] [ 0. 0. 0. 1. ]] SLAMing on 111.80964924600002 meters Centerline goodness : 0.907777 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.66, Z:-8.40 [[ 0.82933566 0.10434857 -0.54892052 6.39024512] [-0.06014305 0.99337032 0.09797047 -1.66239806] [ 0.55550444 -0.04823665 0.83011327 -8.4046187 ] [ 0. 0. 0. 1. ]] SLAMing on 111.83964924600001 meters Centerline goodness : 0.907660 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.66, Z:-8.40 [[ 0.82914306 0.10510786 -0.5490666 6.38989484] [-0.06069405 0.99328535 0.09849088 -1.6629725 ] [ 0.55573197 -0.04833796 0.82995507 -8.4040789 ] [ 0. 0. 0. 1. ]] SLAMing on 111.86964924600001 meters Centerline goodness : 0.911486 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.66, Z:-8.40 [[ 0.82888692 0.1052255 -0.54943067 6.39061091] [-0.06060822 0.99326075 0.09879134 -1.66347016] [ 0.55612329 -0.04858684 0.82967838 -8.40329751] [ 0. 0. 0. 1. ]] SLAMing on 111.89964924600001 meters Centerline goodness : 0.911753 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.66, Z:-8.40 [[ 0.82862252 0.10596266 -0.54968776 6.39104798] [-0.06113469 0.99317808 0.09929676 -1.66460433] [ 0.55645958 -0.04867454 0.82944772 -8.40286002] [ 0. 0. 0. 1. ]] SLAMing on 111.92964924600001 meters Centerline goodness : 0.909151 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.66, Z:-8.40 [[ 0.82840591 0.10625819 -0.54995713 6.39141512] [-0.06132587 0.9931448 0.0995115 -1.6644343 ] [ 0.55676097 -0.04870932 0.8292434 -8.40238915] [ 0. 0. 0. 1. ]] SLAMing on 111.95964924600001 meters Centerline goodness : 0.913687 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.66, Z:-8.40 [[ 0.82816629 0.10701985 -0.55017029 6.39155076] [-0.06198023 0.99306773 0.09987459 -1.66434988] [ 0.55704492 -0.04861309 0.82905833 -8.40210864] [ 0. 0. 0. 1. ]] SLAMing on 111.98964924600001 meters Centerline goodness : 0.909549 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.66, Z:-8.40 [[ 0.82795613 0.10716088 -0.55045908 6.39231877] [-0.0620062 0.99304772 0.10005731 -1.66447001] [ 0.55735436 -0.04871119 0.82884458 -8.40166531] [ 0. 0. 0. 1. ]] SLAMing on 112.01964924600001 meters Centerline goodness : 0.908225 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.66, Z:-8.40 [[ 0.82760887 0.10674448 -0.55106186 6.39496842] [-0.06151768 0.99308612 0.09997767 -1.66484764] [ 0.55792394 -0.04884236 0.82845356 -8.40108227] [ 0. 0. 0. 1. ]] SLAMing on 112.04964924600002 meters Centerline goodness : 0.912519 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.67, Z:-8.40 [[ 0.8273765 0.10738019 -0.55128724 6.39451019] [-0.06160859 0.992982 0.10095117 -1.6668701 ] [ 0.55825846 -0.04956059 0.82818551 -8.39959993] [ 0. 0. 0. 1. ]] SLAMing on 112.07964924600002 meters Centerline goodness : 0.915195 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.67, Z:-8.40 [[ 0.82721387 0.10795175 -0.55141965 6.393867 ] [-0.06187211 0.99290316 0.1015636 -1.6676041 ] [ 0.55847028 -0.04989732 0.82802247 -8.39871261] [ 0. 0. 0. 1. ]] SLAMing on 112.10964924600002 meters Centerline goodness : 0.909746 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.67, Z:-8.40 [[ 0.82700519 0.10833086 -0.55165826 6.3937202 ] [-0.06184596 0.99283422 0.10225108 -1.66885815] [ 0.55878214 -0.05044434 0.82777889 -8.39742713] [ 0. 0. 0. 1. ]] SLAMing on 112.13964924600002 meters Centerline goodness : 0.911924 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.67, Z:-8.40 [[ 0.82666685 0.10823478 -0.55218398 6.39449357] [-0.06136248 0.99281388 0.10273869 -1.67060588] [ 0.55933583 -0.05104729 0.82736788 -8.39585217] [ 0. 0. 0. 1. ]] SLAMing on 112.16964924600002 meters Centerline goodness : 0.907335 Centerline is valid? [False, False] Translation: X:6.40, Y:-1.67, Z:-8.40 [[ 0.82633667 0.10791694 -0.55274012 6.39727257] [-0.06111769 0.9928562 0.10247531 -1.67045798] [ 0.55985027 -0.05089691 0.82702913 -8.39575703] [ 0. 0. 0. 1. ]] SLAMing on 112.19964924600002 meters Centerline goodness : 0.909036 Centerline is valid? [False, False] Translation: X:6.40, Y:-1.67, Z:-8.39 [[ 0.82606073 0.10791026 -0.55315372 6.39850747] [-0.06088783 0.99284116 0.10275753 -1.67122774] [ 0.56028238 -0.05120363 0.82671751 -8.39496377] [ 0. 0. 0. 1. ]] SLAMing on 112.22964924600001 meters Centerline goodness : 0.908629 Centerline is valid? [False, False] Translation: X:6.40, Y:-1.67, Z:-8.39 [[ 0.8258499 0.1079827 -0.55345432 6.39947246] [-0.06078787 0.99282213 0.10300029 -1.67182188] [ 0.56060395 -0.05141947 0.82648609 -8.39439943] [ 0. 0. 0. 1. ]] SLAMing on 112.25964924600001 meters Centerline goodness : 0.911464 Centerline is valid? [False, False] Translation: X:6.40, Y:-1.67, Z:-8.39 [[ 0.82541718 0.10812863 -0.55407101 6.40076682] [-0.06066537 0.99279109 0.10337104 -1.67263103] [ 0.56125413 -0.05171131 0.82602648 -8.39315805] [ 0. 0. 0. 1. ]] SLAMing on 112.28964924600001 meters Centerline goodness : 0.912111 Centerline is valid? [False, False] Translation: X:6.40, Y:-1.67, Z:-8.39 [[ 0.82521073 0.10772082 -0.55445782 6.40297583] [-0.06040746 0.99284683 0.102986 -1.6718673 ] [ 0.56158542 -0.05149177 0.825815 -8.39325717] [ 0. 0. 0. 1. ]] SLAMing on 112.31964924600001 meters Centerline goodness : 0.911572 Centerline is valid? [False, False] Translation: X:6.40, Y:-1.67, Z:-8.39 [[ 0.82507568 0.1077996 -0.55464347 6.40364133] [-0.06039252 0.99283312 0.10312681 -1.67181211] [ 0.56178543 -0.05159111 0.82567275 -8.39294302] [ 0. 0. 0. 1. ]] SLAMing on 112.34964924600001 meters Centerline goodness : 0.907899 Centerline is valid? [False, False] Translation: X:6.40, Y:-1.67, Z:-8.39 [[ 0.82496756 0.10905977 -0.55455792 6.40150183] [-0.06115205 0.99266947 0.10424853 -1.6727087 ] [ 0.56186203 -0.0520893 0.82558934 -8.3917486 ] [ 0. 0. 0. 1. ]] SLAMing on 112.37964924600001 meters Centerline goodness : 0.911359 Centerline is valid? [False, False] Translation: X:6.40, Y:-1.67, Z:-8.39 [[ 0.82492003 0.10992832 -0.55445713 6.39991826] [-0.06172552 0.99255976 0.10495276 -1.67344437] [ 0.56186912 -0.05235348 0.82556781 -8.39113043] [ 0. 0. 0. 1. ]] SLAMing on 112.40964924600001 meters Centerline goodness : 0.914043 Centerline is valid? [False, False] Translation: X:6.40, Y:-1.67, Z:-8.39 [[ 0.82495605 0.11152352 -0.55408485 6.39652761] [-0.06287558 0.99236292 0.10612492 -1.67423107] [ 0.56168869 -0.05270999 0.8256679 -8.39029274] [ 0. 0. 0. 1. ]] SLAMing on 112.43964924600002 meters Centerline goodness : 0.916584 Centerline is valid? [False, False] Translation: X:6.40, Y:-1.67, Z:-8.39 [[ 0.82484638 0.11202823 -0.55414631 6.3958721 ] [-0.06318477 0.99229709 0.10655591 -1.67459776] [ 0.56181504 -0.05287865 0.82557114 -8.38972646] [ 0. 0. 0. 1. ]] SLAMing on 112.46964924600002 meters Centerline goodness : 0.918432 Centerline is valid? [False, False] Translation: X:6.40, Y:-1.67, Z:-8.39 [[ 0.82474568 0.11233101 -0.55423489 6.39589913] [-0.063379 0.99225893 0.10679568 -1.67461745] [ 0.56194098 -0.05295242 0.82548069 -8.38944081] [ 0. 0. 0. 1. ]] SLAMing on 112.49964924600002 meters Centerline goodness : 0.918663 Centerline is valid? [False, False] Translation: X:6.40, Y:-1.68, Z:-8.39 [[ 0.82453316 0.11268068 -0.55448006 6.39657171] [-0.06358469 0.99221474 0.10708364 -1.67534093] [ 0.56222954 -0.05303758 0.82527871 -8.3890411 ] [ 0. 0. 0. 1. ]] SLAMing on 112.52964924600002 meters Centerline goodness : 0.917625 Centerline is valid? [False, False] Translation: X:6.40, Y:-1.68, Z:-8.39 [[ 0.82436955 0.11267307 -0.55472482 6.39784448] [-0.06362823 0.99222328 0.10697857 -1.67514208] [ 0.56246448 -0.05289372 0.82512785 -8.38906948] [ 0. 0. 0. 1. ]] SLAMing on 112.55964924600002 meters Centerline goodness : 0.916983 Centerline is valid? [False, False] Translation: X:6.40, Y:-1.67, Z:-8.39 [[ 0.82419166 0.11257299 -0.5550094 6.39909477] [-0.06359544 0.9922427 0.10681783 -1.67464006] [ 0.56272883 -0.0527423 0.82495728 -8.3890297 ] [ 0. 0. 0. 1. ]] SLAMing on 112.58964924600001 meters Centerline goodness : 0.910857 Centerline is valid? [False, False] Translation: X:6.40, Y:-1.67, Z:-8.39 [[ 0.82380748 0.11174313 -0.55574698 6.40310776] [-0.06312901 0.99236505 0.10595439 -1.67332842] [ 0.56334355 -0.05220226 0.82457199 -8.38944875] [ 0. 0. 0. 1. ]] SLAMing on 112.61964924600001 meters Centerline goodness : 0.915947 Centerline is valid? [False, False] Translation: X:6.41, Y:-1.67, Z:-8.39 [[ 0.82354561 0.11147783 -0.55618821 6.4050528 ] [-0.06284655 0.99239404 0.10585075 -1.67366682] [ 0.56375788 -0.05221841 0.82428775 -8.38915746] [ 0. 0. 0. 1. ]] SLAMing on 112.64964924600001 meters Centerline goodness : 0.912834 Centerline is valid? [False, False] Translation: X:6.41, Y:-1.68, Z:-8.39 [[ 0.82313427 0.11094675 -0.55690285 6.40759796] [-0.06214495 0.99243718 0.10586055 -1.67516601] [ 0.56443598 -0.05252875 0.82380383 -8.38812213] [ 0. 0. 0. 1. ]] SLAMing on 112.67964924600001 meters Centerline goodness : 0.915199 Centerline is valid? [False, False] Translation: X:6.41, Y:-1.68, Z:-8.39 [[ 0.82357828 0.10628499 -0.55715555 6.40676716] [-0.05889179 0.99300101 0.10237553 -1.67626574] [ 0.56413701 -0.05150237 0.82407338 -8.38831552] [ 0. 0. 0. 1. ]] SLAMing on 112.70964924600001 meters Centerline goodness : 0.914991 Centerline is valid? [False, False] Translation: X:6.41, Y:-1.68, Z:-8.39 [[ 0.82332489 0.1062852 -0.5575299 6.4072679 ] [-0.05836874 0.99295715 0.10309799 -1.67821878] [ 0.56456109 -0.05234082 0.82373006 -8.3866571 ] [ 0. 0. 0. 1. ]] SLAMing on 112.73964924600001 meters Centerline goodness : 0.917082 Centerline is valid? [False, False] Translation: X:6.41, Y:-1.68, Z:-8.39 [[ 0.82309534 0.10638113 -0.55785044 6.40773217] [-0.05799625 0.99290857 0.10377386 -1.67985506] [ 0.56493406 -0.05306255 0.82342812 -8.38525851] [ 0. 0. 0. 1. ]] SLAMing on 112.76964924600001 meters Centerline goodness : 0.913999 Centerline is valid? [False, False] Translation: X:6.41, Y:-1.68, Z:-8.38 [[ 0.82299014 0.10707212 -0.55787346 6.4065328 ] [-0.05805443 0.9927867 0.10490113 -1.68207148] [ 0.56508134 -0.05394558 0.82326967 -8.38365659] [ 0. 0. 0. 1. ]] SLAMing on 112.79964924600002 meters Centerline goodness : 0.919119 Centerline is valid? [False, False] Translation: X:6.41, Y:-1.68, Z:-8.38 [[ 0.82280804 0.10751829 -0.55805622 6.40604345] [-0.05820977 0.99272076 0.1054377 -1.682746 ] [ 0.56533048 -0.05427066 0.82307724 -8.38266894] [ 0. 0. 0. 1. ]] SLAMing on 112.82964924600002 meters Centerline goodness : 0.914625 Centerline is valid? [False, False] Translation: X:6.41, Y:-1.68, Z:-8.38 [[ 0.82264196 0.10754889 -0.55829512 6.40716142] [-0.05813502 0.99271081 0.10557255 -1.68301028] [ 0.56557981 -0.05439191 0.82289793 -8.38228111] [ 0. 0. 0. 1. ]] SLAMing on 112.85964924600002 meters Centerline goodness : 0.915119 Centerline is valid? [False, False] Translation: X:6.41, Y:-1.68, Z:-8.38 [[ 0.8224775 0.10737048 -0.5585717 6.40831677] [-0.05788592 0.99272356 0.10558956 -1.68307309] [ 0.56584449 -0.0545116 0.82270803 -8.38189318] [ 0. 0. 0. 1. ]] SLAMing on 112.88964924600002 meters Centerline goodness : 0.912534 Centerline is valid? [False, False] Translation: X:6.41, Y:-1.68, Z:-8.38 [[ 0.82223159 0.10755736 -0.55889768 6.40902284] [-0.0578143 0.99268576 0.10598348 -1.68387503] [ 0.56620907 -0.05483069 0.82243594 -8.38095793] [ 0. 0. 0. 1. ]] SLAMing on 112.91964924600002 meters Centerline goodness : 0.913483 Centerline is valid? [False, False] Translation: X:6.41, Y:-1.68, Z:-8.38 [[ 0.82198472 0.1075712 -0.55925804 6.41034963] [-0.05768247 0.99267489 0.10615693 -1.6848433 ] [ 0.56658084 -0.05499999 0.82216857 -8.38033779] [ 0. 0. 0. 1. ]] SLAMing on 112.94964924600002 meters Centerline goodness : 0.913981 Centerline is valid? [False, False] Translation: X:6.41, Y:-1.68, Z:-8.38 [[ 0.82182212 0.10743656 -0.55952282 6.41160287] [-0.05753225 0.99268885 0.10610792 -1.6847194 ] [ 0.56683193 -0.05501122 0.82199472 -8.38013389] [ 0. 