+ python -m lidar_slam --no-model /working/e0218a3c-1965-4619-98e1-4ad0e735960c Lidar SLAM 0.0.14 ===================================================== The recording path: /working/e0218a3c-1965-4619-98e1-4ad0e735960c 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 0.002401008 Adjusted end_distance from 9.223372036854776e+18 to 114.512401008 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.002401008 meters Centerline goodness : 0.946233 Centerline is valid? [0, False] SLAMing on 0.032401008 meters Centerline goodness : 0.945001 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.00 [[ 9.99998723e-01 1.51429959e-03 -5.10311054e-04 -1.10063795e-04] [-1.51411414e-03 9.99998788e-01 3.63587646e-04 9.25389260e-04] [ 5.10861016e-04 -3.62814513e-04 9.99999804e-01 9.95380387e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.06240100800000001 meters Centerline goodness : 0.946028 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.00 [[ 9.99939946e-01 1.09303059e-02 -7.95271581e-04 -5.48340879e-04] [-1.09227433e-02 9.99900180e-01 8.96238160e-03 1.32633877e-03] [ 8.93153770e-04 -8.95315682e-03 9.99959521e-01 2.26467157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.092401008 meters Centerline goodness : 0.853575 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.00 [[ 9.99766160e-01 2.16106085e-02 -7.78666626e-04 -1.85172428e-03] [-2.15927615e-02 9.99599532e-01 1.82901316e-02 2.12493678e-03] [ 1.17361567e-03 -1.82690411e-02 9.99832418e-01 3.77179105e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.122401008 meters Centerline goodness : 0.927728 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:0.00 [[ 0.99876559 0.04956511 -0.00325432 0.00795137] [-0.0495071 0.99864593 0.01597956 -0.00132287] [ 0.00404195 -0.01579872 0.99986702 0.00286211] [ 0. 0. 0. 1. ]] SLAMing on 0.15240100800000003 meters Centerline goodness : 0.933157 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:0.00 [[ 0.99865703 0.05169139 -0.00348407 0.0076821 ] [-0.05162358 0.99851601 0.01734285 -0.00307457] [ 0.00437538 -0.0171397 0.99984353 0.00313385] [ 0. 0. 0. 1. ]] SLAMing on 0.18240100800000003 meters Centerline goodness : 0.932633 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:0.00 [[ 0.99859158 0.05293611 -0.00355452 0.00761453] [-0.05286002 0.99842357 0.01887291 -0.00726271] [ 0.00454798 -0.01865844 0.99981557 0.00312827] [ 0. 0. 0. 1. ]] SLAMing on 0.21240100800000003 meters Centerline goodness : 0.932040 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:0.00 [[ 0.99867715 0.05129043 -0.00364021 0.00860636] [-0.05121461 0.99851581 0.0185268 -0.01889051] [ 0.00458505 -0.01831586 0.99982174 0.00115667] [ 0. 0. 0. 1. ]] SLAMing on 0.24240100800000003 meters Centerline goodness : 0.931312 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:0.00 [[ 0.99883095 0.04820527 -0.00360309 0.00802651] [-0.04813996 0.99870553 0.0164259 -0.02470496] [ 0.00439024 -0.01623325 0.99985859 0.00126555] [ 0. 0. 0. 1. ]] SLAMing on 0.272401008 meters Centerline goodness : 0.933846 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:0.00 [[ 0.99897383 0.04515031 -0.00356928 0.00737041] [-0.04509406 0.99887721 0.01452035 -0.03147348] [ 0.00422087 -0.0143445 0.9998882 0.00159656] [ 0. 0. 0. 1. ]] SLAMing on 0.302401008 meters Centerline goodness : 0.934035 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:0.00 [[ 0.99910698 0.04210144 -0.0035659 0.00652261] [-0.04205339 0.99903564 0.01262189 -0.03792847] [ 0.00409387 -0.01246066 0.99991398 0.00231453] [ 0. 0. 0. 1. ]] SLAMing on 0.332401008 meters Centerline goodness : 0.929603 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:0.00 [[ 0.99930509 0.0371228 -0.00335267 0.00519975] [-0.03709207 0.99927307 0.00880405 -0.04988525] [ 0.00367706 -0.00867357 0.99995562 0.0022718 ] [ 0. 0. 0. 1. ]] SLAMing on 0.362401008 meters Centerline goodness : 0.924836 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:0.00 [[ 0.99942109 0.03381424 -0.00375385 0.00603002] [-0.03379028 0.99940926 0.00627228 -0.05566609] [ 0.00396373 -0.0061418 0.99997328 0.00164318] [ 0. 0. 0. 1. ]] SLAMing on 0.392401008 meters Centerline goodness : 0.918182 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:0.00 [[ 9.99530367e-01 3.03609149e-02 -4.15453877e-03 7.11592703e-03] [-3.03451666e-02 9.99532246e-01 3.80258072e-03 -6.26229064e-02] [ 4.26804530e-03 -3.67472473e-03 9.99984140e-01 7.51290554e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.422401008 meters Centerline goodness : 0.911824 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.08, Z:-0.00 [[ 9.99653114e-01 2.47406060e-02 -9.03068997e-03 2.54911960e-02] [-2.47785457e-02 9.99684501e-01 -4.11374604e-03 -8.42669717e-02] [ 8.92606423e-03 4.33608641e-03 9.99950761e-01 -8.18610724e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.452401008 meters Centerline goodness : 0.915522 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.09, Z:-0.00 [[ 0.99979163 0.01811687 -0.00940633 0.02703117] [-0.01820293 0.99979249 -0.00914525 -0.09337885] [ 0.0092387 0.00931457 0.99991394 -0.00145707] [ 0. 0. 0. 1. ]] SLAMing on 0.482401008 meters Centerline goodness : 0.910317 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.10, Z:-0.00 [[ 0.99986276 0.01337482 -0.00977596 0.02822699] [-0.01348616 0.99984392 -0.01141349 -0.10367026] [ 0.00962178 0.01154377 0.99988707 -0.00154699] [ 0. 0. 0. 1. ]] SLAMing on 0.512401008 meters Centerline goodness : 0.912630 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.11, Z:-0.00 [[ 0.99991346 0.00867962 -0.00988576 0.02933618] [-0.00881531 0.99986639 -0.01376557 -0.11261232] [ 0.00976496 0.01385153 0.99985638 -0.00204632] [ 0. 0. 0. 1. ]] SLAMing on 0.542401008 meters Centerline goodness : 0.915031 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.12, Z:-0.00 [[ 0.99994341 0.00390856 -0.00989421 0.030265 ] [-0.00407077 0.99985677 -0.01642796 -0.12017604] [ 0.00982858 0.01646731 0.9998161 -0.002542 ] [ 0. 0. 0. 1. ]] SLAMing on 0.572401008 meters Centerline goodness : 0.915831 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.13, Z:-0.00 [[ 9.99949307e-01 -5.20555985e-04 -1.00554542e-02 3.11754923e-02] [ 3.28450740e-04 9.99817586e-01 -1.90967941e-02 -1.26555153e-01] [ 1.00635609e-02 1.90925233e-02 9.99767073e-01 -2.77872819e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6024010080000001 meters Centerline goodness : 0.918019 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.13, Z:-0.00 [[ 0.99992903 -0.0054172 -0.01061085 0.03317192] [ 0.00518073 0.9997404 -0.02218781 -0.13239143] [ 0.01072829 0.02213126 0.99969751 -0.0030848 ] [ 0. 0. 0. 1. ]] SLAMing on 0.632401008 meters Centerline goodness : 0.724039 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.13, Z:-0.00 [[ 0.99993883 -0.00156232 -0.01094965 0.03347239] [ 0.00136944 0.99984415 -0.0176009 -0.13348477] [ 0.01097544 0.01758483 0.99978513 -0.00190968] [ 0. 0. 0. 1. ]] SLAMing on 0.662401008 meters Centerline goodness : 0.872464 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.13, Z:-0.00 [[ 9.99932727e-01 2.34373775e-03 -1.13599303e-02 3.38638551e-02] [-2.50174860e-03 9.99900048e-01 -1.39152975e-02 -1.30998524e-01] [ 1.13261810e-02 1.39427810e-02 9.99838645e-01 -9.63565487e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.692401008 meters Centerline goodness : 0.692889 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.13, Z:-0.00 [[ 9.99911691e-01 6.64177757e-03 -1.15106914e-02 3.37227204e-02] [-6.76282253e-03 9.99921909e-01 -1.05090485e-02 -1.25848966e-01] [ 1.14399938e-02 1.05859652e-02 9.99878525e-01 -1.52790902e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7224010080000001 meters Centerline goodness : 0.658537 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.11, Z:0.00 [[ 0.9997241 0.01880215 -0.01407827 0.04003644] [-0.01878148 0.99982233 0.00159861 -0.1111205 ] [ 0.01410583 -0.00133376 0.99989962 0.00173267] [ 0. 0. 0. 1. ]] SLAMing on 0.7524010080000001 meters Centerline goodness : 0.920568 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.10, Z:0.00 [[ 0.99957062 0.02507553 -0.01515882 0.04330362] [-0.02496975 0.99966279 0.00712807 -0.10209602] [ 0.01533245 -0.0067465 0.99985969 0.00169785] [ 0. 0. 0. 1. ]] SLAMing on 0.782401008 meters Centerline goodness : 0.917778 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.09, Z:0.00 [[ 0.99939105 0.03074629 -0.01649859 0.04770217] [-0.03054463 0.99945725 0.01233844 -0.09289698] [ 0.016869 -0.01182698 0.99978776 0.00126827] [ 0. 0. 0. 1. ]] SLAMing on 0.812401008 meters Centerline goodness : 0.912153 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.08, Z:0.00 [[ 9.99016412e-01 3.88622017e-02 -2.13526953e-02 6.51468338e-02] [-3.83613915e-02 9.98990296e-01 2.33835899e-02 -7.57880325e-02] [ 2.22398731e-02 -2.25414709e-02 9.99498509e-01 1.96217412e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8424010080000001 meters Centerline goodness : 0.909262 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.07, Z:-0.00 [[ 0.99891726 0.04055492 -0.02279507 0.07086211] [-0.03999831 0.99890263 0.02436554 -0.06747128] [ 0.0237582 -0.0234274 0.9994432 -0.00237192] [ 0. 0. 0. 1. ]] SLAMing on 0.8724010080000001 meters Centerline goodness : 0.791994 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.02, Z:-0.13 [[ 0.99862004 0.02558747 0.04586173 0.15858106] [-0.02416648 0.99921861 -0.03127545 -0.01988659] [-0.04662615 0.03012397 0.99845809 -0.12897427] [ 0. 0. 0. 1. ]] SLAMing on 0.902401008 meters Centerline goodness : 0.277754 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:-0.13 [[ 0.99869842 0.01956894 0.04710122 0.17340402] [-0.01835788 0.99949314 -0.02600858 -0.02275299] [-0.0475863 0.02511005 0.99855147 -0.12981596] [ 0. 0. 0. 1. ]] SLAMing on 0.932401008 meters Centerline goodness : 0.444565 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.03, Z:-0.13 [[ 0.99872573 0.01062846 0.04933514 0.20163256] [-0.00968722 0.99976722 -0.01927869 -0.02898749] [-0.04952856 0.01877621 0.9985962 -0.13448328] [ 0. 0. 0. 1. ]] SLAMing on 0.9624010080000001 meters Centerline goodness : 0.444506 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.03, Z:-0.14 [[ 0.99884045 0.0086354 0.04736236 0.21278547] [-0.00790803 0.99984823 -0.0155234 -0.03111569] [-0.04748923 0.01513086 0.99875714 -0.13562102] [ 0. 0. 0. 1. ]] SLAMing on 0.9924010080000001 meters Centerline goodness : 0.444506 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.03, Z:-0.14 [[ 0.99884045 0.0086354 0.04736236 0.21278547] [-0.00790803 0.99984823 -0.0155234 -0.03111569] [-0.04748923 0.01513086 0.99875714 -0.13562102] [ 0. 0. 0. 1. ]] SLAMing on 1.0224010080000001 meters Centerline goodness : 0.499855 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.03, Z:-0.14 [[ 0.99894722 0.00815283 0.04514412 0.22289469] [-0.0076848 0.99991501 -0.01053142 -0.03224186] [-0.04522614 0.01017341 0.99892497 -0.13507119] [ 0. 0. 0. 1. ]] SLAMing on 1.0524010080000001 meters Centerline goodness : 0.523872 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.03, Z:-0.14 [[ 0.99885771 0.01361674 0.04580244 0.25346158] [-0.01344768 0.99990159 -0.0039972 -0.03259924] [-0.04585236 0.0033767 0.99894252 -0.13641415] [ 0. 0. 0. 1. ]] SLAMing on 1.0824010080000002 meters Centerline goodness : 0.535884 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.03, Z:-0.14 [[ 9.98922745e-01 1.47241713e-02 4.40062309e-02 2.61007638e-01] [-1.47563792e-02 9.99891036e-01 4.07123561e-04 -3.09013679e-02] [-4.39954412e-02 -1.05605762e-03 9.99031174e-01 -1.35614378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1124010080000002 meters Centerline goodness : 0.552225 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.03, Z:-0.14 [[ 0.9985629 0.02285557 0.0484743 0.2805606 ] [-0.02295647 0.9997353 0.00152573 -0.02771763] [-0.0484266 -0.00263634 0.99882326 -0.1391018 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1424010080000002 meters Centerline goodness : 0.559889 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.03, Z:-0.14 [[ 0.99850728 0.02567106 0.04821012 0.28387837] [-0.0259282 0.99965268 0.00471591 -0.02541802] [-0.04807231 -0.00595887 0.99882608 -0.1402219 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1724010080000002 meters Centerline goodness : 0.560940 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.02, Z:-0.14 [[ 0.99851389 0.02752259 0.0470375 0.28946605] [-0.02794775 0.99957405 0.008405 -0.02298297] [-0.04678614 -0.00970711 0.99885776 -0.14044803] [ 0. 0. 0. 1. ]] SLAMing on 1.2024010080000003 meters Centerline goodness : 0.560940 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.02, Z:-0.14 [[ 0.99851389 0.02752259 0.0470375 0.28946605] [-0.02794775 0.99957405 0.008405 -0.02298297] [-0.04678614 -0.00970711 0.99885776 -0.14044803] [ 0. 0. 0. 1. ]] SLAMing on 1.2324010080000003 meters Centerline goodness : 0.486995 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.02, Z:-0.14 [[ 0.99864683 0.03294411 0.04023914 0.30436319] [-0.03330846 0.99940967 0.00841795 -0.0219378 ] [-0.03993806 -0.00974687 0.99915462 -0.13717414] [ 0. 0. 0. 1. ]] SLAMing on 1.262401008 meters Centerline goodness : 0.471824 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.02, Z:-0.14 [[ 0.99866938 0.03257572 0.03997852 0.30725296] [-0.03291719 0.99942676 0.00791271 -0.01880556] [-0.03969784 -0.00921816 0.99916921 -0.13841707] [ 0. 0. 0. 1. ]] SLAMing on 1.2924010080000001 meters Centerline goodness : 0.571953 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.02, Z:-0.14 [[ 0.99882392 0.02946053 0.03850785 0.32272425] [-0.02998857 0.99946298 0.01320751 -0.01631914] [-0.03809807 -0.01434677 0.99917101 -0.13826568] [ 0. 0. 0. 1. ]] SLAMing on 1.3224010080000002 meters Centerline goodness : 0.174364 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.02, Z:-0.14 [[ 0.9988759 0.02799515 0.03825194 0.32621859] [-0.02848092 0.99951971 0.01221385 -0.01501563] [-0.03789164 -0.01328957 0.99919348 -0.14021275] [ 0. 0. 0. 1. ]] SLAMing on 1.3524010080000002 meters Centerline goodness : 0.801523 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.01, Z:-0.14 [[ 0.9990155 0.02524869 0.03647645 0.33332091] [-0.02569294 0.99960069 0.01176191 -0.01347184] [-0.03616492 -0.01268751 0.99926529 -0.14121215] [ 0. 0. 0. 1. ]] SLAMing on 1.3824010080000002 meters Centerline goodness : 0.808054 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.01, Z:-0.14 [[ 0.99908419 0.02351231 0.03574854 0.33793231] [-0.02389868 0.99966009 0.01041946 -0.0123257 ] [-0.0354914 -0.01126426 0.9993065 -0.14414369] [ 0. 0. 0. 1. ]] SLAMing on 1.4124010080000002 meters Centerline goodness : 0.803051 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.01, Z:-0.15 [[ 0.99929751 0.01593358 0.03392062 0.35268797] [-0.01627934 0.99981806 0.00994142 -0.01212504] [-0.03375604 -0.01048664 0.99937508 -0.1462785 ] [ 0. 0. 0. 1. ]] SLAMing on 1.4424010080000003 meters Centerline goodness : 0.194711 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.01, Z:-0.15 [[ 0.9994233 0.01229266 0.03165357 0.36133195] [-0.01257374 0.99988313 0.00869624 -0.01174304] [-0.03154297 -0.00908923 0.99946107 -0.14848167] [ 0. 0. 0. 1. ]] SLAMing on 1.4724010080000003 meters Centerline goodness : 0.194982 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.01, Z:-0.15 [[ 0.999473 0.01040861 0.03074707 0.36618053] [-0.01063665 0.99991706 0.00726252 -0.01122195] [-0.03066892 -0.00758574 0.99950081 -0.15157741] [ 0. 0. 0. 1. ]] SLAMing on 1.5024010080000003 meters Centerline goodness : 0.198141 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.01, Z:-0.15 [[ 0.99958621 0.00279873 0.02862834 0.38210036] [-0.00303511 0.99996164 0.00821673 -0.00914588] [-0.02860424 -0.00830022 0.99955635 -0.15230471] [ 0. 0. 0. 1. ]] SLAMing on 1.5324010080000001 meters Centerline goodness : 0.204517 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.01, Z:-0.15 [[ 9.99656228e-01 -6.48087808e-04 2.62108121e-02 3.90876318e-01] [ 4.62142039e-04 9.99974690e-01 7.09967461e-03 -7.59998232e-03] [-2.62147500e-02 -7.08512082e-03 9.99631226e-01 -1.54301260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5624010080000001 meters Centerline goodness : 0.194672 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.01, Z:-0.16 [[ 0.99971345 -0.00406807 0.02358975 0.40008285] [ 0.00391804 0.99997183 0.00640264 -0.0063077 ] [-0.02361513 -0.00630838 0.99970122 -0.1558461 ] [ 0. 0. 0. 1. ]] SLAMing on 1.5924010080000002 meters Centerline goodness : 0.845067 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.01, Z:-0.16 [[ 0.99975056 -0.00761406 0.02099613 0.40948295] [ 0.00749173 0.99995454 0.0058988 -0.00532352] [-0.02104008 -0.00574003 0.99976216 -0.15706546] [ 0. 0. 0. 1. ]] SLAMing on 1.6224010080000002 meters Centerline goodness : 0.199531 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.01, Z:-0.16 [[ 0.99972988 -0.01398789 0.01856079 0.44801425] [ 0.01387609 0.99988488 0.00613833 -0.00821766] [-0.01864452 -0.00587912 0.99980889 -0.15919389] [ 0. 0. 0. 1. ]] SLAMing on 1.6524010080000002 meters Centerline goodness : 0.729968 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.01, Z:-0.16 [[ 0.99965806 -0.02050013 0.01623283 0.45935299] [ 0.02042622 0.99978029 0.00470571 -0.0103332 ] [-0.01632573 -0.00437253 0.99985717 -0.16051637] [ 0. 0. 0. 1. ]] SLAMing on 1.6824010080000003 meters Centerline goodness : 0.185091 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.02, Z:-0.16 [[ 9.99691183e-01 -2.19575029e-02 1.16364584e-02 4.83270777e-01] [ 2.19637599e-02 9.99758683e-01 -4.10164901e-04 -1.53880536e-02] [-1.16246442e-02 6.65618614e-04 9.99932210e-01 -1.61616738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7124010080000003 meters Centerline goodness : 0.295000 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.02, Z:-0.16 [[ 0.99951569 -0.02962726 0.00951949 0.49560253] [ 0.02964205 0.99955957 -0.00141709 -0.01985056] [-0.00947331 0.00169858 0.99995368 -0.16234838] [ 0. 0. 0. 1. ]] SLAMing on 1.7424010080000003 meters Centerline goodness : 0.197122 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.03, Z:-0.16 [[ 0.99902329 -0.04362868 0.00700019 0.5407626 ] [ 0.04364005 0.99904622 -0.00147914 -0.03138738] [-0.00692898 0.00178318 0.9999744 -0.16343242] [ 0. 0. 0. 1. ]] SLAMing on 1.7724010080000003 meters Centerline goodness : 0.265392 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.04, Z:-0.16 [[ 0.99865163 -0.05157478 0.00591336 0.55210758] [ 0.05158987 0.9986654 -0.00242874 -0.03585603] [-0.00578021 0.00273054 0.99997957 -0.16369281] [ 0. 0. 0. 1. ]] SLAMing on 1.8024010080000001 meters Centerline goodness : 0.324707 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:-0.16 [[ 0.99858739 -0.05307457 -0.00251316 0.57237681] [ 0.05305942 0.99857477 -0.00575553 -0.0418016 ] [ 0.00281505 0.00561405 0.99998028 -0.16049334] [ 0. 0. 0. 1. ]] SLAMing on 1.8324010080000002 meters Centerline goodness : 0.281292 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.05, Z:-0.16 [[ 0.99789432 -0.06482573 -0.00213099 0.61457066] [ 0.064817 0.9978894 -0.00393769 -0.05390314] [ 0.00238176 0.00379127 0.99998998 -0.15968414] [ 0. 0. 0. 1. ]] SLAMing on 1.8624010080000002 meters Centerline goodness : 0.261042 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.06, Z:-0.16 [[ 0.99781792 -0.06566809 -0.00686306 0.64182789] [ 0.06563138 0.99782909 -0.00544393 -0.06110574] [ 0.00720565 0.00498162 0.99996163 -0.15925148] [ 0. 0. 0. 1. ]] SLAMing on 1.8924010080000002 meters Centerline goodness : 0.343446 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.07, Z:-0.16 [[ 0.99772294 -0.06634746 -0.01212245 0.66902985] [ 0.06625699 0.99777274 -0.00771863 -0.0682243 ] [ 0.01260757 0.00689785 0.99989673 -0.15981704] [ 0. 0. 0. 1. ]] SLAMing on 1.9224010080000002 meters Centerline goodness : 0.782970 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.08, Z:-0.16 [[ 0.99710209 -0.07501493 -0.01265636 0.71170288] [ 0.07496389 0.99717627 -0.00446144 -0.08302794] [ 0.01295529 0.00349974 0.99990995 -0.16030754] [ 0. 0. 0. 1. ]] SLAMing on 1.9524010080000003 meters SLAMing on 1.9824010080000003 meters Centerline goodness : 0.770321 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:-0.16 [[ 0.99698659 -0.07623641 -0.0143442 0.75981023] [ 0.07612213 0.99706353 -0.0083513 -0.09863027] [ 0.01493875 0.00723422 0.99986224 -0.16093127] [ 0. 0. 0. 1. ]] SLAMing on 2.0124010080000003 meters Centerline goodness : 0.810913 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.11, Z:-0.16 [[ 0.99713031 -0.07302664 -0.0199563 0.787195 ] [ 0.07289903 0.99731441 -0.00704988 -0.10771332] [ 0.02041754 0.00557485 0.999776 -0.16004634] [ 0. 0. 0. 1. ]] SLAMing on 2.042401008 meters Centerline goodness : 0.810405 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.12, Z:-0.18 [[ 0.99750842 -0.06927975 -0.01331406 0.82596863] [ 0.06905678 0.99747569 -0.01653521 -0.12231546] [ 0.01442601 0.01557459 0.99977464 -0.17559938] [ 0. 0. 0. 1. ]] SLAMing on 2.0724010080000004 meters Centerline goodness : 0.786948 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.13, Z:-0.19 [[ 0.99776259 -0.06684028 -0.00148286 0.83316909] [ 0.06679352 0.99753835 -0.02135091 -0.1297542 ] [ 0.00290631 0.0212041 0.99977094 -0.18632516] [ 0. 0. 0. 1. ]] SLAMing on 2.102401008 meters Centerline goodness : 0.180311 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.14, Z:-0.20 [[ 0.99788821 -0.06416211 0.01011638 0.84005648] [ 0.06441127 0.99756879 -0.02660266 -0.13739404] [-0.0083849 0.02719809 0.9995949 -0.19687958] [ 0. 0. 0. 1. ]] SLAMing on 2.1324010080000004 meters Centerline goodness : 0.818370 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.15, Z:-0.20 [[ 0.99799396 -0.06279761 0.00803258 0.86128695] [ 0.06301963 0.99752223 -0.03127198 -0.14509371] [-0.00604888 0.03171546 0.99947863 -0.20236043] [ 0. 0. 0. 1. ]] SLAMing on 2.1624010080000002 meters Centerline goodness : 0.729514 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.16, Z:-0.22 [[ 0.99795424 -0.06192063 0.01591158 0.89148041] [ 0.0625226 0.99721635 -0.04062613 -0.15799837] [-0.0133517 0.04153786 0.99904772 -0.21523888] [ 0. 0. 0. 1. ]] SLAMing on 2.1924010080000005 meters Centerline goodness : 0.848239 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.16, Z:-0.22 [[ 0.99802641 -0.06123496 0.01391301 0.91174148] [ 0.06181342 0.99703334 -0.04586519 -0.16499155] [-0.01106318 0.04663468 0.99885075 -0.2199917 ] [ 0. 0. 0. 1. ]] SLAMing on 2.2224010080000003 meters Centerline goodness : 0.859617 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.17, Z:-0.23 [[ 0.99809247 -0.06041716 0.01269615 0.9311402 ] [ 0.06099512 0.9968055 -0.05155949 -0.17246379] [-0.00954052 0.05223555 0.99858922 -0.2262868 ] [ 0. 0. 0. 1. ]] SLAMing on 2.252401008 meters Centerline goodness : 0.859968 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.19, Z:-0.22 [[ 0.99794611 -0.06292322 0.0120092 0.96998181] [ 0.06336537 0.99715182 -0.04090337 -0.18583707] [-0.00940122 0.04158033 0.99909093 -0.21933222] [ 0. 0. 0. 1. ]] SLAMing on 2.2824010080000003 meters Centerline goodness : 0.812619 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.19, Z:-0.21 [[ 0.99794548 -0.06278585 0.01275735 0.98132334] [ 0.0631145 0.99763449 -0.02723936 -0.19332301] [-0.01101693 0.02798857 0.99954753 -0.21137994] [ 0. 0. 0. 1. ]] SLAMing on 2.312401008 meters Centerline goodness : 0.433099 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.20, Z:-0.21 [[ 0.99815091 -0.05983036 0.01072803 0.98609009] [ 0.06005818 0.99794471 -0.02234671 -0.19773856] [-0.00936897 0.0229497 0.99969272 -0.21082874] [ 0. 0. 0. 1. ]] SLAMing on 2.3424010080000004 meters Centerline goodness : 0.812569 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.20, Z:-0.21 [[ 0.99835088 -0.05672996 0.0087885 0.99042998] [ 0.056876 0.99823017 -0.0173683 -0.2024036 ] [-0.00778765 0.01783951 0.99981053 -0.20997032] [ 0. 0. 0. 1. ]] SLAMing on 2.372401008 meters Centerline goodness : 0.814423 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.21, Z:-0.21 [[ 0.9985524 -0.05335895 0.00677748 0.99438728] [ 0.05343617 0.99850183 -0.01177582 -0.20773167] [-0.00613898 0.01212093 0.99990769 -0.20794079] [ 0. 0. 0. 1. ]] SLAMing on 2.4024010080000004 meters Centerline goodness : 0.816071 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.22, Z:-0.20 [[ 0.99869215 -0.05082178 0.00558016 0.99930483] [ 0.05084089 0.99870119 -0.00333833 -0.21506693] [-0.00540325 0.00361766 0.99997886 -0.20181274] [ 0. 0. 0. 1. ]] SLAMing on 2.4324010080000003 meters Centerline goodness : 0.781555 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.22, Z:-0.20 [[ 0.99883645 -0.04808051 0.00374254 1.00363483] [ 0.04807546 0.99884269 0.0014267 -0.21856022] [-0.00380681 -0.00124512 0.99999198 -0.20047804] [ 0. 0. 0. 1. ]] SLAMing on 2.4624010080000005 meters Centerline goodness : 0.832753 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.22, Z:-0.20 [[ 0.99899213 -0.04483351 0.00216348 1.00677504] [ 0.04481866 0.9989741 0.00648357 -0.22309473] [-0.00245195 -0.00638007 0.99997664 -0.1987357 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4924010080000003 meters Centerline goodness : 0.827575 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.23, Z:-0.19 [[ 0.99912947 -0.04109512 -0.00717646 1.0198859 ] [ 0.04113128 0.99914141 0.00496588 -0.23016706] [ 0.00696623 -0.00525673 0.99996192 -0.1908282 ] [ 0. 0. 0. 1. ]] SLAMing on 2.522401008 meters Centerline goodness : 0.830791 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.23, Z:-0.19 [[ 0.99911534 -0.04127974 -0.00803222 1.02161625] [ 0.0413247 0.99913055 0.00551455 -0.23210782] [ 0.00779759 -0.0058416 0.99995254 -0.1899653 ] [ 0. 0. 0. 1. ]] SLAMing on 2.5524010080000004 meters Centerline goodness : 0.832489 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.24, Z:-0.19 [[ 0.99922832 -0.03814355 -0.00937166 1.02474962] [ 0.03823634 0.99921939 0.00992976 -0.23526692] [ 0.00898559 -0.01028044 0.99990678 -0.18925522] [ 0. 0. 0. 1. ]] SLAMing on 2.582401008 meters Centerline goodness : 0.824541 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.24, Z:-0.19 [[ 0.99933327 -0.035048 -0.01023048 1.02790813] [ 0.03518993 0.99928203 0.01403873 -0.23513765] [ 0.0097311 -0.01438938 0.99984911 -0.18931327] [ 0. 0. 0. 1. ]] SLAMing on 2.6124010080000004 meters Centerline goodness : 0.815501 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.23, Z:-0.19 [[ 0.99930384 -0.03566744 -0.01093957 1.03024701] [ 0.03581239 0.99926932 0.0133532 -0.23385563] [ 0.01045531 -0.01373568 0.999851 -0.19037894] [ 0. 0. 0. 1. ]] SLAMing on 2.642401008 meters Centerline goodness : 0.845061 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.23, Z:-0.19 [[ 0.99926641 -0.03644876 -0.0117528 1.03291548] [ 0.03659607 0.99925105 0.01257267 -0.23312987] [ 0.01128574 -0.01299356 0.99985189 -0.19158144] [ 0. 0. 0. 1. ]] SLAMing on 2.6724010080000005 meters Centerline goodness : 0.836222 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.23, Z:-0.19 [[ 0.99921769 -0.03742624 -0.01277791 1.03623313] [ 0.03757771 0.99922372 0.01182704 -0.23254565] [ 0.01232534 -0.01229795 0.99984841 -0.19274759] [ 0. 0. 0. 1. ]] SLAMing on 2.7024010080000003 meters Centerline goodness : 0.846255 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.23, Z:-0.19 [[ 0.9990786 -0.04015722 -0.015144 1.04421137] [ 0.0403166 0.99913314 0.01036994 -0.23120039] [ 0.01471444 -0.01097094 0.99983155 -0.19477027] [ 0. 0. 0. 1. ]] SLAMing on 2.7324010080000005 meters Centerline goodness : 0.845444 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.23, Z:-0.20 [[ 0.99901352 -0.04135927 -0.01616765 1.0478896 ] [ 0.04151476 0.99909365 0.00940259 -0.22995473] [ 0.01576411 -0.01006451 0.99982508 -0.19631036] [ 0. 0. 0. 1. ]] SLAMing on 2.7624010080000003 meters Centerline goodness : 0.841963 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.23, Z:-0.20 [[ 0.99893336 -0.04281521 -0.01729144 1.05202657] [ 0.04296145 0.99904328 0.00817591 -0.22796558] [ 0.01692484 -0.00891005 0.99981706 -0.19811405] [ 0. 0. 0. 1. ]] SLAMing on 2.792401008 meters Centerline goodness : 0.864677 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.23, Z:-0.20 [[ 0.99898493 -0.04100873 -0.01863839 1.05676965] [ 0.04122504 0.99908515 0.01137324 -0.22820319] [ 0.01815494 -0.01213007 0.9997616 -0.1990396 ] [ 0. 0. 0. 1. ]] SLAMing on 2.8224010080000004 meters Centerline goodness : 0.861622 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.22, Z:-0.20 [[ 0.99884078 -0.04357352 -0.020456 1.06319548] [ 0.04377022 0.99899863 0.00926822 -0.22320177] [ 0.02003166 -0.01015284 0.99974779 -0.20131048] [ 0. 0. 0. 1. ]] SLAMing on 2.852401008 meters Centerline goodness : 0.857265 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.22, Z:-0.20 [[ 0.99877701 -0.04455816 -0.0214257 1.06570904] [ 0.04474875 0.99896212 0.0084994 -0.22122518] [ 0.02102474 -0.00944778 0.99973431 -0.20143812] [ 0. 0. 0. 1. ]] SLAMing on 2.8824010080000004 meters Centerline goodness : 0.862040 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.22, Z:-0.20 [[ 0.99873852 -0.04507177 -0.02213364 1.06704535] [ 0.04525878 0.99894309 0.00802162 -0.21940879] [ 0.0217487 -0.00901325 0.99972284 -0.20099264] [ 0. 0. 0. 1. ]] SLAMing on 2.9124010080000002 meters Centerline goodness : 0.864015 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.22, Z:-0.20 [[ 0.99870382 -0.04556083 -0.02269111 1.06807001] [ 0.04573584 0.99892723 0.00725418 -0.21658418] [ 0.02233626 -0.00828258 0.9997162 -0.20086693] [ 0. 0. 0. 1. ]] SLAMing on 2.9424010080000005 meters Centerline goodness : 0.867420 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.22, Z:-0.20 [[ 0.99880625 -0.04256523 -0.02396402 1.07068964] [ 0.04283756 0.99902185 0.01096772 -0.21589581] [ 0.02347373 -0.01198119 0.99965266 -0.20008456] [ 0. 0. 0. 1. ]] SLAMing on 2.9724010080000003 meters Centerline goodness : 0.853224 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.21, Z:-0.20 [[ 0.99888444 -0.03979653 -0.02541855 1.07353852] [ 0.04015455 0.9990991 0.0137334 -0.21153983] [ 0.0248491 -0.01473875 0.99958256 -0.19966029] [ 0. 0. 0. 1. ]] SLAMing on 3.0024010080000005 meters Centerline goodness : 0.870215 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.21, Z:-0.20 [[ 0.99884752 -0.04033602 -0.02601212 1.07490202] [ 0.04067771 0.99909106 0.01274296 -0.20847924] [ 0.02547448 -0.01378639 0.99958041 -0.20001573] [ 0. 0. 0. 1. ]] SLAMing on 3.0324010080000003 meters Centerline goodness : 0.872681 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.21, Z:-0.20 [[ 0.99881116 -0.04089449 -0.02653116 1.0761848 ] [ 0.04122095 0.99907947 0.01187655 -0.20594072] [ 0.02602105 -0.01295607 0.99957743 -0.20032885] [ 0. 0. 0. 1. ]] SLAMing on 3.062401008 meters Centerline goodness : 0.876693 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.20, Z:-0.20 [[ 0.99888872 -0.03805695 -0.02780259 1.07948853] [ 0.03847125 0.99915419 0.01452139 -0.20249096] [ 0.02722644 -0.01557485 0.99950795 -0.20128113] [ 0. 0. 0. 1. ]] SLAMing on 3.0924010080000004 meters Centerline goodness : 0.867760 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.20, Z:-0.20 [[ 0.9988541 -0.03856166 -0.02834591 1.08131114] [ 0.03895071 0.99915257 0.01330356 -0.19909576] [ 0.02780888 -0.01439241 0.99950964 -0.20263865] [ 0. 0. 0. 1. ]] SLAMing on 3.122401008 meters Centerline goodness : 0.867760 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.20, Z:-0.20 [[ 0.9988541 -0.03856166 -0.02834591 1.08131114] [ 0.03895071 0.99915257 0.01330356 -0.19909576] [ 0.02780888 -0.01439241 0.99950964 -0.20263865] [ 0. 0. 0. 1. ]] SLAMing on 3.1524010080000004 meters Centerline goodness : 0.876807 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.20, Z:-0.20 [[ 0.99882162 -0.03896684 -0.02893008 1.08316662] [ 0.03933172 0.99915231 0.01215218 -0.19581779] [ 0.02843202 -0.01327573 0.99950757 -0.20396522] [ 0. 0. 0. 1. ]] SLAMing on 3.1824010080000003 meters Centerline goodness : 0.879709 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.19, Z:-0.21 [[ 0.99878923 -0.03938504 -0.02947698 1.08495945] [ 0.03972347 0.99915033 0.01098504 -0.19270105] [ 0.02901929 -0.01214267 0.9995051 -0.20531141] [ 0. 0. 0. 1. ]] SLAMing on 3.2124010080000005 meters Centerline goodness : 0.873830 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.19, Z:-0.21 [[ 0.99876455 -0.03931787 -0.03038863 1.08638799] [ 0.03963706 0.99916437 0.00997341 -0.18849339] [ 0.02997111 -0.01116561 0.9994884 -0.20571469] [ 0. 0. 0. 1. ]] SLAMing on 3.2424010080000003 meters Centerline goodness : 0.879890 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.19, Z:-0.21 [[ 0.99872734 -0.03981777 -0.03095552 1.08790974] [ 0.04012078 0.99915221 0.00922948 -0.18654542] [ 0.03056178 -0.01045969 0.99947815 -0.20620672] [ 0. 0. 0. 1. ]] SLAMing on 3.2724010080000006 meters Centerline goodness : 0.878913 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.19, Z:-0.21 [[ 0.99868245 -0.04044575 -0.03158337 1.08966461] [ 0.04073425 0.99913348 0.00854493 -0.18506974] [ 0.0312104 -0.00982019 0.99946459 -0.20663838] [ 0. 0. 0. 1. ]] SLAMing on 3.3024010080000004 meters Centerline goodness : 0.876520 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.18, Z:-0.21 [[ 9.98808891e-01 -3.98946917e-02 -2.80929276e-02 1.10485833e+00] [ 3.98501832e-02 9.99203369e-01 -2.14263941e-03 -1.82048518e-01] [ 2.81560278e-02 1.02057898e-03 9.99603019e-01 -2.11990484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.332401008 meters Centerline goodness : 0.880851 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.18, Z:-0.21 [[ 0.9987872 -0.03878236 -0.03033253 1.11073126] [ 0.03892459 0.99923369 0.00411251 -0.18456462] [ 0.0301498 -0.0052882 0.9995314 -0.2065746 ] [ 0. 0. 0. 1. ]] SLAMing on 3.3624010080000004 meters Centerline goodness : 0.908685 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.18, Z:-0.21 [[ 0.99878799 -0.03864322 -0.03048355 1.11050648] [ 0.03879734 0.99923705 0.00448049 -0.18487463] [ 0.03028715 -0.00565774 0.99952523 -0.20570843] [ 0. 0. 0. 1. ]] SLAMing on 3.392401008 meters Centerline goodness : 0.906992 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.18, Z:-0.21 [[ 0.99875917 -0.0390314 -0.03093023 1.11155564] [ 0.03918226 0.99922289 0.00428627 -0.18475141] [ 0.03073889 -0.00549287 0.99951236 -0.20560183] [ 0. 0. 0. 1. ]] SLAMing on 3.4224010080000005 meters Centerline goodness : 0.907158 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.19, Z:-0.21 [[ 0.9987157 -0.03954343 -0.03167443 1.11366766] [ 0.03969307 0.99920347 0.00410946 -0.18542877] [ 0.0314867 -0.00536144 0.99948979 -0.20605151] [ 0. 0. 0. 1. ]] SLAMing on 3.4524010080000003 meters Centerline goodness : 0.902726 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.19, Z:-0.21 [[ 0.998701 -0.03963483 -0.03202174 1.11458434] [ 0.03979145 0.99919889 0.00426818 -0.18624021] [ 0.03182692 -0.00553683 0.99947806 -0.20611963] [ 0. 0. 0. 1. ]] SLAMing on 3.4824010080000005 meters Centerline goodness : 0.906300 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.19, Z:-0.21 [[ 0.99869601 -0.03953521 -0.03229937 1.11498456] [ 0.03970827 0.9992001 0.00473388 -0.18767039] [ 0.03208638 -0.00601026 0.99946703 -0.2056249 ] [ 0. 0. 0. 1. ]] SLAMing on 3.5124010080000003 meters Centerline goodness : 0.903780 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.19, Z:-0.21 [[ 0.99881638 -0.03849157 -0.02973618 1.13153141] [ 0.03837011 0.9992528 -0.00464465 -0.18695601] [ 0.02989274 0.00349817 0.99954699 -0.21035326] [ 0. 0. 0. 1. ]] SLAMing on 3.5424010080000006 meters Centerline goodness : 0.900864 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.19, Z:-0.21 [[ 0.99876562 -0.03917016 -0.0305441 1.13366056] [ 0.03906532 0.99922857 -0.00402186 -0.19016076] [ 0.03067808 0.00282368 0.99952533 -0.20975838] [ 0. 0. 0. 1. ]] SLAMing on 3.5724010080000004 meters Centerline goodness : 0.901641 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.19, Z:-0.21 [[ 0.99872883 -0.03968284 -0.03108059 1.13537484] [ 0.03957961 0.99920869 -0.00392999 -0.19109137] [ 0.03121195 0.00269484 0.99950916 -0.20998888] [ 0. 0. 0. 1. ]] SLAMing on 3.602401008 meters Centerline goodness : 0.898548 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.19, Z:-0.21 [[ 9.98817616e-01 -3.69902302e-02 -3.15451047e-02 1.13711513e+00] [ 3.70257105e-02 9.99314167e-01 5.41156603e-04 -1.94688702e-01] [ 3.15034525e-02 -1.70849666e-03 9.99502183e-01 -2.09240245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6324010080000004 meters Centerline goodness : 0.899531 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.20, Z:-0.21 [[ 0.99881482 -0.03695347 -0.03167636 1.13684213] [ 0.03700915 0.99931424 0.00117322 -0.19589988] [ 0.03161128 -0.00234415 0.99949749 -0.20798805] [ 0. 0. 0. 1. ]] SLAMing on 3.6624010080000002 meters Centerline goodness : 0.900960 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.20, Z:-0.21 [[ 0.99896837 -0.03758387 -0.02548803 1.14850259] [ 0.03739289 0.99926919 -0.00792858 -0.1964879 ] [ 0.02576739 0.00696733 0.99964369 -0.20919544] [ 0. 0. 0. 1. ]] SLAMing on 3.6924010080000005 meters Centerline goodness : 0.898202 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.20, Z:-0.21 [[ 0.99908993 -0.03388466 -0.02590641 1.14832298] [ 0.03384329 0.99942508 -0.00203387 -0.20145272] [ 0.02596043 0.00115526 0.9996623 -0.2056403 ] [ 0. 0. 0. 1. ]] SLAMing on 3.7224010080000003 meters Centerline goodness : 0.897761 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.20, Z:-0.20 [[ 9.99092567e-01 -3.37139479e-02 -2.60271546e-02 1.14804974e+00] [ 3.36870575e-02 9.99431347e-01 -1.47106396e-03 -2.02401537e-01] [ 2.60619496e-02 5.92950818e-04 9.99660154e-01 -2.04623004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7524010080000005 meters Centerline goodness : 0.901625 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.20, Z:-0.20 [[ 0.99915735 -0.03086147 -0.02705853 1.15095342] [ 0.03094299 0.99951777 0.0025993 -0.20466182] [ 0.02696526 -0.00343438 0.99963047 -0.2044924 ] [ 0. 0. 0. 1. ]] SLAMing on 3.7824010080000003 meters Centerline goodness : 0.902601 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.21, Z:-0.20 [[ 0.99918052 -0.02864474 -0.02859648 1.15577965] [ 0.02884544 0.99956189 0.00663077 -0.20550584] [ 0.02839402 -0.00745021 0.99956904 -0.20421768] [ 0. 0. 0. 1. ]] SLAMing on 3.8124010080000006 meters Centerline goodness : 0.898913 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.21, Z:-0.20 [[ 0.99923293 -0.025473 -0.02974339 1.15852785] [ 0.02581444 0.99960454 0.01115246 -0.20790222] [ 0.02944754 -0.01191171 0.99949535 -0.2033155 ] [ 0. 0. 0. 1. ]] SLAMing on 3.8424010080000004 meters Centerline goodness : 0.897281 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.21, Z:-0.20 [[ 0.99929281 -0.02183346 -0.03061348 1.16028098] [ 0.02233286 0.99962147 0.01606706 -0.20959 ] [ 0.03025109 -0.01673938 0.99940215 -0.20161112] [ 0. 0. 0. 1. ]] SLAMing on 3.872401008 meters Centerline goodness : 0.894049 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.21, Z:-0.20 [[ 0.99934666 -0.01777536 -0.03146902 1.161557 ] [ 0.01844654 0.99960575 0.02116775 -0.21151701] [ 0.03108035 -0.02173442 0.99928055 -0.1998101 ] [ 0. 0. 0. 1. ]] SLAMing on 3.9024010080000004 meters Centerline goodness : 0.889607 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.21, Z:-0.19 [[ 0.99939949 -0.01098441 -0.03286331 1.16587597] [ 0.01207242 0.99937934 0.03309378 -0.21495418] [ 0.03247939 -0.03347064 0.99891181 -0.19336061] [ 0. 0. 0. 1. ]] SLAMing on 3.9324010080000003 meters Centerline goodness : 0.890208 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.22, Z:-0.19 [[ 0.99939828 -0.00765693 -0.03382969 1.16875902] [ 0.00891106 0.99927264 0.0370781 -0.21582997] [ 0.03352117 -0.03735725 0.99873959 -0.19343401] [ 0. 0. 0. 1. ]] SLAMing on 3.9624010080000005 meters Centerline goodness : 0.892023 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.21, Z:-0.19 [[ 0.99939984 -0.00768882 -0.03377639 1.16902235] [ 0.00891479 0.99930127 0.03629748 -0.2140544 ] [ 0.03347371 -0.0365768 0.99877007 -0.19457859] [ 0. 0. 0. 1. ]] SLAMing on 3.9924010080000003 meters Centerline goodness : 0.890141 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.21, Z:-0.20 [[ 0.99960393 -0.00367308 -0.02790137 1.18156578] [ 0.00456982 0.99947279 0.03214421 -0.21437243] [ 0.02776859 -0.03225898 0.99909372 -0.19546052] [ 0. 0. 0. 1. ]] SLAMing on 4.022401008 meters Centerline goodness : 0.891976 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.22, Z:-0.19 [[ 0.99963901 -0.00266585 -0.02673476 1.17865529] [ 0.00357298 0.99941746 0.03394076 -0.21506798] [ 0.02662871 -0.03402403 0.9990662 -0.19250844] [ 0. 0. 0. 1. ]] SLAMing on 4.052401008 meters Centerline goodness : 0.897402 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.22, Z:-0.19 [[ 9.99625121e-01 1.46397624e-03 -2.73399890e-02 1.17913645e+00] [-3.59386289e-04 9.99185006e-01 4.03632769e-02 -2.18829573e-01] [ 2.73767980e-02 -4.03383199e-02 9.98810959e-01 -1.88323882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.082401008 meters Centerline goodness : 0.896384 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.22, Z:-0.19 [[ 9.99651055e-01 -9.11379502e-04 -2.63995911e-02 1.17605017e+00] [ 1.87024664e-03 9.99338483e-01 3.63194042e-02 -2.16423658e-01] [ 2.63490266e-02 -3.63561044e-02 9.98991473e-01 -1.88554867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.112401008 meters Centerline goodness : 0.901474 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.22, Z:-0.19 [[ 9.99672013e-01 -1.49466871e-04 -2.56094559e-02 1.17406645e+00] [ 1.09862736e-03 9.99312704e-01 3.70528325e-02 -2.17477299e-01] [ 2.55863164e-02 -3.70688149e-02 9.98985107e-01 -1.87547131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.142401008 meters Centerline goodness : 0.899950 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.22, Z:-0.20 [[ 0.99991226 -0.00233123 -0.01303981 1.17961939] [ 0.00275532 0.99946469 0.03259965 -0.21590585] [ 0.01295683 -0.03263272 0.99938342 -0.19600971] [ 0. 0. 0. 1. ]] SLAMing on 4.172401008 meters Centerline goodness : 0.897459 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.22, Z:-0.20 [[ 9.99964225e-01 1.52962495e-05 -8.45866012e-03 1.19351838e+00] [ 2.11042665e-04 9.99641953e-01 2.67567067e-02 -2.16969719e-01] [ 8.45604080e-03 -2.67575346e-02 9.99606187e-01 -1.97649967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.202401008 meters Centerline goodness : 0.898916 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.22, Z:-0.19 [[ 9.99972287e-01 3.63202352e-05 -7.44469548e-03 1.19297107e+00] [ 1.86434321e-04 9.99552328e-01 2.99183668e-02 -2.22731904e-01] [ 7.44244935e-03 -2.99189256e-02 9.99524621e-01 -1.94341957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.232401008 meters Centerline goodness : 0.898950 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.22, Z:-0.20 [[ 0.9999674 -0.0038439 -0.00710138 1.19282325] [ 0.00402215 0.99967284 0.02525939 -0.2220465 ] [ 0.00700196 -0.02528713 0.99965571 -0.19600277] [ 0. 0. 0. 1. ]] SLAMing on 4.262401008 meters Centerline goodness : 0.902582 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.22, Z:-0.20 [[ 0.99996777 -0.00397071 -0.00697789 1.19335273] [ 0.00415201 0.99964909 0.02616198 -0.22403639] [ 0.00687156 -0.02619011 0.99963336 -0.19522692] [ 0. 0. 0. 1. ]] SLAMing on 4.292401008 meters Centerline goodness : 0.903616 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.23, Z:-0.19 [[ 0.99996613 -0.00406378 -0.00715737 1.19386982] [ 0.00425531 0.99962768 0.02695154 -0.22615095] [ 0.00704518 -0.02698108 0.99961112 -0.19446544] [ 0. 0. 0. 1. ]] SLAMing on 4.322401008 meters Centerline goodness : 0.906788 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.23, Z:-0.19 [[ 0.9999055 -0.01274965 -0.00514254 1.16219665] [ 0.01294063 0.99915564 0.03899429 -0.22916557] [ 0.00464104 -0.03905715 0.9992262 -0.19043605] [ 0. 0. 0. 1. ]] SLAMing on 4.352401008 meters Centerline goodness : 0.905582 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.22, Z:-0.20 [[ 0.99977793 -0.02063748 -0.00426499 1.16178738] [ 0.02074479 0.99942367 0.0268697 -0.22417148] [ 0.00370801 -0.02695221 0.99962985 -0.19776797] [ 0. 0. 0. 1. ]] SLAMing on 4.382401008 meters Centerline goodness : 0.904352 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.22, Z:-0.20 [[ 0.99970046 -0.02343047 -0.00707066 1.13558236] [ 0.02360955 0.99937244 0.02640688 -0.22479097] [ 0.0064475 -0.02656591 0.99962627 -0.19698607] [ 0. 0. 0. 1. ]] SLAMing on 4.412401008 meters Centerline goodness : 0.903964 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.23, Z:-0.20 [[ 0.99943639 -0.0318288 -0.01066915 1.11847171] [ 0.03209035 0.99916438 0.02531302 -0.22519238] [ 0.00985455 -0.02564113 0.99962264 -0.19638894] [ 0. 0. 0. 1. ]] SLAMing on 4.442401008 meters Centerline goodness : 0.903208 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.22, Z:-0.20 [[ 0.99928911 -0.03627102 -0.01027999 1.11890604] [ 0.03647234 0.99913202 0.02012387 -0.22323464] [ 0.00954115 -0.0204845 0.99974464 -0.19846893] [ 0. 0. 0. 1. ]] SLAMing on 4.472401008 meters Centerline goodness : 0.904011 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.23, Z:-0.21 [[ 0.99949009 -0.03158543 0.00468172 1.11524305] [ 0.03148106 0.99928578 0.02090137 -0.22655425] [-0.00533856 -0.02074332 0.99977058 -0.2058455 ] [ 0. 0. 0. 1. ]] SLAMing on 4.502401008 meters Centerline goodness : 0.904878 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.22, Z:-0.21 [[ 0.9993671 -0.03517687 0.00528946 1.11391117] [ 0.03508831 0.99925621 0.0159949 -0.22240569] [-0.00584817 -0.01579918 0.99985808 -0.20660838] [ 0. 0. 0. 1. ]] SLAMing on 4.532401008 meters Centerline goodness : 0.908323 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.22, Z:-0.20 [[ 0.99937775 -0.03482017 0.00562765 1.11190227] [ 0.03472798 0.99927308 0.01572496 -0.21910697] [-0.0061711 -0.01551973 0.99986052 -0.20492262] [ 0. 0. 0. 1. ]] SLAMing on 4.562401008 meters Centerline goodness : 0.908863 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.22, Z:-0.20 [[ 0.99938053 -0.03474493 0.00559946 1.11141392] [ 0.03465654 0.99928404 0.01517696 -0.21665928] [-0.00612277 -0.0149735 0.99986914 -0.20454337] [ 0. 0. 0. 1. ]] SLAMing on 4.592401008 meters Centerline goodness : 0.908097 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.21, Z:-0.20 [[ 0.99938492 -0.0345841 0.00580683 1.1105472 ] [ 0.03449703 0.9992999 0.01447964 -0.21335699] [-0.00630353 -0.01427041 0.9998783 -0.20453966] [ 0. 0. 0. 1. ]] SLAMing on 4.622401008 meters Centerline goodness : 0.906763 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.21, Z:-0.20 [[ 0.99939181 -0.03434235 0.00605068 1.10942967] [ 0.03425642 0.99931815 0.0137744 -0.20924515] [-0.0065196 -0.01355875 0.99988682 -0.20427005] [ 0. 0. 0. 1. ]] SLAMing on 4.652401008 meters Centerline goodness : 0.904385 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.20, Z:-0.20 [[ 0.99950993 -0.03071808 0.00602514 1.10870699] [ 0.03061533 0.99939566 0.01646262 -0.2020276 ] [-0.0065272 -0.01627009 0.99984633 -0.2038135 ] [ 0. 0. 0. 1. ]] SLAMing on 4.682401008 meters Centerline goodness : 0.906291 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.20, Z:-0.20 [[ 0.99951636 -0.03043166 0.00640071 1.10746675] [ 0.03032848 0.99941758 0.01564207 -0.19740506] [-0.006873 -0.01544038 0.99985717 -0.20385171] [ 0. 0. 0. 1. ]] SLAMing on 4.712401008 meters Centerline goodness : 0.907056 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.19, Z:-0.20 [[ 0.9995214 -0.03018993 0.00674832 1.10608991] [ 0.03008672 0.99943614 0.01490592 -0.19354863] [-0.00719452 -0.01469575 0.99986613 -0.20353608] [ 0. 0. 0. 1. ]] SLAMing on 4.742401008 meters Centerline goodness : 0.905230 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.19, Z:-0.20 [[ 0.99954841 -0.02924295 0.00691522 1.10383888] [ 0.02914338 0.99947599 0.01408567 -0.18689579] [-0.00732351 -0.01387778 0.99987688 -0.20229475] [ 0. 0. 0. 1. ]] SLAMing on 4.772401008 meters Centerline goodness : 0.906593 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.18, Z:-0.20 [[ 0.99955266 -0.02903582 0.00717 1.10312561] [ 0.02894083 0.9994964 0.01301475 -0.18238931] [-0.00754429 -0.01280142 0.9998896 -0.20292904] [ 0. 0. 0. 1. ]] SLAMing on 4.802401008 meters Centerline goodness : 0.905875 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.18, Z:-0.20 [[ 0.99963208 -0.02614248 0.00723081 1.10243937] [ 0.02602957 0.99954421 0.0152913 -0.17947115] [-0.00762726 -0.01509746 0.99985694 -0.20204749] [ 0. 0. 0. 1. ]] SLAMing on 4.832401008 meters Centerline goodness : 0.904278 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.17, Z:-0.20 [[ 0.99972934 -0.02165284 0.00850875 1.10040719] [ 0.02147947 0.99956994 0.01996439 -0.17444018] [-0.00893738 -0.01977622 0.99976448 -0.20243628] [ 0. 0. 0. 1. ]] SLAMing on 4.862401008 meters Centerline goodness : 0.904506 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.17, Z:-0.20 [[ 0.999754 -0.02041768 0.00866408 1.1006669 ] [ 0.02023751 0.99958712 0.02039694 -0.17225749] [-0.00907697 -0.02021658 0.99975442 -0.20299835] [ 0. 0. 0. 1. ]] SLAMing on 4.892401008 meters Centerline goodness : 0.907457 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.17, Z:-0.20 [[ 0.99975743 -0.02028203 0.00858612 1.10183511] [ 0.02010996 0.9996042 0.01967303 -0.170533 ] [-0.00898173 -0.01949559 0.9997696 -0.20418579] [ 0. 0. 0. 1. ]] SLAMing on 4.9224010080000005 meters Centerline goodness : 0.902592 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.17, Z:-0.20 [[ 0.99968055 -0.02359251 0.00906612 1.10052664] [ 0.02345571 0.99961369 0.01490957 -0.16649256] [-0.00941437 -0.01469215 0.99984774 -0.20470902] [ 0. 0. 0. 1. ]] SLAMing on 4.952401008 meters Centerline goodness : 0.903432 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.17, Z:-0.20 [[ 0.99969572 -0.02298842 0.00894459 1.10069142] [ 0.02286187 0.99964058 0.01400138 -0.16507562] [-0.00926325 -0.01379263 0.99986197 -0.20420074] [ 0. 0. 0. 1. ]] SLAMing on 4.982401008 meters Centerline goodness : 0.902677 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.16, Z:-0.21 [[ 0.999708 -0.02265845 0.00839745 1.10255088] [ 0.02254368 0.99965445 0.01351905 -0.16455194] [-0.00870087 -0.0133258 0.99987335 -0.20525227] [ 0. 0. 0. 1. ]] SLAMing on 5.012401008 meters Centerline goodness : 0.902677 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.16, Z:-0.21 [[ 0.999708 -0.02265845 0.00839745 1.10255088] [ 0.02254368 0.99965445 0.01351905 -0.16455194] [-0.00870087 -0.0133258 0.99987335 -0.20525227] [ 0. 0. 0. 1. ]] SLAMing on 5.042401008 meters Centerline goodness : 0.898786 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.16, Z:-0.21 [[ 0.99972413 -0.02196755 0.00831238 1.10323403] [ 0.02185026 0.99966395 0.0139481 -0.16430583] [-0.00861599 -0.01376263 0.99986817 -0.20591003] [ 0. 0. 0. 1. ]] SLAMing on 5.072401008 meters Centerline goodness : 0.900465 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.16, Z:-0.21 [[ 0.99977505 -0.01997953 0.00711745 1.10599879] [ 0.01988165 0.99971028 0.0135671 -0.16411371] [-0.00738645 -0.01342255 0.99988263 -0.20642581] [ 0. 0. 0. 1. ]] SLAMing on 5.102401008 meters Centerline goodness : 0.904528 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.16, Z:-0.21 [[ 0.99979918 -0.01905865 0.00619409 1.10863956] [ 0.01897931 0.99974016 0.01262501 -0.16375573] [-0.0064331 -0.01250492 0.99990112 -0.20737784] [ 0. 0. 0. 1. ]] SLAMing on 5.132401008 meters Centerline goodness : 0.904256 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.16, Z:-0.21 [[ 0.99980812 -0.01847759 0.00650407 1.10755253] [ 0.01839287 0.99974823 0.01285237 -0.16328135] [-0.00673991 -0.01273027 0.99989625 -0.20701131] [ 0. 0. 0. 1. ]] SLAMing on 5.162401008 meters Centerline goodness : 0.905749 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.16, Z:-0.21 [[ 0.99984621 -0.01664376 0.00552611 1.10950202] [ 0.01657582 0.99978915 0.01212053 -0.16324119] [-0.00572668 -0.01202707 0.99991127 -0.20669482] [ 0. 0. 0. 1. ]] SLAMing on 5.192401008 meters Centerline goodness : 0.906572 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.16, Z:-0.21 [[ 0.9999203 -0.011987 0.00396234 1.11285292] [ 0.01193857 0.99985637 0.0120292 -0.16188425] [-0.00410596 -0.01198094 0.9999198 -0.20664665] [ 0. 0. 0. 1. ]] SLAMing on 5.222401008 meters Centerline goodness : 0.906739 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.16, Z:-0.21 [[ 0.99993115 -0.01083986 0.00449475 1.11065177] [ 0.01078346 0.99986513 0.01238695 -0.16031377] [-0.00462841 -0.01233763 0.99991318 -0.20573809] [ 0. 0. 0. 1. ]] SLAMing on 5.252401008 meters Centerline goodness : 0.908588 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.16, Z:-0.20 [[ 0.99994067 -0.0096512 0.00505132 1.10823899] [ 0.00958498 0.99986988 0.01297486 -0.15988582] [-0.00517589 -0.01292567 0.99990306 -0.20453061] [ 0. 0. 0. 1. ]] SLAMing on 5.282401008 meters Centerline goodness : 0.907562 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.16, Z:-0.20 [[ 0.99994724 -0.00878856 0.00531706 1.1066616 ] [ 0.00871602 0.99987066 0.01351633 -0.16057933] [-0.00543516 -0.01346928 0.99989451 -0.20342061] [ 0. 0. 0. 1. ]] SLAMing on 5.312401008 meters Centerline goodness : 0.909732 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.16, Z:-0.20 [[ 0.99992389 -0.01084646 0.00587904 1.10401458] [ 0.01078622 0.99988998 0.01018259 -0.15983736] [-0.00598884 -0.0101184 0.99993087 -0.20272688] [ 0. 0. 0. 1. ]] SLAMing on 5.342401008 meters Centerline goodness : 0.911380 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.16, Z:-0.20 [[ 0.99992997 -0.01000126 0.00632746 1.10337123] [ 0.00993078 0.99988938 0.01107316 -0.16286954] [-0.00643751 -0.01100954 0.99991867 -0.20337678] [ 0. 0. 0. 1. ]] SLAMing on 5.372401008 meters Centerline goodness : 0.910180 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.17, Z:-0.20 [[ 0.99996092 -0.0063873 0.00611202 1.10475511] [ 0.00628693 0.99984734 0.0163026 -0.16675987] [-0.00621522 -0.01626354 0.99984842 -0.20288176] [ 0. 0. 0. 1. ]] SLAMing on 5.402401008 meters Centerline goodness : 0.910277 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.17, Z:-0.20 [[ 0.99997733 -0.0024078 0.00628815 1.10505188] [ 0.00226653 0.999747 0.02237851 -0.17143451] [-0.00634044 -0.02236375 0.99972979 -0.20116874] [ 0. 0. 0. 1. ]] SLAMing on 5.432401008 meters Centerline goodness : 0.911592 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.18, Z:-0.20 [[ 0.9999611 0.00156255 0.00868066 1.10303139] [-0.00183668 0.99949694 0.03166205 -0.18149053] [-0.00862682 -0.03167676 0.99946094 -0.1962256 ] [ 0. 0. 0. 1. ]] SLAMing on 5.4624010080000005 meters Centerline goodness : 0.909171 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.19, Z:-0.20 [[ 0.99996342 0.00169217 0.00838414 1.10415202] [-0.00196134 0.99947949 0.03220102 -0.18531839] [-0.00832528 -0.03221628 0.99944625 -0.19674791] [ 0. 0. 0. 1. ]] SLAMing on 5.492401008 meters Centerline goodness : 0.909980 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.20, Z:-0.18 [[ 0.99995049 0.00708662 0.00698605 1.12293838] [-0.00739244 0.99897007 0.0447677 -0.19721784] [-0.0066616 -0.04481713 0.998973 -0.1820849 ] [ 0. 0. 0. 1. ]] SLAMing on 5.522401008 meters Centerline goodness : 0.913699 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.20, Z:-0.19 [[ 0.99991597 0.00652395 0.01120254 1.13525545] [-0.0068675 0.99949865 0.03090786 -0.20194331] [-0.01099528 -0.03098219 0.99945946 -0.18993078] [ 0. 0. 0. 1. ]] SLAMing on 5.552401008 meters Centerline goodness : 0.914135 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.21, Z:-0.19 [[ 0.99988649 0.00957942 0.01162952 1.1542993 ] [-0.00991384 0.99952886 0.02904779 -0.20785111] [-0.01134578 -0.02915979 0.99951037 -0.18875917] [ 0. 0. 0. 1. ]] SLAMing on 5.582401008 meters Centerline goodness : 0.914368 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.21, Z:-0.19 [[ 0.99982455 0.01133541 0.01491227 1.16871349] [-0.0116296 0.99973649 0.01979162 -0.21069948] [-0.01468399 -0.01996157 0.99969291 -0.19413274] [ 0. 0. 0. 1. ]] SLAMing on 5.612401008 meters Centerline goodness : 0.916420 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.22, Z:-0.19 [[ 0.99982838 0.01260874 0.01357311 1.19732484] [-0.01296166 0.99957176 0.02623547 -0.22390559] [-0.0132365 -0.0264069 0.99956364 -0.1884141 ] [ 0. 0. 0. 1. ]] SLAMing on 5.642401008 meters Centerline goodness : 0.915954 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.23, Z:-0.19 [[ 0.99983204 0.012607 0.01330214 1.19803499] [-0.0129735 0.99952834 0.02783512 -0.22974486] [-0.01294495 -0.02800302 0.99952402 -0.18697082] [ 0. 0. 0. 1. ]] SLAMing on 5.6724010080000005 meters Centerline goodness : 0.917328 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.24, Z:-0.19 [[ 0.99988277 0.00599806 0.0140881 1.19552756] [-0.00629859 0.99975148 0.02138489 -0.23617971] [-0.01395633 -0.02147112 0.99967205 -0.18630457] [ 0. 0. 0. 1. ]] SLAMing on 5.702401008 meters Centerline goodness : 0.919833 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.24, Z:-0.18 [[ 0.99991393 0.00661947 0.01132741 1.22561882] [-0.00691671 0.99962738 0.02640564 -0.24492757] [-0.0111484 -0.02648171 0.99958713 -0.18004791] [ 0. 0. 0. 1. ]] SLAMing on 5.732401008 meters Centerline goodness : 0.916115 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.25, Z:-0.18 [[ 0.99992966 0.00269409 0.01155065 1.22560181] [-0.00295198 0.99974543 0.02236896 -0.24650451] [-0.01148745 -0.02240148 0.99968306 -0.18099327] [ 0. 0. 0. 1. ]] SLAMing on 5.762401008 meters Centerline goodness : 0.919787 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.25, Z:-0.18 [[ 9.99929740e-01 -1.21019083e-03 1.17919804e-02 1.22560601e+00] [ 9.92283143e-04 9.99828966e-01 1.84676715e-02 -2.48392279e-01] [-1.18123130e-02 -1.84546730e-02 9.99759918e-01 -1.81855316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.792401008 meters Centerline goodness : 0.924159 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.26, Z:-0.17 [[ 9.99958406e-01 1.41161364e-04 9.11960748e-03 1.25409262e+00] [-3.74272579e-04 9.99673095e-01 2.55648936e-02 -2.57627276e-01] [-9.11301746e-03 -2.55672434e-02 9.99631567e-01 -1.72602662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.822401008 meters Centerline goodness : 0.923722 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.27, Z:-0.17 [[ 9.99974949e-01 -1.01586645e-03 7.00495088e-03 1.28036113e+00] [ 8.10559646e-04 9.99571810e-01 2.92496168e-02 -2.69876227e-01] [-7.03166514e-03 -2.92432062e-02 9.99547593e-01 -1.65002289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.852401008 meters Centerline goodness : 0.925707 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.28, Z:-0.16 [[ 9.99991135e-01 3.39568103e-04 4.19694083e-03 1.30646652e+00] [-4.73028691e-04 9.99492882e-01 3.18395235e-02 -2.76755050e-01] [-4.18400080e-03 -3.18412265e-02 9.99484182e-01 -1.59439085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.882401008 meters Centerline goodness : 0.924229 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.27, Z:-0.17 [[ 0.9999678 -0.00564262 0.00570568 1.30278302] [ 0.00551998 0.99975819 0.02128577 -0.27394933] [-0.0058244 -0.02125359 0.99975715 -0.16539164] [ 0. 0. 0. 1. ]] SLAMing on 5.912401008 meters Centerline goodness : 0.927766 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.28, Z:-0.16 [[ 0.99995886 -0.00888795 0.00181084 1.28909228] [ 0.00882632 0.99946181 0.03159412 -0.28139154] [-0.00209067 -0.03157684 0.99949914 -0.15809447] [ 0. 0. 0. 1. ]] SLAMing on 5.942401008 meters Centerline goodness : 0.929812 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.28, Z:-0.16 [[ 0.99992016 -0.01239748 0.00244489 1.28835852] [ 0.01232942 0.99958262 0.02612594 -0.27901467] [-0.00276777 -0.02609371 0.99965567 -0.16122324] [ 0. 0. 0. 1. ]] SLAMing on 5.972401008 meters Centerline goodness : 0.929179 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.28, Z:-0.16 [[ 0.99992031 -0.01239794 0.00237811 1.28897767] [ 0.01233317 0.99959744 0.02555093 -0.27874133] [-0.00269393 -0.02551956 0.99967069 -0.1626172 ] [ 0. 0. 0. 1. ]] SLAMing on 6.0024010080000005 meters Centerline goodness : 0.928705 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.28, Z:-0.16 [[ 0.99996548 -0.0081225 0.00175056 1.29023048] [ 0.0080673 0.99953159 0.02952163 -0.27965943] [-0.00198953 -0.02950649 0.99956261 -0.16315243] [ 0. 0. 0. 1. ]] SLAMing on 6.032401008 meters Centerline goodness : 0.933529 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.28, Z:-0.16 [[ 9.99991146e-01 -4.05632705e-03 1.12023547e-03 1.29141668e+00] [ 4.01614879e-03 9.99420563e-01 3.37995294e-02 -2.80487386e-01] [-1.25668831e-03 -3.37947311e-02 9.99428005e-01 -1.62799097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.062401008 meters Centerline goodness : 0.930328 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.28, Z:-0.17 [[ 9.99989315e-01 2.27729945e-04 4.61714062e-03 1.30293809e+00] [-3.29073966e-04 9.99758782e-01 2.19606561e-02 -2.77000641e-01] [-4.61102578e-03 -2.19619409e-02 9.99748174e-01 -1.72582552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.092401008 meters Centerline goodness : 0.930498 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.28, Z:-0.17 [[ 0.99998071 0.00446153 0.00432072 1.30307141] [-0.00457464 0.99963753 0.02653079 -0.27793798] [-0.00420078 -0.02655004 0.99963866 -0.17148483] [ 0. 0. 0. 1. ]] SLAMing on 6.122401008 meters Centerline goodness : 0.935545 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.28, Z:-0.17 [[ 0.99997576 0.00519056 0.00464066 1.3018571 ] [-0.00530971 0.99964672 0.02604303 -0.27617066] [-0.00450384 -0.02606704 0.99965005 -0.17218907] [ 0. 0. 0. 1. ]] SLAMing on 6.152401008 meters Centerline goodness : 0.934701 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.27, Z:-0.18 [[ 0.99992684 0.00808635 0.00899627 1.31328993] [-0.00821099 0.9998696 0.0139053 -0.27305264] [-0.00888265 -0.01397815 0.99986285 -0.18092406] [ 0. 0. 0. 1. ]] SLAMing on 6.182401008 meters Centerline goodness : 0.932413 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.27, Z:-0.18 [[ 0.99992809 0.00810894 0.0088348 1.31329883] [-0.00823571 0.99986226 0.01440927 -0.27460648] [-0.00871674 -0.01448099 0.99985715 -0.17995697] [ 0. 0. 0. 1. ]] SLAMing on 6.2124010080000005 meters Centerline goodness : 0.936149 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.28, Z:-0.18 [[ 0.99993308 0.00795639 0.00839805 1.31403476] [-0.00808301 0.99985251 0.01515351 -0.27716059] [-0.00827625 -0.01522037 0.99984991 -0.17880673] [ 0. 0. 0. 1. ]] SLAMing on 6.242401008 meters Centerline goodness : 0.935358 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.28, Z:-0.18 [[ 0.99994652 0.00707389 0.00754468 1.31662271] [-0.00718998 0.99985444 0.01547243 -0.27989066] [-0.00743413 -0.01552585 0.99985183 -0.17867754] [ 0. 0. 0. 1. ]] SLAMing on 6.272401008 meters Centerline goodness : 0.934993 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.29, Z:-0.15 [[ 0.99991622 -0.00272842 0.01265341 1.34620837] [ 0.00203447 0.99850977 0.05453531 -0.29383025] [-0.01278335 -0.054505 0.99843167 -0.15368965] [ 0. 0. 0. 1. ]] SLAMing on 6.302401008 meters Centerline goodness : 0.932169 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.29, Z:-0.16 [[ 0.99989045 -0.00795967 0.01247934 1.34915942] [ 0.00734374 0.99878897 0.04864839 -0.29345174] [-0.01285145 -0.04855142 0.998738 -0.1577276 ] [ 0. 0. 0. 1. ]] SLAMing on 6.332401008 meters Centerline goodness : 0.933198 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.30, Z:-0.15 [[ 0.99979329 -0.01568232 0.01294012 1.30841956] [ 0.01491008 0.99821926 0.05775811 -0.2961376 ] [-0.01382286 -0.05755323 0.99824674 -0.15106034] [ 0. 0. 0. 1. ]] SLAMing on 6.362401008 meters Centerline goodness : 0.933074 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.30, Z:-0.15 [[ 0.99980771 -0.0170599 0.00967017 1.27111305] [ 0.01654767 0.9985727 0.05078125 -0.29592793] [-0.01052269 -0.05061147 0.99866298 -0.15275486] [ 0. 0. 0. 1. ]] SLAMing on 6.392401008 meters Centerline goodness : 0.931703 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.29, Z:-0.16 [[ 0.9997325 -0.02063104 0.01045401 1.26938516] [ 0.02014843 0.99881334 0.0443391 -0.29165174] [-0.01135636 -0.04411661 0.99896184 -0.15583975] [ 0. 0. 0. 1. ]] SLAMing on 6.4224010080000005 meters Centerline goodness : 0.932561 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.29, Z:-0.16 [[ 0.99972433 -0.02135022 0.0097689 1.27195578] [ 0.0209127 0.99886101 0.04288745 -0.29055707] [-0.01067343 -0.04267133 0.99903215 -0.15792731] [ 0. 0. 0. 1. ]] SLAMing on 6.452401008 meters Centerline goodness : 0.928457 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.29, Z:-0.16 [[ 0.999638 -0.02471443 0.01063334 1.27052541] [ 0.0243056 0.99901973 0.03699753 -0.28555893] [-0.01153729 -0.03672568 0.99925878 -0.16101631] [ 0. 0. 0. 1. ]] SLAMing on 6.482401008 meters Centerline goodness : 0.929504 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.28, Z:-0.16 [[ 0.99964598 -0.02460659 0.01012077 1.27253331] [ 0.02422561 0.99905145 0.0361846 -0.2836987 ] [-0.01100155 -0.03592661 0.99929387 -0.16264666] [ 0. 0. 0. 1. ]] SLAMing on 6.512401008 meters Centerline goodness : 0.928008 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.28, Z:-0.16 [[ 0.99965891 -0.02374587 0.01087149 1.26938225] [ 0.02334765 0.99910054 0.0353978 -0.27811281] [-0.01170227 -0.03513191 0.99931417 -0.16210159] [ 0. 0. 0. 1. ]] SLAMing on 6.542401008000001 meters Centerline goodness : 0.923222 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.27, Z:-0.16 [[ 0.9996587 -0.02375909 0.0108623 1.26872569] [ 0.02336926 0.99912429 0.03470641 -0.27488806] [-0.01167738 -0.03444072 0.99933852 -0.16174685] [ 0. 0. 0. 1. ]] SLAMing on 6.572401008 meters Centerline goodness : 0.926238 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.27, Z:-0.16 [[ 0.99968488 -0.02245169 0.01122781 1.26519145] [ 0.02205768 0.9991762 0.03406427 -0.26857115] [-0.01198336 -0.03380588 0.99935657 -0.1601029 ] [ 0. 0. 0. 1. ]] SLAMing on 6.602401008 meters Centerline goodness : 0.929681 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.26, Z:-0.16 [[ 0.99968475 -0.02236391 0.01141332 1.26424977] [ 0.02197773 0.9992167 0.03290837 -0.26429447] [-0.01214034 -0.03264716 0.9993932 -0.16052342] [ 0. 0. 0. 1. ]] SLAMing on 6.632401008 meters Centerline goodness : 0.929106 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.26, Z:-0.16 [[ 0.99968514 -0.02234333 0.01141953 1.26379389] [ 0.02196963 0.9992507 0.03186486 -0.25980503] [-0.01212294 -0.03160394 0.99942695 -0.16089919] [ 0. 0. 0. 1. ]] SLAMing on 6.662401008 meters Centerline goodness : 0.927788 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.26, Z:-0.16 [[ 0.99967441 -0.02286161 0.01133266 1.26428854] [ 0.0225074 0.99928268 0.03045551 -0.25552655] [-0.0120208 -0.03019053 0.99947188 -0.16208023] [ 0. 0. 0. 1. ]] SLAMing on 6.692401008 meters Centerline goodness : 0.924286 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.25, Z:-0.16 [[ 0.99966523 -0.02320901 0.01143563 1.26424262] [ 0.0228624 0.9993015 0.02956066 -0.25191364] [-0.01211372 -0.02928931 0.99949757 -0.16260425] [ 0. 0. 0. 1. ]] SLAMing on 6.722401008 meters Centerline goodness : 0.928047 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.24, Z:-0.17 [[ 0.99953756 -0.02791318 0.01206303 1.26447645] [ 0.02764318 0.99937578 0.02199762 -0.24324988] [-0.01266952 -0.02165399 0.99968524 -0.16751464] [ 0. 0. 0. 1. ]] SLAMing on 6.7524010080000005 meters Centerline goodness : 0.925912 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.24, Z:-0.17 [[ 0.99940411 -0.03213887 0.01259027 1.26459128] [ 0.0319408 0.99936755 0.01562959 -0.23755305] [-0.01308463 -0.01521813 0.99979858 -0.17107513] [ 0. 0. 0. 1. ]] SLAMing on 6.782401008 meters Centerline goodness : 0.926652 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.24, Z:-0.17 [[ 0.99945884 -0.03177077 0.00852297 1.24061497] [ 0.03158483 0.99927772 0.02112917 -0.23727252] [-0.00918811 -0.02084854 0.99974042 -0.16581023] [ 0. 0. 0. 1. ]] SLAMing on 6.812401008 meters Centerline goodness : 0.930036 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.23, Z:-0.17 [[ 0.9995157 -0.03004082 0.00811873 1.2422013 ] [ 0.02986252 0.99932796 0.0212568 -0.2327988 ] [-0.00875185 -0.02100406 0.99974108 -0.16694469] [ 0. 0. 0. 1. ]] SLAMing on 6.842401008 meters Centerline goodness : 0.927803 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.23, Z:-0.17 [[ 0.99950951 -0.03022342 0.00820287 1.24222725] [ 0.03005568 0.999351 0.01985553 -0.22885357] [-0.00879765 -0.01959924 0.99976921 -0.16822715] [ 0. 0. 0. 1. ]] SLAMing on 6.872401008 meters Centerline goodness : 0.929404 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.23, Z:-0.16 [[ 0.99959171 -0.02815 0.00489807 1.22239362] [ 0.02798093 0.99910539 0.03170951 -0.22949519] [-0.00578631 -0.03155951 0.99948513 -0.1597835 ] [ 0. 0. 0. 1. ]] SLAMing on 6.902401008 meters Centerline goodness : 0.929404 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.23, Z:-0.16 [[ 0.99959216 -0.02812554 0.00494608 1.22230388] [ 0.02795525 0.99910769 0.03165948 -0.22938009] [-0.00583211 -0.0315083 0.99948647 -0.1598304 ] [ 0. 0. 0. 1. ]] SLAMing on 6.932401008 meters Centerline goodness : 0.927599 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.22, Z:-0.16 [[ 0.99970311 -0.02384487 0.00501063 1.22100763] [ 0.02365674 0.99911626 0.03474267 -0.22440061] [-0.00583464 -0.03461382 0.99938373 -0.15962167] [ 0. 0. 0. 1. ]] SLAMing on 6.9624010080000005 meters Centerline goodness : 0.928696 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.22, Z:-0.16 [[ 0.9997167 -0.02312518 0.00563347 1.21895804] [ 0.02292319 0.99917212 0.0336095 -0.21940129] [-0.00640604 -0.03347084 0.99941916 -0.16044934] [ 0. 0. 0. 1. ]] SLAMing on 6.992401008 meters Centerline goodness : 0.926259 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.22, Z:-0.16 [[ 0.9998011 -0.01925844 0.00518368 1.21913077] [ 0.01905137 0.99911861 0.03740396 -0.21736428] [-0.00589945 -0.03729776 0.99928678 -0.15949905] [ 0. 0. 0. 1. ]] SLAMing on 7.022401008 meters Centerline goodness : 0.923765 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.21, Z:-0.17 [[ 0.99983898 -0.01513297 0.00964451 1.22890718] [ 0.01488105 0.9995595 0.02567806 -0.21216571] [-0.01002884 -0.0255304 0.99962374 -0.16801476] [ 0. 0. 0. 1. ]] SLAMing on 7.052401008 meters Centerline goodness : 0.925634 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.21, Z:-0.17 [[ 0.99989145 -0.01161471 0.00906604 1.2300226 ] [ 0.01134199 0.99949823 0.02957437 -0.21138433] [-0.00940499 -0.02946833 0.99952147 -0.16740133] [ 0. 0. 0. 1. ]] SLAMing on 7.082401008000001 meters Centerline goodness : 0.926128 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.21, Z:-0.17 [[ 0.99988967 -0.01172668 0.00911741 1.23012263] [ 0.01146254 0.99952799 0.02850282 -0.20806983] [-0.00944735 -0.02839516 0.99955213 -0.16849656] [ 0. 0. 0. 1. ]] SLAMing on 7.112401008 meters Centerline goodness : 0.923502 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.21, Z:-0.17 [[ 0.99988641 -0.01209729 0.0089907 1.23070912] [ 0.01183973 0.99953308 0.02816815 -0.20789615] [-0.00932726 -0.0280585 0.99956277 -0.16878853] [ 0. 0. 0. 1. ]] SLAMing on 7.142401008 meters Centerline goodness : 0.924778 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.21, Z:-0.16 [[ 0.99990675 -0.01101196 0.00807689 1.23651756] [ 0.01070163 0.999239 0.03750861 -0.21087638] [-0.00848379 -0.03741867 0.99926366 -0.15960945] [ 0. 0. 0. 1. ]] SLAMing on 7.1724010080000005 meters Centerline goodness : 0.925260 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.21, Z:-0.16 [[ 0.99989636 -0.01239542 0.00732217 1.23981105] [ 0.01212361 0.99927584 0.03606679 -0.20952622] [-0.00776393 -0.03597429 0.99932256 -0.16191471] [ 0. 0. 0. 1. ]] SLAMing on 7.202401008 meters Centerline goodness : 0.923978 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.21, Z:-0.16 [[ 0.99989087 -0.01308322 0.00686177 1.24171722] [ 0.01283033 0.99928065 0.03568694 -0.20864439] [-0.00732374 -0.03559501 0.99933946 -0.16239009] [ 0. 0. 0. 1. ]] SLAMing on 7.232401008 meters Centerline goodness : 0.925762 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.21, Z:-0.16 [[ 0.99988432 -0.01378107 0.00643664 1.24334695] [ 0.01354704 0.99929244 0.03508697 -0.20819167] [-0.00691562 -0.03499572 0.99936353 -0.16321515] [ 0. 0. 0. 1. ]] SLAMing on 7.262401008 meters Centerline goodness : 0.928301 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.21, Z:-0.16 [[ 0.99986588 -0.01528018 0.00589349 1.24577983] [ 0.01506851 0.99929363 0.03442649 -0.20843791] [-0.00641537 -0.03433306 0.99938986 -0.16384121] [ 0. 0. 0. 1. ]] SLAMing on 7.292401008000001 meters Centerline goodness : 0.929575 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.21, Z:-0.16 [[ 0.9998977 -0.01354073 0.0046087 1.27132249] [ 0.01334689 0.99911969 0.03977058 -0.21169257] [-0.00514316 -0.039705 0.99919821 -0.15512966] [ 0. 0. 0. 1. ]] SLAMing on 7.322401008 meters Centerline goodness : 0.928917 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.21, Z:-0.15 [[ 0.99990538 -0.0133463 0.00333402 1.27739078] [ 0.01317619 0.9988229 0.04668189 -0.21478077] [-0.00395313 -0.04663354 0.99890424 -0.14955322] [ 0. 0. 0. 1. ]] SLAMing on 7.352401008 meters Centerline goodness : 0.929321 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.22, Z:-0.14 [[ 9.99844880e-01 -1.75721246e-02 1.19861601e-03 1.27110345e+00] [ 1.74601697e-02 9.97817993e-01 6.36741312e-02 -2.18263270e-01] [-2.31489038e-03 -6.36433261e-02 9.97970024e-01 -1.38434033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.382401008 meters Centerline goodness : 0.930707 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.22, Z:-0.14 [[ 9.99631030e-01 -2.71066811e-02 -1.74100380e-03 1.25506297e+00] [ 2.71625092e-02 9.97661278e-01 6.27229892e-02 -2.15015795e-01] [ 3.67200123e-05 -6.27471363e-02 9.98029456e-01 -1.36893036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.412401008 meters Centerline goodness : 0.934661 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.21, Z:-0.14 [[ 9.99366599e-01 -3.55732621e-02 -9.71038143e-04 1.25531551e+00] [ 3.55757251e-02 9.98019826e-01 5.18728620e-02 -2.09483907e-01] [-8.76171599e-04 -5.18745511e-02 9.98653225e-01 -1.41300826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.442401008 meters Centerline goodness : 0.933671 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.21, Z:-0.14 [[ 9.99213567e-01 -3.96510145e-02 -2.10467505e-04 1.25490381e+00] [ 3.96127271e-02 9.97985697e-01 4.95518053e-02 -2.07903567e-01] [-1.75473579e-03 -4.95211733e-02 9.98771533e-01 -1.42712753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.472401008 meters Centerline goodness : 0.936540 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.20, Z:-0.14 [[ 0.99899595 -0.04475567 0.00200394 1.25116464] [ 0.04460339 0.99779638 0.04912155 -0.20296476] [-0.00419799 -0.04898285 0.9987908 -0.14364043] [ 0. 0. 0. 1. ]] SLAMing on 7.5024010080000005 meters Centerline goodness : 0.936054 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.20, Z:-0.15 [[ 0.99894966 -0.04571084 0.00317825 1.24974116] [ 0.04549227 0.99768609 0.05052647 -0.19958832] [-0.0054805 -0.05032882 0.99871767 -0.14515012] [ 0. 0. 0. 1. ]] SLAMing on 7.532401008 meters Centerline goodness : 0.932839 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.19, Z:-0.15 [[ 0.99899933 -0.0443852 0.00550439 1.24506549] [ 0.04401619 0.99751542 0.05500514 -0.191919 ] [-0.00793212 -0.05470781 0.9984709 -0.14550598] [ 0. 0. 0. 1. ]] SLAMing on 7.562401008 meters Centerline goodness : 0.932793 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.19, Z:-0.14 [[ 0.99908094 -0.04246506 0.00583103 1.24352529] [ 0.04206865 0.99751503 0.05651535 -0.18746769] [-0.00821646 -0.05621811 0.9983847 -0.14446257] [ 0. 0. 0. 1. ]] SLAMing on 7.592401008 meters Centerline goodness : 0.936335 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.18, Z:-0.15 [[ 0.99913575 -0.0412194 0.0053585 1.24521728] [ 0.04086016 0.99762841 0.05538961 -0.18284014] [-0.00762891 -0.05512279 0.99845044 -0.14549146] [ 0. 0. 0. 1. ]] SLAMing on 7.622401008000001 meters Centerline goodness : 0.936271 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.18, Z:-0.14 [[ 0.9992381 -0.03855235 0.00607823 1.24263779] [ 0.03814571 0.9976558 0.05681381 -0.17769232] [-0.00825428 -0.05653867 0.99836629 -0.14377956] [ 0. 0. 0. 1. ]] SLAMing on 7.652401008 meters Centerline goodness : 0.934869 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.17, Z:-0.14 [[ 0.9994042 -0.03368871 0.00750372 1.23919097] [ 0.03317011 0.99759077 0.06092945 -0.16815649] [-0.00953828 -0.06064425 0.99811387 -0.14325006] [ 0. 0. 0. 1. ]] SLAMing on 7.682401008 meters Centerline goodness : 0.934067 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.16, Z:-0.15 [[ 0.99947371 -0.03081485 0.01013613 1.24687487] [ 0.03033848 0.99856189 0.04420095 -0.15907794] [-0.0114836 -0.04387017 0.99897124 -0.15360756] [ 0. 0. 0. 1. ]] SLAMing on 7.7124010080000005 meters Centerline goodness : 0.936173 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.15, Z:-0.16 [[ 0.99953839 -0.02763058 0.01263125 1.25372925] [ 0.02726844 0.99923606 0.0279952 -0.15039691] [-0.01339512 -0.02763784 0.99952825 -0.1623332 ] [ 0. 0. 0. 1. ]] SLAMing on 7.742401008 meters Centerline goodness : 0.939075 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.14, Z:-0.16 [[ 0.9995364 -0.02771476 0.01260449 1.2533218 ] [ 0.02737014 0.9992677 0.02673822 -0.14428996] [-0.01333631 -0.02638084 0.999563 -0.16239935] [ 0. 0. 0. 1. ]] SLAMing on 7.772401008 meters Centerline goodness : 0.942021 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.14, Z:-0.16 [[ 0.9995424 -0.02754386 0.01250297 1.25265518] [ 0.02721503 0.99929791 0.02574945 -0.13851046] [-0.01320343 -0.02539739 0.99959024 -0.16199822] [ 0. 0. 0. 1. ]] SLAMing on 7.802401008 meters Centerline goodness : 0.943285 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.13, Z:-0.16 [[ 0.99974305 -0.02090453 0.00876574 1.25923872] [ 0.02077729 0.99968095 0.01436307 -0.12617534] [-0.0090632 -0.01417725 0.99985842 -0.16341798] [ 0. 0. 0. 1. ]] SLAMing on 7.832401008000001 meters Centerline goodness : 0.942717 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.12, Z:-0.16 [[ 0.99974017 -0.02117336 0.00844269 1.25963442] [ 0.0210628 0.99969394 0.01297603 -0.11987224] [-0.00871485 -0.01279483 0.99988016 -0.16366553] [ 0. 0. 0. 1. ]] SLAMing on 7.862401008 meters Centerline goodness : 0.944216 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.11, Z:-0.16 [[ 0.99973383 -0.0215218 0.00831116 1.25988412] [ 0.02142511 0.9997037 0.01155292 -0.11357196] [-0.00855734 -0.01137178 0.99989872 -0.16413158] [ 0. 0. 0. 1. ]] SLAMing on 7.892401008 meters Centerline goodness : 0.946240 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.11, Z:-0.16 [[ 0.99979535 -0.01876649 0.00755465 1.26157145] [ 0.01865768 0.99972473 0.01422503 -0.10965558] [-0.00781953 -0.01408117 0.99987028 -0.16423101] [ 0. 0. 0. 1. ]] SLAMing on 7.9224010080000005 meters Centerline goodness : 0.948653 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.10, Z:-0.16 [[ 0.99983773 -0.01671344 0.00672153 1.2620681 ] [ 0.01660798 0.9997427 0.01545038 -0.09980714] [-0.00697803 -0.01533625 0.99985804 -0.16274568] [ 0. 0. 0. 1. ]] SLAMing on 7.952401008000001 meters Centerline goodness : 0.948490 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.09, Z:-0.16 [[ 0.99983078 -0.01720884 0.00650082 1.26226897] [ 0.01711599 0.99975439 0.01407833 -0.09482783] [-0.0067415 -0.01396468 0.99987976 -0.16272539] [ 0. 0. 0. 1. ]] SLAMing on 7.982401008 meters Centerline goodness : 0.950884 Centerline is valid? [False, True] Translation: X:1.26, Y:-0.09, Z:-0.16 [[ 0.99982154 -0.01784034 0.00621353 1.26275609] [ 0.01776026 0.99976143 0.01271405 -0.09022049] [-0.00643887 -0.01260143 0.99989987 -0.16279616] [ 0. 0. 0. 1. ]] SLAMing on 8.012401008 meters Centerline goodness : 0.954166 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.08, Z:-0.17 [[ 9.99789912e-01 -1.96470453e-02 5.84165316e-03 1.29086574e+00] [ 1.96487331e-02 9.99806918e-01 -2.31659967e-04 -7.82193029e-02] [-5.83597381e-03 3.46392382e-04 9.99982911e-01 -1.69892490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.042401008 meters Centerline goodness : 0.955227 Centerline is valid? [True, True] Translation: X:1.32, Y:-0.08, Z:-0.17 [[ 9.99762185e-01 -2.09063602e-02 6.20464283e-03 1.31752719e+00] [ 2.09082539e-02 9.99781370e-01 -2.40490171e-04 -7.57367829e-02] [-6.19825853e-03 3.70161227e-04 9.99980722e-01 -1.70735846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.072401008 meters Centerline goodness : 0.958046 Centerline is valid? [True, True] Translation: X:1.35, Y:-0.07, Z:-0.17 [[ 9.99717644e-01 -2.27352287e-02 6.90948146e-03 1.34547176e+00] [ 2.27376362e-02 9.99741430e-01 -2.70064946e-04 -7.35066831e-02] [-6.90155489e-03 4.27093967e-04 9.99976093e-01 -1.71810682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.102401008000001 meters Centerline goodness : 0.959017 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.07, Z:-0.17 [[ 9.99665689e-01 -2.47229128e-02 7.56893720e-03 1.37309082e+00] [ 2.47258232e-02 9.99694228e-01 -2.91170192e-04 -7.08432715e-02] [-7.55942425e-03 4.78221053e-04 9.99971313e-01 -1.72535363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.132401008 meters Centerline goodness : 0.962213 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.07, Z:-0.17 [[ 9.99619388e-01 -2.63747421e-02 8.09019026e-03 1.40130813e+00] [ 2.63781194e-02 9.99651988e-01 -3.11011883e-04 -6.53883129e-02] [-8.07917192e-03 5.24297513e-04 9.99967226e-01 -1.73318743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.162401008 meters Centerline goodness : 0.964099 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.06, Z:-0.17 [[ 9.99598713e-01 -2.73955322e-02 7.20404906e-03 1.42988207e+00] [ 2.73982282e-02 9.99624560e-01 -2.75784073e-04 -6.42828800e-02] [-7.19378912e-03 4.73051584e-04 9.99974012e-01 -1.73747688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.192401008000001 meters Centerline goodness : 0.963923 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.06, Z:-0.17 [[ 9.99563456e-01 -2.89964321e-02 5.66606758e-03 1.45798151e+00] [ 2.89981260e-02 9.99579442e-01 -2.17011432e-04 -6.32091523e-02] [-5.65739212e-03 3.81222038e-04 9.99983924e-01 -1.74168861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.222401008 meters Centerline goodness : 0.965790 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.06, Z:-0.18 [[ 9.99428408e-01 -3.37024492e-02 2.64613687e-03 1.48617404e+00] [ 3.37028445e-02 9.99431892e-01 -1.04923307e-04 -5.83723891e-02] [-2.64109741e-03 1.94045674e-04 9.99996493e-01 -1.76110931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.252401008 meters Centerline goodness : 0.967478 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.06, Z:-0.18 [[ 9.99323379e-01 -3.67469807e-02 1.56329708e-03 1.51410332e+00] [ 3.67471266e-02 9.99324594e-01 -6.47278602e-05 -5.63362267e-02] [-1.55986267e-03 1.22130740e-04 9.99998776e-01 -1.77721730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.282401008 meters Centerline goodness : 0.967808 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.05, Z:-0.18 [[ 9.99174150e-01 -4.06284817e-02 5.86820936e-04 1.54118964e+00] [ 4.06285032e-02 9.99174321e-01 -2.46821629e-05 -5.44848062e-02] [-5.85333612e-04 4.85034355e-05 9.99999828e-01 -1.79293270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.312401008 meters Centerline goodness : 0.969545 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.05, Z:-0.18 [[ 9.98864109e-01 -4.76272394e-02 1.46224585e-03 1.56826160e+00] [ 4.76273723e-02 9.98865171e-01 -5.61885491e-05 -5.00108172e-02] [-1.45791035e-03 1.25767653e-04 9.99998929e-01 -1.80188932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.342401008 meters Centerline goodness : 0.970908 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.05, Z:-0.18 [[ 9.98688226e-01 -5.11586671e-02 2.14915739e-03 1.59662901e+00] [ 5.11589672e-02 9.98690519e-01 -8.48466959e-05 -4.83388340e-02] [-2.14200247e-03 1.94684069e-04 9.99997687e-01 -1.79937404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.372401008 meters Centerline goodness : 0.971848 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.05, Z:-0.18 [[ 9.98503979e-01 -5.46169502e-02 2.60618543e-03 1.62330684e+00] [ 5.46173866e-02 9.98507352e-01 -9.65394735e-05 -4.59807990e-02] [-2.59702262e-03 2.38738086e-04 9.99996599e-01 -1.79441558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.402401008 meters Centerline goodness : 0.973041 Centerline is valid? [True, True] Translation: X:1.65, Y:-0.04, Z:-0.18 [[ 9.98354094e-01 -5.73311689e-02 1.49690177e-03 1.65139771e+00] [ 5.73313241e-02 9.98355205e-01 -6.09474895e-05 -4.28759643e-02] [-1.49094548e-03 1.46666536e-04 9.99998878e-01 -1.78546152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.432401008000001 meters Centerline goodness : 0.974875 Centerline is valid? [True, True] Translation: X:1.68, Y:-0.03, Z:-0.18 [[ 9.98191538e-01 -6.01129457e-02 -2.94288818e-04 1.67877545e+00] [ 6.01129503e-02 9.98191581e-01 7.01197712e-06 -3.19333934e-02] [ 2.93335110e-04 -2.46898653e-05 9.99999957e-01 -1.77816703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.462401008 meters Centerline goodness : 0.972536 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.03, Z:-0.18 [[ 9.98166204e-01 -6.05195660e-02 -1.26975755e-03 1.70558638e+00] [ 6.05196674e-02 9.98167004e-01 4.14945575e-05 -2.61110359e-02] [ 1.26491885e-03 -1.18263769e-04 9.99999193e-01 -1.77364677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.492401008 meters Centerline goodness : 0.973408 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.02, Z:-0.18 [[ 9.98177895e-01 -6.03141185e-02 -1.75990508e-03 1.73345840e+00] [ 6.03143061e-02 9.98179434e-01 5.36592153e-05 -1.96643056e-02] [ 1.75346465e-03 -1.59708896e-04 9.99998450e-01 -1.77768750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.522401008000001 meters Centerline goodness : 0.972397 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.01, Z:-0.18 [[ 9.98187266e-01 -6.01634261e-02 -1.59512401e-03 1.76199637e+00] [ 6.01635778e-02 9.98188530e-01 4.72499774e-05 -1.36499779e-02] [ 1.58939177e-03 -1.43132693e-04 9.99998727e-01 -1.77280301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.552401008 meters Centerline goodness : 0.972621 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.00, Z:-0.18 [[ 9.98190108e-01 -6.01361977e-02 -3.81933131e-04 1.78990007e+00] [ 6.01362058e-02 9.98190181e-01 9.68210237e-06 -2.15983966e-03] [ 3.80659656e-04 -3.26325882e-05 9.99999927e-01 -1.75507304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.582401008 meters Centerline goodness : 0.971427 Centerline is valid? [True, True] Translation: X:1.82, Y:0.00, Z:-0.17 [[ 9.98214460e-01 -5.97206897e-02 -1.15412991e-03 1.81822907e+00] [ 5.97207661e-02 9.98215122e-01 3.17597717e-05 1.88855100e-03] [ 1.15017322e-03 -1.00628586e-04 9.99999333e-01 -1.74452125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.612401008 meters Centerline goodness : 0.972502 Centerline is valid? [True, True] Translation: X:1.85, Y:0.01, Z:-0.17 [[ 9.98196320e-01 -5.99804441e-02 -2.54030602e-03 1.84618409e+00] [ 5.99808360e-02 9.98199526e-01 7.83122040e-05 6.61568427e-03] [ 2.53103506e-03 -2.30540633e-04 9.99996770e-01 -1.74707204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.642401008 meters Centerline goodness : 0.969924 Centerline is valid? [True, True] Translation: X:1.87, Y:0.02, Z:-0.18 [[ 9.98213031e-01 -5.97320918e-02 -1.67970327e-03 1.87395493e+00] [ 5.97322655e-02 9.98214433e-01 5.34122630e-05 1.88569346e-02] [ 1.67351362e-03 -1.53649298e-04 9.99998588e-01 -1.79240913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.672401008 meters Centerline goodness : 0.969603 Centerline is valid? [True, True] Translation: X:1.90, Y:0.02, Z:-0.18 [[ 9.98220612e-01 -5.96222421e-02 -8.92829993e-04 1.90152604e+00] [ 5.96222897e-02 9.98221009e-01 2.66906986e-05 2.37908086e-02] [ 8.89650297e-04 -7.98757740e-05 9.99999601e-01 -1.81542263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.702401008 meters Centerline goodness : 0.970233 Centerline is valid? [True, True] Translation: X:1.93, Y:0.03, Z:-0.18 [[ 9.98201140e-01 -5.99539758e-02 -6.74783305e-05 1.92999150e+00] [ 5.99539756e-02 9.98201142e-01 -5.57525541e-06 2.76082810e-02] [ 6.76912053e-05 1.51963213e-06 9.99999998e-01 -1.83350573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.732401008 meters Centerline goodness : 0.970217 Centerline is valid? [True, True] Translation: X:1.96, Y:0.03, Z:-0.18 [[ 9.98177601e-01 -6.03441342e-02 -2.50455847e-04 1.95860992e+00] [ 6.03441362e-02 9.98177632e-01 4.36048255e-07 3.08386903e-02] [ 2.49973111e-04 -1.55487953e-05 9.99999969e-01 -1.84565276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.762401008000001 meters Centerline goodness : 0.967433 Centerline is valid? [True, True] Translation: X:1.99, Y:0.04, Z:-0.18 [[ 9.98256992e-01 -5.90120877e-02 -7.42218067e-04 1.98554326e+00] [ 5.90121196e-02 9.98257266e-01 2.11427698e-05 3.69302678e-02] [ 7.39676899e-04 -6.49057792e-05 9.99999724e-01 -1.84733557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.792401008 meters Centerline goodness : 0.965995 Centerline is valid? [True, True] Translation: X:2.01, Y:0.04, Z:-0.19 [[ 9.98375705e-01 -5.69350199e-02 -2.08710944e-03 2.01394391e+00] [ 5.69352704e-02 9.98377870e-01 6.07601988e-05 3.89436098e-02] [ 2.08026449e-03 -1.79491646e-04 9.99997820e-01 -1.85365672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.822401008 meters Centerline goodness : 0.965995 Centerline is valid? [True, True] Translation: X:2.04, Y:0.04, Z:-0.19 [[ 9.98361177e-01 -5.71892002e-02 -2.08711014e-03 2.04250297e+00] [ 5.71894511e-02 9.98363342e-01 6.07085157e-05 3.80976925e-02] [ 2.08022239e-03 -1.79969709e-04 9.99997820e-01 -1.86175197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.852401008000001 meters Centerline goodness : 0.964234 Centerline is valid? [True, True] Translation: X:2.07, Y:0.04, Z:-0.19 [[ 9.98504103e-01 -5.45265024e-02 -4.05183272e-03 2.07111270e+00] [ 5.45274468e-02 9.98512265e-01 1.22878740e-04 3.94124593e-02] [ 4.03910452e-03 -3.43631019e-04 9.99991784e-01 -1.86835287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.882401008 meters Centerline goodness : 0.963829 Centerline is valid? [True, True] Translation: X:2.10, Y:0.04, Z:-0.19 [[ 9.98652242e-01 -5.16746982e-02 -4.84002570e-03 2.09861550e+00] [ 5.16760386e-02 9.98663889e-01 1.52204186e-04 4.03197506e-02] [ 4.82569378e-03 -4.02112406e-04 9.99988275e-01 -1.87334176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.912401008 meters Centerline goodness : 0.964977 Centerline is valid? [True, True] Translation: X:2.13, Y:0.04, Z:-0.19 [[ 9.98946098e-01 -4.57821469e-02 -3.26928282e-03 2.12629510e+00] [ 4.57827055e-02 9.98951418e-01 9.62039429e-05 4.42292939e-02] [ 3.26145029e-03 -2.45779166e-04 9.99994651e-01 -1.90501876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.942401008000001 meters Centerline goodness : 0.964036 Centerline is valid? [True, True] Translation: X:2.15, Y:0.05, Z:-0.19 [[ 9.99071564e-01 -4.30232714e-02 -2.23767455e-03 2.15441865e+00] [ 4.30235190e-02 9.99074058e-01 6.26118552e-05 4.66746309e-02] [ 2.23290882e-03 -1.58826357e-04 9.99997494e-01 -1.93986984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.972401008 meters Centerline goodness : 0.963432 Centerline is valid? [True, True] Translation: X:2.18, Y:0.05, Z:-0.20 [[ 9.99209347e-01 -3.96790264e-02 -2.50095846e-03 2.18110865e+00] [ 3.96793383e-02 9.99212462e-01 7.51942947e-05 4.74910976e-02] [ 2.49600523e-03 -1.74371219e-04 9.99996870e-01 -1.95925342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.002401008 meters Centerline goodness : 0.963164 Centerline is valid? [True, True] Translation: X:2.21, Y:0.05, Z:-0.20 [[ 9.99444022e-01 -3.32652759e-02 -2.25126665e-03 2.20923145e+00] [ 3.32654998e-02 9.99446548e-01 6.20716308e-05 4.50117322e-02] [ 2.24795586e-03 -1.36926631e-04 9.99997464e-01 -1.96788947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.032401008 meters Centerline goodness : 0.963377 Centerline is valid? [True, True] Translation: X:2.24, Y:0.04, Z:-0.20 [[ 9.99551895e-01 -2.99031566e-02 -1.34537874e-03 2.23663196e+00] [ 2.99032351e-02 9.99552798e-01 3.82547506e-05 4.19147435e-02] [ 1.34363315e-03 -7.84687852e-05 9.99999094e-01 -1.96131817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.062401008 meters Centerline goodness : 0.964229 Centerline is valid? [True, True] Translation: X:2.26, Y:0.04, Z:-0.20 [[ 9.99613962e-01 -2.77794469e-02 4.79800161e-04 2.26477607e+00] [ 2.77794610e-02 9.99614076e-01 -2.27822547e-05 4.01092726e-02] [-4.78982116e-04 3.61020497e-05 9.99999885e-01 -1.96076829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.092401008 meters Centerline goodness : 0.961701 Centerline is valid? [True, True] Translation: X:2.29, Y:0.04, Z:-0.20 [[ 9.99755488e-01 -2.19660253e-02 2.54132920e-03 2.29146883e+00] [ 2.19663029e-02 9.99758708e-01 -8.13743512e-05 3.87510037e-02] [-2.53892852e-03 1.37178061e-04 9.99996768e-01 -1.98480249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.122401008 meters Centerline goodness : 0.962975 Centerline is valid? [True, True] Translation: X:2.32, Y:0.04, Z:-0.20 [[ 9.99820012e-01 -1.88680631e-02 1.98486317e-03 2.31865006e+00] [ 1.88682272e-02 9.99821977e-01 -6.39880199e-05 3.73690624e-02] [-1.98330249e-03 1.01427352e-04 9.99998028e-01 -2.00236190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.152401008 meters Centerline goodness : 0.962845 Centerline is valid? [True, True] Translation: X:2.35, Y:0.04, Z:-0.20 [[ 9.99855012e-01 -1.70041447e-02 9.02143007e-04 2.34707555e+00] [ 1.70041832e-02 9.99855418e-01 -3.49940061e-05 3.51426617e-02] [-9.01417530e-04 5.03291373e-05 9.99999592e-01 -2.01384482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.182401008000001 meters Centerline goodness : 0.961239 Centerline is valid? [True, True] Translation: X:2.38, Y:0.03, Z:-0.20 [[ 9.99869263e-01 -1.61321039e-02 1.10089216e-03 2.37524142e+00] [ 1.61321584e-02 9.99869867e-01 -4.06721634e-05 3.23253819e-02] [-1.10009277e-03 5.84266129e-05 9.99999393e-01 -2.02367079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.212401008 meters Centerline goodness : 0.961948 Centerline is valid? [True, True] Translation: X:2.40, Y:0.03, Z:-0.20 [[ 9.99892731e-01 -1.45492196e-02 1.68742510e-03 2.40332647e+00] [ 1.45493379e-02 9.99894151e-01 -5.78475917e-05 2.79032436e-02] [-1.68640485e-03 8.23923044e-05 9.99998575e-01 -2.02856796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.242401008 meters Centerline goodness : 0.961822 Centerline is valid? [True, True] Translation: X:2.43, Y:0.02, Z:-0.20 [[ 9.99910672e-01 -1.22472789e-02 5.35277900e-03 2.43121617e+00] [ 1.22483390e-02 9.99924973e-01 -1.65320876e-04 2.00890155e-02] [-5.35035266e-03 2.30868760e-04 9.99985660e-01 -2.03823306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.272401008000001 meters Centerline goodness : 0.962463 Centerline is valid? [True, True] Translation: X:2.46, Y:0.02, Z:-0.20 [[ 9.99928125e-01 -1.01113847e-02 6.44244419e-03 2.45864895e+00] [ 1.01128286e-02 9.99948846e-01 -1.91571913e-04 1.54101436e-02] [-6.44017757e-03 2.56709478e-04 9.99979229e-01 -2.04412236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.302401008 meters Centerline goodness : 0.962065 Centerline is valid? [True, True] Translation: X:2.49, Y:0.01, Z:-0.21 [[ 9.99949143e-01 -7.59960384e-03 6.63009681e-03 2.48691997e+00] [ 7.60109565e-03 9.99971091e-01 -1.99835377e-04 1.05667584e-02] [-6.62838647e-03 2.50221214e-04 9.99978001e-01 -2.05554714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.332401008 meters Centerline goodness : 0.963612 Centerline is valid? [True, True] Translation: X:2.52, Y:0.00, Z:-0.21 [[ 9.99972988e-01 -2.17150534e-03 7.02192937e-03 2.51633053e+00] [ 2.17300028e-03 9.99997618e-01 -2.05274168e-04 2.21108926e-03] [-7.02146689e-03 2.20527278e-04 9.99975325e-01 -2.08510413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.362401008 meters Centerline goodness : 0.963355 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.00, Z:-0.21 [[ 9.99973595e-01 6.25989446e-04 7.24000493e-03 2.54734299e+00] [-6.24488232e-04 9.99999783e-01 -2.09608583e-04 -2.55585119e-03] [-7.24013457e-03 2.05081751e-04 9.99973769e-01 -2.09822454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.392401008 meters Centerline goodness : 0.964328 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.01, Z:-0.21 [[ 9.99967279e-01 4.05769888e-03 6.99827501e-03 2.57925970e+00] [-4.05638037e-03 9.99991752e-01 -2.02589071e-04 -8.74563422e-03] [-6.99903933e-03 1.74194777e-04 9.99975491e-01 -2.11564969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.422401008 meters Centerline goodness : 0.962287 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.02, Z:-0.21 [[ 9.99941945e-01 9.35366598e-03 5.34933457e-03 2.61124829e+00] [-9.35297241e-03 9.99956248e-01 -1.54657516e-04 -2.33712080e-02] [-5.35054714e-03 1.04616358e-04 9.99985680e-01 -2.14021763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.452401008 meters Centerline goodness : 0.962340 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.03, Z:-0.22 [[ 9.99917080e-01 1.15979331e-02 5.59648166e-03 2.64260246e+00] [-1.15972306e-02 9.99932737e-01 -1.57950571e-04 -3.16000131e-02] [-5.59793713e-03 9.30337852e-05 9.99984327e-01 -2.17746376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.482401008 meters Centerline goodness : 0.961101 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.04, Z:-0.22 [[ 9.99904350e-01 1.27314258e-02 5.40384050e-03 2.67374031e+00] [-1.27307806e-02 9.99918949e-01 -1.53796119e-04 -4.01168938e-02] [-5.40536056e-03 8.49863013e-05 9.99985387e-01 -2.21065317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.512401008000001 meters Centerline goodness : 0.961974 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.05, Z:-0.22 [[ 9.99900428e-01 1.27365996e-02 6.07564348e-03 2.70671765e+00] [-1.27357719e-02 9.99918881e-01 -1.74896882e-04 -4.95096142e-02] [-6.07737822e-03 9.75014579e-05 9.99981528e-01 -2.24705644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.542401008 meters Centerline goodness : 0.955090 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.07, Z:-0.23 [[ 9.99923997e-01 1.14357152e-02 4.60708947e-03 2.73760575e+00] [-1.14352169e-02 9.99934607e-01 -1.34483676e-04 -6.83798160e-02] [-4.60832611e-03 8.17903873e-05 9.99989378e-01 -2.27762429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.572401008 meters Centerline goodness : 0.952879 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.08, Z:-0.23 [[ 9.99928821e-01 1.06291180e-02 5.41986425e-03 2.76981059e+00] [-1.06284201e-02 9.99943504e-01 -1.57551752e-04 -7.90859024e-02] [-5.42123269e-03 9.99359430e-05 9.99985300e-01 -2.30621559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.602401008000001 meters Centerline goodness : 0.951346 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.09, Z:-0.23 [[ 9.99927508e-01 1.05022755e-02 5.88901483e-03 2.80162171e+00] [-1.05014331e-02 9.99944843e-01 -1.73939492e-04 -8.98368467e-02] [-5.89051678e-03 1.12083788e-04 9.99982644e-01 -2.32121028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.632401008 meters Centerline goodness : 0.950848 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.10, Z:-0.23 [[ 9.99920634e-01 1.05108222e-02 6.94604996e-03 2.83285873e+00] [-1.05096285e-02 9.99944751e-01 -2.08329084e-04 -1.00569523e-01] [-6.94785590e-03 1.35312145e-04 9.99975854e-01 -2.32404184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.662401008 meters Centerline goodness : 0.944592 Centerline is valid? [True, False] Translation: X:2.83, Y:-0.12, Z:-0.23 [[ 9.99930174e-01 9.18367188e-03 7.43687482e-03 2.83129195e+00] [-9.19084655e-03 9.99957330e-01 9.31142171e-04 -1.15555658e-01] [-7.42800618e-03 -9.99428329e-04 9.99971913e-01 -2.30922318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.692401008000001 meters Centerline goodness : 0.940883 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.12, Z:-0.23 [[ 9.99927820e-01 9.59677176e-03 7.22889460e-03 2.83184553e+00] [-9.61520866e-03 9.99950597e-01 2.52002255e-03 -1.23355346e-01] [-7.20435340e-03 -2.58934799e-03 9.99970696e-01 -2.30922787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.722401008 meters Centerline goodness : 0.938594 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.13, Z:-0.23 [[ 0.99992516 0.01006052 0.00696131 2.83246475] [-0.01008875 0.99994098 0.00403155 -0.13107133] [-0.00692034 -0.00410148 0.99996764 -0.23096617] [ 0. 0. 0. 1. ]] SLAMing on 9.752401008 meters Centerline goodness : 0.932518 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.14, Z:-0.23 [[ 9.99946942e-01 7.23881663e-03 7.32892635e-03 2.83194500e+00] [-7.24850602e-03 9.99972889e-01 1.29637705e-03 -1.35905461e-01] [-7.31934342e-03 -1.34943203e-03 9.99972303e-01 -2.31734692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.782401008 meters Centerline goodness : 0.931962 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.15, Z:-0.24 [[ 0.99992971 0.0110001 0.00442321 2.85817744] [-0.01094318 0.99985954 -0.01269409 -0.15043085] [-0.00456223 0.01264479 0.99990964 -0.23516125] [ 0. 0. 0. 1. ]] SLAMing on 9.812401008 meters Centerline goodness : 0.928177 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.16, Z:-0.24 [[ 0.99993008 0.01115339 0.0039298 2.85956253] [-0.01110866 0.99987528 -0.01122601 -0.15790426] [-0.00405451 0.01118157 0.99992926 -0.23548369] [ 0. 0. 0. 1. ]] SLAMing on 9.842401008000001 meters Centerline goodness : 0.927312 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.17, Z:-0.24 [[ 9.99921342e-01 1.24633294e-02 1.40508967e-03 2.88156233e+00] [-1.24415749e-02 9.99816689e-01 -1.45531705e-02 -1.65240590e-01] [-1.58621306e-03 1.45345443e-02 9.99893110e-01 -2.37323437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.872401008 meters Centerline goodness : 0.926781 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.18, Z:-0.24 [[ 9.99954510e-01 9.45809997e-03 1.23395791e-03 2.88445319e+00] [-9.43754482e-03 9.99831931e-01 -1.57175911e-02 -1.76263290e-01] [-1.38240907e-03 1.57052306e-02 9.99875710e-01 -2.40523352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.902401008 meters Centerline goodness : 0.926722 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.18, Z:-0.24 [[ 9.99979205e-01 6.44821288e-03 -9.78168936e-05 2.88788067e+00] [-6.44892566e-03 9.99814085e-01 -1.81716106e-02 -1.82546632e-01] [-1.93757057e-05 1.81718636e-02 9.99834878e-01 -2.42352705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.932401008000001 meters Centerline goodness : 0.924408 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.19, Z:-0.23 [[ 0.99998662 0.00351419 -0.00379605 2.87576384] [-0.00352847 0.9999867 -0.00376109 -0.19381906] [ 0.00378278 0.00377443 0.99998572 -0.23144467] [ 0. 0. 0. 1. ]] SLAMing on 9.962401008 meters Centerline goodness : 0.923568 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.20, Z:-0.22 [[ 9.99976796e-01 5.06034543e-04 -6.79341778e-03 2.86069518e+00] [-4.53769074e-04 9.99970306e-01 7.69288356e-03 -2.03835275e-01] [ 6.79710892e-03 -7.68962242e-03 9.99947333e-01 -2.22995488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.992401008 meters Centerline goodness : 0.921334 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.22, Z:-0.22 [[ 0.99992777 -0.00545743 -0.01070842 2.84707692] [ 0.0056303 0.99985325 0.01617979 -0.21756354] [ 0.01061855 -0.01623892 0.99981175 -0.21655412] [ 0. 0. 0. 1. ]] SLAMing on 10.022401008000001 meters Centerline goodness : 0.924219 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.23, Z:-0.21 [[ 0.99985743 -0.00771465 -0.01502026 2.83375031] [ 0.0081308 0.99957918 0.02784511 -0.22564167] [ 0.01479913 -0.02796326 0.9994994 -0.20883233] [ 0. 0. 0. 1. ]] SLAMing on 10.052401008 meters Centerline goodness : 0.927014 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.24, Z:-0.14 [[ 9.99488665e-01 2.76172638e-03 3.18556494e-02 2.78132932e+00] [-5.90567786e-03 9.95067268e-01 9.90265344e-02 -2.43009825e-01] [-3.14250298e-02 -9.91640278e-02 9.94574765e-01 -1.43015441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.082401008 meters Centerline goodness : 0.923833 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.23, Z:-0.23 [[ 0.99885191 -0.03462068 -0.03310996 2.86719394] [ 0.03326228 0.99861624 -0.04073348 -0.22769524] [ 0.03447437 0.0395854 0.99862131 -0.22919065] [ 0. 0. 0. 1. ]] SLAMing on 10.112401008 meters Centerline goodness : 0.923750 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.24, Z:-0.24 [[ 0.99936781 -0.02995476 -0.01914897 2.8658566 ] [ 0.029114 0.99866056 -0.04277225 -0.23636541] [ 0.02040456 0.04218771 0.99890132 -0.23706962] [ 0. 0. 0. 1. ]] SLAMing on 10.142401008 meters Centerline goodness : 0.926928 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.25, Z:-0.22 [[ 0.99924415 -0.03137693 -0.02294802 2.85626577] [ 0.03082667 0.99923772 -0.02395175 -0.24712635] [ 0.02368206 0.02322623 0.9994497 -0.22281819] [ 0. 0. 0. 1. ]] SLAMing on 10.172401008 meters Centerline goodness : 0.925748 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.26, Z:-0.21 [[ 0.99911521 -0.03264433 -0.02651686 2.84698363] [ 0.03250689 0.99945583 -0.00559808 -0.25589083] [ 0.02668517 0.00473115 0.99963269 -0.20966859] [ 0. 0. 0. 1. ]] SLAMing on 10.202401008 meters Centerline goodness : 0.930002 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.27, Z:-0.20 [[ 0.99906408 -0.0344661 -0.02613507 2.8440912 ] [ 0.03496943 0.99920676 0.01905253 -0.26625317] [ 0.02545767 -0.01994863 0.99947684 -0.19632734] [ 0. 0. 0. 1. ]] SLAMing on 10.232401008 meters Centerline goodness : 0.927034 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.27, Z:-0.20 [[ 0.99906626 -0.03433342 -0.02622623 2.84446705] [ 0.03485501 0.99919826 0.01969666 -0.26795895] [ 0.02552894 -0.02059239 0.99946197 -0.1959645 ] [ 0. 0. 0. 1. ]] SLAMing on 10.262401008000001 meters Centerline goodness : 0.926427 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.27, Z:-0.20 [[ 0.99900654 -0.03520531 -0.02732245 2.84782538] [ 0.03568137 0.99921629 0.01713598 -0.27021954] [ 0.02669776 -0.01809386 0.99947979 -0.19730979] [ 0. 0. 0. 1. ]] SLAMing on 10.292401008 meters Centerline goodness : 0.926708 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.27, Z:-0.19 [[ 0.99912397 -0.0320413 -0.02691943 2.86886883] [ 0.03252357 0.99931471 0.01767265 -0.27409215] [ 0.02633473 -0.01853268 0.99948138 -0.19366367] [ 0. 0. 0. 1. ]] SLAMing on 10.322401008 meters Centerline goodness : 0.926276 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.27, Z:-0.19 [[ 0.99913227 -0.03189819 -0.02678092 2.8685215 ] [ 0.03238274 0.99931598 0.01785861 -0.27427143] [ 0.02619295 -0.01871035 0.99948179 -0.19351727] [ 0. 0. 0. 1. ]] SLAMing on 10.352401008000001 meters Centerline goodness : 0.930432 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.27, Z:-0.19 [[ 0.999135 -0.03188088 -0.02669937 2.86822066] [ 0.03235689 0.99932157 0.01759057 -0.27236098] [ 0.02612046 -0.01843926 0.99948873 -0.19353002] [ 0. 0. 0. 1. ]] SLAMing on 10.382401008 meters Centerline goodness : 0.930002 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.27, Z:-0.19 [[ 0.99923001 -0.02808377 -0.0273988 2.86889481] [ 0.02870072 0.99933726 0.02239 -0.27351537] [ 0.02675185 -0.02315912 0.9993738 -0.1915701 ] [ 0. 0. 0. 1. ]] SLAMing on 10.412401008 meters Centerline goodness : 0.931051 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.27, Z:-0.19 [[ 0.99931903 -0.02416922 -0.0278804 2.86890124] [ 0.02493396 0.9993131 0.02741583 -0.27473903] [ 0.02719863 -0.02809233 0.99923524 -0.18897864] [ 0. 0. 0. 1. ]] SLAMing on 10.442401008000001 meters Centerline goodness : 0.928022 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.27, Z:-0.20 [[ 0.99945721 -0.02362677 -0.02295773 2.87860357] [ 0.02391817 0.99963574 0.01250221 -0.26947806] [ 0.02265398 -0.01304453 0.99965826 -0.19761582] [ 0. 0. 0. 1. ]] SLAMing on 10.472401008 meters Centerline goodness : 0.932401 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.27, Z:-0.20 [[ 0.9995033 -0.02071235 -0.02375169 2.88019407] [ 0.02110272 0.99964436 0.01630435 -0.26827075] [ 0.02340554 -0.01679747 0.99958493 -0.19636217] [ 0. 0. 0. 1. ]] SLAMing on 10.502401008 meters Centerline goodness : 0.936130 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.26, Z:-0.20 [[ 0.99947637 -0.02148589 -0.02419404 2.88204166] [ 0.02185542 0.99964689 0.01511439 -0.2649857 ] [ 0.02386075 -0.01563525 0.99959302 -0.19777162] [ 0. 0. 0. 1. ]] SLAMing on 10.532401008 meters Centerline goodness : 0.934644 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.26, Z:-0.20 [[ 0.99950067 -0.01882273 -0.02537944 2.88556836] [ 0.01929099 0.99964581 0.01833353 -0.26368136] [ 0.02502537 -0.01881397 0.99950976 -0.19854971] [ 0. 0. 0. 1. ]] SLAMing on 10.562401008 meters Centerline goodness : 0.932856 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.26, Z:-0.20 [[ 0.99931553 -0.01897059 -0.03175829 2.87515158] [ 0.01982003 0.99944834 0.02664941 -0.25768481] [ 0.03123522 -0.02726062 0.99914024 -0.1975341 ] [ 0. 0. 0. 1. ]] SLAMing on 10.592401008000001 meters Centerline goodness : 0.933132 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.25, Z:-0.20 [[ 0.99922748 -0.02327051 -0.03166903 2.87599213] [ 0.02390998 0.99951472 0.01996571 -0.25082782] [ 0.03118905 -0.0207075 0.99929898 -0.20129134] [ 0. 0. 0. 1. ]] SLAMing on 10.622401008 meters Centerline goodness : 0.934446 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.25, Z:-0.20 [[ 0.99918324 -0.0242693 -0.03230874 2.87810947] [ 0.02485209 0.99953336 0.0177604 -0.24535065] [ 0.03186263 -0.01854883 0.99932013 -0.20322414] [ 0. 0. 0. 1. ]] SLAMing on 10.652401008 meters Centerline goodness : 0.932986 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.25, Z:-0.21 [[ 0.99970224 -0.01645157 -0.01802181 2.87592876] [ 0.01682421 0.99964365 0.02072479 -0.24698786] [ 0.01767443 -0.02102182 0.99962278 -0.20955704] [ 0. 0. 0. 1. ]] SLAMing on 10.682401008000001 meters Centerline goodness : 0.934448 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.25, Z:-0.21 [[ 9.99963435e-01 -8.03419174e-03 -2.92908114e-03 2.87137969e+00] [ 8.10888999e-03 9.99617223e-01 2.64509766e-02 -2.48709559e-01] [ 2.71544774e-03 -2.64737610e-02 9.99645820e-01 -2.14631447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.712401008 meters Centerline goodness : 0.930709 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.24, Z:-0.22 [[ 0.99995773 -0.00854573 -0.00339344 2.87281713] [ 0.00862393 0.99968095 0.02374072 -0.23981894] [ 0.00318948 -0.02376898 0.99971239 -0.21731483] [ 0. 0. 0. 1. ]] SLAMing on 10.742401008 meters Centerline goodness : 0.930709 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.24, Z:-0.22 [[ 0.99995773 -0.00854573 -0.00339344 2.87281713] [ 0.00862393 0.99968095 0.02374072 -0.23981894] [ 0.00318948 -0.02376898 0.99971239 -0.21731483] [ 0. 0. 0. 1. ]] SLAMing on 10.772401008000001 meters Centerline goodness : 0.932499 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.24, Z:-0.22 [[ 0.9999666 -0.00732928 -0.00361534 2.87394757] [ 0.00741044 0.99970863 0.02297244 -0.23767737] [ 0.00344591 -0.02299846 0.99972956 -0.21789074] [ 0. 0. 0. 1. ]] SLAMing on 10.802401008 meters Centerline goodness : 0.933568 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.23, Z:-0.22 [[ 0.9999674 -0.0072507 -0.00355229 2.87324687] [ 0.00732879 0.99972024 0.02248828 -0.23478468] [ 0.00338825 -0.02251358 0.9997408 -0.2173458 ] [ 0. 0. 0. 1. ]] SLAMing on 10.832401008 meters Centerline goodness : 0.934472 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.23, Z:-0.21 [[ 0.99997406 -0.00650641 -0.00308869 2.86991446] [ 0.0065734 0.99973196 0.02219926 -0.22854578] [ 0.00294343 -0.02221899 0.99974879 -0.21452743] [ 0. 0. 0. 1. ]] SLAMing on 10.862401008 meters Centerline goodness : 0.938009 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.22, Z:-0.21 [[ 0.99998163 -0.00526285 -0.00300537 2.86873098] [ 0.00532684 0.99975042 0.02169594 -0.22492367] [ 0.00289043 -0.02171155 0.9997601 -0.21267979] [ 0. 0. 0. 1. ]] SLAMing on 10.892401008 meters Centerline goodness : 0.939330 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.22, Z:-0.21 [[ 0.99998805 -0.0037994 -0.00307711 2.86893313] [ 0.00386231 0.9997782 0.0207034 -0.22134064] [ 0.00299777 -0.02071504 0.99978093 -0.2121766 ] [ 0. 0. 0. 1. ]] SLAMing on 10.922401008000001 meters Centerline goodness : 0.938229 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.22, Z:-0.21 [[ 9.99989087e-01 -3.69031650e-03 -2.86499047e-03 2.86810801e+00] [ 3.74619447e-03 9.99797937e-01 1.97497220e-02 -2.16968313e-01] [ 2.79152884e-03 -1.97602393e-02 9.99800850e-01 -2.12301040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.952401008 meters Centerline goodness : 0.938449 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.21, Z:-0.21 [[ 9.99993068e-01 -2.68748633e-03 -2.57708137e-03 2.86622049e+00] [ 2.73613999e-03 9.99814494e-01 1.90654582e-02 -2.09619743e-01] [ 2.52536514e-03 -1.90723773e-02 9.99814916e-01 -2.11742602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.982401008 meters Centerline goodness : 0.938624 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.20, Z:-0.22 [[ 9.99997113e-01 -9.57756765e-04 2.20364091e-03 2.87390934e+00] [ 9.48800981e-04 9.99991302e-01 4.06154756e-03 -2.03209305e-01] [-2.20751171e-03 -4.05944502e-03 9.99989324e-01 -2.19418674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.012401008000001 meters Centerline goodness : 0.939284 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.20, Z:-0.22 [[ 9.99997048e-01 -9.80912663e-04 2.22298525e-03 2.87335171e+00] [ 9.73249307e-04 9.99993590e-01 3.44578992e-03 -2.00296969e-01] [-2.22635102e-03 -3.44361623e-03 9.99991592e-01 -2.18918965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.042401008 meters Centerline goodness : 0.940742 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.20, Z:-0.22 [[ 9.99982584e-01 8.97537037e-04 5.83317921e-03 2.88709505e+00] [-8.62172055e-04 9.99981252e-01 -6.06241788e-03 -1.96699739e-01] [-5.83851109e-03 6.05728310e-03 9.99964610e-01 -2.23569938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.072401008 meters Centerline goodness : 0.939933 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.19, Z:-0.22 [[ 9.99986954e-01 2.59208443e-03 4.40154443e-03 2.89159003e+00] [-2.57651995e-03 9.99990422e-01 -3.53813673e-03 -1.94423804e-01] [-4.41067342e-03 3.52674991e-03 9.99984054e-01 -2.24533258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.102401008000001 meters Centerline goodness : 0.942753 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.19, Z:-0.23 [[ 9.99991690e-01 1.50879199e-03 3.78720368e-03 2.89405946e+00] [-1.49046655e-03 9.99987191e-01 -4.83694694e-03 -1.91765293e-01] [-3.79445312e-03 4.83126204e-03 9.99981130e-01 -2.26177849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.132401008 meters Centerline goodness : 0.940531 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.19, Z:-0.23 [[ 9.99991091e-01 2.99794022e-03 2.97144215e-03 2.89818771e+00] [-2.99030528e-03 9.99992225e-01 -2.57056064e-03 -1.91701898e-01] [-2.97912544e-03 2.56165223e-03 9.99992281e-01 -2.28496541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.162401008 meters Centerline goodness : 0.939606 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.19, Z:-0.23 [[ 9.99986675e-01 4.79419918e-03 1.91461801e-03 2.90240767e+00] [-4.79351716e-03 9.99988446e-01 -3.60649597e-04 -1.90186780e-01] [-1.91632491e-03 3.51467037e-04 9.99998102e-01 -2.30550823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.192401008000001 meters Centerline goodness : 0.942484 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.19, Z:-0.23 [[ 9.99988549e-01 4.50127564e-03 1.62503429e-03 2.90324438e+00] [-4.49920345e-03 9.99989064e-01 -1.27658008e-03 -1.87907969e-01] [-1.63076276e-03 1.26925410e-03 9.99997865e-01 -2.31175254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.222401008 meters Centerline goodness : 0.938581 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.19, Z:-0.23 [[ 9.99988903e-01 4.49172330e-03 1.42096993e-03 2.90367923e+00] [-4.48863054e-03 9.99987567e-01 -2.17225976e-03 -1.85038492e-01] [-1.43070945e-03 2.16585745e-03 9.99996631e-01 -2.31670443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.252401008 meters Centerline goodness : 0.944869 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.18, Z:-0.23 [[ 9.99965477e-01 8.24454934e-03 1.03503401e-03 2.90450625e+00] [-8.24617237e-03 9.99964761e-01 1.57374850e-03 -1.84333364e-01] [-1.02202269e-03 -1.58222923e-03 9.99998226e-01 -2.31514042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.282401008 meters Centerline goodness : 0.943301 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.18, Z:-0.23 [[ 9.99915787e-01 1.29350316e-02 1.05022580e-03 2.90403633e+00] [-1.29404457e-02 9.99902099e-01 5.32335467e-03 -1.81560290e-01] [-9.81265221e-04 -5.33649677e-03 9.99985279e-01 -2.31395399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.312401008 meters Centerline goodness : 0.944337 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.18, Z:-0.23 [[ 9.99910737e-01 1.33201056e-02 1.04549500e-03 2.90391480e+00] [-1.33253473e-02 9.99897807e-01 5.17789760e-03 -1.80668526e-01] [-9.76418016e-04 -5.19136699e-03 9.99986048e-01 -2.31546657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.342401008000001 meters Centerline goodness : 0.943478 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.18, Z:-0.23 [[ 9.99903909e-01 1.38227470e-02 1.05098431e-03 2.90341447e+00] [-1.38282499e-02 9.99889682e-01 5.42256273e-03 -1.81119318e-01] [-9.75913656e-04 -5.43657494e-03 9.99984746e-01 -2.31136146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.372401008 meters Centerline goodness : 0.944408 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.18, Z:-0.24 [[ 0.99987141 0.01533338 0.00469511 2.91748722] [-0.01531092 0.99987134 -0.00478364 -0.18027702] [-0.00476785 0.00471113 0.99997754 -0.23688818] [ 0. 0. 0. 1. ]] SLAMing on 11.402401008 meters Centerline goodness : 0.946685 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.18, Z:-0.24 [[ 0.99977985 0.01947531 0.00780731 2.93403179] [-0.01939173 0.99975533 -0.01064102 -0.18131818] [-0.00801263 0.01048728 0.9999129 -0.24241533] [ 0. 0. 0. 1. ]] SLAMing on 11.432401008000001 meters Centerline goodness : 0.943648 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.18, Z:-0.25 [[ 0.9996873 0.02314144 0.00947453 2.95233118] [-0.02299118 0.99961283 -0.01567172 -0.18227138] [-0.00983353 0.01544898 0.9998323 -0.24677926] [ 0. 0. 0. 1. ]] SLAMing on 11.462401008 meters Centerline goodness : 0.942300 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.19, Z:-0.25 [[ 0.99963662 0.02607487 0.00683634 2.95732357] [-0.02595187 0.99950996 -0.01750249 -0.18618462] [-0.00728936 0.01731872 0.99982345 -0.24644513] [ 0. 0. 0. 1. ]] SLAMing on 11.492401008 meters Centerline goodness : 0.943763 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.18, Z:-0.24 [[ 0.9997505 0.01996737 -0.01001192 2.96426307] [-0.02020226 0.99950933 -0.02393686 -0.18454431] [ 0.00952905 0.02413315 0.99966334 -0.24000057] [ 0. 0. 0. 1. ]] SLAMing on 11.522401008000001 meters Centerline goodness : 0.945849 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.19, Z:-0.24 [[ 0.99973103 0.01973004 -0.01218972 2.96866161] [-0.02006346 0.99941034 -0.02786441 -0.18716896] [ 0.01163277 0.02810148 0.99953739 -0.23992186] [ 0. 0. 0. 1. ]] SLAMing on 11.552401008 meters Centerline goodness : 0.944168 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.19, Z:-0.24 [[ 0.99972642 0.01875634 -0.01397472 2.97285854] [-0.01918578 0.99932721 -0.03125759 -0.19008949] [ 0.01337904 0.03151715 0.99941366 -0.24100274] [ 0. 0. 0. 1. ]] SLAMing on 11.582401008 meters Centerline goodness : 0.944938 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.20, Z:-0.23 [[ 0.99971078 0.01722811 -0.01677918 2.96667742] [-0.01744373 0.99976604 -0.01279014 -0.20070544] [ 0.0165549 0.01307914 0.99977741 -0.23286578] [ 0. 0. 0. 1. ]] SLAMing on 11.612401008 meters Centerline goodness : 0.943580 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.21, Z:-0.23 [[ 0.99966121 0.01998407 -0.01667652 2.96819189] [-0.02011634 0.99976721 -0.00780159 -0.20629967] [ 0.01651673 0.00813442 0.9998305 -0.23256104] [ 0. 0. 0. 1. ]] SLAMing on 11.642401008 meters Centerline goodness : 0.945433 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.22, Z:-0.22 [[ 0.99980695 0.01791243 -0.00807554 2.97517663] [-0.01775647 0.99966202 0.01898802 -0.21655458] [ 0.00841294 -0.01884096 0.9997871 -0.22039435] [ 0. 0. 0. 1. ]] SLAMing on 11.672401008000001 meters Centerline goodness : 0.942308 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.22, Z:-0.22 [[ 0.99979774 0.01838596 -0.00815126 2.9750728 ] [-0.0182118 0.99961467 0.02094873 -0.22144252] [ 0.00853328 -0.02079604 0.99974732 -0.21858372] [ 0. 0. 0. 1. ]] SLAMing on 11.702401008 meters Centerline goodness : 0.944106 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.23, Z:-0.22 [[ 0.99978542 0.01903374 -0.00817541 2.97447351] [-0.01884012 0.99955468 0.02314058 -0.22710138] [ 0.00861222 -0.02298159 0.99969879 -0.2163107 ] [ 0. 0. 0. 1. ]] SLAMing on 11.732401008 meters Centerline goodness : 0.940857 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.23, Z:-0.22 [[ 9.99831416e-01 1.81358230e-02 -2.86900194e-03 2.98588628e+00] [-1.81063493e-02 9.99786201e-01 9.98557495e-03 -2.28631161e-01] [ 3.04948517e-03 -9.93194439e-03 9.99946027e-01 -2.23094979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.762401008000001 meters Centerline goodness : 0.941632 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.24, Z:-0.22 [[ 9.99877036e-01 1.54970634e-02 -2.39872736e-03 2.98523686e+00] [-1.54756312e-02 9.99842313e-01 8.70940535e-03 -2.37636326e-01] [ 2.53331932e-03 -8.67121258e-03 9.99959195e-01 -2.22815661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.792401008 meters Centerline goodness : 0.941748 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.24, Z:-0.22 [[ 9.99877750e-01 1.53717175e-02 -2.86272697e-03 2.98702116e+00] [-1.53425856e-02 9.99832942e-01 9.93443315e-03 -2.42748918e-01] [ 3.01495803e-03 -9.88929703e-03 9.99946554e-01 -2.22815200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.822401008 meters Centerline goodness : 0.943688 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.25, Z:-0.22 [[ 0.99984964 0.01659677 -0.00502385 3.0171416 ] [-0.01650802 0.99971545 0.01721917 -0.25167596] [ 0.00530821 -0.01713365 0.99983912 -0.21566485] [ 0. 0. 0. 1. ]] SLAMing on 11.852401008000001 meters Centerline goodness : 0.940130 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.25, Z:-0.22 [[ 0.99990523 0.01298005 -0.00458785 3.01688308] [-0.01291741 0.99982637 0.01343004 -0.25459556] [ 0.00476137 -0.01336951 0.99989929 -0.21722391] [ 0. 0. 0. 1. ]] SLAMing on 11.882401008 meters Centerline goodness : 0.943932 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.27, Z:-0.21 [[ 0.99990234 0.01214789 -0.00690997 3.0421276 ] [-0.01204609 0.99982104 0.01458701 -0.27026619] [ 0.00708593 -0.01450235 0.99986973 -0.21332606] [ 0. 0. 0. 1. ]] SLAMing on 11.912401008 meters Centerline goodness : 0.944510 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.28, Z:-0.21 [[ 0.99990255 0.01176684 -0.00751186 3.04424378] [-0.01164826 0.99980987 0.015638 -0.27692946] [ 0.00769444 -0.01554897 0.9998495 -0.21345001] [ 0. 0. 0. 1. ]] SLAMing on 11.942401008000001 meters Centerline goodness : 0.945592 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.28, Z:-0.21 [[ 0.99990003 0.01171233 -0.00792107 3.04628772] [-0.01156581 0.9997657 0.018297 -0.28375385] [ 0.00813352 -0.01820355 0.99980122 -0.21168597] [ 0. 0. 0. 1. ]] SLAMing on 11.972401008 meters Centerline goodness : 0.944547 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.30, Z:-0.21 [[ 0.99989617 0.01154547 -0.00862216 3.04994379] [-0.01134553 0.99967366 0.02288787 -0.29585535] [ 0.0088836 -0.02278767 0.99970086 -0.20894605] [ 0. 0. 0. 1. ]] SLAMing on 12.002401008000001 meters Centerline goodness : 0.944135 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.30, Z:-0.21 [[ 0.99989142 0.01157747 -0.0091165 3.05143274] [-0.01135541 0.9996464 0.02404417 -0.30196277] [ 0.00939165 -0.02393804 0.99966933 -0.20880064] [ 0. 0. 0. 1. ]] SLAMing on 12.032401008 meters Centerline goodness : 0.945177 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.31, Z:-0.21 [[ 0.99991502 0.01067062 -0.00748995 3.07271409] [-0.01053326 0.99977987 0.01814565 -0.30691828] [ 0.00768193 -0.01806521 0.9998073 -0.21002289] [ 0. 0. 0. 1. ]] SLAMing on 12.062401008 meters Centerline goodness : 0.946442 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.31, Z:-0.21 [[ 0.9999108 0.01073553 -0.00794658 3.07367314] [-0.01057337 0.99974057 0.0201744 -0.31407881] [ 0.0081611 -0.02008858 0.9997649 -0.20819018] [ 0. 0. 0. 1. ]] SLAMing on 12.092401008000001 meters Centerline goodness : 0.945310 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.32, Z:-0.21 [[ 0.9999458 0.00698985 -0.00771625 3.07410343] [-0.00684687 0.99980719 0.01840375 -0.32229866] [ 0.0078434 -0.01834992 0.99980086 -0.20760809] [ 0. 0. 0. 1. ]] SLAMing on 12.122401008 meters Centerline goodness : 0.945835 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.33, Z:-0.21 [[ 0.99994568 0.00642651 -0.00820646 3.0761174 ] [-0.00626666 0.99979297 0.01935819 -0.32694809] [ 0.00832917 -0.01930571 0.99977893 -0.20733214] [ 0. 0. 0. 1. ]] SLAMing on 12.152401008 meters Centerline goodness : 0.945031 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.33, Z:-0.20 [[ 0.99994219 0.0063405 -0.0086843 3.07716933] [-0.00615063 0.9997452 0.02171887 -0.33240786] [ 0.00881979 -0.0216642 0.9997264 -0.20424696] [ 0. 0. 0. 1. ]] SLAMing on 12.182401008000001 meters Centerline goodness : 0.947657 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.35, Z:-0.19 [[ 0.99994327 0.00446482 -0.00967032 3.10795132] [-0.00417636 0.99955169 0.02964749 -0.34547029] [ 0.00979835 -0.02960542 0.99951364 -0.19105427] [ 0. 0. 0. 1. ]] SLAMing on 12.212401008 meters Centerline goodness : 0.946116 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.34, Z:-0.20 [[ 9.99981636e-01 2.54288052e-03 -5.50102458e-03 3.12104584e+00] [-2.46886035e-03 9.99906888e-01 1.34209064e-02 -3.44040708e-01] [ 5.53464013e-03 -1.34070787e-02 9.99894803e-01 -2.01315277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.242401008 meters Centerline goodness : 0.946605 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.34, Z:-0.20 [[ 9.99986892e-01 -1.29089048e-03 -4.95474979e-03 3.12069055e+00] [ 1.33128463e-03 9.99965837e-01 8.15799182e-03 -3.43058228e-01] [ 4.94404945e-03 -8.16448107e-03 9.99954448e-01 -2.04327140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.272401008000001 meters Centerline goodness : 0.944532 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.35, Z:-0.20 [[ 9.99980924e-01 1.68899131e-03 -5.94122421e-03 3.12379778e+00] [-1.60685965e-03 9.99903460e-01 1.38017456e-02 -3.47118271e-01] [ 5.96396168e-03 -1.37919356e-02 9.99887100e-01 -2.02049208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.302401008 meters Centerline goodness : 0.944491 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.35, Z:-0.20 [[ 0.99996382 0.00536744 -0.00659892 3.1256251 ] [-0.00523323 0.99978246 0.02019001 -0.35312988] [ 0.00670586 -0.02015475 0.99977438 -0.19907681] [ 0. 0. 0. 1. ]] SLAMing on 12.332401008000001 meters Centerline goodness : 0.945433 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.35, Z:-0.20 [[ 9.99978075e-01 2.10067674e-03 -6.27993951e-03 3.12477367e+00] [-2.00814859e-03 9.99889872e-01 1.47040977e-02 -3.50353877e-01] [ 6.31013647e-03 -1.46911642e-02 9.99872168e-01 -2.01882493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.362401008 meters Centerline goodness : 0.944765 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.35, Z:-0.20 [[ 0.9999583 0.0053312 -0.00741527 3.12799928] [-0.00518214 0.999787 0.01997762 -0.35233437] [ 0.00752019 -0.01993836 0.99977293 -0.19959073] [ 0. 0. 0. 1. ]] SLAMing on 12.392401008 meters Centerline goodness : 0.945620 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.35, Z:-0.21 [[ 0.99995702 0.00567352 -0.00733334 3.12863607] [-0.00554955 0.99984319 0.0168167 -0.34822563] [ 0.0074276 -0.01677528 0.9998317 -0.20577846] [ 0. 0. 0. 1. ]] SLAMing on 12.422401008000001 meters Centerline goodness : 0.945034 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.34, Z:-0.21 [[ 9.99969808e-01 2.77638195e-03 -7.25772604e-03 3.12828235e+00] [-2.70324847e-03 9.99945671e-01 1.00671009e-02 -3.43298851e-01] [ 7.28528185e-03 -1.00471775e-02 9.99922986e-01 -2.11188322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.452401008 meters Centerline goodness : 0.944454 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.34, Z:-0.22 [[ 0.99997299 0.00558848 -0.00477267 3.14743745] [-0.00557118 0.99997789 0.00363043 -0.34238995] [ 0.00479285 -0.00360374 0.99998202 -0.21604108] [ 0. 0. 0. 1. ]] SLAMing on 12.482401008 meters Centerline goodness : 0.944851 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.34, Z:-0.22 [[ 9.99984451e-01 3.25099439e-03 -4.53091449e-03 3.14568830e+00] [-3.25352878e-03 9.99994555e-01 -5.52096379e-04 -3.39805403e-01] [ 4.52909496e-03 5.66829255e-04 9.99989583e-01 -2.16989863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.512401008000001 meters Centerline goodness : 0.944426 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.34, Z:-0.21 [[ 0.99996008 0.00721011 -0.00527838 3.14679411] [-0.00718155 0.99995958 0.00540887 -0.3440055 ] [ 0.00531716 -0.00537075 0.99997144 -0.21387695] [ 0. 0. 0. 1. ]] SLAMing on 12.542401008 meters Centerline goodness : 0.943118 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.35, Z:-0.21 [[ 0.99992747 0.01022177 -0.00636923 3.14969429] [-0.01014585 0.99987843 0.01183989 -0.34815403] [ 0.00648948 -0.01177441 0.99990962 -0.20969578] [ 0. 0. 0. 1. ]] SLAMing on 12.572401008 meters Centerline goodness : 0.943987 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.35, Z:-0.21 [[ 0.999961 0.0067003 -0.0057545 3.14835933] [-0.00666075 0.99995424 0.00686615 -0.34628184] [ 0.00580024 -0.00682755 0.99995987 -0.21154336] [ 0. 0. 0. 1. ]] SLAMing on 12.602401008000001 meters Centerline goodness : 0.942516 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.35, Z:-0.21 [[ 0.99996099 0.0064429 -0.00604289 3.14925695] [-0.00639997 0.99995433 0.00709782 -0.34795903] [ 0.00608834 -0.00705887 0.99995655 -0.21146933] [ 0. 0. 0. 1. ]] SLAMing on 12.632401008 meters Centerline goodness : 0.942516 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.35, Z:-0.21 [[ 0.99996099 0.0064429 -0.00604289 3.14925695] [-0.00639997 0.99995433 0.00709782 -0.34795903] [ 0.00608834 -0.00705887 0.99995655 -0.21146933] [ 0. 0. 0. 1. ]] SLAMing on 12.662401008 meters Centerline goodness : 0.942895 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.35, Z:-0.21 [[ 0.99996185 0.0054053 -0.00686228 3.15207027] [-0.00534728 0.99995005 0.00844449 -0.35236461] [ 0.00690758 -0.00840747 0.9999408 -0.20999964] [ 0. 0. 0. 1. ]] SLAMing on 12.692401008000001 meters Centerline goodness : 0.943283 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.35, Z:-0.21 [[ 0.99996037 0.00461474 -0.00761284 3.15459216] [-0.00454783 0.99995109 0.00878244 -0.35494396] [ 0.007653 -0.00874747 0.99993245 -0.21002709] [ 0. 0. 0. 1. ]] SLAMing on 12.722401008 meters Centerline goodness : 0.942040 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.36, Z:-0.21 [[ 0.99994019 0.00593073 -0.00918912 3.16065398] [-0.00579112 0.99986852 0.01514588 -0.35908996] [ 0.00927774 -0.01509176 0.99984307 -0.20558857] [ 0. 0. 0. 1. ]] SLAMing on 12.752401008000001 meters Centerline goodness : 0.942375 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.36, Z:-0.21 [[ 0.99993588 0.00577653 -0.00974013 3.16181697] [-0.00562774 0.99986811 0.01523461 -0.36003197] [ 0.00982685 -0.01517882 0.9998365 -0.20535284] [ 0. 0. 0. 1. ]] SLAMing on 12.782401008 meters Centerline goodness : 0.944500 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.36, Z:-0.20 [[ 0.99990121 0.00884276 -0.01092589 3.16499482] [-0.00862047 0.99975823 0.02022798 -0.36220053] [ 0.01110212 -0.02013179 0.99973569 -0.20348875] [ 0. 0. 0. 1. ]] SLAMing on 12.812401008 meters Centerline goodness : 0.945680 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.36, Z:-0.21 [[ 0.99992316 0.01018952 -0.00706013 3.18104429] [-0.01012493 0.99990711 0.0091246 -0.35842179] [ 0.00715245 -0.00905241 0.99993345 -0.21230607] [ 0. 0. 0. 1. ]] SLAMing on 12.842401008000001 meters Centerline goodness : 0.944140 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.36, Z:-0.21 [[ 0.99991965 0.01069867 -0.00679888 3.18010787] [-0.01064293 0.99990988 0.00818344 -0.35546202] [ 0.00688582 -0.00811042 0.9999434 -0.21349294] [ 0. 0. 0. 1. ]] SLAMing on 12.872401008 meters Centerline goodness : 0.945317 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.35, Z:-0.21 [[ 0.99991813 0.01076621 -0.00691604 3.1799717 ] [-0.0107106 0.99991041 0.00802831 -0.35449404] [ 0.00700186 -0.00795357 0.99994386 -0.21317315] [ 0. 0. 0. 1. ]] SLAMing on 12.902401008 meters Centerline goodness : 0.944160 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.35, Z:-0.21 [[ 0.99991734 0.01084224 -0.00691015 3.17967628] [-0.01078674 0.99990966 0.00801927 -0.35366353] [ 0.00699647 -0.00794407 0.99994397 -0.21271503] [ 0. 0. 0. 1. ]] SLAMing on 12.932401008000001 meters Centerline goodness : 0.944656 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.35, Z:-0.21 [[ 0.99991951 0.01059638 -0.00697749 3.18003134] [-0.01054409 0.99991637 0.00748849 -0.35234358] [ 0.00705625 -0.00741431 0.99994762 -0.21317944] [ 0. 0. 0. 1. ]] SLAMing on 12.962401008 meters Centerline goodness : 0.942730 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.35, Z:-0.21 [[ 0.9999223 0.01022151 -0.00713552 3.18077726] [-0.01017255 0.99992469 0.00686489 -0.35097624] [ 0.00720515 -0.00679177 0.99995098 -0.21386657] [ 0. 0. 0. 1. ]] SLAMing on 12.992401008 meters Centerline goodness : 0.941825 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.35, Z:-0.21 [[ 0.99992711 0.00935636 -0.00763096 3.1825832 ] [-0.00930985 0.99993801 0.00610815 -0.34953886] [ 0.00768763 -0.00603666 0.99995223 -0.21454609] [ 0. 0. 0. 1. ]] SLAMing on 13.022401008000001 meters Centerline goodness : 0.939896 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.35, Z:-0.21 [[ 0.99992816 0.00883552 -0.00809955 3.18394959] [-0.00878762 0.9999438 0.00593064 -0.34911996] [ 0.0081515 -0.00585904 0.99994961 -0.21449103] [ 0. 0. 0. 1. ]] SLAMing on 13.052401008 meters Centerline goodness : 0.938303 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.35, Z:-0.22 [[ 9.99957130e-01 5.01038734e-03 -7.78679113e-03 3.18352317e+00] [-5.00539340e-03 9.99987255e-01 6.60690043e-04 -3.45690814e-01] [ 7.79000220e-03 -6.21685767e-04 9.99969464e-01 -2.16527826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.082401008000001 meters Centerline goodness : 0.937507 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.35, Z:-0.21 [[ 0.99993712 0.00603743 -0.00945027 3.19016417] [-0.00598342 0.99996567 0.00573286 -0.34751036] [ 0.00948456 -0.00567596 0.99993891 -0.2141173 ] [ 0. 0. 0. 1. ]] SLAMing on 13.112401008 meters Centerline goodness : 0.934853 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.35, Z:-0.21 [[ 0.99993751 0.00557391 -0.00969102 3.19126183] [-0.00552188 0.99997025 0.0053866 -0.34673189] [ 0.00972076 -0.00533275 0.99993853 -0.21460442] [ 0. 0. 0. 1. ]] SLAMing on 13.142401008 meters Centerline goodness : 0.933090 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.35, Z:-0.22 [[ 0.99993624 0.00511925 -0.01006509 3.19259071] [-0.0050693 0.99997474 0.00498264 -0.34582179] [ 0.01009034 -0.0049313 0.99993693 -0.21510243] [ 0. 0. 0. 1. ]] SLAMing on 13.172401008000001 meters Centerline goodness : 0.933262 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.35, Z:-0.21 [[ 0.99990526 0.00814165 -0.01109927 3.19547075] [-0.00803541 0.9999218 0.00958305 -0.3476772 ] [ 0.01117642 -0.00949295 0.99989248 -0.21374276] [ 0. 0. 0. 1. ]] SLAMing on 13.202401008 meters Centerline goodness : 0.933116 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.35, Z:-0.22 [[ 0.9999065 0.00780906 -0.01122516 3.19630795] [-0.00771116 0.99993208 0.00873883 -0.34620012] [ 0.01129263 -0.00865145 0.99989881 -0.21502615] [ 0. 0. 0. 1. ]] SLAMing on 13.232401008 meters Centerline goodness : 0.933611 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.35, Z:-0.21 [[ 0.99986658 0.01105231 -0.01202793 3.19873353] [-0.01089391 0.9998541 0.01315671 -0.34769827] [ 0.01217159 -0.01302393 0.9998411 -0.21434515] [ 0. 0. 0. 1. ]] SLAMing on 13.262401008000001 meters Centerline goodness : 0.930346 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.34, Z:-0.22 [[ 0.99990372 0.00777844 -0.01149127 3.19779325] [-0.00769513 0.99994391 0.00727708 -0.34288896] [ 0.01154723 -0.00718795 0.99990749 -0.21799375] [ 0. 0. 0. 1. ]] SLAMing on 13.292401008 meters Centerline goodness : 0.928329 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.34, Z:-0.22 [[ 0.99990408 0.00746347 -0.01166768 3.19915959] [-0.00739178 0.99995361 0.00617513 -0.3413384 ] [ 0.01171323 -0.0060883 0.99991286 -0.22030487] [ 0. 0. 0. 1. ]] SLAMing on 13.322401008 meters Centerline goodness : 0.928329 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.34, Z:-0.22 [[ 0.99990408 0.00746347 -0.01166768 3.19915959] [-0.00739178 0.99995361 0.00617513 -0.3413384 ] [ 0.01171323 -0.0060883 0.99991286 -0.22030487] [ 0. 0. 0. 1. ]] SLAMing on 13.352401008000001 meters Centerline goodness : 0.927861 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.35, Z:-0.22 [[ 0.99985732 0.01147763 -0.01239388 3.20030082] [-0.011332 0.99986668 0.01175658 -0.34518391] [ 0.01252716 -0.01161446 0.99985408 -0.21776286] [ 0. 0. 0. 1. ]] SLAMing on 13.382401008 meters Centerline goodness : 0.930506 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.34, Z:-0.22 [[ 0.99985529 0.01185679 -0.01219935 3.19947812] [-0.01171468 0.99986346 0.01165475 -0.34475168] [ 0.01233587 -0.01151016 0.99985766 -0.21775758] [ 0. 0. 0. 1. ]] SLAMing on 13.412401008000002 meters Centerline goodness : 0.931390 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.34, Z:-0.22 [[ 0.99989836 0.00793636 -0.01184395 3.19867589] [-0.0078539 0.99994471 0.00699296 -0.34357584] [ 0.01189879 -0.00689922 0.99990541 -0.21867265] [ 0. 0. 0. 1. ]] SLAMing on 13.442401008000001 meters Centerline goodness : 0.932803 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.35, Z:-0.21 [[ 0.99986847 0.00984519 -0.01288892 3.20274941] [-0.00967293 0.99986396 0.01336002 -0.34813347] [ 0.0130187 -0.01323359 0.99982768 -0.21423169] [ 0. 0. 0. 1. ]] SLAMing on 13.472401008 meters Centerline goodness : 0.934443 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.34, Z:-0.22 [[ 0.99990878 0.00599573 -0.01210329 3.20163055] [-0.00590165 0.99995221 0.00779382 -0.34486742] [ 0.01214944 -0.00772168 0.99989638 -0.21699691] [ 0. 0. 0. 1. ]] SLAMing on 13.502401008000001 meters Centerline goodness : 0.934392 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.34, Z:-0.22 [[ 0.99990988 0.00579935 -0.01210787 3.20189367] [-0.0057093 0.99995588 0.00745901 -0.34382515] [ 0.01215059 -0.00738921 0.99989888 -0.21734005] [ 0. 0. 0. 1. ]] SLAMing on 13.532401008 meters Centerline goodness : 0.934828 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.34, Z:-0.22 [[ 0.99991052 0.00570535 -0.01209949 3.20181939] [-0.00561944 0.99995884 0.00712281 -0.34267314] [ 0.01213963 -0.00705418 0.99990143 -0.21741681] [ 0. 0. 0. 1. ]] SLAMing on 13.562401008 meters Centerline goodness : 0.935751 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.34, Z:-0.22 [[ 0.99991355 0.00589517 -0.01175354 3.20063243] [-0.0058174 0.99996103 0.00664031 -0.34035019] [ 0.01179223 -0.00657136 0.99990888 -0.21730056] [ 0. 0. 0. 1. ]] SLAMing on 13.592401008000001 meters Centerline goodness : 0.935402 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.34, Z:-0.22 [[ 0.99991423 0.00574741 -0.0117682 3.20080543] [-0.00567591 0.99996528 0.00610045 -0.33893307] [ 0.01180285 -0.00603313 0.99991214 -0.21777843] [ 0. 0. 0. 1. ]] SLAMing on 13.622401008 meters Centerline goodness : 0.937195 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.34, Z:-0.22 [[ 0.99991361 0.0054741 -0.01195025 3.20131307] [-0.00540824 0.99997005 0.00553706 -0.33756986] [ 0.0119802 -0.00547195 0.99991326 -0.2181175 ] [ 0. 0. 0. 1. ]] SLAMing on 13.652401008 meters Centerline goodness : 0.937017 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.34, Z:-0.22 [[ 0.99987503 0.00865441 -0.01323008 3.20419681] [-0.008518 0.99991034 0.01033221 -0.33978523] [ 0.01331831 -0.01021822 0.9998591 -0.21626447] [ 0. 0. 0. 1. ]] SLAMing on 13.682401008000001 meters Centerline goodness : 0.937722 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.33, Z:-0.22 [[ 9.99903844e-01 4.25688687e-03 -1.31978025e-02 3.20520451e+00] [-4.21431121e-03 9.99985832e-01 3.25210066e-03 -3.34659006e-01] [ 1.32114593e-02 -3.19616830e-03 9.99907617e-01 -2.21165821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.712401008 meters Centerline goodness : 0.939234 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.33, Z:-0.22 [[ 9.99898318e-01 3.39685485e-03 -1.38497147e-02 3.20753590e+00] [-3.35829007e-03 9.99990422e-01 2.80682493e-03 -3.34106126e-01] [ 1.38591164e-02 -2.76002817e-03 9.99900149e-01 -2.21775953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.742401008 meters Centerline goodness : 0.937856 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.33, Z:-0.22 [[ 9.99892285e-01 2.64505732e-03 -1.44368489e-02 3.20969392e+00] [-2.60963193e-03 9.99993539e-01 2.47210422e-03 -3.34433232e-01] [ 1.44432944e-02 -2.43416308e-03 9.99892727e-01 -2.22499725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.772401008000001 meters Centerline goodness : 0.937215 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.33, Z:-0.22 [[ 9.99865857e-01 -1.26696401e-03 -1.63298208e-02 3.21842678e+00] [ 1.28886115e-03 9.99998284e-01 1.33047524e-03 -3.34420560e-01] [ 1.63281071e-02 -1.35134364e-03 9.99865774e-01 -2.24297134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.802401008 meters Centerline goodness : 0.935407 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.34, Z:-0.22 [[ 9.99849269e-01 -2.33841908e-03 -1.72037975e-02 3.22158146e+00] [ 2.35998595e-03 9.99996455e-01 1.23341606e-03 -3.35216166e-01] [ 1.72008522e-02 -1.27383087e-03 9.99851243e-01 -2.24878606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.832401008000001 meters Centerline goodness : 0.936791 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.34, Z:-0.22 [[ 9.99822286e-01 -3.62992873e-03 -1.84992099e-02 3.22548485e+00] [ 3.65422408e-03 9.99992504e-01 1.27968403e-03 -3.36368247e-01] [ 1.84944261e-02 -1.34705687e-03 9.99828056e-01 -2.24819904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.862401008 meters Centerline goodness : 0.935537 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.34, Z:-0.21 [[ 0.99978488 -0.00988453 -0.01823431 3.25212476] [ 0.01021432 0.99978432 0.0180826 -0.34144713] [ 0.01805164 -0.01826496 0.99967021 -0.20937881] [ 0. 0. 0. 1. ]] SLAMing on 13.892401008 meters Centerline goodness : 0.937098 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.34, Z:-0.21 [[ 0.99975643 -0.01086635 -0.01920944 3.25487801] [ 0.01121685 0.99977083 0.01823372 -0.34226409] [ 0.01900691 -0.01844475 0.9996492 -0.20874759] [ 0. 0. 0. 1. ]] SLAMing on 13.922401008000001 meters Centerline goodness : 0.936909 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.34, Z:-0.20 [[ 0.99972998 -0.01052501 -0.02071682 3.26251554] [ 0.01105773 0.99960673 0.02577027 -0.34482899] [ 0.02043744 -0.02599239 0.9994532 -0.20166191] [ 0. 0. 0. 1. ]] SLAMing on 13.952401008 meters Centerline goodness : 0.937822 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.34, Z:-0.20 [[ 0.99968697 -0.01485601 -0.02013115 3.26215458] [ 0.0152542 0.99968813 0.01977256 -0.34071714] [ 0.01983113 -0.02007345 0.99960181 -0.20459618] [ 0. 0. 0. 1. ]] SLAMing on 13.982401008 meters Centerline goodness : 0.937800 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.34, Z:-0.19 [[ 0.99967862 -0.0111952 -0.02274465 3.2924748 ] [ 0.01186005 0.99950001 0.02930988 -0.34499627] [ 0.02240514 -0.02957022 0.99931157 -0.19275314] [ 0. 0. 0. 1. ]] SLAMing on 14.012401008000001 meters Centerline goodness : 0.934785 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.35, Z:-0.18 [[ 0.99968332 -0.00914842 -0.02344276 3.30255685] [ 0.01013278 0.9990569 0.04222118 -0.34630097] [ 0.02303439 -0.04244535 0.99883322 -0.18239561] [ 0. 0. 0. 1. ]] SLAMing on 14.042401008 meters Centerline goodness : 0.933667 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.34, Z:-0.19 [[ 0.99977709 -0.00858902 -0.01928741 3.31319293] [ 0.0091061 0.99959711 0.02688307 -0.34047466] [ 0.01904874 -0.02705271 0.9994525 -0.19205662] [ 0. 0. 0. 1. ]] SLAMing on 14.072401008 meters Centerline goodness : 0.937405 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.33, Z:-0.20 [[ 0.99986415 -0.00664127 -0.0150858 3.32719421] [ 0.00688992 0.99984028 0.01649066 -0.33437342] [ 0.01497387 -0.01659236 0.99975021 -0.19803326] [ 0. 0. 0. 1. ]] SLAMing on 14.102401008000001 meters Centerline goodness : 0.937183 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.33, Z:-0.20 [[ 0.99986052 -0.00690062 -0.01520939 3.32756006] [ 0.00713708 0.99985366 0.01554757 -0.33069177] [ 0.01509988 -0.01565395 0.99976345 -0.19861703] [ 0. 0. 0. 1. ]] SLAMing on 14.132401008 meters Centerline goodness : 0.936946 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.33, Z:-0.20 [[ 0.99991744 -0.00377263 -0.01228336 3.34607044] [ 0.00388679 0.99994935 0.00928335 -0.3270839 ] [ 0.01224772 -0.00933033 0.99988146 -0.20324505] [ 0. 0. 0. 1. ]] SLAMing on 14.162401008000002 meters Centerline goodness : 0.933525 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.33, Z:-0.20 [[ 9.99912724e-01 -3.93517517e-04 -1.32056407e-02 3.34816322e+00] [ 5.67261165e-04 9.99913300e-01 1.31556099e-02 -3.25483092e-01] [ 1.31993188e-02 -1.31619528e-02 9.99826255e-01 -2.02467123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.192401008000001 meters Centerline goodness : 0.934831 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.32, Z:-0.20 [[ 9.99900460e-01 3.31090102e-03 -1.37152536e-02 3.34921750e+00] [-3.10955174e-03 9.99887465e-01 1.46760840e-02 -3.17792839e-01] [ 1.37623012e-02 -1.46319749e-02 9.99798232e-01 -2.04466796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.222401008 meters Centerline goodness : 0.934808 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.31, Z:-0.21 [[ 0.99992879 0.0070461 -0.00963186 3.3648915 ] [-0.00697409 0.99994763 0.0074896 -0.31280209] [ 0.00968413 -0.00742189 0.99992556 -0.20955841] [ 0. 0. 0. 1. ]] SLAMing on 14.252401008000001 meters Centerline goodness : 0.936711 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.31, Z:-0.21 [[ 0.99992733 0.00754888 -0.00939913 3.36344119] [-0.00748622 0.99994964 0.00668329 -0.30849716] [ 0.00944911 -0.00661244 0.99993349 -0.20939027] [ 0. 0. 0. 1. ]] SLAMing on 14.282401008 meters Centerline goodness : 0.934926 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.31, Z:-0.20 [[ 0.99990322 0.00999466 -0.00967769 3.37422157] [-0.00978309 0.99971738 0.0216669 -0.31074396] [ 0.00989151 -0.02157012 0.9997184 -0.19725382] [ 0. 0. 0. 1. ]] SLAMing on 14.312401008 meters Centerline goodness : 0.935216 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.31, Z:-0.20 [[ 0.99990523 0.00981246 -0.00965612 3.37421653] [-0.00961235 0.9997425 0.02055554 -0.30733087] [ 0.00985533 -0.02046077 0.99974208 -0.19803982] [ 0. 0. 0. 1. ]] SLAMing on 14.342401008000001 meters Centerline goodness : 0.932491 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.30, Z:-0.20 [[ 0.99991131 0.00926229 -0.00957014 3.375168 ] [-0.00909442 0.99980658 0.01743826 -0.29956393] [ 0.00972981 -0.01734968 0.99980214 -0.20228542] [ 0. 0. 0. 1. ]] SLAMing on 14.372401008 meters Centerline goodness : 0.933065 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.30, Z:-0.20 [[ 0.99991632 0.00864285 -0.00962606 3.37644309] [-0.00849034 0.99983954 0.0157739 -0.2957203 ] [ 0.00976084 -0.01569085 0.99982925 -0.20468951] [ 0. 0. 0. 1. ]] SLAMing on 14.402401008 meters Centerline goodness : 0.934720 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.29, Z:-0.21 [[ 0.99991503 0.00872454 -0.00968542 3.37643304] [-0.00858107 0.99985428 0.01475731 -0.29278785] [ 0.00981276 -0.01467294 0.9998442 -0.20551809] [ 0. 0. 0. 1. ]] SLAMing on 14.432401008000001 meters Centerline goodness : 0.934604 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.29, Z:-0.21 [[ 0.99993838 0.00545369 -0.00966893 3.37572457] [-0.0053608 0.99993948 0.00960716 -0.28896851] [ 0.00972074 -0.00955474 0.9999071 -0.20693822] [ 0. 0. 0. 1. ]] SLAMing on 14.462401008 meters Centerline goodness : 0.934308 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.29, Z:-0.21 [[ 0.99993709 0.0051642 -0.00995689 3.3765834 ] [-0.00507348 0.99994559 0.00911432 -0.28797878] [ 0.01000341 -0.00906323 0.99990889 -0.20740951] [ 0. 0. 0. 1. ]] SLAMing on 14.492401008000002 meters Centerline goodness : 0.935975 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.29, Z:-0.21 [[ 0.99993568 0.00462158 -0.01035746 3.37801865] [-0.00453344 0.99995345 0.00851791 -0.28704562] [ 0.01039634 -0.0084704 0.99991008 -0.20819058] [ 0. 0. 0. 1. ]] SLAMing on 14.522401008000001 meters Centerline goodness : 0.937943 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.29, Z:-0.21 [[ 0.99993204 0.0038435 -0.01100626 3.38012171] [-0.00374736 0.99995476 0.00874248 -0.28861898] [ 0.01103936 -0.00870064 0.99990121 -0.20803033] [ 0. 0. 0. 1. ]] SLAMing on 14.552401008 meters Centerline goodness : 0.937943 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.29, Z:-0.21 [[ 0.99993204 0.0038435 -0.01100626 3.38012171] [-0.00374736 0.99995476 0.00874248 -0.28861898] [ 0.01103936 -0.00870064 0.99990121 -0.20803033] [ 0. 0. 0. 1. ]] SLAMing on 14.582401008000001 meters Centerline goodness : 0.939346 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.29, Z:-0.21 [[ 9.99927710e-01 3.29409481e-03 -1.15639230e-02 3.38186079e+00] [-3.19129953e-03 9.99955333e-01 8.89653465e-03 -2.90321279e-01] [ 1.15927125e-02 -8.85898758e-03 9.99893558e-01 -2.08071771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.612401008 meters Centerline goodness : 0.937795 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.29, Z:-0.21 [[ 9.99933697e-01 -7.38046358e-04 -1.14916042e-02 3.38205251e+00] [ 7.84552636e-04 9.99991519e-01 4.04299678e-03 -2.89034915e-01] [ 1.14885228e-02 -4.05174448e-03 9.99925796e-01 -2.09558472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.642401008 meters Centerline goodness : 0.938858 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.29, Z:-0.21 [[ 9.99929981e-01 -7.89035447e-04 -1.18072378e-02 3.38261968e+00] [ 8.45321447e-04 9.99988300e-01 4.76284495e-03 -2.91096949e-01] [ 1.18033417e-02 -4.77249237e-03 9.99918949e-01 -2.08696899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.672401008000001 meters Centerline goodness : 0.943007 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.29, Z:-0.21 [[ 9.99921281e-01 -1.21947343e-03 -1.24877588e-02 3.38476409e+00] [ 1.28821102e-03 9.99984057e-01 5.49783411e-03 -2.94198521e-01] [ 1.24808553e-02 -5.51348820e-03 9.99906911e-01 -2.08540262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.702401008 meters Centerline goodness : 0.942646 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.30, Z:-0.21 [[ 9.99920853e-01 -1.14025142e-03 -1.25294365e-02 3.38479838e+00] [ 1.21357569e-03 9.99982175e-01 5.84611618e-03 -2.95677718e-01] [ 1.25225471e-02 -5.86085890e-03 9.99904414e-01 -2.08254164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.732401008 meters Centerline goodness : 0.946300 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.30, Z:-0.21 [[ 9.99919750e-01 -1.00372237e-03 -1.26287900e-02 3.38467788e+00] [ 1.08053455e-03 9.99980951e-01 6.07695448e-03 -2.96591854e-01] [ 1.26224499e-02 -6.09011264e-03 9.99901787e-01 -2.07793243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.762401008000001 meters Centerline goodness : 0.947368 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.30, Z:-0.21 [[ 9.99967749e-01 1.27823952e-03 -7.92883124e-03 3.39933252e+00] [-1.28904252e-03 9.99998248e-01 -1.35753517e-03 -2.96105278e-01] [ 7.92708209e-03 1.36771198e-03 9.99967645e-01 -2.11972836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.792401008 meters Centerline goodness : 0.945639 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.30, Z:-0.21 [[ 9.99968163e-01 1.73184127e-03 -7.78932843e-03 3.39854459e+00] [-1.73813145e-03 9.99998169e-01 -8.00840547e-04 -2.97140964e-01] [ 7.78792723e-03 8.14353927e-04 9.99969342e-01 -2.11291864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.822401008 meters Centerline goodness : 0.947431 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.30, Z:-0.21 [[ 9.99967299e-01 1.72307429e-03 -7.90141080e-03 3.39923753e+00] [-1.72935871e-03 9.99998194e-01 -7.88590905e-04 -2.98624685e-01] [ 7.90003773e-03 8.02229490e-04 9.99968472e-01 -2.12037156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.852401008000001 meters Centerline goodness : 0.950354 Centerline is valid? [False, True] Translation: X:3.40, Y:-0.30, Z:-0.21 [[ 9.99964505e-01 1.39302632e-03 -8.30950780e-03 3.40063729e+00] [-1.39890249e-03 9.99998776e-01 -7.01391229e-04 -2.99469766e-01] [ 8.30852057e-03 7.12990525e-04 9.99965229e-01 -2.12363583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.882401008 meters Centerline goodness : 0.948474 Centerline is valid? [True, False] Translation: X:3.40, Y:-0.30, Z:-0.21 [[ 9.99962395e-01 1.03670683e-03 -8.61005423e-03 3.40190268e+00] [-1.03949538e-03 9.99999409e-01 -3.19402986e-04 -3.01007018e-01] [ 8.60971801e-03 3.28341087e-04 9.99962882e-01 -2.12433325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.912401008000002 meters Centerline goodness : 0.949006 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.30, Z:-0.21 [[ 9.99957990e-01 4.52681851e-04 -9.15499378e-03 3.40365967e+00] [-4.51660227e-04 9.99999892e-01 1.13659219e-04 -3.02858342e-01] [ 9.15504424e-03 -1.09519498e-04 9.99958086e-01 -2.12184802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.942401008000001 meters Centerline goodness : 0.950152 Centerline is valid? [False, True] Translation: X:3.41, Y:-0.31, Z:-0.21 [[ 9.99936013e-01 -4.34141700e-03 -1.04461272e-02 3.41198929e+00] [ 4.36427204e-03 9.99988131e-01 2.16609620e-03 -3.07772914e-01] [ 1.04365993e-02 -2.21154734e-03 9.99943092e-01 -2.08482281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.972401008 meters Centerline goodness : 0.951216 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.31, Z:-0.21 [[ 9.99917225e-01 -8.25292523e-03 -9.87073568e-03 3.44035126e+00] [ 8.25554874e-03 9.99965897e-01 2.25069907e-04 -3.08979152e-01] [ 9.86854157e-03 -3.06539616e-04 9.99951258e-01 -2.10337287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.002401008000001 meters Centerline goodness : 0.949024 Centerline is valid? [True, False] Translation: X:3.44, Y:-0.31, Z:-0.21 [[ 9.99892990e-01 -9.75174999e-03 -1.09046544e-02 3.44421945e+00] [ 9.75559198e-03 9.99952368e-01 2.99187579e-04 -3.10728146e-01] [ 1.09012174e-02 -4.05536922e-04 9.99940498e-01 -2.10568819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.032401008 meters Centerline goodness : 0.948885 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.32, Z:-0.20 [[ 0.99981531 -0.01840384 -0.00553607 3.46657618] [ 0.01852955 0.9995501 0.02358522 -0.31907708] [ 0.00509952 -0.02368345 0.9997065 -0.19571092] [ 0. 0. 0. 1. ]] SLAMing on 15.062401008 meters Centerline goodness : 0.949473 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.32, Z:-0.18 [[ 0.99971912 -0.02183523 -0.00921388 3.46049022] [ 0.02219676 0.99890629 0.04115257 -0.3247299 ] [ 0.00830522 -0.04134553 0.99911039 -0.18269816] [ 0. 0. 0. 1. ]] SLAMing on 15.092401008000001 meters Centerline goodness : 0.950735 Centerline is valid? [False, True] Translation: X:3.42, Y:-0.33, Z:-0.18 [[ 0.99958936 -0.02730843 -0.00868066 3.41945319] [ 0.027718 0.99830325 0.05120865 -0.32597611] [ 0.0072675 -0.05142823 0.99865025 -0.17720994] [ 0. 0. 0. 1. ]] SLAMing on 15.122401008 meters Centerline goodness : 0.949314 Centerline is valid? [True, False] Translation: X:3.39, Y:-0.33, Z:-0.18 [[ 0.99948602 -0.02984244 -0.01170987 3.39009521] [ 0.03037189 0.9983857 0.0479953 -0.32529821] [ 0.01025867 -0.04832628 0.99877892 -0.17883025] [ 0. 0. 0. 1. ]] SLAMing on 15.152401008 meters Centerline goodness : 0.951481 Centerline is valid? [False, True] Translation: X:3.36, Y:-0.33, Z:-0.18 [[ 0.9993402 -0.03282875 -0.01553824 3.36134172] [ 0.03350509 0.99840327 0.04547881 -0.3263344 ] [ 0.01402042 -0.04596941 0.99884445 -0.17815795] [ 0. 0. 0. 1. ]] SLAMing on 15.182401008000001 meters Centerline goodness : 0.950226 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.31, Z:-0.21 [[ 9.99321823e-01 -3.26647398e-02 -1.69972949e-02 3.38940180e+00] [ 3.26769769e-02 9.99465867e-01 4.42638025e-04 -3.08543724e-01] [ 1.69737574e-02 -9.97758050e-04 9.99855438e-01 -2.10586004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.212401008 meters Centerline goodness : 0.951199 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.31, Z:-0.21 [[ 9.99346280e-01 -3.17840750e-02 -1.72274835e-02 3.41771778e+00] [ 3.17964398e-02 9.99494267e-01 4.44237357e-04 -3.07450191e-01] [ 1.72046513e-02 -9.91719592e-04 9.99851497e-01 -2.11138958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.242401008000002 meters Centerline goodness : 0.950717 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.31, Z:-0.21 [[ 9.99427712e-01 -2.90635058e-02 -1.73078561e-02 3.44581369e+00] [ 2.90755016e-02 9.99577121e-01 4.41799020e-04 -3.06488132e-01] [ 1.72876967e-02 -9.44780780e-04 9.99850110e-01 -2.11717803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.272401008000001 meters Centerline goodness : 0.951399 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.30, Z:-0.21 [[ 9.99576105e-01 -2.35348869e-02 -1.71382361e-02 3.47423929e+00] [ 2.35457604e-02 9.99722666e-01 4.32924080e-04 -3.03406883e-01] [ 1.71232943e-02 -8.36273366e-04 9.99853036e-01 -2.12987077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.302401008 meters Centerline goodness : 0.951038 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.30, Z:-0.21 [[ 9.99630085e-01 -2.07910298e-02 -1.75335885e-02 3.50280812e+00] [ 2.08019077e-02 9.99783521e-01 4.38229559e-04 -3.01761499e-01] [ 1.75206816e-02 -8.02799541e-04 9.99846179e-01 -2.13030915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.332401008000001 meters Centerline goodness : 0.949708 Centerline is valid? [True, False] Translation: X:3.50, Y:-0.30, Z:-0.21 [[ 9.99647978e-01 -2.01788398e-02 -1.72259563e-02 3.50118809e+00] [ 2.01838544e-02 9.99796278e-01 1.17287289e-04 -2.98252853e-01] [ 1.72200803e-02 -4.64932196e-04 9.99851615e-01 -2.12567157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.362401008 meters Centerline goodness : 0.950001 Centerline is valid? [False, True] Translation: X:3.50, Y:-0.30, Z:-0.21 [[ 0.999713 -0.01612804 -0.01771439 3.50109217] [ 0.01621718 0.99985649 0.00489976 -0.29812364] [ 0.01763282 -0.00518563 0.99983108 -0.21008708] [ 0. 0. 0. 1. ]] SLAMing on 15.392401008 meters Centerline goodness : 0.951010 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.29, Z:-0.21 [[ 9.99743358e-01 -1.46780176e-02 -1.72561508e-02 3.52970714e+00] [ 1.46878019e-02 9.99892031e-01 4.40394761e-04 -2.91908052e-01] [ 1.72478236e-02 -6.93736661e-04 9.99851005e-01 -2.12966865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.422401008000001 meters Centerline goodness : 0.951569 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.29, Z:-0.21 [[ 9.99736740e-01 -1.50742182e-02 -1.72979441e-02 3.55803755e+00] [ 1.50840242e-02 9.99886134e-01 4.36552457e-04 -2.89691024e-01] [ 1.72893938e-02 -6.97360139e-04 9.99850284e-01 -2.12286460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.452401008 meters Centerline goodness : 0.952354 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.29, Z:-0.21 [[ 9.99740578e-01 -1.56800033e-02 -1.65201098e-02 3.58655151e+00] [ 1.56889575e-02 9.99876836e-01 4.12551059e-04 -2.86927446e-01] [ 1.65116063e-02 -6.71627335e-04 9.99863449e-01 -2.12453378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.482401008 meters Centerline goodness : 0.952681 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.28, Z:-0.21 [[ 9.99744527e-01 -1.58178692e-02 -1.61454745e-02 3.61419133e+00] [ 1.58264332e-02 9.99874673e-01 4.02785225e-04 -2.84297541e-01] [ 1.61370799e-02 -6.58207598e-04 9.99869572e-01 -2.12479410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.512401008000001 meters Centerline goodness : 0.949604 Centerline is valid? [True, False] Translation: X:3.62, Y:-0.28, Z:-0.21 [[ 9.99775718e-01 -1.29667631e-02 -1.67444811e-02 3.61581612e+00] [ 1.30267842e-02 9.99909091e-01 3.48044207e-03 -2.79614514e-01] [ 1.66978288e-02 -3.69778821e-03 9.99853744e-01 -2.12157658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.542401008 meters Centerline goodness : 0.950777 Centerline is valid? [False, True] Translation: X:3.62, Y:-0.28, Z:-0.21 [[ 0.99980772 -0.00940483 -0.01720657 3.61658622] [ 0.00953857 0.9999248 0.00770726 -0.27827206] [ 0.01713279 -0.0078699 0.99982225 -0.21076202] [ 0. 0. 0. 1. ]] SLAMing on 15.572401008000002 meters Centerline goodness : 0.948015 Centerline is valid? [True, False] Translation: X:3.62, Y:-0.27, Z:-0.21 [[ 0.99981435 -0.00926382 -0.01689515 3.61545022] [ 0.00938365 0.99993128 0.00702697 -0.27403459] [ 0.01682889 -0.00718421 0.99983257 -0.21046145] [ 0. 0. 0. 1. ]] SLAMing on 15.602401008000001 meters Centerline goodness : 0.948447 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.27, Z:-0.21 [[ 0.99984243 -0.01052443 -0.01429489 3.59574738] [ 0.01074194 0.99982638 0.01522545 -0.27121532] [ 0.01413217 -0.0153766 0.9997819 -0.20660999] [ 0. 0. 0. 1. ]] SLAMing on 15.632401008 meters Centerline goodness : 0.949551 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.27, Z:-0.21 [[ 0.99983652 -0.01087309 -0.01444682 3.59508852] [ 0.01107655 0.99983954 0.01407862 -0.26575846] [ 0.01429142 -0.01423634 0.99979652 -0.20557678] [ 0. 0. 0. 1. ]] SLAMing on 15.662401008000002 meters Centerline goodness : 0.949559 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.26, Z:-0.21 [[ 0.99983025 -0.01124326 -0.01459682 3.59539339] [ 0.01143769 0.99984605 0.01330593 -0.26239715] [ 0.01444497 -0.01347062 0.99980492 -0.20556574] [ 0. 0. 0. 1. ]] SLAMing on 15.692401008000001 meters Centerline goodness : 0.948448 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.26, Z:-0.20 [[ 0.99979135 -0.01102176 -0.01719798 3.57581327] [ 0.01139701 0.99969573 0.0218761 -0.26063503] [ 0.01695164 -0.02206754 0.99961276 -0.20056602] [ 0. 0. 0. 1. ]] SLAMing on 15.722401008 meters Centerline goodness : 0.945911 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.26, Z:-0.20 [[ 0.99977956 -0.01178622 -0.01737588 3.57697921] [ 0.01213685 0.99972201 0.0202138 -0.25588033] [ 0.0171328 -0.02042023 0.99964468 -0.20219131] [ 0. 0. 0. 1. ]] SLAMing on 15.752401008000001 meters Centerline goodness : 0.946445 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.25, Z:-0.20 [[ 0.999781 -0.01204598 -0.01711286 3.57718702] [ 0.01234878 0.99976707 0.01770047 -0.24603444] [ 0.01689565 -0.01790792 0.99969688 -0.20488377] [ 0. 0. 0. 1. ]] SLAMing on 15.782401008 meters Centerline goodness : 0.945038 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.24, Z:-0.20 [[ 0.99975706 -0.01244258 -0.01819338 3.55492078] [ 0.0128291 0.99969113 0.02128504 -0.24194338] [ 0.01792292 -0.02151327 0.9996079 -0.20484085] [ 0. 0. 0. 1. ]] SLAMing on 15.812401008 meters Centerline goodness : 0.944535 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.24, Z:-0.21 [[ 0.99973976 -0.01325392 -0.01856716 3.55681917] [ 0.01361194 0.99972125 0.01929067 -0.23725945] [ 0.0183063 -0.01953838 0.9996415 -0.20726511] [ 0. 0. 0. 1. ]] SLAMing on 15.842401008000001 meters Centerline goodness : 0.943056 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.23, Z:-0.21 [[ 0.99972573 -0.01384248 -0.01889028 3.55809897] [ 0.01416035 0.99975862 0.01679846 -0.23029962] [ 0.01865319 -0.01706134 0.99968043 -0.20971045] [ 0. 