0. 0. 1. ]] SLAMing on 112.97964924600001 meters Centerline goodness : 0.913208 Centerline is valid? [False, False] Translation: X:6.41, Y:-1.68, Z:-8.38 [[ 0.82171485 0.10698966 -0.55976594 6.41350985] [-0.05723198 0.99274631 0.10573209 -1.68430357] [ 0.56701781 -0.05484511 0.82187762 -8.38039617] [ 0. 0. 0. 1. ]] SLAMing on 113.00964924600001 meters Centerline goodness : 0.913523 Centerline is valid? [False, False] Translation: X:6.41, Y:-1.69, Z:-8.38 [[ 0.82174774 0.1008795 -0.56085112 6.41477896] [-0.05187204 0.99336177 0.10267271 -1.6856572 ] [ 0.56748563 -0.05527857 0.82152562 -8.37717611] [ 0. 0. 0. 1. ]] SLAMing on 113.03964924600001 meters Centerline goodness : 0.914350 Centerline is valid? [False, False] Translation: X:6.42, Y:-1.68, Z:-8.38 [[ 0.82196928 0.09422586 -0.56168317 6.41737344] [-0.04709698 0.99408689 0.09784238 -1.6847405 ] [ 0.56758116 -0.05396985 0.82154664 -8.37732711] [ 0. 0. 0. 1. ]] SLAMing on 113.06964924600001 meters Centerline goodness : 0.908926 Centerline is valid? [False, False] Translation: X:6.43, Y:-1.69, Z:-8.36 [[ 0.82197953 0.09495741 -0.56154495 6.43287035] [-0.04161499 0.99338066 0.10706567 -1.68660731] [ 0.56799457 -0.0646371 0.82049022 -8.36181532] [ 0. 0. 0. 1. ]] SLAMing on 113.09964924600001 meters Centerline goodness : 0.909036 Centerline is valid? [False, False] Translation: X:6.44, Y:-1.69, Z:-8.36 [[ 0.82112322 0.0951279 -0.56276757 6.44172537] [-0.03935157 0.99310203 0.11045275 -1.68591383] [ 0.56939276 -0.06854954 0.81920257 -8.35571574] [ 0. 0. 0. 1. ]] SLAMing on 113.12964924600001 meters Centerline goodness : 0.908106 Centerline is valid? [False, False] Translation: X:6.44, Y:-1.69, Z:-8.35 [[ 0.82081368 0.09473128 -0.56328579 6.44314001] [-0.03864544 0.99310196 0.11070244 -1.6858728 ] [ 0.5698872 -0.06909765 0.81881261 -8.35421221] [ 0. 0. 0. 1. ]] SLAMing on 113.15964924600001 meters Centerline goodness : 0.904360 Centerline is valid? [False, False] Translation: X:6.44, Y:-1.68, Z:-8.35 [[ 0.82048655 0.09421691 -0.56384838 6.44459916] [-0.03816461 0.99315238 0.11041656 -1.68443223] [ 0.57039047 -0.06907625 0.81846392 -8.35334821] [ 0. 0. 0. 1. ]] SLAMing on 113.18964924600002 meters Centerline goodness : 0.905123 Centerline is valid? [False, False] Translation: X:6.45, Y:-1.69, Z:-8.35 [[ 0.81941286 0.09941294 -0.56451717 6.44611553] [-0.04061522 0.99243983 0.11581709 -1.68576859] [ 0.57176304 -0.07197402 0.81725563 -8.34884152] [ 0. 0. 0. 1. ]] SLAMing on 113.21964924600002 meters Centerline goodness : 0.908287 Centerline is valid? [False, False] Translation: X:6.45, Y:-1.68, Z:-8.35 [[ 0.81924603 0.10001712 -0.56465257 6.44523249] [-0.04136446 0.99241419 0.11577161 -1.68359477] [ 0.57194836 -0.07148888 0.81716854 -8.34875544] [ 0. 0. 0. 1. ]] SLAMing on 113.24964924600002 meters Centerline goodness : 0.908864 Centerline is valid? [False, False] Translation: X:6.44, Y:-1.68, Z:-8.35 [[ 0.81922144 0.10060944 -0.56458301 6.44434795] [-0.04191886 0.99236248 0.1160152 -1.68269508] [ 0.57194322 -0.07137546 0.81718205 -8.34863043] [ 0. 0. 0. 1. ]] SLAMing on 113.27964924600002 meters Centerline goodness : 0.910285 Centerline is valid? [False, False] Translation: X:6.44, Y:-1.68, Z:-8.35 [[ 0.81918973 0.10080954 -0.56459333 6.44417091] [-0.04223207 0.9923612 0.11591246 -1.68122081] [ 0.5719656 -0.07111035 0.8171895 -8.34878509] [ 0. 0. 0. 1. ]] SLAMing on 113.30964924600002 meters Centerline goodness : 0.907674 Centerline is valid? [False, False] Translation: X:6.44, Y:-1.68, Z:-8.35 [[ 0.81841775 0.10618554 -0.56472738 6.44437815] [-0.04552972 0.99167103 0.12048078 -1.68089231] [ 0.5728171 -0.07289173 0.81643577 -8.34634257] [ 0. 0. 0. 1. ]] SLAMing on 113.33964924600001 meters Centerline goodness : 0.903663 Centerline is valid? [False, False] Translation: X:6.44, Y:-1.68, Z:-8.35 [[ 0.81839178 0.10680486 -0.56464823 6.44351517] [-0.04639907 0.99164984 0.12032341 -1.67872332] [ 0.57278445 -0.07227254 0.81651372 -8.34678624] [ 0. 0. 0. 1. ]] SLAMing on 113.36964924600001 meters Centerline goodness : 0.903250 Centerline is valid? [False, False] Translation: X:6.44, Y:-1.68, Z:-8.35 [[ 0.81837799 0.10720959 -0.56459151 6.44313011] [-0.04697561 0.99163654 0.12020928 -1.67727278] [ 0.57275715 -0.0718546 0.81656975 -8.34720242] [ 0. 0. 0. 1. ]] SLAMing on 113.39964924600001 meters Centerline goodness : 0.904134 Centerline is valid? [False, False] Translation: X:6.44, Y:-1.67, Z:-8.35 [[ 0.81820966 0.10809192 -0.56466724 6.44170181] [-0.04814429 0.99159905 0.12005604 -1.67407446] [ 0.57290059 -0.07104551 0.81653993 -8.34732329] [ 0. 0. 0. 1. ]] SLAMing on 113.42964924600001 meters Centerline goodness : 0.904359 Centerline is valid? [False, False] Translation: X:6.44, Y:-1.67, Z:-8.35 [[ 0.81805091 0.10847877 -0.56482304 6.441699 ] [-0.04863146 0.99158126 0.12000662 -1.67248069] [ 0.57308611 -0.07070335 0.81643943 -8.34730413] [ 0. 0. 0. 1. ]] SLAMing on 113.45964924600001 meters Centerline goodness : 0.902218 Centerline is valid? [False, False] Translation: X:6.44, Y:-1.67, Z:-8.35 [[ 0.81734058 0.11356177 -0.56485228 6.4431696 ] [-0.05238733 0.9909699 0.12342697 -1.67018588] [ 0.5737682 -0.07129077 0.81590911 -8.34693856] [ 0. 0. 0. 1. ]] SLAMing on 113.48964924600001 meters Centerline goodness : 0.902566 Centerline is valid? [False, False] Translation: X:6.44, Y:-1.67, Z:-8.35 [[ 0.81729827 0.11357268 -0.5649113 6.44391539] [-0.05285454 0.99102639 0.12277255 -1.66778221] [ 0.57378562 -0.07048367 0.81596698 -8.34793041] [ 0. 0. 0. 1. ]] SLAMing on 113.51964924600001 meters Centerline goodness : 0.895930 Centerline is valid? [False, False] Translation: X:6.44, Y:-1.66, Z:-8.35 [[ 0.81693487 0.1149139 -0.56516565 6.44447155] [-0.0543783 0.99093049 0.12288107 -1.66402233] [ 0.57416062 -0.06965308 0.8157745 -8.34856813] [ 0. 0. 0. 1. ]] SLAMing on 113.54964924600002 meters Centerline goodness : 0.897056 Centerline is valid? [False, False] Translation: X:6.45, Y:-1.66, Z:-8.35 [[ 0.81678877 0.11473035 -0.56541405 6.44567925] [-0.0545208 0.99099134 0.12232595 -1.66230056] [ 0.57435493 -0.06908764 0.81568579 -8.34900589] [ 0. 0. 0. 1. ]] SLAMing on 113.57964924600002 meters Centerline goodness : 0.895265 Centerline is valid? [False, False] Translation: X:6.45, Y:-1.66, Z:-8.35 [[ 0.81671858 0.1152766 -0.56540434 6.44604935] [-0.05565931 0.99101105 0.12165169 -1.65965195] [ 0.57434555 -0.06788518 0.81579335 -8.35056486] [ 0. 0. 0. 1. ]] SLAMing on 113.60964924600002 meters Centerline goodness : 0.895265 Centerline is valid? [False, False] Translation: X:6.45, Y:-1.66, Z:-8.35 [[ 0.81671858 0.1152766 -0.56540434 6.44604935] [-0.05565931 0.99101105 0.12165169 -1.65965195] [ 0.57434555 -0.06788518 0.81579335 -8.35056486] [ 0. 0. 0. 1. ]] SLAMing on 113.63964924600002 meters Centerline goodness : 0.893631 Centerline is valid? [False, False] Translation: X:6.45, Y:-1.66, Z:-8.35 [[ 0.81660772 0.11554997 -0.56550865 6.44640611] [-0.05606021 0.99100234 0.12153853 -1.65872024] [ 0.57446417 -0.06754677 0.81573792 -8.35075996] [ 0. 0. 0. 1. ]] SLAMing on 113.66964924600002 meters Centerline goodness : 0.894001 Centerline is valid? [False, False] Translation: X:6.45, Y:-1.66, Z:-8.35 [[ 0.81630014 0.11623418 -0.56581242 6.44665216] [-0.05698771 0.9909716 0.1213577 -1.65815012] [ 0.57480995 -0.06681995 0.81555418 -8.35102392] [ 0. 0. 0. 1. ]] SLAMing on 113.69964924600002 meters Centerline goodness : 0.893824 Centerline is valid? [False, False] Translation: X:6.45, Y:-1.66, Z:-8.35 [[ 0.81618889 0.11642687 -0.56593329 6.44737694] [-0.05727794 0.99096673 0.12126081 -1.65784675] [ 0.57493907 -0.06655623 0.81548472 -8.35126747] [ 0. 0. 0. 1. ]] SLAMing on 113.72964924600001 meters Centerline goodness : 0.892286 Centerline is valid? [False, False] Translation: X:6.45, Y:-1.66, Z:-8.35 [[ 0.81592581 0.11671839 -0.56625249 6.44870689] [-0.05783252 0.99097472 0.12093179 -1.65699265] [ 0.57525687 -0.06592356 0.81531198 -8.35173609] [ 0. 0. 0. 1. ]] SLAMing on 113.75964924600001 meters Centerline goodness : 0.892250 Centerline is valid? [False, False] Translation: X:6.45, Y:-1.66, Z:-8.35 [[ 0.81579932 0.11668511 -0.56644158 6.44976217] [-0.05788962 0.99099145 0.12076731 -1.6569162 ] [ 0.5754305 -0.0657308 0.815205 -8.35183301] [ 0. 0. 0. 1. ]] SLAMing on 113.78964924600001 meters Centerline goodness : 0.889821 Centerline is valid? [False, False] Translation: X:6.45, Y:-1.66, Z:-8.35 [[ 0.81555881 0.11739115 -0.56664199 6.44998698] [-0.05852684 0.9909193 0.12105187 -1.65774273] [ 0.5757069 -0.06556115 0.8150235 -8.35161632] [ 0. 0. 0. 1. ]] SLAMing on 113.81964924600001 meters Centerline goodness : 0.888686 Centerline is valid? [False, False] Translation: X:6.45, Y:-1.66, Z:-8.35 [[ 0.8155043 0.117965 -0.56660127 6.44933753] [-0.05899842 0.99085156 0.12137696 -1.65843742] [ 0.57573599 -0.06555485 0.81500346 -8.35145657] [ 0. 0. 0. 1. ]] SLAMing on 113.84964924600001 meters Centerline goodness : 0.890394 Centerline is valid? [False, False] Translation: X:6.45, Y:-1.66, Z:-8.35 [[ 0.81540652 0.11923452 -0.56647625 6.44754684] [-0.06017786 0.99071542 0.12190812 -1.65868257] [ 0.57575241 -0.06531534 0.81501108 -8.35134941] [ 0. 0. 0. 1. ]] SLAMing on 113.87964924600001 meters Centerline goodness : 0.893386 Centerline is valid? [False, False] Translation: X:6.45, Y:-1.66, Z:-8.35 [[ 0.81528527 0.11968882 -0.56655495 6.44754511] [-0.06059389 0.99066769 0.12208974 -1.65820101] [ 0.57588046 -0.0652082 0.81492919 -8.35123043] [ 0. 0. 0. 1. ]] SLAMing on 113.90964924600001 meters Centerline goodness : 0.887942 Centerline is valid? [False, False] Translation: X:6.45, Y:-1.66, Z:-8.35 [[ 0.81444539 0.12460209 -0.56670365 6.45038664] [-0.06391966 0.98999318 0.12580852 -1.65834365] [ 0.57670876 -0.06624066 0.8142599 -8.35049994] [ 0. 0. 0. 1. ]] SLAMing on 113.93964924600002 meters Centerline goodness : 0.887756 Centerline is valid? [False, False] Translation: X:6.45, Y:-1.66, Z:-8.35 [[ 0.81427591 0.12430069 -0.5670133 6.45214887] [-0.06376943 0.99004706 0.12546024 -1.65759318] [ 0.57696465 -0.06600114 0.81409806 -8.35062814] [ 0. 0. 0. 1. ]] SLAMing on 113.96964924600002 meters Centerline goodness : 0.882837 Centerline is valid? [False, False] Translation: X:6.45, Y:-1.66, Z:-8.35 [[ 0.8139909 0.12461125 -0.56735426 6.45316544] [-0.06389184 0.98999952 0.12577273 -1.65858552] [ 0.57735314 -0.06612855 0.81381224 -8.34999464] [ 0. 0. 0. 1. ]] SLAMing on 113.99964924600002 meters Centerline goodness : 0.883924 Centerline is valid? [False, False] Translation: X:6.45, Y:-1.66, Z:-8.35 [[ 0.81454158 0.12019693 -0.56751626 6.45208801] [-0.06113771 0.99063765 0.12206241 -1.65855904] [ 0.5768745 -0.06472826 0.81426412 -8.3509594 ] [ 0. 0. 0. 1. ]] SLAMing on 114.02964924600002 meters Centerline goodness : 0.886873 Centerline is valid? [False, False] Translation: X:6.45, Y:-1.66, Z:-8.35 [[ 0.81505232 0.11647404 -0.56755926 6.44990329] [-0.05876906 0.99115259 0.1190073 -1.66054663] [ 0.57639909 -0.06364225 0.81468629 -8.35134282] [ 0. 0. 0. 1. ]] SLAMing on 114.05964924600002 meters Centerline goodness : 0.888371 Centerline is valid? [False, False] Translation: X:6.45, Y:-1.66, Z:-8.35 [[ 0.81487634 0.11668779 -0.56776801 6.45117843] [-0.05879905 0.99111513 0.11930415 -1.66235759] [ 0.5766448 -0.06383391 0.81449739 -8.35100806] [ 0. 0. 0. 1. ]] SLAMing on 114.08964924600001 meters Centerline goodness : 0.886867 Centerline is valid? [False, False] Translation: X:6.45, Y:-1.66, Z:-8.35 [[ 0.81478166 0.11663851 -0.567914 6.45251036] [-0.05879418 0.99112714 0.11920674 -1.66286582] [ 0.57677907 -0.06373743 0.81440987 -8.35122005] [ 0. 0. 0. 1. ]] SLAMing on 114.11964924600001 meters Centerline goodness : 0.882202 Centerline is valid? [False, False] Translation: X:6.46, Y:-1.66, Z:-8.35 [[ 0.81436674 0.11597422 -0.5686447 6.45596568] [-0.05801607 0.99118993 0.11906578 -1.66466479] [ 0.57744346 -0.06397268 0.81392048 -8.35043686] [ 0. 0. 0. 1. ]] SLAMing on 114.14964924600001 meters Centerline goodness : 0.882765 Centerline is valid? [False, False] Translation: X:6.46, Y:-1.67, Z:-8.35 [[ 0.81414719 0.11560113 -0.56903491 6.45774586] [-0.0574562 0.99121098 0.11916194 -1.66583501] [ 0.57780891 -0.06432078 0.81363364 -8.34969589] [ 0. 0. 0. 1. ]] SLAMing on 114.17964924600001 meters Centerline goodness : 0.883176 Centerline is valid? [False, False] Translation: X:6.46, Y:-1.67, Z:-8.35 [[ 0.81443288 0.11039227 -0.56966011 6.45886818] [-0.05369655 0.99186201 0.11544018 -1.66794062] [ 0.57776792 -0.0634295 0.81373271 -8.34964649] [ 0. 0. 0. 1. ]] SLAMing on 114.20964924600001 meters Centerline goodness : 0.884472 Centerline is valid? [False, False] Translation: X:6.46, Y:-1.67, Z:-8.35 [[ 0.81468441 0.10589127 -0.57015467 6.45916882] [-0.05077812 0.9924367 0.11176307 -1.66758354] [ 0.57767715 -0.06210025 0.81389967 -8.35018944] [ 0. 0. 0. 1. ]] SLAMing on 114.23964924600001 meters Centerline goodness : 0.883059 Centerline is valid? [False, False] Translation: X:6.46, Y:-1.67, Z:-8.35 [[ 0.81480533 0.10264001 -0.57057629 6.45945529] [-0.04883906 0.99285669 0.10885922 -1.66798157] [ 0.5776738 -0.06083266 0.81399777 -8.35079666] [ 0. 0. 0. 1. ]] SLAMing on 114.26964924600001 meters Centerline goodness : 0.881947 Centerline is valid? [False, False] Translation: X:6.46, Y:-1.67, Z:-8.35 [[ 0.81453135 0.10194688 -0.5710915 6.46143336] [-0.04793487 0.99289886 0.10887656 -1.66904138] [ 0.57813573 -0.06130818 0.81363406 -8.34967645] [ 0. 0. 0. 1. ]] SLAMing on 114.29964924600002 meters Centerline goodness : 0.882796 Centerline is valid? [False, False] Translation: X:6.46, Y:-1.67, Z:-8.35 [[ 0.81493413 0.09695322 -0.57138642 6.4594062 ] [-0.04416154 0.99342964 0.10558084 -1.66869238] [ 0.57786861 -0.06080812 0.81386132 -8.34841338] [ 0. 0. 0. 1. ]] SLAMing on 114.32964924600002 meters Centerline goodness : 0.882680 Centerline is valid? [False, False] Translation: X:6.46, Y:-1.67, Z:-8.35 [[ 0.81525273 0.09080824 -0.5719413 6.46073501] [-0.03992263 0.99409244 0.10092776 -1.66675184] [ 0.5777276 -0.05944823 0.81406187 -8.34883231] [ 0. 0. 0. 1. ]] SLAMing on 114.35964924600002 meters Centerline goodness : 0.882201 Centerline is valid? [False, False] Translation: X:6.47, Y:-1.67, Z:-8.35 [[ 0.81440979 0.08793846 -0.57358829 6.46940902] [-0.03719554 0.99432897 0.09963131 -1.66593501] [ 0.57909687 -0.05980579 0.81306216 -8.34732282] [ 0. 0. 0. 1. ]] SLAMing on 114.38964924600002 meters Centerline goodness : 0.878797 Centerline is valid? [False, False] Translation: X:6.47, Y:-1.67, Z:-8.35 [[ 0.81402097 0.08691747 -0.57429541 6.47369764] [-0.03630803 0.99442104 0.099038 -1.66539432] [ 0.57969957 -0.05976747 0.81263538 -8.34718647] [ 0. 0. 0. 1. ]] SLAMing on 114.41964924600002 meters Centerline goodness : 0.878681 Centerline is valid? [False, False] Translation: X:6.48, Y:-1.67, Z:-8.35 [[ 0.81351626 0.0862268 -0.5751141 6.47869928] [-0.03561743 0.99447763 0.09871999 -1.66630536] [ 0.58045042 -0.05982623 0.8120949 -8.34693729] [ 0. 0. 0. 1. ]] SLAMing on 114.44964924600002 meters Centerline goodness : 0.878850 Centerline is valid? [False, False] Translation: X:6.48, Y:-1.67, Z:-8.35 [[ 0.81378961 0.08117972 -0.57546184 6.47906168] [-0.03211815 0.99496486 0.09493862 -1.66720457] [ 0.5802714 -0.0587773 0.81229941 -8.34723871] [ 0. 0. 0. 1. ]] SLAMing on 114.47964924600001 meters Centerline goodness : 0.879008 Centerline is valid? [False, False] Translation: X:6.48, Y:-1.67, Z:-8.35 [[ 0.81397244 0.07713855 -0.57575907 6.47781606] [-0.02912765 0.99531709 0.09217087 -1.67021511] [ 0.58017277 -0.05825404 0.81240755 -8.34652179] [ 0. 0. 0. 1. ]] SLAMing on 114.50964924600001 meters Centerline goodness : 0.878659 Centerline is valid? [False, False] Translation: X:6.48, Y:-1.67, Z:-8.35 [[ 0.8137416 0.07745091 -0.57604338 6.47844575] [-0.02902734 0.99526055 0.09281086 -1.67222676] [ 0.58050153 -0.05880305 0.8121331 -8.34554685] [ 0. 0. 0. 1. ]] SLAMing on 114.53964924600001 meters Centerline goodness : 0.875742 Centerline is valid? [False, False] Translation: X:6.48, Y:-1.68, Z:-8.34 [[ 0.81319252 0.07695313 -0.57688486 6.48134646] [-0.02753895 0.99519747 0.09393399 -1.67555673] [ 0.58134287 -0.06049961 0.81140635 -8.3424358 ] [ 0. 0. 0. 1. ]] SLAMing on 114.56964924600001 meters Centerline goodness : 0.879022 Centerline is valid? [False, False] Translation: X:6.48, Y:-1.68, Z:-8.34 [[ 0.81292834 0.07670559 -0.57729003 6.48251541] [-0.02697541 0.99518345 0.09424563 -1.67673616] [ 0.58173864 -0.06104231 0.81108199 -8.3412464 ] [ 0. 0. 0. 1. ]] SLAMing on 114.59964924600001 meters Centerline goodness : 0.877665 Centerline is valid? [False, False] Translation: X:6.48, Y:-1.68, Z:-8.34 [[ 0.81287016 0.07770708 -0.577238 6.48203241] [-0.02777293 0.99510412 0.09484969 -1.67726558] [ 0.5817824 -0.06106889 0.8110486 -8.34115296] [ 0. 0. 0. 1. ]] SLAMing on 114.62964924600001 meters Centerline goodness : 0.875852 Centerline is valid? [False, False] Translation: X:6.48, Y:-1.68, Z:-8.34 [[ 0.81258884 0.07804461 -0.57758844 6.4818681 ] [-0.02764054 0.99503939 0.09556469 -1.67846014] [ 0.58218156 -0.06168994 0.8107151 -8.33957929] [ 0. 0. 0. 1. ]] SLAMing on 114.65964924600001 meters Centerline goodness : 0.878867 Centerline is valid? [False, False] Translation: X:6.48, Y:-1.68, Z:-8.34 [[ 0.81245163 0.07905776 -0.57764368 6.4808966 ] [-0.02804814 0.99491662 0.09671727 -1.68076795] [ 0.58235354 -0.06237627 0.81053905 -8.33823654] [ 0. 0. 0. 1. ]] SLAMing on 114.68964924600002 meters Centerline goodness : 0.872343 Centerline is valid? [False, False] Translation: X:6.48, Y:-1.68, Z:-8.34 [[ 0.81222138 0.07934269 -0.57792834 6.48203699] [-0.02807263 0.99487559 0.09713127 -1.68160614] [ 0.58267346 -0.06266813 0.81028659 -8.33757909] [ 0. 0. 0. 1. ]] SLAMing on 114.71964924600002 meters Centerline goodness : 0.875406 Centerline is valid? [False, False] Translation: X:6.48, Y:-1.68, Z:-8.34 [[ 0.81196955 0.07930629 -0.57828709 6.4831971 ] [-0.02785684 0.99486303 0.09732189 -1.68187921] [ 0.58303468 -0.06291316 0.81000771 -8.33684749] [ 0. 0. 0. 1. ]] SLAMing on 114.74964924600002 meters Centerline goodness : 0.875937 Centerline is valid? [False, False] Translation: X:6.48, Y:-1.68, Z:-8.34 [[ 0.81166285 0.07943948 -0.57869922 6.48402483] [-0.02773665 0.99483318 0.09766078 -1.68238976] [ 0.58346731 -0.06321645 0.80967252 -8.33588674] [ 0. 0. 0. 1. ]] SLAMing on 114.77964924600002 meters Centerline goodness : 0.876201 Centerline is valid? [False, False] Translation: X:6.49, Y:-1.68, Z:-8.33 [[ 0.81134355 0.07971829 -0.57910849 6.48503059] [-0.02767836 0.99478556 0.09816113 -1.68361251] [ 0.583914 -0.06361362 0.80931931 -8.33480567] [ 0. 0. 0. 1. ]] SLAMing on 114.80964924600002 meters Centerline goodness : 0.874706 Centerline is valid? [False, False] Translation: X:6.49, Y:-1.68, Z:-8.33 [[ 0.81113773 0.07976941 -0.57938969 6.48604447] [-0.02762496 0.99477487 0.09828438 -1.68373595] [ 0.58420239 -0.06371655 0.80910306 -8.33437229] [ 0. 0. 0. 1. ]] SLAMing on 114.83964924600001 meters Centerline goodness : 0.877242 Centerline is valid? [False, False] Translation: X:6.49, Y:-1.68, Z:-8.33 [[ 0.81074111 0.07992235 -0.5799235 6.48741335] [-0.02754324 0.99474733 0.0985856 -1.68466563] [ 0.58475655 -0.06395443 0.80868388 -8.33332684] [ 0. 0. 0. 1. ]] SLAMing on 114.86964924600001 meters Centerline goodness : 0.874854 Centerline is valid? [False, False] Translation: X:6.49, Y:-1.69, Z:-8.33 [[ 0.81048457 0.08028762 -0.58023155 6.48762495] [-0.02762355 0.99469869 0.09905274 -1.68550371] [ 0.58510828 -0.06425266 0.80840578 -8.332388 ] [ 0. 0. 0. 1. ]] SLAMing on 114.89964924600001 meters Centerline goodness : 0.874673 Centerline is valid? [False, False] Translation: X:6.49, Y:-1.69, Z:-8.33 [[ 0.81014803 0.08022656 -0.5807098 6.48963363] [-0.02753427 0.99470562 0.09900809 -1.68566747] [ 0.58557838 -0.06422179 0.80806777 -8.33196269] [ 0. 0. 0. 1. ]] SLAMing on 114.92964924600001 meters Centerline goodness : 0.875902 Centerline is valid? [False, False] Translation: X:6.49, Y:-1.69, Z:-8.33 [[ 0.80993813 0.08076032 -0.58092857 6.48952236] [-0.02783597 0.99465148 0.09946656 -1.68570475] [ 0.58585441 -0.06439105 0.8078542 -8.33123168] [ 0. 0. 0. 1. ]] SLAMing on 114.95964924600001 meters Centerline goodness : 0.876592 Centerline is valid? [False, False] Translation: X:6.49, Y:-1.68, Z:-8.33 [[ 0.80963915 0.08170033 -0.58121382 6.48903547] [-0.0287778 0.99459916 0.09972138 -1.68458709] [ 0.58622205 -0.06401227 0.80761757 -8.33086003] [ 0. 0. 0. 1. ]] SLAMing on 114.98964924600001 meters Centerline goodness : 0.874479 Centerline is valid? [False, False] Translation: X:6.49, Y:-1.68, Z:-8.33 [[ 0.80952143 0.08206495 -0.58132642 6.48925186] [-0.02924802 0.99459003 0.09967564 -1.68312086] [ 0.58636133 -0.06368691 0.80754217 -8.33104625] [ 0. 0. 0. 1. ]] SLAMing on 115.01964924600001 meters Centerline goodness : 0.872747 Centerline is valid? [False, False] Translation: X:6.49, Y:-1.68, Z:-8.33 [[ 0.80874404 0.08760307 -0.58160019 6.49086662] [-0.0333553 0.99408549 0.10335113 -1.68124399] [ 0.58721418 -0.06418516 0.80688275 -8.33049175] [ 0. 0. 0. 1. ]] SLAMing on 115.04964924600002 meters Centerline goodness : 0.870937 Centerline is valid? [False, False] Translation: X:6.49, Y:-1.68, Z:-8.33 [[ 0.80858712 0.08850479 -0.58168185 6.49042458] [-0.03430448 0.99403156 0.103559 -1.67983467] [ 0.58737559 -0.06378218 0.80679722 -8.33065513] [ 0. 0. 0. 1. ]] SLAMing on 115.07964924600002 meters Centerline goodness : 0.869749 Centerline is valid? [False, False] Translation: X:6.49, Y:-1.68, Z:-8.33 [[ 0.80801958 0.09126828 -0.58204335 6.48895063] [-0.03691403 0.99382975 0.10459337 -1.67798634] [ 0.58799805 -0.06302793 0.80640298 -8.33054188] [ 0. 0. 0. 1. ]] SLAMing on 115.10964924600002 meters Centerline goodness : 0.869969 Centerline is valid? [False, False] Translation: X:6.49, Y:-1.68, Z:-8.33 [[ 0.80763675 0.09323562 -0.58226283 6.48837515] [-0.03862823 0.99366535 0.10553211 -1.67611796] [ 0.58841375 -0.06273983 0.80612218 -8.33019712] [ 0. 0. 0. 1. ]] SLAMing on 115.13964924600002 meters Centerline goodness : 0.871025 Centerline is valid? [False, False] Translation: X:6.49, Y:-1.68, Z:-8.33 [[ 0.80751422 0.09349074 -0.58239186 6.48913629] [-0.03895398 0.99365615 0.10549899 -1.67519547] [ 0.58856043 -0.06250545 0.80603331 -8.33039136] [ 0. 0. 0. 1. ]] SLAMing on 115.16964924600002 meters Centerline goodness : 0.871036 Centerline is valid? [False, False] Translation: X:6.49, Y:-1.67, Z:-8.33 [[ 0.80737776 0.0936437 -0.58255644 6.48992296] [-0.03912439 0.99364915 0.10550192 -1.67450042] [ 0.5887363 -0.06238774 0.80591398 -8.33034218] [ 0. 0. 0. 1. ]] SLAMing on 115.19964924600002 meters Centerline goodness : 0.873470 Centerline is valid? [False, False] Translation: X:6.49, Y:-1.68, Z:-8.33 [[ 0.80724558 0.09486867 -0.58254142 6.48885145] [-0.04005675 0.99352787 0.1062912 -1.67547929] [ 0.58885484 -0.06246839 0.80582112 -8.32988615] [ 0. 0. 0. 1. ]] SLAMing on 115.22964924600001 meters Centerline goodness : 0.876465 Centerline is valid? [False, False] Translation: X:6.49, Y:-1.68, Z:-8.33 [[ 0.80700709 0.09528841 -0.58280328 6.48843045] [-0.04006289 0.99345637 0.1069552 -1.67697657] [ 0.58918122 -0.06296482 0.80554386 -8.32859504] [ 0. 0. 0. 1. ]] SLAMing on 115.25964924600001 meters Centerline goodness : 0.877965 Centerline is valid? [False, False] Translation: X:6.49, Y:-1.68, Z:-8.33 [[ 0.80747409 0.09195765 -0.5826915 6.48502861] [-0.03792468 0.99382401 0.10428593 -1.67906058] [ 0.58868269 -0.06210979 0.8059746 -8.32856384] [ 0. 