0. 0. 1. ]] SLAMing on 15.872401008 meters Centerline goodness : 0.943437 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.23, Z:-0.21 [[ 0.99972342 -0.01391295 -0.01896063 3.55790667] [ 0.01422179 0.99976678 0.01625212 -0.22755199] [ 0.01873009 -0.01651728 0.99968813 -0.20942343] [ 0. 0. 0. 1. ]] SLAMing on 15.902401008000002 meters Centerline goodness : 0.941628 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.22, Z:-0.21 [[ 0.99972558 -0.01392998 -0.01883389 3.55730248] [ 0.01422401 0.99977762 0.01556897 -0.22456197] [ 0.01861283 -0.01583259 0.9997014 -0.20936799] [ 0. 0. 0. 1. ]] SLAMing on 15.932401008000001 meters Centerline goodness : 0.940871 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.22, Z:-0.21 [[ 0.99972647 -0.01393365 -0.01878383 3.55684827] [ 0.0142155 0.9997871 0.01495606 -0.22161432] [ 0.01857144 -0.015219 0.9997117 -0.20930207] [ 0. 0. 0. 1. ]] SLAMing on 15.962401008 meters Centerline goodness : 0.940894 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.22, Z:-0.21 [[ 0.99982897 -0.01369292 -0.01243131 3.53167083] [ 0.01391717 0.99973868 0.01813502 -0.21524343] [ 0.01217974 -0.01830493 0.99975826 -0.21097578] [ 0. 0. 0. 1. ]] SLAMing on 15.992401008000002 meters Centerline goodness : 0.940145 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.21, Z:-0.21 [[ 0.99983632 -0.01341397 -0.01214084 3.53060552] [ 0.01362572 0.99975349 0.01752985 -0.21185518] [ 0.01190271 -0.01769241 0.99977263 -0.21093802] [ 0. 0. 0. 1. ]] SLAMing on 16.022401008 meters Centerline goodness : 0.938936 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.21, Z:-0.21 [[ 0.99984659 -0.01300246 -0.01173623 3.52929654] [ 0.01320071 0.99976875 0.01697621 -0.20847434] [ 0.01151279 -0.01712853 0.99978701 -0.21087962] [ 0. 0. 0. 1. ]] SLAMing on 16.052401008 meters Centerline goodness : 0.938456 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.21, Z:-0.21 [[ 0.99984843 -0.01299848 -0.01158225 3.5290557 ] [ 0.01318316 0.99978486 0.01601351 -0.2052326 ] [ 0.01137161 -0.01616377 0.99980469 -0.21162503] [ 0. 0. 0. 1. ]] SLAMing on 16.082401008 meters Centerline goodness : 0.936838 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.20, Z:-0.21 [[ 0.99986887 -0.01151863 -0.01138284 3.52842986] [ 0.01171055 0.99978794 0.01693928 -0.20304562] [ 0.01118531 -0.01707036 0.99979172 -0.21109823] [ 0. 0. 0. 1. ]] SLAMing on 16.112401008000003 meters Centerline goodness : 0.938106 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.20, Z:-0.22 [[ 0.99993429 -0.00881999 -0.00732232 3.5403666 ] [ 0.00885761 0.99994765 0.00512171 -0.19630619] [ 0.00727676 -0.00518623 0.99996008 -0.21854244] [ 0. 0. 0. 1. ]] SLAMing on 16.142401008 meters Centerline goodness : 0.937667 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.19, Z:-0.22 [[ 0.99993272 -0.00883563 -0.00751615 3.54131317] [ 0.00886281 0.99995427 0.00359147 -0.19480157] [ 0.00748407 -0.00365784 0.9999653 -0.21898116] [ 0. 0. 0. 1. ]] SLAMing on 16.172401008 meters Centerline goodness : 0.935411 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.19, Z:-0.22 [[ 0.99993273 -0.00881209 -0.00754264 3.5409055 ] [ 0.00884003 0.99995416 0.00367846 -0.19392933] [ 0.00750988 -0.00374489 0.99996479 -0.21811843] [ 0. 0. 0. 1. ]] SLAMing on 16.202401008000002 meters Centerline goodness : 0.936216 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.19, Z:-0.22 [[ 0.99993319 -0.00889527 -0.00738211 3.54076722] [ 0.00892185 0.99995381 0.00357575 -0.19253309] [ 0.00734997 -0.00364137 0.99996636 -0.21821233] [ 0. 0. 0. 1. ]] SLAMing on 16.232401008 meters Centerline goodness : 0.937533 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.19, Z:-0.22 [[ 0.99994387 -0.00814253 -0.00677889 3.54043453] [ 0.0081802 0.99995116 0.0055471 -0.19136603] [ 0.00673339 -0.00560224 0.99996164 -0.21942155] [ 0. 0. 0. 1. ]] SLAMing on 16.262401008 meters Centerline goodness : 0.933178 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.19, Z:-0.23 [[ 9.99971085e-01 -4.26669519e-03 -6.29477088e-03 3.55889031e+00] [ 4.24793694e-03 9.99986506e-01 -2.99034017e-03 -1.85915249e-01] [ 6.30744481e-03 2.96351392e-03 9.99975717e-01 -2.28191649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.292401008000002 meters Centerline goodness : 0.935509 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.19, Z:-0.23 [[ 9.99987240e-01 3.03407920e-04 -5.04260236e-03 3.57631097e+00] [-3.42841157e-04 9.99969357e-01 -7.82099328e-03 -1.85096565e-01] [ 5.04007489e-03 7.82262230e-03 9.99956701e-01 -2.32057689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.322401008 meters Centerline goodness : 0.935993 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.19, Z:-0.23 [[ 9.99976083e-01 3.35557595e-03 -6.04760930e-03 3.57899535e+00] [-3.37968463e-03 9.99986366e-01 -3.98067992e-03 -1.86312746e-01] [ 6.03416937e-03 4.00102372e-03 9.99973790e-01 -2.32148640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.352401008 meters Centerline goodness : 0.938114 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.19, Z:-0.23 [[ 0.99996154 0.00499034 -0.00721263 3.58096239] [-0.00503403 0.99996902 -0.00605181 -0.18578019] [ 0.0071822 0.00608788 0.99995568 -0.23106585] [ 0. 0. 0. 1. ]] SLAMing on 16.382401008000002 meters Centerline goodness : 0.937856 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.19, Z:-0.23 [[ 0.99995542 0.0050938 -0.00795089 3.58243672] [-0.00515181 0.99996013 -0.00729317 -0.18568501] [ 0.00791342 0.00733381 0.99994179 -0.23088881] [ 0. 0. 0. 1. ]] SLAMing on 16.412401008 meters Centerline goodness : 0.937856 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.19, Z:-0.23 [[ 0.99995542 0.0050938 -0.00795089 3.58243672] [-0.00515181 0.99996013 -0.00729317 -0.18568501] [ 0.00791342 0.00733381 0.99994179 -0.23088881] [ 0. 0. 0. 1. ]] SLAMing on 16.442401008 meters Centerline goodness : 0.937931 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.19, Z:-0.23 [[ 9.99987077e-01 1.24290995e-03 -4.92965040e-03 3.56557493e+00] [-1.24552674e-03 9.99999085e-01 -5.27792589e-04 -1.85339963e-01] [ 4.92898989e-03 5.33925780e-04 9.99987710e-01 -2.28749061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.472401008000002 meters Centerline goodness : 0.939494 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.19, Z:-0.22 [[ 9.99970007e-01 -5.42152395e-04 -7.72599733e-03 3.54918213e+00] [ 6.04194164e-04 9.99967575e-01 8.03018999e-03 -1.87194267e-01] [ 7.72139323e-03 -8.03461714e-03 9.99937911e-01 -2.23689802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.502401008 meters Centerline goodness : 0.935998 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.19, Z:-0.22 [[ 9.99968977e-01 -5.52793556e-04 -7.85749590e-03 3.54951700e+00] [ 6.17914262e-04 9.99965465e-01 8.28770741e-03 -1.88072823e-01] [ 7.85264315e-03 -8.29230556e-03 9.99934785e-01 -2.23833067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.532401008 meters Centerline goodness : 0.937818 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.19, Z:-0.23 [[ 9.99959916e-01 5.24719435e-04 -8.93815618e-03 3.55312083e+00] [-4.55773304e-04 9.99970143e-01 7.71397721e-03 -1.89972401e-01] [ 8.94193699e-03 -7.70959424e-03 9.99930300e-01 -2.25774940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.562401008000002 meters Centerline goodness : 0.936803 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.19, Z:-0.23 [[ 9.99991231e-01 -6.15663905e-04 -4.14234257e-03 3.52938751e+00] [ 6.62445982e-04 9.99935914e-01 1.13017509e-02 -1.88865392e-01] [ 4.13511903e-03 -1.13043958e-02 9.99927553e-01 -2.27606185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.592401008 meters Centerline goodness : 0.936073 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.19, Z:-0.23 [[ 9.99992904e-01 3.64501190e-04 -3.74955298e-03 3.52785576e+00] [-3.19944374e-04 9.99929415e-01 1.18769778e-02 -1.88896331e-01] [ 3.75361749e-03 -1.18756939e-02 9.99922436e-01 -2.27024920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.622401008 meters Centerline goodness : 0.937069 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.19, Z:-0.23 [[ 9.99993810e-01 1.47376396e-03 -3.19487313e-03 3.52615430e+00] [-1.43271657e-03 9.99916892e-01 1.28123314e-02 -1.89337580e-01] [ 3.21348996e-03 -1.28076747e-02 9.99912815e-01 -2.26156162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.652401008000002 meters Centerline goodness : 0.935050 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.19, Z:-0.23 [[ 9.99982234e-01 5.91817978e-03 7.11503404e-04 3.53762015e+00] [-5.92163549e-03 9.99970180e-01 4.95709516e-03 -1.91681240e-01] [-6.82145207e-04 -4.96122035e-03 9.99987460e-01 -2.31243964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.682401008 meters Centerline goodness : 0.934310 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.19, Z:-0.23 [[ 9.99980809e-01 6.17689593e-03 4.76858245e-04 3.53832660e+00] [-6.17948739e-03 9.99965007e-01 5.63902478e-03 -1.94378083e-01] [-4.42009889e-04 -5.64186330e-03 9.99983987e-01 -2.31399575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.712401008 meters Centerline goodness : 0.933807 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.20, Z:-0.23 [[ 9.99958404e-01 9.12083023e-03 -1.53205221e-06 3.55994945e+00] [-9.12063448e-03 9.99938016e-01 6.38581600e-03 -1.99273650e-01] [ 5.97759009e-05 -6.38553641e-03 9.99979610e-01 -2.28692109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.742401008 meters Centerline goodness : 0.935712 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.20, Z:-0.23 [[ 9.99954799e-01 9.50697042e-03 -1.32705418e-04 3.55978908e+00] [-9.50571326e-03 9.99926891e-01 7.47356724e-03 -2.02357538e-01] [ 2.03746699e-04 -7.47196797e-03 9.99972064e-01 -2.27691462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.772401008 meters Centerline goodness : 0.936693 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.21, Z:-0.23 [[ 9.99951761e-01 9.81883298e-03 -2.55687626e-04 3.56005370e+00] [-9.81606990e-03 9.99909614e-01 9.18741925e-03 -2.08582086e-01] [ 3.45874250e-04 -9.18446621e-03 9.99957762e-01 -2.26693187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.802401008 meters Centerline goodness : 0.937782 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.21, Z:-0.23 [[ 9.99954882e-01 9.47506728e-03 -6.75517801e-04 3.56179879e+00] [-9.46829114e-03 9.99910867e-01 9.41321331e-03 -2.11267643e-01] [ 7.64648420e-04 -9.40639261e-03 9.99955467e-01 -2.27606729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.832401008 meters Centerline goodness : 0.937000 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.21, Z:-0.23 [[ 9.99958890e-01 8.98379516e-03 -1.22852689e-03 3.56409636e+00] [-8.97140285e-03 9.99912263e-01 9.74575072e-03 -2.14520538e-01] [ 1.31597293e-03 -9.73432846e-03 9.99951754e-01 -2.28640406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.862401008000003 meters Centerline goodness : 0.934469 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.22, Z:-0.23 [[ 9.99963588e-01 8.31390681e-03 -1.92396295e-03 3.56672969e+00] [-8.29391892e-03 9.99913851e-01 1.01736099e-02 -2.18789752e-01] [ 2.00837964e-03 -1.01572823e-02 9.99946397e-01 -2.29539869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.892401008 meters Centerline goodness : 0.931348 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.23, Z:-0.23 [[ 0.99995481 0.00685475 -0.00658663 3.5926984 ] [-0.00679199 0.99993177 0.00950395 -0.2297434 ] [ 0.00665133 -0.00945879 0.99993314 -0.22617428] [ 0. 0. 0. 1. ]] SLAMing on 16.922401008 meters Centerline goodness : 0.929380 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.23, Z:-0.22 [[ 0.99995352 0.00666109 -0.00697012 3.59396959] [-0.00658288 0.99991579 0.01118376 -0.2348815 ] [ 0.00704403 -0.01113736 0.99991317 -0.2248062 ] [ 0. 0. 0. 1. ]] SLAMing on 16.952401008000002 meters Centerline goodness : 0.930973 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.24, Z:-0.22 [[ 0.99995303 0.00632348 -0.00734566 3.59539772] [-0.00623426 0.99990727 0.01210712 -0.23908477] [ 0.00742154 -0.01206076 0.99989972 -0.22452372] [ 0. 0. 0. 1. ]] SLAMing on 16.982401008 meters Centerline goodness : 0.932001 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.25, Z:-0.22 [[ 0.99995317 0.00633833 -0.00731347 3.59572134] [-0.00622047 0.99985221 0.01602726 -0.24848563] [ 0.00741398 -0.01598102 0.99984481 -0.22031687] [ 0. 0. 0. 1. ]] SLAMing on 17.012401008 meters Centerline goodness : 0.930862 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.25, Z:-0.23 [[ 9.99975769e-01 6.40784866e-03 -2.72054215e-03 3.60871543e+00] [-6.39712078e-03 9.99971800e-01 3.93384585e-03 -2.48489563e-01] [ 2.74567292e-03 -3.91634689e-03 9.99988562e-01 -2.27329972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.042401008000002 meters Centerline goodness : 0.930489 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.25, Z:-0.23 [[ 9.99973284e-01 6.74325679e-03 -2.82148137e-03 3.60910445e+00] [-6.73027035e-03 9.99966830e-01 4.58715445e-03 -2.51291213e-01] [ 2.85232014e-03 -4.56804256e-03 9.99985499e-01 -2.27524923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.072401008 meters Centerline goodness : 0.928329 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.25, Z:-0.23 [[ 9.99970850e-01 7.08266809e-03 -2.85223563e-03 3.60954455e+00] [-7.06871211e-03 9.99963139e-01 4.87370636e-03 -2.53323326e-01] [ 2.88664934e-03 -4.85340266e-03 9.99984056e-01 -2.28374257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.102401008 meters Centerline goodness : 0.932718 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.26, Z:-0.23 [[ 9.99961797e-01 8.42679828e-03 -2.32245839e-03 3.60869274e+00] [-8.41457592e-03 9.99950956e-01 5.22314437e-03 -2.56061628e-01] [ 2.36635887e-03 -5.20340232e-03 9.99983662e-01 -2.30295125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.132401008000002 meters Centerline goodness : 0.931843 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.26, Z:-0.23 [[ 9.99921325e-01 1.21808650e-02 -2.99512688e-03 3.61093623e+00] [-1.21509190e-02 9.99877944e-01 9.82102269e-03 -2.59869942e-01] [ 3.11438986e-03 -9.78385648e-03 9.99947287e-01 -2.30683006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.162401008 meters Centerline goodness : 0.932060 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.26, Z:-0.23 [[ 9.99916266e-01 1.26331486e-02 -2.80435250e-03 3.61093268e+00] [-1.26053458e-02 9.99873307e-01 9.71980227e-03 -2.60778407e-01] [ 2.92678892e-03 -9.68363856e-03 9.99948829e-01 -2.31946841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.192401008 meters Centerline goodness : 0.931408 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.26, Z:-0.23 [[ 9.99906912e-01 1.33901082e-02 -2.62157033e-03 3.61022239e+00] [-1.33622758e-02 9.99857040e-01 1.03609863e-02 -2.63118786e-01] [ 2.75993028e-03 -1.03249917e-02 9.99942887e-01 -2.31872972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.222401008000002 meters Centerline goodness : 0.931258 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.26, Z:-0.23 [[ 9.99935381e-01 1.11807528e-02 -2.05528903e-03 3.60769275e+00] [-1.11665324e-02 9.99914498e-01 6.80486242e-03 -2.64175724e-01] [ 2.13119678e-03 -6.78147225e-03 9.99974734e-01 -2.32086967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.252401008 meters Centerline goodness : 0.931377 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.27, Z:-0.23 [[ 9.99925978e-01 1.19995572e-02 -2.01237602e-03 3.60684209e+00] [-1.19829806e-02 9.99895746e-01 8.05640277e-03 -2.68244373e-01] [ 2.10883949e-03 -8.03169216e-03 9.99965522e-01 -2.30986663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.282401008 meters Centerline goodness : 0.934557 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.27, Z:-0.23 [[ 9.99951797e-01 9.76214129e-03 -1.05049278e-03 3.60497847e+00] [-9.75692264e-03 9.99940574e-01 4.86326926e-03 -2.73158677e-01] [ 1.09790628e-03 -4.85278526e-03 9.99987622e-01 -2.33131806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.312401008000002 meters Centerline goodness : 0.934453 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.27, Z:-0.24 [[ 9.99979208e-01 6.41455086e-03 -6.60896108e-04 3.60542729e+00] [-6.41450255e-03 9.99979424e-01 7.51932221e-05 -2.73186924e-01] [ 6.61364840e-04 -7.09523389e-05 9.99999779e-01 -2.36864500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.342401008 meters Centerline goodness : 0.933377 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.28, Z:-0.24 [[ 9.99980378e-01 6.17185119e-03 -1.07308902e-03 3.60787009e+00] [-6.17169725e-03 9.99980944e-01 1.46711769e-04 -2.76319895e-01] [ 1.07397405e-03 -1.40086110e-04 9.99999413e-01 -2.39067620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.372401008 meters Centerline goodness : 0.931284 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.28, Z:-0.24 [[ 9.99980310e-01 6.11756679e-03 -1.39788146e-03 3.60976933e+00] [-6.11681892e-03 9.99981147e-01 5.38653080e-04 -2.80349481e-01] [ 1.40115035e-03 -5.30091887e-04 9.99998878e-01 -2.40710654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.402401008000002 meters Centerline goodness : 0.931450 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.29, Z:-0.24 [[ 9.99992004e-01 3.93351771e-03 -7.20282621e-04 3.60913082e+00] [-3.93426784e-03 9.99991717e-01 -1.04300266e-03 -2.89805927e-01] [ 7.16173986e-04 1.04582811e-03 9.99999197e-01 -2.41970802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.432401008 meters Centerline goodness : 0.930435 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.29, Z:-0.24 [[ 9.99999537e-01 9.51972865e-04 -1.38112550e-04 3.60754366e+00] [-9.52504882e-04 9.99991924e-01 -3.90453252e-03 -2.94526049e-01] [ 1.34394426e-04 3.90466227e-03 9.99992368e-01 -2.41970476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.462401008 meters Centerline goodness : 0.935252 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.30, Z:-0.23 [[ 9.99998980e-01 -1.31732772e-03 -5.51674313e-04 3.61109870e+00] [ 1.31847428e-03 9.99996961e-01 2.08314420e-03 -3.04275470e-01] [ 5.48928453e-04 -2.08386944e-03 9.99997678e-01 -2.32202171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.492401008 meters Centerline goodness : 0.940814 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.31, Z:-0.23 [[ 9.99981141e-01 -6.12427739e-03 -4.58763410e-04 3.61168330e+00] [ 6.12548666e-03 9.99977641e-01 2.68262482e-03 -3.13905618e-01] [ 4.42324013e-04 -2.68538438e-03 9.99996297e-01 -2.25502882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.522401008000003 meters Centerline goodness : 0.935868 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.31, Z:-0.23 [[ 9.99981124e-01 -6.13432052e-03 -3.48901206e-04 3.61170391e+00] [ 6.13519322e-03 9.99977908e-01 2.55778394e-03 -3.13059729e-01] [ 3.33203232e-04 -2.55987623e-03 9.99996668e-01 -2.25879367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.552401008 meters Centerline goodness : 0.936758 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.31, Z:-0.23 [[ 9.99994833e-01 -3.06030693e-03 -9.84011867e-04 3.61433983e+00] [ 3.06659825e-03 9.99974452e-01 6.45689533e-03 -3.13244697e-01] [ 9.64226646e-04 -6.45987954e-03 9.99978670e-01 -2.26572782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.582401008 meters Centerline goodness : 0.933462 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.31, Z:-0.23 [[ 9.99993611e-01 -3.47761893e-03 -8.27695283e-04 3.61530906e+00] [ 3.48214353e-03 9.99978650e-01 5.52931826e-03 -3.10312700e-01] [ 8.08448751e-04 -5.53216508e-03 9.99984371e-01 -2.28632284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.612401008000003 meters Centerline goodness : 0.933400 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.31, Z:-0.23 [[ 9.99993285e-01 -3.62933824e-03 -5.06857602e-04 3.61540327e+00] [ 3.63166784e-03 9.99982485e-01 4.67348613e-03 -3.08064289e-01] [ 4.89887062e-04 -4.67529549e-03 9.99988951e-01 -2.30342067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.642401008 meters Centerline goodness : 0.932101 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.31, Z:-0.23 [[ 9.99989828e-01 -4.38840014e-03 -1.04191875e-03 3.61757652e+00] [ 4.39268403e-03 9.99981759e-01 4.14548344e-03 -3.07777287e-01] [ 1.02370770e-03 -4.15001809e-03 9.99990865e-01 -2.31440430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.672401008 meters Centerline goodness : 0.936095 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.31, Z:-0.23 [[ 9.99986298e-01 -4.91047762e-03 -1.81403091e-03 3.61956380e+00] [ 4.91842939e-03 9.99978201e-01 4.40534097e-03 -3.09158640e-01] [ 1.79235904e-03 -4.41420279e-03 9.99988651e-01 -2.31083142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.702401008000002 meters Centerline goodness : 0.936085 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.31, Z:-0.23 [[ 9.99980913e-01 -5.62123564e-03 -2.56440332e-03 3.62198454e+00] [ 5.63197544e-03 9.99975319e-01 4.20021300e-03 -3.10302248e-01] [ 2.54072964e-03 -4.21457549e-03 9.99987891e-01 -2.31719241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.732401008 meters Centerline goodness : 0.936508 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.31, Z:-0.23 [[ 9.99976258e-01 -6.11486404e-03 -3.17668441e-03 3.62396162e+00] [ 6.12803289e-03 9.99972602e-01 4.15240778e-03 -3.11749393e-01] [ 3.15120596e-03 -4.17177602e-03 9.99986333e-01 -2.32280310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.762401008 meters Centerline goodness : 0.937257 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.31, Z:-0.23 [[ 0.9999693 -0.00685173 -0.00380154 3.62630457] [ 0.00686916 0.99996586 0.004592 -0.31473888] [ 0.00376995 -0.00461798 0.99998223 -0.23237941] [ 0. 0. 0. 1. ]] SLAMing on 17.792401008000002 meters Centerline goodness : 0.935709 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.32, Z:-0.23 [[ 0.99996378 -0.00395993 -0.00753354 3.65489207] [ 0.00402526 0.99995426 0.0086761 -0.31952778] [ 0.00749884 -0.00870611 0.99993398 -0.22636528] [ 0. 0. 0. 1. ]] SLAMing on 17.822401008 meters Centerline goodness : 0.935213 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.32, Z:-0.23 [[ 0.99995977 -0.00423806 -0.00790525 3.65586664] [ 0.00430758 0.99995202 0.00879781 -0.31963676] [ 0.00786759 -0.00883151 0.99993005 -0.2260488 ] [ 0. 0. 0. 1. ]] SLAMing on 17.852401008 meters Centerline goodness : 0.938439 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.32, Z:-0.23 [[ 0.99995496 -0.00469805 -0.00824623 3.65714229] [ 0.00476881 0.9999518 0.00858184 -0.3197109 ] [ 0.00820552 -0.00862078 0.99992917 -0.22648766] [ 0. 0. 0. 1. ]] SLAMing on 17.882401008000002 meters Centerline goodness : 0.936978 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.32, Z:-0.22 [[ 0.99991918 -0.00868523 -0.00928449 3.67849081] [ 0.00887107 0.99975729 0.02016574 -0.32258972] [ 0.0091071 -0.02024648 0.99975354 -0.21888634] [ 0. 0. 0. 1. ]] SLAMing on 17.912401008 meters Centerline goodness : 0.936904 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.33, Z:-0.21 [[ 0.99988656 -0.00686315 -0.0134075 3.70837021] [ 0.0071895 0.99967529 0.02444623 -0.32612695] [ 0.01323536 -0.02453985 0.99961123 -0.21167906] [ 0. 0. 0. 1. ]] SLAMing on 17.942401008 meters Centerline goodness : 0.936666 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.33, Z:-0.21 [[ 0.99984762 -0.00545929 -0.01658096 3.73560112] [ 0.00589667 0.99963288 0.02644504 -0.32928795] [ 0.0164305 -0.02653878 0.99951275 -0.20546176] [ 0. 0. 0. 1. ]] SLAMing on 17.972401008000002 meters Centerline goodness : 0.940098 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.33, Z:-0.21 [[ 0.99981944 -0.00979654 -0.01628221 3.73549234] [ 0.01014696 0.99971564 0.02157981 -0.3272309 ] [ 0.01606617 -0.02174113 0.99963453 -0.20657565] [ 0. 0. 0. 1. ]] SLAMing on 18.002401008 meters Centerline goodness : 0.942654 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.33, Z:-0.21 [[ 0.99980124 -0.01062832 -0.01686788 3.73734084] [ 0.01099531 0.99970155 0.0218153 -0.32768538] [ 0.01663099 -0.02199643 0.99961971 -0.20570757] [ 0. 0. 0. 1. ]] SLAMing on 18.032401008 meters Centerline goodness : 0.940461 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.33, Z:-0.20 [[ 0.99980619 -0.00849827 -0.01775847 3.74054202] [ 0.00898555 0.99958026 0.027542 -0.33035833] [ 0.01751695 -0.02769623 0.99946289 -0.20195311] [ 0. 0. 0. 1. ]] SLAMing on 18.062401008000002 meters Centerline goodness : 0.939938 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.33, Z:-0.20 [[ 0.99977084 -0.01272228 -0.01721673 3.73958146] [ 0.01309935 0.99967283 0.021969 -0.32598797] [ 0.0169316 -0.0221895 0.9996104 -0.20362586] [ 0. 0. 0. 1. ]] SLAMing on 18.092401008 meters Centerline goodness : 0.940594 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.32, Z:-0.21 [[ 0.99973436 -0.01624299 -0.01635164 3.73782268] [ 0.0165106 0.99972974 0.01636615 -0.3214792 ] [ 0.01608138 -0.01663178 0.99973235 -0.20612048] [ 0. 0. 0. 1. ]] SLAMing on 18.122401008 meters Centerline goodness : 0.940832 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.32, Z:-0.21 [[ 0.99971866 -0.01710144 -0.0164357 3.73913556] [ 0.01734409 0.99974098 0.0147362 -0.31770382] [ 0.01617943 -0.01501712 0.99975633 -0.20826907] [ 0. 0. 0. 1. ]] SLAMing on 18.152401008000002 meters Centerline goodness : 0.941380 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.32, Z:-0.21 [[ 0.99971172 -0.01741496 -0.01652871 3.73967651] [ 0.01765048 0.99974322 0.01421142 -0.31595746] [ 0.01627698 -0.01449906 0.99976239 -0.20881873] [ 0. 0. 0. 1. ]] SLAMing on 18.182401008 meters Centerline goodness : 0.942810 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.31, Z:-0.21 [[ 0.99970721 -0.01760445 -0.01660081 3.73985451] [ 0.01783532 0.99974483 0.01386302 -0.31449921] [ 0.01635252 -0.01415505 0.99976609 -0.20892847] [ 0. 0. 0. 1. ]] SLAMing on 18.212401008 meters Centerline goodness : 0.944732 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.32, Z:-0.21 [[ 0.99975064 -0.01413787 -0.01728532 3.74072711] [ 0.01447053 0.99970952 0.01927403 -0.31684128] [ 0.0170078 -0.01951935 0.99966481 -0.20562184] [ 0. 0. 0. 1. ]] SLAMing on 18.242401008 meters Centerline goodness : 0.945256 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.31, Z:-0.20 [[ 0.99971961 -0.01673064 -0.01675659 3.73687634] [ 0.01698318 0.99974259 0.0150442 -0.31292814] [ 0.01650058 -0.01532456 0.99974641 -0.20385957] [ 0. 0. 0. 1. ]] SLAMing on 18.272401008000003 meters Centerline goodness : 0.950342 Centerline is valid? [False, True] Translation: X:3.74, Y:-0.31, Z:-0.20 [[ 0.99971841 -0.0167946 -0.01676412 3.73643863] [ 0.01704349 0.99974497 0.01481574 -0.31108294] [ 0.01651102 -0.01509728 0.9997497 -0.20327555] [ 0. 0. 0. 1. ]] SLAMing on 18.302401008 meters Centerline goodness : 0.948539 Centerline is valid? [True, False] Translation: X:3.74, Y:-0.31, Z:-0.20 [[ 0.99971463 -0.01706324 -0.01671814 3.73649937] [ 0.0172992 0.99975131 0.014073 -0.30859688] [ 0.01647385 -0.0143582 0.9997612 -0.20381138] [ 0. 0. 0. 1. ]] SLAMing on 18.332401008 meters Centerline goodness : 0.945405 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.31, Z:-0.20 [[ 0.99974887 -0.01381416 -0.01764538 3.73838882] [ 0.01414691 0.99972178 0.01887408 -0.30933159] [ 0.01737974 -0.01911896 0.99966615 -0.20174591] [ 0. 0. 0. 1. ]] SLAMing on 18.362401008000003 meters Centerline goodness : 0.945405 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.31, Z:-0.20 [[ 0.99974953 -0.0137948 -0.01762343 3.73833383] [ 0.01412628 0.99972299 0.01882516 -0.30923815] [ 0.01735885 -0.0190694 0.99966746 -0.20179682] [ 0. 0. 0. 1. ]] SLAMing on 18.392401008 meters Centerline goodness : 0.946561 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.30, Z:-0.21 [[ 0.99970919 -0.01731253 -0.01678735 3.73696466] [ 0.01752555 0.99976669 0.01262623 -0.30310128] [ 0.01656484 -0.01291677 0.99977936 -0.20539627] [ 0. 0. 0. 1. ]] SLAMing on 18.422401008 meters Centerline goodness : 0.945280 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.30, Z:-0.21 [[ 0.99969174 -0.01808475 -0.01701077 3.73829871] [ 0.01827295 0.99977281 0.01097364 -0.29798269] [ 0.01680845 -0.0112811 0.99979509 -0.20724093] [ 0. 0. 0. 1. ]] SLAMing on 18.452401008000002 meters Centerline goodness : 0.946838 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.30, Z:-0.21 [[ 0.99970635 -0.01563344 -0.01851535 3.74244726] [ 0.01591037 0.99976232 0.01490521 -0.29849688] [ 0.01827793 -0.01519542 0.99971747 -0.20668789] [ 0. 0. 0. 1. ]] SLAMing on 18.482401008 meters Centerline goodness : 0.945715 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.30, Z:-0.21 [[ 0.9996929 -0.01606605 -0.01886776 3.74381431] [ 0.01633155 0.99976857 0.01400275 -0.29631945] [ 0.01863843 -0.01430659 0.99972393 -0.20792581] [ 0. 0. 0. 1. ]] SLAMing on 18.512401008 meters Centerline goodness : 0.945597 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.29, Z:-0.22 [[ 9.99768572e-01 -1.42411614e-02 -1.61242292e-02 3.75860180e+00] [ 1.42744429e-02 9.99896212e-01 1.95085791e-03 -2.91417064e-01] [ 1.60947733e-02 -2.18057081e-03 9.99868093e-01 -2.16315925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.542401008000002 meters Centerline goodness : 0.944214 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.29, Z:-0.21 [[ 0.99980224 -0.0105762 -0.01684122 3.7599984 ] [ 0.01068844 0.99992117 0.00658822 -0.29172678] [ 0.01677022 -0.00676693 0.99983647 -0.21485092] [ 0. 0. 0. 1. ]] SLAMing on 18.572401008 meters Centerline goodness : 0.944870 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.29, Z:-0.21 [[ 0.99982567 -0.00675071 -0.01740835 3.76079677] [ 0.00693647 0.99991941 0.01063261 -0.28961099] [ 0.01733517 -0.0107515 0.99979193 -0.21376739] [ 0. 0. 0. 1. ]] SLAMing on 18.602401008 meters Centerline goodness : 0.942190 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.29, Z:-0.21 [[ 0.99982765 -0.00675804 -0.01729135 3.76054062] [ 0.00693177 0.9999259 0.01000682 -0.28698592] [ 0.01722244 -0.01012495 0.99980042 -0.21419954] [ 0. 0. 0. 1. ]] SLAMing on 18.632401008000002 meters Centerline goodness : 0.942778 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.29, Z:-0.21 [[ 9.99832745e-01 -3.24204236e-03 -1.79992098e-02 3.76199642e+00] [ 3.51398577e-03 9.99879850e-01 1.50976192e-02 -2.87705113e-01] [ 1.79481001e-02 -1.51583430e-02 9.99724007e-01 -2.11661774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.662401008 meters Centerline goodness : 0.945932 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.29, Z:-0.21 [[ 9.99826145e-01 9.71349877e-04 -1.86208752e-02 3.76184225e+00] [-5.92457032e-04 9.99792895e-01 2.03424743e-02 -2.88522855e-01] [ 1.86367784e-02 -2.03279055e-02 9.99619651e-01 -2.08133340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.692401008 meters Centerline goodness : 0.945688 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.29, Z:-0.20 [[ 0.99980344 0.00480268 -0.01923598 3.76264061] [-0.0043087 0.99966197 0.02563958 -0.28950041] [ 0.01935262 -0.02555166 0.99948616 -0.20497413] [ 0. 0. 0. 1. ]] SLAMing on 18.722401008000002 meters Centerline goodness : 0.948489 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.29, Z:-0.21 [[ 0.99980751 0.00528364 -0.01889505 3.76154605] [-0.00481311 0.99967932 0.02486144 -0.28638463] [ 0.01902035 -0.02476571 0.99951232 -0.20570384] [ 0. 0. 0. 1. ]] SLAMing on 18.752401008 meters Centerline goodness : 0.948929 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.28, Z:-0.22 [[ 0.99982817 0.01220934 -0.01394848 3.76884448] [-0.01202621 0.99984136 0.01313837 -0.27804592] [ 0.01410668 -0.01296837 0.99981639 -0.21652559] [ 0. 0. 0. 1. ]] SLAMing on 18.782401008 meters Centerline goodness : 0.949579 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.27, Z:-0.22 [[ 0.99981169 0.01374989 -0.01369375 3.76685911] [-0.01357447 0.99982565 0.01282174 -0.27439721] [ 0.01386766 -0.01263344 0.99982403 -0.21657282] [ 0. 0. 0. 1. ]] SLAMing on 18.812401008000002 meters Centerline goodness : 0.951880 Centerline is valid? [False, True] Translation: X:3.78, Y:-0.27, Z:-0.22 [[ 0.99980397 0.01774979 -0.00877346 3.77923042] [-0.01771526 0.99983508 0.00399788 -0.26935135] [ 0.00884297 -0.00384167 0.99995352 -0.22258609] [ 0. 0. 0. 1. ]] SLAMing on 18.842401008 meters Centerline goodness : 0.953043 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.27, Z:-0.23 [[ 9.99720075e-01 2.22517831e-02 -8.03923195e-03 3.81253193e+00] [-2.22512009e-02 9.99752398e-01 1.61856165e-04 -2.66437980e-01] [ 8.04084301e-03 1.70717080e-05 9.99967672e-01 -2.25198631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.872401008 meters Centerline goodness : 0.952953 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.26, Z:-0.23 [[ 9.99541498e-01 2.97843357e-02 -5.44866422e-03 3.84508874e+00] [-2.97841675e-02 9.99556347e-01 1.12035257e-04 -2.64588061e-01] [ 5.44958380e-03 5.03000385e-05 9.99985150e-01 -2.25945607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.902401008000002 meters Centerline goodness : 0.952953 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.27, Z:-0.23 [[ 9.99533727e-01 3.00439821e-02 -5.44863511e-03 3.87842000e+00] [-3.00438099e-02 9.99548576e-01 1.13460438e-04 -2.65402411e-01] [ 5.44958427e-03 5.02902234e-05 9.99985150e-01 -2.26320681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.932401008 meters Centerline goodness : 0.954100 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.27, Z:-0.23 [[ 9.99385408e-01 3.47924507e-02 -4.27685084e-03 3.91138364e+00] [-3.47923805e-02 9.99394558e-01 9.08439694e-05 -2.65719027e-01] [ 4.27742214e-03 5.80136843e-05 9.99990850e-01 -2.26533936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.962401008 meters Centerline goodness : 0.952924 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.27, Z:-0.23 [[ 9.99348376e-01 3.58827853e-02 -3.90502541e-03 3.94329245e+00] [-3.58827311e-02 9.99356004e-01 8.39705996e-05 -2.65531413e-01] [ 3.90552369e-03 5.62070942e-05 9.99992372e-01 -2.27310575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.992401008 meters Centerline goodness : 0.952399 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.27, Z:-0.23 [[ 9.99345443e-01 3.59937416e-02 -3.62438458e-03 3.97575209e+00] [-3.59936910e-02 9.99352014e-01 7.92210690e-05 -2.65855294e-01] [ 3.62488750e-03 5.12857643e-05 9.99993429e-01 -2.28192873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.022401008000003 meters Centerline goodness : 0.949918 Centerline is valid? [True, False] Translation: X:3.98, Y:-0.27, Z:-0.23 [[ 9.99364209e-01 3.54433822e-02 -3.86589662e-03 3.97725265e+00] [-3.54460657e-02 9.99371394e-01 -6.27845334e-04 -2.65131916e-01] [ 3.84121353e-03 7.64476981e-04 9.99992330e-01 -2.29623870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.052401008 meters Centerline goodness : 0.947742 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.27, Z:-0.23 [[ 9.99391040e-01 3.46381657e-02 -4.21255928e-03 3.97943699e+00] [-3.46425220e-02 9.99399301e-01 -9.65556348e-04 -2.66923667e-01] [ 4.17658370e-03 1.11090204e-03 9.99990661e-01 -2.31314827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.082401008 meters Centerline goodness : 0.948582 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.27, Z:-0.23 [[ 9.99516859e-01 3.08309200e-02 -3.93732880e-03 3.97907160e+00] [-3.08522408e-02 9.99508965e-01 -5.47422861e-03 -2.66075060e-01] [ 3.76661993e-03 5.59305920e-03 9.99977265e-01 -2.32753666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.112401008000003 meters Centerline goodness : 0.947304 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.27, Z:-0.23 [[ 0.99953039 0.03029902 -0.00457822 3.98089225] [-0.03032163 0.99952793 -0.00495197 -0.26861935] [ 0.00442602 0.00508847 0.99997726 -0.23249572] [ 0. 0. 0. 1. ]] SLAMing on 19.142401008 meters Centerline goodness : 0.945418 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.27, Z:-0.23 [[ 0.99954271 0.02980732 -0.00508779 3.98241049] [-0.02983009 0.99954504 -0.00445939 -0.27119252] [ 0.00495255 0.00460912 0.99997711 -0.23219993] [ 0. 0. 0. 1. ]] SLAMing on 19.172401008 meters Centerline goodness : 0.946089 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.27, Z:-0.23 [[ 9.99556972e-01 2.92835330e-02 -5.32305446e-03 3.98368095e+00] [-2.93024716e-02 9.99564409e-01 -3.51535205e-03 -2.74879576e-01] [ 5.21779386e-03 3.66977330e-03 9.99979653e-01 -2.31742975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.202401008000002 meters Centerline goodness : 0.944847 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.28, Z:-0.23 [[ 9.99560383e-01 2.91616099e-02 -5.35174414e-03 3.98429945e+00] [-2.91804883e-02 9.99568087e-01 -3.48399396e-03 -2.76115305e-01] [ 5.24783378e-03 3.63862885e-03 9.99979610e-01 -2.32491546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.232401008 meters Centerline goodness : 0.943247 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.28, Z:-0.23 [[ 9.99562988e-01 2.90348383e-02 -5.55072375e-03 3.98509205e+00] [-2.90530343e-02 9.99572665e-01 -3.22609284e-03 -2.77318356e-01] [ 5.45468265e-03 3.38594837e-03 9.99979391e-01 -2.32674693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.262401008 meters Centerline goodness : 0.944181 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.28, Z:-0.23 [[ 9.99560399e-01 2.91060160e-02 -5.64341902e-03 3.98546015e+00] [-2.91232987e-02 9.99571310e-01 -3.00482226e-03 -2.78132099e-01] [ 5.55354134e-03 3.16785631e-03 9.99979561e-01 -2.32846882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.292401008000002 meters Centerline goodness : 0.945211 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.28, Z:-0.23 [[ 9.99546346e-01 2.96523896e-02 -5.27615118e-03 3.98523832e+00] [-2.96695148e-02 9.99554648e-01 -3.19764769e-03 -2.77799211e-01] [ 5.17898354e-03 3.35273791e-03 9.99980968e-01 -2.34473719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.322401008 meters Centerline goodness : 0.941483 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.28, Z:-0.24 [[ 9.99541801e-01 2.98224224e-02 -5.17801499e-03 3.98533581e+00] [-2.98398072e-02 9.99549202e-01 -3.31326655e-03 -2.77897624e-01] [ 5.07687112e-03 3.46625939e-03 9.99981105e-01 -2.35234424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.352401008 meters Centerline goodness : 0.939318 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.28, Z:-0.24 [[ 9.99539676e-01 2.98688881e-02 -5.31840620e-03 3.98577958e+00] [-2.98856242e-02 9.99548531e-01 -3.09565508e-03 -2.78673039e-01] [ 5.22354134e-03 3.25317396e-03 9.99981066e-01 -2.35281850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.382401008000002 meters Centerline goodness : 0.940641 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.28, Z:-0.23 [[ 9.99534023e-01 3.00337879e-02 -5.45063688e-03 3.98589627e+00] [-3.00486006e-02 9.99544909e-01 -2.65635806e-03 -2.79931552e-01] [ 5.36837585e-03 2.81890426e-03 9.99981617e-01 -2.34884281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.412401008 meters Centerline goodness : 0.941083 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.28, Z:-0.23 [[ 9.99532765e-01 3.00606961e-02 -5.53231538e-03 3.98619420e+00] [-3.00740633e-02 9.99544913e-01 -2.34907753e-03 -2.80797546e-01] [ 5.45918279e-03 2.51435916e-03 9.99981937e-01 -2.34767831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.442401008 meters Centerline goodness : 0.941393 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.29, Z:-0.23 [[ 9.99440276e-01 3.28876918e-02 -6.12649853e-03 3.98883220e+00] [-3.28707451e-02 9.99455557e-01 2.84661160e-03 -2.85247622e-01] [ 6.21678149e-03 -2.64363572e-03 9.99977181e-01 -2.33497450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.472401008000002 meters Centerline goodness : 0.941034 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.29, Z:-0.23 [[ 0.99938755 0.03414702 -0.00764874 3.99488978] [-0.03407657 0.99937726 0.00915823 -0.2893838 ] [ 0.0079567 -0.00889198 0.99992881 -0.22943461] [ 0. 0. 0. 1. ]] SLAMing on 19.502401008 meters Centerline goodness : 0.941800 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.29, Z:-0.23 [[ 9.99519050e-01 3.01096699e-02 -7.42135235e-03 3.99486772e+00] [-3.00797133e-02 9.99539030e-01 4.11565593e-03 -2.87869244e-01] [ 7.54185237e-03 -3.89044435e-03 9.99963992e-01 -2.31509769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.532401008 meters Centerline goodness : 0.943882 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.29, Z:-0.23 [[ 0.9995299 0.02959405 -0.00801009 3.99658689] [-0.02956062 0.99955391 0.00426007 -0.28938271] [ 0.00813259 -0.00402129 0.99995884 -0.23151731] [ 0. 0. 0. 1. ]] SLAMing on 19.562401008000002 meters Centerline goodness : 0.946651 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.29, Z:-0.23 [[ 0.99955943 0.02841362 -0.00857942 3.99943737] [-0.02837592 0.99958726 0.00448467 -0.29239631] [ 0.0087033 -0.00423925 0.99995314 -0.23210555] [ 0. 0. 0. 1. ]] SLAMing on 19.592401008 meters Centerline goodness : 0.944304 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.29, Z:-0.23 [[ 9.99668630e-01 2.43908808e-02 -8.22890277e-03 3.99923912e+00] [-2.43934052e-02 9.99702415e-01 -2.06530959e-04 -2.91348507e-01] [ 8.22141651e-03 4.07193481e-04 9.99966121e-01 -2.33880008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.622401008 meters Centerline goodness : 0.946008 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.29, Z:-0.23 [[ 9.99678817e-01 2.38044600e-02 -8.69545511e-03 4.00097638e+00] [-2.38026636e-02 9.99716628e-01 3.10037266e-04 -2.93681888e-01] [ 8.70037134e-03 -1.02962694e-04 9.99962146e-01 -2.33721252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.652401008000002 meters Centerline goodness : 0.946062 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.30, Z:-0.23 [[ 9.99688958e-01 2.32126456e-02 -9.11923966e-03 4.00242768e+00] [-2.32077089e-02 9.99730456e-01 6.46813355e-04 -2.95342278e-01] [ 9.13179587e-03 -4.34975509e-04 9.99958210e-01 -2.33516167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.682401008000003 meters Centerline goodness : 0.941800 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.30, Z:-0.24 [[ 9.99715473e-01 2.16258905e-02 -1.00644678e-02 4.00658752e+00] [-2.16239780e-02 9.99766130e-01 2.98821564e-04 -2.97867728e-01] [ 1.00685763e-02 -8.11027106e-05 9.99949307e-01 -2.35190391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.712401008 meters Centerline goodness : 0.943576 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.30, Z:-0.24 [[ 9.99720623e-01 2.10195131e-02 -1.08100055e-02 4.00912545e+00] [-2.10150512e-02 9.99779021e-01 5.26197369e-04 -3.00035495e-01] [ 1.08186771e-02 -2.98877543e-04 9.99941432e-01 -2.35630854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.742401008 meters Centerline goodness : 0.945927 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.30, Z:-0.24 [[ 9.99721733e-01 2.05145378e-02 -1.16452184e-02 4.01152061e+00] [-2.05044092e-02 9.99789274e-01 9.88507346e-04 -3.02710709e-01] [ 1.16630432e-02 -7.49453954e-04 9.99931704e-01 -2.35552928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.772401008000003 meters Centerline goodness : 0.944822 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.30, Z:-0.24 [[ 9.99723301e-01 2.00456489e-02 -1.23082655e-02 4.01360740e+00] [-2.00326286e-02 9.99798630e-01 1.18023845e-03 -3.04843488e-01] [ 1.23294456e-02 -9.33344963e-04 9.99923554e-01 -2.35918252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.802401008 meters Centerline goodness : 0.946814 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.31, Z:-0.24 [[ 9.99724310e-01 1.95964295e-02 -1.29338391e-02 4.01573526e+00] [-1.95837432e-02 9.99807607e-01 1.10679680e-03 -3.05860760e-01] [ 1.29530400e-02 -8.53198687e-04 9.99915742e-01 -2.36667862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.832401008 meters Centerline goodness : 0.949907 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.31, Z:-0.24 [[ 0.99965015 0.02223275 -0.01432799 4.02103579] [-0.02216049 0.99974099 0.00518253 -0.30798853] [ 0.0144395 -0.0048632 0.99988392 -0.23784244] [ 0. 0. 0. 1. ]] SLAMing on 19.862401008000003 meters Centerline goodness : 0.950760 Centerline is valid? [False, True] Translation: X:4.02, Y:-0.31, Z:-0.24 [[ 9.99656933e-01 2.17097366e-02 -1.46528003e-02 4.02326195e+00] [-2.16518701e-02 9.99757179e-01 4.09634567e-03 -3.07321126e-01] [ 1.47381729e-02 -3.77767982e-03 9.99884251e-01 -2.40600498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.892401008 meters Centerline goodness : 0.949707 Centerline is valid? [True, False] Translation: X:4.03, Y:-0.31, Z:-0.24 [[ 9.99654372e-01 2.14409230e-02 -1.52125889e-02 4.02528906e+00] [-2.13866361e-02 9.99764350e-01 3.72232094e-03 -3.07541901e-01] [ 1.52888140e-02 -3.39568830e-03 9.99877353e-01 -2.42001758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.922401008 meters Centerline goodness : 0.950880 Centerline is valid? [False, True] Translation: X:4.03, Y:-0.31, Z:-0.24 [[ 9.99645177e-01 2.15348853e-02 -1.56770084e-02 4.02660796e+00] [-2.14792604e-02 9.99762418e-01 3.70797803e-03 -3.09024563e-01] [ 1.57531347e-02 -3.36993181e-03 9.99870233e-01 -2.42903761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.952401008000002 meters Centerline goodness : 0.950837 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.31, Z:-0.24 [[ 9.99626281e-01 2.21997640e-02 -1.59521064e-02 4.05856330e+00] [-2.21965815e-02 9.99753555e-01 3.76550423e-04 -3.09794665e-01] [ 1.59565344e-02 -2.23274684e-05 9.99872686e-01 -2.44499230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.982401008 meters Centerline goodness : 0.954406 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.31, Z:-0.24 [[ 9.99632770e-01 2.23812203e-02 -1.52776145e-02 4.09179458e+00] [-2.23782596e-02 9.99749509e-01 3.64737914e-04 -3.12922960e-01] [ 1.52819509e-02 -2.27175467e-05 9.99883224e-01 -2.42857042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.012401008 meters Centerline goodness : 0.954423 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.32, Z:-0.24 [[ 9.99679871e-01 2.09897697e-02 -1.41274881e-02 4.12372705e+00] [-2.09870488e-02 9.99779690e-01 3.40843285e-04 -3.15967260e-01] [ 1.41315299e-02 -4.42398894e-05 9.99900144e-01 -2.42691426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.042401008000002 meters Centerline goodness : 0.953357 Centerline is valid? [True, True] Translation: X:4.16, Y:-0.32, Z:-0.24 [[ 9.99831887e-01 1.51879065e-02 -1.02725838e-02 4.15649710e+00] [-1.51861342e-02 9.99884653e-01 2.50509730e-04 -3.20758018e-01] [ 1.02752036e-02 -9.44667796e-05 9.99947204e-01 -2.42153406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.072401008 meters Centerline goodness : 0.953686 Centerline is valid? [True, True] Translation: X:4.19, Y:-0.32, Z:-0.24 [[ 9.99900800e-01 1.10984634e-02 -8.67265420e-03 4.18918031e+00] [-1.10970264e-02 9.99938403e-01 2.13805072e-04 -3.22749770e-01] [ 8.67449290e-03 -1.17543190e-04 9.99962369e-01 -2.42701647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.102401008 meters Centerline goodness : 0.953197 Centerline is valid? [True, True] Translation: X:4.22, Y:-0.32, Z:-0.24 [[ 9.99950095e-01 6.89251246e-03 -7.23193987e-03 4.22073505e+00] [-6.89139024e-03 9.99976238e-01 1.80084254e-04 -3.24753148e-01] [ 7.23300925e-03 -1.30237147e-04 9.99973833e-01 -2.43091209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.132401008000002 meters Centerline goodness : 0.955158 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.33, Z:-0.24 [[ 9.99979255e-01 2.34232034e-03 -6.00033262e-03 4.25225874e+00] [-2.34145772e-03 9.99997247e-01 1.50784243e-04 -3.26991666e-01] [ 6.00066929e-03 -1.36731590e-04 9.99981986e-01 -2.43105675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.162401008 meters Centerline goodness : 0.956161 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.33, Z:-0.24 [[ 9.99979054e-01 -5.18383494e-03 -3.87539522e-03 4.28138961e+00] [ 5.18425173e-03 9.99986557e-01 9.75107637e-05 -3.32088509e-01] [ 3.87483764e-03 -1.17599746e-04 9.99992486e-01 -2.42253978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.192401008 meters Centerline goodness : 0.956678 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.33, Z:-0.24 [[ 9.99958072e-01 -7.93210513e-03 -4.57564102e-03 4.30903039e+00] [ 7.93271328e-03 9.99968529e-01 1.14775983e-04 -3.33855766e-01] [ 4.57458660e-03 -1.51068419e-04 9.99989525e-01 -2.41558764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.222401008000002 meters Centerline goodness : 0.958995 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.33, Z:-0.24 [[ 9.99931453e-01 -1.02765381e-02 -5.61081900e-03 4.33726438e+00] [ 1.02774845e-02 9.99947175e-01 1.39852448e-04 -3.34659873e-01] [ 5.60908541e-03 -1.97507967e-04 9.99984249e-01 -2.42068539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.252401008 meters Centerline goodness : 0.958995 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.34, Z:-0.24 [[ 9.99928612e-01 -1.05493931e-02 -5.61085401e-03 4.36594376e+00] [ 1.05503358e-02 9.99944334e-01 1.38439325e-04 -3.35217856e-01] [ 5.60908122e-03 -1.97625836e-04 9.99984249e-01 -2.42036188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.282401008 meters Centerline goodness : 0.956399 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.33, Z:-0.24 [[ 9.99889333e-01 -1.24271924e-02 -8.17843375e-03 4.39326345e+00] [ 1.24292436e-02 9.99922734e-01 2.00032537e-04 -3.34907274e-01] [ 8.17531599e-03 -3.01662145e-04 9.99966536e-01 -2.42915743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.312401008000002 meters Centerline goodness : 0.957718 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.34, Z:-0.24 [[ 9.99885927e-01 -1.15602038e-02 -9.72079801e-03 4.42169415e+00] [ 1.15630364e-02 9.99933118e-01 2.35239490e-04 -3.35015522e-01] [ 9.71742845e-03 -3.47614597e-04 9.99952724e-01 -2.43153289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.342401008 meters Centerline goodness : 0.958768 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.33, Z:-0.24 [[ 9.99890069e-01 -9.87093416e-03 -1.10641568e-02 4.44906886e+00] [ 9.87448411e-03 9.99951211e-01 2.66267942e-04 -3.34606010e-01] [ 1.10609887e-02 -3.75491512e-04 9.99938755e-01 -2.44016147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.372401008 meters Centerline goodness : 0.958650 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.33, Z:-0.24 [[ 9.99875240e-01 -8.38794678e-03 -1.33845583e-02 4.47724232e+00] [ 8.39296371e-03 9.99964728e-01 3.18702191e-04 -3.33790930e-01] [ 1.33814129e-02 -4.30998541e-04 9.99910372e-01 -2.43372552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.402401008000002 meters Centerline goodness : 0.961363 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.33, Z:-0.24 [[ 9.99870131e-01 -3.22275920e-03 -1.57903458e-02 4.50400772e+00] [ 3.22906617e-03 9.99994717e-01 3.73939921e-04 -3.31223460e-01] [ 1.57890572e-02 -4.24879430e-04 9.99875255e-01 -2.44721357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.432401008000003 meters Centerline goodness : 0.961221 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.33, Z:-0.24 [[ 9.99862788e-01 6.55931789e-04 -1.65521903e-02 4.53183238e+00] [-6.49604460e-04 9.99999714e-01 3.87639056e-04 -3.30094615e-01] [ 1.65524398e-02 -3.76833490e-04 9.99862928e-01 -2.44728525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.462401008 meters Centerline goodness : 0.961972 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.33, Z:-0.24 [[ 9.99830873e-01 5.27114915e-03 -1.76193167e-02 4.55909047e+00] [-5.26473586e-03 9.99986057e-01 4.10356491e-04 -3.28957633e-01] [ 1.76212341e-02 -3.17526040e-04 9.99844684e-01 -2.44085508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.492401008 meters Centerline goodness : 0.962236 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.33, Z:-0.24 [[ 9.99780665e-01 1.00236077e-02 -1.83888537e-02 4.58660416e+00] [-1.00174648e-02 9.99949733e-01 4.26135581e-04 -3.27443004e-01] [ 1.83922007e-02 -2.41832419e-04 9.99830820e-01 -2.43898720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.522401008000003 meters Centerline goodness : 0.963073 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.33, Z:-0.24 [[ 9.99720772e-01 1.48366920e-02 -1.83915798e-02 4.61515404e+00] [-1.48313743e-02 9.99889919e-01 4.25509251e-04 -3.26219422e-01] [ 1.83958684e-02 -1.52618034e-04 9.99830770e-01 -2.44349838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.552401008 meters Centerline goodness : 0.964936 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.32, Z:-0.24 [[ 9.99578746e-01 2.29756944e-02 -1.77326944e-02 4.64752977e+00] [-2.29720129e-02 9.99736024e-01 4.11303652e-04 -3.24562546e-01] [ 1.77374634e-02 -3.77470384e-06 9.99842679e-01 -2.43258709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.582401008 meters Centerline goodness : 0.965020 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.33, Z:-0.24 [[ 9.99506027e-01 2.57923004e-02 -1.79571257e-02 4.68057428e+00] [-2.57888970e-02 9.99667322e-01 4.21107497e-04 -3.25147917e-01] [ 1.79620131e-02 4.21949845e-05 9.99838669e-01 -2.41843506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.612401008000003 meters Centerline goodness : 0.966786 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.33, Z:-0.24 [[ 9.99486842e-01 2.70727408e-02 -1.71207301e-02 4.71319057e+00] [-2.70697559e-02 9.99633465e-01 4.06105109e-04 -3.25311314e-01] [ 1.71254491e-02 5.75572724e-05 9.99853347e-01 -2.41557568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.642401008 meters Centerline goodness : 0.967768 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.33, Z:-0.24 [[ 9.99515836e-01 2.68367992e-02 -1.57442213e-02 4.74456182e+00] [-2.68341834e-02 9.99639827e-01 3.77413366e-04 -3.25490753e-01] [ 1.57486792e-02 4.52526857e-05 9.99875981e-01 -2.42325666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.672401008 meters Centerline goodness : 0.966933 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.33, Z:-0.24 [[ 9.99639923e-01 2.25236831e-02 -1.45845076e-02 4.77625733e+00] [-2.25209267e-02 9.99746309e-01 3.53225249e-04 -3.25731896e-01] [ 1.45887636e-02 -2.46414336e-05 9.99893578e-01 -2.43524100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.702401008000002 meters Centerline goodness : 0.967316 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.33, Z:-0.24 [[ 9.99718875e-01 1.90735323e-02 -1.40844391e-02 4.80918421e+00] [-1.90705671e-02 9.99818081e-01 3.44817376e-04 -3.27197290e-01] [ 1.40884538e-02 -7.61221970e-05 9.99900750e-01 -2.44403966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.732401008 meters Centerline goodness : 0.967120 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.33, Z:-0.24 [[ 9.99796237e-01 1.52771717e-02 -1.31943858e-02 4.84216739e+00] [-1.52741933e-02 9.99883289e-01 3.26476882e-04 -3.28983235e-01] [ 1.31978335e-02 -1.24876760e-04 9.99912897e-01 -2.44764349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.762401008 meters Centerline goodness : 0.968546 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.33, Z:-0.24 [[ 9.99853566e-01 1.10714657e-02 -1.30487446e-02 4.87537053e+00] [-1.10681500e-02 9.99938693e-01 3.26294881e-04 -3.31428544e-01] [ 1.30515572e-02 -1.81821638e-04 9.99914808e-01 -2.44653623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.792401008000002 meters Centerline goodness : 0.967834 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.33, Z:-0.24 [[ 9.99894216e-01 6.26841706e-04 -1.45314869e-02 4.90700399e+00] [-6.21574541e-04 9.99999739e-01 3.66979216e-04 -3.34889456e-01] [ 1.45317132e-02 -3.57907993e-04 9.99894345e-01 -2.43340923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.822401008 meters Centerline goodness : 0.968738 Centerline is valid? [True, True] Translation: X:4.93, Y:-0.34, Z:-0.24 [[ 9.99870055e-01 -5.01437412e-03 -1.53208577e-02 4.93472327e+00] [ 5.02087593e-03 9.99987321e-01 3.85941404e-04 -3.35616173e-01] [ 1.53187282e-02 -4.62815378e-04 9.99882554e-01 -2.44334610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.852401008 meters Centerline goodness : 0.970890 Centerline is valid? [True, True] Translation: X:4.96, Y:-0.34, Z:-0.25 [[ 9.99830618e-01 -1.07424801e-02 -1.49443788e-02 4.96249255e+00] [ 1.07492844e-02 9.99942154e-01 3.75057950e-04 -3.35352391e-01] [ 1.49394853e-02 -5.35635801e-04 9.99888256e-01 -2.46032447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.882401008000002 meters Centerline goodness : 0.970921 Centerline is valid? [True, True] Translation: X:4.99, Y:-0.33, Z:-0.25 [[ 9.99715337e-01 -1.90906834e-02 -1.43105208e-02 4.99032986e+00] [ 1.90977563e-02 9.99817557e-01 3.57734387e-04 -3.34515320e-01] [ 1.43010806e-02 -6.30931393e-04 9.99897535e-01 -2.48629740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.912401008 meters Centerline goodness : 0.971126 Centerline is valid? [True, True] Translation: X:5.02, Y:-0.33, Z:-0.25 [[ 9.99658311e-01 -2.15933835e-02 -1.47304692e-02 5.01788129e+00] [ 2.16011242e-02 9.99766601e-01 3.66565566e-04 -3.34404617e-01] [ 1.47191157e-02 -6.84635008e-04 9.99891434e-01 -2.48213523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.942401008 meters Centerline goodness : 0.969985 Centerline is valid? [True, True] Translation: X:5.05, Y:-0.33, Z:-0.25 [[ 9.99641322e-01 -2.24092376e-02 -1.46646951e-02 5.04576049e+00] [ 2.24169433e-02 9.99748643e-01 3.61274539e-04 -3.34012674e-01] [ 1.46529132e-02 -6.89882597e-04 9.99892402e-01 -2.48081848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.972401008000002 meters Centerline goodness : 0.969392 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.33, Z:-0.25 [[ 9.99630891e-01 -2.14696193e-02 -1.66474172e-02 5.07383499e+00] [ 2.14793457e-02 9.99769210e-01 4.05663389e-04 -3.33723409e-01] [ 1.66348657e-02 -7.63089286e-04 9.99861340e-01 -2.45718077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.002401008 meters Centerline goodness : 0.973303 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.33, Z:-0.25 [[ 9.99716682e-01 -1.58968638e-02 -1.77157075e-02 5.10066319e+00] [ 1.59069661e-02 9.99873384e-01 4.29470069e-04 -3.29812487e-01] [ 1.77066372e-02 -7.11151552e-04 9.99842972e-01 -2.45092926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.032401008 meters Centerline goodness : 0.973152 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.33, Z:-0.24 [[ 9.99757168e-01 -1.23729553e-02 -1.82349883e-02 5.12751085e+00] [ 1.23830354e-02 9.99923230e-01 4.39975449e-04 -3.26687836e-01] [ 1.82281446e-02 -6.65673114e-04 9.99833632e-01 -2.44997512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.062401008000002 meters Centerline goodness : 0.972626 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.32, Z:-0.25 [[ 9.99795766e-01 -8.45666557e-03 -1.83551418e-02 5.15606804e+00] [ 8.46613377e-03 9.99964066e-01 4.38188543e-04 -3.23012367e-01] [ 1.83507766e-02 -5.93496135e-04 9.99831434e-01 -2.46412176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.092401008000003 meters Centerline goodness : 0.973991 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.32, Z:-0.25 [[ 9.99807776e-01 -4.29774367e-03 -1.91295582e-02 5.18481501e+00] [ 4.30716983e-03 9.99990622e-01 4.51579935e-04 -3.20023334e-01] [ 1.91274381e-02 -5.33887387e-04 9.99816911e-01 -2.47040381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.122401008 meters Centerline goodness : 0.971571 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.32, Z:-0.25 [[ 9.99801356e-01 3.78788855e-05 -1.99310732e-02 5.21301809e+00] [-2.86129960e-05 9.99999891e-01 4.65181632e-04 -3.17674076e-01] [ 1.99310886e-02 -4.64518938e-04 9.99801248e-01 -2.47204283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.152401008000002 meters Centerline goodness : 0.972236 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.32, Z:-0.25 [[ 9.99798538e-01 3.87384875e-03 -1.96945958e-02 5.24016936e+00] [-3.86559364e-03 9.99992424e-01 4.57208685e-04 -3.15283351e-01] [ 1.96962178e-02 -3.80985271e-04 9.99805938e-01 -2.47121575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.182401008000003 meters Centerline goodness : 0.972531 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.31, Z:-0.25 [[ 9.99769797e-01 9.91334859e-03 -1.90283722e-02 5.26872460e+00] [-9.90682546e-03 9.99950831e-01 4.37046485e-04 -3.12246115e-01] [ 1.90317692e-02 -2.48435113e-04 9.99818849e-01 -2.45517846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.212401008 meters Centerline goodness : 0.972351 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.31, Z:-0.24 [[ 9.99778616e-01 1.11202245e-02 -1.78622339e-02 5.29730748e+00] [-1.11146932e-02 9.99938146e-01 4.08909736e-04 -3.11281539e-01] [ 1.78656762e-02 -2.10285960e-04 9.99840374e-01 -2.43840175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.242401008 meters Centerline goodness : 0.971737 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.31, Z:-0.24 [[ 9.99783380e-01 1.24643550e-02 -1.66683422e-02 5.32765891e+00] [-1.24597264e-02 9.99922302e-01 3.81510372e-04 -3.11258903e-01] [ 1.66718024e-02 -1.73744745e-04 9.99861001e-01 -2.43625177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.272401008000003 meters Centerline goodness : 0.973716 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.31, Z:-0.24 [[ 9.99804590e-01 1.26788627e-02 -1.51666714e-02 5.35878144e+00] [-1.26750111e-02 9.99919608e-01 3.50054492e-04 -3.09602764e-01] [ 1.51698905e-02 -1.57748359e-04 9.99884918e-01 -2.43556874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.302401008 meters Centerline goodness : 0.972394 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.31, Z:-0.24 [[ 9.99806499e-01 1.25439867e-02 -1.51529573e-02 5.39060908e+00] [-1.25400761e-02 9.99921308e-01 3.53067791e-04 -3.08815305e-01] [ 1.51561937e-02 -1.62980235e-04 9.99885125e-01 -2.44050846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.332401008 meters Centerline goodness : 0.971926 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.31, Z:-0.24 [[ 9.99810652e-01 1.25090041e-02 -1.49058939e-02 5.42272372e+00] [-1.25051672e-02 9.99921746e-01 3.50589473e-04 -3.08416285e-01] [ 1.49091130e-02 -1.64122394e-04 9.99888840e-01 -2.44678651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.362401008000003 meters Centerline goodness : 0.971484 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.31, Z:-0.24 [[ 9.99810615e-01 1.20204101e-02 -1.53050095e-02 5.45443444e+00] [-1.20162538e-02 9.99927736e-01 3.63498842e-04 -3.08699054e-01] [ 1.53082729e-02 -1.79521123e-04 9.99882805e-01 -2.44586109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.392401008 meters Centerline goodness : 0.970234 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.31, Z:-0.24 [[ 9.99803416e-01 1.20642438e-02 -1.57347575e-02 5.48526440e+00] [-1.20598028e-02 9.99927207e-01 3.77096112e-04 -3.09746774e-01] [ 1.57381615e-02 -1.87263908e-04 9.99876130e-01 -2.43648365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.422401008 meters Centerline goodness : 0.972793 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.31, Z:-0.24 [[ 9.99799512e-01 1.16779473e-02 -1.62653645e-02 5.51702874e+00] [-1.16731384e-02 9.99931790e-01 3.90566059e-04 -3.10072346e-01] [ 1.62688161e-02 -2.00619904e-04 9.99867634e-01 -2.44076354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.452401008000002 meters Centerline goodness : 0.972095 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.31, Z:-0.24 [[ 9.99787324e-01 1.16272975e-02 -1.70326888e-02 5.54762333e+00] [-1.16220117e-02 9.99932378e-01 4.09290059e-04 -3.10455488e-01] [ 1.70362959e-02 -2.11248904e-04 9.99854849e-01 -2.44701904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.482401008 meters Centerline goodness : 0.971465 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.31, Z:-0.25 [[ 9.99771689e-01 1.16711751e-02 -1.78984395e-02 5.57809692e+00] [-1.16653449e-02 9.99931865e-01 4.30113188e-04 -3.10143787e-01] [ 1.79022399e-02 -2.21223519e-04 9.99839718e-01 -2.46073765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.512401008 meters Centerline goodness : 0.970957 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.31, Z:-0.25 [[ 9.99702988e-01 1.35438281e-02 -2.02608358e-02 5.60733752e+00] [-1.35367477e-02 9.99908256e-01 4.86572568e-04 -3.09318100e-01] [ 2.02655670e-02 -2.12162227e-04 9.99794610e-01 -2.46472227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.542401008000002 meters Centerline goodness : 0.968432 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.31, Z:-0.25 [[ 9.99670014e-01 1.48726198e-02 -2.09444013e-02 5.63740997e+00] [-1.48653456e-02 9.99889378e-01 5.02969665e-04 -3.08961609e-01] [ 2.09495649e-02 -1.91457930e-04 9.99780515e-01 -2.47344747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.572401008 meters Centerline goodness : 0.968252 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.31, Z:-0.25 [[ 9.99645838e-01 1.60618440e-02 -2.12182945e-02 5.66805941e+00] [-1.60546390e-02 9.99870986e-01 5.09877461e-04 -3.08845766e-01] [ 2.12237466e-02 -1.69044824e-04 9.99774737e-01 -2.47472342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.602401008 meters Centerline goodness : 0.968786 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.31, Z:-0.25 [[ 9.99625709e-01 1.75189511e-02 -2.10125563e-02 5.69983455e+00] [-1.75121930e-02 9.99846522e-01 5.05600757e-04 -3.09360242e-01] [ 2.10181890e-02 -1.37435574e-04 9.99779084e-01 -2.47470743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.632401008000002 meters Centerline goodness : 0.968307 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.31, Z:-0.25 [[ 9.99597368e-01 1.91430509e-02 -2.09438860e-02 5.73153236e+00] [-1.91365958e-02 9.99816749e-01 5.08600321e-04 -3.10447265e-01] [ 2.09497842e-02 -1.07600862e-04 9.99780523e-01 -2.47390476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.662401008 meters Centerline goodness : 0.968087 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.31, Z:-0.25 [[ 9.99564309e-01 2.09343873e-02 -2.08072728e-02 5.76328192e+00] [-2.09282897e-02 9.99780849e-01 5.10783610e-04 -3.12252834e-01] [ 2.08134059e-02 -7.51004320e-05 9.99783375e-01 -2.45128620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.692401008 meters Centerline goodness : 0.969675 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.31, Z:-0.25 [[ 9.99540349e-01 2.21460564e-02 -2.07036709e-02 5.79637079e+00] [-2.21401662e-02 9.99754745e-01 5.13700325e-04 -3.13528709e-01] [ 2.07099697e-02 -5.50814868e-05 9.99785524e-01 -2.45969501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.722401008000002 meters Centerline goodness : 0.966838 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.31, Z:-0.25 [[ 9.99545778e-01 2.23597843e-02 -2.02058982e-02 5.82956512e+00] [-2.23541659e-02 9.99749987e-01 5.03906714e-04 -3.14513642e-01] [ 2.02121137e-02 -5.19918266e-05 9.99795713e-01 -2.46496016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.752401008 meters Centerline goodness : 0.964071 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.32, Z:-0.25 [[ 9.99579475e-01 2.14123116e-02 -1.95546762e-02 5.86227285e+00] [-2.14067678e-02 9.99770727e-01 4.92800594e-04 -3.15927839e-01] [ 1.95607448e-02 -7.39909464e-05 9.99808668e-01 -2.48304010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.782401008 meters Centerline goodness : 0.962534 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.32, Z:-0.25 [[ 9.99590378e-01 2.12343753e-02 -1.91879529e-02 5.89464150e+00] [-2.12289076e-02 9.99774522e-01 4.88623262e-04 -3.18179294e-01] [ 1.91940021e-02 -8.10838318e-05 9.99815775e-01 -2.48597761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.812401008000002 meters Centerline goodness : 0.962500 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.32, Z:-0.25 [[ 9.99633879e-01 1.93715338e-02 -1.88905157e-02 5.92616476e+00] [-1.93658135e-02 9.99812347e-01 4.85714203e-04 -3.20846465e-01] [ 1.88963799e-02 -1.19706169e-04 9.99821440e-01 -2.48516986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.842401008000003 meters Centerline goodness : 0.960721 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.32, Z:-0.25 [[ 9.99672869e-01 1.71495450e-02 -1.89749493e-02 5.95770354e+00] [-1.71432886e-02 9.99852922e-01 4.92341671e-04 -3.24091003e-01] [ 1.89806019e-02 -1.66887579e-04 9.99819838e-01 -2.47265676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.872401008 meters Centerline goodness : 0.959113 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.33, Z:-0.25 [[ 9.99783752e-01 9.86915164e-03 -1.83043617e-02 5.99012251e+00] [-9.86206887e-03 9.99951255e-01 4.77172919e-04 -3.29495843e-01] [ 1.83081788e-02 -2.96550855e-04 9.99832347e-01 -2.46271844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.902401008000002 meters Centerline goodness : 0.957749 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.33, Z:-0.25 [[ 9.99828743e-01 4.98170516e-03 -1.78232401e-02 6.01897532e+00] [-4.97422598e-03 9.99987521e-01 4.63938060e-04 -3.31521179e-01] [ 1.78253289e-02 -3.75201784e-04 9.99841046e-01 -2.46631132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.932401008000003 meters Centerline goodness : 0.957496 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.33, Z:-0.25 [[ 9.99831213e-01 2.46341939e-04 -1.83707334e-02 6.04798794e+00] [-2.37619295e-04 9.99999858e-01 4.76993273e-04 -3.33512448e-01] [ 1.83708483e-02 -4.72547522e-04 9.99831130e-01 -2.46941585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.962401008 meters Centerline goodness : 0.954939 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.34, Z:-0.25 [[ 9.99818595e-01 -4.99404993e-03 -1.83803171e-02 6.07537553e+00] [ 5.00361940e-03 9.99987369e-01 4.74685320e-04 -3.35561653e-01] [ 1.83777143e-02 -5.66567321e-04 9.99830955e-01 -2.47501254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.992401008 meters Centerline goodness : 0.955703 Centerline is valid? [True, True] Translation: X:6.10, Y:-0.34, Z:-0.25 [[ 9.99707658e-01 -1.34449218e-02 -2.00956067e-02 6.10242739e+00] [ 1.34580204e-02 9.99909303e-01 5.16710992e-04 -3.40616428e-01] [ 2.00868370e-02 -7.87007019e-04 9.99797929e-01 -2.46342068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.022401008000003 meters Centerline goodness : 0.952186 Centerline is valid? [True, True] Translation: X:6.13, Y:-0.34, Z:-0.25 [[ 9.99629615e-01 -1.79588361e-02 -2.04477966e-02 6.13069221e+00] [ 1.79732371e-02 9.99838333e-01 5.20708747e-04 -3.41895394e-01] [ 2.04351396e-02 -8.88028983e-04 9.99790786e-01 -2.46778663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.052401008 meters Centerline goodness : 0.950344 Centerline is valid? [True, True] Translation: X:6.16, Y:-0.34, Z:-0.25 [[ 9.99564849e-01 -2.15373548e-02 -2.01557577e-02 6.15904250e+00] [ 2.15519698e-02 9.99767600e-01 5.08141637e-04 -3.42694093e-01] [ 2.01401295e-02 -9.42316802e-04 9.99796723e-01 -2.47279634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.082401008 meters Centerline goodness : 0.951491 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.34, Z:-0.25 [[ 9.99538570e-01 -2.29805275e-02 -1.98630834e-02 6.18674424e+00] [ 2.29949048e-02 9.99735459e-01 4.95692829e-04 -3.43632244e-01] [ 1.98464375e-02 -9.52213813e-04 9.99802587e-01 -2.47127600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.112401008000003 meters Centerline goodness : 0.949283 Centerline is valid? [True, False] Translation: X:6.19, Y:-0.34, Z:-0.25 [[ 9.99539768e-01 -2.29980651e-02 -1.97823634e-02 6.18663130e+00] [ 2.30057252e-02 9.99735321e-01 1.59701453e-04 -3.41925363e-01] [ 1.97734546e-02 -6.14735570e-04 9.99804297e-01 -2.47409542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.142401008 meters Centerline goodness : 0.949283 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.34, Z:-0.25 [[ 9.99539768e-01 -2.29980651e-02 -1.97823634e-02 6.18663130e+00] [ 2.30057252e-02 9.99735321e-01 1.59701453e-04 -3.41925363e-01] [ 1.97734546e-02 -6.14735570e-04 9.99804297e-01 -2.47409542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.172401008 meters Centerline goodness : 0.949499 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.34, Z:-0.25 [[ 9.99543263e-01 -2.29096446e-02 -1.97081981e-02 6.18650428e+00] [ 2.29042314e-02 9.99737538e-01 -5.00379948e-04 -3.39549654e-01] [ 1.97144890e-02 4.87502770e-05 9.99805649e-01 -2.48050821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.202401008000002 meters Centerline goodness : 0.947773 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.34, Z:-0.25 [[ 9.99611138e-01 -1.90851514e-02 -2.03305093e-02 6.18746129e+00] [ 1.91685078e-02 9.99808610e-01 3.91309370e-03 -3.39308262e-01] [ 2.02519362e-02 -4.30127757e-03 9.99785656e-01 -2.46805826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.232401008 meters Centerline goodness : 0.946694 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.34, Z:-0.25 [[ 0.99966971 -0.01513961 -0.02076693 6.18781849] [ 0.01531343 0.99984882 0.00823672 -0.33835978] [ 0.02063909 -0.00855201 0.99975041 -0.24539693] [ 0. 0. 0. 1. ]] SLAMing on 22.262401008 meters Centerline goodness : 0.946259 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.33, Z:-0.24 [[ 0.99973533 -0.01036759 -0.02053752 6.18536782] [ 0.01061653 0.99987104 0.01204953 -0.33390268] [ 0.02040994 -0.01226438 0.99971647 -0.24344523] [ 0. 0. 0. 1. ]] SLAMing on 22.292401008000002 meters Centerline goodness : 0.949257 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.33, Z:-0.25 [[ 9.99856598e-01 -6.49001292e-03 -1.56417045e-02 6.19909104e+00] [ 6.55997788e-03 9.99968689e-01 4.42582563e-03 -3.29262941e-01] [ 1.56124911e-02 -4.52780020e-03 9.99867866e-01 -2.48794019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.322401008 meters Centerline goodness : 0.946360 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.33, Z:-0.24 [[ 9.99849943e-01 5.56977937e-04 -1.73141849e-02 6.20228588e+00] [-3.16351913e-04 9.99903378e-01 1.38972571e-02 -3.31001535e-01] [ 1.73202524e-02 -1.38896944e-02 9.99753512e-01 -2.44988940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.352401008 meters Centerline goodness : 0.944393 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.33, Z:-0.25 [[ 9.99890912e-01 5.49915036e-03 -1.37085410e-02 6.21926803e+00] [-5.36750130e-03 9.99939304e-01 9.62179756e-03 -3.27473479e-01] [ 1.37606207e-02 -9.54716733e-03 9.99859739e-01 -2.48174499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.382401008000002 meters Centerline goodness : 0.940182 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.32, Z:-0.25 [[ 9.99887819e-01 5.51243466e-03 -1.39270536e-02 6.21968021e+00] [-5.39606154e-03 9.99950330e-01 8.37970889e-03 -3.22973893e-01] [ 1.39725545e-02 -8.30361760e-03 9.99867900e-01 -2.49195441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.412401008 meters Centerline goodness : 0.939643 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.32, Z:-0.26 [[ 9.99902998e-01 8.67372709e-03 -1.08977326e-02 6.23740214e+00] [-8.66592018e-03 9.99962159e-01 7.63396463e-04 -3.18031788e-01] [ 1.09039418e-02 -6.68883531e-04 9.99940327e-01 -2.55065588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.442401008 meters Centerline goodness : 0.940031 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.32, Z:-0.25 [[ 9.99862336e-01 1.14490132e-02 -1.20095495e-02 6.24043216e+00] [-1.13840677e-02 9.99920280e-01 5.46231546e-03 -3.20201107e-01] [ 1.20711302e-02 -5.32484597e-03 9.99912963e-01 -2.53499330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.472401008000002 meters Centerline goodness : 0.938898 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.32, Z:-0.25 [[ 0.9998156 0.01412959 -0.01300434 6.24346773] [-0.0139951 0.99984823 0.01037552 -0.32213692] [ 0.01314897 -0.01019161 0.99986161 -0.25155494] [ 0. 0. 0. 1. ]] SLAMing on 22.502401008 meters Centerline goodness : 0.935887 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.32, Z:-0.25 [[ 0.99981974 0.01358403 -0.01326531 6.24442924] [-0.01345908 0.99986464 0.00946333 -0.31969474] [ 0.01339206 -0.00928309 0.99986723 -0.25231027] [ 0. 0. 0. 1. ]] SLAMing on 22.532401008 meters Centerline goodness : 0.937281 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.32, Z:-0.25 [[ 0.99976316 0.0164674 -0.01422847 6.24741561] [-0.01627559 0.99977649 0.01349323 -0.32080283] [ 0.01444749 -0.01325846 0.99980772 -0.2519174 ] [ 0. 0. 0. 1. ]] SLAMing on 22.562401008000002 meters Centerline goodness : 0.937931 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.32, Z:-0.25 [[ 0.99976466 0.01598825 -0.01466321 6.24910519] [-0.01580962 0.99980036 0.01221854 -0.31805437] [ 0.01485563 -0.01198385 0.99981783 -0.25366487] [ 0. 0. 0. 1. ]] SLAMing on 22.592401008000003 meters Centerline goodness : 0.937478 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.31, Z:-0.26 [[ 0.99975824 0.01611579 -0.01495815 6.24994396] [-0.01596183 0.99981898 0.01035548 -0.31300317] [ 0.01512233 -0.01011422 0.9998345 -0.25611317] [ 0. 0. 0. 1. ]] SLAMing on 22.622401008 meters Centerline goodness : 0.937759 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.31, Z:-0.25 [[ 0.99968166 0.01974952 -0.01570172 6.25155669] [-0.01951742 0.99969997 0.01480026 -0.31419357] [ 0.01598931 -0.01448909 0.99976718 -0.2549192 ] [ 0. 0. 0. 1. ]] SLAMing on 22.652401008000002 meters Centerline goodness : 0.937117 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.31, Z:-0.26 [[ 0.99967939 0.01974282 -0.01585395 6.25161832] [-0.01951794 0.99970843 0.01421628 -0.31240544] [ 0.01613 -0.01390228 0.99977325 -0.25504758] [ 0. 0. 0. 1. ]] SLAMing on 22.682401008000003 meters Centerline goodness : 0.938793 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.31, Z:-0.26 [[ 0.99973102 0.01688116 -0.01590302 6.25075943] [-0.01673257 0.99981553 0.00943059 -0.30830156] [ 0.01605929 -0.00916195 0.99982906 -0.25620248] [ 0. 0. 0. 1. ]] SLAMing on 22.712401008 meters Centerline goodness : 0.937341 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.31, Z:-0.26 [[ 0.99972737 0.01694698 -0.01606191 6.25078775] [-0.01680671 0.99981978 0.00882811 -0.30632401] [ 0.01620863 -0.00855575 0.99983203 -0.25642511] [ 0. 0. 0. 1. ]] SLAMing on 22.742401008 meters Centerline goodness : 0.938306 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.31, Z:-0.26 [[ 0.99965442 0.02014836 -0.01688468 6.253152 ] [-0.01991828 0.99970794 0.01368576 -0.30928242] [ 0.01715549 -0.01334472 0.99976378 -0.2551085 ] [ 0. 0. 0. 1. ]] SLAMing on 22.772401008000003 meters Centerline goodness : 0.938197 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.31, Z:-0.26 [[ 0.99965936 0.01959029 -0.01724488 6.25475975] [-0.01936459 0.99972588 0.01315946 -0.30913333] [ 0.01749795 -0.01282104 0.99976469 -0.25621515] [ 0. 0. 0. 1. ]] SLAMing on 22.802401008 meters Centerline goodness : 0.938771 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.31, Z:-0.26 [[ 0.99966103 0.01917221 -0.017614 6.25620333] [-0.01894679 0.99973757 0.01287646 -0.30938053] [ 0.01785624 -0.01253837 0.99976194 -0.25700231] [ 0. 0. 0. 1. ]] SLAMing on 22.832401008 meters Centerline goodness : 0.938314 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.31, Z:-0.26 [[ 0.9996608 0.01920228 -0.01759418 6.25623192] [-0.01897079 0.99973249 0.01323103 -0.31093902] [ 0.01784354 -0.01289277 0.99975766 -0.25681569] [ 0. 0. 0. 1. ]] SLAMing on 22.862401008000003 meters Centerline goodness : 0.938840 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.31, Z:-0.26 [[ 9.99712644e-01 2.01924457e-02 -1.29188010e-02 6.27047402e+00] [-2.01531905e-02 9.99791905e-01 3.16162500e-03 -3.09157145e-01] [ 1.29799536e-02 -2.90036143e-03 9.99911550e-01 -2.62496752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.892401008 meters Centerline goodness : 0.940243 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.31, Z:-0.26 [[ 0.99963105 0.02348762 -0.01364203 6.2723976 ] [-0.02337396 0.99969123 0.00843189 -0.3127728 ] [ 0.01383586 -0.00810991 0.99987139 -0.26030579] [ 0. 0. 0. 1. ]] SLAMing on 22.922401008 meters Centerline goodness : 0.941021 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.31, Z:-0.26 [[ 9.99700781e-01 2.04749432e-02 -1.33837831e-02 6.27129525e+00] [-2.04246393e-02 9.99783849e-01 3.88452502e-03 -3.10400732e-01] [ 1.34604256e-02 -3.61000375e-03 9.99902888e-01 -2.61618484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.952401008000002 meters Centerline goodness : 0.940269 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.31, Z:-0.26 [[ 9.99698113e-01 2.03792284e-02 -1.37248185e-02 6.27234516e+00] [-2.03303991e-02 9.99786514e-01 3.68792739e-03 -3.10685478e-01] [ 1.37970455e-02 -3.40778302e-03 9.99899009e-01 -2.62221409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.982401008 meters Centerline goodness : 0.941045 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.31, Z:-0.26 [[ 0.9996058 0.0238824 -0.01476031 6.27560005] [-0.02376573 0.9996853 0.00803018 -0.31397634] [ 0.01494744 -0.00767623 0.99985881 -0.26271571] [ 0. 0. 0. 1. ]] SLAMing on 23.012401008 meters Centerline goodness : 0.939377 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.32, Z:-0.26 [[ 0.99951674 0.02684995 -0.01566428 6.27897047] [-0.02666366 0.99957264 0.0119829 -0.31615134] [ 0.01597933 -0.01155944 0.9998055 -0.26329185] [ 0. 0. 0. 1. ]] SLAMing on 23.042401008000002 meters Centerline goodness : 0.940676 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.32, Z:-0.27 [[ 0.99952412 0.02625853 -0.01618719 6.28131373] [-0.02607834 0.99959666 0.01124418 -0.3157045 ] [ 0.01647592 -0.01081669 0.99980575 -0.26514937] [ 0. 0. 0. 1. ]] SLAMing on 23.072401008 meters Centerline goodness : 0.937680 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.32, Z:-0.27 [[ 0.99952909 0.02558542 -0.01694055 6.28395317] [-0.02540339 0.99961813 0.01087483 -0.31666333] [ 0.01721231 -0.01043937 0.99979736 -0.26635053] [ 0. 0. 0. 1. ]] SLAMing on 23.102401008 meters Centerline goodness : 0.937322 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.32, Z:-0.27 [[ 0.99962009 0.02128641 -0.01750887 6.28543658] [-0.02116696 0.99975159 0.00697961 -0.31953155] [ 0.01765309 -0.00660635 0.99982235 -0.26710043] [ 0. 0. 0. 1. ]] SLAMing on 23.132401008000002 meters Centerline goodness : 0.934441 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.32, Z:-0.27 [[ 0.99962334 0.02051629 -0.01822773 6.28761772] [-0.02038258 0.99976419 0.00749109 -0.32275231] [ 0.01837713 -0.00711674 0.9998058 -0.26667165] [ 0. 0. 0. 1. ]] SLAMing on 23.162401008 meters Centerline goodness : 0.936137 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.32, Z:-0.27 [[ 9.99699432e-01 1.64222408e-02 -1.82031976e-02 6.28772262e+00] [-1.63648546e-02 9.99860651e-01 3.29703375e-03 -3.22823569e-01] [ 1.82548057e-02 -2.99815008e-03 9.99828872e-01 -2.67379576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.192401008 meters Centerline goodness : 0.935355 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.33, Z:-0.27 [[ 9.99768923e-01 1.17683556e-02 -1.79890569e-02 6.28800212e+00] [-1.17732667e-02 9.99930679e-01 -1.67118232e-04 -3.25677050e-01] [ 1.79858432e-02 3.78869579e-04 9.99838170e-01 -2.67334872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.222401008000002 meters Centerline goodness : 0.933537 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.33, Z:-0.27 [[ 9.99763951e-01 1.05716884e-02 -1.89810753e-02 6.29083661e+00] [-1.05580639e-02 9.99943928e-01 8.17865902e-04 -3.29120254e-01] [ 1.89886572e-02 -6.17269441e-04 9.99819509e-01 -2.65861793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.252401008000003 meters Centerline goodness : 0.930878 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.33, Z:-0.26 [[ 9.99755590e-01 9.17247702e-03 -2.01153138e-02 6.29410128e+00] [-9.12392536e-03 9.99955241e-01 2.50411628e-03 -3.33343035e-01] [ 2.01373824e-02 -2.31997363e-03 9.99794531e-01 -2.63109041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.282401008 meters Centerline goodness : 0.932556 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.34, Z:-0.26 [[ 9.99743491e-01 8.05754932e-03 -2.11666735e-02 6.29682221e+00] [-7.97111799e-03 9.99959558e-01 4.16457179e-03 -3.37793238e-01] [ 2.11993737e-02 -3.99478149e-03 9.99767287e-01 -2.60393587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.312401008000002 meters Centerline goodness : 0.932068 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.34, Z:-0.25 [[ 9.99799272e-01 2.03347753e-03 -1.99318886e-02 6.32033161e+00] [-1.64619810e-03 9.99809916e-01 1.94273279e-02 -3.44543346e-01] [ 1.99676049e-02 -1.93906165e-02 9.99612574e-01 -2.47359271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.342401008000003 meters Centerline goodness : 0.929881 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.35, Z:-0.24 [[ 9.99764277e-01 3.23144625e-03 -2.14697084e-02 6.32596829e+00] [-2.68138558e-03 9.99668673e-01 2.55998852e-02 -3.48141422e-01] [ 2.15453196e-02 -2.55362822e-02 9.99441693e-01 -2.42905202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.372401008 meters Centerline goodness : 0.934886 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.35, Z:-0.24 [[ 9.99727322e-01 4.20987654e-03 -2.29686392e-02 6.33232618e+00] [-3.46679595e-03 9.99472323e-01 3.22964041e-02 -3.50568964e-01] [ 2.30924831e-02 -3.22079700e-02 9.99214383e-01 -2.37253450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.402401008000002 meters Centerline goodness : 0.934975 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.35, Z:-0.24 [[ 9.99721056e-01 3.79241821e-03 -2.33115267e-02 6.33345992e+00] [-3.04439240e-03 9.99481938e-01 3.20403865e-02 -3.50204935e-01] [ 2.34209604e-02 -3.19604796e-02 9.99214685e-01 -2.37440396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.432401008000003 meters Centerline goodness : 0.932182 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.35, Z:-0.24 [[ 9.99715570e-01 2.76396068e-03 -2.36883725e-02 6.33549453e+00] [-2.03402615e-03 9.99524024e-01 3.07829289e-02 -3.47152481e-01] [ 2.37621802e-02 -3.07259906e-02 9.99245351e-01 -2.38947206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.462401008 meters Centerline goodness : 0.930617 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.35, Z:-0.24 [[ 9.99694426e-01 5.80368368e-03 -2.40285567e-02 6.33676657e+00] [-4.95016222e-03 9.99359919e-01 3.54294800e-02 -3.48001525e-01] [ 2.42187979e-02 -3.52997084e-02 9.99083270e-01 -2.36979703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.492401008 meters Centerline goodness : 0.931708 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.35, Z:-0.24 [[ 9.99688114e-01 5.40672140e-03 -2.43811894e-02 6.33715447e+00] [-4.55061630e-03 9.99375791e-01 3.50331329e-02 -3.45971268e-01] [ 2.45553849e-02 -3.49112571e-02 9.99088703e-01 -2.36106757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.522401008000003 meters Centerline goodness : 0.932469 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.34, Z:-0.24 [[ 9.99739490e-01 2.47106083e-03 -2.26901962e-02 6.31054460e+00] [-1.70253577e-03 9.99426239e-01 3.38274194e-02 -3.40984123e-01] [ 2.27607670e-02 -3.37799762e-02 9.99170086e-01 -2.38135768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.552401008 meters Centerline goodness : 0.934586 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.33, Z:-0.24 [[ 9.99790124e-01 -2.47889000e-03 -2.03362311e-02 6.28962528e+00] [ 3.14918648e-03 9.99450549e-01 3.29951780e-02 -3.34719780e-01] [ 2.02432659e-02 -3.30522957e-02 9.99248596e-01 -2.41276728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.582401008 meters Centerline goodness : 0.933947 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.33, Z:-0.24 [[ 0.99978418 -0.00739917 -0.01941247 6.24770385] [ 0.00817895 0.99915003 0.0404021 -0.3306572 ] [ 0.01909702 -0.04055215 0.99899491 -0.23928749] [ 0. 0. 0. 1. ]] SLAMing on 23.612401008000003 meters Centerline goodness : 0.931922 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.33, Z:-0.24 [[ 0.99968266 -0.01136973 -0.0224791 6.22832967] [ 0.01228798 0.99907775 0.04114196 -0.32674431] [ 0.02199059 -0.04140513 0.99890041 -0.24012164] [ 0. 0. 0. 1. ]] SLAMing on 23.642401008 meters Centerline goodness : 0.932452 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.32, Z:-0.24 [[ 0.99944026 -0.01784336 -0.02829795 6.21667353] [ 0.01903765 0.99891456 0.04251195 -0.32110995] [ 0.02750868 -0.04302688 0.99869513 -0.24037838] [ 0. 0. 0. 1. ]] SLAMing on 23.672401008 meters Centerline goodness : 0.932006 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.32, Z:-0.24 [[ 0.99930567 -0.01917564 -0.03194499 6.18970114] [ 0.02048083 0.9989474 0.04104426 -0.31820506] [ 0.03112431 -0.04167002 0.99864653 -0.24185484] [ 0. 0. 0. 1. ]] SLAMing on 23.702401008000002 meters Centerline goodness : 0.929245 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.32, Z:-0.25 [[ 0.99963526 -0.01568964 -0.02198118 6.19466255] [ 0.01664118 0.99890185 0.04379675 -0.32035467] [ 0.02126989 -0.04414657 0.99879861 -0.24505147] [ 0. 0. 0. 1. ]] SLAMing on 23.732401008 meters Centerline goodness : 0.929871 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.32, Z:-0.25 [[ 0.99987106 -0.01179239 -0.01089941 6.19635915] [ 0.01230812 0.99874597 0.04852832 -0.32198279] [ 0.01031348 -0.04865621 0.99876234 -0.24581934] [ 0. 0. 0. 1. ]] SLAMing on 23.762401008 meters Centerline goodness : 0.931851 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.32, Z:-0.25 [[ 0.99988224 -0.01183684 -0.00976695 6.1958584 ] [ 0.01231519 0.99864989 0.05046515 -0.31739625] [ 0.00915642 -0.05057949 0.99867806 -0.24839694] [ 0. 0. 0. 1. ]] SLAMing on 23.792401008000002 meters Centerline goodness : 0.930648 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.31, Z:-0.25 [[ 0.9998791 -0.01226128 -0.00956299 6.19676406] [ 0.01272721 0.99865368 0.0502876 -0.31486355] [ 0.00893353 -0.05040323 0.99868899 -0.25022755] [ 0. 0. 0. 1. ]] SLAMing on 23.822401008 meters Centerline goodness : 0.933209 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.31, Z:-0.25 [[ 0.99987584 -0.01240782 -0.00971329 6.19756804] [ 0.01287073 0.99870888 0.04914189 -0.3124153 ] [ 0.009091 -0.04926081 0.99874458 -0.2507188 ] [ 0. 0. 0. 1. ]] SLAMing on 23.852401008 meters Centerline goodness : 0.932949 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.31, Z:-0.25 [[ 0.99987725 -0.0123141 -0.00968744 6.1978423 ] [ 0.01276428 0.99877207 0.0478689 -0.30990012] [ 0.00908608 -0.04798668 0.99880665 -0.25074177] [ 0. 0. 0. 1. ]] SLAMing on 23.882401008000002 meters Centerline goodness : 0.934019 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.31, Z:-0.25 [[ 0.99987947 -0.01215996 -0.00965276 6.19806401] [ 0.01259727 0.9988334 0.04661703 -0.30674874] [ 0.00907464 -0.04673301 0.9988662 -0.2507745 ] [ 0. 0. 0. 1. ]] SLAMing on 23.912401008 meters Centerline goodness : 0.932658 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.30, Z:-0.25 [[ 0.99989959 -0.01141488 -0.00839747 6.19652932] [ 0.01178985 0.99886964 0.04604823 -0.29834592] [ 0.00786235 -0.04614261 0.99890392 -0.25191169] [ 0. 0. 0. 1. ]] SLAMing on 23.942401008 meters Centerline goodness : 0.932527 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.29, Z:-0.25 [[ 0.99989205 -0.0119548 -0.00854257 6.19688852] [ 0.01232419 0.99892965 0.04458332 -0.29313675] [ 0.00800044 -0.04468379 0.99896914 -0.25254313] [ 0. 0. 0. 1. ]] SLAMing on 23.972401008000002 meters Centerline goodness : 0.936138 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.29, Z:-0.25 [[ 0.99988427 -0.01217769 -0.00911912 6.19936485] [ 0.01254779 0.99905173 0.04169164 -0.28888434] [ 0.00860276 -0.04180124 0.99908891 -0.25411117] [ 0. 0. 0. 1. ]] SLAMing on 24.002401008000003 meters Centerline goodness : 0.931423 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.28, Z:-0.25 [[ 0.99986959 -0.01315779 -0.00936378 6.19957496] [ 0.013515 0.99914132 0.03916586 -0.27967555] [ 0.0088404 -0.0392873 0.99918885 -0.25469475] [ 0. 0. 0. 1. ]] SLAMing on 24.032401008 meters Centerline goodness : 0.931423 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.28, Z:-0.25 [[ 0.99986959 -0.01315779 -0.00936378 6.19957496] [ 0.013515 0.99914132 0.03916586 -0.27967555] [ 0.0088404 -0.0392873 0.99918885 -0.25469475] [ 0. 0. 0. 1. ]] SLAMing on 24.062401008000002 meters Centerline goodness : 0.935075 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.28, Z:-0.26 [[ 0.99987532 -0.01330834 -0.00849953 6.19867754] [ 0.01363328 0.99913083 0.03939197 -0.27529333] [ 0.00796791 -0.03950294 0.99918769 -0.25571105] [ 0. 0. 0. 1. ]] SLAMing on 24.092401008000003 meters Centerline goodness : 0.933112 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.27, Z:-0.27 [[ 9.99908697e-01 -1.24980893e-02 -5.13768605e-03 6.20944941e+00] [ 1.26133742e-02 9.99654623e-01 2.30550958e-02 -2.66703344e-01] [ 4.84776697e-03 -2.31177944e-02 9.99720994e-01 -2.66247587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.122401008 meters Centerline goodness : 0.933887 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.26, Z:-0.27 [[ 9.99888962e-01 -1.37768528e-02 -5.68002676e-03 6.21179118e+00] [ 1.38920830e-02 9.99687702e-01 2.07728021e-02 -2.60792356e-01] [ 5.39206906e-03 -2.08494029e-02 9.99768087e-01 -2.68539877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.152401008000002 meters Centerline goodness : 0.936998 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.25, Z:-0.27 [[ 0.99984352 -0.01631602 -0.00683607 6.21653964] [ 0.01642532 0.99973305 0.01624937 -0.24984485] [ 0.00656912 -0.01635911 0.9998446 -0.27336023] [ 0. 0. 0. 1. ]] SLAMing on 24.182401008000003 meters Centerline goodness : 0.936317 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.24, Z:-0.28 [[ 0.99981422 -0.01770741 -0.00761438 6.21926599] [ 0.01781473 0.99973954 0.01426479 -0.24489007] [ 0.0073598 -0.01439779 0.99986926 -0.27508389] [ 0. 0. 0. 1. ]] SLAMing on 24.212401008 meters Centerline goodness : 0.936318 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.24, Z:-0.28 [[ 0.99978308 -0.01904359 -0.00843456 6.22192237] [ 0.0191478 0.99973913 0.01245146 -0.24051171] [ 0.00819524 -0.01261026 0.9998869 -0.27650672] [ 0. 0. 0. 1. ]] SLAMing on 24.242401008 meters Centerline goodness : 0.937528 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.24, Z:-0.28 [[ 9.99814123e-01 -1.87101660e-02 -4.65296517e-03 6.23705906e+00] [ 1.87168586e-02 9.99823845e-01 1.39899583e-03 -2.35160946e-01] [ 4.62597009e-03 -1.48582468e-03 9.99988196e-01 -2.82647943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.272401008000003 meters Centerline goodness : 0.941265 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.23, Z:-0.28 [[ 9.99793270e-01 -1.97114026e-02 -4.98775478e-03 6.23683189e+00] [ 1.97106733e-02 9.99805707e-01 -1.95327231e-04 -2.27443924e-01] [ 4.99063587e-03 9.69748456e-05 9.99987542e-01 -2.81085515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.302401008 meters Centerline goodness : 0.942366 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.22, Z:-0.28 [[ 9.99838847e-01 -1.69615121e-02 -5.88106952e-03 6.23845400e+00] [ 1.69794725e-02 9.99851285e-01 3.01757186e-03 -2.24916573e-01] [ 5.82901233e-03 -3.11694303e-03 9.99978153e-01 -2.80171529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.332401008 meters Centerline goodness : 0.943721 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.22, Z:-0.28 [[ 9.99872998e-01 -1.44061870e-02 -6.81539716e-03 6.24050157e+00] [ 1.44455491e-02 9.99879056e-01 5.76192235e-03 -2.21425795e-01] [ 6.73156554e-03 -5.85964273e-03 9.99960175e-01 -2.79839189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.362401008000003 meters Centerline goodness : 0.946084 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.21, Z:-0.28 [[ 0.99991119 -0.01139174 -0.0069163 6.23872329] [ 0.01144521 0.99990454 0.00774085 -0.21143622] [ 0.00682746 -0.00781932 0.99994612 -0.27724911] [ 0. 0. 0. 1. ]] SLAMing on 24.392401008 meters Centerline goodness : 0.949976 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.21, Z:-0.28 [[ 0.9999108 -0.01133042 -0.00707223 6.23836152] [ 0.01137792 0.99991274 0.00671293 -0.20510484] [ 0.00699556 -0.0067928 0.99995246 -0.276745 ] [ 0. 0. 0. 1. ]] SLAMing on 24.422401008 meters Centerline goodness : 0.949199 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.20, Z:-0.28 [[ 9.99910416e-01 -1.12479639e-02 -7.25557984e-03 6.23814799e+00] [ 1.12895795e-02 9.99919908e-01 5.72043840e-03 -1.98261926e-01] [ 7.19065544e-03 -5.80183839e-03 9.99957316e-01 -2.76313515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.452401008000002 meters Centerline goodness : 0.954849 Centerline is valid? [False, True] Translation: X:6.24, Y:-0.19, Z:-0.28 [[ 0.99993914 -0.00801058 -0.00758585 6.23864284] [ 0.00807402 0.99993238 0.00836954 -0.19317598] [ 0.00751829 -0.00843028 0.9999362 -0.27613184] [ 0. 0. 0. 1. ]] SLAMing on 24.482401008 meters Centerline goodness : 0.955172 Centerline is valid? [True, True] Translation: X:6.27, Y:-0.18, Z:-0.28 [[ 9.99937865e-01 -8.19022561e-03 -7.56212307e-03 6.26753712e+00] [ 8.19419837e-03 9.99966305e-01 4.94514840e-04 -1.83197538e-01] [ 7.55781807e-03 -5.56449650e-04 9.99971284e-01 -2.80631753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.512401008 meters Centerline goodness : 0.958961 Centerline is valid? [True, True] Translation: X:6.30, Y:-0.17, Z:-0.28 [[ 9.99937060e-01 -7.75609709e-03 -8.10677677e-03 6.29578991e+00] [ 7.76065428e-03 9.99969745e-01 5.30839333e-04 -1.70815228e-01] [ 8.10241426e-03 -5.93719813e-04 9.99966999e-01 -2.81622908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.542401008000002 meters Centerline goodness : 0.959708 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.17, Z:-0.28 [[ 9.99916887e-01 -9.04618347e-03 -9.18615187e-03 6.32442396e+00] [ 9.05205426e-03 9.99958851e-01 5.97714896e-04 -1.65503585e-01] [ 9.18036683e-03 -6.80818763e-04 9.99957628e-01 -2.81351477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.572401008 meters Centerline goodness : 0.962202 Centerline is valid? [True, True] Translation: X:6.35, Y:-0.16, Z:-0.28 [[ 9.99897906e-01 -1.10707342e-02 -9.03414212e-03 6.35169506e+00] [ 1.10764953e-02 9.99938481e-01 5.87914252e-04 -1.59880940e-01] [ 9.02707771e-03 -6.87920863e-04 9.99959018e-01 -2.81027876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.602401008 meters Centerline goodness : 0.962518 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.15, Z:-0.28 [[ 9.99861635e-01 -1.36556370e-02 -9.49916214e-03 6.37994766e+00] [ 1.36620826e-02 9.99906481e-01 6.13983979e-04 -1.54093324e-01] [ 9.48988945e-03 -7.43677363e-04 9.99954693e-01 -2.80126887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.632401008000002 meters Centerline goodness : 0.965957 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.14, Z:-0.28 [[ 9.99721350e-01 -1.99645123e-02 -1.25952596e-02 6.40784484e+00] [ 1.99763598e-02 9.99800120e-01 8.15508060e-04 -1.40942542e-01] [ 1.25764609e-02 -1.06688826e-03 9.99920344e-01 -2.76815974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.662401008000003 meters Centerline goodness : 0.965125 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.13, Z:-0.27 [[ 9.99622569e-01 -2.39664804e-02 -1.34285803e-02 6.43642998e+00] [ 2.39802340e-02 9.99712059e-01 8.64100963e-04 -1.33904805e-01] [ 1.34040042e-02 -1.18579532e-03 9.99909459e-01 -2.74836590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.692401008 meters Centerline goodness : 0.963382 Centerline is valid? [True, True] Translation: X:6.46, Y:-0.13, Z:-0.27 [[ 9.99517912e-01 -2.71016216e-02 -1.51474877e-02 6.46465128e+00] [ 2.71194285e-02 9.99631729e-01 9.71362830e-04 -1.26660774e-01] [ 1.51155838e-02 -1.38168576e-03 9.99884798e-01 -2.72024342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.722401008000002 meters Centerline goodness : 0.961592 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.12, Z:-0.27 [[ 9.99440758e-01 -2.97404923e-02 -1.52863880e-02 6.49296189e+00] [ 2.97588710e-02 9.99556630e-01 9.76181647e-04 -1.19689844e-01] [ 1.52505784e-02 -1.43054138e-03 9.99882680e-01 -2.69695045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.752401008000003 meters Centerline goodness : 0.956413 Centerline is valid? [True, True] Translation: X:6.52, Y:-0.10, Z:-0.27 [[ 9.99349409e-01 -3.18704211e-02 -1.68829651e-02 6.52156717e+00] [ 3.18931730e-02 9.99490700e-01 1.08002732e-03 -1.03353778e-01] [ 1.68399457e-02 -1.61777599e-03 9.99856889e-01 -2.66755786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.782401008 meters Centerline goodness : 0.956630 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.10, Z:-0.27 [[ 9.99364818e-01 -3.14885158e-02 -1.66863668e-02 6.55043509e+00] [ 3.15105602e-02 9.99502857e-01 1.05976795e-03 -9.61857236e-02] [ 1.66447008e-02 -1.58489156e-03 9.99860211e-01 -2.67210323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.812401008000002 meters Centerline goodness : 0.955146 Centerline is valid? [True, True] Translation: X:6.58, Y:-0.09, Z:-0.27 [[ 9.99398687e-01 -3.08988824e-02 -1.57328638e-02 6.57889397e+00] [ 3.09183310e-02 9.99521419e-01 9.94393240e-04 -8.82092967e-02] [ 1.56946088e-02 -1.48022919e-03 9.99875736e-01 -2.68684916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.842401008000003 meters Centerline goodness : 0.957192 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.08, Z:-0.27 [[ 9.99422804e-01 -3.01846664e-02 -1.55866563e-02 6.60772067e+00] [ 3.02036015e-02 9.99543286e-01 9.80805854e-04 -7.94877993e-02] [ 1.55499323e-02 -1.45101289e-03 9.99878040e-01 -2.69634903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.872401008 meters Centerline goodness : 0.957552 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.06, Z:-0.27 [[ 9.99472000e-01 -2.91873034e-02 -1.42766301e-02 6.63719126e+00] [ 2.92030009e-02 9.99573103e-01 8.92248711e-04 -5.94358424e-02] [ 1.42444931e-02 -1.30869805e-03 9.99897686e-01 -2.71200119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.902401008000002 meters Centerline goodness : 0.955778 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.05, Z:-0.27 [[ 9.99486238e-01 -2.93026603e-02 -1.29851616e-02 6.66515202e+00] [ 2.93156698e-02 9.99569873e-01 8.12625557e-04 -5.05333945e-02] [ 1.29557642e-02 -1.19287677e-03 9.99915359e-01 -2.72354496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.932401008000003 meters Centerline goodness : 0.955539 Centerline is valid? [True, True] Translation: X:6.69, Y:-0.04, Z:-0.27 [[ 9.99451560e-01 -3.04350616e-02 -1.30494050e-02 6.69361682e+00] [ 3.04481873e-02 9.99536020e-01 8.08310244e-04 -4.16816793e-02] [ 1.30187493e-02 -1.20519766e-03 9.99914526e-01 -2.72548175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.962401008 meters Centerline goodness : 0.955895 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.02, Z:-0.27 [[ 9.99473511e-01 -3.06681273e-02 -1.05908802e-02 6.72208079e+00] [ 3.06767980e-02 9.99529140e-01 6.57174097e-04 -2.17885887e-02] [ 1.05657391e-02 -9.81722395e-04 9.99943699e-01 -2.72676090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.992401008 meters Centerline goodness : 0.955342 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.01, Z:-0.27 [[ 9.99475935e-01 -3.11163100e-02 -8.92361993e-03 6.74943079e+00] [ 3.11224683e-02 9.99515426e-01 5.52042904e-04 -1.21621725e-02] [ 8.90211824e-03 -8.29478676e-04 9.99960031e-01 -2.73455863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.022401008000003 meters Centerline goodness : 0.955396 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.00, Z:-0.27 [[ 9.99457197e-01 -3.18898329e-02 -8.26744302e-03 6.77800530e+00] [ 3.18950814e-02 9.99491096e-01 5.03747229e-04 -2.46292956e-03] [ 8.24717126e-03 -7.67164562e-04 9.99965697e-01 -2.73337937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.052401008 meters Centerline goodness : 0.956501 Centerline is valid? [True, True] Translation: X:6.81, Y:0.01, Z:-0.27 [[ 9.99486146e-01 -3.10873044e-02 -7.81173549e-03 6.80527341e+00] [ 3.10919868e-02 9.99516413e-01 4.78652285e-04 6.53045501e-03] [ 7.79307782e-03 -7.21288705e-04 9.99969373e-01 -2.73558407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.082401008 meters Centerline goodness : 0.956699 Centerline is valid? [True, True] Translation: X:6.83, Y:0.03, Z:-0.27 [[ 9.99473172e-01 -3.08392174e-02 -1.01153543e-02 6.83467073e+00] [ 3.08469887e-02 9.99523930e-01 6.13116770e-04 2.82599572e-02] [ 1.00916306e-02 -9.24821983e-04 9.99948651e-01 -2.74894989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.112401008000003 meters Centerline goodness : 0.955648 Centerline is valid? [True, True] Translation: X:6.86, Y:0.04, Z:-0.28 [[ 9.99457374e-01 -3.05822232e-02 -1.22345845e-02 6.86254249e+00] [ 3.05936208e-02 9.99531628e-01 7.45478936e-04 3.78979464e-02] [ 1.22060557e-02 -1.11937466e-03 9.99924877e-01 -2.75774960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.142401008 meters Centerline goodness : 0.956894 Centerline is valid? [True, True] Translation: X:6.89, Y:0.05, Z:-0.28 [[ 9.99444810e-01 -3.06812992e-02 -1.29895765e-02 6.89134501e+00] [ 3.06940516e-02 9.99528520e-01 7.83472236e-04 4.72577802e-02] [ 1.29594142e-02 -1.18173999e-03 9.99915325e-01 -2.77163977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.172401008 meters Centerline goodness : 0.954828 Centerline is valid? [True, True] Translation: X:6.92, Y:0.06, Z:-0.28 [[ 9.99413775e-01 -3.09015044e-02 -1.47378296e-02 6.92029853e+00] [ 3.09178823e-02 9.99521536e-01 8.84683104e-04 5.57805435e-02] [ 1.47034401e-02 -1.33982696e-03 9.99891001e-01 -2.77348062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.202401008000002 meters Centerline goodness : 0.958943 Centerline is valid? [True, True] Translation: X:6.95, Y:0.07, Z:-0.28 [[ 9.99432286e-01 -2.93988019e-02 -1.64564763e-02 6.94830221e+00] [ 2.94190626e-02 9.99566675e-01 9.90386741e-04 7.35051599e-02] [ 1.64202291e-02 -1.47395859e-03 9.99864093e-01 -2.77202259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.232401008 meters Centerline goodness : 0.958352 Centerline is valid? [True, True] Translation: X:6.98, Y:0.08, Z:-0.28 [[ 9.99470941e-01 -2.78408481e-02 -1.68144145e-02 6.97670912e+00] [ 2.78616167e-02 9.99611287e-01 1.00213018e-03 8.14876602e-02] [ 1.67799784e-02 -1.47007676e-03 9.99858126e-01 -2.77609061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.262401008 meters Centerline goodness : 0.961711 Centerline is valid? [True, True] Translation: X:7.01, Y:0.10, Z:-0.28 [[ 9.99601016e-01 -2.35699814e-02 -1.55648657e-02 7.00537568e+00] [ 2.35872360e-02 9.99721354e-01 9.25891831e-04 1.01027638e-01] [ 1.55387053e-02 -1.29265457e-03 9.99878431e-01 -2.79035695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.292401008000002 meters Centerline goodness : 0.965052 Centerline is valid? [True, True] Translation: X:7.03, Y:0.11, Z:-0.28 [[ 9.99671437e-01 -2.06758053e-02 -1.51502212e-02 7.03344399e+00] [ 2.06917138e-02 9.99785504e-01 8.94034590e-04 1.08419563e-01] [ 1.51284866e-02 -1.20722488e-03 9.99884829e-01 -2.79149236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.322401008 meters Centerline goodness : 0.963158 Centerline is valid? [True, True] Translation: X:7.06, Y:0.12, Z:-0.28 [[ 9.99765906e-01 -1.72681398e-02 -1.30362687e-02 7.06092954e+00] [ 1.72796448e-02 9.99850399e-01 7.70411406e-04 1.15553119e-01] [ 1.30210149e-02 -9.95493150e-04 9.99914727e-01 -2.80635775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.352401008 meters Centerline goodness : 0.965816 Centerline is valid? [True, True] Translation: X:7.09, Y:0.12, Z:-0.28 [[ 9.99832529e-01 -1.30931551e-02 -1.27860319e-02 7.08834665e+00] [ 1.31038605e-02 9.99913857e-01 7.53852038e-04 1.21960521e-01] [ 1.27750602e-02 -9.21272169e-04 9.99917971e-01 -2.80283491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.382401008000002 meters Centerline goodness : 0.965296 Centerline is valid? [True, True] Translation: X:7.12, Y:0.13, Z:-0.28 [[ 9.99902039e-01 -7.61624387e-03 -1.17433129e-02 7.11754094e+00] [ 7.62480500e-03 9.99970697e-01 6.84421817e-04 1.34436869e-01] [ 1.17377561e-02 -7.73895241e-04 9.99930811e-01 -2.79985192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.412401008000003 meters Centerline goodness : 0.965372 Centerline is valid? [True, True] Translation: X:7.15, Y:0.14, Z:-0.28 [[ 9.99909850e-01 -5.72571579e-03 -1.21453042e-02 7.14566271e+00] [ 5.73469053e-03 9.99983309e-01 7.04249576e-04 1.39028055e-01] [ 1.21410692e-02 -7.73835649e-04 9.99925995e-01 -2.80339168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.442401008 meters Centerline goodness : 0.966297 Centerline is valid? [True, True] Translation: X:7.17, Y:0.14, Z:-0.28 [[ 9.99916841e-01 -3.74496102e-03 -1.23404364e-02 7.17370992e+00] [ 3.75402889e-03 9.99992700e-01 7.11727373e-04 1.43980972e-01] [ 1.23376809e-02 -7.57994541e-04 9.99923601e-01 -2.80686106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.472401008000002 meters Centerline goodness : 0.965103 Centerline is valid? [True, True] Translation: X:7.20, Y:0.15, Z:-0.28 [[ 9.99924865e-01 -1.80020821e-03 -1.21253206e-02 7.20053305e+00] [ 1.80884487e-03 9.99998118e-01 7.01353566e-04 1.48715232e-01] [ 1.21240352e-02 -7.23233694e-04 9.99926240e-01 -2.81568982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.502401008000003 meters Centerline goodness : 0.964331 Centerline is valid? [True, True] Translation: X:7.23, Y:0.16, Z:-0.28 [[ 9.99891829e-01 9.33571699e-04 -1.46784892e-02 7.22928614e+00] [-9.21322107e-04 9.99999222e-01 8.41266805e-04 1.59234543e-01] [ 1.46792632e-02 -8.27652188e-04 9.99891911e-01 -2.83239705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.532401008 meters Centerline goodness : 0.960996 Centerline is valid? [True, True] Translation: X:7.26, Y:0.16, Z:-0.28 [[ 9.99861243e-01 1.86654033e-03 -1.65532847e-02 7.25701160e+00] [-1.85116035e-03 9.99997841e-01 9.44393331e-04 1.61798947e-01] [ 1.65550117e-02 -9.13619506e-04 9.99862539e-01 -2.83057147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.562401008000002 meters Centerline goodness : 0.962125 Centerline is valid? [True, True] Translation: X:7.29, Y:0.16, Z:-0.28 [[ 9.99870650e-01 3.10139326e-03 -1.57817996e-02 7.28553832e+00] [-3.08764923e-03 9.99994833e-01 8.95169582e-04 1.63809973e-01] [ 1.57844943e-02 -8.46325131e-04 9.99875059e-01 -2.83813129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.592401008000003 meters Centerline goodness : 0.959630 Centerline is valid? [True, True] Translation: X:7.31, Y:0.17, Z:-0.28 [[ 9.99897284e-01 5.16651970e-03 -1.33689759e-02 7.31270758e+00] [-5.15682878e-03 9.99986415e-01 7.59252689e-04 1.69216159e-01] [ 1.33727170e-02 -6.90233182e-04 9.99910343e-01 -2.84671304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.622401008 meters Centerline goodness : 0.962302 Centerline is valid? [True, True] Translation: X:7.34, Y:0.17, Z:-0.29 [[ 9.99883414e-01 6.55844915e-03 -1.37893394e-02 7.34063498e+00] [-6.54828517e-03 9.99978254e-01 7.82111238e-04 1.70158025e-01] [ 1.37941690e-02 -6.91723528e-04 9.99904617e-01 -2.85003813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.652401008000002 meters Centerline goodness : 0.961204 Centerline is valid? [True, True] Translation: X:7.37, Y:0.17, Z:-0.29 [[ 9.99858622e-01 8.01256337e-03 -1.47829433e-02 7.36906861e+00] [-8.00104207e-03 9.99967640e-01 8.38343044e-04 1.69994284e-01] [ 1.47891822e-02 -7.19945569e-04 9.99890375e-01 -2.85417311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.682401008000003 meters Centerline goodness : 0.961447 Centerline is valid? [True, True] Translation: X:7.40, Y:0.17, Z:-0.29 [[ 9.99826668e-01 9.64774177e-03 -1.59234237e-02 7.39845785e+00] [-9.63459792e-03 9.99953179e-01 9.01949922e-04 1.70444525e-01] [ 1.59313799e-02 -7.48377801e-04 9.99872807e-01 -2.86142830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.712401008 meters Centerline goodness : 0.960262 Centerline is valid? [True, True] Translation: X:7.43, Y:0.17, Z:-0.29 [[ 9.99791574e-01 1.15964793e-02 -1.68027051e-02 7.42613081e+00] [-1.15821496e-02 9.99932473e-01 9.49887469e-04 1.72421803e-01] [ 1.68125858e-02 -7.55078044e-04 9.99858373e-01 -2.87155701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.742401008 meters Centerline goodness : 0.962112 Centerline is valid? [True, True] Translation: X:7.45, Y:0.17, Z:-0.29 [[ 9.99776240e-01 1.19460641e-02 -1.74574405e-02 7.45391504e+00] [-1.19306754e-02 9.99928341e-01 9.85383915e-04 1.71843795e-01] [ 1.74679610e-02 -7.76884371e-04 9.99847122e-01 -2.87772892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.772401008000003 meters Centerline goodness : 0.960318 Centerline is valid? [True, True] Translation: X:7.48, Y:0.17, Z:-0.29 [[ 9.99807102e-01 1.13640889e-02 -1.60192391e-02 7.48314676e+00] [-1.13510770e-02 9.99935167e-01 9.02959505e-04 1.70347013e-01] [ 1.60284618e-02 -7.20949710e-04 9.99871276e-01 -2.88650424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.802401008 meters Centerline goodness : 0.959835 Centerline is valid? [True, True] Translation: X:7.51, Y:0.17, Z:-0.29 [[ 9.99852247e-01 9.65445749e-03 -1.42223943e-02 7.51212290e+00] [-9.64404895e-03 9.99953175e-01 8.00245814e-04 1.68938493e-01] [ 1.42294542e-02 -6.62966109e-04 9.99898536e-01 -2.88897322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.832401008 meters Centerline goodness : 0.959615 Centerline is valid? [True, True] Translation: X:7.54, Y:0.17, Z:-0.29 [[ 9.99903360e-01 6.19202810e-03 -1.24470650e-02 7.53980238e+00] [-6.18381269e-03 9.99980636e-01 6.98406524e-04 1.66409056e-01] [ 1.24511485e-02 -6.21368712e-04 9.99922288e-01 -2.89132114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.862401008000003 meters Centerline goodness : 0.959562 Centerline is valid? [True, True] Translation: X:7.57, Y:0.16, Z:-0.29 [[ 9.99919837e-01 4.86199420e-03 -1.16910702e-02 7.56888236e+00] [-4.85466054e-03 9.99988001e-01 6.55584177e-04 1.63256866e-01] [ 1.16941174e-02 -5.98775446e-04 9.99931442e-01 -2.89969648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.892401008 meters Centerline goodness : 0.958228 Centerline is valid? [True, True] Translation: X:7.60, Y:0.16, Z:-0.29 [[ 9.99921188e-01 3.69472444e-03 -1.19986421e-02 7.59778654e+00] [-3.68692929e-03 9.99992978e-01 6.71724439e-04 1.59869620e-01] [ 1.20010397e-02 -6.27433354e-04 9.99927788e-01 -2.89923440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.922401008 meters Centerline goodness : 0.958919 Centerline is valid? [True, True] Translation: X:7.62, Y:0.15, Z:-0.29 [[ 9.99934204e-01 2.28540181e-03 -1.12411837e-02 7.62494669e+00] [-2.27848998e-03 9.99997207e-01 6.27635367e-04 1.54707212e-01] [ 1.12425867e-02 -6.01981147e-04 9.99936619e-01 -2.90599763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.952401008000002 meters Centerline goodness : 0.958123 Centerline is valid? [True, True] Translation: X:7.65, Y:0.15, Z:-0.29 [[ 9.99945669e-01 1.91134701e-03 -1.02472555e-02 7.65379430e+00] [-1.90558956e-03 9.99998021e-01 5.71587351e-04 1.51455085e-01] [ 1.02483277e-02 -5.52029233e-04 9.99947332e-01 -2.91188641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.982401008 meters Centerline goodness : 0.958123 Centerline is valid? [True, True] Translation: X:7.68, Y:0.15, Z:-0.29 [[ 9.99945782e-01 1.85117637e-03 -1.02472659e-02 7.68308421e+00] [-1.84541769e-03 9.99998134e-01 5.71399832e-04 1.49913867e-01] [ 1.02483045e-02 -5.52458366e-04 9.99947332e-01 -2.91813096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.012401008 meters Centerline goodness : 0.962060 Centerline is valid? [True, True] Translation: X:7.71, Y:0.15, Z:-0.29 [[ 9.99962608e-01 2.10971293e-03 -8.38644481e-03 7.71096859e+00] [-2.10588093e-03 9.99997674e-01 4.65731933e-04 1.48238124e-01] [ 8.38740786e-03 -4.48053664e-04 9.99964725e-01 -2.93191213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.042401008000002 meters Centerline goodness : 0.957374 Centerline is valid? [True, True] Translation: X:7.74, Y:0.15, Z:-0.29 [[ 9.99955115e-01 4.88268046e-03 -8.11958013e-03 7.73753258e+00] [-4.87919605e-03 9.99987996e-01 4.48889502e-04 1.46220892e-01] [ 8.12167445e-03 -4.09252331e-04 9.99966935e-01 -2.93918948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.072401008 meters Centerline goodness : 0.957699 Centerline is valid? [True, True] Translation: X:7.77, Y:0.14, Z:-0.29 [[ 9.99937510e-01 6.97252214e-03 -8.73842311e-03 7.76641395e+00] [-6.96855575e-03 9.99975602e-01 4.84268299e-04 1.42204987e-01] [ 8.74158648e-03 -4.23343848e-04 9.99961702e-01 -2.94218343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.102401008 meters Centerline goodness : 0.957756 Centerline is valid? [True, True] Translation: X:7.80, Y:0.14, Z:-0.30 [[ 9.99930459e-01 8.19583249e-03 -8.47967420e-03 7.79552995e+00] [-8.19214656e-03 9.99966334e-01 4.69322563e-04 1.38154208e-01] [ 8.48323521e-03 -3.99823192e-04 9.99963937e-01 -2.96391542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.132401008000002 meters Centerline goodness : 0.956183 Centerline is valid? [True, True] Translation: X:7.82, Y:0.13, Z:-0.30 [[ 9.99899261e-01 9.87809351e-03 -1.01927143e-02 7.82428361e+00] [-9.87286483e-03 9.99951103e-01 5.63172132e-04 1.33918172e-01] [ 1.01977790e-02 -4.62484108e-04 9.99947894e-01 -2.96217643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.162401008000003 meters Centerline goodness : 0.955868 Centerline is valid? [True, True] Translation: X:7.85, Y:0.13, Z:-0.30 [[ 9.99874946e-01 1.13557059e-02 -1.10063774e-02 7.85332153e+00] [-1.13497077e-02 9.99935406e-01 6.07286703e-04 1.30795449e-01] [ 1.10125626e-02 -4.82291594e-04 9.99939244e-01 -2.97228305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.192401008 meters Centerline goodness : 0.957514 Centerline is valid? [True, True] Translation: X:7.88, Y:0.13, Z:-0.30 [[ 9.99835393e-01 1.41272734e-02 -1.13844984e-02 7.88040259e+00] [-1.41210534e-02 9.99900097e-01 6.26551556e-04 1.26311864e-01] [ 1.13922125e-02 -4.65687312e-04 9.99934998e-01 -3.00043788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.222401008000002 meters Centerline goodness : 0.955465 Centerline is valid? [True, True] Translation: X:7.91, Y:0.12, Z:-0.30 [[ 9.99790236e-01 1.56717548e-02 -1.31863919e-02 7.90800237e+00] [-1.56635548e-02 9.99877056e-01 7.24903521e-04 1.22232196e-01] [ 1.31961312e-02 -5.18205689e-04 9.99912793e-01 -3.00449872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.252401008000003 meters Centerline goodness : 0.959398 Centerline is valid? [True, True] Translation: X:7.94, Y:0.12, Z:-0.30 [[ 9.99759029e-01 1.63687372e-02 -1.46269778e-02 7.93673105e+00] [-1.63587300e-02 9.99865864e-01 8.03553489e-04 1.17514687e-01] [ 1.46381690e-02 -5.64081075e-04 9.99892697e-01 -3.01335663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.282401008 meters Centerline goodness : 0.954391 Centerline is valid? [True, True] Translation: X:7.97, Y:0.11, Z:-0.30 [[ 9.99702857e-01 1.91069907e-02 -1.51366986e-02 7.96542410e+00] [-1.90966061e-02 9.99817298e-01 8.30308822e-04 1.06786793e-01] [ 1.51497978e-02 -5.41002531e-04 9.99885089e-01 -3.01259806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.312401008000002 meters Centerline goodness : 0.955652 Centerline is valid? [True, True] Translation: X:7.99, Y:0.10, Z:-0.30 [[ 9.99684893e-01 2.03055884e-02 -1.47579865e-02 7.99409960e+00] [-2.02958682e-02 9.99793691e-01 8.08125597e-04 1.01718783e-01] [ 1.47713512e-02 -5.08344802e-04 9.99890768e-01 -3.02086804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.342401008000003 meters Centerline goodness : 0.959545 Centerline is valid? [True, True] Translation: X:8.02, Y:0.10, Z:-0.30 [[ 9.99625294e-01 2.31408701e-02 -1.46209186e-02 8.02122965e+00] [-2.31316624e-02 9.99732108e-01 7.98581564e-04 9.66686768e-02] [ 1.46354816e-02 -4.60076179e-04 9.99892790e-01 -3.02833359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.372401008 meters Centerline goodness : 0.956379 Centerline is valid? [True, True] Translation: X:8.05, Y:0.09, Z:-0.30 [[ 9.99538443e-01 2.65729914e-02 -1.47233431e-02 8.05029126e+00] [-2.65640374e-02 9.99646791e-01 8.03419991e-04 9.22458321e-02] [ 1.47394919e-02 -4.11937731e-04 9.99891283e-01 -3.03544116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.402401008000002 meters Centerline goodness : 0.957682 Centerline is valid? [True, True] Translation: X:8.08, Y:0.08, Z:-0.30 [[ 9.99305832e-01 3.37758967e-02 -1.57176215e-02 8.07822494e+00] [-3.37665888e-02 9.99429378e-01 8.57277297e-04 8.49434403e-02] [ 1.57376080e-02 -3.25951739e-04 9.99876103e-01 -3.03995713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.432401008000003 meters Centerline goodness : 0.956149 Centerline is valid? [True, True] Translation: X:8.11, Y:0.08, Z:-0.30 [[ 9.99162906e-01 3.75067502e-02 -1.63318983e-02 8.10727644e+00] [-3.74972004e-02 9.99296336e-01 8.90668647e-04 8.00367178e-02] [ 1.63538122e-02 -2.77522611e-04 9.99866229e-01 -3.04585167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.462401008 meters Centerline goodness : 0.955687 Centerline is valid? [True, True] Translation: X:8.14, Y:0.07, Z:-0.30 [[ 9.99013423e-01 4.14704400e-02 -1.58865487e-02 8.13628029e+00] [-4.14619151e-02 9.99139710e-01 8.65741138e-04 7.39425129e-02] [ 1.59087843e-02 -2.06200285e-04 9.99873426e-01 -3.04935107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.492401008 meters Centerline goodness : 0.961237 Centerline is valid? [True, True] Translation: X:8.17, Y:0.06, Z:-0.31 [[ 9.98783578e-01 4.72293307e-02 -1.41687792e-02 8.16590247e+00] [-4.72231184e-02 9.98884067e-01 7.72879868e-04 6.31739967e-02] [ 1.41894703e-02 -1.02845784e-04 9.99899319e-01 -3.05288142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.522401008000003 meters Centerline goodness : 0.958924 Centerline is valid? [True, True] Translation: X:8.20, Y:0.06, Z:-0.31 [[ 9.98664316e-01 4.97367979e-02 -1.39941087e-02 8.19695232e+00] [-4.97308481e-02 9.98762357e-01 7.73043840e-04 5.65523713e-02] [ 1.40152377e-02 -7.60724056e-05 9.99901779e-01 -3.05983811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.552401008 meters Centerline goodness : 0.960053 Centerline is valid? [True, True] Translation: X:8.23, Y:0.05, Z:-0.31 [[ 9.98564884e-01 5.15486556e-02 -1.45226795e-02 8.22887390e+00] [-5.15423760e-02 9.98670483e-01 8.06606196e-04 5.00941001e-02] [ 1.45449508e-02 -5.69152144e-05 9.99894215e-01 -3.07047723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.582401008 meters Centerline goodness : 0.960604 Centerline is valid? [True, True] Translation: X:8.26, Y:0.04, Z:-0.31 [[ 9.98525462e-01 5.22341759e-02 -1.47814746e-02 8.25983411e+00] [-5.22276958e-02 9.98634862e-01 8.24342443e-04 4.26313183e-02] [ 1.48043547e-02 -5.11245616e-05 9.99890408e-01 -3.07683708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.612401008000003 meters Centerline goodness : 0.959826 Centerline is valid? [True, True] Translation: X:8.29, Y:0.03, Z:-0.31 [[ 9.98594417e-01 5.14171467e-02 -1.28634181e-02 8.29157748e+00] [-5.14120966e-02 9.98677262e-01 7.23184589e-04 2.63245252e-02] [ 1.28835873e-02 -6.08327979e-05 9.99917001e-01 -3.07984813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.642401008 meters Centerline goodness : 0.959142 Centerline is valid? [True, True] Translation: X:8.32, Y:0.02, Z:-0.31 [[ 9.98599830e-01 5.17378377e-02 -1.10261542e-02 8.32425766e+00] [-5.17340931e-02 9.98660700e-01 6.24758437e-04 1.60387973e-02] [ 1.10437105e-02 -5.34555804e-05 9.99939015e-01 -3.08486959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.672401008 meters Centerline goodness : 0.960526 Centerline is valid? [True, True] Translation: X:8.36, Y:0.01, Z:-0.31 [[ 9.98608460e-01 5.18137825e-02 -9.82221272e-03 8.35588082e+00] [-5.18108134e-02 9.98656763e-01 5.56664465e-04 6.53007449e-03] [ 9.83786205e-03 -4.69930137e-05 9.99951606e-01 -3.08878820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.702401008000002 meters Centerline goodness : 0.957913 Centerline is valid? [True, True] Translation: X:8.39, Y:-0.00, Z:-0.31 [[ 9.98585103e-01 5.23388684e-02 -9.40403329e-03 8.38886663e+00] [-5.23361155e-02 9.98629381e-01 5.38758852e-04 -2.37082412e-03] [ 9.41934198e-03 -4.58259907e-05 9.99955636e-01 -3.08905095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.732401008 meters Centerline goodness : 0.959149 Centerline is valid? [True, True] Translation: X:8.42, Y:-0.02, Z:-0.31 [[ 9.98451321e-01 5.48302872e-02 -9.41275256e-03 8.42102126e+00] [-5.48276397e-02 9.98495688e-01 5.39271122e-04 -1.73869884e-02] [ 9.42816123e-03 -2.23569580e-05 9.99955554e-01 -3.10262496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.762401008 meters Centerline goodness : 0.957657 Centerline is valid? [True, True] Translation: X:8.45, Y:-0.03, Z:-0.31 [[ 9.98342385e-01 5.68307802e-02 -9.09639038e-03 8.45247476e+00] [-5.68283768e-02 9.98383825e-01 5.22676367e-04 -2.69127221e-02] [ 9.11139313e-03 -4.87687094e-06 9.99958490e-01 -3.11585974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.792401008000002 meters Centerline goodness : 0.959353 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.04, Z:-0.31 [[ 9.98228003e-01 5.87599736e-02 -9.38720851e-03 8.48505693e+00] [-5.87574637e-02 9.98272140e-01 5.43170007e-04 -3.72733573e-02] [ 9.40290538e-03 9.36105198e-06 9.99955792e-01 -3.11990107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.822401008000003 meters Centerline goodness : 0.960002 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.06, Z:-0.31 [[ 9.97874754e-01 6.41485692e-02 -1.14427246e-02 8.51657192e+00] [-6.41451730e-02 9.97940357e-01 6.63946695e-04 -5.81480916e-02] [ 1.14617479e-02 7.14599061e-05 9.99934309e-01 -3.12008329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.852401008 meters Centerline goodness : 0.961020 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.07, Z:-0.31 [[ 9.97744331e-01 6.61778012e-02 -1.12582745e-02 8.54846025e+00] [-6.61746080e-02 9.97807842e-01 6.56321691e-04 -6.95290869e-02] [ 1.12770285e-02 9.01706523e-05 9.99936408e-01 -3.12251695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.882401008000002 meters Centerline goodness : 0.963591 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.08, Z:-0.31 [[ 9.97643578e-01 6.76901979e-02 -1.11949778e-02 8.58035625e+00] [-6.76871386e-02 9.97706382e-01 6.52375910e-04 -7.99468910e-02] [ 1.12134602e-02 1.06917375e-04 9.99937121e-01 -3.13140936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.912401008000003 meters Centerline goodness : 0.961509 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.09, Z:-0.32 [[ 9.97568893e-01 6.88655547e-02 -1.06695684e-02 8.61273025e+00] [-6.88627887e-02 9.97625944e-01 6.26839899e-04 -8.99359610e-02] [ 1.06874060e-02 1.09420253e-04 9.99942882e-01 -3.15455051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.942401008 meters Centerline goodness : 0.963130 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.10, Z:-0.32 [[ 9.97522951e-01 6.93777219e-02 -1.16058032e-02 8.64483921e+00] [-6.93744540e-02 9.97590455e-01 6.84407452e-04 -9.98500611e-02] [ 1.16253211e-02 1.22434117e-04 9.99932416e-01 -3.16983059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.972401008000002 meters Centerline goodness : 0.965608 Centerline is valid? [True, True] Translation: X:8.68, Y:-0.12, Z:-0.32 [[ 9.97513961e-01 6.94097491e-02 -1.21730935e-02 8.67562565e+00] [-6.94061278e-02 9.97588227e-01 7.20195973e-04 -1.19326966e-01] [ 1.21937234e-02 1.26481745e-04 9.99925646e-01 -3.18134718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.002401008000003 meters Centerline goodness : 0.965533 Centerline is valid? [True, True] Translation: X:8.71, Y:-0.13, Z:-0.32 [[ 9.97575581e-01 6.85116153e-02 -1.22114310e-02 8.70815415e+00] [-6.85078573e-02 9.97650312e-01 7.26277157e-04 -1.30690960e-01] [ 1.22324964e-02 1.12062617e-04 9.99925174e-01 -3.17893597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.032401008 meters Centerline goodness : 0.965498 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.14, Z:-0.32 [[ 9.97627002e-01 6.78304668e-02 -1.18064748e-02 8.74008902e+00] [-6.78268651e-02 9.97696857e-01 7.05664878e-04 -1.42189226e-01] [ 1.18271483e-02 9.68058347e-05 9.99930052e-01 -3.18322226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.062401008000002 meters Centerline goodness : 0.965351 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.15, Z:-0.32 [[ 9.97723347e-01 6.66487612e-02 -1.02988011e-02 8.77132670e+00] [-6.66459548e-02 9.97776497e-01 6.15843223e-04 -1.53717381e-01] [ 1.03169468e-02 7.19322675e-05 9.99946776e-01 -3.18712381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.092401008000003 meters Centerline goodness : 0.967850 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.16, Z:-0.32 [[ 9.97761888e-01 6.61913341e-02 -9.48272499e-03 8.80342704e+00] [-6.61888881e-02 9.97806947e-01 5.71890177e-04 -1.64907608e-01] [ 9.49978305e-03 5.70408011e-05 9.99954874e-01 -3.19586957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.122401008 meters Centerline goodness : 0.969683 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.19, Z:-0.32 [[ 9.97804404e-01 6.55866038e-02 -9.20694410e-03 8.83428678e+00] [-6.55842765e-02 9.97846879e-01 5.54803434e-04 -1.85533520e-01] [ 9.22350811e-03 5.02454570e-05 9.99957461e-01 -3.18794870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.152401008000002 meters Centerline goodness : 0.969816 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.20, Z:-0.32 [[ 9.97755906e-01 6.61923725e-02 -1.00856934e-02 8.86707431e+00] [-6.61895594e-02 9.97806878e-01 6.12822590e-04 -1.95586658e-01] [ 1.01041384e-02 5.61202429e-05 9.99948950e-01 -3.18591925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.182401008000003 meters Centerline goodness : 0.971291 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.21, Z:-0.32 [[ 9.97548645e-01 6.94010974e-02 -8.95475524e-03 8.89815846e+00] [-6.93989856e-02 9.97588834e-01 5.46728923e-04 -2.10315948e-01] [ 8.97110742e-03 7.60622325e-05 9.99959756e-01 -3.21147124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.212401008 meters Centerline goodness : 0.969716 Centerline is valid? [True, True] Translation: X:8.93, Y:-0.22, Z:-0.32 [[ 9.97375843e-01 7.17630542e-02 -9.56517481e-03 8.93043231e+00] [-7.17607334e-02 9.97421703e-01 5.86072044e-04 -2.18641912e-01] [ 9.58257126e-03 1.01869860e-04 9.99954081e-01 -3.21839556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.242401008 meters Centerline goodness : 0.968297 Centerline is valid? [True, True] Translation: X:8.96, Y:-0.23, Z:-0.32 [[ 9.97189335e-01 7.39917659e-02 -1.17748947e-02 8.96285908e+00] [-7.39883753e-02 9.97258841e-01 7.23902098e-04 -2.27794059e-01] [ 1.17961806e-02 1.49337874e-04 9.99930411e-01 -3.22333780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.272401008000003 meters Centerline goodness : 0.969355 Centerline is valid? [True, True] Translation: X:8.99, Y:-0.24, Z:-0.32 [[ 9.97030000e-01 7.58769287e-02 -1.31860213e-02 8.99381624e+00] [-7.58728109e-02 9.97117172e-01 8.12978659e-04 -2.37434467e-01] [ 1.32096946e-02 1.89896388e-04 9.99912730e-01 -3.23050655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.302401008 meters Centerline goodness : 0.972111 Centerline is valid? [True, True] Translation: X:9.02, Y:-0.26, Z:-0.33 [[ 9.96863926e-01 7.80994411e-02 -1.27589421e-02 9.02442845e+00] [-7.80957235e-02 9.96945552e-01 7.90099417e-04 -2.55710189e-01] [ 1.27816769e-02 2.08797210e-04 9.99918289e-01 -3.25277686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.332401008 meters Centerline goodness : 0.972194 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.27, Z:-0.33 [[ 9.96806734e-01 7.88091361e-02 -1.28629697e-02 9.05680257e+00] [-7.88053675e-02 9.96889700e-01 8.00362192e-04 -2.65731668e-01] [ 1.28860379e-02 2.15864633e-04 9.99916948e-01 -3.26015667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.362401008000003 meters Centerline goodness : 0.972600 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.27, Z:-0.33 [[ 9.96822422e-01 7.87091148e-02 -1.22447783e-02 9.08938723e+00] [-7.87056471e-02 9.96897605e-01 7.65569188e-04 -2.74924688e-01] [ 1.22670474e-02 2.00596664e-04 9.99924737e-01 -3.27681186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.392401008 meters Centerline goodness : 0.973182 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.28, Z:-0.33 [[ 9.96812925e-01 7.88692965e-02 -1.19844505e-02 9.12037581e+00] [-7.88659527e-02 9.96884946e-01 7.52087000e-04 -2.83810154e-01] [ 1.20064348e-02 1.95475061e-04 9.99927901e-01 -3.29798038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.422401008 meters Centerline goodness : 0.970991 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.29, Z:-0.33 [[ 9.96817092e-01 7.87513690e-02 -1.24059134e-02 9.15297942e+00] [-7.87477319e-02 9.96894269e-01 7.82149510e-04 -2.93412640e-01] [ 1.24289793e-02 1.97277542e-04 9.99922738e-01 -3.31568466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.452401008000002 meters Centerline goodness : 0.971257 Centerline is valid? [True, True] Translation: X:9.18, Y:-0.31, Z:-0.33 [[ 9.96886091e-01 7.78899543e-02 -1.22994906e-02 9.18318627e+00] [-7.78862794e-02 9.96961946e-01 7.78231602e-04 -3.13246286e-01] [ 1.23227405e-02 1.82153303e-04 9.99924056e-01 -3.33106272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.482401008 meters Centerline goodness : 0.969193 Centerline is valid? [True, True] Translation: X:9.21, Y:-0.32, Z:-0.33 [[ 9.96992481e-01 7.66598828e-02 -1.13690368e-02 9.21465229e+00] [-7.66566263e-02 9.97057290e-01 7.22571714e-04 -3.24242781e-01] [ 1.13909733e-02 1.51113441e-04 9.99935109e-01 -3.33504392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.512401008 meters Centerline goodness : 0.968389 Centerline is valid? [True, True] Translation: X:9.25, Y:-0.34, Z:-0.33 [[ 9.97102479e-01 7.54915308e-02 -9.36345640e-03 9.24651442e+00] [-7.54892363e-02 9.97146437e-01 5.98735969e-04 -3.35256258e-01] [ 9.38193668e-03 1.09839054e-04 9.99955983e-01 -3.33710920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.542401008000002 meters Centerline goodness : 0.965653 Centerline is valid? [True, True] Translation: X:9.28, Y:-0.35, Z:-0.33 [[ 9.97182702e-01 7.47720297e-02 -5.98346809e-03 9.27862753e+00] [-7.47710574e-02 9.97200652e-01 3.86348470e-04 -3.46548312e-01] [ 5.99560633e-03 6.21302248e-05 9.99982024e-01 -3.34093254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.572401008000003 meters Centerline goodness : 0.962683 Centerline is valid? [True, True] Translation: X:9.31, Y:-0.36, Z:-0.33 [[ 9.97289970e-01 7.34738547e-02 -3.78277296e-03 9.30980833e+00] [-7.34734467e-02 9.97297143e-01 2.46890245e-04 -3.56342790e-01] [ 3.79068864e-03 3.17122022e-05 9.99992815e-01 -3.34593722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.602401008 meters Centerline goodness : 0.959895 Centerline is valid? [True, True] Translation: X:9.34, Y:-0.37, Z:-0.34 [[ 9.97413336e-01 7.18732535e-02 -9.34435723e-04 9.34147571e+00] [-7.18732237e-02 9.97413773e-01 6.55288625e-05 -3.71724676e-01] [ 9.36728833e-04 1.80154644e-06 9.99999561e-01 -3.36039884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.632401008000002 meters Centerline goodness : 0.956642 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.38, Z:-0.34 [[ 9.97414087e-01 7.18650510e-02 -7.43791525e-04 9.37332468e+00] [-7.18650314e-02 9.97414364e-01 5.31036746e-05 -3.80108333e-01] [ 7.45684649e-04 4.86248138e-07 9.99999722e-01 -3.37231375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.662401008000003 meters Centerline goodness : 0.956504 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.39, Z:-0.34 [[ 9.97386037e-01 7.22571298e-02 -1.31997654e-05 9.40598525e+00] [-7.22571297e-02 9.97386037e-01 6.40204973e-06 -3.89174138e-01] [ 1.36278554e-05 -5.43153785e-06 1.00000000e+00 -3.38608943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.692401008 meters Centerline goodness : 0.952157 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.40, Z:-0.34 [[ 9.97374810e-01 7.23924156e-02 -1.68150613e-03 9.43703305e+00] [-7.23923290e-02 9.97376227e-01 1.12408201e-04 -4.04567106e-01] [ 1.68523175e-03 9.61503763e-06 9.99998580e-01 -3.39958238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.722401008000002 meters Centerline goodness : 0.951991 Centerline is valid? [True, True] Translation: X:9.47, Y:-0.41, Z:-0.34 [[ 9.97340400e-01 7.28341197e-02 -2.70517484e-03 9.46845614e+00] [-7.28338965e-02 9.97344068e-01 1.81055264e-04 -4.12954712e-01] [ 2.71117708e-03 1.64546948e-05 9.99996325e-01 -3.40952175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.752401008000003 meters Centerline goodness : 0.950532 Centerline is valid? [True, True] Translation: X:9.50, Y:-0.42, Z:-0.34 [[ 9.97449821e-01 7.12610788e-02 -3.96392343e-03 9.49972708e+00] [-7.12605930e-02 9.97457697e-01 2.63824765e-04 -4.20897027e-01] [ 3.97264637e-03 1.93195694e-05 9.99992109e-01 -3.41894478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.782401008 meters Centerline goodness : 0.949554 Centerline is valid? [True, False] Translation: X:9.51, Y:-0.43, Z:-0.34 [[ 9.98033109e-01 5.89107986e-02 -2.14343268e-02 9.51058061e+00] [-5.90789706e-02 9.98226630e-01 -7.29860432e-03 -4.27879093e-01] [ 2.09663492e-02 8.55056673e-03 9.99743617e-01 -3.41968299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.812401008000002 meters Centerline goodness : 0.949036 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.43, Z:-0.34 [[ 0.99821917 0.05495095 -0.02321366 9.5148562 ] [-0.05519594 0.99842498 -0.01004801 -0.43356101] [ 0.02262495 0.01131141 0.99968003 -0.34460492] [ 0. 0. 0. 1. ]] SLAMing on 27.842401008000003 meters Centerline goodness : 0.948527 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.44, Z:-0.35 [[ 0.99844748 0.04966566 -0.02521828 9.51963376] [-0.05006463 0.99862657 -0.01544356 -0.43860589] [ 0.02441663 0.01668213 0.99956267 -0.34730363] [ 0. 0. 0. 1. ]] SLAMing on 27.872401008 meters Centerline goodness : 0.948527 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.44, Z:-0.35 [[ 0.99844748 0.04966566 -0.02521828 9.51963376] [-0.05006463 0.99862657 -0.01544356 -0.43860589] [ 0.02441663 0.01668213 0.99956267 -0.34730363] [ 0. 0. 0. 1. ]] SLAMing on 27.902401008000002 meters Centerline goodness : 0.943846 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.44, Z:-0.35 [[ 0.99867005 0.04444615 -0.02612782 9.5215858 ] [-0.04496941 0.99879227 -0.01979252 -0.4434831 ] [ 0.02521657 0.02094115 0.99946265 -0.34875714] [ 0. 0. 0. 1. ]] SLAMing on 27.932401008000003 meters Centerline goodness : 0.943327 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.46, Z:-0.34 [[ 9.98989934e-01 3.57582148e-02 -2.72114350e-02 9.51130325e+00] [-3.59819753e-02 9.99322169e-01 -7.77814067e-03 -4.57235282e-01] [ 2.69148578e-02 8.74940541e-03 9.99599439e-01 -3.38336820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.962401008 meters Centerline goodness : 0.942321 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.46, Z:-0.33 [[ 9.99017435e-01 3.21496072e-02 -3.05052097e-02 9.49937834e+00] [-3.20370785e-02 9.99477980e-01 4.17058082e-03 -4.63976920e-01] [ 3.06233679e-02 -3.18918515e-03 9.99525907e-01 -3.30523381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.992401008 meters Centerline goodness : 0.941739 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.47, Z:-0.33 [[ 9.99147153e-01 2.81353202e-02 -3.02220310e-02 9.49920487e+00] [-2.81365119e-02 9.99604015e-01 3.85920692e-04 -4.65784651e-01] [ 3.02209215e-02 4.64750974e-04 9.99543136e-01 -3.31562022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.022401008000003 meters Centerline goodness : 0.943722 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.47, Z:-0.33 [[ 9.99254957e-01 2.44202875e-02 -2.98861233e-02 9.49841979e+00] [-2.45234994e-02 9.99694473e-01 -3.09179987e-03 -4.67732364e-01] [ 2.98014897e-02 3.82240867e-03 9.99548528e-01 -3.31891880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.052401008 meters Centerline goodness : 0.940100 Centerline is valid? [False, False] Translation: X:9.48, Y:-0.48, Z:-0.32 [[ 0.9992823 0.02061824 -0.03177704 9.484966 ] [-0.02027315 0.99973237 0.01114423 -0.47778928] [ 0.03199831 -0.01049201 0.99943285 -0.32006592] [ 0. 0. 0. 1. ]] SLAMing on 28.082401008 meters Centerline goodness : 0.942186 Centerline is valid? [False, False] Translation: X:9.48, Y:-0.48, Z:-0.31 [[ 0.99924947 0.01902322 -0.03374325 9.47583655] [-0.01806397 0.99943032 0.02850841 -0.4838206 ] [ 0.03426635 -0.02787747 0.99902386 -0.30897877] [ 0. 0. 0. 1. ]] SLAMing on 28.112401008000003 meters Centerline goodness : 0.942245 Centerline is valid? [False, False] Translation: X:9.48, Y:-0.49, Z:-0.31 [[ 0.99924264 0.01945816 -0.03369762 9.47513826] [-0.0184731 0.99939992 0.02930101 -0.48531644] [ 0.03424754 -0.02865632 0.99900246 -0.30786616] [ 0. 0. 0. 1. ]] SLAMing on 28.142401008 meters Centerline goodness : 0.940769 Centerline is valid? [False, False] Translation: X:9.47, Y:-0.49, Z:-0.31 [[ 0.99924426 0.02037518 -0.03310218 9.47317272] [-0.01938943 0.99936685 0.029832 -0.48600065] [ 0.03368906 -0.02916763 0.99900666 -0.30714851] [ 0. 0. 0. 1. ]] SLAMing on 28.172401008 meters Centerline goodness : 0.941058 Centerline is valid? [False, False] Translation: X:9.47, Y:-0.49, Z:-0.31 [[ 0.99924216 0.02068617 -0.03297241 9.4727636 ] [-0.01970646 0.99936261 0.02976629 -0.48530825] [ 0.03356714 -0.02909397 0.99901291 -0.30720103] [ 0. 0. 0. 1. ]] SLAMing on 28.202401008000002 meters Centerline goodness : 0.940913 Centerline is valid? [False, False] Translation: X:9.48, Y:-0.49, Z:-0.31 [[ 0.99914357 0.0239544 -0.033739 9.47515101] [-0.02279474 0.99914999 0.03434667 -0.48765237] [ 0.03453308 -0.03354818 0.99884032 -0.30638028] [ 0. 0. 0. 1. ]] SLAMing on 28.232401008000004 meters Centerline goodness : 0.939769 Centerline is valid? [False, False] Translation: X:9.48, Y:-0.49, Z:-0.31 [[ 0.99905638 0.02699535 -0.03402359 9.47746999] [-0.02566896 0.99891585 0.03883595 -0.48951347] [ 0.03503509 -0.03792595 0.99866619 -0.30588995] [ 0. 0. 0. 1. ]] SLAMing on 28.262401008 meters Centerline goodness : 0.937317 Centerline is valid? [False, False] Translation: X:9.48, Y:-0.49, Z:-0.31 [[ 0.99906505 0.02589627 -0.03461798 9.480482 ] [-0.02456821 0.998966 0.03825343 -0.49012277] [ 0.0355728 -0.03736716 0.99866825 -0.3078402 ] [ 0. 0. 0. 1. ]] SLAMing on 28.292401008000002 meters Centerline goodness : 0.936420 Centerline is valid? [False, False] Translation: X:9.48, Y:-0.49, Z:-0.31 [[ 0.99906825 0.02491229 -0.03524215 9.48269606] [-0.02357317 0.99900284 0.03791606 -0.49099477] [ 0.03615159 -0.03704996 0.99865928 -0.3085203 ] [ 0. 0. 0. 1. ]] SLAMing on 28.322401008000003 meters Centerline goodness : 0.936909 Centerline is valid? [False, False] Translation: X:9.48, Y:-0.49, Z:-0.31 [[ 0.99907191 0.02415919 -0.03566013 9.48421299] [-0.02280622 0.99902232 0.03787184 -0.49214105] [ 0.03654022 -0.03702342 0.99864612 -0.30883707] [ 0. 0. 0. 1. ]] SLAMing on 28.352401008 meters Centerline goodness : 0.936143 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.49, Z:-0.31 [[ 0.99924181 0.01762896 -0.03471357 9.4603587 ] [-0.01652095 0.99935289 0.03195082 -0.48635235] [ 0.03525437 -0.03135309 0.99888644 -0.31491145] [ 0. 0. 0. 1. ]] SLAMing on 28.382401008000002 meters Centerline goodness : 0.934346 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.48, Z:-0.32 [[ 0.99929175 0.01084735 -0.03603244 9.43907516] [-0.00977438 0.99950744 0.02982181 -0.48244306] [ 0.03633818 -0.0294485 0.99890556 -0.31599713] [ 0. 0. 0. 1. ]] SLAMing on 28.412401008000003 meters Centerline goodness : 0.935103 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.48, Z:-0.32 [[ 9.99334627e-01 6.40380945e-03 -3.59067417e-02 9.43928399e+00] [-5.53356206e-03 9.99689797e-01 2.42835396e-02 -4.78820261e-01] [ 3.60511105e-02 -2.40686898e-02 9.99060066e-01 -3.17797620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.442401008 meters Centerline goodness : 0.933404 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.47, Z:-0.32 [[ 9.99367713e-01 2.33162904e-03 -3.54786835e-02 9.43889378e+00] [-1.66510710e-03 9.99821793e-01 1.88045098e-02 -4.74701290e-01] [ 3.55162061e-02 -1.87335442e-02 9.99193501e-01 -3.19837994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.472401008000002 meters Centerline goodness : 0.934376 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.47, Z:-0.32 [[ 9.99364426e-01 2.08062667e-03 -3.55867161e-02 9.43937865e+00] [-1.43405412e-03 9.99833614e-01 1.81848140e-02 -4.72711308e-01] [ 3.56186307e-02 -1.81222229e-02 9.99201130e-01 -3.20355418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.502401008000003 meters Centerline goodness : 0.935142 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.47, Z:-0.32 [[ 9.99363667e-01 1.67840976e-03 -3.56292584e-02 9.44010908e+00] [-1.07015589e-03 9.99853486e-01 1.70839629e-02 -4.69769903e-01] [ 3.56527121e-02 -1.70349630e-02 9.99219042e-01 -3.21637284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.532401008 meters Centerline goodness : 0.933319 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.46, Z:-0.32 [[ 9.99363913e-01 2.34188355e-03 -3.55848857e-02 9.44023889e+00] [-1.80333402e-03 9.99883473e-01 1.51587871e-02 -4.62143016e-01] [ 3.56162392e-02 -1.50849734e-02 9.99251684e-01 -3.24494153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.562401008000002 meters Centerline goodness : 0.935528 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.46, Z:-0.33 [[ 9.99374170e-01 2.67735863e-03 -3.52718009e-02 9.43961279e+00] [-2.17872729e-03 9.99897260e-01 1.41676854e-02 -4.57575861e-01] [ 3.53061091e-02 -1.40819712e-02 9.99277327e-01 -3.25501446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.592401008000003 meters Centerline goodness : 0.936307 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.45, Z:-0.33 [[ 9.99380654e-01 2.92769441e-03 -3.50676094e-02 9.43905491e+00] [-2.46933847e-03 9.99911053e-01 1.31068218e-02 -4.53133733e-01] [ 3.51028630e-02 -1.30121103e-02 9.99298991e-01 -3.26302428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.622401008 meters Centerline goodness : 0.937669 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.45, Z:-0.33 [[ 9.99387619e-01 3.72227379e-03 -3.47927080e-02 9.43751861e+00] [-3.30681200e-03 9.99922638e-01 1.19909857e-02 -4.46864495e-01] [ 3.48346501e-02 -1.18685897e-02 9.99322612e-01 -3.26559755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.652401008000002 meters Centerline goodness : 0.938927 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.44, Z:-0.33 [[ 9.99496120e-01 2.91473376e-04 -3.17398899e-02 9.41763447e+00] [ 2.01689485e-04 9.99879330e-01 1.55333261e-02 -4.43001229e-01] [ 3.17405874e-02 -1.55319008e-02 9.99375453e-01 -3.26522867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.682401008000003 meters Centerline goodness : 0.937689 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.44, Z:-0.33 [[ 9.99487925e-01 -4.09233065e-05 -3.19982193e-02 9.41802475e+00] [ 5.22575392e-04 9.99886692e-01 1.50442473e-02 -4.41397047e-01] [ 3.19939780e-02 -1.50532650e-02 9.99374697e-01 -3.26327329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.712401008 meters Centerline goodness : 0.940450 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.44, Z:-0.33 [[ 9.99485225e-01 -3.31159153e-04 -3.20807644e-02 9.41813609e+00] [ 7.96527005e-04 9.99894633e-01 1.44944399e-02 -4.39785841e-01] [ 3.20725842e-02 -1.45125318e-02 9.99380176e-01 -3.26330973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.742401008 meters Centerline goodness : 0.939887 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.43, Z:-0.33 [[ 9.99621930e-01 -1.22661618e-03 -2.74680414e-02 9.43221774e+00] [ 1.27809327e-03 9.99997460e-01 1.85659369e-03 -4.33164782e-01] [ 2.74656943e-02 -1.89099849e-03 9.99620958e-01 -3.32760764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.772401008000003 meters Centerline goodness : 0.941823 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.43, Z:-0.34 [[ 9.99865208e-01 -3.22347213e-03 -1.60989176e-02 9.43918082e+00] [ 3.20824643e-03 9.99994382e-01 -9.71495685e-04 -4.29560067e-01] [ 1.61019587e-02 9.19715440e-04 9.99869932e-01 -3.40501889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.802401008 meters Centerline goodness : 0.942537 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.43, Z:-0.34 [[ 9.99855161e-01 -4.80333765e-04 -1.70125129e-02 9.44176655e+00] [ 5.25590613e-04 9.99996335e-01 2.65583827e-03 -4.29809341e-01] [ 1.70111749e-02 -2.66439522e-03 9.99851749e-01 -3.40359742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.832401008 meters Centerline goodness : 0.939103 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.43, Z:-0.35 [[ 9.99922905e-01 1.62985919e-03 -1.23096223e-02 9.45631814e+00] [-1.69772896e-03 9.99983406e-01 -5.50511890e-03 -4.26846743e-01] [ 1.23004455e-02 5.52559289e-03 9.99909079e-01 -3.45308252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.862401008000003 meters Centerline goodness : 0.942934 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.43, Z:-0.34 [[ 9.99899428e-01 4.82283946e-03 -1.33369573e-02 9.45843741e+00] [-4.84781386e-03 9.99986555e-01 -1.84087654e-03 -4.25926777e-01] [ 1.33278997e-02 1.90534649e-03 9.99909364e-01 -3.44597948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.892401008 meters Centerline goodness : 0.941321 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.42, Z:-0.35 [[ 9.99896480e-01 4.39989550e-03 -1.36992597e-02 9.45975655e+00] [-4.44012953e-03 9.99985915e-01 -2.90792047e-03 -4.23188911e-01] [ 1.36862722e-02 2.96844593e-03 9.99901932e-01 -3.45747581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.922401008 meters Centerline goodness : 0.942042 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.42, Z:-0.35 [[ 9.99863645e-01 7.77434807e-03 -1.45688108e-02 9.46171598e+00] [-7.76079024e-03 9.99969398e-01 9.86912426e-04 -4.23113850e-01] [ 1.45760375e-02 -8.73712371e-04 9.99893382e-01 -3.45300908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.952401008000002 meters Centerline goodness : 0.940708 Centerline is valid? [False, False] Translation: X:9.47, Y:-0.42, Z:-0.35 [[ 9.99860839e-01 1.35340317e-02 -9.75361037e-03 9.47418258e+00] [-1.35836112e-02 9.99895062e-01 -5.03500472e-03 -4.18748386e-01] [ 9.68444293e-03 5.16679330e-03 9.99939756e-01 -3.49722649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.982401008000004 meters Centerline goodness : 0.941903 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.42, Z:-0.35 [[ 9.99834309e-01 1.74948299e-02 -5.02839344e-03 9.48805244e+00] [-1.75511280e-02 9.99781215e-01 -1.13789101e-02 -4.16862687e-01] [ 4.82822121e-03 1.14652787e-02 9.99922615e-01 -3.53770045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.012401008 meters Centerline goodness : 0.940396 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.42, Z:-0.36 [[ 9.99781336e-01 2.08205862e-02 -1.94516709e-03 9.50475429e+00] [-2.08505524e-02 9.99639396e-01 -1.69213852e-02 -4.15409581e-01] [ 1.59215250e-03 1.69582429e-02 9.99854931e-01 -3.56796248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.042401008000002 meters Centerline goodness : 0.941592 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.41, Z:-0.36 [[ 9.99745617e-01 2.24239771e-02 -2.42206072e-03 9.50524269e+00] [-2.24616171e-02 9.99606059e-01 -1.68286129e-02 -4.13884337e-01] [ 2.04374214e-03 1.68787354e-02 9.99855455e-01 -3.55541657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.072401008000003 meters Centerline goodness : 0.941743 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.41, Z:-0.36 [[ 9.99701034e-01 2.42825899e-02 -2.86316802e-03 9.50614330e+00] [-2.43212243e-02 9.99601423e-01 -1.43343573e-02 -4.12485129e-01] [ 2.51395150e-03 1.43997076e-02 9.99893159e-01 -3.55328396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.102401008 meters Centerline goodness : 0.939462 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.41, Z:-0.35 [[ 9.99697733e-01 2.43356768e-02 -3.49523810e-03 9.50709497e+00] [-2.43823560e-02 9.99604688e-01 -1.39988799e-02 -4.12786476e-01] [ 3.15318417e-03 1.40798706e-02 9.99895902e-01 -3.54911186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.132401008000002 meters Centerline goodness : 0.940248 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.41, Z:-0.35 [[ 9.99712575e-01 2.36788485e-02 -3.75214853e-03 9.50724935e+00] [-2.37275538e-02 9.99627085e-01 -1.35164176e-02 -4.13476971e-01] [ 3.43069609e-03 1.36015619e-02 9.99901609e-01 -3.54472013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.162401008000003 meters Centerline goodness : 0.940696 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.41, Z:-0.36 [[ 9.99802469e-01 1.95878985e-02 -3.36716883e-03 9.50680537e+00] [-1.96346074e-02 9.99702812e-01 -1.44488472e-02 -4.14919567e-01] [ 3.08314560e-03 1.45121062e-02 9.99889940e-01 -3.55425330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.192401008 meters Centerline goodness : 0.941308 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.42, Z:-0.36 [[ 9.99849084e-01 1.70981053e-02 -3.07623968e-03 9.50638269e+00] [-1.71385244e-02 9.99760203e-01 -1.36311498e-02 -4.16035591e-01] [ 2.84243517e-03 1.36818149e-02 9.99902359e-01 -3.56144425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.222401008000002 meters Centerline goodness : 0.939308 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.42, Z:-0.36 [[ 9.99866216e-01 1.58049986e-02 -4.21329070e-03 9.51001440e+00] [-1.58618748e-02 9.99778595e-01 -1.38261312e-02 -4.17684549e-01] [ 3.99383587e-03 1.38911122e-02 9.99895538e-01 -3.57237095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.252401008000003 meters Centerline goodness : 0.939372 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.42, Z:-0.36 [[ 9.99881069e-01 1.44592910e-02 -5.36437746e-03 9.51365783e+00] [-1.45333117e-02 9.99796003e-01 -1.40262097e-02 -4.19365004e-01] [ 5.16047409e-03 1.41025037e-02 9.99887238e-01 -3.58153027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.282401008 meters Centerline goodness : 0.937690 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.42, Z:-0.36 [[ 9.99909111e-01 1.18765390e-02 -6.38110387e-03 9.51811914e+00] [-1.19709085e-02 9.99816430e-01 -1.49600516e-02 -4.21152929e-01] [ 6.20225886e-03 1.50350795e-02 9.99867730e-01 -3.59854208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.312401008000002 meters Centerline goodness : 0.937557 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.42, Z:-0.36 [[ 9.99913600e-01 1.09251714e-02 -7.30976452e-03 9.52064945e+00] [-1.10336666e-02 9.99827055e-01 -1.49705607e-02 -4.22221411e-01] [ 7.14494440e-03 1.50499207e-02 9.99861215e-01 -3.59956034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.342401008000003 meters Centerline goodness : 0.936284 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.42, Z:-0.36 [[ 9.99913358e-01 1.03464818e-02 -8.13794933e-03 9.52247694e+00] [-1.04652991e-02 9.99837241e-01 -1.46959153e-02 -4.23308645e-01] [ 7.98457379e-03 1.47798081e-02 9.99858892e-01 -3.59494012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.372401008 meters Centerline goodness : 0.938209 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.42, Z:-0.36 [[ 9.99913621e-01 9.72122131e-03 -8.84580283e-03 9.52432846e+00] [-9.85114915e-03 9.99842462e-01 -1.47650099e-02 -4.23604586e-01] [ 8.70087535e-03 1.48508759e-02 9.99851862e-01 -3.59561149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.402401008000002 meters Centerline goodness : 0.937389 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.42, Z:-0.36 [[ 0.99987328 0.01236762 -0.01002302 9.52786014] [-0.01247873 0.99986053 -0.01110005 -0.42414874] [ 0.00988434 0.01122372 0.99988816 -0.35995231] [ 0. 0. 0. 1. ]] SLAMing on 29.432401008000003 meters Centerline goodness : 0.935859 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.42, Z:-0.36 [[ 9.99819487e-01 1.55051116e-02 -1.09811343e-02 9.53037462e+00] [-1.55837909e-02 9.99853243e-01 -7.11599359e-03 -4.24951349e-01] [ 1.08691885e-02 7.28583676e-03 9.99914385e-01 -3.59689543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.462401008 meters Centerline goodness : 0.940565 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.43, Z:-0.36 [[ 9.99745281e-01 1.93845913e-02 -1.15590360e-02 9.53124890e+00] [-1.94173269e-02 9.99807748e-01 -2.72656100e-03 -4.25881934e-01] [ 1.15039605e-02 2.95031208e-03 9.99929475e-01 -3.58528126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.492401008 meters Centerline goodness : 0.939384 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.42, Z:-0.36 [[ 9.99727164e-01 2.02096962e-02 -1.17118023e-02 9.53060250e+00] [-2.02461788e-02 9.99790510e-01 -3.00486952e-03 -4.22626285e-01] [ 1.16486213e-02 3.24116892e-03 9.99926900e-01 -3.58006532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.522401008000003 meters Centerline goodness : 0.942720 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.42, Z:-0.36 [[ 9.99565696e-01 2.88502655e-02 -6.00684250e-03 9.53969325e+00] [-2.88926387e-02 9.99557368e-01 -7.09108200e-03 -4.18037481e-01] [ 5.79960409e-03 7.26155584e-03 9.99956816e-01 -3.61070345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.552401008 meters Centerline goodness : 0.945230 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.42, Z:-0.36 [[ 9.99461800e-01 3.18549164e-02 -7.83423050e-03 9.54263483e+00] [-3.19178327e-02 9.99458146e-01 -8.04148463e-03 -4.16611811e-01] [ 7.57382468e-03 8.28720836e-03 9.99936978e-01 -3.59504756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.582401008 meters Centerline goodness : 0.943298 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.42, Z:-0.36 [[ 9.99361782e-01 3.45261207e-02 -9.16384030e-03 9.54425694e+00] [-3.46076130e-02 9.99361451e-01 -8.88838086e-03 -4.15124975e-01] [ 8.85110743e-03 9.19984677e-03 9.99918507e-01 -3.57462754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.612401008000003 meters Centerline goodness : 0.944235 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.41, Z:-0.36 [[ 0.99928146 0.03627551 -0.01098384 9.54773451] [-0.0363889 0.99928456 -0.01030641 -0.4138128 ] [ 0.01060211 0.0106987 0.99988656 -0.35689581] [ 0. 0. 0. 1. ]] SLAMing on 29.642401008 meters Centerline goodness : 0.945089 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.41, Z:-0.36 [[ 0.99914493 0.03943359 -0.01242611 9.55077809] [-0.03957304 0.99915409 -0.01118386 -0.41149281] [ 0.01197458 0.01166603 0.99986025 -0.35666453] [ 0. 0. 0. 1. ]] SLAMing on 29.672401008 meters Centerline goodness : 0.944865 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.41, Z:-0.36 [[ 0.99908468 0.04056275 -0.01358216 9.55325253] [-0.04072483 0.99909981 -0.01187688 -0.41095686] [ 0.01308817 0.01241914 0.99983722 -0.35668215] [ 0. 0. 0. 1. ]] SLAMing on 29.702401008000002 meters Centerline goodness : 0.942324 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.41, Z:-0.36 [[ 0.99902814 0.04134155 -0.01528581 9.55694249] [-0.04154983 0.9990443 -0.01356857 -0.41099981] [ 0.01471026 0.01419051 0.9997911 -0.35703485] [ 0. 0. 0. 1. ]] SLAMing on 29.732401008000004 meters Centerline goodness : 0.942825 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.41, Z:-0.36 [[ 0.99879497 0.04523987 -0.01902528 9.56338522] [-0.04554976 0.99883098 -0.01618319 -0.41241182] [ 0.01827091 0.01703029 0.99968802 -0.35585923] [ 0. 0. 0. 1. ]] SLAMing on 29.762401008 meters Centerline goodness : 0.942825 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.41, Z:-0.36 [[ 0.99879497 0.04523987 -0.01902528 9.56338522] [-0.04554976 0.99883098 -0.01618319 -0.41241182] [ 0.01827091 0.01703029 0.99968802 -0.35585923] [ 0. 0. 0. 1. ]] SLAMing on 29.792401008000002 meters Centerline goodness : 0.940106 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.41, Z:-0.36 [[ 0.99863339 0.04791428 -0.02087047 9.56704177] [-0.04825032 0.99870861 -0.01590653 -0.41372855] [ 0.02008137 0.0168918 0.99965564 -0.35567661] [ 0. 0. 0. 1. ]] SLAMing on 29.822401008000003 meters Centerline goodness : 0.941733 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.42, Z:-0.36 [[ 0.99848139 0.05027417 -0.0225259 9.57141499] [-0.0506206 0.99860407 -0.01508211 -0.41507583] [ 0.02173622 0.01619948 0.99963249 -0.35714271] [ 0. 0. 0. 1. ]] SLAMing on 29.852401008 meters Centerline goodness : 0.942135 Centerline is valid? [False, False] Translation: X:9.58, Y:-0.42, Z:-0.36 [[ 0.99836801 0.05193879 -0.02374186 9.57553893] [-0.0522897 0.99852805 -0.01440559 -0.41631248] [ 0.02295871 0.01562354 0.99961433 -0.35945898] [ 0. 0. 0. 1. ]] SLAMing on 29.882401008000002 meters Centerline goodness : 0.940734 Centerline is valid? [False, False] Translation: X:9.58, Y:-0.42, Z:-0.36 [[ 0.99828803 0.05306661 -0.02459569 9.57859975] [-0.05340389 0.99848489 -0.01326461 -0.41783651] [ 0.02385452 0.01455541 0.99960947 -0.36150106] [ 0. 0. 0. 1. ]] SLAMing on 29.912401008000003 meters Centerline goodness : 0.939427 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.42, Z:-0.36 [[ 0.99814802 0.05426619 -0.02749013 9.58517311] [-0.0546846 0.99839541 -0.01470374 -0.42307029] [ 0.0266481 0.0161798 0.99951393 -0.36366707] [ 0. 0. 0. 1. ]] SLAMing on 29.942401008 meters Centerline goodness : 0.937846 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.43, Z:-0.36 [[ 0.99810807 0.05377569 -0.02980681 9.59015645] [-0.05432599 0.99836154 -0.01796983 -0.42579458] [ 0.02879163 0.01955512 0.99939414 -0.36461429] [ 0. 0. 0. 1. ]] SLAMing on 29.972401008000002 meters Centerline goodness : 0.940626 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.43, Z:-0.36 [[ 0.99805654 0.05428154 -0.03060492 9.59121683] [-0.05486487 0.9983214 -0.01855316 -0.42870318] [ 0.02954645 0.02019624 0.99935935 -0.36397678] [ 0. 0. 0. 1. ]] SLAMing on 30.002401008000003 meters Centerline goodness : 0.935615 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.43, Z:-0.36 [[ 0.99794991 0.05447012 -0.03360023 9.5970442 ] [-0.05522471 0.99823257 -0.02195361 -0.4343279 ] [ 0.03234503 0.02376416 0.99919421 -0.36487616] [ 0. 0. 0. 1. ]] SLAMing on 30.032401008 meters Centerline goodness : 0.937208 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.44, Z:-0.36 [[ 0.99771465 0.05831804 -0.03412442 9.5984494 ] [-0.05884674 0.99815881 -0.01469877 -0.44162821] [ 0.03320439 0.01667329 0.9993095 -0.36128016] [ 0. 0. 0. 1. ]] SLAMing on 30.062401008000002 meters Centerline goodness : 0.936416 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.45, Z:-0.36 [[ 0.99767305 0.05899544 -0.03417647 9.59810326] [-0.05947395 0.99814315 -0.01315692 -0.44582953] [ 0.03333681 0.01515891 0.99932921 -0.36035484] [ 0. 0. 0. 1. ]] SLAMing on 30.092401008000003 meters Centerline goodness : 0.934070 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.45, Z:-0.36 [[ 0.99761997 0.05989101 -0.03416816 9.59738945] [-0.06029462 0.99812104 -0.01090592 -0.45111152] [ 0.03345079 0.01294012 0.99935659 -0.3584806 ] [ 0. 0. 0. 1. ]] SLAMing on 30.122401008 meters Centerline goodness : 0.934435 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.46, Z:-0.36 [[ 9.97578074e-01 6.05522181e-02 -3.42259383e-02 9.59683207e+00] [-6.08817229e-02 9.98107353e-01 -8.66763164e-03 -4.56944138e-01] [ 3.36363164e-02 1.07303734e-02 9.99376534e-01 -3.56527386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.152401008000002 meters Centerline goodness : 0.935078 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.47, Z:-0.36 [[ 0.99775722 0.05750543 -0.03425872 9.59608593] [-0.05787025 0.99827647 -0.00975336 -0.46622753] [ 0.0336388 0.01171405 0.9993654 -0.35527817] [ 0. 0. 0. 1. ]] SLAMing on 30.182401008000003 meters Centerline goodness : 0.934443 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.47, Z:-0.35 [[ 9.97748235e-01 5.73462181e-02 -3.47831927e-02 9.59734163e+00] [-5.76585190e-02 9.98303972e-01 -8.04205162e-03 -4.72731854e-01] [ 3.42630182e-02 1.00294902e-02 9.99362524e-01 -3.54270886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.212401008 meters Centerline goodness : 0.934971 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.48, Z:-0.35 [[ 9.97953350e-01 5.33823901e-02 -3.52055729e-02 9.59817695e+00] [-5.37334965e-02 9.98513821e-01 -9.10277936e-03 -4.83492077e-01] [ 3.46673230e-02 1.09758677e-02 9.99338635e-01 -3.53071342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.242401008 meters Centerline goodness : 0.935398 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.49, Z:-0.35 [[ 9.97961977e-01 5.28843351e-02 -3.57091021e-02 9.60004667e+00] [-5.31953110e-02 9.98553548e-01 -7.81473860e-03 -4.89726683e-01] [ 3.52441733e-02 9.69836877e-03 9.99331672e-01 -3.52881197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.272401008000003 meters Centerline goodness : 0.934632 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.50, Z:-0.35 [[ 9.97973084e-01 5.21054178e-02 -3.65342064e-02 9.60282517e+00] [-5.23855675e-02 9.98604103e-01 -6.75264233e-03 -4.95782177e-01] [ 3.61313592e-02 8.65282043e-03 9.99309588e-01 -3.52968981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.302401008 meters Centerline goodness : 0.933742 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.50, Z:-0.35 [[ 9.98001179e-01 5.11836124e-02 -3.70659491e-02 9.60525773e+00] [-5.14462176e-02 9.98656735e-01 -6.16540456e-03 -5.01467739e-01] [ 3.67005920e-02 8.05998390e-03 9.99293802e-01 -3.53783253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.332401008 meters Centerline goodness : 0.932230 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.51, Z:-0.35 [[ 9.98301273e-01 4.44646365e-02 -3.76492327e-02 9.62326720e+00] [-4.45216839e-02 9.99008188e-01 -6.77775963e-04 -5.12489737e-01] [ 3.75817547e-02 2.35283185e-03 9.99290786e-01 -3.51624839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.362401008000003 meters Centerline goodness : 0.932955 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.52, Z:-0.35 [[ 9.98293063e-01 4.39322412e-02 -3.84827007e-02 9.62595262e+00] [-4.39465965e-02 9.99033770e-01 4.73202971e-04 -5.18323161e-01] [ 3.84663065e-02 1.21878848e-03 9.99259154e-01 -3.51586122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.392401008000004 meters Centerline goodness : 0.932546 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.53, Z:-0.35 [[ 9.98329818e-01 4.26152086e-02 -3.90066589e-02 9.63404466e+00] [-4.23570879e-02 9.99074980e-01 7.42039560e-03 -5.25193555e-01] [ 3.92867987e-02 -5.75579370e-03 9.99211398e-01 -3.45971057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.422401008 meters Centerline goodness : 0.929418 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.53, Z:-0.35 [[ 9.98498423e-01 3.85558426e-02 -3.89145976e-02 9.63419486e+00] [-3.84492068e-02 9.99254478e-01 3.48522075e-03 -5.26804568e-01] [ 3.90199615e-02 -1.98375201e-03 9.99236462e-01 -3.47134302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.452401008000002 meters Centerline goodness : 0.928811 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.54, Z:-0.34 [[ 0.99876922 0.03356176 -0.03651922 9.65594681] [-0.03290407 0.99928795 0.01846391 -0.53852651] [ 0.0371129 -0.01723956 0.99916236 -0.33609836] [ 0. 