0. 0. 1. ]] SLAMing on 115.28964924600001 meters Centerline goodness : 0.879866 Centerline is valid? [False, False] Translation: X:6.48, Y:-1.68, Z:-8.33 [[ 0.80768345 0.08778962 -0.5830441 6.48450126] [-0.03513479 0.99426223 0.10103544 -1.68002018] [ 0.58856859 -0.06111952 0.80613362 -8.32859516] [ 0. 0. 0. 1. ]] SLAMing on 115.31964924600001 meters Centerline goodness : 0.876778 Centerline is valid? [False, False] Translation: X:6.49, Y:-1.68, Z:-8.33 [[ 0.80750096 0.08801428 -0.58326296 6.48546555] [-0.03507539 0.99422034 0.1014674 -1.68144056] [ 0.58882248 -0.06147684 0.80592102 -8.32800892] [ 0. 0. 0. 1. ]] SLAMing on 115.34964924600001 meters Centerline goodness : 0.873984 Centerline is valid? [False, False] Translation: X:6.49, Y:-1.68, Z:-8.33 [[ 0.80697652 0.08667404 -0.58418876 6.49008183] [-0.03343676 0.99429069 0.10133114 -1.68405888] [ 0.58963623 -0.06223847 0.80526734 -8.32640126] [ 0. 0. 0. 1. ]] SLAMing on 115.37964924600001 meters Centerline goodness : 0.874929 Centerline is valid? [False, False] Translation: X:6.49, Y:-1.69, Z:-8.32 [[ 0.80643469 0.08555655 -0.58510099 6.49388374] [-0.03193934 0.9943354 0.1013755 -1.68615207] [ 0.59045996 -0.06306498 0.80459918 -8.32458697] [ 0. 0. 0. 1. ]] SLAMing on 115.40964924600001 meters Centerline goodness : 0.875299 Centerline is valid? [False, False] Translation: X:6.50, Y:-1.69, Z:-8.32 [[ 0.80596726 0.08511411 -0.58580915 6.49626177] [-0.03113112 0.99433411 0.10163925 -1.68810688] [ 0.59114096 -0.06368102 0.80405043 -8.32310511] [ 0. 0. 0. 1. ]] SLAMing on 115.43964924600002 meters Centerline goodness : 0.872302 Centerline is valid? [False, False] Translation: X:6.50, Y:-1.69, Z:-8.32 [[ 0.80542581 0.08498025 -0.58657278 6.49922391] [-0.03089394 0.99434188 0.10163554 -1.68923333] [ 0.5918909 -0.06373835 0.80349399 -8.3222719 ] [ 0. 0. 0. 1. ]] SLAMing on 115.46964924600002 meters Centerline goodness : 0.873345 Centerline is valid? [False, False] Translation: X:6.50, Y:-1.69, Z:-8.32 [[ 0.80502842 0.08488233 -0.58713221 6.5013439 ] [-0.03056608 0.99433092 0.10184173 -1.69011968] [ 0.59244827 -0.06403915 0.80305917 -8.32125958] [ 0. 0. 0. 1. ]] SLAMing on 115.49964924600002 meters Centerline goodness : 0.873345 Centerline is valid? [False, False] Translation: X:6.50, Y:-1.69, Z:-8.32 [[ 0.80502842 0.08488233 -0.58713221 6.5013439 ] [-0.03056608 0.99433092 0.10184173 -1.69011968] [ 0.59244827 -0.06403915 0.80305917 -8.32125958] [ 0. 0. 0. 1. ]] SLAMing on 115.52964924600002 meters Centerline goodness : 0.871552 Centerline is valid? [False, False] Translation: X:6.50, Y:-1.69, Z:-8.32 [[ 0.80478642 0.08506965 -0.58743678 6.50126994] [-0.03030022 0.99427403 0.10247459 -1.69115382] [ 0.59279062 -0.06467069 0.80275587 -8.31971499] [ 0. 0. 0. 1. ]] SLAMing on 115.55964924600002 meters Centerline goodness : 0.876731 Centerline is valid? [False, False] Translation: X:6.50, Y:-1.69, Z:-8.32 [[ 0.80500165 0.08052978 -0.58778168 6.49890595] [-0.02683791 0.99467352 0.09952041 -1.69230557] [ 0.59266523 -0.06433927 0.80287507 -8.31822691] [ 0. 0. 0. 1. ]] SLAMing on 115.58964924600001 meters Centerline goodness : 0.875802 Centerline is valid? [False, False] Translation: X:6.50, Y:-1.69, Z:-8.32 [[ 0.80466541 0.07984378 -0.58833541 6.50203503] [-0.02627117 0.99473405 0.09906564 -1.69134653] [ 0.59314704 -0.06425844 0.80252566 -8.31806879] [ 0. 0. 0. 1. ]] SLAMing on 115.61964924600001 meters Centerline goodness : 0.867741 Centerline is valid? [False, False] Translation: X:6.51, Y:-1.69, Z:-8.32 [[ 0.80375341 0.08328929 -0.58910386 6.50777427] [-0.02768864 0.99431639 0.10280203 -1.69356302] [ 0.59431793 -0.066316 0.80149135 -8.31559101] [ 0. 0. 0. 1. ]] SLAMing on 115.64964924600001 meters Centerline goodness : 0.872449 Centerline is valid? [False, False] Translation: X:6.51, Y:-1.69, Z:-8.32 [[ 0.80359934 0.08359443 -0.58927079 6.50831614] [-0.02781938 0.99428068 0.10311166 -1.69390454] [ 0.59452012 -0.06646731 0.80132885 -8.31520942] [ 0. 0. 0. 1. ]] SLAMing on 115.67964924600001 meters Centerline goodness : 0.872596 Centerline is valid? [False, False] Translation: X:6.51, Y:-1.69, Z:-8.31 [[ 0.8034624 0.08405877 -0.58939147 6.50815174] [-0.02817975 0.99424229 0.1033836 -1.69328264] [ 0.59468822 -0.06645593 0.80120505 -8.31484687] [ 0. 0. 0. 1. ]] SLAMing on 115.70964924600001 meters Centerline goodness : 0.869578 Centerline is valid? [False, False] Translation: X:6.51, Y:-1.69, Z:-8.31 [[ 0.80319941 0.08505843 -0.58960646 6.50766988] [-0.02914834 0.99417978 0.1037157 -1.69312475] [ 0.59499671 -0.06611834 0.80100392 -8.314573 ] [ 0. 0. 0. 1. ]] SLAMing on 115.73964924600001 meters Centerline goodness : 0.872036 Centerline is valid? [False, False] Translation: X:6.51, Y:-1.69, Z:-8.31 [[ 0.80275731 0.08630768 -0.59002686 6.50661516] [-0.03000639 0.99406327 0.10458413 -1.69488518] [ 0.59555044 -0.0662511 0.80058133 -8.31315173] [ 0. 0. 0. 1. ]] SLAMing on 115.76964924600001 meters Centerline goodness : 0.871313 Centerline is valid? [False, False] Translation: X:6.51, Y:-1.70, Z:-8.31 [[ 0.80248567 0.08647709 -0.59037146 6.5073253 ] [-0.02996963 0.99403448 0.1048679 -1.69567085] [ 0.59591826 -0.06646177 0.80029011 -8.31236152] [ 0. 0. 0. 1. ]] SLAMing on 115.79964924600002 meters Centerline goodness : 0.866759 Centerline is valid? [False, False] Translation: X:6.51, Y:-1.70, Z:-8.31 [[ 0.8019647 0.08558458 -0.59120885 6.51180795] [-0.02890987 0.99408462 0.10468993 -1.69696188] [ 0.59667147 -0.06686586 0.79969501 -8.31129531] [ 0. 0. 0. 1. ]] SLAMing on 115.82964924600002 meters Centerline goodness : 0.866792 Centerline is valid? [False, False] Translation: X:6.51, Y:-1.70, Z:-8.31 [[ 0.80165438 0.0852314 -0.59168054 6.51403184] [-0.02828887 0.99408356 0.10486948 -1.69837893] [ 0.59711807 -0.0673311 0.79932255 -8.31039383] [ 0. 0. 0. 1. ]] SLAMing on 115.85964924600002 meters Centerline goodness : 0.864500 Centerline is valid? [False, False] Translation: X:6.52, Y:-1.70, Z:-8.31 [[ 0.80101265 0.08386793 -0.59274355 6.51885887] [-0.02646907 0.99413137 0.10489136 -1.70085473] [ 0.59806198 -0.06832994 0.79853171 -8.30816911] [ 0. 0. 0. 1. ]] SLAMing on 115.88964924600002 meters Centerline goodness : 0.863672 Centerline is valid? [False, False] Translation: X:6.52, Y:-1.70, Z:-8.31 [[ 0.80068405 0.08354747 -0.59323257 6.52074628] [-0.02590949 0.99413067 0.1050377 -1.70163956] [ 0.59852632 -0.06873166 0.79814924 -8.30715974] [ 0. 0. 0. 1. ]] SLAMing on 115.91964924600002 meters Centerline goodness : 0.864932 Centerline is valid? [False, False] Translation: X:6.52, Y:-1.70, Z:-8.31 [[ 0.80031349 0.08409668 -0.59365484 6.5211363 ] [-0.02582825 0.99403124 0.10599429 -1.70377816] [ 0.59902523 -0.06949559 0.79770868 -8.30529968] [ 0. 0. 0. 1. ]] SLAMing on 115.94964924600002 meters Centerline goodness : 0.869060 Centerline is valid? [False, False] Translation: X:6.52, Y:-1.71, Z:-8.30 [[ 0.8000893 0.08460365 -0.59388495 6.52090368] [-0.02598502 0.99396338 0.10659068 -1.70509813] [ 0.59931786 -0.06984995 0.79745789 -8.30429848] [ 0. 0. 0. 1. ]] SLAMing on 115.97964924600001 meters Centerline goodness : 0.869326 Centerline is valid? [False, False] Translation: X:6.52, Y:-1.71, Z:-8.30 [[ 0.79983859 0.08530712 -0.59412198 6.52052756] [-0.02592513 0.99383472 0.10779816 -1.7071547 ] [ 0.599655 -0.07081844 0.79711896 -8.30223098] [ 0. 0. 0. 1. ]] SLAMing on 116.00964924600001 meters Centerline goodness : 0.866736 Centerline is valid? [False, False] Translation: X:6.52, Y:-1.71, Z:-8.30 [[ 0.79928021 0.08470268 -0.59495933 6.52376258] [-0.02482013 0.99382533 0.10814426 -1.70857166] [ 0.60044576 -0.0716706 0.79644725 -8.30010393] [ 0. 0. 0. 1. ]] SLAMing on 116.03964924600001 meters Centerline goodness : 0.865961 Centerline is valid? [False, False] Translation: X:6.53, Y:-1.71, Z:-8.30 [[ 0.7989554 0.08444207 -0.59543245 6.52572314] [-0.02430154 0.99381773 0.10833164 -1.70963634] [ 0.60089908 -0.07208222 0.79606812 -8.29912904] [ 0. 0. 0. 1. ]] SLAMing on 116.06964924600001 meters Centerline goodness : 0.862979 Centerline is valid? [False, False] Translation: X:6.53, Y:-1.71, Z:-8.30 [[ 0.79833008 0.08438271 -0.59627899 6.52827687] [-0.02359612 0.99375723 0.10904029 -1.71152544] [ 0.60175768 -0.07298027 0.7953374 -8.29665208] [ 0. 0. 0. 1. ]] SLAMing on 116.09964924600001 meters Centerline goodness : 0.864239 Centerline is valid? [False, False] Translation: X:6.53, Y:-1.71, Z:-8.30 [[ 0.79799924 0.08443355 -0.59671449 6.52934385] [-0.0233482 0.99372515 0.10938547 -1.71255777] [ 0.602206 -0.07335732 0.79496329 -8.29553986] [ 0. 0. 0. 1. ]] SLAMing on 116.12964924600001 meters Centerline goodness : 0.865448 Centerline is valid? [False, False] Translation: X:6.53, Y:-1.71, Z:-8.29 [[ 0.79734634 0.08493479 -0.5975156 6.5303993 ] [-0.0230508 0.99361116 0.1104786 -1.71451246] [ 0.60308164 -0.0743165 0.79421004 -8.29262036] [ 0. 0. 0. 1. ]] SLAMing on 116.15964924600001 meters Centerline goodness : 0.868481 Centerline is valid? [False, False] Translation: X:6.53, Y:-1.72, Z:-8.29 [[ 0.79701825 0.08547268 -0.59787651 6.53044261] [-0.02307516 0.99352192 0.11127323 -1.71521553] [ 0.60351424 -0.0748907 0.7938274 -8.29102098] [ 0. 0. 0. 1. ]] SLAMing on 116.18964924600002 meters Centerline goodness : 0.864969 Centerline is valid? [False, False] Translation: X:6.53, Y:-1.71, Z:-8.29 [[ 0.79670424 0.08531397 -0.59831755 6.53223962] [-0.02289241 0.99353601 0.11118514 -1.71462899] [ 0.60393567 -0.07488474 0.79350739 -8.29041142] [ 0. 0. 0. 1. ]] SLAMing on 116.21964924600002 meters Centerline goodness : 0.863888 Centerline is valid? [False, False] Translation: X:6.53, Y:-1.71, Z:-8.29 [[ 0.79640957 0.08496255 -0.59875969 6.53436376] [-0.02260121 0.99357191 0.11092361 -1.71337279] [ 0.60433516 -0.07480793 0.79321043 -8.29005042] [ 0. 0. 0. 1. ]] SLAMing on 116.24964924600002 meters Centerline goodness : 0.860950 Centerline is valid? [False, False] Translation: X:6.54, Y:-1.71, Z:-8.29 [[ 0.79606753 0.08469452 -0.5992523 6.53690582] [-0.0224553 0.99361126 0.11060032 -1.71180383] [ 0.60479107 -0.07458894 0.7928835 -8.28978669] [ 0. 0. 0. 1. ]] SLAMing on 116.27964924600002 meters Centerline goodness : 0.863593 Centerline is valid? [False, False] Translation: X:6.54, Y:-1.71, Z:-8.29 [[ 0.79585555 0.08472157 -0.59952998 6.53757331] [-0.02245156 0.99361063 0.11060674 -1.7115876 ] [ 0.60507014 -0.0745666 0.79267266 -8.28932022] [ 0. 0. 0. 1. ]] SLAMing on 116.30964924600002 meters Centerline goodness : 0.861635 Centerline is valid? [False, False] Translation: X:6.54, Y:-1.71, Z:-8.29 [[ 0.79561761 0.08561994 -0.59971814 6.5362879 ] [-0.02303893 0.99352228 0.11127751 -1.71121587] [ 0.60536091 -0.07471748 0.79243641 -8.28810581] [ 0. 0. 0. 1. ]] SLAMing on 116.33964924600001 meters Centerline goodness : 0.863829 Centerline is valid? [False, False] Translation: X:6.54, Y:-1.71, Z:-8.29 [[ 0.79541377 0.08594748 -0.59994163 6.5363886 ] [-0.0232915 0.9934973 0.11144787 -1.71053499] [ 0.60561905 -0.07467363 0.79224328 -8.28764089] [ 0. 0. 0. 1. ]] SLAMing on 116.36964924600001 meters Centerline goodness : 0.862582 Centerline is valid? [False, False] Translation: X:6.54, Y:-1.71, Z:-8.29 [[ 0.7950686 0.08567058 -0.60043857 6.53835599] [-0.02315911 0.99354022 0.11109228 -1.70830056] [ 0.60607721 -0.07442036 0.79191668 -8.28720757] [ 0. 0. 0. 1. ]] SLAMing on 116.39964924600001 meters Centerline goodness : 0.866139 Centerline is valid? [False, False] Translation: X:6.54, Y:-1.71, Z:-8.29 [[ 0.79525265 0.07967921 -0.6010195 6.53955636] [-0.01896657 0.99411071 0.10669661 -1.70730643] [ 0.60598142 -0.07345149 0.79208042 -8.28717642] [ 0. 