0. 0. 1. ]] SLAMing on 30.482401008000004 meters Centerline goodness : 0.932839 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.54, Z:-0.33 [[ 0.99875405 0.03350738 -0.03698117 9.65699749] [-0.03276756 0.9992541 0.02043342 -0.54332238] [ 0.03763826 -0.01919618 0.99910704 -0.33357409] [ 0. 0. 0. 1. ]] SLAMing on 30.512401008 meters Centerline goodness : 0.932641 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.55, Z:-0.33 [[ 0.99873898 0.03354123 -0.03735549 9.65761105] [-0.03274058 0.99922517 0.02184287 -0.54780875] [ 0.03805919 -0.02059228 0.99906329 -0.33203785] [ 0. 0. 0. 1. ]] SLAMing on 30.542401008000002 meters Centerline goodness : 0.931358 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.55, Z:-0.33 [[ 0.99873261 0.0332891 -0.03774929 9.65879428] [-0.03244759 0.99921585 0.02269002 -0.55124095] [ 0.03847502 -0.02143639 0.99902961 -0.33134516] [ 0. 0. 0. 1. ]] SLAMing on 30.572401008000003 meters Centerline goodness : 0.930037 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.56, Z:-0.33 [[ 0.99872055 0.03299144 -0.03832534 9.66049363] [-0.03206313 0.99918333 0.02458911 -0.55718582] [ 0.03910527 -0.02332882 0.99896273 -0.32965411] [ 0. 0. 0. 1. ]] SLAMing on 30.602401008 meters Centerline goodness : 0.933038 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.56, Z:-0.33 [[ 0.99870034 0.03312403 -0.03873538 9.66149435] [-0.03214526 0.99915469 0.02562387 -0.56026505] [ 0.0395514 -0.02434541 0.99892091 -0.32878149] [ 0. 0. 0. 1. ]] SLAMing on 30.632401008000002 meters Centerline goodness : 0.931440 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.56, Z:-0.33 [[ 0.99868992 0.03295948 -0.03914232 9.66278207] [-0.03195581 0.99915114 0.02599651 -0.5628718 ] [ 0.03996593 -0.02471163 0.99889542 -0.32896993] [ 0. 0. 0. 1. ]] SLAMing on 30.662401008000003 meters Centerline goodness : 0.932536 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.56, Z:-0.33 [[ 0.99867556 0.03291773 -0.03954161 9.66425095] [-0.03189441 0.9991468 0.02623764 -0.5647566 ] [ 0.04037156 -0.02494173 0.99887339 -0.32951863] [ 0. 0. 0. 1. ]] SLAMing on 30.692401008 meters Centerline goodness : 0.931750 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.57, Z:-0.33 [[ 0.99851889 0.0365977 -0.04025705 9.66737028] [-0.03537432 0.99890269 0.03069311 -0.56938332] [ 0.04133617 -0.02922358 0.99871783 -0.33059764] [ 0. 0. 0. 1. ]] SLAMing on 30.722401008000002 meters Centerline goodness : 0.931911 Centerline is valid? [False, False] Translation: X:9.68, Y:-0.57, Z:-0.34 [[ 0.99857309 0.03872818 -0.03676826 9.68189542] [-0.03804267 0.99909233 0.01916423 -0.56726387] [ 0.03747708 -0.01773812 0.99914004 -0.33979891] [ 0. 0. 0. 1. ]] SLAMing on 30.752401008000003 meters Centerline goodness : 0.933806 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.57, Z:-0.35 [[ 9.98620125e-01 4.12225663e-02 -3.25353042e-02 9.69510223e+00] [-4.09787545e-02 9.99126977e-01 8.12560807e-03 -5.65220182e-01] [ 3.28418586e-02 -6.78113950e-03 9.99437556e-01 -3.47910403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.782401008 meters Centerline goodness : 0.932859 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.57, Z:-0.35 [[ 9.98558444e-01 4.66141851e-02 -2.66111378e-02 9.70465401e+00] [-4.65649972e-02 9.98912220e-01 2.46543409e-03 -5.67283933e-01] [ 2.66971149e-02 -1.22273248e-03 9.99642821e-01 -3.50125602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.812401008000002 meters Centerline goodness : 0.935955 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.57, Z:-0.35 [[ 9.98516433e-01 4.75061300e-02 -2.66101546e-02 9.70327901e+00] [-4.74249373e-02 9.98868046e-01 3.67438646e-03 -5.69241819e-01] [ 2.67545891e-02 -2.40695035e-03 9.99639134e-01 -3.48134236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.842401008000003 meters Centerline goodness : 0.939671 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.57, Z:-0.35 [[ 9.98490970e-01 4.81873941e-02 -2.63392766e-02 9.70175188e+00] [-4.80804931e-02 9.98832513e-01 4.67733664e-03 -5.71587845e-01] [ 2.65339145e-02 -3.40387299e-03 9.99642118e-01 -3.46679171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.872401008 meters Centerline goodness : 0.936672 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.57, Z:-0.35 [[ 9.98481084e-01 4.83495241e-02 -2.64168061e-02 9.70154882e+00] [-4.82161934e-02 9.98820878e-01 5.66143687e-03 -5.74266393e-01] [ 2.66593853e-02 -4.37911979e-03 9.99634984e-01 -3.45384784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.902401008000002 meters Centerline goodness : 0.934991 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.58, Z:-0.35 [[ 9.98493455e-01 4.79251294e-02 -2.67208070e-02 9.70278329e+00] [-4.77738512e-02 9.98838488e-01 6.27174287e-03 -5.76903581e-01] [ 2.69903445e-02 -4.98573835e-03 9.99623261e-01 -3.45101098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.932401008000003 meters Centerline goodness : 0.937606 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.58, Z:-0.35 [[ 9.98553397e-01 4.63903789e-02 -2.71854159e-02 9.70589687e+00] [-4.62180639e-02 9.98907313e-01 6.93328085e-03 -5.82392940e-01] [ 2.74773483e-02 -5.66679385e-03 9.99606364e-01 -3.45457163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.962401008 meters Centerline goodness : 0.938837 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.58, Z:-0.34 [[ 9.98545716e-01 4.65024523e-02 -2.72759110e-02 9.70567599e+00] [-4.63294952e-02 9.98902109e-01 6.93941018e-03 -5.82340374e-01] [ 2.75686646e-02 -5.66563912e-03 9.99603856e-01 -3.44970578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.992401008 meters Centerline goodness : 0.938852 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.58, Z:-0.34 [[ 9.98536331e-01 4.65743812e-02 -2.74958733e-02 9.70568720e+00] [-4.63939745e-02 9.98897534e-01 7.16345699e-03 -5.83266789e-01] [ 2.77991936e-02 -5.87732921e-03 9.99596249e-01 -3.44285518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.022401008000003 meters Centerline goodness : 0.943695 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.58, Z:-0.35 [[ 9.98552728e-01 4.56365995e-02 -2.84560978e-02 9.70886164e+00] [-4.54592934e-02 9.98942725e-01 6.84730695e-03 -5.84448403e-01] [ 2.87384997e-02 -5.54380294e-03 9.99571591e-01 -3.45170466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.052401008 meters Centerline goodness : 0.940048 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.58, Z:-0.35 [[ 9.98576363e-01 4.48466547e-02 -2.88794976e-02 9.71117487e+00] [-4.46962436e-02 9.98983593e-01 5.83320019e-03 -5.83246225e-01] [ 2.91117438e-02 -4.53409077e-03 9.99565880e-01 -3.47212645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.082401008 meters Centerline goodness : 0.940426 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.58, Z:-0.35 [[ 9.98601611e-01 4.38830877e-02 -2.94804387e-02 9.71416485e+00] [-4.37580845e-02 9.99030275e-01 4.87236481e-03 -5.82680390e-01] [ 2.96656652e-02 -3.57554382e-03 9.99553482e-01 -3.49491013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.112401008000003 meters Centerline goodness : 0.942779 Centerline is valid? [False, False] Translation: X:9.72, Y:-0.58, Z:-0.35 [[ 9.98591407e-01 4.29736412e-02 -3.11202212e-02 9.72372446e+00] [-4.27300094e-02 9.99050903e-01 8.45221694e-03 -5.84455971e-01] [ 3.14539076e-02 -7.11054386e-03 9.99479911e-01 -3.49317795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.142401008000004 meters Centerline goodness : 0.942878 Centerline is valid? [False, False] Translation: X:9.73, Y:-0.59, Z:-0.35 [[ 9.98699481e-01 3.85994724e-02 -3.33080618e-02 9.73409052e+00] [-3.83621881e-02 9.99233970e-01 7.73406386e-03 -5.86063831e-01] [ 3.35810776e-02 -6.44623543e-03 9.99415208e-01 -3.51055514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.172401008 meters Centerline goodness : 0.938200 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.59, Z:-0.35 [[ 9.98705154e-01 3.74523575e-02 -3.44287098e-02 9.73774688e+00] [-3.71980971e-02 9.99275917e-01 7.99645190e-03 -5.87746884e-01] [ 3.47032665e-02 -6.70541523e-03 9.99375165e-01 -3.50935609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.202401008000002 meters Centerline goodness : 0.941205 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.59, Z:-0.35 [[ 9.98707663e-01 3.64051133e-02 -3.54636653e-02 9.74101420e+00] [-3.61271631e-02 9.99311498e-01 8.44734145e-03 -5.89746628e-01] [ 3.57467749e-02 -7.15522302e-03 9.99335264e-01 -3.50381547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.232401008000004 meters Centerline goodness : 0.945030 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.59, Z:-0.34 [[ 0.99883351 0.03275977 -0.03547429 9.75481299] [-0.03215936 0.99933188 0.01736573 -0.59480042] [ 0.03601949 -0.01620464 0.9992197 -0.3407351 ] [ 0. 0. 0. 1. ]] SLAMing on 31.262401008 meters Centerline goodness : 0.945404 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.60, Z:-0.33 [[ 0.99872522 0.03469395 -0.03666411 9.75975208] [-0.03380581 0.9991263 0.02457233 -0.59830787] [ 0.03748458 -0.02330154 0.9990255 -0.33435009] [ 0. 0. 0. 1. ]] SLAMing on 31.292401008000002 meters Centerline goodness : 0.944658 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.60, Z:-0.33 [[ 0.99872382 0.03458028 -0.03680944 9.76027502] [-0.03369836 0.9991362 0.02431604 -0.59786724] [ 0.0376185 -0.02304459 0.99902642 -0.33474413] [ 0. 0. 0. 1. ]] SLAMing on 31.322401008000003 meters Centerline goodness : 0.946330 Centerline is valid? [False, False] Translation: X:9.78, Y:-0.60, Z:-0.34 [[ 0.99881939 0.03614656 -0.03245376 9.77648637] [-0.03566132 0.99924514 0.01540832 -0.5955358 ] [ 0.03298622 -0.01423278 0.99935446 -0.34067525] [ 0. 0. 0. 1. ]] SLAMing on 31.352401008 meters Centerline goodness : 0.945630 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.59, Z:-0.35 [[ 9.98835641e-01 3.92869540e-02 -2.79981829e-02 9.79145805e+00] [-3.90939585e-02 9.99208080e-01 7.40772529e-03 -5.92696209e-01] [ 2.82670375e-02 -6.30454024e-03 9.99580526e-01 -3.46137193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.382401008000002 meters Centerline goodness : 0.948401 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.59, Z:-0.35 [[ 9.98831341e-01 3.93842135e-02 -2.80149190e-02 9.79138286e+00] [-3.92045173e-02 9.99207141e-01 6.93511787e-03 -5.90880875e-01] [ 2.82658413e-02 -5.82870170e-03 9.99583447e-01 -3.46411391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.412401008000003 meters Centerline goodness : 0.948372 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.59, Z:-0.35 [[ 9.98823051e-01 3.95646117e-02 -2.80562628e-02 9.79103083e+00] [-3.93892755e-02 9.99200973e-01 6.77503589e-03 -5.89484621e-01] [ 2.83018967e-02 -5.66194616e-03 9.99583386e-01 -3.46017933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.442401008 meters Centerline goodness : 0.949557 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.59, Z:-0.34 [[ 0.99864704 0.04336436 -0.0286989 9.79214267] [-0.04303179 0.99900035 0.01210645 -0.59173467] [ 0.0291952 -0.01085511 0.99951479 -0.34310942] [ 0. 0. 0. 1. ]] SLAMing on 31.472401008000002 meters Centerline goodness : 0.949554 Centerline is valid? [False, False] Translation: X:9.81, Y:-0.59, Z:-0.35 [[ 9.98656712e-01 4.57321060e-02 -2.43587051e-02 9.80564901e+00] [-4.57102420e-02 9.98953683e-01 1.45392771e-03 -5.86953784e-01] [ 2.43997094e-02 -3.38532363e-04 9.99702225e-01 -3.49917112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.502401008000003 meters Centerline goodness : 0.949973 Centerline is valid? [False, False] Translation: X:9.81, Y:-0.58, Z:-0.35 [[ 9.98647762e-01 4.59302200e-02 -2.43528559e-02 9.80549690e+00] [-4.59184455e-02 9.98944648e-01 1.04277491e-03 -5.84966905e-01] [ 2.43750499e-02 7.68804571e-05 9.99702881e-01 -3.50207834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.532401008 meters Centerline goodness : 0.950863 Centerline is valid? [False, True] Translation: X:9.81, Y:-0.58, Z:-0.35 [[ 9.98643421e-01 4.60163539e-02 -2.43682665e-02 9.80545636e+00] [-4.60199776e-02 9.98940434e-01 4.12364751e-04 -5.82585598e-01] [ 2.43614223e-02 7.09621735e-04 9.99702965e-01 -3.50721528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.562401008000002 meters Centerline goodness : 0.949884 Centerline is valid? [True, False] Translation: X:9.81, Y:-0.58, Z:-0.35 [[ 9.98637862e-01 4.61930957e-02 -2.42614516e-02 9.80516972e+00] [-4.62133436e-02 9.98931555e-01 -2.74254018e-04 -5.79959041e-01] [ 2.42228610e-02 1.39508325e-03 9.99705610e-01 -3.51386286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.592401008000003 meters Centerline goodness : 0.950914 Centerline is valid? [False, True] Translation: X:9.81, Y:-0.58, Z:-0.35 [[ 9.98458160e-01 4.96980184e-02 -2.47267026e-02 9.80702426e+00] [-4.96323286e-02 9.98762224e-01 3.26367471e-03 -5.78106946e-01] [ 2.48582947e-02 -2.03139881e-03 9.99688921e-01 -3.51416439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.622401008 meters Centerline goodness : 0.951334 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.58, Z:-0.35 [[ 9.98397000e-01 5.10895311e-02 -2.43575470e-02 9.83944771e+00] [-5.10695753e-02 9.98694058e-01 1.44104650e-03 -5.78379688e-01] [ 2.43993599e-02 -1.94806917e-04 9.99702272e-01 -3.52410164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.652401008000002 meters Centerline goodness : 0.950050 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.58, Z:-0.35 [[ 9.98299557e-01 5.28265172e-02 -2.46445351e-02 9.87224575e+00] [-5.28064460e-02 9.98603692e-01 1.46496950e-03 -5.80117180e-01] [ 2.46875130e-02 -1.61088090e-04 9.99695204e-01 -3.52125524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.682401008000003 meters Centerline goodness : 0.950050 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.58, Z:-0.35 [[ 9.98293060e-01 5.29492841e-02 -2.46442730e-02 9.90559550e+00] [-5.29291416e-02 9.98597190e-01 1.46937041e-03 -5.82235266e-01] [ 2.46875038e-02 -1.62462069e-04 9.99695204e-01 -3.51828845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.712401008 meters Centerline goodness : 0.948332 Centerline is valid? [True, False] Translation: X:9.91, Y:-0.58, Z:-0.35 [[ 9.98300477e-01 5.26542919e-02 -2.49736619e-02 9.90667562e+00] [-5.26488666e-02 9.98612703e-01 8.75164989e-04 -5.80821689e-01] [ 2.49850972e-02 4.41157368e-04 9.99687726e-01 -3.52520344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.742401008 meters Centerline goodness : 0.949310 Centerline is valid? [False, False] Translation: X:9.91, Y:-0.58, Z:-0.35 [[ 9.98308543e-01 5.23462308e-02 -2.52967572e-02 9.90781406e+00] [-5.23511690e-02 9.98628628e-01 4.67469805e-04 -5.79556897e-01] [ 2.52865362e-02 8.57635710e-04 9.99679877e-01 -3.53016946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.772401008000003 meters Centerline goodness : 0.947928 Centerline is valid? [False, False] Translation: X:9.91, Y:-0.58, Z:-0.36 [[ 9.98328096e-01 5.18129204e-02 -2.56209837e-02 9.90984603e+00] [-5.18534967e-02 9.98654277e-01 -9.21435310e-04 -5.76886603e-01] [ 2.55387627e-02 2.24843235e-03 9.99671304e-01 -3.55620332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.802401008000004 meters Centerline goodness : 0.948141 Centerline is valid? [False, False] Translation: X:9.91, Y:-0.58, Z:-0.36 [[ 9.98329028e-01 5.17764978e-02 -2.56582720e-02 9.91049174e+00] [-5.18282176e-02 9.98655096e-01 -1.35436400e-03 -5.76289187e-01] [ 2.55536399e-02 2.68192340e-03 9.99669855e-01 -3.56801391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.832401008 meters Centerline goodness : 0.951973 Centerline is valid? [False, True] Translation: X:9.91, Y:-0.58, Z:-0.36 [[ 9.98149592e-01 5.45990205e-02 -2.67645130e-02 9.91428844e+00] [-5.45258221e-02 9.98506374e-01 3.45767100e-03 -5.79019500e-01] [ 2.69133223e-02 -1.99191582e-03 9.99635786e-01 -3.55462011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.862401008000003 meters Centerline goodness : 0.949007 Centerline is valid? [True, False] Translation: X:9.91, Y:-0.58, Z:-0.36 [[ 9.98145988e-01 5.45986254e-02 -2.68993709e-02 9.91477049e+00] [-5.45314393e-02 9.98506844e-01 3.22549390e-03 -5.79209367e-01] [ 2.70353134e-02 -1.75265238e-03 9.99632943e-01 -3.56060204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.892401008000004 meters Centerline goodness : 0.947882 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.58, Z:-0.36 [[ 9.98129462e-01 5.47528708e-02 -2.71974387e-02 9.91554489e+00] [-5.46958483e-02 9.98499032e-01 2.83669725e-03 -5.79038600e-01] [ 2.73119335e-02 -1.34380412e-03 9.99626056e-01 -3.57012952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.922401008 meters Centerline goodness : 0.949000 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.58, Z:-0.36 [[ 9.98120574e-01 5.49538681e-02 -2.71181227e-02 9.91534990e+00] [-5.49041665e-02 9.98488310e-01 2.57453936e-03 -5.78532389e-01] [ 2.72186094e-02 -1.08080278e-03 9.99628921e-01 -3.57505002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.952401008000002 meters Centerline goodness : 0.948460 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.58, Z:-0.36 [[ 9.98103818e-01 5.51992233e-02 -2.72362603e-02 9.91536414e+00] [-5.51488780e-02 9.98474766e-01 2.59675340e-03 -5.78191518e-01] [ 2.73380574e-02 -1.08978028e-03 9.99625651e-01 -3.57422386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.982401008000004 meters Centerline goodness : 0.948917 Centerline is valid? [False, False] Translation: X:9.91, Y:-0.58, Z:-0.36 [[ 9.98054703e-01 5.63762303e-02 -2.66182415e-02 9.91266400e+00] [-5.63065993e-02 9.98407875e-01 3.35882451e-03 -5.78740917e-01] [ 2.67652198e-02 -1.85350794e-03 9.99640029e-01 -3.56117373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.012401008000005 meters Centerline goodness : 0.947913 Centerline is valid? [False, False] Translation: X:9.91, Y:-0.58, Z:-0.36 [[ 9.98059465e-01 5.61502043e-02 -2.69157657e-02 9.91311476e+00] [-5.60692082e-02 9.98419823e-01 3.75516183e-03 -5.79999769e-01] [ 2.70840871e-02 -2.23872914e-03 9.99630652e-01 -3.55229824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.042401008 meters Centerline goodness : 0.946038 Centerline is valid? [False, False] Translation: X:9.91, Y:-0.58, Z:-0.35 [[ 9.98056676e-01 5.60643786e-02 -2.71966223e-02 9.91344274e+00] [-5.59663297e-02 9.98423165e-01 4.35367644e-03 -5.81377386e-01] [ 2.73978239e-02 -2.82312070e-03 9.99620623e-01 -3.54131223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.072401008 meters Centerline goodness : 0.949025 Centerline is valid? [False, False] Translation: X:9.91, Y:-0.58, Z:-0.35 [[ 9.98059638e-01 5.58561329e-02 -2.75145800e-02 9.91402886e+00] [-5.57463301e-02 9.98433702e-01 4.74234126e-03 -5.82285338e-01] [ 2.77363728e-02 -3.19930254e-03 9.99610153e-01 -3.53297404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.102401008 meters Centerline goodness : 0.947109 Centerline is valid? [False, False] Translation: X:9.91, Y:-0.58, Z:-0.35 [[ 9.98235915e-01 5.28523924e-02 -2.70496474e-02 9.91170710e+00] [-5.28529480e-02 9.98602064e-01 6.94917279e-04 -5.80192333e-01] [ 2.70485618e-02 7.35962223e-04 9.99633850e-01 -3.53250030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.132401008 meters Centerline goodness : 0.946101 Centerline is valid? [False, False] Translation: X:9.91, Y:-0.58, Z:-0.35 [[ 9.98260450e-01 5.21132506e-02 -2.75732465e-02 9.91383099e+00] [-5.21280285e-02 9.98640393e-01 1.83074052e-04 -5.80015569e-01] [ 2.75452984e-02 1.25458340e-03 9.99619769e-01 -3.54247260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.162401008 meters Centerline goodness : 0.947808 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.58, Z:-0.36 [[ 9.98274127e-01 5.17014801e-02 -2.78518320e-02 9.91539310e+00] [-5.17282145e-02 9.98661171e-01 -2.39752003e-04 -5.79852391e-01] [ 2.78021476e-02 1.68006376e-03 9.99612034e-01 -3.55531999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.192401008000004 meters Centerline goodness : 0.944959 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.58, Z:-0.36 [[ 9.98295037e-01 5.10165759e-02 -2.83606934e-02 9.91772319e+00] [-5.10620239e-02 9.98695096e-01 -8.80120675e-04 -5.79313420e-01] [ 2.82787847e-02 2.32677451e-03 9.99597367e-01 -3.57050631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.222401008000006 meters Centerline goodness : 0.944655 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.58, Z:-0.36 [[ 9.98288853e-01 5.09252523e-02 -2.87399392e-02 9.91871604e+00] [-5.09964992e-02 9.98697297e-01 -1.75104385e-03 -5.77840959e-01] [ 2.86133273e-02 3.21368384e-03 9.99585389e-01 -3.58196948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.252401008 meters Centerline goodness : 0.941901 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.58, Z:-0.36 [[ 9.98281252e-01 5.09927577e-02 -2.88839278e-02 9.91851684e+00] [-5.10539670e-02 9.98694935e-01 -1.38517181e-03 -5.78518474e-01] [ 2.87755987e-02 2.85743014e-03 9.99581813e-01 -3.57166450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.282401008 meters Centerline goodness : 0.945400 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.58, Z:-0.36 [[ 9.98291213e-01 5.06637112e-02 -2.91177210e-02 9.91927376e+00] [-5.07220168e-02 9.98712007e-01 -1.26682099e-03 -5.78934516e-01] [ 2.90160357e-02 2.74156579e-03 9.99575187e-01 -3.56896860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.312401008 meters Centerline goodness : 0.941697 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.58, Z:-0.36 [[ 9.98322175e-01 4.97293325e-02 -2.96619168e-02 9.92188347e+00] [-4.98048780e-02 9.98757321e-01 -1.81307088e-03 -5.78646715e-01] [ 2.95348937e-02 3.28733701e-03 9.99558344e-01 -3.58244663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.342401008 meters Centerline goodness : 0.941788 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.58, Z:-0.36 [[ 9.98357707e-01 4.87165044e-02 -3.01428382e-02 9.92445003e+00] [-4.88109302e-02 9.98805142e-01 -2.40432849e-03 -5.78729518e-01] [ 2.99896913e-02 3.87167985e-03 9.99542710e-01 -3.59787130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.372401008000004 meters Centerline goodness : 0.938359 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.58, Z:-0.36 [[ 9.98565258e-01 4.28827009e-02 -3.20702375e-02 9.93554922e+00] [-4.30158743e-02 9.99068349e-01 -3.47388775e-03 -5.80173920e-01] [ 3.18913895e-02 4.84843292e-03 9.99479581e-01 -3.60985520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.402401008000005 meters Centerline goodness : 0.940642 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.58, Z:-0.36 [[ 9.98581633e-01 4.15406307e-02 -3.33031385e-02 9.93932251e+00] [-4.16732089e-02 9.99125856e-01 -3.29646815e-03 -5.82561666e-01] [ 3.31370894e-02 4.67964119e-03 9.99439860e-01 -3.60866230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.432401008 meters Centerline goodness : 0.939385 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.59, Z:-0.36 [[ 9.98593608e-01 4.04118593e-02 -3.43174455e-02 9.94244198e+00] [-4.05366003e-02 9.99173709e-01 -2.94668493e-03 -5.85091488e-01] [ 3.41700083e-02 4.33365331e-03 9.99406639e-01 -3.60499084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.462401008 meters Centerline goodness : 0.941956 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.59, Z:-0.36 [[ 9.98592896e-01 3.95286316e-02 -3.53513193e-02 9.94505169e+00] [-3.96252886e-02 9.99212533e-01 -2.03747975e-03 -5.87946440e-01] [ 3.52429425e-02 3.43541903e-03 9.99372870e-01 -3.58932113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.492401008 meters Centerline goodness : 0.939357 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.59, Z:-0.35 [[ 9.98622145e-01 3.79073550e-02 -3.62883333e-02 9.94783149e+00] [-3.79174376e-02 9.99280791e-01 4.10568127e-04 -5.92977094e-01] [ 3.62777979e-02 9.65958188e-04 9.99341277e-01 -3.54222138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.522401008 meters Centerline goodness : 0.938379 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.59, Z:-0.35 [[ 9.98619893e-01 3.75231951e-02 -3.67466993e-02 9.94887735e+00] [-3.75241908e-02 9.99295500e-01 6.62824846e-04 -5.93077062e-01] [ 3.67456825e-02 7.16980078e-04 9.99324392e-01 -3.53387206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.552401008000004 meters Centerline goodness : 0.935690 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.59, Z:-0.35 [[ 9.98626328e-01 3.69305426e-02 -3.71697751e-02 9.95051110e+00] [-3.69502822e-02 9.99317093e-01 1.55982695e-04 -5.91680499e-01] [ 3.71501521e-02 1.21766525e-03 9.99308953e-01 -3.53989123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.582401008000005 meters Centerline goodness : 0.932394 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.59, Z:-0.35 [[ 9.98472498e-01 3.98905670e-02 -3.82284494e-02 9.95366020e+00] [-3.97255166e-02 9.99197779e-01 5.06769622e-03 -5.92964269e-01] [ 3.83999350e-02 -3.54131041e-03 9.99256175e-01 -3.51879461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.612401008 meters Centerline goodness : 0.928263 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.59, Z:-0.35 [[ 9.98498235e-01 3.93725751e-02 -3.80929776e-02 9.95425734e+00] [-3.92572903e-02 9.99222024e-01 3.76996328e-03 -5.88745075e-01] [ 3.82117753e-02 -2.26887461e-03 9.99267088e-01 -3.53409117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.642401008 meters Centerline goodness : 0.927058 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.59, Z:-0.35 [[ 9.98501135e-01 3.88496818e-02 -3.85510871e-02 9.95569393e+00] [-3.87558198e-02 9.99243653e-01 3.17936315e-03 -5.86814843e-01] [ 3.86454464e-02 -1.68051873e-03 9.99251573e-01 -3.53823286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.672401008 meters Centerline goodness : 0.924965 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.59, Z:-0.35 [[ 9.98511907e-01 3.83782132e-02 -3.87438423e-02 9.95592330e+00] [-3.82947396e-02 9.99262295e-01 2.89460149e-03 -5.85136767e-01] [ 3.88263504e-02 -1.40660870e-03 9.99244983e-01 -3.52954233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.702401008 meters Centerline goodness : 0.928307 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.59, Z:-0.35 [[ 9.98356851e-01 4.06600652e-02 -4.03776824e-02 9.96064406e+00] [-4.03240278e-02 9.99145193e-01 9.10253584e-03 -5.88036036e-01] [ 4.07132769e-02 -7.45938824e-03 9.99143026e-01 -3.48118332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.732401008000004 meters Centerline goodness : 0.922079 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.59, Z:-0.35 [[ 9.98362196e-01 3.98243298e-02 -4.10724752e-02 9.96275966e+00] [-3.95136396e-02 9.99184150e-01 8.34902570e-03 -5.86773045e-01] [ 4.13714606e-02 -6.71242866e-03 9.99121287e-01 -3.48694476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.762401008000005 meters Centerline goodness : 0.925485 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.59, Z:-0.35 [[ 9.98372161e-01 3.90399764e-02 -4.15801411e-02 9.96478383e+00] [-3.87682695e-02 9.99221407e-01 7.32126338e-03 -5.85227840e-01] [ 4.18335890e-02 -5.69735543e-03 9.99108348e-01 -3.50079436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.792401008 meters Centerline goodness : 0.923104 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.58, Z:-0.35 [[ 9.98254715e-01 4.00145285e-02 -4.34322744e-02 9.97206820e+00] [-3.95815399e-02 9.99158147e-01 1.07842244e-02 -5.84183668e-01] [ 4.38272365e-02 -9.04628652e-03 9.98998167e-01 -3.49652309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.822401008 meters Centerline goodness : 0.922255 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.58, Z:-0.35 [[ 9.98263761e-01 3.92415772e-02 -4.39267867e-02 9.97391084e+00] [-3.88443363e-02 9.99196617e-01 9.86090902e-03 -5.81902230e-01] [ 4.42784543e-02 -8.13748125e-03 9.98986086e-01 -3.50584520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.852401008 meters Centerline goodness : 0.921364 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.58, Z:-0.35 [[ 0.99809942 0.04226729 -0.04484453 9.97667347] [-0.04164805 0.99902487 0.01465462 -0.58339129] [ 0.04542021 -0.01275908 0.99888649 -0.34854026] [ 0. 0. 0. 1. ]] SLAMing on 32.882401008 meters Centerline goodness : 0.921482 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.58, Z:-0.35 [[ 0.99792414 0.04547094 -0.04560478 9.97903386] [-0.04461354 0.99881113 0.01964583 -0.58499066] [ 0.04644387 -0.01757046 0.99876636 -0.34623476] [ 0. 0. 0. 1. ]] SLAMing on 32.912401008 meters Centerline goodness : 0.920016 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.58, Z:-0.35 [[ 0.99793796 0.04532342 -0.04544911 9.978652 ] [-0.04452612 0.99883867 0.01840475 -0.58071905] [ 0.04623049 -0.01634312 0.9987971 -0.34703062] [ 0. 0. 0. 1. ]] SLAMing on 32.942401008000004 meters Centerline goodness : 0.920824 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.58, Z:-0.35 [[ 0.99773732 0.04886862 -0.04617462 9.9807803 ] [-0.04785628 0.9985944 0.02278162 -0.58063636] [ 0.04722303 -0.02052033 0.99867357 -0.34565506] [ 0. 0. 0. 1. ]] SLAMing on 32.972401008000006 meters Centerline goodness : 0.925424 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.58, Z:-0.35 [[ 0.99773674 0.04875552 -0.04630658 9.98161404] [-0.04781469 0.99863095 0.02121293 -0.57676147] [ 0.04727743 -0.01895078 0.99870201 -0.34788171] [ 0. 0. 0. 1. ]] SLAMing on 33.002401008 meters Centerline goodness : 0.923877 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.57, Z:-0.35 [[ 0.99771356 0.04887706 -0.04667644 9.98251353] [-0.04798778 0.99864793 0.01998692 -0.57293137] [ 0.04759023 -0.01770132 0.99871008 -0.34940258] [ 0. 0. 0. 1. ]] SLAMing on 33.032401008 meters Centerline goodness : 0.926805 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.57, Z:-0.35 [[ 0.99746715 0.05379554 -0.04653301 9.98146436] [-0.05274427 0.99833073 0.02353306 -0.56948735] [ 0.04772131 -0.0210191 0.99863951 -0.34891708] [ 0. 0. 0. 1. ]] SLAMing on 33.062401008 meters Centerline goodness : 0.925258 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.57, Z:-0.36 [[ 0.99750118 0.0562393 -0.04276142 9.99647042] [-0.0556936 0.99835187 0.01384831 -0.56530898] [ 0.04346976 -0.01143217 0.99898933 -0.35503655] [ 0. 0. 0. 1. ]] SLAMing on 33.092401008 meters Centerline goodness : 0.921714 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.56, Z:-0.36 [[ 0.9974798 0.05661631 -0.04276268 9.99599356] [-0.0560942 0.99833672 0.01331311 -0.56311302] [ 0.0434453 -0.01088082 0.99899655 -0.35529204] [ 0. 0. 0. 1. ]] SLAMing on 33.122401008000004 meters Centerline goodness : 0.925067 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.56, Z:-0.36 [[ 0.99746832 0.05687778 -0.04268342 9.99551799] [-0.05637307 0.99832595 0.01293729 -0.56169338] [ 0.04334781 -0.01049834 0.99900488 -0.35545704] [ 0. 0. 0. 1. ]] SLAMing on 33.152401008000005 meters Centerline goodness : 0.922633 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.56, Z:-0.36 [[ 0.99745253 0.05722116 -0.04259321 9.99487743] [-0.05673765 0.99831116 0.01247648 -0.5592178 ] [ 0.0432352 -0.01002806 0.99901459 -0.35558205] [ 0. 0. 0. 1. ]] SLAMing on 33.182401008 meters Centerline goodness : 0.922428 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.56, Z:-0.36 [[ 9.97451663e-01 5.71248736e-02 -4.27425888e-02 9.99530370e+00] [-5.66516791e-02 9.98319433e-01 1.22023475e-02 -5.58484049e-01] [ 4.33678145e-02 -9.74981240e-03 9.99011598e-01 -3.55883702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.212401008 meters Centerline goodness : 0.926757 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.56, Z:-0.36 [[ 9.97450594e-01 5.70022055e-02 -4.29308955e-02 9.99568976e+00] [-5.65296573e-02 9.98327075e-01 1.21428832e-02 -5.58694686e-01] [ 4.35512465e-02 -9.68505723e-03 9.99004249e-01 -3.55795692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.242401008 meters Centerline goodness : 0.923615 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.56, Z:-0.36 [[ 9.97449204e-01 5.69284143e-02 -4.30608961e-02 9.99594166e+00] [-5.64503287e-02 9.98330387e-01 1.22391906e-02 -5.59301527e-01] [ 4.36857588e-02 -9.77716920e-03 9.98997478e-01 -3.55578347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.272401008 meters Centerline goodness : 0.924827 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.56, Z:-0.36 [[ 9.97449880e-01 5.68316749e-02 -4.31728757e-02 9.99632307e+00] [-5.63463760e-02 9.98334564e-01 1.23767372e-02 -5.60200589e-01] [ 4.38043648e-02 -9.91253992e-03 9.98990950e-01 -3.55516604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.302401008000004 meters Centerline goodness : 0.926532 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.56, Z:-0.36 [[ 9.97459245e-01 5.65711333e-02 -4.32985101e-02 9.99710886e+00] [-5.60972654e-02 9.98352191e-01 1.20830676e-02 -5.60222443e-01] [ 4.39107153e-02 -9.62343950e-03 9.98989108e-01 -3.56195406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.332401008000005 meters Centerline goodness : 0.926491 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.56, Z:-0.36 [[ 9.97458380e-01 5.63260816e-02 -4.36366016e-02 9.99823749e+00] [-5.58557855e-02 9.98367644e-01 1.19238444e-02 -5.60663994e-01] [ 4.42369946e-02 -9.45618189e-03 9.98976310e-01 -3.56683178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.362401008 meters Centerline goodness : 0.927533 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.56, Z:-0.36 [[ 9.97649051e-01 5.28867442e-02 -4.35816933e-02 9.99781089e+00] [-5.26244969e-02 9.98588820e-01 7.14364590e-03 -5.58482036e-01] [ 4.38979959e-02 -4.83338687e-03 9.99024326e-01 -3.58639511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.392401008 meters Centerline goodness : 0.925167 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.56, Z:-0.36 [[ 9.97642478e-01 5.30113649e-02 -4.35807436e-02 9.99845018e+00] [-5.27649530e-02 9.98583903e-01 6.78595941e-03 -5.59191775e-01] [ 4.38787620e-02 -4.47042547e-03 9.99026861e-01 -3.60254095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.422401008 meters Centerline goodness : 0.926536 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.56, Z:-0.36 [[ 9.97643844e-01 5.27454698e-02 -4.38711220e-02 9.99986199e+00] [-5.25190044e-02 9.98600055e-01 6.29953355e-03 -5.59252254e-01] [ 4.41419767e-02 -3.98062322e-03 9.99017337e-01 -3.61589440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.452401008 meters Centerline goodness : 0.928856 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.56, Z:-0.36 [[ 9.97648190e-01 5.25557061e-02 -4.39998568e-02 1.00009239e+01] [-5.23513267e-02 9.98611971e-01 5.78526703e-03 -5.59196804e-01] [ 4.42428325e-02 -3.46821030e-03 9.99014786e-01 -3.62983140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.482401008000004 meters Centerline goodness : 0.925782 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.56, Z:-0.36 [[ 9.97604114e-01 5.36085328e-02 -4.37282069e-02 9.99987097e+00] [-5.34106670e-02 9.98556468e-01 5.68159783e-03 -5.59322399e-01] [ 4.39696660e-02 -3.33243268e-03 9.99027309e-01 -3.63881337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.512401008000005 meters Centerline goodness : 0.923214 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.56, Z:-0.36 [[ 9.97585667e-01 5.39120634e-02 -4.37758546e-02 1.00000004e+01] [-5.37335243e-02 9.98541531e-01 5.24582920e-03 -5.58156690e-01] [ 4.39948224e-02 -2.88093308e-03 9.99027605e-01 -3.64687382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.542401008 meters Centerline goodness : 0.923365 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.56, Z:-0.37 [[ 9.97564156e-01 5.42106008e-02 -4.38972099e-02 1.00002338e+01] [-5.40540192e-02 9.98526729e-01 4.74704137e-03 -5.56705156e-01] [ 4.40898774e-02 -2.36265769e-03 9.99024775e-01 -3.65472388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.572401008 meters Centerline goodness : 0.923365 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.56, Z:-0.37 [[ 9.97564156e-01 5.42106008e-02 -4.38972099e-02 1.00002338e+01] [-5.40540192e-02 9.98526729e-01 4.74704137e-03 -5.56705156e-01] [ 4.40898774e-02 -2.36265769e-03 9.99024775e-01 -3.65472388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.602401008 meters Centerline goodness : 0.922550 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.56, Z:-0.37 [[ 9.97548002e-01 5.45711150e-02 -4.38175535e-02 1.00001484e+01] [-5.44414829e-02 9.98508350e-01 4.14723118e-03 -5.55084324e-01] [ 4.39785121e-02 -1.75156959e-03 9.99030942e-01 -3.66601038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.632401008 meters Centerline goodness : 0.923407 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.55, Z:-0.37 [[ 9.97308101e-01 5.83980833e-02 -4.43420268e-02 1.00027019e+01] [-5.81195266e-02 9.98281108e-01 7.54653319e-03 -5.54615395e-01] [ 4.47065107e-02 -4.94908107e-03 9.98987905e-01 -3.68179195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.662401008 meters Centerline goodness : 0.920826 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.55, Z:-0.37 [[ 9.97326882e-01 5.80920842e-02 -4.43215449e-02 1.00038500e+01] [-5.78615655e-02 9.98303667e-01 6.46741754e-03 -5.53094467e-01] [ 4.46220666e-02 -3.88561540e-03 9.98996383e-01 -3.70491106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.692401008000004 meters Centerline goodness : 0.919490 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.56, Z:-0.37 [[ 9.97551339e-01 5.36522597e-02 -4.48638137e-02 1.00031833e+01] [-5.34842654e-02 9.98556486e-01 4.93741716e-03 -5.57286160e-01] [ 4.50639557e-02 -2.52581899e-03 9.98980911e-01 -3.65245454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.722401008000006 meters Centerline goodness : 0.922079 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.56, Z:-0.36 [[ 9.97761059e-01 4.91103025e-02 -4.53987615e-02 1.00030339e+01] [-4.90539909e-02 9.98793354e-01 2.35429075e-03 -5.60238704e-01] [ 4.54596012e-02 -1.22029196e-04 9.98966170e-01 -3.62032801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.752401008 meters Centerline goodness : 0.921090 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.56, Z:-0.37 [[ 9.98558766e-01 3.69814628e-02 -3.88942359e-02 1.00029204e+01] [-3.69373634e-02 9.99315867e-01 1.85206091e-03 -5.57996086e-01] [ 3.89361189e-02 -4.12741136e-04 9.99241617e-01 -3.71195955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.782401008 meters Centerline goodness : 0.918418 Centerline is valid? [False, False] Translation: X:10.01, Y:-0.56, Z:-0.37 [[ 9.98591884e-01 3.51782807e-02 -3.97081529e-02 1.00077715e+01] [-3.51847578e-02 9.99380681e-01 5.35924532e-04 -5.57128744e-01] [ 3.97024138e-02 8.61951855e-04 9.99211177e-01 -3.74490355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.812401008 meters Centerline goodness : 0.920110 Centerline is valid? [False, False] Translation: X:10.01, Y:-0.56, Z:-0.38 [[ 9.98601102e-01 3.42740906e-02 -4.02632154e-02 1.00108818e+01] [-3.43218158e-02 9.99410711e-01 -4.94491365e-04 -5.55173347e-01] [ 4.02225404e-02 1.87570628e-03 9.99188986e-01 -3.76936923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.842401008 meters Centerline goodness : 0.918627 Centerline is valid? [False, False] Translation: X:10.01, Y:-0.55, Z:-0.38 [[ 9.98595135e-01 3.45765663e-02 -4.01524298e-02 1.00106466e+01] [-3.46320204e-02 9.99399896e-01 -6.86142929e-04 -5.53237176e-01] [ 4.01046097e-02 2.07573876e-03 9.99193330e-01 -3.77276828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.872401008000004 meters Centerline goodness : 0.920966 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.55, Z:-0.38 [[ 9.98696973e-01 3.76055786e-02 -3.44989345e-02 1.00232573e+01] [-3.78819644e-02 9.99254874e-01 -7.39285013e-03 -5.51654230e-01] [ 3.41952160e-02 8.69010445e-03 9.99377391e-01 -3.79469041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.902401008000005 meters Centerline goodness : 0.916201 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.55, Z:-0.38 [[ 9.98670879e-01 3.82402148e-02 -3.45566462e-02 1.00217752e+01] [-3.84702059e-02 9.99241644e-01 -6.01502806e-03 -5.53383659e-01] [ 3.43004240e-02 7.33643466e-03 9.99384639e-01 -3.76517939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.932401008 meters Centerline goodness : 0.917656 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.56, Z:-0.37 [[ 9.98644651e-01 3.88280323e-02 -3.46589904e-02 1.00203694e+01] [-3.90089983e-02 9.99228454e-01 -4.56022543e-03 -5.55389366e-01] [ 3.44551848e-02 5.90605723e-03 9.99388793e-01 -3.73325720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.962401008 meters Centerline goodness : 0.915369 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.56, Z:-0.37 [[ 9.98626576e-01 3.92179334e-02 -3.47406894e-02 1.00196407e+01] [-3.93584868e-02 9.99219469e-01 -3.37092663e-03 -5.57177015e-01] [ 3.45813724e-02 4.73363789e-03 9.99390675e-01 -3.71151573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.992401008 meters Centerline goodness : 0.915315 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.56, Z:-0.37 [[ 9.98479871e-01 4.20120454e-02 -3.56782145e-02 1.00230655e+01] [-4.19755984e-02 9.99117068e-01 1.77030898e-03 -5.60305025e-01] [ 3.57210873e-02 -2.70003482e-04 9.99361762e-01 -3.69358061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.022401008 meters Centerline goodness : 0.914065 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.56, Z:-0.37 [[ 9.98492636e-01 4.17678727e-02 -3.56075815e-02 1.00236589e+01] [-4.17354238e-02 9.99127328e-01 1.65441299e-03 -5.60586270e-01] [ 3.56456091e-02 -1.65821681e-04 9.99364480e-01 -3.70121340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.052401008000004 meters Centerline goodness : 0.917061 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.56, Z:-0.37 [[ 9.98502616e-01 4.11925382e-02 -3.59958397e-02 1.00254360e+01] [-4.11690936e-02 9.99151223e-01 1.39258547e-03 -5.61038317e-01] [ 3.60226514e-02 9.14158627e-05 9.99350969e-01 -3.71027537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.082401008000005 meters Centerline goodness : 0.914576 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.56, Z:-0.37 [[ 9.98521858e-01 3.97494276e-02 -3.70686224e-02 1.00295071e+01] [-3.97212215e-02 9.99209679e-01 1.49735666e-03 -5.64265735e-01] [ 3.70988454e-02 -2.27323922e-05 9.99311601e-01 -3.71718055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.112401008 meters Centerline goodness : 0.913899 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.57, Z:-0.37 [[ 9.98520665e-01 3.90119990e-02 -3.78753974e-02 1.00317100e+01] [-3.89664288e-02 9.99238635e-01 1.94089691e-03 -5.67015574e-01] [ 3.79222786e-02 -4.62156692e-04 9.99280585e-01 -3.71171441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.142401008 meters Centerline goodness : 0.916338 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.57, Z:-0.37 [[ 9.98521128e-01 3.80776077e-02 -3.88027510e-02 1.00342877e+01] [-3.80198743e-02 9.99274506e-01 2.22496873e-03 -5.69833946e-01] [ 3.88593214e-02 -7.46402568e-04 9.99244413e-01 -3.70777994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.172401008 meters Centerline goodness : 0.914778 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.57, Z:-0.37 [[ 9.98519820e-01 3.70773123e-02 -3.97924850e-02 1.00372646e+01] [-3.69918869e-02 9.99311412e-01 2.88117409e-03 -5.72631113e-01] [ 3.98719106e-02 -1.40491033e-03 9.99203812e-01 -3.69966154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.202401008 meters Centerline goodness : 0.913859 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.58, Z:-0.37 [[ 9.98621121e-01 3.23067871e-02 -4.13778728e-02 1.00531814e+01] [-3.20190346e-02 9.99458376e-01 7.59837862e-03 -5.76370848e-01] [ 4.16009408e-02 -6.26302183e-03 9.99114676e-01 -3.67352123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.232401008000004 meters Centerline goodness : 0.919179 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.57, Z:-0.37 [[ 9.98778380e-01 2.86678206e-02 -4.02480221e-02 1.00541235e+01] [-2.85207510e-02 9.99584277e-01 4.22364304e-03 -5.74811467e-01] [ 4.03523727e-02 -3.07057954e-03 9.99180793e-01 -3.70488996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.262401008000005 meters Centerline goodness : 0.910998 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.58, Z:-0.37 [[ 9.98774063e-01 2.78305917e-02 -4.09368830e-02 1.00566250e+01] [-2.76806632e-02 9.99607889e-01 4.22481142e-03 -5.75605620e-01] [ 4.10384102e-02 -3.08647200e-03 9.99152802e-01 -3.70754657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.292401008 meters Centerline goodness : 0.913265 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.58, Z:-0.37 [[ 9.98762716e-01 2.70840743e-02 -4.17071916e-02 1.00588935e+01] [-2.69254521e-02 9.99627934e-01 4.36038660e-03 -5.76569695e-01] [ 4.18097708e-02 -3.23200657e-03 9.99120362e-01 -3.70493640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.322401008 meters Centerline goodness : 0.911949 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.58, Z:-0.37 [[ 9.98751578e-01 2.59373165e-02 -4.26912374e-02 1.00618165e+01] [-2.57395815e-02 9.99655287e-01 5.17502001e-03 -5.78578187e-01] [ 4.28107473e-02 -4.06970482e-03 9.99074911e-01 -3.68815309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.352401008 meters Centerline goodness : 0.912968 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.58, Z:-0.36 [[ 0.99864694 0.02697246 -0.04446085 10.06894287] [-0.02646906 0.99957913 0.01187247 -0.58178441] [ 0.04476237 -0.01067957 0.99894058 -0.36325977] [ 0. 0. 0. 1. ]] SLAMing on 34.382401008 meters Centerline goodness : 0.909852 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.58, Z:-0.36 [[ 0.9985303 0.02837932 -0.04617196 10.07540625] [-0.02754529 0.99944748 0.01860079 -0.58477767] [ 0.04667432 -0.01730163 0.99876031 -0.35753374] [ 0. 0. 0. 1. ]] SLAMing on 34.412401008 meters Centerline goodness : 0.910932 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.59, Z:-0.35 [[ 0.99840903 0.03011006 -0.04767383 10.0807448 ] [-0.02897823 0.99928567 0.0242571 -0.58740269] [ 0.04837016 -0.022837 0.99856837 -0.35348845] [ 0. 0. 0. 1. ]] SLAMing on 34.442401008000004 meters Centerline goodness : 0.910844 Centerline is valid? [False, False] Translation: X:10.09, Y:-0.59, Z:-0.34 [[ 0.99831187 0.03060972 -0.04936039 10.08867264] [-0.02903459 0.99905581 0.03231834 -0.58993579] [ 0.05030304 -0.03083062 0.99825802 -0.34471266] [ 0. 0. 0. 1. ]] SLAMing on 34.472401008000006 meters Centerline goodness : 0.911634 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.59, Z:-0.35 [[ 0.99853305 0.02964364 -0.04531012 10.10508839] [-0.02876628 0.99938817 0.01989434 -0.58597419] [ 0.04587214 -0.01856176 0.99877485 -0.35215601] [ 0. 0. 0. 1. ]] SLAMing on 34.502401008 meters Centerline goodness : 0.913401 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.59, Z:-0.35 [[ 0.99838735 0.03238864 -0.04662271 10.10880228] [-0.03119621 0.99917295 0.02608079 -0.58780309] [ 0.04742887 -0.02458428 0.99857204 -0.34715306] [ 0. 0. 0. 1. ]] SLAMing on 34.532401008 meters Centerline goodness : 0.916748 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.58, Z:-0.35 [[ 0.99857855 0.03216034 -0.04250391 10.12446227] [-0.03157875 0.99939919 0.01428465 -0.58390892] [ 0.04293777 -0.01292213 0.99899418 -0.35391089] [ 0. 0. 0. 1. ]] SLAMing on 34.562401008 meters Centerline goodness : 0.914102 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.58, Z:-0.35 [[ 0.99842667 0.03553726 -0.04337387 10.12637195] [-0.03474762 0.99921879 0.01882578 -0.58315526] [ 0.044009 -0.01728902 0.99888152 -0.35129645] [ 0. 0. 0. 1. ]] SLAMing on 34.592401008 meters Centerline goodness : 0.912632 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.58, Z:-0.35 [[ 0.99842773 0.03508699 -0.04371457 10.1276304 ] [-0.03434441 0.99925465 0.01762397 -0.58014107] [ 0.04430036 -0.01609491 0.9988886 -0.352576 ] [ 0. 0. 0. 1. ]] SLAMing on 34.622401008000004 meters Centerline goodness : 0.917626 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.58, Z:-0.35 [[ 0.99825738 0.0383553 -0.04484492 10.13049901] [-0.03740234 0.99906029 0.02189998 -0.58038477] [ 0.04564275 -0.02018451 0.99875389 -0.35113543] [ 0. 0. 0. 1. ]] SLAMing on 34.652401008000005 meters Centerline goodness : 0.916659 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.58, Z:-0.35 [[ 0.99825903 0.03764513 -0.0454066 10.13258515] [-0.03674833 0.99911577 0.02042637 -0.5773051 ] [ 0.0461354 -0.01872219 0.99875973 -0.35292304] [ 0. 0. 0. 1. ]] SLAMing on 34.682401008 meters Centerline goodness : 0.919882 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.57, Z:-0.36 [[ 0.99826405 0.03619921 -0.04645978 10.13687212] [-0.03542729 0.99922195 0.01733228 -0.57070923] [ 0.04705104 -0.01565624 0.99876978 -0.35726987] [ 0. 0. 0. 1. ]] SLAMing on 34.712401008 meters Centerline goodness : 0.917749 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.57, Z:-0.36 [[ 0.99827239 0.03522031 -0.04702947 10.13948159] [-0.03451971 0.99928183 0.01562731 -0.56712831] [ 0.04754609 -0.01397687 0.99877125 -0.35964051] [ 0. 0. 0. 1. ]] SLAMing on 34.742401008 meters Centerline goodness : 0.919650 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.57, Z:-0.36 [[ 0.99811468 0.03787097 -0.04829994 10.1436513 ] [-0.03695065 0.99912078 0.01980722 -0.56751451] [ 0.04900759 -0.01798516 0.99863647 -0.35860875] [ 0. 0. 0. 1. ]] SLAMing on 34.772401008 meters Centerline goodness : 0.921663 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.56, Z:-0.36 [[ 0.99823668 0.0337346 -0.0488417 10.14428311] [-0.03311312 0.99936072 0.0134784 -0.56164878] [ 0.04926517 -0.01183734 0.99871559 -0.3611747 ] [ 0. 0. 0. 1. ]] SLAMing on 34.802401008000004 meters Centerline goodness : 0.922916 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.56, Z:-0.36 [[ 0.99808351 0.03582123 -0.05045934 10.1494309 ] [-0.0349105 0.99921329 0.01881617 -0.56319667] [ 0.05109366 -0.01701855 0.99854885 -0.35773531] [ 0. 0. 0. 1. ]] SLAMing on 34.832401008000005 meters Centerline goodness : 0.927859 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.56, Z:-0.36 [[ 0.99808466 0.03488473 -0.05108881 10.15172484] [-0.03401288 0.99926221 0.01783682 -0.56122462] [ 0.05167335 -0.01606497 0.99853482 -0.35874922] [ 0. 0. 0. 1. ]] SLAMing on 34.862401008 meters Centerline goodness : 0.924984 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.56, Z:-0.36 [[ 0.99808377 0.03373421 -0.0518728 10.15454689] [-0.03290029 0.99931664 0.01684735 -0.55919846] [ 0.05240569 -0.01510844 0.99851158 -0.35974392] [ 0. 0. 0. 1. ]] SLAMing on 34.892401008 meters Centerline goodness : 0.924074 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.56, Z:-0.35 [[ 0.99812804 0.0321382 -0.05203416 10.17104926] [-0.03072259 0.99914181 0.02778069 -0.56004685] [ 0.05288233 -0.02613007 0.99825882 -0.35214246] [ 0. 0. 0. 1. ]] SLAMing on 34.922401008 meters Centerline goodness : 0.922586 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.56, Z:-0.35 [[ 0.9981242 0.03129582 -0.05261792 10.17302226] [-0.02990684 0.99918847 0.02698098 -0.55841606] [ 0.05341962 -0.02535673 0.99825016 -0.3528261 ] [ 0. 0. 0. 1. ]] SLAMing on 34.952401008 meters Centerline goodness : 0.921896 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.56, Z:-0.35 [[ 0.99797302 0.0340629 -0.05375467 10.17637585] [-0.03237716 0.99896571 0.03192527 -0.55973036] [ 0.05478654 -0.03012013 0.99804369 -0.35023507] [ 0. 0. 0. 1. ]] SLAMing on 34.982401008000004 meters Centerline goodness : 0.926554 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.56, Z:-0.35 [[ 0.99795948 0.03341982 -0.0544059 10.17806691] [-0.03176437 0.99901411 0.0310135 -0.55753355] [ 0.05538872 -0.02922205 0.99803715 -0.35079145] [ 0. 0. 0. 1. ]] SLAMing on 35.012401008000005 meters Centerline goodness : 0.926029 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.55, Z:-0.35 [[ 0.99793302 0.03313913 -0.0550589 10.17933289] [-0.03153472 0.99905958 0.02975767 -0.55354851] [ 0.05599326 -0.0279599 0.99803958 -0.35129996] [ 0. 0. 0. 1. ]] SLAMing on 35.042401008000006 meters Centerline goodness : 0.927948 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.55, Z:-0.36 [[ 0.99812642 0.03345744 -0.05122748 10.19428278] [-0.03259319 0.99931347 0.01761458 -0.54924966] [ 0.05178165 -0.01591191 0.99853166 -0.35874457] [ 0. 0. 0. 1. ]] SLAMing on 35.072401008 meters Centerline goodness : 0.928662 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.55, Z:-0.36 [[ 0.99796385 0.03715053 -0.0518458 10.195662 ] [-0.03607332 0.99911653 0.02156089 -0.54763754] [ 0.05260099 -0.01964674 0.99842233 -0.35750598] [ 0. 0. 0. 1. ]] SLAMing on 35.102401008 meters Centerline goodness : 0.930355 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.55, Z:-0.36 [[ 0.99778477 0.04094816 -0.05242907 10.19711996] [-0.03960178 0.99886496 0.02646675 -0.54794902] [ 0.05345332 -0.02433184 0.99827386 -0.35509349] [ 0. 0. 0. 1. ]] SLAMing on 35.132401008 meters Centerline goodness : 0.932322 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.55, Z:-0.35 [[ 0.99758663 0.04439406 -0.05338617 10.19959323] [-0.04279631 0.99861177 0.03070832 -0.54871489] [ 0.05467533 -0.02834948 0.99810166 -0.35401154] [ 0. 0. 0. 1. ]] SLAMing on 35.162401008 meters Centerline goodness : 0.934434 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.55, Z:-0.36 [[ 0.99772655 0.04556294 -0.04965642 10.21350062] [-0.04467153 0.99882262 0.01891643 -0.5450495 ] [ 0.05045984 -0.01665519 0.99858721 -0.36102883] [ 0. 0. 0. 1. ]] SLAMing on 35.192401008000004 meters Centerline goodness : 0.933135 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.54, Z:-0.37 [[ 9.97699425e-01 4.99402949e-02 -4.58456677e-02 1.02299867e+01] [-4.94208694e-02 9.98701128e-01 1.23949738e-02 -5.41064996e-01] [ 4.64051286e-02 -1.01007254e-02 9.98871633e-01 -3.66447491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.222401008000006 meters Centerline goodness : 0.935116 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.54, Z:-0.37 [[ 9.97691480e-01 4.98760271e-02 -4.60878792e-02 1.02307234e+01] [-4.93983577e-02 9.98713563e-01 1.14464834e-02 -5.38066505e-01] [ 4.65994952e-02 -9.14339342e-03 9.98871806e-01 -3.67436516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.252401008 meters Centerline goodness : 0.933644 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.54, Z:-0.37 [[ 0.99747295 0.05361531 -0.04661674 10.23221234] [-0.05292636 0.99847197 0.01589085 -0.53908712] [ 0.0473975 -0.01338344 0.99878644 -0.36619105] [ 0. 0. 0. 1. ]] SLAMing on 35.282401008 meters Centerline goodness : 0.935615 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.54, Z:-0.37 [[ 0.99745477 0.05380202 -0.04679025 10.23214701] [-0.05312301 0.99846553 0.01563725 -0.5377665 ] [ 0.04755977 -0.01311181 0.99878233 -0.36593601] [ 0. 0. 0. 1. ]] SLAMing on 35.312401008 meters Centerline goodness : 0.934628 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.54, Z:-0.36 [[ 0.99721954 0.0575699 -0.047317 10.23344556] [-0.05665994 0.99818604 0.02035369 -0.53981059] [ 0.04840293 -0.01761612 0.99867253 -0.36426479] [ 0. 0. 0. 1. ]] SLAMing on 35.342401008 meters Centerline goodness : 0.934159 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.54, Z:-0.37 [[ 9.97200277e-01 6.10322628e-02 -4.32049835e-02 1.02488027e+01] [-6.05602371e-02 9.98090567e-01 1.21523135e-02 -5.36698644e-01] [ 4.38641696e-02 -9.50178634e-03 9.98992318e-01 -3.70493709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.372401008000004 meters Centerline goodness : 0.935267 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.53, Z:-0.37 [[ 9.97205058e-01 6.08458338e-02 -4.33573051e-02 1.02499467e+01] [-6.04227657e-02 9.98112224e-01 1.10035185e-02 -5.34141441e-01] [ 4.39449745e-02 -8.35299598e-03 9.98999032e-01 -3.72442354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.402401008000005 meters Centerline goodness : 0.935957 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.53, Z:-0.37 [[ 9.97210236e-01 6.05657277e-02 -4.36295576e-02 1.02513115e+01] [-6.01855248e-02 9.98137346e-01 9.97702827e-03 -5.31983718e-01] [ 4.41525568e-02 -7.32332689e-03 9.98997958e-01 -3.74093810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.432401008 meters Centerline goodness : 0.934232 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.53, Z:-0.37 [[ 9.97197700e-01 6.05730590e-02 -4.39050289e-02 1.02522512e+01] [-6.01969206e-02 9.98138015e-01 9.84037959e-03 -5.31899689e-01] [ 4.44193403e-02 -7.16985636e-03 9.98987245e-01 -3.74692178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.462401008 meters Centerline goodness : 0.934427 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.54, Z:-0.37 [[ 9.97189424e-01 6.03021469e-02 -4.44623781e-02 1.02536627e+01] [-5.98997066e-02 9.98150950e-01 1.03298853e-02 -5.35279296e-01] [ 4.50030792e-02 -7.63756896e-03 9.98957652e-01 -3.74465829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.492401008 meters Centerline goodness : 0.934427 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.54, Z:-0.37 [[ 9.97189424e-01 6.03021469e-02 -4.44623781e-02 1.02536627e+01] [-5.98997066e-02 9.98150950e-01 1.03298853e-02 -5.35279296e-01] [ 4.50030792e-02 -7.63756896e-03 9.98957652e-01 -3.74465829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.522401008 meters Centerline goodness : 0.937371 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.54, Z:-0.37 [[ 9.97197491e-01 5.96914336e-02 -4.51009695e-02 1.02555791e+01] [-5.92705505e-02 9.98185531e-01 1.06135440e-02 -5.37720684e-01] [ 4.56526728e-02 -7.91064020e-03 9.98926051e-01 -3.74419524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.552401008000004 meters Centerline goodness : 0.936911 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.54, Z:-0.37 [[ 9.97228188e-01 5.85588437e-02 -4.58999166e-02 1.02582036e+01] [-5.81230832e-02 9.98251299e-01 1.07726740e-02 -5.40423280e-01] [ 4.64504867e-02 -8.07496948e-03 9.98887955e-01 -3.74381799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.582401008000005 meters Centerline goodness : 0.935493 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.54, Z:-0.37 [[ 9.97268905e-01 5.72785230e-02 -4.66251193e-02 1.02608471e+01] [-5.67886343e-02 9.98316893e-01 1.17657184e-02 -5.44095234e-01] [ 4.72205672e-02 -9.08580821e-03 9.98843164e-01 -3.73079006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.612401008 meters Centerline goodness : 0.937754 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.55, Z:-0.37 [[ 9.97585813e-01 5.08070457e-02 -4.73412009e-02 1.02638188e+01] [-5.04139859e-02 9.98683595e-01 9.46080717e-03 -5.50229240e-01] [ 4.77595563e-02 -7.05130838e-03 9.98833972e-01 -3.70630989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.642401008 meters Centerline goodness : 0.937771 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.56, Z:-0.36 [[ 0.99762448 0.04860166 -0.04881884 10.26917994] [-0.04801893 0.9987613 0.01304011 -0.55550351] [ 0.04939214 -0.0106649 0.99872252 -0.36482216] [ 0. 0. 0. 1. ]] SLAMing on 35.672401008 meters Centerline goodness : 0.933993 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.56, Z:-0.36 [[ 0.99763704 0.04756794 -0.04957446 10.27135898] [-0.04689097 0.99879139 0.01473109 -0.55914598] [ 0.05021527 -0.01237168 0.99866179 -0.36190457] [ 0. 0. 0. 1. ]] SLAMing on 35.702401008 meters Centerline goodness : 0.938199 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.56, Z:-0.36 [[ 0.99772504 0.0440629 -0.05102155 10.27830734] [-0.04331435 0.99893835 0.01568571 -0.56208209] [ 0.05165854 -0.01344006 0.99857436 -0.36005459] [ 0. 0. 0. 1. ]] SLAMing on 35.732401008000004 meters Centerline goodness : 0.939303 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.56, Z:-0.36 [[ 0.99764885 0.04431676 -0.05227612 10.28552086] [-0.04332261 0.99886093 0.02000003 -0.56373216] [ 0.05310291 -0.01768827 0.99843237 -0.35852949] [ 0. 0. 0. 1. ]] SLAMing on 35.762401008000005 meters Centerline goodness : 0.937836 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.56, Z:-0.36 [[ 0.99766192 0.04372053 -0.05252825 10.28725221] [-0.04275392 0.99889751 0.01938709 -0.56316476] [ 0.05331795 -0.01709597 0.99843123 -0.3599412 ] [ 0. 0. 0. 1. ]] SLAMing on 35.792401008000006 meters Centerline goodness : 0.937056 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.57, Z:-0.36 [[ 0.9974947 0.04640808 -0.05339111 10.29067218] [-0.04519137 0.99869539 0.02377505 -0.56546651] [ 0.05442481 -0.02130267 0.99829061 -0.3588953 ] [ 0. 0. 0. 1. ]] SLAMing on 35.822401008 meters Centerline goodness : 0.939310 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.57, Z:-0.35 [[ 0.99728828 0.04916065 -0.05476595 10.29442872] [-0.04758877 0.99842697 0.02964607 -0.56815365] [ 0.05613722 -0.02695943 0.99805902 -0.35435953] [ 0. 0. 0. 1. ]] SLAMing on 35.852401008 meters Centerline goodness : 0.937363 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.56, Z:-0.36 [[ 0.99747691 0.04486394 -0.05501859 10.29560756] [-0.04361272 0.99876651 0.02373596 -0.56363797] [ 0.05601561 -0.02127657 0.99820317 -0.35758753] [ 0. 0. 0. 1. ]] SLAMing on 35.882401008 meters Centerline goodness : 0.937727 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.56, Z:-0.36 [[ 0.99749422 0.0438245 -0.05554002 10.29833926] [-0.04264994 0.99884428 0.02216035 -0.56125877] [ 0.056447 -0.01973604 0.99821051 -0.36012639] [ 0. 0. 0. 1. ]] SLAMing on 35.912401008 meters Centerline goodness : 0.938033 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.56, Z:-0.36 [[ 0.99750526 0.04254869 -0.05632823 10.30198862] [-0.04145308 0.99893056 0.0204785 -0.55815316] [ 0.05713932 -0.01809244 0.99820226 -0.36279943] [ 0. 0. 0. 1. ]] SLAMing on 35.942401008000004 meters Centerline goodness : 0.936600 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.56, Z:-0.37 [[ 0.99734922 0.04355075 -0.05829124 10.31044672] [-0.04230202 0.99885175 0.02248804 -0.55519482] [ 0.05920368 -0.0199626 0.9980463 -0.36558691] [ 0. 0. 0. 1. ]] SLAMing on 35.972401008000006 meters Centerline goodness : 0.936336 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.56, Z:-0.37 [[ 0.99714969 0.04668574 -0.05927001 10.31364642] [-0.04518952 0.99863114 0.02633911 -0.55542248] [ 0.06041854 -0.02358565 0.99789444 -0.36516099] [ 0. 0. 0. 1. ]] SLAMing on 36.002401008 meters Centerline goodness : 0.937467 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.55, Z:-0.37 [[ 0.99713631 0.04624338 -0.05983919 10.31520372] [-0.04480818 0.99868002 0.02510855 -0.55221745] [ 0.06092131 -0.02235537 0.99789219 -0.36616579] [ 0. 0. 0. 1. ]] SLAMing on 36.032401008 meters Centerline goodness : 0.935212 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.55, Z:-0.37 [[ 0.99723984 0.0487834 -0.05597209 10.32991034] [-0.04794995 0.99871935 0.01613883 -0.54867824] [ 0.05668771 -0.01341043 0.99830189 -0.37109321] [ 0. 0. 0. 1. ]] SLAMing on 36.062401008 meters Centerline goodness : 0.933726 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.55, Z:-0.37 [[ 0.99701396 0.05269181 -0.05645111 10.33093814] [-0.05161525 0.99845942 0.02036297 -0.548384 ] [ 0.0574371 -0.01738843 0.99819769 -0.36963872] [ 0. 0. 0. 1. ]] SLAMing on 36.092401008 meters Centerline goodness : 0.931718 Centerline is valid? [False, False] Translation: X:10.35, Y:-0.54, Z:-0.38 [[ 9.97010424e-01 5.67229825e-02 -5.24663395e-02 1.03457878e+01] [-5.61531720e-02 9.98346734e-01 1.22727535e-02 -5.41785617e-01] [ 5.30757459e-02 -9.28991175e-03 9.98547276e-01 -3.75020176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.122401008000004 meters Centerline goodness : 0.934829 Centerline is valid? [False, False] Translation: X:10.35, Y:-0.54, Z:-0.37 [[ 0.99678534 0.06004318 -0.05304524 10.34796532] [-0.05924158 0.99810634 0.01655828 -0.54182792] [ 0.053939 -0.01336257 0.99845482 -0.37380974] [ 0. 0. 0. 1. ]] SLAMing on 36.152401008000005 meters Centerline goodness : 0.929890 Centerline is valid? [False, False] Translation: X:10.35, Y:-0.54, Z:-0.37 [[ 0.99680143 0.05965795 -0.05317738 10.34854148] [-0.05889947 0.99814015 0.01571933 -0.539224 ] [ 0.05401626 -0.01253693 0.99846135 -0.37434567] [ 0. 0. 0. 1. ]] SLAMing on 36.182401008 meters Centerline goodness : 0.925521 Centerline is valid? [False, False] Translation: X:10.35, Y:-0.54, Z:-0.37 [[ 0.99658409 0.06261883 -0.05384275 10.35087237] [-0.06157463 0.99788489 0.02084009 -0.54107956] [ 0.05503385 -0.01745355 0.99833193 -0.37159711] [ 0. 0. 0. 1. ]] SLAMing on 36.212401008 meters Centerline goodness : 0.925708 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.54, Z:-0.36 [[ 0.99649769 0.06377877 -0.05407981 10.35595477] [-0.06220192 0.99760179 0.03035775 -0.54472178] [ 0.0558863 -0.02688756 0.99807504 -0.36061358] [ 0. 0. 0. 1. ]] SLAMing on 36.242401008 meters Centerline goodness : 0.923906 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.54, Z:-0.36 [[ 0.99651079 0.06327638 -0.05442751 10.3569258 ] [-0.06171767 0.99764691 0.02985927 -0.54316143] [ 0.05618882 -0.02639595 0.99807117 -0.36051419] [ 0. 0. 0. 1. ]] SLAMing on 36.272401008 meters Centerline goodness : 0.921940 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.54, Z:-0.36 [[ 0.99627496 0.06624152 -0.05521113 10.359832 ] [-0.06443534 0.99734666 0.03387798 -0.54385573] [ 0.05730877 -0.03019424 0.9978998 -0.35978412] [ 0. 0. 0. 1. ]] SLAMing on 36.302401008000004 meters Centerline goodness : 0.919646 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.54, Z:-0.36 [[ 0.99603198 0.06925258 -0.05589606 10.36292856] [-0.06719602 0.99702078 0.03787155 -0.54384605] [ 0.05835224 -0.03396528 0.99771808 -0.35915828] [ 0. 0. 0. 1. ]] SLAMing on 36.332401008000005 meters Centerline goodness : 0.919417 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.54, Z:-0.36 [[ 0.99578576 0.07195068 -0.05686667 10.36662924] [-0.06966779 0.99672081 0.04115865 -0.54195658] [ 0.05964158 -0.03702343 0.99753303 -0.35879715] [ 0. 0. 0. 1. ]] SLAMing on 36.362401008 meters Centerline goodness : 0.922663 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.54, Z:-0.36 [[ 0.99582354 0.07148436 -0.05679318 10.36732729] [-0.06929585 0.99680929 0.03961464 -0.53904663] [ 0.05944379 -0.03551366 0.99759973 -0.360513 ] [ 0. 0. 0. 1. ]] SLAMing on 36.392401008 meters Centerline goodness : 0.920830 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.54, Z:-0.36 [[ 0.99556251 0.07465648 -0.05728603 10.36950259] [-0.07220444 0.99643011 0.04374415 -0.5391159 ] [ 0.0603473 -0.03941373 0.997399 -0.35937775] [ 0. 0. 0. 1. ]] SLAMing on 36.422401008 meters Centerline goodness : 0.922875 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.54, Z:-0.36 [[ 0.99559773 0.07415515 -0.0573252 10.37078893] [-0.07177423 0.99651352 0.04253543 -0.53572355] [ 0.06027955 -0.03823371 0.99744903 -0.36092367] [ 0. 0. 0. 1. ]] SLAMing on 36.452401008 meters Centerline goodness : 0.922791 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.53, Z:-0.36 [[ 0.99567567 0.07268597 -0.05785083 10.37387804] [-0.07046372 0.99672915 0.03957091 -0.53034047] [ 0.06053786 -0.0353234 0.99754069 -0.36487859] [ 0. 0. 0. 1. ]] SLAMing on 36.482401008000004 meters Centerline goodness : 0.923921 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.53, Z:-0.37 [[ 0.99570627 0.07180811 -0.05841758 10.376242 ] [-0.06964693 0.99683894 0.03822877 -0.52808135] [ 0.06097805 -0.03399602 0.99756 -0.3665745 ] [ 0. 0. 0. 1. ]] SLAMing on 36.512401008000005 meters Centerline goodness : 0.923421 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.52, Z:-0.37 [[ 0.99573752 0.07075917 -0.05916028 10.37940611] [-0.06872361 0.99699447 0.03576434 -0.52444951] [ 0.06151313 -0.03154618 0.99760762 -0.37008635] [ 0. 0. 0. 1. ]] SLAMing on 36.542401008000006 meters Centerline goodness : 0.924233 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.52, Z:-0.37 [[ 0.99573116 0.07047621 -0.05960342 10.38099776] [-0.0684793 0.99704157 0.03490967 -0.52233321] [ 0.06188739 -0.03067905 0.99761152 -0.3713143 ] [ 0. 0. 0. 1. ]] SLAMing on 36.572401008 meters Centerline goodness : 0.922255 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.52, Z:-0.37 [[ 0.99574462 0.06980248 -0.06016869 10.38326151] [-0.06787034 0.99712884 0.03358128 -0.52003679] [ 0.06233999 -0.02935471 0.99762319 -0.37328221] [ 0. 0. 0. 1. ]] SLAMing on 36.602401008 meters Centerline goodness : 0.923348 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.52, Z:-0.38 [[ 0.99576799 0.06919891 -0.0604783 10.38489669] [-0.06734067 0.99720888 0.03224421 -0.51758445] [ 0.06254076 -0.0280351 0.99764858 -0.37512695] [ 0. 0. 0. 1. ]] SLAMing on 36.632401008 meters Centerline goodness : 0.924425 Centerline is valid? [False, False] Translation: X:10.39, Y:-0.52, Z:-0.37 [[ 0.99549499 0.07257185 -0.0610168 10.38703308] [-0.07040811 0.99683568 0.03689624 -0.51853931] [ 0.06350135 -0.03243395 0.99745457 -0.37319791] [ 0. 0. 0. 1. ]] SLAMing on 36.662401008 meters Centerline goodness : 0.922713 Centerline is valid? [False, False] Translation: X:10.39, Y:-0.52, Z:-0.37 [[ 0.99551564 0.07227952 -0.06102681 10.38742917] [-0.07012957 0.99686372 0.03666825 -0.51839697] [ 0.06348578 -0.03222403 0.99746236 -0.37330307] [ 0. 0. 0. 1. ]] SLAMing on 36.692401008000004 meters Centerline goodness : 0.923130 Centerline is valid? [False, False] Translation: X:10.39, Y:-0.52, Z:-0.37 [[ 0.99554086 0.07148506 -0.06154903 10.38922747] [-0.06933679 0.99693041 0.03636171 -0.51873753] [ 0.06395942 -0.03193195 0.9974415 -0.37352675] [ 0. 0. 0. 1. ]] SLAMing on 36.722401008000006 meters Centerline goodness : 0.923951 Centerline is valid? [False, False] Translation: X:10.39, Y:-0.52, Z:-0.37 [[ 0.99582367 0.06727607 -0.06171822 10.38941563] [-0.06541831 0.99735601 0.03164529 -0.51689729] [ 0.06368401 -0.02747562 0.99759182 -0.37462717] [ 0. 0. 0. 1. ]] SLAMing on 36.752401008 meters Centerline goodness : 0.925160 Centerline is valid? [False, False] Translation: X:10.39, Y:-0.52, Z:-0.37 [[ 0.99584381 0.06679433 -0.06191625 10.38983223] [-0.06489233 0.99737136 0.03223906 -0.51877201] [ 0.06390688 -0.02808718 0.99756054 -0.37353653] [ 0. 0. 0. 1. ]] SLAMing on 36.782401008 meters Centerline goodness : 0.922021 Centerline is valid? [False, False] Translation: X:10.39, Y:-0.52, Z:-0.37 [[ 0.99614382 0.06258372 -0.06148787 10.38803405] [-0.06094361 0.99774282 0.02819825 -0.51752988] [ 0.06311384 -0.02434222 0.99770943 -0.37273499] [ 0. 0. 0. 1. ]] SLAMing on 36.812401008 meters Centerline goodness : 0.923513 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.51, Z:-0.37 [[ 0.99665305 0.05881839 -0.05677224 10.36684353] [-0.057039 0.99784376 0.03247131 -0.51422382] [ 0.05855974 -0.02912439 0.99785897 -0.37166106] [ 0. 0. 0. 1. ]] SLAMing on 36.842401008 meters Centerline goodness : 0.925392 Centerline is valid? [False, False] Translation: X:10.34, Y:-0.51, Z:-0.37 [[ 0.99699213 0.0564667 -0.05308685 10.34017472] [-0.05469012 0.99791257 0.03434383 -0.50923272] [ 0.05491532 -0.0313372 0.99799914 -0.37080272] [ 0. 0. 0. 1. ]] SLAMing on 36.872401008000004 meters Centerline goodness : 0.924749 Centerline is valid? [False, False] Translation: X:10.34, Y:-0.50, Z:-0.37 [[ 0.99719601 0.05261129 -0.05321819 10.33982593] [-0.05111547 0.99826901 0.02908937 -0.5049476 ] [ 0.05465649 -0.02628753 0.99815912 -0.37201327] [ 0. 0. 0. 1. ]] SLAMing on 36.902401008000005 meters Centerline goodness : 0.924656 Centerline is valid? [False, False] Translation: X:10.34, Y:-0.50, Z:-0.37 [[ 0.99719519 0.0524941 -0.05334912 10.33993595] [-0.05102112 0.99828776 0.02860771 -0.50307046] [ 0.05475951 -0.02580554 0.99816605 -0.37187891] [ 0. 0. 0. 1. ]] SLAMing on 36.932401008 meters Centerline goodness : 0.924096 Centerline is valid? [False, False] Translation: X:10.34, Y:-0.50, Z:-0.37 [[ 0.99720536 0.05236154 -0.05328926 10.33996362] [-0.05093042 0.99831327 0.02786934 -0.50052802] [ 0.05465866 -0.02507741 0.99819014 -0.37233152] [ 0. 0. 0. 1. ]] SLAMing on 36.962401008 meters Centerline goodness : 0.924652 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.49, Z:-0.38 [[ 0.99737041 0.05110175 -0.05138945 10.31898013] [-0.04961854 0.99832548 0.02973598 -0.49121874] [ 0.05282296 -0.02710792 0.99823589 -0.37581089] [ 0. 0. 0. 1. ]] SLAMing on 36.992401008 meters Centerline goodness : 0.926251 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.49, Z:-0.38 [[ 0.99737509 0.04907507 -0.05324075 10.30030091] [-0.04735899 0.99833169 0.0330296 -0.4857553 ] [ 0.05477285 -0.03042147 0.9980353 -0.37644482] [ 0. 0. 0. 1. ]] SLAMing on 37.022401008 meters Centerline goodness : 0.924744 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.48, Z:-0.38 [[ 0.9975116 0.04569131 -0.0536928 10.28090997] [-0.04394985 0.99848262 0.03317924 -0.47918399] [ 0.05512733 -0.03073688 0.99800612 -0.37967258] [ 0. 0. 0. 1. ]] SLAMing on 37.052401008000004 meters Centerline goodness : 0.923017 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.48, Z:-0.38 [[ 0.99751212 0.04536248 -0.05396127 10.28164986] [-0.04365772 0.99852223 0.0323628 -0.4769101 ] [ 0.05534959 -0.02992646 0.99801845 -0.380124 ] [ 0. 0. 0. 1. ]] SLAMing on 37.082401008000005 meters Centerline goodness : 0.923389 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.47, Z:-0.38 [[ 0.99765607 0.04181473 -0.05416541 10.28143992] [-0.0403819 0.99881176 0.02728311 -0.47183688] [ 0.05524189 -0.02503186 0.99815918 -0.38126252] [ 0. 0. 0. 1. ]] SLAMing on 37.112401008 meters Centerline goodness : 0.927943 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.47, Z:-0.38 [[ 0.99764988 0.04187369 -0.05423382 10.2814731 ] [-0.04053826 0.99885268 0.02549441 -0.46562292] [ 0.05523914 -0.02323595 0.99820275 -0.38255109] [ 0. 0. 0. 1. ]] SLAMing on 37.142401008 meters Centerline goodness : 0.927053 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.46, Z:-0.38 [[ 0.99766228 0.04152793 -0.05427162 10.28214971] [-0.04026546 0.99889706 0.02415261 -0.46170764] [ 0.05521477 -0.02191087 0.99823406 -0.38389729] [ 0. 0. 0. 1. ]] SLAMing on 37.172401008 meters Centerline goodness : 0.927771 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.46, Z:-0.38 [[ 0.99766118 0.04124766 -0.05450501 10.2830152 ] [-0.04004131 0.99893229 0.023043 -0.45820457] [ 0.05539728 -0.02080665 0.99824758 -0.38485497] [ 0. 0. 0. 1. ]] SLAMing on 37.202401008 meters Centerline goodness : 0.927888 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.46, Z:-0.39 [[ 0.99782756 0.04825037 -0.04485598 10.28911681] [-0.04706422 0.99852325 0.02713454 -0.46094378] [ 0.046099 -0.02496448 0.99862488 -0.38716629] [ 0. 0. 0. 1. ]] SLAMing on 37.232401008000004 meters Centerline goodness : 0.925654 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.46, Z:-0.39 [[ 0.99760321 0.05250682 -0.04506515 10.2905384 ] [-0.05116429 0.99822608 0.03044511 -0.45964346] [ 0.04658378 -0.02806641 0.99852002 -0.38783039] [ 0. 0. 0. 1. ]] SLAMing on 37.262401008000005 meters Centerline goodness : 0.928836 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.46, Z:-0.39 [[ 0.99749698 0.05382037 -0.04585995 10.29245104] [-0.05243935 0.99814891 0.03080367 -0.45946766] [ 0.04743292 -0.02832171 0.99847283 -0.38794779] [ 0. 0. 0. 1. ]] SLAMing on 37.292401008000006 meters Centerline goodness : 0.929469 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.46, Z:-0.39 [[ 0.99740401 0.05441523 -0.04716169 10.29567316] [-0.0530557 0.9981523 0.02961551 -0.45934967] [ 0.04868609 -0.02703643 0.99844814 -0.38852906] [ 0. 0. 0. 1. ]] SLAMing on 37.322401008 meters Centerline goodness : 0.929903 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.46, Z:-0.39 [[ 0.99736169 0.05491473 -0.04747665 10.29670855] [-0.05355544 0.99813067 0.02944468 -0.45912624] [ 0.04900485 -0.02682436 0.99843827 -0.38875162] [ 0. 0. 0. 1. ]] SLAMing on 37.352401008 meters Centerline goodness : 0.927328 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.46, Z:-0.40 [[ 0.99730446 0.06319232 -0.03728988 10.30093124] [-0.06211735 0.99763824 0.02931522 -0.46098196] [ 0.03905431 -0.02691985 0.99887441 -0.39541018] [ 0. 0. 0. 1. ]] SLAMing on 37.382401008 meters Centerline goodness : 0.926313 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.46, Z:-0.40 [[ 0.99722054 0.06432108 -0.037603 10.30276095] [-0.06325584 0.99757984 0.02886455 -0.46008807] [ 0.03936859 -0.02640571 0.99887579 -0.39659285] [ 0. 0. 0. 1. ]] SLAMing on 37.412401008 meters Centerline goodness : 0.926313 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.46, Z:-0.40 [[ 0.99722054 0.06432108 -0.037603 10.30276095] [-0.06325584 0.99757984 0.02886455 -0.46008807] [ 0.03936859 -0.02640571 0.99887579 -0.39659285] [ 0. 0. 0. 1. ]] SLAMing on 37.442401008000004 meters Centerline goodness : 0.927087 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.46, Z:-0.40 [[ 0.99707319 0.06560093 -0.03926298 10.30643379] [-0.06453998 0.99753042 0.02770647 -0.45984708] [ 0.04098359 -0.02509135 0.99884472 -0.3967574 ] [ 0. 0. 0. 1. ]] SLAMing on 37.472401008000006 meters Centerline goodness : 0.925090 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.46, Z:-0.40 [[ 0.99679548 0.0679909 -0.04214265 10.31162248] [-0.06700327 0.99745381 0.02442248 -0.46000489] [ 0.04369585 -0.02152052 0.99881307 -0.39582064] [ 0. 0. 0. 1. ]] SLAMing on 37.502401008 meters Centerline goodness : 0.924907 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.46, Z:-0.40 [[ 0.99678084 0.06827368 -0.04203176 10.31111244] [-0.06729215 0.99743634 0.02434163 -0.45927296] [ 0.0435859 -0.02143487 0.99881971 -0.39561378] [ 0. 0. 0. 1. ]] SLAMing on 37.532401008 meters Centerline goodness : 0.926086 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.46, Z:-0.40 [[ 0.99677328 0.06840841 -0.04199191 10.31089213] [-0.0674425 0.99743434 0.0240052 -0.45779967] [ 0.04352633 -0.0210957 0.99882953 -0.39562019] [ 0. 0. 0. 1. ]] SLAMing on 37.562401008 meters Centerline goodness : 0.929963 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.46, Z:-0.40 [[ 0.99664864 0.0697661 -0.04271041 10.31257248] [-0.06879835 0.99734843 0.02372562 -0.45717102] [ 0.0442524 -0.0207077 0.99880574 -0.39551556] [ 0. 0. 0. 1. ]] SLAMing on 37.592401008 meters Centerline goodness : 0.925691 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.45, Z:-0.39 [[ 0.99657415 0.07104673 -0.04233587 10.31047355] [-0.07009528 0.99726224 0.02355162 -0.45413225] [ 0.04389323 -0.02050339 0.99882581 -0.39483184] [ 0. 0. 0. 1. ]] SLAMing on 37.622401008000004 meters Centerline goodness : 0.929032 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.46, Z:-0.39 [[ 0.99627092 0.07498065 -0.04268663 10.31119431] [-0.07380031 0.99686319 0.02858836 -0.45590665] [ 0.0446963 -0.02533146 0.99867941 -0.39250127] [ 0. 0. 0. 1. ]] SLAMing on 37.652401008000005 meters Centerline goodness : 0.927348 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.46, Z:-0.39 [[ 0.99625033 0.07526946 -0.04265895 10.31109601] [-0.07408977 0.99684157 0.0285937 -0.4551699 ] [ 0.04467645 -0.0253259 0.99868044 -0.3921267 ] [ 0. 0. 0. 1. ]] SLAMing on 37.682401008 meters Centerline goodness : 0.930671 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.46, Z:-0.39 [[ 0.99598078 0.07876476 -0.04264274 10.31214264] [-0.07734592 0.99642574 0.03396105 -0.45836181] [ 0.04516525 -0.03052631 0.99851302 -0.39000476] [ 0. 0. 0. 1. ]] SLAMing on 37.712401008 meters Centerline goodness : 0.928279 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.46, Z:-0.39 [[ 0.99597723 0.07857775 -0.04306856 10.31346795] [-0.07710307 0.99641225 0.03489633 -0.46135812] [ 0.04565612 -0.03143523 0.99846249 -0.38943134] [ 0. 0. 0. 1. ]] SLAMing on 37.742401008 meters Centerline goodness : 0.926885 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.46, Z:-0.39 [[ 0.9959697 0.07854422 -0.04330305 10.31460479] [-0.07702956 0.99639288 0.03560451 -0.46335188] [ 0.04594338 -0.0321254 0.99842735 -0.38928942] [ 0. 0. 0. 1. ]] SLAMing on 37.772401008 meters Centerline goodness : 0.928674 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.47, Z:-0.39 [[ 0.99600078 0.07770123 -0.04410187 10.31746875] [-0.07616603 0.99646348 0.03548617 -0.4656447 ] [ 0.04670322 -0.03198519 0.99839659 -0.39032216] [ 0. 0. 0. 1. ]] SLAMing on 37.802401008000004 meters Centerline goodness : 0.925668 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.48, Z:-0.37 [[ 0.99628384 0.07581317 -0.04087639 10.3315693 ] [-0.07353717 0.99579824 0.05457247 -0.47962343] [ 0.04484195 -0.05136373 0.99767278 -0.37373595] [ 0. 0. 0. 1. ]] SLAMing on 37.832401008000005 meters Centerline goodness : 0.925437 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.48, Z:-0.38 [[ 0.99658333 0.07148029 -0.04137927 10.33279507] [-0.06938486 0.99633434 0.05003632 -0.48014009] [ 0.0448042 -0.04699427 0.99788983 -0.37524353] [ 0. 0. 0. 1. ]] SLAMing on 37.862401008 meters Centerline goodness : 0.927864 Centerline is valid? [False, False] Translation: X:10.34, Y:-0.48, Z:-0.38 [[ 0.99662792 0.07044678 -0.04207173 10.3355193 ] [-0.06831255 0.99640131 0.05017789 -0.48330805] [ 0.0454552 -0.04713466 0.99785377 -0.37558934] [ 0. 0. 0. 1. ]] SLAMing on 37.892401008 meters Centerline goodness : 0.923748 Centerline is valid? [False, False] Translation: X:10.34, Y:-0.49, Z:-0.37 [[ 0.9966606 0.06984777 -0.04229579 10.33704418] [-0.06766844 0.99640686 0.05093483 -0.48647809] [ 0.0457015 -0.04790265 0.99780595 -0.37491174] [ 0. 0. 0. 1. ]] SLAMing on 37.922401008 meters Centerline goodness : 0.921920 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.49, Z:-0.37 [[ 0.99756041 0.06177139 -0.03251971 10.33460976] [-0.05956983 0.99611894 0.06479585 -0.49481626] [ 0.03639603 -0.06270058 0.99736852 -0.3661054 ] [ 0. 0. 0. 1. ]] SLAMing on 37.952401008 meters Centerline goodness : 0.925148 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.49, Z:-0.37 [[ 0.99801125 0.05422367 -0.03214547 10.33345771] [-0.05237319 0.99706437 0.05585413 -0.49285224] [ 0.03507972 -0.05405949 0.99792133 -0.36826099] [ 0. 0. 0. 1. ]] SLAMing on 37.982401008000004 meters Centerline goodness : 0.923010 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.49, Z:-0.37 [[ 0.99822465 0.05005755 -0.03227676 10.33356591] [-0.04833498 0.99747118 0.05210546 -0.49367402] [ 0.0348034 -0.05045286 0.99811985 -0.36819156] [ 0. 0. 0. 1. ]] SLAMing on 38.012401008000005 meters Centerline goodness : 0.918528 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.49, Z:-0.37 [[ 0.99843783 0.04551191 -0.03241243 10.33394068] [-0.04392704 0.99787922 0.04803624 -0.4937905 ] [ 0.03452992 -0.04653742 0.99831957 -0.36840806] [ 0. 0. 0. 1. ]] SLAMing on 38.042401008000006 meters Centerline goodness : 0.923503 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.49, Z:-0.37 [[ 0.99922371 0.02947356 -0.02613962 10.30495306] [-0.02812001 0.998317 0.05071915 -0.49173781] [ 0.0275905 -0.04994473 0.99837082 -0.36916301] [ 0. 0. 0. 1. ]] SLAMing on 38.072401008 meters Centerline goodness : 0.921320 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.49, Z:-0.37 [[ 0.99944587 0.02077008 -0.02601053 10.30542514] [-0.01969518 0.99896825 0.04092121 -0.48847569] [ 0.02683363 -0.04038625 0.99882376 -0.37197326] [ 0. 0. 0. 1. ]] SLAMing on 38.102401008 meters Centerline goodness : 0.918083 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.49, Z:-0.37 [[ 0.99951432 0.0137834 -0.02794876 10.28446235] [-0.01268687 0.99915716 0.03903856 -0.48570023] [ 0.02846329 -0.03866502 0.99884676 -0.37246041] [ 0. 0. 0. 1. ]] SLAMing on 38.132401008 meters Centerline goodness : 0.920894 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.48, Z:-0.37 [[ 9.99518245e-01 7.06385321e-03 -3.02221833e-02 1.02646921e+01] [-5.94922293e-03 9.99304446e-01 3.68134572e-02 -4.81144410e-01] [ 3.04612070e-02 -3.66159236e-02 9.98865050e-01 -3.74343603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.162401008 meters Centerline goodness : 0.915007 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.47, Z:-0.38 [[ 9.99539274e-01 1.56092958e-03 -3.03117685e-02 1.02668669e+01] [-6.90181054e-04 9.99587382e-01 2.87156601e-02 -4.73034210e-01] [ 3.03440844e-02 -2.86815094e-02 9.99127924e-01 -3.79949950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.192401008000004 meters Centerline goodness : 0.914083 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.47, Z:-0.38 [[ 9.99535894e-01 1.08025238e-03 -3.04438733e-02 1.02674038e+01] [-2.43644390e-04 9.99622580e-01 2.74706623e-02 -4.68972037e-01] [ 3.04620584e-02 -2.74504955e-02 9.99158913e-01 -3.80646056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.222401008000006 meters Centerline goodness : 0.917284 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.46, Z:-0.38 [[ 9.99535577e-01 1.02216274e-03 -3.04562755e-02 1.02671472e+01] [-2.23870637e-04 9.99656618e-01 2.62029769e-02 -4.63875010e-01] [ 3.04726010e-02 -2.61839894e-02 9.99192584e-01 -3.81081869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.252401008 meters Centerline goodness : 0.913235 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.45, Z:-0.38 [[ 9.99514729e-01 4.43083525e-03 -3.08330023e-02 1.02678055e+01] [-3.58137837e-03 9.99613980e-01 2.75511421e-02 -4.54024191e-01] [ 3.09431747e-02 -2.74273477e-02 9.99144765e-01 -3.82016973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.282401008 meters Centerline goodness : 0.912340 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.45, Z:-0.38 [[ 0.99973451 0.01260806 -0.01928603 10.26933646] [-0.01193459 0.9993284 0.03464543 -0.45319803] [ 0.01970989 -0.03440606 0.99921356 -0.38251543] [ 0. 0. 0. 1. ]] SLAMing on 38.312401008 meters Centerline goodness : 0.908573 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.45, Z:-0.39 [[ 0.99973707 0.01164338 -0.01975406 10.27150406] [-0.01100323 0.99942054 0.0322106 -0.44619801] [ 0.02011765 -0.03198477 0.99928587 -0.38514894] [ 0. 0. 0. 1. ]] SLAMing on 38.342401008 meters Centerline goodness : 0.905413 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.44, Z:-0.39 [[ 0.99972471 0.01357049 -0.01914011 10.27053881] [-0.0128979 0.99930979 0.03483649 -0.44246672] [ 0.01959965 -0.03458003 0.99920973 -0.38507731] [ 0. 0. 0. 1. ]] SLAMing on 38.372401008000004 meters Centerline goodness : 0.902585 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.44, Z:-0.39 [[ 0.99971974 0.01483764 -0.01844677 10.26947642] [-0.01415772 0.99923488 0.0364584 -0.43852785] [ 0.01897361 -0.03618701 0.9991649 -0.38504858] [ 0. 0. 0. 1. ]] SLAMing on 38.402401008000005 meters Centerline goodness : 0.903780 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.43, Z:-0.39 [[ 0.99975259 0.01495063 -0.01646925 10.28637797] [-0.01458164 0.99964495 0.02230139 -0.42617641] [ 0.01679682 -0.02205572 0.99961563 -0.39416361] [ 0. 0. 0. 1. ]] SLAMing on 38.432401008 meters Centerline goodness : 0.904398 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.42, Z:-0.40 [[ 9.99787530e-01 1.57473708e-02 -1.33009106e-02 1.03004907e+01] [-1.56264841e-02 9.99836085e-01 9.14416140e-03 -4.18440762e-01] [ 1.34427268e-02 -8.93437208e-03 9.99869727e-01 -4.02007170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.462401008 meters Centerline goodness : 0.908033 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.41, Z:-0.40 [[ 9.99792368e-01 1.49204983e-02 -1.38780482e-02 1.03021690e+01] [-1.48227999e-02 9.99864813e-01 7.11620429e-03 -4.11707599e-01] [ 1.39823494e-02 -6.90901520e-03 9.99878372e-01 -4.03125418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.492401008 meters Centerline goodness : 0.908622 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.40, Z:-0.40 [[ 0.99965634 0.02146955 -0.01504209 10.30447086] [-0.02128387 0.99969661 0.01239724 -0.40147199] [ 0.01530369 -0.01207282 0.99981 -0.40261546] [ 0. 0. 0. 1. ]] SLAMing on 38.522401008 meters Centerline goodness : 0.914192 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.40, Z:-0.40 [[ 0.99956816 0.02500341 -0.01543777 10.30552246] [-0.02477487 0.99958318 0.01482145 -0.39511454] [ 0.01580192 -0.01443258 0.99977097 -0.40289549] [ 0. 0. 0. 1. ]] SLAMing on 38.552401008000004 meters Centerline goodness : 0.915428 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.39, Z:-0.40 [[ 0.99946098 0.02879439 -0.01576799 10.30642228] [-0.02852088 0.9994434 0.01730486 -0.38884601] [ 0.0162575 -0.01684582 0.99972592 -0.40325332] [ 0. 0. 0. 1. ]] SLAMing on 38.582401008000005 meters Centerline goodness : 0.914904 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.38, Z:-0.41 [[ 0.99932231 0.03487651 -0.01177068 10.32046555] [-0.03474309 0.99933176 0.0113554 -0.38227082] [ 0.01215885 -0.01093875 0.99986624 -0.40773424] [ 0. 0. 0. 1. ]] SLAMing on 38.612401008000006 meters Centerline goodness : 0.920751 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.37, Z:-0.40 [[ 0.99895121 0.04440373 -0.01117069 10.31622 ] [-0.04419936 0.99886197 0.0179216 -0.37199876] [ 0.01195377 -0.01740907 0.99977699 -0.40352747] [ 0. 0. 0. 1. ]] SLAMing on 38.642401008 meters Centerline goodness : 0.922931 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.37, Z:-0.40 [[ 0.99873984 0.04892881 -0.01116665 10.31562912] [-0.0486839 0.99858835 0.02124116 -0.36687645] [ 0.01219019 -0.02067076 0.99971202 -0.40231508] [ 0. 0. 0. 1. ]] SLAMing on 38.672401008 meters Centerline goodness : 0.922867 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.36, Z:-0.41 [[ 9.98445404e-01 5.53412621e-02 -6.64223227e-03 1.03288637e+01] [-5.52327528e-02 9.98352605e-01 1.55376901e-02 -3.60463018e-01] [ 7.49116527e-03 -1.51466665e-02 9.99857220e-01 -4.06838029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.702401008 meters Centerline goodness : 0.924191 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.36, Z:-0.41 [[ 9.98217104e-01 5.93067257e-02 -6.73245956e-03 1.03293001e+01] [-5.91737658e-02 9.98076685e-01 1.84769019e-02 -3.55335562e-01] [ 7.81531547e-03 -1.80455745e-02 9.99806620e-01 -4.06599393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.732401008000004 meters Centerline goodness : 0.922896 Centerline is valid? [False, False] Translation: X:10.34, Y:-0.35, Z:-0.41 [[ 9.97749751e-01 6.69884056e-02 -2.82612026e-03 1.03428081e+01] [-6.69429383e-02 9.97659726e-01 1.39181246e-02 -3.47515941e-01] [ 3.75185934e-03 -1.36976166e-02 9.99899144e-01 -4.09837618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.762401008000005 meters Centerline goodness : 0.926382 Centerline is valid? [False, False] Translation: X:10.35, Y:-0.34, Z:-0.41 [[ 9.97799103e-01 6.35985010e-02 -1.87664524e-02 1.03489148e+01] [-6.34420271e-02 9.97946556e-01 8.81931464e-03 -3.42427604e-01] [ 1.92888117e-02 -7.60932246e-03 9.99784997e-01 -4.05232077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.792401008000006 meters Centerline goodness : 0.925914 Centerline is valid? [False, False] Translation: X:10.35, Y:-0.34, Z:-0.41 [[ 9.97802122e-01 6.34707353e-02 -1.90365690e-02 1.03496904e+01] [-6.33231757e-02 9.97958915e-01 8.25711174e-03 -3.40902903e-01] [ 1.95217987e-02 -7.03350761e-03 9.99784691e-01 -4.05623510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.822401008 meters Centerline goodness : 0.924603 Centerline is valid? [False, False] Translation: X:10.35, Y:-0.34, Z:-0.41 [[ 9.97988211e-01 6.02589619e-02 -1.97075800e-02 1.03506363e+01] [-6.01918588e-02 9.98178887e-01 3.98111298e-03 -3.37728457e-01] [ 1.99115880e-02 -2.78686795e-03 9.99797861e-01 -4.06396684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.852401008 meters Centerline goodness : 0.922656 Centerline is valid? [False, False] Translation: X:10.35, Y:-0.34, Z:-0.41 [[ 9.98046053e-01 5.91007868e-02 -2.02774012e-02 1.03535375e+01] [-5.90523078e-02 9.98250436e-01 2.98181462e-03 -3.37777604e-01] [ 2.04181522e-02 -1.77856097e-03 9.99789946e-01 -4.08729240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.882401008 meters Centerline goodness : 0.918193 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.34, Z:-0.41 [[ 9.98098739e-01 5.79307740e-02 -2.10459517e-02 1.03566416e+01] [-5.78959551e-02 9.98320063e-01 2.26048874e-03 -3.38670196e-01] [ 2.11415477e-02 -1.03771549e-03 9.99775954e-01 -4.10739346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.912401008 meters Centerline goodness : 0.918737 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.34, Z:-0.41 [[ 9.98157065e-01 5.66429759e-02 -2.17726326e-02 1.03597946e+01] [-5.66203943e-02 9.98394411e-01 1.65271789e-03 -3.40861292e-01] [ 2.18312895e-02 -4.16897000e-04 9.99761582e-01 -4.12798204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.942401008000004 meters Centerline goodness : 0.915941 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.34, Z:-0.41 [[ 9.98396401e-01 5.19702918e-02 -2.24436039e-02 1.03619439e+01] [-5.20510191e-02 9.98639838e-01 -3.02742746e-03 -3.41109294e-01] [ 2.22557407e-02 4.19078513e-03 9.99743527e-01 -4.14666913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.972401008000006 meters Centerline goodness : 0.912239 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.35, Z:-0.42 [[ 9.98600999e-01 4.75892254e-02 -2.30501917e-02 1.03641206e+01] [-4.77512215e-02 9.98837921e-01 -6.52899093e-03 -3.46195222e-01] [ 2.27126959e-02 7.62053167e-03 9.99712989e-01 -4.16366450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.002401008 meters Centerline goodness : 0.908675 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.35, Z:-0.42 [[ 9.98625712e-01 4.66948720e-02 -2.37965413e-02 1.03668616e+01] [-4.68672288e-02 9.98878408e-01 -6.73713005e-03 -3.49013795e-01] [ 2.34552619e-02 7.84314924e-03 9.99694121e-01 -4.17885379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.032401008 meters Centerline goodness : 0.908083 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.35, Z:-0.42 [[ 9.98641794e-01 4.60542371e-02 -2.43634030e-02 1.03690061e+01] [-4.62333857e-02 9.98907237e-01 -6.84142829e-03 -3.51066997e-01] [ 2.40217029e-02 7.95853883e-03 9.99679758e-01 -4.19054165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.062401008 meters Centerline goodness : 0.906025 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.35, Z:-0.42 [[ 9.98650769e-01 4.56171353e-02 -2.48136575e-02 1.03706040e+01] [-4.57958681e-02 9.98928465e-01 -6.68277027e-03 -3.52999525e-01] [ 2.44822199e-02 7.81011665e-03 9.99669757e-01 -4.19686972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.092401008 meters Centerline goodness : 0.902774 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.36, Z:-0.42 [[ 9.98654201e-01 4.52704304e-02 -2.53056142e-02 1.03719676e+01] [-4.54442904e-02 9.98946770e-01 -6.33777738e-03 -3.55439130e-01] [ 2.49920477e-02 7.47924369e-03 9.99659671e-01 -4.19886073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.122401008000004 meters Centerline goodness : 0.902923 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.36, Z:-0.42 [[ 9.98670302e-01 4.46132601e-02 -2.58318442e-02 1.03732792e+01] [-4.47555950e-02 9.98985663e-01 -4.95807940e-03 -3.61976868e-01] [ 2.55844459e-02 6.10760621e-03 9.99654007e-01 -4.18886820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.152401008000005 meters Centerline goodness : 0.899694 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.37, Z:-0.42 [[ 9.98692490e-01 4.38498642e-02 -2.62773476e-02 1.03750531e+01] [-4.39872426e-02 9.99021165e-01 -4.67271014e-03 -3.65141357e-01] [ 2.60467287e-02 5.82246859e-03 9.99643770e-01 -4.19473819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.182401008 meters Centerline goodness : 0.898453 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.37, Z:-0.42 [[ 9.98718852e-01 4.28620508e-02 -2.68979524e-02 1.03775105e+01] [-4.30030564e-02 9.99063953e-01 -4.68560400e-03 -3.68131928e-01] [ 2.66719401e-02 5.83629521e-03 9.99627203e-01 -4.20576522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.212401008 meters Centerline goodness : 0.898171 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.37, Z:-0.42 [[ 9.98917965e-01 3.73595523e-02 -2.76977044e-02 1.03806825e+01] [-3.76149302e-02 9.99253937e-01 -8.75703629e-03 -3.71709846e-01] [ 2.73498812e-02 9.78940808e-03 9.99577987e-01 -4.22485622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.242401008 meters Centerline goodness : 0.897130 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.37, Z:-0.42 [[ 9.98945889e-01 3.58672661e-02 -2.86470049e-02 1.03840150e+01] [-3.61359122e-02 9.99307113e-01 -8.91565134e-03 -3.74595159e-01] [ 2.83073757e-02 9.94143890e-03 9.99549829e-01 -4.23561054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.272401008 meters Centerline goodness : 0.896502 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.38, Z:-0.43 [[ 9.99059800e-01 3.31665102e-02 -2.79194883e-02 1.03829795e+01] [-3.33914527e-02 9.99413229e-01 -7.62940037e-03 -3.76836226e-01] [ 2.76500654e-02 8.55449948e-03 9.99581059e-01 -4.25007842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.302401008000004 meters Centerline goodness : 0.896502 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.38, Z:-0.43 [[ 9.99059800e-01 3.31665102e-02 -2.79194883e-02 1.03829795e+01] [-3.33914527e-02 9.99413229e-01 -7.62940037e-03 -3.76836226e-01] [ 2.76500654e-02 8.55449948e-03 9.99581059e-01 -4.25007842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.332401008000005 meters Centerline goodness : 0.893034 Centerline is valid? [False, False] Translation: X:10.39, Y:-0.38, Z:-0.43 [[ 0.9992108 0.02723597 -0.02891322 10.38664912] [-0.02760582 0.9995411 -0.01247056 -0.37827563] [ 0.02856031 0.01325889 0.99950413 -0.42694423] [ 0. 0. 0. 1. ]] SLAMing on 39.362401008000006 meters Centerline goodness : 0.892865 Centerline is valid? [False, False] Translation: X:10.39, Y:-0.38, Z:-0.43 [[ 0.99920895 0.02652107 -0.02963271 10.38805511] [-0.02688363 0.99956768 -0.01190437 -0.3808752 ] [ 0.02930418 0.01269159 0.99948996 -0.42592605] [ 0. 0. 0. 1. ]] SLAMing on 39.392401008 meters Centerline goodness : 0.893534 Centerline is valid? [False, False] Translation: X:10.39, Y:-0.38, Z:-0.42 [[ 0.99921033 0.02593186 -0.03010423 10.38872929] [-0.02628415 0.9995899 -0.01136592 -0.38321441] [ 0.02979715 0.01214821 0.99948214 -0.42463232] [ 0. 0. 0. 1. ]] SLAMing on 39.422401008 meters Centerline goodness : 0.897226 Centerline is valid? [False, False] Translation: X:10.39, Y:-0.38, Z:-0.42 [[ 0.99921173 0.02532591 -0.03056976 10.38946264] [-0.02567244 0.99960992 -0.01099682 -0.38487588] [ 0.03027933 0.01177296 0.99947214 -0.42355856] [ 0. 0. 0. 1. ]] SLAMing on 39.452401008 meters Centerline goodness : 0.897215 Centerline is valid? [False, False] Translation: X:10.39, Y:-0.38, Z:-0.42 [[ 0.99921784 0.02456689 -0.03098687 10.39061421] [-0.0249246 0.99962647 -0.01121108 -0.38456068] [ 0.03069987 0.01197465 0.99945692 -0.42343492] [ 0. 0. 0. 1. ]] SLAMing on 39.482401008000004 meters Centerline goodness : 0.895685 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.38, Z:-0.42 [[ 9.99167106e-01 2.40302498e-02 -3.29794220e-02 1.03986214e+01] [-2.43364698e-02 9.99664070e-01 -8.91533925e-03 -3.82181271e-01] [ 3.27541054e-02 9.71051642e-03 9.99416267e-01 -4.24512784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.512401008000005 meters Centerline goodness : 0.895393 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.38, Z:-0.43 [[ 9.99094632e-01 2.58894051e-02 -3.37587866e-02 1.04020920e+01] [-2.61127550e-02 9.99639827e-01 -6.19195469e-03 -3.83059865e-01] [ 3.35863215e-02 7.06788361e-03 9.99410828e-01 -4.25750682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.542401008000006 meters Centerline goodness : 0.894895 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.38, Z:-0.43 [[ 9.99092945e-01 2.54712296e-02 -3.41248221e-02 1.04029678e+01] [-2.57143421e-02 9.99646850e-01 -6.70430887e-03 -3.82077603e-01] [ 3.39420040e-02 7.57572505e-03 9.99395091e-01 -4.25878047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.572401008 meters Centerline goodness : 0.893079 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.38, Z:-0.43 [[ 9.98989891e-01 2.81169469e-02 -3.50518987e-02 1.04060086e+01] [-2.82830769e-02 9.99590908e-01 -4.25264963e-03 -3.79244873e-01] [ 3.49179877e-02 5.23972954e-03 9.99376445e-01 -4.26714828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.602401008 meters Centerline goodness : 0.892516 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.37, Z:-0.43 [[ 9.98982336e-01 2.81599814e-02 -3.52322084e-02 1.04066807e+01] [-2.83591621e-02 9.99584447e-01 -5.16636593e-03 -3.74855690e-01] [ 3.50720828e-02 6.16026421e-03 9.99365799e-01 -4.27421286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.632401008 meters Centerline goodness : 0.891135 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.37, Z:-0.43 [[ 9.98856576e-01 3.16053254e-02 -3.58698338e-02 1.04085596e+01] [-3.17049695e-02 9.99494823e-01 -2.21239419e-03 -3.71829380e-01] [ 3.57817897e-02 3.34711647e-03 9.99354022e-01 -4.27801661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.662401008 meters Centerline goodness : 0.891589 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.37, Z:-0.43 [[ 9.98721712e-01 3.54028246e-02 -3.60774435e-02 1.04092975e+01] [-3.54027218e-02 9.99372921e-01 6.41878764e-04 -3.67589798e-01] [ 3.60775444e-02 6.36181439e-04 9.99348791e-01 -4.27927300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.692401008000004 meters Centerline goodness : 0.896500 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.36, Z:-0.43 [[ 9.98441034e-01 4.66160168e-02 -3.06993235e-02 1.04205146e+01] [-4.66325279e-02 9.98912096e-01 1.78299365e-04 -3.58744832e-01] [ 3.06742372e-02 1.25356566e-03 9.99528649e-01 -4.29321424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.722401008000006 meters Centerline goodness : 0.899320 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.35, Z:-0.43 [[ 9.98322282e-01 5.20696747e-02 -2.53252769e-02 1.04320663e+01] [-5.22235817e-02 9.98620525e-01 -5.45381257e-03 -3.54738537e-01] [ 2.50063631e-02 6.76723928e-03 9.99664387e-01 -4.31975026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.752401008 meters Centerline goodness : 0.898821 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.35, Z:-0.43 [[ 9.98094500e-01 5.62060013e-02 -2.54608512e-02 1.04317760e+01] [-5.62676975e-02 9.98414249e-01 -1.71270044e-03 -3.53091189e-01] [ 2.53242126e-02 3.14206036e-03 9.99674353e-01 -4.30447821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.782401008 meters Centerline goodness : 0.902728 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.35, Z:-0.43 [[ 9.98058900e-01 5.67144209e-02 -2.57275479e-02 1.04314075e+01] [-5.67929914e-02 9.98383250e-01 -2.33300839e-03 -3.49182790e-01] [ 2.55536377e-02 3.78962419e-03 9.99666269e-01 -4.29650041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.812401008 meters Centerline goodness : 0.902269 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.35, Z:-0.43 [[ 9.98056564e-01 5.67166740e-02 -2.58130602e-02 1.04315475e+01] [-5.68205666e-02 9.98378924e-01 -3.30869383e-03 -3.45155609e-01] [ 2.55835571e-02 4.76897630e-03 9.99661312e-01 -4.29814747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.842401008 meters Centerline goodness : 0.909333 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.34, Z:-0.43 [[ 9.98087944e-01 5.60705297e-02 -2.60106234e-02 1.04326078e+01] [-5.62046581e-02 9.98409334e-01 -4.45400269e-03 -3.39481062e-01] [ 2.57195108e-02 5.90740458e-03 9.99651744e-01 -4.30473325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.872401008000004 meters Centerline goodness : 0.907763 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.34, Z:-0.43 [[ 9.98134714e-01 5.50583825e-02 -2.63754919e-02 1.04341846e+01] [-5.52188291e-02 9.98459710e-01 -5.39340023e-03 -3.37943668e-01] [ 2.60379141e-02 6.83976378e-03 9.99637557e-01 -4.31431370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.902401008000005 meters Centerline goodness : 0.908723 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.34, Z:-0.43 [[ 9.98177734e-01 5.39111538e-02 -2.71071707e-02 1.04364461e+01] [-5.41003531e-02 9.98515661e-01 -6.29488314e-03 -3.37085069e-01] [ 2.67275700e-02 7.74991969e-03 9.99612713e-01 -4.32301386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.932401008 meters Centerline goodness : 0.911477 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.34, Z:-0.43 [[ 9.98208190e-01 5.31886025e-02 -2.74113388e-02 1.04370558e+01] [-5.34007273e-02 9.98548170e-01 -7.06502230e-03 -3.35152305e-01] [ 2.69957635e-02 8.51614855e-03 9.99599272e-01 -4.32055868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.962401008 meters Centerline goodness : 0.911050 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.33, Z:-0.43 [[ 9.98211391e-01 5.29092215e-02 -2.78322326e-02 1.04381493e+01] [-5.31461780e-02 9.98555939e-01 -7.84352912e-03 -3.33023512e-01] [ 2.73770462e-02 9.30867691e-03 9.99581836e-01 -4.32485566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.992401008 meters Centerline goodness : 0.910691 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.33, Z:-0.43 [[ 9.98194994e-01 5.31918513e-02 -2.78815423e-02 1.04383112e+01] [-5.34440817e-02 9.98535679e-01 -8.38022272e-03 -3.30311742e-01] [ 2.73949552e-02 9.85519979e-03 9.99576106e-01 -4.32758603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.022401008 meters Centerline goodness : 0.913554 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.33, Z:-0.43 [[ 9.97999406e-01 5.65010889e-02 -2.83692323e-02 1.04406026e+01] [-5.66753666e-02 9.98378183e-01 -5.37651797e-03 -3.28904918e-01] [ 2.80194435e-02 6.97359838e-03 9.99583053e-01 -4.33826001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.052401008000004 meters Centerline goodness : 0.909814 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.32, Z:-0.44 [[ 9.97731233e-01 6.08845433e-02 -2.87307906e-02 1.04428108e+01] [-6.10023673e-02 9.98132357e-01 -3.24162219e-03 -3.22127570e-01] [ 2.84797670e-02 4.98691394e-03 9.99581929e-01 -4.36296780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.082401008000005 meters Centerline goodness : 0.908643 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.32, Z:-0.44 [[ 9.97499336e-01 6.44648925e-02 -2.89715852e-02 1.04444891e+01] [-6.44995871e-02 9.97917699e-01 -2.63640305e-04 -3.19683638e-01] [ 2.88942621e-02 2.13163631e-03 9.99580201e-01 -4.37224566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.112401008000006 meters Centerline goodness : 0.908073 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.32, Z:-0.44 [[ 9.97463210e-01 6.49285057e-02 -2.91793552e-02 1.04450986e+01] [-6.49855977e-02 9.97885689e-01 -1.01154368e-03 -3.15862722e-01] [ 2.90519830e-02 2.90521545e-03 9.99573680e-01 -4.37882305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.142401008 meters Centerline goodness : 0.909842 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.32, Z:-0.44 [[ 9.97197901e-01 6.88200789e-02 -2.93281985e-02 1.04461658e+01] [-6.87709371e-02 9.97628871e-01 2.68217922e-03 -3.15608215e-01] [ 2.94432454e-02 -6.57735788e-04 9.99566237e-01 -4.38135802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.172401008 meters Centerline goodness : 0.908519 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.31, Z:-0.44 [[ 9.96865586e-01 7.35813917e-02 -2.90651398e-02 1.04453651e+01] [-7.34110475e-02 9.97277993e-01 6.88645380e-03 -3.14868390e-01] [ 2.94927391e-02 -4.73116644e-03 9.99553798e-01 -4.37042463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.202401008 meters Centerline goodness : 0.908231 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.31, Z:-0.44 [[ 9.96842104e-01 7.38783735e-02 -2.91171113e-02 1.04452400e+01] [-7.37106217e-02 9.97256526e-01 6.79458954e-03 -3.13900444e-01] [ 2.95392025e-02 -4.62689255e-03 9.99552914e-01 -4.36801668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.232401008000004 meters Centerline goodness : 0.910827 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.31, Z:-0.44 [[ 9.96834327e-01 7.39171836e-02 -2.92843667e-02 1.04454084e+01] [-7.37527196e-02 9.97254331e-01 6.65846471e-03 -3.13475258e-01] [ 2.96961365e-02 -4.47758450e-03 9.99548944e-01 -4.36661166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.262401008000005 meters Centerline goodness : 0.911105 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.31, Z:-0.44 [[ 9.97026293e-01 7.12452702e-02 -2.93714439e-02 1.04439215e+01] [-7.11674987e-02 9.97457568e-01 3.68611211e-03 -3.14799217e-01] [ 2.95593870e-02 -1.58485850e-03 9.99561769e-01 -4.35704991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.292401008000006 meters Centerline goodness : 0.909933 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.31, Z:-0.44 [[ 9.97268869e-01 6.76769445e-02 -2.95742288e-02 1.04437754e+01] [-6.77107628e-02 9.97704983e-01 -1.42391698e-04 -3.14908245e-01] [ 2.94967188e-02 2.14449640e-03 9.99562577e-01 -4.36054025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.322401008 meters Centerline goodness : 0.910690 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.32, Z:-0.44 [[ 9.97290375e-01 6.71773088e-02 -2.99852942e-02 1.04454021e+01] [-6.72088182e-02 9.97738930e-01 -4.30648842e-05 -3.17779600e-01] [ 2.99146024e-02 2.05822438e-03 9.99550339e-01 -4.37075640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.352401008 meters Centerline goodness : 0.907590 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.32, Z:-0.44 [[ 9.97515919e-01 6.35773558e-02 -3.03300324e-02 1.04456663e+01] [-6.37172856e-02 9.97961246e-01 -3.66862668e-03 -3.19154264e-01] [ 3.00349554e-02 5.59206085e-03 9.99533206e-01 -4.37560005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.382401008 meters Centerline goodness : 0.905106 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.32, Z:-0.44 [[ 9.97713182e-01 6.02149414e-02 -3.07012469e-02 1.04457328e+01] [-6.04555362e-02 9.98146565e-01 -6.96872411e-03 -3.21172010e-01] [ 3.02247228e-02 8.80884825e-03 9.99504312e-01 -4.37686865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.412401008 meters Centerline goodness : 0.905217 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.33, Z:-0.44 [[ 9.97696472e-01 6.01694531e-02 -3.13270766e-02 1.04473599e+01] [-6.03860497e-02 9.98156982e-01 -6.01361682e-03 -3.28061186e-01] [ 3.09075042e-02 7.89148269e-03 9.99491096e-01 -4.38474317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.442401008000004 meters Centerline goodness : 0.905961 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.33, Z:-0.44 [[ 9.97690897e-01 6.02447334e-02 -3.13599600e-02 1.04479611e+01] [-6.04496139e-02 9.98155396e-01 -5.62576456e-03 -3.29798341e-01] [ 3.09631906e-02 7.50847156e-03 9.99492323e-01 -4.39154088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.472401008000006 meters Centerline goodness : 0.901688 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.33, Z:-0.44 [[ 9.97670324e-01 6.05424444e-02 -3.14410124e-02 1.04483700e+01] [-6.07281429e-02 9.98141898e-01 -4.98443449e-03 -3.31776367e-01] [ 3.10808219e-02 6.88217667e-03 9.99493181e-01 -4.39516968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.502401008 meters Centerline goodness : 0.901131 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.33, Z:-0.44 [[ 9.97652858e-01 6.07049728e-02 -3.16809300e-02 1.04489313e+01] [-6.08700275e-02 9.98136564e-01 -4.27083269e-03 -3.34716271e-01] [ 3.13626338e-02 6.18922752e-03 9.99488909e-01 -4.39617330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.532401008 meters Centerline goodness : 0.894689 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.34, Z:-0.44 [[ 9.97851060e-01 5.70143781e-02 -3.22896800e-02 1.04498633e+01] [-5.72548166e-02 9.98337976e-01 -6.57053847e-03 -3.42494632e-01] [ 3.18613986e-02 8.40515848e-03 9.99456955e-01 -4.40063396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.562401008 meters Centerline goodness : 0.893529 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.35, Z:-0.44 [[ 9.97897502e-01 5.57161270e-02 -3.31102500e-02 1.04527296e+01] [-5.59691734e-02 9.98409580e-01 -6.76477718e-03 -3.47253075e-01] [ 3.26806836e-02 8.60370757e-03 9.99428811e-01 -4.41546438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.592401008 meters Centerline goodness : 0.891522 Centerline is valid? [False, False] Translation: X:10.46, Y:-0.35, Z:-0.44 [[ 9.97963905e-01 5.40818808e-02 -3.38111631e-02 1.04557442e+01] [-5.43616459e-02 9.98493818e-01 -7.40988271e-03 -3.51476188e-01] [ 3.33594969e-02 9.23282596e-03 9.99400770e-01 -4.43515694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.622401008000004 meters Centerline goodness : 0.892048 Centerline is valid? [False, False] Translation: X:10.46, Y:-0.36, Z:-0.44 [[ 9.98030290e-01 5.24204426e-02 -3.44621064e-02 1.04584486e+01] [-5.27157827e-02 9.98579736e-01 -7.71735252e-03 -3.56000852e-01] [ 3.40086141e-02 9.51884849e-03 9.99376208e-01 -4.44922895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.652401008000005 meters Centerline goodness : 0.888655 Centerline is valid? [False, False] Translation: X:10.46, Y:-0.36, Z:-0.45 [[ 0.99841204 0.04388294 -0.03532246 10.46259087] [-0.0444168 0.99890824 -0.01447337 -0.36264811] [ 0.03464876 0.0160193 0.99927116 -0.44853202] [ 0. 0. 0. 1. ]] SLAMing on 40.682401008 meters Centerline goodness : 0.888259 Centerline is valid? [False, False] Translation: X:10.46, Y:-0.37, Z:-0.45 [[ 0.9985793 0.03966689 -0.03557963 10.46302725] [-0.04031813 0.99902874 -0.0177768 -0.36588458] [ 0.03483992 0.01918605 0.99920872 -0.4487423 ] [ 0. 0. 0. 1. ]] SLAMing on 40.712401008 meters Centerline goodness : 0.887011 Centerline is valid? [False, False] Translation: X:10.46, Y:-0.37, Z:-0.45 [[ 0.99860073 0.03876786 -0.03596704 10.46423542] [-0.03939974 0.99907841 -0.01702891 -0.37135207] [ 0.03527372 0.01842217 0.99920788 -0.44854775] [ 0. 0. 0. 1. ]] SLAMing on 40.742401008 meters Centerline goodness : 0.889350 Centerline is valid? [False, False] Translation: X:10.46, Y:-0.38, Z:-0.45 [[ 0.99874759 0.03443161 -0.03630046 10.46477169] [-0.03516361 0.99918693 -0.0197231 -0.37740665] [ 0.03559185 0.02097486 0.99914627 -0.4482648 ] [ 0. 0. 0. 1. ]] SLAMing on 40.772401008 meters Centerline goodness : 0.889561 Centerline is valid? [False, False] Translation: X:10.47, Y:-0.38, Z:-0.45 [[ 0.99873873 0.03446872 -0.03650834 10.46529438] [-0.03518081 0.99919948 -0.01904511 -0.37988423] [ 0.03582266 0.02030548 0.99915185 -0.44821335] [ 0. 0. 0. 1. ]] SLAMing on 40.802401008000004 meters Centerline goodness : 0.890662 Centerline is valid? [False, False] Translation: X:10.47, Y:-0.38, Z:-0.45 [[ 0.99860436 0.03770379 -0.03698326 10.46726453] [-0.03826841 0.99915967 -0.01467962 -0.38348262] [ 0.03639871 0.01607443 0.99920806 -0.44840003] [ 0. 0. 0. 1. ]] SLAMing on 40.832401008000005 meters Centerline goodness : 0.890268 Centerline is valid? [False, False] Translation: X:10.47, Y:-0.39, Z:-0.45 [[ 0.99845275 0.04100264 -0.0375619 10.4695429 ] [-0.04142316 0.99908666 -0.01048616 -0.3867106 ] [ 0.03709764 0.01202586 0.99923928 -0.44889711] [ 0. 0. 0. 1. ]] SLAMing on 40.862401008000006 meters Centerline goodness : 0.887221 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.39, Z:-0.45 [[ 0.99810217 0.04625424 -0.04065216 10.47581246] [-0.04672597 0.9988501 -0.0107311 -0.38986817] [ 0.04010905 0.01261025 0.99911573 -0.4485719 ] [ 0. 0. 0. 1. ]] SLAMing on 40.892401008 meters Centerline goodness : 0.887469 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.39, Z:-0.45 [[ 0.99789533 0.0493394 -0.04207782 10.47922678] [-0.04983701 0.99869833 -0.01085937 -0.39109295] [ 0.04148726 0.01293355 0.99905532 -0.4488123 ] [ 0. 0. 0. 1. ]] SLAMing on 40.922401008 meters Centerline goodness : 0.885539 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.39, Z:-0.45 [[ 0.99771358 0.05194524 -0.04323537 10.48242299] [-0.05244808 0.99856763 -0.01057745 -0.39183432] [ 0.04262399 0.01282088 0.99900892 -0.4495934 ] [ 0. 0. 0. 1. ]] SLAMing on 40.952401008 meters Centerline goodness : 0.882939 Centerline is valid? [False, False] Translation: X:10.49, Y:-0.39, Z:-0.45 [[ 9.97397669e-01 5.62403227e-02 -4.51100346e-02 1.04863179e+01] [-5.67453994e-02 9.98338657e-01 -9.99424822e-03 -3.94734731e-01] [ 4.44730116e-02 1.25280268e-02 9.98932030e-01 -4.49308755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.982401008000004 meters Centerline goodness : 0.882017 Centerline is valid? [False, False] Translation: X:10.49, Y:-0.40, Z:-0.45 [[ 0.99734003 0.06226431 -0.03789481 10.49217939] [-0.06282369 0.99792988 -0.01375295 -0.39991859] [ 0.03696004 0.01609706 0.99918709 -0.45490043] [ 0. 0. 0. 1. ]] SLAMing on 41.012401008000005 meters Centerline goodness : 0.882797 Centerline is valid? [False, False] Translation: X:10.50, Y:-0.40, Z:-0.45 [[ 0.9973222 0.0613993 -0.03973109 10.49512504] [-0.06215254 0.99790418 -0.01800835 -0.40145012] [ 0.03854212 0.02042952 0.99904812 -0.45408021] [ 0. 0. 0. 1. ]] SLAMing on 41.042401008000006 meters Centerline goodness : 0.886168 Centerline is valid? [False, False] Translation: X:10.50, Y:-0.40, Z:-0.45 [[ 0.99735922 0.06035196 -0.04040087 10.49558054] [-0.06123934 0.9979001 -0.02109825 -0.40191704] [ 0.03904271 0.02351665 0.99896078 -0.45292703] [ 0. 0. 0. 1. ]] SLAMing on 41.072401008 meters Centerline goodness : 0.887845 Centerline is valid? [False, False] Translation: X:10.50, Y:-0.40, Z:-0.45 [[ 0.99735425 0.0599828 -0.04106779 10.49732291] [-0.06094764 0.99788375 -0.02265851 -0.40347817] [ 0.03962176 0.02510155 0.99889941 -0.45362218] [ 0. 0. 0. 1. ]] SLAMing on 41.102401008 meters Centerline goodness : 0.886568 Centerline is valid? [False, False] Translation: X:10.50, Y:-0.40, Z:-0.45 [[ 0.99728653 0.0611261 -0.04102644 10.49713965] [-0.06203128 0.99784979 -0.0211642 -0.40486062] [ 0.03964454 0.02365169 0.99893389 -0.45352301] [ 0. 0. 0. 1. ]] SLAMing on 41.132401008 meters Centerline goodness : 0.885594 Centerline is valid? [False, False] Translation: X:10.50, Y:-0.41, Z:-0.45 [[ 0.99716052 0.06287076 -0.04145078 10.49783875] [-0.06373229 0.99777059 -0.01980012 -0.40693735] [ 0.04011352 0.02238565 0.99894434 -0.45327728] [ 0. 0. 0. 1. ]] SLAMing on 41.162401008 meters Centerline goodness : 0.884303 Centerline is valid? [False, False] Translation: X:10.50, Y:-0.41, Z:-0.45 [[ 0.9970113 0.06397339 -0.04331124 10.50226599] [-0.06492689 0.99766952 -0.02097707 -0.40929724] [ 0.04186832 0.02372644 0.99884138 -0.45437704] [ 0. 0. 0. 1. ]] SLAMing on 41.192401008000004 meters Centerline goodness : 0.879934 Centerline is valid? [False, False] Translation: X:10.51, Y:-0.41, Z:-0.45 [[ 0.99667222 0.06680583 -0.04670621 10.50828982] [-0.06796354 0.99740738 -0.02365312 -0.4147462 ] [ 0.04500496 0.02674873 0.99862859 -0.45374676] [ 0. 0. 0. 1. ]] SLAMing on 41.222401008000006 meters Centerline goodness : 0.879934 Centerline is valid? [False, False] Translation: X:10.51, Y:-0.41, Z:-0.45 [[ 0.99667222 0.06680583 -0.04670621 10.50828982] [-0.06796354 0.99740738 -0.02365312 -0.4147462 ] [ 0.04500496 0.02674873 0.99862859 -0.45374676] [ 0. 0. 0. 1. ]] SLAMing on 41.252401008 meters Centerline goodness : 0.878800 Centerline is valid? [False, False] Translation: X:10.51, Y:-0.42, Z:-0.45 [[ 0.99651122 0.06789826 -0.04853056 10.51219355] [-0.06917617 0.99728728 -0.02515439 -0.4180141 ] [ 0.04669097 0.02842379 0.9985049 -0.45427758] [ 0. 0. 0. 1. ]] SLAMing on 41.282401008 meters Centerline goodness : 0.880036 Centerline is valid? [False, False] Translation: X:10.52, Y:-0.42, Z:-0.46 [[ 0.99644512 0.07300537 -0.04203972 10.51955522] [-0.07419701 0.99686387 -0.02751765 -0.42372203] [ 0.03989894 0.03053905 0.99873692 -0.46159973] [ 0. 0. 0. 1. ]] SLAMing on 41.312401008 meters Centerline goodness : 0.879787 Centerline is valid? [False, False] Translation: X:10.52, Y:-0.43, Z:-0.46 [[ 0.99632257 0.07392057 -0.04332544 10.52329986] [-0.07512193 0.99681449 -0.02678738 -0.42897028] [ 0.04120729 0.02994357 0.99870183 -0.46406966] [ 0. 0. 0. 1. ]] SLAMing on 41.342401008 meters Centerline goodness : 0.877688 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.43, Z:-0.47 [[ 0.99626716 0.0741374 -0.04421991 10.52566357] [-0.07537269 0.99679111 -0.02695241 -0.43190018] [ 0.04207983 0.03018478 0.99865818 -0.46523922] [ 0. 0. 0. 1. ]] SLAMing on 41.372401008000004 meters Centerline goodness : 0.874829 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.44, Z:-0.47 [[ 0.99616312 0.074332 -0.046193 10.52947498] [-0.07571256 0.99671107 -0.02889037 -0.43505853] [ 0.0438936 0.03227691 0.99851467 -0.4655729 ] [ 0. 0. 0. 1. ]] SLAMing on 41.402401008000005 meters Centerline goodness : 0.875038 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.44, Z:-0.46 [[ 0.99605905 0.07574779 -0.04613729 10.52816944] [-0.07699565 0.99669508 -0.02589581 -0.44435539] [ 0.04402326 0.02934612 0.9985994 -0.46383972] [ 0. 0. 0. 1. ]] SLAMing on 41.432401008 meters Centerline goodness : 0.876073 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.45, Z:-0.46 [[ 0.99600105 0.07653505 -0.04609001 10.52737927] [-0.07770391 0.99668458 -0.02412381 -0.44945269] [ 0.04409088 0.02760871 0.99864596 -0.4626616 ] [ 0. 0. 0. 1. ]] SLAMing on 41.462401008 meters Centerline goodness : 0.875574 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.45, Z:-0.46 [[ 0.99595661 0.07722226 -0.04590367 10.52649287] [-0.07832165 0.99667077 -0.02265172 -0.45360773] [ 0.04400163 0.02615538 0.99868902 -0.46184691] [ 0. 0. 0. 1. ]] SLAMing on 41.492401008 meters Centerline goodness : 0.873234 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.46, Z:-0.46 [[ 0.99591172 0.07799061 -0.04557759 10.52549248] [-0.07897679 0.99667076 -0.02025016 -0.46065782] [ 0.04384653 0.02376695 0.99875553 -0.46071052] [ 0. 0. 0. 1. ]] SLAMing on 41.522401008 meters Centerline goodness : 0.871337 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.47, Z:-0.46 [[ 0.99587664 0.07832152 -0.04577615 10.52560057] [-0.07923909 0.99668241 -0.01858339 -0.46583885] [ 0.0441688 0.02213403 0.99877886 -0.45960361] [ 0. 0. 0. 1. ]] SLAMing on 41.552401008000004 meters Centerline goodness : 0.870668 Centerline is valid? [False, False] Translation: X:10.52, Y:-0.47, Z:-0.46 [[ 0.9958218 0.07898545 -0.04582832 10.52485888] [-0.07982012 0.99666979 -0.01667538 -0.47173882] [ 0.04435859 0.02026373 0.99881014 -0.45810862] [ 0. 0. 0. 1. ]] SLAMing on 41.582401008000005 meters Centerline goodness : 0.871623 Centerline is valid? [False, False] Translation: X:10.52, Y:-0.48, Z:-0.46 [[ 0.9957801 0.07943259 -0.04596145 10.52464561] [-0.08019446 0.99666676 -0.01497383 -0.47730747] [ 0.04461884 0.0185965 0.99883098 -0.45694306] [ 0. 0. 0. 1. ]] SLAMing on 41.612401008000006 meters Centerline goodness : 0.872903 Centerline is valid? [False, False] Translation: X:10.52, Y:-0.49, Z:-0.46 [[ 0.99576941 0.07944846 -0.04616525 10.52497301] [-0.08010195 0.99670855 -0.01247946 -0.48704586] [ 0.04502183 0.01612459 0.99885586 -0.45541727] [ 0. 0. 0. 1. ]] SLAMing on 41.642401008 meters Centerline goodness : 0.870687 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.49, Z:-0.46 [[ 0.99576032 0.07927668 -0.04665388 10.52669799] [-0.07989184 0.99673756 -0.01146907 -0.49139085] [ 0.04559245 0.01514771 0.99884527 -0.4556445 ] [ 0. 0. 0. 1. ]] SLAMing on 41.672401008 meters Centerline goodness : 0.868097 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.50, Z:-0.46 [[ 0.99575639 0.07904882 -0.04712219 10.52844253] [-0.07963082 0.99676805 -0.01060124 -0.49564295] [ 0.04613188 0.01430863 0.99883288 -0.45609828] [ 0. 0. 0. 1. ]] SLAMing on 41.702401008 meters Centerline goodness : 0.871894 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.50, Z:-0.46 [[ 9.95746249e-01 7.90599185e-02 -4.73174119e-02 1.05292351e+01] [-7.95950916e-02 9.96781702e-01 -9.53208974e-03 -4.99910438e-01] [ 4.64115241e-02 1.32577763e-02 9.98834422e-01 -4.56097615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.732401008000004 meters Centerline goodness : 0.871277 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.51, Z:-0.45 [[ 9.95777767e-01 7.85124868e-02 -4.75649971e-02 1.05306124e+01] [-7.89206126e-02 9.96857976e-01 -6.76112035e-03 -5.09634276e-01] [ 4.68847144e-02 1.04864320e-02 9.98845262e-01 -4.54238444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.762401008000005 meters Centerline goodness : 0.873810 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.52, Z:-0.45 [[ 9.95751256e-01 7.87070512e-02 -4.77978778e-02 1.05305721e+01] [-7.90124945e-02 9.96863324e-01 -4.53195821e-03 -5.16126293e-01] [ 4.72912543e-02 8.28933264e-03 9.98846747e-01 -4.51858542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.792401008000006 meters Centerline goodness : 0.903816 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.52, Z:-0.45 [[ 9.96005472e-01 7.55926793e-02 -4.75273197e-02 1.05284041e+01] [-7.60217420e-02 9.97079560e-01 -7.28329831e-03 -5.19396067e-01] [ 4.68379550e-02 1.08673146e-02 9.98843385e-01 -4.50862811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.822401008 meters Centerline goodness : 0.901047 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.52, Z:-0.45 [[ 9.95980672e-01 7.57242673e-02 -4.78365682e-02 1.05288546e+01] [-7.60708353e-02 9.97087446e-01 -5.46371544e-03 -5.24724263e-01] [ 4.72835058e-02 9.08072267e-03 9.98840233e-01 -4.49155784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.852401008 meters Centerline goodness : 0.901123 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.53, Z:-0.45 [[ 9.95958404e-01 7.61215506e-02 -4.76693569e-02 1.05291209e+01] [-7.63855319e-02 9.97071350e-01 -3.73815060e-03 -5.31251930e-01] [ 4.72451962e-02 7.36429169e-03 9.98856175e-01 -4.49272689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.882401008 meters Centerline goodness : 0.899665 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.54, Z:-0.45 [[ 9.95676233e-01 7.95611743e-02 -4.79464139e-02 1.05313111e+01] [-7.95895817e-02 9.96826844e-01 1.31937777e-03 -5.36202189e-01] [ 4.78992437e-02 2.50236194e-03 9.98849038e-01 -4.48834953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.912401008 meters Centerline goodness : 0.897371 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.54, Z:-0.45 [[ 9.95649554e-01 8.00126534e-02 -4.77487278e-02 1.05311408e+01] [-8.00242123e-02 9.96791517e-01 1.67256369e-03 -5.38079773e-01] [ 4.77293530e-02 2.15576703e-03 9.98857979e-01 -4.49462253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.942401008000004 meters Centerline goodness : 0.894364 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.54, Z:-0.45 [[ 9.95526341e-01 8.17479380e-02 -4.73769865e-02 1.05295013e+01] [-8.17188785e-02 9.96652149e-01 2.55318179e-03 -5.41127501e-01] [ 4.74270927e-02 1.32983447e-03 9.98873817e-01 -4.49931068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.972401008000006 meters Centerline goodness : 0.893828 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.54, Z:-0.45 [[ 9.95167818e-01 8.59419001e-02 -4.74868709e-02 1.05304737e+01] [-8.56738405e-02 9.96293825e-01 7.65549421e-03 -5.44917253e-01] [ 4.79688040e-02 -3.55011887e-03 9.98842525e-01 -4.48984325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.002401008 meters Centerline goodness : 0.888596 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.55, Z:-0.45 [[ 9.95123293e-01 8.65053322e-02 -4.73968345e-02 1.05299478e+01] [-8.62269262e-02 9.96244270e-01 7.89121914e-03 -5.45789725e-01] [ 4.79014573e-02 -3.76585262e-03 9.98844967e-01 -4.49058304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.032401008 meters Centerline goodness : 0.888607 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.55, Z:-0.45 [[ 9.95361629e-01 8.40393173e-02 -4.68254214e-02 1.05268137e+01] [-8.39336280e-02 9.96462402e-01 4.22222028e-03 -5.45730283e-01] [ 4.70146044e-02 -2.72408551e-04 9.98894165e-01 -4.49203334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.062401008 meters Centerline goodness : 0.883492 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.55, Z:-0.45 [[ 9.95326538e-01 8.43702395e-02 -4.69760028e-02 1.05264337e+01] [-8.42095482e-02 9.96433475e-01 5.39281317e-03 -5.49763508e-01] [ 4.72634546e-02 -1.41178209e-03 9.98881461e-01 -4.47808840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.092401008 meters Centerline goodness : 0.886116 Centerline is valid? [False, False] Translation: X:10.52, Y:-0.56, Z:-0.45 [[ 9.95613019e-01 8.11632650e-02 -4.65536374e-02 1.05242747e+01] [-8.10923282e-02 9.96700749e-01 3.41346751e-03 -5.55989889e-01] [ 4.66770934e-02 3.76650150e-04 9.98909959e-01 -4.46539768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.122401008000004 meters Centerline goodness : 0.882311 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.56, Z:-0.45 [[ 9.95662900e-01 8.01077381e-02 -4.73089815e-02 1.05272460e+01] [-8.00032827e-02 9.96786166e-01 4.10037642e-03 -5.59666308e-01] [ 4.74854101e-02 -2.97718860e-04 9.98871887e-01 -4.46645301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.152401008000005 meters Centerline goodness : 0.884861 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.57, Z:-0.45 [[ 9.96079897e-01 7.39332578e-02 -4.85665647e-02 1.05368134e+01] [-7.38970665e-02 9.97262632e-01 2.54275641e-03 -5.65478479e-01] [ 4.86216144e-02 1.05613812e-03 9.98816712e-01 -4.49279413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18240100800001 meters Centerline goodness : 0.879711 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.57, Z:-0.45 [[ 9.96146894e-01 7.25170917e-02 -4.93217747e-02 1.05404101e+01] [-7.24823057e-02 9.97366576e-01 2.49584848e-03 -5.68960935e-01] [ 4.93728812e-02 1.08872424e-03 9.98779822e-01 -4.50716460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.212401008 meters Centerline goodness : 0.881190 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.57, Z:-0.45 [[ 9.96156116e-01 7.17800576e-02 -5.02057425e-02 1.05431011e+01] [-7.17064916e-02 9.97420425e-01 3.26726296e-03 -5.72894442e-01] [ 5.03107574e-02 3.45373683e-04 9.98733552e-01 -4.50423029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.242401008 meters Centerline goodness : 0.881680 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.58, Z:-0.45 [[ 9.96145484e-01 7.14581230e-02 -5.08715187e-02 1.05445448e+01] [-7.13190034e-02 9.97443193e-01 4.54704946e-03 -5.77293084e-01] [ 5.10663737e-02 -9.01416772e-04 9.98694855e-01 -4.48907892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.272401008 meters Centerline goodness : 0.882463 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.58, Z:-0.45 [[ 9.96107023e-01 7.17013964e-02 -5.12806753e-02 1.05444518e+01] [-7.14696105e-02 9.97422617e-01 6.34183179e-03 -5.82107338e-01] [ 5.16032235e-02 -2.65213330e-03 9.98664145e-01 -4.46144392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.302401008000004 meters Centerline goodness : 0.885671 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.59, Z:-0.44 [[ 9.96028855e-01 7.25030116e-02 -5.16704232e-02 1.05437437e+01] [-7.21241540e-02 9.97353581e-01 9.16190988e-03 -5.90250416e-01] [ 5.21979477e-02 -5.39884105e-03 9.98622164e-01 -4.42419849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.332401008000005 meters Centerline goodness : 0.885734 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.59, Z:-0.44 [[ 9.96015959e-01 7.27210240e-02 -5.16126062e-02 1.05438386e+01] [-7.23347813e-02 9.97336910e-01 9.31486983e-03 -5.91477443e-01] [ 5.21525441e-02 -5.54437242e-03 9.98623739e-01 -4.42966312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.362401008000006 meters Centerline goodness : 0.887585 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.59, Z:-0.44 [[ 9.96022132e-01 7.28123117e-02 -5.13641977e-02 1.05443229e+01] [-7.24538129e-02 9.97332859e-01 8.80982999e-03 -5.91152342e-01] [ 5.18686663e-02 -5.05325367e-03 9.98641130e-01 -4.44980557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.392401008 meters Centerline goodness : 0.881287 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.59, Z:-0.45 [[ 9.96018798e-01 7.31911305e-02 -5.08882285e-02 1.05442943e+01] [-7.28789671e-02 9.97308983e-01 7.96550862e-03 -5.88818039e-01] [ 5.13342920e-02 -4.22511479e-03 9.98672588e-01 -4.47440228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.422401008 meters Centerline goodness : 0.878726 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.58, Z:-0.45 [[ 9.95547808e-01 7.97622466e-02 -5.02249618e-02 1.05412207e+01] [-7.92587130e-02 9.96782549e-01 1.19418195e-02 -5.84958496e-01] [ 5.10158718e-02 -7.90788636e-03 9.98666534e-01 -4.47142199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.452401008 meters Centerline goodness : 0.879694 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.58, Z:-0.45 [[ 9.95521239e-01 8.02263819e-02 -5.00119117e-02 1.05405762e+01] [-7.97574044e-02 9.96750177e-01 1.13067136e-02 -5.82929645e-01] [ 5.07564786e-02 -7.26725326e-03 9.98684618e-01 -4.47980822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.482401008000004 meters Centerline goodness : 0.876909 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.58, Z:-0.45 [[ 9.95441537e-01 8.13728371e-02 -4.97454338e-02 1.05387117e+01] [-8.09164547e-02 9.96658813e-01 1.11237384e-02 -5.81157361e-01] [ 5.04843952e-02 -7.04780707e-03 9.98699982e-01 -4.47809837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.512401008000005 meters Centerline goodness : 0.876489 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.58, Z:-0.45 [[ 9.95417071e-01 8.16228371e-02 -4.98253760e-02 1.05381754e+01] [-8.11504376e-02 9.96636267e-01 1.14349129e-02 -5.81780839e-01] [ 5.05911268e-02 -7.33915644e-03 9.98692483e-01 -4.46871535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.542401008000006 meters Centerline goodness : 0.876124 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.58, Z:-0.45 [[ 9.95704539e-01 7.83888633e-02 -4.92712632e-02 1.05356993e+01] [-7.81247124e-02 9.96917106e-01 7.26727945e-03 -5.81060119e-01] [ 4.96890389e-02 -3.38675987e-03 9.98758995e-01 -4.47417812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.572401008 meters Centerline goodness : 0.875872 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.58, Z:-0.45 [[ 9.95723137e-01 7.78235024e-02 -4.97889161e-02 1.05373599e+01] [-7.75393371e-02 9.96960199e-01 7.61660407e-03 -5.83086023e-01] [ 5.02303185e-02 -3.72342935e-03 9.98730720e-01 -4.47191029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.602401008 meters Centerline goodness : 0.874375 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.58, Z:-0.45 [[ 9.95800488e-01 7.64512648e-02 -5.03645891e-02 1.05407756e+01] [-7.61915456e-02 9.97068208e-01 7.05947002e-03 -5.84541318e-01] [ 5.07566361e-02 -3.19246780e-03 9.98705949e-01 -4.49259615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.632401008 meters Centerline goodness : 0.873558 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.58, Z:-0.45 [[ 9.95829305e-01 7.58404423e-02 -5.07170909e-02 1.05425655e+01] [-7.56165444e-02 9.97116931e-01 6.32169945e-03 -5.83490156e-01] [ 5.10503105e-02 -2.46028242e-03 9.98693052e-01 -4.50589315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.662401008 meters Centerline goodness : 0.875219 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.58, Z:-0.45 [[ 9.95835541e-01 7.56210960e-02 -5.09217573e-02 1.05434564e+01] [-7.54091472e-02 9.97134180e-01 6.07344802e-03 -5.83527351e-01] [ 5.12351055e-02 -2.20818910e-03 9.98684178e-01 -4.51253019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.692401008000004 meters Centerline goodness : 0.870529 Centerline is valid? [False, False] Translation: X:10.55, Y:-0.58, Z:-0.45 [[ 9.95846493e-01 7.51182638e-02 -5.14490867e-02 1.05450689e+01] [-7.48995637e-02 9.97172004e-01 6.16846387e-03 -5.84312274e-01] [ 5.17669532e-02 -2.28932897e-03 9.98656568e-01 -4.51156479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.722401008000006 meters Centerline goodness : 0.877549 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.59, Z:-0.45 [[ 9.95801129e-01 7.54559280e-02 -5.18316027e-02 1.05445800e+01] [-7.51588522e-02 9.97142154e-01 7.65974198e-03 -5.87694297e-01] [ 5.22614489e-02 -3.73197594e-03 9.98626463e-01 -4.48310365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.752401008 meters Centerline goodness : 0.876524 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.59, Z:-0.45 [[ 9.96096137e-01 7.15418442e-02 -5.17131573e-02 1.05436048e+01] [-7.14552855e-02 9.97437582e-01 3.52309248e-03 -5.87475687e-01] [ 5.18326951e-02 1.85839611e-04 9.98655765e-01 -4.48676376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.782401008 meters Centerline goodness : 0.877082 Centerline is valid? [False, False] Translation: X:10.55, Y:-0.59, Z:-0.45 [[ 9.96112344e-01 7.07364710e-02 -5.25028480e-02 1.05454631e+01] [-7.05582783e-02 9.97493885e-01 5.24210254e-03 -5.91430422e-01] [ 5.27420776e-02 -1.51721249e-03 9.98607015e-01 -4.45768165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.812401008 meters Centerline goodness : 0.877167 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.59, Z:-0.45 [[ 9.96399006e-01 6.66722235e-02 -5.23816361e-02 1.05444302e+01] [-6.66915113e-02 9.97772686e-01 1.38155145e-03 -5.91492163e-01] [ 5.23570768e-02 2.11683399e-03 9.98626184e-01 -4.45458940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.842401008 meters Centerline goodness : 0.875316 Centerline is valid? [False, False] Translation: X:10.55, Y:-0.59, Z:-0.44 [[ 9.96432054e-01 6.58607782e-02 -5.27780131e-02 1.05460750e+01] [-6.58567395e-02 9.97827433e-01 1.81751779e-03 -5.92963614e-01] [ 5.27830525e-02 1.66475487e-03 9.98604615e-01 -4.44917789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.872401008000004 meters Centerline goodness : 0.872957 Centerline is valid? [False, False] Translation: X:10.55, Y:-0.59, Z:-0.45 [[ 9.96533041e-01 6.37821196e-02 -5.34203991e-02 1.05507971e+01] [-6.38129240e-02 9.97961238e-01 1.13057453e-03 -5.93008717e-01] [ 5.33835981e-02 2.28225700e-03 9.98571471e-01 -4.47112141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.902401008000005 meters Centerline goodness : 0.872985 Centerline is valid? [False, False] Translation: X:10.55, Y:-0.59, Z:-0.45 [[ 9.96555168e-01 6.32852352e-02 -5.35982785e-02 1.05521791e+01] [-6.33270774e-02 9.97992403e-01 9.19014996e-04 -5.92937361e-01] [ 5.35488348e-02 2.47837318e-03 9.98562156e-01 -4.47962501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.93240100800001 meters Centerline goodness : 0.872521 Centerline is valid? [False, False] Translation: X:10.55, Y:-0.59, Z:-0.45 [[ 9.96557879e-01 6.29414741e-02 -5.39514982e-02 1.05535525e+01] [-6.29931314e-02 9.98013683e-01 7.44204924e-04 -5.92860571e-01] [ 5.38911748e-02 2.65693053e-03 9.98543280e-01 -4.48454156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.962401008 meters Centerline goodness : 0.870324 Centerline is valid? [False, False] Translation: X:10.55, Y:-0.59, Z:-0.45 [[ 9.96544203e-01 6.31710768e-02 -5.39357722e-02 1.05533856e+01] [-6.32172637e-02 9.97999426e-01 8.51024631e-04 -5.93185414e-01] [ 5.38816298e-02 2.56158827e-03 9.98544044e-01 -4.48428420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.992401008 meters Centerline goodness : 0.873271 Centerline is valid? [False, False] Translation: X:10.55, Y:-0.60, Z:-0.45 [[ 9.96476013e-01 6.43567503e-02 -5.37937272e-02 1.05514117e+01] [-6.43586940e-02 9.97925386e-01 1.69796962e-03 -5.95402291e-01] [ 5.37914018e-02 1.77010804e-03 9.98550626e-01 -4.47078664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.022401008 meters Centerline goodness : 0.878563 Centerline is valid? [False, False] Translation: X:10.55, Y:-0.60, Z:-0.45 [[ 9.96452278e-01 6.45858551e-02 -5.39585469e-02 1.05514878e+01] [-6.45896220e-02 9.97910503e-01 1.67586389e-03 -5.95171452e-01] [ 5.39540377e-02 1.81524375e-03 9.98541770e-01 -4.47027979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.052401008000004 meters Centerline goodness : 0.875728 Centerline is valid? [False, False] Translation: X:10.55, Y:-0.59, Z:-0.45 [[ 9.96444572e-01 6.47634926e-02 -5.38878851e-02 1.05515437e+01] [-6.47812274e-02 9.97898481e-01 1.41940039e-03 -5.94541615e-01] [ 5.38665640e-02 2.07656953e-03 9.98545983e-01 -4.47742907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.082401008000005 meters Centerline goodness : 0.879427 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.60, Z:-0.45 [[ 9.96475210e-01 6.36017146e-02 -5.46989775e-02 1.05550098e+01] [-6.36386927e-02 9.97972433e-01 1.06726511e-03 -5.95100599e-01] [ 5.46559516e-02 2.41746820e-03 9.98502320e-01 -4.48982507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.112401008000006 meters Centerline goodness : 0.879427 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.60, Z:-0.45 [[ 9.96475210e-01 6.36017146e-02 -5.46989775e-02 1.05550098e+01] [-6.36386927e-02 9.97972433e-01 1.06726511e-03 -5.95100599e-01] [ 5.46559516e-02 2.41746820e-03 9.98502320e-01 -4.48982507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.142401008 meters Centerline goodness : 0.877472 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.60, Z:-0.45 [[ 9.96494933e-01 6.30593018e-02 -5.49670219e-02 1.05565869e+01] [-6.31095936e-02 9.98006264e-01 8.22091537e-04 -5.95221870e-01] [ 5.49092727e-02 2.64973637e-03 9.98487832e-01 -4.49874953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.172401008 meters Centerline goodness : 0.876402 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.60, Z:-0.45 [[ 9.96508157e-01 6.26462164e-02 -5.51991316e-02 1.05577673e+01] [-6.26874431e-02 9.98032721e-01 9.85983992e-04 -5.95660297e-01] [ 5.51523077e-02 2.47775133e-03 9.98474879e-01 -4.49990403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.202401008 meters Centerline goodness : 0.876810 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.60, Z:-0.45 [[ 9.96535096e-01 6.18260696e-02 -5.56357670e-02 1.05594790e+01] [-6.18089811e-02 9.98085934e-01 2.02947567e-03 -5.98262416e-01] [ 5.56547510e-02 1.41634633e-03 9.98449069e-01 -4.48521300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.232401008000004 meters Centerline goodness : 0.881379 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.60, Z:-0.45 [[ 9.96511058e-01 6.20340853e-02 -5.58344346e-02 1.05589800e+01] [-6.19485357e-02 9.98074010e-01 3.26335153e-03 -5.99866261e-01] [ 5.59293370e-02 2.06895586e-04 9.98434708e-01 -4.45974000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.262401008000005 meters Centerline goodness : 0.881102 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.60, Z:-0.44 [[ 9.96495427e-01 6.20800997e-02 -5.60617978e-02 1.05586483e+01] [-6.19539953e-02 9.98071046e-01 3.98626144e-03 -6.00934400e-01] [ 5.62011247e-02 -4.99038939e-04 9.98419343e-01 -4.44075168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.292401008000006 meters Centerline goodness : 0.882903 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.60, Z:-0.44 [[ 9.96480458e-01 6.21303724e-02 -5.62717841e-02 1.05585893e+01] [-6.19676862e-02 9.98067403e-01 4.63306906e-03 -6.01741613e-01] [ 5.64508878e-02 -1.12973052e-03 9.98404738e-01 -4.42596540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.322401008 meters Centerline goodness : 0.885974 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.60, Z:-0.44 [[ 9.96474648e-01 6.20848372e-02 -5.64247231e-02 1.05588260e+01] [-6.19046383e-02 9.98069855e-01 4.93758316e-03 -6.02043435e-01] [ 5.66223643e-02 -1.42722436e-03 9.98394647e-01 -4.41898530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.352401008 meters Centerline goodness : 0.885701 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.60, Z:-0.44 [[ 9.96490449e-01 6.21734304e-02 -5.60468569e-02 1.05585942e+01] [-6.20130559e-02 9.98064748e-01 4.59778267e-03 -6.00966698e-01] [ 5.62242520e-02 -1.10600964e-03 9.98417553e-01 -4.42964687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.382401008 meters Centerline goodness : 0.884692 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.60, Z:-0.44 [[ 9.96505859e-01 6.17084412e-02 -5.62862440e-02 1.05599740e+01] [-6.15730987e-02 9.98094002e-01 4.13727095e-03 -6.00030690e-01] [ 5.64342671e-02 -6.57096279e-04 9.98406101e-01 -4.43870433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.412401008 meters Centerline goodness : 0.887063 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.60, Z:-0.44 [[ 9.96511786e-01 6.16400020e-02 -5.62562904e-02 1.05603313e+01] [-6.15101472e-02 9.98098288e-01 4.03854938e-03 -5.99933071e-01] [ 5.63982433e-02 -5.64129348e-04 9.98408193e-01 -4.44407106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.442401008000004 meters Centerline goodness : 0.887784 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.60, Z:-0.44 [[ 9.96513065e-01 6.11629110e-02 -5.67521735e-02 1.05617009e+01] [-6.10293051e-02 9.98127611e-01 4.08601755e-03 -6.00478508e-01] [ 5.68958241e-02 -6.08224158e-04 9.98379935e-01 -4.44081232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.472401008000006 meters Centerline goodness : 0.886930 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.60, Z:-0.44 [[ 9.96514847e-01 6.05489882e-02 -5.73757831e-02 1.05634833e+01] [-6.03972049e-02 9.98164824e-01 4.37743350e-03 -6.01674601e-01] [ 5.75355376e-02 -8.96840543e-04 9.98343056e-01 -4.43484329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.502401008 meters Centerline goodness : 0.887607 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.60, Z:-0.45 [[ 9.96769122e-01 5.62830872e-02 -5.73021028e-02 1.05633835e+01] [-5.64110364e-02 9.98407439e-01 -6.16491666e-04 -5.99544386e-01] [ 5.71761476e-02 3.84697086e-03 9.98356694e-01 -4.45216013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.532401008 meters Centerline goodness : 0.886513 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.60, Z:-0.44 [[ 9.96774671e-01 5.59431250e-02 -5.75380082e-02 1.05641422e+01] [-5.60695908e-02 9.98426692e-01 -5.84633476e-04 -5.99191532e-01] [ 5.74147769e-02 3.80888041e-03 9.98343145e-01 -4.44887095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.562401008 meters Centerline goodness : 0.885060 Centerline is valid? [False, False] Translation: X:10.58, Y:-0.60, Z:-0.44 [[ 9.96933804e-01 5.15294838e-02 -5.88872101e-02 1.05795289e+01] [-5.13514733e-02 9.98670354e-01 4.53321229e-03 -6.00466679e-01] [ 5.90425051e-02 -1.49536757e-03 9.98254350e-01 -4.40868273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.592401008 meters Centerline goodness : 0.882660 Centerline is valid? [False, False] Translation: X:10.58, Y:-0.60, Z:-0.44 [[ 9.96951056e-01 4.98208278e-02 -6.00539468e-02 1.05839132e+01] [-4.96641395e-02 9.98757560e-01 4.09984797e-03 -6.00677048e-01] [ 6.01835913e-02 -1.10482017e-03 9.98186713e-01 -4.41524146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.622401008000004 meters Centerline goodness : 0.886708 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.61, Z:-0.43 [[ 0.99720222 0.04662882 -0.05842497 10.60382198] [-0.04560974 0.9987851 0.01865701 -0.60531914] [ 0.05922394 -0.01594006 0.99811745 -0.42896757] [ 0. 0. 0. 1. ]] SLAMing on 43.652401008000005 meters Centerline goodness : 0.883688 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.61, Z:-0.43 [[ 0.99721116 0.04520282 -0.05938526 10.60722268] [-0.04417024 0.99885109 0.01858755 -0.60590357] [ 0.06015724 -0.01591265 0.99806207 -0.42872316] [ 0. 0. 0. 1. ]] SLAMing on 43.68240100800001 meters Centerline goodness : 0.889130 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.61, Z:-0.43 [[ 0.99724902 0.04263929 -0.06063228 10.61211896] [-0.04154761 0.99895292 0.01915352 -0.6072982 ] [ 0.06138549 -0.01658171 0.99797639 -0.42673374] [ 0. 0. 0. 1. ]] SLAMing on 43.712401008 meters Centerline goodness : 0.886014 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.61, Z:-0.43 [[ 0.99725617 0.04217448 -0.06083946 10.61304538] [-0.04110255 0.99897871 0.01876473 -0.6065837 ] [ 0.06156871 -0.01621258 0.99797116 -0.42709477] [ 0. 0. 0. 1. ]] SLAMing on 43.742401008 meters Centerline goodness : 0.886737 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.60, Z:-0.43 [[ 0.99726755 0.04182824 -0.06089204 10.61368202] [-0.04080243 0.99900519 0.01799407 -0.60463213] [ 0.06158413 -0.01546036 0.99798215 -0.42804388] [ 0. 0. 0. 1. ]] SLAMing on 43.772401008 meters Centerline goodness : 0.887415 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.60, Z:-0.43 [[ 0.99725393 0.04235275 -0.06075231 10.61295751] [-0.04140866 0.99900245 0.01671619 -0.59891178] [ 0.06139968 -0.01415461 0.99801289 -0.42924209] [ 0. 0. 0. 1. ]] SLAMing on 43.802401008000004 meters Centerline goodness : 0.886937 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.60, Z:-0.43 [[ 0.99726182 0.04262325 -0.06043271 10.61217363] [-0.04173553 0.99900254 0.01587695 -0.59542139] [ 0.06104915 -0.01331128 0.998046 -0.43003688] [ 0. 0. 0. 1. ]] SLAMing on 43.832401008000005 meters Centerline goodness : 0.888465 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.59, Z:-0.43 [[ 0.99727321 0.04258749 -0.06026975 10.61208815] [-0.04177712 0.99901965 0.01464295 -0.59178189] [ 0.06083427 -0.01208512 0.99807472 -0.43148051] [ 0. 0. 0. 1. ]] SLAMing on 43.862401008000006 meters Centerline goodness : 0.889939 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.59, Z:-0.43 [[ 0.9972859 0.04261341 -0.06004108 10.61193 ] [-0.04186197 0.99902922 0.01371867 -0.58830298] [ 0.06056739 -0.011168 0.99810163 -0.43262962] [ 0. 0. 0. 1. ]] SLAMing on 43.892401008 meters Centerline goodness : 0.889814 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.59, Z:-0.43 [[ 0.99709404 0.04591993 -0.0607851 10.61407245] [-0.04492641 0.99883503 0.01761251 -0.58655227] [ 0.06152305 -0.01483047 0.99799548 -0.43125261] [ 0. 0. 0. 1. ]] SLAMing on 43.922401008 meters Centerline goodness : 0.892255 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.58, Z:-0.43 [[ 0.99709206 0.04553122 -0.06110924 10.61481891] [-0.04456639 0.99886074 0.01706044 -0.58477692] [ 0.06181641 -0.01428741 0.99798527 -0.43117328] [ 0. 0. 0. 1. ]] SLAMing on 43.952401008 meters Centerline goodness : 0.892189 Centerline is valid? [False, False] Translation: X:10.62, Y:-0.58, Z:-0.43 [[ 0.99708508 0.04519933 -0.06146848 10.61541676] [-0.04424657 0.9988798 0.0167745 -0.58317974] [ 0.06215782 -0.01400584 0.99796806 -0.43049272] [ 0. 0. 0. 1. ]] SLAMing on 43.982401008000004 meters Centerline goodness : 0.894834 Centerline is valid? [False, False] Translation: X:10.62, Y:-0.58, Z:-0.43 [[ 0.99708941 0.04475914 -0.06171973 10.61624016] [-0.04385957 0.9989119 0.01585431 -0.58080579] [ 0.0623622 -0.01310117 0.99796759 -0.43115907] [ 0. 0. 0. 1. ]] SLAMing on 44.012401008000005 meters Centerline goodness : 0.894789 Centerline is valid? [False, False] Translation: X:10.62, Y:-0.58, Z:-0.43 [[ 0.99690263 0.04799132 -0.06230547 10.61871491] [-0.0469101 0.99872401 0.01870267 -0.5769565 ] [ 0.06312353 -0.01572199 0.99788188 -0.431811 ] [ 0. 0. 0. 1. ]] SLAMing on 44.042401008000006 meters Centerline goodness : 0.892741 Centerline is valid? [False, False] Translation: X:10.62, Y:-0.58, Z:-0.43 [[ 0.99669518 0.05102264 -0.06320926 10.62195468] [-0.04969605 0.99851349 0.02238569 -0.57642983] [ 0.06425748 -0.01917046 0.9977492 -0.43161335] [ 0. 0. 0. 1. ]] SLAMing on 44.072401008 meters Centerline goodness : 0.892839 Centerline is valid? [False, False] Translation: X:10.62, Y:-0.57, Z:-0.43 [[ 0.99671133 0.05055443 -0.06333072 10.62299394] [-0.04930422 0.99855982 0.02115151 -0.57315773] [ 0.06430881 -0.01795948 0.99776843 -0.4330984 ] [ 0. 0. 0. 1. ]] SLAMing on 44.102401008 meters Centerline goodness : 0.891732 Centerline is valid? [False, False] Translation: X:10.63, Y:-0.57, Z:-0.43 [[ 0.99649483 0.05402423 -0.06387042 10.62507029] [-0.05256482 0.99832146 0.02431444 -0.57039552] [ 0.06507678 -0.02087188 0.99766196 -0.43334505] [ 0. 0. 0. 1. ]] SLAMing on 44.132401008 meters Centerline goodness : 0.888918 Centerline is valid? [False, False] Translation: X:10.63, Y:-0.57, Z:-0.43 [[ 0.99649747 0.05374597 -0.0640638 10.62575905] [-0.0523432 0.99835546 0.02337863 -0.56736365] [ 0.06521495 -0.01994344 0.99767192 -0.4340995 ] [ 0. 0. 0. 1. ]] SLAMing on 44.162401008 meters Centerline goodness : 0.888440 Centerline is valid? [False, False] Translation: X:10.63, Y:-0.57, Z:-0.44 [[ 0.99649583 0.05333319 -0.06443312 10.62696472] [-0.0519855 0.99839623 0.02241575 -0.56507198] [ 0.06552528 -0.01898762 0.99767024 -0.43504453] [ 0. 0. 0. 1. ]] SLAMing on 44.192401008000004 meters Centerline goodness : 0.887832 Centerline is valid? [False, False] Translation: X:10.63, Y:-0.56, Z:-0.44 [[ 0.99649175 0.0531331 -0.06466117 10.62769544] [-0.0518201 0.99841809 0.02181753 -0.56365951] [ 0.06571811 -0.01839024 0.99766875 -0.43559046] [ 0. 0. 0. 1. ]] SLAMing on 44.222401008000006 meters Centerline goodness : 0.894045 Centerline is valid? [False, False] Translation: X:10.63, Y:-0.56, Z:-0.44 [[ 0.99666032 0.04983805 -0.06468674 10.6268724 ] [-0.04884429 0.99866417 0.01685531 -0.55890734] [ 0.06544036 -0.01363944 0.99776326 -0.43709728] [ 0. 0. 0. 1. ]] SLAMing on 44.252401008 meters Centerline goodness : 0.892672 Centerline is valid? [False, False] Translation: X:10.63, Y:-0.56, Z:-0.44 [[ 0.99666229 0.04922579 -0.06512371 10.62833985] [-0.04826644 0.99870272 0.01622431 -0.55770934] [ 0.06583788 -0.01302687 0.9977453 -0.43763265] [ 0. 0. 0. 1. ]] SLAMing on 44.282401008 meters Centerline goodness : 0.893222 Centerline is valid? [False, False] Translation: X:10.63, Y:-0.56, Z:-0.44 [[ 0.99666343 0.04880243 -0.06542429 10.62932356] [-0.04786785 0.99872905 0.01577802 -0.55712537] [ 0.06611115 -0.01259365 0.99773279 -0.43798821] [ 0. 0. 0. 1. ]] SLAMing on 44.312401008 meters Centerline goodness : 0.889428 Centerline is valid? [False, False] Translation: X:10.63, Y:-0.56, Z:-0.44 [[ 0.99665159 0.04823619 -0.0660218 10.63072426] [-0.04729758 0.99875733 0.01570759 -0.55725951] [ 0.06669743 -0.01253232 0.99769454 -0.43751001] [ 0. 0. 0. 1. ]] SLAMing on 44.342401008 meters Centerline goodness : 0.891270 Centerline is valid? [False, False] Translation: X:10.63, Y:-0.56, Z:-0.44 [[ 0.9966529 0.04795169 -0.06620895 10.63137409] [-0.0470204 0.99877282 0.0155542 -0.55730941] [ 0.06687355 -0.01238897 0.99768454 -0.43762193] [ 0. 0. 0. 1. ]] SLAMing on 44.372401008000004 meters Centerline goodness : 0.891382 Centerline is valid? [False, False] Translation: X:10.63, Y:-0.56, Z:-0.44 [[ 0.99665385 0.04760638 -0.06644355 10.63233565] [-0.04668235 0.99879119 0.01539182 -0.55752329] [ 0.06709598 -0.01223858 0.99767146 -0.43793342] [ 0. 0. 0. 1. ]] SLAMing on 44.402401008000005 meters Centerline goodness : 0.888075 Centerline is valid? [False, False] Translation: X:10.63, Y:-0.56, Z:-0.44 [[ 9.96837889e-01 4.37103179e-02 -6.63598589e-02 1.06318510e+01] [-4.30783227e-02 9.99011956e-01 1.09256700e-02 -5.56916580e-01] [ 6.67718569e-02 -8.03245039e-03 9.97735936e-01 -4.39046573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.43240100800001 meters Centerline goodness : 0.891365 Centerline is valid? [False, False] Translation: X:10.63, Y:-0.56, Z:-0.44 [[ 9.96822407e-01 4.34200737e-02 -6.67816293e-02 1.06330933e+01] [-4.27789569e-02 9.99023992e-01 1.10011189e-02 -5.58099275e-01] [ 6.71941193e-02 -8.10931338e-03 9.97706966e-01 -4.39129147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.462401008 meters Centerline goodness : 0.887341 Centerline is valid? [False, False] Translation: X:10.63, Y:-0.56, Z:-0.44 [[ 9.96810489e-01 4.32097905e-02 -6.70951714e-02 1.06340945e+01] [-4.25630380e-02 9.99032788e-01 1.10397610e-02 -5.58765772e-01] [ 6.75073019e-02 -8.14877521e-03 9.97685502e-01 -4.39256335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.492401008 meters Centerline goodness : 0.889762 Centerline is valid? [False, False] Translation: X:10.64, Y:-0.56, Z:-0.44 [[ 9.96809275e-01 4.29399288e-02 -6.72861897e-02 1.06351282e+01] [-4.23096726e-02 9.99046552e-01 1.07646719e-02 -5.58869648e-01] [ 6.76842701e-02 -7.88346813e-03 9.97675644e-01 -4.39989121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.522401008 meters Centerline goodness : 0.888838 Centerline is valid? [False, False] Translation: X:10.64, Y:-0.56, Z:-0.44 [[ 0.99659483 0.04574316 -0.06860261 10.63974183] [-0.04468589 0.99885866 0.01686848 -0.56171846] [ 0.06929593 -0.01374547 0.99750145 -0.43632125] [ 0. 0. 0. 1. ]] SLAMing on 44.552401008000004 meters Centerline goodness : 0.885741 Centerline is valid? [False, False] Translation: X:10.64, Y:-0.56, Z:-0.44 [[ 0.99658019 0.04523963 -0.0691469 10.64224347] [-0.044224 0.9988911 0.01614977 -0.56138681] [ 0.06980084 -0.01303658 0.99747576 -0.43825594] [ 0. 0. 0. 1. ]] SLAMing on 44.582401008000005 meters Centerline goodness : 0.886172 Centerline is valid? [False, False] Translation: X:10.64, Y:-0.56, Z:-0.44 [[ 0.99656385 0.04466485 -0.06975342 10.64425057] [-0.04366551 0.99892146 0.01578713 -0.56188419] [ 0.07038332 -0.01268707 0.99743933 -0.43887897] [ 0. 0. 0. 1. ]] SLAMing on 44.612401008000006 meters Centerline goodness : 0.884497 Centerline is valid? [False, False] Translation: X:10.65, Y:-0.56, Z:-0.44 [[ 0.99654476 0.04390628 -0.07050372 10.64671666] [-0.04291622 0.99895847 0.01549727 -0.56242052] [ 0.07111071 -0.01241797 0.99739113 -0.43933643] [ 0. 0. 0. 1. ]] SLAMing on 44.642401008 meters Centerline goodness : 0.888046 Centerline is valid? [False, False] Translation: X:10.65, Y:-0.56, Z:-0.44 [[ 0.99651461 0.04306007 -0.07144555 10.64942311] [-0.04201553 0.99898788 0.01605976 -0.56413921] [ 0.07206477 -0.01300196 0.9973152 -0.43841136] [ 0. 0. 0. 1. ]] SLAMing on 44.672401008 meters Centerline goodness : 0.884102 Centerline is valid? [False, False] Translation: X:10.65, Y:-0.57, Z:-0.44 [[ 0.99650312 0.04265602 -0.07184709 10.65057186] [-0.04158038 0.99900053 0.01640161 -0.56513651] [ 0.0724749 -0.01335682 0.99728079 -0.43777578] [ 0. 0. 0. 1. ]] SLAMing on 44.702401008 meters Centerline goodness : 0.887277 Centerline is valid? [False, False] Translation: X:10.65, Y:-0.57, Z:-0.44 [[ 0.99647775 0.0424893 -0.07229632 10.65117793] [-0.04132723 0.99899249 0.01749495 -0.56688222] [ 0.07296682 -0.01444552 0.99722975 -0.43560307] [ 0. 0. 0. 1. ]] SLAMing on 44.732401008000004 meters Centerline goodness : 0.886014 Centerline is valid? [False, False] Translation: X:10.65, Y:-0.57, Z:-0.43 [[ 0.99665719 0.03824551 -0.07219222 10.65022739] [-0.03733424 0.99920573 0.01393073 -0.56818027] [ 0.07266767 -0.01118892 0.99729345 -0.43462996] [ 0. 0. 0. 1. ]] SLAMing on 44.762401008000005 meters Centerline goodness : 0.882777 Centerline is valid? [False, False] Translation: X:10.66, Y:-0.57, Z:-0.43 [[ 0.99659253 0.03824796 -0.07307826 10.65749807] [-0.03681583 0.99910464 0.02084516 -0.57177686] [ 0.07381011 -0.0180837 0.99710834 -0.42834441] [ 0. 0. 0. 1. ]] SLAMing on 44.792401008000006 meters Centerline goodness : 0.880956 Centerline is valid? [False, False] Translation: X:10.67, Y:-0.58, Z:-0.42 [[ 0.99644863 0.03894394 -0.07465581 10.66526265] [-0.0369633 0.99893177 0.0277313 -0.57505943] [ 0.07565602 -0.02487329 0.9968237 -0.42235987] [ 0. 0. 0. 1. ]] SLAMing on 44.822401008 meters Centerline goodness : 0.882618 Centerline is valid? [False, False] Translation: X:10.67, Y:-0.57, Z:-0.42 [[ 0.99643491 0.03789223 -0.07537665 10.668077 ] [-0.03593905 0.99898641 0.02710251 -0.57479578] [ 0.07632723 -0.02429692 0.99678674 -0.42330626] [ 0. 0. 0. 1. ]] SLAMing on 44.852401008 meters Centerline goodness : 0.881396 Centerline is valid? [False, False] Translation: X:10.67, Y:-0.57, Z:-0.42 [[ 0.99640773 0.03671334 -0.07631364 10.67124158] [-0.03478662 0.99904533 0.02642561 -0.57420116] [ 0.07721096 -0.02367599 0.99673362 -0.42397975] [ 0. 0. 0. 1. ]] SLAMing on 44.882401008 meters Centerline goodness : 0.886668 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.58, Z:-0.42 [[ 0.9962302 0.03932163 -0.07732525 10.67505439] [-0.03705253 0.9988458 0.03056443 -0.57617335] [ 0.07843785 -0.02758412 0.99653732 -0.42304596] [ 0. 0. 0. 1. ]] SLAMing on 44.912401008 meters Centerline goodness : 0.882531 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.57, Z:-0.43 [[ 0.9963788 0.03514512 -0.07742158 10.67566374] [-0.03341078 0.9991634 0.02358423 -0.57080504] [ 0.07818568 -0.02091211 0.99671946 -0.42790332] [ 0. 0. 0. 1. ]] SLAMing on 44.942401008000004 meters Centerline goodness : 0.883631 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.57, Z:-0.43 [[ 0.99635931 0.03443461 -0.07798959 10.67778543] [-0.0327734 0.99920993 0.02248158 -0.56872512] [ 0.07870212 -0.01984375 0.99670066 -0.42924561] [ 0. 0. 0. 1. ]] SLAMing on 44.972401008000006 meters Centerline goodness : 0.883691 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.57, Z:-0.43 [[ 0.99633803 0.03407427 -0.07841859 10.67900774] [-0.03249899 0.99924525 0.02127779 -0.56584376] [ 0.07908443 -0.01865134 0.99669342 -0.43040687] [ 0. 0. 0. 1. ]] SLAMing on 45.002401008 meters Centerline goodness : 0.883691 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.57, Z:-0.43 [[ 0.99633809 0.03407556 -0.0784173 10.67900471] [-0.03250037 0.99924522 0.02127695 -0.56584137] [ 0.07908313 -0.01865044 0.99669354 -0.43040754] [ 0. 0. 0. 1. ]] SLAMing on 45.032401008 meters Centerline goodness : 0.883068 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.57, Z:-0.43 [[ 0.99613801 0.03732781 -0.07947142 10.68192333] [-0.03537729 0.99904063 0.02581222 -0.56710405] [ 0.08035869 -0.02290105 0.9965029 -0.42867009] [ 0. 0. 0. 1. ]] SLAMing on 45.062401008 meters Centerline goodness : 0.881382 Centerline is valid? [False, False] Translation: X:10.69, Y:-0.57, Z:-0.43 [[ 0.99594589 0.04046541 -0.08033893 10.68510794] [-0.03812292 0.99880806 0.03048103 -0.56764202] [ 0.0814766 -0.0272947 0.99630144 -0.42684605] [ 0. 0. 0. 1. ]] SLAMing on 45.092401008 meters Centerline goodness : 0.878812 Centerline is valid? [False, False] Translation: X:10.69, Y:-0.56, Z:-0.43 [[ 0.99594719 0.03997014 -0.0805704 10.686402 ] [-0.03772327 0.99886094 0.02921949 -0.56462673] [ 0.08164653 -0.02606169 0.99632055 -0.42848092] [ 0. 0. 0. 1. ]] SLAMing on 45.122401008000004 meters Centerline goodness : 0.882813 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.56, Z:-0.43 [[ 0.99617022 0.04082296 -0.07731995 10.70214886] [-0.03955441 0.99905764 0.01786827 -0.55963433] [ 0.07797653 -0.0147415 0.9968462 -0.43475633] [ 0. 0. 0. 1. ]] SLAMing on 45.152401008000005 meters Centerline goodness : 0.882642 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.56, Z:-0.43 [[ 0.9961578 0.04068088 -0.07755453 10.70263695] [-0.03944961 0.99907104 0.0173434 -0.55793321] [ 0.07818803 -0.01421726 0.99683725 -0.43488345] [ 0. 0. 0. 1. ]] SLAMing on 45.18240100800001 meters Centerline goodness : 0.881997 Centerline is valid? [False, False] Translation: X:10.71, Y:-0.56, Z:-0.43 [[ 0.99594422 0.0439946 -0.07848299 10.70529561] [-0.04241681 0.9988652 0.02165937 -0.55887119] [ 0.07934682 -0.01824253 0.99668014 -0.43341831] [ 0. 0. 0. 1. ]] SLAMing on 45.212401008 meters Centerline goodness : 0.877734 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.56, Z:-0.44 [[ 9.96204637e-01 4.57408523e-02 -7.40546858e-02 1.07212181e+01] [-4.48699495e-02 9.98903198e-01 1.33824340e-02 -5.55947002e-01] [ 7.45855864e-02 -1.00088128e-02 9.97164387e-01 -4.37975129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.242401008 meters Centerline goodness : 0.884125 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.56, Z:-0.44 [[ 0.99597863 0.04942147 -0.07472673 10.72312088] [-0.04823217 0.99868041 0.01763816 -0.55660948] [ 0.07549982 -0.01396299 0.99704805 -0.43689637] [ 0. 0. 0. 1. ]] SLAMing on 45.272401008 meters Centerline goodness : 0.881109 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.55, Z:-0.44 [[ 0.99574922 0.05410111 -0.07454235 10.72274272] [-0.05268495 0.99839377 0.02083676 -0.55283346] [ 0.07554991 -0.01682092 0.99700013 -0.437384 ] [ 0. 0. 0. 1. ]] SLAMing on 45.302401008000004 meters Centerline goodness : 0.881669 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.55, Z:-0.44 [[ 0.99573048 0.05443674 -0.07454838 10.72300848] [-0.05314001 0.99840112 0.01927035 -0.5485527 ] [ 0.0754782 -0.01522657 0.99703119 -0.4396801 ] [ 0. 0. 0. 