0. 0. 1. ]] SLAMing on 116.42964924600001 meters Centerline goodness : 0.859753 Centerline is valid? [False, False] Translation: X:6.54, Y:-1.71, Z:-8.29 [[ 0.79467369 0.07845327 -0.60194586 6.54332384] [-0.01785738 0.99420548 0.10600269 -1.70562972] [ 0.60677413 -0.07348837 0.79146991 -8.28594119] [ 0. 0. 0. 1. ]] SLAMing on 116.45964924600001 meters Centerline goodness : 0.860046 Centerline is valid? [False, False] Translation: X:6.55, Y:-1.70, Z:-8.29 [[ 0.79430702 0.07775104 -0.60252064 6.54600072] [-0.01722654 0.99426027 0.10559242 -1.70485149] [ 0.60727226 -0.07349346 0.7910873 -8.28534621] [ 0. 0. 0. 1. ]] SLAMing on 116.48964924600001 meters Centerline goodness : 0.858360 Centerline is valid? [False, False] Translation: X:6.55, Y:-1.70, Z:-8.28 [[ 0.79373673 0.07714726 -0.60334924 6.54938426] [-0.01689243 0.99433739 0.10491811 -1.70319963] [ 0.60802685 -0.07308532 0.79054531 -8.28485683] [ 0. 0. 0. 1. ]] SLAMing on 116.51964924600001 meters Centerline goodness : 0.862160 Centerline is valid? [False, False] Translation: X:6.55, Y:-1.70, Z:-8.28 [[ 0.79349732 0.07735248 -0.6036378 6.54986417] [-0.01688728 0.99430605 0.10521545 -1.70381638] [ 0.6083394 -0.07329438 0.79028546 -8.28405576] [ 0. 0. 0. 1. ]] SLAMing on 116.54964924600002 meters Centerline goodness : 0.859532 Centerline is valid? [False, False] Translation: X:6.55, Y:-1.71, Z:-8.28 [[ 0.79310845 0.07755015 -0.6041233 6.55108863] [-0.0165932 0.99424416 0.10584525 -1.70502189] [ 0.60885438 -0.07392243 0.78983025 -8.28231267] [ 0. 0. 0. 1. ]] SLAMing on 116.57964924600002 meters Centerline goodness : 0.858188 Centerline is valid? [False, False] Translation: X:6.55, Y:-1.71, Z:-8.28 [[ 0.79278645 0.07755165 -0.60454561 6.55210947] [-0.01628685 0.99421349 0.10618041 -1.70549854] [ 0.60928186 -0.07433225 0.78946205 -8.2810764 ] [ 0. 0. 0. 1. ]] SLAMing on 116.60964924600002 meters Centerline goodness : 0.859264 Centerline is valid? [False, False] Translation: X:6.55, Y:-1.71, Z:-8.28 [[ 0.79246627 0.07773671 -0.6049415 6.55319464] [-0.0161689 0.9941734 0.10657304 -1.70632168] [ 0.60970138 -0.0746743 0.78910581 -8.27981555] [ 0. 0. 0. 1. ]] SLAMing on 116.63964924600002 meters Centerline goodness : 0.860529 Centerline is valid? [False, False] Translation: X:6.55, Y:-1.71, Z:-8.28 [[ 0.79221949 0.07751117 -0.60529357 6.55486078] [-0.01594432 0.99419092 0.10644339 -1.70593296] [ 0.61002792 -0.07467553 0.78885328 -8.27941457] [ 0. 0. 0. 1. ]] SLAMing on 116.66964924600002 meters Centerline goodness : 0.858672 Centerline is valid? [False, False] Translation: X:6.56, Y:-1.70, Z:-8.28 [[ 0.79184844 0.07720644 -0.60581781 6.55778971] [-0.01593882 0.9942516 0.10587589 -1.70409423] [ 0.61050963 -0.07418164 0.78852716 -8.27946817] [ 0. 0. 0. 1. ]] SLAMing on 116.69964924600002 meters Centerline goodness : 0.858301 Centerline is valid? [False, False] Translation: X:6.56, Y:-1.70, Z:-8.28 [[ 0.7916261 0.07723753 -0.60610435 6.55863753] [-0.01603719 0.99426282 0.10575563 -1.70320733] [ 0.61079532 -0.07399871 0.78832307 -8.27920298] [ 0. 0. 0. 1. ]] SLAMing on 116.72964924600001 meters Centerline goodness : 0.859464 Centerline is valid? [False, False] Translation: X:6.56, Y:-1.70, Z:-8.28 [[ 0.79120041 0.07829857 -0.6065239 6.5577626 ] [-0.01713749 0.99421928 0.10599213 -1.70138118] [ 0.61131679 -0.07346672 0.78796854 -8.27838209] [ 0. 0. 0. 1. ]] SLAMing on 116.75964924600001 meters Centerline goodness : 0.859001 Centerline is valid? [False, False] Translation: X:6.56, Y:-1.70, Z:-8.28 [[ 0.79099658 0.07868333 -0.60673993 6.55766122] [-0.01740883 0.99418886 0.10623294 -1.70118628] [ 0.61157284 -0.07346725 0.78776978 -8.2777688 ] [ 0. 0. 0. 1. ]] SLAMing on 116.78964924600001 meters Centerline goodness : 0.861905 Centerline is valid? [False, False] Translation: X:6.56, Y:-1.70, Z:-8.28 [[ 0.79068026 0.07892568 -0.60712063 6.55862844] [-0.01755284 0.99417036 0.10638229 -1.70044982] [ 0.61197763 -0.07345769 0.78745625 -8.27692292] [ 0. 0. 0. 1. ]] SLAMing on 116.81964924600001 meters Centerline goodness : 0.857263 Centerline is valid? [False, False] Translation: X:6.56, Y:-1.70, Z:-8.28 [[ 0.79045199 0.07827966 -0.60750139 6.56138339] [-0.01703161 0.99422556 0.10595032 -1.69919087] [ 0.61228716 -0.07340191 0.7872208 -8.27678944] [ 0. 0. 0. 1. ]] SLAMing on 116.84964924600001 meters Centerline goodness : 0.855568 Centerline is valid? [False, False] Translation: X:6.57, Y:-1.70, Z:-8.27 [[ 0.7893757 0.08146177 -0.6084817 6.5680995 ] [-0.01854675 0.99386917 0.10899586 -1.69799285] [ 0.6136302 -0.07475332 0.78604702 -8.27461231] [ 0. 0. 0. 1. ]] SLAMing on 116.87964924600001 meters Centerline goodness : 0.851388 Centerline is valid? [False, False] Translation: X:6.57, Y:-1.70, Z:-8.27 [[ 0.78866511 0.08086328 -0.60948214 6.57216029] [-0.01851565 0.9939873 0.10791855 -1.69514044] [ 0.61454416 -0.07382663 0.78542034 -8.27453148] [ 0. 0. 0. 1. ]] SLAMing on 116.90964924600001 meters Centerline goodness : 0.852710 Centerline is valid? [False, False] Translation: X:6.57, Y:-1.69, Z:-8.27 [[ 0.78834276 0.08099281 -0.60988184 6.57309588] [-0.01870477 0.9939939 0.10782514 -1.69441939] [ 0.61495189 -0.07359547 0.78512284 -8.27410587] [ 0. 0. 0. 1. ]] SLAMing on 116.93964924600002 meters Centerline goodness : 0.851528 Centerline is valid? [False, False] Translation: X:6.57, Y:-1.69, Z:-8.27 [[ 0.78798377 0.08134657 -0.61029854 6.57340221] [-0.01897215 0.99397089 0.10799039 -1.69413844] [ 0.61540364 -0.073516 0.78477625 -8.27327734] [ 0. 0. 0. 1. ]] SLAMing on 116.96964924600002 meters Centerline goodness : 0.855331 Centerline is valid? [False, False] Translation: X:6.57, Y:-1.69, Z:-8.27 [[ 0.78779768 0.08265883 -0.61036246 6.57151541] [-0.01998023 0.99386218 0.10880601 -1.69475903] [ 0.61560994 -0.07352194 0.78461387 -8.27236315] [ 0. 0. 0. 1. ]] SLAMing on 116.99964924600002 meters Centerline goodness : 0.854731 Centerline is valid? [False, False] Translation: X:6.57, Y:-1.69, Z:-8.27 [[ 0.78768334 0.0828786 -0.61048021 6.57179427] [-0.0200515 0.99383392 0.10905076 -1.69460332] [ 0.61575392 -0.07365642 0.78448827 -8.27188496] [ 0. 0. 0. 1. ]] SLAMing on 117.02964924600002 meters Centerline goodness : 0.854445 Centerline is valid? [False, False] Translation: X:6.57, Y:-1.69, Z:-8.27 [[ 0.78745353 0.08257236 -0.6108181 6.57377188] [-0.01957302 0.99383621 0.10911687 -1.69386477] [ 0.61606318 -0.07396891 0.78421602 -8.2709759 ] [ 0. 0. 0. 1. ]] SLAMing on 117.05964924600002 meters Centerline goodness : 0.855203 Centerline is valid? [False, False] Translation: X:6.58, Y:-1.69, Z:-8.27 [[ 0.78722367 0.0825094 -0.61112282 6.57506723] [-0.01945717 0.99383847 0.10911697 -1.69369254] [ 0.61636054 -0.07400875 0.78397856 -8.27048973] [ 0. 0. 0. 1. ]] SLAMing on 117.08964924600001 meters Centerline goodness : 0.857572 Centerline is valid? [False, False] Translation: X:6.58, Y:-1.69, Z:-8.27 [[ 0.7874439 0.07723321 -0.61152852 6.57507618] [-0.01603317 0.99434968 0.1049364 -1.69168939] [ 0.61617777 -0.07282678 0.78423289 -8.27065173] [ 0. 0. 0. 1. ]] SLAMing on 117.11964924600001 meters Centerline goodness : 0.859211 Centerline is valid? [False, False] Translation: X:6.58, Y:-1.69, Z:-8.27 [[ 0.78758713 0.07124539 -0.61207075 6.57529684] [-0.011569 0.99482808 0.10091206 -1.69136695] [ 0.61609469 -0.07239599 0.78433804 -8.26971655] [ 0. 0. 0. 1. ]] SLAMing on 117.14964924600001 meters Centerline goodness : 0.859501 Centerline is valid? [False, False] Translation: X:6.58, Y:-1.69, Z:-8.27 [[ 0.78666797 0.06912889 -0.61349385 6.58075554] [-0.00934379 0.99493068 0.10012814 -1.69064413] [ 0.61730559 -0.07303524 0.78332602 -8.26696607] [ 0. 0. 0. 1. ]] SLAMing on 117.17964924600001 meters Centerline goodness : 0.855657 Centerline is valid? [False, False] Translation: X:6.59, Y:-1.69, Z:-8.26 [[ 0.78562249 0.07285863 -0.61440127 6.58643113] [-0.01129722 0.99456583 0.10349484 -1.69074265] [ 0.618603 -0.07436685 0.78217639 -8.26489145] [ 0. 0. 0. 1. ]] SLAMing on 117.20964924600001 meters Centerline goodness : 0.849577 Centerline is valid? [False, False] Translation: X:6.59, Y:-1.69, Z:-8.26 [[ 0.78451558 0.07685252 -0.61532836 6.59333734] [-0.01367995 0.9941939 0.10673028 -1.69002242] [ 0.61995819 -0.0753139 0.78101195 -8.26341597] [ 0. 0. 0. 1. ]] SLAMing on 117.23964924600001 meters Centerline goodness : 0.850010 Centerline is valid? [False, False] Translation: X:6.59, Y:-1.69, Z:-8.26 [[ 0.7842632 0.07714756 -0.61561309 6.59495128] [-0.01394006 0.99417959 0.10682985 -1.68988283] [ 0.62027164 -0.07520104 0.78077391 -8.26328255] [ 0. 0. 0. 1. ]] SLAMing on 117.26964924600001 meters Centerline goodness : 0.847888 Centerline is valid? [False, False] Translation: X:6.60, Y:-1.69, Z:-8.26 [[ 0.78381861 0.07778596 -0.6160988 6.59590486] [-0.01409595 0.99409681 0.10757707 -1.69192145] [ 0.62082984 -0.07563642 0.78028805 -8.26173083] [ 0. 0. 0. 1. ]] SLAMing on 117.29964924600002 meters Centerline goodness : 0.855951 Centerline is valid? [False, False] Translation: X:6.59, Y:-1.69, Z:-8.26 [[ 0.78396218 0.06974179 -0.61687875 6.5929417 ] [-0.0089702 0.99483861 0.10107258 -1.69386998] [ 0.62074378 -0.07370356 0.78054144 -8.26128454] [ 0. 0. 0. 1. ]] SLAMing on 117.32964924600002 meters Centerline goodness : 0.857624 Centerline is valid? [False, False] Translation: X:6.59, Y:-1.70, Z:-8.26 [[ 0.78360685 0.07047626 -0.61724663 6.59248333] [-0.00904829 0.994734 0.10209019 -1.69655079] [ 0.62119114 -0.07441354 0.78011806 -8.25935337] [ 0. 0. 0. 1. ]] SLAMing on 117.35964924600002 meters Centerline goodness : 0.861962 Centerline is valid? [False, False] Translation: X:6.59, Y:-1.70, Z:-8.26 [[ 0.78322982 0.07038778 -0.61773506 6.59375752] [-0.00853996 0.99469505 0.10251258 -1.69839824] [ 0.62167364 -0.07501548 0.77967593 -8.2577598 ] [ 0. 0. 0. 1. ]] SLAMing on 117.38964924600002 meters Centerline goodness : 0.863488 Centerline is valid? [False, False] Translation: X:6.60, Y:-1.70, Z:-8.26 [[ 7.82614657e-01 6.94513705e-02 -6.18620082e-01 6.59776937e+00] [-7.25371269e-03 9.94706834e-01 1.02497305e-01 -1.69985106e+00] [ 6.22464202e-01 -7.57286006e-02 7.78975928e-01 -8.25576952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.41964924600002 meters Centerline goodness : 0.863488 Centerline is valid? [False, False] Translation: X:6.60, Y:-1.70, Z:-8.26 [[ 7.82614657e-01 6.94513705e-02 -6.18620082e-01 6.59776937e+00] [-7.25371269e-03 9.94706834e-01 1.02497305e-01 -1.69985106e+00] [ 6.22464202e-01 -7.57286006e-02 7.78975928e-01 -8.25576952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44964924600002 meters Centerline goodness : 0.861988 Centerline is valid? [False, False] Translation: X:6.60, Y:-1.70, Z:-8.25 [[ 7.82210683e-01 6.94358524e-02 -6.19132546e-01 6.59960212e+00] [-6.78443749e-03 9.94660297e-01 1.02979930e-01 -1.70091438e+00] [ 6.22977061e-01 -7.63515351e-02 7.78504993e-01 -8.25419417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.47964924600001 meters Centerline goodness : 0.867100 Centerline is valid? [False, False] Translation: X:6.60, Y:-1.70, Z:-8.25 [[ 7.81615341e-01 6.85202764e-02 -6.19985831e-01 6.60422150e+00] [-6.00893090e-03 9.94729156e-01 1.02361120e-01 -1.70037587e+00] [ 6.23731795e-01 -7.62815699e-02 7.77907302e-01 -8.25338500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50964924600001 meters Centerline goodness : 0.862405 Centerline is valid? [False, False] Translation: X:6.61, Y:-1.70, Z:-8.25 [[ 7.80724996e-01 6.75646032e-02 -6.21211321e-01 6.60860506e+00] [-5.43784296e-03 9.94834272e-01 1.01366670e-01 -1.69796571e+00] [ 6.24851111e-01 -7.57614434e-02 7.77059389e-01 -8.25230974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.53964924600001 meters Centerline goodness : 0.864429 Centerline is valid? [False, False] Translation: X:6.61, Y:-1.70, Z:-8.25 [[ 7.80335619e-01 6.76768521e-02 -6.21688157e-01 6.60981046e+00] [-5.64243847e-03 9.94848404e-01 1.01216682e-01 -1.69686677e+00] [ 6.25335497e-01 -7.54751451e-02 7.76697508e-01 -8.25182779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56964924600001 meters Centerline goodness : 0.863712 Centerline is valid? [False, False] Translation: X:6.61, Y:-1.70, Z:-8.25 [[ 7.79889010e-01 6.80526901e-02 -6.22207331e-01 6.61021085e+00] [-6.25511366e-03 9.94869646e-01 1.00971586e-01 -1.69510415e+00] [ 6.25886575e-01 -7.48546530e-02 7.76313581e-01 -8.25126543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.59964924600001 meters Centerline goodness : 0.862509 Centerline is valid? [False, False] Translation: X:6.61, Y:-1.69, Z:-8.25 [[ 7.79705732e-01 6.81082637e-02 -6.22430909e-01 6.61097285e+00] [-6.39900905e-03 9.94881366e-01 1.00847014e-01 -1.69382297e+00] [ 6.26113428e-01 -7.46480535e-02 7.76150529e-01 -8.25111590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62964924600001 meters Centerline goodness : 0.861855 Centerline is valid? [False, False] Translation: X:6.61, Y:-1.69, Z:-8.25 [[ 7.79573990e-01 6.81049716e-02 -6.22596263e-01 6.61202358e+00] [-6.58028677e-03 9.94905997e-01 1.00592034e-01 -1.69209735e+00] [ 6.26275573e-01 -7.43220711e-02 7.76050988e-01 -8.25131730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.65964924600001 meters Centerline goodness : 0.859822 Centerline is valid? [False, False] Translation: X:6.61, Y:-1.69, Z:-8.25 [[ 0.77887835 0.07368403 -0.62283158 6.61318289] [-0.01036055 0.99445072 0.10469207 -1.6911007 ] [ 0.62708945 -0.07508951 0.77531954 -8.24993677] [ 0. 