1. ]] SLAMing on 45.332401008000005 meters Centerline goodness : 0.883067 Centerline is valid? [False, False] Translation: X:10.74, Y:-0.54, Z:-0.45 [[ 9.95842990e-01 5.75918759e-02 -7.05685132e-02 1.07383469e+01] [-5.69518555e-02 9.98315775e-01 1.10498594e-02 -5.44872588e-01] [ 7.10860421e-02 -6.98491729e-03 9.97445731e-01 -4.45011814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.362401008000006 meters Centerline goodness : 0.880993 Centerline is valid? [False, False] Translation: X:10.75, Y:-0.54, Z:-0.45 [[ 9.95761825e-01 6.32310276e-02 -6.67849139e-02 1.07515074e+01] [-6.31187820e-02 9.97998819e-01 3.79153459e-03 -5.41525390e-01] [ 6.68910079e-02 4.39917017e-04 9.97760191e-01 -4.49635179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.392401008 meters Centerline goodness : 0.882322 Centerline is valid? [False, False] Translation: X:10.75, Y:-0.54, Z:-0.45 [[ 9.95725915e-01 6.38780825e-02 -6.67045117e-02 1.07502563e+01] [-6.37535507e-02 9.97957672e-01 3.99612928e-03 -5.40980523e-01] [ 6.68235443e-02 2.73599984e-04 9.97764771e-01 -4.48645046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.422401008 meters Centerline goodness : 0.886768 Centerline is valid? [False, False] Translation: X:10.75, Y:-0.54, Z:-0.45 [[ 9.95686898e-01 6.44170627e-02 -6.67685795e-02 1.07492853e+01] [-6.42617417e-02 9.97923051e-01 4.47362336e-03 -5.41306778e-01] [ 6.69180822e-02 -1.63662954e-04 9.97758459e-01 -4.47311968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.452401008 meters Centerline goodness : 0.886263 Centerline is valid? [False, False] Translation: X:10.75, Y:-0.54, Z:-0.45 [[ 9.95684636e-01 6.46173352e-02 -6.66086007e-02 1.07489339e+01] [-6.44403688e-02 9.97909995e-01 4.80417858e-03 -5.41831451e-01] [ 6.67798216e-02 -4.91164004e-04 9.97767615e-01 -4.47106873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.482401008000004 meters Centerline goodness : 0.886459 Centerline is valid? [False, False] Translation: X:10.75, Y:-0.54, Z:-0.45 [[ 9.95444816e-01 6.75577293e-02 -6.72723626e-02 1.07520040e+01] [-6.70644262e-02 9.97702778e-01 9.56706068e-03 -5.44693594e-01] [ 6.77641520e-02 -5.01189857e-03 9.97688779e-01 -4.45997648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.512401008000005 meters Centerline goodness : 0.884853 Centerline is valid? [False, False] Translation: X:10.75, Y:-0.55, Z:-0.45 [[ 9.95462592e-01 6.70817398e-02 -6.74853108e-02 1.07536497e+01] [-6.66098488e-02 9.97736488e-01 9.22106835e-03 -5.45094811e-01] [ 6.79511223e-02 -4.68404225e-03 9.97677656e-01 -4.47305571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.542401008000006 meters Centerline goodness : 0.888449 Centerline is valid? [False, False] Translation: X:10.76, Y:-0.55, Z:-0.45 [[ 9.95471218e-01 6.65702321e-02 -6.78635292e-02 1.07555223e+01] [-6.61096566e-02 9.97771660e-01 9.01265423e-03 -5.45684695e-01] [ 6.83122807e-02 -4.48540326e-03 9.97653905e-01 -4.48246256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.572401008 meters Centerline goodness : 0.890514 Centerline is valid? [False, False] Translation: X:10.76, Y:-0.55, Z:-0.45 [[ 9.95425534e-01 6.67923386e-02 -6.83139111e-02 1.07565494e+01] [-6.62933443e-02 9.97754492e-01 9.54810291e-03 -5.48940691e-01] [ 6.87982517e-02 -4.97566781e-03 9.97618185e-01 -4.48386114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.602401008 meters Centerline goodness : 0.893193 Centerline is valid? [False, False] Translation: X:10.76, Y:-0.55, Z:-0.45 [[ 9.95390379e-01 6.69393166e-02 -6.86813049e-02 1.07571923e+01] [-6.64225373e-02 9.97743622e-01 9.78318230e-03 -5.50916217e-01] [ 6.91812135e-02 -5.17609900e-03 9.97590681e-01 -4.48370432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.632401008 meters Centerline goodness : 0.893782 Centerline is valid? [False, False] Translation: X:10.76, Y:-0.55, Z:-0.45 [[ 9.95358349e-01 6.70476737e-02 -6.90388719e-02 1.07578948e+01] [-6.65116185e-02 9.97735169e-01 1.00367696e-02 -5.52464191e-01] [ 6.95554526e-02 -5.39829530e-03 9.97563480e-01 -4.48277719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.662401008 meters Centerline goodness : 0.895119 Centerline is valid? [False, False] Translation: X:10.76, Y:-0.55, Z:-0.45 [[ 9.95326735e-01 6.77470063e-02 -6.88115783e-02 1.07579025e+01] [-6.72174024e-02 9.97688383e-01 9.98557928e-03 -5.53785621e-01] [ 6.93290054e-02 -5.31357848e-03 9.97579699e-01 -4.50076256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.692401008000004 meters Centerline goodness : 0.892275 Centerline is valid? [False, False] Translation: X:10.76, Y:-0.55, Z:-0.45 [[ 9.95333407e-01 6.77521751e-02 -6.87099030e-02 1.07586001e+01] [-6.72580106e-02 9.97690552e-01 9.48276811e-03 -5.53700795e-01] [ 6.91936992e-02 -4.81722451e-03 9.97591613e-01 -4.51807250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.722401008000006 meters Centerline goodness : 0.892021 Centerline is valid? [False, False] Translation: X:10.76, Y:-0.55, Z:-0.45 [[ 9.95325352e-01 6.78261417e-02 -6.87536007e-02 1.07592601e+01] [-6.73396548e-02 9.97686095e-01 9.37162208e-03 -5.54456903e-01] [ 6.92301523e-02 -4.69796931e-03 9.97589653e-01 -4.52842579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.75240100800001 meters Centerline goodness : 0.891543 Centerline is valid? [False, False] Translation: X:10.76, Y:-0.56, Z:-0.45 [[ 9.95311190e-01 6.79558240e-02 -6.88305299e-02 1.07596730e+01] [-6.74590579e-02 9.97676635e-01 9.51877891e-03 -5.55854248e-01] [ 6.93174679e-02 -4.83090446e-03 9.97582954e-01 -4.53293738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.782401008 meters Centerline goodness : 0.888086 Centerline is valid? [False, False] Translation: X:10.76, Y:-0.56, Z:-0.45 [[ 9.95572334e-01 6.37188624e-02 -6.91059688e-02 1.07601128e+01] [-6.34403064e-02 9.97966250e-01 6.22030614e-03 -5.60168419e-01] [ 6.93617753e-02 -1.80866087e-03 9.97589932e-01 -4.53576040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.812401008 meters Centerline goodness : 0.889626 Centerline is valid? [False, False] Translation: X:10.76, Y:-0.56, Z:-0.45 [[ 9.95828320e-01 5.89486948e-02 -6.96491881e-02 1.07614843e+01] [-5.89177819e-02 9.98259709e-01 2.49983052e-03 -5.62527814e-01] [ 6.96753399e-02 1.61417364e-03 9.97568414e-01 -4.53789551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.842401008 meters Centerline goodness : 0.893325 Centerline is valid? [False, False] Translation: X:10.76, Y:-0.56, Z:-0.45 [[ 9.96055692e-01 5.47340047e-02 -6.98372886e-02 1.07614294e+01] [-5.49408417e-02 9.98489067e-01 -1.04289223e-03 -5.64636271e-01] [ 6.96746874e-02 4.87569816e-03 9.97557851e-01 -4.53563095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.872401008000004 meters Centerline goodness : 0.893252 Centerline is valid? [False, False] Translation: X:10.76, Y:-0.57, Z:-0.45 [[ 9.96039335e-01 5.41545376e-02 -7.05190053e-02 1.07633617e+01] [-5.42821081e-02 9.98525634e-01 1.07476315e-04 -5.68678810e-01] [ 7.04208548e-02 3.72086963e-03 9.97510430e-01 -4.52284559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.902401008000005 meters Centerline goodness : 0.896531 Centerline is valid? [False, False] Translation: X:10.77, Y:-0.57, Z:-0.45 [[ 9.96274612e-01 4.90810036e-02 -7.09080565e-02 1.07660717e+01] [-4.94831895e-02 9.98767243e-01 -3.92546102e-03 -5.71704449e-01] [ 7.06279785e-02 7.41959395e-03 9.97475132e-01 -4.54632583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.93240100800001 meters Centerline goodness : 0.892847 Centerline is valid? [False, False] Translation: X:10.77, Y:-0.57, Z:-0.45 [[ 9.96278391e-01 4.82322222e-02 -7.14354313e-02 1.07684981e+01] [-4.85905351e-02 9.98813378e-01 -3.28564295e-03 -5.74995915e-01] [ 7.11921906e-02 6.74450090e-03 9.97439815e-01 -4.54654913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.962401008 meters Centerline goodness : 0.891824 Centerline is valid? [False, False] Translation: X:10.77, Y:-0.58, Z:-0.46 [[ 9.96293996e-01 4.71352052e-02 -7.19482126e-02 1.07712101e+01] [-4.74705036e-02 9.98868265e-01 -2.95653164e-03 -5.78060201e-01] [ 7.17274295e-02 6.36099261e-03 9.97403987e-01 -4.55085436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.992401008 meters Centerline goodness : 0.894493 Centerline is valid? [False, False] Translation: X:10.77, Y:-0.58, Z:-0.46 [[ 9.96465357e-01 4.20576890e-02 -7.27182456e-02 1.07738636e+01] [-4.26827026e-02 9.99063720e-01 -7.06182028e-03 -5.80552015e-01] [ 7.23531572e-02 1.01406705e-02 9.97327523e-01 -4.56311264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.022401008 meters Centerline goodness : 0.896378 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.58, Z:-0.45 [[ 9.96418447e-01 4.17813182e-02 -7.35159822e-02 1.07750718e+01] [-4.23336197e-02 9.99085695e-01 -5.96988873e-03 -5.83277781e-01] [ 7.31993363e-02 9.06070489e-03 9.97276171e-01 -4.54128686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.052401008000004 meters Centerline goodness : 0.896118 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.59, Z:-0.45 [[ 9.96373009e-01 4.11865775e-02 -7.44613459e-02 1.07770912e+01] [-4.16736303e-02 9.99118773e-01 -4.99853462e-03 -5.85821823e-01] [ 7.41898560e-02 8.08347958e-03 9.97211373e-01 -4.52231591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.082401008000005 meters Centerline goodness : 0.897622 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.59, Z:-0.45 [[ 9.96359831e-01 4.08261380e-02 -7.48352373e-02 1.07782058e+01] [-4.12954716e-02 9.99135762e-01 -4.73432873e-03 -5.86831917e-01] [ 7.45772774e-02 7.80745139e-03 9.97184674e-01 -4.51848188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.112401008000006 meters Centerline goodness : 0.892354 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.59, Z:-0.45 [[ 9.96367228e-01 3.91902654e-02 -7.56073427e-02 1.07812764e+01] [-3.96816350e-02 9.99199828e-01 -5.00710932e-03 -5.85719886e-01] [ 7.53506139e-02 7.98914261e-03 9.97125097e-01 -4.51408029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.142401008 meters Centerline goodness : 0.897589 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.59, Z:-0.44 [[ 9.96400874e-01 3.81038173e-02 -7.57192014e-02 1.07816767e+01] [-3.82736599e-02 9.99266981e-01 -7.92687737e-04 -5.88770876e-01] [ 7.56334933e-02 3.68788571e-03 9.97128865e-01 -4.42345600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.172401008 meters Centerline goodness : 0.896170 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.59, Z:-0.44 [[ 9.96392024e-01 3.67558908e-02 -7.64979707e-02 1.07836626e+01] [-3.68452303e-02 9.99320954e-01 2.43643175e-04 -5.89240760e-01] [ 7.64549804e-02 2.57582124e-03 9.97069707e-01 -4.39135782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.202401008 meters Centerline goodness : 0.895706 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.59, Z:-0.43 [[ 0.99693016 0.02721012 -0.0734157 10.80253769] [-0.02585533 0.99947857 0.0193415 -0.58734688] [ 0.0739037 -0.01738394 0.99711386 -0.43224443] [ 0. 0. 0. 1. ]] SLAMing on 46.232401008000004 meters Centerline goodness : 0.893098 Centerline is valid? [False, False] Translation: X:10.81, Y:-0.59, Z:-0.43 [[ 0.99676427 0.0262791 -0.07596311 10.81445334] [-0.02459082 0.99943124 0.02307562 -0.58536238] [ 0.07652631 -0.02113296 0.99684358 -0.43088053] [ 0. 0. 0. 1. ]] SLAMing on 46.262401008000005 meters Centerline goodness : 0.889749 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.58, Z:-0.43 [[ 0.99673246 0.02479412 -0.07687424 10.81849403] [-0.02323244 0.99950649 0.02114314 -0.58180163] [ 0.07736053 -0.01928807 0.99681659 -0.43372831] [ 0. 0. 0. 1. ]] SLAMing on 46.292401008000006 meters Centerline goodness : 0.890277 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.58, Z:-0.44 [[ 0.9967007 0.02396808 -0.07754512 10.82084665] [-0.02248738 0.99954881 0.01991212 -0.57855694] [ 0.07798739 -0.01810264 0.99678998 -0.43500635] [ 0. 0. 0. 1. ]] SLAMing on 46.322401008 meters Centerline goodness : 0.890933 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.57, Z:-0.44 [[ 0.99669333 0.02450401 -0.07747226 10.8192673 ] [-0.02313867 0.99956159 0.0184726 -0.57290548] [ 0.07789095 -0.01661891 0.99682336 -0.43534372] [ 0. 0. 0. 1. ]] SLAMing on 46.352401008 meters Centerline goodness : 0.894444 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.57, Z:-0.44 [[ 0.99666687 0.02468341 -0.07775526 10.81923865] [-0.02340396 0.99957599 0.01732348 -0.56895116] [ 0.0781499 -0.01544596 0.99682196 -0.43591129] [ 0. 0. 0. 1. ]] SLAMing on 46.382401008 meters Centerline goodness : 0.896652 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.56, Z:-0.44 [[ 9.96877152e-01 2.77209177e-02 -7.39425125e-02 1.08350135e+01] [-2.71210158e-02 9.99590691e-01 9.10504983e-03 -5.63872910e-01] [ 7.41646474e-02 -7.07122009e-03 9.97220940e-01 -4.40706079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.412401008 meters Centerline goodness : 0.893826 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.56, Z:-0.44 [[ 9.96973092e-01 3.59414977e-02 -6.89410052e-02 1.08468857e+01] [-3.56959609e-02 9.99351214e-01 4.79057227e-03 -5.56389354e-01] [ 6.90684576e-02 -2.31515622e-03 9.97609236e-01 -4.44153822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.442401008000004 meters Centerline goodness : 0.895878 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.55, Z:-0.44 [[ 9.96809531e-01 4.07048417e-02 -6.86576626e-02 1.08455517e+01] [-4.01891114e-02 9.99152660e-01 8.87681703e-03 -5.54338446e-01] [ 6.89608156e-02 -6.08920537e-03 9.97600786e-01 -4.42945108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.472401008000006 meters Centerline goodness : 0.894734 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.55, Z:-0.44 [[ 9.96613690e-01 4.52769715e-02 -6.86378136e-02 1.08450693e+01] [-4.44930851e-02 9.98926305e-01 1.29074648e-02 -5.52308596e-01] [ 6.91485284e-02 -9.80984800e-03 9.97558143e-01 -4.41895651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50240100800001 meters Centerline goodness : 0.895525 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.55, Z:-0.45 [[ 9.96705062e-01 4.96937834e-02 -6.41057451e-02 1.08596207e+01] [-4.94322866e-02 9.98761441e-01 5.65977925e-03 -5.47982976e-01] [ 6.43076022e-02 -2.47223707e-03 9.97927062e-01 -4.47072205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.532401008 meters Centerline goodness : 0.894504 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.54, Z:-0.45 [[ 9.96574626e-01 5.79964500e-02 -5.89527478e-02 1.08707685e+01] [-5.80391544e-02 9.98313818e-01 9.89077167e-04 -5.43611222e-01] [ 5.89107057e-02 2.43587843e-03 9.98260284e-01 -4.51295727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.562401008 meters Centerline goodness : 0.894009 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.54, Z:-0.45 [[ 9.96516378e-01 5.92975283e-02 -5.86422387e-02 1.08688267e+01] [-5.93395270e-02 9.98237330e-01 1.02649290e-03 -5.41692394e-01] [ 5.85997402e-02 2.45688572e-03 9.98278535e-01 -4.50942871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.592401008 meters Centerline goodness : 0.891379 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.54, Z:-0.45 [[ 9.96226441e-01 6.38580712e-02 -5.87794532e-02 1.08685969e+01] [-6.36182453e-02 9.97956604e-01 5.94435112e-03 -5.43248115e-01] [ 5.90389383e-02 -2.18247409e-03 9.98253295e-01 -4.48919739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.622401008000004 meters Centerline goodness : 0.893181 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.54, Z:-0.45 [[ 9.96184394e-01 6.47222557e-02 -5.85464235e-02 1.08671467e+01] [-6.44845661e-02 9.97901013e-01 5.94205733e-03 -5.42173574e-01] [ 5.88081187e-02 -2.14404406e-03 9.98267002e-01 -4.48586933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.652401008000005 meters Centerline goodness : 0.895525 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.54, Z:-0.45 [[ 9.96161661e-01 6.53406722e-02 -5.82455315e-02 1.08659226e+01] [-6.51129740e-02 9.97861039e-01 5.80066197e-03 -5.41073795e-01] [ 5.84999657e-02 -1.98585728e-03 9.98285435e-01 -4.48584993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68240100800001 meters Centerline goodness : 0.897334 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.54, Z:-0.45 [[ 9.96119980e-01 6.63116043e-02 -5.78597935e-02 1.08650867e+01] [-6.61160341e-02 9.97797918e-01 5.28999663e-03 -5.39743970e-01] [ 5.80831696e-02 -1.44401126e-03 9.98310703e-01 -4.50383893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.712401008 meters Centerline goodness : 0.892502 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.54, Z:-0.45 [[ 9.96128985e-01 6.63061339e-02 -5.77108497e-02 1.08658125e+01] [-6.61409110e-02 9.97798889e-01 4.77047580e-03 -5.39416231e-01] [ 5.79001336e-02 -9.34961043e-04 9.98321942e-01 -4.52318427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.742401008 meters Centerline goodness : 0.893666 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.54, Z:-0.45 [[ 9.96148445e-01 6.57212969e-02 -5.80429727e-02 1.08679052e+01] [-6.55853960e-02 9.97837929e-01 4.24534597e-03 -5.39624844e-01] [ 5.81964893e-02 -4.22223434e-04 9.98305059e-01 -4.54046070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.772401008 meters Centerline goodness : 0.895412 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.54, Z:-0.45 [[ 9.96150803e-01 6.55209940e-02 -5.82286543e-02 1.08688543e+01] [-6.53770084e-02 9.97851038e-01 4.37640966e-03 -5.41377740e-01] [ 5.83902698e-02 -5.52748782e-04 9.98293680e-01 -4.54619852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.802401008000004 meters Centerline goodness : 0.897027 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.54, Z:-0.46 [[ 9.96395092e-01 6.18435400e-02 -5.80706240e-02 1.08679579e+01] [-6.19292295e-02 9.98080490e-01 3.24612422e-04 -5.41491730e-01] [ 5.79792320e-02 3.27282677e-03 9.98312425e-01 -4.55386475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.832401008000005 meters Centerline goodness : 0.898250 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.55, Z:-0.45 [[ 9.96623195e-01 5.75755828e-02 -5.85427977e-02 1.08683746e+01] [-5.78099932e-02 9.98324915e-01 -2.31696074e-03 -5.46913880e-01] [ 5.83113332e-02 5.69349555e-03 9.98282211e-01 -4.54304745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.862401008000006 meters Centerline goodness : 0.899648 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.55, Z:-0.45 [[ 9.96651695e-01 5.67734362e-02 -5.88402563e-02 1.08700156e+01] [-5.69705091e-02 9.98374455e-01 -1.67582635e-03 -5.50851412e-01] [ 5.86494664e-02 5.02237453e-03 9.98266005e-01 -4.54213293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.892401008 meters Centerline goodness : 0.899648 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.55, Z:-0.45 [[ 9.96651695e-01 5.67734362e-02 -5.88402563e-02 1.08700156e+01] [-5.69705091e-02 9.98374455e-01 -1.67582635e-03 -5.50851412e-01] [ 5.86494664e-02 5.02237453e-03 9.98266005e-01 -4.54213293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.922401008 meters Centerline goodness : 0.901651 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.55, Z:-0.45 [[ 9.96657158e-01 5.57477021e-02 -5.97218808e-02 1.08730154e+01] [-5.59116065e-02 9.98435143e-01 -1.07561902e-03 -5.54581031e-01] [ 5.95684613e-02 4.41116969e-03 9.98214476e-01 -4.54018129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.952401008 meters Centerline goodness : 0.902280 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.56, Z:-0.46 [[ 9.96883306e-01 5.06907910e-02 -6.04492959e-02 1.08759748e+01] [-5.11045760e-02 9.98679149e-01 -5.31788882e-03 -5.57419218e-01] [ 6.00998834e-02 8.39055023e-03 9.98157103e-01 -4.56256030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.982401008000004 meters Centerline goodness : 0.901607 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.56, Z:-0.46 [[ 9.96870304e-01 4.97349304e-02 -6.14494339e-02 1.08791090e+01] [-5.01382200e-02 9.98729584e-01 -5.03757648e-03 -5.59486724e-01] [ 6.11208241e-02 8.10277563e-03 9.98097485e-01 -4.56184689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.012401008000005 meters Centerline goodness : 0.899820 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.56, Z:-0.46 [[ 9.96866244e-01 4.93120266e-02 -6.18547939e-02 1.08804420e+01] [-4.96873528e-02 9.98754486e-01 -4.54349519e-03 -5.61617582e-01] [ 6.15537039e-02 7.60265795e-03 9.98074817e-01 -4.55849449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.042401008000006 meters Centerline goodness : 0.902385 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.56, Z:-0.46 [[ 9.96880901e-01 4.75044611e-02 -6.30221773e-02 1.08849630e+01] [-4.78790601e-02 9.98843244e-01 -4.44622080e-03 -5.64868146e-01] [ 6.27380608e-02 7.44979521e-03 9.98002223e-01 -4.56300266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.072401008 meters Centerline goodness : 0.902186 Centerline is valid? [False, False] Translation: X:10.89, Y:-0.57, Z:-0.46 [[ 9.96871624e-01 4.65899089e-02 -6.38462715e-02 1.08878483e+01] [-4.69699591e-02 9.98886329e-01 -4.46378969e-03 -5.65949176e-01] [ 6.35672002e-02 7.44868204e-03 9.97949762e-01 -4.56663461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.102401008 meters Centerline goodness : 0.903413 Centerline is valid? [False, False] Translation: X:10.89, Y:-0.57, Z:-0.46 [[ 9.96858481e-01 4.55201522e-02 -6.48157791e-02 1.08910022e+01] [-4.59050422e-02 9.98935849e-01 -4.46062213e-03 -5.66836249e-01] [ 6.45437571e-02 7.42198007e-03 9.97887277e-01 -4.56699795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.132401008 meters Centerline goodness : 0.902186 Centerline is valid? [False, False] Translation: X:10.89, Y:-0.57, Z:-0.46 [[ 9.96855140e-01 4.49062391e-02 -6.52936337e-02 1.08924082e+01] [-4.52872245e-02 9.98964467e-01 -4.36589766e-03 -5.67685059e-01] [ 6.50299640e-02 7.30913498e-03 9.97856543e-01 -4.56389135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.162401008 meters Centerline goodness : 0.903458 Centerline is valid? [False, False] Translation: X:10.89, Y:-0.57, Z:-0.45 [[ 9.96832333e-01 4.39019257e-02 -6.63168239e-02 1.08949573e+01] [-4.42525504e-02 9.99013047e-01 -3.82672852e-03 -5.68863675e-01] [ 6.60833715e-02 6.74929530e-03 9.97791278e-01 -4.54878763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.192401008000004 meters Centerline goodness : 0.904450 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.57, Z:-0.45 [[ 9.96819804e-01 4.33248916e-02 -6.68822285e-02 1.08965420e+01] [-4.36712633e-02 9.99039012e-01 -3.72480377e-03 -5.68557857e-01] [ 6.66565788e-02 6.63378958e-03 9.97753924e-01 -4.54335465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.222401008000006 meters Centerline goodness : 0.903387 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.57, Z:-0.45 [[ 9.96824921e-01 4.30688459e-02 -6.69712764e-02 1.08968580e+01] [-4.34207591e-02 9.99049619e-01 -3.80731291e-03 -5.67647113e-01] [ 6.67436516e-02 6.70316804e-03 9.97747640e-01 -4.54087265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.25240100800001 meters Centerline goodness : 0.902455 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.57, Z:-0.45 [[ 9.96821513e-01 4.23302068e-02 -6.74909268e-02 1.08986446e+01] [-4.27106872e-02 9.99078638e-01 -4.20391973e-03 -5.66087573e-01] [ 6.72507905e-02 7.07314149e-03 9.97711031e-01 -4.54241792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.282401008 meters Centerline goodness : 0.900414 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.57, Z:-0.45 [[ 9.96644681e-01 4.45651057e-02 -6.86537112e-02 1.09029506e+01] [-4.46523613e-02 9.99002551e-01 2.63873208e-04 -5.67511965e-01] [ 6.85969921e-02 2.80256249e-03 9.97640516e-01 -4.52558003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.312401008 meters Centerline goodness : 0.899463 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.57, Z:-0.45 [[ 9.96637205e-01 4.45103364e-02 -6.87976174e-02 1.09029199e+01] [-4.45784869e-02 9.99005736e-01 5.45117346e-04 -5.67037336e-01] [ 6.87534778e-02 2.52360946e-03 9.97630488e-01 -4.51492484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.342401008 meters Centerline goodness : 0.901468 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.57, Z:-0.45 [[ 9.96620993e-01 4.43599776e-02 -6.91287865e-02 1.09025339e+01] [-4.43511689e-02 9.99014619e-01 1.66298473e-03 -5.67352223e-01] [ 6.91344382e-02 1.40857699e-03 9.97606358e-01 -4.48233085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.372401008000004 meters Centerline goodness : 0.904408 Centerline is valid? [False, False] Translation: X:10.91, Y:-0.57, Z:-0.44 [[ 9.96430339e-01 4.60693219e-02 -7.07403547e-02 1.09083517e+01] [-4.55648489e-02 9.98923242e-01 8.72936849e-03 -5.70805821e-01] [ 7.10663405e-02 -5.47493404e-03 9.97456566e-01 -4.41733030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.402401008000005 meters Centerline goodness : 0.904192 Centerline is valid? [False, False] Translation: X:10.91, Y:-0.57, Z:-0.44 [[ 9.96418729e-01 4.55165483e-02 -7.12598114e-02 1.09095816e+01] [-4.50083890e-02 9.98948538e-01 8.72143244e-03 -5.70229196e-01] [ 7.15818540e-02 -5.48290931e-03 9.97419659e-01 -4.40988226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.43240100800001 meters Centerline goodness : 0.902052 Centerline is valid? [False, False] Translation: X:10.91, Y:-0.57, Z:-0.44 [[ 9.96422744e-01 4.52607465e-02 -7.13665185e-02 1.09093858e+01] [-4.47552779e-02 9.98960386e-01 8.66675272e-03 -5.68215962e-01] [ 7.16845885e-02 -5.44172116e-03 9.97412506e-01 -4.39747958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.462401008 meters Centerline goodness : 0.899971 Centerline is valid? [False, False] Translation: X:10.91, Y:-0.57, Z:-0.44 [[ 9.96221965e-01 4.83779503e-02 -7.21205208e-02 1.09118390e+01] [-4.75246668e-02 9.98778808e-01 1.35017699e-02 -5.69835977e-01] [ 7.26856358e-02 -1.00232560e-02 9.97304534e-01 -4.37523501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.492401008 meters Centerline goodness : 0.903448 Centerline is valid? [False, False] Translation: X:10.92, Y:-0.57, Z:-0.44 [[ 0.99601914 0.05117718 -0.07298468 10.91507359] [-0.04997003 0.99858356 0.01827204 -0.57107671] [ 0.07381641 -0.01455225 0.99716567 -0.43539359] [ 0. 0. 0. 1. ]] SLAMing on 47.522401008 meters Centerline goodness : 0.901524 Centerline is valid? [False, False] Translation: X:10.92, Y:-0.57, Z:-0.43 [[ 0.99577979 0.05382626 -0.07433271 10.91912628] [-0.05221498 0.99836041 0.0234538 -0.57278068] [ 0.07547326 -0.01947354 0.99695766 -0.43230633] [ 0. 0. 0. 1. ]] SLAMing on 47.552401008000004 meters Centerline goodness : 0.905071 Centerline is valid? [False, False] Translation: X:10.92, Y:-0.57, Z:-0.43 [[ 0.99575854 0.05284446 -0.07531527 10.9217961 ] [-0.05121677 0.99841378 0.02338304 -0.57260258] [ 0.07643147 -0.01942646 0.99688557 -0.43153492] [ 0. 0. 0. 1. ]] SLAMing on 47.582401008000005 meters Centerline goodness : 0.906116 Centerline is valid? [False, False] Translation: X:10.92, Y:-0.57, Z:-0.43 [[ 0.99594947 0.04841041 -0.07576998 10.92263838] [-0.04717334 0.99872393 0.01803313 -0.56975335] [ 0.07654628 -0.01438577 0.99696224 -0.43332281] [ 0. 0. 0. 1. ]] SLAMing on 47.612401008000006 meters Centerline goodness : 0.908386 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.57, Z:-0.43 [[ 0.99572611 0.05125547 -0.07682708 10.92600472] [-0.04961413 0.99850074 0.02312389 -0.57310892] [ 0.07789712 -0.01921335 0.99677625 -0.43090681] [ 0. 0. 0. 1. ]] SLAMing on 47.642401008 meters Centerline goodness : 0.909300 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.57, Z:-0.43 [[ 0.99571265 0.05010554 -0.07775448 10.92930694] [-0.04854512 0.99858237 0.0218318 -0.5714148 ] [ 0.07873815 -0.0179636 0.99673347 -0.43264838] [ 0. 0. 0. 1. ]] SLAMing on 47.672401008 meters Centerline goodness : 0.908096 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.57, Z:-0.43 [[ 0.99546852 0.05337048 -0.07870208 10.93242113] [-0.05142999 0.99832543 0.02648182 -0.57326536] [ 0.07998364 -0.02231417 0.99654638 -0.43125073] [ 0. 0. 0. 1. ]] SLAMing on 47.702401008 meters Centerline goodness : 0.908750 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.57, Z:-0.43 [[ 0.99547309 0.05282901 -0.07900896 10.93418067] [-0.05097601 0.99837961 0.02529034 -0.57151419] [ 0.080217 -0.02114829 0.99655305 -0.433314 ] [ 0. 0. 0. 1. ]] SLAMing on 47.732401008000004 meters Centerline goodness : 0.906922 Centerline is valid? [False, False] Translation: X:10.94, Y:-0.57, Z:-0.44 [[ 0.99545946 0.05220165 -0.07959555 10.93651939] [-0.05043184 0.998437 0.02408692 -0.56945201] [ 0.08072852 -0.01996341 0.99653619 -0.43522129] [ 0. 0. 0. 1. ]] SLAMing on 47.762401008000005 meters Centerline goodness : 0.907588 Centerline is valid? [False, False] Translation: X:10.94, Y:-0.57, Z:-0.44 [[ 0.99544338 0.05206063 -0.07988848 10.93766007] [-0.05036605 0.99846402 0.02308362 -0.56738792] [ 0.08096752 -0.01895477 0.99653649 -0.43677426] [ 0. 0. 0. 1. ]] SLAMing on 47.792401008000006 meters Centerline goodness : 0.907346 Centerline is valid? [False, False] Translation: X:10.95, Y:-0.56, Z:-0.44 [[ 9.95494340e-01 5.63900910e-02 -7.62310729e-02 1.09510353e+01] [-5.54757313e-02 9.98361021e-01 1.40610949e-02 -5.63894594e-01] [ 7.68990383e-02 -9.76876589e-03 9.96991028e-01 -4.42851233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.822401008 meters Centerline goodness : 0.907529 Centerline is valid? [False, False] Translation: X:10.95, Y:-0.57, Z:-0.44 [[ 0.99520598 0.06073728 -0.07665533 10.95171786] [-0.05946135 0.99805316 0.01882124 -0.56511696] [ 0.07764924 -0.01417298 0.99687999 -0.44100357] [ 0. 0. 0. 1. ]] SLAMing on 47.852401008 meters Centerline goodness : 0.910128 Centerline is valid? [False, False] Translation: X:10.95, Y:-0.56, Z:-0.44 [[ 0.99516448 0.06145548 -0.07662165 10.95076254] [-0.06019408 0.99801213 0.01866706 -0.56364943] [ 0.07761653 -0.01396463 0.99688548 -0.44087726] [ 0. 0. 0. 1. ]] SLAMing on 47.882401008 meters Centerline goodness : 0.909332 Centerline is valid? [False, False] Translation: X:10.95, Y:-0.56, Z:-0.44 [[ 0.99506045 0.06417157 -0.07574102 10.94624393] [-0.06288976 0.99783594 0.01919156 -0.56139947] [ 0.07680866 -0.01433343 0.99694282 -0.44028102] [ 0. 0. 0. 1. ]] SLAMing on 47.912401008 meters Centerline goodness : 0.906836 Centerline is valid? [False, False] Translation: X:10.95, Y:-0.56, Z:-0.44 [[ 0.9950447 0.06442117 -0.07573605 10.94606228] [-0.06317528 0.99782658 0.01873526 -0.55950316] [ 0.07677839 -0.01385777 0.99695188 -0.44069045] [ 0. 0. 0. 1. ]] SLAMing on 47.942401008000004 meters Centerline goodness : 0.907076 Centerline is valid? [False, False] Translation: X:10.95, Y:-0.56, Z:-0.44 [[ 0.99503008 0.06483379 -0.07557593 10.94533119] [-0.0636056 0.99780272 0.01854881 -0.55847603] [ 0.07661246 -0.01364957 0.99696751 -0.44078829] [ 0. 0. 0. 1. ]] SLAMing on 47.972401008000006 meters Centerline goodness : 0.909819 Centerline is valid? [False, False] Translation: X:10.94, Y:-0.56, Z:-0.44 [[ 0.99500412 0.06534211 -0.07547989 10.94437571] [-0.06410382 0.99776771 0.01871598 -0.55815794] [ 0.07653434 -0.01378393 0.99697166 -0.44023954] [ 0. 0. 0. 1. ]] SLAMing on 48.00240100800001 meters Centerline goodness : 0.909635 Centerline is valid? [False, False] Translation: X:10.94, Y:-0.56, Z:-0.44 [[ 0.99498524 0.06556261 -0.07553758 10.9440482 ] [-0.0643119 0.99775132 0.01887525 -0.55813318] [ 0.07660523 -0.01392263 0.99696429 -0.43973964] [ 0. 0. 0. 1. ]] SLAMing on 48.032401008 meters Centerline goodness : 0.909233 Centerline is valid? [False, False] Translation: X:10.96, Y:-0.56, Z:-0.44 [[ 9.95323771e-01 6.57246927e-02 -7.07873970e-02 1.09568242e+01] [-6.53277556e-02 9.97832505e-01 7.91054237e-03 -5.57765731e-01] [ 7.11538836e-02 -3.24916909e-03 9.97460058e-01 -4.44143705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.062401008 meters Centerline goodness : 0.908495 Centerline is valid? [False, False] Translation: X:10.96, Y:-0.56, Z:-0.44 [[ 9.95295697e-01 6.60002835e-02 -7.09255873e-02 1.09564071e+01] [-6.55511212e-02 9.97811768e-01 8.64442177e-03 -5.60110276e-01] [ 7.13409199e-02 -3.95450402e-03 9.97444151e-01 -4.42984672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.092401008 meters Centerline goodness : 0.911119 Centerline is valid? [False, False] Translation: X:10.96, Y:-0.56, Z:-0.44 [[ 9.95274679e-01 6.60462035e-02 -7.11773353e-02 1.09566724e+01] [-6.55564393e-02 9.97806472e-01 9.19766457e-03 -5.62422370e-01] [ 7.16286766e-02 -4.48806998e-03 9.97421270e-01 -4.42330309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.122401008000004 meters Centerline goodness : 0.911155 Centerline is valid? [False, False] Translation: X:10.96, Y:-0.56, Z:-0.44 [[ 9.95523134e-01 6.27569381e-02 -7.06771236e-02 1.09578997e+01] [-6.24744798e-02 9.98027291e-01 6.20210566e-03 -5.63503388e-01] [ 7.09269234e-02 -1.75882313e-03 9.97479964e-01 -4.44968014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.152401008000005 meters Centerline goodness : 0.906547 Centerline is valid? [False, False] Translation: X:10.96, Y:-0.56, Z:-0.45 [[ 9.95532537e-01 6.19285729e-02 -7.12728599e-02 1.09602934e+01] [-6.16583363e-02 9.98079355e-01 5.98755502e-03 -5.64005459e-01] [ 7.15067708e-02 -1.56623987e-03 9.97438885e-01 -4.45636353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18240100800001 meters Centerline goodness : 0.912679 Centerline is valid? [False, False] Translation: X:10.96, Y:-0.56, Z:-0.45 [[ 9.95537055e-01 6.16231927e-02 -7.14741453e-02 1.09612491e+01] [-6.13498662e-02 9.98098197e-01 6.01521512e-03 -5.64870816e-01] [ 7.17088924e-02 -1.60344030e-03 9.97424315e-01 -4.45988188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.212401008 meters Centerline goodness : 0.908305 Centerline is valid? [False, False] Translation: X:10.96, Y:-0.57, Z:-0.45 [[ 9.95543972e-01 6.10144075e-02 -7.18988258e-02 1.09630146e+01] [-6.07612945e-02 9.98136025e-01 5.70437363e-03 -5.65263970e-01] [ 7.21128572e-02 -1.31028905e-03 9.97395618e-01 -4.46729065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.242401008 meters Centerline goodness : 0.908894 Centerline is valid? [False, False] Translation: X:10.96, Y:-0.57, Z:-0.45 [[ 9.95549738e-01 6.04499394e-02 -7.22947025e-02 1.09649257e+01] [-6.02153533e-02 9.98170684e-01 5.42194862e-03 -5.66306253e-01] [ 7.24902091e-02 -1.04456848e-03 9.97368577e-01 -4.47868508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.272401008 meters Centerline goodness : 0.908591 Centerline is valid? [False, False] Translation: X:10.97, Y:-0.57, Z:-0.45 [[ 9.95538545e-01 6.01131181e-02 -7.27283814e-02 1.09662334e+01] [-5.98916629e-02 9.98191214e-01 5.22392128e-03 -5.66637691e-01] [ 7.29108575e-02 -8.44791296e-04 9.97338104e-01 -4.48223667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.302401008000004 meters Centerline goodness : 0.907691 Centerline is valid? [False, False] Translation: X:10.97, Y:-0.57, Z:-0.45 [[ 9.95520391e-01 6.02889894e-02 -7.28312407e-02 1.09661499e+01] [-6.00581589e-02 9.98180504e-01 5.35720688e-03 -5.67084112e-01] [ 7.30217052e-02 -9.59098452e-04 9.97329891e-01 -4.47972833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.332401008000005 meters Centerline goodness : 0.906133 Centerline is valid? [False, False] Translation: X:10.97, Y:-0.57, Z:-0.45 [[ 9.95511294e-01 6.03797972e-02 -7.28803339e-02 1.09661088e+01] [-6.01599143e-02 9.98175153e-01 5.21044655e-03 -5.66794190e-01] [ 7.30619441e-02 -8.02583749e-04 9.97327082e-01 -4.48040921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.362401008000006 meters Centerline goodness : 0.903903 Centerline is valid? [False, False] Translation: X:10.97, Y:-0.56, Z:-0.45 [[ 9.95494818e-01 6.07855971e-02 -7.27679756e-02 1.09659840e+01] [-6.06158900e-02 9.98150840e-01 4.54032711e-03 -5.64672043e-01] [ 7.29094025e-02 -1.08976504e-04 9.97338562e-01 -4.49341977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.392401008 meters Centerline goodness : 0.903903 Centerline is valid? [False, False] Translation: X:10.97, Y:-0.56, Z:-0.45 [[ 9.95494818e-01 6.07855971e-02 -7.27679756e-02 1.09659840e+01] [-6.06158900e-02 9.98150840e-01 4.54032711e-03 -5.64672043e-01] [ 7.29094025e-02 -1.08976504e-04 9.97338562e-01 -4.49341977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.422401008 meters Centerline goodness : 0.904717 Centerline is valid? [False, False] Translation: X:10.97, Y:-0.56, Z:-0.45 [[ 9.95214999e-01 6.53999327e-02 -7.25944479e-02 1.09656326e+01] [-6.49246727e-02 9.97850569e-01 8.88982603e-03 -5.64651320e-01] [ 7.30198052e-02 -4.13411743e-03 9.97321923e-01 -4.48554319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.452401008 meters Centerline goodness : 0.904860 Centerline is valid? [False, False] Translation: X:10.96, Y:-0.56, Z:-0.45 [[ 9.95197246e-01 6.59328408e-02 -7.23553931e-02 1.09645449e+01] [-6.54667858e-02 9.97815975e-01 8.79653800e-03 -5.63499742e-01] [ 7.27773479e-02 -4.01741537e-03 9.97340122e-01 -4.48444126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.482401008000004 meters Centerline goodness : 0.903788 Centerline is valid? [False, False] Translation: X:10.96, Y:-0.56, Z:-0.45 [[ 9.95186624e-01 6.62254199e-02 -7.22341844e-02 1.09638910e+01] [-6.57682960e-02 9.97797071e-01 8.69119779e-03 -5.62866464e-01] [ 7.26506358e-02 -3.89864457e-03 9.97349831e-01 -4.48340773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.512401008000005 meters Centerline goodness : 0.904806 Centerline is valid? [False, False] Translation: X:10.96, Y:-0.56, Z:-0.45 [[ 9.95177433e-01 6.62327762e-02 -7.23539640e-02 1.09640345e+01] [-6.57838700e-02 9.97797072e-01 8.57240116e-03 -5.62759173e-01] [ 7.27623474e-02 -3.77133642e-03 9.97342177e-01 -4.48313798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.542401008000006 meters Centerline goodness : 0.905741 Centerline is valid? [False, False] Translation: X:10.96, Y:-0.56, Z:-0.45 [[ 9.95174089e-01 6.65588892e-02 -7.21002544e-02 1.09634401e+01] [-6.61229982e-02 9.97775967e-01 8.41835418e-03 -5.62993504e-01] [ 7.25002174e-02 -3.61024295e-03 9.97361862e-01 -4.48948314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.572401008 meters Centerline goodness : 0.905005 Centerline is valid? [False, False] Translation: X:10.96, Y:-0.56, Z:-0.45 [[ 9.95171227e-01 6.64366001e-02 -7.22523877e-02 1.09639067e+01] [-6.59855109e-02 9.97783390e-01 8.61499944e-03 -5.63904883e-01] [ 7.26645836e-02 -3.80578885e-03 9.97349174e-01 -4.48793074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.602401008 meters Centerline goodness : 0.905832 Centerline is valid? [False, False] Translation: X:10.96, Y:-0.56, Z:-0.45 [[ 9.95426105e-01 6.26983942e-02 -7.20817701e-02 1.09626758e+01] [-6.25549560e-02 9.98032481e-01 4.24792126e-03 -5.62725120e-01] [ 7.22062857e-02 2.80580249e-04 9.97389680e-01 -4.49484690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.632401008 meters Centerline goodness : 0.907369 Centerline is valid? [False, False] Translation: X:10.96, Y:-0.56, Z:-0.45 [[ 9.95678229e-01 5.88167146e-02 -7.18711253e-02 1.09613178e+01] [-5.89346570e-02 9.98261727e-01 4.80307114e-04 -5.63695658e-01] [ 7.17744438e-02 3.75746878e-03 9.97413811e-01 -4.49392494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.662401008 meters Centerline goodness : 0.904960 Centerline is valid? [False, False] Translation: X:10.96, Y:-0.56, Z:-0.45 [[ 9.95677919e-01 5.80187552e-02 -7.25210659e-02 1.09634661e+01] [-5.81148929e-02 9.98309592e-01 7.85484215e-04 -5.64931973e-01] [ 7.24440486e-02 3.43246469e-03 9.97366572e-01 -4.48957798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.692401008000004 meters Centerline goodness : 0.903684 Centerline is valid? [False, False] Translation: X:10.97, Y:-0.57, Z:-0.45 [[ 9.95686405e-01 5.71730168e-02 -7.30741373e-02 1.09654196e+01] [-5.72637064e-02 9.98358721e-01 8.55104383e-04 -5.66158589e-01] [ 7.30030912e-02 3.33308013e-03 9.97326145e-01 -4.48850397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.722401008000006 meters Centerline goodness : 0.904763 Centerline is valid? [False, False] Translation: X:10.97, Y:-0.57, Z:-0.45 [[ 9.95779034e-01 5.36979206e-02 -7.44355331e-02 1.09720284e+01] [-5.37707320e-02 9.98552780e-01 1.02693324e-03 -5.68862128e-01] [ 7.43829526e-02 2.97985451e-03 9.97225299e-01 -4.48071403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.75240100800001 meters Centerline goodness : 0.905042 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.57, Z:-0.45 [[ 9.95799647e-01 5.23332581e-02 -7.51285064e-02 1.09751211e+01] [-5.24222133e-02 9.98624699e-01 7.88815793e-04 -5.70212750e-01] [ 7.50664634e-02 3.15290010e-03 9.97173548e-01 -4.48699153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.782401008 meters Centerline goodness : 0.904502 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.57, Z:-0.45 [[ 9.95806878e-01 5.12275828e-02 -7.57917957e-02 1.09778998e+01] [-5.13461622e-02 9.98680842e-01 3.84527404e-04 -5.70397614e-01] [ 7.57115127e-02 3.50870280e-03 9.97123591e-01 -4.49462326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.812401008 meters Centerline goodness : 0.903132 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.57, Z:-0.45 [[ 9.95794564e-01 5.05407921e-02 -7.64121416e-02 1.09798436e+01] [-5.06972746e-02 9.98714060e-01 -1.08238072e-04 -5.69187796e-01] [ 7.63084098e-02 3.98167021e-03 9.97076312e-01 -4.49739353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.842401008 meters Centerline goodness : 0.903132 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.57, Z:-0.45 [[ 9.95794564e-01 5.05407921e-02 -7.64121416e-02 1.09798436e+01] [-5.06972746e-02 9.98714060e-01 -1.08238072e-04 -5.69187796e-01] [ 7.63084098e-02 3.98167021e-03 9.97076312e-01 -4.49739353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.872401008000004 meters Centerline goodness : 0.902790 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.57, Z:-0.45 [[ 9.95800280e-01 5.00203351e-02 -7.66796503e-02 1.09808637e+01] [-5.02046738e-02 9.98738836e-01 -4.77010397e-04 -5.68271875e-01] [ 7.65590845e-02 4.32468392e-03 9.97055667e-01 -4.49931690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.902401008000005 meters Centerline goodness : 0.898354 Centerline is valid? [False, False] Translation: X:10.99, Y:-0.57, Z:-0.45 [[ 9.95824633e-01 4.74936834e-02 -7.79592872e-02 1.09865704e+01] [-4.77564837e-02 9.98857868e-01 -1.50903786e-03 -5.66878867e-01] [ 7.77985776e-02 5.22579850e-03 9.96955401e-01 -4.51200771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.93240100800001 meters Centerline goodness : 0.897661 Centerline is valid? [False, False] Translation: X:10.99, Y:-0.57, Z:-0.45 [[ 9.95810937e-01 4.63232003e-02 -7.88336119e-02 1.09896533e+01] [-4.65853439e-02 9.98913205e-01 -1.48843255e-03 -5.67374274e-01] [ 7.86789870e-02 5.15468834e-03 9.96886677e-01 -4.51068430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.962401008 meters Centerline goodness : 0.898662 Centerline is valid? [False, False] Translation: X:11.00, Y:-0.57, Z:-0.45 [[ 9.95719043e-01 4.53952996e-02 -8.05161709e-02 1.09997096e+01] [-4.52122886e-02 9.98969006e-01 4.09558144e-03 -5.69917355e-01] [ 8.06190793e-02 -4.37728079e-04 9.96744888e-01 -4.46741984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.992401008 meters Centerline goodness : 0.902601 Centerline is valid? [False, False] Translation: X:11.01, Y:-0.57, Z:-0.45 [[ 9.95702073e-01 4.27579210e-02 -8.21531621e-02 1.10061661e+01] [-4.25863940e-02 9.99085409e-01 3.83982963e-03 -5.71073307e-01] [ 8.22422087e-02 -3.24719396e-04 9.96612319e-01 -4.46889261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.022401008 meters Centerline goodness : 0.901554 Centerline is valid? [False, False] Translation: X:11.01, Y:-0.57, Z:-0.45 [[ 9.95692105e-01 4.22825851e-02 -8.25191845e-02 1.10073618e+01] [-4.20864797e-02 9.99105496e-01 4.11525662e-03 -5.71381100e-01] [ 8.26193744e-02 -6.24586546e-04 9.96580980e-01 -4.46266734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.052401008000004 meters Centerline goodness : 0.900575 Centerline is valid? [False, False] Translation: X:11.01, Y:-0.57, Z:-0.44 [[ 9.95483627e-01 4.50284483e-02 -8.35750425e-02 1.10110544e+01] [-4.43474043e-02 9.98966235e-01 9.98844347e-03 -5.74702665e-01] [ 8.39384097e-02 -6.23699573e-03 9.96451425e-01 -4.42500411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.082401008000005 meters Centerline goodness : 0.900116 Centerline is valid? [False, False] Translation: X:11.01, Y:-0.58, Z:-0.44 [[ 0.99525667 0.04821483 -0.08449549 11.01375299] [-0.04703148 0.9987662 0.01594104 -0.57749901] [ 0.08515983 -0.01189148 0.99629634 -0.43829837] [ 0. 0. 0. 1. ]] SLAMing on 49.112401008000006 meters Centerline goodness : 0.901849 Centerline is valid? [False, False] Translation: X:11.01, Y:-0.58, Z:-0.44 [[ 0.99524388 0.04839598 -0.08454257 11.01315526] [-0.04720574 0.99875668 0.01602249 -0.57642458] [ 0.08521288 -0.01195539 0.99629104 -0.43737803] [ 0. 0. 0. 1. ]] SLAMing on 49.142401008 meters Centerline goodness : 0.904795 Centerline is valid? [False, False] Translation: X:11.01, Y:-0.58, Z:-0.43 [[ 0.99498958 0.05276013 -0.0849241 11.01325214] [-0.05108544 0.99845687 0.02177516 -0.57826887] [ 0.08594191 -0.01732768 0.99614946 -0.43346639] [ 0. 0. 0. 1. ]] SLAMing on 49.172401008 meters Centerline goodness : 0.901966 Centerline is valid? [False, False] Translation: X:11.02, Y:-0.57, Z:-0.44 [[ 9.95250647e-01 5.67215545e-02 -7.91126670e-02 1.10230882e+01] [-5.57605773e-02 9.98341681e-01 1.43054385e-02 -5.74823577e-01] [ 7.97928997e-02 -9.82612899e-03 9.96763031e-01 -4.35517537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.202401008 meters Centerline goodness : 0.905505 Centerline is valid? [False, False] Translation: X:11.04, Y:-0.57, Z:-0.44 [[ 9.95502066e-01 5.86091448e-02 -7.44352335e-02 1.10373246e+01] [-5.83373601e-02 9.98279948e-01 5.82212889e-03 -5.72734439e-01] [ 7.46484311e-02 -1.45358632e-03 9.97208854e-01 -4.39227128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.232401008000004 meters Centerline goodness : 0.901319 Centerline is valid? [False, False] Translation: X:11.04, Y:-0.57, Z:-0.44 [[ 9.95494452e-01 5.87521326e-02 -7.44243454e-02 1.10370523e+01] [-5.84787866e-02 9.98271519e-01 5.84853079e-03 -5.72206126e-01] [ 7.46393181e-02 -1.46993454e-03 9.97209512e-01 -4.38935414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.262401008000005 meters Centerline goodness : 0.903025 Centerline is valid? [False, False] Translation: X:11.04, Y:-0.58, Z:-0.43 [[ 9.95240840e-01 6.20526466e-02 -7.51341442e-02 1.10389772e+01] [-6.12994741e-02 9.98043733e-01 1.22915487e-02 -5.76532709e-01] [ 7.57498849e-02 -7.62736773e-03 9.97097677e-01 -4.34087581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.292401008000006 meters Centerline goodness : 0.906210 Centerline is valid? [False, False] Translation: X:11.04, Y:-0.58, Z:-0.43 [[ 9.95246475e-01 6.14581984e-02 -7.55469665e-02 1.10405790e+01] [-6.07330789e-02 9.98083573e-01 1.18606424e-02 -5.76354021e-01] [ 7.61311200e-02 -7.21606267e-03 9.97071703e-01 -4.34771485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32240100800001 meters Centerline goodness : 0.905507 Centerline is valid? [False, False] Translation: X:11.04, Y:-0.58, Z:-0.44 [[ 9.95247793e-01 6.07331045e-02 -7.61138693e-02 1.10428279e+01] [-6.00505654e-02 9.98132206e-01 1.12262706e-02 -5.75742207e-01] [ 7.66535106e-02 -6.60224018e-03 9.97035932e-01 -4.35909862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.352401008 meters Centerline goodness : 0.906018 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.58, Z:-0.44 [[ 9.95246666e-01 5.99454212e-02 -7.67503763e-02 1.10453960e+01] [-5.93140025e-02 9.98184337e-01 1.04822583e-02 -5.75326160e-01] [ 7.72393869e-02 -5.88006066e-03 9.96995237e-01 -4.37324766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.382401008 meters Centerline goodness : 0.904536 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.57, Z:-0.44 [[ 9.95230434e-01 5.87236311e-02 -7.78968404e-02 1.10498107e+01] [-5.81994608e-02 9.98264547e-01 8.98424535e-03 -5.74951671e-01] [ 7.82892416e-02 -4.40784029e-03 9.96920942e-01 -4.40281367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.412401008 meters Centerline goodness : 0.905561 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.57, Z:-0.44 [[ 9.95221445e-01 5.79460119e-02 -7.85909335e-02 1.10523899e+01] [-5.74653045e-02 9.98312447e-01 8.36637861e-03 -5.74413116e-01] [ 7.89431055e-02 -3.81014748e-03 9.96871842e-01 -4.41324750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.442401008000004 meters Centerline goodness : 0.903263 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.57, Z:-0.44 [[ 9.95228148e-01 5.75146212e-02 -7.88225963e-02 1.10536707e+01] [-5.70767861e-02 9.98339334e-01 7.79832804e-03 -5.73965148e-01] [ 7.91402162e-02 -3.26217510e-03 9.96858157e-01 -4.42435551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.472401008000006 meters Centerline goodness : 0.903916 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.57, Z:-0.44 [[ 9.95218570e-01 5.72513876e-02 -7.91345456e-02 1.10546800e+01] [-5.68212415e-02 9.98354839e-01 7.67863339e-03 -5.73595220e-01] [ 7.94439690e-02 -3.14539542e-03 9.96834371e-01 -4.42518659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50240100800001 meters Centerline goodness : 0.906721 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.57, Z:-0.44 [[ 9.95207463e-01 5.73116507e-02 -7.92305575e-02 1.10548042e+01] [-5.68929275e-02 9.98351858e-01 7.53405003e-03 -5.72815578e-01] [ 7.95317631e-02 -2.99028445e-03 9.96827847e-01 -4.42581870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.532401008 meters Centerline goodness : 0.905831 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.57, Z:-0.44 [[ 9.95203086e-01 5.71662105e-02 -7.93904340e-02 1.10552437e+01] [-5.67509952e-02 9.98360355e-01 7.47838913e-03 -5.72077095e-01] [ 7.96877730e-02 -2.93702981e-03 9.96815546e-01 -4.42405137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.562401008 meters Centerline goodness : 0.906154 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.57, Z:-0.44 [[ 9.95209821e-01 5.76065948e-02 -7.89866613e-02 1.10539980e+01] [-5.72143400e-02 9.98335795e-01 7.22213711e-03 -5.70077275e-01] [ 7.92712541e-02 -2.66837208e-03 9.96849511e-01 -4.42453222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.592401008 meters Centerline goodness : 0.904527 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.57, Z:-0.44 [[ 9.95213401e-01 5.75905800e-02 -7.89532275e-02 1.10542212e+01] [-5.72393840e-02 9.98337960e-01 6.70599737e-03 -5.68649217e-01] [ 7.92082064e-02 -2.15466434e-03 9.96855766e-01 -4.43211379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.622401008000004 meters Centerline goodness : 0.905227 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.57, Z:-0.44 [[ 9.95203827e-01 5.71902559e-02 -7.93638309e-02 1.10555530e+01] [-5.68905103e-02 9.98362185e-01 6.03468039e-03 -5.67034016e-01] [ 7.95789725e-02 -1.49068819e-03 9.96827450e-01 -4.43866247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.652401008000005 meters Centerline goodness : 0.905601 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.57, Z:-0.44 [[ 9.95201914e-01 5.73110070e-02 -7.93006811e-02 1.10552356e+01] [-5.70281628e-02 9.98355555e-01 5.82877048e-03 -5.66467816e-01] [ 7.95043282e-02 -1.27843139e-03 9.96833701e-01 -4.43962030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68240100800001 meters Centerline goodness : 0.900503 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.57, Z:-0.44 [[ 9.95184815e-01 5.70034478e-02 -7.97357527e-02 1.10560539e+01] [-5.67021161e-02 9.98372870e-01 6.04008646e-03 -5.66916997e-01] [ 7.99503180e-02 -1.48981643e-03 9.96797736e-01 -4.43135651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.712401008 meters Centerline goodness : 0.902281 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.57, Z:-0.44 [[ 9.95175527e-01 5.62999587e-02 -8.03491442e-02 1.10581700e+01] [-5.59883242e-02 9.98412618e-01 6.12799452e-03 -5.68084882e-01] [ 8.05666052e-02 -1.59981625e-03 9.96747943e-01 -4.43209870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.742401008 meters Centerline goodness : 0.904463 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.57, Z:-0.44 [[ 9.95182002e-01 5.51639624e-02 -8.10538121e-02 1.10610423e+01] [-5.48568063e-02 9.98476125e-01 6.01320307e-03 -5.69418069e-01] [ 8.12620083e-02 -1.53787819e-03 9.96691588e-01 -4.43728198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.772401008 meters Centerline goodness : 0.901150 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.57, Z:-0.44 [[ 9.95174619e-01 5.36614008e-02 -8.21457909e-02 1.10649472e+01] [-5.33407948e-02 9.98557771e-01 6.09408730e-03 -5.71179015e-01] [ 8.23543351e-02 -1.68295924e-03 9.96601691e-01 -4.43741859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.802401008000004 meters Centerline goodness : 0.899714 Centerline is valid? [False, False] Translation: X:11.07, Y:-0.57, Z:-0.44 [[ 9.95407089e-01 4.60940648e-02 -8.39050887e-02 1.10719618e+01] [-4.60671727e-02 9.98935793e-01 2.25756124e-03 -5.73301834e-01] [ 8.39198565e-02 1.61807775e-03 9.96471194e-01 -4.43294840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.832401008000005 meters Centerline goodness : 0.899833 Centerline is valid? [False, False] Translation: X:11.08, Y:-0.58, Z:-0.44 [[ 9.95398960e-01 4.43310059e-02 -8.49451149e-02 1.10753989e+01] [-4.41662660e-02 9.99016896e-01 3.81856808e-03 -5.77360286e-01] [ 8.50308860e-02 -4.92901554e-05 9.96378315e-01 -4.40266447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.862401008000006 meters Centerline goodness : 0.897746 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.58, Z:-0.43 [[ 9.95595194e-01 4.18671310e-02 -8.38889335e-02 1.10856471e+01] [-4.08373276e-02 9.99068350e-01 1.39550985e-02 -5.83131392e-01] [ 8.43950383e-02 -1.04678292e-02 9.96377389e-01 -4.28841991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.892401008 meters Centerline goodness : 0.900488 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.59, Z:-0.42 [[ 0.99634477 0.03192739 -0.07923219 11.09045633] [-0.02957563 0.99909159 0.0306803 -0.58896849] [ 0.08013976 -0.02822482 0.99638395 -0.41903862] [ 0. 0. 0. 1. ]] SLAMing on 49.922401008 meters Centerline goodness : 0.901486 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.59, Z:-0.42 [[ 0.99648304 0.02685822 -0.07937377 11.0918009 ] [-0.02494855 0.99937724 0.02495394 -0.58680256] [ 0.07999456 -0.02288592 0.99653254 -0.42181825] [ 0. 0. 0. 1. ]] SLAMing on 49.952401008 meters Centerline goodness : 0.903049 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.59, Z:-0.42 [[ 0.99647544 0.02640684 -0.07962023 11.09261428] [-0.02448824 0.99938803 0.02497796 -0.5870273 ] [ 0.0802311 -0.02294017 0.99651228 -0.42148617] [ 0. 0. 0. 1. ]] SLAMing on 49.982401008000004 meters Centerline goodness : 0.900216 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.59, Z:-0.42 [[ 0.99667262 0.02410565 -0.07786268 11.04820046] [-0.02134871 0.999122 0.03604813 -0.58532347] [ 0.07866328 -0.03426592 0.99631217 -0.41948821] [ 0. 0. 0. 1. ]] SLAMing on 50.012401008000005 meters Centerline goodness : 0.900350 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.58, Z:-0.42 [[ 0.99665636 0.02365767 -0.07820757 11.04988283] [-0.0210914 0.99921687 0.03347846 -0.58014392] [ 0.07893834 -0.03171701 0.99637481 -0.42334201] [ 0. 0. 0. 1. ]] SLAMing on 50.042401008000006 meters Centerline goodness : 0.899311 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.58, Z:-0.43 [[ 0.996664 0.02346013 -0.07816967 11.05035574] [-0.02101989 0.99927016 0.03189522 -0.57650114] [ 0.07886089 -0.0301457 0.99642973 -0.42550146] [ 0. 0. 0. 1. ]] SLAMing on 50.07240100800001 meters Centerline goodness : 0.895958 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.57, Z:-0.43 [[ 0.99664579 0.02394588 -0.07825454 11.04982129] [-0.02155918 0.99928052 0.03120314 -0.57322825] [ 0.07894543 -0.02941137 0.99644498 -0.42572927] [ 0. 0. 0. 1. ]] SLAMing on 50.102401008 meters Centerline goodness : 0.899440 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.57, Z:-0.43 [[ 0.99663796 0.02397963 -0.07834381 11.04984001] [-0.02167819 0.99931191 0.03009581 -0.56971133] [ 0.07901159 -0.02829628 0.99647202 -0.42667315] [ 0. 0. 0. 1. ]] SLAMing on 50.132401008 meters Centerline goodness : 0.897112 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.57, Z:-0.43 [[ 0.99648579 0.02782427 -0.07900556 11.05129152] [-0.02517932 0.99909506 0.03427919 -0.56925424] [ 0.07988786 -0.03216942 0.99628463 -0.42536919] [ 0. 0. 0. 1. ]] SLAMing on 50.162401008 meters Centerline goodness : 0.897697 Centerline is valid? [False, False] Translation: X:11.07, Y:-0.56, Z:-0.43 [[ 0.99676792 0.02926344 -0.07481559 11.06533915] [-0.02762346 0.99935693 0.0228621 -0.56385 ] [ 0.0754365 -0.02072155 0.99693528 -0.43269174] [ 0. 0. 0. 1. ]] SLAMing on 50.192401008000004 meters Centerline goodness : 0.895975 Centerline is valid? [False, False] Translation: X:11.08, Y:-0.56, Z:-0.44 [[ 0.99699291 0.03284414 -0.0701883 11.0801604 ] [-0.03186255 0.9993788 0.01505944 -0.55727066] [ 0.07063932 -0.01277777 0.99742008 -0.43779617] [ 0. 0. 0. 1. ]] SLAMing on 50.222401008000006 meters Centerline goodness : 0.896659 Centerline is valid? [False, False] Translation: X:11.08, Y:-0.56, Z:-0.44 [[ 0.99681524 0.03676814 -0.0707636 11.08131014] [-0.03546886 0.99917991 0.01953109 -0.55731134] [ 0.07142369 -0.01695898 0.99730188 -0.43612777] [ 0. 0. 0. 1. ]] SLAMing on 50.25240100800001 meters Centerline goodness : 0.896087 Centerline is valid? [False, False] Translation: X:11.08, Y:-0.56, Z:-0.43 [[ 0.99662988 0.0404253 -0.07137698 11.08286727] [-0.03882022 0.99896431 0.02373372 -0.55710117] [ 0.0722625 -0.02088287 0.99716701 -0.43484607] [ 0. 0. 0. 1. ]] SLAMing on 50.282401008 meters Centerline goodness : 0.894795 Centerline is valid? [False, False] Translation: X:11.08, Y:-0.55, Z:-0.44 [[ 0.99661973 0.04047666 -0.07148957 11.08272736] [-0.03893079 0.99897977 0.02288689 -0.55412139] [ 0.07234302 -0.02002638 0.99717874 -0.435212 ] [ 0. 0. 0. 1. ]] SLAMing on 50.312401008 meters Centerline goodness : 0.895111 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.55, Z:-0.44 [[ 9.96846455e-01 4.25923482e-02 -6.69554828e-02 1.10944039e+01] [-4.18181730e-02 9.99041665e-01 1.29225117e-02 -5.50126833e-01] [ 6.74417171e-02 -1.00818040e-02 9.97672277e-01 -4.38385236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.342401008 meters Centerline goodness : 0.893915 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.55, Z:-0.44 [[ 9.96827789e-01 4.26370434e-02 -6.72044742e-02 1.10943535e+01] [-4.18761994e-02 9.99042211e-01 1.26903280e-02 -5.48981611e-01] [ 6.76811846e-02 -9.83580363e-03 9.97658516e-01 -4.37829733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.372401008000004 meters Centerline goodness : 0.898790 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.55, Z:-0.44 [[ 9.96827556e-01 4.23875112e-02 -6.73655926e-02 1.10949512e+01] [-4.16766305e-02 9.99059999e-01 1.19237905e-02 -5.46778413e-01] [ 6.78076887e-02 -9.07839207e-03 9.97657105e-01 -4.38518545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.402401008000005 meters Centerline goodness : 0.892655 Centerline is valid? [False, False] Translation: X:11.10, Y:-0.54, Z:-0.44 [[ 9.96847139e-01 4.19869716e-02 -6.73266316e-02 1.10963832e+01] [-4.13631925e-02 9.99087597e-01 1.06329768e-02 -5.41655181e-01] [ 6.77116491e-02 -7.81460809e-03 9.97674328e-01 -4.40859321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.43240100800001 meters Centerline goodness : 0.890139 Centerline is valid? [False, False] Translation: X:11.10, Y:-0.54, Z:-0.44 [[ 9.96845527e-01 4.11167329e-02 -6.78852740e-02 1.10988665e+01] [-4.05610740e-02 9.99131479e-01 9.54400009e-03 -5.39430344e-01] [ 6.82187323e-02 -6.76039417e-03 9.97647484e-01 -4.42512008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.462401008 meters Centerline goodness : 0.891927 Centerline is valid? [False, False] Translation: X:11.10, Y:-0.54, Z:-0.44 [[ 9.96836701e-01 4.01986079e-02 -6.85613889e-02 1.11014699e+01] [-3.96942656e-02 9.99173969e-01 8.70317536e-03 -5.38388965e-01] [ 6.88546105e-02 -5.95415063e-03 9.97608937e-01 -4.43766247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.492401008 meters Centerline goodness : 0.890209 Centerline is valid? [False, False] Translation: X:11.11, Y:-0.54, Z:-0.44 [[ 9.96801139e-01 3.87375668e-02 -6.99063008e-02 1.11051784e+01] [-3.82399245e-02 9.99232914e-01 8.44346641e-03 -5.39135314e-01] [ 7.01797560e-02 -5.74324527e-03 9.97517828e-01 -4.43374166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.522401008 meters Centerline goodness : 0.890966 Centerline is valid? [False, False] Translation: X:11.11, Y:-0.54, Z:-0.44 [[ 9.96779639e-01 3.78416884e-02 -7.06990711e-02 1.11071474e+01] [-3.73407647e-02 9.99267335e-01 8.39401739e-03 -5.39364813e-01] [ 7.09649162e-02 -5.72702824e-03 9.97462371e-01 -4.42626884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.552401008000004 meters Centerline goodness : 0.889558 Centerline is valid? [False, False] Translation: X:11.11, Y:-0.54, Z:-0.44 [[ 9.96764945e-01 3.70404012e-02 -7.13277873e-02 1.11088216e+01] [-3.65455335e-02 9.99298091e-01 8.23095146e-03 -5.39184711e-01] [ 7.15825995e-02 -5.59761184e-03 9.97418968e-01 -4.42150109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.582401008000005 meters Centerline goodness : 0.887506 Centerline is valid? [False, False] Translation: X:11.11, Y:-0.54, Z:-0.44 [[ 9.96751908e-01 3.64293048e-02 -7.18229749e-02 1.11099816e+01] [-3.59253460e-02 9.99320038e-01 8.29646860e-03 -5.39085057e-01] [ 7.20763726e-02 -5.68925568e-03 9.97382890e-01 -4.41319974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.612401008000006 meters Centerline goodness : 0.890489 Centerline is valid? [False, False] Translation: X:11.11, Y:-0.54, Z:-0.44 [[ 9.96756542e-01 3.52478721e-02 -7.23462718e-02 1.11115541e+01] [-3.47352558e-02 9.99361817e-01 8.33193053e-03 -5.38114292e-01] [ 7.25937845e-02 -5.79194001e-03 9.97344773e-01 -4.39944450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.642401008 meters Centerline goodness : 0.887751 Centerline is valid? [False, False] Translation: X:11.11, Y:-0.54, Z:-0.44 [[ 9.96751005e-01 3.46372051e-02 -7.27165655e-02 1.11128627e+01] [-3.41185600e-02 9.99382803e-01 8.36285605e-03 -5.37661565e-01] [ 7.29613510e-02 -5.85470066e-03 9.97317584e-01 -4.39515346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.672401008 meters Centerline goodness : 0.890357 Centerline is valid? [False, False] Translation: X:11.11, Y:-0.54, Z:-0.44 [[ 9.96739063e-01 3.36595305e-02 -7.33367315e-02 1.11149057e+01] [-3.31583903e-02 9.99417766e-01 8.04058040e-03 -5.36878169e-01] [ 7.35646745e-02 -5.58263261e-03 9.97274823e-01 -4.39397158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.702401008 meters Centerline goodness : 0.889267 Centerline is valid? [False, False] Translation: X:11.12, Y:-0.54, Z:-0.43 [[ 0.99662384 0.03380879 -0.074819 11.12278381] [-0.03282478 0.9993582 0.01434309 -0.53861036] [ 0.07525591 -0.01183875 0.99709397 -0.43393138] [ 0. 0. 0. 1. ]] SLAMing on 50.732401008000004 meters Centerline goodness : 0.889267 Centerline is valid? [False, False] Translation: X:11.12, Y:-0.54, Z:-0.43 [[ 0.9966257 0.0338751 -0.07476425 11.12266766] [-0.03290204 0.99935758 0.01420887 -0.53831477] [ 0.07519754 -0.01170103 0.9971 -0.43402842] [ 0. 0. 0. 1. ]] SLAMing on 50.762401008000005 meters Centerline goodness : 0.886824 Centerline is valid? [False, False] Translation: X:11.13, Y:-0.54, Z:-0.43 [[ 0.99659164 0.0324719 -0.07583329 11.12606843] [-0.03151581 0.99940838 0.01377087 -0.53789025] [ 0.07623559 -0.01133399 0.99702541 -0.43405461] [ 0. 0. 0. 1. ]] SLAMing on 50.792401008000006 meters Centerline goodness : 0.888219 Centerline is valid? [False, False] Translation: X:11.14, Y:-0.54, Z:-0.43 [[ 0.99660602 0.02819944 -0.07733839 11.14094131] [-0.02680872 0.99946072 0.01896207 -0.53759218] [ 0.07783141 -0.01682437 0.99682456 -0.42887236] [ 0. 0. 0. 1. ]] SLAMing on 50.82240100800001 meters Centerline goodness : 0.890240 Centerline is valid? [False, False] Translation: X:11.14, Y:-0.54, Z:-0.43 [[ 0.99659462 0.02732033 -0.07779947 11.14306902] [-0.02598937 0.9994989 0.01806919 -0.5352668 ] [ 0.07825414 -0.01598569 0.99680527 -0.42979396] [ 0. 0. 0. 1. ]] SLAMing on 50.852401008 meters Centerline goodness : 0.889429 Centerline is valid? [False, False] Translation: X:11.15, Y:-0.53, Z:-0.43 [[ 0.99657395 0.02600632 -0.0785113 11.14645027] [-0.02479011 0.99955772 0.01642623 -0.53190669] [ 0.07890376 -0.01442365 0.99677789 -0.43215172] [ 0. 0. 0. 1. ]] SLAMing on 50.882401008 meters Centerline goodness : 0.889065 Centerline is valid? [False, False] Translation: X:11.11, Y:-0.53, Z:-0.43 [[ 0.99667295 0.0228451 -0.07823761 11.11008646] [-0.02069622 0.99938893 0.02816785 -0.52757002] [ 0.07883329 -0.02645491 0.99653673 -0.43144205] [ 0. 0. 0. 1. ]] SLAMing on 50.912401008 meters Centerline goodness : 0.885717 Centerline is valid? [False, False] Translation: X:11.11, Y:-0.52, Z:-0.43 [[ 0.99663241 0.02070251 -0.07934259 11.11457227] [-0.01875122 0.99950504 0.02525997 -0.521059 ] [ 0.07982626 -0.02368713 0.99652731 -0.43450454] [ 0. 0. 0. 1. ]] SLAMing on 50.942401008000004 meters Centerline goodness : 0.885580 Centerline is valid? [False, False] Translation: X:11.11, Y:-0.52, Z:-0.44 [[ 0.99670931 0.01654632 -0.07935223 11.11442605] [-0.01497649 0.99968099 0.0203377 -0.51612379] [ 0.07966343 -0.01908236 0.99663915 -0.43535715] [ 0. 0. 0. 1. ]] SLAMing on 50.972401008000006 meters Centerline goodness : 0.886506 Centerline is valid? [False, False] Translation: X:11.08, Y:-0.51, Z:-0.44 [[ 9.97423319e-01 9.38126699e-03 -7.11246425e-02 1.10824416e+01] [-7.42177360e-03 9.99586939e-01 2.77645248e-02 -5.10947900e-01] [ 7.13557301e-02 -2.71651135e-02 9.97080948e-01 -4.38011572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00240100800001 meters Centerline goodness : 0.887580 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.50, Z:-0.44 [[ 9.97813168e-01 2.50794046e-03 -6.60499142e-02 1.10629255e+01] [-7.11709678e-04 9.99629634e-01 2.72045519e-02 -5.04232122e-01] [ 6.60936790e-02 -2.70980517e-02 9.97445398e-01 -4.41377327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.032401008 meters Centerline goodness : 0.885044 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.50, Z:-0.44 [[ 9.97807460e-01 -3.32613056e-03 -6.60999987e-02 1.10643468e+01] [ 4.75154844e-03 9.99759294e-01 2.14190706e-02 -4.96097415e-01] [ 6.60128454e-02 -2.16861858e-02 9.97583086e-01 -4.42457871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.062401008 meters Centerline goodness : 0.884457 Centerline is valid? [False, False] Translation: X:11.07, Y:-0.49, Z:-0.44 [[ 9.97775827e-01 -4.48110847e-03 -6.65080277e-02 1.10659837e+01] [ 5.81992307e-03 9.99784039e-01 1.99500402e-02 -4.91950227e-01] [ 6.64042663e-02 -2.02927395e-02 9.97586426e-01 -4.43408142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.092401008 meters Centerline goodness : 0.882332 Centerline is valid? [False, False] Translation: X:11.07, Y:-0.49, Z:-0.44 [[ 9.97762532e-01 -5.07106777e-03 -6.66649440e-02 1.10664039e+01] [ 6.32313006e-03 9.99807311e-01 1.85838547e-02 -4.86886138e-01] [ 6.65578584e-02 -1.89638050e-02 9.97602338e-01 -4.43926055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.122401008000004 meters Centerline goodness : 0.878979 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.48, Z:-0.44 [[ 9.97773253e-01 -1.01394617e-03 -6.66896340e-02 1.10632800e+01] [ 2.42552968e-03 9.99774662e-01 2.10888989e-02 -4.76804248e-01] [ 6.66532233e-02 -2.12036970e-02 9.97550876e-01 -4.40723416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.152401008000005 meters Centerline goodness : 0.877783 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.47, Z:-0.44 [[ 9.97786893e-01 1.35952691e-04 -6.64928382e-02 1.10608304e+01] [ 1.22747514e-03 9.99789845e-01 2.04635983e-02 -4.69952713e-01] [ 6.64816465e-02 -2.04999284e-02 9.97577036e-01 -4.39550740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18240100800001 meters Centerline goodness : 0.878719 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.47, Z:-0.44 [[ 9.97771763e-01 4.40786533e-03 -6.65738716e-02 1.10595964e+01] [-2.82280901e-03 9.99710744e-01 2.38843132e-02 -4.65461620e-01] [ 6.66598935e-02 -2.36431680e-02 9.97495594e-01 -4.37881531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.212401008 meters Centerline goodness : 0.879537 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.46, Z:-0.44 [[ 9.97734093e-01 8.33303801e-03 -6.67625646e-02 1.10592373e+01] [-6.55900301e-03 9.99620702e-01 2.67475701e-02 -4.59690516e-01] [ 6.69601302e-02 -2.62490668e-02 9.97410310e-01 -4.37159424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.242401008 meters Centerline goodness : 0.877820 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.45, Z:-0.44 [[ 9.97693649e-01 1.21514220e-02 -6.67811708e-02 1.10590990e+01] [-1.02067106e-02 9.99516053e-01 2.93850945e-02 -4.53490637e-01] [ 6.71059229e-02 -2.86357061e-02 9.97334844e-01 -4.37096935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.272401008 meters Centerline goodness : 0.875910 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.45, Z:-0.44 [[ 0.99838379 0.02594351 -0.05056428 11.05197499] [-0.02393179 0.99891333 0.03999277 -0.44724347] [ 0.05154689 -0.03871803 0.99791975 -0.43869574] [ 0. 0. 0. 1. ]] SLAMing on 51.302401008000004 meters Centerline goodness : 0.877942 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.45, Z:-0.44 [[ 0.99854116 0.03464698 -0.04141432 11.05834578] [-0.03301174 0.99867263 0.03953731 -0.44590378] [ 0.04272919 -0.03811247 0.99835948 -0.44455914] [ 0. 0. 0. 1. ]] SLAMing on 51.332401008000005 meters Centerline goodness : 0.882133 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.44, Z:-0.44 [[ 0.99832007 0.04217178 -0.03973125 11.05427808] [-0.04038429 0.99818089 0.04476624 -0.43659806] [ 0.04154684 -0.04308652 0.9982071 -0.44195534] [ 0. 0. 0. 1. ]] SLAMing on 51.362401008000006 meters Centerline goodness : 0.881889 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.43, Z:-0.44 [[ 0.99818176 0.04533282 -0.03972537 11.05460023] [-0.04349859 0.99799941 0.04588087 -0.43281152] [ 0.0417258 -0.04406945 0.99815672 -0.44158544] [ 0. 0. 0. 1. ]] SLAMing on 51.392401008 meters Centerline goodness : 0.882829 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.43, Z:-0.44 [[ 0.99802913 0.04769177 -0.0407841 11.05755377] [-0.0458717 0.99795767 0.04445525 -0.42924096] [ 0.04282095 -0.04249679 0.99817854 -0.44206597] [ 0. 0. 0. 1. ]] SLAMing on 51.422401008 meters Centerline goodness : 0.881972 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.43, Z:-0.44 [[ 0.99787116 0.05028067 -0.04153316 11.06043023] [-0.04845284 0.99786018 0.04390196 -0.42643554] [ 0.04365171 -0.0417961 0.99817214 -0.44312832] [ 0. 0. 0. 1. ]] SLAMing on 51.452401008 meters Centerline goodness : 0.882219 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.42, Z:-0.44 [[ 0.99773986 0.05339693 -0.04079146 11.05988256] [-0.05147441 0.99757665 0.04681042 -0.42403873] [ 0.04319214 -0.0446049 0.99807056 -0.44369129] [ 0. 0. 0. 1. ]] SLAMing on 51.482401008000004 meters Centerline goodness : 0.880294 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.42, Z:-0.45 [[ 0.99763213 0.05547927 -0.04064701 11.06144462] [-0.053458 0.99735571 0.04923245 -0.4219274 ] [ 0.04327091 -0.04694296 0.99795991 -0.44568131] [ 0. 0. 0. 1. ]] SLAMing on 51.512401008000005 meters Centerline goodness : 0.884496 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.42, Z:-0.45 [[ 0.99754994 0.05812273 -0.0389341 11.05871221] [-0.05598713 0.99697755 0.05386288 -0.41848488] [ 0.04194708 -0.0515511 0.99778902 -0.44595213] [ 0. 0. 0. 1. ]] SLAMing on 51.542401008000006 meters Centerline goodness : 0.885620 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.42, Z:-0.45 [[ 0.99759742 0.05732945 -0.03889377 11.05923895] [-0.05524155 0.99707675 0.0527856 -0.41723603] [ 0.04180625 -0.05051023 0.99784816 -0.44662247] [ 0. 0. 0. 1. ]] SLAMing on 51.57240100800001 meters Centerline goodness : 0.889383 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.42, Z:-0.45 [[ 0.99766348 0.05636005 -0.03861509 11.05884547] [-0.05432345 0.99717354 0.05190271 -0.41636584] [ 0.04143119 -0.04968373 0.9979053 -0.44675777] [ 0. 0. 0. 1. ]] SLAMing on 51.602401008 meters Centerline goodness : 0.890150 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.42, Z:-0.45 [[ 0.99774984 0.0551031 -0.03819551 11.05848469] [-0.05311955 0.99727811 0.05113408 -0.41517319] [ 0.04090919 -0.04899009 0.99796113 -0.44738548] [ 0. 0. 0. 1. ]] SLAMing on 51.632401008 meters Centerline goodness : 0.891440 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.41, Z:-0.45 [[ 0.99789837 0.05378055 -0.0361456 11.05561483] [-0.05185051 0.99728099 0.05236559 -0.41142538] [ 0.03886357 -0.05038137 0.99797362 -0.44895247] [ 0. 0. 0. 1. ]] SLAMing on 51.662401008 meters Centerline goodness : 0.891227 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.41, Z:-0.45 [[ 0.99790707 0.05391536 -0.03570181 11.05571673] [-0.05199661 0.99725834 0.05265133 -0.409476 ] [ 0.03844264 -0.05068476 0.99797456 -0.45001357] [ 0. 0. 0. 1. ]] SLAMing on 51.692401008000004 meters Centerline goodness : 0.893236 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.41, Z:-0.45 [[ 0.99788205 0.05413652 -0.03606447 11.05766105] [-0.05222702 0.99728376 0.05193685 -0.40772106] [ 0.0387782 -0.04994331 0.99799896 -0.45131776] [ 0. 0. 0. 1. ]] SLAMing on 51.722401008000006 meters Centerline goodness : 0.893399 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.41, Z:-0.45 [[ 0.99786004 0.05444103 -0.03621497 11.05845539] [-0.05255963 0.9973137 0.05101837 -0.40596147] [ 0.03889517 -0.04900575 0.99804088 -0.45156507] [ 0. 0. 0. 1. ]] SLAMing on 51.75240100800001 meters Centerline goodness : 0.895107 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.40, Z:-0.45 [[ 0.99779568 0.05556918 -0.03627457 11.05742387] [-0.05375502 0.99734108 0.04920529 -0.40154146] [ 0.03891242 -0.04714689 0.99812975 -0.44916338] [ 0. 0. 0. 1. ]] SLAMing on 51.782401008 meters Centerline goodness : 0.894385 Centerline is valid? [False, False] Translation: X:11.07, Y:-0.40, Z:-0.46 [[ 0.99786988 0.05654206 -0.03253777 11.07164689] [-0.05529408 0.99774464 0.03805532 -0.39737547] [ 0.03461612 -0.03617511 0.99874576 -0.45531968] [ 0. 0. 0. 1. ]] SLAMing on 51.812401008 meters Centerline goodness : 0.895972 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.39, Z:-0.46 [[ 0.99787505 0.05841296 -0.02886698 11.08634165] [-0.05760269 0.99794273 0.02814669 -0.39284032] [ 0.03045172 -0.02642407 0.9991869 -0.46121763] [ 0. 0. 0. 1. ]] SLAMing on 51.842401008 meters Centerline goodness : 0.898698 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.39, Z:-0.46 [[ 0.99788503 0.05807751 -0.02919718 11.08769581] [-0.05730516 0.99800152 0.02662875 -0.38822273] [ 0.03068536 -0.02489929 0.99921891 -0.46274904] [ 0. 0. 0. 1. ]] SLAMing on 51.872401008000004 meters Centerline goodness : 0.900615 Centerline is valid? [False, False] Translation: X:11.10, Y:-0.38, Z:-0.47 [[ 0.9976292 0.063845 -0.02568653 11.09667731] [-0.06347466 0.99787095 0.01498452 -0.38021795] [ 0.02658853 -0.01331856 0.99955774 -0.47025385] [ 0. 0. 0. 1. ]] SLAMing on 51.902401008000005 meters Centerline goodness : 0.900007 Centerline is valid? [False, False] Translation: X:11.10, Y:-0.38, Z:-0.47 [[ 0.99760136 0.06419882 -0.02588506 11.09688998] [-0.06384595 0.99785821 0.01423663 -0.37713151] [ 0.0267436 -0.01254982 0.99956355 -0.47050409] [ 0. 0. 0. 1. ]] SLAMing on 51.93240100800001 meters Centerline goodness : 0.901991 Centerline is valid? [False, False] Translation: X:11.11, Y:-0.37, Z:-0.48 [[ 9.97487784e-01 6.74425623e-02 -2.16707453e-02 1.11092380e+01] [-6.73481978e-02 9.97716722e-01 5.05601545e-03 -3.74188264e-01] [ 2.19622556e-02 -3.58382801e-03 9.99752377e-01 -4.75505942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.962401008 meters Centerline goodness : 0.900638 Centerline is valid? [False, False] Translation: X:11.11, Y:-0.37, Z:-0.48 [[ 9.97467689e-01 6.76281274e-02 -2.20146760e-02 1.11100204e+01] [-6.75481964e-02 9.97706506e-01 4.35524809e-03 -3.71703004e-01] [ 2.22587228e-02 -2.85716759e-03 9.99748161e-01 -4.76042691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.992401008 meters Centerline goodness : 0.900205 Centerline is valid? [False, False] Translation: X:11.11, Y:-0.37, Z:-0.48 [[ 9.97173586e-01 7.17977089e-02 -2.21343443e-02 1.11110041e+01] [-7.16367645e-02 9.97398853e-01 7.98140805e-03 -3.70377272e-01] [ 2.26498164e-02 -6.37321648e-03 9.99723146e-01 -4.76497913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.022401008 meters Centerline goodness : 0.899285 Centerline is valid? [False, False] Translation: X:11.11, Y:-0.37, Z:-0.48 [[ 9.97168543e-01 7.17427091e-02 -2.25362170e-02 1.11120674e+01] [-7.15898881e-02 9.97405824e-01 7.51730166e-03 -3.69006086e-01] [ 2.30170657e-02 -5.88265148e-03 9.99717765e-01 -4.77007973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.052401008000004 meters Centerline goodness : 0.899694 Centerline is valid? [False, False] Translation: X:11.11, Y:-0.37, Z:-0.48 [[ 9.97169996e-01 7.16612584e-02 -2.27302194e-02 1.11129063e+01] [-7.15142748e-02 9.97413476e-01 7.21575531e-03 -3.68450178e-01] [ 2.31885172e-02 -5.56979954e-03 9.99715595e-01 -4.77697149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.082401008000005 meters Centerline goodness : 0.898328 Centerline is valid? [False, False] Translation: X:11.11, Y:-0.37, Z:-0.48 [[ 9.97163744e-01 7.16408853e-02 -2.30662258e-02 1.11137699e+01] [-7.14892149e-02 9.97414400e-01 7.33528634e-03 -3.69348803e-01] [ 2.35320922e-02 -5.66549522e-03 9.99707028e-01 -4.77927868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.112401008000006 meters Centerline goodness : 0.895078 Centerline is valid? [False, False] Translation: X:11.12, Y:-0.37, Z:-0.48 [[ 9.97053285e-01 7.19328976e-02 -2.66534441e-02 1.11203191e+01] [-7.18811411e-02 9.97409000e-01 2.89612370e-03 -3.73286805e-01] [ 2.67927116e-02 -9.71709668e-04 9.99640539e-01 -4.77604912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.142401008 meters Centerline goodness : 0.892538 Centerline is valid? [False, False] Translation: X:11.12, Y:-0.38, Z:-0.48 [[ 9.97005158e-01 7.18001204e-02 -2.87307836e-02 1.11249579e+01] [-7.18205511e-02 9.97417518e-01 3.21535956e-04 -3.75286127e-01] [ 2.86796732e-02 1.74288771e-03 9.99587134e-01 -4.78338707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.172401008 meters Centerline goodness : 0.890647 Centerline is valid? [False, False] Translation: X:11.13, Y:-0.38, Z:-0.48 [[ 9.96931240e-01 7.21295452e-02 -3.04209028e-02 1.11291164e+01] [-7.21794114e-02 9.97391517e-01 -5.42837473e-04 -3.77485693e-01] [ 3.03023958e-02 2.73693450e-03 9.99537030e-01 -4.79342758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.202401008 meters Centerline goodness : 0.889000 Centerline is valid? [False, False] Translation: X:11.13, Y:-0.38, Z:-0.48 [[ 9.96862351e-01 7.23765982e-02 -3.20481021e-02 1.11334442e+01] [-7.24496191e-02 9.97371443e-01 -1.12160750e-03 -3.79928324e-01] [ 3.18826837e-02 3.43996108e-03 9.99485698e-01 -4.81110087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.232401008000004 meters Centerline goodness : 0.888734 Centerline is valid? [False, False] Translation: X:11.14, Y:-0.38, Z:-0.48 [[ 9.96779327e-01 7.22772136e-02 -3.47415730e-02 1.11390870e+01] [-7.24502492e-02 9.97364992e-01 -3.74617771e-03 -3.84776116e-01] [ 3.43792654e-02 6.25114812e-03 9.99389308e-01 -4.82146227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.262401008000005 meters Centerline goodness : 0.887956 Centerline is valid? [False, False] Translation: X:11.14, Y:-0.39, Z:-0.48 [[ 9.96842278e-01 7.05178917e-02 -3.65061738e-02 1.11426581e+01] [-7.08386042e-02 9.97459096e-01 -7.56592548e-03 -3.86420670e-01] [ 3.58798820e-02 1.01280808e-02 9.99304786e-01 -4.82556023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.292401008000006 meters Centerline goodness : 0.885737 Centerline is valid? [False, False] Translation: X:11.15, Y:-0.39, Z:-0.48 [[ 0.99687103 0.06874025 -0.0390248 11.14765015] [-0.0692755 0.99751886 -0.01253152 -0.38854799] [ 0.03806655 0.01519577 0.99915966 -0.4828344 ] [ 0. 0. 0. 1. ]] SLAMing on 52.32240100800001 meters Centerline goodness : 0.886364 Centerline is valid? [False, False] Translation: X:11.15, Y:-0.39, Z:-0.48 [[ 0.99685897 0.06743308 -0.04153269 11.15247849] [-0.06818814 0.99752698 -0.01703835 -0.39105372] [ 0.04028103 0.01981687 0.99899186 -0.48281075] [ 0. 0. 0. 1. ]] SLAMing on 52.352401008 meters Centerline goodness : 0.886184 Centerline is valid? [False, False] Translation: X:11.16, Y:-0.40, Z:-0.48 [[ 0.99681144 0.06649372 -0.04410821 11.15730208] [-0.06745596 0.99750757 -0.02069627 -0.39593684] [ 0.04262211 0.02360564 0.99881236 -0.48318937] [ 0. 0. 0. 1. ]] SLAMing on 52.382401008 meters Centerline goodness : 0.884524 Centerline is valid? [False, False] Translation: X:11.16, Y:-0.40, Z:-0.48 [[ 0.99680681 0.06657292 -0.04409336 11.15720336] [-0.0674906 0.9975262 -0.01965958 -0.3987606 ] [ 0.04267549 0.02257269 0.99883396 -0.48333595] [ 0. 0. 0. 1. ]] SLAMing on 52.412401008 meters Centerline goodness : 0.881878 Centerline is valid? [False, False] Translation: X:11.16, Y:-0.40, Z:-0.49 [[ 0.99686011 0.06513139 -0.0450313 11.16020949] [-0.06616036 0.99757195 -0.02174879 -0.40118855] [ 0.04350544 0.02465979 0.9987488 -0.48530117] [ 0. 0. 0. 1. ]] SLAMing on 52.442401008000004 meters Centerline goodness : 0.879545 Centerline is valid? [False, False] Translation: X:11.16, Y:-0.40, Z:-0.49 [[ 0.99688238 0.06367547 -0.04659351 11.16424179] [-0.06486442 0.99759413 -0.02446542 -0.40414699] [ 0.04492356 0.02741141 0.99861428 -0.48710365] [ 0. 0. 0. 1. ]] SLAMing on 52.472401008000006 meters Centerline goodness : 0.878434 Centerline is valid? [False, False] Translation: X:11.17, Y:-0.41, Z:-0.49 [[ 0.99703734 0.06784373 -0.03624599 11.16879869] [-0.06880872 0.9972891 -0.02607321 -0.41088885] [ 0.03437882 0.02849001 0.99900271 -0.49373248] [ 0. 0. 0. 1. ]] SLAMing on 52.50240100800001 meters Centerline goodness : 0.878470 Centerline is valid? [False, False] Translation: X:11.17, Y:-0.42, Z:-0.49 [[ 0.99728482 0.06230587 -0.0392551 11.1736604 ] [-0.06362248 0.99742054 -0.03323324 -0.41899217] [ 0.03708322 0.03564051 0.99867642 -0.49443956] [ 0. 0. 0. 1. ]] SLAMing on 52.532401008 meters Centerline goodness : 0.876981 Centerline is valid? [False, False] Translation: X:11.17, Y:-0.42, Z:-0.50 [[ 0.99740134 0.0598899 -0.04004702 11.17495964] [-0.06130391 0.99750302 -0.03506497 -0.42362651] [ 0.03784699 0.03742888 0.99858234 -0.49511621] [ 0. 0. 0. 1. ]] SLAMing on 52.562401008 meters Centerline goodness : 0.874318 Centerline is valid? [False, False] Translation: X:11.18, Y:-0.43, Z:-0.50 [[ 0.99748554 0.05841968 -0.0401215 11.17535048] [-0.05980089 0.99762656 -0.03413367 -0.42824069] [ 0.0380322 0.03644715 0.99861161 -0.49622642] [ 0. 0. 0. 1. ]] SLAMing on 52.592401008 meters Centerline goodness : 0.873397 Centerline is valid? [False, False] Translation: X:11.18, Y:-0.43, Z:-0.50 [[ 0.99754678 0.0571382 -0.04044323 11.17744642] [-0.05850645 0.9977249 -0.03349669 -0.4326017 ] [ 0.03843727 0.0357807 0.99862021 -0.49907832] [ 0. 0. 0. 1. ]] SLAMing on 52.622401008000004 meters Centerline goodness : 0.872176 Centerline is valid? [False, False] Translation: X:11.18, Y:-0.44, Z:-0.50 [[ 0.99762138 0.05481613 -0.04179435 11.18280587] [-0.05624071 0.9978481 -0.03370696 -0.4408024 ] [ 0.03985673 0.03597732 0.9985575 -0.50453487] [ 0. 0. 0. 1. ]] SLAMing on 52.652401008000005 meters Centerline goodness : 0.872176 Centerline is valid? [False, False] Translation: X:11.18, Y:-0.44, Z:-0.50 [[ 0.99762138 0.05481613 -0.04179435 11.18280587] [-0.05624071 0.9978481 -0.03370696 -0.4408024 ] [ 0.03985673 0.03597732 0.9985575 -0.50453487] [ 0. 0. 0. 1. ]] SLAMing on 52.68240100800001 meters Centerline goodness : 0.867168 Centerline is valid? [False, False] Translation: X:11.19, Y:-0.45, Z:-0.51 [[ 0.99766097 0.0602388 -0.03230918 11.1882724 ] [-0.06133695 0.99753279 -0.03414842 -0.44922511] [ 0.0301724 0.0360503 0.99889439 -0.51198619] [ 0. 0. 0. 1. ]] SLAMing on 52.712401008 meters Centerline goodness : 0.868548 Centerline is valid? [False, False] Translation: X:11.19, Y:-0.46, Z:-0.51 [[ 0.99760832 0.06085076 -0.03278437 11.19327946] [-0.06172761 0.99774298 -0.02643205 -0.45746275] [ 0.03110196 0.02839253 0.99911287 -0.50639755] [ 0. 0. 0. 1. ]] SLAMing on 52.742401008 meters Centerline goodness : 0.868813 Centerline is valid? [False, False] Translation: X:11.19, Y:-0.47, Z:-0.50 [[ 0.99773578 0.05871293 -0.03280413 11.19227681] [-0.05958744 0.99787529 -0.02634853 -0.46936127] [ 0.03118744 0.02824358 0.99911443 -0.504964 ] [ 0. 0. 0. 1. ]] SLAMing on 52.772401008 meters Centerline goodness : 0.866234 Centerline is valid? [False, False] Translation: X:11.19, Y:-0.47, Z:-0.51 [[ 0.99772607 0.05867062 -0.03317308 11.19370603] [-0.05951587 0.99791192 -0.0250931 -0.47440768] [ 0.03163158 0.02701037 0.99913457 -0.50520986] [ 0. 0. 0. 1. ]] SLAMing on 52.802401008000004 meters Centerline goodness : 0.869341 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.48, Z:-0.51 [[ 0.99771816 0.05862318 -0.03349308 11.19525675] [-0.05944405 0.99794161 -0.02406148 -0.4785799 ] [ 0.03201358 0.02599754 0.99914927 -0.50587258] [ 0. 0. 0. 1. ]] SLAMing on 52.832401008000005 meters Centerline goodness : 0.864948 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.48, Z:-0.51 [[ 0.99761886 0.06023937 -0.03358316 11.19717977] [-0.06095308 0.99792703 -0.02064874 -0.48441879] [ 0.03226967 0.02264657 0.9992226 -0.50601897] [ 0. 0. 0. 1. ]] SLAMing on 52.862401008000006 meters Centerline goodness : 0.868707 Centerline is valid? [False, False] Translation: X:11.19, Y:-0.50, Z:-0.50 [[ 0.99750352 0.06230481 -0.03323912 11.19444006] [-0.06282276 0.99791538 -0.01477156 -0.49719026] [ 0.03224949 0.01682286 0.99933826 -0.49989482] [ 0. 0. 0. 1. ]] SLAMing on 52.89240100800001 meters Centerline goodness : 0.867201 Centerline is valid? [False, False] Translation: X:11.19, Y:-0.50, Z:-0.50 [[ 0.99741935 0.06378481 -0.03295674 11.19187452] [-0.06420763 0.99786521 -0.01193329 -0.50332135] [ 0.03212522 0.01401857 0.99938554 -0.49634613] [ 0. 0. 0. 1. ]] SLAMing on 52.922401008 meters Centerline goodness : 0.871139 Centerline is valid? [False, False] Translation: X:11.19, Y:-0.51, Z:-0.49 [[ 9.97331151e-01 6.53734859e-02 -3.25097391e-02 1.11889557e+01] [-6.57054190e-02 9.97796209e-01 -9.24783700e-03 -5.08697971e-01] [ 3.18335311e-02 1.13592219e-02 9.99428634e-01 -4.92900725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.952401008 meters Centerline goodness : 0.869930 Centerline is valid? [False, False] Translation: X:11.19, Y:-0.52, Z:-0.49 [[ 9.96947218e-01 7.12364448e-02 -3.19626805e-02 1.11864470e+01] [-7.12927704e-02 9.97455237e-01 -6.24608644e-04 -5.18903723e-01] [ 3.18368482e-02 2.90140989e-03 9.99488868e-01 -4.87586157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.982401008000004 meters Centerline goodness : 0.873623 Centerline is valid? [False, False] Translation: X:11.19, Y:-0.52, Z:-0.49 [[ 9.96916512e-01 7.17000699e-02 -3.18836691e-02 1.11867416e+01] [-7.17481482e-02 9.97422714e-01 -3.64928884e-04 -5.20260413e-01] [ 3.17753303e-02 2.65139785e-03 9.99491520e-01 -4.88626576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.012401008000005 meters Centerline goodness : 0.871452 Centerline is valid? [False, False] Translation: X:11.19, Y:-0.52, Z:-0.49 [[ 9.96888778e-01 7.21451492e-02 -3.17465253e-02 1.11869011e+01] [-7.21828585e-02 9.97391414e-01 -4.18672591e-05 -5.22458846e-01] [ 3.16606912e-02 2.33329194e-03 9.99495951e-01 -4.89701978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.042401008000006 meters Centerline goodness : 0.871746 Centerline is valid? [False, False] Translation: X:11.19, Y:-0.53, Z:-0.49 [[ 9.96853624e-01 7.27588751e-02 -3.14483315e-02 1.11863558e+01] [-7.27689946e-02 9.97348482e-01 8.24132159e-04 -5.26229311e-01] [ 3.14249086e-02 1.46692434e-03 9.99505039e-01 -4.90014553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.07240100800001 meters Centerline goodness : 0.871448 Centerline is valid? [False, False] Translation: X:11.18, Y:-0.53, Z:-0.49 [[ 9.97057919e-01 7.00572445e-02 -3.11044648e-02 1.11849648e+01] [-7.01352945e-02 9.97536472e-01 -1.42405159e-03 -5.32968102e-01] [ 3.09280730e-02 3.60138272e-03 9.99515125e-01 -4.90566750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.102401008 meters Centerline goodness : 0.868710 Centerline is valid? [False, False] Translation: X:11.19, Y:-0.54, Z:-0.49 [[ 9.97078678e-01 6.94913348e-02 -3.17027354e-02 1.11871311e+01] [-6.95360287e-02 9.97579393e-01 -3.08111694e-04 -5.38252377e-01] [ 3.16045844e-02 2.51169392e-03 9.99497294e-01 -4.90470255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.132401008 meters Centerline goodness : 0.870877 Centerline is valid? [False, False] Translation: X:11.19, Y:-0.54, Z:-0.49 [[ 9.97192963e-01 6.76286752e-02 -3.21334298e-02 1.11895489e+01] [-6.76807100e-02 9.97706889e-01 -5.33167333e-04 -5.43789496e-01] [ 3.20236869e-02 2.70648406e-03 9.99483446e-01 -4.91207101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.162401008 meters Centerline goodness : 0.871134 Centerline is valid? [False, False] Translation: X:11.19, Y:-0.55, Z:-0.49 [[ 9.97274156e-01 6.60133302e-02 -3.29620787e-02 1.11927339e+01] [-6.60529999e-02 9.97816109e-01 -1.14841860e-04 -5.49976537e-01] [ 3.28825120e-02 2.29177300e-03 9.99456596e-01 -4.91354336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.192401008000004 meters Centerline goodness : 0.877742 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.56, Z:-0.49 [[ 9.97591523e-01 6.06285350e-02 -3.36947231e-02 1.11958912e+01] [-6.07642792e-02 9.98147580e-01 -3.01840678e-03 -5.59700930e-01] [ 3.34493047e-02 5.05857258e-03 9.99427614e-01 -4.92661569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.222401008000006 meters Centerline goodness : 0.875666 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.56, Z:-0.49 [[ 9.97826575e-01 5.64984308e-02 -3.39124330e-02 1.11967104e+01] [-5.67541523e-02 9.98366202e-01 -6.62522954e-03 -5.62641430e-01] [ 3.34827118e-02 8.53550148e-03 9.99402848e-01 -4.93873530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.25240100800001 meters Centerline goodness : 0.873177 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.57, Z:-0.49 [[ 9.97856166e-01 5.54303505e-02 -3.47929422e-02 1.11998571e+01] [-5.56481408e-02 9.98436258e-01 -5.32202001e-03 -5.68695915e-01] [ 3.44435335e-02 7.24677303e-03 9.99380372e-01 -4.93309961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.282401008 meters Centerline goodness : 0.874035 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.57, Z:-0.49 [[ 9.97870946e-01 5.46344020e-02 -3.56182189e-02 1.12024496e+01] [-5.48059643e-02 9.98489572e-01 -3.85754043e-03 -5.74809697e-01] [ 3.53536657e-02 5.80141835e-03 9.99358025e-01 -4.92318511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.312401008 meters Centerline goodness : 0.877873 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.58, Z:-0.49 [[ 9.97868830e-01 5.42249038e-02 -3.62968097e-02 1.12044517e+01] [-5.43420822e-02 9.98519845e-01 -2.24888515e-03 -5.80330826e-01] [ 3.61211393e-02 4.21653661e-03 9.99338523e-01 -4.91081343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.342401008 meters Centerline goodness : 0.878389 Centerline is valid? [False, False] Translation: X:11.21, Y:-0.59, Z:-0.49 [[ 9.97848512e-01 5.44736900e-02 -3.64823755e-02 1.12051742e+01] [-5.44908726e-02 9.98514131e-01 5.23899150e-04 -5.88727296e-01] [ 3.64567062e-02 1.46518449e-03 9.99334159e-01 -4.89066058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.372401008000004 meters Centerline goodness : 0.879397 Centerline is valid? [False, False] Translation: X:11.21, Y:-0.59, Z:-0.49 [[ 9.97837150e-01 5.45291603e-02 -3.67095709e-02 1.12059364e+01] [-5.45113588e-02 9.98512044e-01 1.48638241e-03 -5.91790907e-01] [ 3.67359999e-02 5.17921006e-04 9.99324871e-01 -4.88559070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.402401008000005 meters Centerline goodness : 0.880255 Centerline is valid? [False, False] Translation: X:11.21, Y:-0.60, Z:-0.49 [[ 9.97825412e-01 5.43294401e-02 -3.73196828e-02 1.12070152e+01] [-5.42553704e-02 9.98522600e-01 2.99537373e-03 -5.96246084e-01] [ 3.74272837e-02 -9.64066808e-04 9.99298889e-01 -4.86510195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.43240100800001 meters Centerline goodness : 0.880773 Centerline is valid? [False, False] Translation: X:11.21, Y:-0.60, Z:-0.48 [[ 9.97821937e-01 5.39380299e-02 -3.79746107e-02 1.12080363e+01] [-5.37715421e-02 9.98538702e-01 5.39271175e-03 -6.01718749e-01] [ 3.82099908e-02 -3.33901270e-03 9.99264153e-01 -4.82534742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.462401008 meters Centerline goodness : 0.885330 Centerline is valid? [False, False] Translation: X:11.21, Y:-0.61, Z:-0.48 [[ 9.98034845e-01 4.99715569e-02 -3.78059786e-02 1.12071006e+01] [-4.99248883e-02 9.98750600e-01 2.17807489e-03 -6.05114385e-01] [ 3.78675856e-02 -2.86335371e-04 9.99282725e-01 -4.81959024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.492401008 meters Centerline goodness : 0.884003 Centerline is valid? [False, False] Translation: X:11.21, Y:-0.61, Z:-0.48 [[ 9.98053941e-01 4.88994401e-02 -3.86933537e-02 1.12104297e+01] [-4.88585658e-02 9.98803701e-01 2.00183179e-03 -6.05702625e-01] [ 3.87449533e-02 -1.07434339e-04 9.99249127e-01 -4.82704850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.522401008 meters Centerline goodness : 0.884191 Centerline is valid? [False, False] Translation: X:11.22, Y:-0.61, Z:-0.48 [[ 9.97999987e-01 4.92982888e-02 -3.95689977e-02 1.12167657e+01] [-4.91169154e-02 9.98777652e-01 5.54343652e-03 -6.07285053e-01] [ 3.97939126e-02 -3.58884245e-03 9.99201464e-01 -4.82796835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.552401008000004 meters Centerline goodness : 0.880925 Centerline is valid? [False, False] Translation: X:11.22, Y:-0.61, Z:-0.48 [[ 9.98028360e-01 4.82198403e-02 -4.01776033e-02 1.12197936e+01] [-4.80702699e-02 9.98832987e-01 4.68107767e-03 -6.06363165e-01] [ 4.03564364e-02 -2.74050003e-03 9.99181589e-01 -4.84653658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.582401008000005 meters Centerline goodness : 0.879263 Centerline is valid? [False, False] Translation: X:11.22, Y:-0.61, Z:-0.49 [[ 9.98053581e-01 4.68034901e-02 -4.12126543e-02 1.12237336e+01] [-4.66790272e-02 9.98902020e-01 3.97767535e-03 -6.05992279e-01] [ 4.13535727e-02 -2.04616651e-03 9.99142480e-01 -4.85949072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.612401008000006 meters Centerline goodness : 0.876100 Centerline is valid? [False, False] Translation: X:11.23, Y:-0.61, Z:-0.49 [[ 9.98056632e-01 4.62176740e-02 -4.17957749e-02 1.12256625e+01] [-4.60929084e-02 9.98929370e-01 3.94439614e-03 -6.06118026e-01] [ 4.19333279e-02 -2.01024190e-03 9.99118389e-01 -4.86057241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64240100800001 meters Centerline goodness : 0.874499 Centerline is valid? [False, False] Translation: X:11.23, Y:-0.61, Z:-0.49 [[ 9.98055328e-01 4.56401328e-02 -4.24563465e-02 1.12273779e+01] [-4.55179996e-02 9.98956140e-01 3.83944723e-03 -6.06170554e-01] [ 4.25872609e-02 -1.89945280e-03 9.99090945e-01 -4.85851911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.672401008 meters Centerline goodness : 0.875409 Centerline is valid? [False, False] Translation: X:11.23, Y:-0.61, Z:-0.48 [[ 9.98049842e-01 4.51042254e-02 -4.31522987e-02 1.12288007e+01] [-4.49690521e-02 9.98979973e-01 4.09856607e-03 -6.07020992e-01] [ 4.32931448e-02 -2.15005526e-03 9.99060099e-01 -4.84767741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.702401008 meters Centerline goodness : 0.876431 Centerline is valid? [False, False] Translation: X:11.23, Y:-0.61, Z:-0.49 [[ 9.98049597e-01 4.45222033e-02 -4.37581503e-02 1.12306718e+01] [-4.43978010e-02 9.99006662e-01 3.81118413e-03 -6.06613322e-01] [ 4.38843659e-02 -1.86098514e-03 9.99034884e-01 -4.85045686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.732401008000004 meters Centerline goodness : 0.876893 Centerline is valid? [False, False] Translation: X:11.23, Y:-0.61, Z:-0.49 [[ 9.98054057e-01 4.39667980e-02 -4.42156132e-02 1.12324080e+01] [-4.38571633e-02 9.99031865e-01 3.44702834e-03 -6.05729277e-01] [ 4.43243613e-02 -1.50114925e-03 9.99016065e-01 -4.85592511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.762401008000005 meters Centerline goodness : 0.879006 Centerline is valid? [False, False] Translation: X:11.23, Y:-0.60, Z:-0.49 [[ 9.98058341e-01 4.34013928e-02 -4.46751351e-02 1.12342211e+01] [-4.33269539e-02 9.99057475e-01 2.63364026e-03 -6.04119841e-01] [ 4.47473313e-02 -6.92889112e-04 9.98998096e-01 -4.86947417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.792401008000006 meters Centerline goodness : 0.882462 Centerline is valid? [False, False] Translation: X:11.23, Y:-0.60, Z:-0.49 [[ 9.98060457e-01 4.32025747e-02 -4.48203290e-02 1.12346324e+01] [-4.31289998e-02 9.99066109e-01 2.60772148e-03 -6.03895666e-01] [ 4.48911319e-02 -6.69607737e-04 9.98991661e-01 -4.86760057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82240100800001 meters Centerline goodness : 0.881574 Centerline is valid? [False, False] Translation: X:11.24, Y:-0.61, Z:-0.48 [[ 9.97907006e-01 4.52321095e-02 -4.62132501e-02 1.12396705e+01] [-4.48816159e-02 9.98955342e-01 8.59447149e-03 -6.07294349e-01] [ 4.65537191e-02 -6.50235797e-03 9.98894624e-01 -4.82679403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.852401008 meters Centerline goodness : 0.881818 Centerline is valid? [False, False] Translation: X:11.24, Y:-0.61, Z:-0.48 [[ 9.97906342e-01 4.48210241e-02 -4.66262593e-02 1.12405808e+01] [-4.44574107e-02 9.98972460e-01 8.80698050e-03 -6.07715139e-01] [ 4.69730869e-02 -6.71565894e-03 9.98873580e-01 -4.81853063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.882401008 meters Centerline goodness : 0.881025 Centerline is valid? [False, False] Translation: X:11.24, Y:-0.61, Z:-0.48 [[ 9.97901836e-01 4.43182998e-02 -4.71997213e-02 1.12419957e+01] [-4.39439968e-02 9.98994003e-01 8.93904918e-03 -6.07973399e-01] [ 4.75484020e-02 -6.84614919e-03 9.98845473e-01 -4.81196486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.912401008 meters Centerline goodness : 0.880869 Centerline is valid? [False, False] Translation: X:11.24, Y:-0.61, Z:-0.48 [[ 9.97902717e-01 4.37632897e-02 -4.76963420e-02 1.12435891e+01] [-4.33956710e-02 9.99019940e-01 8.71641384e-03 -6.07284875e-01] [ 4.80310556e-02 -6.62831829e-03 9.98823850e-01 -4.81261516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.942401008000004 meters Centerline goodness : 0.881388 Centerline is valid? [False, False] Translation: X:11.25, Y:-0.61, Z:-0.48 [[ 9.97725554e-01 4.66940228e-02 -4.86146853e-02 1.12469556e+01] [-4.61297693e-02 9.98855163e-01 1.26652294e-02 -6.07362880e-01] [ 4.91504199e-02 -1.03938388e-02 9.98737305e-01 -4.80839006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.972401008000006 meters Centerline goodness : 0.881686 Centerline is valid? [False, False] Translation: X:11.25, Y:-0.61, Z:-0.48 [[ 9.97726588e-01 4.66436416e-02 -4.86418093e-02 1.12472132e+01] [-4.61137632e-02 9.98864595e-01 1.19599707e-02 -6.05641689e-01] [ 4.91444377e-02 -9.68972388e-03 9.98744679e-01 -4.81766412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00240100800001 meters Centerline goodness : 0.880775 Centerline is valid? [False, False] Translation: X:11.25, Y:-0.61, Z:-0.48 [[ 0.99752731 0.04993849 -0.04945103 11.24957463] [-0.04915188 0.99864667 0.01699786 -0.60765854] [ 0.05023295 -0.01452522 0.9986319 -0.47926895] [ 0. 0. 0. 1. ]] SLAMing on 54.032401008 meters Centerline goodness : 0.883734 Centerline is valid? [False, False] Translation: X:11.26, Y:-0.60, Z:-0.48 [[ 9.97641624e-01 5.20462735e-02 -4.47479178e-02 1.12625620e+01] [-5.17707482e-02 9.98632351e-01 7.29506756e-03 -6.04452193e-01] [ 4.50663994e-02 -4.96122986e-03 9.98971674e-01 -4.83965833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.062401008 meters Centerline goodness : 0.880813 Centerline is valid? [False, False] Translation: X:11.26, Y:-0.60, Z:-0.48 [[ 9.97628114e-01 5.22101786e-02 -4.48580420e-02 1.12624270e+01] [-5.19366527e-02 9.98624120e-01 7.24237635e-03 -6.03095222e-01] [ 4.51744485e-02 -4.89542171e-03 9.98967119e-01 -4.83440599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.092401008 meters Centerline goodness : 0.881802 Centerline is valid? [False, False] Translation: X:11.26, Y:-0.60, Z:-0.48 [[ 9.97626232e-01 5.22584682e-02 -4.48436574e-02 1.12623348e+01] [-5.20009513e-02 9.98623261e-01 6.89080392e-03 -6.01418267e-01] [ 4.51420223e-02 -4.54253391e-03 9.98970251e-01 -4.83543575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.122401008000004 meters Centerline goodness : 0.885891 Centerline is valid? [False, False] Translation: X:11.26, Y:-0.60, Z:-0.48 [[ 9.97409719e-01 5.57096120e-02 -4.55004597e-02 1.12644116e+01] [-5.52210487e-02 9.98402930e-01 1.19257950e-02 -6.03832363e-01] [ 4.60921737e-02 -9.38232069e-03 9.98893129e-01 -4.81438936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.152401008000005 meters Centerline goodness : 0.885567 Centerline is valid? [False, False] Translation: X:11.27, Y:-0.61, Z:-0.48 [[ 9.97404866e-01 5.54400636e-02 -4.59339952e-02 1.12655040e+01] [-5.49401928e-02 9.98416628e-01 1.20752758e-02 -6.05030618e-01] [ 4.65307186e-02 -9.52031629e-03 9.98871491e-01 -4.81235759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18240100800001 meters Centerline goodness : 0.887976 Centerline is valid? [False, False] Translation: X:11.27, Y:-0.61, Z:-0.48 [[ 9.97415291e-01 5.48004890e-02 -4.64719744e-02 1.12673220e+01] [-5.43009867e-02 9.98453169e-01 1.19445641e-02 -6.05818517e-01] [ 4.70546580e-02 -9.39021679e-03 9.98848178e-01 -4.81501318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.212401008 meters Centerline goodness : 0.888797 Centerline is valid? [False, False] Translation: X:11.27, Y:-0.61, Z:-0.48 [[ 9.97422529e-01 5.41913912e-02 -4.70275642e-02 1.12693085e+01] [-5.36677959e-02 9.98482757e-01 1.23268360e-02 -6.06982966e-01] [ 4.76242203e-02 -9.77119825e-03 9.98817530e-01 -4.81161476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.242401008 meters Centerline goodness : 0.893631 Centerline is valid? [False, False] Translation: X:11.27, Y:-0.61, Z:-0.48 [[ 9.97448521e-01 5.30817231e-02 -4.77365629e-02 1.12722324e+01] [-5.25712322e-02 9.98546420e-01 1.18874675e-02 -6.07913035e-01] [ 4.82981813e-02 -9.34756698e-03 9.98789221e-01 -4.82271895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.272401008 meters Centerline goodness : 0.894177 Centerline is valid? [False, False] Translation: X:11.28, Y:-0.61, Z:-0.48 [[ 9.97504583e-01 5.00461138e-02 -4.97995401e-02 1.12803084e+01] [-4.95573219e-02 9.98710674e-01 1.10027585e-02 -6.08324909e-01] [ 5.02859775e-02 -8.50737019e-03 9.98698626e-01 -4.83733032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.302401008000004 meters Centerline goodness : 0.894693 Centerline is valid? [False, False] Translation: X:11.28, Y:-0.61, Z:-0.48 [[ 9.97515440e-01 4.87472983e-02 -5.08590934e-02 1.12839786e+01] [-4.82926425e-02 9.98781848e-01 1.01311306e-02 -6.07548221e-01] [ 5.12910046e-02 -7.64983919e-03 9.98654451e-01 -4.84881397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.332401008000005 meters Centerline goodness : 0.893996 Centerline is valid? [False, False] Translation: X:11.29, Y:-0.61, Z:-0.49 [[ 9.97527643e-01 4.72891257e-02 -5.19840406e-02 1.12880512e+01] [-4.68583335e-02 9.98856602e-01 9.47545432e-03 -6.06687811e-01] [ 5.23726882e-02 -7.01614210e-03 9.98602962e-01 -4.85748328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.362401008000006 meters Centerline goodness : 0.894651 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.61, Z:-0.48 [[ 0.99742617 0.04785789 -0.05339161 11.29590721] [-0.0471378 0.99878072 0.0146665 -0.60778572] [ 0.05402842 -0.01211199 0.99846594 -0.48250201] [ 0. 0. 0. 1. ]] SLAMing on 54.39240100800001 meters Centerline goodness : 0.892714 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.61, Z:-0.48 [[ 0.99746725 0.04485945 -0.0551971 11.30312316] [-0.0441586 0.99892849 0.01385262 -0.60702134] [ 0.05575938 -0.0113801 0.99837938 -0.48321165] [ 0. 0. 0. 1. ]] SLAMing on 54.422401008 meters Centerline goodness : 0.896941 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.60, Z:-0.49 [[ 9.97654904e-01 4.02593311e-02 -5.53523164e-02 1.13039502e+01] [-3.98415114e-02 9.99168728e-01 8.63171547e-03 -6.04192378e-01] [ 5.56538107e-02 -6.40615333e-03 9.98429574e-01 -4.85089712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.452401008 meters Centerline goodness : 0.895636 Centerline is valid? [False, False] Translation: X:11.31, Y:-0.60, Z:-0.48 [[ 9.97649911e-01 3.95335387e-02 -5.59620801e-02 1.13054535e+01] [-3.91009564e-02 9.99196477e-01 8.80429995e-03 -6.04802526e-01] [ 5.62651784e-02 -6.59543821e-03 9.98394075e-01 -4.84201411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.482401008000004 meters Centerline goodness : 0.897300 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.60, Z:-0.48 [[ 9.97805476e-01 3.53742594e-02 -5.59722651e-02 1.13045300e+01] [-3.51874221e-02 9.99371392e-01 4.32036193e-03 -6.01871399e-01] [ 5.60899101e-02 -2.34136108e-03 9.98422977e-01 -4.83735743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.512401008000005 meters Centerline goodness : 0.898252 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.60, Z:-0.48 [[ 9.97806101e-01 3.55164263e-02 -5.58710040e-02 1.13037612e+01] [-3.53153179e-02 9.99365711e-01 4.58303741e-03 -6.01030419e-01] [ 5.59983387e-02 -2.59988042e-03 9.98427477e-01 -4.82575930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.542401008000006 meters Centerline goodness : 0.898252 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.60, Z:-0.48 [[ 9.97806101e-01 3.55164263e-02 -5.58710040e-02 1.13037612e+01] [-3.53153179e-02 9.99365711e-01 4.58303741e-03 -6.01030419e-01] [ 5.59983387e-02 -2.59988042e-03 9.98427477e-01 -4.82575930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.57240100800001 meters Centerline goodness : 0.904068 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.60, Z:-0.48 [[ 9.97802782e-01 3.58664525e-02 -5.57064330e-02 1.13027017e+01] [-3.56513716e-02 9.99352518e-01 4.85028162e-03 -5.99518208e-01] [ 5.58443265e-02 -2.85361375e-03 9.98435410e-01 -4.81411104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.602401008 meters Centerline goodness : 0.897938 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.60, Z:-0.48 [[ 9.97802655e-01 3.62156309e-02 -5.54823291e-02 1.13016641e+01] [-3.60047839e-02 9.99340112e-01 4.79546682e-03 -5.97199572e-01] [ 5.56193879e-02 -2.78730025e-03 9.98448153e-01 -4.80700291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.632401008 meters Centerline goodness : 0.900329 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.59, Z:-0.48 [[ 9.97653632e-01 4.05516090e-02 -5.51615590e-02 1.13005075e+01] [-4.01262638e-02 9.99155890e-01 8.79717894e-03 -5.93841992e-01] [ 5.54717363e-02 -6.56311025e-03 9.98438687e-01 -4.79075882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.662401008 meters Centerline goodness : 0.896855 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.59, Z:-0.48 [[ 0.99745243 0.04471846 -0.0555779 11.30097042] [-0.04401629 0.99893556 0.01379507 -0.59360743] [ 0.05613564 -0.01131359 0.99835905 -0.47621941] [ 0. 0. 0. 1. ]] SLAMing on 54.692401008000004 meters Centerline goodness : 0.898302 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.59, Z:-0.47 [[ 0.99722688 0.04902225 -0.05599441 11.30126877] [-0.0480365 0.99866831 0.01881772 -0.59364607] [ 0.05684233 -0.01607576 0.99825374 -0.47329931] [ 0. 0. 0. 1. ]] SLAMing on 54.722401008000006 meters Centerline goodness : 0.899544 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.59, Z:-0.48 [[ 9.97323326e-01 5.20321090e-02 -5.13696713e-02 1.13161644e+01] [-5.15284350e-02 9.98610039e-01 1.10819511e-02 -5.90075229e-01] [ 5.18748867e-02 -8.40528959e-03 9.98618219e-01 -4.77853358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.75240100800001 meters Centerline goodness : 0.896685 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.59, Z:-0.48 [[ 0.99709045 0.05594477 -0.0517767 11.31722414] [-0.05522572 0.99835794 0.0152167 -0.58977951] [ 0.05254298 -0.01231302 0.99854275 -0.47675555] [ 0. 0. 0. 1. ]] SLAMing on 54.782401008 meters Centerline goodness : 0.894364 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.59, Z:-0.48 [[ 0.9968367 0.06005985 -0.05205206 11.31837549] [-0.05921169 0.99808873 0.01768767 -0.58531265] [ 0.0530149 -0.01454962 0.99848772 -0.4782821 ] [ 0. 0. 0. 1. ]] SLAMing on 54.812401008 meters Centerline goodness : 0.893147 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.58, Z:-0.48 [[ 0.99681486 0.06007303 -0.05245353 11.3194977 ] [-0.05929203 0.99810723 0.01632213 -0.58165034] [ 0.05333476 -0.01316007 0.99848997 -0.4800993 ] [ 0. 0. 0. 1. ]] SLAMing on 54.842401008 meters Centerline goodness : 0.895376 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.58, Z:-0.48 [[ 0.99679083 0.06005662 -0.05292686 11.32077672] [-0.059325 0.99812163 0.01528897 -0.57879961] [ 0.05374565 -0.01210002 0.99848134 -0.48147758] [ 0. 0. 0. 1. ]] SLAMing on 54.872401008000004 meters Centerline goodness : 0.898398 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.58, Z:-0.48 [[ 0.996522 0.06382219 -0.05357828 11.32285367] [-0.06285592 0.99783147 0.01953199 -0.57989092] [ 0.05470867 -0.01609635 0.99837261 -0.48077953] [ 0. 0. 0. 1. ]] SLAMing on 54.902401008000005 meters Centerline goodness : 0.899303 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.58, Z:-0.48 [[ 0.99671276 0.06066637 -0.05369604 11.32246513] [-0.05994989 0.99809083 0.01485649 -0.57693162] [ 0.05449481 -0.01158858 0.9984468 -0.48263763] [ 0. 0. 0. 1. ]] SLAMing on 54.93240100800001 meters Centerline goodness : 0.899503 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.58, Z:-0.48 [[ 9.96713164e-01 6.03941269e-02 -5.39946193e-02 1.13236856e+01] [-5.96913183e-02 9.98111027e-01 1.45370267e-02 -5.76863100e-01] [ 5.47705759e-02 -1.12662359e-02 9.98435404e-01 -4.83398204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.962401008 meters Centerline goodness : 0.900006 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.58, Z:-0.48 [[ 9.96711921e-01 6.02097635e-02 -5.42229805e-02 1.13246267e+01] [-5.95133055e-02 9.98124073e-01 1.43701681e-02 -5.77147656e-01] [ 5.49864866e-02 -1.10959290e-02 9.98425444e-01 -4.83995113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.992401008 meters Centerline goodness : 0.898756 Centerline is valid? [False, False] Translation: X:11.33, Y:-0.58, Z:-0.48 [[ 9.96703429e-01 6.00960502e-02 -5.45044850e-02 1.13255695e+01] [-5.93987595e-02 9.98131535e-01 1.43257127e-02 -5.77646205e-01] [ 5.52635640e-02 -1.10409882e-02 9.98410755e-01 -4.84379342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.022401008 meters Centerline goodness : 0.897480 Centerline is valid? [False, False] Translation: X:11.34, Y:-0.58, Z:-0.49 [[ 9.96859523e-01 6.18308444e-02 -4.94776524e-02 1.13392868e+01] [-6.16271770e-02 9.98083345e-01 5.63279982e-03 -5.77962104e-01] [ 4.97311015e-02 -2.56594210e-03 9.98759347e-01 -4.88929794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.052401008000004 meters Centerline goodness : 0.899526 Centerline is valid? [False, False] Translation: X:11.34, Y:-0.58, Z:-0.49 [[ 9.96836025e-01 6.21608824e-02 -4.95375011e-02 1.13388364e+01] [-6.19062760e-02 9.98059753e-01 6.65897283e-03 -5.79722541e-01] [ 4.98553137e-02 -3.57122179e-03 9.98750066e-01 -4.87331002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.082401008000005 meters Centerline goodness : 0.903043 Centerline is valid? [False, False] Translation: X:11.34, Y:-0.58, Z:-0.49 [[ 9.96811665e-01 6.25432733e-02 -4.95463736e-02 1.13381168e+01] [-6.22428332e-02 9.98032211e-01 7.58519809e-03 -5.81829533e-01] [ 4.99232800e-02 -4.47710727e-03 9.98743021e-01 -4.85828803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.112401008000006 meters Centerline goodness : 0.903517 Centerline is valid? [False, False] Translation: X:11.34, Y:-0.59, Z:-0.48 [[ 9.96805759e-01 6.27073334e-02 -4.94577455e-02 1.13378021e+01] [-6.23411684e-02 9.98015096e-01 8.91325845e-03 -5.85879728e-01] [ 4.99185033e-02 -5.80153372e-03 9.98736444e-01 -4.84434357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14240100800001 meters Centerline goodness : 0.904108 Centerline is valid? [False, False] Translation: X:11.34, Y:-0.59, Z:-0.49 [[ 9.96817106e-01 6.22797662e-02 -4.97683427e-02 1.13392710e+01] [-6.19135767e-02 9.98042122e-01 8.86743706e-03 -5.87330515e-01] [ 5.02231643e-02 -5.75787685e-03 9.98721423e-01 -4.85235306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.172401008 meters Centerline goodness : 0.906095 Centerline is valid? [False, False] Translation: X:11.34, Y:-0.59, Z:-0.49 [[ 9.96830256e-01 6.16127481e-02 -5.03320006e-02 1.13414621e+01] [-6.12408447e-02 9.98083342e-01 8.89951915e-03 -5.88985797e-01] [ 5.07838552e-02 -5.78893572e-03 9.98692890e-01 -4.85817323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.202401008 meters Centerline goodness : 0.904896 Centerline is valid? [False, False] Translation: X:11.35, Y:-0.59, Z:-0.49 [[ 9.96983582e-01 5.84348854e-02 -5.10793661e-02 1.13465722e+01] [-5.81166312e-02 9.98280143e-01 7.69505676e-03 -5.93369727e-01] [ 5.14411767e-02 -4.70328456e-03 9.98664951e-01 -4.88017451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.232401008000004 meters Centerline goodness : 0.908267 Centerline is valid? [False, False] Translation: X:11.35, Y:-0.60, Z:-0.49 [[ 9.97006810e-01 5.72777877e-02 -5.19295273e-02 1.13498547e+01] [-5.69532305e-02 9.98347080e-01 7.70955166e-03 -5.96286690e-01] [ 5.22852780e-02 -4.72892117e-03 9.98620993e-01 -4.88760516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.262401008000005 meters Centerline goodness : 0.906791 Centerline is valid? [False, False] Translation: X:11.35, Y:-0.60, Z:-0.49 [[ 9.97043761e-01 5.60778143e-02 -5.25263415e-02 1.13527146e+01] [-5.57528034e-02 9.98415420e-01 7.63368822e-03 -5.98952111e-01] [ 5.28711898e-02 -4.68263043e-03 9.98590362e-01 -4.89632585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.292401008000006 meters Centerline goodness : 0.907515 Centerline is valid? [False, False] Translation: X:11.36, Y:-0.60, Z:-0.49 [[ 9.97052916e-01 5.51103147e-02 -5.33698111e-02 1.13555894e+01] [-5.47557198e-02 9.98467049e-01 8.08478110e-03 -6.01534877e-01] [ 5.37335526e-02 -5.13865215e-03 9.98542087e-01 -4.89373388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32240100800001 meters Centerline goodness : 0.911874 Centerline is valid? [False, False] Translation: X:11.36, Y:-0.60, Z:-0.49 [[ 9.97064053e-01 5.42293680e-02 -5.40596910e-02 1.13580243e+01] [-5.38426337e-02 9.98512521e-01 8.58584925e-03 -6.03984579e-01] [ 5.44448835e-02 -5.64992551e-03 9.98500793e-01 -4.88947058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.352401008 meters Centerline goodness : 0.911263 Centerline is valid? [False, False] Translation: X:11.36, Y:-0.61, Z:-0.49 [[ 9.97122853e-01 5.19840862e-02 -5.51694740e-02 1.13632330e+01] [-5.15478919e-02 9.98627209e-01 9.30119177e-03 -6.07601834e-01] [ 5.55772518e-02 -6.43056079e-03 9.98433682e-01 -4.88297440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.382401008 meters Centerline goodness : 0.910833 Centerline is valid? [False, False] Translation: X:11.37, Y:-0.61, Z:-0.49 [[ 9.97124230e-01 5.11252163e-02 -5.59417740e-02 1.13660009e+01] [-5.06745945e-02 9.98670553e-01 9.44521343e-03 -6.09133585e-01] [ 5.63502910e-02 -6.58322446e-03 9.98389356e-01 -4.88512368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.412401008 meters Centerline goodness : 0.910734 Centerline is valid? [False, False] Translation: X:11.37, Y:-0.61, Z:-0.48 [[ 0.99701383 0.05131763 -0.05770546 11.37496966] [-0.05048147 0.99859911 0.01585675 -0.61243827] [ 0.05843835 -0.01289635 0.99820772 -0.48335988] [ 0. 0. 0. 1. ]] SLAMing on 55.442401008000004 meters Centerline goodness : 0.912873 Centerline is valid? [False, False] Translation: X:11.38, Y:-0.62, Z:-0.48 [[ 0.9968393 0.05339315 -0.0588267 11.37960434] [-0.05216804 0.99839221 0.02216941 -0.61622873] [ 0.05991581 -0.01903047 0.99802201 -0.47850562] [ 0. 0. 0. 1. ]] SLAMing on 55.472401008000006 meters Centerline goodness : 0.911117 Centerline is valid? [False, False] Translation: X:11.38, Y:-0.62, Z:-0.48 [[ 0.99682217 0.05341752 -0.05909427 11.37976102] [-0.0521576 0.99838169 0.02266245 -0.61705055] [ 0.06020921 -0.01950822 0.99799513 -0.47720423] [ 0. 0. 0. 1. ]] SLAMing on 55.50240100800001 meters Centerline goodness : 0.915218 Centerline is valid? [False, False] Translation: X:11.38, Y:-0.62, Z:-0.47 [[ 0.99658141 0.05685548 -0.05994121 11.38204009] [-0.05517288 0.99804497 0.02936301 -0.62072957] [ 0.06149348 -0.0259555 0.99776995 -0.47170772] [ 0. 0. 0. 1. ]] SLAMing on 55.532401008 meters Centerline goodness : 0.912997 Centerline is valid? [False, False] Translation: X:11.38, Y:-0.62, Z:-0.47 [[ 0.99633823 0.06029937 -0.06061458 11.38463912] [-0.05829162 0.99770796 0.03436456 -0.62233881] [ 0.06254781 -0.03070541 0.99756952 -0.46961945] [ 0. 0. 0. 1. ]] SLAMing on 55.562401008 meters Centerline goodness : 0.918264 Centerline is valid? [False, False] Translation: X:11.39, Y:-0.62, Z:-0.47 [[ 0.99653902 0.0566971 -0.06078997 11.38547709] [-0.05507765 0.99808957 0.02799399 -0.61719959] [ 0.06226102 -0.02454893 0.99775794 -0.47474829] [ 0. 0. 0. 1. ]] SLAMing on 55.592401008 meters Centerline goodness : 0.913906 Centerline is valid? [False, False] Translation: X:11.39, Y:-0.62, Z:-0.48 [[ 0.99630468 0.06003901 -0.06141911 11.3884565 ] [-0.05817908 0.99780474 0.03163701 -0.61664108] [ 0.06318374 -0.02794679 0.99761054 -0.47512584] [ 0. 0. 0. 1. ]] SLAMing on 55.622401008000004 meters Centerline goodness : 0.913812 Centerline is valid? [False, False] Translation: X:11.39, Y:-0.61, Z:-0.48 [[ 0.99650267 0.05669506 -0.06138478 11.38763111] [-0.05519953 0.99814216 0.02579213 -0.61237551] [ 0.06273303 -0.02231352 0.99778087 -0.47836707] [ 0. 0. 0. 1. ]] SLAMing on 55.652401008000005 meters Centerline goodness : 0.915414 Centerline is valid? [False, False] Translation: X:11.39, Y:-0.61, Z:-0.47 [[ 0.99625655 0.06000791 -0.06222482 11.39033426] [-0.05813953 0.99781403 0.03141594 -0.61418115] [ 0.063974 -0.02768062 0.9975676 -0.47462347] [ 0. 0. 0. 1. ]] SLAMing on 55.68240100800001 meters Centerline goodness : 0.915232 Centerline is valid? [False, False] Translation: X:11.39, Y:-0.61, Z:-0.48 [[ 0.99645132 0.05693906 -0.06198966 11.38859549] [-0.05544752 0.99813535 0.02552257 -0.6095643 ] [ 0.0633273 -0.02199483 0.99775041 -0.47776085] [ 0. 0. 0. 1. ]] SLAMing on 55.712401008 meters Centerline goodness : 0.912693 Centerline is valid? [False, False] Translation: X:11.40, Y:-0.61, Z:-0.48 [[ 0.99658176 0.05925942 -0.0575597 11.40130665] [-0.05849019 0.99817589 0.0149597 -0.60557832] [ 0.05834121 -0.01154188 0.99822998 -0.48382462] [ 0. 0. 0. 1. ]] SLAMing on 55.742401008 meters Centerline goodness : 0.914289 Centerline is valid? [False, False] Translation: X:11.40, Y:-0.61, Z:-0.48 [[ 0.9963056 0.06317548 -0.05817226 11.40246016] [-0.06202714 0.99784628 0.02134074 -0.60839741] [ 0.05939519 -0.01765364 0.99807843 -0.4789281 ] [ 0. 0. 0. 1. ]] SLAMing on 55.772401008 meters Centerline goodness : 0.915491 Centerline is valid? [False, False] Translation: X:11.42, Y:-0.61, Z:-0.48 [[ 9.96449094e-01 6.51960913e-02 -5.32792030e-02 1.14172645e+01] [-6.45755267e-02 9.97824337e-01 1.32888896e-02 -6.06421450e-01] [ 5.40296691e-02 -9.80116943e-03 9.98491228e-01 -4.83026781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.802401008000004 meters Centerline goodness : 0.917229 Centerline is valid? [False, False] Translation: X:11.42, Y:-0.60, Z:-0.48 [[ 9.96449447e-01 6.52383420e-02 -5.32208410e-02 1.14169932e+01] [-6.46463791e-02 9.97826508e-01 1.27712813e-02 -6.04542798e-01] [ 5.39383432e-02 -9.28540153e-03 9.98501095e-01 -4.83273809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.832401008000005 meters Centerline goodness : 0.918816 Centerline is valid? [False, False] Translation: X:11.42, Y:-0.61, Z:-0.48 [[ 0.99616991 0.06928301 -0.05334214 11.41728766] [-0.06840151 0.99749222 0.01817965 -0.6059956 ] [ 0.05446791 -0.01446134 0.9984108 -0.48017477] [ 0. 0. 0. 1. ]] SLAMing on 55.862401008000006 meters Centerline goodness : 0.918980 Centerline is valid? [False, False] Translation: X:11.42, Y:-0.61, Z:-0.48 [[ 0.99615674 0.06922605 -0.05366096 11.4176755 ] [-0.06833722 0.99749575 0.01822757 -0.60585475] [ 0.05478841 -0.01449047 0.99839284 -0.47959385] [ 0. 0. 0. 1. ]] SLAMing on 55.89240100800001 meters Centerline goodness : 0.919887 Centerline is valid? [False, False] Translation: X:11.42, Y:-0.61, Z:-0.48 [[ 0.99616416 0.06866221 -0.05424459 11.41905196] [-0.06776075 0.99753396 0.01828857 -0.60647013] [ 0.05536655 -0.01454276 0.99836018 -0.47897538] [ 0. 0. 0. 1. ]] SLAMing on 55.922401008 meters Centerline goodness : 0.919854 Centerline is valid? [False, False] Translation: X:11.42, Y:-0.61, Z:-0.48 [[ 0.99618202 0.06784921 -0.05493513 11.42133065] [-0.0669522 0.99759363 0.01800976 -0.60676859] [ 0.05602489 -0.01426297 0.99832749 -0.47932398] [ 0. 0. 0. 1. ]] SLAMing on 55.952401008 meters Centerline goodness : 0.921645 Centerline is valid? [False, False] Translation: X:11.42, Y:-0.60, Z:-0.48 [[ 9.96465608e-01 6.35054321e-02 -5.49850156e-02 1.14217494e+01] [-6.28871843e-02 9.97937219e-01 1.29038404e-02 -6.04479765e-01] [ 5.56910575e-02 -9.40038038e-03 9.98403796e-01 -4.81425242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.982401008000004 meters Centerline goodness : 0.917985 Centerline is valid? [False, False] Translation: X:11.42, Y:-0.61, Z:-0.48 [[ 9.96481756e-01 6.25621608e-02 -5.57681390e-02 1.14241127e+01] [-6.19226574e-02 9.97994661e-01 1.31240534e-02 -6.05710557e-01] [ 5.64773742e-02 -9.62456841e-03 9.98357488e-01 -4.80848771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.012401008000005 meters Centerline goodness : 0.921765 Centerline is valid? [False, False] Translation: X:11.42, Y:-0.60, Z:-0.48 [[ 9.96746248e-01 5.80900579e-02 -5.58789971e-02 1.14247176e+01] [-5.77171634e-02 9.98298758e-01 8.26547677e-03 -6.04028738e-01] [ 5.62640754e-02 -5.01340575e-03 9.98403335e-01 -4.82541163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.042401008000006 meters Centerline goodness : 0.921718 Centerline is valid? [False, False] Translation: X:11.44, Y:-0.61, Z:-0.48 [[ 9.96862515e-01 5.39955447e-02 -5.78757912e-02 1.14399353e+01] [-5.34008597e-02 9.98503739e-01 1.17741468e-02 -6.05153353e-01] [ 5.84249454e-02 -8.64658862e-03 9.98254357e-01 -4.81326880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.07240100800001 meters Centerline goodness : 0.924277 Centerline is valid? [False, False] Translation: X:11.44, Y:-0.60, Z:-0.48 [[ 9.96879401e-01 5.27003732e-02 -5.87718461e-02 1.14435080e+01] [-5.21530366e-02 9.98580603e-01 1.08093001e-02 -6.04527043e-01] [ 5.92580796e-02 -7.71043841e-03 9.98212918e-01 -4.82970666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.102401008 meters Centerline goodness : 0.922616 Centerline is valid? [False, False] Translation: X:11.45, Y:-0.61, Z:-0.48 [[ 0.99670858 0.05411107 -0.06036553 11.45022866] [-0.05324615 0.99845567 0.015847 -0.60662933] [ 0.0611298 -0.01258061 0.99805054 -0.48049356] [ 0. 0. 0. 1. ]] SLAMing on 56.132401008 meters Centerline goodness : 0.922482 Centerline is valid? [False, False] Translation: X:11.45, Y:-0.61, Z:-0.48 [[ 0.99671418 0.05325079 -0.06103441 11.4526926 ] [-0.05242995 0.99851234 0.01497344 -0.60534727] [ 0.06174096 -0.01172421 0.99802334 -0.48162752] [ 0. 0. 0. 1. ]] SLAMing on 56.162401008 meters Centerline goodness : 0.918582 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.60, Z:-0.48 [[ 9.96719615e-01 5.22421865e-02 -6.18123131e-02 1.14556743e+01] [-5.15288233e-02 9.98585844e-01 1.30802239e-02 -6.01921071e-01] [ 6.24082403e-02 -9.85220002e-03 9.98002077e-01 -4.84239479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.192401008000004 meters Centerline goodness : 0.921023 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.60, Z:-0.49 [[ 9.96723232e-01 5.14849381e-02 -6.23866984e-02 1.14578251e+01] [-5.08355530e-02 9.98635505e-01 1.19530356e-02 -5.99471671e-01] [ 6.29169733e-02 -8.74240601e-03 9.97980473e-01 -4.85553753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.222401008000006 meters Centerline goodness : 0.920524 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.60, Z:-0.48 [[ 0.99651348 0.05419208 -0.06343581 11.46151894] [-0.05324261 0.99844421 0.01656458 -0.60064225] [ 0.06423479 -0.01312933 0.99784844 -0.4836665 ] [ 0. 0. 0. 1. ]] SLAMing on 56.25240100800001 meters Centerline goodness : 0.917975 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.60, Z:-0.49 [[ 9.96715658e-01 5.04769650e-02 -6.33243523e-02 1.14610580e+01] [-4.98376402e-02 9.98689544e-01 1.16362958e-02 -5.96783582e-01] [ 6.38287334e-02 -8.44214194e-03 9.97925159e-01 -4.85363259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.282401008 meters Centerline goodness : 0.919617 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.60, Z:-0.49 [[ 9.96709384e-01 4.95261388e-02 -6.41682663e-02 1.14635622e+01] [-4.88964034e-02 9.98739384e-01 1.13483087e-02 -5.96233061e-01] [ 6.46494126e-02 -8.17336836e-03 9.97874566e-01 -4.85168312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.312401008 meters Centerline goodness : 0.917105 Centerline is valid? [False, False] Translation: X:11.47, Y:-0.59, Z:-0.49 [[ 9.96722246e-01 4.82546806e-02 -6.49326623e-02 1.14659698e+01] [-4.76634149e-02 9.98806940e-01 1.06252216e-02 -5.94655879e-01] [ 6.53679105e-02 -7.49548230e-03 9.97833079e-01 -4.85171672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.342401008 meters Centerline goodness : 0.917200 Centerline is valid? [False, False] Translation: X:11.47, Y:-0.60, Z:-0.48 [[ 0.99652248 0.05068359 -0.06613721 11.47022061] [-0.04978295 0.99864444 0.01519651 -0.59567301] [ 0.06681777 -0.01185116 0.99769481 -0.48325441] [ 0. 0. 0. 1. ]] SLAMing on 56.372401008000004 meters Centerline goodness : 0.919603 Centerline is valid? [False, False] Translation: X:11.47, Y:-0.59, Z:-0.48 [[ 9.96515419e-01 5.01853555e-02 -6.66216953e-02 1.14714150e+01] [-4.93172343e-02 9.98676260e-01 1.46129382e-02 -5.93807939e-01] [ 6.72668610e-02 -1.12764205e-02 9.97671294e-01 -4.83308832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.402401008000005 meters Centerline goodness : 0.915863 Centerline is valid? [False, False] Translation: X:11.48, Y:-0.59, Z:-0.48 [[ 0.99626339 0.05285568 -0.06830474 11.47579064] [-0.05165303 0.99847943 0.01925606 -0.59371289] [ 0.06921867 -0.01565596 0.99747865 -0.48035267] [ 0. 0. 0. 1. ]] SLAMing on 56.43240100800001 meters Centerline goodness : 0.918358 Centerline is valid? [False, False] Translation: X:11.48, Y:-0.59, Z:-0.48 [[ 0.9962508 0.05239441 -0.06884163 11.47716049] [-0.05123672 0.99851559 0.01847734 -0.59119599] [ 0.06970755 -0.01488084 0.99745647 -0.48068711] [ 0. 0. 0. 1. ]] SLAMing on 56.46240100800001 meters Centerline goodness : 0.918358 Centerline is valid? [False, False] Translation: X:11.48, Y:-0.59, Z:-0.48 [[ 0.9962508 0.05239441 -0.06884163 11.47716049] [-0.05123672 0.99851559 0.01847734 -0.59119599] [ 0.06970755 -0.01488084 0.99745647 -0.48068711] [ 0. 0. 0. 1. ]] SLAMing on 56.492401008 meters Centerline goodness : 0.919128 Centerline is valid? [False, False] Translation: X:11.48, Y:-0.59, Z:-0.48 [[ 0.99624567 0.05197475 -0.06923288 11.47821085] [-0.0508658 0.99854887 0.01768668 -0.58840805] [ 0.07005167 -0.01409869 0.99744373 -0.48104056] [ 0. 0. 0. 1. ]] SLAMing on 56.522401008 meters Centerline goodness : 0.916784 Centerline is valid? [False, False] Translation: X:11.48, Y:-0.59, Z:-0.48 [[ 0.99623622 0.05150464 -0.0697185 11.47934831] [-0.05042962 0.99858132 0.01709394 -0.58608483] [ 0.07050001 -0.01351373 0.99742024 -0.48094779] [ 0. 0. 0. 1. ]] SLAMing on 56.552401008000004 meters Centerline goodness : 0.913478 Centerline is valid? [False, False] Translation: X:11.48, Y:-0.58, Z:-0.48 [[ 0.99623741 0.05105675 -0.07003018 11.4801651 ] [-0.05007937 0.99862273 0.01564305 -0.58150918] [ 0.07073241 -0.01207712 0.99742221 -0.48183605] [ 0. 0. 0. 1. ]] SLAMing on 56.582401008000005 meters Centerline goodness : 0.913725 Centerline is valid? [False, False] Translation: X:11.48, Y:-0.58, Z:-0.48 [[ 9.96237939e-01 5.03686494e-02 -7.05192756e-02 1.14819308e+01] [-4.94633774e-02 9.98670297e-01 1.45262542e-02 -5.78454473e-01] [ 7.11571737e-02 -1.09834840e-02 9.97404642e-01 -4.82831084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.612401008000006 meters Centerline goodness : 0.914247 Centerline is valid? [False, False] Translation: X:11.48, Y:-0.58, Z:-0.48 [[ 9.96236391e-01 4.99435186e-02 -7.08427767e-02 1.14828600e+01] [-4.90955521e-02 9.98700645e-01 1.36619235e-02 -5.76162063e-01] [ 7.14330513e-02 -1.01324401e-02 9.97393931e-01 -4.83377383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64240100800001 meters Centerline goodness : 0.910604 Centerline is valid? [False, False] Translation: X:11.48, Y:-0.57, Z:-0.48 [[ 9.96224941e-01 4.95836970e-02 -7.12553461e-02 1.14836191e+01] [-4.87638214e-02 9.98723095e-01 1.32010903e-02 -5.74525143e-01] [ 7.18189187e-02 -9.67657244e-03 9.97370747e-01 -4.83012943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.672401008 meters Centerline goodness : 0.911315 Centerline is valid? [False, False] Translation: X:11.50, Y:-0.57, Z:-0.49 [[ 9.96506733e-01 4.97800267e-02 -6.70543109e-02 1.14995706e+01] [-4.96370494e-02 9.98760102e-01 3.79767702e-03 -5.71029587e-01] [ 6.71602188e-02 -4.56032583e-04 9.97742099e-01 -4.86127683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.702401008 meters Centerline goodness : 0.911727 Centerline is valid? [False, False] Translation: X:11.50, Y:-0.57, Z:-0.49 [[ 9.96510034e-01 4.91767893e-02 -6.74492048e-02 1.15011092e+01] [-4.90813065e-02 9.98790059e-01 3.07303721e-03 -5.68791877e-01] [ 6.75187174e-02 2.48182676e-04 9.97717977e-01 -4.86743987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.732401008000004 meters Centerline goodness : 0.909388 Centerline is valid? [False, False] Translation: X:11.50, Y:-0.57, Z:-0.49 [[ 9.96298034e-01 5.22713216e-02 -6.82490811e-02 1.15040414e+01] [-5.18734309e-02 9.98624820e-01 7.59046072e-03 -5.69546321e-01] [ 6.85519898e-02 -4.02204710e-03 9.97639438e-01 -4.85368737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.762401008000005 meters Centerline goodness : 0.908605 Centerline is valid? [False, False] Translation: X:11.51, Y:-0.57, Z:-0.49 [[ 9.96076558e-01 5.51096865e-02 -6.92416988e-02 1.15076008e+01] [-5.44781386e-02 9.98454616e-01 1.09778375e-02 -5.67594943e-01] [ 6.97396790e-02 -7.16260768e-03 9.97539510e-01 -4.85145228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.792401008000006 meters Centerline goodness : 0.904914 Centerline is valid? [False, False] Translation: X:11.51, Y:-0.57, Z:-0.48 [[ 9.95838745e-01 5.78269723e-02 -7.04360328e-02 1.15117687e+01] [-5.69022695e-02 9.98266064e-01 1.50664272e-02 -5.68559136e-01] [ 7.11851471e-02 -1.09957618e-02 9.97402511e-01 -4.84319365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82240100800001 meters Centerline goodness : 0.908551 Centerline is valid? [False, False] Translation: X:11.52, Y:-0.57, Z:-0.48 [[ 0.99560837 0.05932178 -0.07242163 11.51904716] [-0.05801918 0.99811589 0.01996132 -0.56944018] [ 0.07346932 -0.01567181 0.99717433 -0.48172787] [ 0. 0. 0. 1. ]] SLAMing on 56.852401008 meters Centerline goodness : 0.909020 Centerline is valid? [False, False] Translation: X:11.53, Y:-0.57, Z:-0.48 [[ 0.99537807 0.06094023 -0.07422115 11.52586716] [-0.05935696 0.99796355 0.02335611 -0.5681521 ] [ 0.07549333 -0.01884261 0.99696826 -0.48150394] [ 0. 0. 0. 1. ]] SLAMing on 56.882401008 meters Centerline goodness : 0.910134 Centerline is valid? [False, False] Translation: X:11.54, Y:-0.57, Z:-0.47 [[ 0.99538874 0.06146763 -0.07364099 11.53874858] [-0.05900896 0.99763975 0.03511229 -0.57045523] [ 0.07562544 -0.0306049 0.99666651 -0.47306172] [ 0. 0. 0. 1. ]] SLAMing on 56.912401008 meters Centerline goodness : 0.908386 Centerline is valid? [False, False] Translation: X:11.54, Y:-0.57, Z:-0.47 [[ 0.99538235 0.06042155 -0.07458697 11.54160475] [-0.05801272 0.99773492 0.03405223 -0.56896793] [ 0.07647551 -0.02956799 0.99663295 -0.47401885] [ 0. 0. 0. 1. ]] SLAMing on 56.942401008000004 meters Centerline goodness : 0.907467 Centerline is valid? [False, False] Translation: X:11.54, Y:-0.57, Z:-0.48 [[ 0.99538147 0.05939734 -0.07541679 11.54451638] [-0.05704196 0.99782583 0.0330124 -0.56739519] [ 0.07721367 -0.02855801 0.99660548 -0.47527878] [ 0. 0. 0. 1. ]] SLAMing on 56.972401008000006 meters Centerline goodness : 0.905444 Centerline is valid? [False, False] Translation: X:11.55, Y:-0.57, Z:-0.47 [[ 0.99516547 0.0604216 -0.0774268 11.55274618] [-0.05756314 0.99759402 0.03863489 -0.56598929] [ 0.07957489 -0.03399118 0.99624918 -0.47081805] [ 0. 0. 0. 1. ]] SLAMing on 57.00240100800001 meters Centerline goodness : 0.906250 Centerline is valid? [False, False] Translation: X:11.55, Y:-0.56, Z:-0.47 [[ 0.99516364 0.05977146 -0.07795327 11.55442684] [-0.05697856 0.99766807 0.03757479 -0.56334267] [ 0.08001739 -0.0329514 0.99624868 -0.47167638] [ 0. 0. 0. 1. ]] SLAMing on 57.032401008 meters Centerline goodness : 0.910854 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.56, Z:-0.48 [[ 0.99544909 0.05960231 -0.07435501 11.56944276] [-0.05786716 0.99800422 0.02527802 -0.55877645] [ 0.07571324 -0.02086027 0.99691141 -0.47829071] [ 0. 0. 0. 1. ]] SLAMing on 57.062401008 meters Centerline goodness : 0.907664 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.56, Z:-0.48 [[ 0.99519583 0.06302007 -0.07492487 11.57128391] [-0.06091167 0.99768914 0.03010221 -0.55919027] [ 0.07664878 -0.0253938 0.99673473 -0.47560325] [ 0. 0. 0. 1. ]] SLAMing on 57.092401008 meters Centerline goodness : 0.906664 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.55, Z:-0.48 [[ 0.99603879 0.06159383 -0.06413218 11.5672745 ] [-0.06033152 0.99794814 0.02143877 -0.5491573 ] [ 0.06532109 -0.01748465 0.9977111 -0.48494915] [ 0. 0. 0. 1. ]] SLAMing on 57.122401008000004 meters Centerline goodness : 0.909548 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.55, Z:-0.48 [[ 0.99563275 0.06699257 -0.06501865 11.57307798] [-0.06498334 0.99735558 0.0325425 -0.55084963] [ 0.06702682 -0.02817525 0.99735328 -0.4777252 ] [ 0. 0. 0. 1. ]] SLAMing on 57.152401008000005 meters Centerline goodness : 0.914031 Centerline is valid? [False, False] Translation: X:11.59, Y:-0.55, Z:-0.48 [[ 0.99575947 0.0701467 -0.05951903 11.58604175] [-0.06879509 0.9973308 0.0244645 -0.54651835] [ 0.06107627 -0.02026614 0.99792734 -0.48284762] [ 0. 0. 0. 1. ]] SLAMing on 57.18240100800001 meters Centerline goodness : 0.910531 Centerline is valid? [False, False] Translation: X:11.60, Y:-0.54, Z:-0.49 [[ 0.99558707 0.07622451 -0.05473771 11.59852548] [-0.07535377 0.99699794 0.01780187 -0.54064017] [ 0.05593032 -0.01359862 0.99834206 -0.48748092] [ 0. 0. 0. 1. ]] SLAMing on 57.21240100800001 meters Centerline goodness : 0.912812 Centerline is valid? [False, False] Translation: X:11.60, Y:-0.54, Z:-0.49 [[ 0.99554656 0.07673353 -0.05476319 11.59815234] [-0.07591745 0.99697201 0.01683291 -0.53674631] [ 0.05588901 -0.01260047 0.99835747 -0.48815596] [ 0. 0. 0. 1. ]] SLAMing on 57.242401008 meters Centerline goodness : 0.909370 Centerline is valid? [False, False] Translation: X:11.60, Y:-0.53, Z:-0.49 [[ 9.95525301e-01 7.68215624e-02 -5.50256609e-02 1.15987678e+01] [-7.60641545e-02 9.96978806e-01 1.57322837e-02 -5.32994786e-01] [ 5.60679963e-02 -1.14764061e-02 9.98360993e-01 -4.89153328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.272401008 meters Centerline goodness : 0.910687 Centerline is valid? [False, False] Translation: X:11.60, Y:-0.53, Z:-0.49 [[ 0.99521807 0.08039796 -0.05547216 11.60040697] [-0.07942042 0.99664829 0.01961083 -0.53257102] [ 0.0568629 -0.01511143 0.99826763 -0.48841626] [ 0. 0. 0. 1. ]] SLAMing on 57.302401008000004 meters Centerline goodness : 0.908010 Centerline is valid? [False, False] Translation: X:11.60, Y:-0.53, Z:-0.49 [[ 0.99513622 0.08111434 -0.05589609 11.60076801] [-0.08020671 0.99661029 0.01829791 -0.52758659] [ 0.05719084 -0.01372567 0.99826891 -0.48977325] [ 0. 0. 0. 1. ]] SLAMing on 57.332401008000005 meters Centerline goodness : 0.907732 Centerline is valid? [False, False] Translation: X:11.60, Y:-0.53, Z:-0.49 [[ 0.99512913 0.08086137 -0.05638658 11.60215773] [-0.07999962 0.99664336 0.01738 -0.52554201] [ 0.05760268 -0.01278444 0.99825773 -0.4908734 ] [ 0. 0. 0. 1. ]] SLAMing on 57.362401008000006 meters Centerline goodness : 0.906402 Centerline is valid? [False, False] Translation: X:11.60, Y:-0.52, Z:-0.49 [[ 0.99512565 0.08064899 -0.05675102 11.60345594] [-0.07981913 0.99666872 0.01674439 -0.52451437] [ 0.05791238 -0.01213296 0.99824794 -0.49196151] [ 0. 0. 0. 1. ]] SLAMing on 57.39240100800001 meters Centerline goodness : 0.903455 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.52, Z:-0.49 [[ 9.95143164e-01 8.00843982e-02 -5.72413509e-02 1.16053480e+01] [-7.92912820e-02 9.96723097e-01 1.59987869e-02 -5.24226776e-01] [ 5.83350298e-02 -1.13823433e-02 9.98232171e-01 -4.93292663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.422401008 meters Centerline goodness : 0.900140 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.52, Z:-0.50 [[ 9.95431258e-01 7.61014499e-02 -5.76643786e-02 1.16066289e+01] [-7.55864208e-02 9.97077873e-01 1.10637773e-02 -5.23159546e-01] [ 5.83378455e-02 -6.65458578e-03 9.98274718e-01 -4.96184556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.452401008 meters Centerline goodness : 0.900774 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.52, Z:-0.50 [[ 9.95440011e-01 7.54767936e-02 -5.83304253e-02 1.16088751e+01] [-7.49663006e-02 9.97126557e-01 1.08941472e-02 -5.24117490e-01] [ 5.89850715e-02 -6.47165380e-03 9.98237887e-01 -4.96869628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.482401008000004 meters Centerline goodness : 0.900244 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.53, Z:-0.50 [[ 9.95455190e-01 7.49730670e-02 -5.87197126e-02 1.16104072e+01] [-7.44610426e-02 9.97164756e-01 1.08629409e-02 -5.25500910e-01] [ 5.93676559e-02 -6.44123988e-03 9.98215404e-01 -4.97447875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.512401008000005 meters Centerline goodness : 0.900287 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.52, Z:-0.50 [[ 9.95719688e-01 7.12863405e-02 -5.88265301e-02 1.16101844e+01] [-7.10168357e-02 9.97452869e-01 6.66201701e-03 -5.24411511e-01] [ 5.91516021e-02 -2.45582748e-03 9.98245990e-01 -4.98440657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.542401008000006 meters Centerline goodness : 0.903491 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.53, Z:-0.50 [[ 9.95708644e-01 7.11235286e-02 -5.92092903e-02 1.16112994e+01] [-7.08105149e-02 9.97462552e-01 7.37071134e-03 -5.28135013e-01] [ 5.95832809e-02 -3.14644066e-03 9.98218379e-01 -4.98251816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.57240100800001 meters Centerline goodness : 0.901367 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.53, Z:-0.50 [[ 9.95701758e-01 7.10944817e-02 -5.93597842e-02 1.16116933e+01] [-7.07645592e-02 9.97463754e-01 7.64444561e-03 -5.29952263e-01] [ 5.97527111e-02 -3.41101897e-03 9.98207382e-01 -4.98192642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.602401008 meters Centerline goodness : 0.904289 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.53, Z:-0.50 [[ 9.95674858e-01 7.12012440e-02 -5.96821539e-02 1.16118385e+01] [-7.08258536e-02 9.97453457e-01 8.38450367e-03 -5.32410236e-01] [ 6.01271578e-02 -4.12120001e-03 9.98182218e-01 -4.97017146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.632401008 meters Centerline goodness : 0.901026 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.53, Z:-0.50 [[ 9.95894861e-01 6.83685299e-02 -5.93225944e-02 1.16095859e+01] [-6.81867536e-02 9.97659614e-01 5.08547531e-03 -5.34610617e-01] [ 5.95314431e-02 -1.01958360e-03 9.98225910e-01 -4.97031600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.662401008 meters Centerline goodness : 0.904211 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.54, Z:-0.50 [[ 9.95883075e-01 6.84834889e-02 -5.93878168e-02 1.16097082e+01] [-6.82647186e-02 9.97650919e-01 5.70719384e-03 -5.36771587e-01] [ 5.96391586e-02 -1.62960515e-03 9.98218671e-01 -4.96655412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.692401008000004 meters Centerline goodness : 0.906084 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.54, Z:-0.50 [[ 9.95888431e-01 6.81685029e-02 -5.96597750e-02 1.16108873e+01] [-6.79292512e-02 9.97671908e-01 6.03161960e-03 -5.38903651e-01] [ 5.99320481e-02 -1.95417634e-03 9.98200546e-01 -4.96943205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.722401008000006 meters Centerline goodness : 0.903144 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.54, Z:-0.50 [[ 9.96160268e-01 6.42796885e-02 -5.94377237e-02 1.16108719e+01] [-6.42381757e-02 9.97931180e-01 2.61091987e-03 -5.42643887e-01] [ 5.94825869e-02 1.21727630e-03 9.98228601e-01 -4.98479700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.75240100800001 meters Centerline goodness : 0.903396 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.55, Z:-0.50 [[ 9.96160799e-01 6.38649606e-02 -5.98742817e-02 1.16124475e+01] [-6.37996321e-02 9.97958207e-01 3.00411267e-03 -5.45995008e-01] [ 5.99438883e-02 8.27377865e-04 9.98201405e-01 -4.98848410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.782401008 meters Centerline goodness : 0.906457 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.55, Z:-0.50 [[ 9.96162199e-01 6.33677160e-02 -6.03771979e-02 1.16144778e+01] [-6.32890291e-02 9.97990056e-01 3.21664463e-03 -5.49072193e-01] [ 6.04596746e-02 6.16914448e-04 9.98170450e-01 -4.99692043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.812401008 meters Centerline goodness : 0.907216 Centerline is valid? [False, False] Translation: X:11.62, Y:-0.56, Z:-0.50 [[ 9.96184173e-01 6.23199761e-02 -6.11008457e-02 1.16174774e+01] [-6.22000903e-02 9.98056220e-01 3.86400966e-03 -5.55219017e-01] [ 6.12228841e-02 -4.87871527e-05 9.98124119e-01 -5.00233279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.842401008 meters Centerline goodness : 0.907425 Centerline is valid? [False, False] Translation: X:11.62, Y:-0.56, Z:-0.50 [[ 9.96172467e-01 6.20356379e-02 -6.15791892e-02 1.16187129e+01] [-6.18721767e-02 9.98073666e-01 4.55962092e-03 -5.58924790e-01] [ 6.17434261e-02 -7.32130345e-04 9.98091786e-01 -4.99754516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.872401008000004 meters Centerline goodness : 0.911401 Centerline is valid? [False, False] Translation: X:11.62, Y:-0.56, Z:-0.50 [[ 9.96171298e-01 6.14884893e-02 -6.21442740e-02 1.16204101e+01] [-6.12980097e-02 9.98107141e-01 4.96879842e-03 -5.62715742e-01] [ 6.23321676e-02 -1.14045406e-03 9.98054808e-01 -4.99713174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.902401008000005 meters Centerline goodness : 0.910400 Centerline is valid? [False, False] Translation: X:11.62, Y:-0.57, Z:-0.50 [[ 9.96181202e-01 6.08771688e-02 -6.25857983e-02 1.16222224e+01] [-6.06684481e-02 9.98144263e-01 5.23168497e-03 -5.66125136e-01] [ 6.27881456e-02 -1.41472297e-03 9.98025875e-01 -5.00203738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.93240100800001 meters Centerline goodness : 0.907903 Centerline is valid? [False, False] Translation: X:11.62, Y:-0.57, Z:-0.50 [[ 9.96423492e-01 5.68562683e-02 -6.25107197e-02 1.16224710e+01] [-5.69193421e-02 9.98378481e-01 7.72751194e-04 -5.66032536e-01] [ 6.24532931e-02 2.78808159e-03 9.98043993e-01 -5.02284381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96240100800001 meters Centerline goodness : 0.907833 Centerline is valid? [False, False] Translation: X:11.63, Y:-0.57, Z:-0.50 [[ 9.96483226e-01 5.49185278e-02 -6.32861417e-02 1.16269344e+01] [-5.50011101e-02 9.98486197e-01 4.37827315e-04 -5.70582038e-01] [ 6.32143838e-02 3.04452047e-03 9.97995327e-01 -5.04500587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.992401008 meters Centerline goodness : 0.909217 Centerline is valid? [False, False] Translation: X:11.63, Y:-0.57, Z:-0.50 [[ 9.96479001e-01 5.43252415e-02 -6.38621085e-02 1.16289524e+01] [-5.43624797e-02 9.98520598e-01 1.15566527e-03 -5.73895967e-01] [ 6.38304126e-02 2.32010640e-03 9.97958063e-01 -5.04173669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.022401008 meters Centerline goodness : 0.907001 Centerline is valid? [False, False] Translation: X:11.63, Y:-0.58, Z:-0.50 [[ 9.96471772e-01 5.35814411e-02 -6.45990498e-02 1.16312281e+01] [-5.35734634e-02 9.98562184e-01 1.85694537e-03 -5.77024433e-01] [ 6.46056661e-02 1.61040119e-03 9.97909572e-01 -5.03507210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.052401008000004 meters Centerline goodness : 0.906374 Centerline is valid? [False, False] Translation: X:11.63, Y:-0.58, Z:-0.50 [[ 9.96479731e-01 5.31213860e-02 -6.48557198e-02 1.16324184e+01] [-5.30728610e-02 9.98587583e-01 2.47204401e-03 -5.80262558e-01] [ 6.48954349e-02 9.78736858e-04 9.97891590e-01 -5.03355392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.082401008000005 meters Centerline goodness : 0.910089 Centerline is valid? [False, False] Translation: X:11.63, Y:-0.59, Z:-0.50 [[ 9.96497070e-01 5.21194927e-02 -6.53999008e-02 1.16344322e+01] [-5.19611247e-02 9.98640604e-01 4.12130782e-03 -5.86904170e-01] [ 6.55257969e-02 -7.08618770e-04 9.97850624e-01 -5.01453138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.112401008000006 meters Centerline goodness : 0.912949 Centerline is valid? [False, False] Translation: X:11.63, Y:-0.59, Z:-0.50 [[ 9.96472859e-01 5.21009453e-02 -6.57824597e-02 1.16347830e+01] [-5.18603759e-02 9.98639958e-01 5.36052883e-03 -5.89729331e-01] [ 6.59722815e-02 -1.93011841e-03 9.97819589e-01 -4.99428478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14240100800001 meters Centerline goodness : 0.914938 Centerline is valid? [False, False] Translation: X:11.63, Y:-0.59, Z:-0.50 [[ 9.96464110e-01 5.23630027e-02 -6.57068777e-02 1.16341106e+01] [-5.20599006e-02 9.98623979e-01 6.31787173e-03 -5.91913803e-01] [ 6.59472864e-02 -2.87483891e-03 9.97818967e-01 -4.98065290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.172401008 meters Centerline goodness : 0.915079 Centerline is valid? [False, False] Translation: X:11.63, Y:-0.59, Z:-0.50 [[ 9.96451212e-01 5.23061800e-02 -6.59472874e-02 1.16344826e+01] [-5.19518804e-02 9.98624512e-01 7.07715600e-03 -5.93442939e-01] [ 6.62267567e-02 -3.62595509e-03 9.97798010e-01 -4.96873550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.202401008 meters Centerline goodness : 0.914700 Centerline is valid? [False, False] Translation: X:11.63, Y:-0.60, Z:-0.50 [[ 9.96446344e-01 5.21595855e-02 -6.61366839e-02 1.16348761e+01] [-5.17477902e-02 9.98628736e-01 7.92547424e-03 -5.95459059e-01] [ 6.64593826e-02 -4.47488259e-03 9.97779097e-01 -4.95601637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.232401008000004 meters Centerline goodness : 0.913165 Centerline is valid? [False, False] Translation: X:11.64, Y:-0.60, Z:-0.49 [[ 9.96469137e-01 5.11460545e-02 -6.65833357e-02 1.16366096e+01] [-5.05879982e-02 9.98669124e-01 1.00416499e-02 -6.00930404e-01] [ 6.70083123e-02 -6.63787650e-03 9.97730337e-01 -4.92459778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.262401008000005 meters Centerline goodness : 0.912271 Centerline is valid? [False, False] Translation: X:11.64, Y:-0.60, Z:-0.49 [[ 9.96472786e-01 5.03357921e-02 -6.71438295e-02 1.16386032e+01] [-4.97511500e-02 9.98707992e-01 1.03522656e-02 -6.02280674e-01] [ 6.75781686e-02 -6.97526817e-03 9.97689599e-01 -4.92015230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.292401008000006 meters Centerline goodness : 0.912413 Centerline is valid? [False, False] Translation: X:11.64, Y:-0.60, Z:-0.49 [[ 9.96462389e-01 4.99648409e-02 -6.75738236e-02 1.16399621e+01] [-4.93626051e-02 9.98725162e-01 1.05538563e-02 -6.02756292e-01] [ 6.80149997e-02 -7.18090090e-03 9.97658456e-01 -4.91786835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32240100800001 meters Centerline goodness : 0.913535 Centerline is valid? [False, False] Translation: X:11.64, Y:-0.60, Z:-0.49 [[ 9.96460217e-01 4.88255986e-02 -6.84331505e-02 1.16431514e+01] [-4.82512909e-02 9.98784956e-01 1.00211888e-02 -6.02759124e-01] [ 6.88392918e-02 -6.68372811e-03 9.97605373e-01 -4.92718133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.352401008 meters Centerline goodness : 0.913535 Centerline is valid? [False, False] Translation: X:11.64, Y:-0.60, Z:-0.49 [[ 9.96460217e-01 4.88255986e-02 -6.84331505e-02 1.16431514e+01] [-4.82512909e-02 9.98784956e-01 1.00211888e-02 -6.02759124e-01] [ 6.88392918e-02 -6.68372811e-03 9.97605373e-01 -4.92718133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.382401008 meters Centerline goodness : 0.913684 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.61, Z:-0.49 [[ 9.96260605e-01 5.15777381e-02 -6.93148111e-02 1.16464985e+01] [-5.06733920e-02 9.98606444e-01 1.47437098e-02 -6.05780000e-01] [ 6.99786643e-02 -1.11761607e-02 9.97485880e-01 -4.91029550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.412401008 meters Centerline goodness : 0.914664 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.61, Z:-0.49 [[ 0.9960452 0.0542181 -0.07038723 11.65033683] [-0.05301505 0.99841578 0.01885024 -0.60818739] [ 0.07129775 -0.01504411 0.99734162 -0.49025124] [ 0. 0. 0. 1. ]] SLAMing on 58.442401008000004 meters Centerline goodness : 0.917781 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.61, Z:-0.49 [[ 0.99603045 0.05345041 -0.07117864 11.65323208] [-0.0523293 0.99847611 0.01752456 -0.6062889 ] [ 0.07200686 -0.01373027 0.99730963 -0.4923676 ] [ 0. 0. 0. 1. ]] SLAMing on 58.472401008000006 meters Centerline goodness : 0.918608 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.60, Z:-0.49 [[ 0.99601337 0.05275643 -0.0719314 11.65581033] [-0.05169537 0.998526 0.016535 -0.60459021] [ 0.0726977 -0.01275056 0.99727251 -0.49381467] [ 0. 0. 0. 1. ]] SLAMing on 58.50240100800001 meters Centerline goodness : 0.913768 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.60, Z:-0.50 [[ 9.96012772e-01 5.22064211e-02 -7.23398046e-02 1.16578677e+01] [-5.12229613e-02 9.98568725e-01 1.53853847e-02 -6.02575378e-01] [ 7.30394823e-02 -1.16185807e-02 9.97261371e-01 -4.95867053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.532401008 meters Centerline goodness : 0.912813 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.60, Z:-0.50 [[ 0.99577621 0.05543252 -0.07319141 11.66115918] [-0.05416358 0.99834725 0.01921126 -0.60341082] [ 0.07413537 -0.01516581 0.99713286 -0.4960153 ] [ 0. 0. 0. 1. ]] SLAMing on 58.562401008 meters Centerline goodness : 0.907879 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.60, Z:-0.50 [[ 0.99575695 0.0552802 -0.07356765 11.66292229] [-0.05413918 0.9983815 0.01741614 -0.59985511] [ 0.07441135 -0.01335935 0.99713814 -0.49920905] [ 0. 0. 0. 1. ]] SLAMing on 58.592401008 meters Centerline goodness : 0.910832 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.60, Z:-0.50 [[ 0.99575052 0.05501802 -0.07385063 11.66390917] [-0.05394001 0.9984076 0.01651458 -0.59790525] [ 0.07464163 -0.0124609 0.99713257 -0.50034163] [ 0. 0. 0. 1. ]] SLAMing on 58.622401008000004 meters Centerline goodness : 0.911637 Centerline is valid? [False, False] Translation: X:11.67, Y:-0.60, Z:-0.50 [[ 0.9954867 0.05851019 -0.07471801 11.66646166] [-0.0570844 0.9981468 0.02107914 -0.59933438] [ 0.07581289 -0.01671877 0.99698189 -0.49881168] [ 0. 0. 0. 1. ]] SLAMing on 58.652401008000005 meters Centerline goodness : 0.911315 Centerline is valid? [False, False] Translation: X:11.67, Y:-0.60, Z:-0.50 [[ 0.99546989 0.05855306 -0.07490821 11.66687745] [-0.0571635 0.99815303 0.02056347 -0.59810076] [ 0.07597391 -0.0161883 0.99697839 -0.49942067] [ 0. 0. 0. 1. ]] SLAMing on 58.68240100800001 meters Centerline goodness : 0.913436 Centerline is valid? [False, False] Translation: X:11.68, Y:-0.60, Z:-0.50 [[ 9.95660839e-01 6.12865636e-02 -7.00246454e-02 1.16794818e+01] [-6.05815792e-02 9.98089307e-01 1.21494051e-02 -5.96577818e-01] [ 7.06354451e-02 -7.85448325e-03 9.97471273e-01 -5.03113900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.71240100800001 meters Centerline goodness : 0.915752 Centerline is valid? [False, False] Translation: X:11.68, Y:-0.60, Z:-0.50 [[ 9.95650353e-01 6.15926289e-02 -6.99050938e-02 1.16786654e+01] [-6.08704228e-02 9.98068441e-01 1.24168518e-02 -5.96286261e-01] [ 7.05348546e-02 -8.10769024e-03 9.97476365e-01 -5.02322566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.742401008 meters Centerline goodness : 0.912342 Centerline is valid? [False, False] Translation: X:11.68, Y:-0.60, Z:-0.50 [[ 9.95643061e-01 6.18491974e-02 -6.97823121e-02 1.16779158e+01] [-6.10974793e-02 9.98048984e-01 1.28578040e-02 -5.96318987e-01] [ 7.04414106e-02 -8.53825996e-03 9.97479376e-01 -5.01292183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.772401008 meters Centerline goodness : 0.913834 Centerline is valid? [False, False] Translation: X:11.68, Y:-0.60, Z:-0.50 [[ 9.95647183e-01 6.16966823e-02 -6.98584679e-02 1.16780878e+01] [-6.09035526e-02 9.98053315e-01 1.34289754e-02 -5.97939936e-01] [ 7.05509988e-02 -9.11589262e-03 9.97466519e-01 -5.00494926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.802401008000004 meters Centerline goodness : 0.912427 Centerline is valid? [False, False] Translation: X:11.68, Y:-0.60, Z:-0.50 [[ 9.95656673e-01 6.13997081e-02 -6.99847510e-02 1.16785856e+01] [-6.05904743e-02 9.98069649e-01 1.36297562e-02 -5.99141367e-01] [ 7.06865190e-02 -9.33014850e-03 9.97454944e-01 -5.00272756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.832401008000005 meters Centerline goodness : 0.914276 Centerline is valid? [False, False] Translation: X:11.68, Y:-0.60, Z:-0.50 [[ 9.95887340e-01 5.80190253e-02 -6.95859066e-02 1.16768304e+01] [-5.74914151e-02 9.98300201e-01 9.56274426e-03 -5.97821291e-01] [ 7.00224456e-02 -5.52282371e-03 9.97530128e-01 -5.00875879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.862401008000006 meters Centerline goodness : 0.915056 Centerline is valid? [False, False] Translation: X:11.68, Y:-0.60, Z:-0.50 [[ 9.95891846e-01 5.76853042e-02 -6.97985451e-02 1.16774850e+01] [-5.71252539e-02 9.98316985e-01 9.99511378e-03 -5.99425376e-01] [ 7.02576443e-02 -5.96679271e-03 9.97511033e-01 -5.00233731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.89240100800001 meters Centerline goodness : 0.917728 Centerline is valid? [False, False] Translation: X:11.68, Y:-0.60, Z:-0.50 [[ 9.96123993e-01 5.33014228e-02 -6.99710529e-02 1.16777453e+01] [-5.30173910e-02 9.98576092e-01 5.91146167e-03 -6.00503556e-01] [ 7.01865098e-02 -2.17886614e-03 9.97531506e-01 -5.00866585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.922401008 meters Centerline goodness : 0.917800 Centerline is valid? [False, False] Translation: X:11.68, Y:-0.60, Z:-0.50 [[ 9.96105728e-01 5.26302809e-02 -7.07349434e-02 1.16799882e+01] [-5.23348746e-02 9.98611420e-01 6.02433757e-03 -6.02237616e-01] [ 7.09537849e-02 -2.29897276e-03 9.97476955e-01 -5.00855851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.952401008 meters Centerline goodness : 0.917442 Centerline is valid? [False, False] Translation: X:11.68, Y:-0.60, Z:-0.50 [[ 9.96096987e-01 5.24028146e-02 -7.10263099e-02 1.16809409e+01] [-5.21018082e-02 9.98623238e-01 6.08526923e-03 -6.03458870e-01] [ 7.12474088e-02 -2.36091917e-03 9.97455880e-01 -5.01091724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.982401008000004 meters Centerline goodness : 0.918207 Centerline is valid? [False, False] Translation: X:11.68, Y:-0.60, Z:-0.50 [[ 9.96095181e-01 5.18117349e-02 -7.14838116e-02 1.16827853e+01] [-5.15318747e-02 9.98654769e-01 5.75492612e-03 -6.03774800e-01] [ 7.16858220e-02 -2.04875935e-03 9.97425158e-01 -5.01880635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.012401008000005 meters Centerline goodness : 0.920641 Centerline is valid? [False, False] Translation: X:11.68, Y:-0.60, Z:-0.50 [[ 9.96098525e-01 5.13163966e-02 -7.17938475e-02 1.16843117e+01] [-5.10633717e-02 9.98681050e-01 5.35649800e-03 -6.03225865e-01] [ 7.19740312e-02 -1.66956383e-03 9.97405109e-01 -5.02705866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.042401008000006 meters Centerline goodness : 0.913838 Centerline is valid? [False, False] Translation: X:11.69, Y:-0.60, Z:-0.50 [[ 9.96023938e-01 5.04526843e-02 -7.34223511e-02 1.16941055e+01] [-5.00098681e-02 9.98717809e-01 7.85821374e-03 -6.03942383e-01] [ 7.37246775e-02 -4.15512690e-03 9.97269977e-01 -5.04063939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.07240100800001 meters Centerline goodness : 0.915365 Centerline is valid? [False, False] Translation: X:11.70, Y:-0.60, Z:-0.51 [[ 9.96015013e-01 4.89893622e-02 -7.45260748e-02 1.16986010e+01] [-4.86163848e-02 9.98794297e-01 6.81166133e-03 -6.03622409e-01] [ 7.47699175e-02 -3.16132861e-03 9.97195801e-01 -5.06199338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.102401008 meters Centerline goodness : 0.911820 Centerline is valid? [False, False] Translation: X:11.70, Y:-0.60, Z:-0.51 [[ 9.96009728e-01 4.77899635e-02 -7.53706874e-02 1.17023771e+01] [-4.74863302e-02 9.98854953e-01 5.81651679e-03 -6.03574636e-01] [ 7.55623555e-02 -2.21422995e-03 9.97138620e-01 -5.08455548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.132401008 meters Centerline goodness : 0.913372 Centerline is valid? [False, False] Translation: X:11.71, Y:-0.60, Z:-0.51 [[ 9.95978048e-01 4.69611214e-02 -7.63045299e-02 1.17053021e+01] [-4.67426791e-02 9.98896154e-01 4.64718471e-03 -6.01689559e-01] [ 7.64385385e-02 -1.06181580e-03 9.97073730e-01 -5.09883135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.162401008 meters Centerline goodness : 0.915795 Centerline is valid? [False, False] Translation: X:11.71, Y:-0.60, Z:-0.51 [[ 9.95964028e-01 4.66923018e-02 -7.66517019e-02 1.17059918e+01] [-4.65246355e-02 9.98909243e-01 3.97262575e-03 -5.99321603e-01] [ 7.67535846e-02 -3.90399854e-04 9.97050016e-01 -5.10042931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.192401008000004 meters Centerline goodness : 0.916708 Centerline is valid? [False, False] Translation: X:11.71, Y:-0.60, Z:-0.51 [[ 9.95964421e-01 4.62318641e-02 -7.69252008e-02 1.17070383e+01] [-4.60677799e-02 9.98930675e-01 3.90713985e-03 -5.98483427e-01] [ 7.70235771e-02 -3.47599068e-04 9.97029211e-01 -5.09859814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.222401008000006 meters Centerline goodness : 0.916933 Centerline is valid? [False, False] Translation: X:11.71, Y:-0.60, Z:-0.51 [[ 9.95764477e-01 4.82760280e-02 -7.82466073e-02 1.17121978e+01] [-4.76542800e-02 9.98815863e-01 9.79497285e-03 -6.00820215e-01] [ 7.86268149e-02 -6.02470029e-03 9.96885915e-01 -5.05765983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.25240100800001 meters Centerline goodness : 0.913755 Centerline is valid? [False, False] Translation: X:11.71, Y:-0.60, Z:-0.51 [[ 9.95793844e-01 4.72509911e-02 -7.84981823e-02 1.17137870e+01] [-4.66638102e-02 9.98867369e-01 9.29879074e-03 -5.99463512e-01] [ 7.88486499e-02 -5.59665429e-03 9.96870888e-01 -5.06141791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.282401008 meters Centerline goodness : 0.913088 Centerline is valid? [False, False] Translation: X:11.72, Y:-0.60, Z:-0.51 [[ 9.95778432e-01 4.65120518e-02 -7.91324399e-02 1.17156038e+01] [-4.59128691e-02 9.98901450e-01 9.37556285e-03 -5.99315384e-01] [ 7.94815856e-02 -5.70278592e-03 9.96820022e-01 -5.05474236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.312401008 meters Centerline goodness : 0.913942 Centerline is valid? [False, False] Translation: X:11.72, Y:-0.60, Z:-0.50 [[ 0.99557253 0.04812002 -0.08074531 11.72196135] [-0.04692908 0.99876055 0.01658397 -0.60304686] [ 0.08144325 -0.01272124 0.99659679 -0.49876011] [ 0. 0. 0. 1. ]] SLAMing on 59.342401008 meters Centerline goodness : 0.916176 Centerline is valid? [False, False] Translation: X:11.72, Y:-0.60, Z:-0.50 [[ 9.95750764e-01 4.42146771e-02 -8.07804344e-02 1.17211402e+01] [-4.33698346e-02 9.98984786e-01 1.21841851e-02 -6.01054137e-01] [ 8.12371448e-02 -8.62897752e-03 9.96657447e-01 -4.99003076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.372401008000004 meters Centerline goodness : 0.917200 Centerline is valid? [False, False] Translation: X:11.72, Y:-0.60, Z:-0.50 [[ 9.95712315e-01 4.41259664e-02 -8.13011986e-02 1.17212443e+01] [-4.32013715e-02 9.98980529e-01 1.30975139e-02 -6.02059533e-01] [ 8.17962549e-02 -9.52903258e-03 9.96603517e-01 -4.96357751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.402401008000005 meters Centerline goodness : 0.918292 Centerline is valid? [False, False] Translation: X:11.72, Y:-0.60, Z:-0.50 [[ 0.99550104 0.04706352 -0.08223565 11.72470727] [-0.04576891 0.99879773 0.01755857 -0.60346456] [ 0.08296315 -0.01371574 0.99645823 -0.4951416 ] [ 0. 0. 0. 1. ]] SLAMing on 59.43240100800001 meters Centerline goodness : 0.915231 Centerline is valid? [False, False] Translation: X:11.73, Y:-0.60, Z:-0.50 [[ 0.99549537 0.04632713 -0.082721 11.72709837] [-0.04512256 0.99884727 0.01637338 -0.60055712] [ 0.08338418 -0.01256704 0.99643823 -0.49704949] [ 0. 0. 0. 1. ]] SLAMing on 59.46240100800001 meters Centerline goodness : 0.913495 Centerline is valid? [False, False] Translation: X:11.73, Y:-0.60, Z:-0.50 [[ 0.99527584 0.04921356 -0.08369006 11.73101198] [-0.04768076 0.998658 0.02021753 -0.60108663] [ 0.08457273 -0.01613162 0.99628672 -0.49702638] [ 0. 0. 0. 1. ]] SLAMing on 59.492401008 meters Centerline goodness : 0.912767 Centerline is valid? [False, False] Translation: X:11.73, Y:-0.60, Z:-0.50 [[ 0.99526667 0.04905633 -0.08389122 11.73164987] [-0.04760809 0.99868195 0.01917874 -0.59792864] [ 0.08472149 -0.01509406 0.99629034 -0.49806197] [ 0. 0. 0. 1. ]] SLAMing on 59.522401008 meters Centerline goodness : 0.917351 Centerline is valid? [False, False] Translation: X:11.73, Y:-0.60, Z:-0.50 [[ 0.99525858 0.04934689 -0.08381672 11.73084844] [-0.04792808 0.99867277 0.0188573 -0.59598508] [ 0.08463603 -0.01475071 0.99630274 -0.49783229] [ 0. 0. 0. 