0. 0. 1. ]] SLAMing on 117.68964924600002 meters Centerline goodness : 0.860199 Centerline is valid? [False, False] Translation: X:6.61, Y:-1.69, Z:-8.25 [[ 0.77868411 0.07412383 -0.62302225 6.61322372] [-0.01087678 0.99444236 0.10471906 -1.69007618] [ 0.62732189 -0.0747666 0.77516269 -8.24981575] [ 0. 0. 0. 1. ]] SLAMing on 117.71964924600002 meters Centerline goodness : 0.861428 Centerline is valid? [False, False] Translation: X:6.61, Y:-1.69, Z:-8.25 [[ 0.77834894 0.07542895 -0.62328436 6.61282704] [-0.01244543 0.99441534 0.104801 -1.68853862] [ 0.62770856 -0.0738147 0.77494087 -8.25013919] [ 0. 0. 0. 1. ]] SLAMing on 117.74964924600002 meters Centerline goodness : 0.860534 Centerline is valid? [False, False] Translation: X:6.61, Y:-1.69, Z:-8.25 [[ 0.77794562 0.07563463 -0.62376278 6.61497518] [-0.0131531 0.9944714 0.10418077 -1.68721369] [ 0.62819392 -0.07284256 0.7746395 -8.25067397] [ 0. 0. 0. 1. ]] SLAMing on 117.77964924600002 meters Centerline goodness : 0.859243 Centerline is valid? [False, False] Translation: X:6.62, Y:-1.69, Z:-8.25 [[ 0.77770913 0.07559431 -0.6240625 6.61652958] [-0.01333392 0.99450359 0.10385001 -1.68643545] [ 0.62848286 -0.0724439 0.77444249 -8.25081358] [ 0. 0. 0. 1. ]] SLAMing on 117.80964924600002 meters Centerline goodness : 0.857540 Centerline is valid? [False, False] Translation: X:6.62, Y:-1.69, Z:-8.25 [[ 0.77737624 0.07658847 -0.62435598 6.61690439] [-0.0144434 0.99447173 0.10400656 -1.68626134] [ 0.62887007 -0.07183441 0.77418489 -8.2508814 ] [ 0. 0. 0. 1. ]] SLAMing on 117.83964924600001 meters Centerline goodness : 0.857806 Centerline is valid? [False, False] Translation: X:6.62, Y:-1.69, Z:-8.25 [[ 0.77702334 0.07666098 -0.62478622 6.61771212] [-0.01430513 0.99445056 0.10422787 -1.68678653] [ 0.62930921 -0.07204984 0.77380795 -8.2498069 ] [ 0. 0. 0. 1. ]] SLAMing on 117.86964924600001 meters Centerline goodness : 0.862589 Centerline is valid? [False, False] Translation: X:6.62, Y:-1.69, Z:-8.25 [[ 0.77651798 0.07623559 -0.6254662 6.61974654] [-0.01347574 0.99443593 0.10447768 -1.6883918 ] [ 0.62995098 -0.07270018 0.77322471 -8.24800358] [ 0. 0. 0. 1. ]] SLAMing on 117.89964924600001 meters Centerline goodness : 0.860364 Centerline is valid? [False, False] Translation: X:6.62, Y:-1.69, Z:-8.25 [[ 0.77581085 0.07530121 -0.62645611 6.62438524] [-0.01228921 0.99446808 0.10431783 -1.68974422] [ 0.63084586 -0.07323226 0.77244452 -8.24622434] [ 0. 0. 0. 1. ]] SLAMing on 117.92964924600001 meters Centerline goodness : 0.859690 Centerline is valid? [False, False] Translation: X:6.63, Y:-1.69, Z:-8.25 [[ 0.77520284 0.07460798 -0.62729117 6.62796628] [-0.01169337 0.99452579 0.10383507 -1.68932075] [ 0.63160417 -0.07315809 0.77183163 -8.24528938] [ 0. 0. 0. 1. ]] SLAMing on 117.95964924600001 meters Centerline goodness : 0.855664 Centerline is valid? [False, False] Translation: X:6.63, Y:-1.69, Z:-8.25 [[ 0.77496787 0.07444517 -0.62760077 6.62969865] [-0.01154434 0.99453996 0.10371594 -1.68919738] [ 0.63189519 -0.07313128 0.77159593 -8.24501939] [ 0. 0. 0. 1. ]] SLAMing on 117.98964924600001 meters Centerline goodness : 0.855676 Centerline is valid? [False, False] Translation: X:6.63, Y:-1.69, Z:-8.24 [[ 0.77450734 0.07440652 -0.62817358 6.63170308] [-0.01135993 0.99453381 0.10379527 -1.68911467] [ 0.6324629 -0.07325419 0.77111899 -8.24392562] [ 0. 0. 0. 1. ]] SLAMing on 118.01964924600001 meters Centerline goodness : 0.854398 Centerline is valid? [False, False] Translation: X:6.64, Y:-1.69, Z:-8.24 [[ 0.77385656 0.07276563 -0.62916705 6.63595717] [-0.00945394 0.99459485 0.10340073 -1.68983399] [ 0.63329033 -0.07406923 0.77036167 -8.24174186] [ 0. 0. 0. 1. ]] SLAMing on 118.04964924600002 meters Centerline goodness : 0.856577 Centerline is valid? [False, False] Translation: X:6.63, Y:-1.69, Z:-8.24 [[ 7.73823894e-01 6.84979956e-02 -6.29686116e-01 6.63369483e+00] [-5.91041306e-03 9.94872918e-01 1.00960114e-01 -1.69233673e+00] [ 6.33373229e-01 -7.44036433e-02 7.70261287e-01 -8.23931598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.07964924600002 meters Centerline goodness : 0.860938 Centerline is valid? [False, False] Translation: X:6.63, Y:-1.69, Z:-8.24 [[ 7.73541178e-01 6.89256343e-02 -6.29986748e-01 6.63335019e+00] [-5.75510465e-03 9.94791137e-01 1.01771664e-01 -1.69408824e+00] [ 6.33719910e-01 -7.50989333e-02 7.69908583e-01 -8.23764257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10964924600002 meters Centerline goodness : 0.857461 Centerline is valid? [False, False] Translation: X:6.63, Y:-1.69, Z:-8.24 [[ 7.73175486e-01 6.92496361e-02 -6.30399996e-01 6.63464770e+00] [-5.70813743e-03 9.94740138e-01 1.02271575e-01 -1.69434663e+00] [ 6.34166449e-01 -7.54754651e-02 7.69503976e-01 -8.23640812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.13964924600002 meters Centerline goodness : 0.855983 Centerline is valid? [False, False] Translation: X:6.63, Y:-1.69, Z:-8.24 [[ 7.72997818e-01 6.99192901e-02 -6.30543944e-01 6.63453938e+00] [-6.27921329e-03 9.94702667e-01 1.02602026e-01 -1.69395630e+00] [ 6.34377604e-01 -7.53518223e-02 7.69342030e-01 -8.23612303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16964924600002 meters Centerline goodness : 0.855991 Centerline is valid? [False, False] Translation: X:6.64, Y:-1.69, Z:-8.24 [[ 7.72546410e-01 7.04828486e-02 -6.31034240e-01 6.63625604e+00] [-7.02838915e-03 9.94708320e-01 1.02498589e-01 -1.69281395e+00] [ 6.34919401e-01 -7.47497626e-02 7.68953722e-01 -8.23607206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19964924600002 meters Centerline goodness : 0.860476 Centerline is valid? [False, False] Translation: X:6.64, Y:-1.69, Z:-8.24 [[ 7.72302091e-01 7.08680745e-02 -6.31290104e-01 6.63671548e+00] [-7.26399845e-03 9.94678093e-01 1.02775126e-01 -1.69333748e+00] [ 6.35213912e-01 -7.47877544e-02 7.68706757e-01 -8.23550659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22964924600001 meters Centerline goodness : 0.862875 Centerline is valid? [False, False] Translation: X:6.64, Y:-1.69, Z:-8.24 [[ 7.72382324e-01 6.66827477e-02 -6.31647810e-01 6.63565600e+00] [-4.56520653e-03 9.95030833e-01 9.94625552e-02 -1.69470784e+00] [ 6.35141484e-01 -7.39395168e-02 7.68848648e-01 -8.23534611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.25964924600001 meters Centerline goodness : 0.868018 Centerline is valid? [False, False] Translation: X:6.64, Y:-1.70, Z:-8.23 [[ 7.72091608e-01 6.71213981e-02 -6.31956697e-01 6.63591479e+00] [-4.56566707e-03 9.94966971e-01 1.00099360e-01 -1.69620268e+00] [ 6.35494850e-01 -7.44005719e-02 7.68512102e-01 -8.23409252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28964924600001 meters Centerline goodness : 0.860795 Centerline is valid? [False, False] Translation: X:6.64, Y:-1.70, Z:-8.23 [[ 7.71620542e-01 6.70171495e-02 -6.32542837e-01 6.63856279e+00] [-4.17452207e-03 9.94946367e-01 1.00320988e-01 -1.69726208e+00] [ 6.36069424e-01 -7.47691713e-02 7.68000820e-01 -8.23288736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.31964924600001 meters Centerline goodness : 0.863768 Centerline is valid? [False, False] Translation: X:6.64, Y:-1.70, Z:-8.23 [[ 7.71026052e-01 6.66709765e-02 -6.33303883e-01 6.64143629e+00] [-3.61169516e-03 9.94946078e-01 1.00345691e-01 -1.69812182e+00] [ 6.36793360e-01 -7.50818410e-02 7.67370141e-01 -8.23138724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34964924600001 meters Centerline goodness : 0.862245 Centerline is valid? [False, False] Translation: X:6.64, Y:-1.70, Z:-8.23 [[ 7.70610596e-01 6.67005344e-02 -6.33806238e-01 6.64279749e+00] [-3.27577249e-03 9.94909469e-01 1.00719501e-01 -1.69913488e+00] [ 6.37297873e-01 -7.55393099e-02 7.66906275e-01 -8.22998869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.37964924600001 meters Centerline goodness : 0.855094 Centerline is valid? [False, False] Translation: X:6.64, Y:-1.70, Z:-8.23 [[ 7.70147141e-01 6.67621452e-02 -6.34362828e-01 6.64408452e+00] [-2.89918383e-03 9.94863655e-01 1.01182526e-01 -1.70051856e+00] [ 6.37859684e-01 -7.60862990e-02 7.66384955e-01 -8.22832112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40964924600001 meters Centerline goodness : 0.862538 Centerline is valid? [False, False] Translation: X:6.65, Y:-1.70, Z:-8.23 [[ 7.69451838e-01 6.63755583e-02 -6.35246531e-01 6.64690552e+00] [-1.78654285e-03 9.94805215e-01 1.01781103e-01 -1.70339245e+00] [ 6.38702339e-01 -7.71807619e-02 7.65573283e-01 -8.22553740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43964924600002 meters Centerline goodness : 0.863978 Centerline is valid? [False, False] Translation: X:6.65, Y:-1.71, Z:-8.22 [[ 7.68925150e-01 6.60470363e-02 -6.35918157e-01 6.64949883e+00] [-1.04558606e-03 9.94778281e-01 1.02054296e-01 -1.70502971e+00] [ 6.39337954e-01 -7.78072077e-02 7.64979097e-01 -8.22386545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46964924600002 meters Centerline goodness : 0.866031 Centerline is valid? [False, False] Translation: X:6.65, Y:-1.71, Z:-8.22 [[ 7.68303402e-01 6.15659943e-02 -6.37118129e-01 6.65438859e+00] [ 2.68362109e-03 9.95045000e-01 9.93893709e-02 -1.70831047e+00] [ 6.40080214e-01 -7.80709755e-02 7.64331239e-01 -8.22178476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.49964924600002 meters Centerline goodness : 0.869186 Centerline is valid? [False, False] Translation: X:6.66, Y:-1.71, Z:-8.22 [[ 7.67778752e-01 5.56458945e-02 -6.38294072e-01 6.65712790e+00] [ 7.83077792e-03 9.95332045e-01 9.61914728e-02 -1.71218136e+00] [ 6.40667204e-01 -7.88521081e-02 7.63759045e-01 -8.21865902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52964924600002 meters Centerline goodness : 0.869482 Centerline is valid? [False, False] Translation: X:6.66, Y:-1.72, Z:-8.22 [[ 0.7672156 0.05451468 -0.63906837 6.66001387] [ 0.00982464 0.99526565 0.0966942 -1.71531954] [ 0.64131405 -0.08046391 0.76304774 -8.21537625] [ 0. 0. 0. 1. ]] SLAMing on 118.55964924600002 meters Centerline goodness : 0.869224 Centerline is valid? [False, False] Translation: X:6.66, Y:-1.72, Z:-8.21 [[ 0.76636394 0.05396336 -0.64013614 6.66284988] [ 0.0117632 0.99511973 0.09797118 -1.71773729] [ 0.64229895 -0.08261163 0.76198909 -8.21068239] [ 0. 