1. ]] SLAMing on 59.552401008000004 meters Centerline goodness : 0.913909 Centerline is valid? [False, False] Translation: X:11.75, Y:-0.59, Z:-0.50 [[ 9.95525956e-01 5.13776260e-02 -7.92995000e-02 1.17462217e+01] [-5.06622376e-02 9.98655172e-01 1.10083843e-02 -5.93528611e-01] [ 7.97584405e-02 -6.94164223e-03 9.96790050e-01 -5.01479182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.582401008000005 meters Centerline goodness : 0.915588 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.59, Z:-0.50 [[ 9.95672705e-01 5.54253996e-02 -7.45914806e-02 1.17599538e+01] [-5.52694491e-02 9.98462831e-01 4.15489210e-03 -5.89823627e-01] [ 7.47071075e-02 -1.42826158e-05 9.97205519e-01 -5.04695514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.612401008000006 meters Centerline goodness : 0.913221 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.59, Z:-0.50 [[ 9.95651569e-01 5.62250845e-02 -7.42744444e-02 1.17586379e+01] [-5.61027645e-02 9.98418018e-01 3.73387986e-03 -5.86961505e-01] [ 7.43668813e-02 4.49358328e-04 9.97230848e-01 -5.04994376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64240100800001 meters Centerline goodness : 0.915404 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.58, Z:-0.51 [[ 9.95611256e-01 5.72558224e-02 -7.40270100e-02 1.17574467e+01] [-5.71523494e-02 9.98359274e-01 3.51707930e-03 -5.83544302e-01] [ 7.41069252e-02 7.29173804e-04 9.97250035e-01 -5.05234355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.672401008 meters Centerline goodness : 0.911772 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.58, Z:-0.50 [[ 9.95349974e-01 6.15255429e-02 -7.41150209e-02 1.17580169e+01] [-6.11351005e-02 9.98101116e-01 7.52738582e-03 -5.82527089e-01] [ 7.44374116e-02 -2.96135403e-03 9.97221290e-01 -5.04755193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.702401008 meters Centerline goodness : 0.912816 Centerline is valid? [False, False] Translation: X:11.77, Y:-0.58, Z:-0.51 [[ 9.95173518e-01 6.93681919e-02 -6.94098232e-02 1.17709407e+01] [-6.93331826e-02 9.97589297e-01 2.91628129e-03 -5.78201985e-01] [ 6.94447938e-02 1.91019803e-03 9.97583967e-01 -5.08920822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.732401008000004 meters Centerline goodness : 0.914821 Centerline is valid? [False, False] Translation: X:11.77, Y:-0.58, Z:-0.51 [[ 9.95125847e-01 7.04088500e-02 -6.90444952e-02 1.17691559e+01] [-7.03883513e-02 9.97515921e-01 2.73274605e-03 -5.76052244e-01] [ 6.90653927e-02 2.14050196e-03 9.97609838e-01 -5.08850763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.762401008000005 meters Centerline goodness : 0.913048 Centerline is valid? [False, False] Translation: X:11.77, Y:-0.57, Z:-0.51 [[ 9.95092362e-01 7.09098997e-02 -6.90143195e-02 1.17687525e+01] [-7.09040181e-02 9.97479914e-01 2.53793452e-03 -5.74812585e-01] [ 6.90203622e-02 2.36791330e-03 9.97612441e-01 -5.09073621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.792401008000006 meters Centerline goodness : 0.914674 Centerline is valid? [False, False] Translation: X:11.77, Y:-0.57, Z:-0.51 [[ 9.95069702e-01 7.15665027e-02 -6.86623950e-02 1.17676204e+01] [-7.15657796e-02 9.97432815e-01 2.47354177e-03 -5.74104275e-01] [ 6.86631486e-02 2.45253135e-03 9.97636886e-01 -5.09375097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82240100800001 meters Centerline goodness : 0.915680 Centerline is valid? [False, False] Translation: X:11.77, Y:-0.57, Z:-0.51 [[ 9.95061105e-01 7.18509182e-02 -6.84897233e-02 1.17677420e+01] [-7.18567439e-02 9.97412119e-01 2.38175142e-03 -5.74796948e-01] [ 6.84836111e-02 2.55146031e-03 9.97648979e-01 -5.10595903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.852401008 meters Centerline goodness : 0.915646 Centerline is valid? [False, False] Translation: X:11.77, Y:-0.58, Z:-0.51 [[ 9.95060772e-01 7.14347913e-02 -6.89284399e-02 1.17693289e+01] [-7.14327446e-02 9.97442291e-01 2.49766197e-03 -5.76206701e-01] [ 6.89305610e-02 2.43842220e-03 9.97618480e-01 -5.10950192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.882401008 meters Centerline goodness : 0.915060 Centerline is valid? [False, False] Translation: X:11.77, Y:-0.58, Z:-0.51 [[ 9.95049438e-01 7.12570731e-02 -6.92751370e-02 1.17703161e+01] [-7.12022278e-02 9.97456561e-01 3.26377173e-03 -5.79023972e-01] [ 6.93315068e-02 1.68492986e-03 9.97592253e-01 -5.10417883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.912401008 meters Centerline goodness : 0.912420 Centerline is valid? [False, False] Translation: X:11.77, Y:-0.58, Z:-0.51 [[ 9.95327074e-01 6.77174765e-02 -6.88357359e-02 1.17685246e+01] [-6.79134752e-02 9.97691085e-01 -5.08426858e-04 -5.79752098e-01] [ 6.86423707e-02 5.18092506e-03 9.97627878e-01 -5.10862610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.942401008000004 meters Centerline goodness : 0.917256 Centerline is valid? [False, False] Translation: X:11.77, Y:-0.58, Z:-0.51 [[ 9.95301556e-01 6.77200853e-02 -6.92011760e-02 1.17689312e+01] [-6.78090586e-02 9.97697748e-01 1.06522909e-03 -5.84054934e-01] [ 6.91139948e-02 3.63224242e-03 9.97602156e-01 -5.08928181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.972401008000006 meters Centerline goodness : 0.920239 Centerline is valid? [False, False] Translation: X:11.77, Y:-0.59, Z:-0.51 [[ 9.95295861e-01 6.77529438e-02 -6.92509005e-02 1.17689252e+01] [-6.76815234e-02 9.97701252e-01 3.37983650e-03 -5.90383258e-01] [ 6.93207040e-02 1.32306917e-03 9.97593549e-01 -5.06465380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.00240100800001 meters Centerline goodness : 0.918110 Centerline is valid? [False, False] Translation: X:11.77, Y:-0.59, Z:-0.51 [[ 9.95276435e-01 6.81894600e-02 -6.91014861e-02 1.17682928e+01] [-6.80650931e-02 9.97672228e-01 4.15544348e-03 -5.92939435e-01] [ 6.92239911e-02 5.67584107e-04 9.97600981e-01 -5.06039352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.03240100800001 meters Centerline goodness : 0.919456 Centerline is valid? [False, False] Translation: X:11.77, Y:-0.60, Z:-0.51 [[ 9.95252527e-01 6.84234486e-02 -6.92144473e-02 1.17685207e+01] [-6.82661179e-02 9.97656364e-01 4.63866463e-03 -5.95028894e-01] [ 6.93696273e-02 1.08358924e-04 9.97591020e-01 -5.05988115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.062401008 meters Centerline goodness : 0.919806 Centerline is valid? [False, False] Translation: X:11.77, Y:-0.60, Z:-0.51 [[ 9.95227653e-01 6.90795299e-02 -6.89197836e-02 1.17674299e+01] [-6.88857346e-02 9.97611070e-01 5.18741745e-03 -5.96568522e-01] [ 6.91134834e-02 -4.15071372e-04 9.97608718e-01 -5.05717900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.092401008 meters Centerline goodness : 0.916481 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.60, Z:-0.51 [[ 9.95167964e-01 7.07009195e-02 -6.81329901e-02 1.17647129e+01] [-7.05089467e-02 9.97497482e-01 5.22132154e-03 -5.95461955e-01] [ 6.83316382e-02 -3.92106561e-04 9.97662585e-01 -5.06365408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.122401008000004 meters Centerline goodness : 0.920470 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.59, Z:-0.51 [[ 9.95121199e-01 7.13797145e-02 -6.81082692e-02 1.17642824e+01] [-7.12208802e-02 9.97449208e-01 4.76053827e-03 -5.93194759e-01] [ 6.82743451e-02 1.13418342e-04 9.97666578e-01 -5.07074991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.152401008000005 meters Centerline goodness : 0.915799 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.59, Z:-0.51 [[ 9.95088111e-01 7.23524492e-02 -6.75631105e-02 1.17624315e+01] [-7.22096297e-02 9.97379068e-01 4.55684043e-03 -5.91370943e-01] [ 6.77157307e-02 3.44249448e-04 9.97704596e-01 -5.07417028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18240100800001 meters Centerline goodness : 0.916880 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.59, Z:-0.51 [[ 9.95050355e-01 7.37360614e-02 -6.66167024e-02 1.17590865e+01] [-7.35723773e-02 9.97277791e-01 4.91042614e-03 -5.90947535e-01] [ 6.67974333e-02 1.50278876e-05 9.97766557e-01 -5.06959787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.21240100800001 meters Centerline goodness : 0.917711 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.59, Z:-0.51 [[ 9.95044528e-01 7.37699611e-02 -6.66661832e-02 1.17586387e+01] [-7.35600942e-02 9.97275060e-01 5.60063727e-03 -5.92591930e-01] [ 6.68976806e-02 -6.68912758e-04 9.97759617e-01 -5.05661260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.242401008 meters Centerline goodness : 0.917927 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.59, Z:-0.51 [[ 9.95064834e-01 7.34532680e-02 -6.67127705e-02 1.17591523e+01] [-7.32416599e-02 9.97298413e-01 5.61552976e-03 -5.93215740e-01] [ 6.69450192e-02 -7.01662143e-04 9.97756419e-01 -5.05839020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.272401008 meters Centerline goodness : 0.917927 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.59, Z:-0.51 [[ 9.95064834e-01 7.34532680e-02 -6.67127705e-02 1.17591523e+01] [-7.32416599e-02 9.97298413e-01 5.61552976e-03 -5.93215740e-01] [ 6.69450192e-02 -7.01662143e-04 9.97756419e-01 -5.05839020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.302401008000004 meters Centerline goodness : 0.917243 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.59, Z:-0.51 [[ 9.95081806e-01 7.29110591e-02 -6.70535402e-02 1.17607783e+01] [-7.27059407e-02 9.97338269e-01 5.49755836e-03 -5.93991463e-01] [ 6.72758945e-02 -5.95329587e-04 9.97734233e-01 -5.06591987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.332401008000005 meters Centerline goodness : 0.913542 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.60, Z:-0.51 [[ 9.95148435e-01 7.15393558e-02 -6.75404580e-02 1.17635529e+01] [-7.13217673e-02 9.97437468e-01 5.63053413e-03 -5.97374098e-01] [ 6.77701882e-02 -7.86112405e-04 9.97700648e-01 -5.07215494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.362401008000006 meters Centerline goodness : 0.914531 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.60, Z:-0.51 [[ 9.95152347e-01 7.12421460e-02 -6.77964760e-02 1.17642872e+01] [-7.10097118e-02 9.97458556e-01 5.83521029e-03 -5.98743746e-01] [ 6.80398880e-02 -9.92714997e-04 9.97682108e-01 -5.06983903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.39240100800001 meters Centerline goodness : 0.915845 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.60, Z:-0.51 [[ 9.95419379e-01 6.77932174e-02 -6.74117110e-02 1.17624983e+01] [-6.78384553e-02 9.97695002e-01 1.62050595e-03 -5.97160705e-01] [ 6.73661864e-02 2.96002331e-03 9.97723927e-01 -5.07599343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.422401008 meters Centerline goodness : 0.917081 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.60, Z:-0.51 [[ 9.95417706e-01 6.75706233e-02 -6.76594538e-02 1.17630833e+01] [-6.75884437e-02 9.97711225e-01 2.02833148e-03 -5.98367885e-01] [ 6.76416522e-02 2.55396011e-03 9.97706412e-01 -5.06994776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.452401008 meters Centerline goodness : 0.913378 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.60, Z:-0.51 [[ 9.95440292e-01 6.72525409e-02 -6.76440677e-02 1.17635606e+01] [-6.72465831e-02 9.97733577e-01 2.36768503e-03 -6.00374605e-01] [ 6.76499904e-02 2.19194334e-03 9.97706707e-01 -5.07031255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.482401008000004 meters Centerline goodness : 0.910673 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.60, Z:-0.51 [[ 9.95441531e-01 6.70493604e-02 -6.78272963e-02 1.17642803e+01] [-6.70390388e-02 9.97747392e-01 2.43089487e-03 -6.00892484e-01] [ 6.78374980e-02 2.12726304e-03 9.97694116e-01 -5.07178045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.512401008000005 meters Centerline goodness : 0.913243 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.60, Z:-0.51 [[ 9.95444925e-01 6.71177437e-02 -6.77097534e-02 1.17641594e+01] [-6.71047631e-02 9.97742881e-01 2.46870052e-03 -6.01118574e-01] [ 6.77226181e-02 2.08619156e-03 9.97702007e-01 -5.07393092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.542401008000006 meters Centerline goodness : 0.910918 Centerline is valid? [False, False] Translation: X:11.77, Y:-0.60, Z:-0.51 [[ 9.95470822e-01 6.67980911e-02 -6.76450907e-02 1.17650131e+01] [-6.68280303e-02 9.97762844e-01 1.82273590e-03 -5.99761821e-01] [ 6.76155133e-02 2.70610776e-03 9.97707783e-01 -5.08897908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.57240100800001 meters Centerline goodness : 0.908658 Centerline is valid? [False, False] Translation: X:11.77, Y:-0.60, Z:-0.51 [[ 9.95481047e-01 6.64197809e-02 -6.78667609e-02 1.17662833e+01] [-6.64814927e-02 9.97786743e-01 1.35133788e-03 -5.98441533e-01] [ 6.78063099e-02 3.16665232e-03 9.97693478e-01 -5.09780471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.602401008 meters Centerline goodness : 0.906147 Centerline is valid? [False, False] Translation: X:11.77, Y:-0.60, Z:-0.51 [[ 9.95493546e-01 6.60309568e-02 -6.80625707e-02 1.17674926e+01] [-6.61310121e-02 9.97810640e-01 7.84507123e-04 -5.97413208e-01] [ 6.79653590e-02 3.72007491e-03 9.97680746e-01 -5.10873668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.632401008 meters Centerline goodness : 0.903688 Centerline is valid? [False, False] Translation: X:11.77, Y:-0.60, Z:-0.51 [[ 9.95502134e-01 6.57628775e-02 -6.81963752e-02 1.17683503e+01] [-6.58798541e-02 9.97827419e-01 5.34735432e-04 -5.97081074e-01] [ 6.80833788e-02 3.96043699e-03 9.97671774e-01 -5.11538331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.662401008 meters Centerline goodness : 0.903406 Centerline is valid? [False, False] Translation: X:11.77, Y:-0.60, Z:-0.51 [[ 9.95523718e-01 6.46741643e-02 -6.89186472e-02 1.17710863e+01] [-6.48001108e-02 9.97898180e-01 4.08940796e-04 -5.98461290e-01] [ 6.88002405e-02 4.05882571e-03 9.97622199e-01 -5.11980194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.692401008000004 meters Centerline goodness : 0.903945 Centerline is valid? [False, False] Translation: X:11.77, Y:-0.60, Z:-0.51 [[ 9.95526856e-01 6.38701459e-02 -6.96195583e-02 1.17733444e+01] [-6.39805339e-02 9.97950938e-01 6.45397014e-04 -6.00484859e-01] [ 6.95181251e-02 3.81178645e-03 9.97573406e-01 -5.11874219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.722401008000006 meters Centerline goodness : 0.902097 Centerline is valid? [False, False] Translation: X:11.78, Y:-0.60, Z:-0.51 [[ 9.95532772e-01 6.29049938e-02 -7.04092397e-02 1.17759867e+01] [-6.29921393e-02 9.98013538e-01 9.84193709e-04 -6.03112492e-01] [ 7.03312851e-02 3.45543154e-03 9.97517704e-01 -5.11767272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.75240100800001 meters Centerline goodness : 0.905252 Centerline is valid? [False, False] Translation: X:11.78, Y:-0.61, Z:-0.51 [[ 9.95528762e-01 6.18243237e-02 -7.14159501e-02 1.17790915e+01] [-6.18647897e-02 9.98083180e-01 1.64725263e-03 -6.06152499e-01] [ 7.13808988e-02 2.77824536e-03 9.97445261e-01 -5.11015383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78240100800001 meters Centerline goodness : 0.904670 Centerline is valid? [False, False] Translation: X:11.78, Y:-0.61, Z:-0.51 [[ 9.95532319e-01 6.11656670e-02 -7.19316482e-02 1.17808624e+01] [-6.11468999e-02 9.98125734e-01 2.46499606e-03 -6.09362051e-01] [ 7.19476023e-02 1.94441404e-03 9.97406518e-01 -5.10259602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.812401008 meters Centerline goodness : 0.904152 Centerline is valid? [False, False] Translation: X:11.78, Y:-0.61, Z:-0.51 [[ 9.95602772e-01 5.93375024e-02 -7.24857334e-02 1.17838910e+01] [-5.92616202e-02 9.98237360e-01 3.19895194e-03 -6.13902981e-01] [ 7.25477850e-02 1.11073659e-03 9.97364319e-01 -5.09453876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.842401008 meters Centerline goodness : 0.905146 Centerline is valid? [False, False] Translation: X:11.79, Y:-0.62, Z:-0.51 [[ 9.95598953e-01 5.87741340e-02 -7.29953796e-02 1.17857071e+01] [-5.86631524e-02 9.98271106e-01 3.66525385e-03 -6.16038043e-01] [ 7.30846004e-02 6.33016183e-04 9.97325544e-01 -5.09245661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.872401008000004 meters Centerline goodness : 0.906722 Centerline is valid? [False, False] Translation: X:11.79, Y:-0.62, Z:-0.51 [[ 9.95583512e-01 5.82397248e-02 -7.36315444e-02 1.17875669e+01] [-5.80935183e-02 9.98302613e-01 4.12758485e-03 -6.17828021e-01] [ 7.37469525e-02 1.68160050e-04 9.97276972e-01 -5.08738807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.902401008000005 meters Centerline goodness : 0.904887 Centerline is valid? [False, False] Translation: X:11.79, Y:-0.62, Z:-0.51 [[ 9.95580024e-01 5.83169546e-02 -7.36175886e-02 1.17876798e+01] [-5.81435031e-02 9.98298098e-01 4.49885341e-03 -6.19309190e-01] [ 7.37546581e-02 -1.98584096e-04 9.97276396e-01 -5.08707242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.93240100800001 meters Centerline goodness : 0.906793 Centerline is valid? [False, False] Translation: X:11.79, Y:-0.62, Z:-0.51 [[ 9.95582417e-01 5.81201186e-02 -7.37407743e-02 1.17884483e+01] [-5.79467851e-02 9.98309578e-01 4.48965506e-03 -6.19816296e-01] [ 7.38770606e-02 -1.96780831e-04 9.97267337e-01 -5.09065395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96240100800001 meters Centerline goodness : 0.904626 Centerline is valid? [False, False] Translation: X:11.79, Y:-0.62, Z:-0.51 [[ 9.95572536e-01 5.79406093e-02 -7.40149427e-02 1.17894793e+01] [-5.77934540e-02 9.98320018e-01 4.13017407e-03 -6.19573264e-01] [ 7.41299038e-02 1.65691308e-04 9.97248580e-01 -5.09880717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.992401008 meters Centerline goodness : 0.903275 Centerline is valid? [False, False] Translation: X:11.79, Y:-0.62, Z:-0.51 [[ 9.95570720e-01 5.75135701e-02 -7.43715729e-02 1.17911332e+01] [-5.73922143e-02 9.98344592e-01 3.76963331e-03 -6.19320848e-01] [ 7.44652627e-02 5.15412702e-04 9.97223475e-01 -5.10800525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.022401008 meters Centerline goodness : 0.899494 Centerline is valid? [False, False] Translation: X:11.79, Y:-0.62, Z:-0.51 [[ 9.95558253e-01 5.63719022e-02 -7.54053886e-02 1.17949615e+01] [-5.62904679e-02 9.98409285e-01 3.20654415e-03 -6.20146318e-01] [ 7.54661992e-02 1.05230311e-03 9.97147805e-01 -5.12131005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.052401008000004 meters Centerline goodness : 0.900207 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.62, Z:-0.51 [[ 9.95550851e-01 5.57053867e-02 -7.59961362e-02 1.17971128e+01] [-5.56288531e-02 9.98446625e-01 3.12520221e-03 -6.21222696e-01] [ 7.60521763e-02 1.11628018e-03 9.97103215e-01 -5.12602138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.082401008000005 meters Centerline goodness : 0.897003 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.62, Z:-0.51 [[ 9.95553003e-01 5.45945189e-02 -7.67701492e-02 1.18001327e+01] [-5.45318552e-02 9.98507780e-01 2.91388873e-03 -6.22390219e-01] [ 7.68146736e-02 1.28548798e-03 9.97044559e-01 -5.13228243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.112401008000006 meters Centerline goodness : 0.895860 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.62, Z:-0.51 [[ 9.95534149e-01 5.29331390e-02 -7.81654725e-02 1.18050884e+01] [-5.29018317e-02 9.98596656e-01 2.47264755e-03 -6.22904240e-01] [ 7.81866645e-02 1.67349160e-03 9.96937332e-01 -5.14004308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14240100800001 meters Centerline goodness : 0.892460 Centerline is valid? [False, False] Translation: X:11.83, Y:-0.62, Z:-0.51 [[ 9.95647487e-01 4.77540694e-02 -8.00351797e-02 1.18301016e+01] [-4.71393725e-02 9.98842637e-01 9.55333328e-03 -6.24591718e-01] [ 8.03987604e-02 -5.73894412e-03 9.96746259e-01 -5.11963504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.172401008 meters Centerline goodness : 0.890617 Centerline is valid? [False, False] Translation: X:11.84, Y:-0.63, Z:-0.51 [[ 9.95566712e-01 4.61556895e-02 -8.19547139e-02 1.18421036e+01] [-4.51220738e-02 9.98877392e-01 1.44206489e-02 -6.25903074e-01] [ 8.25283058e-02 -1.06587513e-02 9.96531720e-01 -5.08802405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.202401008 meters Centerline goodness : 0.890849 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.63, Z:-0.50 [[ 0.99543364 0.04532712 -0.08400792 11.85347733] [-0.04377098 0.99883584 0.02027489 -0.62729257] [ 0.08482912 -0.0165052 0.9962588 -0.50379551] [ 0. 0. 0. 1. ]] SLAMing on 61.232401008000004 meters Centerline goodness : 0.891945 Centerline is valid? [False, False] Translation: X:11.86, Y:-0.63, Z:-0.50 [[ 0.99531647 0.04525401 -0.0854237 11.86135084] [-0.04324679 0.99874645 0.02520423 -0.62876213] [ 0.0864572 -0.02139189 0.99602587 -0.49998288] [ 0. 0. 0. 1. ]] SLAMing on 61.262401008000005 meters Centerline goodness : 0.890913 Centerline is valid? [False, False] Translation: X:11.87, Y:-0.63, Z:-0.50 [[ 0.99528109 0.04325561 -0.08685915 11.86604958] [-0.04133499 0.99886206 0.02379088 -0.62544453] [ 0.0877894 -0.02008829 0.99593648 -0.50057798] [ 0. 0. 0. 1. ]] SLAMing on 61.292401008000006 meters Centerline goodness : 0.890159 Centerline is valid? [False, False] Translation: X:11.87, Y:-0.62, Z:-0.50 [[ 0.99528095 0.04251117 -0.08722752 11.86730335] [-0.04067064 0.9989131 0.02277095 -0.62283447] [ 0.08810073 -0.0191159 0.99592813 -0.50117568] [ 0. 0. 0. 1. ]] SLAMing on 61.32240100800001 meters Centerline goodness : 0.888162 Centerline is valid? [False, False] Translation: X:11.87, Y:-0.62, Z:-0.50 [[ 0.99528058 0.04184797 -0.08755174 11.86823929] [-0.04010732 0.99896301 0.02154765 -0.61910778] [ 0.08836267 -0.01793449 0.9959269 -0.50178273] [ 0. 0. 0. 1. ]] SLAMing on 61.352401008 meters Centerline goodness : 0.884543 Centerline is valid? [False, False] Translation: X:11.87, Y:-0.61, Z:-0.50 [[ 0.99508018 0.0453495 -0.08808434 11.86964638] [-0.04340299 0.99877196 0.02389027 -0.61167121] [ 0.08905958 -0.01994962 0.99582649 -0.5018529 ] [ 0. 0. 0. 1. ]] SLAMing on 61.382401008 meters Centerline goodness : 0.882981 Centerline is valid? [False, False] Translation: X:11.87, Y:-0.60, Z:-0.50 [[ 0.99504095 0.04631519 -0.088025 11.87005153] [-0.04442596 0.99874087 0.02330274 -0.60480813] [ 0.08899344 -0.01927658 0.99584566 -0.5035501 ] [ 0. 0. 0. 1. ]] SLAMing on 61.412401008 meters Centerline goodness : 0.881297 Centerline is valid? [False, False] Translation: X:11.87, Y:-0.60, Z:-0.50 [[ 0.99482834 0.04992896 -0.08845149 11.87186757] [-0.04781569 0.99852155 0.02585299 -0.59953921] [ 0.08961153 -0.02148992 0.99574493 -0.5044135 ] [ 0. 0. 0. 1. ]] SLAMing on 61.442401008000004 meters Centerline goodness : 0.879059 Centerline is valid? [False, False] Translation: X:11.87, Y:-0.59, Z:-0.51 [[ 0.99460909 0.05383158 -0.08862794 11.87290049] [-0.05150309 0.99827022 0.02835472 -0.59397902] [ 0.09000102 -0.02363725 0.99566114 -0.50527541] [ 0. 0. 0. 1. ]] SLAMing on 61.472401008000006 meters Centerline goodness : 0.877388 Centerline is valid? [False, False] Translation: X:11.87, Y:-0.58, Z:-0.51 [[ 0.99404896 0.06305807 -0.08882756 11.87272232] [-0.06023601 0.99760143 0.03410289 -0.58368904] [ 0.09076497 -0.02854933 0.99546304 -0.50577823] [ 0. 0. 0. 1. ]] SLAMing on 61.50240100800001 meters Centerline goodness : 0.875505 Centerline is valid? [False, False] Translation: X:11.87, Y:-0.58, Z:-0.51 [[ 0.99376242 0.06688752 -0.08923177 11.87438488] [-0.0638393 0.99728914 0.03659119 -0.57841029] [ 0.09143737 -0.03066645 0.99533852 -0.50665719] [ 0. 0. 0. 1. ]] SLAMing on 61.53240100800001 meters Centerline goodness : 0.872348 Centerline is valid? [False, False] Translation: X:11.88, Y:-0.57, Z:-0.51 [[ 0.99348379 0.07048253 -0.08956653 11.87619023] [-0.06721716 0.99697707 0.03896893 -0.57327368] [ 0.09204241 -0.03269459 0.9952182 -0.50771405] [ 0. 0. 0. 1. ]] SLAMing on 61.562401008 meters Centerline goodness : 0.868175 Centerline is valid? [False, False] Translation: X:11.88, Y:-0.57, Z:-0.51 [[ 0.99346705 0.07054785 -0.0897007 11.87666782] [-0.06749487 0.99704704 0.03662837 -0.56590555] [ 0.09201987 -0.03033474 0.995295 -0.51034496] [ 0. 0. 0. 1. ]] SLAMing on 61.592401008 meters Centerline goodness : 0.870514 Centerline is valid? [False, False] Translation: X:11.89, Y:-0.56, Z:-0.52 [[ 0.99357814 0.07295298 -0.08648894 11.89417606] [-0.0708374 0.99711459 0.02728654 -0.55543586] [ 0.08823002 -0.02098466 0.99587906 -0.51559949] [ 0. 0. 0. 1. ]] SLAMing on 61.622401008000004 meters Centerline goodness : 0.867701 Centerline is valid? [False, False] Translation: X:11.90, Y:-0.55, Z:-0.52 [[ 0.99359466 0.07183436 -0.08723235 11.89637219] [-0.06983347 0.99722548 0.02578051 -0.55117141] [ 0.08884224 -0.01952364 0.99585435 -0.5162403 ] [ 0. 0. 0. 1. ]] SLAMing on 61.652401008000005 meters Centerline goodness : 0.867890 Centerline is valid? [False, False] Translation: X:11.90, Y:-0.55, Z:-0.52 [[ 0.99362098 0.07057007 -0.08796146 11.89890162] [-0.06866971 0.99733979 0.02445017 -0.54745711] [ 0.08945292 -0.01825391 0.99582376 -0.51694686] [ 0. 0. 0. 1. ]] SLAMing on 61.68240100800001 meters Centerline goodness : 0.870090 Centerline is valid? [False, False] Translation: X:11.91, Y:-0.55, Z:-0.51 [[ 0.99340401 0.07139351 -0.08972987 11.9064699 ] [-0.06893919 0.99716474 0.03016409 -0.54758792] [ 0.09162898 -0.02377922 0.99550926 -0.51199235] [ 0. 0. 0. 1. ]] SLAMing on 61.71240100800001 meters Centerline goodness : 0.868364 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.55, Z:-0.50 [[ 0.99364293 0.06725798 -0.09027781 11.92088054] [-0.06413078 0.99725135 0.03710785 -0.54601504] [ 0.09252547 -0.03108237 0.99522506 -0.50381024] [ 0. 0. 0. 1. ]] SLAMing on 61.742401008 meters Centerline goodness : 0.867510 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.54, Z:-0.50 [[ 0.99393755 0.06226315 -0.09061708 11.92143655] [-0.05961975 0.99772106 0.03159389 -0.54203911] [ 0.0923777 -0.02599979 0.99538453 -0.50498108] [ 0. 0. 0. 1. ]] SLAMing on 61.772401008 meters Centerline goodness : 0.872602 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.54, Z:-0.51 [[ 0.99420927 0.05758052 -0.09073259 11.92109655] [-0.05536746 0.99810834 0.02672424 -0.53835903] [ 0.09209975 -0.02154585 0.99551666 -0.50508519] [ 0. 0. 0. 1. ]] SLAMing on 61.802401008000004 meters Centerline goodness : 0.870049 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.53, Z:-0.51 [[ 0.99446291 0.0526407 -0.09095311 11.92102087] [-0.05085538 0.99846724 0.02183783 -0.53465856] [ 0.09196326 -0.01709145 0.99561571 -0.50501175] [ 0. 0. 0. 1. ]] SLAMing on 61.832401008000005 meters Centerline goodness : 0.872274 Centerline is valid? [False, False] Translation: X:11.89, Y:-0.53, Z:-0.50 [[ 0.99540888 0.04077631 -0.08659363 11.89134761] [-0.03814445 0.99876503 0.03183406 -0.52953806] [ 0.08778477 -0.02838484 0.99573497 -0.5020302 ] [ 0. 0. 0. 1. ]] SLAMing on 61.862401008000006 meters Centerline goodness : 0.871965 Centerline is valid? [False, False] Translation: X:11.87, Y:-0.53, Z:-0.50 [[ 0.99541804 0.03495962 -0.08899862 11.87108089] [-0.03218823 0.99895695 0.03238717 -0.52604999] [ 0.09003804 -0.02937406 0.99550506 -0.50194688] [ 0. 0. 0. 1. ]] SLAMing on 61.89240100800001 meters Centerline goodness : 0.873906 Centerline is valid? [False, False] Translation: X:11.84, Y:-0.52, Z:-0.51 [[ 0.99615441 0.02522659 -0.0839048 11.83922113] [-0.02234551 0.99913391 0.03510135 -0.52043554] [ 0.08471762 -0.03309147 0.99585535 -0.50716032] [ 0. 0. 0. 1. ]] SLAMing on 61.922401008 meters Centerline goodness : 0.873909 Centerline is valid? [False, False] Translation: X:11.82, Y:-0.52, Z:-0.50 [[ 0.99591524 0.01949863 -0.08816261 11.82316025] [-0.01622126 0.99915596 0.03773904 -0.51787859] [ 0.08882406 -0.03615478 0.99539094 -0.5047973 ] [ 0. 0. 0. 1. ]] SLAMing on 61.952401008 meters Centerline goodness : 0.875583 Centerline is valid? [False, False] Translation: X:11.82, Y:-0.52, Z:-0.51 [[ 0.99684596 0.02100739 -0.07652987 11.82430287] [-0.0179633 0.99902815 0.04025008 -0.51961643] [ 0.07730104 -0.0387484 0.99625454 -0.50537003] [ 0. 0. 0. 1. ]] SLAMing on 61.982401008000004 meters Centerline goodness : 0.875618 Centerline is valid? [False, False] Translation: X:11.83, Y:-0.52, Z:-0.51 [[ 0.9975157 0.02414508 -0.06617735 11.82824416] [-0.02137373 0.99887756 0.04227041 -0.52196818] [ 0.06712369 -0.04075094 0.99691212 -0.50641288] [ 0. 0. 0. 1. ]] SLAMing on 62.012401008000005 meters Centerline goodness : 0.877572 Centerline is valid? [False, False] Translation: X:11.83, Y:-0.52, Z:-0.51 [[ 0.99761505 0.01996875 -0.06607165 11.82757183] [-0.01753973 0.99915608 0.03714155 -0.51750105] [ 0.06675756 -0.03589409 0.99712338 -0.50720294] [ 0. 0. 0. 1. ]] SLAMing on 62.042401008000006 meters Centerline goodness : 0.877094 Centerline is valid? [False, False] Translation: X:11.83, Y:-0.51, Z:-0.51 [[ 0.9977197 0.01598458 -0.06557356 11.82563858] [-0.01389279 0.99938383 0.03223278 -0.51152381] [ 0.06604838 -0.03124828 0.99732701 -0.50710225] [ 0. 0. 0. 1. ]] SLAMing on 62.07240100800001 meters Centerline goodness : 0.876822 Centerline is valid? [False, False] Translation: X:11.83, Y:-0.51, Z:-0.51 [[ 9.97794553e-01 1.16989749e-02 -6.53388393e-02 1.18250093e+01] [-9.95090403e-03 9.99585483e-01 2.70155948e-02 -5.06567358e-01] [ 6.56278100e-02 -2.63058328e-02 9.97497365e-01 -5.08101163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.102401008 meters Centerline goodness : 0.877730 Centerline is valid? [False, False] Translation: X:11.82, Y:-0.50, Z:-0.51 [[ 9.97850573e-01 7.62196482e-03 -6.50856369e-02 1.18240194e+01] [-6.18856817e-03 9.99734473e-01 2.21965206e-02 -5.02403444e-01] [ 6.52375360e-02 -2.17460239e-02 9.97632785e-01 -5.08476935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.132401008 meters Centerline goodness : 0.876168 Centerline is valid? [False, False] Translation: X:11.82, Y:-0.50, Z:-0.51 [[ 9.97895466e-01 3.50682691e-03 -6.47482903e-02 1.18228333e+01] [-2.38735585e-03 9.99846473e-01 1.73588667e-02 -4.99175373e-01] [ 6.47992243e-02 -1.71677571e-02 9.97750635e-01 -5.08730318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.162401008 meters Centerline goodness : 0.876168 Centerline is valid? [False, False] Translation: X:11.82, Y:-0.50, Z:-0.51 [[ 9.97895466e-01 3.50682691e-03 -6.47482903e-02 1.18228333e+01] [-2.38735585e-03 9.99846473e-01 1.73588667e-02 -4.99175373e-01] [ 6.47992243e-02 -1.71677571e-02 9.97750635e-01 -5.08730318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.192401008000004 meters Centerline goodness : 0.875027 Centerline is valid? [False, False] Translation: X:11.82, Y:-0.50, Z:-0.51 [[ 9.97917986e-01 -6.04964855e-04 -6.44928396e-02 1.18217904e+01] [ 1.42347862e-03 9.99919018e-01 1.26463505e-02 -4.96421046e-01] [ 6.44799663e-02 -1.27118248e-02 9.97838035e-01 -5.08754364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.222401008000006 meters Centerline goodness : 0.880136 Centerline is valid? [False, False] Translation: X:11.82, Y:-0.49, Z:-0.51 [[ 9.97890780e-01 -5.04335452e-03 -6.47190567e-02 1.18217470e+01] [ 5.53875999e-03 9.99956703e-01 7.47757135e-03 -4.90749823e-01] [ 6.46785426e-02 -7.82026282e-03 9.97875508e-01 -5.08708523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.25240100800001 meters Centerline goodness : 0.879558 Centerline is valid? [False, False] Translation: X:11.82, Y:-0.49, Z:-0.51 [[ 9.98545347e-01 -5.50590612e-05 -5.39183397e-02 1.18248825e+01] [ 7.22935019e-04 9.99923260e-01 1.23673794e-02 -4.91885854e-01] [ 5.39135210e-02 -1.23883686e-02 9.98468758e-01 -5.09856660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28240100800001 meters Centerline goodness : 0.879796 Centerline is valid? [False, False] Translation: X:11.84, Y:-0.49, Z:-0.52 [[ 9.98784602e-01 6.80092481e-04 -4.92834206e-02 1.18402413e+01] [-5.47502711e-04 9.99996195e-01 2.70380210e-03 -4.87235608e-01] [ 4.92850719e-02 -2.67353310e-03 9.98781174e-01 -5.15309580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.312401008 meters Centerline goodness : 0.877046 Centerline is valid? [False, False] Translation: X:11.84, Y:-0.49, Z:-0.52 [[ 9.99219179e-01 5.97949600e-03 -3.90547960e-02 1.18433414e+01] [-5.70043347e-03 9.99957450e-01 7.25286374e-03 -4.87174640e-01] [ 3.90965027e-02 -7.02457128e-03 9.99210748e-01 -5.15318494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.342401008 meters Centerline goodness : 0.877059 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.49, Z:-0.52 [[ 9.99524461e-01 1.12414894e-02 -2.87137853e-02 1.18474488e+01] [-1.09391867e-02 9.99883304e-01 1.06636183e-02 -4.89200302e-01] [ 2.88303095e-02 -1.03444419e-02 9.99530793e-01 -5.16738694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.372401008000004 meters Centerline goodness : 0.873833 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.49, Z:-0.52 [[ 9.99521328e-01 1.05423058e-02 -2.90856548e-02 1.18486856e+01] [-1.02664402e-02 9.99901045e-01 9.61768387e-03 -4.86149657e-01] [ 2.91841692e-02 -9.31447402e-03 9.99530652e-01 -5.17337783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.402401008000005 meters Centerline goodness : 0.871409 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.48, Z:-0.52 [[ 9.99559081e-01 1.16747787e-02 -2.73009585e-02 1.18458552e+01] [-1.13033187e-02 9.99841971e-01 1.37210911e-02 -4.80271760e-01] [ 2.74568349e-02 -1.34064498e-02 9.99533086e-01 -5.17863409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.43240100800001 meters Centerline goodness : 0.869685 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.48, Z:-0.52 [[ 0.99955727 0.01252946 -0.02698644 11.84633861] [-0.01213048 0.99981543 0.01489795 -0.4771089 ] [ 0.02716813 -0.014564 0.99952478 -0.51901883] [ 0. 0. 0. 1. ]] SLAMing on 62.46240100800001 meters Centerline goodness : 0.868873 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.47, Z:-0.52 [[ 0.99953699 0.01420607 -0.02690695 11.84664692] [-0.01379507 0.99978625 0.01539951 -0.47408901] [ 0.02711996 -0.0150212 0.99951932 -0.5190686 ] [ 0. 0. 0. 1. ]] SLAMing on 62.492401008 meters Centerline goodness : 0.869807 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.48, Z:-0.52 [[ 0.99964194 0.02082361 -0.01680411 11.85024385] [-0.02048593 0.99958962 0.02002308 -0.47511898] [ 0.01721417 -0.01967166 0.99965829 -0.51840553] [ 0. 0. 0. 1. ]] SLAMing on 62.522401008 meters Centerline goodness : 0.872065 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.47, Z:-0.52 [[ 0.99951706 0.02633737 -0.016492 11.84864958] [-0.02598135 0.99943244 0.02144206 -0.46707435] [ 0.01704737 -0.02100322 0.99963406 -0.51560372] [ 0. 0. 0. 1. ]] SLAMing on 62.552401008000004 meters Centerline goodness : 0.870837 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.46, Z:-0.51 [[ 0.99938943 0.03085653 -0.01639035 11.8479173 ] [-0.03045688 0.99924556 0.02409749 -0.46252396] [ 0.01712155 -0.02358358 0.99957524 -0.51387168] [ 0. 0. 0. 1. ]] SLAMing on 62.582401008000005 meters Centerline goodness : 0.869238 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.46, Z:-0.51 [[ 0.99921123 0.03563499 -0.01752332 11.85078419] [-0.03519568 0.99907342 0.02477009 -0.45814303] [ 0.01838977 -0.02413381 0.99953958 -0.51374785] [ 0. 0. 0. 1. ]] SLAMing on 62.612401008000006 meters Centerline goodness : 0.868126 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.45, Z:-0.51 [[ 0.9989677 0.04133701 -0.01883581 11.85355143] [-0.04084634 0.9988341 0.02572963 -0.45427599] [ 0.01987743 -0.02493369 0.99949147 -0.51273042] [ 0. 0. 0. 1. ]] SLAMing on 62.64240100800001 meters Centerline goodness : 0.865754 Centerline is valid? [False, False] Translation: X:11.86, Y:-0.45, Z:-0.51 [[ 0.99829082 0.05376025 -0.02291908 11.86089903] [-0.05324171 0.9983244 0.02266507 -0.44563949] [ 0.02409915 -0.02140608 0.99948037 -0.51308154] [ 0. 0. 0. 1. ]] SLAMing on 62.672401008 meters Centerline goodness : 0.866790 Centerline is valid? [False, False] Translation: X:11.86, Y:-0.44, Z:-0.51 [[ 0.99795283 0.05916898 -0.02427315 11.86446272] [-0.05858862 0.99799458 0.02396251 -0.44201366] [ 0.02564231 -0.02249133 0.99941814 -0.51281506] [ 0. 0. 0. 1. ]] SLAMing on 62.702401008 meters Centerline goodness : 0.864885 Centerline is valid? [False, False] Translation: X:11.87, Y:-0.44, Z:-0.51 [[ 0.99765059 0.06375705 -0.02506678 11.86734101] [-0.0631068 0.99766989 0.02592921 -0.4389805 ] [ 0.02666154 -0.02428641 0.99934945 -0.51329545] [ 0. 0. 0. 1. ]] SLAMing on 62.732401008000004 meters Centerline goodness : 0.863472 Centerline is valid? [False, False] Translation: X:11.87, Y:-0.44, Z:-0.51 [[ 0.99737092 0.0676726 -0.02591669 11.87032925] [-0.06695035 0.99736921 0.02779039 -0.43683019] [ 0.02772915 -0.0259822 0.99927775 -0.51402308] [ 0. 0. 0. 1. ]] SLAMing on 62.762401008000005 meters Centerline goodness : 0.861775 Centerline is valid? [False, False] Translation: X:11.87, Y:-0.43, Z:-0.51 [[ 0.99699563 0.07252808 -0.02719162 11.87303106] [-0.07174845 0.99701181 0.02862878 -0.43471524] [ 0.02918676 -0.02659181 0.9992202 -0.51288471] [ 0. 0. 0. 1. ]] SLAMing on 62.792401008000006 meters Centerline goodness : 0.860356 Centerline is valid? [False, False] Translation: X:11.88, Y:-0.43, Z:-0.51 [[ 0.99691914 0.07301395 -0.02865643 11.8758221 ] [-0.07226824 0.99703975 0.02624936 -0.43379042] [ 0.03048817 -0.02409754 0.9992446 -0.51231627] [ 0. 0. 0. 1. ]] SLAMing on 62.82240100800001 meters Centerline goodness : 0.861485 Centerline is valid? [False, False] Translation: X:11.88, Y:-0.43, Z:-0.51 [[ 0.99689061 0.0729966 -0.02967511 11.87780389] [-0.07228973 0.9970892 0.02423464 -0.43270566] [ 0.03135777 -0.02201408 0.99926577 -0.51194864] [ 0. 0. 0. 1. ]] SLAMing on 62.852401008 meters Centerline goodness : 0.861886 Centerline is valid? [False, False] Translation: X:11.88, Y:-0.43, Z:-0.51 [[ 0.99686571 0.07294759 -0.03061715 11.88019302] [-0.07226336 0.99712288 0.02289046 -0.43165169] [ 0.03219887 -0.02060622 0.99926904 -0.5123908 ] [ 0. 0. 0. 1. ]] SLAMing on 62.882401008 meters Centerline goodness : 0.860712 Centerline is valid? [False, False] Translation: X:11.88, Y:-0.43, Z:-0.51 [[ 0.99682139 0.0732236 -0.03139152 11.88321533] [-0.07255738 0.99712459 0.02186282 -0.43024471] [ 0.03290213 -0.01951564 0.99926803 -0.51401094] [ 0. 0. 0. 1. ]] SLAMing on 62.912401008 meters Centerline goodness : 0.860222 Centerline is valid? [False, False] Translation: X:11.89, Y:-0.43, Z:-0.51 [[ 0.99650814 0.07713701 -0.03195945 11.88550232] [-0.07637861 0.9967825 0.02430959 -0.42885335] [ 0.03373179 -0.02178368 0.99919349 -0.51455317] [ 0. 0. 0. 1. ]] SLAMing on 62.942401008000004 meters Centerline goodness : 0.858671 Centerline is valid? [False, False] Translation: X:11.89, Y:-0.43, Z:-0.51 [[ 0.99634217 0.07864055 -0.03343574 11.8891235 ] [-0.07789585 0.99669564 0.02302263 -0.42860387] [ 0.03513577 -0.02033391 0.99917567 -0.51488382] [ 0. 0. 0. 1. ]] SLAMing on 62.972401008000006 meters Centerline goodness : 0.858028 Centerline is valid? [False, False] Translation: X:11.89, Y:-0.43, Z:-0.52 [[ 0.99620651 0.07963748 -0.035078 11.89296082] [-0.07892823 0.99665565 0.0211624 -0.42865325] [ 0.03664601 -0.01831347 0.99916049 -0.51516518] [ 0. 0. 0. 1. ]] SLAMing on 63.00240100800001 meters Centerline goodness : 0.858653 Centerline is valid? [False, False] Translation: X:11.90, Y:-0.43, Z:-0.51 [[ 0.996005 0.0807015 -0.03822713 11.8984661 ] [-0.08011692 0.99664745 0.01658742 -0.4305518 ] [ 0.0394376 -0.01345852 0.99913139 -0.51412615] [ 0. 0. 0. 1. ]] SLAMing on 63.03240100800001 meters Centerline goodness : 0.858491 Centerline is valid? [False, False] Translation: X:11.90, Y:-0.43, Z:-0.51 [[ 9.95934945e-01 8.07070715e-02 -3.99994207e-02 1.19023842e+01] [-8.01938397e-02 9.96677049e-01 1.42761679e-02 -4.32547738e-01] [ 4.10186923e-02 -1.10104273e-02 9.99097712e-01 -5.14726033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.062401008 meters Centerline goodness : 0.856124 Centerline is valid? [False, False] Translation: X:11.91, Y:-0.43, Z:-0.52 [[ 9.95911484e-01 8.05206921e-02 -4.09479423e-02 1.19053771e+01] [-8.00337813e-02 9.96702118e-01 1.33970700e-02 -4.34039557e-01] [ 4.18916422e-02 -1.00650772e-02 9.99071461e-01 -5.16181785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.092401008 meters Centerline goodness : 0.856538 Centerline is valid? [False, False] Translation: X:11.91, Y:-0.44, Z:-0.52 [[ 9.95882604e-01 8.04414374e-02 -4.17972927e-02 1.19085348e+01] [-7.99415037e-02 9.96708129e-01 1.35004373e-02 -4.36192653e-01] [ 4.27456960e-02 -1.01035123e-02 9.99034897e-01 -5.18295681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.122401008000004 meters Centerline goodness : 0.855619 Centerline is valid? [False, False] Translation: X:11.91, Y:-0.44, Z:-0.52 [[ 9.95727528e-01 8.15487613e-02 -4.33184627e-02 1.19138253e+01] [-8.09683743e-02 9.96603933e-01 1.49907683e-02 -4.41532298e-01] [ 4.43938289e-02 -1.14192951e-02 9.98948841e-01 -5.21744996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.152401008000005 meters Centerline goodness : 0.854329 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.44, Z:-0.52 [[ 9.95624504e-01 8.17098598e-02 -4.53359193e-02 1.19183790e+01] [-8.12350431e-02 9.96620036e-01 1.22217411e-02 -4.44161727e-01] [ 4.61813223e-02 -8.48539956e-03 9.98897033e-01 -5.22415805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18240100800001 meters Centerline goodness : 0.853854 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.45, Z:-0.52 [[ 9.95554724e-01 8.11224571e-02 -4.78532953e-02 1.19234956e+01] [-8.08129481e-02 9.96694135e-01 8.37068592e-03 -4.46897273e-01] [ 4.83741494e-02 -4.46631004e-03 9.98819300e-01 -5.22777583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.21240100800001 meters Centerline goodness : 0.853820 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.45, Z:-0.52 [[ 9.95766676e-01 7.86903740e-02 -4.75031842e-02 1.19209313e+01] [-7.85178433e-02 9.96897592e-01 5.49000032e-03 -4.48094106e-01] [ 4.77878201e-02 -1.73691179e-03 9.98855999e-01 -5.21929952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.242401008 meters Centerline goodness : 0.853322 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.45, Z:-0.52 [[ 9.95733346e-01 7.76271197e-02 -4.98912210e-02 1.19255749e+01] [-7.75926628e-02 9.96981676e-01 2.63000526e-03 -4.54524809e-01] [ 4.99447928e-02 1.25240874e-03 9.98751195e-01 -5.22821823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.272401008 meters Centerline goodness : 0.852382 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.46, Z:-0.53 [[ 9.95740817e-01 7.66307132e-02 -5.12636255e-02 1.19296547e+01] [-7.66774740e-02 9.97055389e-01 1.05679277e-03 -4.58052055e-01] [ 5.11936568e-02 2.87847361e-03 9.98684597e-01 -5.25245315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.302401008000004 meters Centerline goodness : 0.850709 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.47, Z:-0.52 [[ 9.95680725e-01 7.72866531e-02 -5.14457748e-02 1.19303410e+01] [-7.72105695e-02 9.97008778e-01 3.46764483e-03 -4.65391541e-01] [ 5.15598917e-02 5.19490461e-04 9.98669769e-01 -5.24525307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.332401008000005 meters Centerline goodness : 0.848666 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.47, Z:-0.52 [[ 9.95648142e-01 7.77105552e-02 -5.14377957e-02 1.19300348e+01] [-7.75799182e-02 9.96975825e-01 4.53447543e-03 -4.70015848e-01] [ 5.16346154e-02 -5.24202050e-04 9.98665906e-01 -5.24091326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.362401008000006 meters Centerline goodness : 0.851206 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.47, Z:-0.52 [[ 9.95855370e-01 7.54063384e-02 -5.08523977e-02 1.19267041e+01] [-7.54119872e-02 9.97150819e-01 1.81033153e-03 -4.72525941e-01] [ 5.08440205e-02 2.03205199e-03 9.98704539e-01 -5.23111939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.39240100800001 meters Centerline goodness : 0.850279 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.48, Z:-0.52 [[ 9.95790609e-01 7.64198606e-02 -5.06069872e-02 1.19250975e+01] [-7.63288900e-02 9.97075716e-01 3.73061701e-03 -4.77292777e-01] [ 5.07440912e-02 1.47861773e-04 9.98711678e-01 -5.21183356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.422401008 meters Centerline goodness : 0.850721 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.48, Z:-0.52 [[ 9.95748624e-01 7.68987492e-02 -5.07075967e-02 1.19249903e+01] [-7.67444904e-02 9.97038331e-01 4.98504703e-03 -4.81222972e-01] [ 5.09407614e-02 -1.07232505e-03 9.98701101e-01 -5.20450262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.452401008 meters Centerline goodness : 0.851040 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.49, Z:-0.52 [[ 9.95748549e-01 7.66640186e-02 -5.10632396e-02 1.19265855e+01] [-7.64368956e-02 9.97053952e-01 6.38883803e-03 -4.88734876e-01] [ 5.14025989e-02 -2.45856068e-03 9.98674986e-01 -5.20924122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.482401008000004 meters Centerline goodness : 0.849632 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.49, Z:-0.52 [[ 9.95757986e-01 7.63531378e-02 -5.13442541e-02 1.19278849e+01] [-7.60972176e-02 9.97076363e-01 6.92379173e-03 -4.92598627e-01] [ 5.17227954e-02 -2.98726603e-03 9.98657013e-01 -5.21518711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.512401008000005 meters Centerline goodness : 0.847092 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.50, Z:-0.52 [[ 9.95768578e-01 7.60412887e-02 -5.16009852e-02 1.19289409e+01] [-7.57523879e-02 9.97098194e-01 7.53443066e-03 -4.96848061e-01] [ 5.20241770e-02 -3.59365146e-03 9.98639360e-01 -5.21820266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.542401008000006 meters Centerline goodness : 0.848827 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.50, Z:-0.52 [[ 9.96054339e-01 7.22398221e-02 -5.15476621e-02 1.19284836e+01] [-7.20956920e-02 9.97386869e-01 4.65245283e-03 -5.02803825e-01] [ 5.17490537e-02 -9.17731456e-04 9.98659698e-01 -5.22353960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.57240100800001 meters Centerline goodness : 0.847321 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.51, Z:-0.52 [[ 9.96059835e-01 7.17557164e-02 -5.21145046e-02 1.19302101e+01] [-7.15755878e-02 9.97421007e-01 5.31695835e-03 -5.06920523e-01] [ 5.23616238e-02 -1.56588236e-03 9.98626962e-01 -5.22349793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60240100800001 meters Centerline goodness : 0.847890 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.51, Z:-0.52 [[ 9.96076896e-01 7.11037490e-02 -5.26789642e-02 1.19323328e+01] [-7.09068708e-02 9.97467224e-01 5.59926235e-03 -5.10906960e-01] [ 5.29436688e-02 -1.84199535e-03 9.98595802e-01 -5.23088736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.632401008 meters Centerline goodness : 0.848460 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.52, Z:-0.52 [[ 9.96350676e-01 6.67950334e-02 -5.31390074e-02 1.19337518e+01] [-6.67910057e-02 9.97765266e-01 1.85363897e-03 -5.15950541e-01] [ 5.31440697e-02 1.70233331e-03 9.98585404e-01 -5.24923234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.662401008 meters Centerline goodness : 0.848030 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.52, Z:-0.53 [[ 9.96350655e-01 6.64945724e-02 -5.35148972e-02 1.19351494e+01] [-6.64689982e-02 9.97785932e-01 2.25953862e-03 -5.19501877e-01] [ 5.35466586e-02 1.30578882e-03 9.98564495e-01 -5.25470009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.692401008000004 meters Centerline goodness : 0.846684 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.52, Z:-0.53 [[ 9.96347206e-01 6.61024690e-02 -5.40620819e-02 1.19370310e+01] [-6.60664025e-02 9.97812206e-01 2.45596970e-03 -5.21786530e-01] [ 5.41061509e-02 1.12468872e-03 9.98534556e-01 -5.26108303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.722401008000006 meters Centerline goodness : 0.849277 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.52, Z:-0.53 [[ 9.96332068e-01 6.63180674e-02 -5.40770268e-02 1.19374300e+01] [-6.62588664e-02 9.97798285e-01 2.88885221e-03 -5.23784370e-01] [ 5.41495477e-02 7.04826395e-04 9.98532588e-01 -5.26634202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.75240100800001 meters Centerline goodness : 0.846875 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.53, Z:-0.53 [[ 9.96309785e-01 6.65445274e-02 -5.42092167e-02 1.19378675e+01] [-6.64650168e-02 9.97783397e-01 3.27025545e-03 -5.25483887e-01] [ 5.43066740e-02 3.44828991e-04 9.98524244e-01 -5.26968344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78240100800001 meters Centerline goodness : 0.846737 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.53, Z:-0.53 [[ 9.96286963e-01 6.67078966e-02 -5.44274130e-02 1.19390976e+01] [-6.66054709e-02 9.97772546e-01 3.69566535e-03 -5.28432181e-01] [ 5.45527085e-02 -5.67797352e-05 9.98510891e-01 -5.28170365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.812401008 meters Centerline goodness : 0.848119 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.53, Z:-0.53 [[ 9.96271415e-01 6.70500061e-02 -5.42914812e-02 1.19390219e+01] [-6.69312041e-02 9.97749552e-01 4.00556675e-03 -5.29902321e-01] [ 5.44378744e-02 -3.56837444e-04 9.98517096e-01 -5.28647172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.842401008 meters Centerline goodness : 0.847266 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.53, Z:-0.53 [[ 9.96238854e-01 6.74703511e-02 -5.43681619e-02 1.19389454e+01] [-6.73227084e-02 9.97720903e-01 4.54460245e-03 -5.31731992e-01] [ 5.45508775e-02 -8.67297624e-04 9.98510616e-01 -5.28447693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.872401008000004 meters Centerline goodness : 0.851033 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.54, Z:-0.53 [[ 9.96160465e-01 6.88659648e-02 -5.40537426e-02 1.19372520e+01] [-6.86492951e-02 9.97623660e-01 5.85717330e-03 -5.35648405e-01] [ 5.43286525e-02 -2.12393315e-03 9.98520849e-01 -5.27749710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.902401008000005 meters Centerline goodness : 0.849804 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.54, Z:-0.53 [[ 9.96131405e-01 6.92548259e-02 -5.40924493e-02 1.19373936e+01] [-6.90331733e-02 9.97596575e-01 5.95767372e-03 -5.36632724e-01] [ 5.43750398e-02 -2.20045246e-03 9.98518159e-01 -5.28331329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.93240100800001 meters Centerline goodness : 0.848116 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.54, Z:-0.53 [[ 9.96105841e-01 6.95822308e-02 -5.41430264e-02 1.19376758e+01] [-6.93544340e-02 9.97573571e-01 6.07719455e-03 -5.37808027e-01] [ 5.44345170e-02 -2.29847003e-03 9.98514697e-01 -5.28995681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96240100800001 meters Centerline goodness : 0.847718 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.54, Z:-0.53 [[ 9.96041300e-01 7.08490557e-02 -5.36855706e-02 1.19359153e+01] [-7.05389554e-02 9.97479678e-01 7.65160070e-03 -5.42819453e-01] [ 5.40923744e-02 -3.83438624e-03 9.98528574e-01 -5.28255126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.992401008 meters Centerline goodness : 0.847146 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.55, Z:-0.53 [[ 9.96009015e-01 7.13543407e-02 -5.36152891e-02 1.19352753e+01] [-7.09877057e-02 9.97439125e-01 8.71423730e-03 -5.46190560e-01] [ 5.40997857e-02 -4.87343255e-03 9.98523642e-01 -5.27360776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02240100800002 meters Centerline goodness : 0.848273 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.55, Z:-0.53 [[ 9.96237560e-01 6.85186955e-02 -5.30651640e-02 1.19327045e+01] [-6.83314943e-02 9.97648401e-01 5.33618898e-03 -5.47249432e-01] [ 5.33060047e-02 -1.69008994e-03 9.98576794e-01 -5.27362779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05240100800002 meters Centerline goodness : 0.847381 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.55, Z:-0.53 [[ 9.96229759e-01 6.84853641e-02 -5.32543143e-02 1.19332229e+01] [-6.82541288e-02 9.97649007e-01 6.15088441e-03 -5.51159579e-01] [ 5.35503593e-02 -2.49286726e-03 9.98562038e-01 -5.27050496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.082401008 meters Centerline goodness : 0.847381 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.55, Z:-0.53 [[ 9.96229759e-01 6.84853641e-02 -5.32543143e-02 1.19332229e+01] [-6.82541288e-02 9.97649007e-01 6.15088441e-03 -5.51159579e-01] [ 5.35503593e-02 -2.49286726e-03 9.98562038e-01 -5.27050496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.112401008 meters Centerline goodness : 0.848993 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.56, Z:-0.53 [[ 9.96388285e-01 6.59975383e-02 -5.34294829e-02 1.19359723e+01] [-6.58290176e-02 9.97818839e-01 4.90974239e-03 -5.57632441e-01] [ 5.36369755e-02 -1.37479943e-03 9.98559555e-01 -5.29640722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14240100800001 meters Centerline goodness : 0.848530 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.56, Z:-0.53 [[ 9.96638551e-01 6.21432205e-02 -5.33836975e-02 1.19358692e+01] [-6.21774502e-02 9.98064588e-01 1.02098416e-03 -5.59207425e-01] [ 5.33438253e-02 2.30171003e-03 9.98573552e-01 -5.30903901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.17240100800001 meters Centerline goodness : 0.845504 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.56, Z:-0.53 [[ 9.96874276e-01 5.80978520e-02 -5.35379932e-02 1.19361114e+01] [-5.83295466e-02 9.98293528e-01 -2.77400930e-03 -5.61230308e-01] [ 5.32854681e-02 5.88818538e-03 9.98561960e-01 -5.31809929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20240100800001 meters Centerline goodness : 0.849006 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.57, Z:-0.53 [[ 9.97122162e-01 5.30765641e-02 -5.41319905e-02 1.19382847e+01] [-5.34361800e-02 9.98557640e-01 -5.21670700e-03 -5.69844257e-01] [ 5.37770279e-02 8.09430096e-03 9.98520162e-01 -5.31748054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23240100800001 meters Centerline goodness : 0.850914 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.58, Z:-0.53 [[ 9.97148885e-01 5.19610771e-02 -5.47188119e-02 1.19407217e+01] [-5.22588232e-02 9.98625468e-01 -4.02370374e-03 -5.75586707e-01] [ 5.44345231e-02 6.87177242e-03 9.98493696e-01 -5.30943324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26240100800001 meters Centerline goodness : 0.847501 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.58, Z:-0.53 [[ 9.97361615e-01 4.73151079e-02 -5.50553322e-02 1.19420603e+01] [-4.78186945e-02 9.98825066e-01 -7.86508140e-03 -5.78242980e-01] [ 5.46185086e-02 1.04770044e-02 9.98452328e-01 -5.32033680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29240100800001 meters Centerline goodness : 0.850110 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.58, Z:-0.53 [[ 9.97415159e-01 4.56014854e-02 -5.55293197e-02 1.19449280e+01] [-4.60701419e-02 9.98912342e-01 -7.18847725e-03 -5.83764699e-01] [ 5.51411175e-02 9.72813981e-03 9.98431180e-01 -5.31835250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32240100800001 meters Centerline goodness : 0.850825 Centerline is valid? [False, False] Translation: X:11.95, Y:-0.59, Z:-0.53 [[ 9.97627932e-01 4.01820735e-02 -5.58919567e-02 1.19475330e+01] [-4.08101899e-02 9.99115443e-01 -1.01419809e-02 -5.90065396e-01] [ 5.54349913e-02 1.23988848e-02 9.98385311e-01 -5.32369796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35240100800002 meters Centerline goodness : 0.854032 Centerline is valid? [False, False] Translation: X:11.95, Y:-0.59, Z:-0.53 [[ 9.97621691e-01 3.97137714e-02 -5.63362920e-02 1.19490840e+01] [-4.02799886e-02 9.99148342e-01 -8.95056201e-03 -5.93876974e-01] [ 5.59328522e-02 1.11985000e-02 9.98371729e-01 -5.31354397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38240100800002 meters Centerline goodness : 0.851009 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.60, Z:-0.52 [[ 9.97543085e-01 4.04714866e-02 -5.71826149e-02 1.19554632e+01] [-4.06084369e-02 9.99174375e-01 -1.23452066e-03 -6.00064548e-01] [ 5.70854406e-02 3.55358415e-03 9.98362972e-01 -5.24846860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41240100800002 meters Centerline goodness : 0.854066 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.61, Z:-0.52 [[ 9.97523973e-01 4.07730880e-02 -5.73016386e-02 1.19551703e+01] [-4.07829992e-02 9.99167530e-01 9.96939130e-04 -6.06299062e-01] [ 5.72945850e-02 1.34246200e-03 9.98356413e-01 -5.22119061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44240100800002 meters Centerline goodness : 0.853472 Centerline is valid? [False, False] Translation: X:11.95, Y:-0.61, Z:-0.52 [[ 9.97676958e-01 3.79280758e-02 -5.65875217e-02 1.19518990e+01] [-3.81296113e-02 9.99269710e-01 -2.48566050e-03 -6.06595107e-01] [ 5.64519201e-02 4.63754642e-03 9.98394548e-01 -5.21557521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.472401008 meters Centerline goodness : 0.855401 Centerline is valid? [False, False] Translation: X:11.95, Y:-0.61, Z:-0.52 [[ 9.97654067e-01 3.80886793e-02 -5.68824671e-02 1.19516878e+01] [-3.82010873e-02 9.99269676e-01 -8.89692117e-04 -6.10144312e-01] [ 5.68070373e-02 3.06057705e-03 9.98380485e-01 -5.18848120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.502401008 meters Centerline goodness : 0.855395 Centerline is valid? [False, False] Translation: X:11.95, Y:-0.61, Z:-0.52 [[ 9.97646415e-01 3.81072327e-02 -5.70041189e-02 1.19519070e+01] [-3.81937207e-02 9.99270262e-01 -4.28111018e-04 -6.11548228e-01] [ 5.69462067e-02 2.60430282e-03 9.98373851e-01 -5.18331131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.53240100800001 meters Centerline goodness : 0.853650 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.61, Z:-0.52 [[ 9.97564900e-01 3.92153799e-02 -5.76751644e-02 1.19570491e+01] [-3.91480184e-02 9.99230781e-01 2.29779285e-03 -6.12592582e-01] [ 5.77209084e-02 -3.43290974e-05 9.98332758e-01 -5.19810847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56240100800001 meters Centerline goodness : 0.850143 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.61, Z:-0.52 [[ 9.97390488e-01 4.20781904e-02 -5.86654926e-02 1.19609377e+01] [-4.17863552e-02 9.99107375e-01 6.19302983e-03 -6.13586021e-01] [ 5.88737178e-02 -3.72545194e-03 9.98258487e-01 -5.19938212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59240100800001 meters Centerline goodness : 0.851222 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.61, Z:-0.52 [[ 9.97393229e-01 4.18047008e-02 -5.88142244e-02 1.19622206e+01] [-4.15750722e-02 9.99122248e-01 5.12310084e-03 -6.10678221e-01] [ 5.89767698e-02 -2.66454047e-03 9.98255799e-01 -5.21818217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62240100800001 meters Centerline goodness : 0.846172 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.61, Z:-0.52 [[ 9.97391384e-01 4.17024154e-02 -5.89180436e-02 1.19631892e+01] [-4.15416137e-02 9.99128959e-01 3.95198571e-03 -6.07017923e-01] [ 5.90315309e-02 -1.49412588e-03 9.98255000e-01 -5.23696091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65240100800001 meters Centerline goodness : 0.848225 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.60, Z:-0.52 [[ 9.97172830e-01 4.57604791e-02 -5.96013856e-02 1.19649737e+01] [-4.54177085e-02 9.98942896e-01 7.09380493e-03 -6.03674519e-01] [ 5.98629967e-02 -4.36679118e-03 9.98197051e-01 -5.24087459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68240100800001 meters Centerline goodness : 0.845147 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.60, Z:-0.52 [[ 9.97161536e-01 4.63673189e-02 -5.93206849e-02 1.19638414e+01] [-4.60594809e-02 9.98917244e-01 6.54698669e-03 -6.00477909e-01] [ 5.95600213e-02 -3.79612335e-03 9.98217508e-01 -5.24444006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71240100800001 meters Centerline goodness : 0.845161 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.60, Z:-0.52 [[ 9.96954525e-01 5.08167336e-02 -5.91551766e-02 1.19634746e+01] [-5.03172304e-02 9.98684177e-01 9.90407346e-03 -5.96750308e-01] [ 5.95806315e-02 -6.89738620e-03 9.98199667e-01 -5.24505499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74240100800002 meters Centerline goodness : 0.844682 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.59, Z:-0.53 [[ 9.96948466e-01 5.11256113e-02 -5.89909184e-02 1.19629937e+01] [-5.06606611e-02 9.98672142e-01 9.35153071e-03 -5.94019421e-01] [ 5.93906895e-02 -6.33447526e-03 9.98214717e-01 -5.25076280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77240100800002 meters Centerline goodness : 0.845741 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.59, Z:-0.53 [[ 9.96942901e-01 5.11133701e-02 -5.90954804e-02 1.19634017e+01] [-5.06894838e-02 9.98676994e-01 8.65084446e-03 -5.91837938e-01] [ 5.94594706e-02 -5.62887857e-03 9.98214850e-01 -5.25922490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80240100800002 meters Centerline goodness : 0.844740 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.59, Z:-0.53 [[ 9.96943740e-01 5.10900086e-02 -5.91015291e-02 1.19635790e+01] [-5.06983938e-02 9.98681099e-01 8.10773746e-03 -5.90408142e-01] [ 5.94378044e-02 -5.08660551e-03 9.98219051e-01 -5.26593898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.832401008 meters Centerline goodness : 0.849401 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.59, Z:-0.53 [[ 9.96922294e-01 5.15501321e-02 -5.90637184e-02 1.19623376e+01] [-5.11360968e-02 9.98655511e-01 8.50113389e-03 -5.90178586e-01] [ 5.94225425e-02 -5.45468188e-03 9.98218016e-01 -5.25106483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.862401008 meters Centerline goodness : 0.849667 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.59, Z:-0.52 [[ 9.96899741e-01 5.17669117e-02 -5.92544717e-02 1.19617635e+01] [-5.13033525e-02 9.98639636e-01 9.31897775e-03 -5.91481056e-01] [ 5.96562787e-02 -6.25013346e-03 9.98199411e-01 -5.23175258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.89240100800001 meters Centerline goodness : 0.850425 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.59, Z:-0.52 [[ 9.96876840e-01 5.19277549e-02 -5.94985281e-02 1.19613449e+01] [-5.13961575e-02 9.98623863e-01 1.04314536e-02 -5.93626371e-01] [ 5.99583319e-02 -7.34087876e-03 9.98173888e-01 -5.20855785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92240100800001 meters Centerline goodness : 0.854853 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.59, Z:-0.52 [[ 9.97088286e-01 4.84544905e-02 -5.88821829e-02 1.19591223e+01] [-4.81717532e-02 9.98819746e-01 6.21259346e-03 -5.92573685e-01] [ 5.91137151e-02 -3.35804618e-03 9.98245607e-01 -5.21334386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.95240100800001 meters Centerline goodness : 0.854778 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.59, Z:-0.52 [[ 9.97100707e-01 4.79129709e-02 -5.91145339e-02 1.19600000e+01] [-4.75853894e-02 9.98843081e-01 6.93761917e-03 -5.94843568e-01] [ 5.93785451e-02 -4.10451687e-03 9.98227099e-01 -5.20336297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98240100800001 meters Centerline goodness : 0.852175 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.60, Z:-0.52 [[ 9.97100783e-01 4.72441230e-02 -5.96491493e-02 1.19619694e+01] [-4.69028910e-02 9.98874159e-01 7.10863990e-03 -5.95632608e-01] [ 5.99178353e-02 -4.29031286e-03 9.98194092e-01 -5.20282761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01240100800001 meters Centerline goodness : 0.853140 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.60, Z:-0.52 [[ 9.97102174e-01 4.67425282e-02 -6.00199143e-02 1.19635265e+01] [-4.64081515e-02 9.98898357e-01 6.95378985e-03 -5.96498693e-01] [ 6.02788315e-02 -4.14822570e-03 9.98172958e-01 -5.20956101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04240100800001 meters Centerline goodness : 0.850514 Centerline is valid? [False, False] Translation: X:11.97, Y:-0.60, Z:-0.52 [[ 9.97095739e-01 4.55802975e-02 -6.10124832e-02 1.19673931e+01] [-4.52521391e-02 9.98952791e-01 6.75026212e-03 -5.98360497e-01] [ 6.12562693e-02 -3.96971222e-03 9.98114177e-01 -5.22146952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07240100800001 meters Centerline goodness : 0.848496 Centerline is valid? [False, False] Translation: X:11.97, Y:-0.60, Z:-0.52 [[ 9.97096043e-01 4.46453002e-02 -6.16950396e-02 1.19701674e+01] [-4.43304205e-02 9.98996012e-01 6.46388985e-03 -5.98862460e-01] [ 6.19216808e-02 -3.71015194e-03 9.98074116e-01 -5.22905947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10240100800002 meters Centerline goodness : 0.850572 Centerline is valid? [False, False] Translation: X:11.97, Y:-0.60, Z:-0.52 [[ 9.97092205e-01 4.37821914e-02 -6.23719084e-02 1.19727391e+01] [-4.34795609e-02 9.99035068e-01 6.20172412e-03 -5.99639144e-01] [ 6.25832488e-02 -3.47178759e-03 9.98033709e-01 -5.23609898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13240100800002 meters Centerline goodness : 0.852552 Centerline is valid? [False, False] Translation: X:11.98, Y:-0.60, Z:-0.52 [[ 9.97089682e-01 4.28322326e-02 -6.30679412e-02 1.19752468e+01] [-4.25242568e-02 9.99076085e-01 6.21808031e-03 -6.01454293e-01] [ 6.32760060e-02 -3.51806639e-03 9.97989865e-01 -5.23836904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16240100800002 meters Centerline goodness : 0.849700 Centerline is valid? [False, False] Translation: X:11.98, Y:-0.61, Z:-0.52 [[ 9.97203832e-01 3.75751677e-02 -6.45958539e-02 1.19839412e+01] [-3.72235748e-02 9.99284914e-01 6.63830232e-03 -6.05039936e-01] [ 6.47990976e-02 -4.21525191e-03 9.97889427e-01 -5.21467737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19240100800002 meters Centerline goodness : 0.853034 Centerline is valid? [False, False] Translation: X:11.99, Y:-0.61, Z:-0.52 [[ 9.97188113e-01 3.61695822e-02 -6.56325240e-02 1.19876153e+01] [-3.58199263e-02 9.99337142e-01 6.49681210e-03 -6.06332094e-01] [ 6.58240059e-02 -4.12759163e-03 9.97822711e-01 -5.21714658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.222401008 meters Centerline goodness : 0.851455 Centerline is valid? [False, False] Translation: X:11.99, Y:-0.61, Z:-0.52 [[ 9.97177289e-01 3.49806436e-02 -6.64365024e-02 1.19907021e+01] [-3.46427407e-02 9.99380331e-01 6.23170757e-03 -6.06772294e-01] [ 6.66133229e-02 -3.91257473e-03 9.97771195e-01 -5.22215206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.252401008 meters Centerline goodness : 0.853379 Centerline is valid? [False, False] Translation: X:11.99, Y:-0.61, Z:-0.52 [[ 9.97162373e-01 3.36467872e-02 -6.73431169e-02 1.19940728e+01] [-3.33280143e-02 9.99427336e-01 5.85177993e-03 -6.06853910e-01] [ 6.75014455e-02 -3.59076240e-03 9.97712715e-01 -5.22668967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28240100800001 meters Centerline goodness : 0.854116 Centerline is valid? [False, False] Translation: X:12.00, Y:-0.61, Z:-0.52 [[ 9.97128412e-01 3.09962248e-02 -6.90953309e-02 1.20003280e+01] [-3.06758073e-02 9.99513169e-01 5.69381240e-03 -6.07024776e-01] [ 6.92381799e-02 -3.55790706e-03 9.97593813e-01 -5.21952576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.31240100800001 meters Centerline goodness : 0.851670 Centerline is valid? [False, False] Translation: X:12.01, Y:-0.61, Z:-0.52 [[ 9.96935662e-01 3.32785823e-02 -7.07942146e-02 1.20052358e+01] [-3.25568010e-02 9.99405719e-01 1.13253537e-02 -6.09597646e-01] [ 7.11290347e-02 -8.98581583e-03 9.97426647e-01 -5.17839663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34240100800001 meters Centerline goodness : 0.853449 Centerline is valid? [False, False] Translation: X:12.01, Y:-0.61, Z:-0.52 [[ 9.96913441e-01 3.22617835e-02 -7.15735126e-02 1.20077370e+01] [-3.15761290e-02 9.99444172e-01 1.06908830e-02 -6.08121437e-01] [ 7.18786370e-02 -8.39787053e-03 9.97378031e-01 -5.18082405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37240100800001 meters Centerline goodness : 0.853642 Centerline is valid? [False, False] Translation: X:12.02, Y:-0.61, Z:-0.52 [[ 0.99684773 0.02998215 -0.07345527 12.01944759] [-0.02898723 0.99947354 0.0145737 -0.60706016] [ 0.07385355 -0.0123985 0.99719202 -0.51571183] [ 0. 0. 0. 1. ]] SLAMing on 65.40240100800001 meters Centerline goodness : 0.853840 Centerline is valid? [False, False] Translation: X:12.02, Y:-0.60, Z:-0.52 [[ 9.96978759e-01 2.51646397e-02 -7.34853413e-02 1.20203074e+01] [-2.45574824e-02 9.99656505e-01 9.15430915e-03 -6.02850942e-01] [ 7.36904644e-02 -7.32203680e-03 9.97254282e-01 -5.17709670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43240100800001 meters Centerline goodness : 0.854548 Centerline is valid? [False, False] Translation: X:12.02, Y:-0.60, Z:-0.52 [[ 9.96954280e-01 2.39382049e-02 -7.42234841e-02 1.20228614e+01] [-2.33546266e-02 9.99689208e-01 8.72055643e-03 -6.02315496e-01] [ 7.44091705e-02 -6.96053430e-03 9.97203503e-01 -5.17788987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46240100800001 meters Centerline goodness : 0.854099 Centerline is valid? [False, False] Translation: X:11.99, Y:-0.60, Z:-0.52 [[ 0.99744204 0.01648692 -0.0695525 11.99265676] [-0.01511564 0.99968176 0.02019623 -0.598922 ] [ 0.06986333 -0.01909324 0.99737383 -0.51657036] [ 0. 0. 0. 1. ]] SLAMing on 65.49240100800002 meters Centerline goodness : 0.854661 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.59, Z:-0.52 [[ 9.98148308e-01 6.94243808e-03 -6.04297706e-02 1.19642304e+01] [-5.40255407e-03 9.99657452e-01 2.56084002e-02 -5.91648821e-01] [ 6.05868552e-02 -2.52345063e-02 9.97843902e-01 -5.20408567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52240100800002 meters Centerline goodness : 0.857255 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.59, Z:-0.52 [[ 9.98192870e-01 2.97072759e-03 -6.00180756e-02 1.19627739e+01] [-1.75507576e-03 9.99792447e-01 2.02973335e-02 -5.86631633e-01] [ 6.00659165e-02 -2.01553173e-02 9.97990906e-01 -5.21315683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.55240100800002 meters Centerline goodness : 0.856297 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.58, Z:-0.52 [[ 9.98187392e-01 2.71976898e-03 -6.01209911e-02 1.19623209e+01] [-1.53628973e-03 9.99804314e-01 1.97224248e-02 -5.83955211e-01] [ 6.01628666e-02 -1.95943125e-02 9.97996239e-01 -5.20592327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.582401008 meters Centerline goodness : 0.858955 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.58, Z:-0.52 [[ 9.98195082e-01 2.70067399e-03 -5.99940443e-02 1.19612591e+01] [-1.57716286e-03 9.99822650e-01 1.87665096e-02 -5.79878748e-01] [ 6.00340865e-02 -1.86380172e-02 9.98022311e-01 -5.20349676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.612401008 meters Centerline goodness : 0.860304 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.57, Z:-0.52 [[ 9.98179052e-01 6.94046141e-03 -5.99200304e-02 1.19589229e+01] [-5.67686294e-03 9.99758445e-01 2.12326200e-02 -5.71188629e-01] [ 6.00529206e-02 -2.08537987e-02 9.97977337e-01 -5.18717669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64240100800001 meters Centerline goodness : 0.858897 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.57, Z:-0.52 [[ 9.98189390e-01 7.60559274e-03 -5.96665502e-02 1.19572582e+01] [-6.40380105e-03 9.99773278e-01 2.03072260e-02 -5.65327716e-01] [ 5.98074710e-02 -1.98883648e-02 9.98011783e-01 -5.18744327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.67240100800001 meters Centerline goodness : 0.859312 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.56, Z:-0.52 [[ 9.98199233e-01 8.30075113e-03 -5.94086605e-02 1.19555071e+01] [-7.16095209e-03 9.99786681e-01 1.93729926e-02 -5.59983042e-01] [ 5.95567979e-02 -1.89126838e-02 9.98045740e-01 -5.18737067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70240100800001 meters Centerline goodness : 0.861215 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.55, Z:-0.52 [[ 9.98137132e-01 1.18389273e-02 -5.98506967e-02 1.19565695e+01] [-1.06044197e-02 9.99725285e-01 2.09021777e-02 -5.51923045e-01] [ 6.00817141e-02 -2.02285578e-02 9.97988473e-01 -5.20255543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73240100800001 meters Centerline goodness : 0.859386 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.55, Z:-0.52 [[ 9.98135891e-01 1.17407053e-02 -5.98907237e-02 1.19570900e+01] [-1.05851740e-02 9.99752358e-01 1.95749136e-02 -5.46221003e-01] [ 6.01057155e-02 -1.89044701e-02 9.98012988e-01 -5.21721646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76240100800001 meters Centerline goodness : 0.856878 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.54, Z:-0.52 [[ 9.98133960e-01 1.17518251e-02 -5.99207160e-02 1.19571515e+01] [-1.06645716e-02 9.99773229e-01 1.84325075e-02 -5.40993075e-01] [ 6.01237433e-02 -1.77590830e-02 9.98032941e-01 -5.22558692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79240100800001 meters Centerline goodness : 0.855864 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.54, Z:-0.52 [[ 0.9980525 0.01530301 -0.06047339 11.95855243] [-0.01405568 0.99968071 0.02099798 -0.53628787] [ 0.06077542 -0.02010709 0.99794892 -0.52307815] [ 0. 0. 0. 1. ]] SLAMing on 65.82240100800001 meters Centerline goodness : 0.856405 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.53, Z:-0.52 [[ 0.99803312 0.01471048 -0.06093841 11.96012809] [-0.01355076 0.99971995 0.01940081 -0.53246025] [ 0.06120674 -0.01853689 0.99795296 -0.52463836] [ 0. 0. 0. 1. ]] SLAMing on 65.85240100800002 meters Centerline goodness : 0.852020 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.53, Z:-0.53 [[ 0.99802731 0.01466343 -0.06104476 11.9603997 ] [-0.01356541 0.99973936 0.0183628 -0.52877492] [ 0.06129811 -0.01749848 0.9979661 -0.52544871] [ 0. 0. 0. 1. ]] SLAMing on 65.88240100800002 meters Centerline goodness : 0.853734 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.53, Z:-0.53 [[ 0.99802035 0.01485209 -0.06111294 11.96019362] [-0.01378981 0.99974705 0.01776737 -0.52520933] [ 0.06136136 -0.01688946 0.99797271 -0.52546769] [ 0. 0. 0. 1. ]] SLAMing on 65.91240100800002 meters Centerline goodness : 0.852342 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.52, Z:-0.53 [[ 0.99800805 0.01394852 -0.0615254 11.9618159 ] [-0.01299747 0.9997902 0.01583111 -0.52040599] [ 0.06173331 -0.0149999 0.99797996 -0.52717887] [ 0. 0. 0. 1. ]] SLAMing on 65.94240100800002 meters Centerline goodness : 0.852045 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.52, Z:-0.53 [[ 0.99800095 0.01358657 -0.06172119 11.96239884] [-0.01265036 0.99979931 0.01553395 -0.51922685] [ 0.06191985 -0.0147221 0.99797254 -0.52704754] [ 0. 0. 0. 1. ]] SLAMing on 65.972401008 meters Centerline goodness : 0.852045 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.52, Z:-0.53 [[ 0.99800468 0.01362668 -0.06165209 11.96226677] [-0.01270134 0.99980111 0.01537605 -0.51879711] [ 0.06184936 -0.0145623 0.99797926 -0.52710786] [ 0. 0. 0. 1. ]] SLAMing on 66.002401008 meters Centerline goodness : 0.853919 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.52, Z:-0.53 [[ 9.97982666e-01 1.28432051e-02 -6.21743613e-02 1.19638758e+01] [-1.19424986e-02 9.99818607e-01 1.48368050e-02 -5.17817699e-01] [ 6.23536354e-02 -1.40643570e-02 9.97955018e-01 -5.27371348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.03240100800001 meters Centerline goodness : 0.852654 Centerline is valid? [False, False] Translation: X:11.97, Y:-0.52, Z:-0.53 [[ 9.97968016e-01 1.21171761e-02 -6.25540753e-02 1.19650934e+01] [-1.12362713e-02 9.99832964e-01 1.44149319e-02 -5.16536455e-01] [ 6.27182947e-02 -1.36827664e-02 9.97937472e-01 -5.27402617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06240100800001 meters Centerline goodness : 0.852245 Centerline is valid? [False, False] Translation: X:11.97, Y:-0.51, Z:-0.53 [[ 9.97960808e-01 1.06670755e-02 -6.29320227e-02 1.19666640e+01] [-9.84609080e-03 9.99862522e-01 1.33413208e-02 -5.13411768e-01] [ 6.30656838e-02 -1.26944808e-02 9.97928640e-01 -5.27543884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09240100800001 meters Centerline goodness : 0.852494 Centerline is valid? [False, False] Translation: X:11.97, Y:-0.51, Z:-0.53 [[ 9.97959290e-01 1.03956516e-02 -6.30014690e-02 1.19666280e+01] [-9.57989335e-03 9.99866501e-01 1.32365204e-02 -5.12490372e-01] [ 6.31306606e-02 -1.26059612e-02 9.97925653e-01 -5.26954591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12240100800001 meters Centerline goodness : 0.853321 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.51, Z:-0.53 [[ 9.98010902e-01 6.73795842e-03 -6.26804487e-02 1.19648538e+01] [-6.18619765e-03 9.99940430e-01 8.99266594e-03 -5.09182782e-01] [ 6.27373070e-02 -8.58702501e-03 9.97993133e-01 -5.26237109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15240100800001 meters Centerline goodness : 0.852509 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.50, Z:-0.52 [[ 9.98052499e-01 3.97868857e-03 -6.22525451e-02 1.19629659e+01] [-3.61678964e-03 9.99975906e-01 5.92500701e-03 -5.03800668e-01] [ 6.22746190e-02 -5.68831369e-03 9.98042842e-01 -5.24888359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18240100800001 meters Centerline goodness : 0.851788 Centerline is valid? [False, False] Translation: X:11.95, Y:-0.50, Z:-0.52 [[ 9.97856535e-01 2.82829528e-03 -6.53784090e-02 1.19460205e+01] [-1.93060437e-03 9.99903052e-01 1.37897956e-02 -5.01563665e-01] [ 6.54110723e-02 -1.36340179e-02 9.97765256e-01 -5.20545692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21240100800001 meters Centerline goodness : 0.851524 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.50, Z:-0.52 [[ 9.97970519e-01 2.65001174e-04 -6.36771054e-02 1.19267359e+01] [ 9.16139143e-04 9.99828089e-01 1.85189868e-02 -4.96486121e-01] [ 6.36710662e-02 -1.85397399e-02 9.97798714e-01 -5.20497014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24240100800002 meters Centerline goodness : 0.853369 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.49, Z:-0.52 [[ 9.97979856e-01 2.87247663e-04 -6.35305064e-02 1.19261916e+01] [ 8.34375252e-04 9.99844273e-01 1.76276357e-02 -4.92333580e-01] [ 6.35256765e-02 -1.76450336e-02 9.97824204e-01 -5.20784407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27240100800002 meters Centerline goodness : 0.850716 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.49, Z:-0.52 [[ 9.98002598e-01 1.45494050e-03 -6.31561436e-02 1.19238182e+01] [-3.85360255e-04 9.99856360e-01 1.69443687e-02 -4.85062535e-01] [ 6.31717249e-02 -1.68861861e-02 9.97859805e-01 -5.20117323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30240100800002 meters Centerline goodness : 0.854110 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.48, Z:-0.52 [[ 9.98002580e-01 1.75833476e-03 -6.31487099e-02 1.19229709e+01] [-7.28073852e-04 9.99866324e-01 1.63341442e-02 -4.81477935e-01] [ 6.31689893e-02 -1.62555411e-02 9.97870451e-01 -5.19690561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.332401008 meters Centerline goodness : 0.853530 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.48, Z:-0.52 [[ 9.98012151e-01 2.28762045e-03 -6.29802654e-02 1.19218740e+01] [-1.29843441e-03 9.99875232e-01 1.57427363e-02 -4.77634811e-01] [ 6.30084209e-02 -1.56296664e-02 9.97890601e-01 -5.19569313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.362401008 meters Centerline goodness : 0.856272 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.47, Z:-0.52 [[ 9.98004357e-01 2.43551373e-03 -6.30981180e-02 1.19220264e+01] [-1.52410590e-03 9.99893876e-01 1.44884026e-02 -4.72645452e-01] [ 6.31267085e-02 -1.43633207e-02 9.97902156e-01 -5.20528690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.39240100800001 meters Centerline goodness : 0.853554 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.47, Z:-0.52 [[ 9.97963924e-01 8.21312986e-03 -6.32499156e-02 1.19205478e+01] [-7.09847175e-03 9.99815876e-01 1.78276744e-02 -4.66433464e-01] [ 6.33846907e-02 -1.73423981e-02 9.97838475e-01 -5.20112040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42240100800001 meters Centerline goodness : 0.856043 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.46, Z:-0.52 [[ 9.97946597e-01 9.91867243e-03 -6.32788171e-02 1.19190958e+01] [-8.81125631e-03 9.99803529e-01 1.77557119e-02 -4.62484867e-01] [ 6.34424978e-02 -1.71616864e-02 9.97837926e-01 -5.19855140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.45240100800001 meters Centerline goodness : 0.857179 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.46, Z:-0.52 [[ 9.97940165e-01 1.17916537e-02 -6.30585699e-02 1.19171159e+01] [-1.06860841e-02 9.99783729e-01 1.78410467e-02 -4.59011443e-01] [ 6.32553076e-02 -1.71304479e-02 9.97850346e-01 -5.19641161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48240100800001 meters Centerline goodness : 0.857873 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.46, Z:-0.52 [[ 0.99792369 0.01358513 -0.06295834 11.91562533] [-0.01248924 0.99976414 0.01776752 -0.45517222] [ 0.06318487 -0.01694433 0.99785799 -0.51979638] [ 0. 0. 0. 1. ]] SLAMing on 66.51240100800001 meters Centerline goodness : 0.858019 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.45, Z:-0.53 [[ 9.98071261e-01 2.20423435e-02 -5.80335484e-02 1.19204723e+01] [-2.15903805e-02 9.99731582e-01 8.40356279e-03 -4.50671094e-01] [ 5.82032054e-02 -7.13438811e-03 9.98279263e-01 -5.26700838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54240100800001 meters Centerline goodness : 0.857686 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.45, Z:-0.53 [[ 9.98303536e-01 2.49755971e-02 -5.25953308e-02 1.19316228e+01] [-2.50558378e-02 9.99685678e-01 -8.66707801e-04 -4.48736108e-01] [ 5.25571524e-02 2.18305754e-03 9.98615532e-01 -5.31743848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57240100800001 meters Centerline goodness : 0.858757 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.45, Z:-0.53 [[ 9.98295050e-01 2.56921694e-02 -5.24109243e-02 1.19304417e+01] [-2.57441235e-02 9.99668515e-01 -3.16312255e-04 -4.49593719e-01] [ 5.23854241e-02 1.66504626e-03 9.98625553e-01 -5.30910031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60240100800002 meters Centerline goodness : 0.859982 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.45, Z:-0.53 [[ 9.98281654e-01 2.65797082e-02 -5.22231619e-02 1.19290451e+01] [-2.65377108e-02 9.99646691e-01 1.49756486e-03 -4.53202694e-01] [ 5.22445159e-02 -1.09108355e-04 9.98634317e-01 -5.28912977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63240100800002 meters Centerline goodness : 0.861018 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.46, Z:-0.53 [[ 9.98265756e-01 2.61830262e-02 -5.27250443e-02 1.19304929e+01] [-2.61104695e-02 9.99656932e-01 2.06460024e-03 -4.55701694e-01] [ 5.27610135e-02 -6.84344062e-04 9.98606933e-01 -5.28646857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66240100800002 meters Centerline goodness : 0.858531 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.46, Z:-0.53 [[ 9.98261704e-01 2.52399806e-02 -5.32589336e-02 1.19326250e+01] [-2.51482538e-02 9.99680871e-01 2.39184520e-03 -4.58899009e-01] [ 5.33023073e-02 -1.04831828e-03 9.98577871e-01 -5.28853857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69240100800002 meters Centerline goodness : 0.858288 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.46, Z:-0.53 [[ 9.98250775e-01 2.40064556e-02 -5.40285180e-02 1.19356330e+01] [-2.38883380e-02 9.99710624e-01 2.83103753e-03 -4.62522014e-01] [ 5.40808467e-02 -1.53543391e-03 9.98535380e-01 -5.29045699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.722401008 meters Centerline goodness : 0.856155 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.47, Z:-0.53 [[ 9.98327098e-01 1.78810068e-02 -5.49843243e-02 1.19406802e+01] [-1.79981480e-02 9.99836682e-01 -1.63596290e-03 -4.66352616e-01] [ 5.49460917e-02 2.62284210e-03 9.98485878e-01 -5.32032411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.752401008 meters Centerline goodness : 0.855960 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.47, Z:-0.53 [[ 9.98292824e-01 1.64085675e-02 -5.60552908e-02 1.19448430e+01] [-1.65364466e-02 9.99861610e-01 -1.81819121e-03 -4.68921755e-01] [ 5.60176994e-02 2.74204256e-03 9.98426011e-01 -5.33245616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78240100800001 meters Centerline goodness : 0.855100 Centerline is valid? [False, False] Translation: X:11.95, Y:-0.47, Z:-0.53 [[ 9.98259033e-01 1.53439352e-02 -5.69514375e-02 1.19480758e+01] [-1.54692679e-02 9.99878794e-01 -1.76046503e-03 -4.71270383e-01] [ 5.69175222e-02 2.63839716e-03 9.98375398e-01 -5.33868152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.81240100800001 meters Centerline goodness : 0.853355 Centerline is valid? [False, False] Translation: X:11.95, Y:-0.47, Z:-0.53 [[ 9.98231491e-01 1.46818474e-02 -5.76049825e-02 1.19502570e+01] [-1.47890906e-02 9.99889605e-01 -1.43580192e-03 -4.73208439e-01] [ 5.75775430e-02 2.28518800e-03 9.98338422e-01 -5.33721160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84240100800001 meters Centerline goodness : 0.855413 Centerline is valid? [False, False] Translation: X:11.95, Y:-0.48, Z:-0.53 [[ 9.98224911e-01 1.37344159e-02 -5.79516483e-02 1.19516349e+01] [-1.37772155e-02 9.99905032e-01 -3.39042880e-04 -4.77475716e-01] [ 5.79414882e-02 1.13685339e-03 9.98319333e-01 -5.32346375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87240100800001 meters Centerline goodness : 0.856691 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.48, Z:-0.53 [[ 9.98148119e-01 1.38502319e-02 -5.92326153e-02 1.19586250e+01] [-1.34929564e-02 9.99888308e-01 6.42746976e-03 -4.81213886e-01] [ 5.93150214e-02 -5.61634376e-03 9.98223515e-01 -5.26820417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90240100800001 meters Centerline goodness : 0.856829 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.48, Z:-0.53 [[ 9.98142478e-01 1.33948781e-02 -5.94320770e-02 1.19593897e+01] [-1.30242304e-02 9.99893270e-01 6.61950384e-03 -4.82302242e-01] [ 5.95144013e-02 -5.83315090e-03 9.98210404e-01 -5.26616833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93240100800001 meters Centerline goodness : 0.856801 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.48, Z:-0.53 [[ 9.98137867e-01 1.31751023e-02 -5.95585091e-02 1.19599298e+01] [-1.27864573e-02 9.99894430e-01 6.90185487e-03 -4.83315956e-01] [ 5.96431542e-02 -6.12746037e-03 9.98200956e-01 -5.26419363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96240100800001 meters Centerline goodness : 0.859357 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.49, Z:-0.53 [[ 9.98128828e-01 1.33251711e-02 -5.96764807e-02 1.19600927e+01] [-1.28987530e-02 9.99888492e-01 7.52504199e-03 -4.85173141e-01] [ 5.97700987e-02 -6.74120916e-03 9.98189407e-01 -5.25809295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99240100800002 meters Centerline goodness : 0.856686 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.49, Z:-0.52 [[ 9.98041809e-01 1.74912161e-02 -6.00550184e-02 1.19607409e+01] [-1.67633056e-02 9.99780051e-01 1.26032605e-02 -4.87507539e-01] [ 6.02622556e-02 -1.15718602e-02 9.98115501e-01 -5.24088392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02240100800002 meters Centerline goodness : 0.857777 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.49, Z:-0.52 [[ 9.98043197e-01 1.82778505e-02 -5.97971366e-02 1.19596710e+01] [-1.75682332e-02 9.99769126e-01 1.23714113e-02 -4.85696725e-01] [ 6.00094538e-02 -1.12966728e-02 9.98133884e-01 -5.24347870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05240100800002 meters Centerline goodness : 0.854604 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.48, Z:-0.53 [[ 9.98031074e-01 1.90099214e-02 -5.97712129e-02 1.19592591e+01] [-1.83325574e-02 9.99761592e-01 1.18606816e-02 -4.83333334e-01] [ 5.99824336e-02 -1.07415697e-02 9.98141636e-01 -5.25035159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.082401008 meters Centerline goodness : 0.852810 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.48, Z:-0.53 [[ 0.997919 0.02384013 -0.05991096 11.9592774 ] [-0.02293731 0.99961343 0.01571234 -0.48209339] [ 0.06026238 -0.01430545 0.99808006 -0.52510564] [ 0. 0. 0. 1. ]] SLAMing on 67.112401008 meters Centerline goodness : 0.852733 Centerline is valid? [False, False] Translation: X:11.97, Y:-0.48, Z:-0.53 [[ 9.98093879e-01 2.71046026e-02 -5.54432024e-02 1.19736108e+01] [-2.67074066e-02 9.99612135e-01 7.89259331e-03 -4.79428957e-01] [ 5.56356235e-02 -6.39680492e-03 9.98430648e-01 -5.30420150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14240100800001 meters Centerline goodness : 0.852653 Centerline is valid? [False, False] Translation: X:11.98, Y:-0.48, Z:-0.53 [[ 9.97956408e-01 3.06695217e-02 -5.60570042e-02 1.19756578e+01] [-3.00403443e-02 9.99476261e-01 1.20324802e-02 -4.80927951e-01] [ 5.63966754e-02 -1.03239190e-02 9.98355063e-01 -5.30205671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.17240100800001 meters Centerline goodness : 0.850343 Centerline is valid? [False, False] Translation: X:11.98, Y:-0.48, Z:-0.53 [[ 9.98050603e-01 2.71529541e-02 -5.61935084e-02 1.19756473e+01] [-2.67547531e-02 9.99611388e-01 7.82660978e-03 -4.80632663e-01] [ 5.63841866e-02 -6.30790917e-03 9.98389220e-01 -5.31286113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20240100800001 meters Centerline goodness : 0.852730 Centerline is valid? [False, False] Translation: X:11.98, Y:-0.48, Z:-0.53 [[ 9.98025576e-01 2.65233254e-02 -5.69338460e-02 1.19777094e+01] [-2.61002072e-02 9.99626005e-01 8.16265806e-03 -4.83010509e-01] [ 5.71290539e-02 -6.66055633e-03 9.98344584e-01 -5.31026800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23240100800001 meters Centerline goodness : 0.852463 Centerline is valid? [False, False] Translation: X:11.99, Y:-0.49, Z:-0.53 [[ 0.99796756 0.02609328 -0.0581369 11.98519451] [-0.02528567 0.99957388 0.01458419 -0.48775082] [ 0.05849268 -0.01308451 0.99820208 -0.52591444] [ 0. 0. 0. 1. ]] SLAMing on 67.26240100800001 meters Centerline goodness : 0.852060 Centerline is valid? [False, False] Translation: X:11.99, Y:-0.49, Z:-0.52 [[ 0.99793653 0.02532451 -0.05900301 11.99298071] [-0.024098 0.99948038 0.02140706 -0.49160446] [ 0.05951447 -0.01994103 0.99802825 -0.52017142] [ 0. 0. 0. 1. ]] SLAMing on 67.29240100800001 meters Centerline goodness : 0.855339 Centerline is valid? [False, False] Translation: X:11.99, Y:-0.49, Z:-0.52 [[ 0.99805677 0.02133373 -0.05854541 11.99106484] [-0.02024579 0.99961232 0.01911345 -0.49476186] [ 0.05893048 -0.01789101 0.99810175 -0.51744681] [ 0. 0. 0. 1. ]] SLAMing on 67.32240100800001 meters Centerline goodness : 0.852737 Centerline is valid? [False, False] Translation: X:12.00, Y:-0.50, Z:-0.51 [[ 0.9980638 0.02171042 -0.05828652 11.9961519 ] [-0.0200687 0.9993893 0.02860559 -0.50041401] [ 0.05887196 -0.02738047 0.99788997 -0.50795059] [ 0. 0. 0. 1. ]] SLAMing on 67.35240100800002 meters Centerline goodness : 0.854394 Centerline is valid? [False, False] Translation: X:12.00, Y:-0.50, Z:-0.51 [[ 0.99805774 0.0218385 -0.05834232 11.99582577] [-0.02012162 0.99935169 0.02985484 -0.50243832] [ 0.05895649 -0.02862291 0.99785012 -0.50581336] [ 0. 0. 0. 1. ]] SLAMing on 67.38240100800002 meters Centerline goodness : 0.856766 Centerline is valid? [False, False] Translation: X:12.00, Y:-0.50, Z:-0.50 [[ 0.99806795 0.02174734 -0.05820153 11.99556375] [-0.02000599 0.99933951 0.03033653 -0.5038498 ] [ 0.05882283 -0.02911354 0.99784381 -0.50498981] [ 0. 0. 0. 1. ]] SLAMing on 67.41240100800002 meters Centerline goodness : 0.856752 Centerline is valid? [False, False] Translation: X:12.00, Y:-0.50, Z:-0.51 [[ 0.99805289 0.02131905 -0.0586168 11.99687135] [-0.0196002 0.99936537 0.02974375 -0.50335906] [ 0.05921371 -0.02853693 0.99783735 -0.50564444] [ 0. 0. 0. 1. ]] SLAMing on 67.44240100800002 meters Centerline goodness : 0.858685 Centerline is valid? [False, False] Translation: X:12.01, Y:-0.50, Z:-0.51 [[ 0.99828736 0.02172271 -0.05431825 12.01047579] [-0.02077447 0.99962283 0.01796134 -0.5007557 ] [ 0.05468794 -0.01680215 0.99836212 -0.51208767] [ 0. 0. 0. 1. ]] SLAMing on 67.472401008 meters Centerline goodness : 0.860810 Centerline is valid? [False, False] Translation: X:12.01, Y:-0.50, Z:-0.51 [[ 0.99828994 0.02210693 -0.05411545 12.00948193] [-0.02115161 0.99961128 0.018163 -0.50026565] [ 0.05449595 -0.01698731 0.99836948 -0.51138803] [ 0. 0. 0. 1. ]] SLAMing on 67.502401008 meters Centerline goodness : 0.863089 Centerline is valid? [False, False] Translation: X:12.01, Y:-0.50, Z:-0.51 [[ 0.99829678 0.02283816 -0.05368388 12.00778895] [-0.02188367 0.99959301 0.01830081 -0.49844552] [ 0.05407999 -0.01709484 0.99839026 -0.51062362] [ 0. 0. 0. 1. ]] SLAMing on 67.53240100800001 meters Centerline goodness : 0.862522 Centerline is valid? [False, False] Translation: X:12.01, Y:-0.50, Z:-0.51 [[ 0.99817326 0.0261176 -0.05447949 12.01016932] [-0.02490699 0.99943012 0.02278334 -0.49983378] [ 0.05504349 -0.02138481 0.99825493 -0.50952598] [ 0. 0. 0. 1. ]] SLAMing on 67.56240100800001 meters Centerline goodness : 0.862450 Centerline is valid? [False, False] Translation: X:12.01, Y:-0.50, Z:-0.51 [[ 0.99804827 0.02933101 -0.0551303 12.01261429] [-0.02786311 0.99924138 0.0272087 -0.50158158] [ 0.05588654 -0.02561949 0.99810838 -0.50878577] [ 0. 0. 0. 1. ]] SLAMing on 67.59240100800001 meters Centerline goodness : 0.861302 Centerline is valid? [False, False] Translation: X:12.01, Y:-0.50, Z:-0.51 [[ 0.99814309 0.02616321 -0.05500775 12.01223638] [-0.02493546 0.999427 0.02288879 -0.49858784] [ 0.05557507 -0.02147464 0.99822355 -0.51018657] [ 0. 0. 0. 1. ]] SLAMing on 67.62240100800001 meters Centerline goodness : 0.859547 Centerline is valid? [False, False] Translation: X:12.01, Y:-0.50, Z:-0.51 [[ 0.99811967 0.02608362 -0.05546857 12.01373503] [-0.02485562 0.99943296 0.02271467 -0.49907828] [ 0.0560296 -0.02129325 0.99820202 -0.5108866 ] [ 0. 0. 0. 1. ]] SLAMing on 67.65240100800001 meters Centerline goodness : 0.861547 Centerline is valid? [False, False] Translation: X:12.01, Y:-0.50, Z:-0.51 [[ 0.99811181 0.02606118 -0.05562035 12.01462219] [-0.0248626 0.99944582 0.02213357 -0.49798024] [ 0.05616636 -0.02070891 0.99820663 -0.51200702] [ 0. 0. 0. 1. ]] SLAMing on 67.68240100800001 meters Centerline goodness : 0.859424 Centerline is valid? [False, False] Translation: X:12.02, Y:-0.50, Z:-0.51 [[ 0.99810168 0.02599178 -0.05583433 12.01567262] [-0.02482577 0.99946108 0.02147643 -0.49692184] [ 0.05636245 -0.02004953 0.99820904 -0.51330788] [ 0. 0. 0. 1. ]] SLAMing on 67.71240100800001 meters Centerline goodness : 0.855834 Centerline is valid? [False, False] Translation: X:12.02, Y:-0.50, Z:-0.51 [[ 0.99796061 0.02986918 -0.05641319 12.01831477] [-0.02847836 0.9992742 0.02529943 -0.4979462 ] [ 0.05712792 -0.02364128 0.99808692 -0.51452819] [ 0. 0. 0. 1. ]] SLAMing on 67.74240100800002 meters Centerline goodness : 0.854428 Centerline is valid? [False, False] Translation: X:12.02, Y:-0.50, Z:-0.51 [[ 0.99781926 0.03370363 -0.05675197 12.01991796] [-0.03204094 0.99903751 0.02995702 -0.5002555 ] [ 0.05770701 -0.0280733 0.99793877 -0.51385539] [ 0. 0. 0. 1. ]] SLAMing on 67.77240100800002 meters Centerline goodness : 0.854816 Centerline is valid? [False, False] Translation: X:12.02, Y:-0.50, Z:-0.51 [[ 0.99767748 0.03735373 -0.05695924 12.02103552] [-0.03541901 0.9987732 0.03460629 -0.50387115] [ 0.05818204 -0.03250847 0.99777655 -0.51297017] [ 0. 0. 0. 1. ]] SLAMing on 67.80240100800002 meters Centerline goodness : 0.855553 Centerline is valid? [False, False] Translation: X:12.02, Y:-0.51, Z:-0.51 [[ 0.99750765 0.04180461 -0.05684063 12.02066787] [-0.03946715 0.99835278 0.04164212 -0.5091673 ] [ 0.05848783 -0.039295 0.99751445 -0.50842889] [ 0. 0. 0. 1. ]] SLAMing on 67.832401008 meters Centerline goodness : 0.858071 Centerline is valid? [False, False] Translation: X:12.03, Y:-0.51, Z:-0.52 [[ 0.99828747 0.03877074 -0.04380602 12.02576747] [-0.03712353 0.99859512 0.03781033 -0.5082364 ] [ 0.04521041 -0.03611934 0.9983243 -0.51712188] [ 0. 0. 0. 1. ]] SLAMing on 67.862401008 meters Centerline goodness : 0.854086 Centerline is valid? [False, False] Translation: X:12.04, Y:-0.51, Z:-0.52 [[ 0.99840593 0.04064956 -0.03915615 12.03958393] [-0.03958692 0.99883648 0.02754203 -0.50708938] [ 0.04023017 -0.02594806 0.99885346 -0.5248069 ] [ 0. 0. 0. 1. ]] SLAMing on 67.89240100800001 meters Centerline goodness : 0.854086 Centerline is valid? [False, False] Translation: X:12.04, Y:-0.51, Z:-0.52 [[ 0.99840547 0.04069274 -0.03912317 12.03950223] [-0.03963431 0.99883687 0.02745944 -0.5069163 ] [ 0.04019507 -0.02586504 0.99885702 -0.52486512] [ 0. 0. 0. 1. ]] SLAMing on 67.92240100800001 meters Centerline goodness : 0.854184 Centerline is valid? [False, False] Translation: X:12.05, Y:-0.50, Z:-0.53 [[ 0.99851026 0.04187822 -0.0349783 12.05284229] [-0.0413333 0.99901473 0.0161596 -0.50459919] [ 0.03562057 -0.01468976 0.99925742 -0.53149728] [ 0. 0. 0. 1. ]] SLAMing on 67.95240100800001 meters Centerline goodness : 0.853598 Centerline is valid? [False, False] Translation: X:12.07, Y:-0.50, Z:-0.54 [[ 9.98601017e-01 4.35573990e-02 -2.99793519e-02 1.20652576e+01] [-4.33860575e-02 9.99038248e-01 6.34257978e-03 -5.03504574e-01] [ 3.02267854e-02 -5.03302073e-03 9.99530395e-01 -5.36325530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98240100800001 meters Centerline goodness : 0.856466 Centerline is valid? [False, False] Translation: X:12.08, Y:-0.50, Z:-0.54 [[ 9.98661423e-01 4.53250586e-02 -2.49199108e-02 1.20778429e+01] [-4.54056391e-02 9.98965045e-01 -2.67701311e-03 -5.03298770e-01] [ 2.47727840e-02 3.80493419e-03 9.99685866e-01 -5.40099951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01240100800001 meters Centerline goodness : 0.857743 Centerline is valid? [False, False] Translation: X:12.09, Y:-0.50, Z:-0.54 [[ 9.98630867e-01 4.84301482e-02 -1.97715179e-02 1.20900158e+01] [-4.86246108e-02 9.98772174e-01 -9.47589665e-03 -5.04951609e-01] [ 1.92883228e-02 1.04243052e-02 9.99759618e-01 -5.42104797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04240100800001 meters Centerline goodness : 0.855317 Centerline is valid? [False, False] Translation: X:12.09, Y:-0.51, Z:-0.54 [[ 9.98456230e-01 5.18079836e-02 -2.00272162e-02 1.20916029e+01] [-5.19187101e-02 9.98638553e-01 -5.04862024e-03 -5.07375999e-01] [ 1.97383913e-02 6.08061356e-03 9.99786688e-01 -5.41816502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07240100800001 meters Centerline goodness : 0.855139 Centerline is valid? [False, False] Translation: X:12.09, Y:-0.51, Z:-0.54 [[ 9.98459169e-01 5.17577448e-02 -2.00105669e-02 1.20922521e+01] [-5.18745225e-02 9.98639220e-01 -5.36110565e-03 -5.06615554e-01] [ 1.97058582e-02 6.39088370e-03 9.99785395e-01 -5.42907534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10240100800002 meters Centerline goodness : 0.854483 Centerline is valid? [False, False] Translation: X:12.10, Y:-0.51, Z:-0.54 [[ 9.98380439e-01 5.31451979e-02 -2.02999031e-02 1.20957449e+01] [-5.32156525e-02 9.98578698e-01 -2.94602106e-03 -5.08419273e-01] [ 2.01144839e-02 4.02152239e-03 9.99789595e-01 -5.44914818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13240100800002 meters Centerline goodness : 0.856331 Centerline is valid? [False, False] Translation: X:12.10, Y:-0.51, Z:-0.55 [[ 9.98393199e-01 5.27066248e-02 -2.08094307e-02 1.20975686e+01] [-5.27820323e-02 9.98601274e-01 -3.09087882e-03 -5.09366316e-01] [ 2.06174142e-02 4.18427644e-03 9.99778683e-01 -5.45779712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16240100800002 meters Centerline goodness : 0.856854 Centerline is valid? [False, False] Translation: X:12.10, Y:-0.51, Z:-0.54 [[ 9.98381133e-01 5.28967956e-02 -2.09055703e-02 1.20974862e+01] [-5.29405339e-02 9.98596473e-01 -1.54392929e-03 -5.14521925e-01] [ 2.07945599e-02 2.64818193e-03 9.99780263e-01 -5.44371654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19240100800002 meters Centerline goodness : 0.857901 Centerline is valid? [False, False] Translation: X:12.10, Y:-0.52, Z:-0.54 [[ 9.98378317e-01 5.27159584e-02 -2.14887100e-02 1.20984648e+01] [-5.27422799e-02 9.98607940e-01 -6.59602812e-04 -5.17632053e-01] [ 2.14240248e-02 1.79189670e-03 9.99768873e-01 -5.43225431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.222401008 meters Centerline goodness : 0.858399 Centerline is valid? [False, False] Translation: X:12.10, Y:-0.53, Z:-0.54 [[ 9.98449006e-01 5.09177527e-02 -2.25158731e-02 1.21017537e+01] [-5.08827136e-02 9.98702371e-01 2.12674739e-03 -5.25443325e-01] [ 2.25949451e-02 -9.77780097e-04 9.99744223e-01 -5.39235255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.252401008 meters Centerline goodness : 0.856888 Centerline is valid? [False, False] Translation: X:12.10, Y:-0.53, Z:-0.54 [[ 9.98472780e-01 5.01502597e-02 -2.31745293e-02 1.21037432e+01] [-5.00950063e-02 9.98740074e-01 2.95901616e-03 -5.29860106e-01] [ 2.32937265e-02 -1.79356890e-03 9.99727055e-01 -5.38666360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28240100800001 meters Centerline goodness : 0.860387 Centerline is valid? [False, False] Translation: X:12.10, Y:-0.53, Z:-0.54 [[ 9.98670884e-01 4.60356191e-02 -2.31772945e-02 1.21039179e+01] [-4.60705510e-02 9.98937712e-01 -9.75174408e-04 -5.31739857e-01] [ 2.31077808e-02 2.04166902e-03 9.99730895e-01 -5.39662972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.31240100800001 meters Centerline goodness : 0.859813 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.54, Z:-0.54 [[ 9.98694450e-01 4.51362660e-02 -2.39189024e-02 1.21064491e+01] [-4.51514080e-02 9.98980151e-01 -9.30976396e-05 -5.36491853e-01] [ 2.38903067e-02 1.17294822e-03 9.99713898e-01 -5.39404130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34240100800001 meters Centerline goodness : 0.861437 Centerline is valid? [False, False] Translation: X:12.12, Y:-0.55, Z:-0.53 [[ 9.98909308e-01 4.00843101e-02 -2.39466515e-02 1.21209253e+01] [-3.99308384e-02 9.99178943e-01 6.85325021e-03 -5.45785406e-01] [ 2.42016977e-02 -5.88956555e-03 9.99689747e-01 -5.34675148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37240100800001 meters Centerline goodness : 0.859578 Centerline is valid? [False, False] Translation: X:12.12, Y:-0.55, Z:-0.54 [[ 9.98920652e-01 3.93232194e-02 -2.47227729e-02 1.21238577e+01] [-3.91642484e-02 9.99209087e-01 6.88197793e-03 -5.48240725e-01] [ 2.49738409e-02 -5.90630106e-03 9.99670657e-01 -5.35857013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40240100800001 meters Centerline goodness : 0.859986 Centerline is valid? [False, False] Translation: X:12.13, Y:-0.55, Z:-0.54 [[ 9.98923492e-01 3.87775701e-02 -2.54589355e-02 1.21265592e+01] [-3.86075287e-02 9.99228963e-01 7.13713194e-03 -5.50495752e-01] [ 2.57160664e-02 -6.14654218e-03 9.99650391e-01 -5.36611955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43240100800001 meters Centerline goodness : 0.859651 Centerline is valid? [False, False] Translation: X:12.13, Y:-0.55, Z:-0.54 [[ 9.98919176e-01 3.85111065e-02 -2.60264279e-02 1.21282118e+01] [-3.83277097e-02 9.99237008e-01 7.50923915e-03 -5.53317018e-01] [ 2.62957591e-02 -6.50358961e-03 9.99633051e-01 -5.36792278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46240100800001 meters Centerline goodness : 0.862829 Centerline is valid? [False, False] Translation: X:12.13, Y:-0.56, Z:-0.53 [[ 9.98875691e-01 3.92621677e-02 -2.65675638e-02 1.21284856e+01] [-3.90251883e-02 9.99194195e-01 9.38053889e-03 -5.59638691e-01] [ 2.69144558e-02 -8.33318809e-03 9.99603006e-01 -5.34823261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49240100800002 meters Centerline goodness : 0.861487 Centerline is valid? [False, False] Translation: X:12.13, Y:-0.56, Z:-0.54 [[ 9.98866269e-01 3.93460587e-02 -2.67967043e-02 1.21293023e+01] [-3.91089061e-02 9.99191511e-01 9.31759046e-03 -5.60591362e-01] [ 2.71416499e-02 -8.25903704e-03 9.99597479e-01 -5.35568040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52240100800002 meters Centerline goodness : 0.863098 Centerline is valid? [False, False] Translation: X:12.13, Y:-0.56, Z:-0.54 [[ 9.98865940e-01 3.90856157e-02 -2.71872885e-02 1.21309221e+01] [-3.88656226e-02 9.99207662e-01 8.57386131e-03 -5.59758797e-01] [ 2.75008616e-02 -7.50748714e-03 9.99593588e-01 -5.37260253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55240100800002 meters Centerline goodness : 0.862927 Centerline is valid? [False, False] Translation: X:12.13, Y:-0.56, Z:-0.54 [[ 9.98857945e-01 3.94068237e-02 -2.70168190e-02 1.21312610e+01] [-3.92049783e-02 9.99199478e-01 7.96073284e-03 -5.59075398e-01] [ 2.73088986e-02 -6.89244744e-03 9.99603280e-01 -5.39423784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.582401008 meters Centerline goodness : 0.862378 Centerline is valid? [False, False] Translation: X:12.13, Y:-0.56, Z:-0.54 [[ 9.98702485e-01 4.29298461e-02 -2.73929671e-02 1.21327461e+01] [-4.25858953e-02 9.99007986e-01 1.30186567e-02 -5.62734207e-01] [ 2.79246819e-02 -1.18352108e-02 9.99539964e-01 -5.37889973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.612401008 meters Centerline goodness : 0.864701 Centerline is valid? [False, False] Translation: X:12.13, Y:-0.57, Z:-0.53 [[ 0.99852773 0.04661929 -0.02773118 12.13375648] [-0.0460922 0.99874971 0.01935252 -0.56732829] [ 0.02859871 -0.01804584 0.99942807 -0.5341431 ] [ 0. 0. 0. 1. ]] SLAMing on 68.64240100800001 meters Centerline goodness : 0.863139 Centerline is valid? [False, False] Translation: X:12.13, Y:-0.57, Z:-0.53 [[ 0.9986544 0.04399847 -0.02745045 12.13163267] [-0.0435825 0.99892846 0.01557228 -0.56564573] [ 0.0281062 -0.01435497 0.99950186 -0.53418149] [ 0. 0. 0. 1. ]] SLAMing on 68.67240100800001 meters Centerline goodness : 0.865374 Centerline is valid? [False, False] Translation: X:12.13, Y:-0.57, Z:-0.54 [[ 0.99865316 0.04395115 -0.02757107 12.13226469] [-0.04354497 0.99893638 0.01516381 -0.56585488] [ 0.02820821 -0.0139428 0.99950482 -0.53521725] [ 0. 0. 0. 1. ]] SLAMing on 68.70240100800001 meters Centerline goodness : 0.859414 Centerline is valid? [False, False] Translation: X:12.13, Y:-0.56, Z:-0.54 [[ 0.99865403 0.04380831 -0.02776607 12.13301975] [-0.04341549 0.99895047 0.01459614 -0.56498528] [ 0.02837636 -0.01337102 0.99950788 -0.53615175] [ 0. 0. 0. 1. ]] SLAMing on 68.73240100800001 meters Centerline goodness : 0.861493 Centerline is valid? [False, False] Translation: X:12.13, Y:-0.56, Z:-0.54 [[ 0.99864845 0.04390823 -0.02780895 12.13318705] [-0.04353078 0.99895348 0.01403621 -0.56373156] [ 0.02839615 -0.0128067 0.99951471 -0.53697975] [ 0. 0. 0. 1. ]] SLAMing on 68.76240100800001 meters Centerline goodness : 0.864752 Centerline is valid? [False, False] Translation: X:12.15, Y:-0.56, Z:-0.54 [[ 9.98680239e-01 4.56841654e-02 -2.34677899e-02 1.21467411e+01] [-4.56218198e-02 9.98953704e-01 3.18548809e-03 -5.60727754e-01] [ 2.35887620e-02 -2.11064072e-03 9.99719518e-01 -5.43582305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79240100800001 meters Centerline goodness : 0.864028 Centerline is valid? [False, False] Translation: X:12.15, Y:-0.56, Z:-0.54 [[ 9.98638996e-01 4.66720960e-02 -2.32781112e-02 1.21454943e+01] [-4.66226003e-02 9.98909021e-01 2.66477468e-03 -5.58884166e-01] [ 2.33770859e-02 -1.57586183e-03 9.99725477e-01 -5.44236267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82240100800001 meters Centerline goodness : 0.862201 Centerline is valid? [False, False] Translation: X:12.15, Y:-0.56, Z:-0.55 [[ 9.98652631e-01 4.62171502e-02 -2.35986876e-02 1.21474156e+01] [-4.61980529e-02 9.98931382e-01 1.35408715e-03 -5.56563353e-01] [ 2.36360517e-02 -2.62049274e-04 9.99720595e-01 -5.46735571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85240100800002 meters Centerline goodness : 0.858708 Centerline is valid? [False, False] Translation: X:12.15, Y:-0.55, Z:-0.55 [[ 9.98662659e-01 4.59484609e-02 -2.36987707e-02 1.21487574e+01] [-4.59530630e-02 9.98943538e-01 3.50653504e-04 -5.54555484e-01] [ 2.36898458e-02 7.38846541e-04 9.99719083e-01 -5.48923302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88240100800002 meters Centerline goodness : 0.857959 Centerline is valid? [False, False] Translation: X:12.15, Y:-0.55, Z:-0.55 [[ 9.98675897e-01 4.55519244e-02 -2.39055485e-02 1.21503139e+01] [-4.55765545e-02 9.98960731e-01 -4.86194841e-04 -5.53264740e-01] [ 2.38585571e-02 1.57508360e-03 9.99714103e-01 -5.50815817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91240100800002 meters Centerline goodness : 0.857237 Centerline is valid? [False, False] Translation: X:12.15, Y:-0.56, Z:-0.55 [[ 9.98674672e-01 4.56183434e-02 -2.38299261e-02 1.21505383e+01] [-4.56353903e-02 9.98958148e-01 -1.71743446e-04 -5.55113725e-01] [ 2.37972642e-02 1.25900381e-03 9.99716012e-01 -5.51299432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94240100800002 meters Centerline goodness : 0.858708 Centerline is valid? [False, False] Translation: X:12.15, Y:-0.56, Z:-0.55 [[ 9.98674741e-01 4.53217294e-02 -2.43865309e-02 1.21517731e+01] [-4.53231666e-02 9.98972255e-01 4.94067445e-04 -5.57763105e-01] [ 2.43838598e-02 6.11862126e-04 9.99702482e-01 -5.50501422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.972401008 meters Centerline goodness : 0.859525 Centerline is valid? [False, False] Translation: X:12.15, Y:-0.56, Z:-0.55 [[ 9.98673587e-01 4.50725656e-02 -2.48903792e-02 1.21526512e+01] [-4.50453013e-02 9.98983574e-01 1.65526026e-03 -5.61421332e-01] [ 2.49396868e-02 -5.31870069e-04 9.99688816e-01 -5.48864726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.002401008 meters Centerline goodness : 0.860322 Centerline is valid? [False, False] Translation: X:12.15, Y:-0.56, Z:-0.55 [[ 9.98830187e-01 4.17367631e-02 -2.44192625e-02 1.21506068e+01] [-4.17964116e-02 9.99124270e-01 -1.93718593e-03 -5.62559702e-01] [ 2.43170259e-02 2.95555733e-03 9.99699928e-01 -5.48593064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.03240100800001 meters Centerline goodness : 0.863127 Centerline is valid? [False, False] Translation: X:12.15, Y:-0.57, Z:-0.54 [[ 9.98816493e-01 4.20044260e-02 -2.45202255e-02 1.21500680e+01] [-4.19703380e-02 9.99117044e-01 1.90341412e-03 -5.71111909e-01] [ 2.45785271e-02 -8.72039263e-04 9.99697522e-01 -5.43257362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06240100800001 meters Centerline goodness : 0.864183 Centerline is valid? [False, False] Translation: X:12.15, Y:-0.57, Z:-0.54 [[ 9.98807962e-01 4.20253187e-02 -2.48299821e-02 1.21506799e+01] [-4.19687015e-02 9.99115010e-01 2.79716386e-03 -5.74357559e-01] [ 2.49255595e-02 -1.75174743e-03 9.99687775e-01 -5.42491517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09240100800001 meters Centerline goodness : 0.865928 Centerline is valid? [False, False] Translation: X:12.15, Y:-0.58, Z:-0.54 [[ 9.98795710e-01 4.22505723e-02 -2.49403178e-02 1.21510173e+01] [-4.21795962e-02 9.99104377e-01 3.36531591e-03 -5.77035587e-01] [ 2.50601672e-02 -2.30929056e-03 9.99683277e-01 -5.42572062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12240100800001 meters Centerline goodness : 0.867102 Centerline is valid? [False, False] Translation: X:12.15, Y:-0.58, Z:-0.54 [[ 9.98784262e-01 4.26476602e-02 -2.47219657e-02 1.21507977e+01] [-4.25726134e-02 9.99087053e-01 3.55428385e-03 -5.78862584e-01] [ 2.48509777e-02 -2.49748409e-03 9.99688047e-01 -5.43458600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15240100800001 meters Centerline goodness : 0.866633 Centerline is valid? [False, False] Translation: X:12.16, Y:-0.58, Z:-0.55 [[ 9.98898729e-01 4.28850372e-02 -1.90316469e-02 1.21626142e+01] [-4.30200576e-02 9.99051456e-01 -6.74255727e-03 -5.81591093e-01] [ 1.87244397e-02 7.55387443e-03 9.99796146e-01 -5.47648776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18240100800001 meters Centerline goodness : 0.871176 Centerline is valid? [False, False] Translation: X:12.16, Y:-0.59, Z:-0.54 [[ 9.98904160e-01 4.25587172e-02 -1.94739715e-02 1.21628572e+01] [-4.26615406e-02 9.99077589e-01 -4.89523988e-03 -5.85527391e-01] [ 1.92476734e-02 5.72066511e-03 9.99798380e-01 -5.44141929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21240100800001 meters Centerline goodness : 0.870766 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.59, Z:-0.55 [[ 9.99006954e-01 3.95857126e-02 -2.04469583e-02 1.21688272e+01] [-3.97191209e-02 9.99191896e-01 -6.16007137e-03 -5.85609400e-01] [ 2.01865842e-02 6.96608934e-03 9.99771962e-01 -5.46839540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24240100800002 meters Centerline goodness : 0.868093 Centerline is valid? [False, False] Translation: X:12.18, Y:-0.58, Z:-0.55 [[ 9.99086707e-01 3.68113840e-02 -2.16950040e-02 1.21754427e+01] [-3.69847138e-02 9.99286604e-01 -7.64291340e-03 -5.84756907e-01] [ 2.13981807e-02 8.43831670e-03 9.99735421e-01 -5.50154527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27240100800002 meters Centerline goodness : 0.859995 Centerline is valid? [False, False] Translation: X:12.19, Y:-0.58, Z:-0.56 [[ 9.99177103e-01 3.26211736e-02 -2.41034409e-02 1.21925337e+01] [-3.27866783e-02 9.99441214e-01 -6.50334142e-03 -5.84408672e-01] [ 2.38778256e-02 7.28826160e-03 9.99688317e-01 -5.55349095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30240100800002 meters Centerline goodness : 0.861797 Centerline is valid? [False, False] Translation: X:12.19, Y:-0.58, Z:-0.56 [[ 9.99182916e-01 3.20238328e-02 -2.46571549e-02 1.21948687e+01] [-3.22189445e-02 9.99452268e-01 -7.55669509e-03 -5.82285862e-01] [ 2.44016550e-02 8.34494814e-03 9.99667405e-01 -5.57236626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33240100800002 meters Centerline goodness : 0.861324 Centerline is valid? [False, False] Translation: X:12.20, Y:-0.58, Z:-0.56 [[ 9.99049320e-01 3.50888932e-02 -2.58693872e-02 1.21983587e+01] [-3.51807073e-02 9.99376152e-01 -3.10245908e-03 -5.83777259e-01] [ 2.57443868e-02 4.00961297e-03 9.99660517e-01 -5.56140328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.362401008 meters Centerline goodness : 0.861227 Centerline is valid? [False, False] Translation: X:12.19, Y:-0.59, Z:-0.55 [[ 9.98979602e-01 3.72955326e-02 -2.54715179e-02 1.21937300e+01] [-3.73436581e-02 9.99301479e-01 -1.41616410e-03 -5.85020618e-01] [ 2.54009089e-02 2.36591870e-03 9.99674545e-01 -5.51879374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.39240100800001 meters Centerline goodness : 0.861977 Centerline is valid? [False, False] Translation: X:12.19, Y:-0.59, Z:-0.55 [[ 9.98955169e-01 3.82325282e-02 -2.50368469e-02 1.21913118e+01] [-3.82639138e-02 9.99267367e-01 -7.75522814e-04 -5.85252290e-01] [ 2.49888539e-02 1.73272028e-03 9.99686228e-01 -5.50215252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42240100800001 meters Centerline goodness : 0.859944 Centerline is valid? [False, False] Translation: X:12.19, Y:-0.59, Z:-0.55 [[ 9.98812279e-01 4.11897407e-02 -2.60276278e-02 1.21943629e+01] [-4.10971601e-02 9.99146816e-01 4.08220613e-03 -5.87033621e-01] [ 2.61735664e-02 -3.00769602e-03 9.99652889e-01 -5.48322323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.45240100800001 meters Centerline goodness : 0.859762 Centerline is valid? [False, False] Translation: X:12.19, Y:-0.58, Z:-0.55 [[ 9.98821690e-01 4.10959910e-02 -2.58137789e-02 1.21945825e+01] [-4.10271089e-02 9.99152933e-01 3.19262459e-03 -5.84136345e-01] [ 2.59231170e-02 -2.12979797e-03 9.99661671e-01 -5.49844510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48240100800001 meters Centerline goodness : 0.855105 Centerline is valid? [False, False] Translation: X:12.20, Y:-0.58, Z:-0.55 [[ 9.98833167e-01 4.08341667e-02 -2.57851613e-02 1.21954232e+01] [-4.07891504e-02 9.99165199e-01 2.26959945e-03 -5.81310863e-01] [ 2.58563131e-02 -1.21519638e-03 9.99664931e-01 -5.51482334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51240100800001 meters Centerline goodness : 0.849734 Centerline is valid? [False, False] Translation: X:12.20, Y:-0.58, Z:-0.55 [[ 9.98839293e-01 4.08728398e-02 -2.54848398e-02 1.21951331e+01] [-4.08473764e-02 9.99164243e-01 1.51915639e-03 -5.78442252e-01] [ 2.55256329e-02 -4.76404257e-04 9.99674054e-01 -5.52569985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54240100800001 meters Centerline goodness : 0.851712 Centerline is valid? [False, False] Translation: X:12.20, Y:-0.58, Z:-0.55 [[ 9.98834625e-01 4.08802407e-02 -2.56553691e-02 1.21951724e+01] [-4.08561773e-02 9.99163969e-01 1.46164217e-03 -5.77848134e-01] [ 2.56936727e-02 -4.11758494e-04 9.99669778e-01 -5.52069175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57240100800001 meters Centerline goodness : 0.853768 Centerline is valid? [False, False] Translation: X:12.20, Y:-0.58, Z:-0.55 [[ 9.98832175e-01 4.08015394e-02 -2.58750940e-02 1.21952758e+01] [-4.07762040e-02 9.99167169e-01 1.50623774e-03 -5.77649421e-01] [ 2.59150012e-02 -4.49390612e-04 9.99664049e-01 -5.51288822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60240100800002 meters Centerline goodness : 0.851103 Centerline is valid? [False, False] Translation: X:12.20, Y:-0.58, Z:-0.55 [[ 9.98832095e-01 4.05914664e-02 -2.62064558e-02 1.21957665e+01] [-4.05664612e-02 9.99175738e-01 1.48532057e-03 -5.77399949e-01] [ 2.62451462e-02 -4.20482685e-04 9.99655448e-01 -5.50671464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63240100800002 meters Centerline goodness : 0.850110 Centerline is valid? [False, False] Translation: X:12.19, Y:-0.58, Z:-0.55 [[ 9.98818396e-01 4.09193994e-02 -2.62185956e-02 1.21945803e+01] [-4.08591190e-02 9.99160907e-01 2.83099071e-03 -5.79029960e-01] [ 2.63124382e-02 -1.75637688e-03 9.99652225e-01 -5.47713036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66240100800002 meters Centerline goodness : 0.851401 Centerline is valid? [False, False] Translation: X:12.20, Y:-0.58, Z:-0.55 [[ 9.98828709e-01 4.04326417e-02 -2.65784152e-02 1.21955444e+01] [-4.03631371e-02 9.99180122e-01 3.14660516e-03 -5.80034150e-01] [ 2.66838497e-02 -2.07013135e-03 9.99641779e-01 -5.46962202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69240100800002 meters Centerline goodness : 0.851119 Centerline is valid? [False, False] Translation: X:12.20, Y:-0.58, Z:-0.55 [[ 9.98840611e-01 3.98327716e-02 -2.70330297e-02 1.21971622e+01] [-3.97550910e-02 9.99203652e-01 3.40514734e-03 -5.80748882e-01] [ 2.71471384e-02 -2.32649889e-03 9.99628741e-01 -5.46695635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.722401008 meters Centerline goodness : 0.851332 Centerline is valid? [False, False] Translation: X:12.20, Y:-0.58, Z:-0.55 [[ 9.98862280e-01 3.91520891e-02 -2.72260695e-02 1.21986284e+01] [-3.90819196e-02 9.99231186e-01 3.10485729e-03 -5.80417648e-01] [ 2.73266994e-02 -2.03727777e-03 9.99624480e-01 -5.47502097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.752401008 meters Centerline goodness : 0.846592 Centerline is valid? [False, False] Translation: X:12.22, Y:-0.58, Z:-0.54 [[ 9.99054105e-01 3.48391817e-02 -2.60216718e-02 1.22184816e+01] [-3.45107183e-02 9.99320202e-01 1.29670117e-02 -5.82908678e-01] [ 2.64557424e-02 -1.20567197e-02 9.99577275e-01 -5.42692988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78240100800001 meters Centerline goodness : 0.846592 Centerline is valid? [False, False] Translation: X:12.22, Y:-0.58, Z:-0.54 [[ 9.99054105e-01 3.48391817e-02 -2.60216718e-02 1.22184816e+01] [-3.45107183e-02 9.99320202e-01 1.29670117e-02 -5.82908678e-01] [ 2.64557424e-02 -1.20567197e-02 9.99577275e-01 -5.42692988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.81240100800001 meters Centerline goodness : 0.847454 Centerline is valid? [False, False] Translation: X:12.22, Y:-0.58, Z:-0.54 [[ 9.99197319e-01 3.07682433e-02 -2.56521695e-02 1.22178477e+01] [-3.05720290e-02 9.99500498e-01 8.00654019e-03 -5.81216626e-01] [ 2.58857033e-02 -7.21587462e-03 9.99638866e-01 -5.44402037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84240100800001 meters Centerline goodness : 0.845213 Centerline is valid? [False, False] Translation: X:12.22, Y:-0.58, Z:-0.54 [[ 9.99208527e-01 2.97048076e-02 -2.64564529e-02 1.22207583e+01] [-2.95079641e-02 9.99534112e-01 7.79995738e-03 -5.82143833e-01] [ 2.66758234e-02 -7.01310786e-03 9.99619536e-01 -5.44860497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87240100800001 meters Centerline goodness : 0.847226 Centerline is valid? [False, False] Translation: X:12.22, Y:-0.58, Z:-0.55 [[ 9.99219514e-01 2.84526758e-02 -2.74008925e-02 1.22242180e+01] [-2.82616811e-02 9.99573664e-01 7.33268611e-03 -5.82574513e-01] [ 2.75978451e-02 -6.55256776e-03 9.99597630e-01 -5.45740858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90240100800001 meters Centerline goodness : 0.846832 Centerline is valid? [False, False] Translation: X:12.23, Y:-0.58, Z:-0.55 [[ 9.99225199e-01 2.73025199e-02 -2.83473861e-02 1.22273328e+01] [-2.71159881e-02 9.99608175e-01 6.94397259e-03 -5.82661086e-01] [ 2.85258668e-02 -6.16992501e-03 9.99574013e-01 -5.46157276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93240100800001 meters Centerline goodness : 0.845911 Centerline is valid? [False, False] Translation: X:12.23, Y:-0.58, Z:-0.55 [[ 9.99234115e-01 2.63711217e-02 -2.89093104e-02 1.22292109e+01] [-2.61799010e-02 9.99632926e-01 6.97323369e-03 -5.83038937e-01] [ 2.90825905e-02 -6.21105011e-03 9.99557715e-01 -5.45609566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96240100800001 meters Centerline goodness : 0.841761 Centerline is valid? [False, False] Translation: X:12.23, Y:-0.59, Z:-0.54 [[ 9.99140010e-01 2.86165011e-02 -3.00056183e-02 1.22333173e+01] [-2.82672342e-02 9.99528365e-01 1.20004187e-02 -5.85374446e-01] [ 3.03348766e-02 -1.11419227e-02 9.99477690e-01 -5.43377961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99240100800002 meters Centerline goodness : 0.845110 Centerline is valid? [False, False] Translation: X:12.24, Y:-0.58, Z:-0.54 [[ 9.99151209e-01 2.75612365e-02 -3.06143575e-02 1.22360857e+01] [-2.72295181e-02 9.99566462e-01 1.12000301e-02 -5.83918678e-01] [ 3.09097717e-02 -1.03569094e-02 9.99468519e-01 -5.44717715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02240100800002 meters Centerline goodness : 0.844046 Centerline is valid? [False, False] Translation: X:12.24, Y:-0.59, Z:-0.54 [[ 0.99904498 0.03020498 -0.031572 12.23945674] [-0.029695 0.99942283 0.01649902 -0.58664922] [ 0.03205213 -0.01554573 0.99936529 -0.54217263] [ 0. 0. 0. 1. ]] SLAMing on 70.05240100800002 meters Centerline goodness : 0.841062 Centerline is valid? [False, False] Translation: X:12.24, Y:-0.59, Z:-0.54 [[ 0.99892761 0.03314075 -0.03233135 12.24211116] [-0.03243703 0.99923045 0.02205322 -0.58955836] [ 0.03303733 -0.02098084 0.99923388 -0.53912176] [ 0. 0. 0. 1. ]] SLAMing on 70.08240100800002 meters Centerline goodness : 0.841960 Centerline is valid? [False, False] Translation: X:12.24, Y:-0.59, Z:-0.54 [[ 0.99892987 0.03307513 -0.0323288 12.24190571] [-0.03237383 0.9992341 0.02198076 -0.58923481] [ 0.03303105 -0.02091063 0.99923556 -0.53867051] [ 0. 0. 0. 1. ]] SLAMing on 70.112401008 meters Centerline goodness : 0.844049 Centerline is valid? [False, False] Translation: X:12.25, Y:-0.59, Z:-0.54 [[ 9.99051275e-01 3.35953666e-02 -2.77110391e-02 1.22544801e+01] [-3.33358209e-02 9.99396397e-01 9.77567230e-03 -5.85718323e-01] [ 2.80227299e-02 -8.84262764e-03 9.99568174e-01 -5.44845107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14240100800001 meters Centerline goodness : 0.844777 Centerline is valid? [False, False] Translation: X:12.26, Y:-0.59, Z:-0.54 [[ 0.99890454 0.03737773 -0.02815351 12.25582079] [-0.03698565 0.99921318 0.01432097 -0.58689502] [ 0.02866664 -0.013264 0.99950102 -0.54382419] [ 0. 0. 0. 1. ]] SLAMing on 70.17240100800001 meters Centerline goodness : 0.842107 Centerline is valid? [False, False] Translation: X:12.26, Y:-0.58, Z:-0.55 [[ 9.98903042e-01 3.76111629e-02 -2.78946744e-02 1.22556557e+01] [-3.72568395e-02 9.99219656e-01 1.31151552e-02 -5.83989097e-01] [ 2.83661832e-02 -1.20615010e-02 9.99524827e-01 -5.45897329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20240100800001 meters Centerline goodness : 0.839539 Centerline is valid? [False, False] Translation: X:12.26, Y:-0.58, Z:-0.55 [[ 9.98894431e-01 3.79319793e-02 -2.77683461e-02 1.22556662e+01] [-3.76098527e-02 9.99220055e-01 1.20324771e-02 -5.80901326e-01] [ 2.82031040e-02 -1.09748109e-02 9.99541964e-01 -5.47793121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23240100800001 meters Centerline goodness : 0.838260 Centerline is valid? [False, False] Translation: X:12.25, Y:-0.58, Z:-0.55 [[ 9.98811628e-01 4.06273198e-02 -2.69212429e-02 1.22521852e+01] [-4.03882242e-02 9.99140160e-01 9.36654154e-03 -5.75089451e-01] [ 2.72786324e-02 -8.26810941e-03 9.99593675e-01 -5.53248815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26240100800001 meters Centerline goodness : 0.836202 Centerline is valid? [False, False] Translation: X:12.27, Y:-0.57, Z:-0.56 [[ 9.98776683e-01 4.40296767e-02 -2.25061226e-02 1.22665380e+01] [-4.40225428e-02 9.99030207e-01 8.12570431e-04 -5.72028697e-01] [ 2.25200736e-02 1.79200347e-04 9.99746375e-01 -5.59703203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29240100800001 meters Centerline goodness : 0.836128 Centerline is valid? [False, False] Translation: X:12.26, Y:-0.57, Z:-0.56 [[ 9.98747024e-01 4.49920458e-02 -2.19111272e-02 1.22644915e+01] [-4.49858896e-02 9.98987323e-01 7.74037955e-04 -5.70877225e-01] [ 2.19237639e-02 2.12623447e-04 9.99759623e-01 -5.59706677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32240100800001 meters Centerline goodness : 0.835777 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.57, Z:-0.56 [[ 9.98665370e-01 4.88346627e-02 -1.68123299e-02 1.22760216e+01] [-4.89554062e-02 9.98777499e-01 -6.84655261e-03 -5.71280804e-01] [ 1.64574277e-02 7.66046944e-03 9.99835222e-01 -5.63268481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35240100800002 meters Centerline goodness : 0.837740 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.57, Z:-0.56 [[ 9.98640565e-01 4.93774827e-02 -1.66998716e-02 1.22751208e+01] [-4.94872200e-02 9.98755372e-01 -6.22275824e-03 -5.72369350e-01] [ 1.63718223e-02 7.04072903e-03 9.99841183e-01 -5.62348591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38240100800002 meters Centerline goodness : 0.837012 Centerline is valid? [False, False] Translation: X:12.27, Y:-0.57, Z:-0.56 [[ 9.98627606e-01 4.97260026e-02 -1.64386323e-02 1.22746297e+01] [-4.98313008e-02 9.98739270e-01 -6.05896340e-03 -5.72708711e-01] [ 1.61166196e-02 6.86980655e-03 9.99846518e-01 -5.62703819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41240100800002 meters Centerline goodness : 0.837190 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.58, Z:-0.56 [[ 9.98459906e-01 5.28379342e-02 -1.69105865e-02 1.22770677e+01] [-5.28716371e-02 9.98600111e-01 -1.55185784e-03 -5.75651088e-01] [ 1.68049165e-02 2.44355822e-03 9.99855802e-01 -5.62419344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44240100800002 meters Centerline goodness : 0.834798 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.58, Z:-0.56 [[ 9.98450744e-01 5.31137143e-02 -1.65844790e-02 1.22771853e+01] [-5.31474313e-02 9.98585397e-01 -1.59865408e-03 -5.77082580e-01] [ 1.64761081e-02 2.47759982e-03 9.99861190e-01 -5.64220647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.472401008 meters Centerline goodness : 0.834250 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.58, Z:-0.56 [[ 9.98451265e-01 5.30982873e-02 -1.66025117e-02 1.22777584e+01] [-5.31294835e-02 9.98586589e-01 -1.44330122e-03 -5.78211174e-01] [ 1.65024087e-02 2.32314880e-03 9.99861127e-01 -5.64836315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.502401008 meters Centerline goodness : 0.837347 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.58, Z:-0.56 [[ 9.98440287e-01 5.32689957e-02 -1.67155095e-02 1.22779228e+01] [-5.32915662e-02 9.98578583e-01 -9.07449028e-04 -5.80366967e-01] [ 1.66434109e-02 1.79682935e-03 9.99859874e-01 -5.64619137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.53240100800001 meters Centerline goodness : 0.838718 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.58, Z:-0.56 [[ 9.98432585e-01 5.33350145e-02 -1.69631813e-02 1.22783635e+01] [-5.33425304e-02 9.98576274e-01 9.40800983e-06 -5.83374785e-01] [ 1.69395322e-02 8.95465751e-04 9.99856115e-01 -5.63705516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56240100800001 meters Centerline goodness : 0.842976 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.59, Z:-0.56 [[ 9.98597730e-01 5.02048938e-02 -1.67941279e-02 1.22763305e+01] [-5.02524375e-02 9.98733614e-01 -2.42078679e-03 -5.88043288e-01] [ 1.66513247e-02 3.26133806e-03 9.99856038e-01 -5.61871128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59240100800001 meters Centerline goodness : 0.844326 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.59, Z:-0.56 [[ 9.98615657e-01 4.96242588e-02 -1.74414003e-02 1.22781133e+01] [-4.96600901e-02 9.98764851e-01 -1.62705167e-03 -5.90707783e-01] [ 1.73391163e-02 2.49094078e-03 9.99846563e-01 -5.60953462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62240100800001 meters Centerline goodness : 0.841782 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.59, Z:-0.56 [[ 9.98640032e-01 4.89399016e-02 -1.79714485e-02 1.22802476e+01] [-4.89752558e-02 9.98798817e-01 -1.53216115e-03 -5.92125584e-01] [ 1.78748776e-02 2.41023374e-03 9.99837327e-01 -5.61518362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65240100800001 meters Centerline goodness : 0.843864 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.59, Z:-0.56 [[ 9.98664038e-01 4.82981346e-02 -1.83692327e-02 1.22821040e+01] [-4.83379061e-02 9.98829547e-01 -1.72705113e-03 -5.92523336e-01] [ 1.82643190e-02 2.61267410e-03 9.99829780e-01 -5.62351335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68240100800001 meters Centerline goodness : 0.840571 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.59, Z:-0.56 [[ 9.98704039e-01 4.72706166e-02 -1.88608353e-02 1.22850438e+01] [-4.73273335e-02 9.98876123e-01 -2.57193467e-03 -5.91363367e-01] [ 1.87180611e-02 3.46123458e-03 9.99818811e-01 -5.64499358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71240100800001 meters Centerline goodness : 0.839098 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.59, Z:-0.56 [[ 9.98702563e-01 4.72848205e-02 -1.89033207e-02 1.22852621e+01] [-4.73414447e-02 9.98875487e-01 -2.55902309e-03 -5.91449969e-01] [ 1.87610607e-02 3.45061343e-03 9.99818041e-01 -5.64710447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74240100800002 meters Centerline goodness : 0.841011 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.59, Z:-0.56 [[ 9.98694109e-01 4.73479091e-02 -1.91899053e-02 1.22855107e+01] [-4.73958681e-02 9.98874077e-01 -2.05187137e-03 -5.92337477e-01] [ 1.90711471e-02 2.95871407e-03 9.99813751e-01 -5.63683176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77240100800002 meters Centerline goodness : 0.842056 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.59, Z:-0.56 [[ 9.98683131e-01 4.74830488e-02 -1.94258749e-02 1.22854230e+01] [-4.75240058e-02 9.98868730e-01 -1.65193127e-03 -5.93004154e-01] [ 1.93254603e-02 2.57295128e-03 9.99809935e-01 -5.62569785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80240100800002 meters Centerline goodness : 0.845046 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.59, Z:-0.56 [[ 9.98654370e-01 4.82943668e-02 -1.88971983e-02 1.22832458e+01] [-4.83285768e-02 9.98830569e-01 -1.35758326e-03 -5.92693789e-01] [ 1.88095357e-02 2.26903115e-03 9.99820510e-01 -5.61758498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83240100800002 meters Centerline goodness : 0.842752 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.59, Z:-0.56 [[ 9.98474369e-01 5.16171780e-02 -1.96112679e-02 1.22855664e+01] [-5.15572590e-02 9.98663734e-01 3.54908539e-03 -5.94573685e-01] [ 1.97682558e-02 -2.53256758e-03 9.99801381e-01 -5.60139317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.862401008 meters Centerline goodness : 0.843406 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.59, Z:-0.56 [[ 9.98476460e-01 5.16863127e-02 -1.93205716e-02 1.22853535e+01] [-5.16367524e-02 9.98661258e-01 3.05562404e-03 -5.93101187e-01] [ 1.94526403e-02 -2.05331710e-03 9.99808671e-01 -5.61193691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.89240100800001 meters Centerline goodness : 0.843221 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.59, Z:-0.56 [[ 9.98482665e-01 5.16375448e-02 -1.91293592e-02 1.22855305e+01] [-5.16022892e-02 9.98664991e-01 2.33238446e-03 -5.90970446e-01] [ 1.92242599e-02 -1.34172672e-03 9.99814297e-01 -5.62468916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92240100800001 meters Centerline goodness : 0.844282 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.59, Z:-0.56 [[ 9.98466471e-01 5.20957032e-02 -1.87281469e-02 1.22847743e+01] [-5.20764784e-02 9.98641953e-01 1.51308203e-03 -5.87616028e-01] [ 1.87815382e-02 -5.35465742e-04 9.99823468e-01 -5.63796626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.95240100800001 meters Centerline goodness : 0.842893 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.59, Z:-0.56 [[ 9.98470176e-01 5.19773067e-02 -1.88591638e-02 1.22851714e+01] [-5.19662144e-02 9.98648262e-01 1.07808193e-03 -5.86689565e-01] [ 1.88897070e-02 -9.63932985e-05 9.99821569e-01 -5.64214842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98240100800001 meters Centerline goodness : 0.843847 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.59, Z:-0.56 [[ 9.98480328e-01 5.17073472e-02 -1.90626360e-02 1.22860645e+01] [-5.17036925e-02 9.98662235e-01 6.84847396e-04 -5.86675843e-01] [ 1.90725463e-02 3.01802016e-04 9.99818057e-01 -5.64985386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01240100800001 meters Centerline goodness : 0.848630 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.59, Z:-0.57 [[ 9.98735792e-01 4.59724144e-02 -2.03311321e-02 1.22902272e+01] [-4.60759346e-02 9.98927105e-01 -4.65267627e-03 -5.86016054e-01] [ 2.00954242e-02 5.58357024e-03 9.99782475e-01 -5.67064383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04240100800001 meters Centerline goodness : 0.849744 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.59, Z:-0.57 [[ 9.98757536e-01 4.52164935e-02 -2.09488119e-02 1.22925075e+01] [-4.53317500e-02 9.98959174e-01 -5.05975966e-03 -5.86031702e-01] [ 2.06982233e-02 6.00311940e-03 9.99767746e-01 -5.67948898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07240100800001 meters Centerline goodness : 0.848183 Centerline is valid? [False, False] Translation: X:12.30, Y:-0.59, Z:-0.57 [[ 9.98785822e-01 4.43092717e-02 -2.15306862e-02 1.22951398e+01] [-4.44404404e-02 9.98996046e-01 -5.65214079e-03 -5.85643909e-01] [ 2.12586281e-02 6.60211126e-03 9.99752211e-01 -5.69384667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10240100800002 meters Centerline goodness : 0.850065 Centerline is valid? [False, False] Translation: X:12.30, Y:-0.59, Z:-0.57 [[ 9.98757333e-01 4.42483563e-02 -2.29319274e-02 1.23034275e+01] [-4.42647679e-02 9.99019813e-01 -2.08306663e-04 -5.88628674e-01] [ 2.29002326e-02 1.22312425e-03 9.99737007e-01 -5.66525530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13240100800002 meters Centerline goodness : 0.855146 Centerline is valid? [False, False] Translation: X:12.30, Y:-0.59, Z:-0.57 [[ 9.98918498e-01 4.05545897e-02 -2.27411234e-02 1.23021748e+01] [-4.06562062e-02 9.99165092e-01 -4.02381418e-03 -5.88995693e-01] [ 2.25589525e-02 4.94403022e-03 9.99733290e-01 -5.66301269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16240100800002 meters Centerline goodness : 0.855663 Centerline is valid? [False, False] Translation: X:12.31, Y:-0.59, Z:-0.56 [[ 9.98813362e-01 4.24237203e-02 -2.39185186e-02 1.23071751e+01] [-4.23710430e-02 9.99098282e-01 2.70510633e-03 -5.93281002e-01] [ 2.40117115e-02 -1.68844377e-03 9.99710251e-01 -5.61515186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.19240100800002 meters Centerline goodness : 0.856027 Centerline is valid? [False, False] Translation: X:12.31, Y:-0.59, Z:-0.56 [[ 9.98821493e-01 4.21990490e-02 -2.39763405e-02 1.23077084e+01] [-4.21398641e-02 9.99107311e-01 2.96861081e-03 -5.93954739e-01] [ 2.40802096e-02 -1.95475256e-03 9.99708119e-01 -5.61413577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.222401008 meters Centerline goodness : 0.852725 Centerline is valid? [False, False] Translation: X:12.31, Y:-0.59, Z:-0.56 [[ 9.98834299e-01 4.16844495e-02 -2.43402998e-02 1.23092357e+01] [-4.16271211e-02 9.99129130e-01 2.85746007e-03 -5.93969049e-01] [ 2.44382142e-02 -1.84091252e-03 9.99699647e-01 -5.61838576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.252401008 meters Centerline goodness : 0.853186 Centerline is valid? [False, False] Translation: X:12.32, Y:-0.59, Z:-0.57 [[ 9.98828682e-01 4.43779724e-02 -1.92836542e-02 1.23225064e+01] [-4.44832634e-02 9.98997286e-01 -5.06570656e-03 -5.91841647e-01] [ 1.90395124e-02 5.91757287e-03 9.99801220e-01 -5.65128858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28240100800001 meters Centerline goodness : 0.859729 Centerline is valid? [False, False] Translation: X:12.32, Y:-0.59, Z:-0.56 [[ 9.98796169e-01 4.52433612e-02 -1.89539014e-02 1.23204191e+01] [-4.53369272e-02 9.98961454e-01 -4.53602399e-03 -5.91469300e-01] [ 1.87289920e-02 5.38987503e-03 9.99810069e-01 -5.63564672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.31240100800001 meters Centerline goodness : 0.863686 Centerline is valid? [False, False] Translation: X:12.32, Y:-0.59, Z:-0.56 [[ 9.98773445e-01 4.57780214e-02 -1.88673644e-02 1.23194515e+01] [-4.58715518e-02 9.98936964e-01 -4.55443239e-03 -5.90113852e-01] [ 1.86388148e-02 5.41432141e-03 9.99811622e-01 -5.62986848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34240100800001 meters Centerline goodness : 0.863067 Centerline is valid? [False, False] Translation: X:12.32, Y:-0.59, Z:-0.56 [[ 9.98762930e-01 4.59893357e-02 -1.89100544e-02 1.23195036e+01] [-4.60905790e-02 9.98924984e-01 -4.95319929e-03 -5.88610137e-01] [ 1.86619314e-02 5.81864719e-03 9.99808920e-01 -5.63461691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37240100800001 meters Centerline goodness : 0.864119 Centerline is valid? [False, False] Translation: X:12.32, Y:-0.59, Z:-0.56 [[ 9.98756238e-01 4.61101199e-02 -1.89692809e-02 1.23198337e+01] [-4.62217935e-02 9.98916109e-01 -5.49114606e-03 -5.87521412e-01] [ 1.86955229e-02 6.36111057e-03 9.99804988e-01 -5.64426114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40240100800001 meters Centerline goodness : 0.859894 Centerline is valid? [False, False] Translation: X:12.32, Y:-0.59, Z:-0.57 [[ 9.98568329e-01 4.97798666e-02 -1.95769438e-02 1.23225045e+01] [-4.98285735e-02 9.98755767e-01 -2.00779940e-03 -5.87812831e-01] [ 1.94526375e-02 2.98041608e-03 9.99806337e-01 -5.65983159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43240100800001 meters Centerline goodness : 0.859899 Centerline is valid? [False, False] Translation: X:12.32, Y:-0.59, Z:-0.57 [[ 9.98561680e-01 5.00193267e-02 -1.93038352e-02 1.23224810e+01] [-5.00759816e-02 9.98742375e-01 -2.46247611e-03 -5.86648021e-01] [ 1.91563868e-02 3.42559278e-03 9.99810631e-01 -5.67447038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46240100800001 meters Centerline goodness : 0.858573 Centerline is valid? [False, False] Translation: X:12.32, Y:-0.59, Z:-0.57 [[ 9.98553443e-01 5.03021736e-02 -1.89924254e-02 1.23220465e+01] [-5.03593634e-02 9.98727920e-01 -2.54472364e-03 -5.86407677e-01] [ 1.88402604e-02 3.49748900e-03 9.99816389e-01 -5.68132101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49240100800002 meters Centerline goodness : 0.859443 Centerline is valid? [False, False] Translation: X:12.32, Y:-0.59, Z:-0.57 [[ 9.98541423e-01 5.04519244e-02 -1.92257378e-02 1.23219028e+01] [-5.04943476e-02 9.98722853e-01 -1.72726312e-03 -5.88162421e-01] [ 1.91140400e-02 2.69553487e-03 9.99813676e-01 -5.66578055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52240100800002 meters Centerline goodness : 0.864198 Centerline is valid? [False, False] Translation: X:12.32, Y:-0.59, Z:-0.56 [[ 9.98515399e-01 5.08268564e-02 -1.95864476e-02 1.23212053e+01] [-5.08319267e-02 9.98707193e-01 2.39223863e-04 -5.92673927e-01] [ 1.95732851e-02 7.56748157e-04 9.99808139e-01 -5.62955126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55240100800002 meters Centerline goodness : 0.863021 Centerline is valid? [False, False] Translation: X:12.32, Y:-0.59, Z:-0.56 [[ 9.98511847e-01 5.09194128e-02 -1.95270139e-02 1.23207610e+01] [-5.09178929e-02 9.98702677e-01 5.75334991e-04 -5.93492479e-01] [ 1.95309768e-02 4.19795598e-04 9.99809164e-01 -5.62273373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58240100800002 meters Centerline goodness : 0.866858 Centerline is valid? [False, False] Translation: X:12.32, Y:-0.59, Z:-0.56 [[ 9.98509360e-01 5.09976921e-02 -1.94497678e-02 1.23205339e+01] [-5.09961749e-02 9.98698683e-01 5.74300327e-04 -5.93108836e-01] [ 1.94537455e-02 4.18419508e-04 9.99810670e-01 -5.62214619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.612401008 meters Centerline goodness : 0.863649 Centerline is valid? [False, False] Translation: X:12.32, Y:-0.59, Z:-0.56 [[ 9.98500602e-01 5.12795304e-02 -1.91561392e-02 1.23199670e+01] [-5.12835518e-02 9.98684093e-01 2.81579229e-04 -5.91720720e-01] [ 1.91453708e-02 7.01237827e-04 9.99816465e-01 -5.62815151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64240100800001 meters Centerline goodness : 0.861507 Centerline is valid? [False, False] Translation: X:12.32, Y:-0.59, Z:-0.56 [[ 9.98505639e-01 5.12007369e-02 -1.91042683e-02 1.23207699e+01] [-5.12247927e-02 9.98686850e-01 -7.71644947e-04 -5.88271546e-01] [ 1.90396727e-02 1.74910401e-03 9.99817199e-01 -5.64821265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.67240100800001 meters Centerline goodness : 0.861436 Centerline is valid? [False, False] Translation: X:12.32, Y:-0.59, Z:-0.57 [[ 9.98526824e-01 5.06433013e-02 -1.94791776e-02 1.23223774e+01] [-5.06737864e-02 9.98714681e-01 -1.07430180e-03 -5.88357174e-01] [ 1.93997344e-02 2.05980285e-03 9.99809686e-01 -5.65580079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70240100800001 meters Centerline goodness : 0.861436 Centerline is valid? [False, False] Translation: X:12.32, Y:-0.59, Z:-0.57 [[ 9.98526824e-01 5.06433013e-02 -1.94791776e-02 1.23223774e+01] [-5.06737864e-02 9.98714681e-01 -1.07430180e-03 -5.88357174e-01] [ 1.93997344e-02 2.05980285e-03 9.99809686e-01 -5.65580079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73240100800001 meters Centerline goodness : 0.864478 Centerline is valid? [False, False] Translation: X:12.33, Y:-0.59, Z:-0.57 [[ 9.98555092e-01 4.97172032e-02 -2.03943271e-02 1.23251551e+01] [-4.97523659e-02 9.98760839e-01 -1.22007937e-03 -5.89265021e-01] [ 2.03083963e-02 2.23298249e-03 9.99791270e-01 -5.65803914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76240100800001 meters Centerline goodness : 0.862001 Centerline is valid? [False, False] Translation: X:12.33, Y:-0.59, Z:-0.57 [[ 9.98597039e-01 4.84252932e-02 -2.14229927e-02 1.23288455e+01] [-4.84788016e-02 9.98822239e-01 -1.98515677e-03 -5.89545242e-01] [ 2.13016297e-02 3.02093269e-03 9.99768530e-01 -5.67192674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79240100800001 meters Centerline goodness : 0.858226 Centerline is valid? [False, False] Translation: X:12.33, Y:-0.59, Z:-0.57 [[ 9.98607922e-01 4.81026205e-02 -2.16415225e-02 1.23298942e+01] [-4.81636130e-02 9.98836799e-01 -2.30566538e-03 -5.89037900e-01] [ 2.15054406e-02 3.34478964e-03 9.99763136e-01 -5.67901943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82240100800001 meters Centerline goodness : 0.859524 Centerline is valid? [False, False] Translation: X:12.33, Y:-0.59, Z:-0.57 [[ 9.98625737e-01 4.75330384e-02 -2.20736925e-02 1.23314867e+01] [-4.76003846e-02 9.98863242e-01 -2.53534208e-03 -5.88475676e-01] [ 2.19280875e-02 3.58257411e-03 9.99753132e-01 -5.68222532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85240100800002 meters Centerline goodness : 0.857301 Centerline is valid? [False, False] Translation: X:12.33, Y:-0.59, Z:-0.57 [[ 9.98633180e-01 4.72499605e-02 -2.23430968e-02 1.23322843e+01] [-4.73121537e-02 9.98877590e-01 -2.26288396e-03 -5.89279919e-01] [ 2.22110975e-02 3.31689104e-03 9.99747801e-01 -5.67872549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88240100800002 meters Centerline goodness : 0.861614 Centerline is valid? [False, False] Translation: X:12.34, Y:-0.59, Z:-0.56 [[ 9.98753112e-01 4.40909864e-02 -2.34138013e-02 1.23380561e+01] [-4.40722532e-02 9.99027480e-01 1.31575978e-03 -5.94870886e-01] [ 2.34490440e-02 -2.82220194e-04 9.99724994e-01 -5.61393375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91240100800002 meters Centerline goodness : 0.860476 Centerline is valid? [False, False] Translation: X:12.34, Y:-0.60, Z:-0.56 [[ 9.98923664e-01 4.01322313e-02 -2.32576474e-02 1.23370219e+01] [-4.01937205e-02 9.99189523e-01 -2.18223125e-03 -5.96150061e-01] [ 2.31512198e-02 3.11469382e-03 9.99727123e-01 -5.60613510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94240100800002 meters Centerline goodness : 0.861374 Centerline is valid? [False, False] Translation: X:12.34, Y:-0.60, Z:-0.56 [[ 9.98956030e-01 3.88248470e-02 -2.40724350e-02 1.23396496e+01] [-3.88487877e-02 9.99244962e-01 -5.27492909e-04 -6.00360936e-01] [ 2.40337795e-02 1.46212714e-03 9.99710078e-01 -5.57896426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.972401008 meters Centerline goodness : 0.863317 Centerline is valid? [False, False] Translation: X:12.36, Y:-0.60, Z:-0.55 [[ 9.99222381e-01 3.19419275e-02 -2.31159251e-02 1.23575759e+01] [-3.17730514e-02 9.99465936e-01 7.63648305e-03 -6.04738692e-01] [ 2.33475037e-02 -6.89608130e-03 9.99703625e-01 -5.49845088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.002401008 meters Centerline goodness : 0.861339 Centerline is valid? [False, False] Translation: X:12.36, Y:-0.61, Z:-0.55 [[ 9.99235986e-01 3.10039910e-02 -2.37948940e-02 1.23600146e+01] [-3.08319290e-02 9.99495960e-01 7.56426067e-03 -6.05023434e-01] [ 2.40174227e-02 -6.82483899e-03 9.99688244e-01 -5.49862517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.03240100800001 meters Centerline goodness : 0.861158 Centerline is valid? [False, False] Translation: X:12.36, Y:-0.60, Z:-0.55 [[ 9.99250689e-01 2.97783716e-02 -2.47246829e-02 1.23634612e+01] [-2.96165983e-02 9.99537629e-01 6.88367548e-03 -6.04602743e-01] [ 2.49182356e-02 -6.14625646e-03 9.99670598e-01 -5.50985261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06240100800001 meters Centerline goodness : 0.860418 Centerline is valid? [False, False] Translation: X:12.37, Y:-0.60, Z:-0.55 [[ 9.99243283e-01 2.83398925e-02 -2.66404040e-02 1.23743487e+01] [-2.80965747e-02 9.99560412e-01 9.46386153e-03 -6.04527423e-01] [ 2.68968981e-02 -8.70819596e-03 9.99600282e-01 -5.51948965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.09240100800001 meters Centerline goodness : 0.861022 Centerline is valid? [False, False] Translation: X:12.38, Y:-0.61, Z:-0.55 [[ 0.99912333 0.0311483 -0.02797059 12.37840981] [-0.03077263 0.99943166 0.01376237 -0.60633393] [ 0.02838337 -0.01288958 0.999514 -0.55115091] [ 0. 0. 0. 1. ]] SLAMing on 72.12240100800001 meters Centerline goodness : 0.861172 Centerline is valid? [False, False] Translation: X:12.38, Y:-0.60, Z:-0.55 [[ 9.99129154e-01 3.06659812e-02 -2.82936442e-02 1.23800815e+01] [-3.03153823e-02 9.99459209e-01 1.27383745e-02 -6.04424334e-01] [ 2.86689781e-02 -1.18695487e-02 9.99518486e-01 -5.52880521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15240100800001 meters Centerline goodness : 0.858964 Centerline is valid? [False, False] Translation: X:12.38, Y:-0.60, Z:-0.55 [[ 9.99134287e-01 3.02031075e-02 -2.86085470e-02 1.23815782e+01] [-2.98793745e-02 9.99485306e-01 1.16767425e-02 -6.02173342e-01] [ 2.89464963e-02 -1.08118283e-02 9.99522488e-01 -5.54511543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18240100800001 meters Centerline goodness : 0.857212 Centerline is valid? [False, False] Translation: X:12.38, Y:-0.60, Z:-0.55 [[ 0.99900416 0.03340003 -0.02958248 12.384653 ] [-0.03293122 0.99932639 0.01619559 -0.60332698] [ 0.03010348 -0.01520527 0.99943113 -0.55340372] [ 0. 0. 0. 1. ]] SLAMing on 72.21240100800001 meters Centerline goodness : 0.852216 Centerline is valid? [False, False] Translation: X:12.38, Y:-0.60, Z:-0.55 [[ 0.99898528 0.03426258 -0.02923151 12.38312118] [-0.03382918 0.99931212 0.01519451 -0.5991946 ] [ 0.02973201 -0.01419021 0.99945718 -0.5545998 ] [ 0. 0. 0. 1. ]] SLAMing on 72.24240100800002 meters Centerline goodness : 0.853319 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.60, Z:-0.56 [[ 9.99032923e-01 3.65645776e-02 -2.44182263e-02 1.23972231e+01] [-3.64312885e-02 9.99318853e-01 5.88147429e-03 -5.95755519e-01] [ 2.46166475e-02 -4.98619901e-03 9.99684529e-01 -5.60495452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27240100800002 meters Centerline goodness : 0.858221 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.59, Z:-0.56 [[ 9.99036702e-01 3.92958842e-02 -1.95320618e-02 1.24117640e+01] [-3.93380528e-02 9.99224375e-01 -1.77928994e-03 -5.93466503e-01] [ 1.94469935e-02 2.54592923e-03 9.99807648e-01 -5.64746393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30240100800002 meters Centerline goodness : 0.854434 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.59, Z:-0.56 [[ 9.99003912e-01 4.04220234e-02 -1.89008821e-02 1.24089009e+01] [-4.04560726e-02 9.99180306e-01 -1.42242187e-03 -5.92743044e-01] [ 1.88278920e-02 2.18566047e-03 9.99820351e-01 -5.63593477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33240100800002 meters Centerline goodness : 0.858956 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.59, Z:-0.57 [[ 9.98887260e-01 4.52805574e-02 -1.31876414e-02 1.24201351e+01] [-4.53852234e-02 9.98939509e-01 -7.74843992e-03 -5.90305161e-01] [ 1.28228023e-02 8.33834197e-03 9.99883017e-01 -5.66447756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.362401008 meters Centerline goodness : 0.862158 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.59, Z:-0.57 [[ 9.98845265e-01 4.63996424e-02 -1.24583110e-02 1.24175040e+01] [-4.64961928e-02 9.98889743e-01 -7.57527369e-03 -5.88613467e-01] [ 1.20929891e-02 8.14579028e-03 9.99893697e-01 -5.65926200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.39240100800001 meters Centerline goodness : 0.863939 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.59, Z:-0.57 [[ 9.98824084e-01 4.69289544e-02 -1.21705948e-02 1.24162236e+01] [-4.70200521e-02 9.98867198e-01 -7.31001310e-03 -5.87280142e-01] [ 1.18137567e-02 7.87367914e-03 9.99899215e-01 -5.65072050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42240100800001 meters Centerline goodness : 0.863794 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.59, Z:-0.56 [[ 9.98814390e-01 4.71278721e-02 -1.21974789e-02 1.24158476e+01] [-4.72166004e-02 9.98859502e-01 -7.09139478e-03 -5.87086263e-01] [ 1.18493654e-02 7.65891063e-03 9.99900462e-01 -5.64398292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.45240100800001 meters Centerline goodness : 0.864945 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.59, Z:-0.56 [[ 9.98822937e-01 4.68234801e-02 -1.26610281e-02 1.24172392e+01] [-4.69153266e-02 9.98873941e-01 -7.05710802e-03 -5.87142533e-01] [ 1.23163326e-02 7.64279762e-03 9.99894942e-01 -5.64444674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48240100800001 meters Centerline goodness : 0.861131 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.59, Z:-0.57 [[ 9.98839974e-01 4.63869315e-02 -1.29212261e-02 1.24186438e+01] [-4.64833656e-02 9.98892642e-01 -7.26549521e-03 -5.87417155e-01] [ 1.25698936e-02 7.85768912e-03 9.99890121e-01 -5.65329128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51240100800001 meters Centerline goodness : 0.861314 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.59, Z:-0.57 [[ 9.98747919e-01 4.81031619e-02 -1.37360630e-02 1.24235256e+01] [-4.81497210e-02 9.98835384e-01 -3.07900882e-03 -5.89639965e-01] [ 1.35719557e-02 3.73654125e-03 9.99900915e-01 -5.65376730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54240100800001 meters Centerline goodness : 0.858566 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.59, Z:-0.57 [[ 9.98775412e-01 4.74443045e-02 -1.40254683e-02 1.24254911e+01] [-4.75002166e-02 9.98864447e-01 -3.68040334e-03 -5.89238781e-01] [ 1.38349275e-02 4.34210914e-03 9.99894865e-01 -5.67126803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57240100800001 meters Centerline goodness : 0.856223 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.59, Z:-0.57 [[ 9.98825706e-01 4.61250157e-02 -1.48219818e-02 1.24289925e+01] [-4.61866888e-02 9.98925423e-01 -3.84572574e-03 -5.90913321e-01] [ 1.46286702e-02 4.52578799e-03 9.99882753e-01 -5.68227672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60240100800002 meters Centerline goodness : 0.855375 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.59, Z:-0.57 [[ 9.98823758e-01 4.60904184e-02 -1.50590416e-02 1.24291334e+01] [-4.61432463e-02 9.98929773e-01 -3.17944928e-03 -5.93078227e-01] [ 1.48963828e-02 3.87058255e-03 9.99881551e-01 -5.67087261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63240100800002 meters Centerline goodness : 0.860257 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.60, Z:-0.57 [[ 9.98813174e-01 4.62363166e-02 -1.53116540e-02 1.24288532e+01] [-4.62742298e-02 9.98926501e-01 -2.13095142e-03 -5.95650433e-01] [ 1.51966896e-02 2.83695734e-03 9.99880499e-01 -5.65052392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66240100800002 meters Centerline goodness : 0.864512 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.60, Z:-0.56 [[ 9.98805974e-01 4.63252754e-02 -1.55111203e-02 1.24286140e+01] [-4.63504828e-02 9.98924432e-01 -1.26939271e-03 -5.97225901e-01] [ 1.54356321e-02 1.98682494e-03 9.99878890e-01 -5.63190883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69240100800002 meters Centerline goodness : 0.866081 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.60, Z:-0.56 [[ 9.98802168e-01 4.65005736e-02 -1.52291398e-02 1.24278225e+01] [-4.65200766e-02 9.98916923e-01 -9.28706752e-04 -5.97831605e-01] [ 1.51694601e-02 1.63605507e-03 9.99883599e-01 -5.62745013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.722401008 meters Centerline goodness : 0.864619 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.60, Z:-0.56 [[ 9.98811428e-01 4.62650540e-02 -1.53387436e-02 1.24284049e+01] [-4.62857344e-02 9.98927745e-01 -9.95804373e-04 -5.98255524e-01] [ 1.52762256e-02 1.70458580e-03 9.99881859e-01 -5.63034025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.752401008 meters Centerline goodness : 0.866580 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.60, Z:-0.56 [[ 9.98825749e-01 4.58172710e-02 -1.57448454e-02 1.24298072e+01] [-4.58351137e-02 9.98948719e-01 -7.74070638e-04 -5.99237163e-01] [ 1.56928273e-02 1.49482846e-03 9.99875743e-01 -5.62893193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78240100800001 meters Centerline goodness : 0.866298 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.60, Z:-0.56 [[ 9.98842018e-01 4.52926405e-02 -1.62234051e-02 1.24313313e+01] [-4.53076469e-02 9.98972925e-01 -5.58444559e-04 -6.00379253e-01] [ 1.61814490e-02 1.29284220e-03 9.99868236e-01 -5.62651283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.81240100800001 meters Centerline goodness : 0.868101 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.60, Z:-0.56 [[ 9.98865931e-01 4.45642089e-02 -1.67595841e-02 1.24335751e+01] [-4.45784905e-02 9.99005770e-01 -4.79342516e-04 -6.01064587e-01] [ 1.67215597e-02 1.22591587e-03 9.99859433e-01 -5.62978178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84240100800001 meters Centerline goodness : 0.867693 Centerline is valid? [False, False] Translation: X:12.44, Y:-0.60, Z:-0.56 [[ 9.98951720e-01 4.20619483e-02 -1.80625080e-02 1.24397206e+01] [-4.20909506e-02 9.99113028e-01 -1.22834428e-03 -6.01922378e-01] [ 1.79948205e-02 1.98732476e-03 9.99836105e-01 -5.64976925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87240100800001 meters Centerline goodness : 0.867561 Centerline is valid? [False, False] Translation: X:12.44, Y:-0.60, Z:-0.57 [[ 9.98982950e-01 4.08827614e-02 -1.90175201e-02 1.24430818e+01] [-4.09100291e-02 9.99162286e-01 -1.04683521e-03 -6.03451149e-01] [ 1.89587913e-02 1.82377783e-03 9.99818603e-01 -5.65005544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90240100800001 meters Centerline goodness : 0.867889 Centerline is valid? [False, False] Translation: X:12.45, Y:-0.61, Z:-0.56 [[ 9.99018730e-01 3.93100310e-02 -2.04033728e-02 1.24475195e+01] [-3.93289984e-02 9.99226176e-01 -5.29037137e-04 -6.05060269e-01] [ 2.03667877e-02 1.33096223e-03 9.99791690e-01 -5.63921257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93240100800001 meters Centerline goodness : 0.866442 Centerline is valid? [False, False] Translation: X:12.46, Y:-0.61, Z:-0.56 [[ 9.99239623e-01 3.31970151e-02 -2.04483052e-02 1.24644958e+01] [-3.30658666e-02 9.99430591e-01 6.71881153e-03 -6.09292169e-01] [ 2.06597063e-02 -6.03756177e-03 9.99768335e-01 -5.57047009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96240100800001 meters Centerline goodness : 0.866950 Centerline is valid? [False, False] Translation: X:12.47, Y:-0.61, Z:-0.56 [[ 9.99265984e-01 3.17044405e-02 -2.15016563e-02 1.24682426e+01] [-3.15614407e-02 9.99477596e-01 6.95778190e-03 -6.10525277e-01] [ 2.17110163e-02 -6.27405153e-03 9.99744601e-01 -5.56593144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99240100800002 meters Centerline goodness : 0.871132 Centerline is valid? [False, False] Translation: X:12.47, Y:-0.61, Z:-0.56 [[ 9.99398632e-01 2.72737284e-02 -2.14130280e-02 1.24685272e+01] [-2.72321388e-02 9.99626646e-01 2.23150821e-03 -6.08591178e-01] [ 2.14658949e-02 -1.64704370e-03 9.99768224e-01 -5.57830998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02240100800002 meters Centerline goodness : 0.869560 Centerline is valid? [False, False] Translation: X:12.47, Y:-0.61, Z:-0.56 [[ 9.99413116e-01 2.64722269e-02 -2.17404007e-02 1.24697470e+01] [-2.64194269e-02 9.99647266e-01 2.71234599e-03 -6.10242764e-01] [ 2.18045340e-02 -2.13638523e-03 9.99759970e-01 -5.56999556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.05240100800002 meters Centerline goodness : 0.870124 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.61, Z:-0.55 [[ 0.99958181 0.02125763 -0.01960399 12.42579716] [-0.02099018 0.99968514 0.01374896 -0.60983844] [ 0.01989008 -0.01333172 0.99971328 -0.54976085] [ 0. 0. 0. 1. ]] SLAMing on 73.08240100800002 meters Centerline goodness : 0.868140 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.61, Z:-0.55 [[ 9.99669835e-01 1.62576193e-02 -1.98975208e-02 1.24269888e+01] [-1.60861380e-02 9.99832339e-01 8.74815777e-03 -6.07342066e-01] [ 2.00364090e-02 -8.42519516e-03 9.99763751e-01 -5.50526921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.112401008 meters Centerline goodness : 0.867851 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.60, Z:-0.55 [[ 9.99728467e-01 1.24662899e-02 -1.96871418e-02 1.24262906e+01] [-1.23913574e-02 9.99915526e-01 3.92358213e-03 -6.03499792e-01] [ 1.97343913e-02 -3.67856634e-03 9.99798491e-01 -5.51415290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14240100800001 meters Centerline goodness : 0.868754 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.60, Z:-0.55 [[ 9.99727068e-01 1.24138298e-02 -1.97910801e-02 1.24261579e+01] [-1.23402233e-02 9.99916495e-01 3.83697364e-03 -6.02410515e-01] [ 1.98370590e-02 -3.59170006e-03 9.99796775e-01 -5.50784294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.17240100800001 meters Centerline goodness : 0.865840 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.60, Z:-0.55 [[ 9.99731264e-01 1.17839991e-02 -1.99633862e-02 1.24270607e+01] [-1.17385888e-02 9.99928243e-01 2.39034085e-03 -5.96655674e-01] [ 1.99901215e-02 -2.15535649e-03 9.99797854e-01 -5.51824983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20240100800001 meters Centerline goodness : 0.863751 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.59, Z:-0.55 [[ 9.99734787e-01 1.11345763e-02 -2.01588123e-02 1.24282102e+01] [-1.11112328e-02 9.99937462e-01 1.26961891e-03 -5.92283340e-01] [ 2.01716883e-02 -1.04529294e-03 9.99795984e-01 -5.52840536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23240100800001 meters Centerline goodness : 0.864452 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.59, Z:-0.55 [[ 9.99736269e-01 1.07622157e-02 -2.02871331e-02 1.24288963e+01] [-1.07589509e-02 9.99942084e-01 2.70070217e-04 -5.88464633e-01] [ 2.02888647e-02 -5.17307225e-05 9.99794158e-01 -5.53691166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26240100800001 meters Centerline goodness : 0.862665 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.59, Z:-0.55 [[ 9.99738959e-01 1.06907951e-02 -2.01921143e-02 1.24287018e+01] [-1.07012168e-02 9.99942657e-01 -4.08147714e-04 -5.85371956e-01] [ 2.01865930e-02 6.24121364e-04 9.99796035e-01 -5.54012051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29240100800001 meters Centerline goodness : 0.866857 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.58, Z:-0.55 [[ 9.99731951e-01 1.05582875e-02 -2.06045687e-02 1.24290490e+01] [-1.06001520e-02 9.99941966e-01 -1.92364767e-03 -5.78931926e-01] [ 2.05830626e-02 2.14154360e-03 9.99785853e-01 -5.54402993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32240100800001 meters Centerline goodness : 0.864178 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.57, Z:-0.55 [[ 9.99726857e-01 1.04013543e-02 -2.09289809e-02 1.24296267e+01] [-1.04655258e-02 9.99940857e-01 -2.95896375e-03 -5.74304111e-01] [ 2.08969659e-02 3.17718832e-03 9.99776586e-01 -5.54877593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35240100800002 meters Centerline goodness : 0.863273 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.57, Z:-0.56 [[ 9.99725676e-01 1.04902505e-02 -2.09410251e-02 1.24297010e+01] [-1.05744781e-02 9.99936423e-01 -3.91545846e-03 -5.69047543e-01] [ 2.08986196e-02 4.13582477e-03 9.99773046e-01 -5.55547854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38240100800002 meters Centerline goodness : 0.862139 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.56, Z:-0.56 [[ 9.99726731e-01 1.04247736e-02 -2.09233523e-02 1.24298891e+01] [-1.05327394e-02 9.99931744e-01 -5.05650330e-03 -5.63321859e-01] [ 2.08692113e-02 5.27550174e-03 9.99768296e-01 -5.56517316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.41240100800002 meters Centerline goodness : 0.859885 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.56, Z:-0.56 [[ 9.99675947e-01 1.38675122e-02 -2.13469699e-02 1.24306802e+01] [-1.39200457e-02 9.99900433e-01 -2.31430511e-03 -5.56128354e-01] [ 2.13127508e-02 2.61070595e-03 9.99769449e-01 -5.56015584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44240100800002 meters Centerline goodness : 0.862163 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.55, Z:-0.56 [[ 9.99675758e-01 1.41137564e-02 -2.11938742e-02 1.24295868e+01] [-1.41738515e-02 9.99895933e-01 -2.68795083e-03 -5.52259313e-01] [ 2.11537316e-02 2.98747811e-03 9.99771771e-01 -5.55130680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.472401008 meters Centerline goodness : 0.864398 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.55, Z:-0.55 [[ 9.99674122e-01 1.45720862e-02 -2.09595947e-02 1.24279368e+01] [-1.46347023e-02 9.99888882e-01 -2.83718401e-03 -5.49021487e-01] [ 2.09159220e-02 3.14299686e-03 9.99776298e-01 -5.53647890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.502401008 meters Centerline goodness : 0.865798 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.55, Z:-0.55 [[ 9.99673005e-01 1.49106856e-02 -2.07738786e-02 1.24264350e+01] [-1.49754045e-02 9.99883471e-01 -2.96331214e-03 -5.45684086e-01] [ 2.07272728e-02 3.27344039e-03 9.99779808e-01 -5.52190678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.53240100800001 meters Centerline goodness : 0.866179 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.54, Z:-0.55 [[ 9.99689832e-01 1.61183957e-02 -1.89851883e-02 1.24225533e+01] [-1.61516472e-02 9.99868274e-01 -1.59940730e-03 -5.42093444e-01] [ 1.89569076e-02 1.90555328e-03 9.99818486e-01 -5.50198566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56240100800001 meters Centerline goodness : 0.867278 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.53, Z:-0.55 [[ 9.99759644e-01 1.67963842e-02 -1.40902571e-02 1.23984057e+01] [-1.67362462e-02 9.99850367e-01 4.37517761e-03 -5.33238669e-01] [ 1.41616359e-02 -4.13830800e-03 9.99891155e-01 -5.48338292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59240100800001 meters Centerline goodness : 0.867278 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.53, Z:-0.55 [[ 9.99759644e-01 1.67963842e-02 -1.40902571e-02 1.23984057e+01] [-1.67362462e-02 9.99850367e-01 4.37517761e-03 -5.33238669e-01] [ 1.41616359e-02 -4.13830800e-03 9.99891155e-01 -5.48338292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62240100800001 meters Centerline goodness : 0.870703 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.53, Z:-0.55 [[ 9.99752930e-01 1.72674909e-02 -1.39969136e-02 1.23975690e+01] [-1.72156176e-02 9.99844510e-01 3.81811605e-03 -5.28686669e-01] [ 1.40606665e-02 -3.57620720e-03 9.99894749e-01 -5.48140655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65240100800001 meters Centerline goodness : 0.871676 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.53, Z:-0.55 [[ 9.99675087e-01 2.09576392e-02 -1.45085574e-02 1.23985382e+01] [-2.08501649e-02 9.99754332e-01 7.51971177e-03 -5.26889476e-01] [ 1.46625885e-02 -7.21476270e-03 9.99866469e-01 -5.47425950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68240100800001 meters Centerline goodness : 0.868308 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.52, Z:-0.55 [[ 9.99582365e-01 2.48075353e-02 -1.48216829e-02 1.23994403e+01] [-2.46451926e-02 9.99635332e-01 1.10371319e-02 -5.24398752e-01] [ 1.50900819e-02 -1.06672392e-02 9.99829235e-01 -5.47357871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71240100800001 meters Centerline goodness : 0.862502 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.52, Z:-0.55 [[ 0.99937718 0.03157392 -0.01575891 12.40347671] [-0.03131213 0.99937194 0.01659147 -0.51727524] [ 0.01627287 -0.0160877 0.99973816 -0.54992598] [ 0. 0. 0. 1. ]] SLAMing on 73.74240100800002 meters Centerline goodness : 0.863570 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.51, Z:-0.55 [[ 0.99937562 0.03161555 -0.01577454 12.40383517] [-0.03138435 0.99939936 0.01469466 -0.51112223] [ 0.01622965 -0.01419041 0.99976759 -0.55209423] [ 0. 0. 0. 1. ]] SLAMing on 73.77240100800002 meters Centerline goodness : 0.860666 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.51, Z:-0.55 [[ 0.9993621 0.0321778 -0.01549113 12.402439 ] [-0.03195964 0.99938927 0.01413053 -0.50667206] [ 0.01593636 -0.01362642 0.99978015 -0.55168424] [ 0. 0. 0. 1. ]] SLAMing on 73.80240100800002 meters Centerline goodness : 0.864017 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.50, Z:-0.55 [[ 0.99934291 0.0329159 -0.01517551 12.40046051] [-0.0326993 0.99936283 0.01430691 -0.50419348] [ 0.01563676 -0.01380128 0.99978248 -0.54999798] [ 0. 0. 0. 