0. 0. 1. ]] SLAMing on 118.58964924600001 meters Centerline goodness : 0.872069 Centerline is valid? [False, False] Translation: X:6.66, Y:-1.72, Z:-8.21 [[ 0.76551674 0.05399578 -0.6411463 6.66323553] [ 0.0134078 0.99491736 0.09979818 -1.71901917] [ 0.64327626 -0.08499354 0.76090193 -8.20501634] [ 0. 0. 0. 1. ]] SLAMing on 118.61964924600001 meters Centerline goodness : 0.876614 Centerline is valid? [False, False] Translation: X:6.66, Y:-1.72, Z:-8.20 [[ 0.76511787 0.05391189 -0.6416293 6.66341979] [ 0.01407315 0.9948504 0.10037241 -1.71979709] [ 0.64373644 -0.08582647 0.76041911 -8.20277618] [ 0. 0. 0. 1. ]] SLAMing on 118.64964924600001 meters Centerline goodness : 0.875819 Centerline is valid? [False, False] Translation: X:6.67, Y:-1.72, Z:-8.20 [[ 0.76373973 0.05344173 -0.64330833 6.66562053] [ 0.01657136 0.9946156 0.1022996 -1.72004021] [ 0.64531156 -0.08879076 0.75874184 -8.19510553] [ 0. 0. 0. 1. ]] SLAMing on 118.67964924600001 meters Centerline goodness : 0.874228 Centerline is valid? [False, False] Translation: X:6.67, Y:-1.72, Z:-8.19 [[ 0.7632385 0.05284752 -0.64395196 6.66766143] [ 0.01748924 0.9945944 0.10235285 -1.71997281] [ 0.64588011 -0.08938186 0.75818848 -8.19331008] [ 0. 0. 0. 1. ]] SLAMing on 118.70964924600001 meters Centerline goodness : 0.874834 Centerline is valid? [False, False] Translation: X:6.68, Y:-1.72, Z:-8.16 [[ 0.76486571 0.06353812 -0.64104863 6.67938306] [ 0.02257355 0.99186918 0.12524361 -1.72376491] [ 0.64379413 -0.11026529 0.75721245 -8.16042094] [ 0. 0. 0. 1. ]] SLAMing on 118.73964924600001 meters Centerline goodness : 0.874370 Centerline is valid? [False, False] Translation: X:6.68, Y:-1.72, Z:-8.16 [[ 0.76441793 0.06233037 -0.64170098 6.68254581] [ 0.02377474 0.99191351 0.12466893 -1.72326231] [ 0.64428254 -0.11055544 0.75675459 -8.15926715] [ 0. 0. 0. 1. ]] SLAMing on 118.76964924600001 meters Centerline goodness : 0.872617 Centerline is valid? [False, False] Translation: X:6.69, Y:-1.72, Z:-8.16 [[ 0.76366401 0.06088384 -0.64273667 6.68595949] [ 0.0254272 0.99193472 0.12417315 -1.72240192] [ 0.64511296 -0.11116956 0.75595674 -8.1567386 ] [ 0. 0. 0. 1. ]] SLAMing on 118.79964924600002 meters Centerline goodness : 0.870148 Centerline is valid? [False, False] Translation: X:6.69, Y:-1.72, Z:-8.15 [[ 0.76308656 0.06076658 -0.64343324 6.68722404] [ 0.02596496 0.99188382 0.12446808 -1.7221307 ] [ 0.64577452 -0.11168663 0.75531541 -8.15466317] [ 0. 0. 0. 1. ]] SLAMing on 118.82964924600002 meters Centerline goodness : 0.873067 Centerline is valid? [False, False] Translation: X:6.69, Y:-1.72, Z:-8.15 [[ 0.76241694 0.06021407 -0.64427842 6.68946353] [ 0.02645441 0.9919282 0.12401056 -1.72033562] [ 0.64654511 -0.11159175 0.75466993 -8.15327708] [ 0. 0. 0. 1. ]] SLAMing on 118.85964924600002 meters Centerline goodness : 0.868786 Centerline is valid? [False, False] Translation: X:6.69, Y:-1.72, Z:-8.15 [[ 0.76214284 0.06030236 -0.64459438 6.69018872] [ 0.02637177 0.99193456 0.12397727 -1.718806 ] [ 0.64687156 -0.11148748 0.75440554 -8.15278862] [ 0. 0. 0. 1. ]] SLAMing on 118.88964924600002 meters Centerline goodness : 0.871468 Centerline is valid? [False, False] Translation: X:6.69, Y:-1.72, Z:-8.15 [[ 0.761768 0.06091607 -0.64497964 6.69098251] [ 0.02558092 0.99196486 0.12390053 -1.71629631] [ 0.64734467 -0.11088263 0.7540888 -8.15275454] [ 0. 0. 0. 1. ]] SLAMing on 118.91964924600002 meters Centerline goodness : 0.868594 Centerline is valid? [False, False] Translation: X:6.69, Y:-1.71, Z:-8.15 [[ 0.76133425 0.06083792 -0.64549896 6.69275974] [ 0.02555504 0.9919985 0.12363622 -1.714993 ] [ 0.64785577 -0.11062424 0.75368772 -8.1523072 ] [ 0. 0. 0. 1. ]] SLAMing on 118.94964924600002 meters Centerline goodness : 0.866344 Centerline is valid? [False, False] Translation: X:6.70, Y:-1.71, Z:-8.15 [[ 0.76062266 0.06078215 -0.64634255 6.69544463] [ 0.02529975 0.9920757 0.12306795 -1.71335869] [ 0.64870108 -0.10996058 0.75305749 -8.15181446] [ 0. 0. 0. 1. ]] SLAMing on 118.97964924600001 meters Centerline goodness : 0.868955 Centerline is valid? [False, False] Translation: X:6.70, Y:-1.71, Z:-8.15 [[ 0.7602249 0.06082633 -0.6468062 6.69682379] [ 0.02543958 0.99205642 0.12319448 -1.71353764] [ 0.64916171 -0.11010999 0.7526386 -8.15084682] [ 0. 0. 0. 1. ]] SLAMing on 119.00964924600001 meters Centerline goodness : 0.871614 Centerline is valid? [False, False] Translation: X:6.70, Y:-1.71, Z:-8.15 [[ 0.75962973 0.06041747 -0.64754336 6.69844292] [ 0.02619275 0.99202556 0.12328514 -1.7139838 ] [ 0.64982814 -0.110612 0.75198961 -8.14874233] [ 0. 0. 0. 1. ]] SLAMing on 119.03964924600001 meters Centerline goodness : 0.873072 Centerline is valid? [False, False] Translation: X:6.70, Y:-1.71, Z:-8.15 [[ 0.75911933 0.06088124 -0.64809823 6.69906434] [ 0.02649405 0.99190216 0.12421016 -1.71460313] [ 0.6504121 -0.11146109 0.75135912 -8.14636401] [ 0. 0. 0. 1. ]] SLAMing on 119.06964924600001 meters Centerline goodness : 0.867108 Centerline is valid? [False, False] Translation: X:6.70, Y:-1.71, Z:-8.14 [[ 0.75856479 0.06112656 -0.64872414 6.6996261 ] [ 0.02683103 0.99181546 0.12482862 -1.71476715] [ 0.65104498 -0.11209653 0.7507162 -8.14414099] [ 0. 0. 0. 1. ]] SLAMing on 119.09964924600001 meters Centerline goodness : 0.871025 Centerline is valid? [False, False] Translation: X:6.70, Y:-1.72, Z:-8.14 [[ 0.75727345 0.06729891 -0.64962125 6.69974498] [ 0.02501846 0.99095727 0.13182475 -1.71639517] [ 0.65261857 -0.11607991 0.74874192 -8.13619086] [ 0. 0. 0. 1. ]] SLAMing on 119.12964924600001 meters Centerline goodness : 0.868479 Centerline is valid? [False, False] Translation: X:6.70, Y:-1.72, Z:-8.14 [[ 0.75696527 0.06804313 -0.64990285 6.69859722] [ 0.02449859 0.99090959 0.13228003 -1.71501915] [ 0.65299572 -0.1160531 0.74841718 -8.13514765] [ 0. 0. 0. 1. ]] SLAMing on 119.15964924600001 meters Centerline goodness : 0.871308 Centerline is valid? [False, False] Translation: X:6.70, Y:-1.71, Z:-8.13 [[ 0.75677564 0.06869898 -0.65005467 6.69771835] [ 0.02412673 0.99084884 0.13280241 -1.71479653] [ 0.65322931 -0.11618532 0.74819278 -8.13432528] [ 0. 0. 0. 1. ]] SLAMing on 119.18964924600002 meters Centerline goodness : 0.871926 Centerline is valid? [False, False] Translation: X:6.70, Y:-1.71, Z:-8.13 [[ 0.75663652 0.0692268 -0.65016062 6.69716756] [ 0.02356907 0.99084507 0.13293062 -1.71323174] [ 0.6534108 -0.11590384 0.74807795 -8.13411761] [ 0. 0. 0. 1. ]] SLAMing on 119.21964924600002 meters Centerline goodness : 0.870247 Centerline is valid? [False, False] Translation: X:6.70, Y:-1.71, Z:-8.13 [[ 0.75651537 0.06960063 -0.65026168 6.69667913] [ 0.0233218 0.99081683 0.1331845 -1.71279484] [ 0.65355994 -0.11592139 0.74794494 -8.13367373] [ 0. 0. 0. 1. ]] SLAMing on 119.24964924600002 meters Centerline goodness : 0.872564 Centerline is valid? [False, False] Translation: X:6.70, Y:-1.71, Z:-8.13 [[ 0.75625129 0.07042239 -0.65048034 6.6952818 ] [ 0.02297348 0.99071954 0.13396648 -1.71289606] [ 0.65387782 -0.11625612 0.74761508 -8.13226455] [ 0. 0. 0. 1. ]] SLAMing on 119.27964924600002 meters Centerline goodness : 0.871848 Centerline is valid? [False, False] Translation: X:6.69, Y:-1.71, Z:-8.13 [[ 0.75610611 0.07078569 -0.65060966 6.69489774] [ 0.02300418 0.99064444 0.13451546 -1.71282762] [ 0.65404461 -0.1166747 0.74740395 -8.1311637 ] [ 0. 0. 0. 1. ]] SLAMing on 119.30964924600002 meters Centerline goodness : 0.871848 Centerline is valid? [False, False] Translation: X:6.69, Y:-1.71, Z:-8.13 [[ 0.75610611 0.07078569 -0.65060966 6.69489774] [ 0.02300418 0.99064444 0.13451546 -1.71282762] [ 0.65404461 -0.1166747 0.74740395 -8.1311637 ] [ 0. 0. 0. 1. ]] SLAMing on 119.33964924600002 meters Centerline goodness : 0.873264 Centerline is valid? [False, False] Translation: X:6.69, Y:-1.71, Z:-8.13 [[ 0.75555685 0.07175973 -0.65114084 6.69399459] [ 0.02366574 0.99034319 0.13660267 -1.71443303] [ 0.65465547 -0.11862082 0.74656234 -8.12680046] [ 0. 0. 0. 1. ]] SLAMing on 119.36964924600001 meters Centerline goodness : 0.871680 Centerline is valid? [False, False] Translation: X:6.69, Y:-1.72, Z:-8.12 [[ 0.75511868 0.07176994 -0.6516478 6.69495923] [ 0.02429431 0.99024354 0.13721339 -1.71503221] [ 0.65513782 -0.11944373 0.7460078 -8.12465402] [ 0. 0. 0. 1. ]] SLAMing on 119.39964924600001 meters Centerline goodness : 0.871038 Centerline is valid? [False, False] Translation: X:6.70, Y:-1.72, Z:-8.12 [[ 0.7538285 0.07667548 -0.65258216 6.69753153] [ 0.02309872 0.98946181 0.14293975 -1.71639268] [ 0.6566651 -0.12282586 0.7441134 -8.11778872] [ 0. 0. 0. 1. ]] SLAMing on 119.42964924600001 meters Centerline goodness : 0.869315 Centerline is valid? [False, False] Translation: X:6.70, Y:-1.72, Z:-8.12 [[ 0.75329096 0.07616501 -0.65326229 6.69956075] [ 0.02362093 0.98949777 0.14260512 -1.71530949] [ 0.65726309 -0.12285381 0.74358064 -8.11651819] [ 0. 0. 0. 1. ]] SLAMing on 119.45964924600001 meters Centerline goodness : 0.873061 Centerline is valid? [False, False] Translation: X:6.70, Y:-1.71, Z:-8.12 [[ 0.75284642 0.07599332 -0.65379453 6.70082759] [ 0.02395215 0.98949144 0.14259378 -1.71483686] [ 0.65776026 -0.123011 0.74311488 -8.11531207] [ 0. 0. 0. 1. ]] SLAMing on 119.48964924600001 meters Centerline goodness : 0.873228 Centerline is valid? [False, False] Translation: X:6.70, Y:-1.71, Z:-8.11 [[ 0.75260782 0.07596932 -0.65407197 6.70138174] [ 0.02406575 0.98948516 0.14261823 -1.71430624] [ 0.65802911 -0.12307632 0.74286601 -8.11460883] [ 0. 0. 0. 1. ]] SLAMing on 119.51964924600001 meters Centerline goodness : 0.868214 Centerline is valid? [False, False] Translation: X:6.70, Y:-1.71, Z:-8.11 [[ 0.7521582 0.07604943 -0.65457965 6.7011622 ] [ 0.02420776 0.98945946 0.14277238 -1.71217366] [ 0.65853779 -0.12323332 0.74238907 -8.11294933] [ 0. 0. 0. 1. ]] SLAMing on 119.54964924600002 meters Centerline goodness : 0.866211 Centerline is valid? [False, False] Translation: X:6.70, Y:-1.71, Z:-8.11 [[ 0.7516533 0.07577236 -0.65519147 6.70244875] [ 0.02475128 0.98943869 0.14282312 -1.71161394] [ 0.65909384 -0.1235703 0.7418394 -8.11128787] [ 0. 0. 0. 1. ]] SLAMing on 119.57964924600002 meters Centerline goodness : 0.870892 Centerline is valid? [False, False] Translation: X:6.71, Y:-1.71, Z:-8.09 [[ 0.75134482 0.08005383 -0.65503614 6.70555445] [ 0.02844393 0.98776351 0.15334338 -1.71197155] [ 0.65929653 -0.13384556 0.73987395 -8.09330859] [ 0. 0. 0. 1. ]] SLAMing on 119.60964924600002 meters Centerline goodness : 0.870968 Centerline is valid? [False, False] Translation: X:6.71, Y:-1.71, Z:-8.09 [[ 0.75155363 0.07440303 -0.65546269 6.70595427] [ 0.03222684 0.98829163 0.14913448 -1.70960898] [ 0.65888434 -0.13320605 0.74035638 -8.09348564] [ 0. 0. 0. 1. ]] SLAMing on 119.63964924600002 meters Centerline goodness : 0.877018 Centerline is valid? [False, False] Translation: X:6.71, Y:-1.71, Z:-8.08 [[ 0.75042411 0.07305145 -0.65690726 6.70953466] [ 0.03761151 0.98754336 0.15278574 -1.70803742] [ 0.65988562 -0.13936138 0.73832877 -8.08106378] [ 0. 0. 0. 1. ]] SLAMing on 119.66964924600002 meters Centerline goodness : 0.873339 Centerline is valid? [False, False] Translation: X:6.71, Y:-1.70, Z:-8.08 [[ 0.74964307 0.06987112 -0.65814382 6.71461491] [ 0.04096443 0.98760686 0.15150777 -1.70378032] [ 0.66057337 -0.14053724 0.73749041 -8.07774835] [ 0. 0. 0. 1. ]] SLAMing on 119.69964924600002 meters Centerline goodness : 0.873306 Centerline is valid? [False, False] Translation: X:6.72, Y:-1.70, Z:-8.08 [[ 0.74923595 0.06873098 -0.65872721 6.71632768] [ 0.04187989 0.9876937 0.1506892 -1.70054125] [ 0.66097773 -0.14048919 0.73713718 -8.0768985 ] [ 0. 