1. ]] SLAMing on 73.83240100800002 meters Centerline goodness : 0.867537 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.50, Z:-0.55 [[ 9.99431441e-01 3.01929588e-02 -1.50060289e-02 1.23972789e+01] [-3.00437405e-02 9.99497840e-01 1.00718371e-02 -4.99276441e-01] [ 1.53025920e-02 -9.61527339e-03 9.99836675e-01 -5.47775916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.862401008 meters Centerline goodness : 0.867668 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.50, Z:-0.54 [[ 0.99934265 0.0324318 -0.01620003 12.40091864] [-0.03215586 0.99933806 0.01701287 -0.50145818] [ 0.01674106 -0.01648076 0.99972402 -0.54161623] [ 0. 0. 0. 1. ]] SLAMing on 73.89240100800001 meters Centerline goodness : 0.866327 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.50, Z:-0.54 [[ 0.99924094 0.03493257 -0.01724134 12.4050301 ] [-0.03459145 0.99920732 0.01970185 -0.49733474] [ 0.01791591 -0.01909049 0.99965723 -0.54281143] [ 0. 0. 0. 1. ]] SLAMing on 73.92240100800001 meters Centerline goodness : 0.865489 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.49, Z:-0.54 [[ 0.99922522 0.03539147 -0.01721637 12.40506375] [-0.03506281 0.99920388 0.01903157 -0.4933261 ] [ 0.01787621 -0.01841317 0.99967064 -0.54366946] [ 0. 0. 0. 1. ]] SLAMing on 73.95240100800001 meters Centerline goodness : 0.864792 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.49, Z:-0.54 [[ 0.99907197 0.0392426 -0.01775416 12.40638028] [-0.03883312 0.99898444 0.02284913 -0.49223271] [ 0.01863279 -0.02213848 0.99958127 -0.54313877] [ 0. 0. 0. 1. ]] SLAMing on 73.98240100800001 meters Centerline goodness : 0.868345 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.49, Z:-0.54 [[ 0.99903247 0.04023172 -0.0177635 12.40531189] [-0.03983342 0.99895893 0.02223418 -0.4885057 ] [ 0.01863953 -0.02150509 0.99959497 -0.54308967] [ 0. 0. 0. 1. ]] SLAMing on 74.01240100800001 meters Centerline goodness : 0.867409 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.48, Z:-0.55 [[ 9.98773808e-01 4.78001227e-02 -1.28852494e-02 1.24107411e+01] [-4.76519998e-02 9.98797016e-01 1.15675445e-02 -4.80878969e-01] [ 1.34226787e-02 -1.09393526e-02 9.99850070e-01 -5.50158829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04240100800001 meters Centerline goodness : 0.866931 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.48, Z:-0.55 [[ 9.98742263e-01 4.84966334e-02 -1.27267277e-02 1.24098063e+01] [-4.83573635e-02 9.98769174e-01 1.10318858e-02 -4.77779988e-01] [ 1.32460726e-02 -1.04025796e-02 9.99858154e-01 -5.50304123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07240100800001 meters Centerline goodness : 0.868352 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.48, Z:-0.55 [[ 9.98727530e-01 4.87912311e-02 -1.27568006e-02 1.24094321e+01] [-4.86561915e-02 9.98758376e-01 1.06902037e-02 -4.75950431e-01] [ 1.32625496e-02 -1.00559034e-02 9.99861482e-01 -5.50152418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10240100800002 meters Centerline goodness : 0.869183 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.47, Z:-0.55 [[ 9.98864539e-01 4.59776084e-02 -1.24776373e-02 1.24074838e+01] [-4.58995803e-02 9.98925109e-01 6.46952591e-03 -4.73341140e-01] [ 1.27616786e-02 -5.88946170e-03 9.99901222e-01 -5.50262786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13240100800002 meters Centerline goodness : 0.873751 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.48, Z:-0.55 [[ 9.98875892e-01 4.57262304e-02 -1.24925829e-02 1.24069880e+01] [-4.56103276e-02 9.98914983e-01 9.41038228e-03 -4.78912946e-01] [ 1.29093296e-02 -8.83001319e-03 9.99877683e-01 -5.45607555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16240100800002 meters Centerline goodness : 0.871620 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.48, Z:-0.54 [[ 9.98901313e-01 4.50033244e-02 -1.30716162e-02 1.24084855e+01] [-4.48685126e-02 9.98938454e-01 1.04298558e-02 -4.83016686e-01] [ 1.35271183e-02 -9.83189265e-03 9.99860166e-01 -5.44269048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19240100800002 meters Centerline goodness : 0.874987 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.48, Z:-0.55 [[ 9.99087391e-01 4.05822218e-02 -1.33216954e-02 1.24094795e+01] [-4.05047363e-02 9.99161116e-01 6.03576777e-03 -4.84210149e-01] [ 1.35554649e-02 -5.49066772e-03 9.99893045e-01 -5.45598642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.222401008 meters Centerline goodness : 0.874678 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.49, Z:-0.55 [[ 9.99117053e-01 3.95269228e-02 -1.42385934e-02 1.24127057e+01] [-3.94353283e-02 9.99199948e-01 6.65727543e-03 -4.88138092e-01] [ 1.44903434e-02 -6.08989380e-03 9.99876464e-01 -5.45757758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.252401008 meters Centerline goodness : 0.874516 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.49, Z:-0.55 [[ 9.99145345e-01 3.84718964e-02 -1.51159679e-02 1.24162408e+01] [-3.83795145e-02 9.99243027e-01 6.35493499e-03 -4.90620778e-01] [ 1.53490119e-02 -5.76936020e-03 9.99865552e-01 -5.47603919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28240100800001 meters Centerline goodness : 0.873231 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.49, Z:-0.55 [[ 9.99163464e-01 3.76911480e-02 -1.58666193e-02 1.24193699e+01] [-3.76009915e-02 9.99275162e-01 5.94273309e-03 -4.92117870e-01] [ 1.60791070e-02 -5.34116116e-03 9.99856457e-01 -5.49525044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.31240100800001 meters Centerline goodness : 0.871344 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.50, Z:-0.55 [[ 9.99125181e-01 3.86190629e-02 -1.60449583e-02 1.24198962e+01] [-3.85176130e-02 9.99236227e-01 6.58460309e-03 -4.96183593e-01] [ 1.62869948e-02 -5.96082926e-03 9.99849590e-01 -5.50686769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34240100800001 meters Centerline goodness : 0.873378 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.50, Z:-0.55 [[ 9.99096808e-01 3.92915538e-02 -1.61784295e-02 1.24200605e+01] [-3.91870608e-02 9.99209255e-01 6.72604759e-03 -4.97362026e-01] [ 1.64299133e-02 -6.08598758e-03 9.99846498e-01 -5.51302936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37240100800001 meters Centerline goodness : 0.868005 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.50, Z:-0.56 [[ 9.98954953e-01 4.30227262e-02 -1.54287670e-02 1.24164545e+01] [-4.29531634e-02 9.99065498e-01 4.81218180e-03 -4.97056458e-01] [ 1.56213820e-02 -4.14443850e-03 9.99869389e-01 -5.57586391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40240100800001 meters Centerline goodness : 0.869302 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.50, Z:-0.56 [[ 9.98926894e-01 4.37740696e-02 -1.51291431e-02 1.24162446e+01] [-4.37121461e-02 9.99034479e-01 4.39988077e-03 -4.96260243e-01] [ 1.53071363e-02 -3.73383192e-03 9.99875867e-01 -5.59471100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43240100800001 meters Centerline goodness : 0.867316 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.50, Z:-0.56 [[ 9.98895204e-01 4.46726288e-02 -1.45851737e-02 1.24151696e+01] [-4.46130774e-02 9.98994725e-01 4.38331640e-03 -4.96687929e-01] [ 1.47663259e-02 -3.72778425e-03 9.99884023e-01 -5.60655991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46240100800001 meters Centerline goodness : 0.862780 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.50, Z:-0.56 [[ 9.98869522e-01 4.52815911e-02 -1.44656770e-02 1.24148959e+01] [-4.52170974e-02 9.98965868e-01 4.75494851e-03 -4.98289465e-01] [ 1.46660292e-02 -4.09547722e-03 9.99884061e-01 -5.61079655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49240100800002 meters Centerline goodness : 0.862359 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.50, Z:-0.56 [[ 9.98978244e-01 4.29684212e-02 -1.40065480e-02 1.24127678e+01] [-4.29568757e-02 9.99076295e-01 1.12424350e-03 -4.98614754e-01] [ 1.40419171e-02 -5.21417256e-04 9.99901271e-01 -5.61838370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52240100800002 meters Centerline goodness : 0.862121 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.51, Z:-0.56 [[ 9.98929123e-01 4.41128309e-02 -1.39522812e-02 1.24117071e+01] [-4.40620848e-02 9.99021088e-01 3.92399064e-03 -5.07757110e-01] [ 1.41117215e-02 -3.30502193e-03 9.99894963e-01 -5.59640547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55240100800002 meters Centerline goodness : 0.864151 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.51, Z:-0.56 [[ 9.99051899e-01 4.14186581e-02 -1.34088814e-02 1.24092413e+01] [-4.14123709e-02 9.99141861e-01 7.46325606e-04 -5.09937896e-01] [ 1.34282865e-02 -1.90324445e-04 9.99909818e-01 -5.59312257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58240100800002 meters Centerline goodness : 0.869149 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.52, Z:-0.56 [[ 9.99023657e-01 4.21187688e-02 -1.33319572e-02 1.24081979e+01] [-4.20886004e-02 9.99110665e-01 2.53553530e-03 -5.15250948e-01] [ 1.34268943e-02 -1.97193632e-03 9.99907911e-01 -5.57388841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.612401008 meters Centerline goodness : 0.869873 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.52, Z:-0.56 [[ 9.99142398e-01 3.93915106e-02 -1.27584600e-02 1.24057798e+01] [-3.94045352e-02 9.99223042e-01 -7.70991671e-04 -5.17234304e-01] [ 1.27181767e-02 1.27307165e-03 9.99918310e-01 -5.57264442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64240100800001 meters Centerline goodness : 0.870253 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.52, Z:-0.56 [[ 9.99258763e-01 3.65404981e-02 -1.21126871e-02 1.24027883e+01] [-3.65852324e-02 9.99324434e-01 -3.49232801e-03 -5.20656833e-01] [ 1.19768928e-02 3.93288484e-03 9.99920540e-01 -5.55867067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.67240100800001 meters Centerline goodness : 0.869900 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.53, Z:-0.55 [[ 9.99390584e-01 3.26334912e-02 -1.23901204e-02 1.24030033e+01] [-3.27034562e-02 9.99450038e-01 -5.48680484e-03 -5.27794685e-01] [ 1.22042527e-02 5.88866085e-03 9.99908186e-01 -5.54283638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70240100800001 meters Centerline goodness : 0.869604 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.53, Z:-0.55 [[ 9.99413872e-01 3.15317100e-02 -1.33290748e-02 1.24064383e+01] [-3.16010221e-02 9.99487947e-01 -5.02178479e-03 -5.31617505e-01] [ 1.31639041e-02 5.44005377e-03 9.99898554e-01 -5.54731817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73240100800001 meters Centerline goodness : 0.871465 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.53, Z:-0.56 [[ 9.99443302e-01 3.01134929e-02 -1.43618978e-02 1.24105520e+01] [-3.01860216e-02 9.99532482e-01 -4.86027845e-03 -5.34690297e-01] [ 1.42088234e-02 5.29110130e-03 9.99885050e-01 -5.55611328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76240100800001 meters Centerline goodness : 0.868646 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.54, Z:-0.56 [[ 9.99469029e-01 2.86064353e-02 -1.55991002e-02 1.24150984e+01] [-2.86802054e-02 9.99578391e-01 -4.52606531e-03 -5.37898735e-01] [ 1.54630489e-02 4.97104750e-03 9.99868083e-01 -5.56169596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79240100800001 meters Centerline goodness : 0.868852 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.54, Z:-0.56 [[ 9.99613510e-01 2.19920668e-02 -1.70052927e-02 1.24217479e+01] [-2.21424900e-02 9.99716896e-01 -8.70854488e-03 -5.41499699e-01] [ 1.68089595e-02 9.08171864e-03 9.99817474e-01 -5.58461445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82240100800001 meters Centerline goodness : 0.871981 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.55, Z:-0.56 [[ 9.99633090e-01 1.97508752e-02 -1.85361504e-02 1.24275166e+01] [-1.98939661e-02 9.99773458e-01 -7.56715741e-03 -5.45067926e-01] [ 1.83824932e-02 7.93313849e-03 9.99799555e-01 -5.57113584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85240100800002 meters Centerline goodness : 0.870451 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.55, Z:-0.56 [[ 9.99636624e-01 1.82480698e-02 -1.98400487e-02 1.24320485e+01] [-1.83884056e-02 9.99807012e-01 -6.91407259e-03 -5.48335418e-01] [ 1.97100513e-02 7.27638705e-03 9.99779260e-01 -5.56768593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88240100800002 meters Centerline goodness : 0.872996 Centerline is valid? [False, False] Translation: X:12.44, Y:-0.55, Z:-0.56 [[ 9.99654127e-01 1.49630735e-02 -2.16271352e-02 1.24402659e+01] [-1.51245425e-02 9.99858809e-01 -7.32184078e-03 -5.50340617e-01] [ 2.15145244e-02 7.64640888e-03 9.99739295e-01 -5.58446403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.91240100800002 meters Centerline goodness : 0.874108 Centerline is valid? [False, False] Translation: X:12.45, Y:-0.55, Z:-0.56 [[ 9.99585158e-01 1.72560916e-02 -2.30594524e-02 1.24450869e+01] [-1.73191719e-02 9.99846789e-01 -2.53863044e-03 -5.52325156e-01] [ 2.30121126e-02 2.93694793e-03 9.99730872e-01 -5.56973030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94240100800002 meters Centerline goodness : 0.875403 Centerline is valid? [False, False] Translation: X:12.45, Y:-0.55, Z:-0.56 [[ 9.99500244e-01 2.04803383e-02 -2.40794178e-02 1.24478942e+01] [-2.04359180e-02 9.99788982e-01 2.08939971e-03 -5.53439219e-01] [ 2.41171282e-02 -1.59627051e-03 9.99707865e-01 -5.55464578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.972401008 meters Centerline goodness : 0.882169 Centerline is valid? [False, False] Translation: X:12.45, Y:-0.55, Z:-0.55 [[ 9.99396696e-01 2.43102636e-02 -2.48043175e-02 1.24493002e+01] [-2.41510359e-02 9.99685877e-01 6.69890248e-03 -5.54101160e-01] [ 2.49593780e-02 -6.09581105e-03 9.99669881e-01 -5.53832939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.002401008 meters Centerline goodness : 0.881737 Centerline is valid? [False, False] Translation: X:12.46, Y:-0.55, Z:-0.56 [[ 9.99365233e-01 2.93880669e-02 -2.01363685e-02 1.24624936e+01] [-2.94062538e-02 9.99567358e-01 -6.07623548e-04 -5.49137217e-01] [ 2.01097998e-02 1.19937301e-03 9.99797058e-01 -5.59077266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.03240100800001 meters Centerline goodness : 0.886007 Centerline is valid? [False, False] Translation: X:12.46, Y:-0.55, Z:-0.56 [[ 9.99353812e-01 2.98213829e-02 -2.00659866e-02 1.24617840e+01] [-2.98399651e-02 9.99554492e-01 -6.27210452e-04 -5.47320983e-01] [ 2.00383428e-02 1.22557350e-03 9.99798461e-01 -5.58583833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06240100800001 meters Centerline goodness : 0.887315 Centerline is valid? [False, False] Translation: X:12.46, Y:-0.55, Z:-0.56 [[ 9.99230272e-01 3.33644106e-02 -2.06319863e-02 1.24632730e+01] [-3.32834907e-02 9.99436901e-01 4.25318731e-03 -5.49026931e-01] [ 2.07622735e-02 -3.56320899e-03 9.99778091e-01 -5.56690302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09240100800001 meters Centerline goodness : 0.885663 Centerline is valid? [False, False] Translation: X:12.46, Y:-0.55, Z:-0.56 [[ 9.99236115e-01 3.31222728e-02 -2.07389103e-02 1.24638638e+01] [-3.30490155e-02 9.99446258e-01 3.86528137e-03 -5.47794096e-01] [ 2.08554532e-02 -3.17692817e-03 9.99777454e-01 -5.57079629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12240100800001 meters Centerline goodness : 0.888429 Centerline is valid? [False, False] Translation: X:12.47, Y:-0.55, Z:-0.56 [[ 9.99242528e-01 3.25807564e-02 -2.12806100e-02 1.24653366e+01] [-3.25041852e-02 9.99463856e-01 3.93429765e-03 -5.47843640e-01] [ 2.13973830e-02 -3.23960864e-03 9.99765801e-01 -5.56665875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15240100800001 meters Centerline goodness : 0.888621 Centerline is valid? [False, False] Translation: X:12.47, Y:-0.55, Z:-0.56 [[ 9.99252478e-01 3.19440001e-02 -2.17730418e-02 1.24669381e+01] [-3.18635315e-02 9.99484093e-01 4.03283850e-03 -5.48660237e-01] [ 2.18906339e-02 -3.33605786e-03 9.99754805e-01 -5.56486244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18240100800001 meters Centerline goodness : 0.893009 Centerline is valid? [False, False] Translation: X:12.47, Y:-0.55, Z:-0.55 [[ 9.99295517e-01 2.98381159e-02 -2.27630329e-02 1.24709006e+01] [-2.97332142e-02 9.99545697e-01 4.93311330e-03 -5.51983281e-01] [ 2.28998864e-02 -4.25281987e-03 9.99728718e-01 -5.54833435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21240100800001 meters Centerline goodness : 0.890570 Centerline is valid? [False, False] Translation: X:12.47, Y:-0.55, Z:-0.55 [[ 9.99300475e-01 2.89482829e-02 -2.36760903e-02 1.24733700e+01] [-2.88167505e-02 9.99567428e-01 5.87801005e-03 -5.54891732e-01] [ 2.38360070e-02 -5.19163025e-03 9.99702402e-01 -5.53223395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24240100800002 meters Centerline goodness : 0.895684 Centerline is valid? [False, False] Translation: X:12.48, Y:-0.56, Z:-0.55 [[ 9.99300180e-01 2.80083412e-02 -2.47928074e-02 1.24761813e+01] [-2.78489828e-02 9.99589353e-01 6.74978370e-03 -5.57909664e-01] [ 2.49716765e-02 -6.05460560e-03 9.99669824e-01 -5.51666845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27240100800002 meters Centerline goodness : 0.897951 Centerline is valid? [False, False] Translation: X:12.48, Y:-0.56, Z:-0.55 [[ 9.99303933e-01 2.69851150e-02 -2.57575964e-02 1.24792099e+01] [-2.68066289e-02 9.99614348e-01 7.24984090e-03 -5.60465738e-01] [ 2.59433007e-02 -6.55432019e-03 9.99641929e-01 -5.51048794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30240100800002 meters Centerline goodness : 0.902547 Centerline is valid? [False, False] Translation: X:12.48, Y:-0.56, Z:-0.55 [[ 9.99337078e-01 2.46957807e-02 -2.67492607e-02 1.24835083e+01] [-2.45162289e-02 9.99674786e-01 7.01973633e-03 -5.63511143e-01] [ 2.69139193e-02 -6.35929179e-03 9.99617527e-01 -5.51175374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33240100800002 meters Centerline goodness : 0.899829 Centerline is valid? [False, False] Translation: X:12.49, Y:-0.56, Z:-0.55 [[ 9.99331084e-01 2.42103548e-02 -2.74088308e-02 1.24854237e+01] [-2.40166497e-02 9.99684358e-01 7.37457416e-03 -5.64699865e-01] [ 2.75787205e-02 -6.71137290e-03 9.99597105e-01 -5.50779067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.362401008 meters Centerline goodness : 0.899158 Centerline is valid? [False, False] Translation: X:12.49, Y:-0.57, Z:-0.55 [[ 9.99257442e-01 2.54463324e-02 -2.89318082e-02 1.24916392e+01] [-2.50896489e-02 9.99605477e-01 1.26253737e-02 -5.67436384e-01] [ 2.92416633e-02 -1.18901097e-02 9.99501651e-01 -5.47901319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.39240100800001 meters Centerline goodness : 0.900056 Centerline is valid? [False, False] Translation: X:12.49, Y:-0.56, Z:-0.55 [[ 9.99347144e-01 2.17803587e-02 -2.88253571e-02 1.24915936e+01] [-2.15716559e-02 9.99738936e-01 7.53155916e-03 -5.63776832e-01] [ 2.89818719e-02 -6.90483146e-03 9.99556089e-01 -5.50264640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42240100800001 meters Centerline goodness : 0.899767 Centerline is valid? [False, False] Translation: X:12.49, Y:-0.57, Z:-0.54 [[ 0.99924679 0.02470063 -0.02992866 12.4947192 ] [-0.02427559 0.99960039 0.01448302 -0.56690792] [ 0.03027444 -0.01374558 0.99944711 -0.54440399] [ 0. 0. 0. 1. ]] SLAMing on 75.45240100800001 meters Centerline goodness : 0.903049 Centerline is valid? [False, False] Translation: X:12.51, Y:-0.56, Z:-0.55 [[ 9.99338968e-01 2.63585750e-02 -2.50370157e-02 1.25086890e+01] [-2.62486035e-02 9.99644346e-01 4.71094668e-03 -5.63877496e-01] [ 2.51522851e-02 -4.05064590e-03 9.99675425e-01 -5.50052424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48240100800001 meters Centerline goodness : 0.903624 Centerline is valid? [False, False] Translation: X:12.50, Y:-0.56, Z:-0.55 [[ 9.99313077e-01 2.79902253e-02 -2.42883042e-02 1.25045340e+01] [-2.78656258e-02 9.99596802e-01 5.45346428e-03 -5.62660940e-01] [ 2.44311549e-02 -4.77290937e-03 9.99690121e-01 -5.47681369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51240100800001 meters Centerline goodness : 0.903624 Centerline is valid? [False, False] Translation: X:12.50, Y:-0.56, Z:-0.55 [[ 9.99313077e-01 2.79902253e-02 -2.42883042e-02 1.25045340e+01] [-2.78656258e-02 9.99596802e-01 5.45346428e-03 -5.62660940e-01] [ 2.44311549e-02 -4.77290937e-03 9.99690121e-01 -5.47681369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54240100800001 meters Centerline goodness : 0.905086 Centerline is valid? [False, False] Translation: X:12.50, Y:-0.56, Z:-0.55 [[ 9.99311444e-01 2.81033748e-02 -2.42247644e-02 1.25044850e+01] [-2.79922471e-02 9.99596060e-01 4.91438834e-03 -5.60583058e-01] [ 2.43530899e-02 -4.23289892e-03 9.99694458e-01 -5.48324142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57240100800001 meters Centerline goodness : 0.904588 Centerline is valid? [False, False] Translation: X:12.52, Y:-0.56, Z:-0.55 [[ 9.99255000e-01 3.27847325e-02 -2.03618932e-02 1.25189859e+01] [-3.28450757e-02 9.99456978e-01 -2.63612172e-03 -5.56542151e-01] [ 2.02644117e-02 3.30294574e-03 9.99789200e-01 -5.53672088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60240100800002 meters Centerline goodness : 0.907435 Centerline is valid? [False, False] Translation: X:12.52, Y:-0.55, Z:-0.55 [[ 9.99201974e-01 3.44619943e-02 -2.01936903e-02 1.25164283e+01] [-3.45219857e-02 9.99400479e-01 -2.62966677e-03 -5.53424569e-01] [ 2.00909602e-02 3.32469452e-03 9.99792628e-01 -5.52714817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63240100800002 meters Centerline goodness : 0.906520 Centerline is valid? [False, False] Translation: X:12.51, Y:-0.55, Z:-0.55 [[ 9.99171034e-01 3.54694015e-02 -1.99791602e-02 1.25148942e+01] [-3.55282606e-02 9.99365293e-01 -2.59870906e-03 -5.50568901e-01] [ 1.98743046e-02 3.30637963e-03 9.99797019e-01 -5.52161084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66240100800002 meters Centerline goodness : 0.902614 Centerline is valid? [False, False] Translation: X:12.52, Y:-0.55, Z:-0.55 [[ 9.99040136e-01 3.88339404e-02 -2.02665131e-02 1.25167313e+01] [-3.88244270e-02 9.99245675e-01 8.62809561e-04 -5.48632624e-01] [ 2.02847318e-02 -7.51456240e-05 9.99794241e-01 -5.52707531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69240100800002 meters Centerline goodness : 0.902512 Centerline is valid? [False, False] Translation: X:12.52, Y:-0.55, Z:-0.55 [[ 9.98925663e-01 4.12273750e-02 -2.11618248e-02 1.25207147e+01] [-4.11304456e-02 9.99141297e-01 4.99556485e-03 -5.50613810e-01] [ 2.13496071e-02 -4.11980265e-03 9.99763583e-01 -5.52536569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.722401008 meters Centerline goodness : 0.900651 Centerline is valid? [False, False] Translation: X:12.52, Y:-0.55, Z:-0.55 [[ 9.98938536e-01 4.07272333e-02 -2.15196077e-02 1.25222801e+01] [-4.06360931e-02 9.99163165e-01 4.65584554e-03 -5.50883335e-01] [ 2.16912191e-02 -3.77643074e-03 9.99757585e-01 -5.53423059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.752401008 meters Centerline goodness : 0.900422 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.55, Z:-0.55 [[ 9.98955774e-01 3.98419337e-02 -2.23602539e-02 1.25250535e+01] [-3.97483164e-02 9.99199062e-01 4.61589053e-03 -5.51566872e-01] [ 2.25262507e-02 -3.72228805e-03 9.99739322e-01 -5.53594124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78240100800001 meters Centerline goodness : 0.901234 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.55, Z:-0.55 [[ 9.98972989e-01 3.90117773e-02 -2.30445058e-02 1.25271905e+01] [-3.89105307e-02 9.99231045e-01 4.82587207e-03 -5.53400952e-01] [ 2.32150515e-02 -3.92424190e-03 9.99722792e-01 -5.53263715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.81240100800001 meters Centerline goodness : 0.904432 Centerline is valid? [False, False] Translation: X:12.54, Y:-0.56, Z:-0.55 [[ 9.99078460e-01 3.50991387e-02 -2.47038697e-02 1.25352601e+01] [-3.48964327e-02 9.99354022e-01 8.58939222e-03 -5.59259362e-01] [ 2.49893918e-02 -7.71939983e-03 9.99657912e-01 -5.46479263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84240100800001 meters Centerline goodness : 0.904833 Centerline is valid? [False, False] Translation: X:12.54, Y:-0.56, Z:-0.55 [[ 9.99098432e-01 3.37581663e-02 -2.57431346e-02 1.25390292e+01] [-3.35430251e-02 9.99399024e-01 8.74387407e-03 -5.61220603e-01] [ 2.60228408e-02 -7.87248827e-03 9.99630350e-01 -5.46610504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87240100800001 meters Centerline goodness : 0.903738 Centerline is valid? [False, False] Translation: X:12.54, Y:-0.56, Z:-0.55 [[ 9.99111943e-01 3.26383030e-02 -2.66470883e-02 1.25425445e+01] [-3.24140551e-02 9.99435745e-01 8.80460512e-03 -5.62350919e-01] [ 2.69194199e-02 -7.93304593e-03 9.99606128e-01 -5.47077963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90240100800001 meters Centerline goodness : 0.900512 Centerline is valid? [False, False] Translation: X:12.54, Y:-0.56, Z:-0.55 [[ 9.99250140e-01 2.81367777e-02 -2.65985008e-02 1.25437141e+01] [-2.80553542e-02 9.99600488e-01 3.42952220e-03 -5.59827644e-01] [ 2.66843701e-02 -2.68072018e-03 9.99640314e-01 -5.50157169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93240100800001 meters Centerline goodness : 0.902290 Centerline is valid? [False, False] Translation: X:12.56, Y:-0.56, Z:-0.55 [[ 9.99331006e-01 2.37243628e-02 -2.78333570e-02 1.25578548e+01] [-2.34771289e-02 9.99682261e-01 9.17610806e-03 -5.63506546e-01] [ 2.80422105e-02 -8.51652199e-03 9.99570459e-01 -5.45128458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96240100800001 meters Centerline goodness : 0.902902 Centerline is valid? [False, False] Translation: X:12.56, Y:-0.56, Z:-0.55 [[ 9.99424357e-01 1.94656749e-02 -2.77856458e-02 1.25580126e+01] [-1.93464115e-02 9.99802466e-01 4.55468386e-03 -5.62595703e-01] [ 2.78688172e-02 -4.01450945e-03 9.99603528e-01 -5.46242832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99240100800002 meters Centerline goodness : 0.906832 Centerline is valid? [False, False] Translation: X:12.56, Y:-0.56, Z:-0.55 [[ 9.99417041e-01 1.84245604e-02 -2.87421966e-02 1.25607797e+01] [-1.82846425e-02 9.99819696e-01 5.12330555e-03 -5.64652211e-01] [ 2.88314089e-02 -4.59477808e-03 9.99573728e-01 -5.45165917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02240100800002 meters Centerline goodness : 0.910504 Centerline is valid? [False, False] Translation: X:12.56, Y:-0.57, Z:-0.54 [[ 9.99422923e-01 1.66069216e-02 -2.96316016e-02 1.25635003e+01] [-1.63904838e-02 9.99837295e-01 7.53230846e-03 -5.68514112e-01] [ 2.97518689e-02 -7.04228545e-03 9.99532507e-01 -5.39989879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.05240100800002 meters Centerline goodness : 0.911410 Centerline is valid? [False, False] Translation: X:12.56, Y:-0.57, Z:-0.54 [[ 9.99493208e-01 1.28540546e-02 -2.91221543e-02 1.25618865e+01] [-1.27707585e-02 9.99913816e-01 3.04443423e-03 -5.66391260e-01] [ 2.91587778e-02 -2.67097933e-03 9.99571224e-01 -5.40241770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08240100800002 meters Centerline goodness : 0.916202 Centerline is valid? [False, False] Translation: X:12.56, Y:-0.57, Z:-0.54 [[ 9.99483320e-01 1.26171314e-02 -2.95618147e-02 1.25622311e+01] [-1.25080018e-02 9.99914269e-01 3.87359913e-03 -5.67462548e-01] [ 2.96081541e-02 -3.50183848e-03 9.99555448e-01 -5.38033675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.112401008 meters Centerline goodness : 0.915813 Centerline is valid? [False, False] Translation: X:12.56, Y:-0.57, Z:-0.54 [[ 9.99476099e-01 1.26017535e-02 -2.98114473e-02 1.25621177e+01] [-1.24704105e-02 9.99911717e-01 4.58762629e-03 -5.68038743e-01] [ 2.98666276e-02 -4.21346184e-03 9.99545012e-01 -5.36165513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14240100800001 meters Centerline goodness : 0.921024 Centerline is valid? [False, False] Translation: X:12.56, Y:-0.57, Z:-0.54 [[ 9.99472962e-01 1.25484651e-02 -2.99388489e-02 1.25622511e+01] [-1.24267846e-02 9.99913766e-01 4.24691647e-03 -5.65900821e-01] [ 2.99895594e-02 -3.87263456e-03 9.99542710e-01 -5.36092469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.17240100800001 meters Centerline goodness : 0.921288 Centerline is valid? [False, False] Translation: X:12.56, Y:-0.56, Z:-0.54 [[ 9.99472644e-01 1.27452291e-02 -2.98662544e-02 1.25619421e+01] [-1.26351778e-02 9.99912681e-01 3.87064503e-03 -5.64434920e-01] [ 2.99129788e-02 -3.49123839e-03 9.99546410e-01 -5.36465675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20240100800001 meters Centerline goodness : 0.922874 Centerline is valid? [False, False] Translation: X:12.56, Y:-0.56, Z:-0.54 [[ 9.99464541e-01 1.30299744e-02 -3.00141775e-02 1.25617655e+01] [-1.29279741e-02 9.99909986e-01 3.58996375e-03 -5.63124427e-01] [ 3.00582529e-02 -3.20001896e-03 9.99543026e-01 -5.36361529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23240100800001 meters Centerline goodness : 0.925711 Centerline is valid? [False, False] Translation: X:12.56, Y:-0.56, Z:-0.53 [[ 9.99456895e-01 1.39688751e-02 -2.98460439e-02 1.25599219e+01] [-1.38523598e-02 9.99895617e-01 4.10709337e-03 -5.62478301e-01] [ 2.99002999e-02 -3.69142465e-03 9.99546070e-01 -5.34799323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26240100800001 meters Centerline goodness : 0.924769 Centerline is valid? [False, False] Translation: X:12.57, Y:-0.56, Z:-0.54 [[ 9.99510804e-01 1.93413249e-02 -2.45777682e-02 1.25713346e+01] [-1.94156845e-02 9.99807604e-01 -2.79043910e-03 -5.59808102e-01] [ 2.45190688e-02 3.26626822e-03 9.99694027e-01 -5.39285179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29240100800001 meters Centerline goodness : 0.921940 Centerline is valid? [False, False] Translation: X:12.57, Y:-0.56, Z:-0.54 [[ 9.99499040e-01 2.00827721e-02 -2.44612081e-02 1.25706722e+01] [-2.01591884e-02 9.99792631e-01 -2.88137700e-03 -5.58433002e-01] [ 2.43982696e-02 3.37305165e-03 9.99696627e-01 -5.39614106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32240100800001 meters Centerline goodness : 0.922403 Centerline is valid? [False, False] Translation: X:12.57, Y:-0.56, Z:-0.54 [[ 9.99484747e-01 2.07240998e-02 -2.45102291e-02 1.25705023e+01] [-2.08096930e-02 9.99778198e-01 -3.24222150e-03 -5.56736529e-01] [ 2.44376005e-02 3.75060128e-03 9.99694322e-01 -5.40391204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35240100800002 meters Centerline goodness : 0.921285 Centerline is valid? [False, False] Translation: X:12.57, Y:-0.56, Z:-0.54 [[ 9.99382701e-01 2.47792611e-02 -2.49039043e-02 1.25715597e+01] [-2.47548100e-02 9.99692721e-01 1.28967893e-03 -5.57859989e-01] [ 2.49282091e-02 -6.72391396e-04 9.99689018e-01 -5.39648614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38240100800002 meters Centerline goodness : 0.920767 Centerline is valid? [False, False] Translation: X:12.57, Y:-0.56, Z:-0.54 [[ 9.99363762e-01 2.58647178e-02 -2.45578255e-02 1.25702985e+01] [-2.58573756e-02 9.99665452e-01 6.16531415e-04 -5.55139603e-01] [ 2.45655562e-02 1.88617644e-05 9.99698221e-01 -5.41058427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.41240100800002 meters Centerline goodness : 0.916759 Centerline is valid? [False, False] Translation: X:12.57, Y:-0.56, Z:-0.54 [[ 9.99207056e-01 3.15100940e-02 -2.43387342e-02 1.25682969e+01] [-3.13925220e-02 9.99493618e-01 5.19782335e-03 -5.55125374e-01] [ 2.44901934e-02 -4.42964751e-03 9.99690256e-01 -5.39987989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44240100800002 meters Centerline goodness : 0.919248 Centerline is valid? [False, False] Translation: X:12.57, Y:-0.56, Z:-0.54 [[ 9.99174393e-01 3.23896934e-02 -2.45242769e-02 1.25674001e+01] [-3.22624656e-02 9.99463933e-01 5.56595033e-03 -5.55512999e-01] [ 2.46914097e-02 -4.77014140e-03 9.99683740e-01 -5.39012218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.47240100800002 meters Centerline goodness : 0.920625 Centerline is valid? [False, False] Translation: X:12.57, Y:-0.56, Z:-0.54 [[ 9.99149393e-01 3.32725050e-02 -2.43604502e-02 1.25659497e+01] [-3.31391110e-02 9.99433573e-01 5.85932877e-03 -5.56224086e-01] [ 2.45416063e-02 -5.04706112e-03 9.99686069e-01 -5.38429081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.502401008 meters Centerline goodness : 0.919446 Centerline is valid? [False, False] Translation: X:12.58, Y:-0.55, Z:-0.54 [[ 9.99116764e-01 3.71709015e-02 -1.95963329e-02 1.25794940e+01] [-3.72204341e-02 9.99304726e-01 -2.16888023e-03 -5.54767637e-01] [ 1.95020888e-02 2.89634861e-03 9.99805621e-01 -5.44502153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.53240100800001 meters Centerline goodness : 0.922994 Centerline is valid? [False, False] Translation: X:12.58, Y:-0.56, Z:-0.54 [[ 9.99104919e-01 3.76386737e-02 -1.93051889e-02 1.25788168e+01] [-3.76850401e-02 9.99287577e-01 -2.04348599e-03 -5.55066264e-01] [ 1.92145213e-02 2.76917372e-03 9.99811549e-01 -5.44954983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56240100800001 meters Centerline goodness : 0.919537 Centerline is valid? [False, False] Translation: X:12.58, Y:-0.56, Z:-0.54 [[ 9.99112538e-01 3.73779371e-02 -1.94171812e-02 1.25793698e+01] [-3.74134819e-02 9.99298789e-01 -1.47042475e-03 -5.57195858e-01] [ 1.93486042e-02 2.19558416e-03 9.99810387e-01 -5.44497687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59240100800001 meters Centerline goodness : 0.919334 Centerline is valid? [False, False] Translation: X:12.58, Y:-0.56, Z:-0.54 [[ 9.99142742e-01 3.62338027e-02 -2.00223017e-02 1.25819824e+01] [-3.62650750e-02 9.99341484e-01 -1.20087612e-03 -5.59586349e-01] [ 1.99656044e-02 1.92595693e-03 9.99798812e-01 -5.44568100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62240100800001 meters Centerline goodness : 0.917615 Centerline is valid? [False, False] Translation: X:12.59, Y:-0.57, Z:-0.54 [[ 9.99200574e-01 3.43560254e-02 -2.04420378e-02 1.25850012e+01] [-3.43589546e-02 9.99409535e-01 2.08016495e-04 -5.65224303e-01] [ 2.04371141e-02 4.94516847e-04 9.99791018e-01 -5.42939080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65240100800001 meters Centerline goodness : 0.913181 Centerline is valid? [False, False] Translation: X:12.59, Y:-0.57, Z:-0.54 [[ 9.99209187e-01 3.38277777e-02 -2.08969523e-02 1.25860567e+01] [-3.37990015e-02 9.99427155e-01 1.72881027e-03 -5.69363809e-01] [ 2.09434634e-02 -1.02114699e-03 9.99780140e-01 -5.40558678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68240100800001 meters Centerline goodness : 0.913750 Centerline is valid? [False, False] Translation: X:12.59, Y:-0.57, Z:-0.54 [[ 9.99204920e-01 3.35964146e-02 -2.14664432e-02 1.25869938e+01] [-3.35103377e-02 9.99428873e-01 4.35714767e-03 -5.74745445e-01] [ 2.16005677e-02 -3.63433563e-03 9.99760075e-01 -5.36478400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71240100800001 meters Centerline goodness : 0.916732 Centerline is valid? [False, False] Translation: X:12.59, Y:-0.58, Z:-0.53 [[ 9.99203198e-01 3.33160705e-02 -2.19774428e-02 1.25878723e+01] [-3.31781412e-02 9.99427588e-01 6.61110680e-03 -5.79376669e-01] [ 2.21851187e-02 -5.87666835e-03 9.99736608e-01 -5.32841223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74240100800002 meters Centerline goodness : 0.917995 Centerline is valid? [False, False] Translation: X:12.59, Y:-0.58, Z:-0.53 [[ 9.99336195e-01 2.91434906e-02 -2.18592366e-02 1.25880695e+01] [-2.90753063e-02 9.99571337e-01 3.43067291e-03 -5.83360643e-01] [ 2.19498481e-02 -2.79283162e-03 9.99755172e-01 -5.32941232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77240100800002 meters Centerline goodness : 0.914735 Centerline is valid? [False, False] Translation: X:12.59, Y:-0.58, Z:-0.53 [[ 9.99343821e-01 2.83340338e-02 -2.25634559e-02 1.25910087e+01] [-2.82598234e-02 9.99594125e-01 3.60112218e-03 -5.84964297e-01] [ 2.26563323e-02 -2.96111992e-03 9.99738927e-01 -5.33617337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80240100800002 meters Centerline goodness : 0.913376 Centerline is valid? [False, False] Translation: X:12.59, Y:-0.58, Z:-0.54 [[ 9.99362090e-01 2.71589215e-02 -2.31906357e-02 1.25946284e+01] [-2.71079121e-02 9.99629359e-01 2.51117049e-03 -5.84175037e-01] [ 2.32502410e-02 -1.88091888e-03 9.99727907e-01 -5.36402196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83240100800002 meters Centerline goodness : 0.906980 Centerline is valid? [False, False] Translation: X:12.60, Y:-0.58, Z:-0.54 [[ 9.99285131e-01 2.84278303e-02 -2.49215948e-02 1.26028272e+01] [-2.83285844e-02 9.99589302e-01 4.32644443e-03 -5.81807929e-01] [ 2.50343510e-02 -3.61735809e-03 9.99680047e-01 -5.40711651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.862401008 meters Centerline goodness : 0.904919 Centerline is valid? [False, False] Translation: X:12.61, Y:-0.58, Z:-0.54 [[ 9.99164851e-01 3.12558475e-02 -2.63186685e-02 1.26073176e+01] [-3.10506151e-02 9.99484414e-01 8.17097705e-03 -5.82183149e-01] [ 2.65604898e-02 -7.34694222e-03 9.99620209e-01 -5.40762002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.89240100800001 meters Centerline goodness : 0.904730 Centerline is valid? [False, False] Translation: X:12.61, Y:-0.58, Z:-0.54 [[ 9.99164167e-01 3.07184619e-02 -2.69693176e-02 1.26092128e+01] [-3.05297036e-02 9.99506591e-01 7.38317886e-03 -5.81344586e-01] [ 2.71828106e-02 -6.55364248e-03 9.99608996e-01 -5.41673892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92240100800001 meters Centerline goodness : 0.906262 Centerline is valid? [False, False] Translation: X:12.61, Y:-0.58, Z:-0.54 [[ 0.99904662 0.03278568 -0.0288261 12.61478654] [-0.03240041 0.99938062 0.01373247 -0.58493152] [ 0.02925847 -0.0127854 0.99949011 -0.53661378] [ 0. 0. 0. 1. ]] SLAMing on 76.95240100800001 meters Centerline goodness : 0.908070 Centerline is valid? [False, False] Translation: X:12.61, Y:-0.58, Z:-0.54 [[ 9.99168473e-01 2.88498694e-02 -2.88105534e-02 1.26147374e+01] [-2.86301582e-02 9.99557981e-01 8.00976209e-03 -5.81262322e-01] [ 2.90288992e-02 -7.17825105e-03 9.99552798e-01 -5.39237348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98240100800001 meters Centerline goodness : 0.902973 Centerline is valid? [False, False] Translation: X:12.62, Y:-0.58, Z:-0.54 [[ 9.99173675e-01 2.81792012e-02 -2.92899333e-02 1.26166167e+01] [-2.79744762e-02 9.99581423e-01 7.37611462e-03 -5.80309681e-01] [ 2.94855263e-02 -6.55064901e-03 9.99543742e-01 -5.40162919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01240100800001 meters Centerline goodness : 0.899322 Centerline is valid? [False, False] Translation: X:12.62, Y:-0.58, Z:-0.54 [[ 9.99100780e-01 2.97285594e-02 -3.02298672e-02 1.26219086e+01] [-2.94001637e-02 9.99504406e-01 1.12504481e-02 -5.80518341e-01] [ 3.05493450e-02 -1.03515684e-02 9.99479656e-01 -5.40189240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04240100800001 meters Centerline goodness : 0.896359 Centerline is valid? [False, False] Translation: X:12.62, Y:-0.58, Z:-0.54 [[ 9.99112881e-01 2.89384337e-02 -3.05944103e-02 1.26237991e+01] [-2.86195273e-02 9.99531915e-01 1.08107894e-02 -5.80022797e-01] [ 3.08929368e-02 -9.92560136e-03 9.99473416e-01 -5.41067727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07240100800001 meters Centerline goodness : 0.896189 Centerline is valid? [False, False] Translation: X:12.63, Y:-0.58, Z:-0.54 [[ 9.99120191e-01 2.81598026e-02 -3.10784326e-02 1.26255752e+01] [-2.78231223e-02 9.99549969e-01 1.12131298e-02 -5.81159094e-01] [ 3.13802058e-02 -1.03385654e-02 9.99454049e-01 -5.40326981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10240100800002 meters Centerline goodness : 0.897320 Centerline is valid? [False, False] Translation: X:12.63, Y:-0.59, Z:-0.53 [[ 0.99919484 0.02486038 -0.03149031 12.63089084] [-0.02433665 0.99956084 0.01690695 -0.58722673] [ 0.03189679 -0.01612697 0.99936105 -0.52949137] [ 0. 0. 0. 1. ]] SLAMing on 77.13240100800002 meters Centerline goodness : 0.896706 Centerline is valid? [False, False] Translation: X:12.64, Y:-0.59, Z:-0.52 [[ 0.99918996 0.02505446 -0.03149117 12.63691781] [-0.02423165 0.99936184 0.02624371 -0.59197742] [ 0.03212859 -0.02545936 0.99915943 -0.51886997] [ 0. 0. 0. 1. ]] SLAMing on 77.16240100800002 meters Centerline goodness : 0.894798 Centerline is valid? [False, False] Translation: X:12.64, Y:-0.59, Z:-0.51 [[ 0.99918194 0.02453394 -0.0321486 12.63800969] [-0.02363538 0.99932738 0.02803834 -0.59376725] [ 0.03281486 -0.02725556 0.99908975 -0.51454602] [ 0. 0. 0. 1. ]] SLAMing on 77.19240100800002 meters Centerline goodness : 0.895707 Centerline is valid? [False, False] Translation: X:12.64, Y:-0.59, Z:-0.52 [[ 0.99927944 0.01987358 -0.03233645 12.63876648] [-0.01914105 0.99955662 0.02280737 -0.59190192] [ 0.03277538 -0.02217198 0.99921678 -0.51601942] [ 0. 0. 0. 1. ]] SLAMing on 77.22240100800002 meters Centerline goodness : 0.893775 Centerline is valid? [False, False] Translation: X:12.65, Y:-0.59, Z:-0.51 [[ 0.99930193 0.015901 -0.03380546 12.64693733] [-0.01512132 0.99961658 0.02319547 -0.59213213] [ 0.03416133 -0.02266809 0.99915923 -0.51454386] [ 0. 0. 0. 1. ]] SLAMing on 77.252401008 meters Centerline goodness : 0.895915 Centerline is valid? [False, False] Translation: X:12.65, Y:-0.59, Z:-0.52 [[ 0.99929577 0.0144746 -0.03461867 12.65061459] [-0.01370906 0.99965845 0.02224974 -0.59134894] [ 0.03492891 -0.02175948 0.99915289 -0.51643734] [ 0. 0. 0. 1. ]] SLAMing on 77.28240100800001 meters Centerline goodness : 0.893611 Centerline is valid? [False, False] Translation: X:12.65, Y:-0.59, Z:-0.52 [[ 9.99299120e-01 1.33794068e-02 -3.49608294e-02 1.26531681e+01] [-1.26434887e-02 9.99695585e-01 2.11867620e-02 -5.90123338e-01] [ 3.52336531e-02 -2.07298858e-02 9.99164081e-01 -5.18590784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.31240100800001 meters Centerline goodness : 0.893955 Centerline is valid? [False, False] Translation: X:12.64, Y:-0.59, Z:-0.51 [[ 9.99172084e-01 1.17658004e-02 -3.89449895e-02 1.26405253e+01] [-1.05102830e-02 9.99423361e-01 3.22874514e-02 -5.90283395e-01] [ 3.93024200e-02 -3.18513972e-02 9.98719584e-01 -5.12380778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34240100800001 meters Centerline goodness : 0.893915 Centerline is valid? [False, False] Translation: X:12.62, Y:-0.58, Z:-0.52 [[ 9.99300075e-01 9.61513177e-03 -3.61511877e-02 1.26183657e+01] [-8.36311551e-03 9.99365351e-01 3.46259046e-02 -5.82894743e-01] [ 3.64611770e-02 -3.42993325e-02 9.98746283e-01 -5.15529400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37240100800001 meters Centerline goodness : 0.895221 Centerline is valid? [False, False] Translation: X:12.62, Y:-0.58, Z:-0.52 [[ 9.99327269e-01 6.69123487e-03 -3.60588086e-02 1.26168821e+01] [-5.64430484e-03 9.99561793e-01 2.90579481e-02 -5.77300318e-01] [ 3.62374409e-02 -2.88348730e-02 9.98927123e-01 -5.17608684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40240100800001 meters Centerline goodness : 0.895221 Centerline is valid? [False, False] Translation: X:12.62, Y:-0.58, Z:-0.52 [[ 9.99328657e-01 6.69139456e-03 -3.60202694e-02 1.26168199e+01] [-5.65098394e-03 9.99566081e-01 2.89087468e-02 -5.76950794e-01] [ 3.61980794e-02 -2.86857892e-02 9.98932843e-01 -5.17723702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43240100800001 meters Centerline goodness : 0.896752 Centerline is valid? [False, False] Translation: X:12.62, Y:-0.57, Z:-0.52 [[ 9.99324308e-01 7.45372389e-03 -3.59912516e-02 1.26151057e+01] [-6.41719928e-03 9.99563745e-01 2.88294763e-02 -5.74772433e-01] [ 3.61904372e-02 -2.85790334e-02 9.98936180e-01 -5.16364401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46240100800001 meters Centerline goodness : 0.896183 Centerline is valid? [False, False] Translation: X:12.61, Y:-0.57, Z:-0.52 [[ 9.99325977e-01 8.25735762e-03 -3.57688039e-02 1.26130301e+01] [-7.24970070e-03 9.99575727e-01 2.82100575e-02 -5.71470864e-01] [ 3.59865687e-02 -2.79317301e-02 9.98961854e-01 -5.15874678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49240100800002 meters Centerline goodness : 0.898402 Centerline is valid? [False, False] Translation: X:12.61, Y:-0.57, Z:-0.51 [[ 0.9991971 0.01583858 -0.03680065 12.614923 ] [-0.01442204 0.99915668 0.03844395 -0.57294719] [ 0.03737852 -0.03788234 0.99858288 -0.51035554] [ 0. 0. 0. 1. ]] SLAMing on 77.52240100800002 meters Centerline goodness : 0.901856 Centerline is valid? [False, False] Translation: X:12.61, Y:-0.57, Z:-0.51 [[ 0.99918104 0.01733339 -0.03656242 12.61318921] [-0.01595904 0.99916723 0.03755197 -0.56754437] [ 0.03718287 -0.03693772 0.99862558 -0.51178515] [ 0. 0. 0. 1. ]] SLAMing on 77.55240100800002 meters Centerline goodness : 0.899930 Centerline is valid? [False, False] Translation: X:12.62, Y:-0.56, Z:-0.52 [[ 0.99913231 0.02595703 -0.03257085 12.61721464] [-0.02516377 0.99938227 0.02453297 -0.5576731 ] [ 0.03318753 -0.02369208 0.99916829 -0.52364106] [ 0. 0. 0. 1. ]] SLAMing on 77.58240100800002 meters Centerline goodness : 0.900793 Centerline is valid? [False, False] Translation: X:12.63, Y:-0.55, Z:-0.53 [[ 0.99917378 0.02920819 -0.02826032 12.62988934] [-0.02883367 0.9994921 0.01357058 -0.5521696 ] [ 0.02864234 -0.01274451 0.99950848 -0.53164894] [ 0. 0. 0. 1. ]] SLAMing on 77.612401008 meters Centerline goodness : 0.900397 Centerline is valid? [False, False] Translation: X:12.65, Y:-0.55, Z:-0.54 [[ 9.99192135e-01 3.25179170e-02 -2.36148857e-02 1.26450406e+01] [-3.23828477e-02 9.99457046e-01 6.07983248e-03 -5.48857805e-01] [ 2.37997674e-02 -5.31020355e-03 9.99702642e-01 -5.36875064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64240100800001 meters Centerline goodness : 0.899566 Centerline is valid? [False, False] Translation: X:12.64, Y:-0.55, Z:-0.54 [[ 9.99176488e-01 3.32843367e-02 -2.32055781e-02 1.26429638e+01] [-3.31512537e-02 9.99431753e-01 6.09636799e-03 -5.47515406e-01] [ 2.33953052e-02 -5.32205355e-03 9.99712126e-01 -5.35974660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.67240100800001 meters Centerline goodness : 0.900982 Centerline is valid? [False, False] Translation: X:12.64, Y:-0.55, Z:-0.54 [[ 9.99174889e-01 3.31727789e-02 -2.34330458e-02 1.26433385e+01] [-3.30347263e-02 9.99434636e-01 6.25420891e-03 -5.48320548e-01] [ 2.36272671e-02 -5.47494424e-03 9.99705845e-01 -5.35552718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70240100800001 meters Centerline goodness : 0.898447 Centerline is valid? [False, False] Translation: X:12.65, Y:-0.55, Z:-0.54 [[ 9.99181606e-01 3.25679177e-02 -2.39885018e-02 1.26451024e+01] [-3.24300169e-02 9.99455299e-01 6.11549471e-03 -5.48974848e-01] [ 2.41746042e-02 -5.33254231e-03 9.99693529e-01 -5.35804818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73240100800001 meters Centerline goodness : 0.895432 Centerline is valid? [False, False] Translation: X:12.65, Y:-0.55, Z:-0.54 [[ 9.99228670e-01 2.98110069e-02 -2.55610932e-02 1.26522617e+01] [-2.96944912e-02 9.99546884e-01 4.92592892e-03 -5.49410509e-01] [ 2.56963579e-02 -4.16310575e-03 9.99661125e-01 -5.38693123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76240100800001 meters Centerline goodness : 0.898959 Centerline is valid? [False, False] Translation: X:12.66, Y:-0.55, Z:-0.54 [[ 9.99244919e-01 2.81497354e-02 -2.67803001e-02 1.26572202e+01] [-2.80483404e-02 9.99597935e-01 4.15438672e-03 -5.50121713e-01] [ 2.68864776e-02 -3.40010684e-03 9.99632711e-01 -5.40747492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79240100800001 meters Centerline goodness : 0.895203 Centerline is valid? [False, False] Translation: X:12.66, Y:-0.55, Z:-0.54 [[ 9.99255956e-01 2.63114405e-02 -2.82000384e-02 1.26627706e+01] [-2.62277833e-02 9.99650438e-01 3.33241852e-03 -5.51017896e-01] [ 2.82778615e-02 -2.59031456e-03 9.99596745e-01 -5.42875657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82240100800001 meters Centerline goodness : 0.896338 Centerline is valid? [False, False] Translation: X:12.67, Y:-0.55, Z:-0.54 [[ 9.99257943e-01 2.48687923e-02 -2.94126784e-02 1.26672700e+01] [-2.47955528e-02 9.99688474e-01 2.85223546e-03 -5.51915383e-01] [ 2.94744473e-02 -2.12081532e-03 9.99563284e-01 -5.44204344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85240100800002 meters Centerline goodness : 0.893276 Centerline is valid? [False, False] Translation: X:12.67, Y:-0.55, Z:-0.54 [[ 9.99253173e-01 2.39158542e-02 -3.03500872e-02 1.26702520e+01] [-2.38416850e-02 9.99711816e-01 2.80337526e-03 -5.52934974e-01] [ 3.04083859e-02 -2.07768440e-03 9.99535399e-01 -5.44386794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88240100800002 meters Centerline goodness : 0.895816 Centerline is valid? [False, False] Translation: X:12.67, Y:-0.56, Z:-0.54 [[ 9.99236660e-01 2.30165659e-02 -3.15647753e-02 1.26726416e+01] [-2.28689339e-02 9.99725817e-01 5.03022769e-03 -5.57552326e-01] [ 3.16718994e-02 -4.30453516e-03 9.99489050e-01 -5.40013254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91240100800002 meters Centerline goodness : 0.897022 Centerline is valid? [False, False] Translation: X:12.68, Y:-0.56, Z:-0.53 [[ 9.99193906e-01 2.32076106e-02 -3.27558409e-02 1.26791314e+01] [-2.28481276e-02 9.99675009e-01 1.13066409e-02 -5.61735233e-01] [ 3.30075956e-02 -1.05491171e-02 9.99399427e-01 -5.34553791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94240100800002 meters Centerline goodness : 0.897099 Centerline is valid? [False, False] Translation: X:12.68, Y:-0.56, Z:-0.53 [[ 9.99189739e-01 2.27604834e-02 -3.31937484e-02 1.26805431e+01] [-2.23987010e-02 9.99686037e-01 1.12305861e-02 -5.61969562e-01] [ 3.34389403e-02 -1.04779896e-02 9.99385836e-01 -5.34679263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97240100800002 meters Centerline goodness : 0.896185 Centerline is valid? [False, False] Translation: X:12.68, Y:-0.56, Z:-0.54 [[ 9.99212272e-01 2.26112933e-02 -3.26123312e-02 1.26801729e+01] [-2.22818049e-02 9.99697306e-01 1.04315172e-02 -5.59443105e-01] [ 3.28383297e-02 -9.69663838e-03 9.99413638e-01 -5.36260970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.002401008 meters Centerline goodness : 0.897470 Centerline is valid? [False, False] Translation: X:12.68, Y:-0.56, Z:-0.54 [[ 9.99208090e-01 2.29663373e-02 -3.24921633e-02 1.26793510e+01] [-2.26328139e-02 9.99687696e-01 1.05956020e-02 -5.58719653e-01] [ 3.27253580e-02 -9.85182213e-03 9.99415826e-01 -5.35596812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.03240100800001 meters Centerline goodness : 0.897718 Centerline is valid? [False, False] Translation: X:12.69, Y:-0.56, Z:-0.54 [[ 9.99577096e-01 1.99066571e-02 -2.11979798e-02 1.26906508e+01] [-1.96556064e-02 9.99734957e-01 1.19863800e-02 -5.57285068e-01] [ 2.14309702e-02 -1.15646518e-02 9.99703442e-01 -5.39246380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06240100800001 meters Centerline goodness : 0.899997 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.56, Z:-0.54 [[ 9.99629675e-01 2.16938689e-02 -1.64282754e-02 1.27033268e+01] [-2.16685892e-02 9.99763737e-01 1.71525209e-03 -5.55092486e-01] [ 1.64616044e-02 -1.35863934e-03 9.99863576e-01 -5.44292098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09240100800001 meters Centerline goodness : 0.898716 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.56, Z:-0.54 [[ 9.99615133e-01 2.26498258e-02 -1.60178147e-02 1.27009865e+01] [-2.26178407e-02 9.99741818e-01 2.17521762e-03 -5.55134905e-01] [ 1.60629475e-02 -1.81209207e-03 9.99869340e-01 -5.42928791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12240100800001 meters Centerline goodness : 0.901727 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.55, Z:-0.54 [[ 9.99588926e-01 2.41951204e-02 -1.53810248e-02 1.26983319e+01] [-2.41709857e-02 9.99706302e-01 1.75311685e-03 -5.52809644e-01] [ 1.54189243e-02 -1.38062166e-03 9.99880168e-01 -5.43571227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15240100800001 meters Centerline goodness : 0.899877 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.55, Z:-0.55 [[ 9.99587040e-01 2.42864167e-02 -1.53596407e-02 1.26988112e+01] [-2.42771458e-02 9.99704955e-01 7.89783181e-04 -5.50561764e-01] [ 1.53742899e-02 -4.16568796e-04 9.99881722e-01 -5.45418574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18240100800001 meters Centerline goodness : 0.897122 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.55, Z:-0.55 [[ 9.99588999e-01 2.41272293e-02 -1.54825930e-02 1.26999345e+01] [-2.41347924e-02 9.99708668e-01 -3.01806338e-04 -5.48436071e-01] [ 1.54708006e-02 6.75351463e-04 9.99880092e-01 -5.47615176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21240100800001 meters Centerline goodness : 0.895996 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.55, Z:-0.55 [[ 9.99588377e-01 2.42124702e-02 -1.53893837e-02 1.27002197e+01] [-2.42291677e-02 9.99706026e-01 -8.99452930e-04 -5.47015741e-01] [ 1.53630817e-02 1.27195465e-03 9.99881172e-01 -5.48959373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24240100800002 meters Centerline goodness : 0.897312 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.55, Z:-0.55 [[ 9.99511676e-01 2.65144038e-02 -1.65346813e-02 1.27044074e+01] [-2.64547055e-02 9.99642719e-01 3.81886118e-03 -5.51660767e-01] [ 1.66300286e-02 -3.37957622e-03 9.99856000e-01 -5.47786327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27240100800002 meters Centerline goodness : 0.899650 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.55, Z:-0.55 [[ 9.99602092e-01 2.30851316e-02 -1.62090862e-02 1.27033142e+01] [-2.30970328e-02 9.99733078e-01 -5.47387100e-04 -5.51787025e-01] [ 1.61921232e-02 9.21551087e-04 9.99868474e-01 -5.48937235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30240100800002 meters Centerline goodness : 0.902104 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.55, Z:-0.55 [[ 9.99599763e-01 2.27482735e-02 -1.68175225e-02 1.27048833e+01] [-2.27509091e-02 9.99741164e-01 3.46116237e-05 -5.54522499e-01] [ 1.68139568e-02 3.48016153e-04 9.99858575e-01 -5.48451116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33240100800002 meters Centerline goodness : 0.895972 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.56, Z:-0.55 [[ 9.99605265e-01 2.20682080e-02 -1.73870171e-02 1.27072021e+01] [-2.20731512e-02 9.99756354e-01 -9.24267550e-05 -5.55729728e-01] [ 1.73807411e-02 4.76176528e-04 9.99848830e-01 -5.49342442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.362401008 meters Centerline goodness : 0.896906 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.56, Z:-0.55 [[ 9.99619631e-01 2.11341081e-02 -1.77184504e-02 1.27106282e+01] [-2.11625243e-02 9.99775043e-01 -1.41777902e-03 -5.55256283e-01] [ 1.76845010e-02 1.79220688e-03 9.99842011e-01 -5.53622795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.39240100800001 meters Centerline goodness : 0.897712 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.56, Z:-0.55 [[ 9.99621945e-01 2.05110195e-02 -1.83102476e-02 1.27127909e+01] [-2.05377343e-02 9.99788269e-01 -1.27214258e-03 -5.56865684e-01] [ 1.82802778e-02 1.64771264e-03 9.99831544e-01 -5.53980234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42240100800001 meters Centerline goodness : 0.898326 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.56, Z:-0.55 [[ 9.99618501e-01 2.00229120e-02 -1.90245801e-02 1.27144988e+01] [-2.00281453e-02 9.99799413e-01 -8.45716443e-05 -5.60175691e-01] [ 1.90190706e-02 4.65566435e-04 9.99819013e-01 -5.52199347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.45240100800001 meters Centerline goodness : 0.901611 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.56, Z:-0.55 [[ 9.99684207e-01 1.63898651e-02 -1.90488679e-02 1.27134148e+01] [-1.64442618e-02 9.99861132e-01 -2.70250871e-03 -5.63895642e-01] [ 1.90019289e-02 3.01489985e-03 9.99814901e-01 -5.50030440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48240100800001 meters Centerline goodness : 0.903158 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.57, Z:-0.55 [[ 9.99677016e-01 1.65430443e-02 -1.92922566e-02 1.27132216e+01] [-1.65692753e-02 9.99861999e-01 -1.20060641e-03 -5.66922482e-01] [ 1.92697326e-02 1.51987734e-03 9.99813166e-01 -5.47501510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51240100800001 meters Centerline goodness : 0.907374 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.57, Z:-0.55 [[ 9.99672853e-01 1.68399246e-02 -1.92510878e-02 1.27125442e+01] [-1.68450147e-02 9.99858107e-01 -1.02268210e-04 -5.69145987e-01] [ 1.92466340e-02 4.26519610e-04 9.99814675e-01 -5.45862025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54240100800001 meters Centerline goodness : 0.905520 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.57, Z:-0.54 [[ 9.99606155e-01 1.99660073e-02 -1.97203593e-02 1.27144084e+01] [-1.98546766e-02 9.99785906e-01 5.82523536e-03 -5.73308650e-01] [ 1.98324440e-02 -5.43139977e-03 9.99788565e-01 -5.42732193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57240100800001 meters Centerline goodness : 0.910422 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.57, Z:-0.55 [[ 9.99642017e-01 2.29861502e-02 -1.36921301e-02 1.27263241e+01] [-2.30132483e-02 9.99733495e-01 -1.82482106e-03 -5.70377613e-01] [ 1.36465355e-02 2.13926819e-03 9.99904593e-01 -5.46428696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60240100800002 meters Centerline goodness : 0.910117 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.57, Z:-0.55 [[ 9.99638441e-01 2.32495569e-02 -1.35072023e-02 1.27254125e+01] [-2.32732045e-02 9.99727868e-01 -1.59618302e-03 -5.70251187e-01] [ 1.34664160e-02 1.90996179e-03 9.99907500e-01 -5.45741003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63240100800002 meters Centerline goodness : 0.908836 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.57, Z:-0.55 [[ 9.99645291e-01 2.26625180e-02 -1.39893860e-02 1.27272148e+01] [-2.26921938e-02 9.99740566e-01 -1.96621021e-03 -5.69796569e-01] [ 1.39411974e-02 2.28296263e-03 9.99900211e-01 -5.46436811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66240100800002 meters Centerline goodness : 0.906900 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.57, Z:-0.55 [[ 9.99668132e-01 2.12869092e-02 -1.45083569e-02 1.27306916e+01] [-2.13388885e-02 9.99766391e-01 -3.43736152e-03 -5.68200446e-01] [ 1.44317968e-02 3.74581298e-03 9.99888840e-01 -5.49634558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69240100800002 meters Centerline goodness : 0.907714 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.57, Z:-0.55 [[ 9.99634213e-01 2.16969889e-02 -1.61456139e-02 1.27383632e+01] [-2.16682476e-02 9.99763308e-01 1.95296280e-03 -5.70724284e-01] [ 1.61841657e-02 -1.60240127e-03 9.99867744e-01 -5.46714253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72240100800002 meters Centerline goodness : 0.905818 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.57, Z:-0.55 [[ 9.99637210e-01 2.07805329e-02 -1.71353090e-02 1.27411249e+01] [-2.07463764e-02 9.99782419e-01 2.16872156e-03 -5.71920967e-01] [ 1.71766478e-02 -1.81243920e-03 9.99850828e-01 -5.46138379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.752401008 meters Centerline goodness : 0.906999 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.57, Z:-0.54 [[ 9.99638381e-01 1.97402229e-02 -1.82601074e-02 1.27440366e+01] [-1.96947697e-02 9.99802486e-01 2.66571271e-03 -5.74231736e-01] [ 1.83091225e-02 -2.30512013e-03 9.99829717e-01 -5.44966539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78240100800001 meters Centerline goodness : 0.907882 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.58, Z:-0.53 [[ 0.99972325 0.01335422 -0.0193674 12.7716964 ] [-0.01304068 0.9997833 0.01622611 -0.5788614 ] [ 0.01957989 -0.01596905 0.99968076 -0.53417048] [ 0. 0. 0. 1. ]] SLAMing on 78.81240100800001 meters Centerline goodness : 0.905073 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.58, Z:-0.54 [[ 9.99687464e-01 1.26743675e-02 -2.15484460e-02 1.27829226e+01] [-1.22608319e-02 9.99740175e-01 1.92159774e-02 -5.77776354e-01] [ 2.17863975e-02 -1.89457699e-02 9.99583118e-01 -5.35873292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84240100800001 meters Centerline goodness : 0.902171 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.57, Z:-0.54 [[ 9.99688986e-01 1.03885244e-02 -2.26717887e-02 1.27893163e+01] [-1.00218927e-02 9.99818132e-01 1.62254191e-02 -5.73547919e-01] [ 2.28362236e-02 -1.59931586e-02 9.99611287e-01 -5.41722566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87240100800001 meters Centerline goodness : 0.898688 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.57, Z:-0.55 [[ 9.99682719e-01 8.57712089e-03 -2.36831949e-02 1.27942848e+01] [-8.24829348e-03 9.99868710e-01 1.39473722e-02 -5.70056084e-01] [ 2.37997139e-02 -1.37476011e-02 9.99622217e-01 -5.45793677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90240100800001 meters Centerline goodness : 0.901946 Centerline is valid? [False, False] Translation: X:12.80, Y:-0.57, Z:-0.54 [[ 9.99664190e-01 7.74327250e-03 -2.47295153e-02 1.27962658e+01] [-7.38214770e-03 9.99865270e-01 1.46610454e-02 -5.70261084e-01] [ 2.48397079e-02 -1.44735651e-02 9.99586667e-01 -5.43042254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93240100800001 meters Centerline goodness : 0.902777 Centerline is valid? [False, False] Translation: X:12.80, Y:-0.57, Z:-0.54 [[ 9.99644858e-01 7.92206295e-03 -2.54440510e-02 1.27957980e+01] [-7.48237642e-03 9.99821836e-01 1.73294892e-02 -5.73314228e-01] [ 2.55768031e-02 -1.71329528e-02 9.99526032e-01 -5.36765989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96240100800001 meters Centerline goodness : 0.907068 Centerline is valid? [False, False] Translation: X:12.81, Y:-0.57, Z:-0.54 [[ 9.99769343e-01 7.16245135e-03 -2.02474477e-02 1.28072661e+01] [-7.07229269e-03 9.99964771e-01 4.52094542e-03 -5.70837706e-01] [ 2.02791155e-02 -4.37670676e-03 9.99784778e-01 -5.41088938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99240100800002 meters Centerline goodness : 0.911956 Centerline is valid? [False, False] Translation: X:12.81, Y:-0.58, Z:-0.53 [[ 9.99733491e-01 8.40900531e-03 -2.14996647e-02 1.28131834e+01] [-8.10818877e-03 9.99868548e-01 1.40407800e-02 -5.75027002e-01] [ 2.16149075e-02 -1.38627147e-02 9.99670256e-01 -5.30065526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02240100800002 meters Centerline goodness : 0.909485 Centerline is valid? [False, False] Translation: X:12.81, Y:-0.57, Z:-0.53 [[ 9.99747673e-01 8.00872562e-03 -2.09869271e-02 1.28132410e+01] [-7.73968610e-03 9.99887231e-01 1.28694076e-02 -5.69986185e-01] [ 2.10876280e-02 -1.27037280e-02 9.99696918e-01 -5.31984948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.05240100800002 meters Centerline goodness : 0.906036 Centerline is valid? [False, False] Translation: X:12.81, Y:-0.56, Z:-0.54 [[ 9.99754922e-01 7.34476799e-03 -2.08842299e-02 1.28147582e+01] [-7.12139471e-03 9.99916857e-01 1.07501170e-02 -5.64814528e-01] [ 2.09614507e-02 -1.05987575e-02 9.99724104e-01 -5.35763685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08240100800002 meters Centerline goodness : 0.907586 Centerline is valid? [False, False] Translation: X:12.82, Y:-0.56, Z:-0.54 [[ 9.99713335e-01 1.07070566e-02 -2.14151272e-02 1.28169341e+01] [-1.03909727e-02 9.99836228e-01 1.48170531e-02 -5.63618093e-01] [ 2.15702670e-02 -1.45902816e-02 9.99660866e-01 -5.35458775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.112401008 meters Centerline goodness : 0.909045 Centerline is valid? [False, False] Translation: X:12.82, Y:-0.56, Z:-0.53 [[ 0.9996499 0.01441251 -0.02218931 12.81839502] [-0.01397415 0.99970658 0.01978553 -0.56446704] [ 0.02246796 -0.01946852 0.99955799 -0.53313859] [ 0. 0. 0. 1. ]] SLAMing on 79.14240100800001 meters Centerline goodness : 0.908667 Centerline is valid? [False, False] Translation: X:12.83, Y:-0.56, Z:-0.54 [[ 9.99690668e-01 1.70134436e-02 -1.81414327e-02 1.28316253e+01] [-1.68083119e-02 9.99793733e-01 1.14005165e-02 -5.62912691e-01] [ 1.83316528e-02 -1.10920631e-02 9.99770432e-01 -5.35098386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.17240100800001 meters Centerline goodness : 0.910237 Centerline is valid? [False, False] Translation: X:12.83, Y:-0.56, Z:-0.53 [[ 9.99678702e-01 1.74095056e-02 -1.84228849e-02 1.28307689e+01] [-1.71896157e-02 9.99779904e-01 1.20274899e-02 -5.63676072e-01] [ 1.86282228e-02 -1.17069432e-02 9.99757939e-01 -5.32874286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20240100800001 meters Centerline goodness : 0.911542 Centerline is valid? [False, False] Translation: X:12.83, Y:-0.56, Z:-0.53 [[ 9.99673557e-01 1.75412901e-02 -1.85763917e-02 1.28305080e+01] [-1.73171950e-02 9.99776144e-01 1.21563649e-02 -5.63694805e-01] [ 1.87854716e-02 -1.18307055e-02 9.99753540e-01 -5.32008711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23240100800001 meters Centerline goodness : 0.911282 Centerline is valid? [False, False] Translation: X:12.83, Y:-0.56, Z:-0.54 [[ 9.99684893e-01 1.69633792e-02 -1.85029371e-02 1.28318774e+01] [-1.67762326e-02 9.99807004e-01 1.02231925e-02 -5.60282962e-01] [ 1.86727860e-02 -9.90956154e-03 9.99776539e-01 -5.35600181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26240100800001 meters Centerline goodness : 0.911967 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.56, Z:-0.53 [[ 0.99962051 0.01941577 -0.01954115 12.8364039 ] [-0.01912737 0.99970693 0.01483918 -0.56071232] [ 0.01982353 -0.01445978 0.99969893 -0.53488819] [ 0. 0. 0. 1. ]] SLAMing on 79.29240100800001 meters Centerline goodness : 0.906809 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.56, Z:-0.54 [[ 0.9996312 0.01872641 -0.01966674 12.83788832] [-0.01845642 0.99973413 0.01382116 -0.5589005 ] [ 0.01992033 -0.01345308 0.99971106 -0.53673574] [ 0. 0. 0. 1. ]] SLAMing on 79.32240100800001 meters Centerline goodness : 0.906809 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.56, Z:-0.54 [[ 0.9996312 0.01872641 -0.01966674 12.83788832] [-0.01845642 0.99973413 0.01382116 -0.5589005 ] [ 0.01992033 -0.01345308 0.99971106 -0.53673574] [ 0. 0. 0. 1. ]] SLAMing on 79.35240100800002 meters Centerline goodness : 0.905080 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.56, Z:-0.54 [[ 0.99963296 0.01823605 -0.02003463 12.83914336] [-0.0179689 0.99974828 0.01343455 -0.55838391] [ 0.02027458 -0.01306962 0.99970902 -0.53714751] [ 0. 0. 0. 1. ]] SLAMing on 79.38240100800002 meters Centerline goodness : 0.904218 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.56, Z:-0.53 [[ 0.99955843 0.02094392 -0.02107824 12.84228131] [-0.02051789 0.99958481 0.02022919 -0.56188789] [ 0.02149317 -0.01978778 0.99957315 -0.53162873] [ 0. 0. 0. 1. ]] SLAMing on 79.41240100800002 meters Centerline goodness : 0.903827 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.56, Z:-0.53 [[ 0.99962533 0.01765239 -0.02091894 12.84043422] [-0.01733613 0.99973411 0.0152041 -0.55856457] [ 0.02118176 -0.01483575 0.99966556 -0.53206808] [ 0. 0. 0. 1. ]] SLAMing on 79.44240100800002 meters Centerline goodness : 0.906117 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.56, Z:-0.53 [[ 0.99954068 0.02052157 -0.02229988 12.84378375] [-0.02005368 0.9995782 0.02100652 -0.5613095 ] [ 0.02272156 -0.02054967 0.99953061 -0.5281015 ] [ 0. 0. 0. 1. ]] SLAMing on 79.47240100800002 meters Centerline goodness : 0.904842 Centerline is valid? [False, False] Translation: X:12.85, Y:-0.56, Z:-0.53 [[ 0.99953822 0.01990416 -0.02296043 12.84583884] [-0.01945001 0.99961404 0.01983591 -0.55937308] [ 0.02334639 -0.01938017 0.99953957 -0.52957462] [ 0. 0. 0. 1. ]] SLAMing on 79.502401008 meters Centerline goodness : 0.903091 Centerline is valid? [False, False] Translation: X:12.85, Y:-0.55, Z:-0.54 [[ 0.99953934 0.01945067 -0.02329775 12.84802812] [-0.01910041 0.99970258 0.01516354 -0.55236898] [ 0.02358576 -0.01471156 0.99961357 -0.53768496] [ 0. 0. 0. 1. ]] SLAMing on 79.53240100800001 meters Centerline goodness : 0.901090 Centerline is valid? [False, False] Translation: X:12.85, Y:-0.55, Z:-0.54 [[ 0.99954507 0.01858784 -0.02375173 12.85061413] [-0.01827563 0.99974459 0.01329465 -0.5485598 ] [ 0.02399278 -0.01285453 0.99962949 -0.54085628] [ 0. 0. 0. 1. ]] SLAMing on 79.56240100800001 meters Centerline goodness : 0.899082 Centerline is valid? [False, False] Translation: X:12.85, Y:-0.55, Z:-0.54 [[ 0.99945974 0.02151476 -0.02484626 12.85415773] [-0.02107148 0.99961652 0.0179669 -0.54948794] [ 0.02522329 -0.01743365 0.99952982 -0.5395245 ] [ 0. 0. 0. 1. ]] SLAMing on 79.59240100800001 meters Centerline goodness : 0.898286 Centerline is valid? [False, False] Translation: X:12.86, Y:-0.55, Z:-0.54 [[ 0.99936518 0.02453827 -0.02582852 12.85694653] [-0.02394172 0.9994451 0.02315794 -0.55164411] [ 0.02638244 -0.02252486 0.99939812 -0.53702947] [ 0. 0. 0. 1. ]] SLAMing on 79.62240100800001 meters Centerline goodness : 0.897935 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.55, Z:-0.54 [[ 9.99522623e-01 2.22154928e-02 -2.14708470e-02 1.28712864e+01] [-2.20202471e-02 9.99714384e-01 9.28759702e-03 -5.47974096e-01] [ 2.16710432e-02 -8.81036999e-03 9.99726334e-01 -5.42969178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65240100800001 meters Centerline goodness : 0.897394 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.55, Z:-0.54 [[ 9.99514623e-01 2.18915390e-02 -2.21648201e-02 1.28721936e+01] [-2.16608189e-02 9.99709220e-01 1.05964382e-02 -5.49987108e-01] [ 2.23903474e-02 -1.01111868e-02 9.99698173e-01 -5.40028152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68240100800001 meters Centerline goodness : 0.900073 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.56, Z:-0.52 [[ 0.99961142 0.01927836 -0.02013363 12.89022963] [-0.01870508 0.9994249 0.02828409 -0.55585876] [ 0.02066733 -0.0278965 0.99939714 -0.52353771] [ 0. 0. 0. 1. ]] SLAMing on 79.71240100800001 meters Centerline goodness : 0.902831 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.56, Z:-0.52 [[ 0.99961377 0.01884551 -0.02042468 12.89056642] [-0.01824809 0.99941134 0.02905146 -0.55652533] [ 0.02096015 -0.02866753 0.99936922 -0.52150967] [ 0. 0. 0. 1. ]] SLAMing on 79.74240100800002 meters Centerline goodness : 0.901913 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.56, Z:-0.52 [[ 0.99962337 0.01832298 -0.02043017 12.89099143] [-0.01772699 0.99942275 0.02898144 -0.55591412] [ 0.0209494 -0.02860836 0.99937114 -0.52137964] [ 0. 0. 0. 1. ]] SLAMing on 79.77240100800002 meters Centerline goodness : 0.896684 Centerline is valid? [False, False] Translation: X:12.86, Y:-0.55, Z:-0.52 [[ 9.99881971e-01 8.65573204e-03 -1.26933898e-02 1.28644183e+01] [-8.11145521e-03 9.99071146e-01 4.23207915e-02 -5.52381064e-01] [ 1.30479169e-02 -4.22128346e-02 9.99023437e-01 -5.17644863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80240100800002 meters Centerline goodness : 0.897145 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.55, Z:-0.52 [[ 9.99955837e-01 4.08344772e-03 -8.46459773e-03 1.28363648e+01] [-3.73689996e-03 9.99170117e-01 4.05599909e-02 -5.48106709e-01] [ 8.62319771e-03 -4.05265683e-02 9.99141250e-01 -5.19270509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83240100800002 meters Centerline goodness : 0.899483 Centerline is valid? [False, False] Translation: X:12.81, Y:-0.54, Z:-0.53 [[ 9.99990171e-01 -1.00015894e-03 -4.31946912e-03 1.28061814e+01] [ 1.14159790e-03 9.99459076e-01 3.28671756e-02 -5.40925654e-01] [ 4.28426021e-03 -3.28717836e-02 9.99450394e-01 -5.25698190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.862401008 meters Centerline goodness : 0.901491 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.53, Z:-0.53 [[ 9.99995082e-01 -2.35312993e-03 -2.07319098e-03 1.27773678e+01] [ 2.40997690e-03 9.99608982e-01 2.78581339e-02 -5.31715360e-01] [ 2.00682652e-03 -2.78629932e-02 9.99609737e-01 -5.32666329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.89240100800001 meters Centerline goodness : 0.896171 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.53, Z:-0.54 [[ 9.99995773e-01 -2.20684036e-03 -1.89291413e-03 1.27774569e+01] [ 2.25426377e-03 9.99674114e-01 2.54280205e-02 -5.25152046e-01] [ 1.83618168e-03 -2.54321802e-02 9.99674863e-01 -5.36255907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92240100800001 meters Centerline goodness : 0.894734 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.52, Z:-0.54 [[ 9.99996417e-01 -1.87799106e-03 -1.90747955e-03 1.27777501e+01] [ 1.92017734e-03 9.99748126e-01 2.23606187e-02 -5.17752293e-01] [ 1.86500607e-03 -2.23642013e-02 9.99748150e-01 -5.40869152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.95240100800001 meters Centerline goodness : 0.894910 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.52, Z:-0.54 [[ 9.99980282e-01 5.49468963e-03 -3.04029240e-03 1.27800659e+01] [-5.39595410e-03 9.99486575e-01 3.15827562e-02 -5.18252268e-01] [ 3.21226888e-03 -3.15657282e-02 9.99496516e-01 -5.37757334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98240100800001 meters Centerline goodness : 0.892991 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.51, Z:-0.54 [[ 9.99933784e-01 1.11369750e-02 -2.89751300e-03 1.27771965e+01] [-1.10275364e-02 9.99313038e-01 3.53814254e-02 -5.14162749e-01] [ 3.28956457e-03 -3.53471302e-02 9.99369681e-01 -5.36159424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01240100800001 meters Centerline goodness : 0.892735 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.51, Z:-0.54 [[ 9.99898666e-01 1.42160014e-02 7.50903921e-04 1.27897876e+01] [-1.42297111e-02 9.99623286e-01 2.34691791e-02 -5.08760163e-01] [-4.16983162e-04 -2.34774860e-02 9.99724279e-01 -5.44608214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04240100800001 meters Centerline goodness : 0.890845 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.51, Z:-0.54 [[ 9.99894700e-01 1.44786573e-02 9.78589141e-04 1.27888383e+01] [-1.44972373e-02 9.99633965e-01 2.28422116e-02 -5.05913667e-01] [-6.47506389e-04 -2.28539932e-02 9.99738604e-01 -5.44720967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07240100800001 meters Centerline goodness : 0.890964 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.51, Z:-0.54 [[ 9.99872346e-01 1.58586216e-02 1.94810042e-03 1.27841810e+01] [-1.59013561e-02 9.99577393e-01 2.43347973e-02 -5.05686926e-01] [-1.56136079e-03 -2.43626683e-02 9.99701967e-01 -5.40541348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10240100800002 meters Centerline goodness : 0.894767 Centerline is valid? [False, False] Translation: X:12.80, Y:-0.50, Z:-0.55 [[ 9.99854722e-01 1.54360082e-02 7.22946518e-03 1.27958741e+01] [-1.55165098e-02 9.99816717e-01 1.12147320e-02 -5.02693799e-01] [-7.05502944e-03 -1.13252789e-02 9.99910978e-01 -5.46716408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13240100800002 meters Centerline goodness : 0.899113 Centerline is valid? [False, False] Translation: X:12.80, Y:-0.50, Z:-0.55 [[ 9.99855073e-01 1.54400500e-02 7.17208596e-03 1.27955706e+01] [-1.55241549e-02 9.99809592e-01 1.18229024e-02 -5.03657662e-01] [-6.98817413e-03 -1.19325295e-02 9.99904386e-01 -5.45240038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16240100800002 meters Centerline goodness : 0.899060 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.50, Z:-0.55 [[ 9.99898538e-01 1.22301735e-02 7.30314427e-03 1.27949405e+01] [-1.22808687e-02 9.99900520e-01 6.93753934e-03 -5.00166665e-01] [-7.21757045e-03 -7.02652440e-03 9.99949266e-01 -5.46845986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.19240100800002 meters Centerline goodness : 0.898039 Centerline is valid? [False, False] Translation: X:12.80, Y:-0.50, Z:-0.55 [[ 9.99907057e-01 1.17031964e-02 6.99377075e-03 1.27965784e+01] [-1.17448985e-02 9.99913313e-01 5.95172881e-03 -4.98323549e-01] [-6.92351023e-03 -6.03331676e-03 9.99957831e-01 -5.48607041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22240100800002 meters Centerline goodness : 0.898672 Centerline is valid? [False, False] Translation: X:12.80, Y:-0.50, Z:-0.55 [[ 9.99915392e-01 1.14458981e-02 6.18056922e-03 1.27990716e+01] [-1.14755195e-02 9.99922735e-01 4.77867057e-03 -4.96944990e-01] [-6.12539550e-03 -4.84919150e-03 9.99969482e-01 -5.50970410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.252401008 meters Centerline goodness : 0.901552 Centerline is valid? [False, False] Translation: X:12.80, Y:-0.50, Z:-0.55 [[ 9.99918745e-01 1.14174992e-02 5.66956984e-03 1.28002585e+01] [-1.14437094e-02 9.99923881e-01 4.61224995e-03 -4.97780757e-01] [-5.61647792e-03 -4.67675610e-03 9.99973291e-01 -5.51426612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28240100800001 meters Centerline goodness : 0.903423 Centerline is valid? [False, False] Translation: X:12.80, Y:-0.50, Z:-0.55 [[ 9.99918537e-01 1.17148167e-02 5.06779167e-03 1.28015445e+01] [-1.17384237e-02 9.99920272e-01 4.65385059e-03 -4.99973017e-01] [-5.01286862e-03 -4.71295936e-03 9.99976329e-01 -5.52214324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.31240100800001 meters Centerline goodness : 0.901879 Centerline is valid? [False, False] Translation: X:12.80, Y:-0.50, Z:-0.55 [[ 9.99928324e-01 1.10724018e-02 4.55517073e-03 1.28040390e+01] [-1.10894340e-02 9.99931550e-01 3.73096348e-03 -4.99489190e-01] [-4.51354820e-03 -3.78121032e-03 9.99982665e-01 -5.54578515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34240100800001 meters Centerline goodness : 0.901101 Centerline is valid? [False, False] Translation: X:12.81, Y:-0.50, Z:-0.56 [[ 9.99907992e-01 1.31683522e-02 3.25592691e-03 1.28093272e+01] [-1.31927998e-02 9.99884052e-01 7.60477404e-03 -5.01470802e-01] [-3.15540705e-03 -7.64702914e-03 9.99965783e-01 -5.55769523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37240100800001 meters Centerline goodness : 0.899199 Centerline is valid? [False, False] Translation: X:12.81, Y:-0.50, Z:-0.56 [[ 9.99920010e-01 1.23475061e-02 2.74079241e-03 1.28121656e+01] [-1.23658153e-02 9.99900642e-01 6.76697105e-03 -5.01277686e-01] [-2.65696487e-03 -6.80032190e-03 9.99973348e-01 -5.58242948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40240100800001 meters Centerline goodness : 0.895978 Centerline is valid? [False, False] Translation: X:12.82, Y:-0.51, Z:-0.56 [[ 9.99937252e-01 1.10096309e-02 2.06900093e-03 1.28154077e+01] [-1.10247037e-02 9.99911691e-01 7.42064138e-03 -5.05807071e-01] [-1.98711970e-03 -7.44298587e-03 9.99970326e-01 -5.58454605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43240100800001 meters Centerline goodness : 0.894784 Centerline is valid? [False, False] Translation: X:12.82, Y:-0.51, Z:-0.56 [[ 9.99974945e-01 6.79264606e-03 1.99250673e-03 1.28158677e+01] [-6.79886122e-03 9.99971991e-01 3.12925518e-03 -5.06256991e-01] [-1.97119500e-03 -3.14272355e-03 9.99993119e-01 -5.59124656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46240100800001 meters Centerline goodness : 0.897906 Centerline is valid? [False, False] Translation: X:12.82, Y:-0.51, Z:-0.56 [[ 9.99981441e-01 5.99584800e-03 1.08071607e-03 1.28183638e+01] [-6.00030657e-03 9.99973301e-01 4.17065961e-03 -5.09684445e-01] [-1.05568057e-03 -4.17706684e-03 9.99990719e-01 -5.57832280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49240100800002 meters Centerline goodness : 0.900151 Centerline is valid? [False, False] Translation: X:12.82, Y:-0.51, Z:-0.56 [[ 9.99986593e-01 5.17364622e-03 2.15706434e-04 1.28209578e+01] [-5.17463023e-03 9.99974886e-01 4.84257474e-03 -5.12169315e-01] [-1.90647249e-04 -4.84362602e-03 9.99988251e-01 -5.57117145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52240100800002 meters Centerline goodness : 0.900277 Centerline is valid? [False, False] Translation: X:12.82, Y:-0.51, Z:-0.56 [[ 9.99988857e-01 4.70480031e-03 -3.87071525e-04 1.28226502e+01] [-4.70265378e-03 9.99974517e-01 5.37120234e-03 -5.13893569e-01] [ 4.12332096e-04 -5.36932223e-03 9.99985500e-01 -5.56529302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55240100800002 meters Centerline goodness : 0.903680 Centerline is valid? [False, False] Translation: X:12.82, Y:-0.52, Z:-0.55 [[ 9.99988354e-01 4.78912999e-03 -5.96266584e-04 1.28225992e+01] [-4.78509008e-03 9.99966759e-01 6.60180362e-03 -5.17227000e-01] [ 6.27863659e-04 -6.59887355e-03 9.99978030e-01 -5.54537045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58240100800002 meters Centerline goodness : 0.903291 Centerline is valid? [False, False] Translation: X:12.82, Y:-0.52, Z:-0.55 [[ 9.99989186e-01 4.57760212e-03 -8.20200798e-04 1.28234430e+01] [-4.57210568e-03 9.99967884e-01 6.58236898e-03 -5.17813872e-01] [ 8.50305923e-04 -6.57854775e-03 9.99978000e-01 -5.54791849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.612401008 meters Centerline goodness : 0.904446 Centerline is valid? [False, False] Translation: X:12.82, Y:-0.52, Z:-0.56 [[ 9.99990461e-01 4.22296055e-03 -1.11590384e-03 1.28247353e+01] [-4.21582326e-03 9.99971124e-01 6.32274027e-03 -5.17692606e-01] [ 1.14257230e-03 -6.31797550e-03 9.99979389e-01 -5.55584237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64240100800001 meters Centerline goodness : 0.904526 Centerline is valid? [False, False] Translation: X:12.83, Y:-0.52, Z:-0.56 [[ 9.99994095e-01 2.92561916e-03 -1.80296824e-03 1.28282497e+01] [-2.91484380e-03 9.99978048e-01 5.95038096e-03 -5.18474623e-01] [ 1.82033721e-03 -5.94509046e-03 9.99980671e-01 -5.57282987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.67240100800001 meters Centerline goodness : 0.905398 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.52, Z:-0.55 [[ 9.99995888e-01 6.09826507e-04 -2.80232846e-03 1.28400349e+01] [-5.67509095e-04 9.99886177e-01 1.50768667e-02 -5.22824293e-01] [ 2.81120377e-03 -1.50752143e-02 9.99882411e-01 -5.48503616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70240100800001 meters Centerline goodness : 0.908870 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.52, Z:-0.55 [[ 9.99988187e-01 -3.97074351e-03 -2.80342210e-03 1.28410681e+01] [ 3.99939837e-03 9.99939050e-01 1.02908630e-02 -5.22916899e-01] [ 2.76238885e-03 -1.03019535e-02 9.99943118e-01 -5.50233933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73240100800001 meters Centerline goodness : 0.909107 Centerline is valid? [False, False] Translation: X:12.85, Y:-0.53, Z:-0.53 [[ 9.99901455e-01 -1.37462467e-02 -2.84968877e-03 1.28465195e+01] [ 1.38325826e-02 9.99363259e-01 3.28897602e-02 -5.33090889e-01] [ 2.39576350e-03 -3.29259376e-02 9.99454923e-01 -5.31885300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76240100800001 meters Centerline goodness : 0.909670 Centerline is valid? [False, False] Translation: X:12.83, Y:-0.54, Z:-0.52 [[ 9.99846063e-01 -1.62236669e-02 -6.68148540e-03 1.28296292e+01] [ 1.64950003e-02 9.98948183e-01 4.27836842e-02 -5.37693010e-01] [ 5.98034946e-03 -4.28873094e-02 9.99062017e-01 -5.22853769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79240100800001 meters Centerline goodness : 0.910002 Centerline is valid? [False, False] Translation: X:12.80, Y:-0.54, Z:-0.52 [[ 9.99794898e-01 -1.77121325e-02 -9.82048076e-03 1.28023788e+01] [ 1.81290603e-02 9.98861288e-01 4.41300771e-02 -5.39377488e-01] [ 9.02766030e-03 -4.42990620e-02 9.98977525e-01 -5.20395275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82240100800001 meters Centerline goodness : 0.910144 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.54, Z:-0.52 [[ 9.99771675e-01 -1.96192873e-02 -8.46646718e-03 1.27706112e+01] [ 1.99543563e-02 9.98939408e-01 4.14955855e-02 -5.38493568e-01] [ 7.64337390e-03 -4.16550539e-02 9.99102815e-01 -5.23311228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85240100800002 meters Centerline goodness : 0.911291 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.54, Z:-0.53 [[ 9.99717036e-01 -2.25838364e-02 -7.47110816e-03 1.27681306e+01] [ 2.28423043e-02 9.99071162e-01 3.65382295e-02 -5.36506309e-01] [ 6.63899532e-03 -3.66985478e-02 9.99304328e-01 -5.25130979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88240100800002 meters Centerline goodness : 0.913758 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.54, Z:-0.53 [[ 9.99716484e-01 -2.26264702e-02 -7.41580320e-03 1.27685882e+01] [ 2.28771633e-02 9.99101687e-01 3.56714848e-02 -5.35053005e-01] [ 6.60202170e-03 -3.58310239e-02 9.99336055e-01 -5.26817569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91240100800002 meters Centerline goodness : 0.909691 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.53, Z:-0.53 [[ 9.99720719e-01 -2.24375542e-02 -7.41889608e-03 1.27690531e+01] [ 2.26815591e-02 9.99142851e-01 3.46281590e-02 -5.32481747e-01] [ 6.63556579e-03 -3.47867601e-02 9.99372729e-01 -5.28969632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94240100800002 meters Centerline goodness : 0.906669 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.53, Z:-0.53 [[ 9.99726861e-01 -2.21412999e-02 -7.48112164e-03 1.27694510e+01] [ 2.23800049e-02 9.99188358e-01 3.34926873e-02 -5.29656163e-01] [ 6.73347802e-03 -3.36509667e-02 9.99410963e-01 -5.31184370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.97240100800002 meters Centerline goodness : 0.905560 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.53, Z:-0.54 [[ 9.99871116e-01 -1.51878811e-02 -5.20383924e-03 1.27706361e+01] [ 1.52769164e-02 9.99729800e-01 1.75197721e-02 -5.25369992e-01] [ 4.93634495e-03 -1.75970127e-02 9.99832975e-01 -5.41132247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.002401008 meters Centerline goodness : 0.904399 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.52, Z:-0.54 [[ 9.99887543e-01 -1.41035241e-02 -5.09831085e-03 1.27689540e+01] [ 1.41919268e-02 9.99741898e-01 1.77405519e-02 -5.24598134e-01] [ 4.84679066e-03 -1.78109117e-02 9.99829626e-01 -5.40325527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.03240100800001 meters Centerline goodness : 0.906204 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.52, Z:-0.55 [[ 9.99978025e-01 -6.50550216e-03 -1.27593551e-03 1.27743041e+01] [ 6.51271026e-03 9.99962381e-01 5.72889957e-03 -5.19766693e-01] [ 1.23861814e-03 -5.73708348e-03 9.99982776e-01 -5.49837989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06240100800001 meters Centerline goodness : 0.904159 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.52, Z:-0.55 [[ 9.99995656e-01 -2.40746929e-03 -1.70034216e-03 1.27748599e+01] [ 2.42441811e-03 9.99946687e-01 1.00371768e-02 -5.20050734e-01] [ 1.67608732e-03 -1.00412555e-02 9.99948181e-01 -5.49114747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09240100800001 meters Centerline goodness : 0.905178 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.52, Z:-0.55 [[ 9.99998404e-01 -1.35240020e-03 -1.16749176e-03 1.27728954e+01] [ 1.36358438e-03 9.99952675e-01 9.63262318e-03 -5.17947147e-01] [ 1.15440935e-03 -9.63419978e-03 9.99952924e-01 -5.49686063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12240100800001 meters Centerline goodness : 0.905542 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.52, Z:-0.55 [[ 9.99999636e-01 -3.27952237e-04 -7.87764684e-04 1.27711972e+01] [ 3.35136064e-04 9.99958205e-01 9.13649906e-03 -5.15654781e-01] [ 7.84735425e-04 -9.13675974e-03 9.99957951e-01 -5.50307171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15240100800001 meters Centerline goodness : 0.905334 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.51, Z:-0.55 [[ 9.99996273e-01 2.71195880e-03 -3.14148647e-04 1.27680965e+01] [-2.70930228e-03 9.99962965e-01 8.16869032e-03 -5.12375428e-01] [ 3.36290164e-04 -8.16780875e-03 9.99966586e-01 -5.53409472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18240100800001 meters Centerline goodness : 0.900803 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.51, Z:-0.55 [[ 9.99994858e-01 3.20614143e-03 6.27711062e-05 1.27672317e+01] [-3.20653506e-03 9.99964118e-01 7.84095810e-03 -5.11903768e-01] [-3.76296332e-05 -7.84111906e-03 9.99969257e-01 -5.54337505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21240100800001 meters Centerline goodness : 0.900803 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.51, Z:-0.55 [[ 9.99994858e-01 3.20614143e-03 6.27711062e-05 1.27672317e+01] [-3.20653506e-03 9.99964118e-01 7.84095810e-03 -5.11903768e-01] [-3.76296332e-05 -7.84111906e-03 9.99969257e-01 -5.54337505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24240100800002 meters Centerline goodness : 0.903280 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.51, Z:-0.56 [[ 9.99999752e-01 -4.77269020e-04 5.18244029e-04 1.27661153e+01] [ 4.75451418e-04 9.99993756e-01 3.50170927e-03 -5.11938439e-01] [-5.19912051e-04 -3.50146200e-03 9.99993735e-01 -5.55037483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27240100800002 meters Centerline goodness : 0.905546 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.52, Z:-0.55 [[ 9.99999904e-01 -3.95644604e-04 1.87974125e-04 1.27662067e+01] [ 3.94746449e-04 9.99988620e-01 4.75432582e-03 -5.16032024e-01] [-1.89853010e-04 -4.75425116e-03 9.99988680e-01 -5.53126189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30240100800002 meters Centerline goodness : 0.906346 Centerline is valid? [False, False] Translation: X:12.76, Y:-0.52, Z:-0.55 [[ 9.99991897e-01 -3.98919884e-03 5.39740994e-04 1.27649149e+01] [ 3.98768763e-03 9.99988206e-01 2.77258140e-03 -5.22286717e-01] [-5.50795007e-04 -2.77040662e-03 9.99996011e-01 -5.50753913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33240100800002 meters Centerline goodness : 0.907520 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.53, Z:-0.55 [[ 9.99990328e-01 -4.39295518e-03 2.13575324e-04 1.27660457e+01] [ 4.39204324e-03 9.99981959e-01 4.09771224e-03 -5.26651777e-01] [-2.31572537e-04 -4.09673458e-03 9.99991582e-01 -5.49471700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.362401008 meters Centerline goodness : 0.907337 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.53, Z:-0.55 [[ 9.99986433e-01 -5.20451979e-03 -2.15296750e-04 1.27681907e+01] [ 5.20547837e-03 9.99975306e-01 4.72129379e-03 -5.30299790e-01] [ 1.90719367e-04 -4.72235046e-03 9.99988831e-01 -5.49598935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.39240100800001 meters Centerline goodness : 0.904963 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.53, Z:-0.55 [[ 9.99979871e-01 -6.25732798e-03 -1.05060633e-03 1.27713078e+01] [ 6.26266410e-03 9.99967102e-01 5.15502839e-03 -5.33858919e-01] [ 1.01831506e-03 -5.16150421e-03 9.99986161e-01 -5.49830900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42240100800001 meters Centerline goodness : 0.907727 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.54, Z:-0.55 [[ 9.99977616e-01 -6.54162010e-03 -1.40545163e-03 1.27728842e+01] [ 6.54888851e-03 9.99964875e-01 5.23076538e-03 -5.36107554e-01] [ 1.37118458e-03 -5.23985244e-03 9.99985332e-01 -5.50687705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.45240100800001 meters Centerline goodness : 0.903965 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.53, Z:-0.55 [[ 9.99977198e-01 -6.58929449e-03 -1.47812476e-03 1.27735425e+01] [ 6.59611068e-03 9.99967411e-01 4.65490117e-03 -5.34956980e-01] [ 1.44740408e-03 -4.66454490e-03 9.99988073e-01 -5.51973998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48240100800001 meters Centerline goodness : 0.904739 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.53, Z:-0.55 [[ 9.99975653e-01 -6.75288609e-03 -1.75861606e-03 1.27745845e+01] [ 6.75999690e-03 9.99968871e-01 4.06935675e-03 -5.33782361e-01] [ 1.73108142e-03 -4.08114591e-03 9.99990174e-01 -5.53062780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51240100800001 meters Centerline goodness : 0.900973 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.53, Z:-0.55 [[ 9.99988246e-01 -3.90738345e-03 -2.87045873e-03 1.27783801e+01] [ 3.92935117e-03 9.99962729e-01 7.68767885e-03 -5.34154152e-01] [ 2.84031303e-03 -7.69886753e-03 9.99966329e-01 -5.54022544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54240100800001 meters Centerline goodness : 0.902103 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.53, Z:-0.55 [[ 9.99983689e-01 -4.61180898e-03 -3.36950569e-03 1.27800932e+01] [ 4.63755081e-03 9.99959814e-01 7.67219722e-03 -5.34513698e-01] [ 3.33398758e-03 -7.68769833e-03 9.99964891e-01 -5.54015992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57240100800001 meters Centerline goodness : 0.898221 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.53, Z:-0.56 [[ 9.99976271e-01 -5.68998845e-03 -3.88345606e-03 1.27829391e+01] [ 5.71522255e-03 9.99962425e-01 6.51797763e-03 -5.32763871e-01] [ 3.84622292e-03 -6.54001778e-03 9.99971217e-01 -5.56312611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60240100800002 meters Centerline goodness : 0.895510 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.53, Z:-0.56 [[ 9.99967738e-01 -6.68737323e-03 -4.44998732e-03 1.27859207e+01] [ 6.71000691e-03 9.99964529e-01 5.09089154e-03 -5.30093342e-01] [ 4.41578478e-03 -5.12058674e-03 9.99977140e-01 -5.59093730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63240100800002 meters Centerline goodness : 0.891039 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.53, Z:-0.56 [[ 9.99973211e-01 -4.28076117e-03 -5.93742341e-03 1.27907115e+01] [ 4.33416562e-03 9.99950007e-01 9.01103712e-03 -5.30625671e-01] [ 5.89855248e-03 -9.03652949e-03 9.99941772e-01 -5.59203508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66240100800002 meters Centerline goodness : 0.885123 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.53, Z:-0.56 [[ 9.99975279e-01 -3.95793158e-03 -5.81177220e-03 1.27893947e+01] [ 4.00942975e-03 9.99952567e-01 8.87625668e-03 -5.29050970e-01] [ 5.77636491e-03 -8.89933914e-03 9.99943716e-01 -5.58181798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.69240100800002 meters Centerline goodness : 0.887656 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.53, Z:-0.56 [[ 9.99979217e-01 -3.26859764e-03 -5.55710420e-03 1.27872221e+01] [ 3.32317756e-03 9.99946055e-01 9.84094893e-03 -5.30052770e-01] [ 5.52463831e-03 -9.85921165e-03 9.99936135e-01 -5.55653870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72240100800002 meters Centerline goodness : 0.890175 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.53, Z:-0.55 [[ 9.99980802e-01 -2.92482237e-03 -5.46263657e-03 1.27859078e+01] [ 2.98109029e-03 9.99942294e-01 1.03209251e-02 -5.30408859e-01] [ 5.43213448e-03 -1.03370115e-02 9.99931817e-01 -5.53969564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.752401008 meters Centerline goodness : 0.888231 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.53, Z:-0.55 [[ 9.99985328e-01 -2.66701336e-03 -4.71486597e-03 1.27840424e+01] [ 2.71242630e-03 9.99949741e-01 9.65185182e-03 -5.27151481e-01] [ 4.68888738e-03 -9.66449893e-03 9.99942304e-01 -5.54385418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78240100800001 meters Centerline goodness : 0.888667 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.52, Z:-0.56 [[ 9.99986750e-01 -2.73920595e-03 -4.35853149e-03 1.27838025e+01] [ 2.77710409e-03 9.99958185e-01 8.71299997e-03 -5.24856306e-01] [ 4.33448253e-03 -8.72498862e-03 9.99952542e-01 -5.56003177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.81240100800001 meters Centerline goodness : 0.885587 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.52, Z:-0.56 [[ 9.99986230e-01 -3.10149076e-03 -4.23327442e-03 1.27846555e+01] [ 3.12942116e-03 9.99973275e-01 6.60722570e-03 -5.20675821e-01] [ 4.21266904e-03 -6.62038241e-03 9.99969212e-01 -5.59532380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84240100800001 meters Centerline goodness : 0.885114 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.52, Z:-0.56 [[ 9.99985439e-01 -3.19319858e-03 -4.35023175e-03 1.27851615e+01] [ 3.21918159e-03 9.99976944e-01 5.97893538e-03 -5.19486964e-01] [ 4.33103953e-03 -5.99285251e-03 9.99972664e-01 -5.60497346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87240100800001 meters Centerline goodness : 0.883992 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.52, Z:-0.56 [[ 9.99985293e-01 -6.42008498e-05 -5.42313488e-03 1.27877396e+01] [ 1.24739031e-04 9.99937680e-01 1.11633490e-02 -5.22239223e-01] [ 5.42208022e-03 -1.11638612e-02 9.99922982e-01 -5.58180579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90240100800001 meters Centerline goodness : 0.886947 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.52, Z:-0.56 [[ 9.99984247e-01 -2.22560070e-04 -5.60856568e-03 1.27880535e+01] [ 2.85587012e-04 9.99936796e-01 1.12393283e-02 -5.22743600e-01] [ 5.60570977e-03 -1.12407529e-02 9.99921108e-01 -5.57761592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93240100800001 meters Centerline goodness : 0.887589 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.52, Z:-0.56 [[ 9.99981309e-01 -6.22170326e-04 -6.08238048e-03 1.27891899e+01] [ 6.93244481e-04 9.99931428e-01 1.16901370e-02 -5.24090999e-01] [ 6.07469014e-03 -1.16941351e-02 9.99913169e-01 -5.56853763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96240100800001 meters Centerline goodness : 0.889998 Centerline is valid? [False, False] Translation: X:12.80, Y:-0.53, Z:-0.56 [[ 9.99962790e-01 -4.55197197e-03 -7.32786067e-03 1.27961152e+01] [ 4.64052053e-03 9.99915873e-01 1.21125173e-02 -5.26889536e-01] [ 7.27210836e-03 -1.21460717e-02 9.99899790e-01 -5.55746627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99240100800002 meters Centerline goodness : 0.890266 Centerline is valid? [False, False] Translation: X:12.82, Y:-0.53, Z:-0.55 [[ 9.99917197e-01 -3.85820314e-03 -1.22765123e-02 1.28208764e+01] [ 3.97013553e-03 9.99950655e-01 9.10633522e-03 -5.29313242e-01] [ 1.22407724e-02 -9.15432061e-03 9.99883174e-01 -5.53872089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02240100800002 meters Centerline goodness : 0.888955 Centerline is valid? [False, False] Translation: X:12.82, Y:-0.53, Z:-0.55 [[ 9.99899514e-01 -5.21995066e-03 -1.31800752e-02 1.28244304e+01] [ 5.34162892e-03 9.99943286e-01 9.21372175e-03 -5.30809320e-01] [ 1.31312325e-02 -9.28319897e-03 9.99870688e-01 -5.54094053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.05240100800002 meters Centerline goodness : 0.887770 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.53, Z:-0.55 [[ 9.99870289e-01 -7.50122652e-03 -1.42525873e-02 1.28355377e+01] [ 7.73276448e-03 9.99837891e-01 1.62602727e-02 -5.33965214e-01] [ 1.41283048e-02 -1.63683755e-02 9.99766206e-01 -5.47985267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08240100800002 meters Centerline goodness : 0.893107 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.54, Z:-0.54 [[ 9.99843370e-01 -9.00125446e-03 -1.52385068e-02 1.28388540e+01] [ 9.27612953e-03 9.99793790e-01 1.80646508e-02 -5.38626064e-01] [ 1.50727600e-02 -1.82031757e-02 9.99720689e-01 -5.44893736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.112401008 meters Centerline goodness : 0.894448 Centerline is valid? [False, False] Translation: X:12.85, Y:-0.54, Z:-0.54 [[ 9.99823425e-01 -8.30313034e-03 -1.68575218e-02 1.28456882e+01] [ 8.70545943e-03 9.99675612e-01 2.39350341e-02 -5.41808186e-01] [ 1.66533177e-02 -2.40775603e-02 9.99571377e-01 -5.40880605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14240100800001 meters Centerline goodness : 0.895431 Centerline is valid? [False, False] Translation: X:12.85, Y:-0.54, Z:-0.55 [[ 9.99796208e-01 -1.20197530e-02 -1.62193608e-02 1.28452736e+01] [ 1.23005150e-02 9.99774280e-01 1.73230242e-02 -5.37724151e-01] [ 1.60074813e-02 -1.75190004e-02 9.99718383e-01 -5.45956102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.17240100800001 meters Centerline goodness : 0.892271 Centerline is valid? [False, False] Translation: X:12.85, Y:-0.54, Z:-0.55 [[ 9.99784291e-01 -1.25585011e-02 -1.65425654e-02 1.28472801e+01] [ 1.28245037e-02 9.99788570e-01 1.60731708e-02 -5.35740109e-01] [ 1.63372129e-02 -1.62818539e-02 9.99733963e-01 -5.48483618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20240100800001 meters Centerline goodness : 0.897625 Centerline is valid? [False, False] Translation: X:12.85, Y:-0.54, Z:-0.55 [[ 9.99805159e-01 -9.14844227e-03 -1.74914262e-02 1.28497088e+01] [ 9.50472161e-03 9.99746813e-01 2.03953468e-02 -5.37015824e-01] [ 1.73004119e-02 -2.05576241e-02 9.99638975e-01 -5.47885288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23240100800001 meters Centerline goodness : 0.895771 Centerline is valid? [False, False] Translation: X:12.85, Y:-0.53, Z:-0.56 [[ 9.99891801e-01 -5.00529602e-03 -1.38323170e-02 1.28536863e+01] [ 5.06530498e-03 9.99977897e-01 4.30669153e-03 -5.32244037e-01] [ 1.38104550e-02 -4.37629046e-03 9.99895054e-01 -5.57428395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26240100800001 meters Centerline goodness : 0.898722 Centerline is valid? [False, False] Translation: X:12.85, Y:-0.53, Z:-0.56 [[ 9.99900190e-01 -4.22750993e-03 -1.34810615e-02 1.28520013e+01] [ 4.29136263e-03 9.99979695e-01 4.71106946e-03 -5.32476498e-01] [ 1.34608717e-02 -4.76845137e-03 9.99898028e-01 -5.56711825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29240100800001 meters Centerline goodness : 0.902320 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.53, Z:-0.56 [[ 9.99950041e-01 -1.58079512e-03 -9.87000551e-03 1.28697591e+01] [ 1.57198996e-03 9.99998360e-01 -8.99807425e-04 -5.32183210e-01] [ 9.87141173e-03 8.84246922e-04 9.99950885e-01 -5.59595654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32240100800001 meters Centerline goodness : 0.905615 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.54, Z:-0.56 [[ 9.99947103e-01 2.67089028e-03 -9.93267474e-03 1.28691023e+01] [-2.61379733e-03 9.99980015e-01 5.75653969e-03 -5.37163183e-01] [ 9.94785132e-03 -5.73027319e-03 9.99934100e-01 -5.55354429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35240100800002 meters Centerline goodness : 0.907783 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.54, Z:-0.56 [[ 9.99946459e-01 2.57434450e-03 -1.00225752e-02 1.28693629e+01] [-2.51436015e-03 9.99978881e-01 5.99293140e-03 -5.37723299e-01] [ 1.00377914e-02 -5.96741017e-03 9.99931814e-01 -5.55009412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38240100800002 meters Centerline goodness : 0.908595 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.54, Z:-0.55 [[ 9.99946105e-01 2.68718059e-03 -1.00283047e-02 1.28692607e+01] [-2.61882630e-03 9.99973293e-01 6.82305429e-03 -5.39289430e-01] [ 1.00463716e-02 -6.79642417e-03 9.99926437e-01 -5.53920608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.41240100800002 meters Centerline goodness : 0.910011 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.54, Z:-0.55 [[ 9.99944278e-01 2.36471492e-03 -1.02883060e-02 1.28702525e+01] [-2.29353696e-03 9.99973394e-01 6.92464232e-03 -5.40826009e-01] [ 1.03044071e-02 -6.90065985e-03 9.99923097e-01 -5.54144530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44240100800002 meters Centerline goodness : 0.908627 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.54, Z:-0.55 [[ 9.99936712e-01 1.86582922e-03 -1.10946118e-02 1.28726462e+01] [-1.78092991e-03 9.99969097e-01 7.65726314e-03 -5.44439367e-01] [ 1.11085561e-02 -7.63701980e-03 9.99909134e-01 -5.53784648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.47240100800002 meters Centerline goodness : 0.913246 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.55, Z:-0.55 [[ 9.99934692e-01 1.89189579e-03 -1.12708785e-02 1.28731958e+01] [-1.80544332e-03 9.99968912e-01 7.67567157e-03 -5.45280360e-01] [ 1.12850496e-02 -7.65482136e-03 9.99907021e-01 -5.54131745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.502401008 meters Centerline goodness : 0.913715 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.54, Z:-0.56 [[ 9.99933652e-01 1.65332028e-03 -1.13998979e-02 1.28742581e+01] [-1.57487364e-03 9.99975045e-01 6.88689264e-03 -5.44602703e-01] [ 1.14109997e-02 -6.86848231e-03 9.99911303e-01 -5.55856591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.53240100800001 meters Centerline goodness : 0.910644 Centerline is valid? [False, False] Translation: X:12.88, Y:-0.54, Z:-0.56 [[ 9.99934616e-01 1.51327692e-03 -1.13346024e-02 1.28750617e+01] [-1.44939947e-03 9.99983035e-01 5.64171021e-03 -5.42288171e-01] [ 1.13429475e-02 -5.62491297e-03 9.99919846e-01 -5.58401602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56240100800001 meters Centerline goodness : 0.904036 Centerline is valid? [False, False] Translation: X:12.88, Y:-0.54, Z:-0.56 [[ 9.99916413e-01 4.81789258e-03 -1.19981179e-02 1.28785014e+01] [-4.72407314e-03 9.99958142e-01 7.83561620e-03 -5.38847590e-01] [ 1.20353668e-02 -7.77828126e-03 9.99897319e-01 -5.62241061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.59240100800001 meters Centerline goodness : 0.903909 Centerline is valid? [False, False] Translation: X:12.88, Y:-0.54, Z:-0.56 [[ 9.99915491e-01 5.01478200e-03 -1.19942730e-02 1.28786780e+01] [-4.93497576e-03 9.99965551e-01 6.67406306e-03 -5.36000472e-01] [ 1.20273288e-02 -6.61430759e-03 9.99905793e-01 -5.64025936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62240100800001 meters Centerline goodness : 0.903794 Centerline is valid? [False, False] Translation: X:12.88, Y:-0.53, Z:-0.56 [[ 9.99915429e-01 5.48376631e-03 -1.17924886e-02 1.28776889e+01] [-5.41074676e-03 9.99966048e-01 6.21505403e-03 -5.34339238e-01] [ 1.18261701e-02 -6.15072225e-03 9.99911151e-01 -5.64297714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65240100800001 meters Centerline goodness : 0.907407 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.53, Z:-0.56 [[ 9.99923536e-01 5.66694185e-03 -1.09912331e-02 1.28705844e+01] [-5.62173477e-03 9.99975630e-01 4.13955683e-03 -5.33446187e-01] [ 1.10144238e-02 -4.07745051e-03 9.99931026e-01 -5.60895863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68240100800001 meters Centerline goodness : 0.907709 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.53, Z:-0.56 [[ 9.99923419e-01 6.16348408e-03 -1.07316458e-02 1.28689900e+01] [-6.11192910e-03 9.99969656e-01 4.83020263e-03 -5.34353079e-01] [ 1.07610910e-02 -4.76424167e-03 9.99930748e-01 -5.59317891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71240100800001 meters Centerline goodness : 0.911548 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.53, Z:-0.56 [[ 9.99923308e-01 6.11355849e-03 -1.07704151e-02 1.28688215e+01] [-6.05734124e-03 9.99967901e-01 5.24451066e-03 -5.34840178e-01] [ 1.08021320e-02 -5.17886837e-03 9.99928244e-01 -5.58303431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74240100800002 meters Centerline goodness : 0.911802 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.54, Z:-0.56 [[ 9.99923795e-01 5.70356224e-03 -1.09486760e-02 1.28697692e+01] [-5.63864959e-03 9.99966398e-01 5.95055407e-03 -5.36879661e-01] [ 1.09822475e-02 -5.88836486e-03 9.99922356e-01 -5.57678811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77240100800002 meters Centerline goodness : 0.912005 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.54, Z:-0.56 [[ 9.99920898e-01 5.10639436e-03 -1.14944242e-02 1.28716476e+01] [-5.03570739e-03 9.99968284e-01 6.17023923e-03 -5.38457210e-01] [ 1.15255673e-02 -6.11186859e-03 9.99914900e-01 -5.57678506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80240100800002 meters Centerline goodness : 0.915372 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.54, Z:-0.56 [[ 9.99916161e-01 4.68663184e-03 -1.20708872e-02 1.28732779e+01] [-4.60825406e-03 9.99968173e-01 6.51277463e-03 -5.40347500e-01] [ 1.21010260e-02 -6.45660289e-03 9.99905934e-01 -5.57396939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83240100800002 meters Centerline goodness : 0.916302 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.54, Z:-0.56 [[ 9.99912219e-01 4.55962142e-03 -1.24403979e-02 1.28742607e+01] [-4.47671863e-03 9.99967643e-01 6.68372727e-03 -5.41285695e-01] [ 1.24704706e-02 -6.62744841e-03 9.99900277e-01 -5.57312222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.862401008 meters Centerline goodness : 0.920671 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.54, Z:-0.56 [[ 9.99905144e-01 4.71224015e-03 -1.29420848e-02 1.28748781e+01] [-4.62297831e-03 9.99965382e-01 6.91830017e-03 -5.42823729e-01] [ 1.29742375e-02 -6.85781295e-03 9.99892314e-01 -5.56805679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.89240100800001 meters Centerline goodness : 0.922895 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.54, Z:-0.56 [[ 9.99918834e-01 1.02839744e-03 -1.26991243e-02 1.28744163e+01] [-1.00379231e-03 9.99997607e-01 1.94376748e-03 -5.41201375e-01] [ 1.27010928e-02 -1.93086242e-03 9.99917474e-01 -5.58578205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92240100800001 meters Centerline goodness : 0.923686 Centerline is valid? [False, False] Translation: X:12.88, Y:-0.54, Z:-0.56 [[ 9.99910369e-01 5.88333982e-04 -1.33756402e-02 1.28763358e+01] [-5.61044112e-04 9.99997754e-01 2.04392728e-03 -5.41869189e-01] [ 1.33768127e-02 -2.03623975e-03 9.99908453e-01 -5.58510839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.95240100800001 meters Centerline goodness : 0.924091 Centerline is valid? [False, False] Translation: X:12.88, Y:-0.54, Z:-0.56 [[ 9.99902244e-01 -1.76460847e-04 -1.39811016e-02 1.28787561e+01] [ 1.94753779e-04 9.99999127e-01 1.30705350e-03 -5.40466601e-01] [ 1.39808587e-02 -1.30964860e-03 9.99901405e-01 -5.59808453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98240100800001 meters Centerline goodness : 0.918998 Centerline is valid? [False, False] Translation: X:12.88, Y:-0.54, Z:-0.56 [[ 9.99886449e-01 1.25806767e-03 -1.50168562e-02 1.28849908e+01] [-1.20343848e-03 9.99992628e-01 3.64633994e-03 -5.37768943e-01] [ 1.50213329e-02 -3.62785404e-03 9.99880592e-01 -5.63287330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01240100800001 meters Centerline goodness : 0.916287 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.53, Z:-0.57 [[ 9.99886987e-01 6.02729286e-04 -1.50216637e-02 1.28864341e+01] [-5.66902470e-04 9.99996985e-01 2.38915392e-03 -5.34291856e-01] [ 1.50230585e-02 -2.38036809e-03 9.99884314e-01 -5.65584300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04240100800001 meters Centerline goodness : 0.913231 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.53, Z:-0.57 [[ 9.99865942e-01 3.47640244e-03 -1.60003976e-02 1.28896737e+01] [-3.37185678e-03 9.99972822e-01 6.55628746e-03 -5.34450947e-01] [ 1.60227551e-02 -6.50145748e-03 9.99850490e-01 -5.65134403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07240100800001 meters Centerline goodness : 0.913977 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.53, Z:-0.56 [[ 9.99868556e-01 3.83295188e-03 -1.57536849e-02 1.28881745e+01] [-3.73508809e-03 9.99973575e-01 6.23685571e-03 -5.32295432e-01] [ 1.57771741e-02 -6.17719452e-03 9.99856451e-01 -5.64430655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10240100800002 meters Centerline goodness : 0.918035 Centerline is valid? [False, False] Translation: X:12.90, Y:-0.53, Z:-0.57 [[ 9.99929651e-01 4.74482828e-03 -1.08710915e-02 1.29020022e+01] [-4.78595798e-03 9.99981476e-01 -3.76051475e-03 -5.30002816e-01] [ 1.08530471e-02 3.81227878e-03 9.99933837e-01 -5.68797315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13240100800002 meters Centerline goodness : 0.918035 Centerline is valid? [False, False] Translation: X:12.90, Y:-0.53, Z:-0.57 [[ 9.99929651e-01 4.74482828e-03 -1.08710915e-02 1.29020022e+01] [-4.78595798e-03 9.99981476e-01 -3.76051475e-03 -5.30002816e-01] [ 1.08530471e-02 3.81227878e-03 9.99933837e-01 -5.68797315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16240100800002 meters Centerline goodness : 0.921869 Centerline is valid? [False, False] Translation: X:12.90, Y:-0.53, Z:-0.56 [[ 9.99893188e-01 8.15869113e-03 -1.21263468e-02 1.29038865e+01] [-8.10901144e-03 9.99958550e-01 4.14037687e-03 -5.34825251e-01] [ 1.21596242e-02 -4.04160194e-03 9.99917901e-01 -5.60790246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.19240100800002 meters Centerline goodness : 0.927720 Centerline is valid? [False, False] Translation: X:12.90, Y:-0.53, Z:-0.56 [[ 9.99911524e-01 6.04175622e-03 -1.18508324e-02 1.29005964e+01] [-6.03714222e-03 9.99981686e-01 4.25075395e-04 -5.32665845e-01] [ 1.18531835e-02 -3.53492625e-04 9.99929686e-01 -5.59489464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22240100800002 meters Centerline goodness : 0.925860 Centerline is valid? [False, False] Translation: X:12.90, Y:-0.53, Z:-0.56 [[ 9.99912371e-01 6.39372055e-03 -1.15917984e-02 1.28997299e+01] [-6.39570537e-03 9.99979538e-01 -1.34163546e-04 -5.29789355e-01] [ 1.15907034e-02 2.08289517e-04 9.99932804e-01 -5.59882472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.252401008 meters Centerline goodness : 0.920733 Centerline is valid? [False, False] Translation: X:12.90, Y:-0.53, Z:-0.56 [[ 9.99877594e-01 9.00268677e-03 -1.27964425e-02 1.29042668e+01] [-8.95703995e-03 9.99953332e-01 3.61999713e-03 -5.29966964e-01] [ 1.28284350e-02 -3.50493578e-03 9.99911569e-01 -5.60756042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28240100800001 meters Centerline goodness : 0.916100 Centerline is valid? [False, False] Translation: X:12.91, Y:-0.53, Z:-0.56 [[ 9.99881654e-01 8.20334521e-03 -1.30147601e-02 1.29066755e+01] [-8.17501126e-03 9.99964100e-01 2.22877211e-03 -5.27397124e-01] [ 1.30325763e-02 -2.12211253e-03 9.99912820e-01 -5.63821588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.31240100800001 meters Centerline goodness : 0.913647 Centerline is valid? [False, False] Translation: X:12.91, Y:-0.53, Z:-0.56 [[ 9.99842051e-01 1.08626142e-02 -1.40668325e-02 1.29107326e+01] [-1.07735499e-02 9.99921534e-01 6.39189206e-03 -5.29516064e-01] [ 1.41351614e-02 -6.23933274e-03 9.99880627e-01 -5.64120303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34240100800001 meters Centerline goodness : 0.913780 Centerline is valid? [False, False] Translation: X:12.91, Y:-0.53, Z:-0.56 [[ 9.99836625e-01 9.63428902e-03 -1.52939013e-02 1.29144734e+01] [-9.52531965e-03 9.99928841e-01 7.18194826e-03 -5.33454508e-01] [ 1.53620060e-02 -7.03509561e-03 9.99857248e-01 -5.63159183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37240100800001 meters Centerline goodness : 0.914843 Centerline is valid? [False, False] Translation: X:12.92, Y:-0.54, Z:-0.56 [[ 9.99830495e-01 9.14629126e-03 -1.59789215e-02 1.29164363e+01] [-9.02506832e-03 9.99930070e-01 7.64213875e-03 -5.35668677e-01] [ 1.60477013e-02 -7.49663251e-03 9.99843124e-01 -5.62766723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40240100800001 meters Centerline goodness : 0.916870 Centerline is valid? [False, False] Translation: X:12.92, Y:-0.54, Z:-0.56 [[ 9.99826356e-01 8.33052818e-03 -1.66691266e-02 1.29190540e+01] [-8.20834310e-03 9.99939040e-01 7.38506453e-03 -5.36590357e-01] [ 1.67296319e-02 -7.24695625e-03 9.99833787e-01 -5.63595297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43240100800001 meters Centerline goodness : 0.918766 Centerline is valid? [False, False] Translation: X:12.92, Y:-0.54, Z:-0.56 [[ 9.99821895e-01 7.53579624e-03 -1.73028782e-02 1.29217231e+01] [-7.41694364e-03 9.99948530e-01 6.92287869e-03 -5.36583601e-01] [ 1.73541570e-02 -6.79331122e-03 9.99826327e-01 -5.64846756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46240100800001 meters Centerline goodness : 0.920240 Centerline is valid? [False, False] Translation: X:12.92, Y:-0.54, Z:-0.56 [[ 9.99818123e-01 7.31718473e-03 -1.76118953e-02 1.29225899e+01] [-7.19583493e-03 9.99950001e-01 6.94375629e-03 -5.37069958e-01] [ 1.76618235e-02 -6.81576109e-03 9.99820787e-01 -5.64734154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49240100800002 meters Centerline goodness : 0.920075 Centerline is valid? [False, False] Translation: X:12.92, Y:-0.54, Z:-0.56 [[ 9.99767347e-01 1.06800828e-02 -1.87399807e-02 1.29246932e+01] [-1.04228103e-02 9.99850825e-01 1.37729193e-02 -5.41730237e-01] [ 1.88842811e-02 -1.35743917e-02 9.99729523e-01 -5.59224494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52240100800002 meters Centerline goodness : 0.924614 Centerline is valid? [False, False] Translation: X:12.92, Y:-0.54, Z:-0.56 [[ 9.99805346e-01 7.54507513e-03 -1.82302630e-02 1.29224410e+01] [-7.38002932e-03 9.99931326e-01 9.10377510e-03 -5.39707226e-01] [ 1.82976997e-02 -8.96746314e-03 9.99792368e-01 -5.59852058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.55240100800002 meters Centerline goodness : 0.925034 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.54, Z:-0.57 [[ 9.99878284e-01 7.85445047e-03 -1.34805049e-02 1.29371580e+01] [-7.87536185e-03 9.99967866e-01 -1.49884800e-03 -5.37574726e-01] [ 1.34682991e-02 1.60482942e-03 9.99908010e-01 -5.65370013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58240100800002 meters Centerline goodness : 0.926551 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.54, Z:-0.56 [[ 9.99874804e-01 7.86454571e-03 -1.37304837e-02 1.29374054e+01] [-7.88300138e-03 9.99968096e-01 -1.29053431e-03 -5.37356105e-01] [ 1.37198962e-02 1.39861016e-03 9.99904900e-01 -5.64627680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.61240100800002 meters Centerline goodness : 0.925293 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.54, Z:-0.57 [[ 9.99875150e-01 7.25231974e-03 -1.40388199e-02 1.29391439e+01] [-7.28197157e-03 9.99971360e-01 -2.06216644e-03 -5.35403180e-01] [ 1.40234624e-02 2.16413927e-03 9.99899324e-01 -5.66018249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64240100800001 meters Centerline goodness : 0.922570 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.53, Z:-0.57 [[ 9.99875644e-01 6.38154266e-03 -1.44212361e-02 1.29416256e+01] [-6.43157629e-03 9.99973449e-01 -3.42572964e-03 -5.32584602e-01] [ 1.43989918e-02 3.51805491e-03 9.99890140e-01 -5.68549669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.67240100800001 meters Centerline goodness : 0.920167 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.53, Z:-0.57 [[ 9.99875671e-01 5.93632516e-03 -1.46082733e-02 1.29431691e+01] [-5.99997795e-03 9.99972680e-01 -4.31734838e-03 -5.30490496e-01] [ 1.45822451e-02 4.40446093e-03 9.99883973e-01 -5.70397108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70240100800001 meters Centerline goodness : 0.919822 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.53, Z:-0.57 [[ 9.99873971e-01 6.23076528e-03 -1.46020172e-02 1.29430077e+01] [-6.30166422e-03 9.99968555e-01 -4.81445018e-03 -5.28275482e-01] [ 1.45715603e-02 4.90586043e-03 9.99881794e-01 -5.70986932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73240100800001 meters Centerline goodness : 0.920639 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.53, Z:-0.57 [[ 9.99872490e-01 6.84327314e-03 -1.44282460e-02 1.29417238e+01] [-6.90976539e-03 9.99965713e-01 -4.56367454e-03 -5.27586642e-01] [ 1.43965209e-02 4.66278842e-03 9.99885493e-01 -5.70135444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76240100800001 meters Centerline goodness : 0.922472 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.53, Z:-0.57 [[ 9.99826597e-01 1.05872103e-02 -1.53194820e-02 1.29433436e+01] [-1.05830856e-02 9.99943936e-01 3.50290424e-04 -5.28941408e-01] [ 1.53223317e-02 -1.88102294e-04 9.99882588e-01 -5.68043137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79240100800001 meters Centerline goodness : 0.920745 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.53, Z:-0.57 [[ 9.99823602e-01 1.09926007e-02 -1.52291848e-02 1.29428668e+01] [-1.09971090e-02 9.99939507e-01 -2.12317536e-04 -5.25997329e-01] [ 1.52259296e-02 3.79757089e-04 9.99884007e-01 -5.68595872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82240100800001 meters Centerline goodness : 0.919153 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.52, Z:-0.57 [[ 9.99768891e-01 1.55014949e-02 -1.48952290e-02 1.29419092e+01] [-1.54559897e-02 9.99875539e-01 3.16529787e-03 -5.22190971e-01] [ 1.49424420e-02 -2.93434584e-03 9.99884050e-01 -5.69084889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85240100800002 meters Centerline goodness : 0.915513 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.52, Z:-0.57 [[ 9.99771996e-01 1.54623474e-02 -1.47265517e-02 1.29418151e+01] [-1.54269481e-02 9.99877836e-01 2.51435129e-03 -5.20273787e-01] [ 1.47636304e-02 -2.28659226e-03 9.99888397e-01 -5.69945987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88240100800002 meters Centerline goodness : 0.912653 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.52, Z:-0.57 [[ 9.99773931e-01 1.51525050e-02 -1.49160763e-02 1.29424692e+01] [-1.51244625e-02 9.99883636e-01 1.99104312e-03 -5.18814359e-01] [ 1.49445099e-02 -1.76499537e-03 9.99886767e-01 -5.70333717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.91240100800002 meters Centerline goodness : 0.914614 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.52, Z:-0.57 [[ 9.99770204e-01 1.55408163e-02 -1.47655804e-02 1.29410056e+01] [-1.54996590e-02 9.99875674e-01 2.89774255e-03 -5.20280322e-01] [ 1.48087779e-02 -2.66821519e-03 9.99886784e-01 -5.68189440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94240100800002 meters Centerline goodness : 0.916250 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.52, Z:-0.57 [[ 9.99767011e-01 1.54322716e-02 -1.50920013e-02 1.29413991e+01] [-1.53827977e-02 9.99875935e-01 3.38877426e-03 -5.21673997e-01] [ 1.51424254e-02 -3.15582752e-03 9.99880367e-01 -5.67089456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.97240100800002 meters Centerline goodness : 0.918226 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.52, Z:-0.57 [[ 9.99760797e-01 1.53872426e-02 -1.55429173e-02 1.29417849e+01] [-1.53217136e-02 9.99873256e-01 4.32632674e-03 -5.23693522e-01] [ 1.56075176e-02 -4.08714774e-03 9.99869842e-01 -5.65162654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.002401008 meters Centerline goodness : 0.916229 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.53, Z:-0.56 [[ 9.99758919e-01 1.50771628e-02 -1.59619116e-02 1.29426755e+01] [-1.50003385e-02 9.99875375e-01 4.92181721e-03 -5.25502703e-01] [ 1.60341294e-02 -4.68119657e-03 9.99860487e-01 -5.64048662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.03240100800001 meters Centerline goodness : 0.919886 Centerline is valid? [False, False] Translation: X:12.95, Y:-0.53, Z:-0.56 [[ 9.99767275e-01 1.36444067e-02 -1.67100591e-02 1.29462523e+01] [-1.35599204e-02 9.99894751e-01 5.15892811e-03 -5.28418130e-01] [ 1.67786910e-02 -4.93114043e-03 9.99847068e-01 -5.64570363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06240100800001 meters Centerline goodness : 0.916419 Centerline is valid? [False, False] Translation: X:12.95, Y:-0.53, Z:-0.57 [[ 9.99767348e-01 1.25579719e-02 -1.75370290e-02 1.29496979e+01] [-1.24725023e-02 9.99909841e-01 4.97457051e-03 -5.29808407e-01] [ 1.75979184e-02 -4.75468253e-03 9.99833839e-01 -5.65668372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09240100800001 meters Centerline goodness : 0.914423 Centerline is valid? [False, False] Translation: X:12.95, Y:-0.53, Z:-0.57 [[ 9.99765190e-01 1.17373050e-02 -1.82153770e-02 1.29525140e+01] [-1.16500783e-02 9.99920191e-01 4.88738186e-03 -5.31667322e-01] [ 1.82712880e-02 -4.67402369e-03 9.99822141e-01 -5.66705141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12240100800001 meters Centerline goodness : 0.912378 Centerline is valid? [False, False] Translation: X:12.96, Y:-0.53, Z:-0.57 [[ 9.99758109e-01 1.08714689e-02 -1.91189645e-02 1.29556668e+01] [-1.07825961e-02 9.99930606e-01 4.74537145e-03 -5.33145200e-01] [ 1.91692269e-02 -4.53807152e-03 9.99805954e-01 -5.67566109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15240100800001 meters Centerline goodness : 0.913263 Centerline is valid? [False, False] Translation: X:12.96, Y:-0.53, Z:-0.57 [[ 9.99751418e-01 9.84923733e-03 -2.00023791e-02 1.29595813e+01] [-9.79163613e-03 9.99947633e-01 2.97561845e-03 -5.31719025e-01] [ 2.00306392e-02 -2.77902275e-03 9.99795504e-01 -5.71160942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18240100800001 meters Centerline goodness : 0.910009 Centerline is valid? [False, False] Translation: X:12.96, Y:-0.53, Z:-0.57 [[ 9.99745193e-01 8.91843401e-03 -2.07366883e-02 1.29626476e+01] [-8.87557509e-03 9.99958283e-01 2.15793512e-03 -5.31762928e-01] [ 2.07550687e-02 -1.97333523e-03 9.99782643e-01 -5.73006548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21240100800001 meters Centerline goodness : 0.907605 Centerline is valid? [False, False] Translation: X:12.97, Y:-0.53, Z:-0.57 [[ 9.99733678e-01 7.97082764e-03 -2.16573281e-02 1.29657809e+01] [-7.93268240e-03 9.99966831e-01 1.84664994e-03 -5.32164382e-01] [ 2.16713291e-02 -1.67435743e-03 9.99763747e-01 -5.73623388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24240100800002 meters Centerline goodness : 0.908835 Centerline is valid? [False, False] Translation: X:12.97, Y:-0.53, Z:-0.58 [[ 9.99720014e-01 6.68995382e-03 -2.26966623e-02 1.29699693e+01] [-6.66579757e-03 9.99977134e-01 1.13979800e-03 -5.32370316e-01] [ 2.27037685e-02 -9.88187512e-04 9.99741748e-01 -5.75423000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.27240100800002 meters Centerline goodness : 0.908049 Centerline is valid? [False, False] Translation: X:12.97, Y:-0.53, Z:-0.58 [[ 9.99717115e-01 6.22026275e-03 -2.29564350e-02 1.29713263e+01] [-6.20858859e-03 9.99980558e-01 5.79773929e-04 -5.30996972e-01] [ 2.29595950e-02 -4.37082859e-04 9.99736298e-01 -5.76386221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30240100800002 meters Centerline goodness : 0.908290 Centerline is valid? [False, False] Translation: X:12.97, Y:-0.53, Z:-0.57 [[ 9.99668236e-01 9.78371971e-03 -2.38263709e-02 1.29730246e+01] [-9.64851974e-03 9.99936731e-01 5.78275186e-03 -5.32989507e-01] [ 2.38814402e-02 -5.55094415e-03 9.99699387e-01 -5.73814610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33240100800002 meters Centerline goodness : 0.915441 Centerline is valid? [False, False] Translation: X:12.98, Y:-0.53, Z:-0.57 [[ 9.99802294e-01 9.95241928e-03 -1.72140120e-02 1.29820261e+01] [-1.00148313e-02 9.99943573e-01 -3.54325331e-03 -5.31522585e-01] [ 1.71777767e-02 3.71494821e-03 9.99845550e-01 -5.73204694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36240100800002 meters Centerline goodness : 0.920060 Centerline is valid? [False, False] Translation: X:12.98, Y:-0.53, Z:-0.57 [[ 9.99796083e-01 1.03397032e-02 -1.73459956e-02 1.29808133e+01] [-1.03713495e-02 9.99944710e-01 -1.73544375e-03 -5.33432128e-01] [ 1.73270926e-02 1.91499124e-03 9.99848041e-01 -5.69359219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.39240100800001 meters Centerline goodness : 0.914811 Centerline is valid? [False, False] Translation: X:12.98, Y:-0.53, Z:-0.57 [[ 9.99796324e-01 1.01617729e-02 -1.74370021e-02 1.29808205e+01] [-1.01843869e-02 9.99947407e-01 -1.20858509e-03 -5.33517103e-01] [ 1.74238037e-02 1.38592411e-03 9.99847233e-01 -5.68066787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42240100800001 meters Centerline goodness : 0.915527 Centerline is valid? [False, False] Translation: X:12.98, Y:-0.53, Z:-0.57 [[ 9.99797254e-01 9.79595276e-03 -1.75923308e-02 1.29814041e+01] [-9.81547241e-03 9.99951303e-01 -1.02354982e-03 -5.32833111e-01] [ 1.75814474e-02 1.19601933e-03 9.99844719e-01 -5.67500611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.45240100800001 meters Centerline goodness : 0.913381 Centerline is valid? [False, False] Translation: X:12.98, Y:-0.53, Z:-0.57 [[ 9.99799572e-01 9.32885932e-03 -1.77140655e-02 1.29823255e+01] [-9.35025332e-03 9.99955652e-01 -1.12530148e-03 -5.32582635e-01] [ 1.77027822e-02 1.29070694e-03 9.99842460e-01 -5.67809809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48240100800001 meters Centerline goodness : 0.913020 Centerline is valid? [False, False] Translation: X:12.99, Y:-0.53, Z:-0.57 [[ 9.99792267e-01 7.35223391e-03 -1.90096795e-02 1.29866841e+01] [-7.36024964e-03 9.99972851e-01 -3.51734704e-04 -5.34566198e-01] [ 1.90065774e-02 4.91577624e-04 9.99819238e-01 -5.66000103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51240100800001 meters Centerline goodness : 0.913438 Centerline is valid? [False, False] Translation: X:12.99, Y:-0.54, Z:-0.56 [[ 9.99777242e-01 6.51534345e-03 -2.00752813e-02 1.29892493e+01] [-6.50827227e-03 9.99978734e-01 4.17547749e-04 -5.37005472e-01] [ 2.00775748e-02 -2.86799341e-04 9.99798384e-01 -5.64433079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54240100800001 meters Centerline goodness : 0.915587 Centerline is valid? [False, False] Translation: X:12.99, Y:-0.54, Z:-0.56 [[ 9.99764081e-01 5.35426975e-03 -2.10502759e-02 1.29923490e+01] [-5.34234384e-03 9.99985536e-01 6.22738671e-04 -5.38582349e-01] [ 2.10533057e-02 -5.10133944e-04 9.99778224e-01 -5.63909678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57240100800001 meters Centerline goodness : 0.911541 Centerline is valid? [False, False] Translation: X:13.00, Y:-0.54, Z:-0.57 [[ 9.99734131e-01 2.27344702e-03 -2.29455693e-02 1.30003837e+01] [-2.28498583e-03 9.99997276e-01 -4.76671200e-04 -5.38150048e-01] [ 2.29444231e-02 5.28974769e-04 9.99736602e-01 -5.65863746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60240100800002 meters Centerline goodness : 0.908797 Centerline is valid? [False, False] Translation: X:13.01, Y:-0.54, Z:-0.57 [[ 9.99703717e-01 2.90794814e-03 -2.41665614e-02 1.30072008e+01] [-2.84794003e-03 9.99992777e-01 2.51715169e-03 -5.38699971e-01] [ 2.41737066e-02 -2.44758098e-03 9.99704777e-01 -5.67278156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63240100800002 meters Centerline goodness : 0.905904 Centerline is valid? [False, False] Translation: X:13.01, Y:-0.54, Z:-0.57 [[ 9.99661658e-01 4.93952382e-03 -2.55376448e-02 1.30125609e+01] [-4.77702122e-03 9.99967979e-01 6.42035350e-03 -5.39723642e-01] [ 2.55685406e-02 -6.29618735e-03 9.99653244e-01 -5.67456667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66240100800002 meters Centerline goodness : 0.901838 Centerline is valid? [False, False] Translation: X:13.02, Y:-0.54, Z:-0.57 [[ 9.99618743e-01 7.95691703e-03 -2.64396711e-02 1.30157851e+01] [-7.69836530e-03 9.99921692e-01 9.86637451e-03 -5.38842539e-01] [ 2.65161066e-02 -9.65907064e-03 9.99601720e-01 -5.68218976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.69240100800002 meters Centerline goodness : 0.899353 Centerline is valid? [False, False] Translation: X:13.03, Y:-0.54, Z:-0.58 [[ 9.99719555e-01 9.15961139e-03 -2.18383425e-02 1.30305793e+01] [-9.17777042e-03 9.99957616e-01 -7.31437990e-04 -5.35389373e-01] [ 2.18307172e-02 9.31660156e-04 9.99761247e-01 -5.75020423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72240100800002 meters Centerline goodness : 0.899855 Centerline is valid? [False, False] Translation: X:13.03, Y:-0.54, Z:-0.57 [[ 9.99714939e-01 9.80998908e-03 -2.17670478e-02 1.30290716e+01] [-9.81192942e-03 9.99951862e-01 1.76603863e-05 -5.35542010e-01] [ 2.17661732e-02 1.95921385e-04 9.99763070e-01 -5.73011988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.752401008 meters Centerline goodness : 0.899787 Centerline is valid? [False, False] Translation: X:13.04, Y:-0.53, Z:-0.58 [[ 9.99779143e-01 1.38765169e-02 -1.57831362e-02 1.30397483e+01] [-1.39852006e-02 9.99879102e-01 -6.79665802e-03 -5.33507327e-01] [ 1.56869141e-02 7.01588726e-03 9.99852338e-01 -5.75357705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78240100800001 meters Centerline goodness : 0.899770 Centerline is valid? [False, False] Translation: X:13.04, Y:-0.54, Z:-0.57 [[ 9.99705702e-01 1.80693465e-02 -1.61866672e-02 1.30399995e+01] [-1.80956993e-02 9.99835160e-01 -1.48305867e-03 -5.35035359e-01] [ 1.61572011e-02 1.77553128e-03 9.99867887e-01 -5.72768013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.81240100800001 meters Centerline goodness : 0.901135 Centerline is valid? [False, False] Translation: X:13.04, Y:-0.53, Z:-0.57 [[ 9.99695505e-01 1.90887402e-02 -1.56370181e-02 1.30379297e+01] [-1.91168188e-02 9.99815898e-01 -1.64813528e-03 -5.32614543e-01] [ 1.56026785e-02 1.94656348e-03 9.99876376e-01 -5.72866621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84240100800001 meters Centerline goodness : 0.902223 Centerline is valid? [False, False] Translation: X:13.04, Y:-0.53, Z:-0.57 [[ 9.99683062e-01 1.99782171e-02 -1.53181473e-02 1.30366651e+01] [-2.00132461e-02 9.99797431e-01 -2.13687796e-03 -5.30072258e-01] [ 1.52723533e-02 2.44276656e-03 9.99880387e-01 -5.73686451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87240100800001 meters Centerline goodness : 0.901578 Centerline is valid? [False, False] Translation: X:13.04, Y:-0.53, Z:-0.57 [[ 9.99674689e-01 2.06626922e-02 -1.49522280e-02 1.30355200e+01] [-2.07050166e-02 9.99782032e-01 -2.68137811e-03 -5.27824983e-01] [ 1.48935644e-02 2.99009195e-03 9.99884614e-01 -5.74530712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90240100800001 meters Centerline goodness : 0.901609 Centerline is valid? [False, False] Translation: X:13.03, Y:-0.53, Z:-0.58 [[ 9.99612925e-01 2.31921652e-02 -1.53663381e-02 1.30342615e+01] [-2.32321638e-02 9.99727145e-01 -2.42959880e-03 -5.25509379e-01] [ 1.53057977e-02 2.78565165e-03 9.99878979e-01 -5.75141295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93240100800001 meters Centerline goodness : 0.901065 Centerline is valid? [False, False] Translation: X:13.03, Y:-0.52, Z:-0.58 [[ 9.99611222e-01 2.32497203e-02 -1.53901106e-02 1.30347735e+01] [-2.33022298e-02 9.99723211e-01 -3.24139205e-03 -5.23678696e-01] [ 1.53104893e-02 3.59875576e-03 9.99876311e-01 -5.76679454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96240100800001 meters Centerline goodness : 0.898639 Centerline is valid? [False, False] Translation: X:13.04, Y:-0.52, Z:-0.58 [[ 9.99612520e-01 2.32115371e-02 -1.53633808e-02 1.30351615e+01] [-2.32706504e-02 9.99722428e-01 -3.68012730e-03 -5.22697311e-01] [ 1.52736949e-02 4.03621719e-03 9.99875204e-01 -5.77630115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99240100800002 meters Centerline goodness : 0.900193 Centerline is valid? [False, False] Translation: X:13.04, Y:-0.52, Z:-0.58 [[ 9.99621568e-01 2.23521650e-02 -1.60343953e-02 1.30378157e+01] [-2.24134325e-02 9.99742119e-01 -3.65151227e-03 -5.24902826e-01] [ 1.59486411e-02 4.00951625e-03 9.99864773e-01 -5.78323300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02240100800002 meters Centerline goodness : 0.900193 Centerline is valid? [False, False] Translation: X:13.04, Y:-0.52, Z:-0.58 [[ 9.99621568e-01 2.23521650e-02 -1.60343953e-02 1.30378157e+01] [-2.24134325e-02 9.99742119e-01 -3.65151227e-03 -5.24902826e-01] [ 1.59486411e-02 4.00951625e-03 9.99864773e-01 -5.78323300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.05240100800002 meters Centerline goodness : 0.900202 Centerline is valid? [False, False] Translation: X:13.04, Y:-0.53, Z:-0.58 [[ 9.99631204e-01 2.11863525e-02 -1.69880911e-02 1.30410198e+01] [-2.12423322e-02 9.99769483e-01 -3.12156182e-03 -5.27876909e-01] [ 1.69180405e-02 3.48127728e-03 9.99850819e-01 -5.77916430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08240100800002 meters Centerline goodness : 0.902461 Centerline is valid? [False, False] Translation: X:13.05, Y:-0.53, Z:-0.58 [[ 9.99732638e-01 1.49678924e-02 -1.76242919e-02 1.30450808e+01] [-1.50853870e-02 9.99864738e-01 -6.55265738e-03 -5.32435355e-01] [ 1.75238286e-02 6.81677472e-03 9.99823208e-01 -5.78393655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11240100800002 meters Centerline goodness : 0.899885 Centerline is valid? [False, False] Translation: X:13.05, Y:-0.54, Z:-0.58 [[ 9.99736366e-01 1.36657992e-02 -1.84511241e-02 1.30482650e+01] [-1.37704603e-02 9.99889740e-01 -5.55725043e-03 -5.35791462e-01] [ 1.83731454e-02 5.80986582e-03 9.99814319e-01 -5.77389004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14240100800001 meters Centerline goodness : 0.900913 Centerline is valid? [False, False] Translation: X:13.05, Y:-0.54, Z:-0.57 [[ 9.99734382e-01 1.34959616e-02 -1.86822168e-02 1.30480026e+01] [-1.35743115e-02 9.99899568e-01 -4.07338273e-03 -5.37731226e-01] [ 1.86253663e-02 4.32589900e-03 9.99817174e-01 -5.74130320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.17240100800001 meters Centerline goodness : 0.899517 Centerline is valid? [False, False] Translation: X:13.05, Y:-0.54, Z:-0.57 [[ 9.99732681e-01 1.32001444e-02 -1.89821513e-02 1.30486784e+01] [-1.32725800e-02 9.99905088e-01 -3.69507325e-03 -5.37969698e-01] [ 1.89315741e-02 3.94602761e-03 9.99812995e-01 -5.73232710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20240100800001 meters Centerline goodness : 0.903474 Centerline is valid? [False, False] Translation: X:13.05, Y:-0.54, Z:-0.57 [[ 9.99731418e-01 1.27422216e-02 -1.93578785e-02 1.30497220e+01] [-1.28147053e-02 9.99911317e-01 -3.62497961e-03 -5.37728520e-01] [ 1.93099715e-02 3.87207151e-03 9.99806047e-01 -5.72697198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23240100800001 meters Centerline goodness : 0.898675 Centerline is valid? [False, False] Translation: X:13.05, Y:-0.54, Z:-0.57 [[ 9.99670073e-01 1.52158365e-02 -2.06935640e-02 1.30536690e+01] [-1.51771711e-02 9.99882771e-01 2.02425022e-03 -5.40520888e-01] [ 2.07219388e-02 -1.70951261e-03 9.99783816e-01 -5.69246686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26240100800001 meters Centerline goodness : 0.898412 Centerline is valid? [False, False] Translation: X:13.06, Y:-0.54, Z:-0.57 [[ 9.99667250e-01 1.47436625e-02 -2.11663380e-02 1.30550607e+01] [-1.47151194e-02 9.99890596e-01 1.50364242e-03 -5.39114221e-01] [ 2.11861915e-02 -1.19167689e-03 9.99774837e-01 -5.69624400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29240100800001 meters Centerline goodness : 0.898733 Centerline is valid? [False, False] Translation: X:13.06, Y:-0.54, Z:-0.57 [[ 9.99667266e-01 1.43835065e-02 -2.14119434e-02 1.30560652e+01] [-1.43673199e-02 9.99896371e-01 9.09612417e-04 -5.37938911e-01] [ 2.14228079e-02 -6.01677518e-04 9.99770324e-01 -5.70391665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32240100800001 meters Centerline goodness : 0.899721 Centerline is valid? [False, False] Translation: X:13.06, Y:-0.54, Z:-0.57 [[ 9.99665090e-01 1.40254606e-02 -2.17484320e-02 1.30570823e+01] [-1.40144472e-02 9.99901576e-01 6.58740632e-04 -5.37089637e-01] [ 2.17555305e-02 -3.53727762e-04 9.99763258e-01 -5.70467166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35240100800002 meters Centerline goodness : 0.899503 Centerline is valid? [False, False] Translation: X:13.06, Y:-0.54, Z:-0.57 [[ 9.99661133e-01 1.37944454e-02 -2.20756091e-02 1.30579805e+01] [-1.37864161e-02 9.99904830e-01 5.15874393e-04 -5.36806078e-01] [ 2.20806244e-02 -2.11356049e-04 9.99756171e-01 -5.70544830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38240100800002 meters Centerline goodness : 0.899480 Centerline is valid? [False, False] Translation: X:13.06, Y:-0.54, Z:-0.57 [[ 9.99596619e-01 1.67380483e-02 -2.29442214e-02 1.30610087e+01] [-1.66253520e-02 9.99848814e-01 5.09374612e-03 -5.39677220e-01] [ 2.30260119e-02 -4.71023564e-03 9.99723770e-01 -5.69661871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.41240100800002 meters Centerline goodness : 0.897113 Centerline is valid? [False, False] Translation: X:13.06, Y:-0.54, Z:-0.57 [[ 9.99520908e-01 1.99152435e-02 -2.36925580e-02 1.30636623e+01] [-1.96776432e-02 9.99754144e-01 1.02197264e-02 -5.42646304e-01] [ 2.38902614e-02 -9.74861648e-03 9.99667055e-01 -5.68068571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44240100800002 meters Centerline goodness : 0.895799 Centerline is valid? [False, False] Translation: X:13.06, Y:-0.54, Z:-0.57 [[ 9.99524100e-01 1.96915073e-02 -2.37448334e-02 1.30640569e+01] [-1.94592518e-02 9.99760909e-01 9.97303513e-03 -5.42282619e-01] [ 2.39355403e-02 -9.50623228e-03 9.99668306e-01 -5.68393276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.47240100800002 meters Centerline goodness : 0.897888 Centerline is valid? [False, False] Translation: X:13.06, Y:-0.54, Z:-0.57 [[ 9.99523677e-01 1.96958576e-02 -2.37590531e-02 1.30641175e+01] [-1.94561732e-02 9.99757886e-01 1.02774823e-02 -5.42663292e-01] [ 2.39557245e-02 -9.81032668e-03 9.99664884e-01 -5.68022062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.502401008 meters Centerline goodness : 0.893845 Centerline is valid? [False, False] Translation: X:13.07, Y:-0.54, Z:-0.58 [[ 9.99811636e-01 1.51562239e-02 -1.21235914e-02 1.30714360e+01] [-1.50703695e-02 9.99860929e-01 7.14188912e-03 -5.39822234e-01] [ 1.22301494e-02 -6.95783684e-03 9.99901001e-01 -5.76485674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.53240100800001 meters Centerline goodness : 0.896820 Centerline is valid? [False, False] Translation: X:13.07, Y:-0.54, Z:-0.58 [[ 9.99856748e-01 1.20331302e-02 -1.19032614e-02 1.30697107e+01] [-1.20020604e-02 9.99924386e-01 2.67819317e-03 -5.38469653e-01] [ 1.19345884e-02 -2.53494585e-03 9.99925567e-01 -5.76926034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56240100800001 meters Centerline goodness : 0.897634 Centerline is valid? [False, False] Translation: X:13.07, Y:-0.54, Z:-0.58 [[ 9.99856386e-01 1.13885343e-02 -1.25502172e-02 1.30715900e+01] [-1.13570443e-02 9.99932185e-01 2.57754175e-03 -5.39086164e-01] [ 1.25787205e-02 -2.43463820e-03 9.99917921e-01 -5.76908227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59240100800001 meters Centerline goodness : 0.898995 Centerline is valid? [False, False] Translation: X:13.07, Y:-0.54, Z:-0.58 [[ 9.99854671e-01 1.05766345e-02 -1.33705646e-02 1.30741633e+01] [-1.05460138e-02 9.99941608e-01 2.35859184e-03 -5.39363515e-01] [ 1.33947298e-02 -2.21724291e-03 9.99907828e-01 -5.77227758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62240100800001 meters Centerline goodness : 0.896900 Centerline is valid? [False, False] Translation: X:13.08, Y:-0.54, Z:-0.58 [[ 9.99828208e-01 1.09649443e-02 -1.49440649e-02 1.30817430e+01] [-1.08688819e-02 9.99919843e-01 6.49426083e-03 -5.40990455e-01] [ 1.50140762e-02 -6.33071989e-03 9.99867241e-01 -5.76402291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65240100800001 meters Centerline goodness : 0.896484 Centerline is valid? [False, False] Translation: X:13.10, Y:-0.54, Z:-0.58 [[ 9.99821734e-01 7.46499328e-03 -1.73428284e-02 1.30972818e+01] [-7.28249180e-03 9.99917695e-01 1.05625961e-02 -5.42069364e-01] [ 1.74202507e-02 -1.04344142e-02 9.99793808e-01 -5.75397746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68240100800001 meters Centerline goodness : 0.897630 Centerline is valid? [False, False] Translation: X:13.11, Y:-0.54, Z:-0.57 [[ 9.99799924e-01 6.08608462e-03 -1.90544330e-02 1.31082949e+01] [-5.77563274e-03 9.99850371e-01 1.63057482e-02 -5.43709815e-01] [ 1.91508200e-02 -1.61924344e-02 9.99685476e-01 -5.71633761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71240100800001 meters Centerline goodness : 0.895919 Centerline is valid? [False, False] Translation: X:13.12, Y:-0.54, Z:-0.57 [[ 9.99785372e-01 3.35312704e-03 -2.04442286e-02 1.31152202e+01] [-3.05190491e-03 9.99886595e-01 1.47472861e-02 -5.41796189e-01] [ 2.04913596e-02 -1.46817271e-02 9.99682225e-01 -5.74732785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74240100800002 meters Centerline goodness : 0.895929 Centerline is valid? [False, False] Translation: X:13.12, Y:-0.54, Z:-0.57 [[ 9.99744055e-01 4.73578335e-03 -2.21223215e-02 1.31213150e+01] [-4.27926024e-03 9.99777850e-01 2.06382641e-02 -5.43697558e-01] [ 2.22151454e-02 -2.05383147e-02 9.99542228e-01 -5.70770061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77240100800002 meters Centerline goodness : 0.894645 Centerline is valid? [False, False] Translation: X:13.12, Y:-0.54, Z:-0.57 [[ 9.99740800e-01 4.36307067e-03 -2.23449202e-02 1.31218206e+01] [-3.90233420e-03 9.99779737e-01 2.06215520e-02 -5.42917077e-01] [ 2.24299718e-02 -2.05290096e-02 9.99537621e-01 -5.70155367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80240100800002 meters Centerline goodness : 0.899445 Centerline is valid? [False, False] Translation: X:13.12, Y:-0.54, Z:-0.57 [[ 9.99762301e-01 6.23518451e-04 -2.17934025e-02 1.31191903e+01] [-2.73780082e-04 9.99871198e-01 1.60472022e-02 -5.39416817e-01] [ 2.18006012e-02 -1.60374212e-02 9.99633700e-01 -5.69132253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83240100800002 meters Centerline goodness : 0.900295 Centerline is valid? [False, False] Translation: X:13.12, Y:-0.54, Z:-0.57 [[ 9.99772991e-01 -2.54705174e-03 -2.11537208e-02 1.31162553e+01] [ 2.79338901e-03 9.99928540e-01 1.16237306e-02 -5.36247173e-01] [ 2.11226029e-02 -1.16801825e-02 9.99708662e-01 -5.68576406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86240100800002 meters Centerline goodness : 0.904803 Centerline is valid? [False, False] Translation: X:13.11, Y:-0.54, Z:-0.57 [[ 9.99780823e-01 -1.92411733e-03 -2.08471707e-02 1.31139509e+01] [ 2.18599170e-03 9.99918905e-01 1.25461290e-02 -5.36002768e-01] [ 2.08213398e-02 -1.25889509e-02 9.99703951e-01 -5.65778959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.89240100800001 meters Centerline goodness : 0.905091 Centerline is valid? [False, False] Translation: X:13.11, Y:-0.53, Z:-0.56 [[ 9.99791893e-01 -1.11214500e-03 -2.03699277e-02 1.31113496e+01] [ 1.38150772e-03 9.99911734e-01 1.32142531e-02 -5.34848089e-01] [ 2.03534335e-02 -1.32396444e-02 9.99705181e-01 -5.63524414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92240100800001 meters Centerline goodness : 0.903095 Centerline is valid? [False, False] Translation: X:13.11, Y:-0.53, Z:-0.56 [[ 9.99797649e-01 5.70593416e-04 -2.01081105e-02 1.31087965e+01] [-3.25854852e-04 9.99925862e-01 1.21723122e-02 -5.28612804e-01] [ 2.01135652e-02 -1.21632968e-02 9.99723711e-01 -5.64391518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.95240100800001 meters Centerline goodness : 0.903975 Centerline is valid? [False, False] Translation: X:13.11, Y:-0.52, Z:-0.57 [[ 9.99805120e-01 1.16119657e-03 -1.97072156e-02 1.31079702e+01] [-9.52295261e-04 9.99943298e-01 1.06063209e-02 -5.23528035e-01] [ 1.97184142e-02 -1.05854868e-02 9.99749534e-01 -5.66905549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98240100800001 meters Centerline goodness : 0.900537 Centerline is valid? [False, False] Translation: X:13.12, Y:-0.52, Z:-0.57 [[ 9.99860962e-01 5.83133978e-03 -1.56221954e-02 1.31240914e+01] [-5.77957826e-03 9.99977665e-01 3.35643386e-03 -5.18492877e-01] [ 1.56414190e-02 -3.26567749e-03 9.99872333e-01 -5.74487641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01240100800001 meters Centerline goodness : 0.896044 Centerline is valid? [False, False] Translation: X:13.12, Y:-0.52, Z:-0.57 [[ 9.99759083e-01 1.49755097e-02 -1.60471051e-02 1.31235621e+01] [-1.47892527e-02 9.99822606e-01 1.16633752e-02 -5.17110453e-01] [ 1.62189234e-02 -1.14232406e-02 9.99803209e-01 -5.73006684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04240100800001 meters Centerline goodness : 0.897557 Centerline is valid? [False, False] Translation: X:13.14, Y:-0.51, Z:-0.58 [[ 9.99748345e-01 1.89517805e-02 -1.20032259e-02 1.31358445e+01] [-1.89377760e-02 9.99819846e-01 1.27932796e-03 -5.12348741e-01] [ 1.20253090e-02 -1.05169160e-03 9.99927140e-01 -5.80491166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07240100800001 meters Centerline goodness : 0.895134 Centerline is valid? [False, False] Translation: X:13.13, Y:-0.51, Z:-0.58 [[ 9.99728257e-01 2.00674127e-02 -1.18622003e-02 1.31346922e+01] [-2.00619841e-02 9.99798572e-01 5.76468591e-04 -5.08917267e-01] [ 1.18713791e-02 -3.38332666e-04 9.99929475e-01 -5.81407898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10240100800002 meters Centerline goodness : 0.895403 Centerline is valid? [False, False] Translation: X:13.13, Y:-0.51, Z:-0.58 [[ 9.99706545e-01 2.11095490e-02 -1.18831942e-02 1.31338410e+01] [-2.11135274e-02 9.99777063e-01 -2.09431511e-04 -5.05550409e-01] [ 1.18761240e-02 4.60266200e-04 9.99929370e-01 -5.82363245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13240100800002 meters Centerline goodness : 0.893716 Centerline is valid? [False, False] Translation: X:13.13, Y:-0.50, Z:-0.58 [[ 9.99650307e-01 2.36159724e-02 -1.18974801e-02 1.31321342e+01] [-2.36222267e-02 9.99720882e-01 -3.85415569e-04 -5.02220703e-01] [ 1.18850573e-02 6.66325764e-04 9.99929148e-01 -5.83661880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16240100800002 meters Centerline goodness : 0.894097 Centerline is valid? [False, False] Translation: X:13.13, Y:-0.50, Z:-0.58 [[ 9.99656852e-01 2.30944087e-02 -1.23622773e-02 1.31336670e+01] [-2.31018167e-02 9.99733013e-01 -4.56752533e-04 -5.03310233e-01] [ 1.23484283e-02 7.42186862e-04 9.99923480e-01 -5.83969507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.19240100800002 meters Centerline goodness : 0.891076 Centerline is valid? [False, False] Translation: X:13.14, Y:-0.50, Z:-0.58 [[ 9.99668815e-01 2.21513955e-02 -1.30987138e-02 1.31363048e+01] [-2.21604831e-02 9.99754276e-01 -5.49023092e-04 -5.04903638e-01] [ 1.30833335e-02 8.39115090e-04 9.99914057e-01 -5.84543314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22240100800002 meters Centerline goodness : 0.891958 Centerline is valid? [False, False] Translation: X:13.14, Y:-0.51, Z:-0.59 [[ 9.99681992e-01 2.09977156e-02 -1.39646088e-02 1.31396639e+01] [-2.10097448e-02 9.99779015e-01 -7.15243276e-04 -5.06188439e-01] [ 1.39465043e-02 1.00840869e-03 9.99902234e-01 -5.85422912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.252401008 meters Centerline goodness : 0.889408 Centerline is valid? [False, False] Translation: X:13.15, Y:-0.51, Z:-0.59 [[ 9.99739267e-01 1.75735527e-02 -1.45797367e-02 1.31451937e+01] [-1.75962870e-02 9.99844147e-01 -1.43248345e-03 -5.08534232e-01] [ 1.45522906e-02 1.68865918e-03 9.99892684e-01 -5.87028210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28240100800001 meters Centerline goodness : 0.893127 Centerline is valid? [False, False] Translation: X:13.15, Y:-0.51, Z:-0.59 [[ 9.99744966e-01 1.64557321e-02 -1.54664651e-02 1.31481292e+01] [-1.64722823e-02 9.99863878e-01 -9.43279920e-04 -5.11143328e-01] [ 1.54488374e-02 1.19780733e-03 9.99879942e-01 -5.86583103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.31240100800001 meters Centerline goodness : 0.890725 Centerline is valid? [False, False] Translation: X:13.15, Y:-0.52, Z:-0.58 [[ 9.99744534e-01 1.57846882e-02 -1.61774759e-02 1.31498867e+01] [-1.57815423e-02 9.99875412e-01 3.22111346e-04 -5.15141835e-01] [ 1.61805448e-02 -6.67235363e-05 9.99869084e-01 -5.84703828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34240100800001 meters Centerline goodness : 0.895044 Centerline is valid? [False, False] Translation: X:13.15, Y:-0.52, Z:-0.58 [[ 9.99742056e-01 1.51543358e-02 -1.69165125e-02 1.31513547e+01] [-1.51199084e-02 9.99883352e-01 2.16118753e-03 -5.20302187e-01] [ 1.69472906e-02 -1.90485395e-03 9.99854570e-01 -5.81647435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37240100800001 meters Centerline goodness : 0.896148 Centerline is valid? [False, False] Translation: X:13.15, Y:-0.53, Z:-0.58 [[ 9.99739356e-01 1.44827525e-02 -1.76485380e-02 1.31529052e+01] [-1.44061099e-02 9.99886270e-01 4.46214588e-03 -5.25720946e-01] [ 1.77111550e-02 -4.20673607e-03 9.99834295e-01 -5.77887403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40240100800001 meters Centerline goodness : 0.904043 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.53, Z:-0.57 [[ 9.99786078e-01 9.09024920e-03 -1.85786466e-02 1.31560667e+01] [-9.01324187e-03 9.99950456e-01 4.22447847e-03 -5.32299593e-01] [ 1.86161277e-02 -4.05612093e-03 9.99818477e-01 -5.72037408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43240100800001 meters Centerline goodness : 0.902207 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.54, Z:-0.57 [[ 9.99780196e-01 8.18241633e-03 -1.93030552e-02 1.31587454e+01] [-8.07312813e-03 9.99950978e-01 5.73285395e-03 -5.35877345e-01] [ 1.93490175e-02 -5.57575780e-03 9.99797243e-01 -5.69982953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46240100800001 meters Centerline goodness : 0.904211 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.54, Z:-0.56 [[ 9.99752966e-01 8.60785545e-03 -2.04917646e-02 1.31665590e+01] [-8.32601385e-03 9.99870114e-01 1.37997080e-02 -5.40413065e-01] [ 2.06078889e-02 -1.36256843e-02 9.99694781e-01 -5.63105946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49240100800002 meters Centerline goodness : 0.903235 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.54, Z:-0.56 [[ 9.99708249e-01 1.19286759e-02 -2.10029470e-02 1.31686638e+01] [-1.15508771e-02 9.99770934e-01 1.80182486e-02 -5.40163227e-01] [ 2.12130698e-02 -1.77703893e-02 9.99617036e-01 -5.62576313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52240100800002 meters Centerline goodness : 0.901785 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.54, Z:-0.56 [[ 9.99708717e-01 1.12974509e-02 -2.13272067e-02 1.31702914e+01] [-1.09318260e-02 9.99792598e-01 1.71830288e-02 -5.38585328e-01] [ 2.15169078e-02 -1.69448784e-02 9.99624877e-01 -5.63847942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.55240100800002 meters Centerline goodness : 0.902344 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.54, Z:-0.56 [[ 9.99708639e-01 1.09227533e-02 -2.15251057e-02 1.31712394e+01] [-1.05683492e-02 9.99807843e-01 1.65102286e-02 -5.37290847e-01] [ 2.17013066e-02 -1.62779333e-02 9.99631973e-01 -5.64722317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58240100800002 meters Centerline goodness : 0.905646 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.54, Z:-0.57 [[ 9.99699970e-01 1.03980647e-02 -2.21776814e-02 1.31731095e+01] [-1.00498054e-02 9.99825341e-01 1.57572129e-02 -5.35515085e-01] [ 2.23376524e-02 -1.55296038e-02 9.99629862e-01 -5.65287226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.61240100800002 meters Centerline goodness : 0.903046 Centerline is valid? [False, False] Translation: X:13.18, Y:-0.54, Z:-0.56 [[ 9.99634157e-01 1.31111750e-02 -2.36569028e-02 1.31774426e+01] [-1.26310233e-02 9.99713472e-01 2.03330057e-02 -5.37427214e-01] [ 2.39167140e-02 -2.00267561e-02 9.99513341e-01 -5.63923887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64240100800001 meters Centerline goodness : 0.901668 Centerline is valid? [False, False] Translation: X:13.18, Y:-0.53, Z:-0.57 [[ 9.99624300e-01 1.17808104e-02 -2.47481786e-02 1.31818937e+01] [-1.13816866e-02 9.99803879e-01 1.62068282e-02 -5.31525464e-01] [ 2.49342546e-02 -1.59190632e-02 9.99562337e-01 -5.70693854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.67240100800001 meters Centerline goodness : 0.898051 Centerline is valid? [False, False] Translation: X:13.18, Y:-0.53, Z:-0.57 [[ 9.99620909e-01 1.11010736e-02 -2.51953242e-02 1.31840788e+01] [-1.07441727e-02 9.99840640e-01 1.42568084e-02 -5.27562455e-01] [ 2.53495749e-02 -1.39807008e-02 9.99580882e-01 -5.73734958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70240100800001 meters Centerline goodness : 0.892577 Centerline is valid? [False, False] Translation: X:13.19, Y:-0.52, Z:-0.58 [[ 9.99622075e-01 1.05577061e-02 -2.53819391e-02 1.31856787e+01] [-1.02446219e-02 9.99870220e-01 1.24334742e-02 -5.23613540e-01] [ 2.55099140e-02 -1.21687469e-02 9.99600503e-01 -5.76662684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73240100800001 meters Centerline goodness : 0.887552 Centerline is valid? [False, False] Translation: X:13.20, Y:-0.52, Z:-0.59 [[ 9.99851330e-01 8.80371617e-03 -1.48260570e-02 1.31952457e+01] [-8.67306510e-03 9.99923193e-01 8.85362166e-03 -5.15643788e-01] [ 1.49028630e-02 -8.72371804e-03 9.99850890e-01 -5.87133419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76240100800001 meters Centerline goodness : 0.890048 Centerline is valid? [False, False] Translation: X:13.20, Y:-0.51, Z:-0.59 [[ 9.99849370e-01 8.74434677e-03 -1.49924799e-02 1.31953020e+01] [-8.61859711e-03 9.99927310e-01 8.43171071e-03 -5.13739662e-01] [ 1.50651199e-02 -8.30122649e-03 9.99852055e-01 -5.86898043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79240100800001 meters Centerline goodness : 0.887925 Centerline is valid? [False, False] Translation: X:13.19, Y:-0.51, Z:-0.59 [[ 9.99847939e-01 8.86048431e-03 -1.50196573e-02 1.31946156e+01] [-8.73692812e-03 9.99927617e-01 8.27205233e-03 -5.12315813e-01] [ 1.50918645e-02 -8.13956881e-03 9.99852981e-01 -5.86038878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82240100800001 meters Centerline goodness : 0.889324 Centerline is valid? [False, False] Translation: X:13.19, Y:-0.51, Z:-0.58 [[ 9.99846719e-01 9.75444942e-03 -1.45392449e-02 1.31909249e+01] [-9.61870198e-03 9.99909768e-01 9.37749129e-03 -5.10861201e-01] [ 1.46294053e-02 -9.23620523e-03 9.99850325e-01 -5.81783319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85240100800002 meters Centerline goodness : 0.893981 Centerline is valid? [False, False] Translation: X:13.19, Y:-0.51, Z:-0.58 [[ 9.99845800e-01 9.82099316e-03 -1.45576214e-02 1.31899998e+01] [-9.67777160e-03 9.99904395e-01 9.87626661e-03 -5.10376588e-01] [ 1.46532243e-02 -9.73385836e-03 9.99845256e-01 -5.79749549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88240100800002 meters Centerline goodness : 0.893034 Centerline is valid? [False, False] Translation: X:13.19, Y:-0.51, Z:-0.58 [[ 9.99846562e-01 9.65335024e-03 -1.46173100e-02 1.31896491e+01] [-9.50652326e-03 9.99903994e-01 1.00811204e-02 -5.09664866e-01] [ 1.47132233e-02 -9.94061380e-03 9.99842340e-01 -5.78356807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.91240100800002 meters Centerline goodness : 0.896716 Centerline is valid? [False, False] Translation: X:13.19, Y:-0.51, Z:-0.58 [[ 9.99846735e-01 9.36369034e-03 -1.47928153e-02 1.31898933e+01] [-9.21452708e-03 9.99906338e-01 1.01196763e-02 -5.09098035e-01] [ 1.48861873e-02 -9.98181655e-03 9.99839369e-01 -5.77573170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94240100800002 meters Centerline goodness : 0.896716 Centerline is valid? [False, False] Translation: X:13.19, Y:-0.51, Z:-0.58 [[ 9.99846735e-01 9.36369034e-03 -1.47928153e-02 1.31898933e+01] [-9.21452708e-03 9.99906338e-01 1.01196763e-02 -5.09098035e-01] [ 1.48861873e-02 -9.98181655e-03 9.99839369e-01 -5.77573170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.97240100800002 meters Centerline goodness : 0.892258 Centerline is valid? [False, False] Translation: X:13.19, Y:-0.51, Z:-0.58 [[ 9.99883219e-01 5.06592753e-03 -1.44182052e-02 1.31892118e+01] [-4.99348632e-03 9.99974751e-01 5.05586150e-03 -5.05260895e-01] [ 1.44434538e-02 -4.98327396e-03 9.99883270e-01 -5.78426529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.002401008 meters Centerline goodness : 0.890854 Centerline is valid? [False, False] Translation: X:13.19, Y:-0.51, Z:-0.58 [[ 9.99878897e-01 4.38066881e-03 -1.49332283e-02 1.31907383e+01] [-4.30563020e-03 9.99977962e-01 5.05339501e-03 -5.05359042e-01] [ 1.49550364e-02 -4.98848607e-03 9.99875723e-01 -5.78056345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.03240100800001 meters Centerline goodness : 0.889540 Centerline is valid? [False, False] Translation: X:13.19, Y:-0.51, Z:-0.58 [[ 9.99871254e-01 3.63781794e-03 -1.56282197e-02 1.31927103e+01] [-3.55884408e-03 9.99980773e-01 5.07812770e-03 -5.05884244e-01] [ 1.56463925e-02 -5.02185552e-03 9.99864977e-01 -5.77768464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06240100800001 meters Centerline goodness : 0.891764 Centerline is valid? [False, False] Translation: X:13.20, Y:-0.51, Z:-0.58 [[ 9.99860952e-01 2.73695287e-03 -1.64495028e-02 1.31952084e+01] [-2.65421275e-03 9.99983728e-01 5.04967533e-03 -5.06533222e-01] [ 1.64630558e-02 -5.00531270e-03 9.99851946e-01 -5.77693182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09240100800001 meters Centerline goodness : 0.890620 Centerline is valid? [False, False] Translation: X:13.20, Y:-0.51, Z:-0.57 [[ 9.99836903e-01 2.34395102e-03 -1.79073788e-02 1.32032855e+01] [-2.15552373e-03 9.99942188e-01 1.05343913e-02 -5.09049440e-01] [ 1.79310357e-02 -1.04940733e-02 9.99784153e-01 -5.74167389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12240100800001 meters Centerline goodness : 0.888915 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.51, Z:-0.58 [[ 9.99809446e-01 1.43123891e-04 -1.95205411e-02 1.32094694e+01] [ 4.41158006e-05 9.99954003e-01 9.59116353e-03 -5.09080525e-01] [ 1.95210159e-02 -9.59019706e-03 9.99763451e-01 -5.75954081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15240100800001 meters Centerline goodness : 0.891136 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.51, Z:-0.58 [[ 9.99792522e-01 1.22127870e-03 -2.03327595e-02 1.32145767e+01] [-9.71656496e-04 9.99924099e-01 1.22822045e-02 -5.10141710e-01] [ 2.03462162e-02 -1.22598997e-02 9.99717823e-01 -5.77657889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18240100800001 meters Centerline goodness : 0.888337 Centerline is valid? [False, False] Translation: X:13.22, Y:-0.51, Z:-0.58 [[ 9.99755306e-01 3.41710458e-03 -2.18552388e-02 1.32200030e+01] [-3.07222236e-03 9.99870540e-01 1.57944554e-02 -5.10804099e-01] [ 2.19063807e-02 -1.57234465e-02 9.99636376e-01 -5.78594302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21240100800001 meters Centerline goodness : 0.881474 Centerline is valid? [False, False] Translation: X:13.23, Y:-0.51, Z:-0.58 [[ 9.99710464e-01 5.89178551e-03 -2.33297120e-02 1.32255668e+01] [-5.45768938e-03 9.99811603e-01 1.86271623e-02 -5.09570635e-01] [ 2.34350641e-02 -1.84944427e-02 9.99554277e-01 -5.80975472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24240100800002 meters Centerline goodness : 0.884071 Centerline is valid? [False, False] Translation: X:13.23, Y:-0.51, Z:-0.58 [[ 9.99662819e-01 9.55980492e-03 -2.41424521e-02 1.32278012e+01] [-8.98981645e-03 9.99680858e-01 2.36085684e-02 -5.10772905e-01] [ 2.43604406e-02 -2.33835719e-02 9.99429726e-01 -5.79152003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27240100800002 meters Centerline goodness : 0.884658 Centerline is valid? [False, False] Translation: X:13.24, Y:-0.51, Z:-0.59 [[ 9.99728149e-01 1.16143779e-02 -2.02171687e-02 1.32396425e+01] [-1.14054139e-02 9.99880655e-01 1.04207687e-02 -5.06641953e-01] [ 2.03357866e-02 -1.01873506e-02 9.99741303e-01 -5.88101869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30240100800002 meters Centerline goodness : 0.885221 Centerline is valid? [False, False] Translation: X:13.24, Y:-0.51, Z:-0.59 [[ 9.99723479e-01 1.24164915e-02 -1.99698740e-02 1.32378455e+01] [-1.22110389e-02 9.99871592e-01 1.03773717e-02 -5.05071193e-01] [ 2.00961603e-02 -1.01306493e-02 9.99746725e-01 -5.87272685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33240100800002 meters Centerline goodness : 0.890185 Centerline is valid? [False, False] Translation: X:13.25, Y:-0.50, Z:-0.59 [[ 9.99737571e-01 1.78252405e-02 -1.43892089e-02 1.32459655e+01] [-1.77977146e-02 9.99839530e-01 2.03875554e-03 -5.01561648e-01] [ 1.44232411e-02 -1.78212548e-03 9.99894391e-01 -5.90970313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36240100800002 meters Centerline goodness : 0.888622 Centerline is valid? [False, False] Translation: X:13.24, Y:-0.50, Z:-0.59 [[ 9.99726679e-01 1.86342227e-02 -1.41185135e-02 1.32442659e+01] [-1.86088585e-02 9.99824986e-01 1.92578371e-03 -4.99867605e-01] [ 1.41519281e-02 -1.66252794e-03 9.99898474e-01 -5.90426414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.39240100800001 meters Centerline goodness : 0.888226 Centerline is valid? [False, False] Translation: X:13.24, Y:-0.50, Z:-0.59 [[ 9.99720743e-01 1.91548324e-02 -1.38393971e-02 1.32431367e+01] [-1.91336708e-02 9.99815557e-01 1.65988600e-03 -4.98235462e-01] [ 1.38686393e-02 -1.39462400e-03 9.99902853e-01 -5.90486415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42240100800001 meters Centerline goodness : 0.893889 Centerline is valid? [False, False] Translation: X:13.24, Y:-0.50, Z:-0.59 [[ 9.99713958e-01 1.97559227e-02 -1.34798374e-02 1.32420874e+01] [-1.97413142e-02 9.99804382e-01 1.21594270e-03 -4.95844262e-01] [ 1.35012225e-02 -9.49485181e-04 9.99908404e-01 -5.91187370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.45240100800001 meters Centerline goodness : 0.890827 Centerline is valid? [False, False] Translation: X:13.24, Y:-0.50, Z:-0.59 [[ 9.99716970e-01 1.95021918e-02 -1.36251149e-02 1.32428750e+01] [-1.94896080e-02 9.99809502e-01 1.05575853e-03 -4.95469100e-01] [ 1.36431089e-02 -7.89911575e-04 9.99906616e-01 -5.91641734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48240100800001 meters Centerline goodness : 0.890036 Centerline is valid? [False, False] Translation: X:13.24, Y:-0.50, Z:-0.59 [[ 9.99713225e-01 1.94502012e-02 -1.39698449e-02 1.32433760e+01] [-1.94272794e-02 9.99809698e-01 1.77465278e-03 -4.97060929e-01] [ 1.40017037e-02 -1.50274778e-03 9.99900842e-01 -5.90479478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51240100800001 meters Centerline goodness : 0.896523 Centerline is valid? [False, False] Translation: X:13.25, Y:-0.50, Z:-0.58 [[ 9.99713960e-01 1.84808469e-02 -1.51808019e-02 1.32460810e+01] [-1.83967118e-02 9.99814727e-01 5.66328926e-03 -5.03408601e-01] [ 1.52826517e-02 -5.38239250e-03 9.99868727e-01 -5.83704613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54240100800001 meters Centerline goodness : 0.895647 Centerline is valid? [False, False] Translation: X:13.25, Y:-0.51, Z:-0.58 [[ 9.99713642e-01 1.79401835e-02 -1.58361597e-02 1.32478649e+01] [-1.78430381e-02 9.99821237e-01 6.25453849e-03 -5.05678714e-01] [ 1.59455363e-02 -5.97018225e-03 9.99855038e-01 -5.83013958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57240100800001 meters Centerline goodness : 0.893762 Centerline is valid? [False, False] Translation: X:13.25, Y:-0.51, Z:-0.58 [[ 9.99736453e-01 1.61235710e-02 -1.63417984e-02 1.32513869e+01] [-1.60179139e-02 9.99850081e-01 6.57585847e-03 -5.09330001e-01] [ 1.64453748e-02 -6.31236390e-03 9.99844840e-01 -5.83573173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60240100800002 meters Centerline goodness : 0.893725 Centerline is valid? [False, False] Translation: X:13.25, Y:-0.51, Z:-0.58 [[ 9.99740389e-01 1.53608173e-02 -1.68285518e-02 1.32534104e+01] [-1.52439608e-02 9.99858947e-01 7.05036013e-03 -5.10871957e-01] [ 1.69344774e-02 -6.79199599e-03 9.99833532e-01 -5.83280227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63240100800002 meters Centerline goodness : 0.892658 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.51, Z:-0.58 [[ 9.99745491e-01 1.43613631e-02 -1.73984323e-02 1.32559302e+01] [-1.42406830e-02 9.99873810e-01 7.04041764e-03 -5.11718476e-01] [ 1.74973468e-02 -6.79086023e-03 9.99823848e-01 -5.83738280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66240100800002 meters Centerline goodness : 0.888161 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.51, Z:-0.58 [[ 9.99763819e-01 1.11114500e-02 -1.86773353e-02 1.32637955e+01] [-1.09280851e-02 9.99891366e-01 9.89106720e-03 -5.13291533e-01] [ 1.87852104e-02 -9.68462360e-03 9.99776637e-01 -5.79736314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.69240100800002 meters Centerline goodness : 0.888161 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.51, Z:-0.58 [[ 9.99763913e-01 1.11230627e-02 -1.86653512e-02 1.32637658e+01] [-1.09401738e-02 9.99891422e-01 9.87197909e-03 -5.13255221e-01] [ 1.87731312e-02 -9.66544626e-03 9.99777049e-01 -5.79754715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72240100800002 meters Centerline goodness : 0.889062 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.52, Z:-0.56 [[ 9.99757837e-01 7.41773973e-03 -2.07182369e-02 1.32573802e+01] [-6.82010726e-03 9.99562822e-01 2.87689140e-02 -5.19818402e-01] [ 2.09225796e-02 -2.86206467e-02 9.99371355e-01 -5.64058465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.752401008 meters Centerline goodness : 0.891556 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.52, Z:-0.57 [[ 9.99784665e-01 3.95458762e-03 -2.03711934e-02 1.32561578e+01] [-3.47940018e-03 9.99722247e-01 2.33093012e-02 -5.16208195e-01] [ 2.04577139e-02 -2.32334023e-02 9.99520731e-01 -5.66029996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78240100800001 meters Centerline goodness : 0.890508 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.51, Z:-0.57 [[ 9.99853817e-01 5.20228993e-03 -1.62874641e-02 1.32712933e+01] [-4.99934834e-03 9.99909674e-01 1.24760065e-02 -5.12183315e-01] [ 1.63508967e-02 -1.23927560e-02 9.99789512e-01 -5.73380947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.81240100800001 meters Centerline goodness : 0.891601 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.51, Z:-0.57 [[ 9.99852924e-01 5.20496419e-03 -1.63413397e-02 1.32715187e+01] [-5.01265982e-03 9.99917967e-01 1.17869552e-02 -5.09330180e-01] [ 1.64013499e-02 -1.17033080e-02 9.99796994e-01 -5.74022934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84240100800001 meters Centerline goodness : 0.885804 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.51, Z:-0.58 [[ 9.99786448e-01 9.48322710e-03 -1.83610022e-02 1.32803730e+01] [-9.14237373e-03 9.99785953e-01 1.85597650e-02 -5.08052365e-01] [ 1.85330785e-02 -1.83879384e-02 9.99659146e-01 -5.75434521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87240100800001 meters Centerline goodness : 0.887729 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.50, Z:-0.58 [[ 9.99790573e-01 9.16348799e-03 -1.82986323e-02 1.32813287e+01] [-8.85474541e-03 9.99818266e-01 1.68827750e-02 -5.04237386e-01] [ 1.84500120e-02 -1.67172095e-02 9.99690018e-01 -5.78349306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90240100800001 meters Centerline goodness : 0.882799 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.50, Z:-0.58 [[ 9.99741594e-01 1.24018298e-02 -1.90509944e-02 1.32838528e+01] [-1.20054277e-02 9.99711932e-01 2.07827404e-02 -5.03265043e-01] [ 1.93032505e-02 -2.05486546e-02 9.99602490e-01 -5.78174996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93240100800001 meters Centerline goodness : 0.884381 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.50, Z:-0.58 [[ 9.99742343e-01 1.23546940e-02 -1.90423131e-02 1.32838177e+01] [-1.19683192e-02 9.99722855e-01 2.02724546e-02 -5.00144732e-01] [ 1.92874956e-02 -2.00393268e-02 9.99613134e-01 -5.78290990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96240100800001 meters Centerline goodness : 0.885837 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.50, Z:-0.58 [[ 9.99789195e-01 8.44023135e-03 -1.87170689e-02 1.32820876e+01] [-8.14328289e-03 9.99840664e-01 1.58849805e-02 -4.98415170e-01] [ 1.88481595e-02 -1.57292135e-02 9.99698624e-01 -5.77418069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99240100800002 meters Centerline goodness : 0.885837 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.50, Z:-0.58 [[ 9.99789545e-01 8.47594654e-03 -1.86821616e-02 1.32820144e+01] [-8.17983677e-03 9.99840609e-01 1.58696981e-02 -4.98352839e-01] [ 1.88136945e-02 -1.57135412e-02 9.99699520e-01 -5.77413942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02240100800002 meters Centerline goodness : 0.895766 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.50, Z:-0.57 [[ 9.99815478e-01 3.72559016e-03 -1.88449017e-02 1.32816539e+01] [-3.41926857e-03 9.99861934e-01 1.62610636e-02 -5.03670055e-01] [ 1.89028819e-02 -1.61936273e-02 9.99690176e-01 -5.68319632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.05240100800002 meters Centerline goodness : 0.898237 Centerline is valid? [False, False] Translation: X:13.29, Y:-0.51, Z:-0.56 [[ 9.99826551e-01 6.33677078e-04 -1.86136051e-02 1.32924681e+01] [-1.52203258e-04 9.99665645e-01 2.58568043e-02 -5.07822527e-01] [ 1.86237665e-02 -2.58494864e-02 9.99492351e-01 -5.57575949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08240100800002 meters Centerline goodness : 0.894329 Centerline is valid? [False, False] Translation: X:13.30, Y:-0.51, Z:-0.56 [[ 9.99792300e-01 -6.19725641e-03 -1.94152186e-02 1.32977343e+01] [ 6.58512232e-03 9.99778741e-01 1.99775951e-02 -5.06806182e-01] [ 1.92871165e-02 -2.01012973e-02 9.99611897e-01 -5.61278515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.11240100800002 meters Centerline goodness : 0.888106 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.50, Z:-0.56 [[ 9.99651841e-01 -1.13264966e-02 -2.38308245e-02 1.32827426e+01] [ 1.18730371e-02 9.99666818e-01 2.29190789e-02 -5.04993911e-01] [ 2.35632916e-02 -2.31940437e-02 9.99453254e-01 -5.61174387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14240100800001 meters Centerline goodness : 0.889078 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.50, Z:-0.56 [[ 0.99952951 -0.01415997 -0.02720756 13.26315601] [ 0.01488612 0.99953332 0.02667471 -0.50415839] [ 0.02681715 -0.02706718 0.99927384 -0.56025793] [ 0. 