0. 0. 1. ]] SLAMing on 119.72964924600001 meters Centerline goodness : 0.872175 Centerline is valid? [False, False] Translation: X:6.72, Y:-1.69, Z:-8.08 [[ 0.74884791 0.06717125 -0.65932907 6.71709728] [ 0.04230467 0.98797677 0.14870177 -1.6914008 ] [ 0.66139029 -0.13924771 0.73700269 -8.07741073] [ 0. 0. 0. 1. ]] SLAMing on 119.75964924600001 meters Centerline goodness : 0.874523 Centerline is valid? [False, False] Translation: X:6.72, Y:-1.69, Z:-8.08 [[ 0.74872506 0.06674859 -0.65951149 6.71702133] [ 0.04193815 0.98815439 0.14762147 -1.68510522] [ 0.6615527 -0.13818659 0.73705664 -8.07835496] [ 0. 0. 0. 1. ]] SLAMing on 119.78964924600001 meters Centerline goodness : 0.872557 Centerline is valid? [False, False] Translation: X:6.72, Y:-1.68, Z:-8.08 [[ 0.74792443 0.07129397 -0.6599441 6.71757182] [ 0.03890363 0.98779816 0.15080221 -1.68042484] [ 0.66264285 -0.13846288 0.73602478 -8.07683342] [ 0. 0. 0. 1. ]] SLAMing on 119.81964924600001 meters Centerline goodness : 0.870174 Centerline is valid? [False, False] Translation: X:6.71, Y:-1.67, Z:-8.09 [[ 0.75183648 0.07306471 -0.65528883 6.71230697] [ 0.0389002 0.98719476 0.15470383 -1.66570562] [ 0.65820109 -0.14180285 0.73936681 -8.08520489] [ 0. 0. 0. 1. ]] SLAMing on 119.84964924600001 meters Centerline goodness : 0.861648 Centerline is valid? [False, False] Translation: X:6.70, Y:-1.65, Z:-8.10 [[ 0.75378478 0.06923181 -0.6534642 6.70264749] [ 0.04139082 0.98745762 0.15236221 -1.64990854] [ 0.65581651 -0.14189574 0.74146497 -8.1015216 ] [ 0. 0. 0. 1. ]] SLAMing on 119.87964924600001 meters Centerline goodness : 0.864187 Centerline is valid? [False, False] Translation: X:6.71, Y:-1.64, Z:-8.10 [[ 0.75331753 0.06704673 -0.65423042 6.70581185] [ 0.04245568 0.98775686 0.15011297 -1.64348453] [ 0.65628517 -0.14085853 0.74124804 -8.10201359] [ 0. 0. 0. 1. ]] SLAMing on 119.90964924600001 meters Centerline goodness : 0.863876 Centerline is valid? [False, False] Translation: X:6.70, Y:-1.63, Z:-8.12 [[ 0.75465933 0.06612191 -0.65277652 6.69663037] [ 0.04302743 0.98777986 0.1497985 -1.62841256] [ 0.65470446 -0.14113414 0.74259223 -8.11721863] [ 0. 0. 0. 1. ]] SLAMing on 119.93964924600002 meters Centerline goodness : 0.861900 Centerline is valid? [False, False] Translation: X:6.70, Y:-1.62, Z:-8.12 [[ 0.75386822 0.06969774 -0.65331839 6.69935735] [ 0.04050591 0.98753582 0.15209298 -1.62268441] [ 0.65577585 -0.14112132 0.74164871 -8.11661876] [ 0. 0. 0. 1. ]] SLAMing on 119.96964924600002 meters Centerline goodness : 0.861878 Centerline is valid? [False, False] Translation: X:6.48, Y:-1.62, Z:-8.17 [[ 0.83454962 0.1933436 -0.51589261 6.47746422] [-0.05171562 0.95975584 0.27603303 -1.61721983] [ 0.54850016 -0.20368355 0.81096275 -8.17260101] [ 0. 0. 0. 1. ]] SLAMing on 119.99964924600002 meters Centerline goodness : 0.858765 Centerline is valid? [False, False] Translation: X:6.66, Y:-1.62, Z:-8.19 [[ 0.82280009 0.07478393 -0.56338919 6.65789889] [-0.02035537 0.99454659 0.10228755 -1.62475533] [ 0.56796626 -0.07269421 0.81983528 -8.19409246] [ 0. 0. 0. 1. ]] SLAMing on 120.02964924600002 meters Centerline goodness : 0.857067 Centerline is valid? [False, False] Translation: X:6.66, Y:-1.62, Z:-8.19 [[ 0.82209822 0.07901249 -0.56383646 6.6597357 ] [-0.02344052 0.99418103 0.10514097 -1.62101842] [ 0.56886296 -0.07321958 0.81916654 -8.1933343 ] [ 0. 0. 0. 1. ]] SLAMing on 120.05964924600002 meters Centerline goodness : 0.856612 Centerline is valid? [False, False] Translation: X:6.66, Y:-1.61, Z:-8.19 [[ 0.82080005 0.08752108 -0.56447085 6.66214914] [-0.02949476 0.99336777 0.11113298 -1.61331948] [ 0.57045363 -0.07456902 0.81793772 -8.19159196] [ 0. 0. 0. 1. ]] SLAMing on 120.08964924600002 meters Centerline goodness : 0.855299 Centerline is valid? [False, False] Translation: X:6.67, Y:-1.61, Z:-8.19 [[ 0.81932009 0.09538052 -0.56534692 6.66716538] [-0.03505723 0.99255426 0.11664917 -1.60530978] [ 0.57226355 -0.07575351 0.81656343 -8.19025586] [ 0. 0. 0. 1. ]] SLAMing on 120.11964924600001 meters Centerline goodness : 0.848974 Centerline is valid? [False, False] Translation: X:6.67, Y:-1.60, Z:-8.19 [[ 0.81861651 0.09936102 -0.56568047 6.66971139] [-0.03795916 0.99212827 0.11933395 -1.60187027] [ 0.57308473 -0.07621599 0.81594425 -8.1899528 ] [ 0. 0. 0. 1. ]] SLAMing on 120.14964924600001 meters Centerline goodness : 0.848038 Centerline is valid? [False, False] Translation: X:6.67, Y:-1.60, Z:-8.19 [[ 0.81769495 0.10225143 -0.56649768 6.67412726] [-0.04031637 0.99185373 0.12083363 -1.59573059] [ 0.57423825 -0.07596592 0.81515619 -8.18982405] [ 0. 0. 0. 1. ]] SLAMing on 120.17964924600001 meters Centerline goodness : 0.848731 Centerline is valid? [False, False] Translation: X:6.68, Y:-1.59, Z:-8.19 [[ 0.81750996 0.1015183 -0.56689638 6.6756078 ] [-0.03999844 0.99197277 0.11995891 -1.59217339] [ 0.5745238 -0.07539263 0.8150082 -8.18986974] [ 0. 0. 0. 1. ]] SLAMing on 120.20964924600001 meters Centerline goodness : 0.847212 Centerline is valid? [False, False] Translation: X:6.68, Y:-1.58, Z:-8.19 [[ 0.81661686 0.10430496 -0.56767718 6.68062909] [-0.04197399 0.99166336 0.12182758 -1.58460476] [ 0.57565188 -0.07565878 0.81418712 -8.1892791 ] [ 0. 0. 0. 1. ]] SLAMing on 120.23964924600001 meters Centerline goodness : 0.844743 Centerline is valid? [False, False] Translation: X:6.67, Y:-1.57, Z:-8.20 [[ 0.81447794 0.1061132 -0.57040835 6.67106922] [-0.04027344 0.99110156 0.12686899 -1.57449325] [ 0.57879508 -0.08035969 0.8115039 -8.19675469] [ 0. 0. 0. 1. ]] SLAMing on 120.26964924600001 meters Centerline goodness : 0.843814 Centerline is valid? [False, False] Translation: X:6.67, Y:-1.57, Z:-8.20 [[ 0.814258 0.10531436 -0.57087021 6.67214425] [-0.0398538 0.99122725 0.12601671 -1.57123361] [ 0.57913347 -0.07985877 0.8113119 -8.19633457] [ 0. 0. 0. 1. ]] SLAMing on 120.29964924600002 meters Centerline goodness : 0.847690 Centerline is valid? [False, False] Translation: X:6.67, Y:-1.57, Z:-8.20 [[ 0.81398785 0.10365808 -0.5715582 6.67394635] [-0.03866935 0.99143611 0.12473618 -1.56836346] [ 0.57959336 -0.07943195 0.81102534 -8.19560488] [ 0. 0. 0. 1. ]] SLAMing on 120.32964924600002 meters Centerline goodness : 0.850572 Centerline is valid? [False, False] Translation: X:6.66, Y:-1.56, Z:-8.21 [[ 0.81590171 0.09657236 -0.57006857 6.65853651] [-0.03251754 0.99205633 0.1215189 -1.55686013] [ 0.5772755 -0.08061025 0.81256076 -8.20652185] [ 0. 0. 0. 1. ]] SLAMing on 120.35964924600002 meters Centerline goodness : 0.852514 Centerline is valid? [False, False] Translation: X:6.64, Y:-1.55, Z:-8.22 [[ 0.81719941 0.0929635 -0.56880832 6.64390428] [-0.02831686 0.99219029 0.12147671 -1.54870987] [ 0.57565899 -0.08316383 0.81344975 -8.21773058] [ 0. 0. 0. 1. ]] SLAMing on 120.38964924600002 meters Centerline goodness : 0.856637 Centerline is valid? [False, False] Translation: X:6.54, Y:-1.54, Z:-8.26 [[ 0.8299743 0.12347718 -0.54396328 6.53961323] [-0.03738828 0.98531295 0.16661484 -1.54126096] [ 0.5565472 -0.11794818 0.82240102 -8.25865458] [ 0. 0. 0. 1. ]] SLAMing on 120.41964924600002 meters Centerline goodness : 0.858334 Centerline is valid? [False, False] Translation: X:6.49, Y:-1.54, Z:-8.28 [[ 0.838141 0.13987175 -0.52721491 6.48762548] [-0.04814728 0.98176094 0.18392197 -1.54015473] [ 0.54332449 -0.12876858 0.82958854 -8.28325517] [ 0. 0. 0. 1. ]] SLAMing on 120.44964924600002 meters Centerline goodness : 0.863222 Centerline is valid? [False, False] Translation: X:6.42, Y:-1.53, Z:-8.30 [[ 0.84855013 0.15654905 -0.50542564 6.42423754] [-0.05699 0.97671258 0.20684458 -1.5302246 ] [ 0.5260369 -0.14671379 0.83771131 -8.30475946] [ 0. 0. 0. 1. ]] SLAMing on 120.47964924600001 meters Centerline goodness : 0.869410 Centerline is valid? [False, False] Translation: X:6.39, Y:-1.53, Z:-8.32 [[ 0.85733953 0.17145726 -0.48535691 6.39155795] [-0.06930163 0.97275809 0.22122156 -1.52703068] [ 0.51006491 -0.15602597 0.84586623 -8.31843556] [ 0. 0. 0. 1. ]] SLAMing on 120.50964924600001 meters Centerline goodness : 0.881063 Centerline is valid? [False, False] Translation: X:6.35, Y:-1.51, Z:-8.34 [[ 0.8642857 0.18178959 -0.46900189 6.34879864] [-0.07736613 0.96935597 0.23315979 -1.51102308] [ 0.4970158 -0.16523181 0.85186486 -8.34223276] [ 0. 0. 0. 1. ]] SLAMing on 120.53964924600001 meters Centerline goodness : 0.878828 Centerline is valid? [False, False] Translation: X:6.30, Y:-1.50, Z:-8.37 [[ 0.8698511 0.19440017 -0.45339567 6.29978234] [-0.08908665 0.96587214 0.24321712 -1.50114765] [ 0.4852037 -0.17117118 0.85748341 -8.37152061] [ 0. 0. 0. 1. ]] SLAMing on 120.56964924600001 meters Centerline goodness : 0.875547 Centerline is valid? [False, False] Translation: X:6.26, Y:-1.49, Z:-8.39 [[ 0.87643444 0.20896104 -0.43381788 6.26301802] [-0.10336805 0.96157533 0.25433821 -1.4928769 ] [ 0.47029535 -0.17806785 0.86435764 -8.39289395] [ 0. 0. 0. 1. ]] SLAMing on 120.59964924600001 meters Centerline goodness : 0.876021 Centerline is valid? [False, False] Translation: X:6.21, Y:-1.47, Z:-8.43 [[ 0.88402041 0.22604192 -0.40916128 6.20802788] [-0.12512904 0.95779559 0.25878627 -1.47184404] [ 0.45038942 -0.17757439 0.87499526 -8.42789438] [ 0. 0. 0. 1. ]] SLAMing on 120.62964924600001 meters Centerline goodness : 0.880632 Centerline is valid? [False, False] Translation: X:6.17, Y:-1.45, Z:-8.46 [[ 0.88996452 0.24233031 -0.38631487 6.17445187] [-0.14983479 0.95547966 0.25418134 -1.45198062] [ 0.43071185 -0.16832896 0.88665251 -8.4602405 ] [ 0. 0. 0. 1. ]] SLAMing on 120.65964924600001 meters Centerline goodness : 0.887744 Centerline is valid? [False, False] Translation: X:6.16, Y:-1.45, Z:-8.48 [[ 0.89506319 0.25563312 -0.36539511 6.16407993] [-0.17045282 0.95328462 0.24938779 -1.44504755] [ 0.41207732 -0.1609352 0.89682336 -8.48101568] [ 0. 0. 0. 1. ]] SLAMing on 120.68964924600002 meters Centerline goodness : 0.891452 Centerline is valid? [False, False] Translation: X:6.17, Y:-1.42, Z:-8.50 [[ 0.89720115 0.2673134 -0.35153044 6.16896903] [-0.18860693 0.95168866 0.24231407 -1.42480699] [ 0.39932133 -0.15110339 0.90427332 -8.4993044 ] [ 0. 0. 0. 1. ]] SLAMing on 120.71964924600002 meters Centerline goodness : 0.892039 Centerline is valid? [False, False] Translation: X:6.18, Y:-1.42, Z:-8.50 [[ 0.89802452 0.27375529 -0.34439803 6.17885603] [-0.19942028 0.9510717 0.23599613 -1.41693024] [ 0.39215241 -0.14325036 0.90867806 -8.50466085] [ 0. 0. 0. 1. ]] SLAMing on 120.74964924600002 meters Centerline goodness : 0.892695 Centerline is valid? [False, False] Translation: X:6.20, Y:-1.40, Z:-8.51 [[ 0.8968731 0.28022732 -0.34218606 6.19684508] [-0.21110764 0.95108231 0.22555709 -1.39826006] [ 0.38865436 -0.130058 0.91215827 -8.5066797 ] [ 0. 0. 0. 1. ]] SLAMing on 120.77964924600002 meters Centerline goodness : 0.892196 Centerline is valid? [False, False] Translation: X:6.21, Y:-1.39, Z:-8.51 [[ 0.89707792 0.28465465 -0.33796884 6.21118163] [-0.21899157 0.95072292 0.21947351 -1.39172533] [ 0.38378888 -0.12287251 0.91520951 -8.50735392] [ 0. 0. 0. 1. ]] SLAMing on 120.80964924600002 meters Centerline goodness : 0.898564 Centerline is valid? [False, False] Translation: X:6.23, Y:-1.37, Z:-8.51 [[ 0.89579956 0.28920439 -0.33749662 6.23398774] [-0.22800082 0.95083152 0.20960689 -1.37268831] [ 0.38152166 -0.11081625 0.91769329 -8.50924798] [ 0. 0. 0. 1. ]] SLAMing on 120.83964924600002 meters Centerline goodness : 0.899200 Centerline is valid? [False, False] Translation: X:6.25, Y:-1.37, Z:-8.51 [[ 0.89566924 0.29355292 -0.3340708 6.24947082] [-0.23529969 0.95024333 0.20413639 -1.36696745] [ 0.37737338 -0.10423193 0.92017663 -8.50956393] [ 0. 0. 0. 1. ]] Total time of SLAM: 7820.14 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%| | 0/4028 [00:00