0. 0. 1. ]] SLAMing on 88.17240100800001 meters Centerline goodness : 0.887232 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.50, Z:-0.56 [[ 0.99936324 -0.02338419 -0.0269498 13.26421605] [ 0.0238238 0.99958639 0.01610827 -0.49943975] [ 0.02656198 -0.01674006 0.99950699 -0.56366045] [ 0. 0. 0. 1. ]] SLAMing on 88.20240100800001 meters Centerline goodness : 0.888592 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.50, Z:-0.56 [[ 9.99244194e-01 -2.79953034e-02 -2.69685804e-02 1.32647995e+01] [ 2.83011628e-02 9.99538617e-01 1.10271182e-02 -4.96899633e-01] [ 2.66474301e-02 -1.17820260e-02 9.99575459e-01 -5.64564076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23240100800001 meters Centerline goodness : 0.889003 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.50, Z:-0.57 [[ 9.99684115e-01 -2.30079325e-02 -1.01145798e-02 1.32555955e+01] [ 2.31402714e-02 9.99645507e-01 1.31676586e-02 -4.98175448e-01] [ 9.80803363e-03 -1.33975532e-02 9.99862145e-01 -5.69250099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26240100800001 meters Centerline goodness : 0.888552 Centerline is valid? [False, False] Translation: X:13.25, Y:-0.50, Z:-0.58 [[ 9.99833873e-01 -1.73331407e-02 5.63812045e-03 1.32491181e+01] [ 1.72494607e-02 9.99745105e-01 1.45664719e-02 -4.98189229e-01] [-5.88916602e-03 -1.44667974e-02 9.99878007e-01 -5.76609388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29240100800001 meters Centerline goodness : 0.887620 Centerline is valid? [False, False] Translation: X:13.25, Y:-0.49, Z:-0.58 [[ 9.99825823e-01 -1.78318119e-02 5.50918075e-03 1.32495678e+01] [ 1.77571493e-02 9.99753648e-01 1.33164275e-02 -4.93302257e-01] [-5.74527959e-03 -1.32162807e-02 9.99896155e-01 -5.77261910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32240100800001 meters Centerline goodness : 0.884720 Centerline is valid? [False, False] Translation: X:13.25, Y:-0.48, Z:-0.58 [[ 9.99877994e-01 -1.48111445e-02 4.96262194e-03 1.32499370e+01] [ 1.47344993e-02 9.99776803e-01 1.51406071e-02 -4.83766741e-01] [-5.18576402e-03 -1.50656381e-02 9.99873059e-01 -5.76849195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35240100800002 meters Centerline goodness : 0.885093 Centerline is valid? [False, False] Translation: X:13.25, Y:-0.48, Z:-0.58 [[ 9.99907274e-01 -1.27693217e-02 4.73162831e-03 1.32508182e+01] [ 1.26967681e-02 9.99805991e-01 1.50589945e-02 -4.76908248e-01] [-4.92300347e-03 -1.49975218e-02 9.99875411e-01 -5.77076017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38240100800002 meters Centerline goodness : 0.883470 Centerline is valid? [False, False] Translation: X:13.25, Y:-0.47, Z:-0.58 [[ 9.99946965e-01 -9.24177629e-03 4.54502089e-03 1.32506133e+01] [ 9.15870910e-03 9.99796582e-01 1.79697685e-02 -4.70727451e-01] [-4.71016893e-03 -1.79271889e-02 9.99828200e-01 -5.76394635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.41240100800002 meters Centerline goodness : 0.884163 Centerline is valid? [False, False] Translation: X:13.25, Y:-0.46, Z:-0.58 [[ 9.99973469e-01 -5.82411934e-03 4.37495335e-03 1.32502484e+01] [ 5.73213357e-03 9.99768227e-01 2.07517581e-02 -4.63987853e-01] [-4.49480007e-03 -2.07261297e-02 9.99775087e-01 -5.75440210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44240100800002 meters Centerline goodness : 0.886641 Centerline is valid? [False, False] Translation: X:13.25, Y:-0.45, Z:-0.57 [[ 9.99985832e-01 -3.37613793e-03 4.11553382e-03 1.32490830e+01] [ 3.28881557e-03 9.99773162e-01 2.10429881e-02 -4.49250966e-01] [-4.18564429e-03 -2.10291547e-02 9.99770101e-01 -5.74254574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.47240100800002 meters Centerline goodness : 0.886602 Centerline is valid? [False, False] Translation: X:13.25, Y:-0.44, Z:-0.57 [[ 9.99983600e-01 -3.90392591e-03 4.19030883e-03 1.32486838e+01] [ 3.82281282e-03 9.99808473e-01 1.91938300e-02 -4.42013263e-01] [-4.26443757e-03 -1.91774965e-02 9.99807000e-01 -5.74543438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.502401008 meters Centerline goodness : 0.889773 Centerline is valid? [False, False] Translation: X:13.25, Y:-0.44, Z:-0.57 [[ 9.99980757e-01 -4.42945403e-03 4.34338519e-03 1.32481003e+01] [ 4.35252626e-03 9.99836271e-01 1.75637882e-02 -4.35201501e-01] [-4.42047204e-03 -1.75445455e-02 9.99836311e-01 -5.74497089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.53240100800001 meters Centerline goodness : 0.890793 Centerline is valid? [False, False] Translation: X:13.25, Y:-0.43, Z:-0.58 [[ 9.99976674e-01 -5.20779136e-03 4.41929893e-03 1.32481247e+01] [ 5.13781310e-03 9.99863531e-01 1.57009988e-02 -4.28319941e-01] [-4.50046336e-03 -1.56779270e-02 9.99866965e-01 -5.75047947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56240100800001 meters Centerline goodness : 0.896147 Centerline is valid? [False, False] Translation: X:13.25, Y:-0.41, Z:-0.58 [[ 9.99963785e-01 -7.54668786e-03 3.93394422e-03 1.32502772e+01] [ 7.49966058e-03 9.99901840e-01 1.18349632e-02 -4.14452762e-01] [-4.02287284e-03 -1.18050314e-02 9.99922226e-01 -5.76890254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.59240100800001 meters Centerline goodness : 0.900291 Centerline is valid? [False, False] Translation: X:13.25, Y:-0.41, Z:-0.58 [[ 9.99955891e-01 -8.62265877e-03 3.72358803e-03 1.32515223e+01] [ 8.58650070e-03 9.99916863e-01 9.61974088e-03 -4.07585279e-01] [-3.80622621e-03 -9.58734398e-03 9.99946796e-01 -5.78458198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62240100800001 meters Centerline goodness : 0.902652 Centerline is valid? [False, False] Translation: X:13.25, Y:-0.40, Z:-0.58 [[ 9.99947683e-01 -9.67261433e-03 3.32745822e-03 1.32531433e+01] [ 9.64758326e-03 9.99925647e-01 7.45813121e-03 -4.00343529e-01] [-3.39935045e-03 -7.42563909e-03 9.99966652e-01 -5.80001057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65240100800001 meters Centerline goodness : 0.906928 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.39, Z:-0.58 [[ 9.99970211e-01 -7.23355477e-03 2.69294989e-03 1.32557947e+01] [ 7.21060579e-03 9.99938417e-01 8.43621432e-03 -3.86975748e-01] [-2.75380787e-03 -8.41654522e-03 9.99960788e-01 -5.82032661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68240100800001 meters Centerline goodness : 0.909454 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.38, Z:-0.58 [[ 9.99985546e-01 -5.14896266e-03 1.54792041e-03 1.32596228e+01] [ 5.13364211e-03 9.99939351e-01 9.74370267e-03 -3.79742625e-01] [-1.59799649e-03 -9.73561536e-03 9.99951331e-01 -5.84176929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71240100800001 meters Centerline goodness : 0.910858 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.37, Z:-0.59 [[ 9.99996314e-01 -2.58719284e-03 8.24018247e-04 1.32620783e+01] [ 2.57765992e-03 9.99932070e-01 1.13670686e-02 -3.72472915e-01] [-8.53371071e-04 -1.13649027e-02 9.99935053e-01 -5.85728589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74240100800002 meters Centerline goodness : 0.911459 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.36, Z:-0.59 [[ 9.99993734e-01 -3.48652846e-03 6.12515906e-04 1.32633848e+01] [ 3.48122608e-03 9.99958201e-01 8.45440848e-03 -3.62826995e-01] [-6.41966840e-04 -8.45222320e-03 9.99964073e-01 -5.88010760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77240100800002 meters Centerline goodness : 0.916559 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.35, Z:-0.59 [[ 9.99990481e-01 -4.34404008e-03 4.08206853e-04 1.32622531e+01] [ 4.34144436e-03 9.99971615e-01 6.15801561e-03 -3.49962208e-01] [-4.34945932e-04 -6.15618478e-03 9.99980956e-01 -5.85862973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80240100800002 meters Centerline goodness : 0.924548 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.34, Z:-0.58 [[ 9.99989319e-01 -4.61217279e-03 2.98102522e-04 1.32610792e+01] [ 4.61053102e-03 9.99975371e-01 5.29155119e-03 -3.44999501e-01] [-3.22500729e-04 -5.29012026e-03 9.99985955e-01 -5.83882310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83240100800002 meters Centerline goodness : 0.924548 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.34, Z:-0.58 [[ 9.99989319e-01 -4.61217279e-03 2.98102522e-04 1.32610792e+01] [ 4.61053102e-03 9.99975371e-01 5.29155119e-03 -3.44999501e-01] [-3.22500729e-04 -5.29012026e-03 9.99985955e-01 -5.83882310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86240100800002 meters Centerline goodness : 0.928205 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.34, Z:-0.58 [[ 9.99987981e-01 -4.88468790e-03 4.22616936e-04 1.32596907e+01] [ 4.88283505e-03 9.99978922e-01 4.27947467e-03 -3.39061833e-01] [-4.43511926e-04 -4.27735966e-03 9.99990754e-01 -5.82274847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.89240100800001 meters Centerline goodness : 0.930789 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.33, Z:-0.58 [[ 9.99993589e-01 -3.56925214e-03 -2.87426684e-04 1.32610135e+01] [ 3.57082059e-03 9.99977635e-01 5.65492318e-03 -3.32660481e-01] [ 2.67236409e-04 -5.65591327e-03 9.99983969e-01 -5.81457353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92240100800001 meters Centerline goodness : 0.936688 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.32, Z:-0.58 [[ 9.99996081e-01 -2.66359543e-03 -8.61716596e-04 1.32624068e+01] [ 2.66895724e-03 9.99976706e-01 6.28210557e-03 -3.16151704e-01] [ 8.44963536e-04 -6.28438084e-03 9.99979896e-01 -5.80326490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.95240100800001 meters Centerline goodness : 0.935680 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.31, Z:-0.58 [[ 9.99998762e-01 -1.50202709e-03 -4.67995263e-04 1.32611686e+01] [ 1.50503774e-03 9.99977739e-01 6.50055447e-03 -3.08269181e-01] [ 4.58220836e-04 -6.50125077e-03 9.99978762e-01 -5.79611657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98240100800001 meters Centerline goodness : 0.933954 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.29, Z:-0.58 [[ 9.99995953e-01 2.83899586e-03 -1.86385602e-04 1.32583363e+01] [-2.83731489e-03 9.99960084e-01 8.47235108e-03 -2.94795839e-01] [ 2.10431131e-04 -8.47178796e-03 9.99964092e-01 -5.76819039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01240100800001 meters Centerline goodness : 0.935203 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.29, Z:-0.58 [[ 9.99976709e-01 6.82504707e-03 2.86996674e-05 1.32569171e+01] [-6.82494592e-03 9.99915280e-01 1.10838753e-02 -2.88024302e-01] [ 4.69507344e-05 -1.10838130e-02 9.99938572e-01 -5.75580222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04240100800001 meters Centerline goodness : 0.933773 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.28, Z:-0.58 [[ 9.99943286e-01 1.06500250e-02 3.49179847e-05 1.32564292e+01] [-1.06495533e-02 9.99855572e-01 1.32446876e-02 -2.79701215e-01] [ 1.06143312e-04 -1.32443083e-02 9.99912285e-01 -5.75145667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07240100800001 meters Centerline goodness : 0.934459 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.27, Z:-0.57 [[ 9.99885583e-01 1.51256685e-02 1.88489554e-04 1.32558034e+01] [-1.51267511e-02 9.99758464e-01 1.59434881e-02 -2.70501302e-01] [ 5.27118885e-05 -1.59445151e-02 9.99872877e-01 -5.74854471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10240100800002 meters Centerline goodness : 0.931910 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.25, Z:-0.58 [[ 9.99578555e-01 2.85866159e-02 5.05146126e-03 1.32683613e+01] [-2.86613535e-02 9.99470539e-01 1.54002756e-02 -2.54281578e-01] [-4.60854495e-03 -1.55385669e-02 9.99868648e-01 -5.80719233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13240100800002 meters Centerline goodness : 0.932029 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.25, Z:-0.58 [[ 9.99450720e-01 3.27498514e-02 5.07009010e-03 1.32683882e+01] [-3.28354892e-02 9.99301435e-01 1.78458162e-02 -2.47108426e-01] [-4.48210049e-03 -1.80024927e-02 9.99827896e-01 -5.80813529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16240100800002 meters Centerline goodness : 0.929505 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.24, Z:-0.58 [[ 9.99316918e-01 3.66411420e-02 4.80875946e-03 1.32693789e+01] [-3.67306662e-02 9.99123479e-01 2.00781329e-02 -2.41220302e-01] [-4.06885876e-03 -2.02410468e-02 9.99786849e-01 -5.81562768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19240100800002 meters Centerline goodness : 0.928938 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.24, Z:-0.58 [[ 9.99168746e-01 4.05102025e-02 4.55421847e-03 1.32703919e+01] [-4.06028566e-02 9.98921361e-01 2.25282758e-02 -2.36371305e-01] [-3.63668110e-03 -2.26944634e-02 9.99735833e-01 -5.82144489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22240100800002 meters Centerline goodness : 0.929986 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.23, Z:-0.58 [[ 9.98998140e-01 4.45266612e-02 4.48250665e-03 1.32707705e+01] [-4.46269978e-02 9.98676862e-01 2.55529924e-02 -2.33032929e-01] [-3.33878624e-03 -2.57274327e-02 9.99663419e-01 -5.82159148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.252401008 meters Centerline goodness : 0.927405 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.23, Z:-0.58 [[ 9.98807059e-01 4.86403088e-02 4.31026659e-03 1.32714491e+01] [-4.87416981e-02 9.98423967e-01 2.78177906e-02 -2.25800975e-01] [-2.95040754e-03 -2.79946953e-02 9.99603718e-01 -5.82576281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28240100800001 meters Centerline goodness : 0.926954 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.22, Z:-0.58 [[ 9.98816950e-01 4.84480252e-02 4.18196542e-03 1.32723186e+01] [-4.85424294e-02 9.98466738e-01 2.66046115e-02 -2.21049650e-01] [-2.88661249e-03 -2.67761397e-02 9.99637287e-01 -5.83695743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.31240100800001 meters Centerline goodness : 0.926525 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.22, Z:-0.58 [[ 9.98837432e-01 4.80392583e-02 4.00167474e-03 1.32733397e+01] [-4.81254220e-02 9.98520557e-01 2.53109066e-02 -2.16552058e-01] [-2.77983731e-03 -2.54740632e-02 9.99671618e-01 -5.84864063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34240100800001 meters Centerline goodness : 0.925957 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.21, Z:-0.59 [[ 9.98864613e-01 4.74869418e-02 3.80451929e-03 1.32740745e+01] [-4.75652346e-02 9.98575940e-01 2.41586569e-02 -2.12723763e-01] [-2.65188069e-03 -2.43121904e-02 9.99700898e-01 -5.85446338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37240100800001 meters Centerline goodness : 0.925342 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.21, Z:-0.59 [[ 9.99048705e-01 4.34720306e-02 3.44502418e-03 1.32743526e+01] [-4.35313440e-02 9.98860179e-01 1.95797146e-02 -2.11296193e-01] [-2.58992751e-03 -1.97110551e-02 9.99802364e-01 -5.85586512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40240100800001 meters Centerline goodness : 0.926838 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.21, Z:-0.59 [[ 9.99220134e-01 3.93553389e-02 3.20655745e-03 1.32747964e+01] [-3.93994252e-02 9.99109504e-01 1.50958589e-02 -2.10752158e-01] [-2.60959938e-03 -1.52104227e-02 9.99880909e-01 -5.86171994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43240100800001 meters Centerline goodness : 0.927528 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.21, Z:-0.59 [[ 9.99487096e-01 3.19101540e-02 2.69940741e-03 1.32755584e+01] [-3.19277116e-02 9.99467506e-01 6.73249623e-03 -2.08342972e-01] [-2.48313500e-03 -6.81522901e-03 9.99973693e-01 -5.87199784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46240100800001 meters Centerline goodness : 0.929804 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.21, Z:-0.59 [[ 9.99611438e-01 2.77555440e-02 2.56948743e-03 1.32760420e+01] [-2.77604075e-02 9.99612844e-01 1.87686685e-03 -2.05227543e-01] [-2.51639917e-03 -1.94746759e-03 9.99994938e-01 -5.88109835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49240100800002 meters Centerline goodness : 0.930206 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.20, Z:-0.59 [[ 9.99627131e-01 2.71823749e-02 2.59179748e-03 1.32763185e+01] [-2.71858847e-02 9.99629513e-01 1.32868664e-03 -2.04055744e-01] [-2.55472040e-03 -1.39865152e-03 9.99995759e-01 -5.88477733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52240100800002 meters Centerline goodness : 0.930132 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.20, Z:-0.59 [[ 9.99731770e-01 2.30291793e-02 2.45862558e-03 1.32763930e+01] [-2.30205791e-02 9.99728967e-01 -3.47078653e-03 -2.01024884e-01] [-2.53788858e-03 3.41325657e-03 9.99990954e-01 -5.88649503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.55240100800002 meters Centerline goodness : 0.929593 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.20, Z:-0.59 [[ 9.99747360e-01 2.23704359e-02 2.18624619e-03 1.32771200e+01] [-2.23618411e-02 9.99742415e-01 -3.87973585e-03 -2.01200727e-01] [-2.27247442e-03 3.82986718e-03 9.99990084e-01 -5.88770815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58240100800002 meters Centerline goodness : 0.930479 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.20, Z:-0.59 [[ 9.99769091e-01 2.13841469e-02 2.11719444e-03 1.32781298e+01] [-2.13739500e-02 9.99760376e-01 -4.72708732e-03 -2.00594326e-01] [-2.21777184e-03 4.68074299e-03 9.99986586e-01 -5.89763635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.61240100800002 meters Centerline goodness : 0.926974 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.20, Z:-0.59 [[ 9.99789848e-01 2.04251813e-02 1.75269361e-03 1.32802391e+01] [-2.04139497e-02 9.99772370e-01 -6.20318243e-03 -1.98115396e-01] [-1.87899577e-03 6.16609942e-03 9.99979224e-01 -5.91732826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64240100800001 meters Centerline goodness : 0.926289 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.20, Z:-0.59 [[ 9.99798509e-01 2.00101469e-02 1.59215562e-03 1.32809618e+01] [-1.99982204e-02 9.99774206e-01 -7.18385883e-03 -1.95657266e-01] [-1.73554619e-03 7.15057107e-03 9.99972928e-01 -5.92348490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.67240100800001 meters Centerline goodness : 0.924070 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.19, Z:-0.59 [[ 9.99798422e-01 2.00163246e-02 1.56886524e-03 1.32805279e+01] [-2.00039402e-02 9.99771412e-01 -7.54765568e-03 -1.94409107e-01] [-1.71958294e-03 7.51475075e-03 9.99970285e-01 -5.91667055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70240100800001 meters Centerline goodness : 0.925776 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.19, Z:-0.59 [[ 9.99797312e-01 2.00745557e-02 1.53181397e-03 1.32799925e+01] [-2.00623349e-02 9.99769731e-01 -7.61490151e-03 -1.94316476e-01] [-1.68432700e-03 7.58262630e-03 9.99969833e-01 -5.90732693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73240100800001 meters Centerline goodness : 0.926339 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.19, Z:-0.59 [[ 9.99796936e-01 2.00978945e-02 1.46986523e-03 1.32795467e+01] [-2.00858266e-02 9.99767758e-01 -7.80958717e-03 -1.93627874e-01] [-1.62648012e-03 7.77847787e-03 9.99968424e-01 -5.89882474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76240100800001 meters Centerline goodness : 0.926976 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.19, Z:-0.59 [[ 9.99806396e-01 1.96303295e-02 1.34928968e-03 1.32805011e+01] [-1.96182382e-02 9.99771785e-01 -8.45594882e-03 -1.92191543e-01] [-1.51497481e-03 8.42784103e-03 9.99963338e-01 -5.90896654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79240100800001 meters Centerline goodness : 0.921620 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.19, Z:-0.59 [[ 9.99819029e-01 1.89888170e-02 1.15460876e-03 1.32820608e+01] [-1.89779896e-02 9.99781533e-01 -8.75913923e-03 -1.92070428e-01] [-1.32068220e-03 8.73564193e-03 9.99960971e-01 -5.92490244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82240100800001 meters Centerline goodness : 0.921740 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.19, Z:-0.59 [[ 9.99821978e-01 1.88463247e-02 9.09880719e-04 1.32828650e+01] [-1.88378736e-02 9.99786057e-01 -8.54251235e-03 -1.93647235e-01] [-1.07068102e-03 8.52385138e-03 9.99963098e-01 -5.92914973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85240100800002 meters Centerline goodness : 0.923354 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.19, Z:-0.59 [[ 9.99822696e-01 1.88179388e-02 6.80110114e-04 1.32836930e+01] [-1.88115935e-02 9.99788021e-01 -8.36879501e-03 -1.94988434e-01] [-8.37449417e-04 8.35451723e-03 9.99964750e-01 -5.93461871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88240100800002 meters Centerline goodness : 0.920770 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.20, Z:-0.59 [[ 9.99822821e-01 1.88193496e-02 3.98196383e-04 1.32847104e+01] [-1.88152791e-02 9.99786722e-01 -8.51442389e-03 -1.95043322e-01] [-5.58347377e-04 8.50542314e-03 9.99963672e-01 -5.94210929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.91240100800002 meters Centerline goodness : 0.921169 Centerline is valid? [False, False] Translation: X:13.29, Y:-0.20, Z:-0.59 [[ 9.99816444e-01 1.91579269e-02 2.28985552e-04 1.32851743e+01] [-1.91553053e-02 9.99780736e-01 -8.45900264e-03 -1.95002849e-01] [-3.90992298e-04 8.45306365e-03 9.99964196e-01 -5.94544236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94240100800002 meters Centerline goodness : 0.919304 Centerline is valid? [False, False] Translation: X:13.29, Y:-0.20, Z:-0.59 [[ 9.99776743e-01 2.11274659e-02 -3.07287602e-04 1.32854021e+01] [-2.11291746e-02 9.99748733e-01 -7.48518997e-03 -1.95679888e-01] [ 1.49067295e-04 7.49001158e-03 9.99971938e-01 -5.94215451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.97240100800002 meters Centerline goodness : 0.917561 Centerline is valid? [False, False] Translation: X:13.29, Y:-0.20, Z:-0.59 [[ 9.99761100e-01 2.18492905e-02 -5.92830074e-04 1.32860120e+01] [-2.18530602e-02 9.99734180e-01 -7.34937191e-03 -1.95284593e-01] [ 4.32093926e-04 7.36057129e-03 9.99972817e-01 -5.94653260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.002401008 meters Centerline goodness : 0.915924 Centerline is valid? [False, False] Translation: X:13.29, Y:-0.20, Z:-0.60 [[ 9.99674042e-01 2.55144028e-02 -9.08744652e-04 1.32882120e+01] [-2.55175504e-02 9.99667750e-01 -3.63920459e-03 -1.95982441e-01] [ 8.15590589e-04 3.66120730e-03 9.99992965e-01 -5.96543931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.03240100800001 meters Centerline goodness : 0.914936 Centerline is valid? [False, False] Translation: X:13.29, Y:-0.19, Z:-0.60 [[ 9.99517086e-01 3.10570232e-02 -1.02727660e-03 1.32891699e+01] [-3.10559311e-02 9.99517084e-01 1.06247660e-03 -1.94515252e-01] [ 1.05977787e-03 -1.03006048e-03 9.99998908e-01 -5.97812865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06240100800001 meters Centerline goodness : 0.912986 Centerline is valid? [False, False] Translation: X:13.29, Y:-0.19, Z:-0.60 [[ 9.99478646e-01 3.22720854e-02 -9.73641945e-04 1.32883016e+01] [-3.22704520e-02 9.99477813e-01 1.64906580e-03 -1.94104655e-01] [ 1.02635231e-03 -1.61678618e-03 9.99998166e-01 -5.97049819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09240100800001 meters Centerline goodness : 0.913717 Centerline is valid? [False, False] Translation: X:13.29, Y:-0.20, Z:-0.59 [[ 9.99420995e-01 3.40179986e-02 -6.71414111e-04 1.32859991e+01] [-3.40157347e-02 9.99416378e-01 3.13594642e-03 -1.95780829e-01] [ 7.77700880e-04 -3.11129205e-03 9.99994858e-01 -5.94803523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12240100800001 meters Centerline goodness : 0.914960 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.20, Z:-0.59 [[ 9.99363152e-01 3.56814893e-02 -3.50073148e-04 1.32834580e+01] [-3.56793271e-02 9.99351074e-01 4.94137226e-03 -1.99008896e-01] [ 5.26161498e-04 -4.92573498e-03 9.99987730e-01 -5.92191035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15240100800001 meters Centerline goodness : 0.917089 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.20, Z:-0.59 [[ 9.99277932e-01 3.79948870e-02 -5.88429391e-05 1.32818328e+01] [-3.79934303e-02 9.99250996e-01 7.34484374e-03 -2.04571450e-01] [ 3.37865373e-04 -7.33730462e-03 9.99973025e-01 -5.91122295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18240100800001 meters Centerline goodness : 0.917532 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.20, Z:-0.59 [[ 9.99267762e-01 3.82614007e-02 -7.42725999e-05 1.32828069e+01] [-3.82598301e-02 9.99240966e-01 7.32647655e-03 -2.04292860e-01] [ 3.54537479e-04 -7.31827017e-03 9.99973158e-01 -5.92641902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21240100800001 meters Centerline goodness : 0.913299 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.20, Z:-0.59 [[ 9.99264974e-01 3.83337590e-02 -1.88763481e-04 1.32842439e+01] [-3.83315150e-02 9.99240788e-01 6.96722565e-03 -2.03193015e-01] [ 4.55700118e-04 -6.95486896e-03 9.99975711e-01 -5.94596886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24240100800002 meters Centerline goodness : 0.913091 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.20, Z:-0.60 [[ 9.99247832e-01 3.87778277e-02 -2.22208875e-04 1.32847388e+01] [-3.87751703e-02 9.99221235e-01 7.30819219e-03 -2.03921805e-01] [ 5.05431644e-04 -7.29407901e-03 9.99973270e-01 -5.95357796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27240100800002 meters Centerline goodness : 0.912576 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.21, Z:-0.59 [[ 9.99330943e-01 3.65707719e-02 -4.94775686e-04 1.32841589e+01] [-3.65682085e-02 9.99321214e-01 4.45846963e-03 -2.05494444e-01] [ 6.57489515e-04 -4.43739360e-03 9.99989939e-01 -5.94888410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30240100800002 meters Centerline goodness : 0.912857 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.22, Z:-0.59 [[ 9.99299569e-01 3.74045529e-02 1.12738453e-03 1.32767071e+01] [-3.74090803e-02 9.99290761e-01 4.30524282e-03 -2.17964214e-01] [-9.65549260e-04 -4.34440172e-03 9.99990097e-01 -5.92011111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33240100800002 meters Centerline goodness : 0.912030 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.22, Z:-0.59 [[ 9.99404957e-01 3.44708125e-02 1.22253504e-03 1.32760112e+01] [-3.44727770e-02 9.99404318e-01 1.62402331e-03 -2.21840394e-01] [-1.16582539e-03 -1.66520113e-03 9.99997934e-01 -5.91900490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36240100800002 meters Centerline goodness : 0.915554 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.23, Z:-0.59 [[ 9.99416969e-01 3.41302700e-02 9.19792001e-04 1.32777771e+01] [-3.41321258e-02 9.99415157e-01 2.08369671e-03 -2.26130012e-01] [-8.48136935e-04 -2.11387631e-03 9.99997406e-01 -5.93433551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.39240100800001 meters Centerline goodness : 0.913696 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.23, Z:-0.60 [[ 9.99435785e-01 3.35803889e-02 6.84588712e-04 1.32797597e+01] [-3.35819356e-02 9.99433112e-01 2.38914650e-03 -2.29729549e-01] [-6.03972158e-04 -2.41078832e-03 9.99996912e-01 -5.95426181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42240100800001 meters Centerline goodness : 0.912991 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.24, Z:-0.60 [[ 9.99557022e-01 2.97558226e-02 5.92563244e-04 1.32813755e+01] [-2.97560804e-02 9.99557097e-01 4.31069489e-04 -2.38557485e-01] [-5.79473968e-04 -4.48510894e-04 9.99999732e-01 -5.97469244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.45240100800001 meters Centerline goodness : 0.913249 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.25, Z:-0.60 [[ 9.99669478e-01 2.57085133e-02 8.06628171e-05 1.32825436e+01] [-2.57082200e-02 9.99666165e-01 -2.57793082e-03 -2.45934743e-01] [-1.46910658e-04 2.57500506e-03 9.99996674e-01 -5.98048653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48240100800001 meters Centerline goodness : 0.914372 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.25, Z:-0.60 [[ 9.99821426e-01 1.88970735e-02 1.29820991e-04 1.32817174e+01] [-1.88952969e-02 9.99785605e-01 -8.46830228e-03 -2.53996228e-01] [-2.89819288e-04 8.46433706e-03 9.99964135e-01 -5.97654420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51240100800001 meters Centerline goodness : 0.910280 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.26, Z:-0.60 [[ 9.99927429e-01 1.20471683e-02 5.47977987e-05 1.32818155e+01] [-1.20451705e-02 9.99826303e-01 -1.42224621e-02 -2.62554878e-01] [-2.26128675e-04 1.42207699e-02 9.99898854e-01 -5.97978532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54240100800001 meters Centerline goodness : 0.904427 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.27, Z:-0.60 [[ 9.99970028e-01 7.70519307e-03 -7.57159593e-04 1.32844537e+01] [-7.71686260e-03 9.99828156e-01 -1.68555386e-02 -2.71581180e-01] [ 6.27154301e-04 1.68608763e-02 9.99857649e-01 -5.99478557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57240100800001 meters Centerline goodness : 0.892081 Centerline is valid? [False, False] Translation: X:13.31, Y:-0.29, Z:-0.60 [[ 9.99967272e-01 -1.19078840e-03 -8.00233416e-03 1.33056990e+01] [ 1.10118306e-03 9.99936756e-01 -1.11924928e-02 -2.86536445e-01] [ 8.01515595e-03 1.11833145e-02 9.99905341e-01 -6.01819558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60240100800002 meters Centerline goodness : 0.889776 Centerline is valid? [False, False] Translation: X:13.31, Y:-0.29, Z:-0.61 [[ 9.99958011e-01 -3.84198752e-03 -8.31955065e-03 1.33100701e+01] [ 3.74017555e-03 9.99918352e-01 -1.22188475e-02 -2.91260198e-01] [ 8.36581604e-03 1.21872179e-02 9.99890736e-01 -6.05897406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63240100800002 meters Centerline goodness : 0.883873 Centerline is valid? [False, False] Translation: X:13.31, Y:-0.30, Z:-0.61 [[ 9.99929160e-01 -8.09007595e-03 -8.73078752e-03 1.33125716e+01] [ 7.95459629e-03 9.99849120e-01 -1.54421967e-02 -2.95877254e-01] [ 8.85439876e-03 1.53716529e-02 9.99842644e-01 -6.07909952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66240100800002 meters Centerline goodness : 0.880057 Centerline is valid? [False, False] Translation: X:13.31, Y:-0.30, Z:-0.61 [[ 9.99893980e-01 -1.15411036e-02 -8.87870953e-03 1.33129477e+01] [ 1.13832803e-02 9.99779861e-01 -1.76252579e-02 -3.03406693e-01] [ 9.08016991e-03 1.75223205e-02 9.99805240e-01 -6.07702517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69240100800002 meters Centerline goodness : 0.883366 Centerline is valid? [False, False] Translation: X:13.33, Y:-0.32, Z:-0.60 [[ 9.99871535e-01 -1.45434294e-02 -6.73813501e-03 1.33277810e+01] [ 1.44009296e-02 9.99681288e-01 -2.07349101e-02 -3.23668889e-01] [ 7.03754419e-03 2.06352110e-02 9.99762302e-01 -6.02023210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72240100800002 meters Centerline goodness : 0.881169 Centerline is valid? [False, False] Translation: X:13.33, Y:-0.33, Z:-0.60 [[ 9.99874620e-01 -1.41753354e-02 -7.05719894e-03 1.33279134e+01] [ 1.40408125e-02 9.99725426e-01 -1.87597312e-02 -3.31096196e-01] [ 7.32118671e-03 1.86582903e-02 9.99799114e-01 -6.00693194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.75240100800002 meters Centerline goodness : 0.881169 Centerline is valid? [False, False] Translation: X:13.33, Y:-0.33, Z:-0.60 [[ 9.99874620e-01 -1.41753354e-02 -7.05719894e-03 1.33279134e+01] [ 1.40408125e-02 9.99725426e-01 -1.87597312e-02 -3.31096196e-01] [ 7.32118671e-03 1.86582903e-02 9.99799114e-01 -6.00693194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78240100800001 meters Centerline goodness : 0.881670 Centerline is valid? [False, False] Translation: X:13.33, Y:-0.33, Z:-0.60 [[ 9.99879169e-01 -1.38024711e-02 -7.15123020e-03 1.33280786e+01] [ 1.36745353e-02 9.99750883e-01 -1.76402767e-02 -3.34509418e-01] [ 7.39292811e-03 1.75403554e-02 9.99818824e-01 -6.00508402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.81240100800001 meters Centerline goodness : 0.882015 Centerline is valid? [False, False] Translation: X:13.33, Y:-0.34, Z:-0.60 [[ 9.99917768e-01 -1.03038013e-02 -7.63473913e-03 1.33297982e+01] [ 1.02045123e-02 9.99864311e-01 -1.29316798e-02 -3.37663815e-01] [ 7.76694863e-03 1.28527076e-02 9.99887235e-01 -6.00952436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84240100800001 meters Centerline goodness : 0.879070 Centerline is valid? [False, False] Translation: X:13.35, Y:-0.34, Z:-0.60 [[ 9.99959201e-01 -2.73711025e-03 -8.60844955e-03 1.33503925e+01] [ 2.65133888e-03 9.99946890e-01 -9.95930495e-03 -3.42845749e-01] [ 8.63525207e-03 9.93607469e-03 9.99913350e-01 -6.02430141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87240100800001 meters Centerline goodness : 0.877080 Centerline is valid? [False, False] Translation: X:13.35, Y:-0.35, Z:-0.60 [[ 9.99956765e-01 5.72673897e-04 -9.28118448e-03 1.33524100e+01] [-6.24162392e-04 9.99984428e-01 -5.54567435e-03 -3.47937254e-01] [ 9.27786409e-03 5.55122755e-03 9.99941551e-01 -6.02724122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90240100800001 meters Centerline goodness : 0.878506 Centerline is valid? [False, False] Translation: X:13.35, Y:-0.35, Z:-0.60 [[ 9.99954383e-01 1.07865029e-03 -9.49040988e-03 1.33525092e+01] [-1.12161345e-03 9.99989143e-01 -4.52285095e-03 -3.52350165e-01] [ 9.48542826e-03 4.53328921e-03 9.99944736e-01 -6.02196010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93240100800001 meters Centerline goodness : 0.882343 Centerline is valid? [False, False] Translation: X:13.35, Y:-0.36, Z:-0.60 [[ 9.99948558e-01 1.85291614e-03 -9.97240240e-03 1.33522403e+01] [-1.88053616e-03 9.99994420e-01 -2.76098149e-03 -3.61838333e-01] [ 9.96723089e-03 2.77959292e-03 9.99946463e-01 -6.00465848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96240100800001 meters Centerline goodness : 0.884548 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.36, Z:-0.61 [[ 9.99974948e-01 2.43791399e-03 -6.64536363e-03 1.33695446e+01] [-2.50892459e-03 9.99939623e-01 -1.06984271e-02 -3.62823712e-01] [ 6.61888055e-03 1.07148318e-02 9.99920688e-01 -6.05155148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99240100800002 meters Centerline goodness : 0.882850 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.36, Z:-0.61 [[ 9.99988654e-01 2.14711300e-03 -4.25220172e-03 1.33936256e+01] [-2.20598680e-03 9.99901102e-01 -1.38895393e-02 -3.63540547e-01] [ 4.22195878e-03 1.38987620e-02 9.99894494e-01 -6.07074367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02240100800002 meters Centerline goodness : 0.881059 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.37, Z:-0.61 [[ 9.99976525e-01 5.20904175e-03 -4.45141872e-03 1.33948190e+01] [-5.24885827e-03 9.99945900e-01 -8.98030709e-03 -3.67520905e-01] [ 4.40439911e-03 9.00346115e-03 9.99949768e-01 -6.06535532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05240100800002 meters Centerline goodness : 0.881806 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.37, Z:-0.61 [[ 9.99954007e-01 8.26439844e-03 -4.86655876e-03 1.33961825e+01] [-8.28282165e-03 9.99958561e-01 -3.77776846e-03 -3.72091258e-01] [ 4.83513611e-03 3.81790355e-03 9.99981022e-01 -6.05479876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08240100800002 meters Centerline goodness : 0.880247 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.37, Z:-0.61 [[ 9.99966495e-01 8.10559657e-03 -1.14344664e-03 1.34136872e+01] [-8.11862302e-03 9.99896364e-01 -1.18890333e-02 -3.74786777e-01] [ 1.04696043e-03 1.18979182e-02 9.99928669e-01 -6.10250553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.11240100800002 meters Centerline goodness : 0.881938 Centerline is valid? [False, False] Translation: X:13.43, Y:-0.38, Z:-0.61 [[ 9.99950249e-01 9.96318822e-03 4.84495325e-04 1.34326480e+01] [-9.95282321e-03 9.99787592e-01 -1.80474770e-02 -3.77197240e-01] [-6.64202825e-04 1.80417570e-02 9.99837014e-01 -6.14165535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14240100800001 meters Centerline goodness : 0.883088 Centerline is valid? [False, False] Translation: X:13.44, Y:-0.38, Z:-0.61 [[ 9.99925687e-01 1.20793286e-02 -1.64607416e-03 1.34357708e+01] [-1.21088024e-02 9.99741223e-01 -1.92578409e-02 -3.81196451e-01] [ 1.41302640e-03 1.92763418e-02 9.99813196e-01 -6.12522818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.17240100800001 meters Centerline goodness : 0.884703 Centerline is valid? [False, False] Translation: X:13.44, Y:-0.39, Z:-0.61 [[ 9.99888755e-01 1.42248128e-02 -4.48682335e-03 1.34412717e+01] [-1.43182218e-02 9.99665819e-01 -2.15229971e-02 -3.85518721e-01] [ 4.17916334e-03 2.15848461e-02 9.99758285e-01 -6.12214241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20240100800001 meters Centerline goodness : 0.885267 Centerline is valid? [False, False] Translation: X:13.45, Y:-0.39, Z:-0.62 [[ 9.99810179e-01 1.82563650e-02 -6.80522037e-03 1.34475008e+01] [-1.83810354e-02 9.99655583e-01 -1.87310808e-02 -3.91889904e-01] [ 6.46091509e-03 1.88526123e-02 9.99801398e-01 -6.15204361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23240100800001 meters Centerline goodness : 0.880807 Centerline is valid? [False, False] Translation: X:13.45, Y:-0.39, Z:-0.62 [[ 9.99771690e-01 2.06784761e-02 -5.38231763e-03 1.34456647e+01] [-2.07396073e-02 9.99718064e-01 -1.15612100e-02 -3.93614473e-01] [ 5.14173195e-03 1.16701976e-02 9.99918681e-01 -6.17238225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26240100800001 meters Centerline goodness : 0.879720 Centerline is valid? [False, False] Translation: X:13.45, Y:-0.40, Z:-0.62 [[ 9.99745247e-01 2.18628260e-02 -5.60868632e-03 1.34483216e+01] [-2.19123731e-02 9.99720011e-01 -8.93011467e-03 -3.95505348e-01] [ 5.41187841e-03 9.05073932e-03 9.99944396e-01 -6.20789856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29240100800001 meters Centerline goodness : 0.877869 Centerline is valid? [False, False] Translation: X:13.45, Y:-0.40, Z:-0.62 [[ 9.99720994e-01 2.25966658e-02 -6.87928550e-03 1.34514367e+01] [-2.26600866e-02 9.99700108e-01 -9.28513437e-03 -3.99044671e-01] [ 6.66740939e-03 9.43842897e-03 9.99933229e-01 -6.21837455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32240100800001 meters Centerline goodness : 0.879720 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.40, Z:-0.62 [[ 9.99701951e-01 2.23735645e-02 -9.76898936e-03 1.34564690e+01] [-2.25168341e-02 9.99636752e-01 -1.48107008e-02 -4.03531438e-01] [ 9.43407262e-03 1.50262532e-02 9.99842593e-01 -6.20693306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35240100800002 meters Centerline goodness : 0.889254 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.41, Z:-0.62 [[ 9.99665084e-01 2.34812664e-02 -1.08788362e-02 1.34743033e+01] [-2.37717642e-02 9.99342095e-01 -2.73912356e-02 -4.14466046e-01] [ 1.02284981e-02 2.76406709e-02 9.99565591e-01 -6.18802630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38240100800002 meters Centerline goodness : 0.894192 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.42, Z:-0.62 [[ 9.99640750e-01 2.46687257e-02 -1.04797234e-02 1.34719961e+01] [-2.49230937e-02 9.99379770e-01 -2.48780093e-02 -4.19856541e-01] [ 9.85951478e-03 2.51302590e-02 9.99635564e-01 -6.15998925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.41240100800002 meters Centerline goodness : 0.892993 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.43, Z:-0.62 [[ 9.99734513e-01 2.30016152e-02 -1.35213427e-03 1.34616332e+01] [-2.30176382e-02 9.99645850e-01 -1.33552636e-02 -4.25247468e-01] [ 1.04446277e-03 1.33828409e-02 9.99909900e-01 -6.16606338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44240100800002 meters Centerline goodness : 0.893135 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.43, Z:-0.61 [[ 9.99715163e-01 2.33210711e-02 -5.07161523e-03 1.34561054e+01] [-2.32835573e-02 9.99701999e-01 7.33417580e-03 -4.33142520e-01] [ 5.24114472e-03 -7.21400151e-03 9.99960244e-01 -6.07039285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.47240100800002 meters Centerline goodness : 0.890001 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.44, Z:-0.61 [[ 9.99714536e-01 2.33430045e-02 -5.09420396e-03 1.34572631e+01] [-2.33033316e-02 9.99698687e-01 7.71300090e-03 -4.36134169e-01] [ 5.27271362e-03 -7.59208719e-03 9.99957278e-01 -6.08492917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50240100800002 meters Centerline goodness : 0.890915 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.45, Z:-0.60 [[ 9.99674306e-01 2.52327291e-02 -3.81997018e-03 1.34598416e+01] [-2.51528437e-02 9.99489754e-01 1.96867035e-02 -4.45276274e-01] [ 4.31477031e-03 -1.95842085e-02 9.99798901e-01 -5.97234606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.53240100800001 meters Centerline goodness : 0.895050 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.45, Z:-0.60 [[ 9.99738417e-01 2.26053158e-02 -3.47812028e-03 1.34577058e+01] [-2.25454417e-02 9.99611536e-01 1.63853592e-02 -4.47345148e-01] [ 3.84716537e-03 -1.63026573e-02 9.99859702e-01 -5.96516609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56240100800001 meters Centerline goodness : 0.900096 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.45, Z:-0.60 [[ 9.99780775e-01 2.07203051e-02 -3.01164208e-03 1.34550583e+01] [-2.06782777e-02 9.99696731e-01 1.33736800e-02 -4.50182728e-01] [ 3.28783547e-03 -1.33084726e-02 9.99906033e-01 -5.96252844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.59240100800001 meters Centerline goodness : 0.899436 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.45, Z:-0.60 [[ 9.99704525e-01 2.40327150e-02 -3.64583033e-03 1.34578264e+01] [-2.39598652e-02 9.99535032e-01 1.88585263e-02 -4.53564427e-01] [ 4.09735672e-03 -1.87656004e-02 9.99815515e-01 -5.95079841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62240100800001 meters Centerline goodness : 0.895977 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.45, Z:-0.60 [[ 9.99711840e-01 2.36829505e-02 -3.91861383e-03 1.34595540e+01] [-2.36066794e-02 9.99550454e-01 1.84828292e-02 -4.54061764e-01] [ 4.35458016e-03 -1.83849977e-02 9.99821499e-01 -5.96808568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65240100800001 meters Centerline goodness : 0.895174 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.46, Z:-0.60 [[ 9.99715546e-01 2.34618705e-02 -4.28564731e-03 1.34609163e+01] [-2.33757050e-02 9.99543201e-01 1.91563573e-02 -4.57560822e-01] [ 4.73313360e-03 -1.90507282e-02 9.99807315e-01 -5.96896176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68240100800001 meters Centerline goodness : 0.895165 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.46, Z:-0.60 [[ 9.99853838e-01 1.67079636e-02 -3.62572964e-03 1.34588904e+01] [-1.66667312e-02 9.99799273e-01 1.11190612e-02 -4.57975915e-01] [ 3.81077873e-03 -1.10570070e-02 9.99931608e-01 -5.98262799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71240100800001 meters Centerline goodness : 0.896933 Centerline is valid? [False, False] Translation: X:13.48, Y:-0.47, Z:-0.59 [[ 9.99981745e-01 5.95609346e-03 -1.01677629e-03 1.34807048e+01] [-5.93412429e-03 9.99774451e-01 2.03919957e-02 -4.72387331e-01] [ 1.13800359e-03 -2.03855898e-02 9.99791545e-01 -5.89611367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74240100800002 meters Centerline goodness : 0.897843 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.48, Z:-0.58 [[ 9.99999353e-01 3.47545980e-04 -1.08272508e-03 1.34969002e+01] [-3.15781544e-04 9.99573516e-01 2.92007806e-02 -4.80456422e-01] [ 1.09241193e-03 -2.92004198e-02 9.99572980e-01 -5.82660477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77240100800002 meters Centerline goodness : 0.894518 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.49, Z:-0.58 [[ 9.99989970e-01 -4.27797556e-03 -1.32649517e-03 1.35117344e+01] [ 4.32553152e-03 9.99260655e-01 3.82025326e-02 -4.87304467e-01] [ 1.16208494e-03 -3.82078872e-02 9.99269136e-01 -5.75452208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80240100800002 meters Centerline goodness : 0.893536 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.49, Z:-0.58 [[ 9.99980007e-01 -5.87901683e-03 -2.32883822e-03 1.35164798e+01] [ 5.96355161e-03 9.99255049e-01 3.81285073e-02 -4.91167082e-01] [ 2.10294522e-03 -3.81416332e-02 9.99270130e-01 -5.77387824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83240100800002 meters Centerline goodness : 0.893477 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.49, Z:-0.58 [[ 9.99961189e-01 -8.71678366e-03 -1.27996414e-03 1.35144994e+01] [ 8.75579797e-03 9.99364960e-01 3.45400278e-02 -4.94217943e-01] [ 9.78073357e-04 -3.45498944e-02 9.99402496e-01 -5.78791226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86240100800002 meters Centerline goodness : 0.898343 Centerline is valid? [False, False] Translation: X:13.53, Y:-0.49, Z:-0.58 [[ 9.99977329e-01 -5.40939589e-03 4.00993489e-03 1.35263713e+01] [ 5.30173968e-03 9.99637701e-01 2.63886037e-02 -4.93994752e-01] [-4.15122850e-03 -2.63667458e-02 9.99643718e-01 -5.83054202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.89240100800001 meters Centerline goodness : 0.896722 Centerline is valid? [False, False] Translation: X:13.54, Y:-0.49, Z:-0.59 [[ 9.99955825e-01 -1.91753207e-03 9.20172354e-03 1.35371733e+01] [ 1.76553698e-03 9.99862342e-01 1.64979008e-02 -4.92895943e-01] [-9.23209210e-03 -1.64809260e-02 9.99821558e-01 -5.88963723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92240100800001 meters Centerline goodness : 0.897666 Centerline is valid? [False, False] Translation: X:13.53, Y:-0.49, Z:-0.59 [[ 9.99954893e-01 -4.50094134e-04 9.48736204e-03 1.35347031e+01] [ 2.87341385e-04 9.99852902e-01 1.71490770e-02 -4.92999807e-01] [-9.49368517e-03 -1.71455774e-02 9.99807931e-01 -5.87448456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.95240100800001 meters Centerline goodness : 0.900023 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.49, Z:-0.59 [[ 9.99896607e-01 4.18512104e-03 1.37572126e-02 1.35504979e+01] [-4.35130010e-03 9.99917666e-01 1.20717582e-02 -4.93055768e-01] [-1.37055581e-02 -1.21303718e-02 9.99832492e-01 -5.91601772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98240100800001 meters Centerline goodness : 0.901780 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.50, Z:-0.59 [[ 9.99862712e-01 8.88385938e-03 1.39869079e-02 1.35498157e+01] [-9.12534085e-03 9.99808758e-01 1.72967214e-02 -4.95594797e-01] [-1.38305714e-02 -1.74219820e-02 9.99752564e-01 -5.90924589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01240100800001 meters Centerline goodness : 0.896020 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.49, Z:-0.59 [[ 9.99871291e-01 6.26405453e-03 1.47703120e-02 1.35483918e+01] [-6.45242689e-03 9.99898018e-01 1.27404689e-02 -4.92478410e-01] [-1.46889987e-02 -1.28341334e-02 9.99809741e-01 -5.93574440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04240100800001 meters Centerline goodness : 0.893402 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.49, Z:-0.59 [[ 9.99868854e-01 6.31051945e-03 1.49148235e-02 1.35483654e+01] [-6.50330944e-03 9.99895474e-01 1.29131080e-02 -4.93264067e-01] [-1.48317761e-02 -1.30084102e-02 9.99805381e-01 -5.93871833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07240100800001 meters Centerline goodness : 0.897910 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.50, Z:-0.59 [[ 9.99868481e-01 6.50380447e-03 1.48566699e-02 1.35482796e+01] [-6.70640786e-03 9.99884640e-01 1.36283339e-02 -4.95675257e-01] [-1.47663200e-02 -1.37261764e-02 9.99796753e-01 -5.93130184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10240100800002 meters Centerline goodness : 0.902050 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.50, Z:-0.59 [[ 9.99866072e-01 7.39344734e-03 1.46005314e-02 1.35472286e+01] [-7.62063217e-03 9.99849798e-01 1.55661953e-02 -5.01665005e-01] [-1.44832505e-02 -1.56753759e-02 9.99772233e-01 -5.90138003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13240100800002 meters Centerline goodness : 0.901270 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.50, Z:-0.59 [[ 9.99866030e-01 7.77140278e-03 1.44058218e-02 1.35469908e+01] [-8.00613008e-03 9.99834954e-01 1.63085009e-02 -5.03966565e-01] [-1.42767042e-02 -1.64216510e-02 9.99763225e-01 -5.88980991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16240100800002 meters Centerline goodness : 0.903003 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.51, Z:-0.59 [[ 9.99865867e-01 8.03290404e-03 1.42730784e-02 1.35468681e+01] [-8.27226243e-03 9.99824804e-01 1.67907815e-02 -5.05803318e-01] [-1.41356991e-02 -1.69066000e-02 9.99757145e-01 -5.88297452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.19240100800002 meters Centerline goodness : 0.903478 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.50, Z:-0.59 [[ 9.99876258e-01 4.71026053e-03 1.50094048e-02 1.35455559e+01] [-4.88622888e-03 9.99919511e-01 1.17088482e-02 -5.03850132e-01] [-1.49530450e-02 -1.17807387e-02 9.99818794e-01 -5.90720318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22240100800002 meters Centerline goodness : 0.904543 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.50, Z:-0.59 [[ 9.99880807e-01 4.49585839e-03 1.47701986e-02 1.35467567e+01] [-4.66683050e-03 9.99922273e-01 1.15614768e-02 -5.04585559e-01] [-1.47170718e-02 -1.16290287e-02 9.99824071e-01 -5.91726368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.25240100800002 meters Centerline goodness : 0.903282 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.51, Z:-0.59 [[ 9.99886340e-01 4.00488496e-03 1.45350873e-02 1.35486955e+01] [-4.16581052e-03 9.99930179e-01 1.10581861e-02 -5.05132620e-01] [-1.44897856e-02 -1.11174796e-02 9.99833210e-01 -5.93836811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28240100800001 meters Centerline goodness : 0.901332 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.51, Z:-0.60 [[ 9.99896889e-01 3.42246315e-03 1.39462426e-02 1.35519885e+01] [-3.57378880e-03 9.99934857e-01 1.08402031e-02 -5.08396931e-01] [-1.39082339e-02 -1.08889263e-02 9.99843984e-01 -5.96622076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.31240100800001 meters Centerline goodness : 0.904569 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.51, Z:-0.60 [[ 9.99902337e-01 3.32640553e-03 1.35739279e-02 1.35532295e+01] [-3.47628943e-03 9.99933087e-01 1.10334291e-02 -5.10250710e-01] [-1.35363180e-02 -1.10795384e-02 9.99846994e-01 -5.97048301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34240100800001 meters Centerline goodness : 0.903663 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.51, Z:-0.60 [[ 9.99901428e-01 3.62025969e-03 1.35656966e-02 1.35532593e+01] [-3.77340654e-03 9.99929251e-01 1.12807357e-02 -5.11728446e-01] [-1.35238976e-02 -1.13308126e-02 9.99844346e-01 -5.97267405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37240100800001 meters Centerline goodness : 0.905716 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.51, Z:-0.60 [[ 9.99907440e-01 -4.49394906e-04 1.35981103e-02 1.35538157e+01] [ 3.48580155e-04 9.99972445e-01 7.41534156e-03 -5.14766940e-01] [-1.36010680e-02 -7.40991517e-03 9.99880045e-01 -5.98169914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40240100800001 meters Centerline goodness : 0.909335 Centerline is valid? [False, False] Translation: X:13.56, Y:-0.52, Z:-0.60 [[ 9.99915456e-01 -1.17493112e-03 1.29499078e-02 1.35563745e+01] [ 1.07908540e-03 9.99971995e-01 7.40577111e-03 -5.16563174e-01] [-1.29582464e-02 -7.39117094e-03 9.99888721e-01 -5.99075615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43240100800001 meters Centerline goodness : 0.908175 Centerline is valid? [False, False] Translation: X:13.56, Y:-0.52, Z:-0.60 [[ 9.99922293e-01 -1.81787464e-03 1.23330453e-02 1.35589056e+01] [ 1.72899445e-03 9.99972488e-01 7.21350853e-03 -5.18155663e-01] [-1.23458193e-02 -7.19162422e-03 9.99897925e-01 -6.00373431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46240100800001 meters Centerline goodness : 0.907900 Centerline is valid? [False, False] Translation: X:13.56, Y:-0.52, Z:-0.60 [[ 9.99929963e-01 -2.44053445e-03 1.15807345e-02 1.35614369e+01] [ 2.35550629e-03 9.99970213e-01 7.35017600e-03 -5.20803661e-01] [-1.15983279e-02 -7.32238272e-03 9.99905926e-01 -6.01028347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49240100800002 meters Centerline goodness : 0.913641 Centerline is valid? [False, False] Translation: X:13.56, Y:-0.52, Z:-0.60 [[ 9.99937164e-01 -3.06924532e-03 1.07818403e-02 1.35635396e+01] [ 2.98418383e-03 9.99964369e-01 7.89657816e-03 -5.24250414e-01] [-1.08056926e-02 -7.86390698e-03 9.99910694e-01 -6.00276595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52240100800002 meters Centerline goodness : 0.912321 Centerline is valid? [False, False] Translation: X:13.56, Y:-0.53, Z:-0.60 [[ 9.99938912e-01 -3.04439151e-03 1.06255844e-02 1.35635184e+01] [ 2.95521167e-03 9.99960365e-01 8.39856855e-03 -5.25343955e-01] [-1.06507317e-02 -8.36665465e-03 9.99908276e-01 -5.99167948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.55240100800002 meters Centerline goodness : 0.912427 Centerline is valid? [False, False] Translation: X:13.56, Y:-0.53, Z:-0.60 [[ 9.99941468e-01 -3.17528689e-03 1.03429904e-02 1.35639093e+01] [ 3.08738617e-03 9.99959079e-01 8.50348785e-03 -5.25633511e-01] [-1.03695682e-02 -8.47105732e-03 9.99910353e-01 -5.98565612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58240100800002 meters Centerline goodness : 0.914318 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.53, Z:-0.60 [[ 9.99958369e-01 1.04560074e-05 9.12473992e-03 1.35863758e+01] [-5.92152994e-05 9.99985722e-01 5.34338255e-03 -5.25942948e-01] [-9.12455377e-03 -5.34370042e-03 9.99944092e-01 -5.99086166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.61240100800002 meters Centerline goodness : 0.911267 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.53, Z:-0.60 [[ 9.99964490e-01 3.00693640e-03 7.87251420e-03 1.35896261e+01] [-3.08383688e-03 9.99947474e-01 9.77437567e-03 -5.26873755e-01] [-7.84270976e-03 -9.79830613e-03 9.99921239e-01 -5.98024572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64240100800001 meters Centerline goodness : 0.911267 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.53, Z:-0.60 [[ 9.99964490e-01 3.00693640e-03 7.87251420e-03 1.35896261e+01] [-3.08383688e-03 9.99947474e-01 9.77437567e-03 -5.26873755e-01] [-7.84270976e-03 -9.79830613e-03 9.99921239e-01 -5.98024572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.67240100800001 meters Centerline goodness : 0.907133 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.52, Z:-0.61 [[ 9.99968310e-01 1.83812524e-03 7.74594937e-03 1.35927201e+01] [-1.88093696e-03 9.99982977e-01 5.52332540e-03 -5.19213180e-01] [-7.73566495e-03 -5.53772001e-03 9.99954746e-01 -6.05788060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70240100800001 meters Centerline goodness : 0.907972 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.52, Z:-0.61 [[ 9.99973052e-01 8.68056339e-04 7.28980642e-03 1.35953198e+01] [-8.97289150e-04 9.99991566e-01 4.00778162e-03 -5.16159817e-01] [-7.28626596e-03 -4.01421468e-03 9.99965398e-01 -6.08405961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73240100800001 meters Centerline goodness : 0.908684 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.52, Z:-0.61 [[ 9.99977505e-01 2.26805214e-04 6.70360524e-03 1.35971331e+01] [-2.50092970e-04 9.99993937e-01 3.47328103e-03 -5.15154339e-01] [-6.70277684e-03 -3.47487943e-03 9.99971499e-01 -6.08893184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76240100800001 meters Centerline goodness : 0.911258 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.52, Z:-0.61 [[ 9.99981178e-01 1.28261299e-04 6.13413474e-03 1.35977120e+01] [-1.52645446e-04 9.99992089e-01 3.97485378e-03 -5.16394908e-01] [-6.13357640e-03 -3.97571531e-03 9.99973286e-01 -6.07313313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79240100800001 meters Centerline goodness : 0.910960 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.52, Z:-0.60 [[ 9.99985132e-01 1.22902802e-04 5.45170891e-03 1.35980826e+01] [-1.49996904e-04 9.99987640e-01 4.96970618e-03 -5.18955835e-01] [-5.45103073e-03 -4.97045003e-03 9.99972790e-01 -6.04731172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82240100800001 meters Centerline goodness : 0.915374 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.52, Z:-0.60 [[ 9.99989943e-01 -4.32918099e-04 4.46399374e-03 1.35995095e+01] [ 3.97234586e-04 9.99967989e-01 7.99142020e-03 -5.23937251e-01] [-4.46731047e-03 -7.98956657e-03 9.99958104e-01 -5.98780784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85240100800002 meters Centerline goodness : 0.913942 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.52, Z:-0.60 [[ 9.99990787e-01 -1.26704174e-03 4.10125724e-03 1.36016175e+01] [ 1.23517818e-03 9.99969109e-01 7.76244841e-03 -5.24115336e-01] [-4.11096589e-03 -7.75731111e-03 9.99961461e-01 -5.99801331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88240100800002 meters Centerline goodness : 0.912821 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.53, Z:-0.60 [[ 9.99996516e-01 -1.30013905e-03 2.29709646e-03 1.36105101e+01] [ 1.26895875e-03 9.99907748e-01 1.35234948e-02 -5.25984216e-01] [-2.31446697e-03 -1.35205328e-02 9.99905915e-01 -5.96991369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.91240100800002 meters Centerline goodness : 0.908666 Centerline is valid? [False, False] Translation: X:13.63, Y:-0.53, Z:-0.59 [[ 9.99985375e-01 -5.01283570e-03 2.03020277e-03 1.36308422e+01] [ 4.95589335e-03 9.99619269e-01 2.71432435e-02 -5.29719707e-01] [-2.16549443e-03 -2.71327851e-02 9.99629493e-01 -5.86967913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94240100800002 meters Centerline goodness : 0.908725 Centerline is valid? [False, False] Translation: X:13.63, Y:-0.53, Z:-0.59 [[ 9.99956515e-01 -9.06435550e-03 2.19234708e-03 1.36308481e+01] [ 9.01391375e-03 9.99716967e-01 2.20166854e-02 -5.27423794e-01] [-2.39129364e-03 -2.19959664e-02 9.99755200e-01 -5.88563708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.97240100800002 meters Centerline goodness : 0.908948 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.53, Z:-0.58 [[ 9.99973137e-01 -7.27056058e-03 -9.29936228e-04 1.36589689e+01] [ 7.29161254e-03 9.99658398e-01 2.50981967e-02 -5.31252255e-01] [ 7.47140600e-04 -2.51043033e-02 9.99684558e-01 -5.80501770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00240100800002 meters Centerline goodness : 0.911785 Centerline is valid? [False, False] Translation: X:13.68, Y:-0.54, Z:-0.57 [[ 9.99979075e-01 -5.40007327e-03 -3.56223816e-03 1.36849292e+01] [ 5.49338967e-03 9.99627644e-01 2.67281964e-02 -5.35121683e-01] [ 3.41657752e-03 -2.67472059e-02 9.99636391e-01 -5.73358783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.03240100800001 meters Centerline goodness : 0.908627 Centerline is valid? [False, False] Translation: X:13.70, Y:-0.54, Z:-0.57 [[ 9.99954093e-01 -7.60257983e-03 -5.83196192e-03 1.36981934e+01] [ 7.79711791e-03 9.99388237e-01 3.40933512e-02 -5.36914077e-01] [ 5.56919672e-03 -3.41372586e-02 9.99401637e-01 -5.65989694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06240100800001 meters Centerline goodness : 0.908281 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.54, Z:-0.57 [[ 9.99927443e-01 -5.21208451e-03 -1.08601915e-02 1.37229755e+01] [ 5.53448433e-03 9.99538442e-01 2.98709218e-02 -5.36342891e-01] [ 1.06994892e-02 -2.99288600e-02 9.99494765e-01 -5.67970867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.09240100800001 meters Centerline goodness : 0.907011 Centerline is valid? [False, False] Translation: X:13.74, Y:-0.54, Z:-0.56 [[ 9.99908406e-01 -7.30081212e-03 -1.13964284e-02 1.37421812e+01] [ 7.77832613e-03 9.99068983e-01 4.24342363e-02 -5.36782167e-01] [ 1.10760138e-02 -4.25189947e-02 9.99034262e-01 -5.60111487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12240100800001 meters Centerline goodness : 0.905062 Centerline is valid? [False, False] Translation: X:13.75, Y:-0.53, Z:-0.56 [[ 9.99890167e-01 -8.61382454e-03 -1.20605347e-02 1.37456920e+01] [ 9.10173933e-03 9.99117573e-01 4.10028404e-02 -5.34339059e-01] [ 1.16967009e-02 -4.11081087e-02 9.99086238e-01 -5.62720500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15240100800001 meters Centerline goodness : 0.908371 Centerline is valid? [False, False] Translation: X:13.77, Y:-0.54, Z:-0.56 [[ 9.99869707e-01 -6.29941225e-03 -1.48622598e-02 1.37724164e+01] [ 6.90722242e-03 9.99126806e-01 4.12057667e-02 -5.36033875e-01] [ 1.45897101e-02 -4.13030548e-02 9.99040138e-01 -5.60827831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18240100800001 meters Centerline goodness : 0.906588 Centerline is valid? [False, False] Translation: X:13.79, Y:-0.53, Z:-0.56 [[ 9.99924153e-01 -5.05074902e-03 -1.12328939e-02 1.37903652e+01] [ 5.43661067e-03 9.99386798e-01 3.45900558e-02 -5.34514407e-01] [ 1.10513002e-02 -3.46485011e-02 9.99338456e-01 -5.63534838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21240100800001 meters Centerline goodness : 0.904182 Centerline is valid? [False, False] Translation: X:13.79, Y:-0.53, Z:-0.56 [[ 9.99906136e-01 -8.28894004e-03 -1.09093239e-02 1.37879945e+01] [ 8.61845971e-03 9.99497207e-01 3.05131942e-02 -5.31814523e-01] [ 1.06509167e-02 -3.06043517e-02 9.99474828e-01 -5.62077582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24240100800002 meters Centerline goodness : 0.902731 Centerline is valid? [False, False] Translation: X:13.79, Y:-0.53, Z:-0.56 [[ 9.99908673e-01 -7.86722630e-03 -1.09887073e-02 1.37869376e+01] [ 8.20857277e-03 9.99474080e-01 3.13716919e-02 -5.31854714e-01] [ 1.07361199e-02 -3.14590284e-02 9.99447380e-01 -5.59501723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27240100800002 meters Centerline goodness : 0.902587 Centerline is valid? [False, False] Translation: X:13.80, Y:-0.53, Z:-0.56 [[ 9.99959465e-01 -5.97542820e-03 -6.73518300e-03 1.38025911e+01] [ 6.13077984e-03 9.99710045e-01 2.32860376e-02 -5.29469320e-01] [ 6.59408606e-03 -2.33263856e-02 9.99706156e-01 -5.63324621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30240100800002 meters Centerline goodness : 0.903402 Centerline is valid? [False, False] Translation: X:13.82, Y:-0.53, Z:-0.57 [[ 9.99988655e-01 -3.27565599e-03 -3.45825123e-03 1.38221888e+01] [ 3.33973834e-03 9.99819748e-01 1.86900574e-02 -5.27839112e-01] [ 3.39640567e-03 -1.87013950e-02 9.99819345e-01 -5.65110491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33240100800002 meters Centerline goodness : 0.903536 Centerline is valid? [False, False] Translation: X:13.83, Y:-0.53, Z:-0.56 [[ 9.99981005e-01 3.07426675e-03 -5.34210493e-03 1.38266496e+01] [-2.91494509e-03 9.99558170e-01 2.95798622e-02 -5.29018676e-01] [ 5.43068101e-03 -2.95637283e-02 9.99548145e-01 -5.58129070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36240100800002 meters Centerline goodness : 0.902520 Centerline is valid? [False, False] Translation: X:13.83, Y:-0.53, Z:-0.56 [[ 9.99960945e-01 6.03907261e-03 -6.45268227e-03 1.38298815e+01] [-5.81707370e-03 9.99408775e-01 3.38860086e-02 -5.29188621e-01] [ 6.65350735e-03 -3.38471495e-02 9.99404874e-01 -5.57158446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.39240100800001 meters Centerline goodness : 0.901505 Centerline is valid? [False, False] Translation: X:13.83, Y:-0.53, Z:-0.56 [[ 9.99934089e-01 8.24616568e-03 -7.98862888e-03 1.38348731e+01] [-7.93455786e-03 9.99235447e-01 3.82826852e-02 -5.29730385e-01] [ 8.29820652e-03 -3.82167757e-02 9.99235016e-01 -5.56107106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42240100800001 meters Centerline goodness : 0.900538 Centerline is valid? [False, False] Translation: X:13.84, Y:-0.53, Z:-0.56 [[ 9.99904677e-01 1.04056846e-02 -9.07520053e-03 1.38391390e+01] [-1.00112517e-02 9.99047347e-01 4.24755594e-02 -5.30832351e-01] [ 9.50854229e-03 -4.23806563e-02 9.99056289e-01 -5.55537864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.45240100800001 meters Centerline goodness : 0.898556 Centerline is valid? [False, False] Translation: X:13.84, Y:-0.53, Z:-0.56 [[ 9.99911214e-01 8.77673943e-03 -1.00265720e-02 1.38432809e+01] [-8.36121604e-03 9.99134053e-01 4.07582526e-02 -5.28037373e-01] [ 1.03756140e-02 -4.06707996e-02 9.99118728e-01 -5.58179421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48240100800001 meters Centerline goodness : 0.898912 Centerline is valid? [False, False] Translation: X:13.84, Y:-0.52, Z:-0.56 [[ 9.99942509e-01 4.66912692e-03 -9.65286342e-03 1.38432103e+01] [-4.33877120e-03 9.99413578e-01 3.39657842e-02 -5.22899962e-01] [ 9.80579332e-03 -3.39219499e-02 9.99376379e-01 -5.62628622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51240100800001 meters Centerline goodness : 0.900804 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.52, Z:-0.56 [[ 9.99912558e-01 6.68308562e-03 -1.14110510e-02 1.38484930e+01] [-6.21409468e-03 9.99154047e-01 4.06518851e-02 -5.24524990e-01] [ 1.16730778e-02 -4.05774211e-02 9.99108208e-01 -5.56617805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54240100800001 meters Centerline goodness : 0.903403 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.52, Z:-0.56 [[ 9.99908535e-01 6.31244695e-03 -1.19614071e-02 1.38492276e+01] [-5.82186799e-03 9.99157965e-01 4.06136288e-02 -5.23685308e-01] [ 1.22077066e-02 -4.05402764e-02 9.99103327e-01 -5.55223832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57240100800001 meters Centerline goodness : 0.903728 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.52, Z:-0.55 [[ 9.99906433e-01 6.28200103e-03 -1.21516084e-02 1.38488522e+01] [-5.78943627e-03 9.99176734e-01 4.01539189e-02 -5.21085556e-01] [ 1.23938513e-02 -4.00798108e-02 9.99119613e-01 -5.54205518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60240100800002 meters Centerline goodness : 0.904934 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.52, Z:-0.55 [[ 9.99871343e-01 9.79557530e-03 -1.27020980e-02 1.38501756e+01] [-9.21819880e-03 9.98955979e-01 4.47434513e-02 -5.20395802e-01] [ 1.31271246e-02 -4.46206043e-02 9.98917755e-01 -5.52348672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63240100800002 meters Centerline goodness : 0.902219 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.52, Z:-0.55 [[ 9.99875265e-01 9.70604532e-03 -1.24598084e-02 1.38501516e+01] [-9.15782445e-03 9.99018988e-01 4.33266235e-02 -5.16496940e-01] [ 1.28681153e-02 -4.32071144e-02 9.98983262e-01 -5.54441010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66240100800002 meters Centerline goodness : 0.900225 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.51, Z:-0.56 [[ 9.99900914e-01 1.14166280e-02 -8.23545958e-03 1.38635672e+01] [-1.11625061e-02 9.99479436e-01 3.02696961e-02 -5.10356251e-01] [ 8.57675036e-03 -3.01747685e-02 9.99507840e-01 -5.64633345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.69240100800002 meters Centerline goodness : 0.899256 Centerline is valid? [False, False] Translation: X:13.88, Y:-0.50, Z:-0.57 [[ 9.99876540e-01 1.51584377e-02 -4.13836332e-03 1.38752943e+01] [-1.50809933e-02 9.99721639e-01 1.81440859e-02 -5.03950486e-01] [ 4.41224736e-03 -1.80794352e-02 9.99826818e-01 -5.74236484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72240100800002 meters Centerline goodness : 0.896585 Centerline is valid? [False, False] Translation: X:13.88, Y:-0.50, Z:-0.58 [[ 9.99875768e-01 1.52251726e-02 -4.07958567e-03 1.38752646e+01] [-1.51529848e-02 9.99737632e-01 1.71771670e-02 -5.01554174e-01] [ 4.34004064e-03 -1.71132151e-02 9.99844139e-01 -5.75410063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.75240100800002 meters Centerline goodness : 0.899218 Centerline is valid? [False, False] Translation: X:13.88, Y:-0.50, Z:-0.58 [[ 9.99874124e-01 1.52950573e-02 -4.21873857e-03 1.38754256e+01] [-1.52241540e-02 9.99750325e-01 1.63558024e-02 -4.99269235e-01] [ 4.46784819e-03 -1.62895169e-02 9.99857335e-01 -5.76139190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78240100800001 meters Centerline goodness : 0.901064 Centerline is valid? [False, False] Translation: X:13.87, Y:-0.50, Z:-0.57 [[ 9.99835288e-01 1.77479969e-02 -3.79536445e-03 1.38713526e+01] [-1.76817177e-02 9.99701899e-01 1.68365560e-02 -4.97943419e-01] [ 4.09304820e-03 -1.67666743e-02 9.99851052e-01 -5.74470489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.81240100800001 meters Centerline goodness : 0.902468 Centerline is valid? [False, False] Translation: X:13.87, Y:-0.50, Z:-0.57 [[ 9.99818770e-01 1.86817994e-02 -3.66306762e-03 1.38697806e+01] [-1.86169939e-02 9.99682284e-01 1.69923057e-02 -4.97512418e-01] [ 3.97935065e-03 -1.69210309e-02 9.99848910e-01 -5.73667776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84240100800001 meters Centerline goodness : 0.901765 Centerline is valid? [False, False] Translation: X:13.87, Y:-0.50, Z:-0.57 [[ 9.99807043e-01 1.92946106e-02 -3.68706883e-03 1.38692798e+01] [-1.92306861e-02 9.99676417e-01 1.66505578e-02 -4.96568059e-01] [ 4.00714179e-03 -1.65764401e-02 9.99854572e-01 -5.74111028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87240100800001 meters Centerline goodness : 0.903522 Centerline is valid? [False, False] Translation: X:13.87, Y:-0.49, Z:-0.58 [[ 9.99801091e-01 1.96434547e-02 -3.45162697e-03 1.38689821e+01] [-1.95860877e-02 9.99681186e-01 1.59345740e-02 -4.94973289e-01] [ 3.76353662e-03 -1.58638006e-02 9.99867079e-01 -5.75603163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90240100800001 meters Centerline goodness : 0.901345 Centerline is valid? [False, False] Translation: X:13.87, Y:-0.49, Z:-0.58 [[ 9.99795676e-01 1.99844436e-02 -3.03776296e-03 1.38688217e+01] [-1.99374277e-02 9.99691819e-01 1.47907480e-02 -4.92770476e-01] [ 3.33241165e-03 -1.47271607e-02 9.99885996e-01 -5.78329217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93240100800001 meters Centerline goodness : 0.899872 Centerline is valid? [False, False] Translation: X:13.87, Y:-0.49, Z:-0.58 [[ 9.99793579e-01 2.01450013e-02 -2.64180974e-03 1.38690016e+01] [-2.01071429e-02 9.99704654e-01 1.36494281e-02 -4.90689670e-01] [ 2.91599724e-03 -1.35934913e-02 9.99903352e-01 -5.81153034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96240100800001 meters Centerline goodness : 0.899700 Centerline is valid? [False, False] Translation: X:13.87, Y:-0.49, Z:-0.58 [[ 9.99769518e-01 2.13760751e-02 -1.99342315e-03 1.38676615e+01] [-2.13476581e-02 9.99683280e-01 1.33273358e-02 -4.90419279e-01] [ 2.27767793e-03 -1.32817092e-02 9.99909200e-01 -5.83343197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99240100800002 meters Centerline goodness : 0.900662 Centerline is valid? [False, False] Translation: X:13.87, Y:-0.49, Z:-0.58 [[ 9.99824187e-01 1.86797504e-02 -1.63187389e-03 1.38657834e+01] [-1.86644071e-02 9.99785659e-01 8.95963604e-03 -4.89449939e-01] [ 1.79888788e-03 -8.92760285e-03 9.99958530e-01 -5.84308286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02240100800002 meters Centerline goodness : 0.901703 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.49, Z:-0.58 [[ 9.99871557e-01 1.59858372e-02 -1.15008645e-03 1.38631658e+01] [-1.59795435e-02 9.99858336e-01 5.28784618e-03 -4.90098733e-01] [ 1.23445418e-03 -5.26878914e-03 9.99985358e-01 -5.83750935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.05240100800002 meters Centerline goodness : 0.902560 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.49, Z:-0.58 [[ 9.99863530e-01 1.64576128e-02 -1.43787945e-03 1.38625953e+01] [-1.64469997e-02 9.99839495e-01 7.10498852e-03 -4.94970078e-01] [ 1.55457981e-03 -7.08037010e-03 9.99973725e-01 -5.80807292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08240100800002 meters Centerline goodness : 0.904088 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.50, Z:-0.58 [[ 9.99906789e-01 1.36193924e-02 -9.61909279e-04 1.38599967e+01] [-1.36140822e-02 9.99893136e-01 5.32670651e-03 -5.01756388e-01] [ 1.03435299e-03 -5.31311449e-03 9.99985350e-01 -5.78142891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.11240100800002 meters Centerline goodness : 0.905305 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.51, Z:-0.58 [[ 9.99910916e-01 1.32780279e-02 -1.36144594e-03 1.38615088e+01] [-1.32693723e-02 9.99892854e-01 6.18098565e-03 -5.05473731e-01] [ 1.44337136e-03 -6.16236949e-03 9.99979971e-01 -5.77840254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14240100800001 meters Centerline goodness : 0.905073 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.51, Z:-0.58 [[ 9.99955963e-01 9.36092728e-03 -6.67726574e-04 1.38611385e+01] [-9.36009025e-03 9.99955417e-01 1.24585122e-03 -5.05043221e-01] [ 6.79359128e-04 -1.23954637e-03 9.99999001e-01 -5.80791889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.17240100800001 meters Centerline goodness : 0.904795 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.51, Z:-0.58 [[ 9.99992653e-01 3.72109500e-03 -9.20125902e-04 1.38646582e+01] [-3.72316034e-03 9.99990531e-01 -2.25319088e-03 -5.10410733e-01] [ 9.11732851e-04 2.25660011e-03 9.99997038e-01 -5.82449844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20240100800001 meters Centerline goodness : 0.899976 Centerline is valid? [False, False] Translation: X:13.87, Y:-0.51, Z:-0.58 [[ 9.99994935e-01 2.76963011e-03 -1.56792672e-03 1.38676307e+01] [-2.77254877e-03 9.99994422e-01 -1.86237452e-03 -5.13132080e-01] [ 1.56275988e-03 1.86671224e-03 9.99997037e-01 -5.83073126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23240100800001 meters Centerline goodness : 0.900631 Centerline is valid? [False, False] Translation: X:13.87, Y:-0.51, Z:-0.58 [[ 9.99995218e-01 2.39467631e-03 -1.95672185e-03 1.38690275e+01] [-2.39842265e-03 9.99995291e-01 -1.91449841e-03 -5.13230668e-01] [ 1.95212804e-03 1.91918230e-03 9.99996253e-01 -5.83397293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26240100800001 meters Centerline goodness : 0.899344 Centerline is valid? [False, False] Translation: X:13.87, Y:-0.51, Z:-0.58 [[ 9.99994974e-01 2.16983845e-03 -2.31182925e-03 1.38700725e+01] [-2.17410935e-03 9.99995932e-01 -1.84650569e-03 -5.13309382e-01] [ 2.30781323e-03 1.85152258e-03 9.99995623e-01 -5.83319705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29240100800001 meters Centerline goodness : 0.899041 Centerline is valid? [False, False] Translation: X:13.87, Y:-0.52, Z:-0.58 [[ 9.99992417e-01 1.87352604e-03 -3.41401012e-03 1.38717782e+01] [-1.87282556e-03 9.99998225e-01 2.08361826e-04 -5.17462578e-01] [ 3.41439443e-03 -2.01966401e-04 9.99994151e-01 -5.79401604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32240100800001 meters Centerline goodness : 0.901898 Centerline is valid? [False, False] Translation: X:13.87, Y:-0.52, Z:-0.58 [[ 9.99989721e-01 1.42314029e-03 -4.30485455e-03 1.38738128e+01] [-1.41817225e-03 9.99998325e-01 1.15688855e-03 -5.20350572e-01] [ 4.30649375e-03 -1.15077163e-03 9.99990065e-01 -5.77908894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35240100800002 meters Centerline goodness : 0.901810 Centerline is valid? [False, False] Translation: X:13.88, Y:-0.52, Z:-0.58 [[ 9.99987426e-01 7.03262783e-04 -4.96524623e-03 1.38761045e+01] [-6.95176353e-04 9.99998430e-01 1.63014427e-03 -5.22424107e-01] [ 4.96638485e-03 -1.62667205e-03 9.99986344e-01 -5.77647138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38240100800002 meters Centerline goodness : 0.902562 Centerline is valid? [False, False] Translation: X:13.88, Y:-0.52, Z:-0.58 [[ 9.99984334e-01 -1.55974957e-04 -5.59538084e-03 1.38786626e+01] [ 1.62886765e-04 9.99999224e-01 1.23483601e-03 -5.21797493e-01] [ 5.59518389e-03 -1.23572808e-03 9.99983583e-01 -5.78526720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.41240100800002 meters Centerline goodness : 0.900036 Centerline is valid? [False, False] Translation: X:13.88, Y:-0.52, Z:-0.58 [[ 9.99980445e-01 -1.08248375e-03 -6.15929317e-03 1.38812948e+01] [ 1.08463282e-03 9.99999352e-01 3.45585497e-04 -5.20116626e-01] [ 6.15891509e-03 -3.52259310e-04 9.99980972e-01 -5.80238410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44240100800002 meters Centerline goodness : 0.898338 Centerline is valid? [False, False] Translation: X:13.89, Y:-0.52, Z:-0.58 [[ 9.99963585e-01 -2.38943585e-03 -8.19266698e-03 1.38923387e+01] [ 2.41663123e-03 9.99991598e-01 3.31118711e-03 -5.18641161e-01] [ 8.18468627e-03 -3.33086518e-03 9.99960957e-01 -5.81628386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.47240100800002 meters Centerline goodness : 0.897064 Centerline is valid? [False, False] Translation: X:13.90, Y:-0.52, Z:-0.58 [[ 9.99942768e-01 -3.35683174e-03 -1.01583277e-02 1.39025919e+01] [ 3.44556047e-03 9.99955959e-01 8.72972208e-03 -5.20056403e-01] [ 1.01285761e-02 -8.76422360e-03 9.99910296e-01 -5.78419309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50240100800002 meters Centerline goodness : 0.903035 Centerline is valid? [False, False] Translation: X:13.91, Y:-0.52, Z:-0.58 [[ 9.99925034e-01 -4.76884883e-03 -1.12776251e-02 1.39062030e+01] [ 4.87027048e-03 9.99947793e-01 8.98287635e-03 -5.21223478e-01] [ 1.12341984e-02 -9.03712802e-03 9.99896056e-01 -5.77730301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.53240100800001 meters Centerline goodness : 0.900986 Centerline is valid? [False, False] Translation: X:13.91, Y:-0.52, Z:-0.57 [[ 9.99886234e-01 -7.43264388e-03 -1.31253675e-02 1.39121684e+01] [ 7.57500221e-03 9.99912663e-01 1.08298450e-02 -5.24000947e-01] [ 1.30437268e-02 -1.09280377e-02 9.99855209e-01 -5.73411662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56240100800001 meters Centerline goodness : 0.900986 Centerline is valid? [False, False] Translation: X:13.91, Y:-0.52, Z:-0.57 [[ 9.99886504e-01 -7.43797234e-03 -1.31017708e-02 1.39121459e+01] [ 7.57966841e-03 9.99912964e-01 1.07987827e-02 -5.23944615e-01] [ 1.30203094e-02 -1.08968641e-02 9.99855855e-01 -5.73458562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59240100800001 meters Centerline goodness : 0.902441 Centerline is valid? [False, False] Translation: X:13.91, Y:-0.53, Z:-0.57 [[ 9.99837911e-01 -1.20286404e-02 -1.33963688e-02 1.39127015e+01] [ 1.21284858e-02 9.99899087e-01 7.39703727e-03 -5.25489143e-01] [ 1.33060406e-02 -7.55831596e-03 9.99882904e-01 -5.71710425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62240100800001 meters Centerline goodness : 0.907075 Centerline is valid? [False, False] Translation: X:13.88, Y:-0.53, Z:-0.56 [[ 9.99634453e-01 -2.46579886e-02 -1.10880419e-02 1.38761604e+01] [ 2.48642957e-02 9.99512723e-01 1.88701702e-02 -5.29535881e-01] [ 1.06173385e-02 -1.91389686e-02 9.99760457e-01 -5.59536115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65240100800001 meters Centerline goodness : 0.906302 Centerline is valid? [False, False] Translation: X:13.87, Y:-0.53, Z:-0.56 [[ 9.99553050e-01 -2.83215290e-02 -9.57033758e-03 1.38745465e+01] [ 2.85009886e-02 9.99409993e-01 1.91666242e-02 -5.29085289e-01] [ 9.02186291e-03 -1.94308217e-02 9.99770498e-01 -5.60662461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68240100800001 meters Centerline goodness : 0.907700 Centerline is valid? [False, False] Translation: X:13.88, Y:-0.53, Z:-0.56 [[ 9.99663047e-01 -2.59460324e-02 7.71544392e-04 1.38766825e+01] [ 2.59182808e-02 9.99344914e-01 2.52583883e-02 -5.30968718e-01] [-1.42639392e-03 -2.52298803e-02 9.99680658e-01 -5.60704018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71240100800001 meters Centerline goodness : 0.906054 Centerline is valid? [False, False] Translation: X:13.88, Y:-0.53, Z:-0.57 [[ 9.99707487e-01 -2.41024645e-02 2.00276664e-03 1.38779020e+01] [ 2.40312407e-02 9.99257029e-01 3.01312015e-02 -5.27062129e-01] [-2.72751486e-03 -3.00742588e-02 9.99543946e-01 -5.66936670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74240100800002 meters Centerline goodness : 0.905440 Centerline is valid? [False, False] Translation: X:13.88, Y:-0.52, Z:-0.57 [[ 9.99782394e-01 -2.07487390e-02 2.15748219e-03 1.38790243e+01] [ 2.06670858e-02 9.99250696e-01 3.27248743e-02 -5.24760040e-01] [-2.83486545e-03 -3.26731643e-02 9.99462069e-01 -5.69121794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77240100800002 meters Centerline goodness : 0.907893 Centerline is valid? [False, False] Translation: X:13.88, Y:-0.52, Z:-0.57 [[ 9.99855743e-01 -1.69696990e-02 7.22617032e-04 1.38822001e+01] [ 1.69369200e-02 9.99319591e-01 3.27642306e-02 -5.21731229e-01] [-1.27812449e-03 -3.27472652e-02 9.99462847e-01 -5.69856822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80240100800002 meters Centerline goodness : 0.911148 Centerline is valid? [False, False] Translation: X:13.89, Y:-0.52, Z:-0.57 [[ 9.99940181e-01 -1.08207955e-02 -1.59517336e-03 1.38868606e+01] [ 1.08484154e-02 9.99770680e-01 1.84634620e-02 -5.15626566e-01] [ 1.39501821e-03 -1.84796626e-02 9.99828263e-01 -5.74871726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83240100800002 meters Centerline goodness : 0.913902 Centerline is valid? [False, False] Translation: X:13.89, Y:-0.51, Z:-0.58 [[ 9.99998486e-01 2.27774074e-05 -1.73997969e-03 1.38857986e+01] [-9.67108247e-06 9.99971633e-01 7.53209565e-03 -5.08109655e-01] [ 1.74010189e-03 -7.53206742e-03 9.99970120e-01 -5.76947952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86240100800002 meters Centerline goodness : 0.916655 Centerline is valid? [False, False] Translation: X:13.88, Y:-0.51, Z:-0.57 [[ 9.99987046e-01 4.70223774e-03 -1.94855990e-03 1.38847005e+01] [-4.67901458e-03 9.99919948e-01 1.17560425e-02 -5.05392259e-01] [ 2.00368362e-03 -1.17467729e-02 9.99928997e-01 -5.74946907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.89240100800001 meters Centerline goodness : 0.916338 Centerline is valid? [False, False] Translation: X:13.88, Y:-0.50, Z:-0.58 [[ 9.99978437e-01 6.24708207e-03 -2.02494087e-03 1.38836065e+01] [-6.22461097e-03 9.99921004e-01 1.09197416e-02 -4.99307504e-01] [ 2.09299743e-03 -1.09069017e-02 9.99938328e-01 -5.76122733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92240100800001 meters Centerline goodness : 0.917903 Centerline is valid? [False, False] Translation: X:13.88, Y:-0.49, Z:-0.58 [[ 9.99973119e-01 7.09987856e-03 -1.83085133e-03 1.38827684e+01] [-7.08248943e-03 9.99931340e-01 9.33557001e-03 -4.93310449e-01] [ 1.89700704e-03 -9.32235208e-03 9.99954747e-01 -5.78346746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.95240100800001 meters Centerline goodness : 0.916778 Centerline is valid? [False, False] Translation: X:13.88, Y:-0.49, Z:-0.58 [[ 9.99969879e-01 7.61311980e-03 -1.51070402e-03 1.38818390e+01] [-7.60046601e-03 9.99937395e-01 8.21213825e-03 -4.88903496e-01] [ 1.57312943e-03 -8.20040884e-03 9.99965139e-01 -5.79667756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98240100800001 meters Centerline goodness : 0.919455 Centerline is valid? [False, False] Translation: X:13.88, Y:-0.49, Z:-0.58 [[ 9.99961985e-01 8.62740377e-03 -1.26347244e-03 1.38799400e+01] [-8.61711253e-03 9.99931381e-01 7.93591912e-03 -4.86098034e-01] [ 1.33185212e-03 -7.92472995e-03 9.99967712e-01 -5.79177531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01240100800001 meters Centerline goodness : 0.919458 Centerline is valid? [False, False] Translation: X:13.88, Y:-0.49, Z:-0.58 [[ 9.99961167e-01 8.70248606e-03 -1.38950059e-03 1.38798113e+01] [-8.69102229e-03 9.99929801e-01 8.05350831e-03 -4.86247353e-01] [ 1.45948859e-03 -8.04111939e-03 9.99966605e-01 -5.78510976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04240100800001 meters Centerline goodness : 0.921134 Centerline is valid? [False, False] Translation: X:13.88, Y:-0.48, Z:-0.58 [[ 9.99985272e-01 5.35393370e-03 -8.89093194e-04 1.38783642e+01] [-5.35107933e-03 9.99980619e-01 3.18236786e-03 -4.83861868e-01] [ 9.06114149e-04 -3.17756338e-03 9.99994541e-01 -5.79765006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07240100800001 meters Centerline goodness : 0.924433 Centerline is valid? [False, False] Translation: X:13.88, Y:-0.49, Z:-0.58 [[ 9.99985524e-01 5.25802826e-03 -1.14205323e-03 1.38788088e+01] [-5.25379531e-03 9.99979434e-01 3.67834044e-03 -4.85331060e-01] [ 1.16137056e-03 -3.67228708e-03 9.99992583e-01 -5.78932181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10240100800002 meters Centerline goodness : 0.930828 Centerline is valid? [False, False] Translation: X:13.88, Y:-0.49, Z:-0.58 [[ 9.99985085e-01 5.22967835e-03 -1.57457594e-03 1.38794412e+01] [-5.22226267e-03 9.99975424e-01 4.67747846e-03 -4.89666285e-01] [ 1.59899896e-03 -4.66918585e-03 9.99987821e-01 -5.77646183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13240100800002 meters Centerline goodness : 0.926382 Centerline is valid? [False, False] Translation: X:13.88, Y:-0.49, Z:-0.58 [[ 9.99985351e-01 5.06874800e-03 -1.89881167e-03 1.38804829e+01] [-5.05929854e-03 9.99974957e-01 4.94869065e-03 -4.91068529e-01] [ 1.92384779e-03 -4.93901150e-03 9.99985952e-01 -5.77749576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16240100800002 meters Centerline goodness : 0.923189 Centerline is valid? [False, False] Translation: X:13.88, Y:-0.49, Z:-0.58 [[ 9.99986654e-01 4.61700004e-03 -2.31836443e-03 1.38823795e+01] [-4.60616172e-03 9.99978539e-01 4.65876294e-03 -4.91521564e-01] [ 2.33982419e-03 -4.64802201e-03 9.99986460e-01 -5.79010679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19240100800002 meters Centerline goodness : 0.924856 Centerline is valid? [False, False] Translation: X:13.89, Y:-0.49, Z:-0.58 [[ 9.99988653e-01 3.72444455e-03 -2.97019662e-03 1.38860273e+01] [-3.71137290e-03 9.99983457e-01 4.39437328e-03 -4.94836144e-01] [ 2.98651408e-03 -4.38329991e-03 9.99985934e-01 -5.81775359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22240100800002 meters Centerline goodness : 0.927129 Centerline is valid? [False, False] Translation: X:13.89, Y:-0.50, Z:-0.58 [[ 9.99988145e-01 3.35776940e-03 -3.52622353e-03 1.38881546e+01] [-3.34146728e-03 9.99983750e-01 4.61887032e-03 -4.97006107e-01] [ 3.54167533e-03 -4.60703281e-03 9.99983116e-01 -5.82581548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.25240100800002 meters Centerline goodness : 0.924237 Centerline is valid? [False, False] Translation: X:13.89, Y:-0.50, Z:-0.58 [[ 9.99987057e-01 2.99562604e-03 -4.11231775e-03 1.38903595e+01] [-2.97709303e-03 9.99985419e-01 4.50545471e-03 -4.98152729e-01] [ 4.12575444e-03 -4.49315365e-03 9.99981395e-01 -5.83782999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28240100800001 meters Centerline goodness : 0.924318 Centerline is valid? [False, False] Translation: X:13.89, Y:-0.50, Z:-0.58 [[ 9.99968149e-01 5.83591127e-03 -5.44446056e-03 1.38945709e+01] [-5.77788701e-03 9.99926987e-01 1.06130251e-02 -5.02136320e-01] [ 5.50599972e-03 -1.05812296e-02 9.99928858e-01 -5.80722817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.31240100800001 meters Centerline goodness : 0.930808 Centerline is valid? [False, False] Translation: X:13.89, Y:-0.51, Z:-0.58 [[ 9.99961070e-01 6.95497281e-03 -5.43020732e-03 1.38930965e+01] [-6.88753168e-03 9.99900125e-01 1.23410814e-02 -5.07199427e-01] [ 5.51549687e-03 -1.23032002e-02 9.99909101e-01 -5.78423562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34240100800001 meters Centerline goodness : 0.929785 Centerline is valid? [False, False] Translation: X:13.89, Y:-0.51, Z:-0.58 [[ 9.99979815e-01 3.93413021e-03 -4.98920528e-03 1.38914439e+01] [-3.89368748e-03 9.99959695e-01 8.09001778e-03 -5.07106713e-01] [ 5.02083137e-03 -8.07042808e-03 9.99954829e-01 -5.79250061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37240100800001 meters Centerline goodness : 0.930588 Centerline is valid? [False, False] Translation: X:13.89, Y:-0.51, Z:-0.58 [[ 9.99989993e-01 7.62440907e-04 -4.40833278e-03 1.38901572e+01] [-7.47819281e-04 9.99994217e-01 3.31751300e-03 -5.05687800e-01] [ 4.41083670e-03 -3.31418317e-03 9.99984780e-01 -5.81305617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40240100800001 meters Centerline goodness : 0.933774 Centerline is valid? [False, False] Translation: X:13.89, Y:-0.51, Z:-0.58 [[ 9.99990499e-01 6.88541617e-04 -4.30439602e-03 1.38907452e+01] [-6.75501979e-04 9.99995181e-01 3.03009698e-03 -5.06000042e-01] [ 4.30646163e-03 -3.02716056e-03 9.99986145e-01 -5.82711171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43240100800001 meters Centerline goodness : 0.931782 Centerline is valid? [False, False] Translation: X:13.89, Y:-0.51, Z:-0.58 [[ 9.99991801e-01 8.77881849e-04 -3.95301103e-03 1.38903825e+01] [-8.66593789e-04 9.99995545e-01 2.85636797e-03 -5.06257242e-01] [ 3.95550097e-03 -2.85291890e-03 9.99988107e-01 -5.83745897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46240100800001 meters Centerline goodness : 0.932449 Centerline is valid? [False, False] Translation: X:13.89, Y:-0.51, Z:-0.58 [[ 9.99991886e-01 1.08153243e-03 -3.88055481e-03 1.38901737e+01] [-1.06869507e-03 9.99993955e-01 3.30867623e-03 -5.07937950e-01] [ 3.88410979e-03 -3.30450226e-03 9.99986997e-01 -5.83517588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49240100800002 meters Centerline goodness : 0.936516 Centerline is valid? [False, False] Translation: X:13.89, Y:-0.52, Z:-0.57 [[ 9.99989626e-01 -4.15593463e-04 -4.53596409e-03 1.38931589e+01] [ 4.55562149e-04 9.99961052e-01 8.81403491e-03 -5.18236197e-01] [ 4.53212437e-03 -8.81600989e-03 9.99950868e-01 -5.74856356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52240100800002 meters Centerline goodness : 0.937427 Centerline is valid? [False, False] Translation: X:13.90, Y:-0.52, Z:-0.57 [[ 9.99985581e-01 -1.41900156e-03 -5.17928598e-03 1.38952545e+01] [ 1.46912958e-03 9.99951995e-01 9.68762119e-03 -5.23609405e-01] [ 5.16529060e-03 -9.69509054e-03 9.99939661e-01 -5.73608751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.55240100800002 meters Centerline goodness : 0.938261 Centerline is valid? [False, False] Translation: X:13.90, Y:-0.53, Z:-0.57 [[ 9.99984279e-01 -1.21938195e-03 -5.47317505e-03 1.38952301e+01] [ 1.27542650e-03 9.99946674e-01 1.02480764e-02 -5.25238055e-01] [ 5.46038687e-03 -1.02548959e-02 9.99932508e-01 -5.72385894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58240100800002 meters Centerline goodness : 0.940062 Centerline is valid? [False, False] Translation: X:13.90, Y:-0.52, Z:-0.57 [[ 9.99984416e-01 -1.34383108e-03 -5.41858097e-03 1.38958517e+01] [ 1.39435206e-03 9.99955496e-01 9.33068303e-03 -5.23708549e-01] [ 5.40580096e-03 -9.33809303e-03 9.99941787e-01 -5.74334883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61240100800002 meters Centerline goodness : 0.938153 Centerline is valid? [False, False] Translation: X:13.90, Y:-0.52, Z:-0.58 [[ 9.99979685e-01 -2.32144419e-03 -5.93634834e-03 1.38989393e+01] [ 2.36838052e-03 9.99965896e-01 7.91183281e-03 -5.21622349e-01] [ 5.91777901e-03 -7.92573161e-03 9.99951080e-01 -5.77425059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64240100800001 meters Centerline goodness : 0.934611 Centerline is valid? [False, False] Translation: X:13.90, Y:-0.52, Z:-0.58 [[ 9.99976531e-01 -3.17450842e-03 -6.07131665e-03 1.39013122e+01] [ 3.21112083e-03 9.99976663e-01 6.03018005e-03 -5.18656944e-01] [ 6.05203210e-03 -6.04953426e-03 9.99963387e-01 -5.81322858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.67240100800001 meters Centerline goodness : 0.937152 Centerline is valid? [False, False] Translation: X:13.91, Y:-0.52, Z:-0.58 [[ 9.99969658e-01 -1.17582755e-03 -7.70069091e-03 1.39071986e+01] [ 1.24930467e-03 9.99953677e-01 9.54377789e-03 -5.19131034e-01] [ 7.68911236e-03 -9.55310882e-03 9.99924805e-01 -5.82404445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70240100800001 meters Centerline goodness : 0.933733 Centerline is valid? [False, False] Translation: X:13.91, Y:-0.52, Z:-0.58 [[ 9.99958883e-01 -2.32597464e-03 -8.76477226e-03 1.39103965e+01] [ 2.40902003e-03 9.99952197e-01 9.47629012e-03 -5.20562679e-01] [ 8.74231167e-03 -9.49701500e-03 9.99916686e-01 -5.82267776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73240100800001 meters Centerline goodness : 0.934347 Centerline is valid? [False, False] Translation: X:13.94, Y:-0.52, Z:-0.58 [[ 9.99950518e-01 -1.92463793e-03 -9.75997834e-03 1.39357450e+01] [ 2.00378334e-03 9.99965139e-01 8.10589376e-03 -5.23818700e-01] [ 9.74403718e-03 -8.12504955e-03 9.99919515e-01 -5.77745957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76240100800001 meters Centerline goodness : 0.935821 Centerline is valid? [False, False] Translation: X:13.93, Y:-0.52, Z:-0.58 [[ 9.99939519e-01 -5.70423718e-03 -9.40320651e-03 1.39344507e+01] [ 5.74357135e-03 9.99974847e-01 4.16137470e-03 -5.23500361e-01] [ 9.37923252e-03 -4.21513100e-03 9.99947130e-01 -5.77117920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79240100800001 meters Centerline goodness : 0.936749 Centerline is valid? [False, False] Translation: X:13.94, Y:-0.53, Z:-0.57 [[ 9.99923622e-01 -6.38311903e-03 -1.05833195e-02 1.39427630e+01] [ 6.50581847e-03 9.99911553e-01 1.16000574e-02 -5.27043673e-01] [ 1.05083389e-02 -1.16680246e-02 9.99876708e-01 -5.70073334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82240100800001 meters Centerline goodness : 0.935701 Centerline is valid? [False, False] Translation: X:13.96, Y:-0.52, Z:-0.57 [[ 9.99887004e-01 -9.37490905e-03 -1.17511537e-02 1.39638747e+01] [ 9.62885734e-03 9.99717212e-01 2.17435143e-02 -5.24688681e-01] [ 1.15439871e-02 -2.18542076e-02 9.99694518e-01 -5.66124630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85240100800002 meters Centerline goodness : 0.931267 Centerline is valid? [False, False] Translation: X:13.97, Y:-0.52, Z:-0.57 [[ 9.99864030e-01 -1.09367298e-02 -1.23413920e-02 1.39680339e+01] [ 1.11736975e-02 9.99751331e-01 1.92983178e-02 -5.19734451e-01] [ 1.21272626e-02 -1.94335928e-02 9.99737598e-01 -5.70773818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88240100800002 meters Centerline goodness : 0.931079 Centerline is valid? [False, False] Translation: X:13.97, Y:-0.52, Z:-0.57 [[ 9.99844804e-01 -1.20182849e-02 -1.28813681e-02 1.39709879e+01] [ 1.22426777e-02 9.99772170e-01 1.74850135e-02 -5.15901049e-01] [ 1.26682934e-02 -1.76400024e-02 9.99764145e-01 -5.73824765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91240100800002 meters Centerline goodness : 0.931440 Centerline is valid? [False, False] Translation: X:13.98, Y:-0.52, Z:-0.57 [[ 9.99847837e-01 -9.71113010e-03 -1.44912954e-02 1.39756428e+01] [ 1.00383445e-02 9.99692359e-01 2.26808210e-02 -5.16893550e-01] [ 1.42665809e-02 -2.28228384e-02 9.99637726e-01 -5.70734547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94240100800002 meters Centerline goodness : 0.929768 Centerline is valid? [False, False] Translation: X:13.98, Y:-0.52, Z:-0.56 [[ 9.99839657e-01 -7.58648188e-03 -1.62205541e-02 1.39805478e+01] [ 8.08694214e-03 9.99486240e-01 3.10138111e-02 -5.19655416e-01] [ 1.59769349e-02 -3.11400129e-02 9.99387331e-01 -5.61208141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.97240100800002 meters Centerline goodness : 0.931935 Centerline is valid? [False, False] Translation: X:13.99, Y:-0.52, Z:-0.56 [[ 9.99910246e-01 -8.05143818e-03 -1.07086296e-02 1.39903107e+01] [ 8.27559879e-03 9.99744051e-01 2.10557836e-02 -5.18295075e-01] [ 1.05363594e-02 -2.11425141e-02 9.99720951e-01 -5.58796155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00240100800002 meters Centerline goodness : 0.932952 Centerline is valid? [False, False] Translation: X:14.00, Y:-0.52, Z:-0.55 [[ 9.99907757e-01 -6.52257558e-03 -1.19135447e-02 1.39957244e+01] [ 6.87463343e-03 9.99533636e-01 2.97531606e-02 -5.20578252e-01] [ 1.17139214e-02 -2.98323174e-02 9.99486276e-01 -5.49292717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.03240100800001 meters Centerline goodness : 0.929071 Centerline is valid? [False, False] Translation: X:14.00, Y:-0.52, Z:-0.55 [[ 9.99897638e-01 -4.89203969e-03 -1.34455252e-02 1.40011552e+01] [ 5.35449043e-03 9.99387713e-01 3.45764087e-02 -5.20497252e-01] [ 1.32681435e-02 -3.46448633e-02 9.99311608e-01 -5.46858083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06240100800001 meters Centerline goodness : 0.925571 Centerline is valid? [False, False] Translation: X:14.01, Y:-0.52, Z:-0.55 [[ 9.99881457e-01 -7.05157913e-03 -1.36874959e-02 1.40055097e+01] [ 7.48892624e-03 9.99454402e-01 3.21685339e-02 -5.15582324e-01] [ 1.34531890e-02 -3.22672252e-02 9.99388732e-01 -5.51835036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09240100800001 meters Centerline goodness : 0.922134 Centerline is valid? [False, False] Translation: X:13.97, Y:-0.51, Z:-0.55 [[ 9.99861852e-01 -1.40788300e-02 -8.83531842e-03 1.39735545e+01] [ 1.44521327e-02 9.98939501e-01 4.37150881e-02 -5.14642576e-01] [ 8.21049128e-03 -4.38367382e-02 9.99004969e-01 -5.49558160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12240100800001 meters Centerline goodness : 0.922783 Centerline is valid? [False, False] Translation: X:13.97, Y:-0.51, Z:-0.55 [[ 9.99739776e-01 -2.13693393e-02 -7.98320335e-03 1.39718037e+01] [ 2.16238827e-02 9.99211785e-01 3.32898929e-02 -5.09518593e-01] [ 7.26552785e-03 -3.34538579e-02 9.99413854e-01 -5.53492444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15240100800001 meters Centerline goodness : 0.923072 Centerline is valid? [False, False] Translation: X:13.95, Y:-0.51, Z:-0.55 [[ 9.99672019e-01 -2.33404986e-02 -1.05392090e-02 1.39485427e+01] [ 2.37385580e-02 9.98942588e-01 3.93724168e-02 -5.12114096e-01] [ 9.60909284e-03 -3.96096890e-02 9.99169024e-01 -5.46377008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18240100800001 meters Centerline goodness : 0.924333 Centerline is valid? [False, False] Translation: X:13.95, Y:-0.51, Z:-0.55 [[ 9.99571732e-01 -2.74285325e-02 -1.01993992e-02 1.39482735e+01] [ 2.77608173e-02 9.99036014e-01 3.40055757e-02 -5.09468879e-01] [ 9.25684405e-03 -3.42741558e-02 9.99369598e-01 -5.48098212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21240100800001 meters Centerline goodness : 0.922723 Centerline is valid? [False, False] Translation: X:13.95, Y:-0.50, Z:-0.55 [[ 9.99488220e-01 -3.02035790e-02 -1.05376891e-02 1.39481050e+01] [ 3.04685162e-02 9.99198573e-01 2.59592050e-02 -5.01950327e-01] [ 9.74518297e-03 -2.62669873e-02 9.99607461e-01 -5.54873524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24240100800002 meters Centerline goodness : 0.924016 Centerline is valid? [False, False] Translation: X:13.95, Y:-0.50, Z:-0.56 [[ 9.99582532e-01 -2.66066392e-02 -1.12626734e-02 1.39501628e+01] [ 2.69017055e-02 9.99275748e-01 2.69124069e-02 -5.00067933e-01] [ 1.05384677e-02 -2.72041569e-02 9.99574347e-01 -5.55722426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.27240100800002 meters Centerline goodness : 0.922127 Centerline is valid? [False, False] Translation: X:13.95, Y:-0.50, Z:-0.56 [[ 9.99675210e-01 -2.21539227e-02 -1.25967858e-02 1.39530234e+01] [ 2.24973490e-02 9.99360077e-01 2.78083765e-02 -4.98714225e-01] [ 1.19726602e-02 -2.80827389e-02 9.99533899e-01 -5.56016700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30240100800002 meters Centerline goodness : 0.924769 Centerline is valid? [False, False] Translation: X:13.95, Y:-0.49, Z:-0.56 [[ 9.99711015e-01 -2.05246694e-02 -1.25149924e-02 1.39514599e+01] [ 2.08271103e-02 9.99482001e-01 2.45348890e-02 -4.91909123e-01] [ 1.20049391e-02 -2.47884499e-02 9.99620635e-01 -5.61288566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.33240100800002 meters Centerline goodness : 0.923928 Centerline is valid? [False, False] Translation: X:13.95, Y:-0.49, Z:-0.56 [[ 9.99761799e-01 -1.71871056e-02 -1.34517009e-02 1.39540621e+01] [ 1.75638690e-02 9.99442021e-01 2.84105057e-02 -4.91997487e-01] [ 1.29559008e-02 -2.86400022e-02 9.99505825e-01 -5.61330352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36240100800002 meters Centerline goodness : 0.921630 Centerline is valid? [False, False] Translation: X:13.96, Y:-0.49, Z:-0.56 [[ 9.99802071e-01 -1.38683039e-02 -1.42649642e-02 1.39566227e+01] [ 1.43324317e-02 9.99353714e-01 3.29656597e-02 -4.92107879e-01] [ 1.37985672e-02 -3.31635864e-02 9.99354680e-01 -5.60314127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.39240100800001 meters Centerline goodness : 0.920633 Centerline is valid? [False, False] Translation: X:13.96, Y:-0.49, Z:-0.56 [[ 0.99977871 -0.01502306 -0.0147255 13.95982866] [ 0.01546934 0.99940966 0.03067618 -0.48865315] [ 0.01425596 -0.03089718 0.9994209 -0.56456736] [ 0. 0. 0. 1. ]] SLAMing on 96.42240100800001 meters Centerline goodness : 0.922690 Centerline is valid? [False, False] Translation: X:13.96, Y:-0.49, Z:-0.56 [[ 0.99977847 -0.01487161 -0.01489457 13.95968663] [ 0.0153328 0.99939105 0.03134394 -0.48910454] [ 0.01441936 -0.03156537 0.99939767 -0.56284832] [ 0. 0. 0. 1. ]] SLAMing on 96.45240100800001 meters Centerline goodness : 0.922690 Centerline is valid? [False, False] Translation: X:13.96, Y:-0.49, Z:-0.56 [[ 0.99978126 -0.01484472 -0.01473336 13.95946251] [ 0.01529731 0.99939932 0.03109643 -0.48855051] [ 0.01426289 -0.03131501 0.99940779 -0.5631165 ] [ 0. 0. 0. 1. ]] SLAMing on 96.48240100800001 meters Centerline goodness : 0.927236 Centerline is valid? [False, False] Translation: X:13.96, Y:-0.49, Z:-0.56 [[ 0.99978607 -0.01464073 -0.01461033 13.95848558] [ 0.01510483 0.99936803 0.03217752 -0.48978249] [ 0.01412999 -0.03239132 0.99937538 -0.56034408] [ 0. 0. 0. 1. ]] SLAMing on 96.51240100800001 meters Centerline goodness : 0.928777 Centerline is valid? [False, False] Translation: X:13.96, Y:-0.49, Z:-0.56 [[ 0.99978373 -0.01456568 -0.01484375 13.9579625 ] [ 0.01505726 0.99932321 0.0335619 -0.49176616] [ 0.01434485 -0.03377815 0.9993264 -0.5569994 ] [ 0. 0. 0. 1. ]] SLAMing on 96.54240100800001 meters Centerline goodness : 0.930568 Centerline is valid? [False, False] Translation: X:13.96, Y:-0.49, Z:-0.56 [[ 9.99731193e-01 -1.82352245e-02 -1.43184764e-02 1.39562900e+01] [ 1.86465591e-02 9.99401409e-01 2.91398105e-02 -4.89712057e-01] [ 1.37785345e-02 -2.93989678e-02 9.99472787e-01 -5.56895965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57240100800001 meters Centerline goodness : 0.931495 Centerline is valid? [False, False] Translation: X:13.93, Y:-0.49, Z:-0.56 [[ 9.99697037e-01 -2.10294706e-02 -1.27904842e-02 1.39326524e+01] [ 2.14461822e-02 9.99213088e-01 3.33656275e-02 -4.86967964e-01] [ 1.20787577e-02 -3.36298260e-02 9.99361365e-01 -5.55559335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60240100800002 meters Centerline goodness : 0.928807 Centerline is valid? [False, False] Translation: X:13.93, Y:-0.48, Z:-0.56 [[ 9.99618715e-01 -2.49255475e-02 -1.18803294e-02 1.39319841e+01] [ 2.52349008e-02 9.99326466e-01 2.66423463e-02 -4.80437475e-01] [ 1.12082525e-02 -2.69319869e-02 9.99574431e-01 -5.60442685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63240100800002 meters Centerline goodness : 0.927554 Centerline is valid? [False, False] Translation: X:13.93, Y:-0.47, Z:-0.56 [[ 9.99541915e-01 -2.82005817e-02 -1.09857692e-02 1.39305619e+01] [ 2.84237172e-02 9.99381314e-01 2.07142778e-02 -4.74588139e-01] [ 1.03948178e-02 -2.10170453e-02 9.99725078e-01 -5.63842557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66240100800002 meters Centerline goodness : 0.929588 Centerline is valid? [False, False] Translation: X:13.93, Y:-0.47, Z:-0.56 [[ 9.99559276e-01 -2.70163135e-02 -1.23033735e-02 1.39335992e+01] [ 2.72512104e-02 9.99441467e-01 1.93423482e-02 -4.73946000e-01] [ 1.17739427e-02 -1.96691054e-02 9.99737216e-01 -5.64335753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.69240100800002 meters Centerline goodness : 0.930796 Centerline is valid? [False, False] Translation: X:13.93, Y:-0.47, Z:-0.56 [[ 9.99595047e-01 -2.57721522e-02 -1.20639280e-02 1.39313437e+01] [ 2.60032188e-02 9.99473492e-01 1.94054298e-02 -4.72105123e-01] [ 1.15574566e-02 -1.97112725e-02 9.99738911e-01 -5.63255946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72240100800002 meters Centerline goodness : 0.933035 Centerline is valid? [False, False] Translation: X:13.93, Y:-0.47, Z:-0.56 [[ 9.99686404e-01 -2.15133499e-02 -1.28167700e-02 1.39319633e+01] [ 2.18217786e-02 9.99463315e-01 2.44313790e-02 -4.73700997e-01] [ 1.22842906e-02 -2.47034021e-02 9.99619347e-01 -5.61241417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.75240100800002 meters Centerline goodness : 0.934330 Centerline is valid? [False, False] Translation: X:13.93, Y:-0.47, Z:-0.56 [[ 9.99764195e-01 -1.72373215e-02 -1.32071899e-02 1.39321994e+01] [ 1.76129687e-02 9.99427848e-01 2.88749071e-02 -4.74212554e-01] [ 1.27019073e-02 -2.91007161e-02 9.99495778e-01 -5.60369102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78240100800001 meters Centerline goodness : 0.935333 Centerline is valid? [False, False] Translation: X:13.94, Y:-0.47, Z:-0.57 [[ 9.99877425e-01 -1.27517584e-02 -9.08446227e-03 1.39436775e+01] [ 1.29192898e-02 9.99743013e-01 1.86279338e-02 -4.70199594e-01] [ 8.84458877e-03 -1.87430152e-02 9.99785213e-01 -5.68326912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.81240100800001 meters Centerline goodness : 0.936653 Centerline is valid? [False, False] Translation: X:13.95, Y:-0.47, Z:-0.58 [[ 9.99983611e-01 -2.82483744e-03 -4.97974573e-03 1.39512378e+01] [ 2.87578596e-03 9.99943293e-01 1.02538520e-02 -4.65679192e-01] [ 4.95049788e-03 -1.02680046e-02 9.99935028e-01 -5.77937860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84240100800001 meters Centerline goodness : 0.935065 Centerline is valid? [False, False] Translation: X:13.95, Y:-0.46, Z:-0.58 [[ 9.99989268e-01 -1.29279000e-03 -4.44883225e-03 1.39491437e+01] [ 1.33592886e-03 9.99951990e-01 9.70740019e-03 -4.62741342e-01] [ 4.43606904e-03 -9.71323934e-03 9.99942986e-01 -5.79140585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87240100800001 meters Centerline goodness : 0.936388 Centerline is valid? [False, False] Translation: X:13.96, Y:-0.46, Z:-0.59 [[ 9.99989772e-01 4.52247565e-03 5.44705863e-05 1.39623853e+01] [-4.52261383e-03 9.99985622e-01 2.88121510e-03 -4.60274824e-01] [-4.14395780e-05 -2.88143198e-03 9.99995848e-01 -5.85662736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90240100800001 meters Centerline goodness : 0.938263 Centerline is valid? [False, False] Translation: X:13.96, Y:-0.46, Z:-0.59 [[ 9.99980666e-01 6.20230368e-03 4.46288911e-04 1.39600964e+01] [-6.20361087e-03 9.99976288e-01 2.98980187e-03 -4.58625033e-01] [-4.27734669e-04 -2.99251267e-03 9.99995431e-01 -5.85599504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93240100800001 meters Centerline goodness : 0.941779 Centerline is valid? [False, False] Translation: X:13.96, Y:-0.46, Z:-0.58 [[ 9.99916809e-01 1.28419759e-02 1.20764902e-03 1.39555370e+01] [-1.28519108e-02 9.99880305e-01 8.61416146e-03 -4.59884831e-01] [-1.09688162e-03 -8.62896544e-03 9.99962168e-01 -5.82972159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96240100800001 meters Centerline goodness : 0.941818 Centerline is valid? [False, False] Translation: X:13.95, Y:-0.46, Z:-0.58 [[ 9.99905062e-01 1.36886801e-02 1.57682457e-03 1.39544909e+01] [-1.37010120e-02 9.99873368e-01 8.09512677e-03 -4.58264912e-01] [-1.46581329e-03 -8.11596233e-03 9.99965991e-01 -5.84154821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99240100800002 meters Centerline goodness : 0.942254 Centerline is valid? [False, False] Translation: X:13.95, Y:-0.46, Z:-0.59 [[ 9.99896245e-01 1.42856769e-02 1.84911017e-03 1.39540542e+01] [-1.42989589e-02 9.99870523e-01 7.38084733e-03 -4.56502311e-01] [-1.74343035e-03 -7.40652188e-03 9.99971052e-01 -5.85814076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02240100800002 meters Centerline goodness : 0.941999 Centerline is valid? [False, False] Translation: X:13.95, Y:-0.46, Z:-0.59 [[ 9.99889605e-01 1.47062663e-02 2.12211519e-03 1.39536218e+01] [-1.47203378e-02 9.99868696e-01 6.77506299e-03 -4.55173009e-01] [-2.02220067e-03 -6.80555331e-03 9.99974797e-01 -5.87140780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05240100800002 meters Centerline goodness : 0.943699 Centerline is valid? [False, False] Translation: X:13.95, Y:-0.46, Z:-0.59 [[ 9.99877851e-01 1.54733871e-02 2.20404733e-03 1.39527134e+01] [-1.54891401e-02 9.99853247e-01 7.31918843e-03 -4.57100583e-01] [-2.09047125e-03 -7.35243320e-03 9.99970785e-01 -5.86639623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08240100800002 meters Centerline goodness : 0.947232 Centerline is valid? [False, False] Translation: X:13.95, Y:-0.46, Z:-0.59 [[ 9.99926485e-01 1.18683513e-02 2.48324153e-03 1.39519425e+01] [-1.18756887e-02 9.99925097e-01 2.96117179e-03 -4.57290202e-01] [-2.44791130e-03 -2.99044430e-03 9.99992532e-01 -5.87541444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11240100800002 meters Centerline goodness : 0.948198 Centerline is valid? [False, False] Translation: X:13.95, Y:-0.46, Z:-0.59 [[ 9.99964998e-01 7.96806560e-03 2.55210453e-03 1.39518491e+01] [-7.96539028e-03 9.99967717e-01 -1.05673556e-03 -4.58751413e-01] [-2.56044228e-03 1.03637007e-03 9.99996185e-01 -5.88073228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14240100800001 meters Centerline goodness : 0.947247 Centerline is valid? [False, False] Translation: X:13.95, Y:-0.46, Z:-0.59 [[ 9.99974122e-01 6.99280460e-03 1.69023441e-03 1.39547175e+01] [-6.99217376e-03 9.99975483e-01 -3.78851977e-04 -4.63416077e-01] [-1.69284221e-03 3.67023760e-04 9.99998500e-01 -5.87923656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.17240100800001 meters Centerline goodness : 0.946775 Centerline is valid? [False, False] Translation: X:13.96, Y:-0.47, Z:-0.59 [[ 9.99998553e-01 1.06771647e-03 1.32475392e-03 1.39585935e+01] [-1.06249613e-03 9.99991693e-01 -3.93507502e-03 -4.69400770e-01] [-1.32894446e-03 3.93366178e-03 9.99991380e-01 -5.89681075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20240100800001 meters Centerline goodness : 0.945312 Centerline is valid? [False, False] Translation: X:13.96, Y:-0.47, Z:-0.59 [[ 9.99999587e-01 -5.06416658e-04 7.54516696e-04 1.39620352e+01] [ 5.08803180e-04 9.99994858e-01 -3.16615334e-03 -4.74027703e-01] [-7.52909423e-04 3.16653593e-03 9.99994703e-01 -5.89957601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23240100800001 meters Centerline goodness : 0.942714 Centerline is valid? [False, False] Translation: X:13.97, Y:-0.48, Z:-0.59 [[ 9.99997229e-01 -2.34167936e-03 2.41284139e-04 1.39655494e+01] [ 2.34216220e-03 9.99995216e-01 -2.02069332e-03 -4.79676751e-01] [-2.36551169e-04 2.02125285e-03 9.99997929e-01 -5.89598668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26240100800001 meters Centerline goodness : 0.944111 Centerline is valid? [False, False] Translation: X:13.97, Y:-0.48, Z:-0.59 [[ 9.99972922e-01 -7.35775545e-03 -1.34954636e-04 1.39683486e+01] [ 7.35679116e-03 9.99954188e-01 -6.12371711e-03 -4.82603684e-01] [ 1.80005267e-04 6.12255846e-03 9.99981241e-01 -5.91459874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29240100800001 meters Centerline goodness : 0.943921 Centerline is valid? [False, False] Translation: X:13.98, Y:-0.49, Z:-0.59 [[ 9.99942450e-01 -1.05820049e-02 -1.76554616e-03 1.39756446e+01] [ 1.05744291e-02 9.99935073e-01 -4.24642383e-03 -4.88237444e-01] [ 1.81036721e-03 4.22750981e-03 9.99989425e-01 -5.89086229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32240100800001 meters Centerline goodness : 0.948661 Centerline is valid? [False, False] Translation: X:13.98, Y:-0.49, Z:-0.59 [[ 9.99881521e-01 -1.51826403e-02 -2.53608460e-03 1.39777505e+01] [ 1.51646161e-02 9.99860639e-01 -6.98121451e-03 -4.93943156e-01] [ 2.64172444e-03 6.94192863e-03 9.99972415e-01 -5.87575234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35240100800002 meters Centerline goodness : 0.951762 Centerline is valid? [False, True] Translation: X:13.98, Y:-0.50, Z:-0.58 [[ 9.99882623e-01 -1.49874250e-02 -3.18074382e-03 1.39780415e+01] [ 1.49693355e-02 9.99872065e-01 -5.63677623e-03 -4.96763563e-01] [ 3.26481765e-03 5.58850098e-03 9.99979055e-01 -5.84813663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38240100800002 meters Centerline goodness : 0.953585 Centerline is valid? [True, True] Translation: X:14.01, Y:-0.50, Z:-0.58 [[ 9.99872387e-01 -1.52852166e-02 -4.64462680e-03 1.40059171e+01] [ 1.52853136e-02 9.99883173e-01 -1.46165624e-05 -5.00884627e-01] [ 4.64430760e-03 -5.63798800e-05 9.99989214e-01 -5.79442697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.41240100800002 meters Centerline goodness : 0.955411 Centerline is valid? [True, True] Translation: X:14.03, Y:-0.50, Z:-0.58 [[ 9.99885152e-01 -1.29672434e-02 -7.84438050e-03 1.40345630e+01] [ 1.29674653e-02 9.99915919e-01 -2.25784537e-05 -5.00730741e-01] [ 7.84401371e-03 -7.91458709e-05 9.99969232e-01 -5.80386075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44240100800002 meters Centerline goodness : 0.952091 Centerline is valid? [True, True] Translation: X:14.06, Y:-0.50, Z:-0.58 [[ 9.99911503e-01 -9.99771569e-03 -8.77676654e-03 1.40625415e+01] [ 9.99786545e-03 9.99950020e-01 -2.68132280e-05 -4.97499848e-01] [ 8.77659594e-03 -6.09380758e-05 9.99961483e-01 -5.83463474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.47240100800002 meters Centerline goodness : 0.952419 Centerline is valid? [True, True] Translation: X:14.09, Y:-0.49, Z:-0.59 [[ 9.99924518e-01 -7.31793636e-03 -9.86949704e-03 1.40909556e+01] [ 7.31797700e-03 9.99973223e-01 -3.19961047e-05 -4.93693999e-01] [ 9.86946691e-03 -4.02310628e-05 9.99951295e-01 -5.87250402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50240100800002 meters Centerline goodness : 0.947525 Centerline is valid? [True, False] Translation: X:14.10, Y:-0.49, Z:-0.59 [[ 9.99939282e-01 -1.01726054e-03 -1.09725417e-02 1.40950547e+01] [ 1.10548625e-03 9.99967088e-01 8.03752459e-03 -4.94045220e-01] [ 1.09640043e-02 -8.04916657e-03 9.99907496e-01 -5.86797872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.53240100800001 meters Centerline goodness : 0.946267 Centerline is valid? [False, False] Translation: X:14.10, Y:-0.49, Z:-0.59 [[ 9.99933881e-01 -1.23198782e-03 -1.14330723e-02 1.40957787e+01] [ 1.32326091e-03 9.99967291e-01 7.97912311e-03 -4.93903033e-01] [ 1.14228681e-02 -7.99372448e-03 9.99902805e-01 -5.86223281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56240100800001 meters Centerline goodness : 0.949495 Centerline is valid? [False, False] Translation: X:14.10, Y:-0.49, Z:-0.58 [[ 9.99931220e-01 -1.03459920e-03 -1.16827160e-02 1.40953588e+01] [ 1.13097220e-03 9.99965365e-01 8.24560379e-03 -4.93909000e-01] [ 1.16737805e-02 -8.25824948e-03 9.99897757e-01 -5.84792537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59240100800001 meters Centerline goodness : 0.949167 Centerline is valid? [False, False] Translation: X:14.09, Y:-0.49, Z:-0.58 [[ 9.99928936e-01 -5.64775134e-04 -1.19081255e-02 1.40942044e+01] [ 6.71422915e-04 9.99959689e-01 8.95378827e-03 -4.94524935e-01] [ 1.19025885e-02 -8.96114736e-03 9.99889007e-01 -5.82311112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62240100800001 meters Centerline goodness : 0.948859 Centerline is valid? [False, False] Translation: X:14.09, Y:-0.50, Z:-0.58 [[ 9.99927545e-01 6.18136058e-06 -1.20376218e-02 1.40926997e+01] [ 1.12124851e-04 9.99951704e-01 9.82733893e-03 -4.95208485e-01] [ 1.20371012e-02 -9.82797661e-03 9.99879252e-01 -5.79525755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65240100800001 meters Centerline goodness : 0.947561 Centerline is valid? [False, False] Translation: X:14.10, Y:-0.49, Z:-0.58 [[ 9.99981816e-01 9.18809323e-04 -5.96015747e-03 1.41041591e+01] [-9.18714004e-04 9.99999578e-01 1.87305841e-05 -4.91240543e-01] [ 5.96017217e-03 -1.32545633e-05 9.99982238e-01 -5.82580384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68240100800001 meters Centerline goodness : 0.946479 Centerline is valid? [False, False] Translation: X:14.11, Y:-0.49, Z:-0.58 [[ 9.99969870e-01 3.78413565e-03 -6.77779099e-03 1.41066245e+01] [-3.75106803e-03 9.99981033e-01 4.88490503e-03 -4.92742330e-01] [ 6.79614758e-03 -4.85933390e-03 9.99965099e-01 -5.80785685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71240100800001 meters Centerline goodness : 0.945882 Centerline is valid? [False, False] Translation: X:14.11, Y:-0.49, Z:-0.58 [[ 9.99971416e-01 3.14626391e-03 -6.87516402e-03 1.41078235e+01] [-3.11882149e-03 9.99987142e-01 3.99861232e-03 -4.90048440e-01] [ 6.88765631e-03 -3.97705561e-03 9.99968371e-01 -5.82142904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74240100800002 meters Centerline goodness : 0.942219 Centerline is valid? [False, False] Translation: X:14.11, Y:-0.49, Z:-0.58 [[ 9.99956064e-01 5.23836587e-03 -7.77368762e-03 1.41120342e+01] [-5.17872178e-03 9.99957152e-01 7.67295721e-03 -4.90207247e-01] [ 7.81354830e-03 -7.63236233e-03 9.99940346e-01 -5.82699918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77240100800002 meters Centerline goodness : 0.942779 Centerline is valid? [False, False] Translation: X:14.11, Y:-0.49, Z:-0.58 [[ 9.99953619e-01 4.79266357e-03 -8.35400079e-03 1.41134943e+01] [-4.72926416e-03 9.99959994e-01 7.59241272e-03 -4.90979602e-01] [ 8.39005446e-03 -7.55255230e-03 9.99936281e-01 -5.82629910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80240100800002 meters Centerline goodness : 0.945117 Centerline is valid? [False, False] Translation: X:14.12, Y:-0.49, Z:-0.58 [[ 9.99949670e-01 4.31702511e-03 -9.05650981e-03 1.41151041e+01] [-4.24645070e-03 9.99960583e-01 7.79748220e-03 -4.92636607e-01] [ 9.08981476e-03 -7.75863173e-03 9.99928587e-01 -5.82066690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83240100800002 meters Centerline goodness : 0.942967 Centerline is valid? [False, False] Translation: X:14.12, Y:-0.49, Z:-0.58 [[ 9.99943529e-01 3.83138934e-03 -9.91263086e-03 1.41168301e+01] [-3.74994973e-03 9.99959173e-01 8.22132373e-03 -4.94755248e-01] [ 9.94372525e-03 -8.18368759e-03 9.99917071e-01 -5.81000406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86240100800002 meters Centerline goodness : 0.948155 Centerline is valid? [False, False] Translation: X:14.12, Y:-0.50, Z:-0.58 [[ 9.99933985e-01 2.55692232e-03 -1.12021660e-02 1.41202964e+01] [-2.45575614e-03 9.99956164e-01 9.03541407e-03 -4.98339436e-01] [ 1.12247778e-02 -9.00730780e-03 9.99896431e-01 -5.79426660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.89240100800002 meters Centerline goodness : 0.946204 Centerline is valid? [False, False] Translation: X:14.12, Y:-0.50, Z:-0.58 [[ 9.99927637e-01 1.59306189e-03 -1.19240123e-02 1.41232810e+01] [-1.49452818e-03 9.99964704e-01 8.26782343e-03 -4.98440513e-01] [ 1.19367626e-02 -8.24940437e-03 9.99894725e-01 -5.81177795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92240100800001 meters Centerline goodness : 0.945809 Centerline is valid? [False, False] Translation: X:14.13, Y:-0.50, Z:-0.58 [[ 9.99917145e-01 4.02863702e-04 -1.28662468e-02 1.41272184e+01] [-3.10659521e-04 9.99974264e-01 7.16755662e-03 -4.97588084e-01] [ 1.28688033e-02 -7.16296573e-03 9.99891537e-01 -5.83614760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.95240100800001 meters Centerline goodness : 0.943986 Centerline is valid? [False, False] Translation: X:14.13, Y:-0.50, Z:-0.59 [[ 9.99906026e-01 -6.50189560e-04 -1.36936580e-02 1.41308664e+01] [ 7.33250228e-04 9.99981360e-01 6.06148345e-03 -4.96470762e-01] [ 1.36894616e-02 -6.07095470e-03 9.99887865e-01 -5.86178047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98240100800001 meters Centerline goodness : 0.944554 Centerline is valid? [False, False] Translation: X:14.14, Y:-0.50, Z:-0.59 [[ 9.99877577e-01 -2.79071088e-04 -1.56445983e-02 1.41393404e+01] [ 4.42764367e-04 9.99945187e-01 1.04607589e-02 -4.98991134e-01] [ 1.56408215e-02 -1.04664051e-02 9.99822894e-01 -5.85340292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01240100800001 meters Centerline goodness : 0.948238 Centerline is valid? [False, False] Translation: X:14.14, Y:-0.50, Z:-0.59 [[ 9.99870603e-01 -5.36097609e-04 -1.60776454e-02 1.41403706e+01] [ 7.04747157e-04 9.99944773e-01 1.04858614e-02 -4.99930720e-01] [ 1.60711361e-02 -1.04958353e-02 9.99815761e-01 -5.85188069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04240100800001 meters Centerline goodness : 0.949031 Centerline is valid? [False, False] Translation: X:14.14, Y:-0.50, Z:-0.59 [[ 9.99868091e-01 -5.09108621e-04 -1.62339764e-02 1.41406254e+01] [ 6.78093568e-04 9.99945631e-01 1.04055332e-02 -5.00291074e-01] [ 1.62277963e-02 -1.04151688e-02 9.99814074e-01 -5.85261568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07240100800001 meters Centerline goodness : 0.948013 Centerline is valid? [False, False] Translation: X:14.14, Y:-0.50, Z:-0.59 [[ 9.99867400e-01 -4.26476446e-04 -1.62788531e-02 1.41405026e+01] [ 5.92977609e-04 9.99947552e-01 1.02246086e-02 -4.99441829e-01] [ 1.62736387e-02 -1.02329059e-02 9.99815211e-01 -5.85212411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10240100800002 meters Centerline goodness : 0.949876 Centerline is valid? [False, False] Translation: X:14.15, Y:-0.50, Z:-0.59 [[ 9.99935591e-01 1.47612511e-03 -1.12531762e-02 1.41538808e+01] [-1.48407359e-03 9.99998655e-01 -6.98013778e-04 -4.95920717e-01] [ 1.12521307e-02 7.14669362e-04 9.99936437e-01 -5.92945453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13240100800002 meters Centerline goodness : 0.951733 Centerline is valid? [False, True] Translation: X:14.16, Y:-0.50, Z:-0.59 [[ 9.99911525e-01 4.99413140e-03 -1.23288532e-02 1.41555460e+01] [-4.91011106e-03 9.99964581e-01 6.83582383e-03 -5.00231629e-01] [ 1.23625555e-02 -6.77468299e-03 9.99900631e-01 -5.86076865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16240100800002 meters Centerline goodness : 0.950684 Centerline is valid? [True, True] Translation: X:14.19, Y:-0.50, Z:-0.59 [[ 9.99906233e-01 5.48323806e-03 -1.25482863e-02 1.41852926e+01] [-5.48146591e-03 9.99984961e-01 1.75615425e-04 -4.97703801e-01] [ 1.25490606e-02 -1.06815954e-04 9.99921252e-01 -5.90224028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19240100800002 meters Centerline goodness : 0.949991 Centerline is valid? [True, False] Translation: X:14.19, Y:-0.50, Z:-0.59 [[ 9.99903457e-01 5.46095011e-03 -1.27770880e-02 1.41854189e+01] [-5.45624165e-03 9.99985033e-01 4.03337791e-04 -4.97368226e-01] [ 1.27790994e-02 -3.33583972e-04 9.99918288e-01 -5.89298967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22240100800002 meters Centerline goodness : 0.950850 Centerline is valid? [False, True] Translation: X:14.19, Y:-0.50, Z:-0.59 [[ 9.99901545e-01 5.16312722e-03 -1.30476687e-02 1.41858585e+01] [-5.15689411e-03 9.99986572e-01 5.11317606e-04 -4.96828773e-01] [ 1.30501335e-02 -4.43981819e-04 9.99914745e-01 -5.88543830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.25240100800002 meters Centerline goodness : 0.950676 Centerline is valid? [True, True] Translation: X:14.21, Y:-0.50, Z:-0.59 [[ 9.99888999e-01 4.60522847e-03 -1.41697245e-02 1.42148248e+01] [-4.60272644e-03 9.99989386e-01 2.09182721e-04 -4.95797030e-01] [ 1.41705374e-02 -1.43940136e-04 9.99899583e-01 -5.89944399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28240100800001 meters Centerline goodness : 0.948083 Centerline is valid? [True, False] Translation: X:14.22, Y:-0.49, Z:-0.59 [[ 9.99888601e-01 4.26816214e-03 -1.43027534e-02 1.42157426e+01] [-4.27348845e-03 9.99990810e-01 -3.41855207e-04 -4.94405404e-01] [ 1.43011628e-02 4.02939776e-04 9.99897652e-01 -5.90887839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.31240100800001 meters Centerline goodness : 0.945699 Centerline is valid? [False, False] Translation: X:14.22, Y:-0.49, Z:-0.59 [[ 9.99888749e-01 4.31487533e-03 -1.42783305e-02 1.42156608e+01] [-4.32241340e-03 9.99990535e-01 -4.97119834e-04 -4.93426489e-01] [ 1.42760503e-02 5.58781376e-04 9.99897936e-01 -5.90986164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34240100800001 meters Centerline goodness : 0.946874 Centerline is valid? [False, False] Translation: X:14.21, Y:-0.49, Z:-0.59 [[ 9.99887500e-01 5.07328046e-03 -1.41155808e-02 1.42134252e+01] [-5.07099963e-03 9.99987123e-01 1.97369825e-04 -4.92753080e-01] [ 1.41164003e-02 -1.25767516e-04 9.99900351e-01 -5.88359889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37240100800001 meters Centerline goodness : 0.946874 Centerline is valid? [False, False] Translation: X:14.21, Y:-0.49, Z:-0.59 [[ 9.99887500e-01 5.07328046e-03 -1.41155808e-02 1.42134252e+01] [-5.07099963e-03 9.99987123e-01 1.97369825e-04 -4.92753080e-01] [ 1.41164003e-02 -1.25767516e-04 9.99900351e-01 -5.88359889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40240100800001 meters Centerline goodness : 0.944766 Centerline is valid? [False, False] Translation: X:14.21, Y:-0.49, Z:-0.59 [[ 9.99883757e-01 5.35920445e-03 -1.42741341e-02 1.42126647e+01] [-5.34866401e-03 9.99985394e-01 7.76503162e-04 -4.93462913e-01] [ 1.42780870e-02 -7.00065352e-04 9.99897818e-01 -5.86527868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43240100800001 meters Centerline goodness : 0.947705 Centerline is valid? [False, False] Translation: X:14.21, Y:-0.49, Z:-0.58 [[ 9.99878085e-01 5.84197122e-03 -1.44805456e-02 1.42114907e+01] [-5.81459640e-03 9.99981229e-01 1.93183689e-03 -4.94666751e-01] [ 1.44915596e-02 -1.84740284e-03 9.99893285e-01 -5.83540974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46240100800001 meters Centerline goodness : 0.948683 Centerline is valid? [False, False] Translation: X:14.21, Y:-0.50, Z:-0.58 [[ 9.99876515e-01 6.64510165e-03 -1.42407270e-02 1.42091749e+01] [-6.60223721e-03 9.99973539e-01 3.05489228e-03 -4.95067135e-01] [ 1.42606502e-02 -2.96049438e-03 9.99893929e-01 -5.80591363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49240100800002 meters Centerline goodness : 0.947348 Centerline is valid? [False, False] Translation: X:14.21, Y:-0.49, Z:-0.58 [[ 9.99878574e-01 6.55352406e-03 -1.41382019e-02 1.42092655e+01] [-6.51666351e-03 9.99975251e-01 2.65165598e-03 -4.94015139e-01] [ 1.41552297e-02 -2.55920010e-03 9.99896535e-01 -5.81228365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52240100800002 meters Centerline goodness : 0.943807 Centerline is valid? [False, False] Translation: X:14.21, Y:-0.50, Z:-0.58 [[ 9.99840862e-01 9.37540830e-03 -1.51773415e-02 1.42127204e+01] [-9.27438695e-03 9.99934460e-01 6.71282136e-03 -4.95622652e-01] [ 1.52392822e-02 -6.57099256e-03 9.99862284e-01 -5.81227009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55240100800002 meters Centerline goodness : 0.946322 Centerline is valid? [False, False] Translation: X:14.21, Y:-0.49, Z:-0.58 [[ 9.99842867e-01 8.58300518e-03 -1.55104325e-02 1.42149432e+01] [-8.49830741e-03 9.99948662e-01 5.51838245e-03 -4.93857436e-01] [ 1.55570005e-02 -5.38570290e-03 9.99864478e-01 -5.83547846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58240100800002 meters Centerline goodness : 0.941888 Centerline is valid? [False, False] Translation: X:14.22, Y:-0.49, Z:-0.59 [[ 9.99843906e-01 7.62893049e-03 -1.59362070e-02 1.42176118e+01] [-7.56224104e-03 9.99962413e-01 4.24085361e-03 -4.92213423e-01] [ 1.59679612e-02 -4.11967820e-03 9.99864017e-01 -5.86066194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61240100800002 meters Centerline goodness : 0.938490 Centerline is valid? [False, False] Translation: X:14.22, Y:-0.49, Z:-0.59 [[ 9.99836584e-01 6.87402230e-03 -1.67198160e-02 1.42203764e+01] [-6.82049309e-03 9.99971438e-01 3.25646200e-03 -4.92097300e-01] [ 1.67417234e-02 -3.14189245e-03 9.99854911e-01 -5.87896964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64240100800002 meters Centerline goodness : 0.940211 Centerline is valid? [False, False] Translation: X:14.22, Y:-0.49, Z:-0.59 [[ 9.99828210e-01 6.49052528e-03 -1.73615310e-02 1.42219722e+01] [-6.43926648e-03 9.99974747e-01 3.00671016e-03 -4.92329636e-01] [ 1.73806077e-02 -2.89439811e-03 9.99844756e-01 -5.88044301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.67240100800001 meters Centerline goodness : 0.942222 Centerline is valid? [False, False] Translation: X:14.22, Y:-0.49, Z:-0.59 [[ 9.99823398e-01 6.01667381e-03 -1.78037099e-02 1.42235864e+01] [-5.97742382e-03 9.99979588e-01 2.25699000e-03 -4.91591693e-01] [ 1.78169260e-02 -2.15017109e-03 9.99838954e-01 -5.89227258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70240100800001 meters Centerline goodness : 0.939448 Centerline is valid? [False, False] Translation: X:14.22, Y:-0.49, Z:-0.59 [[ 9.99823449e-01 5.75921837e-03 -1.78858289e-02 1.42244893e+01] [-5.73358819e-03 9.99982462e-01 1.48393691e-03 -4.90108385e-01] [ 1.78940615e-02 -1.38112495e-03 9.99838935e-01 -5.90716672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73240100800001 meters Centerline goodness : 0.933424 Centerline is valid? [False, False] Translation: X:14.23, Y:-0.49, Z:-0.59 [[ 9.99787884e-01 7.43157618e-03 -1.92082967e-02 1.42303231e+01] [-7.34567964e-03 9.99962721e-01 4.53854045e-03 -4.90187105e-01] [ 1.92413091e-02 -4.39647976e-03 9.99805203e-01 -5.92430332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76240100800001 meters Centerline goodness : 0.932808 Centerline is valid? [False, False] Translation: X:14.23, Y:-0.49, Z:-0.59 [[ 9.99781195e-01 6.52321104e-03 -1.98748317e-02 1.42329791e+01] [-6.45239937e-03 9.99972613e-01 3.62492753e-03 -4.88771218e-01] [ 1.98979336e-02 -3.49589402e-03 9.99795905e-01 -5.93979325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79240100800001 meters Centerline goodness : 0.927577 Centerline is valid? [False, False] Translation: X:14.23, Y:-0.49, Z:-0.59 [[ 9.99779194e-01 6.04718411e-03 -2.01244800e-02 1.42342223e+01] [-5.98279107e-03 9.99976794e-01 3.25840683e-03 -4.88228285e-01] [ 2.01437172e-02 -3.13728679e-03 9.99792172e-01 -5.94696924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82240100800001 meters Centerline goodness : 0.926857 Centerline is valid? [False, False] Translation: X:14.24, Y:-0.49, Z:-0.59 [[ 9.99771254e-01 5.50405632e-03 -2.06674716e-02 1.42354962e+01] [-5.43499217e-03 9.99979463e-01 3.39636793e-03 -4.89111313e-01] [ 2.06857409e-02 -3.28326348e-03 9.99780636e-01 -5.94072169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85240100800002 meters Centerline goodness : 0.925382 Centerline is valid? [False, False] Translation: X:14.24, Y:-0.49, Z:-0.59 [[ 9.99754871e-01 5.02710689e-03 -2.15621518e-02 1.42368171e+01] [-4.92413650e-03 9.99976231e-01 4.82595422e-03 -4.92200755e-01] [ 2.15858999e-02 -4.71859626e-03 9.99755862e-01 -5.91042413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88240100800002 meters Centerline goodness : 0.929594 Centerline is valid? [False, False] Translation: X:14.24, Y:-0.50, Z:-0.58 [[ 9.99745117e-01 -1.06664637e-04 -2.25762881e-02 1.42385476e+01] [ 2.17665743e-04 9.99987901e-01 4.91431175e-03 -4.97773289e-01] [ 2.25754908e-02 -4.91797326e-03 9.99733045e-01 -5.82837070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91240100800002 meters Centerline goodness : 0.928580 Centerline is valid? [False, False] Translation: X:14.24, Y:-0.50, Z:-0.58 [[ 9.99725678e-01 -1.01252491e-03 -2.33996682e-02 1.42406506e+01] [ 1.14942255e-03 9.99982300e-01 5.83770054e-03 -5.00213104e-01] [ 2.33933432e-02 -5.86299523e-03 9.99709146e-01 -5.81019721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94240100800002 meters Centerline goodness : 0.926506 Centerline is valid? [False, False] Translation: X:14.26, Y:-0.50, Z:-0.57 [[ 9.99724086e-01 -6.05458104e-03 -2.26956690e-02 1.42641246e+01] [ 6.47588876e-03 9.99807220e-01 1.85360533e-02 -5.03279780e-01] [ 2.25790657e-02 -1.86779135e-02 9.99570568e-01 -5.72666215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.97240100800002 meters Centerline goodness : 0.923218 Centerline is valid? [False, False] Translation: X:14.26, Y:-0.50, Z:-0.58 [[ 9.99700964e-01 -1.03351606e-02 -2.21622933e-02 1.42642098e+01] [ 1.06133384e-02 9.99865904e-01 1.24711814e-02 -4.99579156e-01] [ 2.20304298e-02 -1.27026679e-02 9.99676599e-01 -5.76450771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00240100800002 meters Centerline goodness : 0.922109 Centerline is valid? [False, False] Translation: X:14.27, Y:-0.50, Z:-0.58 [[ 9.99689002e-01 -8.03488013e-03 -2.36080398e-02 1.42690002e+01] [ 8.43934058e-03 9.99818459e-01 1.70829301e-02 -5.01246580e-01] [ 2.34664947e-02 -1.72768536e-02 9.99575327e-01 -5.75147551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.03240100800001 meters Centerline goodness : 0.921011 Centerline is valid? [False, False] Translation: X:14.27, Y:-0.50, Z:-0.57 [[ 9.99670840e-01 -5.41608335e-03 -2.50774157e-02 1.42733689e+01] [ 5.95907878e-03 9.99748308e-01 2.16289085e-02 -5.02425706e-01] [ 2.49539599e-02 -2.17712275e-02 9.99451506e-01 -5.73846848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06240100800001 meters Centerline goodness : 0.916784 Centerline is valid? [False, False] Translation: X:14.29, Y:-0.50, Z:-0.58 [[ 9.99763426e-01 -5.83038482e-03 -2.09546910e-02 1.42877637e+01] [ 5.99035864e-03 9.99953331e-01 7.57962747e-03 -4.97290935e-01] [ 2.09095209e-02 -7.70336044e-03 9.99751694e-01 -5.82923674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.09240100800001 meters Centerline goodness : 0.918819 Centerline is valid? [False, False] Translation: X:14.29, Y:-0.50, Z:-0.58 [[ 9.99761158e-01 -5.56158408e-03 -2.11351717e-02 1.42870186e+01] [ 5.74228024e-03 9.99947399e-01 8.49849743e-03 -4.98284918e-01] [ 2.10867948e-02 -8.61783171e-03 9.99740506e-01 -5.80501071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12240100800001 meters Centerline goodness : 0.918945 Centerline is valid? [False, False] Translation: X:14.29, Y:-0.50, Z:-0.57 [[ 9.99735816e-01 -3.91539104e-03 -2.26488032e-02 1.42925780e+01] [ 4.30606504e-03 9.99842345e-01 1.72262385e-02 -5.02559237e-01] [ 2.25777850e-02 -1.73192148e-02 9.99595062e-01 -5.70988717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15240100800001 meters Centerline goodness : 0.916948 Centerline is valid? [False, False] Translation: X:14.29, Y:-0.50, Z:-0.57 [[ 9.99726631e-01 -4.05962537e-03 -2.30256789e-02 1.42929565e+01] [ 4.46818849e-03 9.99833001e-01 1.77201987e-02 -5.03238199e-01] [ 2.29498963e-02 -1.78182376e-02 9.99577817e-01 -5.69490360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18240100800001 meters Centerline goodness : 0.913164 Centerline is valid? [False, False] Translation: X:14.30, Y:-0.50, Z:-0.57 [[ 9.99690157e-01 -3.04814264e-03 -2.47042158e-02 1.43001532e+01] [ 3.62037237e-03 9.99725408e-01 2.31517158e-02 -5.04541648e-01] [ 2.46268625e-02 -2.32339809e-02 9.99426686e-01 -5.66811714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21240100800001 meters Centerline goodness : 0.912491 Centerline is valid? [False, False] Translation: X:14.30, Y:-0.51, Z:-0.57 [[ 9.99670197e-01 -7.87810386e-04 -2.56685936e-02 1.43045531e+01] [ 1.49718881e-03 9.99617137e-01 2.76285595e-02 -5.05247487e-01] [ 2.56370000e-02 -2.76578782e-02 9.99288640e-01 -5.65925971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24240100800002 meters Centerline goodness : 0.907211 Centerline is valid? [False, False] Translation: X:14.31, Y:-0.51, Z:-0.57 [[ 9.99647136e-01 1.73484171e-03 -2.65064676e-02 1.43083913e+01] [-8.84703726e-04 9.99485844e-01 3.20509769e-02 -5.06616984e-01] [ 2.65484425e-02 -3.20162170e-02 9.99134697e-01 -5.65301111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27240100800002 meters Centerline goodness : 0.906633 Centerline is valid? [False, False] Translation: X:14.31, Y:-0.51, Z:-0.57 [[ 9.99644231e-01 1.52775117e-03 -2.66285001e-02 1.43092095e+01] [-6.87857967e-04 9.99502828e-01 3.15218044e-02 -5.05464403e-01] [ 2.66634186e-02 -3.14922733e-02 9.99148287e-01 -5.66124077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30240100800002 meters Centerline goodness : 0.905685 Centerline is valid? [False, False] Translation: X:14.31, Y:-0.50, Z:-0.57 [[ 9.99655914e-01 -7.12740085e-04 -2.62211010e-02 1.43067730e+01] [ 1.36369483e-03 9.99691103e-01 2.48161084e-02 -5.00519717e-01] [ 2.61953139e-02 -2.48433271e-02 9.99348095e-01 -5.70874551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33240100800002 meters Centerline goodness : 0.906491 Centerline is valid? [False, False] Translation: X:14.31, Y:-0.50, Z:-0.57 [[ 9.99654694e-01 -3.64582401e-03 -2.60230674e-02 1.43053735e+01] [ 4.14802202e-03 9.99805705e-01 1.92703665e-02 -4.96476777e-01] [ 2.59477549e-02 -1.93716566e-02 9.99475589e-01 -5.73263609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36240100800002 meters Centerline goodness : 0.904916 Centerline is valid? [False, False] Translation: X:14.31, Y:-0.50, Z:-0.57 [[ 9.99636148e-01 -1.27924999e-04 -2.69732222e-02 1.43072863e+01] [ 7.96847286e-04 9.99692358e-01 2.47902049e-02 -4.98265398e-01] [ 2.69617529e-02 -2.48026785e-02 9.99328720e-01 -5.69726214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.39240100800002 meters Centerline goodness : 0.907233 Centerline is valid? [False, False] Translation: X:14.31, Y:-0.50, Z:-0.57 [[ 9.99641609e-01 5.30217378e-04 -2.67651361e-02 1.43059244e+01] [ 1.36010054e-04 9.99690345e-01 2.48836584e-02 -4.96970497e-01] [ 2.67700418e-02 -2.48783806e-02 9.99331992e-01 -5.69048474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42240100800001 meters Centerline goodness : 0.905287 Centerline is valid? [False, False] Translation: X:14.32, Y:-0.49, Z:-0.58 [[ 9.99733890e-01 4.42485879e-03 -2.26399953e-02 1.43167166e+01] [-4.13860037e-03 9.99911102e-01 1.26751960e-02 -4.91815679e-01] [ 2.26940686e-02 -1.25781251e-02 9.99663328e-01 -5.78653204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.45240100800001 meters Centerline goodness : 0.903771 Centerline is valid? [False, False] Translation: X:14.32, Y:-0.49, Z:-0.58 [[ 9.99697525e-01 8.19529042e-03 -2.31882754e-02 1.43181793e+01] [-7.78777695e-03 9.99814599e-01 1.76101780e-02 -4.92600795e-01] [ 2.33282968e-02 -1.74242662e-02 9.99576003e-01 -5.77067279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48240100800001 meters Centerline goodness : 0.898568 Centerline is valid? [False, False] Translation: X:14.32, Y:-0.49, Z:-0.58 [[ 9.99649058e-01 1.17248631e-02 -2.37547426e-02 1.43199248e+01] [-1.12008178e-02 9.99693573e-01 2.20748912e-02 -4.93325161e-01] [ 2.40062886e-02 -2.18010717e-02 9.99474067e-01 -5.76330258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51240100800001 meters Centerline goodness : 0.897706 Centerline is valid? [False, False] Translation: X:14.33, Y:-0.49, Z:-0.59 [[ 9.99898599e-01 9.84190595e-03 -1.02921790e-02 1.43258344e+01] [-9.67330831e-03 9.99820278e-01 1.63045854e-02 -4.88690880e-01] [ 1.04507975e-02 -1.62033727e-02 9.99814098e-01 -5.87510933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54240100800001 meters Centerline goodness : 0.903255 Centerline is valid? [False, False] Translation: X:14.34, Y:-0.49, Z:-0.59 [[ 9.99913863e-01 1.23677941e-02 -4.39374614e-03 1.43374171e+01] [-1.23286667e-02 9.99885069e-01 8.82343929e-03 -4.87726910e-01] [ 4.50236764e-03 -8.76851023e-03 9.99951420e-01 -5.89587888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57240100800001 meters Centerline goodness : 0.897303 Centerline is valid? [False, False] Translation: X:14.34, Y:-0.49, Z:-0.59 [[ 9.99908594e-01 1.27354252e-02 -4.54019880e-03 1.43365130e+01] [-1.26920697e-02 9.99874764e-01 9.45348584e-03 -4.88720371e-01] [ 4.66002436e-03 -9.39499721e-03 9.99945008e-01 -5.87579012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60240100800002 meters Centerline goodness : 0.903904 Centerline is valid? [False, False] Translation: X:14.34, Y:-0.49, Z:-0.59 [[ 9.99902697e-01 1.31896504e-02 -4.54196391e-03 1.43353573e+01] [-1.31437724e-02 9.99863743e-01 9.98680893e-03 -4.89614806e-01] [ 4.67306756e-03 -9.92613865e-03 9.99939815e-01 -5.85868348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63240100800002 meters Centerline goodness : 0.907888 Centerline is valid? [False, False] Translation: X:14.33, Y:-0.49, Z:-0.59 [[ 9.99935085e-01 1.05763009e-02 -4.23882666e-03 1.43332104e+01] [-1.05536679e-02 9.99930121e-01 5.32673018e-03 -4.86954567e-01] [ 4.29486755e-03 -5.28164923e-03 9.99976829e-01 -5.86659741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66240100800002 meters Centerline goodness : 0.908418 Centerline is valid? [False, False] Translation: X:14.33, Y:-0.48, Z:-0.59 [[ 9.99941032e-01 1.00312160e-02 -4.16026191e-03 1.43348943e+01] [-1.00181814e-02 9.99944880e-01 3.14221344e-03 -4.83194104e-01] [ 4.19155282e-03 -3.10034989e-03 9.99986409e-01 -5.91092027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.69240100800002 meters Centerline goodness : 0.905279 Centerline is valid? [False, False] Translation: X:14.34, Y:-0.48, Z:-0.60 [[ 9.99951233e-01 8.78697367e-03 -4.50787275e-03 1.43384493e+01] [-8.78190668e-03 9.99960786e-01 1.14259818e-03 -4.80219155e-01] [ 4.51773596e-03 -1.10295474e-03 9.99989187e-01 -5.95617751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72240100800002 meters Centerline goodness : 0.899291 Centerline is valid? [False, False] Translation: X:14.34, Y:-0.48, Z:-0.60 [[ 9.99930848e-01 1.02715903e-02 -5.72651962e-03 1.43446188e+01] [-1.02469727e-02 9.99938202e-01 4.31177024e-03 -4.80863220e-01] [ 5.77045447e-03 -4.25279258e-03 9.99974307e-01 -5.97925523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.75240100800002 meters Centerline goodness : 0.898302 Centerline is valid? [False, False] Translation: X:14.35, Y:-0.48, Z:-0.60 [[ 9.99936259e-01 9.34948103e-03 -6.32972435e-03 1.43474656e+01] [-9.32659515e-03 9.99949897e-01 3.63553581e-03 -4.80835484e-01] [ 6.36339759e-03 -3.57626930e-03 9.99973358e-01 -5.99782098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78240100800001 meters Centerline goodness : 0.899306 Centerline is valid? [False, False] Translation: X:14.36, Y:-0.49, Z:-0.59 [[ 9.99965765e-01 4.13185563e-03 -7.16908859e-03 1.43633146e+01] [-4.04918975e-03 9.99925590e-01 1.15073275e-02 -4.86361420e-01] [ 7.21610175e-03 -1.14779046e-02 9.99908089e-01 -5.91464428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.81240100800001 meters Centerline goodness : 0.906184 Centerline is valid? [False, False] Translation: X:14.39, Y:-0.49, Z:-0.58 [[ 9.99929056e-01 4.87721812e-03 -1.08671670e-02 1.43934388e+01] [-4.71031890e-03 9.99871376e-01 1.53311402e-02 -4.92607340e-01] [ 1.09405426e-02 -1.52788647e-02 9.99823415e-01 -5.83258553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84240100800001 meters Centerline goodness : 0.909369 Centerline is valid? [False, False] Translation: X:14.40, Y:-0.49, Z:-0.58 [[ 9.99923538e-01 4.00804667e-03 -1.16984126e-02 1.43957869e+01] [-3.82684362e-03 9.99872993e-01 1.54710401e-02 -4.94641498e-01] [ 1.17589355e-02 -1.54250892e-02 9.99811879e-01 -5.82946319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87240100800001 meters Centerline goodness : 0.911117 Centerline is valid? [False, False] Translation: X:14.40, Y:-0.49, Z:-0.58 [[ 9.99917705e-01 2.37457630e-03 -1.26073346e-02 1.43999371e+01] [-2.18895754e-03 9.99889310e-01 1.47165174e-02 -4.94600782e-01] [ 1.26408846e-02 -1.46877094e-02 9.99812222e-01 -5.84686897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90240100800001 meters Centerline goodness : 0.908660 Centerline is valid? [False, False] Translation: X:14.40, Y:-0.50, Z:-0.58 [[ 9.99893275e-01 4.93658046e-03 -1.37502391e-02 1.44039070e+01] [-4.67506922e-03 9.99808813e-01 1.89863160e-02 -4.96148552e-01] [ 1.38413377e-02 -1.89200063e-02 9.99725188e-01 -5.84330732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93240100800001 meters Centerline goodness : 0.911268 Centerline is valid? [False, False] Translation: X:14.40, Y:-0.49, Z:-0.59 [[ 9.99908890e-01 1.55459909e-03 -1.34087889e-02 1.44032320e+01] [-1.36669802e-03 9.99900906e-01 1.40110744e-02 -4.92390828e-01] [ 1.34292417e-02 -1.39914721e-02 9.99811929e-01 -5.86426040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96240100800001 meters Centerline goodness : 0.915162 Centerline is valid? [False, False] Translation: X:14.41, Y:-0.49, Z:-0.59 [[ 9.99998282e-01 -8.43509922e-04 -1.65089511e-03 1.44099398e+01] [ 8.63533863e-04 9.99925616e-01 1.21662489e-02 -4.90513880e-01] [ 1.64050996e-03 -1.21676536e-02 9.99924626e-01 -5.93671696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99240100800002 meters Centerline goodness : 0.917047 Centerline is valid? [False, False] Translation: X:14.41, Y:-0.49, Z:-0.59 [[ 9.99993556e-01 -3.46592164e-03 -9.35191679e-04 1.44068410e+01] [ 3.47316242e-03 9.99963115e-01 7.85533408e-03 -4.88503197e-01] [ 9.07931212e-04 -7.85853154e-03 9.99968709e-01 -5.93639794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02240100800002 meters Centerline goodness : 0.919758 Centerline is valid? [False, False] Translation: X:14.42, Y:-0.49, Z:-0.60 [[ 9.99993167e-01 -1.31823925e-03 3.45381812e-03 1.44214755e+01] [ 1.31858446e-03 9.99999126e-01 -9.76749754e-05 -4.88027482e-01] [-3.45368634e-03 1.02228459e-04 9.99994031e-01 -5.97086019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.05240100800002 meters Centerline goodness : 0.923657 Centerline is valid? [False, False] Translation: X:14.42, Y:-0.49, Z:-0.60 [[ 9.99992238e-01 -6.05069912e-05 3.93947068e-03 1.44185975e+01] [ 5.78157719e-05 9.99999765e-01 6.83252654e-04 -4.87948710e-01] [-3.93951110e-03 -6.83019587e-04 9.99992007e-01 -5.95174223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08240100800002 meters Centerline goodness : 0.923361 Centerline is valid? [False, False] Translation: X:14.42, Y:-0.49, Z:-0.59 [[ 9.99988198e-01 3.54401145e-03 3.32330667e-03 1.44201912e+01] [-3.56124907e-03 9.99980162e-01 5.19539472e-03 -4.89130401e-01] [-3.30482821e-03 -5.20716853e-03 9.99980982e-01 -5.94520983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.11240100800002 meters Centerline goodness : 0.923971 Centerline is valid? [False, False] Translation: X:14.42, Y:-0.49, Z:-0.60 [[ 9.99986570e-01 3.69680981e-03 3.63240797e-03 1.44200168e+01] [-3.71210595e-03 9.99984234e-01 4.21334099e-03 -4.86572851e-01] [-3.61677478e-03 -4.22676828e-03 9.99984527e-01 -5.96378497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14240100800002 meters Centerline goodness : 0.923740 Centerline is valid? [False, False] Translation: X:14.42, Y:-0.48, Z:-0.60 [[ 9.99984095e-01 4.19882101e-03 3.76556252e-03 1.44194867e+01] [-4.21241376e-03 9.99984615e-01 3.60911524e-03 -4.84325704e-01] [-3.75035056e-03 -3.62491995e-03 9.99986397e-01 -5.97311875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.17240100800001 meters Centerline goodness : 0.925655 Centerline is valid? [False, False] Translation: X:14.42, Y:-0.48, Z:-0.60 [[ 9.99976935e-01 5.51549791e-03 3.96353615e-03 1.44175909e+01] [-5.52910114e-03 9.99978834e-01 3.42937229e-03 -4.82600131e-01] [-3.94453756e-03 -3.45120798e-03 9.99986265e-01 -5.97235939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20240100800001 meters Centerline goodness : 0.926341 Centerline is valid? [False, False] Translation: X:14.42, Y:-0.48, Z:-0.60 [[ 9.99973716e-01 5.95089111e-03 4.14182300e-03 1.44166477e+01] [-5.96510064e-03 9.99976337e-01 3.42688660e-03 -4.82319233e-01] [-4.12133196e-03 -3.45150292e-03 9.99985551e-01 -5.96970099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23240100800001 meters Centerline goodness : 0.931075 Centerline is valid? [False, False] Translation: X:14.42, Y:-0.48, Z:-0.60 [[ 9.99969960e-01 6.39293261e-03 4.38279003e-03 1.44155429e+01] [-6.40879557e-03 9.99972929e-01 3.61493579e-03 -4.82484251e-01] [-4.35956134e-03 -3.64291560e-03 9.99983862e-01 -5.96445678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26240100800001 meters Centerline goodness : 0.931075 Centerline is valid? [False, False] Translation: X:14.42, Y:-0.48, Z:-0.60 [[ 9.99969960e-01 6.39293261e-03 4.38279003e-03 1.44155429e+01] [-6.40879557e-03 9.99972929e-01 3.61493579e-03 -4.82484251e-01] [-4.35956134e-03 -3.64291560e-03 9.99983862e-01 -5.96445678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29240100800001 meters Centerline goodness : 0.929628 Centerline is valid? [False, False] Translation: X:14.41, Y:-0.48, Z:-0.60 [[ 9.99967543e-01 6.69191254e-03 4.48673783e-03 1.44148841e+01] [-6.70905978e-03 9.99970207e-01 3.81766522e-03 -4.82718311e-01] [-4.46105668e-03 -3.84764311e-03 9.99982647e-01 -5.95964284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32240100800001 meters Centerline goodness : 0.930097 Centerline is valid? [False, False] Translation: X:14.41, Y:-0.48, Z:-0.60 [[ 9.99965800e-01 6.92997239e-03 4.51378305e-03 1.44146227e+01] [-6.94938526e-03 9.99966610e-01 4.29940881e-03 -4.84348797e-01] [-4.48383755e-03 -4.33062979e-03 9.99980570e-01 -5.95521727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35240100800002 meters Centerline goodness : 0.929240 Centerline is valid? [False, False] Translation: X:14.42, Y:-0.49, Z:-0.60 [[ 9.99971418e-01 6.38095605e-03 4.05537013e-03 1.44165953e+01] [-6.39735055e-03 9.99971365e-01 4.04263276e-03 -4.85058899e-01] [-4.02945814e-03 -4.06846084e-03 9.99983605e-01 -5.96617213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38240100800002 meters Centerline goodness : 0.929266 Centerline is valid? [False, False] Translation: X:14.42, Y:-0.49, Z:-0.60 [[ 9.99977515e-01 5.66429560e-03 3.58948131e-03 1.44190504e+01] [-5.67669015e-03 9.99977928e-01 3.45229095e-03 -4.85403349e-01] [-3.56984729e-03 -3.47258970e-03 9.99987599e-01 -5.98595140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41240100800002 meters Centerline goodness : 0.922715 Centerline is valid? [False, False] Translation: X:14.42, Y:-0.48, Z:-0.60 [[ 9.99982353e-01 4.91410822e-03 3.33850921e-03 1.44216892e+01] [-4.91817115e-03 9.99987174e-01 1.20986994e-03 -4.81309729e-01] [-3.33252095e-03 -1.22626795e-03 9.99993695e-01 -6.03211481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44240100800002 meters Centerline goodness : 0.919250 Centerline is valid? [False, False] Translation: X:14.42, Y:-0.48, Z:-0.61 [[ 9.99987128e-01 4.09654742e-03 2.99367209e-03 1.44240648e+01] [-4.09603501e-03 9.99991595e-01 -1.77276048e-04 -4.78959110e-01] [-2.99437315e-03 1.65011581e-04 9.99995503e-01 -6.05945641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.47240100800002 meters Centerline goodness : 0.917648 Centerline is valid? [False, False] Translation: X:14.43, Y:-0.48, Z:-0.61 [[ 9.99978381e-01 6.36630623e-03 1.64559439e-03 1.44286228e+01] [-6.37244193e-03 9.99972662e-01 3.75060351e-03 -4.80138059e-01] [-1.62167191e-03 -3.76100888e-03 9.99991612e-01 -6.05985894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50240100800002 meters Centerline goodness : 0.920448 Centerline is valid? [False, False] Translation: X:14.43, Y:-0.48, Z:-0.60 [[ 9.99982018e-01 5.96273882e-03 6.39847560e-04 1.44302207e+01] [-5.96542770e-03 9.99973021e-01 4.28613906e-03 -4.82374336e-01] [-6.14273170e-04 -4.28987895e-03 9.99990610e-01 -6.04151737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.53240100800001 meters Centerline goodness : 0.923962 Centerline is valid? [False, False] Translation: X:14.43, Y:-0.48, Z:-0.60 [[ 9.99983458e-01 5.75174827e-03 -4.29463027e-05 1.44310642e+01] [-5.75144918e-03 9.99970082e-01 5.17266471e-03 -4.84607367e-01] [ 7.26968831e-05 -5.17233214e-03 9.99986621e-01 -6.02047304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56240100800001 meters Centerline goodness : 0.925270 Centerline is valid? [False, False] Translation: X:14.43, Y:-0.49, Z:-0.60 [[ 9.99986056e-01 5.23516839e-03 -6.92976689e-04 1.44325235e+01] [-5.23129326e-03 9.99971299e-01 5.48043569e-03 -4.85849123e-01] [ 7.21647804e-04 -5.47673410e-03 9.99984742e-01 -6.01196608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59240100800001 meters Centerline goodness : 0.924453 Centerline is valid? [False, False] Translation: X:14.44, Y:-0.49, Z:-0.60 [[ 9.99990251e-01 4.21921346e-03 -1.30235711e-03 1.44351911e+01] [-4.21279626e-03 9.99979163e-01 4.89140415e-03 -4.85487127e-01] [ 1.32296786e-03 -4.88586990e-03 9.99987189e-01 -6.02516684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62240100800001 meters Centerline goodness : 0.923960 Centerline is valid? [False, False] Translation: X:14.44, Y:-0.48, Z:-0.60 [[ 9.99993479e-01 3.18818780e-03 -1.69653516e-03 1.44376854e+01] [-3.18094072e-03 9.99985878e-01 4.25738205e-03 -4.84684714e-01] [ 1.71008453e-03 -4.25195771e-03 9.99989498e-01 -6.04200012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65240100800001 meters Centerline goodness : 0.918657 Centerline is valid? [False, False] Translation: X:14.44, Y:-0.48, Z:-0.61 [[ 9.99996368e-01 2.94453629e-04 -2.67911980e-03 1.44439195e+01] [-2.85904027e-04 9.99994868e-01 3.19102189e-03 -4.83752119e-01] [ 2.68004566e-03 -3.19024433e-03 9.99991320e-01 -6.06882668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68240100800001 meters Centerline goodness : 0.916433 Centerline is valid? [False, False] Translation: X:14.44, Y:-0.48, Z:-0.61 [[ 9.99995257e-01 -1.08046510e-04 -3.07787448e-03 1.44446879e+01] [ 1.18942689e-04 9.99993726e-01 3.54020040e-03 -4.84577980e-01] [ 3.07747266e-03 -3.54054970e-03 9.99988997e-01 -6.05862591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71240100800001 meters Centerline goodness : 0.915751 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.49, Z:-0.60 [[ 9.99991829e-01 -6.13516395e-04 -3.99572774e-03 1.44459555e+01] [ 6.34182457e-04 9.99986420e-01 5.17282768e-03 -4.87576793e-01] [ 3.99249986e-03 -5.17531943e-03 9.99978638e-01 -6.02194401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74240100800002 meters Centerline goodness : 0.921524 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.49, Z:-0.60 [[ 9.99988472e-01 -1.15887371e-03 -4.65966433e-03 1.44465465e+01] [ 1.19058609e-03 9.99976112e-01 6.80871565e-03 -4.91212175e-01] [ 4.65166258e-03 -6.81418490e-03 9.99965964e-01 -5.98191691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77240100800002 meters Centerline goodness : 0.925033 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.50, Z:-0.59 [[ 9.99979151e-01 -2.51521988e-03 -5.94742751e-03 1.44496643e+01] [ 2.57527438e-03 9.99945561e-01 1.01115530e-02 -4.95232093e-01] [ 5.92167095e-03 -1.01266585e-02 9.99931190e-01 -5.91431462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80240100800002 meters Centerline goodness : 0.924863 Centerline is valid? [False, False] Translation: X:14.47, Y:-0.50, Z:-0.58 [[ 9.99934552e-01 -9.60437383e-03 -6.21678602e-03 1.44694533e+01] [ 9.72391713e-03 9.99762699e-01 1.94933540e-02 -4.97875154e-01] [ 6.02808931e-03 -1.95525297e-02 9.99790658e-01 -5.81469599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83240100800002 meters Centerline goodness : 0.920700 Centerline is valid? [False, False] Translation: X:14.48, Y:-0.50, Z:-0.58 [[ 9.99916237e-01 -1.04044088e-02 -7.69850049e-03 1.44783529e+01] [ 1.05828056e-02 9.99667659e-01 2.35069381e-02 -4.98225199e-01] [ 7.45136617e-03 -2.35864408e-02 9.99694032e-01 -5.80817723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86240100800002 meters Centerline goodness : 0.917900 Centerline is valid? [False, False] Translation: X:14.48, Y:-0.49, Z:-0.59 [[ 9.99858065e-01 -1.53087296e-02 -7.03515021e-03 1.44799295e+01] [ 1.54235068e-02 9.99743892e-01 1.65609484e-02 -4.92029463e-01] [ 6.77982138e-03 -1.66671045e-02 9.99838108e-01 -5.86904146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.89240100800002 meters Centerline goodness : 0.908915 Centerline is valid? [False, False] Translation: X:14.47, Y:-0.49, Z:-0.59 [[ 9.99773333e-01 -1.68978734e-02 -1.29515898e-02 1.44687420e+01] [ 1.72067687e-02 9.99560939e-01 2.41216894e-02 -4.88468973e-01] [ 1.25382980e-02 -2.43390768e-02 9.99625130e-01 -5.86166266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92240100800001 meters Centerline goodness : 0.908252 Centerline is valid? [False, False] Translation: X:14.47, Y:-0.48, Z:-0.59 [[ 9.99761440e-01 -1.73725975e-02 -1.32384238e-02 1.44699341e+01] [ 1.76665487e-02 9.99592518e-01 2.24207667e-02 -4.84699892e-01] [ 1.28435224e-02 -2.26492952e-02 9.99660969e-01 -5.88213618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.95240100800001 meters Centerline goodness : 0.907534 Centerline is valid? [False, False] Translation: X:14.47, Y:-0.48, Z:-0.59 [[ 9.99776315e-01 -1.66135784e-02 -1.30885229e-02 1.44682130e+01] [ 1.68939375e-02 9.99623750e-01 2.16090876e-02 -4.80765905e-01] [ 1.27245940e-02 -2.18253707e-02 9.99680818e-01 -5.88047338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98240100800001 meters Centerline goodness : 0.908590 Centerline is valid? [False, False] Translation: X:14.46, Y:-0.48, Z:-0.59 [[ 9.99811551e-01 -1.45903730e-02 -1.28056396e-02 1.44644781e+01] [ 1.48693271e-02 9.99648142e-01 2.19657633e-02 -4.76747023e-01] [ 1.24806451e-02 -2.21520351e-02 9.99676708e-01 -5.85739708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01240100800001 meters Centerline goodness : 0.912655 Centerline is valid? [False, False] Translation: X:14.46, Y:-0.47, Z:-0.59 [[ 9.99915023e-01 -3.28348673e-03 -1.26160639e-02 1.44644028e+01] [ 3.42887098e-03 9.99927770e-01 1.15194436e-02 -4.65633589e-01] [ 1.25773287e-02 -1.15617236e-02 9.99854058e-01 -5.89478944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04240100800001 meters Centerline goodness : 0.912309 Centerline is valid? [False, False] Translation: X:14.48, Y:-0.46, Z:-0.59 [[ 9.99966396e-01 2.59528753e-03 -7.77632297e-03 1.44804456e+01] [-2.53697594e-03 9.99968663e-01 7.49911186e-03 -4.59575625e-01] [ 7.79554164e-03 -7.47913152e-03 9.99941644e-01 -5.94315347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07240100800001 meters Centerline goodness : 0.910988 Centerline is valid? [False, False] Translation: X:14.48, Y:-0.46, Z:-0.59 [[ 9.99949487e-01 6.46101369e-03 -7.69923451e-03 1.44800869e+01] [-6.37829810e-03 9.99922197e-01 1.07199077e-02 -4.55109226e-01] [ 7.76789696e-03 -1.06702581e-02 9.99912899e-01 -5.94107823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10240100800002 meters Centerline goodness : 0.907372 Centerline is valid? [False, False] Translation: X:14.48, Y:-0.45, Z:-0.59 [[ 9.99948904e-01 6.98427229e-03 -7.30818631e-03 1.44784668e+01] [-6.91433745e-03 9.99930480e-01 9.55128652e-03 -4.49472322e-01] [ 7.37438703e-03 -9.50026722e-03 9.99927679e-01 -5.94568819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13240100800002 meters Centerline goodness : 0.906781 Centerline is valid? [False, False] Translation: X:14.48, Y:-0.45, Z:-0.59 [[ 9.99946791e-01 7.69759990e-03 -6.86745389e-03 1.44751699e+01] [-7.63177418e-03 9.99925174e-01 9.56043134e-03 -4.45447852e-01] [ 6.94053240e-03 -9.50751178e-03 9.99930716e-01 -5.91571122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16240100800002 meters Centerline goodness : 0.907545 Centerline is valid? [False, False] Translation: X:14.47, Y:-0.44, Z:-0.59 [[ 9.99947032e-01 7.52101852e-03 -7.02613712e-03 1.44749781e+01] [-7.45202525e-03 9.99924263e-01 9.79462380e-03 -4.44328653e-01] [ 7.09927053e-03 -9.74174605e-03 9.99927347e-01 -5.89973393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19240100800002 meters Centerline goodness : 0.907942 Centerline is valid? [False, False] Translation: X:14.48, Y:-0.44, Z:-0.59 [[ 9.99949080e-01 6.71002448e-03 -7.53743337e-03 1.44764552e+01] [-6.63989789e-03 9.99934796e-01 9.29058696e-03 -4.42474297e-01] [ 7.59928196e-03 -9.24006610e-03 9.99928433e-01 -5.89807763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22240100800002 meters Centerline goodness : 0.905928 Centerline is valid? [False, False] Translation: X:14.48, Y:-0.44, Z:-0.59 [[ 9.99929773e-01 6.87606180e-03 -9.65242666e-03 1.44846036e+01] [-6.73817125e-03 9.99875815e-01 1.42461428e-02 -4.41702950e-01] [ 9.74918533e-03 -1.41801026e-02 9.99851928e-01 -5.86705293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.25240100800002 meters Centerline goodness : 0.907742 Centerline is valid? [False, False] Translation: X:14.49, Y:-0.44, Z:-0.59 [[ 9.99899378e-01 9.23089817e-03 -1.07714483e-02 1.44883464e+01] [-9.03536089e-03 9.99796026e-01 1.80628980e-02 -4.43213922e-01] [ 1.09359880e-02 -1.79637566e-02 9.99778829e-01 -5.86580277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28240100800001 meters Centerline goodness : 0.911635 Centerline is valid? [False, False] Translation: X:14.49, Y:-0.44, Z:-0.59 [[ 9.99859534e-01 1.18958370e-02 -1.18068016e-02 1.44918279e+01] [-1.16357980e-02 9.99693457e-01 2.18540846e-02 -4.44330290e-01] [ 1.20631549e-02 -2.17136333e-02 9.99691452e-01 -5.86522529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.31240100800001 meters Centerline goodness : 0.913742 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.44, Z:-0.59 [[ 9.99810228e-01 1.45952171e-02 -1.29029965e-02 1.44962146e+01] [-1.42869931e-02 9.99617837e-01 2.36656250e-02 -4.40436914e-01] [ 1.32434704e-02 -2.34767889e-02 9.99636659e-01 -5.90022671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34240100800001 meters Centerline goodness : 0.910190 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.44, Z:-0.59 [[ 9.99811299e-01 1.43697639e-02 -1.30719618e-02 1.44977469e+01] [-1.40894215e-02 9.99674034e-01 2.12911472e-02 -4.35193437e-01] [ 1.33736496e-02 -2.11029532e-02 9.99687857e-01 -5.94031215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37240100800001 meters Centerline goodness : 0.911283 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.43, Z:-0.60 [[ 9.99746192e-01 1.78379240e-02 -1.37608132e-02 1.45001029e+01] [-1.74987348e-02 9.99549418e-01 2.43875919e-02 -4.32885377e-01] [ 1.41896369e-02 -2.41406053e-02 9.99607866e-01 -5.95173934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40240100800001 meters Centerline goodness : 0.913366 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.43, Z:-0.60 [[ 9.99731824e-01 1.86953730e-02 -1.36661586e-02 1.44994434e+01] [-1.83748426e-02 9.99561614e-01 2.32151779e-02 -4.28636552e-01] [ 1.40941839e-02 -2.29578386e-02 9.99637080e-01 -5.96772187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43240100800001 meters Centerline goodness : 0.914426 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.42, Z:-0.60 [[ 9.99692183e-01 2.29279623e-02 -9.47880268e-03 1.45106768e+01] [-2.28069906e-02 9.99659480e-01 1.26793064e-02 -4.23864728e-01] [ 9.76628562e-03 -1.24592205e-02 9.99874686e-01 -6.03981708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46240100800001 meters Centerline goodness : 0.918768 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.42, Z:-0.60 [[ 9.99528264e-01 2.94229120e-02 -8.80579830e-03 1.45053551e+01] [-2.92582420e-02 9.99404746e-01 1.82786389e-02 -4.22581774e-01] [ 9.33836740e-03 -1.80123740e-02 9.99794153e-01 -5.99146694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49240100800002 meters Centerline goodness : 0.920209 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.42, Z:-0.60 [[ 9.99514767e-01 2.99370492e-02 -8.60257586e-03 1.45041834e+01] [-2.97791165e-02 9.99395585e-01 1.79351143e-02 -4.20350661e-01] [ 9.13430074e-03 -1.76702345e-02 9.99802144e-01 -5.98843717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52240100800002 meters Centerline goodness : 0.920092 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.42, Z:-0.60 [[ 9.99506632e-01 3.02797563e-02 -8.34434771e-03 1.45031460e+01] [-3.01293740e-02 9.99391149e-01 1.75940973e-02 -4.18171684e-01] [ 8.87201223e-03 -1.73340070e-02 9.99810392e-01 -5.98659244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.55240100800002 meters Centerline goodness : 0.921462 Centerline is valid? [False, False] Translation: X:14.52, Y:-0.42, Z:-0.60 [[ 9.99461858e-01 3.26819482e-02 -2.80779325e-03 1.45156931e+01] [-3.26562382e-02 9.99428248e-01 8.76051102e-03 -4.15592872e-01] [ 3.09249845e-03 -8.66410466e-03 9.99957684e-01 -6.04023862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58240100800002 meters Centerline goodness : 0.922656 Centerline is valid? [False, False] Translation: X:14.52, Y:-0.42, Z:-0.60 [[ 9.99456965e-01 3.28365699e-02 -2.74504825e-03 1.45151278e+01] [-3.28110035e-02 9.99422030e-01 8.89069218e-03 -4.15419174e-01] [ 3.03540153e-03 -8.79579643e-03 9.99956709e-01 -6.03360295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.61240100800002 meters Centerline goodness : 0.923886 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.41, Z:-0.60 [[ 9.99564088e-01 2.94411938e-02 -2.20247109e-03 1.45133731e+01] [-2.94305705e-02 9.99555732e-01 4.70957725e-03 -4.14024020e-01] [ 2.34014818e-03 -4.64270431e-03 9.99986484e-01 -6.03614957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64240100800002 meters Centerline goodness : 0.922864 Centerline is valid? [False, False] Translation: X:14.52, Y:-0.42, Z:-0.60 [[ 9.99577897e-01 2.89188251e-02 -2.78000199e-03 1.45150290e+01] [-2.89053065e-02 9.99570697e-01 4.78584953e-03 -4.15425608e-01] [ 2.91720968e-03 -4.70347260e-03 9.99984683e-01 -6.03749639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.67240100800001 meters Centerline goodness : 0.923653 Centerline is valid? [False, False] Translation: X:14.52, Y:-0.42, Z:-0.60 [[ 9.99600498e-01 2.80279625e-02 -3.64386530e-03 1.45176153e+01] [-2.80100513e-02 9.99595745e-01 4.87691033e-03 -4.17568238e-01] [ 3.77908211e-03 -4.77289714e-03 9.99981469e-01 -6.03957092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70240100800001 meters Centerline goodness : 0.924009 Centerline is valid? [False, False] Translation: X:14.52, Y:-0.42, Z:-0.61 [[ 9.99712974e-01 2.36352595e-02 -3.91713760e-03 1.45186521e+01] [-2.36341118e-02 9.99720618e-01 3.39032788e-04 -4.17790103e-01] [ 3.92405635e-03 -2.46357409e-04 9.99992271e-01 -6.05196599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73240100800001 meters Centerline goodness : 0.927891 Centerline is valid? [False, False] Translation: X:14.52, Y:-0.42, Z:-0.61 [[ 9.99828689e-01 1.78730252e-02 -4.81113144e-03 1.45219682e+01] [-1.78889831e-02 9.99834551e-01 -3.29452858e-03 -4.23057920e-01] [ 4.75145225e-03 3.38003044e-03 9.99982999e-01 -6.05322496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76240100800001 meters Centerline goodness : 0.925944 Centerline is valid? [False, False] Translation: X:14.52, Y:-0.43, Z:-0.61 [[ 9.99848927e-01 1.64802830e-02 -5.52487465e-03 1.45248970e+01] [-1.64951853e-02 9.99860400e-01 -2.66267232e-03 -4.26848628e-01] [ 5.48022179e-03 2.75340389e-03 9.99981193e-01 -6.05064472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79240100800001 meters Centerline goodness : 0.926850 Centerline is valid? [False, False] Translation: X:14.53, Y:-0.43, Z:-0.61 [[ 9.99864539e-01 1.51275214e-02 -6.48548094e-03 1.45284234e+01] [-1.51435221e-02 9.99882389e-01 -2.42518789e-03 -4.30012849e-01] [ 6.44803109e-03 2.52307240e-03 9.99976028e-01 -6.05604208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82240100800001 meters Centerline goodness : 0.924143 Centerline is valid? [False, False] Translation: X:14.55, Y:-0.44, Z:-0.60 [[ 9.99933514e-01 8.80985239e-03 -7.44007889e-03 1.45456004e+01] [-8.78302315e-03 9.99954836e-01 3.63105067e-03 -4.36515455e-01] [ 7.47173189e-03 -3.56546287e-03 9.99965730e-01 -6.01708322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85240100800002 meters Centerline goodness : 0.925907 Centerline is valid? [False, False] Translation: X:14.55, Y:-0.44, Z:-0.60 [[ 9.99917185e-01 9.34567233e-03 -8.84769645e-03 1.45524041e+01] [-9.25628880e-03 9.99906251e-01 1.00900784e-02 -4.41303074e-01] [ 8.94116555e-03 -1.00073460e-02 9.99909950e-01 -5.97493619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88240100800002 meters Centerline goodness : 0.928636 Centerline is valid? [False, False] Translation: X:14.56, Y:-0.45, Z:-0.60 [[ 9.99877972e-01 1.21809923e-02 -9.78080269e-03 1.45555924e+01] [-1.20317569e-02 9.99812467e-01 1.51745548e-02 -4.45392103e-01] [ 9.96380960e-03 -1.50550228e-02 9.99837021e-01 -5.96211641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.91240100800002 meters Centerline goodness : 0.927632 Centerline is valid? [False, False] Translation: X:14.56, Y:-0.44, Z:-0.60 [[ 9.99878157e-01 1.19972821e-02 -9.98685971e-03 1.45567012e+01] [-1.18510990e-02 9.99823614e-01 1.45702357e-02 -4.44791157e-01] [ 1.01599014e-02 -1.44501052e-02 9.99843973e-01 -5.97579969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94240100800002 meters Centerline goodness : 0.927414 Centerline is valid? [False, False] Translation: X:14.55, Y:-0.44, Z:-0.60 [[ 9.99854380e-01 1.42115442e-02 -9.44724857e-03 1.45530622e+01] [-1.40652407e-02 9.99782843e-01 1.53764851e-02 -4.44682864e-01] [ 9.66372063e-03 -1.52413681e-02 9.99837143e-01 -5.96028133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.97240100800002 meters Centerline goodness : 0.930336 Centerline is valid? [False, False] Translation: X:14.56, Y:-0.44, Z:-0.60 [[ 9.99830065e-01 1.78096677e-02 -4.75989294e-03 1.45640010e+01] [-1.77847978e-02 9.99828227e-01 5.21712549e-03 -4.42846073e-01] [ 4.85199058e-03 -5.13158518e-03 9.99975062e-01 -6.02193571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00240100800002 meters Centerline goodness : 0.935368 Centerline is valid? [False, False] Translation: X:14.56, Y:-0.44, Z:-0.60 [[ 9.99808775e-01 1.90378578e-02 -4.46915401e-03 1.45621614e+01] [-1.90141522e-02 9.99805230e-01 5.28814754e-03 -4.41083736e-01] [ 4.56895855e-03 -5.20215914e-03 9.99976031e-01 -6.01773993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.03240100800001 meters Centerline goodness : 0.936294 Centerline is valid? [False, False] Translation: X:14.56, Y:-0.44, Z:-0.60 [[ 9.99788745e-01 2.01474100e-02 -4.06791932e-03 1.45604633e+01] [-2.01266131e-02 9.99784481e-01 5.09021958e-03 -4.38677334e-01] [ 4.16959735e-03 -5.00727080e-03 9.99978771e-01 -6.01996590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06240100800001 meters Centerline goodness : 0.933480 Centerline is valid? [False, False] Translation: X:14.56, Y:-0.44, Z:-0.60 [[ 9.99736985e-01 2.26615840e-02 -3.52324146e-03 1.45567196e+01] [-2.26401464e-02 9.99725615e-01 6.00986806e-03 -4.38033739e-01] [ 3.65846787e-03 -5.92852067e-03 9.99975734e-01 -6.00551040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09240100800001 meters Centerline goodness : 0.937491 Centerline is valid? [False, False] Translation: X:14.56, Y:-0.44, Z:-0.60 [[ 9.99726400e-01 2.31540888e-02 -3.31870569e-03 1.45558617e+01] [-2.31332089e-02 9.99713181e-01 6.19763149e-03 -4.38290927e-01] [ 3.46125433e-03 -6.11916350e-03 9.99975287e-01 -6.00318685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12240100800001 meters Centerline goodness : 0.937736 Centerline is valid? [False, False] Translation: X:14.56, Y:-0.44, Z:-0.60 [[ 9.99631967e-01 2.68351987e-02 -3.97529788e-03 1.45574775e+01] [-2.67902832e-02 9.99581090e-01 1.09510525e-02 -4.40933970e-01] [ 4.26750626e-03 -1.08405228e-02 9.99932133e-01 -5.99317433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15240100800001 meters Centerline goodness : 0.937461 Centerline is valid? [False, False] Translation: X:14.56, Y:-0.44, Z:-0.60 [[ 9.99628131e-01 2.70122257e-02 -3.73347218e-03 1.45571548e+01] [-2.69707471e-02 9.99578458e-01 1.07463899e-02 -4.40504635e-01] [ 4.02218227e-03 -1.06416991e-02 9.99935286e-01 -5.99941547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18240100800001 meters Centerline goodness : 0.937461 Centerline is valid? [False, False] Translation: X:14.56, Y:-0.44, Z:-0.60 [[ 9.99628131e-01 2.70122257e-02 -3.73347218e-03 1.45571548e+01] [-2.69707471e-02 9.99578458e-01 1.07463899e-02 -4.40504635e-01] [ 4.02218227e-03 -1.06416991e-02 9.99935286e-01 -5.99941547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21240100800001 meters Centerline goodness : 0.939812 Centerline is valid? [False, False] Translation: X:14.55, Y:-0.44, Z:-0.60 [[ 9.99691027e-01 2.46434894e-02 -3.24795562e-03 1.45546603e+01] [-2.46201996e-02 9.99672190e-01 7.02548198e-03 -4.41206074e-01] [ 3.42002330e-03 -6.94334598e-03 9.99970046e-01 -6.00153673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24240100800002 meters Centerline goodness : 0.942759 Centerline is valid? [False, False] Translation: X:14.55, Y:-0.44, Z:-0.60 [[ 9.99682508e-01 2.49469004e-02 -3.54054383e-03 1.45548283e+01] [-2.49188588e-02 9.99659399e-01 7.75479523e-03 -4.44061170e-01] [ 3.73279602e-03 -7.66410683e-03 9.99963663e-01 -5.99396549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.27240100800002 meters Centerline goodness : 0.941937 Centerline is valid? [False, False] Translation: X:14.56, Y:-0.45, Z:-0.60 [[ 9.99680144e-01 2.50263478e-02 -3.64573423e-03 1.45553287e+01] [-2.49965304e-02 9.99655473e-01 8.00674135e-03 -4.46255332e-01] [ 3.84485767e-03 -7.91304964e-03 9.99961300e-01 -5.99843974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30240100800002 meters Centerline goodness : 0.942836 Centerline is valid? [False, False] Translation: X:14.55, Y:-0.45, Z:-0.60 [[ 9.99765898e-01 2.13993629e-02 -3.19641721e-03 1.45548431e+01] [-2.13894206e-02 9.99766374e-01 3.11292179e-03 -4.45047462e-01] [ 3.26228499e-03 -3.04382354e-03 9.99990046e-01 -6.02279737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33240100800002 meters Centerline goodness : 0.941534 Centerline is valid? [False, False] Translation: X:14.56, Y:-0.45, Z:-0.60 [[ 9.99775763e-01 2.08809322e-02 -3.52282823e-03 1.45572689e+01] [-2.08675070e-02 9.99775007e-01 3.80558588e-03 -4.49484210e-01] [ 3.60149980e-03 -3.73121989e-03 9.99986554e-01 -6.03565303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36240100800002 meters Centerline goodness : 0.942212 Centerline is valid? [False, False] Translation: X:14.56, Y:-0.45, Z:-0.60 [[ 9.99782927e-01 2.04549741e-02 -3.96143161e-03 1.45592262e+01] [-2.04393464e-02 9.99783307e-01 3.94606956e-03 -4.51940052e-01] [ 4.04128994e-03 -3.86424390e-03 9.99984368e-01 -6.04610272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.39240100800002 meters Centerline goodness : 0.942484 Centerline is valid? [False, False] Translation: X:14.56, Y:-0.46, Z:-0.60 [[ 9.99786471e-01 2.01879756e-02 -4.41107783e-03 1.45608689e+01] [-2.01683205e-02 9.99786670e-01 4.45579932e-03 -4.55022882e-01] [ 4.50009038e-03 -4.36588385e-03 9.99980344e-01 -6.04946025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42240100800001 meters Centerline goodness : 0.943726 Centerline is valid? [False, False] Translation: X:14.56, Y:-0.46, Z:-0.61 [[ 9.99857754e-01 1.63663566e-02 -4.07594685e-03 1.45606932e+01] [-1.63668653e-02 9.99866050e-01 -9.15003454e-05 -4.55458916e-01] [ 4.07390334e-03 1.58197803e-04 9.99991689e-01 -6.06884546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.45240100800001 meters Centerline goodness : 0.945589 Centerline is valid? [False, False] Translation: X:14.56, Y:-0.46, Z:-0.61 [[ 9.99915606e-01 1.22124930e-02 -4.43116650e-03 1.45624731e+01] [-1.22302888e-02 9.99917161e-01 -4.01142496e-03 -4.59839203e-01] [ 4.38180993e-03 4.06528087e-03 9.99982136e-01 -6.08780453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48240100800001 meters Centerline goodness : 0.948896 Centerline is valid? [False, False] Translation: X:14.56, Y:-0.46, Z:-0.61 [[ 9.99914096e-01 1.20966815e-02 -5.04681027e-03 1.45642076e+01] [-1.21121088e-02 9.99922032e-01 -3.03756277e-03 -4.63716999e-01] [ 5.00967235e-03 3.09842935e-03 9.99982651e-01 -6.08283351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51240100800001 meters Centerline goodness : 0.948010 Centerline is valid? [False, False] Translation: X:14.57, Y:-0.47, Z:-0.61 [[ 9.99912841e-01 1.19023317e-02 -5.71359936e-03 1.45658054e+01] [-1.19139038e-02 9.99927036e-01 -1.99562585e-03 -4.67681256e-01] [ 5.68942987e-03 2.06352318e-03 9.99981686e-01 -6.07445004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54240100800001 meters Centerline goodness : 0.947904 Centerline is valid? [False, False] Translation: X:14.57, Y:-0.47, Z:-0.61 [[ 9.99912440e-01 1.15984151e-02 -6.37099608e-03 1.45676086e+01] [-1.16054829e-02 9.99932078e-01 -1.07352065e-03 -4.71922011e-01] [ 6.35811221e-03 1.14736514e-03 9.99979129e-01 -6.06981055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57240100800001 meters Centerline goodness : 0.951122 Centerline is valid? [False, True] Translation: X:14.57, Y:-0.48, Z:-0.61 [[ 9.99952929e-01 6.98714844e-03 -6.73193308e-03 1.45696856e+01] [-7.01168859e-03 9.99968834e-01 -3.62865586e-03 -4.79194539e-01] [ 6.70636932e-03 3.67568728e-03 9.99970757e-01 -6.06817729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60240100800002 meters Centerline goodness : 0.949501 Centerline is valid? [True, False] Translation: X:14.57, Y:-0.48, Z:-0.60 [[ 9.99949888e-01 6.90212890e-03 -7.25136359e-03 1.45699756e+01] [-6.92116540e-03 9.99972659e-01 -2.60342394e-03 -4.81234947e-01] [ 7.23319616e-03 2.65348136e-03 9.99970320e-01 -6.04484752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63240100800002 meters Centerline goodness : 0.952543 Centerline is valid? [False, True] Translation: X:14.57, Y:-0.48, Z:-0.60 [[ 9.99950862e-01 6.45026701e-03 -7.52780372e-03 1.45709568e+01] [-6.46722607e-03 9.99976599e-01 -2.23069216e-03 -4.82026752e-01] [ 7.51323900e-03 2.27926656e-03 9.99969178e-01 -6.03914668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66240100800002 meters Centerline goodness : 0.949794 Centerline is valid? [True, False] Translation: X:14.58, Y:-0.48, Z:-0.60 [[ 9.99938570e-01 6.47893916e-03 -8.99331243e-03 1.45790685e+01] [-6.45026413e-03 9.99974032e-01 3.21383548e-03 -4.82847308e-01] [ 9.01390114e-03 -3.15562881e-03 9.99954395e-01 -6.01208011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.69240100800002 meters Centerline goodness : 0.948185 Centerline is valid? [False, False] Translation: X:14.59, Y:-0.48, Z:-0.60 [[ 9.99912677e-01 7.56711535e-03 -1.08340485e-02 1.45861040e+01] [-7.46179042e-03 9.99924828e-01 9.72929756e-03 -4.84978014e-01] [ 1.09068568e-02 -9.64760657e-03 9.99893976e-01 -5.96270973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72240100800002 meters Centerline goodness : 0.949240 Centerline is valid? [False, False] Translation: X:14.59, Y:-0.49, Z:-0.60 [[ 9.99910842e-01 6.73103502e-03 -1.15326459e-02 1.45883093e+01] [-6.62100008e-03 9.99932450e-01 9.55293160e-03 -4.85200368e-01] [ 1.15961680e-02 -9.47572223e-03 9.99887864e-01 -5.96374125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.75240100800002 meters Centerline goodness : 0.952273 Centerline is valid? [False, True] Translation: X:14.59, Y:-0.49, Z:-0.60 [[ 9.99907164e-01 6.01447389e-03 -1.22265962e-02 1.45902290e+01] [-5.89615570e-03 9.99935665e-01 9.69023775e-03 -4.85940533e-01] [ 1.22840913e-02 -9.61724823e-03 9.99878297e-01 -5.95894220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78240100800001 meters Centerline goodness : 0.952780 Centerline is valid? [True, True] Translation: X:14.62, Y:-0.48, Z:-0.60 [[ 9.99912407e-01 -4.12820175e-04 -1.32290699e-02 1.46196418e+01] [ 4.17166387e-04 9.99999860e-01 3.25777167e-04 -4.80638415e-01] [ 1.32289336e-02 -3.31267355e-04 9.99912439e-01 -6.03800737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.81240100800001 meters Centerline goodness : 0.952979 Centerline is valid? [True, True] Translation: X:14.65, Y:-0.48, Z:-0.60 [[ 9.99872012e-01 -3.71331425e-03 -1.55618627e-02 1.46479932e+01] [ 3.71969865e-03 9.99993009e-01 3.81335139e-04 -4.79554292e-01] [ 1.55603379e-02 -4.39171772e-04 9.99878834e-01 -6.04925698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84240100800001 meters Centerline goodness : 0.951777 Centerline is valid? [True, True] Translation: X:14.68, Y:-0.48, Z:-0.61 [[ 9.99832289e-01 -6.65836866e-03 -1.70605012e-02 1.46759980e+01] [ 6.66644218e-03 9.99977692e-01 4.16401042e-04 -4.78340539e-01] [ 1.70573480e-02 -5.30064051e-04 9.99854372e-01 -6.06899502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87240100800001 meters Centerline goodness : 0.951594 Centerline is valid? [True, True] Translation: X:14.70, Y:-0.48, Z:-0.61 [[ 9.99789153e-01 -9.55149483e-03 -1.81773917e-02 1.47031511e+01] [ 9.56109887e-03 9.99954194e-01 4.41517093e-04 -4.77095883e-01] [ 1.81723420e-02 -6.15219841e-04 9.99834680e-01 -6.07426869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90240100800001 meters Centerline goodness : 0.951308 Centerline is valid? [True, True] Translation: X:14.73, Y:-0.48, Z:-0.61 [[ 9.99716957e-01 -1.38523042e-02 -1.93421545e-02 1.47317070e+01] [ 1.38638627e-02 9.99903785e-01 4.63608994e-04 -4.76858511e-01] [ 1.93338714e-02 -7.31634747e-04 9.99812816e-01 -6.05591478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93240100800001 meters Centerline goodness : 0.951051 Centerline is valid? [True, True] Translation: X:14.76, Y:-0.48, Z:-0.60 [[ 9.99708187e-01 -1.53151389e-02 -1.86812095e-02 1.47601068e+01] [ 1.53260809e-02 9.99882451e-01 4.42688395e-04 -4.77254374e-01] [ 1.86722337e-02 -7.28868941e-04 9.99825393e-01 -6.04634469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96240100800001 meters Centerline goodness : 0.951007 Centerline is valid? [True, True] Translation: X:14.79, Y:-0.47, Z:-0.60 [[ 9.99715086e-01 -1.73969999e-02 -1.63428967e-02 1.47877031e+01] [ 1.74056104e-02 9.99848437e-01 3.84761231e-04 -4.74284500e-01] [ 1.63337261e-02 -6.69109701e-04 9.99866372e-01 -6.04926288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99240100800002 meters Centerline goodness : 0.949899 Centerline is valid? [True, False] Translation: X:14.79, Y:-0.47, Z:-0.60 [[ 9.99761219e-01 -1.38064276e-02 -1.69377510e-02 1.47888396e+01] [ 1.38931033e-02 9.99890933e-01 5.01035217e-03 -4.74281397e-01] [ 1.68667286e-02 -5.24447372e-03 9.99843992e-01 -6.03341177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02240100800002 meters Centerline goodness : 0.949748 Centerline is valid? [False, False] Translation: X:14.79, Y:-0.47, Z:-0.60 [[ 9.99803900e-01 -9.75071897e-03 -1.72361751e-02 1.47890433e+01] [ 9.91604766e-03 9.99905396e-01 9.53266046e-03 -4.73315939e-01] [ 1.71415942e-02 -9.70170583e-03 9.99806003e-01 -6.01805293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.05240100800002 meters Centerline goodness : 0.950592 Centerline is valid? [False, True] Translation: X:14.79, Y:-0.47, Z:-0.60 [[ 9.99830016e-01 -5.55316880e-03 -1.75812729e-02 1.47890754e+01] [ 5.79788631e-03 9.99886595e-01 1.38989781e-02 -4.71991756e-01] [ 1.75020957e-02 -1.39985497e-02 9.99748827e-01 -6.00347372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08240100800002 meters Centerline goodness : 0.951524 Centerline is valid? [True, True] Translation: X:14.82, Y:-0.46, Z:-0.61 [[ 9.99845559e-01 3.01049106e-03 -1.73145997e-02 1.48164362e+01] [-3.00205600e-03 9.99995362e-01 5.13135774e-04 -4.62445699e-01] [ 1.73160642e-02 -4.61077127e-04 9.99849959e-01 -6.08594343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.11240100800002 meters Centerline goodness : 0.950278 Centerline is valid? [True, True] Translation: X:14.84, Y:-0.46, Z:-0.61 [[ 9.99831690e-01 7.61792750e-03 -1.66900887e-02 1.48439311e+01] [-7.61077635e-03 9.99970917e-01 4.91942738e-04 -4.61624281e-01] [ 1.66933508e-02 -3.64835407e-04 9.99860590e-01 -6.06620644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14240100800002 meters Centerline goodness : 0.952297 Centerline is valid? [True, True] Translation: X:14.87, Y:-0.46, Z:-0.61 [[ 9.99815561e-01 1.18041710e-02 -1.51494248e-02 1.48736007e+01] [-1.17987572e-02 9.99930292e-01 4.46690789e-04 -4.61043078e-01] [ 1.51536416e-02 -2.67864016e-04 9.99885141e-01 -6.05571327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.17240100800001 meters Centerline goodness : 0.952496 Centerline is valid? [True, True] Translation: X:14.91, Y:-0.46, Z:-0.61 [[ 9.99794119e-01 1.52973011e-02 -1.33308846e-02 1.49057953e+01] [-1.52933767e-02 9.99882971e-01 3.96280531e-04 -4.60436806e-01] [ 1.33353865e-02 -1.92324705e-04 9.99911061e-01 -6.05906099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20240100800001 meters Centerline goodness : 0.950029 Centerline is valid? [True, True] Translation: X:14.94, Y:-0.46, Z:-0.61 [[ 9.99755141e-01 1.87866716e-02 -1.16926888e-02 1.49385798e+01] [-1.87838479e-02 9.99823506e-01 3.51276847e-04 -4.57566999e-01] [ 1.16972245e-02 -1.31557145e-04 9.99931576e-01 -6.08879217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23240100800001 meters Centerline goodness : 0.950452 Centerline is valid? [True, True] Translation: X:14.97, Y:-0.46, Z:-0.61 [[ 9.99754319e-01 1.88798367e-02 -1.16126725e-02 1.49718442e+01] [-1.88770202e-02 9.99821751e-01 3.52108904e-04 -4.57052329e-01] [ 1.16172503e-02 -1.32809744e-04 9.99932509e-01 -6.11309209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26240100800001 meters Centerline goodness : 0.949930 Centerline is valid? [True, False] Translation: X:14.98, Y:-0.46, Z:-0.61 [[ 9.99696359e-01 2.12296476e-02 -1.25097095e-02 1.49756018e+01] [-2.11755969e-02 9.99765924e-01 4.43744191e-03 -4.58918073e-01] [ 1.26009866e-02 -4.17119396e-03 9.99911904e-01 -6.11312486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29240100800001 meters Centerline goodness : 0.953247 Centerline is valid? [False, True] Translation: X:14.98, Y:-0.46, Z:-0.61 [[ 9.99701772e-01 2.03577022e-02 -1.34881859e-02 1.49779249e+01] [-2.02882675e-02 9.99780310e-01 5.26481510e-03 -4.62147064e-01] [ 1.35924022e-02 -4.98959306e-03 9.99895170e-01 -6.09705205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32240100800001 meters Centerline goodness : 0.950571 Centerline is valid? [True, True] Translation: X:15.01, Y:-0.46, Z:-0.61 [[ 9.99709266e-01 1.94767623e-02 -1.42140673e-02 1.50106420e+01] [-1.94713917e-02 9.99810281e-01 5.16144345e-04 -4.64251305e-01] [ 1.42214235e-02 -2.39226612e-04 9.99898842e-01 -6.11147988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35240100800002 meters Centerline goodness : 0.951602 Centerline is valid? [True, True] Translation: X:15.04, Y:-0.47, Z:-0.61 [[ 9.99693841e-01 1.91034679e-02 -1.57251645e-02 1.50426116e+01] [-1.90967879e-02 9.99817474e-01 5.74861069e-04 -4.68082761e-01] [ 1.57332761e-02 -2.74384938e-04 9.99876187e-01 -6.09011265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38240100800002 meters Centerline goodness : 0.954280 Centerline is valid? [True, True] Translation: X:15.07, Y:-0.47, Z:-0.61 [[ 9.99675548e-01 1.93848894e-02 -1.65234657e-02 1.50744888e+01] [-1.93774844e-02 9.99812054e-01 6.08151146e-04 -4.71363067e-01] [ 1.65321492e-02 -2.87770630e-04 9.99863293e-01 -6.09323541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41240100800002 meters Centerline goodness : 0.954518 Centerline is valid? [True, True] Translation: X:15.11, Y:-0.47, Z:-0.61 [[ 9.99583425e-01 2.20065779e-02 -1.86731837e-02 1.51072963e+01] [-2.19974818e-02 9.99757786e-01 6.92404619e-04 -4.73863983e-01] [ 1.86838983e-02 -2.81353161e-04 9.99825401e-01 -6.11333439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44240100800002 meters Centerline goodness : 0.953798 Centerline is valid? [True, True] Translation: X:15.14, Y:-0.47, Z:-0.61 [[ 9.99531832e-01 2.37528981e-02 -1.92851620e-02 1.51399204e+01] [-2.37434191e-02 9.99717826e-01 7.20370007e-04 -4.74064824e-01] [ 1.92968311e-02 -2.62137069e-04 9.99813764e-01 -6.13889391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.47240100800002 meters Centerline goodness : 0.953893 Centerline is valid? [True, True] Translation: X:15.17, Y:-0.47, Z:-0.62 [[ 9.99448908e-01 2.64061320e-02 -2.01145659e-02 1.51715720e+01] [-2.63962556e-02 9.99651272e-01 7.56395917e-04 -4.74652680e-01] [ 2.01275249e-02 -2.25029850e-04 9.99797396e-01 -6.16161664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50240100800002 meters Centerline goodness : 0.949737 Centerline is valid? [True, False] Translation: X:15.17, Y:-0.47, Z:-0.62 [[ 9.99448110e-01 2.66937477e-02 -1.97716898e-02 1.51713786e+01] [-2.66968720e-02 9.99643569e-01 1.05957930e-04 -4.73498412e-01] [ 1.97674710e-02 4.21942819e-04 9.99804515e-01 -6.17887006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.53240100800001 meters Centerline goodness : 0.950333 Centerline is valid? [False, True] Translation: X:15.18, Y:-0.47, Z:-0.62 [[ 9.99395953e-01 3.17505896e-02 -1.41290336e-02 1.51809185e+01] [-3.18537768e-02 9.99467044e-01 -7.13903619e-03 -4.73237460e-01] [ 1.38948348e-02 7.58478695e-03 9.99874694e-01 -6.21452164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56240100800001 meters Centerline goodness : 0.952148 Centerline is valid? [True, True] Translation: X:15.21, Y:-0.48, Z:-0.61 [[ 9.99311406e-01 3.51048840e-02 -1.20150228e-02 1.52127862e+01] [-3.51023840e-02 9.99383634e-01 4.18964079e-04 -4.79227062e-01] [ 1.20223248e-02 3.08036150e-06 9.99927729e-01 -6.14337385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59240100800001 meters Centerline goodness : 0.954894 Centerline is valid? [True, True] Translation: X:15.25, Y:-0.48, Z:-0.61 [[ 9.99204268e-01 3.85311905e-02 -1.03042539e-02 1.52456185e+01] [-3.85294993e-02 9.99257397e-01 3.62666377e-04 -4.81668776e-01] [ 1.03105759e-02 3.46399509e-05 9.99946844e-01 -6.12894004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62240100800001 meters Centerline goodness : 0.954361 Centerline is valid? [True, True] Translation: X:15.28, Y:-0.48, Z:-0.61 [[ 9.99048253e-01 4.27786489e-02 -8.51910260e-03 1.52771952e+01] [-4.27776393e-02 9.99084573e-01 3.00778886e-04 -4.82476998e-01] [ 8.52417089e-03 6.39344772e-05 9.99963667e-01 -6.14305443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65240100800001 meters Centerline goodness : 0.955074 Centerline is valid? [True, True] Translation: X:15.31, Y:-0.48, Z:-0.62 [[ 9.98992968e-01 4.41336559e-02 -8.07901623e-03 1.53088112e+01] [-4.41327689e-02 9.99025633e-01 2.88120842e-04 -4.82487970e-01] [ 8.08386013e-03 6.87186614e-05 9.99967323e-01 -6.16556782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68240100800001 meters Centerline goodness : 0.953152 Centerline is valid? [True, True] Translation: X:15.34, Y:-0.48, Z:-0.62 [[ 9.98937302e-01 4.53655693e-02 -8.13827772e-03 1.53409769e+01] [-4.53647056e-02 9.98970449e-01 2.90792626e-04 -4.82708076e-01] [ 8.14309092e-03 7.87069715e-05 9.99966841e-01 -6.18170755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71240100800001 meters Centerline goodness : 0.952375 Centerline is valid? [True, True] Translation: X:15.37, Y:-0.48, Z:-0.62 [[ 9.98905950e-01 4.59674192e-02 -8.59645825e-03 1.53740309e+01] [-4.59664509e-02 9.98942936e-01 3.10291003e-04 -4.83771397e-01] [ 8.60163452e-03 8.51971473e-05 9.99963002e-01 -6.19578707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74240100800002 meters Centerline goodness : 0.949886 Centerline is valid? [True, False] Translation: X:15.37, Y:-0.48, Z:-0.62 [[ 9.99052345e-01 4.27218121e-02 -8.32219990e-03 1.53725359e+01] [-4.27549532e-02 9.99078187e-01 -3.84582191e-03 -4.83908894e-01] [ 8.15022791e-03 4.19799266e-03 9.99957974e-01 -6.20146234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.77240100800002 meters Centerline goodness : 0.949771 Centerline is valid? [False, False] Translation: X:15.37, Y:-0.49, Z:-0.62 [[ 9.99046489e-01 4.27647035e-02 -8.79162618e-03 1.53729586e+01] [-4.27913762e-02 9.99079912e-01 -2.86840736e-03 -4.86655534e-01] [ 8.66087052e-03 3.24187808e-03 9.99957239e-01 -6.18584522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80240100800002 meters Centerline goodness : 0.950463 Centerline is valid? [False, True] Translation: X:15.37, Y:-0.49, Z:-0.62 [[ 9.99048043e-01 4.26534663e-02 -9.14824423e-03 1.53737691e+01] [-4.26758734e-02 9.99086395e-01 -2.26818006e-03 -4.89442758e-01] [ 9.04314060e-03 2.65643016e-03 9.99955582e-01 -6.18195990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.83240100800002 meters Centerline goodness : 0.950700 Centerline is valid? [True, True] Translation: X:15.41, Y:-0.49, Z:-0.62 [[ 9.99104085e-01 4.12404633e-02 -9.50004850e-03 1.54066740e+01] [-4.12391887e-02 9.99149248e-01 3.30099923e-04 -4.93177515e-01] [ 9.50557979e-03 6.19701113e-05 9.99954819e-01 -6.17188560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86240100800002 meters Centerline goodness : 0.946233 Centerline is valid? [True, False] Translation: X:15.41, Y:-0.50, Z:-0.62 [[ 9.99129766e-01 4.05828077e-02 -9.63047053e-03 1.54130361e+01] [-4.05732095e-02 9.99175860e-01 1.19002592e-03 -4.95111651e-01] [ 9.67082826e-03 -7.98251222e-04 9.99952918e-01 -6.22343591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.89240100800002 meters Centerline goodness : 0.943785 Centerline is valid? [False, False] Translation: X:15.42, Y:-0.49, Z:-0.62 [[ 9.99152861e-01 3.99323837e-02 -9.94814137e-03 1.54152892e+01] [-3.99304578e-02 9.99202384e-01 3.92227816e-04 -4.94861319e-01] [ 9.95586917e-03 5.33829403e-06 9.99950439e-01 -6.24693732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92240100800001 meters Centerline goodness : 0.939515 Centerline is valid? [False, False] Translation: X:15.42, Y:-0.50, Z:-0.62 [[ 9.99155463e-01 3.97865710e-02 -1.02658945e-02 1.54161795e+01] [-3.97819350e-02 9.99208170e-01 6.55483272e-04 -4.96398615e-01] [ 1.02838451e-02 -2.46532545e-04 9.99947089e-01 -6.24683237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.95240100800001 meters Centerline goodness : 0.941204 Centerline is valid? [False, False] Translation: X:15.42, Y:-0.50, Z:-0.62 [[ 9.99140981e-01 4.00097593e-02 -1.07943670e-02 1.54163016e+01] [-3.99845411e-02 9.99197065e-01 2.54210677e-03 -5.01603026e-01] [ 1.08874089e-02 -2.10831525e-03 9.99938508e-01 -6.21772289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98240100800001 meters Centerline goodness : 0.945708 Centerline is valid? [False, False] Translation: X:15.41, Y:-0.51, Z:-0.61 [[ 9.99372294e-01 3.39456621e-02 -1.01345838e-02 1.54106844e+01] [-3.39574379e-02 9.99422788e-01 -9.92078354e-04 -5.10627335e-01] [ 1.00950572e-02 1.33560012e-03 9.99948152e-01 -6.14281624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01240100800001 meters Centerline goodness : 0.947705 Centerline is valid? [False, False] Translation: X:15.41, Y:-0.51, Z:-0.61 [[ 9.99380406e-01 3.35312090e-02 -1.06986600e-02 1.54120752e+01] [-3.35298059e-02 9.99437670e-01 3.10543260e-04 -5.14500036e-01] [ 1.07030567e-02 4.83731436e-05 9.99942719e-01 -6.12682467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04240100800001 meters Centerline goodness : 0.946971 Centerline is valid? [False, False] Translation: X:15.41, Y:-0.51, Z:-0.61 [[ 9.99399893e-01 3.28093889e-02 -1.11084948e-02 1.54141878e+01] [-3.28146427e-02 9.99461412e-01 -2.90962252e-04 -5.13650431e-01] [ 1.10929656e-02 6.55308932e-04 9.99938256e-01 -6.14080213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07240100800001 meters Centerline goodness : 0.946971 Centerline is valid? [False, False] Translation: X:15.41, Y:-0.51, Z:-0.61 [[ 9.99399893e-01 3.28093889e-02 -1.11084948e-02 1.54141878e+01] [-3.28146427e-02 9.99461412e-01 -2.90962252e-04 -5.13650431e-01] [ 1.10929656e-02 6.55308932e-04 9.99938256e-01 -6.14080213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10240100800002 meters Centerline goodness : 0.943242 Centerline is valid? [False, False] Translation: X:15.42, Y:-0.51, Z:-0.62 [[ 9.99360090e-01 3.37863765e-02 -1.17426950e-02 1.54221121e+01] [-3.37837190e-02 9.99429077e-01 4.24656098e-04 -5.07869699e-01] [ 1.17503384e-02 -2.76724479e-05 9.99930962e-01 -6.21649811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13240100800002 meters Centerline goodness : 0.941538 Centerline is valid? [False, False] Translation: X:15.42, Y:-0.50, Z:-0.63 [[ 9.99373780e-01 3.37664665e-02 -1.05770509e-02 1.54245178e+01] [-3.37608278e-02 9.99429688e-01 7.11252667e-04 -5.04525617e-01] [ 1.05950352e-02 -3.53717271e-04 9.99943808e-01 -6.25895674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16240100800002 meters Centerline goodness : 0.941731 Centerline is valid? [False, False] Translation: X:15.43, Y:-0.50, Z:-0.63 [[ 9.99393431e-01 3.30135352e-02 -1.10849892e-02 1.54268064e+01] [-3.30205158e-02 9.99454574e-01 -4.47251486e-04 -5.02727768e-01] [ 1.10641778e-02 8.13012258e-04 9.99938460e-01 -6.27851874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.19240100800002 meters Centerline goodness : 0.945007 Centerline is valid? [False, False] Translation: X:15.43, Y:-0.51, Z:-0.62 [[ 9.99320416e-01 3.45732028e-02 -1.27827964e-02 1.54327303e+01] [-3.44922240e-02 9.99383814e-01 6.50214819e-03 -5.07288780e-01] [ 1.29997199e-02 -6.05682236e-03 9.99897156e-01 -6.21956605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22240100800002 meters Centerline goodness : 0.951207 Centerline is valid? [False, True] Translation: X:15.43, Y:-0.51, Z:-0.62 [[ 9.99426378e-01 3.11723332e-02 -1.32363309e-02 1.54308355e+01] [-3.11044226e-02 9.99502057e-01 5.30590931e-03 -5.12600140e-01] [ 1.33951375e-02 -4.89115730e-03 9.99898318e-01 -6.15959204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.25240100800002 meters Centerline goodness : 0.951965 Centerline is valid? [True, True] Translation: X:15.46, Y:-0.51, Z:-0.62 [[ 9.99527154e-01 2.82026824e-02 -1.22506131e-02 1.54639507e+01] [-2.81987232e-02 9.99602214e-01 4.95834989e-04 -5.14002189e-01] [ 1.22597238e-02 -1.50148888e-04 9.99924835e-01 -6.18866594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28240100800001 meters Centerline goodness : 0.952536 Centerline is valid? [True, True] Translation: X:15.50, Y:-0.51, Z:-0.62 [[ 9.99577191e-01 2.70101729e-02 -1.07652306e-02 1.54954158e+01] [-2.70070149e-02 9.99635148e-01 4.38644595e-04 -5.14975407e-01] [ 1.07731507e-02 -1.47722389e-04 9.99941957e-01 -6.18898596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.31240100800001 meters Centerline goodness : 0.948631 Centerline is valid? [True, False] Translation: X:15.50, Y:-0.52, Z:-0.62 [[ 9.99491004e-01 2.96731189e-02 -1.17148639e-02 1.54988145e+01] [-2.96137675e-02 9.99547850e-01 5.20774442e-03 -5.16135216e-01] [ 1.18640971e-02 -4.85817245e-03 9.99917817e-01 -6.17291694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34240100800001 meters Centerline goodness : 0.949811 Centerline is valid? [False, False] Translation: X:15.50, Y:-0.51, Z:-0.62 [[ 9.99523919e-01 2.86168585e-02 -1.15330137e-02 1.55009067e+01] [-2.85782366e-02 9.99585432e-01 3.49984882e-03 -5.11596095e-01] [ 1.16283872e-02 -3.16858942e-03 9.99927368e-01 -6.20795552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37240100800001 meters Centerline goodness : 0.951059 Centerline is valid? [False, True] Translation: X:15.50, Y:-0.51, Z:-0.62 [[ 9.99535926e-01 2.80610847e-02 -1.18535768e-02 1.55023421e+01] [-2.80304276e-02 9.99603302e-01 2.74461677e-03 -5.10257887e-01] [ 1.19258914e-02 -2.41108224e-03 9.99925977e-01 -6.21901623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40240100800001 meters Centerline goodness : 0.951276 Centerline is valid? [True, True] Translation: X:15.53, Y:-0.51, Z:-0.62 [[ 9.99496329e-01 2.89066294e-02 -1.30956415e-02 1.55345207e+01] [-2.89014769e-02 9.99582095e-01 5.82571556e-04 -5.10723872e-01] [ 1.31070090e-02 -2.03794750e-04 9.99914079e-01 -6.22829672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43240100800001 meters Centerline goodness : 0.953079 Centerline is valid? [True, True] Translation: X:15.57, Y:-0.51, Z:-0.62 [[ 9.99406522e-01 3.11315268e-02 -1.47455479e-02 1.55675331e+01] [-3.11251725e-02 9.99515276e-01 6.60279007e-04 -5.13008883e-01] [ 1.47589559e-02 -2.00929424e-04 9.99891060e-01 -6.21299538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46240100800001 meters Centerline goodness : 0.956364 Centerline is valid? [True, True] Translation: X:15.60, Y:-0.51, Z:-0.62 [[ 9.99140126e-01 3.68481420e-02 -1.90058911e-02 1.55996492e+01] [-3.68385382e-02 9.99320865e-01 8.55284696e-04 -5.14742747e-01] [ 1.90244992e-02 -1.54400013e-04 9.99819006e-01 -6.19336103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49240100800002 meters Centerline goodness : 0.958279 Centerline is valid? [True, True] Translation: X:15.63, Y:-0.52, Z:-0.62 [[ 9.98956163e-01 4.06926153e-02 -2.07531864e-02 1.56326454e+01] [-4.06818767e-02 9.99171708e-01 9.39540820e-04 -5.16119793e-01] [ 2.07742291e-02 -9.42815211e-05 9.99784188e-01 -6.18585368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52240100800002 meters Centerline goodness : 0.958953 Centerline is valid? [True, True] Translation: X:15.67, Y:-0.52, Z:-0.62 [[ 9.98773713e-01 4.43418805e-02 -2.20197048e-02 1.56659382e+01] [-4.43305483e-02 9.99016415e-01 1.00274853e-03 -5.16683900e-01] [ 2.20425103e-02 -2.53732829e-05 9.99757034e-01 -6.18960054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55240100800002 meters Centerline goodness : 0.955209 Centerline is valid? [True, True] Translation: X:15.70, Y:-0.52, Z:-0.62 [[ 9.98558694e-01 4.83845431e-02 -2.32265257e-02 1.56974793e+01] [-4.83728949e-02 9.98828780e-01 1.06341343e-03 -5.16030270e-01] [ 2.32507751e-02 6.16535644e-05 9.99729662e-01 -6.22801717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58240100800002 meters Centerline goodness : 0.953125 Centerline is valid? [True, True] Translation: X:15.73, Y:-0.52, Z:-0.62 [[ 9.98580458e-01 4.80800304e-02 -2.29211727e-02 1.57302189e+01] [-4.80684638e-02 9.98843485e-01 1.05563925e-03 -5.17536302e-01] [ 2.29454192e-02 4.76448370e-05 9.99736718e-01 -6.24478571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.61240100800002 meters Centerline goodness : 0.954724 Centerline is valid? [True, True] Translation: X:15.76, Y:-0.52, Z:-0.63 [[ 9.98633038e-01 4.69304745e-02 -2.30127416e-02 1.57632086e+01] [-4.69183692e-02 9.98898158e-01 1.06597471e-03 -5.19228294e-01] [ 2.30374119e-02 1.52027414e-05 9.99734603e-01 -6.25281421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64240100800002 meters Centerline goodness : 0.957286 Centerline is valid? [True, True] Translation: X:15.80, Y:-0.52, Z:-0.63 [[ 9.98645257e-01 4.68203603e-02 -2.27047158e-02 1.57958084e+01] [-4.68084115e-02 9.98903326e-01 1.05772918e-03 -5.21750494e-01] [ 2.27293393e-02 6.47545151e-06 9.99741655e-01 -6.25192172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.67240100800001 meters Centerline goodness : 0.957126 Centerline is valid? [True, True] Translation: X:15.83, Y:-0.52, Z:-0.62 [[ 9.98685269e-01 4.63107446e-02 -2.19783845e-02 1.58290168e+01] [-4.62992952e-02 9.98927082e-01 1.02977620e-03 -5.24205244e-01] [ 2.20024932e-02 -1.08386131e-05 9.99757916e-01 -6.24761590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70240100800001 meters Centerline goodness : 0.958856 Centerline is valid? [True, True] Translation: X:15.86, Y:-0.53, Z:-0.62 [[ 9.98729764e-01 4.57827499e-02 -2.10427667e-02 1.58616753e+01] [-4.57720193e-02 9.98951420e-01 9.91548349e-04 -5.28262437e-01] [ 2.10660975e-02 -2.71189237e-05 9.99778085e-01 -6.23588148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73240100800001 meters Centerline goodness : 0.957948 Centerline is valid? [True, True] Translation: X:15.89, Y:-0.53, Z:-0.62 [[ 9.98736255e-01 4.55304252e-02 -2.12808138e-02 1.58934970e+01] [-4.55192841e-02 9.98962952e-01 1.00788427e-03 -5.31406971e-01] [ 2.13046339e-02 -3.79231498e-05 9.99773030e-01 -6.22828708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76240100800001 meters Centerline goodness : 0.963846 Centerline is valid? [True, True] Translation: X:15.93, Y:-0.54, Z:-0.62 [[ 9.98879407e-01 4.34570093e-02 -1.87461445e-02 1.59262594e+01] [-4.34478962e-02 9.99055295e-01 8.93328344e-04 -5.36437274e-01] [ 1.87672563e-02 -7.78467486e-05 9.99823877e-01 -6.22787086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79240100800001 meters Centerline goodness : 0.963908 Centerline is valid? [True, True] Translation: X:15.96, Y:-0.54, Z:-0.62 [[ 9.98996393e-01 4.14304902e-02 -1.70211935e-02 1.59586593e+01] [-4.14226014e-02 9.99141383e-01 8.15913845e-04 -5.39978166e-01] [ 1.70403825e-02 -1.10032873e-04 9.99854796e-01 -6.22132605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82240100800001 meters Centerline goodness : 0.964476 Centerline is valid? [True, True] Translation: X:15.99, Y:-0.54, Z:-0.62 [[ 9.99144236e-01 3.88450799e-02 -1.42075890e-02 1.59915834e+01] [-3.88392633e-02 9.99245236e-01 6.85201101e-04 -5.43615826e-01] [ 1.42234823e-02 -1.32802443e-04 9.99898832e-01 -6.22071196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85240100800002 meters Centerline goodness : 0.967363 Centerline is valid? [True, True] Translation: X:16.02, Y:-0.55, Z:-0.62 [[ 9.99208768e-01 3.79102428e-02 -1.20271191e-02 1.60244464e+01] [-3.79059629e-02 9.99281140e-01 5.83695629e-04 -5.45067026e-01] [ 1.20406013e-02 -1.27334259e-04 9.99927501e-01 -6.21586290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88240100800002 meters Centerline goodness : 0.962076 Centerline is valid? [True, True] Translation: X:16.06, Y:-0.54, Z:-0.63 [[ 9.99282674e-01 3.57468413e-02 -1.25020669e-02 1.60560119e+01] [-3.57420082e-02 9.99360864e-01 6.09877703e-04 -5.42002497e-01] [ 1.25158775e-02 -1.62591246e-04 9.99921660e-01 -6.25064152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.91240100800002 meters Centerline goodness : 0.961220 Centerline is valid? [True, True] Translation: X:16.09, Y:-0.54, Z:-0.63 [[ 9.99288760e-01 3.48092190e-02 -1.45014946e-02 1.60892481e+01] [-3.48025604e-02 9.99393954e-01 7.11342922e-04 -5.41294802e-01] [ 1.45174673e-02 -2.06147845e-04 9.99894595e-01 -6.27931973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94240100800002 meters Centerline goodness : 0.959323 Centerline is valid? [True, True] Translation: X:16.12, Y:-0.54, Z:-0.63 [[ 9.99285726e-01 3.37330862e-02 -1.70327938e-02 1.61216376e+01] [-3.37236670e-02 9.99430842e-01 8.40009888e-04 -5.41438630e-01] [ 1.70514356e-02 -2.65001625e-04 9.99854579e-01 -6.28891830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97240100800002 meters Centerline goodness : 0.961095 Centerline is valid? [True, True] Translation: X:16.15, Y:-0.54, Z:-0.63 [[ 9.99280540e-01 3.27741696e-02 -1.90854729e-02 1.61547250e+01] [-3.27620714e-02 9.99462731e-01 9.46305649e-04 -5.42740053e-01] [ 1.91062333e-02 -3.20345194e-04 9.99817408e-01 -6.28418533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00240100800002 meters Centerline goodness : 0.960599 Centerline is valid? [True, True] Translation: X:16.19, Y:-0.54, Z:-0.62 [[ 9.99235745e-01 3.11446730e-02 -2.36206606e-02 1.61864461e+01] [-3.11256102e-02 9.99514791e-01 1.17435531e-03 -5.44674736e-01] [ 2.36457745e-02 -4.38250326e-04 9.99720304e-01 -6.24498005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.03240100800002 meters Centerline goodness : 0.962975 Centerline is valid? [True, True] Translation: X:16.22, Y:-0.55, Z:-0.62 [[ 9.99237576e-01 2.98923713e-02 -2.51140157e-02 1.62194691e+01] [-2.98702411e-02 9.99552996e-01 1.25594795e-03 -5.46311229e-01] [ 2.51403329e-02 -5.04828676e-04 9.99683804e-01 -6.23238246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06240100800001 meters Centerline goodness : 0.962006 Centerline is valid? [True, True] Translation: X:16.25, Y:-0.55, Z:-0.62 [[ 9.99276686e-01 2.80094439e-02 -2.57211176e-02 1.62520106e+01] [-2.79854290e-02 9.99607495e-01 1.29322982e-03 -5.47244113e-01] [ 2.57472445e-02 -5.72477903e-04 9.99668321e-01 -6.23078716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09240100800001 meters Centerline goodness : 0.959612 Centerline is valid? [True, True] Translation: X:16.28, Y:-0.54, Z:-0.63 [[ 9.99405887e-01 2.21580215e-02 -2.63987615e-02 1.62843525e+01] [-2.21305122e-02 9.99754200e-01 1.33381047e-03 -5.44701207e-01] [ 2.64218273e-02 -7.48799925e-04 9.99650602e-01 -6.26738557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12240100800001 meters Centerline goodness : 0.956945 Centerline is valid? [True, True] Translation: X:16.32, Y:-0.54, Z:-0.63 [[ 9.99479515e-01 1.90285213e-02 -2.60502389e-02 1.63166193e+01] [-1.90005710e-02 9.99818601e-01 1.32006840e-03 -5.43943798e-01] [ 2.60706323e-02 -8.24411910e-04 9.99659763e-01 -6.29443146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15240100800001 meters Centerline goodness : 0.954835 Centerline is valid? [True, True] Translation: X:16.35, Y:-0.54, Z:-0.63 [[ 9.99516967e-01 1.66395253e-02 -2.62480157e-02 1.63489549e+01] [-1.66101620e-02 9.99861149e-01 1.33633383e-03 -5.43888909e-01] [ 2.62666071e-02 -8.99704540e-04 9.99654568e-01 -6.30677034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18240100800001 meters Centerline goodness : 0.954435 Centerline is valid? [True, True] Translation: X:16.38, Y:-0.54, Z:-0.63 [[ 9.99578291e-01 1.38054159e-02 -2.55470207e-02 1.63801421e+01] [-1.37766795e-02 9.99904251e-01 1.30051415e-03 -5.44371072e-01] [ 2.55625288e-02 -9.48012597e-04 9.99672776e-01 -6.31147522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21240100800001 meters Centerline goodness : 0.955573 Centerline is valid? [True, True] Translation: X:16.41, Y:-0.55, Z:-0.63 [[ 9.99667334e-01 1.03344881e-02 -2.36309222e-02 1.64093869e+01] [-1.03089479e-02 9.99946139e-01 1.20236532e-03 -5.45155705e-01] [ 2.36420752e-02 -9.58355385e-04 9.99720028e-01 -6.28578368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24240100800002 meters Centerline goodness : 0.957516 Centerline is valid? [True, True] Translation: X:16.44, Y:-0.55, Z:-0.63 [[ 9.99728714e-01 9.79216963e-03 -2.11332145e-02 1.64382016e+01] [-9.77165660e-03 9.99951680e-01 1.07370250e-03 -5.47220908e-01] [ 2.11427073e-02 -8.66904706e-04 9.99776092e-01 -6.26567865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.27240100800002 meters Centerline goodness : 0.958585 Centerline is valid? [True, True] Translation: X:16.47, Y:-0.55, Z:-0.62 [[ 9.99783759e-01 8.84226645e-03 -1.88215314e-02 1.64669742e+01] [-8.82585141e-03 9.99960595e-01 9.55029899e-04 -5.48914851e-01] [ 1.88292343e-02 -7.88707343e-04 9.99822403e-01 -6.24380087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30240100800002 meters Centerline goodness : 0.959436 Centerline is valid? [True, True] Translation: X:16.50, Y:-0.55, Z:-0.62 [[ 9.99803574e-01 8.68862590e-03 -1.78135386e-02 1.64963528e+01] [-8.67390630e-03 9.99961973e-01 9.03412979e-04 -5.49656037e-01] [ 1.78207106e-02 -7.48722560e-04 9.99840918e-01 -6.22836802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.33240100800002 meters Centerline goodness : 0.958921 Centerline is valid? [True, True] Translation: X:16.53, Y:-0.55, Z:-0.62 [[ 9.99812295e-01 8.89432629e-03 -1.72123449e-02 1.65261351e+01] [-8.88062413e-03 9.99960186e-01 8.72337311e-04 -5.48930498e-01] [ 1.72194184e-02 -7.19317204e-04 9.99851476e-01 -6.23371450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36240100800002 meters Centerline goodness : 0.960295 Centerline is valid? [True, True] Translation: X:16.56, Y:-0.54, Z:-0.63 [[ 9.99799892e-01 1.12070448e-02 -1.65704267e-02 1.65557004e+01] [-1.11946661e-02 9.99936985e-01 8.39608695e-04 -5.44427991e-01] [ 1.65787920e-02 -6.53940289e-04 9.99862349e-01 -6.27186784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.39240100800002 meters Centerline goodness : 0.958071 Centerline is valid? [True, True] Translation: X:16.59, Y:-0.54, Z:-0.63 [[ 9.99766191e-01 1.29925004e-02 -1.72846411e-02 1.65871159e+01] [-1.29792834e-02 9.99915381e-01 8.76629323e-04 -5.42791454e-01] [ 1.72945681e-02 -6.52082103e-04 9.99850225e-01 -6.28948088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42240100800001 meters Centerline goodness : 0.958148 Centerline is valid? [True, True] Translation: X:16.62, Y:-0.54, Z:-0.63 [[ 9.99737746e-01 1.50081917e-02 -1.72972254e-02 1.66187941e+01] [-1.49951702e-02 9.99887177e-01 8.82269557e-04 -5.41785533e-01] [ 1.73085151e-02 -6.22663339e-04 9.99850003e-01 -6.30285929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.45240100800001 meters Centerline goodness : 0.957514 Centerline is valid? [True, True] Translation: X:16.65, Y:-0.54, Z:-0.63 [[ 9.99696469e-01 1.69760183e-02 -1.78545552e-02 1.66516641e+01] [-1.69623695e-02 9.99855709e-01 9.15615224e-04 -5.42091623e-01] [ 1.78675225e-02 -6.12481743e-04 9.99840175e-01 -6.30054326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48240100800001 meters Centerline goodness : 0.956524 Centerline is valid? [True, True] Translation: X:16.68, Y:-0.54, Z:-0.63 [[ 9.99614129e-01 2.09154198e-02 -1.82794432e-02 1.66847173e+01] [-2.09017167e-02 9.99781093e-01 9.40392448e-04 -5.43001828e-01] [ 1.82951104e-02 -5.57957835e-04 9.99832475e-01 -6.27198658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51240100800001 meters Centerline goodness : 0.955329 Centerline is valid? [True, True] Translation: X:16.72, Y:-0.54, Z:-0.63 [[ 9.99556178e-01 2.32163534e-02 -1.86667529e-02 1.67170265e+01] [-2.32023602e-02 9.99730322e-01 9.65889889e-04 -5.44909325e-01] [ 1.86841433e-02 -5.32348482e-04 9.99825294e-01 -6.25868140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54240100800001 meters Centerline goodness : 0.954801 Centerline is valid? [True, True] Translation: X:16.75, Y:-0.55, Z:-0.63 [[ 9.99497555e-01 2.53719062e-02 -1.89974890e-02 1.67495389e+01] [-2.53577018e-02 9.99677953e-01 9.88251877e-04 -5.46119263e-01] [ 1.90164448e-02 -5.06022673e-04 9.99819043e-01 -6.26296580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57240100800001 meters Centerline goodness : 0.954488 Centerline is valid? [True, True] Translation: X:16.78, Y:-0.55, Z:-0.63 [[ 9.99473961e-01 2.67432861e-02 -1.83466082e-02 1.67814457e+01] [-2.67301830e-02 9.99642225e-01 9.59092573e-04 -5.47161938e-01] [ 1.83656935e-02 -4.68179859e-04 9.99831227e-01 -6.27160087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60240100800002 meters Centerline goodness : 0.951941 Centerline is valid? [True, True] Translation: X:16.81, Y:-0.55, Z:-0.63 [[ 9.99469169e-01 2.82033039e-02 -1.63080781e-02 1.68128811e+01] [-2.81930815e-02 9.99602129e-01 8.56434072e-04 -5.47645933e-01] [ 1.63257438e-02 -3.96204476e-04 9.99866648e-01 -6.29856367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63240100800002 meters Centerline goodness : 0.953090 Centerline is valid? [True, True] Translation: X:16.85, Y:-0.55, Z:-0.63 [[ 9.99449397e-01 2.92911180e-02 -1.55863228e-02 1.68457223e+01] [-2.92818469e-02 9.99570856e-01 8.22751434e-04 -5.48875089e-01] [ 1.56037334e-02 -3.65902107e-04 9.99878187e-01 -6.31400454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66240100800002 meters Centerline goodness : 0.952667 Centerline is valid? [True, True] Translation: X:16.88, Y:-0.55, Z:-0.63 [[ 9.99443458e-01 2.96964045e-02 -1.51953487e-02 1.68782236e+01] [-2.96876241e-02 9.99558903e-01 8.03128916e-04 -5.50171572e-01] [ 1.52124961e-02 -3.51568140e-04 9.99884221e-01 -6.32427609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.69240100800002 meters Centerline goodness : 0.950963 Centerline is valid? [True, True] Translation: X:16.91, Y:-0.55, Z:-0.63 [[ 9.99366518e-01 3.17065978e-02 -1.61633489e-02 1.69100217e+01] [-3.16968523e-02 9.99497160e-01 8.58831318e-04 -5.50179802e-01] [ 1.61824519e-02 -3.45959983e-04 9.99868996e-01 -6.34243020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72240100800002 meters Centerline goodness : 0.953494 Centerline is valid? [True, True] Translation: X:16.94, Y:-0.55, Z:-0.64 [[ 9.99309814e-01 3.29517694e-02 -1.71486800e-02 1.69429804e+01] [-3.29409053e-02 9.99456882e-01 9.15680340e-04 -5.50386463e-01] [ 1.71695395e-02 -3.50155306e-04 9.99852531e-01 -6.35529389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.75240100800002 meters Centerline goodness : 0.955136 Centerline is valid? [True, True] Translation: X:16.98, Y:-0.55, Z:-0.64 [[ 9.99259025e-01 3.40404793e-02 -1.79623492e-02 1.69753932e+01] [-3.40286934e-02 9.99420394e-01 9.61471059e-04 -5.50790581e-01] [ 1.79846670e-02 -3.49523360e-04 9.99838202e-01 -6.36074983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78240100800002 meters Centerline goodness : 0.955978 Centerline is valid? [True, True] Translation: X:17.01, Y:-0.55, Z:-0.64 [[ 9.99210011e-01 3.51350609e-02 -1.85709716e-02 1.70084273e+01] [-3.51225501e-02 9.99382513e-01 9.99502251e-04 -5.51876064e-01] [ 1.85946218e-02 -3.46452775e-04 9.99827045e-01 -6.36397222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.81240100800001 meters Centerline goodness : 0.957526 Centerline is valid? [True, True] Translation: X:17.04, Y:-0.56, Z:-0.63 [[ 9.99191934e-01 3.49582942e-02 -1.98342187e-02 1.70403799e+01] [-3.49438945e-02 9.99388700e-01 1.07222386e-03 -5.55056672e-01] [ 1.98595772e-02 -3.78272590e-04 9.99802708e-01 -6.33833946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84240100800001 meters Centerline goodness : 0.957051 Centerline is valid? [True, True] Translation: X:17.07, Y:-0.56, Z:-0.63 [[ 9.99217644e-01 3.35247975e-02 -2.09806555e-02 1.70735225e+01] [-3.35082501e-02 9.99437791e-01 1.13985179e-03 -5.57803789e-01] [ 2.10070733e-02 -4.35934967e-04 9.99779232e-01 -6.32595427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87240100800001 meters Centerline goodness : 0.959413 Centerline is valid? [True, True] Translation: X:17.11, Y:-0.56, Z:-0.63 [[ 9.99303581e-01 3.08223153e-02 -2.10318526e-02 1.71056122e+01] [-3.08049814e-02 9.99524755e-01 1.14772848e-03 -5.59662629e-01] [ 2.10572329e-02 -4.99043355e-04 9.99778147e-01 -6.33433926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90240100800001 meters Centerline goodness : 0.957183 Centerline is valid? [True, True] Translation: X:17.14, Y:-0.56, Z:-0.63 [[ 9.99415832e-01 2.79142070e-02 -1.97177794e-02 1.71386043e+01] [-2.78983016e-02 9.99610182e-01 1.08131465e-03 -5.61388457e-01] [ 1.97402771e-02 -5.30590423e-04 9.99805001e-01 -6.34718552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93240100800001 meters Centerline goodness : 0.954319 Centerline is valid? [True, True] Translation: X:17.17, Y:-0.56, Z:-0.64 [[ 9.99641324e-01 2.07810663e-02 -1.68929339e-02 1.71702897e+01] [-2.07683034e-02 9.99783882e-01 9.30617849e-04 -5.63564226e-01] [ 1.69086222e-02 -5.79446482e-04 9.99856871e-01 -6.36097935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96240100800001 meters Centerline goodness : 0.953263 Centerline is valid? [True, True] Translation: X:17.20, Y:-0.57, Z:-0.64 [[ 9.99711004e-01 1.77150018e-02 -1.62507634e-02 1.72028253e+01] [-1.77027153e-02 9.99842890e-01 8.99605242e-04 -5.66250918e-01] [ 1.62641467e-02 -6.11662622e-04 9.99867543e-01 -6.36324178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99240100800002 meters Centerline goodness : 0.953263 Centerline is valid? [True, True] Translation: X:17.24, Y:-0.57, Z:-0.64 [[ 9.99708985e-01 1.78286127e-02 -1.62507020e-02 1.72361947e+01] [-1.78163233e-02 9.99840871e-01 9.00712134e-04 -5.68212333e-01] [ 1.62641745e-02 -6.10922252e-04 9.99867543e-01 -6.36494729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02240100800002 meters Centerline goodness : 0.956756 Centerline is valid? [True, True] Translation: X:17.27, Y:-0.57, Z:-0.64 [[ 9.99755111e-01 1.53291824e-02 -1.59603688e-02 1.72693804e+01] [-1.53169300e-02 9.99882293e-01 8.89642317e-04 -5.71254622e-01] [ 1.59721276e-02 -6.44960603e-04 9.99872229e-01 -6.36061131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.05240100800002 meters Centerline goodness : 0.953096 Centerline is valid? [True, True] Translation: X:17.30, Y:-0.57, Z:-0.64 [[ 9.99775544e-01 1.36812468e-02 -1.61766759e-02 1.73010249e+01] [-1.36683820e-02 9.99906173e-01 9.05568544e-04 -5.72966420e-01] [ 1.61875474e-02 -6.84256298e-04 9.99868739e-01 -6.35870204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08240100800002 meters Centerline goodness : 0.950191 Centerline is valid? [True, True] Translation: X:17.33, Y:-0.57, Z:-0.64 [[ 9.99758116e-01 1.43931953e-02 -1.66296560e-02 1.73342332e+01] [-1.43796232e-02 9.99896170e-01 9.35425328e-04 -5.74302464e-01] [ 1.66413931e-02 -6.96070876e-04 9.99861280e-01 -6.35021197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.11240100800002 meters Centerline goodness : 0.952399 Centerline is valid? [True, True] Translation: X:17.37, Y:-0.58, Z:-0.63 [[ 9.99712189e-01 1.66401154e-02 -1.72813563e-02 1.73664047e+01] [-1.66257542e-02 9.99861308e-01 9.74368480e-04 -5.76320202e-01] [ 1.72951732e-02 -6.86772464e-04 9.99850191e-01 -6.33690433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14240100800002 meters Centerline goodness : 0.954263 Centerline is valid? [True, True] Translation: X:17.40, Y:-0.58, Z:-0.63 [[ 9.99671021e-01 1.92233590e-02 -1.69797824e-02 1.73978743e+01] [-1.92097898e-02 9.99815012e-01 9.61891186e-04 -5.78352271e-01] [ 1.69951321e-02 -6.35396693e-04 9.99855370e-01 -6.33020380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.17240100800001 meters Centerline goodness : 0.955549 Centerline is valid? [True, True] Translation: X:17.43, Y:-0.58, Z:-0.63 [[ 9.99632081e-01 2.19177153e-02 -1.59786305e-02 1.74307195e+01] [-2.19059760e-02 9.99759622e-01 9.09365004e-04 -5.80589569e-01] [ 1.59947208e-02 -5.59002935e-04 9.99871920e-01 -6.32547793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20240100800001 meters Centerline goodness : 0.955345 Centerline is valid? [True, True] Translation: X:17.46, Y:-0.58, Z:-0.63 [[ 9.99594297e-01 2.54110672e-02 -1.28654448e-02 1.74623429e+01] [-2.54037045e-02 9.99677003e-01 7.35412506e-04 -5.82835043e-01] [ 1.28799769e-02 -4.08284190e-04 9.99916966e-01 -6.32915241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23240100800001 meters Centerline goodness : 0.953053 Centerline is valid? [True, True] Translation: X:17.49, Y:-0.58, Z:-0.63 [[ 9.99519458e-01 2.83430905e-02 -1.25507646e-02 1.74947455e+01] [-2.83362707e-02 9.99598187e-01 7.20909107e-04 -5.82726637e-01] [ 1.25661543e-02 -3.64920818e-04 9.99920976e-01 -6.34907478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26240100800001 meters Centerline goodness : 0.952199 Centerline is valid? [True, True] Translation: X:17.53, Y:-0.58, Z:-0.64 [[ 9.99432315e-01 3.12299466e-02 -1.26387441e-02 1.75276586e+01] [-3.12232376e-02 9.99512171e-01 7.27853862e-04 -5.80981712e-01] [ 1.26553094e-02 -3.32818160e-04 9.99919863e-01 -6.39309395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29240100800001 meters Centerline goodness : 0.948538 Centerline is valid? [True, False] Translation: X:17.53, Y:-0.58, Z:-0.64 [[ 9.99176448e-01 3.81290582e-02 -1.38780696e-02 1.75320727e+01] [-3.80082327e-02 9.99238073e-01 8.86835712e-03 -5.81922183e-01] [ 1.42056377e-02 -8.33357267e-03 9.99864367e-01 -6.39332077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32240100800001 meters Centerline goodness : 0.949857 Centerline is valid? [False, False] Translation: X:17.53, Y:-0.58, Z:-0.64 [[ 9.98938835e-01 4.37852424e-02 -1.42848483e-02 1.75315246e+01] [-4.36159113e-02 9.98976809e-01 1.19577189e-02 -5.77698556e-01] [ 1.47938038e-02 -1.13219831e-02 9.99826463e-01 -6.40032342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35240100800002 meters Centerline goodness : 0.949186 Centerline is valid? [False, False] Translation: X:17.54, Y:-0.57, Z:-0.65 [[ 9.98823377e-01 4.73892734e-02 -1.03013567e-02 1.75441943e+01] [-4.73674124e-02 9.98874756e-01 2.35600252e-03 -5.74546448e-01] [ 1.04014144e-02 -1.86528179e-03 9.99944164e-01 -6.45508897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38240100800002 meters Centerline goodness : 0.952368 Centerline is valid? [False, True] Translation: X:17.54, Y:-0.57, Z:-0.64 [[ 9.98767083e-01 4.86197551e-02 -1.00216857e-02 1.75417947e+01] [-4.85966746e-02 9.98815269e-01 2.53399278e-03 -5.73326629e-01] [ 1.01330148e-02 -2.04384798e-03 9.99946571e-01 -6.44181857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41240100800002 meters Centerline goodness : 0.952812 Centerline is valid? [True, True] Translation: X:17.57, Y:-0.57, Z:-0.65 [[ 9.98584851e-01 5.23766698e-02 -9.21849328e-03 1.75748528e+01] [-5.23746958e-02 9.98627400e-01 4.55583935e-04 -5.74552242e-01] [ 9.22970194e-03 2.78765654e-05 9.99957405e-01 -6.45486860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44240100800002 meters Centerline goodness : 0.953745 Centerline is valid? [True, True] Translation: X:17.61, Y:-0.58, Z:-0.65 [[ 9.98479183e-01 5.48505892e-02 -5.54373880e-03 1.76074700e+01] [-5.48498974e-02 9.98494573e-01 2.76853716e-04 -5.76938796e-01] [ 5.55057869e-03 2.76408324e-05 9.99984595e-01 -6.47943885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.47240100800002 meters Centerline goodness : 0.956461 Centerline is valid? [True, True] Translation: X:17.64, Y:-0.58, Z:-0.65 [[ 9.98551948e-01 5.36197736e-02 -4.35046441e-03 1.76402542e+01] [-5.36193269e-02 9.98561425e-01 2.19319700e-04 -5.80230980e-01] [ 4.35596581e-03 1.42668602e-05 9.99990513e-01 -6.49908548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50240100800002 meters Centerline goodness : 0.955731 Centerline is valid? [True, True] Translation: X:17.67, Y:-0.58, Z:-0.65 [[ 9.98669034e-01 5.14132911e-02 -4.10292597e-03 1.76714524e+01] [-5.14128711e-02 9.98677462e-01 2.07837983e-04 -5.83654057e-01] [ 4.10818533e-03 3.38184632e-06 9.99991561e-01 -6.52179987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.53240100800002 meters Centerline goodness : 0.951440 Centerline is valid? [True, True] Translation: X:17.70, Y:-0.59, Z:-0.66 [[ 9.98923458e-01 4.61836839e-02 -4.35804493e-03 1.77041356e+01] [-4.61831546e-02 9.98932964e-01 2.22060093e-04 -5.88608814e-01] [ 4.36365030e-03 -2.05527733e-05 9.99990479e-01 -6.55915867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56240100800001 meters Centerline goodness : 0.952912 Centerline is valid? [True, True] Translation: X:17.74, Y:-0.59, Z:-0.66 [[ 9.98996370e-01 4.46648641e-02 -3.36179973e-03 1.77360181e+01] [-4.46645356e-02 9.99002027e-01 1.72763121e-04 -5.91759583e-01] [ 3.36616119e-03 -2.24365071e-05 9.99994334e-01 -6.58306112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59240100800001 meters Centerline goodness : 0.953452 Centerline is valid? [True, True] Translation: X:17.77, Y:-0.60, Z:-0.66 [[ 9.99011259e-01 4.43684898e-02 -2.81800541e-03 1.77688669e+01] [-4.43682536e-02 9.99015233e-01 1.46310934e-04 -5.95956072e-01] [ 2.82172193e-03 -2.11362916e-05 9.99996019e-01 -6.58578080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62240100800001 meters Centerline goodness : 0.955700 Centerline is valid? [True, True] Translation: X:17.80, Y:-0.60, Z:-0.66 [[ 9.98993746e-01 4.47701408e-02 -2.67023651e-03 1.78002445e+01] [-4.47699285e-02 9.98997314e-01 1.39240902e-04 -6.01859286e-01] [ 2.67379293e-03 -1.95544929e-05 9.99996425e-01 -6.56541726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65240100800001 meters Centerline goodness : 0.958254 Centerline is valid? [True, True] Translation: X:17.83, Y:-0.61, Z:-0.65 [[ 9.98886847e-01 4.69045093e-02 -5.00347985e-03 1.78322911e+01] [-4.69037982e-02 9.98899378e-01 2.59447191e-04 -6.12850455e-01] [ 5.01014215e-03 -2.44761777e-05 9.99987449e-01 -6.50985231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68240100800001 meters Centerline goodness : 0.960859 Centerline is valid? [True, True] Translation: X:17.86, Y:-0.62, Z:-0.65 [[ 9.98838493e-01 4.78162300e-02 -5.93904014e-03 1.78637724e+01] [-4.78152505e-02 9.98856150e-01 3.06886462e-04 -6.16780377e-01] [ 5.94692092e-03 -2.25533193e-05 9.99982317e-01 -6.51620734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71240100800001 meters Centerline goodness : 0.959650 Centerline is valid? [True, True] Translation: X:17.90, Y:-0.62, Z:-0.65 [[ 9.98800194e-01 4.85258724e-02 -6.58872734e-03 1.78969370e+01] [-4.85246638e-02 9.98821926e-01 3.43262303e-04 -6.19870152e-01] [ 6.59762244e-03 -2.31346756e-05 9.99978235e-01 -6.53600709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74240100800002 meters Centerline goodness : 0.958790 Centerline is valid? [True, True] Translation: X:17.93, Y:-0.62, Z:-0.66 [[ 9.98767345e-01 4.92107206e-02 -6.48812572e-03 1.79294456e+01] [-4.92095514e-02 9.98788418e-01 3.39817513e-04 -6.22915708e-01] [ 6.49698750e-03 -2.01208786e-05 9.99978894e-01 -6.56244736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.77240100800002 meters Centerline goodness : 0.957847 Centerline is valid? [True, True] Translation: X:17.96, Y:-0.63, Z:-0.66 [[ 9.98767832e-01 4.92848208e-02 -5.81589082e-03 1.79620496e+01] [-4.92838706e-02 9.98784765e-01 3.06673223e-04 -6.25648427e-01] [ 5.82393748e-03 -1.96657394e-05 9.99983041e-01 -6.59498210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80240100800002 meters Centerline goodness : 0.955926 Centerline is valid? [True, True] Translation: X:17.99, Y:-0.63, Z:-0.66 [[ 9.98789245e-01 4.88700369e-02 -5.63598642e-03 1.79942341e+01] [-4.88691277e-02 9.98805146e-01 2.99018279e-04 -6.28989158e-01] [ 5.64386527e-03 -2.32305009e-05 9.99984073e-01 -6.61251539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83240100800002 meters Centerline goodness : 0.954986 Centerline is valid? [True, True] Translation: X:18.03, Y:-0.63, Z:-0.66 [[ 9.98846776e-01 4.78423186e-02 -4.02881779e-03 1.80256874e+01] [-4.78418443e-02 9.98854900e-01 2.14076600e-04 -6.34078934e-01] [ 4.03444631e-03 -2.10836480e-05 9.99991861e-01 -6.64132822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86240100800002 meters Centerline goodness : 0.954418 Centerline is valid? [True, True] Translation: X:18.06, Y:-0.64, Z:-0.66 [[ 9.98857472e-01 4.76448792e-02 -3.70341072e-03 1.80572351e+01] [-4.76444741e-02 9.98864338e-01 1.97576289e-04 -6.38283791e-01] [ 3.70861839e-03 -2.09034964e-05 9.99993123e-01 -6.64587522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.89240100800002 meters Centerline goodness : 0.953156 Centerline is valid? [True, True] Translation: X:18.09, Y:-0.64, Z:-0.66 [[ 9.98809890e-01 4.86223834e-02 -3.82993381e-03 1.80898187e+01] [-4.86219480e-02 9.98817232e-01 2.06754181e-04 -6.43433955e-01] [ 3.83545677e-03 -2.02892778e-05 9.99992644e-01 -6.62923884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92240100800001 meters Centerline goodness : 0.954985 Centerline is valid? [True, True] Translation: X:18.12, Y:-0.65, Z:-0.66 [[ 9.98766432e-01 4.95056363e-02 -3.84789292e-03 1.81215321e+01] [-4.95052066e-02 9.98773844e-01 2.06913698e-04 -6.49148348e-01] [ 3.85341819e-03 -1.61677222e-05 9.99992575e-01 -6.60927705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.95240100800001 meters Centerline goodness : 0.957585 Centerline is valid? [True, True] Translation: X:18.15, Y:-0.66, Z:-0.66 [[ 9.98698957e-01 5.08716630e-02 -3.53095703e-03 1.81538920e+01] [-5.08713002e-02 9.98705199e-01 1.92543171e-04 -6.55855799e-01] [ 3.53618013e-03 -1.26682889e-05 9.99993748e-01 -6.57819895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98240100800001 meters Centerline goodness : 0.957945 Centerline is valid? [True, True] Translation: X:18.19, Y:-0.66, Z:-0.66 [[ 9.98664284e-01 5.15632752e-02 -3.29780799e-03 1.81858297e+01] [-5.15629597e-02 9.98669729e-01 1.80673596e-04 -6.58077169e-01] [ 3.30273714e-03 -1.03875270e-05 9.99994546e-01 -6.57902422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01240100800001 meters Centerline goodness : 0.955060 Centerline is valid? [True, True] Translation: X:18.22, Y:-0.65, Z:-0.66 [[ 9.98657257e-01 5.16712097e-02 -3.71067875e-03 1.82174239e+01] [-5.16708097e-02 9.98664151e-01 2.03642479e-04 -6.54626512e-01] [ 3.71624429e-03 -1.16352644e-05 9.99993095e-01 -6.63454390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04240100800001 meters Centerline goodness : 0.950058 Centerline is valid? [True, True] Translation: X:18.25, Y:-0.65, Z:-0.67 [[ 9.98639020e-01 5.20048146e-02 -3.95051628e-03 1.82506058e+01] [-5.20043596e-02 9.98646834e-01 2.17876050e-04 -6.52250555e-01] [ 3.95650118e-03 -1.21354556e-05 9.99992173e-01 -6.68850976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07240100800001 meters Centerline goodness : 0.951056 Centerline is valid? [True, True] Translation: X:18.28, Y:-0.65, Z:-0.67 [[ 9.98668276e-01 5.13408073e-02 -5.07893914e-03 1.82839299e+01] [-5.13400449e-02 9.98681191e-01 2.80449985e-04 -6.50268093e-01] [ 5.08663952e-03 -1.93235393e-05 9.99987063e-01 -6.73150910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10240100800002 meters Centerline goodness : 0.948119 Centerline is valid? [True, False] Translation: X:18.29, Y:-0.65, Z:-0.68 [[ 9.98714658e-01 5.03749978e-02 -5.60275673e-03 1.82866415e+01] [-5.03818285e-02 9.98729440e-01 -1.08468185e-03 -6.48121589e-01] [ 5.54099725e-03 1.36556479e-03 9.99983716e-01 -6.75671327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13240100800002 meters Centerline goodness : 0.951113 Centerline is valid? [False, True] Translation: X:18.29, Y:-0.65, Z:-0.67 [[ 9.98760648e-01 4.92736976e-02 -7.01925340e-03 1.82899180e+01] [-4.92816651e-02 9.98784453e-01 -9.66587402e-04 -6.49622077e-01] [ 6.96309383e-03 1.31130996e-03 9.99974898e-01 -6.74556450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16240100800002 meters Centerline goodness : 0.954520 Centerline is valid? [True, True] Translation: X:18.32, Y:-0.65, Z:-0.67 [[ 9.98742179e-01 4.93939044e-02 -8.61989582e-03 1.83228524e+01] [-4.93916250e-02 9.98779375e-01 4.77241565e-04 -6.54598893e-01] [ 8.63294698e-03 -5.08906182e-05 9.99962734e-01 -6.70959865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.19240100800002 meters Centerline goodness : 0.955661 Centerline is valid? [True, True] Translation: X:18.35, Y:-0.66, Z:-0.67 [[ 9.98678754e-01 5.02672930e-02 -1.06744886e-02 1.83547713e+01] [-5.02638566e-02 9.98735799e-01 5.90132025e-04 -6.58309632e-01] [ 1.06906582e-02 -5.28113511e-05 9.99942852e-01 -6.68268067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22240100800002 meters Centerline goodness : 0.957010 Centerline is valid? [True, True] Translation: X:18.39, Y:-0.66, Z:-0.67 [[ 9.98662072e-01 5.03047444e-02 -1.19790683e-02 1.83877244e+01] [-5.03003667e-02 9.98733913e-01 6.66639635e-04 -6.59706934e-01] [ 1.19974369e-02 -6.31961902e-05 9.99928026e-01 -6.68091253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.25240100800002 meters Centerline goodness : 0.953285 Centerline is valid? [True, True] Translation: X:18.42, Y:-0.66, Z:-0.67 [[ 9.98658696e-01 5.04578547e-02 -1.16109138e-02 1.84207828e+01] [-5.04537140e-02 9.98726189e-01 6.49447642e-04 -6.57494138e-01] [ 1.16288935e-02 -6.27628099e-05 9.99932380e-01 -6.73392240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28240100800002 meters Centerline goodness : 0.950722 Centerline is valid? [True, True] Translation: X:18.45, Y:-0.66, Z:-0.68 [[ 9.98708803e-01 4.98612250e-02 -9.72544951e-03 1.84537330e+01] [-4.98582589e-02 9.98756154e-01 5.47351547e-04 -6.58554431e-01] [ 9.74064416e-03 -6.17508287e-05 9.99952557e-01 -6.76366354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.31240100800001 meters Centerline goodness : 0.952225 Centerline is valid? [True, True] Translation: X:18.49, Y:-0.66, Z:-0.68 [[ 9.98816461e-01 4.81346973e-02 -6.98050531e-03 1.84857395e+01] [-4.81331085e-02 9.98840852e-01 3.95532618e-04 -6.61261609e-01] [ 6.99145271e-03 -5.90710709e-05 9.99975558e-01 -6.77082725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34240100800001 meters Centerline goodness : 0.955046 Centerline is valid? [True, True] Translation: X:18.52, Y:-0.67, Z:-0.67 [[ 9.99042945e-01 4.37014144e-02 -1.83874639e-03 1.85178060e+01] [-4.37012897e-02 9.99044636e-01 1.07945953e-04 -6.68409778e-01] [ 1.84170711e-03 -2.74870542e-05 9.99998304e-01 -6.73811987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37240100800001 meters Centerline goodness : 0.956605 Centerline is valid? [True, True] Translation: X:18.55, Y:-0.67, Z:-0.67 [[ 9.99083630e-01 4.27999151e-02 2.58160849e-04 1.85499627e+01] [-4.27999138e-02 9.99083664e-01 -1.05923773e-05 -6.72921311e-01] [-2.58377640e-04 -4.66591386e-07 9.99999967e-01 -6.70840029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40240100800001 meters Centerline goodness : 0.958239 Centerline is valid? [True, True] Translation: X:18.58, Y:-0.68, Z:-0.67 [[ 9.99109913e-01 4.20859085e-02 2.85628341e-03 1.85828875e+01] [-4.20856284e-02 9.99113995e-01 -1.58132690e-04 -6.77026468e-01] [-2.86040789e-03 3.77834558e-05 9.99995908e-01 -6.69246450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43240100800001 meters Centerline goodness : 0.959078 Centerline is valid? [True, True] Translation: X:18.61, Y:-0.68, Z:-0.67 [[ 9.99128062e-01 4.14877076e-02 4.67821421e-03 1.86147168e+01] [-4.14869297e-02 9.99139012e-01 -2.63243990e-04 -6.80219814e-01] [-4.68510772e-03 6.89297137e-05 9.99989022e-01 -6.68435068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46240100800001 meters Centerline goodness : 0.956308 Centerline is valid? [True, True] Translation: X:18.65, Y:-0.68, Z:-0.67 [[ 9.99183131e-01 3.99478740e-02 6.10238204e-03 1.86478159e+01] [-3.99465058e-02 9.99201760e-01 -3.45981758e-04 -6.81310618e-01] [-6.11133211e-03 1.01930297e-04 9.99981320e-01 -6.69368780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49240100800002 meters Centerline goodness : 0.953376 Centerline is valid? [True, True] Translation: X:18.68, Y:-0.68, Z:-0.67 [[ 9.99178595e-01 4.01140950e-02 5.74409292e-03 1.86809625e+01] [-4.01128790e-02 9.99195101e-01 -3.26793655e-04 -6.81871533e-01] [-5.75257853e-03 9.61131212e-05 9.99983449e-01 -6.71963833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52240100800002 meters Centerline goodness : 0.952338 Centerline is valid? [True, True] Translation: X:18.71, Y:-0.68, Z:-0.68 [[ 9.99184048e-01 4.00325647e-02 5.35092159e-03 1.87133717e+01] [-4.00315020e-02 9.99198371e-01 -3.05598326e-04 -6.82010607e-01] [-5.35886603e-03 9.11435436e-05 9.99985637e-01 -6.75398468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.55240100800002 meters Centerline goodness : 0.951786 Centerline is valid? [True, True] Translation: X:18.75, Y:-0.68, Z:-0.68 [[ 9.99211198e-01 3.95087158e-02 4.00536217e-03 1.87450642e+01] [-3.95081153e-02 9.99219223e-01 -2.28973264e-04 -6.82856370e-01] [-4.01128132e-03 7.05483390e-05 9.99991952e-01 -6.77660959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58240100800002 meters Centerline goodness : 0.950709 Centerline is valid? [True, True] Translation: X:18.78, Y:-0.68, Z:-0.68 [[ 9.99296159e-01 3.75124080e-02 -7.67825882e-05 1.87778673e+01] [-3.75124074e-02 9.99296162e-01 8.92155086e-06 -6.84512457e-01] [ 7.70632146e-05 -6.03497177e-06 9.99999997e-01 -6.78308122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.61240100800002 meters Centerline goodness : 0.951346 Centerline is valid? [True, True] Translation: X:18.81, Y:-0.69, Z:-0.68 [[ 9.99329899e-01 3.65422434e-02 -2.10180347e-03 1.88097077e+01] [-3.65420591e-02 9.99332108e-01 1.26025117e-04 -6.86121020e-01] [ 2.10500494e-03 -4.91364406e-05 9.99997783e-01 -6.78438764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64240100800002 meters Centerline goodness : 0.951751 Centerline is valid? [True, True] Translation: X:18.84, Y:-0.69, Z:-0.68 [[ 9.99363348e-01 3.54993116e-02 -3.56349731e-03 1.88420404e+01] [-3.54987730e-02 9.99369697e-01 2.14298830e-04 -6.87398780e-01] [ 3.56885869e-03 -8.76626143e-05 9.99993628e-01 -6.79599634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.67240100800001 meters Centerline goodness : 0.953414 Centerline is valid? [True, True] Translation: X:18.88, Y:-0.69, Z:-0.68 [[ 9.99396140e-01 3.44432383e-02 -4.58467127e-03 1.88751679e+01] [-3.44423358e-02 9.99406649e-01 2.75687746e-04 -6.88911851e-01] [ 4.59144653e-03 -1.17614481e-04 9.99989452e-01 -6.80157472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70240100800001 meters Centerline goodness : 0.951915 Centerline is valid? [True, True] Translation: X:18.91, Y:-0.69, Z:-0.68 [[ 9.99417461e-01 3.36393128e-02 -5.75629527e-03 1.89082273e+01] [-3.36378730e-02 9.99434026e-01 3.46781661e-04 -6.90815869e-01] [ 5.76470286e-03 -1.52950118e-04 9.99983372e-01 -6.79946629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73240100800001 meters Centerline goodness : 0.954171 Centerline is valid? [True, True] Translation: X:18.94, Y:-0.69, Z:-0.68 [[ 9.99490628e-01 3.16156993e-02 -4.35121441e-03 1.89397016e+01] [-3.16148492e-02 9.99500091e-01 2.64042080e-04 -6.90699924e-01] [ 4.35738708e-03 -1.26344597e-04 9.99990499e-01 -6.81024815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76240100800001 meters Centerline goodness : 0.955603 Centerline is valid? [True, True] Translation: X:18.97, Y:-0.69, Z:-0.68 [[ 9.99485926e-01 3.18385513e-02 -3.76694919e-03 1.89723244e+01] [-3.18379090e-02 9.99493019e-01 2.30361276e-04 -6.92064292e-01] [ 3.77237379e-03 -1.10311068e-04 9.99992878e-01 -6.81618772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79240100800001 meters Centerline goodness : 0.952768 Centerline is valid? [True, True] Translation: X:19.01, Y:-0.69, Z:-0.68 [[ 9.99484651e-01 3.18828179e-02 -3.73069721e-03 1.90053892e+01] [-3.18821955e-02 9.99491608e-01 2.26186457e-04 -6.93805624e-01] [ 3.73601201e-03 -1.07127074e-04 9.99993015e-01 -6.81224598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82240100800001 meters Centerline goodness : 0.956359 Centerline is valid? [True, True] Translation: X:19.04, Y:-0.70, Z:-0.68 [[ 9.99460770e-01 3.24556230e-02 -4.98018972e-03 1.90379074e+01] [-3.24545047e-02 9.99473167e-01 3.05226772e-04 -6.96507500e-01] [ 4.98747231e-03 -1.43432594e-04 9.99987552e-01 -6.80719176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85240100800002 meters Centerline goodness : 0.957660 Centerline is valid? [True, True] Translation: X:19.07, Y:-0.70, Z:-0.68 [[ 9.99330032e-01 3.61381436e-02 -5.78982131e-03 1.90695179e+01] [-3.61366913e-02 9.99346793e-01 3.55283684e-04 -6.98056647e-01] [ 5.79887865e-03 -1.45820670e-04 9.99983176e-01 -6.79861113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88240100800002 meters Centerline goodness : 0.957660 Centerline is valid? [True, True] Translation: X:19.10, Y:-0.70, Z:-0.68 [[ 9.99325922e-01 3.62516034e-02 -5.78991940e-03 1.91028686e+01] [-3.62501624e-02 9.99342684e-01 3.53664129e-04 -7.00212858e-01] [ 5.79893448e-03 -1.43540214e-04 9.99983176e-01 -6.80400627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.91240100800002 meters Centerline goodness : 0.957511 Centerline is valid? [True, True] Translation: X:19.14, Y:-0.70, Z:-0.68 [[ 9.99217713e-01 3.91073788e-02 -5.88004670e-03 1.91356423e+01] [-3.91059185e-02 9.99235005e-01 3.63159774e-04 -7.00347839e-01] [ 5.88975072e-03 -1.32931052e-04 9.99982646e-01 -6.81614111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94240100800002 meters Centerline goodness : 0.955287 Centerline is valid? [True, True] Translation: X:19.17, Y:-0.70, Z:-0.68 [[ 9.99045812e-01 4.32227310e-02 -6.26583697e-03 1.91678808e+01] [-4.32211475e-02 9.99065454e-01 3.87969199e-04 -7.00289832e-01] [ 6.27675034e-03 -1.16782340e-04 9.99980294e-01 -6.83790730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.97240100800002 meters Centerline goodness : 0.954640 Centerline is valid? [True, True] Translation: X:19.20, Y:-0.70, Z:-0.68 [[ 9.98577876e-01 5.27759096e-02 -7.54512704e-03 1.92003840e+01] [-5.27738739e-02 9.98606378e-01 4.68782460e-04 -6.99328498e-01] [ 7.55935240e-03 -6.99302098e-05 9.99971425e-01 -6.84893705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00240100800002 meters Centerline goodness : 0.955606 Centerline is valid? [True, True] Translation: X:19.23, Y:-0.70, Z:-0.68 [[ 9.98263749e-01 5.84387512e-02 -7.37566848e-03 1.92328826e+01] [-5.84369449e-02 9.98290995e-01 4.60355028e-04 -7.00339799e-01] [ 7.38996600e-03 -2.85442041e-05 9.99972693e-01 -6.84957078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.03240100800002 meters Centerline goodness : 0.956808 Centerline is valid? [True, True] Translation: X:19.26, Y:-0.70, Z:-0.68 [[ 9.97927446e-01 6.40512831e-02 -6.18424476e-03 1.92648566e+01] [-6.40501087e-02 9.97946608e-01 3.87968559e-04 -7.01923394e-01] [ 6.19639597e-03 8.93707550e-06 9.99980802e-01 -6.84986439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06240100800001 meters Centerline goodness : 0.958754 Centerline is valid? [True, True] Translation: X:19.30, Y:-0.70, Z:-0.68 [[ 9.97581048e-01 6.92891387e-02 -5.57390775e-03 1.92970894e+01] [-6.92882568e-02 9.97596619e-01 3.51396936e-04 -7.03891726e-01] [ 5.58485951e-03 3.56594283e-05 9.99984404e-01 -6.83533766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09240100800001 meters Centerline goodness : 0.960562 Centerline is valid? [True, True] Translation: X:19.33, Y:-0.71, Z:-0.68 [[ 9.97193863e-01 7.48074662e-02 -2.87098772e-03 1.93300488e+01] [-7.48072462e-02 9.97197995e-01 1.84108849e-04 -7.07189045e-01] [ 2.87671591e-03 3.11784709e-05 9.99995862e-01 -6.81806814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12240100800001 meters Centerline goodness : 0.959961 Centerline is valid? [True, True] Translation: X:19.36, Y:-0.71, Z:-0.68 [[ 9.97224840e-01 7.44381774e-02 -1.25519400e-03 1.93624309e+01] [-7.44381315e-02 9.97225630e-01 8.32962968e-05 -7.09119460e-01] [ 1.25791205e-03 1.03691599e-05 9.99999209e-01 -6.82607117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15240100800001 meters Centerline goodness : 0.959207 Centerline is valid? [True, True] Translation: X:19.39, Y:-0.71, Z:-0.68 [[ 9.97381942e-01 7.23093564e-02 7.86459783e-04 1.93949854e+01] [-7.23093432e-02 9.97382252e-01 -4.53155013e-05 -7.10847040e-01] [-7.87677765e-04 -1.16715277e-05 9.99999690e-01 -6.84227207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18240100800001 meters Centerline goodness : 0.959283 Centerline is valid? [True, True] Translation: X:19.43, Y:-0.71, Z:-0.69 [[ 9.97553207e-01 6.98775503e-02 2.17439295e-03 1.94272762e+01] [-6.98774254e-02 9.97555576e-01 -1.33437094e-04 -7.11760339e-01] [-2.17840207e-03 -1.88303807e-05 9.99997627e-01 -6.86869442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21240100800001 meters Centerline goodness : 0.955331 Centerline is valid? [True, True] Translation: X:19.46, Y:-0.71, Z:-0.69 [[ 9.97817804e-01 6.60196078e-02 1.02073650e-03 1.94597620e+01] [-6.60195804e-02 9.97818326e-01 -6.05712925e-05 -7.13589812e-01] [-1.02250848e-03 -6.94948150e-06 9.99999477e-01 -6.90126174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24240100800002 meters Centerline goodness : 0.957846 Centerline is valid? [True, True] Translation: X:19.49, Y:-0.72, Z:-0.69 [[ 9.97857071e-01 6.54246895e-02 -9.35767525e-04 1.94918696e+01] [-6.54246583e-02 9.97857510e-01 6.39835491e-05 -7.17354448e-01] [ 9.37948757e-04 -2.62416636e-06 9.99999560e-01 -6.90833071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27240100800002 meters Centerline goodness : 0.957799 Centerline is valid? [True, True] Translation: X:19.52, Y:-0.72, Z:-0.69 [[ 9.97863426e-01 6.53091043e-02 -1.81791232e-03 1.95245865e+01] [-6.53089919e-02 9.97865082e-01 1.21229011e-04 -7.22155647e-01] [ 1.82194859e-03 -2.24397516e-06 9.99998340e-01 -6.90739670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30240100800002 meters Centerline goodness : 0.958834 Centerline is valid? [True, True] Translation: X:19.56, Y:-0.73, Z:-0.69 [[ 9.97818396e-01 6.59302352e-02 -3.41359199e-03 1.95558290e+01] [-6.59298592e-02 9.97824235e-01 2.22656321e-04 -7.27691716e-01] [ 3.42084460e-03 2.88706577e-06 9.99994149e-01 -6.89161890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33240100800002 meters Centerline goodness : 0.961302 Centerline is valid? [True, True] Translation: X:19.59, Y:-0.74, Z:-0.69 [[ 9.97733849e-01 6.69865024e-02 -6.32265387e-03 1.95875845e+01] [-6.69852304e-02 9.97753882e-01 4.12960471e-04 -7.35848958e-01] [ 6.33611522e-03 1.14997862e-05 9.99979927e-01 -6.87021085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36240100800002 meters Centerline goodness : 0.961068 Centerline is valid? [True, True] Translation: X:19.62, Y:-0.74, Z:-0.69 [[ 9.97677345e-01 6.76666459e-02 -7.81927945e-03 1.96206247e+01] [-6.76647108e-02 9.97707986e-01 5.12063398e-04 -7.39663997e-01] [ 7.83600716e-03 1.82152312e-05 9.99969298e-01 -6.88302816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.39240100800002 meters Centerline goodness : 0.958808 Centerline is valid? [True, True] Translation: X:19.65, Y:-0.74, Z:-0.69 [[ 9.97728111e-01 6.68298555e-02 -8.50807436e-03 1.96534106e+01] [-6.68275180e-02 9.97764386e-01 5.59052387e-04 -7.42762192e-01] [ 8.52641498e-03 1.07912107e-05 9.99963649e-01 -6.91616776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42240100800001 meters Centerline goodness : 0.958084 Centerline is valid? [True, True] Translation: X:19.69, Y:-0.75, Z:-0.69 [[ 9.97854666e-01 6.47329433e-02 -9.78318335e-03 1.96865576e+01] [-6.47297325e-02 9.97902623e-01 6.44807873e-04 -7.45994965e-01] [ 9.80440465e-03 -1.01617027e-05 9.99951936e-01 -6.93575029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.45240100800001 meters Centerline goodness : 0.958257 Centerline is valid? [True, True] Translation: X:19.72, Y:-0.75, Z:-0.70 [[ 9.98010477e-01 6.19147521e-02 -1.19017451e-02 1.97186520e+01] [-6.19097792e-02 9.98081440e-01 7.86160418e-04 -7.48377099e-01] [ 1.19275859e-02 -4.77619200e-05 9.99928863e-01 -6.95849603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48240100800001 meters Centerline goodness : 0.958241 Centerline is valid? [True, True] Translation: X:19.75, Y:-0.75, Z:-0.69 [[ 9.97962742e-01 6.24287869e-02 -1.31533758e-02 1.97513527e+01] [-6.24227094e-02 9.98049420e-01 8.72495788e-04 -7.51871232e-01] [ 1.31821880e-02 -4.96489317e-05 9.99913110e-01 -6.94639199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51240100800001 meters Centerline goodness : 0.961708 Centerline is valid? [True, True] Translation: X:19.78, Y:-0.76, Z:-0.69 [[ 9.97867949e-01 6.39065204e-02 -1.32481630e-02 1.97834711e+01] [-6.39004445e-02 9.97955889e-01 8.81853858e-04 -7.56513150e-01] [ 1.32774385e-02 -3.34101937e-05 9.99911850e-01 -6.92894979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54240100800001 meters Centerline goodness : 0.962841 Centerline is valid? [True, True] Translation: X:19.82, Y:-0.76, Z:-0.69 [[ 9.97769862e-01 6.52582547e-02 -1.40236275e-02 1.98159410e+01] [-6.52515252e-02 9.97868408e-01 9.37377341e-04 -7.60766601e-01] [ 1.40549065e-02 -2.02237763e-05 9.99901225e-01 -6.89795302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57240100800001 meters Centerline goodness : 0.965843 Centerline is valid? [True, True] Translation: X:19.85, Y:-0.76, Z:-0.69 [[ 9.97823499e-01 6.46417170e-02 -1.30274155e-02 1.98479259e+01] [-6.46358129e-02 9.97908537e-01 8.74172823e-04 -7.63970761e-01] [ 1.30566772e-02 -3.02325951e-05 9.99914758e-01 -6.88707626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60240100800002 meters Centerline goodness : 0.963550 Centerline is valid? [True, True] Translation: X:19.88, Y:-0.76, Z:-0.69 [[ 9.97888524e-01 6.41019430e-02 -1.04611380e-02 1.98799490e+01] [-6.40980713e-02 9.97943355e-01 7.05307284e-04 -7.62829889e-01] [ 1.04848347e-02 -3.32792731e-05 9.99945032e-01 -6.93050364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63240100800002 meters Centerline goodness : 0.964008 Centerline is valid? [True, True] Translation: X:19.91, Y:-0.76, Z:-0.70 [[ 9.97920823e-01 6.38084143e-02 -9.08394575e-03 1.99126305e+01] [-6.38054537e-02 9.97962166e-01 6.15644040e-04 -7.63291775e-01] [ 9.10471744e-03 -3.47587268e-05 9.99958551e-01 -6.95120612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66240100800002 meters Centerline goodness : 0.964235 Centerline is valid? [True, True] Translation: X:19.95, Y:-0.76, Z:-0.70 [[ 9.97930119e-01 6.38516168e-02 -7.64523084e-03 1.99454934e+01] [-6.38495002e-02 9.97959403e-01 5.20863722e-04 -7.64516800e-01] [ 7.66288799e-03 -3.16414285e-05 9.99970639e-01 -6.96051407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69240100800002 meters Centerline goodness : 0.961531 Centerline is valid? [True, True] Translation: X:19.98, Y:-0.77, Z:-0.70 [[ 9.97925365e-01 6.40333250e-02 -6.68579596e-03 1.99776341e+01] [-6.40317101e-02 9.97947760e-01 4.55527022e-04 -7.66677523e-01] [ 6.70124401e-03 -2.64790206e-05 9.99977546e-01 -6.95939902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72240100800002 meters Centerline goodness : 0.963043 Centerline is valid? [True, True] Translation: X:20.01, Y:-0.77, Z:-0.70 [[ 9.97798556e-01 6.59475503e-02 -6.99723736e-03 2.00103802e+01] [-6.59458057e-02 9.97823091e-01 4.80021079e-04 -7.69706699e-01] [ 7.01366122e-03 -1.75258847e-05 9.99975404e-01 -6.95369860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.75240100800002 meters Centerline goodness : 0.962905 Centerline is valid? [True, True] Translation: X:20.04, Y:-0.77, Z:-0.70 [[ 9.97734498e-01 6.68128735e-02 -7.86832466e-03 2.00431413e+01] [-6.68106808e-02 9.97765523e-01 5.41491480e-04 -7.71859630e-01] [ 7.88692168e-03 -1.45766030e-05 9.99968898e-01 -6.95338562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78240100800002 meters Centerline goodness : 0.965354 Centerline is valid? [True, True] Translation: X:20.08, Y:-0.77, Z:-0.70 [[ 9.97646298e-01 6.81785643e-02 -7.31761471e-03 2.00758485e+01] [-6.81766871e-02 9.97673135e-01 5.05955090e-04 -7.74916542e-01] [ 7.33508290e-03 -5.87349429e-06 9.99973098e-01 -6.95464216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.81240100800001 meters Centerline goodness : 0.963164 Centerline is valid? [True, True] Translation: X:20.11, Y:-0.78, Z:-0.70 [[ 9.97609718e-01 6.87238190e-02 -7.20332119e-03 2.01090089e+01] [-6.87219998e-02 9.97635723e-01 5.00059937e-04 -7.77791303e-01] [ 7.22065658e-03 -3.83801518e-06 9.99973931e-01 -6.95248950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84240100800001 meters Centerline goodness : 0.965541 Centerline is valid? [True, True] Translation: X:20.14, Y:-0.78, Z:-0.70 [[ 9.97552315e-01 6.95723871e-02 -7.00439074e-03 2.01421728e+01] [-6.95706731e-02 9.97576906e-01 4.88364652e-04 -7.80242965e-01] [ 7.02139513e-03 1.30889081e-07 9.99975350e-01 -6.95816427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87240100800001 meters Centerline goodness : 0.965639 Centerline is valid? [True, True] Translation: X:20.17, Y:-0.78, Z:-0.70 [[ 9.97509639e-01 7.01861387e-02 -6.95893184e-03 2.01735975e+01] [-7.01844512e-02 9.97533912e-01 4.86701967e-04 -7.82033440e-01] [ 6.97593023e-03 2.91890921e-06 9.99975668e-01 -6.97325526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90240100800001 meters Centerline goodness : 0.962952 Centerline is valid? [True, True] Translation: X:20.21, Y:-0.78, Z:-0.70 [[ 9.97445179e-01 7.10576248e-02 -7.34364277e-03 2.02062074e+01] [-7.10557550e-02 9.97472212e-01 5.15541840e-04 -7.81333195e-01] [ 7.36171278e-03 7.58335871e-06 9.99972902e-01 -7.00290527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93240100800001 meters Centerline goodness : 0.964364 Centerline is valid? [True, True] Translation: X:20.24, Y:-0.78, Z:-0.70 [[ 9.97443599e-01 7.11082233e-02 -7.06310649e-03 2.02389262e+01] [-7.11064804e-02 9.97468606e-01 4.97886697e-04 -7.83073824e-01] [ 7.08063083e-03 5.61874419e-06 9.99974932e-01 -7.02202702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96240100800001 meters Centerline goodness : 0.962770 Centerline is valid? [True, True] Translation: X:20.27, Y:-0.79, Z:-0.70 [[ 9.97430352e-01 7.12776674e-02 -7.22411666e-03 2.02720260e+01] [-7.12758350e-02 9.97456512e-01 5.11123713e-04 -7.86324996e-01] [ 7.24217392e-03 5.09464210e-06 9.99973775e-01 -7.01776140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99240100800002 meters Centerline goodness : 0.964558 Centerline is valid? [True, True] Translation: X:20.30, Y:-0.79, Z:-0.70 [[ 9.97480024e-01 7.05594047e-02 -7.41435248e-03 2.03045862e+01] [-7.05574408e-02 9.97507579e-01 5.26444100e-04 -7.90645631e-01] [ 7.43301837e-03 -1.97973681e-06 9.99972375e-01 -7.00130207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02240100800002 meters Centerline goodness : 0.966349 Centerline is valid? [True, True] Translation: X:20.34, Y:-0.80, Z:-0.70 [[ 9.97785355e-01 6.59065079e-02 -8.98432871e-03 2.03364103e+01] [-6.59034262e-02 9.97825802e-01 6.38954437e-04 -7.97546025e-01] [ 9.00690625e-03 -4.54413355e-05 9.99959436e-01 -6.97864153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.05240100800002 meters Centerline goodness : 0.966494 Centerline is valid? [True, True] Translation: X:20.37, Y:-0.80, Z:-0.70 [[ 9.97983924e-01 6.26142944e-02 -1.03700618e-02 2.03691428e+01] [-6.26099817e-02 9.98037796e-01 7.40320489e-04 -8.00868358e-01] [ 1.03960683e-02 -8.95585641e-05 9.99945955e-01 -6.98683003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08240100800002 meters Centerline goodness : 0.965865 Centerline is valid? [True, True] Translation: X:20.40, Y:-0.80, Z:-0.70 [[ 9.98285405e-01 5.74184222e-02 -1.13742992e-02 2.04009423e+01] [-5.74128713e-02 9.98350189e-01 8.14216817e-04 -8.02432899e-01] [ 1.14022848e-02 -1.59789588e-04 9.99934979e-01 -7.00686450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.11240100800002 meters Centerline goodness : 0.964464 Centerline is valid? [True, True] Translation: X:20.43, Y:-0.80, Z:-0.70 [[ 9.98681037e-01 4.98203023e-02 -1.24146558e-02 2.04342870e+01] [-4.98130630e-02 9.98758161e-01 8.91853280e-04 -8.01381027e-01] [ 1.24436712e-02 -2.72264926e-04 9.99922537e-01 -7.04106735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14240100800002 meters Centerline goodness : 0.965590 Centerline is valid? [True, True] Translation: X:20.47, Y:-0.80, Z:-0.70 [[ 9.98850338e-01 4.60874619e-02 -1.31889349e-02 2.04663615e+01] [-4.60789306e-02 9.98937350e-01 9.50165616e-04 -8.03382684e-01] [ 1.32187104e-02 -3.41341231e-04 9.99912571e-01 -7.04243969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.17240100800001 meters Centerline goodness : 0.966413 Centerline is valid? [True, True] Translation: X:20.50, Y:-0.81, Z:-0.70 [[ 9.99060705e-01 4.11295932e-02 -1.36405353e-02 2.04987178e+01] [-4.11199549e-02 9.99153730e-01 9.86424467e-04 -8.07205270e-01] [ 1.36695630e-02 -4.24599726e-04 9.99906477e-01 -7.01582981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20240100800001 meters Centerline goodness : 0.969078 Centerline is valid? [True, True] Translation: X:20.53, Y:-0.81, Z:-0.70 [[ 9.99272451e-01 3.59969446e-02 -1.26011498e-02 2.05311590e+01] [-3.59882659e-02 9.99351794e-01 9.14870626e-04 -8.11332027e-01] [ 1.26259142e-02 -4.60711483e-04 9.99920184e-01 -6.98229129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23240100800001 meters Centerline goodness : 0.971724 Centerline is valid? [True, True] Translation: X:20.56, Y:-0.81, Z:-0.70 [[ 9.99663200e-01 2.49576325e-02 -7.11356303e-03 2.05633933e+01] [-2.49545644e-02 9.99688451e-01 5.19745598e-04 -8.12439274e-01] [ 7.12431843e-03 -3.42054681e-04 9.99974563e-01 -6.96100052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26240100800001 meters Centerline goodness : 0.970435 Centerline is valid? [True, True] Translation: X:20.60, Y:-0.81, Z:-0.70 [[ 9.99791986e-01 1.97021480e-02 -5.27359421e-03 2.05959429e+01] [-1.97003750e-02 9.99805854e-01 3.87933932e-04 -8.11899395e-01] [ 5.28021350e-03 -2.83961452e-04 9.99986019e-01 -6.97709856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29240100800001 meters Centerline goodness : 0.968511 Centerline is valid? [True, True] Translation: X:20.63, Y:-0.81, Z:-0.70 [[ 9.99860146e-01 1.61857149e-02 -4.20836551e-03 2.06287963e+01] [-1.61845472e-02 9.99868973e-01 3.11376960e-04 -8.10773554e-01] [ 4.21285396e-03 -2.43222922e-04 9.99991096e-01 -6.99864727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32240100800001 meters Centerline goodness : 0.967292 Centerline is valid? [True, True] Translation: X:20.66, Y:-0.81, Z:-0.70 [[ 9.99887443e-01 1.44256430e-02 -4.12328138e-03 2.06622768e+01] [-1.44245025e-02 9.99895915e-01 3.06201485e-04 -8.09556935e-01] [ 4.12726936e-03 -2.46690737e-04 9.99991452e-01 -7.01886729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35240100800002 meters Centerline goodness : 0.967454 Centerline is valid? [True, True] Translation: X:20.70, Y:-0.80, Z:-0.70 [[ 9.99863381e-01 1.58068614e-02 -4.83355532e-03 2.06958063e+01] [-1.58053067e-02 9.99875024e-01 3.59670445e-04 -8.04829218e-01] [ 4.83863650e-03 -2.83225483e-04 9.99988254e-01 -7.02419002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38240100800002 meters Centerline goodness : 0.967101 Centerline is valid? [True, True] Translation: X:20.73, Y:-0.81, Z:-0.70 [[ 9.99811412e-01 1.87407040e-02 -5.09188694e-03 2.07284715e+01] [-1.87390110e-02 9.99824337e-01 3.80001306e-04 -8.05342325e-01] [ 5.09811398e-03 -2.84512717e-04 9.99986964e-01 -7.00752254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.41240100800002 meters Centerline goodness : 0.969538 Centerline is valid? [True, True] Translation: X:20.76, Y:-0.81, Z:-0.70 [[ 9.99721700e-01 2.29098004e-02 -5.62706780e-03 2.07605011e+01] [-2.29077949e-02 9.99737494e-01 4.20604916e-04 -8.06440844e-01] [ 5.63522663e-03 -2.91584147e-04 9.99984079e-01 -6.98650697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44240100800002 meters Centerline goodness : 0.968922 Centerline is valid? [True, True] Translation: X:20.79, Y:-0.80, Z:-0.70 [[ 9.99527041e-01 2.97824681e-02 -7.66146083e-03 2.07937583e+01] [-2.97789459e-02 9.99556344e-01 5.73412537e-04 -8.02167699e-01] [ 7.67513942e-03 -3.44991109e-04 9.99970486e-01 -6.97843602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.47240100800002 meters Centerline goodness : 0.967834 Centerline is valid? [True, True] Translation: X:20.83, Y:-0.80, Z:-0.70 [[ 9.99391456e-01 3.35042879e-02 -9.70469725e-03 2.08271996e+01] [-3.34987979e-02 9.99438493e-01 7.27749064e-04 -7.98657347e-01] [ 9.72363071e-03 -4.02210505e-04 9.99952643e-01 -7.00686348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50240100800002 meters Centerline goodness : 0.965127 Centerline is valid? [True, True] Translation: X:20.86, Y:-0.80, Z:-0.70 [[ 9.99220599e-01 3.76571147e-02 -1.18379335e-02 2.08607002e+01] [-3.76492099e-02 9.99290621e-01 8.89972588e-04 -7.95092997e-01] [ 1.18630497e-02 -4.43590099e-04 9.99929533e-01 -7.04960994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.53240100800002 meters Centerline goodness : 0.959660 Centerline is valid? [True, True] Translation: X:20.89, Y:-0.79, Z:-0.71 [[ 9.98873833e-01 4.49719704e-02 -1.51190893e-02 2.08931510e+01] [-4.49598787e-02 9.98988144e-01 1.13888223e-03 -7.88770352e-01] [ 1.51550087e-02 -4.57847242e-04 9.99885051e-01 -7.08211926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56240100800001 meters Centerline goodness : 0.963610 Centerline is valid? [True, True] Translation: X:20.93, Y:-0.79, Z:-0.71 [[ 9.98697870e-01 4.83460298e-02 -1.62857355e-02 2.09260289e+01] [-4.83324560e-02 9.98830551e-01 1.22627040e-03 -7.89092276e-01] [ 1.63259755e-02 -4.37544047e-04 9.99866627e-01 -7.07405977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59240100800001 meters Centerline goodness : 0.966316 Centerline is valid? [True, True] Translation: X:20.96, Y:-0.79, Z:-0.71 [[ 9.98605500e-01 5.02211559e-02 -1.62754937e-02 2.09592157e+01] [-5.02078169e-02 9.98738038e-01 1.22740625e-03 -7.90737264e-01] [ 1.63165964e-02 -4.08537620e-04 9.99866792e-01 -7.06391959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62240100800001 meters Centerline goodness : 0.967027 Centerline is valid? [True, True] Translation: X:20.99, Y:-0.79, Z:-0.70 [[ 9.98496833e-01 5.20598150e-02 -1.71420786e-02 2.09924515e+01] [-5.20451690e-02 9.98643886e-01 1.29970403e-03 -7.93973856e-01] [ 1.71864943e-02 -4.05587977e-04 9.99852219e-01 -7.03302854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65240100800001 meters Centerline goodness : 0.968544 Centerline is valid? [True, True] Translation: X:21.03, Y:-0.80, Z:-0.70 [[ 9.98439369e-01 5.33982524e-02 -1.63539741e-02 2.10251569e+01] [-5.33850265e-02 9.98573227e-01 1.24452857e-03 -7.96283673e-01] [ 1.63970963e-02 -3.69528986e-04 9.99865490e-01 -6.99874794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68240100800001 meters Centerline goodness : 0.970974 Centerline is valid? [True, True] Translation: X:21.06, Y:-0.80, Z:-0.70 [[ 9.98387634e-01 5.47171300e-02 -1.51052157e-02 2.10565058e+01] [-5.47059409e-02 9.98501843e-01 1.15325766e-03 -7.97850770e-01] [ 1.51456887e-02 -3.25053150e-04 9.99885245e-01 -6.99901112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71240100800001 meters Centerline goodness : 0.972126 Centerline is valid? [True, True] Translation: X:21.09, Y:-0.80, Z:-0.70 [[ 9.98364781e-01 5.57075180e-02 -1.28232626e-02 2.10893206e+01] [-5.56995377e-02 9.98447096e-01 9.78911429e-04 -7.98395828e-01] [ 1.28578820e-02 -2.63060896e-04 9.99917299e-01 -7.02067027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74240100800002 meters Centerline goodness : 0.969848 Centerline is valid? [True, True] Translation: X:21.12, Y:-0.80, Z:-0.70 [[ 9.98294046e-01 5.72780457e-02 -1.13235300e-02 2.11222317e+01] [-5.72718564e-02 9.98358241e-01 8.70367406e-04 -7.98740118e-01] [ 1.13547924e-02 -2.20363016e-04 9.99935508e-01 -7.04015573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77240100800002 meters Centerline goodness : 0.970174 Centerline is valid? [True, True] Translation: X:21.15, Y:-0.80, Z:-0.71 [[ 9.98092521e-01 6.06229796e-02 -1.16693890e-02 2.11545264e+01] [-6.06166058e-02 9.98160718e-01 8.99443072e-04 -7.97272642e-01] [ 1.17024526e-02 -1.90368651e-04 9.99931506e-01 -7.08065147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80240100800002 meters Centerline goodness : 0.970174 Centerline is valid? [True, True] Translation: X:21.19, Y:-0.80, Z:-0.71 [[ 9.98085517e-01 6.07381574e-02 -1.16694544e-02 2.11878451e+01] [-6.07318014e-02 9.98153716e-01 8.98588127e-04 -7.99937913e-01] [ 1.17024879e-02 -1.88160809e-04 9.99931506e-01 -7.08604486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83240100800002 meters Centerline goodness : 0.969742 Centerline is valid? [True, True] Translation: X:21.22, Y:-0.80, Z:-0.71 [[ 9.97934601e-01 6.29009732e-02 -1.30383948e-02 2.12201973e+01] [-6.28931493e-02 9.98019756e-01 1.00963202e-03 -8.01871067e-01] [ 1.30760824e-02 -1.87521015e-04 9.99914487e-01 -7.09422577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86240100800002 meters Centerline goodness : 0.969072 Centerline is valid? [True, True] Translation: X:21.25, Y:-0.81, Z:-0.71 [[ 9.97766526e-01 6.54551669e-02 -1.33259190e-02 2.12514629e+01] [-6.54471832e-02 9.97855498e-01 1.03479362e-03 -8.05069787e-01] [ 1.33650741e-02 -1.60338572e-04 9.99910671e-01 -7.09466623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.89240100800002 meters Centerline goodness : 0.972503 Centerline is valid? [True, True] Translation: X:21.28, Y:-0.81, Z:-0.71 [[ 9.97474743e-01 6.95124889e-02 -1.45654362e-02 2.12836779e+01] [-6.95033286e-02 9.97581074e-01 1.13477587e-03 -8.08850500e-01] [ 1.46090846e-02 -1.19563968e-04 9.99893274e-01 -7.05678326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92240100800001 meters Centerline goodness : 0.973813 Centerline is valid? [True, True] Translation: X:21.32, Y:-0.81, Z:-0.71 [[ 9.97406935e-01 7.04202349e-02 -1.48457876e-02 2.13167642e+01] [-7.04107625e-02 9.97517407e-01 1.16042092e-03 -8.11847365e-01] [ 1.48906486e-02 -1.12108655e-04 9.99889122e-01 -7.05006055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.95240100800001 meters Centerline goodness : 0.972228 Centerline is valid? [True, True] Translation: X:21.35, Y:-0.82, Z:-0.70 [[ 9.97431374e-01 7.02404754e-02 -1.40331849e-02 2.13488603e+01] [-7.02319460e-02 9.97530081e-01 1.10030483e-03 -8.15052355e-01] [ 1.40758100e-02 -1.11900675e-04 9.99900925e-01 -7.04039899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98240100800001 meters Centerline goodness : 0.973349 Centerline is valid? [True, True] Translation: X:21.38, Y:-0.82, Z:-0.70 [[ 9.97568319e-01 6.84342752e-02 -1.31984704e-02 2.13814069e+01] [-6.84265196e-02 9.97655618e-01 1.03883354e-03 -8.17777796e-01] [ 1.32386199e-02 -1.33182038e-04 9.99912357e-01 -7.04469713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01240100800001 meters Centerline goodness : 0.971695 Centerline is valid? [True, True] Translation: X:21.41, Y:-0.82, Z:-0.71 [[ 9.98019467e-01 6.21822971e-02 -9.51346434e-03 2.14137935e+01] [-6.21779476e-02 9.98064796e-01 7.52568504e-04 -8.20272269e-01] [ 9.54185028e-03 -1.59550330e-04 9.99954463e-01 -7.09007817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04240100800001 meters Centerline goodness : 0.972138 Centerline is valid? [True, True] Translation: X:21.45, Y:-0.82, Z:-0.71 [[ 9.98219149e-01 5.90101463e-02 -8.73694164e-03 2.14451982e+01] [-5.90063369e-02 9.98257367e-01 6.93369333e-04 -8.22542338e-01] [ 8.76263219e-03 -1.76599624e-04 9.99961592e-01 -7.11682675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07240100800001 meters Centerline goodness : 0.969432 Centerline is valid? [True, True] Translation: X:21.48, Y:-0.83, Z:-0.71 [[ 9.98332795e-01 5.70637879e-02 -8.68066357e-03 2.14778178e+01] [-5.70599320e-02 9.98370515e-01 6.91413761e-04 -8.26559634e-01] [ 8.70597325e-03 -1.94942960e-04 9.99962083e-01 -7.12856976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10240100800002 meters Centerline goodness : 0.970128 Centerline is valid? [True, True] Translation: X:21.51, Y:-0.83, Z:-0.71 [[ 9.98366342e-01 5.64132884e-02 -9.06575886e-03 2.15099502e+01] [-5.64090365e-02 9.98407480e-01 7.24228835e-04 -8.30993612e-01] [ 9.09217758e-03 -2.11654971e-04 9.99958643e-01 -7.12277872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13240100800002 meters Centerline goodness : 0.971067 Centerline is valid? [True, True] Translation: X:21.54, Y:-0.84, Z:-0.71 [[ 9.98291088e-01 5.76133667e-02 -9.77768684e-03 2.15418008e+01] [-5.76084614e-02 9.98338947e-01 7.82824672e-04 -8.37468004e-01] [ 9.80654674e-03 -2.18209399e-04 9.99951891e-01 -7.07112827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16240100800002 meters Centerline goodness : 0.974234 Centerline is valid? [True, True] Translation: X:21.57, Y:-0.84, Z:-0.71 [[ 9.98136274e-01 6.01893923e-02 -1.00605900e-02 2.15746066e+01] [-6.01843003e-02 9.98186955e-01 8.08390150e-04 -8.41684399e-01] [ 1.00910062e-02 -2.01393962e-04 9.99949064e-01 -7.05249627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.19240100800002 meters Centerline goodness : 0.974073 Centerline is valid? [True, True] Translation: X:21.61, Y:-0.85, Z:-0.70 [[ 9.97991061e-01 6.24944512e-02 -1.04060523e-02 2.16063025e+01] [-6.24891022e-02 9.98045294e-01 8.38694945e-04 -8.45816426e-01] [ 1.04381253e-02 -1.86745194e-04 9.99945504e-01 -7.04769643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22240100800002 meters Centerline goodness : 0.975474 Centerline is valid? [True, True] Translation: X:21.64, Y:-0.85, Z:-0.71 [[ 9.97609243e-01 6.79945628e-02 -1.23506095e-02 2.16389619e+01] [-6.79874194e-02 9.97685680e-01 9.97813050e-04 -8.49183633e-01] [ 1.23898721e-02 -1.55741455e-04 9.99923230e-01 -7.06408094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.25240100800002 meters Centerline goodness : 0.973189 Centerline is valid? [True, True] Translation: X:21.67, Y:-0.85, Z:-0.71 [[ 9.97380861e-01 7.08444027e-02 -1.45769735e-02 2.16714601e+01] [-7.08347102e-02 9.97487368e-01 1.18079816e-03 -8.50388715e-01] [ 1.46239999e-02 -1.45149788e-04 9.99893053e-01 -7.09422487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28240100800002 meters Centerline goodness : 0.970810 Centerline is valid? [True, True] Translation: X:21.70, Y:-0.85, Z:-0.71 [[ 9.97224524e-01 7.25749711e-02 -1.66169186e-02 2.17028709e+01] [-7.25625632e-02 9.97362950e-01 1.34921248e-03 -8.50965531e-01] [ 1.66710180e-02 -1.39701570e-04 9.99861019e-01 -7.13930030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.31240100800001 meters Centerline goodness : 0.969669 Centerline is valid? [True, True] Translation: X:21.74, Y:-0.85, Z:-0.72 [[ 9.97127527e-01 7.35689133e-02 -1.80086285e-02 2.17357879e+01] [-7.35544168e-02 9.97290126e-01 1.46691194e-03 -8.53696705e-01] [ 1.80677465e-02 -1.38084111e-04 9.99836755e-01 -7.16970902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34240100800001 meters Centerline goodness : 0.970247 Centerline is valid? [True, True] Translation: X:21.77, Y:-0.86, Z:-0.72 [[ 9.97045579e-01 7.44640573e-02 -1.88472234e-02 2.17682668e+01] [-7.44482492e-02 9.97223689e-01 1.53997573e-03 -8.59164866e-01] [ 1.89095705e-02 -1.32283207e-04 9.99821189e-01 -7.16982685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37240100800001 meters Centerline goodness : 0.973508 Centerline is valid? [True, True] Translation: X:21.80, Y:-0.87, Z:-0.71 [[ 9.97088068e-01 7.43289218e-02 -1.70468985e-02 2.17991545e+01] [-7.43158864e-02 9.97233772e-01 1.39775665e-03 -8.69560859e-01] [ 1.71036366e-02 -1.26831108e-04 9.99853714e-01 -7.14214101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40240100800001 meters Centerline goodness : 0.971835 Centerline is valid? [True, True] Translation: X:21.83, Y:-0.88, Z:-0.71 [[ 9.97084882e-01 7.45958550e-02 -1.60373352e-02 2.18303509e+01] [-7.45842892e-02 9.97213841e-01 1.31891604e-03 -8.75044270e-01] [ 1.60910383e-02 -1.18937997e-04 9.99870524e-01 -7.13277578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43240100800001 meters Centerline goodness : 0.975120 Centerline is valid? [True, True] Translation: X:21.86, Y:-0.88, Z:-0.71 [[ 9.97101148e-01 7.47796131e-02 -1.40467133e-02 2.18626128e+01] [-7.47706978e-02 9.97200079e-01 1.15952152e-03 -8.79026558e-01] [ 1.40940922e-02 -1.05877686e-04 9.99900668e-01 -7.14282438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46240100800001 meters Centerline goodness : 0.974491 Centerline is valid? [True, True] Translation: X:21.90, Y:-0.88, Z:-0.71 [[ 9.97047388e-01 7.57423975e-02 -1.26331048e-02 2.18952412e+01] [-7.57352163e-02 9.97127415e-01 1.04657477e-03 -8.82861818e-01] [ 1.26760852e-02 -8.67137131e-05 9.99919651e-01 -7.14804173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49240100800002 meters Centerline goodness : 0.975451 Centerline is valid? [True, True] Translation: X:21.93, Y:-0.89, Z:-0.72 [[ 9.97096389e-01 7.55726397e-02 -9.35776104e-03 2.19271878e+01] [-7.55686591e-02 9.97140297e-01 7.78734723e-04 -8.89735236e-01] [ 9.38985166e-03 -6.93201257e-05 9.99955912e-01 -7.15962472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52240100800002 meters Centerline goodness : 0.976044 Centerline is valid? [True, True] Translation: X:21.96, Y:-0.90, Z:-0.72 [[ 9.97191255e-01 7.44953203e-02 -7.74911630e-03 2.19593514e+01] [-7.44925346e-02 9.97221361e-01 6.47899003e-04 -8.95211465e-01] [ 7.77584975e-03 -6.88279054e-05 9.99969765e-01 -7.16056359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55240100800002 meters Centerline goodness : 0.976247 Centerline is valid? [True, True] Translation: X:21.99, Y:-0.90, Z:-0.72 [[ 9.97321059e-01 7.28812056e-02 -6.24778554e-03 2.19907318e+01] [-7.28793497e-02 9.97340627e-01 5.24493601e-04 -9.00291615e-01] [ 6.26939607e-03 -6.77539667e-05 9.99980345e-01 -7.16378313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58240100800002 meters Centerline goodness : 0.974776 Centerline is valid? [True, True] Translation: X:22.02, Y:-0.91, Z:-0.72 [[ 9.97506153e-01 7.04167840e-02 -4.79079907e-03 2.20236907e+01] [-7.04156532e-02 9.97517655e-01 4.04506567e-04 -9.05428143e-01] [ 4.80739071e-03 -6.61505437e-05 9.99988442e-01 -7.16307672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.61240100800002 meters Centerline goodness : 0.975428 Centerline is valid? [True, True] Translation: X:22.06, Y:-0.91, Z:-0.72 [[ 9.97811135e-01 6.59076477e-02 -5.39638508e-03 2.20553677e+01] [-6.59061441e-02 9.97825722e-01 4.56173507e-04 -9.12460309e-01] [ 5.41471716e-03 -9.95200722e-05 9.99985335e-01 -7.16374818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64240100800002 meters Centerline goodness : 0.974628 Centerline is valid? [True, True] Translation: X:22.09, Y:-0.92, Z:-0.72 [[ 9.97846523e-01 6.51972577e-02 -7.18568266e-03 2.20878835e+01] [-6.51945673e-02 9.97872386e-01 6.08263299e-04 -9.16831372e-01] [ 7.21005139e-03 -1.38485947e-04 9.99973998e-01 -7.17192837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.67240100800001 meters Centerline goodness : 0.975237 Centerline is valid? [True, True] Translation: X:22.12, Y:-0.92, Z:-0.72 [[ 9.97803270e-01 6.56843910e-02 -8.61371230e-03 2.21193045e+01] [-6.56805312e-02 9.97840435e-01 7.30525814e-04 -9.20400613e-01] [ 8.64309457e-03 -1.63167847e-04 9.99962634e-01 -7.18802111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70240100800001 meters Centerline goodness : 0.973371 Centerline is valid? [True, True] Translation: X:22.15, Y:-0.92, Z:-0.72 [[ 9.97639781e-01 6.78782158e-02 -1.03641669e-02 2.21522167e+01] [-6.78727265e-02 9.97693599e-01 8.80862715e-04 -9.24230632e-01] [ 1.04000543e-02 -1.75339423e-04 9.99945903e-01 -7.19160535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73240100800001 meters Centerline goodness : 0.974734 Centerline is valid? [True, True] Translation: X:22.18, Y:-0.93, Z:-0.72 [[ 9.97601567e-01 6.84931067e-02 -9.99041636e-03 2.21846373e+01] [-6.84880075e-02 9.97651576e-01 8.52043411e-04 -9.28701520e-01] [ 1.00253137e-02 -1.65776131e-04 9.99949732e-01 -7.18652436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76240100800001 meters Centerline goodness : 0.973306 Centerline is valid? [True, True] Translation: X:22.22, Y:-0.93, Z:-0.72 [[ 9.97636432e-01 6.80496678e-02 -9.52849637e-03 2.22174327e+01] [-6.80449832e-02 9.97681921e-01 8.15356141e-04 -9.33848928e-01] [ 9.56189328e-03 -1.65062616e-04 9.99954270e-01 -7.18685125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79240100800001 meters Centerline goodness : 0.973948 Centerline is valid? [True, True] Translation: X:22.25, Y:-0.94, Z:-0.72 [[ 9.97656358e-01 6.78278000e-02 -9.01009733e-03 2.22485859e+01] [-6.78235829e-02 9.97697030e-01 7.73129714e-04 -9.39080651e-01] [ 9.04178704e-03 -1.60220691e-04 9.99959109e-01 -7.18318755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82240100800001 meters Centerline goodness : 0.972667 Centerline is valid? [True, True] Translation: X:22.28, Y:-0.94, Z:-0.72 [[ 9.97890859e-01 6.43287605e-02 -8.69737500e-03 2.22807242e+01] [-6.43246740e-02 9.97928743e-01 7.49072788e-04 -9.42484384e-01] [ 8.72754742e-03 -1.88037077e-04 9.99961897e-01 -7.21516519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85240100800002 meters Centerline goodness : 0.971440 Centerline is valid? [True, True] Translation: X:22.31, Y:-0.94, Z:-0.72 [[ 9.97971794e-01 6.30849765e-02 -8.51968044e-03 2.23131827e+01] [-6.30809897e-02 9.98008140e-01 7.36140584e-04 -9.44951894e-01] [ 8.54914984e-03 -1.97217665e-04 9.99963436e-01 -7.24256432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88240100800002 meters Centerline goodness : 0.972390 Centerline is valid? [True, True] Translation: X:22.34, Y:-0.95, Z:-0.73 [[ 9.98014424e-01 6.23815113e-02 -8.70383948e-03 2.23447994e+01] [-6.23773079e-02 9.98052355e-01 7.53830656e-04 -9.47412997e-01] [ 8.73391258e-03 -2.09411792e-04 9.99961837e-01 -7.25329283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.91240100800002 meters Centerline goodness : 0.971973 Centerline is valid? [True, True] Translation: X:22.38, Y:-0.95, Z:-0.73 [[ 9.98015254e-01 6.23026490e-02 -9.16153141e-03 2.23777821e+01] [-6.22979644e-02 9.98057278e-01 7.96102283e-04 -9.51454154e-01] [ 9.19333238e-03 -2.23777464e-04 9.99957715e-01 -7.26399042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94240100800002 meters Centerline goodness : 0.973249 Centerline is valid? [True, True] Translation: X:22.41, Y:-0.96, Z:-0.73 [[ 9.97890244e-01 6.40351993e-02 -1.07030227e-02 2.24105211e+01] [-6.40289249e-02 9.97947611e-01 9.28218247e-04 -9.56821035e-01] [ 1.07404946e-02 -2.40956897e-04 9.99942290e-01 -7.25381406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.97240100800002 meters Centerline goodness : 0.974636 Centerline is valid? [True, True] Translation: X:22.44, Y:-0.96, Z:-0.72 [[ 9.97728535e-01 6.61735234e-02 -1.26029912e-02 2.24422936e+01] [-6.61649293e-02 9.97808096e-01 1.09810704e-03 -9.61613873e-01] [ 1.26480322e-02 -2.61736705e-04 9.99919976e-01 -7.24186290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00240100800002 meters Centerline goodness : 0.974776 Centerline is valid? [True, True] Translation: X:22.48, Y:-0.97, Z:-0.72 [[ 9.97367932e-01 7.08788440e-02 -1.52773573e-02 2.24752090e+01] [-7.08667870e-02 9.97484902e-01 1.32980810e-03 -9.67652880e-01] [ 1.53331885e-02 -2.43650723e-04 9.99882410e-01 -7.22253147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.03240100800002 meters Centerline goodness : 0.976640 Centerline is valid? [True, True] Translation: X:22.51, Y:-0.97, Z:-0.72 [[ 9.97180237e-01 7.35476866e-02 -1.49101400e-02 2.25069357e+01] [-7.35364114e-02 9.97291681e-01 1.30379812e-03 -9.69986234e-01] [ 1.49656499e-02 -2.03683532e-04 9.99887988e-01 -7.23665195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06240100800001 meters Centerline goodness : 0.973496 Centerline is valid? [True, True] Translation: X:22.54, Y:-0.97, Z:-0.73 [[ 9.96997424e-01 7.68101592e-02 -9.81513935e-03 2.25400605e+01] [-7.68053896e-02 9.97045730e-01 8.62512851e-04 -9.71214222e-01] [ 9.85239253e-03 -1.06067489e-04 9.99951458e-01 -7.28198512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09240100800001 meters Centerline goodness : 0.976156 Centerline is valid? [True, True] Translation: X:22.57, Y:-0.98, Z:-0.73 [[ 9.97135867e-01 7.53565489e-02 -6.43839644e-03 2.25716907e+01] [-7.53544603e-02 9.97156650e-01 5.66722175e-04 -9.75051122e-01] [ 6.46279605e-03 -7.99371190e-05 9.99979113e-01 -7.28064387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12240100800001 meters Centerline goodness : 0.975015 Centerline is valid? [True, True] Translation: X:22.60, Y:-0.98, Z:-0.73 [[ 9.97271751e-01 7.37447760e-02 -3.28077045e-03 2.26030905e+01] [-7.37442136e-02 9.97277146e-01 2.92232050e-04 -9.77753804e-01] [ 3.29338798e-03 -4.94969313e-05 9.99994576e-01 -7.29135834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15240100800001 meters Centerline goodness : 0.976786 Centerline is valid? [True, True] Translation: X:22.64, Y:-0.98, Z:-0.73 [[ 9.97277658e-01 7.36706620e-02 -3.14753835e-03 2.26359281e+01] [-7.36701401e-02 9.97282624e-01 2.81598690e-04 -9.80926547e-01] [ 3.15973086e-03 -4.89524913e-05 9.99995007e-01 -7.28257748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18240100800001 meters Centerline goodness : 0.977218 Centerline is valid? [True, True] Translation: X:22.67, Y:-0.98, Z:-0.73 [[ 9.97151304e-01 7.54003442e-02 -2.01616933e-03 2.26680621e+01] [-7.54001301e-02 9.97153342e-01 1.82100018e-04 -9.84786678e-01] [ 2.02416039e-03 -2.95618404e-05 9.99997951e-01 -7.27225765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21240100800001 meters Centerline goodness : 0.979183 Centerline is valid? [True, True] Translation: X:22.70, Y:-0.99, Z:-0.73 [[ 9.96819113e-01 7.96950652e-02 5.93167539e-04 2.27005710e+01] [-7.96950507e-02 9.96819290e-01 -4.81882521e-05 -9.90142500e-01] [-5.95121211e-04 7.62453692e-07 9.99999823e-01 -7.25183945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24240100800002 meters Centerline goodness : 0.978688 Centerline is valid? [True, True] Translation: X:22.73, Y:-0.99, Z:-0.72 [[ 9.96639800e-01 8.18794550e-02 2.20531063e-03 2.27334723e+01] [-8.18792313e-02 9.96642240e-01 -1.91679774e-04 -9.94884911e-01] [-2.21360036e-03 1.04665528e-05 9.99997550e-01 -7.24542071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27240100800002 meters Centerline goodness : 0.978960 Centerline is valid? [True, True] Translation: X:22.76, Y:-1.00, Z:-0.73 [[ 9.96510298e-01 8.34055901e-02 3.27615119e-03 2.27647875e+01] [-8.34050938e-02 9.96515683e-01 -2.88041472e-04 -9.98716765e-01] [-3.28876031e-03 1.37885957e-05 9.99994592e-01 -7.25141265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30240100800002 meters Centerline goodness : 0.978331 Centerline is valid? [True, True] Translation: X:22.80, Y:-1.00, Z:-0.73 [[ 9.96483715e-01 8.36083799e-02 5.46305572e-03 2.27967538e+01] [-8.36069802e-02 9.96498689e-01 -4.84487943e-04 -1.00178064e+00] [-5.48443512e-03 2.60347534e-05 9.99984960e-01 -7.26307527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33240100800002 meters Centerline goodness : 0.980412 Centerline is valid? [True, True] Translation: X:22.83, Y:-1.00, Z:-0.73 [[ 9.96470004e-01 8.36627628e-02 6.93349617e-03 2.28288658e+01] [-8.36604887e-02 9.96494125e-01 -6.17880897e-04 -1.00423764e+00] [-6.96088182e-03 3.56401025e-05 9.99975772e-01 -7.28616067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36240100800002 meters Centerline goodness : 0.981323 Centerline is valid? [True, True] Translation: X:22.86, Y:-1.01, Z:-0.73 [[ 9.96473563e-01 8.36878359e-02 6.06495715e-03 2.28619882e+01] [-8.36860920e-02 9.96492020e-01 -5.41190181e-04 -1.00695196e+00] [-6.08897243e-03 3.17291459e-05 9.99981462e-01 -7.30444414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.39240100800002 meters Centerline goodness : 0.981899 Centerline is valid? [True, True] Translation: X:22.89, Y:-1.01, Z:-0.73 [[ 9.96438328e-01 8.42224995e-02 4.15087228e-03 2.28944321e+01] [-8.42216883e-02 9.96446973e-01 -3.70144946e-04 -1.00888577e+00] [-4.16729865e-03 1.92331390e-05 9.99991317e-01 -7.32704103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42240100800001 meters Centerline goodness : 0.981326 Centerline is valid? [True, True] Translation: X:22.93, Y:-1.01, Z:-0.74 [[ 9.96329032e-01 8.55944842e-02 1.42952152e-03 2.29272710e+01] [-8.55943898e-02 9.96330058e-01 -1.27219018e-04 -1.01120885e+00] [-1.43516450e-03 4.39297939e-06 9.99998970e-01 -7.35215909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.45240100800001 meters Centerline goodness : 0.981359 Centerline is valid? [True, True] Translation: X:22.96, Y:-1.01, Z:-0.74 [[ 9.96154859e-01 8.75943686e-02 -1.65023262e-03 2.29591731e+01] [-8.75942344e-02 9.96156226e-01 1.53580390e-04 -1.01232572e+00] [ 1.65734227e-03 -8.43898904e-06 9.99998627e-01 -7.38136961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48240100800001 meters Centerline goodness : 0.983170 Centerline is valid? [True, True] Translation: X:22.99, Y:-1.02, Z:-0.74 [[ 9.95966665e-01 8.96576076e-02 -3.45180108e-03 2.29921907e+01] [-8.96570444e-02 9.95972647e-01 3.17889642e-04 -1.01646491e+00] [ 3.46640068e-03 -7.12920432e-06 9.99993992e-01 -7.37896611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51240100800001 meters Centerline goodness : 0.982725 Centerline is valid? [True, True] Translation: X:23.02, Y:-1.02, Z:-0.74 [[ 9.95839969e-01 9.09837080e-02 -4.97206712e-03 2.30245422e+01] [-9.09825583e-02 9.95852381e-01 4.57385637e-04 -1.02111808e+00] [ 4.99305952e-03 -3.11151195e-06 9.99987535e-01 -7.36823282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54240100800001 meters Centerline goodness : 0.983730 Centerline is valid? [True, True] Translation: X:23.06, Y:-1.02, Z:-0.74 [[ 9.95754167e-01 9.18723700e-02 -5.75379158e-03 2.30576384e+01] [-9.18708401e-02 9.95770791e-01 5.30201831e-04 -1.02492495e+00] [ 5.77816849e-03 6.54984031e-07 9.99983306e-01 -7.36013148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57240100800001 meters Centerline goodness : 0.982498 Centerline is valid? [True, True] Translation: X:23.09, Y:-1.03, Z:-0.74 [[ 9.95724582e-01 9.22419949e-02 -4.89602462e-03 2.30905518e+01] [-9.22408819e-02 9.95736619e-01 4.53124351e-04 -1.02503312e+00] [ 4.91694810e-03 4.26573630e-07 9.99987912e-01 -7.39252260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60240100800002 meters Centerline goodness : 0.980906 Centerline is valid? [True, True] Translation: X:23.12, Y:-1.03, Z:-0.74 [[ 9.95738425e-01 9.21600045e-02 -3.39436963e-03 2.31233945e+01] [-9.21594614e-02 9.95744211e-01 3.16398064e-04 -1.02513182e+00] [ 3.40908316e-03 -2.22643303e-06 9.99994189e-01 -7.41504491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63240100800002 meters Centerline goodness : 0.979880 Centerline is valid? [True, True] Translation: X:23.15, Y:-1.03, Z:-0.74 [[ 9.95721639e-01 9.24007261e-02 -7.23151011e-04 2.31548051e+01] [-9.24006991e-02 9.95721902e-01 7.07121137e-05 -1.02694581e+00] [ 7.26591151e-04 -3.58992280e-06 9.99999736e-01 -7.43076613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66240100800002 meters Centerline goodness : 0.980401 Centerline is valid? [True, True] Translation: X:23.19, Y:-1.03, Z:-0.74 [[ 9.95743740e-01 9.21642895e-02 3.85312067e-04 2.31870381e+01] [-9.21642843e-02 9.95743814e-01 -3.11896493e-05 -1.03230612e+00] [-3.86546679e-04 -4.45511291e-06 9.99999925e-01 -7.41628063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.69240100800002 meters Centerline goodness : 0.980401 Centerline is valid? [True, True] Translation: X:23.22, Y:-1.04, Z:-0.74 [[ 9.95732524e-01 9.22853807e-02 3.85080481e-04 2.32202981e+01] [-9.22853746e-02 9.95732599e-01 -3.36954024e-05 -1.03551227e+00] [-3.86546781e-04 -1.98568833e-06 9.99999925e-01 -7.42167706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72240100800002 meters Centerline goodness : 0.979859 Centerline is valid? [True, True] Translation: X:23.25, Y:-1.04, Z:-0.74 [[ 9.96376463e-01 8.50272981e-02 2.07415347e-03 2.32514718e+01] [-8.50270900e-02 9.96378622e-01 -1.88432752e-04 -1.04355877e+00] [-2.08266410e-03 1.13907259e-05 9.99997831e-01 -7.39150406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.75240100800002 meters Centerline goodness : 0.979859 Centerline is valid? [True, True] Translation: X:23.28, Y:-1.05, Z:-0.74 [[ 9.96366512e-01 8.51438391e-02 2.07392216e-03 2.32847337e+01] [-8.51436261e-02 9.96368670e-01 -1.90924944e-04 -1.04677797e+00] [-2.08264715e-03 1.36499675e-05 9.99997831e-01 -7.39689912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78240100800002 meters Centerline goodness : 0.977348 Centerline is valid? [True, True] Translation: X:23.32, Y:-1.05, Z:-0.74 [[ 9.96745001e-01 8.05357255e-02 3.66054491e-03 2.33170518e+01] [-8.05350309e-02 9.96751722e-01 -3.36992654e-04 -1.05123866e+00] [-3.67579439e-03 4.10936456e-05 9.99993243e-01 -7.40475490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.81240100800001 meters Centerline goodness : 0.975309 Centerline is valid? [True, True] Translation: X:23.35, Y:-1.05, Z:-0.75 [[ 9.97417173e-01 7.16528285e-02 4.98539960e-03 2.33488393e+01] [-7.16514135e-02 9.97429627e-01 -4.62071903e-04 -1.05253058e+00] [-5.00569403e-03 1.03667523e-04 9.99987466e-01 -7.47047476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84240100800001 meters Centerline goodness : 0.974976 Centerline is valid? [True, True] Translation: X:23.38, Y:-1.06, Z:-0.75 [[ 9.97633645e-01 6.85690348e-02 5.03971252e-03 2.33814191e+01] [-6.85675439e-02 9.97646367e-01 -4.68230705e-04 -1.05523862e+00] [-5.05995701e-03 1.21561995e-04 9.99987191e-01 -7.49480921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87240100800001 meters Centerline goodness : 0.975461 Centerline is valid? [True, True] Translation: X:23.41, Y:-1.06, Z:-0.75 [[ 9.97788706e-01 6.62277190e-02 5.62027633e-03 2.34126403e+01] [-6.62258153e-02 9.97804523e-01 -5.24366292e-04 -1.05892563e+00] [-5.64266473e-03 1.50999382e-04 9.99984069e-01 -7.50191676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90240100800001 meters Centerline goodness : 0.975304 Centerline is valid? [True, True] Translation: X:23.44, Y:-1.06, Z:-0.75 [[ 9.97893650e-01 6.46245811e-02 5.65041547e-03 2.34449632e+01] [-6.46226242e-02 9.97909634e-01 -5.28412279e-04 -1.06440391e+00] [-5.67275246e-03 1.62154582e-04 9.99983897e-01 -7.49269556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93240100800001 meters Centerline goodness : 0.976959 Centerline is valid? [True, True] Translation: X:23.48, Y:-1.07, Z:-0.75 [[ 9.98092068e-01 6.15950485e-02 4.27478220e-03 2.34767593e+01] [-6.15938993e-02 9.98101213e-01 -4.00085289e-04 -1.06860374e+00] [-4.29130858e-03 1.36021449e-04 9.99990783e-01 -7.47680160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96240100800001 meters Centerline goodness : 0.974411 Centerline is valid? [True, True] Translation: X:23.51, Y:-1.07, Z:-0.75 [[ 9.98109194e-01 6.13709410e-02 3.41229045e-03 2.35087997e+01] [-6.13702071e-02 9.98115021e-01 -3.19459794e-04 -1.07119051e+00] [-3.42546390e-03 1.09442787e-04 9.99994127e-01 -7.48774847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99240100800002 meters Centerline goodness : 0.973975 Centerline is valid? [True, True] Translation: X:23.54, Y:-1.07, Z:-0.75 [[ 9.98113616e-01 6.13338899e-02 2.71356659e-03 2.35413486e+01] [-6.13334236e-02 9.98117301e-01 -2.54780463e-04 -1.07234495e+00] [-2.72408444e-03 8.78675200e-05 9.99996286e-01 -7.51873978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02240100800002 meters Centerline goodness : 0.970697 Centerline is valid? [True, True] Translation: X:23.57, Y:-1.07, Z:-0.75 [[ 9.98057833e-01 6.22770776e-02 1.45884736e-03 2.35742136e+01] [-6.22769471e-02 9.98058898e-01 -1.34743283e-04 -1.07380878e+00] [-1.46440701e-03 4.36290292e-05 9.99998927e-01 -7.54743245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.05240100800002 meters Centerline goodness : 0.973549 Centerline is valid? [True, True] Translation: X:23.61, Y:-1.08, Z:-0.76 [[ 9.97733589e-01 6.72873575e-02 3.10337728e-04 2.36074061e+01] [-6.72873521e-02 9.97733638e-01 -2.77560729e-05 -1.07502701e+00] [-3.11502023e-04 6.81136231e-06 9.99999951e-01 -7.56601408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08240100800002 meters Centerline goodness : 0.971730 Centerline is valid? [True, True] Translation: X:23.64, Y:-1.08, Z:-0.76 [[ 9.97431399e-01 7.16274573e-02 3.34394344e-04 2.36399116e+01] [-7.16274521e-02 9.97431455e-01 -2.76523927e-05 -1.07791302e+00] [-3.35516107e-04 3.62954996e-06 9.99999944e-01 -7.56163786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.11240100800002 meters Centerline goodness : 0.973523 Centerline is valid? [True, True] Translation: X:23.67, Y:-1.08, Z:-0.75 [[ 9.96900137e-01 7.86772971e-02 2.63279091e-05 2.36722555e+01] [-7.86772972e-02 9.96900137e-01 1.81690636e-06 -1.08070765e+00] [-2.61033470e-05 -3.88268293e-06 1.00000000e+00 -7.54434834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14240100800002 meters Centerline goodness : 0.972606 Centerline is valid? [True, True] Translation: X:23.71, Y:-1.08, Z:-0.75 [[ 9.95887480e-01 9.04933496e-02 4.36821165e-03 2.37054726e+01] [-9.04923973e-02 9.95897060e-01 -4.15571661e-04 -1.08081885e+00] [-4.38789561e-03 1.85726705e-05 9.99990373e-01 -7.53987586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.17240100800002 meters Centerline goodness : 0.971882 Centerline is valid? [True, True] Translation: X:23.74, Y:-1.08, Z:-0.76 [[ 9.95446984e-01 9.51029186e-02 6.38260885e-03 2.37384500e+01] [-9.51009561e-02 9.95467445e-01 -6.10960760e-04 -1.08136107e+00] [-6.41178347e-03 1.18684239e-06 9.99979444e-01 -7.55572408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20240100800001 meters Centerline goodness : 0.970418 Centerline is valid? [True, True] Translation: X:23.77, Y:-1.08, Z:-0.76 [[ 9.95194045e-01 9.75808466e-02 8.17256599e-03 2.37711605e+01] [-9.75776844e-02 9.95227601e-01 -7.85731906e-04 -1.08081192e+00] [-8.21023563e-03 -1.55043515e-05 9.99966295e-01 -7.59448303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23240100800001 meters Centerline goodness : 0.966344 Centerline is valid? [True, True] Translation: X:23.80, Y:-1.08, Z:-0.76 [[ 9.95025285e-01 9.93237371e-02 7.71212764e-03 2.38033278e+01] [-9.93209579e-02 9.95055172e-01 -7.43477838e-04 -1.08076615e+00] [-7.74783749e-03 -2.61966565e-05 9.99969985e-01 -7.62517974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26240100800001 meters Centerline goodness : 0.961535 Centerline is valid? [True, True] Translation: X:23.84, Y:-1.08, Z:-0.77 [[ 9.95069148e-01 9.89058843e-02 7.41732440e-03 2.38362182e+01] [-9.89032901e-02 9.95096792e-01 -7.16636176e-04 -1.08227737e+00] [-7.45183525e-03 -2.04952385e-05 9.99972234e-01 -7.66398452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29240100800001 meters Centerline goodness : 0.963973 Centerline is valid? [True, True] Translation: X:23.87, Y:-1.09, Z:-0.76 [[ 9.95638808e-01 9.31686370e-02 4.79260381e-03 2.38690708e+01] [-9.31674887e-02 9.95650343e-01 -4.62789666e-04 -1.08810547e+00] [-4.81487511e-03 1.42564898e-05 9.99988408e-01 -7.64980745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32240100800001 meters Centerline goodness : 0.961046 Centerline is valid? [True, True] Translation: X:23.90, Y:-1.09, Z:-0.76 [[ 9.96135252e-01 8.76953856e-02 4.90709241e-03 2.39011345e+01] [-8.76941084e-02 9.96147337e-01 -4.75235565e-04 -1.09419236e+00] [-4.92986300e-03 4.30758061e-05 9.99987847e-01 -7.63442665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35240100800002 meters Centerline goodness : 0.964422 Centerline is valid? [True, True] Translation: X:23.93, Y:-1.10, Z:-0.76 [[ 9.96614336e-01 8.20269131e-02 5.60808677e-03 2.39330581e+01] [-8.20251418e-02 9.96630111e-01 -5.45522858e-04 -1.10034435e+00] [-5.63393570e-03 8.36717889e-05 9.99984126e-01 -7.61438747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38240100800002 meters Centerline goodness : 0.962207 Centerline is valid? [True, True] Translation: X:23.97, Y:-1.11, Z:-0.76 [[ 9.97117037e-01 7.56301762e-02 6.13926556e-03 2.39655495e+01] [-7.56279210e-02 9.97135928e-01 -5.98997680e-04 -1.10576751e+00] [-6.16698456e-03 1.32970901e-04 9.99980975e-01 -7.61003465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.41240100800002 meters Centerline goodness : 0.961378 Centerline is valid? [True, True] Translation: X:24.00, Y:-1.11, Z:-0.76 [[ 9.97548533e-01 6.95377401e-02 7.83749066e-03 2.39973242e+01] [-6.95338443e-02 9.97579297e-01 -7.68811340e-04 -1.10977054e+00] [-7.87197982e-03 2.21955770e-04 9.99968991e-01 -7.62459532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44240100800002 meters Centerline goodness : 0.962228 Centerline is valid? [True, True] Translation: X:24.03, Y:-1.11, Z:-0.77 [[ 9.98233374e-01 5.83000196e-02 1.14559182e-02 2.40290797e+01] [-5.82909242e-02 9.98299003e-01 -1.12653274e-03 -1.11156702e+00] [-1.15021086e-02 4.56766522e-04 9.99933744e-01 -7.65737237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.47240100800002 meters Centerline goodness : 0.957716 Centerline is valid? [True, True] Translation: X:24.06, Y:-1.11, Z:-0.77 [[ 9.98381155e-01 5.57905414e-02 1.10672582e-02 2.40616938e+01] [-5.57818706e-02 9.98442383e-01 -1.09084629e-03 -1.11461061e+00] [-1.11108786e-02 4.71728008e-04 9.99938161e-01 -7.66553381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50240100800002 meters Centerline goodness : 0.957209 Centerline is valid? [True, True] Translation: X:24.09, Y:-1.12, Z:-0.77 [[ 9.98483691e-01 5.38374340e-02 1.14825735e-02 2.40942942e+01] [-5.38279361e-02 9.98549581e-01 -1.13483972e-03 -1.11703929e+00] [-1.15270158e-02 5.15035722e-04 9.99933429e-01 -7.67776278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.53240100800002 meters Centerline goodness : 0.957737 Centerline is valid? [True, True] Translation: X:24.13, Y:-1.12, Z:-0.76 [[ 9.98465569e-01 5.44042124e-02 1.03290717e-02 2.41268142e+01] [-5.43965339e-02 9.98518888e-01 -1.02308053e-03 -1.12099350e+00] [-1.03694330e-02 4.59644985e-04 9.99946130e-01 -7.64909384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56240100800001 meters Centerline goodness : 0.958599 Centerline is valid? [True, True] Translation: X:24.16, Y:-1.12, Z:-0.76 [[ 9.98388336e-01 5.58371825e-02 1.01459279e-02 2.41599676e+01] [-5.58298209e-02 9.98439791e-01 -1.00757345e-03 -1.12387391e+00] [-1.01863582e-02 4.39504238e-04 9.99948021e-01 -7.64276208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59240100800001 meters Centerline goodness : 0.959106 Centerline is valid? [True, True] Translation: X:24.19, Y:-1.13, Z:-0.76 [[ 9.98305592e-01 5.76019291e-02 8.24395534e-03 2.41918040e+01] [-5.75971109e-02 9.98339571e-01 -8.20880271e-04 -1.12545876e+00] [-8.27755112e-03 3.44661354e-04 9.99965681e-01 -7.64735522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62240100800001 meters Centerline goodness : 0.956424 Centerline is valid? [True, True] Translation: X:24.22, Y:-1.13, Z:-0.77 [[ 9.98185129e-01 5.99515203e-02 5.68014435e-03 2.42235758e+01] [-5.99492748e-02 9.98201265e-01 -5.64908099e-04 -1.12562684e+00] [-5.70379437e-03 2.23362329e-04 9.99983708e-01 -7.67144439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65240100800001 meters Centerline goodness : 0.955084 Centerline is valid? [True, True] Translation: X:24.26, Y:-1.12, Z:-0.77 [[ 9.97828802e-01 6.58369762e-02 -1.78156524e-03 2.42569611e+01] [-6.58367542e-02 9.97830391e-01 1.83041520e-04 -1.11852118e+00] [ 1.78975084e-03 -6.53516272e-05 9.99998396e-01 -7.72851753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68240100800001 meters Centerline goodness : 0.953763 Centerline is valid? [True, True] Translation: X:24.29, Y:-1.12, Z:-0.78 [[ 9.97544373e-01 6.98697720e-02 -4.84139845e-03 2.42894426e+01] [-6.98682104e-02 9.97556110e-01 4.91129908e-04 -1.11778534e+00] [ 4.86388174e-03 -1.51664030e-04 9.99988160e-01 -7.75070775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71240100800001 meters Centerline goodness : 0.951480 Centerline is valid? [True, True] Translation: X:24.32, Y:-1.12, Z:-0.78 [[ 9.97310002e-01 7.29471439e-02 -7.17447926e-03 2.43228397e+01] [-7.29437914e-02 9.97335788e-01 7.28190968e-04 -1.11740660e+00] [ 7.20848437e-03 -2.02898418e-04 9.99973998e-01 -7.76011807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74240100800002 meters Centerline goodness : 0.947573 Centerline is valid? [True, False] Translation: X:24.32, Y:-1.12, Z:-0.77 [[ 9.97049722e-01 7.63552719e-02 -7.85653271e-03 2.43247736e+01] [-7.63180019e-02 9.97071293e-01 4.93947952e-03 -1.11635814e+00] [ 8.21067853e-03 -4.32531180e-03 9.99956937e-01 -7.74240228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77240100800002 meters Centerline goodness : 0.949827 Centerline is valid? [False, False] Translation: X:24.32, Y:-1.11, Z:-0.77 [[ 9.96972360e-01 7.73856406e-02 -7.58794043e-03 2.43213641e+01] [-7.73409326e-02 9.96986537e-01 6.01872852e-03 -1.11101556e+00] [ 8.03083762e-03 -5.41364759e-03 9.99953098e-01 -7.68649694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80240100800002 meters Centerline goodness : 0.947144 Centerline is valid? [False, False] Translation: X:24.32, Y:-1.11, Z:-0.77 [[ 9.97159499e-01 7.49764097e-02 -7.17433459e-03 2.43193944e+01] [-7.49532133e-02 9.97181085e-01 3.44964507e-03 -1.10699493e+00] [ 7.41275275e-03 -2.90210692e-03 9.99968314e-01 -7.66908037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83240100800002 meters Centerline goodness : 0.946966 Centerline is valid? [False, False] Translation: X:24.32, Y:-1.11, Z:-0.77 [[ 9.97231586e-01 7.39320562e-02 -7.95074319e-03 2.43212921e+01] [-7.39043818e-02 9.97258392e-01 3.72036444e-03 -1.10629634e+00] [ 8.20399956e-03 -3.12247018e-03 9.99961472e-01 -7.65092854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86240100800002 meters Centerline goodness : 0.948336 Centerline is valid? [False, False] Translation: X:24.33, Y:-1.11, Z:-0.76 [[ 9.97294136e-01 7.29431580e-02 -9.14882667e-03 2.43301072e+01] [-7.28507210e-02 9.97292116e-01 1.00602493e-02 -1.10813219e+00] [ 9.85787906e-03 -9.36652902e-03 9.99907541e-01 -7.59379262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.89240100800002 meters Centerline goodness : 0.946400 Centerline is valid? [False, False] Translation: X:24.33, Y:-1.11, Z:-0.76 [[ 9.97381035e-01 7.16009102e-02 -1.02167144e-02 2.43333156e+01] [-7.15019801e-02 9.97392892e-01 9.74090087e-03 -1.10671643e+00] [ 1.08875357e-02 -8.98487448e-03 9.99900362e-01 -7.58942449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92240100800002 meters Centerline goodness : 0.944828 Centerline is valid? [False, False] Translation: X:24.34, Y:-1.10, Z:-0.76 [[ 9.97474226e-01 7.01369892e-02 -1.12237159e-02 2.43365801e+01] [-7.00499088e-02 9.97511627e-01 7.97273463e-03 -1.09998062e+00] [ 1.17549707e-02 -7.16637703e-03 9.99905227e-01 -7.59588666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.95240100800001 meters Centerline goodness : 0.941766 Centerline is valid? [False, False] Translation: X:24.34, Y:-1.10, Z:-0.76 [[ 9.97498332e-01 6.97107917e-02 -1.17252982e-02 2.43378372e+01] [-6.96315750e-02 9.97547975e-01 7.03429843e-03 -1.09563558e+00] [ 1.21869140e-02 -6.20024997e-03 9.99906514e-01 -7.59732013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98240100800001 meters Centerline goodness : 0.942723 Centerline is valid? [False, False] Translation: X:24.33, Y:-1.09, Z:-0.75 [[ 9.97558983e-01 6.85402972e-02 -1.33529923e-02 2.43325034e+01] [-6.81967898e-02 9.97366696e-01 2.46753281e-02 -1.09481504e+00] [ 1.50090842e-02 -2.37044640e-02 9.99606335e-01 -7.50133381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01240100800001 meters Centerline goodness : 0.938165 Centerline is valid? [False, False] Translation: X:24.33, Y:-1.09, Z:-0.75 [[ 9.97540867e-01 6.87492736e-02 -1.36292435e-02 2.43320009e+01] [-6.84143741e-02 9.97375929e-01 2.36797200e-02 -1.08836698e+00] [ 1.52214430e-02 -2.26890523e-02 9.99626688e-01 -7.49068426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04240100800001 meters Centerline goodness : 0.937932 Centerline is valid? [False, False] Translation: X:24.30, Y:-1.08, Z:-0.74 [[ 9.97995549e-01 6.30112462e-02 -5.87092094e-03 2.43041154e+01] [-6.27194708e-02 9.97190426e-01 4.09575714e-02 -1.08484710e+00] [ 8.43521377e-03 -4.05072529e-02 9.99143638e-01 -7.39800692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07240100800001 meters Centerline goodness : 0.937598 Centerline is valid? [False, False] Translation: X:24.28, Y:-1.08, Z:-0.74 [[ 9.98344050e-01 5.75063634e-02 -1.47522918e-03 2.42799738e+01] [-5.74097813e-02 9.97636142e-01 3.77656599e-02 -1.07510831e+00] [ 3.64350772e-03 -3.76184293e-02 9.99285534e-01 -7.41880111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10240100800002 meters Centerline goodness : 0.937540 Centerline is valid? [False, False] Translation: X:24.25, Y:-1.06, Z:-0.75 [[ 9.98642373e-01 5.20305674e-02 2.49611936e-03 2.42538180e+01] [-5.20845984e-02 9.98099548e-01 3.29315416e-02 -1.06475631e+00] [-7.77928809e-04 -3.30168422e-02 9.99454493e-01 -7.45001102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13240100800002 meters Centerline goodness : 0.936896 Centerline is valid? [False, False] Translation: X:24.23, Y:-1.06, Z:-0.75 [[ 9.98885547e-01 4.68416709e-02 5.78981280e-03 2.42286346e+01] [-4.69903485e-02 9.98475133e-01 2.89709649e-02 -1.05529235e+00] [-4.42393570e-03 -2.92107434e-02 9.99563485e-01 -7.48409432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16240100800002 meters Centerline goodness : 0.933859 Centerline is valid? [False, False] Translation: X:24.20, Y:-1.04, Z:-0.75 [[ 9.99146894e-01 4.04180805e-02 8.47718300e-03 2.42047818e+01] [-4.06004946e-02 9.98920281e-01 2.25803485e-02 -1.04147525e+00] [-7.55537568e-03 -2.29052629e-02 9.99709090e-01 -7.53418697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.19240100800002 meters Centerline goodness : 0.932883 Centerline is valid? [False, False] Translation: X:24.20, Y:-1.03, Z:-0.76 [[ 9.99285699e-01 3.67904187e-02 8.63462135e-03 2.42045788e+01] [-3.69270350e-02 9.99186077e-01 1.62350919e-02 -1.03407870e+00] [-8.03029760e-03 -1.65423461e-02 9.99830918e-01 -7.56603922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22240100800002 meters Centerline goodness : 0.931569 Centerline is valid? [False, False] Translation: X:24.18, Y:-1.02, Z:-0.76 [[ 9.99406295e-01 3.34007954e-02 8.45243029e-03 2.41836344e+01] [-3.35195846e-02 9.99335385e-01 1.43257213e-02 -1.02410281e+00] [-7.96832219e-03 -1.46005380e-02 9.99861655e-01 -7.60223665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.25240100800002 meters Centerline goodness : 0.932773 Centerline is valid? [False, False] Translation: X:24.18, Y:-1.01, Z:-0.75 [[ 9.99434622e-01 3.34430669e-02 -3.46377205e-03 2.41825758e+01] [-3.33592917e-02 9.99202723e-01 2.19334582e-02 -1.00843948e+00] [ 4.19453257e-03 -2.18055085e-02 9.99753432e-01 -7.50635558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28240100800002 meters Centerline goodness : 0.932801 Centerline is valid? [False, False] Translation: X:24.18, Y:-1.00, Z:-0.74 [[ 9.99366407e-01 3.11583420e-02 -1.72029635e-02 2.41839057e+01] [-3.07239366e-02 9.99216123e-01 2.49635773e-02 -9.98215213e-01] [ 1.79673022e-02 -2.44192178e-02 9.99540333e-01 -7.41322311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.31240100800001 meters Centerline goodness : 0.934893 Centerline is valid? [False, False] Translation: X:24.19, Y:-0.99, Z:-0.74 [[ 9.99260174e-01 3.42914590e-02 -1.74126804e-02 2.41851448e+01] [-3.38405703e-02 9.99100338e-01 2.55603445e-02 -9.92990706e-01] [ 1.82735163e-02 -2.49521792e-02 9.99521619e-01 -7.41719886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34240100800001 meters Centerline goodness : 0.935780 Centerline is valid? [False, False] Translation: X:24.18, Y:-0.99, Z:-0.74 [[ 9.99188614e-01 3.64633534e-02 -1.71037255e-02 2.41836613e+01] [-3.59927534e-02 9.98985640e-01 2.70594263e-02 -9.87972728e-01] [ 1.80730536e-02 -2.64218604e-02 9.99487494e-01 -7.39504402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37240100800001 meters Centerline goodness : 0.934480 Centerline is valid? [False, False] Translation: X:24.18, Y:-0.98, Z:-0.74 [[ 9.99205193e-01 3.62052233e-02 -1.66782710e-02 2.41823399e+01] [-3.57356015e-02 9.98978866e-01 2.76440176e-02 -9.82553629e-01] [ 1.76620981e-02 -2.70260379e-02 9.99478686e-01 -7.38267804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40240100800001 meters Centerline goodness : 0.937460 Centerline is valid? [False, False] Translation: X:24.18, Y:-0.98, Z:-0.74 [[ 9.99283128e-01 3.46328278e-02 -1.52904094e-02 2.41804074e+01] [-3.41912785e-02 9.99015918e-01 2.82515946e-02 -9.77073708e-01] [ 1.62537950e-02 -2.77085432e-02 9.99483892e-01 -7.38858498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43240100800001 meters Centerline goodness : 0.935578 Centerline is valid? [False, False] Translation: X:24.17, Y:-0.97, Z:-0.74 [[ 9.99410789e-01 3.25135939e-02 -1.09972897e-02 2.41748199e+01] [-3.21053464e-02 9.98855318e-01 3.54584286e-02 -9.66864325e-01] [ 1.21375823e-02 -3.50844643e-02 9.99310642e-01 -7.42465567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46240100800001 meters Centerline goodness : 0.932694 Centerline is valid? [False, False] Translation: X:24.17, Y:-0.96, Z:-0.74 [[ 9.99413034e-01 3.30033827e-02 -9.18503601e-03 2.41722901e+01] [-3.26067255e-02 9.98650593e-01 4.04202278e-02 -9.61902666e-01] [ 1.05066459e-02 -4.00970085e-02 9.99140551e-01 -7.43595617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49240100800002 meters Centerline goodness : 0.930852 Centerline is valid? [False, False] Translation: X:24.17, Y:-0.96, Z:-0.74 [[ 9.99371354e-01 3.43408002e-02 -8.80939764e-03 2.41723521e+01] [-3.39401369e-02 9.98533158e-01 4.21853066e-02 -9.56940350e-01] [ 1.02451528e-02 -4.18597948e-02 9.99070966e-01 -7.44350684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52240100800002 meters Centerline goodness : 0.930273 Centerline is valid? [False, False] Translation: X:24.17, Y:-0.94, Z:-0.74 [[ 9.99176618e-01 3.95371739e-02 -9.10487004e-03 2.41698036e+01] [-3.91169813e-02 9.98332648e-01 4.24474400e-02 -9.44379766e-01] [ 1.07679408e-02 -4.20563345e-02 9.99057214e-01 -7.38016078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.55240100800002 meters Centerline goodness : 0.926383 Centerline is valid? [False, False] Translation: X:24.17, Y:-0.94, Z:-0.73 [[ 9.98990799e-01 4.38486821e-02 -9.73017088e-03 2.41690642e+01] [-4.33951251e-02 9.98143087e-01 4.27462404e-02 -9.36921083e-01] [ 1.15864691e-02 -4.22808589e-02 9.99038579e-01 -7.33694722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58240100800002 meters Centerline goodness : 0.925049 Centerline is valid? [False, False] Translation: X:24.17, Y:-0.93, Z:-0.73 [[ 9.98811437e-01 4.24146330e-02 -2.40148235e-02 2.41706321e+01] [-4.14012232e-02 9.98291516e-01 4.12309102e-02 -9.25322020e-01] [ 2.57225885e-02 -4.01876616e-02 9.98861001e-01 -7.26738834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.61240100800002 meters Centerline goodness : 0.925049 Centerline is valid? [False, False] Translation: X:24.17, Y:-0.93, Z:-0.73 [[ 9.98811437e-01 4.24146330e-02 -2.40148235e-02 2.41706321e+01] [-4.14012232e-02 9.98291516e-01 4.12309102e-02 -9.25322020e-01] [ 2.57225885e-02 -4.01876616e-02 9.98861001e-01 -7.26738834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64240100800002 meters Centerline goodness : 0.923021 Centerline is valid? [False, False] Translation: X:24.16, Y:-0.91, Z:-0.72 [[ 9.98443667e-01 5.25397427e-02 -1.87034772e-02 2.41604478e+01] [-5.14431204e-02 9.97163346e-01 5.49442148e-02 -9.11227077e-01] [ 2.15371768e-02 -5.38965381e-02 9.98314236e-01 -7.24270628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.67240100800002 meters Centerline goodness : 0.919729 Centerline is valid? [False, False] Translation: X:24.16, Y:-0.91, Z:-0.73 [[ 9.98308793e-01 5.51552956e-02 -1.83697115e-02 2.41614020e+01] [-5.40042740e-02 9.96845544e-01 5.81592691e-02 -9.05307624e-01] [ 2.15195567e-02 -5.70688669e-02 9.98138294e-01 -7.25801369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70240100800001 meters Centerline goodness : 0.916043 Centerline is valid? [False, False] Translation: X:24.16, Y:-0.90, Z:-0.72 [[ 0.99826707 0.05200604 -0.02753592 24.15588554] [-0.0502318 0.99683502 0.06161739 -0.89756379] [ 0.03065325 -0.06012743 0.99771994 -0.71953097] [ 0. 0. 0. 1. ]] SLAMing on 113.73240100800001 meters Centerline goodness : 0.913388 Centerline is valid? [False, False] Translation: X:24.17, Y:-0.89, Z:-0.73 [[ 0.99826437 0.0527063 -0.02627352 24.16593072] [-0.05148573 0.99765267 0.04514838 -0.88949618] [ 0.02859145 -0.04371731 0.99863473 -0.72619392] [ 0. 0. 0. 1. ]] SLAMing on 113.76240100800001 meters Centerline goodness : 0.903910 Centerline is valid? [False, False] Translation: X:24.17, Y:-0.88, Z:-0.73 [[ 0.99834487 0.05055072 -0.02742517 24.16848936] [-0.04938558 0.99791238 0.04161664 -0.87927763] [ 0.02947167 -0.04019335 0.99875719 -0.72704204] [ 0. 0. 0. 1. ]] SLAMing on 113.79240100800001 meters Centerline goodness : 0.903279 Centerline is valid? [False, False] Translation: X:24.17, Y:-0.87, Z:-0.73 [[ 0.99840611 0.04881062 -0.02833324 24.17176607] [-0.04769269 0.99810525 0.03887555 -0.87249349] [ 0.0301771 -0.03746229 0.99884229 -0.72931871] [ 0. 0. 0. 1. ]] SLAMing on 113.82240100800001 meters Centerline goodness : 0.900958 Centerline is valid? [False, False] Translation: X:24.18, Y:-0.86, Z:-0.73 [[ 0.99846591 0.04683126 -0.02954072 24.17585481] [-0.04575918 0.99830434 0.03597983 -0.86488022] [ 0.03117561 -0.03457288 0.99891581 -0.73167272] [ 0. 0. 0. 1. ]] SLAMing on 113.85240100800002 meters Centerline goodness : 0.901461 Centerline is valid? [False, False] Translation: X:24.18, Y:-0.86, Z:-0.73 [[ 0.99851842 0.04499077 -0.03060714 24.17952355] [-0.04397324 0.99848279 0.03314324 -0.85752773] [ 0.03205184 -0.03174824 0.99898185 -0.73389311] [ 0. 0. 0. 1. ]] SLAMing on 113.88240100800002 meters Centerline goodness : 0.898596 Centerline is valid? [False, False] Translation: X:24.18, Y:-0.85, Z:-0.73 [[ 0.99842875 0.04541999 -0.0328186 24.18491517] [-0.0443281 0.99846303 0.03326555 -0.84571213] [ 0.03427908 -0.0317585 0.99890757 -0.73380429] [ 0. 0. 0. 1. ]] SLAMing on 113.91240100800002 meters Centerline goodness : 0.894072 Centerline is valid? [False, False] Translation: X:24.20, Y:-0.84, Z:-0.74 [[ 9.98548069e-01 4.52717289e-02 -2.91928700e-02 2.42007105e+01] [-4.46186204e-02 9.98747323e-01 2.26487081e-02 -8.38432810e-01] [ 3.01816469e-02 -2.13132782e-02 9.99317173e-01 -7.37837148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94240100800002 meters Centerline goodness : 0.894639 Centerline is valid? [False, False] Translation: X:24.20, Y:-0.83, Z:-0.74 [[ 9.98571753e-01 4.43030317e-02 -2.98612835e-02 2.42015880e+01] [-4.36999895e-02 9.98833243e-01 2.05538985e-02 -8.32459931e-01] [ 3.07370426e-02 -1.92196047e-02 9.99342704e-01 -7.37321901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.97240100800002 meters Centerline goodness : 0.890229 Centerline is valid? [False, False] Translation: X:24.20, Y:-0.83, Z:-0.74 [[ 9.98615796e-01 4.28179735e-02 -3.05468903e-02 2.42034115e+01] [-4.22830854e-02 9.98944468e-01 1.79468592e-02 -8.25688785e-01] [ 3.12830952e-02 -1.66304003e-02 9.99372202e-01 -7.37998357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00240100800002 meters Centerline goodness : 0.889152 Centerline is valid? [False, False] Translation: X:24.21, Y:-0.81, Z:-0.74 [[ 9.98595863e-01 4.10601046e-02 -3.34719326e-02 2.42125637e+01] [-4.05451715e-02 9.99050862e-01 1.59205753e-02 -8.09403715e-01] [ 3.40938636e-02 -1.45410954e-02 9.99312846e-01 -7.40446915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.03240100800002 meters Centerline goodness : 0.886149 Centerline is valid? [False, False] Translation: X:24.22, Y:-0.80, Z:-0.74 [[ 9.98655731e-01 3.86712601e-02 -3.45146989e-02 2.42168926e+01] [-3.82684779e-02 9.99192338e-01 1.22554165e-02 -7.98115958e-01] [ 3.49607551e-02 -1.09181169e-02 9.99329045e-01 -7.43233599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06240100800001 meters Centerline goodness : 0.884452 Centerline is valid? [False, False] Translation: X:24.22, Y:-0.79, Z:-0.74 [[ 9.98572115e-01 3.99583882e-02 -3.54550231e-02 2.42204002e+01] [-3.95273759e-02 9.99136812e-01 1.27756585e-02 -7.89157614e-01] [ 3.59349135e-02 -1.13559723e-02 9.99289610e-01 -7.44400590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09240100800001 meters Centerline goodness : 0.881750 Centerline is valid? [False, False] Translation: X:24.24, Y:-0.78, Z:-0.75 [[ 9.98685048e-01 4.04462875e-02 -3.15003591e-02 2.42366532e+01] [-4.03635484e-02 9.99179747e-01 3.25834557e-03 -7.78181866e-01] [ 3.16063088e-02 -1.98259474e-03 9.99498429e-01 -7.48475805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12240100800001 meters Centerline goodness : 0.881137 Centerline is valid? [False, False] Translation: X:24.25, Y:-0.76, Z:-0.75 [[ 9.98895767e-01 3.78593674e-02 -2.78193183e-02 2.42537047e+01] [-3.80925793e-02 9.99242976e-01 -7.90131916e-03 -7.57400094e-01] [ 2.74991195e-02 8.95230386e-03 9.99581740e-01 -7.49165742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15240100800001 meters Centerline goodness : 0.880211 Centerline is valid? [False, False] Translation: X:24.25, Y:-0.75, Z:-0.75 [[ 9.98909003e-01 3.72514823e-02 -2.81625670e-02 2.42532211e+01] [-3.75342539e-02 9.99249425e-01 -9.57944749e-03 -7.47888124e-01] [ 2.77845803e-02 1.06260573e-02 9.99557454e-01 -7.46968338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18240100800001 meters Centerline goodness : 0.878327 Centerline is valid? [False, False] Translation: X:24.25, Y:-0.74, Z:-0.75 [[ 9.98871317e-01 3.77542558e-02 -2.88220140e-02 2.42540703e+01] [-3.80465656e-02 9.99229259e-01 -9.66157294e-03 -7.38235434e-01] [ 2.84350342e-02 1.07472467e-02 9.99537866e-01 -7.45119340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21240100800001 meters Centerline goodness : 0.878339 Centerline is valid? [False, False] Translation: X:24.26, Y:-0.73, Z:-0.74 [[ 9.98812303e-01 3.76224350e-02 -3.09602322e-02 2.42579611e+01] [-3.79185166e-02 9.99240014e-01 -9.03218147e-03 -7.27031787e-01] [ 3.05968902e-02 1.01954201e-02 9.99479807e-01 -7.42053666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24240100800002 meters Centerline goodness : 0.879185 Centerline is valid? [False, False] Translation: X:24.27, Y:-0.71, Z:-0.74 [[ 9.98922010e-01 3.89261359e-02 -2.52897829e-02 2.42728432e+01] [-3.92997003e-02 9.99123039e-01 -1.44460091e-02 -7.13767833e-01] [ 2.47052774e-02 1.54243174e-02 9.99575780e-01 -7.43080684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.27240100800002 meters Centerline goodness : 0.879163 Centerline is valid? [False, False] Translation: X:24.30, Y:-0.68, Z:-0.74 [[ 9.99131311e-01 3.48591613e-02 -2.28355530e-02 2.42998270e+01] [-3.52164060e-02 9.99260534e-01 -1.54333786e-02 -6.84273692e-01] [ 2.22806723e-02 1.62241579e-02 9.99620102e-01 -7.37656542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30240100800002 meters Centerline goodness : 0.880799 Centerline is valid? [False, False] Translation: X:24.30, Y:-0.67, Z:-0.74 [[ 9.99070597e-01 3.57647137e-02 -2.40588228e-02 2.43015007e+01] [-3.61451096e-02 9.99225309e-01 -1.55663974e-02 -6.71996198e-01] [ 2.34834569e-02 1.64215387e-02 9.99589346e-01 -7.35443701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.33240100800002 meters Centerline goodness : 0.881324 Centerline is valid? [False, False] Translation: X:24.30, Y:-0.66, Z:-0.73 [[ 9.99003711e-01 3.69303115e-02 -2.50546868e-02 2.43030648e+01] [-3.73331932e-02 9.99177841e-01 -1.58074071e-02 -6.60760050e-01] [ 2.44503154e-02 1.67270298e-02 9.99561098e-01 -7.33904679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36240100800002 meters Centerline goodness : 0.883869 Centerline is valid? [False, False] Translation: X:24.31, Y:-0.65, Z:-0.73 [[ 9.98927211e-01 3.82580790e-02 -2.60911110e-02 2.43051615e+01] [-3.86828505e-02 9.99123842e-01 -1.59745252e-02 -6.49802366e-01] [ 2.54570964e-02 1.69666665e-02 9.99531925e-01 -7.32923409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.39240100800002 meters Centerline goodness : 0.892798 Centerline is valid? [False, False] Translation: X:24.33, Y:-0.62, Z:-0.73 [[ 9.99045061e-01 3.65763286e-02 -2.38984964e-02 2.43322768e+01] [-3.70858112e-02 9.99086443e-01 -2.12349123e-02 -6.22950351e-01] [ 2.30999687e-02 2.21009294e-02 9.99488840e-01 -7.34997300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42240100800002 meters Centerline goodness : 0.897473 Centerline is valid? [False, False] Translation: X:24.34, Y:-0.61, Z:-0.73 [[ 9.98931712e-01 3.71128068e-02 -2.75331364e-02 2.43430058e+01] [-3.76023290e-02 9.99139891e-01 -1.74797795e-02 -6.10372528e-01] [ 2.68607312e-02 1.84964161e-02 9.99468050e-01 -7.33836113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.45240100800001 meters Centerline goodness : 0.897781 Centerline is valid? [False, False] Translation: X:24.35, Y:-0.60, Z:-0.73 [[ 9.98836889e-01 3.68923381e-02 -3.10455338e-02 2.43537143e+01] [-3.73541838e-02 9.99197897e-01 -1.44300976e-02 -5.96367657e-01] [ 3.04882721e-02 1.55729944e-02 9.99413802e-01 -7.32824321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48240100800001 meters Centerline goodness : 0.899885 Centerline is valid? [False, False] Translation: X:24.39, Y:-0.57, Z:-0.73 [[ 9.98988005e-01 3.37043640e-02 -2.97822388e-02 2.43895964e+01] [-3.40910053e-02 9.99339667e-01 -1.25711639e-02 -5.69055222e-01] [ 2.93388695e-02 1.35737484e-02 9.99477355e-01 -7.32847771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 4758.28 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%| | 0/3816 [00:00